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FDA5000 Series manual

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1. Model Motor LNO3 LN06 LNO9 LN12 LN12A LN20 LN30 LN40 Spec Driver 5004 5005 5010 5012 5012 5020 5030 5045 Flange size 130 180 Rated output W 300 600 900 1200 1200 2000 3000 4000 N m 2 86 5 72 8 6 11 5 11 5 19 1 28 6 38 2 Rated torque kgf cm 29 2 58 4 87 7 117 116 9 194 8 292 2 389 6 Maximum Nm 8 6 14 3 22 1 34 4 28 7 47 8 71 6 95 5 instantaneous torque kgf cm 87 6 146 226 351 292 3 487 730 5 974 Rated rpm r min 1000 Maximum rpm r min 2000 Re gf cm s 4 12 7 63 11 12 14 63 26 1 43 8 67 8 100 1 inertia GD A kgm x 10 4 04 7 48 10 9 14 34 25 6 42 9 66 4 98 1 Allowable load inertia Ratio Versus rotor Not exceeding 10 times Rated power rate kW s 20 5 43 3 68 2 91 7 51 4 84 9 123 4 148 6 Standard Incremental 2000 Detector type Option Absolute 11 13bit 2048P rev Weight kg 5 5 7 0 8 5 10 0 12 9 18 2 26 8 36 1 E Speed and Torque Characteristics A Continuous duty zone amp B Intermittent duty zone LNO3 LNO6 LNO9 LN12 Torque N m 10 Torque N m Torg elN m 16 3 12 8 16 anes 500 1000 1500 2000 Speed r min 500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000 Speed r min Speed r min Speed r min LN12A LN20 LN3O LN40 Torque N m Torque N m Torque N m 50 500 1000 1500
2. Model Motor CNO1 CNO2 CNO3 CNO4 CNO5 CNO4A CNO6 CNO8 CN10 Spec Driver 5001 5002 5004 5005 5010 Flange size 60 80 Rated output W 100 200 300 400 500 400 600 800 1000 N m 0 32 0 64 0 96 1 27 1 59 1 27 1 91 2 54 3 18 Rated torque kgf cm 3 25 6 5 9 75 13 0 16 2 13 0 19 5 26 0 32 5 Maximum N m 0 96 1 92 2 88 3 81 4 77 3 81 5 3 6 85 9 53 instantaneous torque kgf cm 9 75 19 5 29 3 39 0 48 7 39 0 54 5 70 2 97 5 Rated rpm r min 3000 Maximum rpm r min 5000 Rotor gfcm s 0 061 0 095 0 126 0 160 0 204 1 1 1 5 1 77 211 Ei kgm x 10 0 06 0 093 0 129 0 163 0 208 1 08 1 47 1 74 2 07 Bend Versuch i Not exceeding 30 times Not exceeding 20 times Rated power rate kW s 17 0 43 6 73 9 103 5 126 1 15 0 24 8 37 4 49 0 Standard Incremental 2000 Detector type Option Absolute 11 13bit 2048P rev Weight kg 0 85 1 14 1 43 1 73 2 03 2 1 2 55 3 1 3 7 E Speed and Torque Characteristics A Continuous duty zone amp B Intermittent duty zone CNO1 CNO2 CNO3 CNO4 CNOS5 TOUS m TUER m Torque N m TorquetN m Torque N m 0 8 16 24 3 2 4 0 0 6 12 18 24 30 04 0 8 12 1 6 20 Torque N m 4 0 1000 2000 3000 4000 5000 Speed r min CNO4A 1000 2000 3000 4000 5000 Speed r min 1000 2000 3000 4000 5000 Speed r min 1000 2000 3000 4000 5000 Speed r min 1000 200
3. gt in case of gt Select P PI Speed EP CC torque CW torque error OFF limit limit internal current i Internal speed command xe SC I m P2 04 SC P Gain P2 03 x gt DEA onang gt command eno N Resonant FRQ P2 19 x De Resonance ENB P2 20 First order FDELAY P3 17 lote De Resonance operation filter starts in case of x De Resonance ENB 1 DM poss ad ore Select torque limit TL Zero Speed P3 11 TRQ LMT P2 05 Rated torque OF 206 ines 100 Y Nj r Over speed 1 2 SPD Max PONP i in case of gt TRQ LMT P2 06 Rated oque i OFF ES x s Differentiation operator ig ON nm TRQIN Fist order N 10V Im P5 02 1 rated torque TRQ CMD TC P2 01 13 4 Generating Current Command when torque is controlled Torque OFFS P5 03 Generatin current command when torque control mode We 1000 Speed limit TRQIN v 10V Torque P5 02 0 Internal current gt TOU JN Rated torque Firet order command Speed limit operation d TRQ CMD TC P2 01 1 A Encoder Detect T speed gt X gt SPD CMD OFFS P3 14 Select speed limit SPD1 SPD2 Speed CMD1 P3 01 by ON OFF A 1000
4. 1 2 1 3 Installation 1 3 1 4 Order Specifications 1 7 1 5 Functions that facilitate starting 1 10 2 Ratings and Specifications 2 1 2 1 Ratings and Specifications for AC Servo driver FDA 5000 series MM 2 1 2 2 AC Servo Motor Ratings and Specifications 2 2 3 Wiring and Signals 3 1 3 1 Representative wiring 3 1 3 2 Internal Configuration 3 2 3 3 Main Circuit Terminal Board Wiring 3 3 3 4 CN1 Wiring and Signal 3 9 3 5 Description of CN2 Wiring and Signals 3 17 4 Digital Loader Operation 4 1 4 1 Displays after power is connected 4 3 4 2 Sub menu Group 4 5 4 3 Operation Monitoring Menu 4 5 4 4 Changing Parameters 4 8 4 5 Test Mode T
5. 7 1 7 2 CN1 Wiring 7 1 7 3 CN2 Wiring 7 3 7 4 Setting Parameters Related to Motor and Servo 7 4 7 5 Limiting Output Torque 7 6 7 6 Inputting Speed Command 7 7 7 7 Setting Motor Deceleration Acceleration Characteristics 7 10 7 8 Using Monitor 7 11 7 9 De resonance Frequency Operation 7 13 7 10 Other Set Values 7 13 8 How To Use Position Servo 8 1 8 1 Power Suuply Wiring 8 1 8 2 CN1 Wiring 8 1 8 3 CN2 Wiring 8 3 8 4 Setting Parameters Related to Motor and Servo 8 4 8 5 Limiting Output Torque 8 6 8 6 Inputting Position Commands 8 7 8 7 Using Monitor MM 8 9 8 8 De resonance Frequency Operation
6. 8 9 9 How To Use Torque Servo 9 1 9 1 Power Supply Wiring 9 1 9 2 CN1 Wiring 9 1 9 3 CN Wiring 9 3 9 4 Setting Parameters Related to Motor and Servo 9 4 10 11 12 13 Table of Contents 9 5 Speed Limiting 9 4 9 6 Inputting Torque Command 9 5 9 7 Using Monitor MM 9 6 9 8 Other Set Values 9 6 How to Use Speed Position Servo 10 1 10 1 Power Supply Wiring 10 1 10 2 CN1 Wiring 10 1 10 3 CN Wiring 10 3 10 4 How To Use Speed Position Servo 10 4 How to Use Speed Torque Servo 11 1 11 1 Power Supply Wiring 11 1 11 2 CN1 Wiring 11 1 11 3 CN2
7. MOTOR side 160 180 AC SERVO DRIVER FDA 5000 INCREMENTAL ENCODER ON2 ON Controller PU Output LINE DRIVER TI SN75174 Applicable LINE RECEIVER 2 TI SN75175 Vec 5V GND OV l 1 P indicates twist pair wire 2 T I TEXAS INSTRUMENT at CN2 wiring diagram 3 18 Chapter 3 Wiring and Signals Example of wiring between motor side 1130 180 series and FDA 5000 CN2 when incremental encoder is used Motor side 1130 1180 AC SERVO DRIVER FDA 5000 INCREMENTAL ENCODER cna cNi Contralier Output LINE DRIVER TI SN75174 Applicable line receiver 2 TI SN 75175 Vec 5V GND OV 1 P indicates twist pair wire 2 T I TEXAS INSTRUMENT CN2 wiring diagram Chapter 3 Wiring and Signals 3 5 2 Wiring and signal of absolute value encoder NIHUPZ CN is a connecter located in the right center of the 2 FG front part of the drive system This is used to d 14 PZ connect the drive system and servo motor encoder No 13 PB 15 PA NI 19 Vcc 20 ERSTS 16 PB 7BT 18 PA The right figure shows pin array viewed from the 9 GND user connector Encoder signal varies slightly according to the types of encoder PIN array of CN2 Note CN2 connector is an option item Based on the soldered side of the user connector Maker 3M Case product name 10320 52FO 008 Connector For soldering 1
8. _ EEE SVON I M NET APRES A M 400ms 1ms DB reset lets PWM EN Motor rotation 25ms m Concord YD RESET 3 8 Chapter 3 Wiring and Signals 3 4 CN1 Wiring and Signal CN1 is the connector located at the right lower part of the front of drive system This connector is used to connect the drive system with the upper control system which commands the operation The figure on the right side shows the pin array of the connector CN1 seen from the user side connector Note 1 CN1 connector is an option item Maker 3M Case name 10350 52FO 008 Connector For soldering 10150 3000VE 3 4 4 Encoder output signal NI GND NSMONITI NS PZO NPAO NO EPRIN 26 GND NOSMONLTE N NX 6 amp PBO amp GND NCLUHEFIN NJZPRIN eta eelk NI 8 SVONEN Keb IN N29 NI PBO Ne TRQIN NoD JPZO NGSGND NOEJPAO NO 12V NO 12V NGS ESTOP NC COND NUORPPEIN N36 GND NI 3 STOP NS8 ALMRST CLR NS CCWLIM NOOCWEIM 41 PI P 17 SPD2 GEAR NOS SPDTGEARI 42 SPD3 TYPE 19 A_CODE1 44 A_CODE2 NOOALARM N5 A_CODE0 21 RDY N 4ETRQOUT 22 INSPDIINPOS 23 47 ZSPD N AAS BRAKE NS0 F G 24 GND24 NC 24VIN 25 GND24 PIN Array of CN1 Based on the soldered side of the user connector The encoder signal is produced based on 0 V GND of control power supply Connect 0 V termi
9. 13 Note3 Motor stop start o 15 CCW limit Oo ae 40 CW limit O 39 Emergency stop Oo 98 Alarm reset o 41 Note3 Select PI P o Note3 Analog torque limit 14 43 Select speed limit Select speed b Select speed torque On Off 9 Servo ready Note3 In speed Zero speed Brake activate Alarm status Alarm code Torque under limit In case of Torque mode 24VIN AR N A SVONEN BY py STOP START CCWLIM BY CWLIM BY By ESTOP T PI P BY E SPD1 gt o gt Els e n SPD2 BY 3 m MLL ANA AAA AAA AAA pe iw x INSPD r de de de a de dede d gt BRAKE ALARM E TRQOUT GND24 GND24 gt gt gt N l l l o ojo Q U O JO JO o oO o o m m m N PAO 7 a molem OOo gt PBO 6 Drs er coc d PZO 5 a 10K CH 10K SPDIN ez 27 lt i 10 10V E GND Notet COCO 10K L_ 10K Parra e LEH 10 10 Daa MONIT1 3 4 4V EN Ewa E yv F G 50 Note2 Note1 Select GND terminal from among 1 8 26 33 34 and 36 Note2 Use CN1 shield wire to ground the F G Frame Ground terminal Note3 Available for speed mode 11 1 Chapter 11 How to Use Speed Torque Servo 11 2 1 Input contact signal function and use table Function and Use ON Servo start command SVONEN HB OFF Servo
10. r min CK04 CNO1 CNO2 60 CNO3 CNO4 CNO5 CNO4A CN CNO06 Series 80 000 CNO8 CN10 5000 CN r min 09 1430 CNI5 CN22 CN30 CN30A 180 CN50A CN70 KNO3 KNO5 80 KNO6 KN KNO7 Series KNO6A KN11 2000 130 KN16 3000 KN22 r min KN22A KN35 180 N55 KN70 TNO5 TNO9 TN 190 TN13 Series TN17 1500 TN20 3000 TN30 r min 180 TN44 TN55 TN75 Chapter 1 Checking and Handling Drive FDA FDA FDA FDA FDA FDA FDA FDA FDA FDA FDA Motor Flange Model 5001 5002 5004 5005 5010 5012 5015 5020 5030 5045 5075 LNO3 LN LNO6 Series 130 ILNoo 1000 LN12 LN12A 2000 LN20 9 r min 180 fEN30 LN40 KFO08 KF Series 130 E 9 2000 3000 Kia 180 KF35 r min KF50 TF TF05 Series 130 TF09 3000 TF20 180 TF30 r min TF44 LF LF03 Series 130 LF06 2000 LF12 180 LF20 r min LF30 9 Chapter 1 Checking and Handling 1 5 Functions that facilitate starting The following are the functions that help diagnosing and starting of the control panel and the machine Major function Description This function automatically calculates the load s inertia moment by detecting the current and spe
11. 13 6 Table of Contents 14 15 16 17 13 9 Example of positioning Unit G3F POPA connection between FDA 5000 the AC servo driver of HIGEN and PLC GLOFAPLC Maintenance and Inspection 14 1 Caution 14 2 Inspection Items 14 3 Replacing Parts 14 4 Maintenance Troubleshooting 15 1 Servo Motor 15 2 Servo Driver External View 16 1 External Dimensions of AC Servo Driver 16 2 External Dimensions of AC Servo Motor Specifications of Options 17 1 AC servo motor 17 2 AC servo driver cable specifications 13 7 14 1 14 1 14 1 14 2 14 3 15 1 15 1 15 2 16 1 16 1 16 2 17 1 17 1 17 3 Chapter 1 Checking and Handling 1 Checking and Handling 1 4 Handling Connection of main circuit and motor Thank you for purchasing HIGEN AC Servo Driver Incorrect handling of the driver may lead to unsatisfactory operation or in some cases to the rapid reduction of its life or damage to the servo Handle and operate the driver according to the instructions gi
12. Check 4 places in turn The difference between maximum and minimum should be 0 03 or lower IE Y Load tolerance on shaft Use flexible couplings and maintain the shaft center deviations within the specified tolerance Use pulleys and sprockets that can accomodate the allowable load 1 4 MOTOR MODEL CN0O1 CNO5 CNO06 CNO08 CNO9 CN15 CN20 CN30 CN30A CN50A KNO3 KNO7 KFO8 KN11 KF15 KN22 KN22A KN55 TNO5 TNO9 TN13 TN17 TN20 TN75 LNOS LNO6 LNO9 LN12 LN12A LN40 KF08 KF10 KF22 KF50 TF05 TFO09 TF20 TF44 LF12 LF30 e Accuracy of attachments Chapter 1 Checking and Handling RADIAL LOAD AXIAL LOAD N kgr 2 2 5 7 150 5 68 98 948 490 8 2 so 196 70 343 490 3 0 5 0 0 0 0 0 0 0 0 150 50 70 150 343 490 43 490 50 70 150 343 490 343 490 43 490 3 490 343 490 490 5 7 150 5 7 150 50 70 150 REFERENCE DIAGRAM Radial Load The accuracies of the output shaft and attachments of the AC servo motor are shown on the following table Item Accuracy T I R Reference Diagram Perpendicularity of flange attachment plane and output shaft A Eccentricity of flange fitting outer diameter B Vibration of output shaft end C 0 04mm Note T I R Total Indicator Reading Chapter 1 Checking and Handling Impact resistance The driver withstands
13. 12 4 2 How to use by control mode Refer to sections 7 and 8 for detailed directions by control mode 12 4 Chapter 13 Examples of Operation Flow and PLC Wiring 13 Examples of Operation Flow and PLC Wiring 13 1 SPD CMD OFFS P3 14 1 1000 SPDIN 1 gt _ gt Clamp Mode gt Generating Speed Command speed control Speed command selection SPD1 SPD2 SPD3 Zero Clamp Mode P3 15 Clamp VOLT P3 16 Contactor input Set value Speed CMD1 P3 01 ON OFF OFF Speed CMD2 P3 02 et OFF ON OFF Stop command Direction Speed CMD3 P3 03 STOP DIR ON ON OFF ON ON Speed CMD4 P3 04 GND 1 OFF OFF ON em MD5 P3 ama 4 Speed EMOS P305 ON OFF ON A OFF OFF Speed CMD6 P3 06 P x OFF ON ON Speed CMD7 P3 07 ON ON ON 10V Speed P3 13 ye p 5 OFF OFF OFF Override operation Override ON OFF P3 18 1 CCW limit Ul CCWLIM OFF cng B HE Note Override operation stop in case x SPD1 SPD2 SPD3 OFF OFF C ON 13 2 Generating Speed Command position control S type operation Acceleration deceleration Y ACCEL Time P3 08 Operates in S type DECEL Time P3 09 in case of S Type E
14. Alarm Reset ALarm Cleared Displays for 2 seconds Alarm Reset ALS02 Alarm Display ALSO1 Chapter 4 Digital Loader Operation The current alarm reset Alarm Status ALS 02 menu resets the current system alarm This function is the same as that of the external input reset 4 7 Chapter 4 Digital Loader Operation 4 4 Changing Parameters The parameter value can be changed in the same method Even though the changeable range varies according to menu operation methods are the same Hence Motor ID P1 01 is presented here as a representative example Starts parameter editing and cancels parameter change Verifies changed parameter e gt Increases or decreases cursor position value gt Moves cursot to left or right PROG Motor ID n P1 01 11 Cursor indicates changable position Motor ID Cussor position value increases 1 ata P1 01 12 time by the use of UP and decreases m 1 at a time by the use of DOWN Motor ID Cursor moves to left by the use of LEFT P1 01 12 and to right by the use of RIGHT Motor ID P1 01 Motor ID OK Upon editing press ENTER to terminate editing When the parameter change message is displayed verify changed parameter by ENTER key IF PROG is pressed previous parameters are maintained wiyhout using the changed parameters Motor ID P1 01 4 8 4 5 Test Mode Test Mode P6 Chapter 4 Digital Loader Operation 4 5 1 Jog mode P6 01 M
15. Analog torque limit abaliable o 4 46 TLQOUT Torque under limit Servo ready SEHE RE Servo READY In position 22 INPOS 24VIN Zero speed 47 0 SPD 4 Brake activate 48 BRAKE L4 L4 4 4 Alarm status 20 ALARM PH 45 A_CODEO E TE 1 5K PRIN 12 Alarm code 19 A CODE1 4 x2 44 A CODE2 F G 50 24 GND24 owes lc 25 GND24 1 Use GND terminal from among 1 8 26 33 34 36 2 Use CN1 shield wire to ground the F G Frame Ground terminal 13 4 Manual pulsd DC 5V 12V Chapter 13 Examples of Operation Flow and PLC Wiring 13 7 Example of positioning Unit G3F POAA connection between FDA 5000 the AC servo driver of HIGEN and PLC GLOFAPLC Servo enable CCW limit CW limit Emergency stop Alarm reset Cumulative pulse clear Select PI P control Analog torque limit avaliable Torque under limit Servo ready In position Zero speed Brake activate Alarm status Alarm code CN1 of FDA 5000 SVONEN A_CODE2 Cowes GND24 re res fe ey ley ley le rhe ie 1 Use GND terminal from among 1 8 26 33 34 36 2 Use CN1 shield wire to ground the F G Frame Ground terminal 13 5 5V GND Speed command voltage GLOFA G3FPOAA ENCODER 10 ICOM erm 44 Upper L S Toc 24v oor ee e Emergency a3 16 stop QD 2 6 FG es Chapter 13 Examples of Operation Flow and PLC Wiring 13
16. Monitor2aBs o 0 Displays type of symbols 1 Displays absolute values regardless of the type of symbols Menu Menuname Unit Display range Initial value P2 13 Monitor1 Scale Multiple 1 00 20 00 1 00 P2 17 Monitor2 Scale Multiple 1 00 20 00 1 00 This function in case viewing is difficult because the analog output value is small enables viewing by multiplying the parameter by appropriate multiples For example if 3 is input the size of the parameter is enlarged by 3 times Basic magnification speed speed command maximum speed 4 V Torque 3 x rated torque 4 V Menu __Menuname Unit Displayrange Initial value Monitort offset i00 0 1000 00 SPT P2 18 Monitor2 offset 1000 1000 oo SPT SPT This function enables output by applying appropriate offset to the analog output value This is to allow adjustment of the value displayed on O V potential by applying offset to the monitor display Unit is and maximum value is 100 Assuming maximum speed is 5000 RPM and if offset 20 is input to display speed 1000 RPM 20 of 5000 is displayed on O V 6 16 Chapter 6 Parameter Setting Display range Initial value Resonant FRQ Hz Hz 0 1000 P2 20 Resonant BW Hz Hz 0 1000 Input the band width of resonant frequency and resonant frequency band in Hz Torque output Torque output freau
17. St09 MaxLoad Rate n ESTEE ALARM3 ALARM2 ALARMI ALARM TRQOUT RDY SPD3 ZSPD SPD2 SPOT INSPD INPOS SOVOEN O BRAKE o giai i St10 Inertia Ratio OO OOO ooo Ooo St11 Program Version Alarm ALS A SEH O power By grat erm Ol sovoen eet ores LJ ALARM On Line Exit 17 4 Homepage http www higenmotor com Head office TEL b 82 2 369 8213 4 FAX b 82 2 369 8229 Branch office TEL b 82 51 710 5032 3 FAX b 82 51 710 5034 Factory TEL b 82 55 600 3333 FAX b 82 55 600 3317 Customer support TEL b 82 2 369 8215 82 55 281 8407 Order NO 702003121 HIIDEN X This book is in copyright Subject to statutory exception and to the provisions of relevant collective licensing agreements no reproduction of any part may take place without the written permission of HIGEN Motor company
18. 3 3 Main Circuit Terminal Board Wiring 9 2 CN1 Wiring Make wiring as follows to use FDA5000 as the torque control mode 49 24VIN 7 a Ge Gy 24V Te 0 E Servo enable sot 6 PBO li x 0 e o0o0c d CCW limit O 5 40 CW limit o OOD ee E OP i60 m Emergency stop o 38 Alarm reset o 43 Select speed 17 limit 9 27 Li 10 10V GND J Note1 DOO 28 lt T 10 10V GND Note1 DOODO 3 4 4V N 2 4 4V FAN 21 Note1 Servo ready 47 Zero speed 48 Brake activate 20 Alarm status 45 50 Note2 Alarm code Hm 44 46 Torque under limit 24 25 Note1 Select GND terminal from among 1 8 26 33 34 and 36 Note2 Use CN1 shield wire to ground the F G Frame Ground terminal Chapter 9 How to Use Torque Servo 9 2 1 Input contact signal function and use table Name i i Function and Use ON Servo start command OFF Servo start command reset SVONEN OFF Motor CCW running limited WLIM 1 ee ON Motor CCW running allowed OFF Motor CW running limited ON Motor CW running allowed CWLIM 40 Forcibly ignores all input status of the servo drivers in case of external emergency and shuts off free run motor operation after rapidly decelerating the motor m c PCT ERR NR type can be selected from parameter P2 30 ALMRST 38 Resets alarm status if turned Resets alarm status if turned ON ss SPD1 Selects speed
19. Emergency Origin L S 24V 24V COM 24V COM FG Chapter 14 Maintenance and Inspection 14 Maintenance and Inspection The servo driver need not be checked and maintained on a daily basis as it uses highly reliable parts but inspect it at least once a year The brushless servo motor is semi permanent however check it periodically for signs of abnormal noise or vibration 14 1 Caution 1 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 Always use rectifier type voltmeter to obtain accurate measurement 2 When checking motor current The pulse wave form is smoothed to sine wave to a certain degree by the motor reactance Connect and use a moving iron type ampere meter 3 When checking power Use an electrodynamic type 3 phase watt meter 4 Other meters Use oscilloscopes or digital voltmeter without letting them make contact with the ground Use meters with input current of 1 mA or less 14 2 Inspection Items Caution Charged voltage may remain in the smoothing condenser creating an element of danger when inspecting the driver Turn off power and wait for approximately 10 minutes before starting inspection Check the inside of the machine for cable chips dust or other debris and clean it up Check the terminal screws
20. Speed r min ITN30 Torque N m 1000 2000 3000 Speed r min 2 5 1000 2000 3000 Speed r min ITN44 Torque N m J 75 60 45 30 15 1000 2000 3000 Speed r min Model Motor TNO5 TNO9 TN13 TN17 TN20 TN30 TN44 TN75 Spec Driver 5005 5010 5015 5020 5020 5030 5045 5075 Flange size 130 180 Rated output W 450 850 1300 1700 1800 2900 4400 7500 Nr m 2 87 5 41 8 27 10 8 11 5 18 6 27 9 47 7 Rated torque kgf cm 29 3 55 2 84 4 110 117 190 285 486 9 Maximum N m 8 61 14 2 22 5 29 4 28 7 46 6 69 9 119 3 instantaneous torque kgf cm 89 5 145 230 300 292 5 475 712 5 1217 Rated rpm r min 1500 Maximum rpm r min 3000 feed gFem s 4 12 7 63 11 12 14 63 26 1 43 8 67 8 126 4 inertia GD A kgm x 10 4 04 7 48 10 9 14 34 25 1 42 9 66 4 123 9 Allowable load inertia Ratio Versus rotor Not exceeding 10 times Rated power rate kW s 20 5 39 1 62 8 81 1 51 5 80 8 117 4 183 8 Standard Incremental 2000 Detector type Option Absolute 11 13bit 2048P rev Weight kg 5 5 7 0 8 5 10 0 12 9 18 2 26 8 45 7 E Speed and Torque Characteristics A Continuous duty zone amp B Intermittent duty zone N13 TN17 Towels m TorguatN m Torque m 1000 2000 3000 Speed r min N75 Torque N m 125 1000 2000 3000 Speed r min Chapter 2 Ratings and Specifications
21. Standard type TF TN Medium speed High torque type Symbol item Low speed High torque type 0 None 1 Oil seal attached 2 130 Flange Brake for 24V Shaft Type Rated Power Watt Symbol Item Symbol Rated Output W Symbol Rated Output W A Straight amp No Key 01 100 15 3900 B Straight amp Key 02 200 16 1600 C Tapper amp Key 03 300 20 2000 04 400 22 2200 Encoder Type 05 450 500 30 3000 Symbol Pulse Type 06 550 600 35 3500 A 2000 07 650 40 4000 B 2500 08 750 800 44 4400 C 3000 l Incremental 15 line 09 850 900 50 5000 D 5000 10 1000 55 5500 E 6000 12 1200 75 7500 F 2048 13 1300 G 2048 Absolute 11 13 bit 1 4 2 Servo driver model marking FDA 500 O0 AC Servo Drive F Encoder Type FDA5000 Series Incremental Encoder Type Rated Power Wait por p w om o sat Symbol Encoder Type Standard type EOM Standard type M Loader 1500 Position decision type 1200 Chapter 1 Checking and Handling 1 4 8 AC Servo application table Drive FDA FDA FDA FDA FDA FDA FDA FDA FDA FDA FDA Motor Flange Model 5001 5002 5004 5005 5010 5012 5015 5020 5030 5045 5075 CK CKZ5 e 4 Texor
22. according to the status of the load If the L180 or 1130 motor is controlled by servo FDA 5004 use SC Loop Gain P2 03 of FDA 5005 Menu Menuname Unit Display range Initial value P2 04 SCITC m ms 1 10000 20 ms Reducing the speed integrating time constant can improve the transient response characteristics of speed control and normal status characteristics However if the time constant is reduced excessively overshoot may occur Select appropriate value If 10 000 is input the speed integrating time constant is considered indefinite and the speed control turns to P control form 10000 Recommended set value ms SC LOOP Gain P2 03 ms Recommended minimum set value z 3000 ms SC LOOP Gain P2 03 6 14 Chapter 6 Parameter Setting Display range Initial value TRQ LMT 0 300 TRQ LMT 0 300 TRQ LMT P2 05 Maximum CW torque ana ae x rated torque TRQ LMT P2 06 Maximum CCW torque cn e x rated torque Display range Initial value P2 07 Pulse Out Rate SPT Divide the A and B phase encoder pulses fed back from the motor and set the encoder pulse dividing ratio to be output in line drive method The allowable dividing ratio is from 1 division to 16 division Input desired dividing ratio in this item Frequency division is defined as fol
23. 14 Offset Maximum speed x 8 times rated torque x Monitor ABS 2 0 Monitorl Scale 1 Monitorl offset 0 Oo Monitor ABS 1 Monitor Scale 1 Monitor1 offset 0 Monitor ABS 1 Monitorl offset 25 Monitorl offset 25 Monitorl Scale 2 Monitor Scale 22 Monitor1 offset 25 7 12 Monitorl offset 25 Monitor1 Scale 2 M Chapter 7 How to Use Speed Servo 7 9 De resonance Frequency Operation Mechanical resonance of specific frequency may occur when a system is constructed by using servo To remove such resonance input the resonant frequency occurring on the system to the Resonant FRQ P2 19 in terms of Hz input the band width of the resonant frequency to be removed to the Resonant BW P2 20 in terms of Hz and select De Resonance ENB P2 21 as 1 Menu Menu name Unit Display range Initial value Mode P2 19 Resonant FRQ Hz Hz 0 1000 a0 Resonan Bw He 01000 100 se 2 21 DeResonan ens o1 o s 7 10 Other Set Values Menu Menu name i T m Initial value Mode P2 08 Current Offset SP Peas pwamsem c amenT mmo SPT P226 SPDINDelay ms omo o f s P227 DB Cori 01 f 1 SPT P228 Display Seet 1 10 1 fer P229 StarStoep J on o SPT P230 Emergency Tye or f o
24. 2 001 99999 SPT P1 06 ls RatedjArms Arms 0 01 99999 SPT P1 07 SPD MaxJRPM 0 1 9999 9 SPT P1 08 SPD Rated RPM 0 1 9999 9 r P1 09 Pole Number poe 2 98 Pi 0 PowerAmpTyp 0 20 Bycapadty SPT aea e ee 1 eee P1 13 ParameterLock o o r Caution Menus marked with cannot be corrected during Servo ON 6 2 Chapter 6 Parameter Setting 3 Common control menu Control mode P2 Menu Menuname Unit Displayrange Initial value Mode P201 ControllerType 0 5 1 SPT rom er a EE MT TUR N 1 P2 03 SC LOOP Gain rad sec 0 5000 ole ra oe SC ITC s ms 1 1000 TRQLMT 0 30 TROLMT 0 30 Pulse Out T Current Offset p E l Brake SPD RPM Brake Time ms ms 0 100 Monitor Select 0 2 multiple dm SP e e ep Ul g U ep 5 4 P2 12 Monitor ABS ee ee eee eee P2 13 Monitori Scale multiple 1 00 20 00 100 I P2 14 Monitor1 offset 9 000 10 0 0 P2 15 Monitor2 Select N n n n n n nm Od Ost 4 A3 4A A A 4A Monitor2 ABS Monitor2 Scale multiple Monitor2 offset 1000 1009 Resonant RQ Hz Hz 0 1000 Resonant BW Hz EE multiple ep 5 4 De Resonant ENB Inertia Ratio multiple Autotune Range Autotune ON OFF E MEM AR DE E 4 ONOFE Ore Parameter
25. 2000 Speed r min 500 1000 Speed r min 1500 2000 75 60 45 30 15 iB 1j 500 1000 1500 2000 Speed r min 2 6 18 60 40 20 500 1000 1500 2000 Speed r min Chapter 2 Ratings and Specifications Torque N m 15 1000 2000 3000 Speed r min KF22 Torque N m 35 28 21 14 Coe 1000 2000 3000 Speed r min Torque N m 15 1000 2000 3000 Speed r min KF35 Torque N m 50 1000 2000 3000 Speed r min 2 7 Torque N m 25 20 1000 2000 3000 Speed r min KF50 Torque N m 75 1000 2000 3000 Speed r min Model Motor KF08 KF10 KF15 KF22 KF35 KF50 Spec Driver 5010 5015 5020 5030 5045 Flange size 130 180 Rated output W 750 1000 1500 2200 3500 5000 Nm 3 58 4 77 7 16 10 5 16 7 23 9 Rated torque kgf cm 36 53 48 7 73 1 107 170 244 Maximum Nm 10 74 14 31 21 56 31 4 50 0 71 7 instantaneous torque kgf cm 109 5 146 0 220 0 321 510 732 Rated rpm r min 2000 Maximum rpm r min 3000 ds g cm s 10 5 15 5 25 3 65 3 100 5 159 1 inertia GD 4 kgm x 10 10 3 15 2 24 8 64 0 98 5 156 Allowable load inertia Ratio Versus rotor Not exceeding 10 times Rated power rate kW s 12 3 15 0 20 7 17 2 28 2 36 4 Standard Inc
26. 3000VE 3M CONNECTOR COVER 10320 52A0 008 3M Motor side Connector Driver side Connector FDA 5000 Series Order code FCA_LILILILIL 17 1 Chapter 17 Specifications of options 17 1 3 Power cable for motor Flange 60 80 Series ECOLES ujo 1 v we 2 w pack 3 EARTH GREEN AMP172159 1CAP AMP1 480424 0CAP AMP170362 1PIN AMP61117 1PIN N60 Series Stantard N80 Series Stantard AMP172160 1CAP AMP1 480270 0CAP AMP170362 1PIN AMP61117 1PIN N60 Series Brake N80 Series Brake Motor Cable Connector Diagram Order code FCA O0O0 000 Operating type Non operating type 3m 5m 10m 20m 3m 5m 10 20m BENE SEHSEMEIDIPEIESESSERIEE BEBE UE MEMEIIFEUJESEEESESUIETZS 17 1 4 Power cable for motor Flange 130 180 Series Ture 1 ol ie ome F ol Fw leuc 5 Vir oreen 4 D MS2108B20 4S 130Series MS2108B22 22S 180Series BRAKE TYPE MS3108B20 15S 130Series MS3108B24 10S 180Series BRAKE TYPE Motor Cable Connector Diagram Order code FCA L II 10 Operating type 3m 5m 10m BC20F SD10F SD20F Type 130 SC20F 180 5 5Kw 180 7Kw 180 SE20F SFO3F SFO5F SF10F SF20F BD20F BE20F Brake BD10F BE10F Note Application 1 2 3 5kW 4 4 5 5Kw 7Kw Power cable model for above 7Kw MS3108B32 17S 17 2 Non operating type
27. 5m 10 20m SF05N SF10N SF20N SDOSN SFO3N BEOSN Chapter 17 Specifications of options 17 2 AC servo driver 17 2 1 Digital loader Order code No FDA500004S 17 2 2 Mount loader Order code No FDA500005S 9o BBHBB 45 Q LEFT QQ ENTE Az 17 2 3 CN1 Connector Order code No FDACONS50P 3M Item No 10150 3000VE 10350 52A0 008 Maker 3M 17 3 Chapter 17 Specifications of options 17 2 4 Noise Filter AC Servo drive FDA FDA FDA FDA FDA 5001 5005 5010 5020 5030 5045 NFZ NFZ NFZ 4030SG 4040SG_ 4050SG NOISE FILTER 17 2 5 Power unit for brake Item No BPU 109A Input Singal phase AC200 220 V Output DC24 V 60 80 Series DC90 V 130 180 Series 17 2 6 PC Loader RS232C PC Communication Software Order code No FDA500007S Main Features Current status display function motor speed load rate etc Alarm status display function W O status display function Convenient mode change and parameter change Auto jog test function Display Window PC Loader for FDA5000 Config 1 Help EEH SHAM Status St Dl TS St01 Motor Speed RPM SONA ieu 25 BS AEH St02 CMD Speed RPM LJ ALMRST St 3 CMD Speed pulse STOP St04 Feedback Pluse Pluse xdi St 05 Pulse ERR pulse CWLIM St06 Speed Limit RPM CCWLIM St07 Torque Limit E St 8 Load Rate
28. Caution Menus marked with cannot be corrected during Servo ON Menu Menuname Unit Display range Initial value Mode P2 01 Controler Tye 0 5 1 r Designate servo controller model as follows Servomodel Setvalue Remarks Torge sevo 0 Co Position sevo 2 Jj EN Speed servo if contact type is ON and position servo if contact type is OFF Speed servo if contact type is ON and torque servo if contact type is OFF Poditionltorqu Semo 5 Position servo if contact type is ON q and torque servo if contact type is OFF Menu Menuname Unit Display range Initial value P2 02 PC P Gain 0 500 If the proportional gain is large the time to reach the command position is reduced However if the proportional gain is excessively large vibration occurs when the motor stops or overshoot occurs in transient status SC LOOP P2 03 rad sec SC LOOP Sain P2 03 rad sec If the maximum set value is exceeded overshoot may occur on the position Menu Menuname Unit Display range Initial value P2 03 SC LOOP Gain 0 5000 By capacity If the speed loop gain is large high speed response characteristics may be obtained but the normal condition characteristics may become deteriorated Set appropriate level of loop gain to ensure desired performance The servo speed response is closely related to the system inertia Set accur
29. Install the servo driver in such a way that FDA 5000 can be seen from the front If the drivers are installed in a closed panel maintain an interval of more than 10 mm between drivers and more than 40 mm between top and bottom If multiple number of panels are installed in parallel about 100 mm space is required on the upper side Avoid heat by installing fans Install heat sources such as regenerated resistance away from the driver e Prevention of ingress of foreign matter Exercise caution when drilling control panels to prevent chips produced by drilling from getting into the driver Take appropriate measures to prevent oils water and metal powder from getting into the driver from openings in the control panels and the fan installed on the ceiling If the driver is used in a place with large amount of toxic gases and dust protect the driver with an air purge 1 3 2 Servo motor installation e Operating environment Ambient temperature 0 40 C There should be no freezing Ambient humidity 8096 RH or lower There should be no steam External vibration X Y 2 19 6 m s2 2G e Caution when assembling load system Prevent impact on shaft It is important to accurately match the motor shaft with the shaft center of the connecting machine Unmatched shaft center causes vibration and may cause damage to the bearing Use a rubber hammer to install couplings to prevent excessive force from being applied to the shaft and bearing
30. ON Main power and auxiliary power are connected to servo RDY 21 i without any alarm ON Motor speed reached designated level INSPD 22 Valid only in speed control mode Reached designated pulse position Position control Output signal for external machine brake drive ALARM 20 A CODEO 45 A CODE 1 19 j A_CODE2 44 TRQOUT 46 ON Servo is under torque limit Where ON Applicable contact is connected to GND24 OFF Applicable contact is connected to 24V or applicable contact not connected ZSPD 47 ON Motor speed is zero Displays alarm type See the table below Alarm Code output status 11 2 Chapter 11 How to Use Speed Torque Servo Output status of ALARM CODES Alarm type Emerg Over Encoder stop Current voltage miswiring Others Normal A CODEO A CODE 1 A CODE2 OFF ON OFF ON OFF ON OFF Where ON Applicable contact is connected to GND24 OFF Applicable contact is connected to 24V or applicable contact not connected 11 2 3 Analog input use and function table Function and Use Speed control mode Inputs external analog speed 10V 10V Inputs external analog torque limit command 10V 10V Torque control mode Inputs external speed limit command 10V 10V Inputs external torque command 10V 10V 11 2 4 Analog output use and function table Name Function and Use MONIT 1 MONIT2 PAO PAO PBO PBO
31. PRIN 2 ALARM CODE Analog speed command 5 gt SROIN al it ue 4 In position iini 10V Analog speed limit Z r GNO 33 Servo ready Zero speed TRIN 28 Brake output 4 Analog torque command LE RN 24 Alarm status Lp analog torque limit GND 36 24V GND Note3 FG 50 F G Note 1 NF is an abbreviation for Noise Filter Use this to prevent infiltration of noise from external sources Note 2 For FDA 5005 75 type connect single phase AC220 V to the r and t terminals of the spare power supply FDA 5001 4 type is not provided with r and t terminals e Note 3 Use CN1 earth cable to ground the F G Frame Ground terminals 3 1 Chapter 3 Wiring and Signals 3 2 Internal Configuration 3 2 1 Power board configuration Regenerat ive resistor OF DIODE resistor 7A Initial Charging P B Power module Current 3phase ns Sensor U V W AC 200 230V IGBT U W current DB drive detect ion drive circuit circuit circuit Main control board 3 2 2 Control board configuration USER 1 0 a N Filter IU IW Analog command AD Conver ter Monitor output DA Converter lt CPU Power circuit Contactor i 0 connection TMS320C32 E od ii TIGOS FUSION Flash ROM IGBT drive signal 128k 8 J Regeneration control signal i Inial charging circuit drive signal Command pulse fault signal input CNI input ASIC CN2 SERIAL comunica
32. PZO PZO Monitor output 1 4V 4V 11 2 5 O contact power supply Function and Use 24VIN Power ground for analog I O such as speed command torque limit command monitor output and encoder output DC 24V power supply for the external I O contact DC 24V ground for the external I O contact Note See section 3 4 6 for the capacity of 24V power supply 11 3 CN Wiring For information on CN2 wiring see Section 3 5 CN2 Wiring and Signal Description 11 3 Chapter 11 How to Use Speed Torque Servo 11 4 How to Use Speed Torque Servo To start speed torque servo set the servo controller type to 4 11 4 1 Switching of control modes Type ON OFF ON Speed control Torque control Caution Switch speed servo1 position servo only when motor is stopped 11 4 2 How to use by control mode Refer to sections 7 and 8 for detailed directions by control mode Speed command for speed operation can be input freely by using 3 methods D Using 3 digital speed commands Speed CMD1 P3 01 Speed CMD3 P3 03 2 Using external analog speed command 8 Based on override operation by combining methods of items and The internal speed command selection effected based on these 3 methods is decided as follows based on CN1 speed selection SPD1 SPD2 contact and the Override ON OFF P3 18 set values 7 P3 18 nni j mee Speed command selection 2 selection 1 Speed CM
33. RH Caution Must be free of dewing or freezing 2 If the motor is stored outside or in a place with humidity cover it with an appropriate type of cover to prevent infiltration of rain or dust 3 If the motor is to be stored for a long period of time after use apply rust proof agent on the shaft or on slideways to prevent rust 14 4 2 Servo driver It is not desirable to leave the servo driver unused for a long period of time If the servo driver is not used immediately store it in the following manner 1 Store the driver in a clean and dry place Ambient temperature Ambient humidity 15 C 4650 Less than 90 RH Caution Must be free of dewing or freezing Ambient temperature applies to short period of time such as during transporting 2 As the driver is in open structure exercise caution not to allow dust to be accumulated 14 3 Chapter 15 Troubleshooting 15 Troubleshooting In case an error occurs during operation take the following steps If taking such steps does not correct errors contact service center 15 14 Servo Motor Actions to be taken in case of errors Cause Inspection Corrective action Motor does not start Motor running unstable Motor over heated Abnormal noise Check parameters related to motor encoder encoder type and control mode Reset parameters P ameter mess See sections 5 and 6 Readjust mechanical system
34. SPT F281 Power al Mode or l SPT P232 Zero SPD ViBR T RPM 00 1000 ON SP 7 13 Chapter 8 How to Use Position Servo 8 How to Use Position Servo 8 1 Power Supply Wiring For wiring see 3 3 Main Circuit Terminal Board Wiring 8 2 CN1 Wiring 49 24VIN s Ny A 24V PAO 7 Pa a em o 18 SVONEN 24 PBO 6 Servo enable O D PES Sow ini 15 cow p ces Le oo imr o PZO 5 40 CWLIM V CW limit o is Exc gt g Poco E St ow Emergency stop o ALMRST Alarm reset 38 d ol a as an O 9 p Cumulative pulse clear 41 PI P Select PI P TLIM BY 10K Lt 10K TRONN 28 244 Lt C cle Soo XL 799 MONIT1 3 4 4V a e E MONIT2 2 4 4V FAN GND Note1 AD S 4 21 RDY ervo ready 22 INPOS t Position command pulse input In position Line Drive SN75174 BM SE pt PPFIN 11 ero spee PFIN i me jM x aum 48 Brake activate E f 300 PPRIN 9 20 ALARM L Alarm status pE Pang oa K 45 A CODEO n t Note If used in the 19 A CODE1 E t Open Oollector System Alarm code short circuit the 44 A CODE2 D PPFIN 11 PPRIN 9 E terminal 46 TRQOUT t FG 50 See section 3 4 3 Torque under limit 24 GND24 E t PESE Note2 25 GND24 P Analog torque limit 43 GEAR1 AAA AA AAAS Select speed O emn A j id Note1 Select GND terminal fr
35. Signals Types and functions of CN1 input contact signal Speed Position Torque Pin Name control control control CN1 signal signal signal function function function Servo drive Servo drive Servo drive SVONEN 18 ENABLE ENABLE ENABLE ON Servo drive ENABLE Electronic Speed limit Refer to SPDICART A3 fpnoegraett gear select 1 7 7 Speed command input Electronic Speed limit 8 7 Position command input APOE SARE CEA bnisereohe gear select 2 9 6 Speed limit method Refer to SPD3 TYPE 42 rpm select 3 7 7 speed command input Chapters 10 11 and 12 Rotation DIR 16 direction ON opposite direction of speed command select Contact status OFF same direction of speed Command CCWLIM 15 CCW limit CCW limit CCW limit Off CCW limit CWLIM 40 CW limit Off CW limit TLIM 14 Analog Analog Analog On Analog torque limit torque limit torque limit torque limit Off Digital torque limit Alarm ALARM reset Cumul ON Alarm reset AEM TACT SS RESET ative pulse ON Cumulative pulse clear clear Emergency Emergency Emergency Contact form can be selected at Bor SRI stop stop parameter P2 30 ON Controls speed controller P PI P 41 PI P select PI P select Off Controls speed controller PI STOP START 13 Stop Start Bed selecten at parameter Where ON Applicable contact connected to GND 24 OFF Applicable contact connected to 24V or applicable contact not connected For mor
36. TRO CMD TC ms 0 0 1000 0 00 sPT 10V Torque 0 300 8 6 Inputting Position Commands Electronic gear ELCTR Geari NUM P4 06yj GEART GEAR2 ELCTR Geari DEN P4 07 oer OFP ELCTR Gear NUM PA 08 Y 4 5S ELCTR Gear DEN P4 09 oce oy ELCTR Gear3 NUM P4 10 M ELCTR Gear DEN P4 19 oy opp ELCTR Gear4 NUM P4 12 ELCTR Gear4 DEN P4 13 ON ON Pulse type selection F pulse R pulse pulse Logic P4 14 PPFIN PFIN T d PPRIN PRIN Pulse counter gt 09 A x CLR Cleared when turned ON 8 7 Chapter 8 How to Use Position Servo 8 6 1 Inputting position command pulse 3 types of command pulses D A phase B phase 2 CW pulse CCW pulse and direction pulse can be selected Input applicable number to Pulse Logic P4 14 Command pulse operation is effected based on the encoder pulse value multiplied by 4 Menu P4 14 8 6 2 Electronic gear Menu name Unit Display range Initial value Mode Pulse Logic 0 5 1 P The electronic gear enables setting of motor feed per input command pulse in a random value The electronic gear is multiplied by the number of the command pulses to electronically play the role of a gear FDA 5000 series are capable of inputting 4 different electronic gear ratios and the selection of the electronic gear is decided by the input contacts GEAR1 and GEAR2 Gear
37. connectors No eyebolts are used for 1 2 1 8 and 2 2kW in standard specification Taper specifications are applicable to 1 2 1 8 and 2 2kW only Taper shaft detail External dementions Tees D Ep en Le eg s afse 5 as We TN teo Les em e on ow Les em e e s n eves mu ino e ste sol amp we s s e dm ee e es aa e mao me ep a s m an 95 To e e o ste ls aa eso trae ro e an Lm ste ts aa Figures in indicate brake attached type Use DC 90V for brake input power supply In case of Taper shaft shaft length is shorted 9 2mm Encoder Encoder Signal Signal LJ arking ew A B U DO OA B icl v Spo v cO Os 0 G SHIELD MS3102A22 22P MS3102A24 10P MS3102A20 29P Standard Type Brake Type s H Motor Cable Connector Diagram Encoder Cable Connector Diagram Chapter 17 Specifications of options 17 Specifications of options 17 1 AC servo motor cable specifications 17 1 1 Encoder signal cable Flange 60 80 Series AMP 172163 1 CAP 170361 1 PIN CONNECTOR 10120 3000VE 3M CONNECTOR COVER 10320 52A0 008 3M Motor side Connector Driver side Connector Order side FCA LILIEI MS 3108820 29S CONNECTOR 10120
38. contact If 1 is selected Emergency stops when ESTOP contact is turned ON Normal A contact Menu Menuname Unit Displayrange Initial value P2 31 PowerfalMode 1 In case the main power R S T terminals is turned OFF and Power Fail Alarm occurs reconnect power and determine if the Alarm auto reset is to be activated If 0 is selected Alarm status is maintained until the reset terminal is input If 1 is selected Automatically reset when power is reconnected Menu Menuname Unit Displayrange Initial value P2 32 Zero SPD VIB RJT 0 0 100 0 If the motor vibrates at low speed including zero speed input the speed range desired to remove vibration from in terms of rpm In this case in crease the set value on a gradual basis until vibration is reduced However when 0 0 is set the zero speed vibration suppression function will not operate Menu Menuname Unit Display range Initial value Conformoworr onor ON ON This menu controls confirmation work when parameters are input If ON is selected the servo reconfirms parameter change through the message OK prior to changing parameters If OFF is selected the servo changes parameters without going through confirmation process This menu is supported only on digital loaders Parameters are changed without confirmation on mount loaders 6 20 Chapter 6 Paramete
39. limit by combination of the two signals SPD2 17 See section 9 6 Where ON Applicable contact is connected to GND24 OFF Applicable contact is connected to 24V or applicable contact not connected ESTOP 9 2 2 Output contact signal function and use table Name i Function and Use RDY ON Main power and auxiliary power are connected to servo without any alarm ZSPD m e ERES ON Motor speed is zero BRAKE Output signal for external machine brake drive ON Brake reset OFF Brake drive ALARM ON Normal status OFF Alarm detected A CODEO Displays alarm type A CODE1 See the table below Alarm Code output status A CODE2 i ON Indicates servo is operating in torque mode It becomes OFF TRQOUT if speed limit is reached Where ON Applicable contact is connected to GND24 OFF Applicable contact is connected to 24V or applicable contact not connected 9 2 Chapter 9 How to Use Torque Servo Alarm Emerg Over Over Power Encoder type Stop voltage load error miswiring A_CODE2 Where ON Applicable contact is connected to GND24 OFF Applicable contact is connected to 24V or applicable contact not connected 9 2 3 Analog input use and function table L Name Pinno Function and Use SPDIN Inputs external analog speed limit 10V 10V TRQIN Inputs external torque command 10V 10V 9 2 4 Analog output use and function table Function and Use 9 2 5
40. straight line or in S shape 0 100 sec in unit of 0 01 sec 300 kpps Direction pulse forward run pulse reverse run pulse 2 phase pulse A phase B phase Open collector line driver system DC 10 10 V Maximum command can be adjusted on loader Not exceeding 4 96 DC 10 410 V Maximum speed can be adjusted on loader Overcurrent regenerated overvoltage overload motor miswiring drive overheat encoder error voltage shortage overspeed and excessive error Standard separately attached type See motor specifications table Speed torque 4 4 V built in Testing function jog and motorless operation alarm history forward and backward run encoder signal frequency division output Power cable encoder cable CN1 connector CN2 connector Loader Mount Loader Digital Loader 0 50 C Not to exceed 90 96 Should be free of dewing 20 480 C To be greater than DC 500 V 10 M 2 Book Type Note 1 The model name of the servo driver which uses absolute value encoder is FDA 5000A Note 2 Single phase AC 220V can also be used However as output may become lower than the rated value increase the servo driver capacity by 1 step if possible 2 1 Chapter 2 Ratings and Specifications 2 2 AC Servo Motor Ratings and Specifications
41. value pata OvemideONOFF on o If the value of this menu is set to 1 the analog speed command is added to the digital speed command to become the speed command If fine adjustment is necessary in special speed area set the internal digital soeed command to the special speed and gradually adjust the analog voltage by selecting the range requiring fine adjustment at 10V Speed P3 13 However if the speed selection switch is selected as the analog speed command override operation is not performed Make sure to select one of the digital soeed command with the speed selection switch 1 Selects override function 0 Resets override function 6 23 Chapter 6 Parameter Setting 6 6 Position control parameters Position Mode P4 Caution Menus marked with cannot be corrected during Servo On Menu Menuname Unit Display range Initial value Mode P4 01 Feedforward O 100 0 P Input the Feedforward rate of the position command speed in 9o The delay element of the position controller can be reduced if the value of this item is increased However if the value is increased excessively overshoot may occur on the position system or performance of the position controller is deteriorated Select appropriate value If this value is 0 the position controller becomes a simple position proportional controller Refer to the following MAX Feedforward value for each K SC LOOP Gain PC P Ga
42. 0 20 30 300 100 If the SC Loop gain is too low vibration occurs and response becomes fast if it is high but vibration occurs if the gain is excessively high Response becomes fast if SC TC is reduced but overshoot occurs if it is reduced excessively Position reaching time is shortened if the PC P gain is increased however excessive gain may cause vibration and overshoot 8 5 Chapter 8 How to Use Position Servo 8 4 4 Setting position control gains Set the following position control related parameters Menu Menuname Unit Display range _ Initial value Mode Feedforward FF FLT TC ms CMD FLT TC ms P4 05 FLLW ERR PULSE 0 99999 2000 P See section 6 6 of Chapter 6 Setting Parameters Related to Position Control Position control block diagram Time constant Differentiate FF FLT TC P4 02 First order Feedforward P4 01 Time constant gt filter gt 100 CMD FLT TC P4 03 l Internal a ition Position pos Speed command Position error y d command Firet oraer PC P Gain P2 02 MS comman a A Position 8 5 Limiting Output Torque The output torque can be limited within 300 of the rated torque The output torque can be limited by digital signal and also by the analog signal To limit output torque by digital signal turn Off contact input TLIM and to limit output torque by analog s
43. 0 3000 4000 5000 Speed r min 1000 2000 3000 4000 5000 Speed r min CNO6 Torque N m 5 5 CN10 Torque N m 10 44 8 33 6 2 2 4 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 Speed r min Speed r min 1000 2000 3000 4000 5000 Speed r min 2 2 Chapter 2 Ratings and Specifications odel Motor CNO9 CN15 CN22 CN30 CN30A CN50A KNO3 KNO5 KNO6 KN07 Spec Driver 5010 5015 5020 5030 5030 5045 5004 5004 5005 5010 Flange size 130 180 80 OW output ooo 1500 2200 3000 3000 5000 300 450 550 650 Rated N m 2 86 477 70 9 54 9 54 15 9 143 245 2 57 3 04 torque kgf cm 29 2 487 714 974 97 4 162 3 146 219 262 31 Maximum N m 86 143 21 28 6 23 9 39 8 4 29 645 742 9 12 instantaneo us torque kgf cm 87 6 146 214 292 243 5 405 8 43 8 65 7 72 7 93 Rated rpm r min 3000 2000 Maximum rpm r min 5000 4500 3000 Rotor gf cm s 442 7 63 11 12 1463 26 1 43 8 1 1 1 5 1 77 211 kem kg m x10 404 748 109 14 34 25 6 42 9 1 08 1 47 174 2 07 Faden e on Ei a Not exceeding 10 times Not exceeding 20 times DS Power rate 504 306 451 63 9 357 589 189 31 3 380 446 Detector Stan
44. 0120 3000VE Wiring between CN2 and the FMA series AC servo motor absolute value encoder is shown on the following table ae Motor L160 80 series side Motor 11130 180 series side pin No Signal name encoder connector pin No encoder connector pin No 1 ORX ftdt PT 2 JRX T 12 R95 73 3 poo c ees 4 dL LEY 5 E cue 6 o EEENQSgSM 7 BAT 9 K 4 8 9 10 p uccq d 7 7 775 11 LooJpz qi 8 Wes 12 ERG Z 8 XJ Jw NW 13 JpB 4 D OE 14 15 PA 3 BT 16 O PB dq 335 56 O 17 ES se a 18 19 Vcc DC 5V 20 Connect the earth cable of the encoder wiring to F G Cable specifications AWG24 x 9 pair twist shield cable maximum length 20 m COVV Maker LS cable or equivalent 3 20 Chapter 3 Wiring and Signals Press the encoder Reset switch connected between the N2 19 encoder reset terminal ERST CN2 20 and the Vcc terminal CN2 19 for longer than 4 seconds to set the zero point of the absolute value encoder itself or in case of alarm 15V Vcc Driver ERST Wiring of encoder reset switch Example of wiring between motor side 160 80 series and FDA 5000 CN2 when absolute value encoder is used Motor side LJ60 80 AC SERVO DRIVER FDA 5000A Absolute Encoder CN2 CN1 Controll
45. 07 170 267 Maximum Nm 8 6 14 2 22 5 28 6 26 2 41 7 65 4 instantaneous torque kgfcem 87 6 145 230 292 267 5 425 0 667 5 Rated rpm r min 2000 Maximum rpm r min 3000 Re gfem s 4 12 7 63 11 12 14 63 26 1 43 8 67 8 inertia GD A kgm x 10 4 04 7 48 10 9 14 34 25 6 42 9 66 4 Allowable load inertia Ratio Versus rotor Rated power rate kW s 20 4 30 6 53 5 76 7 43 0 64 7 103 0 Not exceeding 10 times Standard Incremental 2000 Detector type Option Absolute 11 13bit 2048P rev Weight kg 5 5 7 0 8 5 10 0 12 9 18 2 26 8 E Speed and Torque Characteristics A Continuous duty zone amp B Intermittent duty zone KN16 KN22 T N Torque N T N oul m on ue N m orque m t2 4 0 oco 1000 2000 3000 1000 2000 3000 1000 2000 3000 1000 2000 3000 Speed r min Speed r min Speed r min Speed r min E E Tgrque N m Tarque N m Tarque N m 24 D 9 Y v A o o o wow FD SoS un c 1000 2000 3000 1000 2000 3000 1000 2000 3000 Speed r min Speed r min Speed r min 2 4 Chapter 2 Ratings and Specifications Torque N m 10 1000 2000 3000 Speed r min ITN20 Torque N m 30 1000 2000 3000 Speed r min 1000 2000 3000
46. 1 Gear 2 Menu Menu name Unit Display range Initial value Mode P4 06 ELCTR Gear1 NUM 1 99999 RB oa Dota CENE CS CHR ERES a PI P4 08 ELCTRGea2 NUM 1 99999 1 P4 09 ELCTRGear2DEN 1 99999 2 or on Eee ecrhoen mu 1 os 1 P4 1 ELCTRGearSDEN 1 99999 3 ow on EE LELCTA Genet NUM Lose L t P413 ELCTRGeardDEN 1 999959 4 Setting Electronic Gear 1 Determine the minimum unit command unit of the position data which feeds load per pulse Assumed command unit 0 001 mm pulse 2 Obtain the load feed rate per load axis rotation in the unit of command Example n case the ball screw pitch is 5 mm and command unit is 0 001 mm pulse Load feed per load axis rotation 5 0 001 5000 3 Get electronic gear ratio in case of reduction ratio n m Number of motor encoder pulse x 4 x Electronic gear ratio Feed per load axis rotation motor axis speed Electronic gear ratio numerator reduction ratio Electronic gear ratio load axis speed denominator 4 The results of calculating the electronic gear ratio must be between 0 05 20 8 8 Chapter 8 How to Use Position Servo 8 7 Using Monitor The servo s internal soeed command and torque and the feedback motor speed can be monitored from outside through the analog output MONIT1 and MONIT2 The range of output voltage is 4 V 4 V For more information on how to use see section 7 8 Using Mon
47. 1000 0 1000 0 oo In case of speed control Input the analog speed command offset in mV In case of torque control Input the analog speed limit offset in mV 6 22 Chapter 6 Parameter Setting Menu Menuname Unit Display range Initial value P3 15 ZeroClampMode 0 2 o 0 Zero Clamp ModeO 1 Zero Clamp Mode1 2 Zero Clamp Mode2 Speed Speed command command Speed command Command voltage Command vol taae Command vol taae Zero Clamp voltage t Zero Clamp voltage Menu _Menuname Unit Display range Initial value P3 16 _ Clamp VOLTImV Lov 1000 1000 o Input Zero Clamp Menu Menu name Unit Display range Initial value Mode P3 17 FDELAY 00 1000 00 SPT To use the filter output as the speed detection value after the motor speed detection value passes through the primary delay filter input the delay time constant in ms In case noise occurs on the motor shaft during feeding due to vibration adjust the delay time constant value to reduce noise level If the value is adjusted too much at a time problem may occur on speed control Gradually increase the FDELAY P 37 set value from 0 Recommended maximum set value SCITC P2 04 set value Example If P2 04 is 20 ms the maximum FDELAY set value is 20 and the speed feedback delay time is 20 ms Menu Menuname Unit Displayrange Initial
48. 272 6 284 218 135 6 0 111 4 5 cooling FDA 5020 272 6 284 218 135 6 0 111 4 8 Forced C FDA 5030 272 6 284 218 135 6 0 111 4 9 cooling FDA 5045 272 6 284 218 135 6 0 111 5 0 Fan FDA 5075 347 6 360 234 240 6 0 179 15 D 16 1 Chapter 16 External View 16 2 External Dimensions of AC Servo Motor 16 2 1 Flange 60 Series Standard type FMA CNO5 B Figures in indicate brake attached type Use DC 24V for brake input power supply In case of applying absolute encoder Motor length is extended 15mm AMP 172167 1 PLUG 170360 1 PIN AMP 172168 1 PLUG 170360 1 PIN MOTOR CONNECTOR DIAGRAM we siGNAL Pw wo SIGNAL Pn no L I5 1 I Increme 78 7 4 w 12 ntal Zz 5 oc sv 13 L oz e owo t4 Lu 7 smeo 15 Uu Jasl J AMP 172171 1 PLUG 170359 1 PIN ENCODER CONNECTOR DIAGRAM 16 2 Chapter 16 External View 16 2 2 Flange 80 Series Standard type NCODER LEAD WIRE LEN 300430 Brake type OR LEAD WIRE LEN 300430 ENCODER LEAD WIRE LEN 300 30 L L j LM Bi cB2 S IS IK CNO04A KNo3 1470174 i d 76 103 63 113 2 1 2 9 CNO6 KN05 b ii 95 122 63 132 2 6 3 3 Balls Alr CNos KN06 153 CN10 KNO7 n di Mme ue ib 70 180 3 7 4 6 Figures in indicate brake attached type Use DC 24V for brake input power supp
49. 3 14 10 1000 7 8 Chapter 7 How to Use Speed Servo 2 In case of Zero Clamp Mode 1 Internal speed 0i t SPDIN SPD CMD OFFS P3 14 Clamp VOLT P3 16 d 0incaseo qur gm OI fe Bane rU rg ee command rpm 1000 1000 Internal speed 0i f SPDIN SPD CMD OFFS P3 14 Clamp VOLT P3 16 0 in caseo Fy en EINE mr ee wet nm PNEU OE command rpm 1000 1000 10V Speed P3 13 SPD CMD OFFS P3 14 nternal speed command rpm x SBDIN e a 10 1000 3 In case of Zero Clamp Mode 2 Internal speed 0i t SPDIN SPD CMD OFFS P3 14 Clamp VOLT P3 16 d command rpm 2 in case of Om O08 NEXU nS Sun an Internal speed _ Apoi e AO RE silane SORTS Internal speedcommand rpm 10V Speed P3 13 SPD CMD OFFS P3 14 Cklamp VOLT P3 16 10 x l SPDIN 100 1000 7 6 3 Override Function Using the Override function enables the creation of speed command by adding the analog speed command to the digital soeed command If fine adjustment is needed in specific speed area set the internal digital soeed command to specific speed select the range requiring fine adjustment at 10V Speed P3 13 and adjust analog voltage gradually As Override is not activated when the speed command switch is set to the analog command speed use the speed command switch to select one of digital soeed commands Menu P3 18 For example Menu name Unit Display range Initial value Mode Override ON O
50. 30 Torque N m 60 1000 2000 3000 Speed r min 2 8 Torque N m 25 1000 2000 3000 Speed r min TF44 Torque N m 80 1000 2000 3000 Speed r min Chapter 2 Ratings and Specifications Model Motor LF03 LFO6 LFO9 LF12 LF20 LF30 Spec Driver 5004 5005 5010 5012 5020 5030 Flange size 130 180 Rated output W 300 600 900 1200 2000 3000 Nm 2 84 5 68 8 62 11 5 19 1 28 4 Rated torque kgf cm 29 58 88 117 195 290 Maximum Nm 8 7 16 5 23 0 34 4 57 3 78 7 instantaneous torque kgf cm 90 169 235 351 585 803 Rated rpm r min 1000 Maximum rpm r min 2000 din gf cm s 10 5 15 5 25 3 65 3 100 5 159 1 inertia GD7 4 kg m x 10 10 3 15 2 24 8 64 0 98 5 156 Allowable load inertia Ratio Versus rotor Not exceeding 10 times Rated power rate kW s 7 85 21 3 30 0 20 5 37 0 51 8 Standard Incremental 2000 Detector type Option Absolute 11 13bit 2048P rev Weight kg 8 2 11 6 15 8 17 2 27 4 38 3 E Speed and Torque Characteristics A Continuous duty zone amp B Intermittent duty zone LFO3 LFO6 LFO9 T N T N T N orque m orque m orque m 8 16 20 6 12 15 4 8 10 500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000 Speed r min Speed r min Spe
51. 500 for P and B terminals Size Refer to external view1 External view1 50W 502 500 20 3 3 Chapter 3 Wiring and Signals Uses and wiring methods of FDA 5005L1 5075L are as follows 1 The R S and T terminals are used to connect main power supply of 3 phase AC 200 230 V to the power circuits Note Single phase AC 220V may also be used however output may be lower than the rated value Install overcurrent breaker on the main power supply input unit Also install noise filter on the power supply input terminal to shut off noise coming from the power lines 2 The R and T terminals are for the auxiliary power supply of the power circuit Connect single phase AC 200 230 V to these terminals 3 Connect regenerated resistance between P and B terminals The standard regenerated resistance See Table 3 1 is a standard item Install it on the electric panel 4 Connect the U V and W phases of the servo motor to the U V and W terminals 5 Ground the terminal Also connect the servo motor earth cable to this terminal oJ Coo 2 62 O K9 2 FDA 5005 1 5012 Main circuit terminal FDA 5015 5045 Main circuit terminal 69169169169169169169169169169169 9 69169 6916916969169 69109 FDA 5075 Main circuit termin
52. 8 Example of positioning Unit G4F POPA connection between FDA 5000 the AC servo driver of HIGEN and PLC GLOFAPLC Servo enable CCW limit CW limit Emergency stop Alarm reset Cumulative pulse clear Select PI P control Analog torque limit avaliable Torque under limit Servo ready In position Zero speed Brake activate Alarm status Alarm code CN1 of FDA 5000 TLQOUT 1 2N 1 5K 12 1 Use GND terminal from among 1 8 26 33 34 36 2 Use CN1 shield wire to ground the F G Frame Ground terminal 13 6 GLOPA G4FPOPA cpp 12 Origin L S 1COM Upper L S DC 24V Lower L S Emergency stop 24V 24V COM DC 24V 24V GND FG Chapter 13 Examples of Operation Flow and PLC Wiring 13 9 Example of positioning Unit G3F POPA connection between FDA 5000 the AC servo driver of HIGEN and PLC GLOFAPLC Servo enable CCW limit CW limit Emergency stop Alarm reset Cumulative pulse clear Select PI P control Analog torque limit avaliable Troque under limit Servo ready In position Zero speed Brake activate Alarm status Alarm code CN1 of FDA 5000 25 4 GND24 TOA GLOPA G3FPOPA ANA 5K 12 1 Use GND terminal from among 1 8 26 33 34 and 36 2 Use CN1 shield wire to ground the F G Frame Ground terminal 13 7 eo g Lower L S 19 stop 1COM Upper L S DC 24V
53. Applicable contact is connected to 24V or applicable contact not connected 10 2 Chapter 10 How to Use Speed Position Servo Output status of ALARM CODES Alarm type A CODEO A CODE1 A CODE2 Where ON Applicable contact is connected to GND24 OFF Applicable contact is connected to 24V or applicable contact not connected 10 2 3 Analog input use and function table Function and Use Inputs external analog speed 10V 10V Inputs external torque limit command 10V 10V PPFIN PFIN Inputs position command pulse PPRIN PRIN Valid only in position control mode 10 2 4 Analog output use and function table Name Function and Use MONIT1 Monitor output 1 4V 4V MONIT2 PAO PAO PBO PBO PZO PZO 10 2 5 1 O contact power supply Pin No Function and Use 1 8 26 Power ground for analog I O such as speed command 33 34 36 torque limit command monitor output and encoder output 24VIN DC 24V power supply for the external I O contact DC 24V ground for the external I O contact Note See section 3 4 6 for the capacity of 24V power supply 10 3 CN Wiring For information on CN2 wiring see Section 3 5 CN2 Wiring and Signal Description 10 3 Chapter 10 How to Use Speed Position Servo 10 4 How to Use Speed Position Servo To start speed position servo set the servo controller type to 3 10 4 1 Switching of control m
54. Auto Jog Set HER ONUEE ENCOEEE EMEN CE ones Og Simulation Mode onof o Caution Menus marked with cannot be corrected during Servo ON 8 Alarm status Alarm Status ALS Menu Menuname Unit Display range Initial value mode ALSO AlarmDisplay OPT ALSO AlarmReset J SPT Alsos MamHitoy J ST ALS04 AMamResetAl do PT 6 5 Chapter 6 Parameter Setting 6 2 Description of servo status Status Window St Screen display Description Motor Speed RPM St 01 poen l Indicates current motor speed in RPM CMD Speed r min l St 02 Pd Indicates servo motor speed command in RPM CMD Pulse St 03 Indicates current command pulse when controlling positions Feedback Pulse St 04 Indicates feedback pulse when controlling positions Pulse ERR Indicates the difference between the current command pulse and St 05 feedback pulse when controlling positions Speed Limit r min Ha DR Current speed limit value when controlling torques Torque Limit T Pl Indicates current torque limit value in St 07 Load Rate l St 08 Es Indicates current motor load in 76 based on torque Max Load Rate St 09 Inertia Ratio penis NNNM 7 St 10 Indicates inertia ratio system inertia motor inertia in multiple Program Version St 11 Indicates current program version I O CON STATUS Indicates contact I O status Note In case of contact I O stat
55. Contact can be selected from parameter P2 30 Input external power supply greater than 24 VDC 10 1 0 A for external I O contact Shall be provided by user 24VIN 49 Note If used as I O contact power supply simultaneously recalculate the power supply capacity according to the number of output points Connect the ground of the external I O contact power supply GND24 24 25 24 VDC 10 Shall be provided by user This is the output signal intended to drive external brake BRAKE 48 See Brake SPD P2 09 Brake time P 10 of Control mode P2 If this is turned ON brake power is applied enabling motor operation RDY 21 This is No Alarm Power Good status when power is turned ON Turned on when the instructed speed is reached INSPD 20 See In speed range P3 23 INPOS Turned on when the instructed position is reached See In position P4 04 ALARM 20 Turned off if alarm is detected Turned on during normal operation A CODEO 45 Output status varies according to alarm types A CODE1 19 This signal is used when it is necessary to check the servo alarm status from the external A CODE2 44 upper control system ZSPD 47 Indicates servo motor has stopped Indicates servo motor is under torque limit when used as position control and speed control TRQOUT 46 Indicates torque mode is operating when used as torque control FG 50 Connects earth cable of CN1 Where ON Applicable contact connected to GND 24 OFF Applicab
56. D2 P3 02 speed Speed CMD2 P3 02 set soeed analog command speed Speed CMD3 P3 03 set speed analog command speed Where ON Applicable contact is connected to GND24 OFF Applicable contact is connected to 24V or applicable contact not connected Speed CMD1 P3 01 set speed analog command speed Chapter 12 How to Use Position Torque Servo 12 How to Use Position Torque Servo 12 1 Power Supply Wiring For wiring see 3 3 Main Circuit Terminal Board Wiring 12 2 CN1 Wiring Make wiring as follows to use FDA5000 as the position torque control mode 49 24VIN sig 7 diis 4 7K a ees Lxx d 18 SVONEN M PBO 6 Servo enable O 4 eon 734 cup CCW limit o PZO 5 owim po o omm fe pS mo e x d IONE aof 77 Emergency stop O ALMRST Alarm reset oo 38 CLR dM Cumulative pulse clear ew 4 PI P Note3 Select PI P ama PX 10K 14 Tum K imi C 10K Note3 Analog torque limit O SPOT 4 pa SPDIN 27 cT 40 410V Select speed iat C anv fino xc SPD2 ca Select electronic gear 17 GEAR ly 4 10K j LH 10K TRONN 28 pn Select position torque z 42 TYPE z 24 Ld E miT ooo L 10 10V On Off EN wo l N MONIT1 3 4 4V gt 21 5 RDY gt MONIT2 2 4 4V ras ervo ready h a een 7 22 INPOS t GND Note1 ote3 In spee 47 ZSPD Do Zero speed wt Position command pulse i
57. E ispay o o j o j o 1 Output signal operating 0 Output signal not operating Signal Display ALARM 3 ALARM 2 ALARM 1 ALARM TRQOUT No Alarm Code Normal status No Alarm normal status Torque not limited ZSPD INSPD INPOS Motor not stopped Command speed or command position reached BRK 1 Motor brake reset signal displayed 1 DY 1 No Alarm Power Good Servo Ready 1 6 8 Chapter 6 Parameter Setting 6 2 2 Mount loader signal display The following figure shows magnified 7segment of the mount loader Each segment of the mount loader s 7segment has its own meaning The part above the solid line indicates the contact input status while the part below the solid line the contact output status The current status is displayed by each segment being turned on or off STOP CCWLIM SPD3 ALMRST TLIM P PI SPD2 STOP CWLIM DIR SPD1 Contact input SVONEN A CODE1 T A CODE2 A CODEO ALARM RQOUT N INSPD INPOS contact QUE put From the following figure the segments indicated in thick line are those turned on Segments can be displayed as follows assuming the I O status is the same as explained in section 6 8 1 In other words the status which is displayed as 1 on digital loader is displayed by the segment on the mount loader being turned on STOP CCWLIM SPD3 ALMRST TLIM P PI SPD2 STOP CWLIM DIR SPD1 Contact input d SVONEN A CODE1 T A_CODE2 A_CODEO ALARM RQOUT N INS
58. FF 0 1 0 S Override ON OFF P3 18 1 SPD1 SPD2 SPD3 ON OFF OFF Speed CMD1 P3 01 1000 Zero Clamp Mode P3 15 0 SPD CMD OFFS P3 14 0 10V Speed P3 13 20 and if the analog speed input SPDIN is 5V the internal speed command is set to 1010 RPM 7 9 Chapter 7 How to Use Speed Servo 7 6 4 Setting in speed range Offset value can be set to output in speed signal prior to the completion of in speed Menu name i Display range Initial value Inspeed Range 0 9999 9 100 7 7 Setting Motor Deceleration Acceleration Characteristics Speed command occurring in the servo are as follows Speed command selectioi SPD1 SPD2 SPD3 Speed CMD1 P3 01 ON OFF OFF Speed CMD2 P3 02 H i ME OFF ON OFF Stop command Rotation direction Speed CMD3 P3 03 STOP DIR SPD CMD OFFS P3 14 9 ON ONOFF ON ON Speed CMD4 P3 04 wae GNO ees Acceleration S curve OFF OFF ON deceleration operation Speed CMD5 P3 05 _ ek or or 1 ON OF FON ACCEL Time P3 2081 Type ENB P3 10 Speed CMD6 P3 06 DECEL Time P3 09 1 then S curve 1000 3 OFF ON ON oreration Speed CMD7 P3 07 7 ON ON ON SPDIN y 10V Speed P3 13 OPN yh cramp Made sll B 978 DOrrorr orr Zero Clamp Mode P3 15 Clamp VOLT P3 16 Override operation Override ON OFF P3 18 1 Emerge
59. I O contact power supply Name Function and Use 1 8 26 Power ground for analog I O such as speed command 33 34 36 torque limit command monitor output and encoder output 24VIN DC 24V power supply for the external I O contact GND24 24 25 DC 24V ground for the external I O contact Note See section 3 4 6 for the capacity of 24V power supply 9 3 CN Wiring For information on CN2 wiring see Section 3 5 CN2 Wiring and Signal Description 9 3 Chapter 9 How to Use Torque Servo 9 4 Setting Parameters Related to Motor and Control Parameter Description No Name P1 01 Motor ID Sets ID No according to servo motor type P1 10 Amp Type Sets ID No according to driver type P1 11 Encoder Type Sets No according to encoder signal system P1 12 Encoder Pulse Sets number of encoder pulses P2 01 Controller Type Sets torque control mode No to 0 See Chapter 6 Parameter Setting For information on setting motor and control parameters see section 7 4 9 5 Speed Limit If the motor is driven by torque servo motor speed may continuously be accelerated or decelerated according to load status leading to excessive motor speed It is therefore necessary to designate maximum speed of torque servo operation to prevent the motor from being run at a speed greater than the set level The speed that can be limited when the motor is run by torque servo can be set within the maximum
60. Init cum dFLT cum SPDIN Delay ms 0 00 DB Control NEM MENS a Display Select Start Stop Emergency Type Power fail Mode O Zero SPD VIB RJT ewmowor oorr Note 1 SC Loop gain by capacity FDA 5001 4 500 FDA 5005 75 200 Note 2 For Inertia Ratio P 22 input multiples in case of Soft Ver 4 23 or higher and input 96 i e multiple 100 in case of Soft Ver 4 22 or less Caution Menus marked with cannot be corrected during Servo ON SPT eoo en eoo e ce e e eoo 10 c0 U U U U Ulo UL 5vulr TV 6 3 Chapter 6 Parameter Setting 4 Speed menu Speed Mode P3 Menu Menuname Unit Display range Initial value Mode P301 SpeedCMD I RPM rmn 10 ST ENS P3 02 Speed CMD2 RPM P3 04 Speed CMD4 RPM rimin 1000 P3 03 Speed CMD3 RPM rmin 500 ST P3 05 Speed CMD5 RPM Speed CMD7 RPM P3 06 Speed CMDe RPM rmn A 2000 P3 08 Accel Time ms 0 100000 P3 10 S TYPE ENB ms L9 4 PS 09 DecelTime ms ms 0 100000 0 pus L4 00 P3 12 Inspeed Range 0 9999 9 P3 13 10V Speed RPM 0 9999 9 3000 SPD CMD Tes OFFS mV P3 16 Clamp VOLT mV P3 17 FDELAY ms ms MV mV ms P3 11 Zero Speed RPM 0 9999 9 100 1000 0 1000 0 0 1 P345 ZerClmpModee 90 2 0 mV 1000 100 0 ms 00 100 0 SPT
61. NB P3 10 CW limit Emergency stop CWLIM ESTOP OFF OFF Internal n Speed GND command v x x ON ON Emergency stop ESTOP i nternal OFF speed GND command p ON Feedforward P4 01 vt CCW limit CW limit CCWLIM CWLIM Electronic gear OFF OFF ELCTR Geari NUM P4 06 GEART GEAR2 HH gt X x ELCTR Gear DEN P4 07 e wOFF OFF xA pA ELCTR Gear2 NUM P4 08 N ON ON ELCTR 2 DEN P4 a CTR Gear P4 09 ONOFF ELCTR Gear3 NUM P4 10 Ny ELCTR Gear8 DEN P4 11 OFF ON ELCTR Gear4 NUM P4 12 ELCTR Gear4 DEN P4 13 ON ON Time constant Differentiation FF FLT TC P4 02 First order Time constant filter CMD FLT TC P4 03 Select pulse type F pulse R pulse Pulse Logic P4 14 PPFIN PFIN gt Pulse c First order Position err PPRIN PRIN counter C M filter internal PC Gain P2 02 x position CLR command Cleared when turned ON v In Position P4 04 Encoder Position Position 4 counter Contact input Set value NX gt FLLW ERR P4 05 13 1 In position completed in case of gt Following error in case of gt Chapter 13 Examples of Operation Flow and PLC Wiring 13 3 Generating Current Command when position and speed are controlled In Speed P3 12 gt gt In speed
62. O4 sub menu UP Moves from main menu to main menu and from sub menu to St P1 ALS Main menu mainmenu ENTER Moves from main menu to sub menu RIGHT LEFT Moves between sub menu RIGHT RIGHT Bile Ue 5 URAL S BH Figure 5 2 Overall block diagram of operation method 5 2 Chapter 5 Mount Loader Operation 5 1 Initial screen after power is connected Menus displayed after power is connected can be set according to Display Select P2 28 set value Display Select P2 28 Initial menus after power is connected Motor Speed r min St 01 CMD Speed r min St 02 CMD Pulse St 03 Feedback Pulse St 04 Pulse ERR St 05 Speed Limit r min St 06 Torque Limit St 07 Load Rate St 08 Max Load Rate l St 09 Inertia Ratio St 10 Initial set value of Display Select P2 28 1 5 1 4 Connecting power when No alarm and initial menu are set to motor speed Indicates motor speed when motor is operated Chapter 5 Mount Loader Operation 5 1 2 Connecting power when No alarm and initial menu are set to inertia ratio Indicates set inertia ratio 5 1 3 Connecting power in Emergency alarm state after setting initial menu to motor speed oem dem C F1 IL ULI Indicates EMG Alarm 5 2 Sub menu Group Menus are classified into 3 main groups a menu capable of editing or inputting information required for operation a menu which monitors operati
63. ON OFF ON OFF ON OFF Where ON Applicable contact is connected to GND24 OFF Applicable contact is connected to 24V or applicable contact not connected 7 2 3 Analog input use and function table Function and Use Inputs external analog speed 10V 10V Inputs external torque limit command 10V 10V 7 2 4 Analog output use and function table Name Function and Use MONITI1 MONIT2 PAO PAO PBO PBO PZO PZO Monitor output 1 4V 4V 7 2 5 I O contact power supply Pin No Function and Use 24VIN 1 8 26 33 34 36 Power ground for analog I O such as speed command torque limit command monitor output and encoder output DC 24V power supply for the external I O contact DC 24V ground for the external I O contact Note See section 3 4 6 for the capacity of 24V power supply 7 3 CN2 Wiring For information on CN2 wiring see Section 3 5 CN2 Wiring and Signal Description 7 3 Chapter 7 How to Use Speed Servo 7 4 Setting Parameters Related to Motor and Servo When the servo start ENABLE contact SVONEN is turned OFF after power is connected set the following parameters 7 4 4 Setting motor and models Parameter M Description No Name P1 01 Motor ID Sets ID number according to the type of servo motor P1 10 Amp Type Sets ID number according to the type of driver P1 11 Encoder Type Sets number accordi
64. OPERATION MANUAL AC Servo Drive FDA5000 Series Ver 3 3 Soft Ver 6 02 FDA5000 Series Servo Drive User Manual HIIDEN lt CAUTION gt 1 Check Motor ID certainly P1 01 2 Check Drive Amp Type certainly P1 10 Model 5001 5002 5004 5005 5010 5012 5015 5020 5030 5045 5075 Amp Type 0 1 2 5 6 7 11 12 13 14 15 3 Check Encoder Pulse certainly P1 12 Example FMALNO09 AA00 Encoder Type Symbol Pulse Type A 2000 Incremental 15 wires Absolute 11 13bit 4 Operate servo system after autotuning is off P2 24 5 Avoid impacting to the Motor in connecting Especially avoid impacting to the Encoder in connecting coupling to the Motor shaft or operating 6 Recommended specifications in Encoder wiring Check Encoder Type and use authorized shield cable Encoder Type Reference Page Incremental Encoder 3 17 Absolute Encoder 3 20 7 Treatment of the servo motor attached holding brake The brake built in the servo motor is a normal closed type brake Which is used only to hold and can not be used for braking Use the holding brake only to hold a stopped servo motor Table of Contents 1 Checking and Handling 1 1 1 1 Handling Connection of main circuit and motor 1 1 1 2 Caution during Use
65. PD INPOS eon act OPINI 6 9 Chapter 6 Parameter Setting 6 3 Motor and System Parameters Motor Parameters P1 These parameters are used to set the motor and the system User must set parameters to suit the motor and the system prior to use Caution Menus marked with cannot be corrected during Servo ON range 0 SPT Motor ID Motor ID o paiT af re F03 LF06 ee LFO9 3 23 TF20 43 LF12 24 TF30 44 LF20 25 LF30 Rez ar cKoz 28 48 cKoa 20 49 J 80 KFO8 50 CNO4A CNO06 CNO08 CN10 CNO9 CN15 CN22 CN30 Above ID is applied to Ver5 32 over If the motor is used in the above table input motor ID to Motor ID P1 01 In such case JM P1 02 KT P1 03 Ls Phase P1 04 Rs Phase P1 05 Is Rated P1 06 SPD Max P1 07 SPD Rated P1 08 Pole Number P1 09 among the set values are automatically set and individual editing is not allowed If the motor used is not shown on the above table or if it is desired to change one or more of the set values related to the motor input 0 to Motor ID P1 01 6 10 Chapter 6 Parameter Setting Menu Menuname Unit Displayrange Initial value Mode JM gfcms2 001 99999 SPT Convert the motor inertia moment in gf cm sec and input the data In this mode input the inertia of the motor which does not include load inertia For information on how to
66. Speed CMD2 P3 02 gt OFF ON Y gt Speed CMD3 P3 03 Analog l Ep P909 y ON ON speed limit v 10V Speed P3 13 Contact input gt OFF OFF Set value 10 13 2 Chapter 13 Examples of Operation Flow and PLC Wiring 13 5 Example of positioning Unit K7F POSP connection between FDA 5000 the AC servo driver of HIGEN and PLC MASTER K CN1 of FDA 5000 MASTER K K7F POSP 2 ICOM II 3 UpperL S A 2 s Servo enable 18 Lower L S COW limit i i CN limit au uo oni af Emergency stop Or ES if M t t Emer gency L 9 2 a 9 22 Origin L S OG rens Alarm reset Cumulative pulse clear PU Select PI P control Analog torque limit avaliable 46 TLQOUT Torque under limit Servo ready In position Zero speed 124v Brake activate 24V COM Alarm status 24 COM Alarm code pc 24 24V GND FG 1 Use GND terminal from among 1 8 26 33 34 36 2 USE CN1 shield wire to groung the F G Frame Ground terminal 13 3 Chapter 13 Examples of Operation Flow and PLC Wiring 13 6 Example of positioning Unit MD71 connection between FDA 5000 the AC servo driver of HIGEN and PLC GOLDSEC M CN1 of FDA 5000 GOLDSEC M MD71 49 24V IN 24 V Servo enable 18 svo PA i PZO 5 CO imit ba Ci cal M dee oo point Alarm reset __ Cumulative pulse cleart o o 38 CLR Select PI P control4 o o
67. Wiring 11 3 11 4 How To Use Speed Torque Servo 11 4 How to Use Position Torque Servo 12 1 12 1 Power Supply Wiring 12 1 12 2 CN1 Wiring 12 1 12 3 CN2 Wiring 12 4 12 4 How To Use Position Torque Servo 12 4 Examples of Operation Flow and PLC Wiring 13 1 13 1 Generating Speed Command speed control 13 1 13 2 Generating Speed Command position control 13 1 13 3 Generating Speed Command position speed control 13 2 13 4 Generating Speed Command torque control 13 2 13 5 Example of positioning Unit K7F POSP connection between FDA 5000 the AC servo driver of HIGEN and PLC MASTER K 13 3 13 6 Example of positioning Unit MD71 connection between FDA 5000 the AC servo driver of HIGEN and PLC GOLDSEC M 13 4 13 7 Example of positioning Unit G3F POAA connection between FDA 5000 the AC servo driver of HIGEN and PLC GLOPAPLC 13 5 13 8 Example of positioning Unit G4F POPA connection between FDA 5000 the AC servo driver of HIGEN and PLC GLOFAPLC
68. a ratio gain time constant Check control parameters 15 1 Chapter 15 Troubleshooting 15 2 Servo driver If an alarm occurs error signal output contact Alarm is turned OFF and the motor stops by the action of dynamic brake Screen display Actions to be taken in case of an alarm Cause Corrective action Normal AL 00 EMER STOP AL 01 OVER CURNT AL 02 OVER VOLT AL 03 OVER LOAD AL 04 POWER FAIL AL 05 LINE FAIL AL 06 OVER HEAT AL 07 OVER SPEED AL 08 FOLLOW ERR External ESTOP contact input turned OFF Servo driver output terminal U V W short circuited output overcurrent Input voltage excessive greater than 280V Regeneration control resistance burned Load GD excessive Mechanical overload Motor miswiring Main power shut off during Servo ON status Motor and encoder set value error motor and encoder miswiring defective encoder mechanical overload Ambient temperature increased Continuous overload operation Excessive gain parameter set value error excessive gravity load Rapid acceleration deceleration gain set value error command pulse frequency excessive higher than 300 kpps miswiring mechanical overload 15 2 Check external DC 24V power supply Check if the ESTOP contact is turned ON Check the output terminal wiring Restart after resetting alarm Replace driver if O C continues Use input voltage lower
69. al 3 4 Chapter 3 Wiring and Signals Table 3 2 Recommended parts to be installed on electric panel AC SERVO FDA FDA FDA FDA FDA FDA FDA Drive system 5005 50100 50120 501501 5020L 5030L 5045 50750 iNire thickness AWG 14 AWG 12 AWG 10 AWG 8 2 0mm 3 5mm b 5mm 8 0mm Drive system f KET KET KET KET side press l GP110012 GP110721 GP110027 GP110733 terminal GMC GMC GMC GMC GMC Switch 12 13A 22 20A 40 35A 65 65A 85 80A equivalent equivalent equivalent equivalent equivalent ABS33b ABS53b ABS33b Breaker 5A l l or equivalent or or equivalent or or equivalent equivalent equivalent n NFZ NFZ Noise Filter NFZ 4030SG 4040SG 4050SG 250W 250 250W 250 ABS33b 10A 20A ABS33b 30A 50A 250W 250 Standard 150W 50Q 2 4 units in regenerated L1 220 2 units in parallel resistance for L1 172 L2 188 W 42 H 20 L2 239 same as left P and B W 60 H 30 terminals See Size See external view 2 External view 3 parallel External view 2 150W 250W 3 5 Chapter 3 Wiring and Signals External view 3 250W 4 FDA 5075 2 95 5X10 315 Chapter 3 Wiring and Signals 3 3 2 Turning ON Off of power supply As the main circuit of the servo driver is designed in condenser input type high chargin
70. ameters by appropriate scale in case the analog output values are too small to monitor For example if 3 is input the size of the parameter is magnified by 3 times Basic scale Speed and speed command Maximum speed 4 V Torque 3 x rated torque 4 V Menu Menuname Unit Displayrange Initial value Mode P2 14 Monitor1 offset 100 0 100 0 00 spt P2 18 Monitor offset 100 0 100 0 00 sPT This is used to output values by applying appropriate offset to the analog output values This is to enable adjustment of the values output on O V potential by applying offset to the monitor output Unit used is and the maximum value is 100 If the speed is output assuming the maximum speed as being 5000 RPM 1000 RPM 20 of 5 000 is displayed on O V when offset 20 is loaded 7 11 Chapter 7 How to Use Speed Servo Monitor outputs according to the parameter set values are as follows As the method of using monitor 1 and monitor 2 is the same the following figures show outputs of monitor 1 only 1 In case of Monitor 1 ABS P2 12 0 2 In case of Monitor 1 ABS P2 12 1 5 V Max Offset 5 V Max Offset orv Offset o V T Offset nmm LLLI Not use 5 V 5 V Speed speed command 1 25 x maximum speed 1 25 x 3 times rated torque Monitor1 Scale P2 13 Monitor1 Scale P2 13 Monitor1 offset P2 14 Monitor1 offset P2
71. an acceleration of 10G and two times of impacts when up and down impacts are applied after setting the A motor shaft horizontally However a precision detector is attached to the end of the shaft on the opposite side of the load Take caution not to apply impact p directly to g o z een this end I Vibration resistance ERS a a Hm L The driver withstands a vibration acceleration of 2 0G when x vibration is applied in up and down left and right and front and back directions after setting the motor shaft horizontally ty yf 7 yi p Z IIIZ YH y e Vibration grade The vibration grade of the AC servo motor is V15 at the rated rpm e Direction of installation Motor can be installed horizontally or at the top or bottom of the shaft Keep the motor cable downward Ifthe motor is installed vertically install a cable trap so that oils or water do not flow into the motor e Cable disconnection Take caution not to cause stress or damage to the cables Ifthe motor is used as a mobile motor use movable cables Chapter 1 Checking and Handling 1 4 Order Specifications Prior to installing the product check the ratings plate to see if the related specifications match with those of the order 1 4 4 Servo motor model marking FMA LLILLI LLILLI AC Servo Motor pe t Seal Type Series Symbol Use CN CK High speed Low torque type KF KN Medium speed
72. ant values Caution The calculation value of ELCTR Gear NUM DEN must be between 0 05 20 6 25 Chapter 6 Parameter Setting Menu Menuname Unit Display range Initial value ELCTRGead NUM 1 99999 1 ELCTRGear4DEN 1 99999 4 Set the numerator and denominator of the electronic gear 3 in constant values Caution The calculation value of ELCTR Gear NUM DEN must be between 0 05 20 Type of command pulse Pulse Logi pusetesd cw cw A phase B phase CCW pulse CW pulse Direction 4 pulse A phase B phase CCW pulse CW pulse Direction pulse Menu Unit Display range Initial value P4 15 Backlash PULSE o 10000 o If the direction of position is changed sometimes the actual position may be moved less than the commanded position due to mechanical backlash In such case the mechanical backlash can be compensated if the value is set in the unit after multiplying by 4 of the encoder feedback pulse quantity 9160 SAILISOd 6 26 Chapter 6 Parameter Setting 6 7 Torque control parameters Torque Mode P5 Caution Menus marked with cannot be corrected during Servo On Menu Menuname Unit Display range _ Initial value Mode P5 01 TRQ CMD TC ms 0 0 1000 0 00 Torque control Set the filter time constant of the torque command input terminal Speed or position control Set the filter time constant of th
73. ate motor inertia JM P1 02 and set the ratio of the overall system inertia Sum of motor inertia and load inertia to the motor inertia in Inertia Ratio P2 22 If the accurate system inertia is unknown use the autotuning function provided with the servo Caution Initial value by capacity FDA 5001 4 500 FDA 5005 75 200 Speed torque servo Recommended maximum set value Recommended maximum set value z 6 13 Chapter 6 Parameter Setting Menu Menuname Unit Display range Initial value Mode P2 03 SC LOOP Gain rad sec 0 5000 By capacity SPT Description continued If the ratio of the overall system inertia Sum of motor inertia and load inertia to the motor inertia is set in Inertia Ratio P2 22 or if the value set by using the autotuning Autotuning P2 24 provided with the servo is the same as the following the recommended set values of SC Loop Gain P2 03 by servo capacity are as follows Table Servo driver capacity FDA5001 04 FDA5005 5075 Inertia Ratio P2 22 set Recommended SC Loop Recommended SC Loop value Gain P2 03 set value Gain P2 03 set value 1 0 500 1000 100 200 2 0 350 500 70 200 3 0 300 500 50 150 5 0 200 300 40 100 10 0 150 250 30 80 20 0 100 150 20 60 30 0 60 100 Caution However the recommended SC Loop Gain P2 03 set values may be deviated
74. ation Meaning Position Controller ACCEL Speed Contoller DECEL VOLT Voltage LMT OFFS _ Offset Filter FB Feedback Numerator Meanings of the modes in the following parameter summary are shown below Effective in speed control mode Effective in position control mode Effective in torque control mode 6 1 Chapter 6 Parameter Setting 6 1 Parameter Summary Digital loader displays menus along with menu names but the mount loader shows only menus 1 Status window Status window St Menu Menuname Unit Displayrange Initial value oge St 01 Motor Speed RPM r min 9999 9 9999 9 cm 02 CMD ETT DE as e 9 9999 9 Sto3 03 CMD Pulse Pulse pulse 9999999 9999999 9999999 St04 Feedback Pulse 9999999 9999999 L St 05 Pulse ERR 0 99999 St06 Speed LimifRPM rim o 99999 o St07 Toruelimip 0 99 o SPT St08 _ Load Ratej 99999 99999 o SPT St09 Max Load Ratej 99999 99999 o SPT St11 Program version Version SPT Se2 vostaus Se 2 Motor and system menu Motor parameters P1 Menu Menuname Unit Display range _ Initial value Mode P1 01 MooriD 0 9 PT Pi 02 JM gfoms2 g omsec 0 01 999 99 SPT P1 03 KT kgfon A Kg om A 0 01 99999 SPT Pi 04 Ls Phase mH mH 001 99999 SPT Rs Phase fohm
75. ation Monitoring Menu 4 3 1 Operation status display menu St MODE Status Window MotorParameter P1 MotorSpeed RPM St 01 3000 CMD Speed RPM c P st 02 3000 Note1 I O Status Push PROG Ke PROG ENTER In 5110100111111 Out 111010111 Note1 In the digital loader window only the 1 0 status menu can be operated by the PROG key Chapter 4 Digital Loader Operation You can move to other menus from the operation status display menu by using MODE PROG LEFT and RIGHT keys The digital loader display meaning and value of each menu from the operation status display menu However the I O Status menu which monitors the contact I O status can be monitored only when the PROG key is pressed once more The Program Version menu displays the operation program version as follows Example displays 5000S Ver 4 00 Small capacity FDA 5001 4 grade 4 00 version 5000M Ver 4 00 Medium capacity FDA 5005 10 grade 4 00 version 5000H Ver 4 00 Large capacity FDA 5015 75 grade 4 00 version 4 3 2 Alarm menu Alarm Status ALS Alarm Reset All ALS04 The alarm group is composed of 4 sub menus The main menu of the alarm group is Alarm Status ALS and description of each menu is provided as follows 4 6 1 Current alarm reset Alarm Status ALSO2 Alarm Display AL 01 OVER CURNT Alarm Reset ALS02 PROG
76. cessary for the external control system to identify the alarm details of the drive system use these signals Output status of each alarm is as follows Output status of ALARM CODES Alarm Emerg Over Over Power Encoder type ES ee load error Aa A CODEO ON A ETA T ON A CODE2 ON Lon on on or or orr ore ON Applicable contact is connected to GND24 OFF Applicable contact is connected to 24V or applicable contact not connected Others include alarms not displayed in the above table such as overheat overspeed or set value error To reset the contents of current alarms use the Alarm Reset ALS02 menu or use the input contact ALMRST CN1 38 terminal The submenu of Alarm History ALS03 includes Alarm 1 Alarm 2 Alarm 3 Alarm 4 Alarm 5 Alarm 6 Alarm 7 Alarm 8 Alarm 9 and Alarm 10 which are the past alarms Alarm 1 indicates the latest alarm while the remaining alarms indicates those which occurred previously To reset all past alarm history use the menu Alarm Reset All ALSO4 However EMER STOP AL 00 cannot be stored in the Alarm History ALSO3 6 32 Chapter 7 How to Use Speed Servo 7 How to Use Speed Servo 7 1 Power Supply Wiring For wiring see 3 3 Main Circuit Terminal Board Wiring 7 2 CN1 Wiring PAO 7 PLOCE ceco d PBO 6 PICIU eaaa 5 cm DOO n ae ee N Servo enable O Select directi O elect direction STOP 13 Motor stop sta
77. chieved through on line system but it is not necessary to use this function in case stabilized control gain is acquired through off line system 2 lines 32 characters o o o POWER ALARM SVON Changing main menu Edit end Start editing shift to sub menu from main menu Increase the cursor position numerical value 1 at a time Changing sub menu when moving cursor to right L decrease the cursor position numerical value 1 at a time Changing sub menu when moving cursor to left Figure 4 1 External view of digital loader 4 1 Chapter 4 Digital Loader Operation PROG Moves from main menu to sub menu Start editing MODE Moves from main menu to main menu or from sub menu to main menu Moves between sub menus Status Window St MotorSpeed RPM E CMD Speed RPM e E ES I O Status St 01 3000 Ko St 02 3000 p amp Sacre Ser Push PROG Key Motor ID JMj gfems2 ess ee Parameter Lock P1 01 006 M05 3 pusrided P1 13 0 MODE Y Control Mode Controller Type P2 P2 01 1 MODE MotorParameter P1 Speed Mo P3 Position Mode P4 Feedforward P4 01 00 0 TRQ CMD TC us P5 01 0 10V Torque Torque OFFS mv 0 MODE Test Mode P6 MODE Y PROG Alarm Win Alarm Display ALS ALSO1 K gt Simulation Mode
78. command value 0 and maintains stop torque The analog torque limit select signal CN1 46 determines whether to use the motor torque limit function according to the voltage value of the analog torque limit command input If the torque limit command input is 0 V motor torque never occurs If the torque limit command input is 10 V the function can be used up to the torque set at 10V Torque P5 02 As the torque limit input uses the absolute value of voltage operation during 10 V is the same as in the case of 10 V The function can be used up to the maximum motor torque even when the torque limit function is not selected The emergency stop signal CN1 39 inputs external alarm into the drive system Once emergency stop is loaded the drive system ignores all inputs and shuts off the servo drive after decelerating to the stopped position in the fastest method Turned on during normal operation Connect the forward run prohibition signal CN1 15 and the reverse run prohibition signal CN1 40 to the limit switch in the case of linear drive Turned on during normal operation If the speed control P PI select signal CN1 41 maintains servo motor at 0 speed for a long period of time sometimes the motor moves from drift effects If the PI P select signal is turned on in such case the servo motor is stopped by the friction torque Caution Always turn off PI P select signal during normal operation 3 12 Chapter 3 Wiring and
79. ct connected to 24V or applicable contact not connected The alarm type output differs according the types of the alarm Use this signal in case it is necessary to identify the alarm details of the drive system from external control system The status of output by type of alarm is shown on the following table Alarm code outputs Alarm type Over Over Power Encoder yp voltage load error error OFF OFF A CODE ON ON ON ON OFF OFF OFF OFF Where ON Applicable contact connected to GND 24 OFF Applicable contact connected to 24V or applicable contact not connected Other items are the alarms that are not designated in the above table such as miswiring or set value error 3 14 Chapter 3 Wiring and Signals 3 4 6 CN1 I O signal function and use table Name Pin No PAO PAO 7 32 Outputs the AC servo motor encoder signal received from CN2 in line drive system after PBO PBO 6 31 dividing it according to the frequency dividing ratio set by the sub menu Pulse Out Rate PZO PZO 5 30 P2 07 of the main menu Control Mode P2 Inputs speed command in analog when operating in speed mode See 7 7 Speed Command Input SPDIN 27 Inputs speed limit command in analog when operating in torque mode See 9 6 Speed Limiting Inputs analog torque limit when operating in speed and position mode See 7 6 Output TROIN 28 Torque Limiting or 8 6 Output Torque Limiting Inputs analog torqu
80. cts electronic gear by conbination of the two signals In position control mode Selects speed limit by combination of the two signals In torque control mode OFF Operates as torque servo Where ON Applicable contact is connected to GND24 OFF Applicable contact is connected to 24V or applicable contact not connected 12 2 2 Output contact signal function and use table Name Pin No Function and Use ON Main power and auxiliary power are connected to servo RDY 21 without any alarm INPOS 22 ON Reached designated pulse position Valid only in position control mode ZSPD 47 ON Motor speed is zero BRAKE 48 ALARM 20 ON Normal status OFF Alarm detected Output signal for external machine brake drive ON Brake reset OFF Brake drive AS CODES i Displays alarm type A_CODE2 44 See the table below Alarm Code output status TRQOUT 46 ON Servo is under torque limit Position control mode ON Servo is operating in torque control mode Torque control mode Where ON Applicable contact is connected to GND24 OFF Applicable contact is connected to 24V or applicable contact not connected 12 2 Chapter 12 How to Use Position Torque Servo Output status of ALARM CODES Alarm type Encoder miswiring Emerg Over current Voltage Others Normal A CODEO A CODE 1 A CODE2 OFF ON OFF ON OFF ON OFF Where ON Applicable contact is connected to GND24 OFF A
81. d CMD3 P3 3 2 Based on external analog speed command and 3 Based on override operation by combining and The internal speed command selection based on these 3 methods is determined as follows according to the rpm selection contacts SPD1 SPD2 of CN1 and the set values of Override ON OFF P3 18 Speed Speed selection 2 selection 1 pheea command Analog command speed Speed CMD1 P3 01 set speed Speed CMD1 P3 02 set speed Where ON Applicable contact connected to GND 24 OFF Applicable contact connected to 24V or applicable contact not connected 3 23 Chapter 3 Wiring and Signals E Absolute position data transmission To request absolute position transmission change the absolute position request ABSREQ signal from OFF to ON when the servo is turned OFF The absolute position request ABSREQ must remain ON from the time absolute position transmission is requested to the time transmission is completed and if the absolute position request ABSREQ is turned OFF during transmission transmission stops and the mode returns to initial state When the absolute position request ABSREQ is turned ON the servo start Enable signal SVONEN is ignored and the absolute position request ABSREQ is ignored when the servo start Enable signal is turned ON When the absolute position transmission starts based on the absolute position request ABSREQ the following I O signals are reset to function pins f
82. d Signals 3 4 3 Position command pulse input signal To use the servo driver in position servo mode input the position command pulse by using the open collector input line drive input and pulse output of the MPG Manual Pulse Generator or PLC position control card using external power supply of 5 V and 24 V The types of pulses that can be used are direction pulse forward pulse reverse pulse and LEAD pulse LAG pulse Select the type of pulse from the Pulse Logic P4 14 menu of the front operation panel Position Mode P4 menu Photo coupler has been used in the pulse input circuit to insulate the internal control unit of the drive system from the external pulse signal However if 5 V is used as the open collector input connect 1 2W 150 resistance or 1 2W 1 5k amp resistance if 24 V is used Pin No CN1 PPRIN 9 PRIN 12 PPFIN 11 PFIN 10 Signal function R pulse input F pulse input Caution connect 1 2W 1 5kQ if 24V power is used 5V 24V n case of open collector input n case of line driver input Position command pulse application circuit example 3 4 4 Input contact signal The function of the input contact signal used to control the drive system partially changes in the speed control mode position control mode and torque control mode Function of each input contact signal is shown on the following table The input contacts are classified into A contact and B co
83. dard Incremental 2000 type Option Absolute 11 13bit 2048P rev Ps 55 70 85 100 129 18 2 21 255 31 37 E Speed and Torque Characteristics A Continuous duty zone amp B Intermittent duty zone CNO9 CN15 CN22 CN30 CN30A Torque N m 10 1000 2000 3000 4000 5000 Speed r min CN50A Torque N m orque t2 4 0 oco 1000 2000 3000 4000 5000 Speed r min Torque N m 15 12 9 6 3 1 1 i 1000 2000 3000 4000 5000 Torque N m 25 20 15 10 5 1000 2000 3000 4000 5000 2 3 Torque N m 30 24 18 12 6 1000 2000 3000 4000 5000 Torque N m 10 t2 Fa 1000 2000 3000 4000 5000 Speed r min Speed r min Speed r min Speed r min KNO3 IKNO5 KNO6 KNO7 Torque N m Torque N m Torque N m Torque N m rq Nm org Nm org Nm orq Nm 4 52 6 0 8 3 3 9 45 6 2 2 6 3 0 4 1000 2000 3000 1000 2000 3000 1000 2000 3000 1000 2000 3000 Speed r min Speed r min Speed r min Speed r min Chapter 2 Ratings and Specifications Model Motor KNO6A KN11 KN16 KN22 KN22A KN35 KN55 Spec Driver 5005 5010 5015 5020 5020 5030 5045 Flange size 130 180 Rated output W 600 1100 1600 2200 2200 3500 5500 Nem 2 86 5 25 7 64 10 5 10 49 16 67 26 18 Rated torque kgfcm 29 2 53 6 77 9 107 1
84. decelerating the motor Contact type can be selected from parameter P2 30 Resets alarm status if turned ON Control speed At ON reset alarm and clear error pulse between command pulse and current position Control torque PP Selects speed control mode Turned OFF during normal operation ON Proportional control OFF Proportional integration control TLIM 14 ON Analog torque limit Off Digital torque limit SPD2 43 Speed control mode GEAR1 17 Slects electronic gear by conbination of the two signals Position control GEAR2 mode ON Operates as speed servo Where ON Applicable contact is connected to GND24 OFF Applicable contact is connected to 24V or applicable contact not connected DIR 16 CWLIM 40 ESTOP 39 ALMRST CLR 10 2 2 Output contact signal function and use table Name Pin No Function and Use RDY 21 ON Main power and auxiliary power are connected to servo without any alarm INSPD 22 ON Motor speed reached designated level Control speed INPOS Reached designated pulse position Position control ZSPD 47 ON Motor speed is zero BRAKE 48 ALARM 20 ON Normal status OFF Alarm detected A CODEO 45 Output signal for external machine brake drive ON Brake reset OFF Brake drive Displays alarm type A_CODE1 19 A_CODE2 44 See the table below Alarm Code output status TRQOUT 46 ON Servo is under torque limit Where ON Applicable contact is connected to GND24 OFF
85. e command when operating in torque mode See 9 7 Torque Command Input Outputs within the range of 4 4 V according to values set to Monitor1 Select P2 11 Monitori ABS P2 12 Monitor1 Scale P2 13 Monitor offset P2 14 MONIT1 3 Monitor1 Select 0 speed 1 torque 2 speed command See section 6 11 for Monitor1 ABS P2 12 Monitor1 Scale P2 13 Monitor1 offset P2 14 Outputs within the range of 4 4 V according to values set to Monitor2 Select P2 15 Monitor2 ABS P2 16 Monitor2 Scale P2 17 and Monitor2 offset P2 18 MONIT2 2 Monitor2 Select 0 speed 1 torque 2 speed command See section 6 11 for Monitor2 ABS P2 15 Monitor2 Scale P2 16 and Monitor2 offset P2 18 12 35 Outputs 12 V used when the speed command and torque limit command are simply 12 37 applied 1 8 m ae GND 26 33 This is the power supply Common Ground Terminal for speed command torque limit 34 36 command speed torque monitor output and encoder output terminals PPFIN 11 Operates after receiving specific position command form inputs in negative logic and PFIN 10 positive logic according to values set to Pulse Logic For more details about pulse forms PPRIN 9 refer to 11 7 1 Position command pulse input Chapter 11 Using Position Servo PRIN 12 SVONEN 18 Determines whether servo motor can be started ON can start OFF cannot start SPD1 f St i SPD2 Selects internal com
86. e details refer to Chapter 7 through Chapter 12 3 4 5 Output contact signal Driver The output contact signal functions are shown on the following table The output contact internally uses transistor switch Take precaution because overvoltage or overcurrent may cause damage to the system Power supply DC 24 V 10 Output contactor wiring example Brake signal is used to drive the brake installed inside the motor The sequence must be configured so when this output is turned on power is supplied to the brake and the break is released Other signals are the outputs which indicate the status of the drive system and the motor Each function is shown on the following table BRAKE GND24 3 13 Chapter 3 Wiring and Signals Types and functions of CN1 output contact signals Speed control Position control Torque control Contact status signal function signal function signal function Brake activates ON Resets BRAKE 48 aera Brake activates Brake activates OFF Activates INSPD In speed Positioning 7 INPOS 22 completed completed ON COMPRE ALARM 20 Alarm status Alarm status status ON Alarm A CODEO A CODE 1 l A_CODE2 Alarm code Alarm code Alarm code See following table 45 19 44 ZSPD 47 ON Zero speed RDY 21 ON Ready ON Torque under aa et naer Torque under limit a a n Limit P ON Torque mode Where ON Applicable contact connected to GND 24 OFF Applicable conta
87. e torque control input terminal Noise occurs because the torque command limit is loaded to the input terminal and this menu is used to eliminate this noise If large value is selected noise is reduced considerably however the transient characteristics of the torque command limit being loaded is reduced Input 0 in case it is not needed to use this filter Menu _Menuname Unit Display range P amp 02 tovTorue 0 300 Initial value Mode Torque control Input the output torque in terms of of the rated torque when loading the analog torque command 10 V In other words in case of 100 the servo outputs 100 of the rated torque when 10 V is applied Speed or position control Input the output torque limit value in terms of of the rated torque when the analog torque limit 10 V is loaded This means that in case of 100 the servo is limited at 100 of the rated torque when 10 V is applied Menu Menuname Unit Displayrange _ Initial value Mode P5 03 Torque OFFS mv 10000 10000 00 mV As the torque command is the analog level offset exists on the command value In such case the command offset can be compensated if the value of this item is loaded in terms of mV 6 27 Chapter 6 Parameter Setting 6 8 Test mode parameters Test Mode P6 6 8 1 Jog Mode P6 01 The Jog Mode carries sub menus related to Jog The Jog M
88. ed r min LF12 LF20 LF30 Torque N m Torque N m Torque N m 40 60 80 32 48 64 S M 36 48 16 24 32 500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000 Speed r min Speed r min Speed r min 2 9 Chapter 3 Wiring and Signals 3 Wiring and Signals 3 1 Representative wiring Regenerative resistor seperately installed MCCB1 MC1 P B R Power Supply TE AC 200 230 V NF o 53 50 60 Hz O o T Note1 FDA 5000 Q Note2 Qt cna CN1 Input 24V IN 24V T Emergency stop Te e ESTOP 39 Speed Electric gear I 9 e SP01 GEAR1 43 m select os SPD2 GEAR2 17 Speed Control type select o vo SPD3 TYPE 42 Output 3 Monit Direction of rotation select ovo DIR 6 2 MONIT2 4 4V Motor stop start 6 o STOP START 13 8 Servo enable o 7o SVONEN 8 Alarm reset Cumulative pulse clear p 9 e ALMRST CLR 38 Analog torque limit o o TLIM 4 Line driver PI P select L pulse frequency pe nh 97e PL P 4i division output ea i 2 9 CNL IM 40 Frequency division set imt 9 e CCWLIM 5 1 1 1 2 1 3 1 16 Position PPFIN 1 command pulse PFIN 0 Tongue undor Litt orque mode operatin aM tine Drive PPRIN 9 p 3 pen Collector
89. ed OFF and the motor stops by the action of the dynamic brake Details of ALARM displays sub menus Normal PF Normal operating condition AL 00 EMER STOP External ESTOP contact input turned OFF AL 01 OVER CURNT Driver output terminal U V W short circuited output overcurrent Input voltage excessive greater than 280V AL 02 OVER VOLT regeneration brake resistance burned load GD excessive AL 03 OVER LOAD Mechanical overload motor miswiring AL 04 POWER FAIL Main power disconnected when Servo is ON AL 05 LINE FAIL Motor and encoder set value error motor miswiring and mechanical overload AL 06 OVER HEAT Heat shield overheated AL 07 OVER SPEED un excessive menu set value error excessive gravity Rapid deceleration acceleration gain set value error AL 08 FOLLOW ERR command pulse frequency excessive greater than 300 kpps miswiring mechanical overload AL 09 Output NC Output U V W open phase AL 10 PPR ERROR Encoder pulse level setting error AL 11 ABS DATA Absolute value encoder data transmission error AL 12 ABS BATT Battery level below 2 8V AL 13 ABS MDER Absolute value encoder multi rotation data transmission error Unchangeable parameter input tried during servo ON Para meL EI Ll parameters locked Parameter Err 2 Set value input error 6 30 Chapter 6 Parameter Setting 6 31 Chapter 6 Parameter Setting The alarm type output varies according to the types of the alarm If it is ne
90. ed at the time of starting Adjusting of Autotuning the machine which so far has been carried out based on experience and senses six senses and intuition can easily be performed Refer to Control Mode P2 23 24 Test operation Motor can be run with only the servo driver loader without positioning carried out without system or separate operation panel Motor speed can also be external instructions selected freely and machine operation can be tested easily Jog operation Refer to Test Mode P6 This test mode operation function can operate the servo amplifier without the motor The control panel can independently check functions or sequences operation Refer to Test Mode P6 Motorless operation Simulation With abundant status displays such as command speed rpm load Abundant status ratio pulse error and I O status the digital servo enables simplified display functions diagnosis of operations Refer to Status Window St Chapter 2 Ratings and Specifications 2 Ratings and Specifications 2 1 Input power supply Applicable motor Detector Speed control specifications Position control specifications Torque control specifications Built in functions Environmental specifications Power supply voltage Note 1 Power capacity kVA Voltage type Continuous output current A Maximum output current A Detector model Output signal type Detector accuracy Detec
91. encv Resonant Resonant freq frequency bant width SC LOOP Gain P2 03 Hz Use resonant frequency greater than 6 0 Resonance removal operation stop 1 Resonance removal operating P2 22 Inertia Ratio Multiple 1 0 500 0 1 0 The system inertia is the sum of motor inertia and load inertia This item sets the ratio of system inertia to motor inertia in terms of times SPT System intertia Motor inertia load inertia Input the value of Motor inertia For example input 1 0 in case of no load and 2 0 if the ratio of motor inertia to load inertia is 1 1 If it is difficult to obtain accurate ratio of system inertia to motor inertia use the autotuning function described in section 8 4 3 Caution For Inertia Ratio P 22 input multiples in case of Soft Ver 4 23 or higher and input i e multiple 100 in case of Soft Ver 4 22 or less 6 17 Chapter 6 Parameter Setting Menu Menuname Unit Displayrange Initial value P2 23 AutotuneRange 0 9 Prior to using the automatic setting function input approximate ratio of system inertia to motor System inertia Motor inertia load inertia Inertia to define the range Motor inertia If the ratio of system inertia to motor inertia is unknown input O Rat
92. er ne us Suse P o 15 EM 1 5 Role Fo jl Output LINE DRIVER I SN75174 2 Applicable LINE RECEIVER T I SN75175 SN79175 1 P indicates twist pair wire J 2 T I TEXAS INSTRUMENT CN2 Wiring diagram 3 21 Chapter 3 Wiring and Signals Example of wiring between motor side 1130 180 series and FDA 5000 CN2 when absolute value encoder is used Motor side L1130 180 AC SERVO DRIVER FDA 5000A Absolute encoder CN2 CN1 Controller Output LINE DRIVER I SN75174 2 Applicable LINE RECEIVER T I SN75175 1 P indicates twist pair wire 2 T I TEXAS INSTRUMENT CN2 wiring diagram 3 22 Chapter 3 Wiring and Signals E Caution when using the absolute value encoder Set Encoder type P1 1 to 6 when the absolute value encoder is used When Encoder type P1 1 is set to 6 the input contact SPD3 type is automatically reset to the absolute position request ABSREQ Selection of servo model Servo model Set value of Controller type P2 01 When incremental encoder When absolute value encoder is used is used Selection of speed command when used as speed servo If the absolute value encoder is used to configure servo the input contact SPD3 is reset to ABSREQ Hence SPD3 cannot be used to select speed command The speed command can be input freely in 3 methods D Based on 3 digital speed commands Speed CMD1 P3 1 Spee
93. est Mode P6 4 9 5 Mount Loader Operation 5 1 5 1 Initial screen after power is connected 5 3 5 2 Sub menu Group 5 4 5 3 Operation Monitoring Menu 5 5 5 4 Changing Parameters 5 9 5 5 Test Mode P6 5 10 6 Parameter Setting 6 1 6 T Parameter Summary 5 2 Table of Contents 6 2 Description of servo status Status Window ST 6 6 6 3 Motor and System Parameters Motor Parameters P1 6 10 6 4 Common Parameters Related to Control Control Mode P2 6 13 6 5 Speed control parameters Speed Mode P3 6 21 6 6 Position control parameters Position Mode P4 6 24 6 7 Torque control parameters Torque Mode P5 6 27 6 8 Test Mode parameters Test Mode P6 6 28 6 9 Alarm status display Alarm Status ALS 6 30 7 How to Use Speed Servo 7 1 7 1 Power Supply Wiring
94. f 1 is selected in this menu the motor deceleration acceleration is activated in S letter form when the load inertia is large so that the motor can run smoothly 0 Linear deceleration acceleration operation 1 S letter form deceleration acceleration Initial value Menu Menuname Unit Displayrange Initial value P3 11 Zero Speed RPM 0 9999 9 This menu sets the speed range at which the contact is turned ON externally after recognizing the speed as Zero speed in units of RPM For example if the value of this item is set to 100 ZSPD is turned ON between motor speed 100 RPM and 100 RPM and zero speed is displayed externally Mode Menu Menuname Unit Display range P3 12 0 9999 9 Input the error range of the speed at which the INSPD contact is turned ON In other words if the difference between the motor speed and command speed is within the range set at Inspeed Range P3 12 INSPD is turned ON Initial value 100 Menu Menuname Unit Displayrange Initial value P3 13 10V Speed RPM 0 9999 9 3000 In case of speed control Input the rotation speed in RPM when the analog speed command 10 V is loaded In case of torque control Input the limit speed in RPM when the analog speed limit 10 V is loaded Menu Menuname Unit Displayrange Initial value P3 14 SPD CMD OFFS mV
95. for looseness Tighten them if necessary Check parts for defects discoloration caused by heat damage or disconnection Use high resistance range of the tester to test the conductivity of the control circuit Do not use megger or buzzer Check the cooling fan for normal operation Check for abnormal noise motor bearing brakes 7 Check cables for signs of damage or defects particularly the detector cables Check periodically during operation 8 Checkthe load connection axis for center deviation and make necessary adjustment Boo m gt oo 14 1 Chapter 14 Maintenance and Inspection 14 3 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 if necessary 1 Smoothing condenser 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 For judgement criteria visually check a Case status Check if the sides and botto
96. function can be used up to the torque set at 10V Torque P5 02 As the torque limit command input uses the absolute value of voltage operation during 10 V is the same as in the case of 10 V If the analog torque limit function is not selected the function can be used up to the torque set at TRQ LMT P2 05 TRQ LMT P2 06 To wire analog signals connect GND wire with the signal wire by twisting them using twist pair wire in order to minimize noise Functions of each analog signal are as follows Speed command 1 Torque limit 1 3 Signal function Monitor output 1 Monitor output 2 Speed limit 2 Torque command 2 4 34 V output 444 V output 10 10 V input 10 10 V input 1 Effective in speed control mode 2 Effective in speed torque mode 3 Effective in position control mode Analog signal is based on GND signal and produces 12 V power just in case speed commands speed limits torque limits and torque commands are applied through the use of variable resistance The output capacity of this power supply is 30 mA at maximum Do not exceed the maximum capacity The power supply pin array is shown on the following table PinName 12V 35 12 V 37 GND 1 8 26 33 34 36 Signal function o V 1 2W 220 12V Speed command SPDIN Driver Driver 2K TWIST GND 104 PAIR 1 2W 220 Analog signal connection Using the internal power for the analog command 3 10 Chapter 3 Wiring an
97. g current charging time approximately 03 0 5 seconds flows when main power is connected If the main power supply is turned ON OFF frequently the main circuit element may be deteriorated leading to an error Use SVONEN CN1 18 terminal and Stop CN1 13 terminal to start or stop the motor The following is an example of wiring showing how to turn off on power supply Main power ON Main power OFF _ ae Oo o e 9 0 Er Loo o 6 1MC 1Ry Surge killer Regenerative resistor MCCB1 PEASE APAT ENIE Voltage AC o fo 200 230V NE o o 50 60Hz ov Note Note2 FDA 5000 CN1 Input 1Ry i Y lU 1Diode N CN1 Output Note 1 NF is an abbreviation for Noise Filter Use this to prevent infiltration of noise from external sources Note 2 For FDA 5005 75 type connect single phase AC220 V to the r and t terminals of spare power supply FDA 5001 4 type is not provided with the r and t terminals Caution 1 It takes approximately 1 2 seconds before Alarm signal is activated after power is connected Press power switch for at least 2 seconds or longer 2 If the main power is connected immediately after power is shut off Power Fail AL 04 alarm may occur Connect power at least 10 seconds after the power is turned off 3 The above wiring diagram shows that only the main power is turned off when alarm occurs and you can check the deta
98. ignal turn ON the contact input TLIM If the output command value is greater than the output torque limit value the output torque is limited by the output torque limit value and the TRQOUT output contact is turned ON 8 5 1 Limiting digital output torque TLIM OFF The digital output torque limit can be set for the CW torque limit and CCW torque limit respectively Set the submenus TRQ LMT P2 05 and TRQ LMT P2 06 of the main menu Controller Type P2 as follows Menu Menuname Unit Display range Initial value Mode TRQ LMT 0 300 TRQ LMT 0 300 8 6 Chapter 8 How to Use Position Servo 8 5 2 limiting analog output torque TLIM ON Apply voltage between 10 V 10 V to analog input TRQIN to limit analog output torque As the analog output torque limit command input uses the absolute value of the voltage voltage of the same size in different code is treated as the same input For example 5 V input and 5 V are treated as the same input The internally used output torque is limited as follows according to the size of TRQIN voltage and the 10V Torque P5 02 set value TRQIN 10V Torque P5 02 Maximum CW torque LPF FO UEM ee a Dd x rated torque 10 100 TRQIN 10V Torque P5 02 Maximum CCW torque LPF 5 Ag x aaa x rated torque LPF Low Pass Filter Low pass primary filter Menu Menuname Unit Display range Initial value Mode
99. ils of the alarm 3 7 Chapter 3 Wiring and Signals 3 3 3 Timing diagram at the time of power connection In the case of FDA 5001 4 power is supplied to the control circuit if 3 phase power is connected to the R S and T terminals In the case of FDA 5005 10 power is supplied to the control circuit if single phase power is connected to the r and t terminals Servo becomes RDY after maximum 300 ms the time required to initialize the inside of the drive system and if the servo drive signal is turned on operation starts 25 ms later Max 300ms c Single amp 3 Phase power r t amp R S T Control powerset gt La 5V Control program initialization Me 0 I pu o Max 500ms Power Good Dl i T Ll 100ms Alarm Nomal ON Servo RDY SVON l DB reset PWM RR i e Motor rotation 30ms 1s 3 3 4 Timing diagram at the time of Alarm occurrence If Alarm occurs on the drive system PWM is shut off and the motor stops Caution Check and remove causes of Alarm and turn off the servo motor drive command SVONEN before resetting Alarm Max 300ms x Single amp 3 phase power r t amp R S T Control power set 5v Eal Control program initialize F Max 500ms n 7 100ms Power Good Alarm normal ON Remove causes of alarm f Alarm occurs due to over load amp over current Servo RDY A
100. imit command 33 34 36 monitor output and encoder output 24VIN DC 24V power supply for the external I O contact GND24 24 25 DC 24V ground for the external I O contact Note See section 3 4 6 for the capacity of 24V power supply 8 3 CN Wiring For information on CN2 wiring see Section 3 5 CN2 Wiring and Signal Description 8 3 Chapter 8 How to Use Position Servo 8 4 Setting Parameters Related to Motor and Servo When the servo start ENABLE contact SVONEN is turned OFF after power is connected set the following parameters 8 4 1 Setting motor and models Parameter neat Description No Name P1 01 Motor ID Sets ID number according to the type of servo motor P1 10 Amp Type Sets ID number according to the type of driver P1 11 Encoder Type Sets number according to encoder signal system P1 12 Encoder Pulse Sets encoder pulse quantity P2 01 Controller Type Sets sped control mode number to 2 See Chapter 6 Parameter Setting 8 4 2 Setting built in brake use Parameter ee Description No Name P2 09 Brake SPD Sets brake start speed when stopped P2 10 Brake Time Brake starts after the set time elapsed when stopped Example If Brake SPD P2 09 30 Brake Time P2 10 10 If the motor speed drops below 30 RPM after decelerating when the servo is turned OFF while the motor is run by the servo or if 10 ms is passed after the servo is tu
101. in value K SC LOOP Gain PC P Gain MAX Feedforward 5 Not exceeding 70 7 Not exceeding 80 10 Not exceeding 85 20 Not exceeding 90 ms Menu Menuname Unit Displayrange Initial value P4 02 FFFlTTOC m ms 0 10000 O o Input the primary filter time constant of the position command speed Feedforward in ms The loaded position command is differentiated and passes through the primary filter before it is used as the Feedforward input The time constant of this filter can be adjusted Increase this value in applications where the position command is rapidly changed and decrease this value in applications where the position command is slowly changed Input 0 in case it is not needed to use this filter Recommended setting conditions F FLT TC lt 1000 X MAX Feedforward Feedforward 100 PC P Gain 6 24 Chapter 6 Parameter Setting Menu Menuname Unit Displayrange _ Initial value P4 03 CMD FLT TC ms 0 10000 o Input the filter time constant of the position command input in ms The output which passes through the primary filter is used as the position command for the loaded position command Set the time constant of this filter Enter 0 in case it is not needed to use this filter Menu Menuname Unit Display range Initial value P4 04 In Position PLS 0 99999 Input the error range of the position where INPOS con
102. input load inertia see section Inertia Ratio P2 22 Procedure of converting general unit to that of gf cm sec is as follows i kg cm 1 02 gf cm sec 1 kg m gt 1 02 x 10 gf cm sec Menu Menuname Unit Displayrange Initial value P1 03 KT kgfom A kgtcm A 0 001 99999 SPT Convert the motor torque constant in kgf cm A and input the data Torque constant is defined in the torque level corresponding to 1 A rms Procedure of converting MKS unit to that of kgf cm A is as follows 1 N m A 10 2 kgf cm A Menu Menuname Unit Display range Initial value Ls Phase mH 0 01 999 99 SPT Rs Phase ohm 0 01 999 99 SPT Convert the motor phase inductance in mH and input the data Mode Convert the motor phase resistance in Q and input the data Menu Menuname Unit Display range Initial value P1 06 Is Rated Arms 0 01 999 99 SPT Convert the motor rated current in A and input the data Menu Menuname Unit Display range Initial value Mode P1 07 SPD Max RPM 0 1 9999 9 5000 0 P1 08 SPD Rated RPM 0 1 9999 9 3000 0 Input motor s maximum speed and rated speed in RPM r min 6 11 Chapter 6 Parameter Setting Menu Menuname Unit Displayrange Initial value P1 09 Pole Number Pole 2 98 L 3 Input the number of motor poles The number of motor poles is always e
103. ion The brake is designed for maintenance preservation during power outage If used to reduce speed the brake wears out fast Install brakes and magnetic contactors on power supply terminals R S and T In case an error occurs or abnormal current flows shut off the circuit to prevent secondary fire 1 2 4 Maintenance and inspection High voltage still remains inside the driver for a while even after power supply is shut off Danger To prevent electric shock carry out wiring work or inspection at least I0 minutes after the power is cut off and the charge lamp is turned off The regenerated resistance and the servo motor remain hot for a while after power is turned off Touching them may cause burns Conducting megger test on the driver may cause damage to the driver Do not perform megger test The motor detector is not detachable Never remove the cover 1 3 Installation 1 3 1 Installation of servo driver Operating environment Ambient temperature 0 50 C There should be no freezing 9 Ambient humidity 90 RH or lower There should be no steam Note Inside panel temperature specifications To ensure maximum operating life and reliability of the driver maintain the average panel temperature at 40 C or lower If the driver is installed in a place within arm s reach install the fan to maintain the temperature of driver at 70 C or lower Chapter 1 Checking and Handling Installation direction and intervals
104. ion of system inertia to motor inertia multiples 1 500 3 Input value Menu Menuname Unit Displayrange Initial value P2 24 Autotune ON OFF ON OFF ON Auto set function is activated and the results are automatically stored in SC LOOP Gain P2 03 Inertia Ratio P2 22 Menu Menuname Unit Displayrange Initial value P2 25 Parameter Init i Currt dFLT currt SPT When servo is used parameters are set in various values To restore parameters to servo s initial value basic set value during operation press Prog key When Parameter dFIt is displayed on the screen press Enter key All parameters except the motor parameters P1 01 P1 09 are restored to their initial values ms Sets the analog speed command SPDIN delay in terms of ms Recommended set value range 0 SCI TC P2 04 20 Example If SCI TC PP2 04 is 50 ms the set range is 0 2 5 ms 6 18 Chapter 6 Parameter Setting Display range Initial value 0 1 1 P227 DBControl Enables quick motor control during servo operation by turning off SVONEN terminal and forming DB control circuit while the gating motion is turned off when the motor stops However if the DB control status is continuously maintained while the motor remains stopped it is not easy to achieve free run of the motor in case the user so desires This menu therefore helps the
105. itor Menu Menu name Unit apres ange Initial value Mode P2 11 Monitor1 Select P2 12 Monitor ABS ELI M La Der P2 13 Monitor Scale Multiple 1 00 20 00 Lex wrote ve 100 90 100 0 oo ser Lexi Monto see 0 2 i eer Pete Montor aps____ __o1_ _o_ ser_ P2 17 Monitor2Scale Multiple 100 2000 1 00 SPT P248 Monitor2zofset 100 0 1000 0 0 SPT 8 8 De resonance Frequency Operation Mechanical resonance of specific frequency may occur when a system is constructed by using servo To remove such resonance input the resonant frequency occurring on the system to the Resonant FRQ P2 19 in terms of Hz input the band width of the resonant frequency to be removed to the Resonant BW P2 20 in terms of Hz and select De Resonance ENB P2 21 as 1 Menu name Unit s range Initial value Mode P2 19 Resonant FRQ Hz Hz 1000 HICIERA NETT CON ITA RM Lea De Resonantens o1 0 ap 8 9 Other Set Values HUM ea Display range nial value Mode fee ba Vcmenlomer E NE UE P2 25 Parameterint cumidFLT cum P227 DB Conr 01 1 PT P228 DispaySelet 1 10 1 SPT P230 EmegenyType 01 o ST P231 PowerfalMode 01 1 SPT 8 9 Chapter 9 How to Use Torque Servo 9 How to Use Torque Servo 9 1 Power Supply Wiring For wiring see
106. itor Menu Menu name Unit Display range value Mode P2 11 Monitor1 Select 0 2 SPT P2 12 Monitor ABS ani Em Da Hn d SPT P2 13 Monitor Scale Multiple 1 00 20 00 100 SPT P2 14 Monitor1 offset Pe 1289902 10002 oo 71 SPT P2 15 Monitor2 Select REL SPT ET Eq 100 00 P2 16 Monitor2 ABS SPT P2 17 Monitor2 Scale Multiple 1 rus n 00 SPT P2 18 Monitor offset 100 0 100 0 SPT 9 8 Other Set Values Menu name i i Initial value Current Offset 0 1 0 Parameter Init DB Control Display Select z Emergency Type 0 SPT Power fail Mode 4d SPT 9 6 Chapter 10 How to Use Speed Position Servo 10 How to Use Speed Position Servo 10 1 Power Supply Wiring For wiring see 3 3 Main Circuit Terminal Board Wiring 10 2 CN1 Wiring Make wiring as follows to use FDA5000 as the speed position control mode 49 24VIN PAO 7 ogy 4 7K a eI d 18 SVONEN PBO 6 S bl O Noa ervo ena gm lom Tw a UeBO 680 x3 d Select direction of runni 19 SD X xcd ic Note3 Motor stop sta Oo S Select PI Analog torque ligi Select spe Select electronic Select speed positlon On Off ar O Servo read In speed In position Zero speed Brake activate Alarm status Alarm code Torque under li as cowul 347 40 owt pay o o 69 ESTOP 34 CL ove OW uw 7 Geant THE an Leak
107. lay range Initial value 19317 AutoJogSet Setting Auto Jog mode operation 0 Auto Jog mode not activated 1 Auto Jog mode activated Motor starts running 0 1 6 8 3 Simulation Mode P6 03 Motorless operation Operates just like when the motor is connected even when there is no actual motor Motor speed is displayed in the window at this time just as the motor is running at the commanded speed This function enables indirect test of the wiring status between the current servo driver and the upper controller before the motor is actually connected Caution Menus marked with cannot be corrected during Servo On P6 03 4 ENTER key use only Mount Loader OFF l UP key Mount Loader PROG key Digital Loader 4 ENTER key P6 03 l Press UP key 2 times Mount Loader or press MODE key 2 times Digital Loader St Jj ENTER key Mount Loader PROG key Digital Loader Indicates virtual motor speed according to the conditions of the I O St 01 connected to CN1 6 29 Chapter 6 Parameter Setting 6 9 Alarm status display Alarm Status ALS Menu title Description Alarm Display Displays current alarms In normal condition displays normal Displays the latest 10 alarms ALSOA Alarm Reset All Resets all alarm history stored in the Alarm History In case of an alarm the alarm signal output contact Alarm is turn
108. le contact connected to 24V or applicable contact not connected 3 16 Chapter 3 Wiring and Signals 3 5 Description of CN2 Wiring and Signals 3 5 1 Wiring and signals of incremental encoder CN is a connecter located in the right center of the T N11 PZ front part of the drive system This is used to N13 PB connect the drive system and servo motor encoder N15 PA The right figure shows pin array viewed from the N17 user connector Encoder signal varies slightly according to the types of encoder N20 N19 Vcc PIN array of CN2 Danger Product may be damaged by burn Based on the soldered side in case the servo is started without of the user connector connecting the CN2 encoder wiring Wiring of CN2 and the FMA CN series AC servo motor s incremental encoder is shown on the following table Caution When absolute value encoder is used refer to Chapter 3 5 2 Interface and Use of Absolute Value Encoder Motor L160 80 series side Motor 1130 180 series side CN2 pin No Signal name p g encoder connector pin No encoder connector pin No Vcc 5V x CERA Caution Connect the earth cable of the encoder wiring to F G Caution Cable specifications AWG24 x 9 pair twist shield cable maximum length 20 m COVV Maker LS cable or equivalent 3 17 Chapter 3 Wiring and Signals Example of wiring between motor side 160 80 series and FDA 5000 CN2 when incremental encoder is used
109. lows Feedback pulse J LILI LI ULT ULT LT LI UT UT ULT LE LIT ULT LT LT LT 1 freq division JU LI LT LIT LJ ULT ULT LI LJ ULT LT LI LI ULT LT LT Amanin es Let La qp dd qo ul Eng d 3 freq division Motor speed may have periodic ripple due to the effects of the servo current offset If this happens use the current offset function 1 Automatically offsets current offset during Servo On Display range Initial value P2 09 Brake SPD RPM 0 0 9999 9 50 0 If the servo is turned OFF during servo motor operation and the brake speed is reduced set the speed which activates the external machine brake in RPM r min The output contact Brake is turned OFF at this time 6 15 Chapter 6 Parameter Setting Menu Menuname Unit Displayrange Initial value P2 10 0 10000 If the servo is turned OFF during servo motor operation and the brake speed is reduced set the time which activates the machine brake after a specific time irrespective of Brake SPD P 29 in ms The output contact Brake is turned OFF at this time If 0 is input The machine brake is activated only by Brake SPD P 29 but is not activated according to time Monitor Select 0 2 P2 15 Monitor2 Select m 02 Set parameter to be displayed on the monitor 0 Speed 1 torque 2 speed command Menu Menuname Unit Displayrange Initial value Monto ABS on o f sr P216
110. lter Menu Menuname Unit Display range Initial value Mode TRACMDTCIms ms 00 109 oo SPT 10V Torque 0 300 7 6 Chapter 7 How to Use Speed Servo 7 6 Inputting Speed Commands Speed command can be input freely by using 3 methods D Using 7 digital speed commands Speed CMD1 P3 01 Speed CMD7 P3 07 2 Using external analog speed command 8 Based on override operation by combining methods of items and The internal speed command selection effected based on these 3 methods is decided as follows based on CN1 speed selection SPD1 SPD2 SPD3 contact and the Override ON OFF P3 18 set values mem LII o mmm selection 3 selection 2 selection 1 0 OFF OFF OFF j Analgcommandspeed 0 OFF OFF ON SpeedCMD P3 01 speed ON OFF l Speed CMD P3 02 speed ON ON JISpeed CMDS F3 05 speed OFF Speed CMD4 P3 04 speed _ Speed CMD5 P3 05 speed Speed CMD6 P3 06 speed Speed CMD7 P3 07 speed Analog command speed Speed CMD1 P3 01 set speed analog command speed Speed CMD2 P3 02 set speed analog command speed Speed CMD3 P3 03 set speed analog command speed O z Z O JO Ziz O Speed CMD4 P3 04 set speed analog command speed Speed CMD5 P3 05 set speed analog command speed Speed CMD6 P3 06 set speed analog command speed Speed CMD7 P3 07 set speed analog command s
111. ly In case of applying absolute encoder Motor length is extended 15mm ufReo LEAD Tv ware 2 w Brack s EARTH cREEN 4 AMP 1 480426 0 PLUG 61118 1 PIN AMP 1 480340 0 PLUG 61118 1 PIN MOTOR CONNECTOR DIAGRAM AMP 172171 1 PLUG 170359 1 PIN ENCODER CONNECTOR DIAGRAM 16 3 Chapter 16 External View 16 2 3 Flange 130 Series SECTION x x TAPER TYPE OPTION gt Dotted lines indicate position of brake attached connectors Key dimensions s T vu W 269 211 160 132 180 8 2 TFOS LFOS 345 257 206 0269 1915 3 5 aog S3 9 elen 9S2 s quo e ss 5 doa Figures in indicate brake attached type Use DC 90V for brake input power supply O DO OA CO OB MS3102A20 4P MS3102A20 15P Eara Encoder Signal Signal A B C D E E s Lead Wire em iens No O I rn n Z Z OV STANDARD TYPE BRAKE TYPE Motor Cable Connector Diagram Encoder Cable Connector Diagram o c MS3102A20 29P 16 4 Chapter 16 External View 16 2 4 Flange 180 Series Straight Shaft Standard Type Dotted lines indicate position of brake attached connectors No eyebolts are used for 1 2 1 8 and 2 2kW in standard specification A 0 02 7 80 KEY TYPE Taper Shaft Standard Type Dotted lines indicate position of brake attached
112. m occured most recently Note Assuming that overcurrent AL 01 alarm occured after the encoder miswiring ALO5 alarm had occured during servo operation 1LIf Indicates No alalrm and normal status The alarm history menu displays up to 10 alarms that have occurred most recently The above figure is based on the assumption that overcurrent AL 01 alarm occurred after the encoder miswiring AL 095 alarm had occurred during servo operation nor is indicated when there is no alarm However EMER STOP AL 00 is not stored in the alarm history ALSO3 Chapter 5 Mount Loader Operation 4 Alarm history reset ALSO4 menu RIGHT mi C rA LEFT mi C AMI IL 3 LICZI ILI UJ ENTER ENTER ENTER Alarm that have ENTER m 1 Mi occured most IL LII recently mor LEFT RIGHT Displays message LEFT RIGHT for 2 second I JF H L UJ Mor LEFT RIGHT LEFT RIGHT Mor mor RIGHT RIGHT LEFT LEFT l C mar O mar The above figure is a block diagram showing how to erase the system alarm history This is based on the assumption that overcurrent AL 01 alarm occurred after the encoder miswiring AL 095 alarm had occurred during servo operation in alarm history menu If there is no alarm after the alarm history reset ALSOA is activated nor is displayed However EMER STOP AL 00 is not stored in the alarm history ALSO3 5 8 Chapter 5 Mount Loader Operation 5 4 Changing Parameters The differe
113. m of the case are expanded b Cover plate Check for significant expansion severe cracks or damage c Explosion proof valve 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 it indicates life span has exhausted 2 Relays Inadequate contact may occur due to contact wear resulting from switching current The relay wear condition is affected by the power capacity The standard life span is 100 000 accumulated switching switching life operations 3 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 Standard replacement Parts period How to replace Replace with new parts Decide after check Decide after check Smoothing condenser 7 8 years Replace with new ones Motor bearing Decide after check Aluminium electrolytic Replace with new PCB Decide after condenser on PCB check 14 2 Chapter 14 Maintenance and Inspection 14 4 Maintenance 14 4 4 Motor If the motor is not used immediately store it in the following manner 1 Store the motor in a clean and dry place Ambient temperature Ambient humidity 15 C 700 Less than 90
114. mand speed by combining 3 signals when controlling speed Refer to SPD3 7 7 Speed Command Input GEAR1 43 Selects electronic gear ratio by selecting 2 signals when controlling position See 8 7 GEAR2 17 Position Command Input TYPE 42 Selects controller type See Chapter 10 through 12 SPD1 Selects speed limit by selecting 2 signals when controlling torque Refer to 9 6 Speed SPD2 limiting TYPE Selects controller type See Chapter 10 through 12 3 15 Chapter 3 Wiring and Signals Function and use Selects direction of servo rotation when controlling speed sie b Off in command direction ON in reverse command direction PI P 41 Selects speed controller type Off PI control ON P control STOP 13 Forcibly zeros stops speed command value or starts operation START Can be selected from parameter P2 29 CCWLIM 15 In the case of linear drive set the extreme limit switch signal to CW side and CCW side CWLIM 40 ON Rotation able Off Rotation unable TLIM m Selects whether the torque limit signal input at the analog torque limit command TRQIN terminal is to be used ON Analog torque limit used OFF Digital torque limit used ALMRST Resets alarm CLR 38 Clears error pulse between the command pulse and current position when controlling position In case of external emergency forcibly ignores all input status of servo driver and stops ESTOP 39 motor drive free run after rapidly decelerating the motor
115. motor speed The speed limit can be input freely based on the following 2 methods D Using 3 digital speed commands Speed CMD1 P3 01 Speed CMD3 P3 03 2 Using the external analog speed limit signal absolute value input The selection of the internal speed command based on these 2 methods is determined as follows according to the CN1 speed limit selection SPD1 SPD2 contacts Speed Speed selection 1 selection 2 Speed limit OFF Absolute value of the analog command speed Absolute value of Speed CMD1 P3 01 set speed Absolute value of Speed CMD2 P3 02 set speed Absolute value of Speed CMD3 P3 03 set speed 9 4 Chapter 9 How to Use Torque Servo 9 5 1 Inputting digital speed limit The following is how to input 3 digital speed commands First move to Speed Mode P3 the speed related parameter group from the main menu Then input the desired digital speed command in RPM Speed limit does not have any relation with codes Absolute values are used regardless of positive value or negative value To prevent confusion always use the positive value Menu Menu name Display range Initial value P3 01 Speed CMD1 RPM panna i 100 P3 02 Speed cMDe RPM RPM Maximum speed 200 ST Maximum speed M j Bs P3 03 Speed CMD3 RPM RPM SIDA pon 500 ST Maximum speed 9 5 2 Inputting analog speed limit To input analog speed limit apply a voltage between 10 V and 10 V t
116. n 1500 S 100000 CD 4 ST S S P348 OverdeONOFF 01 0 S Caution Menus marked with cannot be corrected during Servo ON 5 Position menu Position Mode P4 Menuname ELCTRGeal NUM ELCTRGeal DEN ELCTRGea2NUM ELCTRGea2 DEN ELCTRGear3NUM ELCTRGear3DEN JELCTRGear4NUM ELCTR Gear4 DEN Pulse Logic Backlash Pulse Caution Menus marked with cannot be corrected during Servo ON 6 4 Unit Display range Initial value Mode 0 0 10000 0 10000 0 99999 0 99999 1 99999 1 99999 1 99999 1 99999 1 99999 1 99999 1 99999 1 99999 0 10000 Chapter 6 Parameter Setting 6 Torque menu Torque Mode P5 Menu name Display range Initial value Mode TRQ CMD TC ms 0 0 1000 0 ms 0 0 SPT 10V Torque 0 300 Torque OFFS 1000 0 1000 0 00 T Caution Menus marked with cannot be corrected during Servo ON 7 Test mode Test Mode P6 Menu name Unit Display range Initial value Mode Jog Command RPM r min 5000 0 5000 0 100 Jog Speed RPM 5000 0 50000 o Auto Jo g r min 5000 0 5000 0 100 Speed1 Auto Jog Speed2 r min 5000 0 5000 0 200 Auto Jog Speed3 r min 5000 0 5000 0 soo Auto Jog Timet sec 1 5000 1 Auto JogTime2 sec 1 5000 2 Auto Jog Times sec 1 5000 3
117. nal of the circuit which receives this signal from the upper control system to the GND terminal of CN1 Encoder signal is produced in line driver system after the AC servo motor encoder signal received from CN2 is divided according to the frequency dividing ratio set by the sub menu Pulse Out Rate P2 07 of the main menu Control Mode P2 Functions of each signal is as follows A phase output B phase output Z phase output Signal function PIN No CN1 Driver Line driver SN75174 PAO 7 PAO 32 PBO 6 PBO 31 PZO 5 PZO 30 Controller 2 Jpn ceca gt Line receiver SN75175 Encoder signal connection example 3 9 Chapter 3 Wiring and Signals 3 4 2 Analog I O signal Analog signal is based on 0 V GND terminal of the control power supply Connect the GND terminal of the circuit connected to this signal with the GND terminal of CN1 The analog speed command input CN1 27 runs the motor at a speed determined from the 10V Speed RPM P3 13 menu of Speed Mode P3 13 The motor runs at a maximum speed in the forward direction if 10 V is loaded and in the reverse direction if 10 V is loaded Analog torque limit CN1 28 is activated when the analog torque limit function CN1 14 terminal is turned on and if the analog torque limit input is O V while the torque limit function remains turned on motor torque does not occur at all If the torque limit input is 10 V the
118. nce in editing between the mount loader and digital loader is that ENTER must be pressed once more to see the actual value of menu items in the case of the mount loader and that only UP key may be used to change values during the process of editing In most menus such as Motor Parameter P Control Mode P2 Speed Mode P3 Position Mode P4 and Torque Mode P5 input desired values in the same method as that of changing parameters described below Two of the menus autotuning P2 24 menu and parameter initialization menu are explained separately see 5 2 4 5 4 14 Changing parameters ENTER Starts and ends parameter change UP Increase of value where blink is located LEFT RIGHT Moves blink to left or right Example1 Motor ID input 00 gt 11 Example2 Input of internal speed command1 ENTER ENTER ENTER 7 7 TH CITI 1 The position changable by ENTER LALI gt F LIC LIS blinks j N UP LEFT LEFT LEFT LEFT Blink moves to left by teh use of LEFT F changes to r by use of UP Internal speed command1 P3 01 changes to 200 form 200 r min uP Chapter 5 Mount Loader Operation 5 5 Test Mode P6 5 5 1 Jog operation function P6 01 ENTER Starts ends jog mode starts ends jog speed input starts ends jog speed monitor LEFT Blink moves to left when motor is running in the opposite direction of command and jog speed is input RIGHT Blink moves to righ
119. ncy stop 2 1 CCWLIM CWLIM ESTOP Eo EL te OFF A OFF aig o OFF internal speed ET comman Contact input 0 c Y gt gt Set value Note Override o ete stops in cas P on ON P ON Sb SPD2 SPD3 OFF OFF OFI The following are the set values of the deceleration acceleration and S shape operation shown on the above figure Menu name i c EE range Initial value Accel fimelms 100000 riw seca ac 4e09 73277 er P410 stypeenB 01 o s 7 10 Chapter 7 How to Use Speed Servo 7 8 Using Monitor The servo s internal speed command and torque and the feedback motor speed can be monitored from outside through the analog output MONIT1 and MONIT2 The range of output voltage is 4 V 4 V The following are the parameters related to the use of the motor Menu Menu name Unit ae as Initial value Mode P2 11 Monitor1 Select P2 15 Monitor2 Select foie os UNE 3 Sets parameters to be output on the monitor 0 speed 1 torque 2 speed command Menu Menuname Unit Displayrange _ Initial value Mode P2 12 Monitor1 ABS 0 1 0 SPT p2 16 Montr2ABS 01 o s 0 Outputs codes by type 1 Outputs absolute values without classifying codes Menu Menu name Unit Display range Initial value Mode P2 13 Monitor1 Scale Multiple 1 00 20 00 1 00 SPT P2 17 Monitor2 Scale Multiple 1 00 20 00 This is used to allow viewing by multiplying par
120. nertia load inertia Motor inertia Decelerating accelerating for about 5 times after turning ON autotuning P2 24 will allow the inertia value to be stored in P2 22 Turn off autotuning P2 24 b Adjusting control system gains t Manually input inertia ratio P2 22 if the inertia ratio is known r Adjust the following value according to inertia ratio Inertia ratio Set value Motor Motor SC LOOP Gain SC I TC P2 04 L1 60 80 O greater than 130 P2 03 Recommended Minimum 1 500 20 6 2 350 30 9 3 290 35 11 5 1 220 45 14 10 2 160 60 19 20 3 110 90 27 50 5 70 140 42 100 10 50 200 60 20 30 300 100 If the SC Loop gain is too low vibration occurs and response becomes fast if it is high but vibration occurs if the gain is excessively high Response becomes fast if SCI TC is reduced but overshoot occurs if it is reduced excessively 7 4 4 Setting feedback delay Menu Menuname Unit Displayrange Initial value Mode P317 rogLAY ms 00 100 00 ser Adjust FDELAY P3 17 when noise occurs due to motor vibration Use FDELAY value within the speed integrating time constant SCI TC P2 04 value Recommended value SCITC 5 SCITC 2 7 5 Chapter 7 How to Use Speed Servo 7 5 Limiting Output Torque The output torque can be limited within 300 of the rated torque The output torque can be limited by digital signal and also by
121. ng to encoder signal system P1 12 Encoder Pulse Sets encoder pulse quantity P2 01 Controller Type Sets sped control mode number to 1 See Chapter 6 Parameter Setting 7 4 2 Setting built in brake use Parameter e Description No Name P2 09 Brake SPD Sets brake start speed when stopped P2 10 Brake Time Brake starts after the set time elapsed when stopped Example If Brake SPD P2 09 30 Brake Time P2 10 10 If the motor speed drops below 30 RPM after decelerating when the servo is turned OFF while the motor is run by the servo or if 10 ms is passed after the servo is turned OFF the output contact brake is turned Off 7 4 8 Setting control system gains satisfying loads Parameter EME Description No Name P2 03 SC LOOP Gain See below P2 04 SC I TC P2 22 Inertia Ratio i P2 23 Autotune Range P2 24 Autotune ON OFF a Autotuning Use autotuning only when the motor is running at a speed greater than 1 5 times the rated speed Turn Off Autotuning when the motor is running in normal condition 7 4 Chapter 7 How to Use Speed Servo Set P2 23 range according to approximate inertia ratio Inertia ratio Set value Inertia ratio Set value Inertia ratio Set value 1 3 1 10 25 4 100 300 7 2 10 2 15 100 5 200 400 8 3 15 3 25 200 6 300 500 9 Inertia ratio Motor i
122. nput 48 BRAKE Line Drive SN75174 Brake activate f 300 PPFIN 11 V Alarm status b PFIN CEA 45 A CODEO oM 300 PPRIN 9 h LRN Gil ior Ronen Nt b a x 44 A CODE2 t Note If used in the Open Collector System Lm 46 TRQOUT ont shortcut the 7 Torque under limit F G 50 PPFIN 11 PPRIN 9 24 GND24 Do 0 9 Note2 terminal 25 TE See section 3 4 3 Alarm code Note1 Select GND terminal from among 1 8 26 33 34 and 36 Note2 Use CN1 shield wire to ground the F G Frame Ground terminal Note3 Available for position mode 12 1 Chapter 12 How to Use Position Torque Servo 12 2 1 Input contact signal function and use table Name Function and Use ON Servo start command OFF Servo start command reset SVONEN OFF Motor CCW running limited ON Motor CW running allowed Forcibly ignores all input status of the servo drivers in case of external emergency and shuts off free run motor operation after rapidly decelerating the motor Contact type can be selected from parameter P2 30 Resets alarm status if turned ON Control torque ALMRST CLR At ON reset alarm and clear error pulse between command pulse and current position Control position Selects speed control mode Turned OFF during normal operation ON Proportional control OFF Proportional integration control ON Analog torque limit Off Digital torque limit Valid only in position control mode Sle
123. nside the motor 1 1 Chapter 1 Checking and Handling 1 2 Caution during Use Improper handling of the driver may lead to unexpected accident or damage The following are important points in operating the driver 1 2 1 Handling e Avoid impact to the encoder the motor detector Striking the shaft with a hammer may cause the motor to drop leading to unexpected damage Do not connect commercial power supply AC 220V directly to the motor Direct connection induces flow of overcurrent leading to the deterioration of the magnetic effect Always use specified servo driver 1 2 2 Wiring e Connect the driver and the motor earth terminals in the direction of the driver and ground the terminals at the shortest distance in one operation To prevent electric shock and improper operation use class 3 earth Less than 100 9 e Always match the U V W and FG terminals of the motor with those of the driver You cannot change the direction of rotation by changing 2 wires as in the case of widely used common motors Connecting commercial power supply to the U V W and FG terminals of the driver may cause damage Apply 200V power supply to R S and T terminals Use a transformer in case power supply is other than 200V e Connect standard regenerated resistance to the P and B terminals of the driver Chapter 1 Checking and Handling 1 2 8 Operation Use the magnetic brake of the motor only for emergency and maintenance preservat
124. ntact depending on the contact characteristics Check before use Connect external power supply greater than DC 24 V 1 A to the 24 V power input terminal CN1 49 to use the contact input t 24VIN Driver Speed1 Input contactor wiring example Turning on the servo motor drive command signal CN1 18 will reset the base block of IGBT and generation braking turning the servo motor at a speed set by the speed command select signal Chapter 3 Wiring and Signals To select speed command combine rpm selection 1 CN1 43 rom selection 2 CN1 17 rpm selection 3 CN1 42 and select internal speed command or analog speed command The internal speed command Speed CMD 1 2 3 4 5 6 7 P3 1 2 3 4 5 6 7 sets value at the applicable menu of Speed Mode The rotation direction select signal CN1 16 changes the rotating direction of the motor Using this signal even when the external analog command is used will enable changing the direction of rotation in reverse However when this is used in combination with the upper position controller turn off this signal except in special case The Alarm Reset Cumulative Pulse Clear signal CN1 38 resets servo alarm and clears discrepancies between the command pulse and current position in position control mode Caution Execute Alarm Reset only after the servo drive Enable SVONEN signal is turned off The stop signal CN1 13 stops the motor after forcibly making the speed
125. o T 42 vee Ug 21 RDY 22 t an zspo 47 t 48 BRAKE t ere 45 A cop rt a9 cops t 44 A copeg t 46 TRaouy t 24 GNp24 j 7 t 5 a 10K 10K SPDIN 27 eee lt L ang NoteT DOO 10K c 10 10V LH 10K TRQIN 28 24 An LT on Note DOO cq MONIT1 3 4 4V MONIT2 2 4 4 Position command pulse input 300 PPFIN11 Line Drive SN75174 3 Po x 300 PPRIN9 E ma K Note If used in the Open Collector System short circuit the F G 50 PPFIN 11 PPRIN 9 Note2 terminal pesi See section 3 4 3 y Note1 Select GND terminal from among 1 8 26 33 34 and 36 Note2 Use CN1 shield wire to ground the F G Frame Ground terminal Note3 Available for speed mode Chapter 10 How to Use Speed Position Servo 10 2 1 Input contact signal function and use table Name Pin No Function and Use ON Servo start command SVSNEN is OFF Servo start command reset Selects servo rotation direction Valid only in speed control mode Off Command direction rotation ON Counter command direction rotation STOP Forcibly zeros stops the speed command value or starts operation START 18 Can be selected from parameter P2 29 OFF Motor CCW running limited OFF Motor CW running limited ON Motor CW running allowed Forcibly ignores all input status of the servo drivers in case of external emergency and shuts off free run motor operation after rapidly
126. o the analog input terminal SPDIN The speed limit used inside the servo can be adjusted as follows according to the absolute value of the voltage of the analog input SPDIN and the set values of 10V Speed P3 13 SPD CMD OFFS P3 14 Internal speed command rpm 10V Speed P3 13 E Aa M l SPDIN Menu Menu name Unit Display range Initial value Mode P3 13 10V Speed RPM RPM 0 9999 9 3000 ST SPD CMD OFFS P3 14 1000 P3 14 SPD CMD OFFSImV 1000 0 10000 00 ST 9 6 Inputting Torque Command The torque command can be input to the analog input terminal TRQIN Apply a voltage between 10 V 10 V to TRQIN The torque command and voltage have the following relationships Torque command To 10V Torque P5 02 TROIN Ttrque OFFS P5 03 10 1000 Rated torque 100 9 5 Chapter 9 How to Use Torque Servo LPF Low Pass Filter Low pass primary filter CCW Torque TRQIN Command voltage 10V CW torque Menu Menu name Unit Display range mita value Mode P5 01 TRQ CMD TC ms 0 0 1000 0 SPT 10V Torque a oo 100 ser oo T Torque OFFS 1000 0 1000 0 9 7 Using Monitor The servo internal speed command and torque and the feedback motor speed can be monitored from outside through the analog output MONIT 1 and MONIT 2 The range of output voltage is 5 V 5 V For more details on how to use see section 6 11 Using Mon
127. ode operates even when there is no external contact signal Menu name Display range Initial value Jog Command RPM 5000 0 5000 0 100 Set the jog operation command speed in rpm UP Key Menu Menuname Unit Displayrange Initial value Mode S 02 Jog Speed RPM RPM 50000 50000 o Set the actual jog operation speed in rpm Motor runs clockwise if the gt right key is pressed and counterclockwise if lt left key is pressed 6 8 2 Auto Jog P6 02 This is a special type of jog mode CW or CCW run can be set with specific speed and time even without pressing gt right or lt left keys As in the case of Jog Mode Auto Jog operates when the motor is connected to the encoder without external contact signal Menu Menuname Unit Displayrange Initial value Auto Jog Speed1 5000 0 5000 0 100 Auto Jog Speed 5000 0 5000 0 200 19 13 Auto Jog Speed3 5000 0 5000 0 300 Input the auto jog mode set speed in rpm Auto Jog Speed1 Auto Jog Speed1 Auto Jog Speed3 Auto Jog Speed3 Auto Jog Time1 Auto Jog Time3 Auto Jog Time2 Auto Jog Speed2 6 28 Chapter 6 Parameter Setting Menu Menuname Unit Display range Initial value Auto Jog Time sec 1 50000 L Auto JogTime2 sec 1 50000 Auto Jog Time3 sec 1 50000 E Input the auto jog mode set time in sec Menu Menuname Unit Disp
128. odes Type ON OFF ON Speed servo Position servo Caution Switch speed servo position servo only when motor is stopped 10 4 2 How to use by control mode Refer to sections 7 and 8 for detailed directions by control mode Speed command for speed operation can be input freely by using 3 methods D Using 3 digital speed commands Speed CMD1 P3 01 Speed CMD3 P3 03 2 Using external analog speed command 8 Based on override operation by combining methods of items and The internal speed command selection effected based on these 3 methods is decided as follows based on CN1 speed selection SPD1 SPD2 contact and the Override ON OFF P3 18 set values 7 P3 18 d os k Speed command selection 2 selection 1 Speed CMD2 P3 02 set speed analog command speed Speed CMD3 P3 03 set speed analog command speed Where ON Applicable contact is connected to GND24 OFF Applicable contact is connected to 24V or applicable contact not connected ON o OFF ON Speed CMD1 P3 01 set speed analog command speed m oor ow 10 4 Chapter 11 How to Use Speed Torque Servo 11 How to Use Speed Torque Servo 11 1 Power Supply Wiring For wiring see 3 3 Main Circuit Terminal Board Wiring 11 2 CN1 Wiring Make wiring as follows to use FDA5000 as the speed torque control mode 49 24V 18 Servo enable O Note3 16 Select direction of running O
129. om among 1 8 26 33 34 and 36 Note2 Use CN1 shield wire to ground the F G Frame Ground terminal Make wiring as follows to use FDA5000 as the position control mode Chapter 8 How to Use Position Servo 8 2 1 Input contact signal function and use table Name Function and Use SVONEN ON Servo start command OFF Servo start command reset OFF Motor CCW running limited ON Motor CCW running allowed CCWLIM CWLIM ESTOP ALMRST PI P 40 OFF Motor CW running limited ON Motor CW running allowed Forcibly ignores all input status of the servo drivers in case of 39 external emergency and shuts off free run motor operation after rapidly decelerating the motor Contact type can be selected from parameter P2 30 38 At ON reset alarm and clear error pulse between command pulse and current position 43 17 Selects speed control mode Turned OFF during normal operation ON Proportional control OFF Proportional integration control ON Analog torque limit Off Digital torque limit TLIM See section 8 6 SPD1 Selects electronic gear by combination of the two signals See SPD2 section 8 7 Where ON Applicable contact is connected to GND24 OFF Applicable contact is connected to 24V or applicable contact not connected 8 2 2 Output contact signal function and use table Name Function and Use RDY ON Main power and auxiliary power are connected to servo without any alarm INSPD ON Motor speed
130. on status and a menu which carries testing function 5 4 Chapter 5 Mount Loader Operation 5 3 Operation Monitoring Menu 5 3 1 Operation monitoring window LEFT RIGHT Note3 LEFT Note1 Press ENTER to move from main menu to sub menu Note2 Press ENTER also to monitor actual value from the sub menu Note3 F indicates r and in the case of motor speed and command speed In the figure the motor command speed St 02 is 200 r min Chapter 5 Mount Loader Operation 5 3 2 Alarm window 1 Menu displaying current alarm status ALS 01 ENTER Moves to sub menu Crore I LILLLILI In case of No alalrm and nomal status FICIF The alarm status display menu displays the current alarm In case of an alarm it is displayed in the alarm display window of any menu Screen can freely move to another menu but the motor cannot be run unless the alarm is reset 2 Current alarm reset menu ENTER Reset current alarm LEFT RIGHT Moves between sub menus RIGHT ENTER L CL Im In case of an overcurrent alarm Displays No alarm and normal states The current alarm reset ALS 02 menu resets the alarm that has occurred on the system a function which is the same as that of the external input reset 5 6 Chapter 5 Mount Loader Operation 3 Alarm history ALS 03 display menu LEFT LEFT ENTER Indicates alar
131. or transmission If ABSREQ signal is turned OFF If ABSREQ signal is turned ON lection 2 EI i lection 2 Speed selection 2 Electronic gear selection Handshake input HSIN SPD2 GEAR2 ALARM CODE 0 A CODEO Transmission data 0 Data 0 ALARM CODE 1 A CODE 1 Transmission data 1 Data 1 ALARM CODE 2 A CODE2 Handshake output HSOUT ABSREQ HSIN HSOUT DATA1 A CODE1 D27 V D25 V D23 D3 D1 DATAO V A CODEO D26 D24 D22 D2 DO D27 D17 D16 D4 D3 D2 D1 DO Single turn absolute data Multi turn absolute data 11 bit 13 bit MSB LSB MSB LSB SYSD OVFR MDER BATT 3 24 Chapter 3 Wiring and Signals 1 In the initial phase servo is turned OFF and A CODEO A_CODE1 and A CODE2 indicate ALARM code is turned ON All OFF in normal condition If the servo is turned ON following process will not start 2 If ABSREQ is turned ON from external control like PLC the servo driver reads the absolute value at this time turns ON HSOUT and displays 2 MSB D27 and D26 on DATA1 and DATAO Servo ON is ignored until transmission is completed thereafter a 3 The external control PLC verifies HSOUT is turned ON reads D27 and D26 and turns ON HSIN b 4 The servo driver verifies that HSIN has been turned ON turns OFF HSOUT and displays D25 and D24 on DATA1 and DATAO c 5 The external control PLC verifies HSOUT is turned OFF reads D24 and D25 and turns OFF HSIN d 6 The servo driver ve
132. otor can independently operate without upper controller ENTER Test Mode P6 Jog Command RPM tS 01 Jog Command RPM tS 01 0100 0 Jog Command RPM tS 01 0100 0 Jog Command RPM tS 01 40105 0 ENTER Jog Command RPM OK 0105 0 ENTER Jog Command RPM ts 01 0105 0 Jog Speed RPM 0100 0 Rotates in the direction of command Rotates in the opposite direction of command xx KEY function PROG Moves to jog mode from main menu ENTER Use to terminate jog command value change and to terminate jog mode Move between jog mode sub menu i O Changes jog command value Move cursor to change jog command value Jog rotates in the direction of command lt gt Move cursor to change jog command value Jog rotates in the direction of command In jog mode the motor can be test run with the servo only without separate system required to input contact to the servo This means that this menu allows operation without connection to the connector CN1 However the motor parameter menu set value must be input Left and Right keys are used to move the cursor when changing jog command values but are used to rotate the jog in each sub menu tS 01 tS 02 In Jog Speed RPM tS 02 motor speed is indicated when the motor is running in jog mode The jog mode has another separate sub menu in the sub menu If the system returns to the initial screen of jog mode the se
133. peed O Z Z O Z O Z 7 7 Chapter 7 How to Use Speed Servo 7 6 1 Inputting digital speed commands The following is how to input 7 digital speed commands First move to Speed Mode P3 the speed related parameter group from the main menu Then input the desired digital speed command in RPM Menu name Unit Display range Initial value Mode P3 01 Speed CMD1 r min Maximum Maximum 10 ST 200 ST 7 6 2 Inputting analog speed commands To input analog speed commands apply voltage between 10 V and 10 V to the analog input SPDIN The speed command used inside the servo can be adjusted according to the level of the voltage of the analog input SPDIN and the set values of 10V Speed P3 13 SPD CMD OFFS P3 14 Zero Clamp Mode P3 15 and Clamp VOLT P3 16 The following shows how to set menus required to set the analog speed command These menus are located in the submenus of the main menu Speed Mode P3 Menu Menuname Unit _ Display range _ Initial value Mode P3 13 10V Speed r min 0 9999 9 3000 ST P3 14 SPD CMD OFFS mV 1000 0 10000 o P3 15 Zero Clamp Mode P 0 2 E 2 Ji ze P3 16 Clamp VOLT mV 34000 1000 o S Relations between the speed command input inside the servo and the analog input SPDIN are as follows 1 In case of Zero Clamp Mode 0 10V Speed P3 13 Internal speed command rpm x l SPDIN SPD CMD OFFS P
134. pplicable contact is connected to 24V or applicable contact not connected 12 2 3 Analog input use and function table Function and Use PPFIN PFIN PPRIN PRIN Inputs external analog speed 10V 10V Valid only in torque control mode Position control mode Inputs external torque limit command 10V 10V Torque control mode Inputs external torque command 10V 10V Inputs position command pulse Valid only in position control mode 12 2 4 Analog output use and function table Name Function and Use MONIT 1 MONIT2 PAO PAO PBO PBO PZO PZO 12 2 5 Monitor output 1 4V 4V I O contact power supply Pin No Function and Use 1 8 26 33 34 36 Power ground for analog I O such as speed command torque limit command monitor output and encoder output DC 24V power supply for the external I O contact DC 24V ground for the external I O contact Note See section 3 4 6 for the capacity of 24V power supply 12 3 Chapter 12 How to Use Position Torque Servo 12 3 CN Wiring For information on CN2 wiring see Section 3 5 CN2 Wiring and Signal Description 12 4 How to Use Position Torque Servo To start speed position servo set the servo controller type to 3 12 4 4 Switching of control modes Type ON oF Position control Torque control Caution Switch speed servo1 position servo only when motor is stopped
135. r Setting 6 5 Speed control parameters Speed Mode P3 Caution Menus marked with cannot be corrected during Servo On Menu Menuname Unit Display range Initial value Mode Speed CMDIHPMI RPM Mexmum Mexmum 10 ST P3 02 Speed CMDZ RPM RPM Maxmum Maxmum 200 ST Paoa speed CMDajRPM_ neu Maximun Maximum soo sT In case of speed control Input digital speed command in rpm In case of torque control Input digital speed limit in rpm Menu Menuname Unit Display range Initial value Mode Input digital speed command infom SSS Input digital soeed command in rpm Accel Time ms Sn Accel Time inputs acceleration time in terms Em m from the stopped status up to the rated speed If 10 is loaded speed is accelerated for 10 ms up to the rated speed from the stopped status To increase the acceleration time to the maximum input O Decel Time inputs deceleration time in terms of 1 ms from the rated speed to the stopped status If 10 is loaded speed is decelerated for 10 ms from the rated speed to the stopped status To increase the deceleration time to the maximum input O Rated speed Acceleration Deceleration time time a Acceleration Deceleration time time Rated speed 6 21 Chapter 6 Parameter Setting Menu Menuname Unit _ Display range P310 STYPEENB or I
136. reached designated level ZSPD ON Motor speed is zero Output signal for external machine brake drive BRAKE 4 ON Brake reset OFF Brake drive ALARM ON Normal status OFF Alarm detected A CODEO 45 A CODE1 19 A CODE2 44 ON Servo is under torque limit TRQOUT 46 M ida T TE See section 8 6 for information on output torque limit Where ON Applicable contact is connected to GND24 OFF Applicable contact is connected to 24V or applicable contact not connected Displays alarm type See the table below 8 2 Chapter 8 How to Use Position Servo Output status of ALARM CODES Over Over Power Encoder D D voltage load error miswiring OFF Where ON Applicable contact is connected to GND24 OFF Applicable contact is connected to 24V or applicable contact not connected 8 2 3 Analog input use and function table Name Pinno Function and Use TRQIN Inputs external torque limit command 10V 10V PPFIN PFIN ete Inputs position command pulse PPRIN PRIN 9 12 is i 8 2 4 Analog output use and function table Name Pinno Function and Use MONIT1 Monitor output 1 4V 44V MONIT2 Monitor output 2 4V 44V PAO PAO 7 32 A phase A phase encoder signal output PBO PBO B phase B phase encoder signal output PZO PZO Z phase Z phase encoder signal output 8 2 5 I O contact power supply Function and Use GND 1 8 26 Power ground for analog I O such as torque l
137. remental 2000 Detector type Option Absolute 11 13bit 2048P rev Weight kg 8 2 11 6 15 8 17 2 27 4 38 3 E Speed and Torque Characteristics A Continuous duty zone amp B Intermittent duty zone KF08 KF10 KF15 Chapter 2 Ratings and Specifications Model Motor TF05 TF09 TF13 TF20 TF30 TF44 Spec Driver 5005 5010 5015 5020 5030 5045 Flange size 130 180 Rated output W 450 850 1300 1800 2900 4400 Nm 2 87 5 41 8 27 11 5 18 6 27 9 Rated torque kgf cm 29 55 85 117 190 285 Maximum Nm 8 61 14 7 24 5 34 4 55 9 77 5 instantaneous torque kgf cm 89 5 150 250 351 570 790 Rated rpm r min 1500 Maximum rpm r min 3000 dd gcm s 10 5 15 5 25 3 65 3 100 5 159 1 inertia GD 4 kgm x 10 10 3 15 2 24 8 64 0 98 5 156 Allowable load inertia Ratio Versus rotor Not exceeding 10 times Rated power rate kW s 7 85 19 1 28 0 20 5 35 2 50 0 Standard Incremental 2000 Detector type Option Absolute 11 13bit 2048P rev Weight kg 8 2 11 6 15 8 17 2 27 4 38 3 E Speed and Torque Characteristics A Continuous duty zone amp B Intermittent duty zone F05 ITFO9 TF13 Torque N m 10 8 6 4 2 1000 TF20 Torque N m 35m 28 21 14 2000 3000 Speed r min ELE 1000 2000 3000 Speed r min Torque N m 15 1000 2000 3000 Speed r min ITF
138. rifies that HSIN has been turned OFF turns ON HSOUT and displays D23 and D22 on DATA1 and DATAO e 7 The external control PLC reads absolute value by repeating the process of item 3 through 6 above turns OFF ABSREQ and completes absolute position transmission f 8 The functions of HSIN HSOUT DATA1 and DATAO pins are automatically reset to the pins of original SPD2 GEAR2 A CODE2 A CODE1 and A CODEO respectively and the servo can be turned ON Note 1 In case alarm occurs when attempting to transmit absolute position reset alarm first and turn ON ABSREQ Note 2 If ABSREQ is turned ON the functions of SPD2 GEAR2 are automatically reset to HSIN If SPD2 GEAR2 pins are turned ON at this time HSIN is recognized as being turned ON and transmission error might occur Therefore when ABSREQ is turned ON turn OFF the SPD2 GEAR 2 HSIN pins 3 25 Chapter 4 Digital Loader Operation 4 Digital Loader Operation Prior to connecting power and turning ON the servo check the parameters Motor parameters P1 related to the motor at the digital loader In order for the servo system to operate satisfactorily based on the information on the motor connected to the servo accurate value must be set Next monitor Status Window St and verify that all commands and limit values are properly set For initial operation verify certain degree of stability through autotuning and trial operation jog simulation Autotuning can be a
139. rned OFF the output contact brake is turned Off 8 4 8 Setting control system gains satisfying loads Parameter um Description No Name P2 03 SC LOOP Gain See below P2 04 SCITC P2 22 Inertia Ratio P2 23 Autotune Range P2 24 Autotune ON OFF i a Autotuning Use autotuning only when the motor is running at a speed greater than 1 5 times the rated speed Turn Off Autotuning when the motor is running in normal condition 8 4 Chapter 8 How to Use Position Servo Set P2 23 range according to approximate inertia ratio Inertia ratio Set value Inertia ratio Set value Inertiaratio Set value 1 3 1 10 25 4 100 300 7 2 10 2 15 100 5 200 400 8 3 15 3 25 200 6 300 500 9 Inertia ratio Motor inertia load inertia Motor inertia Decelerating accelerating for about 5 times after turning ON autotuning P2 24 will allow the inertia value to be stored in P2 22 Turn off autotuning P2 24 b Adjusting control system gains t Manually input inertia ratio P2 22 if the inertia ratio is known Adjust the following value according to inertia ratio Inertia ratio Set value Motor Motor SC LOOP Gain SC TC P2 04 L1 60 80 O greater than 130 P2 03 Recommended Minimum 1 500 20 6 2 350 30 9 3 290 35 11 5 1 220 45 14 10 2 160 60 19 20 3 110 90 27 50 5 70 140 42 100 10 50 200 6
140. ron Simulation oFF Alarm Reset 66 Aana Faye Alarm Reset All ALS02 p C NS ALSO4 Figure 4 2 Block diagram of operation method 4 2 Chapter 4 Digital Loader Operation 4 1 Displays after power is connected 4 1 1 Setting initial menu after power is connected Display Select P2 28 01 Turn OFF and Turn ON power Motor Speed RPM Self Testing Wait St 01 0000 0 Display Select Display Select P2 28 is setto 10 P2 28 10 Turn OFF and Turn ON power Self Testing Inertia Ratio Wait St 10 0100 0 When power is connected according to the set value of Display Select P2 28 the following menus are displayed Display Select P2 28 Initial menu when power is turned ON 1 2 3 4 5 6 7 8 9 eo Motor Speed RPM St 01 CMD Speed RPM St 02 CMD Pulse St 03 Feedback Pulse St 04 Pulse ERR St 05 Speed Limit RPM St 06 Torque Limit St 07 Load Rate St 08 Max Load Rate St 09 Inertia Ratio St 10 Initial set value of Display Select P2 28 1 4 3 Chapter 4 Digital Loader Operation 4 1 2 When the initial menu is set to motor speed after power is turned ON in No alarm status Self Testing MotorParameter Wait P1 MODE MotorSpeed RPM St 01 0000 0 CMD Speed RPM St 02 3000 0 When there is no alarm after power is connected in the initial
141. rt o START BY N x _ lt E 2 D le A z lt z A M A 4 a Qo 9 z Ln gt O PPK COW limit o int 1 CW limit 0 owm op Alarm reset so usn PX 5 10K SPOIN 27 we mee 41 ee Pe LT ao fF OOO E 10 10V is ue m Erit SH 10k e se TO A rl Ce lt T esa Select speed 17 Iss 73 24 i o NERD d dd SPD3 MONIT1 3 4 4V MONIT2 2 4 4V Servo ready N N 2 6 8 o lt In speed Zero speed ar s QM Brake activate 48 erae t Alarm status 20 aam LUE us x coneo M oe Mes u cover Note2 Alarm code ci aa cones M D E LL orque under limit pa wma 2 Es Note1 Select GND terminal from among 1 8 26 33 34 and 36 Note2 Use CN1 shield wire to ground the F G Frame Ground terminal Chapter 7 How to Use Speed Servo 7 2 1 Input contact signal function and use table Name Function and Use ON Servo start command OFF Servo start command reset Selects servo rotation direction Off Command direction rotation ON Counter command direction SVONEN Forcibly zeros stops the speed command value or starts operation Can be selected from parameter P2 29 OFF Motor CCW running limited ON Motor CCW running allowed OFF Motor CW running limited ON Motor CW running allowed Forcibly ignores all input status of the servo drivers in case of external emergency and shuts off free run motor operation after rapidly decelera
142. rvo function is returned to normal state 4 9 Chapter 4 Digital Loader Operation 4 5 2 Auto jog mode P6 02 Motor can independently operate without upper controller Motor can run without the need of connecting the contact input connector CN1 in Auto jog mode just like in Jog mode However unlike the Jog mode in which the Left and Right keys must be continuously pressed to run the motor the motor runs continuously for a given period of time and at given speed if the value of Auto Jog Set tS 17 is set to 1 See 6 6 2 Auto Jog To reset the auto jog function and return to normal servo function while the motor is running after setting Auto Jog Set tS 17 to 1 for auto jog operation do one of the following Exit to the auto jog mode from the sub menu of the auto jog mode set Auto Jog Set tS 17 to 0 or turn ON main power after turning it OFF Test Mode P6 PROG Jog Mode P6 01 Auto Jog Mode P6 02 PROG Y Y Auto Jog Speed1 Auto Jog Set 0 tS 11 0100 0 tS 17 gt Auto Jog Set tS 17 Y Auto Jog Set PROG Auto Jog Set tS 17 0 OK ENTER Auto Jog Set Motor rus in auto jog mode 17 ENTER zs 4 10 Chapter 4 Digital Loader Operation 4 5 3 Simulation operation Simulation mode P603 While the motor is connected and is operated without contact input in Jog and Auto Jog modes simulated operation is a condition under which while the connec
143. s Check machine running Overloaded if condition Check motor lead terminal with a If voltage is correct replace tester motor Check the screws Retighten loose screws Screws loosened Rewire External miswiring or Check the motor and encoder wiring cable disconnected Replace cable Replace encoder Encoder defective Check the output wave form Use A S service Defective connection Check connection oine morar Repair defective part lead terminal Input voltage low Check drive input voltage Change power supply Remove foreign material from the rotator and lubricate or grease it Motor defective Overloaded Check machine condition l Check the motor ambient Ambient temperature hiah temperature Should be lower 9 than 40 C Check motor surface for attached Clean the surface of the Motor surface stained foreign materials motor Check the load rate of the drive Reduce load Check acceleration deceleration Increase cycle acceleration deceleration time Check counter electromotive Replace motor voltage and wave form Check the tightness of the coupling screws and the concentricity of joints Check the bearing for vibration or Contact EG servicecenter abnormal noise See Chapter 6 Parameter Setting Change heat shield structure Overloaded Magnetic power deteriorated Defective coupling Readjust coupling Defective bearing Parameter misset inerti
144. s by the use of LEFT and RIGHT In Auto jog operation mode speed and time are set in tS 11 tS 17 and if 1 is input in tS 17 the motor runs repeatedly Set value can be changed in each sub menu of tS 11 tS 17 in the same method of changing previous motor parameters and control related parameters If after changing the sub menu set value ENTER is pressed without moving to sub menu by the use of LEFT and RIGHT the screen changes to P6 02 the initial screen of Auto jog operation mode The auto jog operation mode is then automatically reset and the system returns to the normal servo function See 6 6 2 Auto Jog 5 5 3 Simulation function P6 03 While the motor is connected and is operated without CN1 contact input in Jog and Auto Jog modes simulated operation is a condition under which while the connector CN1 is connected in normal state menu displays data just as the motor is running when the motor wire and encoder is separated ENTER and RIGHT key 2 times OFF Reset simulation ON Sets simulation operation ENTER OFF Reset simulation Setting operations status displays for 2 seconds 5 12 Chapter 6 Parameter Setting 6 Parameter Setting Menus can be set by the digital loader and mount loader See Chapter 4 and 5 for information on how to use the digital loader and mount loader Abbreviations used in this manual and their meanings are as follows Abbreviation Meaning Abbrevi
145. stage and if the initial menu set value is motor speed Motor speed RPM St 01 is displayed as above You can move to other menus from Motor speed RPM St 01 by using MODE PROG and RIGHT keys 4 1 3 When the initial menu is set to command speed after power is turned ON in No alarm status Self Testing MotorParameter Wait P1 MD Speed RPM t 02 3000 0 CMD Pulse St 03 _ 0000000 When there is no alarm after power is connected in the initial stage and if the initial menu set value is command speed CMD speed RPM St 02 is displayed as above You can move to other menus by using MODE PROG and RIGHT keys 4 1 4 If power is connected in Emergency Alarm state MODE Self Testing Alarm Display Status Window Wait AL 00 EMER STOP St Alarm Reset ALS02 If power is turned ON in the initial stage in the Emergency alarm status Alarm Display is displayed as above You can move to other menus by using MODE PROG and RIGHT keys 4 4 Chapter 4 Digital Loader Operation 4 2 Sub menu Group Menus are classified into 3 main groups a menu capable of editing or inputting information required for operation a menu which monitors operation status and a menu which carries testing function e Operation monitoring menu Status Window Alarm Status e Edit menu Motor Parameter Control Mode Speed Mode Position Mode Torque Mode e Testing menu Test Mode 4 3 Oper
146. start command reset Selects servo rotation direction Valid only in speed control mode DIR 16 Off Command direction rotation ON Counter command direction rotation Forcibly zeros stops the speed command value or starts operation Can be selected from parameter P2 29 STOP START 13 OFF Motor CW running limited conn E ON Motor CW running allowed OFF Motor CCW running limited SEMI m ON Motor CCW running allowed Forcibly ignores all input status of the servo drivers in case of external emergency and shuts off free run motor operation after ESTOP 2 rapidly decelerating the motor Contact type can be selected from parameter P2 30 ALMRST 38 Resets alarm status if turned ON Selects speed control mode Turned OFF during normal operation PI P 41 ON Proportional control OFF Proportional integration control Valid only in speed control mode ON Analog torque limit Off Digital torque limit TLIM 14 Valid only in speed control mode Selects rotation speed command by combination of the two signals SPD1 43 In speed control mode SPD2 17 Slects electronic gear by conbination of the two signals In position control mode ON Operates as speed servo bis sE OFF Operates as position servo Where ON Applicable contact is connected to GND24 OFF Applicable contact is connected to 24V or applicable contact not connected 11 2 2 Output contact signal function and use table Name Pin No Function and Use
147. t ion Encoder input RS232C CN3 3 2 Chapter 3 Wiring and Signals 3 3 Main Circuit Terminal Board Wiring 3 3 1 Main circuit terminal board wiring Open the main circuit terminal board cover to see the terminal board Terminal names are located on the right side of the terminal board See figure on the right side Uses and wiring methods of FDA 50010 50040 are as follows 1 The R S and T terminals are used to connect main power supply of 3 phase AC 200 230 V to the power circuits Note Single phase AC 220V may also be used however output may be lower than the rated value Install overcurrent breaker on the main power supply input unit Also install noise filter on the power supply input terminal to shut off noise coming from the power lines 2 Connect regenerated resistance between P and B terminals The standard regenerated resistance See Table 3 1 is a standard item Install it on the electric panel 3 Connect the U V and W phases of the servo motor to the U V and W terminals 4 Ground the terminal Also connect the servo motor earth cable to this terminal lt Cc UJ VHA UO D CD CDI 2 CD O2 D 2 Table 3 1 Recommended parts to be installed on electric panel FDA 5001 FDA 5004 AWG 16 1 25 mm KET GP110012 GMC 12 13A or equivalent ABS 33b 5A or equivalent Noise filter NFS 305 or NFS 310 Standard regenerated resistance 50W
148. t when motor is running in the direction of command and jog speed is input UP Changes menu on jog mode Increase by 1 at a time when jog speed is input ENTER LEFT Motor runs in the opposite direction of command CHIM CUC UL RIGHT Motor runs in the direction of command Note LEFT and RIGHT move blink in case the jog speed is set at tS 01 and command rotation in the direction x of command and in the oppesite direction of command Lv miu in other cases LIL LI In jog mode the motor can be test run with the servo only without separate system required to input contact to the servo This means that this menu allows operation without connection to the connector CN1 However the motor parameter menu set value must be input Left and Right keys are used to move the cursor when changing jog command values but are used to rotate the jog in each sub menu In tS 02 motor speed is indicated when the motor is running in jog mode The jog mode has another separate sub menu in the sub menu If the system returns to the initial screen of jog operation function P6 01 the servo function is returned to normal state 5 10 Chapter 5 Mount Loader Operation 5 5 2 Auto job operation function P6 02 ENTER Speed changel LEFT RIGHT UP key 0 Auto jog operation not possible Auto jog operation possible 5 11 Chapter 5 Mount Loader Operation In jog mode the motor run
149. tact is turned ON in the unit after multiplying by 4 of pulse quantity In other words if the difference between the position pulse and command pulse is within the range set at In Position P4 04 INPOS is turned ON Menu Menuname Unit Displayrange Initial value P4 05 FLLW ERR PULSE 0 99999 20000 Set the range of the transient position error detection in the unit after multiplying by 4 of feedback pulse quantity In normal condition the pulse error is 1 0 01 Feedforward P4 01 PC P Gain P2 02 In case Pulse Logic P4 14 is 0 or 3 set value greater than x4 value Menu Menuname Unit Displayrange Initial value ELCTRGead NUM 1 99999 ELCTRGead DEN 1 99999 Set the numerator and denominator of the electronic gear 1 in constant values Caution The calculation value of ELCTR Gear NUM DEN must be between 0 05 20 Menu Menuname Unit Displayrange Initial value Mode ELCTRGea2 NUM 1 99999 ELCTRGea2 DEN 1 99999 Mode Mode x Input command pulse frequency Hz Set the numerator and denominator of the electronic gear 2 in constant values Caution The calculation value of ELCTR Gear NUM DEN must be between 0 05 20 Menu __Menuname Unit Displayrange _ Initial value Mode ELCTRGear3 NUM 1 99999 ELCTR Gear3 DEN 1 99999 Set the numerator and denominator of the electronic gear 3 in const
150. than 230V Replace control resistance increase acceleration deceleration time Replace servo driver Check load condition Check the motor and encoder wiring Check the 3 phase main power supply R S T input status Check motor and encoder wiring and set values Remove excessive load Improve heat shield system condition ambient temperature to be less than 50 C Check load condition Adjust gain Check parameters P3 14 Remove excessive gravity load Adjust position gain increase menu P4 03 set value adjust command pulse frequency check motor and encoder wiring Chapter 15 Troubleshooting Screen display Cause Corrective action AL 09 Check motor wiring Output U V W open phase Output NC HpuEN JOpenp Replace servo driver AL 10 Nessrancodendulsetcep amb Set the number of encoder pulse PPR ERROR i P1 12 accurately AL 11 Absolute value encoder data Reset and retransmit the absolute ABS DATA transmission error value encoder data AL 12 ABS BATT AL 13 ABS encoder multi rotation data Reset and retransmit the absolute ABS MDER transmission error value encoder data Input of parameters which cannot Turn OFF the servo and change the Parameter Err 1 be changed is attempted during set value Reset parameter locking Servo ON Parameters locked menu P1 13 Parameter Err 2 Set value input error Input values within the set range Overload characteristic curves of Ser
151. the analog signal To limit output torque by digital signal turn Off contact input TLIM and to limit output torque by analog signal turn ON the contact input TLIM If the output command value is greater than the output torque limit value the output torque is limited by the output torque limit value and the TRQOUT output contact is turned ON 7 5 4 Limiting digital output torque TLIM OFF The digital output torque limit can be set for the CW torque limit and CCW torque limit respectively Set the submenus TRQ LMT P2 05 and TRQ LMT P2 06 of the main menu Controller Type P2 as follows Hemu Meme Uni Dispiayrange Intel alae Mods TRQLMT 0 30 30 SP TRQ T 0 300 30 sp 7 5 2 limiting analog output torque TLIM ON Apply voltage between 10 V 10 V to analog input TRQIN to limit analog output torque As the analog output torque limit command input uses the absolute value of the voltage voltage of the same size in different code is treated as the same input For example 5 V input and 5 V are treated as the same input The internally used output torque is limited as follows according to the size of TRQIN voltage and the 10V Torque P5 02 set value TRQIN 10V Torque P5 02 x x rated torque 10 100 Maximum CW torque LPF TRQIN 10V Torque P5 02 x x rated torque 10 100 Maximum CCW torque LPF LPF Low Pass Filter Low pass primary fi
152. ting the motor Contact type can be selected from parameter P2 30 ALMRST Selects speed control mode Turned OFF during normal operation ON Proportional control OFF Proportional integration control ON Analog torque limit Off Digital torque limit See section 7 6 Selects rotation speed command by the combination of SPD 1 2 and 3 See section 7 7 Where ON Applicable contact is connected to GND24 OFF Applicable contact is connected to 24V or applicable contact not connected CCWLIM 7 2 2 Output contact signal function and use table Name Pin No Function and Use ON Main power and auxiliary power are connected to servo without any alarm INSPD 22 ON Motor speed reached designated level ZSPD 47 ON Motor speed is zero Output signal for external machine brake drive ANE s ON Brake reset OFF Brake drive ALARM 20 ON Normal status OFF Alarm detected A CODE ip Displays alarm type A_CODE2 44 See the table below Alarm Code output status ON Servo is under torque limit TH 40 See section 7 6 for information on output torque limit Where ON Applicable contact is connected to GND24 OFF Applicable contact is connected to 24V or applicable contact not connected RDY 21 7 2 Chapter 7 How to Use Speed Servo Output status of ALARM CODES Alarm type Encoder dp Others Normal miswiring current voltage A CODEO A CODE A CODE2 OFF
153. tor CN1 is connected in normal state the menu displays data just as the motor is running when the motor wire and encoder are separated Test Mode P6 Auto Jog Mode P6 02 PROG toggle Simulation Mode Simulation Mode Simulation oFF Simulation on A o amp Simulation Mode SEt Completed Simulation Mode Simulation on Jog Mode t P6 01 To cancel simulation mode reset or turn OFF the main power Chapter 5 Mount Loader Operation 5 Mount Loader Operation Prior to connecting power and turning ON the servo check the parameters Motor parameters P1 related to the motor at the digital loader In order for the servo system to operate satisfactorily based on the information on the motor connected to the servo accurate value must be set Next monitor Status Window St and verify that all commands and limit values are properly set For initial operation verify certain degree of stability through autotuning and trial operation jog simulation Autotuning can be achieved through on line system but it is not necessary to use this function in case stabilized control gain is acquired through off line system Converts to sub menu move cursor to left Coverts to sub menu move cursor to right Converts main menu AU increases figure 1 at a time in edit mode Starts editing Stores data Figure 5 1 Rough sketch of mount loader Chapter 5 Mount Loader Operation St 01 ALS
154. tor power supply Drive system Speed control range Frequency response characteristics Speed command input Speed fluctuation rate Acceleration deceleration time Position input frequency Position input type Position input type Torque command input Torque linearity Limit speed command Protective functions Regenerated resistance Load inertia GD Monitor output Dynamic brake Additional functions Option Operating ambient temperature Ambient humidity Storage temperature Insulating resistance Structure Ratings and specifications for AC servo driver FDA 5000 series lic Model FDA 5001 FDA FDA FDA FDA FDA FDA FDA FDA 5002 5004 5005 5010 5020 5030 5045 5075 3 phase AC200 230V 10 15 50 60Hz os os 13 55 2s 25 5s ai eo so 27 3 phase sine wave drive AC servo motor fee e 8 ee Aes e ae sa es os us ee m e m o me Standard Incremental 2000 p rev 15 wire type Differential line driver output 1000 10000 p rev Not to exceed 400 kp sec Not to exceed DC 5 V 0 3 A 3 phase voltage type PWM drive IPM used 1 5000 250 Hz DC 10 410 V maximum speed can be adjusted on loader Internal digital command operation can be set in 7 steps Not exceeding 0 01 Rated load 0 100956 Not exceeding 0 01 Rated power supply 10 Not exceeding 0 1 Temperature fluctuation 25 25 C Can be accelerated decelerated in
155. us meaning of each contact may vary according to control mode however contact is displayed based on control mode in this case Indicates maximum servo torque 6 6 Chapter 6 Parameter Setting 6 2 1 Digital loader signal display 1 Input signal display The status of input contact recognized within the system is indicated with either 0 or 1 Therefore if the status input from the external sources is different from the displayed information it indicates problem on the input system As each signal carries different meaning explanation is provided through examples below Example of display ALM STOP ESTOP TLIM CWLIM CCWLIM P PI SPD1 SVONEN RST 0 0 1 0 0 1 0 0 0 0 1 1 1 Input signal operating 0 Input signal not operating Signal Display DIR Internal command speed 1 used CCWLIM CCW direction rotation possible The above examples are based on the current status of each signal System operates in reverse if signals are in opposite status 6 7 Chapter 6 Parameter Setting 2 Output signal display The output contact status is displayed with either 0 or 1 Therefore if the status actually output on the outside is different from the displayed information it indicates problem on the input system As each signal carries different meaning explanation is provided through examples below Example of display ALARMS ALARM2 ALARM1 ALARM TRQOUT ZSPD INSPD BRK INPOS NECEM REN
156. user to achieve free run of the motor by turning off the SVONEN terminal to create DB control circuit when controlling the motor and by opening the DB control circuit when the motor comes to a stop Caution However this function is not available in model FDA 5005 75 0 The DB control circuit is activated only during motor control by turning off the SVONEN terminal of the motor and free run is activated only below the P3 11 Zero Speed set value after the motor stops 1 DB control always operates even when the motor servo is turned off Menu Menuname Unit Display range Initial value Mode 1 P2 28 Display Select 1710 SPT Depending on the set value of Display Select P2 28 the following initial menus can be displayed Display Select P2 28 Motor Speed RPM St 01 CMD Speed RPM St 02 06 Torque Limit St 07 Load Ratel St 08 Display range Initial value P2 29 SamStp o o r Select the input contact STOP CN1 13 terminal function If 0 is selected Motor stops when the stop contact is turned ON If 1 is selected Motor stops when the stop contact is turned OFF i e can be used as Start signal 6 19 Chapter 6 Parameter Setting Menu Menuname Unit Display range Initial value P230 EmergencyType o Select the input contact ESTOP CN1 39 terminal function If O is selected Emergency stops when ESTOP contact is turned OFF Normal B
157. ven in this manual Power Supply Use power supply within specification 3 phase AC200 230V Caution If the power voltage is AC 440V use a transformer to change AC 440V to AC 220V No Fuse Circuit Breaker or Auto Breaker Large level of current flows when power is applied to the servo For selection of breakers refer to Table 3 1 chapter3 3 Noise Filter Use noise filters to eliminate external noise that comes with the commercial power supply For selection of noise filters refer to Table3 1 Chapter3 3 Install magnetic contactors Do not use magnetic contactor to start or stop the servo as it may reduce its life Installation place The operating life of the servo is affected by ambient temperature Maintain ambient temperature at a level below 50 C x Wiring Improper wiring may damage to the servo The control signal line must be sufficiently away from the main circuit wiring so that the line is not affected by noises x Connection with output terminals Do not connector condensers radios or noise filters during operation as it may cause damage to the equipment Grounding To prevent electric shock and effectively control noise ground the motor and driver at the shortest distance Caution Use higher than class 3 earth A gems y Motor system Do not strike the motor shaft and detecter with Moto a hammer Caution Impact may cause damage th the encoder i
158. vo Driver Battery voltage drops below 2 8V Replace battery 3 6V 10000 E 3 EE Sv d HENCE Mie sos elle 428 lier sage Rated Overload operating time current Min Max ed 3 1 sa E 100 co o E 120 co D o 150 300 1500 760 amp 200 60 150 107 250 20 40 30 10t 300 6 15 7 100 150 200 250 300 Motor rated current note If AL 03 OVER LOAD happens often refer servo drive overload characteristic curve and re establish suitable load of servo motor 15 3 Chapter 16 External View 16 External View 16 1 External Dimensions of AC Servo Driver lt Outline drawing A gt lt Outline drawing B gt 251 Weight Cooling Outline Product A B C D E F G Kg system Drawing FDA 5001 164 5 175 130 60 5 5 1 0 A FDA 5002 164 5 175 130 60 5 5 1 0 Self FDA 5004 164 5 175 130 77 5 5 63 1 3 FDA 5005 200 5 210 184 94 5 5 80 2 0 cooling FDA 5010 200 5 210 184 94 5 5 80 2 0 B Forced FDA 5012 200 5 210 184 103 5 5 80 2 3 cooling Fan Self FDA 5015
159. xpressed in even number Take caution not to input odd numbers HIGEN servo motor has 8 numbers in all Menu Menuname Unit Displayrange Initial value Mode Input the following set values according to the capacity of the servo motor 5005 5030 1 5 Menu Menuname Unit Display range _ Initial value Piti EncderTpe 0 9 o The value has been set to 0 at the time of delivery based on general incremental encoder A Lead in case of forward run Based on using HIGEN standard motor If other encoders are used set the value according to the following classification L Typeofencoder Setvalue Remarks General incremental encoder 0 _ A lead in case of forward run Optional Sumtak absolute value encoder 2048p r 6 Optional Menu Menuname Unit Display range Initial value P1 12 Encoder PLS PPR PPR 1 10000 2000 Input the number of pulses on the encoder A and B phases Menu Menuname Unit Displayrange Initial value 0 1 P1 13 ParameterLock Set whether parameter locking is to be executed 0 Parameter correction possible 1 Parameter correction not possible 6 12 Chapter 6 Parameter Setting 6 4 Common Parameters Related to Control Control Mode P2 In this group functions of common parameters related to control and several additional functions can be executed

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