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1. 13 INSPD Output complete signal of target speed reaching X O X O X O X X X 14 INPOS o signal of target position O x x YO Xx O X 15 RDY ION at Complete operating ready state O O O O O O 16 BRAKE Brake operating signal output O O O O O O ON at servo dirving 1 3 5 Monitor Output Signal and Output Power Supply Pin Application table on operation mode Name Function and Use No P S T S P S T PIT 25 MONIT1 Analog monitor output 5 5 V O O O O O 26 MONIT2 Analog monitor output2 5 5 V O O O O O O 27 GND Analog output signal ground O O O O O O 5 15V 15 V Power supply output terminal O O O O O O 6 15V 15 V Power supply output terminal O O O O O O 7 GND15 Ground of operation power 15V O O O O O O 1 3 6 ENCODER Output Signal Pin Application table on operation mode Name Function and Use No P S T Sie amp T Ba E Divide the Encoder signal by set 93 80 values of menu PE 501 PE 511 O O O O O O 04 IBO 5 V Line drive type 19 ZO Encoder Z signal output by motor 20 ZO 5 V Line drive type 9 2 E e a a 1 18 MECAPION Chapter 2 Installation 2 1 Servo Motor 2 1 1 Working circumstances AE EE ETE EE TER TE RE 2 2 21 2 Avoiding excessive SHOCK esse sesse Ee eee tent ee Re nee PER tee Re Ee ee 2 2 SS NITO gt AA EL ER aa 2 9 21 4 Connecting with load equipment A id N baie dod da
2. tor should be consisted with the U V W of the drive In case that there is humidity or condensation in the motor you have to check the insulation resistor is more than 10 M amp 500 V after installation 2 2 MECAPION Chapter 2 Installation 2 1 4 Connecting with load equipment Connection with coupling Install the motor shaft and load shaft within the allowed ranged Less than 0 03 mm peak to peak Load Ea M otor li Less than 0 03 mm peak to peak Connecting with pulley Load of Radius Load of shaft Remarks Flange direction direction N kof N kof 40 148 15 39 4 Less gr Nr 30 mn 60 206 21 69 7 Load of radius direction 80 255 26 98 10 130 725 74 362 37 1 80 1 548 1 58 51 9 53 Load of shaft direction 220 1850 189 781 90 2 1 5 Installing cable In case of vertical installation don t let the oil or water flow into the connection part Don t damage or scratch the cable In case that the motor moves you have to use the flexible cable and don t let the cable be waved MECAPION 2 3 Chapter 2 Installation 2 2 Servo Drive 2 2 1 Working circumstances The working circumstances should meet the below requirements Item Circumstances Remarks Temp 0 50 C a my Attach the fan to the panel for ventilation within the allowed temp ix In case of long stoppage the
3. ID Model Watt Remarks ID Modle Watt Remarks ID Model watt Remarks 100 133 166 101 SE35D 3500 ForDs only 134 167 102 SE30D 3000 Special type 135 168 103 For LG 136 169 only 104 Special type 137 170 105 SE35A 3500 Special type 138 171 106 Special type 139 172 107 Special type 140 173 108 SF35A 3500 Special type 141 174 109 SEO8D 750 Special type 142 175 110 143 176 111 SG22D 2200 144 177 112 SG35D 3500 145 178 113 146 179 114 147 180 115 148 181 116 149 182 117 150 183 118 151 184 119 152 185 120 153 186 121 SG12M 1200 154 187 122 SG20M 2000 155 188 123 SG30M 3000 156 189 124 157 190 125 158 191 126 159 192 127 160 193 128 161 194 129 162 195 130 163 196 131 SG20G 1800 164 197 132 SG30G 2900 165 198 MECAPION 8 15 Appendix Appendix 3 Trial test procedures Thank you for purchasing our products Please proceed with the trial test as below 1 Checking goods Please check the label if you have right item Refer to Chapter 1 1 2 Connecting power Apply single phase AC 220 V to L1C L2C and apply 3 phase AC 220 V to L1 L2 L3 Refer to Chapter 3 2 3 Wiring Wire CN1 CN2 CN3 and motor depending the operation mode Refer to Chapter 1 2 3 In case that the motor moves use the flexible cables 4 Inputting control power Apply single phase AC 22
4. MENU Unit Initial 7 Description Mode a coda NAME Min Max code ja 1 Set the operation mode PST 0 torque control operation 1 speed control operation 2 position control operation 120 PE 601 Operation Mode 0 5 3 speed position control In case of mode off position control 4 speed torque control In case of mode off torque control 5 position torque control in case of mode off torque control 121 PE 602 200 Selected by the combination of speed command st Speed Command1 6000 input contact point SPEED1 SPEED i SPD1 SPD2 122 PE 603 r min 1000 ST Speed Command2 6000 6000 OFF OFF analog speed command r min 3000 ON OFF internal speed command 1 ST 123 PE 604 l OFF ON internal speed command 2 Speed Commands 6000 6000 ON ON internal speed command 3 124 PE 605 Not Used 125 PE 606 Nor Used r min 10 Setting the speed for encoder s Z phase search PST 126 PE 607 operation Z Search Operaon Speed 1 00 Fixed value for the operation of PC 806 127 PE 608 r min 500 Sett ng the speed for manual position operation PST Manual P Operation Speed 1 6000 Fixed value for the operation of PC 807 N ms 0 Setting the accel time of speed command s ien BE Accel Time 0 10000 Setting the decel time of soeed command 129 PE 610 ms 3 Decel Time 0 10000 130 PE 611 0 Setting S shaped operation at speed mode S S Type Control 0 1 0 lineal accel decl 1 S sha
5. 1 Set zero speed torque improved function S Mode Zero improve Speed 0 Not used 1 Use Determine stop torque improved algorithm is applied or not 79 PE 320 Zero Speed Lock r i After input contacts STOP under the condition of below 100 rpm or zero speed clamp PE 403 is 1 The mode is automatically changed Speed mode to position mode when the value is below than zero speed clamp voltage PE 404 4 20 MECAPION 4 2 6 Analog I O Variables Setting Menu xx Editing is not allowed under Servo On amp Reset Menu Editing is not allowed under Servo On Chapter 4 Program Menu MENU Unit INI Description Mode Com CODE NAME Min Max r min 2000 Set analog speed command at 10 V ST 80 PE 401 Analog Speed The unit of analog speed command 10 V is 1 6000 r min mv 0 Set Analog Speed command offset S Because of analog circuit problem certain 81 PE 402 Analog Speed Offset 1000 1000 voltage is occurred during 0 torque command condition At this time compensate this voltage with setting of certain voltage as offset 0 Set mode of clamp for analog zero speed S command Mode Zero clamp function Not operated S 10 V 10 V 0 Zero Speed 82 PE 403 Clamp 0 1 SPD Com clamp mode PE 403 0 Operated S 10 V 10 V 1 SPD Clamp V PE 404 SPD Com clamp mode PE 403 1 1 S
6. 67 4 16 MECAPION PE 308 S TUAH O2 Speed P Gain2 rad s 5000 Set Speed P gain 2 This value is set as bigger value than PE 307 When PE 520 Gain Conv mode is 1 When actual speed is higher than PE 313 0 SPD Gain SPD Speed P gain1 is changed to Speed P gain 2 PS Chapter 4 Program Menu 68 PE 309 Speed TC1 ms 10000 Set Speed TC1 S Gain Analog PE 309 S Com Analog S Com Fit PE 311 OSPD Gain PE 313 Digital SCom O T Com SF Fit PE 312 Com Speed T Getting Integral calculus value for Speed error between command and current speed Then covert to torque command with Multiplying this integral calculus value to Gain value if TC is reduced following speed is increased with improved response speed but so small overshoot can be happened If value is so big following speed is decreased So P gain also decreased in case of PE 520 Gain Conv mode is 1 Applied at actual speed is lower than PE 313 ZSPD gain speed Recommend setting value 10000 Speed gain PE 307 PS 69 PE 310 Speed TC2 ms Set Speed TC2 This value is set by lower than PE 309 in case of PE 520 Gain Conv mode is 1 When Actual speed is over PE 313 Zero SPD Gain Speed Speed Gain1 is changed to Gain2 PS MECAPION 4
7. ki wiri ki i i AL 26 Over Regeneration Error of Setting time of PE 419 Check input voltage wiring of braking resistance Replace drive AL 27 Current Limit Over ial sad de f Motor wiring Check Load condition Continuance operation above 1sec AL 28 Not Used Not used AL 29 Not Used Not used AL 30 In Out Logic error In Out Logic Error Set value adjustment AL 31 Encoder N D Error Encoder N D Error Set value adjustment AL 32 Egear N D Error Egear N D Error Set value adjustment Input of parameters which cannot Err Error be changed is attempted during Turn OFF the servo and change the set value Servo ON Err2 Error2 Iput Of Gata WAGA IS OUNO Input values within the set range set range z E Change the menu which is locked z a Err3 Error3 by PC 810 Menu Data Lock Change the menu PC 810 with unlock condition 7 6 MECAPION Chapter 7 Maintenance and Inspection Overload charateristic curves of Servo Drive Overload operating time Rated current Set ES Min ES vlalue D N 100 co 21000 120 co w 150 500 1200 800 oO o O 100 200 50 120 80 250 12 28 20 300 3 7 5 100 150 200 250 300 Motor rated current MECAPION y Appendix Appendix 1 Menu SUMIMALY ee ee eects teeters tee cee EER non teen see ee 8 2 Appendix 2 Motor type DO E RE e AR ERE 8 14 Appendix 3 Trial run procedures RED ER EAA EEE EE 8 16 Appendix
8. Appendix 1 Menu summary The menu is composed of 9 groups and refer to the details on each menu Menu No Menu group Descriptions Pd 001 Pd 020 Status Menu Display the status of operation PA 101 PA 120 Alarm Menu Save and display the alarm history PE 201 PE 220 System Menu Save the data on system composition PE 301 PE 320 Control Menu Save the fixed parameters of control PE 401 PE 420 Analog Menu Save the fixed parameters input output PE 501 PE 520 InOut Menu Save the input output variables PE 601 PE 620 Speed Operation Menu Save the fixed speed operation PE 701 PE 720 PC 801 PC 820 Pulse Operation Menu Command Menu Save the fixed position pulse operation Manipulating operation Refer to the meanin of abbreviation for the operation mode P Used in posiiton control mode S Used in speed control mode T Used in torgue mode 8 2 MECAPION 1 Display menu for the status of operation Appendix MENU Unit Initial Comm CODE NAME Min Mee Description Mode code 0 Pd 001 Display the status of current operation PST Current State Servo off nor oF Servo on nor on Alarm AL XX i Pd 002 r min 0 Display the current operation speed PST
9. Precaution at First Setup CAUTION e Make sure the Power Supply voltage AC200 230 V and wiring before power is applied to the circuit e At first power apply applied the power on Servo OFF status E e Verify the model No of motor an circuit d the No of Encoder pulse before power is applied to the e Set the motor ID on menu PE 201 number of Encoder Pulse on menu PE 204 e After finishing the above set the operation mode of servo drive by linking upper motion controller on the menu PE 601 e Wire CN1 if servo drive according to each operation mode referring to 1 2 System Construction Refer to 5 5 Example of connecting to upper Controller e The ON OFF state of each CN1 input contacts can be verified at CN1 contacts state e After turning OFF Control power s WARNNING MAINTENANCE AND INSPECTION upply L1C L2C and main power supply L1 L2 L3 then wait enough time Until the charge lamp is turned off Proceed the maintenance and inspection High voltage still remains in the internal condenser e Never touch the high voltage term inals at first power apply Do not repair inspect and replace the component except for authorized person e The alteration of products is not a lowed in any case MECAPION 5 Contents Precaution 1 Product Configuration and Main Function 1 1 Product Configuration lA Checking Products es ER Ee Ee Re RS ee g
10. Servo Drive 10 1 0kW 15 1 5kW 20 2 0kW 35 3 5kW 1 2 MECAPION E Servo Motor Product Type AnyPack Series Motor Capacity Encoder Type Reduction ratio Servo Motor A 03 1 3 gt 10 1 10 Motor Shape Type a Ine S Solid Shaft 12 None No Reducer H Hollow Shaft sa G1 For General industry Foot Mount G2 General industry Flange Mount Precision Gearbox Shape of Shaft N E 40 Frange K One side round 60 Frange Standard 80 Frange Rated Speed C Cut Oil Seal Brake 100 Frange 3000 rpm D Cut None none 130 Frange 2000Lrpm Taper shape 1 Oil Seal Both side round 2 Brake Hollow Shaft 3 Oil Seal Brake 180 Frange 1500 rp 220 Frange 1000 rp m m MECAPION 1 3 Identifying the Parts E Servo Motor Less than 80 Flange Y Bearing Cap Over than 130 Flange 1 4 MECAPION Y Bearing Cap Motor Connector S Motor Power Cable Motor lt e Connector Shaft Y Flange Frame Encoder Connector a Encoder Cable e Encoder vo Cover Housing Encoder Connector e Encoder Cover v Housing E Servo Drive Small Capacity APD VNO1 VNO2 Heat Sink Operation key Left Right Up Enter T gt Main Power Connector L1 L2 L3 Control Power Connector LIC L2C Regenerative Re
11. 220 High 5 8 530 50 200 50 150 xXx Refer to Motor specification for inertia of each motor in Chapter 6 MECAPION 4 13 Chapter 4 Program Menu 61 PE 302 Position P Gain1 1 s 500 Set Position control P Gain 1 Current position Increase the gain till Speed over shoot or Vibration of motor When Gain Conv Mode PE 520 is 1 Pulse error is applied less tan PE 306 Position Zero gain Not applied when PE 601 Mode selection is Speed mode or Torque mode Recommended value Speed P Gain 10 62 PE 303 Position P Gain2 1 s 500 Set Position control P Gain 2 This value is set as same or bigger than PE 302 Position P Gain 1 Increase the value until soeed over shoot or vibration of motor When Gain Conv Mode PE 520 is 1 When Pulse error range is over range of PE 319 Position P Gain 2 in position mode This parameter is applied 4 14 MECAPION Chapter 4 Program Menu 63 PE 304 P Feedforward 100 Set control ratio of position feed forward Current position Use to reduce the time of settled position with get inclination from differential value then add speed command to this inclination if this value is big overshoot can be occurred or system can be unstable So the value must be increased from small value to big value step by step
12. displayed MECAPION 4 39 Chapter 4 Program Menu E Set forced ON OFF of output contact temporarily Step KEY Description 1 Right Increase out0 outi out Left Decrease out2 out1 out0d Up Change outx L outx H 2 3 4 Enter Return to Menu Consist of output contacts Pd 016 Output Test eee 2 dad et Pea da Le OU E EL Lt E Output contacts Down A out0 B outi Ce O ALARM READY BRAKE INSPD INPOS x The contacts of out0 1 2 are same as A B C xX With this parameter can check the wiring condition between servo output contacts and upper controller Initialize the menu to shipping condition Step KEY Description 1 Enter Display CLEAr Left 2 Return to Menu without initialization or Right Initialize with display of ALL CL then 3 Up return to Menu automatically Menu data Init 168 PC 809 xX Don t change PE 201 PE 220 x Power must turn off on again x When applied PC 809 after blackout Menu data initialization PC 809 is must be needed 4 40 MECAPION Chapter 4 Program Menu Applied Menu Locking Function Step KEY Description 169 PC 810 Menu data Lock Don t edit any menu whe
13. 1 7 Chapter 4 Program Menu ms 0 50 Set Speed command filter S S Gain Analog PE 309 Ed OSPD Gain Fit PE 311 PE 313 Digital S Com SP Gain TCom Curent S S F Fit 70 PE 311 Speed IN FT sical 0 0 100 00 When analog input is not stable with filter the sudden change can be removed When setting big value make decreased response speed proper value is needed ms 0 50 Set Speed feedback filter PS S Gain Analog PE 309 SCom F com z Fi Pean kah Digital S com i T Com Cur T Reduce the vibration with using speed feedback filter under the condition of motor speed is unstable big inertia or vibration from Gain 71 PE 312 Speed F B FT 0 0 100 0 When setting big value make decreased response speed or with stop vibration at stop condition system can be unstable condition so proper value is needed When system is unstable with stop vibration Set applied range with PE 313 ZSPD gain speed When speed is lower than PE 519 ZSPD gain rate Vibration is controlled by adjusting of Gain rate Recommended Setting value 0 Speed Gain PE 309 10 4 18 MECAPION Chapter 4 Program Menu r min 0 Set speed range of Zero speed gain PS S Gain Analog PE 309 S Com Analog S Com Z SPD G ain Digital S com SP Gain T Com 72 PE 313 i PE 3
14. 10 Pd 011 Average Load 0 00 300 00 Average load ratio for 5 seconds which is j i made by motor is displayed as percentage compare to rated load Display peak load ratio compared to rated PST 11 Pd 012 Maximum Load 400 00 309 99 Display the peak load as percentage compare to rated load from Servo On V Display DC Link Voltage of Main power PST DC Link Voltage of standard drive which is using 220 V is around 300 V Max Allowable DC Link Voltage of standard drive which is using 220 V is 400 V When regenerated energy is big or the capacity of regenerative resistor is small DC 12 Pd 013 DC Link Voltage 0 0 500 0 Link voltage is excess to Limit then Over Voltage AL 10 is displayed Less than 380 V in regenerative sector is recommended 4 6 MECAPION Chapter 4 Program Menu Display H W contact condition of CN1 VO Display psT as status of outout contacts hi ig q HMMM Input contacts UP 0 1 2 3 4 PCLEAR l SVON ALMRST CCWUM CWLIM STOP 13 Pd 014 I O SET Display E E TCLEAR 5 6 Y 8 DIR MODE SPD1 SPD2 TRQLIM EGEAR1 EGEAR2 Output contacts Down A B READY INSPD ALARM BRAKE INPOS x When servo is stopped INSPD INPOS contacts is On O i 0 Display setting state of operating time for PS
15. 3 Wiring 3 1 Internal Block Diagram 3 1 1 Block Diagram Rated Output is less than AOOLV D cece eee ecececeeeeeeees 3 2 3 2 Power Board Wring 3 2 1 Wiring Diagram Rated Output is less than AOOLV ee ee ee ee scenes 3 3 3 2 2 Power Board Part SpecificatiON ccc ee see ee ee cc ee eee Re ee Re Re ek ee ee 3 4 3 3 Timing Diagram 3 3 1 Timing Diagram at Supplying POWET ees ee ee ee ee ee ee ee ee ee ek ek ee 3 5 33 2 Timing Diagram at Alia 3 6 3 4 Wiring control Signal 3 4 1 Gontaet INDUS IO lista 3 7 3 4 2 Contact Output Signal sesse ses Re ene be ek ee ee ee ee be ee ee Re nr RR ek de ee 3 7 34 3 Analogil O Sionial susu ida 3 8 3 4 4 Pulse Input Signal cccccesseesscsscscusceseussseeaceceseuccetcateceesevseusensuass 3 9 34 5 Encoder QUIPUESIONA var adn 3 10 3 5 Incremental Encoder Signal CN2 Wiring 3 5 small sizesMGtOF si EE DR EE shy ED ah De ie GE EE ED be erasers De 3 11 3 5 2 Medium Large Special Large size Motor ee ee 3 11 4 Detail Explanation of Program Menu 4 1 How to Operate Loader 4 1 1 Identifying TE EE EE 4 1 2 Menu Operate tre eer e EE FEE EER FEE eee SEE ER EE Gee Ee Ee EER ee ees ees see ees see ees see see see AD 4 2 Menu 4 2 1 Menu Summary te ee EE Ee Ee See tee ER EE SEE ER ett ee ee ee ee ee see ee ee see see see ees 4 4 4 2 2 Display Operation State sers Eer ER FEE EER EE EE ER SEE ER Ee ee ees see ees see see see ee ees 4 5 4 2 3 Display Alarm State ctrrterer
16. 62 PE 303 Position P Gain E 5 00 7 a 1 it is applied when pulse error is less than PE 0 Setting the control ratio of position feedfoward P HERONS P Feedforward 0 100 6A ms 0 l Setting the control filter constant of position feedfoward P PE 305 PFFFLT TC 0 100 00 10pulse 0 Setting the conversion range of position gain 1 2 P a eee eee ae i 65 PE 306 Position Zero Gain 0 5000 a gain 1 is converted into gain 2 when the pulse error is more than rad s 500 Setting speed proportional gain 1 PS 66 PE 307 Speed P Gain1 o 5000 E 520 1 itis applied when the current speed is less than PE 313 rad s 800 Setting speed proportional gain 2 PS 67 PE 308 Speed P Gain o 5000 E 520 1 itis applied when the current speed is more than PE 313 ms 20 Setting the constant 1 of speed integral PS 68 PE 309 Speed TC1 o 10000 E 520 1 itis applied when the current speed is less than PE 313 ms 13 Setting the constant 2 of speed integral PS 69 PE 310 Speed TC2 1 1000 E 520 1 itis applied when the current speed is more than PE 313 ms 0 50 Setting speed command filter S is PESEN Speed IN FT 0 0 100 00 ms 0 50 Setting speed feed back filter PS E 2 EE EE Ee aA ETA 0 0 100 0 r min Setting the speed range of zero sped gain PS 72 PE 313 mde ae dd E The speed which converts speed control gaint gt 2 Zero Speed Gain 0 500 In case of 0 PE 519 is not available ms 0 50 Setting torque command
17. 99999 Display feedback cumulative position Command pulse from Power On When exceed Max Min Value only Min 0 Max 99999 is displayed pulse _ O Display remained pulse which must bel P operated Difference between commanded pulse and RO 909 Pulse Er 0 99999 feedback pulse the motor must be operated as the amount of this value Remained pulse no at Servo OFF will be disappear when servo is On 1000 Display numerator 0 of electronic Gear ratio P When gear ratio is changed from abrasion of Machine to compensate this abrasion Offset 6 Pd 007 E Gear NO 60000 adjusting can be used PE 712 MECAPION 4 5 Chapter 4 Program Menu 0 Display Current commanded torque at torque T o mode Mode Display Type 7 Pd 008 Command Torque Current command Torque Torque 300 00 300 00 Speed Calculated current Position command torque Display current torque as Percentage compare with rated torque 1 3800 _ Display Torque Limit setting Value PST 8 Pd 009 Torque Limit 800 300 Display Max torque value which motor can make as percentage value compare with rated torque 9 0 00 Display current load ratio compare to rated psT VAN ean 9 Pd 010 Current Load 0 00 300 00 Load which is made by motor is displayed as percentage compare to rated load 0 00 Display average load ratio for 5 seconds PST
18. Enter reset will be displayed for 5 seconds and rest the absolute encoder 171 PC 812 Current Offset Save mA Compensate the current offset of Hall CT 1 Right Display the offset of U phase 2 Left Display the offset of V phase 3 Up The offset of U V phase are saved at PE 219 220 and return to the menu 2 If you press Enter when you return to the menu after checking the offset it wil retum to the menu without saving the offset 172 PC 813 8 12 MECAPION Save the offset data of analog speed command voltage Appendix automatically at PE 402 1 Enter Display the current analog speed command voltage 2 Up Return to the menu after the displayed value is Adlog Speed Cmd Offset 1000 1000 saved as offset data of analog speed command voltage at PE 402 x If you input 1 or 3 at PE 420 it can be applied gt Ifyou press Enter when you retum to the menu after checking the offset it wil retum to the menu without saving the offset mV lt Save the offset data of analog torque command voltage automatically at PE 407 1 Enter Display the current analog torque command voltage 2 Up Return to the menu after the displayed value is 173 PC 814 AelooToroue Cmd Offset 1000 1000 saved as offset data of analog speed command voltage at PE 407 x If you input 2 or 3 at PE 420 it can be applied 2 If you pres
19. MECAPION 6 13 Standard type APM SC04A SC03D APM SCOGA SCO5D SCO8A SCO6D SC10A SC07D External dimensions LO Weight kg SC04A SC03D SCO6A SC05D SC08A SC06D SC10A SC07D Brake attached type APM SC04A SC03D SCO6A SC05D SC08A SCO6D SC10A SC07D a 7 External dimensions LO Weight kg SC04A SC03D SCO06A SC05D SC08A SC06D SC10A SCO7D Note Use DC 24 V for brake input power supply 6 14 MECAPION Standard type APM SE09A SE06D SE05G SE03M APM SE15A SE11D SE09G SEO6M APM SE22A SE16D SE13G SEO9M APM SE30A SE22D SE17G SE12M Key dimensions T W Weight kg SE09A SE06D SE05G SE03M 5 6 SE15A SE11D SEO9G SEO6GM 7 2 Brake attached type APM SE09A SE06D SE05G SE03M APM SE15A SE11D SE09G SEO6M APM SE22A SE16D SE13G SE09M APM SE30A SE22D SE17G SE12M External dimensions Key dimensions LM LC T W U Weight kg SEO9A SE06D SE05G SE03M 3 7 4 SE15A SE110 SE09G SE06 3 9 0 SE22A SE16D SE13G SE09M 3 5 10 5 SE80A SE22D SE17G SE12M 3 5 12 0 Note Use DC 24 V for brake input power supply MECAPION 6 15 Standard type APM SF30A SF22D SF20G SF12M APM SF50A SF35D SF30G SF20M APM SF55D SF44G SF30M APM SF75D SF60G SF44M External dimensions a Weight
20. 0 Maximum Instantaneous Torque N m 3 822 kaf cm 39 0 Rated rom r min 3000 Maximum rom r min 5000 Inertia kg m x107 0 269 0 333 0 461 19 558 22 268 of cm s 0 274 0 339 0 470 19 943 22 707 Allowable load inertia ratio Rated power rate kW s 61 97 Speed Position Detector Specification amp Features Standard 20 times of motor inertia 10 times of motor inertia Incremental 5V Line Driver 1 024P R 2 048 P R Option Structure Serial Inc 17 21 bit Totally enclosed Non ventilated IP65 Excluding the shaft through section and connectors Rated time Continuous Ambient temp 0 40 C Ambient humidity 20 80 Avoid freezing Atmosphere Avoid direct sunlight no corrosive gas inflammable gas oil mist or dust E V Elevation Vibration 49 m s 5G Weight kg Speed Torque characteris ane APM SG30M ce APM HBO1A in 0 8 1 6 Torque Torque Torque 54 0 0 6 1 2 NM 36 0 N m 0 4 N m 0 8 1 di 0 2 0 4 Continuo 500 1000 1500 2000 O 1000 2000 3000 4000 5000 O 1000 2000 3000 4000 5000 rpm r min rom r min rem r min APM HB04A APM HEO9A APM HE15A 10 0 15 0 EE 3 2 12 0 Torque Torque 2 4 9 0 N m 1 6 Neo 0 8 Corltinuoys 3 0 O 10002000 3000 4000 5000 O 1000
21. 2 7 1 0 Contacts Variables Setting Menu Er see EE Ee ER Ee ER ees ee ee 4 26 4 2 8 Speed Operation Variables Setting Menus stairs ens 4 32 4 2 9 Potion Operation Variables Setting Menu er ser er ver see sr ver ee eg 4 35 4 2 10 Operation Menu ME ETE EE EE 4 38 Chapter 4 Program Menu 4 1 Loader Operation 4 1 1 Name of Each Part Pipers dl O CHARGE C ALARM Left 9 O Right Up NG De Enter 4 1 2 Menu Operation Logic of Menu gt PE 701 PE 702 eeoeseeeeee Left Left Left Right Right Right Up Right Right Right _ gt gt PC 801 fa popia MO esse Left Left tah Up 4 2 MECAPION 2 Menu Editing Chapter 4 Program Menu Enter Creo RHE Change Position Left Right Change Value Up Initial Blinking digit Shift to the menu for editing in the same method of After above press Enter Key then data of menu is displayed 13 And the last digit is blinking you can change the value where blink is located For moving the blinking position press Left or Right For changing value press Up Key then value is increased At this time the back to 0 when it exceeds 9 numerical value turns When editing is completed press Enter Key then value is saved and return to menu x When return to Menu without saving the value Press Left Right at one time then display is return
22. 2 External Dimensions TEE OR Sid od SEE Slee SSS So EE AE EE 6 12 6 2 Servo Drive 6 1 j Features EER EE AE AE was CNS EG 6 19 6 1 2 External Dimensions EL EE ET ds as hale ets 6 20 6 3 Option and peripherals seh ted beat Lh tices a Seated E tical Ee 6 21 6 1 Servo Motor 6 1 1 Product Features Servo Motor Model APM SARSA SA01A SBO1A Applicable drive APD VNO1 Rated Output kW 0 03 0 05 0 1 0 1 0 2 0 4 N m 0 095 0 159 0 318 0 318 0 637 1 274 Rated Torque kgf cm 0 97 1 62 3 25 3 25 6 50 13 0 Maximum Instantaneous Torque N m kof cm Rated rpm r min 3 000 Maximum rom r min 5 000 Inertia Ko m x107 0 011 0 021 0 045 0 114 0 182 0 321 gf cm s 0 0112 0 0214 0 0459 0 116 0 186 0 327 Allowable load inertia ratio 30 tim es of motor inertia 20 tim es of motor inertia Rated power rate kw s 5 57 10 52 23 80 8 92 22 26 50 65 Speed Position Detector Specification amp Features Standard Incremental 2 048 P R Incremental 2 500 P R Option Structure Serial Inc 17 21 bit Totally enclosed Non ventilated IP55 Excluding the shaft through section and connectors Rated time Continuous Ambient temp 0 40 C Ambient humidity 20 80 Avoid freezing
23. 2000 3000 4000 5000 O 1000 2000 3000 4000 5000 rem r min rem r min rem r min 6 10 MECAPION M Electronic Brake s Specification Brake Type Servo Motor Applicable Motor oa APM SA APM SB APM SC APM SG eries Power Supply v DC 24V DC 24V DC 24V DC 90V Rated Friction 0 32 3 23 Torque Nem Rated Current A 0 25 0 27 0 38 Note 1 For the Electronic Brake that is attached to our Servo Motor the same specifications are to be applied as per the series 2 Never use it for braking purpose because the electronic brake is only for maintenance of stopped condition 3 The characteristic of electronic brake is measured at 20 C MECAPION 6 11 6 1 2 External Dimensions6 Standard type APM SAR3A APM SARSA APM SAO1A External dimensions Weight kg LM LE Note1 40Flange s standard axis is straight Brake attached type APM SAR3A APM SAR5A APM SA01A External dimensions Weight kg LM LG Note1 40Flange s standard axis is straight Note2 Use DC 24 V for brake input power supply 6 12 MECAPION Standard type APM SBO1A APM SB02A APM SB04A External dimensions Weight kg LM LO Brake attached type APM SBO1A APM SBO2A APM SBO4A External dimensions Weight kg LM LO Note Use DC 24 V for brake input power supply
24. EER EER E EE eee ER EER tee EER EE RR EE EE EER ee EER EER Ee EER eer ee 4 9 4 2 4 Setting System Variable rr Eer EE EE EE ER SEE ER Ee ee ees see ee see es see ees see ses ees 4 10 4 2 5 Setti 4 2 6 Setting Analog l O Variables EE EE EER EE ER EE RR ee ee see see see see see ees sesse 4 21 4 2 7 Setti 4 2 8 Setti 4 2 9 Setti 4 2 10 Operation Menu sr EE EE EE ER EE EER eee EE ER Gee ee EE EER ee ee ee ees ee ees see see see ees 4 38 ng Contro ETES EE c ee cee cee cnn EE Er 4 13 ng 1 0 Connecting MEETS EE EE EE 4 26 ng Speed Operation ETES ET eco 4 32 ng Position Operation Variables TE EE 4 35 MECAPION 5 6 2 Servo Drive 5 Handling and Operation 5 1 Check Point before Operation 5 1 2 Operation Signal CN1 Wiring Check Hs EE eee EE eect ees 5 1 3 Environment Check see cee see tet ses see ee RE Ee Re ee KAR EER eee BAG RR eee KOR eee ee RR Roe 5 1 4 Machine State Check esse EE e EER ER EER EER EER EER GR Ee Ee EER ee 5 1 5 Menu Variables Check 5 2 Handling 5 2 1 Alarm Reset 5 2 2 Alarm History Clear 5 2 5 Input contact Logic dle EE EE EE Oe 5 2 6 Output contact Logic Operation hn 5 2 7 Compulsory Handing Input Contact 0 Tel EG EE 5 3 Adjustment 5 3 1 Current Offset Tuning 5 3 2 Analog speed Current offset EE EE cnn nnnnnnnnnnnnenn nes 5 3 3 Analog Torque current offset RE trtrrr ere tereretsrerrereererrrenr erreren 5 4 Test Operation 5 4 1 Manual Test Operation EEN OE TET
25. GP110012 GP110721 GP110028 terminal 10mm Strip8 Twist KET KET KET eo li 30 W 140W 300W 300W resistor a Provided 100 2 402 232 232 x 2P 3 4 MECAPION Chapters Wiring 3 3 Timing Diagram 3 3 1 Timing diagram at power supplied In the case of APD VNO1 VNO4 Power is supplied to the control circuit if 3 phase power is connected to the L1 L2 L3 terminals Servo becomes RDY after maximum 500 msec that is required to initialize the drive system inside In case of this after Relay off 30 ms Servo becomes RDY and when the servo drive signal is turned ON operation starts 25 msec later lt gt Single anash Se ooo Control power p 100ms set Control program gt Initialization Within 500ms 4 Power good 200ms Alarm Normal on PWM OFF Delay Time lt 300ms Relay DB Relay OFF Relay ON gt Relay ON DB ON DB OFF gt fe 2 ms 08 ofr Relay OFF DB ON Servo RDY gt a 30 ms SVON Servo ON Servo OFF pm PWM OFF Delay Time PWM gt lt lt 25 ms b d 2 5 ms BRAKE Output BRAKE OFF Delay Time Below 0 SPD DB ON le Motor SPD Semun MECAPION Y 3 5 Chapter 3 Wiring 3 3 2 Timing diagram at Alarm occurred If Alarm occurred in the drive system PWM is shut off and the motor stops Check and remove causes of Alarm and turn OFF the servo motor operating command SVON before resetting Alarm E gt Single P 3P Les
26. PE 714 Position Pulse Accel Decel Time 100 Set position command Accel Decel time Position pulse Accel Decel time make smooth operation for rapid change of position command with setting the Time constant of 1 delayed filter Unit of position command Accel decal setting range is 1 ms and the Max is 100 ms 154 PE 715 Not Used 155 PE 716 Not Used 4 36 MECAPION Chapter 4 Program Menu 156 PE 717 Manua Position Operation distance turn 0 00 300 00 Set target position distance as no of rotation for manual position operation PC 807 The direction of operation is decided by Left Right under PC 807 Menu X This menu is setting value for operation of PC 807 PST 157 PE 718 Position Limit Pulse Clear Set function of Limit contacts CCWLIM CWLIM Mo de 0 Pulse command is Clear Function 1 Pulse command is counted under CCWLIM CWLIM condition when input pulse command counter is bigger than setting value of PE 502 position operation following error range AL 06 Following Error is displayed 158 PE 719 ABS Multi Turn Display Multi Turn Data of ABS encoder PST 159 PE 720 ABS Single Turn Display Single Turn data of ABS encoder PST MECAPION 4 37 Chapter 4 Program Menu 4 2 10 Operati
27. Type Method Signal i 15Line A Phase A B Z Parallel Lead U V W ed 15Line B Phase A B Z Parallel Lead U V W a oie Paranal Pase AB Lead 42 PE 203 Encoder Type 6 assesseer Saez Lead data i Inc Commui oe Wie AE ARE 0 4 Caution If encoder type will not matched with actual encoder on motor Motor can be operated with unstable speed 4 10 MECAPION Chapter 4 Program Menu p r 2500 Set PPR Pulse per resolution of encoder PST When the encoder which is used A B pulse signal Set No of Pulse per 1 rotation At this time the no of pulse for A B is the same 43 PE 204 Encoder Pulse 1 6000 Caution lf encoder type will not matched with actual encoder on motor Motor can be operated with unstable speed 300 Set Limit Torque for CCW PST 44 PE 205 CCW TRQ Limit a Setting value is the percentage of rated Torque And default value is 300 300 Set Limit Torque for CW PST 45 PE 206 CW TRQ Limit f 1 350 Setting value is the percentage of rated Torque And default value is 300 0 Set Drive ID at Communiation PST When Servo is communicated with RS422 communication or BUS communication the 46 PE 207 System ID 0 99 nominated Servo ID can be used Servo can be communicated individually with identified ID 0 Set Drive Group ID at Communication PST 47 PE 208 System Group ID 0 99 When several drives are ope
28. characteris APM SE16D 25 0 E 20 0 Torque si hk range N m 10 0 re 1000 2000 3000 1000 2000 3000 500 1000 1500 2000 rom r min rom r min rom r min soo APM SE09M sso APMESETDN 28 0 TORQUE g N m 14 0 7 0 Continous 500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000 rem r min rem r min rpm r min 6 6 MECAPION E Product Features Servo Motor Model APM SF30A SF22D SF35D Applicable drive APD VN30 VN20 VN35 Rated Output kW N m Rated Torque kof cm Maximum Instantaneous N m Torque kgf cm Rated rom r min 2 000 Maximum rpm r min 3 000 kg m x10 30 74 52 13 30 74 Inertia 5 af cm s 31 35 53 16 31 35 Allowable load inertia ratio 5 times of motor inertia Rated power rate kW s 29 66 35 88 53 56 Speed Position Standard Incremental 5 V Line Drive 3 000 P R Detector Option Serial Inc 17 21 bit Structure Totally enclosed Non ventilated IP65 Excluding the shaft through section and connectors Rated time Continuous Specification Ambient temp 0 40 C amp Features Ambient humidity 20 80 Avoid freezing Atmosphere Avoid direct sunlight no corrosive gas inflammable gas oil mist or dust E V Elevation Vibration 49 m s 5G Weig
29. contact point by manipulating Left amp Right key and set 0 or 1 by pressing Up key 0 CN1 driving signal is operated through Normal A contact point 1 CN1 driving signal is operated through Normal B contact point Note If you repeat to turn on off the power the fixed input contact points will remain in the same way as before MECAPION 979 Chapter 5 Operation 5 2 7 Setting forced ON OFF of output contacts logic You can check if the output point of servo is connected to the upper controller properly by using the function forced ON OFF of output contacts logic If you press Enter at forced ON OFF of output contacts logic setting menu out1 L will be displayed When you select the position of output contact point by manipulating Left amp Right key and press Up key it will be changed into out1 H and you can alter the logic status of output points temporarily Refer to the below for key function and display of output points The function of Right Left Up Enter KEY Description Right out0 gt out gt out out0 moving into increase direction Left out out out0 out2 moving into decrease direction Up outx L outx changed into H Enter Return to menu Display and the kinds of output points outo outi out2 ALARM READY BRAKE INSPD INPOS It can be selected at PE 508 xXx The contact
30. gt STOP Dir Select Mode 0 1 1 DIR OFF STOP ON gt CCW DIR ON STOP OFF gt CW DIR ON STOP OFF gt STOP DIR OFF STOP OFF gt STOP 1 1 4 PE 515 il AA 0 01 EE Setting the logic of output contact point PST Output Logic 000 111 2 inspd inpos 1 Ready Brk O Alarm ms 0 Setting the delaying time which is the actual PWM OFF 115 PE 516 ms 0 PST PWM off Delay 10 1000 under Servo OFF 01100 Setting the logic status of input contact 0 4 116 PE 517 ED TE od j f _ PST Intput 0 4 Logic 00000 11111 4 pclear stop tclear 3 cwl 2 ccwl 1 almrst O svon 0000 Setting the logic status of input contact 5 8 PST 117 PE 518 Intput 5 8 Logic 0000 Wit 8 egear2 spd2 7 egear1 spd1 6 trqlim mode 5 dir 50___ Setting zero speed gain ratio S 118 PE 519 ZSPD Gain Rate 1 100 0 Setting gain 1 gain 2 mode PST J 0 gain 1 only 1 conversion mode of gain 1 2 a PE 601 1 the current speed is PE 313 or more speed gain 1 gt 2 119 PE 520 Gain Conv Mode 0 0 1 b PE 601 2 including a Error pulse is PE 306 or below position gain 1 a position gain 1 gt 2 Error pulse is PE 319 or below position gain 2 8 8 MECAPION 7 Speed operation variables setting menu xx indicates the menu which can t be changed or reset during Servo On inidicates the menu which can t bechanged during Servo On Appendix
31. kg SF30A SF22D SF20G SF12M 261 8 182 8 132 8 12 4 SF50A SF35D SF30G SF20M 294 8 215 8 165 8 17 7 SF55D SF44G SF30M 344 8 265 8 215 8 26 3 SF75D SF60G SF44M 404 8 325 8 275 8 35 6 Brake attached type APM SF30A SF22D SF20G SF12M APM SF50A SF35D SF30G SF20M APM SF55D SF44G SF30M APM SF75D SF60G SF44M SF80A SF22D SF20G SF12M Weight kg SF50A SF39D SF30G SF20M SF55D SF44G SF30M SF75D SF60G SF44M Note Use DC 24 V for brake input power supply Eyebolt is used at over SF55D SF44G SF30M type 6 16 MECAPION Standard type APM SG22D SG20G SG12M APM SG35D SG30G SG20M APM SG55D SG44G SG30M APM SG75D SG60G SG44M External dimensions LM Weight kg SG22D 5G20G SG12M SG35D SG30G SG20M SG55D SG44G SG30M SG75D SG60G SG44M 4 Brake attached type APM SG22D SG20G SG12M APM SG35D SG30G SG20M APM SG55D SG44G SG30M APM SG75D SG60G SG44M External dimensions LM Weight kg G22D SG20G SG12 SG35D SG30G SG20M SG55D SG44G SG30M SG75D SG60G SG44M Note Use DC 90 V for brake input power supply MECAPION 6 17 APM HBO1A Hollow shaft type APM HBO 2A Hollow shaft type APM HBO4A Hollow shaft type External dimensions Weight Kg LG Hollow shaft type 15 APM HEO9A Hollow shaft type APM HE15A Hollow shaft type External dimensions Weight Kg LM LC Hollow sha
32. output 2 for monitoring PST 95 PE 416 Monitor Scale o a 50 0 Ee speed max speed torque 300 command pulse 500k error pulse ka i j excessive position error mV 0 0 Setting the offset of analog output 2 for monitoring 36 PE 417 Monitor Offset2 uo E 1000 dl 0 Selecting direction of motor operation under torque mode T 97 PE 418 A E o l AEN 0 voltage CW Orgue On Hr 1 voltage CCW ms 500 Setting the max running time of regenerative braking resistor 98 PE 419 Regeneration Brake time 100 1000 In case of exceeding the time excessive regeneration AL 26 occurs 0 Applying PC 813 PC 814 analog offset function ST es mae o Notuscd 99 PE 420 1 PC 813 is available Speed Torque Ond Offset 0 3 2 PC 814 is available 3 PC 813 PC 814 are available at the same time MECAPION 8 7 Appendix 6 I O contact point variables setting menu xx indicates the menu which can t be changed or reset during Servo On inidicates the menu which can t bechanged during Servo On MENU Unit Initial a i Description Mode OODE NAME Min Max code 10pulse 10 Setting the output range of position operation completion 100 PE 501 o 10pulse _ onal P Inposition 1 60000 signa 10pulse 90000 Setting the output range of position operation following P 101
33. output 2 mode for PST monitor 94 PE 415 Monitor Mode Mode DOS 0 1 0 Direction output 5 5 V 1 Absolute output 0 5 V 1 0 Set Scale of analog output 2 PST DC 5 V is standard Item Scale Speed Max speed PE 215 Torque Max speed 300 95 PE 416 Monitor Scale2 a enh Frequency 500 kpps Error pulse Position Error PE 512 When output value is very small or big the output can be change to properly with magnification 4 24 MECAPION Chapter 4 Program Menu 96 PE 417 Monitor Offset2 1000 1000 Set offset of analog output 2 Because of analog circuit problem some voltage can be occurred during 0 voltage output At this time can set offset range The unit is mV PST 97 PE 418 Torque Com Dir Select rotation direction of motor in Torque mode as followed voltage Mode 0 At voltage Selection of torque Dir forward forward 1 At voltage 98 99 PE 419 PE 420 Regeneration Brake time Analog Speed Torque Command Offset 100 1000 Set Max Operation time of regeneration brake resistor When operated over brake time resistor is AL 26 over regeneration setting regeneration is displayed Apply analog offset function PC 813 PC 814 Some voltage on analog
34. speeds command poe Standard built in Operating at servo alarm of servo OFF Regenerate Standard e brain Option Attached Provide standard resistor Bed Display Built in 7 Segments 6Digits CHARGE amp ALARM Lamp Function br DC 5 V 5 V 2 channels speed torque position etc Overcurrent overload over current limit over heated power module overvoltage Protective e SE voltage shortage overspeed wrong wiring encoder problem position following functions problem UV current sensor problem motor output problem Ambient Temp 0 et 50 C Erviron Humidity 90 or less avoid condensation ment Atmosphere Indoors no corrosive gas inflammable gas and fluid oil mist or dust MECAPION 6 19 6 2 2 External Dimensions e APD VNO1 02N Weight 0 8 kg APD VNO4N E Weight 1 0 kg 6 20 MECAPION 6 3 Option and Peripherals E Options Cable Classification Product name Model Note1 LEG Specification motor Motor side connector Drive side connector CN2 All Models of APM SA For Encoder APM SB Motor side connector APC EOOOAS Signal Cable APM SC CAP 15 Position 172163 1 Made by AMP APM HB 1 SOCKET 170361 1 Made by AMP Series Drive side connector CN2 1 CASE 10320 52A0 008 Made by 3M 2 CONNECTOR 10120 3000VE Made by 3M Cable 7Px0 2SQ AWG24 Motor sid
35. 0 V to L1C L2C 5 Setting Motor ID Set the motor ID at PE 201 Refer to Appendix 2 Motor type and ID 6 Setting encoder pulse Set the no of pulse of the encoder at PE 204 8 16 MECAPION Appendix 7 Applying main power Apply 3 phases AC 220 V to L1 L2 L3 8 Test run If you activate PC 803 with Enter key You can perform the test run manually Up Left Right Speed operation 0 1 mn o 2 3 4 5 10 You can perform speed operation by adjusting the below menu data Setting speed operation variables PE 601 611 Setting input output variables PE 503 504 510 511 512 514 515 Setting analog variables PE 401 405 Setting control variables PE 301 307 309 311 312 313 320 Refer to Chapter4 Menu description Tora Motor s forward rotation 9 Setting operation mode You can set the operation mode at menu PE 601 ue con Speed control Speed Torq Position control Speed Position control Position Torque contro Changing the operation speed PE 602 PE 604 Motor s backward rotation Position operation rol ue control 11 You can perform position operation by adjusting the below menu data 1 Setting position operation variables PE 701 711 2 Setting input output variables PE 501 502 50
36. 000 2000 3000 4000 5000 1000 2000 3000 4000 5000 rom r min rom r min rem r min APM SE30A 10 o APM SE06D APM SE11D 30 0 17 5 O ie 14 0 6 0 Peak range Torque E als m 4 0 N m N m 7 0 Continuqus 0 ntinuous 1000 2000 3000 0 1000 2000 3000 4000 5000 rem r min 1000 2000 3000 rem r min rom r min MECAPION 6 5 E Product Features Servo Motor Model APM Applicable drive APD Rated Output kW 0 6 N m 5 72 Rated Torque kof cm 58 4 Maximum Instantaneous N m 17 18 Torque kgf cm 175 3 Rated rom r min 1 000 Maximum rpm r min 2 000 Ko m x107 6 659 11 999 17 339 Inertia 5 af cm s 6 792 12 238 17 685 Allowable load inertia ratio Rated power rate kW s 33 63 Speed Position Standard 10 times of motor inertia Incremental 5 V Line Drive 3 000 P R Detector Option Structure Serial Inc 17 21 bit Totally enclosed Non ventilated IP65 Excluding the shaft through section and connectors Rated time Continuous Specification Ambient temp 0 40 C amp Features Ambient humidity 20 80 Avoid freezing Atmosphere Avoid direct sunlight no corrosive gas inflammable gas oil mist or dust E V Elevation Vibration 49 m s 5G Weight kg Speed Torgue
37. 07 S pe e d 0 5 0 0 Current S SF filter Encoder S PE 312 Cur Tor Speed control gaini is changed to Gain2 when actual speed is over than PE 313 zero speed gain speed ms 0 50 Set Torque filter PST Remove the noise of commanded signal with setting digital filter for analog torque 73 PE 314 TORQ CMD FLT command voltage 0 0 100 00 When setting big value make decreased response speed proper value is needed 0 Set function of DE Resonance operation PST under developing Mode De Resonance operation 0 Not operated 1 Operated T Out De Resonance Fre PE 316 74 PE 315 DE Resonance A i gt T output Fre DR operation BW PE 317 As followed system the mechanical vibration can be occurred at certain frequency range At this range of frequency Reduce the vibration which is caused by de resonance with reducing torque output MECAPION 4 1 9 Chapter 4 Program Menu Hz 300 Set avoid resonance driving frequency PST 75 PE 31 6 Notch Frequency AA 0 1000 Hz 100 PST 76 PE 317 Notch Bandwidth E E 000 Set avoid resonance band width 0 Under developing Por Real time Auto EE 71 PE 318 0 Not used Tuning 0 1 1 Used 10pulse 20 Set pulse range of position P gain 2 S 78 PE 319 Position Gain2 Range i m Error pulse is over than the setting range of PE 319 position P gain 2 range PE 303 Position P gain 2 is applied
38. 1 APD VNO4 R S T 200 230V b b Main Notel Main 1 Mesa OFF ON i EE RA Eed E 1MC 1Ry 1SK 1MC Peo O rr O MC Servo Drive Servo Motor Encoder 1Ry Alarm au HER Note Alarm Regenerative Resistor Note1 It takes approximately 1 2 seconds before alarm signal is activated after power is connected Press main power on switch for at least 2 seconds of longer Note 2 B1 B2 short pin and regenerative resistor 30 W 100 Q is installed in APD VN04 Type But there are no regenerative circuit and regenerative resistor in APD VNO1 VNO2 type In case of regenerative capacity is large due to frequent acceleration deceleration At this time Make sure that the optional Brake resistor should be big size resistor Note 3 For the electric wire that is to be used at Main circuit power board strip the coating of wire about 10 12 mm as below and use the exclusive terminal which is Ferule UA F1512 Made by Suh il Electronics LLL LL 10 12mm Note 4 Connect or remove the wiring of main circuit power board after press the button 15 of terminal MECAPION 3 3 Chapter 3 Wiring 3 2 2 Power circuit parts specification Type 01 02 04 07 10 15 20 35 MCCB ABS33bM 8A 12A 16A 24A ME NFZ 410SM A15SM A20SM 430SM MC GMC 9 11A equivalent GMC 18 18A GMC 40 35A ea AWG16 AWG14 AWG12 AWG10 1 25 SQ 2 SQ 3 5 SQ 5 5 SO compressed UA F1512 SEOIL
39. 1 1 0 Output 1 0 Y KT N OE 114 PE 515 Output Logic XX A I M j 000 111 AS No Fo Fo INI 0 0 1 Output contacts Down 0 1 2 ALARM READY BRAKE INSPD Selected by PE 508 INPOS MECAPION 4 29 Chapter 4 Program Menu ms 0 Set delayed time to be actual PWM OFF from PST Servo OFF With BRAKE output contacts signal 115 PE 516 PWM off Delay compensate the preparation time of brake 10 1000 operation Delay the PWM signal prevent down operation of motor at vertical application 01100 Set Logic input contacts 0 4 Input 4 3 2 1 0 Mt Ra aa d FEY UY Ll Vel HY INI 0 1 1 0 0 116 PE 517 Intput 0 4 Logic 00000 11111 Input Input contacts 0 SVON 1 ALARM 2 CCWLIM 3 CWLLIM 4 PCLEAR STOP TCLEAR 0000 Set logic for Input contacts 5 8 Input 8 7 6 5 MR Do eo et ep ENAZ L al o Dl Ll INI 0 0 0 0 117 PE 518 Intout 5 8 Logic 0000 1111 Input Input contacts 5 DIR 6 TROLIM MODE 7 SPD 1 EGEAR1 8 SPD 2 EGEAR2 4 30 MECAPION Chapter 4 Program Menu 118 PE 519 ZSPD Gain Rate EE 1 Stop vibration can be reduced at lower Set ZSPD Gain rate S speed of PE 303 Zero speed gain with applying of stop vibration PE 519 which is occurred bt big gain But When rate is small power of
40. 8 509 515 3 Setting control variables PE 301 320 Refer to Chapter4 Menu description MECAPION 8 17 Guarantee Letter Installed Date Guaranteed period Model A Serial No Model B Serial No Model C Serial No Model D Serial No Name Customer Address Tel Name Distributor Address Tel These items are produced by MECAPION under our strict Q C system and test procedure The guaranteed period is 12 months from installation or 18 months from production However The guaranteed period can be changed by the condition of Purchasing agreement A S With Free When some defect is happened please contact our agent or A S center We repair the defective item which is in the guaranteed period and using in normal operation con dition A S With Credit Below case is not included in A S With Free E Defect from customer s intentional or careless mistake M Defect from Power supply or connecting device E Defect from natural disaster fire flood earthquake Gas accident E The item E The item E Defecta x After insta which is not repaired or reconstructed at our agent or A S center which do not have MECAPION name plate fter guaranteed period lation of our Servo Please return this guarantee letter to our Q A Dept Receiver MECAPION Q A Dept Tel 82 53 593 0066 131 Fax 82 53 591 8614 MECAPION
41. Atmosphere Avoid direct sunlight no corrosive gas inflammable gas oil mist or dust E V Elevation Vibration 49 m s 5G Weight kg Speed Toraue characteristics 4 N m 1 4 s APM SAR3A i 2 8 Torque 2 1 0 07 Torque 0 3 Torque N m N m 0 2 1000 2000 3000 4000 5000 2 0 1 6 rom r min APM SB02A Torque 3 Torque 1000 2000 3000 4000 5000 rem r min APM SBO4A 0 1000 2000 3000 4000 5000 rem r min o APM SBO1A Torque 0 6 N Moa 0 2 tinuods 0 1000 2000 3000 4000 5000 rom r min 1 2 N M g 0 4 0 Corltinuoy 1000 2000 3000 4000 5000 rem r min 2 4 Nm g 0 8 0 tinuoks 1000 2000 3000 4000 5000 rom r min 6 2 MECAPION E Product Features Servo Motor Model APM Applicable drive APD Rated Output kw SBNO1A SBNO2A SBNO4A SBNO4A BK SCO4A SCOGA VNO1 VNO2 VNO4 Rated Torque N m kof cm Maximum Instantaneous Torque N m kof cm Rated rom r min Maximum rom Inertia r min ka m x107 0 674 1 092 0 182 of cm s 0 687 1 114 0 186 Allowable load inertia ratio 20 times of motor inertia 15 times of motor inertia Rat
42. Current Speed 10000 10000 o Pd 003 r min 0 Display the current operation speed ST Command Speed 10000 10000 pulse 0 Display the accumulated value of position P 3 Pd 004 command pulse l o l Current Pulse 99999 99999 In case of exceeding Max it will be displayed as Min Max _ pulse 0 Display the accumulated value of following position PST 4 Pd 005 command pulse l l o l Feedback Pulse 99999 99999 In case of exceeding Min Max it will be displayed as Min Max pulse 0 Display the remaining position pulse operated by servo P 5 Pd 006 pulse Error 0 99999 In case of exceeding Min Max it will be displayed as Min Max 1000 Display the numerator 0 of electric gear ratio i PUMU ESSEN 1 60000 i 0 Display the current command torque under torque T 7 Pd 008 operation Command Torque 300 00 300 00 PS Accumulated current command torque T Current command torque 300 Display torque limitation i PA OO gus Limit 300 300 mel 9 Pd 010 0 00 Display the current load rate comparing with the PST Current Load 0 00 300 00 rating 10 pa 011 IS 0 00 Display the average load rate for 5 seconds PST Average Load 0 00 300 00 comparing with the rating 11 Pd 012 0 00 Display the max instantaneous load rate comparing pst Maximum Load 300 00 300 00 with the rating 12 Pd 013 V 0 0 Display the DC Link of current main power PST DC Link Voltage 0 0 500 0 Display the status of connection
43. Instruction Manual Manual Version ver 1 0 Software Version Higher than n0 08 The first edition 2008 11 1 A revised edition 200 This content and specifications may be changed without prior notice According to Software Version No part of this may be reproduced in any form or by any electronic or mechanical means without permission of Mecapion Mecapion holds the patent right the trademark right the copyright and intellectual property rights which are related to this product Therefore NO permission is illegal use Thank you for purchasing Mecapion s Series Read this instruction manual thoroughly before installation operation maintenance or inspection of this product Symbols for Safe Operation In this manual NOTES FOR SAFE OPERATION are classified as WARNING or CAUTION N WARNING Indicates a potentially hazardous situation which if not avoided could result in death or serious injury to personnel CAUTION i Indicates a potentially hazardous situation which may result in minor or moderate injury to personnel and possible damage to equipment if not avoided it may also be used to alert against unsafe practices l tems described in Caution may also result in a vital accident in some situations In cither case follow these important notes MECAPION 5 Note for Safe Operation 9 INSTALLATION CAUTION Make sure to keep the install direction Do
44. LIM CWLIM P EER NE o ONEM N ge eers pe 157 PE 718 se 1 CCWLIM CWLIM Pulse command counter Pos Limit Pulse Clear 0 1 gt If it exceeds PE 502 AL 06 Following Error will occur E Z 16 Display the Multi Turn Data of ABS Encoder PST 38 id dis 10 16 2 17 Display the Single Turn Data of ABS Encoder PST 132s APERTAN ABS Single Turn 10 17 8 10 MECAPION 9 Operation menu Appendix xx indicates the menu which can t be changed or reset during Servo On inidicates the menu which can t bechanged during Servo On MENU Unit Initial F Description me OODE NAME Min Max code 160 PC 801 Reset the alarm with CLEAr message Alarm Reset If you press Enter alarm will be reset with CLEAr Clear all alarm history 161 PC 802 Alarm His Clear a a If you press Enter the alarm history will be cleared PA 101 PA 120 with CLEA r min Manual test operation will perform 1 Enter Display test run speed PE 602 2 Up PE 602 PE 604 will be displayed by turns The speed will be displayed as absolute value 3 Right CW rotation 162 PC 803 Manual Test Run Min Max 4 Left CCW rotation 5 Enter test run is terminated gt return to menu x If you press Enter under alarm status Err1 will be displayed r min Continuous test run will be performed 1 Enter step 0 3 will be performed Ste
45. Mode cece ee ee 1 13 1 2 7 Speed Torque Operation Mode ciu is 1 14 1 2 8 Position Torque Operation Mode ee ee ee ee ee 115 1 3 Signal Explanation 1 3 1 Input Contacts Signal AAA 1 1 6 1 3 2 Analog Input Signal O RO IRA ORO AD 1 17 1 3 3 Pulse Input Signal AA AS a dis E 1 17 1 3 4 Output Contacts Signal AO 1 18 1 3 5 Monitor Output Signal and Output Power Supply er ses ese no 1 18 1 3 6 ENCODER Output Signal ee eRe ETE eee Te See eee eT EE N eT 1 18 Product Construction 1 1 1 Checking Products Check if the products are the right one you ordered Check the types marked in the nameplates of Servo Drive Check the types marked in the nameplates of Servo Motor 2 Check Product and Option Items Check if the cable types and length are right Check if the regenerative resistance is in accordance with the standard Check if the motor shaft is correct Check if the Oil Seal and Brake is correct Check if the reducer gearbox and reduction ratio is correct Check if the Encoder type is correct 3 Check the External Appearance Check if there is no dust or moisture Check if there is fading contamination damage and disconnection Check if the tightness of fitting amp bolts are correct Check if there is no noise or excessive friction at rotating E Servo drive Type Designation VN Standard type 01 100W 02 200W N Incremental Option 04 400W 07 700W S Serial Code
46. Monitor1 No 25 Monitor2 No 26 is 5 V Addition to this when controlling analog input by variable resistance using offered power by drive wiring is as under The output capacity of this power is 30 mA at maximum Do not exceed this capacity 330 2 1 4 W Ke Analog command 330 2 1 4LWI 3 8 MECAPION Chapters Wiring 3 4 4 Pulse Input Signal 1 Line Driver 5 v Pulse input Upper control system Servo drive Twist Pair Shield Wire Line receiver 2 Open collector 24 V Pulse input Upper control system Servo drive GND24 Shield Wire 3 NPN Open Collector Pulse command 12 V or 5 V Upper control system Servo Drive Note1 When the power supply 12 V is used Resistance R 560 680 ohm 1 2W When the power supply 5 V is used Resistance R 100 150 ohm 1 2W When the power supply 24 V is used Resistance R 1 5 ohm 1 2W MECAPION 3 9 Chapter 3 Wiring 4 PNP Open Collector type pulse command Upper controller Power Note2 Servo Drive Note 2 When the power supply 24 V is used Resistance R 1 5 kohm 1 2W When the power supply 12 V is used Resistance R 560 680 ohm 1 2W When the power supply 5 V is used Resistance R 100 150 ohm 1 2W 3 4 5 Encoder Output Signal The encoder signal is produced based on O V GND of control power supply So please contact 0 V terminals and GND of CN1 at Upper controller Encoder signal is produced in line drive system a
47. NS a ED EG aspera 5 9 5 4 3 Z position rUn EER EER eee EE EE EE EE EE Ee cnn Ee cnn Ee ee ee ee ee ee see 5 10 544 Manual position operation ER RE RE als a da dieters 5 10 Chapter 5 Operation 5 1 Check items before operation Check the below to avoid the accident and breakage of the product 5 1 1 Wiring 1 Check if the proper voltage AC200 V was applied to the power input terminal 2 Check if the power cables U V W ground between a drive and a motor are connected correctly 3 Check if the voltage 24 V is connected to the control signal properly 4 Check if the regenerative resistor is proper capacity with good connection 5 Check if the wiring cable is curved severely or excessive pressure is applied 6 Check if the status of ground and shield are OK 5 1 2 Operating signal CN1 wiring Refer to the below for the status of wiring of operating signal and contact points Pin Status of Pin A Status of Pin name A Pin name No contact points No contact points 30 SVON OFF 35 STOP OFF 3i CCWLIM ON 32 CWLIM ON Note The name of signal can be different depending on the operation mode 5 1 3 Working circumstances Check if there is metal dust or moisture in the wiring part 5 1 4 The conditions of machine 1 Check if the coupling of servo motor is OK 2 Check if the connected bolts are loosen or detached 3 Check if there is obstacle in the driving area 5 1 5 Menu var
48. P 145 PE 706 E ectric Gear N2 nee E gear ra io N 2 E 1 30000 OFF ON E gear rato 2 p E gear ratio D 2 3000 F 146 PE 707 E ectric Gear D ee E gear ral oN 3 a 1 30000 ON ON E gear ratio 3 E gear ratio D 3 Si 1000 147 PE 708 E ectric Gear N3 a 1 99999 tal 4000 oe Electric gear ratio is displayed the relation between position command input pulse and 148 PE 09 Electric Gear 03 30000 Motor encoder pulse After 4 times of interpolation as Numerator Denominator to prevent position operation error 149 PE 710 Not used EEN MECAPION 4 35 Chapter 4 Program Menu 150 PE 711 E Gear Mode Set E Gear Mode Mode Function 0 Select E gear ratio 0 3 Offset override function to Numerator 0 of E gear ratio 151 PE 712 E Gear offset 30000 30000 Set offset value for E gear ratio Numerator 0 Mode Function Applied value at once offset Set offset value to E gear N as setting offset value EGEAR1 contacts LOW gt HIGH Increase setting E gear ratio NO value at PE 712 with amount of 1 152 PE 713 Pulse Dir EGEARZ2 contacts LOW gt HIGH setting E gear ratio NO value at PE 712 Decrease with amount of 1 Set direction of position pulse Mode 0 1 Direction Commanded direction Opposite direction of command 153
49. PE 502 ETE OE 50000 efor signal r min 10 Setting the output range of zero speed signal 102 PE 503 NE 1 7 EE PST r min 100 Setting the output range of speed attachment completion 103 PE 504 r min 100 dies S Inspeed 0 0 500 signa r min 50 Setting the output speed of brake signal 104 PE 505 aro SPD CEE E i ms 10 Setting the output delaying time of brake signal 105 PE 506 EE 5 Ze TE ad PST 1 Setting the main power error reset mode of error PST 106 PE 507 PowerFail Mode 1 0 Manual reset 1 Auto reset 0 Select the output point of Ready Brake PST 107 PE 508 Ready Bake See 0 as i da 0 Ready output l 1 break output Setting the clear mode of position pulse P 108 PE 509 Pulse Clear Mode 0 0 Edge off gt on 1 Level on 1 Setting the numerator of prescaler for encoder output 109 PE 510 gt e al PST Puse Output Numerator 1 16384 Pulse Setting the denominator of prescaler for encoder output 1 1 0 PE 511 N EE Pulse output Denominator 1 16384 Pulse 0 Setting the direction of encoder output pulse A B phase 111 ePE 512 ft en i ce E PST Pulse Output A B Lead 0 1 A phase Lead B phase Lead 1 Setting the output pulse type of serial encoder Z phase 112 PE 513 EES eee OE half Eis PST ulse Output Z 0 1 A phase half cycle A phase 1 cycle Ed 0 TE Setting the switch to change the operating direction S 113 PE 514 l 0 DIR ON gt converted into analog direction STOP
50. R E NON 7 3 Ts 3 Period of Replacing Parts ME areas caer ere eb eevee Wo elena NR 7 4 7 2 Fault Diagnosis and Corrective Actions 7 2 1 Servo Motor TEE MEE EE asa iota co DALE EER DT Ee 7 5 7 2 2 Servo Drive EER OE EE EE ES EE KO EE SE as 7 6 Chapter 7 Maintenance and Inspection 7 1 Maintenance and Inspection In the chapter maintenance and inspection of servo motor and drive are explained 7 1 1 Caution When checking motor voltage As the voltage applied to the motor from the servo amplifier is PWM controlled wave form of pulse phase is displayed There may be significant difference in indicator value depending on types of meters so be sure to check with rectification voltmeter for more detail inspection Wh by Wh Oth en checking motor current The pulse wave form is smoothed to sine wave to a certain degree the motor reactance Connect and use a moving iron type ampere meter en checking power Use an electrodynamics type 3 phase watt meter er devices When using oscilloscope or digital volt meter please make sure that they should not be contacted to the ground 1 For input current please use mA or less of current 7 2 MECAPION 7 1 2 Inspection Items Chapter 7 Maintenance and Inspection Charged voltage may remain in the smoothing condenser creating an element of danger when inspecting drive Turn off power and wait for approximately 10 minutes before st
51. SARSA 50 35 SCOSH 500 For S S 68 SE22D 2200 3 SAO1A 100 36 SCOBA 750 For S S 69 SEO3M 300 4 SAO15A 150 37 BO1A 100 Hollow shaft 70 SEO6M 600 5 38 HC10A 1000 Hollow shaft 71 SEO9M 900 6 39 E30A 3000 Hollow shaft 72 SE12M 1200 7 SBNOTA 100 40 B03H 250 Semi conductor 73 SEO5G 450 8 SBNO2A 150 41 CO3H 250 Semiconductor 74 SEO9G 850 9 SBNO4A 400 42 HCO3HC6 300 Semiconductor 75 SE13G 1300 10 SBNO4A BK 400 Customized 43 76 SE17G 1700 11 SBO1A 100 44 77 1EO9A 900 Hollow shaft 12 SBO2A 200 45 78 HE15A 1500 Hollow shaft 13 SBO4A 400 46 79 SE11M 1050 Special type 14 SBO3A 250 Special type AT 80 SEO7D 650 Special type 15 HBO2A 200 Hollow shaft 48 81 SF30A 3000 16 HBO4A 400 Hollow shaft 49 82 17 50 SE15D 1500 Special type 83 18 51 SC20B 2000 Special type 84 19 52 85 SF22D 2200 20 53 86 SF35D 3500 21 SCO4A 400 54 87 22 SCO6A 600 55 88 23 SCO8A 800 56 89 SF12M 1200 24 SC10A 1000 57 90 SF20M 2000 25 SCO3D 300 58 91 SF30M 3000 26 SCO5D 450 59 92 SF44M 4400 21 SCO6D 550 60 93 SF20G 1800 28 SCO7D 650 61 SEO9A 900 94 SF30G 2900 29 62 SE15A 1500 95 30 63 SE22A 2200 96 31 64 SESOA 3000 97 SG35D 3500 32 65 SE06D 600 98 33 HCO6H 600 For S T 66 SE11D 1100 99 HCO5H 500 Customized 8 14 MECAPION Appendix
52. SE 10336 52A0 008 Made by 3M 2 CONNECTOR 10136 3000VE Made by 3M 3 CABLE ROW SBO 1CX36C AWG 28 Note Model No indicates the Cable length and declaration is as below Cable Length m 1 2 3 5 Declaration 01 02 03 05 6 24 MECAPION E Options Connector Classification Product name Model Note1 Applicable drive Specification A 1 All Models of CN1 APD VN CN APC CNINNA Connector SERIES N 1 CASE 10336 52A0 008 Made by 3M 2 CONNECTOR 10136 3000VE Made by 3M All Models of CN2 APD VN CN APC CN2NNA Connector SERIES 1 CASE 10320 52A0 008 Made by 3M 2 CONNECTOR 10120 3000VE Made by 3M MECAPION 6 25 M Options 1 O JIG Model Note1 Specification Classification Product name i JO I Ss 25 oo amp Standard at ah at 5 1 0 eet gt type APC VSIONA j l JIG L I O JIG 1 Input Power supply Single Phase AC220 V 2 I O function of standard type APD VN Servo Drive 3 Cable length can be adjusted Note1 of Model No indicates the cable length and declaration is as below Cable Length m 1 2 3 5 Declaration 01 02 03 05 6 26 MECAPION Chapter Maintenance and Inspection 7 1 Maintenance and Inspection 7 1 1 Caution A EER a ET EE GN ER ated 7 2 7 1 2 Inspection Items BEREA EE EE AT EE
53. T regenerative resistor ne B 14 Pd 015 Reg Brake Time iiie 3000 Display the Value of PE 419 Display finial I O contacts setting condition of PST ERG is CN1 1 0 SN X o Ted Tee Tje gt AL cH El PZ Input contacts UP 0 1 2 3 4 PCLEAR SVON ALMRST CCWLIM CWLIM STOP 15 Pd 016 I O State Display TCLEAR 5 6 7 8 DR MODE SPD1 SPD2 TRQLIM EGEART EGEAR2 Output contacts Down A B READY INSPD Ee BRAKE INPOS x When servo is stopped INSPD INPOS contacts is On MECAPION 4 7 Chapter 4 Program Menu 01100 Display Setting Logic of input contacts 0 4 A contacts 0 B contacts 1 I O 4 3 2 Input Logic S D if i Fy Hi ai E Display Ve paul State of input 00000 11111 l i logic 0 4 FNA NO No Fo Fo Ao pele INI value 0 1 1 0 0 4 3 2 1 0 STOP CWLIM CCWLIM ALARM SVON E 0000 Display setting logic of input contacts 5 8 ae contacts 0 B contacts 1 mi N NN Input Logic J Cl 7 7 18 ger de de i ELE My Ee State of input 0000 1111 Z Ed O NO logic 5 8 Initial vella 8 i 6 5 EGEAR2 EGEAR1 MODE DIR SPD2 SPD1 TRQLIM 001 Display setting logic of output contacts A contacts 0 B contacts 1 VO 2 1 0 SR SR SR Output Logic I l i f l IS PRPA pla
54. T 5 4 2 Continuance Test Operation TREE IR TE EE IK Analog speed current offset Tuning 6 Product Specification 6 1 Servo Motor 6 1 1 Features TEC LE CE LT RECA ACEC RE N EE 6 1 2 External Dimensions 6 2 1 Features 6 2 2 External Dimensions eT CTT ee eee EE 6 3 Option and Peripherals 5 2 ee ees cece ces see ees 5 2 5 2 5 2 5 2 5 3 5 3 5 3 5 3 5 4 5 5 5 6 5 7 5 7 5 8 5 9 see ees ees ccc csccceees 5 9 5 10 5 10 MECAPION y 7 Maintenance and Inspection 7 1 Maintenance and Inspection 7 1 1 Caution RE 7 1 2 Inspection Items 7 1 3 Period of Replacing Parts EE baile Alb EE IE ELE EN ET EE ARS 7 2 Fault Diagnosis and Corrective Actions 7 2 1 Servo Motor 7 2 2 Servo Drive Appendix Appendix 1 summary Program Menu EE ere eee ere er ee reer rere eee reer eee ee eee eee Appendix 2 Motor type and ID TE eer reer e reer Terre reer reer eee eee eee eee ee eee Appendix 3 Test Operation Process Guarantee Letter MECAPION 5 7 2 7 3 7 4 7 5 7 6 Chapter Product Configuration and Signals 1 1 Product Configuration talal Checking PLOQUE S AA AD EE e a a NE 1 2 dle tdentifying the Pats eed GE OE N oe aie iiaa a 1 4 1 2 System Composition el UAM e E TAN 1 7 I AT E ea EE ED ela sala 1 9 1 2 3 Position Operation Mode SESSE EE Re OS 1 10 1 2 4 Speed Operation MOOR dlrs 1 11 1 2 5 Torque Der AUONMOOE SE SE RE SG DE EG RD GR Se 1 12 1 2 6 Speed Position Operation
55. When PE 201 Motor ID is 0 Editing is possible U Current Offset mA 0 58 PE 21 9 EE Ee Display U phase Current Offset Display 200 200 V Current Offset mA 0 59 PE 220 ee AAA EE Display V phase current Offset Display 200 200 4 12 MECAPION 4 2 5 Control Variables Setting Menu xx Editing is not allowed under Servo On amp Reset Menu Editing is not allowed under Servo On MENU Unit INI a App Description Com CODE NAME Min Max Mode Times 2 0 Set Inertia ratio for Load PST When motor is operated with No load condition the Inertia ratio is 1 Set proportion mechanical system load inertia to motor inertia which is on our catalog To optimize servo operation accurate Inertia Ratio setting is required Reference range for Position Speed gain as followed Inertia ratio Inertia ratio Gain setting range Motor Position Speed Speed Frange Type Inertia P Gain P Gain Gain Low 1 5 50 120 500 120 530 40 Middle 5 20 40 80 400 600 10 50 High 20 40 30 60 300500 2070 60 PE 301 Inertia Ratio 1 0 500 0 Low 1 5 40 100 400 1000 10 40 j Middle 5 15 20 70 200 500 20 60 ii High 15 30 10 40 100 300 50 100 Low 1 3 40 80 300 600 10 50 a Midde 3 8 20 60 100 400 20 80 de High 815 10 40 50 200 50 150 Low 1 8 30 70 150400 20 60 la Middle 3 5 1550 80 300 30 100
56. a control board with air paper under the circumstance which has much noxious gas and dust MECAPION oo Chapter 2 Installation 2 2 3 Wiring Check the voltage of input power and let it be within Perform alarm rest after removing the main factors and turning the SVON off If you apply the common power to the terminal U V W of the drive it can be damaged So please connect the power to L1 L2 L3 terminals The regenerative resistor which is connected to the drive B1 B2 should be standard value Model Resistor Standard capacity Remarks VNO1 VNO4 100 2 Built in 30 W aSeution VNO7 VN10 40 Q Exterior 140 W Refer to the 7 3 Options Surroundings when you VN15 VN20 23 2 Exterior 300 W try to expand the capacity of regenerative resistor VN35 11 319 Exterior 300 W x2 Apply the main power L1 L2 L3 after providing control power L1C L2C Refer to Chapter 3 Wiring Please be noted that there will be high voltage for a while even after cutting off the main power To avoid electric shock try to wire again after cutting off the main power and checking if the CHARGE lamp was turn off entirely Select the shortest distance for grounding The long grounding line can cause malfunction due to noise 2 6 MECAPION 3 1 Internal Block Diagram 3 1 1 Block Diagram Rated Output is less than 400 W eers ees eee see terete cesses ee eg 3 2 Power Bo
57. ard Wring 3 2 1 Wiring Diagram Rated Output is less than 400 W ree tee Ee see see tee reno 3 2 2 Power Board Part specification 3 3 Timing Diagram 3 3 1 Timing diagram at power Mee EE EE EE EE EG 3 3 2 Timing diagram at Alarm OCQUITOO EE EE EE EE EE 3 4 Wiring control Signal 3 4 1 Contact input signal 34 2 Contact output UT AAN 3 4 4 Pulse input signal 3 4 5 Encoder output signal 3 5 Incremental Encoder Signal CN2 V Wiring 3 5 1 Small size Motor 3 5 2 Medium Large Size Motor Chapter 3 Wiring 3 2 3 3 3 4 3 5 3 6 3 7 37 3 8 3 9 3 10 3 11 3 11 Chapter 3 Wiring 3 1 Internal Block Diagram 3 1 1 Block Diagram Rated Output is less than 400 W APD VNO1 APD VNO04 3phase Power input AC 200 2301V Dota Relay Relay Drive PWM signal UV Current Or Ive de fe i OC oi circuit kea paration cirevi circuit Circuit circuit Circuit is ME USB Main Control POWER L Connect ion U W current DC Link voltage RS422 A D Switching D A Switching AA Insulation ma gi oni Monitor a Ten contact TE Ta ET da Dt contact 2contacts 9contacts 2contacts 2contacts Connect to Upper control ler N Encoder A Note1 B1 B2 short pin and Regenerative resistor is installed in ONLY APD VNO4 Type 3 2 MECAPION Chapters Wiring 3 2 Power Board Wiring 3 2 1 Wiring Rated output is less than 400 W APD VNO
58. arting inspection Inspection of servo motor Inspection Inspection i j Method Remark items period ad It should not be big serious Vibration With the sense of touch and the Every month compared to the normal And noise sense of hearing Di condition According to External a i f Contamination Clean it up with fabric or air e appearance And damage Disconnect with drive and measure Insulation If resistance is less than 10 M2 l Once a year At least esistor with 500V mugger tester l l j Resistor inquire to service department ormal is more than 10 M2 lt Note1 gt Change Once in 5 000 Detach from machine and replace Only for the motor which contains Oil seal Hours at least it oil seal 7 i Once in 20 000 Customer is required not to vera Hours or 5 years nquire to our service department disassemble the Servo motor and inspection At least clean it by themselves Note 1 Measure Between one of U V W and FG Followings are for maintaining Servo drive The Servo drive need not to be checked and maintained on a daily basis as it uses highly reliable parts But check it at least once in a year Inspection item Main body and circuit board Period Once a year at least Check for Dust Oil Solution Clean up with air or cloths Terminal screws for looseness Once a year at least Screws for connection terminal and connector are securely tight
59. ata Lock 8 4 MECAPION 3 System variables setting menu OE Appendix indicates the menu which can t be changed or reset during Servo On inidicates the menu which can t bechanged during Servo On MENU Unit Initial D ipti Mode Es NAME Min Max EN code 40 PE 201 mi IN is EE Setting motor ID i PST Motor ID 0 99 Motor ID is set automatically from PE 210 to PE218 bps O Setting the speed of RS422 comm of CN3 PST 41 PE 202 0 9600 1 19200 dr 3 3 2 38400 3 57600 Zoo EM 0 Setting the encoder type PST 0 15 lines A lead 1 15 lines B lead 42 PE 203 i Encoder Type 0 4 2 9 lines A lead 3 9 lines B lead 4 7 lines INC 17 21bit 43 PE 204 p r Setting the no of pulse per rom of encoder PST Encoder Pulse 1 E Setting torque limitation at CW rotation PST Di Rescue CCW TRQ Limit 1 _ Setting torque limitation at CCW rotation PST 4 PE 206 CW TRQ Limit 1 46 PE 207 Setting the drive ID at communication PST System ID 0 47 PE 208 a Setting the group ID of the drive at communication PST System Group ID 0 7 Setting the start menu of drive PST 26 FEED Start Menu No 1 gfoms D Setting the moment of inertia of motor PST EE EE 0 01 300 00 50 PE 911 kofcrV A 1 D Setting the torque constant of motor PST Trq Con 0 01 300 00 51 sPE 212 mH
60. command voltage as 173 PC 814 Cmd Offset 1000 1000 Offset Data to PE 407 Return menu without saving of 4 Enter offset value Xx if want to check offset value only without saving the value press Enter x Available When 2 or 3 of PE 420 is set Display Max load ratio Step KEY Description 1 Enter At first 00000 is displayed 2 Right Display Max Load for forward Dir 3 Left Display Max Load for Reverse Dir 174 PC 815 Maximum Load Clear displayed load rate 300 300 4 Up current displayed value is value of before clear Left 5 or Check Max load after clear Right 6 Enter Return to Menu pulse Display following position pulse Step KEY ag 1 Enter At first 00000 is displayed 175 PC 816 Feedback Pulse 9 9 9 9 9 9 999999 5 up Clear displayed following position p pulse 3 Enter Return to menu 4 42 MECAPION x Means reversed direction Chapter 4 Program Menu 176 A 177 A 178 N E ee Initialize all menu data to O S download value Step KEY Description 1 Enter Enter Mode 5 up Initialized with display of ALL p 179 PC 820 All Menu Data Init CL then return to Menu x This parameter initialize all condition to O S download default value so the parameter which is set before shioment in needed to set again Caution Don t set as maker s settin
61. e improved is set as 1 under mode no 3 4 PE 320 0SPD torque improved is not applied iar des Speed r min 200 Speed command input contacts is defined by ST Command 6000 6000 the combination of SPEED1 SPEED2 EE Speed r min 1000 ST Command2 6000 6000 SPD1 SPE2 sE NE r min 3000 OFF OFF Analog speed com ST ON OFF Digital speed com 1 OFF ON Digital speed com 2 a een Speed ON ON Digital speed com 3 Command3 6000 6000 x SPD1 2 contacts is used as speed limit under the torque mode 124 PE 605 Not Used 125 PE 606 Not Used 4 32 MECAPION Chapter 4 Program Menu 126 PE 607 Z Search Operation Speed r min 300 Set speed operation Setting value for operation of PC 806 for encoder Z phase search S 127 PE 608 Manual Position Operation Speed r min 500 6000 Set speed for manual position operation S Setting value for operation of PC 807 128 PE 609 Accel Time 10000 Set Aecel tim Set lead time of Decel from rated speed to And Unit is ms Zero Speed e of speed command 129 PE 610 Decel Time ms Set Decel time of soeed comma Set lead tim Zero Speed And Unit is ms e of Decel from rated speed to nd 130 PE 611 S Type Control Set S type co For smooth operation for Accel Decel S type cont
62. e connector Drive side connector CN2 All Models of APM SE For Encoder APM SF APC EOOOBS APM SG sn ok APM HE Motor side connector MS Military Standard SERIES 1 PLUG MS3108B MS3106B 20 29S Drive side connector CN2 1 CASE 10320 52A0 008 Made by 3M 2 CONNECTOR 10120 3000VE Made by 3M 3 Cable 7Px0 2SQ AWG24 Note 1 of Model No indicates the kind and length of cable and the declaration is as below Cable Length m 3 5 10 20 Robotic Cable FO3 FO5 F10 F20 General Cable NO3 NO5 N10 N20 MECAPION 6 21 E Options Cable Classification Product name Model Note1 died Specification All models of Motor side connector Drive side connection APM SA APM SB 1 APM HB j Series For Standard 1 Motor side connector AR oa PA 1 CAP 4 Position 172159 1 Made by AMP supply 2 SOCKET 170362 1 Made by AMP APM SCO6A 2 Drive side connector U V W FG APM SC03D 1 PIN UA F1512 Made by Suh il Electronic APM SC05D 2 Compressor UA 510A Made by Suh il 3 Cable 4Cx0 75SQ AWG18 APM SCO6D EE d For APM SAR8A SAR5A SA01A 0 5SQ is used APM SCO7D Motor side connector Drive side connection All models of O APM SA For Brake type APM SB Power APC PO0OKB 1 Motor side connector Power Cable APM SC supply 1 CAP 6 Position 172157 1 Made by AMP SERIES 2 SOCKET 170362 1 Made by AMP 2 For power supply of Brake 1 Connection terminal 1 25
63. e ee 1 2 E o AE EE N OR EO EE HE IE So 1 4 1 2 System Composition 12 SUMMARY ida 1 7 1 2 2 Drawing of WING SE hoses ee Ee iaa 1 9 1 2 3 Position Operation Mode EER ER SEER SEER He EE Ee GER EER GE RE Ne DE GE ER EE ee ge te 1 10 1 2 4 Speed Operation Mode cece ee ccc ee ee ee ee ee ee ee ee ee Re Re ee ee 1 11 1 2 5 Torque Operation Mode ii ri scenes EE SN SEER SG GR GE Ge DE be dees eg EG Es OE SES 1 12 1 2 6 Speed Position Operation Mode ee ee 1 13 1 2 7 Speed Torque Operation Mode ee 1 14 1 2 8 Position Torque Operation Mode ee 1 15 1 3 Signal Explanation 1 3 1 Input Contact Signal HEER EER EER eee EER eee eee ER Ee tee EER ee EER EER Ee EER ee eee 1 16 1 3 5 Monitor Output Signal and Output Voltage EE Ee 1 18 2 Installation 2 1 Servo Motor 2 1 1 Operating Environment esse ee ee see ee eee eee eee ee GR eens ee ek ee ee ee ek ee ee 2 2 2 1 2 Preventing Excessive Impact c cece ee ea se se ea eek ee ee ee Rea ee ea ee ee ea 2 2 2 Alle WINO EER HELE NE NONE EE EE EK 2 2 2 1 4 Assembling Load System cccceccceceeceeeececeeceeeeeeeeeeneeeaeeneseeeeaeeaeees 2 3 2 1 5 Cable Installation ccc ce cee ee eee Ee RR ER ee eee ee ee ee ee ee Rea ee eens ee ee ee 2 3 2 2 Servo Drive 2 2 1 Operating Environment iss ER verde DEER DE N ESE Ge doen GR GESE ERGE de 2 4 2 2 2 Installation in a Control Board Panel ee ee ee esse ee ee 2 5 ok CN ed EE RE HE OE IE EE EE RE EO EE 2 6
64. ecution clear 2 Left or Right Setting the direction of the target position 3 Up Start Stop 4 Enter Position operation is terminated gt Return to menu xX Displayed data The no of rotation If you press Enter under alarm Err1 will be displayed Xx CCW CW limit contact point is turn OFF it will not be applied at start time During operation CCW CW is not applied 167 168 PC 808 PC 809 Output Test Menu data Init Set the forced ON OFF for output contact points temporarily Right out0 outl out2 Move to the direction of increase Left out2 out1 out0 Move to the direction of decrease Up outx L lt outx H has been changed Enter Return to menu The related bit is L OFF H ON based on Normal A contact point out2 INPOS out1 READY BRAKE out0 ALARM Initialize the menu as the status shipped from the factory 1 Enter If you press Enter CLEAr will be displayed 2 When you press Left or Right it will return to menu without initialization 3 When you press Up the initialization will be performed and return to the menu automatically x PE 201 PE 220 will not be changed X Turn OFF ON the power 169 PC 810 Menu data Lock Menu locking function is activated 1 Enter Lock unLock will be changed by turns X Lock display Lock Unlock display unlock 170 PC 811 ABS Encoder set Reset the absolute encoder 1
65. ed power rate kW s 8 91 22 22 50 41 63 84 24 07 33 45 Speed Position Detector Specification amp Features Standard Incremental 5 V Line Drive 3 000 P R 2 500 P R Option Structure Serial Inc 17 21 bit Totally enclosed Non ventilated IP55 Excluding the shaft through section and connectors Rated time Continuous Ambient temp Ambient humidity Atmosphere 0 40 C 20 80 Avoid freezing Avoid direct sunlight no corrosive gas inflammable gas oil mist or dust E V Elevation Vibration 49 m s 5G Weight kg Speed Toraue characteristics 4 APM SBNO1A APM SBNO2A APM SBNO4A osh ad BEE MEE 1 6 ma T orque e Peak ran e 3 0 k rang N m 0 4 Nm 0 8 Nm 1 0 EE TT 0 1000 2000 3000 4000 5000 g 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 rom r min rem r min rom r min iis APM SCO04A APM SCO6A 3 2 4 8 Torque Peak angel Torque 7 0 1000 2000 3000 4000 5000 rem r min N m 2 4 a EE EE EE mT 0 1000 2000 3000 4000 5000 rem r min 1 2 0 1000 2000 3000 4000 5000 rom r min MECAPION 6 3 E Product Features Servo Motor Model APM Applicable drive APD SCO5D SCO6D 04 VNO Rated O
66. ed to Menu with display of ESCAPE Error is as below 3 Error in menu editing Display Cause notuSE Menu that is used or impossible to set up In case of the menu is impossible to edit at Servo ON Error in editing Motor relative constant Err Input the value that does not have Motor ID In case of editing detailed constant on the state that Motor ID is not 0 Err2 When setting the data that is out of range au Menu setting PC 810 is locked It should be unlocked Special handling function In case of setting I O state menu the function of each key is handled as exclusive way For a detailed refer to chapter 5 Handling and Operating Alarm Handling menu I O setting menu Test operation menu Gain tuning menu Z position operation menu Absolute encoder reset Current offset compensation menu Menu Handling menu MECAPION 4 3 Chapter 4 Program Menu 4 2 Menu Operation 4 2 1 Menu Summary Menu consists of 9 menu groups and function of each menu is as below Comm Code Name of Menu Group Function Pd 001 Status Mehu Indicate operation status information of Pd 020 Each Servo PA 101 Aiara Neni Save amp Indicate records of Alarm that is PA 120 Happened before PE 201 A i System Menu Save information of system construction PE 220 PE 301 E a Save set variables that are related to control PE 320 ontrol Menu PE 401 Analog Menu Save set va
67. ened Tighten it Parts for defects on main body and circuit board Once a year at least Discoloration caused by heat damage or disconnection Inquire to our service department MECAPION y 773 Chapter 7 Maintenance and Inspection 7 1 3 Period of Replacing Parts The following parts undergo aging process as time passes due to mechanical friction or the characteristics of the material used leading to the deterioration of equipment performance or breakdown Check the parts Periodically and replace them of necessary Smoothing The characteristics become aged due to the effects of ripple current The operating life of the condenser varies significantly depending on ambient temperature and operating conditions When used continuously in normal environment its standard life span is 10 years The condenser becomes aged fast during a specific period Inspect it at least once a year It is desirable to conduct inspection semi annually in case the life span is nearing the exhaustion point x For judgment criteria visually Check a Case status Check if the sides and bottom of the case are expanded b Cover plate Check if significant expansion severe cracks or damage c Explosion proof value Check for significant expansion or wear d Check periodically the external condition for cracks tear discoloration and water leakage If the rated capacity of the condenser drops to 85 or less
68. et range of analog 0 speed clamp S 83 PE 404 SClamp Volt E P an MECAPION 4 21 Chapter 4 Program Menu Operated Tor 10 V 10 V 0 torque clamp V PE 409 0 torque clamp mode PE 408 1 Set speed override operation mode S 7 p Set analog speed override on digital speed a command 84 PE 405 Speed Override Mode Speed Override operation Q l 0 Not operated 1 Override operation 100 Set analog torque command at 10 V PST o Set analog torque command value compare with 85 PE 406 Analog Torque rated torque value as percentage at 10 V at this SN time setting is within a range of torque limit PE 205 PE 206 system variable setting mv 0 Set offset of analog torque command T N Because of analog circuit problem certain 86 PE 407 Torque Offset voltage is occurred during 0 torque command 1000 1000 condition At this time compensate this voltage with setting of certain voltage as offset a 0 Set clamp mode at analog zero torque T a nies Mode Zero torque clamp function Not operated Tor o 10 v 10 V 87 PE 408 TClamp Mode O torque clamp mode PE 408 0 0 1 4 22 MECAPION Chapter 4 Program Menu 88 PE 409 TClamp Volt 1 Set analog Zero torque command clamp T 1000 voltage 89 PE 410 Monitor Type 1 Set analog output type for m
69. filter PST i peal TORQ CMD FLT 0 0 100 00 o PST 74 PE 315 0 Setting the motions Width to avoid resonance DE Resonance 0 1 75 PE 316 Hz 3 00 E Setting the operation frequency to avoid resonance PST Notch Frequency 0 1000 Hz 100 Setting the Band Width to avoid resonance PST E Le o i PESO Notch Bandwidth 0 1000 0 0 Not used PST E rra dd Reeve Overload offset 0 1 Used 10pulse 20 Setting the ranged pulse of position proportional gain 2 S 78 PE 319 Position Gain Range 1 5000 E 520 1 it is converted into gain 2 when pulse error is more than PE 319 1 Setting the function to improve the torque of zero speed S O Not used 79 PE 320 Zero Speed Lock 0 1 operated 8 6 MECAPION 5 Analog O variables setting menu xx indicates the menu which can t be changed or reset during Servo On inidicates the menu which can t bechanged during Servo On Appendix MENU Unit Initial a Description Mode Cone NAME Min Max code r min 2000 Setting the analog speed command at 10 V 80 PE 401 Analog Sona Ada ST Setting the offset of analog speed command a fears AnalogSpeed Offset l j Setting the clamp function of analog zero speed S 82 PE 403 Zero Speed Clamp 0 Not used 1 operated Setting the range of analog zero speed clamp 83 PE 404 camp Volt i 0 Setting speed ove
70. ft type 6 18 MECAPION 6 2 Servo Drive 6 2 1 Features era MEE VNO1 VNO2 VNO4 VNO7 VN10 VN15 VN20 VN35 Input voltage 3a AC 200 230 V 10 15 50 60 Hz Voltage type 3 Phase sine wave PWM driven AC Servo motor Arico ds 1 4 1 65 3 0 4 3 6 4 11 16 21 le Motor current Max current 4 2 4 95 9 0 12 9 19 2 33 48 63 Detector system Standard Incremental line driver 2000 10000 P R Serial Inc 17 21 bit Speed Control mode Speed control Max 1 5 000 range Frequency Max 400 Hz Serial 600Hz response Speed DC 10 V 10 V Reverse rotation in case of minus voltage digital command command 3 speeds Accleleration Deceleration time Linear or S shape acceleration deceleration 0 100 000 ms Setting 1 ms unit is possible pose _ 0 01 or less at Load variation 0 100 0 1 or less Temp 25 10 T variation ratio Input Line Drive 500 kpps re frequency Open Collector 400 kpps i Input pulse A B phase forward and reverse pulse direction pulse Line driver Open nae type collector e Setting and selecting 4 digital electronic gear ratio Precise adjustment is possible Torque command DC 10 V 10 V Reverse rotation in case of minus voltage Torque input Control Torque 51 or less Mode Linearity Limit speed DG Qty 10 V digital command 3
71. fter the AC servo motor encoder signal received From CN2 is divided according to the frequency dividing ratio set by the menu PE 510 PE 511 Pulse Out Rate Servo Drive Upper control system Line Drive Line receiver 3 10 MECAPION Chapters Wiring 3 5 Wiring of Incremental Encoder Signal CN2 3 5 1 Small size Motor Flange 40 60 80 AWG24 7Pair Twist Se Mear Shield Wire Servo Drive Cable Connector CN2 Maker 3M eae 10120 3000VE Maker AMP 10320 52A0 008 172163 1 15Pin 3 5 2 Medium Large size Motor Flange 130 180 220 AWG24 7Pair Twist Saive Motor Shield Wire Servo Drive Cable Connector CN2 Maker 3M 10120 3000VE 10320 52A0 008 Cable Connect MS3108520 29 MECAPIONS 37 1 Chapter 4 Menu Operation 4 1 Loader Operation 4 1 1 Name of Each Pal AO AE EE EA ON 4 2 4 1 2 Menu Operation Eer FEE EE EER EE EER EE EER Ee EER Ee EER ee ER ee ee ee 4 2 4 2 Menu Operation 4 2 1 Menu Summary tree EE EE eee SEE EE tee eee EER eee EER eee EER eee ER eee aaa ee 4 4 4 2 2 Operation state indicating Menus Ee cet eee Ee tee tee See eee ee eer ee 4 5 4 2 3 Alarm state indicating Menu ee ss se Ses cee eee Ee eee een Ee eee ee neces 4 9 4 2 4 System Variables Setting Menu ser ee settee teense eee Fee ences aes 4 10 4 2 5 Control Variables Setting MENU EE EE EE monaco eee ER eee ER eee ee ees 4 13 4 2 6 Analog I O Variables Setting Menu reer sere Ee ee Ee see ros 4 21 4
72. g menu MECAPION 4 43 Chapter 5 Operation 5 1 Check items before operation 5 1 1 Wiring cette ttt EER e EE EE EE Ee cnn Ee Ee Ee Ee ee ee ee ee ee trees 5 2 5 1 2 Operating signal CN1 Wiring rrr teeter eect tee EE tee teeter ee eens 5 2 5 1 3 Working circumstances st tte see treet tee EE eee eee eee eee ee Fee eee aes 5 2 5 1 4 The condition of machine MR DEERE AD GE EE ee RE Ee oe DE 5 2 5 1 5 Menu variables sere ese ese sesse ses eee see teens ees RR essen sen ee cen ee 5 2 5 2 Operation 5 2 1 Alarm rest __vrecer cect eee eee se teen tee ene AR ERA ERG sentences ces see ene ese ees 5 3 5 2 2 Alarm history Clear reer EER EER EER esses EER sees eee eee EER eee eee ee 5 3 5 2 3 Menu reset ee ee eee ere er key 5 3 5 2 4 Menu lock Pees cece te eee annert in tee ee cee EER ERG ER senses cesses ens ese ees 5 3 5 2 5 Setting input contact point logic EER EE EER ett EE EE EER eee ee ees 5 4 5 2 6 Setting output contact point logje EE tee EE EE tee EE FEE EE Fee eg 5 5 5 2 7 Setting forced ON OFF of output contacts logic ese tree 5 6 5 2 Adjustment 5 3 1 Adjusting current offset rrterrrerrrrcnnonnanonenananenannnenananenananos 5 7 5 3 2 Adjusting analog speed voltage offSet seer see Fee EE EE Fee Ee ee ee 5 7 5 3 3 Adjusting analog torque voltage offsett seer sees see see ee see see se 5 8 5 4 Test run 5 4 1 Hand operated FUN verter eers ee ese ee EER Ee ee EER nessa eee eee ee eee ees 5 9 5 4 2 Continuous test run SEEERE RNEER D
73. ge THEN range N m 4 0 EE EEN EEN 0 0 Cdntinuous 1000 2000 3000 1000 2000 3000 rom r min rom r min 6 4 MECAPION M Product Features Servo Motor Model APM SEO9A SE15A SE22A Applicable drive APD VN10 VN15 VN20 Rated Output kW N m Rated Torque kof cm Maximum N m Instantaneous Torque Rated rom r min 3 000 kaf cm Maximum rom r min 5 000 kg m x1 07 11 999 17 339 22 679 Inertia af cm s 12 238 17 685 23 132 Allowable load inertia ratio 10 times of motor inertia i kw s 12 31 18 98 28 25 Standard Incremental 5 V Line Drive 3 000 P R Speed Position Detector Option Serial Inc 17 21 bit Structure Totally enclosed Non ventilated IP65 Excluding the shaft through section and connectors Rated time Continuous Specification Ambient temp 0 40 C amp Features Ambient humidity 20 80 Avoid freezing Atmosphere Avoid direct sunlight no corrosive gas inflammable gas oil mist or dust E V Elevation Vibration 49 m s 5G Weight kg Speed Torque characteristics o o APM SE09A 95 9 APM SE22A 8 0 Torque NM 4 0 Corltinuods 07000 2000 3000 4000 5000 9 7
74. he offset value will be saved at PE 407 and return to the menu The current offset voltage will be the standard of zero torque Note Please be noted that the voltage offset of analog speed torque are 0 initially The adjustment should be preformed under Servo OFF and do not adjust it during operation 5 8 MECAPION Chapter 5 Operation 5 4 Test run 5 4 1 Hand operated run Press Enter key at pc 803 2 Then all alarm history will be cleared and the test run speed will be displayed If the alarm is not cleared try it again after checking the wiring and other factors of the alarm 3 When you press Up key the speed of test run has been changed The speed which is saved at PE 602 PE 604 will be displayed in serial If you press Left key the current speed will be displayed and the motor will be rotated in the reverse direction When you press Right key the current speed will be displayed and the motor will be rotated in forward direction If you press Enter key the test run will be terminated and return to the menu screen 5 4 2 Continuous test run Set the operating speed and time for continuous test run at PE 612 PE 619 Press Enter key at PC 804 Then every alarm will be cleared and servo will start to be operated In case that the alarm is not cleared try it again after checking the wiring and other factors of the alarm The operation step will be repeated contin
75. ht kg Speed Torque characteris 4 APM SF30A l APM SF22D APM SF35D 30 0 NN 35 0 EE 7 z 24 0 jee ee sn Peak ranab 21 0 Peak range N m 2 0 Nm 4 0 6 0 7 0 i Continuous 0 Continuous 0 1000 2000 3000 4000 5000 1000 2000 3000 1000 2000 3000 rpm r min rem r min rem r min APM SF12M APM SF20M 35 0 me 60 0 EE 90 0 28 0 T 48 0 72 0 Torque orque Torque 36 0 54 0 N m 14 0 Nm Nm 36 9 0 0 0 500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000 rom r min rem r min rem r min MECAPION 6 7 M Product Features Servo Motor Model Applicable drive APD Rated Output APM kW SE05G SE09G SE13G VNO7 VN10 VN15 1 3 1 7 N m 8 27 10 82 Rated Torque kof cm 84 41 110 38 N m 24 82 32 46 Maximum Instantaneous Torque kaf cm 253 23 331 14 Rated rom r min 1 500 Maximum rom r min 3 000 Ko m x107 11 999 17 339 22 679 30 74 52 13 Inertia of cm s 12 238 17 685 23 132 31 35 53 16 Allowable load inertia ratio Rated power rate kW s 12 28 24 39 39 54 Standard 10 times of motor inertia 5 times of motor inertia Incremental 5 V Line Drive 3 000 P R Speed P
76. iables 1 Check the motor ID setting PE 201 2 Check the encoder setting PE 204 3 Check if control gain PE 301 PE 302 PE 307 PE 309lare set properly 5 2 MECAPION Chapter 5 Operation 5 2 Operation 5 2 1 Alarm reset Contact points alarm reset If you turn the driving signal CN1 ALMRST ON the status of alarm will be reset and become to normal condition Operation menu rest If you press Enter at alarm rest menu PC 801 CLEAr will be displayed and alarm will be reset and become to normal condition xX If the alarm still remains even after reset check the factors and remove the main causes then try it again 5 2 2 Alarm history clear If you press Enter at alarm history menu PC 802 CLEAr will be displayed and the alarm history will be cleared Note 20pcs of alarm history is saved in serial from the recent one at PA 101 to PA 120 5 2 3 Menu reset If you press Up after pressing Enter at PC 809 every variables will be changed into the initial values except the valuables on system PE 201 PE 220 Note You have to apply the power after turning off the power to change the variables into the initial one 5 2 4 Menu lock If you press Enter at PC 810 Lock will be displayed When you try to edit menu data the manipulation will be prohibited with Err3 message To clear it if you press Enter one more time at PC 810 the status of Menu Lock
77. istics are not good by using various steps of controller 2 Speed Operation System Operating servo by soeed command that is analog or digital soeed command Upper Controller Servo Drive Servo Motor Position Speed Command command Pulse conversion Strong point Response of servo is fast Easy to control precisely Weak point Upper controller is complicate MECAPION 1 7 3 Torque Operation System Operating Servo by torque command that is analog voltage Upper Controller Servo Drive Servo Motor Torque Torque command Command conversion Strength Response of servo is fast Easy to control precisely Weakness Upper controller is complicate 4 Operation mode According to interface with upper controller Operating mode is as below Operation Mode System 0 Operating Torque mode 1 Operating Speed mode 2 Operating Position mode 3 Operating Speed Position mode by selecting connector 4 Operating Speed Torque mode by selecting connector 5 Operating Position Torque mode by selecting connector Operation mode is set up on menu PE 601 1 8 MECAPION 1 2 2 Wiring MCCB1 MC1 O O Power AC OB A L 200 230 V dia NF 00 amp r 50 60 Hz o y S 5 ervo Drive LI APD VN N O Y P Oo 0 SPD2 EGEAR2 So SPD1 EGEAR1 oO MODE TRQLIM oO SVON o o CCWLIM 6e isly ar CWLIM GND ma HE 5 o ALMRST oo IR
78. it indicates life span has exhausted Relays Inadequate contact may occur due to contact wear resulting from switching current The really wear condition is affected by the power capacity The standard life span is 100 000 accumulated switching switching life operations Motor Bearing Replace bearing when it is used for 20 000 30 000 hours under rated speed and rated load The motor bearing condition is dependent upon the operating conditions Replace the bearing if abnormal noise or vibration is discovered Standard replacement period Parts Standard replacement period How to replace Smoothing condenser 7 8 years Replace with new parts decide after check Relays Decide after check Fuses 10 years Replace with new ones Aluminum electrolytic f EE OG E 5 years Replace with new PCB Decide after check Cooling fan 4 5 years Replace with new ones Motor oil seal Decide after check Motor oil seal 5 000 hours Replace with new ones 7 4 MECAPION Chapter 7 Maintenance and Inspection 7 2 Fault Diagnosis and Corrective Actions In case an error occurs during operation alarm display AL or Err is displayed on the display window of loader At this time take the following steps If taking such steps does not correct errors contact our service center 7 2 1 Servo motor Actions to taken in case of errors CCWLIM CWLIM input is Refer to chapter 1 2 S
79. itial reset discharge of battery AL 16 ABS Multi Error Error with transmitting Multi rotation data of teh reset absolute encoder AL 17 ABS Read Fail Reading error of absolute encoder Absolute encoder CN2 wiring AL 18 U Hall Offset Error Current sensor error of U phase Replacing drive AL 19 V Hall Offset Error Current sensor error of V phase Replacing drive AL 20 Memory Error Memory error of parameter Replacing drive AL 21 Not Used Not used AL 22 Data Init Error Initialization error of Data Replacing drive AL 23 EPWR Hardware error power error of 9 lines encoder Replacing drive AL 24 USB Error USB comm Error Wiring inspection replacing drive AL 25 RS422 Error RS422 comm Error Wiring inspection replacing drive AL 26 Over Regeneration a ta a Input voltage regenerative braking wiring replacing drive AL 27 Current Limit Over Excessive current limit Motor wiring the status of load AL 28 Not Used Not used AL 29 Not Used Not used AL 30 In Out Logic error Logic error of I O Revising the fixed data AL 31 Encoder N D Error Prescaler ratio error of Encoder output Revising the fixed data AL 32 Egear N D Error Prescaler ratio error of electric gear Revising the fixed data Err1 Error1 ie e cnange ihe menu which can t be Revise menu after Servo off allowed revised under Servo on Err2 Errore ene nen ane eee Input the data which is within the range is input Err3 Errors Wher se iy to change the menu under LPC Change the data under Unlock at PC 810 810 Menu D
80. k Motor wiring and Load condition AL 28 Not Used Not used AL 29 Not Used Not used AL 30 In Out Logic error Error of I O setting logic Change parameter value AL 31 Encoder N D Error Encoder N D Error Change parameter value AL 32 Egear N D Error Egear N D Error Change parameter value Erri Error oca lei edici oo Edit parameter after Servo off under Servo on condition Err2 Error2 When set over scope of data to parameter Set parameter within scope Err3 Error3 When edit menu under Menu data After changing PC 810 parameter to Unlock Lock PC 810 condition Edit menu of parameter MECAPION 4 9 Chapter 4 Program Menu 4 2 4 System Variables Setting Menu xx Editing is not allowed under Servo On amp Reset Menu Editing is not allowed under Servo On MENU Unit INI EE App Com CODE NAME Min Max ss Mode Set Motor ID PST Input Motor ID into Menu then all of related parameter for motor is automatically changed Parameter PE 210 PE 218 is set as 40 PE 201 Motor ID 0 99 followed motor ID automatically xXx Refer to Motor Type and ID from Appendix 2 bps 0 Set RS422 Communication Speed at CN3 PST No Communication Speed 0 9600 bps 41 PE 202 RS422 Baud Rate 0 3 1 19200 bps 2 38400 bps 3 57600 bps Set applied Encoder PST Type of encoder is as followed 0 No Encoder
81. li D Setting the phase inductance of motor PST Phase Ls 0 001 30 000 S ohm D Setting the phase resistance of motor PST O e 0 001 30 000 E A _ D Setting the rated current of motor PST OF She ETE 0 01 999 99 2 r min 1 D__ Setting the max speed of motor PST A tex Gpeed 0 0 300 00 d r min 1 D Setting the current speed of motor PST AA AE 0 0 10000 E pole _ D Setting the no of poles of motor PST Ee oi Pole Number 2 98 E MA 0 Setting the gain group of motor of EENS Motor Gain Group 0 9 E mA Oo Setting the current offset of U phase PEREIS U Current Offset 200 200 mA 0o Setting the current offset of V phase BREN V Current Offset 200 200 MECAPION 8 5 Appendix 4 Control variables setting menu xx indicates the menu which can t be changed or reset during Servo On inidicates the menu which can t bechanged during Servo On MENU Unit Initial D ipti Mode om CODE NAME Min Max Coes code HH 2 0 Setting the ratio of inertia of load PST et pea Inertia Ratio 1 0 500 0 1 s 50 Setting proportional gain 1 at position control P 61 PE 302 Position P Gain1 rla 5 00 T e 1 it is applied when pulse error is less than PE 1 s 70 Setting proportional gain 2 at position control P
82. log speed command 10 10 V X O X O X O X X X SPDLIM Analog speed limit input 0 10 V X X O X X X O X O Analog torque command input 8 TRQCOM 10 10 V X X O X X X O X O TRQLIM Analog torque limit input 0 10 V O O X O X O X O X 7 GND Analog Signal ground O O O O O O On Analog speed command In case of override speed operation set up as 1 on menu PE 405 operation is executed by speed command that is repeated on digital soeed command Speed Digital speed command Selecting from PE 602 to PE 604 710V Voltage 1 3 3 Pulse Input Signal Pin Application table on operation mode Name Function and Use No P S T se sr er Line drive 5V F pulse input ee Open collector 24V Not Used a A AQ A Oe 7 Line drive 5V F pulse input 2 dd Open collector 24V F pulse input 2 j ds ne A os Line drive 5V R pulse input J es Open collector 24V Not Used a da dl ne i Sid _ Line drive 5V R pulse input j di Open collector 24V R pulse input la A ds ie OM Line drive 5V Not Used 29 PULCOM Open collector 24V O X X X O X O X 24V Power supply input MECAPION 17 1 3 4 Output Contacts Signal Pin Application table on operation mode Name Function and Use No P S T se sar eT 11 ALARM state output 12 ALARM ON normal state O O O O O O OFF ALARM state
83. m code and check CODE Name Description or main cause Check point nor oF Normal svoff Normal status of Servo off nor on Normal svon Normal status of Servo on AL 01 Not used AL 02 Low Voltage Low voltage main power is turned off Input level wiring of power AL 03 Line Fail Wrong wiring of motor U V W of encoder Fixed value CN2 wiring U V W wiring replacing motor AL 04 Motor Output Malfunction of driving circuit of motor Motor wiring power module error AL 05 Encoder Pulse Wrong setting the no of encoder pulse Fixed value of PE 204 CN2 wiring replacing motor Excessive position command pulse AL 06 Following Error Wrong following position pulse wiring and limit contact point PE 502 fixed value of PE 718 gain setting value AL 07 Over Heat Over heat status of load installing heatproof pan AL 08 Over Current Overo rrent ae wiring motor phase resistance encoder setting value and wiring replacing drive AL 09 Over Load Over load The status of load Brake wiring motor encoder setting value AL 10 Over Voltage Gass Input vo tage regenerative resistor damage wiring excessive regenerative operation AL 11 Over Speed Over speed Encoder error encoder setting value encoder wiring gain setting replacing motor AL 12 Not Used Not used AL 13 Position Pulse error Position pulse error Replacing drive AL 14 ABS Data Error Transmitting error of absolute encoder Initial reset AL 15 ABS Battery Error Battery error of absolute encoder In
84. moisture which is generated from freezing and condensation can damage the Humidity Less than 90 RH drive When you run the motor after long stoppage you have to remove the moisture thoroughly External Vibration accel speed ad Excessive vibration can shorten the life and cause malfunction Vibration Less than 5 9 ms No direct ray of light e No corrosive e or inflammable gas Conditions No oil or dirt Good Ventilation in airtight place 2 4 MECAPION Chapter 2 Installation 2 2 2 Installing in a control board panel Refer to the below for installation gap in a control board Oo EE k OO E pea fol GE In case of 1 unit In case of 2 units Note 1 Don t let the Installed regenerative resistor affect the drive such as generating heat When you assemble a control board don t let the metal dust which is generated by drill into the drive Prevent the oil water metal dust flowing into the break or roof Please protect
85. motor is 100 decreased and response speed is also decreased at lower speed of Zero speed Gain PE 313 x Not operated when PE 313 Zero speed gain is 0 119 PE 520 Gain Conv Mode 0 Set Gain 1 Gain 2 mode Set Operation O Apply 1 gain between Speed or Position 1 Speed Mode PE 601 1 a Current speed is less than PE 3131016 Applied Speed Gain 1 b Current speed is over than PE 313 Applied Speed gain 2 2 Position Mode PE 601 2 1 a Current speed lt PE 313 Applied Speed control Gain 1 b Current speed PE 313 Applied Speed control Gain 2 c Error Pulse lt PE 306 Applied Position control Gain 1 d Error Pulse gt PE 319 Applied Position control Gain 2 MECAPION 4 31 4 2 8 Speed Operation Variables Setting Menu xx Editing is not allowed under Servo On amp Reset Menu Editing is not allowed under Servo On MENU Unit INI Description Mode Com CODE NAME Min Max 1 Set Operation Mode refer to chapter 4 4 5 PST Mode of contacts Mode Mode OFF ON 0 Torque X X 1 Speed X X 2 Position X X g Speed Position Position Speed 120 PE 601 Operation Mode A A 4 Speed Torque Torque Speed 5 Position Torque Torque Position x When mode is 3 4 Even though PE 320 OSPD torqu
86. n 1 Enter a Lock unLock function is applied Lock display Lock Unlock display unlock Reset Absolute encoder 170 PC 811 ABS Encoder set Step KEY Description Reset Absolute encoder after 1 Enter i displaying reset for 5 Sec mA Compensate current offset of Hall CT Step KEY Description 1 Enter Enter mode amp return Menu 2 Right Display offset of U phase Current Offset 3 Left Display offset of V phase 171 PC 812 Save Offset value of U V is saved at 4 Up PE 219 220 then return to Menu Xx After checking offset if press Enter return to Menu without saving mv Save offset data of analog speed command voltage to PE 402 Step KEY Description 1 Enter Display current analog speed command Save displayed value as offset of 2 Up analog speed command voltage to Analog Speed 172 PC 813 PE 402 Cmd Offset 1000 1000 3 Enter Return Menu without offset value saving Xx After checking offset if press Enter return to Menu without saving x Applied this parameter when PE 420 is 1 or 3 MECAPION 4 4 Chapter 4 Program Menu mv E Save offset of analog torque command voltage to PE 407 automatically Step KEY Description Display current analog torque 1 Enter command voltage Save the displayed value of analog Analog Torque 2 Up torque
87. ne o deg 2 3 2 1 5 Installing cable od AI ME susie caves OE IE PERE ON AE EE IG 2 3 2 2 Servo Drive 2 2 1 Working circumstances _ _ ttt ttt tet en tenet eee GE ee Re nee ee ees 2 4 22 2 Installing in a control board panel EE EE ste oa a 9 5 22 3 Wiring tee cee eee Ee cee Ee eee EE cee Ee Ee een EE see ER EER eee Gee cee EER ene ee eee Ke 2 6 Chapter 2 Installation 2 1 Servo Motor 2 1 1 Working circumstances Item Working circumstances Remarks In case that the temperature exceeds the fixed range you have Temp 0 40 C to check with the R amp D Dept and place an order separately Humidity Less than 80 RH No vapor Vibration accel speed External f f ict hs Less than X Y direction Excessive vibration can shorten the life of bearing vibration 19 6 08 6 ms 2 1 2 Avoiding excessive shock In case that you shock the motor shaft or drop it the encoder can be broken 2 1 3 Wiring f you apply common power to the motor directly the motor can be damaged so you have to connect it to the proper drive The grounding terminal of the motor should be connected to one of two grounding terminal of drive 5 il and please connect the other with the 3 kinds of grounding The terminal U V W of the mo Please check the missing connector pin of the motor and bad connection
88. not throw down and prevent from impact Never use the equipment where it may be exposed to splashes of water corrosive or flammable gases or near flammable materials Failure to observe this warning may lead to electric shock or fire Use the equipment in indoors WIRING For the input power supply of Servo drive surely use AC200 230 V Make sure to ground the ground terminal Never connect the AC main circuit power supply to servo motor Never connect the AC main circuit power supply to output terminals U V and W Use the compression terminal with insulated tube when wire the power terminal Make sure that Power cable U V W and Encoder cable are separated when Connected If the motor moves by Machine please use Robot Cable Disconnect the power wires surely after the input power is off and CHARGE Lamp is completely OFF Surely use Twist pair shield cable for pulse command signal PF PF PR PR speed command signal SPDCOM torque limit signal TRQLIM OPERATION Before starting operation check and adjust each menu During operation do not touch the shaft of motor During operation do not touch the heat sink Do not connect or disconnect CN1 CN2 CN3 connectors while power is applied to the circuit GENERAL PRECAUTIONS Specifications are subject to change for product modifications and improvements In this case we issue the manual on updated Version NO MECAPION y
89. nput contact MODE ON Speed control mode MODE OFF Position control mode MECAPION 13 1 2 7 Speed Torque Operation Mode MCCB1 MC1 O O Power AC o ka OB OU 200 230 V o po NF o O Lo Servo Drive 50 60 Hz O O APD VN dr oe oe oe o_o CCWLIM a GEE O CWLIM 32 LL o o ALMRST MONITOR Output od sy RE EEES ENCODER Output oO 5V 5V Ee MC AN se 26 BRA so LOOT nin RW og E E E 10V 10V 7 pee SPDCOM SPDLIMI 9 OM ran EA HAVi TROLIM TRACOM 8 Limit Comf MANE go r gt Y Connect to Case of connector Note1 Input contact MODE ON Speed control mode Mode OFF Torque control mode 1 14 MECAPION 1 2 8 Position Torque Operation Mode MCCB1 MC1 O O Power AC o o d L r a Ee NE ma XL2 Servo Drive 50 60 Hz O O OO CO ea HD VN B C E USB EE ES DC24V 24V IN o o EGEAR2 SPD2 oO EGEAR1 SPD1 oo oo a o o o EN co o 4 MONITOR Output BV 5V DY E rel ar em HOU PULCOM Line Drive FH Eg pd SC BE is MA TN ETI k k Open Collecipr 2P ENCODER Output EJ IR mr bs so on e OS Limit 4 G0 OD EERW GEES Y Connect to Case of connector Note2 Input contact MODE ON Position control mode MODE OFF Torque control mode MECAPIONY 15 1 3 Signal Explanation 1 3 1 Input contacts signal Pin Application table on operati
90. of CN1 input contact point PST 13 Pd 014 Connection Turning on the light No connection Turning off the VO SET e light O 0 Display the status of operating time of regenerative PST 14 Pd 015 braking Reg Brake Time ms 3000 Display the value fixed at PE 419 15 Pd 016 Display the status of I O contact point logic PST VO State recognized from CN1 I O 16 Pd 017 01100 Display the status of logic for input contact point 0 4 PST Input Logic Set 00000 11111 4 pclear stop tclear 3 cwl 2 ccwl 1 almrst 0 svon 17 Pd 018 0000 Display the status of logic for input contact point 58 l Input Logic Save 0000 1111 8 egear2 spd2 7 egearl spd1 6 mode tralim 5 dir 18 Pd 019 001 Display the logic of output contact point Output Logic Set 000 111 2 inspd inpos 1 Ready Brk O Alarm 19 Pd 0 0 Display the secret No of software version PST Software Version z You can check the Display Menu under alarm status when you press Enter after pressing Left or Right MECAPION 8 3 Appendix 2 Dispalying the status of alarm MENU Unit Initial Comm CODE NAME Nine Mae Description Mode code Alarm history 01 20 20 PA 101 Alarm History01 PST Display the alarm history 39 PA 120 Alarm History20 Alar
91. on Menu xx Editing is not allowed under Servo On amp Reset Menu Editing is not allowed under Servo On MENU Unit INI Description Com CODE NAME Min Max Alarm reset with display of 160 PC 801 Alarm Reset _ _ CLEAr after pressing Enter Alarm history PA 101 PA 120 is clear with 161 PC 802 Alarm His Clear display of CLEAr after pressing Enter r min Manual Test operation Step KEY Description 1 Enter Display test operation speed PE 602 Up Display PE 602 PE 604 stepwise Manual Test Run Display absolute value of speed 162 PC 803 Min Max 3 Right Motor is operated with forward Dir 4 Left Motor is operated with reverse Dir 5 Enter Return to Menu x When press Enter under Alarm condition Err1 is displayed r min Start continuous test operation Step KEY Description 1 Enter Move to 0 3 automatically Step Speed Time 0 PE 612 PE 616 163 PC 804 Auto Test Run m 1 PE 613 PE 617 SA Ma 2 PE 614 PE 618 3 PE 615 PE 619 2 Enter Return to Menu x When press Enter under Alarm condition Err1 is displayed 4 38 MECAPION Chapter 4 Program Menu z 2 0 Start auto
92. on mode Name Function and Use No P S T SP S T P T 36 24V IN Input contact 24 V power supply O O O O O AL EE ME x o o ox ool xo 17 Selecting Speed limit2 EGEAR2 Switching electronic gear ratio2 O X X X O X X O X appr oe pes d Command x o o ox oo xo 18 Selecting Speed limit EGEAR1 Switching electronic gear ratio1 O X X X O X X X O MODE ON Switching control mode X X X O O O 28 ON Torque limit by TRQLIM value TRABIM OFF Torque limit by parameter o a Sl ds 5 X ON Servo Operating ee WON OFF Motor free run 4 2 o 2 a a 31 CCWLIM Prohibit CWW rotating forward direction O O O O O O 22 CWLIM Prohibit CW rotating reverse direction O O O O O O 33 ALMRST RESET at ALARM O O O O O O 34 DIR Selecting rotating direction X O X O X O X X X STOP Motor Stop at Speed Control 35 PCLR Motor Stop at Position Control O O O O O O TCLR Motor Stop at Torque Control Note2 In case Speed operation DIR and STOP contacts are operated as below by the menu PE 514 Operating Method Set up CCW CW CCW PE 514 DIR STOP DIR STOP DIR STOP OFF OFF ON OFF X ON ON ON OFF ON ON OFF OFF OFF 1 16 MECAPION 1 3 2 Analog Input Signal Pin Application table on operation mode Name Function and Use No P S T SP S T PIT 5 SPDCOM Ana
93. onitor PST Mode Data Mode Data 0 Com Speed 4 Com Frequency 1 Cur Speed 5 Err Pulse 2 Com Torque 3 Cur Torque 2 kinds of 5 V Analog output is possible And output as followed setting parameter 90 PE 411 Monitor Mode1 0 Set mode of analog output 1 mode for PST monitor Mode Output type 0 Direction output 5 5 V 1 Absolute output 0 5 V 91 PE 412 Monitor Scale1 0 1 1 0 Set Scale of analog output 1 PST DC 5 V is standard Item Scale Speed Max speed PE 215 Torque Max speed 300 Frequency 500 kpps Error pulse Position Error PE 512 50 0 When output value is very small or big the output can be change to properly with magnification MECAPION 4 23 Chapter 4 Program Menu mv 0 Set offset of analog output 1 for Monitor PST Because of analog circuit problem some voltage can be occurred during 0 voltage 92 PE 413 Monitor Offset 1000 1000 Output At this time can set offset range The unit is mv 3 Set analog output2 type for monitor PST Mode Data Mode Data 0 Com Speed 4 Com Frequency 1 Cur Speed 5 Err Pulse 93 PE 414 Monitor Type2 a a o Torgus 3 Cur Torque 2 kinds of 5 V Analog output is possible And output as followed setting parameter Set mode of analog
94. ontinuous test operation 1 3600 1 Set output type of INSPD output contacts S Mode Output type of INSPD output 139 PE 620 Inspeed Type 0 1 contacts 0 Zero Speed output 1 Accord speed output 4 34 MECAPION Chapter 4 Program Menu 4 2 9 Potion Operation Variables Setting Menu xx Editing is not allowed under Servo On amp Reset Menu Editing is not allowed under Servo On MENU Unit INI Description Model Com CODE NAME Min Max 1 Set Logic of position input pulse P Type of position command input pulse and rotation direction for each logic PF N Logic P Logic PR Forward Reverse Forward Reverse 140 PE 701 Pulse Logic 0 5 SS TOA B Phase Id ad SU SUL CONS ee Md E CW Pulse J Bad TL lel Pulse We Wey ELEL LE oe be A EL 1000 Set Numerator Denominator for electronic gear 141 xPE 702 E ectric Gear NO ds 1 30000 ratio 0 1 2 3 142 PE 703 Electric Gear DO ed ectric ear DO s 1 30000 2 2 E gear ratio E gear o N D Ratio 1000 7 143 PE 704 Electric Gear N1 ee E gearratioNO 1 30000 OFF OFF E gear ratio 0 E gear ratio DO 2000 ae 144 PE 705 Electric Gear D1 en iene E gearratioN1 _ 1 30000 ON OFF E gear ratio 1 E gear ratio D 1 1000
95. osition Detector Option Structure Serial Inc 17 21 bit Totally enclosed Non ventilated IP65 Excluding the shaft through section and connectors Rated time Continuous Ambient temp 0 40 C Specification amp Features Ambient humidity 20 80 Avoid freezing Atmosphere Avoid direct sunlight no corrosive gas inflammable gas oil mist or dust E V Elevation Vibration 49 m s 5G Weight kg Speed Torque characteris 4 APM SE05G 10 0 8 0 Torque o ak rang N m 4 0 2 0 A ntinuou 1000 2000 3000 1000 2000 3000 9 1000 2000 3000 rpm r min rpm r min rom r min APM SE17G 250 APM SF20G o 0 APM SF30G E Co y 28 Torque Pdak Paak range 91 0 dak range NM 40 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000 rom r min rpm r min rpm r min 6 8 MECAPION M Product Features Servo Motor Model APM Applicable drive APD 2 9 18 5 188 4 55 4 565 1 1 8 11 5 116 9 kw N m Rated Output Rated Torque kgf cm N m 34 4 350 8 Maximum Instantaneous Torque kgf cm 1 500 3 000 Rated rom r min r min Ko m x107 Maximum rom 80 35 81 99 51 42 52 47 Inertia a at cm s Allowable load inertia
96. p Speed Time 0 PE 612 PE 616 1 PE 613 PE 617 169 POTRA Auto Test Run Min Max 2 PE 614 PE 618 3 PE 615 PE 619 2 Enter test run is terminated gt return to menu x If you press Enter under alarm status Err1 will be displayed 2 0 Automatic tuning operation is performed 1 Enter Display the moment of inertia 2 Up Auto gain tuning operation at 100 rom 3 Up If you keep pressing Up it increases by 200rpm as 100 gt 300 gt 500rpm 164 PC 805 Gain Tune Run 1 50 4 Right continuous operation time is increased 5 Left continuous operation time is decreased 6 If the tuning value is not changed the work is completed 7 Enter PE 301 307 309 are saved and return to menu x If you press Enter under alarm status Err1 will be displayed Turn 0 00 Z phase search operation at the speed set at PE 607 1 Enter Mode execution clear 2 Left or Right operation after setting the direction of Z phase search operation 3 Enter Z phase Z phase search operation is terminated 169 Fe oos Z POS Search 0 9 99 gt return to menu Displayed data The no of rom x If you press Enter under alarm status Err1 will be displayed X In case of turning ON CCWLIM CWLIM operation is not available 166 PC 807 Turn Operated at the speed set at PE 608 for the target MECAPION 8 11 Appendix Manual Position Run position set at PE 717 1 Enter Mode ex
97. ped accel decl 131 PE 612 r min 100 0 Setting the speed 0 under continuous test run PST Test Run Speed0 6000 6000 132 PE 613 r min 500 0 Setting the speed 1 under continuous test run PST Test Run Speed 6000 133 PE 614 r min 1000 0 Setting the speed 2 under continuous test run PST Test Run Speed2 6000 6000 134 PE 615 r min 2000 0 Setting the speed 3 under continuous test run PST Test Run Speed3 6000 6000 S s 5 Setting the speed 0 under continuous test run PST ies PE ee Test Run Time0 1 3600 s 5 Setting the speed 1 under continuous test run PST 196 RERO Test Run Time1 1 3600 s 5 Setting the speed 2 under continuous test run PST ta RESIS Test Run Time2 1 3600 e s 5 Setting the speed 3 under continuous test run PST yee PEREI Test Run Time3 1 3600 139 PE 620 1 on ng the output type FI PD Gut contact point s Inspeed Type 0 1 O zero speed output 1 coincided speed MECAPION 8 9 Appendix 8 Setting position operation variables xx indicates the menu which can t be changed or reset during Servo On inidicates the menu which can t bechanged during Servo On MENU Unit Initial Description Mode n ees NAME Min Max p code N 1 Set the logic of position operation input pulse P 140 PE 701 0 negative logic A B pulse 1 negative logic 2 pulse Pulse Logic 0 5 2 negati
98. played In case that there is too much difference among the values after turning ON OFF the power save the tuning vale by pressing Up key If you press Enter it will return to the menu screen without saving the tuning value 5 3 2 Adjusting analog speed voltage offset You can adjust the voltage offset of analog speed command automatically as below Apply the voltage which standardizes the zero speed from upper controller 2 Input 2 at PE 420 to activate the automatic adjustment function for analog speed command offset 3 When you press Enter key at PC 813 the voltage of the current analog speed command will be displayed The current value will be applied to the Offset data of analog speed command voltage If you press Up key the offset value will be saved at PE 402 and return to the menu The current offset voltage will be the standard of zero speed MECAPION 5 1 Chapter 5 Operation 5 3 3 Adjusting analog torque voltage offset You can adjust the voltage offset of analog torque as below Apply the voltage which standardizes the zero torque from upper controller Input 2 at PE 420 to activate the autom offset atic adjustment function for analog torque command 3 When you press Enter key at PC 813 the voltage of the current analog torque command will be displayed 4 The current value will be applied to the Offset data of analog torque command voltage 6 If you press Up key t
99. points which come under out0 outl out2 are same as the status of input output contact points A B C displayed at Pd 016 PAB oaeg 1 0 20 0 0 8 When you select the output contact point by manipulating Left amp Right key and press Up key the output contact point will be changed like L amp H outx L The contact point is OFF outx H The contact point is ON Note If you turn ON OFF the power it will be returned to the initial status which was set at PE 515 5 6 MECAPION Chapter 5 Operation 5 3 Adjustment 5 3 1 Adjusting current offset When you adjust the offset of internal current sensor which is installed in servo drive you are requested not to adjust the offset value which was set initially If you have wrong value the control of servo will be unstable In case of download or S W upload you should set offset How to adjust offset Turn ON the power of servo 2 SVOFF after continuous operation stop under SVON or forward backward operation for 10 seconds Turn OFF the power of servo and turn it ON When you press Enter key at PC 812 and press Right Left key the offset of U V phase will be displayed If you press Up key the offset value will be saved and return to the menu Repeat the step about 5 times Ifyou press Left the offset value of U phase will be displayed and if you press Right key the offset of V phase will be dis
100. r shield cable for SPDCOM TRQLIM GND MECAPION 11 1 2 5 Torque Operation Mode MCCB1 MC1 O O Power AC O O o0 0 11 200 230 V o na NF Es o O L2 Servo Drive 50 60 Hz O O OO E LIC APD VN 5 L2c E EE DC2 na 24V IN Note ia iNsen oo seo2 7 Note1 RDY BRAKE _ PS oo EET E f oar a oo SVON TBT rd gt OWLIM e Q O CWLIM GND J ALMRST oO DIR a34 MONITOR Output oO 5V 5V 0 AN hee Bie ey r PULCOM ine Drive cra OE S JUL MA IST Per 3 E gt PR 4 ENCODER Output k k Open Collect r 10V 10y _ ete Speed SPDLIM 9 See bv ay e INC TROCOM el Note2 D Connect to Case of connector Note1 RDY BRAKE Output contact signal Select in PE 508 Note2 Surely use Twist Pair shield cable for SPDCOM TRQLIM GND Note3 Surely set Speed limit type by SPDLIM SP01 SP2D terminal 1 12 MECAPION 1 2 6 Speed Position Operation Mode MCCB1 MC1 O O Power AC o d o 11 200 230 V O na NF o O 50 60 Hz Y L2 Servo Drive APD VN dr o o SPD2 EGEAR2 o o SPD1 EGEAR1 oo oo a o o o EN o o DIR 34 MONITOR Output 5V AOV 00 yy 21 E Line Drive 00 DONE E Tn be PPK EE BEES ENCODER Output EJ IR k k Open collectpr TE E Jy ATi socn 97 NENE on MAN GER oY Py qc E po zo Y Connect to Case of connector Note1 I
101. rated as group Group ID can be used 2 Set drive start Menu PST 48 PE 209 Start Menu No j m Set the parameter which is displayed when drive servo ON from Pd 001 to Pd 020 MECAPION 4 1 1 Chapter 4 Program Menu atcms ID Set Motor Inertia PST 49 PE 210 Inertia 0 01 300 00 i When PE 201 Motor ID is 0 Editing is possible kofcr A ID Set Motor Torque constant PST 50 PE 211 Tra Con 0 01 300 00 i When PE 201 Motor ID is 0 Editing is possible mH Set Motor Phase Ls PST 51 PE 212 Phase Ls 0 001 30 000 i When PE 201 Motor ID is 0 Editing is possible ohm ID Set motor Phase Rs PST 52 xPE 213 Phase Rs 0 001 30 000 When PE 201 Motor ID is 0 Editing is possible A ID Set motor rated current PST 53 PE 214 Rated Is 0 01 999 99 When PE 201 Motor ID is 0 Editing is possible r min ID Set motor Max speed PST 54 PE 215 Max Speed 0 0 300 00 i When PE 201 Motor ID is 0 Editing is possible r min ID Set Motor rated speed PST 55 PE 216 Rated Speed 0 0 10000 i When PE 201 Motor ID is 0 Editing is possible pole ID Set Motor Pole no PST 56 PE 217 Pole Number A ae When PE 201 Motor ID is 0 Editing is possible 0 Set Motor Gain Group 57 PE 218 Motor Gain Group hp i 0 9
102. ratio 5 times of motor inertia Rated power rate kW s 21 45 Standard Incremental 5 V Line Drive 3 000 P R Serial Inc 17 21 bit Speed Position Detector Option Structure Totally enclosed Non ventilated IP65 Excluding the shaft through section and connectors Rated time Continuous Specification Ambient temp 0 40 C amp Features Ambient humidity 20 80 Avoid freezing Atmosphere Avoid direct sunlight no corrosive gas inflammable gas oil mist or dust E V Elevation Vibration 49 m s 5G Weight kg Speed Torque characteris 4 25 0 APM SG22D 50 6 APM SG35D 25 0 _APM SG20G Tor ie 0 Paak rang i T ae ak range ie A 21 0 Orde ss 5 21 k range N m 14 0 N m 21 0 NM 14 0 0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000 rem r min rem r min rom r min 60 0 APM SG 35 0 q 60 0 ARM SG20M i EEN Torque Torque adore ele N N ak range q 36 0 21 0 N m j 24 0 Nm 14 0 bntinupus 0 000 dm 3000 0 500 1000 Ee 2000 0 500 rar a 2000 cent rom r m rem r mi MECAPION 6 9 M Product Features Servo Motor Model APM Applicable drive APD Rated Output kW 0 4 Rated Torque N m 1 274 kof cm 13
103. riables that are related to analog PE 420 a VO PE 501 Save set variables that are related to I O InOut Menu PE 520 connection PE 601 f Stores set variables that is related to Speed PE 620 Speed Operation Menu operation PE 701 Save set variables that are related to position Pulse Operation Menu PE 720 pulse operation PC 801 f PO 820 Command Menu Execute operation handling From the below menu table the abbreviation for each mode means P Used at Position control mode S Used at Speed control mode T Used at Torque control mode 4 4 MECAPION 4 2 2 Operation State Indicating Menu Chapter 4 Program Menu MENU Unit INI A Geni Description nee CODE NAME Min Max Code po Display current operating status PST Display Description nor on Normal Servo On nor oF Normal Servo Off AL XX Alarm with applied code 0 Pd 001 Current State A 7 When reset after removing Alarm cause the display is decided by Start Menu no PE 209 r min 0 Display Current Speed PST 1 Pd 002 Current Speed 40000 10000 r min 0 Display Current command speed ST 2 Pd 003 Command Speed 10000 10000 pulse _ 0 Display cumulative position command pulse P a PAUA UET RUSE 99999 99999 Display input cumulative command pulse from Servo Power On pulse 0 Display feedback cumulative position PST Command pulse 4 Pd 005 Feedback Pulse 99999
104. ricity of joints Abnormal Check the bearing for vibration or noise Defective bearing Contact our service center abnormal noise Check control parameters Refer to Chapter 4 MECAPION y 775 Chapter 7 Maintenance and Inspection 7 2 2 Servo Drive If the ALARM occurs error signal out contact ALARM is turned OFF and the motor stops by the action of Dynamic Brake Actions to be taken in case of an alarm CODE Name Cause Corrective action nor oF Normal sv off ormal operating condition nor on Normal sv on ormal operating condition AL 01 Not used AL 02 Low Voltage Low Voltage Main power shut off Oreck Input voltage love Check the wiring of main power supply otor and Encoder Check set values and CN2 wiring U V W wiring L L oe Ine Fall U V W wiring Error Replace Motor AL 04 Motor Output Error of Output U V W open phase Motor wiring Power Module Error AL 05 Encoder Pulse o of encoder pulse set error PE 204 set value CN2wiring Replace Motor a Check the PE 502 position command pulse set value wiring L E P poe Following Error sition pulse tolowing error and Limit contact PE 502 PE 718 ser value Gain set value AL 07 Over Heat Over hitting Load status check Heat fan installation AL 08 Over ra Guarepren
105. rogram Menu r min 10 Set output range of Zero Speed PST SPD Com SPD Zero Speed 102 PE 503 Zero Speed RNG T 000 ANGTPE S08 ZSPD Current speed is lower than setting value ZSPD signal is output r min 100 Set the range of insped S SPD Com SPD Inspeed RNG PE 504 103 PE 504 Inspeed 0 0 500 INSPD Gap between current speed and commanded speed is within setting value the signal is output r min 50 Set speed of brake operation signal output PST S Motor Speed Ee ef Alarm Brake signal output EA N SPOIPE 505 ii SVON In Brake i i 104 PE 505 Brake SPD Output p Less 55 msec gt H BRK Signal output 0 0 6000 Delayed T PE 506 When brake type motor is used for vertical axis to prevent falling down of motor during Alarm or SVOFF time the brake signal can be OFF with first signal of Brake signal output speed PE 505 or Brake signal output delayed time PE 506 MECAPION 4 27 Chapter 4 Program Menu ms 10 Set Brake operating signal output delayed time PST 105 PE 506 Brake On Delay Time 0 1000 1 Set reset mode of main power fail PST 106 PE 507 PowerFail Mode i Mode Type 0 Manual reset 1 Auto reset 0 Select output contacts for Ready Brake PST Ready Brake 107 PE 508 Mode Output contact type Select 0 1 0 Ready output 1 Brake output 1 Set Posi
106. rol can be set under Speed Mode Straight type S type Accel Decel ntrol under Speed mode S Mode 0 1 Function of Input contacts 6 Straight type Accel Decel S type Accel Decel Accel Decel command Pattern as followed setting BES Acce 0 0 Decel 0 Acce Decel 0 Acce 0 0 Decel 1 Acce Decel 1 Com Accel Decel com aac MECAPION 4 33 Chapter 4 Program Menu r min 100 0 i PST 131 PE 612 Test Run SpeedO i Set speed 0 for continuous test operation 6000 6000 r min 500 0 PST 132 PE 613 Test Run Speed i Set speed 1 for continuous test operation 6000 6000 r min 1000 0 PST 133 PE 614 Test Run Speed2 i Set speed 2 for continuous test operation 6000 6000 r min 2000 0 l PST 134 PE 615 Test Run Speed3 i Set speed 3 for continuous test operation 6000 6000 s 5 PST 135 PE 616 Test Run Time0 i Set time O for continuous test operation 1 3600 s 5 PST 136 PE 617 Test Run Timel i Set time 1 for continuous test operation 1 3600 s 5 PST 137 PE 618 Test Run Time2 i Set time 2 for continuous test operation 1 3600 s 5 PST 138 PE 619 Test Run Time3 fe Set time 3 for c
107. ror Pulse following Error pulse gain setting value of PE 502 PE 718 AL 07 Over Heat Over Heat Check load condition Fan AL 08 Over Current Over Current Wiring Motor PTP resistor encoder setting value replace drive AL 09 Over Load ver Load Load condition Brake condition wiring Motor encoder setting value AL 10 Over Voltage Over Voltage Input power condition of regeneration resistor AL 11 Over Speed Over Speed Check Encoder wiring Gain or replace Motor AL 12 Not Used Not Used AL 13 Position Pulse error Position Pulse error Replace Drive AL 14 ABS Data Error ABS Data Error Initial reset AL 15 ABS Battery Error ABS Battery Error Initial Reset battery discharge AL 16 ABS Multi Error ABS Multi Data Error Initial Reset AL 17 ABS Read Fail ABS encoder reading error Check Abs encoder CN2 wiring AL 18 U Hall Offset Error U phase current sensor error Replace Drive AL 19 V Hall Offset Error V phase current sensor error Replace Drive AL 20 Memory Error Parameter Memory Error Replace Drive AL 21 Not Used Not used AL 22 Data Init Error Data Init Error Replace Drive AL 23 EPWR H W error Power error of 9line encoder Replace Drive AL 24 USB Error USB Communication error Check wiring replace Drive AL 25 RS422 Error RS422 Communication error Check wiring replace Drive AL 26 Over Regeneration ba ME l sening dine Check Input power regeneration resistor Replaced drive AL 27 Current Limit Over Excess limited current Over 1 sec Chec
108. rride operation function S 84 PE 405 RE EE SS 0 Not used 1 operated 100 Setting torque command at 10 V 85 PE 406 MOE al ma EE PST mV 0 Setting the offset of analog torque command 86 PE 407 Torque Offset F al ba j 000 sl T 0 Setting the clamp function of analog zero torque T 87 pe o Pe eN TClamp Mode 0 1 0 Not used 1 operated 88 PE 409 mV 1 Setting the clamp voltage of analog zero torque command T TClamp Volt 1 1000 1 Setting the type of analog 1 for monitor EE ss i d PST 89 PE 410 Monitor T i 0 5 Ocommand speed 1 current speed 2 command torque 3 current torque 4 command onitor Type pulse frequency 5 error pulse 0 Setting the mode of analog output 1 of monitor PST 90 PE 411 TER TEET e EE id sa onitor Mode 1 0 5V absolute value 1 0 mad Setting magnification of analog output for monitor PST 91 PE 412 Monitor Scale1 0 1 50 0 Speed Max speed torque 300 command pulse 500k error onitor scale pulse excessive position error Setting offset of analog output 1 for monitor 92 PE 413 fo ora Im m s 9 g outp PST N E 3 oooO Setting the type of analog output 2 for monitor PST 93 PE 414 Monitor T o 0 5 0 commend speed 1 current speed 2 command torque 3 current torque 4 command onitor Type pulse frequency 5 eror pulse Ee O Setting the mode of analog output for monitor PST 94 PE 415 0 5 5V Monitor Mode2 y f 1 0 5V absolute value 1 0 Setting magnification of analog
109. s Enter when you retum to the menu after checking the offset it wil retum to the menu without saving the offset NN EE Display the max instantaneous load rate 1 Enter Display 00000 initially Right The max instantaneous load rate of CW rotation Left The max instantaneous load rate of CCW rotation Up Clear the displayed load rate The value that you can see now is the one before clear 5 You can check again the max instantaneous load rate after clear by pressing Left or Right key Enter Return to menu al 2 3 NR EE 300 30 4 Oo pulse Display the following position pulse Enter Display 00000 initially T 175 PO 816 Up Clear the displayed following position pulse x means reverse direction 176 ff AK gt TE A 177 kk ic J TB yy A AK aaA A J d EP Initialize all menu data as the status of O S download 1 Up Initialization is performed with ALL CL message 179 PC 820 All Menu Data Init s and return to the menu automatically Note Don t set the menu fixed by manufacturer MECAPION 8 13 Appendix Appendix 2 Motor type and ID ID Model Watt Remarks ID Modle Watt Remarks ID Model watt Remarks 1 SARBA 30 34 SCO5A 450 For S T 67 SE16D 1600 2
110. s 500 ms Control power r 100ms set Control program r gt Initialization Within 500ms Power good AI Alarm reset arm Normal on x Alarm Y RESET Relay DB Relay OFF Relay ON Relay ON DB ON DB OFF J 2tms 08 OFF Relay OFF DB ON Servo RDY j4 ms gt e 200 ms Servo ON Servo OFF SVON a LA PWM gt j4 25 ms gt 25 ms BRAKE output B ON Below 0 SPD Motor speed Free Run 3 6 MECAPION Chapters Wiring 3 4 Wiring of Control Signal 3 4 1 Input Contact Signal he input contacts are classified into A contact and B contact depending on the contact characteristics and can be reset by the menu PE 517 PE 518 And special caution is required because each contacts can forcibly be ON OFF Servo drive ae Input signal 3 4 2 Output Contact Signal The output contact internally uses transistor switch Take precaution because over voltage or over current may cause damage to the system Power supply DC24 V 10 150 mA Servo drive Output signal3 note1 For the output signal of Alarm and Ready the GND24 terminal is separated MECAPION 3 7 Chapter 3 Wiring 3 4 3 Analog I O Signal Servo drive Twist Pair Command Output signal Shield Wire AE EE AE EN Command Output signal GND GND terminal must be O V of the control power supply 2 Input signal command voltage is within 10 V and input impedance is 20 k amp 3 Output signal voltage of
111. s 84 MONITOR Output wo MONIT ay E ER DA N Lind Drive 27 nn DCS WE EET ENCODER Output 10V 10 OV oy LND Torque E va EG EE 7 a Connect to Case of connector MECAPION 1 9 1 2 3 Position Operating Mode MCCB1 MC1 O O Power AC o d o0 200 230 V o aa NF Is o O 50 60 Hz g ra 5 Servo Drive APD VN Input aa ae oo oo oo oo a o o o ewm C o MONITOR Output o a SEM daa SMN aja AUS a PULCOM Line Drive MAA DA MEN a Do per 4 ENCODER Output k K o OD tec Open Collectbr E ki ef so 0 _ Or I 2 MAN Y Connect to Case of connector Note1 RDY BRAKE Output contact signal Select in PE 508 Note2 Surely use Twist pair shield cable for pulse command signal PF PF PR PR and torque limit signal TRQLIM 1 10 MECAPION 1 2 4 Speed Operation Mode MCCB1 MC1 O O Power AC o SO 11 200 230 V o se NF LIA 5 50 60 Hz o Lo Servo Drive APD VN DC24V oo oo oo oo Qo o o oo DIR 84 MONITOR Output oo Es ad al pila II 26 Bie M reno j fan R L pais ENCODER Output Ek ifs op speed OR Com DESEO Lig zo OD Oy aa Bo 7zo Limit MEd AA EE RE N a Connect to Case of connector Note1 RDY BRAKE Output contact signal Select in PE 508 Note2 Surely use Twist Pai
112. signal circuit can be occurred during O speed command At this time Set applied function to set torque command voltage offset automatically With selection of below mode Analog Speed PC 813 Analog torque command voltage offset PC 814 can be used command voltage offset and Mode Analog speed Torque command offset 0 Not used 1 Applied PC 813 2 Applied PC 814 3 Applied PC 813 amp PC 814 ST MECAPION 4 25 Chapter 4 Program Menu 4 2 7 1 0 Contacts Variables Setting Menu xx Editing is not allowed under Servo On amp Reset Menu Editing is not allowed under Servo On MENU INI aoe Description Mode Com NAME Max 10 Set output range of inposition P Pulse counte Com Pulse counter Error Pulse o Follow pulse counter RNG of IP EE gt PE 501 C 100 Inposition 60000 Outpu inpositio When the error pulse between commanded pulse and following pulse is within setting range Inposition signal is output Xx Applied Setting value 10 Pulse 90000 Set the range of position operation following P 101 Following Error 60000 error signal Pulse Com counter CNT Follow Error pulse Follow error When Error pulse is bigger than range of T following error pulse Alarm signal is output X Applied Setting value 10 Pulse 4 26 MECAPI N Chapter 4 P
113. sistance Separate use Motor Cable Connector U V W Ground A WARMING Alsk of electic shock Display USB USB Connector Hi CN1 Control Signal Connector CN2 Encoder Connector CN3 Communication Connector Front cover ii MECAPION 1 5 Small Capacity APD VNO4i Heat Sink Operation key Left Right Up Enter T gt Main Power Connector L1 L2 L3 Control Power Connector LIC L2C Regenerative Resistance Separate use Motor Cable Connector U V W Ground 1 6 MECAPION A WARMING E Alsk of electrie shock Display i USB USB Connector CN1 Control Signal Connector CN2 Encoder Connector CN3 Communication Connector Front cover ii 1 2 System Composition 1 2 1 Summary Servo System can be variously used as per the interface with Upper controller 1 Position Operation System Operate Servo by pulse command that operates the position of servo motor by ration of encoder pulse compared to command pulse Upper Controller Servo Drive Pulse command Servo Motor Strength Because of pulse input by transfer unit upper controller is simple Weakness High speed rotating is difficult at using precise transfer unit Response character
114. t Check the output terminal wiring motor encoder set value gain set Replace drive if O C Continues AL 09 abses ver l ad Check Load condition Brake operating condition wiring motor and encoder set value AL 10 Over Voltage Gvervoltage Check input voltage wiring of braking resistance damage of braking resistance excessive regenerative operation E Error E iring gai AL 11 Over Speed Over speed ncoder Error Check encoder set value Encoder wiring gain set Replace Motor AL 12 Not Used Not used AL 13 Position Pulse error Position pulse Error Replace drive AL 14 ABS Data Erro foes ME EE re real ee Check the initial reset AL 15 ABS Battery Error Absolute encoder battery error Check the initial reset battery is discharged ALE ABS Multi Erro Sadie encoder multi rotation Check the initial reset data transmission error AL 17 ABS Read Fai Absolute encoder reading error Absolute encoder check CN2 wiring check AL 18 U Hall Offset Error U phase current sensor Error Replace drive AL 19 V Hall Offset Error V phase current sensor Error Replace drive AL 20 emory Erro Parameter memory Error Replace drive AL 21 Not Used ot used AL 22 Data Init Error Data Initialization Error Replace drive Hardware error 2 E Replace drive Nes PR 9 wires type Encoder Power Error p AL 24 USB Error USB Communication Error Check wiring Replace drive AL 25 RS422 Error RS422 Communication Error Check wiring Replace drive Over regenerative L 2 i
115. tion pulse clear mode P Mode Position Pulse clear mode type 108 PE 509 Y Mode 0 1 1 Level on Stop the motor with clear input position command 1 Set Numerator for divide ratio of encoder PST output pulse Pulse Output Divide for less than 4096 pulse is available 109 PE 510 i Numerator 1 16384 for serial encoder When send encoder pulse as output signal of drive the output pulse is sent with divided ratio e 1 Set Denominator for divide ratio of encoder output pulse Pulse output divide for less than 4096 pulse is available 110 PE 511 Denominator 1 16384 for serial encoder When send encoder pulse as output signal of drive the output pulse is sent with divided ratio 4 28 MECAPION Chapter 4 Program Menu 0 Set Encoder output pulse A B phase PST Pulse Output 111 PE 512 Mode Output type of A B phase A B Lead 0 1 0 AA Lead 1 BA Lead 1 Set output type of serial encoder Z phase 112 PE 513 Pulse Output Z Mode Encoder Z phase output type 0 1 0 A Phase half cycle 1 A Phase one cycle 0 Set direction S W S Operation Method Set CCW CW STOP 113 PE 514 Dir Select Mode r i DIR STOP DIR STOP DIR STOP 0 OFF OFF ON OFF x ON ON ON 1 OFF ON ON OFF OFF OFF 001 Set logic of output contacts PST Set output contacts logic from CN
116. to find optimized value 64 PE 305 P FF FLT TC 100 00 Set Position Feed forward control time constant P Gain PE 302 Current position E Sudden change of position comment can make unstable condition of system At this case with setting FF TC filter value the vibration can be removed against rapid change 65 PE 306 Position Zero Gain 5000 Set range of change from P gain1 to P gain 2 When PE 520 Gain Conv mode is 1 P AIM O1 20M When Pulse error is bigger than PE 306 position Zero gain range under position mode P gain1 is changed to P gain 2 MECAPION 4 1 5 Chapter 4 Program Menu 66 PE 307 Speed P Gain1 rad s 5000 Set Speed P gain 1 Diagram of Speed control is as follows Analog SPD com filt PE 311 OSPD gain PE 313 Digital S com Torque Encoder S S FF re PE 312 S C Cur T Speed P gain convert to torque command with multipling Speed P gain error to P Gain Relation between Speed P gain amp Actual Speed T if Speed P gain value is big the following speed is increased But vibration can be happened Also if the value is small following speed is decreased and power of motor also decreased When PE 520 Gain Conv mode is 1 When actual speed is lower than PE 313 Zero speed gain speed this parameter is applied PS
117. tuning operation Under developing Step KEY Description 1 Enter Display inertia 2 Up Gain tuning starting with 100rom 3 Up Press Up key speed is increased 100 gt 300 gt 500rpm2 200rpm 164 PC 805 EE ir 1 50 4 Right Increase time of repeat operation 5 Left Decrease time of repeat operation 6 Tuning value is stable gt Finish tuning 7 Enter Save PE 301 307 309 return Menu x When press Enter under Alarm condition Err is displayed turn 0 00 Start Z signal search operation with setting speed at PE 6071 Step KEY Description 1 Enter Enter Mode or Release Mode 3 Left Left is CW Right is CCW 165 PC 806 Z POS Search or Right 0 9 99 3 Enter Return to Menu x When CCWLIMIT CWLIMIT contacts is OFF at start time this is not operated Not applied CCWLIMIT CWLIMIT contact during operating time x When press Enter under Alarm condition Err1 is displayed turn z Move to Setting target position PE 717 with setting speed PE 608 Step KEY Description 1 Enter Enter Mode or Release Mode 5 Left Left is CW Right is CCW N or Right 166 PC 807 Em 3 Up Function for Start amp Pause Run 4 Enter Return to Menu x When CCWLIMIT CWLIMIT contacts is OFF at start time this is not operated Not applied CCWLIMIT CWLIMIT contact during operating time x When press Enter under Alarm condition Erri is
118. uously from O to 3 and you can set the operation speed and time at the below menu Step Speed Time 0 PE 612 PE 616 1 PE 613 PE 617 2 PE 614 PE 618 3 PE 615 PE 619 MECAPION 5 9 Chapter 5 Operation 5 4 3 Z position run Set the speed for Z position run at PE 607 2 Press Enter key at PC 806 If you press Left key the motor will be operated in CW direction and if you press Right key it will be operated in CCW direction If you press Enter key it will return to menu This function is useful to assemble the position of Z phase 5 4 4 Manual position operation Set the manual position operation speed at PE 608 and set the no of rotation at PE 717 Press Enter key at PC 807 Press Left CW Right CCW to set the rotating direction If you press Up key the motor will star to be operated If you press Up key during rotation it will be paused The no of rotation will be displayed If you press Enter key it will return to menu after the motor stops X When CCWLIMIT CWLIMIT contacts is OFF at start time this is not operated Not applied CCWLIMIT CWLIMIT contact for operating time X The function is useful to convert the operation distance into the no of rotation when you assemble the equipment 5 10 MECAPION Chapter 6 Product Specification 6 1 Servo Motor 6 1 f Features EE EE EE ER EE EE EA EE OE KEN 6 2 6 1
119. utput kW N m Rated Torque kgf cm Maximum N m Instantaneous Torque kaf cm Rated rom r min 2 000 Maximum rom r min 3 000 Ko m x107 0 674 1 092 1 509 Inertia af cm s 0 687 1 114 1 539 Allowable load inertia ratio Rated power 15 times of motor inertia 42 19 2 500 P R Incremental 5 V Line Drive 2 500 P R rate Speed Position Standard Detector Option Structure Serial Inc 17 21 bit Totally enclosed Non ventilated IP65 Excluding the shaft through section and connectors Rated time Continuous Specification Ambient temp 0 40 C amp Features Ambient humidity 20 80 Avoid freezing Atmosphere Avoid direct sunlight no corrosive gas inflammable gas oil mist or dust E V Elevation Vibration 49 m s 5G Weight Speed Torque kg characteristics APM SCOBA oo APM SC10A D mu HEEN eg so ETIES IN ayy Torque ere range pak range N m 3 0 EE pe 5 2 0 f e 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 rem r min rem r min rem r min APM SC05D APM SCO06D aa APM SC07D 4o ll 5 6 Aeak ranga Continuoug 0 1000 rom r 2000 min 3000 O 5 um ATN l 8 0 51 dak ran
120. ve logic 1 pulse 3 positive logic A B pulse 4 positive logic 2 pulse 5 positive logic 1 pulse 141 PE 702 Set the denominator numerator 0 1 2 3 of electric P Electric Gear NO gear ratio 142 PE 703 Electric Gear DO EGEAR1 Applied electric gear ratio 0 1 2 3 based on 2 contact point 143 PE 704 e Gear Ni EGEAR1 EGEAR2 Electric gear ratio O OFF OFF 144 PE 705 Electric Gear D1 7 Electric gear ratio 1 ON OFF Electric gear ratio 2 OFF ON 145 PE 706 Electo Gear ND Electric gear ratio 3 ON ON 1O APERTO Electric Gear D2 144 PER TOP Electric Gear N3 Sree Electric Gear D3 149 PE 710 Not TEE rro Si 0 Select the electric gear ratio P 150 PE 711 0 Electric gear ration 0 3 can be selected E Gear Mode 0 1 1 Override the offset data to the numerator 0 of electric gear ratio Select the offset value of electric gear ratio 0 P 151 PE 712 E Gear offset 30000 30000 2 Set the offset data of numerator 0 b EGEAR1 ON increased EGEAR2 ON decreased 152 PE 713 A E 0 Set the pulse direction of position P Pulse Dir 0 1 ms 0o Set the accel decel Time of position command P AE TE eee Ite 0 100 154 PE 715 Not Weed a 155 PE 716 Not Used Ss Turn 10 00 Set the target position based on the unit of under manual PST ge OT E EE N a EE 6071 Manual Pos Oper distance 0 00 300 00 you can set the direction at PC 807 Left COW Right CW 0 Set the function of limit contact point CCW
121. will be cleared with unLock message MECAPION 5 3 Chapter 5 Operation 5 2 5 Setting input contact point logic You can set the status of input contact point at 0 4 logic setting menu PE 517 5 8 logic setting menu PE 518 PE 517 Setting input contact points 0 6 logic 3 2 1 0 Ty my eg Pay ap 0 0 OE 0 LL PE 518 Setting input contact points 5 8 al ry Ye s h 4d E The input contact point is displayed as below No 0 1 2 3 4 5 6 T 8 SPD1 SPD2 pone SVON ALMRST CCWLIM CWLIM STOP DIR MODE EGEAR EGEAR point TRQLIM 1 o Select the position of the input contact points by operating Left and Right key and set 0 or 1 by pressing Up key 0 CN1 driving signal is operated through Normal A contact point 1 CN1 driving signal is operated through Normal B contact point Note If you repeat to turn on off the power the fixed input contact points will remain in the same way as before 5 4 MECAPION Chapter 5 Operation 5 2 6 Setting output contact point logic You can set the status of output contact point logic at output contact point 0 2 logic setting menu PE 515 PE 515 Setting output contact point 0 2 1 0 MENEER The output contact point logic is displayed as below 0 1 2 ALARM READY BRAKE INSPD INPOS It can be selected at PE 508 Select the position of output
122. x3 KET GP110012 2 Cable 2Cx0 75SQ AWG18 Note 1 of Model No indicates the kinds and length of cable and declaration is as below Cable Length m 3 5 10 20 Robotic Cable F03 FO5 F10 F20 General Cable NO3 NO5 N10 N20 6 22 MECAPION E Options Cable Classification Product name Model Note1 ate Specification Motor side connector Drive side connection All Models of Brake Power For Connection side Brake type APC APM SE Power supply Power Cable aM SERIES 1 Motor side connector MS Military Standard 1 PLUG MS3108B MS3106B 20 15S 2 Drive side connection U V W FG 1 Connection terminal 2 5x4 KET GP110721 2 Cable 4Cx2 0SQ AWG14 3 Brake power connection side 1 Connection terminal 1 25x3 KET GP110012 2 Cable 2Cx0 75SQ AWG18 Note Apply UA F1512 Pin for the drive connection side of APM SEO3M Series cable Note 1 of Model No indicates the kinds and length of cable and declaration is as below Cable Length m 3 5 10 20 Robotic Cable FO3 FO5 F10 F20 General Cable NO3 NO5 N10 N20 MECAPION 6 23 E Options Connector Classification Product name Model Note1 Applicable drive Specification Upper Controller Drive connection side CN1 Indicates Pin No All Models of For APC APD VN CN1 Cable Signal CN100VNA SERIES 1 Drive side connection CN1 1 CA
123. y 000 111 ii Ji Hi MESS ZN ZN Z NO EE NO NO INI value 0 0 1 2 1 0 READY BRAKE INSPD INPOS Select from PE 508 ALARM ma NE ma Display software version n NA X VN f Drive Version No Drive Type No Drive Type 19 Pd 020 Software Version 7 y 1 VNO1 2 VNO2 3 VNO4 4 VNO7 5 VN10 6 VN15 7 VN20 8 VN35 PST PST When return to Menu from Alarm condition press Left or Right then Enter 4 8 MECAPION 4 2 3 Alarm state indicating Menu Chapter 4 Program Menu MENU Unit INI sae App s Description Com CODE NAME Min Max Mode Alarm history 01 20 a la atin Hie 2 Display Alarm state that happened before PST 39 PA 120 Alarm History20 Alarm code and Details CODE Name Cause Check Point nor oF Normal svoff Servo OFF normal condition nor on Normal svon Servo ON normal condition AL 01 Not used AL 02 Low Voltage ao An Check input voltage level Wiring of Power AL 03 Line Fail U V W wiring error motor encoder Check parameter CN2 wiring U V W wiring Replace motor AL 04 Motor Output Error of output open error Check IPM module or U V W wiring AL 05 Encoder Pulse Setting error for No of encoder pulse Check parameter PE 204 CN2 wiring replaced motor Check Wiring Limit contacts over range of input AL 06 Following Er
124. ystem Turn ON the CCWLIM OFF Configuration CWLIM input Check menu of motor encoder Reset menu Menu miss set and encoder type control mode refer to chapter 4 Check motor lead terminal with a If voltage is correct replace Motor Motor defective tester Resistance between each id s motor Does not phase less than 10 Q start Check the screws Retighten loose screws External miswriting or Check the motor and encoder o Rewire Replace cable cable disconnected wiring A Replace encoder Encoder defective Check the output wave form i Use A S service Check connection of the motor F Defective connection i Repair defective part lead terminal Motor Bles Input voltage low Check drive input voltage Change power supply Unstable Remove foreign material from Overloaded eck machine condition the rotator and lubricate or grease it Check the motor ambient Ambient temperature high temperature Change heat shield structure should be lover than 40 C f Check motor surface for attached Clean the surface of the Motor Motor surface stained f O Foreign materials motor ver Heated Check the load rate of the drive Reduce load Overloaded Check acceleration deceleration Increase cycle Acceleration deceleration time f Check counter electromotive Magnetic power deteriorated Replace motor voltage f Check the tightness of the coupling Defective coupling eck end Readjust coupling screws and the concent

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