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SL Series Servo User`s Manual, GFK-1581B

1. 0 205 5 2 M PEERS OEC Shs J 4 Alternate Mounting Plate Locations i x GAV UUUUdUUUUUUUUU 200 HO oa 2 qma UDUUDUUUU UU c ca R SL Series Amplifier MA mr EN pany Tew ey acci ESSEE Iic800SLAxxxx Spa 2 s nnnnnnnnnnnnnn EE eas eS pda 9 84 c c TILSI el 250 a be gree ie HN toe PER CE Sa gt rile 9 25 8 90 MAINAT ELE I T i SS e 235 226 UUUUUUU UU UU UU Sa 5 tLe 8 66 EMEN EE o E pi e 220 P p gt 20 P LE nnnnmnnnnnmnnnnn e BG Ra Mp RRS CET Ses u Les E m ot V amp kane See NR US geri PRAG TET ee a Dr o TEE CUN Sao c vie LLLP LLL O 5 LA UUUUUYUUUUUUUUU Y Y L xr ccm om nac mum o e uu AREE A E 7 ft il i E 0 394 10 eli 0205652 gt p amp m7 i gt 0 98 25 nl 12 8 325 3 937 100 2 95 75 Diminensions in inches e 3 j p 5 906 150 Figure 3 3 V Series Amplifier Dimensions for 3 000 and 5 000 Watt Sizes GFK 1581B Chapter 3 Installation Guidelines 3 5 3 5 Motor Mounting Dimensions Lead Lengths C1 encoder cable 9 055 inches 230 mm C2 both motor and brake cable
2. TEX n ao EH T 93 Q3 Qigs alo H O O30303 OFQ8 2 a f o a O g e o E P aj O e a o 6 gt zu FOR o MN ER 2 o O m 5 O 1 8 O do Height 8 Or o 2 E Above Panel 3 OF o z T 4 45 2 1 52mm Eb o S s 112 5mm aslo f 9 m 8 slo m 8 O o goe E sole op 83 O 2 S o S O i e O 21 O S o s O P oO a o H S oO Y DIN Rail Mount 3 05 77mm mni T A o e i e D alo O OF OF OF OFQR a o eS ae 2g O a aj O alO FG gt 8 0 jl O 3 e o E O z o o j 8 o o gt gt Height alo O c S Above Panel 5l oO s 4 45 1 55 39mm hi O o i 112 5mm 3 OT 6 D dolo 4 93 obe O 125 2mm S O SOT 6 5 45 Sono 137 9mm s O O SOL aj O Y 0 368 9 3mm Counterbore oa ef Y 0 176 4 5mm Thru Dia Y 0 76 19 4mm Panel Mount Figure A 8 IC800SLT001 Terminal Board Mounting Dimensions Appendix A Operation with External Motion Controllers A 13 A 14 A 3 2 Test Points The IC800SLTOO1 terminal board includes nine post type test points for monitoring pass through signals that are not available on screw terminals Connections to the test points should only be made when power is removed from the system Be careful not to short adjacent test points together The function of each test point is defined
3. par ap CNVF CNUF ad Title Symbol de Pin Pin Description 8 Z Series Interface V Series Z Series Diagram This is a pulse command input to a high speed photo coupler IC for Position Control Mode This PULSI All 3 6 mode is typically used for stepper emulation or simple encoder follower applications You can select from the following pulse command types using Parameter No 29 see Chapter 6 uadrature 2 phase input A B encoder PULS2 All 4 5 2 MU LA Pulse Command e CW PULS CCW SIGN input Input e Pulse PULS Direction SIGN input You can set a multiplication factor for the DEI P quadrature 2 phase input multiplier of 1 2 or 4 SIGNI All 5 8 and select the polarity of the pulse command input using Parameters Nos 27 and 28 respectively see Chapter 6 NOTE Input impedance of PULS and SIGN SIGN2 All 6 7 inputs is 220Q Related Parameters 20 21 22 23 24 25 26 27 28 29 36 3C A phase Encoder OA All 21 19 The SL amplifiers include an incremental encoder Output output that can be used as position feedback for an N external motion controller Input pulses from the PVT oS al 2 A motor encoder are scaled by the Encoder Output P V D Ratio see Parameter Nos 0B and OC in Chapter 6 B phase Encoder OB All 48 21 and then fed out through the line amplifier Output AM26LS31 after the scaling operation OB All 49 22 You can select the logical sense of t
4. Connector Kit odo Qty a ee Connector Part Number Manufacturer ae 1 Socket 172163 1 CO mee UE Contact 794058 3 or 770834 3 sachs 2 1 Socket 172159 1 AMBP Inc 0 or EOR E P 4 Contact 170366 1 or 170362 1 i ea ES 1 Socket 172157 1 a sd 2 Contact 170366 1 or 170362 1 1 MS Shell MS3106B20 29S em 1 Cable Clamp MS3057 12A 97 3057 1012 1 Bushing reine Amphenol 9779 513 12 p IC800SLMCONKITV Or 1 MS Shell MS3106B20 4S equivalent Power 1 Cable Clamp MS3057 12A 97 3057 1012 No Brake i 3420 12 HE 9779 513 12 1 MS Shell MS3106B20 29S ee 1 Cable Clamp MS3057 12A 97 3057 1012 1 Bushing 312012 9779 513 12 Amphenol IC800SLMCONKITVB or 1 MS Shell MS3106B20 18S dilval nt Power amp 1 Cable Clamp MS3057 12A 97 3057 1012 Brake 3420 12 1 Bushi TEE 9779 513 12 1 MS Shell MS3106B20 29S 1 Cable Clamp MS3057 12A 97 3057 1012 1 Bushing d Amphenol 9779 513 12 p IC800SLMCONKITVL or 1 MS Shell MS3106B22 22S equivalent Power No 1 Cable Clamp MS3057 12A 97 3057 1012 Brake i 3420 12 Bune 9779 513 12 1 MS Shell MS3106B20 29S ee 1 Cable Clamp MS3057 12A 97 3057 1012 1 Bushing e Amphenol 9779 513 12 p IC800SLMCONKITVLB or 1 MS Shell MS3106B24 11S equivalent Power amp 1 Cable Clamp MS3057 16A 97 3057 1016 Brake 1 Bushing PARA 9779 513 16 The connector shells shown for the 1 5 kW
5. M AM26LS31 a TTE or equivalent H i COM ULS it PULS M Servo enabled with switch CLOSED 06402 SRV ON et aia T s 1 NM PULS E Zero speed clamp with switch OPEN i p p P ZEROSPD cic I i o Second mode selected with switch CLOSED i32 lc MODE SIGN2 7 i S Clear alarm with switch CLOSED 134 ECUR M e Inhibit CCW travel with switch OPEN i30 CCW SIGN1 8 4 i Inhibit CW travel with switch OPEN i 129 bic i OWL Ed AM26LS32 Clear pos err counter with switch CLOSED 113 cL HET or equivalent 2 Inhibit pulse commands with switch OPEN 19r OA 19 f mpm EE oA MI og ES E oe uy 3 1 MEE 1 I ji tS N Servo ready output lo 98s hr OB Encoder T T S RDY gga EA output n MC seno alarm output Se Ut y Servo alarm outpu 126 bbs ALM tot V xu 1 EX 4q In position At speed output i OZ oz i A 25 COIN gt tt zi OZ t T i m i 28 GND 3 EN J t 12 24 VDC a SOM i SPR SPL 4 Velocity command analog input SPR Zin 10k Q min pod 1 J t GND 15 Velocity command analog input SPR mT 4 hea CCW torque limit analog input CCWTL TRQR MY 50mA maximum l4 m CCWTL 134 Zin 10kQ min z ERN m l ew Ps F G cwrL e3 l CW torque limit analog input CWTL Zin 10k O min o 1MQ Lt ry it IM 36 i i Torque monitor analog output Zout 10k Q be SP 16 EN Speed monitor analog output Zou
6. 450 Torque 4 Errors on encoder wiring such as broken or loose wire or encoder malfunction Encoder Error 22 The watchdog timer on the amplifier DSP Digital Servo Watchdog 23 Processor has timed out due to a malfunction Chapter 9 Protective Functions and Troubleshooting 1 Check all wiring and connections between the amplifier and motor encoder for miswiring shorts or open circuits see Section 4 3 for proper encoder wiring 2 Check the encoder power supply voltage directly at the motor encoder 5VDC 5 especially when long cables are used 3 Replace the motor Cycle power on the amplifier to reset If this error occurs again immediately remove power and replace the amplifier 9 3 9 4 Protective Error Function Code Description Position error exceeds the allowable range set by Parameter No 23 This error applies only when the amplifier is configured for Position Control Mode see Parameter No 02 Position Error Limit SL Series Servo User s Manual August 2001 Corrective Actions 1 Check if motor runs when position command PULS SIGN inputs is applied 2 Check setting for the Position Error Limit using Parameter No 24 Increase the value to the largest following error that can be tolerated by the application 3 Check saturation of the torque command using the torque monitor output or test point see Section 5 7 2 for detail on the
7. Connecting cable SS Amplifier side SL Series Motor 1112 13 4 5 Twisted pair e 7 amp 9 to t1 Ia 3 4 5 Notes Numbers are for Z Series connector letters in parentheses are for V Series connector Dual wires recommended for encoder power to minimize voltage drop Z Series Motor V Series Motor Mounted Encoder Connector Encoder Connector Pin End View Pin End View Figure 4 9 Example of Wiring to Encoder Connector CN SIG for V Series and Z Series Note To minimize the effects of noise be sure to connect the shield on the encoder cable to the CN SIG connector frame ground pin 20 and connect the shield on the motor side to pin 15 for Z Series or pin J for V Series of the motor encoder connector GFK 1581B Chapter 4 Wiring 4 17 4 4 Motor Power and Brake Connector Pin Outs On the Z Series motors 30 750 Watt the connectors shown below are wired to the motors with short leads On the V Series motors 1 0 5 0 kW the connectors shown are mounted on the motors These designs are illustrated in the motor drawings in Chapter 3 Motor Brake Z Series Front View Wiring Side Connector View Definition With Brake V Series 1 0 2 5 KW Front View With Brake V Series 3 5 5 0 KW Front View Without Brake Without Brake SL Series S
8. GND CWTL GND P des torque limit command Shield zum Twisted pair Amplifier side Figure 5 5 Analog Inputs for Z Series Amplifiers 30 750W GFK 1581B Chapter 5 I O Circuit Configuration and Function 5 5 5 6 CCW torque limit command m SPR SPL ake GND iG 15 j gt 10kQ CCWTL TRQR D n ET d 6 8kQ aE GND P o4 CWTL 10kQ 18 GND T EP pou Shield Twisted pair 20 12VDC 46 gt MT L 3 12VDC Amplifier side Pasa CN I F Figure 5 6 Analog Inputs for V Series Amplifiers 1000 5000W 5 rue torque limit command The function of the SPR SPL and CCWTL TRQR inputs depend on the control mode selected by Parameter No 02 as shown below SPR SPL Input Speed command input SPR Speed limit input absolute value SPL For Velocity Control Mode For Torque Control Mode For Position Control Mode For Velocity or Position Control Mode For Torque Control Mode CCWTL TRQR Input CCW torque limit input CCWTL Torque command input TRQR Inactive See Chapter 6 for more detail on parameters SL Series Servo User s Manual August 2001 GFK 1581B 9 4 GFK 1581B I O Circuit Configuration and Function Analog Outputs Monitor Outputs cs 10k IM 36
9. ee 8 32 8 3 2 8 Making a Parameter List re neve eret 8 32 8 3 3 The Alarm Menu Z Series ccccccccccccccssececeesseccceessccseueseceeeeeceeuees 8 35 8 3 3 1 Displaying the Current Alarm Z Series eee 8 35 8 3 3 2 Displaying the Z Series Alarm History Window eee 8 36 8 3 3 3 Alarm Codes esee eet Reate Ceea ouaa iT 8 36 8 3 3 4 Erasing the Z Series Alarm History List eeeenee 8 36 8 3 4 The Z Series Monitor Menu eeesccccesssecceeesesseeceessaeeecessaeeeeeesaes 8 37 8 3 5 The Z Series Waveform Graphic Menu eene 8 40 8 3 5 1 The Z Series Measuring Setting Feature eee 8 40 8 3 6 Z Series Waveform Graphic Measuring Setting Screen 2 8 43 8 3 6 1 Saving Waveform Data Z Series seen 8 44 8 3 6 2 Loading Waveform Data Z Series seen 8 44 8 3 6 3 Opening and Printing Your Saved Waveform File with Excel Software 8 44 8 3 7 Z Series Waveform Graphic Measuring Setting Screen 3 8 45 8 3 8 Basics of Generating a Waveform Z Series seeeeeee 8 46 8 3 9 Tuning Procedure Z Series essen 8 47 8 3 10 Dual Waveform Display Z Series eeeeeene 8 48 8 3 10 1 The Auto Gain Tuning Routine Z Series eene 8 49 Procedure uidet ele tali ee e eb ede t ee RE REPRE 8 50 8 3 11 Z Series Prot
10. 3B Analog Monitor Mode Selection T V P 0 1 0 N A N A 3C Position Error Counter Clear P 0 1 0 N A N A Mode 3D Alarm Action Selection T V P 0 3 0 N A N A 3E Servo Disable Action Selection T V P 0 7 0 N A N A 3F CN I F Function Selection T V P 0 5 0 N A N A Notes 1 Symbols used in the Control Mode column refer to the amplifier control mode configured using Parameter No 02 and are defined as follows T Torque control mode V Velocity control mode P Position control mode GFK 1581B Chapter 6 Configuration Parameters Details of User Parameters The following table provides detailed descriptions of the functions of each user parameter Parameters may be viewed or changed using either the amplifier keypad display or with a personal computer running the SLconfig software Note When using a PC with the V Series amplifiers the serial connection must be made before the amplifier is energized or the PC connection will not be recognized Also once connected to a PC the front panel keypad display on the amplifier becomes inoperative and the display indicates H 232C Neither of these restrictions applies to the Z Series amplifiers Default parameter options are shown in bold or are listed at the bottom of each parameter description Table 6 2 User Parameters Parameter Parameter Adjustment No i eS Function Description Range This parameter is a future provision to allow the us
11. M M CHANGE PAGE lt gt Enter X or left right arrow key CURSOR DOWN gt Enter P or down arrow key CURSOR UP gt Enter N or up arrow key SELECT Press ENTER key QUIT gt Enter Q Figure 8 54 Parameter Setting Page 0 Screen V Series Parameter Identification The Parameter Setting menu has a total of 4 pages screens numbered 0 through 3 These 4 pages or screens correspond to 4 groups of parameters numbered 0 3 An individual parameter is identified by a two digit hexadecimal number The first digit most significant identifies the parameter group 0 3 The second digit identifies a particular parameter in the group For example Parameter No OB indicates parameter group 0 parameter B It can be found on parameter page 0 see the previous figure Similarly Parameter No 2B is located on parameter page 2 see figure on next page In order to change to one of the other parameter pages use the Left or Right Arrow keys or press the X key Power Cycle Requirement Some parameters require that power be cycled before they take effect after being changed These are marked on the parameter screens with a lower case letter r Parameter Setting Page 2 shown on the next page contains some of these special parameters SL Series Servo User s Manual August 2001 GFK 1581B GFK 1581B CURSOR UP SELECT QUIT lt lt Parameter Setting Page
12. Execution Display Error Diagnostics Figure 8 8 Z Series Error Diagnosis Display in the Monitor Mode Note When the condition shown in the code display key is true the associated LED segment on the display is not illuminated 8 6 SL Series Servo User s Manual August 2001 GFK 1581B Operation I O Signal Status Display The I O Signal Status Display in the Monitor Mode shown in Figure 8 9 allows the user to scroll through the status of the various control I O signals connected to the servo interface connector CN I F Each I O signal status is displayed in a round robin list grouped as inputs and outputs Use the UP DOWN keys on the amplifier to navigate through the list Each I O uses a hexadecimal number code and either an A display to indicate an active signal or a dash display to indicate an inactive signal The cross references for the hexadecimal codes for each I O are shown in Table 8 1 Z Series and Table 8 2 V Series Selection Display Execution Display dP o lt C gt n fl Input 0 is Active n7 E Input F is Inactive Press Set Key to Enter Execution Display ot Output 0 is Inactive L F Ff Output F is Active fa v Up Down Keys Scroll Through Input amp Outputs Figure 8 9 I O Signal Status Display in the Monitor Mode Output Signal Ws Sys gem L E a Deer
13. in the rightmost column of the following table have been changed from default values all others are at their default values GFK 1581B Appendix E Interfacing the SL Servo to an OCS E 3 Table E 2 SL Amplifier Parameter Listing user 00 user 01 user 02 user 03 user 04 user 05 user 06 user 07 user 08 user 09 user 0a user 0b user Oc user 0d user 0e user Of user LO user L1 user 12 user 13 user 14 user 15 user 16 user 17 user 18 user 19 user la user lb user lc user ld user le user 1f user 20 user 21 user 22 user 23 user 24 user 25 user 26 user 27 user 28 user 29 user 2a user 2b user 2c user 2d user 2e user 2f user 30 user 31 user 32 user 33 user 34 user 35 user 36 user 37 user 38 user 39 user 3a user 3b user 3c user 3d user 3e user 3f H Parameter Name Parameter Value Axis address Select initial display Select control mode Velocity loop gain V loop integral time Velocity feedback filter Torque limit Torque limit inhibit Speed monitor gain Overtravel limit inhibit Dynamic brake select Feedback ratio numerator Feedback ratio denominator Encoder signal inversion Brake action stopping Brake action running Acceleration rate limit Zero speed detect level At Speed detect level Velocity command scaling Velocity command polarity Velocity command offset Int ext speed cmd select Zero speed clamp inhibit First internal speed Second internal speed Torque command
14. Up Down Keys a v Scroll Through Parameter List F Parameters requiring power cycle to activate changes Increase Value Again Sna a E aa SESE Select Next Digit Decimal position indicates selection Increase Value e Det 4 M e A c3 Figure 8 10 V Series Parameter Mode Display Example Note Once all desired parameter values have been changed the new data values must be saved to EEPROM memory or they will be lost when power is removed from the amplifier See Section 8 1 1 3 for details on using the keypad for this procedure 8 1 1 3 EEPROM Write Mode The SL servo amplifiers use EEPROM non volatile memory to store parameter configurations set by the user Whenever parameter data is change using either the amplifier keypad or SLconfig PC software the new values must be stored to memory or they will be lost when power is removed from the amplifier To write the changes using the keypad select the EEPROM Write Mode in Chapter 8 Operation 8 9 8 10 the Selection Display EE_SEt and press the SET key Once in the Execution Display press and hold the UP key to begin the process Dashes will be displayed and then the word start Wait until the word finish reset or error appears on the display as shown in Figure 8 11 If reset is displayed the amplifier power must be cycled before some of the new values are activated I
15. P n Amplifier Set in Position oJ E Control Mode dP_tnk SPdcenk Amplifier Set in Speed Control Mode Press Set Key to Enter Execution Display Er4cnk Amplifier Set in Torque Control Mode Figure 8 5 Display of Control Mode in the Monitor Mode Error History Display The Monitor Mode also allows the user to display the error history stored by the SL amplifier The error history display shows the eight most recent errors in chronological order as shown in Figure 8 6 Selection Display Execution Display d em Initial Display Present Error Code dP_ Err EE ea Next Most Recent Error Press Set Key to Enter Execution Display p e 3rd Most Recent Error p e Last Error In History a Lv Up Down Keys Scroll Through Error History Figure 8 6 Display of Error History in the Monitor Mode Servo On Display for Z Series Only The Servo On Monitor Mode can be used as a quick reference to show the current status of the CW CCW overtravel limit inputs CWL and CCWL servo enable input SRV ON servo ready output S RDY and the current error code if an error has occurred An A indicates the particular discrete I O is active and a dash indicates an inactive I O signal as shown in Figure 8 7 Chapter 8 Operation 8 5 Selection Display Execution Display HB dP SrE lt b gt E Error Co
16. Pulse command inputs PULS amp SIGN Motor encoder feedback signals A B Z Encoder output signals OA OB OZ Suppress all relay coils Check the countermeasures against noise Check the following signals for noise Servo enable signal SRV ON Clear counter signal CL Pulse command inputs PULS amp SIGN Motor encoder feedback signals A B Z Encoder output signals OA OB OZ Proper shielding and grounding and separation of signal wiring and power wiring will eliminate the source of most induced signal noise that may cause erratic operation Increase the value of Parameter No 05 Velocity Feedback Filter This decreases the cutoff frequency of the low pass filter This reduces signal noise but also reduces the servo response bandwidth If Parameter No 04 Velocity Loop Integration Time Constant is set to 1000 only proportional gain is used in the velocity loop Positioning accuracy at the end of a move will be decreased and settling time increased if the gain is too low Reduce the value of the time constant to increase the integral gain If Parameter No 20 Position Loop Gain is too small it takes longer to position and will have reduced accuracy Increase the gain as high as possible while still maintaining good servo stability Table 9 5 Machine Home Reference is not in the Right Position Unusual operation of the home sensor Check the wiring of the home sensor take proper countermeasure
17. Signal Name Pin Terminal Terminal Open Collector Output 5V Line Driver Output 3 i 48 48 OB 21 OB 5V Line Driver Output 21 49 49 OB 22 OB 4 21 21 OA 19 OA 5V Line Driver Output 22 22 22 OA 20 OA 5 High Speed Opto Input 5 6 SIGN2 7 SIGN2 23 220 ohm in series 6 5 SIGNI 8 SIGNI GFK 1581B Appendix A Operation with External Motion Controllers A 15 A 16 Amplifier To Terminal Board Interface Connection Screw Circuit Type TB V Series Amplifier Z Series Amplifier Terminal PEE AE CNET Signal Name CONTE Signal Name Terminal Terminal High Speed Opto Input 220 ohm in series 10V Analog Input SPR SPL SPR SPL CIO secus a SS D SE 0 1 0 9 en 7 24V Negative Logic Input 3 wai 39 5 nc HNNENIEIEHEN 30 xVAWwlwOup i a Bukor S RDY ZSP 24V Active Low Output BRK OFF iz iV Aan ow Opa 3 Exoum umm L6 p av asntow np 3 3 Eam 1 24V Active Low Output EXOUT2 L 5 aav acve aw onpu 39 5 con o com SE on on m pep 24V Active Low Output e VBC over Ou 20m ma ar a7 nv Eemm emeeemm L5 fave rover ana 3 3 nev p 10V Analog Output Lo uvae as as ie 5 CCWTL CCWTL 42 10V Analog Input 16 16 TROR 34 TROR 4 2a Negative Lage pat 2 x cov umm Los av septa par o3 ox owe poo 46 24V as Peer Input A CLR A CLR C OS a wi 9 Sirs
18. 14 3 ovma ours gua uf E 34 E INIO B svroiiwelegehpa 17 nna mie uf a Common for Inputs on INCOM_B emmarie S mco COM MEE 3 26 24V Active Low Output 37 7 Al 14 LM is 2a nenaive ric opt om 1 17 24V Negative Logic Input 2 2 30 CCWL 18 31 amp 24VDC User Rowe 7 7 T COM 32 Input Required 26 26 ZEROSPD NUONORC E 29 36 zEROSPD 36 OUTIM A OUTIM B 34 36 amp 36 Power Input ag AL 41 28 COM 24V Positive Logic Input S 2 pins Cable Shield SHIELD SHIELD 25 50 25 50 Pin 5 of the DSM Connection is connected to the output of an opto coupler circuit driven by the S RDY signal from the amplifier GFK 1581B Appendix A Operation with External Motion Controllers A 7 A 8 A 3 I O Wiring and Connections The figure below illustrates the functional connections for the IC800SLT001 terminal board when an APM in Standard Mode is used for the motion controller on Axisl For optional motor brake wiring please see Section 2 6 of Chapter 2 NEGATIVE POSITIVE Terminal OVERTRAVEL OVERTRAVEL Block LIMIT SWITCH HOME SWITCH LIMIT SWITCH Terminal Ol acai Us ca EL os Te Tu Number A i OT1 CTLO6 JA Jf HOME1 CTLO3 OT1 CTL05 11 INCOM1 ji i 1 5V_ AO i ov L VDC 5 STROBE1 CTLO1 ooN
19. Then Set value 0 3 s 3 kRPM x 500 50 NOTES 1 The acceleration limit function is not valid for the Position Control Mode or Torque Control Mode 2 Do not use the acceleration limit function for the Velocity Control Mode if you are controlling the SL servo with an external position controller such as the GE Fanuc Motion Mate APM300 or DSM300 or servo instability may occur Set this parameter to 0 when used with an external position controller Default 0 11 Zero Speed Detection Level 0 to 10000 RPM Set the detection level of the Zero Speed output ZSP directly in units of motor speed RPM If the motor speed is less than or equal to the set value the ZSP output will be turned ON The minimum detectable motor speed is 20 RPM See section 5 7 2 for more information on the ZSP output NOTE The ZSP output is available on the Z Series amplifiers only when Parameter No 3F 5 When used with a GE Fanuc APM or DSM motion controller this function is not available since the Servo Ready SRV RDY function is selected Parameter No 3F 0 Default 50 12 At Speed Output Detection Level 0 10000 RPM For Velocity Control Mode or Torque Control Mode see Parameter No 02 this parameter sets the detection level of the At Speed output COIN The COIN signal will be turned ON when the motor speed exceeds the set value RPM NOTE Since the COIN output is not used a
20. Under normal operation the regenerative discharge resistor may become very hot To prevent being burned never touch the resistor Mount the resistor well away from heat sensitive components or wiring to prevent damage Also the terminals of this resistor are at a high voltage potential Either insulate the connections or provide adequate shielding to prevent a shock hazard Table 4 2 Regenerative Discharge Resistor Kits Amplifier Specifications Recommended Resistor Kit GE Fanuc Specifications Regenerative Maximum Maximum Minimum Discharge Average Intermittent Allowable Regenerative Regenerative Resistor Kits Regen Regen Regen Resistance Capacity Current Current Resistance IC800SLA0032 30 W 8 Ao p IC800SLA2502 2500 W Resistor continuous power rating are at 25 C ambient temperature Derate power linearly at 0 3 per C above 25 C Chapter 4 Wiring 4 7 4 8 The resistor values included with the kits are average values for a variety of conditions Smaller capacity wattage resistors may work in some applications and larger resistors may be required in others For example the ICS00SLROO3 kit 20 ohm 300 W could be used with the IC800SLA0031 through IC800SLA0201 amplifiers if the recommended IC800SLRO01 kit 50 ohm 100 W is insufficient The lower the resistance value the faster the regenerative energy can be dissipated Applications with large inertial loads high speeds and high acceleration rates re
21. 0 0 1 System error 98 DSP Watchdog error 23 CPU Watchdog 30 0 1 0 EEPROM Checksum error 36 Parameter Download error 84 Command Pulse Ratio error 27 0 1 1 Encoder error 22 Drive Inhibit error 38 1 0 0 Excessive position error 29 Position Error Limit 24 Over Speed Error 26 1 0 1 Under Voltage error 13 Over Voltage error 12 1 1 0 Overload error 16 Over Current error 14 1 1 1 Other errors 99 Figure 8 62 3 Bit Error Code to CN I F Connector Mapping Table In the table above e A indicates that the output transistor for that circuit is turned off which lets the pin float high at power supply level e A 0 indicates that the output transistor for that circuit is turned ON which pulls the pin low to near ground level potential GFK 1581B Chapter 8 Operation 6 65 8 4 7 Automatic Gain Tuning V Series Refer to Chapter 7 Tuning for the details of this function Carefully read and understand the applicable ranges and notes before using this function Autotuning Overview The autotuning function is designed to assist you in setting the SL amplifier gain values Autotuning should be performed with the actual operating load attached Please review Chapter 7 before proceeding with the autotuning function After autotuning if you wish to make further manual gain adjustments to optimize performance you can use the Online Monitor feature of the SLConfig software
22. 195 R Watts where R is the resistance value for the selected resistor Application Example Assume a vertical axis using an SLM100 motor Jm 0 001491 Ib in s with a load inertia J of 0 0139 Ib in s The friction torque in the axis Tj is 10 in Ib and the torque that is required to support the load against gravity T is 10 in Ib The axis requires the following compound velocity profile 2000 RPM Total Cycle Time 2 seconds gt ti 02 seconds 12 2 02 seconds t3 1 0 seconds 2000 RPM Since the example machine cycle involves a number of periods where regeneration occurs the determination of the regenerated energy is more complicated Regeneration occurs for each deceleration period when the axis is moving in the upward direction against gravity and during the Chapter 4 Wiring 4 11 period when the axis is moving in the downward direction The regeneration for each of these periods must be calculated as follows STEP la Calculate the rotational energy during period t Ea 6 19x107 x 0 001491 0 0139 x 20007 1000 28 58 Joules STEP 1b Calculate the rotational energy during period t Ew 6 19x10 x 0 001491 0 0139 x 1000 9 53 Joules STEP 2a Calculate the energy absorbed by friction during period t Eg 5 91x10 x 0 2 sec x 2000 RPM 1000 RPM x 10 in Ib 11 82 Joules STEP 2b Calculate the energy absorbed by friction during period t Ep 5 91x10 x 0 2 sec x 100
23. 47 6 Rated Speed RPM 3000 3000 3000 3000 Maximum Speed RPM 5000 5000 5000 4500 Feedback 2500 lines 10 000 counts rev Incremental Encoder TETUR 5 VDC45 0 3A 250 kHz max Ib 9 9 16 5 24 38 Weight kg 4 5 7 5 10 9 17 3 Roo fena in Ib s x 10 14 91 38 14 69 92 157 5 kg m x 107 1 69 4 31 7 90 17 8 EORR Ib 33 44 44 77 Shaft Thrust Load kg 15 20 20 35 2 Ib 88 110 110 176 Shaft Radial Load kg 40 50 50 80 Mechanical Time Constant ms 0 78 0 52 0 45 0 46 Tordue Constant in Ib A m 3 9 4 34 4 51 5 04 orque Constan Nm Agms 0 44 0 49 0 51 0 57 Resistance phase Ohms 0 27 0 1 0 05 0 028 Inductance phase mH 1 8 1 1 1 0 56 Electrical Time Constant ms 6 7 11 20 20 Continuous Current Arms 7 i 21 6 28 5 Optional Brake Data 20 C backlash 0 1 in Ib s x 10 225 6 99 16 82 Inertia Adder 2 kg m x10 0 26 0 43 0 79 1 9 Ib 1 32 3 08 3 74 4 18 Weight Adder 18 kg 0 6 1 4 1 7 1 9 Voltage VDC 10 24 24 24 24 Current A 0 74 0 81 0 81 0 90 Engage Time ms lt 50 lt 50 lt 80 110 Release Time ms lt 15 lt 15 lt 15 lt 50 Torque in Ib 43 3 69 104 143 q Nm 4 9 7 8 11 8 16 2 Environmental Data Humidity non condensing RH 85 Ambient Temperature C 0 to40 operating Storage Temperature C 20 to 80 Vibration G 5 Shock G 10 Torque shown is available up to a certain Ambient Temp See Speed Torque curve notes Rad
24. Current 8 20 us Max Std Max Front of Wave Max Lightning Lightning Impulse Residual Impulse 10kV us Voltage Surge Protector Example R A V 781BXZ 4 Okaya Electric Industries Ltd 250 VAC 50 60 Hz Terminal to ground SL Series Servo User s Manual August 2001 GFK 1581B B 3 3 GFK 1581B CE Installation Requirements Noise Filter for Signal Lines To comply with the EMC Directive it is necessary to install noise filters on all signal cables connected to the SL Series amplifier as shown in Figure B 1 Table B 4 Signal Line Noise Filter Specifications Range i 10 55Hz 10 100 Mhz 80Q min 100 500M Tz S001 ini 40 to 80 C Ferrite Core Amplitude 0 762 mm E us ME X Y Z Each 2 hours ZCAT3035 1330 TDK Corporation Appendix B CE Installation Requirements B 5 Appendix Tables and Formulas C Standard ASCII American Standard Code for Information Interchange Codes GFK 1581B Char COIDNABRWNHKOW Ccdwomuo nuozzu mc mo mmoou govis Char gt 4 NK KS lt l PIS ANK KX SS Pe HOH ODOR Be aa a e a a Aao ge 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 C 1 AWG to Metric Wire Size Conversion Since there is not an exact correspondence between American AWG wire sizes and metric sizes the metric values in the following table are close approximations If you need grea
25. GE Fanuc Automation Programmable Control Products SL Series Servo User s Manual GFK 1581B August 2001 GFL 002 Warnings Cautions and Notes as Used in this Publication Warning notices are used in this publication to emphasize that hazardous voltages currents temperatures or other conditions that could cause personal injury exist in this equipment or may be associated with its use In situations where inattention could cause either personal injury or damage to equipment a Warning notice is used Caution notices are used where equipment might be damaged if care is not taken Note Notes merely call attention to information that is especially significant to understanding and operating the equipment This document is based on information available at the time of its publication While efforts have been made to be accurate the information contained herein does not purport to cover all details or variations in hardware or software nor to provide for every possible contingency in connection with installation operation or maintenance Features may be described herein which are not present in all hardware and software systems GE Fanuc Automation assumes no obligation of notice to holders of this document with respect to changes subsequently made GE Fanuc Automation makes no representation or warranty expressed implied or statutory with respect to and assumes no responsibility for the accuracy completeness
26. GFK 1581B Monitoring Motor Brakes 2 12 Connector Mates 4 22 dimensions Installation NEMA Mounting Sealing Specifications 2 12 Speed Torque Curves vibration testing 2 8 Motor velocity Z Series viewing on monitor screen 8 38 Mounting Amplifier See Installation Amplifier amplifier dimensions 3 4 IC800SLTO001 dimensions IC800SLT004 dimensions Motor See Installation Motor motor dimensions 3 6 Regenerative Discharge Resistor 4 8 terminal board N NEMA None 2 Noise Filter B 4 Numerator of Encoder Output Ratio Parameter Numerator of Pulse Command Ratio Parameter 6 21 O OCS interfacing to SL servos Output signals Z Series viewing 8 38 Outputs Alarm Code EXOUT 5 22 Analog 5 7 At Speed COIN 5 22 Brake Release BRK OFF 5 21 Control 5 3 Encoder 5 26 In Position COIN In Torque Limit TLC Power Supply 5 26 Servo Alarm ALM Servo Ready S RDY 5 21 Speed Monitor SP Speed Current Monitor 5 7 Torque Monitor IM 15 25 Zero Speed Detection ZSP 5 21 Overload Fault 9 3 Overspeed Fault 9 5 Overtravel Input Error 9 6 Overtravel Input Inhibit Parameter 6 9 Index Index Overtravel Limit Inputs 5 20 Parameter identification V Series 8 56 identification Z Series Parameter editing keypad 8 9 Parameter menu Z Series 8 23 Parameter Range Error 9 6 Parameters See Configuration Pa
27. NOTE When using the SL amplifier in a Velocity Control Mode with an external position controller changing this parameter affects the distribution of loop gains and may cause servo instability oscillation Default 500 for Z Series and 225 for V Series amplifiers 14 Velocity Command Polarity 0 1 This parameter is used to reverse the motor rotational direction for a given polarity of the analog velocity command input SPR 0 Motor rotates CW with a speed command 1 Motor rotates CCW with a speed command NOTES 1 When using the servo with an external position controller be sure to match the polarity of the speed command input to the position controller to prevent errors See section 2 2 for rotational direction conventions 2 When using an SL Series amplifier with a GE Fanuc APM300 or DSM300 motion controller the Motor Direction configuration parameter for these controllers MUST be set as POSITIVE in the APM DSM hardware configuration for the system to function properly Chapter 6 Configuration Parameters 6 15 6 16 Parameter No Parameter Description Adjustment Range Function Default 1 15 Velocity Command Offset 127 to 127 This parameter is used to make an offset adjustment for the analog velocity command input SPR This parameter is only valid for the Velocity and Torque Control Modes To make the offset adjustment apply exac
28. See Chapter 9 for more information on protective functions of the SL Series amplifiers Selection Display Execution Display Initial Display ri Lir lt gt A Press and hold SEArE Start Alarm Clear Press Set Key to Enter OR Vv Execution Display Fun oh Error Figure 8 14 Alarm Clear Mode Displays GFK 1581B Chapter 8 Operation 8 13 8 14 8 2 8 2 1 SLconfig Computer Software SLconfig Software Overview This software is an MS DOS program that will run either on a computer using MS DOS only or on a computer running Windows It communicates with an SL Series amplifier through the computer s standard RS 232C serial port This software can be used to view and change amplifier parameters create back up and restore parameter files and monitor amplifier operation 8 2 1 1 SLconfig Software Version Information The SLconfig software consists of the following three files e SLconfig exe This file is used to start the software and it produces the main startup screen which is used to select which amplifier series V Series or Z Series you wish to work with When you select an amplifier series from this screen one of the following two files is activated e SLVLexe This file contains the program for the V Series amplifiers e SLZ1 exe This file contains the program for the Z Series amplifiers Each file has its own revision level
29. e The SL Servo has all the traditional servo advantages over stepper systems smaller size lower power usage acceleration torque flat torque response etc e Autotune functionality in the SL Series system amp system performance monitor with SLconfig software e SL Servo provides true closed loop position control e Flexible system architecture each OCS RCS may support up to 3 axes assuming that at least 1 I O board is needed per system and 64 OCS RCS systems may be networked over the built in CAN fieldbus e The OCS has a built in operator interface that may be optionally used if desired An RCS may be used if no operator interface is required The RCS Remote Control Station provides basic OCS functionality but unlike the OCS is not equipped with a display and keypad e Single point of connect configuration and programming using Cscape Software e The Stepper module includes the motion essentials over travel inputs home switch inputs jog control acceleration deceleration control stall detection position verification e Cscape OCS RCS software is motion friendly with graphical online motion calculator E 2 Materials List The SLconfig software amp cable IC641SWP800 amp IC800SLCS020 are not required but are very useful for setup and testing purposes A minimum list of materials is included in the following table Table E 1 Basic Materials List Part Number Description Part Numb
30. 0v 24 VDC SHIELD N AIN i od O AIN y 10V DIFFERENTIAL ANALOG INPUT I gt CCWTL 10V ANALOG INPUT 10V ANALOG INPUT E B O OO O 10V ANALOG OUTPUT 10V ANALOG OUTPUT ALM LOAD Note Home Switch may be N O or N C depending upon application Figure A 6 IC800SLT001 Terminal Board Wiring Diagram APM Follower Mode Axis 2 GFK 1581B Appendix A Operation with External Motion Controllers A 11 The figure below illustrates the functional connections for the terminal board when a DSM in Analog Mode is used for the motion controller For optional motor brake wiring please see Section 2 6 of Chapter 2 NEGATIVE POSITIVE Terminal OVERTRAVEL OVERTRAVEL Block LIMIT SWITCH HOME SWITCH LIMIT SWITCH Terminal Meet et eM a ne aa r Number l 29 IN10_A OT Y 14 i IN11_A HOME IN9_A OT 11 3i INCOM A l 4 1 5V_ A 18 ov L 24voc 5 105_A STROBE1 ON c 5V SINGLE ENDED DRIVER a pM mn 24 106 A STROBE2 LN 5V SINGLE ENDED B n BEN DRIVER T T SHIELD y S 2e 3 AIN1P_A AIN1 hos o m GENERAL PURPOSE 21 AIN1M A AIN1 pog 10V DIFFERENTIAL ANALOG INPUT 4 AIN2P_A AIN2 EE o NE GENERAL PURPOSE 22 AIN2M A AIN2 Paes 10V DIFFERENTIAL ANALOG INPUT E OUT2P A OUT2 pog 2 9 EET GE
31. 1 i 5V 24 STROBE1 CTL01 E M X Driver T i General Purpose 5V STROBE2 CTLO2 EE Inputs 1 i 5V 25 STROBE2 CTL02 NN Driver Bai SHIELD CCWTL ae 20 O E Rm XxX 10V ANALOG INPUT 19 e 3 O I 1 O 4 1 SNTI X m X soit ANALOG INPUT 1 SHIELD Loar 8 A 7 IM a O IP 10V ANALOG OUTPUT 26 Ve O 8 SP LY 4 o H 1 AC Ue x 10V ANALOG OUTPUT O 18 COM COM 24VDC USER POWER INPUT 36 meee 32 COM H ALM LOAD n Pais Laara S RDY LOAD E LAKAS A CLR 15 5 COM WL 16 E 4 COM WL cC ds COM Note Home Switch may be N O or N C depending upon application Figure A 3 IC800SLT001 Terminal Board Wiring Diagram APM Standard Mode Axis 1 SL Series Servo User s Manual August 2001 GFK 1581B Operation with External Motion Controllers The figure below illustrates the functional connections for the terminal board when an APM in Standard Mode is used for the motion controller on Axis 2 For optional motor brake wiring please see Section 2 6 of Chapter 2 NEGATIVE POSITIVE Terminal OVERTRAVEL OVERTRAVEL Block LIMIT SWITCH HOME SWITCH LIMIT SWITCH Terminal fo Lp 4 rio e Number l e OT2 CTLO8 OT2 CTL07 5V oV 24 VDC CTLO09 N I ee 1 General Purpose 5V CTL11 Qr Tm Outputs I CTL12 i T T1 SHIELD ne AIN CEA O CE GENERAL PURPOSE AIN 10V DIFFERENTIAL ANALOG INPUT e CCWTL A 10V ANALOG INPUT 10V ANALOG INPUT il 10V ANALOG OUTPUT 10V ANA
32. 48 Not used 0 49 Not used 4A Not used 0 4B Not used 0 4C Not used 0 4D Not used E 4E Not used A 0 4F EEPROM check sum 19066 Figure 8 25 Edit Parameter PAGE 5 5 Z Series GFK 1581B Chapter 8 Operation 6 25 8 26 50 51 53 54 55 56 57 58 59 5A 5B 5c 5D 5E 5F Motor pole Encoder pu Current proportional gain Current integration gain lse Overspeed level Maximum output torque Overload time constant Overload criteria Internal Internal Internal Internal Internal Internal use use use use use use EEPROM check sum Figure 8 26 Edit Parameter System Page 1 3 Z Series Internal Internal Internal Internal Internal Internal Internal Internal Internal Internal Internal Internal Internal Internal Internal Figure 8 27 Edit Parameter System Page 2 3 Z Series system Internal Internal Internal Internal Internal Internal Internal Internal Internal Internal Internal Internal Internal Internal Internal Internal PAGES 3 Figure 8 28 Edit Parameter System Page 3 3 Z Series SL Series Servo User s Manual August 2001 GFK 1581B GFK 1581B Operation 8 3 2 2 Parameter Identification An individual parameter is identified by a two digit hexadecimal number The first most significant digit identifies the parameter group 0 7 The second digit is a parameter number 0 F For example Parameter No OB
33. August 2001 GFK 1581B 8 3 GFK 1581B Operation Using the SLconfig Software with a Z Series Amplifier Follow the previous startup instructions to arrive at the Main Startup Screen then proceed with the following instructions e Press the Z key to select the Z Series software The software will display the Z Series Startup screen and will begin establishing communications with the amplifier e When the program establishes communications with the amplifier it will display a message confirming this as shown in the figure below If you get an error message instead check to make sure that you selected the correct amplifier series Z Also check that your serial cable is connected correctly especially at the personal computer which may have more than one communications port Make sure the correct port was selected when starting the SLconfig software Also make sure that input power to your amplifier is turned on SL series SLconfig for DIGITAL AC SERVO AMPLIFIER SL Z series ver 1 04 Communications established RS 232C chl Push any key Figure 8 18 The Z Series Amplifier Startup Screen e Press a key The Z Series Main Menu shown in the next figure will display Chapter 8 Operation 6 21 8 22 8 3 1 Display Alarm Monitor Waveform Graphic Protocol Set Up Axis Address Exit AJ O5 OA C2 POLES Arrow key to Move then Enter or 11 71 keys to Select Figure 8 19
34. Factor Function Load Inertia is more than 2 times but less than 15 times the rotor Load Inertia inertia of the motor Mechanical stiffness of the machine components should be as high Mechanical as possible Pay particular attention to the selection of the motor Compliance coupling type of drive belts and drive shaft and ball screw and diameters Some belt driven systems may not tune properly due to Resonance excessive elasticity of the belts Auto tuning may not work on machine axes with resonant frequencies lower than 400 Hz Backlash of any gearing should be as small as possible Planetary Backlash type gear reducers rated for servo applications are typically the best choice Eccentric unbalanced load should be less than 1 Ath of the rated continuous torque of the motor Viscous speed dependent friction load torque should be less than 1 4th of the rated continuous torque of the motor No safety problem or machine damage is expected even if an Machine _ oscillation servo instability occurs Design Machine design must allow at least two full revolutions of the motor in both the CCW and CW directions Automatic Tuning Procedure The auto tuning function can be initiated from either the amplifier keypad see Section 8 1 1 4 or from the SLconfig software see Section 8 3 10 1 for Z Series or 8 4 7 for V Series SL Series Servo User s Manual August 2001 GFK 1581B Tuning Note When using t
35. INH input to COM This can be accomplished by placing a wire jumper between the following pins on the CN I F connector Z Series Amplifiers Jumper CN I F pin 9 to pin 28 V Series Amplifiers Jumper CN I F pin 33 to pin 41 5 6 Motor Encoder Output Interface The SL Series amplifiers provide encoder output signals that can be used to provide motor position feedback to an encoder based motion controller The encoder feedback from the SL series motor is processed through a scaling circuit that can be used to reduce the resolution of the encoder output in order to achieve higher speeds on motion controllers with a fixed frequency limit on the encoder interface circuit The standard 2500 PPR encoder resolution is reduced using the Encoder Output Ratio configured by Parameter Nos OB numerator and OC denominator When using a scaling ratio other than 1 Observe the cautions defined in the ratio parameter descriptions See Chapter 6 for details on configuration parameters AM26LS32 AM26LS31 or equivalent oy eee d or equivalent f OA FN 19 OA 50 c3 l e 8 282 1 22 Gi dg OB V x B 9p OZ an 1 OZ M Z GND 3 Twisted pair N i 9 pi xm V Amplifier side S77 CN I F Figure 5 11 Encoder Output Interface Circuit for Z Series Amplifiers 30 750W GFK 1581B Chapter 5 I O Circuit Configuration and Functi
36. Joules Where Jin Motor rotor inertia Ib in s SLM003 0 0000139 SLMO075 0 001162 SLMO005 0 0000225 SLM100 0 001491 SLMO010 0 0000546 SLM250 0 003814 SLM020 0 0001474 SLM350 0 006992 SLM040 0 0003208 SLM500 0 015750 Ji Load inertia reflected to motor shaft Ib in s Q Initial motor speed at the beginning of deceleration RPM Qr Final motor speed at the end of deceleration RPM STEP 2 Energy to be Consumed Through Axis Friction E E 5 9110 xt x 0 0 XT Joules Where Qi Initial motor speed at the beginning of deceleration RPM Qr Final motor speed at the end of deceleration RPM ta Deceleration time worst case sec Ti Axis friction torque as seen by the motor in Ib Chapter 4 Wiring 4 9 4 10 STEP 3 Vertical Energy to be Released During Downward Motion E This term applies only in vertical axis operation E L182x1072 xr xo x2 Joules 100 where Th Upward supporting torque applied by the motor during in Ib downward rapid traverse to hold the load against gravity Om Motor speed during downward rapid traverse D Duty cycle of downward vertical operation relative to the 96 total cycle time Note the maximum value of D is 5096 STEP 4 Determine if a Regenerative Discharge Resistor Is Required Determine the Average Regenerative Energy using the equation in the beginning of this section When the average regenerative energy produced never exceeds the ma
37. Main Menu Z Series Note that while the SL Series amplifier is communicating with a personal computer the amplifier s front panel key operation will be disabled Exiting the Z Series SLconfig Program There are three ways to exit the Z Series SLconfig program e From the Main Menu press the 7 key Then press the Y key to verify the exit e From the Main Menu highlight the menu item Exit using the Down arrow key J then press Enter Next press the Y key to verify the exit e Press the Escape key and then press the Y key to verify the exit SL Series Servo User s Manual August 2001 GFK 1581B 8 32 GFK 1581B Operation The Z Series Parameter Menu The Parameter Menu is used to view or change the current parameter values The Parameter Menu is accessed from the Main Menu by pressing the 1 key or by highlighting in reverse video as shown in the figure Parameter Setting and pressing the Enter key Once this is done the Parameter Menu will be added to the screen to the right of the Main Menu as shown in the next figure Note the double line around the Parameter Menu indicating that it is the active menu Main Menu Parameter Menu au Parameter Setting Edit Parameter 2 Display filarm Mrite EEPROM 3 Monitor Load PC gt Amplif ier gt 4 Waveform Graphic SaveCAmplif ier gt PC gt 5 Protocol Set Up Change Display Mode 6 Axis Address Make Parameter List 7
38. Time Constant time constant becomes infinite and the integration function is disabled Default 50 SL Series Servo User s Manual August 2001 GFK 1581B GFK 1581B Configuration Parameters 6 Parameter No Parameter Description Adjustment Range Function 05 Velocity Feedback Filter Z Series 0 7 V Series 0 4 You can select the time constant of the digital low pass filter for the velocity feedback signal Larger values reduce noise from the motor but reduce servo response bandwidth as shown in the table below We recommend you to set this to 4 unless you need high servo response Filter Cutoff Frequency Hz eries oli elole lal ZS 1250 770 520 480 390 370 300 eries Hz Hz Hz Hz Hz Hz Hz V Seri 1200 740 550 460 n a n a n a CHES Hz Hz Hz Hz Default 4 0 6 Torque Limit 0 400 The SL Series amplifiers are designed to output a maximum torque of 300 of the rated continuous torque for short periods of time You can limit this maximum torque to a smaller value when required by the application The value is set as a percentage of the rated continuous torque i e rated continuous torque 100 Example When the parameter setting is 200 permissible output torque is 200 2 times of the rated continuous torque For V Series amplifiers the In Torque Limit output TLC is activated when the torque command exceeds the value set
39. To correct this situation insert the diskette into the A drive and press the R key Retry then the Enter key If you press the F Fail key the save operation will be stopped and the Save window will display the message The file cannot be opened If you press the A Abort key the SLconfig software will shut down and you will have to restart it then work your way back through the menus to this menu in order to resume the save operation e To change to a different directory use the arrow keys to highlight that directory name in the file list then press the Enter key You will now see a file list for the directory you just specified Note If the file list is too large to fit in one window use the arrow keys to scroll up and down the list The number of files in the directory is noted at the bottom of the window e f you wish to move up one level in the directory structure place the cursor on the line that has a double dot for a directory name as shown in the figure below then press the Enter key GFK 1581B Chapter 8 Operation 6 31 8 32 lt DIR gt 1997 07 13 18 49 on lt DIR gt 1950 01 01 00 00 LMFOLDER 30 22 1997 07 13 _MAIN DEC 660 1997 07 13 MAIN LH1 3776 1997 07 13 IOCFG CFG 1147 1997 07 13 CPUCFG CFG 146 1997 07 13 _MAIN STE 1570 1997 07 13 _MAIN PDT 311 1997 07 13 9 files e When you are in the correct directory press the Escape key to return to the Save window The Path line of t
40. Z Series Note The alarms viewed on these screens each have a unique Alarm Code Number These are listed in Chapter 9 which provides instructions on how to handle each alarm The Alarm Menu has four selections e Display Alarm Displays only the current alarm e Alarm History Displays the last eight alarms in chronological order e Erase Alarm History Erases the eight alarms from the Alarm History memory leaving it blank e Exit Exits back to the Main Menu 8 3 3 1 Displaying the Current Alarm Z Series The current alarm if there is one can be displayed from the Alarm Menu by pressing the 1 key This will cause the Alarm Data window to display the current alarm as shown in the following figure If there is no current alarm a code00 No error message will display as shown GFK 1581B Chapter 8 Operation 6 35 8 36 Main Menu Alarm Menu 1 Parameter Setting 1 Display Alarm Display Alarm 2 Alarm History Monitor 3 Erase Alarm History waveform Graphic 4 Exit Protocol Set Alarm Data Exit Figure 8 32 Z Series Display Alarm Window 8 3 3 2 Displaying the Z Series Alarm History Window The SL amplifier retains its last eight alarms in non volatile memory They can be viewed in the Alarm History window The Alarm History window can be displayed by pressing the 2 key on the Alarm Menu The following figure shows the result Note that if there no alarms to report or there are less than eight alarms
41. dynamically vary the speed limit for torque mode control Alternatively the internal speed presets described above can be used for one or more fixed speed limits Adjustments for Torque Control Mode include Torque Command Scaling Parameter No 1A Torque Command Polarity Parameter No 1B Torque Command Offset Parameter No 1C Torque Command Filter Parameter No 1D 3 Velocity Control Mode default This mode can be configured to accept either an analog velocity command or multiple internal preset speed commands selected using discrete inputs The Z Series amplifier supports up to four internal speed settings while the V Series amplifiers support two speed presets The Z Series also has a mode where the user can switch between the analog command and up to three preset speeds using discrete inputs When used with an external position controller such as the GE Fanuc APM300 or DSM300 Series the SL amplifier provides incremental encoder feedback to close the position loop Independent analog inputs CWTL and CCWTL are available to dynamically limit torque in the CW and CCW directions For speed control applications the ZEROSPD clamp input can be used to prevent servo drift when the motor is stopped for long periods of time Adjustments for Velocity Control Mode include Velocity Loop Gain Parameter No 03 Velocity Loop Integration Time Constant Parameter No 04 Velocity Feedback Filter Parameter No 05 Velocity Command Scaling Parame
42. not displayed Cc Not in use not displayed Not in use not displayed PD Not in use not displayed ae Not in use not displayed PE Not in use not displayed Sz Not in use not displayed fF Not in use not displayed FI Position Error Counter is Clear Table 8 2 V Series Amplifier I O Signal Status Display Code in the Monitor Mode Torque Limits and Velocity Command Input A D Value Display for Z Series Only The Monitor Mode also supports the display of some of the analog input A D values for signals on the CN I F connector The CW and CCW Torque Limit inputs CWTL and CCWTL and the Velocity Command input SPR would display in the Execution Display with a full scale range of 2048 to 2047 representing approximately 10 2 VDC on the input A positive value represents CCW rotation or torque that will produce CCW rotation of the motor Absolute Position Display for Z Series Only The Absolute Position display in the Monitor Mode is not functional This mode requires absolute encoder feedback which is not currently available for the SL Series servos Version Number Display for Both Series The version number of the amplifier firmware can be viewed by selecting the Version Number display in the Monitor Mode See Figure 8 3 for the Selection Display for this option SL Series Servo User s Manual August 2001 GFK 1581B GFK 1581B Operation 8 1 1 2 Parameter Mode The amplifier keypad can be used to view or
43. of the motor Apply negative command voltage 0 to 10Vdc to CWTL with respect to GND to limit the CW torque and positive command voltage 0 to 10Vdc to CCWTL with respect to GND to limit the CCW torque The relationship between the input voltage and the torque limit relative to rated torque is approximately 3V 100 rated torque as follows CW command CCW command NOTES 1 The CCWTL and CWTL inputs are inhibited through Parameter No 07 Torque Limit Inhibit as the default setting To use these inputs Parameter No 07 must be reset to 0 see Chapter 6 2 Parameter No 06 also sets a torque limit that may conflict with the torque limit set using these analog inputs When the CWTL CCWTL limit inputs are enabled the SL amplifier will use the smaller value set by either the CWL CCWL inputs or Parameter No 06 When in Torque Control Mode This function is inactive Related Parameters 06 07 AI 2 Torque Command Input T TROR All 16 34 GND All 17 35 When in Torque Control Mode This input is the analog torque command You can set the torque command input scaling relationship between command input voltage level and generated torque of the motor and polarity using Parameters 1A and 1B respectively see Chapter 6 Any offset voltage on the input signal can be corrected using Parameter No 1C and Parameter No 1D adjusts the time constant on a signal noise filter T
44. the positions containing no alarm will read code00 No error Main Menu Alarm Menu Grp aua er Setting p 1 Dis Alarm GGENEFROESORS Monitor 3 Erase Alarm Histor Waveform Grap 5 Protocol Set codeOQ0 gt Axis Address codeo0 A Ext r codeO0 codeoo codeo0 code00 code00 code00 Figure 8 33 Alarm History Window Z Series 8 3 3 3 Alarm Codes Each alarm has its own code number A listing of these codes and instructions on how to handle each one can be found in Chapter 9 8 3 3 4 Erasing the Z Series Alarm History List You may wish to erase the alarm history list after correcting a problem To erase the list press the 3 key on the Alarm Menu This will produce the message Erase Alarm History Yes No To erase press the Y key To retain the alarm history and return to the Alarm Menu press either the N key or the Escape key Pressing the Y key will result in the message Operation Successful Push any key Press any key to return to the Alarm Menu SL Series Servo User s Manual August 2001 GFK 1581B 8 34 GFK 1581B Operation The Z Series Monitor Menu The Monitor Menu gives you the ability to check the status of various signals in the SL amplifier The Monitor Menu is accessed from the Main Menu by pressing the 3 key or by highlighting in reverse video as shown in the figure Monitor and pressing the Enter key Once this is done the Monitor
45. this parameter inhibits the Position Error Limit protective function set by Parameter No 23 When this function is disabled the amplifier will continue operating when the value of the position error counter exceeds the position error limit set by Parameter No 23 0 Enable Position Error Limit Fault 1 Disable Position Error Limit Fault NOTE When the position error limit detection is disabled the position error counter will accumulate error counts until the maximum value of 134 217 728 is reached At this point the amplifier faults on a Position Error Counter Overflow alarm Error Code 29 Default 0 In Position Control Mode the SL Series amplifiers allow the user to scale the pulse command input PULS SIGN so that a specific number of command pulses represent one revolution of the motor This parameter sets the numerator of this pulse command ratio Parameter No 26 sets the denominator of the ratio NOTE Setting extreme ratios may cause system performance problems see notes for Parameter No 26 Default 10000 6 21 6 22 Parameter Parameter Adjustment No mra Function Description Range In Position Control Mode the SL Series amplifiers allow the user to scale the pulse command input so that a specific number of command pulses represent one revolution of the motor This parameter sets the denominator of this pulse command frequency scaling ratio We recommend you set the scaling rati
46. 01 01 00 00 LMFOLDER 30 22 1997 07 13 _MAIN DEC 660 1997 07 13 MAIN LH1 3776 1997 07 13 IOCFG CFG 1147 1997 07 13 CPUCFG CFG 146 1997 07 13 _MAIN STE 1570 1997 07 13 _MAIN PDT 311 1997 07 13 9 files When you are in the correct directory press the Escape key to return to the Save window The Path line of the Save window will now show the directory you specified as the active one Key in a file name on the Filename line Limit your file name to 8 characters The software will automatically assign a TXT extension by default Press the Enter key When the file is written the message Operation Successful Push any key will display Press a key to return to the Parameter Menu Viewing or Printing the List with Microsoft Word To open the file in Microsoft Word start Word then click File on the Menu Bar and select Open The Open dialog box will display In the Files of type box make sure that All files is displayed This will allow you to see files with TXT extensions in the Name list Use the arrow keys to highlight the desired file in the Name list then click the OK button Word will display a Convert File dialog box In the Convert File dialog box use the arrow keys to highlight Text Only then click the OK button You will now see your parameter list displayed in a columnar format An example of a partial list is shown in the figure below Note that the parameter values in this figure are only exam
47. 2nd Velocity or Position Loop Gain values set by Parameter No 30 32 for the appropriate Position or Velocity Control Modes 0 Switching to 2nd gain is disabled 1 Enable automatic switching to 2nd gain values see Parameter No 34 2 Enable 2nd gain values using the GAIN input CN I F pin 32 see note 1 as shown in the following diagram GAIN Input 4to8ms gt lt 33 2 4 Gain 2 Gain ue f Switching M Z Series Only Mode 1 Gain NOTES 1 Forthe Z Series amplifiers the GAIN input function shares connector CN I F pin 32 with the C MODE and P CON functions see section 5 7 2 making these functions mutually exclusive Parameter 3F is used to select the desired function When using the SL Series amplifiers in Velocity Control Mode with an external position controller switching the velocity loop gain is not recommended Therefore the GAIN input is not available on the APM DSM Interface terminal block IC800SLTO001 but is available on the breakout terminal block IC800SLT004 Default 0 For Z Series amplifiers configured for Position Control Mode this parameter configures a time delay used when switching between the 1 and 2 gain values The scaling on the time delay is as follows Time Delay ms 2 x Set value 2 The time delay starts after the pulse train input for a given move command is complete as shown in the following diagram The gain switches from the 1 gain setti
48. 3 2 8 Making a Parameter List This feature lets you create a text file that lists all of your parameter settings This list would be useful for documenting your final parameter settings or it could be e mailed or faxed to a technical support person who is helping you troubleshoot a startup problem The text file can be opened in a text or word processing program and viewed or printed from there The parameter list contains e Date and time the list was created SL Series Servo User s Manual August 2001 GFK 1581B Operation e Parameter type user or system e Parameter number e Parameter name e Parameter value e To make a parameter list press the 6 key on the Parameter Menu A Save window will display A default path is shown in this window You may choose to save your file in the default directory shown or specify a different one Both choices are discussed below insert figure Using the Default Path Directory e To use the default path key in a name on the Filename line The name should be 8 characters or less The software will add the extension TXT by default e Press the enter key The message Operation Successful Push any key will display e Press any key to return to the Parameter Menu Specifying a Path Directory You may wish to write the file to a different location than the default e To save to a different directory on the C Drive press the Tab key To save to the A drive type A on the Fil
49. 99 25 il 120V Versions 230V Versions Figure 3 1 Z Series Amplifier Dimensions SL Series Servo User s Manual August 2001 GFK 1581B Installation Guidelines 3 4 2 V Series Amplifier Dimensions 0 205 5 2 U L Alternate Mounting c x Tab Locations pese uim IEEE x x 1 ev JOU j IS G 1 R Prs GE Fi i e SL derten Anpilfior i S e TCBOOSLAxx x 1 T oe 9 84 i r Lelia 250 Ce OL t e 9 25 8 90 Di s 235 226 9 8 66 DL2 o 220 1 P e ii 1 B e 1 N e For2 800 7 U e cj Watt l Amplifier i si e ToN i w e 1 For 1 000 D x Watt amp Amplifier EEN t Y A o qt Y gt la 0 205 5 2 E oor m 0 04 1 jj 1 38 85 le 8 08 205 lt 1 97 50 Diminensions in inches mm H 2 76 70 gt I 374 95 4 72 120 gt Figure 3 2 V Series Amplifier Dimensions for 1 000 and 2 500 Watt Sizes
50. Amplifier Feature Overview Table 2 2 V Series Amplifier Specifications Amplifier Rating 20 C Specification Units 1000 W 2500 W 3500 W 5000 W Model Number SLA1002 SLA2502 SLA3502 SLA5002 Continuous Current Aums 7 2 15 9 21 6 28 5 Peak Current Aop 30 68 92 120 Bus Power Supply VAC 170 253 VAC 50 60 Hz Single or Three Phase MM Power VAC 170 253VAC 1 50 60 Hz upply Voltage 12 to24VDC 10 I O Power Supply Current 500 mA Position Loop 0 26 ms 0 26 ms 0 26 ms 0 26 ms Loop Update Time Velocity Loop 0 26 ms 0 26 ms 0 26 ms 0 26 ms Current Loop 0 0868 ms 0 0868 ms 0 0868 ms 0 0868 ms Pulse Command 1 us Command Input Velocity 50 Filter Time Command HS Constant Torque Command SOPS Weight lb kg 8 58 3 9 9 46 4 3 21 8 9 9 21 8 9 9 Turn On Voltage 380 VDC Continuous 300 W 1000 W External Power Regenerative Resistance Resistor Options GE Fanuc kit 20 Q 159 d RE 40 A 40 A 40 A 40 A Current Environmental Data Humidity non RH 90 condensing Altitude Feet Meters 3300 1000 Ambient o Temperature C 0 to 50 operating Storage ec 20 to 80 Temperature Shock G 15 non operating Vibration G 0 5 10 150 Hz Single phase operation of 230 VAC models rated 200 W and larger require derating of the motor torque by 2 5 per C above 40 C up to 50 C maximum GFK 1581B Chapter 2 SL A
51. Before running the motor be sure that it can be done safely and ensure there is a quick method to disable or remove power from the amplifier if servo oscillation occurs Be familiar with how to stop the motor quickly should it be required Failure to heed these warnings could result in injury to personnel and damage to equipment e Set the various parameters for the waveform display that you desire e Press the Spacebar from any screen or place the highlight on the Start Measuring field on Waveform Graphic Screen 1 and press the Enter key If you are set up for trigger operation Trigger Object parameter set to Actual Speed you will see the following message Nou Uaiting for trigger Push E key to Cancel 1 e Start the SL motor Once the trigger occurs the message will change to the following Nou Measuring Data Push E key to Cancel 1 e When the measurement is done the waveform will display See an example in the next figure Note that the Measuring Data time is directly related to the value you place in the Time field e Stop the SL motor SL Series Servo User s Manual August 2001 GFK 1581B Operation 5 00 7 50 10 00 s pagei 3 o Separate Display Single Disp Command Speed Time 10 sec Display Measuring Wave ON Trigger Ob ject Actual Speed Display Actual Speed Trigger Slope Display Reference Wave Trigger Level Trigger Position Arrow amp Enter key to Edit P
52. Chapter 6 When this signal is connected to COM the ond numerator value Parameter No 35 is used to calculate the ratio When this input is OPEN the 1 numerator value Parameter No 25 is used NOTES 1 Parameter No 26 sets the denominator of this ratio 2 You must wait at least 10ms after changing the state of the DIV input before command pulses will be recognized 10ms 10ms l l i l Prohibited Prohibited Related Parameters 25 26 27 28 29 35 Control Mode Selection Input P V T C MODE 32 32 C MODE is used to select between two operating modes when the amplifier is configured for one of the three dual mode control settings Parameter No 02 set to 3 4 or 5 Par No C MODE C MODE Input 02 Setting Input OPEN Connected to COM 6 Velocity Torque Example If Parameter 02 is set to 5 you can select between Position and Torque modes by switching the C MODE input When C MODE is OPEN Position is selected When C MODE is connected to COM Torque is selected Related Parameter 02 I1 SL Series Servo User s Manual August 2001 GFK 1581B I O Circuit Configuration and Function Title Symbol Par 3F Z Series CN I F Pin V Series CN I F Pin Z Series Description ro Signal Interface Diagram Gain Selection Input V Series N A Z Series P V T GAIN 1 2 N A 32 For the Z Series amplif
53. Choices are Mono or Color Note that for either setting the graph structure and scales are displayed in black and white e Save Graphic Parameter Lets you save your graph settings in a disk file for later use The file name is SLconfig grp e Exit Setting Graphic Exits to the previous screen SL Series Servo User s Manual August 2001 GFK 1581B 8 4 10 GFK 1581B Operation Gain Parameter Setting Screen V Series The Gain Parameter Setting screen shown in the next figure is selected from the Waveform Graphics screen 5888 58808 RPM CRPM16 6 8 25 6 5 6 75 Position loop gain 18 18881 85 Velocity loop gain 25 35881 39 Velocity integration 1 18881 37 Velocity feed forward 8 1881 6 Measuring start Setting graphic File operation Write data into EEPROM Exit gain parameter setting Figure 8 70 Gain Parameter Setting Screen V Series This screen has the following parameters Position loop gain 10 1000 Allows you to either key in a value or increment or decrement the current value with the Right or Left arrow key To increment or decrement a value by a factor of 10 hold down the Shift key while using the Right or Left arrow key Velocity loop gain 25 3500 Allows you to either key in a value or increment or decrement the current value with the Right or Left arrow key To increment or decrement a value by a factor of 10 hold down the Shift key while using the Right or Left arrow k
54. Continuous Current 230VAC Model Ams 1 0 1 0 1 0 1 6 2 5 4 3 MEE Model 43 43 6 9 10 5 18 3 Peak Current TET aa d 43 43 43 6 9 10 5 18 3 Ao p Bus Power x Single Phase 85 126 VAC 50 60 Hz Supply x 2 170 253 VAC 50 60 Hz Single or Three Phase I O Power Voltage 12 to24VDC 10 Supply Current 200 mA Position Loop 0 25 ms Loop Update Time Velocity Loop 0 25 ms Current Loop 0 0417 ms 0 0833 ms Command Input Pulse Command 1 us Filter Time Velocity Command 50 us Constant Torque Command 50 us 113 b 1 98 0 9 1 98 0 9 1 98 0 9 2 2 1 0 2 64 1 2 Weight 230 MEET 1 98 0 9 1 98 0 9 1 98 0 9 1 98 0 9 2 2 1 0 2 64 1 2 Turn On Voltage 115 VAC Models 195 VDC 230 VAC Models 380 VDC Continuous Power 115 VAC Models 100 W 230 VAC Models 225 W EU Resistance Regenerative Bear ae 115 VAC Models 50Q 230VAC Models 100 Q GE Fanuc kit Resistor Options Section 4 1 2 Maximum Current 115VAC Models 8A 8A 8A 8A 12A N A 230VAC Models 8 A 8A 8A 8A 12A 24 A Humidity non RH 90 condensing Altitude Feet Meters 3300 1000 Ambient A Temperature C 0 to 50 operating Storage ec 20 to 80 Temperature Shock G 15 non operating Vibration G 0 5 10 150 Hz Single phase operation of 230 VAC models rated 200 W and larger require derating of the motor torque by 2 5 per C above 40 C up to 50 C maximum SL Series Servo User s Manual August 2001 GFK 1581B SL
55. EM IURI fa Lege A 14 A 4 Breakout Terminal Board IC800SLTOO04 eeeeeeeeese A 15 A 4 1 Terminal FUNCtHON Sienet E eT E eaS A 15 A 4 2 IC800SLT004 Mounting Dimensions eee A 17 A 5 TAQ WIEIE oat E eR RR ERE A 18 A 5 1 T O Cable Grounding and Separation eee eeeeeeeesseeeeeeesneeeeeenaes A 18 A 5 2 Signal Cable Grounding eese A 18 A 5 3 Converting Terminal Boards to Panel Mounting A 21 CE Installation Requirements ccccssssssssssssssssssssssssssccesssssssssssssscseees B 1 SL Series Servo User s Manual August 2001 GFK 1581B Appendix C Appendix D Appendix E GFK 1581B Contents B 1 Compliance with EC Directives CE Mark sesss B 1 B 2 Peripheral Devices eR B 2 B 2 1 Installation 5 ete t An Rar an ewan aren B 2 B 2 2 Power Supply eeessccceesssceceessneeeceessaeeecessaeeecsssaeeceessaeeesessaeeeeeesaes B 3 B 2 3 Input Power Circuit Breaker seeeeeeeeeereenn enn B 3 B 2 4 Grounding snae E e ere pere De Ra EH PR OR CERE Pa DE e E Ep ed B 3 B 3 Compliance with EMC Directive eeeeseeeeeereeneen B 3 B 3 1 Noise Filter for AC Supply serene B 4 B 3 2 Surge Protector diae elesdeieleside deseen B 4 B 3 3 Noise Filter for Signal Lines seeeeeeeeeeeenenenn B 5 Tables and Formulas 5i ot ae aiunt eo Cursor e eua
56. ER eU eo a ERtee ac ESSERI cag SUR S RE SK aea nH E UmuuE C 1 Standard ASCII American Standard Code for Information Interchange Codes C 1 AWG to Metric Wire Size Conver SION yie E EEEE ERE E E EREE C 2 Temperature Conversion s 5 Sususc ue o GG GI IR Id C 3 Formulas edet ntt edere eye RP de ERE C 3 T blez i sro S OD re Ut C 3 Miscellaneous Equivalents eed e eue C 4 Fraction Decimal Metric Equivalent sese C 5 English and Metric Equivalents 1 2 22 1 12S Ie Oeo de de e ade dud C 6 VersaMax High Speed Counter Interface eere ee eeee esee e eene D 1 Interfacing the IC200MDD841 Module to the SL Series Servo Amp D 1 Interfacing the SL Servo to an OCS RCS eee eee eene enne E 1 Application OVerview ai utitur PEE eee to A YR PEE A EHE E 1 Benefits of this Application nennen nere enne E 1 Materials TiSi asit to T RU fe der Ur NAI eSI EE RAE ORIS E 2 Power Requirements e eter e eec eset Rise e vecdadea Pee e eee een edes E 2 bun E E 2 SL Amplifier Configuration essere nennen E 3 OCS Config ration ditt m Eee ER eal hn ERE edn cei Erat E 5 Application Notes tene recette tree eade era veces dne Enea eg E 6 Example Application eret tecti eere en eee suae e suse dg E 7 Source Material e cete tat tee eese e eere iue erae due ev
57. Feedback ratio numerator is in parameter group 0 and has a parameter number of B It can be found on parameter PAGE 1 5 Similarly Parameter 37 Jog Speed is in group 3 with a parameter number of 7 It is found on parameter PAGE 4 5 8 32 3 Editing a Parameter Z Series This procedure describes how to use the software to change parameter values but does not tell you how to determine the best value for the parameters That subject is covered in detail in Chapter 6 of this manual Note that parameters numbered 40 through 7F found on parameter PAGE 5 5 and the three System parameter pages cannot be edited Use the following procedure for editing parameters Some parameters substantially change the motion of the motor because of their function e g Parameter No 02 Select control mode No 14 Analog command polarity No 25 26 Pulse cmd ratio numerator denominator etc Before changing these parameters be sure the servo axis is disabled e Disable the SL Series amplifier e On the applicable parameter page press the number key corresponding to the parameter to be edited or highlight the desired parameter then press the Enter key The Change Parameter window will open as shown in the next figure Display Alarm Monitor waveform Graphic Protocol Set Up 00 Axis address Axis Address 01 Select initial display Exit 02 Select control mode 32 Change Parameter 50 0 1 Edit Parameter Write EEPRO
58. Gain can be computed as follows 1000 Position Loop Time Constant ms Position Loop Gain rad sec Table 7 2 shows the appropriate value that should be used for each Machine Stiffness Number Asa rule of thumb the APM or DSM Position Loop Time Constant should be set to approximately 1 4 to 1 2 of the minimum deceleration time required by the SL servo system For controllers that use Position Loop Gain measured in units of radians second the SL servo value should be used in the external position loop Using this rule the initial Machine Stiffness Number can be determined based on system requirements rather than trial and error If the Machine Stiffness Number cannot be determined as indicated in the note above start with a small value for Machine Stiffness and then repeat the automatic gain tuning until you encounter oscillation abnormal noise or vibration Then reduce the value to the highest setting free from any instability Caution An error during the autotuning process does NOT disable or fault the amplifier Be prepared to disable the amplifier or remove power if excessive oscillation occurs The motor will rotate approximately two revolutions CCW and two revolutions CW and then repeat the cycle This cycle may be repeated a maximum of five times in order to optimize the settings The acceleration rate will be doubled each cycle starting with the third cycle Depending on the state of the load there may
59. Hz x 3 5 Table 7 2 Automatic Tuning Machine Stiffness Numbers GFK 1581B Velocity Loop Gain Velocity Loop Position APM DSM e umeere Para ay Gain Psion Number Final Value Final Value Final Value Constant Mm No Constant Gu boJ si deexoda s Giehonazi Para No 04 Gee note 1 25 Hz 125 Hz 250 Hz 80 ms 40 rad sec 25 ms 2 34 3 Hz 171 Hz 343 Hz 58 ms 55 rad sec 18 ms 3 43 8 Hz 219 Hz 438 Hz 45 ms 70 rad sec 14 ms 4 53 1 Hz 265 Hz 531 Hz 37 ms 85 rad sec 12 ms 5 62 5 Hz 312 Hz 625 Hz 32 ms 100 rad sec 10 ms 6 71 8 Hz 359 Hz 718 Hz 27 ms 115 rad sec 9 ms 7 81 2 Hz 406 Hz 812 Hz 24 ms 130 rad sec 8 ms 8 90 6 Hz 453 Hz 906 Hz 22 ms 145 rad sec 7 ms 9 100 Hz 500 Hz 1000 Hz 20 ms 160 rad sec 6 ms When configured in the Position Control Mode the SL amplifier uses the Position Loop Gain shown in the table When configured for Velocity Control Mode the amplifier temporarily switches to Position Control Mode to execute auto tuning and then switches back to Velocity Chapter 7 Tuning 7 5 7 6 Control Mode In that case the SL Series amplifier does not use the value for Position Control Mode Note The GE Fanuc APM300 and DSM300 Series motion controllers set position loop gain using the Position Loop Time Constant axis configuration parameter When using the SL servo with an APM or DSM300 the Position Loop Time Constant equivalent to the SL servo Position Loop
60. I F for V Series Amplifiers Use the following guidelines when wiring to the interface connector 1 Connect a power supply rated 12 24 VDC 10 between pins COM and COM Note This 24 VDC power must be connected to each SL series amplifier for the amplifier to operate The current requirements are shown in the amplifier specification tables in Chapter 2 It is good practice to keep the wiring to the amplifier and other equipment as short as possible 10 ft 3 meters or shorter is recommended SL Series Servo User s Manual August 2001 GFK 1581B 4 3 GFK 1581B Wiring For best noise immunity separate signal wiring from the power lines R S T U V W P B as much as possible 12 inches or more Avoid installing both signal and power wires in the same duct or binding them together To prevent amplifier damage do not apply more than 24 VDC or 50 mA and avoid applying reverse polarity to any of the control output terminals on connector CN I F shown in the table below Output Amplifier Series S RDY Both ALM Both COIN Both BRK OFF Both TLC V Series only ZSP Both EXOUT 0 V Series only EXOUT 1 V Series only EXOUT 2 V Series only If you directly drive a relay with any of the control output terminals install a reverse biased diode in parallel with the relay as shown in Figures 4 7 and 4 8 If you do not install a diode or install it in the wrong direction d
61. Input o E LLLLLEFUU INTSPD Input o i 2nd Speed 1st Speed Motor Speed NOTE When configured for Torque Control Mode Z and V Series either the Analog Velocity Command or the Internal Speed Commands must be used to configure a maximum speed limit for the servo When approaching the speed limit the motor torque decreases linearly to zero starting approximately 90 RPM before the speed limit is reached The analog command can be used to dynamically vary the velocity limit while the different internal speed commands INTSPD may be selected as described above to provide several discrete velocity limits Default 0 Chapter 6 Configuration Parameters 6 18 Parameter No Parameter Description Adjustment Range Function 17 Zero Speed Clamp Inhibit 0 1 This parameter enables disables the zero speed clamp input ZEROSPD as follows 0 ZEROSPD input is enabled 1 ZEROSPD input is disabled NOTES 1 As described in Section 5 7 2 the ZEROSPD input is active when not connected to the COM Therefore if this parameter is set to 0 and the ZEROSPD input is OPEN the zero speed clamp is active and the motor will not rotate A motor that is moving at the time the ZEROSPD input is activated will decelerate under servo loop control to a stop and will be held at zero speed Parameter No 10 sets the deceleration rate for the V Series and Parameter No 1F sets the deceleration ra
62. Internal Speed Command Select Input GFK 1581B I O Circuit Configuration and Function UE Settings for Parameter 3F Z Series Amplifiers Only Pin a Default Lem n iE OA Encoder A Phase Output OA Encoder A Phase Output OB Encoder B Phase Output OB Encoder B Phase Output 23 Not Used Not Used Not Used Not Used Not Used Not Used 2 Nor used Nor Used Not Used Not Used Not Used Not Used COIN In Position or At Speed Output ALM Alarm Output BRK OFF S RDY Q Zero Speed Servo Ready Output Ee banal Brake Detected Release Output COM Control Signal Power Supply Ground CWL CW Overtravel Limit Input CCWL CCW Overtravel Limit Input A CLR Alarm Clear Input CWTL CW Torque Limit Input CCWTL TRQR CCW Torque Limit Input e lt lt c lt Torque Command Input Signal M e e IM Torque Command Monitor C MODE GAIN Veloci end Control Mode Selection Gain Selection city P Gain Type Selection Input lt Indicates the same function as the preceding block in the table GFK 1581B Chapter 5 I O Circuit Configuration and Function 5 15 5 7 2 I O Functional Description This section provides details for each function available on interface connector CN IF The Parameter No 3F column in the table shows the appropriate setting s for this parameter in which each function is active Functions labeled All are active for all values of Parameter
63. No 3F The I O Signal Interface Diagram column refers to I O connection and specification details located in Section 5 7 3 Note The letters in parenthesis in the Title column refer to the control mode that the signal applies to P Position V Velocity and T Torque Unless noted these apply to both V Series and Z Series Table 5 2 Input Output Signal Functional Descriptions Title Symbol Par 3F Z Series CN I F Pin V Series CN I F Pin Z Series Description ro Signal Interface Diagram Control Signal Power Supply COM All 11 COM All 41 28 Connect of the control signal power supply 12 24Vdc to COM and to COM Power supply capacity requirements vary depending on configuration and loading of the control output circuits See Section 5 7 3 for more information Note Allow extra capacity for future requirements N A Servo Enable Input P V T SRV ON All 29 12 When the enable signal is connected to COM of the control signal power supply the dynamic brake will be released see Parameter Nos 0A and 3E and the amplifier is enabled When you open the connection to COM the amplifier is disabled inhibiting current flow to the motor and if applicable the dynamic brake is activated and or the position error counter is cleared The V Series amplifiers always clear the position error counter when the servo is disabled The Z
64. No Yes SLM350 Motor No No Yes SLM500 Motor No No Yes Note For amplifier model numbers shown with an x suffix such as SLAO03x the x is a placeholder for a number that specifies the amplifier s bus power supply voltage If the suffix is 1 the voltage is 115V AC if the suffix is 2 the voltage is 230VAC For example SLAO0031 specifies an SLA003 size 30 watt amplifier with a 115VAC bus power supply voltage rating SLAO0032 specifies the same size amplifier but with a 230VAC bus power supply voltage rating See Table 2 1 for more details GFK 1581B Chapter 2 SL Amplifier Feature Overview 2 17 Chapter 3 1 GFK 1581B 3 Installation Guidelines Amplifier Mounting Guidelines and Environmental Conditions It is the user s responsibility to install the components in a suitable location The servo amplifier must be installed in a location that satisfies the following environmental conditions 1 Geen oe de cu Atmosphere The circuitry and cooling fans must not be exposed to any corrosive or conductive contaminants Ambient temperature 0 C to 50 C operating 20 C to 80 C storage Install the amplifier into ambient temperature conditions within the range of 0 C to 50 C If the temperature exceeds this range it may cause malfunction or damage to the amplifier For 230VAC models using a single phase power supply it is necessary to limit the maximum ambient temperature to 40 C for full
65. O Circuit Configuration and Function ro Signal Interface Diagram CN I F CNI F Pin Pin Description V Series Z Series Par 3F Title Symbol Z Series This output will turn ON when the main power is on and no alarm is active on the amplifier NOTES 1 When you turn off the power but the main capacitor is still charged the Servo ready output remains ON until the capacitor discharges 2 On the Z Series amplifiers S RDY default uses the same CN I F pin as the BRK OFF and ZSP output S RDY 0 35 27 functions These functions are selected by Parameter O 1 No 3F and are mutually exclusive P V T 3 When the amplifier is used with a GE Fanuc DSM Series controller the IC800SLTO001 interface terminal block includes an opto coupled interface to the IN4 Servo Ready input on the DSM The APM Series controllers do not have a Servo Ready input so this input must be incorporated into the machine control logic via a discrete input on the PLC Related Parameters 3F Servo Ready Output This output signal can be used to control a mechanical brake on the motor This output is not designed to directly control the motor brake An interposing relay with a coil voltage of 12 24V and 50mA max must be used The brake circuit should be designed so that External Brake the brake is released when this output is activated Release Output transistor turned on Parameter Nos OE and OF BRK OFF 1 2 3 4 11 27 determin
66. OCS IC800SLT004 Terminal Block IC300STP100 Terminal Connector for SL Amplifier for OCS Stepper Module Enable SRV ON 50 COM 35 i pues So pond OZ 20 i 10 Marker OA 04 11 A wal lt a ee OB 03 E o 3 Y 13 B OB 21 14B ecc oS UN ME he SIGNI 23 16 Dir a CONMEM cd PULSI 24 18 Step I Shield S 1 MN INH 47 olo 02 Emergency Stop COM 33 24VDC COM 16 4 Power Supply 01 Isolated Common gt To OCS 24VDC Input Figure E 1 Basic Wiring Diagram SL Amplifier Configuration The following is the complete configuration for the SL amplifier copied from a 100 watt system used to test this application These parameters are explained elsewhere in this manual You may change amplifier parameter values as needed via the amplifier front panel or the SLconfig software After the parameters are changed be certain to save them to EEPROM in the amplifier and power cycle the amplifier Run the autotuning function after the power cycle with a low 2 4 machine stiffness value Save the settings to EEPROM again For completeness all the SL parameters are listed in the following table but only a few need to be changed from default values for this application A file Ocs_demo prm containing this parameter configuration is contained in zip file OCS_SL ZIP which can be downloaded free of charge from www gefanuc com support The parameters indicated with an
67. Occurs While Value Motor Is Moving Motor Is Stopped 0 DB toastop DB toastop Coast to a stop DB toa stop DB toa stop Coast to a stop Coast to a stop Coast to a stop Default 0 For Z Series amplifiers this parameter determines if dynamic braking is used to stop the motor and if the position error counter is cleared when the amplifier is disabled by the SRV ON input connector CN I F The options are shown in the following table Position Deceleration Error Mode Counter o D wsop Keep DB ON Clear 6 DB wsop TumB OFF Retain NOTE The V Series amplifiers always clear the position error counter when the amplifier is disabled Default 0 The Z Series amplifiers allow the user to customize the I O functions available on the servo interface connector CN I F Some of the functions share a connection pin and are therefore mutually exclusive Also some of the functions are only available for certain operating modes as configured by Parameter No 02 Therefore the I O configurations have been grouped with six options as shown below 0 Default 1 Configuration 1 Action After Motor Stops 2 Configuration 2 3 Configuration 3 4 Configuration 1 5 Configuration 2 For details of pin assignment for each mode refer to section 5 7 1 I O Configuration for Z Series Amplifiers Default 0 GFK 1581B Chapter Tuning A 7 1 Tuning Overview The SL Series amplifier
68. Parameter Setting Page 3 30 r Motor pole 31 r Encoder pulse J T ratio Current proportional gain Current integration gain Overspeed level Maximum output torque Overload time constant Overload criteria Internal use 24576 Fa EQ0 W E ID UD QR CD EDI Gl LZ i EI GO C RTE RETE XC ED QD BEAL GL YQ Wn CD WD QJ UD DU L2 UD AS TRMA AGEN NAP Vi Tj YU GL SAT M OVP Be da d Gp D ra ns ZD CHANGE PAGE Enter X or left right arrow key CURSOR DOWN Enter P or down arrow key CURSOR UP Enter N or up arrow key SELECT Press ENTER key QUIT Enter Q Figure 8 57 V Series Parameter settings PAGE 3 How to Setor Change V Series Parameters On the parameter pages the cursor position is indicated by an asterisk and a small highlight in the left margin of the screen To make a selection from a parameter menu move the cursor next to the desired parameter using the Up or Down arrow keys T 1 or the P Previous or N Next keys of the computer then press the Enter key A message relating to the parameter that you want to change will be displayed at the bottom of the screen and a procedure message will be displayed on the right side of the screen near the middle You can key in the new value for the parameter then press the Y key to verify it Note that there are some parameters that you cannot change such as the one labeled Internal Use at the bottom of each page or parameter
69. Ratio Parameter 6 27 2 Position Loop Gain Parameter 6 25 2 Velocity Loop Gain Parameter 6 25 2 Velocity Loop Integration Time Constant Bamio 3 3 Bit Code V Series Error History screen 8 64 3 Internal Speed Parameter 6 27 4 Internal Speed Parameter 6 27 A Absolute E display keypad 8 8 AC Line Filter 4 2 Acceleration Rate Limit Parameter 6 14 Agency Compliance 2 17 Alarm Action Selection Parameter 6 28 Alarm clear keypad 8 13 Alarm Clear Input Alarm Code Output 5 22 Alarm codes 8 36 Alarm V Series See Error V Series Alarm Z Series current alarm erasing history list menu 8 35 Altitude Ambient Tem perature 2 11 B 1 Moo 9 Amplifier Connector Mates 4 21 dimensions Installation Power Dissipation Power Terminal Wiring 4 1 Analog Inputs 5 5 Index Analog Monitor Mode Selection Parameter Analog Outputs 5 7 APM Controller Connection Diag Axis 1 Follower Mode Connection Diag Axis 1 Standard Mode Connection Diag Axis 2 Follower Mode Connection Diag Axis 2 Standard Mode A 9 disabled for autotuning 8 10 8 50 8 66 IC800SLT001 Terminal Assignment Follower Mode A 6 VR rrr Terminal Assignment Standard Mode A ASCII codes C 1 Atmosphere At Speed Output 5 22 At Speed Output Detection Level Parameter Automatic Gain Switching Delay Time Parameter 6 26 Automatic Gain Tuning Z Series 8 49 Autot
70. Series gt 2 5kKW Oo Nn Meters Nn V Series w Brake 1kW to 2 5kW Motor Power Brake Power Cable Brake Power Cable The V Series motors include the brake power connections in the power cable when required Only one type of power cable is V Series w Brake gt 2 5kW Z Series Only required Z Series motors use a separate brake power cable 4 20 SL Series Servo User s Manual August 2001 GFK 1581B Wiring Table 4 5 Amplifier Mating Connectors Amplifier Connector Applicable Mating Connector Sumitomo 3M Ltd Sumitomo 3M Ltd Connector MDR Series Qty Description MDR Series Amp CHAMP Name 050 Series 2 Part Number Part Number 1 Plug Solder type 10136 3000VE 2 175677 7 Z Series 10236 52A2JL 1 Shell 10336 52A0 008 2 176293 7 CN I F 1 Plug Solder type 10150 3000VE 2 175677 5 V Series 10250 52A2JL 1 Shell 10350 52A0 008 2 178793 5 1 Plug Solder type 10120 3000VBE N A 1 Shell 10320 52A0 008 N A CN SIG Both 10220 52A2JL Equivalent parts also available from Fujitsu 240R Series C Daiichi Denshi CHAMP eee i ipti Kogyo Ltd DDK mp CHAM Name Series Part Number Qty Description gyo 050 Series 2 Part Number 1 CN SER Both DHF RAA10 122ND GFK 1581B Chapter 4 Wiring 4 21 4 22 Table 4 6 Motor Mating Connectors
71. Series amplifiers allow the user to select this option using Parameter No 3E See Section 2 3 for more information on the dynamic brake function and Chapter 9 on protective functions NOTES 1 When you enable the servo make sure that the motor is stopped 2 Allow at least a 50 ms delay after the amplifier is enabled before any command input is applied Related Parameters 0A 3E OF OE Pulse Command Inhibit Input P INH 0 1 2 3 33 This input enables pulse command input PULS and SIGN inputs active when connected to COM When not connected to COM pulse command input is inhibited When used with an external position controller such as the APM 300 or DSM300 Series or when the amplifier is configured for Velocity or Torque Control Mode see Parameter No 02 this input should be left OPEN Related Parameters 29 02 5 16 SL Series Servo User s Manual August 2001 GFK 1581B I O Circuit Configuration and Function Title Symbol Par 3F Z Series CN I F Pin V Series CN I F Pin Z Series Description ro Signal Interface Diagram 1 Internal Speed Command Select Input V T INTSPDI Z Series INTSPD V Series 4 5 28 Z Series amplifiers The INTSPDI and INTSPD2 inputs are used to select from four fixed internal speed commands preset by the user using Parameter Nos 18 19 38 and 39 Parameter No 16 also allows the
72. Servo User s Manual August 2001 GFK 1581B 9 2 I O Circuit Configuration and Function 12 24 VDC 2 1 0 Power Supply Supplied by user Y Y Y v Y Y Y COM S I 4 7kQ amm Q SRV ON A Y O 29 am V V P 00N AY Oo 27 ry k Y V o_INTSPD 5i ZEROSPD T i Y O 26 4 re V Q C MODE m AY Oo 32 He o ACLR A Y oO 31 Hrn H CCWL A yY O 2 CWL y O 9 1 k Y t be CL 30 4 4 k Y ge o INS 33 see COM 4i Amplifier side Ei CN I F Figure 5 2 Control Inputs for V Series Amplifiers 1000 5000W Control Outputs Servo Enable Proportional gain select Internal speed command selection Zero speed clamp Control mode select Alarm clear CCW inhibit End of travel limit CW inhibit End of travel limit Position error counter clear Pulse command input inhibit COM i pod S RDY f N 50mA or less lt 7 by e ASS Servo ready CN ALM D 7 50mA or less lt 7 us 7 Servo alarm Peay COIN 38 S 50mA or less a Y e ASS In position at speed 12 24 V
73. Set the value of the series resistor R in the following formula see Figures 5 9 and 5 10 so that the primary current of the opto coupler is approximately 11mA pal 2 13 559 Ohms 0 011Amps Where Vp I O power supply DC voltage between 12 and 24VDC R Series resistance Q Examples Vp 24VDC R 1 8 KQ Vp 12VDC R 750 Q Note On the amplifier side the logical sense of the command pulse input of the line driver interface is the inverse of the open collector interface as shown in the table below See Section 5 7 2 for more information on the pulse command signals The command pulse input logic sense can be inverted inside the amplifier by changing Parameter No 28 Command Pulse Input Figures 5 9 amp 5 10 A B Supply Side Amplifier Side Pulse Command Interface Type Line driver interface Open collector interface If faults occur due to the influence of noise it may be corrected by connecting signal GND on the pulse command input and signal GND on the amplifier CN I F pin 3 on the Z Series or pin 13 on the V Series The dashed line in the open collector interface diagram in Figures 5 9 and 5 10 shows this connection 5 10 SL Series Servo User s Manual August 2001 GFK 1581B I O Circuit Configuration and Function Note An open Command Pulse Inhibit INH input prevents the use of pulse command inputs When the pulse command mode is used it is necessary to connect the
74. Torque Command Filter 0 to 2500 Sets the time constant of the first order lag filter for the analog torque command input TRQR in order to reduce the effects of noise on the command input signal Larger values provide better noise immunity but reduce the response bandwidth of the servo The time constant is set using the following formula Filter time constant Us Set value x 10 NOTES 1 Filter time constant is 0 Us when set value equals 0 to 49 Z Series or 0 51 V Series 2 When this filter is used set Parameter No 05 0 Velocity Feedback Filter disabled Default 0 1F Z Series Only Deceleration Rate Limit 0 5000 For Z Series amplifiers this parameter sets the deceleration rate limit for the Velocity Control Mode only The relationship between the parameter set value and deceleration time is shown as follows Set value Seconds 1000 RPM x 500 NOTE Do not use the deceleration limit function for the Velocity Control Mode if you are controlling the SL servo with an external position controller such as the GE Fanuc Motion Mate APM300 or DSM300 or servo instability may occur Set this parameter to 0 when using an external position controller Default 0 Chapter 6 Configuration Parameters 6 19 6 20 Parameter Parameter Adjustment a Description Range Position Loop 10 1000 Gain rad s Velocity Feed Forward 0 100 In Posit
75. Velocity Feed Forward Filter Time Cnst 2B Velocity Feedback Filter 05 Velocity Loop Gain 03 6 6 Velocity Loop Integ Time Cnst 04 6 6 Zero Speed Clamp Inhibit 17 Zero Speed Detection Level 11 Connecting amplifier to computer 8 15 Connection APM Controller Interface Diagram A 3 CN I F Interface Connector CN SER Serial Connector CN SIG Encoder Connector Diagram APM Axis 1 Follower Mode Diagram APM Axis 1 Standard Mode A 8 Diagram APM Axis 2 Follower Mode Diagram APM Axis 2 Standard Mode A 9 Diagram DSM Analog Mode A 12 Diagram Power Wiring DSM Interface Diagram Encoder Output 5 11 Stepper Controller Interface Third Party Controller Interface Connectors CN I F Interface CN SER Serial 4 19 CN SIG Encoder 4 15 motor power and brake Part Numbers Control Inputs Control Mode Position 2 3 Torque 2 3 Velocity Control Mode Display keypad 8 5 Control Mode Menu V Series Control Mode Selection Input 5 18 Control Mode Selection Parameter 6 6 Control Outputs 5 3 Conversion table English to Metric CPU Stack Error 9 6 CPU Version Z Series viewing 8 39 GFK 1581B GFK 1581B CPU Watchdog Error9 5 C UL Compliance 2 17 Deceleration Rate Limit Parameter 6 19 Denominator of Encoder Output Ratio Parameter 6 10 Denominator of Pulse Command Ratio Parameter 6 22 Derating Ambient Tempe
76. Window called Setup in the window heading will be added to the screen to the right of the Main Menu The following figure shows this window Note the double line around the Setup Window indicating that it is the active item on the screen This window contains two communications parameters for your computer s RS 232 serial port The Time Out setting has a range of 1 to 255 seconds The Retry Count has a range of 1 to 10 times Note that the default settings will work properly in most cases To change one of these settings e Use the Up or Down arrow key to highlight the desired item e Key in a new value e Press the Enter key to input the new value gt A Ime Out TIU Retry Count 5 Time s Figure 8 51 Protocol Setup Window Z Series 8 3 12 Z Series Axis Address Window Since the SL Series does not currently support multi drop communications there is no need to assign an axis address using Parameter No 00 However this parameter may be useful as a tag for identifying which axis is associated with the configuration file This tag can be viewed in the Measuring Axis field on the Waveform Graphic Screen 1 shown in Figure 8 42 GFK 1581B Chapter 8 Operation 8 53 8 4 8 4 1 8 54 Using the SLconfig Software on a V Series Amplifier SLconfig V Series Startup and Main Menu Follow the previous startup instructions detailed in Section 8 2 2 2 to arrive at the Main Startup Screen then proceed with the following in
77. a given pulse command input frequency this ratio numerator and No 26 denominator set the Pulse determines the speed of the motor Increase the ratio Command Ratio This ratio scales the number of within the limits discussed in the parameter description in command pulses required to move the motor one Chapter 6 revolution See Chapter 6 Configuration Parameters Pulse Command Ratio is too low Check the value for Parameter No 06 Torque Limit and If the torque limit is too low the servo can not generate Parameter No 07 Torque Limit Inhibit sufficient torque to overcome system friction and loads Torque limit set too The limit is set either by Parameter No 06 or by the torque low limit analog inputs CWTL amp CCWTL Increase the limit or disable the analog torque limit inputs by setting Parameter No 07 1 default Check Parameter No 10 Acceleration Rate Limit If the acceleration limit is set too low the motor may not have sufficient time to achieve the desired speed for short moves Increase the acceleration limit Acceleration limit set too low Velocity command When in Velocity Control Mode check the value of This parameter sets the desired motor speed for a given scaling settoolow Parameter No 13 Velocity Command Scaling command input voltage If the setting is too low the speed of the motor will be limited GFK 1581B Chapter 9 Protective Functions and Troubleshooting 9 11 Appendix A A 1 GFK 1581B Oper
78. accumulated time on this monitor due to factory test time Accumulated Time Monitor 222h 00m Figure 8 39 Accumulated Time Monitor Window of Monitor Menu Z Series e CPU Version Displays the firmware version number of the amplifier s CPU CPU Version Figure 8 40 CPU Version Window of the Monitor Menu Z Series GFK 1581B Chapter 8 Operation 8 39 8 40 8 3 5 The Z Series Waveform Graphic Menu The Waveform Graphic Menu is accessed from the Main Menu by pressing the 4 key or by highlighting in reverse video as shown in the figure Waveform Graphic and pressing the Enter key Once this is done the Waveform Graphic Menu will be added to the screen to the right of the Main Menu as shown in the next figure Note the double line around the Waveform Graphic Menu indicating that it is the active menu Main Menu 1 Parameter Setting 3 Display Alarm 2 Auto Gain Tuning Monitor 3 EXIT 5 Set Up 6 Axis Address 7 Exit Arrow key to Mowe then Figure 8 41 The Waveform Graphic Menu Z Series The Waveform Graphic Menu has three selections e Measuring Setting Used to generate waveforms of the SL system s response Also used to change tuning parameters to improve system performance e Auto Gain Tuning Used to run the Automatic Gain Tuning routine This routine automatically turns the motor shaft measures the response and adjusts tuning parameters e Exit Returns you to
79. amplifier to reset If this error the amplifier CPU has occurs again immediately remove power and replace CPU 3 timed out due to a the amplifier Watchdog 30 malfunction Error The parameter data read 1 Set all parameters again and write into EEPROM EEPROM from EEPROM memory 2 If several attempts to re save parameter data fails to Check sum gg t POWer up is corrupted correct this error then replace the amplifier Error GFK 1581B Chapter 9 Protective Functions and Troubleshooting 9 5 Protective Error Description Function Code P Corrective Actions Amplifier trips when both CCW and CW overtravel inhibit inputs CWL amp CCWL on connector CN I F are activated turned OFF at the same time CW CCW Overtravel Input Error output ratio torque limit or velocity gain SLconfig software displays Download Error Z Series only Amplifier trips due to an error during power up self diagnostics CPU Stack Error V Series only Range checking during parameter download from SLconfig detected Pons an improper value such 84 as excessive encoder Range Error Amplifier trips due to an error during power up System Error self diagnostics Hardware error Other Error 99 Yes 1 Check for errors in limit switch wiring or in the I O power supply connected to the CCW CW inhibit inputs 2 If no travel limits are used the CWL CCWL inputs must be disabled by setting Parameter No 09 to 1 defau
80. below Also be aware that these test points are not positioned in numerical order on the terminal board Note Test Monitoring equipment should only be connected to the test point posts while power to the system is turned off to prevent damage to the motion controller amplifier or motor Monitoring equipment should not be connected during normal operation of the system to prevent these connections from introducing noise into the command or feedback signals Test TP1 TP2 TP3 TP4 TPS TP6 TP7 TP8 TP9 Point Velocit Velocity Encoder Encoder Encoder Encoder Encoder Encoder Signal Function asm d Command Output Output Output Output Output Output Common Common 40A OA OB 0OZ OZ OB GND SL Series Servo User s Manual August 2001 GFK 1581B A 4 AA 1 Operation with External Motion Controllers Breakout Terminal Board IC800SLT004 The IC800SLT004 Breakout Terminal Board is used to provide screw terminal connections for the interface signals on the SL Series amplifiers This terminal board provides a convenient interface to third party motion controllers stepper indexers or velocity torque controllers The terminal board contains a single 50 pin connector labeled AMPLIFIER PL1 For V Series amplifiers 1000 5000Watt servo interface cable ICS00SLCIVO010 1 meter or IC800SLCIV030 3 meters connects from the AMPLIFIER connector PL1 to the CN I F interfac
81. black background After a menu item is be labeled UP DOWN LEFT selected it can be activated with the Enter key and RIGHT Note that on some computer keyboards that have eight arrow keys the Diagonal key beneath the Right arrow key may have to be used instead of the Right arrow key to key in a value screen in the Z Series software only Enter or key This is also known as the RETURN key This key is used to activate a highlighted menu selection or enter keyed in numerical data BS or lt key see note in box This indicates the Backspace key When pressed once it erases the character to the left of the cursor When pressed repeatedly or held down it erases a string of characters in the left direction NOTE The Backspace key often has the same symbol as the Left arrow cursor control key To distinguish the two the four cursor control keys are grouped together but the Backspace key is usually in the same row as the number keys near the top of the keyboard 8 2 32 Selecting from a Menu There are two ways to select from a menu e ach item on a menu is numbered To select an item simply type the number of your selection e Highlight your selection using the Up or Down arrow key then press the Enter key 82 3 3 Exiting From a Screen You can exit from a screen in two ways e Select EXIT from a menu e On the Z Series only press the Esc Escape key on your computer s keyboard SL Series Servo User s Manual
82. by this parameter The TLC output is not available on Z Series amplifiers NOTE You cannot set a higher value than the factory set value configured by System Parameter No 66 maximum output torque setting for Z Series amplifiers or System Parameter No 36 for V Series amplifiers Typically this value is 300 If you set a higher value the maximum output torque will be automatically adjusted to the value of the factory setting and a Parameter Range Error Error Code 84 will be initiated see Chapter 9 Default 300 07 Torque Limit Inhibit This parameter disables the analog torque limit inputs CWTL and CCWTL on the CN I F connector 0 Torque limit inputs are enabled Position or Velocity Control Mode must be selected by Parameter No 02 1 Torque limit inputs are disabled Torque Control Mode must be selected by Parameter No 02 NOTE On the Z Series the torque command input TRQR and the CCWTL torque limit input share the same pin on the CN I F connector and are mutually exclusive functions This parameter determines which function is active on the connector NOTE This parameter is not used in Torque Control Mode See Section 5 7 2 for details on the CWTL and CCWTL inputs Default 1 Chapter 6 Configuration Parameters 6 7 6 8 Parameter Parameter Adjustment No 2 Function Description Range Sets the full scale value of the Speed Position Error Monitor sign
83. depending on the scaling ratio compared to the width of the A or B phase signals after scaling See Chapter 6 Configuration Parameters for more information e When the scaling ratio is 1 the marker pulse is synchronized with the A phase signal and when the scaling ratio is not 1 they are unsynchronized e The scaling ratio must always be lt 1 The ratio cannot be used to increase the base resolution of the motor encoder SL Series Servo User s Manual August 2001 GFK 1581B I O Circuit Configuration and Function Note The scaling ratio set by Parameters OB and OC should be in the range of 1 32 to 1 For ratios other than 1 the duty cycles of the A and B phase output signals may not be 5096 For a detailed description of these features please see Chapter 6 Configuration Parameters 5 7 Input Output Signal Function Descriptions This section describes the operation of the various input and output signals on the SL Amplifier interface connector CN I F The functional operation of many of the input and output signals is determined by the configuration of various parameters described in detail in Chapter 6 Configuration Parameters 5 7 1 I O Reconfiguration for Z Series Amplifiers Only Since the Z Series amplifiers have fewer terminals on the CN I F connector software reconfiguration of the I O functions allows for greater application flexibility with limited I O points The Input Output functi
84. directory containing the SLconfig software Note that only the settings are saved in this file not the actual waveform data How to save waveform data is described later in this section in the description of the Save Waveform Data field e You exit out to the Waveform Graphics menu 8 42 SL Series Servo User s Manual August 2001 GFK 1581B Operation 8 3 6 Z Series Waveform Graphic Measuring Setting Screen 2 This screen has the same graph as the other Waveform Graphic Measuring Setting screens but with different parameters 1000 0 CRPM 1000 0 0 2 50 5 00 7 50 10 00 s page2 3 icc Wii E 1000RPM Save Waveform Data Torque Range 7 100 Error Counter Range 100counts Load Waveform Data Display Line Mode Line Arrow amp Enter key to Edit Parameter Q to Close Figure 8 43 Waveform Graphic Measuring Setting screen 2 Z Series e Speed Range Lets you set the full scale value between 0 and 6 000 RPM for the graph s Y Axis vertical axis if Commanded Speed is selected in the Measuring Wave Object field on Waveform Graphic Screen 1 Note that the value you set here will be used for both the positive and negative ends of the vertical axis If you enter a value of zero in this field the software will Auto Range the setting for you The minimum Auto Range setting is 500 RPM e Torque Range Lets you set the full scale value between 0 and 500 for the graph s Y Axis
85. edit the setting for any of the user parameters Use the UP DOWN keys on the amplifier to scroll through the Selection Display to the parameter number you want to change The Selection Display format for the parameters is PA rxx where xx represents the hexadecimal parameter number and r indicates a parameter that requires the amplifier power to be cycled to activate the new value Parameter No 27 28 29 and 3F With the desired parameter number displayed press the SET key to enter the Execution Display to view or change the parameter value Once in the Execution Display the current value of the parameter is displayed The SHIFT key is used to select the digit of the data value to be changed The flashing decimal follows the selected digit With the desired digit selected use the UPIDOWN keys to increment or decrement the value Pressing the UP or DOWN key once will change the value by 1 Press and hold the UP or DOWN keys to rapidly change the value If many parameters must be changed the SLconfig software is a more effective tool Examples of the displays for the V Series Parameter Mode are shown in Figure 8 10 the Z Series is similar Selection Display Execution Display Current Value decimal flashes at 1st digit Press To Select Digit Decimal position indicates selection cS C23 E gt PA_ Parameter 00 A J 3 PA_ rJF Parameter 3F Press to Change Value
86. i DenomiatorobFneoder Outpet rwy 119909 2505 1 10999 2500 OD Encoder Output Signal Inversion T V P 0 3 3 0 3 3 OE Brake Output Delay Time T V P 0 100 0 0 100 0 Stopped Motor gp ERES eee Delay Time T V P 0 100 0 N A N A Moving Motor 10 Acceleration Rate Limit V 0 5000 0 0 5000 0 0 10000 0 10000 11 Zero Speed Detection Level T V RPM 50 RPM 50 At Speed Output Detection 0 10000 0 10000 12 Level T V RPM 1000 RPM 1000 13 Velocity Command Scaling T V 10 2600 500 10 2600 225 14 Velocity Command Polarity T V 0 1 1 0 1 1 15 Velocity Command Offset T V 127 to 127 0 127 to 127 0 16 Internal External Velocity T V 0 2 0 0 1 0 Command Selection 17 Zero Speed Clamp Inhibit T V 0 1 1 0 1 1 18 Ist Internal Speed mie E 0 7000t0 7000 o 19 2nd Internal Speed T V Ed 0 7000 07000 1A Torque Command Scaling T 25 2500 225 25 2500 225 1B Torque Command Polarity T 0 1 1 0 1 1 1C Torque Command Offset T 127 to 127 0 127 to 127 0 ID Torque Command Filter T V P 0 2500 0 0 2500 0 1E not used Deceleration Rate Limit IF V 0 5000 0 N A N A Z Series only EE 10 1000 10 1000 20 Position Loop Gain P rad s 50 rad s 20 21 Velocity Feed Forward P 0 100 96 0 0 100 96 0 In Position Output Detection 0 32766 0 32766 22 Range B Pulses 10 Pulses 10 23 Position Error Limit P 1 32766 30000 1 32766 30000 24 Position Error Limit Inhibit P 0 1 0 0 1 0 a Aanerer ce e
87. is designed for emergency stops and should not be activated repeatedly over a short time period or the amplifier may be damaged GFK 1581B Chapter 2 SL Amplifier Feature Overview 2 13 2 9 2 10 The dynamic brake is effective in reducing the stopping distance of the motor when compared to allowing the motor to coast to a stop but it is not as effective as a mechanical brake for holding axis position Applications using vertical axes or other axes that require the load to be locked into position for long periods or while amplifier power is removed should use a motor with the optional holding brake Configuration and Monitoring The SL Series amplifiers offer a wide variety of configuration options tuning and monitoring functions These functions are accessed using either the front panel keypad display or the SLconfig PC based software For initial configuration the SLconfig software is more efficient and provides the ability to save the settings to a file for repeat applications or archiving The keypad is convenient for quick adjustments during start up or troubleshooting The SL amplifier keypad is a tactile membrane type with five push buttons to navigate through the function menus The amplifiers also include a six digit LED display that is used to display the menu functions parameter data values and a broad range of system status information The user can configure motor speed torque or position error as the default display on
88. iu E 49 24V Negative Logic Input ZEROSPD C MODE 24V Negative Logic Input GAIN P CON 18 19 40 mE 13 17 44 13 15 17 13 15 17 43 8 45 46 44 45 46 35 30 31 32 Power Input S EN Frame Ground Cable Shield 25 50 25 50 FG r Some pins on the Z Series amplifiers 30 750 W have multiple functions The function of these pins is dependent on the setting for Parameter No 3F SL Series Servo User s Manual August 2001 GFK 1581B A 4 2 GFK 1581B Operation with External Motion Controllers IC800SLT004 Mounting Dimensions The IC800SLT004 Terminal Board assembly is designed for either panel mounting or DIN rail mounting See the section Converting Terminal Boards to Panel Mounting later in this chapter Dimensions for both mounting styles are shown in Figure A 9 below 77mm L9 lY 8 OF T Eo Fe so Bo Ro ASHORE S z alo 2 Blo Oj alo O klo f Height O ilo O x A
89. motor will not rotate even if a command inhibit input INH on connector command is present For Velocity or Torque Control Mode this CN I F or position error counter clear input input should be left OPEN CL on connector CN I F is connected to When the CL input is connected to COM the motor will not COM rotate even if a command is present Wrong velocity command source is selected Check the setting for Parameter No 16 Internal External Velocity Command Selection This parameter selects between the analog velocity command and the internal preset speed commands Verify that the desired command source is selected If the motor includes the optional holding The motor brake is a spring set electrically released type Power Motor brake is brake check if the brake is set de energized must be applied to release the brake before motion is engaged commanded If the brake is engaged while the motor is being commanded to move the brake may be damaged GFK 1581B Chapter 9 Protective Functions and Troubleshooting 9 7 Table 9 3 Unstable Rotation Check whether the capacity of the power supply or the transformer is too small for the load causing excessive voltage droop Voltage fluctuation of the power supply When the voltage of the power supply is too low the maximum speed of the motor may be reduced causing poor servo performance that the shield is properly grounded Pulse command input noise or A Check if t
90. occur the current error displayed on the Error Display screen will not match the content of the 0 error on this Error History Display screen e Press the Q key to exit the Error History Display screen and return to the Main Menu Note that if there are not eight errors in the Error History memory some error positions will be blank as shown in the previous figure See Chapter 9 for Error Code details 8 4 6 1 V Series 3 Bit Code Each Error has been assigned both an Error Code and 3 Bit code The Error Codes are discussed in Chapter 9 and the 3 Bit Codes are discussed in Chapter 5 The following is an abbreviated discussion of the 3 Bit Codes The 3 Bit Codes are used to communicate the SL V Series amplifier s internal errors to external devices such as a Programmable Logic Controller or an alarm system The signals from the 3 Bit Code are sent to three pins on the SL amplifier s front panel CN I F connector The following table indicates the state of the signals on the three pins for the different errors Note that the three SL Series Servo User s Manual August 2001 GFK 1581B Operation bits are only able to indicate 8 unique patterns Therefore since there are more than 8 Error Codes some of the 3 bit codes correspond to more than one Error Code Error Code Output EXOUT2 EXOUTI EXOUTO Error Description CN I F CN I F CN I F Pin 10 Pin 9 Pin 8 0 0 0 Normal Operation no errors
91. or in any unprotected environment e Avoid locations where there is exposure to radiation such as microwave ultraviolet laser light or X rays e Do not block the inlet exhaust ports and prevent foreign objects from getting into the ports e Do not apply excessive stress put heavy articles on or pinch the cables e Do not install the amplifier near heating elements such as cabinet heaters or large wire wound resistors When such installation is unavoidable provide a thermal shield between the servo amplifier and the heating elements e Mount amplifiers and other heat producing components higher in the enclosure to avoid overheating other sensitive electronics installed in the same cabinet e The V Series amplifier has mounting tabs that allows mounting either flush to a panel or through a cutout in the panel When mounting through a panel make sure the panel is of sufficient gauge to support the weight of the amplifier Installing the Amplifier The SL Series Amplifiers are designed for panel mounting in electrical enclosures designed for industrial applications Enclosure cooling or ventilation must be adequate to maintain the ambient temperature to within the component s specifications Mount amplifiers vertically for proper cooling 1 Firmly install the amplifier with screws and bolts without applying stress such as bending and twisting to the amplifier main unit 2 Use M4 8 or M5 12 mounting screws or bolts 3 Allo
92. orque in Ib Nm Torque in Ib Nm 0 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000 Speed RPM Speed RPM SLMO040 400 Watt SLMO75 750 Watt 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 Speed RPM Speed RPM LC Continuous Torque Intermittent Torque Note Continuous torque available for each motor model depends on the ambient temperature These curves depict the maximum continuous torque available for each model up to the following ambient temperatures e SLMO003 SLM075 40 C e SLMO005 SLM040 20 C e SLM010 SLMO20 30 C Higher ambient temperatures require motor derating as shown in the temperature derating curves later in this chapter Chapter 2 SL Amplifier Feature Overview 2 9 2 10 2 4 2 V Series Performance Curves SLM100 1000 Watt Torque in lb Nm 0 1000 2000 3000 4000 5000 6000 Speed RPM SLM0350 3500 Watt 300 33 9 240 27 1 180 20 3 Torque in lb Nm 0 1000 2000 3000 4000 5000 6000 Speed RPM L Continuous Torque Intermittent Torque Torque in lb Nm Torque in lb Nm SLM250 2500 Watt 240 27 1 200 22 6 160 18 1 450 375 300 225 150 50 8 42 4 33 9 25 4 16 9 8 47 el ete Lee yet os LENS Speed RPM Note Continuous torque available for each motor model depends on the ambient temperature These curves depict the maximum continuous torque available for each model
93. power up see Parameter No 01 When a fault occurs the display will flash and the most recent eight errors can be displayed and the keypad can be used to clear the current alarm Chapter 9 describes the protective functions of the SL Series and Chapter 8 provides details on how to use the keypad and SLconfig functions The SL amplifiers also include two test points on the front panel for monitoring motor speed feedback position error SP or commanded torque IM These test points are bi polar analog signals with user defined scaling Parameter No 08 and are also available as outputs on the CN I F interface connector for hardwired continuous monitoring by the machine controller or panel meter Other I O available to monitor system status include a servo ready output S RDY zero speed detection output ZSP alarm output ALM At Speed In Position output COIN and on the V Series amplifiers only an In Torque Limit output TLC and 3 bit error code output EXOUTO 1 2 Control Modes The SL Series amplifiers can be configured for the following operating modes 1 Position Control Mode Accepts a variety of pulse command inputs to control the position of the motor The user can configure the amplifier for CW CCW pulse commands Pulse Direction commands or A B Phase encoder follower pulse commands This mode provides a convenient way to upgrade stepper systems to improve performance or for simple master slave applications using a fix
94. scaling Torque command polarity Torque command offset Torque command filter Not used Deceleration rate limit Position loop gain Velocity feed forward In Position range Pos error limit Pos error limit inhibit Pulse cmd ratio numerator Pulse cmd ratio denominator Quad pulse input scaler Pulse command polarity Pulse input mode select Not used Velocity feedforward filter Not used Not used Not used Not used 2nd velocity loop gain 2nd v loop integral time 2nd position loop gain 2nd gain enable Gain switch delay time 2nd numerator pulse ratio Pulse cmd filter delay Jog speed Third internal speed Fourth internal speed Not used Monitor output select Clear counter input mode Alarm action select Servo off action select r CN I F function select E 4 SL Series Servo User s Manual August 2001 1000 500 N C nd OOO OO O OO OO oO c nd e 30000 2000 1000 D TO O OGO OOGO N nd Uv uU oO OOO GFK 1581B Interfacing the SL Servo to an OCS OCS Configuration You will need the following minimum revision OCS products to use a stepper module OCS Firmware Version 7 37 OCS BIOS Version 3 39 OCS FPGA Version 2 3 Cscape Version 2 3 The I O configuration is set up to work with the OCS997 81 amp 8Q board on the unit Simply snap the stepper board on top of the OCS997 The Cscape file SL Step csp included in the OCS SL ZIP file which may be downloaded from www gefanuc com support contains
95. servo amplifier e Wrong amplifier model was selected V Series or Z Series e The software version may not be compatible with the firmware version in the amplifier e The communications cable may have been connected to the amplifier after the amplifier was already powered up Use this sequence e With both amplifier and PC turned off connect the serial cable to both units e Turn on the PC first then turn on the amplifier e Next start the SLconfig software Problem My computer screen displays strange characters when I start SLconfig Possible reason and solution The computer s CONFIG SYS file lacks the ANSI SYS DEVICE statement e For MS DOS only or Windows 3 1 computers add the following line to the CONFIG SYS file be aware that you must restart your computer for this to take effect DEVICE C DOS ANSISYS e For Windows 95 computers add the following line to the CONFIG SYS file be aware that you must restart your computer for this to take effect DEVICE C WINDOWS COMMANDI ANSLSYS If one of the above DEVICE statements doesn t solve this problem on your computer it is probably because the ANSI SYS file is not in the standard location on your computer In that case you can search your hard drive for its location then use that location path in the DEVICE statement Chapter 8 Operation 8 81 Problem My Screen Displays AXIS 495 and the Computer Appears to be Frozen Possible reasons and solutions e Unde
96. the final pulse of the move command For more information on gain switching refer to the descriptions for the following parameters in Chapter 6 2 Velocity Loop Gain Parameter No 30 2 Velocity Loop Integration Time Constant Parameter No 31 2 Position Loop Gain Parameter No 32 Second Gain Switching Mode Parameter No 33 Automatic Gain Switching Delay Time Parameter No 34 SL Series Servo User s Manual August 2001 GFK 1581B SL Amplifier Feature Overview 2 12 Agency Compliance The table below lists the compliance status of each SL series product for the following standards e UL Refers to United States UL listing UL508C File Number E164620 e C UL Refers to Canadian UL listing e CE Refers to European Community s Low Voltage and EMC Directives see Appendix B for application details to ensure compliance Table 2 6 SL Series Products Agency Compliance Product UL C UL CE SLAO03x Amplifier Yes Yes Yes SLAO05x Amplifier Yes Yes Yes SLAO10x Amplifier Yes Yes Yes SLAO020x Amplifier Yes Yes Yes SLA040x Amplifier Yes Yes Yes SLAO075x Amplifier Yes Yes Yes SLA1002 Amplifier Yes Yes Yes SLA2502 Amplifier No No Yes SLA3502 Amplifier No No Yes SLA5002 Amplifier No No Yes SLMO003 Motor Yes No Yes SLMO005 Motor Yes No Yes SLMO010 Motor Yes No Yes SLMO040 Motor Yes Yes Yes SLMO075 Motor Yes Yes Yes SLM100 Motor Yes Yes Yes SLM250 Motor No
97. the load The selected velocity resolution VR is 10pps The SL Servo in this application has a Pulse Command Ratio of 2 The command to the servomotor that will cause the servomotor to move a similar number of encoder counts OCS command pulse command ratio is 20 counts per sec or 1 200 counts per minute 20 cps 60 sec Since the SL servomotor encoder is fixed at 10 000 counts rev motor movement for the minimum 10 pps of OCS command would be 0 12 RPM 10pps command 2 pulse cmd ratio 20 cps 60 sec 1 200 cpm 10 000 counts rev 0 12 RPM The maximum possible velocity command in the OCS is 8191 Given the application above the maximum possible velocity of 8191 0 12 RPM z maximum load velocity of 982 92 RPM maximum We strongly suggest using the OCS math functions to change velocity values entered by an operator into the units needed by the motion calculator 10 What can you do if the maximum velocity is not fast enough First try increasing the velocity resolution value VR If you are already at the maximum 30 pps setting for VR then you must go back to step 2 above and choose a smaller SL Amplifier Encoder Output Ratio Source Material This appendix is based upon GE Fanuc Application Bulletin H 04 99 01 SL Series Servo User s Manual August 2001 GFK 1581B GFK 1581B 1 Internal Speed Parameter 6 18 2 Gain Switching Mode Parameter 6 26 6 18 18 2 Internal Speed Parameter 2 Numerator of Pulse Command
98. to determine which velocity resolution VR multiplier to use in the OCS motion calculator We determined that the ball screw in this Appendix E Interfacing the SL Servo to an OCS E 7 application can operate up to 1000 RPM One thousand RPM is the same as 16 666 rev sec 1000 RPM 60 sec In this application the load gearing does not apply to velocity since we are directly coupled to the ball screw motor speed screw speed For other types of gearing the load velocity requirements would be affected by the gearing in use The motor mounted encoder 10 000 counts rev at 16 666 rev sec will be operating at 166 660 counts sec at 1000 RPM at the ball screw Since we previously set the SL Servo Pulse Command Ratio at 2 it will take the number of OCS command pulses per second OCS command pps pulse command ratio motor encoder counts moved to generate the 1000 RPM at the load This means we need a pulse command velocity of at least 83 330 pps from the OCS to get 1000 RPM at the load 8 Look at the velocity resolution and maximum velocity settings from the step above The closest VR resolution is 10 2 81 910 pps max This is good because we never want to exceed the 1000 RPM on the ball screw Use the VR setting for 10 pps A value of 60 in ZAQ 2 register or in the motion calculator is equal a VR of 10 pps 9 If you wish you can determine what the velocity resolution and max commanded velocity would be for the above application in RPM at
99. up to the following ambient temperatures e SLM100 40 C e SLM250 SLM500 20 C e SLM350 30 C Higher ambient temperatures require motor derating as shown in the temperature derating curves SL Series Servo User s Manual August 2001 GFK 1581B 2 4 3 GFK 1581B Motor Rated Torque Output Motor Rated Torque Output Motor Rated Torque Output SL Amplifier Feature Overview Derating Based on Ambient Temperature The SL Series motors produce the continuous torque shown in the speed torque curves Section 2 4 up to certain ambient temperature limits depending on the motor model The following curves depict the continuous torque derating required for operation in higher ambient temperatures The intermittent torque available does not need to be derated Motor Derating Based on Ambient Temperature SLMO005 SLM040 SLMO010 100 4 100 8 95 90 i 6 3 4 E L 8 3 0 10 20 30 40 50 0 10 20 30 40 50 Motor Ambient Temperature C Motor Ambient Temperature C SLM020 SLMO003 SLM075 SLM100 100 4 100 95 90 3 90 6 3 4 E L 8 3 0 10 20 30 40 50 0 10 20 30 40 50 Motor Ambient Temperature C Motor Ambient Temperature C SLM250 SLM500 SLM350 100 amp 100 70 70 o 3 4 9 L 8 o 0 10 20 30 40 50 0 10 20 30 40 50 Motor Ambient Temperature C Motor Ambient Temperature C Amplifier Derating for 230 VAC Single Phase Operation Although the 230 VAC amplifiers can be o
100. value 225 10 Volts NOTE The actual value of torque generated at the motor shaft can vary as much as 10 from motor to motor based on winding variation tolerances magnetic saturation and temperature variances in the motor Default 225 SL Series Servo User s Manual August 2001 GFK 1581B GFK 1581B Configuration Parameters 6 Parameter No Parameter Description Adjustment Range Function 1 B Torque Command Polarity 0 1 This parameter reverses the polarity direction of the generated torque of the analog torque command signal TRQR on connector CN I F pin 16 Z Series or pin 34 V Series 0 CW torque with a positive torque command 1 CCW torque with a positive torque command See section 2 2 for rotational direction conventions Default 1 1C Torque Command Offset 127 to 127 This parameter sets an offset adjustment of the analog torque command input circuit This parameter is only valid in the Torque Control Mode see Parameter No 02 Make the offset adjustment as follows Apply exactly zero volts to the torque command input from the command source TRQR or connect TRQR directly to one of the signal GND terminals on connector CN I F Adjust this value to minimize or stop motor rotation drift Note that because of the resolution of this adjustment you may not be able to eliminate all motor drift Default 0 1D
101. 0 This parameter sets the phase relationship of the encoder output signals available on connector CN I F The B phase and Z phase marker pulse can be inverted relative to the fixed A phase signal The table below represents each phase relation for CW and CCW rotation of the motor as viewed looking into the shaft Siena CW Motor Rotation ETE o r4 n non invert 0 Encoder 0 D Output Signal 0 3 1 Inversion inverted 3 E rea NOTE This parameter has no effect on the motor encoder feedback signals wired to connector CN SIG Default 3 GFK 1581B Chapter 6 Configuration Parameters 6 11 6 12 Parameter No Parameter Description Adjustment Range Function OE Brake Output Delay Time Stopped Motor 0 100 On axes using the optional motor brake this parameter controls the time Tg used to delay removal of motor torque when the amplifier is disabled SRV ON deactivated to compensate for motor brake response time Since mechanical brakes have a finite response time armature pull in time to engage once power to the brake coil is removed the SL Series amplifiers allow you to configure this time delay to maintain power on the motor for a short time allowing the brake to engage This is particularly important on vertical axes to prevent the axis from falling due to gravity while the brake is being engaged See Chapter 2 for brake engagement time values The SL Series a
102. 0 parameters 25 and 26 and the SL Series encoder resolution of 10 000 counts per revolution For information on the ICZ00MDD841 module refer to GFK 1504B or later version IC200MDD841 i HSG Pulse Train Output SL Amplifier Pulse Command Inputs i i VersaMax 24 VDC W O Base E Terminals i A18 IC800SLTO04 f Terminals PULS Pulse input i i i i Pulse Train d Output i 220 1i Pod 2K A Had i i i i A1 2K 24 SIGN Direction Input j 7 D m Ta 5j 220 Zt Output 5 _ 2K rO TO AS 2K 28 Oo AIT GFK 1581B D 1 Appendix E GFK 1581B Interfacing the SL Servo to an OCS RCS Application Overview This appendix discusses how to apply an OCS Operator Control Station or RCS Remote Control Station Stepper Controller Module to control an SL Z Series 30 750 Watts servo system in pulse and direction mode The examples shown in this appendix discuss interfacing to an OCS however this information for the most part also applies to an equivalent RCS Benefits of this Application e Low Cost installation for simple point to point positioning applications Perfect for feed to length applications with or without registration e Capable of high resolution 10 000 counts per motor rev vs typical non microstepping stepper solutions 200 400 counts per rev
103. 0 RPM x 10 in Ib 11 82 Joules STEP 3 Calculate the regenerative energy for downward motion during period ts The duty cycle of the downward motion D is 50 since this part of the cycle is 1 second out of a total cycle time of 2 seconds or D 1 sec 2 sec x 10096 2 50 Therefore E 1 182x10 x 10 in Ib x 2000 RPM x 5046 10096 118 2 Joules STEP 4 Calculate the average regenerative energy for the cycle Eag Eavg 28 58 9 53 11 28 11 82 118 2 132 67 Joules Because the 132 67 Joules required is more than the 31 4 Joules allowed by the SLM100 amplifier a regenerative resistor is required STEP 5 Determine the proper regeneration resistor size Since the total cycle time for the axis is 2 seconds the average regenerative power is Average Regenerative Power 132 67 Joules 2 seconds 66 3 Watts Therefore the standard 300 W resistor kit IC800SLR003 shown in Table 4 2 has sufficient capacity for this application STEP 6 Check the peak power P requirements for each regeneration period For period t Py 28 58 Joules 0 2 seconds 142 9 Watts For period ty Pj 9 53 Joules 0 2 seconds 47 65 Watts For period tz Pj 118 2 Joules 1 second 118 2 Watts The largest of these values is still less than the 7220 Watt rating of the IC800SLRO03 resistor kit so the standard resistor can be used SL Series Servo User s Manual August 2001 GFK 1581B 4 2 GFK 1581B Wiring Wiring to Interface Con
104. 1 The layout of the keypad and key functions are shown in the diagram below 6 Digit Display All Flashing Indicates Drive Fault Power up Default Display Options Following Error LJ CJ CJ LJ Motor Speed Motor Torque a g Up Down Keys Selects foo T 1 Parameters and Changes Data o e Values Set Key Toggles between Selection Shift Key Selects and Execution Display for Each Mode Digit of Displayed Value to be Changed Mode Key Selects One of the Following inthe Execution Modes Display Monitor Mode Parameter Setting Mode EEPROM Write Mode Autotuning Mode Jog Mode Z Series only Alarm Clear Mode Figure 8 1 Diagram of the Front Panel Display The MODE key is used to select the appropriate mode Each mode consists of a Selection Display and an Execution Display The SET key is used to toggle between these two displays The UP DOWN and SHIFT keys are used to select options or execute each mode MODE In the selection display Selects the desired mode Toggles between the Selection Display or Execution Display UP 1 Used to change data values select parameters or execute the DOWN J Only when the flashing decimal operation meri point is displayed Shifts to the next most significant digit if more than one digit is displayed when entering new data values Keypad Menu Options There are six modes five for the V Series available as top level menus from the amplifier front p
105. 1 Diode 1A 100 VDC 1N4002 or equivalent D2 Diode 3A 100 VDC 1N5401 or equivalent Number refer to cable length Figure 4 4 Z Series Motor Brake Circuit for Third Party Controllers Chapter 4 Wiring 4 6 V Series Brake Wiring Using the IC800SLT004 Terminal Board The IC800SLTO001 terminal board does not provide a BRK OFF brake control output signal from the SL V Series amplifiers due to lack of pin count on this terminal board If using a motor brake with a GE Fanuc Series 90 30 APM or DSM motion control module you can use the IC800SLT001 terminal board but you must program brake control logic in the PLC ladder The IC800SLT004 terminal board is a general purpose breakout terminal board used to interface to a wide variety of third party controllers As shown below it does provide BRK OFF signal connections for the SL V Series amplifiers 120 VAC F ILIN 24 VDC Power Suppl SL V Series IC800SLT004 pply Amplifier D BM GE Fanuc IC690PWRO24 BRK OFF Cable Number IC800SLCIVxxx Motor Brake Coil CRI 24 VDC Note The last three digits of the Cable e opos 257 ustomer Supplied Components Number refer to cable length CRI Control relay coil 24 VDC 50mA or less contacts rated for lAmp DC continuous and break D1 Diode 1A 100 VDC 1N4002 or equivalent D2 Diode 3A 100 VDC 1N5401 or equivalent Figure 4 5 V Ser
106. 1 gt gt Accel Decel rate limit zero speed detect level At Speed detect leve Velocity command scaling Velocity command polarity Velocity command offset Int ext speed cmd select zero speed clamp inhibit First internal speed Second internal speed Torque command scaling Torque command polarity Torque command offset Torque command filter Internal use rm n oooooorPornmso 16384 ua NER GL ONDE SR OS XR GRO EMO IA RARER RD EH RU d NS GE UR ED OG E ER EH SS T XDOUAD BOR GR DD ED NE TED D EER GO RE DO UR DA RH ESE EPR REE GS GEO ND GO UD NDS GR EN UE CHANGE PAGE Enter X or left right arrow key CURSOR DOWN Enter P or down arrow key Enter N or up arrow key gt Press ENTER key gt Enter Q Figure 8 55 V Series Parameter Setting PAGE 1 Parameter Setting Page 2 gt gt Position loop gain velocity feed forward In Position range Pos error limit Pos error limit inhibit Pulse cmd ratio numerator Pulse cmd ratio denominator Quad pulse input scaler Pulse command polarity Pulse input mode select velocity feedforward filter Internal use 29696 Operation CHANGE PAGE Enter X or left right arrow key CURSOR DOWN Enter P or down arrow key CURSOR UP Enter N or Press ENTER key gt Enter Q Figure 8 56 V Series Parameter Setting PAGE 2 Chapter 8 Operation up arrow key 8 57 8 56 84 3
107. 1 076 391 SL Series Servo User s Manual August 2001 GFK 1581B Tables and Formulas Units of Volume Underlined Figures are Exact Units of Volume Underlined Figures are Eac 1 cubic yard Units of Volume Underlined Figures are Exact Milliliters Liters Cubic Meters Cubic Centimeters Cubic Decimeters 16 387 064 0 016 387 064 28 316 846 592 28 316 846 592 764 554 857 984 764 554 857 984 1 cubic meter 1 cubic decimeter GFK 1581B Appendix C Tables and Formulas C 7 Appendix VersaMax High Speed Counter Interface D Interfacing the IC200MDD841 Module to the SL Series Servo Amp The IC200MDD841 VersaMax High Speed Counter HSC module can be configured to produce a Pulse Train PT output on four of its outputs terminals Al A4 One of these PT outputs can be used to drive an SL Series servo The following diagram shows an example of the HSC Pulse Train 1 output pin A1 connected to the pulse input of an SL Series amplifier The HSC output on pin A5 sends a count sign direction to the SL Series amplifier Both the VersaMax and SL Series amplifier must be configured appropriately for this to work Please note that when using one of these pulse train outputs to drive an SL Series servo the maximum theoretical speed attainable is 614 4 RPM This is based on the IC200MDD841 s maximum PT output frequency of 5120 Hz the SL Series amplifier s maximum pulse multiplier value of 2
108. 2 5us or longer NOTES 1 See section 5 5 for additional details on the pulse command signal interface 2 Use Parameter No 28 when the logical sense of the PULS and SIGN signals must be changed to accommodate the signal source The directional conventions shown in the diagram above are for the Parameter No 28 default setting of 0 Default 1 When the amplifier is configured for Position Control Mode see Parameter No 02 this parameter sets the time constant of velocity feed forward filter Velocity Feed Filter time constant Us Set value x 10 Forward Filter 0 to 6400 TimeConstant For set values between 0 to 49 Z series or 0 to 51 V series the time constant will be Ous Default 0 6 24 SL Series Servo User s Manual August 2001 GFK 1581B GFK 1581B Configuration Parameters 6 Parameter Parameter Adjustment No Description Range 30 2 Velocity 25 3500 Z Series Only Loop Gain 2 Velocity 31 Loop Z Series Only Integration Time Constant 32 2 Position 10 1000 Z Series Only Loop Gain rad s Chapter 6 Configuration Parameters Function For Z Series amplifiers configured for Velocity Control Mode see Parameter No 02 this parameter sets an alternate Qn proportional gain of the velocity loop The method used to switch between the 1 Velocity Loop Gain set by Parameter No 03 and 2nd Velocity Loop Gain is dictated by the value set in parame
109. 2 gram calories 1 Btu energy 1055 joules newton meter torque or work 0 7376 pound feet newton meter torque or work 8 851 pound inches 1 pound foot torque or work 1 3558 newton meters 1 pound inch torque or work 0 113 newton meters 1 ounce inch torque or work 72 gram centimeters 1 degree angular 0 0175 radians 1 minute angular 0 01667 degrees 1 radian angular 57 3 degrees 1 quadrant angular 90 degrees SL Series Servo User s Manual August 2001 GFK 1581B Tables and Formulas Fraction Decimal Metric Equivalents Inch Inch mm Inch Inch mm GFK 1581B Appendix C Tables and Formulas C 5 English and Metric Equivalents C 6 This section is based upon information published on the World Wide Web by the U S government s National Institute of Standards and Technology NIST For further information visit their web site at www nist gov i Inches Millimeters Centimeters Meters Pe i pewsn eenm oma af msi ree u f exew aus xus cae hes x E ip ce a cames 63 360 3 609 160 934 4 609 Units of Area Underlined Figures are Exact Unitsof Area Underlined Figures are ExacD Units Square Square Feet Square Square Square Meters po qm e Xu um p 1 square inch 0 006944 0 000 771 604 9 0 000 645 16 NE TT ren m 0 i amend anuns 0 155 0003 0 00
110. 29 on Parameter Page 3 5 Note Remember to write the new values to EEPROM memory before you cycle amplifier power or the changes will be lost SL Series Servo User s Manual August 2001 GFK 1581B GFK 1581B Operation 8 32 5 Loading a Parameter File From PC to Amplifier This function lets you load an existing parameter file from your computer to an SL Z Series amplifier This function is useful for restoring parameter values to an existing amplifier or writing them to a new amplifier e On the Parameter Menu press the 3 key to select Load PC gt Amplifier The Load window will display Path oC csi conr 2 03 Filename e A default path is shown in this window You may choose to save your file in the default directory shown or specify a different one Both choices are discussed below Using the Default Path Directory Keying in a File Name e To load a file from the default directory key in a name on the Filename line The name should be of an existing parameter file It will probably have the default PRM extension e Press the enter key The message Operation Successful Push any key will display Note If you enter an incorrect file name the message Can t Open Selected File Push any key will display If you enter a correct file name but not of a parameter file the message Error in Selected File or File Transfer Push any key will display e Press any key to return to the P
111. 3 4 22 5V Differential Input on B Axis and 5V Single Ended Outputs on Axis 2 A 24 3 4 5V Differential Input on B2 Axis and 5V Single Ended Outputs on Axis 2 A3 5 5 6 N Nn 7 4 4 STROBE2 CTLO2 10V Analog Output peers 10V Analog Output ESI 2 A x i i 1 DSM only DSM only DSM only DSM oniy Saas OTI CTLOS5 OT2 CTLO7 OTI CTL06 OT2 CTLO8 HOME HOME2 CTL03 CTL04 4 INCOMI INCOM2 es EF s 6 Pav Nei epic 9 9x P16 26v neeem oo wr o AW Negative Logic pat O OO OO O oeo 0 ew ba 2 AEEEBERL 32 Input 000000 EN 3 p zerose Common for the 24 VDC Power Input 41 28 COM S 2 pins Cable Shield SHIELD SHIELD 25 50 25 50 24V Positive Logic Input 24V Positive Logic Input 24V Positive Logic Input Common for inputs on Terminals 11 12 and 29 B A Al B Uo Nn 2 1 2 1 2 1 3 1 1 1 7 0 8 1 9 2 0 3 4 5 GFK 1581B Appendix A Operation with External Motion Controllers A 5 A 6 Table A 2 IC800SLT001 Screw Terminal Assignments for APM Follower Mode See Figure A 1 A 5 amp A 6 APM To Terminal Block bd or Amplifier To Terminal Block Follower Mode lr Interface TB To SL Amplifier CN I F Screw Circuit Type Fr ni m o TOAPMModule Connector Terminal PL2 Axis 1 A Conn Pin Signal Name i Paavo 9 sv n NI un NN 20 As Axis and 10V Analog CTLO2 Differential Inp
112. 6669 4 3 759 as 19 0509 Figure 3 5 Dimensions for 200 Watt SL Series Motor Chapter 3 Installation Guidelines 3 7 L2 gt 4 x H dia on BB e Bolt circle AJ I AH wer Tost amp o w o m s a SLMO40 1 181 0 028 3 875 0 004 2 87750 i5 0 118 0 008 0 315 0 012 0 2165 x 0 010 400 Watt Model Units Ci c2 Li L1 With Brake 17 QVI AE Without 400 War 3 L Without L T 0 375 0 0004 4 862 6 161 0 3018 00 5 0 125 0 gop 400 Watt an 9 52507 009 123 5 156 5 7 66670 391 3 1750 o5 19 050 0 4 Figure 3 6 Dimensions for 400 Watt SL Series Motor 3 8 SL Series Servo User s Manual August 2001 GFK 1581B GFK 1581B Installation Guidelines L2 gt 4xH dia on BB gt ke Bolt circle AJ AH Moai units a AH AJ AK m c n 1 0 SLMO75 1 1814 0 028 3 875 0 024 2 877 oo912 0 118 0 008 0 315 0 012 0 2165 0 010 SLM075 8 662 7 874 4 764 6 142 3 346 CS0WaD mm 220 oot J m6 ts L Without L Brake With
113. Brake Sagas 0 62579 soos 5 610 6 988 05165 has 20 1885 0 ae 109522 016 Model Units U SD 15 8750 i 142 5 177 5 13 120 555 4 7889 o 24 200 4 Figure 3 7 Dimensions for 750 Watt SL Series Motor Chapter 3 Installation Guidelines 3 9 4 L2 gt Ei I 1 BB gt lt 4xHdiaon Bolt Circle AJ c2 Ci RC X S AJ Lm Un i U AK 4 R nU wx x AL G BS le L gt Note Shaft end play axial 0 0118 0 3 mm or less SLM100 Model Units C1 C2 L1 L1 W Brake L2 L2 W Brake SLM100 m 7 92 1s5_ 0 8 T Model Units L W Brake 0 2600 0 625 oo05 6 890 7 874 0 5165 915 0 18850 0 1885 1 000 SLM100 Mounting holes on SLM350 are slotted to accommodate bolt circles dimension AJ from 130 through 145 mm Figure 3 8 Dimensions for 1000 Watt to 5000 W SL Series Motors 3 10 SL Series Servo User s Manual August 2001 GFK 1581B 3 6 GFK 1581B Power Dissipation Installation Guidelines Each SL Series Amplifier dissipates power that results in some enclosure heating The table below shows the approximate power dissipation for each amplifier operating at rated outputs for use in determining enclosure size and cooling requirements Values in the table do not include dissipation from an optional
114. COM2 on the personal computer and the CN SER connector of the amplifier see Figure 2 1 or 2 2 and the figure below The cable has a 9 pin female D shell PC serial port connector but includes an adapter for 25 pin PC serial port connectors 2 After inserting firmly tighten the screws to hold the connectors in place Personal SL Amplifier Computer Shell RD 2 2 TD TD 3 j 3 RD SG 5 5 0V DED reus S a FE 6 EN DSR 6 10V CTS 7 muons 7 cTs ats e 8 RTS Internally shorted DTR 1 4 RI 9 9 12V Internal Power Supply 9 Pin COMM DONOR USE Connector CN SER Connector EIA232 RS232 Signals RD Received Data TD Transmitted Data SG Signal Ground DCD Data Carrier Detect DSR Data Set Ready CTS Clear to Send RTS Ready to Send DTR Data Terminal Ready RI Ring Indicator GFK 1581B Chapter 4 Wiring 4 19 4 6 Cables and Connector Mates All signal connectors on the SL Series amplifiers are Mini D style and are available in solder type mates for customers who want to make their own cables Cables in several lengths are available from GE Fanuc for all of the amplifier connections It is strongly recommended that you use the cables available from GE Fanuc as shown in Table 4 4 GE Fanuc does not provide mating connectors for the SL Series amplifiers or motors however Tables 4 5 and 4 6 show d
115. DC L LE COM 58 Amplifier side CN I F Figure 5 3 Control Outputs for Z Series Amplifiers 30 750W for Parameter 3F 0 default GFK 1581B Chapter 5 I O Circuit Configuration and Function 5 3 COM 7 P Relay S RDY VY 50mA or less S Y lt Ax lt Servo ready COM 86 ol ff Relay ALM E NA 50mA or less V Y as Servo alarm Relay COIN 3 VY 50mA or less D Y 2 ASS In position at speed Relay 50mA or less Y lt A lt Torque limit Relay ZSP o 50mA or less No Y lt A x Zero speed detection Relay BRK OFF c Nf 50mA or less VY Y lt lt Brake release Relay EXOUT2 5 VY 50mA or less 17 aL Y Relay EXOUTI S 50mA or less i k y lt A gt f Error code 3 bit Relay EXOUTO gt VY 50mA or less LY Y 4 AH 12 24 VDC L TR COM R PON DA Amplifier side EM CN I F Figure 5 4 Control Outputs for V Series Amplifiers 1000 5000W 5 4 SL Series Servo User s Manual August 2001 GFK 1581B 5 3 Analog Inputs SPR SPL CON I O Circuit Configuration and Function GND i Speed command CCWTL TRQR CCW torque limit command
116. Encoder Cable B Motor Brake Cable S Amplifier Serial Cable I Amplifier Interface Cable APM APM Control Cable FLY Amplifier Interface Cable W Flying Cable Type Motor Power Cables Motor Encoder Cables Motor Brake Cables Serial Cables APM Control Cables Amplifier Interface Cables X available lengths 1 4 4 Accessory Part Numbers Terminal Board Assemblies IC800SL T xxx SL Series Terminal Block Type 001 APM DSM Interface 38 Terminals 004 Breakout Board for 3rd Party Controller Interface 54 Terminals 1 4 SL Series Servo User s Manual August 2001 L Rxx SL Series ETT Regen Resistor Kits Type Length meters 010 2 1 Meter 020 2 Meter 030 2 3 Meter 050 5 Meter 100 10 Meter mplifier Series Am field is not required for Control or Serial cables Z Z Series 30 750 W V V Series 1000 2500 W VL V Series Power and Brake Cables Only Models Larger than 2 5kW Available Lengths nm eS a ao N A N A N A X X Regeneration Resistors NM 001 2 50 ohm 100 W w mounting hardware for all 115 VAC models 002 100 ohm 225 W w mounting hardware for 230 VAC 30 750 W models 003 z 20 ohm 300 W w mounting hardware for 230 VAC 1000 W models 004 15 ohm 1000 W w mounting hardware for 230 VAC 2500 5000 W models GFK 1581B 1 5 GFK 1581B Before Operation Confirming System Components The SL Series servo system consists of an amplifier and a
117. Error e Motor Speed and Output Torque e Speed Sets the graph s Motor Speed range on the Left Scale of the vertical axis Choices are 500 RPM 1000 RPM 2000 RPM and Auto Scaling This is the parameter that the trigger feature uses for its input If you wish to set a Trigger Level value this Speed parameter must be set to a number not to the Auto Scaling setting e Output Torque Sets the graph s Output Torque range on the vertical axis Choices are 50 100 200 500 or Auto Scaling e Position Error Sets the graph s Position Error range on the vertical axis Choices in counts are 10 20 50 100 or 200 or Auto Scaling e Quadrature axis Sets the graph s time range on the horizontal axis Choices are 0 250 mSec sample 2 mSec are 0 500 mSec sample 2 mSec are 0 1 sec sample 2 mSec are 0 2 sec sample 4 mSec are 0 5 sec sample 10 mSec e Trigger slope Sets the slope for the trigger signal to either the Rising edge or Falling edge of the Motor Speed waveform or to No trigger Chapter 8 Operation 8 73 8 74 e Trigger level Sets the trigger level to 1 8 1 4 or 1 2 of Full Range Note that if the Speed parameter is set to Auto scaling this Trigger level parameter will be blanked out e Trigger position Sets the position on the graph s horizontal axis for the start of the waveform Choices are 1 8 1 4 or 1 2 of the horizontal scale e Display mode Sets the color for the waveform display
118. Exit Exit to Move then Enter or 11 71 ke to Select Figure 8 20 Parameter Menu Z Series The Parameter Menu has seven selections 1 Edit Parameter Lets you view or change current parameter values 2 Write EEPROM Used to write the contents of the amplifier s volatile RAM memory into the amplifier s built in non volatile EEPROM memory 3 Load PCAmplifier Lets you copy a configuration file from the personal computer into the amplifier s RAM memory This is useful for restoring a file to an amplifier or for copying the same file into multiple amplifiers You are prompted to specify a file name and location path 4 Save lt Amplifier PC For copying the contents of the amplifiers RAM memory to a file on the personal computer This is useful for creating a backup copy of an amplifier s current configuration file You are prompted to specify a file name and location path Note that you are limited to an 8 character file name with an extension length of 3 characters The default extension is PRM 5 Change Display Mode Lets you change the way an individual parameter s data is displayed Your choices are decimal or hexadecimal 6 Make Parameter List For creating a text file of the parameter settings You are prompted to specify a file name and location path where the file will be stored on your PC Note that you are limited to an 8 character file name with an extension length of 3 characters The defaul
119. GFK 1581B Wiring STEP 5 Selecting a Regenerative Discharge Unit If an external regenerative resistor kit is required the following calculation will determine the appropriate resistor kit Average Regenerative Power W Average Regenerative Energy Joules x H where T Total cycle time seconds Select a regenerative resistor with a rating that exceeds the average regenerative power as calculated above If this value is greater than the regenerative capacity for the resistor kit shown in Table 4 2 a larger capacity resistor may be substituted The larger resistor must have a resistance greater than the Minimum Allowable Regen Resistance shown in Table 4 2 Contact GE Fanuc if you require assistance in selecting the appropriate value STEP 6 Determine the Peak Power Requirements for the Resistor The peak power determines the maximum rate at which the regenerated energy must be dissipated to prevent overvoltage faults on the amplifier The peak power must be calculated for each period of the cycle where regeneration occurs by dividing the regenerated energy for that period by the time over which the energy is released Peak Power Regenerated Energy Regeneration Time This value must be lower than the peak power for the resistor selected see Table 4 2 If a non standard resistor is substituted its peak power can be calculated as follows 230 VAC Amplifiers Peak Power 380 R Watts 115 VAC Amplifiers Peak Power
120. Ho Hoe 2 i j m SERVO HO HO USER Bodo E AMP o FO I O Of o TEE ELE e og S Oo S O O O x Oo No o So lx JoHo o Ho oo G IC800SLTO01 A Petia SL Series Servo to DSM APM Terminal uxillary Terminal Board Board Figure A 2 DSM302 Interface to IC800SLT001 Terminal Board The function assigned to each screw terminal of the ICS00SLTOOI terminal board varies depending on the GE Fanuc motion controller used Some of the I O functions available on the SL amplifiers are not available on screw terminals since these functions typically are not required when used with an external position controller Tables A 1through A 3 below show the terminal functions for each controller option SL Series Servo User s Manual August 2001 GFK 1581B Operation with External Motion Controllers Table A 1 IC800SLT001 Screw Terminal Assignments for APM Standard Mode See Figure A 1 A 3 amp A 4 APM To Terminal Block Interface Amplifier To Terminal Block Standard Mode Only Interface TB To SL Amplifier CN I F Screw Circuit Type From TB To APNL Module Connector Terminal PL2 Axis1 A Axis 2 B Signal Conn Pin Signal Name V Series Z Series Signal Name a 5V Z 5 e 10V Analog Input 10V Analog Input 10V Analog B Differential Input DSM only DSM only oO av rower 1 Reserved AIN Reserved AIN STROBEI CTLO01 STROBEI CTLO1 STROBE2 CTLO2 1 2 20
121. However in general autotuned systems with intertial ratios of less than 6 1 will usually not require further adjustment The SL motor will make several rotations in both directions while the autotuning routine is running Before starting this routine make sure that the motor can be turned safely at least 3 revolutions in each direction This must be done to avoid possible injury to personnel or damage to equipment Autotuning with an External Motion Controller such as APM or DSM If using an external motion controller such as a GE Fanuc Series 90 30 APM or DSM be aware that the autotuning function is only used to tune the SL Amplifier s velocity loop The position loop which is closed in the external controller must be disabled during autotuning and tuned separately according to the procedure for the external controller So for autotuning purposes any connected motion controller should produce an enable signal to the SL Amplifier but no analog command command output should be held to zero If using a GE Fanuc APM or DSM you can ensure that the analog command is held to zero by temporarily setting the APM or DSM Pos Loop TC to Zero and FF to zero Or alternately command a Force D A to zero in the APM or DSM See Appendix A for more information on using the SL Series amplifiers with external controllers For a third party motion controller you must disable or disconnect its analog command output to the SL amplifier However the SL
122. IM output If the voltage on the monitor reaches approximately 9 VDC the torque command is in saturation and the motor is no longer able to keep up with the position command If saturation occurs during acceleration Reduce the load inertia or acceleration rate Increase the gear ratio as motor speed range allows Reduce machine friction Reduce vertical axis counterbalance as motor continuous rating allows Counterbalancing increases inertia seen by the motor but reduces the torque required to oppose gravity 4 Set value of Parameter No 06 Torque Limit to 300 if it is set to a lower value 5 Verify gain adjustments and increase if possible Higher gains improve the servo s ability to follow the commanded motion profile see Chapter 7 Tuning for details 6 Disable the Position Error Limit function using Parameter No 24 In most positioning applications you do not want to disable this limit since excessive position error represents poor servo performance Disabling this function can lead to a position error counter overflow see Error Code 29 GFK 1581B Protective Functions and Troubleshooting o Protective Error Description Corrective Actions Function Code Motor speed exceeded 1 Check if velocity command is excessive Velocity the limit set by System Control Mode only Parameter No 55 for Z 2 Check if pulse command input frequency or Pulse Series amplifiers or Command Ratio Parameter Nos 25 and 26 are
123. L E HL H ne ed 2 12 2 6 Motor Holding Brakes eeseeeeeeeneeeeeeeeen eene 2 12 2 7 NEMA Motor Mounting seeeeeseseeeeeeeeen eene 2 13 2 8 Dynamic Brake Function eee nere enne 2 13 2 9 Configuration and Monitoring eeeeeseeeeeeeeeeeeeeeee nee 2 14 2 10 Control Mod s nn oio RR ROO Ee 2 14 2 11 Gam Switching 43a dan da cp Ehre e re E KENEEN KATRE ands 2 16 2 12 Agency Compliance te eei teta ors 2 17 Installation Guidelines saison cisscsescecsccenencacescaccepeecacvencssactshdecncuescecuctusssouceseaucnsoss 3 1 3 1 Amplifier Mounting Guidelines and Environmental Conditions 3 1 3 2 Installing the Amplifier eene 3 2 3 3 Installing the Motor ote 2 ee eti erritu ioiai iori 3 3 3 4 Mounting Dimensions anne ane aren ee ENEE ELE EREE S cient 3 4 3 4 1 Z Series Amplifier Dimensions eene 3 4 3 4 2 V Series Amplifier Dimensions eese 3 5 3 5 Motor Mounting Dimensions essere ener 3 6 3 6 Power DISSIpatiOn 2s seh sec sh even terre foes Sees ee er dd etr et tee eee eee 3 11 WILME eee oos QI D ge ONE ON I ELE DO NE EAE IN QU DNE C UI QU EON EO IN ICI 4 1 4 1 Wiring to the Amplifier Power Terminals sssssssseeeeenee 4 1 4 1 1 Wiring Cautions mo eee eer ual epe PE reet 4 3 4 1 2 Wiring the Optional Motor Holding Brake eese 4 4
124. LOG OUTPUT ALM LOAD CCWL Note Home Switch may be N O or N C depending upon application Figure A 4 IC800SLT001 Terminal Board Wiring Diagram APM Standard Mode Axis 2 GFK 1581B Appendix A Operation with External Motion Controllers A 9 The figure below illustrates the functional connections for the terminal board when an APM in Follower Mode is used for the motion controller on Axis1 For optional motor brake wiring please see Section 2 6 of Chapter 2 i AXIS 1 Terminal Block HOME SWITCH Terminal MASTER AXIS Ct E AXIS 1 Number HOME SWITCH gt DRIVE OK HOMES CTL06 DRIVE1 OK CTL05 SES ENIM ZA MASTER ENCODER B3 25 CTL02 GES SHIELD evry CCWTL duh 10V ANALOG INPUT 10V ANALOG INPUT ce O OO O 10V ANALOG OUTPUT 10V ANALOG OUTPUT ALM LOAD S RDY LOAD Note Home Switch may be N O or N C depending upon application Figure A 5 IC800SLT001 Terminal Board Wiring Diagram APM Follower Mode Axis 1 A 10 SL Series Servo User s Manual August 2001 GFK 1581B Operation with External Motion Controllers The figure below illustrates the functional connections for the terminal board when an APM in Follower Mode is used for the motion controller on Axis2 For optional motor brake wiring please see Section 2 6 of Chapter 2 AXIS 2 Terminal HOME SWITCH Block GENERAL PME SMITE Terminal PURPOSE Lt D AXIS 2 Number SWITCH INPUT e DRIVE OK CTLO8 DRIVE2 OK CTLO7 e
125. M Main Menu Parameter Menu 3 Load PC Amplifier mS Why jc P 03 Velocity loop gain 65 gt ER Feedback ratio numerator Feedback ratio denominator Encoder signal inversion Brake action stopping Brake action running NOTE r in the parameter number requires amplifier power to be reset to activate new value Input New Parameter Esc to cancel Figure 8 29 Change Parameter Window Z Series Chapter 8 Operation 6 27 8 28 e Key in a new value You may enter a value in standard decimal format or in hexadecimal hex format To enter a number in hex format use a prefix of OX Zero X before the number For example the hex number 1 FES would be entered as OX1FES Note that hex entries are not case sensitive either upper case or lower case letters may be used When a number is entered in hex format the screen display of that number is automatically changed from its default of decimal to hex format You can also manually change the display format by using the instructions found below in Section 8 3 2 7 titled Changing a Parameter s Display Mode e Press the Enter key to enter the new value If you change your mind you can cancel and return to the parameter page by pressing the Escape key instead of the Enter key Remember the parameter changes you make are only stored to the SL amplifier s volatile RAM memory The changes will not remain in effect if power is cycled to the amplifier because
126. Menu will be added to the screen to the right of the Main Menu as shown in the next figure Note the double line around the Monitor Menu indicating that it is the active menu Main Menu Monitor Menu Parameter i Input Signals isplay Al Output Signals Speed Torque Error Cmd Pulse Monitor ABS Encoder Monitor ccumulated Time PU Version Exit 4 Waveform Graphic Protocol Set Up 6 Axis Address Exit On y wf Wi wo Arrow key to Mov Figure 8 34 The Monitor Menu Z Series The selections on the Monitor Menu let you view the status of various SL amplifier signals Note that there may be an instantaneous difference between actual values and displayed values due to the inherent time delay in communications between the amplifier and the computer The Monitor Menu has eight selections which are described in the following section e Input Signals Displays the status of input signals Axis No 0 Inputs Servo disabled Pulse command inhibit ON Alarm clear OFF CW overtravel ON CCW overtravel ON C MODE select 1st Figure 8 35 Input Signals Window of Monitor Menu Z Series Chapter 8 Operation 6 37 e Output Signals Displays the status of output signals Servo ready COIN signal OFF Dynamic brake ON Figure 8 36 Output Signals Window of Monitor Menu Z Series e Speed Torque Error Displays the actual motor velocity labeled Speed in the window in RPM the Torque command as a of continuous rat
127. Mode User s Manual GFK 0840 Motion Mate APM for Series 90 30 PLCs Standard Mode User s Manual iv SL Series Servo User s Manual August 2001 GFK 1581B Chapter 1 Chapter 2 Chapter 3 Chapter 4 GFK 1581B Contents Before Operations c X 1 1 1 1 System OVerview ash RRRERARERHARRHARR ARRA RERRR R ERE 1 1 1 2 Unpacking and Inspecting Components eee 1 2 1 3 Ni cb A 1 2 1 4 Part Numbers 2 2558 dSandahensdlons denen anddanddansd and 1 3 1 4 1 Servo Motor Part Numbers eeeeeeeeeeeeeeeeeen nennen 1 3 1 4 2 Servo Amplifier Part Numbers eeeeeeeeeeee eee 1 3 1 4 3 Cable Part Numbers Son na e a eee nne 1 4 1 4 4 Accessory Part Numbers 2 es o e ren bei eei eere o ET 1 4 1 5 Confirming System Components essere nennen 1 5 SL Amplifier Feature Overview scsssssssssscssssssssssssssssssccscsssssssssssssscscess 2 1 2 1 Feature Location 4 cono E re HO Gee e E 2 1 2 2 Rotational Direction Conventions essere 2 3 2 3 SpecIHCatlons 5 ee pee eem eee E EEE NR RS eue s 2 4 2 4 Motor Speed Torque Curves oerte eere reote eret feo eet eic 2 9 2 4 1 Z Series Performance Curves eessessseeeeeeeeeee ene 2 9 2 4 2 V Series Performance Curves eese 2 10 2 4 3 Derating Based on Ambient Temperature eeeeeeeeeee 2 11 2 5 MotorsSealitig tont tet e tb et E He U
128. NERAL PURPOSE 27 OUT2M A OUT2 pog X 5V DIFFERENTIAL OUTPUT OUT3P_A OUT3 Do w RTN GENERAL PURPOSE bs OUT3M A OUT3 kg 5V DIFFERENTIAL OUTPUT l R 4 er 20 CCWTL TN Oo ay 10V ANALOG INPUT 19 Ve O l I O 1 E TM S el 5 10V ANALOG INPUT T S SHIELD 7 IM B ds X X 10V ANALOG OUTPUT We o 8 SP i o ME 10V ANALOG OUTPUT 18 COM SO 36 COM 12 24VDC USER SUPPLIED POWER INPUT REQUIRED FOR OPERATION 32 COM 14 ALM LOAD E A CLR 33 COM ie CWL 34 COM CCWL l 17 Note Home Switch may be N O or 35 COM N C depending upon application Figure A 7 IC800SLT001 Terminal Board Wiring Diagram DSM Analog Mode A 12 SL Series Servo User s Manual August 2001 GFK 1581B A 3 1 GFK 1581B Operation with External Motion Controllers IC800SLT001 Mounting Dimensions The IC800SLTO001 Terminal Board assembly is designed for either panel mounting or DIN rail mounting See the section Converting Terminal Boards to Panel Mounting later in this chapter Dimensions for both mounting styles are shown in Figure A 8 below 3 05 77mm _
129. Not ready reading drive A Abort Retry Fail To correct this situation insert the diskette into the A drive and press the R key Retry then the Enter key If you press the F Fail key the save operation will be stopped and the Save window will display an error message If you press the A Abort key the SLconfig software will shut down and you will have to restart it then work your way back through the menus to this menu in order to resume the save operation 8 4 13 Loading a Parameter File From Disk V Series e Press the 3 key on the File operation screen to display the Load Parameter window pe SS lt lt No 3 Load Parameter File to Amplifier gt gt np zie m irs ETE cer eee p ra e cc E DR EE Enter parameter data file name file names of 8 characters or less are valid J 4 e At the prompt key in a file name In the example below the file name TEST TXT was entered as the file name This will write the file by default to the SLconfig directory folder on your hard drive since no path information was provided Your window should look similar to the one in the next figure Enter parameter data file name file names of 8 characters or less are valid TEST TXT Load file Y N Q B e As an alternative you could s
130. S1 PULS2 SIGN1 SIGN2 Maximum output current 14mA DO 1 Applies to encoder output signals OA OA OB OB OZ OZ GFK 1581B Chapter 5 I O Circuit Configuration and Function 5 29 5 30 Type I O Circuit Diagram Electrical Data Z Series Amplifiers 1 Maximum input voltage 30V Vo 30V MAX 2 Maximum voltage drop when transistor output is ON 7V i 3 Delay time of output transistor ON OFF lus or i less GND 4 Maximum output current 15mA DO 2 V Series Amplifiers Voo 30V MAX GND Applies to encoder marker open collector output signal CZ SL Series Servo User s Manual August 2001 GFK 1581B Chapter Configuration Parameters 6 6 1 Overview of Configuration Parameters and Default Settings The SL Series amplifiers have parameters which may be used to set adjust various features and functions You can view or adjust these parameters using either the keypad display on the front of the amplifier or using the S config software on a personal computer The Z Series amplifiers support parameters through 3F while the V Series amplifiers support parameters through 2F Parameters above that range are system parameters that are for factory use only System parameters are read only and cannot be changed 6 2 Parameter Overview Table and Default Values The following table is a condensed listing of the paramete
131. SEcontig Requirements iure eb ehe 8 14 8 2 1 3 Connecting your Computer to the SL Amplifier eesssss 8 15 8 2 2 SLconfig Installation and Startup eere 8 16 8 2 2 1 Installing the SLconfig Software eeeeeeeeeeene 8 16 8 2 2 2 Starting the SLconfig Software 8 17 8 2 2 3 SLconfig Main Startup Screen eee eeeeeesecssceceseeeeeeceseeeesaeesseesseeeees 8 18 8 2 3 Basic OperatiOnz oct te erroe eR Ae BAA AAR ted he 8 19 82 3 1 Keyboard Functions tue Ee Pee qr re re eb UPC Pee ePi esa d 8 19 82 32 Selecting from a Meri t dete to ee et fe tiint lion wells 8 20 82 3 3 Exiting From A Seer iai e Repo eH e b eh eee 8 20 8 3 Using the SLconfig Software with a Z Series Amplifier 8 21 8 3 1 Exiting the Z Series SLconfig Program eene 8 22 8 3 2 The Z Series Parameter Menu eene 8 23 8 3 2 1 The Edit Parameter P gs desni eeeeessseecsseecssceceeecssceceseeeesaeessseessseeesee 8 24 8 3 2 2 Parameter Identification eese nennen eene 8 27 8 3 2 3 Editing a Parameter Z Series eese 8 27 8 3 2 4 Writing Z Series Parameter Values to EEPROM eee 8 28 8 3 2 5 Loading a Parameter File From PC to Amplifier esssss 8 29 8 3 2 6 Saving a Parameter File from Amplifier to PC eese 8 30 8 3 2 7 Changing a Parameter s Display Mode
132. SPDI and INTSPD2 inputs are active only when Parameter 3F is set to 4 or 5 see section 5 7 1 The source of the speed command is selected as follows see table 0 Enable analog velocity command only 1 Enable 4 internal speed commands 2 Enable first 3 internal speed commands and analog velocity command Parameter No 16 Set Value nee Peer Ee ae Analog Cmd Int Speed 1 Int Speed 1 Analog Cmd Int Speed 2 Int Speed 2 Analog Cmd Int Speed 3 Int Speed 3 Analog Cmd Int Speed 4 Analog Cmd OFF Open to COM ON Connected to COM SL Series Servo User s Manual August 2001 GFK 1581B Configuration Parameters 6 GFK 1581B Parameter No Parameter Description Adjustment Range Function SRV ON Input ied _ ZEROSPD Input 0 es 1 INTSPD1 Input o H i l a ae INTSPD2 Input 0 i 2nd Speed Motor Speed V Series Amplifiers V Series amplifiers support two internal speed presets set using Parameter No 18 and 19 The preset speed commands are selected based on the logical state of the ZEROSPD and INTSPD control inputs on the CN I F connector as shown in the timing diagram below The source of the speed command is selected as follows 0 Enable analog speed command 1 Enable internal speed commands The acceleration deceleration rate used with internal speed commands is set using Parameter No 10 SRV ON Input LI J ZEROSPD
133. Section 5 7 2 e On V Series amplifiers the three EXOUT output signals on connector CN I F represent a 3 bit error code that can be used for remote diagnostics on a host PLC or machine controller see Section 5 7 2 e The position error counter is cleared Protective Function Descriptions When a fault occurs it is stored in the error history as a two digit code The SL amplifiers have an error history feature that stores the eight most recent error codes in non volatile FIFO memory You can display the error history using the keypad display on the front of the amplifier see Section 8 1 1 1 or on a PC using the Monitor screen in the SLconfig software see Section 8 2 Table 9 1 shows the various error codes and their descriptions Some errors require cycling the AC power to the amplifier in order to reset the fault These errors are indicated in the table under the Power Cycle Reset Required column All other errors can be reset using either the alarm clear input A CLR on connector CN I F or the amplifier keypad see Section 8 1 1 6 Alarm Clear Mode The SL Series amplifiers and motors utilize dangerous voltage levels When troubleshooting system problems use appropriate precautions to prevent exposure to these potentially lethal voltages Only experienced personnel with adequate knowledge of the system operation should attempt to diagnose system problems Table 9 1 Error Codes and Descriptions Protective Error er M T Th
134. Select Y to write data into EEPROM or select N to quit at the bottom of the screen e f you press Y to write the new values into the amplifiers EEPROM memory the message Writing to EEPROM in progress will be displayed When the writing is finished Writing to EEPROM is complete will be displayed Press the Enter key e Ifyou press N you will exit without writing to EEPROM GFK 1581B Chapter 8 Operation 8 59 While the computer is writing to EEPROM do not turn off power to either the amplifier or the computer before Writing to EEPROM is complete is displayed If you turn off power while writing to EEPROM is in progress the data may be corrupted If you select N and do not write the data into EEPROM the new settings except for Parameters 27 28 and 29 discussed below will only be active in the amplifier s volatile RAM working memory Therefore old data prior to the parameter edit session will be restored after you cycle amplifier power For the following three parameters changed values become valid only after you cycle the amplifier power Therefore they must be written into EEPROM in order to take effect Parameter No 27 Quad pulse input scaler Parameter No 28 Pulse command polarity Parameter No 29 Pulse input mode select If you change the value of any of these three parameters the following message will be displayed at the right side of the screen Change to this parameter becomes effective only a
135. Sell 3 2 Electrical Lime ms 0 6 0 67 0 89 0 88 3 5 34 4 6 3 5 7A Constant Continuous Current Arms 1 0 1 0 1 6 1 0 2 5 1 6 44 2 5 4 3 Optional Brake Data 20 C backlash 0 1 Ino Kai in Ib s x 10 0 026 0 026 0 026 0 26 0 26 0 78 M kg m x10 0 003 0 003 0 003 0 03 0 03 0 09 Ib 0 44 0 42 0 44 0 88 0 88 1 54 VENERE dee kg 0 2 0 19 0 2 0 4 0 4 0 7 Voltage VDC 10 24 24 24 24 24 24 Current A 0 26 0 26 0 26 0 36 0 36 0 43 Engage Time ms E25 E25 25 lt 50 lt 50 lt 60 Release Time ms lt 20 lt 20 lt 20 lt 15 lt 15 lt 15 P in Ib 2 6 2 6 2 6 10 8 10 8 21 7 SIUS Nm 0 29 0 29 0 29 1 3 1 3 2 5 Environmental Data Humidity non RH 85 condensing Ambient Temperature C 0 to 40 operating Storage Temperature C 20 to 80 Vibration G 5 Shock G 10 Torque shown is available up to a certain Ambient Temp See Speed Torque curve notes Radial shaft loads are specified at a position centered along the length of the shaft gt Vibration tests are described in the section Motor Vibration Testing SL Series Servo User s Manual August 2001 GFK 1581B SL Amplifier Feature Overview Table 2 4 V Series Motor Specifications Motor Rating 20 C Specification Units SLM100 SLM250 SLM350 SLM500 Output Power W 1000 2500 3500 5000 eg 4 in Ib 28 70 97 140 Continuous Stall Torque Nm 3 18 7 94 1 15 8 in lb 84 210 294 421 Peak Torque Nm 9 5 23 8 33 2
136. Series Servo OOOOOOOOOOO0OOO0OOO0O0O0O to DSM APM 36 35 32 33 32 31 89 29 28 27 26 25 24 23 22 21 20 19 S Terminal Board PL3 USER 1 0 Figure A 1 APM300 Interface to IC800SLT001 Terminal Board GFK 1581B Appendix A Operation with External Motion Controllers A 3 A 4 1 0 1 0 IC800SLTO001 1C693ACC336 TO MOTION SL Series Servo B oe Terminal Auxillary Terminal Board PROGRAMMER gar Oo em Ov Oz 3 OF z o z 3 do OF dad E BO Ho USER ajo R o CFO OF ozo orb Comm Cable S 5 O E oE o B9 IC693CBL316 0 5 BO o S o f Ho o ae Bot STAT O o HO Jo BO o TO SL Bo oK O O gt 2 Bo HO o E SERIES Hobo He Hole 3 m SERVO o oEBo 2 m AMP Oo O EN3 O O EN 1 SI o x Pl O EN 4 EN 2 i e o 2 5 O O o H o iS T So z O i O do Ho C H EA x Oo BO HS o O goo servo Bo H 2 Opari AXIS 1 Oo Cy Ez Terminal Board to Amplifier Cables RUX AXIS 3 OILO DSM to Terminal IC800SLCIZO10 1M 30 750W Go m RN IC800SLCIZ030 3M 30 750W IC800SLCIVO10 1M 1000 5000W D p iB icescBL325 am IC800SLCIV030 3M 1000 5000W AUX AXIS 4 Aad AAAS m Ov OVO O o Os ova B s o BE asel Hoo c foioios d ao jal O Odo Ca cea obo E do o OQ LO o k o m Oo g z V gt 3x elo o Ho 5 fj o e E oe gt HIE Bo o 0 a hii S TO SL JoHo SoHo S If I series do
137. These can be read from each file s startup screen For examples of this see figure 8 17 for the Main Startup Screen Figure 8 18 for the Z Series Startup Screen and Figure 8 52 for the V Series 8 2 1 2 SLconfig Requirements e The SLconfig software is designed to communicate with SL Series amplifiers only e Your computer should be an MS DOS based or Windows based personal computer e You must use your computer s COMI or COMZ serial port user selectable COMI is the default e Use MS DOS Version 6 2 or later e A special serial cable is required to connect your computer to the SL amplifier Order by specifying GE Fanuc Catalog Number IC800SLCS020 MS DOS and Windows are registered trademarks of Microsoft Corporation SL Series Servo User s Manual August 2001 GFK 1581B Operation 82 1 3 Connecting your Computer to the SL Amplifier These instructions apply to both the V Series and Z Series amplifiers e Please make sure that all power to the amplifier and to the computer is turned off e Insert the 10 pin plug of the GE Fanuc IC800SLCS020 serial cable to the CN SER connector on the SL Series Amplifier Next insert the other end of the cable into the RS 232C serial connector on the personal computer Use the 9 pin to 25 pin adapter supplied with the cable if your computer has a 25 pin serial port connector Note that this serial cable will work with both V Series and Z Series SL amplifiers e Turn on your comp
138. Torque monitor signal 7 SP T 10kQ Measuring Speed monitor S instrument signal D external circuits GND 13 Prod da Amplifier side CN I F Figure 5 7 Analog Outputs for Z Series Amplifiers 30 750W B t 10k IM 42 Torque monitor signal SP a 10kQ Measuring Speed monitor V7 instrument signal external circuits GND 48 7 RSS UN Amplifier side CN I F Figure 5 8 Analog Outputs for V Series Amplifiers 1000 5000W Both IM and SP have output impedance of 10KQ When you connect a measuring instrument or an external circuit to the IM or SP outputs they should have high input impedance 1 MQ or higher in order to minimize signal error such as a multimeter oscilloscope high impedance display meter etc The IM and SP outputs are also available as test points on the front of the amplifier Both the front panel test point and the terminal output of the SP signal can be scaled by the user using Parameter No 08 The Function of the SP output signal can be configured as either motor speed or position error using Parameter No 3B Z Series or Parameter No 08 V Series See Chapter 6 for more details on configuration parameters Chapter 5 I O Circuit Configuration and Function 5 7 5 5 Pulse Command Counter Clear Command Pulse Inhibit Inputs The pulse command input can respond to either a line driver or an open collector interface however we
139. User s Manual August 2001 GFK 1581B Operation Note that the software version number for the Main Startup screen file SLconfig exe is displayed on this screen At this point in the startup procedure you have to indicate which SL Series you wish to work with during this session the V Series or Z Series Since there are basic differences in the software the instructions are written in two separate sections e Z Series instructions start in section 8 3 e V Series instructions start in section 8 4 Note On a Windows 95 system if you disconnect the serial cable or turn off power to a V Series SL amplifier while the SLconfig software is running the only way to exit SLconfig is to use the lt Ctrl gt lt Alt gt lt Del gt key combination select SLconfig from the Close Program dialog box then click the End Task button In order to resume the SLconfig session reconnect the cable to the SL amplifier with amplifier power off then turn the amplifier back on 82 3 Basic operation 82 3 1 Keyboard Functions The following table defines the function of control keys used by the SLconfig software GFK 1581B Chapter 8 Operation 8 19 8 20 Cursor control arrow keys The cursor control keys are used to move the cursor up Teo down left or right Use to select items within a menu On some computers instead of The item selected is highlighted in reverse video white arrow symbols these keys may letters on a
140. V SmvoN perse V SROY penses CTI GR femea T AW pensum 3 ow few enc orvavarint A emm 3 Gor EoWewsrmeimr 3 emse Control mode switch input 4 BRK OFF External brake release s ZEROSPO Zac A COW Fonin AT Spaed KCN Fmserseerse T emm S mW e T eme S PEON opr stereo Noms A m oerpostonerormput R emm EEA GAN asser 8 eme 6 BW eeescimrsse A Neue 9 feme A eue E WIR reeisesissermaz t Neue LE eee A 98 remesas sense risa sa Table 8 1 Z Series Amplifier I O Signal Status Display Code in the Monitor Mode GFK 1581B Chapter 8 Operation 6 7 Symb Description We Sgmbo Descriptor SRVON enored fof SAY amp Gm ams 1 amp w pewsam OW ow end orale Exouro Enor code ast onan GOWL ocw erd oireeni EXOUTI Eror coe miae L ONODE orto mode swich input 3 EXOUTE Enor code mest saritcartet ZEROSPD Zero speed camp mp S ERK OFF Edera rare raeas INTSPO Preset speed selecto t 6 CON in Postion AtSpeed CL 7 i inhibi 8 ZSP Atzero speed Poon perennes 8 frorn se ot pve iar pasion ovoript AT ERE m 1p 4 Not in use not displayed Not in use not displayed 7 Not in use
141. Z Zero Speed Clamp Inhibit Parameter 6 18 Zero Speed Detection Level Parameter 6 14 Zero Speed Detection Output 5 21 Zero Speed Clamp Input 5 18 Index 7
142. a 50 pin interface connector and contains several signals not included on the Z Series amplifiers The Z Series amplifiers use a 36 pin interface connector and use parameter configurations to assign different I O functions to some of the connector pins see Section 4 1 for more details Figures 2 land 2 2 illustrate typical Z Series and V Series amplifiers Feature Location O hs N GE Fanuc SL Series ji D D E BHBHBH lt lt Keypad Display A V See Chapter 8 k Sa Se Test Points IM SP G est Points IM SP msee See Chapter 2 o d e np R e lH Serial Connector CN SER AC Line Power E B See Chapter 4 Connections 1 4S B amp See Chapter 4 s e THO du cT T edd P B 4 36 pin Interface Connector CN I F Connections B e See Chapter 4 See Chapter 4 a Motor P sz EM otor Power Connections KV g eD See Chapter 4 amp o W DO Encoder Connector CN SIG See Chapter 4 Ground e eS Connections I See Chapter 4 a e f S Hinged cover removed to show terminals Figure 2 1 Z Series 30W 750W SL Amplifier Features 2 1 U o U Keypa
143. a demo program and OI screens for the OCS100 unit that may be modified as needed The following two screen images are the stepper configuration screens from Cscape Figure E 2 Cscape Configuration Screens GFK 1581B Appendix E Interfacing the SL Servo to an OCS E 5 E 6 Selecting Appropriate User Units The following section provides a configuration overview and a detailed example of selecting appropriate parameter values i e how to scale user units for the system OCS Ladder amp OI OCS Motion Calculator Position 8388608 pulses Incremental or Absolute Velocity 1 to8192 pps VR multiplier 0 5 to 30 Pulse Cmd Ratio OCS Stepper Controller Pulses per sec gt Par 25 Par 26 ENC Multiplier lt lt Counts persee m Ond AR a ENC Divider ENC Tolerance SL Amplifier 10 000 count rev Load Gearing J gt or Figure E 3 Configuration Overview Application Notes e The load gearing plays a major role in position and velocity e The motor mounted encoder is fixed at 10 000 counts per motor revolution e The SL Series servomotor will move the number of encoder counts commanded by the OCS Step Pulse Command in pulses per second multiplied by the SL Pulse Command ratio Parameter 25 Parameter 26 This ratio allows the user to scale the number of Step Puls
144. a eundo E 8 Contents ix Chapter l 1 1 GFK 1581B Before Operation System Overview The SL Series is a family of high performance brushless digital servos with very flexible command interface and user configurable I O functions Amplifier configuration can be done using a front panel keypad and 6 digit LED display or more easily with the SLconfig software for a personal computer The SL Series amplifiers can be configured for use with an external position controller using an analog velocity or torque command interface or in one of the three position control modes The SL amplifiers support interface to CW Pulse CCW Pulse Pulse Direction and quadrature encoder signals as a position command interface The first two options are typically used to connect with stepper indexers when upgrading to servo control for improved machine performance The third command option can be used for simple fixed ratio follower electronic gearing applications using an incremental master encoder The SL Series motors and amplifiers are designed and optimized as matched sets based on their rated power Overload and possible component damage may occur if the motor and amplifier are not properly matched Table 1 1 shows the proper pairing of the components The SL amplifiers rated from 30 to 400 Watt are available in either 115 VAC or 230 VAC models All other models are rated for 230 VAC input The 230 VAC models are intended to be operated from a three phase
145. al SP connected to CN I F pin 16 Z Series or pin 43 V Series For the Z Series amplifiers Parameter 3B is used to select the monitor function while in the V Series amplifiers both scaling and function of the monitor are set by this parameter Z Series Motor ASRM 0 9 V Series Moor osre o Speed 16383 RPM 16383RPM 1 Position 255 Counts zc Error 32767 Counts Ea Z Series If the factory default setting of 4095 RPM full scale is insufficient Speed Monitor 0 1 set the parameter to 1 to increase the monitor range 08 Scaling Relationship between the position error in counts quadrature V Series encoder pulses and the monitor output voltage is described in the 0 3 following diagram Speed Monitor Scaling 8 2 V 0 6 V 1 1 5 V t 1 3000 4095 8191 12287 16383 RPM Position Error Monitor Scaling 0 Z Series 2 V Series 1 Z Series 3 V Series 255 COUNTS 32767 NOTE Counts refers to quadrature encoder pulses 10 000 PPR Default 0 SL Series Servo User s Manual August 2001 GFK 1581B GFK 1581B Configuration Parameters 6 Parameter No Parameter Description Adjustment Range Function 09 Overtravel Input Inhibit This parameter is used to disable the CW inhibit input CWL and CCW inhibit input CCWL on the servo interface connector CN I F 0 Enable overtravel inputs 1 Disable the overtravel inputs NOTE If b
146. al motion controller such as a GE Fanuc Series 90 30 APM or DSM be aware that the autotuning function is only used to tune the SL Amplifier s velocity loop The position loop which is closed in the external controller must be disabled during autotuning and tuned separately according to the procedure for the external controller So for autotuning purposes any connected motion controller should produce an enable signal to the SL Amplifier but no analog command command output should be held to zero If using a GE Fanuc APM or DSM you can ensure that the analog command is held to zero by temporarily setting the APM or DSM SL Series Servo User s Manual August 2001 GFK 1581B GFK 1581B Operation Pos Loop TC to Zero and FF to zero Or alternately command a Force D A to zero in the APM or DSM See Appendix A for more information on using the SL Series amplifiers with external controllers For a third party motion controller you must disable or disconnect its analog command output to the SL amplifier However the SL amplifier must be enabled which consists of closing the contact between the SRV ON input and the COM input Autotuning Procedure In the Selection Display use the UP DOWN keys to choose the desired Machine Stiffness Number The Selection Display uses the form At 1 x where x is the Machine Stiffness Number Once the desired stiffness number is displayed press the SET key to enter the Execution Display To begin t
147. amage to the amplifier may occur Use shielded twisted pair wires for the following signal lines on connector CN I F analog command input SPR or TRQR pulse command input PULS and SIGN or encoder output signals OA OB and OZ Ground the cable shield to the signal ground GND of the amplifier Though the shield at the load end is normally left floating in cases of extreme noise connecting the shield at both ends to frame ground may provide better operation The frame ground terminal FG on connector CN I F is connected to the earth screw terminal inside the amplifier Wiring to Encoder Connector CN SIG The encoder feedback from the SL Series motor connects to the 20 pin Mini D type CN SIG connector GE Fanuc offers five and ten meter pre finished cables for the encoder connections as shown in Table 4 4 Special tooling is required to properly manufacture the Mini D connector so it is strongly recommended that you use the cables available from GE Fanuc Otherwise follow the recommendations below when connecting the encoder signals from the motor l For the encoder cable use stranded twisted pair wire at least 24 AWG 0 18mm with an overall shield The AWG size is rounded to the size closest on the larger side to the given Metric size The maximum cable length is 65 feet 20m To minimize voltage drop we recommend using two conductors for each of the two encoder power connections see Figure 4 5 Make sure the wirin
148. amplifier must be enabled which consists of closing the contact between the SRV ON input and the COM input Procedure Enter 4 at the main menu to select the Automatic Gain Tuning screen shown in the following figure Note the two selections G or Q and the display of the Gain Parameters current values at the bottom of the screen Note The values shown on this screen are examples only They are not necessarily the correct values for your system 8 66 SL Series Servo User s Manual August 2001 GFK 1581B Operation lt lt lt AUTO GAIN TUNING DISPLAY gt gt gt Allowable motor load inertia ratio for this automatic gain tuning function is limited Maximum motor output torque will be limited to the torque limit set by parameter No 36 During this time the CW and CCW Overtravel Limit Inputs are disabled Automatic gain tuning may cause machine oscillation In this case disable the SL servo immediately and restore the gains to the factory default settings using the parameter setting menu Refer to user s manual for more details muummmsumEuczmmuuEsuuzzkxmuEEHEZzzuzEHEEHEEEEEEEEENEEHSEZnzEEENEEEEZEZEEEEEEESEEENEENHEEBZSE5S5sER Position loop gain 40 Velocity loop gain 25 V loop integ time 80 Velocity feedforward 0 Figure 8 63 Automatic Gain Tuning Display V Series e To begin autotuning press the G key The message in the lower left corner of the screen will change as sho
149. and input terminal to turn the point OFF 80 HA Applies to signals SRV ON ZEROSP DIV C MODE GAIN P CON A CLR CCWL CWL CL INTSPD V Series only INTSPD1 Z Series only INTSPD2 Z Series only INH Z Series SUPER Vpc 12 to 24V 50mA or less 8 COM Note When driving a eli directly a a diode Should be installed in parallel with the relay as shown O 1 V Series oa j i Zu A M Ui ERR COM so Note When driving a id directly a a diode Should be installed in parallel with the relay as shown 1 Maximum voltage drop when transistor output is 1 5V or less at 50mA maximum current 2 Delay time of output transistor COIN output ON 260 us or less V Series 500 us or less Z Series OFF 260 us or less V Series 500 us or less Z Series ALM and S RDY outputs ON 10 ms or less OFF 10 ms or less Applies to signals S RDY BRK OFF ZSP ALM COIN TLC V Series only Z and V Series Amplifiers AI 1 Resolution of A D converter 11 bit plus sign Full scale 10 2V to 10 2V Accuracy reference data 3 of full scale Thermal drift 5uV C Input impedance 20 kQ Un RU Ne Applies to signals SPR SPL Chapter 5 I O Circuit Configuration and Function 5 27 5 28 Type I O Circuit Diagram Electrical Data SP i 10K GND il T AI 2 1 Resolution of A D converter 11 bit plus sign 2 Full scale 12 3V to 12 3V 3 Ac
150. anel keypad display These modes are selected using the MODE key when the amplifier is in the Selection Display Once a specific mode is shown on the display pressing the SET key activates the appropriate Execution Display as shown in Figure 8 2 SL Series Servo User s Manual August 2001 GFK 1581B GFK 1581B M Monitor Mode Operation Selection Display Execution Display Monitor Mode Y MODE Y Parameter Mode TOM Parameter Mode Y MODE Y EEPROM Write Mode Y EEPROM Write Mode MODE MODE Y Autotune Mode Y MODE Autotune Mode MODE Y Alarm Clear Mode Alarm Clear Mode Y Jog Mode Jog Mode Seres only Z Series only Figure 8 2 Keypad Menu Navigation In the mode Selection Displays the most significant digits in numerical fields consists of one or two letters followed by an underscore as shown below EE 5E Automatic gain tuning mode JOG mode Z Series only Alarm clear mode Note When all the figures on the display are flashing the amplifier has faulted on an error Chapter 8 Operation Monitor Mode When you turn on the SL amplifier power the LED display defaults to the Monitor Mode Execution Display for either Following Error Motor Speed o
151. arameter Q to Close Figure 8 45 Sample Waveform Z Series 8 3 9 Tuning Procedure Z Series The tuning process requires that the motor be run You should set up a test program or procedure to do this Before running the motor be sure that it can be done safely Also changing the parameter values on this screen can have a significant impact on motor operation Be familiar with how to stop the motor quickly should it be required Failure to heed these warnings could result in injury to personnel and damage to equipment The Waveform Graphic Measuring Setting Screen 3 serves as a convenient tool to help you tune your system Use the following basic procedure e Set the parameters on the other two Measuring Setting screens to display the desired waveform Use the trigger feature by setting the Trigger Object parameter to Actual Speed and setting the other Trigger parameters appropriately Then display this screen e Press the Spacebar on your computer s keyboard That will start the measuring process and the software will wait for the trigger Start the motor running When the motor speed reaches the trigger level measurement will begin After a few seconds the waveform will be displayed Note the response displayed by the wave shape This will serve as your starting or baseline waveform e Change the value of one of the parameters on this screen it is recommended you only change one parameter at a time while performing this p
152. arameter Description Adjustment Range Function NOTES 1 This delay is used only when the motor is stopped For Z Series amplifiers Parameter OF controls the BRK OFF output action for a running motor 2 This function is available on Z Series amplifiers only if Parameter No 3F is set to a value of 1 2 3 or 4 3 SL motor brakes are a spring set fail safe type that must be energized to release the brake When the BRK OFF output is active the motor brake is disengaged 4 If a fault occurs which disables the amplifier while the motor is stopped the BRK OFF signal will be immediately turned OFF without the Tg delay 5 There is approximately a 40 ms delay from the time an amplifier is enabled SRV ON activated before torque is applied to the motor and the BRK OFF output is activated Default 0 OF Z Series only Brake Output Delay Time Moving Motor 0 100 If a Z Series amplifier is disabled SRV ON input deactivated or if a fault ALM occurs while the motor is moving the amplifier will dynamically brake the motor to a stop see section for Parameter OA for more information on dynamic braking For axes using an optional motor brake this parameter sets a delay time Tp for activating the BRK OFF output used to control the motor brake The BRK OFF output will be turned OFF brake engaged after a time delay of Tg from the time the amplifier motor output is disabled as long as the
153. arameter Menu Selecting File from Directory List of Default Path Directory If you do not know the exact name of the file to be loaded you can select it from a directory list of the default directory files This method helps minimize file name errors e Press the Tab key on your computer s keyboard A list of all files in the default directory will display C NSECONEIGNSLECONE 1 03V lt DIR gt 1999 02 12 17 01 bo ERS A Jus SLCONFIG EXE 25565 1999 02 10 10 41 SLV1 EXE 110032 1999 02 10 10 41 SLZ1 EXE 206288 1999 02 10 10 41 SLZ1 INI 440 1999 03 11 14 57 SLZ1 GPH 140 1999 02 22 18 47 TOM3101 PRM 733 1999 03 10 16 20 8 files e Use the arrow keys to highlight the desired parameter file It will probably have the default PRM extension e Press the Enter key The Load window will display the file name on the Filename line e Press Enter to load the file The message Operation Successful Push any key will display e Press a key to return to the Parameter Menu Chapter 8 Operation 8 29 8 30 Specifying a Path File Name You may wish to load a parameter file from different location than the default For example you may wish to load it from a floppy disk e Type the directory path on the Filename line To select a file from your computer s floppy disk A drive insert your floppy disk into the drive then type A on the Filename line Note When Using the A Drive If you specify that the file be loaded fro
154. ation with External Motion Controllers Overview The SL Series servos can be used with the GE Fanuc APM300 or DSM300 Series motion control modules for the Series 90 30 Series PLC or with other third party motion controllers To assist you in connecting to these controllers two terminal board assemblies are available for the SL Series Servo Amplifiers IC800SLT001 SL Series Servo to APM DSM Interface Terminal Board Used to interface the SL Series Servo Amplifiers with GE Fanuc s motion control products the APM301 and APM302 or the DSM302 with firmware version 1 4 and higher The terminal board provides screw terminal connections for many signals that must be connected to field devices or the host controller Signals between the motion controller and servo amplifier pass through the terminal board assembly and are not brought out as screw terminals Post type test points are available for the encoder signals and velocity command signal IC800SLT004 SL Series Servo Breakout Terminal Board Used with SL Series amplifiers to provide screw terminal connections for interfacing the signals on the amplifiers to third party position controllers stepper indexers or host velocity torque controllers Notes Each Terminal Board is shipped with DIN rail mounting feet installed The parts for converting the terminal board to panel mounting are included with the terminal board Instructions for converting a terminal board to panel mount are inc
155. aveform or none at all will be displayed on the graph If you encounter a problem recheck the settings on this screen Examples The amplitude of the measured Motor Speed waveform exceeded the full scale value that you set for the graph in the Speed parameter The time value chosen may be too short to capture the full waveform If it takes the motor 1 second to reach full speed and you set the Quadrature Axis time value to 0 250 mSec you will not see the full acceleration waveform For the above two problems you could try setting the scale values to their highest settings or to Auto Scale to start with Then generate a waveform and adjust the settings lower to optimize the display If you did not see any waveform at all and you are using the trigger feature the actual value may have never reached the value of the trigger setting Try setting the trigger level substantially lower and try again Once you obtain a waveform you can readjust the trigger level to an optimum value When a waveform containing a high frequency component such as a torque waveform is displayed it may look somewhat different from the actual waveform due to sampling distortion samples are taken periodically not continuously To minimize sampling distortion choose a time value in the Quadrature Axis field that gives the shortest possible sampling period 2 mSec SL Series Servo User s Manual August 2001 GFK 1581B Operation 84 11 File operation Retur
156. ays a history list of the last eight errors e Automatic Gain Tuning Provides a way to automatically perform an initial tuning of the servo system e Waveform Graphic Provides a waveform capture feature that lets you configure capture and display waveforms on the computer screen It also provides a way to change a tuning parameter then observe the effect graphically by generating a new waveform This lets you perform final tuning adjustments beyond the basic tuning routine provided by the Automatic Gain Tuning feature e File Operation Return to MS DOS Provides a way to save or load parameter files from disk It also provides a way to exit the SLconfig software GFK 1581B Chapter 8 Operation 6 55 8 56 Parameter Setting Screen V Series You select the initial Parameter Setting screen by entering 0 on the Main Menu screen Parameter Setting Page O B No 00 Axis Address 0 No 01 Select initial display 1 No 02 Select control mode 1 No 03 Velocity loop gain 100 No 04 V loop integral time 50 No 05 ma feedback filter No 06 Torque limit 300 No 07 Torque limit inhibit 1 No 08 Speed monitor gain 3 0 No 09 Overtravel limit inhibit 1 No A Dynamic brake select 0 No B Feedback ratio numerator 10000 No 0C Feedback ratio denominator 10000 No 0D Encoder signal inversion 0 No 0E Brake action stopping 0 No OF Internal use 0 eee ee ee A
157. be some cases when auto tuning will be completed before 5 cycles or the acceleration will not change These are not malfunctions To operate the Automatic Gain Tuning function 1 Move the axis to a position where the motor is free to rotate two revolutions in each direction 2 Inhibit any Pulse Command input PULS SIGN from the source 3 Enable the servo using the SRV ON input 4 Start the Automatic Gain Tuning 5 Write new settings to EEPROM if no problem or error occurs during the tuning process If you forget to write the values to memory the tuning setting will be lost when power is removed from the amplifier SL Series Servo User s Manual August 2001 GFK 1581B Tuning Note If an alarm servo disable or position error counter clear CL input occurs during auto tuning an auto tuning error is generated and the tuning procedure is aborted When an error occurs the gain values prior to starting autotuning are reset The SL amplifier should be disconnected from any external position controller before using the autotuning function to prevent the controller from disabling the amplifier during tuning For more details see Section 8 1 1 4 and Chapter 9 Protective Functions GFK 1581B Chapter 7 Tuning 7 7 Chapter Operation S The SL Series amplifiers have various user parameters which adjust set the system performance or functions These parameters allow the user to configure the SL servo system for t
158. bove Panel Ro O 2 55 65mm E o to do ey 45 a o S Elo a 112 5mm sonoro uu o Bo bo 10 to E o e o To E o 10 bg E o JoHo Noe so Ho Eo a o e o Y DIN Rail Mount 3 05 77mm lY Neue uec uci ORE ue z JoHo Eo 710 Fg Elo a o FG E o 210 fag El O fo BO 3o Fao O O Blo f gt Height O Fag BO S Above Panel Oo goe mi 4 45 2 00 50mm O Fo EO m 112 5mm BOF o Ee m 10 To FO 4 93 8 fal g e 125 2mm ao Fo FOS Fo 5 45 106 f 137 9mm 104 Eo a o e o 0 368 9 3mm Counterbore Dia e 4 Y 0 176 4 5mm Thru Dia i Y I 0 76 19 4mm Panel Mount Figure A 9 IC800SLT004 Breakout Terminal Board Mounting Dimensions Appendix A Operation with External Motion Controllers A 17 A 18 A 5 A 5 1 A 5 2 l O Wiring I O Cable Grounding and Separation Properly routing signal cables amplifier power cables and motor power cables in addition to installation of proper Class 3 grounding will insure reliable operation Typically Class 3 grounding specifies a ground conductor with a minimum wire diameter that is larger than the power input wire diameter connected via a maximum 100 ohm resistance to an earth ground Consult local electrical codes and install the system in conformance to local regulations When routing signal lines separate them from the amplifier input power lines and motor power lines Table A 5 indicates ho
159. curacy reference data 5 of full scale 4 Thermal drift 10WV C 5 Input impedance 10 kQ minimum V Series Amplifiers M 10VMAX i 2 SP i 10K GND 7 Applies to signals CWTL CCWTL TRQR Z Series Amplifiers 1 Voltage output range n SP 8 2V to 8 2V IM 10 2V to 10 2V 2 Resolution 9 bit 2 512 3 Output dynamic range SP 8 2V to 8 2V IM 24 2V to 24 2V 4 Output impedance 10 KO minimum AO 1 5 Accuracy 10 or less SL Series Servo User s Manual August 2001 GFK 1581B I O Circuit Configuration and Function Type I O Circuit Diagram Electrical Data Z Series Amplifiers Maximum permissible input voltage 4 3V Minimum input voltage to turn input ON 3 5V Maximum input voltage to turn input OFF 2 2V Minimum input current to turn input ON 9mA In case of line driver WE MAX 500kpps T X ise un re Maximum input current to turn input OFF 250 eee uA In case of open collector MAX 200kpps Vp 1 5 10mA V Series Amplifiers In case of line driver 3 220 22k D MAX 500kpps T X ar In case of open collector MAX 200kpps Vp 1 5 10mA ree ee Applies to signals PUL
160. d Display See Chapter 8 Test Points IM SP G See Chapter 2 AC Line Power Connections P S See Chapter 4 Control Power Connections r See Chapter 4 1 4 Lt I Serial Connector CN SER See Chapter 4 No Connection Regeneration Resistor P Connections 5 See Chapter 4 B 50 pin Interface Connector CN I F See Chapter 4 No Connection N Motor Power Connections See Chapter 4 Encoder Connector CN SIG See Chapter 4 Ground Connections See Chapter 4 ip Hinged cover removed to show terminals Figure 2 2 V Series 1 000W 5 000W SL Amplifier Features O 2 2 SL Series Servo User s Manual August 2001 GFK 1581B 2 2 GFK 1581B SL Amplifier Feature Overview Rotational Direction Conventions The direction of rotation of an SL Series motor is determined by the polarity of the command signal and several user parameters used to reverse direction for a set mode of operation The operating modes shown below are configured by Parameter No 02 see Chapter 6 Parameters The SL Series servos use the following directional conventions e Position Control Mode The directional convention for the position control mode is determined by Parame
161. d Output Detection Level 12 Auto gain Switching Delay Time 34 Axis Address 00 6 4 Brake Output Delay Time Stopped Motor OE Brake Output Delay Time Moving Motor OF Control Mode Selection 02 6 6 Deceleration Rate Limit 1F Default Values 6 1 Denominator of Encoder Output Ratio 0C Denominator of Pulse Command Ratio 26 Dynamic Brake Mode 0A 6 9 Encoder Output Signal Inversion 0D 6 11 Function Select for Interface Connector 3F Functional Descriptions 6 4 In Position Output Detection Range 22 Int Ext Velocity Cmd Selection 16 Jog Speed 37 Numerator of Encoder Output Ratio 0B 6 0 Numerator of Pulse Cmd Ratio 25 Overtravel Input Inhibit oo fo3 Overview 6 1 Pos Error Counter Clear Mode 3C 6 27 Position Error Limit 23 6 21 Position Error Limit Inhibit 24 Position Loop Gain 20 Power up Display Options 01 Pulse Cmd Filter Delay 36 Pulse Cmd Input Polarity 28 Pulse Command Input Mode 29 6 24 Quadrature Pulse Input Multiplier 27 6 22 SL Series Servo User s Manual August 2001 Servo Disable Action Selection 3E 6 28 Setting Range 6 1 Speed Monitor Scaling 08 6 8 Torque Command Filter 1D Torque Command Offset 1C 6 19 Torque Command Polarity 1B 6 19 Torque Command Scaling 1A Torque Limit 06 6 7 Torque Limit Inhibit 07 6 7 Velocity Command Polarity 14 Velocity Command Scaling 13 Velocity Feed Forward 21
162. d motor These test conditions are not always indicative of actual installation conditions on a specific machine Therefore it is the machine manufacturer s responsibility to ensure that the final product is compliant with the LVD and EMC directives Appendix B CE Installation Requirements B 3 B 4 B 3 1 B 3 2 Noise Filter for AC Supply To comply with the EMC Directive it is necessary to install noise filters on the main AC supply to the amplifier as shown in Figure B 1 An example of a compliant noise filter is shown in the table below Equivalent parts from other manufacturers may be substituted Table B 2 AC Supply Noise Filters Specifications Servo Amplifier Rating Noise Filter Example Typ Voltage Voltage Current Leakage Attenuation Model specification Rating Rating Current Differential Mode Single phase 115V 0 15 80Mhz d ee 3 phase 230V 40 dB Industries Ltd Single phase 115V 250 Van ImA 39 UPASO TER 750W 50 60 Hz 30A 250V Okaya Electric 2 5kW 0 2 80MHz Industries Ltd 3 phase 230V 35 dB 3SUP AS0H ER 4 22 5kW 50A Okaya Electric Industries Ltd Surge Protector To comply with the EMC Directive it is necessary to install a surge protector on the supply line of the noise filter as shown in Figure B 1 The same protector can be used on all SL Servo systems Table B 3 Surge Suppressor Specifications Nominal Voltage Discharge Rating
163. data If you try this procedure without current waveform data you will see the message No waveform graphic data was measured Retry after measuring waveform graphic data So if you have waveform data to write follow these steps e Highlight Writing Graphic Data and press the Enter key e At the Input the file name prompt key in the name you wish to call your file You are limited to 8 characters for the file name e Press the Enter key You will now see the prompt Input comment 20 characters or less e Key in your comment text or leave this field blank if you prefer However entering a descriptive comment can help identify the waveform if you choose to view it later because the comment will display on the screen along with the waveform e Press the Enter key The file will be written Note that the writing process will probably be too fast for you to see a status message 8 4 9 3 Directory Retrieval V Series If you do not know or cannot remember the name of a waveform graphic file you can check it using the Directory Retrieval screen e Highlight Directory Retrieval on the File Operations screen and press the Enter key You will see the prompt Enter the directory name e Key in the name of the directory you wish to see or press the Enter key to see the default directory The directory containing your SLconfig files is the default directory e You will see a list of the files in the directory you selected No
164. de CCW Travel Limit CW Travel Limit Press Set Key to Enter Servo On Input Execution Display Ready Output A Active Contact Closed nactive Contact Open Figure 8 7 Z Series Servo On Display in the Monitor Mode Error Diagnosis Display for Z Series Only The Monitor Mode also has an Error Diagnosis display Z Series amplifiers only to assist in troubleshooting situations when you think the motor should be moving but no motion is present on the machine The Execution Display for this option illuminates various segments on two of the display digits to indicate the status of certain conditions that could prevent motion The display also indicates the current control mode and if the motor is moving and in which direction Figure 8 8 identifies the display codes used in this mode Selection Display Execution Display JP ch t Motor Run Status Stopped Blank CCW Rotation 1 CW Rotation Press Set Key to Enter Code See Key Control Mode P Position Mode Code Display Key S Speed Mode a Servo On t Torque Mode b Pulse Command Inhibit e Position Error Clear f Pulse Command Zero g Torque Limit Too Low a h h CW or CCW Travel Limit Active b i I Zero Speed Input Active d k k CWTL or CCWTL 0 analog torque limit 1 Internal Speed Command 0 INTSPD e g m External Speed Command SPR 0 f m n Analog Torque Command TRQR 0
165. devices were being manually actuated As a switch is toggled its status should change on this screen See section 5 7 2 for functional descriptions of each I O connection e Signals marked with A are active and with are inactive e You can monitor the following five control states e Position error Displays the number of counts in the Position Error counter Positive polarity indicates CCW direction negative polarity indicates CW direction e Speed Displays current motor velocity in RPM Positive polarity indicates CCW direction negative polarity indicates CW direction e Output torque Displays the torque command Positive polarity generates CCW torque negative polarity generates CW torque Displayed value times 0 2 represents the percentage of the motor rated continuous torque Example If the displayed value is 1000 this represents 200 of the rated continuous torque in the negative direction 1000 x 0 2 200 e Control mode Displays the active control mode The Control mode is set in parameter number 02 The choices are Velocity Position or Torque GFK 1581B Chapter 8 Operation 6 61 e Error Displays the error code if any error occurs Under normal conditions No error will be displayed e Communication between the amplifier and the computer is a serial communication using the RS232C standard Due to serial communication speed limitations the displayed values of position error speed and outpu
166. e DC link voltage at Excessive Regenerative Energy converter exceeds approximately 400 VDC for a 230 VAC amplifier or 200 VDC for a 115 VAC amplifier due to excessive regenerative Over Voltage j2 energy or high AC line voltage fluctuations 1 Add regenerative resistor option to amplifier or decrease the regenerative resistance to a lower value see Section 4 1 2 2 Reduce motor deceleration rate by e Increasing deceleration times e Reducing top motor speed 3 Reduce load inertia as seen by the motor by e Increasing the gear reduction ratio e Reducing the load mass 4 Counter balance overhung vertical loads High AC Line Voltage 1 Reduce AC line voltage to within specifications 1 Check each motor lead including connector and cables for a short circuit after removing power from the system and disconnecting the motor A shorted motor or cable should be replaced 2 With the motor disconnected from the amplifier check for any deterioration of insulation resistance between motor leads U V W and motor ground E If motor shows leakage to ground replace the motor Recurrence of this error after the above checks represents a malfunction Shut off power immediately and replace the amplifier The DC link voltage at 1 Check if AC supply voltage is within the allowable converter drops below range 153 VDC for 230 VAC 2 Check the voltage drop on the AC supply lines Under Voltage 13 models or 78 WDC for No especially wh
167. e connector on the SL Series amplifier For Z Series amplifiers 30 750W servo interface cable ICS00SLCIZO010 1 meter or IC800SLCIZ030 3 meters connects from the terminal board AMPLIFIER connector PL1 to the CN I F interface connector on the SL Series amplifier Fifty four screw terminals are provided on the Breakout Terminal Board for connections to the amplifier s interface signals Twenty one 130V MOVs are installed between terminal points 11 18 and 29 36 and frame ground S terminals for improved noise suppression The I O terminals support a wire gauge of 14 28 AWG Maximum screw torque that should be applied is 5 inch pounds Note Two of the screw terminals are labeled S for Shield A short earth ground wire should be connected from one of the S terminals directly to a panel earth ground The cable shields for any user devices should be connected to either of the S terminals For installations that must meet IEC electrical noise immunity standards the Breakout Terminal Board must be placed in an enclosure to meet the ESD criteria only For additional information refer to Installation Requirements for Conformance to Standards GFK 1179 Terminal Functions TableA 4 IC800SLT004 Terminal Board Screw Terminal Assignments TB Screw Terminal Amplifier To Terminal Board Interface Connection Circuit Type TB V Series Amplifier Z Series Amplifier PL1 Conn CN I F A CN I F Signal Name
168. e connectors for motor power encoder and brake connections The 1000 to 5000 1 1 1 2 1 2 1 3 Watt motors have MS style connectors and the brake power when required is integrated with the power connections Control interface to the SL Series amplifiers is accomplished with several different interface terminal blocks depending on the host controller One version of the terminal board IC800SLTO01 provides a quick and easy connection to GE Fanuc s Motion Mate APM DSM series motion controllers while the IC800SLT004 Breakout terminal board can be used with any third party motion controller or GE Fanuc OCS controller Appendix A includes details on these terminal board interfaces The following sections outline what should be accomplished before operating the SL Series amplifier Unpacking and Inspecting Components After opening the SL Series servo package please verify the following 1 Did you receive the correct model components The model number of each component is shown on the carton and product labels 2 Did you receive all items shown on the packing list 3 Was anything damaged during shipment Note If you find any damage please contact your local dealer distributor Storage Store SL servo components in a clean dry location that is not exposed to direct sunlight rain excessive temperatures exceeding 20 C to 80 C corrosive gasses or liquids For maximum protection store all components i
169. e the proper action Examples include Motor does not rotate see Table 9 2 Unstable rotation occurs see Table 9 3 Poor positioning accuracy see Table 9 4 Machine home reference is not in the right position see Table 9 5 Motor speed is limited see Table 9 6 Table 9 2 Motor Does Not Rotate Is the power to the amplifier turned on If the power is not turned on the display LEDs do not light up on front of the amplifier Check for open circuits blown fuses or tripped breakers Is the amplifier power supply R S T Phase rotation is not important but at least two phases must be connected properly connected for the servo to operate Errors in the main power supply wiring or motor The V Series amplifier has separate control NOTE Single phase operation of 230 VAC models may require power cable power terminals r t Be sure they are wired derating properly Is the motor power cable connected properly The phasing on the motor wiring must be correct If the phase to the motor and amplifier U V W wiring to the motor is incorrect the motor will not rotate Verify continuity and proper connection on each power lead and the ground wire and correct any errors see Section 4 1 If Parameter No 09 Overtravel Limit Inhibit When either of the overtravel limit inputs is OPEN torque output is set to zero enable the overtravel inputs in that direction is disabled If both inputs are OPEN the motor then check w
170. e the timing of the BRK OFF output under O 1 various operating conditions NOTE On the Z Series amplifiers BRK OFF uses the same CN I F pin as the S RDY and ZSP output functions These functions are selected by Parameter 3F and are mutually exclusive Related Parameters OE OF 3F P V T When the motor reaches a speed less than the speed set by Parameter No 11 the minimum detectable motor speed is 20 RPM or higher the output is activated transistor turns on ZSP 5 12 27 NOTE On the Z Series Amplifiers ZSP uses the same O 1 CN I F pin as the S RDY and BRK OFF output P V T functions These functions are selected by Parameter 3F and are mutually exclusive Related Parameters 02 11 Zero Speed Detection Output This output turns OFF when the amplifier detects an error and activates a protective function Parameter No 3D Z Series or 0A V Series selects action taken by the appropriate amplifier series when an alarm occurs ALM All 37 26 NOTE V Series amplifiers also output additional O 1 fault information on the three EXOUT signals defined P V T later in this section See Chapter 9 for more information on protective functions Related Parameters OA 3D Servo Alarm Output GFK 1581B Chapter 5 I O Circuit Configuration and Function 5 21 ro Signal Interface Diagram CNI F CN I F Pin Pin Description V Series Z Series Par 3F Title Symbol Z Se
171. e time the other three parameters on the left side of the screen Position loop gain Velocity loop gain and V Loop integration time because they are set up in an interlocked relationship on this screen If you wish to change these parameters individually you can do so from the Gain parameter setting screen Position Loop Gain Cannot be changed directly on this screen See the Manual tuning gain item above Velocity Loop Gain Cannot be changed directly on this screen See the Manual tuning gain item above V Loop Integration Time Cannot be changed directly on this screen See the Manual tuning gain item above Measuring Start Lets you initiate the start of waveform generation Highlighting this field and pressing the Enter button will take you to the Waiting for trigger message Once the trigger occurs the message will change to Transferring data Setting Graphic Accesses the Setting graphic screen described earlier in this section File Operation Accesses the File operation screen described earlier in this section Write data into EEPROM Writes parameter data to the SL amplifier s non volatile EEPROM memory Note that when you highlight this field and press the Enter key the parameter write will immediately occur You will not be given a chance to change your mind 8 4 82 Using the Manual Tuning Screen to Fine Tune the V Series Servo This screen can be used to fine tune the gain parameters that were
172. ed user defined follower ratio In this mode the user can configure a position error limit that will trip the drive when exceeded and independent analog inputs CWTL and CCWTL are available to dynamically limit torque in the CW and CCW directions The position error limit is user definable and can be disabled A discrete input is available CL to allow the machine control system to clear the position error counter Adjustments for the Position Control Mode include Position Loop Gain Parameter No 20 In Position Detection Range Parameter No 22 Position Error Limit Parameter No 23 Position Error Limit Inhibit Parameter No 24 Pulse Command Ratio Parameter Nos 25 and 26 SL Series Servo User s Manual August 2001 GFK 1581B GFK 1581B SL Amplifier Feature Overview Quadrature Pulse Input Multiplier Parameter No 27 Pulse Command Input Polarity Parameter No 28 Pulse Command Input Mode Parameter No 29 Second Position Loop Gain Parameter No 32 Z Series only Second Numerator of Pulse Command Ratio Parameter No 35 Z Series only Pulse Command Filter Delay Parameter No 36 Z Series only Position Error Counter Clear Mode Parameter No 3C Z Series only 2 Torque Control Mode Accepts an analog torque command for motion controllers that require a torque command interface This mode can also be used for direct control of torque or web tension The SL amplifiers include an additional analog input SPL that can be used to
173. ed data Which groups have data depends upon how the Sampling Wave Object field was set on the Waveform Graphics screen when you saved your waveform file The choices are as follows SL Series Servo User s Manual August 2001 GFK 1581B Operation Sampling Wave Object Setting Resulting Data in Waveform Data File Commanded Speed Time Actual Speed Commanded Speed Torque Output Time Actual Speed Torque Output Error Counter Time Actual Speed Position Error You will see all five group headings displayed on the Excel spreadsheet but the columns for the two unused groups will have all zeroes 8 3 7 Z Series Waveform Graphic Measuring Setting Screen 3 This screen has the same graph as the other Waveform Graphic screens but with different parameters 1000 0 0 2 50 5 00 7 50 10 00 s page3 3 Position loop gain 100 elocity loop gain 65 V loop integral time 32 Velocity feed forward 0 Write EEPROM Arrow amp Enter key to Edit Parameter Q to Close Figure 8 44 Waveform Graphic Measuring Setting Screen 3 Z Series This screen has the following parameter fields Determining proper values for these parameters is described in Chapter 6 e Position loop gain e Velocity loop gain e V loop integral time e Velocity feed forward GFK 1581B Chapter 8 Operation 6 45 8 46 8 3 8 Basics of Generating a Waveform Z Series Generating a waveform requires that the motor be run
174. ed torque and the number of counts stored in the position error counter Polarity shown in this window indicates motor direction indicates CCW direction indicates CW direction Note that no sign is displayed Speed Torque Error Speed RPM Torque 96 Position Error Figure 8 37 Speed Torque Error Window of Monitor Menu Z Series e Cmd Pulse Monitor Displays total number of command pulse counts the present motor velocity in RPM the number of encoder counts and the number of position error counts Command Pulse Monitor Speed Encoder Counts Position Error Command Pulse Speed Encoder counts Position Error Figure 8 38 Command Pulse Monitor Window of Monitor Menu Z Series e ABS Encoder Monitor The Absolute Encoder feature is not currently offered on the SL Series Although this window may show a value it has no valid meaning 8 36 SL Series Servo User s Manual August 2001 GFK 1581B Operation e Accumulated Time This window displays the total accumulated time that the amplifier has been powered up in its lifetime including about 20 hours of factory burn in and test This accumulated time value is the equivalent of the odometer reading on an automobile The time is displayed in hours and minutes with a resolution of 30 minutes In the figure below the elapsed time shown is 222 hours and 0 minutes This value is not re settable by the user Note that new amplifiers may show some
175. ed value is 1500 the motor generates 300 of rated continuous torque in the CCW direction Display Polarity CCW torque viewing into motor shaft CW torque viewing into motor shaft 3 Z Series only display of Servo On State Error Code A 2 Active Not Active A A ATA H Error Code p Travel Limit CW Travel Limit Servo On Input Ready Output NOTES 1 When the polarity of the displayed value is positive the sign will not be displayed 2 The polarity of the display cannot be changed The display will show a positive value when the motor is rotating Counter Clockwise and a negative value when the motor is rotating Clockwise regardless of the setting of Parameter No 14 Velocity Command Polarity or Parameter No 1B Torque Command Polarity 3 Forthe V Series amplifiers the keypad display is disabled when a PC is connected to the serial port at power up Default 1 Chapter 6 Configuration Parameters 6 5 6 6 Parameter Parameter Adjustment No T Function Description Range This parameter is used to select the control mode from the following options Single Mode 0 Position Control Mode pulse command 1 Velocity Control Mode analog command 2 Torque Control Mode analog command Dual Mode 3 Position 1st Velocity 2nd Control Mode 4 Position 1st Torque 2nd Control Mode 5 z Velocity 1st Torque 2nd C
176. ee etes ee eeno osos sees 6 1 6 1 Overview of Configuration Parameters and Default Settings 6 1 6 2 Parameter Overview Table and Default Values 6 1 6 3 D tails of User Parameters io ner ert ehe 6 4 fnm rr POE 7 1 7 1 Tuning OVervIeW 4e eene ho eene e eoe ere ot ertet 7 1 7 2 Tuning Guidelmes 2 2 2 a e pe p bete eee Pee Eod 7 2 7 3 Manual Tuning 2 dd needed eee eher re 7 2 7 4 A tomatie Bri UN 7 3 7 4 1 OVerVIeW etre etra etre etre Steet etre etri Pee oerte etre epe eects tree ve od 7 3 7 4 2 Conditions For Using Automatic Tuning eee 7 4 7 4 3 Automatic Tuning Procedure eeeeeeeeeeeeene een 7 4 roro ECC H 8 1 8 1 Keypad Operation and Display eeeeeeneen 8 1 8 1 1 Keypad Menu Options 32 erret eere eere netten 8 2 S TV Monitor Mode oet Siti teu ene 8 3 8 1 12 Parameter Mode 2 nodes tete a s eeu 8 9 8 1 1 3 EEPROM Write Modeni nnar a aoinean 8 9 8 TA A totunine Mod s i etaient a aaa ena 8 10 8 1 1 5 Jog Mode Z Series Only esses nne eee 8 12 8 1 1 6 Alarm Clear Mode oie teet 8 13 SL Series Servo User s Manual August 2001 GFK 1581B Contents 8 2 SLconfig Computer Software eese eene 8 14 8 2 1 SLconfig Software Overview sese 8 14 8 2 1 1 SLconfig Software Version Information eee 8 14 8 2 1 2
177. elections Reading Graphic Data This lets you read and display an existing disk file containing waveform data Writing Graphic Data Lets you save the current waveform data to a disk file Directory Retrieval Lets you view a listing of files in a directory you specify Exit File Operation Exits back to the previous screen 8 4 9 1 Reading Graphic Data V Series To read and display waveform data from an existing file follow these steps e Highlight Reading Graphic Data and press the Enter key e At the Filename prompt key in the name of the file you wish to retrieve e Press the Enter key The file will be read and the waveform will display on the graph If you entered a comment when you saved the file it will be displayed below the graph In the example in the next figure the comment This is just a test can be seen GFK 1581B Chapter 8 Operation 6 71 8 72 566 58 588 58 RPM x 8 8 1 25 2 5 3 75 5 60 secl Drawing of the waveform graphic data date 1999 81 22 13 42 comment This is just a test Position loop gain 38 Uelocitu loop gain 188 U loop integration time 49 Velocity feed forward 3 Change graphic mode Exit reading graphic data Figure 8 68 Reading and Displaying a Waveform Graphic Data File V Series 8 4 9 2 Writing Graphic Data V Series Note Before you can write graphic waveform data to your floppy disk or hard drive you must have captured some waveform
178. en the servo is accelerating 115 VAC models due to na 3 Check for an open phase or loose connections on the ransient power loss dept brownout or low AC power supp y line voltage Output current of the amplifier increases to 450 of rated continuous current The detection circuit for this Over Current 14 error has a 10 pis filter time constant SL Series Servo User s Manual August 2001 GFK 1581B GFK 1581B Protective Error Description Function Code P Axis continuous current demand exceeds amplifier ratings 16 No Amplifier Size Protective Functions and Troubleshooting 2 Corrective Actions 1 Extend acceleration deceleration time and or machine cycle time increase dwell times 2 Reduce load on the motor 3 Reduce machine friction 4 Increase gear ratio as motor speed range allows 5 Verify tuning Oscillations in the motor current may cause excessive RMS current and motor heating see Chapter 7 6 Counter balance loads and or add a holding brake on vertical axes 7 Replace servo with a larger model Time Protection Constant Sec Torque Limit Overload ALOON 200 5000W 500 115 1000 115 Time sec 100 SL Series Over Load Protection Time Torque Curve 30 50 100 WwW 200 400 750W 1 0 2 5 3 5 5 0KW
179. ename line and press the Enter key In either case you will see a list of files for the location you specified Note When Using the A Drive If you specify that the file be saved to your computer s drive but forget to put your diskette in the drive you will get the error message Not ready reading drive A Abort Retry Fail To correct this situation insert the diskette into the A drive and press the R key Retry then the Enter key If you press the F Fail key the save operation will be stopped and the Save window will display the message The file cannot be opened If you press the A Abort key the SLconfig software will shut down and you will have to restart it then work your way back through the menus to this menu in order to resume the save operation e To change to a different directory use the arrow keys to highlight that directory name in the file list then press the Enter key You will now see a file list for the directory you just specified Note If the file list is too large to fit in one window use the arrow keys to scroll up and down the list The number of files in the directory is noted at the bottom of the window e f you wish to move up one level in the directory structure place the cursor on the line that has a double dot for a directory name then press the Enter key See the figure below GFK 1581B Chapter 8 Operation 6 33 8 34 lt DIR gt 1997 07 13 18 49 on lt DIR gt 1950
180. er Wiring This chapter provides guidelines for wiring to the amplifier s power terminals I O and command interface connector CN I F encoder connector CN SIG serial connector CN SER and AC incoming power I O Circuit Configuration and Function This chapter illustrates the configuration of the various types of I O circuits Topics covered are control inputs control outputs analog inputs analog outputs pulse command counter clear command pulse inhibit input and motor encoder feedback interface Configuration Parameters Explains the purpose and scope of each configuration parameter and provides parameter setting guidelines Tuning This chapter contains essential information on how to tune the servo system Operation Discusses how to configure the amplifier using either the Keypad and Front Panel display or the SLconfig software It also discusses how to tune and monitor the SL amplifiers and save and restore configuration files Protection and Troubleshooting This chapter provides help for handling problems with your servo system Operation with External Motion Controllers CE Installation Requirements Tables and Formulas VersaMax High Speed Counter Interface Interfacing the SL Servo to an OCS RCS iii Preface Related Publications GFK 1464 Motion Mate DSM302 for Series 90 30 PLCs User s Manual GFK 1742 Motion Mate DSM314 for Series 90 30 PLCs User s Manual GFK 0781 Motion Mate APM for Series 90 30 PLCs Follower
181. er Description IC3000CS 100 OCS Main Unit IC300STP100 OCS Stepper Module GFK 1631 IC3000CS100 User Manual GFK 1644 IC300STP100 User Manual IC3000SW232 OCS Software Cscape amp GFK 1581 SL Servo User s Manual Cable this manual IC800SLT004 SL Terminal Block IC800SLCIZ010 Z Series Interface Cable 1 meter IC800SLAxxxx Z Series Amplifier IC800SLMxxxxxxxxx Z Series Motor IC800SLCPZ050 Z Series Motor Cable 5 IC800SLCEZ050 Z Series Encoder Cable meter 5 meters IC690PWRO24 Standalone 24VDC power supply Cscape software also available as a free download from www gefanuc com support Power Requirements A 24 VDC power supply is required for the OCS 160ma base power for STP100 and for the SL amplifier 250ma The GE Fanuc IC690PWR024 standalone power supply is a suitable choice Wiring Most of the system wiring can be installed quickly by using GE Fanuc prefabricated cables Follow instructions in this manual to connect the servo system Figure D 1 shows the minimum wiring requirements however it is likely that your application will require additional components such as limit switches pushbuttons etc When powering up for the first time ensure that the axis can be moved safely Be prepared to put the system into Emergency Stop condition or to shut down the power quickly if servo instability oscillation occurs SL Series Servo User s Manual August 2001 GFK 1581B Interfacing the SL Servo to an
182. er to set a node address for each SL Series amplifier on a multi drop serial network when using a PC to configure multiple axes Z Series This setting does not affect any servo operation and is not currently 0 31 used other than as a reference to the user that may be used to 0 0 Axis Address differentiate multiple configuration files V Series 0 9 Default 0 SL Series Servo User s Manual August 2001 GFK 1581B GFK 1581B Configuration Parameters 6 Parameter No Parameter Description Adjustment Range Function 01 Power up Display Options Z Series 0 3 V Series 0 2 This parameter is used to select the type of data displayed on the amplifier LED display when you first apply power 0 Displays the value of the position error counter Range of display is 32767 to 32767 quadrature encoder pulses If the error counter value exceeds this range the display holds the respective upper or lower limit of the range Display Polarity CCW position error viewing into motor shaft CW position error viewing into motor shaft 1 Displays the motor actual speed in RPM Display Polarity CCW motor rotation viewing into motor shaft 2 CW motor rotation viewing into motor shaft 2 Displays the commanded motor torque Range of display is 1500 to 1500 Displayed value x 0 2 Commanded Torque of rated cont torque Example If the display
183. ertravel limit inhibit Enter new value 500 Prompt Dynamic brake select New Value 500 Feedback ratio numerator OK y n q eese ratio denominator Encoder signal inversion SIME Parameter to be Brake action stopping Verification Internal use Prompt Changed 0B mEEEENENENSESEEESSESBSENEENNHERBBEESEBEEEREEENENBEEEESEESEENENBEENENEESEESEBEENNENNEENBSEEESEBEESEERBENEEENEERN No OB Feedback ratio numerator MIN 1 MAX 10000 Sets the numerator for the encoder output ratio Ratio Parameter OB Parameter OC must be less than 1 Allowable See User s Manual for cautions Range Figure 8 58 Example of changing a parameter V Series You now have three verification choices Y N or Q detailed in the next three paragraphs e Ifyou wish to proceed with your new value then at the Verification Prompt enter Y Yes to verify the new value and press the Enter key The bottom section of your screen will now change to look like the following figure CHANGE PAGE Enter X or left right arrow key CURSOR DOWN Enter P or down arrow key CURSOR UP gt Enter N or up arrow key SELECT Press ENTER key QUIT Enter Q e Ifyou make a mistake or change your mind you can enter N No at the Verification Prompt instead and the new value will not take effect e Use the above process to edit other parameters if desired When done enter the letter Q Quit You will be prompted with a message
184. ervo User s Manual August 2001 V Series with V Series with V Series Z Series Motor Z Series Brake Brake Brake Without 1 0 2 5 KW 3 0 5 0 KW Brake Pin No Signal Pin No Signal Pin No Signal Pin No Signal Signal 1 U 1 Brake G Brake A Brake A U 2 V Brake H Brake B Brake B V 3 W C NC C NC C W 4 E F U D U D E I V E V B W F W D E G E E E H E A NC I NC GFK 1581B Wiring 4 5 Wiring to Serial Connector CN SER With an IBM compatible personal computer PC and SLconfig software IC641SWP800 you can operate the SL Series amplifiers with the following functions see Section 8 2 for details e View change each user parameter e Upload download parameter configurations between PC and amplifier e Export and import parameter settings to and from computer files e View change control mode position velocity torque e View alarm conditions e View clear alarm history e Monitor I O status motor speed torque or position error e Execute automatic or manual gain tuning e Capture and view graphical waveform displays of various signals e Save parameter data to non volatile memory For connecting the personal computer to the amplifier use the 2 meter long serial cable IC800SLCS020 available from GE Fanuc Only insert remove the connector when power is removed from both the personal computer and the amplifier 1 Insert the serial cable connector into the serial port connector COMI or
185. es from the OCS required to move the SL servomotor a given number of motor encoder counts e The SL Servo amplifier will output servomotor encoder counts based on the rotation of the servomotor multiplied by the SL Series configuration for Encoder Output Ratio Parameter OB Parameter OC These counts will be used as feedback pulses by the OCS Stepper module e The SL Servo Encoder Output Ratio has a limited number of allowed ratio values i e 1 0 8 0 66 0 572 0 5 0 444 0 4 0 363 0 333 0 308 0 286 0 267 or 0 25 e The SL Servo Pulse Command Ratio should be the inverse of the Encoder Output Ratio i e if ENC Out 0 5 1 2 then Pulse CMD 2 2 1 This allows the OCS Step Pulse Commands to be equal to the OCS Pulse Feedback and enables OCS Stepper module Position Valid Detection to function SL Series Servo User s Manual August 2001 GFK 1581B GFK 1581B Interfacing the SL Servo to an OCS The OCS Stepper configuration in Cscape for Encoder Multiplier and Encoder Divider should be 4 1 to make the servomotor mounted encoder quadrature counts and the Pulse Feedback match the OCS Step Pulse Commands The OCS Stepper module motion program Velocity Commands are always in the range of 1 8191 Velocity that is Step Pulse Commands per second output from the stepper module is a function of the Velocity Command multiplied by a Velocity Resolution VR value The OCS Stepper module Velocity Resolution as used in motion commands i
186. etails for the amplifier and motor connector parts available directly from the manufacturer Table 4 4 Cables Available from GE Fanuc Amplifier Cable GE Fanuc SL Series Cable Amplifier Series Connector Length Catalog Number Meter IC800SLCIZO10 Z Series CN I F Servo Interface Cable For Connection of 3 Meters IC800SLCIZ030 Terminal Block Assemblies 1 Meter IC800SLCIV010 V Series CN I F 3 Meters IC800SLCIV030 3 Meter IC800SLCFLYZO010 Z Series CN I F Servo Interface Cable with Flying Leads For 6 Meters IC800SLCFLYZ030 Connection of OCS or 3 Party Controllers 3 Meter IC800SLCFLY V010 V Series CN I F 6 Meters IC800SLCFLY V030 APM300 Controller to IC800SLTOOx Terminal San N A 1 Meter ICS00SLCAPMOIO Block Control Cable N A 3 Meters IC800SLCAPMO30 DSM300 Controller to ICS00SLTOOx Terminal N A 1 Meter IC693CBL324 Both Block Control Cable N A 3 Meters IC693CBL325 Serial Cable Both CN SER 2 Meters IC800SLCS020 IC800SLCEZ050 IC800SLCEZ100 IC800SLCEV050 IC800SLCEV 100 IC800SLCPZ050 IC800SLCPZ100 IC800SLCPV050 IC800SLCPV100 Meters IC800SLCPVL050 10 Meters IC800SLCPVL100 5 Meters IC800SLCBV050 10 Meters IC800SLCBVL100 5 Meters IC800SLCBVLO050 10 Meters IC800SLCBVL100 5 Meters IC800SLCBZ050 10 Meters IC800SLCBZ100 Meters Z Series CN SIG 10 Meters Motor Encoder Cable Meters V Series CN SIG 10 Meters Meters Z Series N A Meters V Series Meters Motor Power Cable N A 1kW to 2 5kW V
187. ets you start the graph generation process by highlighting this field and pressing the Enter key You can also start the graph generation process by pressing the Spacebar on your computer s keyboard regardless of which field is highlighted e Separate Display Lets you toggle between single or dual display by highlighting this field and pressing the Enter key When dual display is selected you will see two individual graphs displayed on the screen The top graph displays the Actual Speed and the bottom graph displays the parameter you specify in the Measuring Wave Object field e Time Lets you scale the time axis X or horizontal axis of the graph by increments of 1 second range is 1 to 127 To change highlight this field then key in a number The number you enter will represent the full scale value for the time X axis Waveform data is captured for the time period specified in this parameter If a waveform is being displayed when this parameter is changed it will be redisplayed but will either not all fit on the graph or will only take up a portion of the graph depending on whether the time value is decreased or increased Note If this field is set to zero you will not be able to capture any waveforms e Trigger Object Lets you select whether or not to use the trigger function for signaling the start of data collection The Enter key toggles this field between Actual Speed and no trigger The trigger feature is especially usefu
188. ey Velocity integration 1 1000 Allows you to either key in a value or increment or decrement the current value with the Right or Left arrow key To increment or decrement a value by a factor of 10 hold down the Shift key while using the Right or Left arrow key Velocity feed forward 0 100 Allows you to either key in a value or increment or decrement the current value with the Right or Left arrow key To increment or decrement a value by a factor of 10 hold down the Shift key while using the Right or Left arrow key e Measuring Start Lets you initiate the start of waveform generation Highlighting this field and pressing the Enter button will take you to the Waiting for trigger message Once the trigger occurs the message will change to Transferring data e Setting Graphic Accesses the Setting Graphic screen described earlier in this section e File operation Accesses the File Operation screen described earlier in this section e Write data into EEPROM Writes parameter data to the SL amplifier s non volatile EEPROM memory Note that when you highlight this field and press the Enter key the Chapter 8 Operation 6 75 8 76 parameter write will immediately occur You will not be given a chance to change your mind Exit Gain parameter setting Exits back to the previous screen Troubleshooting Graph Problems Note that if parameters are not set correctly on this screen it is possible that only part of your w
189. f error appears on the display there was a problem saving the data Repeat the process If an error continues after repeated attempts the amplifier is defective and must be replaced Selection Display Execution Display Initial Display EE SEF GE a Press and hold i Display bars will count up Y SEArE Start Writing Press Set Key to Enter Execution Display F n ibh Finish Writing Figure 8 11 EEPROM Write Mode Displays 8 1 14 Autotuning Mode Autotuning Overview The Autotuning feature is designed to assist you in setting the SL amplifier gain values Autotuning should be performed with the actual operating load attached Please review Chapter 7 before proceeding with the Autotuning function After autotuning if you wish to make further manual gain adjustments to optimize performance you can use the Online Monitor feature of the SLConfig software However in general autotuned systems with intertial ratios of less than 6 1 will usually not require further adjustment The SL motor will make several rotations in both directions while the Auto Autotuning routine is running Before starting this routine make sure that the motor can be turned safely at least 3 revolutions in each direction This must be done to avoid possible injury to personnel or damage to equipment Autotuning with an External Motion Controller such as APM or DSM If using an extern
190. fter power is reset Press ENTER key 8 60 SL Series Servo User s Manual August 2001 GFK 1581B Operation 844 Status Display Screen V Series The Status Display screen is used to monitor the status of discrete Input and Output bits as well as five other control parameters Entering 1 Control state on the Main Menu screen activates the Status Display screen shown in the next figure lt lt lt STATUS DISPLAY gt gt gt C Select Q to quit a menu Servo enable input ready output Alarm clear input alarm output Cw overtravel limit input code O output CCW overtravel limit input code 1 output Control mode selection input code 2 output Zero speed clamp input Le Ext brake release output Internal speed select input In Position At Speed output In Torque Limit output Pulse command inhibit input zero speed detection output vel loop gain selection input Pos error counter clear input Dynamic brake release A Position error 0 counts Velocity control mode Speed a 0 C RPM Output torque 15 X 0 2 No error Figure 8 59 Status Display Screen Menu No 1 V Series Details of the Status Display Screen e You can monitor the state of the control input output signals on the amplifier interface connector CN I F This is useful for checking the wiring and I O devices connected to that connector During machine check out or troubleshooting this screen could be displayed while the input
191. g between the motor encoder connector and the CN SIG connector is correct Although the connections at the CN SIG connector are identical for the Z Series and V Series Chapter 4 Wiring 4 15 4 16 amplifiers the encoder connector on the motor is different For the pin arrangement of the SIG connector for each amplifier series refer to Figure 4 9 4 To minimize effect of noise be sure to connect the shield on the amplifier side of the cable to the frame ground pin 20 of the CN SIG connector The frame ground terminal is connected to the earth screw terminals inside the amplifier 5 Connect the shield wire on the motor side of the cable to the shield wire from the encoder as shown in Figure 4 9 6 To prevent erroneous operation due to noise separate encoder wiring from the power lines R S T U V W P B for both series and terminals r and t for the V Series as much as possible 12 inches or more is recommended Do not pass them through the same duct or bind them together 7 Do not make connections to pins 5 6 13 14 15 16 and 19 of the CN SIG connector Caution When using the SL Series servos with an external position controller such as the GE Fanuc APM300 or DSM300 series it may be necessary to change Parameter No OD to invert the encoder output signal polarity when the command polarity is reversed in order to keep the command and feedback signals in synch If these two signals are not in phase a runaway conditi
192. gain settings are too high for I A POE gaan the given load conditions settings See Chapter 7 Adjust tuning parameters for stable operation e No 03 Velocity Loop Gain e No 04 Velocity Loop Integration Time Constant e No 20 Position Loop Gain Check the motor Check installation of the encoder feedback wiring between the motor and the amplifier and if used check the encoder output signal wiring between the controller and amplifier for proper shielding and grounding encoder signals When the countermeasures against noise are not effective the amplifier may operate erratically See Sections 4 3 and 5 6 for more details on the encoder wiring SL Series Servo User s Manual August 2001 GFK 1581B Protective Functions and Troubleshooting 2 Table 9 4 Poor Positioning Accuracy Cause Improper encoder or pulse command scaling Incorrect program or controller configuration Signal noise Incorrect gain settings GFK 1581B Check When using one of the pulse command input modes check whether Parameter No 25 Numerator of Pulse Command Ratio and No 26 Denominator of Pulse Command Ratio are set properly When using an external position controller check the encoder resolution configured by the Encoder Output Ratio Parameter Nos 0B and 0C Check whether the positioning program and configuration of the external position controller are set properly Look for unsuppressed
193. generate more energy and may require a resistor with a lower resistance and or larger capacity wattage As an alternative when the capacity or resistance of the standard external regenerative resistor is insufficient for the application reducing load inertia maximum speed deceleration rate increasing vertical axis counterbalance or some combination of these measures can decrease the regenerative energy See Section 4 1 4 for details on selecting the proper resistor based on application requirements The wiring between the amplifier and the regenerative resistor should be kept as short as possible less than 20 inches or 50cm to prevent possible damage to the switching transistor from voltage transients due to cable inductance The regenerative resistor may become very hot during normal operation Therefore route all wiring away from the resistor so that the wiring does not touch the resistor and has a minimum clearance of 3 inches 76mm Connect one terminal of the resistor to the amplifier s P power terminal and the other resistor terminal to the B amplifier power terminal See Figures 4 1 and 4 6 When mounting the resistor tighten the lock nut sufficiently to compress the lock washer Although the lock nut should be tightened securely avoid over tightening so as not to strip the bolt threads MICA WASHER Connect E tabs to 2 REQ P and B on T d ampl
194. gger Position Arrow amp Enter key to Edit Parameter Q to Close Figure 8 42 Waveform Graphic Measuring Setting Screen 1 Z Series This screen has several selectable items e Measuring Axis This displays the Axis Number defined by Parameter No 00 e Measuring Wave Object Selects which object to plot against the Actual Speed waveform Choices are Position Error Commanded Speed or Output Torque If you set this screen up to display two separate waveforms the item selected in this field will display on the bottom graph and the Actual Speed will display on the top graph This is described later in the Dual Waveform Display section e Display Measuring Wave Lets you toggle the display of measured data selected in the Measuring Wave Object field ON or OFF by placing the highlight on this field and pressing the Enter key e Display Actual Speed Lets you toggle the display of Actual Speed ON or OFF by highlighting this field and pressing the Enter key e Display Reference Wave Lets you toggle the display of Reference Data ON or OFF by placing the highlight on this field and pressing the Enter key e Monitor Mode Lets you switch between Monochrome and Color If you have a color monitor connected to your computer you can view the waveforms in color by setting this field to Color The graph structure and nomenclature displays in black and white for both settings GFK 1581B Chapter 8 Operation 6 41 e Start Measuring L
195. han or equal to 1 must be used This function can not increase encoder output signal resolution 2 Do not set a large ratio such as 1 10000 We recommend you set a ratio between 1 32 and 1 3 When you use the scaling ratio the marker pulse Z phase is only synchronized with the A phase pulse when the ratio is equal to 1 As a result mis positioning may occur in applications that set the home reference position using a logical AND function of the A phase and Z phase signals CAUTION Scaling ratios other than 1 effect the relative duty cycle of the A phase and B phase encoder output signals GE Fanuc Motion Mate APM300 and DSM300 series controllers use encoder error detection that requires a minimum time between relative transitions between the A phase and B phase encoder signals to insure proper detection of all pulses Ratio values above 0 5 resolutions gt 1250 PPR may result in an Encoder Quadrature Error on the motion controller at high motor speeds The table below shows the maximum motor speed that may be used for each controller for a given SL Series Servo User s Manual August 2001 GFK 1581B Configuration Parameters 6 Parameter Parameter Adjustment No I Function Description Range resolution Desired Encoder Output Resolution PPR Value 1250 1429 to 2500 Ratio 0 5 0 572 to 1 APM300 Max Speed RPM 5000 2285 DSM300 Max Speed RPM 5000 3475 Default 250
196. he A B pulse inputs before they are scaled by the Pulse Command Scaling Ratio setup by Parameter No 25 and 26 as shown below Quadrature Quadrature A Scaled Puls Para No 25 Pulse Input 8 u a B Para No 27 P RUE Multiplier omman Para No 26 ulses to Input Position The multiplication value is set as follows 1 Pulse inputs multiplied by 1 2 Pulse inputs multiplied by 2 3 Pulse inputs multiplied by 4 4 Pulse inputs multiplied by 4 SL Series Servo User s Manual August 2001 GFK 1581B Configuration Parameters 6 Parameter Parameter Adjustment No a Function Description Range Default 4 This allows the SL servo to act as a simple fixed ratio encoder follower for electronic gearing applications The formula relating the scaled A B Pulse frequency to the motor speed is as follows Motor Speed RPM Multiplier Value 0 006 x A B Pulse Frequency PPS x P25 P26 The table below shows the pulse command frequency for various motor speeds used for each of the scaling options Set Motor Speed RPM A B Pulse Value 1000 2000 3000 4000 5000 Command 166 666 500 000 666 666 833 333 Frequency PPS 166 666 250 000 333 333 416 666 41 666 125 000 166 666 208 333 NOTE Chart assumes that P25 P26 1 Default 4 When in Position Control Mode see Parameter No 02 you can set the logical sense of the position command input signals PULS and SIGN individually as shown be
197. he B phase or DO 1 P V T Z phase signals relative to the A phase signal using e Parameter OD OZ All 23 1 Z phase Encoder Output OZ All 24 p Related Parameters OB OC OD P V T CZ All 19 4 Open collector output of encoder marker pulse DO 2 Power Supply 12V All 20 N A Control signal power supply output The maximum Output 12V All 47 N A allowable current is 20mA each for the 12V and N A A 12V supplies V Series only GND All 46 N A 13 15 17 3 15 17 I O signal ground Signal Ground GND All 44 45 46 35 N A Frame Ground FG All 25 50 18 Connected to the amplifier ground terminal through N A a 1 megohm resistor 5 26 SL Series Servo User s Manual August 2001 GFK 1581B 5 7 3 GFK 1581B I O Circuit Configuration and Function Input Output Signal Interface Circuit Diagrams The I O interface diagrams shown below apply to the signals as indicated in the I O Signal Interface column in Table 5 2 Table 5 3 I O Interface Diagrams Type I O Circuit Diagram Electrical Data Z and V Series Amplifiers COM i ATK Voc Li 12 to 24V 1 Maximum input voltage in circuit 26 4V 2 Minimum input voltage between COM and input terminal to turn the point ON 10 2V 3 Minimum input voltage between COM and input terminal to turn the point OFF 1 0V 4 Minimum input current between COM and input terminal to turn the point ON 8mA 5 Maximum input current between COM
198. he SL amplifier must be enabled which consists of closing the contact between the SRV ON input and the COM input Procedure The Auto Gain Tuning routine is started from the Waveform Graphic Menu by pressing the 2 key or by highlighting in reverse video as shown in the figure Auto Gain Tuning and pressing the Enter key The Auto Gain Tuning screen is shown in the following figure Main Menu waveform Graphic 1 Parameter Setting 1 Measuring Settin 2 Display Alarm 2 Auto Gain Tuning 3 Monitor 3 Exit Seo m lt lt WARNING gt gt 5 Protocol l Allowable motor load inertia ratio 6 Axis Addr for this automatic gain tuning function Exit is limited Maximum motor output torque will be limited to the torque limit set by parameter No 56 During this time the CW and CCW Over travel Limit Inputs are disabled Automatic gain tuning may cause machine oscillation In this case disable the SL servo immediately and restore the gains to the factory default settings using the parameter setting menu 4 Refer to user s manual for more details Start Automatic Gain Tuning Yes No Figure 8 47 Auto Gain Tuning Screen 1 Z Series e Press the Y key to start Automatic Gain Tuning If you wish to cancel press the N key to return to the Waveform Graphics Menu If you press the Y key the following window will display 8 50 SL Series Servo User s Manual August 2001 GFK 1581B GFK 1581B Ope
199. he SL servos with an external position controller you must disable or disconnect the motion controller before attempting to use the autotuning function Most motion controllers such as the GE Fanuc APM or DSM will disable the SL amplifier remove the SRV ON signal when the autotuning procedure attempts to move the motor Since the SL amplifier must be enabled during the autotuning procedure an Autotuning Error is activated and the tuning procedure aborted Before starting the Automatic Gain Tuning procedure you must set the Machine Stiffness Number The Machine Stiffness Number represents the desired performance bandwidth of the servo based on the ability design of the machine The Machine Stiffness Number ranges from 1 to 9 Higher values represent higher servo loop gains more responsive servo performance Once a Machine Stiffness Number is selected values are set for the Velocity Loop Integration Time Constant and Position Loop Gain as well as an initial value for the Velocity Loop Gain See the table below The final values shown for the Velocity Loop Gain are examples for the load to motor inertia ratios shown The actual value is dependent on the inertia ratio of the specific system and can be calculated in direct proportion to the ratio value For example if the inertia ratio measured during auto tuning is 3 5 and a stiffness value of 1 is selected the Velocity Loop Gain value set during auto tuning will be 87 5Hz 25
200. he Save window will now show the directory you specified as the current one e Keyina file name on the Filename line Limit your file name to 8 characters The software will automatically assign a PRM extension by default Press the Enter key When the file is written the message Operation Successful Push any key will display e Press a key to return to the Parameter Menu 8 3 2 7 Changing a Parameter s Display Mode The Change Display Mode feature lets you view parameter values in either decimal or hexadecimal format Only one parameter can be changed at a time with this feature there is no global change function available Use the following procedure to change a parameter s display mode e On the Parameter Menu press the 5 key to select Change Display Mode A parameter page will display with a list of parameters If the parameter you wish to change is on that page use the Up or Down arrow key to highlight it If the parameter you wish to change is not on the current page you can change pages using the Right or Left arrow key e Once the desired parameter is highlighted press the Enter key The numerical format for that parameter s value will change To change it back press the Enter key again The Enter key toggles the display between decimal and hexadecimal for the highlighted parameter e Repeat this procedure if desired for other parameters When done press the Escape key to return to the Parameter Menu 8
201. he autotuning process press and hold the UP key A series of dashes and the word start will be displayed Wait until finish or error is displayed If an error is encountered during autotuning try repeating the process If the error display persists review the conditions for autotuning in Section 7 4 2 and correct any problems before trying again or use manual tuning as described in Section 7 3 Caution An error during the autotuning process does NOT disable or fault the amplifier Be prepared to disable the amplifier or remove power if excessive oscillation occurs Possible causes of an autotuning error are 1 disabling the SL amplifier or activating the Position Error Counter Clear input CL during the tuning process 2 excessive load inertia 215 times the motor inertia 3 mechanical resonance in the machine or 4 interference from an external motion controller see Autotuning with an External Motion Controller above When an error occurs the gain values prior to starting autotuning are reset Figure 8 12 shows the displays for the Autotuning Mode Selection Display Execution Display Low Machine Stiffness Enable Servo i a Press and hold Display bars will Count up Ge Y High Machine Stiffness SEArE F inbh Error Errors previous gain re set fa g Up Down Keys Scroll Through Stiffness Opt
202. heir specific application requirements The amplifiers also include a powerful array of monitoring and diagnostic functions to aid in the efficient start up and troubleshooting of SL based systems Examples of available functions include e Monitoring functions such as the control mode position error counter motor speed and generated torque current e Viewing changing parameter data and saving changes to EEPROM memory e Displaying the status of control input and output signals connected to the interface connector CN I F e Displaying clearing of error codes and the error history last 8 errors e Tuning the system e Jogging the motor Z Series only There are two ways of operating these functions e Using the keypad and LED display on the front panel of the amplifier e Using a Personal Computer PC and the SLconfig software 8 1 Keypad Operation and Display The SL amplifier keypad is a tactile membrane type with five push buttons to navigate through the function menus The amplifiers also include a six digit LED display that is used to display the menu functions parameter data values and system status information You can choose the power up default function for the display by using Parameter No 01 Power up Display Options The available options are e Following Error Counts e Motor Speed RPM This is the standard display default e Motor Torque of rated commanded continuous torque GFK 1581B 8 1 8 2 8 1
203. here is any distortion or noise on the frequency limits command from the external controller Position Control Mode only See Section 5 5 Verify that the pulse command frequency does not exceed the allowable limit based on the command interface connection type Check whether command cable is properly shielded and When the countermeasures against noise and signal crosstalk are not effective the amplifier may operate erratically When there is distortion or noise on the command normal operation can not be expected since the amplifier can not differentiate these from the real command signal Check the external controller and wiring again The pulse command frequency is limited to 200 kHz for an open collector interface and 500 KHz for a line driver interface When operating in Position Control Mode see Parameter No 02 check the value of the Pulse Command Ratio set by Parameter No 25 numerator and No 26 denominator Pulse Command Ratio too high Large ratios 220 cause a lot of motor movement for a small command input This leads to reduced positioning accuracy and very jerky motion that can excite system resonances Reduce the ratio and increase the pulse command frequency to obtain higher motor speeds Check whether the load inertia is within specified range of motor inertia see Chapter 7 Tuning When load inertia is beyond the adjustable range lower the load inertia increase the size
204. hether the overtravel limit will not rotate see Section 5 7 2 If limit switches are not switches inputs CWL and CCWL on the CN required on the machine set Parameter No 09 1 default to I F connector are open disable the inputs Check whether the value of user Parameter If the value of the torque limit parameter is set to zero the motor No 06 Torque Limit is set to zero does not generate torque Reset the parameter to a higher value Check if the ZEROSPD input is OPEN and When the ZEROSPD input is enabled and not connected to Parameter No 17 0 ZEROSPD input is COM the amplifier is clamped to zero speed regardless of the enabled when the amplifier is configured for command input level This mode is used to prevent servo drift Velocity or Torque Control Mode while the motor is stopped If this function is not required reset Parameter No17 to zero default to disable the ZEROSPD input Check whether the value of user Parameter When this value is small the motor starts to rotate and as soon as No 23 Position Error Limit is set to a value the positioning error limit is exceeded the protective function close to 1 activates and stops rotation of the motor Increase the parameter setting to a larger value Parameter configuration or control input errors If the amplifier is in Position Control Mode When the INH input is OPEN the pulse command inputs see Parameter No 02 check if the pulse PULS SIGN are disabled and the
205. iable panel ground 3 For installations which must meet IEC electrical noise immunity standards CE Mark cable shield grounding clamps A99L 0035 0001 and a grounding bar 44B295864 001 must be used at the SL Series amplifier end of the servo amplifier interface cable IC800SLCIZOxx or IC800SLCIVOxx and the DSM end of the DSM control cable IC693CBL324 325 See Figure A 12 for details on grounding bar and clamp SL Series Servo User s Manual August 2001 GFK 1581B GFK 1581B Operation with External Motion Controllers For additional information refer to Installation Requirements for Conformance to Standards GFK 1179 and Appendix B of this manual DSM 302 CPU 341 MDL AI MDL AO 90 30 Hn HIGH CAPACITY POWER SUPPLY zr IU ud Grounding Bar 44B295864 001 and Grounding Clamp A99L 0035 0001 Required for CE Mark Installation 7 Faceplate Shield Ground Wire 7 Always Required DSM302 to Terminal Block Shielded Cable v Grounding Bar t IC800SLT001 Strobe and Limit Terminal 44B295864 001 Switch Signals Board Terminal Block to Servo Amp Grounding Clamp SL Series Shielded Cable A99L 0035 0001 Ground Wire to S Terminal Servo to Required for CE Always Required APM DSM Mark Installation Figure A 10 Cable Grounding for installations usi
206. ial shaft loads are specified at a position centered along the length of the shaft gt Vibration tests are described in the next section Motor Vibration Testing GFK 1581B Chapter 2 SL Amplifier Feature Overview 2 7 2 8 Motor Vibration Testing There are two vibration tests for the SL series motors e Sweep Test The motor is subjected to a 5G variable frequency test for eight hours in each of three axes X Y Z For the purpose of these tests X axis is parallel with the motor shaft Y axis is parallel with the encoder connector and Z axis is at a 90 degree angle to X and Y In this test the vibration frequency increases from 20 to 3000 Hz over a two minutes span then decreases from 3000 to 20 Hz over a two minutes span This pattern is repeated for a period of eight hours e Resonance Point Test First the resonant frequency having the highest vibration is identified while testing the motor with a 5G variable frequency 20 to 3000 Hz in three directions X Y Z Then the motor is vibrated 10 million times in each direction X Y Z at the identified resonant frequency SL Series Servo User s Manual August 2001 GFK 1581B 24 2 4 1 GFK 1581B SL Amplifier Feature Overview Motor Speed Torque Curves Z Series Performance Curves SLMO03 30 Watt SLMOO5 50 Watt E E 2 a 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 Speed RPM Speed RPM SLMO010 100 Watt SLMO20 200 Watt
207. iers this input allows you to select between two different position or velocity loop gains on the fly depending on which of these control modes is active The gain values for each control mode are selected by the GAIN input as shown in the following table Position Cont Mode Para No 02 0 Velocity Control Mode GAIN Para No 02 1 Input Ist Vel Int Time Const Par No 04 2nd Vel Int Time Const Par No 31 s Ist Velocity H Ist Position Gain Gain Par No 20 par No 03 2nd Velocity Gain Par No 30 2nd Position L Gain Par No 32 When the GAIN input is connected to COM L the second values for position loop or velocity loop gain are used instead of the primary gain values Primary values are selected when GAIN input is OPEN H This input shares a terminal on connector CN I F with the P CON and C MODE functions and is active only when Parameter No 3F is set to 1 or 2 Parameter No 33 2 Gain Switching Mode is a permissive to using this input and must be set to 2 to activate the GAIN input NOTE This function should not be used when using SL servos with an external position controller and is not available on V Series amplifiers Related Parameters 03 20 30 32 33 34 I1 Velocity Loop Gain Type Selection Input P V T GFK 1581B P CON 3 4 5 27 32 For Z Series amplifiers this input selects between Proportio
208. ies Motor Brake Circuit for Third Party Controllers SL Series Servo User s Manual August 2001 GFK 1581B 4 1 3 GFK 1581B Wiring Regenerative Discharge Resistor Selection and Wiring Regenerative energy is normally created in applications with a high load inertia high speed vertical axes and or frequent acceleration and deceleration When decelerating a load the stored kinetic energy of the load creates generator action in the motor causing energy to be returned to the servo amplifier For light loads and low acceleration rates the amplifier may be able to absorb and store this energy in the DC link filter capacitors Otherwise an optional external regenerative discharge unit must be installed The SL Series amplifiers do not include an internal regenerative discharge resistor When an Overvoltage Error Error Code 12 occurs during deceleration the cause is usually excessive regeneration and requires an optional external regenerative resistor kit GE Fanuc offers several different resistor kits all kits include resistor mounting brackets for the different SL amplifier models as shown in Table 4 2 Wiring between the resistor and the amplifier s P and B power terminals is not included in the kit and is the user s responsibility Connections to the resistor can be made by soldering using a fast on type terminal of appropriate size or using a ring terminal bolted through the hole in the resistor terminal tab shown in Figure 4 6
209. ifier RN CENTERING WASHER terminal 2 REQ THREADED WASHER A A x BOLT x al NA Me D T i ck Hi Y A H TERM HOLE DIA NUT p CH ee SLOT SIZE TERMINAL SS THICKNESS C TT TH P TA i __ _ _ Y a LL TERMINAL DETAIL Dimensions in inches Number 2s eae e e e ee sme a ro prse n mm en 5 sa eree e vf rae m Figure 4 6 Regenerative Discharge Resistor Mounting and Wiring SL Series Servo User s Manual August 2001 GFK 1581B 4 1 4 GFK 1581B Wiring Calculating Regenerative Energy and Selecting a Discharge Resistor Use the following calculation to determine the average regenerative energy that will be released in your application This calculation ignores any losses due to resistance in the motor armature and lead wires since these are typically negligible compared to the other factors Based on the calculations select the appropriate regeneration resistor kit from Table 4 2 The regenerative capacity wattage rating of the selected resistor must exceed the average calculated regenerative energy from the equation below Average Rotational Energy Energy to be only in vertical axis operation Regenerative to be Released Consumed E y Vertical Energy to be Released nergy during Through Axis Durine D d Moti Joules Deceleration Friction aa saad a aaa ea STEP 1 STEP 2 STEP 3 STEP 1 Rotational Energy to be Released During Deceleration Ea E 619x10 x J f
210. ignal must be at least 100us long This will ensure that the SL servo will capture any state transition Related Parameter 3C 1 GFK 1581B Chapter 5 I O Circuit Configuration and Function 5 18 Title Symbol Par 3F Z Series CN I F Pin V Series CN I F Pin Z Series Description ro Signal Interface Diagram Zero Speed Clamp Input V Series V Z Series P V T ZEROSPD 0 4 5 26 10 This input can be used to prevent servo drift at zero speed caused by command signal offset or drift in the command signal A D converter When not connected to COM a zero speed command is set forcing the motor to stop while maintaining holding torque NOTES 1 Parameter No 17 will inhibit the Zero Speed Clamp function when set to 1 default 2 The Zero Speed Clamp input is not active when the amplifier is configured for Position Control Mode see Parameter No 02 in Chapter 6 for details 3 This input is connected to COM on the IC800SLT001 terminal board when the SL Servo is used with GE Fanuc DSM or APM controllers Related Parameters 02 17 I1 Pulse Command Ratio Selection V Series 2 N A Z Series P V T DIV 1 3 N A 10 This input allows the user to select between two different numerator values for the Pulse Command Ratio used to scale the motor speed to the pulse command input frequency The two numerator values are set by Parameters 25 and 35 see
211. in 0 79 Nm maximum Applying excessive torque to the screws may break the terminals 3 Use wire that meets the following characteristics e Use 60 75 C or higher rated wire only e Use copper conductors only 4 For the main power supply and control power supply apply voltage as indicated below Supply Model Line 230 VAC 170 to 253 VAC AC Line 115 VAC 85 to 126 VAC Control Power 230 VAC 10 15 single phase V Series amplifiers only 5 The direction of rotation of the AC servo motor cannot be changed by exchanging the 3 phase power wiring as with an induction motor Be sure to correctly match the amplifier motor output terminals with the motor power terminals The direction of the motor can be changed using configuration parameters on the SL amplifier see Parameter No 14 in Chapter 6 or on a GE Fanuc APM300 or DSM300 Series motion controllers 6 Use insulated spring spade terminals for connecting the lead wires to each terminal The terminals for amplifier models up to 2500 Watts use an M4 size screw 4 mm or 0 1575 inch diameter and can accommodate terminal connectors up to 0 25 inches 6 35mm wide Amplifiers larger than 2500 Watts use M5 terminal screws 5mm or 0 1969 inch diameter 7 Firmly connect the terminal for motor ground and terminal for amplifier ground to a low impedance earth connection at a single location If an optional AC line filter is used its ground 4 1 terminal should als
212. ints provide signal access to the encoder output signals from the amplifier and the analog velocity command signal from the motion controller Note Test Monitoring equipment should only be connected to the square posts while power to the system is turned off to prevent damage to the motion controller amplifier or motor Monitoring equipment should not be connected during normal operation of the system to prevent these connections from introducing noise into the command or feedback signals Thirty eight screw terminals are provided on the IC8300SLCO001 terminal board for connection to user devices Eleven 130V MOVs are installed between terminal points 11 18 and 29 36 and frame ground S terminals for improved noise suppression The I O terminals support a wire gauge of 14 28 AWG Maximum screw torque that should be applied is 5 inch pounds Note Two of the screw terminals are labeled S for Shield A short earth ground wire should be connected from one of the S terminals directly to a panel earth ground The cable shields for any user devices should be connected to either of the S terminals For installations that must meet IEC electrical noise immunity standards the terminal board must be placed in an enclosure to meet the ESD criteria only For additional information refer to Installation Requirements for Conformance to Standards GFK 1179 SL Series Servo User s Manual August 2001 GFK 1581B Operatio
213. ion Output 0 32766 Detection Counts Range SL Series Servo User s Manual August 2001 Function This parameter is used to set the position loop gain when the amplifier is operating in the Position Control Mode see Parameter No 02 Larger gain values yield higher servo stiffness for greater positioning accuracy Values between 40 and 160 are typical NOTE Values that are too large may cause oscillation or servo instability Start with a low value and gradually increase the gain using small incremental adjustments Default 50 for Z Series and 20 for V Series amplifiers This parameter is used to add a velocity feed forward function for the Position Control Mode see Parameter No 02 when high speed response is required see Chapter 7 for more details on tuning the amplifier Velocity feed forward helps to reduce following error The velocity feed forward is set as a percentage of the position command signal NOTE Too large a value may cause servo instability oscillation We recommend you set this parameter to 0 unless you determine that high servo response is required Default 0 This parameter sets the detection level for the In Position output COIN when the amplifier is configured for Position Control Mode see Parameter No 02 The amplifier will monitor a move in process When the number of Counts quadrature encoder pulses in the position error counter is within the In Position range set val
214. ions Servo disabled Fault Position error cleared Inertia too large Oscillation Figure 8 12 Autotuning Mode Displays Note Once the tuning parameters have been set by the autotuning function the new gain values must be saved to EEPROM memory or they will be lost when power is removed from the amplifier See Section 8 1 1 3 for details on using the keypad for this procedure Chapter 8 Operation 6 11 8 12 8 1 1 5 J og Mode Z Series Only The Z Series amplifiers support a jog function from the amplifier keypad The jog velocity is set by Parameter No 37 and is limited to a maximum value of 500 RPM Note The amplifier must be disabled using the SRV ON input it must be open before activating the jog function Make sure the SRV ON input is NOT connected to the COM terminal Also Parameter No 3E must be set to 0 to 3 Select the Jog Mode at the Selection Display and press the SET key Once in the Execution Display press and hold the UP key until ready appears on the display Then press and hold the SHIFT key while the decimal point increments to each display digit and then Srv on is displayed At this point the servo should be enabled If error is displayed try repeating the jog sequence again making sure the SRV ON input is inactive Now press the UP key CCW motor rotation or DOWN key CW motor rotation to jog the motor in the desired direction Pressing the SET key will disab
215. ions for ICS00SLTOO1 Dimensions for IC800SLT004 IC800SLT001 Terminal Assignment APM Follower Mode A 6 IC800SLTO01 Terminal Assignment APM Standard Mode A 4 IC800SLTO01 Terminal Assignment DSM Analog Mode A 7 IC800SLT004 Terminal Assignments A 15 Mounting Overview Side View Stepper Controller Interface A 15 Test Points A 14 Third Party Controller Interface A 15 Test Points 2 14 A 2 A 14 Torque Command Torque Command Filter Parameter 6 19 Torque Command Input 5 24 Torque Command Offset Parameter 6 19 Torque Command Polarity Parameter Torque Command Scaling Parameter 6 18 Torque Control Mode 2 3 2 15 Torque Derating 2 11 Torque Limit Inhibit Parameter 6 7 Torque Limit Parameter 6 7 Torque Limits display keypad 8 8 Torque Monitor Output 5 25 GFK 1581B GFK 1581B Torque Z Series viewing on monitor screen Troubleshootin 29 7 18 83 floppy drive problems graph problems software problems startup and display problems Tuning Automatic Block Diagram Guidelines Manual 7 2 Overview7 1 Using GE Fanuc Motion Controllers 7 6 Tuning V Series Automatic Gain Tuning manual mode procedure Tuning Z Series automatic gain routine 8 49 procedure 8 UL Compliance Unpacking Velocity Command Velocity Command Input 5 23 Velocity Command Input display keypad 8 8 Velocity Command Polarity Parameter 6 15 Vel
216. l for capturing the acceleration or deceleration portions of a waveform It eliminates the need to manually synchronize the start of waveform capture with the starting or stopping of the motor e Trigger Slope Lets you select whether to trigger on the Rising or Falling edge of the Actual Speed trigger signal The Rising edge setting lets you capture the acceleration portion of the waveform and the Falling edge setting lets you capture the deceleration portion The Enter key toggles this field between the two choices When the Trigger Object field is set to no trigger this Trigger Slope field is not used o Trigger Level Sets the Actual Speed value to be used as a trigger if the Trigger Object field is set to Actual Speed The range is 10000 to 10000 RPM To set highlight this field and key in a value When the Trigger Object field is set to no trigger this Trigger Level field is not used e Trigger Position Used to set a starting position for the waveform on the graph This allows you to view pre trigger or post trigger waveform events The Enter key is used to toggle among the following fractions of the full scale timebase 0 1 8 1 4 1 2 3 4 or 7 8 When the Trigger Object field is set to no trigger this Trigger Position field is not used e Q to Close When you press the Q key two things happen e The current graph settings are saved on your hard drive in file SLZ1 GPH This file will be saved in the
217. le the amplifier Figure 8 13 shows the Jog Mode displays Selection Display Execution Display IT c s ie 4 Press and hold ull Display bars will count up Press and hold i Decimal point counts up Dril an Errar_ Then Figure 8 13 J og Mode Displays SL Series Servo User s Manual August 2001 GFK 1581B Operation 8 1 1 6 Alarm Clear Mode The amplifier keypad can be used to clear most alarms when an error occurs Alarms can also be cleared using the alarm clear discrete input A CLR The amplifier LED display will flash when an alarm occurs To execute the alarm clear function select the Alarm Clear Mode from the Selection Display A CLr and press the SET key In the Execution Display press and hold the UP key until Start is displayed Keep holding the UP key until Finish or Error is displayed If Error display it may be the result of trying to clear an error that requires a power cycle reset on the amplifier as described in the note below Figure 8 14 shows the alarm clear process using the amplifier keypad Note Not all errors can be cleared using the alarm clear function The following errors require power to be cycled on the amplifier to reset the error Overcurrent protection error code 14 Encoder error protection error code 22 Self diagnostic error error codes 36 84 98 23 and 30
218. le to connect from the SL amplifier to your computer s serial port This cable is 2 meters long and it comes with an adapter that allows it to work with either a 9 pin or 25 pin computer serial port 8 2 2 2 Starting the SLconfig Software Starting on an MS DOS only computer Activate your computer s DOS prompt then change if necessary to the drive where the SLconfig software is installed probably the C drive Change to the directory where the SLconfig files are installed If you wish to use your computer s COMI port type in Slconfig If you wish to use your computer s COM 2 port type in SLconfig s2 note the space between SLconfig and s2 Then press the Enter key and the SLconfig software will start running and will bring you to the Main Startup screen shown in Figure 8 17 Starting on a Windows Type Computer There are several ways to run the SLconfig software on a Windows type computer Some are outlined below The first way listed Running from the MS DOS prompt is the recommended method Running from the MS DOS prompt Select the MS DOS icon on your Windows computer If you do not have an MS DOS icon click the Start button on the Windows 95 Taskbar highlight Programs on the menu then drag your mouse across to the MS DOS Prompt selection on the sub menu This will take you to an MS DOS prompt Use the previous directions for running from an MS DOS prompt in the previous section Starting on an MS DOS Only Comp
219. llation Requirements for Conformance to Standards B 1 B 2 Peripheral Devices Control Cabinet EE oer Noise Filter Controller 12 24VDC Insulated P Suppl ower Supply CN I F Connector Insulated Transformer SL Servo AC Power Amplifier SL Servo Supply Motor Circui U 1rcuit A V Breaker Noise SS ae oe Surge Protector Protected Ground PE Figure B 1 Peripheral Devices Required for System Compliance B 2 1 Installation Single phase 100 to 120V 10 to 15 50 60Hz Z Voltage Series only Three phase 200 to 230V 10 to 15 50 60Hz Overvoltage Category Category 2 IEC664 Pollution Level Level 2 IEC 664 Temperature Working 0 to 50 C Storage 20 to 80 C Humidity Working Storage 90 RH or less non condensing 4 9m s 0 5G or less 10 to 150 Hz Continuous operation is not allowed at resonance point 3300 Feet 1000 m or less Installation Condition Vibration B 2 SL Series Servo User s Manual August 2001 GFK 1581B B 2 2 B 2 3 B 2 4 B 3 GFK 1581B CE Installation Requirements Power Supply The servo amplifier must be used according to over voltage category II that is defined in IEC664 Over voltage category II requires that the main AC power input use an isolation transformer with double windings which complies with EC directive EN60742 For the I O interface power supply use an insulated 12 24VDC unit that is CE marked or meets EN60950 requi
220. lockwise motion when viewed looking into the motor shaft Caution When using the SL Series servos with an external position controller such as the GE Fanuc APM300 or DSM300 series it may be necessary to change Parameter No OD to invert the encoder output signal polarity when the command polarity is reversed in order to keep the command and feedback signals in synch If these two signals are not in phase a runaway condition can be created where the motor will accelerate to full speed and will not be under servo control In that case removing AC power or the Servo Enable signal must be used to stop the motor It is recommended you use the Parameters to change signal polarity rather than reversing the physical wiring As an alternative the APM and DSM controllers have an Axis Direction configuration parameter that can be used to reverse motor direction for a given programmed move direction without inverting any of the SL amplifier signals The default for this parameter in the APM DSM is positive Chapter 2 SL Amplifier Feature Overview 2 3 2 4 2 3 Specifications Table 2 1 Z Series Amplifier Specifications Amplifier Rating 20 C Specification Units 30W 50W 100 W 200 W 400 W 750 W Model Number x see Bus Power sp aog3x SLA00Sx SLAOIOx SLAO20x SLAO40x SLAO7Sx Supply below ue iw Model 1 0 1 0 1 6 2 5 44
221. low 0 PULS signal logic non inverting SIGN signal logic non inverting 1 PULS signal logic inverting Pulse SIGN signal logic non inverting Command 2 PULS signal logic non inverting Input Polarity SIGN signal logic inverting 3 PULS signal logic inverting SIGN signal logic inverting NOTE Parameter No 29 shows a diagram indicating the directional conventions for the pulse command signals for the default setting for this parameter Default 0 GFK 1581B Chapter 6 Configuration Parameters 6 23 Parameter Parameter Adjustment No mra Function Description Range In Position Control Mode see Parameter No 02 the SL Series amplifiers support three types of pulse commands selected as shown below 0 or 2 Quadrature 2 phase Pulse input A B Phase 1 CW CCW Pulse command input 3 Pulse Direction command input Command CN I F Mode Signals CCW command CW command tl U i tl tl PULS gt Aph E amp Quadrature Pulse i Command Mode SIGN gt B phf b f A B phase tl tl Pu B phase leads B phase lags A phase by 90 A phase by 90 2 202 CW CCW Pulse Pulse Command Mode SS Command 22 Input Mode Pulse Direction Command Mode Hig Minimum Required Pulse Width Line Driver Interface Open Collector Interface tl 2us or longer Sus or longer t2 lus or longer
222. ls and diagrams The brake power supply is the user s responsibility and must comply with the brake specifications shown in Tables 2 3 and 2 4 GE Fanuc offers a 24VDC 5 amp DIN rail mounted power supply IC690PWR024 that may be appropriate as a brake supply on multi axis systems A panel mounting conversion kit is also available IC690PACO001 Brake power cables are available from GE Fanuc in several pre finished lengths as shown in Table 4 4 SL Series Servo User s Manual August 2001 GFK 1581B SL Amplifier Feature Overview 2 7 NEMA Motor Mounting The SL Series servo motors with ratings up to 1000 Watt are designed with standard NEMA shaft and flange sizes as shown in Table 2 5 to facilitate mounting to readily available gear reducers and actuators Motor models larger than 1kW have metric mounting configurations For dimensional information on these motors including mounting dimensions please see the mechanical drawings in Chapter 3 Table 2 5 NEMA Mounting Sizes for SL Motors 30 to 1000 W only Motor Model The SLMO75 750 Watt model has an oversized shaft diameter for the NEMA 34 frame size This is required because the torque rating of this motor exceeds the capacity of the standard NEMA 34 shaft size This condition is typical of high performance brushless servo motors that produce high peak torque relative to their frame size For details about motor installation and dimensions see Section 3 3 2 0 Dynamic B
223. lt or connecting the inputs to COM with a wire jumper 3 Check for excessive start up delay of the I O power supply 12 to 24 VDC This supply should be applied before AC power to the amplifier 1 Make sure the servo is disabled SRV ON signal OPEN before downloading parameters from the SLconfig software 2 Check for the following invalid conditions Parameter No 0B gt Parameter No 0C Parameter No 06 Sys Parameter No 36 e 32 Para 03 Para 32 Para 31 32767 Cycle power on the amplifier to reset If any of these errors occur again immediately remove power and replace the amplifier In order to restart the amplifier after an alarm remove the source of the error and then reset the alarm by cycling the power or activating the alarm clear signal A CLR as indicated by the value in the Power Cycle Reset Required column in Table 9 1 above The overload protection Error Code 16 may be cleared using the alarm clear signal input after approximately 10 seconds have elapsed since the alarm was activated Note troubleshooting When an Automatic gain tuning error occurs see Section 7 4 Automatic Tuning for details on this error SL Series Servo User s Manual August 2001 GFK 1581B Protective Functions and Troubleshooting o 9 2 Troubleshooting If an operational problem occurs that is not caused by one of the protective functions of the amplifier check the following list and then tak
224. luded later in this appendix A 1 A 2 A 2 SL Series Servo to APM DSM Terminal Board The IC800SLT001 SL Series Servo to APM DSM Terminal Board is used to connect the GE Fanuc motion control modules to the SL Series servo amplifiers The terminal board contains one 36 pin connector labeled APM DSM and one 50 pin connector labeled AMPLIFIER If an APM is used for the motion controller cable ICS00SLCAPMOIO 1 meter or IC800SLCAPMO030 3 meters connects from the APM DSM connector PL2 to the axis connector on the APM faceplate as shown in Figure A 1 If a DSM is used for the motion control cable IC693CBL324 1 meter or IC693CBL325 3 meters connects from the terminal board APM DSM connector PL2 to the axis connector on the DSM faceplate as shown in Figure A 2 For V Series amplifiers 1000 5000 Watt servo interface cable ICS00SLCIVOI0 1 meter or IC800SLCIV030 3 meters connects from the AMPLIFIER connector PL1 to the CN I F interface connector on the SL Series amplifier For Z Series amplifiers 30 750W servo interface cable IC800SLCIZ010 1 meter or IC800SLCIZ030 3 meters connects from the terminal board AMPLIFIER connector PL1 to the CN I F interface connector on the SL Series amplifier as shown in Figures A 1 and A 2 The SL Series Servo to APM DSM Terminal Board also contains square post test points on the board to connect monitoring test equipment during start up or troubleshooting the system These test po
225. m a file to the volatile memory RAM of the amplifier If you turn off power to the amplifier before writing the data to EEPROM this parameter data will be erased To write parameter data from the amplifier s RAM memory to its EEPROM memory use the following procedure Return to the File Operation menu Return to the Main Menu screen by entering 1 from the File Operation menu On the Main Menu screen press the 0 key to select the Parameter Setting Change Mode screen Press the Q key A message will display asking whether or not you want to write to EEPROM Press the Y key to Save the parameter data to EEPROM 8 80 SL Series Servo User s Manual August 2001 GFK 1581B Operation 8 5 8 5 1 GFK 1581B Trouble shooting the SLconfig Software Startup and Display Problems Problem The software wouldn t run when I tried to start it Possible reason and solution The software may be installed in a different directory or folder than the one currently selected Change to the directory where the SLconfig software is installed It is probably on your computer s C drive and in a directory called SLconfig Problem When starting the software I get the message Communication error Possible reasons and solutions e Communication cable may not be connected on one or both ends it may be loose or it may be connected to the wrong serial COM port on your computer e No power is supplied to the
226. m your computer s A drive but forget to put your diskette in the drive you will get the error message Not ready reading drive A Abort Retry Fail To correct this situation insert the diskette into the A drive and press the R key Retry then the Enter key If you press the F Fail key the load operation will be stopped and the Load window will display an error message If you press the A Abort key the SLconfig software will shut down and you will have to restart it then work your way back through the menus to this menu in order to resume the save operation e Press the Enter key A box with a list of files will display lt DIR gt 1997 07 13 18 49 ATOM1234 PRM 733 1999 03 10 16 35 TOM98 76 TXT 7896 1999 03 10 16 42 3 files e f you wish to see the files in a subdirectory such as the one called TEMP in the figure above highlight it as shown and press the Enter key You will then see a list of files in the TEMP subdirectory e Use the arrow keys to highlight the desired file in the TEMP subdirectory e Press the Enter key The highlighted file will appear on the Filename line and the new current subdirectory will be listed on the Path line e Press the Enter key The file will be loaded to the amplifier and the message Operation Successful Push any key will display e Press a key to return to the Parameter Menu 8 32 6 Saving a Parameter File from Amplifier to PC e On the Parameter Me
227. mand input using Parameter Nos 13 or 14 respectively see Chapter 6 When in Torque Control Mode When operating the SL amplifiers in Torque Control Mode a speed limit must be set before the servo can be operated Varying the voltage level of this input uses this signal as a speed limit input SPL that can dynamically vary the motor speed limit The relation between the speed limit and the input voltage level is determined by the value set in Parameter No 13 see Chapter 6 When in Position Control mode This input is inactive NOTES 1 The speed limit input is a bipolar signal and can limit both CCW and CW speed depending on the signal polarity 2 The required speed limit for the Torque Control Mode can also be configured using the one or more of the internal speed settings INTSPD inputs instead of the analog SPL input see Parameter No 18 Related Parameters 13 14 15 18 GFK 1581B Chapter 5 I O Circuit Configuration and Function 5 23 Title Symbol Para 3F CN I F Pin V Series CN I F Pin Z Series Description VO Signal Interface Diagram CW Torque Limit Input P V CWTL All 18 33 GND All 17 35 CCW Torque Limit Input P V CCWTL All 16 34 GND All 17 35 When in Velocity or Position Control Mode The CWTL and CCWTL inputs are used to individually limit respectively the CW and CCW torque current
228. minals AC supply voltage Optional AC depends on model NFB LineFilter mo oO Single phase 115VAC R oO 3 phase 230VAC or S AC Supply Single phase 230VAC PEL T r 230VAC 16 control power V Series only Note For Single phase 230VAC operation use t amplifier terminals R and T p NC DL2 No connection NC DL1 V Series only P Optional regenerative B discharge resistor NC N No connection V Series only Red U White or Yellow ii V Motor power Black i W Green Motor power cable Motor Terminal T Ground Connector see i Section 4 4 SL Series Motor SL Series Amplifier Figure 4 1 Example of Wiring to Power Terminal Block for V Series and Z Series Amplifiers Chapter 4 Wiring 4 3 4 1 2 4 4 Wiring the Optional Motor Holding Brake The next figure shows a wiring overview for the optional motor holding brake The three following figures show motor holding brake wiring using the GE Fanuc terminal boards Note that for the Z Series amplifiers parameter 3F must be set to a value of 1 to select the Brake Off BRK OFF function on pin 27 of connector CN I F See Chapters 5 and 6 for information on setting Parameter 3F on the Z Series amplifiers On the V Series am
229. mited range of travel and cannot support the 2 motor revolutions required by the auto tuning algorithm e Vibration or noise when stopping or running the axis after auto tuning is observed e Optimum response or stability with varying load conditions is required for maximum performance 7 3 Manual Tuning When the amplifier is configured for Position Control Mode use the following procedure 1 Set the Velocity Feed Forward Parameter No 21 to the minimum 0 This is the factory default value 2 Set the Velocity Loop Gain Parameter No 03 as high as possible within the range that no oscillation occurs Start with the default value of 100 Hz and gradually increase the value until the first sign of instability oscillation Then decrease the value by about 10 percent 3 Next set the Position Loop Gain Parameter No 20 as high as possible within the range that no oscillation occurs Start with the default value of 50 rad sec Z Series or 20 rad sec V Series and gradually increase the value until the first sign of instability Then decrease the value by about 10 percent 7 2 SL Series Servo User s Manual August 2001 GFK 1581B Tuning Note For larger values of Position Loop Gain the machine stiffness at stall is increased thus increasing the static positioning accuracy However higher gain may cause oscillation or servo instability Set a value that is the best compromise between these factors 4 Se
230. model servo motors are for straight mating connectors For right angle connectors substitute MS3108 for MS3106 in the part number NOTE Equivalent parts from other vendors may be used for any of the connectors shown in Tables 4 5 and 4 6 SL Series Servo User s Manual August 2001 GFK 1581B Chapter 5 GFK 1581B I O Circuit Configuration and Function The following sections illustrate the configuration and functional detail for the various types of I O circuits e Control inputs and outputs e Analog inputs and outputs e Pulse command e Counter clear e Command pulse inhibit input e Motor encoder feedback interface These I O are located on connector CN I F On the Z Series amplifiers CN I F is a 36 pin Mini D type connector on the V Series amplifiers CN I F is a 50 pin Mini D type connector Observe the correct connections for each amplifier type GE Fanuc offers prefinished cables and interface terminal block assemblies for an easy connection to the amplifier control signals see Appendix A for more information All connection diagrams in this chapter for Z Series amplifiers are shown with default Parameter 3F set to 0 signal functions For other configurations of CN I F functions see Section 5 7 1 Take special note of any cautions and warnings provided with the configuration descriptions The control inputs and control outputs require an external DC power supply Minimum requirements are specified in the foll
231. motor speed is below approximately 30 RPM If time Tg has elapsed and the motor speed is still higher than 30 RPM the BRK OFF output will remain ON until the speed drops below the threshold This prevents damage to the motor brake The relationship between the parameter value and Ty time delay is Tg ms 2 set value The timing diagram for this function is shown below ON SRV ON Input Amplifier Disabled amp Approx 6 ms OR 5 ALM OFF ON Motor Torque lt T AND 30 RPM Brake Engaged ON BRK OFF Output Motor Speed RPM 30 Time NOTE This function is available on Z Series amplifiers only if Parameter No 3F is set to a value of 1 2 3 or 4 Default 0 Chapter 6 Configuration Parameters 6 13 6 14 Parameter No Parameter Description Adjustment Range Function 10 Z Series Acceleration Rate Limit V Series Acceleration Deceleration Rate Limit 0 5000 You can set an acceleration rate limit and deceleration rate limit for V Series amplifiers for the Velocity Control Mode see Parameter No 02 using this parameter Deceleration rate limit for the Z Series amplifiers is set independently using Parameter No IF The relationship between the set value and the acceleration time is as follows Set value Seconds 1000 RPM x 500 Example You want to accelerate from 0 RPM to 3000 RPM in 0 3 seconds
232. mplifier Feature Overview 2 5 2 6 Table 2 3 Z Series Motor Specifications Motor Rating 20 C Specification Units SLM003 SLM005 SLM010 SLM020 SLM040 SLM075 115 230V 115 230V 115V 230V 115V 230V 115V 230V 230V Output Power Ww 30 50 100 200 400 750 Continuous Stall in Ib 0 84 142 2 83 5 66 11 5 212 Torque Nm 0 095 0 16 0 32 0 64 1 3 2 4 Pn in Ib 2 48 4 25 8 4 16 9 33 6 62 8 eak Torque Nm 0 28 0 48 0 95 1 91 3 8 7 1 Rated Speed RPM 3000 3000 3000 3000 3000 3000 Maximum Speed RPM 5000 5000 5000 5000 5000 4500 Feedback 2500 lines 10 000 counts rev Incremental Encoder 5 VDC 5 0 3A 250 kHz max oie Ib 0 59 0 75 1 23 22 3 52 7 0 og kg 0 27 0 34 0 56 1 0 1 6 3 2 in Ib s x 10 0 139 0 225 0 546 1 474 3 208 11 62 kg n x 107 0 016 0 025 0 062 0 17 0 36 1 31 Ib 6 6 13 2 13 2 22 22 33 Sa ecee ke 3 6 6 10 10 15 A j Ib 11 15 4 15 4 55 55 88 PR oad kg 5 7 7 25 25 40 Mechanical Time ms 1 8 1 2 08 077 062 063 048 0 54 0 45 Constant d PENNE in Ib Agms 0 91 1 42 186 328 239 3 72 2 66 4 78 54 DIESES Nm Aqss 0 103 0 16 021 0 37 0 27 0 42 0 30 0 54 0 61 Resistance phase Ohms 4 0 4 2 1 9 5 7 0 91 23 0 41 1 46 0 43 Inductance phase mH 2 4 2 8 1 7 5 0 3 2 78 1 9
233. mplifiers BRK OFF output signal can be used to control an optional mechanical brake mounted inside the motor see section 5 7 2 for more detail on the BRK OFF signal Time delay Ts is the approximate time between the deactivation of the BRK OFF output engaging the brake and the removal of power from the motor as shown in the timing diagram below This value should be set to a value approximately 10 higher than the engagement armature pull in time for the particular motor brake The relationship between the parameter value and the delay time Tg is Ts ms 2 1 Set Value Motor Stopped SRV ON Input Amplifier Disabled amp Approx 6 ms ON Motor Torque Tg ON M7 BRK OFF Output Brake Engaged Motor Moving V Series only If a V Series amplifier is disabled or a fault occurs ALM while the motor is moving the BRK OFF output is turned OFF Brake engaged either when the motor speed falls below 30 RPM or 200 ms has elapsed whichever occurs first as shown in the diagram below In this case the Tg delay time is not used ON SRV ON Input Amplifier Disabled Approx 6 ms OR ALM orrF ON Motor Torque cM lt Earlier of 30 RPM ON or 200 ms BRK OFF Output Brake Engaged Motor Speed RPM 30 Time SL Series Servo User s Manual August 2001 GFK 1581B Configuration Parameters 6 Parameter No P
234. mponents used in either the DIN rail or panel mount assembly options and show a side view of the board configured for DIN rail mounting TableA 6 Terminal Board Assembly Components Plastic Component Part Number Mounting Option UMK BE 45 DIN Panel UMK SE 11 25 1 Side Element DIN Panel UMK FE UMK BF Parts shipped with terminal boards for optional panel mounting 0 31 REF 7 3 UMK BE 45 T Lis 15 5 Figure A 13 Terminal Board Mounting Base Assembly Drawings GFK 1581B Appendix A Operation with External Motion Controllers A 21 Hole for inserting mounting ear for panel mounting option Figure A 14 Terminal Board Assembly Side View DIN rail mounting foot installed The following procedure should be used to convert the IC800SLT001 or IC800SLT004 terminal board to its panel mounting form Remember to save all removed parts for possible conversion back to DIN rail mounting at a later date 1 Carefully remove one UMK SE 11 25 1 side element from the UMK BE 45 base element If a screwdriver or other device is used exercise extreme caution to avoid damaging either the plastic parts or the circuit board 2 Slide the UMK FE foot element off the base element Save this part for possible future use in converting the terminal board back to its DIN rail mounting configuration 3 Snap the side element removed in step 1 above back into the base element 4 Insert one UMK BF mounting ear into the app
235. n AC servo motor from GE Fanuc Each amplifier is designed to be used with specific GE Fanuc SL Series AC servo motors Please refer to the following table for the correct combination of amplifier and motor Table 1 1 Z Series Motor Amplifier Compatibility IC800SLMO20NIKE25 Z Series IC800SLA0201 IC800SLM020N1XE25 IC800SLM040N1KE25 Z Series IC800SLA0401 IC800SLM040N1XE25 Z 1 LA0032 IC800SLM003N3NE25 Series IC800SLA0032 IC800SLM003N3BE25 7 Seri i LA0052 IC800SLMO05N3NE25 Series IC800SLA0052 IC800SLM005N3BE25 IC800SLMO10N2NE25 Z Series IC800SLA0102 IC800SLMO10N2BE25 IC800SLM020N2KE25 Z Series IC800SLA0202 IC800SLM020N2XE25 IC800SLM040N2KE25 Z Series IC800SLA0402 IC800SLM040N2XE25 IC800SLMO75N2KE25 Z Series IC800SLA0752 IC800SLMO75N2XE25 Applicable Motor Series Amplifier Model ated Rated Encoder Motos Modeli Output Voltage Speed Resolution Z 1 LA0031 IC800SLM003N3NE25 Series IC800SLA0031 TC80OSLMO03N3BE25 Z 1 LAO051 IC800SLMOOSN3NE25 Series IC800SLA0051 Tgogsi MO0SN3BE25 s IC800SLMO10N1NE25 Z Series IC800SLA0101 IC800SLMO10N1BE25 30W 115VAC 3000 RPM 115VAC 3000 RPM 115VAC 3000 RPM 115VAC 3000 RPM 115VAC 3000 RPM 230VAC 3000 RPM 230VAC 3000 RPM 230VAC 3000 RPM 230VAC 3000 RPM 230VAC 3000 RPM 750 W 230VAC 3000 RPM Denotes motors that have the optional 24 VDC holding brake requires customer supplied power s
236. n Showing an Encoder Error V Series zd ae umber Each type of error has an associated code number For example in the figure above the Encoder error has a code of 22 See Chapter 9 for Error Code handling procedures Press the Q key to exit the Error Display screen and return to the Main Menu Note that the bottom portion of this screen is duplicated on the Status Display Screen discussed in the previous section Chapter 8 Operation 6 63 8 64 84 6 Error History Display V Series An SL amplifier stores the last 8 errors in a section of non volatile memory You can view the record of these latest 8 errors by entering 3 at the Main Menu screen This will display the following Error History Display screen lt lt lt ERROR HISTORY DISPLAY gt gt gt Encoder error Gu DG dl Wi dH GA de EROR i Ra RJ G4 UR Ba UJ QA UV GU LR GODS CAP s Da i DX WW f Wi UR ED GE DU VR OUI G U Be del a PE JS mb VERI GP A Ve LR SX D da UU dU Hd Go AO RS GE KAP Rd D V4 Note Undervoltage error and Cw CCw overtravel input error are not included in error history Select Q to quit a menu Figure 8 61 Error History Display V Series e In the Sequence Number field 0 represents the latest error and higher numbers represent progressively older errors e Undervoltage errors and Overtravel limit input errors will not be stored in the error history even though the amplifier trips Therefore when these errors
237. n the original shipping container SL Series Servo User s Manual August 2001 GFK 1581B Before Operation 1 4 Part Numbers The following figures show how to read the model number on the motor and amplifier 1 4 1 Servo Motor Part Numbers IC800SL M ttt mv be rr Series Encoder Resolution Motor 25 2500 lines Power Encoder Type 003 30 Watt E Incremental 005 50 Watt 010 100 Watt Brake 020 200 Watt N No Key and No Brake Std on 30 040 400 Watt 50 and 100 Watt models 075 750 Watt B Brake and No Key Opt on 30 50 and 100 W models 100 1000 Watt K Key and No Brake Std On 200 W and larger models 250 2500 Watt X Brake and Key Opt on 200 W and larger models 350 3500 Watt 500 5000 Watt Voltage Mounting 1 115 VAC Motor N NEMA Optional for 100 to 400 W models M Metric 2 2230 VAC Motor z Std for 100 to 5000 W models 3 115 230 VAC Motor Std for 30 amp 50 W models 1 4 2 Servo Amplifier Part Numbers IC800SL A V Series Amplifier Power 003 30 Watt Voltage 005 50 Watt 010 100 Watt 12115 VAC Amplifier 020 200 Watt Available for 30 to 400 W models 040 400 Watt 2 230 VAC Amplifier 075 750 Watt Available for 30 to 5000 W models 100 1000 Watt 250 2500 Watt 350 3500 Watt 500 5000Watt GFK 1581B Chapter 1 Before Operation 1 3 1 4 3 Cable Part Numbers IC800SL XXX SL Series Cable Type P Motor Power Cable E Motor
238. n to MS DOS mode V Series You can access the File operation Return to MS DOS menu by entering 6 on the Main Menu From this menu you can save Parameter Data to a file on your computer load Parameter data from a file to the amplifier or Exit the SLconfig software lt lt lt FILE OPERATION gt gt gt Return to MS DOS Return to menu screen Save Parameter Data to a file Load Parameter Data to the amplifier SPR GS GE UD GS ND DE CD EH RT QE D GM ONE ES RD EE RRS GE US EG HD JEDER TEAR ME EN ENEN Gn RE GE HD CES GE DE E S UN QE C JE OGE GED UE CED GE ED ES SERRE XE DR ED ER GEDOE DD CB RUD D GEO GA Please input No No 0 3 f Figure 8 71 File operation Return to MS DOS display V Series 8 4 12 Saving Parameters to a Disk File V Series e Select menu item 2 on the File Operation screen The following message will appear briefly at the bottom of the screen Figure 8 72 Parameter save display 1 V Series GFK 1581B Chapter 8 Operation 8 77 8 78 After parameter data is ready to be saved the following message displays cK Cr SK c ccc ccc cc ccc ccc eee i lt lt No 2 Save Parameters to File gt gt CS Parameter data ready write parameter data to a file y n i ee ee ee ee 1 ee ee ee eee ee ee eee ee ee ee ee Figure 8 73 Parameter Save Display 2 V Series e In response to the prompt Write parameter data to a file press the Y key Then at the follo
239. n with External Motion Controllers Terminal Board to Amplifier Cables TO SL IC800SLCIZ010 1M 30 750W SERIES IC800SLCIZ030 3M 30 750W IC800SLCIV010 1M 1000 5000W s IC800SLCIV030 3M 1000 5000W inc ni O Ostat AMPLIFIER EN2 2 E SERVO oe Ocre 6786 AXIS 1 TB TS APM DSM a ie O X LL AAA c o TO MOTION OOoOoOoOoOOOOOOOOOOO0O0O00 PROGRAMMER IC800SLT001 18 17 16 15 14 1312 111019 T8 T7 T T T4 T3 I2 T3 15 SL Series Servo 0000000000000000000 A to DSM APM 36 35 34 33 32 I31 30 29 28 27 26 25 24 23 22 21 20 19 Terminal Board PL3 i bag USER ee 1 0 TO SL Lu SERIES i SERVO ia AMP hy a UD O TP1 TP2 AMPLIFIER TP3 TP4 i oo PH a SERVO cm AXIS 2 PIA TPR APM DSM M ea io APM to Terminal Board Cables e IC800SLCAPMO10 1M IC800SLCAPM030 3M OoOooooooOo0OooOoOo0OoOOOo0Oo0O00O0 IC800SLTO01 Tel 17 16 15 14 TIS 2TH 1019 8 7161514151211 TS SL
240. nal P or Proportional Integral PI gain for the velocity loop This input shares a terminal on connector CN I F with the GAIN and C MODE functions and is active only when Parameter No 3F is set to 3 4 or 5 For Z Series only when connected to COM only proportional velocity loop gain set by Parameter Nos 03 and 30 is used when OPEN the integral gain set by Parameter Nos 4 and 31 is also used NOTE This input should not be used when using the SL servos with an external position controller Related Parameters 03 30 31 Chapter 5 I O Circuit Configuration and Function 1 Title Symbol Par 3F Z Series CN I F Pin V Series CN I F Pin Z Series Description ro Signal Interface Diagram Alarm Clear Input P V T CCW Overtravel Limit Input P V T A CLR CCWL All All 31 31 30 This input clears the alarm status for most errors when connected to COM reset signal width must be at least 120ms or more to ensure that it is captured At the same time the position error counter will also be cleared NOTE You cannot clear the following errors with the A CLR input You must first correct the source of the error then cycle AC line power on the amplifier to reset these errors Overcurrent code 14 Encoder error code 22 DSP watchdog error code 23 V Series only CPU watchdog error code 30 EEPROM Check sum error code 36 Parameter ra
241. nalog 5 5 Command Pulse Inhibit 5 8 Control 5 2 Control Mode Selection C MODE 5 18 Gain Selection GAIN 5 19 Internal Speed INTSPD 5 17 Overtravel Limit CWL CCWL 5 20 Position Error Counter Clear CL 5 8 5 17 Pulse Command PULS SIGN 5 8 5 26 Pulse Command Inhibit INH J 5 16 Pulse Command Ratio Selection DIV 5 18 Servo Enable SRV ON Speed Limit SPL Torque Command TRQR 524 Vel Loop Gain Type Selection P CON 5 19 SL Series Servo User s Manual August 2001 Velocity Command SPR Zero Speed Clamp ZEROSPD Inspecting 1 2 Installation Amplifier 3 2 Location Motor Installing SLconfig MS DOS system Windows system Interface VersaMax pulse train Internal Speed ST Internal External Velocity Command Selection Panne 16 5 22 In Torque Limit Output J Jog mode Z Series keypad 8 12 JOG Speed Parameter 6 27 Keyboard functions 8 19 Keypad key functions 8 2 layout 8 2 menu options 8 2 operation and display 8 1 LED Displa Line nz Loading waveform data Z Series 8 44 Location 3 1 Machine Stiffness Number 7 5 Main Menu V Series 8 54 Main Startup Screen SLconfig Manual Tuning Mode V Series 8 69 Manual Tuning screen 8 70 Measuring Setting Z Series 8 40 Menu keypad 8 2 Monitor keypad 8 3 Monitor Outputs 5 7 Monitor Z Series menu 8 37 GFK 1581B
242. nector CN I F Wiring to the interface connector CN I F is different for the Z Series and V Series amplifiers The Z Series amplifiers have a 36 pin connector and the V Series amplifiers have a 50 pin connector Since the Z Series amplifiers have fewer terminals it is possible to reassign the input output function available on some of the pins by using Parameter No 3F to select one of six different I O configurations Generally the default setting 3F 0 will be best for most applications using the GE Fanuc APM300 or DSM300 Series motion controllers or other third party position controllers See Chapter 6 for more information on parameter settings AII signal connectors on the SL Series amplifiers are a Mini D style and require special tooling to properly manufacture the cable Cables in several lengths are available from GE Fanuc for all of the amplifier connections as shown in Table 4 4 Figures 4 7 and 4 8 show an overview of the connections to the CN I F interface connector for each amplifier series Chapter 5 provides more detailed information on the individual signal wiring and specifications
243. nen 8 72 8 4 9 4 Setting Graphic Screen V Series essseseeeeeeeeeeene 8 73 8 4 10 Gain Parameter Setting Screen V Series eese 8 75 8 4 11 File operation Return to MS DOS mode V Series 8 77 8 4 12 Saving Parameters to a Disk File V Series ssssesssss 8 77 8 4 13 Loading a Parameter File From Disk V Series ssee 8 79 8 5 Trouble shooting the SLconfig Software eene 8 81 8 5 1 Startup and Display Problems eeeeeeee 8 81 8 5 2 Graph Probl rms 5 n nde dedere ai oino nania naa 8 82 8 5 3 Problem Using the Computer s A Drive eeeeeeeene 8 83 Protective Functions and Troubleshooting eee ee eee eere eene eee 9 1 9 1 Protective Eurnctions 22 2 de eter white hen wien 9 1 9 1 1 Overview cere ae EE al ea alc deena de ed 9 1 9 1 2 Protective Function Descriptions 9 1 9 2 Troubl shooting 1 aee eee tee eter e P eee Hebe Kaata itat 9 7 Operation with External Motion Controllers eee eee ee eene A 1 Al OVERVICW set Aa RR A 1 A 2 SL Series Servo to APM DSM Terminal Board sssee A 2 A 3 VO Wiring and Connections 0 cc eeesececeeesseeeeeesnceeeeessaeeesessaeeeeeesaes A 8 A 3 1 IC800SLTO001 Mounting Dimensions eee A 13 A 3 2 West POMS tide ettet EMI
244. nfig exe Properties BE General Program Font l Memor Screen Misc SLCONFIG tks Cmdjne CASLCONFIGNSLCONFIG EXE Wokng fCASLCONFIG Batch file FT Shortcut key NN Bun Nomdwindow So Close on exit Advanced Ehange Icon Cancel Apply Figure 8 15 Windows 95 Properties box for SLconfig Software e Also it is recommended you run your window in full screen mode To set up this property click the Screen tab in the Properties dialog box shown above and select Full Screen 8 16 SL Series Servo User s Manual August 2001 GFK 1581B GFK 1581B Operation If using Windows 95 add the following line to your CONFIG SYS file be aware that you must reboot your computer before this takes effect DEVICE C WINDOWS COMMANDI ANSLSYS If using Windows 3 1 add the following line to your CONFIG SYS file be aware that you must reboot your computer before this takes effect DEVICE C DOS ANSILSYS Installing on an MS DOS Only Computer Create a directory on your computer s hard drive called SLconfig using the MD Make Directory command Use the Copy command to copy the SLconfig files from your floppy drive to the SLconfig directory that you just created on your hard drive Add the following line to your config sys file be aware that you must reboot your computer before this takes effect DEVICE C DOS ANSISYS Use the IC800SLCS020 GE Fanuc catalog number serial cab
245. ng a DSM300 Series Motion Controller Appendix A Operation with External Motion Controllers Terminal Block to Servo Amp m Shielded Cable uz Ground Wire to S Terminal Always Required IC800SLT004 Breakout BS Terminal Board Grounding Bar 44B295864 001 Grounding Clamp A99L 0035 0001 Required for CE Mark Installation Motion Controller Strobe and Limit Switch Signals Figure A 11 Cable Grounding for Installations Using the IC800SLT004 Breakout Terminal Board Clamp Detail 40 1 57 to 80 3 15 Grounding Bar GE Fanuc Motion Controller Cable Grounding Clamp Bar Detail Rear View Showing Mounting Holes 4 9 84 gt 8 51 gt Ca q Cable Grounding 39 Clamp A99L 0035 0001 141 7 0 58 A t t Holes 2 7 32 dia Exposed Cable Shield Braid Grounding Bar 44B295864 001 Figure A 12 Detail of Cable Grounding Clamp A99L 0035 0001 and Bar 44B295864 001 A 20 SL Series Servo User s Manual August 2001 GFK 1581B Operation with External Motion Controllers A 5 3 Converting Terminal Boards to Panel Mounting The SL Series Servo to APM DSM terminal board is shipped configured for DIN rail mounting The instructions in this section guide you in converting the board to its optional panel mounting configuration The following table and drawings describe the various co
246. ng the Waveform Graphic mode in the SLconfig software When the amplifier is configured for Torque Control Mode there are no tuning adjustments 7 4 Automatic Tuning 7 4 1 Overview When the SL Series amplifier is configured for Position or Velocity Control Mode the automatic tuning function allows the amplifier to select the best gain values by determining the load inertia from the torque required to drive the motor Note The maximum motor torque available during auto tuning is limited to the value set by Parameter No 06 Torque Limit GFK 1581B Chapter 7 Tuning 7 3 7 4 7 4 2 7 4 3 Caution The CW and CCW Overtravel inputs CWL and CCWL are disabled during the auto tuning function and the motor will move at least two complete revolutions in each direction Ensure that the equipment coupled to the motor can be moved safely When the auto tuning function is unable to determine the load inertia the amplifier gains are reset to the gain values in place before the auto tuning function was executed Warning If servo oscillations or instability occurs during auto tuning immediately shut off power or disable the servo and return gain to the default setting Conditions For Using Automatic Tuning You can apply the automatic tuning function only when the following conditions are satisfied Table 7 1 Automatic Tuning Conditions Applicable Conditions for Using the Automatic Tuning
247. ng to the 2 gain setting after the time delay Two milliseconds after the next move command Automate Ise train input begins the gain switches back to the 1 gai 34 Gain pulse train inpu egins the gain switches back to the 1 gain j DE 0 10000 value Therefore the 1 gain setting is used while the motor is Z Series Only Switching moving dynamic and the 2 gain setting is used while the motor Delay Time is holding the load still static Command pulse trains nd 2 gain switch delay time setting x 2ms 2ms a v E gain NOTE This function is only active when Parameter No 33 is set 6 26 SL Series Servo User s Manual August 2001 GFK 1581B GFK 1581B Configuration Parameters 6 Parameter Parameter Adjustment No Function Description Range For Z Series amplifiers configured for Position Control Mode see Parameter No 02 this parameter sets a 2 numerator value for the Pulse Command Frequency Ratio The 1 numerator value for this ratio is set by Parameter No 25 and the denominator is set by Parameter No 26 refer to Parameter No 2 Numerator 26 for more details on the Pulse Command Ratio function The 35 of Pulse DIV input on connector CN I F pin 10 is used to select between the Z Series Only Command 1 10000 vo numerator values Ratio NOTE On the Z Series amplifiers the DIV input and the ZEROSPD input share the CN I F pin 10 connection point and are mu
248. nge error code 84 V Series only CPU Stack error code 97 Z Series only System error code 98 Other error code 99 See Chapter 9 for more details on error protection For axes driving linear mechanisms with a finite range of travel the end of travel limits may be used to prevent overtravel Connect this input to the limit switch for motion in the CCW direction looking into the motor shaft see Section 2 2 for details on directional conventions If the switch opens the motor will generate no CCW torque motion When you do not require overtravel limits you can inhibit this input using Parameter No 09 or connect a wire jumper from this terminal to COM Since this signal must be connected to COM to enable CCW motion the limit switch contact must be normally closed for normal range of travel When this input is activated open you can select whether the motor coasts to a stop or activates the dynamic brake to slow the motor more quickly Parameter No 0A is used to define this action See also Chapter 6 for details on configuration parameters Related Parameters 0A 09 1 1 CW Overtravel Limit Input P V T CWL All 29 You can inhibit CW motion of the motor with this input Refer to the CCW overtravel limit input description above for the functional description of this input I1 5 20 SL Series Servo User s Manual August 2001 GFK 1581B I
249. nhibit motion Figure 8 3 Monitor Mode Selection Display Options Use the UP DOWN arrow keys on the amplifier to select a Monitor Mode option and then press the SET key to enter the Execution Display to view the data for that selection Position Error Motor Speed Torque Display The Monitor Mode can be used to view the current value for either the Following Position Error Counts Motor Speed RPM or Motor Torque Following Error is only valid if the amplifier is configured for Position Control Mode The Selection Display and examples of typical Execution Displays for these three Monitor Mode options is shown in Figure 8 4 Selection Display Execution Display Y Y Select Desired Display Torque Output 0 2 x Displayed Value in Monitor Mode d EPS Position Error P PHA Position Error of 105 Counts HP SP Motor Speed lt dF tr 0 Torque Output CCW error CW error r IDOL 1000 RPM Motor Speed G CCW CW t bL 100 Motor Torque Output CCW CW Figure 8 4 Display of Position Error Motor Speed or Motor Torque in the Monitor Mode 8 4 SL Series Servo User s Manual August 2001 GFK 1581B GFK 1581B Operation Control Mode Display The Selection and Execution Displays for viewing the active control mode of the amplifier set by Parameter No 02 are shown in Figure 8 5 Selection Display Execution Display
250. ning Screen 3 Z Series Once the Automatic Gain Tuning routine is complete the following screen will display Note the message Automatic Gain Tuning Complete and the prompt Write Parameters to EEPROM Yes No at the bottom of the screen Chapter 8 Operation 6 51 s Protocol 6 Axis Addr Automatic Gain Tuning Exit Ax15 Axis No 0 Machine Stiffnes Position loop gair Velocity loop gain V loop integral time velocity feed forward 0 gt Automatic Gain Tuning Complete write Parameters to EEPROM Yes No Figure 8 50 Auto Gain Tuning Screen 4 Z Series If you wish to save the parameter values generated by the Automatic Gain Tuning routine press the Y key to write the parameters to EEPROM If you do not wish to write these parameters to EEPROM press the N key to return to the Waveform Graphics screen While the computer is writing to EEPROM do not turn off power to either the amplifier or the computer before the message Writing to EEPROM is complete is displayed If you turn off power while writing to EEPROM is in progress the data may be corrupted 8 52 SL Series Servo User s Manual August 2001 GFK 1581B Operation 8 3 11 Z Series Protocol Setup Window The Protocol Setup Window is accessed from the Main Menu by pressing the 5 key or by highlighting in reverse video as shown in the figure Protocol Setup and pressing the Enter key Once this is done the Protocol Setup
251. not feasible the best compromise between optimum gain and system stability should be configured 2 When operating in the Position Control Mode and the maximum value for the Velocity Loop Integration Time Constant 1000ms is set the In Position Output Detection Range set using Parameter No 22 may not be achieved and the In Position COIN output may not be activated In this case use a value of 100ms or less for the Velocity Loop Integration Time Constant or increase the value for the In Position Output Detection Range 3 If you use the SL Series servos for Velocity Control Mode in combination with an external positioning unit such as the GE Fanuc APM300 or DSM300 the Velocity Command Scaling Parameter No 13 affects the overall position loop gain of the system This parameter should be set before adjusting the position loop gains in the external motion controller 4 High values for the gain settings may cause oscillation or instability Excessive oscillation may damage the machine In this case lower the gain setting to stop the oscillation If you cannot stop the oscillation quickly disable the amplifier or cycle the main power to the amplifier Then reset the gain to a lower value before re enabling the amplifier 5 In some cases manual tuning should be used instead of auto tuning e Automatic gain tuning cannot be performed well due to the load conditions e g High inertial mismatch between the load and motor e The axis has a li
252. not see any waveform at all and you are using the trigger feature the actual value may have never reached the value of the trigger setting Try setting the trigger level substantially lower and try again Once you obtain a waveform you can readjust the trigger level to an optimum value e For the Z Series if the Time parameter on the Waveform Graphic Measuring Setting Screen is set to 0 zero no waveform will be captured Problem The waveform appears distorted on my Waveform Graphic Screen Possible reason and solution e When a waveform containing a high frequency component such as a torque waveform is displayed it may look somewhat different from the actual waveform due to sampling distortion samples are taken periodically not continuously To minimize sampling distortion choose a time value in the Quadrature Axis field that gives the shortest possible sampling period 2 mSec 8 82 SL Series Servo User s Manual August 2001 GFK 1581B Operation 8 5 3 Problem Using the Computer s A Drive Problem I forgot to put a disk in my A drive and got an error message What is the best way to correct this situation If you specify that a file be saved to or loaded from your computer s A drive but forget to put your diskette in the drive you will get the error message Not ready reading drive A Abort Retry Fail To correct this situation insert the diskette into the A drive and press the R key Retry then the En
253. nted by 10 000 Feedback Pulses 1 0000 inch Set parameter OB 1000 and parameter 0OC 2000 in the SL amplifier to yield a 0 5 ratio Determine the maximum move distance for a single move The OCS stepper will allow a maximum move of 8 388 608 user units Using the scaling selected in step number 2 above we can calculate a maximum move of about 838 inches 8 388 608 user units 10 000 user units per inch This is plenty of distance for a move in this example If it is not enough distance for a maximum move in your application go back to step number 2 and select a smaller Encoder Output Ratio Set the SL Servo Pulse Command ratio Parameter 25 Parameter 26 to the inverse of the SL Encoder Output ratio For this example since the Encoder Output Ratio is 0 5 1000 2000 set the Pulse Command ratio 2 Par 25 2000 Par 26 1000 Set the OCS stepper configuration for Encoder Multiplier to 4 and the Encoder Divider to 1 to convert the SL Servo servomotor encoder quadrature counts output to pulses Using the above examples if you wish the axis to move one inch command 10 000 user units The value in the OCS Motor Position registers AI 0 will indicate the command 10 000 Additionally after the move the OCS Encoder Position registers AI 2 will also indicate 10 000 You may use the very good math functions in the OCS to manipulate these values for display or operator entry purposes Now that we have set the user units we need
254. nu press the 4 key to select Save Amplifier gt PC The Save window will display SL Series Servo User s Manual August 2001 GFK 1581B Operation SAVE Path C SLCONFIG SLCONF 1 03 Filename A default path is shown in this window You may choose to save your file in the default directory shown or specify a different one Both choices are discussed below Saving to the Default Directory e Key ina file name of your choice limited to 8 characters on the Filename line The software will add a PRM extension by default e Press the Enter key When the file is written the message Operation Successful Push any key will display e Press a key to return to the Parameter Menu Saving to a Directory you Specify You may wish to specify a different location for your saved files than the default directory For example you may wish to save your file to a floppy disk in your computer s A Drive The following procedure describes how to specify a different path directory e To save to a different directory on the C Drive press the Tab key To save to the A drive type A on the Filename line and press the Enter key In either case you will see a list of files for the location you specified Note When Using the A Drive If you specify that the file be saved to your computer s A drive but forget to put your diskette in the drive you will get the error message Not ready reading drive A Abort Retry Fail
255. nual Tuning Mode V Series The Manual Tuning Mode is intended to optimize the tuning parameters after they have been set initially using either the Automatic Gain Tuning routine or the Gain Parameter Setting procedure If you have not performed one of these please do so before performing Manual Tuning Selecting Manual Tuning Mode from the Waveform Graphics Screen will bring you to this first Manual Tuning screen 5008 5888 5BBB 5888 RPM CRPM16 6 8 25 8 5 6 75 Manual tuning mode is intended to optimize the gains for the best servo response Before using manual tuning mode it is necessary to use one of the following Auto tuning mode Gain parameter setting Press ENTER key Figure 8 65 Manual Tuning Screen 1 V Series If you have performed an initial tuning procedure Automatic Gain Tuning or Gain Parameter Setting and wish to proceed with Manual Tuning press the Enter key You will now see the following screen 566 58 r 5808 58 RPM x 8 8 1 25 2 5 3 75 5 60 sec Manual tuning gain 188 Measuring start Nou paramter value 1 Position loop gain 28 Setting graphic Uelocitu loop gain 166 File operation U loop integration time 56 Write data into EEPROM Exit manual tuning mode Figure 8 66 Manual Tuning Screen 2 V Series Chapter 8 Operation 8 69 8 70 This screen has the following parameters Manual Tuning Gain Changing this parameter s value changes at the sam
256. o be connected to this same point Grounding the machine main unit is recommended using Class 3 Grounding grounding resistance 100Q or under and wire diameter of 14 AWG 1 6mm or larger for Z Series amplifiers and 12 AWG 3 5 mm or larger for V Series amplifiers The AWG sizes given are rounded to the sizes closest on the larger side to the given Metric sizes 8 After completing the wiring to the power terminals close the terminal block cover and secure the cover with the screw to prevent accidental contact 9 Install a surge absorber across all contact points of any electromagnetic contactors and relays used in the system to prevent erroneous operation due to noise spikes 10 An electronic circuit breaker to shut off power to the amplifier in an emergency is recommended When using a ground fault interrupter use one rated for inverter duty to prevent high frequency leakage current flowing to ground through stray capacitance from causing breaker malfunction Also the amplifiers draw a high inrush current when power is first applied in order to charge the DC link filter capacitors Select AC line protection with this in mind 11 An AC line filter for reducing RF noise and preventing erroneous operation is recommended GE Fanuc does not provide line filters small enough for a single SL Series servo but does supply a 5 4kW unit A81L 0001 0083 3C that may be appropriate for multi axis applications Check with your local distributor f
257. o interface the SL Series amplifiers to the GE Fanuc Series 90 30 APM or DSM motion control modules 120 VAC F L IN 24 VDC Power Suppl SL Z Series IC800SLT001 GE Fanuc C6I0PWRO24 Amplifier Terminal Board Cable Number IC800SLCIZxxx Motor Brake Coil CRI 24 VDC Notes To enable the BRK OFF signal on pin Customer Supplied Components x 277 parameter 3F must be set to 1 CRI Control relay coil 24 VDC 50mA or less The last three digits of the Cable contacts rated for 1Amp DC continuous and break Number refer to cable length D1 Diode 1A 100 VDC 1N4002 or equivalent Figure 4 3 Z Series Motor Brake Circuit for APM or DSM Applications Z Series Brake Wiring Using the IC800SLT004 Terminal Board The IC800SLTOOA is a general purpose breakout terminal board used to interface to a wide variety of third party controllers 120 VAC A LIN 24 VDC Power Suppl SL Z Series IC800SLT004 GE Fanuc 1C690PWRO24 Amplifier Terminal Board Cable Number IC800SLCIZxxx Motor Brake Coil CRI 24 VDC Notes To enable the BRK OFF signal on pin 27 parameter 3F must be set to 1 Customer Supplied Components D2 The last three digits of the Cable CRI Control relay coil 24 VDC 50mA or less contacts rated for 1Amp DC continuous and break D
258. o range as indicated by the following formula 1 Set valueof Numerator 50 Set value of Denominator The formula relating the scaled pulse command frequency to the motor speed is as follows Para 25 Motor Speed RPM Denominator of Pulse Para 26 0 006x Pulse Command Frequency PPS 26 Command 1 10000 Example A stepper indexer outputs a maximum pulse command Ratio frequency of 500 000 PPS and the top motor speed required is 3000 RPM The necessary ratio is calculated as Para 25 3000 RPM Para 26 0 006x 500 000 PPS NOTES 1 Setting extreme ratios may cause system performance problems 1 2 Set the ratio so that the pulse command frequency after multiplication by the ratio does not exceed the maximum command pulse frequency 200 kHz for open collector pulse command interface or 500 kHz for line driver interface see Section 5 5 3 Z Series amplifiers allow a second numerator value to be specified by Parameter No 35 The DIV input on CN I F connector pin 10 is used to select between the two numerator values Default 10000 This parameter allows the user to scale the A B pulse command input frequency to match a particular motor speed using several fixed ratios This parameter is active only when the amplifier is configured for Position Control Mode see Parameter No 02 and the pulse command type is selected as Quadrature 2 phase Pulse Input see Parameter No 29 This parameter scales t
259. ocity Command Scaling SH Velocity Control Mode 2 3 p 15 Velocity Feed Forward Filter Time Constant Parameter 6 24 Velocity Feed Forward Parameter 6 20 Velocity Feedback Filter Parameter 6 7 Velocity Loop Gain Parameter 6 6 Velocity Loop Gain Type Selection Input 5 19 Velocity Loop Integration Time Constant Parameter 6 6 Ventilation VersaMax HSC pulse train output D 1 Vibration 3 1 motor testing 2 8 V Series 3 Bit Code mapping to CN I F connector Waveform file Z Series Index Index opening in Excel 8 44 Waveform graphic data V Series reading from file 8 71 Waveform graphic data V Series directory retrieval 8 72 writing to file Waveform Graphic menu Z Series 8 40 Waveform Graphic Screen V Series 8 68 Waveform Graphic Z Series screen 2 screen 3 Waveform Z Series generating 8 46 Wire size English to Metric C 2 Wiring Amplifier Power Terminals 4 1 Cautions 4 3 CN I F Interface Connector 4 13 CN SER Serial Connector 4 19 CN SIG Encoder Connector Command Pulse Inhibit Input 5 8 Diagram I O Signal Interface Diagram Power Encoder Output example for brake vO Position Error Counter Clear Input 5 8 Pulse Command Input 5 8 Regenerative Discharge Resistor Stepper Controller Interface Third Party Controller Interface Wire Gauge AC Power 4 2 Wire Gauge Encoder Wiring 4 15 Wire Gauge Motor 4 2
260. ocol Setup Window eeee 8 53 8 3 12 Z Series Axis Address Window eese 8 53 8 4 Using the SLconfig Software on a V Series Amplifier 8 54 8 4 1 SLconfig V Series Startup and Main Menu eee 8 54 8 4 2 Parameter Setting Screen V Series seeen 8 56 8 4 3 How to Set or Change V Series Parameters eese 8 58 GFK 1581B Contents vii Contents Chapter 9 Appendix A Appendix B viii 8 4 3 1 Parameter Change Example V Series eee 8 58 8 4 4 Status Display Screen V Series esssssssssseeeeeeeeeeeene 8 61 8 4 5 Error Display V Series ee eder e PIS HERR RR REI EE ERES 8 63 8 4 6 Error History Display V Series eese 8 64 8 4 6 1 V Series 3 Bit Codeseda ei atera a E E nne 8 64 8 4 7 Automatic Gain Tuning V Series ececeeseessceeeeceeeeeeeetnneeeeeeeeeeeees 8 66 8 4 8 Waveform Graphic Screen V Series cccccecccceeeeeeeeeneeaaeeeeeeeeeeeees 8 68 8 4 8 1 Manual Tuning Mode V Series eene 8 69 8 4 8 2 Using the Manual Tuning Screen to Fine Tune the V Series Servo 8 70 8 4 9 V Series File Operation Screen essere 8 71 8 4 9 1 Reading Graphic Data V Series eeeseeeeeeeeeeee 8 71 8 4 9 2 Writing Graphic Data V Series esee 8 72 8 4 9 3 Directory Retrieval V Series eese nen
261. of the motor or change gear ratio between the motor and load to more closely match the load inertia to the motor inertia Large mismatches in load and motor inertia aggravate system resonances and can cause servo instability oscillation Check whether the friction load is excessive When the friction load is extremely high hunting due to a condition known as stick slip may occur around the stopping position Although this phenomenon is reduced when the velocity loop is configured only for proportional gain Parameter No 04 1000 the positioning error will increase as a result of eliminating the integral gain Load Problems Check if the load change is excessive Once tuned for a given load inertia the servo may become unstable if the load changes appreciably If the value is beyond the adjustable range lower the load inertia increase the capacity of the motor or change gear ratio etc Check whether there is a mechanical resonance or mechanical binding or failure Check the motor coupling timing belt gearing ball screw etc If e The torsional stiffness of the coupling or ball screw is too low e The tension or stiffness of the timing belt is too low e Backlash in the gearing or ball screw is excessive Then the machine may resonate vibrate at one of the natural frequencies of the mechanical system Correct the mechanics to increase the resonant frequencies to at least 500 Hz Check whether the servo
262. on 5 11 5 12 AM26LS32 AM26LS31 or equivalent E or equivalent OA a os 83 E d 38 oD 08 D 23 OB d B B o2 49 OZ aa 23 OZ NT Z oz N 24 x NA GND 13 Twisted pair 4 Ao S Oa PE T Amplifier side cNuF Z Figure 5 12 Encoder Output Interface Circuit for V Series Amplifiers 1000 5000W The output pulses A B phase of the motor encoder are processed through the resolution scaling circuit and are then fed out through the line amplifier AM26LS31 at the interface connector CN I F The marker pulse Z phase is also fed out through connector CN I F pin 4 CZ as an open collector output If using the CZ signal be sure to take proper precautions to minimize the influence of noise The encoder output signals should interface with a line receiver AM26L S32 or equivalent In this case install an appropriate resistor approximately 330 Ohms between the line receiver inputs as shown in Figures 5 11and 5 12 Note For the marker pulse Z phase signal the logic is reversed for the line receiver output OZ and the open collector output CZ See Parameter No OD in Chapter 6 for more information on the encoder output signal logic When you use the resolution scaling function for the encoder output signals note the following e Pulse width of the marker Z phase becomes relatively small
263. on can be created where the motor will accelerate to full speed and will not be under servo control In that case removing AC power or the Servo Enable signal must be used to stop the motor It is recommended you use the Parameters to change signal polarity rather than reversing the physical wiring As an alternative the APM and DSM controllers have a Motor Direction axis configuration parameter that can be used to reverse motor direction for a given programmed move direction without inverting any of the SL amplifier signals The default for this parameter in the APM DSM is positive SL Series Servo User s Manual August 2001 GFK 1581B Wiring y jm REUS 5 E Note x RM T 1 ES i z BUE EET ee a poi 3 0 1 9l y f p 4 D he ia Die os xm n B i 7 a NER 2 B ERNE Y m ES 1 d 14 od TEE 1 1 i I 13 WE S pu ee d vu ii EN Do 150 12 B f C I 1 1e RX Wi ro 1 Y c bm Kc bd TY SX 14 G ERE ED PARE TAN X Wow HV NE am BRE DIS RE MIC E oe NUNT rH E rue EE posue de H Re 1 I 1 1 1 k I NES ERE Lise 3 45V gul 1 i 20 NA EE T ab mcer E G YS 45V 15 J 20 FG CN SIG Motor side
264. ons for some of the terminals can be selected by the user according to the setting of Parameter No 3F Table 5 1 shows the interface connections for each of the six possible settings for Parameter 3F An arrow in a cell of the table indicates the same function as the preceding cell in the table Section 5 7 2 provides an in depth description of each I O function on connector CN I F and Chapter 6 Configuration Parameters provides detailed descriptions of parameters that affect these signal GFK 1581B Chapter 5 I O Circuit Configuration and Function 5 13 5 14 Table 5 1 Interface Connector Settings for Parameter 3F Z Series Amplifiers Only m Settings for Parameter 3F Z Series Amplifiers Only Pin ux Default Setting Configuration 1 Configuration 2 Configuration 3 Configuration 4 Configuration 5 OZ Encoder Z Phase Output OZ Encoder Z Phase Output GND Signal Ground CZ Z Phase Output Open Collector Pulse Command Input SIGN2 Pulse Direction Input INH Pulse Command Inhibit DIV ZEROSPD pulse Command Zero Speed Clamp Input Ratio Selection Input Control Signal Power Servo Enable Input CL Position Error Counter Clear Input SPR SPL Velocity Command Input SP Speed Feedback Monitor SL Series Servo User s Manual August 2001 INTSPD1 1 Internal Speed Command Select Input DIV Pulse ZEROSPD Command Zero Speed Ratio Selection Clamp Input Input INTSPD2 24
265. ontrol Mode 0 5 02 Control Mode When one of the dual modes option 3 4 or 5 is selected you can Selection select either the 1st or 2nd control mode using the Control Mode Select input C MODE as follows When C MODE is not connected to COM the 1st control mode is active When C MODE is connected to COM the 2nd control mode is active NOTES 1 C MODE should only be changed when the motor is at complete stop Do not change control modes on the fly see section 5 7 2 for more information on the C MODE input 2 When using SL amplifiers with GE Fanuc motion controllers such as the APM300 or DSM300 the default mode should be used Default 1 Adjusts the proportional and integral gain of the velocity amplifier Larger gain values provide better servo response Optimum value of the Velocity Loop Gain depends on the load Velocity L inertia and the motor model A value between 125 and 1000 Hz is 0 3 e octty Oop 25 3500 Hz typical depending on the stiffness of the machine mechanics and the Gain ratio of load to motor inertia Refer to Chapter 7 for additional details on tuning the amplifier Default 100 Integration time constant of the speed amplifier Smaller values yield faster integration and lower following error Values between 20 and 80 are typical Velocity Loop Refer to Chapter 7 for details on tuning the amplifier 04 Integration 1 1000 ms NOTE When set to the maximum value 1000 the integration
266. or V Series display history 8 64 Exiting from a screen 8 20 Exiting from SLconfig Z Series External Brake Release Output F Feature Location 2 1 Feature Overview File Operation screen for waveform data File Operation screen V Series Fine tuning the servo Manual Tuning screen Firmware version number display keypad 8 8 Function Selection For Interface Connector Parameter 6 28 GAIN Input Gain Parameter Setting Screen V Series 8 75 Gain Selection Input Gain Switching Graph See Waveform g als 8 72 Graph problems 8 76 8 82 Ground Fault Breakers Ground Fault mer Grounding Index 3 Index Index 4 Amplifier 4 2 Diagram IC800SLT004 Diagram Cable Clamp and Bar Diagram IC800SLTOOI I O cable I O Cable Shield Ground Clamp signal cable Hexadecimal displaying parameters entering Hex numbers Humidity 1 I O Cable Grounding I O Interface Diagrams I O Reconfiguration Z Series Amplifiers 5 13 I O Signal Functional Descriptions 5 16 VO Status display keypad 87 IC800SLTOOI terminal board A 1 A 2 A 13 dimensions panel mounting test points wiring diagrams IC800SLTO04 terminal board A 1 A 15 dimensions panel mounting terminal assignments In Position Output 5 22 In Position Output Detection Range Parameter Input signals Z Series viewing 8 37 Inputs Alarm Clear A CLR 5 20 A
267. or assistance 12 After wiring and before applying power to the amplifier check for wiring errors once again 13 The following table outlines the wiring requirements for the incoming AC power and motor wiring Table 4 1 AC Incoming Power Wiring Applicable Model Power Circuit Breaker Main Circuit amp Motor Control Power Rated Rated Consumption rated current Wire Gauge Wire Gauge Voltage Output At rated power R S T U V W P B 30 50 W 0 3 KVA 16 AWG 1 25 mm 115 VAC 0 4 kVA 16 AWG 1 25 mm 1 Phase N A 200 50 100 W N A 230 VAC Phase 2500 W 3 8kVA 16 AWG 1 25 mm I6 AWG 1 25 mm 4 2 SL Series Servo User s Manual August 2001 GFK 1581B 4 1 1 GFK 1581B Wiring Wiring Cautions Cautions and Warnings Observe the following cautions when applying voltage e Be careful not to cross connect the wiring for the main power supply input terminals R S T and the output terminals for motor U V W or the amplifier may be damaged e Do not earth or short circuit the output terminals for motor U V W while the system is energized or the amplifier may be damaged e On the V Series amplifier do not connect any wire to terminals N DL1 and DL2 e Terminals P and B are for connecting an optional external regenerative discharge resistor and are connected to high voltage see Section 4 1 2 To prevent electric shock never touch terminals P and B or any of the other power ter
268. orque Mode requires that a velocity limit to be set using either the analog velocity command input SPR SPL or the internal speed command INTSPD The analog signal SPL allows a dynamic velocity limit while the internal speed sets a fixed limit Parameter No 16 is used to select which limit signal will be used NOTE This input shares the same CN I F pin with the CCW torque limit input CCWTL function These functions are selected using Parameter No 02 and are mutually exclusive Related Parameters 02 16 1A IB 1C ID AI 2 5 24 SL Series Servo User s Manual August 2001 GFK 1581B I O Circuit Configuration and Function Title Symbol Par 3F Z Series CN I F Pin V Series CN I F Pin Z Series Description ro Signal Interface Diagram Speed Monitor Signal P V T SP All 43 16 GND All 45 17 The SP output is an analog voltage proportional to the actual motor speed or position error This speed reference is determined from the actual speed feedback not the speed command You can select between the motor speed and the position error setting using Parameter No 3B Z Series or Parameter No 08 V Series The monitor output signal can also be re scaled using Parameter No 08 Polarity of the monitor output is defined as follows signal CCW rotation of motor viewing into the motor shaft signal CW rotation of motor viewing into the motor
269. oth CWL and CCWL inputs are open the amplifier trips due to a CW CCW overtravel input error Error Code 38 Default 1 OA Dynamic Brake Mode Selection Z Series 0 1 V Series 0 3 Enables disables the dynamic brake function when the CW overtravel limit input CWL or the CCW overtravel limit input CCWL is activated For the V Series amplifiers this parameter also determines the braking action when the amplifier enable input SRV ON is deactivated Braking action when the servo is disabled is set for the Z Series amplifiers using Parameter No 3E See Section 2 3 for more details on the dynamic brake function Z Series Amplifiers Braking Action when CWL CCWL Activated Activate dynamic brake to stop motor Motor coasts to a stop V Series Amplifiers Parameter Braking Action 0A CWL CCWL Setting Input Activated Servo Disabled or Alarm Activated 0 Brake to a stop Brake to a stop and keep 1 Coast to a stop brake active after stop 2 Braketoastop Brake to a stop then disable dynamic brake Coast to a stop Note During a power loss to the amplifier the dynamic brake is activated to stop the motor and remains active after the motor has stopped Default 0 0 B Numerator of Encoder Output Ratio 1 10000 The SL Series amplifiers allow the standard 2500 PPR encoder resolution to be reduced by setting the numerator and denominator of the encoder output ra
270. ough the file list until you highlight the desired file name Press the Enter key to input the highlighted file name e Press the Enter key to save the file to your PC directory containing the SLconfig software The message Operation successful Push any key will display 8 3 62 Loading Waveform Data Z Series e Highlight the Load Waveform Data field and press the Enter key The Load window will display e Key in a filename to load or press the Tab key and scroll down through the file list until you highlight the desired file name Press the Enter key to input the file name e Press the Enter key to load the file The message Operation successful Push any key will display 8 3 6 3 Opening and Printing Your Saved Waveform File with Excel Software You can open your file into an Excel spreadsheet and view plot or print it from there using standard Excel features such as the Print selection on the File menu When you open your waveform file Excel will prompt for how your data is separated Select Comma since the waveform file is formatted in Comma Separated Variable CSV format The Comma Separated Variable CSV format separates the captured data into five groups Each group has space for 500 data points Group Data Units Time Milliseconds Actual Speed RPM Commanded Speed RPM Output Torque of rated continuous torque Error Counter position Encoder counts error Only three of the five groups will have captur
271. owing table GE Fanuc s stand alone power supply IC690PWR024 would be suitable for this application Control I O Power Supply Specifications Z Series Amplifiers 12 24 Vdc 10 96 at 0 2A minimum V Series Amplifiers 12 24 Vdc 10 at 0 5A minimum Reversing polarity on the Control I O supply will damage the amplifier This power supply is required for proper amplifier operation When you directly drive a relay with an output signal install a reverse biased diode in parallel with the relay as shown in Figures 5 3 and 5 4 If you do not install a diode or install it in the wrong direction the amplifier may be damaged 5 2 5 1 Control Inputs COM ie 11 4 7kQ ror gt Servo Enable S o SRV ON T AY 7 Tt gt Zero speed clamp ZEROSPD A Y 4 o 10 tor Control mode select V S MODE 53 Y rH gt Alarm clear 12 24 VDC aly E A CLR I O Power Supply gu e 31 Supplied by user Lu gt CCW inhibit o COWL 5 Av End of travel limit T 1 gt CW inhibit ee CWL T A y End of travel limit Hh gt Position error E24 CL s Y counter clear H gt Pulse command eae INH 2 4 y input inhibit NE m COM 88 Amplifier side 28 CN I F Figure 5 1 Control Inputs for Z Series Amplifiers 30 750W for Parameter 3F 0 default SL Series
272. pecify a path as well as a file name if for example you wished to save your file to a floppy disk in your computer s A drive In that case for your file name GFK 1581B Chapter 8 Operation 8 79 you would key in AATEST TXT Before using the A drive read Note When Using A Drive below Press Y to load the parameter file Press N to key in a different file name Press Q to exit to the File Menu If you press Y the message Parameter data is being loaded to amplifier will display briefly Then the message Parameter transfer complete will be displayed Note When Using the A Drive If you specify that the file be loaded from your computer s A drive but forget to put your diskette in the drive you will get the error message Not ready reading drive A Abort Retry Fail To correct this situation insert the diskette into the A drive and press the R key Retry then the Enter key If you press the F Fail key the save operation will be stopped and the Load window will display an error message If you press the A Abort key the SLconfig software will shut down and you will have to restart it then work your way back through the menus to this menu in order to resume the load operation Parameter file name C8 letters or less is valid for file name TEST TXT Parameter transfer complete Press ENTER key Note The above procedure only loads the parameter data fro
273. perated with a single phase input they must be derated at ambient temperatures above 40 C as shown in the following graph This derating is concurrent with any derating of the motor output due to the motor ambient temperature so the worst case derating should be used For example lets examine the application of a 3500 Watt motor and amplifier where the amplifier is run on single phase in a 50 C ambient and the motor is run in a Chapter 2 SL Amplifier Feature Overview 2 11 2 5 2 6 Motor Rated Torque Output 96 40 C ambient Comparing the graph for the SLM350 motor to the graph below we see that the motor derating required for 40 C operation 30 is higher than the motor derating required for 50 C single phase amplifier operation 25 So the 30 derating figure is used which protects both motor and amplifier from thermal overload 100 75 0 10 20 30 40 50 Amplifier Ambient Temperature 9C Motor Sealing The SL series motors are designed to comply with an IP65 protection rating excluding the cable connector and shaft The V Series motors include a shaft oil seal as a standard feature while the Z Series motors do not include a shaft seal Adequate precautions should be taken when mounting the motors to ensure proper protection against excessive exposure to fluids and spray Motor Holding Brakes As an option the SL Series motors are available with an integral parking brake The brakes are designed for failsafe o
274. peration When power is turned off allow about 11 seconds before re applying power If this interval is too short the system may not start up normally because its internal circuit is not properly initialized If you use a ground fault breaker use one rated for Inverter to withstand high frequency leakage current Use the motor and amplifiers only in the designated combinations Table 1 1 and Table 1 2 When transporting use caution to prevent damage to the servo components Do not grasp the cables when carrying Do not apply excessive force to the amplifier front panel and side plates 3 3 Installing the Motor The SL Series servo motors are designed for either vertical or horizontal mounting and have a protection rating of IP65 not including the connectors and shaft The motors should be mounted in a location where the environmental conditions are within the specifications stated in Table 2 3 and Table 2 4 Use the following guidelines when mounting the motors Observe the shaft radial and thrust load limits shown in Table 2 3 and Table 2 4 Loads exceeding these limits will cause premature failure of the motor Excessive belt tension could cause bearing or shaft failure Be sure to ground the motor using the ground wire in the motor power cable Ensure that the motor cables are free from excessive stress stretching pinching or bending To avoid damage do not carry a motor by holding the cables or shaft Do not apply exces
275. peration and must be energized to release the brake Note The brake should only be used to hold motor position once the axis is stopped Using the brake to stop a moving load may result in damage or premature failure of the brake mechanism Use the dynamic brake function see Section 2 8 or an external mechanical brake to stop moving loads during an emergency stop or loss of power The brakes require a finite time to engage and release the load as shown in the brake specifications in Tables 2 3 and 2 4 These times must be considered in the brake sequencing logic when employing brake motors on vertical axes to prevent the load from falling The servo amplifier must remain enabled until the brake is fully engaged or the load will not be adequately restrained The SL amplifiers include a brake control output BRK OFF that may be used to indirectly control brake activation This output must be connected to an interposing relay coil rated for 12 24 VDC 50mA maximum in the brake power supply For Z Series amplifiers the BRK OFF output shares a terminal on the CN I F interface connector with the servo ready S RDY and zero speed detected ZSP functions These functions are mutually exclusive and are selected by Parameter 3F Parameter Nos OE and OF determine the timing of the BRK OFF output under various operating conditions See Chapters 5 and 6 for more details on these parameters See Chapter 4 Section 4 1 2 for brake wiring detai
276. ples They may not be the correct settings for your system To print the list use Word s normal printing procedure te 03 10 1999 time 16 42 38 Parameter Name Parameter Value user 00 Axis address 0 user 01 Select initial display 1 user 02 Select control mode 1 user 03 Velocity loop gain 65 user 04 V loop integral time 32 user 05 Velocity feedback filter 4 user 06 Torque limit 3 350 user 07 Torque limit inhibit 1 user 08 Speed monitor gain 0 user 09 Overtravel limit inhibit E 1 user Oa Dynamic brake select 0 user Ob Feedback ratio numerator 10000 user Oc Feedback ratio denominator 10000 Figure 8 30 Partial Parameter List as Displayed in Microsoft Word SL Series Servo User s Manual August 2001 GFK 1581B Operation 8 3 3 The Alarm Menu Z Series The Alarm Menu is accessed from the Main Menu by pressing the 2 key or by highlighting in reverse video as shown in the figure Display Alarm and pressing the Enter key Once this is done the Alarm Menu will be added to the screen to the right of the Main Menu as shown in the next figure Note the double line around the Alarm Menu indicating that it is the active menu Main Menu Alarm Menu 1 Parameter Setting Display Alarm 2 Alarm History 3 Monitor 3 Erase Alarm History 4 waveform Graphic 4 Exit 5 Protocol Set Up 6 Axis Address 7 Exit Arrow key Figure 8 31 The Alarm Menu
277. plifiers pin 27 is dedicated to the BRK OFF signal only so no parameter change is necessary to activate this function Parameter OE controls timing of the BRK OFF output on both the V Series and Z Series amplifiers and Parameter OF provides additional timing options for the Z Series only these can be used to configure a delay to compensate for the physical engagement time of the brake These parameter settings are detailed in Chapters 5 and 6 Chapter 2 contains motor brake specifications including engagement time values 120 VAC x SL Series Amplifier LIN CN I F 24 VDC Power Supply GE Fanuc IC690PWRO024 BRK OFF cet 4 Motor Brake Coil DI CRI 24 VDC COM CRI Control relay Coil 24 VDC SOmA or less BRK OFF COM Contact rated for 1 Amp DC continuous and break Z Series pin 27 Z Series pin 28 D1 Diode 1A 100 VDC 1N4002 or equivalent V Series pin 11 V Series pin 41 9 _ Diode 3A 100 VDC 1N5401 or equivalent Note On the Z Series Pin 27 has to be configured for Brake Output using parameter 3F See Chapters 5 and 6 Figure 4 2 Wiring Overview for Optional Motor Brake SL Series Servo User s Manual August 2001 GFK 1581B GFK 1581B Wiring Z Series Brake Wiring Using the IC800SLT001 Terminal Board The IC800SLTOO1 terminal board is specifically designed t
278. put EXOUT2 EXOUTI EXOUTO Error CNIF CNIF CNIF Description Pin 10 Pin9 Pin8 0 0 Normal Operation no errors Alarm Code System error 98 Output 0 1 DSP Watchdog error 23 CPU Watchdog error 30 V Series onl EEPROM Check sum error 36 y EXOUTI N A 9 N A Parameter Download error 84 Command Pulse Ratio error 27 1 Encoder error 22 V Series P V T Drive Inhibit error 38 E ore Excessive position error 29 Z Series N A 0 O Position Error Limit 24 Over speed error 26 0 1 Under Voltage error 13 Over Voltage error 12 Overload error 16 Over Current error 14 EXOUTO N A 8 N A 1 1 Other errors 99 1 0 0 Output transistor ON 1 Output transistor OFF 5 22 SL Series Servo User s Manual August 2001 GFK 1581B I O Circuit Configuration and Function Title Symbol Par 3F Z Series CN I F Pin V Series CN I F Pin Z Series Description ro Signal Interface Diagram Z Se Z Se Velocity Command Input V Series V ries V T or Speed Limit Input V Series T ries V T SPR SPL All 14 14 GND All 15 15 When in Velocity Control Mode SPR is used as an analog velocity command input You can set the velocity command input scaling relation between the motor speed and the command input voltage level and the polarity of the velocity com
279. r Interface PULS2 i e et PULS PS Y o PULS1 3 i Command pulse Command pulse input A SIGN2 E di ire input B SIGN Y ko SIGN1 5 l p NA Twisted i pair 13 3 COM D 7 4 e 4 7k Position error counter clear VK if Position error CL counter clear 80 Ke a Command pulse input inhibit E eden del dre m v j a 12 24 VDC ES Command pulse INH 3 inhibit input Ney 77 ie COM Gi See table at end of this section UM Amplifier side CN I F Open Collector Interface a 3 5 Command pulse vue input B 12 24 gt R 2200 Q ri Command pulse Ey 4 6 c input A Twisted pair E Amplifier side See table at end of this section CN I F Figure 5 10 Line Driver and Open Collector Interface for V Series Amplifier 1000 5000W GFK 1581B Chapter 5 I O Circuit Configuration and Function 5 9 Keep the wiring for the pulse command input as short as possible 3 feet 1 meter or shorter recommended The maximum input pulse frequency is 200 KHz when using an open collector interface and 500 KHz when using a line driver interface When using the command pulse input with an open collector interface you need to install a separate I O power supply 12 24VDC for pull up The higher the power supply voltage used must not exceed the 24VDC maximum the greater the signal noise immunity
280. r Motor Torque as configured by the setting for Parameter No 01 The Monitor Mode is used to display a variety of status information for the SL servo that can be used during start up or to troubleshoot system problems Figure 8 3 shows the Monitor Mode options and the associated characters shown in the Selection Display for each option P_EPS D G OG m Erin Y 3 I IRo 2 5 e e e s D ge e E e n e e e un 2 e z un e m e cy n e ea e gt un ec e Dn E lt 3 Dy js Ln 5 Lum 1 alae ch Position Error Displays position error and direction in pulses Motor Speed Displays motor speed and polarity Torque Output Displays torque output and polarity Control Mode Shows current control mode position speed or torque I O Signal Status Displays active inactive state of selected I O Error Code History Scrolls through the last 8 errors in chronological order Version Shows version number of firmware Absolute Position Absolute position relative to power on position 0 Velocity Command Input Velocity command range 2048 to 2047 Servo On Enable CW limit CCW limit and current error code status CW Torque Limit Input Value of CW external input range 2048 to 2047 CCW Torque Limit Input Value of CCW external input range 2048 to 2047 Error Diagnosis Quick view of many factors that can i
281. r and on the interface connector CN I F pin 16 Z Series or pin 43 V Series For Z Series amplifiers only this 3B Analog parameter selects the function of this monitor output as follows Z Series Only Monitor Mode 0 Monitor motor speed RPM lecti Selectign 1 Monitor position error pulses Position Control Mode only Refer to section 5 7 2 Speed Monitor Signal and Parameter No 08 Speed Monitor Scaling for more details For Z Series amplifiers configured for Position Control Mode this parameter sets whether the Position Error Counter Clear input signal CL on connector CN I F pin 13 Z Series is edge or level 3C Position Error sensitive Counter Clear Z Series Only Mode 0 Clear counter on the signal level 1 Clear counter on the falling edge of the signal transition NOTE For V Series amplifiers the counter is cleared on signal level only Chapter 6 Configuration Parameters 6 27 Parameter Parameter Adjustment Wa Description Range 3D Alarm Action 0 3 Z Series Only Selection 3E Servo Disable Action 0 7 Z Series Only Selection Function Selection For Interface Connector CN I F 3F Z Series Only 6 28 SL Series Servo User s Manual August 2001 Function For Z Series amplifiers this parameter determines if dynamic braking is used to stop the motor when an amplifier fault occurs The options are shown in the following table Alarm Occurs While Alarm
282. r certain problem conditions when the program is exited you may see the following display on the screen AXIS This is the SLconfig prompt and the user does not normally see it because when the program starts it runs through this prompt automatically However under abnormal conditions it may display To handle this situation type the word menu at this prompt then press the Enter key This will take you to the SLconfig Main Menu where you can resume using the software or select Exit to quit 8 5 2 Graph Problems Problem I do not see a waveform or only part of a waveform on my Waveform Graphic Screen Possible reasons and solutions If parameters are not set correctly on this screen it is possible that only part of your waveform or none at all will be displayed on the graph If you encounter a problem recheck the settings on this screen Examples e The amplitude of the measured Motor Speed waveform exceeded the full scale value that you set for the graph in the Speed parameter e The time value chosen may be too short to capture the full waveform If it takes the motor 1 second to reach full speed and you set the Quadrature Axis time value to 0 250 mSec you will not see the full acceleration waveform For the above two problems you could try setting the scale values to their highest settings or to Auto Scale to start with Then generate a waveform and adjust the settings lower to optimize the display e Jf you did
283. rake Function SL Series servos have a built in dynamic brake for emergency stops The dynamic brake uses the stored kinetic energy in the motor to generate braking torque Since the braking torque is proportional to motor speed the motor decelerates along an exponential velocity profile to a stop The dynamic brake is activated in the following cases e When you turn off the main AC line power e When you disable the amplifier by removing the SRV ON signal see Section 5 7 2 the dynamic braking action is determined by the setting of Parameter No 0A V Series or Parameter No 3E Z Series as described in Section 6 3 e When a protective alarm function is activated you can select the dynamic brake action using Parameter No 0A V Series or Parameter No 3D Z Series as described in Section 6 3 e Ifthe CW overtravel limit switch connected to the CWL input on connector CN I F is opened while the motor is running in the CW direction viewed from the motor shaft You can select whether or not to activate the dynamic brake using Parameter No 0A as described in Section 6 3 both V Series and Z Series Ifthe CCW overtravel limit switch connected to the CCWL input on connector CN I F is opened while the motor is running in the CCW direction viewed from the motor shaft You can select whether or not to activate the dynamic brake using Parameter No 0A as described in Section 6 3 both V Series and Z Series Note The dynamic brake
284. rameters Parameters V Series change example 8 58 how to change loading from disk file requiring power cycle 8 56 saving to EEPROM saving to file setting screen 8 56 Parameters Z Series creating a list 8 32 edit pages 8 24 editing 8 27 loading from disk file requiring power cycle saving to file writing to EEPROM 8 28 Part Numbers Accessories Amplifier Cables 1 4 Motor 1 3 Regeneration Resistors 1 4 Terminal Board Performance Curves Pin outs motor power and brake connectors 4 18 Polarity Encoder Output 2 3 4 16 Pos Error Counter Clear Mode Parameter 6 27 Position Control Mode 2 3 2 14 Position Error Counter Clear Input 5 17 Position Error Counter Overflow Fault 9 5 Position Error Limit Fault 9 4 Position Error Limit Inhibit Parameter 6 21 Position Error Limit Parameter Position Loop Gain Parameter 6 20 Power Dissipation Amplifier 3 11 Power Supply Output 5 26 Power up Display Options Parameter 6 5 Problems with graphs troubleshooting 76 E2 Protection Index 5 Index Index 6 Motor Rating 2 12 Protective Functions Error Descri ptions 9 1 Overview 9 1 Protocol Setup window Z Series 8 53 Pulse Command Pulse Command Inhibit Input Pulse Command Input Mode Parameter 6 24 Pulse Command Filter E Parameter Pulse Command Input Pulse Command Input Polarity Parameter 6 23 Pulse Command Ra
285. rated output The servo amplifier heatsink and motor generate high temperatures If the amplifier is housed in an enclosed control cabinet this heat load must be considered when evaluating the enclosure cooling requirements see Section 3 6 Power Dissipation for details on amplifier losses Use heat exchangers or cooling devices to maintain an ambient temperature of 50 C or less Humidity 90 relative humidity or less non condensing Vibration Less than 0 5 G at 10 150Hz Shock Less than 15 G non operating Altitude No more than 1000m 3300 ft above sea level for full rating Contact GE Fanuc Applications Engineering for derating at higher elevations Ventilation This amplifier is designed for vertical installation to ensure proper cooling Install the amplifier with sufficient space for ventilation Avoid mounting wireways and other adjacent components too close to the heatsink top or bottom of the amplifier Location Keep the following location guidelines in mind when selecting a site for the amplifier e Do not install in places with high temperature high humidity dust dirt conductive powder or particulate combustible gasses or metal chips 3 1 3 2 3 2 e Avoid places exposed to direct sunlight e Mount only to noncombustible materials such as metal e Do not stand step on or put heavy articles on the amplifier or motor e The amplifier housing is rated IP20 and is not a waterproof enclosure Do not use outdoors
286. ration 7 r Main Menu Waveform Graphic 4 1 Parameter Setting 1 Measuring Setting 2 Display Alarm T auto Gain Tuning 3 Monitor 3 Exit 5 Protocol 6 Axis Addr 7 Exit Stiffness Input Machine Stiffness Low 1 9 High A A gt Input New Parameter Esc to Cancel Figure 8 48 Auto Gain Tuning Screen 2 Z Series e Key in anew Machine Stiffness value if desired then press the Enter key see Chapter 7 for tuning details If you do not wish to change the Machine Stiffness value enter the same value as the current value then press the Enter key e Before proceeding check that the motor can be turned safely This is necessary to avoid injury to personnel and equipment see Warning note at the beginning of this section e Ifan error occurs during autotuning refer to Sections 7 4 and 8 1 1 4 for more information When ready to proceed press the Enter key The Auto Gain Tuning routine will begin running the motor will turn several times and the following screen will display while the routine is running Note the message Now Executing Automatic Gain Tuning Main Menu waveform Graphic Parameter Setti 1 23 g Settin Display Alarm Monitor 5 Protocol 6 Axis Addr Automatic Gain Tuning Fe EZTIT Axis Axis NO 0 Machine Stiffness 4 Position loop gain BS Velocity loop gain 48 V loop integral time 37 Velocity feed forward 0 Now Executing Automatic gai n tuning Figure 8 49 Auto Gain Tu
287. rature Curves 2 11 Motors 2 9 Dimensions amplifier motor 3 6 Regenerative Discharge Resistor 4 8 Dimensions mounting IC800SLTO001 terminal board IC800SLTO004 terminal boned Act Direction Conventions Direction of Rotation 4 1 Display 2 14 Display Z Series changing modelia i dual waveform mode Dissipation Amplifier 3 11 DSM Controller Connection Diagram Analog LA 12 disabled for autotuning 8 10 B 50 R 66 IC800SLT001 Terminal Assignment Analog Mode A 7 DSP Watchdog Error Dynamic Brake FuucHon Dynamic Brake Mode Selection Parameter 6 9 6 9 E EC Directives B 1 EEPROM Check sum Error 9 5 EEPROM write keypad 8 9 EEPROM Z Series writing parameters to 8 28 Encoder Error 9 3 Encoder Output 5 26 Scalin Ratio 5 12 Signal e Type 5 12 Wiring 5 11 Encoder Output Signal Inversion Parameter 6 11 1 Environmental Specifications 3 1 Equivalent units table English and Metric C 6 Index Index Equivalents fraction decimal mm C 6 Error Codes 9 1 CPU Stack Error 9 6 CPU Watchdog Fault DSP Watchdog 9 3 EEPROM Check sum 9 5 Encoder Error Overload 9 3 Overspeed 9 5 Overtravel Input Error 9 6 Parameter Range Error Position Error Counter vn ee 9 5 Position Error Limit 9 Pulse Command Ratio Tor 9 5 System Error Error Displa keypad 8 6 Error History 9 Error history display keypad Err
288. recommend you use a line driver interface as shown in the following figure for greatest noise immunity In the figures the letters in parenthesis next to the command pulse input signals refer to whether the signal is on the supply side A or the amplifier side B The table near the end of this section lists the command pulse input logic levels for both the supply side and amplifier side for the two interface types line drive or open collector Line Driver Interface PULS2 z UD Y PULS m S Y ko PULS1 Command pulse Command pulse input A SIGN2 ane input B SIGN sen Y ku SIGN1 Ne Twisted pair 3 7 COM D 11 4 a 4 7k Position error counter clear WK Position error CL counter clear 13 e a Command pulse input inhibit o y z a 12 24 VDC Ex Command pulse INH 9 inhibit input NL 77 I COM 8 See table at end of this section MM Amplifier side CN I F Open Collector Interface ZR c 6 8 Command pulse input B 12 24 VDC 2209 EO gt T wj 0 Command pulse ay Lt input A K Twisted pair g Amplifier side See table at end of this section jS CN I F Figure 5 9 Line Driver and Open Collector Interface for Z Series Amplifier 30 750W 5 8 SL Series Servo User s Manual August 2001 GFK 1581B I O Circuit Configuration and Function Line Drive
289. regeneration resistor Table 3 1 Power Dissipation Amplifier Model Description Power Loss of Number Amplifier W IC800SLA003 1 30 Watt 115 VAC 14 5 IC800SLA005 1 50 Watt 115 VAC 17 0 IC800SLA0101 100 Watt 115 VAC 21 4 IC800SLA0201 200 Watt 115 VAC 29 8 IC800SLA0401 400 Watt 115 VAC 42 1 IC800SLA0032 30 Watt 230 VAC 19 0 IC800SLA0052 50 Watt 230 VAC 19 5 IC800SLA0102 100 Watt 230 VAC 20 7 IC800SLA0202 200 Watt 230 VAC 25 IC800SLA0402 400 Watt 230 VAC 27 IC800SLA0752 750 Watt 230 VAC 44 IC800SLA1002 1000 Watt 230 VAC TI IC800SLA2502 2500 Watt 230 VAC 170 IC800SLA3502 3500 Watt 230 VAC 280 IC800SLA5002 5000 Watt 230 VAC 280 Chapter 3 Installation Guidelines 3 1 Chapter Wiring 4 4 1 GFK 1581B This chapter provides wiring guidelines for the SL amplifier power terminals I O and command interface connector CN I F encoder connector CN SIG and serial connector CN SER It also describes installing the optional regeneration resistor and selecting AC incoming power wiring Wiring to the Amplifier Power Terminals Use the following guidelines when connecting wires to the amplifier power terminals Refer to Figure 4 1 for example wiring diagrams The cover of the power terminal block is secured with a screw When wiring to the terminal block remove the screw and gently pull open the cover to release the snap detent 2 Tighten screw terminals to 7 Ib
290. relay coils or other magnetic circuits or devices that are in operation near the amplifier or cables Verify that proper countermeasures against noise on signal cables have been implemented Noise on encoder feedback signals Check if the velocity loop is configured for proportional gain only or has too little integral gain The position loop gain is too small Chapter 9 Protective Functions and Troubleshooting Possible Causes Solutions This ratio sets the relationship between the number of command pulses required for one motor rotation When the setting of the Pulse Command Ratio is incorrect the move length is also incorrect See Section 6 2 for details on these parameters This ratio sets the resolution of the encoder output signals used by an external position controller to control the position of the motor The best positioning accuracy that is possible is 1 count of the configured resolution Note that there are 4 counts for each encoder pulse set by this ratio since the encoder pulses use a quadrature x4 multiplication circuit See Section 6 2 for more details on these parameters Correct the positioning program or configuration of the external controller Also check the gain setting of the external position controller Low gain will result in poor servo performance Check the countermeasures against noise Check the following signals for evidence of noise Servo enable signal SRV ON Clear counter signal CL
291. rements Input Power Circuit Breaker Install an IEC or TUV authorized three phase circuit protector between the servo amplifier and AC supply as shown in Figure B 1 The rated current requirement differs depending on the model of SL servo amplifier Table B 1 Circuit Breaker Specifications Servo Amplifier Rating Circuit Breaker Short Amp Rated Rated Circuit Dielectric Example Part Voltage Output Volt Trippi st h Power Current Voltage Tripping rengt Sanken Air Packs Co Ltd Capacity TELH 1 11 63 10A M Single phase 115V TELH 1 11 63 15A M TELH 1 11 63 10A M IN 5 z on gt 3000V for 1 1500 A minute 750W 250 V 1 mA max 3 phase ikw 30 60 50 60 Hz leakage IELH 1 11 63 15A M 230V 25kW 20A current IELH 1 11 63 20A M 2 5kW 50A TELH 1 11 63 50A M Equivalent parts to the ones shown may be used Grounding For prevention of electric shock connect the protective earth terminal of the servo amplifier with the protective earth PE of the control panel as shown in Figure B 1 There are two protective earth terminals provided on the amplifier Do not wire them together on a panel earth terminal Compliance with EMC Directive The SL Series servo system is designed to comply with the standards related to the EMC Directive under certain installation conditions e g wiring distance between the amplifier an
292. ries In Position Output When in Position Control Mode If the pulse count of the position error counter is within the n Position parameter range set using Parameter No 22 the COIN P output is activated transistor turns ON When in Velocity or Torque Control Mode or COIN All 39 25 This signal becomes an Af Speed signal The COIN O 1 output is activated transistor turns ON when the motor reaches the speed preset by Parameter No 12 At Speed Output see Chapter 6 Related Parameters 02 12 22 V T For V Series amplifiers configured for Velocity or Position Control Mode see Parameter No 02 the TLC output turns ON when the torque limit function is In Torque Limit operating Parameter No 06 or the CWTL CCWTL Output analog inputs can be used to set the value for the amplifier torque limit Parameter No 07 can be used to V Series only disable the CWTL CCWTL analog torque limit inputs O 1 TLC N A 40 N A NOTE When the CWTL CCWTL limit inputs are V Series V T enabled the SL amplifier will use the smaller torque Z Series N A limit value set by either the CWTL CCWTL inputs or Parameter No 06 Related Parameters 02 06 07 When a V Series amplifier protective function operates the ALM output is activated and an error code is output as a 3 bit signal for each error code The relation of error codes and EXOUT signal output pattern is shown below EXOUT2 N A 10 N A Error Code Out
293. rocedure using the following method e Stop the SL motor GFK 1581B Chapter 8 Operation 6 47 8 48 8 3 10 e Place the highlight on the desired parameter field and press the Enter key The Change Parameter window will display e Keyinanew parameter value e Press the Enter key The new value will be written to the SL amplifiers RAM memory e Before proceeding be sure you know how to shut off the motor quickly in case a parameter change results in unstable operation Press the Spacebar on your computer s keyboard That will start the waveform generation process and the software will wait for the trigger e Start the motor running After a few seconds depending on your Time parameter setting the waveform will be displayed The effects of your parameter change can be observed on the waveform by comparing it with what you observed about the previous waveform e Make further parameter changes as desired by repeating the above process until you are satisfied with your tuning settings Generally speaking you will be trying to achieve a high degree of response while staying a reasonable distance below the point of instability e Once your settings are final highlight the Write EEPROM field and press Enter if you wish to save the settings to EEPROM Dual Waveform Display Z Series Two separate graphs can be viewed on one screen by setting the Separate Display parameter to Separate Disp With these two graphs you will be able
294. ropriate two holes in the side element as shown in Figure A 14 Note in Figure A 13 that the mounting ear has a recessed hole for inserting a user supplied screw for mounting the terminal board The recessed hole should face upwards to accommodate the head of the mounting screw 5 Repeat steps 1 4 above for the other side of the terminal board A 22 SL Series Servo User s Manual August 2001 GFK 1581B Appendix CE Installation Requirements b B 1 GFK 1581B Compliance with EC Directives CE Mark EC Directives are issued by the European Council and are intended for the determination of common technical requirements and certification procedures within the European community The texts of the directive are restricted to the essential requirements Technical details are or will be determined by European harmonized standards After verification affixing a CE mark certifies the conformity to the EC directive Within the EC there are no commercial barriers for a product with the CE mark AC servo is considered a component in the EC directive that will be built in machinery and equipment For this reason a supplier of AC servos is not required to affix the CE mark on the product However to facilitate compliance with the Machinery Directive the SL Series servos are designed to comply with the standards associated with Low Voltage and EMC Directives For additional information please refer to GE Fanuc publication GFK 1179 Insta
295. rs Please refer to section 6 3 for more detailed information about each parameter Some of the parameters are applicable to only one series Z Series or V Series and the adjustment range and factory default settings may vary by amplifier series Table 6 1 Configuration Parameters Para Control Z Series Amplifiers V Series Amplifiers No Parameter Description Mode 30 750 Watt Models 1 5 kW Models Note 1 Range Default Range Default 00 Axis Address T V P 0 31 0 0 9 0 01 Power up Display Options T V P 0 3 1 0 2 1 02 Control Mode Selection T V P 0 5 1 0 5 1 03 Velocity Loop Gain V P 25 3500 Hz 100 25 3500 Hz 100 o Velocity Loop Integration Time vie 1 1000 ms 50 i 1000 ms 50 onstant 05 Velocity Feedback Filter T V P 0 7 4 0 4 4 06 Torque Limit T V P 0 400 300 0 400 300 GFK 1581B 6 1 Z Series Amplifiers V Series Amplifiers Een t Control 39 750 Watt Models 1 5 kW Models No Parameter Description Mode Note 1 Range Default Range Default 07 Torque Limit Inhibit V P 0 1 1 0 1 1 08 Speed Monitor Scaling T V P 0 1 0 0 3 0 09 Overtravel Input Inhibit T V P 0 1 1 0 1 1 OA _ Dynamic Brake Mode Selection T V P 0 1 0 0 3 0 0B Nuineratop ob Encoder Gipu iSi agio l 200 iioo 2500 Ratio 0C
296. s 7 874 inches 200 mm A C1 le L1 gt XA CA L2 JE AH gt Y LT BB je 4 x H dia on J Bolt circle AJ c gt Sy X E A oit erele Model Units A AH AJ AK B B G rare 0 7874 008 2 625 0 024 1 50279 o 0 118 0 008 0 236 0012 oie 57 658 06 66675206 38150900 SEXES 0 7874 0 028 2 625 0024 1 50279 o1 0 118 0 008 0 236 0012 50 Watts 57 658 06 66 675 0 6 38 1508 2 os 0 7874 0 028 2 625 0 024 1 50279 qo 0 118 0 008 0 236 0 012 m 51658206 66675205 3815097 L L2 With or Model Units U L With LI Without Brake Brake 003 0 1968 0 010 2 559 3 819 1 772 3 031 0 709 iid sl i Figure 3 4 Dimensions for 30 100 Watt SL Series Motors 3 6 SL Series Servo User s Manual August 2001 GFK 1581B GFK 1581B Installation Guidelines L2 gt 4 x H dia on BB e Bolt circle AJ AH Cw we x T9 9 To T9 T L5 dis 118140028 38755004 27799 0 118500 0 315 0012 0216550010 200 Watt mm 86 868 0 6 30 07 98425506 73 0758 o0 3402 8 03 5 5 0 25 SLM020 8 662 7 874 2 854 4 154 1 535 L Model Units U L With Brake s 200 Watt E mm 9 525079 94 127 7
297. s against signal noise or replace the home sensor Check home sensor mounting It should not be loose or The home offset is over tightened yeast Check home sensor for signs of physical damage The position of the encoder Z phase signal and the Move the position of the Z phase of the encoder to the home sensor do not overlap middle of the active position range of the home sensor Active range of the Does the motor slow down around the home position Reduce the home speed or increase the active range of the home sensor is too home sensor small Check shielding and installation of the encoder cable Take proper measures to prevent noise on the encoder between the motor and the amplifier connector CN signals See Sections 4 3 and 5 6 for more details on the SIG and if an external position controller is used encoder wiring check the encoder output cable shielding and installation Noise on the Z phase of the motor encoder Verify that the waveform of the encoder is normal If the waveform is abnormal and if you have taken appropriate countermeasures against noise the encoder may be damaged Chattering or Is there a problem with the home sensor Try replacing the home sensor improper operation Verify that the power supply for the home sensor is on Correct any wiring errors or shielding grounding problems of the home sensor and that no noise is on the signal with the wiring SL Series Servo User s Manual Augu
298. s an At Speed signal for the Position Control Mode this parameter is invalid for the Position Control Mode See Parameter No 22 and Section 5 7 2 for more information on the COIN output Default 1000 SL Series Servo User s Manual August 2001 GFK 1581B GFK 1581B Configuration Parameters 6 Parameter No Parameter Description Adjustment Range Function 13 Velocity Command Scaling 10 2600 This parameter sets the analog velocity command SPR input gain relationship between the motor speed and the velocity command voltage The method used to calculate the value depends on the amplifier series as follows Z Series Set value desired motor RPM Max Command Volts V Series Set value 0 45 x desired motor RPM Max Command Volts Example Maximum motor speed of 5000 RPM using a 10V command input for a V Series amplifier Parameter value 0 45 x 5000 RPM 10 V 225 For Torque Control Mode Z and V Series Either the Analog Velocity Command or the Internal Speed Commands must be used to configure a maximum speed limit for the servo When approaching the speed limit the motor torque decreases linearly to zero starting approximately 90 RPM before the speed limit is reached The analog command can be used to dynamically vary the velocity limit or the different internal speed commands may be selected as described above to provide several discrete velocity limits
299. s fixed at certain intervals and each VR value has an associated maximum velocity i e VR Max Velocity 30 245730pps 10 81910pps 5 40995pps 2 16382pps 1 8191pps or 0 5 4095pps Example Application Let s assume that you have a linear application using a ball screw that will be directly coupled to the SL Servo In many applications a gearing connection between the servomotor and the load will be used and will need to be considered The pitch in the ball screw acts as gearing in this example Our example ball screw has a linear nut movement of one inch per two screw revolutions 1 screw 2 pitch or 0 5 lead and is speed rated to 1000 RPM You want to program movement in decimal inches and obtain the best resolution without exceeding the speed rating of the screw 1 Calculate the load gearing 2 1 in this example and determine how many motor encoder counts are represented per user unit The SL servomotor encoder is fixed at 10 000 counts per motor revolution so 20 000 servomotor encoder counts 1 inch of movement at the load Look at the allowable SL Servo Encoder Output Ratios see bullet above and determine which of the available ratios will yield a user unit representative of inches We are scaling OCS Feedback Pulses so we need to convert the 20 000 counts per inch of servomotor encoder counts to an engineering unit Choosing a ratio of 0 5 means 20 000 0 5 10 000 that one inch of movement at the load would be represe
300. s such as Motor Pole Setting If you happen to select one of these parameters press the Enter key to de select it Some parameters substantially change the motion of the motor because of their function e g Parameter No 02 Select control mode No 14 Analog command polarity No 25 26 Pulse cmd ratio numerator denominator etc Before changing these parameters be sure the servo axis is disabled 8 4 3 1 Parameter Change Example V Series The following example shows how to change the data of Parameter No OB Feedback ratio numerator from the initial value of 10000 to a new value of 500 e Turn off the Enable input SRV ON to the amplifier This is a safety precaution to prevent unexpected motion See the Warning above SL Series Servo User s Manual August 2001 GFK 1581B Operation e Use the Up or Down arrow key to position the cursor asterisk next to Parameter No OB e Press the Spacebar key The bottom of your screen will display Parameter No OB and provide some details about this parameter e At the Enter New Value Prompt key in the value 500 then press the Enter key Your screen will now look like the following figure lt lt Parameter Setting Page 0 gt gt Axis Address Select initial display Select contro mode Velocity loop gain V loop integral time wale he feedback filter 7 Torque limit Starting Value Torque limit inhibit New Value Speed monitor gain No 08 10000 Ov
301. s support an auto tuning function that is designed to assist with the selection of values for the various gain parameters when configured for Position or Velocity Control Mode When the amplifier is configured for Torque Control Mode no tuning is required The Waveform Graphic option PC Oscilloscope in the SLconfig software can be used to optimize the gain values while graphically viewing the effect on system response The individual gain parameters can also be adjusted manually using the front panel keypad on the amplifier or the Parameter Setting menu in the SLconfig software see Chapter 8 The following block diagram illustrates the relationship of the various gain components in the SL Series amplifiers Velocity Feed Forward Parameter No 21 Pulse Command Scaling Ratio Control Mode Parameter No 02 Pulse T C and Para No 25 m i i T RUNE Position ed i Velocity Loop i Para No 27 Para No 26 Error day Gains Counter Para No 20 Para No 03 Analog Velocity 7 Para No 04 Command SPR A Analog Torque Command TRQR OO ve Speed Detection Encoder Output x4 Multiplication A B 2 Mot Encoder Ratio quadrature D Output Para No 0B 0A 0B Para No 0C 0Z CZ Figure 7 1 Equivalent Block Diagram GFK 1581B 7 1 7 2 Tuning Guidelines 1 The optimum gain setting varies depending on the connected load You may need to make gain adjustments when the load inertia changes significantly If re tuning is
302. s with switch OPEN 33 I OA 2 T R E INH bw 1 ad 48 i Servo ready output EN DP oi I OB Encod 4 oy E b gb S RDY bs ad OB Encoder N NT 49 i output MC Servo alarm output n per EE i ervo alarm outpu 1 FO 7 AM od OZ 28 1 e i 4 nent In position At speed output 139 pod oz Li Lou COIN od m ep OZ 24 I In t limit output n torque limit outpu 140 ig T T L1 TLE GND bs Z d detection output i i ero spee I 142 7 i i i ZSP SPR SPL 44 i Velocity command analog input SPR Zin 10kQ min 14 MC External brake release output T t GND 15 Velocity command analog input SPR Ls t t l Dog BRK OFF ME NAMUR int analog input CCWTL TRQR lt i i CCWTL 16 1 1 in 10kQ min Alarm code output 2 NE e 1101 Exour2 TROR i MET 17 i 1 MN T GND M Marco e output 1 o g EXGUT V T 5 CWTL 48 CW torque limit analog input CWTL Zin 10kQ min Fog Alarm code output 0 ENS Fog y d E EXOUTO IAT x m EN 4i COM 49 b al Torque monitor analog output Zout 10kQ 12 24 VDC Pod IM m gt 12V output Zout 330 20mA Max i 9g Fg Speed i tput Zoute10ka i 412V SP 43 peed monitor analog output Zout 10kQ Pa T AE 11461 GND M I I I 2 output Zout 33Q 20mA Max 3 1 147 S d j 12V anD 44 MY 50 mA maximum 0d 4g cz E Q f 25 T L1 _ Twisted pair 50 F c CN I F Figure 4 8 Interface Connector CN
303. set by the Auto Gain Setting routine Following is the basic method for using this screen Generating a waveform requires that the motor be run Before running the motor be sure that it can be done safely Be familiar with how to stop the motor quickly should it be required Failure to heed this warning could result in injury to personnel and damage to equipment Move from this screen to the Setting Graphic screen and set up the graphical display for your tuning session Exit back to this screen Manual Tuning screen Run the motor and capture a waveform using the Measuring Start selection Change the parameters using the Manual Tuning Gain parameter Run the motor again and capture another waveform Compare the change in response between the last two waveforms SL Series Servo User s Manual August 2001 GFK 1581B Operation e Continue to change the parameters run the motor and capture the waveforms until desired tuning results are realized e Save your settings by selecting Write data into EEPROM 8 4 9 V Series File Operation Screen This screen is accessed from the Manual Tuning screen or the Gain Parameter Setting screen It provides a way to save or load waveform data 5bBB 58 588 58 RPM 71 8 8 1 25 2 5 3 75 5 60 secl Reading graphic data Writing graphic data Directory retrieval Exit file operation Figure 8 67 File Operation Screen V Series This screen has the following s
304. shaft This polarity cannot be changed by the user NOTE Output impedance of the SP signal is 10kQ Measuring instruments and circuits to which you connect the SP signal should have high input impedance 1MQ minimum Related Parameters 08 3B AO 1 Torque Monitor Signal P V T All 42 36 GND All 45 17 The IM signal is an analog output with voltage proportional to the commanded torque current of the motor Polarity of the torque monitor output is defined as follows signal CCW rotation of the motor signal CW rotation of the motor The user cannot change this polarity Scaling between output voltage of the torque monitor signal and the commanded motor torque is 3V 100 Rated Continuous Torque This signal is also available as a test point on the front of the amplifier The torque monitor is only an approximation of motor torque Winding tolerances of 10 for the servomotors introduces a proportionate amount of uncertainty in the torque value reported by the IM signal System dynamics and magnetic saturation may also result in instantaneous differences between actual and commanded torque values NOTE Output impedance of this signal is 10kQ Measuring instruments and circuits to which you connect this signal should have high input impedance IMQ minimum AO 1 GFK 1581B Chapter 5 I O Circuit Configuration and Function 5 25
305. sive axial force or impact loads when installing the motor coupling or shaft pulley or the encoder may be damaged See axial load limit ratings in tables 2 3 and 2 4 Install the motor in a location free from corrosive contaminants dust excessive water spray or combustible gas The shaft of the motor is treated with grease Shell Oil Alvania No 2 for corrosion protection during storage Consider the effect of the grease on any plastic parts that are mated with the shaft The optional motor brake should be used for holding stationary loads only Do not use this brake to stop a moving load or reduced life or damage to the brake may occur Apply this brake only after the motor is stopped Use the dynamic braking feature of the amplifier to stop moving loads more quickly when power is removed from the amplifier see Section 2 6 GFK 1581B Chapter 3 Installation Guidelines 3 3 3 4 3 4 34 1 Mounting Dimensions Z Series Amplifier Dimensions 6 0 205 5 2 io y GE Fanuc r3 SL Series Amplifier IC800SLA0402 e 6 61 es 168 CE AD d jz cwoo2om Lad ererejereeee Jlo foi a l 0 16 4 F B gt Diminensions in inches mm 0 205 5 2 0
306. st 2001 GFK 1581B Protective Functions and Troubleshooting o Table 9 6 Motor Speed is Limited Cause Check Possible Causes Solutions When the amplifier is in Position Control Mode check If the gain is too low the position error of the amplifier Position loop gain is the value for Parameter No 20 Position Loop Gain will saturate before the desired speed is obtained Increase too low the position loop gain as recommended in Chapter 7 Tuning When the amplifier is in Velocity Control Mode check If the gain is too low the velocity error of the amplifier the value for Parameter No 03 Velocity Loop Gain will saturate before the desired speed is obtained Increase the velocity loop gain as recommended in Chapter 7 Tuning Also try increasing the value for Parameter No 04 Velocity Loop Integration Time Constant Velocity loop gain is too low When in Position Control Mode the maximum Reduce the pulse command frequency to within the frequency of the pulse command inputs is limited by allowable limits and increase the Pulse Command Ratio Pulse command the type of command interface used An open collector set by Parameter No 25 numerator and No 26 frequency too high interface will allow command input up to 200 kHz denominator as recommended in the description for maximum while a line driver interface will allow input these parameters in Chapter 6 up to 500 kHz See Section 5 5 When in Position Control Mode Parameter No 25 For
307. structions e Press the V key to select the V Series software e When the V Series software is first started the startup window shown in the next picture will display only for a few seconds if communications are established with the amplifier It will display a message verifying successful communications Note that this startup window contains the SLconfig software version number for the V Series file Communication software SLconfig ver 3 17 for IBM PC AT MS DOS Ver 6 2 Communications established RS 232C ch1 Figure 8 52 Startup Window for the V Series Software After displaying for a few seconds the startup window will be replaced by the Main Menu Screen Parameter Setting Control state Error condition Error history Automatic gain tuning Waveform graphic File operation Return to MS DOS EREBEENNEHSEBEBEENNENENEEBBRERENENSEEBBSESERENENEBRBSERBBEENEENEEBESEERBNENBENESENBEBEENENENESEEESESEESEERM Select Menu No Select Q to quit a menu MENU No 0 6 Figure 8 53 V Series Main Menu Screen The V Series Main Menu has the following selections e Parameter Setting Provides a way to view or change amplifier parameter settings e Control State Displays the status of input and output signals on the amplifier s CN I F front panel connector SL Series Servo User s Manual August 2001 GFK 1581B Operation e Error Condition Displays the current status of error signals e Error History Displ
308. sufficiency or usefulness of the information contained herein No warranties of merchantability or fitness for purpose shall apply The following are trademarks of GE Fanuc Automation North America Inc Alarm Master Genius PROMACRO Series Six CIMPLICITY Helpmate PowerMotion Series Three CIMPLICITY 90 ADS Logicmaster PowerTRAC VersaMax CIMSTAR Modelmaster Series 90 VersaPro Field Control Motion Mate Series Five VuMaster GEnet ProLoop Series One Workmaster Copyright 1999 2001 GE Fanuc Automation North America Inc All Rights Reserved Preface What s New in this Manual The only two major changes in this version are the expanded section on how to wire the optional motor holding brakes in Chapter 4 and the addition of Appendix E which discusses how to interface an SL system to an OCS or RCS Stepper Controller Module Several smaller clarifications and corrections are found throughout the manual Content of this Manual GFK 1581B Chapter 1 Chapter 2 Chapter 3 Chapter 4 Chapter 5 Chapter 6 Chapter 7 Chapter 8 Chapter 9 Appendix A Appendix B Appendix C Appendix D Appendix E Before Operation Describes what tasks should be done before operating the SL Series servo amplifier SL Amplifier Feature Overview This chapter defines and describes the features of the SL Series servo amplifier Installation Guidelines Provides guidelines and dimensions for mounting the SL Series servo amplifi
309. supply but can be used with a single phase power source if the torque output or ambient temperature is de rated as specified in this manual The motors rated 100 to 400 W are also available in 115 or 230 VAC ratings and must be properly matched with an amplifier of the same voltage rating The 30 W and 50 W motors are only available in a 115 230 VAC rating while the 750 W to 5kW motors are rated for 230 VAC only The amplifiers are referred to as either the Z Series 30 750 Watt models or the V Series 1000 5000 Watt models Although most of the I O and parameter functions are shared by both series there are differences in the command and control interface on connector CN I F some user parameters control power requirements and keypad display menu options These differences are presented throughout the manual The 30 to 1000 Watt SL Series motors are designed with standard NEMA shaft and flange mounting configurations for easy mounting to off the shelf gear reducers and couplings The 750 Watt motor uses an oversized shaft diameter 0 625 inches for the NEMA 34 mounting in order to handle the peak torque rating of this model Motor models larger than 1kW have metric mounting configurations All motors are available with an optional 24 VDC holding brake These brakes are spring set electrically released models designed for holding stationary loads The user must supply a separate brake power supply The 30 750 Watt motors have flying leads with box styl
310. t 10k Q Fog Fog D ano K CN I F Twisted pair Figure 4 7 Interface Connector CN I F for Z Series Amplifiers with Parameter No 3F 0 Chapter 4 Wiring 4 13 4 14 p AM26LS31 S hee or equivalent d 4 reel H coms E PULS i 1 STE Servo enabled with switch CLOSED 29 SRV ON sess i i PULS1 1 i H Proportional gain with switch CLOSED 27 P CON Command pulse ith swi po i input i S Second speed selected with switch CLOSER 1 28 INTSPD SIGN2 6 p Zero speed clamp with switch OPEN Od pod SIGN t P P 26 ZEROSPD Seer E i NP i Second mode selected with switch CLOSED 32 C MODE i d Clear alarm with switch CLOSED bd 31 A CLR MA Inhibit CCW travel with switch OPEN MEE mE o e o CCWL Os or equivalent Inhibit CW travel with switch OPEN 4 21 I tl PEGAR Tz CWL OA 1 t Clear pos err counter with switch CLOSED 39 f E el o T i 1 1 I Inhibit pulse command
311. t extension is TXT This text file can be opened and printed by any standard text editor program such as Microsoft Word Wordpad or Notepad Chapter 8 Operation 6 23 7 Exit For exiting out of the Parameter Menu back to the Main Menu This has the same function as pressing the Escape key 8 32 1 The Edit Parameter Pages Press the 1 key to select Edit Parameter from the Parameter Menu The Edit Parameter submenu page will display as shown in the following figure Main Menu Parameter Menu Display Alarm 2 Write EEPROM Monitor 3 Load PC Ampli fier waveform Graphic PAGEL S Protocol Set Up Axis address Axis Address Select initial display Exit 2 Select control mode Velocity loop gain V loop integral time velocity feedback filter Torque limit Torque limit inhibit Speed monitor gain Overtravel limit inhibit Dynamic brake select Feedback ratio numerator Feedback ratio denominator Encoder signal inversion Brake action stopping Brake action running NOTE r in the parameter number requires amplifier power to be reset to activate new value Up Down and to Select Left Right to Change Page Figure 8 21 Edit Parameter Page 1 5 Z Series There are five separate user parameter pages and three additional system parameter pages The user parameter page in the figure above is labeled PAGE 1 5 1 of 5 The three system pages are labeled System PAGE 1 3 etc and they can be viewed but not edi
312. t torque have some delay from the actual values e Enter Q to return to the Main Menu Note that the bottom portion of this screen is duplicated on the Error Display screen discussed in the next section 8 62 SL Series Servo User s Manual August 2001 GFK 1581B 84 5 GFK 1581B Active Error Operation Error Display V Series This screen lets you view an active error if there is one You can select Error Display by pressing the 2 key on the Main Menu In the figure below an active Encoder error is shown on the Error Display screen Note that each error listed on this screen has one of the following indications e A Indicates an active error condition e dash symbol Indicates a normal or no error condition ERROR DISPLAY Select Q to quit a menu Undervoltage error Other error Position error limit exceeded Position error count overflow Overspeed error Overload error Overheat error Overvoltage error tA Other error Overcurrent error ABSO over speed error ABSO counter overflow error ABSO system down ABSO defective error EEPROM check sum error Encoder error Parameter range error CW CCW overtravel input error System error Pulse command ratio error DSP watchdog error CPU watchdog error RI Position error 0 counts Velocity control mode Speed 0 RMP Error 22 Output torque 0x 0 2 E Encoder error Figure 8 60 Error Scree
313. te for the Z Series 2 The ZEROSPD input is also is used to enable the internal speed commands INTSPD as described in Parameter No 16 18 1 Internal Speed 7000 to 7000 RPM When the Internal Speed Command becomes valid see Parameter No 16 the first preset speed Internal Speed 1 is set using the following formula Z Series Amplifiers Set value Internal Speed 1 RPM V Series Amplifiers Set value Internal Speed 1 RPM 2 88 NOTE Polarity of the value indicates the following motor direction of rotation 4 2 Motor rotates CCW viewing into the motor shaft Motor rotates CW viewing into the motor shaft See section 2 2 for rotational direction conventions Default 0 19 2 4 Internal Speed 7000 to 7000 RPM Set Internal Speed 2 in the same way as the first internal speed see parameter No 18 Default 0 1A Torque Command Scaling 25 to 2500 Sets the torque command TRQR input gain relationship between the generated motor torque and the torque command input voltage when operating in the Torque Control Mode see Parameter No 02 for control modes The set value is determined using the following formula 7 5X Max Torque Required as a of Rated Cont Torque Set value Max Command Input Voltage Example If you want to obtain peak torque 300 of rated continuous torque with a torque command input of 10 Volts 7 5 X 300 Set
314. te that this is a view only directory and it doesn t allow you to select a file from this screen so take careful note of the exact file name you wish to work with e Press Enter to return to the File Operations screen SL Series Servo User s Manual August 2001 GFK 1581B Left Scale Motor Speed Right Scale Output Torque GFK 1581B Operation 8 4 9 4 Setting Graphic Screen V Series The Setting Graphic Screen can be accessed either from the Manual Tuning or Gain Parameter Setting screens 5BB 58 588 58 RPM 21 8 8 1 25 2 5 3 75 5 8 secl Measuring item J Motor Speed Output torque Display mode Color Speed 566 588 RPM Output torque 58 56 xz Position error Auto scaling Quadrature axis 8 5 B secl Sample 18msec Trigger slope Rising edge absolute Trigger level 1 8 of Full range Trigger position 17 8 of Full range Save graphic parameter Exit setting graphic Figure 8 69 Setting Graphic Screen V Series This screen is used to set up the graphic display It does not have any provision for generating a graph Use the Left and Right Arrow keys and the Enter key to change a selection This screen has the following parameters e Measuring Item This graph will display two waveforms This parameter lets you select from among the following combinations to display on the graph e Motor speed and Commanded Speed e Motor Speed and Position
315. ted To move to the other pages use the left or right arrow keys The other parameter pages are shown below Acceleration rate limit zero speed detect level At Speed detect level Velocity command scaling Velocity command polarity velocity command offset Int ext speed cmd select zero speed clamp inhibit First internal speed Second internal speed Torque command scaling Torque command polarity Torque command offset Torque command filter Not used Deceleration rate limit OmPoo mw ui Pre Be ne Boo A QOO Figure 8 22 Edit Parameter PAGE 2 5 Z Series 8 24 SL Series Servo User s Manual August 2001 GFK 1581B Operation PAGES 5 Position loop Velocity feed forward In Position range Pos error limit Pos error limit inhibit Pulse cmd ratio numerator Pulse cmd ratio denominator Quad pulse input scaler Pulse command polarity Pulse input mode select Not used velocity feedforward filter Not used Not used Not used Not used ocoooooomo n 2nd velocity loop gain 2nd v loop integral time 2nd position loop gain 2nd gain enable Gain switch delay time 2nd numerator pulse ratio Pulse cmd filter delay Jog speed Third internal speed Fourth internal speed Not used Monitor output select Clear counter input mode Alarm action select Servo off action select CN I F function select Not used 43 Not used 10000 44 Not used 0 45 Not used o 46 Not used 47 Not used 0
316. ter No 33 By making this value larger the proportional gain will be increased The optimum value for the velocity loop gain varies with load inertia and the motor type Default 100 For Z Series amplifiers configured for Velocity Control Mode this parameter sets an alternate 2 Velocity Loop Integration Time Constant The method used to switch between the 1 Velocity Loop Integration Time Constant set by Parameter No 04 and 2nd Velocity Loop Integration Time Constant is dictated by the value set in parameter No 33 By making this value smaller the loop integration will be faster NOTE Ifthe integration time constant is set to the maximum value 1000 the integration function is disabled Default 50 For Z Series amplifiers configured for Position Control Mode this parameter sets the alternative 2 position loop gain The method used to switch between the 1 Position Loop Gain set by Parameter No 20 and 2 Position Loop Gain is dictated by the value set in parameter No 33 By making the value larger the position loop gain and the servo stiffness will be increased NOTE Too large a value may cause oscillation or servo instability Start with a low initial value and make small incremental changes to optimize the gain values Default 50 6 25 Parameter Parameter Adjustment No ET Function Description Range For Z Series amplifiers this parameter determines the switching mode for
317. ter No 28 This applies to input signals PULSI PULS2 SIGNI and SIGN2 on connector CN I F pins 3 6 of the V Series and pins 5 8 of the Z Series Directional conventions for these signals are described in the Parameter No 29 section of Chapter 6 e Velocity Control Mode A positive velocity command input SPR is defined as a positive voltage applied to connector CN I F pin 14 with respect to pin 15 ground When a positive command is applied and Parameter No 14 Speed Command Polarity is set to the default value 1 the motor will rotate counter clockwise when viewed looking into the motor shaft Changing Parameter No 14 to 0 will reverse the direction of rotation for a positive command input e Torque Control Mode A positive torque command input TRQR is defined as a positive voltage applied to connector CN I F pin 34 with respect to pin 35 ground in the Z Series and pins 16 and 17 respectively for the V Series When a positive command is applied and Parameter No 1B Torque Command Polarity is set to the default value 1 the motor will rotate counter clockwise when viewed looking into the motor shaft Changing Parameter No 1B to 0 will reverse the direction of rotation for positive command input e Rotational Convention for LED Display The directional convention on the amplifier LED display is fixed and cannot be changed by the user Note that a positive value represents counter clockwise motion and a negative value represents c
318. ter No 13 Velocity Command Polarity Parameter No 14 Velocity Command Offset Parameter No 15 Internal External Velocity Command Selection Parameter No 16 First Internal Speed Parameter No 18 Second Internal Speed Parameter No 19 Velocity Feed Forward Parameter No 21 Velocity Feed Forward Filter Time Constant Parameter No 2B Second Velocity Loop Gain Parameter No 30 Z Series only Second Velocity Loop Integration Time Constant Parameter No 31 Z Series only Third Internal Speed Parameter No 38 Z Series only Fourth Internal Speed Parameter No 39 Z Series only The SL amplifiers can also be configured for dual control mode operation Parameter No 02 where any two of these control modes can be selected using the C MODE discrete input Chapter 6 provides detailed descriptions of the parameters used to configure these modes Chapter 2 SL Amplifier Feature Overview 2 15 2 11 Gain Switching The Z Series amplifiers allow the user to configure two different gain setting for the Position and Velocity Control Modes The gains are configured by various parameter settings and Parameter No 33 determines the event that initiates the gain switch The gain switch can be disabled automatic Position Control Mode only or initiated by activating the GAIN input For the automatic gain switching mode Parameter No 34 configures a delay time used to initiate the second gain values This time delay is referenced to the falling edge of
319. ter key If you press the F Fail key the save operation will be stopped and the Save or Load window will display an error message This is not too bad because you can press a key and return to the previous menu where you can resume the procedure from there However if you press the A Abort key the SLconfig software will shut down and you will have to restart it then work your way back through the menus to this menu in order to resume the save or load operation GFK 1581B Chapter 8 Operation 6 83 Chapter 9 9 1 9 1 1 9 1 2 GFK 1581B Protective Functions and Troubleshooting Protective Functions Overview The SL Series amplifiers have extensive protective functions that monitor power up initialization and normal operation of the servo If during the operation of the servo one of the protective functions trips the amplifier and activates the alarm output refer to the details of this section to determine the cause For troubleshooting other operational problems refer to Section 9 2 Troubleshooting When the amplifier trips the following actions occur e The amplifier is disabled stops current flow to the motor e The motor if moving coasts or is dynamically braked to a stop according to the options set in Parameter No 0A V Series or Parameter No 3D Z Series as defined in Section 6 3 e All digits of the amplifier 7 segment LED will flash e The ALM output on connector CN I F is activated see
320. ter precision contact your wire supplier AWG to Metric Wire Size Conversion Metric Cross Section in square millimeters mm 1 42 4 2 33 6 4 21 2 6 13 2 8 8 37 10 5 26 12 3 31 14 2 08 16 1 31 18 0 82 20 0 52 22 0 32 24 0 21 26 0 13 28 0 081 30 0 051 C 2 SL Series Servo User s Manual August 2001 GFK 1581B Tables and Formulas Temperature Conversion Formulas C 5 9 F 32 F 9 5 x C 32 Table Celsius to Fahrenheit Conversion to nearest degree Degrees Degrees Degrees Degrees Degrees Degrees Celsius Fahrenheit Celsius Fahrenheit Celsius Fahrenheit GFK 1581B Appendix C Tables and Formulas C 3 Miscellaneous Equivalents C 4 1 ounce weight 28 35 grams 1 pound weight 453 6 grams 1 pound weight 16 ounces 1 pound force 4 448 newtons 1 short ton weight 907 2 kilograms 1 short ton weight 2 000 pounds 1 horsepower power 550 foot pounds per second 1 horsepower power 746 watts of electrical power 1 kilowatt power 1 341 horsepower 1 kilowatt hour energy or work 3 412 142 Btu 1 kilowatt hour energy or work 1 000 watts hr 1 watt power 3 412 Btu hr 1 watt power 1 joule sec 1 joule sec power 1 watt 1 joule energy 1 newton meter 1 Btu 0 293 watt 1 Btu 778 2 foot pounds 1 Btu 25
321. the Main Menu 8 3 5 1 The Z Series Measuring Setting Feature This feature can be used to graph the response of the SL Amplifier save the waveform graph in a file on your computer change amplifier gain parameter settings and save the changes to EEPROM memory in the SL amplifier The Measuring Setting feature is accessed from the Waveform Graphic Menu by pressing the 1 key or by highlighting in reverse video as shown in the figure Measuring Setting and pressing the Enter key The first page there are three pages of the Measuring Setting feature is shown in the following figure The other pages can be accessed by pressing the Arrow keys The Arrow keys cycle through all of the parameters regardless of which screen they are on So for example if the last parameter Trigger Position was selected on the screen in the following figure pressing the Down arrow would cause the next screen to display with the top parameter on that SL Series Servo User s Manual August 2001 GFK 1581B Operation screen highlighted Using the Left arrow key is in general a faster way to move from screen to screen 1 0 50 1 00 s pagei 3 Start Measuring Separate Display Single Disp easuring Wave Object Command Speed Time 1 sec isplay Measuring Wave ON Trigger Ob ject No Trigger isplay Actual Speed ON Trigger Slope isplay Reference Wave ON Trigger Level onitor Mode Black White Tri
322. tic gain tuning making it very useful for tuning adjustments Notice that the Waveform graphic screen has two separate parts The top portion of the screen contains a Display Area for showing motion waveforms The lower part of the screen is a Message Area containing menu or setting fields Display Area gt 5088 580808 RPM CRPM16 6 Auto tuning mode Manual tuning mode Message Area 9 Gain parameter setting Exit uaveform graphic Figure 8 64 Initial display of Waveform Graphic Screen V Series To select an item in the Message Area of this screen place the cursor reverse video on the desired item using the Up or Down arrow keys then press the Enter key to activate You can choose from the following selections e Auto Tuning Mode This selects the Automatic Gain Tuning Display screen described in the previous section This screen is used for initial tuning See Section 8 4 7 e Manual Tuning Mode Provides a way to manually fine tune the servo while observing tuning changes graphically on the screen Manual tuning should only be done after initial tuning has been performed either with the Auto Tuning routine or from the Gain Parameter Setting screen e Gain Parameter Setting Selects the Gain Parameter Setting screen Used for initial gain tuning e Exit Waveform Graphic Exits to the Main Menu 8 68 SL Series Servo User s Manual August 2001 GFK 1581B GFK 1581B Operation 8 4 8 1 Ma
323. tio This ratio effects only the encoder output signals available on connector CN I F This parameter sets the numerator of the scaling ratio for the encoder output signals See Parameter No 0C for more details on the ratio function Default 2500 Chapter 6 Configuration Parameters 6 9 6 10 Parameter Parameter Adjustment No qvas Function Description Range This parameter sets the denominator of the scaling ratio for the encoder output signals available on connector CN I F Parameter OB sets the numerator for this ratio The formula below shows the general relationship between the parameters and the ratio i Para 0B Scaling Ratio lt 1 Para 0C NOTE Due to the nature of the SL encoder scaling algorithm only certain resolutions can be realized The table below shows the resolutions and associated ratios that can be used Resolution values between those shown in the table may cause unexpected operation and should not be used Desired Encoder Output Ratio Numerator Denominator Resolution Para No OB Para No 0C Lines 2500 default 1 2500 2500 2000 0 8 2000 2500 1667 0 66 1667 2500 1429 0 572 1429 2500 1250 0 5 1250 2500 1111 0 444 1111 2500 1000 0 4 1000 2500 909 0 363 909 2500 Denominator 833 0 333 833 2500 0C of Encoder 1 10000 769 0 308 769 2500 Output Ratio 714 0 286 714 2500 667 0 267 667 2500 625 0 25 625 2500 NOTES 1 A scaling ratio less t
324. tio Error Fault 9 5 Pulse Command Ratio Selection Input 5 18 Pulse train interface from VersaMax HSC D 1 Q Quad Pulse Input Multiplier Parameter 6 22 R RCS interfacing to SL servos E 1 Regenerative Discharge Resistor 4 7 Application Example 4 11 Sizing 4 9 Regenerative Energy Calculating 4 9 Rotational Direction Conventions 2 3 Saving waveform data Z Series 8 44 Selecting from menu 8 20 Series Differences 2 1 Servo Disable Action Selection Parameter 6 28 Servo Enable Input 5 16 Servo Alarm Output 5 21 Servo on fond keypad 855 Servo Ready Output 5 21 Setting Graphic screen V Series 8 73 Shaft Seal 2 12 Shield Ground Clamp A 18 Shock 3 1 SLconfig software starting 8 17 Specifications Amplifier 2 5 Control Power Supply 4 1 Environmental Motor Sealing SL Series Servo User s Manual August 2001 V Series motors 2 7 Z Series Motors Speed Monitor Output 5 25 Speed Monitor Scaling Parameter 6 8 Speed Torque Curves Startup screen V Series 8 54 Status display V Series 8 61 Sageli Surge Protector B 4 System Components 1 5 System Error System Overview T Tables and formulas appendix C 1 Temperature conversion formulas and table C 3 Terminal board mounting A 21 Terminal Board Assembly Drawings A 21 Breakout Components Converting From DIN Rail to Panel Mounting Dimens
325. tly zero volts to the velocity command input from the command source or connect SPR to signal GND Adjust the value to minimize motor rotation drift Note that because of the resolution of this adjustment you may not be able to eliminate all motor drift Default 0 16 Internal External Velocity Command Selection Z Series 0 2 V Series 0 1 Velocity Control Mode This parameter selects between the analog velocity command input SPR and internal preset speed commands set using other parameters Torque Control Mode In torque mode the SL amplifiers require the user to configure a maximum velocity using either the analog velocity limit input SPL or the internal speed commands INTSPD When in torque mode this parameter determines which source will be used to set this velocity limit see the note below for more information The internal speed command function works differently between the Z Series and V Series amplifiers as described below Z Series Amplifiers Z Series amplifiers support four internal speed presets that are set using Parameter Nos 18 19 38 39 The four internal speed commands are selected based on the logical state of the ZEROSPD INTSPDI and INTSPD2 control inputs on the CN I F connector as shown in the timing diagram below The acceleration rate for the internal speed commands is set using Parameter No 10 and the deceleration rate is set using Parameter No 1F The INT
326. to display two separate waveforms that are generated simultaneously In the example shown below the Torque Range parameter was set to 1046 and the Speed Range parameter was set to Auto Scale The upper graph is displaying Actual Speed and the lower graph is displaying Output Torque set in the Measuring Wave Object parameter SL Series Servo User s Manual August 2001 GFK 1581B Operation 7 50 10 00 s pagel 3 0 Separate Display Separate Disp Output Torque Time 10 sec Display Measuring Wave ON Trigger Object Actual Speed Display Actual Speed ON Trigger Slope Rise Display Reference Wave ON Trigger Level 100 Color Trigger Position 1 8 Arrow amp Enter key to Edit Parameter Q to Close Figure 8 46 Dual Waveform Display Z Series 8 3 10 1 The Auto Gain Tuning Routine Z Series Refer to Chapter 7 Tuning for the details of this function Carefully read and understand the applicable ranges and notes before using this function Autotuning Overview The autotuning function is designed to assist you in setting the SL amplifier gain values Autotuning should be performed with the actual operating load attached Please review Chapter 7 before proceeding with the autotuning function After autotuning if you wish to make further manual gain adjustments to optimize performance you can use the Online Monitor feature of the SLConfig software However in general autotuned s
327. too S PE high Position Control Mode only RUE ee eS 3 Check if excessive velocity overshoot occurs during 6 System parameter can be viewed but not changed acceleration due to improper setting of servo gains see Overspeed 2 by the user This limit is Chapter 7 Tuning The speed monitor output or test tically 1 2 times th point SP can be used for this measurement see LUNA b sns ACD P ter No 08 Speed Monitor Scaling rated maximum speed RAM MM P 8 4 Verify that the motor power connections on terminals U V and W are correct see Section 4 1 Wiring to the Amplifier Power Terminals 5 Make sure that an overhauling load is not back driving the motor Amplifier trips when the Set pulse frequency ratio so that the pulse command Puls Pulse Command Ratio frequency after applying the ratio is less than the Hoe Parameter Nos 25 amp maximum pulse input frequency of 500 kHz for a line Command 27 No 26 is too high driver or 200 kHz for an open collector interface see Ratio Error Section 5 5 Position error exceeds Check the same items as Error Code 24 above 2 134 217 728 Counts quadrature encoder pulses This error should only Position Error occur if the Position Counter 29 Error Limit is disabled Overflow by Parameter No 24 Otherwise the Position Error Limit fault Error Code 24 should occur before enough error accumulates to overflow the counter The watchdog timer on Cycle power on the
328. tthe Velocity Loop Integration Time Constant Parameter No 04 as low as possible The smaller the value the more responsive higher bandwidth the servo loop High bandwidth results in improved dynamic accuracy and torque disturbance rejection Start with the default value of 50 ms and gradually decrease the value until the first sign of instability oscillation Then increase the value by about 10 percent 5 When you want to obtain a faster response to changes in the command increase the Velocity Feed Forward gradually using Parameter No 21 If you set this value too high it may cause velocity overshoot The overshoot should be minimized typically less than 10 of the steady state velocity You can observe the velocity overshoot using the Waveform Graphic mode in the SLconfig software When the amplifier is configured for Velocity Control Mode use the following procedure 1 Adjust the Velocity Loop Gain and Velocity Loop Integration Time Constant to the optimum value by referring to steps 2 and 4 above 2 If you have an oscilloscope use the test points SP speed monitor signal and IM torque monitor on the front of the amplifier Then adjust the Velocity Loop Gain and Velocity Loop Integration Time Constant so that you obtain minimum overshoot of the speed monitor signal during acceleration deceleration in response to a step command input and minimum ripple of the torque monitor signal You can also observe the velocity overshoot usi
329. tually exclusive functions Parameter No 3F is used to select which functions are active at the CN I F connections This function is only valid when Parameter No 3F is set to 1 or 3 Default 10000 For Z Series amplifiers configured for Position Control Mode see Is Parameter No 02 this parameter sets the time constant for a Pulse digital filter on the pulse command inputs PULS SIGN Command Z Series Only Filter Dela Larger set values decrease the response to the Pulse Command y inputs i e more filtering but provide better noise immunity Default 3 For Z Series amplifiers this parameter sets the JOG speed in units of RPM The Jog function can be initiated by the SLconfig i JOG Speed software or from the keypad on the face of the amplifier The Jog Z Series Only function is not available on the V Series amplifier Default 2300 For Z Series amplifiers configured for Velocity Control Mode see 38 7000 to 7000 Parameter No 02 this parameter sets the 3rd Internal Speed in the Z Series Only same way as the first internal speed see Parameter No 18 Default 0 For Z Series amplifiers configured for Velocity Control Mode see 39 4 Internal 7000 to 7000 Parameter No 02 this parameter sets the 4th Internal Speed in the Z Series Only Speed same way as the first internal speed see Parameter No 18 Default 0 SL Series amplifiers provide an analog monitor signal SP on the front of the amplifie
330. ue the amplifier activates the COIN output turns the output transistor ON Feedback pulses of the motor encoder are multiplied by four quadrature before they are input to the position error counter so the In Position range in Counts is stated as follows Set Value Counts 4 x motor encoder pulses for desired range NOTE The SL Series motor encoders have 2500 pulses per revolution of the motor which equates to 10 000 Counts per revolution Default 10 GFK 1581B GFK 1581B Configuration Parameters 6 Parameter Parameter Adjustment No Description Range Position Error Limit Position Error Limit Inhibit Numerator of Pulse Command Ratio Chapter 6 Configuration Parameters Function When in the Position Control Mode this parameter sets the detection level for the position following error limit fault The amplifier trips when the number of Counts in the position error counter exceeds the set value and generates an Error Code 24 Calculate the desired value using the following formula Desired Position Error Limit Counts Set value 16 NOTES 1 The deceleration mode used to stop the motor when an alarm occurs is selected using Parameter No 3D for Z Series amplifiers and Parameter No 0A for V Series amplifiers 2 This function can be disabled using Parameter No 24 Default 30000 When the SL amplifier is configured for Position Control Mode see Parameter No 02
331. ulse tanang P 1 10000 10000 1 10000 10000 Ratio SL Series Servo User s Manual August 2001 GFK 1581B Configuration Parameters 6 Para Control Z Series Amplifiers V Series Amplifiers No Parameter Description Mode 30 750 Watt Models 1 5 kW Models Note D Range Default Range Default po Penominator of Pulse Command p 1 10000 10000 1 10000 10000 Ratio 27 Quadrature Pulse Input P 1 4 4 1 4 4 Multiplier 28 Pulse Command Input Polarity P 0 3 0 0 3 0 29 Pulse Command Input Mode P 0 3 1 0 3 1 2A not used E 2B Velocity Feedforward Filter P 0 6400 0 0 6400 0 Time Constant 2C not used 2D internal use 2E internal use 2F internal use z 7 30 2 Velocity Loop Gain V P 25 3500 100 N A N A nd 3 2 Velocity Loop Integration V P 1 1000 50 N A N A Time Constant 32 2 Position Loop Gain P 10 1000 50 N A N A 33 2 Gain Switching Mode VIP 0 2 0 N A N A 34 Automatic Gain Switching Delay vip 0 10000 10000 N A N A Time nd 35 e ume TOS OE Pulse P 1 10000 10000 N A N A Command Ratio 36 Pulse Command Filter Delay P 0 5 3 N A N A 37 Jog Speed T V P 0 500 300 N A N A 38 3rd Internal Speed Z Series T V 7000 to 0 N A N A only 7000 39 4th Internal Speed Z Series T V 7000 to 0 N A N A only 7000 3A internal use
332. uning keypad procedure with DSM or APM with external controller 8 10 Axis Address Parameter 6 4 Axis Address window Z Series 8 53 AXIS SLconfig prompt 8 82 Bleeder Resistor See Regenerative Discharge Resistor Brake Control Output BRK OFF 2 12 Power Sup 232 V Series specifications 2 7 wiring example 4 4 Z Series specifications 2 6 Brake Output Delay Time Moving Motor Parameter Brake Output Delay Time Stopped Motor Parameter Brake Release Output C Cables Available From GE Fanuc 4 20 Length Encoder CE Mark 2 17 B 1 AC Supply Noise Filter B 4 Circuit Breaker Requirements Compliance with EMC Directives B 3 Grounding B 3 Index 1 Index Index 2 Peripheral Devices B 2 Power Supply Requirements Signal Line Noise Filter B 5 Surge Protector Circuit Breaker 4 2 Compatibility Motor and Amplifier Combinations 1 5 Computer connecting to amplifier 8 15 Configuration 2 14 Configuration Parameters Ist Internal Speed 1 8 6 18 2nd Gain Switching Mode 33 2nd Internal Speed apes 2nd Numerator of Pulse Cmd Ratio G5 627 2nd Position Loop Gain 32 2nd Velocity Loop Gain 30 2nd Velocity Loop Integ Time Cnst 31 3rd Internal Speed 38 Ath Internal Speed 39 Acceleration Rate Limit 10 Alarm Action Selection 3D Analog Monitor Mode Select 3B Applicable Control Mode 1 At Spee
333. upply Chapter 1 Before Operation 1 5 1 6 Table 1 2 V Series Motor Amplifier Compatibility Amplifier Model Series IC800SLM100N2KE25 V Series IC800SLA1002 IC800SLM100N2XE25 l IC800SLM250M2KE25 V Series IC800SLA2502 IC800SLM250M2XE25 V Series ICR00S1 A3502 1 800SEM350M2KE25 Series IC800SLA3502 IC800SLM350M2XE25 V Series IC800SLAs002 800SEMS00M2KE25 Series IC800SLA5002 IC800SLM500M2XE25 Denotes motors that have the optional 24 VDC holding brake requires customer furnished power supply SL Series Servo User s Manual August 2001 Applicable Motor Rated Motor Model Rated Encoder Speed Resolution 230VAC 3000 2500 Lines RPM 230VAC 3000 2500 Lines RPM 230VAC 3000 2500 Lines RPM 230VAC 3000 2500 Lines RPM Voltage GFK 1581B Chapter Z 2 1 GFK 1581B SL Amplifier Feature Overview This chapter defines and describes the features of the SL Series servos The SL family is comprised of the Z Series and the V Series components The Z Series covers servos from 30 Watt to 750 Watt continuous rating The V Series covers servos from 1 000 Watt to 5 000 Watt continuous rating While many of the functions and configuration parameters are the same for both series there are a number of differences that are described throughout this manual One of the primary differences is the I O configuration on the CN I F interface connector of the amplifier The V Series uses
334. user to configure these inputs to select between three fixed speed commands and the analog velocity command SPR V Series amplifiers Only one input INTSPD is available and can be used to select between two preset speeds instead of four e When the internal speed command is enabled by Parameter No 16 the analog speed command SPR is ignored and the internal speed presets are enabled e The table below indicates how to select among the different speed settings Connection to COM is indicated as L and open to COM is indicated as H Z Series V Series INTSPD2 Speed INTSPD1 INTSPD Speed 1 Para No 18 Speed 2 Para No 19 Speed 3 Para No 38 Speed 4 Para No 39 H H H L H L H L N A L L N A Related Parameters 16 18 19 38 39 1 2 Internal Speed Command Select Input V Series 2 N A Z Series V T INTSPD2 Z Series only 4 5 N A 13 See description for INTSPDI above L1 Position Error Counter Clear Input P CL 0 1 2 3 30 13 When in Position Control Mode see Parameter No 02 you can clear the position error counter by connecting this input to COM You also inhibit command pulse input PULS SIGN and motor encoder feedback pulse input by activating this input NOTE For Z Series amplifier the clear signal must be at least 30us long For V Series amplifiers the clear s
335. ut on Axis Z3 AIN 2 i CTLO2 s e NE L2 _ rr 7 oe e ss o s nov snip our ORRERA el ee DSM only DRIVEI OK DRIVE2 OK CTL05 CTLO7 HOME3 CTLO8 CTL06 HOME HOME2 CTL03 CTL04 INCOMI INCOM2 24V Positive Logic Input omo 24V Positive Logic Input RM 24V Positive Logic Input Terminals 11 12 and 29 18 gt amp 24VDC User Power Input Required 33 34 35 Common for the 24 VDC amp 36 Power Input S 2 pins Cable Shield SL Series Servo User s Manual August 2001 GFK 1581B Operation with External Motion Controllers Table A 3 IC800SLT001 Screw Terminal Assignments for DSM Analog Mode See Figure A 2 amp A7 DSM To Terminal Block Interface Amplifier To Terminal Block Analog Mode Only Interface TB Screw Circuit Type To DSM Module To SL Amplifier CN I F From TB Connector Terminal c ee ee A AXIS AD Signal Conn Pin Signal Name V Series Z Series Signal Name Name 5V Power P5V ENC P5V_ENC ov nie ots e oo om uv amema fe s cown TEE OV Analog 7 AINIP_A AINIP B Differential Input AINIM A AINIM B tial OV Analog AIN2P_A AIN2P_B Differential Input 5V Single Ended I O IO6 A IO6 B 10 s svsugemeavo n 107A 107 J 3s vsere 312 108 4 ose A O 5 o 0 s ow 43 16 S 8 43 P 22 23 27 OV 13 17 23 27 TEE ds uem 28 29 30 oe le ae 45 46 on os o 5V Differential Output OUT2P_A OUT2P_B
336. uter Chapter 8 Operation 6 17 e Running from the Windows 95 Run Dialog Box This method allows you to select either serial port e Click the Start button on the taskbar e Select Run The Run dialog box will display e The Run dialog box gives you an Open box where you can type in your command to start the software Be sure to include the complete path when using this method In the following example the s2 option is shown for using COM2 Run 21x Type the name of a program folder or document and Windows will open it for you Open c SLeonfig SLconfig 52 v Cancel Browse Figure 8 16 Running from the Windows 95 Run Dialog Box e Running in a window in Windows 95 e Click the SLconfig shortcut icon on the Windows 95 desktop Or e fno shortcut exists click the Start button on the Windows 95 Taskbar highlight Programs on the menu and then drag your mouse across to the SLconfig selection on the sub menu This will start SLconfig running and will bring you to the Main Startup screen shown in figure 8 18 8 22 3 SLconfig Main Startup Screen GE Fanuc DIGITAL AC SERVO MOTOR amp AMPLIFIER SL series Communication software SLconfig for PC AT series lt verl1 2 gt AMPLIFIER series SL U series models 160 W 2 5 U SL Z series Xmodels 30U 750U5 Z Please select amplifier series Figure 8 17 SLconfig Main Startup Screen 8 18 SL Series Servo
337. uter first then turn on power to the SL Series amplifier Note Failure to follow the sequence above could result in a communications error GFK 1581B Chapter 8 Operation 8 15 8 22 SLconfig Installation and Startup 8 2 2 1 Installing the SLconfig Software SLconfig is distributed on a 3 5 floppy disk There is no installation or setup program on the SLconfig disk so installation primarily consists of copying the SLconfig files to a directory folder on your computer s hard drive and adding a line to your computer s CONFIG SYS file Installing on a Windows System e Create a folder on your computer s hard drive called SLconfig using File Manager or Windows Explorer e Use File Manager or Windows Explorer to copy the SLconfig files from your floppy drive to the SLconfig folder you just created on your hard drive e Windows 95 users can use Windows Explorer to create a shortcut to the SLconfig exe file and place it on the Windows 95 Desktop if desired To set the shortcut properties right click the shortcut select Properties on the shortcut menu select the Program tab and set the properties as shown in the SLconfig exe Properties dialog box below In this example COMI will be used as the PC s serial port For COM2 it would have been necessary to add a space then a S2 to the end of the Cmd line expression so that the complete expression would have been C SLCONFIG SLCONFIG EXE S2 Shortcut to Slco
338. v Contents Chapter 5 Chapter 6 Chapter 7 Chapter 8 vi 4 1 3 Regenerative Discharge Resistor Selection and Wiring 4 7 4 1 4 Calculating Regenerative Energy and Selecting a Discharge Resistor 4 9 4 2 Wiring to Interface Connector CN I F esee 4 13 4 3 Wiring to Encoder Connector CN SIG seeeeee 4 15 4 4 Motor Power and Brake Connector Pin Outs eese 4 18 4 5 Wiring to Serial Connector CN SER eere 4 19 4 6 Cables and Connector Mates eene 4 20 T O Circuit Configuration and Function ee eee eee eere eene eene eene 5 1 5 1 Control Inputs D RERO t PURO BUE rre E ete dinge 5 2 5 2 Control Outputs a a aa er aeei EDE at ace AMR VRA Aaa Anas 5 3 5 3 Analog Inputs 3 2 lt n ana ana ttt reta rere ehe 5 5 5 4 Analog Outputs Monitor Outputs eene 5 7 5 5 Pulse Command Counter Clear Command Pulse Inhibit Inputs 5 8 5 6 Motor Encoder Output Interface 5 11 5 7 Input Output Signal Function Descriptions s eeeeeeeeeeereeeerrreesrreresrrere 5 13 5 7 1 VO Reconfiguration for Z Series Amplifiers Only 5 13 5 7 2 VO Functional Description eene eene 5 16 521 3 Input Output Signal Interface Circuit Diagrams 5 27 Configuration Parameters eee e eee eee eee ee esee seen osos e
339. vertical axis if Output Torque is selected in the Measuring Wave Object field Note that the value you set here will be used for both the positive and negative ends of the vertical axis If you enter a value of zero in this field the software will Auto Range the setting for you The minimum Auto Range setting is 100 e Error Counter Range Lets you set the full scale value between O and 1 000 counts for the graph s Y Axis vertical axis if Error Counter is selected in the Measuring Wave Object field Note that the value you set here will be used for both the positive and negative ends of the vertical axis If you enter a value of zero in this field the software will Auto Range the setting for you The minimum Auto Range setting is 500 counts e Display Line Mode Selects whether the waveforms will display in solid or dotted lines The Enter key toggles between the two selections e Save Waveform Data Lets you save the waveform point data to a file e Load Waveform Data Lets you load the waveform data point data from a file GFK 1581B Chapter 8 Operation 6 43 8 44 8 3 6 1 Saving Waveform Data Z Series e Highlight the Save Waveform Data field and press the Enter key The Save window will display The file name field will be blank e Key ina filename Limit it to eight characters The software will give it an extension of WAV If you already have a waveform data file that you wish to overwrite press the Tab key and scroll down thr
340. w reasonable mounting clearance between adjacent units to ensure proper ventilation Cautions and Warnings for Installation and Operation Since a misuse of the amplifier may lead to improper operation or may damage the amplifier carefully read the following cautions and warnings e Be sure to ground the amplifier properly using the ground terminals on the front of the amplifier Proper grounding includes conforming to applicable national and local electrical codes Refer to Chapter 4 for instructions e Do not apply higher than rated voltage to the power input terminals R S and T e Do not apply the main input power to terminals other than terminals R S and T or damage will occur Refer to Section 5 1 1 for wiring information SL Series Servo User s Manual August 2001 GFK 1581B Installation Guidelines The power supply uses a capacitor filter When you turn on power a high charging current flows and you may see a large voltage drop We recommend that you use an independent power supply for the amplifier s or install line reactors to limit the charging current Do not perform a dielectric strength test or megger test on the amplifier or damage may occur When you perform a dielectric strength test or megger test to an external circuit please disconnect all terminals to the amplifier so that no test voltage is applied to the amplifier Do not operate the amplifier under overload conditions such as continuous overcurrent o
341. w to separate the various cables Table A 5 Cable Separation Amplifier Power Separate by a minimum 4 inches 10cm from group B signals by bundling separately or use electromagnetic shielding grounded steel plate between signal types Use a noise suppressor for MCC coil Motor Power Master Control Contactor MCC Coil The MCC switches amplifier input power APM DSM to Terminal Board Separate by a minimum 4 inches 10cm Cable IC800SLCAPMxxx or from group A signals by bundling IC693CBL32x separately or use electromagnetic shielding Terminal Board to Amplifier grounded steel plate between signal types Interface Cable Terminate all required individual cable shield IC800SLCIxxxx grounds and grounding bar connections as shown in Chapter 4 Wiring Signal Cable Grounding The signal cables used with the SL Series amplifiers and DSM302 motion controller contain shields that must be properly grounded to ensure reliable operation Figures A 10 and A 11 below show cable grounding recommendations for typical installations The following points should be considered 1 For installations using the DSM motion controller the DSM302 faceplate ground wire must be connected to a reliable panel ground This wire is included with the DSM controller 2 TheIC800SLTO001 and IC800SLT004 Terminal Boards provide two screw terminals labeled S shield A short ground wire must be connected from one of the S terminals to a rel
342. when the amplifier is powered down RAM memory is cleared And when the amplifier is powered up the contents of the amplifier s EEPROM are written into RAM memory Therefore any parameter changes you wish to retain should be written into the amplifier s non volatile EEPROM memory using the following procedure 8 3 2 4 Writing Z Series Parameter Values to EEPROM While the computer is writing to EEPROM do not turn off power to either the amplifier or the computer before the message Operation Successful is displayed If you turn off power while writing to EEPROM is in progress the data may be corrupted e On the Parameter Menu select Write EEPROM The Write EEPROM window will display e You will be prompted with the message Write Parameters to EEPROM Yes No e Press the Y key and the write to EEPROM will be performed If you change your mind press the N key to return to the Parameter Menu without writing to the EEPROM If you pressed the Y key you will see the message Operation Successful Push any key Parameters Requiring a Power Cycle to Activate Some parameters require that power be cycled to the SL amplifier before they become effective These special parameters are marked with an r on the parameter screens For example parameter 27 is shown on screen as 27 r Quad pulse input scaler 4 The following four parameters are in this category e 3Fon Parameter Page 4 5 e 27 28 and
343. wing prompt key in a file name In the example below the file name TEST TXT was entered as the file name This will write the file by default to the SLconfig directory folder on your hard drive since no path information was provided Your window should look similar to the following one Enter parameter data file name file names of 8 characters or less are valid TEST TXT Save file Y N Q As an alternative you could specify a path as well as a file name if for example you wished to save your file to a floppy disk in your computer s A drive Before using the A drive please read Note When Using the A Drive below IT IL J Ll eee ee ee Enter parameter data file name file names of 8 characters or less are valid A TEST TXT Save file Y N Q e Press Y to save the parameter file Press N to key in a different file name Press Q to exit to the File Menu If you press Y the file will be saved and the following window will display SL Series Servo User s Manual August 2001 GFK 1581B Operation Parameter file name 8 letters or less is valid for file name TEST TXT File transfer complete Press ENTER key e Press the Enter key to exit to the File Menu Note When Using the A Drive If you specify that the file be saved to your computer s A drive but forget to put your diskette in the drive you will get the error message
344. wn in the next picture lower machine stiffness gt higher 1 2 3 4 5 6 7 8 9 select machine stiffness number automatic gain tuning will start e Key in a stiffness number Refer to Chapter 7 for a discussion on how to determine the correct machine stiffness number The Automatic Gain Tuning routine will start and the message in the lower left corner will change to say Automatic Gain Tuning in Progress When the routine is finished the screen will again look like the previous figure except that the new parameter values calculated by the Automatic Gain Tuning routine will be displayed in the lower right corner of the screen e When you press Q to quit this menu you will be prompted whether you want to save your changes in EEPROM If the automatic tuning result appears satisfactory key in Y to save to EEPROM If the result is not satisfactory key in N to not save the new gain values Then you will be returned to the Main Menu e Ifan error occurs during autotuning refer to Section 7 4 and 1 1 4 for more information GFK 1581B Chapter 8 Operation 8 67 8 4 8 Waveform Graphic Screen V Series When 5 is entered on the Main menu screen the Waveform graphic screen is displayed as shown in the next figure This screen lets you display waveforms for position error actual motor speed speed command and torque command This screen includes functions for manual tuning parameter setting and automa
345. ximum regenerative energy that is indicated in Table 4 3 below for the appropriate amplifier a regenerative discharge resistor is not required Table 4 3 Maximum Allowable Regenerative Energy for Amplifiers Amplifier Model Rating aor isdem esca IC800SLA0031 30 Watt 115 VAC 3 7 Joules IC800SLA0032 30 Watt 230 VAC 5 2 Joules IC800SLAO051 50 Watt 115 VAC 3 7 Joules IC800SLA0052 50 Watt 230 VAC 5 2 Joules IC800SLAO101 100 Watt 115 VAC 7 5 Joules IC800SLA0102 100 Watt 230 VAC 5 2 Joules IC800SLA0201 200 Watt 115 VAC 7 5 Joules IC800SLA0202 200 Watt 230 VAC 5 2 Joules IC800SLA0401 400 Watt 115 VAC 11 2 Joules IC800SLA0402 400 Watt 230 VAC 10 5 Joules IC800SLA0752 750 Watt 230 VAC 15 7 Joules IC800SLA1002 1000 Watt 230 VAC 31 4 Joules IC800SLA2502 2500 Watt 230 VAC 98 8 Joules IC800SLA3502 3500 Watt 230 VAC 150 5 Joules IC800SLA5002 5000 Watt 230 VAC 150 5 Joules Assumes nominal AC line voltage of 115 or 230 VAC High line voltage will dramatically reduce the amount of regenerated energy the amplifier can absorb for example a 10 high line voltage will reduce the maximum regenerated energy to 43 of the values shown for 230 VAC models and 89 for 115 VAC models If the calculated value exceeds the storage capability of the amplifier then an external regenerative resistor 1s required see Step 5 SL Series Servo User s Manual August 2001 GFK 1581B
346. ystems with intertial ratios of less than 6 1 will usually not require further adjustment The SL motor will make several rotations in both directions while the autotuning routine is running Before starting this routine make sure that the motor can be turned safely at least 3 revolutions in each direction This must be done to avoid possible injury to personnel or damage to equipment GFK 1581B Chapter 8 Operation 8 49 Autotuning with an External Motion Controller such as APM or DSM If using an external motion controller such as a GE Fanuc Series 90 30 APM or DSM be aware that the autotuning function is only used to tune the SL Amplifier s velocity loop The position loop which is closed in the external controller must be disabled during autotuning and tuned separately according to the procedure for the external controller So for autotuning purposes any connected motion controller should produce an enable signal to the SL Amplifier but no analog command command output should be held to zero If using a GE Fanuc APM or DSM you can ensure that the analog command is held to zero by temporarily setting the APM or DSM Pos Loop TC to Zero and FF to zero Or alternately command a Force D A to zero in the APM or DSM See Appendix A for more information on using the SL Series amplifiers with external controllers For a third party motion controller you must disable or disconnect its analog command output to the SL amplifier However t

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