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Operating Manual for Servo Parameter Setting Software for HA

1. R More RAY ARLE AEE Setup oitvwarg Abami Olas Adjacent of VE TorricallA Automat Offset Adhsinserg of TOP Terzewp Manual Offost Achustment of VREF Terminal Mares Offnet Achustrent of T COMP Terna H 9 1 Adjustment Menu Window 9 1 Automatic Offset Adjustment of V REF Terminal This is the function to operate the Automatic Offset Adjustment of analog velocity torque force command input terminal 1 Operating Procedure 1 Select Adjustment gt gt gt Automatic Offset Adjustment of V REF Terminal from the menu or click the Automatic Offset Adjustment of V REF Terminal icon da on the toolbar of the main window The Axis number selection window will appear Select the axis to be adjusted and click OK Click cancel to stop 2 Confirmation window will appear Click OK Automatic d Is Automatic Offset Adjustment of REF Terminal performed i Cancel 9 2 Automatic Offset Adjustment of V REF Terminal Execution Confirmation Window 3 The following window will be displayed when operation is completed normally Automatic 9 3 Automatic Offset Adjustment of V REF Terminal Successfully Completed Window Y Automatic offset cannot be completed normally when extremely high command voltage has been input Higher than 5v standard 9 1 9 Adjustment Automatic Offset Adjustment of T COMP Terminal 9 2 Automatic Offset Adjustment of T COMP Terminal This is the function to o
2. Scale CH 237 Print Preview v g E pl mortor ec a rin zy Copy C las Closet monitos EIN Recti Regenerative Resitor 1 e 2 0 00 S x JTMON Tonque montor Sit 00S X PEMDFT Postion command 10 PPS 05 kPPS TLIM Tonque lint SACT motor exciatian Sr Servo Ready ALM When alam 3 13 Menu for Add to a Project in Operation Trace Window Y Registered data file is automatically saved under the following name format date consecutive number and is displayed in the data file on the Project window S Data File Parameter Setting m Alarm History E Operation Trace EN Registered data file name 3 14 Data file registered to project Registered data file to project is saved to a sub folder containing the project file Y Each data file can be saved without registering it to a project Y The name of the data file can be changed later 2 Retrieve data file s You can retrieve saved data file s by double clicking the data file name on the Project window 3 9 3 Basic Operation Project 5 Saving the Project Select Project gt gt gt Save or icon on toolbar al or Save As Set up project information and registered data file s are saved 3 5 Operation Level You Can limit restrict editing parameters by setting the operation level There are two operation levels Basic and Advanced NW Basic You can only edit Basic parameters of the Servo Amplifi
3. 3 1 Chapter 3 Basic Operation Communication with Servo Amplifier 3 2 Communication with Servo Amplifier Communication Setting Set up the necessary settings from this Communcation Setting window to communicate with the Servo Amplifier The Communication Setting window appears upon running of the Setup Software This window can also be opened from Communication gt gt gt Communication Setting on the menu bar of the main window or from the Communication Setting Icon 1 on the toolbar Communication Setting A RS2A01A0AA2 a gt Ol Ol O Ol Ol O Ol Ol O Ol d O Ol O 3 3 Communication Setting window A Axis selection Check the correct axis selection box for communicating axis number B COM port selection Select COM port of computer to communicate with COM port can be set up for each axis respectively C Baud Rate selection Select Baud rate from Baud rate selection list Baud rate can be selected for each COM port respectively D Complete Communication Setting Communication setting is completed by clicking Close Y Registered values in the Communication Setting in the New Project are recognized as initial values because the previously registered project values are read automatically when Setup Software is run 3 2 Chapter 3 Basic Operation Communication with Servo Amplifier 2 Communication Confirmation Following are the methods of establishing commun
4. B Cursor Position Data Displays the data specified at cursor t1 C Cursor Differential Data Displays the difference of data specified in cursors v1 v2 10 5 10 Measurement Operation Trace 6 This window displays the view when the Measurement Information Tab is opened C Trace Overwrite Measure Displayed on the Top Time Axis Range Div t axis cursor v axis cursor cela us a DE TE P Wed A Kine Scale CH eng ia D 2008 tures ett A D I CH1 B 140 Please enter comment s here 10 6 Operation Trace Window Measurement Information Tab A Overwrite of Trace Overwrite the measured state of this time in waveform over the waveform measured the previous time B Measure Displayed on Top Selected waveform is displayed as a solid line 10 6 10 Measurement Operation Scrolling 10 2 Operation Scrolling You can display operating state of waveform in real time It is possible to display waveforms for multiple axes simultaneously when multiple axes Servo Amplifiers are connected Y Sampling time is restricted depending on the processing capacity of the PC 1 Operating Procedure 1 Select Measurement gt gt gt Operation Scrolling from the menu or click on the Operation Scrolling icon 8 on the toolbar of the main window The Axis number selection window will appear Select Online at the axis number and click OK Click Cancel to stop 2 The fol
5. Encoder clear cannot Motor is operating Encoder clear cannot be performed if the motor is be performed externally operating with more than 50min mm s outputs ALM_DF externally from some factor 3 Motor does not run in Setting error Check the Velocity Command setting or specified Positioning Operation Over travel etc pulse number e Over travel status complete for some approx 10mm reason Check the force command value for the Magnetic Pole Position Presumption Magnetic Pole Check if the main circuit power is supplied 2 4 Magnetic Pole Position Presumption has not been performed completing abnormally ALM_ 44h 4 Automatic Tuning Malfunction Error e Major cause Check point Corrective measure message cannot be Servo Amplifier is not Check if the Alarm state is active Change the performed ready Not in SRDY alarm state Preparation mode Other support incomplete function is being Check if the main circuit power is supplied performed Exit other support functions Velocity JOG Position JOG Auto tuning Adjustments System analysis etc if not already done Position Presumption cannot be completed successfully if the value is not sufficient against Stationary friction Check if the polarity of the linear encoder signals or wiring of the motor power line has been reversed Communication error has occurred f
6. Opens motor parameter selection window 4 2 4 Parameters Parameter Seiting 2 Setting General and System Parameters Procedure for setting General and System Parameters is as follows 1 Click the group tab where the parameter to be changed is displayed and click the specific parameter to be changed E in 3 NM wampir seeliime Ariel e K any e T 5 E i ME i NN L j r 4 Model EA AAT AMET um dormation Motor Combination Motor siache POP Apr Prevent Setting Valve FOAADADIGF 1000 0181 Main Por Surely Keen on uccrertor Grown 5 High setting Group amp EGontrof Grou 9 Function Gros A Kutob Honiton Serial hop Encoder Pra Group 1 Basic Contrai Groun 2 FF Hoich fiher observer Grous 3 Model Present Seite Lag bet Vales Norman Haimi Standard Of ATCHA din Cirat MPa a a Petting DZ ATRES falo tuning Response OB 1 a F Be ATSAVE Baton ppm par 0 Hig Sac 10 AMFILTO Autoenotch filer tuning bo SD DD ASUPTC Aate FF viaiia suceres 750 ut 91 ASUPFC Auto FF vibration goe Or 2 Edit window is opened by selecting parameter to When the da a of tia head maria changed Nincertad SE a os poet supply sepa be changed and double clicking 4 2 Parameters List Display Window 2 Open the Parameter Edit window by double clicking the selected parameter or by clicking Edit Inputs the setting values in the box provided
7. from the menu or click the Parameter Transmission To Amplifier icon on the toolbar of the Parameter Setting window C Double click Parameter on the transmitting axis gt gt gt Parameter Transmission To Amplifier on the project window E I Parameter Transmission lo Amplifier Axis1 Amplifier Motor Model AS24017 40 40 R288404003F The Parameter Kind to Transmit General Parameter System Parameter Motor Parameter Transmission Cancel 4 16 Parameter Transmission To Amplifier Window 4 9 4 Parameters Parameter Transmission from File to Servo Amp Check the boxes of the types of parameters to be transmitted on the Parameter Transmission To 2 Amplifier window and click Transmission Select the file to be transmitted from the Open File dialog window and click Open 3 Look in 3 Desktop 3 e L d My Computer My Recent a My Network Places Documents 2 sanyo api My Documents ST My Computer File name My Network Files of type Parameter File ap1 4 17 Open File Dialog Window 4 Wait for a few seconds until the transmission is complete Parameter lranemission lo Amplitier fsds COTTE TD 4 18 Transmitting Window When the Transission window isdisappeared Transmission is completed If necessary re power on 5 4 10 4 Parameters Parameter Verification 4 9 Parameter Verifi
8. Group 8 Control Group 9 Function Group A Dutputl Monitor Serial Sequence Allsrm Grows Encoder Sytem Group D Auto tuning Group 1 Basic Control Group 2 FF Hosch filterobserver Group 3 Model Present Setting Unit Input Value Mirian Mais Slanderd ESO HA G fa 01 MPWRIM Main crcuit power input ty AC Sphere OAC S phase Ss 02 AGEING Regenerotvee Resistor sel MiBudk n_ A Of Built in_ F lx 04 SERENSEL Serial encoder function sel 2PAC25M OPA S 25M 05 SERENRES Serial encoder resolution 06131072 FMT 106 131072 FMT 06 PASEL Backup type absolute enc DibAbsolute Sy_ D Gbechae Sy Je 9 CHTTE Corrtrol Mode Velocity D Post When the dela ofthe band marks chan pedi becomes afectiva ater power pue re inpul i oe A H 4 1 Parameter Setting window A Menu Select and perform each function B Toolbar Select and perform each function C Model Displays combined model of Servo Amplifier Servo motor D Combining motor Displays currently combined motor model E System information Displays Servo Amplifier system information F Group tab Displays Parameter name and group number G Parameter list Displays selected group of Parameter H Parameter edit history Displays history of edited changed parameter lI Edit Opens edit window for general and system parameters J Select from the List
9. 2 Execution confirmation window will be displayed Click OK hy Is Save Result of Auto Tuning performed Cancel 8 12 Save Result of Auto Tuning Execution Confirmation Window 3 After checking the conditions and selecting the parameter combination to be saved in the following window Click Save the Monitor Value R save Resuli ol Aulo umna Axsi Tuning Mode Tuning Mode Manual turing Adoring Chascheb Postitioning control 1 general purpose Condition Sanar parameter rekeche U Bet serae ls closed A wil ietur ongnal seling Ao Luew Parserete Mondo Vase ATEPP ATEWP wll 43 pd ATI 231 ma ATTCFIL E Hal ATILIM 4 3 ATKMP 42 ni The data disple Maras Turi Auto T n an auto Wuning ES a proper gain by auto tune Auto Tuning GRAT Manual Setting br actually A gan m whe E JRAT Parameter JRA amp kyr TVLTCFIL The Props P The proper Gap acorde to parameter 8 13 Save Result of Auto Tuning Execution Window pir ameter monslor yale Charges is actual a gain in use by a control lop E IRATKVF TCGFIL Proper Gain by Auto Tunng SEK The proper gan by auto tuning when the tuning characteristic E except the locus control 2 a control oe Sring Valk Gain socordra to Parameter JRAT Setting JRATI Specify the parameter combination to be saved KHI 40 14 E Hz 223 fma SM Ha 100 pm a2 na unng mode math and ago tunra characteristic when th
10. However the initial value and the setting procedure are different or the setting cannot be changed due to the amplifier types Note 2 When communication cannot be performed correctly due to noise the noise influence should be reduced by the following countermeasures e Ground the Servo Amplifier and PC appropriately Keep the Servo Amplifier and PC away from the noise source O Install noise filter Note 3 When Overlap remains after countermeasures are implemented take one of the following measures e Turn OFF the Servo Amplifier control power and turn it on again Disconnect the communication cable amplifier side and reconnect it 11 3 Parameter Setting 1 Parameter Verification Malfunction Error l Major cause Check point Corrective measure message Because of mismatch The type of amplifier Cannot verify because connecting amplifier type in amplifier type and is different is different than the parameter file to be verified amplifier main ID file communication cannot be established 2 Amplifier ID is not Tried to verify with old Update Setup Software to latest version supported version amplifier file 2 Parameter Transmission To Amplifier Malfunction Error e Major cause Check point Corrective measure message Because of mismatch Type of amplifier is Cannot transmit because connecting amplifier in amplifier and different type is different than the parameter file to be
11. Version Information is selected from the menu of the main window the Software version of Setup Software Database and Motor Parameters can be checked Version Information ES Re SANYODENKI R ADVANCED MODEL Setup Software Software Version 000 002 Database Version 001 003 Motor Parameter Version 001 001 Copyright C 2008 SANYODENKI CO Ltd 3 18 Version Information Window 3 12 4 Parameters Parameter Editing Function Overview 4 Parameters 4 1 Parameter Editing Function Overview You can perform edit transmit verify and backup Servo Amplifier parameters using this Setup Software 1 Function List The following parameter functions can be performed using the Setup Software Parameter Function Explanation 1 Parameter Setting Edit individual parameters of the Servo Amplifier Parameter Transmission Save parameters of the Servo Amp in the file Servo Amp to file 3 Parameter Transmission Transmit the value of the parameter file to the Servo Amplifier file to Servo Amp Parameter Verification Transmit the value of the parameter Servo Amp to the file Save to Backup memory Backup parameters to the built in Backup memory of the Servo Amplifier Restore from Backup memory Restore parameters of the Servo Amp with values from Backup 2 Types of Parameters 2 Types of Parameters There are three 3 groups of se parameters can be modified from the Parameter Setting window 1 General parameter
12. and after change will be displayed on the Parameter Change History window Refer to 4 5 Parameter Change History display Y Re input the power supply for the Servo Amplifier to validate the motor change parameter 4 7 4 Parameters Parameter Transmission from Servo Amp to File 4 3 Parameter Transmission from Servo Amp to File Parameters of Servo Amplifier can be saved in parameter file This enables batch setting of parameters into the other Servo Amplifier s from the saved parameter file 1 Operating Procedure 1 Perform any of the following three 3 methods to transmit parameters from Servo Amplifier to file A Select Parameter gt gt gt Parameter Transmission To File from the menu or click the Parameter Transmission To File icon on the toolbar on the main window Then after the Axis Selection window appears select the axis number where the parameter transmission is located B Select Disk gt gt gt Parameter Transmission To File from the menu or click the Parameter Transmission To File icon on the toolbar of the Parameter Setting window C Double click Parameter on the transmitting axis gt gt gt Parameter Transmission To File on the project window EN Parameter Transmission To File Axis1 Gmpller Motor Model AS24014048 0 R25404003F Transmission Cancel 4 13 Parameter Transmission To File Window 2 When Transmission is click
13. or select the setting value from the list box and click OK or press the Enter key The Edit window will close after the value is established and the new value will be displayed in the Input Value column of the parameter list Parameter EditiMoas1 AroplifierHotor Model AS24071 A04A40 R244 04003F GroupelD Aubo tuning O2 Symbol ATRES Name Auto tuning Response Present Setting Value 9 Standard Setting Value 5 Input Value Explanation Input the value to be changed Estabish the value Cancel 4 3 Parameter Edit Window 3 Repeat the same procedures 1 2 for the other parameters to be changed 4 3 4 Parameters Parameter Seiting A to 4 Select Amplifier gt gt gt Write in amplifier from the menu or click the Write in Amplifier icon begin writing to the amplifier When the parameters have been completely written correctly the parameter values both before and after the change will be displayed on the Parameter Change History window AAA AA SSS When the data ofthe head mark is chan ge d it becomes effective after power Su pply rein pu t Motor Combination AZAA04003F 100C 0181 gt R24A04005F 100C 0182 Group 8 Control position window 100 gt 50 DEC Motor model number before change 4 5 Parameter Change History display 3 Setting Motor Parameters Follwoing windows show how to set up moto
14. 1 1 Function List No Function Explanation Parameters Parameter Setting Edit each parameter of Servo Amp Servo Amp to File file File to Servo Amp Amp Amp into Servo Amp values of Backup memory Monitor Servo Amp status 3 Alarm Display alarm history Displays the present and past seven 7 Alarm Histories Alarm Reset Releases Alarm 4 Test JOG Operation Performs JOG Operation Operation Positioning Operation Performs Positioning Operation motor serial encoder linear motor Automatic Detects the resonance frequency of Tuning mechanical devices and sets up the torque command notch filter automatically Auto FF Vibration Suppression Detects the anti resonance frequency of Frequency Tuning mechanical devices and sets the FF Vibration Suppression Frequency automatically Save Results of Auto Tuning Saves proper gain calculated by the Auto tuning function of the Servo Amp as the parameter Adjustment Auto Offset Adjustment of V REF Adjusts the offset of Analog Terminal velocity torque force command automatically Auto Offset Adjustment of T COMP Adjusts the offset of the Analog torque force Terminal compensation command automatically Manual Offset Adjustment of V REF Adjusts the offset of Analog Terminal velocity torque force command manually Manual Offset Adjustment of Adjusts the offset of the Analog torque force T COMP Terminal compensation command manually waveform devices such as frequency response etc Di
15. 3 A A AAA o o A Ad anaia aaa aai aaan aen 10 1 10 1 Opara On ICE Sena a ta areca ont uaehs eee eer sere a tend t cw ha tacnen rater tucedhemachs teen maecen ceases 10 1 1 Operating Pr eo erecto de 10 1 10 2 lege E ee e EE 10 7 1 KEENT Ee ee Eet 10 7 10 3 SA a N EE A e e E 10 9 1 NT 10 9 Tis A II e PaA A aa A N a Tiigi 11 1 11 1 Mn a a T a te add TANS 11 1 11 2 Wiring Connection and Communication Status check 11 2 11 3 io A 11 3 1 Farameler VE CN alana lt adel E tinea tiara naan taal 11 3 2 Parameter Transmission TOAMPIMEN iii aa e Baek waste eae 11 3 11 4 Stelle A FUNCIONS e iene Dieta oot a E do odo dE NS 11 3 1 MONIO EE EE 11 3 2 Ad EE 11 3 3 eege vein altuna 11 4 4 Automatic TUNNO DEE EE 11 4 5 AUS MS o e ld e e ll lie 11 5 6 Measure me Mirna rancia 11 5 12 AA en seb aa a a oa Eaa aa a aaa a 12 1 12 1 Waaa ae a canna bie 12 1 1 Servo AMPIE E ONNECIO S asra a a E E E EE E EE 12 1 2 Connecting Gable A ld A A A AA AI 12 2 3 E EE 12 3 4 Na A A erica eee ee te ee eee ree tee eee oe 12 3 5 COMMmunICaton CON Ve TEE 12 4 Reference Material Instruction Manual for Servo Amplifier H ADVANCED MODEL M0008424 No Text on This Page 1 System Overview Functions Overview 1 1 1 system Overview Functions Overview R ADVANCED MODEL Setup Software Setup Software hereafter performs the following functions when connecting with the R ADVANCED MODEL Servo Amplifier Servo Amp hereafter Table
16. Notch Filter Tuning 4 8 Click Execute to perform tuning Click Servo OFF to stop the motor exitation The following window will appear when executing the operation Auto Motch Filter Tuning Axis Auto Notch Filter Tuning it under execution 8 4 Auto Notch Filter Tuning Execution in Progress Window When the tuning is completed successfully the following window will appear Check the frequency to be set Also secure the safety of the surroundings because Servo ON status continues until OK is clicked Auto Notch Filter Tuning window 3 will be displayed by clicking OK Auto Notch Filter TuninetAxisl Auto Notch Filter Tuning has been completed successtully The motor will be Servo off if O K is clicked Tuning Result Torque Command Notch Filter H 8 5 Results of Auto Notch Filter Tuning Window When you click quit button of the upper right of the Auto Notch Filter Tuning Windows 3 the following window will appear Click OK to close Click Cancel to return 3 window LY Is Auto Motch Filter Tuning ended i Cancel 8 6 Close Auto Notch Filter Tuning Confirmation Window When tuning cannot be performed or some irregularity occurs during tuning the following window will appear and tuning will be closed involuntarily Auto Motch Filter Tuning Axds 8 7 Auto Notch Filter Tuning Incomplete Window 8 2 8 Automatic Tuning Auto FF Vibration Suppre
17. O a 3 4 Basic Operation for Screen S WiNdOW S ooonccccncccccnooonccnnnnononononoconnnononnnnncnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnononnnnnnnnnnnnnns 3 4 EN Ri ee Te Wa osa 3 4 Stare Methods tor FUNCTION WINOGOW EE 3 5 WINCOW DISplaY Method WEEN 3 5 E eise GE 3 7 Project Che Te EE 3 7 A a a a a a E a E 3 7 A A 3 8 A A E E E F EE aa eset E E E 3 9 SAVING MG Proje o a a a aie i calon seed 3 10 Operation EE 3 10 Operation Level Selecionar iii tipicidad 3 10 Pass WOK Funciona ll aia sad 3 11 Password Set na Procedure caca 3 11 Password Verification POC ca 3 12 Sotware Version O NON EE 3 12 Parameters rsen a a sewn a AA aa a Ea tenis vee wa tvs KE A Kaaa Ce usando A Ea AA aa ae Ea aeaa aa aKa 4 1 Parameter Editing FUNCtION Overview serre E a a a E iN 4 1 FUNCION 8 BCE 4 1 WY OCS GL Fr ALAM E 4 1 Parameter Seri siii 4 2 Starting Rarameter SOI e ee ee 4 2 Setting General and System Parameters ooccccccccccccnncccnnncconononnnnnnnnnononnnnnnnnnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnos 4 3 SEUA Motor Parane Ol Ses e eos 4 4 Parameter Transmission from Servo Amp toile 4 8 Operating EE 4 8 Parameter Transmission from File to Servo Amp 4 9 Operating Proc e uo dto onda 4 9 IA ele 4 11 Parameter Venticatlon leie le 4 11 Operating Procedure for Parameter Verification n000nnnnn0nnnnnnennnnnnrnnnrnsnnrrnnsrnrrnnrrrrrrsrnrrrennnrrenenrrrrennnnrrenne 4 11 Kell 4 12 Saving 10 ACK UNO MEMON EE 4 13 Operating
18. Offset Adjustment of V REF Terminal 9 1 9 2 Automatic Tuning eaanaanaann 1 1 3 11 8 1 11 2 11 4 AXIS ele EEN 3 8 Axis Gelechon 4 8 4 9 7 1 10 8 B SE LEE 3 1 3 4 3 10 4 1 Baud hate selectii rs etic ete 3 2 C Channel Information 10 4 Communication Cable A 2 2 Communication CGableb 2 2 Communication Confirmation 3 3 11 4 11 5 Communication CGomverter 2 2 12 4 Communication Setting 3 2 3 3 3 4 3 7 Connecting Cable A 12 2 Connecting Cable B A 12 3 Connection for Single Device ccccceeeeeeeeeeeeeeeees 2 1 Cursor Position Data 10 5 yi D DAAE EE 3 9 E Effective V AIG anita 10 5 Ena COMMUNICAMO EE 3 4 H USO tai a it 4 7 6 1 Installation oooo oooooon nnnoccc oo 1 3 1 4 1 6 1 7 1 8 11 1 J JOG Operation arial 1 1 7 1 7 2 7 3 7 5 M Magnetic Pole Position Presumption 1 1 7 1 7 5 7 6 11 4 MERINO caia 3 3 3 4 Manual Offset Adjustment of T COMP Terminal 1 1 9 3 Manual Offset Adjustment of V REF Terminal 1 1 9 2 9 3 Measurement 1 1 10 1 10 5 10 6 10 7 10 9 10 10 11 2 11 5 Measurement Information Tab 10 6 Measurement Value Tab 10 5 Monitor ccceeeeeeeeeeeeeeeees 1 1 5 1 7 8 8 5 10 3 11 3 M tor atameleranis a 3 12 4 4 N Network Terminator cccccceceeseeseceeeeseeseeseeeeeeeeeeaes 2 2 Kegel Ce ei e in viii at ia 11 2 O Operation Level 3 10 Operation Scr
19. The following window will be displayed Click Trace Conditions Setting to change individual trace conditions o en My Tee e Displays information by switching tabs iO 2S RES H Trace Conditions formati n Meakurement Value Amper Motor Model ASZANTADAA2 RAA 0403F a KE Time Axis Range Div tasis Cursor Y aus cursor H Trace Mode Bpoints v1 RS ve W Sampling Time 1 D E 0 224 hel ooo ce el Traceable Time 5 rz Trigger Conditions Mode SINGLE 140 CH Analog CH1 select Slope zing edge 120 Position 50 100 Level ZA min 1 SH Trace Conditions Setting 50 10 2 Operation Trace Window A Add to Project Register Save current measurement data displayed in data file of Project B Start Trace Start trace operation under set conditions C Stop Trace Stop trace operation D Trace Clear Clear the measured waveform E CH Scale Displays the selected channel scale Attention is necessary here because this is the scale selected in Scale CH and does not link with the other scale channels F Time Axis Setting for Time Axis Range G Trigger Centering Clicking displays the trigger position as the center of the waveform H Cursor Displays the data of the cursor position The cursor moves to the clicked position t1 left click mouse t2 right click mouse vi shift key left click mouse v2 shift key right click mouse I Trig
20. a E 11 2 12 1 Release Revision A Dec 2008 Revision B Feb 2010 Revision C Mar 2012 Precautions For Adoption A Cautions AN Cautions Be sure to read the instruction manual before using this product e Take sufficient safety measures and contact us before applying this The possibility of moderate or minor injury product to medical equipment that may involve human lives and the occurrence of physical damage are assumed e Contact us before adapting this product for use with equipment that when the precautions at right column are not observed could cause serious social or public effects Depending on the situation e The use of this product in high motion environments where vibration this may cause serious consequences is present such as in vehicles or shipping vessels is prohibited Be sure to follow all listed precautions e Do not convert or modify any equipment components Please contact our Business Division for questions and consultations regarding the above http www sanyodenki com SANYO DENKI CO LTD 1 15 1 Kita Otsuka Toshima ku Tokyo 170 8451 Japan Phone 81 3 3917 5157 SANYO DENKI AMERICA INC 468 Amapola Avenue Torrance CA 90501 U S A Phone 1 310 783 5400 SANYO DENKI EUROPE SA PA Paris Nord Il 48 All e des Erables VILLEPINTE BP57286 F 95958 ROISSY CDG Cedex France Phone 33 1 48 63 26 61 SANYO DENKI GERMANY GmbH Frankfurter Strasse 92 65760 Eschborn Germany Phone 49 6196 76113 0 SANY
21. amplifier ID file transmitted communication cannot be established 11 4 Support Functions 1 Monitor Ma MUNN Or Check point Corrective measure message Communication error Breaking of Check if the communication cable between occurred at Axis x communication cable Servo Amplifier and PC is connected correctly Cause Timeout error has broken or disconnected SHEI HE Check point Corrective measure message Alarm reset could not Alarm state is active Cannot reset because alarm state is active be performed Change the alarm state An alarm that cannot perform alarm reset exists Change the alarm state and re input both the control power of the amplifier and the main circuit power source 11 Troubleshootin Support Functions 3 Test Operation pn eNO ne Check point Corrective measure message 1 cannot be Servo Amplifier is not Check if the Alarm state is active Change the performed ready Not in SRDY alarm state Preparation mode Other support incomplete function is being performed Exit other support functions Velocity JOG Position JOG Auto tuning Adjustments System analysis etc if not already done Communication error has occurred for some reason Initiate Communication Confirmation again Cannot perform when Test Operation Auto Tuning and Adjustment functions are initiated from Digital Operator Cannot perform when switching control mode
22. listed in the Motor selection window Figure 4 11 The motor is not supported by Automatic setting Combination of the amplifier and the motor is not matched Encoder clear has already been executed Y To validate the motor change parameter Re input the control power supply of the servo amplifier 4 6 4 Parameters Parameter Settin B Choosing Motor Manual setting 1 Open Motor Selection window by clicking Select from the List from the Parameter Setting window 2 Select the motor to be combined and click OK or press the Enter key The selected motor model number to be combined will be displayed in the Input Value column on the Parameter setting window Motor Selection Rotary Select motor 200 5 0154 R28804003F dal R224D04005F vi A2440401 OF mi A2440601 OF mi R2406020F mi fe 030 H D504 Cancel 4 11 Motor Selection window 3 Perform the writing of the selected motor parameter into the Servo Amp by clicking the Write in Amplifier icon Y on the toolbar AmpliierMoter Model AY klota Combinatian Present Setting Value A24404003 100C 0181 Input Value A24404005F 100C 01 82 Selected motor model number is displayed 4 12 Combining Motor display Perform the writing of the selected motor d parameter into the Servo Amplifier 4 When writing the value into the Servo Amplifier is complete the motor model numbers both before
23. the offset adjustment The following window will appear Click OK Manual 2 Is Manual Offset Adjustment of Y REF Terminal ended Cancel 9 6 Manual Offset Adjustment of V REF Terminal End Confirmation Window 9 2 9 Adjustment Manual Offset Adjustment of T COMP Terminal 9 4 Manual Offset Adjustment of T COMP Terminal This is the function for the manual offset adjustment of analog torque force compensation command input terminal Refer to 9 3 Manual Offset Adjustment of V REF Terminal for the actual operation 9 3 9 Adjustment No Text on This Page 9 4 10 Measurement Operation Trace 10 Measurement You can display operation status in waveform Operation Trace Function You can also check the status in real time by scrolling operation data Operation Scrolling Function and check frequency characteristics of mechanical devices System Analysis Function 10 1 Measurement Menu Window 10 1 Operation Trace You can display current operation status in waveform with the image of an oscilloscope 1 Operating Procedure You can display operation status in graphic form 1 Select Measurement gt gt gt Operation Trace from the menu or click the Operation Trace icon A on the toolbar of the main window The Axis number selection window will appear Select the axis to be used and click OK Click Cancel to stop 10 1 10 Measurement Operation Trace 2
24. voltage FMON Position command pulse frequency monitor CSU U phase electric angle monitor ABSPS Serial encoder PS data RegP Regenerative resistor operation percentage TRAMS Effective torgue monitor ETRAMS Effective torque monitor Estimated value All are selected All are canceled 5 3 Parameter Selection Window e 5 5 E E E 8 6 4 2 Check the box es of the parameter s you want to monitor and click OK 9 2 6 Alarm Alarm History 6 6 1 1 Alarm Alarm History Alarm History display Alarm History clear and Alarm Reset can be performed from this window It displays the last seven 7 alarms generated by the Servo Amplifier It also indicates the state of the amplifier at the time the alarm is generated along with alarm generating time and alarm code name eye Bd tae 7 al ff SZ mm ii Je Alarm Histor display para a 3 j 6 1 Alarm Menu Window ish SAN YTUDENK 1 Select Alarm gt gt gt Alarm History from the menu or click the Alarm History icon A on the toolbar of the main window The Axis Number selection window will appear Select the axis to display the alarm history for and click OK Click Cancel to exit 2 Alarm History is displayed The state at the time Alarm generating of alarm generalima timel2 Hour Als em code Alarm rage LIF AOFE O The state at the lime Alarm pe
25. 4 7 Restoring from Backup Memory You can restore the parameters of the Servo Amplifier with the values stored in the Backup Memory 1 Operating Procedure 1 A 2 Restore parameters from the Backup Memory using one of the following methods Select Parameter gt gt gt Restoration from the Backup Memory from the menu on the main window or click the Restoration from the Backup Memory icon B on the toolbar of the main window The Axis number selection window will appear Select the axis number to be performed Double click Parameter gt gt gt Restoration from the Backup Memory on the axis to be performed from the project window Parameter restoration with the value stored in the Backup Memory will begin after clicking OK on the Restoration window Restoration Do vou want bo restore all paremeters From the backup memory el Al parameters are changed into the value of a backup memory and the cureent value is lost It takes several seconds For this processing Do not power off until processing is Finished completely Cancel 4 25 Confirmation Window Restoration from the Backup Memory The following window appears while executing the restoration and displays the remaining data numbers Restoration from the Backup Memory Mbds1 Restoration from the Backup Memory le under execution The Remaining Data Numbers 796 4 26 Processing Window Restoration from the Backup M
26. 6 3 Alarm History Clear Window 2 The confirmation window to perform the Alarm History Clear will be displayed Click OK to perform and click Cancel to exit Alarm LY Is Alarm Reset performed You have to exectute alarm reset after removing cause and securing safety Cancel 6 4 Alarm History Clear Confirmation Window 3 When Alarm History Clear has been completed successfully click OK Alarm Reset Asds 1 Alarm Reset has been completed successtully 6 5 Alarm History Clear Successfully Completed Window 6 2 6 Alarm Alarm Reset 6 2 Alarm Reset Select Alarm gt gt gt Alarm Reset from the menu or click the Alarm Reset icon K on the toolbar of 1 the main window The axis number selection window will appear Select the axis you want to display the alarm history and click OK Click Cancel to quit 2 Displays confirmation window to perform Alarm Reset Alarm gl Is Alarm History Clear performed wt The alarm data generated in the past is cleared Cancel 6 6 Alarm Reset Confirmation Window 3 Click OK to perform Click Cancel to quit 4 Alarm factors have all been removed and Alarm Reset was performed successfully If not a window will appear with the following Alarm Reset was not able to be performed Alarm History Clear fods1 Alarm History Clear has been completed successfully 6 7 Alarm Reset Complet
27. M0008487C SANMOTION AC SERVO SYSTEMS ADVANCE MODEL TYPE S R ADVANCED MODEL SETUP Instruction Manual SANYO DENKI Preface Thank you for selecting our AC Servo Amplifier R ADVANCED MODEL This User s Manual is a support tool explaining the use and specifications of the Setup Software in order to completely utilize all the functions of the servo amplifier NW Keep this manual close when you start or adjust the Servo Amplifier so that it can be referred to at any time NW Refer to the Instruction Manual for the AC Servo Amplifier RADVANCED MODELI together with the Setup Software manual Note Images of the message windows shown in this user s manual are for reference only and may not match actual windows of the set up software on the screen 1 wech wesch b wesch wesch Om P OP 2 1 2 2 3 3 1 4 5 5 1 1 5 2 1 53 1 Contents System e E 1 1 FUNCIONS OVOIVISW stand idos 1 1 COMMESDONGING Kee 1 2 Sym ENVIO Meis 1 2 Kiel nie CU Eden EES 1 3 o E N E 1 9 Connect to Servo AMDpIifle srren a E da A aa Aa r aE aaa a a daaa araa 2 1 Connection TOF SINGIS DEVICE ip a 2 1 Connection Multiple Devices car Aa 2 2 Basic Opera iii A A A nas eevstndeedsetescoecenaeteds 3 1 RUNAS CU llas 3 1 RUMANO teuer En EE 3 1 RUARIAO THOM ER Le Late EE 3 1 Communication with Servo Ampli a A a dd TT A a 3 2 SoOMMUAICAION SE MINO ri aos eos de 3 2 COMMUNICATION CONIA criar 3 3 NA A O LU
28. O DENKI KOREA CO LTD 9F 5 2 Sunwha dong Jung gu Seoul 100 130 Korea Phone 82 2 773 5623 SANYO DENKI SHANGHAI CO LTD Rm2107 2109 Bldg A Far East International Plaza No 319 Xianxia Rd Shanghai 200051 China Phone 86 21 6235 1107 SANYO DENKI 7A WAN C0 LTD Room 1208 12F No 96 Chung Shan N Rd Sec 2 Taipei 104 Taiwan R O C Phone 886 2 2511 3938 SANYO DENKI HK CO LIMITED Room 2305 23 F South Tower Concordia Plaza 1 Science Museum Rd TST East Kowloon Hong Kong Phone 852 2312 6250 SANYO DENKI SINGAPORE PTE LTD 10 Hoe Chiang Road 14 03A 04 Keppel Towers Singapore 089315 Phone 65 6223 1071 The names of companies and or their products specified in this manual are the trade names and or trademarks and or registered trademarks of such respective companies Remarks Specifications Are Subject To Change Without Notice
29. PROCS CUS ia ee Eet Seege eebe 4 13 RESIONAO Tom BAGKUDIMICMONY EE 4 14 Operando Proc a a echerg 4 14 Oe Ve e EE 5 1 Montor TEE 5 1 Operating PlOC COUN EE 5 1 EER Vereen DEE 5 1 Operating Procede ENEE 5 1 Selecting Parameter S TO MONO liada aca 5 2 Operating Proc ee ee 5 2 6 AE Ti EEN 6 1 OL Alarm Re EE 6 1 1 Alara Tel CIS DIAY E 6 1 2 CIA o O 6 2 EE 6 3 7 Test E e e EE 7 1 TA JOR OPE AIN a o a dd li a 7 1 1 Operating EECHER ee 7 1 Re JRPOSIMOMING ODCrANON EE 7 3 1 Operanng POCA ol ol 7 3 2 NOMS ii ii ti trio 7 5 73 Magnetic Pole Foster Kent seg EE EES en 7 5 1 Operating Procedures eege Keeseren tege 7 5 ZA SEA ENCODE do e O Eo 7 7 1 Operating Procardia oia 7 7 8 Eent en TUNDO A ai 8 1 SCH Automatic Note Filler FUERE 8 1 1 ODE ating Pro id 8 1 8 2 Automatic FF Vibration Suppression Frequency Tuning oocccccncccccncoonccnnnncnononnnnnnnnnnnnnnnnnnnnnnonnnnnnnnnnnnnnnnnnnannnnnns 8 3 1 Operating Procedure sii aio 8 3 8 3 Save ResulbOr Automatic TUNNO asenn e EE 8 5 1 Operating Procede ee 8 5 9 AUS MON tonta A A RA AR ia DR 9 1 9 1 Automatic Offset Adjustment of V REF Termmal 9 1 1 ODEN ating PICAS a a o 9 1 9 2 Automatic Offset Adjustment of T COMP Iemmmal 9 2 93 ManualOfiserAdjustment of V REF gn UI E EE 9 2 1 Operating Eeler 9 2 9 4 Manual Offset Adjustment of T COMP Terminal sicicccccccccstactecsssessscastenssveesestecseiesvacienectedesSanscsucieobessadueneddetodessansncas 9
30. TXD 232AXD 6e emo e mp e GND s D Shell Shield Shield Mm Use CN2 cable when connecting to the first PC Mm When connecting multiple axes connect the cable from the first amplifier or first PC to CN2 and the cable from the last amplifier to CN3 12 1 12 Appendix Wirin 2 Connecting Cable A Connect the first computer and the first Servo Amplifier RS 232C Terminal COM CN2 gt Connecting Cable A AL 00689703 01 PC Side COM wee J S T Mfg Co Ltd J S T Mfg Co Ltd Number of pins Ct a ON E r 2 3 5 e m TXD Shield Mm Use shielded wire for cable NW Connect cable shielded wire to case of amplifier side connector Do not connect to the case of the PC connector mM Do not wire except to the specified terminals shown on the wiring diagram 12 2 2 Appendix Wirin 3 Connecting Cable B This is a cable to connect between Servo amplifiers for multiple axes connection of Servo amplifiers RS422A connection CN1 200 or 3000 NO 8 NO 1 PO gt Cable Connecting Cable B AL 00695974 01 0 2m AL 00695974 02 3m Notes shows twisted pair CN1 2 Common MUF PK8K X J S T Mfg Co Ltd Connector to end RS422A communication for multiple axes connections of Servo Amplifier 4 Network terminator NO 8 NO 1 Network terminator AL 00695977 01 A resistor 1200hm is inserted between 1pin and 2pin Connector model
31. Terminator AL 00695977 01 e Communication cable A COM Communication convertor SAU 024 01 Communication cable B Communication cable B a Communication cable B Communication cable B CR D WE a pp Fe e e E a e e e b i Network terminator AL 00695977 01 D d CG lt First axis gt lt Second axis gt lt Third axis gt lt n th axis gt Follow the illustration above for CN2 and CN3 connection of Servo Amplifiers If you connect them in reverse order communication will fail For accurate communication connect SW1 to 422A side and set SW2 according to the type of cable straight or cross connected to the higher position device 2 2 3 Basic Operation Running Setup Software 3 Basic Operation 3 1 Running Setup Software There are two methods to run the Setup Software NW Run from Start Menu M Run from Shortcut After the following image appears the main window will appear regardless of running method SANMOTION AC SERVO SYSTEMS SANYO DENKI 3 1 Running window 1 Running from Start Menu 1 Click Start on the Windows task bar 3 Select SANYO DENKI to open the SANYODENKI folder 1 2 Select All Programs to open the programs folder 3 4 Click R ADVANCED MODEL Setup Software 2 Running from Shortcut 1 Double click the R ADVANCED MODEL Setup Software Shortcut on the desktop 3 2 Icon Short cut
32. an axis from the axis selection list The function window starts after clicking OK Parameter P Monitorim Alarm L Test Select an axis Parameter Sething P Parameter Transmission To Fler Ena ree A Parameter Transmisioni To Amplifier WA OK Cancel Parameter Verificationic Lol Save to De Backup Memory Bi Restoration From the Backup Memory RP 3 7 Execute Function window 2 From Project window Execute the Function window of the selected axis by double clicking the Function name in the tree of the Project window 3 Window Display Method Switches the display method of individual function window s between MDI Multi Document Interface and SDI Single Document Interface 1 MDI display When you want function window to show the MDI display select Window gt gt gt Window To MDI M on the menu of the main window O Procram Fitta ANTO DT HEA ADVAN ep Spfleuettonisetffepnpcifepnpecl ejl R ARVARGCEO MODEL Ertup Holman Ma X 1 Dee Adta Meana Data Treff pop A A A AA fri SAN HUEN MALARM P OFF CO Group 7 DF ditetch titer obreras Group 3 Model E ARAS 000 0000 Goo 4 Gen eeeh bration suppress aa 000 0000 eropp High meting Group E Control Group Y Function rca 1 000 0000 Group A sa Morton Geral Group H Segan Alarm ES o oo Ragererativs Batter bel 0 Bek eb i Position Seege nee Serial encoder function sel O2PAC 25M Actual portan man
33. ation cannot continue if the OS and IE Internet too old Explorer versions are too old Please rebuild the environment by referring to 1 3 System Environment 11 Troubleshootin Wiring Connection and Communication Status check 11 2 Wiring Connection and Communication Status check No Malfunction Error message Major cause Check points Corrective measures 1 Error occurred at the time of Communication port Check if the communication port connected with a port opening cannot be used with cable PC side has been used with other this software applications or if Setup Software has already been activated Communication status check Error in the settings of Check if the communication port connecting cable results in Receiving Data the communication PC side matches the COM Port Error port 3 Communication status check Error in Check if the communication baud rate of the Servo results in Timeout error communication Amp corresponds to the Communication Velocity velocity setting Note 1 Error in Axis selection Check if the Communication axis number selection setting of the Servo Amp corresponds to the chosen Axis Note 1 Number Selection Failure of the Check if the communication cable for the Servo communication cable Amp is connected correctly to both the PC side and the D sub9 pin Check that there is no break in the communication cable Control power supply Check the Co
34. availability is Decimal eneral purpose input CON O f lt lt lt gt gt gt Hexadecimal by right 04 OUTE 1 General purpose output OL 1000 0000 ARA Present Value INCE MON Pulse encodes SES 0000 0000 O a pe Bes Torque monibor 0 0 ei TCMON Tass command monibor 00 3 5 2 Monitor Window Y Displays Monitor Stop as in the above image 2 To stop the monitor update click Monitor Stop 9 1 5 Monitor selecting Parameter s to Monitor 5 3 Selecting Parameter s to Monitor Parameters to be monitored can be selected when monitor is stopped 1 Operating Procedure 1 Click Parameter Selection when monitor is stopped The following Parameter Selection window will be displayed Parameter Selection Axds Symbol Farameter Hame STATUS Servo amplifier status code WARNI Warning status 1 monitor WARNI Warning status 2 monitor CONTEA 1 General purpose input CONT 8 monitor OUT8 1 General purpose output OUT 8 7 monitor INLEM Pulse encoder signal monitor VMUN Velocity monitor YCMON Velocity command monitor THOM Torque monitor TCMON Torque command monitor FMON Position deviation monitor III Check Parameter s to be monitored ANS APMON Actual position monitor Motor encoder Es APM External actual position monitor External encoder CPMON Command position monitor VE TEAN Analog velocity torque command input
35. cation You can verify the parameter value of the Servo Amp with that of the parameter file because it likely could be different Copy the different parameters if necessary to the amplifier and or the file 1 Parameter Verification window Open the Parameter Verification window using any of the following three 3 methods 1 Select Parameter gt gt gt Parameter Verification from the menu of the main window or click the Parameter Verification icon lon the toolbar of the main window The Axis number selection window will appear Select the Axis number to be verified 2 Select Disk gt gt gt Parameter Verification from the menu of the Parameter Setting window or click the Parameter Verification icon on the toolbar of the Parameter Setting window 3 Double click Parameter gt gt gt Parameter Verification on the axis to be verified on the project window a y se y pril Eal in d J 5 4 19 Parameter Verification window A Menu Select and perform each function B Toolbar Select and perform each function C Servo Amp Information Display the connecting amplifier motor model D File Information Display the amplifier motor model of the file E Verification Result Display the parameters that differed after verification 2 Operating Procedure for Parameter Verification 1 Select File gt gt gt Open from the menu or click the Open icon
36. ch channel that has been selected C Sampling Period Set the period to request data for the Servo Amplifier Setting a short period for a low processing capacity PC results in extremely slow processing speed So be careful 10 8 10 Measurement system analysis 10 3 1 system analysis In system analysis the system can be easily analyzed by operating the Servo Amp and Servo Motor for a duration of hundreds of ms to tens of seconds Secure the safety the Servo Motor runs during this function Operating Procedure 1 me Select Measurement gt gt gt System Analysis from the menu or click the System Analysis icon oe on the toolbar of the main window The Axis number selection window will appear Select the axis to be analyzed and click OK Click Cancel to stop Confirmation window to perform System Analysis will appear Click OK to proceed Click Cancel to stop Data Measure amp Analysys fods LY Is Data Measure amp Analysys Start performed Cancel 10 9 System Analysis Execution Confirmation Window The following System Analysis Execution window will appear Click Data Measure amp Analysis to proceed Click Close to stop DER FilefF System Analysis 5 System Analysis Setting Amplifier Motor Model AS2601404482 R244 04003F Click Data Measure ee 2 eg Analysis to Control Loop Start Hz dE deg Paramete
37. e tuning characteristic is except the locus control 2 8 5 8 Automatic Tunin Save Results of Automatic Tunin 4 Monitoring values from the auto tuning parameter monitor values are applied to the values for the selected parameters CH Save Result of Auto Toning Asis x or a mj ech Se E Kai a ebe Mater Model peu AAN DEE Tue Mode SE GG H H oh WISS Cari Turing Moda Combination of parameters can be Geer ees chosen from the following 5 options However the changed value is not Auto tuning Characteristic saved at a parameter ll thes screen i closed it will retum Condbors to the oiana zeltrug Saving parameter selection JRAT KP KVP TVI TCFIL KMP g Decision Autotuning Response Auto Turing Parsmeter Mornior Y KP ci INL TEFL EMF ATKPP A i ra KP r 8 Ap mn 8 14 Save Result of Auto Tuning Parameter Selection Window 5 Click Close on the upper right of the window to close the application The confirmation window for ending the operation will appear Click OK d Is Save Resut of Auto Tuning ended Cancel 8 15 Save Result of Auto Tuning Ended Confirmation Window 8 6 9 Adjustment Automatic Offset Adjustment of V REF Terminal 9 Adjustment With this function Automatic offset adjustment of V REF Terminal Automatic Offset of T COMP Terminal and Manual offset adjustment of V REF Terminal and Manual Offset of T COMP Terminal can be performed
38. ed Successfully Window Alarm Reset Asds 1 Alarm Reset was not able to be performed 6 8 Alarm Reset Unsuccessful Window 6 3 6 Alarm No Text on This Page 6 4 7 Test Operations JOG Operation 7 Test Operations You can perform JOG Operation Positioning Operation Magnetic Pole Position Presumption and Serial Encoder Clear as test operations 7 1 JOG Operation In the JOG Operation Servo motor s test run under constant velocity command can be performed easily by setting the rotation speed of the Servo motor Secure the safety of the surroundings completely because the Servomotor runs during the JOG Operation When the amplifier alarm occurs during the JOG Operation motor excitation turns OFF Prepare the control devices as ready to be used before execution of the JOG Operation 7 1 Test Operation Menu Window 1 Operating Procedure 1 Select Test Operation gt gt gt JOG Operation from the menu or click the JOG Operation icon a on the toolbar of the main window The Axis number selection window will appear Select the axis on which to perform the velocity JOG Operation and click OK Click Cancel to quit Select an axis 7 2 Axis Selection Window 2 Confirmation window for performing the JOG Operation will appear Click OK to perform the JOG Operation Click Cancel to quit the operation LY Is JOG Operation performed Cancel 7 3 JOG Operation Con
39. ed on the Parameter Transmission To File window Save As is displayed Specify the file name to be saved The extension automatically becomes ap1 Click Save to save the file Save in EZ my Documents D My Computer ee J My Network Places Mu Recent Documents E Desktop Mu Documents SI Mu Computer A J Filename Mu Network Save as type Parameter Edel ap wi 4 14 Save As Dialog Window 4 8 4 Parameters Parameter Transmission from Servo Amp to File 3 Wait for a few seconds until the transmission is complete Parameter Iransmission lo File Ass1 q E E f 4 15 Transmitting Window 4 The file will be created in the designated folder 44 Parameter Transmission from File to Servo Amp You can transmit saved parameter file to Servo Amplifier Necessary parameters can be transmitted only to Servo Amplifier by selecting the type of parameters to be transmitted 1 Operating Procedure 1 Perform any of the following three 3 methods to transmit parameters from the file to the Servo Amplifier A Select Parameter gt gt gt Parameter Transmission To Amplifier from the menu or click the Parameter Transmission To Amplifier icon i on the toolbar of the main window Then after the Axis Selection window appears select the axis number where the parameter transmission is located B Select Disk gt gt gt Parameter Transmission To Amplifier
40. elow is selected eo Position Monitor Motor Position Monitor External e Position Command Integrated Value Oo Motor Serial Encoder PS Data Y When the buffering point is 256 it is possible to select 6 analog channels at 512 points 3 analog channels and at 1024 points only 1 analog channel can be selected 10 3 10 Measurement Operation Trace o 4 This window shows the view when the Channel Information tab is opened ES Operation Trace Axis1 File F B Jump J te Value gt Amplifier Motor Model RS2A01A0442 R2AAD4003F alogue CH TimeAxis Ran Wl e t axis cursor w axis cursor i ge Sms LD CH YMON Velocity monitor G deg d S i Bu Ai Ha ZS Range SACHEN Me a Offset Sal Scale CH A 0 min 1 gt y T GH2 YCMONYelocity command monitor min 1 CHi Y Range 10 Y fmin Offset 0 min 1 140 CH3 TCMON Torque command monitor 120 Range UN gt Aut Bv i Offset 0 0 fc CH4 RegR Regenerative Resitor 80 Range zm 2 Offset 000 4 xy 40 CH5 TMON Torque monitor 2 1 vir Range pS Offset 0 0 x CH PCMDF1 Position command pel 2 Range 10 ikPPs 40 Offset 0 S kPPS 60 Digital CH CH1 TLIM Torque limit CH2 SACT motor excitation CH3 SRDY Servo Ready CH4 ALM When alarm 10 4 Operation Trace Window CH Information Tab A Display section Di
41. emory The following window appears upon successful completion of the Restoration Click OK Restoration E s A 7 Restoration From the Backup Memory has been completed successfully 4 27 Completed Window Restoration from the Backup Memory Do not power off until processing has been completed Perform the program again in case of stoppage of the processing Some parameters only become valid after the power source has been re input Make certain to input the power source for the Servo Amplifier after execution of these procedures 4 14 5 Monitor Monitor Overview sl 5 1 9 2 Monitor Monitor Overview You can check Data of each Servo Amplifier in real time lt is also possible to select specific parameters to be monitored from the list 1 Operating Procedure 1 Select Monitor from the menu or from the toolbar then select the axis to be monitored VOA MACED ATS ec a pop r ng weng E EP dl 3 SANYC JENN Operator Laval e Ae a Mejia s Date 5 1 Monitor Menu Window otart Monitoring Check the data of the Servo Amp in real time 1 Operating Procedure 1 After clicking Monitor Start on the upper right of the window a monitor data update will begin Fry L WEE Monitor Display 4x151 Monitor Start will be displayed when monitor is not in use STATUS i WAFNINGT e vez erty saniami Jegen ES CONTE Gerai CON 0000 0000 Selection
42. er Mm Advanced You can edit all parameters of the Servo Amplifier Y Refer to the Instruction Manual for the Servo Amplifier in use for each parameter level 1 Operation Level Selection Select Project gt gt gt Operation Level or click Operation Level icon R Operation level selection window will be displayed Select the appropriate operation level and click OK If you need to stop the selection click Cancel Select a operation level Authority Authority O Authority Authority C 3 15 Operation Level Selection Window Y Regarding Authority make certain to select Authority A Authority B and Authority C are for our company maintenance staff only 3 10 3 B asic Operation Password Function 3 6 1 Password Function Partially limiting functions of the Servo Amplifier is possible by setting a Servo amplifier password function With the Servo Amplifier password set you cannot edit parameters as well as some functions unless the password is released Table 3 1 Invalid or limited functions from setting the password Function Explanation Only viewing is possible Invalid files to Servo Amplifier Invali il iin rN SE viewing is possible e Se Operation Mc Auto notch filter tuning Invalid Mc Auto FF vibration suppression frequency tuning Save auto tuning results Adjustment Auto offset adjustment of V REF Terminal Invalid Auto offset adj
43. eration Communication with Servo Amplifier 3 End Communication The following methods are used to terminate communication with the Servo Amplifier 1 From Communication Setting window Communication with Servo Amplifier on selected axes axis terminates by clicking Disconnect on the right side of each selected axis Y When communication terminates the light goes off 2 From Main Window Commincation terminates with all Servo Amp axes by selecting Communication gt gt gt Off Line on the menu bar or by clicking the Off Line Icon x on the toolbar Y When communication is terminated the Axis light on the Project windiw goes off 3 3 Basic Operation for Screen s Window s Setup screens consist of Main window Project window and Individual Function screens windows 1 Main window Can perform individual Function windows from the displayed function name in the menu A and or the Project window C of the Main window A IN TU DENR 3 6 Main Window At the time of Communication On Line A Menu Select function and perform B Toolbar Select function and perform C Project window Refer to 3 4 Project 3 Basic Operation Basic Operation for Window 2 Start Methods for Function Window Can select from one of two methods to perform individual functions 1 From Menu and Toolbar of Main window Select the function you need from the Menu or Toolbar of the Main window Select
44. firmation Window 3 Click OK for JOG Operation display JOG Operation Axis1 File E Operating Selections EE Select the operation at completing 2 At completing Alarm of Test Run Close is selected A 0 At completing Alarm of Test Run Close is not selected Monitor ALM Reserve Reserve T Lirmit Stop Method e anales B twill stop if a stop button is pushed Co twill stop if the execution button Positire Negatiwe direction e detached 7 Test Operations JOG Operation Operation Ba Torque monitor 0 0 Actual position monitor 250026 Pulse Velocity monitor D Io Operating Condisions JOG Velocity command D mint 065535 i JOG acceleration deceleration msec 0 16000 JOG Torque command limit o 120 0 me 10 500 D F Cautions usage of this funcion will operate a motor Please carry out after ensuring surrounding safety 7 4 JOG Operation Window Selection of alarm function at the time of the JOG Operation is ended Choose either is selected or is not selected at the time of end Selection of stoppping method Choose either It will stop if a button is pushed or It will stop if the execution button Positive Negative direction is detached Monitoring the current state of the Servo Amplifier including torque force velocity and actual position Setting the operation conditions JOG acceleration deceleration time constant and to
45. ger Position Indicates each vertical horizontal trigger position J Zero Level Position Shows zero level for each channel K Copy to Clipboard Copy trace conditions and measured waveform to clipboard 10 2 10 Measurement Operation Trace 3 After clicking Trace Conditions Setting the following window appears Setup Input each condition in the window Click OK after setting values The changes will be invalidated by clicking Cancel Click this button to call up the past setting gt Trace Conditions Set PET Call setting condition Tigger Foo MON Velocity monitor imin foce VCMON Velocity command monitor min 1 5 ling Time UE 0 224 a SE E 22401 Ima Rz TCMON Torque command monitor pag a ee E KEE Set sampling interval Total Traceable time is calculated automatically Mode SINGLE v Slope O SR Traceable time Hesitor Operation 2 x E and frequenc 2 kFFS fallin ss GC both edge Bigital CH Select edge of trigger Forn TLIM Torque limit T Position 3 0 100 ocn GACT moto excitation w min Eo CH3 SRDY Servo Read 32768 32767 9 Ge form ALM Wwhen alarm wi 10 3 Trace Conditions Setting Window Level Set Horizontal trigger position Set Trigger level Y The data below can only be selected on Channel 1 3 and 5 Also Channels 2 4 and 6 cannot be selected when the data b
46. gravitational axis 8 9 Automatic FF Vibration Suppression Frequency Tuning Window 4 Click Execute to perform tuning Click Servo OFF to servo off 8 3 8 Automatic Tuning Auto FF Vibration Suppression Frequency Tuning 5 When tuning is performed the following window will appear Click Cancel to stop Auto FF Vibration Suppression Frequency Tuninet Auto FF Vibration Suppression Frequency Tuning le under Elapsed Time 9 sec 8 10 Automatic FF Vibration Suppression Frequency Tuning in Progress Window 6 Results of the operation execution will appear in the following window To confirm the results of the tuning click OK Auto FF Vibration Suppression Frequency TuninetAx Auto FF Vibration Suppression Frequency Tuning has been completed successfully Tuning Result FF Vibration Suppressor Frequency 1 8 11 Automatic FF Vibration Suppression Frequency Tuning Results Window 8 4 8 Automatic Tuning save Results of Automatic Tuning 8 3 1 Save Result of Automatic Tuning Saving the parameters adjusted by automatic tuning Parameters can be saved five 5 different ways Operating Procedure 1 Select Auto Tuning gt gt gt Save Result of Auto Tuning from the menu or click the Save Result of Auto Tuning icon A on the toolbar of the main window The Axis number selection window will appear Click OK Click Cancel to stop the operation
47. gt gt Magnetic Pole Position Presumption from the menu or by clicking the Magnetic Pole Position Presumption icon 4 on the toolbar of the main window The Axis number selection window will appear Select the axis to presume the magnetic pole position and click OK Click Cancel to stop the operation Select an axis Asis Number wi 7 11 Axis selection Window for Magnetic Pole Position Presumption 2 Confirmation window for execution will appear Click OK Secure the safety of your surroundings Motor moves slightly 7 9 7 Test Operations Magnetic Pole Position Presumption 3 Click Cancel to quit Magnetic Pole Position Presumption Magnetic Is Magnetic Pole Position Presumption performed Magnetic pole position detection For linear motor is performed Cautions IF Yes is clicked the motor will be operated Th takes about 5 seconds A working range depends on kinds of motor 1 You have to exectute the operation after removing cause and securing safety i Cancel 7 12 Magnetic Pole Position Presumption Execution Confirmation Window 4 Magnetic Pole Position Presumption is in progress Magnetic Pole Position Presumption Acds 1 Magnetic Pole Position Presumption ts under execution Cancel 7 13 Magnetic Pole Position Presumption Execution Window 5 When Magnetic Pole Position Presumption is complete motor excitation will complete automatically Magnetic A
48. gure 4 7 and click OK button Choosing Cancel button will stop its execution Parameter Setting Axis ee Is Motor Automatic Setting performed i Cancel 4 7 Motor Automatic Setting Confirmation Window 3 The dialog will pop up displaying the message for a few seconds during execution as shown in the figure 4 8 Parameter Setting Axis1 Motor Automatic Setting ls under execution 4 8 Motor Automatic Setting Execution Window 4 When the setting is completed successfully the appearing window will show the message as shown in the figure 4 9 Click OK to complete the setting and then re input control power supply of the servo amplifier Parameter Setting Axis1 1 Motor Automatic Setting has been completed successfully The changed value of the parameter is effected after re power on 4 9 Motor Automatic Setting Successful Completion Window 4 5 4 P arameters Parameter Settin 5 If an alarm is activated because the setting did not complete correctly for some reasons Motor Automatic Setting unsuccessful window will appears Resolve the problem of unsuccessful completion and then restart execution Parameter Setting Axis 4 10 Motor Automatic Setting Unsuccessful Window vane reasons for Motor Automatic Setting The status of servo amplifier is Servo ON or Alarm The servo motor is not supported by the servo amplifier or set up software It is not
49. he CD ROM drive of the PC name it E drive 3 From the Start menu on the task bar select Specify file name and Run R Click Reference B and select E Setup exe Click Open O After completing the specifying of the file name click OK The next window will appear and installation will begin InstallShield Wizard Preparing to Install R ADYANCED MODEL Setup Software Setup is preparing the InstallShield Wizard which will guide you through the program setup process Please wait Extracting R ADWANCED MODEL Setup Software msi mo Cancel 1 1 Installation Preparation window An alternate way to start the installation is to double click Setup in the E folder after Explorer is run 4 Select the language for installation and click OK Choose Setup Language 1 2 Installation Selection window 1 3 1 System Overview Program Installation 5 The installer will detect the following modules and perform installation Click Install These required modules will be installed prior to the installation of the application If these items are installed then bypass this step Crystal Reports For NET Framework 2 0 X86 Microsoft NET Framework 2 0 InstallShield Wizard A ADVANCED MODEL Setup Software requires that the following requirements be eee Installed on your computer prior to installing this application Click OK to begin installing these requirements Staus Regu
50. ication with the Servo Amplifier 1 From the Communication Setting window Communication begins with a selected axis by clicking Connect at the right side of each axis selected Communication starts with all axes checked axes in axis selection boxes by clicking On Line at the lower left of the window Communication Setting Change to Connect when communication is established Connected Not connected Eror Notcoresponding selection cla Amplifier Mode COM Port 0 CI es d Baud Rate bp conne 3 4 Communication Conformation window Y When communication starts normally a green light appears and amplifier models are displayed 2 From Main Window Communication starts with all selected axes axes checked in axis selection boxes on the Commincation Setting window by selecting Communication gt gt gt On Line on the menu bar or by clicking the On Line icon on the toolbar i Project be Communication Setting Operation L evel When communication begins a Parameter normally the Axis lamp is green Morden Alarm Test Operator Auto Tuning Adjustment Measurement Operation Trace ne Sustern Analysis Measurement Data File 3 5 Project window at the time of Communication Confirmation Y The Axis lamp on the Project window lights green when communication starts normally 3 3 3 Basic Op
51. ing Automatic tuning functions consist of Automatic Notch Filter Tuning Automatic FF Vibration Suppression Frequency Tuning and Save Results of Automatic Tuning 8 1 Automatic Notch Filter Tuning Auto Notch Filter Deet Auto Vibration Super epiion Frequency Tura Save Result of Auto Turin s Dista File 8 1 Automatic Tuning Menu Window 1 Operating Procedure 1 Select Auto Tuning gt gt gt Auto Notch Filter Tuning from the menu or click the Auto Notch Filter Tuning icon M on the toolbar of the main window The Axis number selection window will appear Select the axis to perform the Auto Notch Filter Tuning and click OK Click Cancel to stop 2 Confirmation window will appear Click OK 8 2 Auto Notch Filter Tuning Execution Confirmation Window 3 Click Servo ON after checking the conditions shown in the window qa a to Noten Filter lunmecixmegl 4 Select the operation al completing C At completing Alarm of Tert Pun Close it selected 5 At completing Alarm of Test Run Close is not selected Parameter Setting Torque command 5005 10 pp 10000 ren Cautions usage of this function will operate a motor Pleate carry out after ensuring turrounding safety he bobineg torquelllorce falls during turing execution Do mot tuba this function i na gravitational a A 8 3 Auto Notch Filter Tuning Window 8 1 8 Automatic Tuning Automatic
52. irement Pending Crystal Reports for NET Framework 2 0 x86 Cancel 1 3 Crystal Report Installation window Microsoft NET Framework 2 0 Setup Welcome to Microsoft NET Framework 2 0 Setup This wizard will guide you through the installation process Cancel 1 4 Microsoft NET Framework 2 0 Setup Window 1 System Overview Program Installation 6 To start installing Setup Software Click Next ig R ADVANCED MODEL Setup Software InstallShield Wizard Welcome to the InstallShield Wizard for R ADYANCED MODEL Setup Software The InstallShieldiR4 Wizard will install R ADYANCED MODEL Setup Software an your computer To continue click Next WARNING This program is protected by copyright law and international treaties 1 5 Setup Software installation start window 7 This License Agreement window will be displayed Please read the contents carefully and click Next if the terms and conditions are acceptable ig R ADVANCED MODEL Setup Software InstallShield Wizard License Agreement Please read the following license agreement carefully Software License Agreement License Agreement By installing or copying the R ADVANCED MODEL Setup Software Software SANYO DENKI s customer the individual or entity licensing the Product Licensee is consenting to be bound by and becomes a party to thie agreement with SANYO IENEI Co LTD Licengor the terms in the license agreeme
53. ject window for the axis to be performed 2 Saving to Backup Memory will begin processing by clicking OK on the Save to Backup Memory window 2 Do vou want bo save all carameters to the backup memory m It takes several seconds For this processing Do not power off until processing is Finished completely Cancel 4 22 Confirmation Window Save to the Backup Memory 3 The following window will be displayed while executing the backup It displays the remaining data number Save to the Backup Memory Axds Save to the Backup Memory is under execution The Remaining Data Numbers 188 4 23 Processing Window Save to the Backup Memory 4 The following window is displayed when the backup process has been completed successfully Click OK BW n Ji Save to the Backup Memory has been completed successfully 4 24 Completed Window Save to the Backup Memory Y The standard value is saved in the backup memory domain at the time of shipment from our factory The standard value cannot be restored after you perform this Save to Backup Memory operation once Saving the parameters into a separate file prior to execution is strongly recommended Refer to 4 3 Parameter Transmission from Servo Amp to File for the save procedure Do not power off until processing has been completed Perform the program again in case of stoppage of the processing XN 4 13 4 Parameters Restoring from Backup Memory
54. lowing Operation Scrolling window will appear Click Scrolling Conditions Setting to change the individual scrolling conditions A Operation el Scrolling Conditions Setting EEx FilefF Scrollina s CS bd eS elt a 3 Information is displayed by switching tabs Scrolling Conditions B web CH Information 4 Time Axis Range sec y Div all Laus CUSO L aus CUSO Analogue CH H vi y2 CHI int Seale CH parce Sen Offset OM tmin 11 GH2 min Ranse DS ie Offset HU imin 11 CH3 R en va G Offset 0 0 4 red Digital CH CH1 CH2 otor excitation CH3 Servo Ready Failed 0 10 7 Operation Scrolling Window A Start Scrolling Starts the scrolling operation under the set conditions B Stop Scrolling Stops scrolling operation Apply trace operation methods to other operations 10 7 10 Measurement Operation Scrolling 3 The following is the Operation Scrolling Conditions window Scrolling Conditions Setting Call setting condition Sampling Time xg ms 50 7 5000 Traceable time 200000 ms YCMON Velocity command monitor frig TCMORN Torque command monitor w Digital CH CHI vw Torque mt motor excitation Servo Ready 10 8 Operation Scrolling Conditions Setting Window A Axis Selection Select the axis of the Servo Amplifier to be displayed B Selection Items Display signal s for ea
55. mber of the pulse can be performed easily Secure the safety of the surroundings completely because the Servomotor runs during the Positioning Operation When the amplifier alarm occurs during the positioning operation the motor excitation switches to OFF Prepare the control devices as Ready to use before execution 1 Operating Procedure 1 Select Test Operation gt gt gt Positioning Operation from the main menu or click the Positioning Operation icon on the toolbar of the main window The Axis number selection window will appear Select the axis to be operated and click OK Click Cancel to stop the operation 2 The Positioning Operation performing confirmation window will appear Click OK Positioning 2 Is Positioning Operation performed Cancel 7 7 Positioning Operation performing Confirmation Window 7 3 7 Test Operations Positioning Operation 3 The Following Positioning ES Positioning Operation Axis1 File E A Operating Selections Select the operation at completing 2 At completing Alarm of Test Run Close is selected 0 At completing Alarm of Test Run Close is not selected Monitor T Lirnit Reserve Reserve DU U min 1 Torque monitor Velocity monitor Operating Condisions PJOG Yelocity command min 1 PJ G acceleration deceleration me PJOG torque command lirit EN PJOG position command TIES pulse Operation window a
56. n the Project Property setting window select the project name on the Project window and click right button then select Property from the pop up menu Project property Project Mame Change a Name F2 Operation Level Changed Creation Date and Time 10 23 2008 4 14 58 FM ie Save As A Contents Meri Coen 3 11 Project Property Window 2 Axis Property Set up the axis name You can check software version for Servo Amplifier etc Toopen the Axis Property window select the axis name on the Project window and click right button then select Property on the pop up menu Anas 1 property Axis MumberdAxls Mame Amplifier Model AS 2401 ADA Uperaton Level y Peo Amplifier ID 007 00001 Software Version 01 1 01 Module Version 0007 0001 0001 0001 0001 00 EE EE The communication ts COM Part COM Baud Rate 30400 3 12 Axis Property Window 3 8 3 Basic Operation Project 4 Data Files You can register data file s for Operation Trace System Analysis and Operation Scrolling to the project 1 Registering data to project To register data file s to the project select File gt gt gt Addition To a Project in the menu of each individual function HE Operation Trace Axis1 CR Open o EEN ell Saves j SS basurement Value 4 mplies Motor Model AS240140442 A 2a A000 3F Save Asta ie Time eas Range Ui Div r laris Cursor Fl Y ans cusa ti A a ball
57. noralina ol alarm generating time Hour JALALA D I ANALA AALA ATALA AALA ATALA Serial Encoder Internal Error 1 Serial Encoder Internal Error 1 Serial Encoder internal Error 1 Serial Encoder Intemal Error 1 Se Lal Encoder internal Error 1 Serial Encoder internal Error 1 Seal Encoder internal Error 1 6 2 Alarm History Window 0P OFF 00P OFF UF 0F F 00P 0FF 00 0FF 00P OFF GROFF 222228 2 2 3 Alarm History can be printed Select File gt gt gt Print from the menu or click the Print icon 2 4 If you want to quit Click Windows exit button 6 1 6 Alarm Alarm History 2 Alarm History Clear Alarm history generated in the past can be cleared from the Alarm History window 1 Select Amplifier gt gt gt Alarm History Clear from the menu pu Alarm History Axis1 The siste al the li Alar ati of alarm generating timalo bcn OP OFF 0 Slam History Ale m The sisie al the time Alarm generating code Alarm name of alarm gerer aire time ST ATALAI Serial Encoder bierg Error 1 DROE ALALAT Serial Encoder Internal Error 1 00P OFF JATALAI Serial Encoder Inemal Error 1 DOP OFF ALALAl Seriol Encoder Internal Error 1 OOP OFF STAA Serial Encoder Internal Error 1 D0P 0FF AT ALAI Serial Encoder Internal Error 1 O0P OFF ALALAL Serial Encoder Internal Error 1 DOP OFF EELER
58. nt eo not accept the terms in the license agreement InstallShield 1 6 Software License Agreement 1 5 1 System Overview Program Installation 8 Select user for installation Either select All Users or Administrator only and click Next GG R ADVANCED MODEL Setup Software InstallShield Wizard Installation user selection This application is installed to the Following user s Adr t US 1 7 User Installation selection window 9 Specify the destination folder If you want to change the installing folder click Change and specify the folder you want After completing this option click Next ig R ADVANCED MODEL Setup Software Installshield Wizard Destination Folder Click Next to install to this folder or click Change to install to a different Folder Install R ADWAMNCED MODEL Setup Software to C Program Files 54hyO D NKISD ADMANCED MODEL Setup Software j Cancel 1 8 Destination folder selection window 1 6 1 System Overview Program Installation 10 If you use custom motor input a keyword If you use a standard product click Next without inputting any keyword GG R ADVANCED MODEL Setup Software InstallShield Wizard Selection of product The installed product is selected keyword IF vou use standard product do mot input anything and click OK Please enter keyword if you want to use custom motor ge peck IJ per Se 1 9 Ke
59. ntrol Power supplied to the Amp Wrong operation due Apply countermeasures Note2 to noise Communication status check Setting error related to Check if the communication axis number settings results in Overlap communication overlap in the connected amplifiers Note 1 Note 3 when multiple amps are connected Wrong operation due Apply countermeasures Note 2 to noise Communication status check Version mismatch This Setup Software is not corresponding to the results in Not corresponding Servo Amplifier software version Install the latest version of the Setup Software Software mismatch R ADVANCED MODEL Setup Software cannot communicate with Amp RS1 RR1 Use R SETUP Software to communicate with those models R ADVANCED MODEL Servo Amp cannot communicate with R SETUP Software When executing the following Parameter lock Permit Parameter Edit communication shuts down function for password Refer to 3 6 Password Function Write Transmit parameter is set Test Operation Automatic Tuning Adjustment Measurement 11 Troubleshootin Wiring Connection and Communication Status check Note 1 The communication baud rate GroupA 20 and the communication axis number can be set at parameters The initial value is 1 for the axis number and 38400bps for the baud rate Changes for the baud rate and axis number become valid when re input of the control power for the amplifier is accomplished
60. number MUF PK8K X J S T Mfg Co Ltd 12 3 12 Appendix Wiring 5 Communication Converter Module to convert RS232C communication to RS422A communication that is required for multiple axes connections of Servo Amplifiers VGCh dats SSOY 1HDIV41S POWER CN 2320 422A el zns L CN2 422A Communication Converter SAU 024 01 CN MUF RS8DK GKXR DELC J9PAF 23L9E J S T Mfg Co Ltd J S T Mfg Co Ltd J S T Mfg Co Ltd Signal name Signal Number of pins Signal name name 422TXD 422TXD DCD 4227 XD E RA 422RXD A DTR 2321XD_ 5 5 pe zax 6 aeerxD 6 DR CTA AA A E ENDS ee eS Shield geg 9 H Shield SW Selection 232C 422A RS232C signal of CN1 is valid RS422A signal of CN1 is valid STRAIGHT CROSS swe Cable between PC CN3 Cable between PC CN3 Under the straight cable spec Under the cross cable spec 12 4 Index A Adjustment 1 1 3 11 9 1 9 2 11 2 11 4 11 5 PACA GO E 3 10 LAT KAN E RE 2 1 2 2 12 2 Alz 006959 Din a ide 2 2 12 3 AL 00695974 02 oia iia 2 2 12 3 Alarm Ee Vitis cia 3 11 6 1 6 2 Alarm History Clear ccccccccssseeeeeeeeeeseeeeseeeeeeeeeaeees 6 2 Alarm RES E 1 1 6 1 6 3 AMPIO esas Een 11 3 RUNON EE 3 10 Al uge Bian 3 10 A eegene 3 10 Automatic FF Vibration Suppression Frequency Tuning EE 8 1 8 3 8 4 Automatic Notch Filter TUNING cccooccccocnccocnnccocno 8 1 Automatic
61. olling 1 1 3 9 10 1 10 7 10 8 Operation Trace 3 9 10 1 10 2 10 4 10 5 10 6 Index Operation Trace Window 10 2 10 4 10 5 10 6 A a iaauigunieadian S 11 2 11 3 P Parameter Change History ccccssseseeeeeeeeeeees 4 4 4 7 Parameter Edit aaa 4 1 4 3 11 2 Parameter Setting 1 1 4 1 4 2 4 7 4 8 4 9 4 11 11 3 Parameter Verification 1 1 4 1 4 11 4 12 11 3 Password Funchon 3 11 11 2 Positioning Operation 1 1 7 1 7 3 7 4 7 5 11 4 Project 3 2 3 3 3 4 3 5 3 7 3 8 3 9 3 10 4 2 4 13 10 2 Project Property siensia a t 3 8 Project SS A 3 8 Project WINdOW EE 3 7 R Running Setup Software ccccceccceeeeeeeeeeseeseeeeeees 3 1 S Save Result of Automatic Tuning ccccccccccccoonnnnos 8 5 Save to Backup Memory ccccceesssseseeeeeeeeees 1 1 4 13 vii SDI DIS Veco eke ener een ee 3 6 Selecting Parameter s to Montor 5 2 Serial Encoder Clear cccccccceeeeeeeee ee 1 1 7 1 7 7 7 8 Servo Amplifier CONNECTtOrS ooocccccnccccncconcnonnnnnnss 12 1 Software Version asii 3 12 O ad 2 2 12 4 A er nd ee ee eet ee er ere 2 2 12 4 System Analysis1 1 3 9 10 1 10 9 10 10 10 11 10 12 11 5 System ParameterS nn 4 1 4 3 T Test Operation 1 1 3 11 7 1 7 3 7 5 7 7 11 2 11 4 11 5 Tr blesho Oting EE 11 1 V Velocity JOG Operation 11 4 Version Information 3 12 W d T
62. ollowing applications will not be uninstalled automatically Y Microsoft Net Framework 2 0 e Crystal Reports For Net Framework 2 0 X86 1 9 1 System Overview No Text on This Page 2 Connect to Servo Amplifier Connection for Single Device 2 Connect to Servo Amplifier 2 1 Connection for Single Device Connect the Servo Amplifier and computer using an exclusive cable Optional product Model AL 00689703 01 NW Connection to Servo Amp Use the CN2 connector port on the front of the amplifier NW Connection to PC Use the RS232C connection port Dsub9 pin E ge CH 19 8 p HAS da ke PC Exclusive cable AL 00689703 01 Servo Amplifier For connector model and wiring refer to Chapter 12 Appendix Connect to COM port on PC side Connect to CN2 port on Servo Amplifier side Do not connect to CNS 2 1 2 Connect to Servo Amplifier Connection Multiple Devices 2 2 Connection Multiple Devices Connect PC and Servo Amplifier using the communication cables listed below communication converter and final connector All optional products A maximum of 15 Servo Amplifiers can be connected at the same time NW Communication Converter SAU 024 01 W Communication Cable A General RS 232C cable both straight and cross cable are available CN3 of communication convertor SAU 024 01 is a D Sub 9pin male connector NW Communication Cable B AL 00695974 01 0 2m AL 00695974 02 3m NW Network
63. on mode Other support incomplete function is being Check if the main circuit power is supplied performed Exit other support functions Velocity JOG Position JOG Auto tuning Adjustments System analysis etc if not already done Communication error has occurred for some reason Initiate Communication Confirmation again Cannot perform when Test Operation Auto Tuning and Adjustment functions are initiated from Digital Operator Cannot perform when switching control mode Cannot use Auto tuning when Over travel has occurred Change the status of Over travel Cannot perform correct measurement while holding brake release delay time BOFFDLY and perform at the same time Window response is Limited by PC This depends on the processing ability capacity delayed or inactive processing capacity of the PC because real time communication is during Scrolling implemented for the amplifier and displays its Operation waveform on window Adjust it either by closing other applications or by setting the sampling time of the Scrolling Operation longer 11 Troubleshooting No Text on This Page 12 Appendix Wiring 12 Appendix 12 1 Wiring 1 Servo Amplifier Connectors SANMOTION R AC SERVO SYSTEMS SANYO DENKI CHARGE ER BEER P 4 deih oy d de A P Servo Amplifier Side CN2 Servo Amplifier Side CN3 JST Mig Go Lid J S T Mfg Co Ltd J S T Mfg Co Ltd Signal name GER 422TXD 422
64. on the toolbar of the Parameter Verification window 4 11 4 Parameters Parameter Verification 2 Select the file to be verified from the dialog window of Open File and click Open Verification will begin The following window will be displayed during verification Parameter Verification fovds1 C Wocuments and Settings dni 4 20 Parameter Verification Window Processing 3 Displays the differing parameters from the Verification Results window after the verification has been completed R Parameter Werificationt x eli Co emyro apl FilelE Gop Aner intormalion File higo mashg Amplitier Motor Model AS2AD01ADAR2 Amplie Motor Model ES2A01 ADAG FEARDMODIF Ampldier A al Group 1 n 06 Feed Forward Gan 4 21 Parameter Verification Results Window 3 Parameter Copy Differing parameters can be copied to Servo Amp or file The following are the types of copies 1 Copy the value of the Servo Amplifier to file all parameters Select Copy gt gt gt Copy the value of amplifier to file All or click the icon on the toolbar 2 Copy the value of the Servo Amplifier to the file for selected parameters only Select parameters to be copied from the Parameter Verification Results window Select Copy gt gt gt Copy the value of amplifier to file only in case of selection from the menu or click the icon 2 on the toolbar 3 Copy the value of the file to the Servo Am
65. or some reason Initiate Communication Confirmation again Cannot perform when Test Operation Auto Tuning and Adjustment functions are initiated from Digital Operator Cannot perform when switching control mode Cannot use Auto tuning when Over travel has occurred Change the status of Over travel Cannot perform correct measurement while holding brake release delay time BOFFDLY and perform at the same time 11 Troubleshootin Support Functions 5 Adjustments EH Major cause Check point Corrective measure message 1 Automatic Offset Specified analog Check analog voltage input Automatic Offset Adjustment cannot be voltage exceeds 5 2V cannot be performed if the voltage exceeds 5 2V performed in adjustment Preparation Communication error occurred for some reason incomplete Initiate Communication Confirmation again Cannot perform when Test Operation Auto Tuning and Adjustment functions are initiated from Digital Operator Cannot perform when switching control mode Manual Offset Setting The Offset values of auto offset and manual Value changed when offset are the same in value The manual offset Automatic Offset was changed when auto offset was performed performed 6 Measurement SE Check point Corrective measure message System Analysis Servo Amplifier is not Check if the Alarm state is active Change the cannot be performed ready Not in SRDY alarm state Preparati
66. p for all parameters Select Copy gt gt gt Copy the value of amplifier to file All or click the icon A on the toolbar 4 Copy the value of the file to the Servo Amp for selected parameters only Select the parameters to be copied from the Parameter Verification Results window Select Copy gt gt gt Copy the value of amplifier to file only in case of selection from the menu or click the icon 28 on the toolbar Y When the value of the file changes as a result of a copy save the file before closing the application Y Parameters such as motor parameters that cannot be copied may be displayed in the Verification Results window The background color of these parameters will be gray 4 12 4 Parameters saving to Backup Memory 4 6 Saving to Backup Memory You can save the current parameter values of the Servo Amplifier into the backup memory domain of the Servo Amplifier Parameters can be restored at any time by saving the setup values of the parameters in the backup domain 1 Operating Procedure 1 Perform Save to Backup memory using one of the following methods A Select parameter gt gt gt Save to the Backup Memory from the menu of the main window or click the Save to Backup Memory icon 3 on the toolbar of the main window The Axis selection wndow will appear Select the axis number to be performed B Double click Parameter gt gt gt Save to Backup Memory on the Pro
67. perate automatic offset adjustment for analog torque force compensation command input terminal Refer to 9 1 Automatic Offset Adjustment of V REF Terminal for actual operation 9 3 Manual Offset Adjustment of V REF Terminal This is the function for manual offset adjustment of analog velocity torque command input terminal 1 Operating Procedure 1 Select Adjustment gt gt gt Manual Offset Adjustment of V REF Terminal from the menu or click the Manual Offset Adjustment of V REF Terminal icon on the toolbar of the main window The Axis number selection window will appear Select the axis to be adjusted and click OK Click Cancel to stop 2 Confirmation window will appear Click OK Manual d J 15 Manual Offset Adjustment of Y REF Terminal performed Cancel 9 4 Manual Offset Adjustment of V REF Terminal Execution Confirmation Window 3 Set the offset value in the following window manually anual Offset Adjustment of REF lerminal fxisi Manual Offset Adpstment Click Edit to Edit Setup offset value directly In this case the offset value will be set for Servo Amp when Decision is clicked Analog velociytorque command zero adst Can set the offset value for Servo Amp continuously with the Up Down control on the right side of the offset value 9 5 Manual Offset Adjustment of V REF Terminal Execution Window 4 Click End to finish
68. ppears Actual position monitor Operation Mode 2 Single Operation Continuous Repeating Operation 350026 Pulse 0 65535 0 5001 10 500 0 42343967295 D se Cautions usage of this funcion will operate a motor Please carry out after ensuring surrounding safety Operation 7 8 Positioning Operation Window Selection of alarm function at the time of the Positioning Operation is ended Choose either is selected or is not selected at the time of end Selecting operation mode Single position operation or continuous round trip positioning operation can be selected for a specified number of times Monitors the current state of the Servo Amplifier including torque force velocity actual position and the number of times of continuous repeating operation Setting the operating conditions Acceleration Deceleration time constant torque force command limit dwell time and the number of continuous repeating operations can be set to a value other than that of the number of the positioning pulse and feed velocity Edit the operating conditions Click Edit to edit the conditions Click decision when editing is complete Click Cancel to stop the editing ON OFF operation for motor excitation The Servo motor will not run if the condition is OFF Execution buttons Click either Positive Negative Direction depending on the direction needed to operate the device The Positioning Ope
69. r Monitor The Torque thrust State of restriction S Incidence Rate under Measurement Load inertia moment ratio monitor 2 30 UJRAT MON Velocity loop EP MON Velocity loop 11 MON dl proportional gain monitor d 10 0 integral time constant moni Ge 10 20 Torque command filter monitor H2 30 TCFIL MON Torque command notch filters monitor Ball A0 PU 100 Torque command notch Dierf monitor d SES TCHFILBMON deg 180 dB Ve Range 10 ng tuto Defaut Ip 60 dea Phase H Range DU Measurement deg Div BS Date vet 150 100 Frequency Hz 10 10 System Analysis Execution Window 10 9 10 Measurement system analysis 4 Window for setting Data Measure H Analysys Mas1 File F Amplifier Motor Model AS5240140482 A24A04005F Operating Selections Select the operation at completing conditions will appear Set the conditions of data measurement 2 At completing Alarm of Test Run Close is selected At completing Alarm of Test Run Close is not selected System Analysis Setting Torque command BL pa Set torque force command value and frequency range to be measured Fregency width 70 0 2000 wt selection Motor Excitation Data Measure Execution e Cautions usage of this function wll operate a motor Please carry out after ensuring surrounding safety 10 11 Sys
70. r parameters If the motor with the absolute encoder type is used parameters for that can be set automatically based on the information from its encoder There are two options available to set up parameters for the motor Motor Automatic setting and Motor Manual setting as below A Choosing Motor Automatic setting 1 On the Parameters List Display Window Click Motor Automatic Setup E larameter SeltinglAsist j pa i Keck LA ebe ven e i ban 1 L EI A D D D i Z Lis Ee eelere Ba ten button Present Setting Value AAADMDOGF 1000 181 Man Power ugeht 00200 EE Amplifier Capacity Code 0C 154 Sielect kom te kah Automatic Setup Fecommendaton Control Board Code DO PITYFE_00 H EE Diap L Enada System Gong fAuio tueng Grp 7 Bene Conio Group 3 Coro Group 3 Funcior Group A Outputl Mornion Gel _ Prevent Seana Und irou Value ri ina 01 MEI Main Cocak Powe ingat Type DAC phase iG f AGO Regermoine Apmis Sele Ol Gulia A O8 SERENSEL Gerd Encodes Function Sel OZPA C 25M 10 SEREMRES Seni Encoder Berch ee EISIESZ EMT Jr PASEL Backup Type Abochie n Ob brolie Sp 9 CNTTYP Control Modi Selection O2 Position Jr p peter Position Control Selection Zisedd Waar ta date ofa Ee EE Ee GE 4 6 Parameters List Display Window Motor Automatic Setting 4 4 4 Parameters Parameter Seiting 2 Then the dialog box appears as shown in the fi
71. ration is performed only once in a single direction when in Single Operation mode The round trip operation is repeated continuously for a specified number of times in Continuous Repeat Operation mode When Zero 0 is specified as the number of operating times the rond trip operation will repeat an unlimited number of times until Stop is clicked Pause time during operation can also be set 7 4 7 Test Operations Positioning Operation 4 To quit the Positioning operation click out button of the Windows When the following window appears click OK To continue the Positioning Operation click Cancel Positioning di Is Positioning Operation ended p Cancel 7 9 Positioning Operation End confirmation Window 5 When other factors prevent the Positioning Operation from being performed during operation or at the start of operations for example Communication errors Amplifier alarm detection etc the following window will be displayed and operation will stop Positioning 7 10 Preparation incomplete for JOG Operation Window Click OK to return to the main window 2 Notice 1 Pause time has a maximum 0 5 seconds margin of error 7 3 Magnetic Pole Position Presumption When you perform the Magnetic pole position presumption the pole position is presumed without moving the motor at all This function is performed for a linear motor 1 Operating Procedure 1 Select Test Operation gt
72. resonance frequency and click Setting in the analysis results window 11 The Setting window will be displayed Confirm the setting values for antiresonance resonance frequencies and click OK Set parameters at this point TA e Setting of antiresonant frequency resonance frequency Model control lies fo E The frequency oftl and t cursor it set as the anti resonance frequency of a model control system and resonance frequency Setting Value Model control antrezonance frequency 1 Model control resonance frequency 1 Hz Iti not possible to set it on the following conditions The set frequency iz less than 10 0Hz or itis larger than 80 0Hz when the setting is assumed to be 80 0Hz becomes the Vibration suppression sontrol invalid in the amplifier n case of antirezonant frequency 1 gt resonance frequency t n case of the gain of antiresonant frequency gt the gain of resonance frequency It is not possible to set it because of an illegal condition 10 16 Resonance antiresonance Frequency Setting Window System Analysis 10 12 11 Troubleshootin Upon Installation 11 Troubleshooting 11 1 Upon Installation Insufficient hard disk Not enough space About 400MB of HD space is required because this space on hard disk to application needs space for Microsoft NET install program Framework 2 0 as well as the application itself to operate Cannot install OS IE versions are Install
73. rque force command limit can be set as well as the JOG velocity command Editing operating conditions Click Edit to edit the conditions Click Decision when editing is complete Click Cancel to cancel the editing ON OFF operation of motor excitation Servomotor does not run if this is not ON Execution buttons Click either Positive Negative Direction depending on the direction needed to operate the device When the It will stop if a button is pushed is selected as a stop method the motor will not stop until a Stop button is clicked 1 2 7 Test Operations JOG Operation 4 To end the JOG operation click quit button of the Windows When the following window appears click OK To continue the JOG operation click Cancel LY Is 106 Operation ended i Cancel 7 5 End JOG Operation confirmation Window 5 When other factors prevent JOG operation from being performed during operation or at the start of operations for example Communication errors Amplifier alarm detection etc the following window will be displayed and operation will stop A JOG Operation cannot be performed Preparation un completing 7 6 Preparation incomplete for JOG Operation Window 6 Click OK You will return to main window 7 2 Positioning Operation In the Positioning Test Operation by setting the feed velocity and the pulse number to be moved for the Servomotor moving the axis for a set nu
74. s Parameters to set each servo gain and l O function arrangement according to use These parameters Outline the group 0 F 2 System parameters Basic system parameters such as those for classified power source combining encoder etc These parameters outline the group System Parameters 3 Motor parameters Combining motor parameters 4 1 4 Parameters Parameter Seiting 4 2 Parameter Setting The parameters of the Servo Amplifier can be changed using the Parameter Setting function 1 Starting Parameter Setting The Parameter Setting window can be executeted by any of the three 3 following procedures 1 Select Parameter gt gt gt Parameter Setting on the menu of the main window and select the appropriate axis number from the axis selection window 2 Click the Parameter Setting icon El on the toolbar of the main window and select the appropriate axis number from the axis selection window 3 Double click Parameter gt gt gt Parameter Setting gt gt gt Parameter Group Name of the setting axis on the Project window E e i Ri Zort apmgrber orii melar A E Ampliar Motor Model RSZADIADARZ REAADADOSF Syatem Information Motor Combination Motor structure DOROTARY LV Frezeeg Setting Value FEA A Se a Man Power Zagreb Oban Fei Value J Amplifier capacity code OC15A cs BS Group 4 Gan switching vibration opreti Group 5 Hach setting
75. splays checked channel in graphic form B Waveform Items Displays selected signal name for each channel Set range and offset of signals here C Auto Clicking Auto adjusts the range and offset automatically and displays the in graphic form 10 4 4 0 Measurement 5 This window shows the view when the Measurement Value Tab is opened ES Operation Trace Axis1 File F Trace Jump ARA NEAR AR AC WS SE CH Information Measurement Value Measure Informal gt Amplifier Motor Model RS5240140442 R24404003F i t axis cursor Y axis cursor tl t2 12 544 ims Ta fe Sms Y Div i P e r H 3 1411 82 79 7 mus Ma Seed E cale Effective value CH1 v 35 And B l TMO Tey monitor min 1 tl 20 vl w2 CH2 VCMON elocity command monitor min 1 Oo vl v2 TEMON Torque command monitor t t on 1 v2 RegR Regenerative Resitor Operation H 1 000 vl w2 1 1 GH5 TMON Torque monitor 1 0 0 vl w2 0 0 GH6 PCMDF1 Position command frequency KPPS tl i sve t t Digital CH CH1 TLIM T orque limit CH2 SACT motor excitation CH3 SRDY Servo Ready CH4 ALM When alarm Operation Trace 10 5 Operation Trace Window Measurement Value Tab A Effective Value Calculates data between the t axis cursors of the selected channel and displays the resulting value
76. splays multiple axes of the Servo Amp in waveform Y Some functions may not be used depending on the specifications of the Servo Amplifier Y Functions with the mark cannot be used together simultaneously Y Functions with the mark cannot be used together simultaneously 1 1 1 System Overview Corresponding Devices 1 2 Corresponding devices This Setup Software corresponds to the following Servo Amp W RS2 i Y Some functions may be unable to be used depending on the Servo Amp model and or the combined Servo motor and Encoder You will not be able to select a menu and or icon for the non functioning items 1 3 System Environment The following system is required to utilize this Software Setup Minimum Equivalent to Intel Pentium 600MHz or greater Recommended Equivalent to Intel Pentium 800MHz or greater When executing Operation scrolling a selection with additional reserve space is necessary 128MB More than 256MB is recommended Hard disk free space 400MB or greater including Microsoft NET Framework 2 0 Corresponding OS Windows 98 SE Windows Me Windows 2000 Service Pack4 Windows XP Service Pack2 or newer Windows Vista Windows 7 32bit 64bit Other A RS 232C connection COM port or more 1 2 1 System Overview Program Installation 1 4 Program Installation Installation procedure of Setup Software is as follows 1 Exit all active applications 2 Insert the installation CD into t
77. ssion Frequency Tuning 8 2 Automatic FF Vibration Suppression Frequency Tuning This function set the vibration suppression frequency automatically 1 Operating Procedure 1 Select Auto Tuning gt gt gt Automatic FF Vibration Suppression Frequency Tuning from the menu or click the Automatic FF Vibration Suppression Frequency Tuning icon A on the toolbar of the main window The Axis number selection window will appear Select the axis to be tuned and click OK Click Cancel to stop operation 2 Execution confirmation window will be displayed Click OK Auto FF Vibration Suppression Frequency funing Axds E d d Is Auto FF Vibration Suppression Frequency Tuning performed 8 8 Automatic FF Vibration Suppression Frequency Tuning confirmation Window 3 Click Servo ON after checking the conditions displayed in the Gab window R Auto FF Vibration Suppression Frequency TunmetAxisl Ainolter Moter Model RS2A01ADAAD Operating Selections webct the operation al completing At completing Alarm of Test Run Close is selected At completing Alarm of Test Run Glose is not selected Parameter Setting Friction Torque Compensation value Motor Excitation Please carry out after ensuring surrounding safety po holding torquelforce falls during tuning execution Cautions usage of this function will operate a motor for about 30 seconds Do not use this function in a
78. tem Analysis Data Measurement amp Analysis Window 5 After setting the conditions check the safety and surroundings of the motor to be operated Then click Servo ON Motor excitation starts and Execute button becomes effective 6 Measurement will start by clicking Execute The progress will be displayed in the status bar ES Data Measure amp Analysys Axis1 Sle E Under data measurement Cancel 10 12 System Analysis Data Now Reading Status bar Window 7 The following window will be displayed when the measurement and data reading has been completed Click OK The motor excitation will continue until OK is clicked Data Measure amp Analysys foas 7 2 The measurement have been completed successfully IF O K is clicked analysis will be started Servo off is performed at the time of the end of data measurement i Cancel 10 13 Data Analysis waiting Window 10 10 10 Measurement system analysis 8 Data is being analyzed Please wait Data Measure amp Analisys Start Asds1 Data is under analysis Please wait for a while Several seconds to about several minutes Elapsed Time O1 second 10 14 Data Under Analysis Window 9 When analysis is complete the results will be displayed in graphic form System Analysis Axds1 e cht i i EEL System Analysis Aiel Cursor is displayed when box is checked You can confirm ees the frequency gain and phase at cursor posi
79. tion TM F la NE AS24071 40542 R25804003F gt ee ami CUISOF Save the measurement Hu o 381526 yy 181441 apy 120 2808 ve conditions and the waveform to fea i 92 7973 12 25 8405 ue 34 9708 Ve clipboard by clicking Save to The Torque thrust State of restriction Incidence Rate under Measurement Velocity loop proportional gain monitor 20 Hz Cursor 1 moves to its KVF MON Pe frequency with a left click of the mouse 0 of the restriction incidence rate is desirable Velocity loop integral time constant mont 229 TVI MON 2 0 Torque command filter monitor 501 20 TCFIL MON Lha 40 Torque command notch lter monitor 760 50 TENFILAMON Hz D D Torque command notch filter monitor 4000 Te TLE Hz Cursor 2 moves to its dea 184 frequency with a right Gain dB click of the mouse Range 10 pe Di deg Phase Range 50 deg Diw Measurement Date 1072372008 8 42 41 PM Frequency Hz 10 15 System Analysis Results Window Y Adjust the torque force command value so that the torque force restriction status incidence rate while being measured is 0 10 11 10 Measurement System analysis 10 Antiresonance resonance frequencies of a model control system can be set from analyzed graphs Move cursor t1 Green to the frequency to be set for model control antiresonance frequency cursor t2 Yellow to the frequency to be set for model control
80. to Serial ercoder mecktion OSITO FMT Laera actual porfin Backup tape abrclute ge Command posan montar y Ei L Aro melo A C Porton commune palpa k Lage electra wek ee Serial encoder PS data Pip aiaa enr apor Entectaeg Pos Peace L pasa ze E il e Siche 3 8 MDI Window 3 5 3 Basic Operation Basic Operation for Window 2 SDI Display When you want function window to show the SDI display select Window gt gt gt Window To SDI S on the menu of the main window Servo ampider vishus code TOALARM P OFF eerie ita eeng DEER aire ska 2 mengn 1100 0000 Caner purpose reg OO 0000 0000 General papose outa D 1000 0000 Weber command Fegaig Torque O Toga command moriis Position de s ee Actual position monitor a Brema Ak position m Arakg velocity torque co Fordiga coman pute kb Ue phate gece angle me Serial encoder P dla T a j a EUR i a 03 de de e E el 0 SR 4 v i T g Se ES Pe ER dr Ou 3 9 SDI Window 3 6 3 Basic Operation Project 3 4 Project You can manage and save connecting axes values and or individual data files as a Project 1 Project creation 1 Create a new project To create a new project select Project gt gt gt New N or click the New icon H on the toolbar Then select the connecting axis of the amplifier on the Communication Se
81. tting window Refer to 3 2 1 Communication Setting for details 2 Use an existing project If you use an existing project select Project gt gt gt Open O on the menu of the Main window or click the Open icon on the toolbar 2 Project Window Once the project is created and communication has been established with the Servo Amplifier axis axes values available functions and registered data files will be displayed as a tree gt Communication Setting Operation Level Ba Current operation level Ausl ER Parameter Setting pa Parameter Tranemiesion T o File pa Parameter Transmission To Amplifier z Parameter Venfcabon pu Save to the Backup Memory i Restoration from the Backup Memory E la Available functions listed Li Alarm g E E by respective axis pu Alarm History y H Alarm Reset E Test Operation i Auto Tuning E Adjustment E Measurement Axis2 Yt E Parameter pa Monitor E Alarm Test Operation JOG Operation i Positioning Operation Auto Tuning Adjustment Measurement z Operation Trace B ystem Analysis Measurement i Operation Scrolling ieee Data File pa Parameter Setting rales _______ Registered data file list po Operation Trace Operation Scrolling i System Analysis 3 10 Project Window 3 3 Basic Operation Project 3 Project Setting 1 Project property Set Project name Author and Project Contents To ope
82. ustment of T COMP Terminal Manual offset adjustment of V REF Terminal Manual offset adjustment of T COMP Terminal Password Setting Procedure Password setting procedure is as follows 1 Select Password Setting on the menu of the Parameter setting window Password window will be displayed 2 Input the password into each text box at New Password and New Password for a check and click OK Make sure to use 4 digit hexadecimal alphanumeric characters 3 4 Set 0000 to release the password 5 You cannot use FFFF 6 Re input power supply for Servo Amplifier to validate the new password Password Setting New Password New Password for a check SSS 0000 Release a password FFFF It cannot specify 3 16 Password Setting Window 3 11 3 Basic Operation Password Function 2 Password Verification Procedure While the Password to Servo Amplifier condition is already set you wanto to execute the function shown in figure 3 1 the Password Verification window appears If the entered password does not match the current password the individual functions cannot be used 1 Enter the correct password into the box and click OK 2 When you have entered the correct password for the Servo Amplifier the function window will appear Password Entering Pleaze enter a 3 17 Password Enter Window 3 7 Software Version Information When Help gt gt gt
83. ution window will appear Click Cancel to quit Serial Encoder Clear Axis1 Serial Encoder Clear ig under execution Cancel 7 17 Serial Encoder Clear Processing Window 4 After several seconds the following window will be displayed after successful completion of the Serial Encoder Clear operation Click OK Serial BW h 7 Serial Encoder Clear has been completed successfully 7 18 Serial Encoder Clear Successful Completion Window 5 When Serial Encoder Clear cannot be performed the following window appears Click OK and quit the operation Serial 7 19 Serial Encoder Clear Preparation Incomplete Window Ter 7 Test Operations Serial Encoder Clear 6 Alarm ALM_DF will occur at the same time as step 5 A Factors for incompletion malfunction Motor is operated externally Cannot perform zero clear Alarm factors cannot be cleared Y A case could occur where only the encoder status is cleared and the multiple revolution data is not cleared which will depend on the parameter settings of the Servo Amplifier Y There is a possibility that the encoder clear has already been performed when the operation was stopped by clicking Cancel and the window displayed Serial Encoder Clear cannot be performed Preparation un completing Make certain to confirm Serial Encoder PS Data of Monitor window 7 8 8 Automatic Tuning Automatic Notch Filter Tuning 8 Automatic Tun
84. y Magnetic Pole Position Presumption has been completed successfully 7 14 Magnetic Pole Position Presumption Successful Completion Window 6 When the Magnetic Pole Position Presumption is not presumed successfully the following window will appear Check the status A Factors for incompletion malfunction Linear sensor feedback error Motor is sticking and cannot move Magnetic 7 15 Magnetic Pole Position Presumption Preparation Incomplete Window 7 Test Operations Serial Encoder Clear 7 4 Serial Encoder Clear When the motor encoder is a serial encoder connected to the Servo Amplifier a zero clear of the multiple revolution data in the encoder as well as encoder status clear can be performed using this function 1 Operating Procedure 1 Select Test Operation gt gt gt Serial Encoder Clear from the menu or click the Serial Encoder Clear icon E on the toolbar of the main window The Axis number selection window will appear Select the axis to perform the Serial Encoder Clear function on and click OK Click Cancel to stop the operation 2 The confirmation window for execution of the Serial Encoder Clear will be displayed Click OK Serial Encoder Clear Axis 1 2 Is Serial Encoder Clear performed The status and the multi turn data of the serial encoder is reset E Cancel 7 16 Serial Encoder Clear Execution Confirmation Window 3 Serial Encoder Clear exec
85. yword input window 11 Click Install to begin the installation i R ADVANCED MODEL Setup Software Install5hield Wizard Ready to Install the Program The wizard is ready to begin installation Click Install to begin the installation IF you want to review or change any of your installation settings click Back Click Cancel to exit the wizard 1 10 Installation Confirmation window 1 7 1 System Overview Program Installation 12 This window will appear during installation Please wait Installing R ADWANCED MODEL Setup Software The program Features vou selected are being installed Please wait while the InstallShield Wizard installs R ADWANCED MODEL Setup Software This may take several minutes Status Installshield 1 11 Installation Progress window 13 Installation has completed Click Finish The InstallShield Wizard has successfully installed R ADYANCEC MODEL Setup Software Click Finish to exit the wizard Finish Cancel 1 12 Installation Completed window 1 System Overview Uninstall Program 1 5 Uninstall Program Uninstall Setup Software as follows 1 Exit all running applications before proceeding 2 From Start Menu of windows select the icon Add Remove Programs and the next window appears Ta Add or Remove Programs 1 13 Uninstall Window 3 Select R ADVANCED MODEL Setup Software and click Remove Y When uninstalling this Setup Software the f

Operating Manual for Servo Parameter Setting Software for HA

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