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DTSE-S606-9.1

1. CONI B15 CONI A16 CONI B16 CONI AI7 CONI B17 CONI A18 CONI B18 CONI AI9 CONI B19 I O Output Name Current station number Function The system outputs the current station number The system outputs the 9 bit binary code signal POS NOO LSB POS NO8 MSB E At Automatic Operation The system outputs the station No at which stopped when completing the positioning to the specified station During operation the station No which can be stopped in operation direction is output Also outputs the station number when the START signal is changed to OPEN during operation and the controlled machine is positioned and stopped at the nearest available station in the operation direction W At Manual Operation The system outputs the station No at which stopped when completing the positioning to the arbitrary station During positioning station number at which can be stopped in operation direction is output 16 POS NOO POS NOI POS NO2 POS NO3 POS NO4 POS NOS POS NO6 POS NO7 POS NO8 ABS READY Symbol Pin No Descriptions CONI B15 CONI A16 CON I B16 CON 1 A17 CON 1 B17 CONI AI8 CONI B18 CONI A19 CONI B19 CONI A20 Table 3 11 l O signals Cont d E At Setup Operation The system outputs the specified station number after completion of the setup operation After confirming COIN signal changing OPEN CLOS
2. Tawai ory Burd rg 303 Yar Ar Ruaa i sth Sraricra 200050 CHINA 9 Chang Suld ag 10 146 Sung Chiang Road Taipe aan Manufacturer amp Distributer Y Y E DRIVE CORPORATION 31 YOSHIKITA IIZUKA CITY FUKUOKA PREF 820 JAPAN DRIVE PHONE 0948 24 7601 FAX 0948 24 7942 TOKYO SALES DIVISION C O YASKAWA ELECTRIC CORPORATION Tokyo Office Ohtemachi Bldg 1 6 1 Ohtemach Chiyoda ku Tokyo 100 Japan Phone 03 3284 9077 Fax 03 3284 9383 OHSAKA SALES DIVISION C O YASKAWA ELECTRIC CORPORATION Ohsaka Office Osaka Dachi Sermei Bldg 1 8 17 Umeda Kita ku Osaka 530 Japan Phone 06 346 4560 Fax 06 346 4565 NAGOYA SALES DIVISION C O YASKAWA ELECTRIC CORPORATION Nagoya Office Horiuchi Bldg 3 25 9 Melek Nakamura ku Nagoya 450 Japan Phone 052 581 2346 Fax 052 581 2359 KYUSHU SALES DIVISION C O YASKAWA ELECTRIC CORPORATION Kyushu Office Chiyoda Seimei Fukuoka Bldg 1 9 17 tenjin Fukuoka 810 Japan Phone 092 714 5075 Fax 092 714 5799 DTSE S606 9 1 Ad Due to ongoing product modification improvement data subject to change without notice Printed in Japan November 1995 95 11 0
3. Fig 4 6 Sequence of Zero point Offset Automatic Setup Operation Fig 4 7 Time Chart of Zero point Offset Automatic Setup Operation 23 4 5 AUTOMATIC OPERATION m Function The system moves the controlled machine to the station of the commanded number positions it and stops it there In the case of a rotating axis the shortest path control which determines the shorter distance direction is used The direction can be fixed or commanded externally When START signal is changed from CLOSED to OPEN during automatic operation the machine is positioned and stopped temporarily at the nearest station in the running direction at that moment Then COIN signal is output COIN A signal is not output From this status any operation mode is possible to use Running speed V1 is set by parameter E0 00 to 03 B Sequence Fig 4 8 shows the sequence of automatic operation Input automatic operation mode MODEO to MODE Input station command value STA NOO to STA NO8 Input START signal after the above START OPEN gt CLOSED 1 COIN and COIN A signals are output within COIN N COIN CLOSED gt OPEN 5msec and automatic operation starts Automatic operation completion COIN A COIN OPEN gt CLOSED l Fig 4 8 Sequence of Automatic Operation W Time Chart Fig 4 9 shows the time chart of automatic operation SVON CLOSED MODE ix ST
4. Exceeding temperature The temperature inside the motor has risen above the regulated value and the inverter output was shut off The temperature inside the motor has become high or the temperature detection line inside the PG cable is faulty Check the motor temperature If the temperature is normal check the temperature detection line PG cable CPU error I CPU error was detected during the self diagnosis carried out after power was supplied and the inverter output was shut off Since the error was detected during self diagnosis carried out after power was supplied it is a hardware error Replace and return it to the factory CPU error II CPU error WDT was detected during operation and the inverter output was shut off This error is detected for external noise Malfunction of the microcomputer out of control It is possible that noise has entered from the control signal line or 24 VDC power line Take measures to prevent noise from entering these lines shield the cables or separate the lines from power lines carrying large currents It is also possible that the control unit is faulty If the error does not disappear after eliminating the noise replace the control unit and return it to the factory CT error CT current detector error was detected and the inverter output was shut off Since the CT error for current detection was detected it is a hardware error Replace and return
5. 4th positioning control gain Ist Soft start time 2nd Soft start time 3rd Soft start time 4th Soft start time 79 r min r min r min r min r min r min r min r min r min r min r min r min r min r min r min r min r min r min r min r min r min r min r min r min msec msec msec msec 0 1 Sec 0 1 Sec 0 1 Sec 0 1 See msec msec msec msec Cont d E 1st Soft start speed 2nd Soft start speed i 3rd Soft start speed 4th Soft start speed Ist torque limit value 2nd torque limit value l 3rd torque limit value E 4th torque limit value l 1st in position width l 2nd in position width E 3rd in position width 4th in position width Ist near position width i 2nd near position width i 3rd near position width l 4th near position width l Ist soft stop speed 2nd soft stop speed l 3rd soft stop speed i 4th soft stop speed E 1st soft stop Kp 2nd soft stop Kp i 3rd soft stop Kp 4th soft stop Kp www yw oO 20090 oO Oc oo m 0000 0000 00 OO 00 80 Initial Value pulse pulse pulse pulse pulse pulse pulse pulse r min r min r min r min 0 1 See 0 1 Sec 0 1 Sec 0 1 Sec 81 E EEE E Juspoint II VECTOR CONTROL INVERTER POSITIONING SYSTEM Distributer Y YASKAWA ELECTRIC CORPORATION YASKAWA TOKYO OFFICE Ohtemach Bldg 1 6 1 Ohternach Cn yoda u Tokyo OG Japan Phone 103 3
6. Current station number value Current station number value Table 5 4 Monitor Function Cont d Name Output signal block B When a signal is CLOSED the corresponding indicator is lit Description ABS READY Memory storage completion OPT OUTO Preliminary output 1 Station number command value display in decimal notation Station number command value STA NO 0 to STA NO 8 is displyaed in decimal notation Current station number value display in decimal notation Current station number value POS NO 0 to POS NO8 is displayed in decimal notation Zero point offset by automatic operation display in decimal notation Offset obtained as a result of zero point offset automatic setup is displayed Adjust zero point offset to be within 120 to 40000 Otherwise alarm A will be activated In the case of alarm A being activated change either the zero point LS position or Z phase PG position Zero point LS position in decimal notation The distance pulses between the zero point LS position and the Z phase PG position is displayed in decimal notation A value out of the range of 120 will be occured alarm 9 In the case of alarm 9 being activated change eigher the zero point LS position or the Z phase PG position Current position pulses in decimal notation The current position pulses internal setup down counter in respect to the setup positio
7. All modes are received at the moment the START signal changes from OPEN to CLOSED In order for the signal to be read input mode signal before or at the same time as the START signal and hold for over 10msec piece tl gt Omsec MODE lt X t2 gt 10msec START OPEN When the START signal changes to CLOSED if the operation mode is set to no mode a mode set error is displayed ZRET LS CONI A10 VO Input Name Zero point LS signal Function Zero point LS signal at zero point return operation W At zero opoint return operation C0 1420 Detecting this signal changing from OPEN to CLOSED decelerates to V4 from V3 Then detecting the signal CLOSED to OPEN Move and position by the zero point offset from the first Z phase pulse This stopping position is zero point Fault occurs if point of the signal changing CLOSED to OPEN and Z phase pulse is closer than 120 PULSE In this case move zero point LS At zero point return operation CO 14 1 Detecting this signal changing from OPEN to CLOSED decelerates to V4 from V3 Then detecting CLOSED to OPEN move and position as zero point offset preset This stopping position is zero point Enables zero point return operation if the signal CLOSED time is over lOmsec But might go over zero point after go over return to zero point Because CLOSED time is too short C
8. bit 3 STA NO4 Station command value bit 4 STA NO 5 Station command value bit 5 STA NO 6 Station command value bit 6 STA NO 7 Station command value bit 7 STA NO8 Station command value bit 8 START Operation command input F R Direction command input MODE 0 Operation mode command input bit O MODE I Operation mode command input bit 1 MODE 2 Operation mode command input bit 2 35 Table 5 4 Monitor Function Cont d Name Input signal block B ZRET LS EMG SVON RESET MULT 0 MULT 1 ABS ST OPT INO When a signal is CLOSED the corresponding indicator is lit Code Description ZRET LS Zero point LS signal EMG Emergency stop signal SVON Servo ON signal RESET Fault reset MULT 0 Multiple pattern signal 0 MULT 1 Multiple pattern signal 1 ABS ST Memory storage command signal OPT INO Preliminary input Name Output signal block A COIN COIN A NEAR ZSPD ALARM POS NO0 POS NO1 POS NO2 POS NO3 POS NO 4 When a signal is CLOSED the corresponding indicator is lit Description Operation completion signal Automatic operation positioning completion Positioning vicinity signal Zero speed signal Error signal Current station number value Current station number value Current station number value Current station number value Current station number value Current station number value Current station number value
9. 1 8 l Pulses between stations 8 9 or 1 9 Pulses between stations 9 10 or 1 10 Pulses between stations 10 11 or 1 11 Pulses between stations 11 12 or 1 12 Pulses between stations 12 13 or 1 13 E Pulses between stations 13 14 or 1 14 l Pulses between stations 14 15 or 1 15 E Pulses between stations 15 16 or 1 16 j Pulses between stations 16 17 or 1 17 l Pulses between stations 17 18 or 1 18 Pulses between stations 18 19 or 1 19 Pulses between stations 19 20 or 1 20 Pulses between stations 20 21 or 1 21 i Pulses between stations 21 22 or 1 22 Pulses between stations 22 23 or 1 23 l Pulses between stations 23 24 or 1 24 Pulses between stations 24 25 or 1 25 Pulses between stations 25 26 or 1 26 i Pulses between stations 26 27 or 1 27 Pulses between stations 27 28 or 1 28 Pulses between stations 28 29 or 1 29 l l Pulses between stations 29 30 or 1 30 Pulses between stations 30 31 or 1 31 i 18 96000000 96000000 96000000 96000000 96000000 96000000 96000000 96000000 96000000 96000000 96000000 96000000 96000000 96000000 96000000 96000000 96000000 96000000 96000000 96000000 96000000 96000000 96000000 96000000 96000000 96000000 96000000 96000000 96000000 96000000 Cont d l Pulses between stations 31 32 or 1 32 l Pulses between stations 32 33 or 1 33 l Pul
10. 1800 r min wW f D GENERATED HEAT A ae Fe re rer SERVO OFF SERVO ON 100 200 300 LOAD CONDITIONS A 2 BUILT IN DISCHARGING RESISTOR CAPACITY Juspeed F X3000 Juspoint IIT The data listed here are for you to refer to and decide whether or not the built in discharging resistor can be used 1 Loads MODEL N Td Deceleration torque kgm N Speed r min ta Deceleration time sec ti ts Operation cycle sec 2 Heat generated from the resistor Calculate the heat generated W from the discharging resistor using the following equation W Tax N x 0 5 x Ta ts W 3 Applicable range for built in braking resistor When the heat W generated from the discharging resistor calculated from the equation above times 4 is smaller that the value in the following table the built in discharging resistor can be used 4xW lt Wmax Usable 4xW gt Wmax Unusable Model 0 2kW 0 4kW 0 75kW 1 5kW W max 7 5W 7 5W 15 0W 25 0W 4 In the case when the internal resistor cannot be used If the result of the above calculation shows that the built in resistor cannot be used you must use an external resistor The following describes how to select the capacity of an external resistor Wext Wexr Wx 4 Select a resistor that has a capacity 4 times the generated heat To use an external resistor a lead wire is required for connecting to X3000 The lead wire will be manufactured in our factory after receiving the or
11. 1800 r min unit 1 initial value 50 Set the running speed V5 n of zero point offset automatic setup E0 40 1st low speed zero point return V5 0 E0 41 2nd low speed zero point return V5 1 E0 42 3rd low speed zero point return V5 2 E0 43 4th low speed zero point return V5 3 Jog speed V6 n 10 to 1800 r min unit 1 initial value 50 Set the running speed othe JOG operation V6 n E0 50 Ist low speed zero point return V6 0 E0 51 2nd low speed zero point return V6 1 E0 52 3rd low speed zero point return V6 2 E0 53 4th low speed zero point return V6 3 Name Range Function Acceleration time ACC n 10 to 5000 msec unit 1 initial value 100 Set the time required to accelerate from zero speed to maximum speed 1800 r min E0 60 1st acceleration time ACC 0 E0 61 2nd acceleration time ACC 1 E0 62 3rd acceleration time ACC 2 E0 63 4th acceleration time ACC 3 Name Range Function Table 5 2 Parameter Functions Cont d Position control proportion gain Kp n unit 0 1 sec 1 to 1000 unit 1 initial value 100 Set the proportional gain of the position loop E0 70 1st position control proportional gain KP 0 E0 71 2nd position control proportional gain KP 1 E0 72 3rd position control proportional gain KP 2 E0 73 4th position control proportional gain KP 3 Name Range Function Soft start time at starting ts n 0 to 99 m
12. B4 CONI A5 STA NOS CONI B5 STA NO6 STA NO7 CONI A6 CONI B6 STA NOS CONI A7 I O Name Function STA NO START OPEN Power source or COM signal 0V power source This signal shows that power is being supplied 0V Power may also be supplied from TMI 2 or represents the COM signal in the case of 0V common type Input Command input of station number Command a station number The command input is received at the moment the START signal changes from OPEN to CLOSED during either automatic operation or setup operation Hold the signal for over lO0msec after the START signal has changed from OPEN to CLOSED in order for the signal to be read Input a 9 bit binary STA NOO LSB STA NO8 MSB code signal tl t2 SX tl gt Omsec 12 gt lOmsec x VO Name Function Input Operation command input Each operation begins with this signal CLOSED B At Automatic Operation Station number is received at the moment the START signal changes from OPEN to CLOSED and the positioning operation is started Its speed is VI parameter Hold CLOSED until the operation completion signal COIN COIN A is output Changing to OPEN before the completion of indexing causes the machine to stop at the nearest available station in the running direction And COIN signal is output but COIN A is not output CON 1 B7 E At Manual Operati
13. Positioning vicinity signal Function The system outputs CLOSED when the controlled machine approaches the aimed station E Automatic Manual Operation Mode The system outputs when the controlled machine comes close to the station to be positioned The range of vicinity is set by parameter Use this signal when mechanically clamping just before positioning After changing the START signal from OPEN to CLOSED OPEN NEAR signal is output within Smsec and positioning action is started li Setup Operation Mode The system carries out the same output sequence as for the COIN signal After changing START signal from OPEN to CLOSED outputs OPEN COIN A signal within Smsec and starts positioning action Always outputs OPEN in operation modes other than the above Immediately after turning the system ON the OPEN NEAR signal is output CON1 B14 I O Name Output Zero speed signal Function The system outputs CLOSED when motor speed falls below zero speed approximately 10r min This output signal is output independently regardless of operation status 15 Alarm indication Table 3 11 1 0 signals Cont d Symbol I O Output Name Error signal Function The system outputs CLOSED when an alarm is detected at the driver or the positioning controller In this case power is shut down and the motor goes
14. axis data Therefore to carry out positioning using the teaching data parameter CO 01 4 Absolute coordinate axis must be set 5 3 6 Supplementary description for parameter setter li Carry out the connection of the parameter setter with Juspoint II point module turned OFF We do not guarantee proper operation if the connection is made with Juspoint III turned ON B The following indications are not displayed SEQ REF W The following keys do not function even when depressed RUN STOP E Depress the ENTER key to finish parameter setting monitor operation and then depress the DSPL key to carry out parameter setting monitor operation and the next parameter number monitor number will be displayed Example C0 12 C0 13 Bi Depress the ENTER key to finish parameter setting monitor operation and carry out operation and then depress the DSPL key to carry out parameter setting monitor operation and the following parameter number monitor number will be displayed B The parameter setting operator is a not Juspoint M accessory It is identical to the parameter setter used in the inverter VS series made by Yaskawa Electric Type JVOP 100 made by Yaskawa Electric W Holding down each key does not cause the key to repeatedly function Release each key after depressing it for the next key operation E For parameter set by personal computer contact your YASKAWA representative 6 VO INTERFACE 6
15. carries out self diagnosis and displays if no error is found Running Servo ON condition and normal operation is continued 7 2 TROUBLESHOOTING e Cause and remedy of alarms for Juspoint Ill Table 7 3 is a list of alarms The indications refer to those made on the 7 segment LED on the point module board These indications are blinking indications continuously lit indication indicates normal operation Table 7 3 Cause and remedy of alarm Blinking Alarm description Cause and remedy Indication 0 Driver alarm was detected description is Check the alarm on the driver The alarm description is displayed on displayed on the driver the amplifier board PG fault including poor wiring PG fault PG poor wiring or motor locked may be the cause Check them Emergency stop operation was occured Emergency stop operation was occured to stop the motor Inputting OPEN for the EMG signal executes the emergency stop operation After resetting the alarm zero point return or setup operation is not required Operation was commanded without setup operation after turning ON the power except for ABS mode 1 and 2 Automatic or manual operation was performed with state 0 without setup Perform the setup operation and then the automatic or manual operation Zero point LS was not detected during zero point offset automatic setup operation The zero point LS was not detected a
16. into zero speed status However only alarm signal in the driver X3000 is base blocked Alarm status is held and is released by reset signal Indication Contents of alarm 0 Alarm detected at the driver Contents are indicated at driver side l PG failure including wiring failure 2 Emergency stop 3 No setup operation after turning ON Except in the ABS mode 4 Zero point LS not detected during zero point offset automatic setup operation 5 Zero point LS not detected during zero point return CONI AIS 6 Undefined station number is specified 7 Operation mode is not set properly 8 Though zero point offset setup mode is in the parameter setup mode zero point offset automatic setup operation is specified 9 Position error or zero point LS too close to Z phase pulse position A Zero point offset amount is out of the allowable range Other than 120 to 12000 b When the backlash correction is not 0 Zero point offset automatic setup operation is specified Setup operation is specified without zero point return The backlash correction is larger t han the unit station pulses C Station is not positioned in order of station No d Memory storage error in the ABS mode Blank CPU error including status out of control x Indication shows 7 segment numeric indicated on the point module board Blinking indication is alarm status Steady lighting indication is status indication
17. load GD must be within two times as large as applicable Juspoint II motor GD In applications in which this value is exceeded overvoltage alarm may occur at deceleration In this case take the following preventive actions Lower the current limit Increase accel decel time lower the maximum speed to be used 3 High Voltage When power supply voltage is 400V class 400V 440V etc a power supply transformer is required to convert 3 phase 400 440V to 3 phase 200 220V 4 Machine or Control System Protection When there is a limitation for machine traveling range provide a limit switch to the machine system and build sequence to stop Juspoint Il emergency stop etc by the limit swith operation in order to protect the machine or control system 50 9 OPTION 9 1 PARAMETER SETTER For setting the parameters use the parameter setter manufactured by YASKAWA ELECTRIC Specify the following type when ordering It is common for all capacities JVOP 100 Precautions for using the parameter setter Bl When connecting it to Juspoint Ill make sure that the 24VDC power supply is OFF Bl When disconnecting it from Juspoint III the 24VDC power supply can be ON Wi If you connect it while the 24VDC power supply is ON the parameter setter will display the alarm mode of CPF00 lll Do not operate keys other than those designated 9 2 PARAMETER SETTER CABLE Cable length 1 1m 3 3m This is a cable used
18. stations Current Position Output 9 bit binary code Input Signal Emergent stop Reset Positioning command Direction command Start command Operating mode Numerical pattern Servo on Zero point LS ABS position start Position completion ABS position completion _ Poetioning C Control j Output signal Backlash Compensation Positioning near width Zero speed mE 0 to 7200 20 rotation at motor axis Alarm Current station Accel Time e uM 10 to 5000 msec 0 to 1800r min Soft Start NEN E E zu Provided 0 to 100msec Soft Stopping _ Provided _ ABS Positioning _ _Provided Using mot or with brake _ Positioning Accuracy _ 0 5 or below At motor axis Operation Constant Model UAJPEE DK2K Total 120 parameters Digital operat Or 0 2kW 0 4kW 0 75kW 1 5kW JVOP 100 or setting by personal computer is also possible Output _ kW HP 0 2 1 4 0 4 3 4 0750 1150 Rated Current _ A u 1 08 i 2 9 4 xod ein j 7 4 ZEN 11 0 Rated Torque Nm 1 06 NS m 12 NC 98 7 95 v 11 66 Maximum Torque N m EA 4 2 2 200 rated Torque RI Moment Inertia of J GD 4 kg cm 6 0 7 14 5 7 30 75 70 25 ES 96 75 200 5 Motor Insulation Class Class B
19. the running speed V1 n for automatic operation EO 00 1st automatic operation runnning speed V1 0 E0 01 2nd automatic operation runnning speed V1 1 E0 02 3rd automatic operation runnning speed V1 2 E0 03 4th automatic operation runnning speed V1 3 Name Range Function Manual operation speed V2 n 10 to 1800 r min unit 1 initial value 500 Set the running speed V2 n for manual operation EO 10 Ist manual operation running speed V2 0 E0 11 2nd manual operation running speed V2 1 E0 12 3rd manual operation running speed V2 2 E0 13 4th manual operation running speed V2 3 Name Range Function Zero point return high speed V3 n 10 to 1800 r min unit 1 initial value 500 Set the high speed V3 n for zero point return E0 20 Ist high speed zero point return V3 0 E0 21 2nd high speed zero point return V3 1 E0 22 3rd high speed zero point return V3 2 E0 23 4th high speed zero point return V3 3 Name Range Function Zero point return low speed V4 n 10 to 1800 r min unit 1 initial value 50 Set the low speed V4 n for zero point return E0 20 Ist low speed zero point return V4 0 E0 21 2nd low speed zero point return V4 1 E0 22 3rd low speed zero point return V4 2 E0 23 4th low speed zero point return V4 3 Name Range Function Name Range Function Zero point offset automatic setup speed V5 n 10 to
20. 00 03 Automatic operation speed V 10 V13 E0 10 13 Manual operation speed V20 V23 E0 20 23 High speed 0 point return V30 V 33 E0 30 33 Low speed 0 point return V40 V43 E0 40 43 Offset setting speed V50 V53 E0 50 53 JOG speed V60 V63 E0 60 63 Acceleration time ACCO ACC3 E0 70 73 Position control gain Kp0 Kp3 E0 80 83 Soft start time tsO ts3 E0 90 93 Soft start speed VsO Vs3 E0 A0 A3 Torque limit value TLO TL3 E0 b0 b3 In position width COINO COIN3 E0 C0 C3 Near position width NEARO NEAR3 E0 d0 d3 Speed range for soft stop Vsp0 Vsp3 E0 E0 E3 Kp gain for soft stop Kp20 Kp23 Notes 1 Attach or detach the digital operator JVOP 100 while the power is tumed OFF 2 Any positioning operation is possible with the digital operator J VOP 100 connected however parameters cannot be set during operation Parameters can be set only while Juspoint I is not operating i 3 Parameters out of the upper or the lower limit cannot be set In this case the upper or the lower limit will be set 4 When 0 point offset automatic setup is selected and the 0 point offset is out of the upper limit or the lower limit an error occurs 2 Name Range Function Example Example 2 Table 5 2 Parameter Functions Number of stations 2 to 511 unit 1 initial value 8 Set the number of stations to be indexed Station position command STA NO 0 to 8 larger than the set number of stations will resu
21. 1 INPUT INTERFACE Input interface is shown in Fig 6 1 Two types of input interface OV common and 24V common are provided These two types require different hardware so specify which type you prefer when ordering Refer to Table 6 1 The input interface of the system does not use the photocoupler insulation method It is isolated from the main circuit In the case of contact input use a micro current contact 24V 10k O COMPARATOR 12V 2 4mA O 10k Q COM 0 1 uF Y ov if OV a OV Common Input Interface 24V A 2 4mA 7 E COM COMPARATOR 12V oS ie 10k 2 10k Q _1_ O 1KF OV WV 0v b 24V Common Input Interface Fig 6 1 Input Interface Circuit 42 6 2 OUTPUT INTERFACE The output interface is shown in fig 6 2 Two types of output interface OV common and 24V common are provided These two types require different hardware so specify which type you prefer when ordering Refer to Table 6 1 The output interface of the system is not of photo coupler insulation method It is isolated from the main circuit For driving if a coil such as a relay externally install a clamp diode SIGNAL service voltage 35V a gt service current 50mA COM v V 0v 0 a OV Common Output Interface 24V E COM COM gt Max Max service current 50mA service voltage 35V SIGNAL O b 24V Common
22. 2 OPERATION STATUS MONITOR Table 5 3 shows the list of operation statuses to be monitored Monitor the operation status while the system is at a standstill Monitoring cannot be carried out during operation Table 5 3 List of Operation Statuses to be Monitored Name Description Input signal block A Sequence input signal status CON1 A3 to B9 Input signal block B Sequence input signal status CON1 A10 to B12 A 23 to B23 Output signal block A Sequence output signal status CON1 A 13 to B19 Output signal block B Sequence output signal status CON1 A20 to B20 Station number command value Station number command value STA NO 0 to 8 in decimal notation Current station number value Current station number value POS NO 0 to 8 in decimal notation Zero point offset Zero point offset in decimal notation Zero point LS position Zero point LS position in decimal notation Current position pulse Current position pulse in decimal notation Deviatoric pulse Deviatoric pulse in decimal notation Table 5 4 shows the operation status monitor functions Table 5 4 Monitor Function Name Input signal block A STA NOO STA NO1 STA NO2 STA NO3 STA NO4 STA NO5 STA NO6 STA NO7 STA NO8 START MODE MODE2 When a signal is CLOSED the corresponding indicator is lit Code Description STA NOO Station command value bit 0 STA NO I Station command value bit 1 STA NO2 Station command value bit 2 STA NO 3 Station command value
23. 20 29P i 334113 151 PET 3840157 a0 i 622 13915 47 F DN ia of 3i sie 198 ben Holding magnetic brake is built in 24VDC braking torque SN m RECEPTACLE FOR ENCODER MS3102A20 29P 392 15 43 M 342 13 46 50 922 10871 166 6 541 o 97 i A 8 e E 24 Bos 0 94 Soga e Holding magnetic brake is built in 24VDC braking torque 14N m RECEPTACLE FOR ENCODER MS3102A20 29P A22 16 60 r 372 14 65 50 22 087 1961772 0 99 e 2 o v IL nk 2 24 fon 10 94 2 Holding magnetic brake is built in 24VDC braking torque 14N m RECEPTACLE FOR ENCODER MS3102A20 29P i 474 18 66 414 16 30 234 19 21 E E D E la z 2 d A 2 n DOERELM x ns SD E CN 3 9 Holding magnetic brake is built in 24VDC braking torque 24N m 3130 5 12 xi 4 611 0 43 HOLE 0145 6 71 4 611 0 43 HOLE 01165 16 50 e ry RD 1126 14 96 4 614 0 55 HOLE 195 7 68 4 614 0 55 HOLE 4 614 0 55 HOLE 245 9 65 APPENDIX A A2 A3 A4 A5 A6 A7 A8 A9 A10 All A12 A13 Al4 A15 A16 A17 A18 A19 A20 HEAT LOSS DATA Juspeed F X3000 JuspointIll n6 eee 57 BUILT IN DISCHARGING RESISTOR CAPACITY n 66 58 Juspeed F X3000 Juspoint III ACCELERATION AND DECELERATION TIME SETT
24. 284 9111 Telex YASKAWA 33530 Fax 03 3284 9034 YASKAWA ELECTRIC AMERICA INC Chicago Corporate Headquarters 2942 MacA thur Blvc Nortorook IL 60062 2028 USA Phone i708 291 2340 Fax 17081 498 2430 Chicago Technical Center 3160 MacArnur Blvd Nornprogk 60062 197 USA Phone 1708 291 04 1 Fax i708j 291 MOTOMAN INC 805 i berty Lane West Carrollton OH 45449 US A Phone 513 847 6200 Fax 15131 847 6277 YASKAWA EL TRICO DO BRASIL COM RCIO LTDA Rua Conde Do Pinta 8 5 Anc ja a 5 CEP 01501 840 Panlo SP Brasi Prone 0111 35 191 Fax i011 37 73 YASKAWA ELECTRIC EUROPE GmbH Am Kronberger Haig 2 65824 Prone 149 6196 569 300 Fax Motoman Robotics AB Box 130 5 38500 Torsas Sweder Phone 0486 10575 Fax 0486 11410 Motoman Robotec GmbH Kamir erteldstrage 85391 Allershausen Germany Priore 08166 900 Fax 08166 903 YASKAWA ELECTRIC UK LTD 3 Drum Ma rs Park Orcrardton Woocs Comperianlo Scatara 6689 Uk Phone 12361735000 Fax 2361458182 YASKAWA ELECTRIC KOREA CORPORATION Paik Nam Bidg 901 1883 a Euro Joona Gu Scour Korea Phone i021776 7844 tax 639 YASKAWA ELECTRIC SINGAPORE PTE LTD Head Office CPF Bldg 79 Roninsar R Pnore 221 7530 Ter 7 2489 YA Service Center 221 r Prone 276 7407 Fa 7406 YATEC ENGINEERING CORPORATIOI Sher Hs ang lang Surg C B 1 Pnone 021 563 00 SHANGHAI OFFICE oC Prone 86 212 105 Fax 186 TAIPEI OFFICE Sher Hsiang Phone 02 563 0010 Fax walbach Germany 9 696 888 301
25. 8 5 46 5 lt 62 Encoder enclosure 65 28 5 36 5 lt 51 The motor in this example can be used from the thermal point of view 66 A9 SELECTION OF MOTOR CAPACITY This section describes the basic on how to select your motor capacity Note that the control unit of the same capacity as the motor must be used otherwise the motor cannot be controlled 1 Model The following models are used in descriptions GD Motor inertia kg m GDi Load inertia kg m V Speed r min TIME ta tc td ts Tu Motor rated torque kgm T Load torque kgm TORQUE Ta TL Td Ts Ta Acceleration torque kgm Ta Deceleration torque kgm SPEED Yi T Locked rotor torque kgm E Acceleration torque Ta is obtained from the following equation T GDu GD1 x V 375 ta Ti B Deceleration torque Ta is obtained from the following equation Te GD GDi x V 375 td Th 2 Select a motor capacity that satisfies the following conditions E 200 of the motor rated torque is larger than the acceleration torque Ta 2x Tu gt T E 200 of the motor rated torque is larger than the deceleration torque Ta 2 x Tw Ta W 100 of the motor rated torque is larger than the load torque TL Tw TL x Thermal evaluation is also required 67 A10 GEAR RATIO SETTING Depending on the gear ratio the unit station interval pulses can be
26. A NO iz START OPEN COIN A SS COIN CLOSED NEAR CLOSED POS NO gt SPEED Fig 4 9 Time Chart of Automatic Operation 24 4 6 MANUAL OPERATION B Function The system positions the machine and stops at each station by manual operation Select manual mode and direction and make START signal CLOSED and operation will start When making START signal OPEN the machine will be positioned and stopped at the nearest available station in the operation direction Running speed V2 is set by parameter E0 10 to 13 E Sequence Fig 4 10 shows the sequence of manual operation Input of manual operation mode and direction MODEO to MODE2 F R Input of START signal after the above START OPEN CLOSED E COIN and NEAR signals are output within 5msec and manual operation starts COIN NEAR CLOSED gt OPEN START signal is stopped START CLOSED gt OPEN Manual operation completion POS NO NEAR COIN OPEN gt CLOSED __ Note After start of operation COIN A signal is output OPEN and continues to be output even after completion of E Time Chart F R MODE START operation Fig 4 10 Sequence of Manual Operation Fig 4 11 shows the time chart of manual operation p OPEN a oe COIN CLOSED NEAR CLOSED A POS NO SPEED
27. ATUS ALARM INDICATION Meaths ssasesesesesessssessssossesheeseeseeseseorsoosessssesesoseqeeeenvosesse seven 47 7 1 STATUS INDICATION On the point module Meesesesethasshaesaseceevssosseseeosceeseseseeoosseevevesecsesoo 47 7 2 TROUBLESHOOTING wemeseshsssessaeseaopesesuosevessssessesseesacssaeesesssseveseseeceeoseessecspesoesoeeesesoo ron 48 8 PRECAUTIONS ON APPLICATION Basoeteostressesossevpeseososeseeseevoeveveveeceoeseccsoosescesec oseese uesus se 50 9 OPTION Inn 51 9 1 PARAMETER SETTER AS 51 92 PARAMETER SETTER CABLE Pr rr rr rr rr rr rr rro rr raros rr rr rr 51 9 3 PG CABLE eee rr ee rr rr eee eee eee eee rr rr rro rr rr rr rr rro rr rro 51 9 4 PARAMETER SETTING SOFTWARE Personal computer software 6 52 9 5 PERSONAL COMPUTER COMMUNICATION CABLE chee tenet een nner esso sosesooosssecessosecosee 52 10 CHARACTERISTICS Speed Torque Curve On 53 11 DIMENSIONS in mm inches nn nnn hh teh ht i rer re see e eese hoe eese esee esee 53 11 1 CONTROLLER rr ssesse esssssos seeshashhessessesessssesesssshesaesheeososeeeeesoeesevseevervevevees 53 112 DIMENSIONS in mm inches AAA 54 1 INTRODUCTION Juspoint III is the newest member of our inverter drive family developed exclusively for station indexing and positioning control Itis an economical cost easy to set reliable positioning system designed to drive actuators for Numerical Control machine tools The system consists of a motor and a controller The controller includes YASKAWA s vector control
28. Cont d Name Operation completion width COIN n COIN A n output width Range 8 to 80000 PULSES unit 1 initial value 20 Function Set the allowable position error range error between the aimed position and the current position for outputting COIN and COIN A signals Set in PG pulse units multiples of 4 When the machine reaches the allowable range the COIN COIN A will be CLOSED and when the machine moves out of the allowable range the COIN COIN A will be OPEN again E0 b0 Ist operation completion width COIN 0 COIN A 0 EO b1 2nd operation completion width COIN 1 COIN A 1 E0 b2 3rd operation completion width COIN 2 COIN A 2 E0 b3 4th operation completion width COIN 3 COIN A 3 Name Positioning vicinity width NEAR n output width Range 8 to 80000 PULSES unit 1 initial value 400 Function Set the allowable position error range error between the aimed position and the current position for outputting the NEAR signal Set in PG pulses multiples of 4 When the machine reaches the allowable range the NEAR signal will be CLOSED and when the machine moves out of the allowable range the NEAR signal will be OPEN again E0 CO Ist near positioning width NEAR 0 EO C1 2nd near positioning width NEAR 1 E0 C2 3rd near positioning width NEAR 2 E0 C3 4th near positioning width NEAR 3 Name Soft stop speed Vspn Range O to 1800 r min u
29. ED receives this signal 0 is output after the system is turned ON after zero point return and after the zero point offset automatic setup operation When automatic setup operation CO 15 the system outputs the value set to CO 15 after completing the zero point return 0 is output during JOG operation and after an emergency stop When the controlled machine is stopped at a station after JOG operation and after resetting following an emergency stop the station number is output I O Output Name Memory storage in ABS mode completed Function After turning ON the ABS ST OPEN signal and stopping the motor at the same time in the ABS mode the system stores the current position information into memory and outputs the completion signal CLOSED Maintain the 24VDC power source until this output turns to CLOSED A special brake motor is required to use the ABS mode OPT OUTO CONI B20 VO Output Name Preliminary output Function CON 1 A21 CONI B21 I O Power source or COM signal Name 24V power source Function This signal shows that power 24V is being supplied Power may also be supplied from TM1 1 or represents the COM signal in the case of 24V common CON1 A22 CONI B22 I O Power source or COM signal Name OV power source Function This signal shows that power OV is being supplied Power m
30. EN Speed 8 EAE min CLOSED ABS READY pen A6 7 STATUS ALARM INDICATION 7 1 STATUS INDICATION on the point module Status indication is also possible on the 7 segment indication on the point module board Table 7 1 shows the contents of the status indication This indication is continuously lit A flickering indication is an alarm indication Table 7 1 Status Indication Continuous Operation status indication 0 Just after turning ON without setup operation Non at ABS mode During zero point offset automatic setup operation During jog operation During zero point return operation During setup operation confirmation seems impossible because of 15 msec During stopped setup operation completion During automatic operation During manual operation Memory storage in ABS mode completed ABS READY CLOSED being output Just after tuming ON in ABS mode ABS READY CLOSED being output Status indication of inverter Juspeed F X3000 Whether or not the inverter is in the normal operating state can be monitored with the LED 7 segments on the printed circuit board in the inverter main body the LED is continuously lit in the normal operating state Table 7 2 shows the indication of the normal operating state Table 7 2 State indication of Juspeed F X3000 Servo OFF condition ready for operation After the power is turned OFF the inverter Stopped
31. ERATION rr rr rr rro on nen ee rr o 26 48 JOG OPERATION TEES a a ze ee a rsa nae rere nren reer e Hee eH eee see ee Hee DES SEH TOe eee Deena aH EEE HOE EDS EHO E ere er 26 5 PARAMETER SETTING MONITORING rr rc rr emen ette tern 27 5 1 PARAMETER SETTING Pr rr rr rr rr rr rr rr rra rr rr rr rr rs rr roo 27 52 OPERATION STATUS MONITOR rr ee ee rr rr eee rr rr rr Tee rro rro roo rr rr 35 5 3 HOW TO USE PARAMETER SETTER Model JVOP 100 vresssocesecsaseavvesavevonevoreeserorsecesoe 38 5 3 1 Fundamental operatio flow mode selection parameter number selection 77708 38 5 3 2 Parameter value setting flow Co nn do nn Eo nn Mehmet rr rr rr rr corro rr 39 5 3 3 Monitor operation flow Uo nn rr rr rr rr rr rr rennen nennen een een nennen nenn nenne 39 5 3 4 Parameter initial value setting flow So nn rr rr rr rr rr rro oro rr rr en ernennen nenn nenn 40 5 3 5 Teaching method TOO cere eae meena eee anes eee cece ee eee ee eee eee eae n neem sesssesessaeeseseseove ese rr rro rr rro 40 5 3 6 Supplementary description for parameter setter T0000 0 S0 S 41 6 VO INTERFACE D 0 000000000S0040E40040E040E4040400S0S S 42 6 1 INPUT INTERFACE rr rr rr rr eee ee ee eee ee eee eee eee eee ee ee eee ee eee eee ee ee ee err 42 6 2 OUTPUT INTERFACE Pr rr rro rr rr rro rr rr rr rr rro rr rr rr rr rr 43 6 3 SUPPLEMENT OF SEQUENCE CONTROL OUTPUT SIGNAL mmm 44 6 4 TIMING OF SEQUENCE CONTROL SIGNAL Be eae meee mene sese esses asesores 44 6 5 ABS MODE 1 AND 2 OSS OO 45 7 ST
32. I Current station number output POS NO 2 Current station number output POS NO 3 Current station number output POS NO4 Current station number output i POS NO 5 Current station number output POS NO6 C urrent station number output POS NO 7 Current station number output cole POS NO8 C urrent station number output Memory storage in ABS mode completed output 2 OPT OUT 0 Spare output 24V power source 24V LUV power source OV power source 2 OV OV power source Memory storage in ABS mode completed input 2 OPT INO _ Spare input u i B24 NC 4 NC Notes 1 When DC power is supplied from the TM IL there is no need to supply power from pins Al BIXA21 or B21 2 Pins B20 and B23 are for optional input and output Do not connect them normally CON1 pin arrangement PIN HEADER HOUSING 2 CON1 I O signals Here are descriptions of I O signals Table 3 11 l O signals Symbol Pin No Descriptions CONI AI CON I Bl I O Name Function Power source or COM signal 24V power source This signal shows that power is being supplied 24V Power may also be supplied from TMI 1 or represents the COM signal in the case of 24V common type CONI A2 CONI B2 I O Name Function STA NOO CON 1 A3 STA NOI CONI B3 STA NO2 CONI A4 STA NO3 STA NO4 CONI
33. ING 59 SPEED TORQUE MONITOR Woo wA AT e ee AAA EA A RARA 61 RELATIONSHIP BETWEEN CURRENT AND TORQUE 62 OPERATION UPON ALARM OCCURRENCE n 6I 63 TORQUE LIMIT SETTING Denen 64 EVALUATION CONDITIONS FOR TEMPERATURE RISE 66 TEST FOR MOTORS SELECTION OF MOTOR CAPACITY Ce mma ee ER 67 GEAR RATIO SETTING ren 68 HOW TO USE EMG SIGNAL were A AAA 69 HOW TO USE SVON SIGNAL rrr 70 SETUP OPERATION Pon o o o o o 71 TEACHING OPERATION Porno ooo nooono op oonon p S r n o orooospSso 72 INTERNAL MEMORY INFORMATION MONITOR n n I 73 PG PULSE SELECTION eee ro i PF so s sr s s rs s s t t tn n 74 STATION NUMBER OUTPUT DURING OPERATION 75 SPEED COMMAND OFFSET ADJUSTMENT n MM 76 SETTING OF OPERATION CONSTANTS OF AMPLIFIER T OPERATION CONSTANTS PARAMETERS LIST r rer 78 56 A 1 HEAT LOSS DATA Juspeed F X3000 Juspoint III Total generated heat Generated heat from power section control section Unit W Capacity kW 0 4kW 0 75kW 2 2kW 3 7kW 5 5kW 7 5kW A Servo OFF 22 du i i i 0 0 0 0 B Servo ON 7 0 21 0 E 3 215 C100 130 0 j 234 D200 327 495 146 0 205 0 320 0 176 369 514 782 108 0 233 0 325 0 498 0 1 Values in Jindicate the heat dissipated to the outside rear from the heat sink 2 Data for servo ON is that under no load 3 The speed is the base speed
34. IONS in mm inches ER 11 1 CONTROLLER Heat sink installed in the panel Heat sink installed out of the panel mi E a s e Eu Hd t MOUNTING HOLE l sit 4 6M MOUNTING HOLE A A y d Panel Working Layout i x lt 2 n I 2 d e Notes 1 The drawing shows CIMR 08 JP3 1 4 N TAPPED HOLES 2 Inside of 7 shows a live part The insulation distance to a d Notes 1 The drawing shows CIMR 08 JP3 3 live part should be kept over 7mm 2 Inside of 3 shows a live part The insulation distance to a live part should be kept over 7mm Model CIMR L1 L2 0 2kW 1 4HP 0 4kW 3 4HP 04JP3 3 0 2kW 1 4HP O2JP3 1 0 4kW 3 4HP 04JP3 1 0 75kW 1HP 08JP3 1 1 5kW 2HP 15JP3 1 2 2kW 3HP 22JP3 1 gt 2 1 43818291 122 095 2 2xW 3HP 223P3 3 N 31 283 Note Dimensions of the bottom parts in the columns are of SAME 508 85 0 E 6 314p 5918 48 2 inches 1 5kW 2HP 15JP3 3 3 7KW SHP 37JP3 1 11 2 DIMENSIONS in mm inches Motor without brake Model UAJPEE RECEPTACLE FOR ENCODER 0 2kW MS3102A20 29P i 239 9 41 1 4HP 130 5 12 RECEPTACLE FOR ENCODER 0 4kW MS3102A20 29P 3 4HP
35. O 12 1 parameter initialization cannot be performed Name Range Function Backlash correction 0 to 80000 PULSES unit 1 initia value 0 Set the backlash correction in PG pulse units multiples of 4 The direction of correction is opposite to the zero point return When the backlash correction is set to a value other than 0 be sure to carry out the zero point return after turning the system ON except in the ABS mode 1 Commanding the setup operation without the zero point return will result in an error Also when the backlash correction is set to a value other than 0 it is not possible to carry out the zero point automatic setup operation Zero point return operation select O or 1 unit initial value 0 Select operation mode Zero point return return mode 0 used with Z phase pulse Zero point return return mode 1 without Z phase pulse Name Range Function Automatic setup number 0 511 unit 1 initial value 0 The setup operation will be automatically performed at the end of the zero point return operation for the number set in C0 15 In the case of CO 15 0 the setup operation will not be performed automatically the setup operation is required after the zero point return Also the setup operation is required after the power supply except in the ABS mode Name Range Function 1 PG pulses 0 or 1 unit 1 initial value 0 Set the PG p
36. ON TIME SETTING for the relationship between the deceleration time and KP t GD u GD4 x V 375 Tim T D ta GD u GD4 x V 375 Tuv T 2 GD Motor inertia kg m GD Load inertia kg m V Speed r min Tum Torque limit value kgm T Load torque kgm 65 A 8 EVALUATION CONDITIONS FOR TEMPERATURE RISE TEST FOR MOTORS Thermal evaluation of the motor can be made by calculating from operating conditions e g opera tion cycle This section however describes how to perform evaluations through actually operating the motor When the motor is to be operated with a protective cover this method is effective since precise calculation will be difficult 1 Measure the temperature of the motor at two locations to determine whether or not the motor can be used from the thermal point of view ll Frame surface temperature At center of frame and avoid the bolt sections Bl Internal air temperature inside the encoder enclosure 2 Criteria If the temperature rise values at both points are equal to or smaller than the values listed in the table below the motor can be used Temperature rise value C Capacity Frame center Encoder enclosure The maximum operating ambient temperature is 40 C Example Motor capacity 1 5kW Ambient temperature 28 5 C Actually measured temperaturer 75 C 65 C Inside frame encoder enclosure Temperature rise value Frame 75 2
37. ONI B10 1 0 Input Name Emergency stop signal Function Emergency stop is carried out when this signal is input in each operation The stop position is not the station position After stopping the COIN signal and COIN A signal are not output After an emergency stop alarm status appears To release this alarm status use the reset signal After resetting if the machine stops at the station position the COIN signal is output If it does not stop at the station position the COIN signal is not output After resetting the automatic manual operation may be continued without carrying out the zero point return operation setup operation Normally input CLOSED signal for this signal The system detects OPEN and carries out an emergency stop With teaching operation EMG signal is valid Perform the teaching with CLOSED signal input 12 Table 3 11 1 0 signals Cont d Symbol VO Input Name Servo ON signal Function Set this at CLOSED during operation During CLOSED status the motor drive is valid When the signal is changed to OPEN the inverter output is shut off instantaneously and coasting status CONI ATI results After servo is turned ON automatic manual operation may be continued without carrying out zero point return operation setup operation With teaching operation SVON signal is valid JOG operation is executed by only CLOSED signal input I O Input Name Fault rese
38. Output Interface Fig 6 2 Output Interface Circuit Specify the input output interface in accordance with Table 6 1 Table 6 1 VO Interface Model Designation CIMR 00JP3 0000M Capacity ee Silt RR _ Interface Input Output 02 0 2kW 1 Heat radiating part A 0V OV 04 0 4kW cooling fins installed B 24V 24V 08 0 75kW in the panel 3 Heat radiating part 15 1 5kW cooling fins separately 22 2 2KW installed 37 3 7kW 6 3 SUPPLEMENT OF SEQUENCE CONTROL OUTPUT SIGNAL ll Output Specifications of COIN COIN A NEAR Signals Table 6 3 Specifications of COIN COIN A NEAR SIGNALS Output specifications at the completion of operation Automatic operation Normal operation Automatic operation Temporary stop Manual operation Setup operation Zero point return operation Zero point offset automatic operation Jog operation Emergency stop operation O Outputs OPEN at the start of the operation and outputs CLOSED at the completion of the operation X Outputs OPEN at the start of the operation and outputs OPEN at the completion of the operation A Outputs OPEN at the start of the operation and outputs CLOSED at the completion of the operation after reset in the case of an emergency stop if stopping at a station otherwise outputs OPEN 6 4 TIMING OF SEQUENCE CONTROL SIGNAL ll At Operation Start OPEN to CLOSED In order to secure signal hold for over 10msec They may be held until completion of opera
39. P OPERATION m Function E Sequence The system automatically sets zero point offset When it is possible to turn ON the system with the machine stopped at zero point clamped status this operation is possible When it is not possible to carry out zero point offset setup operation set zero offset by parameter Adjust the zero point LS position so that the offset becomes within the allowable range range set by parameter C0 10 Direction command is set by parameter Set the parameter in the direction of zero point LS normally the opposite direction of zero point return When the backlash correction is not 0 it is not possible to carry out zero point offset setup operation Running speed V5 is set by parameter EO 40 to 43 Fig 4 6 shows the sequence of zero point offset setup operation Input of zero point offset setup mode MODEO to MODE2 Input of START signal after the above START OPEN CLOSED I COIN signal is output within 5msec and auto setup operation starts COIN OPEN or CLOSED OPEN Detection of zero point LS signal And zero point offset is automatically set Moving in reverse after detection on zero point LS signal and stopping at the original position COIN OPEN CLOSED E Time Chart SVON MODE START PG Z pulse PG A B pulse A ZRET LS COIN SPEED CLOSED OPEN OPEN E Automatic setup operation completion _
40. Pu e d V2 Fig 4 11 Time Chart of Manual Operation 25 4 7 EMERGENCY STOP OPERATION E Function When emergency stop signal EMG is OPENED during any operation emergency stop is carried out Normally the stop position is not a station deceleration stop After an emergency stop output is stopped and alarm status appears To release this perform after reset After an emergency stop COIN COIN A and NEAR are output OPENED When the machine is stopped at any station after resetting COIN NEAR signals are output CLOSE COIN A is output CLOSED After an emergency stop the station position output indicates 0 When the machine is stopped at any station after resetting an emergency stop that station number is output When emergency stop operation is performed after a setup operation there is no need for zero point return operation setup operation after reset Manual automatic operation is possible without any preparation 4 8 JOG OPERATION B Function The system carries out a JOG operation After selecting JOG operation mode and F R signal changing the START signal from OPEN to CLOSED causes operation to start in the commanded direction And the machine stops at the same time the START signal is changed to OPEN Normally the stop position is not a station During JOG operation COIN COIN A NEAR signals are output OPENED at the same time as the start of operation and OPEN signals are out
41. RECEPTACLE FOR ENCODER 0 75kW MS3102A20 29P 1HP 1 2830114 a NAMEPLATE RECEPTACLE FOR ENCODER 1 5kW M53102A20 29P 2HP o 165 4411 0 43 HOLE 92 1391547 87 Encoder Connection 328 12 91 4 10 16 RECEPTACLE FOR ENCODER 2 2kW MS3102A20 29P SHP 308 12 13 196 7 72 3 7kW RECEPTACLE FOR ENCODER MS3102A20 29P BHP 400 15 75 340 13 39 23419 21 217 8 54 Notes 1 Dimmensions of the shaft extension key and keyway are based on JISB 1301 1976 2 The insulation class is B 3 The drawings show 4 poles motors KEY POSIT ON Encoder specifications SVDC 1000P R A B Z phases Open corrector t Connector MS3102 A20 29P Receptacle Connection component MS3108 B20 29S Angle plug MS3057 12A Cable clamp Note Connection component is not provided Motor without brake Model UAJPEE 0 2kW 1 4HP 0 4kW 3 4 HP 0 75kW 1HP 1 5kW 2HP 2 2kW 3HP 3 7kW SHP RECEPTACLE FOR ENCODER MS3102A20 29P 293 11 54 270 110 63 130 15 12 Holding magnetic brake is built in 24VDC braking torque 3N m RECEPTACLE FOR ENCODER MS3102A20 29 11 69 t 776700503 FT 112 4 41 W 22 0 87 Iuuen og Holding magnetic brake is built in 24VDC braking torque 5N m RECEPTACLE FOR ENCODER MS3102A
42. Time Rated Rated Speed 40 ED 30min E 1800r min 4 poles i Enclosure o Encoder _ Ambient Temperature Humidit E Motor exclusive motor for X3000 series Instruct the motor by model numbers as shown in the example below Specify output and whether with without brake With ABS positioning order the motor with brake UA JP EE 08DK2KU Th h d i ree phase _ induction motor oy Spee Motor series O backlash JP Juspoint Ill Dean brake Cooling method EE Totally enclosea self cooled type FK Externaily fan cooled type Shaft options S with oil seal K with xo Output iade cd 5 02 0 2kW 1 With key and j DA ARN Design revision order oil seal m 4 ee D X3000 Juspo nt Il X Others 25 FSW Mounting options E 1 Flange type tapered 37 3 7kW shaft 2 Flange type straight shaft Detector i K 1000P H E Optical _ 1000 puls r A B Z phases 10 to 40C 1 IP44 A to 104 F 90 RH or below W Controller X3000 series point module Instruct Juspoint by model numbers as shown in the example below The model number differs according to control 1 0 interfaces Specify output cooling method and interface specifications Output Structure Interface Input Output 02 0 2kW 1 Heat sink installed A OV OV Common 04 0 4kW in the panel B 24V 24V Common 08 0 75kW 3 Heat sink install
43. Torque monitor Vt 0 10V 0 300956 61 A5 RELATIONSHIP BETWEEN CURRENT AND TORQUE Output Current A rms Capacity A 0 torque B 100 torque C 200 torque Notes 1 The values in the table are the root mean square values rms and will be 1 5 times that at the peak 1 5 times was obtained considering the current wave from distortion of the PWM control 2 The current value at the time of 0 to 100 and 100 to 200 torque output can be obtained from linear approximation CURRENT B 100 200 OUTPUT TORQUE 96 62 A 6 OPERATION UPON ALARM OCCURRENCE This section describes what action is taken when an alarm is occured The system operates as shown below when an alarm is occured Description SVON signal OPEN SVON signal CLOSED Reset conditions Error on amplifier Base block SVON OPEN PG error Base block Servo Clamp Control error Notes 1 When the PG error alarm 1 is detected the servo clamp may not occur because the correct feed back of the PG signal cannot be obtained 2 When the alarm is detected during high speed operation deceleration will be started as soon as the alarm is detected until the zero speed is obtained zero speed or extremely low speed in the case of the PG error After the deceleration is completed zero speed ZSPD will be output closed 3 When the zero speed output as detected after the alarm output try to i
44. YASKAWA Juspoint Ill VECTOR CONTROL INVERTER POSITIONING SYSTEM SPECIFICATIONS FUNCTIONS Bauart gepr ft TUV PRODUCT SERVICE Certificate No B 95 03 22945 001 YASKAWA DTSE S606 9 1 CONTENTS 1 INTRODUCTION rr rro rra rr raro rr rra rra rra rra rr rr rr rro 3 2 SPECIFICATIONS Pr rr rr rr rr rre rr hh rr rro 5 3 SYSTEM CONFIGURATION Meets es hh ses se eesesessoshss chssesee ses sess aseo eese eene nnn 6 3 1 INTERCONNECTION DIAGRAM Memesssseshasssheesossessss esoehhashpeevoseveeveseseecseesosoeeeevsecece eseesesso 6 3 2 MAIN CIRCUIT TERMINALS TM1 eeeserossacsassanvosevssovsesecosecsesuseespesovrsessesesassasesaroseresoesseesosee 8 33 CONTROL POWER INPUT TERMINALS TM1 DOO 8 3 4 ENCODER PG CONNECTOR CON2 DII PLC 8 3 5 VO SIGNAL CONNECTOR CON1 ON 9 3 6 WIRING PRECAUTIONS dhethsesesossessHssassessosesessesisesshsssacsessossevsossessesspaeevosesoeeveseveeeeeccesee 19 4 DESCRIPTION OF OPERATIONS seen nee een emcee entree tence sess sh e heme essere rhet enne 20 4 1 FUNDAMENTAL OPERATIONS III 20 4 2 SETUP shtheshss eese ses sesssseseeessoseeeseeosseesaosessesoesooesoersessssssoshsesssevsssosoececeesosocssesevecs cseoeee 21 4 3 ZERO POINT RETURN OPERATION rr rese ssoesusssespesoseepesosscsesesoseesesoseceovsseooeveos 22 4 4 ZERO POINT OFFSET AUTOMATIC SETUP OPERATION eem Hem 23 4 5 AUTOMATIC OPERATION AAA AO 24 46 MANUAL OPERATION eee ee eee eee ee ee rro rr rro rr rr rr rr 25 47 EMERGENCY STOP OP
45. a B1 A1 B2 A2 B3 A3 84 A4 BS AS a Pin header Housing 3 5 lO SIGNAL CONNECTOR CON 1 1 Terminal arrangement of I O signal connector terminals Table 3 10 Terminal arrangement of l O signal connecter terminals Symbol Description Symbol Description 24V 24V power source Bl 24V 24V power source OV OV power source OV ov power source STA NO O Command input of station number 3 STA NO I Command input of station number STA NO 2 Command input of station number 4 STA NO 3 Command input of station number STA NO 4 Command input of station number STA NOS Command input of station number STA NO 6 Command input of station number STA NO7 Command input of station number STA NO IN Command input of station number START Command input of operation FR Direction command input MODEO Command input of operation mode MODE Command input of operation mode MODE Command input of operation mode 1D a AAN Zero point LS signal input EMG Emergency stop signal input RESET Fault reset input MULT Multiple pattern selection input Servo ON signal input Multiple pattern selection input Operation completion signal output COIN A Automatic positioning completion signal output Positioning vicinity signal output Z SPD Zero speed signal output ALARM Alarm signal output POS NOO Current station number output POS NO
46. a fraction not integer A rotational axis can have a further error accumulation In such cases control with no error accumulation is enabled by setting the gear ratio in parameter The following describes how to set the gear ratio parameter 1 Express the ratio of the number of motor shaft rotations to the machine output shaft rotations in a fraction and set the numerator denominator in the parameter B _ Final machine output shaft speed A Motor shaft speed A CO 07 3 Motor shaft speed B CO 08 lt gt Final machine output shaft speed 2 To control the unit station interval by the gear ratio set the rotational axis linear axis parameter CO 01 2 3 Example 1 Pulley ratio Reducation ratio B A 1 150 A CO 07 150 B C0 08 1 Example 2 NUMBER OF TEETH 15 NUMBER OF TEETH 100 MOTOR C Reduction ratio B A 15 100 Deceleration A CO 07 100 B C0 08 15 Example 3 SPROCKET NUMBER OF TEETH 15 80 TOOL MAGAZINE REDUCTION GEAR Reduction ratio 1 100 15 80 15 8000 A C0 07 8000 B C0 08 15 68 A11 HOW TO USE EMG SIGNAL This section describes how to use the EMG emergency stop signal 1 As soon as the EMG signal detects the OPEN input it starts the emergency stop operation If the motor is running it will be stopped at once the deceleration torque for this is the torque limit value After the motor is stopped the machine will be in the alarm condition alarm 2 The EMG signal always
47. alue 1 Depress the ENTER key to finish the monitor value display Displays End for 0 5second and completes monitor operation No display will appear after that 2 Monitoring data during operation shows the changes made every moment real time 2 Operation is possible even without depressing ENTER to finish monitor setting However you must finish monitor setting before carrying out other settings or monitor operation using the parameter setter 3 10 digit data are to be monitored in two sections upper and lower 5 digits The lower 5 digits are monitored first and the upper 5 digits 39 5 3 4 Parameter initial value setting flow So nn Parameter initial value writing End display Displays End for 0 5second and completes setting No display will appear after that 2 This setting is to be made only upon delivery from the factory If this setting procedure is carried out all parameters will be set back to the initial values used upon delivery Displays the parameter number by depressing the DSPL A and V keys S0 00 is the initial value number Depress the ENTER key twice to enter the parameter initial value 2 Operation is not possible unless ENTER is depressed to finish the parameter setting operation 3 When C0 12 1 parameters cannot be initialized First set CO 12 to 0 then initialize the parameters 4 Parameters
48. as shut off Cause and remedy It is possible that the torque limit is too high or the output has a short circuit If no change can be seen after changing the torque limit to 200 or smaller check for a short circuit of the output Overvoltage Regeneration overvoltage was detected and the the inverter output was shut off DC bus voltage 450V Overspeed alle The motor speed exceed 1 1 times max speed 10 increase was detected and the inverter output was shut off Under voltage 213 V A voltage drop was detected and the inverter output was shut off DC voltage The torque limit may be too high or the regeneration resistor may be burned out If no change can be seen after changing the torque limit to 200 or smaller return the regeneration resistor to the factory for investigation When the motor speed gets up to 1980 r min the motor is being forced to rotate by an external force Check for the cause and eliminate it The power supply voltage has dropped 180 VAC or lower during operation or instantaneous power failure was detected If the cause cannot be eliminated add a sequence that will input the reset signal after the voltage drop or momentary power loss PG error Encoder error was detected and the inverter output was shut off Note that not all the PG errors can be detected PG fault PG wiring fault or motor lock can be considered Check for the cause of these faults
49. as the current station is specified the output signal remains CLOSED so confirm the action completions by checking for the COIN signal 10msec after the input of the START signal Changing the START signal to OPEN during positioning causes the controlled machine to position itself at the nearest available station in the running direction E Manual Operatoin Mode The system finishes manual operation and outputs CLOSED when positioning and stopping the controlled machine at the nearest available station in the running direction Action completion width is set by parameter E Setup Operation Mode The system completes setup operation and outputs CLOSED when receiving the current station No During that time OPEN is output for 20msec and then CLOSED is output so determine completion by checking that the signal is CONI A13 changed from OPEN to CLOSED In setup mode COIN A signal is output in the same manner as COIN signal E Zero point Return Mode The system outputs CLOSED at the completion of zero point return After that carry out setup operation Be aware however that in the case of C0 1520 the setup operation will be automatically performed for the value of C0 15 E Zero point Offset Automatic Setup Operation Mode The system outputs CLOSED at the completion of zero point offset automatic setup operation E Jog Operation Mode The system outputs OPEN at the start of JOG operation mode Outputs CLOSED when the controlled mach
50. ay also be supplied from TM1 2 or represents the COM signal in the case of OV common CONI A23 VO Input Name Memory storage command in ABS mode Function After detecting the change of this signal from CLOSED to OPEN in the ABS mode the system stops the motor and stores the position information into memory when the motor is completely stopped Then the system outputs the ABS READY CLOSED signal When the CLOSED input is detected for 0 5sec or more after the power is supplied the position information memory is read and the state before the power shutoff will be regained The system then outputs the ABS READY OPEN signal This will function only in the ABS mode 17 Table 3 11 1 0 signals Cont d Symbol OPT INO CONI B23 I O Input Name Preliminary input Function CON 1 A24 to CON 1 A25 I O Name Function For future use 18 3 6 WIRING PRECAUTIONS 1 Use twisted pair shielded cables for PG feedback circuit Cable length may be up to 100m For wiring connect the cables in the shortest distance and cut off the surplus Refer to Table 3 2 2 For grounding cables use as large size as possible Class 3 grounding 1000 or less is recommended Grounding must be provided at one point If motor is insulated between machines use another grounding method to ground the motor 3 To prevent noise malfunction take the fo
51. been set by the teaching operation Setting parameters after that will allow you to correct or change the values that have been set by the teaching operation 40 5 Furthermore it is possible to correct the position error by carrying out teaching after setting the parameters 6 Executing the teaching operation before setup will result in teaching from station number 1 Teaching for station number 1 ends in the same state as when setup was performed state indication 5 After that teaching to the desired station number will be enabled 7 After the setup operation teaching to the desired station number is enabled 8 Station numbers must be arranged in order The direction of the order is set in parameter CO 03 Motor rotational direction switching When the station numbers are not arranged in order at the start of setup manual or automatic operation alarm C will be occured 9 The distance between adjacent stations pulses can be 0 However if this value is smaller than the setting for backlash alarm qd will be occured 10 The JOG operation speed conforms to the setting of parameter E0 50 to 53 and the input in MULTO and 1 It also follows the input of the EMG SVON signal 1 Teaching operation can be performed irrespective of the setting of parameter CO 01 Rotational axis linear axis The teaching data will be written in parameter dO These data will be written as the absolute coordinate
52. der A FASTON 250 receptacle is attached at the end of the 300 mm lead Use a resistance designated for each capacity An external resistor is available from YASKAWA 60 to 1000 W parallel connection for more A 3 ACCELERATION AND DECELERATION TIME SETTING The following describes how to set the acceleration and deceleration time 1 ACCELERATION TIME 1 1 Not using soft start V The acceleration time set by the parameter is the time required for accelerating from 0 to 1800 r min Therefore calculate the acceleration time tacc to Vrer r min using the following formula t acc tacc Acceleration time parameter setting x Varr 1800 msec 1 2 Using soft start When the soft start time tsor is set in Ver the parameter the acceleration time is the sum of the soft start time and the acceleration time after that Therefore calculate the acceleration Vsor time tacc to Vrer r min using the following formula t sor xs l tacc tsor Acceleration time parameter setting x Vrer Vsor 1800 msec 2 DECELERATION TIME There is no parameter that sets the deceleration time The deceleration time is determined by the position control constant KP 2 1 Not using soft stop The relationship between the deceleration time toec and position control constant KP can be expressed by the following equation toec 3xVrer KP sec KP Parameter setting The deceleration time is not in reverse p
53. ed 15 1 5kW out of the panel 22 2 2kW 37 3 7kW 3 SYSTEM CONFIGURATION 3 1 INTERCONNECTION DIAGRAM Juspomt MOTOR MODEL JAJPFE DK2K Ga pue i 20 WER BRAKE Mater os Diner We en SAN wil a Trane dure shen ny customer TL THREE PHASE 200VAC 50i60H Juspomt CONTROTITR 220VAC BOHz MODEL CIMR JPR 75 COM T MCCHB IM R bor externa y far cooieg wpe PONT MODULE ENCODER Fig 3 1 Interconnection Diagram 1 Specifications of peripheral equipment and cables for main circuit terminals 2 Specifications of cable and receptacle for encoder PG terminal and CON2 connection specifications Table 3 1 Peripheral equipment and cables specifications for main circuit terminals Model CIMR 02 P E P 18 P E 37 IP 3 Magnetic Contactor Model s OS j ped j HI 20E_ Main circuit terminal cables specification Cable Size 2mm Model CIMR ____ 027P3 7 O4P3 TP E JP3 7 37IP3 EA 33 EA 33 EA 33 i MECB iade by Faji SA 33B SA 338 SA 33B SA 33B SERIE 415 VAC SA _ C415 VAC 10A 415 VAC 20A _ AS VAC 3OA e s a el NEIOIES e NF 30 CS NF 30 68 NF 30 CS Pe eee NE SS NE 30 SS NE 30 SS NE 30 85 Ball 415 VAC SA 415 VAC 10A 415 VAC 20A 415 VAC 30A Note Designate PUY as a special product Safety standard EN60947 3 certified Table 3 3 Cable and receptacle specifications for encoder PG t
54. er 5 digits and upper Sdigits Pay attention for carry over digits when reading the monitor data 13 A16 PG PULSE SELECTION The PG pulses can be selected in parameter This selection describes how to select PG pulses 1 There are two selections of PG pulses rev Mi C0 16 0 PG pulses 1000 pulses rev W C0 16 1 PG pulses 1024 pulses rev 2 Differences in control Since the internal control works in multiples of 4 of PG pulses set the related parameters as 4000 or 4096 rev according to the setting of C0 16 Bl When the detected pulses differ from the PG pulses set in CO 16 it will be processed as the PG error Therefore when the motor PG pulses and the setting of C0 16 are different an alarm will be output 3 Others Bl The different motor PG pulses require different control units When the specifications of the amplifier do not match the motor PG pulses the correct control cannot be guaranteed W The control unit is determined to be one type at the time of shipment and cannot be changed lll The choice of 1024 pulses is available for special overseas motors Therefore normally choose the 1000 pulses the standard specification 74 A17 STATION NUMBER OUTPUT DURING OPERATION The numbers of the passing stations can be output during operation this section describes the station number output during operation 1 The numbers of passing stations during operation are output 2 During operation refers t
55. erminal Straight MS 3106 B20 29S 7N Made by JAE E NE o E MS 3108 B20 208 7N 0 077 TT Made by JAR Cable Clamp e _ MS 3057 12A ERE d Made by JAE 2 Twisted pair shielded cable AWG22x5P minimum The lines for the A B Z Connecting cable Length 100m Maximum For 10m or shorter lengths use AWG2S or larger phases and TS signal lines cable for lengths up to 50m AWG2 or larger cable and for lengths up to 100m are each to be twisted to AWG22 or larger cable OV line Note The MS3102 A 20 29P receptacle made by JAE is used Table 3 4 CON2 connection example Model Remarks Socket housing PS D 4C 10 2 2 E a a Made by JAE _ Contact 03 51307 001 Made by JAE Notes 1 The CON2 on the X3000 printed board uses a 10 pole pin header with a lock PS TOPE DATI MIA made by JAF 2 One incorrect insetion proof key is provided 3 CON T connection specifications Table 3 5 CON1 connection example maker JAE Specifications Housing PS D4 C50 lt oo ss ud S0 pole With Incorrect insertion proof key Socketeontact L 030 51304 001 20 LBM o HON Manual crimping tool CT 150 I PSSF Connector PS 50 SM D4P1 ICA Strain relief _PS SRSOM Press welding stranding machine MT PSSE 0 1B a E E o P 2 o A D 2 a r 2 2 ing type Notes 1 The CONI on the point module board uses a 50 pole pin header with a lock PS S0PE DATI MI A m
56. ffset is out of allowable range out of the range set by parameter CO 10 The Zero point offset detected during the zero point offset automatic setup operation is out of the range of 120 40000 Change the zero point LS position correctly The following occurred when the backlash compensation was other than 0 Setup operation was commanded without zero point return except for ABS mode 1 and 2 Zero point offset automatic setup oprtation was commanded The backlash compensation is larger than the unit station pulses Set a value smaller than the unit station pulses A value larger than the minimum value of station interval pulses is set for the backlash compensation or zero point return was not carried out before the setup operation Check the two possibilities and correct the setting or sequence Station numbers are not arranged in order in the Stations are not arranged in the order of station numbers in the case of the case of the absolute position setting C0 01 4 absolute coordinate axis CO0 0124 Set the parameters or carry out Arrange the station numbers in the order of teaching so that the stations will be in the order of station numbers station numbers In the ABS mode the memory storage was not completed Reset and perform zero point return In the case of the ABS mode C0 09 1 or 2 the information required for the ABS operation was not stored in the nonvola
57. fter turning the motor for 40000 pulses 10 rotations during the zero point offset automatic setup operation Check that the zero point LS is correctly wired and that the signal is input to Juspoint M Or mount the zero point LS at a position within 40000 pulses 10 rotations from the zero point Zero point LS was not detected during zero point return operation Undefined station number was commanded Operation mode was not set correctly Zero point offset automatic setup operation was commanded when the zero point offset setup mode is set to parameter mode The zero point LS was not detected after turning the motor for all set stations during the zero point return operation Check that the zero point LS is correctly wired or that the signal is input to Juspoint Ill Command a station number within the range set by CO 00 number of stations for setup or automatic operation Undefined operation mode was input Set the correct operation mode input MODEO MODE 2 C0 04 0 is set zero point offset setup is set to parameter mode To perform the zero point offset automatic setup operation set CO 04 1 Zero point LS position error the zero point LS position is too close to the Z phase position within 120 pulses The Zero point LS position and the Z phase pulse position of PG is too close 120 pulses Change the LS position or Z phase position Zero point o
58. g the order The lead length is 2m Applicable model personal computer 4 NEC PC98 for 25 Pins 5 IBM for 9 Pins V 40194 Applicable to NEC PC98 Juspoint III Personal computer CON 3 Equivalent product zu 7910 B 500 FL Al RXD 4 SUMITOMO 3M BS De a RTS O A1 0 CTS B1 B4 SC OV 4 OQ B4 DSR DTR az V 40195 Applicable to IBM Juspoint I Personal computer CON 3 Equivalent product Er 7910 B500 FL Al HE RXD SUMITOMO 3M BI r TXD 4 RTS Ho O A1 CTS 9 B1 0 B4 SG OV 4 B4 DSR DTR O E E 10 CHARACTERISTICS Speed Torque Curve TORQUE 0 2kW 4 poles TORQUE 0 4kW 4 poles TORQUE 0 75kW 4 poles Nem kam iie ANTENIOUS TORQUE Nem kg m STANTENIOUS TORQUE Nem ko NS TANTEMIOUS TORQUE 2 12 0 216 7 96 0 812 4 23 0 432 1 06 0 108 ar 216 oa 3 98 0 406 a ele S N CONTINUOUS 8 i 8 1800 9 1800 1800 SPEED r min SPEED r min SPEED r min TOROUE 1 5kW 4 pol TORQUE TORQUE es R oles Ion INSTANTEN Nem ICO aoe Tot Ne tg a E one E l INSTANTENIOUS TORQU INSTANTENIOU U 15 90 1 622 23 32 2 380 QUE TORO 39 24 4 004 gt t 40 ED 40 ED 30 ED 7 95 0 811 1166 1 190 2 CONTINUOUS CONTINUOUS IRE 208 CONTINUOUS o 1800 s 1800 9 1800 SPEED tr min SPEED r min SPEED r min Note CONTINUOUS is externally 11 DIMENS
59. he state after the setup when the teaching is finished Allowed State after setup when the teaching is finished Teaching for station no Allowed Teaching for stations other than no I Not Allowed Only station no is displayed Allowed N A15 INTERNAL MEMORY INFORMATION MONITOR The internal memory information of Juspoint Il can be monitored This section describes the internal memory information monitor 1 Two internal memories can be monitored Bl Current position Parameter UO 08 The PG pulses count multiples of 4 in relation to the setup position as being 0 can be monitored Bl Deviation pulses Parameter U0 09 The PG pulses count multiples of 4 in relation to the command position as being 0 can be monitored 2 Monitored data indication W indicated digits The monitored data are indicated as signed 9 digit data When the count overflows 0 is indicated and count is restarted 0 1 2 3 4 999 999 999 0 1 2 3 ei o RS 999 999 999 0 1 2 Ir 7 6 5 4 3 2 1 0 S1 2 24 5 n Toe O e 273 8 29x06 eee Bl Data indication timing The indicated value is the real time value When the position changes during monitoring the indicated data will change accordingly Thus normally monitor data while the motor is stopped 3 Others Bl Monitored data before the setup operation is not correct Bl 5 digits are displayed at a time low
60. ignal is not output however when the machine stops at a station position the COIN signal and station NO POS NO are output ra 1 0 Input Name Direction command input Function Carries out the direction command of an operation This is valid only in the following operations Automatic operation Only valid in the external direction command mode Manual operation Jog operation This input is received at the moment the START signal changes from OPEN to CLOSED In order for the signal to be read input F R signal before or at the same time as the START signal and hold for over JOmsecs It becomes CCW or CW when the signal is changed to OPEN while CW or CCW when it is changed to CLOSED Either may be switched by the parameter setting CONI A8 I O Input Name Operation mode command input Function Carries out the operation mode that you command MODE 2 MODE I MODE 0 Operation mode O OPEN OPEN OPEN J i og operation CONI A9 OPEN OPEN CLOSED Setup operation CONI B9 OPEN CLOSED OPEN Zero point retum operation OPEN CLOSED CLOSED Zero point offset automatic setup operation CLOSED OPEN OPEN Automatic operation CLOSED OPEN CLOSED Manual operation CLOSED CLOSED OPEN No mode CLOSED CLOSED CLOSED No mode 11 Symbol Pin No Descriptions CON 1 B8 CONI A9 CONI B9 Table 3 11 1 0 signals Cont d
61. ine is stopped at the station Outputs OPEN when the machine is not stopped at any station After changing the START signal from OPEN to CLOSED outputs OPEN COIN signal within Smsec and starts positioning action Immediately after turning the system ON the OPEN COIN signal is output VO Output Name Automatic positioning completion signal CON1 B13 Function The system outputs this signal at the completion of positioning in automatic operation CON1 B13 Symbol Pin No Descriptions Table 3 11 I O signals Cont d E Automatic Operation Mode CLOSED is output at the completion of positioning at the commanded station Completion width is set by parameter When the same station as the current one is specified the output signal remains CLOSED the same way as COIN signal Making START signal OPEN during positioning causes the machine to position itself at the nearest available station in the running direction however in this case CLOSED is not output and OPEN is held E Setup Operation Mode The system carries out the same output sequence as the COIN signal After changing START signal from OPEN to CLOSED outputs OPEN COIN A signal within 5msec and starts positioning action Always outputs OPEN in operation modes other than the above Immediately after turning the system ON OPEN COIN A signal is output CONI A14 I O Name Output
62. inverter X3000 series with Point module Positioning control board The X3000 series features high torque and precise speed control over a full speed ranged from 0 to 1800r min Point module can configure up to 120 different parameters for application flexibility The motor is a highly efficient three phase AC induction motor exclusively designed for high performance vector control applications Juspointl positions accurately and rapidly in the same way as a servo drive and it is ideal for servo driven tool changer applications for machine tools In addition compared with the cost of conventional AC servo drives Juspoint IT is an economical alternative for tool resting magazine attachments Automatic Tool Changers ATC and Automatic Pallet Changers APC FEATURES B Juspoint Ill can position up to 511 station numbers m Juspointlll can operate rotary and linear axes Rotary axes e Juspoint Il can position up to 511 stations equidistantly e Juspoint I can automatically compensate positioning when the number of pulse between stations is a fraction Linear axes e Juspoint Il can position up to 511 station equidistatly e Juspoint can arbitrarily position up to 45 stations B JuspointIIl can perform Absolute ABS positioning Using the motor with a special brake Juspoint II can perform ABS positioning and no zero point return operation is required even without a mechanical clamp when the power is ON B Juspoint
63. ired Required Not required Not required Required Required n the case of CO 15 0 automatic setup operation is executed thus setup operation is not required In the case of CO 15 0 setup operation is required after zero point return A14 TEACHING OPERATION This section describes the teaching operations and precautions The teaching operation is performed using the parameter setter JVOP 100 Note that the following contro input signals are valid during the teaching operation EMG OPEN input will start emergency stop and occured alarm 2 SVON OPEN input will turn OFF servo and the motor will coast to stop MULT 0 1 Selection of the JOG operation speed 2 Teaching is enabled regardless of the value in parameter C0 01 After teaching the pulse data of the station position will be written in parameter d0 3 Parameter d0 can be monitored or changed using the parameter setter Parameter d0 can be changed and monitored freely by teaching and parameter setting 4 Parameter d0 will be used as the data of the absolute coordinates axis Station number D e o amp 5 Station numbers must be in order from no 1 Othrwise alarm C will be output The interval between stations must be larger than the backlash compensation 6 Teaching operation is allowed after setup however teaching before setup is allowed only for station number 1 In that case the machine will be in t
64. it to the factory Ground Fault Ground fault was detected in the output at the start of opera tion and the inverter output was shut off Others An error alarm other than those listed above was detected and the inverter output was shut off The ground fault was detected in output lines U V W upon servo ON Check whether the output side is being grounded If this alarm is not reset after the grounding state was reset replace and return it to the factory An error other than those listed above was detected It is possible that it is alarm 8 above Take the corrective action listed in the column for alarm 8 and if no improvement is made replace and return it to the factory Notes 1 When more than one alarm is detected they are indicated cyclically Example When alarms 3 4 and 7 are detected the LED will display 3 4 e 7 3 4 7 3 and soon 2 The alarm state is retained unless the power supply is reset or th reset signal is used 3 The indications blink 49 8 PRECAUTIONS ON APPLICATION 1 Minus Load Continuous operation in which the motor is rotated by load and regenerative brake is applied cannot be performed Juspoint Il regenerative braking capability is short term rated specification about motor deceleration time Example Motor drives for delevery Motor drives for lifting object without counter weight 2 Load Inertia Load GD Motor shaft conversion allowable
65. larger than the torque limit value will not be output even during acceleration deceleration constant speed or servo lock WB The torque limit value is the same for forward and reverse directions Bl Normally set the torque limit value to 200 or smaller Setting the torque limit value higher may cause overcurrent or overvoltage as well as rapidly increasing the motor loss ll Consider protection of the transmission mechanism such as the maximum allowable gear torque when selecting the torque limit value Bl On the other hand setting a smaller value than the load torque will not allow the motor to rotate resulting in the PG encoder alarm 64 lll By setting an acceleration time longer than that obtained from equation 1 below the set accelera tion time will be used On the other hand when a shorter time is set the desired result will not be obtained Acceleration will be performed in the time ta obtained from equation 1 The parameter setting for the acceleration time sets the time required to accelerate from 0 to 1800 r min E By setting a deceleration time longer than that obtained from equation 2 below the set time will be used Conversely when a shorter time is set the desired result will not be obtained Deceleration will be performed in the time td obtained from equation 2 The deceleration time cannot be set directly Set the position control constant KP Refer to A3 ACCELERATION AND DECELERATI
66. les of 4 In the case of C0 01 4 this parameter can be set automatically by teaching Furthermore setting after teaching or teaching after setting are also possible Name Range Function Section 2 3 or 1 3 Arbitrary station pulses 40 96000000 unit 1 initial value 4000 Set the station pulses for the section 2 3 or 1 3 for the linear axis In the case of C0 01 3 set the pulses of section 2 3 in units of PG pulses multiples of 4 In the case of CO 01 4 set the pulses of section 1 3 in units of PG pulses multiples of 4 In the case of C0 01 4 this parameter can be set automatically by teaching Furthermore setting after teaching or teaching after setting is also possible Range Function Section 44 45 or 1 45 Arbitrary station pulses 40 96000000 unit 1 initial value 4000 Set the station pulses for the section 44 45 or 1 45 for the linear axis In the case of CO 01 3 set the pulses of section 44 45 in units of PG pulses multiples of 4 In the case of C0 01 4 set the pulses of section 1 45 in units of PG pulses multiples of 4 In the case of CO 01 4 this parameter can be set automatically by teaching Furthermore setting after teaching or teaching after setting is also possible Name Range Function Table 5 2 Parameter Functions Cont d Automatic operation speed V1 n 10 to 1800 r min unit 1 initial value 500 Set
67. lll can arrange parameters in up to 4 operation patterns m Juspoint I has 6 operation modes Automatic manual set up zero point return automatic zero offset and JOG m 120 parameters available for configuring Juspoint II to your specific requirements Juspoint I _ CONTROLLER MOTOR POINT MODULE PC lO H 5 NC gt lt gt gt MACHINE DIGITAL aK Ber FOR POSITION COUNTER OPERATOR JVOP 100 Digital operator Three phases y emos Juspoint III 200VAC amp POWER M SUPPLY 94 YDV 03 X 3000 series motor For vector control Fig 1 1 Juspoint ll System Configuration DANGER Do not touch circuit components until CHARGE lamp on X3000 series PC board extinguishes after turning off AC main circuit power The capacitors are still charged and can be quite dangerous Wait approximately five minutes after AC main circuit power is OFF Do not connect or disconnect wires and connectors while AC power is applied Do not check signals during operation IMPORTANT Be sure to ground Juspoint ll using mounting bolts Do not provide capacitor or magnetic contactor between Juspoint I and motor Do not perform the following tests in the field Withstand voltage test on any part of the Juspoint M It is an electronic device using semiconductors and vulnerabie to high voltage Insulati
68. llowing actions Locate Juspoint I or I O reference setter precisely Provide a surge absorbing circuit to relay coils magnetic contactors solenoids etc e Separate main circuits high voltage circuits such as AC lines or motor power lines and signal circuits more than 30cm Do not run them in the same duct or bundle them together Provide a noise filter to the power supply or input circuits when the power supply is shared with electrical welders or discharging machines or when there is a high frequency noise generating source near the unit Use shielded cable for I O signal wiring and the shielding treatment should be preformed at TMI 2 0V terminal of the point module 4 Radio Frequency Interference Preventive Actions R F I No preventive actions for radio frequency interference are provided to Juspoint Il since it is an industrial device Therefore if it is used in a residential area or radio frequency interference causes any problems provide a line filter at the main circuit power supply input side 5 Since cable cores used for PG feedback circuit or signal circuits are very thin do not apply bending force or tension force to the cables 19 4 DESCRIPTION OF OPERATIONS 4 1 FUNDAMENTAL OPERATIONS Fig 4 1 shows the flowchart of fundamental operations After turning the system ON select the desired operation mode Turing ON Other than ABS mode Clamped Status Setup Ze
69. lt in an error In the case of 12 face indexing of rotational axis set 12 In the case of 2 point indexing of linear axis set 2 Name Range Function Rotational axis linear axis 0 1 2 3 or 4 unit initial value 0 Set whether rotational axis or linear axis is to be indexed Rotational axis Uniform unit station pulses Linear axis Uniform unit station pulses Rotational axis Uniform unit and fractional unit station pulses Linear axis Arbitrary unit station pulses incremental setting Linear axis Arbitrary unit station pulses absolute coordinate setting In case of C0 01 4 pulse setting by teaching operation is possible Name Range Function Unit station pulses 40 to 960 000 unit 1 initial value 4000 Set the distance between respective stations in PG pulse units multiples of 4 Station distance set up to 240 rotations motor axis station This parameter is valid only for CO 01 0 1 Pulses between stations are as shown below C0 02 is valid when CO 01 0 CO 02 is valid when CO 01 1 C0 07 and C0 08 are valid when CO 01 2 d0 02 to d0 45 are valid when C0 01 3 d0 02 to d0 45 are valid when CO 01 4 Name Range Function Example 1 Example 2 Motor rotational direction switching 0 or I unit initial value 0 Set the rotational direction of the motor Set the rotational direction in relation to the directional command signal F R of
70. n being 0 are displayed in decimal notation It is displayed in real time as signed 10 digit data The data are to be monitored in two sections upper and lower five digits It starts counting from 0 in the case of overflowing Deviation pulses in decimal notation The deviation pulses between the command position and current position are displayed in decimal notation It is displayed in real time as signed 10 digit data The data are to be monitored in two sections upper and lower five digits It starts counting form 0 in the case of overflowing 5 3 HOW TO USE PARAMETER SETTER Model JVOP 100 5 3 1 Fundamental operation flow mode selection parameter number selection Turning system ON DSPL key PRGM DRIVE key lt E Y Vv 2 Setting monitor mode 1 Teaching operation mode y gt p 3 a A 2 2 2 2 2 An es o M _ Y Y C0 00 d0 02 E 0 00 U0 00 50 00 C0 01 d0 03 E0 01 UO 01 S0 01 A C0 02 d 0 04 E 0 02 U0 02 S0 02 LI C0 03 d0 05 E0 03 U 0 03 S0 03 C0 04 d0 06 EO0 10 U0 04 50 04 Teaching mode is selected by depressing PRGM DRIVE key And depress the key again and the teaching mode is ended 2 Mode changes one after anothe
71. nd OPEN again for the RESET signal to reset alarm 2 3 Precautions upon adjustment Bl During adjustment the motor will move though at a low speed Before starting adjustment make sure that rotation of the motor will cause no problems Bl After adjustment be sure to set the DIP switch DS1 2 of X3000 to OFF Juspoint Ill cannot operate correctly with the DIP switch set to ON M To adjust VR 1 use a small screwdriver MM if the offset is not adjusted correctly the motor generates abnormal vibration or noise when stopped SVON CLOSED Also the motor may rotate at an extremely slow speed when an alarm is issued M The DIP switch DS1 2 of X3000 is read by the microcomputer when the SVON signal changes from OPEN to CLOSED 76 A19 SETTING OF OPERATION CONSTANTS OF AMPLIFIER The operation constants of X3000 used as the driver speed control unit of Juspoint Ill are set by several switches When it has been incorporated as the amplifier for Juspoint II the switches have been adjusted at the factory before shipment and usually require no further adjustment However if a switch setting has been changed by mistake it must be adjusted or set again This section describes how to set the constants of the driver 1 The switches used to set the constants are located on the board of the driver X3000 2 The following table shows the function and set values for Juspoint I 9 to 1800 r min Speed range 9 t
72. nit 1 initial value 0 Function Set the speed at which the soft stop is to be started at the time of deceleration When the speed is decelerated to the setting Vspn the position control proportional gain Kpn E0 7n will be switched to Kp2n EO En E0 dO Ist soft stop speed Vsp 0 E0 d1 2nd soft stop speed Vsp 1 E0 d2 3rd soft stop speed Vsp 2 E0 d3 4th soft stop speed Ysp 3 Name Soft stop Kp2 Range 10 to 1000 r min unit 1 initial value 100 Function Set the position control proportional gain for the soft stop Be sure to set a value smaller than the position control proportional gain used before the soft stop i e Kpn E0 7n If a larger value is set the same value as Kpn will be used EO EO Ist soft stop Kp2 Kp2 0 E0 El 2nd soft stop Kp2 Kp2 1 E0 E2 3rd soft stop Kp2 Kp2 2 E0 E3 4th soft stop Kp2 Kp2 3 Speed r min Kp n E0 7n Vsp n EO dn Kp n E0 En Time t Notes 1 The soft stop function will make the deceleration time longer thus making the positioning time indexing time longer The smaller the value of Kp2n or the larger the value of Vspn the longer the positioning time indexing time will be 2 When a small value is set for Kp2n the servo lock response for stopping will take a longer time In case an external force applies at the time of stopping restoration to the zero position will take longer 34 5
73. nput OPEN for the SVON signal as promptly as possible 4 When the amplifier side error alarm 0 was detected the alarm cannot be reset unless the SVON signal is input OPEN 5 When the alarm was output alarm 2 as a result of the EMG emergency stop operation input CLOSED for the EMG signal before resetting the alarm Alarm 2 will be output again if the alarm is reset while the EMG signal is input OPEN 6 To reset the alarm input OPEN CLOSED then OPEN again for the reset signal When the reset signal changes from CLOSED to OPEN the alarm will be reset 7 In the case of the amplifier side alarm 0 the alarm is indicated on the amplifier 1 digit display as well Refer to Table 9 4 for the correspondence of alarm contents and the indication 63 A 7 TORQUE LIMIT SETTING This section describes torque limit value setting command 1 TORQUE LIMIT VALUE SETTING command Set the torque limit value by setting the parameter of JuspointIll The value of the parameter will be the torque limit value The analog signal that corresponds to the torque limit value set in the parameter is output from the point module to X3000 The relationship between the parameter setting and torque limit value is shown in the graph on the right TORQUE 200 LIMIT 96 300 L 100 H ee 100 200 300 PARAMETER SETTING 2 SUPPLEMENTARY EXPLANATION CONCERNING THE TORQUE LIMIT VALUE Bl Torque
74. o lll JOG operation after setup Bl Manual operation W Automatic operation 3 The numbers of the currently stoppable stations if the stop command is to be input are output Note however during JOG operation the machine driven by the motor will stop before the output station number Example SPEED Traveling speed A Traveling speed B DISTANCE Station position D O D Station output A Station outputB e i O A18 SPEED COMMAND OFFSET ADJUSTMENT Speed command 0 10V is output from the point module JBFPM 3 to the vector control unit X3000 Offset for this speed command has been adjusted before shipment and does not usually require any further adjustment However if you have changed the offset by mistake or have replaced either JBFPM 3 or X3000 offset must be adjusted This section describes how to adjust this offset 1 Offset is adjusted using the VR1 on the control board of X3000 2 Adjustment Bl Turn ON the power and set the machine ready for operation Input CLOSED for the SVON signal lll Input OPEN for the EMG signal and turn ON alarm 2 JBFPM3 side H Set the DIP switch DS1 2 of X3000 to ON Adjust VR1 of X3000 to the position where the motor does not turn Bl Set the DIP switch DS1 2 of X3000 to OFF lll Change the input of the SVON signal from CLOSED to OPEN to CLOSED After the EMG signal is CLOSED input OPEN CLOSED a
75. o 3600 r min Speed command 0 to 10V Rotation command is the F R signal Speed command 10 to 10V Rotation command is the polarity Capacity selection Select the capacity to be the same as that of the control unit 1 A20 OPERATION CONSTANTS PARAMETERS LIST C0 00 C0 01 C0 02 C0 03 C0 04 c0 05 c0 06 C0 07 C0 08 C0 09 C0 10 C0 11 C0 12 C0 13 C0 14 C0 15 C0 16 C0 17 C0 18 Number of stations Rotational axis linear axis l Unit station pulses E Rotation direction switching j 0 point offset automatic setup O point return direction l Direction for C0 04 Gear ratio A Gear ratio B e ABS mode 0 point offset i Rotational axis direction Parameter setting permission i Backlash correction E 0 point return mode j Number of automatic setup Unit PG pulses Kp gain during stop Kp3 Control width for Kp3 100 Initial Value Set Value d0 02 d0 03 d0 04 d0 05 d0 06 d0 07 d0 08 d0 09 d0 10 d0 11 d0 12 d0 13 d0 14 d0 15 d0 16 d0 17 d0 18 d0 19 d0 20 d0 21 d0 22 d0 23 d0 24 d0 25 d0 26 d0 27 d0 28 d0 29 d0 30 d0 31 E Pulses between stations 1 2 e Pulses between stations 2 3 or 1 3 l Pulses between stations 3 4 or 1 4 Pulses between stations 4 5 or 1 5 Pulses between stations 5 6 or 1 6 Pulses between stations 6 7 or 1 7 Pulses between stations 7 8 or
76. ode by JAE 2 Two incorrect insertton proof keys are provided 6 4 Component Layout of Juspoint IIl Table 3 6 Lead Specifications of Control Power Supply Input Terminals Lead size 2mm Terminal screw diameter M4 Specifications MADE IN JAPAN W o iD D gt POINT MODULE INVERTER Juspeed F x3000 Fig 3 2 Component Layout of Juspoint M W30501 mape in 94 YDV CO8 cnjus 3 2 MAIN CIRCUIT TERMINALS TM1 Table 3 7 Names and outline of main circuit terminals Main circuit power Three phase 200 220 VAC 410 input terminals 50 60Hz 45 Motor connection U and motor s U terminal V and motor s V terminal terminals W and motor s W terminal 3 3 CONTROL POWER INPUT TERMINALS TM1 Table 3 8 Names and outline of control power input terminals Outline Power terminal 24VDC power Power terminal OV power Notes 1 All 24V 0V power terminals are internally connected to the same power source 2 Supply the 24VDC power either from the terminal TM 1 or connector CONI 3 4 ENCODER PG CONNECTOR CON2 Names and outline of encoder PG connectors Table 3 9 Names and outline of encorder PG connectors CON2 Power terminal SVDC Power terminal GND 0V Phase A input Phase AOV Phase B input Signal terminal Phase B OV Phase Z input Phase Z 0V Thermister input Thermister 0V Pin arrangement of CON2
77. on The operation is started in the direction commanded by the F R signal at the moment the START signal changes from OPEN to CLOSED Its speed is V2 parameter When the START signal is turned OPEN the machine stops at the nearest available station in the running direction and COIN signal is output COIN A is not output Table 3 11 I O signals Cont d Symbol Pin No Descriptions W Setup Operation The current station number is received when the START signal changes from OPEN to CLOSED and COIN signal COIN A signal and the current station number received POS NO are output W At Zero point Return Operation The zero point return operation is started when the START signal changes from OPEN to CLOSED Hold the OFF signal until the operation completion signal COIN is output Its speed is V3 V4 parameter E Zero point Offset Automatic Setup Operation CONI B7 The zero point offset automatic setup operation is started in the direction set by the parameter setting when START signal changes from OPEN to CLOSED Hold the CLOSED signal until the operation completion signal COIN is output Its speed is V5 parameter E Jog Operation The jog operation is started in the direction set by F R signal when START signal changes from OPEN to CLOSED Its speed is V6 parameter When START signal is turned to OPEN it stops simultaneously This stop position is not in the usual station position and the COIN s
78. on resistance test with a megger This test has been made at the factory and need not be conducted at test run Exception If megger testing is required for inspection and maintenance purposes it should be applied only to main circuit and the ground and never to the control circuit Conduction test on control circuits 2 SPECIFICATIONS Table 1 1 Specifications 0 2 1 4 _0 4 3 4 08JP3 075m 15JP3 1 5 2 22JP3 2 2 3 Current A 20 3 0 45 75 ono 175 _Power Supply Three phases 180 to 242V 50Hz Three phases 18010 253V 60Hz 2 O Input Current A 1 6 30 PEA qc mace Mb ue oe Control Method de PWM vector cotrol Power Element Braking Method IGBT Drive Speed Control Range Speed Resolution 9 1800r min 1800 6000 i Ambient Temperature Power Supply 10t0 55 C 414 to amp 181 F 24VDC 4V 250mA Control Axis Linear axis Linear axis t Zero point return 2 mode JOG Automatic Basic Operation Positioning Command Rot tary axis Equidistant station Single station pulse is an integer Rotary axis Equidistant station Single station pulse is a fraction Equidistant station Arbitrary station distance Setup m Manual Automatic zero offset 9 bit binary code Max 511
79. other than SO 00 are for factory inspection use do not use them 5 3 5 Teaching Method Depress the PRGM DRIVE key to set the teaching mode You can cancel the teaching mode by depressing this key again The DRIVE lamp J is lit when in the teaching mode Teaching mode Set the direction with the FOW REW key first and then depress the JOG key to start the JOG Jog operation operation The FOW and REV lamps turn ON alternately every time the FOW REW key is depressed The dorection of the lit lamp is selected Advance to the station position using JOG Es operation and display the station number no by Position setting depressing the A or V key and then depress the ENTER key The pulse data of the station position will be written in parameter d0 The DSPL key is invalid in the teaching mode Cancel the teaching mode before using the DSPL key 2 The FOW REW key is invalid during operation The JOG direction will not be changed even if the key is depressed during operation 3 The teaching operation is to be performed in the case of CO 12 0 Note that the teaching operation can be performed in the case of CO 12 1 as well however the position data of teaching will not be written in parameter dO 4 Monitoring data after carrying out the teaching operation allows you to monitor the data that have
80. performs the emergency stop operation as soon as it detects the OPEN input except in state F 3 Therefore when turning ON the power or setting the parameters make sure that CLOSED is input for the EMG signal If OPEN is input then the emergency stop operation will be performed and alarm 2 will be output disabling all machine operations and parameter settings Alarm 2 can be reset with the reset signal Position control is continued during the emergency stop operation Thus no zero return nor setup operation is required after the emergency stop All operations are enabled Immediately after alarm 2 is reset the position at the time of the emergency stop will be retained After the next operation command the motor will start moving A12 HOW TO USE SVON SIGNAL This section describes how to use the SVON signal 1 The SVON signal is the servo command of the driver X3000 The CLOSED input is servo ON and OPEN input is servo OFF Except during the alarm state of the amplifier X3000 the control follows the SVON signal The CLOSED input immediately after the power supply functions as the servo clamp at the current stopped position The OPEN input for the SVON signal during operation turns OFF servo and the motor will stop after coasting The motor usually does not stop at a station position in this case If however the motor stops at a station position and within the COIN NEAR range the COIN NEAR signal will be outpu
81. put even after completion However in the case of stopping at a station COIN and NEAR signals are output CLOSE COIN A is output OPEN During JOG operation the station position output indicates 0 at the same time as the start of operation and even after stopping indicates 0 When stopping at a station the number of the station is output When carrying out a JOG operation after setup there is no need for a zero point return operation or setup operation Manual automatic operation is possible without any preparation Running speed V6 is set by parameter E0 50 to 53 26 5 PARAMETER SETTING MONITORING 5 1 PARAMETER SETTING Parameters to be used for station indexing control are shown in the table below Perform parameter setting while the motor is stopped Table 5 1 List of Parameters Number of stations Rotational axis linear axis Unit station pulses Rotation direction switching O point offset automatic setup O point return direction Direction for CO 04 Gear ratio A Gear ratio B ABS mode O point offset Rotational axis direction Parameter setting permission Backlash correction 0 point return mode Number of automatic setup Unit PG pulses Kp gain during stop Kp3 Control width for CO 17 d0 02 Pulses between stations 1 2 96000000 Pulses between stations 2 3 or 1 3 96000000 Pulses between stations X X or 1 X 96000000 Pulses between stations 44 45 or 1 45 96000000 E0
82. r when C0 00 DSPL key is depressed gt d0 02 c E0 00 10 00 gt S0 00 Notes 1 Set respective parameter numbers by depressing the A key and V key 2 The method to set parameter values of parameter number is shown on the next page 38 5 3 2 Parameter value setting flow Co nn do nn Eo nn A AAA Parameter number setting ae Parameter value display un Parameter value setting EN NN Parameter value writing End display Display the parameter number by depressing the DSPL 66 bkd and 6 V keys Press the ENTER key to display parameter value Set display a parameter value by depressing the AR SUM and Mou keys Press the ENTER key to input the parameter value Displays End for 0 5 second and completes setting No display will appear after that 2 Operation will not be possible unless ENTER is depressed to finish parameter setting No operation commands are accepted 2 To set more than 6 digit parameter set the lower 4 digits first and then the upper 4 digits 5 3 3 Monitor operation flow Uo nn Monitor number setting eV Monitor value display Y Monitor display completion v End display Displays the monitor number by depressing the DSPL 6 and EXE keys Depress the ENTER key to display monitor v
83. ro point return Turning ON ABS mode EB Setup C Zero point return Automatic operation Manual operation Setup When C0 15 0 the setup operation is necessary after zero point return In the case of C0 1520 no setup operation is requested since the system executes the setup operation for C0 15 atuomatically OPEN Fig 4 1 Flowchart of Fundamental Operations Table 4 1 Setting of Operation Mode MODEO OPEN OPEN gt CLOSED Operation mode JOG operation OPEN CLOSED OPEN gt CLOSED Setup operation _ CLOSED CLOSED CLOSED OPEN OPEN CLOSED OPEN gt CLOSED Zero point return OPEN gt CLOSED Zero point offset amount automatic setup operation OPEN OPEN gt CLOSED Automatic operation CLOSED OPEN CLOSED OPEN gt CLOSED Manual operation Other than the above No applicable modes 4 2 SETUP The system sets the station number of the controlled machine currently stopped To carry out setup operation it is necessary that the machine be stopped at any one of the station positions and mechaninally clamped Otherwise carry out setup operation When C0 15 0 the setup operation is necessary after zero point return In case of Automatic manual operation without setup operation after turning the system ON If the backlash correc
84. roportion to KP but is in reverse proportion to KP V acc Im ES 59 2 2 Using soft stop The deceleration time toec can be expressed by position control constant KP soft stop speed VSP soft stop KP2 KP Parameter setting toc t1 t2 3 X Vrer Vsp KP 3 x Vsp KPP sec KP Supplementary explanation 1 Note that the acceleration time deceleration time is made longer by using the soft start soft stop function 2 When the setting is KP lt KP2 the control will assume KP KP2 3 When the setting is Vrer lt Vsp the control will use KP2 from the start of deceleration 4 When the setting is Vsp 0 the soft stop will not be used regardless of the value in KP2 60 A 4 SPEED TORQUE MONITOR This section describes how to monitor the speed and torque of Juspoint III The speed torque monitor output of X3000 amplifier is output from the connector CONI which is connected to the point module connector CON4 with a cable Therefore to monitor the speed and torque use the signal line from the point module board Point module X3000 CON4 CON 0 SS re cem SPEED MONITOR Vs r 4 d TORQUE MONITOR 4 9 Vt COMMON a TERMINAL t o 2 OV nl Short terminals 42 43 and 4 45 and measure the voltage between the common terminal OV Monitor output voltage Speed monitor Vs 0 10V 0 1800 r min
85. rrection C0 13 Name Range Function Zero point offset 120 to 40000 unit 1 initial value 400 This is used when setting the zero point offset by parameter Set in PG pulse units multiples of 4 Additionally in order to make the zero point return operation stable adjust the motor axis so that setting can be made within the upper limit and the lower limit In the case of zero point offset automatic setup mode exceeding the above rang will also result in an error Name Range Function Table 5 2 Parameter Functions Cont d Rotational axis direction command mode 0 1 2 3 unit initial value 0 Set the direction when executing automatic operation of rotational axis Positioning is perfomed in the shorter distance direction Positioning is performed in the same direction as that when the F R signal turns OPEN Positioning is performed in the same direction as that when the F R signal turns CLOSED Positioning is performed according to the external command F R signal Name Range Function Parameter setting permission Oor 1 unit initial value 0 This parameter allows or prohibits setting of parameters JOG operation by teaching can be performed but the position setting write to dO x k is not possible All parameters can be set Parameters cannot be set or initialized To be used when prohibiting parameter setting When this parameter is set to C
86. sec unit 1 initial value O Set the time to soft start at starting ts n E0 80 Ist soft start time upon starting ts 0 E0 81 2nd soft start time upon starting ts 1 E0 82 3rd soft start time upon starting ts 2 E0 83 4th soft start time upon starting ts 3 Name Range Function Soft start speed at starting Vs n 0 to 99 r min unit 1 initial value 0 The speed will reach the speed at the soft start time EO 8n at the above start See the chart below E0 90 Ist soft start speed upon starting Vs 0 E0 91 2nd soft start speed upon starting Vs 1 E0 92 3rd soft start speed upon starting Vs 2 E0 93 4th soft start speed upon starting Vs 3 Speed r min E0 8n Time ms Name Range Function Torque limit value TL n 30 to 300 unit 1 initial value 200 Set the torque limit value TL n of the driver X3000 EO AO Ist torque limit value TL 0 EO Al 2nd torque limit value TL 1 E0 A2 3rd torque limit value TL 2 E0 A3 4th torque limit value TL 3 100 96 is the motor s rated torque value The deceleration time in JOG emergency stop zero point return zero point offset automatic setup is determined by this torque value Overrun may occur in manual automatic operation owing to the Kp value E0 7n and torque limit value EO An In that case make the Kp a smaller value or make the torque limit a larger value Table 5 2 Parameter Functions
87. ses between stations 33 34 or 1 34 l Pulses between stations 34 35 or 1 35 Pulses between stations 35 36 or 1 36 E Pulses between stations 36 37 or 1 37 Pulses between stations 37 38 or 1 38 i Pulses between stations 38 39 or 1 39 Pulses between stations 39 40 or 1 40 Pulses between stations 40 41 or 1 41 Pulses between stations 41 42 or 1 42 Pulses between stations 42 43 or 1 43 Pulses between stations 43 44 or 1 44 i Pulses between stations 44 45 or 1 45 Initial Value Set Value Ist Automatic operation speed 2nd Automatic operation speed 3rd Automatic operation speed i 4th Automatic operation speed Ist Manual operation speed 2nd Manual operation speed 3rd Manual operation speed 4th Manual operation speed Ist High speed O point return 2nd High speed O point return 3rd High speed 0 point return 4th High speed O point return Ist Low speed 0 point return 2nd Low speed 0 point return 3rd Low speed O point return 4th Low speed 0 point return Ist O point offset setting speed 2nd 0 point offset setting speed 3rd O point offset setting speed 4th 0 point offset setting speed Ist JOG speed 2nd JOG speed 3rd JOG speed E 4th JOG speed Ist Accel time l 2nd Accel time i 3rd Accel time 4th Accel time Ist positioning control gain i _ 2nd positioning control gain 3rd positioning control gain
88. sm the motor shaft will be mechanically clamped at a station position After the power supply command setup the number of that station position Refer to the memory of the NC unit or the position information of the output shaft encoder Bl When a mechanical clamp mechanism is not provided performing the setup operation every time 4 the power is supplied means that positional errors will be accumulated every time the power is supplied Thus if a mechanical clamp mechanism is not provided be sure to perform zero point return every time the power is supplied When the ABS mode is used E ABS mode 1 All positional information is stored in the nonvolatile memory before the power is turned OFF thus no zero point return nor setup operation is required after power is supplied B ABS mode 2 Only the station number is stored in the nonvolatile memory before the power is turned OFF thus no setup operation is required after power is supplied However errors will be accumulated every time the power is supplied when no mechanical clamp mechanism is provided Thus when no mechanical clamp mechanism is provided perform the zero point return every time the power is supplied The following table shows when and when not the zero point return and setup operations are required Zero return setup operation With mechanical clamp Not required Required Not required Not required Not required Not required Without mechanical clamp Requ
89. start signal changing from OPEN to CLOSED Start zero point return operation direction by C0 05 speed by V3 Detecting zero point LS signal changing from OPEN to CLOSED decelerate to V4 Then detecting zero point LS signal changes CLOSED to OPEN At zero point return operation 0 CO 14 0 Move and position by the zero point offset preset from the first Z phase pulse of PG At zero point return operation 1 CO 14 1 Move and position by the zero point offset preset Running speed V3 V4 is set by parameter E0 20 to 23 E0 30 to 33 Fig 4 4 shows the sequence of zero point return operation Input of zero point return mode MODEO to MODE2 E AA RE Input of START signal after the above START OPEN gt CLOSED o COIN signal is output within Smsec and zero point return starts COIN OPEN or CLOSED gt OPEN Detection of zero point LS signal deceleration and stopping at zero point eee AAA Y COIN OPEN gt CLOSED B Time chart SVON MODE START ZRET LS Fig 4 4 Sequence of Zero point Return Operation Fig 4 5 shows the time chart of zero point return operation OPEN x OPEN S OPEN NEN C0 14 1 Offset C0 14 0 F Offset PG A Bpule eene denne Rescue Z pulse COIN SPEED e CLOSED ET OPEN v3 V4 Fig 4 5 Time Chart of Zero point Return Operation 22 4 4 ZERO POINT OFFSET AUTOMATIC SETU
90. t The CLOSED input for the SVON signal after that functions as servo clamp at the current stopped position The motor will not rotate to a station position The motor will start moving according to the following operation command Positioning control is continued during the servo OFF state Thus no zero point return nor setup operation is required after servo ON If the motor shaft is to be mechanically clamped positional error may occur continuously In such state the overcurrent will flow or the motor will overheat in a short period of time Thus if your system makes such mechanical clamp input OPEN servo OFF for the SVON signal during the clamp Also if you use a motor with a brake input OPEN servo OFF for the SVON signal while the brake is on When an alarm of the amplifier X3000 is detected it cannot be reset unless the SVON signal is input OPEN 70 A13 SETUP OPERATION This section describes the setup operation 3 The setup operation sets commands a station number to the currently stopped position in case it is a station position Any desired station number can be set after zero point return In the case of CO 15 0 the station number will be automatically set to the setting of C0 15 after zero point return thus the setup operation is not required In the case of CO 15 0 the setup operation is required after zero point return When the ABS mode is not used E With a mechanical clamp mechani
91. t Function When the driver X3000 or the positioning controlling portion point module detects an error alarm stop status is held CON1 B11 Signal to return to operation status after removing the cause Resets by changing the signal for OPEN to CLOSED to OPEN However reset the SVON signal by OPEN signal input only when the alarm occurs in the driver X3000 Reset cannot be executed if SVON signal is CLOSED I O Input Name Multiple pattern selection Function More than one operation can be selected by combining two bits CLOSED CLOSED CLOSED CLOSED Automatic operation speed v12 Manual operation speed V22 High speed zero point return V32 CON1 A12 Low speed zero point return V42 CON1 B12 Zero point offset automatic setup speed V52 Jog speed V62 Acceleration time ACC2 Positioning control constant Kp2 Software start time 1s2 Software start speed Vs2 Torque limit TL2 Operation completion width COIN2 Positioning vicinity width NEAR2 Soft stop speed Vsp2 Soft stop Kp2 Kp22 Parameter setting is EO nn for all I O Output Name Operation completion signal CONI A13 Function The system outputs the completion of each operation mode Table 3 11 VO signals Cont d Symbol Pin No Descriptions E Automatic Operation Mode CLOSED is output at the completion of positioning to the commanded station Action completion width is set by parameter When the same station
92. the ABS ST signal Operation mode will not be accepted while the ABS READY signal is in the CLOSED STATE E When the ABS ST signal becomes CLOSED 0 5 sec all the contents of the position information memory E ROM will be read and the ABS READY signal will be output as OPEN Then the condition before the power was turned OFF condition 0 or 5 will be completely restored In the case of condition 0 zero point return or setup operation is required In the case of condition 5 zero point return or setup operation is not required The time required for storing the memory while the motor is stopped is about 200 msec 2 When the ABS mode C0 09 1 is to be used use it with the specially designed brake motor The ABS mode 2 CO 09 1 does not require a special motor 3 In the case of ABS mode C0 09 1 all the position information is stored in E ROM thus enabling the control almost as precise as the absolute value PG However if the motor is rotated while the power is turned OFF positioning will have an error egual to that amount In the case of the ABS mode 2 C0 09 2 only the station number is stored in E ROM use this mode only when you have the mechanical clamp mechanism e g pin insertion That way even when the motor shaft rotates while the power is turned OFF due to play in the transmission mechanism the positioning error will not exceed a certain value 4 To use the ABS mode for momentary po
93. the control sequence input Also set the sequence of the station numbers In the case of 0 Motor rotates CCW viewed from the load side when F R signal is OPEN Or the station number increases in the CCW direction In the case of 1 Motor rotates CW viewed from the load side when F R signal is OPEN Or the station number increases in the CW direction Name Range Function Example 1 Example 2 Zero point offset automatic setup mode Oor unit initial value 0 Set using the parameter C0 10 or zero point offset automatic setup operation to set the zero point offset In the case of 0 Setting by parameter is selected Executing zero point offset setup operation with this setting will result in an error In the case of 1 Setting by zero point offset automatic setup operation is selected Name Range Function Example 1 Example 2 Table 5 2 Parameter Functions Cont d Zero point return direction Oor 1 unit initial value 0 Set the direction of the zero point return In the case of 0 Zero point return will be carried out in the same direction as when the F R signal is changed to OPEN In the case of 1 Zero point return will be carried out in the same direction as when the F R signal is changed to CLOSED Name Range Function Example 1 Example 2 Zero point offset automatic setup operation direction Oor 1 unit initial value 0 Set the direction of
94. the zero point offset automatic setup Normally set in the opposite direction of the zero point return In the case of 0 Zero point offset automatic setup will be carried out in the same direction as when the F R signal is changed to OPEN In the case of 1 Zero point offset automatic setup will be carried out in the same direction as when the F R signal is changed to CLOSED Name Range Function Example 1 Example 2 Gear ratio B A 1 to 40000 unit 1 initial value 1 To be used when the unit station pulse is fractional Set A or B of the gear ratio B A C0 07 Gear ratio A C0 08 Gear ratio B When the gear ratio is 1 179 decelerating A 179 and B 1 When the gear ratio is 55 19 accelerating A219 and B 55 Name Range Function ABS mode 0 1 2 unit initial value 0 Set the ABS mode The ABS mode is not used ABS mode 1 All the position information before turning OFF the power is stored in the nonvolatile memory A specially designed brake motor is required Control equivalent to an absolute value PG is possible ABS mode 2 Only the information of the stations stopped before turning OFF the power is stored in the nonvolatile memory Since the amount the motor moves while the power is OFF will remain as an error a mechanical clamp e g clamp pin insertion must be provided A specially designed brake motor is not required Set 0 for the backlash co
95. tile memory before the power was tumed OFF To excute ABS operation first change the ABS ST signal from CLOSED to OPEN and make sure that the ABS READY signal becomes CLOSED before turning OFF the power This alarm is also issued when the motor shaft is forced to rotate by external force while the power is turned OFF When the ABS mode 1 is to be used the motor must have a brake Malfunction of the microcomputer out of control It is possible that noise has entered from the control signal line or 24 VDC power line Take measures to prevent noise from entering these lines shield the cables or separate the lines from the power lines carrying large currents It is also possible that the control unit is faulty If the error does not disappear by eliminating the noise replace the control unit and return it to the factory MCU error Reset the alarms using the reset signal RESET The alarms can also be reset by the power supply 24 VDC Reset the power supply in the case of the MCU error Cause and remedy of alarms for the inverter Juspeed F X3000 Error indication Errors are indicated by blinking indication Errors of the inverter can be monitored on the LED 7 segments on the printed circuit board in the inverter main body LED indication Overcurrent Table 7 4 Cause and remedy of alarms for Juspeed F X3000 Contents Overcurrent or short circuit current was detected and the inverter output w
96. tion Establish the signals of operation mode MODEO 2 station command value STA NOO 8 and direction command F R at the same time with or before the change of the START signal output from MODE 0 2 F R STA NOO 8 tl gt Omsec le t2 gt 10 msec 1 START OPEN COIN Wi At Operation Completion The operation completion signal COIN is output at the completion of operation and simultaneously current station number PDS NoO 8 is displayed Therefore after detection of out OPEN gt CLOSED of operation completion signal COIN acquire the current COIN POS NOO 8 CLOSED station number 4 OPEN Station number can be acquired 44 6 5 ABS MODE 1 AND 2 1 Sequence before turning power OFF Usually input CLOSED for the memory storage command signal ABS ST Then just before turning the power OFF input OPEN for ABS ST E When ABS ST is input as OPEN during operation the motor will be stopped At the same time the motor brake will be turned ON When the complete stop of the motor is detected the current position information will be stored in FROM W After storing the required memory output CLOSED for the memory storage completion signal ABS READY to indicate that the power supply 24 VDC can be turned OFF 2 Sequence after turning power ON W After the power is turned ON the ABS READY signal is output as CLOSED So input CLOSED for
97. tion is not 0 always carry out zero point return before setup B Function after zero point return C0 1520 no setup operation is requested results in an alarm exept in the ABS mode operation except in the ABS mode B Sequence Fig 4 2 shows the sequence of setup Input the current station number Select setup operation mode STA NOO to STA NO8 MODEO to MODE2 Input START signal after the above START OPEN gt CLOSED ax OPEN COIN and OPEN NEAR signals are output within 5msec from START signal COIN CLOSED or OPEN OPEN NEAR CLOSED or OPEN OPEN CLOSED NEAR CLOSED COIN CLOSED NEAR COIN COIN A OPEN gt CLOSED COIN A signals are output within 20msec Confirm the completion of L setup by COIN or COIN A OPEN gt CLOSED Station number POS NOO to POS NO8 is output at completion Collate it with the set station number Fig 4 2 Sequence of Setup Operation m Time chart Fig 4 3 shows the setup time chart SVON OPEN MODE STA NO OPEN START NEAR COIN 20 msec Setup completion LOSA COIN A OPEN POS NO X Fig 4 8 Time Chart of Setup Operation 21 4 3 ZERO POINT RETURN OPERATION B Function E Sequence The system carries out positioning of the machine and stops it at the zero point Return to zero point used zero point LS signal Detecting
98. to connect the parameter setter JVOP 100 and Juspoint Ill You must specify the length 9 3 PG CABLE This is a cable used to connect the motor PG pulse encoder and Juspoint Ill You must specify the cable length and the structure of the connector on the motor All cables are to be manufactured after receiving the order Connector structure ad C able length 7 Straight plug 005 0 5m 8 Angular plug 010 1 0m 015 1 5m 020 2 0m 025 2 5m 030 3 0m 040 4 0m 050 5 0m 060 6 0m 070 7 0m 080 8 0m 090 9 0m 100 10 0m ab0 ax10 b m 51 9 4 PARAMETER SETTING SOFTWARE personal computer software Parameters can be set edited written stored onto memory storage media or verified using your personal computer With the NEC PC98 version the screen display is in Japanese and with the IBM version the screen display is in English The software will be delivered stored on a 3 5 2HD floppy disk For details refer to the appropriate document PC98 version YDVES B2126 IBM version YDVES B2127 Personal computer 1 NEC PC98 computer Japanese display 2 IBM computer English display 9 5 PERSONAL COMPUTER COMMUNICATION CABLE To use the software for parameter setting you must connect Juspoint II to your personal computer with a communication RS232C cable The cable specifications are listed in the document sheet Specify the following type when ordering it from YASKAWA This cable is manufactured after receivin
99. ulses of the motor 0 1024 pulses rev 1000 pulses rev Two types of PG pulses can be selected Normally set O If this setting does not agree with the motor pulses an alarm alarm 1 will be output Name Range Function Table 5 2 Parameter Functions Cont d Kp gain during stop Kp3 10 1000 unit 1 initial value 25 Set the value of position control proportional gain for the range set by C0 18 Normally set a value smaller than Kp EO 7n If the setting of Kp3 is larger than Kp the value of Kp is assumed Name Range Function Control width for CO 17 0 100 unit 1 initial value 20 Set the range of pulses controlled by Kp3 In the set range of pulses Kp E0 7n is switched to Kp3 for position control Once the control is switched to Kp3 it will be held until the operation is started next SATRT signal changing from OPEN to CLOSED In the state 0 the position is controlled by the value of Kp3 In the case of CO 18 0 the Kp3 control will not be executed Position will always be controlled by Kp CO 7n Name Range Function Section 1 2 Arbitrary station pulses 40 96000000 unit 1 initial value 4000 Set the station pulses for the section 1 2 for the linear axis In the case of C0 01 3 set the pulses of section 1 2 in units of PG pulses multiples of 4 In the case of C0 01 4 set the pulses of section 1 2 in units of PG pulses multip
100. wer loss during operation make sure the following conditions are satisfied 1 The brake turned ON simultaneously with momentary power loss to stop the motor in a very short period of time Examine the brake operating life 2 The ABS ST input becomes OPEN simultaneously within about 100msec with the momentary power loss 3 The power 24VDC is retained until the ABS READY output becomes CLOSED The ABS READY output becomes CLOSED in about 200msec after the motor is stopped 5 When memory storage was not complete before the power was turned OFF alarm D will be output as soon as the ABS ST signal input becomes OPEN In this case reset the fault and carry out the zero point return and setup operation 6 In the case of the ABS mode 1 C0 09 1 the above operations can be performed when the backlash compensation CO 13 1 is set to other than 0 zero point return and setup operation after turning ON the power is not required In the case of the ABS mode 2 C0 09 2 set 0 for the backlash compensation CO 13 ll Sequence diagram 1 For normal power turning OFF while the machine is stopped 200VAC 24VDC Brake motor em ae i 24VDC L_ov Brake ON ABS ST a OPEN Speed O r min E ROM CLOSED CLOSED ABS READY OPEN Du EEE N lll Sequence diagram 2 Momentary power loss 200VAC 24VDC 24VDC Brake ON Brake motor A ABS ST CLOSED e iM OP

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DTSE S606 9.1

DTSE-S606-9.1

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