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RYS-L Type User`s Manual

1. ii 0 4 KW iv 1 1 5 KW 5488 li el 3 35 S gt SSB Se E gt gt EE EIER gt gt ZZEE Ey M a e SS S S55 SS 3 EO E 3 l eg gt 3 8 e 8 ESO S55 i a 200 V class input voltage of amplifier i 0 03 to 0 2 kW 3 RYS amplifier O iii 0 75 kW O Ventilation cooling fan MHT259a Engl
2. P1 m Speed zero NZERO ll 5 3 7 Speed arrive NARV Check can be done that the motor rotation reaches the command speed Speed arrive NARV Control output signal B Function This signal turns on when motor speed reaches within setting value of basic para 51 from the command speed The command speed involves speed setting by para speed data from positioning data and speed command voltage When control mode is shifted to torque control the signal on off status is retained at that point 5 12 MHT259a Engl This signal will not be turned on for the following conditions 1 Forward command FWD signal or reverse command REV signal is off 2 When the motor speed does not reach the command speed due to the max speed setting basic para 16 3 Accel decel time is long and the speed does not reach the command speed B Parameter setting To allocate the speed arrive NARV signal to the control input terminal set 25 to the system para If this signal is not allocated to the control input terminal this signal is deemed always off B Related items 1 Speed matching zone width basic para 51 The NARV signal is turned on when the motor speed is near the command speed set by para
3. es a EE I O E e SS I E gt A gt 0 29 S55 N S55 I e 5 E a I vi 4 5 kW 22 ii 0 2 KW d 3 36 v 2 3 KW
4. me E ollesszmES E Il E 2 i TT T a il gt gt 5 E am o zES o o E c o x om 9 m g o Oo z i a a wy 9o F9 ir c o o z 2 o 6 Sr 2 i es Oo i l amp mt 1 oz eo i c c VS S zz O o ow o gt S es LL o E rN Se 2 2 4 TERMINAL DIAGRAMS AND WIRING 4 1 Amplifier motor and optional devices layout 1 Amplifier a 0 03 to 1 5 KW Keypad panel with 7 segment 5 digit and 4 operation keys Model type indication PC loader connector Terminal block board L1 L2 L3 Power supply DB P1 P N Main circuit U V W Motor CN3 for connection of control signal CN1 for connection of control signal CN for connection of pulse encoder Grounding earth terminal Control power supply Backup battery Remark Actual amplifier may differ in details PC Personal computer 4 1 MHT259a Engl 1 Amplifier cont d b 2 to 5 KW Model type indication Keypad panel with 7 segment 5 digit and 4 operation keys CLA Terminal block board L1 L2 L3 Power supply L1C L2C Control power supply P1 P N Main circuit DB1 DB2 DB3 Braking resistor U V W Motor CN3 for connection of control sig
5. x FALDIC Al DIG rear F3 rn gt vp ras vermin QWE Eu Ee o Ele TELE meg S resi Positioning end PSET TZN eu Tav S Tar w k El 1 When power is turned on Level ON One shot OFF Automatically turns off after the elapsed time set by basic para 56 has elapsed So it turns on for about 1 5 s in order to check function 2 Pulse train Level Turns on when the difference deviation between command position pulse train input and feedback position is within the deviation zero width basic para 53 For the pulse train input the form of output signal is same as that of deviation zero signal One shot Turns on for the specified period of time when the deviation quantity is within the deviation zero width basic para 56 Speed Time Deviation zero ON ON PSET level ON ON PSET one shot OFF ON Time set by basic para 56 E With one shot selected when deviation zero signal is off within the time set by basic para 56 operation is stopped forcibly 3 Interrupt positioning Level Turns on when the positioning end judgment time basic para 57 has elapsed after the difference deviation between the command position and feedback position came within the deviation zero width basic para 53 On
6. Data Override 4FH Override scale factor select OOH 0 O1H Override 1 7 0 02H Override 2 DATA 1 Type of data Type of data 03H Override 1 2 DATA 2 Setting value Data Control mode 04H pumice 4 00H Direct specifying OSH Overrides TF4 O1H Parameter 06H Override 2 4 07H Override 1 2 4 08H Override 8 09H Override 1 8 OAH Override 2 8 OBH Override 1 2 8 Setting value type of data 00H SE bli ans i ODH Override 1 4 8 Data Override OEH Override 2 4 8 00H to of i Override 96H 0 to 150 in 1 step OFH 1 2 4 8 Wi interrupt valid Deviation clear Free run Edit permit ON CM 34H Each signal can be set to off or on SM 50H Interrupt valid off 51H Interrupt valid on 52H Deviation clear off 53H Deviation clear on 54H Free run off 55H Free run on 56H Edit permit command off 57H Edit permit command on Transmit from host controller Transmit from amplifier DATA n There are no DATA n There are no DATA n ACK or NAK rerurns 5 92 MHT259a Engl B Skip feed A specified constant distance can be fed per command transmit The feed amount can be set by basic para 82 and the feed speed by basic para 83 CM 34H The motor rotates for a specified constant amount SCM 58H Positive direction skip feed 59H Negative direction skip feed Transmit from host controller Transmit from amplifier DATA n There are no DA
7. E FALDIC rys201s3 ws FALDIC rys20153 vvs 22cun cun zji o a Oams lt amma Oo Leo jur MEH EST LEE Es o Is fest cB TELE TES Pa p REM EC Pe TE py TENN TEN Tay Teru a Elv HEI Tew Ew vo E 6 b unit mm min a c d Upper and Left and right Between amplifiers front 50 i 5 ii If the clearance is 4 9 mm and below operation duty type of amplifier is reduced to 80 ED instead of continuous duty f Fan mounting 3 5 MHT259a Engl 0 80 ED Cyclic duration factor operating duty is 80 Intermittent periodic duty The factor is defined as N operation under rated conditions x 100 95 N operation under rated conditions R at rest and de energized Period of one cycle Intermittent periodic duty involve alternating operating and loading times and pauses during which a motor or amplifier is at a standstill or de energized The loading and standstill times of one cycle which has a duration of 10 minutes are so short that the steady state temperature cannot be attained The cycle duration factor is the ratio between the operating or loading time and cycle duration An ambient temperature of the amplifier must be kept at 55 C maximum at different points around the amplifier at a distance of 5
8. 4 19 Cross without pin 4 5 Straight without pin 4 5 Plug 10126 3000V Shell kit 10326 52A0 008 26 13 2m 25 00 ME 200 HOLU S000 ee 1000 221000 900 20 2 1 0000 8 00 LEID 1910000 een 610000 EET 12700000 EIS 4 00000 14000 A in 200000 Sumitomo 3M make The connector maker may be changed Termination pins 4 and 5 short circuited MHT259a Engl ilf Communication specification Item Signal level Synchronization method Communication method Transmission rate Data length Transmission configuration Transmission control Error check Transmission length Communication form Station number Response time Specifications RS485 Start stop synchronization 4 wire half duplex 9600 19200 38400 bps setting by system para 97 8 bits Start bit 1 bit data bit 8 bits parity bit 1 bit even stop bit 1 bit Permeability mode No distinction by DLE character Check sum Receiving 40 bytes transmitting 40 bytes max 10 n communicat
9. SHAFT EXTENSION SHAFT EXTENSION 101CAG G25 1 Screw hole metric diameter x depth of shaft extension 3 19 MHT259a Engl f Gear head unit for GYC cubic type motor gear ratio 1 25 for 101 to 751 types or 1 15 for 102 to 202 types cont d GYN101 to 202CAG G25 or G15 0 1 to 2 KW gh j CD SHAFT EXTENSION 3 20 MHT259a Engl g Basic design GYS slim type GYS300 to 502DC1 S8B SB or SA type 0 03 to 5 kW SHAFT EXTENSION 300 30 300 30 300 30 300 30 SHAFT EXTENSION 300 30 300 30 SHAFT EXTENSION SHAFT EXTENSION 9 LB EE 40 402DC1 SA EF 55 46 296 5 233 5 63 12 SO2DCI SA EF 55 46 28h 7 4 8 3265 2635 63 12 6 145 t10h7 1 Screw hole metric diameter x depth of shaft extension 2 Insulating protection tube 3 Shaft extension S and flanged spigot p LB are machining finished with h6 or h7 fits
10. Power filter type FHF TA 11 5 MHT259a Engl 11 5 AC reactor reactor for impedance matching 1 AC reactor application Provide and connect an AC reactor in any of the following cases a Power supply capacity is large When the power supply capacity exceeds 500 kVA the input current of the amplifier becomes large at the time of power on and there is a possibility where the rectifying diodes of the amplifier are damaged Note Cable length of 20 m with specified cable diameter size b Power supply voltage is unbalanced Connect an AC reactor if the power supply voltage unbalance rate is 3 or higher Max voltage V Min voltage V 3 phase average voltage V x100 Unbalance rate of power supply voltage c Suppression of higher harmonics Higher harmonics current is generated because an amplifier is of capacitor input type AC reactor suppresses voltage distortion in the power supply system 2 Connection Connect an AC reactor to the primary power T side of the amplifier Input voltage class V 100 Amplifier type RYS S3 500 to 201 300 to 201 401 102 152 202 502 11 6 External braking resistor External dimension See 11 8 3 A braking resistor is provided built in with the amplifier for 0 2 KW over However if load variation is wide elevation hois
11. 26 00 Blog Sali 251000 alan 2100 23 000 EUM 100000 2200 9 000 Satan 21000 aan 8 000 ean 19 nnt LUE 6 o000 rs E pe recreos ETT a 15000 I 2 00000 140000 100000 B Qarea SX bus type SX bus direct connection eae GER GS s LEE SIE a ata Pa Current position current deviation basic para system para current position data LS Z phase pulse Low order word PCe Amplifier Current position current deviation basic para system para current position data LS Z phase pulse High order word PCe Amplifier Current speed current speed data Low order word PC lt Amplifier PCe Amplifier Current torque current timer data PC lt Amplifier Alarm current status Current M code SUE hi a i Para current positioning data No Current speed current speed data High order word Es para rem para remm data Low order word PC2 Amplifier PC2 Amplifier PC2 Amplifier Speed command speed data setting High order word PC gt Amplifier Timer data setting PC Amplifier f Status setting M code setting SEL2 SEL1 SELO Para positioning data No setting 15 er oe EM ee CONT Be EH ES CONT CONT CONT CONT CONT CONT Rewrite Read 10 11 12 13 14 15 16 17 18 19 command command gn ul E Er ud zu ou GUT OUT OUT OUT OUT OUT OUT Rewrite Read 10 11 12 13 14 15 16 end end Basic para system para position data High order word Speed comman
12. a 230 1 5 le 220 1 Di 1000 190 go i i zr 3 i yy gt _ We Se ka 212 05 L Y b Thickness of mounting plate is 1 5 mm mass 520 g c Resistor type WSR 152 Application RYS type amplifier 1 and 1 5 KW p 345 1 5 60 25 0 3 50 g o gt 155 Msc oe ccu 10 v Vi 10 M3 MA e N x od NO 00 H a D OHO E ES IOBOI 5 7 OO 29 For M 6 3325 7 210 1 A ite H o LO NA 11 20 Thickness of mounting plate is 2 mm mass 2000 g 15 MHT259a Engl d Resistor type DB11 2 Application RYS type amplifier 2 and 3 KW 142 gt ao R3 5 To 15 a 160 gt r o H 318 9 ajelalal BEP pa ES Ms ALS de E ZA ges M3 5 Lo R3 5 e ENS Thickness of mounting plate is 1 6 mm mass 6900 g 11 21 MHT259a Engl e Resistor type DB22 2 Application RYS type amplifier 4 and 5 KW 142 160 A o e o Lo
13. 76 00 2500 15 00 2 050 240000 231000 1100 100 anoun A r He 1800000 BN 5 00000 2 UD 1600000 KELOU 300000 ed LACA 1500000 2 00000 14000 1000 Read out from amplifier O amp Amplifier 1 i i LU Host controller Fri Amplifier ST2 Control output signal 7 0 OUT12 OUT1 1 OUT10 OUT9 OUT8 OUT7 OUT6 OUTS 6 42 MHT259a Engl 5 Terminal function assignment Various functions can be assigned to the control input and output terminals Set a number corresponding to signal name at desired system parameter so that the function can be assigned to the terminal Setting example Set 1 at the system para 1 so that the terminal CONT1 of the control input connector CN1 functions as the input terminal for the run command RUN signal B Duplicated allocation For the control input terminals a signal cannot be assigned to more than one terminal simultaneously However only the following signals can be assigned to more than one terminal O Forced stop 10 O Free run 54 External fault input 34 In case of the forced stop and the external fault input the motor will stop forcibly if an input terminal is off In case of the free run the motor will be in free run status if an input terminal is turned on If the signals other than the above have been assigned to
14. Amplifier RYSI S3 LTS 1 Shielded sheath on the shielded cables must be connected with the shell body and the shell cover CONT and OUT terminals are assigned at factory Terminal symbol CONT1 to CONT8 OUT1 to OUT5 Function e pe 4 41 MHT259a Engl Initial factory setting value of WB area is as follow See 5 9 WB area T link type Address 0 1 2 3 4 5 6 7 8 9 A B C D E E CPU Alarm Address 0T 0T LS EMG Data Rewrite Read a al gt A es sD 2 Read data High order word PC Amplifier 3 Read data Low order word PC Amplifier a aos Brana evo nev Tone ewe sr veo ve RE 5 Read rewrite data select Address No command command 6 Rewrite data High order word PC gt Amplifier 7 Rewrite data Low order word PC gt Amplifier Read rewrite data selection 1 WB area when reading WB area when rewriting OFF z OFF OFF OFF z OFF orr or on jorr OU 1 1 1 orr or on ON forr f orr orr ov ON 1 orr on forr ore ore I OFF Basic para OFF System para or ov or ov ov The unit can be operated even if no wiring is made to control power supply terminals L1C L2C 4 42 MHT259a Engl 0 T link type 0 4 and 0 75 kW Safety Isolation Power supply 3 phase 200 V class
15. Time Timer time Positioning data Ready ON Auto start OFF ON AD7 to ADO 35 99 PSET ON OFF ON level M code OFF 20 The elapsed time of the timer time is included in the executing time of positioning data Ml Later output and simultaneous output Later output MA and simultaneous output MW of M code Speed M20 later output Mel simultaneous output Positioning Positioning data No 35 data No 99 _ Time Timer time Positioning data Ready RDY ON Auto start j OFF ON ON START ON on AD7 to ADO 35 99 i PSET ON OFF ON level A M code OFF 20 21 OFF The elapsed time of the timer time is included in the executing time of positioning data The numbers of simultaneous outputs and later outputs of M code are not limited Data continuation CO positioning data In case positioning data are continuous by the data continuation CO they are successively updated according to the positioning data 5 35 MHT259a Engl Positioning cancel If positioning data under execution have been suspended by a positioning cancel signal M code is updated when outputting a positioning end signal Temporary stop When positioning data under execution have been suspended by a temporary stop signal M code is outputted assuming that a positioning action is extended Forced stop EMG external fault input If positioning data u
16. 42 5 max 18 8 p Mass 10 g Housing 54180 0611 Shell cover 58299 0600 58300 0600 Mold cover 54181 0615 54182 0605 Cable clamp 58303 0000 Clamp screw 59832 0009 11 15 MHT259a Engl e Encoder Connector kit type for motor side CN2 WSK PO6P F Application 0 75 KW and below 43 5 Housing lum c om Shell baby clamp side 18 8 Mold cover latch side PAR Mold cover Cable clamp Mass 10 g Clamp screw f Encoder Connector kit type for motor side CN2 WSK PO6P C Application 1 KW and above Notch position Connector Rubber bush 37 3 g Motor power for motor without providing brake Connector kit type WSK MO4P 4 pin Application 0 75 KW and below 274 E ap SOC Shell body clamp side 27 7 E Mass 10 g P 11 16 MS3108B20 298 Cable clamp MS3057 12A Mass 150 g 53988 0611 58302 0600 53989 0605 53990 0605 58303 0000 59832 0009 350780 1 350570 1 or 350689 3 MHT259a Engl h Motor power for motor without providing brake Connector kit type WSK MO4P CA 4 pin Application GYS type motor 1 to 2 kW Notch position Connector MS3108B18 10S KCD oo Cab
17. Safety Isolation para ca opaca 165 M 20 1 BAT 3q3 1 BAT 4 SG 64 i 1 scl Motor RT L H GYS500DC1 S8B GYS101DC1 S6B Oo O Oo Oo IS a e er ud BATH 210 NA E CNL 0M 26 5 P5 2 19 Aa 12 A dk 00 zc 153 B BM MID 245 P24 o 1 P24 gt 2 GNI E T 3 QNI T 4 CNB meo s 5 QNI am 65 P24 anes y15 QNI5 Qum 75 E 116 GN6 gr p17 N7 a4 20b ae 618 GNIS 414 M4 i Amplifier RYS500S3 LRSG6 A RYS101S3 LRS6 1 Shielded sheath on the shielded cables must be connected with the shell body and the shell cover 4 52 MHT259a Engl y General purpose communication RS485 interface 0 2 KW for 100 V class input voltage of amplifier Safety Isolation Power supply Single phase 100 V class GYS201DC1 S6B P24 7 ID e 9 5 CN4 am 6 P24 D ONDE ale a a pl e f i N6 aria pU N7 9m420 014 M4 Amplifier 1 RYS201S3 LRS6 y
18. Amplifier The wiring length between amplifier and motor should be within 50 m It is not permitted to perform on off of the wiring between the amplifier and motor by magnetic contactors It is not permitted to turning on off multiple motors with a single amplifier Furthermore it is not permitted to wiring the following equipment along the wiring between amplifier and motor Phase advancing capacitor reactor power filter surge suppressor surge killer 4 7 MHT259a Engl B Terminal workings of motor power supply cables are as follows a GYC GYS type motor 0 75 KW and below i Motor without providing brake ii Motor with providing brake Viewed from socket inserting side Viewed from socket inserting side Projection ri oO Hs lt c 1 of cap housing 350780 1 ut 0000 Projection 4 1 U Br 2 V 6 Br 3 W e 1 of cap housing 350781 1 4 of sockets 350750 3 or 4 of sockets 350750 3 or 350689 3 350689 3 b GYC GYS type motor 1 kW and above i Motor without providing brake ii Motor with providing brake View of plug wiring side View of plug wiring side AU AJU E Br Biv BV F Br C wW cw A Dit Dc V 1 of connector MS3108B18 10S 1 of cable clamp MS3057 10A 2 Pulse encoder wiring Connect
19. Voltage 250 V AC Leakage current 1 5 mA max at 250 V AC 60 Hz 3 7 MHT259a Engl c Earthing grounding To prevent electric shocks the amplifier protection earth terminal and the control panel protection earth terminal should be connected to the ground When connecting earth cables to the protection earth terminal do not tighten the cable terminals together The amplifier has two protection earth terminals Do not connect copper cables directly to the amplifier terminals For the earth connection avoid direct contact between aluminum and copper Tin plated cable lugs can be used if the plating does not contain zinc When tightening the screws take care not to damage the thread in the aluminum frame d Auto circuit breaker Connect EN IEC approved auto circuit breaker between the power supply source and the power filter See 11 2 e Residual current operated protective device RCD Where residual current operated protective device RCD is used for protection in case of direct or indirect contact only RCD of type B is allowed on the supply side of this electric equipment EE Otherwise another protective measure should be applied such as separation of the EE from the environment by double or reinforced insulation or isolation of EE and supply system by a transformer f Conformity to EMC requirements When the amplifier and motor have been finally installed with a driven machine and device
20. E3 lt C2PRBLEE 0 0 AC reactor m See 11 5 0 a Power filter See 11 4 ED DI Single phase 200 V or 100 V DC reactor See 11 7 0 0 pun Wi Motor Example Actual machines may differ in details 11 1 MHT259a Engl Personal computer loader Optional cables Programmable logic controller PLC See 11 8 MICREX SX MICREX F FREX PC 11 2 MHT259a Engl 11 1 Cables Power supply and control circuit cables in the internal of the control panels are as follows 1 Power supply and motor input cables a Cable size Input voltage class V 20 0 Amplifier output kW 0 05 to 0 2 0 03 to 0 4 0 75 to 1 5 4 5 6 Amplif
21. B phase FB B phase FB Z phase FZ Z phase FZ Pulse width t11 2 1 hu s equivalent to 500 kHz A phase and B phase signals are 50 duty The output pulse counts of A phase and B phase signal are determined by system para 79 setting Z phase signal is output one pulse per revolution The pulse width depends on the A phase output pulse count A phase signal and Z phase signal are synchronized Recommended output frequency is approx 500 kHz The output frequency is not restricted by the amplifier The position of the motor output shaft has no relation with Z phase 6 50 MHT259a Engl The system para 79 sets the freq dividing output pulse count per one rotation of motor The output form is two 90 phase different signal When the motor rotates forward a B phase advanced pulse is output This does not depend on the rotational direction changeover setting system para 80 Two 90 phase different signal is output based on the level at the time of power on Max output frequency depends on the performance of IC differential driver AM26LS31 or equivalent for output terminal 12 System parameter 80 Basic type SX bus T link RS485 interface Pa Dg PPBOBD Para Setting range Initial value Change 80 Rotational direction changeover 0 Positive direction forward Power 1 Positive direction reverse This para makes the
22. HEBBHEEH BH f Qu Qu 5 6 MHT259a Engl ALM4 OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF ON ON ON ON ON ON ON ON ON ON ON ON ON ON ON ON The contents of detected alarm can be outputted in code ALM3 OFF OFF OFF OFF OFF OFF OFF OFF ON ON ON ON ON ON ON ON OFF OFF OFF OFF OFF OFF OFF OFF ON ON ON ON ON ON ON ON ALM2 OFF OFF OFF OFF ON ON ON ON OFF OFF OFF OFF ON ON ON ON OFF OFF OFF OFF ON ON ON ON OFF OFF OFF OFF ON ON ON ON ALM1 OFF OFF ON ON OFF OFF ON ON OFF OFF ON ON OFF OFF ON ON OFF OFF ON ON OFF OFF ON ON OFF OFF ON ON OFF OFF ON ON ALMO OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON No detection Motor overload Amplifier overheat Braking resistor overheat Deviation excessive Overcurrent Overspeed Overvoltage Undervoltage Encoder trouble 3 Control power trouble 3 Memory error 3 Fuse blown Encoder communication error Motor combination error Resistor overheat 2 Control signal error 3 Encoder overheat ABS absolute data lost 4 Absolute data overflow Bus communication error Address error BCD error 1 Addres
23. IN P24 Amplifier RYSI S3 LSS 1 Shielded sheath on the shielded cables must be connected with the shell body and the shell cover CONT and OUT terminals are assigned at factory Terminal symbol CONT1 to CONT5 OUT1 OUT2 Function Brake timing Dynamic braking 4 34 MHT259a Engl Initial factory setting value of IQ area is as follows See 5 8 IQ area SX bus type E A O A AO A A A NI RO qu A Current position current deviation basic para system para current position data LS Z phase pulse Low order word PC Amplifier Current position current deviation basic para system para current position data LS Z phase pulse High order word PC e Amplifier Current speed current speed data Low order word PC Amplifier Current speed current speed data High order word PC Amplifier Current torque current timer data PC lt Amplifier 5 arent trauereurent timer data PC Amelie Ei cd Alarm code current status Current M code EE PENNE NN CSEL uu ore Para No current current positioning data CPU Data Adis Rewrite Read read error error end end Basic para system para position data Low order word PC gt Amplifier Basic para system para position data High order word PC gt Amplifier Speed command speed data setting Low order word PC gt Amplifier Speed c
24. FALDIC Rvs20183 RTS E E 20 E MEM gt a uo aS Tele Co lt Q Ls Cu KO ae O bos Ew LE Pe u bay ae cow l e 6 E Terminal symbols of T link connection terminal block board are T2 T1 SD b CN1 lower side 26 13 SITE el loa mat ooo0 5 000 DO 10 00 Plug 10126 3000V 21000 20000 9 00 ann Shell kit 10326 52A0 008 20 7 sononc 20000 f spopg 22000 160000050 OA 3 00000 A 1500000 200000 1000 11000 External sensors such as origin LS are connected to the control input signal CONTn Control output signal OUTn is used in case signals are outputted from the amplifier 4 16 MHT259a Engl c WB area 8 word T link type Address 0 1 2 3 4 5 6 7 8 9 A B C D E F 0 OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 1 OUT arma arma ALM2 ALMI ALMo Rewrte Read M code 21 end end 2 Read data High order word PC Amplifier 3 Read data Low order word PC Amplifier 4 CONT CONT CONT CONT CONT CONT CONT CONT CONT CONT CONT CONT CONT CONT CONT CONT 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 5 CONT Read rewrite data select Address No 25 command command 6 Rewrite data High order word PC gt Amplifier 7 Rewrite data Low order word PC gt Amplifier The data to read or to rewrite can be selec
25. a Positioning data The motor is factory set at 65536 8 8192 pulses revolution Set the following data at the positioning data No 1 Positioning data for test running No Command method Step mode Stop position Motor speed M code output pne 0 81 92 10 00 ec p o E UE IA pass 0 0 gt as ll ll Positioning data stop position ENT 1 s or more ENT A KH 0 KH o INIA Po LILI 1 PPL LI 1 A HLLI LI LI ESC ESC 9 6 MHT259a Engl Speed data motor speed ri ENT 1 s or more ENT IND An ANT Palili PPU L I HLULILLI ESC ESC INTI L tiie Status command method ENT 1 s or more ENT Jl nr gt ees Poud PPOO 1H ESC ESC b Control input signal AD3 AD2 AD1 ADO EMG OT OT LS ENT 1 s or more CONT8 X1 ORG START RSTI REV FWDJ RUN Pressing the MODE key holding down the SHIFT can select L side or H side AD7 AD6 AD5 AD4 Make sure the control input signals are turned on off the same way as the previous page At the ON edge of auto start START signal the motor shaft makes one rotation Since the INC is designated for positioning data each input of START execution causes one rotation 9 7 MHT259a Engl 9 4 SX bus SX bus direct connection The SX bus direct connection type amplifier
26. Safety Isolation Amplifie RYS S3 LTS 1 Shielded sheath on the shielded cables must be connected with the shell body and the shell cover 2 A braking resistor is provided built in with amplifier 4 43 MHT259a Engl p T link type 1 and 1 5 KW Power supply 3 phase 200 V class Safety Isolation Amplifier RYSOOOS3 LTS 1 Shielded sheath on the shielded cables must be connected with the J terminal and the shell cover 2 A braking resistor is provided built in with amplifier 4 44 MHT259a Engl q T link type 2 to 5 kW Safety Isolation Power supply 3 phase 200 V class Safety Isolation l GYCLILILIDC1 SA 3 GYSLILILIDC1 SA P24 Amplifier RYSLILILISS LTS 1 Shielded sheath on the shielded cabl
27. Es REA RSS RR e 3 14 MHT259a Engl d With providing speed reduction gear unit GYC cubic type gear ratio 1 25 for 101 to 751 types or 1 15 for 102 to 202 types GYC101 to 202DC1 SA type and gear head 0 1 to 2 KW N 4 M6x 18DEPTH 300 30 300 30 300 30 300 30 a ARS en SHAFT EXTENSION SHAFT EXTENSION O6o N 4 M10 DEPTH20 U o s 1 SHAFT EXTENSION 300 30 SHAFT EXTENSION 101DC1 SA pS T u w 1 L LL iR LG LE o LA 4 25 4 5 4 60 0 1 Screw hole metric diameter x depth of shaft extension 2 Insulating protection tube 3 15 MHT259a Engl d With providing speed reduction gear unit GYC cubic type gear ratio 1 25 for 101 to 751 types or 1 15 for 102 to 202 types cont d GYC101 to 202DC1 SA type and gear head 0 1 to 2 KW SHAFT EXTENSION se ud als all a s d 3 16 MHT259a Engl e Gear head unit for GYC cubic type motor gear ratio 1 9 GYN101 to 202CA
28. 2 d Mig M0095 WM0010 SLL WM0010 D0090 Obtaining M0093 Obtaining Check sum M0093 C0092 EA D0093 Check sum Check sum C0092 00000020 CT D0093 M0096 JI E M0096 WM0010 MOVL Obtaining Check sum MOO 30 C0092 End activating High order 16 bit BD3 0097 BD0000 DT BD0003 E 1 6 BD0002 2 4 Obtain end S00 30 SC D009 End activati M0097 4 L SES ng me End activating High order 16 bit BD4 M0097 BD0000 DT BD0004 24 8 24 End activating Low order 16 bit BD5 M0097 BD0001 DT BD0005 12 13 1 6 2 4 MHT259a Engl P0001 00052 P0001 00053 P0001 00054 P0001 00055 P0001 00056 P0001 00057 P0001 00058 P0001 00059 P0001 00060 P0001 00061 P0001 00062 P0001 00063 P0001 00064 P0001 00065 P0001 00066 P0001 00067 P0001 00068 currentpos ladder 99 07 16 Page 4 End activating L 1 i BD M0097 ow order 16 bit 6 BD0001 DT BD0006 24 8 24 End activating BD3 BD3 M0097 BD0003 BCD BD0003 End activating BD4 BD4 M0097 BD0004 BCD BD0004 End activating BD5 BD5 M0097 BD0005 BCD BD0005 End activating BD6 BD6 M0097 BD0006 BCD BD0006 End activating BD3 BD4 BD7 M0097 BD0003 BD0004 E BD0007 End activating BD5 BD6 BD8 M0097 BD0005 BD0006 gt BD0008 End activating BD7 BD8 BD9 M0097 BD0
29. 5 33 MHT259a Engl B Parameter setting To allocate M code 7 to M code 0 to the control output terminals set 67 to 60 to the system para B Related items 1 Setting range of M code M code can be set to 00h to FFh in binary It is set in binary regardless of setting of system para 98 In the case of SX bus type binary setting is only valid 2 Simultaneous output MW and later output MA You can select either simultaneous output being outputted while executing the positioning data or later output outputted after the end of execution of positioning data B Simultaneous output MW MW is outputted while executing from starting to ending of positioning action MW is turned off when ended the positioning action Simulataneous output MW of M code Speed M code 20 Time Timer time positioning data Ready RDY i ON Auto start Sas START oe en AD7 to ADO 35 99 PSET ON OFF ON level Wesde OFF 20 OFF The elapsed time of the timer time is included in the executing time of positioning data Notes MW stands for M With and MA stands for M After 5 34 MHT259a Engl WB Later output MW MW is outputted and retained the status at the time of ended of positioning action Later output MW of M code Speed M code 20 Positioning data No 35
30. Programmable operation display POD UG20 Programmable logic controller PLC MICREX SX MICREX F FLEX PC sx A vs 8 g EH uU EH EX continue to the following page General purpose PC e Programming support tool D300win MICREX SX Screen editor UG L O Servo loader FALDIC a a 1 3 MHT259a Engl Amplifier zs bran REM RYS 7FunN Lu 2 B EB PL PH N U v Jw E continued from the preceding page Option cable WSC Option cable WSC Motor GYC GYS 1 4 MHT259a Engl 1 3 Functions The FALDIC a series has 3 types of control function for particular applications 1 RYS V type Pulse train speed control velocity Maximum input frequency 500 kHz Rotates according to pulse train from host control equipment or speed command from encoder
31. MHT259a Engl Ml Optional cables connector kits battery and external braking resistors See 11 8 Optional cables connector kits battery and external braking resistors Reference letter or figure See preceding page Description Control cable Expanded CN3 for L R type amplifier 3 m lg SX bus T link RS485 types CN1 Basic type DI DO CN1 Pulse encoder cable 0 75 KW and below 1 KW and above O Molex Provide the connector bal connection for motor by others Power supply AMP 0 75 kW and below cable AMP Motor with brake 4 Connector kit Control Expanded CN3 for L R type amplifier CN1 CNS SX bus T link RS485 types CN1 Basic type DI DO CN1 Pulse encoder CN2 Canon GYS 1 to 2 kW GYC 1 kW GYS 3 kW and above Canon O aS a and above External braking resistor PC loader Loader cable 2 m lg 2 n Battery m Control 1 5 kW and below Type WSC D20P03 D26P03 D36P03 PO6P05 PO6P10 PO6P20 PO6P05 C P06P10 C PO6P20 C PO6P05 W PO6P10 W PO6P20 W M04P05 M04P10 M04P20 MO6P05 MO6P10 MO6P20 WSK D20P D26P D36P PO6P M PO6P F PO6P C M04P M04P CA M04P CB MO6P MO6P CA MO6P CB WSR 401 751 152 DB11 2 DB22 2 WSL PC NP4H CNV WSB S WSK LO2P PS ps P8 02 fos wo 25 os 08 Cable lg m 0 3 lg Cable length Molex Canon AMP Supplie
32. i Connector CN1 Plug 10120 3000V Shell 10320 52A0 008 ii Wire color Pin No for CN1 Marking tube Wire color Marking Mass g 400 11 8 MHT259a Engl b Control input output SX bus T link RS485 Cable type WSC D26P03 26 pin Application CN1 other than the RYS S3 VVS LPS RPS amplifier Marking tube oe i Connector CN1 Plug 10126 3000V Shell 10326 52A0 008 ii Wire color Pin No for CN1 Marking tube Wire color Marking Pin No for CN1 Marking tube Wire color Marking 11 9 MHT259a Engl c Control input output Cable type WSC D36P03 36 pin Application CN1 of RYS S3 VVS LPS RPS amplifier Od ume Marking tube D E E aes i Connector CN1 Plug 10136 3000V Shell 10336 52A0 008 ii Wire color Pin No for CN1 Marking tube Wire color Marking Pin No for CN1 Marking tube Wire color Marking 11 10 MHT259a Engl d Encoder cable Cable type WSC PO6P05 PO6P10 and P6P20 Application 0 75 KW and below Wire color Black Orange Orange EM blue Sky blue White laa AN CAUTION Do not extend the wiring distance by connecting two or more encoder w
33. T T T T U l 2 5 M 3 SHAFT EXTENSION SHAFT EXTENSION o LB C3 101DC1 SA 50h7 70h7 70h7 95h7 110h7 110h7 110h7 1 Screw hole metric diameter x depth of shaft extension 2 Insulating protection tube 3 Shaft extension S and flanged spigot v LB are machining finished with h6 or h7 fits 3 9 MHT259a Engl a Basic design GYC cubic type cont d GYC101 to 502DC1 SA type 0 1 to 5 kW Z CEFE TEF 3 10 MHT259a Engl b With providing brake GYC cubic type GYC101 to 502DC1 SA B type 0 1 to 5 KW Leo 300 30 300 30 300 30 300 30 T Ry A SHAFT EXTENSION SHAFT EXTENSION 300 30 300 30 SHAFT EXTENSION uU SHAFT EXTENSION Type Fig QK es T UT w c E LL iR ta LE ola GYC 3 J01DC1 SA B CJ 14 8h61 31 35 8 3 70 201DC1 SA B 401DC1 SA B 751DC1 SA B 102DC1 SA B 152DC1 SA B 202DC1 SA B 302DC1 SA B 402DC1 SA B 1 Screw hole me
34. FWD Forward command Hv Overvoltage High voltage V F Interface INCO Relative increment position specified INFO Infinite length feed JLD Moment of load inertia after conversion into motor shaft Jm Moment of inertia of motor rotor LC display Liquid crystal display LED Light emitted diode LSO Origin LS Origin limit switch LSD Least significant digit Lv Undervoltage Low voltage MANG Test trial manual mode operation run MC Magnetic contactor ME Memory error MH Motor overheat MICREX Fuji s PLC MODE Transition key MON1 Speed monitor MON2 Torque monitor Motor Servo motor MSDJ Most significant digit NARV Speed arrive NEXT Display key of data after next one screen or No display NREF Speed command NZERO Speed zero OC Overcurrent Output overcurrent OF Deviation excessive Overflow OFF L Offline key OL Motor overload Overload ON LO Online key ORG Origin return OS Overspeed OT Overtravel OT direction overtravel OUT Out signal OV Overvoltage P PA Parameter editing mode Para Parameter PCO Personal computer PC board Printed circuit board P control Proportional band control PDO Current present position output PEQ Main circuit trouble Power error PG Encoder detector Pulse encoder Pulse generator PLC Programmable logic controller PMON Position monitor PO Positioning data editing mode POWER Power on PRE
35. Host controller Amplifier Amplifier 4 21 MHT259a Engl il Transmission code Code Contents HEX STC A5H fixed BC xxH variable ADR 01H to 1FH ENQ 05H fixed ACK 06H fixed NAK 15H fixed CM xxH variable SCM xxH variable DATA n xxH variable ST1 xxH variable ST2 xxH variable BCC xxH variable ST1 transmission system 0 0 Function Top code Byte counter The number of bytes from ADR to BCC can be set Station number The station number of 1 through 31 which identifies amplifiers can be set Enquiry request Acknowledgment affirmative response Negative acknowledgment negative response Command The command instruction to amplifier is specified Sub command Details of command instruction are specified Data Data attached to command Status 1 Data of transmission system is expressed in 8 bits Status 2 The on off of control output signal is expressed in 8 bits Check sum The lower 8 bits including the contents from STC to immediate before BCC ST2 control output signal 7 O Unused OUT12 Unused QUT11 Off line QUT10 Under initialization QUT9 Unused OUT8 Data error OUT7 Transmission error OUT6 Command receive disable
36. Origin return end OFF ON PSET level ON PSET one shot OFF ON 5 16 MHT259a Engl Wi Origin return pattern 4 setting value 4 in basic para 71 a At the ON edge of ORG signal motor rotation starts in the origin return direction at the origin return speed b The movement stops once at the transfer point from ON level to OFF level of LS signal C The motor rotates in the direction opposite to origin return at the origin detection creep speed d The movement stops once at the transfer point from OFF to ON level of LS signal e The motor rotates in the origin return direction at the origin detection creep speed f After detecting again a transfer point falling edge from ON level to OFF level of LS the movement shifts by the origin shift quantity from the first Z phase detection and then stops g The stopped position is considered the origin return end position and the origin return end signal is turned on Speed A Time Origin return ORG OFF Origin LS LS ON Encoder Z phase Origin return end Origin return end OFF ON PSET level ON PSET one shot OFF ON 4 Origin return end 22 This signal is turned on when the origin return action has been normally ended After this this signal is held on when the current feedback position is within the origin detection range basic para 66 v
37. Note Direction of motor shaft rotation when viewed from a point facing the drive end of motor is designed according to Japanese standards Forward direction Counterclockwise CCW rotation Reverse direction Clockwise CW rotation 2 Command speed The speed given to the motor The speed command voltage multistep speed and pulse train are the command speed The indication is in 1 r min unit The negative sign is added when the motor rotates in reverse clockwise viewed from shaft extension nns ENT 1 s or more nnn I tintitid SEOUL ESC 3 Average torque The motor s current load factor The average value per second assuming the rated torque as 100 is indicated The indication is from 096 through the max torque in 1 step The negative sign is not added ENT 1 s or more Gabb gt 3 7 10 MHT259a Engl 4 Feedback position The motor rotational quantity is indicated in unit quantity after pulse correction If pulse correction is not used the motor encoder rotation quantity itself will be indicated In case of 16 bit serial encoder 65536 pulses per rotation ENT 1 s or more Pressing the MODE key holding down the SHIFT key ic 4H interchanges the high order 4 digits and low order 4 ESC digits ff F1 GE q Remarks If the rotating direction has been altered by system para 80 an increase from the current position raises the reading The
38. Series figure Major function Function Linear Rotation Pulse train b GYS GYC type motor Motor type Type Cubic Letters GYC Motor output 201 20x 100 200 W 300 30x 10 30 W Rated speed D 3000 r min Type of construction C Flange mounted Series figure 6 p Input voltage Phase 3 Single Volt 200 100 Figure l6 Encoder detector S 16 bit Host interface I F VF SX JPCN RS T Device speed position bus 485 link Net S6 A B pos Integral provision of brake With Without Letter B Oylindrical shaft extension providing key Without Letter B Input voltage of ampiifier Volt 200 Hoy Ph 200 V ae lo Encoder detector S 16 bit c Gear head unit Gear head unit type Ms ds Type GYN GRN Letter GYN GRN Motor output 201 20x 100 200 W 300 30x 10 30 W 20 20x 100 200 W 40 40x 100 400 W For GYN For GRN SAG 600 E Speed reduction gear ratio Gear ratio 1 15 1 25 Figures and letter G15 G25 Type of construction G Flange mounted Motor type Type Cubic Letter C Series letter MHT259a Engl 2 SPECIFICATIONS 2 1 Motor 1 Cubic type motor 0 1 to 5 kW a Basic design i 0 1 to 1 5 kW Type GYCOOODC1
39. 7 Station number indication The communication ID of the amplifier being connected to various network and link is indicated For the setting of communication ID see system para 96 ENT 1 s or more gt Communication ID link address local station addrress 5 F1 UL i ESC Indication Communication interface No interface 40 1 The amplifier having no interface for communication AU LILI I dspays HOGG 1 For SX bus type the 2nd digit indication is as follows ONL Receive monitor E 7 9 MHT259a Engl 7 4 Monitor mode In the monitor mode the motor speed or the cumulative value of input pulse can be displayed Display Z2 S 1 fin by the MODE key and hold down the ENT key for at least 1 s to indicate the contents in Feedback speed Onda Peak torque On Command speed AGG Input voltage 1 Uno Average torque Gnd IC Input voltage 2 nU Feedback position fini LS Zpulse Uns Command position Un 12 Input signal Lnd Deviation amount Gadi 13 Output signal Gril 1 Cumulated pulse in IH Load inertia ratio 1 Feedback speed The motor s current speed Even if the motor is driven by the load mechanical equipment system the correct speed will be indicated The indication is in 1 r min unit The negative sign is added when the motor rotates in reverse ENT 1 s or more n_n o nm O NOD 1 lt 4 GLILILI ESC
40. 12 8 MHT259a Engl vi Calculation of actual torque Trms Actual torque can be calculated by the following formula 0 38 ND m 0 86 x 0 05 x 2 0 03 x 0 05 x 1 Trms 0 5 Since the rated torque of 0 2 KW motor is 0 637 N m a relation of actual torque lt rated torque is satisfied Therefore the temporarily selected motor is actually applicable vii Examination of braking resistor In the above torque pattern the hatched area corresponds to the regenerative braking mode Braking power is as follow P 0 105 x Tac x N x 1 2 20 105 x 0 86 x 3000 x 1 2 185 W From the above result mean braking power per cycle is pP 135 x 0 05 14 W 0 5 4 Determination of external braking resistor Because of the braking resistor is not built in the 0 2 KW motor requiring of external braking resistor provision is reviewed as follows a Energy Ec on the mechanical equipment system during deceleration Ec Jm JL 2m N 60 2n x 3000 2 0021610 011 10 x 6 5 J b Consumption energy Ei due to load torque EL 2n 60 x T X D X to x 1 2 2n 60 x 0 03 x 3000 x 0 05 x 1 2 20 24 J c Consumption energy Ew in motor winding R x P x tpc 2 3 x Rx Toc Tr x In x toc x 0 86 0 637 x 1 5 x 0 052 1 2 J m o d Absorbing energy Es of motor 1 1 Es 0V 1 660 x 10 5 x 870 200 x 22 187 J N Where R Phas
41. 2 LLLI m ESC Some amplifiers do not have the control input TREF terminal 7 12 MHT259a Engl 11 LS Z pulse Displays a pulse count from when the origin LS signal has turned off at origin return until when Z phase of motor encoder has been detected The indication is updated at every origin return action Since the value is in the origin return direction there is no minus sign ENT 1 s or more ri PL 11 II Lj Link i H ic dH ESC Pressing the MODE key holding down the SHIFT key j interchanges the high order 4 digits and low order 4 digits 12 Input signal Displays whether the control input signals to the amplifier are turned on or off If signals are turned on corresponding LEDs are lit CONT16 CONT10 CONT9 mr mag ENT 1 s or more were ic gt AA ESC CONT8 CONT2 CONT1 Pressing the MODE key holding down the SHIFT key interchanges the H side and L side AAA CONT26 CONT25 CONT24 ttrt eree CONT18 CONT17 Note The number of control input signals depends on the amplifier type 7 13 MHT259a Engl 13 Output signal Displays whether the control output signals from the amplifier are turned on or off If signals are turned on corresponding LEDs are lit OUT16 OUT10 OUT9 7 m 59 ENT s or more UNO iv ESC OUT ees OUT2 OUT1 Pressing the MODE key ho
42. 3 21 MHT259a Engl g Basic design GYS slim type cont d GYS300 to 502DC1 S8B SB or SA type 0 03 to 5 KW SHAFT EXTENSION 3 22 MHT259a Engl h With providing brake GYS slim type GYS300 to 502DC1 S8B SB or SA B type 0 03 to 5 KW SHAFT EXTENSION 3003 30 3003 30 SHAFT EXTENSION 3003 30 3003 30 SHAFT EXTENSION Zu SHAFT EXTENSION Type o LB GYS C3 BLUES E O ERE scala i rs cb canc icons en NEE an acusaciones 500DC1 S8 B EK llos 08 L c ce bez ie p 14 i opi 11 20 a a 30h7 _ 101DC1 SB B 30h7 201DCT SA B EL 1 20 1 146 1 5 1 3 1 5 1 165 185 30 1 6 1 3 11 70 50h7 _ 401DC1 SA B EL 201 201 gt PANG 8 03 1 8 1 221 193 463 1 30 1 8 3 1 79 5 SONT 751DC1 SA B 70h7 102DC1 SA B EN 40 32 J _ 24n6_ 5 7 42 8 L239 194 45 10 3 115 _ 95h7 _ 152DC1 SA B 95h7 95h7 8 E EN 40 32 7 284 239 45 10 3 E CUHEJEIP AERE A 402DC1 SA B EO 55 46 7 4 8 338 5 275 5 63 12 110h7 502DC1 SA B EO 55 46 2sn 7 4 8 3685 3055 63 12 6 145
43. 4 mn 40 30 Mass weight kg o7 2 1 External dimension 2 See 1 I of 3 3 External dimensions Direction of shaft rotation is CCW counterclockwise when motor shaft rotates forward The direction is viewed from a point facing the drive end of motor 4 Motor with 3 min backlash max can be supplied on request When a motor with GYN or GRN type gear head unit is supplied the shaft extension of this motor is provided with a key 2 10 MHT259a Engl 2 2 Amplifier 1 Basic specification for 200 V input voltage of amplifier a 0 03 to 0 75 kW Amplifier type RYSODOS3 LPS 401 751 Applicable motor output 1 kW 0 4 0 75 Input 3 phase for power supply single phase for control 50 60 Hz 200 200 220 230 V 10 to 15 Control System Sinusoidal wave PWM current control all digital data Carrier freq kHz 10 Feedback 16 bit serial encoder one rotation resolution 16 bit multiple rotation 16 bit Speed 1 r min for 0 to 100 deviation control max For 10 to 10 fluctuation accuracy 0 2 max for 25 C 10 variation at analog volt input Speed range 1 5000 at rated load 600 Hz at J Ju 2 100 times of the motor rotor inertia permissible Overload capability 300 for approx 3 s 300 for approx 3 s 450 for approx 1 5 s Function Regenerating dynamic with external braking resistor Protection OC output overcurrent OS o
44. 4 Rm Current speed current speed data Low order word PC Amplifier Current speed current speed data High order word PC Amplifier E Current torque current timer data PC lt Amplifier Alarm code current status current M code ES oad CSEL SEE ik Current para No current positioning data 7 Rov PSET Data Adis Rewrite Read ready error error end end Basic para system para position data Low order word PC gt Amplifier Basic para system para position data High order word PC gt Amplifier Speed command speed data setting Low order word PC gt Amplifier z Speed command speed data setting High order word PC gt Amplifier Y mote Status setting M code setting a 221 SEL2 SEL1 SELO Para No setting positioning data setting 15 RUN Ew REV RST START ORG veLo vEL1 ABS Ferite Read INC command command O Q a For the immediate start this command is not needed Ml Current command position current feedback position current deviation The current command position etc can be selected at on off of SELO SEL1 SEL2 The positions are read out continuously at the ON edge of read command Read rewrite data select SEL2 SEL1 SELO IQ area Upper line 0 to 7W Lower line 8 to 15W OFF OFF OFF Current command position current speed current torque current M code Position data setting speed command speed data setting Current feedback position current speed
45. B System parameter for RYS L type 2 2 T link Para Change 47 OUT17 signal assignment Oto75 nistp Per 48 OUTI8signal assignment Oto75 nistep CO Power 49 OUTt9signal assignment Oto75 imtstep o Jo Power 50 OUT20 signal assignment Oto75 mtstep OO Power 51 OUT21 signal assignment Oto75 mtstep Per IA NENNEN NN to Unused 55 56 CONT22 signal assignment OtosS nistp Poner 57 0 to 55 in 1 step o0 Power 58 0 to 55 in 1 step o Power 59 CONT25 signal assignment OtoSS nistp o 0 Power JL ANN CNN NN to Unused z 67 68 1 Speed command 2 Speed feedback Always 3 Torque command 4 Position deviation e9 uUnsed ft 70 Unused ft 71 Montor2scae 2 0to 100 V nOistp 60 Always 72 Monitor 2offset_ S0toS0 niste LO Aways 73 Monitor 2 output form 0 Monitor 2 two way deflection IE Power 1 Monitor 2 two way deflection 2 Monitor 2 one way deflection 3 Monitor 2 one way deflection 74 Unused poc ur pe 75 Position command form O NomalPTP 1 Infinite LO Power 76 Soft OT detection position Always 77 Soft OT detection position Always 78 Pulse train input form 0 Command code pulse 1 Forward reverse pulse Power 2 Two 90 phase different signal 79 Output pulse count Power 80 Rotational direction changeover 0 Positive direction forward 1 Positive direction reverse o Power 1 Power 82 Brake operation time Always 83 Brake releasing time Always 84 Oper
46. Contents of alarm The heating power of the braking resistor of amplifier exceeded a specified value Cause check and remedy If an alarm is detected immediately after turning on power the power supply voltage may be higher than specified If detected while running the frequency of braking operation may be high and the braking resistor may overheat In such a case use an external braking resistor prolong the accel decel time or raise the reduction speed ratio if possible 10 11 MHT259a Engl k Overflow deviation excessive Keypad panel display HL uf Contents of alarm Deviation amount difference between the current command position and current feedback position exceeded the set value of basic para 54 Cause check and remedy The initial set value of basic para 54 is 10000 x 100 pulse If the difference between the current command position and current feedback position exceeds 1000000 pulse an alarm is detected Under normal operating conditions the deviation amount increases in proportion to the motor speed If an alarm is detected when rotating the motor by turning on the RUN the motor power wiring phases U V W may not be connected to the corresponding terminals U V W of the amplifier The set value of basic para 54 need not be decreased The deviation amount can be reduced by setting the feed forward gain of basic para 40 to near 1 000 I Other protection functions Under no
47. OT signal is detected when the motor rotates toward positive direction Positive direction is the direction set by system para 80 The motor rotates toward negative direction and stops by detecting OT signal Afterwards the motor cannot rotate in any direction 2 OT detection 38 OT detection 39 The detection speed take precedence because the amplifier detects this signal at the moving direction end of mechanical equipment system The amplifier sends the detection result to the host controller by the output signal OT detection or OT detection signal If the host controller is equipped with OT input OT signal is directly sent to the host controller in general 3 OT detection 20 The OT detection 20 is a control output signal and turns on when the control input OT 7 or OT 8 is off or when the soft OT of System para 75 to 77 is detected 4 Function of soft OT When 1 is set at system para 75 the soft OT is able to operate on condition that the current position is between soft OT and soft OT detection position system para 77 and 76 setting In case the current position exceeds of range stops the motor forcibly a control output OT detection 20 is turned on When the pulse train input with opposite direction to the detection direction is input or manual feed FWD REV is input and the current position returns to within the range OT detection 20 is turned off and it allows the mechanical equipm
48. 0 Power 04 CONTA signal assignment Otob5 nistep O 0 Power 05 CONT5signalassigomen j Otob5 nistep y 0 Power 06 Power 07 Power 08 Power 09 Power 10 Power 11 Power 12 Power 13 12 Power 14 13 Power 15 CONTi5signalassigomen Otos5 niste 9 Poe 16 CONTi6signalassigomen Otos5 niste 0 Powe 17 CONTi7signalassigomen Otos5 niste o Z o Power 18 CONT18 signal assignment Otos5 nistep o 0 Poe 19 0 to 55 in 1 step 0 Power b System parameter 31 to 46 PaBBo PPO3 i IPPOSB 18x vus Para Change 31 OUT1 signal assignment 0 to 75 in 1 step 32 jOUT2signalassgnment 0t075 n1 ste Td Per 33 Power 34 Power 35 Power 36 Power 37 Power 38 Power 39 OUT9 signal assignment jOtoz5 niste Per 40 jOUTiOsignalassignment Oto75 niste Per 41 OUTI signal assignment 0t075 n1 ste Per 42 OUTI2 signal assignment Otoz5 niste Tf Per 43 OUTIS signal assignment Oto75 niste Tf Per 44 jOUTi4signalassignment 0t075 n1 ste Td Per 45 OUTIS signal assignment 0t075 n1 ste Td Per 46 OUT16 signal assignment 0 to 75 in 1 step The control input output signal and the signal in IQ area can be changed p pp pp pz pz AG pz AG G pzz pz 6 37 MHT259a Engl lii Connector pin layout CN1 lower side
49. 1 Initialize 1 S01 99 SC Start condition Rewrite rewrite ON OFF Transfer Boooo S01 10 S01 12 01 14 01 16 01 18 01 20 01 30 1 E E E V a a eS Dd Auto When Initial start rotating condition 1 S01 32 01 34 S01 10 gt BC Initial condition Increment Increment Increment 01 10 Lx WMO0003 EOR WMO0003 gt WMO0003 Initial cond S01 10 Response OFF 01 20 Re 01 12 jw e o ce I Activate M0020 Activate M0020 z Rewrite 01 12 r o 1 14 01 14 m o 3 ediate write 1 16 Qs Response 01 18 T 1 ition 7 Increment WM0003 Activate M0020 Start M0045 Wait for staring T0010 Rewrite end B0024 Rewrite end B0024 Increment WM0003 DECO 12 16 Rewrite 01 12 SC D009 1 Activate M0020 6 WM0004 S01 14 SC Transfer 01 30 SC Wait for staring T0010 Immediate rewrite S01 16 SC Response ON 801 18 SC Response OF 01 20 SC 7 A qup el ls F M E MHT259a Engl P0001 00020 P0001 00021 P0001 00022 P0001 00023 P0001 00024 P0001 00025 P0001 00026 P0001 00027 P0001 00028 P0001 00029 P0001 00030 P0001 00031 P0001 00032 P0001 00033 P0001 00034 P0001 00035 P0001 00036 digit MORI Position data BD0000 DT Position data BD0000 DT POSdirect ladd
50. B Example of editing Let us change the setting of basic para 2 Manual feed speed 2 to 1 0 Key operation The feedback speed monitor is displayed 1 s or more SH FT ENT 1 s or more Indication J r1 ai Fr NT Li F1 ui Li i Pa pp nri citi l AF LL i pp nna uti H r1 ul Blink H me LILI I HF 1 L 7 LILI 1 Blink I HF 1 L LILLUI I Blink I F0 nn L LLI LI Remarks Resumes the mode selection Press the MODE key for selecting the parameter edit mode Hold down the ENT key for at least 1 s for display the para 01 Select the basic para 2 Pressing the ENT key reads the setting contents The LSD blinks Two MSDs of initial value 500 00 are displayed Decrease the value to 0 Press the MODE key holding down the SHIFT key to display the L side low order 4 digits Press the SHIFT key to shift the cursor to the adjacent digit on the right Set the value to 1 Likewise change the LSD to 0 Hold down the ENT key for at least 1 s to store the new value Storing the value keeps it displayed Pressing the ESC key resumes the para number selecting screen 7 17 MHT259a Engl 7 6 Positioning data edit mode The positioning data edit mode allows to edit the position data speed data timer data status and M
51. shortest decel time Tac TL tac shortest accel time iii Operation pattern basic Time Accel torque Where teyc Operating time during one cycle toc Decel time tr At rest stop and de energized time tL Running time except for accel decel times Tbc Decel torque Torque Toc in here assumed as Toc Tac tere Decel torque during regenerative braking operation f Actual torque Trms determination In application to a machine which performs rapid feed frequency the motor may overheat due to the energy required for accel and decel To prevent this calculate the actual torque in the following procedure depending on the given repetitive operation pattern and ensure that the value is not larger than motor rated torque Shown below are the formula for actual torque in the typical operation pattern m Tac X tac T x tL Toc X toc tcvc 12 6 MHT259a Engl If the actual torque surpasses the rated torque the following items should be reviewed Slightly reduce the frequency of acceleration and deceleration Review decel method or decel ratio etc and set feed speed appropriately If motor torque is generated even during stop a mechanical equipment system should be selected so as to minimize the necessity for torque at stop To maintain motor response at a satisfactory level it is recommended to restrict the moment of load inertia within the tw
52. 5 76 MHT259a Engl Command CM 34H DATA n ENQ ACK NAK a TENURE al 32H 3 i LONG ESTA E AAA E Sem gt er 39H e E sa do J 40H ES 2 gt da 1 42H E EE On gt a n pam Ha de T gt le de ETA EN E 47H Pl REN pam es Her T 49H DM CON as ESE ES FEST E E 82H dbo E 53H p uu d VETO NN CN 55H Da e C Eno e e 58H poe tr 89H E E Function Run command RUN off Run command RUN on Forward operation immediate on DATA n specified speed value Forward operation multistep speed on DATA n speed selection Reverse operation immediate on DATA n specified speed value Reverse operation multistep speed on DATA n speed selection Forward reverse operation off 33H to 35H cancel Setting of positioning data immediate Setting of positioning data number Auto start immediate Auto start positioning data number Origin return Release of forced stop Forced stop command Alarm reset Accel decel time selection Position preset Pulse train ratio 1 off Pulse train ratio 1 on Pulse train ratio 2 off Pulse train ratio 2 on P action off P action on Current limiting off Current limiting on Temporary stop off Temporary stop on Positioning cancel auto start origin return Teaching Data n positioning data Override off Override on Override scale factor selection Interrupt valid off Interrupt valid on Deviation clear off Deviation clea
53. 65536 x M B Where M Multiple rotation data B One rotation data 5 31 MHT259a Engl 2 1 0 1 2 3 rotation rotation rotation rotation rotation rotation B gt Multiple rotation data gt gt One rotation data 65536 pulse The position of position preset or origin return end is within this zone 2 Output sequence The sequence of current position output is explained as below Output is in 2 bit unit FALDIC Rvszoiss vvs Poy gods LH CCE lt EB is z ES E 4 Current position output command o OUT2 response OUTS DATAO gt BEBA OUT4 DATA1 Current position output command 1 OUT2 response 7 5ms lt gt Repetition 4 OUT3 DATAO pm Indefinite here jd 4 X X OUT4 DATA1 7 1st 2nd 3rd 20 times 1 Makes the current position output command on for 5 ms or longer The current position output sequence starts 2 OUT2 response turns on 3 Makes the current position output command off OUT2 response turns off 4 Mak
54. Display key of data before previous one screen or No display PSETT Positioning end Indexing dividing end PWRT Parameter re write R RDY Ready RES Reset mode REV Reverse direction Reverse direction rH Braking DB resistor overheat Resistor heat rH2 Resistor overheat 2 Resistor heat 2 RST Alarm reset RUND Run command S S curve Non linear SE System error SEQ Sequence mode SIGN Rotational direction SSCI Solid state contactor START Auto start STOP Forced stop key STORE Write in of numerical setting key SW Setting switch T tE Bus communication error Terminal error TLMT Torque limit U UV Undervoltage V VEL Rotation speed selection WwW WPSET Indexing dividing end WRTJ Position preset Position data re write WRTE Re write end X X1 Multistep speed selection X1 0 OVO Common monitor check pin Note Direction of motor shaft rotation when viewed from a point facing the drive end of motor is designed according to Japanese standard Forward direction Counter clockwise CCW rotation Reverse direction Clockwise CW rotation 12 21 Worldwide Operations Fuji Service Centers Asia and Oceania A O Service Center Fuji Electric 11 2 Osaki 1 chome Shinagawa ku Tokyo 141 0032 JAPAN Phone Tokyo 5435 9058 Facsimile 03 5435 7525 USA Service Center Fuji Electric 5550 Cerritos Ave Suite H Cypress CA 90630 U S A Phone 714
55. OUT OUT OUT OUT OUT OUT OUT OUT T 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 4 OUT ALM ALM ALM ALM ALM Rewrite Read M code 21 4 3 2 1 0 end end 2 Read data High order word PCe Amplifier 3 Read data Low order word PC lt Amplifier Te CONT CONT CONT CONT CONT CONT CONT CONT CONT CONT CONT CONT CONT CONT CONT CONT 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 CONT 25 5 E Rewrite read data selection Command address ommandicommand 6 Rewrite data High order word PC2 Amplifier 7 Rewrite data Low order word PC gt Amplifier 6 40 MHT259a Engl RS485 interface 4 RS485 interface type a System parameter 1 to 8 Pa c 7 PPPOE PP GGG IRS485 interface Para Change b System parameter 31 to 42 PAC i PP3 PPOYE RS485 interface Para Change 31 Power 32 Power ag OUTS signal assignment Oto75 niste o Per 94 OUTAsignal assignment Oto75 niste o Poner 35 Power 36 Power 37 Power 38 Power 39 Power 40 Power 4 0 to 75 in 1 step Power 42 Power The signals OUT5 to OUT12 are reflected to the message ST2 Function input signal number assigned to Function output signal assigned to System para 1 to 8 System para 31 to 42 0 Not assigned 32 Positioning cancel 0 Not assigned 30 Data error 1 Run command RUN 34 External fault input 1 Rea
56. Power supply 3 phase 200 V class Safety Isolation pate E E l sG Motor a MA GYCLIDIDIDC1 SA QU GYSLIDIDIDC1 SA 3 I 6 4 Oo L 5 7 o C E BATH 210 NE aL OM 26 25 P5 FA 8o lua ooo CNA ES qB M MO 245 P24 EC CN EE 9 5 QNI4 am 65 P24 Tc y15 QUNI5 amn 76 016 QN OUS 19 E J7 N7 a4 20 RYSODOS3 LRS 1 Shielded sheath on the shielded cables must be connected with the shell body and the shell cover CONT and OUT of CN1 terminals are initially assigned at factory Terminal symbol CONT7 CONT8 Function RUN START LS OT OT EMG run auto start origin LS direction direction forced command overtravel overtravel Stop Terminal symbol OUT1 OUT2 OUT3 OUT4 Function RDY ready PSET positioning end IC o The unit can be operated even if no wiring is made to control power supply terminals L1C L2C 4 48 MHT259a Engl u General purpose communication RS485 interface 0 4 and 0 75 KW 2 Safety Isolation O O O Pl P DB N Power supply 3 phase 200 V class L1 Sa
57. ii Load torque via conversion into motor shaft TL uW x9 81 BP 0 1x20x9 81_ 10 xT xGL X 3 an m 10 2n x0 9 10 T x 1 1 0 08 ND m Where p Friction coefficient 0 1 n Mechanical efficiency 0 9 iii Shortest accel decel time tac tdc Of the motor which meets the following conditions JL 5 x Jwand T s Tm rated torque x 0 9 0 2 KW motor is temporarily selected Where TL 0 03 ND m JL 0 11 x 10 kg m from motor data according to 2 1 rated torque 0 637 N m breakdown max torque 1 91 NO m moment of motor rotor inertia 0 0216 x 10 kg m for 0 2 kW GYC 201DC1 S motor a Shortest accel decel time _ Jm J x2m xN _ 00216 x10 0 11x10 x 2m x 3000 60 Tac TL 60 1 91 0 03 0 022 s tac b Accel decel torque for application to soft operation 0 05 s accel time from 0 to 3000 r min speed Jm Jt x 2m xN 0 0216 x 10 0 11x10 x2n x 3000 Tac TL 0 03 0 86 NJ m 60 x tac 60 x 0 05 Where Jm Moment of inertia of motor kg m N Motor speed r min Tac Max torque which can be output within an increase from 0 to 3000 r min iv Operation pattern 500 mm s Speed 0 05 Time sec ped 0 05 0 05 Torque v Moving length of ball screw Moving velocity v of mechanical equipment system at 3000 r min motor speed N vo Xx Bp x gr g 3000 60 60 X 10 x 1 1 500 mm s
58. system para current position data LS Z phase pulse Low order word PC Amplifier Current position current deviation basic para system para current position data LS Z phase pulse High order word PC Amplifier Current speed current speed data Low order word PC Amplifier Current speed current speed data High order word PC Amplifier Current torque current timer data PC Amplifier Alarm code current status Current M code KCN RE CSEL MEER ais Para No current current positioning data oa oa ed br E or our out OUT OUT OUT OUT OUT OUT Rewrite Read 10 11 12 13 14 15 16 end end EJ Basic para system para position data Low order word PC gt Amplifier Basic para system para position data High order word PC gt Amplifier Speed command speed data setting Low order word PC gt Amplifier Timer data setting pro Timer sem AT EG SEL2 SEL1 SELO Para No setting positioning data setting d uu cH cu CONT CONT CONT CONT CONT CONT CONT CONT CONT CONT Rewrite Read 10 11 12 13 14 15 16 17 18 19 command command The data to read or to rewrite can be selected by on off of SELO SEL1 SEL2 at bit 8 to 10 in word 14 Speed command speed data setting High order word PC gt Amplifier Read rewrite data selection SEL2 SEL1 SELO IQ area Upper line 0 to 7W Lower line 8 to 15W OFF OFF OFF Current command position current speed current
59. 11097 1 Screw hole metric diameter x depth of shaft extension 2 Insulating protection tube 3 Shaft extension p S and flanged spigot p LB are machining finished with h6 or h7 fits 3 23 MHT259a Engl h With providing brake GYS slim type cont d GYS300 to 502DC1 S8B SB or SA B type 0 03 to 5 KW SHAFT EXTENSION 3 24 MHT259a Engl i With providing speed reduction gear unit GYS slim type gear ratio 1 9 GYS300 to 502DC1 S8B SB or SA type and gear head 0 03 to 5 kW N 4 M6 x 15DEPTH 300 30 300 30 300 30 300 30 SHAFT EXTENSION 300 30 300 30 ND SHAFT EXTENSION SHAFT EXTENSION jN Oa O H 502DC1 SA 1 Screw hole metric diameter x depth of shaft extension 2 Insulating protection tube 3 Shaft extension S and flanged spigot p LB are machining finished with h6 or h7 fits 3 25 MHT259a Engl i With providing speed reduction gear unit GYS slim type gear ratio 1 9 cont d GYS300 to 502DC1 S8B SB or SA type and gear head 0 03 to 5
60. 2 CONT4 RST alarm reset CONT5 START auto start CONTE ORG origin return CONT7 X1 multistep speed selection X1 CONT8 30 V DC 50 mA max Initially assigned at factory OUT1 RDY ready OUT2 CPURDY CPU ready OUTS Data errer OUTA Address error OUT5 Input for speed command and torque command 10 V DC 200 mA Input terminal for speed command voltage Analog voltage Initially assigned at factory MON1 Speed monitor MON Torque monitor Input freq 500 kHz max differential input Freq dividing terminal Two 90 phase different signal is outputted in proportion with rotational quantity of motor Power supply for serial encoder backup unused 1 Each of terminal M5 is internally connected They are not connected with terminal M24 Note 2 Direction of motor shaft rotation when viewed from a point facing the drive end of motor is designed according to Japanese standards Forward direction Counterclockwise CCW rotation Reverse direction Clockwise CW rotation 4 12 MHT259a Engl 2 SX bus type SX bus direct connection Host controller can be direct connected to an SX bus of MICREX SX series 16 word of the IQ area are reserved and position control is executed on the amplifier side It is possible to extend an amplifier with one SX bus extension cable The IQ area of the CPU is of 512 word at maximum RYS S3 LSS type ampli
61. 4 39 MHT259a Engl m SX bus type 0 2 KW for 100 V class input voltage of amplifier 2 Safety Isolation O O OO Power supply Pl P B N Single phase 100 V class L1 oF O L2 UO Safety Isolation zt e ale OB 5 gp 1 IN sa 3 2 um 31 S BAR 473 lt L4 67 gt IG 594 4 i SG 6 x 7 5 a ie ts A A ee 7 01 BAT 210 ME Ov e M 265 425 P5 o SBA e sl 12 A Ez aol La e 413 M MY 240 P24 o 1 P24 2 2 CNT Y 3 CN gt 9 4 CNB 9 5 QNA a 6 F24 HAB 95 am 7 Et A Q i l aNG gg 19 Y N7 gj 204 918 CNIS Q4 M4 Motor RYS201S3 LSS6 1 Shielded sheath on the shielded cables must be connected with the shell body and the shell cover 2 A braking resistor is provided built in with amplifier 4 40 Motor GYS201DC1 S6B MHT259a Engl n T link type 0 2 KW and below Safety Isolation Power supply 3 phase 200 V class Safety Isolation GYCLILILIDC1 SA GYSLILILIDC1 SA P24 P24
62. 5 7 Incidental functions This section explains other control functions that the amplifier supports Fixed passing point 1 17 Fixed passing point 2 18 Dynamic braking 15 Address error 31 Data error 30 CPU ready CPURDY 28 Brake timing 14 Interrupt valid 48 Control output signal Interrupt input 49 Override valid 43 Override 1 44 Override 2 45 Override 4 46 Override 8 47 Free run BX 54 P action 29 Control input signal LL co EET pot EN tas E aeo fo L3 L3 L3 L3 L3 L3 E3 E3 E33 5 7 1 Interrupt positioning An interrupt input causes movement by the determined amount and the stop Interrupt valid Interrupt input Control input signal B Function Interrupt positioning can be carried out in position control status with the position control 37 signal on and starts rotation with forward command FWD revers command REV Interrupt positioning makes a start when motor has started rotation with forward or reverse command while interrupt valid 48 signal on Speed in interrupt positioning follows the multistep speed selection X1 X2 or X3 signals An override can be applied to the speed Motor moves by the determined amount from the time at the ON edge of the interrupt input 49 signal and then automatically stops The move amount from interrupt input is set by basic para 81 The rotational speed maintains the speed of the time of ON edge of interrupt input While
63. 5AH Alarm detection history initialization 5BH Status information 4 24 DATA n specified speed value DATA n speed selection DATA n specified speed value DATA n speed selection 33H to 35H cancel DATA n time selection auto start origin return Data n positioning data DATA n type and selection MHT259a Engl e Interface circuits Signal name Control input Control output Analog input Analog output monitor output Pulse train input Pulse train output Specification Interface circuit 24 V DC 10 mA each one point 30 V DC 50 mA max 24V 20 kO impedance 22k Anpl i fi er Voltage output Ampl i fi er Differential input 470x3 AM26LS32 P5 lect l M5 Anpl i fi er Differential output AM26LS31 Me Ampl i fi er 4 25 MHT259a Engl 4 5 External connection diagrams normal example 1 External connection diagrams of RYS S3 L S type amplifier and GYC GYS type motor Page a Basic type 0 2 KW and below DI DO position TTTTTTTIT TTE TI TT T TIT TT ETT on 4 27 b Basic type 0 4 and 0 75 KW DI DO position TTTTTTITITTTITTITTT TIT TTE TTTT
64. As the initial value is 50 r min the NARV signal is on when the motor speed reaches the command speed 50 r min When the motor speed does not reach the command speed due to the max speed setting basic para 16 or override setting this signal turns off When FWD or REV signal is off the NARV signal does not turn on 2 Max speed basic para 16 This parameter specifies the max value of motor speed If motor speed exceeds the max speed by the override the motor rotates at the setting value In the torque control mode there is some 100 r min difference between the setting value and the motor actual speed The setting of max speed is not valid during position control using pulse train input 5 4 Origin return The section explains origin return for determining a coordinate system and position preset Control input signal Origin return ORG 5 Control output signal Origin return end 22 O Origin LS LS 6 Origin LS detection 40 O Position preset 16 Position preset end 75 5 4 1 Origin return ORG This function executes the origin return action and determines the origin Origin return ORG Control input signal B Function This function executes the origin return action at the ON edge of ORG 5 Origin return action depends on basic para setting 72 to 77 B Parameter setting To allocate the ORG signal to the control input terminal set 5 to the system para Setting valu
65. B Acceleration deceleration area 2 C Continuous operation area pod00008000 000000010010 LONA AA emen 14 0 4 12 0 4 10 7 10 0 Tor que 0 Nim 8 0 dus 6 0 4 0 4 0 0 0 2 17 1000 2000 3000 4000 5000 Speed r nin MHT259a Engl 1 GYC motor cubic type for 200 V class input voltage of amplifier cont d ggaggagnmag a agantatula pego doo 00000010010 AON OS ec pe ere SEHR RISE j 35 04 30 0 25 0 Torque Nm 20 0 15 04 10 04 204 0 5 0 j F 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 Speed r mn Speed r nin poeppepga0000 00001 0010 DOO AA EA j 35 07 30 0 28 7 25 0 Torque NInj20 0 4 15 04 10 04 0 0 1000 2000 3000 4000 5000 Speed r mn A Acceleration deceleration area 1 B Acceleration deceleration area 2 C Continuous operation area 2 18 MHT259a Engl 2 GYS motor slim type for 200 V class input voltage of amplifier ugannuugu dgaaudgugugrudi DOD0000000 000000 00 J0 A e LC LI 0 7 4 0 6 4 0 5 0 478 Torque Nm 0 4 S 0 1000 2000 3000 4000 5000 Speed r mn poda 000000 00000010010 A eee A 3 807 3 0 2 87 2 5 Torque Ni 2 0 1al L5 0 10 0 637 0 5 0 0 1000 2000 3000 4000 5000 Speed r mn ic uM ru EE L4 12 1 0
66. IMB5 IMV3 3 SS Cass zoe xe i I Y innan a SS Z7777777 RAG N 3 No oil or no water drop protection In case oil or water drop splashes the motor the motor should be protected with a suitable cover example a of figure which will not close ventilation and the motor should be mounted so that the terminal box connector or connection cable should also be protected b of figure Do not allow oil or water drop to enter the inside of motor through the shaft extension For mechanical connection with an oil lubricated reduction gear unit its oil level should always be lower than in the motor bearing housing c of figure a Protection cover c Cil level b Connector b Terminal box 4 Rotary encoder detector An encoder is used for detecting the position speed of motor The motor and encoder have been factory aligned in the circumferential direction at the time of assembly Therefore the mounting position of the encoder should not be changed fi ecu T W 3 1 MHT259a Engl Y DO NOT DISASSEMBLE Do not disassemble the motor unit There is a risk that the machine can be broken due to abnormal operation NM CAUTION Never give shocks to the encoder motor and shaft extension for example by hitting
67. MW and 1 MA M code can be set in low order byte Positioning data can be specified using SEL2 SEL1 SELO Bit 0 is read command and bit 1 is rewrite command ON edge command of each bit is always valid The timing of rewrite end and read end is as same as basic para and sytem para B Pulse value between LS Z phase The pulse value between LS Z phase can be selected at on off of SEL2 SEL1 SELO This can be read out at the ON edge of the read command Read rewrite data select ON SEL2 ON ON IQ area Upper line 0 to 7W Lower line 8 to 15W Current pulse value between LS Z phase 5 67 MHT259a Engl Esset A AA A UIS A AAA Pulse value between LS Z phase Low order word PC Amplifier 4 Pulse value between LS Z phase High order word PC Amplifier CSEL CSEL CSEL CPU Data Address Rewrite Read E OOOO 12 aio see str seo RUN FWD REV RST START ORG VELO VEL1 ABS Rewrite Read INC command command D Pulse value between LS Z phase Word position Setting range Address 0 Pulse value between LS Z phase is stored in 2 word The positive value only is allowed Address 1 The min value 1 is corresponds to 1 pulse Address 2 disabled to Address 5 Address 6 The status of SEL2 SEL1 and SELO is stored CSEL2 CSEL1 CSELO Address 7 information on each bit is always valid Address 8 disabled to Address 13 Address 14 Pulse value between LS Z phase is speci
68. Note para parameter 5 4 MHT259a Engl Run command RUN bib eady RDY E gt E l 5 2 3 Alarm reset RST This signal input resets the alarm detection from the amplifier Alarm reset RST Control input signal B Function At the ON edge of RST signal of control input signals the alarm detection can be reset Alarm detection can also be reset in the test running mode 47 74 by keypad panel Alarm detection can also be reset by turning on power supply again B Parameter setting To allocate the RST signal to the control input terminal set 11 to the system para If this signal is not allocated to the control input terminal this signal is deemed always off B Related item Resetting method of the alarm detection is as listed below 1 At the ON edge of RST signal of control input signal 2 ENT key operation in the test running mode 52474 3 Press key and v key simultaneously longer than 1 s at alarm detection 5 5 773 4 Press A key and v key simultaneously longer than 1 s at alarm history 55 274 5 Turn power off and turn on again To initialize the history 42775 of alarm detection press ENT key in the te
69. Numbers of positioning data to execute are assigned to addresses Timer dat AD7 to ADO doa M code Status Positioning data No 02 Position data Speed data x Timer data ry M code ry Status 9 D M O FALDIC Rys20183 LPs O Positioning data No 99 li Position data Auto start START orar O Speed data m Timer data o ESI M code E Status Addresses ETIN 01 to 99 FF pene EE w 66 Amplifier i Parameter setting To allocate the START signal to the control input terminal set 4 to the system para If these signals are not allocated to the control input terminal these signals are deemed always off 5 20 MHT259a Engl B Related items 1 Specifying address AD7 to ADO The address positioning data number is settled at the ON edge of auto start START signal Address positioning data number Amplifier Address Basic type DI DO position BCD code or binary can be changed over SX bus type SX bus direct connection Only binary can be specified T link type T link direct connection BCD code or binary can be changed over RS485 interface Only binary can be speci
70. SELO Para No setting positioning data setting rd ud acd KN CONT CONT CONT CONT CONT CONT CONT CONT CONT CONT Rewrite Read 10 11 12 13 14 15 16 17 18 19 command command Read rewrite data select SEL2 SEL1 SELO IQ area Upper line 0 to 7W Lower line 8 to 15W OFF OFF OFF Current command position current speed current torque current M code Positioning data setting speed command speed data setting OFF OFF Current feedback position current speed current torque current M code Positioning data setting speed command speed data setting OFF OFF Current deviation current speed current torque current M code Positioning data setting speed command speed data setting ON OFF OFF Current basic para Basic para setting ON OFF Current system para System para setting ON OFF Current positioning data Positioning data setting ON Current pulse value between LS Z phase 5 60 MHT259a Engl 4 Read command Rewrite command To read the positioning data basic para and system para turn on the read command at bit 0 in word 15 position The read end at bit 0 in word 7 turns on when reading is ended To perform write turn on the rewrite command at bit 1 in word 15 The rewrite end at bit 1 in word 7 turns on Data such as current command position that always changes can be read out continuously at the ON edge of read command b Immediate positioning Position data can be written into position of
71. Safety Isolation Power suppl y 3 phase 200 V class Safety Isolation 1 Shielded sheath on the shielded cables must be connected with the shell body and the shell cover 2 A braking resistor is provided built in with amplifier 5 57 MHT259a Engl When the servo lock is released at the alarm detection run command RUN off and forced stop EMG off the brake timing output is off Alarm detection At alarm detection the brake timing output goes off immediately to operation the braking D RUN 1 At RUN off the motor decelerates quickly and turns off by the NZERO 24 signal on direction overtravel detection 7 direction overtravel detection 8 EMG 40 At signal off the motor decelerates quickly and turns off by the speed zero 24 signal on Temporary stop 31 At the ON edge of temporary stop signal the motor starts deceleration and turns off by the deviation zero 23 signal on When the temporary stop is off the remained action is executed The brake timing at signal off is same as when starting a movement Positioning cancel 32 At the ON edge of positioning cancel signal deceleration starts The brake timing is same as when
72. TREF and NREF can be adjusted simultaneously by the automatic offset adjust The adjustment result will be stored in system para 64 and 66 Along with the change of ambient environment the offset adjust may be required again With the setting of system para 81 the operation at stoppage can be selected When the servo lock is selected the motor can be stopped by the servo lock even in speed control mode However when the host controller is controlling the amplifier using the speed command voltage and freq dividing output pulse feedback do not select the servo lock 7 22 MHT259a Engl 8 SETTING OF POSITIONING DATA 8 1 Setting contents 99 points of positioning data can be registered in the amplifier Each positioning data registers contents of one positioning action Positioning data are numbered 1 to 99 sequentially address Nos E R PldDatal i fe LS PPE a ATI REO RTD O osa Sala ejej vese 2 5000 00 3000 00 3000 00 0 01 0 01 0 01 AFIDE F Briso ooa MEPIS C ES ASAE mso on CA EI C Inc CE tease 000 2 gt medo c Hee TO ma ke Pate OA TLJDSBEHBUED PVAARE SHAW PIINET AED PAUSO 07x ESAR Externally specifying an address No and applying an auto start signal START starts positioning action according to its setting contents The setting contents of one positioning data are as follows Setting contents of positioning data Position data stop position 79999999 to 0 to
73. also Holding down the A key and v key simultaneously for at least 1 s at a status where an alarm detection is displayed resets the alarm detection 10 7 MHT259a Engl a Overload motor overheat Keypad panel display q fil IIL LIL Contents of alarm The rms root mean square value of torque command value of motor exceeded the value allowed to the motor detected by electronic thermal relay built in amplifier Cause check and remedy Overload OL Detected while motor is at Power wiring for motor and amplifier may be disconnected Power standstill wiring may not be connected to U U V V W W phases Check the resistance values Display torque value in monitor mode 7 5 777 3 I Overload detected while motor is Overload is detected if monitor value of 7 m 7 7 exceeds 100 at rotating at constant speed all times For some reducers the load increases in proportion to the speed Motor dwell time or constant speed Accel decel may frequently be repeated and overload may be running time is short detected on account of accel decel torque Increase the accel decel time Increase the dwell time If after the above trials overload is not detected alarm is attributable to torque at accel decel Contact us b Absolute data lost Keypad panel display Contents of alarm Absolute value data of the 16 bit serial encoder built in GYC GYS type motor are lost Cause
74. always off B Related items 1 Immediate rewrite DI DO position B Related items The following shows a write sequence for position data immediate data It is written by groups of 8 bit via ADO to AD7 SX d 9 FALDIC Rvszoiss vvs Immediate rewrite 39 vfs gt oa ow Rewrite end 13 EL Tale n TE Immediate data selection 0 40 Immediate data selection 1 41 zu MENN Immediate data 8 bit may gt 5 Taw 90 Immediate rewrite sequence Immediate rewrite 39 SENSE DO DO DO DO Rewrite end 13 m o DO ou on 5ms or more A Immediate data selection 1 41 3 X 2 X 1 Y o Y Immediate data selection 0 40 Address AD7 12 X 34 X 56 X 78 x Address ADO 1 Select which to rewrite by turning on off the immediate data selections 1 and 0 2 Prepare data of 8 bit to rewrite with in AD7 to ADO 3 Turning on immediate rewrite 39 rewrites the range selected by immediate data selections 0 and 1 OUT assign rewrite end 13 turns on When a rewrite end signal has turned on immediate data selections 0 and 1 may be changed 4 Turning off the immediate rewrite 39 also
75. ifier RYSOO S3 LRS 1 Shielded sheath on the shielded cables must be connected with the J terminal and the shell cover 2 A braking resistor is provided built in with amplifier 4 50 MHT259a Engl w General purpose communication RS485 interface 2 to 5 KW L4 i 0 O0 O9 0 0O Pl P EDBlLE2EB3 N Power supply 3 phase 200 V class BAT 21 Tn j Mw 26 das P o l FA Dx 12 9 m s 12 A Ez aol zc l1 m 113 m MIN 24 P24 o 1 P24 2 an 3 QNI2 E 5 4 CNB r p15 GND ama 7o li one QUI3 19 ER li anv 4 20 Es 118 CONS dar 914 M4 Safety Isolation Motor GYCLILILIDC1 SA GYSLILILIDC1 SA P24 Amplifier al RYSO S3 LRS 1 Shielded sheath on the shielded cables must be connected with the J terminal and the shell cover 2 A braking resistor is provided built in with amplifier 4 51 MHT259a Engl x General purpose communication RS485 interface 0 05 and 0 1 KW for 100 V class input voltage of amplifier Safety Isolation O O za Power supply Single phase 100 V class e O L1 t pa
76. in 1 step 13 Power 15 0 to 55 in 1 step 5 5 1 Power 1 Power 12 Power Power 16 0 to 55 in 1 step Power 17 0 to 55 in 1 step Power 18 0 to 55 in 1 step Power 10 CONT10 signal assignment 0 to 55 in 1 step I4 19 CONT19 signal assignment 0 to 55 in 1 step fo Power JC NNNM AA to Unused 21 22 Power 23 Power 24 Power 25 Power 26 Power 27 Power 28 Power 29 Power 30 Power 31 0 to 75 in 1 step Power 32 0 to 75 in 1 step Power 33 i w R OUT4 signal assignment 0 to 75 in 1 step 2 Power OUTS signal assignment 0 to 75 in 1 step 28 Power OUTE signal assignment 0 to 75 in 1 step 16 Power o OUTS signal assignment 0 to 75 in 1 step 1 Power 37 0 to 75 in 1 step 30 Power 38 0 to 75 in 1 step Power 39 0 to 75 in 1 step po Power 40 OUTIOsignalassignment Oto75 niste o Power 4 0 to 75 in 1 step o Power 42 0 to 75 in 1 step fo Power 43 0 to 75 in 1 step o Power 44 0 to 75 in 1 step o0 Power 45 0 to 75 in 1 step o Power 46 OUTt signalassigment Oto75 niste PO Power 6 9 MHT259a Engl SX bus type SX bus direct connection Bl System parameter for RYS L type 2 2 SX bus Para Setting range Initial value Change 47 to Unused 66 67 Monitor 1 signal assignment 1 Speed command 2 Speed feedback 2 Always 3 Torque command 4 Position deviation 68 Monitor 2 signal assignment 1 Speed command 2 Speed
77. is combined as a pair allowable max breakdown torque of 0 2 KW motor can be obtained as 450 in the case of the max torque of the motor is 450 of the rated torque Furthermore in this case other data are as follows The moment of load inertia after conversion into motor shaft extension is at most 30 times the moment of inertia of motor rotor Acceleration deceleration time up to rated speed is 2 ms or more The motor shaft extension is directly mechanically connected and is subjected to no external radial or thrust force 2 Moment of inertia J Moment of load inertia after conversion into motor shaft extension Ju Moment of inertia of motor rotor VERS ao A 2 11 MHT259a Engl b 1 to 5 kW Amplifier type RYS S3 LPS 402 502 Applicable motor output 1 kW 5 Input 3 phase for power supply single phase for control 50 60 Hz 200 200 220 230 V 10 to 15 Control System Sinusoidal wave PWM current control all digital data Carrier freq kHz 5 Feedback 16 bit serial encoder one rotation resolution 16 bit multiple rotation 16 bit Speed 1 r min for 0 to 100 deviation control Supply volt max For 10 to 10 fluctuation accuracy 0 2 max for 25 C 10 variation at analog volt input Speed range 1 5000 at rated load 600 Hz at J Jm 2 100 times of the motor rotor inertia permissible Overload capability 300 for approx 3 s 300 for a
78. m 38 2 47 8 Moment of inertia of motor rotor x 10 J kg m7 1 12 1 37 Current a Rated 71 96 hze t85 245 30 73 5 90 Winding insulation class F Operation duty type Continuous Degree of enclosure protection Totally enclosed IP55 except for shaft sealing Electrical connection Motor power With connectors terminals Temp detection Without providing Type of construction mounting IMB5 IMV1 IMV3 flange mounted Shaft extension cylindrical With key Final color for external non machined surface Munsell N1 5 Pulse encoder 16 bit serial encoder Vibration level peak to peak amplitude 10 u m 1 Install location For indoors 1000 m and below of site altitude Ambient climatic conditions Temperature 10 to 40 C humidity 90 RH max no condensation Acceleration vibration acceptable max m s 24 5 Mass weight kg 18 5 16 External dimension See 1 g of 3 3 External dimensions b Additional data for motor with providing brake ii 1 to 5 KW Type GYSOODODC1 SA B 402 502 Rated output kw CS E OC 5 Rated torque N m 15 9 Braking torque N m a Rated voltage DC V Attraction time ms 35 120 Releasing time ms 30 Brake input W 12 Mass weight Kg 59 es amp j7z9 es t55 18 External dimension See 1 h of 3 3 External dimensions 2 7 MHT259a Engl c Additional data for motor with providing reduction gear gear head unit ii Motor wit
79. 1 Shielded sheath on the shielded cables must be connected with the shell body and the shell cover 4 53 MHT259a Engl 2 External connection diagrams of RYS V type amplifier and GYC type motor a Positioning unit AD75 Typical connection with AD75 type positioning unit Mitsubishi Electric Corp is shown below Safety Isolation Power supply 3 phase 200 V class AD 5P1 S3 Amplifier RYSLILILISS VVS Notes 1 For 0 2 KW and below braking resistor is not provided built in with amplifier The pulse output mode is used for CW CCW 2 pulse output O CONT and OUT of CN1 terminals are initially assigned at factory Terminal symbol CONT1 CONT2 CONT3 CONT4 CONT5 CONT6 CONT7 CONT8 Function 4 RUN FWD REV RST Multispeed selection Pulse train Positioning x1 X2 ratio 1 control Terminal symbol OUT1 OUT2 OUT3 OUT4 3 OUT5 Function 4 CPURDY _ NZERO PSET 4 54 MHT259a Engl 2 Direction of motor shaft rotation when viewed from a point facing the drive end of motor is designed according to Japanese standards Forward direction Counterclockwise CCW rotation Reverse direction Clockwise CW rotation 3 The assign number for positioning end PSET is 2 4 CPURDY CPU ready PSET Position
80. 10 to max speed r min in 1 step Always The output range of the speed zero NZERO signal can be set The minimum unit is 1 r min 10 Basic parameter 53 Praag i PPOSF Para Change 53 10 to 10000 pulse in 1 step Always The range where the deviation zero signal is on can be set The setting value is the encoder pulse count 6 27 MHT259a Engl 11 Basic parameter 54 PAGO 1 PPOS5u Para Setting range Initial value Change 54 Deviation excessive width 10 to 65535 in 1 step x 100 pulse 10000 Always Sets the pulse count for alarm detection about deviation excessive Initial value at factory setting is 10000 and detects the deviation amount with 1000000 pulses At factory setting deviation excessive is detected when the difference deviation between command position and feedback position becomes approximately 15 2 revolution when converted to motor rotation The deviation excessive width is set for use with alarm detection 12 Basic parameter 55 to 57 PAGO 1 PPOSS PPGS5 1 Para Change 55 _ Positioning end output form 0 Level t Oneshott fo Power 56 0 01 to 1 00 s in 0 01 step Always 57 0 000 to 1 000 s in 0 001 step Always The output form output time and judgment time of positioning end signal PSET can be set For details see 5 5 2 Positioning end PSET A Speed y Devi
81. 16 bit serial encoder built in the motor is an INC ABS common use encoder An ABS system can be established if a battery is installed in the amplifier The encoder can output a freq dividing output pulse of 16 to 16384 pulse rev The multiple rotation count is 232767 to 32767 in an ABS system WB Alarm detection in ABS system The alarms against absolute data overflow AF and absolute data lost AL will be detected only in the ABS system These alarms will be reset by the position preset Bi Current position backup When power failure occurs the absolute data of encoder can be backed up by the battery built in the amplifier The backup time is approx one hour after the motor encoder cable is disconnected from the amplifier Backup ti ackup time by encoder alone Approx one hour Super capacitor 6 58 MHT259a Engl Some backup methods are available 1 Battery built in amplifier type WBS S This is a lithium primary battery built in the amplifier and cannot be recharged The lifetime is approx 7 years on condition that it is turned on for 8 hours per day it backups 16 hours Lifetime of optional battery A a 16 hour backup after 8 hour power on per day PES HE 2 External battery The connector 1 CN1 for control input output is equipped with the input terminals BAT BAT for backup power Connect 3 6 V power to these trminalls Do not install the backup battery into the amplifier itself if you conne
82. 2 Override 4 Override 8 Interrupt input valid Interrupt input Deviation clear Multistep speed X1 X1 Multistep speed X2 X2 Multistep speed X3 X3 Free run BX Edit permit command Current position output Function output signal assigned to RS485 interface system para 31 to 42 OUT1 to OUT12 0 1 2 13 14 15 16 17 18 19 20 Cycle end CEND Origin return end Deviation zero Speed zero NZERO Speed arrive NARV Torque limit detection Overload early warning CPU ready CPURDY Edit permit ON 6 14 Not assigned Ready RD Y Positioning end PSET Rewrite end Brake timing Dynamic braking Alarm detection ALM Fixed passing point 1 Fixed passing point 2 Limiter detection OT detection 30 31 32 33 34 35 36 38 39 40 41 60 61 62 63 64 65 66 67 75 Data error Address error Alarm code 0 Alarm code 1 Alarm code 2 Alarm code 3 Alarm code 4 OT detection OT detection Origin LS detection Forced stop detection MDO MD1 MD2 MD3 MD4 MD5 MD6 MD7 Position preset end MHT259a Engl RS485 interface WB System parameter for RYS L type 1 2 RS485 interface No Setting range Initial value Change 01 CONT1 signal assignment Power 02 0 to 56 n 1 step Power 03 0 to 56 n 1 step 6 Power 04 0 to 56 n 1 step Power 05 0 to 56 n 1 step 8 Power 06 0 to 56 n
83. 220 1879 Facsimile 714 220 1870 EC Middle East and Africa EC Service Center Fuji Electric Senefelder Str 1 63110 Rodgau F R GERMANY Phone 06106 75013 Facsimile 06106 72713 South East Asia South East Asia Service Center Fuji Electric Block 5000 Ang Mo Kio Ave 5 02 03 SINGAPORE 569870 Phone 481 5079 Facsimile 481 5476 Contracted Service Companies Asia and Oceania CNC and Robotic Automated Services 20 Hackett Terrace Marryatville S A 5068 AUSTRALIA Phone 08 8378 6081 Facsimile 08 8364 4021 O Fuji Electric Technology and Service Shenzhen Co Ltd Room 209 Liming Bldg No 144 Zhongxing Rd Luohu Ku Shenzhen City CHINA Phone 0755 220 2745 Facsimile 0755 218 5812 O Fuji Electric Asia Co Ltd Room 1001 10th FI Tsimshatsui Center 66 Mody Rd Tsimshatsui East Kowloon HONG KONG Phone 2311 8282 Facsimile 2312 0566 O Autonum Controls Pvt Ltd 17 Adukia Apartment S Mody Rd Kandivli West Mumbai 400 067 INDIA Phone 022 8658136 Facsimile 022 8073246 Donghai Corporation Donghai Bldg 1056 28 Namhyun dong Kwanak ku Seoul R O KOREA Phone 02 586 0058 Facsimile 02 586 0057 O Gaius Industries Co Ltd 2nd FI Young Shin Bldg 954 4 Dogok dong Kangnam gu Seoul 135 270 R O KOREA Phone 02 554 0766 Facsimile 02 554 1118 Taiwan Optical Measuring Instrument Co Ltd 6th FI 3 No 190 Sec 2 Chung Hsing Rd Hsin Tien City Taipei Hsien
84. 3 Sequence mode In the sequence mode the amplifier current status and the alarm detection history can be displayed Press the MODE key to display 5 m Lln and then press the ENT key for more than 1 s Gal Sequence Gn Submode SAGs Alarm detection 5n Alarm history SAGGS Amplifier setting SAnGGS amp Motor setting L 1 Station No indication 1 Sequence Indicates the amplifier output signal status and operation status ENT 1 s or more lt Gono i ESC boat Speed zero Speed arrival Ready Positioning end Description In base off condition the motor has no driving force and in free run status Figure above Deviation zero The motor can rotate Forced stop detection CEP E The amplifier has detected an overtravel signal in positive The corresponding LED goes on when the above Parb direction and stops each output signal is on 7 L The amplifier has detected an overtravel signal in negative direction and stops The amplifier has received a forced stop signal and stops with the speed zero signal Remark When power is applied to the amplifier the sequence of the sequence mode is displayed The type of indication at power on can be changed by system para 89 setting 7 5 MHT259a Engl System para 89 setting Setting Initial indication 0 Initial Sequence 1 5 ri Gud Su
85. 5 The selected current value can be read out at the ON edge of read command at bit 7 in word 5 position Once the read command is turned on the data can be read out continuously Read rewrite data select 2 3 sa 5 wBarea whenreading ON Torque command OFF ON fon Deviationamount uS me mim on ON orr o ON ON Loe Lon ON on OFF Cumentcommandpostion ON ON on on Command speed Lose Lore Lore ore WB area when rewriting Speed command Address 0 1 2 3 4 5 6 7 8 9 A B C D E F CPU Alarm Address OT OT LS EMG Data end end 2 Read data High order word PC Amplifier 3 Read data Low order word PC Amplifier a aun prse wo ev na eus e ves veo 8 9 5 Read rewrite data select Address No command command 6 Rewrite data High order word PC gt Amplifier 7 Rewrite data Low order word PC gt Amplifier The contents read out in word 2 3 position are of BCD 8 digits or 32 bits binary changeable by system para 98 5 71 MHT259a Engl Current value Data selection Setting range Current feedback position Motor s current position is stored The min value 1 is corresponds to unit quantity Feedback speed Current rotational speed is stored The min value 1 is corresponds to 1 r min Torque command Current output torque is stored The min value 1 is corresponds to 1 of rat
86. 5 r4 Manual lever E Cam 23 Mass 5 g 231702 026 000 231 131 11 18 MHT259a Engl n Battery Connector kit type WSB S o e EXA o ERI APA e 16 5 0 5 Battery ER1733WK41 1PP i 50t 5 gt Ip e Nominal voltage 3 6 V l 36 Capacity 1500 mAh O Mass 15 g Storage of battery If a battery has been out of service for long term the following procedures should be followed Battery should be stored in the storeroom The storeroom should be well ventilated and selected for possible protection against temperature and moisture Surrounding condition should be kept within 10 to 75 C temperature and 10 to 90 RH humidity Storage term should be within two years 3 External braking resistor unit mm a Resistor type WSR 401 Application RYS type amplifier 0 4 kW and below lt 182 5 1 5 gt 172 1 gt 1000 100 Ug i Y 4 20 0 3 Thickness of mounting plate is 1 2 mm mass 235 g 11 19 MHT259a Engl b Resistor type WSR 751 Application RYS type amplifier 0 75 kW
87. 51 10 to max speed r min in 1 step Always 52 Speed zero width 10 to max speed r min in 1 step 20 Always 53 Always 54 10 to 65535 in 1 step x 100 pulse 10000 Always 55 0 Level 1 One shot 57 0 000 to 1 000 s in 0 001 step 0 050 Always Power 56 0 10 Always 58 50 Always 59 Always 60 to Unused x 4 E 62 Fixed passing point detection 0 Fixed point 1 Passing point OFF ON Always 63 Fixed passing point detection position 1 79999999 to 0 to 79999999 in 1 step x unit qty o Always 64 Fixed passing point detection position 2 79999999 to 0 to 79999999 in 1 step x unit qty o Always 65 Always 66 Always 67 to Unused Ee E o IE i 71 Power 72 Origin return direction Positive direction t Negativedirection 0 Power 73 Z phase detection valid invalid O Vaid t Ivaid Jo Power 74 Origin LS loge _________ o NOcontact 1 NCconact jo Alwaayss 75 Always 76 0 01 to max speed r min in 0 01 step Always 77 1 to 2000000 in 1 step x unit q t Always 78 0 to 79999999 in 1 step x unit qt lo Always 79 Origin return position 7999999910010 79999999 in 1 step x unit qty o Always so Preset position 79999999 to 0 to 79999999 in 1 step x unit qty o Always 81 Always 82 Always 83 0 01 to max speed r min in 0 01 step Always 84 Always 85 Always 86 Backlash correction Oto 10000 fpulse n1 step Jo Always A 8
88. C 10 variation at analog volt input Speed range 1 5000 at rated load 600 Hz at Ji Ju 2 100 times of the motor rotor inertia permissible Overload capability 300 for approx 3 s Function Regenerating dynamic with external braking resistor Protection i output overcurrent OS overspeed Ly low voltage undervoltage v high voltage overvoltage Et encoder trouble Ct circuit trouble amplifier trouble data error memory error CE combination error rH resistor heat 2 encoder communication error CtE cont control signal error L motor overload rH resistor heat braking OB resistor overheat C o OF DS s F over flow deviation excessive AH amp heat amplifier overheat H encoder heat encoder overheat AL absolute data lost AF absolute data over flow Display setting CHARGE red 7 segment LED with 5 digit and 4 operation keys Ambient Install location For indoors 1000 m and below of site altitude under clean atmosphere condition no explosive hazardous gas and vapour is existing In the case of compliance with the European standard Pollution degree 2 Over voltage category Il Temp humidity 10 to 55 C 90 RH max no condensation Vibration shock 4 9 m s 19 6 m s acceleration acceptable max Others DC reactor terminals P1 P for harmonics suppression UL cUL compliance with UL508 European standards compliance with EN50
89. CAUTION are used in this manual to point out particular hazards and to highlight some unusual information which must be specially noted Cautionary indications Description D DANGER NM CAUTION Pictorial symbols are used as necessary Pictorial symbol Pictorial symbol Description EY Do not disassemble Electrical shock hazard warning Warning display The warning display in Fig B is located at the arrows in Fig A Indicates that death or severe personal injury will result if proper precautions are not taken Indicates that personal injury or property damage alone will result if proper precautions are not taken RENSHTNDO AE SOWEENA SOREARCMOBUC Lo FRED E T0 EXCESS A WARNING RISK OF ELECTRIC SHOCK Dont touch the controller while applying power and at least Smin after disconnecting power RISK OF ELECTRIC SHOCK Securely ground earth the controller Warning display Fig B shows following contents There is a risk of electric shock Do not touch the amplifier when a commercial power is applied and for at least five minutes after de energization Be sure to ground applicable for Japan only grounding equal to 3rd class grounding structure of Japanese standard grounding resistance 100 Q or less must be connected with the terminal marked i MHT259a Engl D DANGER Prior to inspection turn off power and wait for at least five minutes Otherwise there is a risk of elect
90. CONT5 OT CONT6 Forced stop EMG CONT7 CONT8 3 OUT5 to OUT12 The signals of OUT5 to OUT12 allocated to system para 35 and later will be reflected to the message ST2 4 Response time The response time of operation command is approx 5 ms or less and that of para rewrite max 4 is approx 20 ms The time period required from the command receive from amplifier to the response command send can be fixed by system para 91 setting 5 74 MHT259a Engl Data read out from amplifier Host controller Amplifier Amplifier Data write and operation command to amplifier Host controller Amplifier ee Amplifier 5 Valid receive time The valid time after receiving STC of a message up to receiving the last BCC Block Check Code Character is 0 5 s at factory shipment Since a message contains 40 characters max the message can be received in 0 046 s to its end 40 characterx 11 bit 9600 bps 0 046 s If the BCC is not received within 0 5 s the message will be discarded The valid receive time can be set by system para 92 5 75 MHT259a Engl 6 Communication time over The detection function of communication time over is invalid at factory shipment If a message cannot be received within a specified time the operation command that the amplifier has already received is invalidated The
91. Cycle end CEND Origin return end Deviation zero Speed zero NZERO Speed arrive NARV Torque limit detection Overload early warning CPU ready CPURDY Edit permit ON Not assigned Limiter detection 30 31 32 33 34 35 36 38 39 40 41 60 61 62 63 64 65 66 67 75 Data error Address error Alarm code 0 Alarm code 1 Alarm code 2 Alarm code 3 Alarm code 4 OT detection OT detection Origin LS detection Forced stop detection MDO MD1 MD2 MD3 MD4 MD5 MD6 MD7 Position preset end MHT259a Engl T link T link direct connection WB System parameter for RYS L type 1 2 T link Para Setting range Initial value Change 0 CONTI signal assignment Oto55 nistep Jo Power 02 CONT2 signal assignment Otoss intstep 0 Power 03 CONT3 signal assignment Oto55 ntste 0 Power 04 CONTA signal assignment Otoss intstep 0 Power 05 CONTS signal assignment Oto55 niste 0 Power 06 CONT6 signal assignment Oto55 ntste 0 Power 07 CONT signal assignment Oto55 niste 0 Power 08 CONT8signalassigment Oto55 niste 0 Power 09 CONT9 signal assignment Oto55 ntste 1 Power 10 CONTIOsignal assignment OtosS nistp Pwr 11 CONTI signal assignment OtosS nistp st Power 12 CONT12 signal assignment 0tosS nistp e
92. DATA 5 Position DATA 6 data DATA 7 DATA 8 DATA 9 DATA 10 L Speed data DAIA 11 rA T MBB Timer data DATA 14 M code DATA 15 CE Status DNA 16 MB i aly a i i i Position data i 1 DATA 19 LSB DATA 20 MBB DAIA 21 TIENE cues inscri DATA 22 1777 pS DATA 23 12 ESB DATA 24 MB uu o DATA 25 777 188 DATA 26 M code 1 Up to 2 consecutive positioning data beginning from positioning data No can be rewritten Transmit from amplifier There are no DATA n ACK or NAK returns 2 ea DATA 15 ABS INC L Specify CO Specify CEND Unused M code valid M code later output Unused Memory error 5 85 MHT259a Engl ii Run command RUN CM 34H SCM 30H Run command RUN off 31H Run command RUN on Transmit from host controller There are no DATA n Turns off and on the run command RUN signal from amplifier Transmit from amplifier There are no DATA n ACK or NAK returns The run command RUN signal from amplifier can be turned off and on by the command The run command has been allocated to a control input signal at factory shipment Turn on the run command to run the motor W Forward operation FWD Reverse operation REV 34H M sam 32H Forward operation immediate on 33H Forward operation multistep speed
93. LS logie 0 NO contact 1 NCconact Always 75 Always 76 Always 77 1 to 2000000 in 1 step x unit q ty Always 78 0 to 79999999 in 1 step x unit q ty o Always 79 79999999 to 0 to 79999999 in 1 step x unit q ty lo Always These parameters are related to the origin return action For details see 5 4 1 Origin return 6 30 MHT259a Engl 19 Basic parameter 80 ron PAGO I PPOEG Para Setting range Initial value Change 80 Preset position 79999999 to 0 to 79999999 in 1 step x unit q ty 0 Always This para sets the position to rewrite with the position preset 16 of control input signal 20 Basic parameter 81 PAGO il PPOG Para Change 81 1 to 79999999 in 1 step x unit q ty 100000 Always In interrupt positioning the move amount from interrupt input to a stop can be set The set value is positive only and the move direction is the rotational direction in interrupt positioning 21 Basic parameter 82 83 PAGO i PPG8e PLEOBI Change Skip feed quantity 1 to 79999999 in 1 step x unit q ty 2000 Skip feed speed 0 01 to max speed r min in 0 01 step 100 00 Always These para set the quantity and speed of the skip feed which is executed in the test running mode by a personal computer loader The rotational direction depends on the setting in the test running mode 22 Basic parameter 84 85 PaDU PPDB PPOBS P
94. MD6 29 P action 28 CPU ready CPURDY 67 MD7 30 Torque limit 29 Edit permit ON 75 Position preset end 31 Temporary stop 6 38 MHT259a Engl 3 T link type T link T link direct a System parameter 1 to 21 56 to 59 connection PrdGel PPGG PPO I ratos PPOSG PPOSS Para Change 01 CONTI signal assignment 0to55 in1step 0 Power 02 CONT2signalassignment___ 0to55 nistp 0 Power 03 CONTSsigndlassigmen 0to55 nistp 0 Power 04 CONTA signal assignment 0to55 nistp o 0 Power 05 CONT5signdlassigmen 0to5S nistp 0 Power 06 CONT6 signal assignment Oto55 intstep __ 0 Power 07 CONI7signdlassigmen 0to55 in1step 0 Power 08 CONT8signdlassigmmen Oto55 nistp 0 Power 09 1 Power 10 4 Power 11 2 Power 12 3 Power 13 Power 14 10 Power 15 11 Power 16 12 Power 17 13 Power 18 CONTi8 signal assignment OtoS5 intstep _ CL Powe 19 Power 20 16 Power 21 CONT2 signal assignment 0to55 nistp 0 Poer 56 CONT22signalassigomen 0to55 nistp 0 Poe 57 CONT23 signal assignment 0to55 nistp 0 Poe 58 CONT24signalassigpomen 0to55 nistp 0 Poe 59 CONT25 signal assignment___ Oto55 nistep Power Function input signal number assigned to Function output signal assigned to system para 1 to 21 56 to 59 system para 31 to 40 0 Not assigned 32 P
95. No detection 5 81 HA E Unused OUT1 OUT2 OUT3 OUT4 _____________ Unused Unused Unused Transmit from amplifier 7 D etogtion contents Detection contents the last 0 he latest Detection contents 2 times before Detection contents 3 times before Detection contents 5 times before Detection contents 4 times before is tection contents 6 times before Detection contents 7 times before Detection contents 8 times before MHT259a Engl Reading out of alarm detection contents CM SCM DATA n For the detection contents see SCM 32H 31H 33H Transmit from host controller No data Reading out of basic para Reading out of system para CM SCM DATA 32H 30H basic para 31H system para Transmit from host controller 7 DANIA 1 0 DATA 2 No of data read out Parameter No Transmit from amplifier 7 0 DATA 1 Detection contents latest Up to 4 consecutive basic para system para beginning from para No can be read out Transmit from amplifier Data 1 5 82 MHT259a Engl W Rewriting of basic para lil Rewriting of system para CM 32H 32H basic para 33H system para Transmit from host controller
96. OUT2 External backup Input terminals of backup power supply from external to encoder BAT BAT Control function Position control Auto start address specify sequential starting immediately positioning O Manual run multistep speed interrupt positioning pulse train input origin return 4 pattern Origin setting LS origin limit switch and Z phase position preset Position data 99 point position speed timer M code and statuses Position command max 79 999 999 x unit q ty Others Override brake timing output etc 2 14 MHT259a Engl 5 Functional specification T link type design RYS 1L1S3 LTS type amplifier Signal name Function Terminal symbol Host interface I F T link WB area 8 word T2 T1 SD Pulse train Freq 500 kHz max differential input CA CA Form 1 Command pulse and code 2 Forward and reverse pulse CB CB 3 Two 90 phase different signal Power supply 5 V DC 200 mA max P5 Freq Freq 200 kHz max open collector FA FB FZ dividing output 16 to 16384 pulse rev in 1 step Monitor output 1 2 For analog meter two one way deflection 1 Speed command MON1 2 Speed feedback 3 Torque command 4 Position deviation MON2 Power supply for I F 24 V DC 300 mA supplied from external P24 M24 Control input 24 V DC 10 mA one point source input CONT1 to External control input terminals CONT8 OUT output 30 V DC 50 mA max sink output OUT to External
97. Power capacity kVA 3 Harmonics suppression If a harmonics suppressing reactor is connected to RYS type amplifier see 11 5 AC reactor or 11 7 DC reactor 4 6 MHT259a Engl 4 Control power supply input The wiring procedure for control power supply of 1 5 KW and below is as follows a Connector Use a connector of WSK LO2P type See 3 of 4 1 Amplifier motor and optional devices layout and 2 m of 11 8 Optional cables connector kits battery and external braking resistors b Wiring Remove the insulation covering of wire by approx 13 mm length and while strongly pressing the arrow part in the figure by the operation lever furnished with the connector or flat head screwdriver insert the wire After connecting 2 wires engage the connector with the control power supply and amplifier Connect to control Connect to power supply amplifier 4 3 Wiring between motor and pulse encoder 1 Motor wiring Connect the power line of the motor to the output U V W terminals of the amplifier Do not connect commercial power supply to the motor terminals The direction of rotation of the motor cannot be changed by changing the phase sequence of the motor terminals It can be achieved by system para AN CAUTION Do not connect commercial power supply directly to the motor Otherwise motor may break grounded cable
98. SA 102 152 Rated output KW 15 Rated torque N m 3 18 4 78 Speed r min Rated 3000 5000 Max breakdown torque 3 N m 9 55 12 7 14 3 19 1 Moment of inertia of motor rotor x 10 J kg m 0 326 0 451 Current A 6 7 9 7 20 0 26 8 28 8 38 4 Winding insulation class B o o oou S IE Operation duty type Continuous Degree of enclosure protection Totally T IP55 except for shaft sealing Electrical connection With connectors terminals Encoder detector detector Temp detection Without providing Type of construction mounting IMB5 IMV1 IMV3 flange mounted Shaft extension cylindrical With key Final color for external non machined surface Munsell N1 5 Pulse encoder 16 bit serial encoder Vibration level peak to peak amplitude 10 u m 1 Install location For indoors 1000 m and below of site altitude Ambient climatic conditions Temperature 10 to 40 C humidity 90 RH max no condensation Acceleration vibration acceptable max m s 49 24 5 Mass weight kg 5 7 External dimension See 1 a of 3 3 External dimensions b Additional data for motor with providing brake i 0 1 to 1 5 KW Type GYCOOODC1 SA B 102 152 Rated output kW 1 5 Rated torque N m 3 18 4 78 Braking torque N m 2 39 Rated voltage DC V 24 Attraction time ms so 80 50 120 Releasing time Imsi fso 1 y 80 fa Brake input Wiles Jo dS 12 Mass weight Kg h
99. TAIWAN R O C Phone 02 29118420 Facsimile 02 29189378 O OESS Corporation New Jersey Head Office 800 Huyler St Teterboro NJ 07608 U S A Phone 201 288 4422 Facsimile 201 288 4496 Chicago Office 4825 N Scott Suite 210 Schiller Park IL 60126 U S A Phone 847 233 9412 Facsimile 847 233 9413 Los Angeles Office 5550 Cerritos Ave Suite H Cypress CA 90630 U S A Phone 714 220 1879 Facsimile 714 220 1870 Portland Office 7921 SW Cirrus Drive Beaverton OR 97008 U S A Phone 503 520 5044 Facsimile 503 526 0188 Sunnyvale Office 1090 E Arques Ave Sunnyvale CA 94086 U S A Phone 408 732 0789 Facsimile 408 732 0785 EC Middle East and Africa O OESS GmbH Senefelder Str 1 63110 Rodgau F R GERMANY Phone 06106 75013 Facsimile 06106 72719 South East Asia O Royal Pte Ltd Block 5000 Ang Mo Kio Ave 5 02 03 SINGAPORE 569870 Phone 481 5079 Facsimile 481 5476 Fuji Electric Co Ltd Gate City Ohsaki East Tower 11 2 Osaki 1 chome Shinagawa ku Tokyo 141 0032 Japan Phone Tokyo 5435 7111 Telex J22331 FUJIELEC Information in this catalog is subject to change without notice Printed in Japan
100. a battery WSB S type on the amplifier as follows i Pull open downward the cover for the battery holder located on the right side of amplifier For the amplifier of 2 KW or more pull open the cover toward this side ii In the battery holder there is a connector which is to be engaged with the connector provided for the battery iii Engage the connectors and close the cover in place Be sure to connect while power is off i EJ El Jn gt Q i BGRE o Battery cover on the right side cpm EE Fe Battery cover 2 KW or more on the front panel b System para 99 Turn on the power supply and set system para 99 to 1 9 2 MHT259a Engl c Turning off power To validate the set value of system para 99 turn off and on power Make sure the 7 segment on the keypad panel is extinguished goes out befor turning on again d Power supply I l Supplying power produces an alarm Absolute data lost H L H L This is because the current position data of encoder has been lost e Resetting the detected alarm Execute the position preset m 7 7 3 in the test running
101. assign terminals CONTn to signals Setting value No Signal name 43 Override valid 44 Override 1 45 Override 2 46 Override 4 47 Override 8 2 Manual feed Feedback speed Output torque Rewrite end 13 Positioning end 2 gt ms The speed of manual forward or reverse rotation can be selected by multistep speed selection X1 X2 and X3 x3 Speed OFF NREF terminal speed command voltage OFF Speed set by speed command NREF terminal basic para 1 OFF Speed set by speed command NREF terminal basic para 2 OFF Speed set by speed command NREF terminal basic para 3 ON Speed set by speed command NREF terminal basic para 4 ON Speed set by speed command NREF terminal basic para 5 ON Speed set by speed command NREF terminal basic para 6 ON Speed set by speed command NREF terminal basic para 7 12 18 MHT259a Engl 64 ered ulejs S 740 74 ees ad U ad Bulpiaip v4 D v4 baly jeuiuue nd no Buipiarp baly 99 S9 mod seg 2d Ueis g ered Wasis u01 99 esyo ueb code pueuJuloo pueuiuoo 3J41 anbio anbio indul UORISOd
102. basic para When read end signal turns on basic para has been settled If a para is specified at low order 8 bits of word 5 data set at words 6 and 7 is rewritten at the ON edge of write command word 5 bit 6 Rewrite command word 5 bit 6 Rewrite end word 1 bit 1 Basic para words 6 7 the previous value basic para After write end signal has turned on data at words 6 and 7 may be changed 5 73 MHT259a Engl 5 10 General purpose communication This section explains the transmission reception command used for RYS S3 LRS type amplifier RYS S3 LRS type amplifier executes all the control action via serial communication For the overview see 4 4 Upper interface 1 Station number The station number of message ADR part can be set by the station number setting system para 96 of amplifier Changed setting of system para is valid only after turning off and on again 2 Control input terminal CONT1 to CONTS control output terminal OUT1 to OUT4 The following signals are allocated to CONT1 to CONT8 and OUT1 to OUT4 terminals of the connector 1 CN1 at factory shipment CN1 CN1 Terminal symbol Initial value Terminal symbol Initial value CONT1 Run command RUN OUT1 Ready RDY CONT2 Auto start START OUT2 Positioning end PSET CONT3 Origin LS LS OUT3 E CONT4 0T OUT4
103. can be changed by the following method Editing is available by the keypad panel on the amplifier Editing is available by PC loader Position data can be changed by the teaching signal assigned to a CONT terminal An amplifier connectable through various links and communication can edit positioning data Setting of system para 95 can limit editing of positioning data from PC loader or keypad panel By the edit permit command signal assigned to a CONT terminal editing can be limited by external control input signal After setting the positioning data changing the decimal point position of basic para 95 may increase decrease the setting value 8 significant digits are not changed 8 4 Response time The response time for auto start operation according to positioning data is as follows 1 Basic type DI DO position Auto start START terminal sampling time Approx 2 ms Auto start software processing time Approx 4 ms Total Approx 6 ms Approx 2 ms of asynchronous time before and after sampling time is added 2 SX bus SX bus direct connection Auto start START terminal sampling time Approx 2 ms Auto start software processing time Approx 4 ms Total Approx 6 ms The calculation cycle of SX bus type itself the bus tact etc are added 3 T link T link direct connection Auto start START terminal sampling time Approx 2 ms Auto start software processing time Approx 4
104. code of positioning data Press the MODE key to display Pa inm and hold down the ENT key for at least 1 s to select the data to edit Pat Position data Palilig Speed data Palili3 Timerdata Pat Status PoflfS Mcode Then press the A key or v key to select the number of positioning data to edit first Pressing the ENT key allows to edit its contents PP lnn Positioning data number 1 Position data 57 7 As the position data set the motor stop position ENT 1 s or more Poe 1 PPOG 1 Wr ESC V PPU ENT ENT ESC 7 18 The setting range is 79 999 999 to 79 999 999 in 1 step HOL I LI LI HOL me LILI HOL Fr LILI These 5 data compose 1 point MHT259a Engl 2 Speed data Pala As the speed data set the moving speed up to the stop position data in speed of motor shaft speed of motor in 0 01 r min step 0 00 r min cannot be selected 3 Timer data Po 03 As the timer data set the timer value after arriving a stop position 4 Status Po 5 Set various information incidental to positioning data H LUH 1st digit It can be changed by the v key or key 3rd and 4th digit Indication Setting contents The setting range is up to the maximum The setting range is 0 00 to 999 99 s in 0 01 step Setting contents rr Absolute ABS Setting
105. color Cap housing Marking Socket 350570 1 Wire color iii Cable length L and mass Cable type Mass g WSC Mo6 Pos 5000 800 900 Pio 10000 00 1750 P20 20000709 3400 2 Connector kits unit mm a Control input output expanded I O for L R types Connector kit type WSK D20P 20 pin Application CN3 of RYS S3 LPS RPS amplifier 41 max gt Plug Shell kit Mass 20 g 350781 1 Pin No for CN1 10120 3000VE 10320 52A0 008 11 14 MHT259a Engl b Control input output SX bus T link RS485 Connector kit type WSK D26P 26 pin Application CN1 of other than the RYS S3 VVS LPS RPS amplifier 41 max gt gt Plug 10126 3000VE Shell kit 10326 52A0 008 37 2 25 8 Mass 20 g c Control input output Connector kit type WSK D36P 36 pin Application CN1 of RYS S3 VVS LPS RPS amplifier 41 max a P D O E of Plug 10136 3000V Shell kit 10336 52A0 008 43 5 32 2 d Mass 20 g d Encoder Connector kit type for amplifier side CN2 WSK P06 M Application 0 75 KW and below
106. command Function output signal assigned to SX bus type SX bus direct connection system para 31 to 46 OUT1 to OUT16 0 1 2 13 14 15 16 17 18 19 20 Cycle end CEND Origin return end Deviation zero Speed zero NZERO Speed arrive NARV Torque limit detection Overload early warning CPU ready CPURDY Edit permit ON 6 8 Not assigned Ready RD Y Positioning end PSET Rewrite end Brake timing Dynamic braking Alarm detection ALM Fixed passing point 1 Fixed passing point 2 Limiter detection OT detection 30 31 32 33 34 35 36 38 39 40 41 60 61 62 63 64 65 66 67 75 Data error Address error Alarm code 0 Alarm code 1 Alarm code 2 Alarm code 3 Alarm code 4 OT detection OT detection Origin LS detection Forced stop detection MDO MD1 MD2 MD3 MD4 MD5 MD6 MD7 Position preset end MHT259a Engl SX bus type SX bus direct connection B System parameter for RYS L type 1 2 SX bus Para Setting range Initial value Change 01 Power 02 0 to 55 in 1 step Power 03 0 to 55 in 1 step Power 04 0 to 55 in 1 step Power 05 0 to 55 in 1 step Power 06 0 to 55 in 1 step 1 Power 07 0 to 55 in 1 step 2 Power 08 0 to 55 in 1 step 3 Power 09 0 to 55 in 1 step 1 Power 4 Power 11 0 to 55 in 1 step 12 0 to 55 in 1 step 13 0 to 55 in 1 step 14 0 to 55
107. control input signal to the connector 1 is valid If no command is transmitted from the host controller for a certain reason the motor is set at initial status any operation command has not been received yet In this case the host controller may not receive the command even if amplifier responds The following will be displayed in the station number display screen on the keypad panel T r Uu General communication type station number indication Receiving an arbitrary command makes resetting Station number 01 T Ar E Mc time over When the operation command message turns the run command RUN on the run command RUN is turned off if the communication time over is detected The motor is held at safety side the status having no driving force The communication time over can be set by system para 93 Command CM SCM EE um en 30H 3H o j 60018 31H la 31H sH E TE A 32H 33H 32H Em FC ees Se 93H 6tots aH asoa 1 Ko KL I II 33H N Function Reading out of monitored data Reading out of the positioning data under execution Reading out of sequence mode Reading out of control input output signal Reading out of alarm detection history Reading out of alarm detection contents Reading out of basic para Reading out of system para Rewriting of basic para Rewriting of system para Reading out of positioning data Rewriting of positioning data
108. control output terminals OUT4 External backup Input terminals of backup power supply from external to encoder BAT BAT Control function Position control Auto start address specify sequential starting immediately positioning Manual run analog voltage multistep speed interrupt positioning pulse train input origin return 4 pattern Origin setting LS origin limit switch and Z phase position preset Position data 99 point position speed timer M code and statuses Position command max 79 999 999 x unit q ty Others Override brake timing output etc 6 Functional specification General purpose communication RS485 interface type design RYSOOOS3 LRS type amplifier Signal name Function Terminal symbol Host interface I F RS485 4 wire half duplex 31 stations max Pulse train Freq 500 kHz max differential input CA CA Form 1 Command pulse and code 2 Forward and reverse pulse CB CB 3 Two 90 phase different signal Power supply 5 V DC 200 mA max Freq Freq 200 kHz max differential output FA FB FZ dividing output 16 to 16384 pulse rev in 1 step Monitor output 1 2 For analog meter two one way deflection 1 Speed command MON1 2 Speed feedback 3 Torque command 4 Position deviation MON2 Power supply for I F 24 V DC 300 mA supplied from external P24 M24 Control input 24 V DC 10 mA one point source input CONT1 to External control input terminals CONT8 O
109. data after arriving the position set by the position data Setting is available from 0 00 s to 655 35 s in 0 01 s step Timer data of positioning data Position data stop position 4 Speed data motor speed Speed Positioning data 35 Time Timer data dwell time Ready ON Auto start OFF ON AD7 to ADO 35 99 PSET level ON OFF ON M code simultaneous OFF 20 OFF output The elapsed time of the timer data is included in the executing time of positioning data 8 2 MHT259a Engl 4 Status The status setting includes ABS INC and CO CEND CO CEND may not be specified Absolute ABS Incremental INC If ABS is specified the motor rotates until the current position coincides with the position set by position data If started by the position data set at 0 and the positioning data set at ABS the motor will rotate up to 0 point wherever the current position is If INC is specified the motor will rotate by the quantity of the position data setting from the current position If the position data are set at 100 0 a movement occurs by 100 0 in the positive direction from the current position Data continuation CO If started by positioning data with CO specified after completion of positioning with that data a movement automatically occurs according to setting contents of the next positioning data For example if CO is specified in positioning data No 56 t
110. feedback Always 3 Torque command 4 Position deviation 69 Monitor 1 scale 2 0 to 10 0 V in 0 1 step 7 0 Always 70 Monitor 1 offset Always 71_ Monitor 2 scale Always 72 Monitor 2 offset Always 73 Monitor 1 2 output form 0 Monitor 1 two way deflection Monitor 2 two way deflection Power 1 Monitor 1 one way deflection Monitor 2 two way deflection 2 Monitor 1 two way deflection Monitor 2 one way deflection 3 Monitor 1 one way deflection Monitor 2 one way deflection 74 Unused E n 75 Position command form Power 76 Soft OT detection position 79999999 to 0 to 79999999 in 1 step x unit q ty 79999999 Always 77 Soft OT detection position 79999999 to 0 to 79999999 in 1 step x unit q ty 79999999 Always 78 Pulse train input form 0 Command code pulse 1 Forward reverse pulse Power 2 Two 90 phase different signal 79 Output pulse count 16 to 16384 pulse rev in 1 step 2048 Power 80 Rotational direction changeover 0 Positive direction forward 1 Positive direction reverse Power 81 Operation at stoppage 1 Servolock 2 Brake P action 3 Brake free run 1 Power 82 Brake operation time 0 50 Always 83 Brake releasing time 0 20 Always 84 Operation at undervoltage Power 85 Alarm detection at undervoltage 1 Power 86 Resistor thermal relay Power 87_ CONT always valid 1 Power 88 CONT always valid 2 Power 89 initial indication Power eo to Unused 93 94 Parameter rewriting inhibit Always 9
111. has been settled If a para No is specified at low order 8 bits of word 14 it is rewritten at the ON edge of rewrite command word 15 bit 1 to words 9 and 8 Rewrite command word 15 bit 1 Rewrite end word 7 bit 1 Basic para the previous value basic para words 9 8 After rewrite end signal has turned on data at words 9 and 8 may be changed 5 65 MHT259a Engl B Positioning data Read out and rewrite of positioning data can be selected at on off of SELO SEL1 SEL2 This can be read out at the ON edge of the read command Read rewrite data select SEL2 SEL1 SELO IQ area Upper line 0 to 7W Lower line 8 to 15W ON OFF Current positioning data Positioning data setting adress AAA ed a oeo A EA net OE OA Current position data Low order word PC e Amplifier Current position data High order word PC Amplifier Current speed data Low order word PC Amplifier Current speed data Hihg order word PC e Amplifier Current torque current timer data PC Amplifier M code M code ABS form invalid INC fe a T E Current para No current positioning data apy eser CPU aim Data Address Rewrite Read ready error error end end Position data setting Low order word PC Amplifier Position data setting High order word PC Amplifier Speed data setting Low order word PC Amplifier Speed data setting High order w
112. host controller transmits using DI DO level of DC 24 V PLC output is of 21 points and PLC input is of 10 points at maximum per axis a CN3 upper side Connect control input output signals uu CONT14 CONT16 oo BIN CONT18 CONT20 b CN1 lower side 1000 120000 200050 3 CONT15 130000 10000 5 CONT17 15100000 1600000 7 CONT19 17 CONT10 18 CONT11 9 CONT21 19 CONT12 20 CONT 13 Connect control input output signals S3 LPS type amplifier operates in accordance with the control input signal CONTn at CN3 and CN1 Control output signal Plug 10120 3000VE Shell kit 10320 52A0 008 35 Plug 10136 3000VE 31 Shell kit 10336 52A0 008 27 21 19 E E lt C2PSRBGRE CNS CN1 DIDO DIDO 4 10 MHT259a Engl c Terminal function i CN3 upper side Terminal symbol P24 M24 CONT9 CONT10 CONT11 CONT12 CONT13 CONT14 CONT15 CONT16 CONT17 CONT18 CONT19 CONT20 C
113. in the tuning method basic para 31 and when the basic para 33 setting changed Remark Basic para 37 to 39 can also be set manually after these have been changed by the amplifier Usually the amplifier set value is used 6 22 MHT259a Engl B Load inertia ratio basic para 32 Basic parameter 32 Setting range Initial value Change 0 0 to 100 0 times in 0 1 step 0 0 Always When the auto low stiffness or auto high stiffness is selected in tuning method basic para 31 the load inertia is assumed and the parameters described before can be automatically adjusted The load inertia that the amplifier recognizes does not affect the basic para 32 setting The load inertia can be monitored in the monitor mode 7 m 4 by the keypad panel If the load inertia ratio basic para 32 setting is 0 0 the assumed load inertia value is applied to the actual servo system In this case the assumed load inertia value changes always If the setting value is other than 0 0 the control is made assuming that the load inertia ratio has been set If the setting value is 3 0 control is made assuming that the load inertia is 3 0 times of the servo motor moment of inertia Remark If the basic para 31 setting is 0 Manual the gain of control system is determined as the load inertia of the load inertia ratio basic para 32 If the setting is 0 0 the load assumption is not made and the gain is set assuming that no load is app
114. link type RS485 interface type Para Change 01 Aways 02 Always 03 0 01 to max speed r min in 0 01 step Always 04 0 01 to max speed r min in 0 01 step Always 05 Always 06 Always 07 0 01 to max speed r min in 0 01 step Always 08 Always 09 Always 10 0 01 to max speed r min in 0 01 step Always 1 Always ST LANE MEE 2E to Unused 15 16 Always 17 Always 18 0 to 150 in 1 step Always 19 Always 20 Overrides Oto 150 n1 ste 80 Aways 21 0 000 to 99 999 s in 0 001 step Always 22 Deceleration time 1 0 000 to 99 999 s in 0 001 step 0 100 Always 23 Always 24 Always 25 Non linear S curve filter coefficient 0 000 to 1 000 s in 0 001 step 0 000 Always Ew ee E to Unused 30 31 0 Manual 1 Auto low stiffness 2 Auto high stiffness Always 32 Load inertia ratio 0 0 to 100 0 times in 0 1 step 00 Always 33 Aways 34 Aways 35 Aways 36 Stop judgment ime 0 00 to 1 00 s in 0 01 step 000 Aways 37 Torque fiter time constant 0 00 to 20 00 ms in 0 01 step 000 Always 38 Aways 39 Aways 40 Aways 41 0 0 to 20 0 ms in 0 1 step O0 Always 42 Speed feedback fiter 0 OFF ONL Always a MEE A e Al 44 Always 45 Vibration suppression gain 0 00 to 1 00 in 0 01 step oo Always 6 3 MHT259a Engl B Basic parameter for RYS L type 2 2 Basic type SX bus type T link type RS485 interface type iita value cenae 46 to Unused 50
115. maximum positive count of 99 999 999 is followed by 0 The maximum negative count of 99 999 999 is followed by 0 Hence the count becomes 0 every x 100 000 000 The indication is correct even when rotated by the load mechanical equipment system 4 digits preceded by H are high order 4 digits and those by L are low order 4 digits In case of a negative value H or L and minus sign appears alternately 5 Command position The position of motor directed by the amplifier is displayed in unit quantity after pulse correction After a target position is attained if the run command is turned off and the motor is rotated by the load mechanical equipment system a correct position is not displayed ENT 1 s or more Adds e 34 Pressing the MODE key holding down the SHIFT key 5 interchanges the high order 4 digits and low order 4 NEO ES digits 6 Deviation amount Displays the difference between command position and feedback position The deviation is displayed in terms of encoder pulse count ENT 1 s or more n_n H Ji Cc 4 y LinLiLib d Un GUS ESC Pressing the MODE key holding down the SHIFT key 1 interchanges the high order 4 digits and low order 4 digits 7 11 MHT259a Engl 7 Cumulated pulse Displays the number of pulse trains inputted to the pulse train input terminal Inputting the forward pulses increases the integrated value and inputting the reverse pulses de
116. mode to reset the alarm detection of Absolute data lost This alarm detection cannot be reset by RST Thereafter the ABS system is validated Either execute the origin return action or input the position preset signal at the normal position 4 Station No setting Basic type DI DO position Station No setting is not necessary SX bus type SX bus direct connection Specifies the station No in the system definition of D300win Use the amplifier as it is with the station No 0 Use it as the system para 96 setting at 0 as it is Set just the same station No to system para 96 to make the fail soft function of SX bus valid D T link T link direct connection Set the T link address to system para 96 O General purpose communication RS485 interface Set the station No 01 to 31 of amplifier to system para 96 Set 01 to 1FH in the message 9 2 Motor Check the motor model type and rated output kW Key operation Indication example Remark 2 AS b Ci E The sequence is displayed ES 5 m g Li H By the ESC key select the sub mode E on G LI GAHA By the A keyor v key select 555 775 HF 4d Ir Pressing the ENT key for at least 1 s displays the motor model type ENT L LL ILI GYC type C of cubic motor of 0 1 KW is displayed on the left example 9 3 MHT259a Engl 9 3 Basic type DI DO position The basic type amplifier operates according to the control i
117. move amount of mechanical equipment system per one rotation includes rt it can be replaced with 355 113 Frequency dividing output has no relation with command pulse correction The output is according to the system para 79 setting 6 33 MHT259a Engl 25 Basic parameter 93 94 PAGO i PPG9 9 PPOSM Para Name Settingrange Init value Change 93 Pulse train ratio 1 0 01 to 100 00 in 0 01 step Always 0 01 to 100 00 in 0 01 step 10 00 Always The setting of the basic para 91 and 92 can convert the move amount of mechanical equipment system per 1 pulse of command pulse to unit quantity The basic para 93 and 94 can set the scale factors in conversion The basic para 93 and 94 correspond to the pulse train ratio 1 input signal No 27 and the pulse train ratio 2 input signal No 28 respectively The condition where the position control becomes valid is as follows While the pulse train ratio 1 or pulse ratio 2 is on and the pulse train input is valid the manual feed forward reverse command origin return and interrupt positioning do not become valid Temporary stop and positioning cancel signal are invalid to the pulse train input 26 Basic parameter 95 PAGE 1 PP09S Para Setting range Initial value Change 95 Position data decimal point position 0 1 1 0 1 2 0 01 3 0 001 Always 4 0 0001 5 0 00001 The basic para 95 setting can put a decimal point to the curr
118. ms Total Approx 6 ms The PLC scan time and T link refresh time 10 ms are added 4 General purpose communication RS485 interface Auto start START terminal sampling time Approx 2 ms Auto start software processing time Approx 4 ms Total Approx 6 ms The starting time is within 5 ms after receipt of the auto start command MHT259a Engl 9 TEST TRIAL RUNNING OPERATION 9 1 Preparation 1 Preparation A test running is carried out upon connecting the amplifier and motor For the wiring method see 4 TERMINAL DIAGRAMS AND WIRING For the test running the motor is not connected to the mechanical equipment system and when the operation is normal it is connected to the mechanical equipment system a Main circuit power input The amplifier power supply includes main circuit power input L1 L2 L3 and control power input L1C L2C The amplifier can be operated even if the control power input terminal is not connected to the power supply b Main circuit power supply Connect the motor power line to the U V W terminals on the amplifier terminal block board Changing the phase sequence cannot change the motor rotational direction c Encoder wiring Connect the encoder for the motor to CN2 on the amplifier using a specified cable d Control input output wiring Do not connect CN1 and CNS of the amplifier when the test running temporary 2 Power supply Supply the main circ
119. o o N Ve Thickness of mounting plate is 1 6 mm mass 8700 g 11 22 MHT259a Engl 12 APPENDIXES 12 1 Model type selection 1 Load machine system Load machine systems driven by adjustable variable speed motor are generally as follows Mechanical system Description Ball screw with direct coupling Used for high accuracy positioning in a short distance ES Ball screw with reduction gear o Rack and pinion Used for positioning in a long distance e Movement per revolution of pinion involves a m value rt compensation is required Conveyor with timing belt Chain drive Feed roll drive FE Table indexing ES indle drive In winding of wire material etc inertia moment becomes larger Larger reduction speed Sp s is necessary Load torque is increased through deceleration Compensation is required for gear backlash Used for light loads rt compensation is required Mostly used for transfer line etc For positioning countermeasures for chain elongation is needed Reduction ratio is large Moving speed of load machine system is low A material having a plate shape is emitted and sandwiched between rolls An error appears over a large length due to a difference in roll diameter T compensation is required Feed amount becomes inadequate due to slip at rapid accel decel A large reduction speed ratio is required for a large inertia moment of the mac
120. or variable resistor The host interface has DI DO speed minimum DI DO SX bus type Open network etc 2 RYS L type Linear positioning system linear motion Maximum command value 79 999 999 The amplifier can compose a linear positioning system combined with ball screw timing belt rack and pinion or other mechanisms As positioning data 99 sets points of position current present position output immediate positioning M code output etc can be registered The host interface has O DI DO position expanded DI DO SX bus type T link type Open network etc 3 RYS R type Rotation indexing system rotation Maximum indexing number 30000 The amplifier can compose a rotation indexing system combined with ATC tool magazine loader unloader etc or other mechanisms The rotation indexing system is usable for shorted route control 2nd origin one point halt single direction infinite rotation etc The host interface has O DI DO position expanded DI DO SX bus type T link type General purpose communication RS485 interface Open network etc 1 5 MHT259a Engl 1 4 Explanation of model type Model type of amplifier and motor is expressed with a combination of figures and letters a Amplifier RYS 2 0 1 Amplifier RYS basic d Motor output 201 20x 10M 200 W 300 30x 100 30 W Series letter S basic SLE ELM ARE
121. product should be installed in the electrical cabinet Servo driver is used under the pollution degree 2 environment as specified in IEC664 3 Peripheral equipment 1 Power supply Source T 2 2 Amplifier a 5 q 3 Motor 6 7 8 4 Control panel 5 Reinforced isolation 3 transformer 9 6 Earth leakage PU circuit breaker 7 Auto circuit breaker 8 Power filter 9 24 V DC power Source a Power supply The amplifier is used under the over voltage category ll environment as specified in IEC 664 The power input unit uses a reinforced isolation transformer based on IEC EN standards A 3 phase star connected transformer should be used without regard to single phase and 3 phase models The transformer should be grounded at the neutral point The phase line to earth voltage must not exceed 120 V 1 Amplifier 2 Reinforced isolation transformer 3 230 V 4 3 133 V For the interface power source use a 24 V DC power source with reinforced isolation type input and output b Power filter Regarding the EMI terminal disturbance voltage a power filter is required Input voltage class V 100 200 Amplifier output kW o 05to 0 2 0 03t00 4 0 75to 1 Hs 1e qm 4 5 Power filter type HF A TM 3005 3010 3015 3020 3030 3040 3050
122. setting the motor speed is 100 r min basic para 1 setting Make sure that the current position indication changes in words 2 3 g Turning off the CONT7 FWD stops the motor whether CONT12 X1 is on or not Key operation Indication example Remark L f H if if f Example of monitor mode display Ed i m El ic The MODE key selects a mode P m LE Change the mode Pa E Li H Change the mode E m QE I Change the mode 5 m Li Lib Change the mode 5 nu E By the A keyor v key select 555 7 E Er b a E Holding down the ENT key for at least 1 s causes the sequence display ar un Turning on RUN signal displays 7 r un 1 3 Immediate positioning Positioning can be made by giving a position data to WB area For details of WB area see 5 9 WB area 9 12 MHT259a Engl WB area at factory setting Address ZPU Ram Ais oT ST A EG SE E PSET ye ee E IES E 1 ALMA ALM3 ALM2 ALM1 3 Read data Low order word PC Amplifier a un pre eno sev one ee sr eo ves T 9 o mme Emm ra 6 Rewrite data High order word PC gt Amplifier 7 Rewrite data Low order word PC gt Amplifier 9 13 MHT259a Engl 9 6 General purpose communication RS485 interface The general purpose communication type amplifier operates according to the RS485 command 1 Control input signal At
123. system para setting Low order word PC gt Amplifier Basic para system para setting High order word PC gt Amplifier Nami ERE SEL2 SEL1 SELO Para No setting positioning data setting INC preset command command 5 64 MHT259a Engl Basic parameter system parameter Word position Address 0 Address 1 Address 2 to Address 5 Address 6 Address 7 Address 8 Address 9 Address 10 to Address 13 Address 14 Address 15 Setting range Basic para or system para can be read out There are no decimal point disable The status of SEL2 SEL1 and SELO are stored CSEL2 to CSELO The written para No is displayed current positioning data information on each bit is always valid The setting value of the para to be changed will be written disable Basic para or system para can be selected using SEL2 to SELO The para No to be changed can be set Specify 01H to 63H in hexadecimal number para positioning data setting Bit 0 is read command and bit 1 is rewrite command ON edge command of each bit is always valid If a para No is specified at low order 8 bits of word 14 it is readed out at the ON edge of read command word 15 bit 0 to words 1 and 0 Read command word 15 bit O Read end word 7 bit O Basic para the previous value basic para words 1 0 When read end signal turns on basic para
124. terminating the movement Deviation clear 50 The deviation clear is valid during the speed zero 24 signal on The inputting of deviation clear does not affect the brake timing Free run BX 54 During BX signal on the motor is in free run status and turns off at speed zero 24 signal on Remark Using the current position output 56 forcibly changes the functions of OUT1 to OUTS terminals When this terminal is used as brake timing purpose cut off the exciting circuit of the brake externally 5 58 MHT259a Engl 5 8 IQ area This section explains the IQ area of RYS S3 LSS type RYS S3 LSS type amplifier reserves 16 word in the IQ area 1 Station number The station number selects the individual module with amplifier in the system definition of D300win The arbitrary number can be specified as the station number Set 0 as the station number of the amplifier Set a different station number if a fail soft operation for SX bus type is valid 2 Read rewrite data The lower order 8 words of IQ area are the read area and the higher order 8 words are the rewrite area The data whether to read or rewrite can be selected by on off of SELO SEL1 SEL2 at bit 8 to 10 in word 14 When the CSELO CSEL1 and CSEL2 of word 5 are simultaneously on or off the change of the area can be checked 3 CONT OUT The bit information at 7 word and bit command at 15 word p
125. the brake timing output is turned on When starting a movement Brake timing turns on at the ON edge of control input signal After the brake release time system para 83 has elapsed a rotation starts assuming that the brake has actually been released When terminating the movement After the amplifier has checked the deviation zero positioning end turned off the brake timing and the brake operation time system para 82 has elapsed the amplifier turns on P action signal The same procedure as when starting a movement above is performed if a movement restarts at the ON edge of control input signal during the brake operation time Brake timing Validated signal at the ON edge Auto start START OFF ON 4 Brake timing OFF ON 14 Brake operati on rel ease operati on Speed j IP Brake release time gt Brake operation time gt P action ON OFF Positioning end ON OFF PSET 2 O If an external brake free run is used the motor comes to free run status at the timing of P action as shown on the above figure During brake operation time mechanical brake and servo lock before P action are executed simultaneously For vertically moving mechanical equipment there are no time period of motor free run during stopping 5 56 MHT259a Engl W External connection diagram example 0 4 and 0 75 kW with brake timing output signal 2
126. the current command position and the current feedback position is less than the deviation zero width basic para 53 the deviation zero signal is turned on When the deviation zero signal is continuously held on during the positioning end judgment time basic para 57 the PSET signal is turned on Speed zero NZERO signal on is needed 5 26 MHT259a Engl 3 PSET output at alarm detection Cause Deceleration method Positioning end PSET Remark Run command RUN Forced zero speed to On at stopping Ready RDY off off base off Forced stop EMG off Forced zero speed On at forced stop EMG release Rotatable when pulse train input forward OT OT detection Forced zero speed to Soft OT detection servo lock command or reverse command on Alarm detection ALM Forced zero speed to Turns on when reset by alarm reset RST minor fault base off Alarm detection ALM Turns on when reset by alarm reset RST major fault Minor fault Deviation excessive OF braking resistor overheat rH amplifier overheat AH encoder overheat EH and bus communication error tE Major fault Alarm detection other than minor fault Forced zero speed Decelerates to a stop rapidly Base off Motor has no driving force free run 5 5 3 Immediate positioning The motor is positioned upon directly specifying its stop position from PLC etc Auto start START Control input si
127. the pulse encoder wiring to CN2 of the amplifier The wiring length between amplifier and encoder should be within 50 m a 0 75 KW and below GYC GYS type motor i Wiring to amplifier G is vacant pin SIG 3 BAT 1 P5 SIG 4 BAT 2 M5 4 8 1 of connector for GYO MS3108B20 15S 1 of connector for GYC MS3108B24 10S 1 of cable clamp for GYS MS3057 10A 1 of cable clamp for GYS MS3057 16A View of housing wiring side Housing Shell body clamp Shell body cover Mold cover Mold cover Cable clamp Clamp screw M2x4 54180 0611 58299 0600 58300 0600 54181 0615 54182 0605 58303 0000 59832 0009 MHT259a Engl ii Wiring to motor View of housing wiring side Housing 58988 0611 Shell body clamp 58302 0600 Mold cover 53989 0605 Mold cover 53990 0650 Cable clamp 58303 0000 Clamp screw M2x4 53982 0009 SIG 4 BAT 2 M5 SIG 3 BAT P5 co b 1 KW and above GYC GYS type motor View of housing wiring side H P5 1 of connector G M5 MS3108B20 29S cisict o 1 of cable clamp D SIG MS3057 12A T BAT S BAT J Shield c Wiring cable If the optional pulse encoder wiring cable is not used use wiring with the following cable or equivalent Cross link polyethylene insulated v
128. timing at the control output terminal is as follows 1 Setting of control output terminal Assign the value 14 corresponding to the brake timing to the system para 31 and above If value 14 is set at the system para 31 OUT1 terminal is the output terminal of brake timing 2 Setting at stoppage Set 2 or 3 at the system para 81 to select the status while motor is stopping When 3 is set at para 81 the motor comes to free run status when operating the brake and electromagnetic noise of motor is eliminated 3 Brake operation time release time Assign the operating time and release time of external brake to system para 82 and 83 To each time period add the scan time of PLC the response time of external relay magnetic contactor and the brake 5 53 MHT259a Engl 2 Pulse train manual feed Forward command FWD Reverse command REV The brake timing output is held off from when the power is turned on until rotational command is given When the following control input signals are given the brake timing output is turned on 1 FWD REV 2 Pulse train ratio 1 pulse train ratio 2 When starting a movement 1 FWDy REV The brake timing is turned on simultaneously when control input FWD or REV signal is on After the brake release time system para 83 has elapsed a rotation starts assuming that brake has actually been released If FWD or REV has been turned off during the brake release time the motor w
129. to 655 35 s in 0 01 step Status command method ABS INC Status step mode CO data continuation CEND cycle end M code 00 to FF 1 step simultaneous output later output settable For RYS L type amplifier following four kinds of host interface is available BB RYSOOOS3 LPS type Basic type DI DO position Controls motor according to control input output signal DI DO level BB RYSOOOS3 LSS type SX bus type SX bus direct connection Controls motor via SX bus 1 B RYSOOOS3 LTS type T link type T link direct connection Controls motor via T link 2 BB RYSOOOS3 LRS type RS485 interface type Controls motor via serial communication 1 High speed serial bus 25 MHz of MICREX SX series PLC 2 Save wiring I O link total wiring length 1 km of MICREX F series PLC The control function of each type is almost same but is a little different depending on the host interface For the control functions see 5 2 Run command 5 3 Manual operation 5 4 Origin return 5 5 Auto start 5 6 Signal for safety 5 7 Incidental functions For SX bus type see 5 8 IQ area SX bus type For T link type see 5 9 WB area T link type For RS485 see 5 10 RS485 interface type The main control functions of RYS L type are as follows Run command RUN Powers on the motor or makes the motor free run Forward command FWD Reverse command REV Rotates the motor for the arbitrary time period Origin return ORG Origin LS
130. 0 955 Torque inmos DOOD 0 6 0 4 0 318 O 1000 2000 3000 4000 5000 Speed r nnn poo0000000 0000001 0010 8 0 7 0 6 0 in 50 0 Tor que NT 4 0 22 30 _ 0 2 0 1 27 10 0 m 0 1000 2000 3000 4000 5000 Speed r mn 2 19 MHT259a Engl 2 GYS motor slim type for 200 V class input voltage of amplifier cont d OOOUO000000 00000010010 0O000000 000 0000I00 10 14 0 12 0 4 10 7 10 0 Tor que 0 Ni 8 0 7 17 6 0 4 0 404 2 39 2 0 0 4 O 31000 2000 3000 4000 5000 Speed r mn D CHEE a TT BEEF 0000010010 35 0 30 0 25 0 Torque 21 5 NI20 0 10 0 4 78 0 j 0 1000 2000 3000 4000 5000 Speed r nnn 5 0 4 A Acceleration deceleration area 1 B Acceleration deceleration area 2 C Continuous operation area 0 O 31000 2000 3000 4000 5000 Speed r mn poeopopDoD 000 0000 10010 AO AAA ARA A 35 0 30 0 28 7 25 0 Tor que NM 20 04 15 0 10 0 4 5 0 0 O 31000 2000 3000 4000 5000 Speed r nnn 2 20 MHT259a Engl 2 GYS motor slim type for 200 V class input voltage of amplifier cont d 25 04 Torque N
131. 0 mm maximum from the amplifier To keep the above mentioned ambient temperature of amplifier the amplifier should be mounted in a forced fan ventilated panel or equivalent cooling conditions Avoid the excessive temperature rise due to heat losses by the regenerating braking resistor etc in the panel c Forced fan ventilated panel Provide an exhaust port and an air intake suction port in the panel and mount a fan to the exhaust port to forced ventilate the internal air Also mount an air filter to the air intake port in order to maintain an environment better than IEC664 pollution degree 2 in the panel For the air volume and the opening size of the air intake refer to the following table Refer to technical document No MHT221f Engl chapter 2 2 Pollution degree 2 An environment in which only non conductive pollution is generated except for occasional occurrence of temporary conductivity due to condensation Air volume of forced ventilation fan m min loo or fos foss Opening size of air intake suction air m 0 0009 0 0019 0 0038 0 0071 Amplifier output Air volume of forced ventilation fan Opening size of air intake suction air 1 1 Exhaust air 2 Air intake suction air 3 Air filter 4 Amplifier 5 6 5 Fan 6 Forced fan ventilated panel 3 6 MHT259a Engl Compliance with EC directives This
132. 0 03 to 5 kW SHAFT EXTENSION SHAFT EXTENSION SHAFT EXTENSION Type GYN300SAG GYN500SAG GYN101SAG GRN 20SAG GRN 40SAG _ PEE GYN751SAG GYN102SAG GYN152SAG GYN202SAG 1 Screw hole metric diameter x depth of shaft extension 3 Shaft extension S and flanged spigot p LB are machining finished with h6 or h7 fits 3 29 MHT259a Engl K Gear head unit for GYS slim type motor gear ratio 1 9 cont d GYN300 to 101 and 751 to 502 GRN 20 to 40SAG G09 0 03 to 5 kW SHAFT EXTENSION 3 30 MHT259a Engl I Gear head unit for GYS slim type motor gear ratio 1 25 for 300 to 751 types or 1 15 for 102 to 502 types GYN300 to 101 and 751 to 502 GRN 20 to 40SAG G25 or G15 0 03 to 5 kW lt cen act SHAFT EXTENSION A
133. 0 to 2000 in 1 step Individual Always 65 ed E e I DEN E ee Unsed RA 0 Ja 6 6 MHT259a Engl Basic type DI DO B System parameter for RYS L type 2 2 Basic type 67 1 Speed command 2 Speed feedback Always 3 Torque command 4 Position deviation 68 1 Speed command 2 Speed feedback Always 3 Torque command 4 Position deviation 69 2 010 10 0 V in 0 1 step 7 0 Always 70 Always 72 Always 73 Monitor 1 2 output form 0 Monitor 1 two way deflection Monitor 2 two way deflection Power 1 Monitor 1 one way deflection Monitor 2 two way deflection 2 Monitor 1 two way deflection Monitor 2 one way deflection 3 Monitor 1 one way deflection Monitor 2 one way deflection 74 Unused HET a Ra S RM 75 Position command form 0 Normal PTP 1 Infinite 76 Soft OT detection position 79999999 to 0 to 79999999 in 1 step x unit q ty 79999999 Always 77 Soft OT detection position 79999999 to 0 to 79999999 in 1 step x unit q ty 79999999 Always 78 Pulse train input form 0 Command code pulse 1 Forward reverse pulse Power 2 Two 90 phase different signal 79 Output pulse count 16 to 16384 pulse rev in 1 step 2048 Power o 99 N a eo Unused Position command form Soft OT detection position Soft OT detection position Output pulse count 80 0 Positive direction forward 1 Positive direction reverse Power 81 1 Servo lock 2 Brake P actio
134. 00 m and below of site altitude Ambient climatic conditions Temperature 10 to 40 C humidity 90 RH max no condensation Acceleration vibration acceptable max m s 49 Mass weight kg 0 4 3 4 External dimension See 1 g of 3 3 External dimensions b Additional data for motor with providing brake i 0 03 to 0 75 KW Type GYS DC1 300 500 101 201 401 751 S8B B SB B or SA B S8B B SB B SA B Rated output kW 0 4 0 75 Rated torque IN m 1 27 2 39 Braking torque Nem fos 127 2 45 Rated voltage DC V la 24 Attraction time ms a 40 60 Releasing time Im o J2 25 Brake input mi Js a 8 5 Mass weight ka fos jor jt ja 42 External dimension See 1 h of 3 3 External dimensions 2 5 MHT259a Engl c Additional data for motor with providing reduction gear gear head unit i Motor with gear ratio 1 9 1 0 03 to 0 75 KW Type SAG G09 ae 101 Motor output kW 7 XE Actual reduction gear ratio pe AI 1 9 Speed min Rated 8333 max 5555 Rated torque N m i nag 254 fag f s 184 Max breakdown torque Nem j 868 736 147 294 54 3 Direction of motor rotation 2 I CCW Backlash max 4 nn 40 30 Mass weight Kd oz fem 3 8 External dimension See 1 k of 3 3 External dimensions ii Motor with gear ratio 1 25 or 1 15 1 0 03 t
135. 0000 ES DUREE 300000 AA 20000 2 00000 19000 1100000 Function output signal assigned to Basic type DI DO system para 31 to 40 OUT1 to OUT10 O 4 6 36 Not assigned Ready RDY 2 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 Positioning end PSET Rewrite end Brake timing Dynamic braking Alarm detection ALM Fixed passing point 1 Fixed passing point 2 Limiter detection OT detection Cycle end CEND Origin return end Deviation zero Speed zero NZERO Speed arrive NARV Torque limit detection Overload early warning CPU ready CPURDY Edit permit ON OFF 30 31 32 33 34 35 36 38 39 40 41 60 61 62 63 64 65 66 67 75 Data error Address error Alarm code 0 Alarm code 1 Alarm code 2 Alarm code 3 Alarm code 4 OT detection OT detection Origin LS detection Forced stop detection MDO MD1 MD2 MD3 MD4 MD5 MD6 MD7 Position preset end MHT259a Engl 2 SX bus type a System parameter 1 to 19 SX bus type SX bus direct connection Palta PPOO I APP 19 SXbus Para Change 01 CONTI signalassignment jOtob5 nistep o o 0 Power 02 CONT2signalassignment j Otob5 nistep o 0 Power 03 CONT3 signal assignment Otob5 nistep
136. 007 BD0008 gt BD0009 End activating BD9 BD10 M0097 BD0009 BIN BD0010 End activating BD10 BD10 M0097 BD0010 AND hOOFF gt BD0010 End activating Check sum BD10 BD10 M0097 BD0002 EOR BD0010 gt BD0010 End activating Zero flag Coincidence M0097 F004F vene AT Coincidence High order 16 bit M0098 BD11 BD0000 SLL BD0011 00000016 Coincidence BD11 Low order 16 bit Current position M0098 BD0011 OR BD0001 E BD0012 Coincidence Current position Current position M0098 BD0012 BCD BD0012 First time CONTI S00 12 B0017 Read command soo 20 2 bit output S00 22 End of program 12 14 MHT259a Engl 2 Current position output FB function block for obtaining a current position output see 5 5 4 Current position output RD REQ RD ANS ANS BIT1 ANS BIT2 RD COM RD RUN RD OK RD NG ABS POS Request of current position read BOOL Response of current position read BOOL Amplifier data bit 1 BOOL Amplifier data bit 2 BOOL Read command to amplifier BOOL Reading BOOL Normal end of reading BOOL Abnormal end of reading BOOL Current position data DINT Turning on the RD REQ executes a sequence of current position obtain The current position is outputted in DINT form to the ABS POS terminal Connect each terminal to the amplifier RD COM RD ANS ANS BIT1 ANS BIT2 Current position output command control allocate No 56 OUT2 of amplifier terminals OUTS of a
137. 1 7 DC reactor 1 DC reactor application Provide and connect an DC reactor in any of the following cases a Power supply capacity is large When the power supply capacity exceeds 500 kVA the input current of the amplifier becomes large at the time of power on and there is a possibility where the rectifying diodes of the amplifier are damaged Note Cable length of 20 m with specified cable diameter size b Power supply voltage is unbalanced Connect an DC reactor if the power supply voltage unbalance rate is 396 or higher Max voltage V Min voltage V Unbalance rate of power supply voltage 96 3 phase average voltage V x 100 c Suppression of higher harmonics Higher harmonics current is generated in the amplifier DC reactor suppresses voltage distortion in the power supply system 2 Connection Connect an DC reactor to the primary power supply side of the amplifier 11 7 MHT259a Engl Input voltage class V 100 6 Amplifier type RYS S3 101 201 300 to 101 201 401 751 102 152 202 3 2 500 02 402 50 11 8 Optional cables connector kits battery and external braking resistors 1 Connecting cables unit mm a Control input output expanded I O of L and R types Cable type WSC D20P03 20 pin Application CN3 of RYS S3 LPS RPS amplifier Marking tube La 09
138. 1 N 1 SHAFT EXTENSION SHAFT EXTENSION PEAME CPO EEE s SE GYN300SAG G25 GYN500SAG G25 GYN101SAG G25 GRN 20SAG G25 GRN 40SAG G25 GYN751SAG G25 GYN102SAG G15 GYN152SAG G15 GYN202SAG G15 GUESS CIS ee does es os telecine eileen awd ce ace wt ent A cde eet eee NOES CS Ib A cel ees las ica ed hse E ce dise esas llesas llos n esie GYN502SAG G15 Oios Ris co 100 4 co 1 Screw hole metric diameter x depth of shaft extension 3 Shaft extension q S and flanged spigot p LB are machining finished with h6 or h7 fits 3 31 MHT259a Engl I Gear head unit for GYS slim type motor gear ratio 1 25 for 300 to 751 types or 1 15 for 102 to 502 types cont d GYN300 to 101 and 751 to 502 GRN 20 to 40SAG G25 or G15 0 03 to 5 KW 3 32 MHT259a Engl 2 Motor flange mounted for 100 V class input voltage of amplifier a Basic design GYS slim type GYS300 to 201DC1 S8B or S6B type 0 03 to 0 2 KW 300 30 300 30 300 30 Cor SHAFT EXTENSION D SHAFT EXTENSI
139. 1 step Power 07 0 to 56 n 1 step o Power 08 CONT8 signal assignment Otos6 intstep 0 Power A ee NE to Unused 21 22 Parameter RAM storage 0 Not assigned 1 to 99 Basic parameter No 0 Power 23 Parameter RAM storage2 0 Not assigned 1 to 99 Basic parameter No 0 Power 24 Parameter RAM storage3 0 Not assigned 1 to 99 Basic parameter No 0 Power 25 Parameter RAM storage4 0 Not assigned 1 to 99 Basic parameter No o Power 26 Parameter RAM storage5 0 Not assigned 1 to 99 Basic parameter No o Power 27 Parameter RAM storage6 0 Not assigned 1 to 99 Basic parameter No o Power 28 Positioning data RAM storage 1 O Not assigned 1 to 99 Positioning data No o Power 29 Positioning data RAM storage 2 O Not assigned 1 to 99 Positioning data No o Power 30 Positioning data RAM storage3 O Not assigned to 99 Positioning data No o Power 31 0 to 75 in 1 step Power 32 Power 33 0 to 75 in 1 step o Power 34 0 to 75 in 1 step o Power 35 0 to 75 in 1 step Power 36 0 to 75 in 1 step Power 37 0 to 75 in 1 step Power 38 0 to 75 in 1 step Power 39 0 to 75 in 1 step Power 40 0 to 75 in 1 step Power 41 0 to 75 in 1 step Power 42 0 to 75 in 1 step Power 6 15 MHT259a Engl RS485 interface E System parameter for RYS L type 2 2 RS485 interface No Name Setting range Initial value Change 43 to Unused 67 68 Mo
140. 1000 m and below of site altitude Ambient climatic conditions Temperature 10 to 40 C humidity 90 RH max no condensation Acceleration vibration acceptable max m s 24 5 Mass weight kg 82 l b External dimension See 1 a of 3 3 External dimensions b Additional data for motor with providing brake ii 2 to 5 kW Type GYC DC1 SA B 402 502 Rated output kW 5 Rated torque Nem i318 y d Braking torque Nem liz Rated voltage DC V 24 Attraction time ms 120 J T Releasing time ms 30 hb Brake input wipe J b e Mass weight kaja External dimension See 1 b of 3 3 External dimensions 2 3 MHT259a Engl c Additional data for motor with providing reduction gear gear head unit i Motor with gear ratio 1 9 2 2 to 5 kW Type GYN CAG G09 402 502 Motor output kW 5 Actual reduction gear ratio Speed r min E Rated torque Nem 509 l Ss Max breakdown torque Nem 152 d e y d Direction of motor rotation 2 CCW Backlash max 4 min so Mass weight laa ee e External dimension See 1 e of 3 3 External dimensions ii Motor with gear ratio 1 25 or 1 15 2 2 to 5 kW Type GYN CAG G15 402 502 Motor output kW 5 Actual reduction gear ratio E Speed r min E Rated torque Near e de Max breakdown torque Nem 23 l T Direction of motor
141. 10V B Speed command voltage 10V The value in is the setting value of system para 63 und dui ERE dust 5000r min If the system para 63 has been set at 0 1 the speed can be adjusted to 500 r min against 10 V of the speed command voltage 4 Resolution of speed command voltage Basic type DI DO position only The NREF terminal has a 14 bit resolution at full scale 5 Torque limit Motor output torque can be limited by using the torque limit TLMT 30 signal For details see 5 6 3 Torque limit TEMT Torque limit detection 6 Non linear S curve acceleration deceleration S curve accel decel can be carried out by basic para 25 setting The speed slowly increases by drawing an S curve and a mechanical shock during acceleration can be reduced Notes 1 Initial value has been set individually at the time of shipment from our factory 2 Direction of motor shaft rotation when viewed from a point facing the drive end of motor is designed according to Japanese standard Forward direction Counterclockwise CCW rotation Reverse direction Clockwise CW rotation 5 9 MHT259a Engl 5 3 2 Pulse train ratio 1 Pulse train ratio 2 The signal validates a pulse train from the manual pulse generator etc Pulse train ratio 1 Pulse train ratio 2 Control input signal B Function While the pulse train ratio 1 27 is turned on the pulse train input is valid Turning it off ignores the pulse
142. 178 Mass weight Kg o9 e 41 Use amplifier and motor as a specified pair of types For example RYS500 type amplifier can be combined with the acceptable GYS500 type motor only 2 Moment of inertia J Moment of load inertia after conversion into motor shaft extension Ju Moment of inertia of motor rotor 2 13 MHT259a Engl 3 Functional specification Basic design RYS 1L1S3 LPS type amplifier Signal name Function Terminal symbol Host interface I F DI DO 24 V DC Pulse train Freq 500 kHz max differential input CA CA 1 Command pulse and code 2 Forward and reverse pulse CB CB 3 Two 90 phase different signal Freq Freq 500 kHz max differential output FA FA dividing Two 90 phase different signal FB FB output 16 to 16384 pulse rev in 1 step FZ EZ Speed 10 0 4 V output current 30 mA max P10 M5 command 10 V 20 kQ input impedance NREF Monitor output 1 2 For analog meter two one way deflection 1 Speed command MON1 2 Speed feedback 3 Torque command 4 Position deviation MON2 Power supply for I F 24 V DC 300 mA supplied from external P24 M24 Control input 24 V DC 10 mA one point source input CONT1 to Signal assign terminals of control input CONT13 OUT output 30 V DC 50 mA max sink output OUT1 to Signal assign terminals of control output OUT10 External backup Input terminals of backup power supply from external to en
143. 2 13 14 15 16 17 18 19 20 21 end end 2 Read data High order word PC Amplifier 3 Read data Low order word PC Amplifier 4 a CONT CONT CONT CONT CONT CONT CONT CONT CONT CONT CONT CONT CONT CONT CONT t 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 5 CONT Read rewrite data select PONE ji mean Address No 25 command command 46 Rewrite data High order word PC gt Amplifier 7 Rewrite data Low order word PC gt Amplifier Read rewrite data select 1 WB area when reading WB area when rewriting OFF Current feedback position OFF Feedback speed OFF Torque command E OFF Deviation amount OFF Pulse value between LS Z phase OFF Status Status OFF Position data Position data OFF orf on Jon on Speed data Speed data OFF Timer data OFF Basic para OFF System para orF jon Jor on fon ______ OrF jon on fore fore _________ orr jon on Jor jon ________ OFF OFF ON orr ore orr lors Speed command 5 Immediate positioning Position data can be written into position of WB area E Preparation Run command RUN at bit O in word 4 turns on Immediate positioning See to of the table below Set the position data to 6 7 word Select the rotational speed at VELO VEL 1 Select the absolute position specified ABS or the relative position specified INC at position data Set the FF to the address No area The
144. 3 Auto start immediate value Positioning can be made by giving a position data by means of the RS485 command For details of the message see 5 10 General communication 9 15 MHT259a Engl 10 INSPECTION AND MAINTENANCE 10 1 Inspection 1 Before inspection Because the amplifier is composed of electronic components usually inspection is not necessary Because the motor is a synchronous type brushless motor the motor does not have the part to inspect usually Both the amplifier and motor are maintenance free However perform periodic inspection to prevent accidents beforehand and ensure the reliability of equipment D DANGER Prior to inspection turn off power and wait for at least five minutes Otherwise there is a risk of electric shock Do not touch the amplifier when the commercial power is supplied Otherwise there is a risk of electric shock 2 Inspection items Device Inapplicable item Motor Abnormal vibration on motor shaft and bearing housings etc Direct exposure to water steam or oil Misalignment of mechanical coupling at shaft extension Amplifier Loose screws of terminal block board and fastening parts Excessive accumulation of dust Nasty smell damage due to heat external deformation cable wire discontinuation etc Ensure that the CHARGE LED is extinguished goes out on keypad panel before the checking of electrical wirings A CAUTION Withstand voltage and insulation test with megger
145. 5 Positioning data rewriting inhibit Always 96 Station number Power 97 Baud rate Power 98 Unused EN 99 INC ABS system 0 INC Incremental 1 ABS Absolute Power 6 10 MHT259a Engl Wi System parameter for T link type amplifier Function input signal number assigned to System para 1 to 21 56 to 59 CONT1 to CONT21 CONT22 to CONT25 AONoahrwWnh Oo Oownvpm po mp A a a a a a OOANDRWNMNH OO Not assigned Run command RUN Forward command FWD Reverse command REV Auto start START Origin return ORG Origin LS LS OT 0T OT OT ABS INC Forced stop EMG Alarm reset RST VELO VEL1 ACCO Position preset Pulse train ratio 1 Pulse train ratio 2 P action Torque limit Temporary stop Positioning cancel External fault input Teaching Immediate rewrite Override valid Override 1 Override 2 Override 4 Override 8 Interrupt input valid Interrupt input Deviation clear Multistep speed X1 X1 Multistep speed X2 X2 Multistep speed X3 X3 Free run BX Edit permit command Function output signal assigned to T link T link direct connection system para 31 to 51 OUT1 to OUT21 0 Ready RD Y Positioning end PSET Rewrite end Brake timing Dynamic braking Alarm detection ALM Fixed passing point 1 Fixed passing point 2 19 OT detection
146. 79999999 in 1 step x unit q ty Speed data motor speed 0 01 to max speed r min in 0 01 step Timer data dwell time 0 00 to 655 35 s in 0 01 step Status command method ABS INC Status step mode CO data continuation CEND cycle end M code 00 to FF in 1 step M code output Simultaneous output while positioning Later output after the end of positioning 8 1 MHT259a Engl 1 Position data stop position Specifies the position where the motor stops if the status is ABS or the increment to move if it is INC In order that the mechanical equipment system moves as many quantity 20 00 mm as setting ex 20 00 of position data the para must be set as follows Basic parameter 91 92 91 Command pulse correction o CPC of 1 to 32767 in 1 step fs Always 92 Command pulse correctionB CPCB 1 to 32767 in 1 step Always Basic parameter 95 Para Setting range Initial value Change 95 Decimal point location in position data 0 1 1 0 1 2 0 01 3 0 001 Always 4 0 0001 5 0 00001 2 Speed data motor speed Sets the motor speed until it reaches the position set by the position data The setting is the speed r min of the motor shaft and not the moving speed of the mechanical equipment system Setting is available from min of 0 01 to max motor speed in 0 01 r min step 3 Timer data dwell time A positioning end signal PSET is externally outputted in a lapse of time set by the timer
147. 8 5 74 6 1 6 2 6 17 6 35 7 1 7 1 7 3 7 5 7 10 7 15 7 18 7 20 8 1 8 1 8 5 8 6 8 6 9 1 9 1 9 4 CONTENTS 9 4 SX bus SX bus direct connection 9 5 T link T link direct connection 9 6 General purpose communication RS485 interface 10 INSPECTION AND MAINTENANCE 10 1 Inspection 10 2 Memory backup 10 3 Fault display 10 4 Items to inquire when faulty 10 5 Others informations 11 PERIPHERAL DEVICES 11 1 Cables 11 2 Auto circuit breaker FAB MCCB earth leakage circuit breaker ELCB and magnetic contactor MC 11 3 Surge suppressor surge killer 11 4 Power filter 11 5 AC reactor reactor for impedance matching 11 6 External braking resistor 11 7 DC reactor 11 8 Optional cables connector kits battery and external braking resistors 12 APPENDIXES 12 1 Model type selection 12 2 Example of program 12 3 Control block diagram 12 4 Letter symbols and abbreviated words 9 11 9 14 10 1 10 1 10 1 10 2 10 14 10 15 11 1 11 3 11 4 11 4 11 5 11 6 11 6 11 7 12 1 12 1 12 10 12 18 12 20 MHT259a Engl SAFETY INSTRUCTIONS In all stages of the basic planning of this equipment its transport installation operation maintenance and check reference must be made to this manual and other related documents The correct understanding of the equipment information about safety and other related instructions are essential for this system Cautionary indications DANGER and
148. 80 ON 90 ON 100 ON 110 ON 120 ON 130 ON 140 ON ON 150 Where override weighting is at initial value The override is valid for all of the rotating speed except for the interrupt input and later at interrupt positioning and pulse train ratio 1 2 6 18 MHT259a Engl 5 Basic parameter 21 to 24 PAGO I PPGe i PPUOS Para Setting range Initial value Change 21 Aceeraton time 1 0 000 to 99 999 s in 0 001 step 22 0 000 to 99 999 s in 0 001 step 0 100 0 100 23 0 000 to 99 999 s in 0 001 step 0 500 24 0 000 to 99 999 s in 0 001 step 0 500 The motor acceleration deceleration time can be set This function is valid for all of the accel decel operation except for pulse train ratio 1 2 The time setting is for the speed range of 0 to 2000 r min Acceleration time 2 and deceleration time 2 are valid while ACCO signal is on The on off input of ACCO is always valid and accel time decel time can also be changed over The ACCO is a signal allocated to CONTI terminal of system parameters External selection of acceleration and deceleration time ACCO 14 Acceleration time Deceleration time OFF Basic para 21 Basic para 22 Basic para 23 Basic para 24 Always Always Always Always Acceleration time 1 and deceleration 1 can be set separately For example only deceleration time can be lengthened Most suitable deceleration time can be selected de
149. B NE yo e t t ty Pulse level ti 1 250 s Before sign change t3 1 25u s Pulse cycle t 2 25 us After sign change t4 2 1 250 s W Forward pulse reverse pulse system para 78 setting 1 Forward pulse indicates forward direction reverse pulse indicates the reverse direction Forward pulse CA Reverse pulse CB Pulse level ts 1 250 s Pulse cycle t6 2 2 54 s Edge interval t7 1 25u s 6 49 MHT259a Engl Wi Two 90 phase different signal system para 78 setting 2 A phase and B phase signal indicate rotational direction and rotational quantity respectively Each edge of A phase and B phase signals corresponds to one pulse A phase CA B phase j CB EMEN tg lo Pulse width ts 1 251 s Edge interval tio D 1 254 s Pulse cycle tg z 2 5 us 11 System parameter 79 Basic type SX bus line driver output T link RS485 interface open collector output Pindde PPG 18 Para Setting range Initial value Change 79 Output pulse count 16 to 16384 pulse rev in 1 step 2048 Power The pulse count in proportion to motor rotational quantity will be output The output pulse count can be set for the freq dividing output terminals FA FA FB FB FZ and FZ A phase FA A phase FA
150. Basic parameter 41 41 Speed setting filter 0 0 to 20 0 ms in 0 1 step foo Always The speed command NREF input can be adjusted by the speed setting filter This is useful when the motor speed is influenced by the turbulence to the speed command input terminal The maximum value of the filter time is 20 0 ms This filter is not valid for the amplifier other than the basic type DI DO Wi Feed forward gain basic para 40 Basic parameter 40 40 Feed forward gain 0 000 to 1 500 in 0 001 step 0 000 Always If the feed forward gain is set at 1 0 a smaller deviation difference between command position and feedback position can be expected Set the gain at 1 000 to carry out a synchronous operation between 2 axes using the pulse train input FALDIC Rvszo s3 vvs Forward command FWD Pulse train 2 axes operates the same way Freq dividing output Pulse train input ml Feed forward gain setting value 1 000 6 25 MHT259a Engl Wi Vibration suppression parameter basic para 44 45 Basic parameters 44 45 44 Vibration suppression time constant 10 to 1000 ms in 1 step Always 45
151. E E M E a oT E E 3 E Monitored Obtaining OFF start 00 28 00 10 dYMrt SC Obtaining start High order 16 bit P0001 S00 10 00005 00000000 MOV BD0000 Obtaining start Low order 16 bit P0001 S00 10 00006 00000000 MOV BD0001 Obtaining start Check sum P0001 S00 10 00007 00000000 MOV BD0002 Obtaining start BD3 P0001 S00 10 00008 00000000 MOV BD0003 Obtaining start BD4 P0001 S00 10 00009 00000000 MOV BD0004 Obtaining start BD5 P0001 S00 10 00010 00000000 MOV BD0005 Obtaining start BD6 P0001 S00 10 00011 00000000 MOV BD0006 Obtaining start BD7 P0001 S00 10 00012 00000000 MOV BD0007 Obtaining start BD8 P0001 S00 10 00013 00000000 MOV BD0008 Obtaining start BD9 P0001 S00 10 00014 00000000 MOV BD0009 Obtaining start BD10 P0001 S00 10 00015 00000000 MOV BD0010 Obtaining start BD11 P0001 S00 10 00016 00000000 MOV BD0011 Obtaining start Current position P0001 S00 10 00017 00000000 MOV BD0012 Obtaining start First time P0001 S00 10 00 12 00018 Eeee SC First time Time waiting P0001 S00 12 T0000 00019 TON 00000005 12 11 MHT259a Engl 99 07 16 Page 2 Time currentpos ladder First time waiting OUT2 Response ON P0001 S00 12 T0000 B0021 S00 14 00020 E E SC Response ON OUT2 Response OFF P0001 S00 14 B0021 S00 16 00021 ER es 0 Response OFF Read command P0001 S00 16 S00 20 00022 SC OFF monitoring S00 28 Read command OUT2 2 b
152. FF ON Speed set by basic para 5 ON ON OFF Speed set by basic para 6 ON ON ON Speed set by basic para 7 2 Basic parameter 8 to 11 PAGE PPGOGB PPD 11 Para Change 08 Always 09 Always 10 Always 11 Always The motor speed at immediate value start can be set For RS485 interface type the command specifies it Selecting the on off combination of VEL1 and VELO at the auto start signal on can change the rotational speed 3 Basic parameter 16 PAGO I PPG 16 Para Change 16 Always This para specifies the maximum value of motor speed If motor speed will exceed the maximum speed by the override the motor rotates at the specified value The setting of maximum speed is not valid during position control using pulse train input 6 17 MHT259a Engl 4 Basic parameter 17 to 20 Pat 17 PPET3I BREED Para Setting range Change 17 Override 1 0 to 150 in 1 step 10 Always 18 0 to 150 in 1 step Always 19 0 to 150 in 1 step Always 20 0 to 150 in 1 step 80 Always Override weighting can be changed When the override 8 4 2 and 1 are all on adding all initial values gives 150 80 40 20 10 If the initial value has been changed and resultant sum exceeded 150 the preceding value is retained Moving speed by override SF id UTE rab Moving speed OFF Lom or oF 0 OFF 10 OFF 20 OFF 30 OFF 40 OFF 50 OFF 60 OFF 70 ON
153. FUJI SULSCURIE FALDIG 62 Fuji AC Servo System RYS L Type User s Manual Fuji Electric Co Ltd MHT259a Engl SAFETY INSTRUCTION 1 GENERAL 1 1 Outline 1 2 System configuration 1 3 Functions 1 4 Explanation of model type 2 SPECIFICATIONS 2 1 Motor 2 2 Amplifier 2 3 Torque speed data 3 INSTALLATION 3 1 Motor 3 2 Amplifier 3 3 External dimensions 4 TERMINAL DIAGRAMS AND WIRING 4 1 Amplifier motor and optional devices layout 4 2 Commercial power supply 4 3 Wiring between motor and pulse encoder 4 4 Host interface I F 4 5 External connection diagrams normal example 5 CONTROL FUNCTIONS 5 1 Summary 5 2 Run command 5 8 Manual operation 5 4 Origin return 5 5 Auto start 5 6 Signal for safety 5 7 Incidental functions 5 8 IQ area 5 9 WB area 5 10 General purpose communication 6 PARAMETER SETTING 6 1 List of parameter 6 2 Basic parameter 6 3 System parameter 7 KEYPAD PANEL 7 1 Display 7 2 Function list 7 3 Sequence mode 7 4 Monitor mode 7 5 Parameter edit mode 7 6 Positioning data edit mode 7 7 Test running mode 8 SETTING OF POSITIONING DATA 8 1 Setting contents 8 2 Starting 8 3 Setting change 8 4 Response time 9 TEST TRIAL RUNNING OPERATION 9 1 Preparation 9 2 Motor 9 3 Basic type DI DO position 1 1 14 1 8 1 5 1 6 2 1 2 11 2 16 3 1 3 1 3 4 3 9 4 1 4 1 4 6 4 7 4 10 4 26 5 1 5 1 5 3 5 13 5 19 5 39 5 46 5 59 5 6
154. G G09 type 0 1 to 2 kW 4 M6 DEPTH15 N X_4 M5 DEPTH12 b qe PS t eD SHAFT EXTENSION 4 M10 DEPTH20 4 1 SHAFT EXTENSION Type Fig QK os T U wl et L te tR tG LE oLA oLB GYN G09 DJ 20 15 25 4 78 25 4 60 500 101CAG 12505 4 1 Screw hole metric diameter x depth of shaft extension 4 For 152 type 1 5 KW 4 M12x 24 DEPTH 3 17 MHT259a Engl e Gear head unit for GYC cubic type motor gear ratio 1 9 cont d GYN101 to 202CAG G09 type 0 1 to 2 KW N4 M12 DEPTH24 AL y 1 SHAFT EXTENSION 3 18 MHT259a Engl f Gear head unit for GYC cubic type motor gear ratio 1 25 for 101 to 751 types or 1 15 for 102 to 202 types GYN101 to 202CAG G25 or G15 0 1 to 2 KW NL 4 M6 DEPTH15 n DECR Le 1 SHAFT EXTENSION SHAFT EXTENSION
155. GYS type motor with 0 2 to 1 5 KW rated output If the RYS401 0 4 KW type amplifier and GYS201 0 2 KW motor which is a step smaller than the optimum combination is combined as a pair allowable max breakdown torque of 0 2 KW motor can be obtained as 450 in the case of the max torque of the motor is 450 of the rated torque Furthermore in this case other data are as follows The moment of load inertia after conversion into motor shaft extension is at most 30 times the moment of inertia of motor rotor Acceleration deceleration time up to rated speed is 2 ms or more The motor shaft extension is directly mechanically connected and is subjected to no external radial or thrust force 2 Moment of inertia J Moment of load inertia after conversion into motor shaft extension Ju Moment of inertia of motor rotor 2 12 MHT259a Engl 2 Basic specification for 100 V class input voltage of amplifier 0 05 to 0 2 KW Amplifier type RYS S3 LPS6 500 101 201 Applicable motor output 1 kW 0 1 0 2 Input Single phase for power supply for control 50 60 Hz Voltage 100 to 115 V 10 to 15 Control System wave PWM current control all digital data Carrier freq kHz Feedback Ts n soral encoder one rotation resolution 16 bit multiple rotation 16 bit Speed for 0 to 100 deviation control Supply volt volt For 10 to 10 fluctuation accuracy 0 2 max for 25
156. IQ area O Preparation Run command RUN at bit 15 in word 15 turns on Para editing and positioning data editing can not be selected at SEL2 SEL1 SELO Immediate start See O to of the table below Set the position data to 8 9 word Select the rotational speed at VELO VEL 1 Select the absolute position specified ABS or the relative position specified INC at position data Set the FF to para positioning data The motor starts rotation at the ON edge of START signal Rotational speed can be specified with setting of VELO and VEL1 O 12 and 13 of system para is zero and power turns on again 0006000 6 Auto start See O and O of the table below Set the positioning data number in the para positioning data area O The motor starts rotation at the ON edge of START signal 7 Manual feed The rotational speed at forward command FWD and reverse command REV is specified by the speed command see of the table below while multistep speed selection X1 is off The X1 is at bit 9 in 15 word at factory setting position 5 61 MHT259a Engl IQ area at factory setting ESS Ea ens AAA AAA ER D E D AAA 098 Current position current deviation basic para system para current position data LS Z phase pulse Low order word PC e Amplifier Current position current deviation basic para system para current position data LS Z phase pulse High order word PC Amplifier
157. Im20 0 15 0 1000 2000 3000 4000 5000 0 Speed r mn 50 04 a i 45 0 40 0 7 35 04 Torque Nin 30 0 25 071 5 0 1000 2000 3000 4000 Speed r mn 5000 40 077 35 0 30 0 25 0 Torque NIm20 0 15 0 10 0 4 5 0 0 2 21 1000 2000 3000 4000 5000 Speed r mn 3 GYS motor slim type for 100 V class input voltage of amplifier 0O000000000 0000000010 010 0 8 7 16 0 7 14 0 6 4 1 2 0 5 0 478 10 Tor que Tor que N Nim 0 8 0 6 0 2 4 0 150 0 4 4 01 un 0 2 0 1000 2000 3000 4000 5 Speed r min dd dd 0d 0d bobo 00000 000000 ge 3 5 4 3 0 4 2 5 Tor que NIm2 0 154 104 0 5 1 91 000 0 637 000 0 1000 2000 3000 4000 5000 Speed r min 2 22 0O000000000 0000000I0 010 0 955 0 318 000 0 I 1000 2000 3000 4000 5000 Speed r min MHT259a Engl 3 INSTALLATION 3 1 Motor 1 Installation environment See 3 2 1 a 2 Type of construction mounting Each motor allows the following methods of mounting Flange mounted
158. Input voltage 2 LS Z pulse Input signal Output signal Load inertia ratio Sub mode select Indication example Snid Gnou a ES EE g Ln Pr or Ganol UN nin 3 3 3 C3 C3 Ea C3 C3 3 anji C jin un 3 C3 O C3 J C3 J J C3 G C3 Pu C3 C3 J C3 C3 Wu z Lu n tt n s n U b n U 1 Ondgdg n O 3 O C3 5 C3 Und li nl Ic nl id Und 14 N o po D no o E E a C3 DM un 01 C3 C3 C Lo bad Un uN Gy OO C3 C3 L Pu Ui XL IGUALA Pula La Us UI L L lt L C O x Y UL XL HERE Hii 0 gt S gt gt gt C C3 MHT259a Engl Mode Parameter edit mode Positioning data edit mode Test running mode Sub mode Basic para System para Position data Speed data Timer data Status M code Manual feed Origin return Position preset Alarm reset History initialization Parameter initialization Positioning data initialization Automatic offset adjust Sub mode select Indication example NC P nl H ui ee nlilic Lg mI manne Foul N HOOO Poff H O0 Pola 00000 Pod R COR Pol FFI mms ni F nl LLiLi 1 li Fg E A Li Li LIF LI L Fn 7 4 MHT259a Engl 7
159. LS Detects the machine origin point Auto start START positioning data Operates according to positioning data registered in the amplifier Auto start immediate positioning Stop positioning can be specified from external Incidental functions Functions of temporary stop positioning cancel override pulse train input manual pulse generator interrupt positioning etc are provided The main output signals from amplifier are as follows O Ready RD Y This signal turns on when the motor can be rotated 5 2 MHT259a Engl Positioning end PSET This signal turns on when positioning end O Incidental functions The signals of current position output origin return end torque limit detection etc can be outputted The signal form of the START immediate positioning and the current position output varies depending on the host interface Auto start immediate positioning Amplifier Setting of position data Basic type DI DO position Writes the data of divided position SX bus type SX bus direct connection Writes the data of the specified position and the speed into IQ area T link type T link direct connection Writes the data of the specified position into WB area RS485 interface Writes the position data by operation command Current position output Amplifier Current position output Basic type DI DO position Current divided position can be outputted SX bus type SX bus direct connect
160. LS signal from OFF edge to ON edge d The motor stops after rotating by the origin shift quantity basic para 77 from the detection of Z phase signal e The positioning end PSET signal turns on with the stopped position as the origin return end position basic para 79 The origin return end signal as the control output signal turns on An origin return action can be selected out of 4 patterns in the origin return pattern basic para 71 With the Z phase input invalid selected in the Z phase valid invalid basic para 73 motor can be stopped after running by the origin shift quantity from the ON edge to OFF edge of LS signal The on off status of LS signal can be inverted using the origin LS logic basic para 74 5 14 MHT259a Engl 3 Origin return pattern Four kinds of origin return patterns are selectable from the basic para 71 setting Comparison of origin return pattern Origin return pattern Setting range Pattern 1 When the machine stop position is in the opposite direction to the origin return direction the time required for origin return action can be shortened Pattern 2 When the machine stop position is in the origin return direction viewed from the origin LS the time required for origin return action can be shortened where it is near the OT signal in the return direction Pattern 3 When the machine stop position is just after the origin return direction viewed from the origin LS the time required for or
161. No of data read out DATA 2 Parameter No Data 1 5 83 Up to 4 consecutive basic para system para beginning from para No can be rewritten Transmit from amplifier No data MHT259a Engl Reading out of positioning data CM SCM DATA n 33H 30H Transmit from host controller 7 0 DANIA 1 No of data read out DATA 2 Positioning data No The No of data read out is 01H or 02H Specify the positioning data No to be read out first at 01H through 63H 5 84 Up to 2 consecutive positioning data beginning from positioning data No can be read out Transmit from amplifier Position data Speed data Dr i Timer data DATA 12 M code DATA 13 1 zi NER 7 0 DXTA14 MB DATA 1 aoe DATA 15 i DATA 13 DATA 16 me Position data L ABS INC DATA 17 et LSB L Specify CO DXA18 MB l Specify CEND DATACIS Saad data Unused DATA 20 M code valid DATA 21 eee E M code later output DATA 22 MB erat ub Unused DNA23 1 LSB Memory error DATA 24 M code i AA A EET MHT259a Engl E Rewriting of positioning data eR DATA 33H 31H Transmit from host controller DATA 1 No of data to be rewritten DANIA 2 Positioning data No DAIA 3 Status DATA 4 MB
162. ON Type GYS 300DC1 S8B 500DC1i S8B GA 101DC1 S6B 201DC1 S6B 2 Insulating protection tube 3 Shaft extension p S and flanged spigot p LB are machining finished with h6 or h7 fits 3 33 MHT259a Engl b With providing brake GYS slim type GYS300 to 201DC1 S8B or S6B B type 0 03 to 0 2 KW SHAFT EXTENSION 300 30 DE DO SHAFT EXTENSION _ 3 C3 3 Shaft extension p S and flanged spigot p LB are machining finished with h6 or h7 fits 2 Insulating protection tube 3 34 MHT259a Engl MHT259a Engl r I J S55 EE olegs S555 S555 55 e S55 55 S55 p o a zm gt s ER ET EE
163. ONT21 OUT6 OUT7 OUT8 OUT9 OUT10 Connector Terminal name pin No 4 3 6 5 8 7 0 9 Control power supply Control input Control output Function 24 V DC 0 2 A 24 V DC 10 mA Initially assigned at factory CONT 9 CONT10 LS origin LS CONT11 OT direction overtravel CONT12 0T direction overtravel CONT13 EMG forced stop CONT14 ADO CONT15 AD1 CONT16 AD2 CONT17 AD3 CONT18 AD4 CONT19 AD5 CONT20 AD6 CONT21 AD7 30 V DC 50 mA max Initially assigned at factory OUT6 OUT7 OUT8 OUT9 OUT10 MHT259a Engl ii CN1 lower side Terminal symbol 1 P24 M24 CONT1 CONT2 CONT3 CONT4 CONT5 CONT6 CONT7 CONT8 OUT1 OUT2 OUT3 OUT4 OUT5 P10 M5 NREF MON1 MON2 M5 CA CA CB CB M5 FA FA FB FB FZ FZ BAT BAT Connector pin No 20 E e 21 22 AUNI 23 24 DS OO 11 13 cu rcu A o Ro N on 35 36 10 ee aj rnm Terminal name Control power supply Control input Control output Analog input power supply Speed command input Monitor 1 Monitor 2 output Pulse train input Freq dividing output External backup input Function 24 V DC 0 2 A 24 V DC 10 mA Initially assigned at factory CONT1 RUN run command CONT2 FWD forword command 2 CONTS REV reverse command
164. OT OT LS EMG Data end end 2 Read data High order word PC Amplifier 3 Read data Low order word PC Amplifier a mun es evo nev Tone ewe sr vew e RE 45 Read rewrite data select Address No command command 6 Rewrite data High order word PC gt Amplifier 7 Rewrite data Low order word PC gt Amplifier 5 72 MHT259a Engl B Parameter positioning data Data selection Basic para System para Positioning data Position data Positioning data Speed data Positioning data Timer data Positioning data Status Setting range The data is read or written with the decimal point ignored Position data is read or written The min value 1 is corresponds to unit quantity Speed data is read or written The min value 1 is corresponds to 0 01 r min Timer data is read or written The min value 1 is corresponds to 0 01 s Status CO CEND ABS INC M code valid is stored M code output form is 0 MW and 1 MA M code is stored in 6 word low level byte Address 6 rm M code 00H to FFH M code M code 7 output valid CEND CO fe form invalid If a para is specified at low order 8 bits of word 5 it is read out at the ON edge of read command word 5 bit 7 to words 2 and 3 Read command word 5 bit 7 Read end word 2 bit 7 Basic para words 2 3 the previous value
165. OUTS 4 22 MHT259a Engl ST1 transmission system details Command receive disable bit 7 Where edit and initialization have been executed while parameters positioning data are write protected It is in off line state and the command of PC loader has priority Transmission error bit 6 Parity unmatching framing error mistake in stop bit length Data error bit 5 Wrong command configuration BCC unmatching beyond setting range Under initialization bit 3 Under initializing parameters and positioning data Off line bit 2 It is in off line state and the command of PC loader has priority MCN1 lower side terminal function Terminal Connector Function symbol pin No P24 Power input for control input output signal input 24 V DC 0 2 A M24 1 24 CONT1 2 Control input Control input signal At factory shipment the following signals have CONT2 3 been allocated CONT3 4 24 V DC 10 mA CONT4 5 CONT1 Run command RUN CONT5 15 CONT2 Auto start START CONT6 16 CONT3 Origin LS LS CONT7 17 CONT4 OT CONT8 18 CONT5 OT CONTE Forced stop EMG CONT7 CONTS8 OUT1 6 Control output Control output signal At factory shipment the following signals OUT2 7 have been allocated OUT3 19 30 V DC max 50 mA OUT4 20 OUT1 Ready RDY OUT2 Positioning end PSET OUT3 OUT4 MON2 24 Monitor output 2 Analog voltage output At factory shipment the following signal has M5 26 been al
166. Per 10 CONT10 signal assignment 0 to 56 in 1 e l6 Power 11 CONT11 signal assignment 0 to 56 in 1 step x 1 Power 12 CONT12 signal assignment 0 to 56 in 1 step E Power 13 CONT13 signal assignment 0 to 56 in 1 step Power 14 to Unused 21 22 Power 23 oo EIC o UC RI Power 24 Parameter RAM storage 3 O Not assigned 1to99 BasicparameterNo oO Power 25_ Parameter RAM storage 4 O Not assigned 1 to 99 Basic parameter No oO Power 26 Parameter RAM storage 5 O Not assigned 1o 99 Basic parameter No o Power 27 Parameter RAM storage 6 O Not assigned 1to99 Basic parameter No 0 Power 28_ Positioning data RAM storage O Notassigned 1to 99 Positioning data No o Power 29 Positioning data RAM storage O Notassigned 1 to 99 Positioning data No o Power 30 Positioning data RAM storage 3 0 Not assigned 1 to 99 Positioning data No o Power 31 OUT signa ewes 0 to 75 in 1 step E Power 32 OUT2 signal assignment Oto7S mtstep _ Pr 33 OUTS signal assignment Oto75 intstep DIO Pone 34 OUTA signal assignment Oto75 intstep OI Poner 35 Question oil Power p p 40 OUT10 signal assignment OUT10 signal assignment assignment 01075 int step to 75 in 1 01075 int step Power 41 to Unused 62 63 Speed command gain command gain 0 10 to 1 50 times in 0 01 0 10 to 1 50 times in 0 01 step 1 100 Always 64 Speed command offset 200
167. Power 13 Power 14 Power 15 Power 16 Power 17 Power 18 Power 19 Power nja j Co 20 0 to 55 in 1 step Power 21 0 to 55 in 1 step o Power 22 Parameter RAM storage 1 O Not assigned 11099 BasicparameterNo O Power 23 Parameter RAM storage2 0 Not assigned 11099 BasicparameterNo 0 Power 24 Parameter RAM storage3 0 Not assigned 11099 BasicparameterNo 0 Power 25 Parameter RAM storage4 O Not assigned 11099 BasicparameterNo 0 Power 26 Parameter RAM storage5 O Not assigned 11099 BasicparameterNo 0 Power 27 Parameter RAM storage 6 0 Not assigned 1to99 Basic parameter No 0 Power 28 Positioning data RAM storage 0 Not assigned 1o 99 Positioning data No 0 Power 29 Positioning data RAM storage 2 0 Not assigned 1o 99 Positioning data No 0 Power 30_ Positioning data RAM storage 3 0 Notassigned__1to 99 Positioning data No 0 Power 31 0 to 75 in 1 step o Power 32 0 to 75 in 1 step o Power 89 OUTS signal assignment 0to75 n1 step o Power 34 0 to 75 in 1 step o Power 35 0 to 75 in 1 step Power 36 0 to 75 in 1 step Power 37 0 to 75 in 1 step Power 38 0 to 75 in 1 step 16 Power 39 Power 40 Power 4 0 to 75 in 1 step Power 42 0 to 75 in 1 step Power 43 Power 44 Power 45 0 to 75 in 1 step o0 Power 46 OUTI8 signal assignment Oto75 niste Per 6 12 MHT259a Engl T link T link direct connection
168. REV 03H Brake release O1H Rotation possible 02H 08H 02H OT detection 06H Brake release 04H 03H Forced stop 14H 09H dt lab 04H Free run command 03H 06H Pulse train input 07H Brake operate 15H 11H Interrupt positioning Sub mode mode 00 03 04H 12H Origin return Data Sub mode 13H Deviation clear OOH Speed zero 5 80 MHT259a Engl M Reading out of control input output signal jJ 31H 31H Transmit from host controller Transmit from amplifier CONT1 CONT2 CONT3 CONT4 CONTS 2 CONT6 22 CONT7 M Reading out of alarm detection history 31H 32H CONT8 Transmit from host controller No data 7 7 0 Control input Control output DATA n No data DATA 1 DATA 2 7 0 omy CODD DIA Major fault detection Minor fault detection Code Name Code Name 1FH System error 04H Resistor heat O6H Overcurrent O5H Overflow O7H Overspeed 03H Amp heat O9H Undervoltage 14H Encoder heat O8H Overvoltage 15H Absolute data lost OAH Encoder trouble 16H Absolute data overflow OCH Circuit trouble 17H Terminal error ODH Data error OFH Fuse blown 13H Combination error 12H Resistor heat 2 11H GSG 9Ghication error No detection 14H Control signal error Code Name 01H Overload OOH
169. See 3 d of 10 3 Combination error iii In the case of A and B a torque higher than rated cannot be outputted continuously b Within the range of C Continuous operation area the motor can continuously be operated at rated speed or lower Above the rated speed the rated torque cannot be outputted continuously c The overload detecting time guidepost is as follows Output torque 100 rated torque 300 450 Overload detecting Continuous operation is 35 18 3 1 5 time approx s acceptable Before tripping by overload an early warning signal can be outputted See 5 6 6 Overload early warning Note Accel Accelerating or acceleration Decel Decelerating or deceleration 2 16 MHT259a Engl 1 GYC motor cubic type for 200 V class input voltage of amplifier UU DOLO 1 0000 UU 0 00000 l6 We 4 Te 1 43 j 1 4 4 3 5 4 124 0 E 1 0 4 2 5 Torque Tor que NT 0 8 0 NIM 2 0 4 0 6 15 4 0 4 0 318 10 0 637 0 2 4 0 O 1000 2000 3000 4000 5000 Speed r nin 0 0 1000 2000 3000 4000 5000 Speed r nin D000000000 00000010010 Eu mee ete d otc 7 04 0 O 1000 2000 3000 4000 5000 Speed r nin A Acceleration deceleration area 1
170. TA n There are no DATA n eae n ACK or NAK returns Wi Initialization of alarm detection history The alarm detection history can be initialized The initializing status can be checked by bit 3 of ST1 CM 34H The alarm detection history can be initialized SM 5AH Transmit from host controller Transmit from amplifier DATA n There are no DATA n There are no DATA n ACK or NAK returns B Status information CM 34H The status information ST1 ST2 can be received SCM 5BH Transmit from host controller Transmit from amplifier DATA n There are no DATA n There are no DATA n PIE EDIT n ACK or NAK returns 5 93 MHT259a Engl 6 PARAMETER SETTING About parameter There are two types of parameters basic parameter and system parameter Parameter Taio Basic parameter approx 99 settings System parameter approx 99 settings Set the parameters according to the motor usage and mechanical equipment system E Basic parameter The basic parameters are rather frequently adjusted such as acceleration deceleration time and manual feed speed Changed setting of most basic parameters immediately affects the amplifier and the motor actions W System parameter The system parameters are not frequently changed once they are set such as function allocation to control input output terminal and offset adjustment Changed setting of most system parameters is valid only after turning off and o
171. TTITTTTTTTTTTITTITTTTTITITTITTI4 28 c Basic type 1 and 1 5 KW DI DO position TTTTTTTTTTITITTTTTITTT TIT TIT TTTTTITTTTTTTTTITTITTTTTTTITTITTU4 29 d Basic type 2 to 5 kW DI DO position TTTITTTTTITIITIT TT TTITTT TIT TI TIT on 4 30 e Basic type 0 05 and 0 1 kW for 100 V class input voltage of amplifier DI DO position DITT 4 31 f Basic type 0 2 KW for 100 V class input voltage of amplifier DI DO position LLO 4 32 g Motor with providing brake TTTITTTTTITITTITTITTTTTITITTTTTTTTT TIT TT on 4 33 h SX bus type 0 2 KW and below TITITITTITTTITTTTTTTIT TT TTITTTTITTTTTTTTT or 4 34 i SX bus type 0 4 and 0 75 KW TTTTTITITTITTTTTTTTITIT TT TTITTTTITTTTTTTTT TIT TT 4 836 j SX bus type 1 and 1 5 kW TTITTTTTITTITTITTTTTTTTTTIT TEE TTTTTTITTTTTTTTT oo 4 37 k SX bus type 2 to 5 RwW TTTTITITTTTTITITTITTTTTTTTTTIT TT TTITTTTITTITTTTTT or 4 38 1 SX bus type 0 05 and 0 1 kW for 100 V class input voltage of amplifier TTTTTTLLLETLTTTTETELETLITTTTITIEITELITILA 39 m SX bus type 0 2 KW for 100 V class input voltage of amplifier TIA 4 40 n T link type o T link type p T link type q T link type r T link type 0 05 and 0 1 KW for 100 V class input voltage of amplifier IPn mT TTTTT 4 46 s T link type 0 2 KW for 100 V class input voltage of amplifier TBTTTTTTEEETTTTTTTTTTTTTTTTEETLETETEETTTTETETTIE4 47 t RS485 interface 0 2 kW and below TTTTTTITTTTTTTTTTIT TT TT ITI TITTTTT
172. TTTT on 14 48 u RS485 interface 0 4 and 0 75 KW TTTTTTTITTTTTTTTTTIT TE ETTTTTTITTT on 4 49 v RS485 interface 1 and 1 5 kW TTTTITITITITTITTTTTITIT TI TTTTTTTITTTTTTTTTTITTTTTTTTTTITTITTTTTITITTITTI4 50 w RS485 interface 2 to 5 RW TITTTTTITITTITTITTTTITTITTTTTTTIT TEE TITTTTIT TITTTTTTTTTTIT TI TTTTTTITTTIT 4 51 x RS485 interface 0 05 and 0 1 KW for 100 V class input voltage of amplifier TTTTTTTTTITITITILIILILTTTTITIILILITI4 52 y RS485 interface 0 2 kW for 100 V class input voltage of amplifier TTTTITTTTTLTLELELTTTTTTEELEELTTTTTTIEEELITTA 53 2 External connection diagrams of RYS V type amplifier and GYC type motor a Positioning unit AD75 TTTTITTITITITTITITITTITITITITTTTITITTITITITTITITITTTTITITITTITITITTTTITITITTITI4 54 b Position control unit CO00HW NC113 TTTTTTTTTTITITTTTITITTTTITITTTTTTITITTTTTTITTTTTTTITTTTTTTTTITTTTIT 4 55 4 26 MHT259a Engl a Basic type 0 2 KW and below DI DO position Safety Isolation Power suppl y 3 phase 200 V cl ass Safety Isolation Amplifier RYS LIS3 LPS 1 Shielded sheath on the shielded cables must be connected with the s
173. UT output 30 V DC 50 mA max sink output OUT to External control output terminals OUT4 External backup Input terminals of backup power supply from external to encoder BAT BAT Control function Position control Auto start address specify immediately positioning Manual run multistep speed interrupt positioning pulse train input origin return 4 pattern Origin setting LS origin limit switch and Z phase position preset Position data 99 point position speed timer M code and statuses Position command max 79 999 999 x unit q ty Others Override brake timing output etc 2 15 MHT259a Engl 7 Optional cables connection kits battery and external braking resistors See 3 of 4 1 Amplifier motor and optional devices layout and 10 8 Optional cables connector kits battery and external braking resistors 2 3 Torque speed data Shown below are the torque characteristic with each motor and amplifier combination a Within the range of A Acceleration deceleration area 1 and B Acceleration deceleration area 2 are used for accel decel the motor i A Acceleration deceleration area 1 Output torque is available at accel decel In case of the same output KW rating of the amplifier and motor combination ii B Acceleration deceleration area 2 Output torque is available at accel decel When the amplifier size is one step larger than the motor frame No size corresponding with the amplifier
174. Vibration suppression gain 0 00 to 1 00 in 0 01 step oo Always A periodical vibration in motor rotation speed may occur due to the moment of inertia of mechanical equipment system and the motor s response rate This parameter is always valid regardless of tuning method basic para 31 The vibration suppression time constant basic para 44 sets the vibration cycle of rotational speed Larger effect can be obtained with the higher setting for the vibration suppression gain A Vibration cycle Speed PARC pc O Time 6 26 MHT259a Engl 8 Basic parameter 51 71 P 7 71 PAGO I PPGS Para Setting range Initial value Change 51 Speed matching zone width 10 to max speed r min in 1 step 50 Always The speed arrive signal is turned on when the motor speed is near the reference speed set by para As the initial value is 50 r min the speed arrive signal is on when the motor speed reaches the reference speed 50 r min When the motor speed does not reach the reference speed due to the max speed setting basic para 16 or override setting this signal turns off When FWD or REV signal is off the speed arrive signal does not turn on A Speed matching zone width Y basic para 51 uM EZ Nd Speed Time Forward command FWD OFF ON Speed arrive NARV OFF ON ON OFF 9 Basic parameter 52 Pnl i PPESe Para Change 52 Speed zero width
175. YSLILILISS LPS 1 Shielded sheath on the shielded cables must be connected with the J terminal and the shell cover 2 A braking resistor is provided built in with amplifier 4 29 MHT259a Engl d Basic type 2 to 5 KW DI DO position Safety Isolation Pover suppl y 3 phase 200 V cl ass Safety Isolation P24 M4 P24 M4 Amplifier RYSLILILISS LPS 1 Shielded sheath on the shielded cables must be connected with the J terminal and the shell cover 2 A braking resistor is provided built in with amplifier 4 30 MHT259a Engl e Basic type 0 05 and 0 1 kW for 100 V class input voltage of amplifier DI DO position Pover suppl y Si ngl e phase 100 V cl ass Safety Isolation Safety Isolation P24 M4 P24 M4 Motor GYS500DC1 S8B GYS101DC1 S6B P24 Ampl
176. al equipment Therefore following devices may receive noise AM radios near the amplifier or motor Wired broadcast etc near the wiring Measuring instruments or household appliances 2 Expected service life a Motor The motor bearings should be replaced with new ones when required If the bearings produce unusual noise replace bearings The motor incorporates built in encoder etc Therefore inquire us for how to repalce the bearings b Cooling fan motor built in the amplifier The expected service life of the fan will be approx 20 000 h Contact us when a replacement with new one is required c Brake built in the motor The expected service life will be approx 20 000 operations at rated torque d Capacitor built in the amplifier The amplifier incorporates large capacitors Contact us when a replacement with new one is required 10 15 MHT259a Engl 11 PERIPHERAL DEVICES E Power supply 3 phase 200 V or single phase 100 V External braking resistor See 11 6 Amplifier RYS201S3 LPS FAB or ELCB See 11 2 el See 11 2
177. alarm detection history The alarm detection history is held at all times It can be initialized by the history initialization 11115 in the test running mode of the keypad panel 2 Copying the memory Use of a handy loader or PC loader can copy the setting contents of amplifier to the loader or reverse the loader contents can be transferred to the amplifier If you have no technical documents for operation of handy loader or PC loader contact us RYS40153 VWVS un O Mutual copy of memory i 3 B DB a zm m E LB P HA N uv gt E v w 3 Saving the setting contents into RAM The EEPROM reaches its end of expected service life after approx 100 000 operations If basic para and positioning data are saved in RAM rewriting is available any number of times For saving in RAM refer to 6 3 6 Para and positioning data saved in RAM can be rewritten any number of times Turning on power selects default values 10 3 Fault display The fault diagnosis is explained in three sections below 1 Initial status 2 When error failure is not displayed 3 Faults with alarm indication 1 Initial status After turning on commercial power for the amplifier some of 7 segments on the keypad panel lit light up The CHARGE LED lights on the keypa
178. and connection test of PC board and terminals of amplifier must not be conducted Otherwise there is a risk of damage to amplifier or encoder built in the motor 10 2 Memory backup 1 Memory backup An electrically rewritable EEPROM is used for retaining the following items after turning off power supply i Basic para and system para ii Positioning data RYS L type amplifier only iii Alarm detection history Each area can be initialized by turning off the run command RUN of the amplifier while motor is de energized a Initialization of parameter To initialize select the para initialization m 77 E in the test running mode and press the ENT key Notice After the initialization be sure to turn on power again E r1 i 06 The initialization is not allowed if rewrite is inhibited by system para 94 PHr t The initialization is impossible while the motor is energized with the RUN signal on b Initialization of positioning data RYS L type amplifier only To initialize select the positioning data initialization E f f 7 in the test running mode and press the ENT key Notice After the initialization be sure to turn on power again L P1 Li Li The initialization is not allowed if rewrite is inhibited by system para 95 Pa r t The initialization is impossible while the motor is energized with the RUN signal on 10 1 MHT259a Engl c Initialization of
179. and pulse correction a and P the position data ex 200 00 can be coincident with the move amount 200 00 mm of mechanical equipment system The move amount of mechanical equipment system per one pulse of the pulse train input is the unit quantity The pulse correction value can be obtained by the 16 bit serial encoder resolution 65536 pulse and the move amount of mechanical equipment system per one rotation of motor Move amount of mechanical equipment system per one motor rotation Command pulse correctiona x Unit quantity 65536 pulse rev Command pulse correction 6 32 MHT259a Engl Calculation example Linear positioning of 10 mm lead screw to incremental encoder required unit quantity is 1 100 3 AAA ANNAN Ll Li Move amount of mechanical equipment system per one motor rotation Command pulse correctiona i x Unit quantity 65536 pulse rev Command pulse correctionB 10 mm Command pulse correctiona x 1 100 65536 pulse rev Command pulse correctionB 10 mm 8192 x 1 100 65536 pulse rev 125 We have obtained the following values Command pulse correctiona 8192 Command pulse correctionB 125 With the above setting the mechanical equipment system can now be advanced by 0 01 mm per one pulse of pulse train input If
180. ank or a minus sign H and If 9 is followed up by O the value at the immediately upper place increases by 1 If 0 is followed down by 9 the value at the immediately upper place decreases by 1 Heat HeU Note that there is no borrow nor carry from H side to L side or reversely The shifting order is as follows NN Ae H st 2 3 1 4 5 Example 9 is followed up by 0 to give 2900 1 Reading a para allows to change the LSD of H side 2 Shifting allows to change the sign 3 Shifting locates the cursor to the MSD of H side Shifting repeatedly goes to the right and then sequentially circulates within the display range of H side 4 To jump from the H side to the L side press the MODE key holding down the SHIFT key On the L side the MSD can be changed first b Each press of the SHIFT key moves the cursor to the right The LSD is followed by the MSD within the L side Storing the value Holding down the ENT key for at least 1 s stores the value blinking all digits simultaneously 3 times The stored value remains displayed Pressing the ESC key resumes the para selecting screen B Value beyond specified range A value can be inputted within the range from minimum to maximum specified for each para A value beyond the specified range cannot be inputted LSD Least significant digit MSD Most significant digit 7 16 MHT259a Engl
181. ara Change 84 79999999 to 0 to 79999999 in 1 step x unit qty 79999999 Always 85 79999999 to 0 to 79999999 in 1 step x unit qty 79999999 Always These para set the detection position of the limiter detection function Both set value can be plus or minus the para 84 set value must be larger than the para 85 set value For the limiter detection see Section 5 5 9 6 31 MHT259a Engl 23 Basic parameter 95 PAGE 1 PP095 Para Setting range Initial value Change 86 Backlash correction 0 to 10000 pulse in 1 step 0 Always The backlash by mechanical equipment system can be corrected by motor rotational quantity Everytime the motor rotational direction alters the motor rotates with the set value added The current position indication remain unchanged while moving for the backlash correction amount 24 Basic parameter 91 92 PAGO IPPDOS PPa LO ny Para Setting range Initial value Change 91 Command pulse correction a 1 to 32767 in 1 step ser Always 92 Command pulse correction B 1 to 32767 in 1 step Always Move amount of mechanical equipment system per 1 pulse of command pulse can be converted to unit quantity Unit quantity is any value of 1 1 1 10 1 100 or 1 1000 The factory set position data value in positioning data does not coincident with the move amount of mechanical equipment system By setting the comm
182. ate the motor Forward command FWD Reverse command REV Control input signal B Function While the FWD REV signal is on the motor rotates forward in reverse Acceleration starts at the ON edge deceleration starts at the OFF edge Simultaneous turning on both FWD and REV does not stop the motor The motor rotates at a speed selected by multistep speed selection X1 X2 or X3 Multistep speed selection X1 X2 X3 X3 X2 X1 Speed OFF OFF OFF see below OFF OFF ON Speed set by basic para 01 OFF ON OFF Speed set by basic para 02 OFF ON ON Speed set by basic para 03 ON OFF OFF Speed set by basic para 04 ON OFF ON Speed set by basic para 05 ON ON OFF Speed set by basic para 06 Min value in IQ area and WB area is ON ON ON Speed set by basic para 07 equivalent to 0 01 r min Basic type DI DO NREF terminal SX bus type SX bus direct connection IQ area 10 11 T link type T link direct connection WB area 7 8 RS485 interface Basic para only i Parameter setting To allocate the FWD signal to the control input terminal set 2 to the system para set 3 for the REV If these signals are not allocated to the control input terminal these signals are deemed always off B Related items 1 Changeover of acceleration deceleration time The accel and decel time of motor can be set by basic para 21 to 24 The accel time and decel time can be set separetely The acc
183. ation If an alarm is detected the detected contents are displayed on the keypad panel of amplifier If multiple alarms are detected simultaneously alarm indication is made in accordance with the priority order given below Priority order Description 1 System error 2 Overcurrent output overcurrent 3 GL 15 Overspeed 4 HL Lu Low voltage undervoltage 5 HL Hu High voltage overvoltage 6 HL EE Encoder trouble 7 CL CE Circuit trouble amplifier trouble 8 AL dE Data error memory error 9 HL F Fuse brown 10 HL E Combination error 11 HL r He Resistor heat 2 12 AL EL Encoder communication error 13 AL CE E Cont control signal error i A T r Lx rz Over load motor overheat 15 Resistor heat braking DB resistor overheat 16 Overflow deviation excessive 17 HL AH Amp heat amplifier overheat 18 Encoder heat encoder overheat 19 Absolute data lost 20 Absolute data overflow 21 HL EE Terminal error 22 AL non ENT 1 s or more 5n ESC Alarm code Alarm detected Remark An alarm is automatically displayed if detected If at a displayed status the alarm detection is reset by a control input signal the initial screen system para 89 setting appears The alarm detection can be reset in the test running mode 7 m E amp E H
184. ation at undervoltage Power 81 Operation at stoppage 1 Servo lock 2 Brake P action 3 Brake free run 1 o 85 Alarm detection at undervoltage Power 86 Resistor thermal relay 0 Electronic thermal relay i Extemalthermalrelay O Power 87 CONT always valid 1 0to55 nistep Per 88 CONT always valid 2 0to55 nistep Per 89 Initial indication 0to20 nistep Per Poa ae to Unused 93 94 Parameter rewriting inhibit 0 Rewriting enable 1 Rewritingdisable JO Power 95 Positioning data rewriting inhibit 0 Rewriting enable 1 Rewritingdisable JO Always 96 Station number Power 97 Baud rate 0 9600 1 19200 2 38400 bps po Power 98 Binary BCD Power 99 INC ABS system 0 INC Incremental 1 ABS Absolute o Power 6 13 MHT259a Engl B System parameter for RS485 interface type amplifier Function input signal number assigned to system para 1 to 8 CONT1 to CONT8 0 400i mn Oo CQ CQ i000 aa a a OOANDARWNMNH OO Not assigned Run command RUN Forward command FWD Reverse command REV Auto start START Origin return ORG Origin LS LS XOT 0T OT OT ABS INC Forced stop EMG Alarm reset RST VELO VEL1 ACCO Position preset Pulse train ratio 1 Pulse train ratio 2 P action Torque limit Temporary stop Positioning cancel External fault input Teaching Override valid Override 1 Override
185. ation zero width basic para 53 A Time Deviation zero OFF ON Positioning end OFF 4 amp Jd ON Positioning end judgment time basic para 57 6 28 MHT259a Engl 13 Basic parameter 58 Pn rr LI LI PEGS Para 58 l Setting range e value Change Overload early warning level 10 to 100 in 1 step Always The trip level of amplifier is 10096 The output level of overload early warning signal in control output signal can be set The overload alarm detection level of amplifier is 100 For details see 5 5 6 Overload early warning 14 Basic parameter 59 Pn mn LI LI P POS Para 59 l Setting range Initial value Change Max torque limit value 0 to max torque in 1 step Always The rated torque is 100 The m otor output torque can be limited by the para setting value Where the torque limit 30 is not allocated The basic para 59 is always effective Where the torque limit 30 is allocated Data can be changed between the max torque and the basic para 59 setting 15 Basic parameter 62 to 65 Pn wn LI LI I I P PUG Setting range initial value Change Fixed passing point detection 0 Fixed point 1 Passing point OFF ON 2 Passing point ON OFF A Always Fixed passing point detection position 1 79999999 to 0 to 79999999 in 1 step x unit q t Fix
186. ations are carried out f The motor rotation start at the origin return speed in the opposite to the origin return direction g The motor stops on detection of OFF level to ON level to OFF level transfer of the LS signal h Operations a through e are carried out again In case the overtravel OT signal toward the opposite to the origin return direction is detected during f operation in the origin return action the motor stops immediately LS on level is not detected In this case origin return action has not been ended 5 15 MHT259a Engl Speed Time Origin return ORG Origin LS LS OFF IN OT ON Encoder Z phase ON Origin return end OFF PSET level ON PSET one shot OFF Wi Origin return pattern 3 setting value 3 in basic para 71 Ee At the ON edge of ORG signal the motor rotates by the origin return reversing quantity at the origin return speed Then the operation from a through e is carried out If the OT signal toward the opposite to the origin return direction is detected during rotation by the origin return reversing quantity the movement stops once and then carries out the origin return pattern 1 Speed Time Basic para 78 Origin return ORG OFF ON Origin LS LS OFF Encoder Z phase
187. ays valid Assignment is not necessary 30 Torque limit Torque limit value becomes always valid Unless assigned maximum torque limit value basic para 59 setting is valid 43 Override valid Override becomes always valid 44 to 47 Overeride 1 2 4 8 Only specifically determined magnification becomes valid 48 Interrupt input valid Interrupt input becomes always valid 51 to 53 X1 X2 x3 Only specifically determined multistep speed becomes valid Remarks The signals that have been assigned to system para 87 or 88 are always valid The only two signals can be always valid Such on off timing signals as the current position output 56 cannot be assigned For SX bus type system para 87 and 88 are invalid 6 54 MHT259a Engl 18 System parameter 89 Basic type SX bus T link RS485 interface PaUGoO PPGES a Basic type Setting range Initial value Initial indication 0 to 20 in 1 step 89 Power b SX bus T link RS485 interface Para Setting range Initial value Change 89 Initial indication 0 to 20 in 1 step 6 Power The contents of indication on the keypad panel at power on can be changed For the link system such as the SX bus type and T link the initial value is 6 Setting Indication Setting Indication 0 Sequence 7 F
188. b mode 2 SAGO Alarm detection 3 5 n CG q Alarm history 4 SAGES Amplifier setting 5 Ga GLG Motor setting 6 SAGE 1 Station No indication 2 Sub mode Indicates the sub mode of the ss tbe mode Setting Initial indication 7 Lim LIU Feedback speed 8 LO LIC e Command speed 9 Ll m LII 3 Average torque 10 Ll n LUI H Feedback position 11 Lin LIU 5 Command position 12 GnG Deviation amount 13 GAGG 1 cumulated pulse 14 GAGE Peak torque 15 AGG input voltage 1 16 GAG IC Input voltage 2 17 Ung LS Z pulse 18 GAG 12 Input signal 19 GAG 13 Output signal 20 nd 1 Load inertia ratio ENT ENT 1 s or more or more FI 5 M LILI El a Indication ha The on off status of control input ERE signal is indicated 5 Description In base off condition the motor does not have driving force and in free run status The motor can rotate and is waiting the run command The motor can rotate and is executing manual feed The motor can rotate and the pulse train input is valid The motor can rotate and is executing positioning operation The motor can rotate and is executing origin return The motor can rotate and is executing interrupt positioning The amplifier is executing deviation clear The motor can rotate and is measuring the brake timing The moto
189. check and remedy This alarm is detected only when ABS absolute system is selected by setting of system para 99 Use an absolute system upon presetting the current position This alarm detection cannot be reset by alarm reset RST signal i Mount a battery WSB S type on the amplifier or supply power to the control input output terminal on CN1 ii Connect the encoder wiring from CN to the encoder wires of motor The current position information is destroyed if approx 1 h elapses at a status where the encoder wiring is not connected iii Preset the current position in the test running mode E 7 7 1 Executing the position preset simultaneously resets the alarm detection with the current position as set value of basic para 80 10 8 MHT259a Engl c Absolute data overflow Keypad panel display HL HF Contents of alarm The shaft extension of GYC GYS type motor rotated beyond the range of 32768 to 0 to 32768 revolutions Cause check and remedy On an absolute system the rotational quantity of the motor shaft extension is limited For the alarm resetting method see b above d Combination error Keypad panel display HL LE Contents of alarm The combination of connected amplifier and motor is not correct Cause check and remedy Upon turning on power the amplifier automatically recognizes the motor Use amplifier and motor as a specified pair of model types The amplifier usually drives a
190. coder BAT BAT Control function Position control Auto start address specify sequential starting immediately positioning Manual run analog voltage multistep speed interrupt positioning Pulse train input origin return 4 pattern Origin setting LS origin limit switch and Z phase position preset Position data 99 point position speed timer M code and statuses Position command max 79 999 999 x unit q ty Others Override brake timing output etc 4 Functional specification SX bus type design RYSOOOS3 LSS type amplifier Signal name Function Terminal symbol Host interface I F SX bus IQ area 16 word IN OUT Pulse train Freq 500 kHz max differential input CA CA Form a Command pulse and code 2 Forward and reverse pulse CB CB 3 Two 90 phase different signal Power supply 5 V DC 200 mA max P5 Freq Output Freq 500 kHz max differential output FA FA dividing Two 90 phase different signal FB FB output 16 to 16384 pulse rev in 1 step FZ FZ Monitor output 1 2 For analog meter two one way deflection 1 Speed command MON1 2 Speed feedback 3 Torque command 4 Position deviation MON2 Power supply for I F 24 V DC 300 mA supplied from external P24 M24 Control input 24 V DC 10 mA one point source input CONT to External control input terminals CONT5 OUT output 30 V DC 50 mA max sink output OUT1 and External control output terminals
191. connection Current position can be outputted to IQ area T link type T link direct connection Current position can be outputted to WB area RS485 interface Current position can be outputted as monitor data i Parameter setting To allocate the current position output to the control input terminal set 56 to the system para If this signal is not allocated to the control input terminal this signal is deemed always off B Related item 1 Transmission format Basic type DI DO position MSB LSB highest order bit lowest order bit Current position Current position Check sum Upper 16 bit Lower 16 bit 8 bit m 40 bit Current position Transmitted in 32 bit binary data beginning with MSB Check sum Resultant lower 8 bit when 1 byte 8 bit data is added 4 times from MSB side Check sum is transmitted beginning with MSB side as well Check sum is done for the current position 32 bit length data Remarks Motor position detector 16 bit serial encoder consists of one rotation data and multiple rotation data This is different from the current position output data transmitted from amplifier 1 Multiple rotation data Rotational quantity per one rotation based on the origin of motor encoder The data is complement of 2 in 16 bit and from 32768 to 432767 2 One rotation data Absolute position within motor encoder one rotation 16 bit data and 0 to 65535 Current position P is expressed as P
192. contents Data continuation CO n I I Incremental INC M code later output Cycle end CEND 5 M code 24 7 05 M code simultaneous output M code no output An M code to output by executing the positioning data can be edited The setting range is 00 to FF in hexadecimal notation value is specified in 1 step FF Each digit is changeable by the v key or key MHT259a Engl 7 7 Test running mode In the test running mode keying on the keypad panel can rotate the motor or reset the different items Upon displaying m l Em by the MODE key holding down the ENT key for at least 1 s executes a test running Fali 1 Manualfeed FrAGGS History initialization Ente Origin return Fnalitib Parameter initialization Ent Position preset Ent Positioning data initialization Fa Alarm reset Fa Automatic offset adjust 1 Manual feed En GG So long as a key on the keypad panel is pressed the motor rotates The motor speed is as set by basic para 1 ENT 1 s or more FE nl I L uti ESC ESC 1 ENT A 7 ne fila Pull V Indicates rotating in positive direction So long as the A key or v key is pressed the motor rotates nuit While the motor is rotating by a control input output signal LIL indications other than fff cannot be selected Indicates rotating in negative direction 2 O
193. creases the integrated value In case of two 90 phase different signals each edge is counted quadrupling The count increases if B phase is in lead ENT 1 s or more 17175 l c 4H l ESC Pressing the MODE key holding down the SHIFT key a i interchanges the high order 4 digits and low order 4 digits Co li li Lin LL Remarks The maximum positive count of 99 999 999 is followed by 0 The maximum negative count of 99 999 999 is followed by 0 Hence the count becomes 0 every 100 000 000 4 digits preceded by H are high order 4 digits and those by L are low order 4 digits In case of a negative value H or L and minus sign blink alternately 8 Peak torque Current load factor of motor The peak value is displayed every other second in percentage assuming the rated torque as 100 The indication is from 096 to maximum torque without minus sign F1 ne ENT 1 s or more LIA Li ui q ic J 4 ESC 9 Input voltage 1 Indicates the input voltage at the control input terminal NREF in 0 1 V steps denotes a negative voltage 7 1171 ENT 1 s or more IIC un i LI q ILLLI ESC Some amplifiers do not have the control input NREF terminal 10 Input voltage 2 Indicates the input voltage at the control input terminal TREF in 0 1 V steps denotes a negative voltage 07a ENT 1 s or more I Onl ILI
194. ct the backup power As long as the backup power exists the amplifier is backed up 3 Power supply for control circuit If a UPS is prepared as a peripheral device connect its power to the control power input terminal so that power can be supplied to the control circuit only backup is available at the same time 6 59 MHT259a Engl 7 KEYPAD PANEL 7 1 Display D The amplifier is provided with a keypad panel It has a display section of five 7 segment LED digits and 4 operation keys Figures and letters are displayed on the display section FALDIG vs201534 Ps 3 E e d pay Remark The keypad panel cannot be removed 1 Mode The keypad panel operation can be classified into 5 modes Sequence mode MTH Indicates the amplifier status Monitor mode MTT Monitors the motor speed and the input output signal status Parameter edit mode TLL Edits the parameter setting Positioning data edit mode ION Edits the positioning data Test running mode M T Operates the motor with the keypad operation List of 7 segment indication O L O O L LI O O L LI E 0110395161185 E X C po J 3 N T aA My Nm PT p T uc 7 1 MHT259a Engl 2 Operation key MIE Change the mode MODE SH FT Moves th
195. ction I Amplifier Servo amplifier BROUT Dynamic braking fault output BX Free run J C Cleaning key CA Command pulse A phase O CALD D is a logic inverted signal of CA L CALL Read key CB Command pulse B phase O CBO D is a logic inverted signal of CB CCW Counter clockwise CE Motor combination error CEND Cycle end M CH Controller overheat CM Speed monitor check pin CMD Command CN1 Control input output signal connector CN2 Encoder detector connector CO Data continuation CONT Control signal COPY Copy mode CPURDYT CPU ready Ct Control power trouble error Circuit trouble Amplifier trouble N CtE Control signal error CWD Clockwise DB Internal braking resistor unit dE Memory error Data error Decel Deceleration O DI DO Digital input output DIR Shorted route valid DMON Data monitor D No Station number E Ground earth terminal EC Encoder detector communication error EEPROM Electrically erasable program read only memory EH Encoder detector overheat Encoder detector heat ELCB Earth leakage circuit breaker EMG Forced stop ENQ Enquiry control code EP Encoder detector power error ERROR CPU error Et Encoder detector trouble error 12 20 FAB Fuji s auto circuit breaker MCCB Fb Fuse blown FG Frame enclosure ground terminal FLEX Fuji s PLC FLTH FLTL Fault high or low level Forward direction
196. current torque current M code Position data setting speed command speed data setting OFF Current deviation current speed current torque current M code Position data setting speed command speed data setting 5 62 MHT259a Engl AENA A A AAA Lo Current command position current feedback position current deviation Low order word PC Amplifier Current command position current feedback position current deviation High order word PC Amplifier Current speed Low order word PC Amplifier Current speed High order word PC Amplifier Current torque PC Amplifier xa mem ALM4 ALM3 ALM2 ALM1 ALMO Current M code Lr pere spem Feel E Tm error error end end e Position data Low order word PC gt Amplifier Position data High order word PC gt Amplifier EE Speed command speed data setting Low order word PC gt Amplifier Speed command speed data setting High order word PC gt Amplifier Eme SEL2 SEL1 SELO Positioning data setting INC command command B Current command position current feedback position current deviation Word position Setting range Address 0 Current command position current feedback position or current deviation 2 word is stored Current Address 1 position is corresponds to unit quantity deviation amount is in 1 pulse unit Address 2 Current rotational speed is stored in 2 word Address 3 The min value 1 is corresponds to 1 r min Address 4 Current output to
197. d ON INC relative position specified Executing the positioning START 4 AD7 to ADO Positioning 01 to 99 Positioning data Immediate data Note MSB Highest order bit 5 29 MHT259a Engl 2 Recommended setting when using the immediate positioning Bi System parameter of RYS L type Basic type DI DO position Para Change 01 Power 02 Power 03 Power 04 Power 05 Power 06 Power 07 Power 08 CONT8 signal assignment 0 to 56 in 1 step 4o Power 09 0 to 56 in 1 step Power 10 CONTiOsignalassigoment Oto 56 in 1 step 6 Power 11 Power 12 0 to 56 in 1 step a Power 13 Power 31 0 to 67 in 1 step Power 32 Power E NEN vor uil HE o o Power Power Power Power 33 OUT3 signal assignment 0 to 67 in 1 step 34 35 36 37 Power 38 0 to 67 in 1 step Power 39 Power 40 Power 87 CONT always valid 1 0 to 56 in 1 step Power 88 CONT always valid 2 0 to 56 in 1 step o Power Shaded paras at 2 have been changed from factory setting Manual operation Manual feed speed 2 is valid set by basic para 2 Origin return Selectable out of 4 patterns Auto start Operation is according to immediate positioning and positioning data Incidental functions OT OT forced stop 5 5 4 Current position output Command is inputted for the current position output Current position output command Control output signal B Functio
198. d Resetting of alarm detection can also be executed in the test running mode 4 Alarm history The last 9 times of alarm detection history can be indicated The indication can be scrolled by the A keyand v key ENT 1 s or more Gn H ESC Alarm history indication A Detected history number 1 latest 9 oldest Alarm code See 3 Remark The alarm history can be deleted by the test running mode F 5 7 75 Press the A key and v key simultaneously for 1 s or more while alarm detection is indicated to reset the alarm detection 7 7 MHT259a Engl 5 Amplifier setting The amplifier control function and connecting form are indicated E nr G ENT 1 s or more NTC A ESC Control function 1st digit left end digit Indication Function LI Speed control r Rotation indexing dividing Linear positioning Indication Function O Not mounted P DI DO extension r RS485 6 Motor setting AF Lu Lu Li Main control connector 2nd digit Indication Function d DI DO basic 5 SX bus Indication Function g Not mounted E T link P Parallel H ANY bus F Multi bus The motor type and capacity being connected to the amplifier are indicated nri ENT 1 s or more 5 nLiLib ESC The sample indication above means a cubic type motor of 0 1 kW Motor type Cubic type Slim type High stiffness Flat Large capacity 7 8 MHT259a Engl
199. d panel FALDI vs2s3 nes 4 7 segment digits CHARGE LED If turning on power displays nothing contact us Supplying only the control power lights the display 10 2 MHT259a Engl 2 When error failure is not displayed The following exemplifies checkup procedure As required contact us a Motor does not rotate Motor does not rotate Y LED CHARGE lit on front panel Supply commercial power to amplifier The motor does not rotate even if control power is supplied Supply the main circuit power as well as control power Y Amplifier and motor connected Check the connection of Motor power to U V W of amplifier Encoder to CN2 Y Alarm detection indicated on Remedy as per 3 If alarm is detected display is headed by AL m AL H Anm Unless 24 V DC is supplied all control input signals are invalid 24 V DC supplied to CN1 P24 and M24 Check the control input output signal on CN1 i Sequeuce display ENT 1 s or more ESC 1 Displays the current status Indication Check and remedy In base off condition the motor has no driving force and in Turn on the run command RUN free run status Turn off the free run command BX The amplifier h d an overtravel signal in positive ne ampliner nas detecte ee Reset OT by on direction and stops The ampli
200. d speed data setting Low order word Function input signal number assigned to System para 1 to 19 Function output signal assigned to System para 31 to 46 0 Not assigned 32 Positioning cancel 0 Not assigned 30 Data error 1 Run command RUN 34 External fault input 1 Ready RD Y 31 Address error 2 Forward command FWD 35 Teaching 2 Positioning end PSET 32 Alarm code 0 3 Reverse command REV 43 Override valid 13 Rewrite end 33 Alarm code 1 4 Auto start START 44 Override 1 14 Brake timing 34 Alarm code 2 5 Origin return ORG 45 Override 2 15 Dynamic braking 35 Alarm code 3 6 Origin LS LS 46 Override 4 16 Alarm detection ALM 36 Alarm code 4 7 OT 47 Override 8 17 Fixed passing point 1 38 OT detection 8 OT 48 Interrupt input valid 18 Fixed passing point 2 39 OT detection 9 ABS INC 49 Interrupt input 19 Limiter detection 40 Origin LS detection 10 Forced stop EMG 50 Deviation clear 20 OT detection 41 Forced stop detection 11 Alarm reset RST 51 Multistep speed X1 X1 21 Cycle end CEND 60 MDO 12 VELO 52 Multistep speed X2 X2 22 Origin return end 61 MD1 13 VEL1 53 Multistep speed X3 X3 23 Deviation zero 62 MD2 14 ACCO 54 Free run BX 24 Speed zero NZERO 63 MD3 16 Position preset 55 Edit permit command 25 Speed arrive NARV 64 MD4 27 Pulse train ratio 1 26 Torque limit detection 65 MD5 28 Pulse train ratio 2 27 Overload early warning 66
201. d to the control input terminal is deemed always off Moving speed 96 by override Override 8 OFF OFF OFF OFF OFF OFF OFF OFF ON ON ON ON ON ON ON ON oe or o on for ON fox ov f Where override weighting is at initial value 5 49 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 If this signal is not allocated to the control input MHT259a Engl 2 Override weighting Override weighting can be changed by using basic para 17 to 20 Basic parameter 17 to 20 Para Change 17 0 to 150 in 1 step Always 18 0 to 150 in 1 step Always 19 0 to 150 in 1 step Always 20 0 to 150 in 1 step 80 Always When the override 8 4 2 and 1 are all on adding all initial values gives 150 80 40 20 10 If the initial value has been changed and resultant sum exceeded 150 the preceding value is retained 3 Max speed Max speed of the motor output shaft can be set by basic para 16 setting However this setting is invalid while pulse train input exists 5 7 4 Free run BX This function puts the motor into free run status forcibly Free run BX Control input signal B Function While BX signal is on the amplifier output is off and the motor is in free run status Motor decelerates or accelerates with the loaded torque The BX signal is always valid A CAUTION O For safety purpose do not use this signal to the vertically mo
202. direction overtravel OT 8 O OT detection 38 OT detection 39 Torque limit TLMT 30 O Torque limit detection 26 External fault input 34 Overload early warning 27 5 6 1 Forced stop EMG Forced stop detection Stops the motor forcibly using the signal to control input terminal Forced stop EMG Forced stop detection Control input output signal B Function 1 Forced stop EMG While the EMG 10 signal is off the motor is forced stopped This input signal is always valid in any control made and has the highest priority all other commands are ignored Connect the EMG 10 signal directly to the control input terminal of amplifier because the safe operation and speed detecting are important Normally connect this terminal to a push lock type NC contact pushbutton switch Fuji s command switch is recommended 2 Forced stop detection When the EMG 10 signal is turned off the forced stop detection 41 signal is turned on to be informed the current status externally However the forced stop detection 41 signal is turned off while external fault input 34 is off Basic type D DO position At factory setting the EMG signal is allocated to CONT13 terminal Pin 20 of CN3 SX bus type SX bus direct connection At factory setting the EMG signal is not allocated to the control input terminal of CN1 Allocate this signal to use it When allocated to IQ area bit ON executes the forc
203. dy RD Y 31 Address error 2 Forward command FWD 35 Teaching 2 Positioning end PSET 32 Alarm code 0 3 Reverse command REV 44 Override 1 13 Rewrite end 33 Alarm code 1 4 Auto start START 45 Override 2 14 Brake timing 34 Alarm code 2 5 Origin return ORG 46 Override 4 15 Dynamic braking 35 Alarm code 3 6 Origin LS LS 47 Override 8 16 Alarm detection ALM 36 Alarm code 4 7 OT 48 Interrupt input valid 17 Fixed passing point 1 38 OT detection 8 OT 49 Interrupt input 18 Fixed passing point 2 39 OT detection 9 ABS INC 50 Deviation clear 19 Limiter detection 40 Origin LS detection 10 Forced stop EMG 51 Multistep speed X1 X1 20 OT detection 41 Forced stop detection 11 Alarm reset RST 52 Multistep speed X2 X2 21 Cycle end CEND 60 MDO 12 VELO 53 Multistep speed X3 X3 22 Origin return end 61 MD1 13 VEL1 54 Free run BX 23 Deviation zero 62 MD2 14 ACCO 55 Edit permit command 24 Speed zero NZERO 63 MD3 16 Position preset 56 Current position output 25 Speed arrive NARV 64 MD4 27 Pulse train ratio 1 26 Torque limit detection 65 MD5 28 Pulse train ratio 2 27 Overload early warning 66 MD6 29 P action 28 CPU ready CPURDY 67 MD7 30 Torque limit 29 Edit permit ON 75 Position preset end 31 Temporary stop 6 41 MHT259a Engl RS485 interface Bii Connector pin layout CN1 lower side
204. e be as ls X 98 External dimension See 1 b of 3 3 External dimensions 2 1 MHT259a Engl c Additional data for motor with providing reduction gear gear head unit i Motor with gear ratio 1 9 1 0 1 to 1 5 KW Type GYNLICICICAG G09 102 152 Motor output kW 15 Actual reduction gear ratio 1 9 Speed r min Rated 333 3 555 5 Rated torque INe m 245 49 o8 181 254 38 2 Max breakdown torque N m 76 4 116 Direction of motor rotation 2 CCW Backlash max 4 min 40 30 Mass weight kg 3 8 7 8 External dimension See 1 e of 3 3 External dimensions ii Motor with gear ratio 1 25 or 1 15 1 0 1 to 1 5 KW Type GYN CAG 101 201 401 751 102 152 G25 or G15 G25 G15 Motor output kW 15 Actual reduction gear ratio 1 15 Speed r min 120 200 Max 200 333 3 Rated torque N m 39 2 57 8 Max breakdown torque N m 117 6 173 4 Direction of motor rotation 2 CCW Backlash max 4 min 40 30 Mass weight kg 3 8 7 8 External dimension See 1 f of 3 3 External dimensions 1 15 u m for over the rated speed 2 Direction of shaft rotation is CCW counterclockwise when motor shaft rotates forward The direction is viewed from a point facing the drive end of motor 3 Max breakdown torque and maximum current values are selected in accordance with the following paired combination of amplifier and motor type
205. e auto start command CM 34H SCM 3A and positioning data No setting command CM 34H SCM 38H are available The auto start signal is assigned to Connector 1 CN1 at factory setting To use on this status set a value using the positioning data No setting command Positioning starts at the ON edge of auto start START signal 2 Stopping The motor decelerates before the position set by position data and automatically stops at the set position The followings show how to stop forcibly after starting a movement Turn off the run command RUN Turn off the forced stop EMG top priority always Turn on a positioning cancel Turn off an external fault input top priority always Turn on a temporary stop turning it off resumes the remainder of action Turn on a free run BX signal After starting a movement it may not reach the position set by the position data for the following reasons Soft OT OT OT signal detected Limiter detected 3 Incidental functions The setting of position data can be directly specified from outside Immediate positioning see 5 5 3 Successive positioning data can sequentially be executed Sequential start see 5 5 1 The current shaft position can be detected Current position output see 5 5 4 Fixed passing point detection 1 2 see 5 7 2 Origin return end see 5 4 1 8 5 MHT259a Engl 8 3 Setting change Setting contents of positioning data
206. e color Black Orange Orange EM blue Sky blue White ar oe Pio c 10000 09 650 ae P20 C 2000 1400 f Encoder cable Cable type WSC PO6P05 W PO6P10 W and PO6P20 W Application 1 5 kW and above F AS g AA For CN2 11 12 MHT259a Engl i Connector Housing 54180 0611 Plug shell cover 58299 0600 body 58300 0600 Cable clamp 54181 0615 Clamp screw 54182 0605 ii Wire color iii Cable length L RIPE LONE ERR GE EC RN wsc pos PO5 W 5000 800 300 Wire color Black Orange Orange Sky blue Sky blue LM White EHE P10 W 10000 1000 500 P20 W 20000 8000 1200 g Motor power cable for motor without providing brake Cable type WSC M04P05 M04P10 and M04P20 Application 0 75 kW and below oo 20 a a Connector O 4 i Connector ii Wire color Cap housing 350780 1 Pin No for CN1 4 Socket 350570 1 Marking E Green Cable color White Black Yellow iii Cable length L and mass Cable type Mass g WSC Mo4 Pos 5000 800 700 Pio 10000 0 1400 p20 20000 5 2700 11 13 MHT259a Engl h Motor power cable for motor with providing brake Cable type WSC MO6P05 MO6P10 and MOGP20 Application 0 75 KW and below Connector i Connector ii Wire
207. e cursor to the right at data change ESC Returns from the mode ESC ENT SHIFT Stores the mode and figure ENT Press more than 1 s to store the data Selects the sub mode Selects the sub mode M Decreases the figure 1 Increases the figure 1 When a figure decreases from 0 to 9 the figure When a figure increases from 9 to 0 the figure on on the one higher digit decreases by one the one higher digit increases by one Pressing the MIE key while pressing the SH FT key changes over the indication between the higher 4 digits and lower ESC ENT 4 digits 3 Mode select Each mode can be selected by the MODE key Mode select Sub mode select Indication example Power on NE EM Sn Sequence mode E ESC l Monitor mode mir Marrs Praag 1 0003 Z mn NIT Poll NIRUCUO 7 2 MHT259a Engl 7 2 Function list The setting value can be changed in parameter edit mode and positioning data edit mode Mode Sequence mode Monitor mode Sub mode Sequence Sub mode Alarm detection Alarm history Amplifier setting Motor setting Station No indication Feedback speed Command speed Average torque Feedback position Command position Deviation amount Cumulated pulse Peak torque Input voltage 1
208. e resistance of stator winding of GYC201 type motor is 2 Q at room temperature V Power supply voltage 200 V C DC intermediate capacity of RYS201 amplifier 660 u F e Consumption and absorbing energies EL Em Es is 20 J which is larger than the energy on the mechanical equipment system Ea 6 5 J Therefore external braking resistor provision is not required in this example 12 9 MHT259a Engl 12 2 Example of program 1 Current position output An example is shown for PLC side program for current position ouput see 5 5 4 Current position output Connecting the amplifier output terminal to PLC input terminal obtains the current position of motor BO Obtaining start input B1 End input B17 Current position output CONTn B22 DATAO OUT3 B23 DATA1 OUT4 In the example of program BDO to BD12 are used as a working area Finally the current position is stored in the area of BD12 BCD 7 digit Allocate No 56 current position output to control signal of amplifier corresponding to B17 output 12 10 MHT259a Engl 99 07 16 Page 1 currentpos ladder P0001 00000 PAGE 1 Initial scan Initialize P0001 F0050 00 99 00001 SC Initialization input Initialize 2 P0001 B0001 00 98 00002 SC P0001 00003 Output Obtaining First Response Response Read 2 bit start start time ON OFF command output Unload P0001 B0000 00 10 00 12 S00 14 00 16 00 20 00 22 00 26 00004
209. e shot Turns on for the determined period of time basic para 56 on condition that the positioning end level is on With one shot selected when positioning has started within the time set by basic para 56 operation is stopped forcibly 5 25 MHT259a Engl 4 Origin return auto start Level Turns on when the positioning end judgment time basic para 57 has elapsed after the difference deviation between the command position and feedback position came within the deviation zero width basic para 53 One shot Turns on for the determined period of time basic para 56 on condition that the positioning end level is on Speed l 1 Time Origin return ORG OFF ON Origin LS LS OFF Encoder Z phase Origin return end OFF ON PSET level ON PSET one shot OFF ON With one shot selected when positioning has started within the time set by basic para 56 operation is stopped forcibly 2 Positioning end judgment time The output timing of PSET signal is shown below A Speed Time Deviation zero OFF ON Positioning end PSET OFF ON Positioning end judgment time basic para 57 1 The command current position reaches the target position 2 The motors current feedback position follows the current command position to reach the target position 3 When the difference deviation between
210. e to system parameter Signal name Setting value to system para Origin return ORG 5 Origin LS LS 6 Origin return end 22 Origin LS detection 40 5 13 MHT259a Engl B Related items 1 Parameter setting Origin return action depends on basic para setting Basic parameter 72 to 78 Para Seting range Initial waue Change 71 Origin return pattern Pattern 1 2 Pattern 2 Power x Patten 3 4 Pattern 4 1 Negative direction Invalid NC contact 75 Origin return speed 7 01 to max speed r min Always in 0 01 step 76 Origin detection creep speed 0 01 to max speed r min Always in 0 01 step 77 Origin shift quantity 1 to 2000000 in 1 step Always x unit q ty 78 Origin return reversing quantity 0 to 79999999 in 1 step Ee Always x unit q ty 79 Origin return position Oto 79999999 in 1 step BERGEN Always x unit q ty After the setting change of the basic para 71 to 73 power supply need be turned on again 2 Origin return action At the ON edge of ORG signal the following operations are automatically carried out a At the ON edge of ORG signal motor rotation start at the origin return speed basic para 75 in the origin return direction basic para 72 b When the LS signal turns from off to on speed is reduced to the origin detection creep speed basic para 76 While LS on motor runs at constant speed c The first Z phase signal is detected following the transfer point of
211. ed 100 torque Deviation amount Difference deviation amount between the current command position and the current feedback position is stored The min value 1 is corresponds to 1 pulse Pulse value between At origin return the pulse number is stored from when the origin LS LS signal is off up LS Z phase to when the motor s Z phase is detected The min value 1 is corresponds to 1 pulse Current command position Specified motor s current position is stored The min value 1 is corresponds to unit quantity Command speed Specified motor s current speed is stored The min value 1 is corresponds to 1 r min Speed command rewrite Rotational speed can be specified on FWD REV The min value 1 is corresponds to 0 01 r min B Parameter positioning data The basic para system para and positioning data can be edited at on off status at bit 1 to 5 in word 5 position The parameter can be read out at the ON edge of read command at bit 7 in word 5 position The parameter can be rewritten at the ON edge of rewrite command at bit 6 in word 5 position Specify the targeted para No and positioning data No in the area of address number Read rewrite data select s1 Je ra 54 95 WBarea whenreadng WB area when rewriting Orr orr on orr Jon status Staus OFF Position data OFF Speed data OFF Timer data OFF Basic para OFF System para Address 0 1 2 3 4 5 6 7 8 9 A B C D E F CPU m Address
212. ed passing point detection position 2 79999999 to 0 to 79999999 in 1 step x unit q t 0 to 79999999 in 1 step x unit qt The output form of fixed passing point 1 and fixed passing point 2 in control output signal can be set The basic para 65 sets the detection width when 0 Fixed point is selected in the basic para 62 6 29 MHT259a Engl 16 Basic parameter 66 PAGE 1 PPOGE Para Change 66 Origin detection range 1 to 79999999 in 1 step x unit q ty 100 Always The origin return end signal ON width can be set The signal is on within the range of the basic para 66 setting based on the position at basic para 79 at origin return end or at the position preset signal position 17 Basic parameter 67 PAG M IPPDBT Setting range Initial value Change Position detection valid invalid 0 Valid after origin return end 1 Always bo E Power The para selects whether the position detection functions such as fixed passing point 1 fixed passing point 2 and origin return end signal are always valid or such functions are valid after origin return end The set value 0 means valid after origin return end 18 Basic parameter 71 to 79 P nali I P ui P E Para Change 71 Power 72 Origin return direction O Positive direction _1 Negativedirection o Power 73 Zphase detection validinvalid O Valid 1 Invaid Power 74 Origin
213. ed stop T link type T link direct connection At factory setting the EMG signal is not allocated to the control input terminal of CN1 Allocate this signal to use it When allocated to WB area at bit 5 in word 4 position bit on executes the forced stop General purpose communication RS485 interface At factory setting the EMG signal is allocated to CONT6 terminal Pin 16 of CN1 B Parameter setting To allocate the EMG signal to the control input terminal set 10 to the system para If this signal is not allocated to the control input terminal this signal is deemed always on To allocate the forced stop detection signal set 41 The EMG signal can be allocated to multiple terminals and when any of those input signals is on the motor stops forcibly M Related item 1 Ready RD Y After the EMG 10 signal is allocated to the control terminal when the ready RDY signal is turned on with both the run command RUN 8 and the EMG signals on the motor can rotate 5 39 MHT259a Engl 2 Forced stop status While the EMG 10 signal is off and the RUN is on the motor makes a stop in the speed zero status making the speed command is zero Current position cannot be retained in the speed zero status As the current position has been stored the origin return action is not necessary again when the EMG signal is off Turning on the EMG signal allows the motor to rotate If the RUN signal is off
214. ed to command Status 1 Data of transmission system is expressed in 8 bits Status 2 The on off of control output signal is expressed in 8 bits Check sum The lower 8 bits including the contents from STC to immediate before BCC 5 79 MHT259a Engl B Reading out of the positioning data under execution 30H 31H Transmit from host controller No data 7 0 DATA 2 ABS INC L Specify CO Specify CEND Unused M code valid M code later output Unused M Reading out of sequence mode CM SCM DATA n 31H 30H Transmit from host controller No data Memory error Control mode Sub mode mode 01H Transmit from amplifier 7 Positioning data number under execution Status MB Position data Speed data Current position data M code Transmit from amplifier 7 0 DATA 1 Control mode DATA 2 Mode DATA 3 Sub mode Sub mode mode 02H Data Control mode Data Sub mode Data Sub mode OOH Position control OOH Standby OOH Speed zero O1H Speed control 04H waiting rotational 01H Standby waiting 02H Torque control 08H command 05H rotational command Mode 01H During manual 02H During manual Data Mode O5H operation 07H operation FWD REV OOH Base off 10H FWD
215. ed to the motor may be broken Cause check and remedy If an alarm appeared immediately after turning on power contact us vi Overcurrent output overcurrent Keypad panel display Contents of alarm The output current from the amplifier to the motor exceeded a specified value Cause check and remedy The power wiring to the motor may be short circuited or grounded As a general rule minimum insulation resistance between motor terminals and grounding earth terminal symbol E or iet is about 1 MO The motor winding resistance value between each phase is as same 10 13 MHT259a Engl vii Overspeed Keypad pauel display Contents of alarm The motor speed has exceeded 1 1 times of the max speed Cause check and remedy At acceleration overshooting may have occurred Check the speed waveform at acceleration with a PC loader viii Fuse brown Keypad panel display HL Fb Contents of alarm Voltage was generated at both ends of the fuse in the amplifier main circuit 2 KW and above Cause cheok and remedy The main circuit fuse is for preventing the secondary accident such as fire The fuse cannot be replaced Do not turn on power again and contact us 10 4 Items to inquire when faulty If an alarm appeared remedy it referring to 9 3 When contacting us specify the following items a Data on nameplate Type serial equipment No b Device configuration Example type o
216. eedback speed 1 Sub mode 8 Command speed 2 Alarm detection 9 Actual torque 3 Alarm history 10 Feedback position 4 Amplifier setting 11 Command position 5 Motor setting 12 Deviation amount 6 Station No indication 13 Cumulated pulse 14 Peak torque 15 Input voltage 1 16 Input voltage 2 17 LS Z pulse 18 Input signal 19 Output signal 20 Load inertia ratio 6 55 MHT259a Engl 19 System parameter 22 to 27 RS485 interface 0001 PP0 91 PP093 91 Invalid 0 03 to 1 00 s in 0 01 step Always 92 Z to 1 00 s in 0 01 step e oe 93 O Invalid 0 03 to 9 99 s in 0 01 step o Always E Response time system para 91 The response time for the message to be returned form amplifier can be fixed B Receiving valid time system para 92 This para sets the time to receive the message from the top STC to the end BCC Unless the BCC is received within the set receiving valid time the message is discarded il Communication time over system para 93 At factory shipment the function of communication time over is valid For details see 5 10 Serial communication 20 System parameter 94 95 Basic type SX bus T link RS485 interface PaGGe PP094 PP09S 94 Parameter rewriting inhibit 0 Rewriting enable 1 Rewriting disable i Always 95 Positioning data rewriting inhibit 0 Rewriting enable 1 Rewriting disable po Always Parameter rewr
217. el time is set by the basic para 21 or 23 regardless of rotational direction Accel time basic para 21 or 23 can be selected by the accel decel time selection ACCO setting Note Accel Acceleration Decel Deceleration 5 8 MHT259a Engl Selection of acceleration and deceleration time ACCO 14 Basic para 21 Basic para 23 Decel time Basic para 22 Basic para 24 To allocate the ACCO signal to the control input terminal set 14 to the system para If this signal is not allocated to the control input terminal this signal is deemed always off 2 Changeover of rotational direction The rotational direction of motor output shaft for the FWD can be changed by the system para 80 When the para 80 is initial value 1 motor rotates in forward counterclockwise 2 viewed from shaft extension direction for forward command In case the motor rotates opposite to the normal movement of mechanical equipment system set 1 at the para 80 The setting change of the system para becomes valid after turning on power again 3 Gain for speed command NREF terminal Basic type DI DO position only At factory setting the motor rotates forward at 5000 r min against 10 V of the speed command voltage By setting the system para 63 the motor speed can be adjusted against the set speed command voltage Speed 0x150 5000r min seruus eet Ra A N da t x 1 00 J x0 1D
218. ement with positioning data where CEND is specified a cycle end signal CEND assigned to OUT is outputted Data continuation CO and cycle end CEND cannot simultaneously be specified in the same positioning data For cycle end see 5 5 1 Auto start M code If M codes are specified among the positioning data arbitrary values can externally be outputted while positioning simultaneous output or after the end of positioning later output For M codes see 5 5 5 M code 8 4 MHT259a Engl 8 2 Starting This section explains the methods how to carry out positioning with contents of positioning data The auto start signal START is valid even if the origin return and position preset have not been completed Positioning cannot be carried out in the test running mode using keypad panel 1 Starting a Basic type DI DO position Set a value out of 01 to 99D in BCD or 01 to 63H in binary code to address AD7 to ADO of Connector 3 CN3 Positioning starts at the ON edge of auto start START signal b SX bus SX bus direct connection Set a value out of 01 to 63H in binary code in the positioning data No setting area of IQ area Positioning starts at the ON edge of auto start START signal c T link T link direct connection Set a value out of 01 to 99 in BCD or binary code in the address specified area Positioning starts at the ON edge of auto start START signal d General purpose communication RS485 interface Th
219. ent position indication on the keypad panel The position of mechanical equipment system can be monitored by a value with decimal point 6 34 MHT259a Engl Basic type DI DO 6 3 System parameter The system parameter can set the functional allocation the station number etc 1 Basic type a System parameter 1 to 13 DN 7 me r1 PaGDe PPBB8 I PP Para Setting range Initial value Change 01 CONT1 signal assignment 0 to 56 in 1 step 1 Power 02 CONT2 signal assignment 0 to 56 in 1 step 2 Power I Basic type Ui 03 CONTS signal assignment 0 to 56 in 1 step 3 Power 05 CONTS signal assignment 0 to 56 in 1 step 4 Power 06 0 to 56 in 1 step Power 07 0 to 56 in 1 step Power 08 0 to 56 in 1 step o Power 09 CONTO signal assignment OtoS6 nistep Power 10 CONTO signal assignment Otos intstep Je Power n Power 12 CONTI2signalassignment 0toS6 ntste Per 13 0 to 56 in 1 step Power b System parameter 31 to 40 PnC PPO3 i PPUOND Basic type 31 Power 32 Power 33 Power 34 Power 85 OUTS signal assignment O0to75 ntstp 0 Power 39 0 to 75 in 1 step Power 40 0 to 75 in 1 step Im Power 6 35 MHT259a Engl Function input signal number assigned to system para 1 to 13 CONT1 to CONT13 AONoahrwWwh Oo Ow e o rp A gt a a a OC OAN DAWN OO N
220. ent system to move in both directions Movable range 8 p gt Current feedback position Soft OT detection position Soft OT detection position system para 77 system para 76 The soft OT function can be also valid after the origin return end by basic para 67 setting 5 41 MHT259a Engl CCE OT detection 38 ae J OT detection 39 NNUS li mm og AA gt Y o BERE ceps 2m en ENNVNNNSNNNN INN Se 5 6 4 Torque limit TEMT Torque limit detection OT 7 OT 8 p This function limits the motor output torque Torque limit TLMT Torque limit detection Control input output signal B Function 1 Torque limit Motor output torque can be limited while TLMT 30 signal is on Torque limit value can be set by basic para 59 from 0 to max output torque in 196 step Value of the max output torque depends on motor output rating and model type Motor output torque is based on the 100 rated torque Torque
221. ents related to system setting Changed setting of almost all the system para is valid only after turning off and on power e nr T ENT 1 s or more D ENT n ILI SS LIL P P LILI 1 LI ESC t ESC ENT nn PPUU gt ESC C3 Pu V HH PEEL ENS RET Li ESC 7 15 MHT259a Engl 3 Indication and editing The indication and editing methods for para are as follows B Value indication A value of unsigned 5 digits or signed 4 digits or less is displayed as it is Lic Left example shows a value of 2 digits is selected For clearly indicating the number of digits of a selectable value zeroes of other columns are suppressed A signed value of 5 digits or more is preceded by H or L LIS Lou cu ui The above example shows a value has 6 digits The value will be 500 00 For interchanging the H side and L side press the MODE key holding down the SHIFT key B Sign indication In case of data with minus sign H or L and blink alternately In case of data with plus sign H or L indication blinks Example Data with minus sign Hl lI US gt A US H side Alternately lights B Editing a value After reading a para 1 digit or sign blinks at about 1 s intervals prompting you to change that part Pressing the A key or v key changes the value As for the sign pressing the A key or v key while the cursor is located at H selects a plus sign H and bl
222. er Address WB0001 Address WB0001 00 05 11 Page Ce oe oe eo 22 ve foe foe foe digit 3 Position data BD0000 DT Position data BD0000 DT Address WB0001 Address WB0001 eo 22 RS ho 4 foe foe Address Address N A o co leodezigsleal s og me ARA R a gt o D co co hOOFF Transfer Positioning end Auto start 01 30 B0021 S01 32 E SC Auto start Positioning end When rotatin S01 32 B0021 S01 34 SC D Positioning end END 01 34 B0021 S01 36 SC 1 16 O R WB0001 gt WB0001 START B0010 Rewrite command B0011 C tl lee g Selection 1 B0013 C Selection 0 B0012 C Por 12 17 MHT259a Engl An example of display screen is shown below LPC LOADER POSdirect HIM IAD AW APIS RM EERO MD 748000 AID sal aelel oleske 2 se EARL LA e x SS ES 4257 AR HLEA m DERE 2 Zum mj I 0 00 r min EEES Son a LES cH 285 96 EDE ours is cH OFF DA ourefs amp oes fouTstzs CH 4 outis 4400 00 CH5 A r min CH 6 CH 7 lt D fO emma A EA FE START STOP G WRT la gt o F e 1 tn o 8 or o o IRFESEMERIES mi l vf 7 12 3 Control block diagram The control block diagram for RYS L type amplifier is shown on the next page 1 Override Validated by allocating the control
223. er RAM storage 4 0 Not specified 1 to 99 Basic para No o Power 26 Parameter RAM storage 5 0 Not specified 1 to 99 Basic para No 0 Power 27 Parameter RAM storage 6 0 Not specified 1 to 99 Basic para No FREE Power The contents of basic parameter are stored in the EEPROM electrically erasable program read only memory for retaining purpose at power shut down By specifying RAM infinite rewriting is enable Set the basic para number to be stored in RAM at the system para 22 to 27 The contents of RAM storaged basic para is initialized at power on System parameter 28 to 30 28 Positioning data RAM storage 1 0 Not specified 11099 Positioning data No o Power 29 Positioning data RAM storage 2 0 Not specified 1 to 99 Positioning data No o Power 30 Positioning data RAM storage 3 0 Not specified 1 to 99 Positioning data No o Power The contents of positioning data are stored in the EEPROM electrically erasable program read only memory for retaining purpose at power shut down By specifying RAM infinite rewriting is enable Set the positioning data number to be stored in RAM at the system para 28 to 30 For the positioning data whose contents have been stored in RAM the initial value is set when power is turned on 6 44 MHT259a Engl 7 System parameter 63 64 Basic type PaDBOO PP B 3 PPRE V Para Setting range Initial value Change 63 Speed command gain x 0 10 to x 1 50 times i
224. erminal and the shell cover 2 A braking resistor is provided built in with amplifier 4 37 MHT259a Engl K SX bus type 2 to 5 KW Power supply 3 phase 200 V class Safety Isolation Safety Isolation LR S APA Amplifier GYCLILILIDC1 SA GYSLILILIDC1 SA P24 RYSI S3 LSS 1 Shielded sheath on the shielded cables must be connected with the J terminal and the shell cover 2 A braking resistor is provided built in with amplifier 4 38 MHT259a Engl I SX bus type 0 05 and 0 1 kW for 100 V class input voltage of amplifier Power supply Pl P Single phase 100 V class L1 oL Safety Isolation OS OOO P24 O O DB N UO Safety Isolation FA FB FZ MI 249 OJI1 6o Qum 7 Motor GYS500DC1 S8B GYS101DC1 S6B P24 OJI3 190 OJI4 206 E Amplifier RYS500S3 LSS6 RYS101S3 LSS6 1 Shielded sheath on the shielded cables must be connected with the shell body and the shell cover
225. es must be connected with the J terminal and the shell cover 2 A braking resistor is provided built in with amplifier 4 45 MHT259a Engl r T link type 0 05 and 0 1 KW for 100 V class input voltage of amplifier Safety Isolation Power supply Single phase 100 V class Safety Isolation GYS500DC1 S8B GYS101DC1 S6B P24 P24 x x Amplifier i RYS500S3 LTS6 QU TUE A RYS101S3 LTS6 1 Shielded sheath on the shielded cables must be connected with the shell body and the shell cover 4 46 MHT259a Engl s T link type 0 2 KW for 100 V class input voltage of amplifier Power supply Single phase 100 V class Safety Isolation Safety Isolation P24 ud Amplifier GYS201DC1 S6B P24 RYS201S3 LTS6 1 Shielded sheath on the shielded cables must be connected with the shell body and the shell cover 4 47 MHT259a Engl t General purpose communication RS485 interface 0 2 KW and below y Safety Isolation O O Pl P
226. es the current position output command on When OUT3 DATAO and OUT4 DATA1 are established OUT2 response turns on 5 6 7 5 When OUT3 DATAO and OUT4 DATA1 are recognized makes current position output command off OUT2 response turns off Steps 4 to 6 are repeated the remained 19 times When OUT2 response turns off at the 19th times terminals OUT3 and OUT4 output the control output signals preset beforehand Current position output command and OUT2 response are interlocked in ON OFF level If on period of current position output command is too long current position output sequence does not proceed Data transmission or receiving cannot be stopped without completing sequence And the current position output sequence terminates forcibly in 5 s Current position output command is always valid While the motor is rotating the current position is transferred at the first ON edge of current position output command Because the function of terminal OUT2 OUT3 and OUTA is forcibly changed do not make the current position output command turning on while the run command RUN is on 5 32 MHT259a Engl The last 8 bit of the 40 bit data of current position output is for check sum This is the resultant lower 8 bit after each 8 bit in the current position 32 bit data is added Make sure that the addition data executed by the host controller is same as the transmitted data Termi
227. ess Ball screw direct coupling of motor and screw Spindle drive direct coupling 0 Manual All of the para must be set individually Set this para according to mechanical equipment system In general the auto low stiffness is selected for most of mechanical equipment system When the manual is set automatic regulation regarding the response is not made and the setting value of each parameter is used When the auto low stiffness or the auto high stiffness is selected the load inertia is assumed and automatic regulation regarding the response is made according to the basic para 33 setting lil Operation speed response basic para 33 Basic parameter 33 33 Operation speed response 10 to 1000 Hz in 1 step Always Use the motor with the initial value of 100 Hz in ordinary mechanical equipment system The higher is the set value the quicker is the motor s response rate Mechanical equipment system having direct coupled ball screw can have a higher set value higher response rate as well The following 3 basic para can be automatically adjusted according to the setting value of the operation speed response basic para 33 Basic parameter 37 to 39 37 Torque filter time constant 0 00 to 20 00 ms in 0 01 step Always 38 Speed regulator integration time 1 to 1000 ms in 1 step Always 39 Position regulator gain 1 to 500 in 1 step Always Basic para 37 to 39 can be adjusted when the auto has been selected
228. f external braking resistor etc c Outline of mechanical equipment system driven by motor Example ball screw feed vertical drive reduction speed ratio 1 2 d Fault contents i Running duration years ii Alarm occurrence frequency conditions Example when a certain device operates the motor stops iii Alarm display contents iv Whether reproducible v While accelerating rotating at constant speed or decelarating vi Whether different between forward and reverse rotation of motor vii Whether at particular conditions Example when RUN signal has been turned on when advancing mechanical table has come to a particular position viii Whether trouble persists even after replacing the machine or amplifier with one having the same specification 10 14 MHT259a Engl 10 5 Other information 1 Operating conditions See 3 INSTALLATION a Power on The amplifier can be energized continuously D DANGER Do not touch the amplifier when the commercial power is supplied Otherwise there is a risk of electric shock b Specifications See 2 SPECIFICATIONS GYC and GYS type motors are of continious rating c Operation Do not repeatedly turn on and off the commercial power supply to start and stop the motor It may affect the devices inside the amplifier d Radio noise See 3 2 1 b iv and 10 4 Radio noise preventive measures are not implemented to the amplifier and motor as general industri
229. f model type z 7 Are min accel or decel times limited Min accel or decel time calculation Torque patern determination Actual torque calculation ll Trms lt Tr Accel or decel torque calculation Yes Model type determination No Braking resistor determination li 0 Trms Actual torque Tr Rated torque 12 2 MHT259a Engl b Moment of inertia basic form MHT259a Engl 12 3 c Moment of inertia typical application Ball screw y in Rack and pinion conveyor or chain drive Feed roll drive go did Table indexing 0 0 E no n oo 12 4 MHT259a Engl d Torque determination Ball screw Rack and pinion conveyor Where BP Screw pitch D Pulley pinion or roll diameter F Thrust axial force opposes feed on is direction GL Reduction speed ratio J Moment of inertia total J Ditto load parts Jw Ditto motor rotor where T a al 2n 10 O T at load lifting y c Wi We x 981 BP EL 27n 10 Ti at lowering iu u 1 W 1 Wa x 9 81 m GL 27 10 O T at stop servo lock T W W2 x 9 81 BE xGL 2n 10 q UM F x 981 D rjal 7 2 10 Ti at load lifting yA Wa x981 D 5 Je 7 2 10 T at lowering t r 2 10 B A Y 1 J e 7 O T at sto
230. factory setting such signals as the run command RUN and auto start START are allocated to CN1 These signals can be executed by means of the RS485 command If these signals are not necessary change the setting of system para 1 and 2 to 0 and turn off and on power The forced stop 10 OT 7 and OT 8 are NC contact inputs and require the control power 24 V DC CN1 allocation CN1 CN1 Terminal symbol Initial value Terminal symbol Initial value CONT1 Run command RUN OUT1 Ready RDY CONT2 Auto start START OUT2 Positioning end PSET CONT3 Origin LS LS OUT3 CONT4 OT OUT4 B CONT5 OT CONT6 Forced stop EMG CONT7 CONT8 CN1 pin layout 26 13 aoon CI Er Aee 21000 Pa TD 9 00 E 20 0000 TEE 70000 eE 1800000 EDIT 5 00000 aes 1600000 Opa 3 00000 ee 15000080 200000 14000 11000 CONT1 to CONTS can be monitored by the following step Key operation SH FT ENT Indication example nn c nli 5 nGLib n_n Li CIL I j Remark Example of test running mode display The MODE key selects a mode Select the monitor mode By the keyor v key select Hn Ie Holding down the ENT key for at least 1 s allows to check the input signal on off If a control input signal on CN1 turns on the co
231. feedback position Command speed Feedback speed Cooling fin load factor Regenerative resistor load factor Load factor Load inertia ratio Pulse between LS Z Data binary 32 bit fixed length Priority 2 to 0 to 2 pulse 8 7 450 to 0 to 450 rated torque 100 6 450 to 0 to 450 rated torque 100 5 4 79999999 to 0 to 79999999 x unit q ty 3 2 1 0 to 100 96 13 0 to 100 96 12 0 to 100 96 11 1 5 times 180H 1 5 times load inertia at 180H 10 0 to 65535 pulse 16 bit serial encoder 9 When 4 or more bits are 1 the data is transmitted in the order shown in the table ACK or NAK is returned from the amplifier Read out from amplifier Host controller Transmission code Code Contents HEX STC BC xxH variable ADR ENQ ACK NAK CM xxH variable SCM xxH variable DATA n xxH variable ST1 xxH variable ST2 xxH variable BCC O etl STC BC ADR DATA n BOC spp Amplifier SIC BC AUR seek Amplifier Function Top code Byte counter The number of bytes from ADR to BCC can be set Station number The station number of 1 through 31 which identifies amplifiers can be set Enquiry request Acknowledgment affirmative response Negative acknowledgment negative response Command The command instruction to amplifier is specified Subcommand Details of command instruction are specified Data Data attach
232. fety Isolation EI LM Motor GYCLILILIDC1 SA GYSLILILIDC1 SA P24 VN P24 l 7 CONT4 ar 6 im pU O2 7 ER CONTE OJT3 19 E p ON7 aura 200 q14 M4 j Amplifier RYSLILILIS3 LRS 1 Shielded sheath on the shielded cables must be connected with the shell body and the shell cover 2 A braking resistor is provided built in with amplifier 4 49 MHT259a Engl v General purpose communication RS485 interface 1 and 1 5 kW 2 O O O O Pl P DB N Power supply 3 phase 200 V class d L1 Safety Isolation COIN U1 S OY WIN FS Tia 2 i 431 6 Q 4 Q 45 7 8 Q SEE ire BAT 21 M 26 FA 89 L2 Y B 8 913 M5 MI 244 P24 o 1 P24 92 QNI T Y 3 QNI2 7 y 4 QNI3 ft o 5 CNI4 aum ei miri 15 GNIS an 76 E 116 GNTE am s E 22 ON7 1 394204 118 CANIS q14 M4 GYCLILILIDC1 SA GYSLILILIDC1 SA P24 Ampl
233. fied In case of BCD code AD7 to AD4 specify the value at ten s digit of data number and AD3 to ADO specify the value at unit s digit of data number Specifying the address 10 s digit of BCD Specifying the address Unit s digit of BCD 10 s digit 0 1 2 3 4 5 6 7 8 9 In case of binary code AD6 to ADO specify the value Specifying the address binary AD6 ADO Address No OFF 1 01H OFF 2 02H OFF 3 OFF 4 OFF 5 OFF 6 OFF 7 OFF 8 OFF 9 OFF 10 ON ON 5 21 MHT259a Engl Time chart for auto start signal A Speed Time Timer time positioning data Ready ON Auto start OFF ON AD7 to ADO 35 99 PSET ON OFF ON level PSET OFF ON OFF one shot Lon Positioning end output time i basic para 56 The positioning data number may be changed when the positioning end PSET signal has turned off The positioning data number is settled at the ON edge START signal The output mode of PSET signal is selected by basic para 55 2 Backlash correct The backlash of mechanical equipment system can be corrected by move amount of the motor shaft Basic parameter 86 Para Setting range Initial value Change 86 Backlash correct 0 to 10000 pulse in 1 steps Hanc O Always The rotational direction of motor the motor rotates by the amount added by the setting value The movement corresponding to the backlash correction in progress does not affect t
234. fied using SEL2 to SELO Address 15 Bit 0 is read command ON edge command of each bit is always valid The timing of rewrite end and read end is as same as basic para and sytem para 5 9 WB area This section explains the WB area of RYS S3 LTS type RYS S3 LTS type amplifier reserves 8 words in the WB area 1 Station number The station number setting of amplifier system para 96 determines the address in WB area The changed setting of the system parameter is valid only after turning off and on power again 2 Read rewrite data The lower order 4 words of WB area are the read out area and the higher order 4 words are the write area The data whether to read out or rewrite can be selected by on off of bit 1 to 5 in word 5 5 68 MHT259a Engl 3 CONT OUT The bit information at 0 1 word and bit command at word 4 5 position are valid in all the read rewrite data status 4 Read command rewrite command To read data specified by the read rewrite data select turn on the read command at bit 7 in word 5 postion The read end at bit 7 in word 1 turned on when reading is end To write data turn on the rewrite command at bit 6 in word 5 The rewrite end at bit 6 in word 1 turns on when writing is end WB area Address 0 1 2 3 4 5 6 7 8 9 A B C D E F 0 OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT 5 6 7 8 9 10 11 1
235. fier connects an SX bus to CN3 Control input output signals are connected to CN1 a CN3 upper side An SX bus extension cable is connected to CN3 An SX bus loop back plug is connected to the termination RYS20153 VSS E 3 Tal H CNS3 TB de A EN Q i bb OTT o CN1 Ia on G b CN1 lower side Connect control input output signals 26 00 13100 AT 25000 ona 200 Plug 10126 3000V 3000 10 0000 Shell kit 10326 52A0 008 2 00 9p00 21 000 8 0l 2 00 19000 20000 6 0 0ll 18 00 2000 5000000450000 16 3 pl 53 000 00000 00000 14 0000 100000 External sensors such as origin LS are connected to the control input signal CONTn Control output signal OUTn is used in case signals are outputted from the amplifier 4 13 MHT259a Engl c IQ area 16 word SX bus type IQ area EEES AAA AAA er ilo Current position current deviation basic para
236. fier has detected an overtravel signal in negative R OT direction and stops eset OT by on The amplifier has received a forced stop EMG signal and Stops with the speed zero signal on Reset EMG by on 10 3 MHT259a Engl ii Sub mode display ENT 1 s or more C P b Lj ESC exi C1 1 Displays the current status Indication Check and remedy LE In base off condition the motor has no driving force Turn on the run command RUN and in free run status Turn off the free run command BX Manual forward FWD may not be valid command AR Increase the analog input voltage or multistep speed setting The pulse train may not be input or the pulse train signal form may be different Increase the speed data The motor can rotate and is executing origin return Increase the origin creep speed The motor can rotate and is executing interrupt positioning The amplifier is executing deviation clear Invalidate the deviation clear signal The motor can rotate and is measuring the brake timing The motor is stopping with positioning cancel signal Invalidate the positioning cancel signal The amplifier has detected an overtravel signal in Reset OT by on positive direction and stops The amplifier has detected an overtravel signal in Reset OT by on negative direction and stops b Motor hunting rotation motor shaft rotates forward reverse repeatedly The amplifier whic
237. forced stop command Code Contents HEX STC A5H fixed BC O5H ADR O1H ENQ O5H fixed CM 34H SCM 3DH BCC 21H 5 89 MHT259a Engl B Alarm reset The alarm detection of amplifier can be reset CM 34H SCM 3EH DATA Transmit from host controller n There are no DATA n Transmit from amplifier There are no DATA n ACK or NAK returns E Accel decel time selection Accel decel time can be changed This is valid during rotating 34H som 3FH DATA Transmit from host controller n 7 0 DATA 1 Accel decel time Accel decel time Data Control mode OOH Accel time 1 decel time 1 01H Accel time 2 decel time 2 B Position preset Transmit from amplifier There are no DATA n ACK or NAK returns The current position can be preset The current position is the position set by basic para 80 CM 34H SCM 40H DATA Transmit from host controller n There are no DATA n Transmit from amplifier There are no DATA n ACK or NAK returns 5 90 MHT259a Engl WB Pulse train ratio 1 2 P action Current limiting Temporary stop LO SCM DATA 34H 41H Pulse train ratio 1 off 42H Pulse train ratio 1 on 43H Pulse train ratio 2 off 44H Pulse train ratio 1 on 45H P action off 46H P action on 47H Current limiting off 48H Current limiting
238. g address error is detected at auto start START and para rewrit 1 Data other than BCD code is input 2 Data other than setting range is input 3 Data with negative sign is spcified This signal turns off when START signal inputs at a correct address or data rewrite is executed Even if an address error is on the motor shaft is not stop 5 51 MHT259a Engl Basic type DI DO position The address error signal is on when AD7 to ADO setting error specifying address in CONT 14 to CONT21 of connector 3 CN3 is detected At factory setting this signal is allocated to OUT4 No 7 pin of connector 1 CN1 SX bus type SX bus direct connection The address error signal is on when an error is detected at word 14 position lower order 8 bit of IQ area At factory setting this signal is allocated to OUT8 word 7 bit 10 T link type T link direct connection The address error signal is on when an error is detected at word 5 lower order 8 bit address number area of WB area At factory setting this signal is allocated to OUT9 word 0 bit 4 General purpose communication RS485 interface The address error signal is set at 6 bit position of ST1 in the response message When this signal is allocated to OUT5 and above of system para the signal can affect to ST2 This signal can be allocated to control output terminal of CN1 i Parameter setting To allocate the address error signal to the control output ter
239. g point Current position of motor can be checked Fixed Passing point Control output signal B Function Three types of output forms can be selected by the basic para 62 setting 5 47 MHT259a Engl 1 Fixed point setting of basic para 62 0 This output signal is on when current position is near the basic para setting point Fixed passing point detection position 1 basic para 63 Fixed passing point detection position 2 basic para 64 190 0 200 0 210 0 Current position Fixed point OFF ON 44 lt gt Fixed point detection range 10 0 10 0 basic para 65 2 Passing point from off to on setting of basic para 62 1 This signal is on when current position is beyond the basic para setting point The signal is off when it is less than the setting point Fixed passing point detection position 1 basic para 63 Fixed passing point detection position 2 basic para 64 190 0 200 0 210 0 Current position p Passing point OFF ON 3 Passing point from on to off setting of basic para 62 2 This signal is on when current position is less than the basic para setting point The signal is off when it is beyond the setting point Fixed passing point detection position 1 basic para 63 Fixed passing point detection position 2 basic para 64 190 0 200 0 210 0 Current position p Passing point ON OFF i Parameter
240. ge Starting a positioning action with data not exceeding the specified position turns it off Time chart for limiter detection Limiter detection position No 17 No 17 No 17 Speed TN EN A Time Ready RDY ON Auto start l START OFF ON NU AD7 to ADO 17 PSET ON OFF ON level Limiter OFF ON detection Suppose the positioning data No 17 are the sme data for which INC is specified The limiter function is convenient for moving equidistantly up to the basic para set position The number of start times up to the set position need not be calculated The limiter detection signal is outputted only after a lapse of timer data setting for positioning data i Parameter setting To allocate the limiter detection to the control output terminal set 19 to a system para Set the limiter detection position to basic para 84 and 85 Basic parameter 84 85 Para Change 84 79999999 to 0 to 79999999 in 1 step x unit qty 799999 99 Always 85 79999999 to 0 to 79999999 in 1 step x unit qty 799999 99 Always 5 38 MHT259a Engl 5 6 Signal for safety This section explains the functions and input output signals for safety operation contained in amplifier Control input signal Forced stop EMG 10 Control output signal Forced stop detection 41 Edit permit command 55 Edit permit ON 29 direction overtravel OT 7 OT detection 29
241. gnal B Function Set the FF to address and apply START signal to start a positioning action Basic type DI DO position Using immediate rewrite 39 immediate data selection 0 40 or immediate data selection 1 41 32 bit position data can be written via address ADO to AD7 in the amplifier SX bus type SX bus direct connection Position data can be written into 8 9 word position of IQ area If VELO 12 VEL1 13 are not allocated speed data can be written into 11 11 word T link type T link direct connection Position data can be written into 7 8 word position into WB area RS485 interface There are CM 34 SCM 39 command terminals for immediate starting There are CM 34 SOM 37 command terminals for immediate data setting Auto start immediate positioning Amplifier Setting of position data Basic type DI DO position Writes the data of divided position SX bus type SX bus direct connection Writes the data of the specified and the speed into IQ area T link type T link direct connection Writes the data of the specified into WB area RS485 interface Writes the position data by operation command 5 27 MHT259a Engl B Parameter setting To allocate immediate rewrite to control input terminal set 39 to the system para Set 40 for immediate data selection 0 or 41 for immediate data selection 1 Unless these signals are allocated to the control input terminal they are deemed
242. h gear ratio 1 9 2 1 to 5 kW Type GYNOOOSAG G09 402 502 Motor output kw 5 Actual reduction gear ratio 1 9 Speed r min Rated 333 3 555 5 Rated torque Nem 254 382 509 tb Y H Max breakdown torque Nem 744 ma hse bH b Direction of motor rotation 2 CCW Backlash max 4 iso 0 fl Mass weight ka lzs 20 e ve le External dimension See 1 K of 3 3 External dimensions ii Motor with gear ratio 1 25 or 1 15 2 1 to 5 kW Type GYN SAG G15 102 152 202 302 402 502 Motor output kw 5 Actual reduction gear ratio 1 15 Speed r min Rated torque N m i392 ss 74 b Y Max breakdown torque INem tiz 1173 ee b h Direction of motor rotation 2 CCW Backlash max 4 o Mass weight Hug AE Due y y y External dimension See 1 I of 3 3 External dimensions 41 15 u m for over the rated speed 2 Direction of shaft rotation is CCW counterclockwise when motor shaft rotates forward The direction is viewed from a point facing the drive end of motor 3 Max breakdown torque and maximum current values are selected in accordance with the following paired combination of amplifier and motor types Lower value higher value When the same output kW rating of amplifier and motor when amplifier size is one step larger than the motor frame No size corresponding with amplifier Refer
243. h incorporates a real time turning function estimates the mechanical equipment system at all times For the amplifier the real time turning function is factory validated The real time turning function is valid for almost all the mechanical equipment systems except some examples If it does not work contact us Motor hunting Check the connection of motor power to U V W of amplifier If mechanical equipment system and motor are disconnected still Changing the phase sequence of motor does not change the direction of rotation but causes hunting hunting occurs Contact us 10 4 MHT259a Engl c Positioning accuracy is poor Positioning accuracy is poor Y Stopped near OT OT point Check in sequence mode of keypad panel It can be displayed at 5 QU 1 OT is detected if display is as follows With FWD or REV positioning accuracy is not sufficient Y Moved with positioning data RYS L type amplifier Moved with specified station No RYS R type amplifier Current position display of keypad P action may have been turned on without applying the brake at end panel shows target position of positioning RUN or EMG may have been turned off at end of positioning Mechanical connection like Locate and remedy loosening Consider adopting mechanical equipment coupling loosened system with a key or friction coupling Positioning accuracy within Check the mechanical and electrical
244. he current position display 5 22 MHT259a Engl 8 Sequential starting Positioning data at an arbitrary address to positioning data where the status is set at CEND are sequentially executed by auto start signal only A movement starts at the ON edge of auto start signal rm m acd ru The execution procedure of sequential starting is as follows a Specify the first positioning data number and apply an auto start signal No 17 in above figure According to the setting of positioning data No 17 the motor shaft rotates b If an auto start signal is applied upon specifying the address 00 all OFF the motor shaft rotates according to the next positioning data No 18 in above figure c The action in b is repeated up to the positioning data where cycle end CEND is set d After the end of positioning action at the positioning data where CEND is set a CEND signal is outputted concurrently with the positioning end signal CEND signal is OUT assign signal e Turning on the auto start signal again leaving the address at 00 repeats the steps a to d 5 23 MHT259a Engl Time chart for sequential start Time mcd No 17 No 18 MS O pus No 19 Ready ON Auto start OFF ON ON AD7 to ADO 17 00 PSET ON OFF ON level Lo Cycle end OFF ON CEND Remarks The cycle end signal i
245. he following procedure a Specify any of the AD7 to ADO to the address of positioning data to write in the current position b Using the manual forward command FWD pulse train ratio 1 or other signals feed the mechanical equipment system to a target position Teaching Control input signal Terminal symbol Action while the signal is turned on Manual forward Moves in increasing direction of current position Manual reverse Moves in decreasing direction of current position Pulse train ratio 1 CONTn Moves at pulse train ratio 1 Pulse train ratio 2 CONTn Moves at pulse train ratio 2 c At the ON edge the teaching signal writes a current position as position data of positioning data Turning off the teaching signal turns off the rewrite end signal 13 Time chart for teaching Teaching Rewrite end t t 100 ms 5 37 MHT259a Engl B Parameter setting To allocate the teaching to a control input terminal set 35 to a system para If this signal is not allocated to the control input terminal this signal is deemed always off 5 5 9 Limiter detection This signal can stop the motor at a specified position Limiter detection Control output signal B Function The limiter stops the motor at a specified position when starting the motor by positioning data beyond setting by basic para 84 or 85 The limiter detection signal turns on on condition that the positioning end signal has been outputted after stoppa
246. he movement is pursued according to positioning data No 57 Likewise if CO is specified in No 57 the movement is pursued according to No 58 If the timer data are 0 00 s the movement speed changes continuously Data continuation CO of positioning data Speed Time 4 Timer data positioning data Ready ON Auto start OFF ON AD7 to ADO 56 99 PSET level ON SET M code OFF ES later output The elapsed time of the timer data is included in the executing time of positioning data 8 3 MHT259a Engl If the timer data are set at 0 00 s the speed changes at the position set by position data 1 When data with high speed setting are continued to data with low speed setting the speed will have already been reduced according to the next speed data at the position set by position data 2 When data with low speed setting are continued to data with high speed setting the acceleration starts at the position set by position data The data continuation is executed in the order of positioning data numbers addresses If started with intermediate positioning data of data continuation preceding positioning data are ignored An execution will not trace back to preceding positioning data If started with positioning data at No 17 as shown below the setting contents of No 16 are ignored Data continuation of positioning data Cycle end CEND At the end of mov
247. hell body and the shell cover CONT and OUT terminals are assigned at factory See 1 c of 4 4 Host interface I F The unit can be operate even if no wiring is made to control power supply terminals L1C L2C 4 27 MHT259a Engl b Basic type 0 4 and 0 75 kW DI DO position Safety Isolation Power suppl y 3 phase 20Q V class Safety Isolation M4 Amplifier RYSLILILISS LPS 1 Shielded sheath on the shielded cables must be connected with the shell body and the shell cover 2 A braking resistor is provided built in with amplifier 4 28 MHT259a Engl c Basic type 1 and 1 5 KW DI DO position 002 Safety Isolation Power supply 3 phase 200 V class Safety Isolation GYCLILILIDC1 SA ps GYSOOODC1 SA INEO P24 P24 M4 P24 P24 M4 Amplifier R
248. hine table Rotational speed of the table is low and a worm gear is often used For constant peripheral velocity control a control system should be checked 12 1 MHT259a Engl In designing the mechanical equipment system the following shoud be examined as required a Reduction gear ratio Use near the rated speed of motor is recommended where possible b Pre load torque When applying a pre load to screw load torque increases c Holding torque at vertical drive At stop of a vertical feed load machine energized motor has a holding torque unless an external braking device is used d Mechanical efficiency e Rough estimated mechanical coefficients i Friction coefficient Application Rail and iron wheel crane traveling traverse 0 05 motion traveling carriage Linear way 0 05 to 0 2 Linear pole slide unit Roller system ii Mechanical efficiency n Application Screw 0 5 to 0 8 Ball screw 0 9 Rack and pinion 0 8 Spur gear reduction 0 8 to 0 95 At start During operation 0 5 to 0 7 0 6 to 0 8 Worm reduction gear Belt drive Chain drive iii Densities of major materials p kg m Steel 7850 Stainless steel 7910 Copper 8960 Aluminum 2700 Brass 8540 Poly acetal 1430 2 Model type selection determination a Flow chart for selecting a model type Moment of inertia and load torque determination Duty cycle calculation Trial determination o
249. ier type RYS S3 500 to 201 300 to 401 751 to 152 202 302 402 502 Conductor Power supply motor 1 25 2 3 5 5 5 sectional input ground earth area of cable Brake 1 25 mm Power supply for control 0 75 b Cable type i 600 V class poly vinyl insulated cable JIS C 3307 or ii Poly vinyl insulated cable KIV JIS C 3316 or iii 600 V class cross link polyethylene insulated cable FSCL JCS 360 or equivalent EN 2 Control input output cables for CN1 24 V 50 mA max a Size of twisted pair shielded cable AWG No 26 Amplifier type CN1 for VVS LPS RPS CN3 for LPS RPS CN1 for others b Cable type XEBV or XEWV The Furukawa Electric Co Ltd or equivalent 3 Host interface for CN3 a Digital input output and analog signal cable Same as 2 above b T link JPCN 1 and SX bus Specified cables should be applied 4 Encoder cables for CN2 4 Mbps serial communication Cross link polyethylene insulated poly vinyl sheath cables RMCV SV type Cable size and pair core quantities AWG No 25 4 pair and AWG No 23 2 core AWG No 25 4 pair and AWG No 17 2 core Wiring length within 10 m 50 m or optional cable See 11 8 0 AWG See Remark of 4 3 2 d 11 3 MHT259a Engl 11 2 Auto circuit breaker FAB MCCB earth leakage circuit breaker ELCB and magnetic co
250. iewed from the origin return end position basic para 76 If the origin detection range is widened to the maximum this signal is always on after the origin return end Origin B Current position Origin return end OFF ON Origin detection range basic para 66 Note The origin is the position where the machine has stopped after ended the origin return action or has executed the position preset It is not necessary the origin position Where the current position is at zero position 5 17 MHT259a Engl 5b Origin LS detection 40 Because the LS signal requires quick response this should be directly input to the amplifier in general When the host controller needs the origin signal the origin LS detection signal can be output While the LS signal is on the origin LS detection signal 40 is on Origin LS LS detection e T m j o Hills E ECZPRBGLEE Origin LS origin limit switch 6 LS Z pulse The encoder pulse count can be monitored from the time when the LS signal goes to OFF level until Z phase signal is detected Pi f until If this count is small Z phase signal of one rotation la
251. ifier RYS500S3 LPS6 RYS101S3 LPS6 1 Shielded sheath on the shielded cables must be connected with the shell body and the shell cover 4 31 MHT259a Engl f Basic type 0 2 KW for 100 V class input voltage of amplifier DI DO position Safety Isolation Power suppl y Si ngl e phase 100 V cl ass Safety Isolation Motor GYS201DC1 S6B b Q P24 ES P24 MA P24 P24 PP uet MA Amplifier RYS201S3 LPS6 1 Shielded sheath on the shielded cables must be connected with the shell body and the shell cover 4 32 MHT259a Engl g Motor with providing brake i 0 75 KW and below Uo VO O O Motor type GYC GYS Rated output kW 0 1 0 2 0 1 and below 3 Brake power supply 24 V DC Brake input W ii 1 to 2 kW c OOOO GYC GYS Motor type Rated output 3 Brake power supply Brake input 4 33 MHT259a Engl h SX bus type 0 2 KW and below Safety Isolation Power supply 3 phase 200 V class Safety Isolation
252. igin return action can be shortened Pattern 4 When the machine stop position is in the opposite direction to the origin return direction the detecting speed of origin LS is always constant even if the origin return speed is changed Wi Origin return pattern 1 setting value 1 in basic para 71 At the ON edge of ORG signal the aforementioned operations a through e are carried out If the direction overtravel OT or direction overtravel OT signal of the origin return direction is detected during origin return action the motor stops immediately In this case origin return is not ended The origin return end signal still remains off The origin return action can be carried out again regardless of the on off status of the origin return end signal Basic para 72 lt q Basic para 75 Speed Basic para 77 lt lt Basic para 76 Time Origin return ORG OFF ON OFF Origin LS LS OFF ON GFF Encoder Z phase Origin return end OFF ON Positioning end PSET ON OFF ON level mao E Positioning end PSET OFF ON one shot Bi Origin return pattern 2 setting value 2 in basic para 71 At the ON edge of ORG signal the aforementioned operations a through e are carried out If the OT or OT signal in the origin return direction is detected in the action of origin return the motor stops once Then the following oper
253. ill not start rotation 2 Pulse train ratio 1 Pulse train ratio 2 The brake timing is turned on simultaneously when the control input signal is on After the brake release time system para 83 has elapsed pulse train input becomes valid assuming that it has been actually released If the control input signal has been turned off during the brake release time the pulse train input is invalid When terminating the movement 1 FWD REV When FWD or REV has turned off the motor starts deceleration After the speed zero NZERO signal on is confirmed brake timing turns off and when brake operation time system para 82 has elapsed the amplifier turns P action signal on The same procedure as when starting a movement above is performed if a rotational command is turned on during the brake operation time 2 Pulse train ratio 1 Pulse train ratio 2 After FWD or REV signal is off pulse train input becomes invalid with deviation zero signal on After the deviation zero signal on is confirmed brake timing turns off and when brake operation time system para 82 has elapsed the amplifier turns P action signal on The same procedure as when starting a movement above is performed if a rotational command is turned on during brake operation time 5 54 MHT259a Engl System parameter 81 to 83 Para Setting range Initial value Change 81 Operation at stoppage 0 Speed zero 1 Servo lock 2 Brake Power P action 3 Bra
254. iming belt connection When using a timing belt obtain necessary data from the belt supplier and contact Fuji 6 Power supply to motor AN CAUTION Do not connect commercial power supply to the motor terminals 7 Dimensional tolerances Tolerances of motor at the time of shipment from the factory are as follows The maximum and minimum values throgh one slow revolution of the shaft are then read on the indicator The difference between the readings will not exceed the values given in the following table a Shaft extension run out The probe of the indicator is attached to the shaft midway along its length b Concentricity of spigot and the shaft for flange mounted motor The indicator is fitted rigidly on the shaft extension 3 2 MHT259a Engl c Perpendicularity of mounting face of flange to shaft for flange mounted motor The indicator is fitted rigidly on the shaft extension unit mm a c Flange mounted Flange mounted Flange mounted TASA li 4 0 02 0 08 8 Mounting instruction of GYN and GRN type gear head unit a Greasing to the shaft extension Apply grease lightly to the output shaft extension of the motor before mounting a GYC or GYS motor to gear head unit Lightly greased b Preparation for mountin E i A Rubber cap Remove the rubber cap from a deep poin
255. in 1 to 1000 in 1 step 40 Feed forward gain 0 000 to 1 500 in 0 001 step 3 T 41 Speed setting filter 0 0 to 20 0 ms un 0 1 step Always 42 43 I i ee he c 44 Vibration suppression time constant 10 to 1000 ms in 1 step 45 Vibration suppression gain 0 00 to 1 00 in 0 01 step The motor response performance can be adjusted according to mechanical equipment system The auto tuning presumes the load moment of inertia of mechanical equipment system and automatically adjusts various control gains of the motor to drive the inertia optimally The auto tuning is valid for general mechanical equipment system but this may not be valid for the application like vertically moving transfer equipment whose load torque frequently changes In this case select 0 Manual for basic para 31 In order to activate the auto tuning set the following 2 parameters B Tuning method basic para 31 Ml Operation speed response basic para 33 6 21 MHT259a Engl B Selection of tuning method basic para 31 Basic parameter 31 Para Setting range Initial value Tuning method 0 Manual 1 Auto low stiffness 2 Auto high stiffness 1 Basic parameter 31 Set value Target machine 1 Auto low stiffness Ball screw with speed reducer Spindle drive with speed reducer Rack and pinion Timing belt Conveyor Chain drive Feed roll Table indexing dividing 2 Auto high stiffn
256. ing end RST Alarm reset FWD Forward command RDY Ready RUN Run command NZERO Speed zero REV Reverse command b Position control unit C200HW NC113 Typical connection with C200HW NC113 type position control unit Omron Corp is shown below Safety Isolation Power supply 3 phase 200 V class Safety Isolation CW pulse output CCW pulse output 24 V GND for output o Origin input signal 5 V Al6o jroese mme ume Origin common A240 Positioning end signal A120 eycoo Origin proximity input signal Common for input e 24 V power supply for output RAV CCW limit input signal L OW limit input signal o Immediate stop input signal A200 ooogg Amplifier RYSOUOOS38 Vvs 4 55 MHT259a Engl Notes 1 For 0 2 KW and below braking resistor is not provided built in with amplifier The pulse output mode is used for CW CCW 2 pulse output CONT and OUT of CN1 terminals are initially assigned at factory Terminal symbol CONT1 CONT2 CONT3 CONT4 CONT5 CONT6 CONT7 CONT8 Function 4 RUN FWD REV RST Multispeed selection Pulse train Positioning X1 x2 ratio 1 control Terminal symbol OUT1 OUT2 OUT3 OUT4 3 OUT5 Function 4 CPURDY NZERO PSET 2 Direction of motor shaft rotation when viewed from a poi
257. input d Turn on the run command RUN signal By the keypad panel of amplifier make sure the LEDs light according to the run command UTE EI e On the keypad panel the sequence mode recognized by the amplifier can be checked Key operation Indication example Remark L f if H li Example of monitor mode display E Li F1 Li lc The MODE key selects a mode EE P F1 ag h Change the mode P a Li Li H Change the mode E F1 EE H Change the mode EC 5 F1 b Lib Change the mode 5 Pu S By the A keyor v key select 555 7 E cry b Ci E Holding down the ENT key for at least 1 s causes a sequence display Em e r un Turning on RUN signal displays rm f The motor starts running by turning on the CONT7 FWD signal after turning on CONT12 X1 At factory setting the motor speed is 100 r min basic para 1 setting g Turning off the CONT7 FWD stops the motor whether CONT12 X1 is on or not 9 5 MHT259a Engl 3 Positioning data For test running the motor is started upon setting the positioning data by which the motor output shaft makes one rotation Auto start Address 01
258. inyl sheath cable AWG No 25 2P AWG No 23 2C twisted pair cable RMCV SB UL2464 type The wiring length should be within 20 m Cross link polyethylene insulated vinyl sheath cable AWG No 25 2P AWG No 16 2C twisted pair cable RMCV SB UL2464 type The wiring length should be within 50 m 2P pairs 2C core twisted pair cable of different wire sizes Use the enlarged sectional area of wires for power supply d Connection It is not allowed to extend the wiring distance by connecting two or more cables of short wiring length AN CAUTION Do not extend the wiring distance by connecting two or more encoder wiring cables A voltage drop by contact resistance of connector may stop the operation abruptly Remark The wire size conversion between AWG and mm is as follows Gauge Diameter Sectional area mil mm AWG mmG mi mm cm mm 1 539 16 1 309 1 131 23 0 2581 0 2376 24 0 2047 0 1963 25 0 1623 0 1590 4 9 MHT259a Engl 4 4 Host interface I F Connect signals to and from host controller to RYS L type amplifier are as follow Basic type DI DO position SX bus type SX bus direct connection T link type T link direct connection General purpose communication RS485 interface 1 Basic type DI DO position RYS OUTn is directed to the host controller Signal immediate positioning and current positioning etc between amplifier and
259. ion 1s ns 31 Amplifier operates as a slave and can respond commands sent from the master Communication between slaves are not performed El Termination Master General purpose PC General purpose communication cj g g cj Slave 1 Slave 2 Slave 3 Slave 31 1 to 31 setting by system para 97 Operation command 5 ms or less Data parameter transfer 20 ms or less Response time can be fixed by system para 91 setting Note Some software cannot have the stop bit if 8 bits are specified to data bit 4 20 MHT259a Engl li Transmission format 1 Data read out from amplifier Data inside the amplifier is sent back according to the message from the master If read out is possible ACK and data are sent back if not NAK is sent back Read out from amplifier Host controller Amplifier an BEDS Amplifier 2 Data write and operation command to amplifier Data inside the amplifier can be rewritten according to the message from the master Operation commands such as manual forward operation and origin return can be given to the amplifier If execution is enable ACK is sent back and if not NAK is sent back Data write and operation command to amplifier
260. ion Current position can be outputted to IQ area T link type T link direct connection Current position can be outputted to WB area RS485 interface Current position can be outputted as monitor data i i H E gt 5 i am Q i em Q ae sx b o SBGRE SXbus extension cable 2 pun Ef ESEE EEE n 5 2 Run command This section explains the signals to run the motor and the signals to reset alarm detection Control input signal Run command RUN 1 Control output signal Ready RDY 1 Alarm reset RST 11 CPU ready CPURDY 28 Alarm detection ALM 16 Alarm code 0 ALMO 32 Alarm code 1 ALM1 33 Alarm code 2 ALM2 34 Alarm code 3 ALM3 35 Alarm code 4 ALM4 36 5 3 MHT259a Engl 5 2 1 Run command RUN The signal allows the motor to rotate Run command RUN Control input signal B Function While the RUN signal is on the motor is powered on and can rotate Even if commercial power is applied to amplifier the motor will not start running while RUN is off When turning off this RUN signal while motor is running moto
261. ipment should be equipped with a diode for surge voltage suppression unit mm For magnetic contactor etc For control relay etc Type S2 A O Type S1 B O 300 a0 1 4 30 1 300 40t 1 20 1 4 ol aeo ts 27 55 27 5 5 Sms Ey a LOS 500 Q 1 2 W 40 2 u F 200 Q 1 2 W 40 1 u F Protection circuit example AC circuit C R circuit DC circuit diode Load Load 11 4 MHT259a Engl 11 4 Power filter Power filter is installed to prevent the PWM circuit in amplifier from exerting influence over the power supply side In the amplifier the PWM circuit performs high frequency switching This causes power line noise radiation noise from the amplifier and noise from the motor power cable and these noises may have an adverse influence over external equipment To prevent such an influence the following methods are available See figure below 1 Power supply 2 Power transformer 3 Amplifier 4 Motor 5 Measuring instrument 6 Electronics device MS m 12 7 Sensor 8 9 10 11 12 3 n 8 Radio 9 Power line noise 5 mN Radiation noise Electrostatic induced noise Electromagnetic induced noise 1 1 1 6 a Installation of amplifier in a g
262. iring cables A voltage drop by contact resistance of connerctor may stop the operation abruptly PE 0A 7 nd pott amer E ES i it 0 For CN1 For CN2 i Connector 1 CN1 2 CN2 5 or 10 m cable length Housing 53988 0611 Housing 51145 0601 Socket shell cover 58300 0600 Terminal 50639 8091 mold cover 53989 0605 Plug shell cover 58098 0600 53990 0605 body 58099 0600 Cable clamp 53303 0000 Cable clamp 54017 0615 Clamp screw 59832 0009 Clamp screw 54018 0605 3 CN2 20 m cable length Plug housing 54180 0611 shell cover 58299 0600 shell body 58300 0600 mold cover 54181 0615 54182 0605 Cable clamp 58303 0000 Clamp screw 59832 0009 ii Wire color iii Cable length L and mass Pin No for CN1 6 Cable type L mm Mass g a i wsc Pos Pos 50000 300 Pio 10000 0 500 p20 20000 2000 4200 11 11 MHT259a Engl e Encoder cable Cable type WSC PO6P05 C P06P10 C and POGP20 C Application 1 KW and above i Connector 1 CN1 2 CN2 Connector MS3108B20 29S Plug housing 54180 0611 Cable clamp MS3057 12A shell cover 58299 0600 shell body 58300 0600 mold cover 54181 0615 54182 0605 Cable clamp 58303 0000 59832 0009 Clamp screw ii Wire color iii Cable length L and mass Pin No for CN1 D Cable type L mm Mass g WSC Po6 Pos c 500070 450 Wir
263. is signal is allocated to OUT5 to OUT21 of system para the signal can store to bit of ST2 This signal can be allocated to control output terminal of CN1 B Parameter setting To allocate the data error to the control output terminal set 30 to the system para 5 52 MHT259a Engl 5 7 9 CPU ready CPURDY Normal operation of amplifier and motor can be checked CPU ready CPURDY Control output signal B Function This signal is turned on under the following conditions after power is turned on CPU in the amplifier is operating normally CPURDY signal output has no relation with control input signal on off status When the CPURDY signal is off the contents of the control output may be incorrect B Parameter setting To allocate the CPURDY signal to the control output terminal set 28 to the system para 5 7 10 Brake timing This signal is automatically turn on or off for the brake operation Brake timing Control output signal B Function This signal automatically excites or releases the motor brake in accordance with the rotational command to the amplifier The control condition when the motor is stopped can be set by system para 81 i Parameter setting To allocate the brake timing output to the control output terminal set 14 to the system para If this signal is not allocated to the control output terminal this signal is deemed always off B Related items 1 Brake timing The step to set the brake
264. it output PO001 00 20 B0021 00 22 00023 E SC 2 bit output Wait for staring P0001 S00 22 T0001 00024 se 2 bit output Wait for staring P0001 S00 22 T0001 D0090 00025 EA DATA1 Low order bit P0001 D0090 B0023 M0091 00026 eS DATAO High order bit B0022 veg P0001 D0090 00027 WM0010 SLL WMO0010 2 00000002 Low order bit P0001 M0091 00028 WM0010 SBIT WM0010 00000014 High order bit P0001 M0092 00029 WM0010 SBIT WM0010 00000015 2 bit output Unload P0001 S00 22 D0090 00 26 00030 E SC Unload OUT2 OFF monitored P0001 00 26 B0021 S00 28 00031 Rae SO Read command Obtaining P0001 00 20 M0093 00032 2 bit output S00 22 S00 26 Unload OFF monitored S00 28 P0001 D0090 00033 Obtaining woose High order 16 bit C0090 00000008 CT 12 12 MHT259a Engl P0001 00034 P0001 00035 P0001 00036 P0001 00037 P0001 00038 P0001 00039 P0001 00040 P0001 00041 P0001 00042 P0001 00043 P0001 00044 P0001 00045 P0001 00046 P0001 00047 P0001 00048 P0001 00049 P0001 00050 P0001 00051 currentpos ladder Obtaining High order 16 bit M0093 C0090 E D0091 99 07 16 Page D009 M009 3 High order 16 bit M0094 WM0010 MOVL BD0000 Obtaining Low order 16 bit M0093 C0091 E Low order 16 bit C0091 00000016 CT 00000015 R D009 M0095
265. itialize 55 29 Not assigned ON Yes OFF OFF No ON ON Yes Not assigned OFF No OFF OFF No ON OFF No 5 40 MHT259a Engl 5 6 3 Overtravel OT Overtravel detection Move of machine can be forcibly stopped by inputting signals from limit switch etc Overtravel OT Overtravel detection Control input output signals B Function direction overtravel OT 7 direction overtravel OT 8 Input signal is from OT preventive limit switch placed at machine moving direction end Both signals are always valid except for in torque control When the input signal turns off motor rapidly decelerates to a stop in negligence of the rotation command in the detecting direction Motor can rotate by pulse train input in the direction opposite to detecting direction or by manual feed forward command FWD or reverse command REV NC contact OT detection 38 OT detection 39 While OT 7 control input signal is off the OT detection 38 output signal is on While OT 8 control input signal is off the OT detection 39 output signal is on B Parameter setting To allocate the OT signal to the control input terminal set 7 to the system para Set 8 for the OT signal If these signals are not allocated to the control input terminal these signals are deemed always on Set 38 for the OT detection 39 for the OT detection and 20 for the OT detection B Related items 1 Detecting direction
266. iting and positioning data rewriting on the keypad panel can be prohibited Even if 1 Rewriting disable is selected for the system para 94 only the system para 94 is rewritable Remark Rewrite operation can be restricted by the control input signal See 5 5 2 Edit permit command 6 56 MHT259a Engl 21 System parameter 96 Basic type SX bus T link RS485 interface PAGGO PPDOSEb a Basic type RS485 interface Para Setting range Initial value Change 96 Station number 1 to 31 in 1 step Power b SX bus Para Setting range Initial value Change 96 Station number 1 to 238 in 1 step Power c T link Para Setting range Initial value Change 96 Station number 1 to 99 in 1 step Power Sets the station number about communication Specifies the amplifier station number at 1 through 31 in decimal If the station number is hexadecimal see the following conversion table Station No setting Station No setting Station No setting Station No setting Station No setting Station No setting decimal hexadecimal decimal hexadecimal decimal hexadecimal 1 01H 11 OBH 21 15H 2 02H 12 OCH 22 16H 3 03H 13 ODH 23 17H 4 04H 14 OEH 24 18H 5 05H 15 OFH 25 19H 6 06H 16 10H 26 1AH 7 07H 17 11H 27 1BH 8 08H 18 12H 28 1CH 9 09H 19 13H 29 1DH 10 OAH 20 14H 30 1EH 31 1FH If a fail soft operation is reguired for SX bus type specify the desired station number Use the initial
267. kW SHAFT EXTENSION 3 26 MHT259a Engl j With providing speed reduction gear unit GYS slim type gear ratio 1 25 or 1 15 for 102 to 202 types GYS300 to 502DC1 S8B SB or SA type and gear head 0 03 to 5 kW 4 M5 DEPTH12 i HeU sz eL D 300 30 300 30 300 30 300 30 SHAFT EXTENSION SHAFT EXTENSION 300 30 _4 M10 DEPTH20 300 30 1 SHAFT EXTENSION SHAFT EXTENSION 502DC1 SA 1 Screw hole metric diameter x depth of shaft extension 2 Insulating protection tube 3 Shaft extension S and flanged spigot p LB are machining finished with h6 or h7 fits 3 27 MHT259a Engl j With providing speed reduction gear unit GYS slim type gear ratio 1 25 or 1 15 for 102 to 202 types cont d GYS300 to 502DC1 S8B SB or SA type and gear head 0 03 to 5 kW 1 SHAFT EXTENSION 3 28 MHT259a Engl K Gear head unit for GYS slim type motor gear ratio 1 9 GYN300 to 101 and 751 to 502 GRN 20 to 40SAG G09
268. ke free run 82 0 01 to 9 99 s in 0 01 step Always 83 0 01 to 9 99 s in 0 01 step Always Brake timing Validated signal at ON level Forward command FWD OFF ON 2 Brake timing OFF ON 14 Brake operation release j X operation Speed Brake release time gt lt gt Brake operation time E d H E M x Time P action ON OFF Posi ti oni ng end ON OFF PSET 2 Brake release time Time period from when the amplifier output is on until when the external brake release is ended Just after the brake release time the brake is operating and the motor is in servo lock status The ON level of the rotational command makes the P action signal off The P action signal is on inside the amplifier Brake operation time Time period from the amplifier output is off to starts the braking operation After positioning is ended brake timing output is turned off Just after the brake operation time the motor is stopping by servo lock only During brake operation time the servo lock and the brake is in operation After the brake operation time has elapsed P action is on and the motor stops with brake 5 55 MHT259a Engl 3 Origin return ORG Auto start START The brake timing output is held off from the power is turned on until the rotational command is given When the following control input ON edge signals are given
269. lding down the SHIFT key interchanges the H side and L side OUT26 OUT25 OUT24 ETE lee OUT1 8 OUT1 7 Note Depending on the amplifier type the number of control output signals changes 14 Load inertia ratio Displays the load inertia ratio recognized by the amplifier regardless of the tuning method basic para 31 Moment of inertia recognized by amplifier Esadineria rao Moment of inertia of motor ENT 1 s or more PI It 010 FIL Un 1 4 JULI EST Displays the magnification in 0 1 step of the moment of inertia of the motor 7 14 MHT259a Engl 7 5 Parameter edit mode In the parameter edit mode basic paras and system paras can be edited Mn by the MODE key and hold down the ENT key for at least 1 s to select the basic para or system para Display Pn LL Pulli Basic para Pnulllig System para By pressing the ENT key its contents can be edited Bythe keyor v key select a number of para PPlinn Basic or system para number 1 Basic parameter In basic para rather frequently used contents are registered Changed setting of almost all the basic para immediately affects the amplifier and motor actions ENT 1 EA Mapa or more AF gt PF Li PnU ENT PPOOD H 5 A ESC ENT Fi PPOSS G ESC 2 System parameter System para register the functions of input output terminals and other cont
270. le clamp MS3057 10A Mass 100 g Rubber bush i Motor power for motor without providing brake Connector kit type WSK MO4P CB 4 pin Application GYC type motor 1 KW and above GYS type motor 3 KW and above Notch position Connector MS3108B22 22S Cable clamp MS3057 12A Mass 150 g Rubber bush l 72 5 gt j Motor power for motor with providing brake Connector kit type WSK MO6P 6 pin Application 0 75 KW and below Cap housing 350781 1 BO 25 9 Socket 350570 1 Mass 10 g li vere a 27 4 11 17 MHT259a Engl K Motor power for motor with providing brake Connector kit type WSK MO6P CA 6 pin Application GYS type motor 1 to 2 kW Notch position Connector MS3108B20 15S Cable clamp MS3057 12A Mass 150 g Rubber bush 70 9 i I Motor power for motor with providing brake Connector kit type WSK MO6P CB 6 pin Application GYC type motor 1 KW and above GYS type motor 3 KW and above Notch position Connector MS3108B24 10S Cable clamp MS3057 16A Mass 200 g Rubber bush le 79 6 m Control power input Connector kit type WSK LO2P Application 1 5 KW and below 326 3 4 EN Connector G 14
271. leration to a stop Power 1 Free run 85 Alarm detection at undervoltage 0 No detection 1 Power 1 Detects Ml Operation at undervoltage system para 84 Specifies the motor operation when undervoltage has been detected while the run command RUN is on Setting range Operation 0 Rapid decel to a stop The motor rapidly decelerates to a stop within amplifiers highest capacity 1 Free run The motor decelerates or accelerates with free run condition according to the load torque B Alarm detection at undervoltage system para 85 Specifies the alarm detection operation when undervoltage has been detected while the run command RUN is on Setting range Operation 0 No detection Alarm is not detected 1 Detects Undervoltage alarm is detected If 0 has been set the motor stops according to the preset operation to be made at undervoltage and alarm detection will not be output Remark If the power voltage decrease undervoltage due to momentary power failure is detected the motor decelerates by system para 84 setting Due to regenerative power generated by the motor during deceleration voltage level may exceed undervoltage level In this case the motor starts deceleration at the undervoltage level After that the motor will accelerate again after alarm detection of undervoltage is released 16 System parameter 86 Basic type SX bus T link RS485 interface PaUU2 PPDBE Connects the NTC thermisto
272. lied 6 23 MHT259a Engl B Speed response at stoppage basic para 34 Basic parameter 34 to 36 34 10 to 1000 Hz in 1 step Always 35 5 to 100 r min in 1 step Always 36 0 0 to 1 00 s in 0 01 step foo The motor response rate can be changed over between when the motor is rotating and when the motor is stopping This is valid to reduce the noise when stopping and suppress the resonance with the mechanical equipment system Always A Speed Stop detection width basic para 35 Time Speed m ipSp ngo Operation speed response basic pam 33 Speed response at stoppage basic para 34 rate e Stop judgment time basic para 36 The operation speed response and the speed response at stoppage should be changed after the speed has been lower than the stop detection width basic para 35 and the stop judgment time basic para 36 has elapsed This can prevent the motor shaft from starting rotating after the motor has stopped if the setting of speed response at stoppage is low Set an appropriate time for the stop judgment time as its initial value is 0 0 s M Speed feedback filter basic para 42 Basic parameter 42 Para Setting range Initial value Change 42 Speed feedback filter 0 OFF 1 ON fo Always When you use 16 bit serial encoder in GYC or GYS series do not change the setting of the speed feedback filter 6 24 MHT259a Engl B Speed setting filter basic para 41
273. limit is always valid in any control mode If output torque is limited during accel or decel accel or decel time may not follow the setting value by basic para 2 Torque limit detection This signal is turned on while motor output torque reaches the torque limit value This torque limit detection 26 is always valid in any control mode B Parameter setting To allocate the TLMT signal to the control input terminal set 30 to the system para If the TLMT 30 signal is not allocated to the control input terminal the setting of basic para 59 is always valid To allocate the torque limit detection signal to the control output terminal set 26 to the system para 5 42 MHT259a Engl 5 6 5 External fault input External signal forcibly stops the motor External fault input Control input signal B Function While this signal is turned off the motor is stopped forcibly While external fault input is applied signal off the operation is the same as forced stop EMG 10 While external fault input is applied signal off forced stop detection 41 signal is turned on i Parameter setting To allocate the external fault input signal to the control input terminal set 34 to the system para If this signal is not allocated to the control input terminal this signal is deemed always on E Related item See 5 6 1 for the forced stop 10 5 6 6 Overload early warning Motor s load factor can be checked Ove
274. located MON2 Torque monitor P5 25 Power output terminal of pulse train M5 13 5 V DC 200 mA CA CA 11 23 Pulse train input Input terminal of pulse train CB CB 12 23 max input frequency 500kHz differential input Reference potential is at terminal M5 FA 8 Freq dividing output Freq dividing output terminal Two 90 phase differential signal in FB 9 proportion to motor rotational quantity is output FZ 10 Reference potential is at terminal M5 BAT Backup power for serial encoder Reference potential is at terminal M5 Note Each of terminal M5 is internally connected each other They are not connected to terminal M24 4 23 MHT259a Engl ill Command list Command CM SCM DATA n Function A Reading out of monitored data 31H 30H E E a Reading out of sequence mode a 32H 9 Readingoutof alarm detection history 33H xag Reading out of alarm detection contents 32H 30H 2 4to16 Reading out of basic para Reading out of system para 32H 6to18 Writing of basic para 33H 6to18 Writing of system para 33H Reading out of positioning data Reading out of the positioning data under execution Reading out of control input output signal 31H 14to 25 Writing of positioning data Command CM SCM Function 34H 30 Runcommand RUN off 31H Run command RUN on 32H 3 Forward operation immediate on 33H 1 Forward
275. mand Current position output Function output signal assigned to T link T link direct connection system para 31 to 40 OUT1 to OUT10 0 1 6 5 Not assigned Ready RD Y 2 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 Positioning end PSET Rewrite end Brake timing Dynamic braking Alarm detection ALM Fixed passing point 1 Fixed passing point 2 Limiter detection OT detection Cycle end CEND Origin return end Deviation zero Speed zero NZERO Speed arrive NARV Torque limit detection Overload early warning CPU ready CPURDY Edit permit ON OFF 30 31 32 33 34 35 36 38 39 40 41 60 61 62 63 64 65 66 67 75 Data error Address error Alarm code 0 Alarm code 1 Alarm code 2 Alarm code 3 Alarm code 4 OT detection OT detection Origin LS detection Forced stop detection MDO MD1 MD2 MD3 MD4 MD5 MD6 MD7 Position preset end MHT259a Engl Basic type DI DO B System parameter for RYS L type 1 2 Basic type Para zia range Initial value Change 01 Power 02 CONTEsignal assignment T MER AAA Power 03 Power 04 Power 05 cons sal assnment 01086 ni sep 4 Power 06 CONTO signal assignment Otose nistp Pr 07 CONT signal assignment Otos6 nistp St Per 08 CONTS signal assignment Otos6 intstes Pr 09 CONT9 signal assignment Otos intstes
276. minal set 31 to the system para 5 7 8 Data error A data error at immediate positioning and at para editing can be checked Data error Control output signal B Function This signal turns on if the following data error is detected at auto start START and para rewrite 1 Data other than specified code BCD or binary is input 2 Data other than setting range is input 3 Data with negative sign is specified This signal turns off when START signal inputs at a correct data or data rewrite is executed Even if a data error is on the motor shaft is not stop It turns on or off according to the output timing of the rewrite end 13 signal Basic type DI DO position The data error signal is on when AD7 to ADO setting error in the input data at immediate positioning is detected At factory setting this signal is allocated to OUT3 No 26 pin of connector 1 CN1 SX bus type SX bus direct connection The data error signal is on when an error is detected at word 8 and 9 position of IQ area At factory setting this signal is allocated to OUT word 7 bit 11 T link type T link direct connection The data error signal is on when an error is detected at word 6 and 7 rewrite data area of WB area At factory setting this signal is allocated to OUT14 word 0 bit 9 General purpose communication RS485 interface The data error signal is set at 6 bit position of ST1 in the response message When th
277. more than one terminal a control signal error CtE will be detected when turning on power supply again For the control output terminals a signal can be assigned to more than one terminal simultaneously Each terminal goes on or off at the same timing E interrupt input 49 Be sure to assign the interrupt input 49 to any one of the terminals CONT1 to CONTS In case it is assigned to CONT9 through CONT 13 a control signal error CtE will be detected For SX bus type assign it to any one of the terminals CONT1 to CONT5 M Always valid The functions can be assigned to the terminals by setting a numerical value at the system para 1 to 8 Similarly the assigned functions can be always valid by setting the function signal number at the system para 87 or 88 For SX bus type there are no the always valid function Remark If a number has been assigned to system para 1 to 8 and system para 87 88 simultaneously a control signal error CtE will not be detected The assigned signal is always valid 6 43 MHT259a Engl 6 System parameter 22 to 27 Basic type SX bus T link RS485 interface Phage Proa PPD3U System parameter 22 to 27 22 Parameter RAM storage 1 0 Not specified 11099 Basicpara No 0 Power 23 Parameter RAM storage 2 0 Not specified 1 to 99 Basic para No o Power 24 Parameter RAM storage 3 0 Not specified 1 to 99 Basic para No o Power 25 Paramet
278. motor of the same frame size as the amplifier The amplifier can also drive a motor that has one larger or smaller frame size However the combination with two frame size larger or smaller motor causes a combination error FALDIC Rvszoi3 vvs E run CI ow ru Tee o E En i kes Ea a b 0 4 kW motor EIS one larger frame INS 0 1 KW motor 0 2 KW motor oo az i l one frame smaller same frame size m 0 2 kW amplifier E 1 IIo c ll GYS401DC1 S S IGYS101DC1 S GYS201DC1 S E JJ Pl GYC101DC1 S E gl LH GYC201DC1 S GYC401DC1 S a The rated torque is the one for one frame smaller motor b The rated torque is the one for the same frame size motor c The rated torque is the same as where the same frame size motor is used 10 9 MHT259a Engl e Cont control signal error Keypad panel display HLLEE Contents of alarm One and the same signal is allocated to several control input sig
279. motor rotational direction match the machine moving direction ll Speed command voltage NREF Multistep speed The positive direction means the rotational direction when a positive voltage is applied to speed command voltage terminal NREF multistep speed and forward command FWD is given The motor output shaft rotates forward The voltage input of 10 to 0 to 10 V can be applied Pulse train input The positive direction means the rotational direction when a forward pulse or command code at H level or a pulse train of two 90 phase different B phase advance signal is applied The motor output shaft rotates forward W Forward rotation reverse rotation Forward rotation is counterclockwise CCW rotation when viewed from a point facing the drive end of motor Clockwise rotation is reverse rotation Ml Resolution of speed command NREF The resolution is 14 bit at full scale When a speed reference voltage of 5000 r min 10 V is given 5000 to 5000 r min 2 0 6 r min is obtained 6 51 MHT259a Engl 13 System parameter 81 Basic type SX bus T link RS485 interface Pa De PPUB The status when the motor is stopping can be selected Para Setting range Initial value Change 81 Operation at stopping 0 Speed zero Power 1 Servo lock 2 Brake P action 3 Brake free run M Servo lock The motor can be stopped retaining the current position c
280. motor starts rotation at the ON edge of START signal o6 amp o 0260 5 69 MHT259a Engl 6 Auto start See O and of the table below Setthe positioning data number in the address No area O The motor starts rotation at the ON edge of START at bit 1 in word 4 signal 7 Manual feed The rotational speed at forward FWD and reverse REV command is specified by the speed command see O of the table below while multistep speed selection X1 is off Turn on the bit 1 in word 5 position only in the read rewrite data select area After the rewrite command has been turned on the speed is determined by O in 1 r min step The X1 is at bit A in word 4 at factory setting position O WB area at factory setting Address 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 8 9 A B C D E CPU Alarm Address OT OT LS EMG Data RDY PSET ready detect error detect detect detect detect error end end Read data High order word PC Amplifier Read data Low order word PC Amplifier er pre ne or e Pre eT T T R R Read rewrite data select ewrte ReadN Address No command command N Font fata High order woy Po gt Alpes ON Rewrjte data Low order word For the immedeate start this command is not needed 2 9 e 5 70 MHT259a Engl B Current value The current value of various data can be selected at on off of bit 1 to 5 in word
281. mplifier terminals OUT4 of amplifier terminals 3 Immediate positioning An example is shown for program on PLC for immediate positioning see 5 5 3 Immediate positioning Connecting the amplifier input terminal to PLC output terminal obtains the stopped position BO Immediate positioning start input B18 AD7 B1 Forced end input B19 AD6 B10 Auto start CONT6 B1A AD5 B11 Immediate rewrite CONT9 B1B AD4 B12 Immediate data select 0 CONT10 B1C AD3 B13 Immediate data select 1 CONT11 B1D AD2 B21 Positioning end OUT2 B1E AD1 B24 Rewrite end OUT5 B1F ADO In the example of program the value of BCD 8 digit on BDO is transferred Finally the auto start START signal turn on by FF of address command Allocate the function to B10 to B13 B18 to B1F in the input terminal of amplifier 12 15 RD REQ RD ANS ANS BIT1 ANS BIT2 ABS ENC 1 ABS ENC RD COM RD RUN RD OK RD NG ABS POS MHT259a Engl P0001 00000 P0001 00001 P0001 00002 P0001 00003 P0001 00004 P0001 00005 P0001 00006 P0001 00007 P0001 00008 P0001 00009 P0001 00010 P0001 00011 P0001 00012 P0001 00013 P0001 00014 P0001 00015 P0001 00016 P0001 00017 P0001 00018 P0001 00019 D Initial scan F0050 1 POSdirect ladder 00 05 11 Page m Forced end B0001 D Initial Immediate Response Response Initialize SC 2 S01 gl
282. n The current position output command signal value is a signal of unit quantity set by basic para 91 and 92 Actual move amount of mechanical equipment system is transmitted based on an origin point When pulse correction function is not used the current position is represented by the rotational quantity accumulated absolute position where 1 revolution of motor is divided by 65536 pulses rev WB Basic type DI DO position Current position is transmitted from the control output terminal with on off of current position output 56 Current position can be obtained at the time of power on 5 30 MHT259a Engl SX bus type SX bus direct connection The current position can be outputted to the 0 1 word position of IQ area The current position can be outputted on condition that bit of SEL2 SEL1 and SELO are all off The current position can be obtained with the refresh cycle of IQ area T link T link direct connection The current position can be outputted to the 0 1 word position of WB area The current position can be outputted on condition that 5 bit of data selection are all off The current position can be obtained with the refresh cycle of T link B RS485 interface Current command can be obtained with the write command CM 30 SCM 30 of monitor data Current position output Amplifier Current position output Basic type DI DO position Current divided position can be outputted SX bus type SX bus direct
283. n 3 Brake free run Power 82 Always 83 Always 84 Operation at undervoltage 0 Rapidly decelerates to stop_ 1 Freevun o Power 85 Power 86 Resistor thermal relay 0 Electronic thermal relay _1 External thermal relay oO Power 87 CONTawaysvaid OtoSG imitstep Power 88 CONT aways vaid2 Otos6 ntstp Power 89 Initial indication Oto20 ntstp Power JA NE NEN TO to Unused RS 93 96 Power 97 0 9600 1 19200 2 38400 bps o Power 98 0 Binary 1 BCD o Power 99 0 INC Incremental 1 ABS Absolute Jo Power 6 7 MHT259a Engl Bi System parameter for SX bus type amplifier Function input signal number assigned to system para 1 to 19 CONT1 to CONT19 OAONoahrWN Oo OWNNN a HAA HAHA OOANDARWNMNH OO Not assigned Run command RUN Forward command FWD Reverse command REV Auto start START Origin return ORG Origin LS LS XOT 0T OT OT ABS INC Forced stop EMG Alarm reset RST VELO VEL1 ACCO Position preset Pulse train ratio 1 Pulse train ratio 2 P action Torque limit Temporary stop Positioning cancel External fault input Teaching Override valid Override 1 Override 2 Override 4 Override 8 Interrupt input valid Interrupt input Deviation clear Multistep speed X1 X1 Multistep speed X2 X2 Multistep speed X3 X3 Free run BX Edit permit
284. n 0 01 step Always 64 Speed command offset 2000 to 2000 in 1 step Individual Always The gain or offset of speed command NREF terminal can be adjusted Speed A Oxooog 0 000 r min pars e ra ees gt 1E xD xDDD pw Speed command voltage O00 0000 System para 63 setting s d L L Y O r min E Speed command gain These gains can be set from x 0 10 to 1 50 times in 0 01 step Specifying the negative sign can invert the rotational direction ll Speed command offset This can be set from 2000 to 2000 in 1 step The setting value has no unit The initial value has been set at factory shipment individually Automatic offset adjustment is enable in the trial operation mode by the keypad panel 7 74 The value after adjustment will be saved in the system para 64 6 45 MHT259a Engl 8 System parameter 67 to 73 Basic type SX bus monitor 2 of T link RS485 interface PAGGO PLE T PPOTI Para Setting range Initial value Change 67 Monitor 1 signal assignment 1 Speed command 2 Speed feedback 2 Always 68 Monitor 2 signal assignment 3 Torque command 1 Speed command 3 Torque command 4 Position deviation 2 Speed feedback 4 Position deviation Always T m umorosa seemmimm CUA 0 Monitor 1 two way deflection Monitor 2 two way deflection 1 Monitor 1 one way deflection Monitor 2 two wa
285. n from 3 types 1 Pulse train input speed control type RYS V type amplifier Input frequency 500 kHz max 2 Linear positioning function RYS L type amplifier Maximum command value 79 999 999 A linear positioning system combined with ball screw or other mechanisms 3 Rotation indexing system RYS R type amplifier Maximum indexing number 30000 A rotation indexing system combined with ATC tool magazine etc or other mechanisms SE lt C2PRB8BGRE cz 3HLKRE Ua un i d Cubic slim type motors Cubic type of approximately half the depth of our basic type motor and slim type of flange of approximately half size are obtained i The degree of protection motor enclosure protection is IP55 Optionally IP67 can be supplied ii 0 03 to 5 kW are available iii Acceptable acceleration vibration is 49 m s and the slit plate material of 16 bit serial encoder is non glass film rj ER Cu i 1 2 MHT259a Engl 1 2 System configuration The following illustrates related devices of FALDIC a system
286. n power Make sure that the keypad panel indication 7 segment goes off when power is turned off Because the contents of parameter setting are stored in rewritable ROM EEPROM they cannot be lost even if power is turned off Specific basic parameters can be stored in RAM and rewritable infinitely 6 1 MHT259a Engl The parameters can be edited by the keypad panel and personal computer loader etc For SX bus connection type amplifier all the parameters can be edited from IQ area For T link connection type amplifier all the parameters can be edited from WB area For RS485 interface type amplifier all the parameters can be edited by the commands r Parameter 4 r Positioning data Basic para Position data 4 99 settings Speed data 99 settings 99 settings Timer data 99 settings m System para 1 Status 99 settings 99 settings M code 99 settings Amplifier L type 6 1 List of parameter 1 Basic parameter The basic parameters are common to all types of the amplifiers Basic type RYSOOOS3 LPSO type SX bus type RYSOOOS3 LSSLO type T link type RYSOOOS3 LTSO type RS485 interface type RYSLILILISS LRSLI type 6 2 MHT259a Engl The basic parameters are rather frequently adjusted B Basic parameter for RYS L type 1 2 Basic type SX bus type T
287. nal CN1 for connection of control signal CN for connection of pulse encoder Grounding earth terminal Backup battery Remarks 1 This figure indicates the state where the cover of terminal block board is open The cover should be closed before power on 2 Actual amplifier may differ in details 4 2 MHT259a Engl 2 Motor Frame enclosure Shaft extension Power supply input port Flange surface for motor mounting Remark Actual motor may differ in details 4 3 Pulse encoder Pulse encoder cable MHT259a Engl 3 Optional devices See the next page U External braking r esistor FALDIC RYS201S3 LPS E lt cCZ2PR2REGRE O Connector kit for control input output G Power supply cable PC loader and battery Control input output cable Pulse encoder cable qu Y Connector kit 4 4
288. nal CONTn terminals on CN1 of amplifier Cause check and remedy Since the same signal cannot be allocated to several terminals any one setting should be selected But forced stop 10 free run 54 external fault input 34 and not assigned 0 can be allocated to several terminals The same signal can be allocated to several control output terminals Remark The cont error does not occur in case of overlap setting of the CONT always valid 1 2 system para 87 88 and the system para A signal set at the CONT always valid is valid at all times Interrupt input 49 is valid to control input terminal of hardware only f Low voltage undervoltage Keypad panel display AL L L LI Contents of alarm The voltage supplied to the amplifier is below the minimum specified level Cause check and remedy The supply voltage may have dropped on account of momentary failure etc or the power supply capacity may be poor Remark The detection of undervoltage can be invalidated by setting of system para 85 if the power supply condition is not good In this case if free run is selected by setting of system para 84 the running can be continued at momentary power failure g High voltage overvoltge Keypad panel display HL Hu Contents of alarm The DC intermediate voltage in the amplifier is higher than the upper limit Cause check and remedy Overvoltage Hv Occurs when turning on power Power supply voltage ma
289. nal OUT 4 DATA1 outputs 2 bit data on MSB side See 12 2 Example of program 5 5 5 M code M code is outputted according to setting contents of positioning data being executed M code Control output signal B Function M code is outputted in accordance with the setting of positioning data MOO M02 M30 M98 and M99 have no specific functions and all are general purpose code outputs There is no interlock function by Mon and Morr M code can be set to 00h to FFh in bexadecimal number Basic type DI DO position M code is outputted from the M code 7 67 to M code 0 60 Setting to system para is needed SX bus type SX bus direct connection M code is outputted to 5 word position lower order 8 bit into IQ area Setting to system para is not needed T link type T link direct connection M code can be checked with allocation the M code 7 67 to M code 0 60 into WB area Setting to system para is needed General purpose communication RS485 interface M code can be obtained with write command CM 30 SCM 31 of the positioning data being executed a PY M code v Z as owe 9 Tau un Tale o teu hal mim ene Tarn ST u Talv tarw oo ll
290. nals relating to positioning action and signals relating to positioning data Control input signal Auto start START 4 Control output signal Positioning end PSET 2 Address ADO fixed M code 0 60 Address AD1 fixed M code 1 61 Address AD2 fixed M code 2 62 Address AD3 fixed M code 3 63 Address AD4 fixed M code 4 64 Address AD5 fixed M code 5 65 Address AD6 fixed M code 6 66 Address AD7 fixed M code 7 67 Current position output command 56 5 5 Auto start The section explains signals relating to positioning action and positioning data Control input signal Auto start START 4 Control output signal Positioning end PSET 2 Address ADO to AD7 fixed M code 0 to 7 60 to 67 Current position output 56 Remark For SX bus type SX bus direct connection addresses M codes and current positions can be obtained from IQ area For T link type T link direct connection addresses M codes and current positions can be obtained from WB area For RS485 interface addresses M codes and current positions can be obtained from command The auto start START 4 signal needs to be commanded by on off of bit 5 19 MHT259a Engl 5 5 1 Auto start START The signal starts a positioning action Auto start START Control input signal Wi Function Positioning data No 01 DEM j Position data A positioning action starts at the ON edge of START 4 signal Speed data
291. nd position and current feedback position is cleared to zero Deviation clear Control input signal B Function While this signal is on the difference deviation is kept to zero The deviation clear is valid during the on period of the speed zero NZERO signal Current command position is assigned as current feedback position B Parameter setting To allocate the deviation clear signal to the control input terminal set 50 to the system para B Related items All of the rotation commands are ignored while the deviation clear signal is on Even if the deviation clear is carried out the current feedback position does not change The remaining deviation due to the contact stoppage can be cleared to zero when the work is released in order to avoid movement corresponding to the deviation quantity When the deviation clear is carried out the deviation zero signal of the control output is on 5 3 4 Deviation zero Check can be done that the motor is near the command position Deviation zero Control output signal B Function This signal turns on when the difference deviation between the current command position and current feedback position is within the value Set by basic para 53 The level of setting value of basic para 53 has no relation with the positioning accuracy Increasing the setting expedites outputting a deviation zero signal for stopping B Parameter setting To allocate the deviation zero signal to the control ou
292. nder execution have been suspended by EMG signal M code output is retained M code output after turning on power M code output is turned off OUT assign Basic type DI DO position All of M code 0 to M code 7 need not be assigned to OUT assign terminals They can also be assigned to terminals of discontinuous numbers 5 5 6 Positioning cancel The signal cancels a positioning action being executed to stop Positioning cancel Control input signal B Function At the ON edge the positioning cancel 32 signal cancels the positioning action and starts deceleration During the ON period auto start START origin return ORG and interrupt positioning commands are ignored The signal is invalid for pulse train ratio 1 2 or manual running FWD REV The deceleration is made in a specified decel time E Parameter setting To allocate the positioning cancel to a control input terminal set 32 to a system para If this signal is not allocated to the control input terminal this signal is deemed always off E Related item The forced stop EMG 10 signal external fault input 34 and free run BX 54 etc that are signals for stopping take a precedence The motor decelerates quickly until it stops 5 5 7 Temporary stop The signal temporary stops a positioning action being executed Temporary stop Control input signal B Function At the ON edge the temporary stop 31 starts deceleration During the on peri
293. nitor 2 signal assignment 1 Speed command 2 Speed feedback 3 Always 3 Torque command 4 Position deviation 69 Unused AA 71 Monitor 2 scale 2 0 to 10 0 V in 0 1 step Always 72 Monitor 2 offset 50 to 50 in 1 step Always 73 Monitor 2 output form 0 Monitor 2 two way deflection Power 1 Monitor 2 two way deflection 2 Monitor 2 one way deflection 3 Monitor 2 one way deflection 74 Unused ps AAA z 75 Position command form 0 Normal PTP 1 Infinite 76 Soft OT detection position 79999999 to 0 to 79999999 in 1 step x unit q ty 79999999 Always 77 Soft OT detection position 79999999 Always 78 Pulse train input form 0 Command code pulse 1 Forward reverse pulse Power 2 Two 90 phase different signal 79 Output pulse count 16 to 16384 pulse rev in 1 step 2048 Power 80 Rotational direction changeover 0 Positive direction forward 1 Positive direction reverse Power 81 Operation at stoppage 1 Servo lock 2 Brake P action 3 Brake free run 1 Power o a a o Unused Position command form Soft OT detection position Soft OT detection position Output pulse count CUPIT ae 3 82 Always 83 Always 84 Operation at undervoltage 0 Rapidly decelerates to stop 1 Freerun Power 85 Power 86 Resistor thermal relay 0 Electronic thermal relay 1 External thermal relay o Power 87 CONTaWwaysvalidi OtoS5 ntste Per 88 CONTaWwaysvalid2 Ot
294. nput signals 1 Control input signals In the monitor mode of the keypad panel the control input signal on off status can be checked The main circuit power input and control input output power supply 24 V DC can be supplied CONT11 OT CONT12 OT and CONT13 forced stop are NC contact inputs Key operation Indication example Remark E mn El Li l Example of test running mode display E 5 mn t Lib The MODE key selects a mode LI m El Li Select the monitor mode Un El lc By the keyor v key select nif 12 1 SH FT I i Holding down the ENT key for at least 1 s allows to check the input signal SHFT f J f fl 00 ET L 50 900 I on off If a control input signal on CN1 turns on the corresponding LED lights The input signal display 74 7 2 in the monitor mode is updated in real time DOBO DO DO O DO DO ODO 00000 O Mt assi gned 000 DoODo00d 0000000 9 4 MHT259a Engl 2 Manual operation By turning on the CONT1 RUN of amplifier as factory set the motor can be rotated If output signals PLC etc to the amplifier are not inputted to the amplifier check the 24 V DC power supply to CN1 a Supply power to the amplifier b Make sure a voltage is outputted from the 24 V DC power supply c Check the connection of forced stop signal Beware of NC contact
295. nt facing the drive end of motor is designed according to Japanese standards Forward direction Counterclockwise CCW rotation Reverse direction Clockwise CW rotation 3 The assign number for positioning end PSET is 2 4 CPURDY CPU ready PSET Positioning end RST Alarm reset FWD Forward command RDY Ready RUN Run command NZERO Speed zero REV Reverse command 4 56 MHT259a Engl 5 CONTROL FUNCTIONS 5 1 Summary The RYS L type amplifier can compose a linear positioning system combined with ball screw timing belt or other mechanical equipment systems Ball screw Speed reduction gear Motor 99 settings of positioning data can be registered in the amplifier Each positioning data registers contents of one positioning action Positioning data address Nos are numbered 1 to 99 sequentially PC LOADER PldDatal MEROT SRE ELA ERRE 100 00 00 500000 3000 00 3000 00 0 01 0 01 0 01 EE Eb Eb Eb Externally specifying an address No and applying an auto start START starts positioning action according to its setting contents 5 1 MHT259a Engl The setting contents of one positioning data are as follows Setting contents of positioning data Position data stop position 79999999 to 0 to 79999999 in 1 step x unit q ty Speed data motor speed 0 01 to max speed r min in 0 01 step Timer data dwell time 0 0
296. nt output KW can be driven without changing the encoder setting provided that it has a rated output of frame No size equal to the output to apply one step smaller or greater Refer to 10 3 3 d v The basic resolution is 65536 pulses rev and the frequency dividing output is 16 to 16384 pulses rev b Preparing a PC loader i Servo system support tools capable of controlling the para editing monitoring test trial running etc are available ii Fault diagnostic function alarm can be detected and fault cause covering the mechanical equipment system can be assumed Amplifier Servo amplifier Motor Servo motor PC Personal computer Para Parameter s 1 1 MHT259a Engl c Closely mountable amplifiers i Several amplifiers can be mounted sidewise spaced by less than 5 mm between themselves In that case however the operation duty is not continuous but 80 ED Refer to 3 2 2 ii Control power supply input terminals are provided Maintenance is 2 a 3 RYS401S3 LPS FALDIC RYs201s3 LPS available at a status where the main circuit power supply is turn off eS gt A gt run iii PN terminals for harmonics suppression are provided A DC eur fun reactor can be mounted iv A keypad touch panel is provided v You can select a control functio
297. nt position is beyond the soft OT range by the pulse train input opposite direction to the detection direction or manual feed The soft OT detection is not an alarm protective function activation The soft OT can be valid after origin return with basic para 67 E pall P I NS N NC ul N A N je Soft OT detection position Soft OT detection position system para 77 system para 76 Current position ON OFF ON Soft OT cannot be used for OT detection invert operation in origin return pattern 2 3 or 4 6 48 MHT259a Engl 10 System parameter 78 Basic type SX bus T link RS485 interface PaUDGg PPD TB Para Setting range Initial value Change 78 Pulse train input form 0 Command code command pulse Power 1 Forward pulse reverse pulse 2 Two 90 phase different signal The pulse form of pulse train input terminal can be selected The pulse form of pulse train input terminal CA CA CB CB can be selected The maximum input frequency is 500 kHz ll Command code command pulse system para 78 setting 0 The command pulse indicates rotational quantity and the command code indicates rotational direction Command pulse CA vr un Command code 4 C
298. ntactor MC Recommended Fuji s type FAB or ELCB is installed on the power supply side for turning power supply and promptly cutting off a fault current such as short circuit current MC is used when amplifiers are disconnected from the power supply with an external signal or in the case of power on off from remote operation panels The types are applicable to the power supply capacity up to 500 kVA specified diameter cable with the wiring length within 20 m is used and on off of the primary side of one amplifier is performed Connect an AC reactor if the power supply capacity exceeds 500 kVA i For 200 V class input voltage of amplifier Amplifier output Tono fs prstwisf_ bf 4 5 Amplifier type RYSODOSS 302 402 502 Fuji s FAB type A 338 40 33B 50 Recommended amplifier current A 3 SE o qe e fo a type 238 40 33B 50 N 26A _ 2N 35A ER ii For 100 V class input voltage of amplifier Amplifier output Amplifier type RYS S3 500 m Fuji s FAB type SA 3 398 5 33B 10 Recommended j amplifier current A 3 Bb 1 ho type Fea ype eG ae 38s 338 10 5 1 19A kW o 6 11 3 Surge suppressor surge killer Shown below are recommended surge suppressors for 250 V AC or less to be installed on peripheral devices magnetic contactor solenoid brake etc of amplifier DC equ
299. o 0 75 kW 101 Motor output kW 4 O78 Actual reduction gear ratio 1 25 Speed mi Rated f 120 max 20 Rated torque Nemf ata fesz 1er 25 5 48 Max breakdown torque Nem f fose fisi 882 76 4 144 Direction of motor rotation 2 I CCW Backlash max 4 mn 40 Mass weight ka for X 3 8 External dimension See 1 I of 3 3 External dimensions 2 Direction of shaft rotation is CCW counterclockwise when motor shaft rotates forward The direction is viewed from a point facing the drive end of motor 3 Max breakdown torque and maximum current values are selected in accordance with the following paired combination of amplifier and motor types Lower value higher value When the same output kW rating of amplifier and motor when amplifier size is one step larger than the motor frame No size corresponding with amplifier Refer to 2 3 Torque speed data 4 Motor with 3 min backlash max can be supplied on request 5 When a motor with GYN or GRN type gear head unit is supplied the shaft extension of this motor is provided with a key 2 6 MHT259a Engl 2 Slim type motor 0 03 to 5 KW for 200 V class input voltage of amplifier cont d a Basic design ii 1 to 5 KW Type GYSOOODC1 SA 402 502 Rated output kW 5 Rated torque N m 15 9 Speed r min Rated 3000 5000 Max breakdown torque 3 N
300. oSS ntste Per 89 Initial indication Oto20n step de Poner 91 0 Invalid 0 03 to 1 00 s in 0 01 step o Aways 92 Always 93 Communication time over O Invalid _ 0 08 to 9 99 s n 0 01 step o Always 96 Power 97 0 9600 1 19200 2 38400 bps o Power ehon A a A Sl 99 0 INC Incremental 1 ABS Absolute po Power 6 16 MHT259a Engl 6 2 Basic parameter The contents of the basic parameter setting are described in the order of numbers The settings are common to all amplifiers 1 Basic parameter 1 to 7 Praag I IPPDOD 1 PPDOUT Para Change 01 Always 02 Always 03 Always 04 Always 05 Always 06 Manual feed speed 6 0 01 to max speed r min in 0 01 step 100 00 Always 07 Always The rotational speed can be specified at forward command FWD reverse command REV on Selecting the on off combination of X1 X2 and X3 terminal can change the rotational speed The rotational speed can be changed even while motor is running There is no relation between the order of the basic para and the setting value size For the rotational speed when X1 X2 and X3 terminals are all off see Section 5 3 1 Multistep speed selection X3 X2 X1 OFF OFF OFF Speed See Section 5 3 1 OFF OFF ON Speed set by basic para 1 OFF ON OFF Speed set by basic para 2 OFF ON ON Speed set by basic para 3 ON OFF OFF Speed set by basic para 4 ON O
301. od auto start START origin return ORG or interrupt positioning command is suspended to stop its movement Turning it off resumes the remainder of action The signal is invalid for pulse train ratio 1 2 or manual running FWD REV The accel decel is made in a specified accel decel time The temporary stop signal is valid for a positioning action being executed 5 36 MHT259a Engl i Parameter setting To allocate the temporary stop to a control input terminal set 31 to a system para B Related items 1 Positioning cancel If while in temporary stop the positioning cancel has been validated the relevant positioning is canceled 2 Absolute position specified ABS Relative incremental position specified INC positioning data status When the temporary stop is turned off the remainder of action is carried out regardless of ABS and INC of positioning data No relation with the setting value of system para 99 5 5 8 Teaching The current position can be written in position data Teaching Control input signal B Function At the ON edge the teaching signal writes a current position as position data of positioning data The current position is an ABS absolute position specified value It can be executed any time regardless of forced stop EMG or run command RUN off The rewrite end for current position can be checked by the rewrite end 13 signal assigned to OUT Teaching is generally executed in t
302. ofold value of moment of inertia of motor rotor If higher frequent operation is absolutely required the moment of load inertia should be further reduced g Regenerative brakign power i Horizontally moving deceleration P120 105 x Toc X Nio X 1 2 W Where Tpc Decel torque N m N10 Speed at decel duration r min ii Vertically lowering P2 0 105 x Tio X Nao W Where Tio Load torque at lowering NO m Noo Speed at lowering r min iii Mean braking power per cycle P X t Po X t2 P W tcvc Where ti t2 Decel time during P P2 operation 3 Examples of calculation for model type selection Selection of the output of the motor used for driving the table horizontally moving body shown below is exemplified here Mass 20 kg Motor Direct coupling Ball screw Diameter BD x pitch BP x length BL mm 20x10 x 500 For capacity selection calculation is required in the following selection procedure i Moment of inertia of load via conversion into motor shaft a Movable part table Ji1 2 2 J Wit x BEY xa 201 1 x 19 x 174 2005x107 Iq m 2n 10 2n 10 Where W Mass weight of table b Ball screw Ji2 E BL be BD AE x 7 85 x 10 000 20 32 10 10 32 10 10 Where p Density of ball screw assumed as 7850 kg m thus Ji Jui Ji2 0 11 x 10 kg m L2 4 x t jf 0 06 x 107 kgf m 12 7 MHT259a Engl
303. ommand speed data setting High order word PC gt Amplifier Timer data setting PC Amplifier Fo Status setting M code setting SEL2 SEL1 SELO Para No setting positioning data setting se ea av a one veto vett ne jrmarntormard INC command command The unit can be operated even if no wiring is made to control power supply terminals L1C L2C 4 35 MHT259a Engl i SX bus type 0 4 and 0 75 kW Power supply 3 phase 200 V class Safety Isolation A GYCLILILIDC1 SA i GYSLILILIDC1 SA P24 P24 Amplifier RYSLILILISS LSS 1 Shielded sheath on the shielded cables must be connected with the shell body and the shell cover 2 A braking resistor is provided built in with amplifier 4 36 MHT259a Engl j SX bus type 1 and 1 5 kW 2 Safety Isolation Power supply 3 phase 200 V class Safety Isolation Amplifier RYSI GYCLILILIDC1 SA GYSLILILIDC1 SA P24 S3 LSS 1 Shielded sheath on the shielded cables must be connected with the J t
304. on 34H Reverse operation immediate on 35H Reverse operation multistep speed on 36H Forward reverse operation off Transmit from host controller DATA 32H Forward operation immediate on 34H Reverse operation immediate on 7 0 DATA 1 MB DANIA 2 Speed data DANIA 3 33H Forward operation multistep speed on 35H Reverse operation multistep speed on 7 0 DTA id 36H Forward reverse operation off There are no DATA n Turns off and on the forward operation FWD and reverse operation REV signals from amplifier SCM 36H is the cancel command of from 32H to 35H Transmit from amplifier There are no DATA n ACK or NAK returns Forward operation immediate on Reverse operation immediate on Specify in 3 words regardless of the decimal point of 0 01 r min unit For 3000 00 r min HEX value 0493E0H of 300000D can be set Forward operation multistep speed on Reverse operation multistep speed on Manual feed speed of basic para 1 to 7 can be specified with 01H to 07H 5 86 MHT259a Engl B Positioning data immediate setting 34H SCM 37H DATA Transmit from host controller Transmit from amplifier n l There are no DATA n DATA 1 ABS INC ACK or NAK returns DANIA 2 Speed select DATA 3 MB DATA 4 Position DATA 5 data DATA 6 ABS INC Data Control mode OOH Absolute position ABS 01H Relative posi
305. on 49H Temporary stop off 4AH Temporary stop on Transmit from host controller There are no DATA n Each signal can be set off or on Transmit from amplifier There are no DATA n ACK or NAK returns B Positioning cancel The positioning action origin return auto start under execution can be canceled This signal is invalid for the pulse train and forward reverse command CM 34H 4BH Transmit from host controller There are no DATA n Transmit from amplifier There are no DATA n ACK or NAK returns Wi The current position at the command transmission can be stored in the position data of the specified positioning data 34H 4CH Transmit from host controller 7 0 DATA 1 Positioning data No Positioning data No Specify the positioning data number with 01H to 63H Specify 01H to specify the positioning data No 1 Transmit from amplifier There are no DATA n ACK or NAK returns 5 91 MHT259a Engl Ml Override e el DATA 34H 4DH Override off 4EH Override on 4FH Override scale factor select Transmit from host controller 4DH Override off 4EH Override on There are no DATA n Specifies the override The scale factor can be specified by the para setting or numerical value Transmit from amplifier There are no DATA n ACK or NAK returns Setting value type of data 01H
306. ontrol rooms and equipment rooms Temperature 10to 55 C 10 to 40 C 1 EH Humidity 9096 RH max Air pressure 86 to 106 kPa Install location 2 For indoors 1 Free from condensation no condensation no formation of ice 2 Site altitude should be 1000 m and below b Avoid use under the following conditions i Location near oil steam or corrosive gas ii Location where strong electric or magnetic field exists iii Accommodation in the same panel together with high voltage 2 kV or higher equipment iv Sharing of the same power supply with the equipment which generates large noise v In vacuum vi In explosive atmosphere vii Under acceleration vibration 3 4 MHT259a Engl 2 Mounting a Amplifier should be mounted upright so that character FALDIC on the front panel can be seen horizontal OA z cz2zpyBSHUHUNEL 0 b Avoid overheating of the amplifier When accommodating multiple amplifiers in the same panel they should be installed side by side with the sufficient clearance distances below secured f a f
307. operates according to the on off status of IQ area 1 Control input signal At factory setting no signals are allocated to CN1 Test running can be made without connecting to CN1 For safety purpose allocate the following signals before usage The forced stop 10 OT 7 and OT 8 are NC contact inputs and require the control power 24 V DC O Forced stop 10 O OT 7 OT 8 Origin LS 6 Remark Indication example Key operation SHFT ENT FF nul Li Gnath nifi UnU Example of test running mode display The MODE key selects a mode Select the monitor mode By the keyor v key select Hn Ie Holding down the ENT key for at least 1 s allows to check the input signal ON OFF If a control input signal on CN1 turns on the corresponding LED lights The input signal display 7 377 12 in the monitor mode is updated in real time 9 8 MHT259a Engl 2 Manual operation By turning on the CONT6 RUN of IQ area as factory set the motor can be rotated For the station No see 5 8 IQ area SX bus If the station number setting is 50 specify QX50 15 15 to CONTE If a signal is allocated to CN1 check the 24 V DC power supply to CN1 a Supply power to the amplifier b Make sure a voltage is outputted from the 24 V DC power supply c Check the connection of forced stop signal Beware of NC contact inpu
308. operation multistep speed on 34H 3 Reverse operation immediate on 35H 1 Reverse operation multistep speed on 36H Forward reverse operation off HH leo Setting of positioning data immediate 38H Setting of positioning data number 39H 6 Auto start immediate 3AH Auto start positioning data number 3BH AX Origin return 3CH Release of forced stop 3DH X Forced stop command SEH Allarm reset 3FH Accel decel time selection 40H A Position preset 4iH Pulse train ratio 1 off 4H Pulse train ratio 1 on 43H Pulse train ratio 2 off 44H Pulse train ratio 2 on 4SH A Pcaction off 46H f P action on 14H Current limiting off 48H J Current limiting on 49H J Temporary stop off 4AH X Temporary stop on 4BH j Positioning cancel 4CH Teaching 40H Override off 4EH Override on 4FH 2 Override scale factor selection 50H A Interrupt valid off 5IH XA interrupt valid on 52H Deviation clear off 53H Deviation clear on 54H Frree run off 5H Freermon 56H Edit permit command off 57H Edit permit command on 58H Positive direction skip feed 59H Negative direction skip feed
309. or Once the motor is stopped braking force is not retained The output terminal of dynamic braking is 30 V DC 50 mA This cannot directly close a magnetic contactor Use a general purpose relay or Fuji s SSC solid state contactor B Parameter setting To allocate the dynamic braking signal to the control output terminal set 15 to the system para B Related items Major fault Minor fault Fault that cannot drive motor Protection against overheat etc Indication Detection contents Indication Detection contents HL 5E System error HL H Braking resistor overheat TL iL Overcurrent HL LF Deviation excessive rit 15 Overspeed AL EH Amplifier overheat FL L Undervoltage HL EH Encoder overheat GL Hu Overvoltage GL AL ABS absolute data lost HL EL Encoder trouble HL AF Absolute data overflow FL LL Control power trouble HL LE Bus communication error i gE Memory error Hi FL Fuse blown 4L Motor combination error 3 Hg Resistor overheat 2 31 Ef Encoder communication error F C EE Control signal error 31 L Motor overload 5 7 7 Address error Address error of address positioning number and para number at para editing can be checked Address error Control output signal B Function This signal turns on if the followin
310. or P5 25 Power supply 5 V DC 200 mA M5 13 for pulse train CA CA 11 22 Pulse train Input freq 500 kHz max differential input CB CB 12 23 input 2 FA 8 Freq dividing Freq dividing terminal FB 9 output Two 90 phase different signal is outputted in FZ 10 proportion with rotational quantity of motor C2 BAT 21 External backup Power supply for serial encoder backup input 2 1 Each of terminal M5 is internally connected They are not connected with terminal M24 2 Reference potential is at M5 terminal 4 18 MHT259a Engl 4 General purpose communication RS485 Connect RS485 cable to CN3 of RYS S3 LRS type amplifier Connect the control input output signal to CN1 CN3 upper side Use 8 pin RJ 45 plug to connect CN3 Use the straight connection between slave units FALDIC a Use the cross connection between the master and slave unit FALDIC a PIN WwW BU Oo o GT rrirr r unu E rT h CIEE eN e LE LE CIEE i E O o Pin layout of front side of amplifier Straight cable Cross cable Pin 1 TXD gt Pin 1 TXD Pin 1 TXD lt gt Pin 3 RXD Pin 2 TXD gt Pin 2 TXD Pin 2 TXD gt Pin 6 RXD Pin 3 RXD gt Pin 3 RXD Pin 3 RXD lt gt Pin 1 TXD Pin 6 RXD gt Pin 6 RXD Pin 4 RXD lt gt Pin 2 TXD CN1 lower side Connect control input output signals
311. or motor with providing brake Type GYS DC1 300 500 101 201 S6B B or S8B B S8B B S6B B Rated output kW 0 1 0 2 Rated torque Nem 0159 0 3148 0 637 Braking torque Nem 034 1 27 Rated voltage DC V I 24 Attraction time ms I 35 40 Releasing time m t0 20 Brake input wl lei 7 3 Mass weight Kg os2 fo72 17 External dimension See 2 b of 3 3 External dimensions c Additional data for motor with providing reduction gear gear head unit i Motor with gear ratio 1 9 Type SAG G09 GYN GRN 300 500 101 20 Rated output KW 0 1 0 2 Actual reduction gear ratio PY 1 9 Speed r min Rated 3333 Max e des Rated torque Nem hs 2 54 4 9 Max breakdown torque N m I 368 7 36 14 7 Direction of motor rotation 2 I CCW Backlash max 4 Nem Tao 30 Mass weight kg oz7 2 1 External dimension See 1 k of 3 3 External dimensions 2 9 MHT259a Engl c Additional data for motor with providing reduction gear gear head unit cont d ii Motor with gear ratio 1 25 Type SAG G25 GYN GRN 300 500 101 20 Rated output KW 0 1 0 2 Actual reduction gear ratio 1 25 Speed min Rated 10 max 20 Rated torque N m s 19 6 37 12 7 Max breakdown torque N m I lese 19 1 38 2 Direction of motor rotation 2 I CCW Backlash max
312. ord PC Amplifier Timer data setting PC Amplifier output valid CEND co ABS M s TE ee e 8 eem a SEL2 SEL1 SELO Para No setting positioning data setting REV RST START ORG X1 VELO veL1 ABS Rewrite Read INC command command 5 66 MHT259a Engl Positioning data Word position Address 0 Address 1 Address 2 Address 3 Address 4 Address 5 Address 6 Address 7 Address 8 Address 9 Address 10 Address 11 Address 12 Address 13 Address 14 Address 15 Setting range Positioning data is stored in 2 word The min value 1 is corresponds to unit quantity Speed data is stored in 2 word The min value 1 is corresponds to 0 01 r min Timer data is stored in 1 word The min value 1 is corresponds to 0 01 s The status data continuation CO cycle end CEND ABS INC M code valid is stored M code form is 0 simultaneous output MW and 1 later output MA M code is stored in low order The status of SEL2 SEL1 SELO is stored CSEL2 to CSELO Positioning data current para positioning data number can be stored information on each bit is always valid Position data can be set The min value 1 is corresponds to unit quantity Speed data can be set The min value 1 is corresponds to 0 01 r min Timer data can be set The min value 1 is corresponds to 0 01 s The status CO CEND ABS INC M code valid can be set M code form is 0
313. osition are valid in all the read rewrite data status SXY2 BRN n 5785 1177 B m zl PM EE ARO aE CE ECCO IB GR re Rn ER RYS LS TERRIER mA Ey ao BED C APRS SEES a C BREL a h SDE E ERAS C POD a C li c c C iS its o o 5 59 AIT FEED MHT259a Engl IQ area Et e APA ee eo AAA AAA 090 Current position current deviation basic para system para current position data LS Z phase pulse Low order word PC e Amplifier Current position current deviation basic para system para current position data LS Z phase pulse High order word PC Amplifier 4 Rm Current speed current speed data Low order word PC Amplifier Current speed current speed data High order word PC Amplifier E Current torque current timer data PC lt Amplifier Alarm code current status Current M code Eae CSEL ERA or Current para No current positioning data eu i d Ed o or o OUT OUT OUT OUT OUT OUT OUT Rewrite Read 10 11 12 13 14 15 16 end end EA Basic para system para position data Low order word PC gt Amplifier ES Basic para system para position data High order word PC gt Amplifier Speed command speed data setting Low order word PC gt Amplifier lea Speed command speed data setting High order word PC gt Amplifier EA Timer data setting PC gt Amplifier Status setting M code setting SEL2 SEL1
314. osition data LS Z phase pulse High order word PC Amplifier 4 Rm Current speed current speed data Low order word PC Amplifier Current speed current speed data High order word PC Amplifier E Current torque current timer data PC lt Amplifier Alarm current status Current M code EC BONN CUN CSEL ae EE Parameter current No positioning data current No 7 Rov PSET Data Adis Rewrite Read ready error error end end Ls Basic para system para position data Low order word PC gt Amplifier ES Basic para system para position data High order word PC gt Amplifier Speed command speed command setting Low order word PC gt Amplifier lea Speed command speed command setting High order word PC gt Amplifier EA Timer data setting PC Amplifier Status setting M code setting i e SEL2 SEL1 SELO Para No setting Positioning data No setting 18 RuN Fw REV RST START ORG veto veL1 ABS Feiwrite is INC command command 9 10 MHT259a Engl 9 5 T link T link direct connection The T link direct connection type amplifier operates according to the on off status of WB area 1 Control input signal At factory setting no signals are allocated to CN1 Test running can be made without connecting to CN1 For safety purpose allocate the following signals before usage The forced stop 10 OT 7 and OT 8 are NC contact inputs and require the control power 24 V DC O Fo
315. ositioning cancel 0 Not assigned 30 Data error 1 Run command RUN 34 External fault input 1 Ready RDY 31 Address error 2 Forward command FWD 35 Teaching 2 Positioning end PSET 32 Alarm code 0 3 Reverse command REV 43 Override valid 13 Rewrite end 33 Alarm code 1 4 Auto start START 44 Override 1 14 Brake timing 34 Alarm code 2 5 Origin return ORG 45 Override 2 15 Dynamic braking 35 Alarm code 3 6 Origin LS LS 46 Override 4 16 Alarm detection ALM 36 Alarm code 4 7 OT 47 Override 8 17 Fixed passing point 1 38 OT detection 8 OT 48 Interrupt input valid 18 Fixed passing point 2 39 OT detection 9 ABS INC 49 Interrupt input 19 Limiter detection 40 Origin LS detection 10 Forced stop EMG 50 Deviation clear 20 OT detection 41 Forced stop detection 11 Alarm reset RST 51 Multistep speed X1 X1 21 Cycle end CEND 60 MDO 12 VELO 52 Multistep speed X2 X2 22 Origin return end 61 MD1 13 VEL1 53 Multistep speed X3 X3 23 Deviation zero 62 MD2 14 ACCO 54 Free run BX 24 Speed zero NZERO 63 MD3 16 Position preset 55 Edit permit command 25 Speed arrive NARV 64 MD4 27 Pulse train ratio 1 26 Torque limit detection 65 MD5 28 Pulse train ratio 2 27 Overload early warning 66 MD6 29 P action 28 CPU ready CPURDY 67 MD7 30 Torque limit 29 Edit permit ON 75 Position preset end 31 Temporary stop 6 39 MHT259a Engl T link T link direct connection b S
316. ot assigned Run command RUN Forward command FWD Reverse command REV Auto start START Origin return ORG Origin LS LS OT 0T OT OT ABS INC Forced stop EMG Alarm reset RST VELO VEL1 ACCO Position preset Pulse train ratio 1 Pulse train ratio 2 P action Torque limit Temporary stop lii Connector pin layout The pin layout of the control input output signal can be changed Positioning cancel External fault input Teaching Immediate rewrite Immediate data selection 1 Immediate data selection 2 Override valid Override 1 Override 2 Override 4 Override 8 Interrupt input valid Interrupt input Deviation clear Multistep speed X1 X1 Multistep speed X2 X2 Multistep speed X3 X3 Free run BX Edit permit command Current position output CN3 upper side 005 1000 210000 12 0000 3 CONT15 13 0000 4 CONT14 EN 10000 5100000 6 CONTI6 7 oNT19 me ae Oe 17 CONT10 8 CONTIS y conr21 ESTO 19 CONT12 10 CONT20 20 CONT13 CN1 lower side 36 000 18 00 n agog 2000 bejooca SI fejo ST T SIDUE ENG ATUS 27 00 23 000 alot 1090000 5 26 0000 EIS 8 0000 23 00000 SEIS 5 0000 SUCHE 210
317. p servo lock T W1 W23 x 9 81 E 1 x Je n 2 10 L Length or distance of parts N Motor speed T Load torque total v Moving velocity W Mass weight Wi Ditto movable part Wo Ditto counter movable part n Mechanical efficiency JL Ju x 100 Load of low moving velocity JL Ju X 50 Load of positioning JL Jm X 10 Load of high frequent positioning u Friction coefficient 12 5 MHT259a Engl e Calculation of accel decel torque and accel decel time shortest i Accel decel torque For application to soft start stop operation etc accel decel torque should be calculated according to the formula below Accel decel torque Tac Ju JL x 2m x Ni No 60 x tac O Tac E TL NO m Where Ji Moment of load inertia after conversion into motor shaft kg m Jm Moment of inertia motor rotor kg m No Motor speed before the speed change r min Nx Speed after the speed change r min tac Accel decel time s Tac Max accel decel breakdown max motor torque N m T Load torque after conversion into motor shaft Nm The result of the above calculation should be within the allowable maximum accel decel torque of motor ii Shortest accel decel time For obtaining the target speed in the shortest time calculation is required by the formula below Jue Ju X 2n x Ni No 60 x Tac TL s tac When Tac TL tac
318. pending on the load volume in driving a carrier machine Speed Forward command OFF FWD ON Basic para 21 6 19 OFF Basic para 22 lime MHT259a Engl 6 Basic parameter 25 Prada PPEOS Para Setting range Initial value Change 25 Non linear S curve filter coefficient 0 000 to 1 000 s in 0 001 step 0 000 Always The motor can be accelerated decelerated by drawing an S curve S shaped curve is drawn at the beginning and at the end of acceleration with the setting time During deceleration this is the same way Speed S curve time S curve time Accel Time Accel decel can be adjusted by using the time constant of the filter coefficient when the pulse train input is given by constant frequency The motor rotates as much as the pulse train input Even if the host controller cannot perform linear acceleration smooth acceleration can be realized 6 20 MHT259a Engl 7 Basic parameter 31 to 45 Pa00 PP03 1 PPD4S Para Change 31 Tuning meted 0 Manual 1 Auto T ec 2 Auto high stiffness Always 32 33 Operation speed response 10 to 1000 Hz in a Step 34 Speed response at stoppage 10 to 1000 Hz in 1 step 35 Stop detection width 5 to 100 r min in 1 step 36 37 Torque filter time constant 0 00 to 20 00 ms in 0 01 step 0 30 Always 38 Speed regulator integration time 1 to 1000 ms in 1 step 39 Position regulator ga
319. pprox 3 s 450 for approx 1 5 s Function Regenerating dynamic with external braking resistor Protection OC output overcurrent OS overspeed Ly low voltage undervoltage Hv high voltage overvoltage Et encoder trouble Ct circuit trouble amplifier trouble dE data error memory error CE combination error rH resistor heat 2 EC encoder communication error CtE cont control signal error OL motor overload rH resistor heat braking OB resistor overheat OF EH eM em over flow deviation excessive AH amp heat amplifier overheat encoder heat encoder overheat AL absolute data lost AF absolute data over flow Fb fuse blown for 2 KW and more Display setting CHARGE red 7 segment LED with 5 digit and 4 operation keys Ambient Install location For indoors 1000 m and below of site altitude under clean atmosphere condition no explosive hazardous gas and vapour is existing In the case of compliance with the European standard Pollution degree 2 Over voltage category Il Temp humidity 10 to 55 C 90 RH max no condensation Vibration shock 4 9 m s 19 6 m s acceleration acceptable max Others DC reactor terminals P1 P for harmonics suppression UL cUL compliance with UL508 European standards compliance with EN50178 Mass weight kg 4 7 52 41 Use amplifier and motor as a specified pair of types Fox GYC type motor with 0 1 to 1 5 KW or
320. puewwoo vc ez enbJo ered oiseg z eun uoneJejooop uoneJojeoov ZZ 12 esed oiseg euin Z0 10 Zp ered oiseg uoine4e eoop ered oiseg Sienna SNL t pL uINOO uoneJojooov ZO y z i peeds paa lt x enue ULNOO Ie NR TENYEN jeuiuual E indu eied 8 p Z lp _ S2 v9 Lei 69 Saree oiseg eyed seg ered oiseg eed um pied wots esed ES JOujUOD Jo41uoo jonuoo y j Q J o enno s mop puewuloo puewwoo J3uN Juano Id Om JeOUI UON puooes peeds dud EDS ES 02 21 hos e vy esed oiseg 48 HA SES SPuISAD ered oiseg 8 ULNOO uoisseJddns Buiuonisod PAA Jojejeue al palet 9sind eed eee 20 10 uJnjoJ UINOO ered wa s s ubuo MS uINOO 10 10 indui esed ula s s o31u025 v6 82 uLNOO 6 Gz 26 16 esed 91seg gt eyed ise ered oiseg ered oiseg Z Oei 8l 5d 1 Em gro len esina 9 eed weiss eb doo 2 2 l enuno 5 UOI 28JJ00 6 uu0J indui ao U ao UOHISOd Jeeui UON asind ered oiseg uie esing vo 0 NO puewwoy ones yndu ov 10 10 urea asin ered oiseg ure esing ered uieis g FS pJe Jo 42 ULNOO peej MHT259a Engl 12 19 12 4 Letter symbols and abbreviated words F A ABS Absolute position specified Accel Acceleration ACCO Acceleration deceleration time selection AD Address AF Absolute data overflow Multiple rotation data overflow AH Amplifier overheat Amp heat H AlAO Analog input output ALM Alarm dete
321. r decelerates quickly until it stops After the stoppage it is not held No holding torque is available after the motor stops While the RUN signal is turned off all rotational commands are ignored Basically motor can be rotated when RUN is on and the forced stop EMG signal is on While the RUN signal is on and other signals are off the motor is in stopping condition i Parameter setting To allocate the RUN signal to the control input terminal set 1 to the system para If this signal is not allocated to the control input terminal this signal is deemed always off B Related item For the EMG signal see 5 6 1 Forced stop EMG Forced stop detection 5 2 2 Ready RDY This signal turns on when the motor can be rotated Ready RDY Control output signal B Function Listed below are five conditions for turning on this signal 1 Run command RUN 1 signal on 2 Forced stop EMG 10 signal on 3 Alarm detection 16 signal off 4 External fault input 34 signal on 5 Free run BX 54 signal off When the host controller receives the on off status of RDY signal it recognizes that the motor can be rotated B Parameter setting To allocate the RDY signal to the control output terminal set 1 to the system para M Related item The amplifier can the CPU ready CPURDY 28 output signal which is turned on when the power is being supplied to amplifier and the internal CPU is processing normally
322. r is stopping with the positioning cancel signal The amplifier has detected an overtravel signal in positive direction and stops The amplifier has detected an overtravel signal in negative direction and stops 7 6 MHT259a Engl 3 Alarm detection The contents of current alarm can be displayed with codes When 5 m 174 is displayed the alarm history can be displayed When an alarm is detected the following indication will appear rn ENT 1 s or more Gna ESC Major fault Minor fault Indication Description Indication Description HL 5 System error SE HL cH Resistor heat rH HL t Overcurrent OC GF Deviation excessive OF HL as Overspeed OS HL HH Amplifier overheat AH HL Lu Undervoltage Lv AL EH Encoder overheat EH HL Hu Overvoltage Hv HL HL Absolute data lost AL HL Et Encoder trouble Et HL AP Absolute data overflow AF AL C Circuit trouble Ct AL tE Terminal error tE AL dt Memory error dE AL Fh Fuse blown Fb HL CE Combination error CE AL HE Resistor heat 2 rH2 HL EC Encoder communication error EC ALCEE Cont Control signal error CtE AL L Overload OL Remarks The alarm codes are indicated automatically On this indication if the alarm detection is reset by the control input signal the initial screen system para 89 setting is displaye
323. r of braking resistor to the control input terminal to protect the resistor 86 Braking resistor thermal overload relay 0 Electronic thermal relay Power 1 External thermal relay Overheat detection of braking resistor Setting 0 Electronic thermal relay Calculates the regenerated power by amplifier to protect the resistor 1 External thermal relay Directly detects resistor overheat using NTC thermistor built in the resistor To use external thermal relay assign the external fault input 34 at the control allocation terminal connect NTC thermistor for the external resistor Protective function by electronic thermal relay built in the amplifier will be disabled 6 53 MHT259a Engl 17 System parameter 87 88 Basic type SX bus T link RS485 interface PaGDOc PPDB 1 PPDBE Arbitrary signals among the control input signals can be always valid Para Setting range Initial value Change 87 CONT always valid 1 0 to 56 in 1 step fo Power 88 CONT always valid 2 0 to 56 in 1 step 0 Power The assignable signals are as follows 1 Run command RUN The run command becomes always valid 14 ACCO Only accel time 2 and decel time 2 become always valid 27 Pulse train ratio 1 Pulse train ratio 1 or 2 becomes always valid Do not assign these two signals 1 and 2 at system para 28 Pulse train ratio 2 87 and 88 at the same time 29 P action P action is alw
324. r on Free run off Free run on Edit permit command off Edit permit command on Positive direction skip feed Negative direction skip feed Alarm detection history initialization Status information DATA n time selection DATA n type and selection 5 77 MHT259a Engl M Reading out of monitored data Mm 30H sou 30H DATA Transmit is host controller Transmit is amplifier i n TAS DAD DATA 3 DATA 4 DATA 5 7 0 DATA 6 oma m Cumulated input pulse DATA 9 Deviation amount DATA 10 r Peak torque DATA 11 Average torque DATA 12 r Current command DATA 13 E Curent feedback DATA 14 r position DATA 15 Command speed Feedback speed DATA 16 Fr DATA 17 DATA 18 7 0 DATA 2 Cooling fin load factor Regenerative resistor load factor Load factor Unused Load inertia ratio Pulse between LS Z Unused Unused The data in which 1 is present among DATA 1 and DATA 2 is transmitted from amplifier Specify 28H at DATA 1 to obtain the current feedback position and average torque The monitor data is a 32 bit fixed length data If there are 2 monitor data 10 bytes will be transmitted 5 78 MHT259a Engl Up to 4 data to be monitored can be specified Each data is 32 bit fixed length and transmitted in the following range Monitor item Cumulated input pulse Deviation amount Peak torque Average torque Current command position Current
325. r s product name of connector and terminal 4 a MHT259a Engl 4 2 Commercial power supply Supply commercial power to the amplifier 1 Power supply a 200 V 3 phase input voltage of amplifier Supply 200 V commercial power to the amplifier Connect it to terminals L1 L2 and L3 Voltage 200 200 220 230 V 10 15 Frequency 50 60 Hz Phase 3 phase main circuit power supply single phase control power supply b 100 V single phase input voltage of amplifier Supply 100 V commercial power to the amplifier Connect it to terminals L1 and L2 Voltage 100 to 115 V 10 15 Frequency 50 60 Hz Phase Single phase main circuit and control power supply 2 Power supply capacity The power supply capacity required for each amplifier is as follows The power supply capacity is applied for cabling with specified cable and 20 m max wiring length If the power capacity is 500 kVA or more AC reactor for impedance matching should be provided See 11 5 AC reactor reactor for impedance matching a 200 V 3 phase input voltage of amplifier Amplifier type 402 Motor type example GYS DC1 S8B SB or SA 502 pois os 12 t8 3 45 6 j 9 10 Motor output Power capacity Amplifier type RYS S3 0006 Motor type GYS DC1 example S8B S6B Motor output kW
326. rced stop 10 O OT 7 OT 8 Origin LS 6 Key operation SHFT ENT Indication example Fonda Li S006 UnU Remark Example of test running mode display The MODE key selects a mode Select the monitor mode By the keyor v key select inf iS Holding down the ENT key for at least 1 s allows to check the input signal on off If a control input signal on CN1 turns on the corresponding LED lights The input signal display 7 377 12 in the monitor mode is updated in real time 9 11 MHT259a Engl 2 Manual operation By turning on the bit 0 in word 4 RUN of WB area as factory set the motor can be rotated For the WB area see 5 9 WB area If the top address setting is 50 specify B540 at bit 0 in word 4 If a signal is allocated to CN1 check the 24 V DC power supply to CN1 a Supply power to the amplifier b Make sure a voltage is outputted from the 24 V DC power supply c Check the connection of OT OT and forced stop signal Beware of NC contact input d Turn on the run command RUN signal By the keypad panel of amplifier make sure the LEDs light according to the run command UTE EI e On the keypad panel the sequence mode recognized by the amplifier can be checked f The motor starts running by turning on the bit 2 in word 4 FWD signal after turning on bit A in word 4 X1 At factory
327. resolutions accuracy electrical resolution Check the para setting Contact us 10 5 MHT259a Engl d Origin return action is faulty Origin return action is faulty y Moves further beyond origin Stop position different by exact one rotation of motor shaft In positioning a rotating equipment gear ratio has fractional No v Speed reduction ratio excessive Current position at origin return end is the position set by basic para 79 Origin return action is not executed Moves past at the origin return end and then returns Contact us LS may not be turned on off Use 3 wire type of LS or contact output Z phase of encoder is near OFF edge of LS Move the mechanical position Stop position can be adjusted by origin shift amount of basic para Pulse count until Z phase is detected from OFF edge can be displayed by keypad panel On011 If gear ratio is 1 2 5 machine and Z phase match after 5 shaft rotation For positioning a rotating equipment apply RYS R type amplifier When required replace the LS with optical detector or other quick responding device Check for erroneous motion of LS detection distance of proximity Switch ORG may be turned on at all times after turning on power Move the LS position opposite to return direction Move the LS to increase the origin shift amount 10 6 MHT259a Engl 3 Faults with alarm indic
328. ric shock Do not touch the amplifier when the commercial power is supplied Otherwise there is a risk of electric shock A CAUTION Do not disassemble the motor Otherwise the operation may be abnormal thereby damaging the coupled machine Do not hit the motor with hammer or any other instruments The integrated built in encoder may break causing the motor to run at an excessive speed Do not connect a commercial power supply directly to the motor Otherwise it may break e Supplying other than 200 V or 100 V according to input voltage class of amplifier to the amplifier may break it Do not turn on and off the commercial power repeatedly Otherwise the amplifier rectifier may break O The motor must be firmly tightened to the mounting base or the driven machine If rapid acceleration or deceleration is attempted without this firm tightening the motor may become dislocated Withstand voltage and insulation test with megger must not be conducted Products introduced in this manual have not been designed or manufactured for such applications in a system or equipment that will affect human bodies or lives Customers who want to use the products introduced in this manual for special systems or devices such as for atomic energy control aerospace use medical use and traffic control are requested to consult the Fuji Customers are requested to prepare safety measures when they apply the products introduced in thi
329. rigin return En GOE Keying on the keypad panel performs an origin return The origin return is made according to basic para 72 to 77 Change of basic para 72 and 73 settings is valid only after turning off and on power ENT 1 s or more r r ENG Uri A ESC ESC 1 ENT nr ENT Lir LI Lo l Return end ESC da ne After the end of origin return the indication remains don E Pressing the ESC key resumes a sub mode selection 7 20 MHT259a Engl 3 Position preset E n GG 31 The current position of motor can be preset The following alarm detection can be reset ABS data loss O Absolute data overflow et y T ENT 1 s FnlL a s or more Prk A ESC ESC 1 l ENT c cu EE Go Preset end ESC dant The current position is set by basic para 80 Position preset cannot be made while the motor is rotating 4 Alarm reset E n GGH Resets the alarm detected by the amplifier ENT 1 s or more ENT EF nLLiH ce dont ESC ESC 5 History initialization E 1005 Deletes the history of alarms detected held by the amplifier This history can be monitored by a sequence mode of 5 7 7 ENT 1 s or more ENT r H L r t lt wo ESC Initializing end The alarm history is held even after turning off power dant 6 Parameter initialization n 7775 Initializes the basic para and system para Af
330. rload early warning Control output signal B Function This signal is turned on when the motor load factor has reached the overload early warning level set at the basic para 58 This signal cannot be reset by the control input signal external signal input Early warning signal can be outputted before the amplifier trips due to motor overload alarm i Parameter setting To allocate the overload early warning signal to the control output terminal set 27 to the system para 5 43 MHT259a Engl 60 0 50 0 40 0 Overload early warning output time s p sl 30 0 20 0 10 0 0 0 Overload early warning output time at 3000 r min e 20 3000 r min 4 60 3000 r min h amp 40 3000 r min 80 3000 r min 100 3000 r min Overload detection level 3000 r min 50 100 150 200 250 300 350 400 450 Load factor 5 44 MHT259a Engl Overload early warning output time at 5000 r min 60 0 4 20 5000 r min 4 40 5000 r min 4 60 5000 r min Bi 80 5000 r min SU O 100 5000 r min l Overload detection level 5000 r min O 40 0 Overload early warning output time s 30 0 O 20 0 Q 10 0 Q Q Q O O O S E OB m T Sess EE 50 100 150 200 250 300 350 400 450 Load factor 95 5 45 MHT259a Engl
331. rmal operating conditions alarms other than the above mentioned are seldom detected If the following alarms appeared contact us i Encoder heat encoder overheat Keypad panel display HL EH Contents of alarm The temperature of 16 bit serial encoder exceeded a specified value Cause check and remedy The ambient temperature for the motor should be 40 C max If an alarm appeared before running such as immediately after turning on power contact us ii Resistor heat 2 Keypad panel display AL rAd Contents of alarm The regenerative power processing transistor mounted on the amplifier overheats Cause check and remedy The ambient temperature of amplifier should be 55 C max If an alarm appeared before running such as immediately after turning on power contact us 10 12 MHT259a Engl iii Data error memory error Keypad panel display HL dt Contents of alarm Contents of the non volatile storage memory mounted on the amplifier are destroyed Cause check and remedy If an alarm appeared immediately after turning on power contact us iv Circuit trouble amplifier trouble Keypad panel display Contents of alarm The control power supply circuit mounted on the amplifier is abnormal Cause check and remedy If an alarm appeared immediately after turning on power contact us v Encoder trouble Keypad panel display HL EE Contents of alarm The 16 bit serial encoder attach
332. rminals can be adjusted The setting range is from 50 to 0 to 50 in 1 step The setting value has no unit B Monitor 1 Monitor 2 output form Two way deflection or one way deflection can be selected for the signal assignment scale and offset of the monitor 1 MON1 and monitor 2 MON2 terminals Terminal Monitor 1 Initial value Terminal Monitor 1 one way deflection Output voltage Output voltage 5000r min 5000r min 5000r min 5000r min 0 Offset setting value In monitor 1 monitor 2 scale if the negative sign is specified the polarity of output voltage can be inverted 6 47 MHT259a Engl 9 System parameter 75 to 77 Basic type SX bus T link RS485 interface Palle IPPD5 PPDOT1 Para Setting range Initial value Change 75 Soft OT valid invalid 0 Valid 1 Invalid fo Power 76 Soft OT detection position 79999999 to 0 to 79999999 in 1 step x unit q ty 79999999 Always 77 Soft OT detection position 79999999 to 0 to 79999999 in 1 step x unit q ty 79999999 Always The soft OT overtravel preventive signal set by software can be set Different from the OT OT of the control input signal the soft OT function stops the motor forcibly when the motor current position is beyond the setting value When the motor has stopped OT detection 20 of the control output signal is turned on The OT detection 20 is turned off when the motor curre
333. rotation 2 CCW Backlash max 4 min so CSCS Mass weight ies Jl de l External dimension See 1 f of 3 3 External dimensions 41 15 u m for over the rated speed 2 Direction of shaft rotation is CCW counterclockwise when motor shaft rotates forward The direction is viewed from a point facing the drive end of motor 4 Motor with 3 min backlash max can be supplied on request MHT259a Engl 2 Slim type motor 0 03 to 5 KW for 200 V class input voltage of amplifier a Basic design i 0 03 to 0 75 kW Type GYS DC1 300 500 101 201 401 751 Rated output kW 0 4 0 75 Rated torque N m 1 27 2 39 Speed r min Rated 3000 5000 Max breakdown torque 3 N m 3 82 5 73 7 17 10 7 Moment of inertia of motor rotor x 10 J kg m 0 0249 0 0861 Current A Rated foe oo3 foo t5 26 48 Max 3 tg as 27 j4s68 78118 1 4216 Winding insulation class B Operation duty type Continuous Degree of enclosure protection Totally enclosed IP55 except for shaft sealing Electrical connection Motor power With 0 3 m flexible leads and connectors terminals Temp detection Without providing Type of construction mounting IMB5 IMV1 IMV3 flange mounted Shaft extension cylindrical With key Final color for external non machined surface Munsell N1 5 Pulse encoder 16 bit serial encoder Vibration level peak to peak amplitude 5 um Install location For indoors 10
334. rounded steel container Avoid close installation with personal computer and measuring instrument b Installation of power filter at primary side of amplifier to prevent PWM from exerting influence over power source c Install the cable from each amplifier to motor in a grounded metal conduit d Minimize the distance of ground connection by using a larger size copper bar Ground connection should be wiried to each equipment separately See figure below Doo nnnm 1 Copper bar e Avoid mutual connection of the following cables i Ground Power system and frame enclosure iii O V power supply Speed command and encoder f Avoid binding together the 200 V power supply and amplifier output cable 24 15 V DC control signal cable and encoder cable or laying them in parallel g Separate 200 V power source with that of 100 V system device by use of an insulating transformer Fuji TRAFY etc ii 24 V DC for control input output and 0 V of power supply 200 0 05 0 1 0 03 to 0 2 0 75 to 2 4 5 6 500 101 201 300 to 201 401 751 to 202 302 402 502 5 250 10 250 5 250 10 250 20 250 30 250 50 250 Input voltage class Amplifier output Amplifier type RYS S3
335. rque is stored in 1 word The min value 1 is corresponds to 1 of rated 100 torque Address 5 Alarm code and current M code are stored Address 6 The status of SEL2 SEL1 and SELO are stored Address 7 information on each bit is always valid Address 8 Position data of immediate positioning can be set Address 9 The min value 1 is corresponds to unit quantity Address 10 Rotational speed can be specified at FWD REV X1 to X3 are all off The speed data at immediate Address 11 positioning can be set when VEL1 VELO being not specified The min value 1 is corresponds to 0 01 r min Address 12 disabled Address 13 Address 14 Data read out using SEL2 to SELO can be specified No of para positioning data setting can be specified Address 15 command on each bit is always valid 5 63 MHT259a Engl E Basic parameter system parameter The read or rewrite of parameter can be selected at on off of SELO SEL1 SEL2 Read rewrite data select SEL2 IQ area Upper line 0 to 7W Lower line 8 to 15W ON Current basic para Basic para setting Bre 3 Current system para System para setting Do not specify the following insere IA A AA o le Ty ES URN Lee rt To Current basic para system para Low order word PC Amplifier Current basic para system para High order word PC Amplifier EN 4 ME in Dg Current para No current positioning data Lr pere espe Fae Fl read error error end end EG Basic para
336. rresponding LED lights The input signal display 7 377 12 in the monitor mode is updated in real time 9 14 MHT259a Engl 2 Manual operation By turning on the CONT1 run command terminal of CN1 the motor can be rotated When DATA 1 01H is transmitted with CM 34H and SCM 33H the motor starts running at the speed of basic para 1 setting When CM 34H and SCM 36H are transmitted the motor stops If a signal is allocated to CN1 check the 24 V DC power supply to CN1 a Supply power to the amplifier b Make sure a voltage is outputted from the 24 V DC power supply c Check the connection of OT OT and forced stop signal Beware of NC contact input d Turn on the run command RUN signal By the keypad panel of amplifier make sure the LEDs light according to the run command UTE EI e On the keypad panel the sequence mode recognized by the amplifier can be checked Key operation Indication example Remark L f ff if li Example of monitor mode display Ed i m Li ic The MODE key selects a mode P F1 EN H Change the mode Pa g El H Change the mode E F1 GE I Change the mode 5 m UB Change the mode A 5 nu F By the A keyor v key select 555 77 Ex e b Ci E Holding down the ENT key for at least 1 s causes the sequence display run Turning on RUN signal displays r unm 1
337. s Lower value higher value When the same output kW rating of amplifier and motor when amplifier size is one step larger than the motor frame No size corresponding with amplifier Refer to 2 3 Torque speed data 4 Motor with 3 min backlash max can be supplied on request Note The direction of motor rotation when viewed from a point facing the drive end of motor is designed according to Japanese standards Forward direction Counterclockwise rotation CCW Reverse direction Clockwise rotation CW 2 2 MHT259a Engl 1 Cubic type motor 0 1 to 5 kW cont d a Basic design ii 2 to 5 KW Type GYC DC1 SA 402 502 Rated output kW 5 Rated torque Nem esz dl d ll Speed r min Rated 3000 5000 Max breakdown torque Nem fpo d Moment of inertia of motor rotor x 10 J kg m3 0 575 l Current A Rated hes d h max 11868 es dd Winding insulation class F Operation duty type Continuous Degree of enclosure protection Totally enclosed IP55 except for shaft sealing Electrical connection Motor power With connectors terminals Temp detection Without providing Type of construction mounting IMB5 IMV1 IMV3 flange mounted Shaft extension cylindrical With key Final color for external non machined surface Munsell N1 5 Pulse encoder 16 bit serial encoder Vibration level peak to peak amplitude 10 u m 1 Install location For indoors
338. s they may not conform to the EMC requirements because the installation wiring etc are different according to the final conditions The driven machine and devices must therefore be measured for conformity to the EMC requirements under the final conditions with the amplifier and motor installed ompliance with UL standards a Auto circuit breaker For compliance with UL standards connect UL approved with LISTED UL mark auto circuit breaker between the power supply source and the power filter Input voltage class Amplifier output Amplifier type RYS S3 500 101 201 300 to 201 402 502 B e b b s e type BU ECA Auto circuit breaker 50 current A 3 8 MHT259a Engl 3 3 External dimensions unit mm 1 Motor flange mounted for 200 V class input voltage of amplifier a Basic design GYC cubic type GYC101 to 502DC1 SA type 0 1 to 5 KW 300 30 300 30 300 30 300 30 pod SHAFT EXTENSION SHAFT EXTENSION 300 30 300 30
339. s error out of range 1 negative sign specified 1 System error When alarm detection is released all of the output is turned off 5 7 1 BCD error out of range and negative sign specified are not included in the alarm detection protective function activation 2 If several alarms are simultaneously detected the output priority is given as on the table above 8 The RST signal cannot release the alarm detection Turn on power supply again 4 The RST signal cannot release the alarm detection Reset it by inputting the position preset signal MHT259a Engl 5 3 Manual operation The section explains the control input signals to run or control the motor speed at the ON level Control input signal Forward command FWD 2 Control output signal Deviation zero 23 Reverse command REV 3 Deviation excessive OF Pulse train ratio 1 27 alarm detection is issued Pulse train ratio 2 28 O Speed zero NZERO 24 Deviation clear 50 O Speed arrive NARV 25 Multistep speed selection X 1 X1 51 Multistep speed selection X 2 X2 52 Multistep speed selection X 3 X3 53 Acceleration deceleration time selection ACCO 14 Speed command NREF fixed 5 3 1 Forward command FWD Reverse command REV These signals rot
340. s manual to such systems or facilities that will affect human lives or cause severe damage to property if the products become faulty The technical data and dimensions are subject to change without notice in the individual pages of this document The illustrations are for reference only The company names and product names described herein are generally the registered trade names Although this manual indicates technical units given in SI units the indications rating plate etc on the products themselves may be in units other than SI units ii MHT259a Engl 1 GENERAL 1 1 Outline The FALDIC a series which corresponds to a host interface is an AC servo system for motion control necessary for a driven machine 1 Model type in this manual a Amplifier RYS 3 LPSO LSSO LTSO and LRS b Motor GYC DC1 S0 0000 GYS DC1 S0 0000 c Gear head GYN SAG G GRN SAG G 2 Main features of product Encode cable a Save wiring 16 bit serial pulse encoder encoder 65536 pulses rev yo i On the motor an encoder for any of INC and ABS systems is mounted ii If a battery is mounted on the amplifier it is usable as ABS system iii Encoder cabling consists of 2 wires for power supply and 2 for signal of totally 4 wires For ABS system 2 wires for battery must be added iv A motor of a differe
341. s not outputted if the sequential start cannot be executed in the following cases Run command RUN off forced stop EMG off and ready RDY off O While in sequential starting movement has been made by manual running origin return or pulse train input OT OT or soft OT is detected Positioning cancel or temporary stop does not affect the sequential start Cycle end processing is made when the sequential start has reached the positioning data 99 when CEND is not specified In case a data continuation is specified the sequential start starts at the positioning data following the last data where a continuation is not specified 5 5 2 Positioning end PSET The completion of positioning can be checked by this signal on Positioning end PSET Control output signal B Function The signal turn on when the positioning action is ended The signal off when the motor shaft starts rotation while the motor stops by the temporary stop 31 The output form of PSET signal can be selected by setting basic para 55 B Parameter setting To allocate the PSET signal to the control output terminal set 2 to the system para 5 24 The signal can not turned on MHT259a Engl B Related items 1 Output form of PSET signal Output form of PSET signal is selectable by setting of basic para 55 and 56
342. setting To allocate the fixed passing point 1 signal to the control output terminal set 17 to the system para Set 18 for the fixed passing point 2 B Related items 1 Selection of output form basic para 62 to 65 Output form can be set by basic para 62 to 65 2 Valid or invalid of position detection function basic para 67 Position detection function such as fixed passing point 1 can be valid after origin return end 5 48 MHT259a Engl 5 7 3 Override This function changes the current motor speed Override Control input signal B Function While the override valid 43 signal is turned on the motor speed is variable by a scale factor specified by the override 1 2 4 8 up to 1 5 times the current speed Weighting of scale factor corresponding to override 1 2 4 8 can be changed by basic para This function is valid for any rotational command except for pulse train input pulse train ratio 1 or 2 i Parameter setting To allocate the override valid signal to the control input terminal set 43 to the system para terminal this signal is deemed always off System parameter setting Signal name Override valid Override 1 Override 2 Override 4 Override 8 M Related items 1 Override scale factor Setting value 43 44 45 46 47 The scale factors while the override valid signal is on are as follows If the override valid goes off the 10096 moving speed is obtained The signal not allocate
343. sition ABS 01H Relative position INC Position data Specify in 4 words regardless of the decimal Speed select point of unit quantity Data Mode For 799999 99 HEX value FB3B4C01H of 00H PodtonngspSed i 79999999D can be set ONNI SR 01H Positioning speed 2 02H Positioning speed 3 03H Positioning speed 4 Wi Auto start Positioning data The motor rotates according to the positioning data setting upon command transmission CM 34H SCM 3AH Transmit from host controller Transmit from amplifier DATA n i Y There are no DATA n DATA 1 Start up number ACK or NAK returns Start up number Specify the positioning data number with 01H to 63H Specify 01H to specify the positioning data number 1 5 88 MHT259a Engl WB Origin return Origin return action starts by command transmission CM 34H SCM 3BH DATA Transmit from host controller n There are no DATA n Transmit from amplifier There are no DATA n ACK or NAK returns B Forced stop Forced stop can be released or executed by command transmission CM 34H SCM 3CH Forced stop release 3DH Forced stop command Transmit from host controller n There are no DATA n Transmit from amplifier There are no DATA n ACK or NAK returns Forced stop command station No 1 did Host controller Transmission code
344. st running mode 5 2 4 Alarm detection ALM This signal is turned on when the amplifier protective function is activated detects an alarm Alarm detection ALM Control output signal B Function This signal is on when amplifier detects alarm and retained by amplifier The signal is turned off at the ON edge of alarm reset RST signal after the cause of alarm is removed Motor running is enable Alarm or no alarm can be recognized when the host controller receives the on off status of the ALM signal This also can be recognized whether the ready RDY signal is off when the run command RUN is on B Parameter setting To allocate the ALM signal to the control output terminal set 16 to the system para 5 5 MHT259a Engl M Related item The contents of alarm detection can also be outputted to the control output terminals by alarm code Alarm code 4 ALM4 36 Alarm code 3 ALM3 35 Alarm code 2 ALM2 34 Alarm code 1 ALM1 33 Alarm code 0 ALMO 32 For SX bus type SX bus direct connection alarm code is outputted at 5 word position of IQ area For T link type T link direct connection alarm code is outputted at 1 word position of WB area FALDIC Rvs20183 LPs Alarm detection ALM PES T ae MIE P or D v i Cod
345. t d Turn on the run command RUN signal By the keypad panel of amplifier make sure the LEDs light according to the run command UTE EI e On the keypad panel the sequence mode recognized by the amplifier can be checked f The motor starts running by turning on the CONT7 FWD signal after turning on CONT12 X1 At factory setting the motor speed is 100 r min basic para 1 setting g Turning off the CONT7 FWD stops the motor whether CONT12 X1 is on or not Key operation Indication example Remark L f ff if li Example of monitor mode display Ed i m Li ic The MODE key selects a mode P F1 EN H Change the mode Pa g El H Change the mode E F1 GE I Change the mode 5 m UB Change the mode A 5 nu F By the A keyor v key select 555 77 Ex e b Ci E Holding down the ENT key for at least 1 s causes a sequence display run Turning on RUN signal displays r unm 1 3 Immediate positioning Positioning can be made by giving a position data to IQ area For details of IQ area see 5 8 IQ area 9 9 MHT259a Engl IQ area at factory setting wms e PCR SERES C a OA l e liy le lel alea A AAA Current position current deviation basic para system para current position data LS Z phase pulse Low order word PC e Amplifier Current position current deviation basic para system para current p
346. t of the flange face of the gear head unit Hexagonal socket headed lock screw Gear head unit c Match the position of the key of the gear head input shaft with the position of the rubber cap hole Loosen the hexagonal socket headed lock screw which is located in the rubber cap hole The hexagonal socket headed lock screw is positioned on the gear head input shaft 3 3 MHT259a Engl d Mounting of motor Insert the motor shaft extension with the key position matched with the gear head input shaft Fasten the motor s flange face to the gear head unit s flange face by the screws provided for the gear head unit e Screw sizes Motor type Gear head type SAG GRN M5x 12 3 5 0 42 Screw q ty 1 8 0 21 3 5 0 42 1 8 x 0 21 ii Lock screws NOm i Screws for fastening of flanges Tightening torque Screw size mm Max 4 Tighten the hexagonal socket headed lock screw after fastening of flange faces Screw size mm M4x 12 M5x 12 M4x 12 4 NOm Tightening torque 1 g 0 21 Fit rubber cap in the original position 3 2 Amplifier 1 Installation environment a Ambient climatic conditions Ambient conditions Amplifier Motor In transportation and storage Temperature 20 to 80 C 10 to 70 C 1 En Humidity 90 RH max Air pressure 86 to 106 kPa C
347. ted by on off of bit 1 to 5 in ward 5 Read rewrite data selection 1 WB area when reading WB area when rewriting Orr orr OFF OFF OFF Current feedback position Orr orr orF OFF ON Feedbackspeed Orr orr OFF ON OFF Torquecommand Orr orr OFF ON ON Deviation amount f Orr orr ON OFF OFF LSZphasepulse OFF Status OFF OFF OFF Position data OFF Speed data OFF Timer data OFF OFF OFF Basic para OFF OFF System para orf oN orr on jon orf ON on jorr or OFF orr fon ___ OFF ON ON ON OFF Current command position OFF ON ON ON oN Commandspeed ON OFF OFF Speed command FWD REV 4 17 MHT259a Engl d Terminal function i CN1 lower side Terminal Function symbol 1 pin No P24 1 Control 24 V DC 0 2 A M24 24 power supply CONT1 2 Control 24 V DC 10 mA CONT2 3 input Initially assigned at factory CONT3 4 CONT1 unassigned CONT4 5 CONT2 unassigned CONT5 15 CONT3 unassigned CONT6 16 CONT4 unassigned CONT7 17 CONTS5 unassigned CONT8 18 CONT6 unassigned CONT7 unassigned CONTS8 unassigned OUT1 6 Control 30 V DC 50 mA max OUT2 7 output OUT1 unassigned OUT3 19 OUT2 unassigned OUT4 20 OUT3 unassigned OUT4 unassigned MON2 24 Monitor 2 Analog voltage M5 26 output Initially assigned at factory MON Torque monit
348. ter initializing be sure to turn off and on power Fns ENT 1 s or more PAE bo Initializing end dont F nLitib 7 21 MHT259a Engl 7 Positioning data initialization E n GE 7 Initializes all positioning data After initializing be sure to turn off and on power ENT 1 s or more a ENT 3 FD Port La ESC C3 En Initializing end dont ESC 8 Automatic offset adjust E S 7 7E Sets the input voltage to the control input terminals NREF and TREF at 0 V z ENT 1 s or more ENT Fouvuad GOFFE Lo ESC Adjustment end dant Automatic offset adjust is only valid for RYS L basic type SX bus T link and RS485 interface type do not have the analog voltage input terminal Motor can be rotated with the analog speed command voltage when FWD or REV signal command turns off all of X1 X2 and X3 of multispeed selections When the speed command voltage is placed as neary 0 V motor may be rotates slowly ESC Adjusting procedure of offset voltage is as follows 1 Sets 0 V at the terminal NREF Whether the run command is given or not has no influence 2 Select m L L E on the keypad panel and press the ENT key then the offset can be adjusted automatically 3 Make sure that the motor will not rotate even if the run command is on Remarks Both the terminal
349. ter may have been detected depending on the origin LS response In this case move the mechanical position of the origin LS 5 4 2 Position preset When this signal turns on the current command position can be rewritten Position preset Control input signal B Function At the ON edge of this signal input the current command position can be rewritten to the basic para 80 setting Position preset is executable while speed zero NZERO signal is on The origin return end signal is output This signal can reset the following alarm detection 1 ABS absolute data lost 2 Absolute data overflow AF Note ON edge means the control input signal s transfer point from off to on 5 18 MHT259a Engl i Parameter setting To allocate the position preset signal to the control input terminal set 16 to the system para If this signal is not allocated to the control input terminal this signal is deemed always off B Related item This signal can turn on the postion preset end 75 signal When the position preset 16 turns on the position preset end 75 is on and when the position preset off the position preset end off When the postion presetting is not end for example if the speed zero is off the position preset is not turned on Position preset 16 OFF ON y OFF Position preset end X AN 75 OFF ON OFF Amplifier gt Position presetting 5 5 Auto start The section explains sig
350. the interrupt valid 48 signal is off interrupt input 49 is invalid i Parameter setting To allocate the interrupt valid signal to the control input terminal set 48 to the system para Set 49 for the interrupt input If these signals are not allocated to the control input terminal these are deemed always off B Related items 1 Interrupt movement Move amount after interrupt input can be set at basic para 81 5 46 MHT259a Engl Speed Motor stops when FWD signal is turned off if interrupt input signal is not turned on 4 Position control Interrupt valid Forward command FWD Interrupt input Positioning end Time ON ON OFF ON OFF V ON OFF PSET level 2 Interrupt positioning accuracy Interrupt input signal is affected by the hardware filter time 0 1 ms and the software sampling time interval 0 2 ms Interrupt input signal is on at the same time of sampling or approximately 0 2 ms later Therefore the signal input timing varies within x 0 1 ms When mechanical equipment system moving speed N 1000 mm s 60 m min 1000 x 0 0001 0 1 mm The response rate of the sensor which will be used for interrupt input should be considered Remark Interrupt input 49 can be allocated to control input terminal of CN1 In the system para the setting value 49 can only be allocated to hardware input terminal 5 7 2 Fixed Passin
351. them with a hammer etc In addition be careful not to apply a load to the encoder during installation 5 Mechanical coupling a Motor with flexible coupling i Provide a reference mark on the peripheral surface of the coupling ii Connect both halves of the coupling with a single bolt in order to allow them to rotate together iii Attach a dial gauge securely to one half of the coupling so that its feeler rests lightly on the other half iv Bring the reference mark to the top of the coupling and then measure dimension g with a thickness gauge and dimension h with a dial gauge v Turn the coupling and carry out the measurements described in iv above at 90 intervals until the reference mark appears at the top again vi Conduct adjustments so that the difference between the maximum and the minimum measurements is held to within h 0 03mm Be sure to bolt the motor and driven machine to the base qp g prior to marking adjustments If a coupling is too small to allow a dial gauge to be attached to it attach a stretch rectangular steel bar to one half of the coupling and measure the clearance value of the stretch and the surface of the other half of the coupling Reference mark Stretch b Motor for extemal gear drive If a gear drive is used the shafts of both machines should be exactly parallel to avoid subjecting the gear teeth to an excessive load at the contact points c Motor for t
352. tial input CB CB input M5 FA FA Freq dividing Freq dividing terminal FB FB output Two 90 phase different signal is outputted in FZ FZ proportion with rotational quantity of motor BAT External backup Power supply for serial encoder backup BAT input Each of terminal M5 is internally connected They are not connected with terminal M24 4 15 MHT259a Engl 3 T link type T link direct connection Host controller can be direct connected to a T link that is a save wiring l O link of MICREX F series 8 word of the WB area are reserved and position control is executed on the amplifier side It is possible to extend an amplifier with one T link extension cable The B area of the CPU is of 100 word per line RYS S3 LTS type amplifier connects a T link cable to CN3 Control input output signals are connected to CN1 a CN3 upper side The wiring of a T link is of the method to connect the multiple devices in a daisy chain style and a terminating resistance is connected to its termination
353. ting load or higher frequent operation the following external braking resistor should be installed In such a case built in resistor should be disconnected 1 Data of external braking resistor Input voltage class V 100 CNN Ampitier output KW esr pa pore pa pe e E Amplifier type RYS 500 101 300 to 201 401 102 152 202 302 402 502 a fo E Built in resistor E Cd San 55 Note Cont Continuous operation duty at 25 C allowable 2 Data of NTC thermistor embedded in the external braking resistor Resistor type Open circuited the thermistor at Withstand AC voltage tested Contact capacity the following temperature C for one minute kV 751 2 5 152 150 DB 11 2 120 V AC 30 V DC 0 1 A 22 2 11 6 MHT259a Engl 3 External braking resistor connection DB P O E peda Ti i L3 S E z e e 2 0 0 0 0 4Q T i Motor L1C L2C Amplifier NS External braking resistor 1 Resistor 2 Power supply for control circuit 3 For control input terminal 4 Battery 5 1 25 mm cables Cable length should be within 10 m 6 0 5 mm cables for NTC thermistor See 7 2 5 for NTC thermistor 1
354. tion INC Position data Specify in 4 words regardless of the decimal Speed select point of unit quantity Data Mode For 799999 99 HEX value 04C4B3FFH of 79999999D can be set SEU Positioning speed t 01H Positioning speed 2 02H Positioning speed 3 03H Positioning speed 4 B Setting of positioning data number CM 34H SCM 38H DATA Transmit from host controller Transmit from amplifier n i 2 There are no DATA n DATA 1 Start up number Start up number Specify the positioning data number with 01H to 63H Specify 63H to specify the positioning data number 99 Positioning data immediate data can be set in SCM 37H and positioning data in SCM 38H This setting is for the case that the auto start START is allocated as control input signal The start up can be made by the data that were transmitted lastly by 37H and 38H The start up command of immediate positioning is at SCM 39H the automatic start up command of the positioning data is at 3AH 5 87 MHT259a Engl E Auto start immediate Immediate positioning can be executed by command transmission CM 34H SCM 39H DATA Transmit from host controller Transmit from amplifier n f 8 There are no DATA n DATA 1 ABS INC ACK or NAK returns DANIA 2 Speed select DATA 3 MB DATA 4 Position DATA 5 data DATA 6 ABS INC Data Control mode OOH Absolute po
355. to 2 3 Torque speed data 4 Motor with 3 min backlash max can be supplied on request 2 8 MHT259a Engl 3 Slim type motor 0 03 to 0 2 KW for 100 V class input voltage of amplifier a Basic design Type GYS DC1 300 500 101 201 S6B or S8B S8B S6B Rated output kW fos 0 1 0 2 Rated torque N m o159 0 318 0 637 Speed r min Rated 3000 Max s000 Max breakdown torque N m fo 478 0955 1 91 Moment of inertia of motor rotor x 10 Jikge m 0 00341 0 00517 0 0137 Current A Rated dos t5 27 Max f 255 as 8 1 Winding insulation class B Operation duty type Continuous Degree of enclosure protection Totally enclosed IP55 except for shaft sealing Electrical connection Motor power With 0 3 m flexible leads and connectors terminals Temp detection Without providing Type of construction mounting IMB5 IMV1 IMV3 flange mounted Shaft extension cylindrical Without key 5 Final color for external non machined surface Munsell N1 5 Pulse encoder 16 bit serial encoder Vibration level peak to peak amplitude 5 um Install location For indoors 1000 m and below of site altitude Ambient climatic conditions Temperature 10 to 40 C humidity 90 RH max no condensation Acceleration vibration acceptable max m s 49 Mass weight kg oss 0 55 12 External dimension See 2 a of 3 3 External dimensions b Additional data f
356. to Unused 9 0 91 Command pulse correction a 1to32767 intstep Always 92 Always 93 Always 94 Always 95 Position data decimal point position 0 1 1 0 1 2 0 01 3 0 001 4 0 0001 0 5 0 00001 9 to Unused 9 6 4 MHT259a Engl o o 2 System parameter The system parameter is used for storing such data as the function setting of the control input output terminals of amplifier Changed setting of most system parameters is effective only after turning off and on power li System parameter for basic type amplifier Function input signal number assigned to system para 1 to 13 CONT1 to CONT13 OAONoahWNM Oo CQ CQ i000 a a a a OOANDARWNMNH OO Not assigned Run command RUN Forward command FWD Reverse command REV Auto start START Origin return ORG Origin LS LS OT 0T OT OT ABS INC Forced stop EMG Alarm reset RST VELO VEL1 ACCO Position preset Pulse train ratio 1 Pulse train ratio 2 P action Torque limit Temporary stop Positioning cancel External fault input Teaching Immediate rewrite Immediate data selection 1 Immediate data selection 2 Override valid Override 1 Override 2 Override 4 Override 8 Interrupt valid Interrupt input Deviation clear Multistep speed X1 X1 Multistep speed X2 X2 Multistep speed X3 X3 Free run BX Edit permit com
357. torque current M code Position data setting speed command speed data setting OFF oFF ON Current feedback position current speed current torque current M code Position data setting speed command speed data setting OFF ON orF Current deviation current speed current torque current M code Position data setting speed command speed data setting on oFF OFF eurrent basic para Basic para setting speed command speed data setting ON OFF ON Current system para l System para setting speed command speed data setting ON on OFF Current positioning gala Positioning data setting ON ON ON Current pulse value between LS Z phase Position data setting speed command speed data setting 4 14 MHT259a Engl d Terminal function CN1 lower side Terminal Connector Terminal name Function symbol pin No P24 Control 24 V DC 0 2 A M24 power supply CONT1 1 Control 24 V DC 10 mA CONT2 2 input Initially assigned at factory CONT3 3 CONT1 unassigned CONT4 4 CONT2 unassigned CONT5 5 CONT3 unassigned CONTA unassigned CONTS5 unassigned OUT1 6 Control 30 V DC 50 mA max OUT2 7 output Initially assigned at factory OUT1 Brake timing OUT2 Dynamic braking MON1 11 Monitor 1 Analog voltage MON2 10 Monitor 2 Initially assigned at factory M5 12 output MON Speed monitor MON Torque monitor CA CA Pulse train Input freq 500 kHz max differen
358. tput terminal set 23 to the system para B Related item Basic parameter 53 Para Change 53 10 to 10000 pulse in 1 step Always Setting is made by encoder pulse count 5 11 MHT259a Engl 5 3 5 Deviation excessive OF This function sets the deviation amount of deviation excessive alarm detection of amplifier Sets the pulse count for alarm detection about OF Initial value at factory setting is 10000 and detects the deviation amount with 1000000 pulse At factory setting OF is detected when the difference deviation between the current command position and current feedback position becomes approximately 15 2 revolution when converted to motor rotation B Parameter setting The deviation excessive width is setting for use with alarm detection and cannot be assigned to control output terminal M Related items Basic parameter 54 Para Name Setting range Initial value Change 54 Deviation excessive width 10 to 65535 in 1 step 10000 Always x 100 pulse Setting is made by encoder pulse count 65536 pulse rev 5 3 6 Speed zero NZERO This signal is turned on when the motor speed is near zero Speed zero NZERO Control output signal B Function This signal turns on when the motor speed is below the value set by basic para 52 i Parameter setting To allocate the NZERO signal to the control output terminal set 24 to the system para
359. train input sx l zak af Pulse train input R te H j r3 ow di SY un ap TEE bes Pulse train ratio 1 27 Ela Pulse train ratio 2 28 EN u z EN He ET iam ic Pulse train ratio 1 validates the pulse train ratio 1 by basic para 93 or pulse train ratio 2 validates the pulse train ratio 2 by basic para 94 While the pulse train ratio 1 or pulse train ratio 2 is on and the pulse train input is valid the manual feed forward reverse command FWD REV origin return ORG auto start START and interrupt positioning do not become valid The temporary stop and positioning cancel signals are invalid to the pulse train input is on B Parameter setting To allocate the pulse train ratio 1 to the control input terminal set 27 to the system para Set 28 for the pulse train ratio 2 If these signals are not allocated to the control input terminals these signals are deemed always off B Related items 1 Pulse correction a basic para 91 Pulse correction B basic para 92 At factory setting the motor rotates by the rotational quantity per encoder 1 pulse in response to 1 pulse of p
360. tric diameter x depth of shaft extension 2 Insulating protection tube 3 Shaft extension S and flanged spigot v LB are machining finished with h6 or h7 fits 3 11 MHT259a Engl b With providing brake GYC cubic type cont d GYC101 to 502DC1 SA B type 0 1 to 5 KW 3 12 MHT259a Engl c With providing speed reduction gear unit GYC cubic type gear ratio 1 9 GYC101 to 202DC1 SA type and gear head 0 1 to 2 KW 300 30 300 30 300 30 Ls d A j A p SHAFT EXTENSION SHAFT EXTENSION 1 4 M10 x 20DEPTH Ca sur extension CD SHAFT EXTENSION _ 101DC1 SA 1205 4 EESTI TM CR 15 25 4 5 4 60 50 005 _ 6 1 Screw hole metric diameter x depth of shaft extension 2 Insulating protection tube 4 For 152 type 1 5 kW 4 M12x 24 DEPTH 3 13 MHT259a Engl c With providing speed reduction gear unit GYC cubic type gear ratio 1 9 cont d GYC101 to 202DC1 SA type and gear head 0 1 to 2 KW I NX 4 M12 DEPTH24 Us 3 ja put SHAFT EXTENSION
361. turns off the rewrite end 13 5 Execute the above steps 1 to 4 as many cycles as required 6 Set the FF to address AD7 to ADO and apply an auto start signal to start a positioning action Immediate data can be rewritten any time regardless of the amplifier status In the above example 12345678 are written See 12 2 for programming example 5 28 MHT259a Engl Ml Immediate data selection 1 0 Immediate data selection 1 0 Immediate data Immediate data AA selection 1 selection 0 ewritten objec OFF OFF Lowest order 8 bit OFF O OoN Lower order 8 bit ON NEC MM Higher order 8 bit ON Highest order 8 bit Highest order 8 bit Higher order 8 bit Lower order 8 bit Lowest order 8 bit Binary code Highest order 8 bit Higher order 8 bit Lower order 8 bit Lowest order 8 bit BCD code 10 10 10 10 10 10 10 10 Mad Following signals are used for motor starts rotation with START signal on Speed data Unless assigned setting of para 8 is retained VEL1 13 VELO 12 Positioning speed OFF Basic para 8 OFF Basic para 9 ON Basic para 10 ON Basic para 11 Acceleration deceleration time Unless assigned setting of paras 21 and 22 is retained ACCO 14 Acceleration time Deceleration time OFF Basic para 21 Basic para 22 ON Basic para 23 Basic para 24 ABS INC Unless assigned the absolute position is specified ABS INC 9 Immediate data OFF ABS absolute position specifie
362. uit power to the amplifier If the status is as follows the amplifier is operating properly W LED indication When power is supplied the CHARGE LED below the keypad panel of amplifier is lit red W 7 segment indication Periods for all of five 7 segment digits light once simultaneously agau Period Basic type DI DO position If the para are as set at factory the sequence of sequence mode appears SX bus SX bus direct connection If the para are as set at factory the station number of sequence mode appears Lmin LILI LI T link T link direct connection If the para are as set at factory the station number of sequence mode appears 9 1 FALDIC Rvs2ois3 RPS czZzPSHULRNEL O Qr MHT259a Engl General purpose communication RS485 interface If the para are as set at factory the station number of sequence mode appears Remark The CHARGE LED lights with either the main circuit power supply or control power supply on Depending on the system para setting the ABS data lost AL or other alarms may occur but it is not abnormal 3 Absolute system ABS If an absolute system is used carry out a start up in the following procedure a Battery Install
363. ulse train input In normal encoder one rotation of motor shaft corresponds to 65536 pulse Motor rotational quantity in response to 1 pulse of pulse train input can be changed Basic parameter 91 92 Para Setting range Initial value Change 91 Command pulse correction a 1 to 32767 in 1 step RB f Always 92 Command pulse correction B 1 to 32767 in 1 step Always 2 Pulse train ratio 1 basic para 93 Pulse train ratio 2 basic para 94 Move amount of mechanical equipment system per 1 pulse of pulse train input can be converted to unit quantity using the command pulse correction a and B The scale factor ratio to the move amount of mechanical equipment system can also be changed using the pulse train ratio 1 27 and 2 28 setting of the control input signals Basic parameter 93 94 Para Change 93 0 01 to 100 00 in 0 01 step Always 94 0 01 to 100 00 in 0 01 step 10 00 Always 5 10 MHT259a Engl 3 Decimal point at position data basic para 95 Decimal point can be displayed at the current position indication on the keypad panel by the basic para 95 setting Mechanical equipment System position can be checked by the numerical value with decimal point Basic parameter 95 Para Sety range Initial value Change 95 Decimal point at position data Always 0 01 0 001 0 0001 0 00001 5 3 3 Deviation clear When this signal turns on the difference deviation between current comma
364. urrent position of motor s encoder B External brake P action The motor can be stopped by the motor s brake by using the brake timing outputted from amplifier The motor output shaft is mechanically locked and the control system gain on the amplifier side is lowered B External brake free run The motor can be stopped by the motor s brake by using the brake timing outputted from amplifier Noise or vibration will not be generated because the no motor control is made For details see 5 7 10 Brake timing 14 System parameter 82 83 Basic type SX bus T link RS485 interface Pa Deg PPDB 2 PPDB3 Para Change 82 0 01 to 9 99 s in 0 01 steps Always 83 Brake releasing time 0 01 to 9 99 s in 0 01 steps Always System para 82 and 83 are the time settings of brake timing output If the external brake is used setting change of system para 81 is needed Brake operation time Time period from when the motor shaft has been stopped to when the P action signal is on Brake releasing time Time period from when manual forward or origin return command is on to when the motor begins running 6 52 MHT259a Engl 15 System parameter 84 85 Basic type SX bus T link RS485 interface Pa Dgl PPDOBS PPDES Selects the operation when undervoltage at main circuit input is detected Para Setting range Initial value Change 84 Operation at undervoltage 0 Rapid dece
365. value 0 as it is when the station number will be used in the system definition of D300win 22 System parameter 97 Basic type SX bus T link RS485 interface Patiio IPPDS1 98 Baud rate 0 9600 1 19200 2 38400 bps o Power Specifies the RS485 interface baud rate RYS S3 RS type amplifier has RS485 interface The is replaced by V L or R This baud rate is different from that of the exclusive loader of PC loader 6 57 MHT259a Engl 23 System parameter 98 Basic type T link PaUUg PPUSH Para Setting range Initial value Change 98 Binary BCD 0 Binary 1 BCD 0 Basic type Power 1 T link The code of values handled by the amplifier can be selected SX bus type and RS485 interface type amplifiers handle binary code only The initial value of T link type amplifier is 1 BCD 24 System parameter 99 Basic type SX bus T link RS485 interface PaUD2 Praga Para Setting range Initial value Change 99 INC ABC system 0 INC Incremental 1 ABS Absolute o Power Setting Current position backup 0 INC Incremental Current position will be deleted if power is shut down Motor rotational quantity is not limited 1 ABS Absolute Current position will be recovered if power supply recovers Motor rotational quantity is limited Incremental or absolute system can be selected B Pulse encoder A
366. verspeed Ly low voltage undervoltage Hy high voltage overvoltage Et encoder trouble Ct circuit trouble amplifier trouble dE data error memory error CE combination error rH resistor heat 2 EC encoder communication error CtE cont control signal error OL motor overload rH resistor heat braking OB resistor overheat OF over flow deviation excessive AH amp heat amplifier overheat EH encoder heat encoder overheat AL absolute data lost AF absolute data over flow Fb fuse blown Display setting CHARGE red 7 segment LED with 5 digit and 4 operation keys Ambient Install location For indoors 1000 m and below of site altitude under clean atmosphere condition no explosive hazardous gas and vapour is existing In the case of compliance with the European standard Pollution degree 2 Over voltage category Il 10 to 55 C 90 RH max no condensation 4 9 m s 19 6 m s acceleration acceptable max Others DC reactor terminals P1 P for harmonics suppression UL cUL compliance with UL508 European standards compliance with EN50178 Mass weight Igi g a 8 41 Use amplifier and motor as a specified pair of types Fox GYC type motor with 0 1 to 1 5 KW or GYS type motor with 0 2 to 1 5 KW rated output If the RYS401 0 4 KW type amplifier and GYS201 0 2 KW motor which is a step smaller than the optimum combination
367. ving mechanical equipment If this signal is turned on when using a manual pulse generator with pulse train input pulse train ratio 1 the handle angle may differ from the motor rotational quantity B Parameter setting To allocate the BX signal to the control input terminal set 54 to the system para M Related item The BX signal takes the precedence over any other signals in all the control modes 5 7 5 P action The speed control is subordinate to proportional band control P action Control input signal B Function This signal is turned on while locking the motor shaft mechanically with the run command RUN on See 5 7 10 Brake timing Speed control and position control become unstable if P action signal is on during motor rotating Never put this signal on during motor rotating B Parameter setting To allocate the P action signal to the control input terminal set 29 to the system para If this signal is not allocated to the control input terminal this signal is deemed always off 5 50 MHT259a Engl 5 7 6 Dynamic braking This signal is turned on when the amplifier detects major fault Dynamic braking Control output signal B Function This signal is turned on when a major fault has occurred that the amplifier cannot drive the motor and is retained until alarm reset signal is input Dynamic braking is a braking type to generate power by short circuitting the three phase winding of a synchronous mot
368. while the EMG is off the motor is in free run status 3 Rotation command While the EMG signal is off all of the rotation commands are ignored When the alarm reset signal is on or condition of the EMG signal is not needed 5 6 2 Edit permit command Edit permit ON OFF This function allows external signal to limit editing the parameter etc Edit permit command Edit permit ON OFF Control input output signal B Function On off to the control input signal can limit editing or test running using keypad panel exclusive loader or PC loader Only while edit permit command 55 is on the following operation is possible 1 Parameter edit mode 2 Test running mode When edit permit command 55 is turned off only monitor mode is valid Unexpected motor rotation or accidental lowering of vertical moving mechanical system can be prevented occurring from careless operation of keypad panel exclusive loader or PC loader E Parameter setting To allocate the edit permit command to the control input terminal set 55 to the system para Set 29 for the edit permit ON OFF B Related items When 1 is set at system para 94 parameter editting with keypad panel PC loader or exclusive loader is disabled The system para 94 is always rewritable The relation between the edit permit command and system para 94 is as follows Edit permit command and system parameter 94 Edit permit command System para 94 Edit permit ON OFF Edit In
369. y be higher than specified Power factor correcting capacitor Consider using AC reactor is turned on off on same line Y Braking resistor is connected Consider using external braking resistor in case of 0 2 KW max Y Braking resistor is disconnected Check the resistance of braking resistor For resistance of braking resistor see 11 7 v Contact us 10 10 MHT259a Engl h Amp heat amplifier overheat Keypad panel display HL HH Contents of alarm The temperature of cooling fins of the amplifier is above 100 C Cause check and remedy The ambient temperature for the amplifier should be below 55 C The lifetime of large capacity capacitor in the amplifier greatly varies depending on the ambient temperature In case the alarm was detected below 55 C contact us i Encoder communication error Keypad panel display HL EL Contents of alarm The communication is not made between 16 bit serial encoder and amplifier Cause check and remedy The encoder wiring may be detached or disconnected The serial communication is performed at 4 Mbps of data rate Do not extend the wiring by connecting several short cables Connect the encoder by optional cable or specified cables The encoder wiring has about 5 V of voltage amplitude Do no install it in a location where a strong electric or magnetic field exists j Resistor heat braking DB resistor overheat Keypad panel display HL rH
370. y deflection 2 Monitor 1 two way deflection Monitor 2 one way deflection 3 Monitor 1 one way deflection Monitor 2 one way deflection Always Always Always 72 Monitor 2 offset Always 73 Monitor 1 2 output form Power The output signal form of the monitor 1 MON1 and monitor 2 MON2 terminals can be selected Output form is common to position control speed control and torque control B Monitor 1 Monitor 2 signal assignment Sets the output signal from monitor 1 MON1 and monitor 2 MON2 terminal Setting range 1 Speed command 2 Speed feedback 3 Torque command 4 Position deviation B Monitor 1 Monitor 2 scale Output signal Speed command to the motor recognized by the amplifier Motor s actual rotational speed Torque command value to the motor recognized by the amplifier Difference deviation between position command and position feedback Sets the full scale of signal of monitor 1 MON1 and monitor 2 MON2 terminals If the negative sign is specified the polarity of output voltage can be inverted Setting range 1 Speed command 2 Speed feedback 3 Torque command 4 Position deviation Output signal Output voltage in response to max speed Output voltage in response to max speed Output voltage in response to max torque Output voltage in response to 1048576 pulses 6 46 MHT259a Engl B Monitor 1 Monitor 2 offset The offset voltage of monitor 1 MON1 and monitor 2 MON2 te
371. ystem parameter 31 to 51 PallGe PPGF PPDS I Mink we Para 31 OUT signal assignment Oto7S mtstep OCA 32 OUT2sgnalassgnmet Oto75 nistep 33 OUTS signal assignment Oto7S mtstep 94 OUTA signal assignment Oto7S mtstep o o oo 35 36 0 to 75 in 1 step 37 38 39 OUT9 signal assignment 0 to 75 in 1 step 31 Power 40 OUT10 signal assignment 0 to 75 in 1 step Power 41 OUT11 signal assignment 0 to 75 in 1 step 42 39 43 0 to 75 in 1 step 44 45 OUTIS signal assignment _ Oto75 intstep oo 46 OUTI6 signal assignment Otoz5 nisteD oo 47 OUTi7signalassgnment Otoz5 niste Pr 48 OUTI8signal assignment Oto75 nistep o Per 49 OUTi9sinalassgnment Oto75 nistep Per 50 OUTzOsignalassgnment Otoz5 niste Pr 51 OUT21 signal assignment 0 to 75 in 1 step x Power lii Connector pin layout CN1 lower side 26 00 13 00 n 35100 00 00 20000 100 A 23 000 EU od MEE amono e 00 0080 90000 EE 0000 18100000 5 00 loco 7 pgupn 5r 00000 EB 15 un 00000 2000 A SE RH B WB area Address 0 1 2 3 4 5 6 7 8 9 A B C D E F 0 OUT OUT OUT OUT OUT OUT OUT OUT

RYS-L Type User`s Manual

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