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Accurax G5-Linear Servo system USER`S MANUAL

1. L1 el aed gt N 7 Motor coil Rl Fi L2 _ oS T o L o b VET w g in fi aie F CE ETE EE 01 20 as _ 1 65 0 2 _ _ 55 6 0 7 eal sity 26 Hl oO 0 5 XN 57 5 0 7 2 a 0 15 ps 130 0 35 a il Ww a f3 gt Cable length 500330 Cable length 50030 Cable length 500 30 Q Connector optional oneer aora NENNE HYPERTAC i p Sub 9 pin I LRRAOGAMRPN182 MALE D Sub 9 pin FEMALE Q Power Sensor Hall sensor optional Pin No Wire Function Pin No Function Pin No Function oO 1 Black Phase U 1 Not used 1 5V a 2 Black Phase V 2 Not used 2 Hall U O 3 Green Yellow Ground 3 Not used 3 Hall V ei 4 Black Phase W 4 Not used 4 Hall W 5 Not used Not used 5 Not used 5 GND 6 Not used Not used 6 PTC 6 PTC 7 PTC 7 PTC gt 8 KTY NTC 8 KTY Q 9 KTY NTC 9 KTY Case Shield Case Shield m Magnet track x lt a Model Approx weight Kg m Dimensions mm Model s R88L EC FM 06192 A 3 8 L1 L2 D R88L EC FM 06288 A R88L EC FW1112 249 0 5 223 0 15 0 35 R88L EC FW1115 297 0 5 271 0 15 0 35 w gpx FERN ae o eod a aaa Y plate ot w ow 5 io vi J rr J F ji F lof F ji E e RA gt a R m 12 2 1 1 1 1 1
2. CNC gt Voltage A detection 24V i A gt 4 J DC DC OV T A A f a e Ps Ke 4 T 15V lt SW power yv v Y vy Mad a supply main Relay Regeneration Overcurrent Gate drive Current detection 5 O lt circuit control drive control detection D Ss Be i um 33V y y 7 2 5V lt JInternal Display and f e 1 5V lt control power MPU amp ASIC k eting circuit Q a Yi e Jsupply Position speed and force calculation control area l J z G2 lt PWM control 0 Wr gt S Q Q e Tb Cooling fan o CN1 CN4 CN5 CN7 CN8 Sen 5 Control External Analog USB Safety T interface scale monitor LL 1 8 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Size E R88D KT20H L 1 4 System Block Diagrams
3. NEB OFF ON MC1 MC2 Q 7 gt __ Main circui R O 0 5 Fte Er m Main circuit contact SUP surge suppressor 3 phase 200 to 240 VAC 50 60 Hz s S u MCI MC2 X1 i T 00 t Groundto _ CS1W NC133 233 433 100Qorless R88D KTx L Description 5 V power supply for pulse output 5 VDC Reactor 5 V ground for pulse output P EEE Bae 24 V power supply for output H i i 24VDC izi 0 V power supply for output i MC1 MC2 avie CCW output X axis ECW C output pulse FEW G output i output EW output F gt X lt i i Mot ble X axis error counter reset output t ECRST Red a ee i White X axis origin line drive input t Z Blue X axis origin common t Z s a X axis positioning completed input r INP enian t INPCOM Inputcommon A244 Fo 24VIN 24VDC x1 Encoder cables X axis external interrupt input t RUN X axis origin proximity input i i RESET X axis CCW limit input H BKIRCOM X axis CW limit input 4 t ALMCOM X axis emergency stop input IHH ZALM 24VDC He BKIR CH H FG sal H Precautions for Correct Use The example shows a 3 phase 200 VAC input to the drive for the main circuit power supply Be sure to provide a power suppl
4. NFB OFF ON MC1 MC2 Q R O S D ic 4 Main circuit contact g a uu SUP surge suppressor 3 phase 200 to 240 VAC 50 60 Hz sO o9 3 4 MC1 MC2 X1 D Servo error display TO o 0 _ Groundto m CJ1M 100 Q or less R88 KTx L Description ___ Nof Reactor Output power supply input Zeria 2avoc i Output COM zii i 24VCW MC1 MC2 CW output t CW aL Pulse S L2avCCW E SPa CCW output i CCW i ECRST Origin t t ZCOM input signal r Z Red Motor power cables ee i White Positioning 13 i Blue completion signal 17 r i INP elon Origin proximity h 24VIN input signal Veet i a RUN BKIRCOM Encoder cables ALMCOM aiH ZALM 4 BKIR e T FG H Precautions for Correct Use Incorrect signal wiring can cause damage to units and the drive Leave unused signal lines open and do not wire them Use mode 2 for origin search Use the power supply for command pulse 24 VDC as a dedicated power supply Do not share the power supply for brakes 24 VDC with the 24 VDC power supply for controls The diode recommended for surge absorption is the RU 2 Sanken Electric Co Ltd or the equivalent gt x D D 5 a x Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 9 12 1 Connection Examples
5. CNA v CNC eo o 7 B1 FUSE L1 H B2 4 i S B3 L2 os a Internal Regen Resistor J _ eae N FUSE A Fuse not installed L3 H gt I aia CNB Hd pH V gt f Voltage AY Ww FUSE 7 A detection UC Bi L2C ae wil le z A i OGR y 15V lt SW power x yx y GR C supply main Relay Regeneration Overcurrent Gate drive Current detection Oo l Sl eircuitcontrol drive control detection 5y eT 7 f 33V lt y vy J 2 5V lt Internal Display and l 1 5V lt control power MPU amp ASIC setting circuit E5V lt J B 1 area 112V lt supply Position speed and force calculation control area J G2 lt _ PWM control SII r A O E C Q Cooling fan v CN1 CN4 CN5 CN7 CN8 Control External Analog USB Safety interface scale monitor Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL uoneinBbiyuoy wia SsASg pue sainjea4 1 4 System Block Diagrams Size E R88D KT20F L Size F R88D KT30F L 50F L
6. CNA x CND FUSE B1 L1 H B2 7 f B3 L2 oe Ace Internal Regen Resistor k ae N FUSE Fuse not installed Bo na q d E Kk CNB AA U amp eel y CNC l AA Ww FUSE Fi 24V e ILAJA K gt DC DC le Ce oV s re a A O GR D dD 15V lt _ SW power v v Y v Z GI supply main Relay Regeneration Overcurrent Gate drive Current detection c oT circuit control drive contol detection sj N t i 334 lt z S 2 5V lt internal L Display and 1 5V lt control power MPU amp ASIC setting circuit E5V lt i area Q 112V lt upply Position speed and force calculation control area I D G2 lt PWM control gt L HEHHEHE a I xe aS C Q Cooling fan pas 4 A CN1 CN4 CN5 CN7 CN8 LL Control External Analog USB Safety interface scale monitor 1 10 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 1 5 Applicable Standards 1 5 Applicable Standards EC Directives Mira Product Applicable standards Low voltage AC Linear Servo Drive EN 61800 5 1 iii AC Linear Servomotor EN 60034 1 2004 EN 60204 1 2006 EMC AC Linear Servo Drive EN 55011 class A group 1 directives IEC61800 3 EN61000 6 2 Note To conform to EMC directives the Linear Servo Motor and Servo Drive must be installed under the
7. Size B R88D KT0O2L L 04H L CNA Y CNB ee B1 FUSE L1 H B2 i B3 FUSE i 1 4 t L2 H DO eg rae A L3 ie ae IKA AKA D AA U rd V sf Voltage A Ww FUSE A detection LIC C i 4qjCLAICAILA ei L2C j SS es els A A a j r mO GR SW power yv v Y 15V lt WP GR supply main Relay Regeneration Overcurrent Gate drive Current detection OS G1 irei drive trol detection circuit control Iv contro L y patem T 3 3V lt y 2 2 5V lt Internal Display and A lt control power MPU amp ASIC Se ere 2 y lt _supply Position speed and force calculation control area Ge 2 PWM control CN1 CN4 4 CN5 4 CN7 CN8 Control External Analog USB Safety interface scale monitor 1 6 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 1 4 System Block Diagrams Size C R88D KT04L L 08H L Size D R88D KT10H L 15H L
8. Specifications Model Specified cables for Position Control Unit 1m XW2Z 100J G9 ca Sm We 8000 69 10m XW2Z 10MJ G9 Specified cables for Position Control Unit 1m XW2Z 100J G13 Te TE Specified cables for Position Control Unit 1m XW2Z 100J G13 e cima Sm 22 5007 10m XW2Z 10MJ G1 Specified cables for Position Control Unit 1m XW2Z 100J G5 Rees eo yas sm RAZ 300185 Specified cables for Motion Control Unit for 1 axis 1m R88A CPGO001M1 CS1W MC221 V1 MC421 V1 om R88A CPGO02M1 3m R88A CPG003M1 5m R88A CPGO05M1 Specified cables for Motion Control Unit for 2 axes 1m R88A CPG001M2 CS1W MC221 V1 MC421 V1 2m R88A CPG002M2 3m R88A CPG003M2 5m R88A CPGO05M2 General control cables with connector on one end 1m R88A CPG001S 2m R88A CPG002S Connector terminal block cables 1m XW2Z 100J B24 2m XW2Z 200J B24 Connector terminal block M3 screw and for pin XW2B 50G4 terminals M3 5 screw and for fork XW2B 50G5 round terminals M3 screw and for fork round XW2D 50G6 terminals i External Regeneration Resistors Specifications Model Regeneration process capacity 20 W 50 Q with 150 C thermal sensor R88A RR08050S Regeneration process capacity 20 W 100 Q with 150 C thermal sensor R88A RR080100S Regeneration process capacity 70 W 47 Q with 170 C thermal sensor R88A RR22047S Regeneration process capacity 180 W 20 Q with 200 C thermal sensor R88A
9. Item Unit R88L EC GW 0703 R88L EC GW 0706 R88L EC GW 0709 Maximum speed 100V m s 1 2 1 2 1 2 Maximum speed 200V m s 2 4 2 4 2 4 Peak force 1 N 700 1400 2100 Peak current Aeff 5 6 11 3 16 9 Continous force N 117 232 348 Continous current 2 Aeff 0 94 1 87 2 81 Motor force constant N Aeff 124 0 124 0 124 0 BEMF VDC m s 101 0 101 0 101 0 Motorconstant Nw 17 97 25 44 31 14 Phase resistance Q 15 8 7 9 5 3 Phase inductance mH 28 0 14 0 9 0 Electrical time constant ms 1 8 1 8 1 8 Bee cont power disipation all Ww 82 165 247 Thermal resistance K W 1 56 1 04 0 52 Thermal time constant s 96 96 96 Magnetic attraction force 0 0 0 Magnet pole pitch mm 57 57 57 Weight coil unit 3 Kg 0 550 0 950 1 350 Weight magnet track Kg m 24 24 24 Protection methods 4 Temperature sensors NTC10k PTC110C self cooling Hall sensor Digital optional Insulation class Class B Max busvoltage 325V DC Insulation resistance 500V DC Di electric strength 2250V for 1 sec Max allowable coiltemperature Basic specifications 110 C Ambient humidity 20 80 non condensing Max allowable magnet temperature 70 C 1 Coil temperature rising 03 series by 40K s 05 series by 20K s and 07 series by 20K s 2 values at 110 C coil temperature and magnets at 25 C 3 Weight without connector and cable 4 2t has to be set properly for high current overloa
10. FRONT VIEW FRONT VIEW o gt ct JB l a OJ B O o L d ale 4 Q RED 0 5 N 5V 1 1 f OV 5 5 BLACK 0 5 Hall A 2 Pe GREY I a VIOLET x Hall B 3 Hall C 4 4 ORANGE X GREEN X n 6 BLUE S X BLUF WHITF XxX PTG o o e KTY 8 8 YELLOW po X YELLOW WHITE X KTty 9 jo i4 SCH TO BODY SCH TO BODY CABLE 4x2x0 25 2x0 5 PU BLACK Serial Converter side Hall Temperature motor side D Sub 9 Male Connector D Sub 9 Female Connector Note It is possible to connect both hall sensor and temperature to Serial Converter CN2 at the same time using a single cable but then it is necessary to prepare a cable adaptor by the user in the motor side Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 89 suonesijoads Specifications 3 5 Cable and Connector Specifications 3 90 Diagram with connections Linear Servo Drive with A B pulse encoder e Accurax G5 Linear drive R88D KT or with SinCos encoder e Accurax G5 Linear drive R88D KT Motor power signals Power Cables Standard Cables R88A CAWK S DE Encoder Cables Standard Cables R88A CRKN J J JCR E Feedback Signals A B encoder Motor power signals Power Cables stanaard Cables R88A CAWKI 1S DE Serial converter Hall sensor Temp sensor SinCos encoder Encoder Cables a Standard Cables R88A CFKA CR E Feedback Signals SinCos
11. 24 VDC 1 The XB contacts are used to turn ON OFF the electromagnetic brake Note 1 Do not connect unused terminals Note 2 The 0 V terminal is internally connected to the common terminals Note 3 The applicable crimp terminal is R1 25 3 round with open end i XW2B 40J6 2B This Servo Relay Unit connects to the following OMRON Position Control Units CJ1W NC213 NC233 NC413 NC433 CS1W NC213 NC233 NC413 NC433 C200HW NC213 NC413 Dimensions Position Control Unit side X axis drive side Y axis drive side Terminal block pitch 7 62 mm Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 113 suoneaijoads Specifications 3 6 Servo Relay Units and Cable Specifications Wiring X Y axis A X axis X axis X axis A 24V emergency imi Origin szav fo ied ls proximit X axis X axis Common Common Common External Common Common RESET interrupt X axis X axis X axis Y axis y RUN ALM BKIR CW limit Y axis c je Y axis A j inc Common Common External co
12. Bribes l Attribute Error detection function Deiecton p probani AA an be Immediate Main Sub History cleared stop Control power supply The DC voltage of the main circuit fell undervoltage below the specified value while the 11 0 7 y z operation command RUN input was ON Overvoltage The DC voltage in the main circuit is 12 l0 V V abnormally high Main power supply The DC voltage of the main circuit is undervoltage low 0 te NI Insufficient voltage 13 between P and N Main power supply A location was detected where the 1 undervoltage main circuit AC power supply is cut off V AC cut off detection 0 Overcurrent Overcurrent flowed to the IGBT y 14 1 IPM error Motor power line ground fault or short 4 7 7 circuit Drive overheat The temperature of the drive radiator 15 0 bp y y exceeded the specified value Overload Operation was performed with force significantly exceeding the rating for 16 0 V V a several seconds to several tens of seconds Regeneration overload The regenerative energy exceeds the 0 processing capacity of the y y 18 Regeneration Resistor A Regeneration Tr error An error was detected in a drive N _ 7 regeneration drive Tr Error counter overflow The error counter accumulated pulse 0 exceeds the set value for the Error y y y Counter Overflow Level 24 Excessive speed error The diference between the internal position command speed and the 1 tv f
13. I 9 4 Setting the Mode r ri mr Ty an t r a om 1 The display will be based on the Default Display Pn528 setting after the power supply is turned ON Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 11 uoesado Operation 9 4 Setting the Mode MONITOR Mode Command Position Error Motor speed Position command speed Speed control command Force command Total encoder pulses Total command pulses CONTROL mode 1 0 signal status Analog input value Reason for error history Warning number Regeneration resistance load ratio Overload load ratio Mass ratio Reason for no movement I O signal change count display mm M n a lt lt J oO I ga g M lt ra ri Ww T en gen a J A lt m Cz ae mr lt a an rr ea wi a Ww te T ge ge on mw Lo I LA ta I O rr 1 lt o a 7 ge cy a Wu a xl rr lt R 13 Np lt n Pa ro lt n mi Wu te ee a
14. Item R88D KT01L L R88D KT02L L R88D KT04L L PWM frequency 12KHz 6KHz 12KHz 6KHz 12KHz Continuous Output current 1 7A 2 5A 1 7A 4 6A 2 5A Peak output current 5 1A 7 5A 5 1A 13 8A 7 5A gt Power 100W 200W 400W a 2 Main Voltage Single phase 100 to 115V AC 85 to 127V 50 60Hz D circuit g Current 7 5A 10A 20A Control Power supply a circuit voltage Single phase 100 to 115V AC 85 to 127V 50 60Hz Power losses At 6KHz 16 6W 21W 25W Control losses 6W 6W 6W Weight Approx 0 8Kg Approx 1 0Kg Approx 1 6Kg Control method All digital servo Inverter method IGBT driven PWM method Applicable Linear servomotor R88L EC FW 0303 R88L EC GW 0303 R88L EC GW 0503 R88L EC FW 0306 R88L EC GW 0506 R88L EC GW 0703 R88L EC FW 0606 R88L EC GW 0306 R88L EC GW 0509 R88L EC GW 0706 3 4 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 1 Drive Specifications i 200 VAC Input Type Item R88D KT02H L R88D KT04H L R88D KT08H L R88D KT10H L PWM frequency 6KHz 12KHz 6KHz 12KHz 6KHz 12KHz 6KHz 12KHz Continuous Output 1 63A 26A 15A 4A 24A 56A 41A current Peak output current 4 89A 7 8A 4 5A 12A 7 2A 16 8A 12 3A gt Power 200W 400W 800W 1kW a gt PRA Voltage Single phase or 3 phase 200 to 240V AC 170 to 264V 50 60Hz o g Current 7 5A 10A 20A 30A fe 2 Cont
15. 52 4 Connector plug model 10150 3000PE Sumitomo 3M Connector case model 10350 52A0 008 Sumitomo 3M Encoder Connector R88A CNK41L Linear Servo Drive external encoder connector CN4 Dimensions 7 2 42 5 Connector plug model MUF PK10K X J S T Mfg Co Ltd 3 94 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 5 Cable and Connector Specifications Analog Monitor Cable Specifications i Analog Monitor Cable R88A CMK001S Connection configuration and external dimensions Connector housing 51004 0600 Molex Japan Connector terminal 50011 8100 Molex Japan 1 000 mm 1 m Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 95 SUOI edIIIGdS Specifications 3 5 Cable and Connector Specifications Control Cable Specifications i Specified Cables for Motion Control Unit R88A CPGxMx Use this cable to connect to the Motion Control Units for OMRON Programmable Controllers SYSMAC Cables are available for either 1 axis or 2 axes The following Motion Control Units can be used CS1W MC221 421 V1 Cable types Cables for 1 axis Outer diameter of Model Length L sheath Weight R88A CPG001M1 1m Approx 0 2 kg R88A CPG002M1 2m 4 Approx 0 3 kg 8 3 dia R88A CPG003M1 3m Approx 0 4 kg R88A CPGO05M1 5
16. ale e i a gl Ba 14 5 70 05 j pra Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 92 moa i e O 170 7 60 9 5 4 10 40 2 5 ue 5 2 fr 5 2 p H Ba ik l i i Tt i ry 2 7 o9 a fil BNS Square hole X a f J fare il oe Z Ea lar oe ae 7 a Dy y yo d i tf l R2 6 J 40205 5 2 i 5 2 2 5 10 40 lt 2 24 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 4 External and Mounting Dimensions 3 phase 400 VAC R88D KT20F L 2 kW Wall Mounting External dimensions Mounting dimensions IO a 193 5 ee 5 2 2540 5 ra _ Pee e g S gl Z n HE ka Es Ul rpg Vie al Mee l H a
17. Photocoupler input Signal level inane ce eee f ON level 10 V or more L l d ee OFF level 3 V max i Inpu i EDM Output Circuit Servo Drive External power supply 12 to 24 VDC Maximum service voltage 30 VDC or less Maximum output current 50 mA max Leakage current 0 1 mA max Residual voltage 1 7V max Di Surge voltage prevention diode Use a high speed diode 3 54 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 2 3 2 Overload Characteristics Electronic Thermal Function Overload Characteristics Electronic Thermal Function An overload protection function electronic thermal is built into the drive to protect the drive and motor from overloading If an overload does occur first eliminate the cause of the error and then wait at least 1 minute for the motor temperature to drop before turning ON the power again If the alarm reset is repeated at short intervals the motor windings may burn out Overload Characteristics Graphs The following graphs show the characteristics of the load ratio and electronic thermal function s operation time You can select the suitable overload curve depending on the linear servomotor and the installation and environmental conditions by setting the parameter Pn929 The linear servomotor can continuously work at 115 of its rated current The time to give the Overload alarm depends on the overload level and the curve sel
18. T mu e LLJ a lt x a Lid C fic H F of o ZERTIFIKAT CERTIFICATE 12 3 Safety Certification Attachment to certificate Z10 09 07 59301 130 Nomenclature of product type Reap K T 01 H A ZRI Io WY Y OMI Vil Manufacturer s Designation R88D Normal ll Manufacturer s Designation K Normal ill Input Signal Specification T Analog pulse input type IM Output rating AS 50W 01 100W 02 200W 04 400v 08 750W 10 1kW 15 1 5kW 20 2kW 30 3kW 50 5kW V Input Voltage Specification L AC100V H AC200V F AC400V VI Design Revision Non critical max 1 character See Remark blank or any number VIL Internal Specification Non critical max 3 characters See Remark blank or any alphanumeric suffix if VII is not blank a hyphen is inserted between VI and VII Othenwise no hyphen is inserted Remark Details of the combination of VI and VII are shown below Functional Safety Model Blank or Alphanumeric Functional Safety Model No other 2 digits combination will be placed in lhe market Department TR RAMUC Date 2009 07 23 Page 3 of 3 T Y SUD Product Service GmbH Zertifizierstelle Ridlerstrasse 65 80339 Munchen Germany Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 39 xipueddy Index Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER
19. Example of R88D KTO2H L Remove the terminal block from the drive before wiring The drive will be damaged if the wiring is done with the terminal block in place Strip off 8 to 9 mm of the covering from the end of each wire Refer to Terminal Block Wire Sizes P 4 25 for applicable wire sizes 8 to 9mm Open the wire insertion slots in the terminal block using a tool There are 2 ways to open the wire insertion slots as follows Pry the slot open using the lever that comes with the Linear Servo Drive Figure A Insert a flat blade screwdriver end width 3 0 to 3 5 mm into the opening for the drive of the terminal block and press down firmly to open the slot Figure B Figure A Figure B With the wire insertion slot held open insert the end of the wire After inserting the wire let the slot close by releasing the pressure from the lever or the screwdrive Mount the terminal block to the drive After all of the terminals have been wired return the terminal block to its original position on the Linear Servo Drive Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 29 ubisog waj shs System Design 4 3 Wiring Conforming to EMC Directives 4 3 Wiring Conforming to EMC Directives Conformance to the EMC directives EN55011 Class A Group 1 EMI and EN61000 6 2 EMS can be ensured by wiring under the conditions des
20. Explanation of Set Values Sel Explanation value 0 Latch time infinite 1 10 Latch time in seconds 8 60 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 7 Special Parameters Pn631 Realtime Autotuning Estimated Speed Selection All Setting 003 Unit S Default 1 Power OFF Yes range setting and ON Explanation of Set Values Set value Explanation 0 No changes are reflexed 1 Changes are reflexed slowly 1 minute time constant 2 Changes are reflexed gradually few seconds time constant 3 Changes are reflexed instantaneously changes are applied as soon as they are detected Pn632 REALTIME AUTOTUNING CUSTOMIZATION mode Setting All Setting Default Power OFF range 32 768 to 32 767 Unit setting 0 and ON Explanation of Set Values Set value Explanation bit O 1 Mass estimation enabled bit 2 3 Update of the mass estimation enabled bit 4 5 6 Update of friction compensation and unbalanced load enabled bit 7 Update of gain adjustment bit 8 Forces the fixed parameter bit 9 10 Enables the gain switching Pn637 Vibration Detection Threshold All Setting 5 Default Power OFF _ range 0 to 1 000 Unit 0 1 setting 0 and ON Set the vibration detection threshold If force
21. 1 A specified combination of Linear Servo Drive and Servomotor must be used Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 31 ubisog wajshs System Design 4 3 Wiring Conforming to EMC Directives 4 32 Ground the shields using a high surface connection to the ground plate like in the figure GND Plate Cable Details Symbol Supplies from Connects to Cable name Length Comment Shielded Ferrite lay oe Power supply 3 phase or single 1 AC power supply Noise filter li 2m phase No No 2 Noise filter Servo Drive ee 2m No Optional 3 ingar Servo Linear Power cable 20m Yes Optional Drive Servomotor Linear Servo Linear Encoder 4 Drive Servomotor cable 20m ves Optional 5 Switch box a Servo I O cable 2m Optional Optional 6 Frame ground Noise filter FG line i No No 7 Frame ground Noise filter FG line ia No No f Power supply 1 5 8 AC power supply Switch box line i No No For operations if no fuse breakers are installed at the top and the power supply line is wired from the lower duct use metal tubes for wiring or make sure that there is adequate distance between the input lines and the internal wiring If input and output lines are wired together noise resistance will decrease The noise filter must be installed as close as possible to the entrance of the control panel Wire as shown at t
22. Inrush current Ao p Drive model Main circuit Control circuit power supply power supply R88D KTO6F L 28 48 R88D KT10F L 28 48 R88D KT15F L 28 48 R88D KT20F L 32 48 R88D KT30F L 32 48 R88D KT50F L 32 48 i Leakage Breaker Select leakage breakers designed for protection against ground faults Because switching takes place inside the drives high frequency current leaks from the SW elements of the drive the armature of the motor and the cables High frequency surge resistant leakage breakers because they do not detect high frequency current can prevent operation with high frequency leakage current When using a general leakage breaker use 3 times the total of the leakage current given in the following table as a reference value When selecting leakage breakers remember to add the leakage current from devices other than the motor such as machines using a switching power supply noise filters inverters and so on To prevent malfunction due to inrush current we recommend using a leakage breaker of 10 times the total of all current values The leakage breaker is activated at 50 of the rated current Allow leeway when selecting a leakage breaker For details on leakage breakers selection method refer to the manufacturer s catalog Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 3 Wiring Conforming to EMC Directives fi Surge Absorber Use surge absorbers to absorb lightning surge
23. 0 ge J l lt lt a c i Absolute Encoder position Monitor for the count of encoder communications errors Communication axis number display Position error encoder unit P N voltage Soft version Drive serial number Accumulative operation time Drive temperature Safety status monitor Linear motor status When A is pressed the display position will move in the direction of the arrow When is pressed it will move in the opposite direction The motor speed will be displayed the first time the power supply is turned ON after purchase To change the initial display when the power supply is turned ON change the setting for the Default Display Pn528 For details refer to Pn528 Default Display P 8 54 9 12 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 4 Setting the Mode You can locate the monitor in the corresponding block diagrams for Position Speed or Force in Chapter 5 for a better understanding i Position Command Error U00 t Position command error command unit Lower L Higher H Press to switch between Lower L and Higher H 2 O77 36 L I 3 R I I _ t g S Displays the motor speed unit mm s Speeds in reverse operation are displayed with i Position Command Speed U02 1 l I I
24. 3 52 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Safety Connector Specifications CN8 3 1 Drive Specifications Connection of Safety I O Signals and Processing of External Signals 12 to 24 VDC SF1 SF2 12 to 24 VDC SF2 Safety I O Signals List EDM Maximum service voltage 30 VDC or less Maximum output current 50 mADC Leakage current 0 1mA max Residual voltage 1 7V max EDM Safety I O CN8 pin Symbol Name Function and interface Number 1 Reserved Do not connect 2 3 SF1 Safety input 1 Inputs 1 and 2 for operating the STO function which are ri SE 2 independent circuits This input turns OFF the power T transistor drive signals in the Linear Servo Drive to cut off 5 SF2 Safety input 2 the current output to the motor 6 SF2 7 EDM EDM output A monitor signal is output to detect a safety function 3 EDM failure Frame ground Connected to the ground terminal inside the Linear Shell FG i Servo Drive Connector for CN8 Pin 8 Name Model Manufacturer Industrial Mini I O Connector 2013595 1 Tyco Electronics AMP KK D SHAPE1 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 53 suonesijoads Specifications 3 1 Drive Specifications i Safety Input Circuit Servo Drive SFi 4 External power supply iene ee 12 VDC 5 to a T i 24 VDC 5 if
25. 8 46 Surge absorber 0000 cece eee 4 37 Surge suppressor 2 2 00 eee eee eee 4 40 Switching control 0 000 eee ee eee 5 22 SWITCHING mode in Position Control Pn115 8 13 SWITCHING mode in Speed Control Pn120 8 16 SWITCHING mode in Torque Control Pn124 8 18 System block diagrams 0 008 1 6 System configuration 00e eee 1 3 T Terminal block specifications 4 25 Terminal Block Wire Sizes 04 4 25 Terminal block wiring 00e eee aee 4 29 Torque Command Direction Selection Pn318 8 30 Torque Command Filter Time Constant Pn104 8 11 Torque command input 1 TREF1 3 23 Torque command input 2 TREF2 3 31 Torque Command Scale Pn319 8 32 Torque command sign input TSIGN 3 37 Torque Command Value Offset Pn607 8 57 Torque Command Speed Limit Selection Pn317 8 30 Torque control 0 20 e eee eee 5 14 TORQUE CONTROL mode adjustment 10 19 Torque Feed forward Amount Pn112 8 12 Torque Feed forward Command Filter Pn113 8 12 Torque limit 0000 6 31 6 32 Torque Limit Selection Pn521 8 53 Torque limit switching TLSEL 3 37 Torque Limit Switching Setting 1 Pn523 8 54 Torque Limit Switching Setting 2 Pn524 8 54 Torque limiting signal TLIMT 3 43
26. Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 5 4 Internally Set Speed Control i Operation Example Internally set speed control with 4 speed changes when Pn300 1 Operation command RUN Zero speed designation VZERO Internally set speed selection 1 VSEL1 Internally set speed selection 2 VSEL2 Speed Stop Drive m Close Open Clase 1 Open Open Open Close Close 1 The acceleration time deceleration time and S curve acceleration deceleration time can be set using parameters Pn312 Pn313 and Pn314 i Internal Speed Command Pn304 to 311 Control the motor speed according to the internal speed command value set by a parameter The internally set speed becomes valid when the setting of Speed Setting Internal External Switching is 1 to 3 Up to 8 internally set speeds can be set p Parameter name Explanation ail ont Pn304 hah ee Set Set the speed 1 internally set speed ae to m Pn305 oo Set Set the speed 2 internally set speed a to sani Pn306 a Set Set the speed 3 internally set speed o to ais Pn307 nce ois Set Set the speed 4 internally set speed tae to mms Pn308 a Set Set the speed 5 internally set speed e to ane Pn309 Ses Set Set the speed 6 internally set speed pea to inms Pn310 La e Set Set the speed 7 internally set speed A to mnis Pn311 a iadlbaa Set Set the No 8 internally set speed a to mimis
27. 5 Returning to PARAMETER SETTING mode Key operation Gos miS Display example Explanation Press the ar key to return to PARAMETER SETTING mode wn fan 9 32 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 Saving changed set values 9 4 Setting the Mode Key operation Display example Explanation Press the 5 key to display PARAMETER WRITE mode m a m Press the 6s key to enter PARAMETER WRITE mode OOGO ss D m Press and hold the A key for 5 seconds or longer until is displayed The bar indicator will increase Writing will start This display will appear only momentarily _ This indicates a normal completion In addition to this display either ESEE Jorj E ror_ may be displayed If is displayed writing has been completed normally but some of the changed parameters will be valid only after the power supply has been turned OFF and ON again Turn OFF the drive power supply and then turn it ON again Error will be displayed if there is a write error Write the data again 7 Returning to PARAMETER WRITE mode Key operation Display example Explanation Press the ar key to return to PARAMETER WRITE mode 8 Restart the power supply to the drive l Precautions for Correct Use The items that are limi
28. Encoder phase B output B Encoder phase B output Encoder phase B Force limit output Positioning completed input Encoder phase Z 25 Z Encoder phase Z output Encoder phase Z 24 Z Encoder phase Z output Po 24 V power supply for controls Error counter reset output Error counter reset input RUN output Operation command input General purpose output Vibration filter switching Alarm reset output Alarm reset Force limit switching Positioning completion output 1 General purpose input Alarm input po Ooo O Input common Forward direction pulse output with 1 6 kQ Resistor Reverse direction pulse output with 1 6 KO Resistor Encoder phase A Encoder phase A Encoder phase B Encoder phase B Encoder phase Z B AIS IRI IA w Jw Jw Jw W Lo w w Ju Y NIN slelolelel o WIN A Juj oj INjJw A ju fon o NIO w JN o here Error counter reset output RUN output General purpose output Alarm reset output Force limit output Positioning completed input 4 Ko General purpose input 4 ino SEN output 29 Signal ground 28 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL READY REDYCOM Servo ready completed output ALMCOM Alarm output Frame ground 1 Since the PCU handles
29. This section explains the procedure to prepare the linear system for operation following installation and wiring of the motor and drive It explains items to check both before and after turning ON the power supply Items to Check Before Turning ON the Power Supply i Checking Power Supply Voltage Check to be sure that the power supply voltage is within the ranges shown below R88D KT0O1L L KTO2L L KTO4L L Single phase 100 VAC input Main circuit power supply Single phase 100 to 115 VAC 85 to 127 50 60 Hz Control circuit power supply Single phase 100 to 115 VAC 85 to 127 50 60 Hz R88D 02H L 04H L 08H L 10H L 15H L Single phase or single phase 3 phase 200 VAC input Main circuit power supply Single phase or single phase 3 phase 200 to 240 V 170 to 264 V 50 60 Hz Control circuit power supply Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz R88D KT20H L 3 phase 200 VAC input Main circuit power supply 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz Control circuit power supply Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz R88D KTO6F L KT10F L KT15F L KT20F L KT30F L KT50F L 3 phase 400 VAC input Main circuit power supply 3 phase 380 to 480 VAC 323 to 528 V 50 60 Hz Control circuit power supply 24 VDC 15 fl Checking Terminal Block Wiring The main circuit power supply inputs L1 L3 or L1 L2 L3 must be properly connected to the terminal block The control circuit power supply inputs L1C L2C must
30. 8 21 Notch 3 Width Setting Pn208 8 21 Index Notch 4 Depth Setting Pn212 8 21 Notch 4 Frequency Setting Pn210 8 21 Notch 4 Width Setting Pn211 8 21 O Operation command RUN 3 32 Operational procedure n ssas nanara 9 2 Output during speed limit V LIMIT 3 44 Output Signal Selection 1 Pn410 8 35 Output Signal Selection 2 Pn411 8 35 Output Signal Selection 3 Pn412 8 35 Output Signal Selection 4 Pn413 8 35 8 36 Overload Detection Level Setting Pn512 8 50 Overrun Limit Setting Pn514 8 50 Overspeed Detection Level Setting at Immediate Stop Preia e ce ct ony xen nate a sae 8 59 P Parameter list a an aaau 12 12 PARAMETER SETTING mode 9 25 PARAMETER WRITE mode 9 27 Periodic maintenance 5 11 23 Phase Z output open collector output 3 39 Pin arrangement 020 e eee eee eee 3 22 Position Command Filter Time Constant Pn222 8 23 Position command pulse 3 23 3 24 Position command status output P CMD 3 44 Position control 0 00 2 eee eee eee 5 2 POSITION CONTROL mode adjustment 10 13 Position Control Unit Servo Relay Unit cable specifica TONS Pt Acme a a aa a oma GE A a PE 3 121 Position feedback output 3 39 Position Gai
31. Automatic offset adjustment will start This indicates a normal completion it vot Error Will be displayed if the automatic offset adjustment could not be performed Set a valid CONTROL mode or make the setting so that the offset value does not exceed the range for the Speed Command Offset Adjustment and then execute the procedure again 2 Returning to AUXILIARY FUNCTION mode display Key operation or Ern OF EFF ae Display example Explanation Press the ar key to return to AUXILIARY FUNCTION mode n a 9 Li J Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 29 uoesado Operation 9 4 Setting the Mode H Precautions for Correct Use Automatic offset adjustment function cannot be performed in POSITION CONTROL mode Data is not written to the EEPROM simply by performing automatic offset adjustment The data must be written to the EEPROM for the results to be saved i Jog Operation You can perform a trial operation of the motor with no load without wiring the control I O connector CN1 1 Prepare for a jog operation Key F 5 operation Display example Explanation A 72 F Pressthe A key to display the JOG OPERATION mode from the Poms alarm clear display in AUXILIARY FUNCTION mode ob Press the x key to enter JOG OPERATION mode A do 5 ae
32. Force command Command position error Encoder Position Error Reserved Reserved o N OD a A O N P N voltage pn oO Regeneration load ratio 4 4 Overload load ratio N Forward direction force limit Reverse direction force limit wo _ A Speed limit value Mass Ratio o O Analog input 1 k N Analog input 2 En Analog input 3 Reserved E N fo Drive temperature N Reserved 22 Reserved 0 to 22 417 Analog Monitor 1 Scale Setting Set the output gain for analog monitor 1 0 Oto 214 748 364 418 Analog Monitor 2 Selection Select the type for analog monitor 2 The set values for this parameter are the same as Analog Monitor 1 Type Pn416 4 0 to 22 419 Analog Monitor 2 Scale Setting Select the output gain for analog monitor 2 Oto 214 748 364 420 Reserved Do not change this setting gt x D D 5 2 x 421 Analog Monitor Output Setting Select the analog monitor output voltage method Output range 10 to 10 V 9 Data output Positive negative Output range O to 10 V Data output Positive negative Output range O to 10 V Data output Positive negative 0to2 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 23 Appe
33. Function You can use this input to designate the movement direction relative to the speed command If Speed Command Direction Selection Pn301 is enable set value 1 the polarity of analog command input and movement direction at internal command speed become disabled Pn301 set value Pn303 set value VSIGN_ Analog speed command input REF Motor movement direction 5 Voltage 0 to 10 V Forward operation 0 Operation Voltage 10 to 0 V Reverse operation i Disabled Voltage 0 to 10 V Reverse operation Voltage 10 to 0 V Forward operation Voltage 0 to 10 V OFF Forward operation 1 Setting Voltage 10 to 0 V Disabled Voltage 0 to 10 V ON Reverse operation Voltage 10 to 0 V Pn301 set value VSIGN Internal command speed Motor movement direction OEF Forward command 0 to max speed mm s Forward operation j Reverse command max speed to 0 mm s Reverse operation ON Forward command 0 to max speed mm s Forward operation Reverse command max speed to 0 mm s Reverse operation Forward command 0 to max speed mm s OFF Forward operation i Reverse command max speed to 0 mm s Forward command 0 to max speed mm s ON Reverse operation Reverse command max speed to 0 mm s Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 1 Drive Specifications i Force L
34. NFB 3 phase 380 to 480 VAC 50 60 Hz Main circuit contactor 1 Main circuit power supply emo OFF ON 1MC 2MC 7 T J J 1MC Loa Na LLI L Surge suppressor 1 x 1MC 2MC X Servo error display D m E 1MC 2 24 VDC v gt amc Noise filter 1 Ground to 1002 OMNUC G5 Linear Series AC Servo Drive OMNUC G5 Linear XB Series AC Servomotor a Z External brake 24 VDC f M Ground to 100 Q or less Encoder cables E or less O O L3 AA ale Regeneration f 3 Resistor Q B3 lO lt x 37 ALM 24 VDC User side O36 ALMCOM BKIR 11 O BKIRCOM 10 contro device Control cables 4 20 A B Encoder 1 A recommended product is listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V type For example MY2 relay by OMRON can be used with all G5 Linear Series motors with brakes because its rated induction load is 2 A 24 VDC 3 The Regeneration Resistor built in type shorts B2 and B3 When the amount of regeneration is large remove the connection between B2 and B3 and connect the Regeneration Resistor between B1 and B2 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S M
35. Pn928 Magnetic phase detection Force filter time Setting range All 0 00 to 25 00 Unit 0 01ms Default setting 1 00 PONET ORE and ON Set the time constant for the force filter used during the magnetic phase detection sequence If the value is 0 the filter is disabled Pn929 Motor overload curve selection All Setting range Default setting 0 Power OFF _ otoy and ON Unit Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Selects between various overload curves for the motor thermal protection Selects the suitable one depending on the motor model ambient temperature and mechanical installation If you install the motors with the recommended installation natural cooling and a table with the recommended dimensions the recommended setting are next Set value Explanation Overload curve disabled The overload curve will correspond to the one for the drive The 0 motor has to be protected by using the internal thermal resistor 1 For motors R88L EC GW 0303 0306 0309 For motors R88L EC GW 0503 0506 0509 For motors R88L EC GW 0703 0706 0709 For motors R88L EC FW 0303 0306 For motors R88L EC FW 0606 0609 0612 For motors R88L EC FW 1112 1115 N OO oO A j PN Corresponds to the overload curve for the drive protection 8 65 sjiejeg S19 9WL Jed Parameters Details 8 8 L
36. R88L EC FW 1115 AxxC F V Curve 90 Ubus and coils at 100 C N 2100 0 a Peak operation an ee aS 1800 0 v 1500 0 1200 0 N 900 0 N oe ee ee N 600 0 Continuous operation gt x 300 0 KI A 0 0 T T T T T b 1 0 1 2 3 4 6 7 m s 325V DCBus 560V DCBus 160V DCBus 3 1 The DCBus voltage corresponds to an AC voltage input V ac n of 235V or more 2 The DCBus voltage corresponds to an AC voltage input V ac n of 400V or more 3 The DCBus voltage corresponds to an AC voltage input Vac n of 115V or more Note The DCBus value is calculated from the below formula DCBuS Vaciy x J2 AV Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 63 SUOI edIIIGdS Specifications 3 3 Motor Specifications Temperature sensor specification for Iron core motors The Iron core Linear motors have 1 PTC 110C resistor in each phase that are connected in series The resistance increases dramatically around 110 C so this can be used as a switch to stop the motor if the coil become too hot In addition also has a KTY 83 121 resistor that allows to measure the average coil temperature The resistance versus temperature graphs are next N Oo Oo oO G lt 6 s 2 2 x op Temperature C N Oo Oo oO Resistance Q 45 60 75 90 Temperature C Note When using a serial converter
37. motor rotor mass Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 2 Parameter List E m Power E Parameter Explanation Default Unit Setting supply Z name D setting range OFF to i n ON Commend Select the command pulse input 005 Pulse Input QO Photocoupler input 0 Oto 1 Yes Selection F 1 Input for line drive only Command Pulse Set the command pulse count direction Movement ar 006 Direction 0 Forward direction 0 Oto 1 Yes Switching rer Selection 1 Reverse direction Set the COMMAND PULSE mode 3 5 7 COMMAND 0 90 phase difference A B signal inputs 007 PULSE mode 1 Forward pulse reverse pulse 1 0to3 Yes Selection 5 2 90 phase difference A B signal inputs 3 Feed pulse direction signal Electronic Ratio Set the electronic ratio Ito 009 Numerator 1 ne 10000 1073741824 7 Electronic ratio numerator 1 Pn009 Electronic Ratio ae 1 to 010 Denominator Electronic ratio denominator Pn010 10000 1073741824 Set the number of phase A and phase B output pulses per every Pn503 pulses of the 011 Encoder Dividing motor encoder 2500 1 to 262 144 Yes Numerator Pn011 Output_pulses encoder_pulses x Pn503 Select the phase B logic for pulse encoder Output regeneration output and the output source 012 Direction 0 oto3 Yes Switching 0 2 Phase B logic Not reversed lecti 7 sgne
38. A11 A19 A18 A16 B16 B9 B14 B12 B19 B18 B17 B15 B11 terminal Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Servo Relay Unit side XW2B 40J6 2B 3 129 SUOI edIIIGdS 3 7 External Regeneration Resistor Specifications 3 7 External Regeneration Resistor Specifications External Regeneration Resistor Specifications i R88A RR08050S Specifications tion ea 5 Resistance Nominal Regenera S n Heat radiation Thermal switch Model _ absorption for 120 C BS San value capacity condition output specifications temperature rise Operating temperature Aluminum R88A 150 C 5 NC contact x RRO8050S S0 Bow cow 230 250 Rated output 30 VDC 50 Thickness 3 0 mA max i R88A RR080100S tion or r Resistance Nominal Regenera op Heat radiation Thermal switch Model _ absorption for 120 C oe erie value capacity condition output specifications temperature rise Operating temperature Aluminum R88A 150 C 5 NC contact x RR080100S 109 9 ay 20W 250 290 Rated output 30 VDC 50 Thickness 3 0 mA max i R88A RR22047S Model Resistance Nominal ose Heat radiation Thermal switch value capacity F condition output specifications temperature rise Operating temperature R88A Aluminum 170 C 7 C RR22047S 47 Q 220 W 70 W 350 x 350 NC contact Thickness 3 0 Rated out
39. Alarm reset output 0 41 45 General purpose output 44 42 43 Force limit output Positioning completed input 49 General purpose input ECRST Error counter reset input 29 RUN Operation command input 26 DFSEL Vibration filter switching 31 RESET Alarm reset FLSEL Force limit switching INP Positioning completion INPCOM output 1 READY Servo ready completed REDYCOM output Alarm input 47 SEN output 29 Signal ground 28 3 102 Alarm output ALMCOM Frame ground 1 Since the PCU handles forward direction commands as CW direction phase A advance pulses selectable by the output pulse direction selection parameter connect the wires as shown here 2 Those terminals are for absolute encoders and have no use with linear motors Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 5 Cable and Connector Specifications Cable for open collector output for 2 axes AWG18 twisted pair 1 m Red 24 VDC Black 24 VDC GND D PCU side XG4M 5030 T OMRON 24 V power supply for output 24 V GND for output Input common Forward direction pulse output T AWG18 twisted pair 1 m Blue BKIRCOM Black BKIR Linear Servo Drive side for axis 1 or 3 10150 3000PE Sumitomo 3M BKIR Brake interlock output BKIRCOM CW PULS Reverse pulses feed pulses CW PULS FA or phase A 1 with 1 6 kQ Resistor Reverse direction pu
40. Encoder phase A Encoder phase A Encoder phase B Encoder phase B Encoder phase Z Encoder phase Z Linear Servo Drive side for axis 1 or 3 10150 3000PE Sumitomo 3M BKIRCOM Brake interlock output CWLD Reverse pulse 1 CWLD input for line drive only Forward pulse 1 input for line drive only Encoder phase A output A Encoder phase A output Encoder phase B output Encoder phase B output Encoder phase Z output Encoder phase Z output D EN an 24 V power supply for controls Error counter reset output X X ECRST Error counter reset input output RUN Operation command input DFSEL Vibration filter switching NIWININIWISININISISININ A AIS NY He a ojo AB W O OlNIAH INI aw Positioning completed input General purpose input FLSEL Force limit switching 39 INP Positioning completion INPCOM output 1 mx xt _t 35 Servo ready completed output Alarm output SS Frame ground T RUN E atl General purpose output 10 Force limit output z 24 V power supply for output 24 V GND for output Input common Forward direction pulse output Forward direction pulse output 38 Reverse direction pulse output Reverse direction pulse output Encoder phase A Encoder phase A 34 Encoder phase B Encoder phas
41. If the margin of error with the actual device is large for the mass load If there are multiple resonance points If there is a large resonance point at the frequency of 300 Hz or lower If there is a non linear element like play If the load mass changes If a large disturbance force with high frequency elements is applied If the setting range for positioning is small Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 17 Motor Setup 6 17 Motor Setup Outline of Operation As the linear motor is not a system by itself but need to be assembled to have a working system automatic recognition of the linear motor and encoder is not possible So it is necessary to tell the servodrive wich linear motor model is connected and wich encoder type and resolution is used The setup is normally done via CX Drive in a transparent manner so the user does not need to manually enter the parameter for the motor and the encoder Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 55 suoijoun paddy Applied Functions 6 17 Motor Setup Parameters Requiring Settings You do not normally need to modify those parameter manually use the CX Drive for making the setup of the motor and encoder Parameter Parameter name Explanation Reference number Pn900 Reserved Do not change this setting P 8 62 Pn902 Pole pitch Set the magnet pole pitch in 0 01 mm Error 60 0 abnor
42. Pulse prohibition IPG BKIR Brake interlock BKIRCOM READY Servo ready completed output READYCOM ALM Alarm output ALMCOM INP Positioning completion INPCOM output Z Phase Z output open collector output ZCOM ZSP Zero speed Reverse drive Prohibition NOT 0 w Forward drive prohibition 8 3 Ke 10 kQ FLIMT Force limit ZSPCOM FLIMTCOM Encoder phase A output Encoder phase Z output 16 PCL A Maximum service voltage 30 VDC Maximum output current 50 mADC suonesijoads Line drive output corresponding with the EIA RS 422A B communications Encoder method B phase B output load resistance 120 Q min Forward force limit input eee vlna 10 ke ale Reverse force limit input 3 83 KQ a 50 FG Frame ground Note 1 The inputs of pins 8 9 and 26 to 33 and outputs of pins 10 11 12 34 35 38 39 and 40 can be changed via parameter settings Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 13 Specifications 3 1 Drive Specifications i Control I O Signal Connections and External Signal Processing for Speed Control Sp
43. cccceceeeeeeeeeneeeeeeeeeeeaeeeesaeeeseeeeeseaeeesenees 6 49 Parameters Requiring Settings cccccceeeeeeeeeeeeeeeeeeeeeseeeess 6 49 Operating ProCeCure ecccccccceceeeeeseeeeeeeeeeeeeneeeteteeeseneeeseneeeeeaees 6 50 6 16 Instantaneous Speed Observer Function 6 53 Outline Of Operation ecccceeeeeseeeeeeeeeeeeeeeaeeeesaeeeseaeeeeeaeeetenees 6 53 Parameters Requiring Settings ccccceeceeeeeeeeeeeeeeeeeeeeeeeeneeees 6 53 Operating ProCceCure ecccceecceceseeeeeeeeeeeneeeeeeeeseeeeteeeetseeetenees 6 54 6 17 Motor Setup wwiaiieiiiiecsccsiaiudeissiascseinantes cdi ctvannnnensnieudans 6 55 Outline Of Operation cccccceceeeceeeeeeeeeeeeeeeeeaeeeseaeeeseeeeseeeeteaees 6 55 Parameters Requiring Settings ccceeceeeeeeeeeeeneeeeeeeeeeeees 6 56 Operating ProCeCure ecccceccceseeeeeseneeeteeeeeteneeeteeeeseneeetsneeeseaees 6 57 6 18 EnCoder Setupisiscciicccscccssctessscscscectasccescavetsansestaccsiviess 6 58 Outline Of Operation ececeeeceeeseeseeeeeeeeeeeeaeeeeeaeeeeeaeeeesaeeesenees 6 58 Parameters Requiring Settings ccccecseeeeeeeeeeeeeeeeeneeeeeeeess 6 58 Operating ProCeCure eccccecececeseeeeeneeeseeeeeeeeeeteneeeseeeeseueeeteaees 6 59 6 19 Magnetic Pole PoSition seeeeeeeeeeeeeeeeeeeeeeeeeees 6 61 Outline Of Operation ecccceceeeeeeeeeeeeeeeeeeeeeeeaeeeseaeeeseeeeeteaeeetenees 6 61 Parameters Requiring Setti
44. ueu zuIeN pue 10113 Error and Maintenance 11 4 Troubleshooting Error Diagnosis Using the Operation Status Symptom Probable cause Items to check Measures The PWR LED indicator does not light when the power supply is turned ON The power supply cable is wired incorrectly Check whether the power supply input is within the allowed power supply voltage range Supply the correct power supply voltage Check whether the power supply input is wired correctly Wire correctly The motor does not move even if commands are input from the controller Continued on next page The operation command RUN is OFF In MONITOR mode check whether the RUN signal is ON or OFF Turn ON the operation command RUN Wire correctly The forward drive prohibition POT and reverse drive prohibition NOT are OFF In MONITOR mode check whether the POT signal and NOT signal are ON or OFF Turn ON the POT and NOT signals Inthe POT and NOT inputs are not used set them to be disabled The CONTROL mode is not correct Check the CONTROL mode Selection Pn001 Set the CONTROL mode to match the command type The error counter reset ECRST is ON In MONITOR mode check whether the ECRST signal is ON or OFF Turn OFF the ECRST signal Wire correctly The COMMAND PULSE mode Pn007 selection is incorrect Check the controller s command pulse type
45. Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 4 Troubleshooting Alarm o Status when error 3 Error conditions Cause Measures display occurs The motor power line or the encoder wiring is Wire correctly i t Occurs when the motor Mamie does not rotate even If the motor shaft is held when command pulses The motor is release it are input mechanically held Release the electromagnetic brake Control PCB error Replace the drive Occurs during high The motor power line or l the encoder wiring is Wire correctly speed movement incorrect 24 Error counter overflow Gain adjustment is Adjust the gain insufficient Occurs when along The acceleration Extend the acceleration string of command ee are a Ae deceleration is too rapid deceleration times pulses is given F Reduce the load ATG lgad is tee large Select a suitable motor Increase the set value of Pn014 3 The set value for the Error Reduce the movement Occurs during Bai tion Counter Overflow Level speed p Pn014 is exceeded Reduce the load Extend the acceleration deceleration times The speed command Set the command pulse input is too large frequency to 500Kpps max The setting for ihe Set the electronic ratio Electronic Ratio numerator so that the command Numerator Pn009 Pn500 ise f K l Pn502 is not pulse frequency is 500 Kpps Occurs during high to Pn5
46. Connect the CW pulse signal to the CW input and the CCW pulse signal to the CCW input Motor movement is unstable The motor power cable or encoder cable is wired incorrectly Check the wiring of the motor power cable s phases U V and W and check the encoder cable s wiring Wire correctly The mechanical installation is not rigid enough Check the mechanical system design Review and adjust the machine The load s mass exceeds the Servo Drive s allowable value Try moving the motor without a load Disconnect it from the mechanical system Reduce the load Replace the Linear Servomotor and Servo Drive with higher capacity models The pulse signal line s connections are loose Check the pulse signal line s wiring at the controller and Servo Drive Wire correctly Check the controller s command pulse type and the Servo Drive s command pulse type Set the Servo Drive s pulse type to match the controller s command pulse type The gain is wrong Perform manual tuning The CN1 input signal is chattering Check the operation command RUN error counter reset ECRST zero speed designation VZERO internally set speed selection 1 VSEL1 and internally set speed selection 2 VSEL2 Wire correctly so that there is no chattering Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 19 ueu zuIeN pue 10113 Error and Mainte
47. Connection Example 9 Connecting to a SYSMAC CS1W HCP22 V1 Customizable Counter Unit Main circuit power supply NEB OFF ON MC1 MC2 49 R 90 R a 4 4 Man circuit contact surge suppressor 3 phase 200 to 240 VAC 50 60 Hz S O Sd d Y Mc1 MC2 X1 3 gt T 60 i Groundto _ CS1W HCP22 V1 100 Q or less R88D KTx L Special I O connector Description No s Output power supply 24 VDC f Reactor ae a Common ist CCW zis CCW 1 6 kQ CCW Mc1 MC Pulse TCW L ee CW 1 6 kQ CW 7 Phase Z LD Z Phase Z LD Z I O connector Output 24 V Red Motor power cables Error counter clear 1 ECRST White Blue Output common Green elow Positioning completion signal 1 INP 24VIN Servo ON 1 RUN Alarm reset 1 RESET Encoder cables Origin proximity input signal 1 INPCOM CCW limit input signal 1 ALMCOM CW limit input signal 1 ALM Input common 1 BKIR BKIRCOM FG 1 The I O signals for the HCP22 depend on the memory allocations in the Internal Memory area Change the wiring according to the allocations H Precautions for Correct Use Incorrect si
48. Error and Maintenance 11 3 Alarm List 11 3 Alarm List If the drive detects an error the alarm output ALM will turn ON the power drive circuit in the drive will turn OFF and the alarm code will be displayed H Precautions for Correct Use Refer to Error Diagnosis Using the Alarm Displays P 11 11 for appropriate alarm measures Release the alarm using one of the following methods Remove the cause of the alarm first Input the alarm reset input RESET signal Turn OFF the power supply then turn it ON again Execute the alarm reset with CX Drive However some alarms can only be reset by turning the power supply OFF then ON again Refer to the next item Alarm List If you release an alarm while the operation command RUN is turned ON the Servo Drive will start operation as soon as the alarm is released which is dangerous Be sure to turn OFF the RUN before clearing the alarm If the RUN is always ON first check safety sufficiently before clearing the alarm When an alarm occurs the servodrive latches the status of the servodrive just before the alarm occurence Those latched values can be read with the software tool for diagnostics Refer to the CX Drive for details The stop mode in case of an alarm may vary depending on the Immediate stop attribute in each alarm Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL i Alarm List 11 3 Alarm List
49. Ground all units within the case to the case itself Door Structure Use a metal door Use a water draining structure where the door and case fit together and leave no gaps Refer to the diagrams Use a conductive gasket between the door and the case Refer to the diagrams Strip the paint off the sections of the door and case that will be in contact with the conductive gasket or mask them during painting so that they will be electrically conductive The panel may warp and gaps may appear when screws are tightened Be sure that no gaps appear when tightening screws Case A Door B Door Oil resistant gasket Conductive gasket Control panel A B cross section diagram Oil resistant gasket Conductive gasket Door interior side 4 34 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 3 Wiring Conforming to EMC Directives Selecting Connection Component This section explains the criteria for selecting the connection components required to improve noise resistance Understand each component s characteristics such as its capacity performance and applicable range when selecting the connection components For more details contact the manufacturers directly i No fuse Breaker NFB When selecting a no fuse breaker consider the maximum input current and the inrush current Maximum Input Current The drive s momentary maxi
50. Pin 21 A 22 A 48 B 49 B 23 Z 24 Z Function It outputs the phase A phase B and phase Z encoder signals for the Linear Servomotor The encoder outputs conform to the RS 422 communication method You can use Encoder Feedback Pulse Dividing Numerator Setting Pn011 and Encoder Feedback Pulse Dividing Denominator Setting Pn503 to set the dividing ratio The logical relation of phase B to the phase A pulse and the output source are set in the Encoder Output Selection Switching Pn012 The ground for the output circuit line drive is connected to the signal ground SENGND It is not isolated The maximum output frequency is 4 Mpps after quadruple multiplier The output frequency Pn011 Pn503 x 10 encoder resolution um pulse x motor speed m s The output phases are as shown below Phase A Phase A Phase B Phase B S L Pn012 0 or 2 Pn012 1 or 3 In A B pulse or SinCos Encoder the Z pulse is repeated from the Feedback Encoder independently of the output pulse phase In Serial Absolute Feddback Scale phase Z is output at intervals set in Pn621 after the motor crosses the 0 point Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 41 suonesijoads Specifications 3 1 Drive Specifications 3 42 fi Brake Interlock Output BKIR Pin 11 Brake interlock output BKIR Pin 10 Brake interlock output co
51. Pn202 Notch 1 Width Setting All Setting Default Power OFF range oie Unit setting and ON Set the width of resonance suppression notch filter 1 to one of 20 levels Increasing the setting widens the notch width Normally use the default set value Pn203 Notch 1 Depth Setting All Setting p Default Power OFF range Oito 33 unit setting y and ON Set the notch depth of resonance suppression notch filter 1 Increasing the setting will shorten the notch depth and the phase lag Pn204 Notch 2 Frequency Setting All Setting 50 to 5 000 Unit Hz Default 5000 Power OFF _ range setting and ON Set the notch frequency of resonance suppression notch filter 2 The notch filter function will be disabled if this parameter is set to 5 000 Pn205 Notch 2 Width Setting All Setting F Default Power OFF range peep Unit setting f and ON Select the notch width of resonance suppression notch filter 2 Increasing the setting widens the notch width Normally use the default set value 8 20 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 3 Vibration Suppression Parameters Pn206 Notch 2 Dept
52. The power supply voltage is reduced because the main power supply is OFF The main power supply is not input Check the power supply capacity Change the power supply Turn ON the power supply Extend the Momentary Hold Time Pn509 Occurs when the power supply is turned ON Phase loss Correctly connect the phases of the power supply voltage Correctly connect the single phase The main circuit power supply is damaged Control PCB damage Replace the drive Overcurrent Occurs when the servo is turned ON Control PCB error Replace the drive The motor power line is short circuited or ground faulted between phases Repair the short circuitedor ground faulted power line Measure the insulation resistance at the motor and if there is a short circuit replace the motor Phase U phase V phase W and the ground are wired incorrectly Wire correctly Motor winding is burned out Measure the winding resistance and if the winding is burned out replace the motor The relay for the dynamic brake has been deposited Do not frequently input the operation command RUN input Do not operate the system by turning the servo ON and OFF Motor non conformity Use a motor that is appropriate for use with the drive The pulse input timing is too soon Wait at least 100ms before inputing pulses after turning ON t
53. You want to use the Temperature sensor in the motor The servodrive only admits 2 kind of Encoder connections Line Drive A B quadrature pulses G5 Serial synchronous protocol Both are in different pins of the CN4 connectors and are mutually exclusive depending on the setting of Pn323 You may want to use a SinCos Encoder beacuse this kind of encoder allows higher interpolation than the equivalent A B Encoder An A B Encoder can only be interpolated by 4 while a SinCos Encoder can be interpolated by a much higher factor The Serial Converter makes an interpolation of 400 so one encoder with a SinCos grate of 20um results in a resolution of 50nm This allows to reach high resolutions with high speed in A B Encoders we are limited by the bandwith or to use low resolution encoders eg magnetic encoder with a grate of 1mm You may want to use Hall sensors either beacuse The magnetic pole sensing is not reliable beacuse the axis is vertical or has a high friction You need very high accuracy in the measurament You may want to use the Temperature sensor in the drive beacuse you cannot rely in the overload estimation in the servodrive due to the installation conditions The linear servomotor has 2 temperature sensor one PT100 C that is used to give the motor temperature alarm and a second one NTC10k in the Ironless motor and KTY 83 121 in the Iron core to measure the actual temperature value as a drive monitor Parameters R
54. 3 124 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 6 Servo Relay Units and Cable Specifications i Position Control Unit Cable KW2Z xJ A11 This cable connects a Position Control Unit CS1W NC233 433 to a Servo Relay Unit XW2B 40J6 1B Cable types Model Length L aa hal of Weight XW2Z 050J A11 50 cm Approx 0 1 kg 10 0 dia XW2Z 100J A11 im Approx 0 2 kg Connection configuration and external dimensions Position Control Unit side CS1W NC233 CS1W NC433 2 Wiring Position Control Unit side 47 L 6 lo O Q t 11 1009 AWG20 Black j f Servo Relay Unit side terminal Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Servo Relay Unit side DO XW2B 40J6 1B 3 125 suonesijoads Specifications 3 6 Servo Relay Units and Cable Specifications i Position Control Unit Cable XW2Z xJ A14 This cable connects a Position Control Unit CJ1W NC113 to a Servo Relay Unit XW2B 20J6 1B Cable types Outer diameter of Model Length L sheath Weight XW2Z 050J A14 50 cm Approx 0 1 kg 10 0 dia XW2Z 100J A14 im Approx 0 2 kg Connection configuration and external dimensions Position Control Unit side 3 Servo Relay
55. 4 22 4 23 4 24 Motor connector specifications CNC 3 10 3 11 Motor connector specifications CND 3 11 Motor general specifications 3 56 3 60 3 64 3 65 3 69 3 74 Motor power cable 0 00 e eee eee 3 91 Motor power cables standard cables 2 11 2 12 Mounting brackets L brackets for rack mounting 2 16 Mounting dimensions 05 2 17 N No 1 Internally Set Speed Pn304 8 26 No 1 Torque Limit PnO13 8 7 No 2 Internally Set Speed Pn305 8 27 No 2 Torque Limit Pn522 8 53 No 3 Internally Set Speed Pn306 8 27 No 4 Internally Set Speed Pn307 8 27 No 5 Internally Set Speed Pn308 8 27 No 6 Internally Set Speed Pn309 8 27 No 7 Internally Set Speed Pn310 8 27 No 8 Internally Set Speed Pn311 8 27 No fuse breaker NFB 0 0 000 4 35 Noise filter occ taia Peeve hive E a eed 4 38 Noise filters for brake power supply 4 38 Notch 1 Depth Setting Pn203 8 20 Notch 1 Frequency Setting Pn201 8 20 Notch 1 Width Setting Pn202 8 20 Notch 2 Depth Setting Pn206 8 21 Notch 2 Frequency Setting Pn204 8 20 Notch 2 Width Setting Pn205 8 20 Notch 3 Depth Setting Pn209 8 21 Notch 3 Frequency Setting Pn207
56. Ceto cE G 4 38 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 3 Wiring Conforming to EMC Directives Impedance Characteristics 3G3AX ZCL1 3G3AX ZCL2 1000 AT 20 100 S 40 15T G Q 8 10 S BS O 60 D a E ma 80 0 1 10a 1 10 100 1 10 100 1000 10000 Frequency kHz Frequency kHz ES ESD R 47B ZCAT3035 1330 wo 10000 1099 P r 5 1000 A o g o o Q 2100 g100 5 S 8 O Q 3 1 10 1 10 100 1000 10 100 1000 Frequency MHz Frequency MHz Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 39 System Design 4 3 Wiring Conforming to EMC Directives i Surge Suppressor Install surge suppressors for loads that have induction coils such as relays solenoids brakes clutches etc The following table shows the types of surge suppressors and recommended products Type Feature Recommended product Diodes Diodes are used for relatively small loads Use a fast recovery diode with a short when the reset time is not an issue such reverse recovery time as relays e g RU2 of Sanken Electric Co Ltd At power shutoff the surge voltage is the lowest but the rest time takes longer Used for 24 48 VDC systems Thyristors Thyristors and varistors are used for loads Select the vari
57. Motor connection Rated current A 1 7 2 5 4 6 terminals U V W Wire size and FG 2 AWG14 to 18 Frame ground FG Wire size AWG14 Screw size M4 Tightening force N m 1 2 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 25 u s q waj shs System Design 4 2 Wiring 200 VAC Input Type Wire Sizes R88D KTxxH L Model R88D KTO2H L KTO4H L KTO8H L KT10H L Item Unit Power supply capacity kVA 0 5 0 9 1 3 1 8 Main circuit power Rated current A 2 4 1 3 4 1 2 4 6 6 3 6 9 1 5 9 supply input L1 1 1 1 1 and L3 or L1 L2 Wire size z AWG14 to 18 AWG14 and L3 Screw size Tightening force N m Control circuit Wire size AWG18 power supply input L1C and L2C Screw size E 7 7 7 7 Tightening force N m Motor connection Rated current 1 6 2 6 4 1 5 9 terminals U V W Wire size z AWG14 to 18 AWG14 and FG Screw size Tightening force N m Frame ground Wire size AWG14 FG Screw size M4 Tightening force N m 1 2 Model R88D KT15H L KT20H L Item Unit Power supply capacity kVA 2 3 3 3 Main circuit power Rated current A 14 2 8 11 11 8 supply input L1 ee and L3 or L1 L2 Wire size AWG14 and L3 Screw size Tightening force N m Control circuit Wire size AWG18 p
58. OMRON J7L 32 22200 26 A 200 VAC J7L 40 22200 35 A 200 VAC J7L 50 22200 50 A 200 VAC J7L 65 22200 65A 200 VAC J7L 75 22200 75A 200 VAC Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 3 Wiring Conforming to EMC Directives i Improving Encoder Cable Noise Resistance Take the following steps during wiring and installation to improve the encoder s noise resistance Always use the specified encoder cables If cables are joined midway be sure to use connectors And do not remove more than 50 mm of the cable insulation In addition always use shielded cables Do not coil cables If cables are long and are coiled mutual induction and inductance will increase and cause malfunctions Always use cables fully extended When installing noise filters for encoder cables use clamp filters The following table shows the recommended clamp filters Manufacturer Product name Model Specifications NEC TOKIN Clamp filters ESD SR 250 For cable dia up to 13 mm TDK Clamp filters ZCAT3035 1330 For cable dia up to 13 mm Do not place the encoder cable with the following cables in the same duct Control cables for brakes solenoids clutches and valves External Dimensions ESD SR 250 Impedance Characteristics ESD SR 250 10000 1000 _ ST G g 2T 2 100 S E 2 iT 10 1 1 10 100 1000 Frequency MHz Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4
59. Pn439 set value or lower is early When the timing of reaching the Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 7 5 uoipunjy jes x fad Safety Function 7 2 Operation Example Timings of Return from the Safety Status Operation command RUN Servo OFF command Servo ON Follow the normal Safety input 1 STO status Normal status servo ON OFF Safety input 2 i operation timing diagram upon input Motor power No power supply of the operation is supplied i command RUN For details refer to 6 6 Brake EDM output OFF i ON Interlock Dynamic DB released engaged DB released engaged brake relay f gt Alarm generation status Servo OFF Servo ready completed READY output READY j Alarm reset Reset input RESET i Alarm output Alarm Normal ALM Brake interlock Brake held output BKIR 1 Make sure that servo ON input is turned OFF when you return the input signals of safety inputs 1 and 2 to ON Alarm clear must be performed because alarms will occur Be sure to execute the alarm clear when both safety inputs 1 and 2 are returned to the ON status An alarm will occur immediately if the alarm reset is executed when even one of these is still in the OFF status 2 Since this is a status where alarms will occur the dynamic brake is based on the Stop Selection for Alarm Generation Pn510 3 Since this is a normal
60. eae idog Over OPEL range setting and ON Pn503 Encoder Dividing Denominator All eeting 1 to 262 144 Unit Detgul aso COVOROFE yag range setting and ON Division is performed at the rate according to the formula below Pn011 Encoder FB pulse gt Output pulse Pn503 Therefore the formula will be as follows when the host side counts pulses through processing with quadruple multiplier Pn011 Number of pulse output x Encoder pulse Pn503 The pulse output resolution per rotation will never exceed the encoder resolution If the above settings are used the pulse output resolution per rotation will be equal to the encoder resolution Pn504 Drive Prohibition Input Selection All Setting 0to2 Unit B Default 1 Power OFF Yes range setting and ON Explanation of Set Values Set value Explanation 0 Forward drive prohibition input and reverse drive prohibition input enabled 1 Forward drive prohibition input and reverse drive prohibition input disabled 2 Forward drive prohibition input and reverse drive prohibition input enabled Install limit switches at both ends of the axis to prohibit the motor from travelling in the direction specified by the switch This can be used to prevent the workpiece from travelling too far and thus prevent damage to the machine Operation will be as follows if 0 is set Forward drive
61. 0 Gain1 Gain2 Gain1 gt lt mda e P0116 The settings for the Gain Switching Level in Position Control Pn117 and the Gain Switching Hysteresis in Position Control Pn118 are enabled as absolute values positive negative Pn119 Position Gain Switching Time Position Setting Default Power OFF range O to 10 000 Unit 0 1 ms setting 33 and ON When switching between gain 1 and gain 2 is enabled set the rate of change for position loop gain when gain switching is ececuted Example _ 0 1 ms 0 1 Kp1 Pn100 gt Kp2 Pn105 Kp1 Pn100 gt O Thick solid line Pn119 0 1 ee 2 L3 Thin solid line Kp2 Pn105 Gain 1 Gain 2 gt lt Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 15 sjiejeg S19 9WL Ied Parameters Details 8 2 Gain Parameters Pn120 SWITCHING mode in Speed Control Setting Default Power OFF range oS ait hiss setting s and ON Explanation of Settings J Enabled Disabled Explanation Gain Gain r PF Set Switching Switching ae T a value Gain switching conditions Delay Time in Level in Speed y Speed Control Speed Control Control Pn123 2 Pn121 7 Pn122 0 Always Gain 1 Pn100 to Pn104 1 Always Gain 2 Pn105 to Pn109 2 Switching using gain switching input _ 7 GSEL for CN1 pin 27 Forc
62. 3 79 3 80 3 81 3 82 3 83 3 84 3 86 3 87 Encoder Cables Standard Cables 2 11 2 12 Encoder connectors 20 20 e eee 3 94 Encoder Dividing Denominator Pn503 8 45 Encoder Dividing Numerator Pn011 8 7 Encoder Output Direction Switching Selection Pn012 8 7 Encoder outputs Phases A Band Z 3 41 Error Counter Overflow Level Pn014 8 7 Error Counter Reset Condition Selection Pn517 8 51 Error counter reset input ECRST 3 33 Error diagnosis using the alarm displays 11 11 Error diagnosis using the operation status 11 18 Error processing e eee eee eee ee 11 2 Excessive Analog Input 1 Pn424 8 39 Excessive Analog Input 2 Pn427 8 39 Excessive Analog Input 3 Pn430 8 40 External dimensions 0 55 2 17 External Feedback Pulse Direction Switching Pn326 8 34 External Feedback Pulse Phase Z Setting Pn327 8 34 External Regeneration Resistor 2 15 External Regeneration Resistor connector specifica tions CNC 00 cee eee 4 23 4 24 External Regeneration Resistor Setting Pn017 8 8 External Regeneration Resistor specifications 3 130 External scale connector specifications CN4 3 46 F Forward Direction Torque Offset Pn608 8 57 Forward drive prohibition input POT 3 32 Forward External Torque Limit Pn
63. Control Gain Switching Oto 123 Hysteresis in Set the hysteresis for gain switching 0 20 000 Speed Control Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 2 Parameter List Default setting Parameter Explanation name Pn number Setting Setting range Power supply OFF to ON Select the gain switching condition for force control It is necessary that Pn114 be set to 1 SWITCHING O Always gain 1 124 mode in Force 0 ia Control Always gain 2 Switching using gain switching input GSEL 3 Force command 2 0to3 Gain Switching 125 Delay Time in Force Control Set the delay time for switching from gain 2 to gain 1 o 0 1 ms 0 to 10 000 Gain Switching 126 Levelin Force Set the gain switching level 0 Control 0 to 20 000 Gain Switching 127 Hysteresis in Set the hysteresis for gain switching 0 Force Control 0 to 20 000 Note 1 Pn100 default settings 1 Pn100 320 For 200V drives of 1Kw or upper and 400V drives 2 Pn100 480 For 200V drives of less than 1 Kw Note 2 Pn101 default settings 1 Pn101 180 For 200V drives of 1Kw or upper and 400V drives 2 Pn101 270 For 200V drives of less than 1 Kw Note 3 Pn102 default settings 1 Pn102 310 For 200V drives of 1Kw or upper and 400V drives 2 Pn102 210 For 200V drives of less th
64. Control I O connector specifications 3 13 Control input circuits 0000 3 23 Control input signal 0000 3 16 Control Input Signal Read Setting Pn515 8 50 CONTROL mode Selection Pn001 8 2 CONTROL mode switching TVSEL 3 33 Control output circuits 0000 3 39 Control output sequence 00 3 40 D Damping control 20 eee eee 6 3 Default Display PN528 2 0005 8 54 Disturbance Observer Filter Setting Pn624 8 60 Disturbance Torque Compensation Gain Pn623 8 60 Drive Prohibition Input Selection Pn504 8 45 Driver characteristics 2000055 3 4 Driver general specifications 3 3 Driver part functions 00005 1 5 Driver partnames 0 0c eee ees 1 4 E EC directive pse nonoa ite epee aaa e 1 11 Electronic gear function 6 12 Electronic Gear Ratio Denominator Pn010 8 6 Electronic Gear Ratio Numerator 1 Pn009 8 6 Electronic Gear Ratio Numerator 2 Pn500 8 45 Electronic Gear Ratio Numerator 3 Pn501 8 45 Electronic Gear Ratio Numerator 4 Pn502 8 45 Electronic gear switching 1 GESEL1 3 34 Electronic gear switching 2 GESEL2 3 34 Emergency stop input EMG STP 3 37 Encoder cable 3 76 3 79 3 82 Encoder cables robot cables 3 76 3 78
65. Electronic Gear Function cas acar centage iii ete Aa 6 12 Encoder Dividing FUNCHON caves ideeccscrrccenarentncanvatessausraaeisuiuwunudsOuesouits 6 14 Brake IMCHOGK xcs iccdeaiaen a a E A a EEEE 6 18 Gain Switching Function eesssessseeeessseserreeseerrrrensserinrnnnsseerrnnnneeeet 6 23 Gain Switching 3 Function eseessseeessssssereessesrrerrersserrnrnressserrnnnneeeet 6 31 Force LIM e a a cenneaeesetianees 6 32 Sequence I O SIGN al nsira aa 6 35 Forward and Reverse Drive Prohibition Functions 00 0008 6 41 Disturbance Observer FUNCTION ccccccccccccceceeeeeeeeeeeeeeeeeesesseeeeeeees 6 44 Friction Force Compensation Function cccccceeeeeeeeeeeeeeeseeeeeeees 6 46 Mass Ratio Switching Function ccccececeeceeeeeeeeeeeeeeeeeeeeeeneeeeeeees 6 48 Feed forward Function siicsss cesrctiteccsces ta5ta sy ciasadatoenttabteaniotaenigeasespianiens 6 49 Instantaneous Speed Observer Function ccccceeeeeeeeeeeeeeeeeeeeees 6 53 NILON SG TU o EEE EEEE A E A 6 55 Encoder Set Pennenrerea an a a e a AERE 6 58 Magnetic Pole Position wsecuiganisiidinedinele ie inet 6 61 Setup with Serial CONVErtel ccc csccsscseceeeeeeeeeeeeeeeeessseseeeessesseeeees 6 64 Chapter 7 Safety Function 7 1 7 2 7 3 Safe Force OFF STO Function cccccsssssssecccccceeseeeeseesessssseees 7 2 Operation Example scscccsccssesesctesvcdsachiecsssaestaa vetitets teasusebncdadeacdddeaasa
66. GAIN SWITCHING mode 7 Switching by Position Command Received Valid for position mode Gain switching occurs when a position command corresponding to 1 command unit or more is received 6 Position command Pn116 Gain 1 Gain 2 Gain 1 suo1 2unj paddy GAIN SWITCHING mode 8 Switching by Positioning Completion Signal OFF Valid for position mode Switching to the gain 2 occurs when the error counter accumulated pulse exceeds the Positioning Completion Range 1 Pn431 Amount of error counter accumulated pulse INP1 ON INP1 OFF INP1 ON Pn116 Cancelled because the time conditions are not met Gain 1 Gain 2 Gain 1 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 27 Applied Functions 6 7 Gain Switching Function GAIN SWITCHING mode 10 Switching by Combination of Position Command Received and Speed Valid for position mode Switching to the gain 2 occurs when a position command is received If no position command is issued for the period of Gain Switching Delay Time in Speed Control Pn116 and the speed also becomes the same as or less than the result of Gain Switching Level Pn117 Gain Switching Hysteresis Pn118 mm s switching to the gain 1 will occur Position command Actual motor speed Pn116 b gt i Pn116 Gain 1 Gain 2 Gain 1 i Timings by Position Gain Switching Time Pn119 At the time of gain switching the speed loop gain speed
67. Location where noise generates due to static electricity etc Location where a strong electric or magnetic field generates Location where exposure to radioactivity may occur Location where power supply lines are running nearby Using the product in these locations may result in equipment damage Connect an immediate stop relay in series with the brake control relay Injury or failure may result When connecting the battery make sure the correct polarity is connected Battery damage or explosion may result gt E PPBPEPEPEEEPEEE The magnet plates show large attraction force on all shoft magnetic objects such as iron These forces cannot be controlled by hand They may cause serious jamming danger 8 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Safety Precautions Document Do not bring any soft magnetic objets iron nearer than 10cm of the magnetic side of the magnet plates Be sure that the magnetic plates are fixed into your machine before removing the magnetic field neutralizing protection plates Put the magnetic field neutralizing protection plates on the magnetic plates again before dismounting them gt ee Operation and Adjustment N Caution Conduct a test operation after confirming that the equipment is not affected Equipment damage may result Before operating the product in an actual environment check if it operates correctly based on the parameters you have
68. No corrosive gases Vibration resistance 10 to 60 Hz and at an acceleration of 5 88 m s or less Not to be run continuously at the resonance point Impact resistance Acceleration of 19 6 m s max 2 times each in X Y and Z directions Insulation resistance Between power supply terminal power terminal and FG terminal 0 5 MQ min at 500 VDC Megger Dielectric strength Between power supply power line terminals and FG terminal 1 500 VAC for 1 min at 50 60 Hz Protective structure Built into panel EC EMC EN 55011 EN 61000 6 2 IEC 61800 3 directive directive Low voltage EN 61800 5 1 command UL standards UL 508C CSA standards CSA22 2 No 14 International standard Functional safety EN 1S013849 1 2008 Performance Level d IEC61800 5 2 2007 STO EN61508 2001 SIL2 EN954 1 1996 CATS Note 1 The above items reflect individual evaluation testing The results may differ under compound conditions Note 2 Never perform dielectric strength or other megameter tests on the Linear Servo Drive Failure to follow this guideline may result in damaging the internal elements Note 3 Depending on the operating conditions some Linear Servo Drive parts will require maintenance Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 3 SUOI eDIIIIdS Specifications 3 1 Drive Specifications Characteristics i 100 VAC Input Type
69. P 8 25 Selection Pn304 No 1 Internally Set Speed Set the internally set speeds mm s The settings can be made from 20 000 to 20 000 mm s nies No 2 Internally Set Speed Be sure to set the speeds within the allowable range of Pn306 No 3 Internally Set Speed speed of the motor Pn307 No 4 Internally Set Speed P 8 26 Pn308 No 5 Internally Set Speed Pn309 No 6 Internally Set Speed Pn310 No 7 Internally Set Speed Pn311 No 8 Internally Set Speed Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 5 19 Spoil TIOULNOD JISVG 5 4 Internally Set Speed Control i Selecting the Internally Set Speeds The following tables show the internally set speeds that are set with VSEL1 VSEL2 and VSEL3 internally set speed selection 1 2 and 3 BASIC CONTROL Mode 5 20 Pn300 1 Number VSEL1 VSEL2 VSEL3 Set speed 0 OFF OFF Disabled Pn304 1 ON OFF Disabled Pn305 2 OFF ON Disabled Pn306 3 ON ON Disabled Pn307 Pn300 2 Number VSEL1 VSEL2 VSEL3 Set speed 0 OFF OFF Disabled Pn304 1 ON OFF Disabled Pn305 2 OFF ON Disabled Pn306 3 ON ON Disabled 1 The mode will be analog speed control Input the proper current to REF Pn300 3 Number VSEL1 VSEL2 VSEL3 Set speed 0 OFF OFF OFF Pn304 1 ON OFF OFF Pn305 2 OFF ON OFF Pn306 3 ON ON OFF Pn307 4 OFF OFF ON Pn308 5 ON OFF ON Pn309 6 OFF ON ON Pn310 7 ON ON ON Pn311
70. Pn110 Gradually increase the value of Speed Feed forward Amount Pn110 and finely adjust it to avoid overshooting during acceleration deceleration If the speed feed forward amount is set to 100 the position error will be O during constant speed operation However a large overshooting will occur during acceleration deceleration The position error during an operation at a certain speed can be smaller based on the following formula according to the speed feed forward gain value Position error command unit command speed command unit s position loop gain 1 s x 100 speed feed forward amount 100 Position error Speed FF gain 0 a a CARAN w ON Motor speed 7 The position error in the range of constant speed becomes smaller as the speed feed forward gain increases H Precautions for Correct Use The operating noise may increase when the speed feed forward is enabled if the update cycle of the position command input is longer than the amplifier control cycle or if the pulse frequency is not uniform In such cases apply the position command filter first order lag or FIR smoothing or raise the speed feed forward filter setting 6 50 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 15 Feed forward Function i Force Feed forward Operating Method 1 Set the Mass Ratio Pn004 Set the mass ratio as correctly as possible If
71. Pn502 0 the encoder 1073741824 resolution is set as the numerator 501 Electronic Ratio a 40000 1 to 7 Numerator 3 Electronic ratio ee 2 Pn500 1073741824 Electronic ratio numerator 3 Pn501 Electronic Ratio ea 1 to 502 N merator4 Electronic ratio numerator 4 Pn502 10000 1073741824 7 Electronic ratio denominator Pn010 _ Set the denominator when the number of 503 Seti pulses per motor movement in pulse 2500 0 to 262 144 Yes enominator ie f regeneration is not an integer Set the operation to be performed upon forward reverse direction drive prohibition input Drive 0 Forward or reverse direction drive 504 Prohibition prohibition input enabled 1 0to2 Yes Input Selection Forward or reverse direction drive prohibition input disabled 2 Forward or reverse direction drive prohibition input enabled Make the setting upon drive prohibition input The force in the drive prohibit direction 0 jis disabled and the dynamic brake is Stop Selection activated 505 for Drive The force in the drive prohibit direction 9 0to2 Yes Prohibition 1 lis disabled and free run deceleration Input is performed The force in the drive prohibit direction 2 is disabled and an immediate stop is performed Appendix 12 26 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 2 Parameter List D Power 2 Parameter Defaul
72. Pn638 ini o AO Overload The load ratio is 85 or A bit 7 warning more of the protection level Excessive The regeneration load Al regeneration V ratio is 85 or more of 2 bit 5 warning the protection level A3 Fan warning J The fan stop status 4 bit 6 continues for 1 s MA Motor overheat J Serial Converter detects 5 bit 4 warning overheat warning Vibration Vibration is detected A6 detection V 7 bit 9 warning Limit detection Always The limit of the capacitor A7 warning fixed with or the fan is below the 8 bit 2 no time limit specified value A8 Encoder error J The encoder detected 9 bit 8 warning a warning Encoder The number of occurrences of A9 communications V encoder communications error 10 bit 10 warning exceeded the specified value 1 The V fields can be set to 1 to 10 s in the Warning Latch Hold Time Selection Pn627 or to the no time limit setting 2 Select the type of warning to be output in warning output 1 WARN1 and warning output 2 WARN2 in the Warning Output Selection 1 Pn440 and Warning Output Selection 2 Pn441 If you set this to 0 all warning types will be output Do not set it to a value other than above 3 Each warning detection can be masked using the Warning Mask Setting Pn638 The table shows the corresponding bits The warning detection is masked when the bit 1 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 5 soueUDdJUIeI pue 10113
73. Positioning completion output turns ON when the position error is within 1 inthe Positioning Completion Range 1 Pn431 and there is no position Positioning command 432 aie Positioning completion output turns O 0to3 ON when the zero speed detection Selection f ne 2 signal is ON the position error is within the Positioning Completion Range 1 Pn431 and there is no position command Positioning completion output turns ON when the position error is within in the Positioning Completion Range 3 1 Pn431 and there is no position command The ON status will then be held until the next position command is received Positioning Oto 433 Completion Set the positioning completion hold time O 1ms 30 000 Hold Time Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 2 Parameter List D Power Parameter 2 Eanan Default i Setting supply name setting range OFFto E 1 ON Zero Speed Set the detection threshold for zero 10 to 434 Detection speed ZSP oe mms 20 000 Speed Set the detection threshold for speed P P conformity output V COIN with the 10 to 435 Conformity 50 mm s i difference between the speed command 20 000 Detection Range and the actual speed Movement Speed for Motor Set the detection threshold for speed 10 to ii Movement reached output AT SPEED 1999 minis 20 000 De
74. SUOISUSWIG u1 x3 pue sj poN piepuels Standard Models and External Dimensions 2 2 How to Read Model lronless family Linear motor coil Accurax Linear Motor Component R88L EC GW 0303 ANPS en lronless coil 03 30mm active magnet width 05 50mm active magnet width 07 70mm active magnet width 03 3 coil model 06 6 coil model 09 9 coil model A Version NP No connectors PL With connectors S Standard Magnet track Accurax Linear Motor Component R88L EC GM 03xxx A eo lronless magnet yoke 03 30mm active magnet width 05 50mm active magnet width 07 70mm active magnet width Length of magnet track in mm A Version Hall sensor Accurax Linear Motor Component R88L EC GH O3NN A Digital hall sensor for G series 03 30mm active magnet width 05 50mm active magnet width 07 70mm active magnet width Placeholder A Version Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 3 Standard Model List Linear Servo Drive Model List 2 3 Standard Model List Specifications Model Single phase 100 VAC 100 W R88D KTO1L L 200 W_ R88D KTO2L L 400W R88D KTO4L L Single phase 3 phase 200 VAC 200 W R88D KT02H L 400W R88D KT04H L 800W R88D KTO8H L 1 kW R88D KT10H L 1 5kW R88D KT15H L 3 phase 200 VAC 2 kW R88D KT20H
75. Trial operation 0 0 0 0 2 0c eee eee 9 35 Troubleshooting 0 cee eee 11 11 U UL and cUL standards 1 11 Undervoltage Alarm Selection Pn508 8 48 USB connector specifications CN7 3 52 V Vibration detection threshold 8 61 Vibration Filter 1 Setting Pn215 8 22 Vibration Filter 2 Setting Pn217 8 22 Vibration Filter 3 Setting Pn219 8 23 Vibration Filter 4 Setting Pn221 8 23 Vibration Filter Selection Pn213 8 21 Vibration filter switching 1 DFSEL1 3 34 Vibration filter switching 2 DFSEL2 3 34 Vibration Frequency 1 Pn214 8 22 Vibration Frequency 2 Pn216 8 22 Vibration Frequency 3 Pn218 8 23 Vibration Frequency 4 Pn220 8 23 WwW Warning Latch Hold Time Selection Pn627 8 60 Warning mask setting 0 000 ee 8 61 Warning output 1 WARN1 0 3 44 Warning output 2 WARN2 0 3 44 Warning Output Selection 1 Pn440 8 44 Warning Output Selection 2 Pn441 8 44 Wire SIZ6S 2 uunia See Pie ee ie i 4 28 Wiring conforming to EMC directives 4 30 Z Zero speed designation VZERO 3 36 Zero Speed Designation Selection Pn315 8 28 Zero Speed Detection PN434 8 41 Zero speed detection si
76. You can switch among 6 CONTROL modes including the following 1 position control 2 speed control 3 force control 4 position and speed control 5 position and force control 6 speed and force control Desired modes can be selected in the drive according to your need A single drive support different modes i Two motor families to Match Any Necessity The Accurax G5 Linear servomotors have two families G family for the highest acceleration amp low medium force application and F family for the high speed and wide force range application i Safe Force OFF STO Function to Ensure Safety You can cut off the motor current to stop the motor based on a signal from an immediate stop button or other safety equipment In addition to the conventional stop method based on a control signal the STO function that permits direct stopping without a need to involve the control circuit provides the immediate stop from 2 systems thereby enhancing safety i Wide Range of Power Supplies to Match Any maximum speed The same Accurax G5 Linear servomotor can be controlled with a servodrive of 100V 200V or 400V in order to reach different maximum speeds see the Velocity Force curves of each motor Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 1 2 System Configuration 1 2 System Configuration Controller Voltage Output Type Analog voltage Programmable Motion Control Unit Controller CS1W MC221 421 V1 SYSMAC C
77. according V to the setting of Speed Command Direction Selection Pn301 Force command sign This signal designates the motor movement input direction for force commands FSIGN Changes to enable set value 1 according to y the setting of Force Command Direction Selection Pn318 Emergency stop input This is an emergency stop input e EMG STOP When input this becomes an emergency V V V stop input error and thereby stop the motor MSEL Mass ratio switching This signal switches between mass ratio 1 N K J S input and mass ratio 2 Be cautious that allocatable pin numbers are fixed for the following functions Error counter reset input ECRST Pin 30 only Command pulse input prohibition input IPG Pin 33 only The number in brackets indicates the pin number allocation at default setting The allocations vary according to each CONTROL mode i CN1 Control Outputs CONTROL mode Pin number Symbol Name Function and interface Position Speed Force Encoder signal outputs 21 A Encoder phase A output Encoder signals are output according to the setting of Encoder Dividing Numerator 22 j Encoder phase A output Pn011 This is the line drive output 48 B Encoder phase B output equivalent to RS 422 The maximum output frequency is 4 Mpps y 49 B Encoder phase B output 23 Z Encoder phase Z output Phase Z is output for encoder signals This is the line driv
78. i CONTROL Mode Selection Pn001 i Command Pulse Input Process Pn005 Pn006 Pn007 Select the position control Set values 0O Position control 3 Switch between position control and speed control or 4 Switch between position control and force control Position command input terminals are classified into the input 1 system CW CW CCW CCW and input 2 system CWLD CWLD CCWLD CCWLD If the position command output is a line drive output set input 1 If it is an open collector output set input 2 Although input 2 can also be used for a line drive output the allowable maximum input frequency will become lower than when input 1 is selected Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 5 3 Spo TIOULNOD OISVG BASIC CONTROL Mode 5 1 Position Control 5 4 Parameter Setting 3 number Parameter name Explanation range Unit Select the command pulse input terminal Command Pulse 0 Photocoupler input CW CW ae Input Selection CCW CCW SOJ 1 Input for line drive only CWLD CWLD CCWLD CCWLD Set the count direction for the Command Pulse 3 Command pulse forward Pn006 Direction Switching 4 P 4 Oto1 i direction Selection 1 Command pulse reverse direction Set the count method for the command pulse input COMMAND 0 aa difference A B signal RnOO7 PULSE meds 1 Forward reverse pulse otos Selection 2 90 phase difference A B signal input 3 Feed p
79. range setting and ON 8 58 Set the allowable time for the immediate stop to complete when there is one alarm If TB in the figure below is exceeded an alarm is forced The resolution is 2ms For example if the setting is 11 the real value is 12 Operation command RUN Brake interlock Released Held BKIR Tg s No power Motor power Power supply is supplied supply Motor speed 30 mm s TB in the above figure is the brake timing during operation or the time until the motor speed falls to 30 mm s or lower whichever is shorter For details refer to Brake Interlock P 6 18 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 7 Special Parameters Pn615 Overspeed Detection Level Setting at Immediate Stop All Setting F Default Power OFF range 0 to 20 000 Unit mm s setting 0 and ON Set overspeed detection level upon generation of immediate stop alarm The overspeed detection level setting will be 1 2 times the maximum motor movement speed if this parameter is set to 0 This parameter should normally be set to 0 The setting should be changed only when it is necessary to reduce the overspeed detection level Pn617 Front Panel Parameter Write Selection All Setting Default Power OFF range oot a setting and ON Wee Explanation of Set Values Set value Explanation 0 EEPROM write not performed whe
80. the allocations are as follows Parameter Parameter Default setting number name Set value Position Control Speed control Force control Input Signal NOT contact NOT contact Pn400 Selection 1 00828282 NOT contact NC NC NC Input Signal POT contact POT contact Pn401 Scone 00818181 POT contact NC NC NC Refer to P 6 35 for details on input signal selections 1 to 10 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 41 suoljoun paddy Applied Functions 6 11 Forward and Reverse Drive Prohibition Functions 6 42 i Drive Prohibition Input Selection Pn504 Install limit switches at both ends of the axis to prohibit the Linear Servomotor from driving in the direction specified by the switch This can be used to prevent the workpiece from driving too far and thus prevent damage to the machine Set the operation to be performed upon forward and reverse drive prohibition input Drive Prohibition Input Selection Pn504 Explanation Forward drive prohibition input and reverse drive prohibition input enabled The operation when a signal is input will be as follows Forward drive prohibition input closed Forward limit switch not operating and status normal Forward drive prohibition input open Forward direction prohibited and reverse direction permitted Reverse drive prohibition input closed Reverse limit switch not operating and status normal 0 Reverse
81. w Approx 60 ms No power supply Power supply gt a4 ms Brake held Release request gt 100 ms or more Input prohibited Input allowed until the motor speed drops to approx 30 mm s or below signal is output upon a release request from servo control The BKIR signal is allocated to a CN1 general purpose output to be used Note After the alarm has been reset the system enters the servo OFF state motor not excited To turn the servo ON issue a servo ON command again after resetting the alarm according to the above timings 6 22 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 7 Gain Switching Function 6 7 Gain Switching Function Outline of Operation This function switches the position loop and speed loop gain Select enable or disable using GAIN SWITCHING INPUT OPERATING mode Selection Pn114 Set the switching condition using gain switching setting If the load mass changes or you want to change the responsiveness depending on whether the motor is stopping and operating you can perform an optimal control by gain switching Use gain switching when the realtime autotuning does not operate effectively etc see below When the load mass fluctuates in 200 ms or less When the motor speed does not exceed 500 mm s or load force does not exceed 50 of the rated force When external force is constantly applied as with a vertical axis Note When the gain 2 has been select
82. 0 Set value is restricted in the following manner Upper limit Corresponding vibration frequency Lower limit Vibration frequency vibration filter setting gt 100 Refer to Anti vibration Control P 6 3 for more information on settings Pn220 Vibration Frequency 4 Setting 0 to 2 000 Unit 0 1 Hz Default 0 Power OFF _ range setting and ON Set vibration frequency 4 to suppress vibration at the end of the load in damping control Measure the frequency of vibration at the end of the load and make the setting in units of 0 1 Hz Setting frequency is 1 0 to 200 0 Hz The function will be disabled if the setting is O to 0 9 Hz Refer to Anti vibration Control P 6 3 for more information on settings Pn221 Vibration Filter 4 Setting EN Setting 0 to 1 000 Unit 0 1 Hz Default 0 Power OFF _ range i i setting and ON First set the Vibration Frequency 4 Pn220 Then reduce the setting if force saturation occurs or a increase the setting to increase operation speed Normally use a setting of 0 D Set value is restricted in the following manner 3 Upper limit Corresponding vibration frequency 2 Lower limit Vibration frequency vibration filter setting gt 100 D Refer to Anti vibration Control P 6 3 for more information on settings Pi Pn222 Position Command Filter Time Constant Position H r Setting 0 to 10 000 Unit 0 1 ms Default 0 Power OFF _ D range
83. 0 ga Noise filter 1 U V M Ground to 100 Q LI ue or less 0 L3 CNB freee o eee B1 Ground to 100 Q or less i 7 CN4 7 Regeneration a 3 B3 4 Lee Encoder cables E A B Encoder CN1 37 ALM 24 VDC 1 A recommended product is listed in 4 3 Wiring i 36 ALMCOM Confirming to EMC Directives CN1 pa 2 Recommended relay MY relay by OMRON 24 V type For example MY2 X BKIR 11 xB 24 VDC relay by OMRON can be used with all G5 Linear series motors with brakes 2 because its rated induction load is 2 A 24 VDC CN BKIRCOM10 3 The Regeneration Resistor built in type KTO4L L KTO8H L KT10H L User side 1 T AE and KT15H L shorts B2 and B3 When the amount of regeneration is control large remove the connection between B2 and B3 and connect the device Regeneration Resistor between B1 and B2 4 There is no Internal Regeneration Resistor for KTO2L L and KTO4H L Control cables ae When the amount of regeneration is large connect the necessary Regeneration Resistor between B1 and B2 4 16 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL i R88D KT02H L KT04H L KT08H L KT10H L KT15H L 3 phase Input 4 2 Wiring RST 3 phase 100 to 115 VAC 50 60 Hz R88D KTxxL L 3 phase 200 to
84. 1 1 1 1 1 1 1 i i 1 o o aes ja 41 1401 L 5 F 7 i nx48 H 1 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 29 imensions Standard Models and External D 2 4 External and Mounting Dimensions 2 30 Hall Sensor Dimensions for Iron core motors M3x25 SubD 9 pins Female Metallised holding connections see sheet 1 Cable length 500 30mm Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 4 External and Mounting Dimensions i lronless family R88L EC GW 0303 0306 0309 Motor coil 70 05 L3 5 005 a A H 20 3 5 10 a R 2 o D35 i 25 3 A j ra i ae ee ie A ee ee i pri menace maansa Motor with magnet track separate order no SS 3 O Ks 9 r LE NX 68 Motor with hall sensor optional la Li x D o o o o o o o o o o 32 a 5 1 Cable length 1000 30 o Connector optional Cable length 500 30 Cable length 500 30 Made by Hypertac Connector optional x pi 4 2 SROCO6JMSCN169 MALE i p D
85. 10 12 mis 325V DCBus 560V DCBus 160V DCBus 3 R88L EC FW 0609 R88L EC FW 0609 AxxC F V Curve 90 Ubus and coils at 100 C N 700 0 600 9 Peak operation 3 PS ee 500 0 x 400 0 7 1 300 0 200 0 T Continuous operation 100 0 a s 0 0 a 0 2 4 6 8 10 12 mis 325V DCBus 560V DCBus 2 160V DCBus Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 61 suonesijoads Specifications 3 3 Motor Specifications 3 62 R88L EC FW 0612 R88L EC FW 0612 AxxC F V Curve 90 Ubus and coils at 100 C N 900 0 800 0 Peak operation _ 700 0 x 600 0 500 0 t 400 0 xX 300 0 ss ee A i Continuous operation 200 0 100 0 0 0 T 0 2 4 6 8 10 325V DCBus 560V DCBus 160V DCBus R88L EC FW 1112 R88L EC FW 1112 AxxC F V Curve 90 Ubus and coils at 100 C 1800 0 1600 0 Peak operation T _ 1400 0 1200 0 1000 0 800 0 600 0 e a L Continuous operation N 400 0 200 0 y 0 0 T A 1 0 1 2 3 4 5 6 325V DCBus 560V DCBus 160V DCBus Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL R88L EC FW 1115 3 3 Motor Specifications
86. 12h 92h Force command sign input FSIGN 13h 93h Forced alarm input E STOP 14h 94h Mass ratio switching input M SEL 15h 95h 1 The operation command RUN always needs to be allocated Servo cannot be turned ON if it is not allocated 2 Allocate this to Input Signal Selection 7 Pn406 An error will occur if it is allocated to anything other than that 3 Allocate this to Input Signal Selection 10 Pn409 An error will occur if it is allocated to anything other than that H Precautions for Correct Use Do not use any values other than the settings listed If you allocate the same function to multiple input signals interface input duplicate allocation error 1 Err33 0 or interface input duplicate allocation error 2 Err33 1 will occur You can allocate error counter reset input ECRST to Input Signal Selection 7 Pn406 only If you allocate it to anything other than that a counter reset allocation error Err33 6 will occur You can allocate pulse prohibition input IPG to Input Signal Selection 10 Pn409 only If you allocate it to anything other than that a command pulse prohibition input allocation error Err33 7 will occur If you are using the CONTROL mode switching input TVSEL you must set it for all CONTROL modes If you do not set it for all CONTROL modes interface input function number error 1 Err33 2 or interface input function number error 2 Err33 3 will occur If you set Zero Speed Designation
87. 2 V Analog input value 3 V a eae LJ Note Voltages exceeding 10 V are not displayed accurately i Error Factor History U12 rm Error code if no alarm is present Z T Present error H History 0 latest history E i ZJ History 13 oldest history Up to the most recent 14 alarms including the current one can be viewed in the reason of error The display area will flash when an alarm occurs If an alarm that is recorded in the history occurs the alarm code for the current alarm and for history 0 will be the same 9 16 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Alarm Codes and Meanings 9 4 Setting the Mode Alarm Contents Alarm Contents codes codes 11 Control power supply undervoltage 33 IO setting error 12 Overvoltage 34 Overrun limit error 13 Main power supply undervoltage 36 Parameter error 14 Overcurrent 37 Parameters destruction 15 Drive overheat 38 Drive prohibition input error 16 Overload 39 Excessive analog input 18 Regeneration overload 50 Serial Encoder communication alarm 24 Error counter overflow 51 Serial Encoder abnormal data 26 Overspeed 55 A B Encoder or Hall sensor wiring alarm 27 Electronic gear setting error 60 Linear motor setting alarm 28 ee pulse excessiye 61 Magnetic pole estimation error 29 Error counter overflow 87 E STOP alarm 30 Safety inpu
88. 26 0 Overspeed protection If this parameter is set to 0 error 60 0 motor setting error is generated Pn911 Carrier frequency All Setting range 0 to 1 Unit Default setting eras a Yes Set values are Set Explanation value 0 6KHz 1 12KHz Default setting is 1 for 200V 100W and 200W drive and 0 for the rest of the models Working at 6KHz the drive gives more current but result in a more noisy motor operation If the encoder has low resolution or the electrical noise is high use 12KHz Pn912 Current response auto adjustment All Setting range Power OFF i 0 Unit a and ON 0 to 100 Default setting 30 Yes Default setting is 30 for 200V 100W and 200W drive and 60 for the rest of the models Automatically adjust the level of Pn913 Proportional and Pn914 Integral according to this value Recommended values are 40 if Pn911 1 carrier frequency 12KHz and 80 if Pn911 0 carrier frequency 6KHZz Set 0 to adjust manually Pn913 and Pn914 All Pn913 Current loop proportional gain Power OFF Setting range 0 to 32767 Unit Default setting 50 and ON Set here the current loop proportional gain If Pn912 lt gt 0 this value is set automatically Al Pn914 Current loop integral gain F i Power OFF Setting range O to 32767 Unit Default sett
89. 3 33 suonesijoads Specifications 3 1 Drive Specifications 3 34 i Vibration Filter Switching 1 DFSEL1 and Vibration Filter Switching 2 DFSEL2 Pin 26 Vibration filter switching 1 DFSEL1 No allocation Vibration filter switching 2 DFSEL2 This is the allocation at default setting You can change the logics and allocations for input terminals CN1 to 8 9 and 26 to 33 according to the settings of Input Signal Selection 1 to 10 Pn400 to 409 Function Use the sequence signal to switch among the 4 filters for use in damping control when the setting of Vibration Filter Selection Pn213 is enable set value 1 or 2 Pe DFSEL1 DFSEL2 Vateri fiter2 fitters fiera OFF Enabled Enabled ON Enabled Enabled OFF OFF Enabled ON OFF Enabled OFF ON Enabled ON ON Enabled i Electronic Gear Switching 1 GESEL1 and Electronic Gear Switching 2 GESEL2 Pin 28 Electronic gear switching 1 GESEL1 No allocation Electronic gear switching 2 GESEL2 This is the allocation at default setting You can change the logics and allocations for input terminals CN1 to 8 9 and 26 to 33 according to the settings of Input Signal Selection 1 to 10 Pn400 to 409 Function Use these 2 signals to switch among up to 4 electronic ratio numerators GeseL1 Gesel2 Gear Gear Geard Geard OFF OFF Pn009 valid ON OFF Pn500 valid OFF ON Pn501 valid ON O
90. 33 f 4 7 kQ Reverse drive prohibition NoT 8 Forward drive prohibition POTI9 ee ne eer i Frame ground Note 1 The inputs of pins 8 9 and 26 to 33 and outputs of pins 10 11 12 34 35 38 39 and 40 can be changed via parameter settings 3 14 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 1 Drive Specifications i Control I O Signal Connections and External Signal Processing for Force Control Force command input or speed limit FREF1 VLIM 14 20 kQ F Force command input 6 12 to 24 VDC 24VIN 7 TOperation command RUN 29 Zero speed designation z7ERO 2 2 Gain switching GSEL 27 Alarm reset RESET 31 switching CONTROL mode TVSEL 32 prohibition Reverse drive p prohibition f Forward drive POT 9 BKIR Maximum Brake interlock BKIRCOM Servo ready READY completed output READYCOM ALM Alarm output ALMCOM TGON Motor movement TGONCOM P ed detection output Z Phase Z output open collector output ZCOM ZSP Zero speed FLIMT Force limit ZSPCOM FLIMTCOM A Encoder A_ phase A output B method Encoder B phase B output Encoder
91. 5 gt 55 Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 55 e gt 47 T 5 2 150 170 180 470 0 5 Square hole 0008000 000800 800008 C8500 OG R2 6 Cr Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 19 SUOISUSWIG eUI9 Xy pue sj poN PsepuRIsS Standard Models and External Dimensions 2 4 External and Mounting Dimensions Single phase 100 VAC R88D KTO4L L 400 W Single phase 3 phase 200 VAC R88D KTO8H L 800 W Wall Mounting External dimensions Mounting d
92. 800 300 300 8300 300 300 300 Pn111 Speed Feed forward Command Filter 50 50 50 50 50 50 50 50 Pn112 Force Feed forward Amount Pn113 Force Feed forward Command Filter 0 Pn114 GAIN SWITCHING INPUT OPERATING 1 1 A 1 1 1 1 mode Selection Pn115 SWITCHING mode in Position Control Ea Bie Pea 19 Pn116 Gain Switching Delay Time in Position Control 30 30 30 30 30 30 30 30 Pn117 Gain Switching Level in Position Control 50 50 50 50 50 50 50 50 Pn118 rar ae Hysteresis in Position 33 33 33 33 33 33 33 33 Pn119 Position Gain Switching Time 33 33 33 33 33 33 33 33 Pn120 SWITCHING mode in Speed Control 0 0 0 0 0 0 0 0 Pn121 Gain Switching Delay Time in Speed Control O 0 0 0 0 0 0 0 Pn122 Gain Switching Level in Speed Control 0 0 0 0 0 0 0 0 Pn123 Gain Switching Hysteresis in Speed ControljO 0 0 0 0 0 0 0 Pn124 SWITCHING mode in Force Control 0 0 0 0 0 0 0 0 Pn125 Gain Switching Delay Time in Force ControljO 0 0 0 0 0 0 0 Pn126 Gain Switching Level in Force Control 0 0 0 0 0 0 0 0 Pn127 Gain Switching Hysteresis in Force Control O 0 0 0 0 0 0 0 Pn605 Gain 3 Effective Time 0 0 0 0 0 0 0 0 Pn606 Gain 3 Ratio Setting 100 100 100 100 100 100 J100 100 Pn607 Force Command Value Offset Estimated if Pn002 3 4 or 5 Pn608 Forward Direction Force Offset Estimated If Pn002 4 or 5 Pn609 Reverse Direction Force Offset Estimated if Pn002 4 or 5 Pn610 0 Pn610 3 Function Expansion Setting 0 0 0 0 0 0 0 0 Pn611 Electric Current Response Setting 100 100 100 100
93. A541 08 CCW A541 09 for pulse output 1 Accordingly the actual inputs can be used as the CW CCW limit by outputting the flags below in the ladder program Example 2960 06 HCO A540 08 2 The XB contacts are used to turn ON OFF the electromagnetic brake 3 Connection to the MING input terminal is disabled Note 1 Do not connect unused terminals Note 2 The 0 V terminal is internally connected to the common terminals Note 3 The applicable crimp terminal is R1 25 3 round with open end Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 117 SUOI edIIIGdS Specifications 3 6 Servo Relay Units and Cable Specifications i XW2B 40J6 9A This Servo Relay Unit connects to the following OMRON Programmable Controllers CJ1M CPU21 CPU22 CPU23 for 2 axes Dimensions CJ1M CPU21 22 23 side X axis drive side Y axis drive side Terminal block pitch 7 62 mm 3 118 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Wiring 3 6 Servo Relay Units and Cable Specifications The Linear Servo Drive phase Z output signal is wired to the origin signal in this
94. Amplitude 00 Electrical o 180 360 angle Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 19 Magnetic Pole Position Magnetic pole position estimation Pn920 2 On the first RUN command after power on the drive performs a sequence to estimate the magnetic pole position The magnetic pole position estimation sequence may not work properly in next cases In vertical axes When the friction is very large During the sequence the servodrive applies a certain force to the motor and measures how much the motor moves In order to ensure an accurated estimation some parameter are provided to adjust the magnetic pole position estimation sequence A Insirucion thrust Feedback Hotor stop Scale pulse etermination Pr9 25 9 26 Pr9 23 Pr9 28 Filters exceed 0 Pr9 24 movement pulse width before Pr9 22 set time minut and the instruction the set time passes of Pr9 22 the instruction thrust are applied thrust is adjusted to 0 a wa Because the displacement of the motor Because the motor handly works the Pr9 24 0 igPr9 22 Time Pn922 defines the maximum time that the force is applied to the linear motor If this value is too small the motor may not move or the estimation is innacurated Pn923 defines the force that is applied to the motor If this value is too small the motor may not move or the estimation is innacurated If the motor moves Pn
95. CNA x CNB f FUSE ji ij EE a e e B3 L2 aves ke Internal Regeneration Resistor FUSE A A L3 4 o E aaam SY TTT H eoe 7 V Tt Voltage AY Ww FUSE F A detection L1C E fd x le L2C I l plea f os SW y yv V v 15V lt gt power GR supply main Relay Regeneration Overcurrent Gate drive Current detection O G1 lt circuit control drive control detection BY ae a 7 f 3 3V lt N22 J F 2 5V lt Internal DEP ay and it ey lt control power MPU amp ASIC k sarng circul 12 V lt SuPPly Position speed and force calculation control area i k G2 lt PWM control H H H H H H O C Q Cooling fan w wv_ CN1 CN4 CN5 CN7 CN8 Control External Analog USB Safety interface scale monitor Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 1 7 uolneinBbiyuoy wia SAS pue sainjea4 1 4 System Block Diagrams Size D R88D KTO6F L 10F L 15F L CNA x CNDT FUSE L1 H B2 B3 L2 lt gt i Internal Regen Resistor 7 l oi N FUSE A Ka rN Fuse not installed B nH L a dA CNB LI aau n n m l
96. Deceleration Time Setting Pn314 Figure B Actual motor speed N Speed command Speed Command Acceleration Deceleration Setting Pn312 Pn313 Pn314 1 Zero speed designation input i ON La OFF ON Position control Speed control Position control When the zero speed designation input is tuned ON the speed command is forcibly set to 0 When the actual motor speed is less than the Position Lock Level Setting Pn316 the operation switches to position control and servo locks In addition when the zero speed designation input is turned OFF the operation switches to speed control Since the position command for position control is forced to be O properly set the position loop gain various error detection functions and other settings Use this parameter when the CONTROL mode Selection Pn001 is set to 1 speed control This may not operate correctly if the CONTROL mode Setting Pn001 is set to 3 position or speed control or 4 position or force control K Pn316 Speed command NS lt Zero speed designation input 1 x 1 ON 1 i l l Position control Speed control Position control When the zero speed designation input is turned ON and the speed command is less than the Position Lock Level Setting Pn316 the operation switches to position control and servo locks When the zero speed designation input is turned ON the speed comman
97. Default Power OFF range 0 to 20 000 Unit mm s setting 0 and ON Corresponding speed limit values during force control is shown in the table below Force Speed Reverse Command Limit Direction Zero cael Analog force Poe ae _ Designation Zero speed Speed limit Speed Limit Value Speed Limit command Selection clamp a value Selection Setting Value Setting Pn315 direction Pn327 Pn321 Pn322 0 Not affected Pn321 set value 0 0 to 20 000 Not affected It OFF Not affected Pn321 set value o Ae ON 0 Forward direction Pn321 set value 0 to 20 000 0 to 20 000 0 Not affected o Reverse direction Pn322 set value 1 Forward direction Pn321 set value 0 to 20 000 1 to 20 000 1to3 OFF Ba Reverse direction Pn322 set value 0 to 20 000 1 to 20 000 1to3 ON Not affected 0 8 32 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 4 Analog Control Parameters Pn323 Encoder Type Selection All Setting 0to2 Unit S Default 0 Power OFF Yes range setting and ON Explanation of Set Values Set value Explanation 0 Line drive A B pulse type 1 SinCos via Serial Converter or Serial Incremental Encoder Sony 3 2 Serial Absolute Encoder Sony Mitutoyo 4 1 The drive internal process count direction relative to the external scale of phase AB output type is explained below 2 The SinCos Encoder is connec
98. EOEUd ule 7O0 Ud Bulles T NJeA UWIT ZZEUd L anjeq LUIT LZEUd jul paads jeu1 4U beyjoa yndul Liy Jays 77Ud SHO 777d uolesuadwod yndui bojeuy 194 4 9 7Ud uolesuadwuod yndul bojeuy abeyon indu ZIY Spoil IOULNOD JISVG G V 49 91 L indu Bojeuy ISHO SCHUd e Q V U9 ZL Z indu bojeuy Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 5 18 5 4 Internally Set Speed Control 5 4 Internally Set Speed Control Outline of Operation Performs motor speed control using the speeds set in the No 1 to 8 Internally Speed Settings Select the internally set speed using Internally Set Speed Selections 1 to 3 of the control input terminals VSEL1 CN 1 to 33 pins VSEL2 CN 1 to 30 pins VSEL3 CN 1 to 28 pins Drive Controller ACCURAX G5 Internally set speed control ACCURAX G5 Linear AC Servomotor Internally set speed control can Speed selection command O VSEL1 No 1 to 8 Internally Set Speed be executed using O VSEL2 only the digital I O Pn304 to 311 F O VSEL3 signals Parameters Requiring Settings PEE Parameter name Explanation Reference number CONTROL mode Select the CONTROL mode for internally set speed Pn001 f P 8 2 Selection control Set values 1 3 and 5 Pn300 Command Speed Select the speed command input method
99. Electronic Gear Pn009 to Pn010 Controller pulse train output type Position Control Unit CJIW NC113 133 Drive CJIW NC213 233 ACCURAX G5 CJIW NC214 414 CJIW NC234 434 440 CWLD POSITION CONTROL mode CJIW NC413 433 CS1W NC113 133 CS1W NC213 233 460 Electronic Gear CS1W NC413 433 47Q CCWLD Pn009 to Pn010 CPU Unit with built in Pulse train pulse I O CJ1M CPU21 22 23 40 CW CP1H X XA Y 504 CP1L M L ACCURAX G5 Linear AC Servomotor Numerator Denominator 5 2 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 5 1 Position Control Parameters Requiring Settings harameter Parameter name Explanation Reference number Reference direction Select the relation between the reference command and the Pn000 E P 8 2 movement direction in the motor Pnoo1 CONTROL mode Selection Select the CONTROL mode P 8 2 Pn005 Command Pulse Input Selection Select the command pulse input terminal P 8 4 Command Pulse Set the count direction for the command pulse input Pn006 Direction Switching P 8 4 Selection Pn007 COMMAND PULSE Set the count method for the command pulse input P 8 4 mode Selection Pno09 Electronic Ratio Set the numerator of the electronic ratio for the command P 8 6 Numerator 1 pulse input Pno10 Electronic Ratio Set the denominator of the electronic ratio for the command P 8 6 Denominator pulse input
100. Explanation Reference number 0 Invalid setting Error 60 0 abnormal setting is generated Magnetic pole position it the Set values O Pn920 sie macs arte 1 Direct measurement via Hall sensor P 8 64 2 Magnetic pole position estimation 3 Magnetic pole position restoration Set here the phase between the motor coil winding and the Png21 Electrical angle phase Hall sensor If using the standard Hall sensors leave this P 8 64 value to 0 Magnetic pole position In the magnetic pole position estimation method selects Pn922 PARTA ati e f P 8 64 estimation operation time the maximum time to apply the selected force to the motor Magnetic pole position In the magnetic pole position estimation method selects Pn923 ne P 8 64 estimation operation force the force to apply to the motor Magnetic pole position In the magnetic pole position estimation method selects Pn924 estimation operation the number of pulses that the motor must move to set zero P 8 65 movement counts force Magnetic pole position In the magnetic pole position estimation method the motor Pn925 estimation operation is considered stopped after a movement if it moves less P 8 65 pulses for stop judgement than Pn925 counts in 2 ms and continues stopped for mis Pn926 ms or more Magnetic pole position Pn926 estimation operation time P 8 65 for stop judgement In the magnetic pole position estimation method Magnetic pole position EA determines the maximum time for t
101. FREF1 or connect to the signal ground and then set this parameter so that the motor does not rotate If you use a position loop in the host device set this parameter so that there are no accumulated pulses at servo lock stop status The automatic adjustment is as follows This parameter will be automatically set when automatic offset adjustment is executed Pn426 Analog Input 2 Filter Time Constant All Setting 0 to 6 400 Unit 6 04ms Default 0 Power OFF _ range setting and ON Set the first order lag filter time constant in the speed command input REF CN1 pin 14 Pn427 Excessive Analog Input 2 All Setting 0 to 100 Unit 0 1V Default 0 Power OFF _ range setting and ON Set the overflow level for speed command input REF CN1 pin 14 or force command input FREF1 CN1 pin 14 using voltage after offset compensation Excessive analog input alarm display No 39 will be disabled if this parameter is set to O Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 39 sjiejog sio oweled Parameters Details 8 5 Interface Monitor Setting Parameters Pn428 Analog Input 3 Offset All Setting 342 to 342 Unit 5 86 mV Default 0 Power OFF _ range i setting and ON Adjust the offset of the speed command input REF CN1 pin 14 The offset amount is approx the set valu
102. Feed pulse 200 kpps t1 ti At 200 kpps At 500 kpps ti lt 0 5 us t1 lt 0 1 us t2 gt 2 5 us t2 gt 1 0 us t 22 545 t 21 0 us T 25 0 us T22 0 us t T x 100 lt 50 t T x 100 lt 50 Reverse pulse forward Forward command Reverse command pulse Reverse pulse Maximum input frequency Line drive 500 kpps sa es Forwardpulse of O I oo o oo At 200 kpps At 500 kpps t1 lt 0 5 us t1 lt 0 1 us t2 gt 2 5 us t2 gt 1 0 us t 20s t 21 0 ps T25 0 us T gt 2 0 us T x 100 lt 50 t T x 100 lt 50 90 phase difference Forward command Reverse command signals Phase A pulse I o Maximum input frequency n Line drive 500 kpps Open collector eS Phase B pul 200 kpps ase B pulse i T At 200 kpps At 500 kpps t1 lt 0 5 us t1 lt 0 1 us t 2 gt 10us t 2 4 0us T gt 20 us T gt 8 0 us t T x 100 lt 50 t T x 100 lt 50 3 28 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 1 Drive Specifications i Line Receiver Input CW feed pulse PULS or phase A FA CW feed pulse PULS or phase A FA CCW direction signal SIGN or phase B FB CCW direction signal SIGN or phase B FB Pin 44 Reverse pulse Pin 45 Reverse pulse Pin 46 Forward pulse Pin 47 Forward pulse Function The functions of these signals depend on the settings of the Command Pulse Movement Direction S
103. Hall sensor signals from CN2 motor optional Temperature probe CN3 from motor optional Note The Serial Converter is an interface that reads the SinCos signals from the encoder makes a x100 interpollation after quadrature x400 before quadrature and optionally also combines the hall sensor signals to avoid the phase finding sequence the first run after power and the temperaure sensors from the motor then it sends the information cyclically to the G5 Linear via the encoder serial interface E Serial Communications Type Incremental Encoder Specifications Pn323 1 Magnescale incremental by Sony Manufacturing Systems Corporation SR75 SR85 Drive side CN4 SUOI edIIIGdS 5V WV GND Serial transmission l FG Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 49 3 1 Drive Specifications E Serial Communications Type Absolute Encoder Specifications Pn323 2 Serial Specifications Absolute encoder by Mitutoyo Corporation ABS ST771A ST773A 3 4 11 1 2 13 7 transmission D co Drive side CN4 sae Shell FG 3 50 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 1 Drive Specifications Monitor Connector Specifications CN5 i Monitor Output Signals List Monitor output CN5 En Symb Name Function and interface Number ol Analog monitor output 1 Outputs the a
104. IPG input is open Frequency of command The command pulse is not input correctly pulse input is low The input selected in Pn005 is not connected correctly 7 P The type of input selected in Pn006 or PnO07 is not correct The position command per control cycle is 1 pulse or less and the above are some of the possible causes 8 ECRST input is enabled p Pn517 0 Error counter reset at the level and the error counter reset input ECRST is connected to COM VZERO input is enabled Pn315 1 zero speed designation enabled and the zero speed 9 S T s Bact g designation input VZERO is open 10 External speed command s The analog speed command is 0 06 V or lower when the analog is low speed command is selected 11 Internal speed command s The internal speed command is 30 mm s or less when the internal is 0 speed command is selected 12 Force command is low T The analog force command input REF or PCL is 5 or less of the rated force Speed limit is low Pn317 0 speed limit with No 4 internally set speed and the 13 T No 4 Internally Set Speed Pn307 is 30 mm s or lower Pn317 1 speed limit with REF input and the analog speed command input REF is 0 06 V or lower Other reasons Reasons 1 to 13 do not apply but the motor is moving at 20 mm s or 14 All lower Low command heavy locked or crashed load faulty drive or motor etc Note The motor may move even if a reason number other than 0 is
105. Input Default set Position control Speed control Force control parameters signals value z 7 Signal Logic Signal Logic Signal Logic name name name F 00828282h Pn400 SI1 input 8553090 NOT NC NOT NC NOT NC 00818181h Pn401 SI2 input 8487297 POT NC POT NC POT NC 0091910Ah Pn402 SI3 input 9539850 DFSEL1 NO VZERO NC VZERO NC 00060606h Pn403 Sl4 input 394758 GSEL NO GSEL NO GSEL NO Pn404 SI5 input 0000100Ch GEsEL1 No VSEL3 NO z 4108 00030303h Pn405 SI6 input 1979379 RUN NO RUN NO RUN NO 00000f07h Pn406 SI7 input 3847 ECRST NO VSEL2 NO 00040404h Pn407 S18 input 263172 RESET NO RESET NO RESET NO 00050505h Pn408 SI9 input 328965 TVSEL NO TVSEL NO TVSEL NO 00000E88h Pn409 S110 input 3720 IPG NC VSEL1 NO Contacts NO and NC in the logic fields indicate the following statuses Contact NO Disabled OFF when signal input is open with COM Enabled ON when signal input is shorted with COM Contact NC Disabled OFF when signal input is shorted with COM Enabled ON when signal input is open with COM _ indicates the status where no function is allocated Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 35 suoljoun paddy Applied Functions 6 10 Sequence I O Signal 6 36 i Parameters that Can Be Allocated Use the following parameters when changing the input signal allocation to use For the setting
106. Input Signal Selection 1 to 10 Pn400 to 409 You must always allocate the Operation command RUN If not the servo does not turn ON Function This input turns ON the power drive circuit for the main circuit of the Linear Servo Drive If this signal is not input servo OFF the motor cannot drive i Forward Drive Prohibition Input POT and Reverse Drive Prohibition Input NOT Pin 9 Forward drive prohibition input POT Pin 8 Reverse drive prohibition input NOT This is the allocation at default setting Note however that both signals are set to disable drive prohibition is disabled You can use Drive Prohibition Input Setting Pn504 to change these settings Also you can change the logics and allocations for input terminals CN1 to 8 9 and 26 to 33 according to the settings of Input Signal Selection 1 to 10 Pn400 to 409 Function These 2 signals are drive prohibition overtravel inputs in forward and reverse directions If Drive Prohibition Input Setting Pn504 is 1 you can use the setting of Stop Selection Pn505 to select the operation to be taken upon input of each prohibit signal If Drive Prohibition Input Setting Pn504 is 2 drive prohibition input protection E380 actuates upon input of a drive prohibition i Alarm Reset Input RESET Pin 31 Alarm reset input RESET This is the allocation at default setting You can change the logics and allocations for input terminals CN1 to 8 9 and 26 to 33 a
107. L 3 phase 400 VAC 600W R88D KTO6F L 1 kW R88D KT10F L 1 5 kW R88D KT15F L 2 kW R88D KT20F L 3 kw R88D KT30F L 5 kw R88D KT50F L Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 7 SUOISUSWIG eBUI9 Xy pue sj poN PsepuRIsS Standard Models and External Dimensions 2 3 Standard Model List Linear Servomotor Model List i Iron core linear servomotor model list Coil without connectors Coil with connectors Nominal Peaktorce Magnet track Hall force N N sensor R88L EC FW 0303 ANPC R88L EC FW 0303 APLC 48 105 R88L EC FM 03096 A R88L EC FM 03144 A lt R88L EC FW 0306 ANPC R88L EC FW 0306 APLC 96 210 R88L EC FM 03384 A Z R88L EC FW 0606 ANPC R88L EC FW 0606 APLC 160 400 Z R88L EC FM 06192 A T R88L EC FW 0609 ANPC R88L EC FW 0609 APLC 240 600 p96 EC FM 06288 A T R88L EC FW 0612 ANPC R88L EC FW 0612 APLC 320 800 uw l R88L EC FW 1112 ANPC R88L EC FW 1112 APLC 608 1600 R88L EC FM 11192 A 3 R88L EC FW 1115 ANPC R88L EC FW 1115 APLC 760 2000 R88L EC FM 11288 A i ironless linear servomotor model list Coil without connectors Coil with connectors Rerinel beak teres Magnet track Hall sensor force N N R88L EC GW 0303 ANPS R88L EC GW 0303 APLS 26 5 100 R88L EC GM 03090 A ee R88L EC GW 0306 ANPS R88L EC GW 0306 APLS 53 200 R88L EC GM 03120 A R88L EC GM 03390 A CTTOSNN A R88L EC GW 0309 ANPS R88L EC GW 03
108. L 6 10 100 R88D KT0O4L L 6 2 R88L EC FW 0606 200 R88D KTO8H L 6 4 400 R88D KT15F L 6 8 100 Not match 2 R88L EC FW 0609 200 R88D KT10H L 6 4 400 R88D KT20F L 6 8 100 Not match 2 R88L EC FW 0612 200 R88D KT15H L 6 4 400 R88D KT30F L 6 8 100 Not match 1 R88L EC FW 1112 200 R88D KT15H L 6 2 400 R88D KT30F L 6 4 100 Not match 1 R88L EC FW 1115 200 R88D KT15H L 6 2 400 R88D KT30F L 6 4 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 9 SUOISUSWIG u13 x3 pue sj poN psepurIsS Standard Models and External Dimensions 2 3 Standard Model List i lronless family Voltage PWM frequency Max speed Motor V Drive KHz m s 100 R88D KTO1L L 12 8 R88L EC GW 0303 200 R88D KT02H L 12 16 100 R88D KTO4L L 6 8 R88L EC GW 0306 200 R88D KTO8H L 6 16 100 Not match 8 R88L EC GW 0309 200 R88D KT10H L 6 16 100 R88D KTO1L L 12 2 2 R88L EC GW 0503 200 R88D KT02H L 12 4 4 100 R88D KT02L L 6 2 2 R88L EC GW 0506 200 R88D KT04H L 6 4 4 100 R88D KTO4L L 6 2 2 R88L EC GW 0509 200 R88D KTO8H L 6 4 4 100 R88D KT02L L 6 1 2 R88L EC GW 0703 200 R88D KT04H L 6 2 4 100 R88D KTO4L L 6 1 2 R88L EC GW 0706 200 R88D KTO8H L 6 2 4 100 Not match 1 2 R88L EC GW 0709 200 R88D KT10H L 6 2 4 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Peripheral Equipment and Cable Model List 2 3 Standard Model List
109. L Phase B B Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 15 suoljoun paddy Applied Functions 6 5 Encoder Dividing Function i Encoder Z Pulse Regeneration Function Serial Absolute Encoder Phase Z is output only after the control power supply for amplifier is turned ON and when it crosses the zero absolute position of the encoder Based on this position phase Z is output at the intervals of phase A pulse that is set to Pn621 However if Pn621 0 phase Z is output only at the zero absolute position Serial Incremental Encoder Phase Z is output without dividing the phase Z of the serial incremental encoder In addition take note that there are differences as illustrated in the figure below depending on the direction passing phase Z Phase A Phase B t Phase Z position of encoder 1 Operating direction 2 Phase Z Operating direction 3 1 Phase Z position and its relationship with phases A and B vary depending on the scale 2 Phase Z is regenerated for 1 pulse lf the width is narrow the output time can be extended by the Encoder Phase Z Setting Pn620 3 If the Encoder feedback frequency is higher than 15Mpulses s the Z pulse cannot be regenerated properly Do not exceed this frequency if Z pulse is used for control purposes ABZ Encoder Phase Z is output without dividing the Z signal that is input from the ABZ Encoder When the Phase AB Encoder Pulse Output Met
110. L1 and L3 correctly The main circuit power supply is damaged Replace the drive Control PCB error Occurs when the power Main circuit power supply Change the main circuit power voltage is out of allowable supply voltage to within supply is turned ON range allowable range Calculate the regenerative energy and connect an External Regeneration Resistor with the Load mass is too large required regeneration Occurs when the motor absorption capacity is decelerating Extend the deceleration time Main circuit power supply Change the main circuit power 12 Overvoltage voltage is out of allowable supply voltage to within range allowable range Occurs during descent vertical axis Gravitational force is too large Add a counterbalance to the machine to lower gravitational force Reduce the descent speed Calculate the regenerative energy and connect an External Regeneration Resistor with the required regeneration absorption capacity Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 11 ueu zuIeN pue 10113 a A Error and Maintenance 11 4 Troubleshooting Alarm f Error conditions display Status when error occurs Cause Measures Main circuit power 13 supply undervoltage Occurs when the servo is turned ON The power supply voltage is low Momentary power interruption occurred Power supply capacity is insufficient
111. OFF _ range setting and ON Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 37 sjiejog S19 9WL Jed Parameters Details 8 5 Interface Monitor Setting Parameters Pn421 Analog Monitor Output Selection All Setting Default Power OFF range age Unt ap setting 9 and ON Select the analog monitor output voltage direction Set value Output range Data output Output voltage V POV a i Motor 0 10 to 10 V OV speed 10V Output voltage V Oe Ls ee Motor 1 Oto 10V speed 5 000 OV 5 000 mm s 10V Output voltage V 10V 5V f Motor 2 Oto10V speed ovf 0 2 500 mm s 2 500 10V When monitor type is motor speed and gain of conversion is 500 1 V 500 mm s Pn422 Analog Input 1 Offset All Setting _5 578 to 5 578 Unit 0 359 mV Default 0 Power OFF _ range setting and ON Adjust the offset of the speed command input REF CN1 pin 14 The offset amount is approx the set value times 0 359 mV There are 2 ways to adjust the offset Manual adjustment Automatic adjustment The manual adjustment is as follows To adjust the offset for individual drives accurately input OV to the speed command input force command input REF FREF1 or connect to the signal ground and then set this parameter so that the motor does not rotate If you use a position loop in the host
112. Power OFF range eee Gait setting 0 and ON Explanation of Settings J Enabled Disabled Explanation Gain Switching Gain Switching Set Delay Time in Gain Switching 1 Hysteresis in value Gain switching conditions Position Level in Position Position Control Control Pn117 Control Pn116 Pn118 2 0 Always Gain 1 Pn100 to Pn104 1 Always Gain 2 Pn105 to Pn109 2 Switching using gain switching B 7 input GSEL for CN1 pin 27 3 Force command level Refer to N qs 3 Figure A x 0 05 x 0 05 4 Always Gain 1 Pn100 to Pn104 5 o speed Refer to Figure o J mm s J mm s Amount of position error Refer to 4 4 6 Figure C V V pulse V 4 pulse Position command received Refer 7 V to Figure D 8 Positioning completion signal INP N z B OFF Refer to Figure E 9 Actual motor speed Refer to y J mm s J mm s Figure B Combination of command received 5 5 1 and speed Refer to Figure F y V mm s V mm s Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 13 sjiejeg S19 9WL Ied Parameters Details 8 2 Gain Parameters 8 14 Select the conditions for switching between gain 1 and gain 2 when the GAIN SWITCHING INPUT OPERATING mode Selection Pn114 is set to 1 The gain is always gain 1 regardless of the gain input if the Gain Switch input is not assigned to any input if this setting is 2 1 The Gain Switching Delay Time in Position Con
113. RUN the Magnetic Pole Estimation sequence is performed Confirm that the sequence finishes successfully Close the zero speed designation input VZERO and gradually increase the DC voltage between the speed command input REF CN1 pin 14 and AGND1 CN1 pin 15 from 0 V Check to see if the motor moves Check the motor movement speed in MONITOR mode Check to see if the motor is moving at the set speed and to see if the motor stops when the command pulses are stopped Use the following parameters to change the motor movement speed or direction Pn302 Speed Command Scale Pn303 Command Speed Movement Direction Switching Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 37 uoesado Operation 9 5 Trial Operation Trial Operation in FORCE CONTROL Mode 9 38 kh OND oa Connect connector CN1 Input power supply 12 to 24 VDC for the control signals 24 VIN COM Turn ON the power supply to the drive Confirm that the parameters are set to the standard set values and the motor and encoder have been properly configured Set a low speed in the No 4 Internally Set Speed Pn307 Connect the operation command input RUN CN1 pin 29 to COM CN1 pin 41 Servo ON status will be entered and the motor will be activated If there are no Hall sensors installed in the motor on the first RUN the Magnetic Pole Estimation sequence is performed Confirm that the sequence finishes s
114. Red _ Motor power cables ALMCOM CW limit input signal 1 Input common 1 j Servo ON 1 24 White Blue Greenelow ALM RUN Alarm reset 1 RESET Encoder cables BKIR BKIRCOM FG 1 The I O signals for the HCA12 22 depend on the allocations in the Internal Memory area Change the wiring according to the allocations H Precautions for Correct Use Incorrect signal wiring can cause damage to units and the drive Leave unused signal lines open and do not wire them Use the power supply for command pulse 24 VDC as a dedicated power supply The diode recommended for surge absorption is the RU 2 Sanken Electric Co Ltd or the equivalent Do not share the power supply for brakes 24 VDC with the 24 VDC power supply for controls Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 11 xipueddy Appendix 12 2 Parameter List 12 2 Parameter List 12 12 Some parameters are enabled by turning the power supply OFF and then ON again Those parameters are indicated in the table After changing these parameters turn OFF the power supply confirm that the power supply indicator has gone OFF and then turn ON the power supply again Do not change the parameters marked Reserved Do not change the settings marked
115. Regeneration outputs OA and OB when an encoder of 622 Method Selection phase AB output type is used 0 k Oto Yes tor encoder of 0 Without signal regeneration Phase AB Output g g Type 1 With signal regeneration Disturbance 623 Force l Set the compensation gain for disturbance 0 100 to 100 Compensation force Gain Disturbance Set the filter time constant for disturbance 0 01 624 Observer Filter i 53 10 to 2 500 gt force compensation ms Setting Warning Latch Select the warning latch time 627 Hold Time 0 Latch time infinite 5 0 to 10 Yes Selection 1 10 Latch time in seconds Set the load characteristics estimated speed when realtime autotuning is enabled 0 No changes are reflexed Realtime Changes are reflexed slowly 1 minute Autotuning time constant 631 Estimated 1 O0to3 Yes Speed Changes are reflexed gradually few 2 Selection seconds time constant Changes are reflexed instantaneously 3 changes are applied as soon as they are detected REALTIME 632 AUTOTUNING Set the CUSTOMIZATION mode detail for 0 7 32 768 to _ CUSTOMIZATIO realtime autotuning 32 767 N mode Setting Set the vibration detection threshold Vibration If force vibration that exceeds this setting is 637 Detection Mie ing 0 1 0 to 1 000 detected the vibration detection warning Threshold i will occur Set the warning detection mask setting If 638 Warning Mask _ you set the corresponding bit to 1 the 0 N 32 768 to Yes
116. Reserved i Basic Setting Parameters 3 D Power E Parameter p Default Setting supply z name Explanation setting unit range OFFto A a ON Set the relation between the command direction and the motor movement direction Movement ay 000 Direction 0 The command indicates the forward A 7 otoi Yes a pe direction as viewed from the shaft end CW Switching A The command indicates the reverse direction as viewed from the shaft end CCW Select the drive CONTROL mode O Position control pulse train command 1 Speed control analog command 2 Force control analog command 001 CONTROL No 1 Position control 0 Otod5 Yes mode Selection 3 No 2 Speed control 4 No 1 Position control No 2 Force control 5 No 1 Speed control No 2 Force control Set the OPERATION mode for realtime autotuning 0 Disabled 1 Emphasizes stability 2 Emphasizes positioning REALTIME 002 AUTOTUNING 3 If there is an unbalanced load like ina 4 0to6 5 mode selection vertical axis 4 When friction is large unbalanced load is estimated also 5 Monitor mode in combination with the tool 6 Tuning where you can select the applied algorithms with Pn632 Realtime 003 Autotuning Set the machine rigidity for executing See e 0 to 31 e Machine realtime autotuning Note 1 Rigidity Setting 004 Mass Ratio Set the load mass as a percentage of the 250 l0to10 000 l
117. Set value FREF direction Voltage 0 to 10 V Forward operation Operation Voltage 10 to 0 V Reverse operation A Disabled Voltage 0 to 10 V Reverse operation Voltage 10 to 0 V Forward operation Voltage 0 to 10 V OFF Forward operation i Setting Voltage 10 to 0 V Disabled Voltage 0 to 10 V ON Reverse operation Voltage 10 to 0 V Emergency Stop Input EMG STP No allocation Emergency stop input EMG STP There is no allocation at default setting You can change the logics and allocations for input terminals CN1 to 8 9 and 26 to 33 according to the settings of Input Signal Selection 1 to 10 Pn400 to 409 Function This is an external alarm stop input Upon input of an emergency stop the system stops according to the set value of Stop Selection for Alarm Generation Pn510 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 37 suonesijoads Specifications 3 1 Drive Specifications i Mass Ratio Switching Input MSEL No allocation Mass ratio switching input MSEL This is the allocation at default setting You can change the logics and allocations for input terminals CN1 to 8 9 and 26 to 33 according to the settings of Input Signal Selection 1 to 10 Pn400 to 409 Function You can switch the mass ratio between Mass Ratio 1 Pn004 and Mass Ratio 2 Pn613 When this signal is OFF Mass Ratio 1 Pn004 becomes valid If ON Mass Ratio 2 Pn613 bec
118. Setting Parameters Pn437 Brake Timing when Stopped All Setting Default Power OFF range O to 10 000 Unit 1 ms setting 0 and ON Set the time required for the Linear Servomotor to be de energized servo free after the brake interlock output BKIR CN1pin 10 turns ON i e brake held when servo OFF status is entered while the Linear Servomotor is stopped When the Linear Servomotor is stopped and the operation command RUN is turned OFF the brake interlock signal BKIR will turn ON and the servo will turn OFF after waiting for the setting time set value x ms Operation command RUN Brake interlock Released Held BKIR poe eee Actual brake Released a E Held i Leos Power No power Motor power supply supply is supplied Pn437 gt Make the setting as follows to prevent the machine workpiece from moving or falling due to the delay time in the brake operation tb Brake timing when stopped set value x 1 ms gt tb For details refer to Brake Interlock P 6 18 Pn438 Brake Timing during Operation All Setting Default Power OFF range 0 to 10 000 Unit 1ms setting 0 and ON Set the required time for the brake interlock output BKIR CN1 pin 10 to turn OFF after the operation command RUN CN1 pin 29 is detected to be OFF when servo OFF status is entered while the Linear Servomotor is operating While the motor is operating and the o
119. Status U10 i 5 Input signal pin 8 ON diii Output signal pin 10 OFF or disabled H ON OFF or disabled Pin number 1 m Input ae J Z Output Displays the status of the control input and output signals connected to CN1 Switching between Input Signals and Output Signals If the decimal point is on the right side of the signal number 1 the signal number can be changed Use to move the flashing decimal point Ifthe decimal point is on the right side of the I O switching point wit tt you can switch between input and output Q Switch between input and output Mimi Press A to select the signal you want to monitor Last output signal number C J Last input signal number Q M 1 First output signal number fe 4 First input signal number Ww Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 15 uoleiado Operation 9 4 Setting the Mode Analog Input Value U11 J Ss Ld n C Input signal Input voltage V Press Pro select the signal you want to monitor Analog input value 1 V a J J Ld a L 5 a L rc The value after offset compensation is displayed c S J J M 1 T T Analog input value
120. Unit side CJ1W NC113 18 D XW2B 20J6 1B L J6 Wiring Position Control Unit side Servo Relay Unit side terminal Cable AWG28 x 4P AWG28 x 10C 26 3 126 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 6 Servo Relay Units and Cable Specifications i Position Control Unit Cable KW2Z xJ A15 This cable connects a Position Control Unit CJ1W NC213 NC413 to a Servo Relay Unit XW2B 40J6 2B Cable types Model Length L Outer diameter of sheath Weight XW2Z 050J A15 50 cm XW2Z 100J A15 im 10 0 dia Approx 0 1 kg Approx 0 2 kg Connection configuration and external dimensions Position Control Unit side CJ1W NC213 CJ1W NC413 Wiring Position Control Unit side Servo Relay Unit side ee Number A1 B1 1 A2 B2 2 C e 3 xX 4 5 Q 6 S 7 l v E ooo 9 10 LC gt Q 1 A20 B20 12 7 13 14 15 16 17 A16 B16 18 ooo 19 Q 20 o X 21 O e 22 ae 23 Ce Q 24 ooo 35 26 a v 27 l 28 29 30 7 31 32 fie oe eed te dead nese tne see cee cme ce cued ne dnedeesee tee reece ceece 33 P 4 Crimp terminal Cable AWG28 x 8P AWG28 x 16C 3 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Servo Relay Unit side gt XW2B 40J6 2B 3 127 suonesijoads Specifications 3 6 Servo Relay Units and Cable Specificatio
121. V 50 60 Hz R88D KTxH L 200 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz 200 W to 1 5 kW 3 phase 200 to 240 VAC 170 to 264 V 50 60 Hz Note Single phase should connect to L1 and L3 LIC L2C Control circuit power supply input R88D KTxL L Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz R88D KTxH L Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz Motor Connector Specifications CNB Symbol Name Function B1 External Normally B2 and B3 are short circuited B2 Regeneration If there is high regenerative energy remove the short circuit bar Resistor connection between B2 and B3 and connect an External Regeneration Resistor B3 terminals between B1 and B2 Models from 750 W U Motor connection Phase U These are the output terminals to the Linear Servomotor V terminals Phase V Be sure to wire them correctly W Phase W H Precautions for Correct Use Tighten the ground screws to the force of 0 7 to 0 8 Nem M4 or 1 4 to 1 6 Nem M5 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 9 SUOI edIIDGdS Specifications 3 1 Drive Specifications i R88D KT20H L Main Circuit Connector Specifications CNA Symbol Name Function L1 L2 L3 Main circuit power supply input R88D KTxH L 2 kW 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz L1C L2C Control circuit power supply input R88D K
122. Wih 10 100 1000 Frequency Hz Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 11 suoijoun paddy Applied Functions 6 4 Electronic Gear Function 6 4 Electronic Gear Function Outline of Operation The motor can be moved for the number of pulses obtained by multiplying the position command values by the electronic ratio This function is enabled only in position control mode Parameters Requiring Settings Parameter Parameter name Explanation Bererence number Electronic Ratio Set the numerator of the electronic ratio Pn009 Numerator 1 Electronic Ratio Set the denominator of the electronic ratio Pn010 i Denominator i i Set the numerator of the electronic ratio 2 Pn500 Electronic malig P 8 6 Numerator 2 Electronic Ratio Set the numerator of the electronic ratio 3 Pn501 Numerator 3 Electronic Ratio Set the numerator of the electronic ratio 4 Pn502 4 Numerator 4 1 Switching among Electronic Ratio Numerators 2 to 4 Pn500 to Pn502 is performed using the electronic switching input GESEL1 GESEL2 The settings of GESEL1 and GESEL2 are as follows GESEL1 GESEL2 Applicable parameters OFF OFF Electronic Ratio Numerator 1 Pn009 ON OFF Electronic Ratio Numerator 2 Pn500 OFF ON Electronic Ratio Numerator 3 Pn501 ON ON Electronic Ratio Numerator 4 Pn502 Note The resolution of the encoder must be properly set in Pn901 6 12 Accu
123. Wire Function Pin No Function m No Function Q 1 Not used 5V 1 Black 1 Phase U 2 Not used 2 Hall U m 2 Black 2 Phase V 3 Not used 3 Hall V x lt 3 Black 3 Phase W 4 Not used 4 Hall W mp 4 Not used 5 Not used 5 GND p Not used 6 PTC 6 PTC 6 Green Yellow Ground 7 PTC 7 PTC 5 Mating connector 8 KTY NTC 8 KTY Plug type SPOCO6KFSDN169 9 KTY NTC 9 KY C Shield C Shield Magnet track a re ase 7 iw Model Approx weight Kg m Hoda Dimensions mm 3 ode R88L EC GM 07114 A 25 5 L2 R88L EC GM 07171 A R88L EC GW0703 134 a R88L EC GM 07456 A R88L EC GW0706 248 R88L EC GW0709 362 CCEC mT IT a DI i g 1 1 fa FENIE E z a S A l es 57 al as nx57 m 28 5 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 33 Standard Models and External Dimensions 2 4 External and Mounting Dimensions 2 34 Hall Sensor Dimensions for Ironless motors R88L EC GHO3NN A R88L EC GHOSNN A R88L EC GHO7NN A 14 2 e 1500 l 2 5 i 10 5 22 2 5 28 1 8 i 3 4 p la Note The dimension of the three hall sensor models is the same but the internal distribution of the sensors is different so you must use the suitable model depending on the motor coil used Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 4 Externa
124. Z phase Z output FG Frame ground service voltage 30 VDC Maximum output current 50 mADC Line drive output corresponding with the EIA RS 422A communications load resistance 120 Q min Note 1 The inputs of pins 8 9 and 26 to 33 and outputs of pins 10 11 12 34 35 38 39 and 40 can be changed via parameter settings Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 15 suonesijoads Specifications 3 1 Drive Specifications i Control I O Signal List CN1 Control Inputs CONTROL mode Pin number Symbol Name Function and interface Position Speed Force Pulse command input 24 V open collector input Input terminals for position command pulses 1 24VCW for command pulse for both line drive and open collector Changes to enable set value 0 lt default 3 R o es oe setting gt according to the setting of ne ca Balan ras Command Pulse Input Selection Pn005 difference signal phase 4 CW puls FA A y 2 424VCW 24 V open collector input for command pulse 5 CW puls Forward pulse direction FA signal or 90 phase difference signal phase 6 CW puls FA B 44 CWLD Reverse pulse input for Input terminals for position command pulses line drive only dedicated to the line drive output A9 CAD Changes to enable set value 1 according 46 CCWLD Forward pulse input for to the setting of Co
125. a se a 1 4 Drive FUNCTIONS E E E E 1 5 1 4 System Block Diagrams cccccccssseeeceeeeseeeeeteeeees 1 6 1 5 Applicable Standards 0 cccscsssseeeeeeeeeeeeeeeeeeees 1 11 EGC DirectiVGS EPE ace hee ie ent cies tse 1 11 UL and cUL Standards cc ccceecceecceseeeeeseeeseeeeeceeeeeeaneaeeeas 1 11 Functional Safety c cccccecceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeaeeeseeeessneeeseaees 1 11 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Features and System Configuration 1 1 Outline 1 1 Outline Outline of the Accurax G5 Linear With the Accurax G5 Linear you can perform position speed and Force control 2 linear motor families with various models are available for a wide range of forces Drives with supplies of 100V 200V or 400V depending on the required maximum speed available You will surely find a model that best suits your application The Accurax G5 Linear features realtime autotuning function and adaptive filter function that automatically perform complex gain adjustments A notch filter can also be automatically set to suppress machine vibration by reducing machine resonance during operation The anti vibration control function of the Linear Servo Drive realizes stable stopping performance in a mechanism witch vibrates beacuse of the low rigidity of the load Features of the Accurax G5 Linear The Accurax G5 Linear has the following features i 6 Possible CONTROL modes Switching
126. aluminum electrolytic capacitors is greatly affected by the ambient operating temperature Generally an increase of 10 C in the operating ambient temperature will reduce capacitor limit by 50 Following equation shows an example for 25 C 55 25 Lifetime o Lifetime so gx2 10 224000 hours The aluminum electrolytic capacitors deteriorate even when the Servo Drive is stored with no power supplied If the drive is not used for a long time we recommend a periodic inspection and replacement schedule of 5 years If the Linear Servomotor or Servo Drive is not to be used for a long time or if they are to be used under conditions worse than those described above a periodic inspection schedule of 5 years is recommended Upon request OMRON will examine the Servo Drive and Linear Servomotor and determine if a replacement is required Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Appendix This chapter provides connection examples using OMRON s PLC and Position Controller a list of parameters and Safety Certification 12 1 Connection Examples cccccseeseeeeeeeeseeeeeeeseees 12 2 12 2 Parameter List si cscs ccsscecisssiecstsscecsnsacidessviaccdccvevessiennns 12 12 12 3 Safety Certification Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Appendix 12 1 Connection Examples 12 1 Connection Examples i Connection Example 1 Connecting to SYSMAC CJ1W NC133 233 433 Main c
127. and ON Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 27 sjiejog siojoweled Parameters Details 8 4 Analog Control Parameters Pn313 Soft Start Deceleration Time Setting 0 to 10 000 Unit ms 1 000 mm s Default 0 ee les range setting and ON Control the speed by setting acceleration deceleration to the speed command inside the drive A soft start can be set when inputting speed commands of stepping movement or when using internal speed setting Do not set acceleration deceleration time settings when using the drive in combination with an external position loop Set both Pn312 and Pn313 to 0 Internally set speed 1 000 mm s Speed aig goo Acceleration Time Deceleration time Pn314 S curve Acceleration Deceleration Time Setting Setting 0 to 1 000 Unit ms Default 0 Power OFF _ range setting and ON Set the pseudo S curve acceleration deceleration value to add to the speed command to enable smooth operation This is useful for applications where impact may occur due to a large change in acceleration or deceleration when starting or stopping with linear acceleration or deceleration 1 Basic linear acceleration time and deceleration time are set by Pn312 and Pn313 respectively 2 The S curve time is set by Pn314 unit 2 ms based on the time width around the point of inflect
128. and on again for those changes to take effect 3 Verify the encoder counting and direction You can monitor the encoder counting direction by monitoring the sign of the speed or the increment in position when you move the linear motor either by hand or by other means By default the positive direction is towards the motor cable It is also possible to check the encoder resolution by next method PO and P1 reflects the encoder position When you click fix the value in PO is fixed while P1 continues updating the current position Move the motor by hand a known increment eg 100mm and verify that the mounting in Diff corresponds with the expected amount of encoder counts Once you confirm that the encoder is properly set click Next and go to the Commutation signal window To control a servomotor it is necessary to know the electrical angle between the motor winding and the magnets Select here the method to find this phase The available options depends on the encoder type Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 2 Preparing for Operation i R Magnet Pe peann mirmeed by te deve 1 Pn922 Magnetic phase detection command Maximum time In the magnet pole postion estmatson method selects the maumum time to apply the selected force to the motor ve fae Magiei phate detection Perce fha 10 to i O60 tom Mapen chre detection naam m Pispei chee trons ime imt ene HMageete p
129. and operate If already enabled adjust by lowering the machine rigidity number 3 If there are no issues with the operation turn the servo OFF and set REALTIME AUTOTUNING mode Selection Pn002 to 0 disabled In this case the adaptive filter can remain enabled To disable the adaptive filter read the frequency from the adaptive filter table number display and set to notch filter 1 frequency H Precautions for Correct Use Unusual noise or vibration may occur until the load mass is estimated or the adaptive filter stabilizes after startup immediately after the first servo ON or when the Realtime Autotuning Machine Rigidity Selection Pn003 is increased This is not an error if it disappears right away If the unusual noise or vibration however continues for 3 or more reciprocating operations take the following measures in any order you can Write the parameters used during normal operation to the EEPROM Lower the Realtime Autotuning Machine Rigidity Selection Pn003 Manually set the notch filter Once unusual noise or vibration occurs Mass Ratio Pn004 Force Command Value Offset Pn607 Forward Direction Force Offset Pn608 and Reverse Direction Force Offset Pn609 may have changed to an extreme value In this case also take the measures described above Out of the results of realtime autotuning the Mass Ratio Pn004 Force Command Value Offset Pn607 Forward Direction Force Offset Pn608 and Reverse D
130. and the Servo Drive s command pulse type Set the Servo Drive s pulse type to match the controller s command pulse type The zero speed designation VZERO is OFF In MONITOR mode check whether the VZERO signal is ON or OFF Turn ON the VZERO signal Wire correctly The internally set speeds are not set Check the set value of Pn304 to Pn311 Set the desired speeds The No 1 Force Limit Pn013 or No 2 Force Limit Pn522 is set to 0 Check the set value of Pn013 and Pn522 Return the set value to the default setting The motor power cable is wired incorrectly The encoder cable is wired incorrectly Check the wiring Wire correctly The control I O connector CN1 is wired incorrectly Check the command pulse s wiring Wire correctly Check the command pulse type Set the Servo Drive s pulse type to match the controller s command pulse type Check the command pulse s voltage Connect a resistor that matches the voltage The power supply is not ON Check whether the power supply is ON and check the PWR LED indicator Turn ON the power supply Check the voltage across the power supply terminals Wire the power supply s ON circuit correctly The speed command is disabled Check if the speed command method is correct Set the external analog command correctly Set the internal speed correctly 11 18 Accura
131. ccccccceeeeeeeeeeeeeeeeeeeeeeeeeeesees 3 56 General Specifications for Iron core MOtOrS cceeeeeeeeeeeeeeees 3 56 Characteristics for Iron Core MOtOMS cccceeeeeseeeeeeeeeeneeeeeeeeeees 3 57 Speed Force for lron Core MOtOMS cccceceeeeeeeeteeeeeeeeeeneeeeeeeeees 3 60 Temperature sensor specification for lron core motors 3 64 General Specifications for IronleSS MOMOIS s 3 65 Characteristics for IronleSS MOtOMS ccceeeeeeeeeeeeeeeteneeeeeeneeee 3 66 Speed Force for lronleSS Motors ccccceeeeeeeeeeteeeeeteeeeeteeeteeeens 3 69 Temperature sensor specification for lronless motors 00 3 74 3 4 Encoder Hall sensor and Serial Converter 3 76 A B Incremental Encoder Specifications ccceeseeeeeeeeeeees 3 76 SinCos Encoder Specifications cccccceeceeeeeeeeeeeeeseneeeeeeeees 3 79 Hall Sensor Specifications cccccceceeeeeeeeeceeeeeeneeeeseeeeseeeeteas 3 82 Serial Converter Specifications ccccceeeeeeeeeeeeeeeeeeeneeeteeeees 3 83 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Specifications Cable and Connector Specifications 3 87 Encoder Cable Specifications ccccccceceeeeeeeeeeeeeeeeeeeeeeseneeess 3 87 Motor Power Cable Specifications cccccccceeeeeeeeeeeeteeeeeneees 3 91 Cable for Safety Functions for CN8 0 cccsceeceeeeeeeeeeeseneeeeenees 3
132. command is input the unbalanced load compensation will be updated based on Pn607 Also based on the command direction the dynamic friction compensation value will be updated according to parameters Pn608 or Pn609 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 47 suoljoun paddy Applied Functions 6 14 Mass Ratio Switching Function 6 14 Mass Ratio Switching Function Outline of Operation You can switch the mass ratio from 1 or 2 using mass ratio switching input MSEL This functions effectively if used when the load mass changes in 2 levels You can use mass ratio switching in the following situations When servo is ON When there is no trouble with the motor s normal movement When realtime autotuning is disabled When adaptive filter function is disabled When instantaneous speed observer function is disabled When disturbance observer function is disabled Parameters Requiring Settings Parameter number Parameter name Explanation Reference Pn610 PRADIG ol Several Set the bits related to mass ratio switching P 8 57 function Pn004 Mass Ratio Set the mass ratio 1 P 8 3 Pn613 Mass Ratio 2 Set the mass ratio 2 P 8 58 Operating Procedure 6 48 1 wo Set the Setting of Each Function Pn610 Set whether to enable or disable mass ratio switching in bit 3 0 Disabled 1 Enabled Set the Mass Ratio 1 Pn004 Set the Mass Ratio 2 Pn613 Set the mass
133. command that is applied to the motor when magnetic phase detection sequence is executed Pn920 2 Pn924 Magnetic phase detection maximum movement All Setting range Power OFF 0 to 32767 Unit Pulse s Default setting 100 and ON The force command during magnetic phase detection sequence is set to 0 if the motor moves more that this amount while the force set in Pn923 is applied regardless of the time set in Pn922 Pn925 Magnetic phase detection movement for Stop judgement All Setting range Default setting 40 Power OFF _ 0 to 32767 Unit Pulse s and ON During the Magnetic phase detection sequence the motor is considered stopped when moves less than Pn925 pulses in 2ms and continues stopped for Pn926 ms Pn926 Magnetic phase detection time for Stop judgement All Setting range Default setting 40 Power OFF _ 0 to 32767 Unit ms and ON During the Magnetic phase detection sequence the motor is considered stopped when moves less than Pn925 pulses in 2ms and continues stopped for Pn926 ms Pn927 Magnetic phase detection time limit All Setting range Power OFF 0 to 32767 Unit ms Default setting 1000 and ON Set the maximum time for the motor to stop during the magnetic phase detection sequence before giving alarm 61 1 magnetic phase estimation abnormality 2
134. conditions described in 4 3 Wiring Conforming to EMC Directives P 4 30 UL and cUL Standards Standard Product Applicable standards File number UL AC Linear Servo Drive UL508C E179149 standards CSA AC Linear Servo Drive CSA22 2 No 14 E179149 standards All components in the linear motors are UL certified Functional Safety Standard Product Applicable standards Functional AC Linear Servo Drive EN954 1 Category 3 safety IS013849 1 Performance level D EN61508 SIL2 EN62061 SIL2 EV61800 5 2 STO IEC61326 3 1 SIL2 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 1 11 uoneinBbiyuoy wia SsASg pue sainjea4 Standard Models and External Dimensions This chapter explains the models of Servo Drive Linear Servo Motor and peripheral equipment as well as the external dimensions and mounting dimensions 2 1 Servo System Configuration Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 2 How to Read Modell cceccecceecnececcecensceceecenseeseeeenees LIME AE Sarvo Drive sse ced ca hee cies eds bok alernata cca a a tate Neel eal Linear SEMVOMOLOP v 25 sce ccset sane cdi E a A E EN 2 3 Standard Model List 00 c ccccscceeceecceeecneceeeceeseneeenees Linear Servo Drive Model List ccsssseseeseeeeeeeeceeeeeeeeeeeneeenes Linear Servomotor Model List ssseeeeseeeeeeceeceeeeeeeeeeseeeenenes Linear Serv
135. details 11 2 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 1 Error Processing Precautions When a Problem Occurs When checking and verifying I O after a problem has occurred the drive may suddenly start to operate or suddenly stop so always take the following precautions You should assure that anything not described in this manual is not possible with this product i Precautions Disconnect the wire before checking for cable breakage Even if you test conduction with the cable connected test results may not be accurate due to conduction via bypassing circuit If the encoder signal is lost the motor may run away or an error may occur When performing tests first check that there are no persons in the vicinity of the equipment and that the equipment will not be damaged even if the motor runs away Before performing the tests verify that you can immediately stop the machine using an immediate stop even if it runs away Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 3 soueUDd UIeI pue 10113 Error and Maintenance 11 1 Error Processing Replacing the Linear Servomotor and Servo Drive 11 4 Use the following procedure to replace the Linear Servomotor or Servo Drive i Replacing the Linear Servomotor 1 Replace the linear servomotor 2 In case of iron core motor dismount the motor following the linear motor installation instruction in the inverse order Move the mot
136. device set this parameter so that there are no accumulated pulses at servo lock stop status The automatic adjustment is as follows This parameter will be automatically set when automatic offset adjustment is executed 8 38 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 5 Interface Monitor Setting Parameters Pn423 Analog Input 1 Filter Time Constant All Setting 0 to 6 400 Unit 0 01 ms Default 0 Power OFF _ range setting and ON Set the first order lag filter time constant in the speed command input REF CN1 pin 14 Pn424 Excessive Analog Input 1 All Setting 0 to 100 Unit 0 1V Default 0 Power OFF _ range setting and ON Set the overflow level for speed command input REF CN1 pin 14 or force command input FREF1 CN1 pin 14 using voltage after offset compensation Excessive analog input alarm display No 39 will be disabled if this parameter is set to O Pn425 Analog Input 2 Offset All ae 342 to 342 Unit 5 86 mV oe 0 eee range setting and ON Adjust the offset of the speed command input REF CN1 pin 14 The offset amount is approx the set value times 5 86 mV There are 2 ways to adjust the offset Manual adjustment Automatic adjustment The manual adjustment is as follows To adjust the offset for individual drives accurately input 0 V to the speed command input force command input REF
137. drive prohibition input open Reverse direction prohibited and forward direction permitted The Linear Servomotor will decelerate and stop according to the sequence set in Stop Selection for Drive Prohibition Input Pn505 For details refer to explanation for Stop Selection for Drive Prohibition Input Pn505 If the forward and the reverse prohibition inputs are both open an error will be detected in the drive and a drive prohibition input error Err380 will occur 1 Forward and reverse drive prohibition input disabled Forward and reverse drive prohibition input enabled 2 If either the forward or the reverse prohibition input is open a drive prohibition input error Err380 will occur i Stop Selection for Drive Prohibition Input Pn505 Set the deceleration and stop methods upon a forward or reverse drive prohibition is input Stop Selection for Drive Prohibition Deceleration method After stopping Error counter Input Pn505 0 Dynamic brake Force command 0 for drive Held prohibition direction Free run Force command 0 for drive Held Force command 0 for drive prohibition direction prohibition direction Immediate stop Servo lock Clear before and after deceleration POT NOT is turned OFF Stop Selection for Drive Deceleration method Stop status Prohibition Input Pn505 wl Servounlocked Decelerate with dynamic brake Decelerate in the free run status Decelerat
138. drive pulses or SinCos Linear guides and slides ball bearing type A base frame and a top table to assemble the parts together A cable chain See the example drawing for all the parts Base Linear guides Cable chain with cables frame Ball bearing ubisog wajshs Magnet track Top table Hall sensor Motor coil Linear Mechanical Encoder read head Encoder stopper Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 13 System Design 4 1 Installation Conditions i Installation conditions Mechanical Tolerances The flatness of the mounting surface for the coil unit must be better than 0 1mm The flatness of the mounting surface for the magnet tracks must be better than 0 1mm The parallelism between coil and magnet tracks has to be better than 0 05mm in the plane perpendicular to the moving direction 01 0 1 0 05 paperplane only N Thermal Consideration The linear motor coil becomes hot when running Take care to install the motor to a top table of the recommended dimensions in a well ventilated place Make sure there is a good thermal contact between the motor coil and the top table Use thermal conductive silicon to ensure a good thermal transmission If the temperature rise must be reduced beacuse the application does not allow the expansion due to temperature or beacuse the top table is smalle
139. drives of less than 1 Kw Set the responsiveness of the position control system for the second position loop Pn106 Speed Loop Gain 2 All Seung 1 to 32 767 Unit 0 1 Hz Beal ae EOP I range setting and ON Default settings 1 Pn106 180 For 200V drives of 1Kw or upper and 400V drives 2 Pn106 270 For 200V drives of less than 1 Kw Set the responsiveness of the second speed loop Pn107 Speed Loop Integration Time Constant 2 All Setting 1 to 10 000 Unit 0 1 ms Default 10000 Power OFF _ range setting and ON Set the second speed loop integration time constant Pn108 Speed Feedback Filter Time Constant 2 All Setting Default Power OFF range oe unt i setting 9 and ON 7 Set the second speed feedback filter Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 11 sjiejeg siojoweled Parameters Details 8 2 Gain Parameters Pn109 Force Command Filter Time Constant 2 All ening 0 to 2 500 Unit 0 01 ms DAOME ga ae le range setting and ON Default settings 3 Pn109 126 For 200V drives of 1Kw or upper and 400V drives 4 Pn109 84 For 200V drives of less than 1 Kw Set the second force filter time constant The parameters from Pn105 to Pn109 are the gain and time constants to be selected when the GAIN SWITCHING INPUT OPERATING
140. ede Parameter name Explanation Reference number Pn610 Enable of several function Set the bits related to the disturbance observer P 8 57 Pn623 Disturbance FONES Set the compensation gain for disturbance force P 8 60 Compensation Gain Pn624 Disturbance Observer Filter Set the filter time constant for disturbance force P 8 60 Setting compensation Operating Procedure 1 Set the Setting of Each Function Pn610 Set whether to enable or disable the disturbance observer in bit 1 0 Disabled 1 Enabled Set the operating conditions to be enabled in bit 2 0 Enabled at all time 1 Enabled only when gain 1 is selected Set the Disturbance Observer Filter Setting Pn624 Set Disturbance Force Compensation Gain Pn623 to a small value and then change the value of Disturbance Observer Filter Setting Pn624 from a large value to a small value And set to the set value in which the effectiveness of suppressing the impact of disturbance and the operating noise level are balanced Set the Disturbance Force Compensation Gain Pn623 Change the value of Disturbance Force Compensation Gain Pn623 from a small value to a large value And set to the set value in which the effectiveness of suppressing the impact of disturbance and the operating noise level are balancedO Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 45 suoljoun paddy Applied Functions 6 13 Friction Force Compensation Function
141. encoder AC Linear Servomotors with A B pulse encoder e Accurax G5 Linear motor R88L EC FW R88L EC GW or with SinCos encoder e Accurax G5 Linear motor R88L EC FW R88L EC GW Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 5 Cable and Connector Specifications Motor Power Cable Specifications These cables connect the Linear Servo Drive and the servomotor Select the cable matching the Linear servomotor The cables listed are flexible shielded and have IP67 protection fl Power Cables R88A CAWKxxxS DE Motor Power Cables for Iron core linear motors with connectors Model Length L R88A CAWKO001 5S DE 1 5m R88A CAWKO003S DE 3m R88A CAWKO05S DE 5m R88A CAWK010S DE 10m R88A CAWK015S DE 15m R88A CAWK020S DE 20m Connection configuration and external dimensions 100 mm O Cable 4 x 0 5 mm2 Hole terminal pad M4 Connector model LPRA 06B FRBN170 U m BACK 1 1 v BLACK 2 A a x BLACK 3 4 am YELLOW GREEN 3 yo W 7 CONNECTED TO THE FRAME Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 91 suonesijoads Specifications 3 5 Cable and Connector Specifications R88A CAWBxxxS DE Motor Power Cables for Ironless linear motors with connectors Model Length L R88A CAWBO001 5S DE 1 5m R88A CAWB003S DE 3m R88A CAWB005S DE 5m R88A CAWB010S DE 10m
142. eranan tavet 10 12 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Adjustment Functions 10 1 Gain Adjustment 10 1 Gain Adjustment SSS Accurax G5 Linear Servo Drives provide the realtime autotuning function With these functions gain adjustments can be made easily even by those who use a servo system for the first time If you cannot obtain desired responsiveness with autotuning use manual tuning Purpose of the Gain Adjustment The drive must operate the motor in response to commands from the host system with minimal time delay and maximum reliability The gain is adjusted to bring the actual operation of the motor as close as possible to the operations specified by the commands and to maximize the performance of the machine Gain setting Low 2000 0 0 125 250 Gain setting High feed forward setting Gain setting High 0 0 125 250 375 0 0 125 250 Position loop gain Position loop gain 251 0 Position loop gain 251 0 Speed loop gain Speed loop gain 140 0 Speed loop gain 140 0 Speed loop integral time 190 0 Speed loop integral time 6 0 Speed loop integral time 6 0 Speed feed forward Speed feed forward 30 Speed feed forward 100 Mass ratio Mass ratio 300 Mass ratio 300 Gain Adjustment Methods Function Explanation pererence page F Realtime autotuning Realtime autotuning estimates the load mass of the Automatic ee A n 5 mach
143. filter reduces resonance point vibration by estimating the resonance frequency from the vibration component that appears in the motor speed during actual operation and automatically sets the frequency of the notch filter which removes the resonance component from the force command The automatically set notch filter frequency is set in Notch 3 Pn207 to Pn209 or Notch 4 Pn210 to Pn212 Refer to P 6 9 for information on notch filter After vibration Motor speed suppression Adaptive filter effect Adaptive filter disabled Filter frequency setting completed Position and speed command Position and Adaptive Force command Current loop a speed control filter control Resonance frequency estimation Speed feedback Load mass estimation 4 Realtime autotuning Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 7 suoijoun paddy Applied Functions 6 2 Adaptive Filter Parameters Requiring Settings Parameter Parameter name Explanation Reference number Set the number of resonance frequencies to be estimated by the adaptive filter and the operation to be performed after estimation 0 Adaptive filter disabled 1 1 adaptive filters enabled 2 2 adaptive filters enabled Adaptive Filter 3 resonance frequency measurement mode P 8 20 Selection The servodrive measures the resonant frequency automatically but the result is applie
144. forward direction commands as CW direction phase A advance pulses selectable by the output pulse direction selection parameter connect the wires as shown 2 Those terminals are for absolute encoders and have no use with linear motors 3 101 suonesijoads Specifications 3 5 Cable and Connector Specifications Cable for line drive output for 2 axes AWG18 twisted pair 1 m Red 24 VDC Black 24 VDC GND a PCU side XG4M 5030 T OMRON 24 V power supply for output 24 V GND for output 3 E AWG18 twisted pair 1 m Blue BKIRCOM CO Black BKIR Linear Servo Drive side for axis 1 or 3 10150 3000PE Sumitomo 3M 11 BKIR 10 BKIRCOM Brake interlock output CWLD Forward direction pulse output 17 t Forward direction pulse output 6 9 1 l Saal Reverse direction pulse output 1 Reverse direction pulse output 18 im a X 2 Reverse pulse 1 input for line drive only Forward pulse 1 input for line drive only CWLD CCWLD Encoder phase A output Encoder phase A output Encoder phase A Encoder phase A 20 Encoder phase B 23 Encoder phase Z 25 Encoder phase Z 24 Encoder phase B output Encoder phase B output Encoder phase Z output Encoder phase Z output Error counter reset output RUN output General purpose output 24VIN 24 V power supply for controls 30 ECRST Error counte
145. function is explained together with operation and connection example 7 1 Safe Force OFF STO Function ss eeeeeeseeeeees 7 2 Outline Of Operation cecececcceeeeeteeeeeceeeeeeeeeeeeeeseeeeseeaeeeseeeeeeas 7 2 VO Signal Specifications ccceceeeeeeeeeeeeeeeeeeeeeeneeeseeeeteeeeseneeens 7 3 7 2 Operation Example io vevsveesccs sc cecentiiedadassvescssacseesedissiececes 7 5 7 3 Connection Example ssssseeeeeeeeseeeeeeeeeeesseeeeeeeees 7 7 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL fad Safety Function 7 1 Safe Force OFF STO Function 7 1 Safe Force OFF STO Function Outline of Operation The safe force OFF hereinafter referred to as STO according to IEC61800 5 2 function is used to cut off the motor current and stop the motor through the input signals from a safety equipment such as a Safety Controller or safety sensor that is connected to the safety connector CN8 When the STO function is operating the drive turns OFF the servo ready completed output READY to go into the safety status Safety Points When using the STO function be sure to execute a risk assessment of the equipment to confirm that the system safety requirements are met There are following risks even when the STO function is operating Be sure to take safety into account as part of the risk assessment 7 2 The motor runs if external force is present e g force of gravity on
146. gear gain switching and disturbance observer and explains the contents of settings Also explains how to setup Linear Servo Motor parameters and encoder 6 1 Anti vibration Control ccceeceeeeeeeeeeeeeeeeeeeeeeeeeeeees 6 3 Outline Of Operation c ceceececcceeeeeneeeeeceeeeeneeeeeeeeeeseeeeseeaeeeseaeeeeeas 6 3 Parameters Requiring Settings cccccssscccessssseeeseessteeeesseseaeees 6 4 6 2 Adaptive Filter scicicccssssscscccdecctienciatcesterectosderesseveaniavetece 6 7 Outline Of Operation ccccceeecceeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeseeaeeeseaeeeeeas 6 7 Parameters Requiring Settings ccccccssscccessssseeessssseeeeesssneeees 6 8 6 3 Notch FIRST ici ovics cits ccdcnntcnadeerdasitenneneucnenrcteuseseduanniencdcannes 6 9 Outline Of Operation cecceeeeceeeeeneeeeeeeeeeeeeeeeeneeeeseeeeseeaeeeseeeeneas 6 9 Parameters Requiring Settings c ccccsccesseeeeeeeeeeeeneeeeeeeeseaees 6 10 6 4 Electronic Gear Function cccccssssseeeteeeeeeeeseeeeeees 6 12 Outline Of Operation c cceeecececeeeeeeee essere eeneeeeeneeeeeeeeeseneeeeseaeeees 6 12 Parameters Requiring Settings ccccccceseceeeeeeeeeeeeeeeeseeeseaees 6 12 Operation Example cccccceceseeeseeeeeceneeeeeeeeteeeeeeeeeseneeeeeeaeeee 6 13 6 5 Encoder Dividing Function sccceeeeeeeeeeeeeeees 6 14 Outline Of Operation eee cece eee eeneeeeeeeeneeteeeeeneeseeeeeee 6 14 Parame
147. i setting and ON oO The position command filter time constant is the first order lag filter inserted after the electronic ratio for the command pulse input The position command filter time constant can be used for the following If the command pulses change abruptly the filter can be used to reduce the stepping movement of the motor The following are examples of when the command pulses can change abruptly The electronic ratio setting is high 10 times or higher The command pulse frequency is low Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 23 Parameters Details 8 3 Vibration Suppression Parameters Input position command Speed A Target speed Vc Vcx0 632 Vcex0 368 t ty Pn222x0 1 ms Position command after the smoothing filter process Filter switching dwell time 2 1 The actual process is subject to calculation error 2 If accumulated pulses remain within the filter after the filter set value has been changed etc the motor may operate at a speed higher than the command speed immediately after switching the filter Pn223 Smoothing Filter Time Constant Setting 0 to 10 000 Unit Oa ms Default 0 Power OFF _ range setting and ON Set the FIR filter time constant used for command pulse input FIR Finite impulse response The higher the set value the
148. i 7 supply i L1 L2 andL3 OFF Approx 10 ms after initialization and main circuit ON Servo ready ON pao completed output READY OFF I Alarm output ON ALM OFF l l Positioning ON i i completion output INP OFF j H 0 ms or more Operation ON i command input RUN OFF i Approx 2 ms Dynamic brake ON OFF i i Approx 60 ms Pn437 ON i i Motor power supply OFF m Approx 4 ms a 1to6ms Brake interlock ON l j output BKIR i OFF H 100 ms or more Servo position speed ON i force input OFF a ee 1 In this section the hardware inputs the servo ON signal but the signal is not accepted 2 The servo ready completed output turns ON the moment the conditions of MPU initialization completed and main circuit power supply establishment are both satisfied 3 Operation of the protective function starts approx 1 5 seconds after the start of MPU initialization following an establishment of internal control power supply Make sure all I O signals which connect to the amplifier especially forward reverse direction and drive prohibition input are established before operation of the protective function starts Also you can increase this time with Pn618 Power Supply ON Initialization Time 3 40 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 1 Drive Specifications i Encoder Outputs Phases A B and Z
149. input while the encoder position error is the error at the input of the position loop Command pulse speed Internal command speed mm s mm s 4 Command r ommand ___ dividing multiplier Command pulse input filter process Encoder feedback Position control 3 Position error and feedback pulse error come in 2 types encoder unit and command unit Encoder unit will be an error of position control input section and command unit will be an error of command pulse input Encoder position error encoder unit Command pulse input Command dividing multiplier Command filter Command dividing multiplier reverse conversion Position command error command unit Encoder feedback Position control Pn417 Analog Monitor 1 Scale Setting All PAN 0 to 214 748 364 Unit Pn416 monitor unity Default o PON ERS range setting and ON Set output gain for analog monitor 1 Pn418 Analog Monitor 2 Selection All Setting 0 to 22 Unit Default 4 Power OFF _ range setting and ON Select the type of analog monitor 2 The set value for this parameter is same as Analog Monitor 1 Type Pn416 Pn419 Analog Monitor 2 Scale Setting All senting 0 to 214 748 364 Unit Pn418 monitor unity Default o OE le range setting and ON Set output gain for analog monitor 2 Pn420 Reserved All Setting 7 Unit S Default f Power
150. limit input PCL Pin 17 Analog input ground 2 AGND2 Function During position control or speed control This signal provides a forward force limit input set value O or 4 or forward reverse force limit input set value 5 according to the setting of Force Limit Selection Pn521 You can use Analog Force Limit Scale Pn527 to change the force limit scale relative to the analog input During force control This signal provides a force command input set value 1 according to the setting of Force Command Speed Limit Selection Pn317 In the case of force command input 2 FREF2 you can use Force Command Scale Pn319 to change the movement speed scale relative to the command input i Reverse Force Limit Input NCL Pin 18 Reverse force limit input NCL Pin 17 Analog input ground 2 AGND2 Function During position control or speed control This signal provides a reverse force limit input set value 0 or 4 according to the setting of Force Limit Selection Pn521 You can use Analog Force Limit Scale Pn527 to change the force limit scale relative to the analog input Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 31 suonesijoads Specifications 3 1 Drive Specifications 3 32 i Operation command RUN Pin 29 Operation command RUN This is the allocation at default setting You can change the logics and allocations for input terminals CN1 to 8 9 and 26 to 33 according to the settings of
151. loop integral time constant force command filter time constant and speed detection filter switch simultaneously as the switching command Under this function however switching occurs at the set timings so as to reduce mechanical vibration and resonance resulting from switching from low to high gain The switching time is set in units of 166 us according to the internal cycle Set 20 in Pn119 If the position loop gain is to be raised from 30 to 50 1 s increment the gain by 166 us at a time 3 32 ms If the position loop gain is to be lowered from 50 to 30 1 s lower the gain instantly High gain Every 166 us Low gain Low gain 6 28 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL i Gain Switching Setting for Each CONTROL mode 6 7 Gain Switching Function The settable switching conditions vary depending on the CONTROL mode used Set the parameters for each CONTROL mode POSITION CONTROL mode In the POSITION CONTROL mode it varies as follows according to GAIN SWITCHING mode in Position Control Pn115 Vv Enabled Disabled Gain Gain Gain Position Pn115 set eee rn Switching Switching Switching Gain value euitehing conditions Delay Time Level Hysteresis Switching Pn116 Pn117 Pn118 Time Pn119 0 Always gain 1 1 Always gain 2 2 Switching from gain 7 7 7 d switching GSEL Force command amount y V 3 y 4 4 Always gain
152. manually Focused on stability The automatic adjustments are Mass calculation Rigidity setting Focused on positioning The automatic adjustments are Mass calculation Rigidity setting Gain switching enabled Pn115 10 Vertical axis mode The automatic adjustments are Mass calculation Rigidity setting Gain switching enabled Pn115 10 Unbalanced load compensation Friction compensation mode The automatic adjustments are Mass calculation Rigidity setting Gain switching enabled Pn115 10 Unbalanced load compensation Friction compensation Tool mode Used In combination with the Software tool The drive detects the adjustment values but they must be applied manually from the tool Customized mode Used when freely combining Realtime Autotuning mode and Applicable Filter mode settings Pn632 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 10 5 suoijoun juswysnipy Adjustment Functions 10 2 Realtime Autotuning Setting Machine Rigidity 1 Set the Realtime Autotuning Machine Rigidity Selection Pn003 according to the application requeriments Start from the lower machine rigidity number and check the operation 2 Turn the servo ON and operate the machine with a normal pattern To increase responsiveness increase the machine rigidity number and check the response If vibration occurs enable the adaptive filter
153. mm Connector DB9 male Signal Color Pin GND Black 5 5V DC supply Brown 1 S1 Yellow 2 S2 Green 3 S3 Orange 4 Name Applicable Motors R88L EC FH NNNN A R88L EC FW R88L EC GH 03NN A R88L EC GW 03 R88L EC GH 05NN A R88L EC GW 05 R88L EC GH 07NN A R88L EC GW 07 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 4 Encoder Hall sensor and Serial Converter Serial Converter Specifications A Specifications The Serial Converter is a device that reads the SinCos position feedback and optionally the Hall Sensor signals and Temperature signals and send the information cyclically to the Linear Servo Drive via the Encoder serial protocol The SinCos positional information is interpolated in the Serial Converter by a factor of 400 before x4 interpollation As an example a SinCos Encoder with a pitch of 20um results in a resolution of 50nm Thus we do not have the limitations in bandwith that we have with the A B pulse Encoder and we can reach high speeds with high resolution EN Vibration resistance max 98m s 1 bis 2500Hz in three direction Shock resistance 980m s 11ms two times in three direction Working temperature 0 C to 55 C Ls Storage temperature 20 C to 80 C Humidity 20 to 90 relative humidity non condensing i Ingress protection IP 40 S Conversion delay lt 42uUS n Standard resolution
154. mode Selection Pn114 is enabled The gains are switched according to the condition set in the GAIN SWITCHING mode Pn115 Pn120 and Pn124 lf the mechanical system mass changes greatly or if you want to change the responsiveness depending on whether the motor is moving or being stopped you can achieve the appropriate control by setting the gains and time constants beforehand for each of these conditions and switching them according to the condition This parameter is automatically changed by executing realtime autotuning function To set it manually set the REALTIME AUTOTUNING mode Selection Pn002 to 0 Pn110 Speed Feed forward Amount Selig 0 to 1 000 Unit 0 1 DERO iggy EOT ORE range setting and ON Set the feed forward amount Increasing the set value decreases the position error and increases the responsiveness Overshooting however will occur more easily lf autotuning is enabled this is fixed to default value Pn111 Speed Feed forward Command Filter Seung 0 to 6 400 Unit 0 01 ms Detail eg Powe err be range setting and ON Set the time constant for the first order lag filter inserted into the feed forward Setting the filter may improve operation if speed overshooting occurs or the noise during operation is large when the feed forward is set high Pn112 Force Feed forward Amount Setting 0 to 1 000 Unit 0 1 Default 0 Power OFF _ range setting and ON Set the feed forward amount to the force loop Increasing the set value decr
155. motor moves 7 es No y Decrease Speed Loop Gain Pn101 Increase position loop gain to the extent y that overshooting does not occur Increase Speed Loop Integral Time Constant Pn102 Write to the EEPROM in the PARAMETER WRITE mode y Adjustment completed If vibration persists after repeated adjustments or the positioning is slow Increase Force Command Filter Time Constant Pn104 y Set the vibration frequency in the Notch Filter 1 Frequency Setting Pn201 Notch Filter 2 Frequency Setting Pn204 Notch Filter 3 Frequency Setting Pn207 or Notch Filter 4 Frequency Setting Pn210 y Y Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 10 13 suol puny juswysnipy Adjustment Functions 10 3 Manual Tuning i SPEED CONTROL Mode Adjustment Adjustments in speed control for the Accurax G5 Linear Series are very similar to POSITION CONTROL mode adjustment Use the following procedure to perform the adjustment Start adjustment Never adjust or set parameters to extreme values as it will make the operation y unstable Set the realtime autotuning to disabled Pn002 0 Failure to follow this guideline may result in injury y Set each parameter according to the parameter settings for different applications Gradually change the value to adjust the gain while checking the motor operation y Operate based on
156. no possibility of accidental connections Electric shock injury or fire may result 10 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Safety Precautions Document Location of Warning Label This product bears a warning label at the following location to provide handling warnings When handling the product be sure to observe the instructions provided on this label Warning label display location R88D KTO2H L Instructions on Warning Label Els DF RRRAMERATCHETKEJTE CPR SRRAOLORRCORTERETOTL AN Ek ADEE A Baa CPM ATRE eS D ANGER Read fhe manual and tofiow the salety instructions before use Never tail to connect Protective EarthiPE terminal BRORHS meee REES AARE AEE BEURE 15s Ar oau TRH BUTE SSA Hazardous Do not touch terminals within 15 minutes after Voltage disconnect the pawer Risk of electric shock Bete PTE ORNSY E A KAD iB BS ares AM MME Jesus High Do not touch heatsink when power is ON Temperature Risk of burn Disposal When disposing of the battery insulate it using tape etc and dispose of it by following the applicable ordinance of your local government Dispose of the product as an industrial waste Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 Items to Check after Unpacking Items to Check after Unpacking After unpacking check the following items Is this the model you ordered Is there any damage sustained dur
157. position loop gain and speed loop gain Adjust Position Loop Gain Pn100 Speed Loop Gain Pn101 Speed Loop Integral Time Constant Pn102 and Force Command Filter Time Constant Pn104 If no problem occurs in realtime autotuning you can continue to use the settings Set the Setting of Each Function Pn610 Set whether to enable or disable the instantaneous speed observer function in bit 0 0 Disabled 1 Enabled If you set this to 1 enabled the speed detection method will switch to instantaneous speed observer If the machine operation noise or vibration or a change in the force monitor waveform is significant enough to cause any problem return the setting to O and make sure that the mass ratio or the adjustment parameters are correct If the machine operation noise or vibration or a change in the force monitor waveform is small make small adjustments to the Mass Ratio Pn004 to find the setting that makes the smallest change while monitoring the position error waveform and the actual speed waveform If Position Loop Gain Pn100 Speed Loop Gain Pn101 or Speed Loop Integral Time Constant Pn102 is changed the optimal value for the Mass Ratio Pn004 may have changed so make small adjustments on the value for the Mass Ratio Pn004 again to set a value that makes the smallest change H Precautions for Correct Use It may not function properly or the effect may not be apparent under the following conditions
158. prohibition input is turned ON and reverse drive supply for control is input error Or occurs during prohibition NOT input correctly operation were both OFF at the Check wether the setting for same time Drive Prohibition Input Selection Pn504 is correct s Reduce the input voltage 39 Excessive analog input Occurs during The voltage input to pin Change the value for 1 operation 14 is too high Pn424 Pn427 and Pn430 11 16 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 4 Troubleshooting Alarm er Status when error 3 Error conditions Cause Measures display occurs The disconnection detection function was Wire correctly activated because hs Fix the locations that are communications between _ f disconnected the encoder and drive 50 Encoder Occurs during were interrupted communications error operation Provide the required There was a encoder power supply communications error in voltage data from encoder Wire correctly Connect the shield to FG Check the encoder specifications 51 Encoder status error Occurs during An encoder error code From the front panel clear the operation was detected encoder error then turn the power supply OFF then ON again Phases A B Z A B Z wiring is uncorrect Check the wirin connection error A B Z wiring is broken 9 Hall sensor wiring is Hall sens
159. ratio switching input MSEL Setting of Each Function Mass ratio switching Applicable mass ratio Pn610 input MSEL When bit 3 0 Mass ratio OFF switching is disabled ON Mass Ratio 1 Pn004 When bit 3 1 Mass ratio OFF switching is enabled ON Mass Ratio 2 Pn613 l Precautions for Correct Use Be sure that the motor is stopped when using the mass ratio switching function If the difference between mass ratio 1 and mass ratio 2 is large a vibration may occur even if the motor is stopped Use it upon confirming that there is no problem with vibration on the actual machine Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 15 Feed forward Function 6 15 Feed forward Function Outline of Operation The feed forward function come in 2 types speed feed forward and force feed forward The speed feed forward can minimize the position error and increase the responsiveness by calculating the speed control command that is required for the operation based on the internal positioning command during position control and adding it to the speed command that is calculated based on the comparison with the position feedback The force feed forward can increase the responsiveness during speed control by calculating the force command that is required for the operation based on the speed control command and adding it to the force command that is calculated based on the comparison with the s
160. resistahee Set the per phase motor resistance 0 00 0 019 397 67 Yes Set the velocity level to detect the error 26 0 0 to 910 Overvelocity level Overspeed protection 0 mm s 20000 Yes Set values are 911 Carrier frequency O 6KHz 0 Oto 1 Yes 1 12KHz Current Automatically adjust the level of Pn913 912 response auto Proportional and Pn914 Integral 30 Oto 100 Yes adjustment according to this value 913 en Set here the current loop proportional gain 50 s 0 to as If Pn912 lt gt 0 this value is set automatically 32767 914 Current loop Set here the current loop integral gain If 10 A 0 to gt integral gain Pn912 lt gt 0 this value is set automatically 32767 ko Currentloon filter Set here the time constant for the force 0 00 to 4 915 p command filter If this value is O the filter is 0 00 0 01ms 5 time constant 25 00 Q disabled S 916 Reserved Do not change this setting 917 Reserved Do not change this setting 918 Reserved Do not change this setting 919 Reserved Do not change this setting Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 35 Appendix 12 2 Parameter List 12 36 E s Power E Parameter Explanation Default Unit Setting supply Z name ET setting range OFFto iz N ON Select here the detection method N tection Magnetic phase 9 eetecien 920 detection 1 Direct measurament vi
161. set Equipment damage may result Never adjust or set parameters to extreme values as it will make the operation unstable Injury may result Separate the motor from the mechanical load and check its operation Injury may result If an alarm generated remove the cause of the alarm and ensure safety and then reset the alarm and restart the operation Injury may result Do not operate the Linear Servo Motor when an excessive load mass is installed Failure may result Install proper limit switches to prevent unexpected runaway of the motor Injury or damage may result If the drive fails cut off the power supply to the drive on the power supply side Fire may result Do not turn ON and OFF the main drive power supply frequently Failure may result gt EPERERPEEE Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 Safety Precautions Document Maintenance and Inspection N Caution After replacing the unit transfer to the new unit all data needed to resume operation before restarting the operation Equipment damage may result Never repair the product by disassembling it Electric shock or injury may result Be sure to turn OFF the power supply when the unit is not going to be used for a prolonged period of time Injury may result gt POP Before carrying out checks or doing any maintenance clear the system by disconnecting the voltage Be sure that there is
162. set speed Select the method for designating Speed Command the direction for the speed Pn301 Direction command Oto1 Selection 0 By analogue command polarity 1 By digital input VSIGN Pn302 Speed Command Set the input gain for the analog 0 to 2000 mm s V Scale speed command input Set to reverse the polarity of the speed command input Analog Speed 0 The command indicates the Pn303 Command forward direction as in the otoi Direction direction of the motor cables Switching 1 The command indicates the reverse direction as contrary to the motor cables The conversion of analog speed command is explained below Command Enisa d Analog Speed Analog eer d Speed Direction Command speed gign Motor Conversion Selection 3 Direction command g direction graph Pn3o0 Selection Switching Pn303 REF oer Pn301 g VSIGN Voltage Forward oto 10v Notatfected direction FAN igure Voltage Reverse 10to0v _ Notaffected direction 0 Voltage Reverse oto 10v Notaffected direction were igure Voltage Forward 5 10toov Notaffected direction Voltage Not affected 0 to 10 V OFF Forward Voltage direction Not affected 10 to 0 V 1 Figure C Voltage Not affected 0 to 10 V ON Reverse Voltage direction Not affected 10 to 0 V Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 5 9 Spoil TOULNOD OISVG BASIC CONTROL Mode 5 2 Speed Control 5 10 Example When S
163. smoother the command pulses Input position command Position command after the FIR filter process Speed t Pn223x0 1 ms 8 24 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 4 Analog Control Parameters 8 4 Analog Control Parameters LESSEE Pn300 Command Speed Selection Setting i Default Power OFF _ range eee Unit setting 9 and ON Explanation of Set Values Set value Explanation 0 Analog speed command 1 No 1 Internally Set Speed to No 4 Internally Set Speed Pn304 to Pn307 2 No 1 Internally Set Speed to No 3 Internally Set Speed Pn304 to Pn306 analog speed command 3 No 1 Internally Set Speed to No 8 Internally Set Speed Pn304 to Pn311 Select the speed command when using speed control The drive has internally set speed function that can be used to easily achieve speed control by using contact inputs For details on internally set speed function refer to Internally Set Speed Control P 5 19 Pn301 Speed Command Direction Selection Setting Default Power OFF range Oito unt i setting and ON Explanation of Set Values Set value Explanation 0 Method for designating the direction for the speed command By analogue command polarity 1 Method for designating the direction for the speed command By digital input VSIGN Set to reverse the polarity of the speed command input REF CN1 pi
164. starting at low temperature Also check to see whether abnormal motor overheating or alarms occur at high temperatures An increase in load friction force seemingly increases load mass Therefore even if the drive gains are adjusted at a normal temperature the motor may not operate properly at low temperatures Check to see whether there is optimal operation even at low temperatures Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 75 suonesijoads Specifications 3 4 Encoder Hall sensor and Serial Converter 3 4 Encoder Hall sensor and Serial Converter A B Incremental Encoder Specifications i Specifications A B amp Z line drive differential inputs with 90 phase difference signals Maximum frequency is 1Mpps before x4 interpolation or 4MHz after interpolation saha LI Le EXB cr tt t1 gt 0 25 us a ar t2 gt 1 0 us To use this encoder set Pn3 23 0 default setting Choose an encoder with the required um pulse to match the required resolution and maximum speed It is recommended to use encoders with 20um pulse 5um resolution i Counting direction The counting direction of the feedback encoder follows the next criteria Positive direction Negative direction t1 t2 EXB e 2 EXB is advancement from EXA by 90 EXB is a delay from EXA by 90 tl gt 0 25us tl gt 0 25us t2 gt 1 0us t2 gt 1 0us 3 76 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S
165. supply zZ name 3 setting range OFFto E n ON Select the gain switching condition for position control It is necessary that Pn114 be set to 1 0 Always gain 1 1 Always gain 2 2 Switching using gain switching input GSEL 3 Force command SWITCHING 115 mode in 4 Always gain 1 0 Oto10 Position Control 5 Command speed 6 Amount of position error 7 Command pulses received 8 Positioning completion signal INP OFF 9 Actual motor speed 10 Combination of command pulse input and speed Gain Switching sere 116 Delay Time in Set the delay time for switching from gain 2 50 0 1 ms 0 to A to gain 1 10 000 Position Control Gain Switching Oto 117 Level in Set the gain switching level 50 E 20 000 Position Control Gain Switching Oto 118 Hysteresis in Set the hysteresis for gain switching 33 me 20 000 Position Control Position Gain Set the position gain switching time for gain 0 to a 119 switching Time switching ae 0 1 MS 149 000 Select the gain switching condition for speed control It is necessary that Pn114 be set to 1 0 Always gain 1 SWITCHING 1 Always gain 2 189 Heat Speed p Switching using gain switching input p otos F GSEL 3 Force command 4 Speed command change amount 5 Command speed aa Switching Set the delay time for switching from gain 2 0 to 121 Delay Time in to gaind 0 0 1 ms 40 000 Speed Control g i Gain Switching Oto 122 Level in Speed Set the gain switching level 0 20 000
166. te 1000 jms E hod sequence before giving alarm 61 1 32767 limit a ob magnetic phase estimation abnormality 2 Set the time constant for the force filter used Magnetic phase during the magnetic phase detection 0 00 to 928 detection Force 9 g pin aber 1 00 0 0ims i sequence If the value is 0 the filter is 25 00 filter time i dissabled Motor overload Selects between different overload curves 929 according to the motor thermal time 0 Oto 7 curve selection constant Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 3 Safety Certification 12 3 Safety Certification CERTIFICATE No 21009 07 593017 130 Holder of Certificate OMRON Corporation 2 2 1 Nishi Kusatsu Kusatsu city Shiga ken 525 0035 JAPAN Certification Mark s oo ma Lid a am s a Le cc bd oo a Lid oo Product AC Servo Systems AC Servo Amplifier it ao ti fa The product was tested on a voluntary basis and complies with the essential requirements The certification mark shown above can be affixed on the product It is not permitted to alter the certification mark in any way In addition the certification holder must not transfer the certificate to third partes See also notes overleaf Test report no PO82586T gt x D D 5 2 x Date 2009 07 23 Page 1 of 3 ZERTIFIKAT CERTIFICATE Al 03 0
167. terminal block 1 3 3 X axis X axis X axis X axis X axis Y axis Y axis Y axis Y axis Y axis 24V Ori An e me mr Pi eo MING ALM _ BKIR IN9 ey RUN MING ALM BKIR O OV Common Common Common Common Common Common Common Common Common Common Common X axis X axis Y axis Y axis RESET ALMCOM RESET ALMCOM X axis X axis Y axis Y axis CW limit CCW limit 24 VDC CW limit CCW limit 24 VDC Contact Contact Contact Contact 2960 06 2960 07 2960 08 2960 09 24 VDC 1 2 3 4 5 6 ES CW and CCW limit input signals can also be input through Input Units The signal for the CW CCW limit inputs in the CJ1M are as follows CW A540 08 CCW A540 09 for pulse output 0 and CW The XB and YB contacts are used to turn ON OFF the electromagnetic brake Connection to the MING input terminal is disabled Do not connect unused terminals The 0 V terminal is internally connected to the common terminals The applicable crimp terminal is R1 25 3 round with open end A541 08 CCW A541 09 for pulse output 1 Accordingly the actual inputs can be used as the CW r COW limit by outputting the flags below in the ladder program 2 Example O 2960 06 FC A540 08 2 1 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 119 Specificati
168. the encoder value is 0 phase Z is output in the set value pulse cycle Phase Z is not output until the encoder value passes 0 8 59 sjiejeg sioj oweled Parameters Details 8 7 Special Parameters Pn622 Phase AB Regeneration Method Selection for Encoder of Phase AB Output Type All Setting 0to1 Unit 7 Default 0 Power OFF Yes range setting and ON Select the regeneration method of pulse outputs OA and OB when an encoder of phase AB output type is used Explanation of Set Values Set Explanation value 0 Without signal regeneration 1 With signal regeneration aie 1 Through outputs are always made for phase Z without signal regeneration 2 If the signal regeneration setting is selected the duties of OA and OB are regenerated on the amplifier side and disturbance of waveforms can be suppressed Take note however that this causes delays in phase Z Pn623 Disturbance Force Compensation Gain Setting 1400 to 100 Unit Default 0 Power OFF _ range setting and ON Set compensation gain for disturbance force Pn624 Disturbance Observer Filter Setting tina 10 to 2 500 Unit 0 01 ms AEDU Sg O EE range setting and ON Set filter time constant for disturbance force compensation Pn627 Warning Latch Hold Time Selection All Setting 0 to 10 Unit 7 Default 5 Power OFF Yes range setting and ON
169. the end plate and install dummy guides in order to leave the necessary space for the motor installation and be able to move the motor coil again without problems due to the attraction forces Bolts for magnet M5 x 10 M5 x 10 M5 x 16 plates stainless DIN7984 DIN7984 DIN912 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 9 4 1 Installation Conditions Once installed remove the protection plate from the magnet track unblock the motor coil move to the other side of the slider on top of the installed magnet and secure again System Design Install the other magnets Note The protection plate has been removed for clarity of the photograph In a real installation keep the protection plate in the magnet during this operation 4 10 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 1 Installation Conditions When joining magnetic ways together place the second magnet track in line with the first one with a certain separation to guarantee that the attraction has a negligible effect Then while holding the magnet track down to be sure it do not raise push the second magnet track against the first one and secure it with bolts The adjacent tracks must attrackt each other if they are repelling the tracks are wrongly orientated Then remove the protection plates of all magnets so the top table can move freely If necessary check and adjust the encoder read head and verify th
170. the input signal allocation method Set the set value of the function for each CONTROL mode in below Refer to the function number table provided below for the set value of each function Logic setting is included in the function numbers OOxxxxxxh Position control Speed control Force control Example Position control Speed conformity output 08h Speed control Motor speed detection output 05h Force control Zero speed detection signal 07h 00070508h Position control Speed control Force control This will be 460040 since the front panel display is in decimal numbers Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 39 suoijoun paddy 6 10 Sequence I O Signal Function Number Table The set values to be used for allocations are as follows Signal name Symbol Set value Disabled 00h Servo ready completed output READY 02h Brake interlock output BKIR 03h Positioning completion output INP 04h Motor speed detection output TGON 05h Force limiting signal FLC 06h Zero speed detection signal ZSP 07h Speed conformity output TGON 08h Warning output 1 WARN 1 09h Warning output 2 WARN2 OAh Position command status output P CMD OBh Positioning completion 2 INP2 OCh Output during speed limit V LIMIT ODh Alarm attribute output ALM ATB OEh Speed command status output V CMD OFh Applied Functions l Precautions for Correct Use Do not use any v
171. the mass ratio is calculated for the selected motor input the calculated value If the mass ratio is not known perform autotuning and set the mass ratio Set the Force Feed forward Command Filter Pn112 Set it to 50 0 5 ms or so Adjust the Force Feed forward Amount Pn113 Gradually increase the value of Force Feed forward Amount Pn113 Since the position error during acceleration deceleration at a certain speed can be brought close to 0 it can be brought almost to O throughout the entire operation range during a trapezoidal speed pattern drive under ideal conditions where no disturbance force is working In reality disturbance force is always present and therefore the position error cannot be completely 0 Mot d ene tas Speed feed forward amount fixed to 100 Position error Force feed forward can reduce the position error in movements with constant acceleration and deceleration When operating in position control this function normally is used together with the velocity feedforward H Precautions for Correct Use If you raise the force feed forward filter time constant the operation noise will become smaller However the position error at the point of change in acceleration will become larger Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 51 suoljoun paddy Applied Functions 6 15 Feed forward Function i Application Example of Analog Force Feed Forward The analo
172. the normal operation pattern and load y Are the speed responsiveness and other performances satisfied Yes No Adjustment completed lee E a a E E es y Increase Speed Loop Gain Pn101 to the extent that hunching does not occur upon servo lock y Decrease Speed Loop Integral Time Constant Pn102 to the extent that hunching does not occur upon servo lock e y Does hunching vibration occur when the motor moves v es No y t Decrease Speed Loop Gain Pn101 Write to the EEPROM in the PARAMETER WRITE mode y Increase Speed Loop Integral Time Constant Pn102 Adjustment completed If vibration persists after repeated adjustments or the positioning is slow Increase Force Command Filter Time Constant Pn104 y Set the vibration frequency in the Notch Filter 1 Frequency Setting Pn201 Notch Filter 2 Frequency Setting Pn204 Notch Filter 3 Frequency Setting Pn207 or Notch Filter 4 Frequency Setting Pn210 h EENES EEEE EESE 10 14 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 10 3 Manual Tuning i Servo Manual Tuning Method The following 4 parameters are the basic servo adjustment parameters If desired operation characteristics are obtained by adjusting the following 4 parameters the adjustments of other parameters are not necessary parameter Parameter name Default setting Paramet
173. the temperature sensors can be connected to it so the temperature alarm is managed in the drive When not using serial converter the temperature protection must be managed externally by the controller 3 64 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 3 Motor Specifications General Specifications for Ironless motors Item Value Maximum coil operating temperature 110 C Maximum magnet temperature 70 C Ambient humidity 20 to 80 non condensating Operating and storate atmosphere No corrosive gases Insulation class B Insulation resistance 500V DC Dielectric strength 2250V for 1s Maximum DC bus voltage 325V DC Temperature protection 1 PTC 110C 1NTC10k Self cooling Hall sensor Digital Optional needs to be ordered separately Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 65 suoieoiin0ds Specifications 3 3 Motor Specifications Characteristics for Ironless motors i R88L EC GW 0303 0306 0309 Item Unit R88L EC GW 0303 R88L EC GW 0306 R88L EC GW 0309 Maximum speed 100V m s 8 8 8 Maximum speed 200V m s 16 16 16 Peak force N 100 200 300 Peak current Aeff 5 0 10 0 15 0 Continous force N 26 5 53 80 Continous current 2 Aeff 1 33 2 66 4 0 Motor force constant N Aeff 19 9 19 9 19 9 BEMF VDC m s 16 0 16 0 16 0 Motorconstant N wed 4 90 6 93 8 43 Phase res
174. to return to PARAMETER WRITE mode Oc rm 1 l wn mm If a write error occurs write the data again If write errors continue to occur there may be a fault in the drive Do not turn OFF the power supply while writing to EEPROM Incorrect data may be written if the power supply is turned OFF If the power supply is turned OFF perform the settings again for all parameters and write the data again Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 27 uo esado Operation 9 4 Setting the Mode AUXILIARY FUNCTION Mode AUXILIARY FUNCTION mode includes the alarm clear analog input automatic offset adjustment jog operation parameter initialization and front panel lock release Displaying AUXILIARY FUNCTION mode Key operation Display example Explanation The item set for the Default Display Pn528 is displayed a LI Press the key to display MONITOR mode a wa i Alarm Clear This releases the alarm generation status Some alarms cannot be released Refer to Alarm List P 11 6 for details Ln lt i N I e a Press the key 3 times to display AUXILIARY FUNCTION mode 7 a mn r 1 Execute alarm clear Key operation oe _ Press the Gara key to enter ALARM CLEAR mode Display example Explanation Press and hold the O key for 5 seconds or longer until a gt
175. too high Adjust the gain Review the load conditions and replace the Linear Servomotor and Servo Drive with appropriate models 11 22 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 5 Periodic Maintenance 11 5 Periodic Maintenance VAN Caution After replacing the unit transfer to the new unit all data needed to resume operation before restarting the operation Equipment damage may result Never repair the product by disassembling it Electric shock or injury may result D Linear Servomotors and Servo Drives contain many components and will operate properly only when each of the individual components is operating properly Some of the electrical and mechanical components require maintenance depending on application conditions Periodic inspection and replacement are necessary to ensure proper long term operation of Linear Servomotors and Servo Drives Quotes from The Recommendation for Periodic Maintenance of a General purpose Inverter published by JEMA The periodic maintenance cycle depends on the installation environment and application conditions of the Linear Servomotors and Servo Drives Recommended maintenance times are listed below for Linear Servomotors and Servo Drives Use these for reference in periodic maintenance Linear Servomotor Limit The Linear Servomotors have not friction or moving parts by themselves so there is no maintenance actions for the motor
176. tracks Beacuse a straightforward directing and placing of the magnet tracks implies the risk of striking due to magnetical forces as well as the risk of damaged magnets the principle of rotational mounting is recommended Yoke 1 i Placement of just one magnet track on each side of the middle magnet track can be done by simply aligning the magnet track with respect to each other The magnets can be mounted in every direction on respect to each other Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 15 ubisog waj shs System Design 4 2 Wiring 4 2 Wiring Peripheral Equipment Connection Examples R88D KT01L L KT02L L KTO4L L R88D KT02H L KT04H L KT08H L KT10H L KT15H L Single phase Input R T Single phase 100 to 115 VAC 50 60 Hz R88D KTxxL L Single phase 200 to 240 VAC 50 60 Hz R88D KTxxH L I NFB Main circuit contactor 1 Main circuit power supply T OFF ON 1MC 2MC TA Pr 1MC J L U Tr Surge suppressor 1 IMC 2MC X Servo error display OMNUC G5 Linear Series AC Servo Drive CNA 0O LIC C OMNUC G5 Linear Series L2C XB AC Servomotor IMC pe External brake IMC hese CNB 24 VDC
177. unlocked Clear 4 3 Free run Servo unlocked Clear 4 4 Dynamic brake operation Dynamic brake operation Hold 2 5 Free run Dynamic brake operation Hold 2 6 Dynamic brake operation Servo unlocked Hold 2 7 Free run Servo unlocked Hold 2 8 Immediate stop i Dynamic brake operation Clear 4 9 Immediate stop Servo unlocked Clear 4 8 46 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 6 Extended Parameters If an error occurs when servo is turned OFF the operation will be based on the Stop Selection for Alarm Generation Pn510 Additionally if the main power supply is turned OFF when servo is OFF it will be based on the Stop Selection with Main Power Supply OFF Pn507 1 Immediate stop refers to applying control while servo is still ON and stopping the operation immediately At that time the force command value is restricted by the Immediate Stop Force Pn511 2 If the position command is given or the motor runs continuously when servo is turned OFF the position error accumulates and Err24 0 error counter overflow may occur In addition if servo is turned ON when the position error or external scale error is a large value the motor may operate abruptly to perform a control operation to bring the error to 0 Take sufficient care when using while holding the position error or external scale error 3 Decelerating refers to a period between when the motor is running and when the motor sp
178. uolejnuundze asjnd yaeqpae e yideg y YON ZLZUd Jaqy uolpDalap paads yidaq YDION 60ZUd puewwo jo qu0 gt paads 10149 UoNsod Japoduy yidag Z YON 907Ud Z Oley Sse E19Ud p yidag L Y210N E0ZUd uos BuIyDIMg Z19Ud Z uled doo SOLUd UPIM t YPION LLCUd a f oney Sse FO0Ud L ulesy doo 0OLUd YIPIM E YON 80TUd zaw uone 01Ud JO1 U0D UOISOd 4 YIPIM Z YDION SOZUd z ules paads 90 Lud F ae l pa eee dW UOeIHaU ZOLUd 1 4 4 LLLUd p Muenbedd OL cud ueg paads L0LUd ules OLLUd 7 Aduanbady Z0ZUd Jennies t APY LECUd z Aduanbal4 yOZUd Jouyuo gt peads p i 3 194 4 OCTUd Aduanbad4 LOZUd pews CAP OLCUd Sumas apo JAILdYQY OOZUd uompaui astanay 609ud sould L LUd 19 8LZUd j aae sayy yr10 uon2auiq piemuo4 g09ud ured ZL LUd p u nb id Lied mre IJ YPION j Aduanbas4 9LZ7Ud anleA Pappy L09Ud pJeMJOoy i z Aduanbal4 SLZUd uonesuadwod uod pea 9104 AQuanbas4 pLZud UORD J S Bulyums LZUd f 01 U02 UO EIGIA 1 U y esqia huy oney 909Ud E Bunnies S09Ud 10119 UOISOd puewwoD e O lt a a uosa aul BUIYUMS 6L LUd A s F SIS 1 S H 8L LUd He 1 p10 4S114 EZZUd p 10I WUNN ZOSUd 10yeuIwouaq 0L0Ud POW L00Ud 9497 ZLLUd JOJEJBWINN LOSUd JOJeJOWNN 600Ud UOIDaJIG JUAWAAO W 900Ud tld 7CCUd fg ig lt Hed w 4 Aejaq 9LLUd Z JO IBWNN 00SUd BHumas nduj sqgug U11 POW SLLUd i Jayy Buryoows Bulyia
179. wire sizes for B1 and B2 Note 1 The left value is for single phase input and the right value is for 3 phase input Note 2 Connect an OMRON power cable to the motor connection terminals Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 27 ubisog wajshs System Design 4 2 Wiring i Wire Sizes and Allowable Current Reference The following table shows the allowable current when there are 3 power supply wires Use a current below these specified values 600 V Heat resistant Vinyl Wire HIV Allowable current A for ambient AWG size sectoral area Configuration TeSistance temperature mm Q km 30 C 40 C 50 C 20 0 5 19 0 18 39 5 6 6 5 6 4 5 0 75 30 0 18 26 0 8 8 7 0 5 5 18 0 9 37 0 18 24 4 9 0 7 7 6 0 16 1 25 50 0 18 15 6 12 0 11 0 8 5 14 2 0 7 0 6 9 53 23 20 16 12 3 5 7 0 8 5 41 33 29 24 10 5 5 7 1 0 3 47 43 38 31 8 8 0 7 1 2 2 41 55 49 40 6 14 0 7 1 6 1 35 79 70 57 4 28 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 2 Wiring i Terminal Block Wiring Procedure On a drive with 2 0 kW or less a connector type terminal block is used The procedure for wiring these terminal blocks is explained below Connector type terminal block
180. within the Positioning Completion Range 1 Pn431 and there is no position command Positioning completion output turns ON when the position error is within the Positioning Completion Range 1 Pn431 and there is no position command The ON status will then be held until the Positioning Completion Hold Time Pn433 elapses After that an ON OFF decision will be made based on the position error at the time Use this in combination with the Positioning Completion Range 1 Pn431 to set the operation for positioning completion output INP CN1 pin 39 Pn433 Positioning Completion Hold Time Setting Default Power OFF range 0 to 30 000 Unit 1ms setting 0 and ON When Positioning Completion Hold Time Pn433 is set to 0 hold time becomes infinite and ON status is held until the next position command comes in Pn434 Zero Speed Detection All Setting 10 to 20 000 Unit miis Default 50 Power OFF _ range setting and ON General purpose output timing is set by movement speed mm s General purpose output 1 ZSP will be turned ON when the speed of the motor is lower than the setting of this parameter The setting of this parameter is valid for both forward and reverse direction regardless of the motor direction This setting has a hysteresis of 10 mm s Forward operation A Speed Pn434 10 mm s Pn434 10 mm s Fe aim a Ya Sa
181. 0 This function allows to adjust the units of the command pulses by setting a ratio between the encoder pulses and the command pulses paramere Parameter name Explanation Saing Unit number range Pno09 Electronic Ratio Set the numerator of the electronic 1 to 230 Numerator 1 ratio for the command pulse input Electronic Ratio Set the denominator of the electronic 30 Pn010 1 to2 Denominator ratio for the command pulse input For details on the electronic gear function refer to P 6 12 Related Functions Parameter 7 A Dor Parameter name Explanation Reference Encoder Dividing Set the pulse output resolution using the numbers of output Pn011 P 8 7 Numerator pulses per movement for OA and OB respectively Encoder Output Direction Set the phase B logic and output source for pulse output Pn012 pa P 8 7 Switching Selection Pn222 Position Command Filter Set the time constant of the first order lag filter for the P 8 23 Time Constant position command Pn223 Smoothing Filter Time Set the time constant of the FIR filter for the position P g 24 Constant command Positioning Completion Set the threshold of position error for output of the positioning Pn431 i P 8 40 Range 1 completion signal Positioning Completion Select the condition under which the positioning completion Pn432 a p P 8 41 Condition Selection signal is output Pn433 Positioning Completion Set the INP signal outp
182. 0 7 t Groundto _r CP1H X40DT D 100 Q or less R88 KTx L pe Peerage Reactor Se Output terminal block 24VCW Heii CWO 100 word bit 00 j r CW MC1 MC2 Pulse COM for 100 word bit 00 S a 24VCCW a Output CCWo 100 word bit 01 CCW 0 COM for 100 word bit 01 Origin search 0 101 word bit 02 24 VDC input terminal H ES Kd 24 VDC input terminal H Wit Motor power cables COM for 101 word bit 00 to 03 Bi ite nput terminal block u H ZCOM i a Pulse 0 origin input signal 0 word bit 00 1 AGND lL COM 0 word H i 24VIN 24VDC a Pulse 0 origin proximity input signal 0 word bit 01 RUN 3 Encoder cables i ALMCOM BKIRCOM ajk 7ALM BH BKIR H T FG H Precautions for Correct Use Incorrect signal wiring can cause damage to units and the drive Leave unused signal lines open and do not wire them Do not share the power supply for brakes 24 VDC with the 24 VDC power supply for controls The diode recommended for surge absorption is the RU 2 Sanken Electric Co Ltd or the equivalent Appendix 12 8 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 1 Connection Examples i Connection Example 8 Connecting to SYSMAC CJ1M Main circuit power supply
183. 0 Pn113 Force Feed forward Command Filter 0 Pn114 GAIN SWITCHING INPUT OPERATING 1 1 1 1 1 1 1 1 mode Selection Pn115 SWITCHING mode in Position Control By Bee eer 19 Pn116 Gain Switching Delay Time in Position Control 30 30 30 30 30 30 30 30 Pn117 Gain Switching Level in Position Control 50 50 50 50 50 50 50 50 Pn118 Pa a Hysteresis in Position 33 33 33 33 33 33 33 33 Pn119 Position Gain Switching Time 33 33 33 33 33 33 33 33 Pn120 SWITCHING mode in Speed Control 0 0 0 0 0 0 0 0 Pn121 Gain Switching Delay Time in Speed Control O 0 0 0 0 0 0 0 Pn122 Gain Switching Level in Speed Control 0 0 0 0 0 0 0 0 Pn123 Gain Switching Hysteresis in Speed ControljO 0 0 0 0 0 0 0 Pn124 SWITCHING mode in Force Control 0 0 0 0 0 0 0 0 Pn125 Gain Switching Delay Time in Force ControljO 0 0 0 0 0 0 0 Pn126 Gain Switching Level in Force Control 0 0 0 0 0 0 0 0 Pn127 Gain Switching Hysteresis in Force Control O 0 0 0 0 0 0 0 Pn605 Gain 3 Effective Time 0 0 0 0 0 0 0 0 Pn606 Gain 3 Ratio Setting 100 100 100 100 100 100 J100 100 Pn607 Force Command Value Offset Estimated if Pn002 3 4 or 5 Pn608 Forward Direction Force Offset Estimated If Pn002 4 or 5 Pn609 Reverse Direction Force Offset Estimated if Pn002 4 or 5 eae Function Expansion Setting 0 0 0 0 0 0 0 0 Pn611 Electric Current Response Setting 100 100 100 100 100 100 100 100 Pn613 Mass Ratio 2 0 0 0 0 0 0 Pn623 Disturbance Force Compensation Gain 0 0 0 0 0 0 Pn624 Disturbance Observer Filter Set
184. 0 Position control P 8 2 Selection 3 FIRST CONTROL mode for position speed control 4 FIRST CONTROL mode for position force control Select the VIBRATION FILTER SWITCHING mode according to the condition of the unit Vibration Filter 0 Vibration filter 1 or 2 enabled FNAS Selection 1 Switching by external input DFSEL1 bees 2 Switching by external input DFSEL1 DFSEL2 3 Switching with command direction Vibration Set vibration frequency 1 to suppress vibration at the end of Pn214 Frequency 4 the load in anti vibration control P 8 22 q y If the anti vibration control function is not used set 0 When the Vibration Frequency 1 Pn214 is set reduce the Vibration Filter 1 setting if force saturation occurs or increase the setting to Pn215 Settin increase operation speed Normally 0 is set P 8 22 g If the vibration filter 1 is disabled this parameter is also disabled Pn216 Vibration The function is the same with Pn214 P 8 22 Frequency 2 Pn217 Vibration Filter 2 The function is the same with Pn215 P 8 22 Setting Pn218 Vibration The function is the same with Pn214 P 8 23 Frequency 3 Pn219 Vibration Filter 3 The function is the same with Pn215 P 8 23 Setting Pn220 Vibration The function is the same with Pn214 P 8 23 Frequency 4 Pn221 Vibration Filter 4 The function is the same with Pn215 P 8 23 Setting H Precautions for Correct Use Stop operation before changing the parameter
185. 0 300 0 IN 325V DCBus 160V DCBus 2 3 70 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 3 Motor Specifications R88L EC GW 0506 R88L EC GW 0506 AxxS F V curve 90 Ubus and coils at 100 C 6 5 Peak operation i l T 1 Z3 l 2 Tesh _ Peak operation 1 San a operation i 0 1 i 0 0 100 0 200 0 300 0 400 0 500 0 600 0 N 325V DCBus 160V DCBus R88L EC GW 0509 R88L EC GW 0509 AxxS F V curve 90 Ubus and coils at 100 C 6 5 Peak operation i l Cy 1 g3 2 Tis T Ti Peak operation 1 1 Continuous operation are ie 0 l 0 0 100 0 200 0 300 0 400 0 500 0 600 0 700 0 800 0 N 325V DCBus 160V DCBus Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 71 suonesijoads Specifications 3 3 Motor Specifications 3 72 R88L EC GW 0703 R88L EC GW 0703 AxxS F V curve 90 Ubus and coils at 100 C 3 2 5 I Peak operation 2 T 1 15 1 Tena Sg L Peak operation 0 5 l Continuous operation 0 r r 1 0 0 100 0 200 0 300 0 400 0 500 0 600 0 700 0 800 0 N 325V DCBus 160V DCBus R88L EC GW 0706 R88L EC GW 0706 AxxS F V curve 90 Ubus and coils at 1
186. 0 Unit 7 Default 0 Power OFF _ range setting and ON Explanation of Set Values Sei Explanation value 0 No 1 Overload warning 2 Excessive regeneration warning 4 Fan warning 5 The Serial Converter detect the Overheat warning 7 Oscillation detection warning 8 Lifetime of capacitor or fan warning 9 Encoder warning 10 Encoder communication error warning Do not set to a value outside the described values Refer to Warning List P 11 5 for more information on settings Pn441 Warning Output Selection 2 All Setting 0 to 10 Unit 7 Default 0 Power OFF _ range setting and ON The set values for this parameter are same as Warning Output Selection 1 Pn440 Pn442 Positioning Completion Range 2 Setting 0 to 262 144 Unit Command unit petadi 10 Power OFE Ii range setting and ON Set the positioning completion range The set values for this parameter are same as Positioning Completion Range 1 Pn431 8 44 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 6 Extended Parameters 8 6 Extended Parameters LSS__ Pn500 Electronic Ratio Numerator 2 Position eos 1 to 1073741824 Unit OE go eee EE range setting and ON Pn501 Electronic Ratio Numerator 3 Position Sorng 1 to 1073741824 Unit Detail iigagg Pavet OFF l range setting and ON Pn502 Electronic Ratio Numerator 4 Position Setting 1 to 1073741824 Unit
187. 0 max speed movement appropiate 26 Ovecbeed The maximum movement Adjust the gain P speed is exceeded due to Reduce the maximum overshooting command speed The encoder is wired a 3 Wire correctly incorrectly _ The set value for the If force limit switching Occurs when force limit Mie peed ee Overspeed Detection function is used correctly switching function is P cea Level setting Pn910 is set the allowable operating i exceeded speed for Pn014 The command pulse input eer ihe command pulse frequency exceeded the aay pet Increase the set value of limit P Occurs when control n532 27 Command pulse error signal is input or The setting for the eaka oiea Ree R Elegronig matio numerator so that the Numerator Pn009 Pn500 command pulse frequency is to Pn502 is not 3 500Kpps max appropiate The pulse regeneration Check the set value of Pulse regeneration Occurs during p 9 Pn011 and Pn503 28 output frequency f error operation ee Set Pn533 to 0 to disable exceeded the limit the function Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 15 uLeu zuIeN pue 10113 Error and Maintenance 11 4 Troubleshooting Alarm ne Status when error Error conditions Cause Measures display occurs Check that the motor rotates according to the position command Check on the force monitor The error counter value F that the
188. 0 sa Yes Set the linear motor pole pitch value Pn903 Reserved All Setting range Unit Default setting a Do not change the setting Pn904 Linear motor coil weight All Setting range 0 to 32767 Unit 0 01kg Default setting O ea Yes Set the linear motor coil weight Pn905 Motor nominal force All Setting range 0 0 to 327 67 Unit 0 1N Default setting 0 00 shld Yes Set the linear motor nominal force Pn906 Motor rated rms current All Setting range 0 0 to 32767 Unit 0 1A Default setting 0 0 fas Yes Set the linear motor rated rms current Pn907 Motor peak absolute current All Setting range 0 0 to 32767 Unit 0 1A Default setting 0 0 ipri Yes Set the linear motor peak current as absolute peak not rms If the data is as peak rms current the relation is Pn907 Motor peak rms current x J2 Pn908 Motor inductance All Setting range 0 00 to 32767 Unit 0 01mH Default setting 0 00 a Yes 8 62 Set the per phase motor inductance Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 8 Linear Motor And Encoder Setting Parameters Pn909 Motor resistance All Setting range 0 00 to 327 67 Unit 0 012 Default setting 0 00 Be Yes Set the per phase motor resistance Pn910 Overvelocity level All Setting range 0 to 20000 Unit mm s Default setting 0 fas Yes Set the velocity level to detect the error
189. 00 300 300 Pn111 Speed Feed forward Command Filter 50 50 50 50 50 50 50 50 Pn112 Force Feed forward Amount Pn113 Force Feed forward Command Filter 0 Pn114 i Sle a INPUT OPERATING 1 1 1 A 1 1 1 1 Pn115 SWITCHING mode in Position Control ag Sg Peon Pn116 Gain Switching Delay Time in Position Control 30 30 30 30 30 30 30 30 Pn117 Gain Switching Level in Position Control 50 50 50 50 50 50 50 50 Pn118 ra i Hysteresis in Position 33 33 33 33 33 33 33 33 Pn119 Position Gain Switching Time 33 33 33 33 33 33 33 33 Pn120 SWITCHING mode in Speed Control 0 0 0 0 0 0 0 0 Pn121 Gain Switching Delay Time in Speed Control O 0 0 0 0 0 0 0 Pn122 Gain Switching Level in Speed Control 0 0 0 0 0 0 0 0 Pn123 Gain Switching Hysteresis in Speed ControljO 0 0 0 0 0 0 0 Pn124 SWITCHING mode in Force Control 0 0 0 0 0 0 0 0 Pn125 Gain Switching Delay Time in Force ControljO 0 0 0 0 0 0 0 Pn126 Gain Switching Level in Force Control 0 0 0 0 0 0 0 0 Pn127 Gain Switching Hysteresis in Force Control O 0 0 0 0 0 0 0 Pn605 Gain 3 Effective Time 0 0 0 0 0 0 0 0 Pn606 Gain 3 Ratio Setting 100 100 100 100 100 100 100 100 Pn607 Force Command Value Offset Estimated if Pn002 3 4 or 5 Pn608 Forward Direction Force Offset Estimated If Pn002 4 or 5 Pn609 Reverse Direction Force Offset Estimated if Pn002 4 or 5 oe Function Expansion Setting 0 0 0 0 0 0 0 0 Pn611 Electric Current Response Setting 100 100 100 100 100 100 100 100 Pn613 Mass Ratio 2 0 0 0 0 0 0 Pn623 Disturba
190. 00 C 3 2 5 I Peak operation 2 a 1 157 1 Tea a Peak operation 0 5 7 ea Continuous operation Yn 0 T T T T T T 1 0 0 200 0 400 0 600 0 800 0 1000 0 1200 0 1400 0 1600 0 N 325V DCBus 160V DCBus 2 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL R88L EC GW 0709 3 3 Motor Specifications R88L EC GW 0709 AxxS F V curve 90 Ubus and coils at 100 C 3 2 5 I Peak operation T I e15 l 1 n lt Peak operation 0 5 i A Continuous operation s 0 y l 0 0 500 0 1000 0 1500 0 2000 0 IN 325V DCBus 160V DCBus 2 2500 0 1 The DCBus voltage corresponds to an AC voltage input Vac n Of 235V or more 2 The DCBus voltage corresponds to an AC voltage input Vac n of 115V or more Note The DCBus value is calculated from the below formula DCBuS Vac s2 AV Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 73 suoleoiin0ds a G 2 2 a Specifications 3 3 Motor Specifications Temperature sensor specification for lronless motors The Ironless Linear motors have 1 PTC 110C resistor for all The resistance increases dramatically around 110 C so this can be used as a switch to stop the motor if the coil become too hot In addition also has a NTC10K resistor that allows to measure the average coil temperature The resistance versus
191. 000 Forward External Set the forward direction force limit for FL SEL 5 3 Force Limit input when Pn521 Force Limit Selection is set to 6 300 i VIO ie Reverse External Set the reverse direction force limit for FL SEL E Bee Force Limit input when Pn521 Force Limit Selection is set to 6 900 is 0 to 509 5 Analog Force Set the gain of conversion for analog force 0 1 V m 527 imit Scale _ limit input 30 100 10 t 100 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 2 Parameter List Parameter name Pn number Explanation Setting Default setting Unit Setting range Power supply OFF to ON 528 Default Display Select the data to be displayed on the 7 segment LED initially when the control power supply is turned ON 0 Command position error Motor speed Position command speed Speed Control Command Force command Total encoder pulses Total command pulses Total Encoder Feedback Pulses o MD aj AJ ofj N CONTROL mode 10 I O signal status 11 Analog input value 12 Error factor history 13 Warning number 14 Regeneration resistance load ratio 15 Overload load ratio 16 Mass Ratio 17 Reason for no movement Display of the number of I O signal changes 20 Reserved 21 Absolute encoder position Monitor for the number of encoder 22 owe
192. 000 Unit 0 1 Hz Default 0 Power OFF _ range setting and ON Set vibration frequency 1 to suppress vibration at the end of the load in anti vibration control Measure the frequency of vibration at the end of the load and make the setting in units of 0 1 Hz Setting frequency is 1 0 to 200 0 Hz The function will be disabled if the setting is O to 0 9 Hz Refer to Anti vibration Control P 6 3 for more information on settings Pn215 Vibration Filter 1 Setting Setting 0 to 1 000 Unit 0 1 Hz Default 0 Power OFF _ range setting and ON First set the Vibration Frequency 1 Pn214 Then reduce the setting if force saturation occurs or increase the setting to increase operation speed Normally use a setting of 0 Set value is restricted in the following manner Upper limit Corresponding vibration frequency Lower limit Vibration frequency vibration filter setting gt 100 Refer to Anti vibration Control P 6 3 for more information on settings Pn216 Vibration Frequency 2 Setting 0 to 2 000 Unit 0 1 Hz Default 0 Power OFF _ range setting and ON Set vibration frequency 2 to suppress vibration at the end of the load in damping control Measure the frequency of vibration at the end of the load and make the setting in units of 0 1 Hz Setting frequency is 1 0 to 200 0 Hz The function will be disabled if the setting is O to 0 9 Hz Refer to Anti vibration Control P 6 3 for more information on settings Pn217 Vibration Filter 2 Se
193. 016 8 8 Regenerative energy absorption 4 44 Regenerative energy with an External Regeneration Re SISO 52 iea a a E corned het a es 4 47 Replacement method 2 11 4 Replacing the Servo Drive 11 4 Replacing the Servomotor 11 4 Reverse Direction Speed Limit Value Setting Pn322 8 32 Reverse Direction Torque Offset Pn609 8 57 Reverse drive prohibition input NOT 3 32 Reverse External Torque Limit Pn526 8 54 Reverse torque limit input NCL 3 31 Rotation Speed for Motor Rotation Detection Pn436 8 42 S Safety connector specifications CN8 3 53 S curve Acceleration Deceleration Time Setting PS 1A hic oie ack to et nero en ra aee 8 28 Sequence output 0 eee eee 3 39 Servo Drive and Servomotor combination list 2 9 Servo Drive dimensions 2 17 Servo Drive installation conditions 4 2 Servo Drive limit 20005 11 24 Servo Drive models 20 020200055 2 7 Servo ready completed output READY 3 42 Servo Relay Unit 2 13 3 112 Servo Relay Unit cables for Servo Drives 2 14 Servo Relay Unit cables for Position Control Units 2 14 Servomotor installation conditions 4 4 Servomotor limit 20 00 000 eee 11 23 Servomotor models 0 00 cee eee eee 2 8 Setting
194. 09 APLS 80 300 R88L EC GW 0503 ANPS R88L EC GW 0503 APLS 58 240 R88L EC GM 05126 A R88L EC GM 05546 A R88L EC R88L EC GW 0506 ANPS R88L EC GW 0506 APLS 117 480 R88L EC GM 05168 A GH OSNN A R88L EC GW 0509 ANPS R88L EC GW 0509 APLS 175 720 R88L EC GM 05210 A R88L EC GW 0703 ANPS R88L EC GW 0703 APLS 117 700 R88L EC GM 07114 A ee R88L EC GW 0706 ANPS R88L EC GW 0706 APLS 232 1400 R88L EC GM 07171 A R88L EC GM 07456 A G O7NN A R88L EC GW 0709 ANPS R88L EC GW 0709 APLS 348 2100 2 8 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 3 Standard Model List Linear Servo Drive and Servomotor Combination List The tables in this section show the optimum combination of Accurax G5 Linear Servo Drives and Servomotors The selection is based in matching the nominal and peak current of the motor with the minimum switching frequency 6KHz or 12KHz depending on the drive Other non optimum combination are possible for Using higher PWM frequency results in a bigger drive Reduce the drive size in the maximum peak force of the motor is not needed Oversize the drive Refer to the CX Drive for the complete combination list i lron core family Motor Ga Drive snr Pe cel Var 100 R88D KTO1L L 12 2 5 R88L EC FW 0303 200 R88D KT02H L 12 5 400 R88D KTO6F L 6 10 100 R88D KT02L L 6 2 5 R88L EC FW 0306 200 R88D KT04H L 6 5 400 R88D KT10F
195. 1 Command speed V y 5 y J mm s mm s Amount of position error V y 6 y N pulse pulse 7 Position command received V V 8 Positioning completion J 7 ue V signal INP1 OFF Actual motor speed V V 9 y N mm s mm s Combination of position 19 command received and speed V V v V SPEED CONTROL mode In the SPEED CONTROL mode it varies as follows according to GAIN SWITCHING mode in Speed Control Pn120 Vv Enabled Disabled Gain Switching eee Gain Switching Pane Switching conditions Delay Time SEL Con Hysteresis Pn121 Pn123 0 Always gain 1 1 Always gain 2 2 Switching from gain 7 E _ switching GSEL 3 Force command amount J V V 4 Amount of change in speed O command Speed command V V 5 V mm s mm s Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 29 suo1 2unj paddy Applied Functions 6 7 Gain Switching Function FORCE CONTROL mode In the FORCE CONTROL mode it varies as follows according to GAIN SWITCHING mode in Force Control Pn124 Vv Enabled Disabled Pn124 set value Switching conditions Gain Switching Delay Time Pn125 Gain Switching Level Pn126 Gain Switching Hysteresis Pn127 Always gain 1 Always gain 2 Switching from gain switching GSEL Force command amount 6 30 Accurax G5 LINEAR AC SE
196. 1 Notch Filter 1 Width Pn202 and Notch Filter 1 Depth Pn203 Vibration is Inductive noise is occurring Check whether the drive control Shorten the control signal occurring at the signal lines are too long lines same frequency as the power supply Check whether the control signal lines and power supply lines are not bound together Separate control signal lines from power supply lines Use a low impedance power supply for control signals Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 21 soUeUDd UIeI pue 10113 Error and Maintenance 11 4 Troubleshooting Symptom Probable cause Items to check Measures The position is misaligned Position misalignment occurs without an alarm being output There is an error in the coupling of the mechanical system and the Linear Servomotor Check whether the coupling of the mechanical system and the Linear Servomotor is misaligned Correct the coupling between the mechanical system and the Linear Servomotor Noise is entering the error counter reset ECRST Check whether the control signal lines and power supply lines are not bound together Separate the control signal lines from the power lines or take other measures against noise The gain is wrong Perform manual tuning The load mass is large Inspect the following Is the load too large Is the motor movement speed
197. 1 x3 pue sj poN PsepurIsS Standard Models and External Dimensions 2 4 External and Mounting Dimensions Front Mounting Using Front Mounting Brackets External dimensions 130 Mounting dimensions 1 40 a 70 9 5 7 2 5 5 2 BE n 1 aa a i 8 2 8 rn ele wf 1 a o_ Uo an ics lu GH ERRE Ael R26 y ZE a iq EEN n ie 1 2 18 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 1700 5 Square hole 2 4 External and Mounting Dimensions Single phase 100 VAC R88D KT02L L 200 W Single phase 3 phase 200 VAC R88D KT04H L 400 W Wall Mounting External dimensions Mounting dimensions 55 70 130 i I lt 5 2 OgogHH 00000 150 H 150 140 0 5 H OOHHHH 000000 a ea 6 g 43 0
198. 1 36 Yellow Red 4 ALM 11 Orange Black 2 SO1 37 Yellow Black 4 ALM 12 Yellow Black 1 SO5 38 Pink Red 4 S04 13 Gray Black 2 GND 39 Pink Black 4 S04 14 White Red 2 Alt 40 Gray Red 4 S06 15 White Black 2 GND 41 Orange Black 4 S05 amp S06 16 Yellow Red 2 Al2 42 Gray Red 5 Not used 17 e R GND 43 Gray Black 5 Not used 18 Pink Red 2 Al3 44 White Red 5 CWLD 19 Orange Red 5 CZ 45 White Black 5 CWLD 20 Gray Red 2 Not used 46 Yellow Red 5 CCWLD 21 Orange Red 3 OA 47 Yellow Black 5 CCWLD 22 Orange Black 3 OA 48 Pink Black 5 OB 23 Gray Red 3 0Z 49 Pink Red 5 OB 24 Gray Black 3 OZ 50 FG 25 Orange Black 5 GND Shell FG 26 White Red 3 SI3 Connector plug model 10150 3000PE Sumitomo 3M Connector case model 10350 52A0 008 Sumitomo 3M Cable AWG24 x 25P UL20276 e Wires with the same wire color and the same number of marks form a twisted pair Example Wires with respective wire and mark colors of orange red 1 and orange black 1 form a twisted pair 3 106 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL block for general purpose All Linear servo drive I O signals are wired 3 5 Cable and Connector Specifications i Terminal Block Cables XW2Z xJ B24 This is a cable to connect the Linear Servo drive I O signals CN1 connector to a terminal Cable types Outer diameter of Model Length L sheath Weight XW2Z 100J B24
199. 1 Force limiting signal common FLIMCOM This is the allocation at default setting You can change the allocations of output terminals CN1 to 10 11 12 34 35 38 39 40 and 41 according to the settings of Output Signal Selections 1 to 6 Pn410 to 415 Function This output turns ON while the force is limited i Zero Speed Detection Signal ZSP Pin 12 Zero speed detection signal ZSP Pin 41 Zero speed detection signal common ZSPCOM This is the allocation at default setting You can change the allocations of output terminals CN1 to 10 11 12 34 35 38 39 40 and 41 according to the settings of Output Signal Selections 1 to 6 Pn410 to 415 Function This output turns ON when the motor movement speed is equal to Zero Speed Detection Pn434 or less i Speed Conformity Output Signal VCMP No allocation Speed conformity output signal VCMP No allocation Speed conformity output signal common VCMPCOM This is the allocation at default setting You can change the allocations of output terminals CN1 to 10 11 12 34 35 38 39 40 and 41 according to the settings of Output Signal Selections 1 to 6 Pn410 to 415 Function This output turns ON when the command speed corresponds to the motor movement speed This output turns ON when the difference between the command speed and motor movement speed is inside the setting range of Speed Conformity Detection Width Pn435 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIV
200. 1 10 6 Continous force N 58 117 175 Continous current 2 Aeff 0 87 1 76 2 60 Motor force constant N Aeff 68 0 68 0 68 0 BEMF VDC m s 55 5 55 5 55 5 Motorconstant N wes 9 85 13 96 17 03 Phase resistance Q 15 9 8 0 5 3 Phase inductance mH 13 0 6 5 4 2 Electrical time constant ms 0 8 0 8 0 8 oa cont power disipation all Ww 67 134 200 Thermal resistance K W 1 70 0 85 0 65 Thermal time constant s 72 72 72 Magnetic attraction force N 0 0 0 Magnet pole pitch mm 42 42 42 Weight coil unit 3 Kg 0 250 0 470 0 690 Weight magnet track Kg m 11 2 11 2 11 2 Protection methods Temperature sensors NTC10k PTC110C self cooling Hall sensor Digital optional Insulation class Class B Max busvoltage 325V DC Insulation resistance 500V DC Di electric strength 2250V for 1 sec Max allowable coiltemperature Basic specifications 110 C Ambient humidity 20 80 non condensing Max allowable magnet temperature 70 C 1 Coil temperature rising 03 series by 40K s 05 series by 20K s and 07 series by 20K s 2 Values at 110 C coil temperature and magnets at 25 C 3 Weight without connector and cable 4 2t has to be set properly for high current overload applications All other values at 25 C 10 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 67 suoleoiin0ds Specifications 3 3 Motor Specifications i R88L EC GW 0703 0706 0709
201. 100 100 100 100 Pn613 Mass Ratio 2 0 0 0 0 Pn623 Disturbance Force Compensation Gain 0 0 0 0 Pn624 Disturbance Observer Filter Setting 0 0 0 0 1 This is limited at the minimum value of 10 if a 17 bit absolute encoder is used Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 10 7 suoioun juswysnipy Adjustment Functions 10 2 Realtime Autotuning 10 8 Parameter AT Machine Rigidity Setting Pn003 Sumber Parameter name 8 9 10 11 12 13 14 15 Pn004 Mass Ratio Estimated load mass ratio Pn100 Position Loop Gain 115 140 175 320 390 480 630 720 Pn101 Speed Loop Gain 90 110 140 180 220 270 350 400 Pn102 Speed Loop Integral Time Constant 600 500 400 810 250 210 160 140 Pn103 Speed Feedback Filter Time Constant 0 0 0 0 0 0 0 0 Pn104 Force Command Filter Time Constant1 soo 200 200 126 103 84 les 157 Pn105 Position Loop Gain 2 140 175 220 380 460 570 730 840 Pn106 Speed Loop Gain 2 90 110 140 180 220 270 350 400 Pn107 Speed Loop Integral Time Constant 2 10000 10000 10000 10000 10000 10000 10000 10000 Pn108 Speed Feedback Filter Time Constant 2 0 0 0 0 0 0 0 0 Pn109 Force Command Filter Time Constant 2 soo 200 200 126 103 84 les 157 Pn110 Speed Feed forward Amount 300 300 300 300 300 3
202. 113 NC133 C200HW NC113 XW2B 20J6 1B For CS1W NC213 NC413 NC233 NC433 CJ1W NC213 NC413 NC233 NC433 C200HW NC213 NC413 XW2B 40J6 2B For CQM1 CPU43 V1 or CQM1H PLB21 XW2B 20J6 3B XW2Z 100J B25 XW2Z 200J B25 For CJM1 CPU21 CPU22 CPU23 XW2B 20J6 8A XW2B 40J6 9A 1m XW2Z 100J B31 2m XW2Z 200J B31 i Servo Relay Unit Cables for Position Control Units Specifications Model Position Control Unit cables For CQM1H PLB21 XW2B 20J6 3B 0 5m XW2Z 050J A3 1m XW2Z 100J A3 For CS1W NC113 C200HW NC113 XW2B 0 5m XW2Z 050J A6 enlene 1m XW2Z 100J A6 For CS1W NC213 NC413 C200HW NC213 0 5m XW2Z 050J A7 NC413 XW2B 20J6 2B sant SSE OOS For CS1W NC133 XW2B 20J6 1B 0 5m XW2Z 050J A10 im XW2Z 100J A10 For CS1W NC233 NC433 XW2B 20J6 2B 0 5m XW2Z 050J A11 1m XW2Z 100J A11 For CJ1W NC113 XW2B 20J6 1B 0 5m XW2Z 050J A14 1m XW2Z 100J A14 For CJ1W NC213 NC413 XW2B 20J6 2B 0 5m XW2Z 050J A15 1m XW2Z 100J A15 For CJ1W NC133 XW2B 20J6 1B 0 5m XW2Z 050J A18 im XW2Z 100J A18 For CJ1W NC233 NC433 XW2B 20J6 2B 0 5m XW2Z 050J A19 im XW2Z 100J A19 For CJ1M CPU21 CPU22 CPU23 XW2B 0 5m XW2Z 050J A33 20J6 8A XW2B 40J6 9A Ea OAS Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 3 Sta ndard Model List i Control Cables
203. 15 100 a 2 26 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 5 2 3 50 0 5 TE a 5 Ei S S yl E 1 15 100 0 5 130 A Mounting dimensions 50 0 5 5 2 t f T I S Square hole y ir J y 15 1002 5 2 4 External and Mounting Dimensions Linear Servomotor Dimensions i lron core family R88L EC FW 0303 0306 L1 2 Motor coil L2 O x q N eZ A T i PS 1 oe Q g g e3 gt Gewltes F es g aS N 1 o ii SSS Z 3 eae S e ea Se eee Ss F ae s5 FO test os te as ats ic a a 01 A 28 0 2 __ 18 6 0 7 Fo 20 5 0 7 ep 0 15 3340 5 20 48 11 9 L 56 0 35 5 1 i al a i oQ S l E e a z Mjo S ri 9 fo of Be Y ma L o gt re longi eee Cable length 50030 Cable length 500230 m onnector optional p Connector optional D Sub 9 pin FEMALE x lt HYPERTAC A LRRAOGAMRPN182 MALE D Sub 9 pin FEMALE oO i Pow
204. 17 sjiejeqg sio oweled Parameters Details 8 2 Gain Parameters Pni24 SWITCHING mode in Force Control Setting Default Power OFF range oe A hiss setting s and ON Explanation of Settings Explanation Gain Gain Seas Set Switching Switching a nee birt value Gain switching conditions Delay Time in Level in Force y Force Control Force Control Conirol Pn127 2 Pn125 Pn126 0 Always Gain 1 Pn100 to Pn104 _ 1 Always Gain 2 Pn105 to Pn109 2 Switching using gain switching input _ L 7 GSEL for CN1 pin 27 P Force command level Refer to J y 3 V s Figure A 0 05 0 05 Select the switching condition between gain 1 and gain 2 when the Gain 2 Setting Pn114 is set to 1 The gain is always gain 1 regardless of the gain input if the switching input is not assigned when Pn124 2 1 The Gain Switching Delay Time in Force Control Pn125 is enabled when returning from gain 2 to gain 1 2 The Gain Switching Hysteresis in Force Control Pn127 is defined as shown in the following figure Gain2 Gain1 gt lt pi Pn125 gt _ lt 3 The change amount is the value within 1 ms Example When the condition is a 10 change in force in 1 ms the set value is 200 Figure A a N I Force F Force Se N o 3 3 w S a 8 18 Accurax G5 LINEAR AC SERVOMOTO
205. 19 9WL Jed Parameters Details 8 1 Basic Parameters Pn009 Electronic Ratio Numerator 1 An 1 to 1073741824 Unit Dee aaa E TE range setting and ON Pn010 Electronic Ratio Denominator Position Satiing 1 to 1073741824 Unit Does iaa foe Is range setting and ON Set the electronic ratio function The electronic ratio can be used for the following To set the amount of travel distance per input command pulse To increase the nominal command pulse frequency by using a multiplier when the desired motor speed cannot be achieved due to the limited pulse generation capability of the host device possible maximum output frequency Electronic Ratio Block Diagram Numerator 1 Pn009 Numerator 2 Pn500 Command Numerator 3 Pn501 Internal P counts Numerator 4 Pn502 command O error f IF counter Denominator Pn010 Feedback counts resolution 1 Numerator 2 to 4 is selected using the electronic ratio switching GESEL1 and GESEL2 GESEL1 GESEL2 Selected numerator OFF OFF Electronic Ratio Numerator 1 ON OFF Electronic Ratio Numerator 2 OFF ON Electronic Ratio Numerator 3 ON ON Electronic Ratio Numerator 4 The electronic ratio is set using the following equation Electronic Ratio Numerator Pn009 Pn500 Pn501 and Pn502 Electronic Ratio Denominator Pn010 Electronic ratio 8 6 Accurax G5 LINEAR A
206. 1m Approx 0 2 kg 11 2 dia XW2Z 200J B24 2m Approx 0 4 kg Connection configuration and external dimensions 16 i i Connector terminal block side XW2B 50G4 z XW2B 50G5 a oo XW2D 50G6 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Servo Drive side oes connector R88D Kx 3 107 SUOI edIIIGdS Specifications 3 5 Cable and Connector Specifications 3 108 Terminal block Connector H 6 6 8 ae 9 _9 10 _10 16 16 18 _ 18 19 _ 19 50 50 50 50 aa Q VAAL Drive side Wire and mark color Blue Red 1 24VCW Blue Black 24VCCW Pink Red 1 Pink Black Green Red Green Black Orange Red Gray Red 1 Gray Black 1 Blue Red 2 Blue Black Pink Red 2 Pink Black 2 Not used Green Red 2 All Green Black 2 GND Orange Red 2 Al2 Orange Black 2 GND Gray Red 1 Al3 Gray Black 2 SO5 Blue Red 3 CZ Blue Black 3 GND Pink Red 3 OA Pink Black 3 OA Green Red 3 OZ Green Black 3 oZ Orange Red 3 S13 Orange Black 3 Sl4 Gray Red 3 SI5 Gray Black 3 SI6 Blue Red 4 SI7 Blue Black 4 SI8 Pink Red 4 S
207. 240 VAC 50 60 Hz R88D KTxxH L ISS NFB Main circuit contactor 1 Main circuit power supply amc OFF ON 1MC 2MC ae Pe p imo ae LI U Surge suppressor 1 X IMC 2MC X Servo error display OMNUC G5 Linear Series AC Servo Drive t O Lic OMNUC G5 Linear 4l Series AC Servomotor L2C XB 1MC ae T Z External brake 2MC 24 VDC N E L M Ground to 100 Q or less 2 Og L3 oO Ground to 100 Q or less e Encoder cables E Regeneration 3 B3 Resistor A B Encoder ee E 1 A recommended product is listed in 4 3 Py Wiring Confirming to EMC Directives apes x 37 ALM 2 Recommended relay MY relay by OMRON 36 ALMCOM User side BKIRCOM 10 control device Control cables Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USE 24 V type For example MY2 relay by OMRON can be used with all G5 Linear I laine series motors with brakes because its xB rated induction load is 2 A 24 VDC 2 3 3 The Regeneration Resistor built in type shorts B2 and B3 When the amount of regeneration is large remove the connection between B2 and B3 and connect the Regeneration Resistor between B1 and B2 R S MANUAL 4 17 a waj shs ubiso 4 2 Wiring i R88D KT20H L S T 3 phase 200 to 240 VAC 50 60 Hz R88D KTxxH L Ox NFB Main circuit contactor 1 QO Qio 2 Main circ
208. 25 10 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 3 u s q wajshs System Design 4 1 Installation Conditions Iron core Installation Conditions i Components An lron core Linear Motor is not a system by itself Before the linear motor can be run it has to be assembled together with the proper elements Apart from the drive OMRON supplies the next elements Linear motor coil Magnet track s Cables Hall sensor optional Serial Converter optional In order to make a proper installation the user must provide next elements Linear encoder and read head can be A B line drive pulses or SinCos If using A B pulse use a resolution of at least 50um per pulse Lower resolutions are acceptable for SinCos Encoder as the interpolation is higher Linear guides and slider recirculating ball bearing type Recommended model is THK SSR series or similar Dimension according to the load weight motor model machine dynamics and necessary lifetime A base frame and a top table to assemble the parts together A cable chain See the example drawing for all the parts Mounting Plate End plate Bottom cover Mechanical stopper Limit ai switches Recirculating een Ball bearings HA Magnet track Linear guide Hall sensor Motor coil Limit switches Connector box Encoder read head Linear Encoder End plate Cable chain with cables Accurax G5 L
209. 3 Thermal resistance K W 2 20 1 10 Thermal time constant S 110 110 Magnetic attraction force N 300 500 Magnet pole pitch mm 24 24 Weight coil unit 3 Kg 0 47 0 78 Weight magnet track Kg m 2 1 2 1 Dimension cooling plate I x w x h mm 238 x 220 x 10 238 x 220 x 10 Protection methods 4 Temperature sensors KTY 83 121 amp PTC 110C self cooling Hall sensor Digital optional Insulation class Class B Max busvoltage 560V DC Insulation resistance 500V DC Di electric strength 2750V for 1 sec Max allowable coiltemperature Basic specifications 130 C Ambient humidity 20 bis 80 non condensing Max allowable magnet temperature 70 C 1 Coil temperature rising by 6K s 2 Values at 100 C coil temperature and magnets at 25 C Coil unit must be attached to the given cooling plate sizes in the table 3 Weight without connector and cable 4 t has to be set properly for high current applications All other values at 25 C 10 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 57 suonesijoads Specifications 3 3 Motor Specifications i R88L EC FW 0606 0609 0612 Item Unit R88L EC FW 0606 R88L EC FW 0609 R88L EC FW 0612 Maximum speed 100V m s 2 2 2 Maximum speed 200V m s 4 4 4 Maximum speed 400V m s 8 8 8 Peak force 1 N 400 600 800 Peak current Aeff 10 15 20 Contino
210. 4 Pn410 to 415 Function This turns ON during force control or speed limit status i Alarm Clear Attribute Output ALM ATB No allocation Alarm clear attribute output ALM ATB No allocation Alarm clear attribute output common ALM ATB COM This is the allocation at default setting You can change the allocations of output terminals CN1 to 10 11 12 34 35 38 39 40 and 41 according to the settings of Output Signal Selections 1 to 6 Pn410 to 415 Function This output turns ON when an alarm occurs or the alarm can be cleared Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 1 Drive Specifications i Speed Command Status Output V CMD No allocation Speed command status output V CMD No allocation Speed command status output common V CMDCOM This is the allocation at default setting You can change the allocations of output terminals CN1 to 10 11 12 34 35 38 39 40 and 41 according to the settings of Output Signal Selections 1 to 6 Pn410 to 415 Function This output turns ON during speed control or when a speed command is input Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 45 suonesijoads Specifications 3 1 Drive Specifications Encoder Connector Specifications CN4 Connects to the encoder There are three types of encoder that can be connected parameter selectable A B line drive pulse encoder connected directly to pin 5 to 10 SinCos encoder
211. 41 ubisog waj shs System Design 4 3 Wiring Conforming to EMC Directives i Improving Control I O Signal Noise Resistance 4 42 Positioning can be affected and I O signal errors can occur if control I O is influenced by noise Use completely separate power supplies for the control power supply especially 24 VDC and the external operation power supply In particular do not connect the 2 power supply ground wires Install a noise filter on the primary side of the control power supply If 24V DC supply brakes are being used do not use the same 24 VDC power supply for both the brakes and the control I O Additionally do not connect the ground wires Connecting the ground wires may cause I O signal errors Keep the power supply for pulse commands and error counter reset input lines separated from the control power supply as far as possible In particular do not connect the 2 power supply ground wires We recommend using line drives for the pulse command and error counter reset outputs Always use twisted pair shielded cable for the pulse command and error counter reset signal lines and connect both ends of the shield cable to frame grounds If the control power supply wiring is long noise resistance can be improved by adding 1 uF laminated ceramic capacitors between the control power supply and ground at the drive input section or the controller output section For open collector specifications keep the length of wir
212. 439 Brake clear speed To set the speed threshold for run time mechanical brake P 8 43 setting output determination Precautions for Correct Use of Holding Brake The brake on a linear slider with brake is expected to be a normally closed brake designed only to hold when stopped Accordingly set an appropriate time so that the brake will actuate after the motor stops If the brake is applied while the linear servomotor is moving the brake will wear abnormally or sustain damage resulting in failure in the linear motor system 6 18 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 6 Brake Interlock Operation i Servo ON OFF Operation Timings lt when Motor Is Stopped gt ON Operation command RUN Servo OFF Servo ON Servo OFF OFF gt e Approx 2 ms ON Dynamic brake relay DB engaged DB Released DB engaged OFF gt _ lt Approx 60 ms C a Pn437 ON i Motor power supply No power supply Power supply No power supply OFF l gt Approx 4 ms gt e to6ms ON i iekea LO f m OOO output BKIR 3 OFF 6 n e Attraction time je Release time Holding brake Released Brake released operation Held 1 The servo will not turn ON until the motor speed drops to approx 30 mm s or below 2 The dynamic brake operation when the servo is OFF depends on Stop Selection with Servo OFF Pn506 3 The brake interlock BKIR signal is output upon a release request from servo co
213. 47S 210W 15 6Q B B B B R88D KT06F L RB88ARR08100S 80W 100Q B B B B B B R88D KT10F L R88ARR08100S a i 120W 1509 C C C R88D KT15F L R88ARR22047S 210W 1319 C C C C R88D KT20F L R88ARR22047S 280W 472 D D R88D KT30F L R88ARR50020S 360W 40Q D D D D D D R88D KT50F L R88ARR50020S i 980W 300 The ohmic value corresponds with the minimum allowable value in the drive Verify that the total group is not below this value due to component tolerances otherwise the drive may be damaged Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL BASIC CONTROL Mode This chapter explains an outline of operations available in various CONTROL modes and explains the contents of setting 5 1 5 2 5 3 5 5 Position CONEON fii ond casscriieeutatesdoteniiiienalicahivaenstonenanuden 5 2 Outline Of Operation cececeecceeeeeneeeeeeeeeeeseeeeeneeeeseeeeseeaeeeseaeeeeeas 5 2 Parameters Requiring Settings cccsccceseeeseeeeeeeeeeeeneeeseneees 5 3 Related Functions 0 cccccceceesccceeeeeeeneeeeeeeeaeeeeeseenaeeeeeseeeeeeeseenaeees 5 6 Parameter Block Diagram for POSITION CONTROL mode 5 7 Speed Control sss cscicccascessc Soe ccee dL cwseetstasienevedexeassetsaxouecte 5 8 Outline Of Operation cceccececcceeeeeneeeeeeeeceeeeeeeeeeeeseaeeseeaeeeseeeeneas 5 8 Parameters Requiring Settings c cccccccc
214. 5 6 PTC 7 PTC 8 KTY NTC 9 KTY NTC Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 37 SUOISUSWIG eUI9 Xy pue sj poN psepurIsS Standard Models and External Dimensions 2 4 External and Mounting Dimensions External Regeneration Resistor Dimensions R88A RR08050S RR080100S _ Thermal switch output t1 2 500 Mls 104 i 20 122 130 R88A RR22047S _ Thermal switch output 0 75 mm 500 200 a 220 230 R88A RR50020S 2 38 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 5 EMC Filter Dimensions 2 5 EMC Filter Dimensions W m M2 0 a a drive mounts AAS oa output flexes mD ca External dimensions Mount dimensions Filter model F 7 5 TF T R88A FIK102 RE 190 42 44 180 20 R88A FIK104 RE 190 57 30 180 30 R88A FIK107 RE 190 64 35 180 40 R88A FIK114 RE 190 86 35 180 60 R88A FIK304 RE 190 86 40 180 60 R88A FIK306 RE 245 94 40 235 60 R88A FIK312 RE 290 130 45 280 100 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 39 SUOISUSWIG u1 x3 pue sj poN piepuels Specifications oT Th
215. 504h Pn413 output 328964 INP TGON TGON SO5 00070707h Pn414 output 460551 ZSP ZSP ZSP SO6 00060606h Pn415 output 394758 FLC FLC FLC 1 Alarm output signal allocations cannot be changed Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 10 Sequence I O Signal i Parameters that Can Be Allocated Use the following parameters when changing the output signal allocation to use For the setting method refer to Output Signal Allocation Method Parameter Parameter name Explanation Reference number Set the SO1 input function allocation This parameter is based on the hex display PSG j OutputSignal Selection standard Refer to the output signal function R 8235 number table for details Pn411 Output Signal Selection 2 Set the SO2 input function allocation P 8 35 Set the SO3 input function allocation This Pn412 Output Signal Selection 3 parameter is always fixed to the alarm output P 8 35 signals Pn413 Output Signal Selection 4 Set the SO4 input function allocation P 8 35 Pn414 Output Signal Selection 5 Set the SO5 input function allocation P 8 36 Pn415 Output Signal Selection 6 Set the SO6 input function allocation P 8 36 i Output Signal Allocation Method Input the setting for each CONTROL mode in any of the parameters of Pn410 to Pn415 to allocate signals Set up the parameters based on the hex display standard in the same manner as
216. 525 8 54 Forward torque limit input PCL 3 31 Front Panel Parameter Write Selection Pn617 8 59 FULL CLOSING CONTROL mode adjustment 10 13 Function Expansion Setting Pn610 8 57 G Gain 3 Effective Time Pn605 8 57 Gain 3 Ratio Setting Pn606 8 57 Gain adjustment 20000 eee 10 2 Gain switching GSEL 3 33 Gain Switching Delay Time in Position Control Pn116 8 15 Gain Switching Delay Time in Speed Control Pn121 8 17 Gain Switching Delay Time in Torque Control Pn125 8 19 Gain switching function 0005 6 23 Gain Switching Hysteresis in Position Control Pn118 8 15 Gain Switching Hysteresis in Speed Control Pn123 8 17 Gain Switching Hysteresis in Torque Control Pn127 8 19 GAIN SWITCHING INPUT OPERATING mode Selec ton Phi TA raaa aa a Jee 8 12 Gain Switching Level in Position Control Pn117 8 15 Gain Switching Level in Speed Control Pn122 8 17 Gain Switching Level in Torque Control Pn126 8 19 General control cable 2 15 3 105 General purpose input 3 26 H Harmonic current measures 4 43 l Immediate Stop Torque Pn511 8 49 Improving Control I O Signal Noise Resistance 4 42 Improving encoder cable noise resistance 4 41 Inertia Ratio Pn004 0 0 000 8 3 Inertia Ratio 2 Pn
217. 6 13 Friction Force Compensation Function Outline of Operation As a function to reduce the effect of friction you can set the unbalanced load compensation that always compensates the constantly working offset force and the dynamic friction compensation that changes its direction depending on the operating direction You can use the force compensation in the following situations for position control or speed control When servo is ON When there is no trouble with the motor s normal movement Parameters Requiring Settings Ferametet Parameter name Explanation Reference number Force Command Value Set the unbalanced load compensation value that Pn607 Offset is always added to the force command in the P 8 57 CONTROL mode other than force control Set the dynamic friction compensation value that is Forward Direction Force added to the force command when a forward Pn608 Sai f N P 8 57 Offset direction command input for position control or speed control is issued Set the dynamic friction compensation value that is Reverse Direction Force added to the force command when a reverse Pn609 P 8 57 Offset direction command input for position control or speed control is issued 6 46 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 13 Friction Force Compensation Function Operation Example Force Command Value Offset Pn607 reduces the variations of positioning operations due to the movement d
218. 6 474 00 40 www industrial omron com tr United Kingdom Tel 44 0 870 752 08 61 www industrial omron co uk
219. 6 5 Encoder Dividing Function Outline of Operation The number of output pulses from the drive can be adjusted You can set the number of output pulses per motor movement distance This function is used in the following cases When you use a controller with a low response frequency When you want to set the pulse rate corresponding to a certain value Parameters Requiring Settings Parameter Parameter name Explanation Reference number Pn011 Encoder Dividing Set the number of A B output pulses for every P 8 7 Numerator Pn503 number of encoder pulses i Encoder Output Select the phase B logic for pulse regeneration Pn012 Direction Switching output and the output source P 8 7 Selection Encoder Dividing Number of encoder pulses to output Pn011 Pn503 Denominator regenerated output pulses With the default setting P 8 45 1 encoder pulse correspond with 1 output pulse Pulse Regeneration Set whether to enable or disable the detection of Pn533 Output Limit Setting Err28 0 pulse regeneration error P 8 56 0 Disabled 1 Enabled Pn620 External Scale Phase Set the minimum external scale phase Z output P 8 59 Z Setting width Serial Absolute External Set the phase Z regeneration position when the Scale Phase Z Setting serial absolute external scale is used 0 Phase Z output only at a position where the absolute position is 0 Pn621 1 to 2 8 After a phase Z output at the position P 8 59 where the absolute posi
220. 613 008 8 58 Inertia ratio switching input JSEL 3 38 Input Signal Selection 1 Pn400 8 35 Input Signal Selection 10 Pn409 8 35 Input Signal Selection 2 Pn401 8 35 Input Signal Selection 3 Pn402 8 35 Input Signal Selection 4 Pn403 8 35 Input Signal Selection 5 Pn404 8 35 Input Signal Selection 6 Pn405 8 35 Input Signal Selection 7 Pn406 8 35 Input Signal Selection 8 PN407 8 35 Input Signal Selection 9 PnN408 8 35 Internally set speed control 5 19 Internally set speed selection 1 2 and 3 VSEL1 2 and SO ieee card te ae ee eater aan hanna 3 35 J JOG OPe rations es ss ees en ea wees eels es 9 30 Jog Speed Pn604 000 2 eee 8 57 L Leakage Breaker 0 0 cae ences 4 36 M Main circuit connector specifications CNA 3 9 3 10 3 11 4 22 4 23 4 24 Main circuit terminal block specifications 3 12 Maintenance 2 0200 cece eee 11 23 Manual tuning 0 e eee eee eee 10 12 Momentary Hold Time Pn509 8 48 Monitor connector specifications CN5 3 51 MONITOR mode 0000 0c eee eeees 9 12 Motion Control Unit Cable 3 96 Motor characteristics 3 57 3 66 Motor connector specifications CNB 3 9 3 10 3 11
221. 8 T V S D Product Service GmbH Zertifizierstelle Ridlerstrasse 65 80339 M nchen Germany TUV Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 37 Appendix 12 3 Safety Certification Al 93 08 12 38 T me me ce LL Cd ame lt r eo TE F Lid ao lt T Go 0 LLJ oo A H D Fal ah ZERTIFIKAT CERTIFICATE 3 CERTIFICATE No 2100907 59301 130 Model s Parameters Tested according to Factory ies Main Certificate no Page 2 of 3 T Y S D Product Service GmbH Zertiizierstelle Ridlerstrasse 65 60339 M nchen Germany TN OMNUC G5 Series For nomenclature see attachment Rated voltage 100 120 VAC 200 240 VAC 380 480 VAC Rated input current Max 27 64 Operating temperature OG FBE G 2006 42 EC Machinery Directive valid from 29 Dec 2009 IEC 61508 1998 Part 1 3 and 4 SIL 2 IEC 61608 2000 Part 2 SIL 2 EN 61508 2001 Part 1 to 4 SIL 2 EN 954 1 1996 Cat 3 EC 61800 5 2 2007 EN 61800 5 2 2007 SO 13849 1 2008 PL c PLd EN SO 13849 1 2008 PL c PLd EC 62061 2005 EN 62061 2005 SIL 2 EG 1800 5 1 2007 EN 61800 5 1 2007 EC 61806 3 2004 EN 61800 3 2004 EC 61000 8 2 2005 EN 61000 6 2 2005 EC 61326 3 1 2008 EN 5501 1 A2 2007 54068 210 09 06 22944 150 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL a1 03 08 ex Ta ee Lid a3
222. 8 32 Analog Torque Limit Scale Pn527 8 54 Applicable standards 04 1 11 Axis Number Pn531 2 04 8 55 8 56 B Brake interlock 002 cee eee eee 6 18 Brake interlock output BKIR 3 42 Brake Release Speed Setting Pn439 8 44 Brake Timing during Operation Pn438 8 43 Brake Timing when Stopped Pn437 8 43 Cc Changing the mode 0e eee 9 11 Clamp COre feed Ren eee ee eta 4 38 Command Pulse Input Maximum Setting Pn532 8 56 Command Pulse Input Selection Pn005 8 4 COMMAND PULSE mode Selection Pn007 8 4 Command Pulse Prohibition Input Read Setting Pn519 8 52 Command Pulse Prohibition Input Setting Pn518 8 51 Command Pulse Rotation Direction Switching Selection CHOU Gag one te ve neres de cea tog ina gnmbes 8 4 Command Speed Selection Pn300 8 25 Communications connector specifications CN3A 3 53 Connection examples 0 0 0 eee eee 12 2 Connectors esia aeoe eee e eee eee eee 2 13 Connector terminal block 2 15 Index 2 Connector terminal block cables 2 15 3 107 Connector terminal Block Conversion Unit 3 109 Contactor 0 0 4 40 Control cable specifications 3 76 3 79 3 82 Control cables 0 00 00 cece eeaee 2 15 Control circuit connector specifications CND 4 24 Control I O connector 00 eee 3 94
223. 924 counts the drive considers that the linear motor has moved beacuse of the force and stops applying the force If this value is very small the estimation can be innacurated As indication set at least the value in counts that correspond to one electrical degree If the motor moves less than Pn925 counts in 2ms and continues stopped for Pn926 ms after a movement the motor is considered stopped Magnetic pole position restoration Pn920 3 This method can only be used in combination with an absolute serial encoder type PN323 2 In this case the magnetic pole position estimation sequence is executed only the first RUN command after setting Pn923 3 Once this sequence is finished successfully the value is stored in EEPROM and recovered after power on As the magnetic pole position rely in the absolute encoder position if there is a mechanical change in the linear motor installation it is necessary to make a new pole position estimation You can do this by changing Pn920 to 2 and then to 3 again If this method is used with an encoder that is not absolute Pn232 lt gt 2 Error 61 2 is generated Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 63 suoijoun paddy Applied Functions 6 20 Setup with Serial Converter 6 20 Setup with Serial Converter Outline of Operation A Serial Converter unit can be used when You want to use a SinCos Encoder You want to use Hall sensor for a direct magnetic pole measurement
224. 93 Connector Specifications c ccececececeeeeeeeeeeeneeeeeeeeeeeeeeeeseaeeesenees 3 94 Analog Monitor Cable Specifications cccceeeeeseeeeeeeneeeeetees 3 95 Control Cable Specifications cccccececeeeeeseeeeeeeeeeeeeeeeseeeeeeaees 3 96 Servo Relay Units and Cable Specifications 3 112 Servo Relay Units Specifications ccceceseeeeseeeeeeeteeeeeneeetees 3 112 Position Control Unit Servo Relay Unit Cable Specifications 3 121 External Regeneration Resistor Specifications 3 130 External Regeneration Resistor Specifications 0 ceee 3 130 EMC Filter Specifications cccseceeeees 3 132 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 1 3 1 Drive Specifications Drive Specifications Select the Linear Servo Drive matching the Linear Servomotor to be used Refer to Linear Servo Drive and Servomotor Combination List P 2 9 The same Accurax G5 Linear AC Servo Drive can be used for either a pulse train input or analog input You can change the CONTROL mode according to the controller The default setting is for position control with pulse train commands General Specifications Item Specifications Ambient operating temperature and operating humidity 0 to 55C 90 RH max with no condensation Storage ambient temperature and humidity 20 to 65C 90 RH max with no condensation Operating and storage atmosphere
225. AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 3 Notch Filter i Notch Filter Width and Depth Width Setting Ratio of the frequency bandwidth at a damping factor of 3 dB relative to the center frequency when the depth is 0 This value should conform to the left column in the table below Depth Setting I O ratio at which the center frequency input is completely cut off at a set value of 0 and completely passed at a set value of 100 If the indication unit is dB this value should conform to the right column in the table below 10 Gain dB a doaa Width Depth Set value Bandwidth center frequency Set value I O ratio Damping factor dB 0 0 50 0 O Cut off 00 1 0 59 1 1 40 0 2 0 71 2 2 34 0 3 0 84 3 3 30 5 4 1 00 4 4 28 0 5 1 19 5 5 26 0 6 1 41 10 10 20 0 7 1 68 15 15 16 5 8 2 00 20 20 14 0 9 2 38 25 25 12 0 10 2 83 30 30 10 5 11 3 36 35 35 9 1 12 4 00 40 40 8 0 13 4 76 45 45 6 9 14 5 66 50 50 6 0 15 6 73 60 60 4 4 16 8 00 70 70 3 1 17 9 51 80 80 1 9 18 11 31 90 90 0 9 19 13 45 100 100 Passed 0 0 20 16 00 Notch filter frequency characteristics 3 dB ae Sl ze N T 7 Depth 0 width 4 R 4 Depth 50 width 4 N Depth 0 width 8 Wf
226. ANUAL 4 2 Wiring i Connection with SinCos Encoder XB T 7 External brake Ground to 100 Q or less ES CN3 CN4 CN2 CN1 SinCos Encoder D Encoder M Serial k cables Converter S This connection is valid for all drives sizes o CN2 Hall sensor CN3 Temperature sensor o Q gt Note Valid for all drives Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 21 System Design 4 2 Wiring Main Circuit and Motor Connections 4 22 When wiring the main circuit use proper wire sizes grounding systems and noise resistance R88D KT01L L KT02L L KTO4L L R88D KT02H L KT04H L KT08H L KT10H L KT15H L Main Circuit Connector Specifications CNA Symbol Name Function L1 R88D KTxL L L2 100 to 400 W Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz Main circuit power R88D KTxH L supply input 200 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 V 50 L3 60 Hz 200 W to 1 5 kW 3 phase 200 to 240 VAC 170 to 264 V 50 60 Hz L1C Control circuit power R88D KTxL L Single phase 100 to 115 VAC 85 to 127 V 50 60Hz L2C supply input R88D KTxH L Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz Motor Connector Specifications CNB Symbol Name Function B1 50 to 400 W These terminals normally do not need to be B2 connected If the
227. Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 5 21 Spoil TIOULNOD JISVG BASIC CONTROL Mode 5 5 Switching Control 5 5 Switching Control Outline of Operation This function controls the motor by switching between 2 CONTROL modes via external inputs The CONTROL mode switching is performed by the CONTROL mode switching input TVSEL CN 1 pin 32 Drive Controller ACCURAX G5 Switching control Example of switching between position control and speed control Analog voltage speed command ACCURAX G5 Linear AC Servomotor Speed control Pulse train Position control 32 OTVSEL eed Parameters Requiring Settings FEDETILEIS Parameter name Explanation Reference number Pn001 CONTROL mode Select CONTROL mode for switching control P 8 2 Selection Set values 3 4 and 5 i CONTROL mode Selected by TVSEL CONTROL mode Switching Input The following table shows the relation between TVSEL CONTROL mode switching input and the CONTROL mode selected CONTROL mode TVSEL Selection Pn001 setting OFF ON 3 Position control Speed control 4 Position control Force control 5 Speed control Force control Note Use caution when switching CONTROL mode Operation may change suddenly depending on the CONTROL mode settings 5 22 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO
228. Black 1 Pink Red 1 Orange Red 1 Orange Black 1 _ Orange Black 1 Cable White Black 1 Pink Black 1 Yellow Black 1 Orange Black 2 White Red 1 White Black 1 Yellow Red 1 Yellow Black 1 Pink Red 1 Orange Black 1 _ AWG26 x 5P AWG26 x 6C AWG26 x 5P AWG26 x 6C Drive side Number Symbol REF FREF1 VLIM AGND 24VIN ALMCOM 24VIN ALMCOM ALM RUN RESET and DRVU connectors X and Y are indicated as Z and U respectively Terminals marked with asterisks are for absolute encoders and have no use for linear motors Connect 24 VDC to the 2 lines red and black extending from the connector on the controller side red 24 V black Connector plug model 10150 3000PE Sumitomo 3M FG Connector case model 10350 52A0 008 Sumitomo 3M Connector plug model 10150 3000PE Sumitomo 3M REF FREFI VLIM Connector case model 10350 52A0 008 Sumitomo 3M Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 5 Cable and Connector Specifications i Specified Cables for Position Control Unit for CJ1W NCxx4 high speed type This cable is for connecting Position Control Units CJ1W NCxx4 for OMRON Programmable Controller SYSMAC CJ Series Cables are available for either 1 axis or 2 axes The following types of Position Contr
229. C APH 14 99404 60LUd L Jo ty 92404 YOLUd Jayy e104 yidad y YDION ZLZUd yideqd YPION 607Ud yidaq Z yDION 90ZUd yidag YDION 07Ud PIM Y YON LIZUd g uo01129 p paeds paads snoaueueysu 0L9Ud Z JOY 4 80LUd L 494 d4 E0LUd Jayy U01 3 P paeds Z Oley SSEW 19Ud woND9 a Buiyprms ZL9Ud YIPIM E YPION 8OTUd YIPIM Z YDION GOTUd YIPIM L YDION ZOTUd p Anuanbai4 OLZUd Aduanbal4 ZOZUd z Anuanbal4 pozud Aduanbal4 LOZUd Gumas apow JAlLdYAY OOZUd 1934 YDION SIS J IS H ZZ LUd 9497 9ZLUd aul Aejaq SZLUd aPOW pZLUd z BUS pL Lud Buluryims ules Oley Sse pOOUd Z JUeYSUO BWI UONeIHaqU ZOLUd Z Ule pads 90 Lud Jueysuo atu UOIeIHaqU ZO LUd ule paads L0Lud J043U0 paeds Ja po dU Joyeulumouad E0SUd OSIBADY ZLOUd JOJeJOWNN L LOUd uoljesauabad asjng r ZO gO vo yndjno asind Japoouq A p ds 10370 uonejnwne asjnd yoeqpae4 puewWoD Jonuo pads paads puewwoy Z L Ud U01325 417 32104 paads i S1 A Y EOEUd ules 7OEUd puewwo gt paads usis Bulje2s njosqy S1 A Y OTEUd uleD 6lEUd puewwo 2104 uljes l uopeubisag uong 8 Ud wo D3Ia5 puewwo Z Lud u01 38 S PUeLUWOD 33104 hi S1 A Y
230. C SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 1 Basic Parameters Pn011 Encoder Dividing Numerator All Setting F Default Power OFF range 1 to 262 144 Unit setting 2500 and ON Yes Note that 1 pulse corresponds to 4 counts Encoder resolution corresponds with counts This parameter is used together with Pn503 to define the ratio between encoder feedback pulses to encoder output pulses The encoder output resolution correspond to the next formula Pn 011 Encoder pulse gt gt Output pulse Pn 503 Pn012 Encoder Output Direction Switching Selection All Setting Default Power OFF range otoa Unit setting 9 and ON TeS Explanation of Set Values Set value Phase B logic Motor forward command Motor reverse command I I 0 2 Non reverse Phase h Eine l Phase B_ 1 Phase B I I I 13 Bees Phase A l Phase A L Phase B 1 PhaseB I Pn013 No 1 Force Limit All Setting 0 to 500 Unit of nominal peau 500 Power OFF range setting and ON Set the No 1 limit value for the output force of the motor Set the first limit of the motor output force as percentatge of the motor nominal force Regardless of the setting of this parameter the maximum force is limited by the motor characteristics Pn014 Error Counter O
231. C200HW NC213 NC413 to a Servo Relay Unit XW2B 40J6 2B Cable types Model Length L Outer diameter of sheath Weight XW2Z 050J A7 50 cm 10 0 dia XW2Z 100J A7 im Approx 0 1 kg Approx 0 2 kg Connection configuration and external dimensions Position Control Unit side CS1W NC213 o CS1W NC413 2 C200HW NC213 C200HW NC413 Wiring Position Control Unit side 47 L lo m Servo Relay Unit side terminal Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Servo Relay Unit side XW2B 40J6 2B 3 123 suonesijoads Specifications 3 6 Servo Relay Units and Cable Specifications i Position Control Unit Cable XW2Z xJ A10 This cable connects a Position Control Unit CS1W NC133 to a Servo Relay Unit XW2B 20J6 1B Cable types Outer diameter of i Model Length L sheath Weight XW2Z 050J A10 50 cm Approx 0 1 kg 10 0 dia XW2Z 100J A10 im Approx 0 2 kg Connection configuration and external dimensions 47 L 6 2 l O i Position Control Unit side E Servo Relay Unit side O CS1W NC133 4 8 2 O gt XW2B 20J6 1B O 1 e t 11 220 Wiring Position Control Unit side Servo Relay Unit side Number co lt X AWG 20Red terminal Cable AWG28 x 4P AWG28 x 10C 26
232. Cat No 1163E EN 01A Accurax G5 Linear Servo system with Analogue Pulse control Model R88D KTLJLILI L Servo Drives R88L EC GW LJLJ _JLILJ Linear Servo Motors R88L EC FW UOLJ ULIL Linear Servo Motors USER S MANUAL s SAT A 7 ON LN ae ellis Ua a le hk ERT RAR Introduction Introduction Thank you for purchasing the Accurax G5 Linear This user s manual explains how to install and wire the Accurax G5 Linear set parameters needed to operate the G5 and remedies to be taken and inspection methods to be used if problems occur Intended Readers This manual is intended for the following individuals Those having electrical knowledge certified electricians or individuals having equivalent or more knowledge and also being qualified for one of the following Those in charge of introducing FA equipment Those designing FA systems Those managing FA sites Notes This manual contains the information you need to know to correctly use the Accurax G5 Linear and peripheral equipment Before using the Accurax G5 Linear read through this manual and gain a full understanding of the information provided herein After you finished reading the manual keep it in a convenient place so that the manual can be referenced at any time Make sure this manual will also get to the end user Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 1 Items Requiring Ackn
233. DO2 Digital output 5 Digital output 1 common Digital output 2 ALARM Analogue input 1 Ground general purpose output Alarm output common DO4 Analogue input 2 Ground general purpose common Digital output 4 Digital Analogue input 3 Ground general purpose output 6 Common for SO5 amp SO6 Not Not used Channel Z out Open collector used Not used Line drive Channel A out Channel A out pulse inputs Line drive pulse inputs Line drive Channel Z Channel Z out CCWLD pulse inputs Line drive pulse inputs Channel B Ground general purpose out Channel B out Note Do not wire anything to unused pins For general purpose inputs 1 to 10 SI1 to 10 and general purpose outputs S01 SO2 and SO4 use user parameters Pn400 to Pn409 Input Signal Selections 1 to 10 and Pn410 to Pn415 Output Signal Selections 1 to 6 to set the function allocations The alarm output ALM is fixed to general purpose output 3 i Connectors for CN1 Pin 50 Model 52986 3679 10150 3000PE 10350 52A0 008 Name Manufacturer Drive connector Molex Japan Cable plug Sumitomo 3M Cable case shell kit 3 22 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 1 Drive Specifications Control Input Circu
234. DRIVE USER S MANUAL 5 5 Switching Control fl Operation Example Position and Speed Control Switching Example Pn001 3 ON OFF CONTROL mode switching input TVSEL Speed command input REF V ON Pulse command OFF Positioning completion output INP ON Motor speed detection OFF output TGON mm s Motor operation mm s gt 10 ms or more 10 ms or more There is a maximum delay of 10 ms in reading the input signal When switching input TVSEL a from speed control to position control turn OFF the CONTROL mode switching nd wait at least 10 ms after the positioning completion output INP turns ON before inputting the pulse command The pulses input before INP turns ON will be ignored The shaded areas for the positioning completion output INP in the time chart show that the signal is turned ON as the motor speed detection output TGON The meaning of the signal depends on the CONTROL mode Position and Force Control Switching Example Pn001 4 ON CONTROL mode switching input TVSEL OFF V Force command input FREF V ON Pulse command OFF Positioning completion ON output INP OFF mm s Motor operation mm s gt 10 ms or more Forward i 10msormore Reverse This time chart shows an example of force thrust There is a maximum delay of 10 ms in reading the input signal When switch
235. Do not connect unused terminals Note 3 The 0 V terminal is internally connected to the common terminals Note 4 The applicable crimp terminal is R1 25 3 round with open end Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 115 SUOI edIIIGdS Specifications 3 6 Servo Relay Units and Cable Specifications i XW2B 20J6 8A This Servo Relay Unit connects to the following OMRON Programmable Controllers CJ1M CPU21 CPU22 CPU23 for 1 axis Dimensions CJ1M CPU21 22 23 side Drive side 3S 135 ee 7 7 Terminal block pitch 7 62 mm 3 116 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 6 Servo Relay Units and Cable Specifications Wiring The Linear Servo Drive phase Z output signal is wired to the origin signal in this terminal block C3 Origin ALMCOM F Common Common RESE G Common Common Common INQ CWlimit 1 COW limit 1 Contact 2960 06 Contact 2960 07 24 VDC 24 VDC 1 CW and CCW limit input signals can also be input through Input Units The signal for the CW CCW limit inputs in the CJ1M are as follows CW A540 08 CCW A540 09 for pulse output 0 and CW
236. E USER S MANUAL 3 43 SUuOI eoIID0dS Specifications 3 1 Drive Specifications 3 44 i Warning Output 1 WARN1 and Warning Output 2 WARN2 No allocation Warning output 1 WARN1 and warning output 2 WARN2 No allocation Warning output 1 common WARN1COM and warning output 2 common WARN2COM This is the allocation at default setting You can change the allocations of output terminals CN1 to 10 11 12 34 35 38 39 40 and 41 according to the settings of Output Signal Selections 1 to 6 Pn410 to 415 Function The output turns ON according to the setting conditions of Warning Output Selection 1 Pn440 and Warning Output Selection 2 Pn441 i Position Command Status Output P CMD No allocation Position command status output P CMD No allocation Position command status output common P CMDCOM This is the allocation at default setting You can change the allocations of output terminals CN1 to 10 11 12 34 35 38 39 40 and 41 according to the settings of Output Signal Selections 1 to 6 Pn410 to 415 Function This output turns ON when a positioning command is input i Speed Limiting Output V LIMIT No allocation Speed limiting output V LIMIT No allocation Speed limiting output common V LIMITCOM This is the allocation at default setting You can change the allocations of output terminals CN1 to 10 11 12 34 35 38 39 40 and 41 according to the settings of Output Signal Selections 1 to
237. ERVOMOTOR AND SERVO DRIVE USER S MANUAL Set each function per bit 8 57 sjiejeg sioj oweled Parameters Details 8 7 Special Parameters Set value Bit Function 0 1 bit O Instantaneous speed observer function Disabled Enabled bit 1 Disturbance observer function Disabled Enabled bit 2 Disturbance observer operation setting Enabled at all time Only when gain 1 is selected bit 3 Mass ratio switching function Disabled Enabled bit 4 Electric current response improvement Disabled Enabled function bit 5 Analog thrust feed forward Disabled Enabled bit 6 Current responsibility Disabled Enabled bit 7 INP output limitation Enabled Disabled Set the decimal value that has been converted from bit Example Instantaneous speed observer function enabled Disturbance observer function enabled Disturbance observer operation setting enabled at all time Mass ratio switching function disabled Electric current response improvement function enabled lf the settings are as described above the bit will be 10 011 and the decimal value 19 Therefore the set value will be 19 Pn613 Mass Ratio 2 All Setting 0 to 10 000 Unit Default 250 Power OFF _ range setting and ON Set the second load mass as a percentage of the motor rotor mass Pn614 Alarm Generation Allowable Time Setting All Setting 0 to 1 000 hit lims Default 200 Power OFF _
238. ETER SETTING Mode c cceecececeeeeeeeeeeeeeeeeeeeseeeeees 9 25 PARAMETER WRITE Mode cc cccecceeeeeeeeeeeeeeeeeeeeeeteaeeseeeeees 9 27 AUXILIARY FUNCTION Mode cecceceeeeeeeeeeeeeeeneeesetaeeesenees 9 28 9 5 Trlal Operatlon sisccc saiscdiicsserianiesnseaedniuineatnaacenennteueiuade 9 35 Preparation for Trial Operation cccccccsceeseeeeeeeneeeeeneeeseneeeseaees 9 35 Trial Operation in POSITION CONTROL Mode 9 36 Trial Operation in SPEED CONTROL Mode 9 37 Trial Operation in FORCE CONTROL Mode sessen 9 38 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 1 Operational Procedure 9 1 Operational Procedure Operation Turn ON the power supply after the correct installation and wiring to check the operation of the individual motor and drive Then make the function settings as required according to the use of the motor and drive If the user parameters are set incorrectly there is a risk of an unpredictable motor operation which is dangerous Set the parameters securely according to the setting methods in this manual Item Contents Reference Mounting and installation Install the motor and drive according to the installation conditions Do not install the load in the linear motor system before checking the non load operation Chapter 4 4 1 Wiring and connections Connect the motor and drive to the power supply and peripheral equipment Sp
239. External Regeneration Normally B2 and B3 are short circuited B2 Resistor connection If there is high regenerative energy remove the short circuit bar terminals between B2 and B3 and connect an External Regeneration B3 Resistor between B1 and B2 NC Do not connect Control Circuit Connector Specifications CND Symbol Name Function 24 V Control circuit power 24 VDC 15 OV supply input l Precautions for Correct Use Tighten the ground screws to the force of 0 7 to 0 8 Nem M4 or 1 4 to 1 6 Nem M5 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 11 suonesijoads Specifications 3 1 Drive Specifications i R88D KT30F L 50F L Terminal Block Specifications TB1 Symbol Name Function 24 V Control circuit power 24 VDC 15 ov supply input Terminal Block Specifications TB2 Symbol Name Function L1 Main circuit power supply R88D KTxH L 3 to 5 kW L2 input 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz L3 B1 External Regeneration Normally B2 and B3 are short circuited B2 Resistor connection If there is high regenerative energy remove the short circuit bar terminals between B2 and B3 and connect an External Regeneration B3 Resistor between B1 and B2 NC Do not connect U Motor connection Phase U These are the output terminals to the Linear V terminals Ph V Servomotor ase Be sure to wire them correctly Phase W l
240. FFFFFh Unit Default setting 00818181h 8487297 Power OFF andON Yes Default is POT in all models Pn402 Input Signal Selection 3 All Setting range O to OOFFFFFFh Unit Default setting 0091910Ah 9539850 Power OFF andON Yes Default is DFSEL1 for position control and ZEROSPD in speed and force control Pn403 Input Signal Selection 4 All Setting range O to OOFFFFFFh Unit Default setting OO60606h 394758 Power OFF and ON Yes Default is GSEL in all models Pn404 Input Signal Selection 5 All Setting range O to OOFFFFFFh Unit Default setting O000100Ch 4108 Power OFF and ON Yes Default is GSEL1 in position control and VSEL3 in speed control Pn405 Input Signal Selection 6 All Setting range O to OOFFFFFFh Unit Default setting 00030303h 197379 PowerOFFandON Yes Default is RUN in all models Pn406 Input Signal Selection 7 All Setting range 0 to OOFFFFFFh Unit Default setting OOOOOFO7h 3847 Power OFF and ON Yes Default is ECRST in position control and VSEL2 in speed control Pn407 Input Signal Selection 8 All Setting range 0 to OOFFFFFFh Unit Default setting 00040404h 263172 PowerOFFandON Yes Default is RESET in all models Pn408 Input Signal Selection 9 All Setting range O to OOFFFFFFh Unit Default setting 00050505h 328965 PowerOFFandON Yes Default is TVSEL in all models Pn409 Input Signal Selection 10 All Setting range O to OOFFFFFFh Unit Default setting OOO
241. Forward pulse Forward pulse CCW direction signal SIGN or phase B FB Reverse pulse CW feed pulse PULS or phase A FA CW feed pulse PULS or phase A FA CCW direction signal SIGN or phase B FB Pn005 Pn006 Pn007 COMMAND Set Set Set PULSE Input pins Motor forward command Motor reverse command value value value mode 90 phase 3 FA difference 4 FA 0 2 signals 5 FB mute S UAU OLED LILLE LOE LD multiplier Reverse 3 CW pulse forward 4 CW L 0 0 1 pulse 5 CCW ee TUL UUUUL L Feed pulse 3 PULS direction 4 PULS 3 signal 5 SIGN 6 SIGN Note 1 If the Command Pulse Movement Direction Switching Selection Pn006 is set to 1 the movement will be reversed Note 2 If the photocoupler LED is turned ON each signal will go high as shown above Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 27 suonesijoads Specifications 3 1 Drive Specifications Command Pulse Timing for Photocoupler Inputs Note The Maximum input frequency corresponds to the frequency AFTER interpolation x2 in forward reverse and in frequency direction and x4 in 90 phase difference COMMAND PULSE mode Timing Feed pulse direction Forward command Reverse command signal Direction signal Maximum input frequency 3 t Line drive 500 kpps Open collector
242. I l t Displays the position command speed unit mm s i Speed Control Command U03 I I I a Displays the speed control command that is the speed of the pulse command input unit mm s i Force Command U04 vt m I I I mr lt Displays the percentage of drive force command When the rated force output for the drive is used 100 is displayed Force outputs in reverse operation are displayed with Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 13 uo eiado Operation 9 4 Setting the Mode i Total Encoder Pulses U05 f Total encoder pulses encoder pulse Lower L Higher H Press Qto switch between Lower L and Higher H Ct D C Lal om a 1 Wa t Total command pulses command pulse Lower L Higher H Press Q to switch between Lower L and Higher H tt DIT 4p Lt IS m ER l Z Z m Z POSITION CONTROL mode liz ra SPEED CONTROL mode r Slm ma h FORCE CONTROL mode Displays which CONTROL mode is being used position control speed control or force control 9 14 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 4 Setting the Mode i I O Signal
243. I9 Pink Black 4 S110 Green Red 4 S02 Green Black 4 SO2 Orange Red 4 ALM Orange Black 4 ALM Gray Red 4 S04 Gray Black 4 504 Blue Red 5 SO6 Blue Black 5 S05 amp S06 Pink Red 5 Not used Pink Black 5 Not used Green Red 5 CWLD CWLD Green Black 5 Orange Red 5 CCWLD Orange Black 5 Gray Red 5 Gray Black 5 Orange Red 1 1 Wires with the same wire color and the same number of marks form a twisted pair Example Wires with respective wire and mark colors of Yellow Black 1 and Pink Black 1 form a twisted pair Drive side connector Connector plug model 10150 3000PE Sumitomo 3M Connector case model 10350 52A0 008 Sumitomo 3M Connector terminal Block Connector Connector socket model XG4M 5030 OMRON Strain relief model XG4T 5004 OMRON Cable AWG28 x 25P UL2464 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 5 Cable and Connector Specifications i Terminal Block Unit The Terminal Block Unit connects the Linear servo drive I O signals CN1 connector for general purpose Use the cable XW2Z xJ B24 to connect the Terminal Block Unit to the CN1 connector XW2B 50G4 M3 Screw Terminal Block Use 0 3 to 1 25 mm wire AWG22 to 16 The wire inlet is 1 8 mm height x 2 5 mm width Stri
244. INEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 1 Installation Conditions i Installation conditions Mechanical Tolerances The flatness of the mounting surface for the coil unit must be better than 0 1mm The flatness of the mounting base has to be of 0 1mm m or better The Coil unit has to be mounted parallel to the magnet tracks The parallelism has to be better than 0 2mm The separation between magnets and coil has to be 0 3mm 0 1mm Sideward positioning of the coil unit to the magnet plates is not very critical A tolerance of up to 0 5mm is acceptable eee ae J Thermal Consideration The linear motor coil becomes hot when running Take care to install the motor to a top table of the recommended dimensions in a well ventilated place Make sure there is a good thermal contact between the motor coil and the top table Use thermal conductive silicon to ensure a good thermal transmission If the temperature rise must be reduced beacuse the application does not allow the expansion due to temperature or beacuse the top table is smaller than the required one etc install a cooling system to cool the motor Linear System Rigidity The rigidity of a linear system put the limit to the gains you can set in the drive an hence to performance and accuracy you can reach Design the rigidity according to the performance you need to reach The maximum gain you can set in the speed loop corresponds with the m
245. Input Voltage 3 value is abnormal 11 V over is lasting 200 ms 72 0 Thermal Error Hardware is abnormal 73 0 VDE Detection System Hardware is abnormal Error 0 Internal RAM Error Microcomputer is abnormal 76 1 Internal ROM Error Internal ROM is abnormal 77 0 Stacke Error Lack of Stack Area 96 0 LSI Initialization Error Falut of MNM1223 initialization 99 0 Hardware Error Hardware error detected in the power circuit Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 4 Troubleshooting If an error occurs in the machine determine the error conditions from the alarm displays and operation status identify the cause of the error and take appropriate measures 11 4 Troubleshooting Error Diagnosis Using the Alarm Displays Alarm a Status when error Error conditions Cause Measures display occurs The power supply voltage is low Momentary power interruption occurred lIncrease the power supply Power supply capacity is 3 abe capacity insufficient Change the power supply The power supply voltage Turn ON the power suppl is reduced beacuse the p ppYy main power supply is OFF The main power supply is 44 Power supply Occurs when the servo 0t Input undervoltage is turned ON Power supply capacity is Increase the power supply insufficient capacity Connect the phases L1 L2 L3 of the power supply voltage Phase loss correctly For single phase connect to
246. Interpolation factor 100 plus quadrature count Max input frequency 400KHz 1Vptp before interpolation 1 6MHz after interpolation Power supply 5V DC 250mA supplied by the drive Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 83 Specifications 3 4 Encoder Hall sensor and Serial Converter i Pinout Encoder input 1Vpp CN1 Connector D Sub 15 pin female 1Vpp with programmable lines NUMERIK JENA Standard PIN Signal 1 SDA 2 SCL 3 4 Uo 5 U9 6 U4 7 8 5V 9 OV 10 11 12 Uo 13 Us 14 U 15 IS Reserved Please do not use Serial interface CN4 Connector D Sub 15 pin male PIN Signal 1 PS 2 PS 3 4 5 6 7 8 5V 9 OV 10 11 12 13 14 15 3 84 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 4 Encoder Hall sensor and Serial Converter Hall amp Temperature sensors interface CN2 Connector D Sub 9 pin female PIN Signal U Hall U Hall V Hall W GND PTC PTC KTY KTY a o CO N oO aj A Ww N Temperature sensor interface without Hall sensor CN3 Connector D Sub 9 pin female PIN Signal 1 E 2 4 3 gt 4 F 5 n 6 PTC 7 PTC 8 KTY NTC 9 KTY NTC Note As the 6 7 8 9 pins in the CN2 and CN3 connect
247. Kw Adjust the position loop response to suit the machine rigidity The responsiveness of the linear servo system is determined by the position loop gain Linear Servo systems with a high position loop gain have a high responsiveness and fast positioning To increase the position loop gain you must improve machine rigidity and increase the specific vibration frequency Increasing the position loop gain in systems with low machine rigidity or systems with low specific vibration frequencies may cause machine resonance resulting in an overload alarm If the position loop gain is low you can shorten the positioning time using feed forward This parameter is automatically changed by executing realtime autotuning function To set it manually set the REALTIME AUTOTUNING mode Selection Pn002 to 0 Position loop gain is generally expressed as follows E f Command pulse frequency pulse s Position loop gain Kp 0 1 s Error counter accumulated pulse pulse Response when the position loop gain is operated Position loop gain is high Motor speed fi Time If the speed loop gain and position loop gain are optimally set the motor operation for the command will be delayed 2 Kp at acceleration and delayed 3 Kp at deceleration 2 Motor speed 4 position command S Motor operation gt Time Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 9 S l q S19 9WL Jed Parameters Deta
248. LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 3 Standard Model List i Connectors Specifications Model Linear Servo Drive external encoder connector CN4 R88A CNK41L Female connector for Hall and Temperature sensors 9 pin D Sub female Serial Converter side Male connector for Hall and Temperature sensors 9 pin D Sub male Motor side Female connector for SinCos 15 pin low density D Sub female Serial Converter side Male connector for SinCos 15 pin low density D Sub male Encoder side Hypertac power cable connector IP67 for lron core linear motors LPRA 06B FRBN170 Hypertac power cable connector IP67 for lronless linear motors SPOCO6KFSDN169 i Servo Relay Units for CN1 Specifications Model Servo Relay Unit For CS1W NC113 NC133 For CJ1W NC113 NC133 For C200HW NC113 XW2B 20J6 1B For CS1W NC213 NC413 NC233 NC433 For CJ1W NC213 NC413 NC233 NC433 For C200HW NC213 NC413 XW2B 40J6 2B For CJ1M CPU21 CPU22 CPU23 XW2B 20J6 8A XW2B 40J6 9A For CQM1 CPU43 V1 For CQM1H PLB21 XW2B 20J6 3B Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 13 SUOISUSWIG u13 x3 pue sj poN PsepuRIsS Standard Models and External Dimensions 2 3 Standard Model List 2 14 fi Servo Relay Unit Cables for Linear Servo Drives Specifications Model Servo Drive cables For CS1W NC113 NC133 CJ1W NC
249. MANUAL 3 4 Encoder Hall sensor and Serial Converter The direction of the feedback encoder must correspond with the direction of the motor coil phases If not you can reverse the count direction with parameter Pn3 26 0 direction is not reversed 1 direction is reversed You can measure the direction of the motor phases using the next method Connect an oscilloscope between the motor phases U W V U AND W V Disconnect the motor phases from the Linear Servo Drive Move the motor coil with yor hand and measure the induced voltage 0 130 360 aa ane Se an SSS a RD BaAnbeaeae ana HONE abe sek ea a amen et lt A een ae In this direction the feedback encoder must count negative otherwise you must reverse the counting direction The positive direction of the motor phases is towards the output cable side Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 77 suoneaijoads Specifications 3 4 Encoder Hall sensor and Serial Converter i Connection to the drive RRRBBR BECA anan KM Temperature sensor not used A B Encoder 3 78 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 4 Encoder Hall sensor and Serial Converter SinCos Encoder Specifications i Specifications The following figure shows the input timing of the analog signals T
250. MOTOR AND SERVO DRIVE USER S MANUAL 2 4 External and Mounting Dimensions R88L EC GW 0703 0706 0709 Motor coil L2 L3 5 01 a 15 0 05 Ja A S m d FI 2s 6 in l a S e e _ _ _ e _ l m AB o a oer Lt F l mJ Magnet yoke Magnet yoke mounting surface mounting surface 16 5 Motor with magnet track separate order no 16 5 o o o o o o o o e C eo es Re a el THT eo TIAL a i i ray x eee 1 1 E On FUP 1 ee G G D S D oO i i Lun PPa eee ee eee ee gS ae eee eee Eee gerd 48 9 D Q D32 gt L Q a 8 ie 5 1 Cable length 1000 30 Q Connector optional Cable length 500 30 Cable length 500 30 4 000 elat Made by Hypertac Connector optional ooo D Sub 9 pin FEMALE 4 2 SROCO6JMSCN169 MALE 3 Pin article code 021 423 1020 D Sule pis FEMALE o Power connector Sensor Hall sensor optional Pin No
251. Models and External Dimensions 2 4 External and Mounting Dimensions 3 phase 200 VAC R88D KT20H L 2 kW Wall Mounting External dimensions 86 85 70 193 5 m Z ti feel t Mounting dimensions 25 0 5 la ry 168 488105 175a a 505 eo 2 22 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 4 External and Mounting Dimensions Front Mounting Using Front Mounting Brackets External dimensions 17 5 86 85 50 R2 6 42 5 pe l ea Mounting dimensions 25 0 5 5 2 Square hole ry 188205 17 5 50705 70 193 5 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL SUOISUSWIG eU19 Xy pue sj poN PsepueIsS Standard Models and External Dimensions 2 4 External and Mounting Dimensions i 3 phase 400 VAC R88D KT06F L KT10F L KT15F L 600W to 1 5 kW Wall Mounting External dimensions Mounting dimensions 70 170 iai gt a go i 150 150 140 05
252. N Pn502 valid Electronic Ratio Denominator Pn010 is a common setting Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 1 Drive Specifications i Pulse Prohibition Input IPG Pin 33 Pulse prohibition input IPG This is the allocation at default setting However Command Pulse Prohibition Input Pn518 is set to disable set value 1 To use this change Pn518 to enable set value 0 You can change the functions for input terminals CN1 to 8 9 and 26 to 33 according to the settings of Input Signal Selection 1 to 10 Pn400 to 409 You can only allocate the pulse prohibition input ECRST to pin 33 S110 Allocating this input to any other terminal generates a pulse prohibition input allocation error A337 Function You can use this input to forcibly stop the command pulse input When this input is ON the drive ignores the command pulse input and does not count pulses i Internally Set Speed Selection 1 2 and 3 VSEL1 2 and 3 Pin 33 Internally set speed selection 1 VSEL1 Pin 30 Internally set speed selection 2 VSEL2 Pin 28 Internally set speed selection 3 VSEL3 This is the allocation at default setting However Command Speed Selection Pn300 is set to disable set value 0 To use this change Command Speed Selection Pn300 to enable set value 1 to 3 You can change the logics and allocations for input terminals CN1 to 8 9 and 26 to 33 according to the settings of Inp
253. N the main power supply 1 Err13 1 main power supply undervoltage will occur and a trip will be caused Pn509 Momentary Hold Time All Setting 70 to 2 000 Unit 1ms berau 70 Power OFF yos range setting and ON Set main power supply alarm detection time The main power supply OFF detection will be disabled if this is set to 2 000 Pn510 Stop Selection for Alarm Generation All Setting 0to7 Unit _ Default 0 Power OFF _ range setting and ON Explanation of Set Values Set Explanation value During deceleration 3 After stopping Error counter 0 Dynamic brake operation Dynamic brake operation Clear 1 Free run Dynamic brake operation Clear 1 2 Dynamic brake operation Servo unlocked Clear 3 Free run Servo unlocked Clear Operation A Immediate stop 4 Operation B Dynamic brake Dynamic brake operation Clear 1 operation 2 5 Operation A Immediate stop Dynamic brake operation Clear Operation B Free run Operation A Immediate stop 6 Operation B Dynamic brake Servo unlocked Clear 1 operation H 1 2 7 Operation A Immediate stop Servo unlocked Clear 1 Operation B Free run Set the operation to be performed after stopping or during deceleration when any protective function of the drive operates and an error occurs 1 The error counter is cleared when an alarm is reset 2 Operations A and B indica
254. OOE88h 3720 Power OFF and ON Yes Default is IPG in position control and VSEL1 in speed control Pn410 Output Signal Selection 1 All Setting range O to OOFFFFFFh Unit Default setting 00030303h 197379 PowerOFFandON Yes Default is BKIR in all models Pn411 Output Signal Selection 2 All Setting range O to OOFFFFFFh Unit Default setting O0020202h 131586 PowerOFFandON Yes Default is READY in all models Pn412 Output Signal Selection 3 All Setting range Fixed value Unit Default setting 00010101h 65793 Power OFF and ON Yes Default is ALM in all models Fix setting do not change Pn413 Output Signal Selection 4 All Setting range O to OOFFFFFFh Unit Default setting 00050505h 328964 Power OFF andON Yes Default is TG Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL ON in all models Refer to Sequence I O Signal P 6 35 for more information on settings 8 oO Sz sjiejeg S19 9WL Ied Parameters Details 8 5 Interface Monitor Setting Parameters Pn414 Output Signal Selection 5 All Setting range O to OOFFFFFFh Unit Default setting 00070707h 460551 PowerOFFandON Yes Default is ZSP in all models Pn415 Output Signal Selection 6 All Setting range O to OOFFFFFFh Unit Default s
255. OTOR AND SERVO DRIVE USER S MANUAL 3 7 suoleoiin0ds Specifications 3 1 Drive Specifications i Protective Functions Error detection Description Control power supply undervoltage The DC voltage of the main circuit fell below the specified value while the operation command RUN input was ON Overvoltage The DC voltage in the main circuit is abnormally high Main power supply undervoltage The DC voltage of the main circuit is low Overcurrent Overcurrent flowed to the IGBT Motor power line ground fault or short circuit Drive overheat The temperature of the drive radiator exceeded the specified value Overload Operation was performed with force significantly exceeding the rating for several seconds to several tens of seconds Error counter overflow The number of accumulated pulses in the error counter exceeded the set value for the Error Counter Overflow Level Pn014 Overspeed The motor movement speed exceeded the maximum number of movements Electronic gear setting error The set value for the Electronic Ratio Pn009 to Pn010 Pn500 to Pn503 is not appropriate Error counter overflow Error counter value based on the encoder pulse reference exceeded 229 536870912 Interface I O setting error An error was detected in the interface I O signal Overrun limit error The motor exceeded the allowable operating range set in the Overrun Limit
256. Operation after the stop undefined Dynamic brake free run i Immediate stop time gt gt If the actual speed is not 30 mm s or less after the time set by the Alarm Generation Allowable Time Setting Pn614 elapses an immediate alarm status will occur In addition if an alarm that does not support immediate stop occurs inside the drive at immediate stop an immediate alarm status will occur Set the allowable overspeed level to Pn615 Overspeed Detection Level Setting at Immediate Stop as a protective measure against runaway at an immediate stop Err26 1 overspeed 2 if it occurs will cause an immediate error trip because it is an error that does not support immediate stop However if the setting is below Pn910 Overspeed Detection Level Setting an immediate stop will not take place because Err26 1 overspeed 2 will occur before Err26 0 overspeed In addition if Err26 0 and Err26 1 are detected at the same time Err26 0 will be displayed However an immediate stop will not take place because Err26 1 has also occurred internally Pn511 Immediate Stop Force All Setting 0 to 500 Unit Default 0 Power OFF _ range setting and ON Set the force limit for the following cases Drive prohibition deceleration with the Stop Selection for Drive Prohibition Input Pn505 set to 2 Deceleration with the Stop Selection with Main Power Supply OFF Pn507 set to 8 or 9 Deceleration with t
257. Oto 4 Unit 7 Default 0 Power OFF Yes range setting and ON Explanation of Set Values Jai Explanation value 0 The motor moves in the direction specified by the command pulse 1 The motor moves in the opposite direction specified by the command pulse Set the motor movement direction for the command pulse input Pn007 COMMAND PULSE mode Selection Setting 0to3 Unit _ Default 1 Power OFF Yes range setting and ON Set the count method for the command pulse input 8 4 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 1 Basic Parameters Command Pulse Direction Switching Selection Pn006 COMMAND PULSE mode Setting Pn007 COMMAND PULSE mode Motor forward command Motor reverse command Oor2 90 phase difference phases A and B signal inputs Line drive t1 gt 2 us Open collector t1 gt 5 us Reverse pulse forward pulse Feed pulse direction signal Oor2 90 phase difference phases A and B signal inputs Reverse pulse forward pulse Line drive t2 gt 1 us Open collector t2 gt 2 5 us Feed pulse direction signal Line drive t2 gt 1 us Open collector t2 gt 2 5 us Set the form of the pulse inputs sent as command to the drive from a Position Controller Modes 0 and 2 are exactly the same Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 5 sjiejog S
258. P surge suppressor S OOo 4 MCI MC2 X1 i T T 00 li Groundto _ 100 Q or less R88D KTx L C O Reactor 24VDC zer l zit MC1 MC2 l XX Red _ Motor power cables H on Green elow a 24VIN X1 X axis origin proximity input X axis CCW limit input X axis CW limit input X axis emergency stop input J Precautions for Correct Use RUN RESET Encoder cables BKIRCOM ALMCOM ALM BKIR FG The example shows a 3 phase 200 VAC input to the drive for the main circuit power supply Be sure to provide a power supply and wiring conforming to the power supply specifications for the drive in use Incorrect signal wiring can cause damage to units and the drive Leave unused signal lines open and do not wire them Use mode 2 for origin search The diode recommended for surge absorption is the RU 2 Sanken Electric Co Ltd or the equivalent Make the setting so that the servo can be turned ON OFF with the RUN signal xipueddy Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 3 Appendix 12 1 Connection Examples i Connection Example 3 Connecting to SYSMAC CS1W NC133 233 433 Main circuit power supply
259. POWN O7LUd Z BUMS YLLUd Bulyrms ules abeiOA indul LIY a V 9 91 ndu bojeuy 5 13 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL BASIC CONTROL Mode 5 3 Force Control 5 3 Force Control Force control is performed based on the force command specified by the analog voltage In addition to the force command force control also requires a speed limit input to prevent the motor speed from becoming excessively high Outline of Operation Controller Analog voltage Drive analog voltage output type force command ACCURAX G5 FORCE CONTROL mode Force Command Scale Pn319 ACCURAX G5 Linear None of OMRON AC Servomotor controllers is a force 140 VLIM Force command voltage 15 OAGND output type 16 FREF2 y 17 OAGND H Precautions for Correct Use If the motor speed is limited by the speed limit the motor speed will be limited and will not reach the speed corresponding to the analog force command Parameters Requiring Settings Parameter Parameter name Explanation Reference number Pno01 CONTROL mode Select the CONTROL mode P 8 2 Selection Pn317 Force Command Speed Select the input location for the force command and speed P 8 30 Limit Selection limit Pn318 Force Command Select the direction of the force command P 8 30 Direction Selection Pn319 Force Command Scale Set the input gain for anal
260. Pn304 when the servo turns ON Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 35 Specifications 3 1 Drive Specifications 3 36 i Zero Speed Designation VZERO No allocation Zero speed designation VZERO There is no allocation at default setting Also Zero Speed Designation Selection Pn315 is set to disable set value 1 You can change the logics and allocations for input terminals CN1 to 8 9 and 26 to 33 according to the settings of Input Signal Selection 1 to 10 Pn400 to 409 Function You can use this input to forcibly change the speed command to 0 This signal changes to enable set value 1 to 3 according to the setting of Zero Speed Designation Selection Pn315 Pn300 set value Operation when ON 0 Zero speed designation is disabled 1 The speed command becomes 0 2 The speed command becomes 0 and a position lock occurs at a motor movement speed equal to Position Lock Level Setting Pn316 or less 3 A position lock occurs at a command speed equal to Position Lock Level Setting Pn316 or less i Speed Command Sign Input VSIGN No allocation Speed command sign designation VSIGN There is no allocation at default setting Also Speed Command Direction Selection Pn301 is set to disable set value 0 You can change the logics and allocations for input terminals CN1 to 8 9 and 26 to 33 according to the settings of Input Signal Selection 1 to 10 Pn400 to 409
261. Pn321 Pn322 It depends on the CONTROL mode When the CONTROL mode is set to speed control force control the force command input is set to analog input 2 Pn318 Force Command Direction Selection Setting F Default Power OFF range ptor Unit setting 9 and ON Explanation of Set Values Set value Explanation 0 Method for designating the direction for the force command By analogue force command polarity 1 Method for designating the direction for the force command By digital input FSIGN The default setting for this parameter is 0 8 30 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 4 Analog Control Parameters Force Analog Force Force Command Command Fores command Speed Direction Command Analog force Sian Motor Conversion Limit Selecti Direction command FREF i g k direction graph Selection election Switching selection Pn317 P3818 Pn320 let Voltage 0 to 10 V Not affected Forward r direction Refer to Voltage 10 to 0 V Not affected Reverse Figure A direction 0 Voltage 0 to 10 V Not affected Reverse j direction Refer to 0 Voltage 10 to 0 V Forward Figure B Not affected direction Voltage 0 to 10 V ere Forward Not Voltage 10 to 0 V direction Refer to affected Voltage 0 to 10 V on Revers Figure C Voltage 10 to 0
262. Precautions for Correct Use Tighten the terminal block screws to the force of 0 75 Nem M4 or 1 5 Nem M5 If the force for terminal block screws exceeds 1 2 Nem M4 or 2 0 Nem M5 the terminal block may be damaged Tighten the fixing screw of the terminal block cover to the force of 0 2 Nem M3 Tighten the ground screws to the force of 0 7 to 0 8 Nem M4 or 1 4 to 1 6 Nem M5 3 12 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Control I O Connector Specifications CN1 i Control I O Signal Connections and External Signal Processing for Position Control This is the configuration with factory settings 3 1 Drive Specifications 24VCW 1 2 2 kQ Reverse pulse CW 13 500 kpps max CW14 220 24VCCW 2 2 2 Forward pulse CCW 15 ccw 6 220 Reverse pulse CWLD 44 2 Mpps max Lae CWLD A a O C CCWLD 6 DA Forward Ss CCWLD A N 12 to 24 VDC 24 VIN 7 Operation command RUN 29 Vibration filter switching DFSEL1 D O O N oO Gain switching GSEL N N Electronic gear switching GESEL1 N foe Error counter reset 099 __ e ECRST Alarm reset RESET 31 CONTROL mode switching TVSEL w N
263. Press and hold the A key for 5 seconds or longer until J i is displayed The bar indicator will increase This completes preparations for jog operation og will be displayed if the servo is not ready Eaay Press and hold the Q key for 5 seconds or longer until is displayed The decimal point will move to the left q rm I T 1J The Servo will turn ON E 2 Execute jog operation Key operation Display example Explanation Z oa Forward direction operation will be performed while the A key is ee pressed and reverse direction operation will be performed while A the key is pressed The motor will stop when the key is released The movement speed at this time will be the speed set for the Jog Speed Pn604 Error will be displayed if the servo is not ready 9 30 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 4 Setting the Mode 3 Returning to AUXILIARY FUNCTION mode display Key operation eS a i ee B A e l Precautions for Correct Use Display example Explanation Press the 6a key to return to AUXILIARY FUNCTION mode The servo lock will be released and the servo will be unlocked When performing a jog operation remove the control I O connector CN1 When performing a jog operation set the parameter related to gains
264. R AND SERVO DRIVE USER S MANUAL 8 2 Gain Parameters Pn125 Gain Switching Delay Time in Force Control Setting Default Power OFF range 0 to 10 000 Unit 0 1 ms setting 0 and ON Set the delay time when returning from gain 2 to gain 1 if the SWITCHING mode in Force Control Pn124 is set to 3 Pn126 Gain Switching Level in Force Control Setting F Default Power OFF range 9 10 20 000 aa setting 9 and ON This is enabled when the SWITCHING mode in Force Control Pn124 is set to 3 It sets the judgment level for switching between gain 1 and gain 2 The unit depends on the setting of SWITCHING mode in Force Control Pn124 Pn127 Gain Switching Hysteresis in Force Control Setting i Default Power OFF range 9110 20 000 untai setting 9 and ON Set the hysteresis width above and below the judgment level set in the Gain Switching Level in Force Control Pn126 The unit depends on the setting of SWITCHING mode in Force Control Pn124 The following shows the definitions for the Gain Switching Delay Time in Force Control Pn125 Gain Switching Level in Force Control Pn126 and Gain Switching Hysteresis in Force Control Pn127 Y Pn126 gt Pn127 Gain 2 lt i Gain 1 Gain 1 pi Pn125 The settings for the Gain Switching Level in Force Control Pn126 and the Gain Switching Hysteresis in Fo
265. R88A CAWB015S DE 15m R88A CAWB020S DE 20m Connection configuration and external dimensions 50mm 10 WS 2 d N Cable 4 x1 5mm Hole terminal pad M4 Connector model SPOCO6KFSDN169 CONNECTED TO THE FRAME 3 92 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 5 Cable and Connector Specifications Cable for Safety Functions for CN8 A Cable for Safety Functions R88A CSK003S E Safety connector with 3m cable with loose wires at one end Model Length L R88A CSK003S E 3m Connection configuration and external dimensions DENE i Connector 2013595 1 gt Cable 6x0 22mmq Jacket Color Black TRANSPARENT LABEL I Eny i WHITE 3 ot it jes 1i ORANGE Ii i 1 l 1 5 _ RED Lt l i I 1 se puck E 7 ca GREEN a 1 I ae BLUE i ee 1 i toes 1d I b hs SCH CONNECTED TO CONNECTOR CASE Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 93 suoleoiin0ds Specifications 3 5 Cable and Connector Specifications Connector Specifications i Control I O Connector R88A CNU11C This is the connector to be connected to the drive s control I O connector CN1 Use this connector when preparing a control cable by yourself Dimensions 39
266. RKN001 5CR E 1 5m R88A CRKN003CR E 3m R88A CRKN005CR E 5m R88A CRKN010CR E 10m R88A CRKN015CR E 15m R88A CRKNO20CR E 20m Connection configuration and external dimensions FRONT VIEW TURRET gt EL l 1 ef xx mt a E se eate nsec atoning s 1 oN 0 25 BLUE 3 EXS Z2 I TA 0 25 WHITE BLUE a a Seve 5 14 I o 0 25 YELLOW 5 JENA 6 i i ra 0 25 YELLOW WHITE va i 6 c EXA 7 H H H 513 A A 0 25 VIOLET i 7 EXB F 0 25 GREY FA i 8 EXB 12 0 25 GREEN 9 EXZ 4 oo pi 0 25 ORANGE va 10 BEE 8 o 0 5 RED 1 ESV 9 o 0 5 BLACK 2 FOV ER P E tae ee ee A TEA SCH TO BODY CABLE 4 x 2x0 25 2x0 5 PU BLACK SCH TO BODY Serial Converter Encoder side Linear Servo drive side D Sub 15 Female Connector R88A CNK41L Connector Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 87 suOoI eoIIN0dS Specifications 3 5 Cable and Connector Specifications FRONT VIEW 3 88 R88A CFKAxxxCR E Extension feedback cable from Serial Converter CN1 to SinCos Encoder with Numerik Jena encoder pinout Sub D 15 pin connector type or equivalent Model Length L R88A CFKA001 5CR E 1 5m R88A CFKA003CR E 3m R88A CFKAO05CR E 5m R88A CFKA010CR E 10m R88A CFKA015CR E 15m Connection configuration and external dime
267. RR50020S Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 15 SUOISUSWIG u1 3 x3 pue sj poN PsepuerIsS Standard Models and External Dimensions 2 3 Standard Model List i Mounting Brackets L Brackets for Rack Mounting Specifications Model R88D KT01L L KTO2H L R88A TKO1K R88D KT02L L KTO4H L R88A TKO2K R88D KT04L L KTO8H L R88A TKO3K R88D KT10H L KT15H L R88A TKO4K i Cable for Safety Functions for CN8 Specifications Model Safety connector with 3m cable with loose wires at one end R88A CSK003S E 2 16 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 4 External and Mounting Dimensions 2 4 External and Mounting Dimensions Linear Servo Drive Dimensions Single phase 100 VAC R88D KT01L L 100 W Single phase 3 phase 200 VAC R88D KT02H L 200 W Wall Mounting External dimensions Mounting dimensions 70 5 2 oorp rl BHHEHH Og0HgHHEBEH DOH s600 L00000 140 05 150 6 28 a 40 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 17 SUOISUSWIG u
268. RVOMOTOR AND SERVO DRIVE USER S MANUAL 6 8 Gain Switching 3 Function 6 8 Gain Switching 3 Function Outline of Operation You can newly set gain 3 right before stopping to the gain switching function of GAIN SWITCHING INPUT OPERATING mode Selection Pn114 You can use the gain 3 switching function in the following situations for position control When servo is ON When there is no trouble with the motor s normal movement Parameters Requiring Settings Parameter Parameter name Explanation Reference number Pn605 Gain 3 Effective Time Set effective time of gain 3 P 8 57 Pn606 Gain 3 Ratio Setting Set gain 3 as a multiple of gain 1 P 8 57 Operation i Gains 1 2 and 3 Operation Timings Example When the SWITCHING mode in position control 7 and the switching condition is set to position command received Position command speed mm s Pn605x0 1ms Gain 3 i Gain 1 i i Gain 2 Pn100 to Pn104 Pn105 to Pn109 l Gain 3 region Position loop gain Pn100xPn606 100 Speed loop gain Pn101xPn606 100 Continue to use gain 1 value for the speed loop integral time constant speed feedback filter time constant and torque command filter time constant l Precautions for Correct Use If gain 3 is not used set the Gain 3 Effective Time Pn605 to 0 and Gain 3 Ratio Setting Pn606 to 0 Only the position loop gain and the speed loop gain are treated as gain 3 in the gain 3 region and the gain 1
269. Regeneration Resistor between B1 and B2 4 24 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 2 Wiring i R88D KT30F L KT50F L Terminal Block Specifications TB1 Symbol Name Function L1 L2 Main circuit power supply R88D KTxF L 3 to 5 kW 3 phase 380 to 480 VAC 323 to 528 V input 50 60 Hz L3 B1 Normally B2 and B3 are short circuited External Regeneration ane ead If there is high regenerative energy remove the short circuit bar B2 Resistor connection i terthin ls between B2 and B3 and connect an External Regeneration B3 Resistor between B1 and B2 U Red These are the output terminals to the Linear Servomotor V White Be sure to wire them correctly Motor connection W terminals Blue Green Yellow Frame ground This is the ground terminal Ground to 100 Q or less N Do not connect 24 V Control circuit power R88D KTxF L 24 VDC 21 6 to 26 4 V OV supply input Frame ground This is the ground terminal Ground to 100 Q or less NC Do not connect i Terminal Block Wire Sizes 100 VAC Input Type Wire Sizes R88D KTxxL L Model R88D KTO1L L KTO2L L KTO4L L Item Unit Power supply capacity kVA 0 4 0 5 0 9 Main circuit power Rated current A 2 6 4 3 7 6 supply input L1 Sy and L3 orL1 L2 Wire size E PERE and L3 1 Control circuit Wire size power supply input m AWG18 L1C and L2C
270. Resistor B2 l Precautions for Correct Use Connect the thermal switch output so that the main circuit power supply is shut OFF when the contacts open When using multiple External Regeneration Resistors connect each thermal switch in series The resistor may be damaged by burning or cause fire if it is used without setting up a power supply shutoff sequence using the output from the thermal switch R88D KT04L L KT08H L KT10H L KT15H L KT20H L KTO6F L KT10F L KT15F L KT20F L KT30F L KT50F L System Design Normally B2 and B3 are short circuited If an External Regeneration Resistor is necessary remove the short circuit bar between B2 and B3 and then connect the External Regeneration Resistor between B1 and B2 as shown in the diagram below Servo Drive eee gt Thermal switch output a 3 Ext IR tion Resist B36 xternal Regeneration Resistor X B2 O Remove the short circuit bar between B2 and B3 H Precautions for Correct Use Connect the thermal switch output so that the main circuit power supply is shut OFF when the contacts open When using multiple External Regeneration Resistors connect each thermal switch in series The resistor may be damaged by burning or cause fire if it is used without setting up a power supply shutoff sequence using the output from the thermal switch 4 48 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Combining Externa
271. S Accurax G5 Linear AC Servomotor Pulse train R88D KTx SYSMAC Position Control Unit Pulse Train Output Type Programmable Position Control Unit Controller CJ1W NC113 213 413 CJ1W NC133 233 433 CJ1W NC214 414 CJ1W NC234 434 CS1W NC113 213 413 CS1W NC133 233 433 C200HW NC113 213 413 SYSMAC CJ CS Accurax G5 Linear AC Servomotor R88L EC FW R88L EC GW Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 1 3 uoneinbiyuoy wia SsAS pue sainjea4 Features and System Configuration 1 3 Names and Functions 1 3 Names and Functions Drive Part Names Monitor connector CN5 Main circuit power supply terminals L1 L2 and L3 Control circuit power supply terminals gt L1C and L2C Charge lamp External Regeneration Resistor connection gt terminals B1 B2 and B3 Motor connection terminals U V and W Protective ground terminals gt Display area lt Operation area USB connector CN7 Expansion connector CN3 Safety connector CN8 Control I O connector CN1 External scale connector CN4 Not used CN2 1 4 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 1 3 Names and Functions Drive Functions i Display Area A 6 digit 7 segment LED display shows the drive status alarm codes parameters and other information i Operation Area Monitors the parameter setting an
272. S Art is displayed The bar indicator will increase Alarm clear will start This indicates a normal completion Error will be displayed if the alarm could not be cleared Reset the power supply to clear the error 2 Returning to AUXILIARY FUNCTION mode display Key operation Coa Cmi Display example Explanation Press the Ga key to return to AUXILIARY FUNCTION mode e JI Og 9 28 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 4 Setting the Mode i Analog Input Automatic Offset Adjustment This performs automatic adjustment on the Offset Values Pn422 Pn425 and Pn428 of Analog Inputs 1 to 3 Al1 to Al3 Do not perform this operation if a position loop has been configured with the host system 1 Execute automatic offset adjustment Key F f operation Display example Explanation 7 _ Press the A key to display the ANALOG INPUT AUTOMATIC _ OFFSET ADJUSTMENT mode from the alarm clear display in ae the AUXILIARY FUNCTION mode ra org or G E E Ca DOI zE Press the 6a key to enter the AUTOMATIC OFFSET r 7 ADJUSTMENT mode of the analog input number to be set mir L A or ee mE DT I ae ft lt Press and hold the A key for 5 seconds or longer until or is displayed The bar indicator will increase
273. S MANUAL Index Numerics 2 000 r min motors 0 000 eee eee 2 8 3 000 r min motors 0 ee 2 8 A Absolute encoder setup 9 5 9 8 Adaptive filter 2 2 eee ee ee 6 7 Adaptive Filter Selection Pn200 8 20 Alarmicleaf 2 xii ds wat bee kiwi eid 9 28 Alarm clear attribute output ALM ATB 3 44 Alarm Generation Allowable Time Setting Pn614 8 58 AlarmliSt 14 85 beeen e ee Cee hae oS 11 7 Alarm output ALM 2 000 0 eee 3 42 Alarm Reset Condition Selection Pn516 8 51 Alarm reset input RESET 0 3 32 Allowable current 0 00 00 ee eee 4 28 Analog Input 1 Filter Time Constant Pn423 8 39 Analog Input 1 Offset Pn422 8 38 Analog Input 2 Filter Time Constant Pn426 8 39 Analog Input 2 Offset Pn425 8 39 Analog Input 3 Filter Time Constant Pn429 8 40 Analog Input 3 Offset Pn428 8 40 Analog input automatic offset adjustment 9 29 Analog Monitor 1 Scale Setting Pn417 8 37 Analog Monitor 2 Scale Setting Pn419 8 37 Analog Monitor 2 Selection Pn418 8 37 Analog monitor cable 004 2 12 Analog Monitor Output Selection Pn421 8 38 Analog Speed Command Rotation Direction Switching AEE ae 25 tir steal dad me eaeea A 8 26 Analog Torque Command Rotation Direction Switching TPH S20 sale Ses Kae rent nS cette Orne
274. Selection Pn315 to 2 or 3 you must always allocate zero speed designation input VZERO in speed control for the same pin where zero speed designation input VZERO is allocated for speed control In addition specify the same settings for the logic Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 37 suoljoun paddy Applied Functions 6 10 Sequence I O Signal Be sure to allocate the functions that are used by multiple CONTROL modes such as operation command and alarm reset input to the same pin and do the same for the logic If this is not set correctly interface input duplicate allocation error 1 Err33 0 or interface input duplicate allocation error 2 Err33 1 will occur You must always allocate the operation command RUN Servo cannot be turned ON if it is not allocated Output Signals 6 38 You can allocate any function of output signals to the output pins for the control I O connector CN1 i Output Signal Default Setting The allocation of the default input signals is as follows Refer to Output Signal Allocation Method when you change the allocation to use Default setting state Replcebie Sue Pe taullieet Position control Speed control Force control parameters Signals value Signal name Signal name Signal name SO1 00030303h Pn410 output 197379 BKIR BKIR BKIR S02 00020202h Pn411 output 131586 READY READY READY Pn412 gt 99 4 ALM ALM ALM output S04 00050
275. Setting Pn514 with respect to the position command input Parameter error Data in the Parameter Save area was corrupted when the power supply was turned ON and data was read from the EEPROM Parameters destruction The checksum for the data read from the EEPROM when the power supply was turned ON does not match Drive prohibition input error The forward drive prohibition and reverse drive prohibition inputs are both turned OFF Excessive analog input A current exceeding the Excessive Analog Input Pn424 Pn427 or Pn430 was applied to the analog command input pin 14 Scale communications error An error was detected in scale connection and communications data Scale status error An scale error code was detected Phases A B and Z connection error An error was generated for connection of phases A B and Z of external scale 3 8 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 1 Drive Specifications Main Circuit and Motor Connections When wiring the main circuit use proper wire sizes grounding systems and noise resistance R88D KT JH L L R88D KT01L L 02L L 04L L 02H L 04H L 08H L 10H L 15H L Main Circuit Connector Specifications CNA Symbol Name Function L1 L2 L3 Main circuit power supply input R88D KTxL L 100 to 400 W Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz 200 to 400 W 3 phase 200 to 240 VAC 170 to 264
276. Setting corresponding warning detection will be 32 768 disabled 639 Reserved Do not change this setting 640 Reserved Do not change this setting 641 Reserved Do not change this setting 12 34 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 2 Parameter List i Motor Encoder and Magnetic pole estimation Setting Parameters 3 D Power Parameter 3 Default z Setting supply zZ name 3 Explanation setting un range OFFto E n ON 900 Reserved Do not change this setting Set the encoder resolution in um count 901 Encode after x4 multiplication in case of A B 0 000 pe 0 009 to Yes resolution count 1048576 Encoder i A 0 00 to 902 Pole pitch Set the linear motor pole pitch value 0 00 0 01mm 327 67 Yes 903 Reserved Do not change this setting Motor coil f 0 to 904 weight Set the linear motor coil weight 0 0 01Kg 32767 Yes Motor nominal 0 0 to 905 fores Set the linear motor nominal force 0 00 0 1N 327 67 Yes 906 Motor rated re Set the linear motor rated rms current 0 0 Arms a Yes current 3276 7 Motor peak Set the linear motor peak current as 0 0 to 30y absolute current absolute peak not rms a A 3276 7 TeS a 0 00 to 908 Motor inductance Set the per phase motor inductance 0 00 0 01mH 307 67 Yes Motor m 0 00 to 909
277. Specifications cccceceeeeeeeeesenttetsnteeeeeeeees 3 87 3 6 Servo Relay Units and Cable Specifications eeeeeseeeeeeees 3 112 3 7 External Regeneration Resistor Specifications ccceeeeeeeeeees 3 130 3 8 EMC Filter Specifications vissseiase ceciivivadauhssseavevissvzvcvaeusazenedieeanene he 3 132 Chapter 4 System Design 4 1 Installation Conditions sszsieaytcaries i eaiaeceieteadeecanaciatevapea speeded oaadbeknce aden 4 2 427 ANING eles ae ela cr itech E wee Bein ca Gent E seatetalts 4 16 4 3 Wiring Conforming to EMC Directives ccceeeeeeeeeeceeeeeeeteeeeeaeees 4 30 4 4 Regenerative Energy ADSOrption cceccceeceeeeeeeeeeeeeeeeeeeeeeeeeneeeneeea 4 44 Chapter 5 BASIC CONTROL Mode 5 1 Position COMM Olt streccsttessttin lat voentasercte tata Peitttradet et th rceter ct sek tte inad 5 2 5 2 Speed Control irienna e E E E GEE 5 8 e e Koa KO EA A E E 5 14 5 4 Internally Set Speed Control eee eeeecececeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeneaaees 5 19 Bao SWitehiIN CONO lieira aa E 5 22 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 15 16 Table Of Contents Chapter 6 Applied Functions 6 1 6 2 6 3 6 4 6 5 6 6 6 7 6 8 6 9 6 10 6 11 6 12 6 13 6 14 6 15 6 16 6 17 6 18 6 19 6 20 Anti vibration Control s sc faintness aseaaieia aeeeriehias aiadek aves 6 3 Adaptive FIMO be seni a uate used ani RE LEETE 6 7 NOTCH Rie o tetas a a E E Ea 6 9
278. Specifications i R88L EC FW 1112 1115 Item Unit R88L EC FW 1112 R88L EC FW 1115 Maximum speed 100V m s 1 1 Maximum speed 200V m s 2 2 Maximum speed 400V m s 4 4 Peak force N 1600 2000 Peak current Aeff 20 25 Continous force N 608 760 Continous current Aeff 6 5 8 2 Motor force constant N Aeff 93 0 93 0 BEMF VDC m s 76 76 Motorconstant N we5 41 47 46 37 Phase resistance Q 1 6 1 29 Phase inductance mH 12 8 10 3 Electrical time constant ms 8 8 Max cont power disipation all coils W 279 349 Thermal resistance K W 0 23 0 18 Thermal time constant S 126 126 Magnetic attraction force N 3640 4440 Magnet pole pitch mm 24 24 Weight coil unit 3 Kg 4 45 5 45 Weight magnet track Kg m 10 5 10 5 Dimension cooling plate I x w x h mm 371 x 330 x 14 371 x 330 x 14 Protection methods 4 Temperature sensors KTY 83 121 amp PTC 110C self cooling Hall sensor Digital optional Insulation class Class B Max busvoltage 560V DC Insulation resistance 500V DC Di electric strength 2750V for 1 sec Basic specifications Max allowable coiltemperature 130 C Ambient humidity 20 bis 80 non condensing Max allowable magnet temperature 70 C 1 Coil temperature rising by 6K s 2 Values at 100 C coil temperature and magnets at 25 C Coil unit must be attached to the given cooling plate sizes in the table 3
279. Sub 9 pin FEMALE 3 Pin article code 021 423 1020 D Sub 9 pin FEMALE 5 Power connector Sensor Hall sensor optional 2 Pin No Wire Function Pin No Function Pin No Function m 1 Black 1 Phase U 1 Not used 1 5V x lt 2 Black 2 Phase V 2 Not used 2 Hall U 3 Black 3 Phase W 3 Not used 3 Hall V p 4 Not used 4 Not used 4 Hall W om 5 Not used 5 Not used 5 GND 6 Green Yellow Ground 6 PTC 6 PTC is 7 PTC 7 PTC m Mating connector 8 KTY NTC 8 KTY iw Plug type SPOCO6KFSDN169 9 KTY NTC 9 KY A Case Shield Case Shield Magnet track Model Approx weight Kg m Mod l Dimensions mm R88L EC GM 03090 A 2 4 8 L2 R88L EC GM 03120 A 3 R88L EC GW0303 78 R88L EC GM 03390 A R88L EC GW0306 R88L EC GW0309 SUOISUDUWII 68 15 Il 4s aen I Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 31 imensions Standard Models and External D 2 4 External and Mounting Dimensions R88L EC GW 0503 0506 0509 Motor coil i g 0 1 C LB Js 28 0 05 A A S PL N 4s zl DS o 8 T me lt mI E Sew eer ee ae ee a ae x TERT gt 0 z mounting surface Magnetyoke I mounting surface
280. T 40 Force limiting output This output turns ON while the force is FLIMTCOM dii ye a 41 ZSP 12 Zero speed detection This output turns ON when the motor signal movement speed is equal to Zero Speed 4 Ni y aa Detection Pn434 or less VCMP Speed conformity output This output turns ON when the command speed corresponds to the motor movement speed This output turns ON when the difference y N VCMPCOM between the command speed and motor movement speed is inside the setting range of Speed Conformity Detection Width Pn435 INP2 Positioning completion If the position error is equal to Positioning a output 2 Completion Range 2 Pn442 or less this z output turns ON according to the setting V F INP2COM condition of Positioning Completion o Condition Selection Pn432 N E WARN1 Warning output 1 This output turns ON according to the setting condition of Warning Output V V V S WARN1COM Selection 1 Pn440 3 20 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 1 Drive Specifications CONTROL mode Pin number Symbol Name Function and interface Position Speed Force WARN2 Warning output 2 This output turns ON according to the setting condition of Warning Output V y V WARN2COM Selection 1 Pn440 P CMD Position command status This output turns ON when a positioning P output command is input Ni CMDCOM V LIMIT Speed limiting output This turns ON during fo
281. This Document 14 This manual consists of the following chapters Read the necessary chapter or chapters referring to below Outline Features and This chapter explains the features of this product name of each part Chapin System and applicable EC directives and UL standards Configuration Standard Models This chapter explains the models of Servo Drive Linear Servo Motor Chapter 2 and External and peripheral equipment as well as the external dimensions and Dimensions mounting dimensions This chapter explains the general specifications characteristics connector specifications and I O circuits of the Servo Drive general Chapter 3 Specifications specifications characteristics encoder specifications of the Linear Servo Motor and all other specifications including those of peripheral equipment This chapter explains the installation conditions wiring methods Chapter4 System Design including wiring conforming to EMC directives and how to calculate the p y g regenerative energy depending on Servo Drive Linear Servo Motor and application characteristics Chapter 5 BASIC This chapter explains an outline of operations available in various p CONTROL mode CONTROL modes and explains the contents of setting This chapter explains different functions such as anti vibration control Chapter 6 Applied electronic gear gain switching and disturbance observer and explains P Functions the contents o
282. TxH L Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz Motor Connector Specifications CNB Symbol Name U V W Motor connection terminals Function Phase U These are the output terminals to the Linear Ph V Servomotor ase Be sure to wire them correctly Phase W External Regenerative Resistor CNC Symbol Name Function B1 B2 B3 NC External Regeneration Resistor connection terminals Normally B2 and B3 are short circuited If there is high regenerative energy remove the short circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2 Do not connect l Precautions for Correct Use Tighten the ground screws to the force of 0 7 to 0 8 Nem M4 or 1 4 to 1 6 Nem M5 3 10 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 1 Drive Specifications i R88D KT06F L KT10F L 15F L 20F L Main Circuit Connector Specifications CNA Symbol Name Function L1 Main circuit power R88D KTxF L supply input 600 W to 2 kW 3 phase 380 to 480 VAC 323 to 528 V L2 50 60 Hz L3 Motor Connector Specifications CNB Symbol Name Function U Motor connection Phase U These are the output terminals to the Linear terminals Servomotor Phasey Be sure to wire them correctly W Phase W External Regenerative Resistor CNC Symbol Name Function B1
283. V direction ee ee 7 7 7 7 Se i Force command migutee Force command Figure B R oe P 1 I 1 1 ey 1 10 10 10 Input voltage Input voltage i 1 1 o OE URC e eae ire anew l Force command Force command Figure C 10 10 Input voltage FSIGN OFF L pa a2 FSIGN ON Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 31 sjiejeg siojoweled Parameters Details 8 4 Analog Control Parameters Pn319 Force Command Scale ening 10 to 100 Unit 0 1 v 100 DAUE oy O ER range setting and ON Set the relation between the voltage applied to the speed limit input VLIM CN1 pin 14 and the motor speed Refer to Force Control P 5 14 for more information on force command scale Pn320 Analog Force Command Direction Switching Setting F Default Power OFF range say aa setting and ON Explanation of Set Values aa Explanation value 0 Direction of motor force The command indicates the forward direction 1 Direction of motor force The command indicates the reverse direction Reverse the polarity of the force command input REF FREF1 CN1 pin 14 or PCL FREF2 CN1 pin 16 Pn321 Speed Limit Value Setting Setting Default Power OFF range 0 to 20 000 Unit mm s setting 0 and ON Pn322 Reverse Direction Speed Limit Value Setting Setting
284. Weight without connector and cable 4 12t has to be set properly for high current applications All other values at 25 C 10 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 59 SUuOI eoIIDNdS Specifications 3 3 Motor Specifications Speed Force for Iron core motors R88L EC FW 0303 R88L EC FW 0303 AxxC F V Curve 90 Ubus and coils at 100 C N 120 0 Peak operation 100 0 Tae 80 0 l 60 0 j SFS N IT pee a se g Continuous operation S 20 0 y lt z S Q 0 0 i a 0 2 4 6 8 10 12 14 mis 325V DCBus 560V DCBus 2 160V DCBus 3 R88L EC FW 0306 R88L EC FW 0306 AxxC F V Curve 90 Ubus and coils at 100 C N 250 0 Peak operation 200 0 TN 150 0 l 100 0 N N Continuous operation N S 50 0 N XN 7 sS 0 0 a i 0 2 4 6 8 10 12 14 mis 325V DCBus 560V DCBus 160V DCBus 3 60 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL R88L EC FW 0606 3 3 Motor Specifications R88L EC FW 0606 AxxC F V Curve 90 Ubus and coils at 100 C N 450 0 400 0 Peak operation 350 0 v 300 0 250 0 200 0 y 150 0 _ n Continuous operation Suin 100 0 q 50 0 x we s 0 0 T r 7 0 2 4 6 8
285. a Hall sensor O 0to3 Yes th 3 memod 2 Magnetic phase detection 3 Magnetic phase detection restoration Kiadnote phase When using Hall sensors set here the Electric 921 g P angle between the motor and the motor 0 0 to 360 Yes value angle phases ee phase Maximum time that the force command is 922 applied when magnetic phase detection 200 ms Oto 200 command 3 gt sequence is executed Pn920 0 Maximum time Magnetic phase Force command that is applied to the motor 923 detection Force when magnetic phase detection sequence 50 Oto 300 command is executed Pn920 2 The force command during magnetic Magnetic phase detection detection sequence is set to 0 if the motor Oto 924 moves more that this amount while the 100 Pulse s maximum 32767 mavemeni force set in Pn923 is applied regardless of the time set in Pn922 Magnetic phase During the Magnetic phase detection detection sequence the motor is considered stopped 0 to N 929 movement for when moves less than Pn925 pulses in 2ms ap Pulse s 32767 Stop judgement and continues stopped for Pn926 ms Magnetic phase During the Magnetic phase detection 926 detection time sequence the motor is considered stopped 40 m 0 to am for Stop when moves less than Pn925 pulses in 2ms 32767 judgement and continues stopped for Pn926ms F Set the maximum time for the motor to stop Magnetic phase f D during the magnetic phase detection 0 to 927 detection time
286. achine rigidity Write to EEPROM Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 10 3 suoioun juswysnipy Adjustment Functions 10 2 Realtime Autotuning 10 2 Realtime Autotuning a Realtime autotuning estimates the load mass of the machine in realtime and operates the machine by automatically setting the gain according to the estimated load mass At the same time it can lower the resonance and vibration if operated with the adaptive filter enabled Realtime autotuning is enabled for any control to adjust the speed loop PI control Speed command 7 Pn101 Position Pn100 Pn102 Force Pn104 command Pn004 ssa command Position Speed Mass Current loop PI control control control Estimate load mass Speed feedback Position feedback l Precautions for Correct Use Realtime autotuning may not function properly under the conditions described in the following table In such cases use manual tuning Conditions under which realtime autotuning does not operate properly If the load mass is small or large compared with the motor mass less than 3 times more than 20 times or more than the applicable load mass ratio If the load mass changes quickly in less than 10 s Load mass If the machine rigidity is extremely low bead If there is backlash or play in the system If the speed is continuous
287. afely This symbol indicates an item you should perform or avoid in order to prevent inoperative malfunction or any negative effect on performance or function This symbol indicates an item that helps deepen your understanding of the product or other useful tip Explanation of Symbols Example of symbols A This symbol indicates danger and caution The specific instruction is described using an illustration or text inside or near A The symbol shown to the left indicates beware of electric shock Q S This symbol indicates a prohibited item item you must not do The specific instruction is described using an illustration or text inside or near S The symbol shown to the left indicates disassembly prohibited This symbol indicates a compulsory item item that must be done o D The specific instruction is described using an illustration or text inside or near The symbol shown to the left indicates grounding required 4 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Safety Precautions Document For Safe Use of This Product Blllustrations contained in this manual sometimes depict conditions without covers and safety shields for the purpose of showing the details When using this product be sure to install the covers and shields as specified and use the product according to this manual Ef the product has been stored for an extended period of time contact your OMRON sales r
288. al Revision History ss use cng ee aera ce ee ee ee eaee laters 13 Structure of This Document siy cs ssesseevers morndeeiptnenanenbseocsewues aaentesers 14 Chapter 1 Features and System Configuration lek TOUTING cet sik sche lene Ss nee ati i later elaine evoele 1 2 1 2 System Configuration 2 cecvscteinces atectsi teases acerca ieee acetates 1 3 1 3 Names and Functions ccccccccccceeeeeeeeeseeeeeeeeeeeeeeeeeeseeeeeeeaaseeneeeeeess 1 4 1 4 System Block Diagrams s aiw4es stot ceased anes 1 6 1 5 Appli able Standard Sia cdaseedectdeetedacedsuste sets vutsasecadausdeeiveurusdavecas 1 11 Chapter 2 Standard Models and External Dimensions 2 1 Servo System Configuration ssssseeeeesssseeeeeeserrereeeeerinrnnnesrrnnnnneeene 2 2 2 2 How to Read MOS L itciss ciasiss cenicosceciesecaay ede soleus naemanserearpeciaaeets 2 4 2 3 Standard Model ist cgie 2 soles ccacctersocae eeuneeat sasuguiecuaee ceaeucasusats 2 7 2 4 External and Mounting Dimensions ceceeeeeeeeeeeeeeeeeeeeceeeeeees 2 17 2 5 EMC Filter DIMENSIONS ivccicctiewer oartivinesny ie cuneaaincaneuisiies 2 39 Chapter 3 Specifications 3 4 Drive SPCCIIGANONS n s aiiai aa 3 3 3 2 Overload Characteristics Electronic Thermal Function 05 3 55 3 3 Motor Specifications ccccccssccsecceeeesssssssesesessssssssesessesssssecceeeeees 3 56 3 4 Encoder Hall sensor and Serial Converter cccecceeeeeeeeeeeeteees 3 76 3 5 Cable and Connector
289. alue Key Display example Explanation uolelado operation Use the keys to change the value A Press Q to move to the left and change the digit to be set S Press A to increase the value of the digit with Press O to decrease the value of the digit with LJ tn Press the Gara key to save the new set value To cancel the change instead of pressing Ga press E to return to the display in procedure 2 a a lt s Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 25 Operation 9 4 Setting the Mode 5 Returning to PARAMETER SETTING mode Key operation ire H Precautions for Correct Use Display example Explanation Press the ar key to return to PARAMETER SETTING mode fa Some parameters will be displayed with an r before the number when the display returns to the PARAMETER SETTING mode To enable the set values that have been changed for these parameters you must turn the power supply OFF and ON after saving the parameters to the EEPROM If the Front Panel Parameter Write Selection Pn617 is set to 1 the parameter set value is automatically written to EEPROM when changed When the set value for a parameter is saved the new setting will be used for control Make gradual changes instead of changing the large numbers at once when changing v
290. alues and the motor and encoder have been properly configured Set to the output from the host device that agrees using the COMMAND PULSE INPUT mode Pn007 Write the parameters to EEPROM and then turn OFF the power supply and turn it ON again Connect the operation command input RUN CN1 pin 29 to COM CN1 pin 41 Servo ON status will be entered and the motor will be activated If there are no Hall sensors installed in the motor on the first RUN the Magnetic Pole Estimation sequence is performed Confirm that the sequence finishes successfully Input a low frequency pulse signal from the host device to start low speed operation 10 Check the motor movement speed in MONITOR mode Check to see if the motor is moving at the set speed and to see if the motor stops when the command pulses are stopped Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 5 Trial Operation Trial Operation in SPEED CONTROL Mode kh OND Connect connector CN1 Input power supply 12 to 24 VDC for the control signals 24 VIN COM Turn ON the power supply to the drive Confirm that the parameters are set to the standard set values and the motor and encoder have been properly configured Connect the operation command input RUN CN1 pin 29 to COM CN1 pin 41 Servo ON status will be entered and the motor will be activated If there are no Hall sensors installed in the motor on the first
291. alues for parameters that greatly affect motor operation speed loop gain position loop gain etc in particular For details on parameters refer to Chapter 8 Parameters Details 9 26 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 4 Setting the Mode PARAMETER WRITE Mode Set values changed in PARAMETER SETTING mode must be saved to EEPROM To do so the following operation must be performed 1 Saving changed set values Key operation Display example Explanation Press the 5 key to display PARAMETER WRITE mode Press the 6a key to enter PARAMETER WRITE mode Press and hold the A key for 5 seconds or longer until is displayed The bar indicator will increase DOO Writing will start This display will appear only momentarily This indicates a normal completion In addition to this display am either ESEE jori E ror may be displayed Ifl E 5 is displayed writing has been completed normally but some of the changed parameters will be valid only after the power supply has been turned OFF and ON again Turn OFF the drive power supply and then turn it ON again will be displayed if there is a write error Write the data again i 2 Returning to PARAMETER WRITE mode Key operation H Precautions for Correct Use Display example Explanation L Press the 6s key
292. alues other than the settings listed You can allocate the same function to multiple output signals You cannot change the output signal logic When the function is disabled OFF signal input is open with COM and when the function is enabled ON signal input is shorted with COM 6 40 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 11 Forward and Reverse Drive Prohibition Functions 6 11 Forward and Reverse Drive Prohibition Functions Outline of Operation When the forward drive prohibition input POT and the reverse drive prohibition input NOT are turned OFF the motor will stop moving You can stop the motor from moving beyond the device s operating range by connecting limit inputs Parameters Requiring Settings parameter Parameter name Explanation Reference number Pn400 to Input Signal Selection 1 Set the input signal allocation and logic Pn409 to 10 In the default setting the allocations are as follows P 8 35 Pn400 CN1 pin 8 NOT Logic contact NC Pn401 CN1 pin 9 POT Logic contact NC Pn504 Drive Prohibition Input Set the operation to be performed upon forward s naires P 8 45 Selection and reverse drive prohibition input Pn505 Stop Selection for Drive Set the deceleration and stop methods upon P 8 46 Prohibition Input forward and reverse drive prohibition input i i Input Signal Selection Function Default setting Pn400 Pn401 In the default setting
293. an 1 Kw Note 4 Pn104 default settings 1 Pn104 126 For 200V drives of 1Kw or upper and 400V drives 2 Pn104 84 For 200V drives of less than 1 Kw Note 5 Pn105 default settings 1 Pn105 380 For 200V drives of 1Kw or upper and 400V drives 2 Pn105 570 For 200V drives of less than 1 Kw Note 6 Pn106 default settings 1 Pn106 180 For 200V drives of 1Kw or upper and 400V drives 2 Pn106 270 For 200V drives of less than 1 Kw Note 7 Pn109 default settings 1 Pn109 126 For 200V drives of 1Kw or upper and 400V drives 2 Pn109 84 For 200V drives of less than 1 Kw Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 17 xipueddy Appendix 12 2 Parameter List i Vibration Suppression Function Parameters 12 18 E 2 Power E Parameter Default a Setting supply z name Explanation setting unit range OFFto E a ON Set the operation of the adaptive filter 0 Disabled 1 1 enabled Frequency limited after adaptation Adaptive Filter 200 Selection 2 2 enabled Frequency limited after adaptation 0 Oto4 ir 3 1 enabled Adaptation performed at all times 4 2 enabled Adaptation performed with 1 filter at all times Notch 1 201 Frequency Set the notch frequency of resonance 5000 Hz 50 to suppression notch filter 1 5 000 Setting 202 Notch 1 Width Set the notch width of the resonance 2 E 0Oto20 l Setting s
294. an adaptive notch is enabled Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 2 Parameter List E 2 Power E Parameter Explanation Default Unit Setting supply zZ name 3 setting range OFFto K Go ON Select the vibration filter switching method 0 Enabled When VS SEL1 input open 1 Vibration filter 1 and 3 enabled When VS SEL1 input shorted Vibration filter 2 and 4 enabled When VS SEL1 open and VS SEL2 open Vibration filter 1 enabled ee When VS SEL1 shorted and VS SEL2 open 213 guration Fiter Vibration filter 2 enabled 0 R oto3 l 2 When VS SEL1 open and VS SEL2 shorted Vibration filter 3 enabled When VS SEL1 shorted and VS SEL2 shorted Vibration filter 4 enabled Forward direction Vibration filter 1 and 3 enabled 3 Seet Reverse direction Vibration filter 2 and 4 enabled 214 Vibration Set the vibration frequency 1 The function is 0 0 1 Hz 0 to 5 Frequency 1 enabled if the set value is 10 1 Hz or greater i 2 000 Vibration Filter Finely adjust damping control function Tet Oto 215 force saturation occurs lower this setting to O 0 1 Hz 1 Setting 1 000 increase responsiveness raise this setting 216 Vibration Set the vibration frequency 2 The function is 0 1 Hz 0 to Frequency 2 enabled if the set value is 10 1 Hz or greater i 2 000 Vibration Filter Finely adjust damping control function et Oto 217 forc
295. and Pn302 Speed Command Scale Set the input gain for the analog speed command input P 8 26 Analog Speed Command Inverts the polarity of the analogue speed command Pn303 Movement Direction P 8 26 Switching Pn312 Soft Start Acceleration Set the acceleration time for internally set speed control Set P 8 27 Time the time until 1 000 mm s is reached i Pn313 Soft Start Deceleration Set the deceleration time for internally set speed control Set P 8 28 Time the time until 1 000 mm s is reached i Pn314 S curve Acceleration Set the S curve time in the time width centered on the P 8 28 Deceleration Time Setting inflection points for acceleration and deceleration 5 8 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 5 2 Speed Control i CONTROL mode Selection Pn001 Select the speed control Set values 1 Speed control 3 Switching between position and speed control or 5 Switching between speed control and force control i Analog Speed Command Input Process Pn300 Pn301 Pn302 Pn303 Convert the voltage input by an analog input to a speed command to control the motor Parameter Parameter name Explanation sering Unit number range Select the speed command input method 0 Analog speed command Command Speed 1 No 1 to 4 internally set speed Pn300 Selection 2 No 1 to 3 internally set speed Stoa analog speed command 3 No 1 to 8 internally
296. and reverse operation Pn522 Forward operation Set by PCL 0 to 10 V Reverse operation Set by NCL 0 to 10 V 5 Limit in both forward and reverse operation Set by PCL 0 to 10 V Switch the limit value using force limit switching FLSEL When FLSEL is OFF Forward operation Pn013 6 Reverse operation Pn522 When FLSEL is ON Forward operation Pn525 Reverse operation Pn526 For the force limit in force control always select No 1 Force Limit Pn013 The force limit under force feed forward selection is enable only during speed control when the set value is 1 to 3 PCL signal is asigned to the terminal 16 in CN1 See chapter 3 for details about the conection NCL signal is asigned to the terminal 18 in CN1 See chapter 3 for details about the conection Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 33 suoljoun paddy Applied Functions 6 9 Force Limit Rate of Change Setting at Switching Pn521 3 If 3 is set in Force Limit Selection Pn521 you can add fluctuate the change at the time of switching This function is disabled in any other setting How to Set Rate of Change Fluctuate Set the parameter according to the switching type From No 1 force limit to No 2 force limit Pn523 From No 2 force limit to No 1 force limit Pn524 The sign of the rate of change switches automatically inside the drive based on the magnitude correlation of the No 1 force lim
297. ant Position Loop 2 See 105 Gain Set the position loop gain 2 Note 5 0 1 s 1 to 30 000 Speed Loop Gain See j 106 2 Set the speed loop gain 2 Note 6 0 1 Hz 1 to 32 767 Speed Loop ito 107 Integration Time Set the speed loop integration time constant 2 10000 0 1 ms 10 000 Constant 2 Speed Feedback Filter The speed feedback filter 2 can be set to one 108 0 Oto5 l Time Constant of 6 values 2 Force Command Filter See 0 01 0 to 109 Time Constant Set the time constant for the force filter 2 Note 7 Ims 2 500 2 Speed Feed 5 Oto E 110 forward Amount Set the speed feed forward amount 300 0 1 1 000 Speed keed Set the speed feed forward filter time 0 01 0 to 111 forward 50 constant ms 6 400 Command Filter Force Feed 3 o Oto 112 forward Amount Set the force feed forward amount 0 0 1 1 000 Force Feed 113 forward Set the force feed forward filter 0 wae Orto 3 ms 6 400 Command Filter GAIN Execute optimum tuning using the gain SWITCHING switching function 114 INPUT ay 1 Oto 1 OPERATING 0 Gain 1 PI P switching enabled mode Selection 1 Gain 1 and gain 2 switching available gt D D 5 2 x Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 15 Appendix 12 2 Parameter List 12 16 E Power Z Parameter Explanation Default Unit Setting
298. are Motor Attraction force R88L EC FW 0303 300N R88L EC FW 0306 500N R88L EC FW 0606 1020N R88L EC FW 0609 1420N R88L EC FW 0612 1820N R88L EC FW 1112 3640N R88L EC FW 1115 4440N Use next bolts for the coil unit Magnet R88L EC FW 0606 Boltsforcoll unit ReeLecpwaosos REBL EC FW 0609 ResL EC Fw 1115 Bolts steel M4 M5 M5 Depth bolt in thread Min 4mm Min 4mm Min 4 5mm hole Max 5mm Max 5mm Max 6 5mm Tightening force 2 0 3 0 Nm 3 0 5 0 Nm Gently introduce the ball bearing in the top table into the linear guides Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL ubiseg wajshs ia System Design 4 1 Installation Conditions Attach an end plate or stopper to prevent that accidentally the motor leave the slider In order to install the magnet track move the top table to one side of the slider and secure so it s not moving 4 8 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 1 Installation Conditions The magnet comes with a protection plate to reduce the effect of the magnetic field Do not remove the protection plate until the magnet track has been completely installed Install the first magnet in the free side of the slider So you can work without problems due to the attraction force between coil and magnet u s q waj shs If the slider is not long enough for this operation remove
299. at the installation has been done with the proper dimensions and tolerances u s q waj shs Install a proper table chain and place the necessary cables At least you have to put the power cable and encoder cable Optionally you may need cables for Hall and Temperature sensors and other cables required for the machine Make sure there is no torsions in the cable and install cable separators so the adjacent cables do not friction against each other Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 11 System Design 4 1 Installation Conditions Make sure that the chain can support the moving speed and acceleration If necessary install a linear motor cover to offer a certain protection against dust or incoming objects Also it is recommended to install limit switches to avoid that the motor crashes against the end of the slider 4 12 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 1 Installation Conditions ironless Installation Conditions i Components An ironless Linear Motor is not a system by itself Before the linear motor can be run it has to be assembled together with the proper elements Apart from the drive OMRON supplies the next elements Linear motor coil Magnet track s Cables Hall sensor optional Serial Converter optional In order to make a proper installation the user must provide next elements Linear encoder and read head can be A B line
300. ation command RUN must be OFF Turning ON Power Supply First carry out the preliminary checks and then turn ON the control circuit power supply It makes no difference whether or not the main circuit power supply is turned ON The alarm output ALM will take approx 2 seconds to turn ON after the power supply has been turned ON Do not attempt to detect an alarm using the Host Controller during this time If power supply is turned ON while the Host Controller is connected Checking Displays 9 4 i Displays on the Drive The following will appear on the display area on the drive when the power supply is turned ON D D D i a D 09 09 11 11 y Approx 2 s y 0 6s D D D D T e a a A a y 0 6s 7 E Default display determined by the Default Display setting of parameter Pn528 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 2 Preparing for Operation Linear motor and Encoder Setup If the motor and encoder setup is not done the drive will report an Abnormality setting error Error 60 x Setup the linear motor and encoder by following the setup wizard in CX Drive To start the linear motor setup click in the right icon in the project tree Drivel Online Ef Parameter Editor f H 0 Status Double click and the Monitor wizard appear Note The final appearance may change Then the first step in the wizard is opened Linear motor s
301. ation time h is displayed Lower L Higher H Press Q to switch between Lower L and Higher H t I l i Drive Temperature U33 M 4p L m on 1 m L I rc t Amplifier temperature C is displayed i Safety Status Temperature U35 SAFEty Safety status SrVoFF Servo OFF Sivan Servo ON Dot information ALArM Alarm status A A Servo ready Flash display OFF The dot is not lit Status that allows ON The dot is lit normal changes Press A So switch between monitors you want to display SAFEES v4 5 Fj Ta Input photocoupler OFF A Input photocoupler ON v4 GEZ F Input photocoupler OFF F Input photocoupler ON v 4 Egan Output photocoupler OFF 1 Output photocoupler ON Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 23 uolelado 9 4 Setting the Mode i Linear Motor Status Monitor U37 Displays the state of the Hall sensor signals From Top to bottom are CS1 CS2 amp CS3 Those signals are displayed only if Pn920 1 Magnetic pole detection via Hall sensors Displays the current electrical angle Estimation of the accuracy in the Magnetic Pole detection method In the example the electrical angle is measured with an error margin of 8 electrical degrees This display makes sense only if Pn920 2 Magne
302. be properly connected to the terminal block The motor s U V and W power lines and the green yellow must be properly connected to the terminal block Check the Encoder wiring and if used Serial Converter unit wiring i Checking the Motor The motor side power lines and the power cables must be securely connected The linear motor is not a working system by itself It needs to be installed with the proper elements before using it Make sure the linear motor system is properly installed with all its elements and with the right distances and tolerances If used make sure that the Hall sensor is properly installed in the motor coil Use always flexible type cables for the motor power connection Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 3 uoneiado Operation 9 2 Preparing for Operation i Checking the Encoder Wiring The encoder cable must be securely connected to the encoder connector CN4 at the drive side The encoder cable must be securely connected to the encoder connector at the encoder side The encoder cable must be securely connected to the encoder connector CN4 for the A B Encoder or to Serial Converter Unit for the SinCos Encoder The cables to the Serial Converter Unit must be securely connected Use always flexible type cables i Checking the Control I O Connector The control cable must be securely connected to the control I O connector CN1 The oper
303. ccording to the settings of Input Signal Selection 1 to 10 Pn400 to 409 The input logic for the alarm reset input RESET is always contact a You cannot set contact Function It is the external reset input for servo alarm A reset occurs at the rising edge of this input Inputting for 120 ms or more releases an alarm condition An alarm reset also resets the content of the error counter upon which the position loop becomes no longer effective Eliminate the cause of the alarm before resuming operation To prevent danger turn OFF the Operation command RUN first then input the alarm reset signal Some alarms cannot be reset with this input Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 1 Drive Specifications i Error Counter Reset Input ECRST Pin 30 Error counter reset input ECRST This is the allocation at default setting You can change the functions for input terminals CN1 to 8 9 and 26 to 33 according to the settings of Input Signal Selection 1 to 10 Pn400 to 409 You can only allocate the error counter reset input ECRST to pin 30 SI7 Allocating to any other terminal generates an error counter reset signal allocation error A332 The input logic for the error counter reset input ECRST is always contact a You cannot set contact b Function Inputting the error counter reset resets the content of the error counter upon which the position loop becomes no longer effective You can use Er
304. ccurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 1 Basic Parameters 8 1 Basic Parameters A Pn000 Movement Direction Setting All Setting Oto1 Unit 7 Default 1 Power OFF Ves range setting and ON Explanation of Set Values Sal Explanation value 0 Forward direction command moves in the direction of the motor coil cables 1 Forward direction command moves in the direction opposite to the motor coil cables Pnoo1 CONTROL mode Selection All Setting 0tos Unit B Default 0 Power OFF Yes range setting and ON 8 Explanation of Set Values pel Explanation N value T 0 Position control pulse train command oD 1 Speed control analog command n 2 Force control analog command E 3 Mode 1 Position control Mode 2 Speed control D 4 Mode 1 Position control Mode 2 Force control 5 Mode 1 Speed control Mode 2 Force control 5 Set the CONTROL mode to be used ai If COMPOSITE modes are set set values 3 to 5 mode 1 or mode 2 can be selected using the CONTROL mode switching input TVSEL When the CONTROL mode switching input is open Select mode 1 When the CONTROL mode switching input is short circuited Select mode 2 Do not input a command within 10 ms before or after switching CONTROL mode Open l Close Open switching input 1 gt lt _ 2 gt lt 1 10 ms or more 10 ms or more 8 2 Ac
305. cludes temperature sensors and can be ordered with or without connectors It is also possible to install an optional hall sensor in the motor coil Select the Linear Servomotor based on the load and the required dynamics General Specifications for Iron core motors Item Value Maximum coil operating temperature 130 C Maximum magnet temperature 70 C Ambient humidity 20 to 80 non condensating Operating and storate atmosphere No corrosive gases Insulation class B Insulation resistance 500V DC Dielectric strength 2750V for 1s Maximum DC bus voltage 560V DC Temperature protection 1 PTC 110C per phase in series 1IKTY 83 121 Self cooling Hall sensor Digital Optional needs to be ordered separately 3 56 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Characteristics for Iron core motors 3 3 Motor Specifications i R88L EC FW 0303 0306 Item Unit R88L EC FW 0303 R88L EC FW 0306 Maximum speed 100V m s 2 5 2 5 Maximum speed 200V m s 5 5 Maximum speed 400V m s 10 10 Peak force N 105 210 Peak current Aeff 3 1 6 1 Continous force N 48 96 Continous current 2 Aeff 1 24 2 4 Motor force constant N Aeff 39 7 39 7 BEMF VDC m s 32 32 Motorconstant N we5 9 75 13 78 Phase resistance Q 5 34 2 68 Phase inductance mH 34 7 17 4 Electrical time constant ms 6 5 6 5 Max cont power disipation all coils W 32 6
306. coder resolution in 0 01 um count P 8 62 The value here is after interpolation Select here the type of encoder used 0 A B quadrature Pn323 Encoder type 1 Serial Incremental or SinCos Serial Converter P 8 33 2 Serial Absolute E coderto nt Reverses the count direction of the encoder Pn326 0 Non reversed P 8 34 direction 1 Reversed 6 58 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 18 Encoder Setup Operating Procedure 1 Make sure the mechanical and electrical installation is properly done 2 Use the CX Drive linear motor setup wizard to configure the encoder type 3 Select the right encoder type Pn323 Select the encoder type according to the choosed one 0 Line Drive A B quadrature pulses This encoder is directly wired to the CN4 connector Bandwith is limited to 4MHz after quadrature 1Mpulse s It is recommended to use encoder resolution of 20um pulse or better Poor encoder resolutions can deal to low motor performance 1 Serial Incremental Encoder With this setting you can connect next types of encoder SinCos Encoder with Serial Converter SinCos encoder is connected to the Serial Converter this device interpolates the SinCos signal by 400 before quadrature and send the position information via serial link The bandwith of the Serial Converter is 400KHz before quadrature The Serial Converter also allows the connection of a Hall sensor and Temperature sensor whose inf
307. communications errors 23 Display of axis numbers for communication 24 Position error encoder unit 25 Reserved 26 Reserved 27 P N voltage 28 Soft version 29 Drive serial number 30 Reserved Comma nd unit mm s mm s mm s Pulse Pulse Pulse times 0 to 37 Yes 528 Default Display 31 Accumulative operation time 32 Reserved 33 Drive temperature 35 Safety status monitor 37 Linear motor status monitor 0 to 37 Yes Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 31 xipueddy Appendix 12 2 Parameter List 12 32 3 D Power E Parameter Default Setting supply name E Explanation setting nii range OFF to o ON 529 Reserved Do not change this setting 530 Reserved Do not change this setting 531 Axis Number Set the axis number for communication 1 0 to 127 Yes Command Pulse Set the maximum command pulse input 532 Input Maximum 4000 kpps 250 to 4 000 Yes Setting Set the detection of pulse regeneration Pulse limi Regeneration mitior 533 imit Output lO Disabled 9 gt Oon neS Peting 1 Enabled 534 Reserved Do not change this setting Front Key S
308. cote 7 5 Connection Example oie resaciera rar tuasrcaaeiel ncaa utncanen sean yanuanatarerstactis 7 7 Chapter 8 Parameters Details 8 1 8 2 8 3 8 4 8 5 8 6 8 7 8 8 Basic Parameters oo acarten vi suseaceeenans a tencncncustmedas sian uedemeeustondin maarcaauanouaanets 8 2 Gain Parameters innossa a a A Aea RR 8 9 Vibration Suppression Parameters cccccccceeeeeeeeeeeecceeeeaeaaeeeeeeeees 8 20 Analog Control Parameters cccccceccceeeeeeeeeeeeeeeeeeeeeeeaeeeeeeeeenees 8 25 Interface Monitor Setting Parameters cccsssssscceeeeeeeeeeeeeeeeees 8 35 Extended Parameters acceva tenet aneiiaeanike i astannd 8 45 Special Parameters sais cves lt Uatusscusisuaaasadasscusasushernntedeesesusseatenuuersuecucesucuss 8 57 Linear Motor And Encoder Setting ParameterS ceeeeeees 8 62 Chapter 9 Operation 9 1 9 2 9 3 9 4 9 5 Operational Procedure iic eaten Sree con etanin via ntavesunee 9 2 Preparing for Operation wisiechevcrcoccsabecadataascetincudictinSeetcaeiaaseuunecdecateats 9 3 singe Front DiISplay iesistie tntan pennies idian 9 10 Setting the Mode acetic gaat es caveat nn i cae eel Se epee se eee 9 11 Thal OBS RATION A vecaccerdtecsate cc tecitesccaaasau E e a Ea 9 35 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Table Of Contents Chapter 10 Adjustment Functions 10 1 Gaim Adjustment ats nwa a Mie el ek eee Oe Oi tee ctl 10 2 10 2 Realtime Autotuning s ixcvetacssecdveidat
309. cribed in this section These conditions are for conformance of Accurax G5 Linear products to the EMC directives EMC related performance of these products however may be influenced by the configuration wiring and other conditions of the equipment in which the products are installed The EMC conformance of the system as a whole must be confirmed by the customer The following are the requirements for EMC directive conformance The drive must be installed in a metal case control panel The motor does not however have to be covered with a metal plate Noise filters and lightening surge absorptive elements surge absorbers must be installed on power supply lines Braided shielded cables must be used for all I O signal cables and encoder cables Use tin plated mild steel wires for the shielding All cables I O wiring and power lines connected to the drive may have clamp filters installed to improve the noise immunity The shields of all cables must be directly connected to a ground plate Wiring Method R88D KT01L L KT02L L KT04L L KT02H L KT04H L KT08H L KT10H L KT15H L KT20H L Single phase 100 VAC 2 3 phase 200 VAC 4 30 SG 1 For models with a single phase power supply input R88D KT01L L KT02L L KT04L L KT02H L KTO4H L KTO8H L KT10H L KT15H L the main circuit power supply input terminals are L1 a
310. cteristics 4 4 1 Installation Conditions ccceteeeeseeeeeeeeeeeeeeeeeeeees 4 2 Servo Drive Installation Conditions cccceeeeeeeeeeeeeeeeeeeteneeetees 4 2 Iron core Installation Conditions cccceceeeeeeeeeeeeteeeeeteteeeeeeeees 4 4 lronless Installation Conditions ccccceeeeeeeeeeeeteeeeeeeeeeeeeeeeaees 4 13 4 2 WAIN G crater ncastccwecduanduesncniaectdadeadinsinrnduanndaavandvassseianbewes 4 16 Peripheral Equipment Connection Examples cceceeeees 4 16 Main Circuit and Motor Connections c ccceceeeseeeeeseeeeeeneeeeees 4 22 4 3 Wiring Conforming to EMC Directives 0 4 30 Wiring Method incarci aa A E 4 30 Selecting Connection Component eesesseesseeesreeesrresriesrreserrrene 4 35 4 4 Regenerative Energy Absorption eeeeeeeeees 4 44 Calculating the Regenerative Energy ccccsceeseteeeeeeteeseneeees 4 44 Drive Regeneration Absorption Capacity 4 46 Regenerative Energy Absorption with an External Regeneration Resistor 4 47 Connecting an External Regeneration Resistor 4 48 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL System Design 4 1 Installation Conditions 4 1 Installation Conditions Servo Drive Installation Conditions Dimension Conditions around Equipment Install drives according to the dimensions shown in the following illustration to ensure proper heat dispersion inside the driv
311. cuit is turned ON You can detect a failure of the safety input circuit and the EDM output circuit by monitoring all of the following 4 signal statuses using an external device Signal name Symbol Signal status Safety input 1 SF1 ON ON OFF OFF Safety input 2 SF2 ON OFF ON OFF EDM output EDM OFF OFF OFF ON The maximum delay time is 6 ms after the safety input signal is input and until the EDM output signal is output 7 4 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 7 2 Operation Example 7 2 Operation Example Operation Timings to a Safety Status Operation command RUN Servo ON Servo OFF Safety input 1 Normal status STO status Safety input 2 3 Dynamic brake relay DB released DB engaged Servo ready completed output READY READY Alarm output ALM Normal Alarm Pn438 set value w Brake interlock output BKIR Brake released Brake held n Pn439 set value ee When the Pn438 l Pn438 set value is early 1 set value Brake released Pn439 set value ee e 1 t1 is the set value of the Brake Timing during Operation Pn438 or the time needed for the motor speed to drop to or below the Brake Release Speed Setting Pn439 whichever occurs first 2 The dynamic brake is based on the Stop Selection for Alarm Generation Pn510 setting 3 Safety inputs 1 and 2 transition to the STO status when either one of them is turned OFF
312. curax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 1 Basic Parameters Pn002 REALTIME AUTOTUNING mode Selection All Setting F Default Power OFF range aoe Git setting i and ON Explanation of Set Values ba Explanation 0 Disabled 1 This mode focuses on stability 2 This mode focuses on positioning 3 Used when unbalanced load is present as in vertical axes 4 Used when friction is large unbalanced load also calculated 5 Used in combination with the software tool The drive calculates the correction and the user decides whether to apply them or not 6 Used when freely combining REALTIME AUTOTUNING mode and APPLICABLE FILTER mode See Chapter 10 for details Pn003 Realtime Autotuning Machine Rigidity Setting All Setting F Default Power OFF range ee nk setting 13 and ON Default settings 1 Pn003 11 For 200V drives of 1Kw or upper and 400V drives 2 Pn003 13 For 200V drives of less than 1 Kw Set the machine rigidity to one of 32 levels when realtime autotuning is enabled Low lt Machine rigidity gt High Low lt Servo gain gt _ High Pn003 0 1 31 Low Responsiveness gt High If the set value is changed suddenly by a large amount the gain will change rapidly subjecting the machine to shock Always start with the small setting and gradually increase the setting while monito
313. d Reverse button the motor will move an the incremental Step distance and back in position control starting in the Forward Reverse direction Warning The Forward and Reverse operation may be interrupted if other operations with CX Drive like trace parameter change etc are executed at the same time than the Step operation causing a crash in the linear motor Once the operation has ben finished click the Stop and Servo OFF buttons Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 9 Operation 9 3 Using the Front Display 9 3 Using the Front Display es All LEDs will flash when an error occurs and the window switches to the error display oOmRon 0 0 a a a a a a a oO ea 9 10 ya Mode key D Q A Switches between the following 4 modes e MONITOR mode A e PARAMETER SETTING mode xy e AUXIARY FUNCTION mode ER e PARAMETR WRITE mode Increment and Decrement key Increases decreases the parameter number or data value Shift key Shifts the operating digit to the left Switches between the parameter and data displays and writes data Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 4 Setting the Mode Changing the Mode I wr Front panel default display le Parameter Parameter Auxiliary c 6 O
314. d Filter 0 Pn114 i N INPUT OPERATING 1 1 1 A 1 1 1 1 Pn115 SWITCHING mode in Position Control ag Sg Peon Pn116 Gain Switching Delay Time in Position Control 30 30 30 30 30 30 30 30 Pn117 Gain Switching Level in Position Control 50 50 50 50 50 50 50 50 Pn118 ra i Hysteresis in Position 33 33 33 33 33 33 33 33 Pn119 Position Gain Switching Time 33 33 33 33 33 33 33 33 Pn120 SWITCHING mode in Speed Control 0 0 0 0 0 0 0 0 Pn121 Gain Switching Delay Time in Speed Control O 0 0 0 0 0 0 0 Pn122 Gain Switching Level in Speed Control 0 0 0 0 0 0 0 0 Pn123 Gain Switching Hysteresis in Speed ControljO 0 0 0 0 0 0 0 Pn124 SWITCHING mode in Force Control 0 0 0 0 0 0 0 0 Pn125 Gain Switching Delay Time in Force ControljO 0 0 0 0 0 0 0 Pn126 Gain Switching Level in Force Control 0 0 0 0 0 0 0 0 Pn127 Gain Switching Hysteresis in Force Control O 0 0 0 0 0 0 0 Pn605 Gain 3 Effective Time 0 0 0 0 0 0 0 0 Pn606 Gain 3 Ratio Setting 100 100 100 100 100 100 100 100 Pn607 Force Command Value Offset Estimated if Pn002 3 4 or 5 Pn608 Forward Direction Force Offset Estimated If Pn002 4 or 5 Pn609 Reverse Direction Force Offset Estimated if Pn002 4 or 5 oe Function Expansion Setting 0 0 0 0 0 0 0 0 Pn611 Electric Current Response Setting 100 100 100 100 100 100 100 100 Pn613 Mass ratio 2 0 0 0 0 0 0 0 Pn623 Disturbance Force Compensation Gain 0 0 0 0 0 0 0 Pn624 Disturbance Observer Filter Setting 0 0 0 0 0 0 0 1 This is l
315. d applications All other values at 25 C 10 3 68 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 3 Motor Specifications Speed Force for ironless motors R88L EC GW 0303 R88L EC GW 0303 AxxS F V curve at 90 Ubus and coils at 100 C Peak operation m s 0 0 20 0 40 0 60 0 80 0 100 0 120 0 IN 325V DCBus 160V DCBus 2 R88L EC GW 0306 R88L EC GW 0306 AxxS F V curve 90 Ubus and coils at 100 C 20 18 16 z I Peak operation 14 12 T I g 10 i 8s PH Were Soe Peak operation 6 i E Sagey 4 tl oon Continuous operation 1 2 0 J 0 0 50 0 100 0 150 0 200 0 250 0 IN 325V DCBus 160V DCBus 2 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 69 SUuOI eoIIINdS Specifications 3 3 Motor Specifications R88L EC GW 0309 R88L EC GW 0309 AxxS F V curves 90 Ubus and coils at 100 C 20 18 Peak operation 16 m s 0 0 50 0 100 0 150 0 200 0 250 0 300 0 350 0 IN 325V DCBus 160V DCBus R88L EC GW 0503 R88L EC GW 0503 AxxS F V curve 90 Ubus and coils at 100 C 6 5 Peak operation 4 T g3 2 i Peak operation 1 a ae Continuous operation NR ee z 0 1 0 0 50 0 100 0 150 0 200 0 250
316. d by the user by using the software tool CX Drive 4 Adaptive result clear The notch filter 3 and notch filter 4 parameters are disabled and adaptive result is cleared Pn200 H Precautions for Correct Use Adaptive filter may not operate correctly under the following conditions Item Conditions under which the adaptive filter not operates properly CONTROL mode FORCE CONTROL mode If the resonance frequency is 300 Hz or lower ior If the resonance peak or control gain is low and the motor speed is not affected by it p If there are three or more resonance points aad Ifthe motor speed with high frequency components changes due to low rigidity or other non linear elements Command pattern The acceleration deceleration is sudden If the adaptive filter does not operate properly use Notch 1 Pn201 to Pn203 or Notch 2 Pn204 to Pn206 to implement resonance measures according to the manual adjustment procedure Refer to P 6 9 for information on notch filter An unusual noise or vibration may occur until the adaptive filter stabilizes after startup immediately after the first servo ON or when the Realtime Autotuning Machine Rigidity Selection Pn003 is increased but this is not a problem if it disappears right away If the vibration or unusual noise however continues for three or more reciprocating operations take the following measures in the possible order Write th
317. d drive condition i Charge Lamp Lits when the main circuit power supply is turned ON i Control I O Connector CN1 Used for command input signals and I O signals i Not used CN2 This connector is not used in the Accurax G5 Linear servodrive i Expansion Connector CN3 A spare connector for expansion Do not connect anything i External Scale Connector CN4 Connector for the external linear encoder if A B type is used or the Serial Converter if SINCOS type is used i Monitor Connector CN5 2 analog outputs to monitor values like motor movement speed force command value etc i USB Connector CN7 Communications connector for the computer i Safety Connector CN8 Connector for the safety devices If no safety device is used keep the factory set safety bypass connector installed Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 1 5 uoeIn iyuon wia SsAg pue sainjea4 Features and System Configuration 1 4 System Block Diagrams 1 4 System Block Diagrams e Size A R88D KT01 L L 02H L
318. d operation pattern Actual operation Speed mm s a N Timet Fas If the speed loop gain is high vibrations are more likely to occur Vibration or resonance may not disappear In such case decrease the speed loop gain Command operation pattern Speed mm s Actual operation Timet Note The maximum suitable value for the Speed Loop Gain depends on the mechanical rigidity and correspond to the cut off frequency that can be determined by the FFT analisi with the CX Drive Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 10 17 suol puny juswysnipy Adjustment Functions 10 3 Manual Tuning Pn102 and Pn107 Speed Loop Integral Time Constant The speed loop integral time constant also determines the responsiveness of the servo If the speed loop integral time constant is low vibration or resonance occur In such case increase the speed loop integral time constant Command operation pattern Speed mm s Actual operation Timet If the speed loop integral time constant is high the response is delayed The servo rigidity becomes weak In such case decrease the speed loop integral time constant Command operation pattern Speed mm s Timet Pn104 and Pn109 Force Command Filter Time Constant Current Loop Input Adjustment The force command filter applies a filter so the current command from the speed loop becomes smooth The result is a smoot
319. d will never be 0 You need to change the speed command Since the operation is executed as a normal position control during position control properly set the position loop gain various error detection functions and other settings Use this parameter when the CONTROL mode Selection Pn001 is set to 1 Speed control This may not operate correctly if the CONTROL mode Setting Pn001 is set to 3 position or speed control or 4 position or force control Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 29 sjiejeg S19 9WL Jed Parameters Details 8 4 Analog Control Parameters Pn316 Position Lock Level Setting Setting 10 to 20 000 Unit miris Default 30 Power OFF _ range setting and ON Servo locks with position control when the speed of the motor is lower than the setting of this parameter The setting of this parameter is valid for both forward and reverse direction regardless of the motor moving direction Speed Pn316 mm s gt aaa lt Reverse operation Forward operation Pn316 mm s Speed Servo lock Speed control control Pn317 Force Command Speed Limit Selection Setting Default Power OFF range ee air setting o and ON Explanation of Set Values Sel Force command Speed limit value 0 Analog input 1 FREF1 Pn321 1 Analog input 2 FREF2 Analog input 1 FREF1 2 Analog input 1 FREF1
320. displayed Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 19 uonesado Operation 9 4 Setting the Mode i Display of the Number of I O Signal Changes U18 I O signal change count Pin number 4 Input signal Z Output signal If the decimal point is on the right side of the pin number m pagi the pin number can be changed rI Z Z Use to move the flashing decimal point If the decimal point is between the pin numbers you can switch between input and output y i Press to switch between input and output II 7 ht I Display the number of transitions in one input since last power on i Absolute Encoder Position U21 t Encoder data m J sa a LJ Wi a W I a ws 7 Absolute Encoder position higher H Absolute Encoder position lower L Press A to switch between Lower L and Higher H ont I I i Ja J x 9 20 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 4 Setting the Mode Monitor for the Number of Serial Encoder Communications Error U22 J LJ _ l Cc l Communications error count Z n m en wt Encoder wy Feedback scale Press A to switch between encoder and feedback scale 7 m7 tJ I i Display of Axis Numbers for Communication U23 A The val
321. e and error counter overflow level setting Position Setting unit 520 0 Oto 1 Yes Unit Selection 6 Command unit 1 Encoder unit Set the forward or reverse direction force 12 limit selection method 0 Use P ATL and N ATL as analog force limit inputs gt A Pn013 is the limit value for both Ke forward and reverse directions p 2 Forward operation Set by Pn013 Reverse operation Set by Pn522 lt 521 Force Limit 3 When FL SEL input is open Use Pn013 4 Oto6 Selection When FL SEL input is shorted Use Pn522 4 Use P ATL and N ATL as analog force limit inputs 5 Use P ATL and N ATL as analog force limit inputs When FL SEL input is open Forward direction use Pn013 Reverse direction use 6 Pn522 When FL SEL input is shorted Forward direction use Pn525 Reverse direction use Pn526 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 29 Appendix 12 2 Parameter List 12 30 3 D Power E Parameter Default Setting supply z name E Explanation setting Unit range OFF to E n ON 522 No 2 Force Limit Set the No 2 limit value for the motor output force 500 0 to 500 Force Limit Set the change rate fluctuate for when fis 523 Switching Setting 1 force limit is switched from No 1 to No 0 100 0 to 4 000 Force Limit Set the change rate fluctuate for when ma 524 Switching Setting 2 i force limit is switched from No 2 to No 0 100 0 to 4
322. e B Encoder phase Z Encoder phase Z Error counter reset output a RUN output General purpose output Alarm reset output Force limit output Positioning completed input SEN output Signal ground 1 Since the PCU handles forward direction commands as CW direction phase A advance pulses selectable by the output pulse direction selection parameter connect the wires as shown here 2 Those terminals are for absolute encodes and have no use with linear motors w wa 3 100 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 5 Cable and Connector Specifications Cable for open collector output for 1 axis AWG18 twisted pair 1 m Red 24 VDC Black 24 VDC GND PCU side XG4M 5030 T OMRON 24 V power supply for output 24 V GND for output Input common me elef AWG18 twisted pair 1 m Blue BKIRCOM Black BKIR Linear Servo Drive side for axis 1 or 3 10150 3000PE Sumitomo 3M BKIR BKIRCOM Brake interlock output Forward direction pulse output oO Reverse pulses with 1 6 kQ Resistor Reverse direction pulse output feed pulses or phase A 1 Forward pulse with 1 6 KQ Resistor Encoder phase A Encoder phase A direction signal or phase B 1 Encoder phase A output Encoder phase A output Encoder phase B NINININ SSSSE
323. e IF read cycle Control Input O 0 166ms 515 Signal Read 1 10 333 ms 0 0to3 Yes Setting 2 i ms 3 1 666 ms Set the alarm clear input detection method Alarm Reset 516 Condition pees 0 Oto 1 Setting Follow the Control Input Signal Read Setting Pn515 12 28 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 2 Parameter List g Power Parameter Default A Setting supply z name F Expiananon setting Unit range OFF to K a ON Set the counter clear input signal clear conditions 0 Disabled 1 Clears the error counter with the level Shorted for 500 us or longer Error Counter p Clears the error counter with the level 517 Reset Condition Shorted for 1 ms or longer 3 0 to 4 Selection Clears the error counter with the edge 3 Change from open to shorted for 100us or longer Clears the error counter with the edge 4 Change from open to shorted 1ms or longer omman Enable or disable the command pulse Omme prohibition input signals INH sig Eue 1 oto Prohibition 0 Enabled 7 l t Setti nput Setting H Disabled Select the signal reed cycle for the command pulse prohibit input Command 0 0 166ms Pulse 519 Prohibition 1 0 333 ms 0 0 to 4 Input Read 2 1ms Setting 3 1 666 ms 4 0 166 ms Select the positioning completion rang
324. e RUN input is OFF Select Test Run from the project tree Ejworkspace1 CX Drive BM_test_06 sdd File Edit Yiew Drive Tools Window Help 04 saa OA jees a xi g Linear drive Online 7 Parameter Editor 0A Status Monitor E Tuning A Click here Yr AutoT une Gin Offset This window will appear In this window must adjust jog speed mm s acceleration time ms 1000mm s and deceleration time ms 1000mm s Adjust the speed to low values foun Moxie E anaua Gunter necies 309 gees y Azok Too po Decal Tine yond ii et a oori eceleration time to low values Click in Servo ON the motor will be energized 9 8 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 2 Preparing for Operation Click either Forward or Reverse and the motor will move at the commanded speed Click here lt en om T noes km u Forward and Reverse direction The POT and NOT inputs do not work during test run operation so provide a means to quickly stop the motor in case of crash It is possible to program a cyclic operation in position control by selecting from the configuration tab Jog Function STEP Jog Loop ON Step distance Any distance that is smaller than the linear motor stroke wn eB Sore t Fi Dre Pogamerg uo esado By clicking Forwar
325. e and convection inside the panel If the drives are installed side by side install a fan for air circulation to prevent uneven temperatures inside the panel Tey Ey ome e mm or more ie z Drive Ha 100 mm or more Air Side Air For side by side installation you have to apply next derating for models of 800W or less Installed in position A maximum ambient temperature 50 C installed in position B maximum ambient temperature 40 C and installed in position C maximum ambient temperature 45 C Mounting Direction Mount the drives in a direction perpendicular so that the model number can be seen properly Environment Operating Conditions The environment in which drives are operated must meet the following conditions Drives may malfunction if operated under any other conditions Operating ambient temperature 0 to 55 C Take into account temperature rises in the following individual drives themselves Operating humidity 90 RH max with no condensation Operating atmosphere No corrosive gases Altitude 1 000 m max Derating must be applied for higher altitudes i Ambient Temperature Control To operate in environments in which there is minimal temperature rise is recommended to maintain a high level of reliability When the drive is installed in a closed space such as a box ambient temperature will rise due to temperature rise in each unit Use a fan or air conditioner to p
326. e command level Refer to J y3 y 3 Figure A 0 05 0 05 i Amount of change in speed J 4 he command Refer to Figure B 10 mm s s 10 mm s s 5 Speed command Refer to Figure C V y mm s V mm s Select the conditions for switching between gain 1 and gain 2 when the GAIN SWITCHING INPUT OPERATING mode Selection Pn114 is set to 1 The gain is always gain 1 regardless of the gain input if the SWITCHING input is not assigned when Pn120 2 1 The Gain Switching Delay Time in Speed Control Pn121 is enabled when returning from gain 2 to gain 1 2 The Gain Switching Hysteresis in Speed Control Pn123 is defined as shown in the following figure Y Pn122 gt L i Pn123 0 Gain1 Gain2 Gain1 1 poi Pnt24 gt 3 The change amount is the value within 1 ms Example When the condition is a 10 change in force in 1 ms the set value is 200 4 The meanings of the Gain Switching Delay Time in Speed Control Pn121 Gain Switching Level in Speed Control Pn122 and Gain Switching Hysteresis in Speed Control Pn123 are different from normal if this is set to 10 Refer to Figure B 8 16 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 2 Gain Parameters ae Speed V Force F Speed command E _ Hysteresis Lleve fe Force ee aa command nN 7 a Delay P
327. e motor abnormality error 1 Direct measurament via Hall Sensor To use this option it is necessary to connect the Hall sensor to a Serial Converter Pn323 1 and use a SinCos encoder Magnetic phase detection On the first run after power on the linear servo drive estimates 2 the Magnetic phase This sequence may take a few seconds and the motor may move a few mm Magnetic phase detection restoration When using an absolute encoder Pn323 2 the drive 3 can memorize the magnetic phase detected by using method 2 and then restore the value by setting this method Pn921 Magnetic phase value All Setting range Default setting O Power OFE Yes 0 to 360 Unit and ON Electric angle When using Hall sensors Pn920 1 set here the angle between the motor and the motor phases When using the standard Hall sensor this value must be 0 Pn922 Magnetic phase detection command Maximum time All Setting range 200 Power OFF i 0 to 200 Unit ms and ON Default setting Maximum time that the force command is applied when magnetic phase detection sequence is executed Pn920 2 Pn923 Magnetic phase detection Force command All Setting range Default setting 50 Power OFF _ i 0 0 to 300 Unit and ON 8 64 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 8 Linear Motor And Encoder Setting Parameters Force
328. e output equivalent to RS 24 Z Encoder phase Z output 422 19 Z Encoder phase Z output Phase Z is output for encoder signals Open collector output J 25 ZCOM Encoder phase Z output common Digital outputs Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 19 suoneaioads Specifications 3 1 Drive Specifications CONTROL mode Pin number Symbol Name Function and interface Position Speed Force BKIR 11 Brake interlock output Outputs the timing signal for operating the BKIRCOM electromagnetic brake on a motor y N y 10 READY 85 Servo ready completed This output signal indicates that the drive is turned ON and ready to start operation READYCO It is turned ON when the control and main V y V M 34 power supply is established and not in alarm status ALM 37 Servo alarm The output is OFF when an alarm is ALMCOM generated for the Linear Servo Drive V NI N 36 INP1 39 Positioning completion If the position error is equal to Positioning output 1 Completion Range 1 Pn431 or less this INP1COM output turns ON according to the setting V 38 condition of Positioning Completion Condition Selection Pn432 TGON 39 Motor movement speed This output turns ON when the motor detection output movement speed reaches the speed set in J J TGONCOM Movement Speed for Motor Movement 38 Detection Pn436 FLIM
329. e parameters used during normal operation to the EEPROM Lower the Realtime Autotuning Machine Rigidity Selection Pn003 Disable the adaptive filter by setting the Adaptive Filter Selection Pn200 to 0 Resetting of mass estimation and adaptive operation Manually set the notch filter If unusual noise or vibration occurred the setting of Notch 3 Pn207 to Pn209 or Notch 4 Pn210 to Pn212 may have changed to an extreme value In this case set Adaptive Filter Selection Pn200 to 0 to disable the parameter and then set Notch 3 Frequency Setting Pn207 and Notch 4 Frequency Setting Pn210 to 5 000 disabled Next enable Adaptive Filter Selection again Notch 3 Frequency Setting Pn207 and Notch 4 Frequency Setting Pn210 are written to the EEPROM every 30 minutes When the power supply is turned OFF and then turned ON again this data will be used as the default settings to perform adaptive operation The adaptive filter is disabled when force control is performed but the adaptive filter frequency used in the CONTROL mode before switching will be held if force control has been selected by setting the CONTROL mode Selection Pn001 to 5 or 6 6 8 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 3 Notch Filter 6 3 Notch Filter Outline of Operation You can set up to 4 notch filters for the force command If the mechanics cause resonance at the specific location you can set the resonance frequency usin
330. e saturation occurs lower this setting to 0 0 1 Hz 2 Setting P z 1 000 increase responsiveness raise this setting F Set the vibration frequency 3 The function is 218 Vibration enabled if the set value is 10 1 Hz or 0 0 1 Hz Oto Frequency 3 2 000 greater Vibration Filter Finely adjust damping control function eal Oto 219 force saturation occurs lower this setting to O 0 1 Hz 3 Setting lt P 1 000 increase responsiveness raise this setting y f Set the vibration frequency 4 The function is 220 vibraton enabled if the set value is 10 1 Hz or 0 0 1 Hz pits Frequency 4 2 000 greater Vibration Filter Finely adjust damping control function lt Oto 221 force saturation occurs lower this setting to O 0 1 Hz 4 Setting i 1 000 increase responsiveness raise this setting Position 222 CommandFilter Set the time constant of the first order lag 0 0 1 ms 0 to 7 filter for the position command 10 000 Time Constant Smoothing 223 Filter Time Set the time constant of the FIR filter for the 0 0 1 ms 0 to pa position command 10 000 Constant Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 19 gt x D D 5 2 x Appendix 12 2 Parameter List i Speed and Force Control Parameters E 2 Power E Parameter z Default P Setting supply z name E
331. e servodrive Switchin O ORES Pn911 a ao selection 1 12KHz P 8 63 q y Selecting 6KHz the current can give more current to the motors but the frequency generated contains more harmonics Adjust the responsiveness of the current loop by one parameter Recommened values are Current loop 40 when switching frequency is 12KHz 7 pnag tunning 80 when switching frequency is 6KHz pobre If set to 0 proportional gain and integral gain can be adjusted individually Pn913 Current loop Set the proportional gain for the current loop If Pn912 lt gt 0 this P 8 63 proportional gain value is adjusted automatically Set the integral gain for the current loop If Pn912 lt gt 0 this value Pn914 Current loop ert gral g p SA P 8 63 integral gain is adjusted automatically Selects between different overload curves The overload curve Pn929 Motor overload protects the motor for overheating due to excessive current in P 8 65 curve selection the windings Selects the curve that better suits the linear motor thermal time constant 6 56 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 17 Motor Setup 1 This value is expressed as absolute peak If the motor peak current is expressed as rms value you have to multiply by next factor Pn907 1 ae gaa 2 2 Normally use the recommended values for Pn912 This setting is done by CX Drive automatically Modifying manually the current loop may handle to motor vibration and m
332. e the same with the notch filter 1 width i Pn206 Notch 2 Depth Select the depth of the notch filter 2 center frequency P 8 21 Setting The details are the same with the notch filter 1 depth Pn207 Notch 3 Frequency Set the center frequency of the notch filter 3 P 8 21 Setting 1 The details are the same with the notch filter 1 frequency Pn208 Notch 3 Width Select the width of the notch filter 3 frequency P 8 21 Setting i The details are the same with the notch filter 1 width i Pn209 Notch 3 Depth Select the depth of the notch filter 3 center frequency P 8 21 Setting The details are the same with the notch filter 1 depth Pn210 Notch 4 Frequency Set the center frequency of the notch filter 4 P 8 21 Setting 1 The details are the same with the notch filter 1 frequency i Pn211 Notch 4 Width Select the width of the notch filter 4 frequency P 8 21 Setting L The details are the same with the notch filter 1 width Pn212 Notch 4 Depth Select the depth of the notch filter 4 center frequency P 8 21 Setting 1 The details are the same with the notch filter 1 depth 1 If an adaptive filter is used these are set automatically l Precautions for Correct Use 6 10 Identify the resonance frequency using the frequency characteristics measurement function resonance frequency monitor or operation waveform of the waveform graphics function of CX Drive and set the identified frequency as the notch filter frequency Accurax G5 LINEAR
333. e times 5 mV There are 2 ways to adjust the offset Manual adjustment Automatic adjustment The manual adjustment is as follows To adjust the offset for individual drives accurately input 0 V to the speed command input force command input REF FREF1 or connect to the signal ground and then set this parameter so that the motor does not rotate If you use a position loop in the host device set this parameter so that there are no accumulated pulses at servo lock stop status The automatic adjustment is as follows This parameter will be automatically set when automatic offset adjustment is executed Pn429 Analog Input 3 Filter Time Constant All Setting Default Power OFF range 0 to 6 400 Unit 0 01 ms setting 0 and ON Set the first order lag filter time constant in the speed command input REF CN1 pin 14 Pn430 Excessive Analog Input 3 All Setting 0 to 100 Unit 0 1V Default 0 Power OFF _ range setting and ON Set the overflow level for speed command input REF CN1 pin 14 or force command input FREF1 CN1 pin 14 using voltage after offset compensation Excessive analog input alarm display No 39 will be disabled if this parameter is set to O Pn431 Positioning Completion Range 1 Setting 0 to 262 144 Unit Command unit Default 10 Power ORE Iz range setting and ON 8 40 Use this in combination with the Positioning Completion Condition Selection Pn432 to set the timing to output the pos
334. e with Emergency Stop Force Pn511 Servo locked While the Forward Drive Prohibition Input POT is OFF the Linear Servomotor cannot be driven in the forward direction but it can be driven in the reverse direction Conversely while the reverse drive prohibition input NOT is OFF the Linear Servomotor cannot be driven in the reverse direction but it can be driven in the forward direction If immediate stop force is set for deceleration and servo lock is set for stop set value 2 force limit during deceleration will be limited with the set value of the Immediate Stop Force Pn511 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 11 Forward and Reverse Drive Prohibition Functions H Precautions for Correct Use A load on the vertical axis and so forth may fall due to its own weight in the drive prohibition input state To prevent the load from falling set immediate stop force for deceleration and servo lock for stop set value 2 in Stop Selection for Drive Prohibition Input Pn505 or limit the operation using the Host Controller rather than using this function Because an immediate stop will force the motor to decelerate quickly the position error will momentarily be a large value during position control and Err24 0 error counter overflow or Err34 0 overrun limit error may occur In such a case set the Position Counter Overflow Level Pn014 and the Overrun Limit Setting Pn514 to ap
335. eases the position error during acceleration and increases the responsiveness but the system may become more noisy Pn113 Force Feed forward Command Filter Setting 0 to 6 400 Unit 6 04 ms Default 0 Power OFF _ range setting and ON Set the time constant for the first order lag filter inserted into the feed forward Setting the filter may improve operation if the noise during operation is large when the feedforward is set high If autotunning is enabled feedforward gain and filter are set at a fixed value Pni14 GAIN SWITCHING INPUT OPERATING mode Selection All Setting Default Power OFF range ies Unit setting 1 and ON 8 12 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Explanation of Set Values 8 2 Gain Parameters Set value Explanation 0 Gain 1 PI P switching enabled 1 Gain 1 gain 2 switching available Select either PI P operation switching or gain 1 gain 2 switching PI P operation switching is performed using gain switching GSEL CN1 pin 27 Pl is not changed however if the Force Limit Selection Pn521 is set to 3 Gain input Speed loop operation GSEL OFF PI operation GSEL ON P operation For information on switching conditions between gain 1 and gain 2 refer to Gain Switching Function P 6 23 Pn115 SWITCHING mode in Position Control Setting Default
336. echanical bandwith of the linear motor system In order to increase the rigidity you can Use pre loaded linear guides Install the linear motor system in a rigid base From more rigid to less rigid we can use Granite steel or aluminium The top table has to be thick enough to avoid deformation or vibration Install the magnet tracks motor coil and encoder straight and parallel Install the encoder as close as possible to the motor coil Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 5 ubisog wajshs 4 1 Installation Conditions i Installation steps Install the linear encoder to the base frame according to the linear encoder maker instructions Install close to the motor coil to avoid errors due to torsional effects Install the linear guides to the base frame according to the linear guide maker instructions System Design Install the linear ball bearing the motor coil and the encoder read head in the Top table Make sure the positive direction of the coil and the positive direction of the encoder read head correspond Otherwise this can be changed by parameter Recirculating linear ball bearing 4 6 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 1 Installation Conditions Dimension the top table and the linear guides according to the total weight to move the dynamics and the attraction forces between magnets and coil The attraction forces
337. echanical damage Operating Procedure 1 Make sure the mechanical and electrical installation is properly done 2 Make sure the motor phases are connected in the right order U V W If the motor phases are connected in that order the positive direction will be in the direction of the output cables 3 Configure the linear motor with the CX Drive a Connect to the servodrive or choose the servodrive if working offline b Select the motor amp encoder setup wizard c Select the PWM frequency first The smaller drives ony work at 12KHz switching frequency In the rest of the drives you can choose to work at 6KHz or at 12KHz The criteria is next At 6KHz the drive can drain more current than with 12KHz to the motor so you select a smaller servodrive for the same motor At 6KHz the PWM frequency generated to the motor contains more harmonics than the one generated at 12KHz and this may decrease the linear motor performance Also the acoustic noise is higher at 6KHz So choose 12KHz if The electrical installation is not good poor ground no proper shielding The encoder resolution is not very high To reduce acoustic noise is important In other cases you can work with 6KHz switching frequency d Select the motor from the table The color code will tell you if the motor can run with the drive i GREY That motor is not suitable for that drive beacuse the nominal current of the drive is below the nomina
338. ecified installation and wiring conditions must be satisfied particularly for models conforming to the EC directives Connect limit switches to prevent overrun of the motor and Emergency stop to allow a quick stop of the motor Chapter 4 4 2 Preparing for Check the necessary items and then turn ON the power supply Check on the display to see whether there are any internal errors in Chapter 9 9 2 operation the drive Motor and Setup the linear motor and Encoder with CX Drive Chapter 6 Encoder setup 6 17 6 18 6 19 Function By means of the user parameters set the functions according to the ae Chapter 8 settings operating conditions Trial operation Check to see wether protective functions such as the inmediate stop and operational limits work properly First check the linear motor system operation with no load condition Then turn the power supply OFF and connect the load Turn ON the power supply again and check the operation at low and high speed Chapter 9 9 5 Manually adjust the gain if necessary Adjustment Further adjust the various functions to improve the control Chapter 10 performance Operation can now be started Operation If any problems should occur refer to Chapter 11 Error and Chapter 11 Maintenance Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 2 Preparing for Operation 9 2 Preparing for Operation
339. ected Time s 1000 F 0 1 a Ce A 100 Overload protection time characteristics Pn9 29 0 T 20 Defautt Pn9 29 1 T 36 Pn9 29 2 t 72 Pn9 29 3 t 96 Pn9 29 4 t 110 Pn9 29 5 t 124 Pn9 29 6 t 126 Pn9 29 7 t 200 p rive rotection ae 115 450 200 250 300 350 400 450 500 Thrust Note Pn929 0 means that the overload curve is disabled the overload protection for the servodrive itself is used In this case you have to protect the motor by using the internal thermal resistors Note Pn929 7 corresponds to the overload curve for the drive protection When the force command 0 and a constant force command is continuously applied after 3 or more times the overload time constant has elapsed the overload time t s will be t s Overload time constant s x log 1 Overload level Force command 2 The overload time constant s depends on the motor The standard overload level is 115 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 55 suonesijoads Specifications 3 3 Motor Specifications 3 3 Motor Specifications There are two families of Lineal Servomotors F type for high speed and medium high Force range and G type for application with the highest dynamics and accuracy A Linear motor consists in a motor coil that generally is the moving part and some linear magnets The coil in
340. ed realtime autotuning will not operate normally If using the gain switching set the Realtime Autotuning to not use Pn002 0 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 23 suoijoun paddy Applied Functions 6 7 Gain Switching Function Parameters Requiring Settings Parameter Parameter name Explanation Reference number Set whether to enable or disable gain switching function Pn114 GAIN SWITCHING 0 Gain switching disabled P 8 12 ENABLE 1 Gain switching is enabled according to the setting of next parameter POSITION CONTROL mode Pn115 SWITCHING mode in Set the condition for switching between gain 1 and gain 2 P 8 13 Position Control Pn116 Gain Switching Delay Set the delay time for switching from gain 2 to gain 1 P 8 15 Time in Position Control Unit 0 1 ms i Gain Switching Level in Set the judgment level for switching between the gain 1 and Pn117 a i P 8 15 Position Control gain 2 Pni18 Gain Switching Hysteresis Set the hysteresis width to be provided in the judgment level P 8 15 in Position Control set in Gain Switching Level Pn117 Position Gain Switching Set the time to change from one position gain to the other Pn119 P 8 15 Time one Unit 0 1 ms SPEED CONTROL mode Pn120 SWITCHING mode in Set the condition for switching between gain 1 and gain 2 P 8 17 Speed Control Gain Switching Delay Set the delay to ret
341. ed cable with core wires that specifications does not meet specifications gre at least 0 12 mm Noise is entering the encoder Check the length of the encoder Shorten the encoder cable to cable because the cable is cable less than 50 m longer than the specified length Noise is entering the signal lines Check the encoder cable for Correct the encoder cable s because the encoder cable is damage pathway stuck or the sheath is damaged Too much noise is entering Check whether the encoder cable is Install the encoder cable the encoder cable bound together with or too close to where it won t be subjected to high current lines surges The FG s potential is Check for ground problems loss of Ground the equipment fluctuating due to devices ground or incomplete ground at properly and prevent currents near the Linear Servomotor equipment such as welding from flowing to the encoder such as welding machines machines near the Linear FG Servomotor Errors are being caused by There are problems with mechanical Reduce the mechanical excessive vibration or shock vibration or motor installation such vibration or correct the Linear on the encoder as the precision of the mounting Servomotor s installation surface attachment or axial offset The machine and the motor Check whether the machine is Readjust the force are resonating resonating command filter time constant If there is resonance set the Notch Filter 1 Frequency Pn20
342. ed limit Pn321 set value ajy command 0 Oto2 Speed Limit Force command Analog input 2 Selection Speed limit Analog input 1 2 Force command Analog input 1 Speed limit Pn321 and Pn322 set values Select the method for selecting the direction for the force command Force 318 Command 0 The direction depens on the polarity of 0 5 Oto 1 p Direction the analogue force command i A The direction depens on a digital input FSIGN 319 Force Command Set the input gain for analog force command 30 0 1V 10to 7 Scale input 100 100 Analog Force Set the analog force command input polarity Command 0 IF J ti 320 Movement Drona ARE AAR 0 7 Oto1 Direction 1 r ti gt Switching everse operation g an D Speed Limit ae 0 to 5 321 Value Setting Set the speed limit value 0 mm s 20 000 2 acti x Bove se Direction Switch the speed limit value according to the 0 to 322 Speed Limit Rate 0 mm s direction 20 000 Value Setting Select the encoder type 0 Phase AB output Encoder Type SinCos Encoder via Serial Converter 323 Selection Unit or Incremental Serial T Oto2 Yes communication type encoder Serial communications Absolute encoder specifications Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 21 Appendix 12 2 Parameter List 3 D Power Z Parameter Explanation Default Unit Setting supply zZ name 3 setting range OFFto E n ON Reverse the
343. ed loop integral time constant Gain 1 for all others ji gt lt 7 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 2 Gain Parameters Pn116 Gain Switching Delay Time in Position Control Setting 0 to 10 000 Unit 0 1 ms Default 50 Power OFF range i setting and ON Set the delay time when returning from gain 2 to gain 1 if the SWITCHING mode in Position Control Pn115 is set to 3 or 5 to 10 Pn117 Gain Switching Level in Position Control Setting Default Power OFF range 9 10 20 000 asa ia setting oy and ON This is enabled when the SWITCHING mode in Position Control Pn115 is set to 3 5 6 9 or 10 It sets the judgment level for switching between gain 1 and gain 2 The unit depends on the SWITCHING mode in Position Control Pn115 Pn118 Gain Switching Hysteresis in Position Control Setting i Default Power OFF range 9110 20 000 unta setting oa and ON Set the hysteresis width above and below the judgment level set in the Gain Switching Level in Position Control Pn117 The unit depends on the setting of the SWITCHING mode in Position Control Pn115 The following shows the definitions for the Gain Switching Delay Time in Position Control Pn116 Gain Switching Level in Position Control Pn117 and Gain Switching Hysteresis in Position Control Pn118 Vv Pn117 gt Pn118
344. eed command REF 14 20 kQ oo aires 111 BKIR Maximum j Brake interlock It A 3 83 KQ Y i service voltage AGND 15 OTSAS 10 BKIRCOM 30 VDC ne A Servo ready Maximum Forward force limitinput PCL 16 10kQ rs ee ee 35 READY completed output current vx output 50 mADC x AGND1 j7 3 832 TS S34 READYCOM Reverse force limit input vale 10kQ UGAN Alarmoutit zi 3 83 KQ EA AN a i FSA 36laumcom 39 TGON Motor movement im AS speed detection YN 38 TGONCOM output 19 7 Phase Z output 12 to 24 VDC 24VIN 7 4 7 KQ open collector ale T green rs n ZCOM output Operation command AYS RUN 29 ee 4 7 kQ or ZSP Zero speed Zero speed AYS g i designation VZERO 26 i ee A7kQ FLIMT Force limit Gain switching l SA Ze APEM ene an GSEL 27 oe i 4 7kQ A Internally set speed SA Le A nua ou P aa RR A phase A output corresponding wi VSEL3 287 ootava the EIA RS 422A 2 kQ B communications i i i a Encoder method A spee AYS lt lt eau B phase B output load resistance l VSEL2 30 aean 120 Q min 4 7 KQ Z i meeps Encoder Alarm reset AYS i E Z phase Z output RESET 31 Ba CONTROL mode Y 7 switching TVSEL 32 TEEDE f 47KQ Internally set speed selection 1 VSEL1
345. eed reaches 30 mm s or less Once the motor reaches a speed of 30 mm s or less and moves to the after stop status follow the subsequent operation based on the after stop status regardless of the motor speed 4 The position error or external scale error will always be cleared to 0 Pn507 Stop Selection with Main Power Supply OFF All Setting F Default Power OFF range age Unt ja setting 9 and ON Explanation of Set Values Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Set Explanation value During deceleration 3 After stopping Error counter 0 Dynamic brake operation Dynamic brake operation Clear 4 1 Free run Dynamic brake operation Clear 4 2 Dynamic brake operation Servo unlocked Clear 4 3 Free run Servo unlocked Clear 4 4 Dynamic brake operation Dynamic brake operation Hold 2 5 Free run Dynamic brake operation Hold 2 6 Dynamic brake operation Servo unlocked Hold 2 7 Free run Servo unlocked Hold 2 8 Immediate stop 1 Dynamic brake operation Clear 4 9 Immediate stop Servo unlocked Clear 4 If an error occurs when the main power supply is turned OFF the operation will be based on the Stop Selection for Alarm Generation Pn510 If the main power supply is turned OFF when Servo is ON and if the Undervoltage Alarm Selection Pn508 is set to 1 Err13 1 main power supply undervoltage AC cut off detection will occur Follo
346. eeeeeeeaeeeseaeeeseeeeseeeessaees 6 35 NPY SINAIS aeara ena aaraa aaa a aa aaRS 6 35 Output Signals wobec nne i iene a eaaa adiera 6 38 6 11 Forward and Reverse Drive Prohibition Functions 6 41 Outline of Operation cccccceceeeeeeeeceeeeeeeeeeeeaeeeseaeeeseeeeeseeeeteaees 6 41 Parameters Requiring Settings seeeeeeeeeeeeseeeereeerreereeerrnsernnene 6 41 6 12 Disturbance Observer Function csssssssseeee 6 44 Outline Of Operation ecccececeeeeeeeseeeeeeeeeeeaeeeesaeeeseaeeesseeesenees 6 44 Parameters Requiring Settings ccecceeseeeeeeeeeeeeeeeeeteeeeeeeees 6 45 Operating ProCceCure cccccceeseeeeeeceeeseeeeeeeeeeteaeeeteeeeseeeetenees 6 45 6 13 Friction Force Compensation Function 6 46 Outline Of Operation cccccceceeeeeeeeeeeeeeeneeeeeeeeeseaeeesseeeseeeeseaees 6 46 Parameters Requiring Settings cccccseeeeeeeeeeeeeeeeeeeeseeeee 6 46 Operation Example ccccccccceecseeeeeneeeceneeeeeeeeseneeeseeeeseneeeeeaees 6 47 6 14 Mass Ratio Switching Function cccssssseeee 6 48 Outline Of Operation ccccccececeeeeeeeeeeeeeeeeeeeeeeeeaeeeteeeeseaeeeneaees 6 48 Parameters Requiring Settings ccccceeceeeeeeeeeeeeeeeeeeeeeeeeeens 6 48 Operating Procedure c ccccccceeeeeeeeeteeeteneeeeeeeeteeeeseeeeesneeensaees 6 48 6 15 Feed forward Function esseeeceeeeeeeeeeeeeeeeeeeeeees 6 49 Outline Of Operation
347. eeeeeeeeeeeeeeeeeeteeeeeneees 5 8 Related Functions aiiai cun e EE 5 12 Parameter Block Diagram for SPEED CONTROL mode 5 13 FOFCE CONE es isiinsensstittiaiinninedesdeaieisiiienenannaaiieraaien 5 14 Outline Of Operation cceececececeeeeneeeeneeeeneeeeeeeeeeeeeeeseeeeeeeeaeeees 5 14 Parameters Requiring Settings cccscceeeeeeeeeeeeeeeeeteseeetenees 5 14 Related Functions 00 ccccceceeeeceeeeeeeneeeeeeeeeeeeeeseeneeeeeesenaeeeeeeeaes 5 17 Parameter Block Diagram for FORCE CONTROL mode 5 18 Internally Set Speed Control cssseeeeeeeeeeeseeeeeees 5 19 Outline Of Operation cceceeceeeeeseeeeeeeneeeeneeeeeneeeeeseeeseeaeeeeeaeeee 5 19 Parameters Requiring Settings ccccscceceeeeeeeseeeeeeeeeeeneeessaees 5 19 Switching Control st civccniecesessnetitontenntetnersiiatientnmnteomwaue 5 22 Outline Of Operation ccececcceeeeeeeeeeeneeeeeneeeeeneeeeeeeeesenaeeeeeaeeees 5 22 Parameters Requiring Settings c ccccscceceeeeeeeeeeeneeteseeeteaees 5 22 Related Functions 00 ccccceeeeeceeeeeeeeneeeeeeeeeaeeeeeeeeneeeeeeeenaeeeeeseaas 5 24 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL BASIC CONTROL Mode 5 1 Position Control 5 1 Position Control Outline of Operation Position control is performed based on the pulse train input received from the controller The motor moves using the value of the pulse train input multiplied by the
348. egeneration resistance can reach 200 C Do not place objects that tend to catch fire nearby To prevent people from touching them install a type of cover that enables heat dissipation Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL ubisog wajshs 4 4 Regenerative Energy Absorption Recommended regeneration resistor combination This is an example of resistor combination per drive selected with next criteria Braking power between 10 to 15 of drive value Ohmic value of the group higher than the minimum drive value Serial parallel combination of resistors is symmetrical so the temperature in all resistors will System Design 4 50 be similar Drive Resistor Combination Total Power Total Ohms A R88D KTO1L L R88ARRO8050S 20W 500 A R88D KT02L L R88ARRO8050S 20W 500 A A R88D KT04L L R88ARRO8050S E 40W 250 A R88D KT02H L_ R88ARRO8050S 20W 500 B B R88D KTO4H L R88ARR08100S o 40W 500 C R88D KTO8H L R88ARR22047S 70W 479 C C R88D KT10H L R88ARR22047S 140W 949 C C R88D KT15H L R88ARR22047S 140W 940 C C C R88D KT20H L R88ARR220
349. election ni emt trcodm amp Comtur Ommata aya uo esado To configure the linear motor you have to follow next steps 1 Select the Drive switching frequency Most of the drive can work at 6KHz or at 12KHz Selecting 6KHz the drive drains more current but the acoustic noise is higher 2 Select the motor from the thumbnails Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 5 Operation 9 2 Preparing for Operation Marny Settings 9 6 Depending on the servodrive and the switching frequency the motors are represented by the next color code Grey Not suitable Red Limited performance Force peak is reduced Green Optimum combination Orange Overdimensioned drive 3 Verify the selection That selection shows the currents and force of the selected drive and motor Once the motor is selected click Next to go to next tab Encoder setup pico AM phe F SNTOS serial conrea 1 Pounce po T9 Kecoter sents fe C Send ercopmertsl Sory PI l 1 Ec oc wets C Sonal sbsoher Sery Mastoyed on tame Laces ents Select the acode echon Sceed 0 mm s sox mn a 2 a 2 danaj cco leafde Dube cert Sracter s lt Bad Nat gt Cro Fens 1 Select the encoder type 4 different types are available 2 Select the encoder resolution after quadrature in case of A B encoder and the count direction Note that after changing those values it is necessary to power the servo off
350. en switching P 8 54 Limit Switching Rate 2 from the No 2 force limit to No 1 force limit i Pn525 es Ext rnaliForce Set the forward force limit using a digital signal P 8 54 Reverse External Force pea eine oa Pn526 Limit Set the reverse force limit using a digital signal P 8 54 Pn527 Analog Force Limit Scale Gain for the analogue force input P 8 54 Pn425 Analog Input 2 Offset Set the offset adjustment value for the voltage P 8 39 applied to analog input 2 Analog Input 2 Filter Time Set the time constant of the first order lag filter for Pn426 P 8 39 Constant the voltage applied to analog input 2 Pn428 Analog Input 3 Offset Set the offset adjustment value for the voltage P 8 40 applied to analog input 3 Analog Input 3 Filter Time Set the time constant of the first order lag filter for Pn429 P 8 40 Constant the voltage applied to analog input 3 6 32 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 9 Force Limit i Force Limit in Position and Speed Control Mode Pn521 set A Explanation value 0 Forward operation Set by PCL 0 to 10 V Reverse operation Set by NCL 10 to 0 V 1 Limit in both forward and reverse operation Set by Pn013 2 Forward operation Set by Pn013 Reverse operation Set by Pn522 Switch the limit value using force limit switching FLSEL When FLSEL is OFF 3 Limit in both forward and reverse operation Pn013 When FLSEL is ON Limit in both forward
351. en we want to connect to the servodrive 2 12 either SinCos Encoder hall sensor or temperature sensor The use of the SinCos with the Serial Converter is mandatory the use of hall sensor or temperature sensor is optional Specifications Model Serial Converter Unit from 1Vpp to G5 Serial Converter data transmission With KTY sensor detection of Iron core motor coil R88A SC01K E Serial Converter Unit from 1Vpp to G5 Serial Converter data transmission With NTC sensor detection of Ironless motor coil R88A SC02K E i Serial Converter cable From Serial Converter CN1 connector to servodrive CN4 connector Specifications Model For Iron core and Ironless linear motors with connectors 1 5m R88A CRKNO01 5CR E 3m R88A CRKNOO3CR E 5m R88A CRKNOO5CR E 10m R88A CRKNO10CR E 15m R88A CRKNO15CR E 20m R88A CRKNO20CR E i Hall and temperature sensors cable to serial converter Specifications Model R88A CFKB001 5CR E R88A CRKB003CR E R88A CRKB005CR E R88A CRKB010CR E R88A CRKB015CR E Extension cable from Hall and Temperature sensors to Serial 1 5m Converter Connector DB 9 3 This extension cable is optional m 5m 10m 15m 20m R88A CRKB020CR E i Analog Monitor Cable From CN5 connector to flat cables Specifications Model Analog monitor cable 1m R88A CMKO001S Accurax G5
352. encoder count direction by Encoder changing the setting 926 Direction 0 Count direction not reversed 9 y otadi pes Switching 1 Count direction reversed Enable Disable the detection of misconnected Z pulse in A B output encoder 327 eee Phase NES 0 E Oto1 Yes g 0 Enabled 1 Disabled fl Interface and Monitor Setting Parameters 12 22 3 D Power Parameter Explanation Default Unit Setting supply Z name a setting range OFFto ae o ON Input Signal F 00828282h _ Oto 400 Selection 1 Set the input signal 1 function and logic 8553090 OOFFFFFFh Yes Input Signal P 00818181h _ Oto 401 Selection 2 Set the input signal 2 function and logic 8487297 OOFFEFFEh Yes Input Signal F 0091910Ah _ Oto 402 Selection 3 Set the input signal 3 function and logic 9539850 OOFFEFFEh Yes Input Signal 9 OO60606h _ Oto 403 Selection 4 Set the input signal 4 function and logic 394758 OOFFEFFEh Yes Input Signal F P f 0000100Ch _ 0 to 404 Selection 5 Set the input signal 5 function and logic 4108 OOFFEFFEh Yes Input Signal F P 00030303h _ Oto 405 Selection 6 Set the input signal 6 function and logic 197379 OOFFEFFEh Yes Input Signal P F OOOOOFO7h _ Oto 406 Selection 7 Set the input signal 7 function and logic 3847 OOFFEFFEh Yes Input Signal P s 7 00040404h _ Oto 407 Selection 8 Set the inpu
353. eneration load ratio is 100 when operating rate of the External Regeneration Resistor is 10 Regeneration Resistor Setting 2E Reserved Reserved Reserved 2 3 4 Reserved 0to4 Yes Note 1 Pn003 default settings 1 Pn003 11 For 200V drives of 1Kw or upper and 400V drives 2 Pn003 13 For 200V drives of less than 1 Kw Note 2 Pn016 default settings 1 Pn016 0 For 200V drives of 750 W or upper and 400V drives 2 Pn016 3 For 200V drives of less than 750 W i Gain Adjustment Parameters 3 D Power Parameter Default Setting supply z name z Explanation setting unit range OFFto E a ON 100 Position Loop Gain Set the position loop gain 1 a A 0 1 s 0 to 30 000 See 101 Speed Loop Gain Set the speed loop gain 1 Note 2 0 1 Hz 1 to 32 767 Speed Loop See ito 102 an Set the speed loop integration time constant 1 Note 3 0 1 ms 10 000 12 14 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 2 Parameter List 3 D Power Parameter i Default Setting supply z name Explanation setting un range OFFto Go ON Speed Feedback 103 Filter Time The speed feedback filter 1 can be setto one 0 a 0tos 2 of 6 values Constant Force Command 104 Filter Time Set the time constant for the force filter 1 See ool Orto Note 4 Ims 2 500 Const
354. epresentative Be sure to ground the frame ground terminals of the drive and motor to 100 Q or less Electric shock may result Never touch the parts inside the drive Electric shock may result While the power is supplied do not remove the front cover terminal covers cables and options Electric shock may result Installation operation and maintenance or inspection by unauthorized personnel is prohibited Electric shock or injury may result Before carrying out wiring or inspection turn OFF the power supply and wait for at least 15 minutes Electric shock may result Do not damage pull stress strongly or pinch the cables or place heavy articles on them Electric shock stopping of product operation or burn damage may result Never touch the moving part of the motor during operation Injury may result Never modify the product Injury or equipment damage may result Install a stopping device on the machine side to ensure safety Injury may result Install an immediate stop device externally to the machine so that the operation can be stopped and the power supply cut off immediately Injury may result When the power is restored after a momentary power interruption the machine may restart suddenly Never come close to the machine Implement remedies to ensure safety of people nearby even when the machine is restarted Injury may result After an earthquake be sure to conduct
355. equiring Settings SEDI AS Parameter name Explanation Reference number Pn323 Encoder type Selects the encoder type connected P 8 33 Pn920 Magnetic pole Selects the mode to detect the magnetic pole P 8 64 detection method 6 64 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 20 Setup with Serial Converter Operating Procedure Select the Encoder type as SinCos Encoder Pn323 1 to enable the Serial Converter Unit protocol The drive automatically detects if the connected device is a Serial Converter Unit or a Serial Incremental Encoder Select Pn902 2 if Hall sensor is used There is no setting for Temperature sensor If the Temperature sensors are not used no overtemperature alarm appear and the temperature monitor will be zero It is possible to use SinCos Encoder without using Hall sensor or Temperature sensor but for using Hall sensor or Temperature sensors it is mandatory to use a SinCos Encoder The connection layout is next Serial Converter To SinCos Encoder To Hall sensor i Alternative for s Temperature sensor x To CN4 in drive Temperature sensors can be alternatively connected to CN2 together with the Hall sensor or in CN3 The pinout is the same Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 65 suoljoun paddy Safety Function Lo This function stops the motor based on a signal from a Safety Controller or safety sensor An outline of the
356. er Sensor Hall sensor optional 5 Pin No Wire Function Pin No Function Pin No Function 1 Black Phase U 1 Not used 1 5V 2 Black Phase V 2 Not used 2 Hall U o 3 Green Yellow Ground 3 Not used 3 Hall V 4 Black Phase W 4 Not used 4 Hall W 3 5 Not used Not used 5 Not used 5 GND 6 Not used Not used 6 PTC 6 PTC O 7 PTC 7 PTC 8 KTY NTC 8 KTY 9 KTY NTC 9 KTY Case Shield Case Shield eo gt Magnet track Model Approx weight Kg m d i Dimensions mm Mode R88L EC FM 03096 A 2 1 L1 L2 R88L EC FM 03144 A R88L EC FW0303 105 0 5 79 0 15 0 35 R88L EC FM 03384 A R88L EC FW0306 153 0 5 127 0 15 0 35 pe dx4 sp CE oe vead ao SF plate moa C a z a e 4d fx a D z i A A A A A A A f Y at 2 Jt JSt JSt Jl JSt JSt 2 x of ee ee ee eel ee ele aa p 275 48 48 48 48 48 48 48 205 l 5 l s nx48 a L1 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 27 imensions Standard Models and External D 2 4 External and Mounting Dimensions R88L EC FW 0606 0609 0612 Motor coil 12 4 0 7 37 1 0 1 28 6 0 2 23 9 0 7 Cable length 500 30 Connector optional HYPERTAC LRRAO6GAMRPN182 MALE Power Pin No Wire Function 1 Black Phase U 2 Black Phase V 3 Green Yellow Ground 4 Black Phase W 5 Not used Not used 6 Not u
357. er number 2 number Pn100 Position Loop Gain 40 0 1 s Pn105 Pn101 Speed Loop Gain 50 0 Hz Pn106 Pn102 Speed Loop Integral Time 20 0 ms Pn107 Constant Pn104 Force Command Filter Time 0 80 ms Pn109 Constant i Adjustment of Each Parameter The control loop for the servo consists of from the outside a position loop speed loop and current loop The inner loop is affected by the outer loop and the outer loop is affected by the inner loop What determines the default setting includes the structure and the rigidity of the machine and the mass ratio Check the tables for rigidity setting in section 10 2 as reference guide for those settings Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 10 15 suol puny juswysnipy Adjustment Functions 10 3 Manual Tuning Pn100 and Pn105 Position Loop Gain This loop controls the number of pulses from encoder to be the designated number of pulses This is called an error counter and when the pulse is equal to or lower than the specified value positioning is completed and the signal is output The ratio of maximum speed used and error counter is called a position loop gain Command maximum speed pps Position loop gain 1 s Error counter accumulated pulse P For the position loop gain use the inverse of Speed Loop Integral Time Constant Pn102 as a guide for setting Setting Pn102 to 100 ms results in 10 1 s There will be no overshooting under
358. error waveform as shown in the following figure The following gives the vibration frequency in the figure T s Command lt Position error speed Calculate the f Hz vibration frequency Since the parameter unit is 0 1 Hz Pn214 Pn216 Pn218 Pn220 10 x f Application example If the vibration cycle is 100 ms or 20 ms set 100 or 500 Vibration cycle T in the parameter so that the vibration frequency becomes 10 Hz or 50 Hz If vibration persists after setting the frequency increase or decrease the filter frequency to find the frequency at which vibration decreases 3 Set vibration filter setting Set vibration filter setting 1 Pn215 2 Pn217 3 Pn219 4 Pn221 First set to 0 The stabilization time can be reduced by setting a large value however force ripple will increase at the command change point as shown in the following figure Set a range that will not cause force saturation under actual operation conditions The effects of vibration suppression will be lost if force saturation occurs Vibration filter Vibration filter setting is too large setting is appropriate Force saturation aw Force command When the Vibration Frequency 1 Pn214 is set reduce the setting if force saturation occurs or increase the setting to increase operation speed Normally 0 is set If the vibration filter 1 is enabled use the following setting range Setting ran
359. erse command Reverse pulse Forward pulse t1 lt 20 ns t2 gt 500 ns t 2 250 ns T gt 500 ns t T x 100 lt 50 90 phase difference signals Maximum input frequency Line drive 4 Mpps Forward command Reverse command Phase A e e a i ye Phase B pulse ft Y z i T t1 lt 20ns t 20 5 us T2 1 us t T x 100 lt 50 3 30 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 1 Drive Specifications fi Speed Command Input REF Force Command Input FREF1 and Speed Limit Input VLIM Pin 14 Speed command input REF force command Input FREF1 and speed limit input VLIM Pin 15 Analog input ground AGND1 Function During speed control Speed command is input Use the Speed Command Scale Pn302 to change the movement speed scale for the command input During force control This signal provides either a force command input set value 0 or 2 or speed limit input set value 1 according to the setting of Force Command Speed Limit Selection Pn317 In the case of force command input 1 FREF1 you can use Force Command Scale Pn319 to change the movement speed scale relative to the command input In the case of speed limit input VLIM you can use the Speed Command Scale Pn302 to change the limit speed scale relative to the analog input i Force Command Input 2 FREF2 and Forward Force Limit Input PCL Pin 16 Force command input 2 FREF2 and forward force
360. es cai Explanation value 0 Command unit 1 Encoder unit 8 52 Select the setting unit of Positioning Completion Range 1 and 2 Pn431 and Pn442 and Error Counter Overflow Level Pn014 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 6 Extended Parameters Pn521 Force Limit Selection ss Jows u T heer Explanation of Set Values race foretiit Toret forward rection Forward Reverse Selection input Setting Pn523 analog limit T RSA eka Pn521 FLSEL and 524 input PCL input NCL 0 Oto 10V 10 to 0 V PCL NCL 1 Pn013 2 7 Pn013 Pn522 OFF Enabled Pn013 3 ON Enabled Pn522 4 Oto 10V Oto 10V PCL NCL 5 Oto 10V Not affected PCL NCL OFF a Pn013 Pn522 j ON Pn525 Pn526 Set the force limit method for forward and reverse direction lf this parameter is set to 1 the forward and reverse force limit input will be limited by the No 1 Force Limit Pn013 When using force control the No 1 Force Limit Pn013 will be the limit value for forward and reverse operation regardless of the setting of this parameter Pn522 No 2 Force Limit Setting 0 to 500 Unit Default 500 Power OFF range setting and ON Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Set the limit value for the output force Pn013 No 1 Force Limit Pn522 No 2 Force Limit of the moto
361. es to within 2 m Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 3 Wiring Conforming to EMC Directives i Reactor to Reduce Harmonic Current Harmonic Current Measures The Reactor is used for suppressing harmonic currents The Reactor functions to suppress sudden and quick changes in electric currents The Guidelines for Suppressing Harmonic Currents in Home Appliances and General Purpose Components require that manufacturers take appropriate remedies to suppress harmonic current emissions onto power supply lines Select the proper Reactor model according to the Linear Servo Drive to be used Reactor Drive model Model ved Inductance current R88D KTO1L L R88D KTO2H L 3G3AX DL2004 3 2A 10 7 mH R88D KT02L L R88D KTOAH L 3G3AX DL2007 6 1A 6 75 mH R88D KTO4L L R88D KTO8H L 3G3AX DL2015 9 3A 3 51 mH R88D KT10H L R88D KT15H L 3G3AX DL2022 13 8A 2 51 mH R88D KTO8H L R88D KT10H L 3G3AX AL2025 10 0A 2 8 mH R88D KT15H L R88D KT20H L 3G3AX AL2055 20 0 A 0 88 mH Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 43 ubisog wajshs System Design 4 4 Regenerative Energy Absorption 4 4 Regenerative Energy Absorption L___E The Linear Servo Drives have internal regeneration process circuitry which absorbs the regenerative energy produced during motor deceleration and prevents the DC voltage from increasing An overvoltage error occurs however if the amount of re
362. et the operation limit for the front panel 535 Protection 0 Operation not blocked 0 Oto 1 Yes Setting 1 Operation blocked Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 2 Parameter List i Special Setting Parameters E 5 Power E Parameter Explanation Default Unit Setting supply zZ name D setting range OFFto iz a ON Analog Force Set the input gain for analog force feed 0 1 V 600 Feed forward forward 0 100 Oto100 Gain Setting O to 9 will be disabled i Maximum Set the maximum speed error before having PEE speed error error 24 1 Setting to 0 disables this alarm ms 10 1020000 604 Jog Speed Set the command speed during JOG trial 50 mm s Oto500 l operation speed control 605 Gain 3 Effective Set effective time of gain 3 of three step 0 0 1 0 to 10 000 Time gain switching ms Gain 3 Ratio 100 to 606 Setting Set gain 3 as a multiple of gain 1 100 Yo 1 000 607 pore Command Set offset force to add to force command O 100 to 100 Value Offset 608 Forward Direction Set the value to add to a force command for 0 100 to 100 Force Offset forward direction operation 609 Reverse Direction Set the value to add to a force command for 0 100 to 100 Force Offset reverse direction operation 610 Function l Set the function expansion The setting 0 a 0 to 63 iS Expansion Setting contents vary de
363. etection 70 1 ms 170 to 2 000 Yes i Hold Time time Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 27 Appendix 12 2 Parameter List 3 a Power E Parameter Default Setting supply z name Explanation setting Unit range OFF to E 1 ON Set the alarm sequence 0 During deceleration Dynamic brake After stopping Dynamic brake 1 During deceleration Free run After stopping Dynamic brake During deceleration Dynamic brake 2 After stopping Servo free 3 During deceleration Free run After stopping Servo free During Immediate stop alarm Stop Selection 4 aR ee me 510 for Alarm renee ak ene i ake jo 0to7 Generation er stopping Dynamic brake During Immediate stop alarm deceleration Inmediate stop 5 P During deceleration Free run After stopping Dynamic brake During Immediate stop alarm deceleration Immediate stop 6 on During deceleration Free run After stopping Servo free During Immediate stop alarm deceleration Immediate stop 7 During deceleration Free run After stopping Servo free 511 ee StoP set the force limit for immediate stops 0 loto500 l 512 evel Develo Set the overload detection level 0 0 to 500 Level Setting rei 0 1 514 Overrun Limit Set the motor over travel distance for 10 pole loto1 000 l Setting position commands i pitch Select from one of 4 values for th
364. etting 00060606h 394758 PowerOFFandON Yes Default is FLC in all models Pn416 Analog Monitor 1 Selection All Setting range 0 to 22 Unit Default setting O Power OFF and ON Explanation of Set Values Explanation Set value Monitor type Unit si al ail rae 0 Motor speed mm s 500 1 Position command speed 2 mm s 500 2 Internal position command speed 2 mm s 500 3 Speed control command mm s 500 4 Force command 33 5 Command position error 3 pulse command units 3 000 6 Encoder position error 3 pulse encoder units 3 000 7 Reserved 8 Reserved 9 DC Bus voltage V 80 10 Regeneration load ratio 33 11 Overload load ratio 33 12 Forward direction force limit 33 13 Reverse direction force limit 33 14 Speed limit value mm s 500 15 Mass ratio 500 16 Analog input 1 V 1 17 Analog input 2 V 1 18 Analog input 3 1 V 1 19 Reserved 20 Drive temperature C 10 21 Reserved 22 Reserved x 1 Analog inputs 1 to 3 will output terminal voltage even when terminal is not used 2 Corresponding to command pulse input command pulse speed is before command filter position command filter time constant and smoothing filter time constant and internal command speed is after command filter 8 36 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 5 Interface Monitor Setting Parameters 3 The position command error is an error from the command pulse
365. ettings for these speed limit values Setting Speed Limit Values If Force Command Speed Limit Selection Pn317 is 0 speed limit will be the value set by Speed Limit Value Setting Pn321 and Reverse Direction Speed Limit Value Setting Pn322 If Force Command Speed Limit Selection Pn317 is 1 the speed limit will be the value obtained by converting the voltage applied to analog input 1 with Force Command Scale Pn319 When the motor speed approaches the speed limit value the speed control switches to that using Speed Limit Value Setting Pn321 and Reverse Direction Speed Limit Value Setting Pn322 as commands To have a stable operation while the speed is limited the parameter should be set according to SPEED CONTROL Mode Adjustment The force may not be produced as specified by the force command because the input to the force limit section will be small when the speed limit values in Speed Limit Value Setting Pn321 and Reverse Direction Speed Limit Value Setting Pn322 are too low when the speed loop gain is too low or when the speed loop integral time constant is 10 000 disabled Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 10 19 suoioun juswysnipy Error and Maintenance ers This chapter explains the items to check when problems occur error diagnosis using the alarm LED display and measures error diagnosis based on the operating condition and measures and periodic maintenance 11 1 Er
366. f Brake Timing during Operation Pn438 or the time needed for the motor speed to drop to 30 mm s or below whichever occurs first Note 1 Even when the servo ON input is turned ON again while the motor is decelerating the system will not enter the servo ON state until the motor stops The brake interlock BKIR signal is allocated to a CN1 general purpose output to be used Note 2 If the main circuit power supply turns OFF while the motor is operating a phase loss alarm or main circuit voltage low alarm will occur in which case this operation timing will be applied suoljoun paddy Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 21 Applied Functions 6 6 Brake Interlock i Operation Timings at Alarm Reset Reset alarms by turning OFF the power supply and then turning it ON again The alarm reset input recognition time can be changed using Alarm Reset Condition Selection Pn516 The default setting is 120 ms ON Alarm reset OFF ON Servo ready output READY OFF ON Alarm output ALM OFF Operation command RUN ON OFF ON Dynamic brake relay OFF ON Motor power supply OFF Brake interlock ON tput BKIR 2 SuIpUaR I OFF ON Operation command input OFF 1 The servo will not turn ON 2 The brake interlock BKIR Reset gt _ lt 120 ms READY Alarm Alarm Released gt lt 0 ms or more Servo OFF Servo ON m 2 ms or more DB engaged DBR eleased
367. f diagnosis a filter that can remove the L pulse for self diagnosis is built in with the safety input circuit If the OFF time of the safety input signal is 1 ms or less the safety input circuit does not recognize it as OFF To make sure that OFF is recognized maintain the OFF status of safety input signal for at least 5 ms For self diagnosis L pulse I d Piia DRE 5 ms or more i 1 14 i i rs 1 I N NT NO7 Within 1 ms Within 5 ms Servo amplifier operation Normal operation STO status Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 7 3 uoipunjy Ajajes x ba Safety Function 7 1 Safe Force OFF STO Function i External Device Monitor EDM Output Signal This is a monitor output signal that is used to monitor the status of safety input signals using an external device Connect a safety equipment such as a Safety Controller or a safety sensor to the external device monitoring terminal Pin CONTROL mode Signal name Symbol nuber Description Position Speed Force EDM output i i i p EDM CN8 8 Monitor signal is output to detect Ni N y malfunctioning of the safety function This output signal is not a safety EDM CN8 7 output V V N Relationship Between Safety Input Signal and EDM Output Signal When safety inputs 1 and 2 are both OFF where the STO function is operating for safety inputs for the 2 circuits the EDM output cir
368. f settings Also explains how to setup Linear Servo Motor parameters and encoder This function stops the motor based on a signal from a Safety Controller or safety sensor Chapter Safety Function An outline of the function is explained together with operation and connection examples Parameters This chapter explains the set value and contents of setting of each Chapter 8 Details parameter Chapter9 Operation This chapter explains the operating procedures and how to operate in each mode Adjustment This chapter explains the functions setting methods and items to note Chapter 10 f Functions regarding various gain adjustments This chapter explains the items to check when problems occur error Chapter 11 Error and diagnosis using the alarm LED display and measures error diagnosis p Maintenance based on the operating condition and measures and periodic maintenance Chapter 12 Appendix This chapter provides connection examples using OMRON s PLC and Position Controller as well as a list of parameters Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Table Of Contents Tg ticele Uta ile M eee cee reneavie Sees Der ene mecen mee T EE aerate Lene 1 Items Requiring Acknowledgment ccceeeeeeee eee eeeeeeeeeeeeaaaae eee 2 Safety Precautions DOCUMENT cece eee ee eee eee eee eeeeeeeeeeeeeeeeeeees 4 Items to Check after UNDaCKING ccceeeeeeeeeeeeeeeeeeeeeaeaeaeaeaeees 12 Manu
369. g 1 Pn523 Set the rate of change from force limit 2 to force limit 1 Pn525 Forward External Force Limit Setting 0 to 500 Unit Default 500 Power OFF _ range setting and ON Set the forward external force limit upon force limit switching input when Pn521 6 Pn526 Reverse External Force Limit Setting 0 to 500 Unit Default 500 Power OFF _ range setting and ON Set the reverse external force limit upon force limit switching input when Pn521 6 Pn527 Analog Force Limit Scale Setting 10 to 100 Unit 0 1 V 100 perau 30 POWE RETI range setting and ON Set the gain for the analogue force limit input Pn528 Default Display All Setting Default Power OFF range aga Unit setting 1 and ON ve 8 54 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 6 Extended Parameters Explanation of Set Values Set value Explanation 0 Command position error 1 Motor speed 2 Position command speed 3 Speed control command 4 Force command 5 Total encoder pulses 6 Total command pulses 8 Feedback pulses 9 CONTROL mode 10 I O signal status 11 Analog input value 12 Error factor history 13 Warning number 14 Regeneration resistance load ratio 15 Overload load ratio 16 Mass ratio 17 Reason for no movement 18 Display of the number of I O signal changes 20 Reserved 21 Absolute pos
370. g a notch filter to eliminate resonance A notch filter is used to eliminate a specified frequency component Width fw Depth Fc fw Frequency Hz gt Cut off frequency Fc lf machine resonance occurs use this notch filter to eliminate resonance a Machine resonance A Characteristics Notch filter i after filtering Notch filter 1 Notch filter 2 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 9 suo1 2unj paddy Applied Functions 6 3 Notch Filter Parameters Requiring Settings Parameter Parameter name Explanation Reference number Notch 1 Freg en Set the center frequency of the notch filter 1 Pn201 i quency The notch filter is enabled at 50 to 4 999 Hz and disabled P 8 20 Setting at 5 000 HZ Select the width of the notch filter 1 frequency Pn202 boas Lic Increasing the value will widen the notch P 8 20 g Setting range 0 to 20 Select the depth of the notch filter 1 center frequency Notch 1 Depth Increasing the value will decrease the notch depth and Pn203 P thereby reduce the phase delay The notch filter is disabled P 8 20 Setting A f if 100 is set Setting range 0 to 99 Pn204 Notch 2 Frequency Set the center frequency of the notch filter 2 P 8 20 Setting The details are the same with the notch filter 1 frequency i Pn205 Notch 2 Width Select the width of the notch filter 2 frequency P 8 20 Setting The details ar
371. g force feed forward is enabled when bit 5 of the Setting of Each Function Pn610 is set to 1 In addition if analog input 3 is used by another function for example analog force limit this function is disabled It is converted to force from the voltage V that is applied to analog input 3 based on the Analog Force Feed forward Gain Setting Pn600 and is added to the force command The conversion from the input voltage V to analog input 3 to a force command to the motor is performed as illustrated in the graph below The slope of the graph is when Pn600 30 The slope changes based on the Pn600 set value Force command 100 x Input voltage V Pn600 set value x 0 1 Force command 10 6 6 10 Input voltage V 200 Pin 333 6 52 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 16 Instantaneous Speed Observer Function 6 16 Instantaneous Speed Observer Function Outline of Operation Estimating the motor speed using a load mass increases responsiveness and reduces vibration at stopping and improves the speed detection accuracy This function can be used for position control The instantaneous speed observer function can be used in the following situations When servo is ON When there is no trouble with the motor s normal movement When realtime autotuning is disabled Speed command Speed control Force Motor comma
372. g to OMRON if the product is programmable or outcomes of such programming 3 Conditions for Intended Application 1 If this product is combined with other product the customer must check the standards and regulations applicable to such combination The customer must also check the compatibility of this product with any system machinery or device used by the customer If the above actions are not taken OMRON shall not assume any responsibility regarding the compatibility of this product If the product is used in the following applications consult your OMRON sales representative to check the necessary items according to the specification sheet etc Also make sure the product is used within the specified ratings and performance ranges with an ample margin and implement safety measures such as designing a safety circuit to minimize danger should the product fail a Used in any outdoor application application subject to potential chemical contamination or electrical interference or in any condition or environment not specified in the catalog operation manual etc b Nuclear power control equipment incineration equipment railway aircraft and vehicle equipment medical machinery entertainment machinery safety system or any other device controlled by an administrative agency or industry regulation c System machinery or device that may threaten human life or property d Gas water or electricity supply system system operated conti
373. ge 36 parameter error or 37 parameter destruction is displayed the parameter cannot be initialized Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 31 uoesado Operation 9 4 Setting the Mode i Front Panel Lock This locks the front panel 1 Displaying PARAMETER mode Key operation Display example Explanation Unas pa TO ey o Apy MONITOR meds G5 Pn 5 Press 5 key to display PARAMETER SETTING mode 2 Setting the parameter number Key operation OS Press A to increase the value of the digit with Press to decrease the value of the digit with Display example Explanation Use the keys to set to Pn535 Press Q to move to the left and change the digit to be set 3 Displaying parameter set values Key operation 4 Changing the parameter set value Display example Explanation Press the key to display the set value Key operation Display example Explanation l Use the keys to change the value A i Press Q to move to the left and change the digit to be set Press A to increase the value of the digit with Press O to decrease the value of the digit with Press the Gara key to save the new set value l To cancel the change instead of pressing Ga press 3 to return to the display in procedure 2
374. ge 100 lt Pn214 Pn215 lt Pn214 x 2 or 2 000 Note If the vibration filter 1 is disabled under Vibration Filter Selection Pn213 this parameter is also disabled Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 5 suoljoun paddy Applied Functions 6 1 Anti vibration Control 6 6 4 Set the Vibration Filter Selection Pn213 Vibration filters 1 to 4 can be switched according to the conditions of the machine vibration Set value SWITCHING mode 0 Vibration filter 1 and 2 enabled Switching by external input DFSEL1 Open Vibration filter 1 or 3 enabled Shorted Vibration filter 2 or 4 enabled Switching by external input DFSEL1 DFSEL2 When DFSEL1 and DFSEL2 are both open Vibration filter 1 enabled When DFSEL1 is shorted and DFSEL2 is open Vibration filter 2 enabled When DFSEL1 is open and DFSEL2 is shorted Vibration filter 3 enabled When DFSEL1 and DFSEL2 are both shorted Vibration filter 4 enabled Switching with command direction Forward direction Vibration filter 1 or 3 enabled Reverse direction Vibration filter 2 or 4 enabled Vibration Filter Selection Pn213 is a parameter that becomes effective when the power is turned on After setting this parameter turn OFF the control power supply and then turn it ON again Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 2 Adaptive Filter 6 2 Adaptive Filter Outline of Operation The adaptive
375. generation limit is reached based on the Pulse Regeneration Output Limit Setting Pn533 Note that this error is generated when the pulse regeneration output limit is detected Therefore the error does not occur due to the maximum output frequency Depending on the motor movement status the error may occur when the detection is made at the frequency that goes up momentarily Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 17 suoijoun paddy Applied Functions 6 6 Brake Interlock 6 6 Brake Interlock Outline of Operation This function lets you set the output timing for the brake interlock BKIR signal that activates the holding brake when the servo is turned ON an alarm generates or the servo is turned OFF Contrary to the rotary motors the brake in the linear motor is an external element that must be supplied separately and installed by the user Parameters Requiring Settings Parameter Parameter name Explanation Reference number Brake Timing when Set the time after a servo OFF command is issued upon Pn437 Stopped servo lock stop until the brake interlock BKIR signal turns P 8 43 OFF and power supply stops Brake Timing Set the time after a servo OFF command is issued while the Pn438 during Operation motor is moving until the brake interlock BKIR signal P 8 43 turns OFF and power supply stops If the speed drops to 30 mm s or below before the time set here BKIR will turn OFF Pn
376. generative absorption capacity The capacity depends on the model For details refer to the next section The average regeneration power Pr is the regeneration power produced in 1 cycle of operation W Pr Egi Eg2 T W T Operation cycle s 4 44 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 4 Regenerative Energy Absorption i Vertical Axis Downward movement Motor operation I Upward movement Motor output force In the output force graph acceleration in the forward direction rising is shown as positive and acceleration in the reverse direction falling is shown as negative The regenerative energy values in each region can be derived from the following equations En 4 Vi Fo th WJ Ego Va Foz t2 J Ess gt Vs Fos ts J Vi V2 Speed at start of deceleration mm s Fp1 Fo2 Deceleration force N Fi2 Force during downward movement N ti t3 Deceleration time s t2 Constant speed driving time during downward movement s Note Due to the loss of winding resistance the actual regenerative energy will be approximately 90 of the values derived from these equations For drive models with internal capacitors used for absorbing regenerative energy models of 400W or less the values for both Eg or Ego Egg J must be lower than the drive s regeneration absorption capacity The capacity depends on the model For details refe
377. generative energy from the motor is too large If this occurs remedies must be taken to reduce the regenerative energy by changing operating patterns or to increase the regeneration process capacity by connecting an External Regeneration Unit Calculating the Regenerative Energy i Horizontal Axis V Motor operation Motor output force In the output force graph acceleration in the forward direction is shown as positive and acceleration in the reverse direction is shown as negative The regenerative energy values in each region can be derived from the following equations Eg t Vy Fo ti J 2 gt Ego 4 V2 Foz t2 J Vi V2 Speed at start of deceleration mm s Foi Fo2 Deceleration Force N ti t2 Deceleration time s Note Due to the loss of motor winding resistance and PWM the actual regenerative energy will be approximately 90 of the values derived from these equations For drive models with internal capacitors used for absorbing regenerative energy models of 400W or less the values for both Eg or Eg J must be lower than the drive s regeneration absorption capacity The capacity depends on the model For details refer to the next section For drive models with an Internal Regeneration Resistor used for absorbing regenerative energy models of 600 W or more the average amount of regeneration Pr W must be calculated and this value must be lower than the drive s re
378. gh with linear motors we have to talk about Force instead of Torque we keep Safe Torque OFF as the name of this function beacuse it is the standard name Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 7 1 Safe Force OFF STO Function I O Signal Specifications fl Safety Input Signal There are 2 types of safety input circuits to operate the STO function Pin CONTROL mode Signal name Symbol Description number a Position Speed Force Safety input 1 SF CN8 4 e The upper arm drive signal of the V y y power transistor inside the drive is SF CN8 3 cut off N Ni Ni Safety input 2 SF2 CN8 6 e The lower arm drive signal ofthe V V V power transistor inside the drive is SF2 CN8 5 cut off y y Ni When the safety input is either 1 or 2 the STO function will start operating within 5 ms of the input and the motor output force will be turned OFF Connect the equipment so that the safety input circuit is turned OFF when you operate the STO function Use Stop Selection for Alarm Generation Pn510 to set the operation when the safety input is turned OFF H Precautions for Correct Use L pulse for self diagnosis of safety equipment When you are connecting a safety equipment such as a Safety Controller or a safety sensor the safety output signal of the equipment may include L pulse for self diagnosis To avoid malfunction due to this L pulse for sel
379. gnal ZSP 3 43 Index 5 OMRON EUROPE B V Wegalaan 67 69 NL 2132 JD Hoofddorp The Netherlands Tel 31 0 23 568 13 00 Fax 31 0 23 56813 88 www industrial omron eu Austria el 43 www ind Belgium el 32 www ind www ind www ind Finland www ind Denmark el 45 43 44 00 11 0 2236 377 800 ustrial omron at 0 2 466 24 80 ustrial omron be Czech Republic el 420 234 602 602 ustrial omron cz ustrial omron dk el 358 0 207 464 200 ustrial omron fi France o www industria Germany www industria Hungary el 36 0 13 www industria Italy el 39 02 32 www industria Netherlands el 31 0 23 33 0 156 63 70 00 omron fr el 49 0 2173 680 00 omron de 99 30 50 omron hu 681 omron it 568 1100 www industria Note Specifications subject to change without notice Cat No 1163E EN 01A OMRON omron nl Norway Tel 47 0 22 65 75 00 www industrial omron no Poland Tel 48 0 22 458 66 66 www industrial omron com pl Portugal Tel 351 21 942 94 00 www industrial omron pt Russia Tel 7 495 648 94 50 www industrial omron ru South Africa Tel 27 0 11579 2600 www industrial omron co za Spain Tel 34 913 777 900 www industrial omron es Sweden Tel 46 0 8 632 35 00 www industrial omron se Switzerland Tel 41 41 748 13 13 www industrial omron ch Turkey Tel 90 21
380. gnal wiring can cause damage to units and the drive Leave unused signal lines open and do not wire them Use the power supply for command pulse 24 VDC as a dedicated power supply The diode recommended for surge absorption is the RU 2 Sanken Electric Co Ltd or the equivalent Do not share the power supply for brakes 24 VDC with the 24 VDC power supply for controls 12 10 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Connection Example 10 Connecting to a SYSMAC CS1W HCA12 22 V1 Customizable Counter Unit 12 1 Connection Examples Main circuit power supply NEB OFF ON MCI MC2 R e F I oa ic Main circuit contact UP surge suppressor 3 phase 200 to 240 VAC 50 60 Hz S O 6iO _ 9 MCT MC2 X1 a z T Ss dZ Groundto _ CS1W HCA12 22 V1 100 Ooricce R88D KTx L Special I O connector Description Nof o Phase A LD A Reactor Phase A LD A Lae Phase B LD B zimi Phase B LD B Phase Z LD Z MC1 MC2 Phase Z LD Analog output 1 Analog output 1 Analog output 2 Analog output 2 1 0 connector 24 VDC Origin proximity input signal 1 4 CCW limit input signal 1 Z REF AGND FREF2 AGND 24VIN
381. h Setting All Setting Default Power OFF range eee eat S setting 0 and ON p Set the notch depth of resonance suppression notch filter 2 Increasing the setting will shorten the notch depth and the phase lag Pn207 Notch 3 Frequency Setting All Setting 50 to 5 000 Unit Hz Default 5000 Power OFF range setting and ON Set the notch frequency of resonance suppression notch filter 3 The notch filter function will be disabled if this parameter is set to 5 000 Pn208 Notch 3 Width Setting All Setting Default Power OFF range 9 1029 Un setting and ON Select the notch width of resonance suppression notch filter 3 Increasing the setting widens the notch width Normally use the default set value Pn209 Notch 3 Depth Setting All Setting Default Power OFF range cies Unit setting 9 and ON Set the notch depth of resonance suppression notch filter 3 Increasing the setting will shorten the notch depth and the phase lag Pn210 Notch 4 Frequency Setting All Setting 50 to 5 000 Unit Hz Default 5000 Power OFF _ range setting and ON Set the notch frequency of resonance suppression notch filter 4 The notch filter function will be disabled if this parameter is set to 5 000 Pn211 Notch 4 Width Setting All Setting F Default Power OFF range piaey Unit lt setting and ON Select the notch width of resonance suppression notch filter 4 Increasing the setting widens the notch width Normally use the default se
382. h current flow which suppresses vibration The default setting of the filter time constant is 80 0 8 ms Increase the value to reduce vibration Increasing the value slows the response As a guide aim for about 1 25 of the Speed Loop Integral Time Constant Pn102 Also the force command filter reduces vibration due to the machine rigidity This is related to Speed Loop Gain Pn101 and if Pn101 is too large increasing the force command filter time constant does not reduce vibration If there is machine resonance such as with the ball screw vibration is reduced by using notch filters such as Pn201 Pn204 Pn207 and Pn210 Or enable the adaptive filter 10 18 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 10 3 Manual Tuning Other Adjustments If the force loop is saturated because the acceleration time is short or the load force is large an overshooting occurs for the speed response In such case increase the acceleration time to prevent the force from saturating Command operation pattern Overshooting occurs Acceleration force required to by the delay from accelerate according to the command the command pattern ee Momentary maximum force at which motor output is possible FORCE CONTROL Mode Adjustment This is a force control based on the speed control loop where the speed limit is the speed limit value from Speed Limit Pn304 Pn305 Pn306 or Pn307 This section describes the s
383. he Stop Selection with Servo OFF Pn506 set to 8 or 9 The normal force limit will be used if this parameter is set to 0 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 49 sjiejeg siojoweled Parameters Details 8 6 Extended Parameters Pn512 Overload Detection Level Setting All Setting 0 to 500 Unit o Default 0 Power OFF _ range setting and ON Set the overload detection level lf this setting is O the level is set to 115 of nominal force Internally ther is a limit of 115 so higher values are limited to 115 Pn514 Overrun Limit Setting Setting F Default Power OFF range 0 to 1 000 Unit 0 1 pole pitch setting 10 and ON Set the allowable operating range for the position command input range If the set value is exceeded motor operation range setting protection is generated When position command is not input coi Magnet L Pn514 Pn514 Motor allowable Error generation range operating range Error generation range When position command is input za Coil D Position command e input range Error generation range Motor allowable operating range Error generation range Pn515 Control Input Signal Read Setting All Setting 0t03 Unit 7 Default 0 Power OFF Yes range setting and ON Explanation of Set Values Sel Explanation val
384. he left in the following illustration Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 3 Wiring Conforming to EMC Directives O Separate the input and output x The effect of the noise filter is small AC input AC output AC input Ground Ground AC output l Use twisted pair cables for the power supply cables or bind the cables P Linear Linear O Twisted pair process Sino Drie O Bound cables Eno DNE L1 L1C 4 KAKI K i BE 7 L3 Binding Separate power supply lines and signal lines when wiring 4 33 ubisog waj shs System Design 4 3 Wiring Conforming to EMC Directives i Control Panel Structure Openings in the control panel such as holes for cables operating panel mounting holes and gaps around the door may allow electromagnetic waves into the panel To prevent this observe the recommendations described below when designing or selecting a control panel Case Structure Use a metal control panel with welded joints at the top bottom and sides so that the surfaces will be electrically conductive If assembly is required strip the paint off the joint areas or mask them during painting to make them electrically conductive The panel may warp and gaps may appear when screws are tightened Be sure that no gaps appear when tightening screws Do not leave any conductive part unconnected
385. he motor to stop after a Pn927 estimation operation ae P 8 65 movement before giving error 61 1 electrical angle maximum time eae estimation error Magnetic pole position In the magnetic pole position estimation method set the Pn928 estimation operation force time constant for the Force command If set to O the filter is P 8 65 filter time constant disabled and a force step is applied Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 61 suoijoun paddy Applied Functions 6 19 Magnetic Pole Position Operating Procedure 6 62 in servodrive Magnetic pole direct measurement Pn920 1 With this method the magnetic pole position is directly measured via Hall sensors in the linear servomotor The Hall sensors are connected to the Serial Converter and the Serial Converter transfer the information to the servodrive via serial link That means that the Hall sensors have to be used always in combination with a SinCos Encoder SinCos Encoder To CN4 The Hall sensors must be installed in the motor coil and have to be ordered separately The Hall sensor have been designed so the phase offset between the Hall sensor measurement and the motor windings is zero If for some reason the Hall sensor must be installed in other place it is necessary to adjust the phase between the Hall sensors and the motor coils in Pn921 as the next figure shows Feedback scale Direction of countdown
386. he operation command RUN The resistor in the drive is abnormally overheating Reduce the ambient temperature of the drive to 55 C or lower If the relay does not click when the power supply is turned ON replace the drive 11 12 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 4 Troubleshooting Alarm a Status when error Error conditions display occurs Cause Measures Occurs during The ambient temperature Lower the ambient temperature Increase the capacity of the 15 Drive overheat operation is too high drive and motor P i The load is too large Reduce the load Extend the acceleration deceleration times There is an error in the motor wiring the wiring or Wire the motor power cable the connections are correctly Occurs when the servo faulty tuned ON The electromagnetic brake is ON Turn OFF the brake The Servo Drive is faulty Replace the drive sine cleave 1OTGE exCRedS Review the load conditions and the rated force re 16 Overload operating conditions Occurs during operation The initial force exceeds the maximum force Review the motor capacity Unusual noise or vibration is caused by faulty gain adjustment Adjust the gain correctly The Servo Drive is faulty Replace the drive Wrong setting of overload curve Pn929 Select the overload curve in Pn929 according to the mo
387. he specifications of the cos cos sin and sin signals are identical except for the phase Input the signals Ref and Ref so that they shall cross each other as shown in the figure beacuse they are input into the converter When they are crossed the output data will be counted up 90 el Phase difference aaas Counting direction Max frequency 400KHz This is the positive counting direction including the reference pulse signal Difference signals measured at Ro U1 Uy Uy 0 6 1 2Vgg Nominal voltage 1Vgs U2 Us U2 0 6 1 2Vgg Nominal voltage 1Vgs UO Up Up 0 5 1 2V_ Nominal voltage 0 8V Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 79 SUOI EDIJIDGdS Specifications 3 4 Encoder Hall sensor and Serial Converter i Counting direction The direction of the feedback encoder must correspond with the direction of the motor coil phases If not you can reverse the count direction with parameter Pn326 0 direction is not reversed 1 direction is reversed You can measure the direction of the motor phases using the next method Connect an oscilloscope between the motor phases U W V U AND W V Disconnect the motor phases from the Linear Servo Drive Move the motor coil with yor hand and measure the induced voltage 0 130 360 te Oe NaN in aes y ATS pad el Pai eee ae HNA a DR ae eee In this direction the feedback encoder mus
388. he way the motor is installed you are not sure which is the positive direction of the motor in this case you have to measure the phase order of the induced voltage in the motor Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 59 suoljoun paddy Applied Functions 6 18 Encoder Setup 6 60 Feedback scale Direction of countdown Amplitude 00 V G U W V G V U V G W V Electrical 180 360 angle If you are online the right settings will be downloaded to the drive and saved in the EPROM Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 19 Magnetic Pole Position 6 19 Magnetic Pole Position Outline of Operation For a proper control of a linear motor the drive has to know the magnetic pole position electrical angle of the magnets relative to the coil windings The drive has three ways to know the magnetic pole position By doing a magnetic pole position estimation sequence where the drive measures in an indirect way the electrical angle By a direct measurament via hall sensors in the motor that are connected to the Serial Converter This method is valid only when a SinCos Encoder is used Recovering the magnetic pole position measured or estimated previously This method is valid with Absolute Serial Encoder only Parameters Requiring Settings Parameter Parameter name
389. hei detection nosssert E a Mayet ohne detection tee for Ss e Mggeete pheme detection Forte Com 1 Select the method to establish the motor electrical angle The options are Estimation sequence in the drive First run after power on the drive makes a commutation signal finding sequence where the motor moves a small movement to estimate the electrical angle This method is available for all encoder types Direct measurement via Hall sensors installed in the motor This method is only available for SinCos encoder via Serial Converter Restoration method A previously detected electrical phase is restored at power up This method is only available for Absolute linear encoders 2 Setting area In case of selecting commutation signal finding sequence you can set various parameters to ensure a proper detection sequence Finally click Finish to finish the setup Note Most of the motor and encoder setup parameters needs a power off on to become effective Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 7 uonesado Operation 9 2 Preparing for Operation Trial operation Once the drive report no errors you can make a trial operation either with the Jog function via the display or with the trial operation via CX Drive Make sure the emergency switch is connected and ready for a quick stop in case of overrun Steps to follow operation Before start the test run operation make sure th
390. hen you have finished installation wiring and switch settings and have confirmed that status is normal after turning ON the power supply perform trial operation The main purpose of trial operation is to confirm that the servo system is electrically correct If an error occurs during the trial operation refer to Chapter 11 Error and Maintenance to eliminate the cause Then check for safety and then retry the trial operation Preparation for Trial Operation i Inspections before Trial Operation Check the following items Wiring Make sure that there is no error especially the power supply input and motor output Make sure that there are no short circuits Check the ground for short circuits as well Make sure that there are no loose connections Power Supply Voltage Make sure that the voltage corresponds to the rated voltage Motor Installation Make sure that it is securely installed Brake Released Make sure that the brake if used has been released Motor and Encoder Setup Make sure the motor and Encoder are properly configured Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 35 uoesado Operation 9 5 Trial Operation Trial Operation in POSITION CONTROL Mode 9 36 kh OND 9 Connect connector CN1 Input power supply 12 to 24 VDC for the control signals 24 VIN COM Turn ON the power supply to the drive Confirm that the parameters are set to the standard set v
391. hod Selection Pn622 1 the phase AB signal can be loaded to the amplifier and regenerated Note in this case that the phase AB regeneration will be delayed compared to when Pn622 is set to 0 Encoder Common Items When detection cannot be made because the phase Z signal width is narrow due to the Encoder travel distance if you set the phase Z signal output time in the Encoder Z Setting Pn620 phase Z can be output at least for that period of time In addition take note that the output is made from when the phase Z signal starts and therefore it will be different from the actual phase Z signal width Take note also that the direction of the time extension varies depending on the direction of the operation 6 16 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 5 Encoder Dividing Function Phase Z output for pulse regeneration before time extension Operating direction Phase Z output for pulse regeneration after time extension Pn620 Encoder Phase Z Setting D a a Operating direction Pn620 Encoder Phase Z Setting R o H Precautions for Correct Use The maximum output frequency of the pulse regeneration output will be 4 Mpps after quadruple multiplier If operated at a speed that exceeds this the regeneration function may not operate properly and position misalignment may result Phase A Phase B 0 25 us or more You can generate Err28 0 pulse regeneration error when the pulse re
392. i Encoder Cable A B Encoder From Encoder connector DB 15 male with Numerik jena pinout to CN4 connector in servodrive Specifications For Iron core and Ironless linear motors with connectors Model 1 5m R88A CRKNO01 5CR E 3m R88A CRKNOO3CR E 5m R88A CRKNOO5CR E 10m R88A CRKNO10CR E 15m R88A CRKNO15CR E 20m R88A CRKNO20CR E i Encoder Cable SinCos Encoder From Encoder connector DB 15 male with Numerik jena pinout to CN4 connector in Serial Converter Specifications For Iron core and Ironless linear motors with connectors Model 1 5m R88A CFKA001 5CR E 3m R88A CFKA003CR E 5m R88A CFKA005CR E 10m R88A CFKA010CR E 15m_ R88A CFKA015CR E i Motor power cable Specifications Model For lron core linear motors with connectors 1 5m R88A CAWK001 5S DE 3m R88A CAWKO003S DE 5m R88A CAWKO005S DE 10m R88A CAWK010S DE 15m R88A CAWK015S DE 20m R88A CAWK020S DE For lronless linear motors with connectors 1 5m R88A CAWB001 5S DE 3m R88A CAWB003S DE 5m R88A CAWB005S DE 10m R88A CAWB010S DE 15m R88A CAWB015S DE 20m R88A CAWB020S DE Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 11 SUOISUSWIG u1 x3 pue sj poN PsepurIsS Standard Models and External Dimensions 2 3 Standard Model List i Serial Converter The Serial Converter is an interface that is necessary wh
393. ice Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Control cables 4 2 Wiring RST 3 phase 380 to 480 VAC 50 60 Hz ISS NFB Main circuit contactor 1 Main circuit power supply enc OFF ON 1MC 2MC an i A J J 1MC V L bi m Surge suppressor 1 IMC 2MC X Servo error display OMNUC G5 Linear Series AC Servo Drive 24V fie OMNUC G5 Linear ov XB Series AC Servomotor aaen 24 VDC gt vA External brake ee ae 24 VDC ee M e GP PC i3 Ground to 100 Q or less ar Encoder cables E 3 A B Encoder a EE 36 ALMCOM BKIR 11 BKIRCOM 10 2 1 A recommended product is listed in 4 3 Wiring Confirming to EMC Directives Recommended relay MY relay by OMRON 24 V type For example MY2 relay by OMRON can be used with all G5 Linear series motors with brakes because its rated induction load is 2 A 24 VDC 3 The Regeneration Resistor built in type shorts B2 and B3 When the amount of regeneration is 2 24 VDC as large remove the connection between B2 and B3 and connect the Regeneration between B1 and B2 Resistor 4 19 a waj shs ubiso 4 2 Wiring i R88D KT30F L KT50F L F OD Q OQ
394. iiautssduauadestsiuccendencepnetsadunsiaviniudvaraers 10 4 10 3 Manual TUNING nianagan aaa a araara 10 12 Chapter 11 Error and Maintenance 11 1 Error PROCESSING rncctctctetias teh et bestest bitbust Secetete hatter cath ead dud Mactan conte 11 2 T Z Warning Li Starina R 11 5 TES Alarni EiS Uosetsebiehaned tueounsircr nn ucsvieldsiestababesanalvnatereedrenonuaualianstalels 11 6 11 4 THOUDICSHOOMMOs imcnttenhecthtnrah rade casekiuben eae enter tamheh tet Asdadadsucteneetsd 11 11 11 5 Periodic Maintenance sic tcensiveriisecaricceivs aca ntrnianddecctedeladanaaardavecneeems 11 23 Chapter 12 Appendix 12 1 Connection EXAM PlOS viviccescascsced ests wienceseseedk kucvanvetedsedecadvaad auadeodexseke 12 2 12 2 Parameter Listener a a E 12 12 12 3 Safety Certification esses aia Soha ae ae tao et a 12 37 Index Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 17 18 Features and System Configuration Ei Lo This chapter explains the features of this product name of each part and applicable EC directives and UL standards Wed OOS eri r aa a Aane aTa aaa aaaea iandae 1 2 Outline of the Accurax G5 Linear eeeeeeeeeereeerrrerrerrerrernen 1 2 Features of the Accurax G5 LINGAM cccccccccecsesssssssesseeeseeseeeeeees 1 2 1 2 System Configuration 0 ceeeeeeeeeeeeeeeeeeseeeseeeeeeees 1 3 1 3 Names and Functions cccccccsseessseeeseseesseeeeeeeeseeens 1 4 Drive Part NaMe Sire aioe eee oes ee ed te
395. ill be processed by the built in capacitor Do not touch the External Regeneration Resistor A burn injury may result Always provide a temperature fuse or other protective measure when using an External Regeneration Resistor Regardless of whether the regeneration overload is enabled or disabled the Regeneration Resistor can generate heat and may cause burning Set this parameter depending on whether the Built in Regeneration Resistor is used or the Built in Regeneration Resistor is disconnected and an External Regeneration Resistor is connected The External Regeneration Resistor connection terminal is connected To use the Built in Regeneration Resistor always set this parameter to 0 Pn017 External Regeneration Resistor Setting All Setting 0to4 Unit B Default 0 Power OFF Yes range setting and ON Explanation of Set Values 8 8 Set value Explanation Regeneration load ratio is 100 when operating rate of the External Regeneration Resistor 9 is 10 1 Reserved 2 Reserved 3 Reserved 4 Reserved Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 2 Gain Parameters 8 2 Gain Parameters LEE Pn100 Position Loop Gain ue 0 to 30 000 Unit 0 1 s pos hey feo las range setting and ON Default settings 1 Pn100 320 For 200V drives of 1Kw or upper and 400V drives 2 Pn100 480 For 200V drives of less than 1
396. ils 8 2 Gain Parameters Pn101 Speed Loop Gain All Setting Default Power OFF range 1 to 32 767 Unit 0 1 Hz setting 270 and ON Default settings 1 Pn101 180 For 200V drives of 1Kw or upper and 400V drives 2 Pni01 270 For 200V drives of less than 1 Kw Determine speed loop responsiveness The setting for the speed loop gain must be increased to increase the position loop gain and improve the responsiveness of the entire linear servo system Setting too high however may result in vibration The setting unit for Pn101 will be Hz if the Mass Ratio Pn004 is set correctly When the speed loop gain is changed the response is as shown in the following diagram Overshooting occurs if the speed loop gain is high Motor speed 4 fo Vibration occurs if the gain is too high fr Speed loop gain is low Time Pn102 Speed Loop Integral Time Constant All Setting Default Power OFF range 1 to 10 000 Unit 0 1 ms setting 210 and ON 8 10 Default settings 1 Pn102 310 For 200V drives of 1Kw or upper and 400V drives 2 Pn102 210 For 200V drives of less than 1 Kw Set the speed loop integration time constant The smaller the set value the faster the error will come close to 0 when stopping Set to 9 999 to maintain integration Set to 10 000 to invalidate the effect of integration When the speed loop integral time constant is changed the resp
397. imensions 65 70 170 pa ja al 5 2 A ia 7 A E aS Ma tt 2 ino D 2 Via a JE a ei i ee 2 20 J ao 58 77 f 18 ooul 10 bec d Doo ip poh qo t e y if 75 1 5005 T 65 Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 65 170 40 4 ee 5 2 5 2 m boos Sey eed ry a jam do ae 2 Fa pS a 6 R Square hole aS 10 00 uo ees I0 F r 4 E l R2 6 1 W I 5 2 20 pa 2 20 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 4 External and Mounting Dimensions Single phase 3 phase 200 VAC R88D KT10H L KT15H L 1 kW to 1 5 kW Wall Mounting External dimensions 4 K nJ bt so Front Mounting Using Front Mounting Brackets External dimensions 70 a 170 19 5 4 2 5 J yT zl Vai Uy eter f i 25 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Mounting dimensions 150 14010 5 Mounting dimensions 17005 Square hole e R O T o a 2 21 SUOISUSWIG eU19 Xy pue sj poN PsepuRIsS Standard
398. imit Setting All Setting Default Power OFF range pion unt j setting 9 and ON Explanation of Set Values Sal Explanation value 0 Error detection disabled 1 Error detection enabled Set the detection of Err28 0 pulse regeneration error Pn534 Reserved All Setting A Unit 7 Default Power OFF _ range setting and ON Pn535 Front Key Protection Setting All Setting Default Power OFF range on Unity p setting and ON ves Explanation of Set Values sei Explanation value 0 Front panel operation not blocked 1 Front panel operation blocked 8 56 Set the operation limitation from the front panel The operation limits depend on the mode The operation limits are as follows Mode Operation limits MONITOR mode All monitor data can be checked PARAMETER SETTING mode Parameters cannot be changed However parameter set values can be checked EEPROM WRITE mode Cannot be executed Will not be displayed AUXILIARY FUNCTION mode Operations other than the release of the front key protection setting cannot be executed Will not be displayed Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 7 Special Parameters 8 7 Special Parameters SSS Pn600 Analog Force Feed forward Gain Setting Setting range 0 to 100 Unit 0 1 V 100 Default setting O on A Set the input gain for analog force feed forward 0 to 9 will disable the functio
399. imit Switching FLSEL No allocation Force Limit Switching FLSEL There is no allocation at default setting You can change the logics and allocations for input terminals CN1 to 8 9 and 26 to 33 according to the settings of Input Signal Selection 1 to 10 Pn400 to 409 Function This input is used for switching the force limit value This signal changes to enable set value 3 or 6 according to the setting of Force Limit Selection Pn521 Pn521 set value FLSEL Forward Reverse OFF Pn013 No 1 Force Limit Pn013 No 1 Force Limit ON Pn522 No 2 Force Limit Pn522 No 2 Force Limit OFF Pn013 No 1 Force Limit Pn522 No 2 Force Limit j ON Pn525 Forward External Force Limit Pn526 Reverse External Force Limit i Force Command Sign Input FSIGN No allocation Force command sign input FSIGN There is no allocation at default setting Also Force Command Direction Selection Pn318 is set to disable set value 0 You can change the logics and allocations for input terminals CN1 to 8 9 and 26 to 33 according to the settings of Input Signal Selection 1 to 10 Pn400 to 409 Function You can use this input to designate the movement direction relative to the force command If Force Command Direction Selection Pn301 is enable set value 1 the polarity of force command input is disabled Pn318 Pn320 FSIGN Force command input Motor movement Set value
400. imited at the minimum value of 10 if a 17 bit absolute encoder is used The parameters Pn103 Pn108 Pn110 to Pni27 Pn605 Pn606 Pn610 Pn611 Pn613 Pn623 and Pn624 are set to fixed values Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Related Parameters 10 2 Realtime Autotuning Parameters related to the REALTIME AUTOTUNING are Parameter Description Explanation Pn002 Realtime autotuning mode By setting this parameter you decide which of the automatic adjustable algorithms toy want to use Those algorithms are Mass estimation Automatic gain setting Gain switching Unbalanced load Friction compensation Pn003 Rigidity setting Selects the right set of gains according to the selected rigidity Pn200 Adaptative filter setting Select wether to use or not the adaptative filter setting Pn631 Realtime autotuning estimation time Selects how quick the realtime autotuning reflects the changes in the motor load 0 No changes are reflected 1 Changes are reflected slowly 1 minute time constant 2 Changes are reflected gradually few seconds time constant 3 Changes are reflected instantaneously changes are applied as soon as they are detected Pn632 Realtime autotuning custom setting When realtime autotuning mode is set to custom mode select here the algorithms that you want to enable Bit 0 1 Mass estimation enabled B
401. imum 24 VCW 1 CW 4 24 VCCW 2 CCW 6 Controller Drive 2 2 kQ O O Q O L__ 2202 External control power supply 200 kpps maximum CW 3 CW 4 CCW 5 CCW 6 Controller Drive Select a Current Limit Resistor R appropriate for Vcc 32 vec R Oe an 24 V 2 kQ 1 2 W R 220 7 to 15 mA 12V 1 KQ 1 2 W 5V 0 Q short l Precautions for Correct Use The open collector wiring should not exceed 2 m in length Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 25 SUOI edIIIGdS Specifications 3 1 Drive Specifications i General purpose Input External power supply 12 VDC 5 to eee 24 VDC 5 24VIN 7 4 7 KQ E YAKK Photocoupier input 50 mA or more per unit Signal level ON level 10 V or more OFF level 3 V or less 5 ers Minimum ON time 40 ms SIC Photocoupier input To another input circuit GND common To other input circuit 3 26 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Control Input Details 3 1 Drive Specifications Details on the input pins for the CN1 connector are described here i High speed Photocoupler Input Pin 3 Pin 4 Pin 5 Pin 6 Function The functions of these signals depend on the settings of the Command Pulse Movement Direction Switching Selection Pn006 and the COMMAND PULSE mode Selection Pn007 Reverse pulse
402. ine in realtime and automatically sets the optimal gain P 10 4 adjustment according to the estimated load mass Manual tuning Manual adjustment is performed if autotuning cannot be executed due to restrictions on the CONTROL mode or P 10 12 load conditions or if ensuring the maximum responsiveness i Manual to match each load is required adjustment Basic procedure POSITION CONTROL mode adjustment P 10 13 SPEED CONTROL mode adjustment P 10 14 FORCE CONTROL mode adjustment P 10 19 Note 1 Take sufficient care for safety Note 2 If vibration occurs unusual noise or vibration immediately turn OFF the power supply or let the servo OFF status occur 10 2 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 10 1 Gain Adjustment Gain Adjustment Procedure Start adjustment Automatic adjustment No Yes Realtime autotuning setting Operation OK gt No Yes Operation OK Yes Consult OMRON Adjustment completed i Gain Adjustment and Machine Rigidity To improve machine rigidity Install the machine on a secure base so that it does not cause any play Use linear guides that have a high rigidity and that are designed for servo systems The specific vibration resonance frequency of the mechanical system has a large impact on the gain adjustment of the servo The servo system responsiveness cannot be set high for machines with a low resonance frequency low m
403. inear Motor And Encoder Setting Parameters Timef s Overload protection time characteristics 1000 Pn9 29 0 T 20 Defauit Pn9 29 1 t 36 Pn9 29 2 t 72 Pn9 29 3 t 96 Pn9 29 4 t 110 Pn9 29 5 t 124 Pn9 29 6 t 126 100 Pn9 29 7 t 200 28 on 1 I I 1 I I 10H o I 1 I L 1 1 I 1 1 I I 1 I I l 0 1 100 115 150 200 250 300 350 400 450 500 Thrust 8 66 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Operation A This chapter explains the operating procedures and how to operate in each mode 9 1 Operational Procedure ss ssssseeeeeeceeeeseeeeeeeeeeeeees 9 2 9 2 Preparing for Operation ccccssssesseseeseseeeeeeeeeeeeeeeeees 9 3 Items to Check Before Turning ON the Power Supply 9 3 Turning ON Power Supply ccccccceseeeeeeeeeeeseeeeeeeeeeeeeeseneeeteas 9 4 CHECKING DISPIAVS inei event cas tanaan aea aia aaa tE Ea 9 4 Linear motor and Encoder Setup cccccceeeeeeeeeteeeeeneeeeeeeeseaees 9 5 THA OPSratiOn eree a ee tach A le A 9 8 9 3 Using the Front Display ssseseeeeeeeeeeeeeeeeeees 9 10 9 4 Setting the Mode ccccssssseeeeeeesssseeeeeeeeeeenseseeeeeees 9 11 Changing the Mode ccccccecseeeeeeeeeeeeeeeeceeeseaeeeseneesteaeeeseeeess 9 11 MONITOR Mode c cccccceeeceeeeeeeeeeeeeeeseeeeeeeeeeeeeeeseaeeeieeseatesaees 9 12 PARAM
404. ing from force control to position control turn OFF the CONTROL mode switching input TVSEL and wait at least 10 ms after the positioning completion output INP turns ON before inputting the pulse command The pulses input before INP turns ON will be ignored Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 5 23 Spoil TIOULNOD JISVG BASIC CONTROL Mode 5 5 Switching Control Speed and Force Control Switching Example Pn001 5 CONTROL mode switching input TVSEL Speed command input REF Force command input FREF Motor operation ON OFF V V V V mm s mm s E 7 FORCE CONTROL mode i 1 Deceleration for the force command 2 Deceleration due to load mass energy and load friction force There is a maximum delay of 10 ms in reading the input signal Motor operation in force control changes according to the motor load conditions e g friction external power mass Take safety measures on the machine side to prevent motor runaway Adjust the force command using Analog Input 2 Offset Pn425 and Analog Input 2 Filter Time Constant Pn426 because the force command input is analog input 2 Related Functions Refer to the related functions for each CONTROL mode 5 24 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Applied Functions This chapter explains different functions such as anti vibration control electronic
405. ing 10 and ON Set here the current loop integral gain If Pn912 lt gt 0 this value is set automatically All Pn915 Current loop filter time constant F f Power OFF Setting range 0 00 to 25 00 Unit 0 01ms Default setting 0 00 and ON Setherethe time constantforthe force commandfilter Ifthe value is Othe filter is disabled All Pn916 Reserved j i Power OFF Setting range Unit Default setting and ON Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 63 sjiejeg sioj oweled Parameters Details 8 8 Linear Motor And Encoder Setting Parameters Do not change the setting Pn917 Reserved All Setting range Power OFF j Unit and ON Default setting Do not change the setting Pn918 Reserved All Setting range Power OFF 7 Sate ie and ON Default setting Do not change the setting Pn919 Reserved All Setting range Power OFF i Unit and ON Default setting Do not change the setting Pn920 Magnetic phase detection method All Setting range Default setting O Power OFE Yes 0to3 Unit and ON In a linear motor it is necessary to detect the magnetic angle between the magnets and the motor coil Select here the detection method Set Explanation value 0 No detection This setting generates th
406. ing shipment i Accessories of This Product Safety Precautions document x 1 copy Connectors mounting screws etc other than those in the table below are not supplied They must be prepared by the customer If any item is missing or a problem is found such as Servo Drive damage contact the OMRON dealer or sales office where you purchased your product Main power Control power Regeneration Safety Specifications supply supply Merge Resistor Bbw bypass connector software connector connector connector connector Single shi phase 100 200 W YAR 400 W 200 W Single PON phase 3 750 W phase 200 VAC 1KW included 1 5 kW 3 phase 200vac 7 kW 600 W 1 kW 1 5 kW 3 phase 400 VAC 2 kW 3 kW Included 5 kw 12 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Manual Revision History Manual Revision History The manual revision symbol is an alphabet appended at the end of the manual number found in the bottom left hand corner of the front or back cover Example Man No 1163E EN 01A Revision symbol Revision Revision date Description of revision and revised page symbol 01 November 2010 First Print 01A July 2013 Page 6 61 Explanation for parameter number Pn925 and Pn926 corrected Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 13 Structure of This Document Structure of
407. interlock BKIR signal is output upon a release request from servo control The BKIR signal is allocated to a CN1 general purpose output to be used In the above example no release request is received from the network 4 t1 is the set value of Brake Timing during Operation Pn438 or the time needed for the motor speed to drop to 30 mm s or below whichever occurs first Note Even when the servo ON input is turned ON again while the motor is decelerating the system will not enter the servo ON state until the motor stops 6 20 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 6 Brake Interlock i Operation Timings when Alarm Generates Servo ON OFF Alarm generation Normal Alarm output ON i mja 0 5 to 5 ms ON Motor power supply Power supply No power supply OFF l ON Dynamic brake relay DB Released DB engaged 1 OFF Servo ready ON output READY Sie READY ON Alarm output ALM Alarm OFF stl a Pn438 Brake interlock ON ai 7 sealeinald 2 elease request rake he output BKIR OFF 6 Movement speed A When the Pn438 setting is early Approx 30 mm s BKIR Brake interlock 7 Release request output BKIR Movement speed B Brake held When the timing of reaching 30 mm s is early Approx 30 mm s 1 The dynamic brake operation when an alarm generates depends on Stop Selection with Servo OFF Pn506 2 t1 is the set value o
408. ion Resistor connection terminals Normally B2 and B3 are short circuited If there is high regenerative energy remove the short circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 23 u s q waj shs System Design 4 2 Wiring i R88D KTO6F L KT10F L KT15F L KT20F L Main Circuit Connector Specifications CNA Symbol Name Function L1 L2 L3 Main circuit power supply input R88D KTXF L 600 W to 2 kW 3 phase 380 to 480 VAC 323 to 528 V 50 60 Hz Motor Connector Specifications CNB Symbol Name Function U Motor connection terminals Red White These are the output terminals to the Linear Servomotor Be sure to wire them correctly Blue Green Yellow 3 sS Frame ground This is the ground terminal Ground to 100 Q or less Control Circuit Connector Specifications CNC Symbol Name Function 24 V OV Control circuit power supply input 24 VDC 21 6 to 26 4 V External Regeneration Resistor Connector Specifications CND Symbol Name Function B1 B2 B3 External Regeneration Resistor connection terminals Normally B2 and B3 are short circuited If there is high regenerative energy remove the short circuit bar between B2 and B3 and connect an External
409. ion Speed and Force control Instant switching occurs when a gain switching command is issued from the network Position command EL ve Gain switching instruction Gain 1 Gain 2 Gain 1 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 25 suoijoun paddy Applied Functions 6 7 Gain Switching Function GAIN SWITCHING mode 3 Switching by Force Command Amount Valid for Position control Pn116 Pn117 Pn118 Speed control Pn119 Pn120 Pn121 Force control Pn125 Pn126 Pn127 Speed command Hysteresis Level Force command Note Delay Pn116 Position control Pn121 Speed control Pn125 Force control Level Pn117 Position control Pn122 Speed control Pn126 Force control Hysteresis Pn118 Position control Pn123 Speed control Pn127 Force control GAIN SWITCHING mode 5 9 Switching by Speed Command or Actual Motor Speed Mode 5 valid for position and speed mode and Mode 9 valid for position mode Speed command or actual motor speed Pn118 Pni23 Pni17 Pni22 Pni18 Pni23 Pn116 Pni21 Gain 1 Gain 2 Gain 1 6 26 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 7 Gain Switching Function GAIN SWITCHING mode Pn031 6 Switching by Amount of Position Error Valid for position mode Gain switching occurs based on the accumulated count in the error counter Amount of position error Pn116 Gain 1 Gain 2 Gain 1
410. ion 1 3 Phase B logic Reversed 013 No 1 Force Limit Set the No 1 limit value for the output force of the motor 500 0 to 500 Set the range of the error counter overflow Com Error Counter 0 to 014 level Detection of error counter overflow 100000 mand Overflow Level A F 134217728 level error will be disabled if the set value is 0 unit Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 13 gt x D D 5 a x Appendix 12 2 Parameter List Pn number Parameter name Setting Explanation Default setting Unit Setting range Power supply OFF to ON 016 Select the Regeneration Resistor used Use the Built in Resistor Triggering of regeneration overload protection alarm display No 18 depends on the Built in Resistor with approx 1 duty Regeneration Resistor Selection Use an External Resistor The regeneration processing circuit operates and regeneration overload protection alarm display No 18 is triggered when the operating rate of the Regeneration Resistor exceeds 10 Use an External Resistor Regeneration overload protection alarm display No 18 does not operate No Regeneration Resistor All regeneration power is processed with built in capacitors See Note 2 0to3 Yes 017 Select the type of load ratio calculation for the External Regeneration Resistor External Reg
411. ion during linear acceleration and deceleration i ta td ta Pn312 Use gt ts and gt ts td Pn313 2 2 ts Pn314 as Settings Pn315 Zero Speed Designation Selection Setting F Default Power OFF range vies gnit setting and ON g Explanation of Set Values set Explanation value 0 Zero speed designation function is disabled 1 Speed command becomes 0 upon zero speed designation input Refer to Figure A 8 28 Speed command becomes 0 upon zero speed designation input and servo locks with 2 position control when actual speed reaches below Zero Speed Designation Level Pn316 Refer to Figure B Servo locks with position control upon zero speed designation input and when speed command reaches below Zero Destination Level Pn316 Refer to Figure C Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 4 Analog Control Parameters _ Figure A Es i Nv 1 u s Speed command he ty Speed Command Accelerdtion Deceleration Setting Pn312 Pn313 Pn314 Zero speed designation input i ON Pa OFF ON Position control Speed control Position control When the zero speed designation input is turned ON the speed command is forcibly set to 0 Set the acceleration deceleration setting of the speed command using Soft Start Acceleration Time Pn312 Soft Start Deceleration Time Pn313 or S curve Acceleration
412. ircuit power supply NFB OFF ON MC1 MC2 Q HO fo in circui R 6i 5 an rT Main circuit contact SUP surge suppressor 3 phase 200 to 240 VAC 50 60 Hz S 6D p MC1 MC2 X1 T 00 Ground to CJ1W NC133 233 433 100 Q or less R88D KTx L Description 5 V power supply for pulse output 5VDC Reactor 5 V ground for pulse output EEE tote te aioe 24 V power supply for output f i zim 0 V power supply for output i MC1 MC2 a CCW output X axis ECW C output XX pulse i Gutbut CW output PUF CW output z l i Moto bles Y axis error counter reset output Red Motorpower ca n f White X axis origin line drive input h 1 BI X axis origin common i i T X axis positioning completed input r i INP rew i INPCOM Input common H 24VIN XI Encoder cables RUN X axis external interrupt input X axis origin proximity input t RESET X axis CCW limit input t BKIRCOM X axis CW limit input t t ALMCOM X axis emergency stop input aji KD t ALM 24VDC BKIR 8 s FG Precautions for Correct Use The examp
413. irection Force Offset Pn609 are automatically saved to the EEPROM every 30 minutes Realtime autotuning will use this saved data as the default setting when the power supply is turned OFF and turned ON again The parameter will automatically be set based on the Realtime Autotuning Machine Rigidity Setting Pn003 if realtime autotuning is enabled 10 6 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Realtime Autotuning RTAT Parameter Table 10 2 Realtime Autotuning Parameter AT Machine Rigidity Setting Pn003 aumber Parameter name 0 1 2 3 4 5 6 7 Pn004 Mass Ratio Estimated load mass ratio Pn100 Position Loop Gain 20 25 30 40 45 55 75 95 Pn101 Speed Loop Gain 15 20 25 30 35 45 60 75 Pn102 Speed Loop Integral Time Constant 3700 2800 2200 1900 1600 1200 900 700 Pn103 Speed Feedback Filter Time Constant 0 0 0 0 0 0 0 0 Pn104 Force Command Filter Time Constant 1 1500 1100 900 soo leoo 500 4oo soo Pn105 Position Loop Gain 2 25 30 40 45 55 70 95 120 Pn106 Speed Loop Gain 2 15 20 25 30 35 45 60 75 Pn107 Speed Loop Integral Time Constant 2 10000 10000 10000 10000 10000 10000 10000 10000 Pn108 Speed Feedback Filter Time Constant2 O 0 0 0 0 0 0 0 Pn109 Force Command Filter Time Constant 2 1500 1100 900 800 leoo 500 400 300 Pn110 Speed Feed forward Amount 300
414. irections when a certain amount of unbalanced load force is always applied to the motor like the vertical axis and so forth if that force command value is set Forward Direction Force Offset Pn608 and Reverse Direction Force Offset Pn609 are used with loads that require a large amount of dynamic friction force By setting the friction force for each direction for all parameters you can reduce the deterioration and inconsistencies of positioning stabilization time due to dynamic friction Command speed Forward direction Pn608 Forward direction force offset Pn609 Reverse direction force offset Reverse direction Motor Motor de energized Motor power supply de energized H Precautions for Correct Use You can use the unbalanced load compensation and the dynamic friction compensation together or separately Take note that the following use limit is applied upon CONTROL mode switching or servo ON During force control The unbalanced load compensation and the dynamic friction compensation will be 0 regardless of the parameter setting During speed control The load compensation is enabled based on Pn607 when the servo is turned OFF The dynamic friction compensation will be 0 regardless of the parameter setting When the servo is turned ON during position control The unbalanced load compensation and the dynamic friction compensation values will be held until the first position command is input When the position
415. is chapter explains the general specifications characteristics connector specifications and I O circuits of the Servo Drive Linear Servomotor and peripheral devices 3 1 Drive Specifications cccccccessseseeeeseeeeeeeeesseeeeeeeeeeees 3 3 General Specifications c ccceeeeeceeeeeeeeeeeneeeeeeeeseeeeseeeeseneeenas 3 3 Characteristics icc seeds acids Wetbae eee ina e i eara AEE Eaa 3 4 Main Circuit and Motor Connections cccccceeeeeeeeeeeeeeeeneeeeenees 3 9 Control I O Connector Specifications CN1 eeen 3 13 Control Input Circuits 0 ccccecceeeeeeeeeeeeeeeeeeeeeeeeaeeeseneeeeeaeeeseaeeees 3 23 Control Input Details 0 2 0 0 ccceceeeeeneeeeeeeeeeceeeeeaeeeteeeeeeeaeeeseeeens 3 27 Control Output Circuits cc cceeeecceeeeeeeee eect eeeeaeeeseeeeeeeeeeseeeees 3 39 Control Output Details ccceceeeeeeeeeeeeeeeeeeeeeaeeeseaeeeeeaeeeseeeens 3 40 Encoder Connector Specifications CN4 s 3 46 Monitor Connector Specifications CN5 c cccssseeeseeeeeteeeeee 3 51 USB Connector Specifications CN7 c cceseeeeseeeeeteeeeneeeeees 3 52 Safety Connector Specifications CN8 cceeceeeeeeeeeeeeeeeeteeees 3 53 3 2 Overload Characteristics Electronic Thermal Function io Sasa deaseuaeucdatdaatcastzasdaceasaus datadscawctaasaiareden sacetesdanaugaseesvevere 3 55 Overload Characteristics Graphs cccccecseeeseeeeeteteeeeeeeeeteneeees 3 55 3 3 Motor Specifications
416. istance Q 5 5 2 8 1 8 Phase inductance mH 1 8 0 9 0 6 Electrical time constant ms 0 35 0 35 0 35 eu cont power disipation all w 47 95 142 Thermal resistance K W 2 1 1 06 0 71 Thermal time constant s 36 36 36 Magnetic attraction force N 0 0 0 Magnet pole pitch mm 30 30 30 Weight coil unit 3 Kg 0 084 0 138 0 198 Weight magnet track Kg m 4 8 4 8 4 8 Protection methods 4 Temperature sensors NTC10k PTC110C self cooling Hall sensor Digital optional Insulation class Class B Max busvoltage 325V DC Insulation resistance 500V DC Di electric strength 2250V for 1 sec Max allowable coiltemperature Basic specifications 110 C Ambient humidity 20 80 non condensing Max allowable magnet temperature 70 C 1 Coil temperature rising 03 series by 40K s 05 series by 20K s and 07 series by 20K s 2 Values at 110 C coi Itemperature and magnets at 25 C 3 Weight without connector and cable 4 12t has to be set properly for high current overload applications All other values at 25 C 10 3 66 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 3 Motor Specifications i R88L EC GW 0503 0506 0509 Item Unit R88L EC GW 0503 R88L EC GW 0506 R88L EC GW 0509 Maximum speed 100V m s 2 2 2 2 2 2 Maximum speed 200V m s 4 4 4 4 4 4 Peak force N 240 480 720 Peak current Aeff 3 50 7
417. it 2 3 Update of the mass estimation enabled Bit 4 5 6 Update of friction compensation and unbalanced load enabled Bit 7 Update of gain adjustment Bit 8 Forces the fixed parameter Bit 9 10 Enables the gain switching Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 10 11 suoioun juswysnipy Adjustment Functions 10 3 Manual Tuning 10 3 Manual Tuning Basic Settings As described before the Accurax G5 Linear have a realtime autotuning function However when the gain cannot be properly adjusted due to restrictions such as load conditions even if realtime autotuning is performed or when the optimum responsiveness or stability is required to match each load readjustment maybe required This section describes how to perform manual tuning for each CONTROL mode and function i Before Manual Setting More reliable adjustment can be performed quickly by using waveform monitoring with the data tracing function of CX Drive or by measuring the analog voltage waveform with the monitor function Analog Monitor Output The actual motor speed command speed force and number of accumulated pulses can be measured in the analog voltage level using an oscilloscope or other device The type of signal to output and the output voltage level are set with Analog Monitor 1 Selection Pn416 and Analog Monitor 2 Selection Pn418 settings For details refer to 12 2Parameter List12 12 CX Drive Data Tracing Functio
418. it and No 2 force limit Force limit switching input FLSEL No 1 Force Force Limit Switching Limit Pn013 Setting 1 Pn523 l TAN No 2 Force Limit Pn522 Force Limit Switching Setting 2 Pn524 If the setting of No 1 Force Limit Pn013 or No 2 Force Limit Pn522 is changed from the front panel or CX Drive the rate of change setting will be ignored and the new force limit value will be applied immediately Force Limit Set Value for Linear Servomotors The setting range for the force limit selection is 0 to 500 and the standard default setting is 500 In Linear Motors the peak force specially in lronless type is very high compared to nominal the force may be limited by the drive peak current regardless of the setting of the force limit parameter 6 34 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 10 Sequence I O Signal Outline of Operation 6 10 Sequence I O Signal You can set a sequence in various operating conditions For the connection of I O signals and processing of external signals refer to P 3 13 Input Signals You can allocate any function of input signals to the input pins for the control I O connector CN1 i Input Signal Default Setting The allocation of the default input signals is as follows Refer to Input Signal Allocation Method when you change the allocation to use Default setting state Applicable
419. ition 22 Monitor for the number of encoder communications errors 23 Display of axis numbers for communication 24 Position error encoder unit 25 Reserved 26 Reserved 27 P N voltage 28 Soft version 29 Drive serial number 30 Reserved 31 Accumulative operation time 32 Reserved 33 Drive temperature 35 Safety status monitor 37 Linear motor status monitor Select the data to be displayed on the 7 segment LED on the front panel after the power supply is turned ON For information on the display refer to Setting the Mode P 9 11 Pn529 Reserved All Setting Unit E Default i Power OFF _ range setting and ON Pn530 Reserved All Setting i Unit Default i Power OFF _ range setting and ON Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 55 sjiejeg S19 9WL Jed Parameters Details 8 6 Extended Parameters Pn531 Axis Number All Setting Default Power OFF range Diora Onit ap setting i and ON bi Set the axis number for communication Pn532 Command Pulse Input Maximum Setting Setting s Default Power OFF range 250 to 4 000 Unit kpps setting 4000 and ON Yes Set the maximum command pulse input Err27 0 occurs if frecuency exceeds this range Pn533 Pulse Regeneration Output L
420. itioning completion output The positioning completion output INP will output when the Linear Servomotor workpiece movement stops and the number of the accumulated pulses in the error counter is within the set value of this parameter after command pulse input is completed Unit for setting is command unit but it can be changed to encoder unit with Position Setting Unit Selection Pn520 However note that unit for error counter overflow level will be changed as well lf this parameter is set to a very small value the time required for the INP signal to be output will increase and the chattering may occur during output The setting of the positioning completion range does not affect the precision of the final positioning Accumulated SK pulse Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 5 Interface Monitor Setting Parameters Pn432 Positioning Completion Condition Selection Setting Default Power OFF range aes ae i setting 9 and ON Explanation of Set Values Set Explanation value Positioning completion output turns ON when the position error is within the Positioning Completion Range 1 Pn431 Positioning completion output turns ON when the position error is within the Positioning Completion Range 1 Pn431 and there is no position command Positioning completion output turns ON when the zero speed detection signal is ON the 2 position error is
421. its Speed Command Input Force Command Input and Speed Limit Input REF FREF1 VLIM14 Maximum input voltage 10V 470 pF 20 kQ M 1000 pF TREL2 PCL NCL16 18 14kQ 20kQ Maximum input voltage 12 V 1000 pF The maximum allowable input voltage is 10 V for each input The VR must be 2 kQ with B characteristics and 1 2 W minimum R must be 200 Q and 1 2 W minimum Position Command Pulse Line Receiver Input When connecting with a line drive and a line receiver up to 4 Mpps will be available CWLD 44 CWLD 45 CCWLD 46 CCWLD 47 Controller Applicable Applicable line drive line drive 20 kQ AM26C32 or AM26L 31A or equivalent equivalent The shielded twisted pair cable should not exceed 20 m in length Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 23 SUOI edIIIGdS Specifications 3 1 Drive Specifications 3 24 Position Command Pulse Photocoupler Input Line Drive Input 500 kpps Maximum CW 3 CW 4 CCW 5 CCW 6 Controller Drive 2 2 kQ O O O O Applicable line drive AM26LS31A or equivalent aS H Precautions for Correct Use The twisted pair cable should not exceed 10 m in length Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 1 Drive Specifications Open Collector Input External 24 V power supply without a Current Limit Resistor 200 kpps max
422. itself But the complete installation needs some maintenance The motor cables are moving The lifetime of the standard cables are 10000000 bending operations with a bending radius of 10 times the cable diameter Replace the cables after that number of operations The linear bearings are selected for a certain lifetime based on the installation conditions load and movement cycle Replace the linear bearings and guides when lifetime has expired Grease the linear bearings according to the maker s recommendation Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 23 ueLeu zuUIeN pue 10113 Error and Maintenance 11 5 Periodic Maintenance Servo Drive Limit 11 24 The lifetime for the different drive parts is listed below Aluminum electrolytic capacitors 28 000 hours at an ambient drive operating temperature of 55 C constant output of rated force constant output of rated movement speed and installation as described in this manual Axial flow fan 10 000 to 30 000 hours The limit depends on the operating conditions Inrush current prevention relay Approx 20 000 operations The limit depends on the operation conditions When using the drive in continuous operation use fans or air conditioners to maintain an ambient temperature below 40 C We recommend that ambient temperature and the power supply ON time be reduced as much as possible to lengthen the service life of the drive The limit of
423. ive side FG ALMCOM REF FREF1 VLIM Connector plug model 10150 3000PE Sumitomo 3M 24VIN Connector case model 10350 52A0 008 Sumitomo 3M SUOI edIIIGdS The symbols on the controller side are the DRVX and DRVY connector symbols For the DRVZ and DRVU connectors X and Y are indicated as Z and U respectively Terminals marked with asterisks are for absolute encoders and have no use with linear motors Connect 24 VDC to the 2 lines red and black extending from the connector on the controller side red 24 V black Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 97 Specifications 3 5 Cable and Connector Specifications 3 98 Cables for 2 axes Motion Control Unit side 24V DCGND XALM XRUN XALMRS XSGND XSOUT FDC GND YALM YRUN YALMRS YSGND YSOUT Y GND NIN oj gt lt lt lt lt lt O c Connector plug model 10136 3000PE Sumitomo 3M Connector case model 10336 52A0 008 Sumitomo 3M The symbols on the controller side are the DRVX and DRVY connector symbols For the DRVZ AWG20 Red AWG20 Black White Black 1 Pink Black 1 Yellow Black 1 Orange Black 2 White Red 1 White Black 1 Yellow Red 1 Yellow
424. jt 8 2 Motor with magnet track separate order no 8 2 jia Oo O o o o o o i 0 me i l t A 1 1 1 1 o HE i 1 i i 1 Motor with hall sensor optional 28 4 r L1 A o o o o o o 3 2 6 5 4 Cable length 1000 30 Connector optional Made by Hypertac Cable length 50030 Connector optional Cable length 500 30 D Sub 9 pin FEMALE Hall sensor optional Pin No Function 5V Hall U Hall V Hall W GND 4 2 SROCO6JMSCN169 MALE 3 Pin article code 021 423 1020 D Sub 9 pin FEMALE Power connector Sensor Pin No Wire Function Pin No Function 1 Black 1 Phase U 1 Not used 2 Black 2 Phase V 2 Not used 3 Black3 Phase W 3 Not used 4 Not used 4 Not used 5 Hotu 7 5 Not used 6 PTC 6 Green Yellow Ground 7 Pre Mating connector 8 KTY NTC Plug type SPOCO6KFSDN169 9 KTY NTC Magnet track Case Shield Model Approx weight Kg m R88L EC GM 05126 A PTC olsn o ul af wjn PTC KTY KTY Case Shield Dimensions mm R88L EC GM 05168 A R88L EC GM 05210 A R88L EC GM 05546 A 11 2 Model L2 R88L EC GW0503 106 R88L EC GW0506 190 R88L EC GW0509 274 2 32 nx42 2 Accurax G5 LINEAR AC SERVO
425. ke interlock output CW PULS FA Reverse pulses feed CW PULS FA pulses or phase A 1 Forward pulse direction signal or phase B 1 Encoder phase A output Encoder phase A Encoder phase A Encoder phase A output Encoder phase B Encoder phase B Encoder phase B output Encoder phase B output Encoder phase Z output Encoder phase Z Encoder phase Z Error counter reset output Encoder phase Z output 24VIN 24 V power supply for controls ECRST Error counter reset input RUN output General purpose output Vibration filter switching Alarm reset Alarm reset output Force limit output Positioning completed input 4 Positioning completion INPCOM output 1 H E i General purpose input 4 READY Servo ready completed output ajajja ja w Jw Jw Jw Jw jw w w julp NIN wlelele K WO JW IN A juj oj IN wih oO o NIO WIN o un gt PTE Signal ground 28 Alarm output ALMCOM Frame ground 1 Since the PCU handles forward direction commands as CW direction phase A advance pulses selectable by the output pulse direction selection parameter connect the wires as shown here Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 103 Specifications 3 5 Cable and Connector Specifications 2 Those terminals are for absolute enc
426. l Regeneration Resistors 4 4 Regenerative Energy Absorption Regeneration absorption 20 W 40 W 70 W 140 W capacity Model R88A RRO8050S R88A RRO8050S R88A RR22047S R88A RR22047S R88A RRO080100S R88A RRO080100S Resistance S0 04100 9 25 Q 50 Q 479 949 value Connectio O R O R O R O O R R O n method oT To R peocnerationiip 140W 280 W 560 W absorption capacity Model R88A RR22047S R88A RR22047S R88A RR22047S Resistance value 2 23 5 Q 479 23 52 R R R R O O O e O Connection R R owl R R Ho method R R R R neogene rationi 180 W 360 W 1440 W absorption capacity Model R88A RR50020S R88A RR50020S R88A RR50020S Resistance value 2 20 Q 102 102 R R R Connection R Or R 7 0 method R R R R 1 Select a combination that has an absorption capacity greater than the average regeneration power Pr 2 Do not use a combination with resistance values lower than the minimum external regeneration resistance of each drive For information on the minimum external regeneration resistance refer to Drive Regeneration Absorption Capacity P 4 46 Safty Points Surface temperatures on r
427. l and Mounting Dimensions Serial Converter Dimensions Ca Neleleleleleleyy 25 40 Pinout Encoder input 1Vpp CN1 Connector D Sub 15 pin female 1Vpp with programmable lines NUMERIK JENA Standard PIN Signal 1 SDA 2 SCL 3 2 4 Uo 5 Up 6 U4 7 3 8 5V 9 oV 10 11 12 Uo 13 Us 14 U4 15 IS Reserved Please do not use Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 35 SUOISUSWIG u1 x3 pue sj poN PsepuRIsS Standard Models and External Dimensions 2 4 External and Mounting Dimensions Serial interface CN4 Connector D Sub 15 pin male PIN Signal 1 PS 2 IPS 3 i 4 5 6 7 8 5V 9 oV 10 11 12 13 14 15 Hall amp Temperature sensors interface CN2 Connector D Sub 9 pin female PIN Signal U Hall U Hall V Hall W GND PTC PTC KTY KTY o N a A OJ N 2 36 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 4 External and Mounting Dimensions Temperature sensor interface without Hall sensor CN3 Connector D Sub 9 pin female PIN Signal 1 2 F 3 2 4 7
428. l current of the drive or the drive is far too big the motor ii RED The drive can give the motor nominal current but the drive peak current is below the motor peak current so you loose some of the motor performance Compare the drive and motor currents to understand how much peak force you loose with that combination iii GREEN This is an optimum drive motor combination For that PWM frequency The drive can drain the nominal and peak current of the motor and it is not oversized iv ORANGE You can drive the motor with full nominal and peak force but the drive is oversized You have smaller drives that can run the motor Once you select the motor the right motor parameter are downloaded to the servodrive and saved if you are online So in fact you do not need to know the OMRON Linear Motor electrical specification Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 57 suoljoun paddy Applied Functions 6 18 Encoder Setup 6 18 Encoder Setup Outline of Operation A linear motor system needs a linear encoder As there are various types of encoders that can be used the encoder has to be configured Next encoder types are supported A B line drive quadrature pulses SinCos line drive needs the SerialConverter Serial Incremental Encoder Serial Absolute Encoder Parameters Requiring Settings polemical Parameter name Explanation Reference number Pn901 Encoder resoluti n Set here the en
429. l method All digital servo Inverter method IGBT driven PWM method Applicable Linear servomotor R88L EC FW 0612 R88L EC FW 1112 R88L EC FW 1115 3 6 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 1 Drive Specifications i 400 VAC Input Type Item R88D R88D R88D R88D R88D R88D KTO6F L KT10F L KT15F L KT20F L KT30F L KT50F L PWM frequency 6KH 12K 6KH 12K 6KHz 12KH 6KHz 12KH 6KHz 12KH 6KHz 12KH Zz Hz Z Hz Zz Z Zz Z Continuous Output 4 54 45A 28a 1 5A 4 74 28a 5 94 4 74 92a 5 94 165 92A current A 14 1 17 7 14 1 27 6 17 7 49 5 27 6 Peak output current 4 5A 4 5A 8 4A 4 5A A 8 4A A A A A A A gt Power 600W 1kw 1 5kW 2kW 3kW 5kW Q L S cae Voltage 3 phase 380 to 480V AC 323 to 528V 50 60Hz g Current 7 5A 12A 20A 30A 40A 64A O 2 Power 5 a supply 24V DC 20 4 to 27 6V 2 circui voltage Power losses At 6KHz 31 2W 48W 49W 65W 108W 200W Control losses 9 6w 9 6W 9 6W 12W 12W 12W Weight Approx Approx Approx Approx Approx Approx g 1 9Kg 1 9Kg 1 9Kg 2 7Kg 4 7Kg 4 7Kg Control method All digital servo Inverter method IGBT driven PWM method R88L EC R88L EC Applicable Linear R88L EC FW 0303 R88L EC R88L EC FW 0612 R88L EC servomotor FW 0303 R88L EC FW 0606 FW 0609 R88L EC FW 1115 FW 0306 FW 1112 Accurax G5 LINEAR AC SERVOM
430. le shows a 3 phase 200 VAC input to the drive for the main circuit power supply Be sure to provide a power supply and wiring conforming to the power supply specifications for the drive in use Incorrect signal wiring can cause damage to units and the drive Leave unused signal lines open and do not wire them Use mode 2 for origin search The diode recommended for surge absorption is the RU 2 Sanken Electric Co Ltd or the equivalent Make the setting so that the servo can be turned ON OFF with the RUN signal 12 2 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 1 Connection Examples i Connection Example 2 Connecting to SYSMAC CJ1W NC113 213 413 Main circuit power supply 3 phase 200 to 240 VAC 50 60 Hz CJ1W NC113 213 413 Description 24 V power supply for output 0 V power supply for output CCW With resistance Kanis CCW Without resistance pulse CW With resistance output CW Without resistance X axis error counter reset output X axis origin line drive input X axis origin common X axis positioning completed input Input common X axis external interrupt input NFB OFF ON MC1 MC2 R 6 d 5 tt A i Main circuit contact uw SU
431. lse output CCW SIGN FB Forward pulse direction signal CCW SIGN FB or phase B 1 with 1 6 kQ Resistor Encoder phase A Encoder phase A A Encoder phase A output Encoder phase B NIN ININ gt Encoder phase B Encoder phase Z 25 Encoder phase Z A Encoder phase A output B Encoder phase B output B ncoder phase B output Z Encoder phase Z output Z Encoder phase Z output 24VIN 24 V power supply for controls Error counter reset output Error counter reset input RUN output Operation command input General purpose output Alarm reset output Force limit output Positioning completed input Vibration filter switching General purpose input Alarm input SEN output Signal ground 24 V GND for output Input common Forward direction pulse output with 1 6 kQ Resistor Reverse direction pulse output with 1 6 kQ Resistor Wn 7 ww fw w wlw rm fw lr r fw m my fafa fry lest ff eelsel Alarm reset Force limit switching P Positioning completion INPCOM output 1 READY Servo ready completed REDYCOM output D ALM Alarm output O ALMCOM gt FG Frame ground AWG18 twisted pair 1 m Blue BKIRCOM Black BKIR Linear Servo Drive side for axis 2 or 4 10150 3000PE Sumitomo 3M BKIRCOM Bra
432. ly run at a low speed below 100 mm s If the acceleration deceleration gradually changes at less than 2 000 mm s in 1 s If the acceleration deceleration force is too small compared with the unbalanced load and the viscous friction force If a speed of 100 mm s or an acceleration deceleration of 2 000 mm s does not continue for at least 50 ms Operation pattern With realtime autotuning each parameter is fixed to the value in the machine rigidity table at the time the machine rigidity is set By estimating the load mass from the operation pattern the operation coefficient for the speed loop gain and the integration time constant are altered Doing this for each pattern can cause vibration so the estimation value is set conservatively 10 4 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Setting Realtime Autotuning 10 2 Realtime Autotuning 1 When setting realtime autotuning turn the servo OFF 2 Set REALTIME AUTOTUNING mode Selection Pn002 depending on the load When the value is set to 3 to 5 the response is fast for a change in mass during operation Operation however may be unstable depending on the operating pattern Normally set the parameter to 1 Use a setting of 3 to 5 when the vertical axis is used Gain switching function is enabled for set values 2 to 6 Set value Realtime autotuning Explanation Disabled Realtime autotuning is disabled Tuning has to be made
433. m Approx 0 6 kg Cables for 2 axes Outer diameter of Model Length L sheath Weight R88A CPG001M2 1m Approx 0 3 kg R88A CPG002M2 2m j Approx 0 5 kg 8 3 dia R88A CPG003M2 3m Approx 0 7 kg R88A CPGO05M2 5m Approx 1 0 kg Connection configuration and external dimensions Cables for 1 axis Motion Control Unit side Drive side CS1W MC221 421 V1 D R88D Kx Cables for 2 axes Drive side Motion Control Unit side R88D Kx CS1W MC221 421 V1 Drive side R88D Kx 3 96 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Wiring 3 5 Cable and Connector Specifications Cables for 1 axis Motion Control Unit side 24V DCGND XALM XRUN XALMRS XSGND XSOUT X GND X A XOUT XAGND F24V FDC GND YALM YRUN YALMRS YSGND YSOUT AWG20 Red AWG20 Black White Black 1 Pink Black 1 Yellow Black 1 Orange Black 2 White Red 1 White Black 1 CX Yellow Red 1 Yellow Black 1 o as Zi Pink Red 1 Pink Black 1 Orange Red 1 Orange Black 1 Orange Black 1 Gray Black 1 Cable AWG26 x 5P AWG26 x 6C Connector plug model 10136 3000PE Sumitomo 3M Connector case model 10336 52A0 008 Sumitomo 3M Dr
434. m s eo y ee le range setting and ON Pn306 No 3 Internally Set Speed Speed Setting 20 000 to 20 000 Unit mm s an hie A E range setting and ON Pn307 No 4 Internally Set Speed Setting 20 000 to 20 000 Unit mm s TT Ce le range setting and ON This is also the speed limit in force control The Force Command Speed Limit Selection Pn317 can be used to switch to an external analog limit Pn308 No 5 Internally Set Speed Setting 20 000 to 20 000 Unit mm s cee ig OVA OPE be range setting and ON Pn309 No 6 Internally Set Speed Setting Default Power OFF range 20 000 to 20 000 Unit mm s setting 0 and ON Pn310 No 7 Internally Set Speed Setting 20 000 to 20 000 Unit mm s ee iS OVa he range setting and ON Pn311 No 8 Internally Set Speed Setting 20 000 to 20 000 Unit mm s coe le hurd range setting and ON If internal speed settings are enabled in the Command Speed Selection Pn300 set the No 1 to 4 internally set speed in Pn304 to Pn307 and the No 5 to 8 internally set speed in Pn308 to Pn311 Set the speed in mm s The polarity of the set values indicates the polarity of the internally set speed fe The forward direction towards the cable output side B The reverse direction contrary to the cable output side The absolute value of the parameter setting is limited by the Overspeed Level Setting Pn910 Pn312 Soft Start Acceleration Time senting 0 to 10 000 Unit ms 1 000 mm s Default 0 er te range setting
435. mal P 8 62 setting is generated if the set value is 0 Pn904 Motormass Set the mass of the linear motor coil in 0 01 Kg Error 60 0 P 8 62 abnormal setting is generated if the set value is 0 Motor nominal Set the nominal force of the linear motor in 0 1N Error 60 0 Png05 ae P 8 62 force abnormal setting is generated if the set value is 0 Set the nominal rms current of the linear motor in 0 1 Arms Motor nominal rms Error 60 0 abnormal setting is generated if the set value is 0 Pn906 fae ae oe P 8 62 current Error 60 1 motor combination error 1 appear if this value is bigger than the servodrive nominal current Set the absolute peak current of the linear motor in 0 1A Error P Motor peak 60 0 abnormal setting is generated if the set value is 0 Error P 8 62 naor absolute current 60 1 motor combination error 1 appear if this value is bigger fee than the servodrive peak absolute current Set the per phase motor inductance in 0 01mH Error 60 0 Fnogs Motoringuctance abnormal setting is generated if the set value is 0 eee Pn909 Wiotorresistance Set the per phase motor resistance in 0 019 Error 60 0 P 8 63 abnormal setting is generated if the set value is 0 Set the level in mm s to generate Error 26 0 Overspeed Pn910 Overvelocity level protection Select a value that is same or lower than the motor P 8 63 maximum speed Error 60 0 abnormal setting is generated if the set value is 0 Select the switching frequency of th
436. method refer to Input Signal Allocation Method parameter Parameter name Explanation Reference number Set the SI1 input function allocation This Pnaoo input Signal Selection 1 Parameter based oa Hees depay p front panel is based on the decimal display Pn401 Input Signal Selection 2 Set the SI2 input function allocation P 8 35 Pn402 Input Signal Selection 3 Set the SI3 input function allocation P 8 35 Pn403 Input Signal Selection 4 Set the S14 input function allocation P 8 35 Pn404 Input Signal Selection 5 Set the SI5 input function allocation P 8 35 Pn405 Input Signal Selection 6 Set the SI6 input function allocation P 8 35 Pn406 Input Signal Selection 7 Set the SI7 input function allocation P 8 35 Pn407 Input Signal Selection 8 Set the SI8 input function allocation P 8 35 Pn408 Input Signal Selection 9 Set the SI9 input function allocation P 8 35 Pn409 Ae Signal Selection Set the SI10 input function allocation P 8 35 i Input Signal Allocation Method Input the setting for each CONTROL mode in any of the parameters of Pn400 to Pn409 to allocate signals Set the parameters based on the hex display standard Set the set value of the function for each CONTROL mode in below Refer to the function number table provided below for the set value of each function Logic setting is included in the function numbers OOxxxxxxh Position control Speed con
437. mil i A BE Y I e ee 1 5 2 aoe 5040 5 Ste wie 5 2 i7 50 e O n Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions a A 85 a O u 193 5 gt 17 5 a 50 p 42 5 5 2 30 7 5 2 52 pss g 4 L o S l I CH c 5 S A rt Square hole U oe G a tf lea mi Pte R2 6 mO y y i Ra e e et 5 2 2 5 50 0 5 17 5 e MH Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 25 SUOISUSWIG u13 x3 pue sj poN PsepuRIsS Standard Models and External Dimensions 2 4 External and Mounting Dimensions 3 phase 400 VAC R88D KT30F L KT50F L 3 to 5 kW Wall Mounting External dimensions Mounting dimensions sa 130 15 100 70 ag 212 65 A i 52 i j y 7 7 4 A nag miS Pm geg i AJA N fae al L A a y l D R2 6 Y Pa f y ile52 52 R26 a 65 5 2 15 100 ral Front Mounting Using Front Mounting Brackets External dimensions 130 w I a 212 15 100 e 65 5 2 40 7 5 2 E 2s f ee a eel g i NY N N if f gl eee al aJ l ge 7 l laf R2 6 Y Pa y 52 52 M R26 eal a 65 5 2
438. mmand Pulse Input i i Selection Pn005 a7 CCWLD line drive only Speed command input This is an analog input terminal for speed command REF Use the Speed Command Scale Pn302 to V change the force scale for the command input 14 Force command input 1 Provides a force command input set value 0 or 2 according to the setting of Force FREF1 Command Speed Limit Selection Pn317 Use the Force Command Scale Pn319 to change the force scale for the command input Analogue command input Speed limit input Provides a speed limit input set value 1 according to the setting of Force Command Speed Limit Selection Pn317 14 MEIM Use the Speed Command Scale Pn302 to y change the limit speed scale for the analog input 15 AGND1 Analog ground 1 This is an analog signal ground Forward force limit input Provides a forward force limit input set PCL value 0 or 4 or forward reverse force limit J N input set value 5 according to the setting of Force Limit Selection Pn521 16 Force command input 2 Provides a force command input set value 1 according to the setting of Force FREF 2 Command Speed Limit Selection Pn317 J Use the Force Command Scale Pn319 to change the movement speed scale for the command input 3 16 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 1 Drive Specifications Pin number Symbol Name Function and interface CONTROL mode Position S
439. mmon BKIRCOM This is the allocation at default setting You can change the allocations of output terminals CN1 to 10 11 12 34 35 38 39 40 and 41 according to the settings of Output Signal Selections 1 to 6 Pn410 to 415 Function This outputs an external brake timing signal according to the settings of the Brake Timing when Stopped Pn437 and Brake Timing during Operation Pn438 Note In linear motors the brake is an external element that if needed must be installed separately by the user i Servo Ready Completed Output READY Pin 35 Servo ready completed output READY Pin 34 Servo ready completed output common READYCOM This is the allocation at default setting You can change the allocations of output terminals CN1 to 10 11 12 34 35 38 39 40 and 41 according to the settings of Output Signal Selections 1 to 6 Pn410 to 415 Function This output signal indicates that the drive is turned ON and ready to start operation It is turned ON when the control and main power supply is established and not in alarm status i Alarm Output ALM Pin 37 Alarm Output ALM Pin 36 Alarm output common ALMCOM The alarm output terminal is fixed to pin 36 or 37 Function The output is turned OFF when the drive detects an error This output is OFF at power supply ON but turns ON when the drive s initial processing has been completed i Positioning Completion Output 1 INP1 and Positioning Completion Outp
440. mmon Common 2xis _ Y axis interrupt RESET aX a Y axis Y axi RI Origin CW limit proximity Y axis Y axis ALM BKIR 24 VDC 1 The XB and YB contacts are used to turn ON OFF the electromagnetic brake Note 1 Do not co nnect unused terminals Note 2 The 0 V terminal is internally connected to the common terminals Note 3 The applicable crimp terminal is R1 25 3 round with open end i XW2B 20J6 3B This Servo Relay Unit connects to the following OMRON Programmable Controllers CQM1 CPU43 V1 CQM1 PLB21 Dimensions CQM1 side Drive side ae 135 wae 7 7 met ceca ceca ees eles ee Peeks Terminal block 3 114 pitch 7 62 mm Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 6 Servo Relay Units and Cable Specifications Input Unit CQM1 3 xX 1 1 24 VDC 1 If this signal is input the output pulse from the CQM1 will be input to the high speed counter 2 Input this output signal to a CQM1 Input Unit 3 The XB contacts are used to turn ON OFF the electromagnetic brake Note 1 The phase Z is an open collector Note 2
441. mum output is approx 3 times the rated output and can be output for up to 3 seconds Therefore select no fuse breakers with an operation time of at least 5 seconds at 300 of the rated current ratio General and low speed no fuse breakers are generally suitable Select a no fuse breaker with a rated current greater than the total effective load current of all the motors when multiple drives are used The rated current of the power supply input for each motor is provided in Main Circuit and Motor Connections P 4 22 Add the current consumption of other controllers and any other components when selecting Inrush Current The following table lists the drive inrush currents With low speed no fuse breakers an inrush current 10 times the rated current can flow for 0 02 second When multiple drives are turned ON simultaneously select a no fuse breaker with a 20 ms allowable current that is greater than the total inrush current shown in the following table Inrush current Ao p Drive model Main circuit Control circuit power supply power supply R88D KTO1L L 7 14 R88D KT02L L 7 14 R88D KTO4L L 15 14 R88D KT02H L 14 28 R88D KT0O4H L 14 28 R88D KTO8H L 29 28 R88D KT10H L 29 28 R88D KT15H L 29 28 R88D KT20H L 29 14 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 35 ubisog wajshs System Design 4 3 Wiring Conforming to EMC Directives 4 36
442. n Pn602 Maximum speed error Setting range 0 to 20000 Unit mm s Default setting O Ao i Set here the maximum speed error level to give Err24 1 Excesive speed error alarm Pn604 Jog Speed All Setting range 0 to 500 Unit mm s Default setting 50 fa Set the command speed during JOG trial operation speed control Pn605 Gain 3 Effective Time Setting range 0 to 10 000 Unit 0 1 ms Default setting 0 Ker ia Set effective time of gain 3 of 3 step gain switching Pn606 Gain 3 Ratio Setting Setting range 100 to 1 000 Unit Default setting 100 ea Set gain 3 as a multiple of gain 1 Pn607 Force Command Value Offset All Setting range 100 to 100 Unit Default setting O nee Set offset force to add to force command Pn608 Forward Direction Force Offset All Setting range 100 to 100 Unit Default setting O a Set the value to add to the force command in the forward direction operation Pn609 Reverse Direction Force Offset All Setting range 100 to 100 Unit Default setting O ma aad Set offset force to add to force command for reverse direction operation Pn610 Function Expansion Setting Setting range 0 to 63 Unit Default setting 0 vegas Accurax G5 LINEAR AC S
443. n Commands to the motor and motor operation speed force command and position error can be displayed on a computer as waveforms Refer to the CX Drive Operation Manual SBCE 337 USB communications cable Connect to CN7 10 12 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 10 3 Manual Tuning i POSITION CONTROL Mode Adjustment Use the following procedure to perform the adjustment in position control for the Accurax G5 Linear Series Start adjustment Never adjust or set parameters to extreme y values as it will make the operation Set the realtime autotuning to disabled Pn002 0 unstable Failure to follow this guideline may result in y z Se injury Set each parameter according to the parameter settings for different applications Gradually change the value to adjust the y gain while checking the motor operation Operate based on the normal operation pattern and load y Are the positioning time and other performances satisfied vee No Adjustment completed lt a See ee SR ee ee eR RR Re RR Re ee ee ee ee ee ee y Increase Speed Loop Gain Pn101 to the extent that hunching does not occur upon servo lock y Decrease Speed Loop Integral Time Constant Pn102 to the extent that hunching does not occur upon servo lock y Does hunching vibration occur when the
444. n P 8 28 Selection Set the threshold for transition to the servo lock state under Pn316 Speed Lock Level Setting position control P 8 30 Set the detection threshold for speed conformity output If Speed Conformit the difference between the speed command and motor Pn435 p i y speed is within the set threshold a speed conformity output P 8 42 Detection Range is output This setting has a hysteresis of 10 mm s for detection Set the detection threshold for speed reached output A Speed for Motor speed reached output is output when the motor speed Pn436 3 P 8 42 Movement Detection exceeds the set value This setting has a hysteresis of 10 mm s for detection Pn422 Analog Input 1 Offset Set the analog input 1 offset P 8 38 Pn423 Analog Input 1 Filter Time Set the filter for analog input 1 P 8 39 Constant 5 12 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 5 2 Speed Control Parameter Block Diagram for SPEED CONTROL mode BASIC CONTROL Mode PUPWILUOD 32104 Joyeulwouag QSUd assanay ZLOUd JOeIIWNN LLOUd uoleiauabas 9S Nd m ZO gO vO qndjno asind Japoouy 8 paeds LLZUd Z paeads OL7Ud 9 paads gozud S p ds Z07Ud v paads SOZUd pead
445. n 14 This is used to change the motor direction without changing the polarity of host device command signals The default setting for this parameter is 0 The operation of the Linear Servomotor may be abnormal if the polarity of the speed command signal from the Position Control Unit does not agree with the setting of this parameter when the Linear Servo Drive system is comprised of the combination of the Linear Servo Drive set to the SPEED CONTROL mode and an external Position Control Unit Command Speed Analog Speed Speed Command Command command Speed A z a Analog speed Motor Conversion Direction Direction sign s Selection Selecti Switchi command REF lecti direction graph Pn300 election witching selection Pn301 Pn303 VSIGN Voltage 0 to 10 V Not affected Forward 6 direction Refer to E g Figure A Voltage 10 to 0 V Not affected Faaa g 0 Voltage 0 to 10 V Not affected st ae DNR efer to 1 z 0 z g Figure B Voltage 10 to 0 V Not affected FANAN g Voltage 0 to 10 V OFF Forward Not Voltage 10 to 0 V direction Refer to affected Voltage 0 to 10 V ON Reverse Figure C direction Voltage 10 to 0 V Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 25 sjiejeg sio oweled Parameters Details 8 4 Analog Control Parameters Speed command Figure A 10 10 Input voltage Speed command Figu
446. n Switching Time Pn119 8 15 Position Lock Level Setting PN316 8 30 Position Loop Gain Pn100 8 9 Position Loop Gain 2 Pn105 8 11 Position Setting Unit Selection Pn520 8 52 Positioning Completion Condition Selection Pn432 8 41 Positioning Completion Hold Time Pn433 8 41 Positioning completion output 1 INP1 3 42 Positioning completion output 2 INP2 3 42 Positioning Completion Range 1 Pn431 8 40 Positioning Completion Range 2 Pn442 8 44 Power cables without brakes robot cables 3 91 3 93 Power Supply ON Initialization Time Pn618 8 59 Preparing for operation 2 04 9 3 Protective functions 000 e ee aes 3 8 Pulse prohibition input IPG 3 35 Pulse Regeneration Output Limit Setting Pn533 8 56 R Radio noise filter 00 0000 eee 4 38 Reactor 2 0 ee ees 3 132 4 43 Reactor to reduce harmonic current 4 43 Realtime autotuning 2 005 10 4 REALTIME AUTOTUNING CUSTOMIZATION mode Setting PN632 0 eee eee 8 61 Index 4 Realtime Autotuning Estimated Speed Selection PROS an seater rnc ea toe onesie baets 8 61 Realtime Autotuning Machine Rigidity Setting Pn003 8 3 REALTIME AUTOTUNING mode Selection Pn002 8 3 Regeneration absorption capacity 4 46 Regeneration Resistor Selection Pn
447. n a parameter is changed from the front panel 1 EEPROM write performed at the same time Set the EEPROM write conditions when the front panel parameter is changed Pn618 Power Supply ON Initialization Time All Setting Default Power OFF range 0 to 100 Unit 0 1s setting 0 and ON Yes Set initialization time after power supply ON to the standard 1 5 seconds plus some Pn620 Encoder Phase Z Setting All Setting f Default Power OFF range 0 to 400 Unit HS setting a and ON ves Set the encoder phase Z regeneration width with time You can output the phase Z signal at least for the period of time that has been set if the phase Z signal width is too short for detection due to the travel distance from the encoder Pn621 Serial Absolute Encoder Phase Z Setting All Setting 0 to 268435456 Unit Pulse Derauit 0 Power OFF yos range setting and ON The encoder phase Z output width can be extended When you perform the pulse output using an encoder that uses the serial absolute interface use this to set the intervals of phase Z output based on the number of encoder phase A output pulses before quadruple multiplier Explanation of Set Values Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL ee Explanation 0 Phase Z is output only at the position where the encoder value is 0 1 to 228 After the phase Z output at the position where
448. n121 Gain Switching Delay Time in Speed Control Setting 0 to 10 000 Unit 0 1 ms Default 0 Power OFF range setting and ON Set the delay time when returning from gain 2 to gain 1 if the SWITCHING mode in Speed Control Pn120 is set to 3 to 5 Pni22 Gain Switching Level in Speed Control Setting 0 to 20 000 Unit B Default 0 Power OFF range setting and ON In SPEED CONTROL mode this is enabled when the SWITCHING mode in Speed Control Pn120 is set to 3 to 5 Set the judgment level for switching between gain 1 and gain 2 The unit depends on the SWITCHING mode in Speed Control Pn120 Pni23 Gain Switching Hysteresis in Speed Control Setting 0 to 20 000 Unit B Default 0 Power OFF range setting and ON Set the hysteresis width above and below the judgment level set in the Gain Switching Level in Speed Control Pn122 The unit depends on the setting of the SWITCHING mode in Speed Control Pn120 The following shows the definitions for the Gain Switching Delay Time in Speed Control Pn121 Gain Switching Level in Speed Control Pn122 and Gain Switching Hysteresis in Speed Control Pn123 The settings for the Gain Switching Level in Speed Control Pn122 and the Gain Switching Hysteresis in Speed Control Pn123 are enabled absolute values positive negative Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8
449. nalog signal for the monitor Default setting Motor speed 1 V 500 mm s 1 AM1 You can use Pn416 and Pn417 to change the item and unit You can use Pn421 to change the output method EN Analog monitor output 2 Outputs the analog signal for the monitor Default setting Motor force 1 V 33 of nominal force 2 AM2 You can use Pn418 and Pn419 to change the item and unit ko You can use Pn421 to change the output method 2 3 GND Analog monitor ground Ground for analog monitors 1 2 O 4 Not used Do not connect D 5 Not used Do not connect O 6 Not used Do not connect Connectors for CN5 Pin 6 Name Model Manufacturer Connector housing 51004 0600 Molex Japan Connector terminal 50011 8000 Molex Japan Monitor output circuit Servo Drive 1 2 AM1 AM2 Monitor equipment Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 51 Specifications 3 1 Drive Specifications USB Connector Specifications CN7 Through the USB connection with computer operations such as parameter setting and changing monitoring of control status checking error status and error history and parameter saving and loading can be performed KHA Symbol Name Function and interface 1 VBUS Use this function for computer communication 2 D USB signal terminal 3 D 4 Reserved for manufacturer use Do not connect 5 SENGND Signal ground Signal ground
450. nance 11 4 Troubleshooting Symptom Probable cause Items to check Measures The motor is overheating The ambient temperature is too high Check that the ambient temperature around the motor is 40 C or less Lower the ambient temperature around the motor to 40 C or less Use a fan or air conditioner Ventilation is obstructed Check to see whether anything is blocking ventilation Improve ventilation The motor is overloaded The motor is vibrating Try moving the motor without a load Disconnect it from the mechanical system Reduce the load Replace the Linear Servomotor and Servo Drive with higher capacity models The moving table attached to the motor coil is too small Check the dimensions of the table against the specification Increase the size of the table or add extra ventilation The motor holding brake is ineffective Power is supplied to the holding brake Check whether power is supplied to the holding brake Configure a circuit that cuts power supply to the holding brake when the motor stops and the load is held by the holding brake The motor does not stop or is hard to stop even if the operation command RUN is turned OFF while the motor is moving The load mass is too large Check the following Is the load too large Is the motor movement speed too high Review the load conditions and replace the Linear Servom
451. nce Force Compensation Gain 0 0 0 0 0 0 Pn624 Disturbance Observer Filter Setting 0 0 0 0 0 0 1 This is limited at the minimum value of 10 if a 17 bit absolute encoder is used Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 10 2 Realtime Autotuning Parameter AT Machine Rigidity Setting Pn003 DERS Parameter name 16 17 18 19 20 21 22 23 Pn004 Mass Ratio Estimated load mass ratio Pn100 Position Loop Gain 900 1080 1350 1620 2060 2510 3050 3770 Pn101 Speed Loop Gain 500 600 750 900 1150 1400 1700 2100 Pn102 Speed Loop Integral Time Constant 120 110 90 80 70 60 50 40 Pn103 Speed Feedback Filter Time Constant 0 0 0 0 0 0 0 0 Pn104 Force Command Filter Time Constant 1 45 38 lso 25 20 16 13 11 Pn105 Position Loop Gain 2 1050 1260 1570 1880 2410 2930 3560 4400 Pn106 Speed Loop Gain 2 500 600 750 900 1150 1400 1700 2100 Pn107 Speed Loop Integral Time Constant 2 10000 10000 10000 10000 10000 10000 10000 10000 Pn108 Speed Feedback Filter Time Constant 2 0 0 0 0 0 0 0 0 Pn109 Force Command Filter Time Constant 2 45 ss lso 25 lo he has hi Pn110 Speed Feed forward Amount 300 800 300 800 8300 300 300 300 Pn111 Speed Feed forward Command Filter 50 50 50 50 50 50 50 50 Pn112 Force Feed forward Amount
452. nd C treni current control Encoder Speed estimation Instantaneous i lt value speed observer Fi Pa Total mass ne Load model WT Motor To position control position Servo amplifier The use of this function can improve the behaviour when using an encoder with low resolution Parameters Requiring Settings rarameter Parameter name Explanation Reference number Pn610 Setting of Several Set whether to enable or disable the instantaneous P 8 57 Function observer function Pn004 Mass Ratio Set the mass ratio 1 P 8 3 Pn100 Position Loop Gain Set the position loop gain P 8 9 Pn101 Speed Loop Gain Set the speed loop gain P 8 10 Pn103 Velocity detection To select the velocity detection filter 1 setting out of 6 preset P 8 11 filter 1 values Pn108 Velocity detection To select the velocity detection filter 2 setting out of 6 preset P 8 11 filter 2 values Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 53 suo1 2unj paddy Applied Functions 6 16 Instantaneous Speed Observer Function Operating Procedure 6 54 1 Set the Mass Ratio Pn004 Set the mass ratio as correctly as possible If the Mass Ratio Pn004 is requested in a realtime auto gain tuning use the set value If the Mass Ratio is calculated for the selected motor input the calculated value If the Mass Ratio is not known perform autotuning and set the mass ratio Adjust the
453. nd L3 Ground the motor s frame to the machine ground when the motor is on a movable shaft Use a ground plate for the frame ground for each unit as shown in the above diagrams and ground to a single point Use ground lines with a minimum thickness of 3 5 mm and arrange the wiring so that the ground lines are as short as possible No fuse breaker surge absorber and noise filter should be positioned near the input terminal block ground plate and I O lines should be separated and wired at the shortest distance Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL R88D KRO6F L KT10F L KT15F L KT20F L KT30F L KT50F L 4 3 Wiring Conforming to EMC Directives ae 8 TB Controller Unit Details Symbol Name Manufacturer Model Comment ae Surge absorber Okaya Electric RAV781BWZ 4 Single phase 100 VAC Optional Industries Co Ltd RAV781BXZ 4 3 phase 200 VAC R88A FIK102 RE 250 VAC single phase R88A FIK104 RE 250 VAC single phase R88A FIK107 RE 250 VAC single phase NF Noise filter Rasmi R88A FIK114 RE 250 VAC single phase R88A FIK304 RE 400 VAC single phase R88A FIK306 RE 400 VAC single phase R88A FIK312 RE 400 VAC single phase SD Linear Servo Drive OMRON SM Linear Servomotor OMRON FC Clamp core TDK ZACT305 1330 TB Controller Switch box
454. nd is input set in Soft Start Acceleration Time Pn312 the time needed for the speed command to reach 1 000 mm s Also set in Soft Start Deceleration Time Pn313 the time needed for the speed command to reach 0 mm s from 1 000 mm s Soft start acceleration time ms Vc 1 000 x Pn312 x 1 ms Soft start deceleration time ms Vc 1 000 x Pn313 x 1 ms A speed command after the A speed command that is input in steps acceleration deceleration Speed mm s processing LOOO MM S eses oe ee een earra eece shesecsacdec NN es Pn312x1 ms Pn313x1 ms S curve Acceleration Deceleration Time Setting Pn314 Set the S curve time in the time width centered on the inflection points in acceleration deceleration relative to the acceleration or deceleration time set in Soft Start Acceleration Time Pn312 or Soft Start Deceleration Time Pn313 ta Vc 1 000 x Pn312 x 1 ms td Vc 1 000 x Pn313 x 1 ms ts Pn314 x 1 ms Set an appropriate time so that ta gt ts and td gt ts are satisfied Speed mm s tS ts Targetspeed L L a Aspeed command after the Vc acceleration deceleration processing Time i ta td 1 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 5 11 spol TIOULNOD JISVG BASIC CONTROL Mode 5 2 Speed Control Related Functions Parameter Parameter name Explanation Reference number Pn315 Zero Speed Designation Set the zero speed designatio
455. ndix 12 2 Parameter List 12 24 E Power E Parameter 3 Default Setting supply z name F Explanation setting uoit range OFFto E 1 ON Analog Input 1 f 5 578 to B 422 Offset Set the analog input 1 offset 0 0 359 mV 5578 Analog Input 1 423 Filter Time Set the analog input 1 filter 0 9 01 oo ms 6 400 Constant 424 Excessive Set the voltage after offset for the excess 0 01V loto100 Analog Input 1 level of analog input 1 input voltage 425 Analog Input Z Set the analog input 2 offset 0 5 86 mV 342 to 342 Offset Analog Input 2 l 0 01 Oto 426 Filter Time Set the analog input 2 filter 0 ms 6 400 Constant 427 Excessive Set the voltage after offset for the excess 0 0 1V Joto100 l Analog Input 2 level of analog input 2 input voltage 428 Analog Inputs Set the analog input 3 offset 0 5 86 mV 342 to 342 Offset Analog Input 3 l l 0 01 Oto 429 Filter Time Set the analog input 3 filter 0 ms 6 400 Constant 430 Excessive Set the voltage after offset for the excess 0 0 1V Joto100 l Analog Input 3 level of analog input 3 input voltage Positioning Set the allowed number of pulses for the Command 0 to 431 Completion Aah 10 l positioning completion range unit 262 144 Range 1 Set the judgment conditions for positioning completion output Positioning completion output turns ON 0 when the position error is within the Positioning Completion Range 1 Pn431
456. near Servo Drive model can be identified by the Linear Servo Drive type applicable Linear Servomotor capacity power supply voltage etc R88D KTO2H L Accurax G5 Linear Series Servomotor Drive Type T Pulse analog type Capacity 01 100 W 02 200 W 04 400 W 06 600 W 08 800 W 10 1kW 15 1 5 kW 20 2 kW 30 3 kW 50 5 kW Power Supply Voltage L 100 VAC H 200 VAC F 400 VAC Linear type drive Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Linear Servomotor lron core family Linear motor coil Accurax Linear Motor Component 2 2 How to Read Model R88L EC FW 0303 ANPC lron core model 03 30mm active magnet width 06 60mm active magnet width 11 110mm active magnet width 03 3 coil model 06 6 coil model 09 9 coil model 12 12 coil model 15 15 coil model A Version NP No connectors PL With connectors C Compact Magnet track Accurax Linear Motor Component R88L EC FM 03xxx A eo lron core magnet tracks 03 30mm active magnet width 06 60mm active magnet width 11 110mm active magnet width Length of magnet track in mm A Version Hall sensor Accurax Linear Motor Component Oo o R88L EC FH NNNN A Digital hall sensor for F series Placeholder Placeholder A Version Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL
457. ngs ccccceeeeeeeeeeeeeeeeeeeeeeeeeens 6 61 Operating ProCeCure ccccccccceeseeeeeeeeeeseneeeeeeeeseteeeseneeeseneeeeeaees 6 62 6 20 Setup with Serial Converter ccccccceeseeseees 6 64 Outline Of Operation cece cececeecseeeeeeeeeeeeeeceeaeeeesaeeeseaeeeseaeeesenees 6 64 Parameters Requiring Settings cccceeseeeeeeeeeeeeeeeeeneeeseeeess 6 64 Operating Procedure c cccecceseseeeeeteeeseneeeeeeeeseeeeteaeeessieeeeenees 6 65 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 1 Anti vibration Control 6 1 Anti vibration Control Outline of Operation If the tip of the mechanical unit vibrates you can use the anti vibration control function to reduce vibration This is effective on vibration generated by a machine of low rigidity The applicable frequencies are from 1 to 200 Hz Since anti vibration control is performed using position commands it cannot be used with speed or force control lt gt The front end vibrates Position Controller Servo Drive The vibration frequency changes i based on the position 1 Movement Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 3 suoijoun paddy Applied Functions 6 1 Anti vibration Control Parameters Requiring Settings Parameter parameter name Explanation eS number Set to the POSITION mode Pn001 CONTROL mode _
458. nput voltage i Input voltage FSIGN OFF FSIGN ON K eee Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Related Functions 5 3 Force Control parameter Parameter name Explanation Reference number Zero Speed Set the zero speed designation function Pn315 Designation P 8 28 Selection aa Set the speed limit value applicable during force control Pn321 Speed Limit Value During force control the speed is controlled so as not to P 8 32 Setting DA exceed the level set by the speed limit value Reverse Direction Set this if you want to change the speed limit value Pn322 Speed Limit Value depending on whether the direction is forward or reverse P 8 32 Setting Pn422 Analog Input 1 Set the offset for analog input 1 P 8 38 Offset Analog Input 1 Set the filter for analog input 1 Pn423 Filter Time P 8 39 Constant Pn425 Analog Input 2 Set the offset for analog input 2 P 8 39 Offset Analog Input 2 Set the filter for analog input 2 Pn426 Filter Time P 8 39 Constant Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 5 17 pPpOoN TIOULNOD JISVA 5 3 Force Control Parameter Block Diagram for FORCE CONTROL mode puewwo 32104 A 10 0W WUT 39404 Z ON C7SUd i yw 9104 L ON ELOUd eo u0 39 S WWI 99104 L7GUd Bunya suods y 9Ud 01 U09 JUSIIND ywl 39104 to
459. ns i Position Control Unit Cable XW2Z xJ A18 This cable connects a Position Control Unit CJ1W NC133 to a Servo Relay Unit XW2B 20J6 1B Cable types Outer diameter of i Model Length L sheath Weight XW2Z 050J A18 50 cm Approx 0 1 kg 10 0 dia XW2Z 100J A18 im Approx 0 2 kg Connection configuration and external dimensions Position Control Unit side Servo Relay Unit side CJ1W NC133 XW2B 20J6 1B Wiring Position Control Unit side Servo Relay Unit side AWG20 Black terminal Cable AWG28 x 4P AWG28 x 10C 26 3 128 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 6 Servo Relay Units and Cable Specifications i Position Control Unit Cable KW2Z xJ A19 This cable connects a Position Control Unit CJ1W NC233 433 to a Servo Relay Unit XW2B 40J6 2B Cable types Model Length L ach a of Weight XW2Z 050J A19 50 cm Approx 0 1 kg 10 0 dia XW2Z 100J A19 im Approx 0 2 kg Connection configuration and external dimensions Position Control Unit side CJ1W NC233 J CJ1W NC433 Wiring Position Control Unit sid Number e AWG20 Black A3 B3 A4 B4 lt X AWG20 Red A1 B1 Servo Relay Unit side Number A2 B2 A7 A8 A5 A6 CO NI OD on A oo ro AQ A14 A12 A20 B20 A15 A17
460. nsions SCREW O 1 t FRONT VIEW TURRET JE lt i B RED 0 5 NO 8 am BLACK 0 5 9 A co GREY 4 a 12 als 15 GREEN W 6 6 am BLUE WHITE 14 14 YELLOW a2 9 5 13 X KAA KR RK RK YELLOW WHITE U2 13 SCH TO BODY Serial Converter side SCH TO BODY CABLE 4x2x0 25 2x0 5 PU BLACK Encoder side D Sub 15 Male Connector D Sub 15 Female Connector Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 5 Cable and Connector Specifications R88A CFKBxxxCR E Extension cable from Serial Converter to Hall sensor and Temperature connectors in the linear motor This motor is either use for Connect the Temperature sensors from the linear motor to CN3 or CN2 connector in the Serial Converter Connect the Hall sensor signal from the Hall sensor unit attached to the motor to the CN2 connector in the Serial Converter Model Length L R88A CFKB001 5CR E 1 5m R88A CFKBO003CR E 3m R88A CFKBO05CR E 5m R88A CFKB010CR E 10m R88A CFKB015CR E 15m Connection configuration and external dimensions SCREW TURRET
461. ntrol The BKIR signal is allocated to a CN1 general purpose output to be used Note The brake attraction time and release time vary depending on the brake For details refer to the brake specification suoljoun paddy Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 19 Applied Functions 6 6 Brake Interlock i Servo ON OFF Operation Timings lt When Motor Is Moving gt Based on these operation timings regenerative energy is produced if the motor movement stops abnormally Accordingly repeated operations cannot be performed Operation command RUN Dynamic brake relay Motor power supply Brake interlock output BKIR Motor movement speed OFF ON OFF ON OFF ON OFF Servo OFF 1 Servo ON Servo OFF mija Approx 2 ms ae to5 ms DB engaged DB Released DB Released gt Approx 60 ms No power supply Power supply No power supply tt gt Approx 4 ms ie lt Pn438 Brake held Release request Movement speed A Sensis seasons Ost Approx 30 mm s Approx 30 mm s BKIR Servo ON enabled Release request ae sosvoseeseeeceececeencecnnonnnssseeseeseceeeceesscssnony Movement speed B Brake held Approx 30 mm s Approx 30 mm s 1 The servo will not turn ON until the motor speed drops to approx 30 mm s or below 2 The dynamic brake operation when the servo is OFF depends on Stop Selection with Servo OFF Pn506 3 The brake
462. nuously for 24 hours or any other equipment requiring high reliability e Any other application where a high level of safety corresponding to a to d above is required 3 If the customer wishes to use this product in any application that may threaten human life or property be sure to confirm beforehand that the entire system is designed in ao fF Oo 2 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Items Requiring Acknowledgment such a way to notify dangers or ensure the necessary level of safety via design redundancy and that the product is wired and installed appropriately in the system according to the intended application 4 Sample applications explained in the catalog etc are provided for reference purposes only When adopting any of these samples check the function and safety of each equipment or device 5 Understand all prohibited items and notes on use provided herein so that this product will be used correctly and that customers or third parties will not suffer unexpected losses 4 Specification Change The product specifications and accessories explained in the catalog operation manual etc are subject to change if necessary for the reasons of improvement etc Contact your OMRON sales representative to check the actual specifications of this product 5 Scope of Service The price of this product excludes costs of service such as dispatching engineers If you have any reques
463. o Drive and Servomotor Combination List Peripheral Equipment and Cable Model List 2 4 External and Mounting Dimensions Linear Servo Drive Dimensions 0 ccccceeececeeeeeeeeeeeseeeaeeeeeees Linear Servomotor Dimensions 00 ccccceceecceseeeeeeeeeseeeueeeeeeees External Regeneration Resistor Dimensions 2 5 EMC Filter Dimensions 2ccecceeceeeeceeceeeeeeeeeeeees imensions Standard Models and External D 2 1 Servo System Configuration 2 1 Servo System Configuration High speed type Programmable Position Control Unit NC Controller CJ1W NC214 414 SYSMAC CJ2 CJ1W NC234 434 Position Control Unit Programmable Position Control Unit NC Controller CJ1W NC003 CS1W NCoo3 SYSMAC CJ1 CS1 C200HW NCon3 Built in pulse 1 0 function type v gej E E U g E v 2 5 a CJ1M CPU20 CPU Unit Built in pulse 1 0 function type CP1H CP1L Programmable Controller SYSMAC CS1 Motion Control Unit MC CS1W MC221 421 V1 Analog Commands Support Software CX One Software Packa Including Ck Drive Ol MotionPro O Motion OX Programmer Ed Direct connection cable for CIW NCGG4 XW2Zz 0003 G0 gt D a Position Control Unit Cable XW2Z X gt Position Control Unit Cable NC XW2Z 1 A0 oO USB comm Pulse Train Commands Feedback Signals Connector Terminal Block Conversion Unit Xw20 20G0 y Serv
464. o Relay Unit XW2B 0 External Signal Connector Terminal Block Conversion Units and Cable XW2Z 000J B24 ad Xw20 50G Control Cables for Motion Control Unit R88A CPG External Signal Servo Drive Cable XWw2Z 1 80 Pulse Train Commands 2 2 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 1 Servo System Configuration AC Linear Servomotors with A B pulse encoder Linear Servo Drive with A B pulse encoder Motor power signals Power Cables Standard Cables R88A CAWK J S DE Encoder Cables Standard Cables R88A CRKN J JCR E e Accurax G5 Linear motor R88L EC FW R88L EC GW e Accurax G5 Linear drive R88D KT Feedback Signals A B encoder or with SinCos encoder Motor power signals or with SinCos encoder Power Cables Standard Cables R88A CAWK J 1S DE Encoder Cables Standard Cables R88A CFKA I J JCR E Serial converter Hall sensor Temp sensor Accurax G5 Linear motor SinCos encoder R88L EC FW R88L EC GW Feedback Signals SinCos encoder e Accurax G5 Linear drive R88D KT Peripheral Devices d eus9 xq pue sjopoyy puepueis External Regeneration Resistors R88A RR SUOISUDUWI Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 3 Standard Models and External Dimensions 2 2 How to Read Model 2 2 How to Read Model Linear Servo Drive The Li
465. o a terminal block tighten them with a tightening force of 0 7 Nem Round terminal Fork terminal 3 2mm SF lt 5 8 mm max EC 3 2mm 5 8 mm max a 2 4 r Applicable crimp terminals Applicable wires AWG22 16 Round terminals 1 25 3 0 3 to 1 25 mm2 AWG22 16 Fork terminals 1 25Y 3 0 3 to 1 25 mm2 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 111 SUOI edIIIGdS Specifications 3 6 Servo Relay Units and Cable Specifications 3 6 Servo Relay Units and Cable Specifications This section provides the specifications for the Servo Relay Unit and cables used for connecting to Position Control Units for OMRON Programmable Controllers SYSMAC Select the models that match the Position Control Unit to be used Servo Relay Units Specifications i XW2B 20J6 1B This Servo Relay Unit connects to the following OMRON Position Control Units CJ1W NC113 NC133 CS1W NC113 NC133 C200HW NC113 Dimensions Position Control Unit side Drive side 35 135 3 5 Terminal block pitch 7 62 mm 3 112 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 6 Servo Relay Units and Cable Specifications ri External interrupt common Common RESE
466. oders and have no use with linear motors 3 104 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL is not provided 3 5 Cable and Connector Specifications i General purpose Control Cables R88A CPGxS This is a cable to connect the Linear Servo drive I O signals CN1 connector to a general purpose controller All Linear servo drive I O signals are wired The connector for the controller Cable types Outer diameter of Model Length L sheath Weight R88A CPG001S 1m Approx 0 3 kg 12 8 dia R88A CPG002S 2m Approx 0 6 kg Connection configuration and external dimensions L 39 Controller side O Drive side 3 A R88D Kx 03 t 18 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 105 suonesijoads Specifications 3 5 Cable and Connector Specifications Wiring Number Wire Mark color Symbol Number Wire Mark color Symbol 1 Orange Red 1 24VCW 27 Pink Black 3 Sl4 2 Orange Black 1 24VCCW 28 White Black 3 SI5 3 Gray Red 1 CW 29 Yellow Red 3 SI6 4 Gray Black 1 CW 30 Pink Red 3 SI7 5 White Red 1 CCW 31 Yellow Black 3 SI8 6 White Black 1 CCW 32 Gray Black 4 slg 7 Yellow Red 1 COM 33 Orange Red 4 S110 8 Pink Red 1 Sl1 34 White Red 4 S02 9 Pink Black 1 SI2 35 White Black 4 S02 10 Orange Red 2 S0
467. og force command input P 8 32 Pn320 Analog Force Command Reverse the polarity of the force command input P 8 32 Direction Switching 5 14 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 5 3 Force Control i CONTROL mode Selection Pn001 Select the force control Set values 2 Force control 4 Switching between Position control and Force control or 5 Switching between Speed control and force control i Analog Force Command Input Process Pn317 Pn318 Pn319 Pn320 Convert the voltage input by an analog input to a force command to control the motor Parameter A Setting y Aber Parameter name Explanation range Unit Select the input location for the force command and speed limit value Force Command 0 Force command Analog input 1 at speed limit Pn321 Pn317 Speed Limit 0to2 1 Force command Analog input 2 Selection ee speed limit Analog input 1 2 Force command Analog input 1 speed limit Pn321 Pn322 Select the method for selecting the direction for the force command Force Command 0 The direction depends on the Pn318 Direction polarity of the analogue force 0 to 1 Selection command 1 The direction depends on the state of a digital input FSIGN Pn319 Force Command Set the input gain for analog force 10 to 100 0 1 V 100 Scale command input Analog Force Reverse the polarity of the force Command command input Rhee Direction 0 Forward
468. ol Units are supported CJ1W NC214 NC414 NC234 NC434 Cable types Cable for line drive output for 1 axis Model Length XW2Z 100J G9 im XW2Z 500J G9 5m XW2Z 10MJ G9 10m Cable for open collector output for 1 axis Model Length XW2Z 100J G3 im XW2Z 300J G3 3m Cable for line drive output for 2 axes Model Length XW2Z 100J G1 im XW2Z 500J G1 5m XW2Z 10MJ G1 10m Cable for open collector output for 2 axes Model Length XW2Z 100J G5 im XW2Z 300J G5 3m Cables for 1 axis Connection configuration and external dimensions 16 1 l 39 cr i oH Position Control g Unit side SSSss A Ao h CJ1W NCxx4 t 6 1 t 18 Cables for 2 axes Position Control Unit side CJ1W NCxx4 Ee aE Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Drive side R88D Kx Drive side R88D Kx Drive side R88D Kx 3 99 SUOI edIIIGdS Specifications 3 5 Cable and Connector Specifications Wiring Cable for line drive output for 1 axis AWG18 twisted pair 1 m Red 24 VDC AWG18 twisted pair 1 m Black 24 VDC GND Blue BKIRCOM PCU side Black BKIR XG4M 5030 T OMRON 24 V power supply for output ET common 5 H Forward direction pulse output 7 Forward direction pulse output 16 Reverse direction pulse output Reverse direction pulse output
469. omes valid 3 38 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 1 Drive Specifications Control Output Circuits i Position Feedback Output Servo Drive Controller R 120t01802 sy A peress FA Phase A A A R Phase A Output line drive AM26C31 or B B equivalent Phase B B p R Phase B J2 zi Phase Z z z R Phase Z ZCOM GND ZON ov aojo poe j lt 5 0V Applicable line receiver Shell FG AM26C32 or equivalent FG FG i Phase Z Output Open Collector Output Drive Controller Maximum service voltage 30 VDC or less Maximum output current 50 mA or less i Sequence Output Servo Drive External power supply 12 to 24 VDC J Maximum service voltage 30 VDC or less Maximum output current 50MA max Di Di Surge voltage prevention diode Use a high speed diode S05 Pin 12 and S06 Pin 40 share the same common pin Pin 41 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 39 SUOI edIIDIdS Specifications 3 1 Drive Specifications Control Output Details i Control Output Sequence Control power supply ON L1C and L2C OFF Approx 100 to 300 ms Internal control ON l powersupply off i i Approx 2 s i Approx 1 55 ON MPU initialization completed OFF Osormore Main circuit power ON
470. on Speed Force 8 9 26 to 33 GSEL 27 Gain switching This changes to enable set value 2 according to the setting of GAIN SWITCHING mode Pn115 for position control Pn120 for speed control or Pn124 for force control When the signal is OFF and ON gain 1 and gain 2 change to enable respectively GESEL1 28 Electronic gear switching 1 Switches the numerator for electronic ratio You can switch maximum 4 electronic ratio numerators by combining with electronic gear switching input 2 GESEL2 RUN 29 Operation command input This turns ON the Linear Servo motor power supply starts ECRST 30 Error counter reset input Resets the position error counter An edge set value 0 or level set value 1 can be selected according to the setting of Error Counter Reset Condition Selection Pn517 RESET 31 Alarm reset input Release the alarm status The error counter is reset when the alarm is reset Some alarms cannot be reset with this input TVSEL 32 CONTROL mode switching input This signal switches the CONTROL mode for Linear Servo Drive Changes to enable set value 3 to 5 according to the setting of CONTROL mode Selection Pn001 IPG 33 Pulse prohibition input Prohibits the position command pulse Changes to enable set value 0 according to the setting of Command Pulse Prohibition Input Setting Pn518 VSEL1 33 Internally se
471. on error 1 complete properly Magnetic pole position The motor did not stop inside the time 1 ane A y V 61 estimation error 2 set in Pn927 Magnetic pole position Pn920 is set to 3 and magnetic pole 2 estimation error 3 estimation has never been executed _ 2 7 Pn920 is set to 3 and the encoder is not absolute 87 0 Forced alarm input error The forced alarm input signal was S N B input Serial Encoder connection The setting of Pn323 is unconsistent 93 3 A error with the encoder type connected 1 An immediate stop means an error causing an immediate stop when the Pn510 Stop Selection for Alarm Generation is set to 4 to 7 For details refer to Stop Selection for Alarm Generation P 8 48 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 9 ueu zuIeN pue 10113 Error and Maintenance 11 3 Alarm List Extended Alarms 11 10 Error No Error detection function Detection details and probable cause Main Sub 0 U Phase Phase Current U Phase Current Detection Value is abnormal when Detection Error objecting servo off to servo on 70 1 W Phase Phase Current W Phase Current Detection Value is abnormal when Detection Error objecting servo off to servo on 2 Detection Syste Setting value of Current Detection System U is abnormal 0 Al2 Input Error Analog Input Voltage 2 value is abnormal 11 V over is lasting 200 ms 71 1 Al3input Error Analog
472. ons l a 3 6 Servo Relay Units and Cable Specifications i Linear Servo Drive Cable XW2Z xJ B31 This cable connects the drive to a Servo Relay Unit KXW2B 20J6 8A XW2B 40J6 9A Cable types Outer diameter of Model Length L sheath Weight XW2Z 100J B31 1m r Approx 0 1 kg 8 1 dia XW2Z 200J B31 2m Approx 0 2 kg Connection configuration and external dimensions a L Servo Relay Unit side Drive side XW2B 20J6 8A Q a R88D KTx XW2B 40J6 9A in Wiring Servo Relay Unit side Drive side Blue Red 1 Blue Black 1 Pink Red 1 Pink Black 1 Green Red 1 Green Black 1 Orange Red Gray Red 1 Gray Black 1 Blue Red 2 Blue Black 2 Orange Black 1 Pink Red 2 Pink Black 2 Orange Red Green Black Orange Red Any SS a S 2 aja gt Servo Relay Unit connector Connector socket model XG4M 2030 Strain relief model XG4T 2004 Cable AWG28 x 10P UL2464 Drive connector Connector plug model 10150 3000PE Sumitomo 3M Connector case model 10350 52A0 008 Sumitomo 3M 3 120 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 6 Servo Relay Units and Cable Specifications Position Control Unit Servo Relay Unit Cable Specifications i Position Control Unit Cable XW2Z xJ A3 This cable connects a Programmable Controller CQM1H PLB21 to a Servo Relay Unit XW2B 20J6 3B Cable ty
473. onse is as shown in the following diagram Overshooting occurs if the speed loop integral Motor speed4 time constant is small Speed loop integral time constant is large Time Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 2 Gain Parameters Pn103 Speed Feedback Filter Time Constant All Setting F Default Power OFF range one uae i setting 0 and ON Set the time constant for the low pass filter LPF after speed detection to one of 6 levels 0 to 5 Increasing the set value increases the time constant and decreases the noise generated by the motor Responsiveness however also decreases Normally use the default set value Pn104 Force Command Filter Time Constant All Setting 0 to 2 500 Unit 0 01 ms peed lea POV Ee S range setting and ON Default settings 1 Pn104 126 For 200V drives of 1Kw or upper and 400V drives 2 Pn104 84 For 200V drives of less than 1 Kw Set the time constant for the first order lag filter inserted into the force command This parameter may be effective in suppressing vibration due to torsion resonance Pn105 Position Loop Gain 2 Senny 1 to 30 000 Unit 0 1 s pemut azo Poet oer range setting and ON Default settings 1 Pn105 380 For 200V drives of 1Kw or upper and 400V drives 2 Pn105 570 For 200V
474. ontrol Force Thrust rr CONTROL Reason mode number 9 18 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 4 Setting the Mode Number Item RELEVANT CONTROL mode Description Alarm or warning has An alarm has occurred Warning has occurred Flashing occ ired All 0 No reason All No reason has been detected The motor operation should be possible 1 Main power supply All The main power supply to the drive is not turned ON interrupted 2 No RUN input All The operation command RUN is not connected to COM Drive prohibition input is When Pn504 0 drive prohibition input enabled enabled The forward drive prohibition input POT is open and the speed 3 All command is in the forward direction The reverse drive prohibition input NOT is open and the speed command is in the reverse direction 4 Low force limit setting All The currently effective force limit set value Pn013 No 1 Force Limit or Pn522 No 2 Force Limit is less than 5 of the rated force Analog force limit input is When Pn527 0 analog force limit scale enabled The forward analog force limit input is negative and the speed 5 P S command is in the forward direction The reverse analog force limit input is positive and the speed command is in the reverse direction 6 IPG input is enabled p Pn518 0 command pulse prohibition input enabled and the
475. operation ot Switching 1 Reverse operation The conversion of analog force command is explained below Force Force Analog Force Command 9 Force Command Command Analog force Speed niin command Motor Conversion Limit Direction Direction command San ARB direction taph l Selection Switching FREF gn OP oar Selection Pn318 Pn320 FSIGN Pn317 Not Forward Voltage 0a 10 affected direction 0 N A Figure A ot everse P Voltage 10100 ifected direction Not Reverse Voltage 0 t0 10 V affected direction 0 1 K a Figure B ot orwar Voltage 10100 V tected direction Not affected Voltage 0 to 10 V Gee Forward Not affected Voltage 10 to 0 V direction 1 Figure C Not affected Voltage 0 to 10 V on Reverse Not affected Voltage 10 to 0 V direction Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 5 15 spol TIOULNOD OISVG BASIC CONTROL Mode 5 3 Force Control 5 16 Example When the force command scale is 30 Force command 100 x Input voltage Force Command Scale Pn302 x 0 1 DE eee ee een a Force command FigureA Force command Figure B oS 1 ae eae a i N craic 333 i I i 200 Lea 200 i Li 1 i BE i 1 L f0 10 10 6 6 10 i Input voltage Input voltage i i 1 E N AE 200 1 o A a pnn Force command Force command Figure C 6 10 i 10 I
476. or error Occurs during operation uncorrect eee Check the wiring 55 Hall sensor wiring is or at power up broken pointes witing is Check the wiring SinCos phase error uncorrect s Change the encoder Encoder is damaged The motor settings Set the motor parameter Motor is not suitable for uncorrect f properly 60 3 Occurs at power on The motor is the drive f Change the drive for a unappropiated for the suitable one drive The motor is vertical or Magnetic pole estimation the friction very high cannot be done Use Hall Occurs after magnetic aa The parameter for the sensors pole estimation Kea Magnetic pole estimation Change the parameter for sequence oF ede sequence are not the Magnetic pole estimation 61 Magnetic pole appropiated sequence to proper values estimation error Th e wrong eneoder type Adjust Pn323 according to has been selected the encoder type Occurs at power on In absolute encoder the Peet Execute the magnetic pole magnetic pole estimation naa estimation once has never been done 87 Forced alarm input error Occurs during The forced alarm input Turn OFF the EMG STOP operation signal was input signal The setting of Pn323 93 Encoder connection At power on does not correspond with Select Pn323 according to error the detected encoder the encoder type Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 17
477. or the drive in use Incorrect signal wiring can cause damage to units and the drive Leave unused signal lines open and do not wire them Connect terminals and wiring marked with an asterisk when using an absolute encoder This wiring diagram is an example of X axis wiring only For other axes connections must be made in the same way with the drive Always short unused NC input terminals at the Motion Control Unit I O connectors Make the setting so that the servo can be turned ON OFF with the RUN signal 12 6 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 1 Connection Examples i Connection Example 6 Connecting to SYSMAC CP1H YxxDT D Main circuit power supply NFB OFF ON MC1 MC2 R O S O 4 Main circuit contact g E l uu Sup surge suppressor 5 X1 MCI MC2 X1 3 phase 200 to 240 VAC 50 60 Hz S go servo error display TO s o7 Ground to CP1H Y20DT D 100 Q or less R88 KTx L EAE T Reactor zor Output terminal block i vimi CWO i MC1 MC2 Pulse h l ale Output L 7 0 ccwo XX Origin search 0 101 word bit 02 24 VDC input te
478. or to one side of the slider Remove the magnet track in the free side Move the motor to the side of the slider where you removed the magnet Dissasemble the motor while staying in the zone without magnet to avoid problems with the attraction force 3 Install the new motor following the installation instructions i Replacing the Servo Drive 1 Copy the parameters Use the Operation keys on the drive to write down all the contents of parameter settings 2 Replace the drive 3 Set the parameters Use the Operation keys on the drive to set all the parameters Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 2 Warning List 11 2 Warning List This is a function to output a warning signal before the protective function operates to notify the overload and other statuses in advance Set the warning output type to Warning Output Selection 1 Pn440 and Warning Output Selection 2 Pn441 H Precautions for Correct Use Each warning automatically returns to the status before it occurred once the system recovers from the error However for the time set in the Warning Latch Hold Time Selection Pn627 the warning status will be held To clear the warning during the latch hold time do so by performing the same procedures as alarm clear i Warning List Warning Warnindineme Latch Warning occurrence Warning Output Selection Warning Mask number g condition Pn440 Pn441 2 Setting
479. ormation is also sent to the drive via the serial link Incremental Encoder with embedded serial interface Sony manufacturing can provide an encoder with the G5 Linear encoder serial interface embedded in the encoder read head This encoder can be directly connected to the CN4 connector Refer to the manufacturer specification for details 2 Serial Absolute Encoder Sony manufacturing and Titutoyo can provide absolute encoders with embedded G5 Linear encoder serial interface in the encoder read head This encoder can be directly connected to the CN4 connector Refer to the manufacturer specification for details 4 Adjust the Encoder resolution Pn901 If using an A B pulse the value is after x4 multiplication If using a SinCos Encoder the value is after interpolation in the Serial Converter x400 multiplication If using an Encoder with embedded serial interface refer to the maker specification 5 Confirm the count direction Pn326 Due to installation necessities it is possible that the motor direction and the encoder direction do not correspond So you have to check that the encoder count positive direction is same than the motor positive direction If you move the motor by hand you can monitor the speed and or the position and confirm if it counts positive in the direction of the motor cables If the motor counts negative in the direction of the motor cables you have to reverse the count direction It is possible that due to t
480. ors are internally wired the temperature sensor can be connected to both connectors When the hall sensor is also required use the same cable for hall amp temperature signals and the CN2 connector Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 85 suoleoiin0ds Specifications 3 4 Encoder Hall sensor and Serial Converter i Connection to the drive EEEE Scoe P f em od ree nn Bele DE e amp D al 0 3 86 Power CN4 Hall sensor CN3 CN2 CN1 CN4 Serial converter Temperature sensor SinCos Encoder Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 5 Cable and Connector Specifications 3 5 Cable and Connector Specifications Encoder Cable Specifications These cables are used to connect the encoder between the Linear Servo Drive and the servomotor Select the cable matching the Linear servomotor The cables listed are flexible shielded and have IP67 protection i Encoder Cables R88A CRKNxxxCR E This cable is used to Connect to the servodrive an A B encoder with the pinout of Numerik Jena encoder pinout Sub D 15 pin connector type or equivalent Connect the Serial Converter unit serial protocol output CN4 to the servodrive encoder input Model Length L R88A C
481. otor and Servo Drive with appropriate models The stop circuit failed Replace the drive 11 20 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 4 Troubleshooting Symptom Probable cause Items to check Measures The motor is producing unusual noises or the There are problems with the machine s installation Check whether the Linear Servomotor s mounting screws are loose Retighten the mounting screws machine i 7 7 z pips z There is a problem with the Check for noise or vibration around Contact your OMRON dealer 9 bearings the bearings or sales office The gain is wrong Perform manual tuning The Speed Feedback Filter Check the set value of Pn Return the set to 0 default Time Constant Pn is wrong set or increase the set value Noise is entering the control I O Check that it is a twisted pair wire or Use control I O signal cable signal cable because the cable twisted pair shielded cable with core that meets specifications does not meet specifications wires that are at least 0 08 mm Noise is entering the control I O Check the length of the control I O Shorten the control I O signal signal cable because the cable is signal cable cable to 3 m or less longer than the specified length Noise is entering the cable Check that it is a twisted pair Use encoder cable that meets because the encoder cable shield
482. ound X axis alarm input X axis operation command output X axis alarm reset output X axis SEN signal ground X axis SEN signal output X axis feedback ground X axis phase A Input X axis phase A Input X axis phase B Input X axis phase B Input X axis phase Z Input X axis phase Z Input X axis speed command X axis speed command ground NFB OFF ON MC1 MC2 9 R 6 d 5 Pr ic 4 Main circuit contact 2 l uu I SUP Surge suppressor E S do y Mc1 MC2 i e T Ss oZ T Groundto _ 100 Q or less R88D KTx L 24 VDC 1K Reactor Dae pees MC1 MC2 Red Motor power cables White xx Blue Gree tellow 24 V output 24 V output ground 1 0 connector Description 24 V input 24vDC Hime X axis CW limit input X axis CCW limit input X axis emergency stop input X axis origin proximity input 24 V input ground ut 24 VDC L H Precautions for Correct Use Encoder cables The example shows a 3 phase 200 VAC input to the drive for the main circuit power supply Be sure to provide a power supply and wiring conforming to the power supply specifications f
483. output force is not Occurs during for the encoder pulse 29 Error counter overflow 29 saturated operation reference exceeded 2 f Adjust the gain 536 870 912 Increase the setting for Pn013 or Pn524 to the maximum Wire the encoder correctly Occurs during Safety input signal turned Check the statuses of safety 30 Safety input error operation OFF inputs 1 and 2 There is a duplicate setting in the I O signal function allocation Set the function allocation Specify the undefined correctly number with the I O signal function allocation 33 eee I O allocation ERAN E ae paces There is a mistake in the ppYy i counter function Allocate to SI7 allocation There is a mistake in the command pulse Allocate to S110 prohibition input function allocation Adjust the gain Occurs duri The Overrun Limit Setting Increase the set value of 34 Overrun limit error operation 9 Pn514 was exceeded Pn514 P i during operation Set Pn514 to 0 to disable the function There are data errors in 3 Occurs when the power the parameters that were Reset all parameters 36 arameter error supply is turned ON read The drive is faulty Replace the drive 37 Parameters destruction Occurs when the poweri The parameters thatwere Replace the drive supply is turned ON read are corrupt Wire correctly The forward drive Replace the limit sensor Occurs when the servo prohibition POT input Check whether the power 38 Drive
484. ower supply input 7 L1C and L2C Screw sizo g Tightening force N m Motor connection Rated current 9 4 13 4 E YW Wire size AWG14 and FG Screw size Tightening force N m Frame ground FG Wire size AWG14 Screw size M4 Tightening force N m 1 2 4 26 1 Use the same wire sizes for B1 and B2 Note 1 The left value is for single phase input and the right value is for 3 phase input Note 2 Connect an OMRON power cable to the motor connection terminals Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 2 Wiring 400 VAC Input Type Wire Sizes R88D KTxxF L Model R88D KTO6F L KT10F L KT15F L KT20F L KT30F L KT50F L Item Unit Main Rated current A 28 2 8 3 9 5 9 7 6 12 1 circuit TERE power Wire size AWG14 AWG12 supply Screw size By aie Z 2 M5 input L1 and L3 or Tightening force L1 L2 and N m 2 0 L3 Control Wire size AWG20 to 24 AWG18 circuit Screw size J M5 power supply Tightening force input L1C N m 2 2 0 and L2C Motor Rated current A 2 9 2 9 4 7 6 7 9 4 16 5 connection er iermin ls Wire size AWG14 AWG12 U V W Screw size M5 4 and FG Tightening force Nem 2 0 Frame Wire size AWG14 AWG12 ground FG Screw size M4 M5 Tightening force N m 1 2 2 0 1 Use the same
485. owledgment Items Requiring Acknowledgment 1 Terms of Warranty 1 Warranty period The warranty period of this product is 1 year after its purchase or delivery to the specified location 2 Scope of warranty If the product fails during the above warranty period due to design material or workmanship we will provide a replacement unit or repair the faulty product free of charge at the location where you purchased the product Take note however that the following failures are excluded from the scope of warranty a Failure due to use or handling of the product in any condition or environment not specified in the catalog operation manual etc Failure not caused by this product Failure caused by any modification or repair not carried out by OMRON Failure caused by any use not intended for this product Failure that could not be predicted with the level of science and technology available when the product was shipped from OMRON f Failure caused by a natural disaster or any other reason for which OMRON is not held responsible Take note that this warranty applies to the product itself and losses induced by a failure of the product are excluded from the scope of warranty 2 Limited Liability 1 OMRON shall not assume any responsibility whatsoever for any special damage indirect damage or passive damage arising from this product 2 OMRON shall not assume any responsibility for programming done by individuals not belongin
486. p xX z Red _ Motor power cables X axis positioning completed input t INP White r INPCOM H Greenelow Input common tooo 24VIN 24 VDC a X axis external interrupt input RUN X axis origin proximity input t i RESET Encoder cables X axis CCW limit input BKIRCOM X axis CW limit input 4 7 t ALMCOM X axis emergency stop input j D i i ALM 24 VDC te BKIR jii FG H Precautions for Correct Use The example shows a 3 phase 200 VAC input to the drive for the main circuit power supply Be sure to provide a power supply and wiring conforming to the power supply specifications for the drive in use Incorrect signal wiring can cause damage to units and the drive Leave unused signal lines open and do not wire them Use mode 2 for origin search The diode recommended for surge absorption is the RU 2 Sanken Electric Co Ltd or the equivalent Make the setting so that the servo can be turned ON OFF with the RUN signal xipueddy Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 5 Appendix 12 1 Connection Examples i Connection Example 5 Connecting to a SYSMAC Motion Control Unit Main circuit power supply 3 phase 200 to 240 VAC 50 60 Hz CS1W MC221 421 V1 DRV connector Description 24 V input 24 V input gr
487. p the insulation from the end of the wire for 6 mm as shown below se m Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 109 suonesijoads Specifications 3 5 Cable and Connector Specifications XW2B 50G5 M3 5 Screw Terminal Block When using crimp terminals use crimp terminals with the following dimensions When connecting wires and crimp terminals to a terminal block tighten them with a tightening force of 0 59 Nem Round terminal Fork terminal 3 2mm rd 6 8 mm max 3 7mm 6 8 mm max Applicable crimp terminals Applicable wires AWG22 16 1 2979 0 3 to 1 25 mm Round terminals RG 16 14 2 1 25 to 2 0 mm AWG22 16 oye 0 3 to 1 25 mm Fork terminals poe 16 14 ae 1 25 to 2 0 mm 3 110 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 5 Cable and Connector Specifications XW2D 50G6 M3 Screw Terminal Block Dimensions MIL type connector XG4A 184 gt 2 64 5 144 gt _ Hie scsesososcokpococcoocoes IE 5 s g 40 a j t When using crimp terminals use crimp terminals with the following dimensions When connecting wires and crimp terminals t
488. peed Force 17 AGND1 Analog ground 1 This is an analog signal ground 18 NCL Reverse force limit input Provides a reverse force limit input set value 0 or 4 according to the setting of Force Limit Selection Pn521 24VIN 12 to 24 VDC power supply input This is the positive input terminal of the external DC power supply for sequence input 12 to 24 V Digital inputs 8 9 26 to 33 NOT 8 Reverse drive prohibition input This performs the drive prohibition input in the reverse direction Changes to enable set value 0 or 2 according to the setting of Drive Prohibition Input Selection Pn504 POT 9 Forward drive prohibition input This performs the drive prohibition input in the forward direction Changes to enable set value 0 or 2 according to the setting of Drive Prohibition Input Selection Pn504 DFSEL1 26 Vibration filter switching 1 Changes to enable set value 1 or 2 according to the setting of Vibration Filter Selection Pn213 If the set value of Vibration Filter Selection Pn213 is 2 switching between 4 settings is possible by combining this with the vibration filter switching input 2 DFSEL2 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 17 suonesijoads Specifications 3 1 Drive Specifications Pin number Symbol Name Function and interface CONTROL mode Positi
489. peed feedback Parameters Requiring Settings Parameter y S Parameter name Explanation Reference Use this parameter to add the speed control Speed Feed forward command calculated from the internal positioning Pn110 p command that is multiplied by this parameter s ratio P 8 12 Amount pe to the speed command from the position control process Speed Feed forward Set the time constant for the first order lag filter that Pn111 P 8 12 Command Filter is applied to speed feed forward inputs Use this parameter to add the force command Force Feed forward calculated from the speed control command that is Pn112 Se x P 8 12 Amount multiplied by this parameter s ratio to the force command from the speed control process Force Feed forward Set the time constant for the first order lag filter that Pn113 n P 8 12 Command Filter is applied to force feed forward inputs Pn600 Analog Force Feed forward Set the input gain for analog force feed forward P 8 57 Gain Setting 0 to 9 will be disabled Pn610 Enable of several function Bit 5 enables the Analogue Force feed forward P 8 57 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 49 suoijoun paddy Applied Functions 6 15 Feed forward Function Operating Procedure i Speed Feed forward Operating Method 1 Set the Speed Feed forward Command Filter Pn111 Set it to 50 0 5 ms or so 2 Adjust the Speed Feed forward Amount
490. peed Command Scale Pn302 500 Speed command value Speed Command Scale Pn302 x input voltage Speed command 5000 3000 ees Figure A 6 KAE 3000 A 5000 10 Input voltage Speed command Nee a 5000 3000 Figure B 10 3000 5000 Input voltage Speed command 10 6 6 OFF 10 Input voltage Speed command Figure C 10 6 10 Input voltage Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 5 2 Speed Control i Speed Command Acceleration Deceleration Setting Function Pn312 Pn313 Pn314 With a step speed command you can change the speed command based on this setting to reduce the shock caused by change in acceleration Parameter Parameter F Setting A Explanation Unit number name range Pn312 Soft Start l Set the acceleration time for acceleration process 0 to 10000 ms 1 000 Acceleration Time with respect to the speed command input mm s Pn313 Soft Start l Set the deceleration processing deceleration 0 to 10000 ms 1 000 Deceleration Time time for speed command inputs mm s Pn314 S curve Acceleration Set the S curve acceleration 0 to 1000 me Deceleration Time Setting deceleration time Soft Start Acceleration Time Pn312 Soft Start Deceleration Time Pn313 If a step speed comma
491. pending on the function 613 Mass Ratio2 Set the mass ratio switching 250 0 to 10 000 Alarm Generation Set the allowable time until stopping when 614 Allowable Time an immediate stop is actuated upon alarm 200 ms O to 1 000 Setting generation Seer During an immediate stop upon alarm 615 Setting at generation if the motor speed excess this 0 mm s 0 to 20 000 g set value this is an overspeed 2 error Immediate Stop Select the EEPROM write specifications when a parameter is changed Front Panel a 617 Parameter 0 Writing not to be performed when a 0 z otoi Yes parameter is changed Write Selection gt 1 Writing to be performed when a oO parameter is changed a Power Supply e ta gt 618 ON Initialization Set initialization time after power supply ON 0 0 18 l0to 100 Yes Q to the standard 1 5 s plus some x Time Encoder Phase 620 Z Expansion Set the encoder phase Z output width 0 us Oto400 Yes Setting Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 33 Appendix 12 2 Parameter List E Power Parameter Explanation Default Unit Setting supply Z name 5 setting range OFFto iz o ON Serial Absolute a Set the phase Z regeneration position when 0 to Be Encoder Phase the serial absolute encoder is used Pulse 268435456 mee Z Setting Phase AB Select the regeneration method of pulse
492. peration command RUN is turned OFF the motor will decelerate to reduce movement speed and the brake interlock signal BKIR will turn ON after the setting time set value x 1 ms has elapsed Operation command RUN Brake interlock Released Held BKIR PELE l No power Motor power Power supply is supplied supply Motor speed 30 mm s TB in the above figure is the brake timing during operation set value x 1 ms or the time until the motor speed falls to 30 mm s or lower whichever is shorter For details refer to Brake Interlock P 6 18 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 43 sjiejeg siojoweled Parameters Details 8 5 Interface Monitor Setting Parameters Pn439 Brake Release Speed Setting All Seung 30 to 3 000 Unit mm s PeR 30 Powar OFF Iya range setting and ON Pn438 set value Released ON Engaged OFF i p Motor speed i Pn439 set value o up e ee a S When the motor i i takes longer than Pn438 set value Pn438 ms to reach 1 Pn439 mm s Released ON Engaged OFF i tr i Motor speed Pn439 set value i i l When the motor takes N Less than Pn438 ms to reach Pn439 mm s Note With Linear motor the brake must be installed separately and is not supplied by OMRON Pn440 Warning Output Selection 1 All Setting 0 to 1
493. pes Outer diameter of z Model Length L eheath Weight XW2Z 050J A3 50 cm Approx 0 1 kg 7 5 dia XW2Z 100J A3 im Approx 0 1 kg Connection configuration and external dimensions 39 L 6 COMI side Servo Relay Unit side N CQM1H PLB21 g re XW2B 20J6 3B t 15 Wiring CQM1 side Servo Relay Unit side 16 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 121 SUOI edIIIGdS Specifications 3 6 Servo Relay Units and Cable Specifications i Position Control Unit Cable XW2Z xJ A6 This cable connects a Position Control Unit CS1W NC113 and C200HW NC113 to a Servo Relay Unit XW2B 20J6 1B Cable types Outer diameter of Model Length L sheath Weight XW2Z 050J A6 50 cm doi Approx 0 1 kg la XW2Z 100J A6 im Approx 0 1 kg Connection configuration and external dimensions 47 L 6 Position Control Unit side Servo Relay Unit side Llo CS1W NC113 lt 8 XW2B 20J6 1B C200HW NC113 O t 11 Wiring Position Control Unit side Servo Relay Unit side terminal Cable AWG28 x 4P AWG28 x 10C 26 3 122 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 6 Servo Relay Units and Cable Specifications i Position Control Unit Cable XW2Z xJ A7 This cable connects a Position Control Unit CS1W NC213 NC413 and
494. phase 100 to 115 VAC 85 to 127 V 50 60 Hz R88D KTXH L 200 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz 800 W to 1 5 kW 3 phase 200 to 240 VAC 170 to 264 V 50 60 Hz 2 kW 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz R88D KTXxF L 600 W to5 kW 3 phase 380 to 480 VAC 323 to 528 V 50 60 Hz Control circuit power supply input terminal L1C L2C R88D KTXL L 100 to 400 W Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz R88D KTXH L 200 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz 2 kW Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz R88D KTxF L 600Wto5kW 24 VDC 21 6 to 26 4 V If the voltage is out of this range there is a risk of operation failure so be sure that the power supply is correct Check the voltage of the sequence input power supply 24 VIN terminal CN1 pin 7 Within the range of 11 to 25 VDC If the voltage is out of this range there is a risk of operation failure Be sure that the power supply is correct i Checking Whether an Alarm Has Occurred Make an analysis using the 7 segment LED display area in the front of the drive and using the Operation keys When an alarm has occurred Check the alarm display that is displayed xx and make an analysis based on the alarm that is indicated When an alarm has not occurred Make an analysis according to the error conditions In either case refer to 11 4 Troubleshooting P 11 11 for
495. prohibition input POT CN1 pin 9 and COM connected Normal status when the forward limit switch does not operate Forward drive prohibition input POT CN1 pin 9 and COM open Forward direction prohibited and reverse direction permitted Reverse drive prohibition input NOT CN1 pin 8 and COM connected Normal status when the reverse limit switch does not operate Reverse drive prohibition input NOT CN1 pin 8 and COM open Reverse direction prohibited and forward direction permitted Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 45 sjiejog sioj oweled Parameters Details 8 6 Extended Parameters If this is set to 0 the Linear Servomotor will decelerate and stop according to the sequence set in the Stop Selection for Drive Prohibition Input Pn505 For details refer to explanation for Stop Selection for Drive Prohibition Input Pn505 lf this parameter is set to O and the forward and reverse prohibition inputs are both open an error will be detected in the drive and a drive prohibition input error alarm display No 38 will occur lf this parameter is set to 2 a drive prohibition input error alarm display No 38 will occur when the connection between either the forward or reverse prohibition input and COM is open If a limit switch above the workpiece is turned OFF when using a vertical axis the upward force will be eliminated and there may be repeated vertical movement of the workpiece If this occ
496. propriate values Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 43 suoljoun paddy Applied Functions 6 12 Disturbance Observer Function 6 12 Disturbance Observer Function Outline of Operation You can lower the effect of the disturbance force and reduce the vibration using the estimated disturbance force value You can use the disturbance observer in the following situations for position control or speed control When servo is ON When there is no trouble with the motor s normal movement When realtime autotuning function is disabled When instantaneous speed observer function is disabled Disturbance force l l Force command l Motor load r Add to the direction that Wee ee ey ee we M lotor speed cancels the disturbance ET i l l I Load model i l 1 Gain Setting with Setting with Pn624 Pn623 Filter i i l l son Disturbance observer I 1 l L pe a eel 1 Disturbance force Estimation value H Precautions for Correct Use If there is a resonance point below the cut off frequency estimated by the disturbance observer or if a large amount of high frequency elements are found in the disturbance force the disturbance observer may not be enabled 6 44 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 12 Disturbance Observer Function Parameters Requiring Settings eg
497. put 250 VAC 0 2 A max Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 7 External Regeneration Resistor Specifications i R88A RR50020S Model Resistance Nominal Pes ketone Heat radiation Thermal switch value capacity P 3 condition output specifications temperature rise Operating temperature R88A Aluminum Co RR50020S cen SOE 180W 699 E 609 Rated output 250 VAC Thickness 3 0 0 2 A max 24 VDC 0 2 A max Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 131 suonesijoads Specifications 3 8 EMC Filter Specifications 3 8 EMC Filter Specifications i Specifications Applicable E Mei Filter model Rated current Leakage Rated voltage servodrive current R88D KT02H L R88A FIK102 RE 2 4 A R88D KT04H L R88A FIK104 RE 4 1 A R88D KTO08H L R88A FIK107 RE 6 6 A 250 VAC single phase R88D KT10H L R88A FIK114 RE 14 2 A R88D KT15H L R88D KTO6F L 3 5 mA R88D KT10F L R88A FIK304 RE 4A R88D KT15F L 400 VAC single phase R88D KT20F L R88A FIK306 RE 6A R88D KT30F L R88D KT50F L R88A FIK312 RE 12A 3 132 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL System Design This chapter explains the installation conditions wiring methods including wiring conforming to EMC directives and how to calculate the regenerative energy depending on Servo Drive Linear Servo Motor and application chara
498. r Refer to information on the Force Limit Selection Pn521 to select the force limits During force control maximum forces for both forward and reverse directions are limited Settings in Force Limit Selection Pn521 and No 2 Force Limit Pn522 will be ignored Make the settings as a percentage of the rated force Example Maximum force is limited to 150 Force Forward 300 maximum 4 When Pn013 or Pn522 150 ae 100 rated 7 A A Speed 100 rated maximum 200 r 300 Reverse Refer to Force Control P 5 14 for more information on force limits and the force limit selection 8 53 sjiejeg sioj oweled Parameters Details 8 6 Extended Parameters Pn523 Force Limit Switching Setting 1 Seid 0 to 4 000 Unit ms 100 eee 0 ee E range setting and ON Set the rate of change from force limit 1 to force limit 2 When set to 0 switching takes place immediately Force Limit undefined FLSEL No 1 Force Limit Force Limit Switching Setting 1 Pn523 Pn013 f j No 2 Force Limit Pn522 Force Limit Switching Setting 2 Pn524 Pn524 Force Limit Switching Setting 2 orng 0 to 4 000 Unit ms 100 cee 0 do S range setting and ON Set values for this parameter are same as those for Force Limit Switching Settin
499. r 1 E5V Encoder power supply Encoder power supply 5 2 VDC 5 250 mA max output If the above capacity is to be exceeded provide a 2 EOV separate power supply 3 EXS Encoder signal This is an Encoder serial bi directional Serial interface signal Conforming to EIA485 4 EXS Maximum response frequency 400 Mpps 5 EXA Encoder signal This is an Encoder 90 phase input signal 90 phase difference input Maximum response frequency 4 Mpps quadruple 6 EXA Phases A B and Z multiplier 7 hes sih d ee p i D i 8 EXB na Cian M EXB 9 EXZ af E E it itli i t1 gt 0 25 us 10 EXZ 2 tons Connect encoder signals to the serial interface EXS EXS or 90 phase difference input according to the encoder type Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 47 suOoI eoIIN0dS Specifications 3 1 Drive Specifications Connector for CN4 Pin 10 Name Model Manufacturer MUF connector MUF PK10K X JST Mfg Co Ltd i Example of Connection with Encoder m 90 Phase Difference Input Type Pn323 0 Encoder side Drive side CN4 EXA EXA EXB EXB 3 48 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 1 Drive Specifications E SinCos Type through a Serial Converter Pn323 1 SERIAL CONVERTER Drive side CN4 R88A SCO1K E SinCos encoder signals CN1 WV GND CN4
500. r reset input RUN Operation command input Alarm reset output 12 Force limit output 13 INPCOM output 1 7 General purpose input 6 SEN output 26 Signal ground 27 Positioning completed input Alarm input 9 24 V GND for output Input common Forward direction pulse output Forward direction pulse output Reverse direction pulse output Reverse direction pulse output RESET Alarm reset 27 FLSEL Force limit switching rT OT Positioning completion READY REDYCOM Servo ready completed output ALMCOM Alarm output shet Fe AWG18 twisted pair 1 m Blue BKIRCOM Black BKIR Linear Servo Drive side for axis 2 or 4 10150 3000PE Sumitomo 3M 11 10 Frame ground BKIR BKIRCOM Brake interlock output Reverse pulse 1 CWLD input for line drive only CCWLD Forward pulse 1 input for line drive only Encoder phase A output Encoder phase B A Encoder phase A output Encoder phase B output Encoder phase B output 32 Encoder phase Z 31 Encoder phase Z 3 Error counter reset output ee ee cam 30 RUN output 45 37 ee Encoder phase A 35 Encoder phase A Encoder phase B mn cum Ee B 48 B 24 Z Encoder phase Z output Z Encoder phase Z output 24VIN 24 V power supply for controls
501. r than the required one etc install a cooling system to cool the motor Linear System Rigidity The rigidity of a linear system put the limit to the gains you can set in the drive an hence to the performance and accuracy you can reach Design the rigidity according to the performance you need to reach The maximum gain you can set in the speed loop corresponds with the mechanical bandwith of the linear motor system In order to increase the rigidity you can Use pre loaded linear guides Install the linear motor system in a rigid base From more rigid to less rigid we can use Granite steel or aluminium The top table has to be thick enough to avoid deformation or vibration Install the magnet tracks motor coil and encoder straight and parallel Install the encoder as close as possible to the motor coil 4 14 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 1 Installation Conditions Installation steps The installation of an ironless linear slider is similar to those with the iron core linear motor The main difference is that there is no attraction force between the motor coil and the magnet track so the installation becomes easier Follow the same steps than for the iron core linear slider except for the magnet installation The ironless motors do not have attraction forces between coil and magnets so the installation is more simple than iron core motors But there are attraction forces between magnet
502. r to the next section For drive models with an Internal Regeneration Resistor used for absorbing regenerative energy models of 600 W or more the average amount of regeneration Pr W must be calculated and this value must be lower than the drive s regeneration absorption capacity The capacity depends on the model For details refer to the next section The average regeneration power Pr is the regeneration power produced in 1 cycle of operation W Pr Eg1 Eg2 Eg3 IT W T Operation cycle s Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 45 u s q waj shs System Design 4 4 Regenerative Energy Absorption Drive Regeneration Absorption Capacity i Amount of Internal Regeneration Absorption in Drives This drive absorbs regenerative energy internally with built in capacitors If the regenerative energy is too large to be processed internally an overvoltage error occurs and operation cannot continue The following table shows the regenerative energy and amount of regeneration that each drive can absorb If these values are exceeded take the following processes Connect an External Regeneration Unit Regeneration process capacity improves Reduce the operating speed The amount of regeneration is proportional to the square of the speed Lengthen the deceleration time Regenerative energy per unit time decreases Lengthen the operation cycle i e the cycle time Average regene
503. rative power decreases Servo Drive model Regenerative energy J that can be absorbed by internal capacitor Internal regeneration resistance Average amount of regeneration that can be absorbed W Minimum value of regeneration resistance Q R88D KTO1L L 16 17 R88D KT02L L 22 17 R88D KTO4L L 32 17 13 R88D KT02H L 25 34 R88D KT04H L 36 34 R88D KTO8H L 62 12 25 R88D KT10H L 99 18 25 R88D KT15H L 99 18 25 R88D KT20H L 99 72 10 R88D KTO6F L 128 21 100 R88D KT10F L 128 21 100 R88D KT15F L 128 21 100 R88D KT20F L 128 29 40 R88D KT30F L 285 60 40 R88D KT50F L 285 60 29 4 46 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 4 Regenerative Energy Absorption Regenerative Energy Absorption with an External Regeneration Resistor If the regenerative energy exceeds the regeneration absorption capacity of the drive connect an External Regeneration Resistor Connect the External Regeneration Resistor between B1 and B2 terminals on the drive Do not forget to remove the connection between B2 and B3 if present Double check the terminal names when connecting the resistor because the drive may be damaged if connected to the wrong terminals The External Regeneration Resistor will heat up to approx 120 C Do not place it near equipment and wiring that is easily affected by heat Attach radiator plates suitable for the heat radiation condi
504. rax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 4 Electronic Gear Function i Electronic Ratio Setting Pn009 Pn010 Electronic Electronic Ratio Ratio Numerator 1 Denominator Explanation Pn009 Pn010 The processing will be based on the set values of Electronic Ratio Numerator 1 Pn009 and Electronic Ratio Denominator Pn010 i Position 1 to 1 to Command pulse input Electronic Ratio Numerator 1 Pn009 command 1073741824 1073741824 gt Electronic Ratio Denominator Pn010 Position command pulse Electronic Ratio Numerator 1 Pn009 Electronic Ratio Denominator Pn010 Operation Example Example of a motor with a resolution of 40um pulse so 10um count If you set Pn009 100 and Pn010 40 the command unit will correspond to 100um command pulse Servo Drive ACCURAX G5 Linear AC Servomotor 10 000 pulses Electronic ratio numerator 1 Pn009 25 000 pulses Electronic ratio denominator Pn010 Encoder resolution 1pulse 40um In the linear encoder 1 pulse correspond with 4 counts so the real resolution is 10pm In the command the meaning of pulse may differ according to the pulse command type Pn007 For Pn007 0 or 2 one pulse also has 4 counts for the other modes one pulse has only 2 counts Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 13 suoljoun paddy Applied Functions 6 5 Encoder Dividing Function
505. rce Control Pn127 are enabled as absolute values positive negative Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 19 sjiejeg siojoweled Parameters Details 8 3 Vibration Suppression Parameters 8 3 Vibration Suppression Parameters au Pn200 Adaptive Filter Selection Setting Default Power OFF range ota nit is setting a and ON Explanation of Set Values Set value Explanation 0 Disabled The current values are held for the parameters related to notch filters 3 and 4 1 1 enabled The parameter related to notch filter 3 is updated based on the applicable result 2 2 enabled The parameters related to notch filters 3 and 4 are updated based on the applicable result The resonance frequency is measured The measurement result can be checked using CX 3 Drive The current values are held for the parameters related to notch filters 3 and 4 Adaptive result is deared Parameters related to notch filters 3 and 4 are disabled and the 4 adaptive result is deared Set the operation of the adaptive filter The adaptive filter is normally disabled in the FORCE CONTROL mode Pn201 Notch 1 Frequency Setting All Setting 50 to 5 000 Unit Hz Default 5000 Power OFF _ range setting and ON Set the frequency of resonance suppression notch filter 1 The notch filter function will be disabled if this parameter is set to 5 000
506. rce control or V speed limit status J LIMITCOM o ALM ATB Alarm clear attribute This output turns ON when an alarm Q ALM output occurs or the alarm can be cleared Ni NI i Er ATBCOM g V CMD Speed command status This output turns ON during speed control Z V output or when a speed command is input V S CMDCOM You cannot change the allocation for servo alarm output ALM The allocation is fixed The number in brackets indicates the pin number allocation at default setting The allocations vary according to each CONTROL mode Outputs in pins 12 and 40 share the same common pin 41 opposite to the other outputs that have their own common point Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 21 suonesijoads Specifications 3 1 Drive Specifications i CN1 Pin Arrangement 24VCCW Open collector supply 24VCW Open collector supply Open collector pulse input Open collector pulse input General purpose Digital In 3 General purpose Digital In 4 General purpose Open collector pulse input Open collector pulse input Digital In 5 General purpose Digital In 6 General purpose General purpose Digital In 1 Common for digital input Digital In 7 General purpose Digital In 8 General purpose DO1 common General purpose Digital In 2 Digital In 9 General purpose Digital In 10
507. re B 10 Input voltage Speed command Speed command Figure C 10 10 10 10 Input voltage Input voltage VSIGN OFF VSIGN ON Pn302 Speed Command Scale Setting Default Power OFF _ range 0 to 2 000 Unit mm s V setting 100 and ON Set the relation between the voltage applied to the speed command input REF CN1 pin 14 and the motor speed For details on speed control refer to Speed Control P 5 8 Pn303 Analog Speed Command Direction Switching Setting F Default Power OFF _ range Oto Unies setting 1 and ON Explanation of Set Values Set value Explanation Direction is changed by analog speed command REF voltage 0 Voltage Forward direction Voltage Reverse direction Direction is changed by analog speed command voltage 1 Voltage Reverse direction Voltage Forward direction Pn304 No 1 Internally Set Speed Setting 20 000 to 20 000 Unit mme Default 0 Power OFF _ range setting and ON 8 26 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 4 Analog Control Parameters Pn305 No 2 Internally Set Speed Setting 20 000 to 20 000 Unit m
508. re is high regenerative energy connect an External Regeneration External Regeneration Resistor between B1 and B2 Resistor connection 750 W to 1 5 kW Normally B2 and B3 are shorted If there is high B3 terminals regenerative energy remove the short circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2 U These are the output terminals to the Linear Servomotor Be sure to wire them correctly V Motor connection Ww terminals Frame ground This is the ground terminal Ground to 100 Q or less Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 2 Wiring i R88D KT20H L Main Circuit Connector Specifications CNA Symbol Name Function L1 L2 L3 Main circuit power supply input R88D KTxH L 2 kW 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz L1C L2C Control circuit power supply input R88D KTxH L Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz Motor Connector Specifications CNB Symbol Name Function Motor connection terminals Red These are the output terminals to the Linear Servomotor White Be sure to wire them correctly Blue Green Yellow lt Cc Frame ground This is the ground terminal Ground to 100 Q or less External Regeneration Resistor Connector Specifications CNC Symbol Name Function B1 B2 B3 External Regenerat
509. revent the drive s ambient temperature from exceeding 55 C Drive surface temperatures may rise to as much as 30 C above the ambient temperature Use heat resistant materials for wiring and keep its distance from any devices or wiring that are sensitive to heat The limit of a drive is largely determined by the ambient temperature around the internal electrolytic capacitors When an electrolytic capacitor reaches its limit electrostatic capacity drops 4 2 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 1 Installation Conditions If a drive is always operated at the ambient temperature of 55 C and with 100 output of the rated force and rated movement speed its limit is expected to be approx 28 000 hours excluding the axial flow fan A drop of 10 C in the ambient temperature will double the expected limit for drive Lifetime 25 C Lifetime 55 C x 2 224000 hour i Keeping Foreign Objects Out of Units Place a cover over the drive or take other preventative measures to prevent foreign objects such as drill filings from getting into the drive during installation Be sure to remove the cover after installation is complete If the cover is left on during operation drive s heat dissipation is blocked which may result in malfunction Take measures during installation and operation to prevent foreign objects such as metal particles oil machining oil dust or water from getting inside of drives 55
510. ring machine operation Pn004 Mass Ratio All Setting 0 to 10 000 Unit o Default 250 Power OFF _ range i E setting and ON Set the load mass as a percentage of the motor rotor mass Pn004 Load mass Motor coil mass x 100 When realtime autotuning is enabled the mass ratio is continuously estimated and saved in EEPROM every 30 minutes If the mass ratio is set correctly the setting unit for the Speed Loop Gain Pn101 and Speed Loop Gain 2 Pn106 is Hz lf the Mass Ratio Pn004 is set larger than the actual value the setting for speed loop gain will increase If the Mass Ratio Pn004 is set smaller than the actual value the setting for speed loop gain will decrease Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 3 sjiejog sioj oweled Parameters Details 8 1 Basic Parameters Pn005 Command Pulse Input Selection Setting Oto 4 Unit Default 0 Power OFF Yes range setting and ON Explanation of Set Values Sei Explanation value Photocoupler input PULS CN1 pin 3 PULS CN1 pin 4 SIGN CN1 pin 5 SIGN CN1 pin 6 Input for line drive only CWLD CN1 pin 44 CWLD CN1 pin 45 CCWLD CN1 pin 46 CCWLD CN1 pin 47 Selects whether to use photocoupler or input for line drive only for the command pulse input Pn006 Command Pulse Direction Switching Selection Setting
511. rminal i ied 24 VDC input terminal i Wi Motor power cables COM for 101 word bit 00 to 03 INP i ne Input terminal block H h ZCOM i T Pulse 0 origin input signal 0 word bit 00 i Z a COM OCH tS s 24VIN 24VDC oo Pulse 0 origin proximity input signal 0 word bit 01 RUN Encoder cables 10 BKIRCOM i ALMCOM ajh ALM On BKIR tq tee H Precautions for Correct Use Incorrect signal wiring can cause damage to units and the drive Leave unused signal lines open and do not wire them Do not share the power supply for brakes 24 VDC with the 24 VDC power supply for controls The diode recommended for surge absorption is the RU 2 Sanken Electric Co Ltd or the equivalent xipueddy Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 7 12 1 Connection Examples i Connection Example 7 Connecting to SYSMAC CP1H XxxDT D CP1L xxxDT D Main circuit power supply NFB OFF ON MC1 MC2 eos R OO An T GA Main circuit contact 9 E l mn ce surge suppressor E X1 3 phase 200 to 240 VAC 50 60 Hz S 0 99 g MC1 MC2 X1 servo error display i e TO 6
512. rol Power 5 REP supply Single phase 200 to 240V AC 170 to 264V 50 60Hz Q circuit voltage Power losses At 6KHz 23 19W 30 22W 30 35 5W 63 64W Control losses 6W 6W 6W 8W Weight Approx 0 8Kg Approx 1 1Kg Approx 1 6Kg Approx 1 8Kg Control method All digital servo Inverter method IGBT driven PWM method Applicable Linear servomotor R88L EC FW 0303 R88L EC GW 0303 R88L EC FW 0306 R88L EC GW 0506 R88L EC GW 0703 R88L EC FW 0606 R88L EC GW 0306 R88L EC GW 0509 R88L EC GW 0706 R88L EC FW 0609 R88L EC GW 0309 R88L EC GW 0709 Note The left value is for single phase input and the right value is for 3 phase input Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 5 suoleoiin0ds Specifications 3 1 Drive Specifications Item R88D KT15H L R88D KT20H L PWM frequency 6KHz 12KHz 6KHz 12KHz Continuous Output current 9 5A 5 7A 13 4A 9 5A Peak output current 28 5A 17A 40 2A 28 5A Power 1 5kW 2kW gt 2 Main Single phase or 3 3 phase 200 to 230V 3 circult Voltage phase 200 to 240V AC AC 170to 253V 5 170 to 264V 50 60Hz 50 60Hz 5 Current 40A 64A 5 Single phase 200 to Single phase 200 to eng sonene PY 240V AC 170t0 264V 230V AC 170 to 50 60Hz 253V 50 60Hz Power losses At 6KHz 104 93W 139W Control losses 8W 10W Weight Approx 1 8Kg Approx 2 7Kg Contro
513. ror Counter Reset Condition Selection Pn517 to set the status level signal ON or differential rising edge signal from OFF to ON Input the differential signal for at least 100 us or status signal for at least 1 ms A reset may not occur if the time is shorter i CONTROL mode Switching TVSEL Pin 32 CONTROL mode switching TVSEL This is the allocation at default setting You can change the logics and allocations for input terminals CN1 to 8 9 and 26 to 33 according to the settings of Input Signal Selection 1 to 10 Pn400 to 409 Function If the CONTROL mode Selection Pn001 is set to 3 to 5 the CONTROL mode can be switched as given in the following table Pn001 set value OFF FIRST CONTROL mode ON SECOND CONTROL mode 3 Position control Speed control 4 Position control Force control 5 Speed control Force control i Gain Switching GSEL Pin 27 Gain switching GSEL This is the allocation at default setting You can change the logics and allocations for input terminals CN1 to 8 9 and 26 to 33 according to the settings of Input Signal Selection 1 to 10 Pn400 to 409 Function This signal changes to enable set value 2 according to the setting of GAIN SWITCHING mode Pn115 for position control Pn120 for speed control or Pn124 for force control When the signal is OFF and ON gain 1 and gain 2 change to enable respectively Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL
514. ror ProCeSSing siiiicicinieiieccsescsiecaceceencstvenisenereecesence 11 2 Preliminary Checks When a Problem OCCUIS ccccseseeeeeeees 11 2 Precautions When a Problem OCCUIS ccccceeeeeeeteeteeteeeeeaees 11 3 Replacing the Linear Servomotor and Servo Drive cc0008 11 4 11 2 Warning MISE sviccicccacceatssdesicsn acetates ivinissiananteaadeaarenianeand 11 5 11 3 Alarm List siccccietsdaciiantinidotadesiosctsaccnticeiaainanncatidarduake 11 6 11 4 Troubleshooting cs eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeneneees 11 11 Error Diagnosis Using the Alarm Displays ceeeeeseeeeeeeees 11 11 Error Diagnosis Using the Operation Status ceeeeeee 11 18 11 5 Periodic Maintenance cscccceceeeeeeeeeseeeeeeeeeeeens 11 23 Linear Servomotor Litit cccccccccsscceceeessseeeeesesteeeessssteeeeeess 11 23 Servo Drive LitMit ccccccsceccceesesceeeeseseeeeeeesceneeeeessseseeeeseseaeees 11 24 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Error and Maintenance 11 1 Error Processing 11 1 Error Processing Preliminary Checks When a Problem Occurs This section explains the preliminary checks and analytical softwares required to determine the cause of a problem if one occurs il Checking the Power Supply Voltage Check the voltage at the power supply input terminals Main circuit power supply input terminal L1 L2 L3 R88D KTXL L 100 to 400 W Single
515. ror was detected in encoder R 7 E data error communications data Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 3 Alarm List Error Attribute number Detection details and probable Error detection function pause ak A F an be Immediate Main Sub History cleared stop 0 Encoder status error 0 An encoder error code was detected v 1 Encoder status error 1 y 2 Encoder status error 2 V 51 3 Encoder status error 3 y 4 Encoder status error 4 V 5 Encoder status error 5 y 0 Same Same y s 1 Same Same y 2 Same Same y 55 3 Hall sensor logic error Logic error in the Hall sensor signal N 7 7 from the Serial Converter Unit SinCos phase loss error Phase error in SinCos phase from the 4 4 i Serial Converter Unit 0 Motor setting error No initial setting has been made for 7 7 7 the linear motor or encoder Motor combination error 1 Rated or maximum current for the 1 motor exceeds the maximum value for the drive Motor combination error 2 The motor rated current is too small 60 f compared to the servodrive rated current 2 The ratio between motor mass and _ 7 7 loas mass is too large Current PI gains are too large Ratio between motor rated current and peak current exceeds 500 0 Magnetic pole position Magnetic pole estimation did not N N k estimati
516. rriers may be damaged if they are brought within 10cm of the magnet plates PeEE gt Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 7 Safety Precautions Document N Caution Do not step on the product or place heavy articles on it Injury may result Do not block the intake or exhaust openings Do not allow foreign objects to enter the product Fire may result Be sure to observe the mounting direction Failure may result Provide the specified clearance between the drive and the inner surface of the control panel or other equipment Fire or failure may result Do not apply strong impact on the motor or drive Failure may result Wire the cables correctly and securely Runaway motor injury or failure may result Securely tighten the unit mounting screws terminal block screws and cable screws Failure may result Use crimp terminals for wiring If simple twisted wires are connected directly to the protective ground terminal fire may result Only use the power supply voltage specified in this manual Burn damage may result In locations where the power supply infrastructure is poor make sure the rated voltage can be supplied Equipment damage may result Provide safety measures such as a breaker to protect against short circuiting of external wiring Fire may result If the product is used in the following locations provide sufficient shielding measures
517. s q waj shs System Design 4 3 Wiring Conforming to EMC Directives i Noise Filter for the Brake Power Supply In case you use external electrical brakes use a suitable noise filter for the Brake power supply Note Noise can also be reduced by installing a Radio Noise Filter i Radio Noise Filter and Emission Noise Prevention Clamp Core Use one of the following filters to prevent switching noise of PWM of the Linear Servo Drive and to prevent noise emitted from the internal clock circuit Model Manufacturer Application 3G3AX ZCL1 1 OMRON Drive output and power cable 3G3AX ZCL2 2 OMRON Drive output and power cable ESD R 47B 3 NEC TOKIN Drive output and power cable ZCAT3035 1330 4 TDK Encoder cable and I O cable 1 Generally used for 1 5 kW or higher 2 Generally used for 1 5 kW or lower The maximum number of windings is 3 turns 3 Generally used for 100 W The maximum number of windings is 2 turns 4 Also used on the drive output power lines to comply with the EMC directives Only a clamp is used This clamp can also be used to reduce noise current on a FG line External Dimensions 3G3AX ZCL1 3G3AX ZCL2 130 7 85 88 C mi 26 180 2 f z 160 2 2 M5 al Ais 7x14 Long hole ESD R 47B ZCAT3035 1330 39 Z 0 34 13 5 E
518. s yoZ d z paeds Zo7Ud L peads Lozud paads jas Ajjeusayu 1 4 4 ETUd ISHO TTYUd uolesuadwod yndul bojeuy A WU 39104 Z ON 77GUd i yu 2104 L ON LOUd i Bum asuodsay 9Ud UOI DI IS WWI 804 LGU JoujUO gt yuawiN gt pwj 994104 Tapoouy hg uo1 2 p p d Z 1 4 22104 6OLUd p peec s i 4 4 22104 YOLUd 1 4 7T9Ud uled gz9u Jayy 92104 D d o PASION JaMasqo adueqinisiq paads uest OLQUd 7 APU 80LUd v L 1 4 EO LUd uolejnwn2e asind ypeqpesc 4 yidag y YON ZLZUd 194 4 U01297 p paads uidag YDION 60ZUd puewwo oUO paads yideq Z yDION 907Ud a T OEY Sse 19Ud as yidaq yDION 07Ud 4 UOR J G UIYIYMS Z19Ud eed DINOS UO OEUd UIPIM Y YON LLZUd pi telbs tie aup voyea Roag 1 Eud adi puewwy opeud YIPIM YPION 8OTUd f aes CLEM Uol Dajas puewwuo paad Z Jue ISU aw UONeIGayUI 0 Ud uoneualeap uoneiaian 198 25 p peeds YIPIM Z YDION SOTUd E ie sade oni e9 829p UOHee aI9y MAPIM L UDION ZOZUd DATNE A ue sUO awl uoneIbau ZOLUd y Aduanbaly OLZUd i je5 pasde t10 l d Aduanbad4 Z0ZUd i j z Anuanbai4 pOTUd JOHUO pees Aduanbad4 LOZUd Humes apow JAlLdYdY OOTUd UONDBIIC ASIANaY 609Ud AOI ELLUd aslanay EQEU 1944 DION U09941 pleNJOY 809Ud ule ZLLUd Y 0 Ud anjeA Pappy 09Ud pseMsoy Buije2s sisaiaisky EZ LUd uonesuadwod uon p 4 2104 9491 ZZ Lud aul Aejaq LZLUd p
519. s or switching with DFSEL It may not function properly or the effect may not be apparent under the following conditions Item Conditions under which the effect of anti vibration control is inhibited CONTROL SPEED or FORCE CONTROL mode mode If forces other than position commands such as external forces cause vibration Load condition If the vibration frequency is outside the range of 1 to 200 Hz If the ratio of the resonance frequency to anti resonance frequency is large 6 4 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 1 Anti vibration Control i Operating Procedure 1 Adjust the position loop gain and speed loop gain Adjust Position Loop Gain Pn100 Speed Loop Gain Pn101 Speed Loop Integral Time Constant Pn102 and Force Command Filter Time Constant Pn104 If no problem occurs in realtime autotuning you can continue to use the settings 2 Measure the vibration frequency at the tip of the mechanical unit Measure the vibration frequency using a laser displacement sensor servo acceleration meter acceleration pick up etc Set the vibration frequency in one of Vibration Frequency 1 to Vibration Frequency 4 1 Pn214 2 Pn216 3 Pn218 4 Pn220 according to the operation Also set the SWITCHING mode using Vibration Filter Selection Pn213 If the measurement device cannot be used use CX Drive tracing function and read the residual vibration frequency Hz from the position
520. s sea 21U01722 7 Bunjas uon puoz yndy 2S Md z BUMS pL LUd i v v Bulyayms ue paads puewwod uonisod jeusayu paads puewwod uonsod yonejnuunsse asind puewiwo gt 5 7 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL BASIC CONTROL Mode 5 2 Speed Control 5 2 Speed Control Outline of Operation Motor speed control is performed based on the analog voltage input from the controller You can also perform position control by combining with a controller that has a position control function Command Scale Pn302 Controller analog voltage output type Motion Control Unit CS1W MC221 421 V1 Analog voltage speed command Drive ACCURAX G5 SPEED CONTROL mode Speed Command Scale Pn302 mm s M Parameters Requiring Settings You can change the relation between the speed command and the speed by setting the Speed ACCURAX G5 Linear AC Servomotor Parameter Parameter name Explanation Reference number Pn000 Reference direction Select the relation between the reference command and the P 8 2 direction in the motor Pn001 CONTROL mode Select the CONTROL mode P 8 2 Selection Pn300 Command Speed Select the speed command input method P 8 25 Selection Speed Command Set the method for designating the forward or reverse Pn301 P 8 25 Direction Selection direction for the speed comm
521. safety checks Electric shock injury or fire may result gt gt PEBBEBEBEPEEE Never drive the motor using an external drive source Fire may result Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 5 Safety Precautions Document Do not place flammable materials near the motor drive or Regeneration Resistor Fire may result Install the motor drive and Regeneration Resistor to non flammable materials such as metals Fire may result When you perform a system configuration using the safety function be sure to fully understand the relevant safety standards and the descriptions in the operation manual and apply them to the system design Injury or damage may result Do not use the cable when it is laying in oil or water Electric shock injury or fire may result Never connect a commercial power supply directly to the motor Fire or failure may result Do not perform wiring or any operation with wet hands Electric shock injury or fire may result Do not touch the motor with bare hands or place them inside the motor movable zone Injury may result Install a stopping device on the machine to ensure safety The Linear Servomotor may not be maintained to be stopped when the Linear Servomotor is uncontrolled Or injury or equipment damage may result Use the motor and drive in the specified combination Fire or equipment damage may result gt PPP EP PEE Cau
522. sed Not used Magnet track Model wn S 40 02 3066 07 7 mMm L 32 5 0 7 0 15 80 0 35 Approx Cable length 500 30 Connector optional D Sub 9 pin FEMALE Function 1 Not used Not used Not used Not used PTC PTC 2 3 4 5 Not used 6 7 8 KTY NTC KTY NTC Shield weight Kg m R88L EC FM 06192 A R88L EC FM 06288 A 3 8 Model Cable length 500 30 D Sub 9 pin FEMALE Hall sensor optional Pin No Function 1 5V Hall U Hall V Hall W GND PTC PTC KTY 9 KTY Shield wl a ul al w Case Dimensions mm L1 L2 R88L EC FW0606 153 0 5 127 0 15 0 35 R88L EC FW0609 201 0 5 175 0 15 0 35 R88L EC FW0612 249 0 5 223 0 15 0 35 Osx 12 4 12 2 p 4 at nea lt SF Plate J Gor NG o SE T 8 R ij So 3 a o J 1 0 o Di 5 FN FN FN FN ai bs t A A A A AA SE 5 tr 2 28 27 48 48 48 48 0 3 0 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL R 2 4 External and Mounting Dimensions R88L EC FW 1112 1115
523. senor Sd des cele fad 3 lt lt _ Reverse operation OUTM1 ON Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 41 sjiejog siojoweled Parameters Details 8 5 Interface Monitor Setting Parameters Pn435 Speed Conformity Detection Width PRP 10 to 20 000 Unit mm s REME So e Ns range setting and ON Speed mm s Speed conformity Pn435 Speed Conformity Detection Range When speed command and motor speed are identical speed conformity output signal is output This setting has a hysteresis of 10 mm s for detection A speed command after the acceleration i Speed command deceleration processing A Speed Conformity Detection Range Motor speed Pn435 aki Speed Conformity Detection Range output Pn436 Speed for Motor Detection senig 10 to 20 000 Unit mm s ee ioe eee he range setting and ON Speed reached output signal is output when the motor speed reaches the speed set as the achieved speed This setting has a hysteresis of 10 mm s for detection Speed mm s Pn436 10 Pn436 10 Motor speed Pn436 10 Pn436 10 Speed reached output 8 42 Poo Se SHS SCS Oe eee eo SSeS SpSee spe Soe eel Seca s ee eee oe See Se sae oe eee OFF ON OFF ON Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 5 Interface Monitor
524. servo OFF status the dynamic brake is based on the Stop Selection with Servo OFF Pn506 setting 7 6 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 7 3 Connection Example 7 3 Connection Example i Connection with a Safety Controller 2 safety input and EDM output Safety Controller Safety output source G9SP series I Safety Controller Safety output _ i j SF i z Safety input 2 Ki zA K ra D I s A T 1 1 l SF1 I Safetyoutput2 LL i oO l 1 1 i 1 ov Test output EDM i Safety input EDM I EDM input EDM output ieee ss ee Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 7 7 uonouny Ajajes x Parameters Details inns This chapter explains the set value and contents of setting of each parameter 8 1 Basic Parameters ccccceeeeeeeeeseseeenseeeseesenseeeeeeeeeees 8 2 8 2 Gain Parameters cccccccceeeeeeeseeneeeesseeeeeeeneeeeeeeeeeeseeees 8 9 8 3 Vibration Suppression Parameters 00008 8 20 8 4 Analog Control Parameters cccccseeeeeees 8 25 8 5 Interface Monitor Setting Parameters 000 8 35 8 6 Extended Parameters ccccccsseeeeeseeeeeeeeeesteeeeeneeeees 8 45 8 7 Special Parameters ccscsssessseesessesseseseeseeeeeeeeeeees 8 57 8 8 Linear Motor And Encoder Setting Parameters 8 62 A
525. setting is applied to all other gains If the gain 2 switching condition is established in the gain 3 region this switches to gain 2 If gain 2 is switching to gain 3 Position Gain Switching Time Pn119 is enabled Take note that there will be a gain 3 region even when gain 2 is switched to gain 1 due to a parameter change and so forth Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 31 suoljoun paddy Applied Functions 6 9 Force Limit 6 9 Force Limit Outline of Operation The output force by the Linear Servomotor can be limited This function is used in the following conditions When push motion operation such as pressing is performed When the force at startup and during deceleration should be suppressed to protect the mechanical system etc Various methods are available according to Force Control Selection Pn521 Parameters Requiring Settings raremeter Parameter name Explanation Reference number Pa Select the force limit based on the various Pn521 Force Limit Selection parameters and input signals P 8 53 Pn013 No 1 Force Limit Set the No 1 motor output force limit value P 8 7 Pn522 No 2 Force Limit Set the No 2 motor output force limit value P 8 53 Pn523 Force Set the rate of change fluctuate when switching P 8 54 Limit Switching Rate 1 from the No 1 force limit to No 2 force limit i Pn524 Force Set the rate of change fluctuate wh
526. stor voltage as follows and varistors when induction coils are large as in electromagnetic brakes solenoids etc and when reset time is an issue The surge voltage at power shutoff is approx 1 5 times the varistor voltage For 24 VDC systems varistor voltage 39 V For 100 VDC systems varistor voltage 200 V For 100 VAC systems varistor voltage 270 V For 200 VAC systems varistor voltage 470 V Capacitor resistor The capacitor plus resistor combination is used to absorb vibration in the surge at power supply shutoff The reset time can be shortened by selecting the appropriate capacitance and resistance Okaya Electric Industries Co Ltd XEB12002 0 2 wF 120 Q XEB12003 0 3 uF 120 Q Thyristors and varistors are made by the following documentation for details on these components Thyristors Ishizuka Electronics Co Varistor Ishizuka Electronics Co Panasonic Corporation manufacturers Refer to manufacturer s i Contactor Select contactors based on the circuit s inrush current and the maximum momentary phase current The drive inrush current is covered in the preceding explanation of no fuse breaker selection And the maximum momentary phase current is approx twice the rated current The following table shows the recommended contactors Manufacturer Model Rated current Coil voltage J7L 09 22200 11A 200 VAC J7L 12 22200 13A 200 VAC J7L 18 22200 18A 200 VAC
527. t A Setting supply z name F Expiananon setting Unit range OFF to 2 ON Set the stop operation when the servo is turned OFF During deceleration Dynamic brake O After stopping Dynamic brake Error counter Clear During deceleration Free run 1 After stopping Dynamic brake Error counter Clear During deceleration Dynamic brake 2 After stopping Servo free Error counter Clear During deceleration Free run 3 After stopping Servo free Error counter Clear During deceleration Dynamic brake Stop Selection 4 After stopping Dynamic brake 7 7 29G with Servo OFF Error counter Hold optog During deceleration Free run 5 After stopping Dynamic brake Error counter Hold During deceleration Dynamic brake 6 After stopping Servo free Error counter Hold During deceleration Free run 7 After stopping Servo free Error counter Hold During deceleration Immediate stop 8 After stopping Dynamic brake Error counter Clear During deceleration Immediate stop 9 After stopping Servo free Error counter Clear Stop Selection Set the stop operation when the main with Main power supply is turned OFF 507 Power Suppl The set values for this parameter are the 0 0to9 PPY same as Stop Selection with Servo OFF OFF Pn506 Select whether to trip the LV or turn OFF gt 508 Undewollage the servo if there is a main power supply 1 Oto 1 z Alarm Selection p PPly alarm 5 i i Q 509 Momentary Set the main power supply alarm d
528. t alarm 93 Wrong encoder connected Note The following alarms are not recorded in the history 11 Control power supply undervoltage 13 Main power supply undervoltage 36 Parameter error 37 Parameters destruction 38 Drive prohibition input error 95 Motor non conformity Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 17 uoesado Operation 9 4 Setting the Mode i Warning Number U13 an gt 1 Warning status 7 No warning status Warning number Press A Oto display the occurrence status of each warning l 1 l I ant oe ve 1 L Regeneration Load Ratio U14 I l m7 Id l rc ho t n _ Displays the regeneration resistance load ratio as a percentage when the detection level for the regeneration overload is 100 i Overload Load Ratio U15 sree I II oe a 7 I Displays the overload ratio as a percentage when the rated load corresponds to 100 i Mass Ratio U16 The mass ratio is displayed i Reasons for No Movement U17 A number is displayed to indicate the reason the motor does not move Position control 1 m i Z isos F 5 Speed c
529. t count negative otherwise you must reverse the counting direction The positive direction of the motor phases is towards the output cable side 3 80 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 4 Encoder Hall sensor and Serial Converter i Connection to the drive BEBEBE BATA Temperature sensor not used SinCos Encoder Serial converter CN3 CN2 suoleoiin0ds CN1 CN4 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 81 Specifications 3 4 Encoder Hall sensor and Serial Converter Hall Sensor Specifications 3 82 i Specifications The Hall Sensor can be optionally installed in the motor coil to have a direct measurement of the motor phase angle respect to the magnets The Hall Sensor must be installed in the motor coil and connected to the drive through the Serial Converter CN2 connector To use the Hall Sensor it is necessary next settings Pn 3 23 1 To use Serial Converter That means that the Hall sensor has to be used in combination with the Serial Encoder Pn 9 20 1 To read the motor phases from the Hall Sensor Electric data Supply 4 to 28V DC 25mA TTL outputs 2mA per channel p 2 4 b 8 10 12 14 16 is 20 22 4 MOVEMENT IN CABLE DIRECTION
530. t regarding service consult your OMRON sales representative Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 Safety Precautions Document Safety Precautions Document So that the Accurax G5 Linear Servo Motor and Servo Drive and peripheral equipment are used safely and correctly be sure to peruse this Safety Precautions document section and the main text before using the product in order to learn all items you should know regarding the equipment as well as all safety information and precautions Make an arrangement so that this manual also gets to the end user of this product After reading this manual keep it with you at all times Explanation of Display The precautions explained in this section describe important information regarding safety and must be followed without fail The display of precautions used in this manual and their meanings are explained below When an incorrect handling can lead to a dangerous situation which may result in death or serious injury Or when a serious property damage may occur When an incorrect handling can lead to a dangerous situation which may result in a minor or moderate injury and when only a property damage may occur Even those items denoted by the caution symbol may lead to a serious outcome depending on the situation Accordingly be sure to observe all safety precautions This symbol indicates an item you should perform or avoid in order to use the product s
531. t signal 8 function and logic 263172 OOFFFFFFh Yes Input Signal O0050505h _ Oto 408 Selection 9 Set the input signal 9 function and logic 328965 OOFFFFEFh Yes Input Signal y OOOOOE88h _ Oto 409 Selection 10 Set the input signal 10 function and logic 3720 OOFFEFFEh Yes 410 Output Signal Set the output signal 1 function 00030303h _ Oto Yes Selection 1 allocation 197379 OOFFFFFFh 411 Output Signal Set the output signal 2 function 00020202h _ 0 to Yes Selection 2 allocation 131586 OOFFFFFFh 412 Output Signal Set the output signal 3 function 00010101h _ Oto Yes Selection 3 allocation 65793 OOFFFFFFh 413 Output Signal Set the output signal 4 function 00050505h _ Oto Yes Selection 4 allocation 328964 OOFFFFFFh 414 Output Signal Set the output signal 5 function 00070707h 0 to Yes Selection 5 allocation 460551 OOFFFFFFh Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 2 Parameter List Pn number Parameter name Explanation Setting Default setting Unit Setting range Power supply OFF to ON A _ o1 Output Signal Selection 6 Set the output signal 6 function allocation 00060606h 394758 0 to OOFFFFFFh Yes 416 Analog Monitor 1 Selection Select the type for analog monitor 1 0 Motor speed i Position command speed Internal position command speed Speed Control Command
532. t speed selection 1 VSEL2 30 Internally set speed selection 2 VSEL3 28 Internally set speed selection 3 Use this input to select a desired Speed Setting Pn304 to 311 during the internally set speed operation FLSEL Force limit switching Switches the force limit value via ON OFF Changes to enable set value 3 or 6 according to the setting of Force Limit Selection Pn521 The force limit value and operating direction vary according to the set value DFSEL2 Vibration filter switching 2 Changes to enable set value 2 according to the setting of Vibration Filter Selection Pn213 Switching between 4 settings is possible by combining this with the vibration filter switching input 1 DFSEL1 3 18 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 1 Drive Specifications CONTROL mode Pinnumber Symbol Name Function and interface Position Speed Force Electronic gear switching You can switch maximum 4 electronic ratio GESEL2 2 numerators by combining with electronic V gear switching input 1 GESEL1 Zero speed designation This signal forcibly sets the speed command input to 0 VZERO Changes to enable set value 1 to 3 V V according to the setting of Zero Speed Designation Selection Pn315 Speed command sign Designates the motor movement direction input for speed commands VSING Changes to enable set value 1
533. t speed exceeds the maximum speed Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 33 sjiejeg S19 9WL Ied Parameters Details 8 4 Analog Control Parameters Pn326 Encoder Direction Switching All Setting Default Power OFF range otoi Unit setting o and ON ues Explanation of Set Values Sai Explanation value 0 Encoder count direction non reversed 1 Encoder count direction reversed Pn327 Encoder Phase Z Setting All Setting Default Power OFF range pon Unt i setting 9 and ON Explanation of Set Values Sai Explanation value 0 Phase Z disconnection detection enabled 1 Phase Z disconnection detection disabled 8 34 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 5 8 5 Interface Monitor Setting Parameters Interface Monitor Setting Parameters Pn400 Input Signal Selection 1 All Setting range O to OOFFFFFFh Unit Default setting 00828282h 8553090 Power OFF andON Yes Default is NOT in all models Pn401 Input Signal Selection 2 All Setting range 0 to OOF
534. t value Pn212 Notch 4 Depth Setting All Setting F Default Power OFF range 90 39 en iA setting 9 and ON Set the notch depth of resonance suppression notch filter 4 Increasing the setting will shorten the notch depth and the phase lag Pn213 Vibration Filter Selection Setting F Default Power OFF range ales Hale b gt setting and ON Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 21 sjiejog siojoweled Parameters Details 8 3 Vibration Suppression Parameters Explanation of Set Values Set Explanation value 0 Vibration filter 1 and 2 enabled With external input DFSEL1 either 1 and 3 or 2 and 4 can be selected 1 Open Vibration filters 1 and 3 enabled Shorted Vibration filters 2 and 4 enabled With external input DFSEL1 and DFSEL2 one of the filters 1 to 4 can be selected When DFSEL1 and DFSEL2 are both open Vibration filter 1 enabled 2 When DFSEL1 is shorted and DFSEL2 is open Vibration filter 2 enabled When DFSEL1 is open and DFSEL2 is shorted Vibration filter 3 enabled When DFSEL1 and DFSEL2 are both shorted Vibration filter 4 enabled It is switched with position command direction 3 Forward direction Vibration filters 1 and 3 enabled Reverse direction Vibration filters 2 and 4 enabled Pn214 Vibration Frequency 1 Setting 0 to 2
535. t value 3 100 us or more Set value 4 1 ms or more N Error is reset once Pn518 Command Pulse Prohibition Input Setting Setting F Default Power OFF range otoi Unit setting 1 and ON Explanation of Set Values Set value Explanation 0 Enabled 1 Disabled Enable or disable the pulse prohibition input signal IPG When command pulse prohibition input is enabled command pulse input count process is force stopped Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 51 sjiejog siojoweled Parameters Details 8 6 Extended Parameters Pn519 Command Pulse Prohibition Input Read Setting Setting Default Power OFF range plog Unit setting and ON Explanation of Set Values Sei Explanation value 0 0 166 ms 1 0 333 ms 2 1 ms 3 1 666 ms 4 0 166 ms No judgment of multiple matches Select the signal read cycle for the pulse prohibition input signal IPG The signal status is updated when the signal status in each signal read cycle that has been set matches multiple times You can lower the possibility of incorrect operation caused by noise by extending the signal read cycle However the responsiveness to signal inputs will be reduced Pn520 Position Setting Unit Selection Setting Oto 4 Unit 7 Default Power OFF Yes range setting and ON Explanation of Set Valu
536. te whether immediate stop takes place upon error generation If an immediate stop alarm is generated immediate stop in operation A is executed If an alarm that does not support immediate stop is generated immediate stop in operation B will take place 3 Decelerating refers to a period between when the motor is running and when the motor speed reaches 30 mm s or less Once the motor reaches a speed of 30 mm s or less and moves to the after stop status follow the subsequent operation based on the after stop status regardless of the motor speed 8 48 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 6 Extended Parameters Immediate Stop Operation when an Alarm that Supports Immediate Stop is Generated Speed mm s Motor speed a Speed command Stop judgment speed 30 mm s i i i l Time Alarm No alarm generation An alarm that supports immediate stop is generated Force limit Normal force limit Normal force limit l Pn511 immediate Stop Force Measure to lessen the impact at an immediate stop 1 Overspeed protection For normal operation y For normal operation threshold Pn615 Overspeed Detection Level Setting at ImmediateStop Protection from runaway at an immediate stop Set the Overspeed Detection Level Setting at Immediate Stop Pn615 to the Overspeed Detection Level Setting Pn910 or higher gt Normal operation command from the host Immediate stop Alarm status
537. tection 437 Brake Timing _ Set the operation time for the mechanical 0 Tiis 0 to E when Stopped brake at stop 10 000 438 Brake Timing Set the operation time for the mechanical 0 ime 0 to i during Operation brake during operation 10 000 439 Brake Release Set the speed threshold for mechanical 30 mme 30 to Yes Speed Setting brake output judgment during operation 3 000 Select the warning type for warning output 1 0 No 1 Overload warning 2 Excessive regeneration warning 3 Battery warning dag Aamin Output 0 z oto10 Selection 1 4 Fan warning 5 Encoder communications warning 8 Encoder overheating warning 9 Encoder error warning 10 Encoder communications error warning Select the warning type for warning P output 2 441 Warning Output The relationships among the set values 0 Oto1i0 Selection 2 for this parameter are the same as for Warning Output Selection 1 Pn440 Positioning Set the allowable number of pulses for S Command 0 to 442 Completion the second positioning completion 10 unit 262 144 Range 2 range Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 25 gt x D 5 2 x 12 2 Parameter List i Expansion Setting Parameters g Power E Parameter Default Setting supply z name T Explanation setting unit range OFF to E o ON 500 Electronic Ratio Set the electronic ratio 40000 1 to 7 Numerator 2 If Pn500 Pn501
538. ted depend on the mode If the Front Panel Parameter Write Selection Pn617 is set to 1 the parameter set value is automatically written to EEPROM when changed Refer to the Front Key Protection Setting Pn535 in 8 6 Extended Parameters P 8 45 for details on the front panel lock function Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 33 uonesado Operation 9 4 Setting the Mode i Front Panel Lock Release This releases the front panel lock 1 Release the front panel lock Key operation Display example Explanation A Tn a Press the A key to display the FRONT PANEL LOCK mode Fost from the alarm reset display in AUXILIARY FUNCTION mode Z Press the key to enter FRONT PANEL LOCK mode A _ Press and hold the A key for 5 seconds or longer until wee is displayed The bar indicator will increase The front panel lock will be released This indicates a normal completion jet 5 Fh E ror willbe displayed if the front panel lock is not released Turn OFF the drive power supply and then execute again 2 Returning to AUXILIARY FUNCTION mode display Key operation Ea En Press the 6a key to return to AUXILIARY FUNCTION mode Display example Explanation 9 34 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 5 Trial Operation 9 5 Trial Operation EE W
539. ted to the Serial Converter and the Serial Converter transmit the signal to the drive via serial link Optionally you can also connect to the Serial Converter the Hall sensor signals and Temperature sensors 3 The available scales are SR75 SR85 and SL700 PL101 RP 4 The available scales are Sony SR77 and SR78 Mitutoyo AT573 ST771A and ST773A Count down direction Count up direction Pi 4 tl gt 8 ee Se lt A B i i i i B t2 t2 lt 2 EXB is 90 ahead of EXA EXB is 90 behind EXA t1 gt 0 25 us t1 gt 0 25 us t2 gt 1 0 us t2 gt 1 0 us 360 el Signalperiode a ceeee op ocece SS i Count direction E Tre LLET For the external scale connection direction set the direction so that count up occurs when the motor moves in the direction of the cable output and count down when the motor moves in the direction opposite to the cable output If the connection direction cannot be selected due to installation conditions the count direction can be reversed using encoder pulse direction switching Pn326 Take note that if PnOOO 1 the scale count direction becomes opposite to the count direction used for monitoring the total external scale feedback pulses etc If PnOOO O the count direction matches the count direction for monitoring Even when the drive speed is within the specified range an acceleration error will occur if the motor shaft movemen
540. temperature graphs are next 40 60 Temperature C Resistance Q 30 45 60 75 90 Temperature C Note When using a serial converter the temperature sensors can be connected to it so the temperature alarm is managed in the drive When not using serial converter the temperature protection must be managed externally by the controller 3 74 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 3 Motor Specifications i Temperature Characteristics of the Motor and Mechanical System OMNUC G5 Linear Series AC Servomotors use rare earth magnets neodymium iron magnets The temperature coefficient for these magnets is approx 0 13 C As the temperature drops the motor s momentary maximum force increases and as the temperature rises the motor s momentary maximum force decreases The momentary maximum force rises by 4 at a normal temperature of 20 C compared to a temperature of 10 C Conversely the momentary maximum force decreases about 8 when the magnet warms up to 70 C from the normal temperature Generally when the temperature drops in a mechanical system the friction force and the load force increase For that reason overloading may occur at low temperatures In particular in systems that use a gearbox the load force at low temperatures may be nearly twice as much as the load force at normal temperatures Check whether overloading may occur during
541. ters Requiring Settings c cccccccceeeeeeeeeeeneetesneeeteaees 6 14 6 6 Brake INterlO CK vcccsisciisaiscavaciertsatesctrnnianieceweweweceiserinderss 6 18 Outline Of Operation cccceeccceeeeeneeeeeceeeeneeeeeeeeeeeeeeesenaeeeteaeeees 6 18 Parameters Requiring Settings ccccccsssccceesssseeeeessneeeeeseeaes 6 18 Precautions for Correct Use of Holding Brake c cseeeee 6 18 Operations arene eneren eden est e dealin aai kui ea 6 19 6 7 Gain Switching FUNCtiON ccccesssseeeeeeeeeeeeeeeeeeees 6 23 Outline of Operation ceccceecceeeeseeeee tenes eeteeeeeeeeeeeeeeesenaeeeeeaeeees 6 23 Parameters Requiring Settings ccccccseseeeeeseeeeeneeeeseeeseaees 6 24 6 8 Gain Switching 3 Function sssssssssnesennnnnnnnnnnnnnnnnnnn 6 31 Outline Of Oper tiom rei ennea aaeain e eea a ae a idea 6 31 Parameters Requiring Settings cccccccceeeeeeeteeeeeteeeeseeeeseaees 6 31 Operation aeoe nie eaa ean a aa e sia aaaea teke kai 6 31 6 9 Forc LiMitsssss sirere naie oa iaio daaada 6 32 Outline of Operation e seeseeeseeeseresreerirseriisrirtstirsrintsrnternnsnn nene 6 32 Parameters Requiring Settings cccccccesseeeeeeseeeeeneeeesneeeeeaees 6 32 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Applied Functions 6 10 Sequence I O Signal sseccccceeeeeeeeeeeeeeeeeeseeeeeeees 6 35 Outline Of Operation ecccceeeeeeeeeeeeeee
542. the mode 0c cee eee 9 11 Smoothing Filter Time Constant Pn223 8 24 Soft Start Acceleration Time Pn312 8 27 Soft Start Deceleration Time PN313 8 28 Speed Command Direction Selection Pn301 8 25 Speed command input REF 3 23 3 30 Speed Command Scale Pn302 8 26 Speed command sign input VSIGN 3 36 Speed command status output V CMD 3 45 Speed Conformity Detection Width Pn435 8 42 Speed conformity output TGON 3 43 Speed conformity output signal VCMP 3 43 Speed control 2 2 0 eee eee 5 8 SPEED CONTROL mode adjustment 10 14 Speed Feedback Filter Time Constant Pn103 8 11 Speed Feedback Filter Time Constant 2 Pn108 8 11 Speed Feed forward Command Filter Pni11 8 12 Speed Feed forward Gain Pn110 8 12 Speed limit input VLIM 00 3 23 Speed limit value 2 0 0 0 00 ee eee eee 10 19 Speed Limit Value Setting Pn321 8 32 Speed Loop Gain Pn101 8 10 Index Speed Loop Gain 2 Pn106 8 11 Speed Loop Integral Time Constant Pn102 8 10 Speed Loop Integral Time Constant 2 Pn107 8 11 Stop Selection for Alarm Generation Pn510 8 48 Stop Selection for Drive Prohibition Input Pn505 8 46 Stop Selection with Main Power Supply OFF Pn507 8 47 Stop Selection with Servo OFF Pn506
543. the vertical axis etc If holding is required implement appropriate measures such as providing external brakes Take note that the brakes for the drive with brakes are used for the holding purpose only and cannot be used for control Even if there is no external force when Stop Selection for Alarm Generation Pn510 is set to free run with the dynamic brake disabled the motor operates as free run and the stop distance is long The motor may operate in the range of up to 180 degrees of electrical angle due to a power transistor trouble and so forth The power supply to the motor is cut off by the STO function but the power supply to the drive will not be cut off nor electrically insulated For drive maintenance cut off the power supply to the drive through another means The EDM output signal is not a safety output Do not use it for purposes other than the failure monitoring function The dynamic brake and external brake release signal output are not safety related parts Make sure that the equipment does not become dangerous during system design even if the external brake release fails during the STO status When using the STO function connect an equipment that meets the safety standards The PFH value is 2 30 x 108 Following certifications are fulfilled e CAT 3 EN 954 1 e Performance level d EN ISO 13849 1 e SIL 2 IEC EN 62061 See the Appendix in chapter 12 for servo drive satefy certification Note Althou
544. this condition To quicken positioning increase the value of position loop gain If the value is too large overshooting or vibration will occur In such cases set the value smaller If the speed loop or the current loop is vibrating adjusting the position loop does not eliminate the vibration Response to the position loop gain adjustment is illustrated below If the position loop gain is high an overshooting occurs Command operation pattern Actual operation Speed mm s Timet If the position loop gain is low positioning completion speed becomes slow Command operation pattern Actual operation Speed f __ii n mm s N Sie Timet 10 16 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 10 3 Manual Tuning Pn101 and Pn106 Speed Loop Gain The speed loop gain determines the responsiveness of the servo This value becomes the response frequency if the Mass Ratio Pn004 is set correctly Increasing the value of the speed loop gain improves the responsiveness and quickens positioning but vibration is more likely to occur Adjustment must be made so vibration will not occur This is related to Speed Loop Integral Time Constant Pn102 and by increasing the integration time constant the speed loop gain value can be increased If the speed loop gain is low the speed response becomes slow and a large overshooting occurs In such case increase the speed loop gain Comman
545. tic pole estimation Execution time of the Magnetic Pole estimation detection method in ms In the example it shows that it took 2s to complete the estimation sequence This display makes sense only if Pn920 2 Magnetic pole estimation Ho l Maximum displacement of the linear motor in l encoder counts that occur during the Magnetic pole estimation sequence This display makes sense only if Pn920 2 Magnetic pole estimation Operation 9 24 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 4 Setting the Mode PARAMETER SETTING Mode 1 Displaying PARAMETER mode Key operation Display example Explanation The item set for the Default Display Pn528 is displayed r 2 n cos Press the Gara key to display MONITOR mode Imn Z Ir Es Press 5 key to display PARAMETER SETTING mode Fa IId 2 Setting the parameter number Key operation Display example Explanation Use keys to set the parameter number A Press to move to the left and change the digit to be set Press A to increase the value of the digit with Press to decrease the value of the digit with c Dx 3 Displaying parameter set values Key operation Display example Explanation L e co Press the key to display the set value 4 Changing the parameter set v
546. ting 0 0 0 0 0 0 1 This is limited at the minimum value of 10 if a 17 bit absolute encoder is used Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 10 9 suoioun juswysnipy Adjustment Functions 10 2 Realtime Autotuning 10 10 Parameter AT Machine Rigidity Setting Pn003 Sumber Parameter name 24 25 26 27 28 29 30 31 Pn004 Mass Ratio Estimated load mass ratio Pn100 Position Loop Gain 4490 5000 5600 6100 6600 7200 8100 9000 Pn101 Speed Loop Gain 2500 2800 3100 3400 3700 4000 4500 5000 Pn102 Speed Loop Integral Time Constant 40 35 30 30 25 25 20 20 Pn103 Speed Feedback Filter Time Constant 0 0 0 0 0 0 0 0 Pn104 Force Command Filter Time Constant 1 9 8 7 7 6 6 5 5 Pn105 Position Loop Gain 2 5240 5900 6500 7100 7700 8400 9400 10500 Pn106 Speed Loop Gain 2 2500 2800 3100 3400 3700 4000 4500 5000 Pn107 Speed Loop Integral Time Constant 2 10000 10000 10000 10000 10000 10000 10000 10000 Pn108 Speed Feedback Filter Time Constant 2 0 0 0 0 0 0 0 0 Pn109 Force Command Filter Time Constant 2 9 8 7 7 6 6 5 5 Pn110 Speed Feed forward Amount 300 300 300 300 300 300 300 300 Pn111 Speed Feed forward Command Filter 50 50 50 50 50 50 50 50 Pn112 Force Feed forward Amount Pn113 Force Feed forward Comman
547. tion Do not store or install the product in the following environment Location subject to direct sunlight Location where the ambient temperature exceeds the specified level Location where the relative humidity exceeds the specified level Location subject to condensation due to the rapid temperature change Location subject to corrosive or flammable gases Location subject to higher levels of dust salt content or iron dust Location subject to splashes of water oil chemicals etc Location where the product may receive vibration or impact directly Installing or storing the product in these locations may result in fire electric shock or equipment damage The drive radiator Regeneration Resistor motor etc may become hot while the power is supplied or remain hot for a while even after the power supply is cut off Never touch these components A burn injury may result 6 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Safety Precautions Document Storage and Transportation Caution When transporting the product do not hold it by the cables Injury or failure may result Do not overload the products Follow the instruction on the product label Injury or failure may result Do not place the linear magnet close to the motor coil or other magnetic object that may be attracted Damage or injury may result Magnetic sensitive objects like banking cards or other magnetic information ca
548. tion is 0 phase Z is output every the set value pulse cycle No phase Z is output until passing absolute position 0 Phase AB External Select the regeneration method of pulse outputs Scale Pulse Output OA and OB when an external scale of phase AB Pn622 Method Selection output type is used P 8 60 0 Without signal regeneration Z out is directly Z in in the scale 1 With signal regeneration 6 14 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 5 Encoder Dividing Function i Encoder Dividing Ratio Setting Pn011 Pn503 Encoder Encoder Dividing Dividing A Numerator Denominator Explanation Pn011 Pn503 The output pulse will be as follows based on Encoder Dividing Numerator Pn011 and Encoder Dividing Denominator Pn503 1 to 1 to 262144 262144 Output pulse from Encoder pulse Pn011 set value the drive gt Pn503 set value If the motor Encoder has 40um pulse and we want 10pulses mm output resolution we have to set Pn011 Pn503 10 25 The corresponding scale for each output type is as follows i Encoder Output Direction Switching Selection Pn012 Encoder Output Direction P h Pe Phase B logic For forward direction operation For reverse direction operation Switching Selection Pn012 Phase L Phase 0 2 Non reverse A A Phase d Phase B B Phase L a L 1 3 Reverse A Phase _
549. tions i External Regeneration Resistor Characteristics The amount of Heat Resistance Nominal regeneration ae Thermal switch output Model 3 radiation ENE value capacity absorption for 120 C ae specifications condition temperature rise Operating temperature Aluminum R88A 150 C 5 NC contact RRogosos 502 PONN EOW 250 x 250 Rated output 30 VDC Thickness 3 0 50 mA max Operating temperature Aluminum R88A 150 C 5 NC contact RRogotoos 1002 ROT EOW 250 x 250 Rated output 30 VDC Thickness 3 0 50 mA max Operating temperature R88A Aluminum 170 7 C RR22047S 479 220 W 70 W 350 x 350 NC contact Thickness 3 0 Rated output 250 VAC 0 2 A max Operating temperature Aluminum oe R88A NC contact RR50020S 200 500 Des 600 5 A Rated output 250 VAC Thickness 3 0 0 2 A max 24 VDC 0 2 A max Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 47 u s q wajshs 4 4 Regenerative Energy Absorption Connecting an External Regeneration Resistor R88D KT01L L KT02L L KT02H L KTO4H L Normally B2 and B3 are open If an External Regeneration Resistor is necessary remove the short circuit bar between B2 and B3 and then connect the External Regeneration Resistor between B1 and B2 as shown in the diagram below Servo Drive e if 0 gt Thermal switch output B1 3 Ext IR tion Resist pd 22 xternal Regeneration
550. to an appropriate value to avoid any troubles such as vibration Set the Mass Ratio Pn004 to an appropiate value The motor operates in the SPEED CONTROL mode during a jog operation Set each of the various settings so that the motor operates correctly for speed control If the operation command RUN is turned ON during a jog operation 5 r_ willbe displayed and the jog operation will be cancelled and a normal operation through an external command will be performed i Parameter Initialization This initializes the selected parameter 1 Execute the initialization of the parameter Key operation Press the ar key to enter PARAMETER INITIALIZATION ae or 4 mode Display example Explanation Press and hold the A key for 5 seconds or longer until ooo is displayed The bar indicator will increase The initialization of the selected parameter will start This indicates a normal completion l Error will be displayed if the parameter could not be initialized Turn OFF the drive power supply and then execute again 2 Returning to AUXILIARY FUNCTION mode display Key operation H Precautions for Correct Use Display example Explanation Press the ar key to return to AUXILIARY FUNCTION mode JJ 1 P m s 1 If alarm display No 11 power supply undervolta
551. tor conditions Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 13 soueUDd UIeI pue 10113 Error and Maintenance 11 4 Troubleshooting Alarm display Error conditions Status when error occurs Cause Measures 18 Regeneration overload Occurs when the motor is decelerating Load mass is too large Calculate the regenerative energy and connect an External Regeneration Resistor with the required regeneration absorption capacity Extend the deceleration time The deceleration time is too short The motor movement speed is too high Reduce the motor movement speed Extend the deceleration time Calculate the regenerative energy and connect an External Regeneration Resistor with the required regeneration absorption capacity The operating limit of the External Regeneration Resistor is limited to 10 duty Set Pn016 to 2 For details refer to Parameters Details Occurs during descent vertical axis Gravitational force is too large Add a counterbalance to the machine to lower gravitational force Reduce the descent speed Calculate the regenerative energy and connect an External Regeneration Resistor with the required regeneration absorption capacity The operating limit of the External Regeneration Resistor is limited to 10 duty Set Pn016 to 2 For details refer to Parameters Details 11 14
552. trol Force control Example Position control Electronic gear switching input 1 for contact NO OCh Speed control Internally set speed selection 1 for contact NC 8Eh Force control Disabled 00h 00008E0Ch Position control Speed control Force control This will be 36364 since the front panel display is in decimal numbers Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 10 Sequence I O Signal Function Number Table The set values to be used for allocations are as follows Set value Signal name Symbol Contact NO Contact NC Disabled 00h Setting not available Forward drive prohibition input POT Oth 81h Reverse drive prohibition input NOT 02h 82h Operation command RUN 03h 83h Alarm reset input RESET 04h Setting not available CONTROL mode switching input TVSEL O5h 85h Gain switching GSEL 06h 86h Error counter reset input 2 ECRST 07h Setting not available Pulse prohibition input 3 IPG 08h 88h Force limit switching FLSEL 09h 89h Vibration filter switching 1 DFSEL1 OAh 8Ah Vibration filter switching 2 DFSEL2 OBh 8Bh Electronic gear switching input 1 DIV1 OCh 8Ch Electronic gear switching input 2 DIV2 ODh 8Dh Internally set speed selection 1 VSEL1 OEh 8Eh Internally set speed selection 2 VSEL2 OFh 8Fh Internally set speed selection 3 VSEL3 10h 90h Zero speed designation input VZERO 11h 91h Speed command sign input VSIGN
553. trol Pn116 is enabled when returning from gain 2 to gain 1 2 The Gain Switching Hysteresis in Position Control Pn118 is defined as shown in the following figure Pni17 Pn118 0 Gain 1 4 Gain2 Gain 1 g Pnie 3 The change amount is the change in 1ms Example When the condition is a 10 change in force in 1 ms the set value is 200 4 This is the encoder resolution 5 The meanings of the gain switching delay time in position control gain switching level in position control and gain switching hysteresis in position control are different from normal if this is set to 10 Refer to Figure F l FigureA Figure C Speed V i Accumulated pulse error i Time amp lt Force F Level i 1 l Time gt e 1 i 1 Gain 1 Gain 2 il i gt lt Speed _ 7 i Z gt iz command F Command Figure D 1 _ iro O ysteresis Level H speed S F _ i I l rore A Level 1 command en Oy 2 a ry Delay h Time gt lt Se z i l Delay l Gain 1 gt lt Gain 2 Ji i s X S F z oe j i s i Speed V Figure B Figure E H i Actual Command speed S Actual speed N Level Gain 2 1 1 i Time gt lt Gain1 Gain 1 gt lt i Gain 2 only for the spe
554. tting Setting 0 to 1 000 Unit 0 1 Hz Default 0 Power OFF _ range setting and ON 8 22 First set the Vibration Frequency 2 Pn216 Then reduce the setting if force saturation occurs or increase the setting to increase operation speed Normally use a setting of 0 Set value is restricted in the following manner Upper limit Corresponding vibration frequency Lower limit Vibration frequency vibration filter setting gt 100 Refer to Anti vibration Control P 6 3 for more information on settings Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 3 Vibration Suppression Parameters Pn218 Vibration Frequency 3 Setting 0 to 2 000 Unit 0 1 Hz Default 0 Power OFF _ range setting and ON Set vibration frequency 3 to suppress vibration at the end of the load in damping control Measure the frequency of vibration at the end of the load and make the setting in units of 0 1 Hz Setting frequency is 1 0 to 200 0 Hz The function will be disabled if the setting is O to 0 9 Hz Refer to Anti vibration Control P 6 3 for more information on settings Pn219 Vibration Filter 3 Setting Setting 0 to 1 000 Unit 0 1 Hz Default 0 Power OFF range setting and ON First set the Vibration Frequency 3 Pn218 Then reduce the setting if force saturation occurs or increase the setting to increase operation speed Normally use a setting of
555. uccessfully Apply a positive or negative DC voltage between the force command input FREF1 CN1 pin 14 and AGND1 CN1 pin 15 Check to see if the motor moves according to the direction forward reverse set in Pn307 Use the following parameters to change the amount of the force direction of the force or speed limit value for the command voltage Pn307 No 4 Internally Set Speed default set value 50 mm s Pn319 Force Command Scale Pn320 Force Output Direction Switching Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Adjustment Functions CEN This chapter explains the functions setting methods and items to note regarding various gain adjustments 10 1 Gain Adjustment nnnnnssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 10 2 Purpose of the Gain AdjUStMent 0 cceceseeeeeeeeeeeeeneeeteteeeeeaees 10 2 Gain Adjustment Methods cccccceeeeeeeeseeeeeeeeeeeeeeeeaeeeseeeens 10 2 Gain Adjustment ProCeure c ccececeeceeeeeteeeteeeeeeeeeeeeteneeeteaeeess 10 3 10 2 Realtime AUtotuning cceceeeeeeeeeeeeeeeeeeeeeneeeeeeeneees 10 4 Setting Realtime Autotuning cecccceeeeseeeeeeeeeeeeeeeeeeeeeteneeees 10 5 Setting Machine Rigidity ccccecseeseeeeeeeeeeeeeeeeeeeeeeeeeeseaeeees 10 6 Related Parameters issn ranie d eneen ES EEEE E 10 11 10 3 Manual Tuning eeeeeeeeeeeeeeeeeeeeeeeeeeeenseeenenes 10 12 Basic SettingS inisieer araia aa e iie
556. ue 0 0 166ms 1 0 333ms 2 1 ms 3 1 666 ms 8 50 Select the signal read cycle for control signal digital input Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 6 Extended Parameters Pn516 Alarm Reset Condition Selection All Setting Default Power OFF range ee a setting and ON Explanation of Set Values Set value Explanation 0 120 ms 1 Follow the Control Input Signal Read Setting Pn515 Select the signal confirmation time for alarm reset input signal RESET Pn517 Error Counter Reset Condition Selection Setting a Default Power OFF range Oitos Uni a setting and ON Explanation of Set Values Set value Explanation 0 Disabled 1 Clears the error counter at level when the signal is shorted for 500 us or longer 2 Clears the error counter at level when the signal is shorted for 1 ms or longer 3 Clears the error counter at edge when the signal changes from open to shorted for 100 us or longer 4 Clears the error counter at edge when the signal changes from open to shorted for 1 ms or longer When set to 1 or 2 the minimum time width will be as follows Error counter reset input signal 4 4 i Set value 1 500 us or more Set value 2 1 ms or more Error reset keeps repeating When set to 3 or 4 the minimum time width will be as follows Error counter reset input signal i lt gt Se
557. ue set by the Axis Number Pn531 is displayed i Encoder Position Error U24 t Encoder position error encoder unit mi Cc Cc n om L han c han Lower L Higher H Press Q to switch between Lower L and Higher H J Wi I I J a a J m s L Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 21 uoneiado Operation 9 4 Setting the Mode i P N Voltage U27 L is J S la a rn LI t P N voltage V is displayed i Soft Version U28 4 a a a Displays the soft version of the drive Display example Ver 1 23 i Drive Serial Number U29 t Amplifier serial number ran r L os mi L Amplifier serial number lower L mi m Amplifier serial number higher H Press A Oo switch between Lower L and Higher H Display example When serial number is 09040001 fan I l l2 l I I I an n m a a a J lt I 5 J a L J i L T I T J 9 22 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 9 4 Setting the Mode i Accumulative Operation Time U31 ae aon ln t Accumulative oper
558. uit power supply 2M OFF ON 1MC 2MC E J J 1MC eee LL Li Surge suppressor 1 IMC 2MC X Servo error display OMNUC G5 Linear Series AC Servo Drive c LIC D a ee OMNUC G5 Linear XB Series AC Servomotor 2 imc 1 Z External brake BO E 2MC ese 24 VDC C eens D gt p Ground to 100 Q or less 2 L3 Ground to 100 Q or less eee ges Encoder cables Regeneration 3 Resistor A B Encoder OT ae 1 A recommended product is listed in 4 3 Wiring Confirming to EMC Directives PF 37 ALM 2 Recommended relay MY relay by OMRON 24 VDC 24 V type For example MY2 relay by O36 ALMCOM OMRON can be used with all G5 Linear r pa series motors with brakes because its BKIR 110 24VDC rated induction load is 2 A 24 VDC 3 The Regeneration Resistor built in type User side BKIRCOM 10 shorts B2 and B3 When the amount of control device regeneration is large remove the connection between B2 and B3 and connect the Regeneration Resistor between B1 and B2 Control cables 4 18 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL i R88D KT06F L KT10F L KT15F L KT20F L Noise filter 1 1MC 2MC Ground to 100 Q or less Regeneration Resistor User side control dev
559. ulse direction signal Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 5 1 Position Control The settings for command movement direction and COMMAND PULSE mode are as follows Command Signal Forward direction Reverse direction maos enon pulse pattern name command command I Li 90 phase Cw p difference i Oor2 2 phase pulse 1 phase A 1 phase B CCW i I Phase B is 90 ahead of phase A Phase B is 90 behind phase A Forward CW direction pulse 0 1 train Reverse direction pulse train CCW CW Pulse train 3 Sign CCW WO Soe gt 90 phase cw roof SP of s difference 2 PH i O Oor2 phase pulse ied O phase A Phase Bi 1 O phase B CCW i Phase B is 90 behind phase A Phase B is 90 ahead of phase A VU O m Forward CW direction pulse Oo 1 1 train Reverse Q direction pulse D train CCW CW Pulse train 3 R i Sign bo 1 CCW Allowable Minimum required duration ys input Symbol a maxunan ti t2 t3 t4 t5 t6 frequency CWLD CWLD CCWLD CCWLD 4 Mpps 0 25 0 125 0 125 0 125 0 125 0 125 CW CW Line drive 500 kpps 2 1 1 1 1 1 CCW CCW Open collector 200 kpps 5 2 5 2 5 2 5 2 5 2 5 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 5 5 BASIC CONTROL Mode 5 1 Position Control i Electronic Gear Function Pn009 Pn01
560. unction 3 V number error 2 33 4 Interface output function An undefined number was detected in K p _ number error 1 the interface output signal allocations Interface output function 5 V number error 2 Counter reset allocation The counter reset function was 6 error allocated to something other than V input signal SI7 7 Command pulse The command pulse prohibition input prohibition input allocation function was allocated to something V error other than input signal S110 Overrun limit error The motor exceeded the allowable 34 0 operating range set in the Overrun N J _ Limit Setting Pn514 with respect to the position command input Parameter error Data in the Parameter Save area was 36 0 to corrupted when the power supply was _ 7 7 2 turned ON and data was read from the EEPROM Oto Parameters destruction The checksum for the data read from 37 2 the EEPROM when the power supply was turned ON does not match Drive prohibition input The forward drive prohibition and 38 0 error reverse drive prohibition inputs are y both turned OFF Excessive analog input 1 A current exceeding the Speed 0 E oq Command Force Command Input Overflow Level Setting Pn424 Pn427 39 1 Excessive analog input 2 or Pn430 was applied to the analog V V V command input pin 14 2 Excessive analog input 3 N J J 0 Encoder connection error An error was detected in encoder J 7 connection 50 A Encoder communications An er
561. uppression notch filter 1 203 Notch 1 Depth Set the notch depth of resonance 0 T 0to99 l Setting suppression notch filter 1 Notch 2 204 Frequency Set the notch frequency of resonance 5000 Hz 50 to E suppression notch filter 2 5 000 Setting 205 Notch 2 Width Set the notch width of the resonance 2 7 0to20 l Setting suppression notch filter 2 206 Notch 2 Depth Set the notch depth of resonance 0 S Oto99 l Setting suppression notch filter 2 Set the notch frequency of resonance Notch 3 207 Freauenc suppression notch filter 3 5000 Hz 50 to a q y This is set automatically when an adaptive 5 000 Setting notch is enabled Set the notch width of the resonance Notch 3 Width suppression notch filter 3 N a 208 Setting This is set automatically when an adaptive 2 eee notch is enabled Set the notch depth of resonance Notch 3 Depth suppression notch filter 3 g S 209 Setting This is set automatically when an adaptive 0 9140 99 notch is enabled Set the notch frequency of resonance Notch 4 210 Freauenc suppression notch filter 4 5000 Hz 50 to E q y This is set automatically when an adaptive 5 000 Setting notch is enabled Set the notch width of the resonance 211 Notch 4 Width suppression notch filter 4 5 Oto20 l Setting This is set automatically when an adaptive notch is enabled Set the notch depth of resonance 212 Notch 4 Depth suppression notch filter 4 0 n Oto99 l Setting This is set automatically when
562. urn from the gain 2 to gain 1 Unit 0 1 Pn121 PEF P 8 17 Time in Speed Control ms Gain Switching Level in Set the judgment level for switching between the gain 1 and Pn122 P 8 17 Speed Control gain 2 Pn123 Gain Switching Hysteresis Set the hysteresis width to be provided in the judgment level P 8 17 in Speed Control set in Gain Switching Level Pn122 i FORCE CONTROL mode Pn124 SWITCHING mode in Set the condition for switching between gain 1 and gain 2 P 8 18 Force Control Gain Switching Delay Set the time to return from the gain 2 to gain 1 7 pigs Time in Force Control Unit 0 1 ms ane Pni26 Gain Switching Level in Set the judgment level for switching between the gain 1 and P 8 19 Force Control gain 2 Pn127 Gain Switching Hysteresis Set the hysteresis width to be provided in the judgment level P 8 19 in Force Control set in Gain Switching Level Pn126 6 24 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 6 7 Gain Switching Function i Diagrams of Gain Switching Setting Switching between Gain 1 Pn100 to Pn104 and Gain 2 Pn105 to Pn109 occurs at the following timings Take note that in the case of position loop gains switching occurs based on the setting of Pn119 For the details of each gain refer to Chapter 8 Parameters Details The details of gain switching setting vary depending on the CONTROL mode used GAIN SWITCHING mode 2 Gain Switching GSEL Valid for Posit
563. urs set the Stop Selection for Drive Prohibition Input Pn505 to 2 or perform limit using the Host Controller rather than using this function Pn505 Stop Selection for Drive Prohibition Input All Setting 0to2 Unit E Default 0 Power OFF Yes range setting and ON Explanation of Set Values Set value Explanation During deceleration Dynamic brake operation 0 After stop Force command is 0 for drive prohibition direction Error counter Held During deceleration Force command is 0 for drive prohibition direction 1 After stop Force command is 0 for drive prohibition direction Error counter Held During deceleration Immediate stop 2 After stop Force command is 0 for drive prohibition direction Error counter Clear before and after deceleration Set the drive conditions during deceleration or after stopping after the drive prohibition input POT CN1 pin 9 or NOT CN1 pin 8 is enabled If this is set to 2 the Immediate Stop Force Pn511 will be used to force limit during deceleration Pn506 Stop Selection with Servo OFF All Setting F Default Power OFF range oie Mo setting and ON Explanation of Set Values Set Explanation value During deceleration 3 After stopping Error counter 0 Dynamic brake operation Dynamic brake operation Clear 4 1 Free run Dynamic brake operation Clear 4 2 Dynamic brake operation Servo
564. us force 7 N 160 240 320 Continous current 2 Aeff 3 4 5 2 6 9 Motor force constant N Aeff 46 5 46 5 46 5 BEMF VDC m s 38 38 38 Motorconstant Nwed 19 49 23 87 27 57 Phase resistance Q 1 83 1 23 0 92 Phase inductance mH 13 7 9 2 6 9 Electrical time constant ms 7 5 7 5 7 5 sin cont power disipation all Ww 88 131 175 Thermal resistance K W 0 78 0 52 0 39 Thermal time constant s 124 124 124 Magnetic attraction force 1020 1420 1820 Magnet pole pitch mm 24 24 24 Weight coil unit 3 Kg 1 31 1 84 2 37 Weight magnet track Kg m 3 8 3 8 3 8 Dimension cooling plate I x w x h mm 250 x 287 x 12 250 x 287 x 12 250 x 287 x 12 Protection methods 4 Temperature sensors KTY 83 121 amp PTC 110C self cooling Hall sensor Digital optional Insulation class Class B Max busvoltage 560V DC Insulation resistance 500V DC Di electric strength 2750V for 1 sec Max allowable coiltemperature Basic specifications 130 C Ambient humidity 20 bis 80 non condensing Max allowable magnet temperature 70 C 1 Coil temperature rising by 6K s 2 values at 100 C coil temperature and magnets at 25 C Coil unit must be attached to the given cooling plate sizes in the table 3 Weight without connector and cable 4 2t has to be set properly for high current applications All other values at 25 C 10 3 58 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 3 Motor
565. ut 2 INP2 Pin 39 Positioning completion output 1 INP1 Pin 38 Positioning completion output common INP1COM No allocation Positioning completion output 2 INP2 No allocation Positioning completion output 2 INP2COM This is the allocation at default setting You can change the allocations of output terminals CN1 to 10 11 12 34 35 38 39 40 and 41 according to the settings of Output Signal Selections 1 to 6 Pn410 to 415 Function The INP1 turns ON when the error counter accumulated pulse is less than or equal to the Positioning Completion Range 1 Pn431 set value The INP2 turns ON when the error counter accumulated pulse is less than or equal to the Positioning Completion Range 2 Pn442 set value The output turns ON according to Positioning Completion Condition Selection Pn432 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 1 Drive Specifications i Speed Conformity Output TGON Pin 39 Speed conformity output TGON Pin 39 Speed conformity output common TGONCOM This is the allocation at default setting You can change the allocations of output terminals CN1 to 10 11 12 34 35 38 39 40 and 41 according to the settings of Output Signal Selections 1 to 6 Pn410 to 415 Function It turns ON when the speed of the Linear Servomotor exceeds the set value of the Speed for Motor Movement Detection Pn436 i Force Limiting Signal FLIMT Pin 40 Force limiting signal FLIMT Pin 4
566. ut Signal Selection 1 to 10 Pn400 to 409 Function Perform speed control according to the internal speed set value in the parameter You can select from up to 8 internal speed set values Pn300 set value VSEL1 VSEL2 VSEL3 Speed command selection OFF OFF No 1 Internally Set Speed Pn304 i ON OFF No 2 Internally Set Speed Pn305 OFF ON No 3 Internally Set Speed Pn306 ON ON No 4 Internally Set Speed Pn307 OFF OFF No 1 Internally Set Speed Pn304 5 ON OFF No 2 Internally Set Speed Pn305 OFF ON No 3 Internally Set Speed Pn306 ON ON Analog speed command input REF OFF OFF OFF No 1 Internally Set Speed Pn304 ON OFF OFF No 2 Internally Set Speed Pn305 OFF ON OFF No 3 Internally Set Speed Pn306 ON OFF OFF No 4 Internally Set Speed Pn307 7 OFF OFF ON No 5 Internally Set Speed Pn308 ON OFF ON No 6 Internally Set Speed Pn309 OFF ON ON No 7 Internally Set Speed Pn310 ON ON ON No 8 Internally Set Speed Pn311 SUuOI eoIINNdS To use the internally set speed use the zero speed designation input VZERO as contact b If this is OFF the speed command becomes 0 The zero speed designation input VZERO is set to disable set value 0 by default To use this change Zero Speed Designation Selection Pn315 to enable set value 1 to 2 If the zero speed designation input is not used the motor turns at No 1 Internally Set Speed
567. ut time P 8 41 Hold Time Encoder Dividing You can set a dividing ratio by using Encoder Dividing Pn503 Denominator Numerator Pn011 as the dividing numerator and Encoder P 8 45 Dividing Denominator Pn503 as the dividing denominator Error Counter Reset Set the reset condition under which the error counter reset Pn517 gt i gt P 8 51 Condition Selection input signal Pn518 Command Pulse Set whether to enable or disable the command pulse P 8 51 Prohibition Input Setting prohibition input 5 6 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL BASIC CONTROL Mode PUPWILUOD 33104 A WWI 82104 Z ON ZZSUd Yw 2404 ON LOUd u0199 WWI 8404 LZSUd yw 82404 Bunnjas asuodsay gud JO4 UOD JUaIND o yoyeulwouag E0SUd ZO asJaAay ZLOUd gO Japoouy JoyesIWNN LLOUd vo yndjno asind uoneiauabad asing 1apo2u3 5 1 Position Control uolya ap paeds Z Ja 14 8104 60LUd Parameter Block Diagram for POSITION CONTROL mode JOYIY4 29404 YOLUd dls 779Ud la JaMasqo asuequnisiq paads snoauequeysu OL9Ud CAP 4 8OLUd L Jayl4 OLUd
568. v E actual speed exceed the value set in Pn602 Overspeed The motor movement speed 0 exceeded the set value of the y y y Overspeed Level set Pn910 26 Overspeed 2 The motor movement speed 1 exceeded the set value of the y y Overspeed Level set 2 Pn615 Command pulse A command pulse frequency exceeds 0 frequency error the maximum range Pn532 by 1 2 v V V 27 times A Command pulse multiplier Electronic ratio is not set to a suitable N J R error value Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 7 ueu zuIeN pue 10113 Error and Maintenance 11 3 Alarm List 11 8 Error Attribute number Detection details and probable Error detection function EA Ae 3 an be Immediate Main Sub History cleared stop Pulse regeneration error The pulse regeneration output 28 o on V V V frequency exceeded the limit Error counter overflow Error counter value based on the 29 0 encoder pulse reference exceeded y y 2 9 536 870 912 30 0 Safety input error Safety input signal turned OFF y 0 Interface input duplicate A duplicate setting for the interface r a allocation error 1 input signals was detected Interface input duplicate 1 V allocation error 2 2 Interface input function An undefined number was detected in y 7 A number error 1 the interface input signal allocations Interface input f
569. verflow Level Position Sound 0 to 134217728 Unit Command unit PERUN fonda OV OFE range setting and ON Set the range of the error counter overflow level Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 8 7 sjiejeg S19 9WL Jed Parameters Details 8 1 Basic Parameters Pn016 Regeneration Resistor Selection All Setting 0to3 Unit E Default 3 Power OFF Yes range setting and ON Default settings 1 Pn016 0 For 200V drives of 750 W or upper and 400V drives 2 Pn016 3 For 200V drives of less than 750 W Explanation of Set Values Set value Explanation Regeneration Resistor used Built in Resistor 0 The regeneration processing circuit will operate and the regeneration overload alarm display No 18 will be enabled according to the Built in Resistor with approx 1 duty Regeneration Resistor used External Resistor 1 The regeneration processing circuit will operate and regeneration overload alarm display No 18 will cause a trip when the operating rate of the Regeneration Resistor exceeds 10 Regeneration Resistor used External Resistor 2 The regeneration processing circuit will operate but regeneration overload alarm display No 18 will not occur Regeneration Resistor used None 3 The regeneration processing circuit and regeneration overload alarm display No 18 will not operate and all regenerative energy w
570. via the Serial Converter interface to pin 3 and 4 optionally it is possible to connect the hall sensor and the temperature sensor to the Serial Converter Encoders with integrated serial protocol absolute and incremental specification to pin 3 and 4 See section 3 5 for details Pin Symbol Name Function and interface number 1 E5V Use at 5 2 V 5 and at or below 250 mA Encoder power supply output This is connected to the control circuit ground connected to 2 EOV connector CN1 3 PS Encoder signal I O Performs the serial signal input and output when SinCos z PS Serial signal encoder is used via Serial Converter 5 EXA Performs the input and output of phase A B and Z signals 6 EXA when pulse encoder is used 7 EXB Encoder signal input 8 EXB Phase A B and Z signals 9 EXZ 10 EXZ Shell FG Frame ground Frame ground 3 46 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 1 Drive Specifications i Connection of Encoder Input Signal and Processing of External Signals 5V arg ee Encoder power supply output 52V 5 EOV 250 mA max Serial From serial transmission converter Phase A Tex lt lt pale cl EENC Photocoup From pulse encoder PhaseB Phase Z X X welo roal i SKjPhotocoupl FG i Encoder Input Signals List Encoder I O CN4 Pin 2 A Symbol Name Function and interface numbe
571. vibration that exceeds this setting is detected the vibration detection warning will occur Pn638 Warning Mask Setting All Setting Default Power OFF range 32 768 to 32 768 Unit setting 0 and ON Yes Set the warning detection mask setting See chapter 11 2 for detail of the bits lf you set the corresponding bit to 1 the corresponding warning detection will be disabled Pn639 Reserved All Setting 7 Unit 7 Default i Power OFF _ range setting and ON Pn640 Reserved All Setting 7 Unit 7 Default Power OFF _ range setting and ON Pn641 Reserved All Setting S Unit 7 Default i Power OFF _ range setting and ON Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL sjiejog sioj oweled Parameters Details 8 8 Linear Motor And Encoder Setting Parameters 8 8 Linear Motor And Encoder Setting Parameters Pn900 Reserved All Setting range Unit Default setting sa Do not change the setting Pn901 Encoder resolution All Setting range 0 000 to 1048576 Unit um count Default setting 0 000 ee Yes Set the encoder resolution in um count after x4 multiplication in case of A B encoder Pn902 Pole pitch All Setting range 0 00 to 327 67 Unit 0 01mm Default setting 0 0
572. voltage and abnormal voltage from power supply input lines When selecting surge absorbers take into account the varistor voltage the surge immunity and the energy tolerated dose For 200 VAC systems use surge absorbers with a varistor voltage of 620 V The surge absorbers shown in the following table are recommended Manufacturer Model Surge immunity Type Comment Okaya Electric RAV 781BWZ 4 Single phase Industries Co 700 V 20 2500A 100 200 VAC Ltd Block Okaya Electric RAV 781BXZ 4 3 phase 200 VAC Industries Co 700 V 20 2500 A Ltd Note 1 Refer to the manufacturers catalog for operating details Note 2 The surge immunity is for a standard impulse current of 8 20 us If pulses are wide either decrease the current or change to a larger capacity surge absorber External Dimensions For single phase BWZ series For 3 phase BXZ series 4 2 oj 4 2 o Oj O y y y LA Y Y A to to 090o foe O O O o foo N N Y Y T IU f Jo YJ M M Q 4 M M M Q O R R 4 y a y ry ry 12E maa H g 2 a 1 io y 41 41 Equalizing Circuits For single phase BWZ series For 3 phase BXZ series Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 37 u
573. w the Stop Selection for Alarm Generation Pn510 1 Immediate stop refers to applying control while servo is still ON and stopping the operation immediately At that time the force command value is restricted by the Immediate Stop Force Pn511 2 If the position command is given or the motor runs continuously when the main power supply is turned OFF the position error accumulates and Err24 0 error counter overflow may occur In addition if servo is turned ON when the position error is a large value the motor may operate abruptly to perform a control operation to bring the error to 0 Take sufficient care when using while holding the position error 3 Decelerating refers to a period between when the motor is running and when the motor speed reaches 30 mm s or less Once the motor reaches a speed of 30 mm s or less and moves to the after stop status follow the subsequent operation based on the after stop status regardless of the motor speed 4 The position error or external scale error will always be cleared to 0 8 47 sjiejeg S19 9WL Jed Parameters Details 8 6 Extended Parameters Pn508 Undervoltage Alarm Selection All Setting Default Power OFF range oe Unit setting i and ON Explanation of Set Values Set value Explanation Turn the servo OFF based on the setting of the Stop Selection with Main Power Supply OFF 9 Pn507 and turn it back to servo ON by turning O
574. witching Selection Pn006 and the COMMAND PULSE mode Selection Pn007 Pn005 Pn006 Pn007 COMMAND Set Set Set PULSE Input pins Motor forward command Motor reverse command value value value mode 90 phase 44 FA difference 45 FA 0 2 signals 46 FB quadruple 47 FB i multiplier Reverse 44 CW pulse 45 CW L 1 0 1 forward 46 CCW pulse 47 CCW L Feed pulse 44 PULS direction 45 PULS 3 signal 46 SIGN 47 SIGN Joo wa o o i Note 1 If the Command Pulse Movement Direction Switching Selection Pn006 is set to 1 the movement direction will be reversed So D O 9 fe 5 a Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 3 29 Specifications 3 1 Drive Specifications Command Pulse Timing for Line Receiver Inputs Note The Maximum input frequency corresponds to the frequency AFTER interpolation x2 in forward reverse and in frequency direction and x4 in 90 phase difference COMMAND PULSE mode Timing Feed pulse direction signal Maximum input frequency Line drive 4 Mpps Forward command Reverse command l i t1 lt 20 ns t2 gt 500 ns t 2 250 ns T gt 500 ns t T x 100 lt 50 Direction signal t2 Feed pulse Reverse pulse forward pulse Maximum input frequency Line drive 4 Mpps Forward command Rev
575. x G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 11 4 Troubleshooting Symptom Probable cause Items to check Measures The motor does not move even if commands are input from the controller Continued from previous page The force command is disabled Check if the force command input method is correct Set the force command correctly The CW input and CCW input are ON at the same time Check the command pulse s wiring Input the pulse signal either to the CW input or CCW input Always turn OFF the terminal that is not input to Servo Drive is faulty Replace the Servo Drive The motor operates momentarily but then it does not operate after that The motor power cable is wired incorrectly Check the wiring of the motor power cable s phases U V and W Wire correctly The encoder cable is wired incorrectly Check the encoder cable s wiring Wire correctly The motor moves without a command The command pulse input is incorrect Check the command pulse type Set the correct command pulse input Check the command pulse s voltage Connect a resistor that matches the voltage Servo Drive is faulty Replace the Servo Drive The motor moves in the reverse direction from the command The CW input and CCW input connections are reversed Check the controller s command pulse type and the Servo Drive s command pulse type
576. xplanation setting uni range OFFto E a ON Select the speed command when using speed control 0 Analog speed command Command 1 No 1 Internally Set Speed to No 4 300 Speed Internally Set Speed Pn304 to Pn307 0 e 0to3 Selection No 1 Internally Set Speed to No 4 2 Internally Set Speed Pn304 to Pn306 analog speed command 3 No 1 Internally Set Speed to No 8 Internally Set Speed Pn304 to Pn311 Speed Select the motor for designating the Rey direction for the speed comand Sop eomane 0 Oto1 Direction O By analogue command polarity Prien 1 By digital input VSIGN Speed A 302 Command Set the input gain for the analog speed 100 mm s 0 to S command input V 2 000 Scale Analog Speed Set the polarity for analog speed commands Command 0 Voltage Forward direction 303 Movement Voltage Reverse direction 1 Oto 1 ree A Voltage Reverse direction 9 Voltage Forward direction 304 No 1 Internally Set the No 1 internal speed command 0 Finale a Set Speed value No 2 Internally Set the No 2 internal speed command S 393 Set Speed value 2 mm s 306 No 3 Internally Set the No 3 internal speed command 0 mis S Set Speed value No 4 Internally Set the No 4 internal speed command B si Set Speed value p mns er o h No 5 Internally Set the No 5 internal speed command 20 000 S09 Set Speed value 0 mm s 309 No 6 Internally Set the No 6 internal speed command 0 Hanae a Set Speed value 310 No 7 Internall
577. y Set the No 7 internal speed command 0 mm s a Set Speed value 311 No 8 Internally Set the No 8 internal speed command 0 iil s Set Speed value Soft Start F ms 312 Acceleration Setthe acceleration processing acceleration 0 1 000 0 to time for speed commands 10 000 Time mm s Soft Start ms 210 Decolraion Setmesesterationpossesingsceteraton Jy 16 000 po Time P i mm s i 12 20 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 2 Parameter List E 2 Power Parameter Explanation Default Unit Setting supply zZ name 3 setting range OFFto iz z ON Surve Set the acceleration deceleration 314 Acceleration rocessing S curve time for speed 0 ms oto Deceleration P g P 1 000 f commands Time Setting Select the function of the zero speed designation input ZEROSPD 0 Disabled Zero Speed 1 The speed command is 0 315 Designation If the speed command is 0 and the 0 0to3 Selection 2 actual speed is less than the zero speed designation the servo is locked If the speed command is less than the zero 3 _ speed designation level the speed command becomes 0 and the servo is locked Position Lock is 3 10 to 316 Level Setting Set the threshold for position lock moving 30 mm s 20 000 Select the force command and speed limit value Force 0 Force command Analog input 1 Spe
578. y and wiring conforming to the power supply specifications for the drive in use Incorrect signal wiring can cause damage to units and the drive Leave unused signal lines open and do not wire them Use mode 2 for origin search The diode recommended for surge absorption is the RU 2 Sanken Electric Co Ltd or the equivalent Make the setting so that the servo can be turned ON OFF with the RUN signal 12 4 Accurax G5 LINEAR AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 12 1 Connection Examples i Connection Example 4 Connecting to SYSMAC CS1W NC113 213 413 or C200HW NC113 213 413 Main circuit power supply CW With resistance CW Without resistance NEB OFF ON MCI MC2 O 4 ete teeta R ite 5 a ae Main circuit contact SUP surge suppressor 3 phase 200 to 240 VAC 50 60 Hz sO od l7 NEEN A t T O S gt t CS1W NC113 213 413 Ground to C200HW NC113 213 413 100 Q or less R88D KTx L Description No fPo 24 V power supply for output H Reactor i aR 0 V power supply for output H i zim Xaxi CCW With resistance i r MC1 MC2 axis FCW Without resistance pulse H O output ECRST X axis error counter reset output X axis origin common X axis origin line drive input 7 Z

Accurax G5-Linear Servo system USER`S MANUAL

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