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Parker Hannifin Dynaserv G2 User's Manual

1. Position Velocit Feed forward y m control part control part gt Acceleration feed forward 364 i Velocity 55 command value o gt Velocity feed after filtering forward igi Sou E N Integral main alga H365 54 switch 3 363 Velocity error UE Position feed 450 _ Velocity value digital forward 48 digital 361 51 155 387 pe 221 49 biu Tees CIT CEN ina Motor linear 4 Proportio Velocity Velocity v First order delay Notch Motor peat coordinate e moO P nal gt command 2 99 proportional gt compensation ia ocn P mechanical command control filter E gain device setting LE system value 53 366 Mx i Integral Position l Velocity Velocity L integral 4 Velocity current c i control iming value valli feedback filter 365 sensor after filtering 219 220 Velocity current value 356 Differential 399 Smar pagg TOTT Motor linear t Motor linear coordinate 4355 coordinate current position deviation Position sensor 59 203 321 Position Pulse position current value p curet 3J9 9O value filter 4384 4320 Motor linear coordinate Pulse position command value current value after filtering gt Y gt O gt 322 Pulse position deviation 5 10 L 5 4 1 Velocity Control Part For the velocity control bandwidth either the value set with the
2. Blue Blue and white Brown Brown and white Green Green and white Orange ECLK 13 Orange and white Chassis ground Shielded twisted pair cable 3 4 3 DR Series motors Driver part Motor part Pe Motor cable VA VB VC lt CN2 gt S0 2 Brown and white 5180 11 Green and white S0 6 Brown 8180 15 Green C0 10 Orange and white TC 180 20 Blue and white C0 8 Orange C 180 17 Blue Chassis ground Black M Connection and Wiring 3 4 Wiring of Motor AC Power Supply and Ground Cable 1 For the DM1004B 1004C motors in connection with a 500W level driver In the case shown a regenerative resistance is required o 170 P Regenerative O 3 resistance O N 100 LINE AC power supply cable Pd en end TO Green Motor cable bi i o TBI H Japan Solderless Terminal Driver side type N1 25 M4 500W level 2 For other DM DR series other than above in connection with 2kW level driver A 200 pe 230VAC ASP LINE I9 CONT TIO Jumper cable I ES ll l S9 T SS Sal e T JI E S T Jl ES e f l Driver side Japan Solderless 2KW level Terminal type N2 M4 Green S Motor cable 3 6 Specification DM1004B 1004C Other DM DR series E 0 5 mm or more 30 m or less in length E 2 0 mm or more 30 m or less in length AC power E Cla
3. Z ee gt E wc I Z o 2 2 D O E 3 ir 2 O No of revolutions rps o 2 o um 2 3 2 O D A 2 0 d h No of revolutions rps 2 DR Series 200 230 VAC power supply unen 100 115 VAC power supply 1 Type B E S o 5 E E Z o 2 2 O p 2 E 2 O No of revolutions rps No of revolutions rps 3 Type E 4 Type 5000B E i DRSIO0E 100 qe eae ae EN go DEN SML IESU E eug B E A eae DR1160 Z DR5070B o TT z DRII30E g 9 3 3 3 0 5 SE de E R 2 0 3 0 7 0 5 0 No of revolutions rps No of revolutions rps 11 3 External Dimensions Unit mm 1 DM Series Motor 1 Type A 6 M8 screw depth 10 L Refer to standard specification Equal circular division v lot g 6 M6 screw depth 15 E S 48 188 i 9 O z T TE TH mu CU ay f 09 j aZ oe 2 Type B 6 M8 screw depth 8 L Refer to standard Stator Equal circular division specification 28 eB 6 M6 screw depth 8 zs Equal circular division 9 104 0 0 02 0 06 138 ll Encoder cable 8 5 Motor cable d1 J 1 3 DM1004B C lt DM1004C gt lt DM1004B gt 6 M4 screw depth 6 E x 4 4 7 hole Equal circular division 6 M4 screw depth 6 6 b 4 5 hole 1 na Ae 8 depth of counter bore 5
4. 10 COMP1 4 1 mA point at 12 VDC ma y at Rated input current 8 5 mA point at 24 VDC 4 0 mA point at 5 VDC IN_ G S ann Input impedance 3 0kQ 1 0kO Operation voltage At OFF 3 0VDC or less At OFF 1 0VDC or less T relative to COMP At ON 9 0VDC or more At ON 4 0VDC or more Input is ON while current flows into the photocoupler Allowable leak current OFF is guaranteed at 1 0 mA or less Contact outputs OUT DRDY OUT SRDY OUT BUSY OUT XOVL OUT OVER OUT COIN S Y menace ype name SA MA8330 COMP1 ee Rated voltage 12 to 24 VDC 410 5 VDC 10 Re ge Maximum load current 0 1A point 0 5 A common DAN ON voltage 0 5VDC or less MA8330 SUIS 25D1820A Leak current at OFF 0 1mA or less SA 8 2kO PS2805 NUT SB 1kQ COMN1 10kQ Lato Output is ON while the output transistor is ON Position command pulse inputs PUA IN SDB IN Connect a differential type line driver conforming to the RS422A standard which is equivalent to AM26L 31 There is also an open collector specification Please contact our sales department for more details T a CY V V Input is ON when the terminal has a 330 higher voltage than the terminal and 910 current flows into the photocoupler O 0 e Equivalent to TLP115A AM26LS31 V 2 470pF Controlle
5. 10 5 Chapter 11 Specifications 11 1 11 2 11 3 11 4 Standard Specifications Torque Speed Characteristics External Dimensions Unit mm Restrictive Conditions for the Frequency of Repeated Operations DR5000B Series Only IM Specifications 11 1 Standard Specifications 1 DM Series Motor Item Unit DM1200A DM1150A DM1100A DM1050A 00 1 00 1 00 1 00 1 Maximum output torque N m kgfm 200 20 150 15 100 10 50 5 0 Rated number of revolutions driver Rotational Encoder resolution 4 096 000 ositioning Repeatability accuracy positioning Absolute accuracy 167 x 10 142 x 10 119 x 10 96 x 10 Allowable axial N kgf 4 x 10 4 x 10 load 2 x 10 2 x 10 Allowable moment load N m kgf m 400 40 Axial displacement mm N 2 x 10 2 x 10 Motor rigidity mm kgf 3 x 10 3 x 10 e rad N m 4 x 107 Moment displacement rigidity rad kgf m 4 x 105 Height refer to dimension diagram B Series Item Unit DM1075B DM1060B DM1045B DM1030B DM1015B 00 1 00 1 00 1 00 1 00 1 Maximum output torque N m kgf m 75 7 5 60 6 0 45 4 5 30 3 0 15 1 5 Rated number of revolutions 100 200V 1 0 2 0 1 0 1 5 1 0 2 0 1 5 2 0 2 0 2 0 Motor Encoder p rev 2 621 440 T resolution driver Rotational Repeatability eae di positioning accuracy S Sec Absolute 445 accuracy 27x10 23x10 19x 10 15x 10 12x 10 Allowable axial N kaf 3 x 10 3
6. mit ogH ove start E stops Terminali T Start M ErrReset R im nu Set 3 ae TM Parameter number cell Changed value text Bi AccProfeel field HS DecProfeel 1000 je riera 1000 T 16 VelOvenidel 10000 t Parameter content oe Ti MAR cell Parameter value cell Exit X Figure 8 22 JogMove dialog box 1 Editing parameters 1 Click the parameter value cell of the parameter to be changed The current value is displayed in the changed value text field 2 Enter a value in the changed value text field and click the Enter Return key or click another cell to make the new parameter value valid 3 Repeat steps 1 and 2 as necessary and click Set S to set the changed values in the driver If there is an error in the set value a warning message 1s displayed and the parameter is read again Parameters whose setting values are erroneous will not be changed therefore the changed parameters should be verified 8 22 L 2 Operation The following operation can be performed when jog move is selected via the RS232C interface see Chapter 5 When the main operation mode is set to the PLC main operation mode some buttons are disabled Jog move in positive direction 1 Set the motor to Servo ON see Chapter 5 2 Click Start P Jog move in negative direction 1 Set the motor to Servo ON see Chapter 5 2 Click Start M Jog stop 1 Click Stop S Er
7. ul field EnghlshDisplay xisCoordmateDur sePIbMonFiter mdPl Type onPls Type xtCurLmtEn mi Weight RR Parameter content cell K c BR c 05 NENE i E Parameter number cell Parameter value cell 5 I Lo verloadErrorEn se VIbFilter thPFilterFreq emdFilterFreq verspeedEnorEn Sets Eat Z Figure 8 24 MachineParameterEdit dialog box E bo PS S l Editing 1 Click the parameter value cell of the parameter to be changed The current value is displayed in the changed value text field 2 Enter a value in the changed value text field and click the Enter Return key or click another cell to make the new parameter value valid 3 Repeat steps 1 and 2 as necessary and click Set S to start downloading to the driver If you click Exit X the parameter values are not changed 4 When the downloading is finished follow the message and reset the driver Note If any erroneous data are set the parameters that could not be downloaded are displayed In this case reset the driver once and set the parameters again Note In the case of the machine setting parameters the changed values cannot be updated until you reset the driver 2 Uploading from the driver to a file 1 Click Upload U in the Parameter Manager dialog box 2 Enter the name of the file to which parameters are to be saved Do not enter a file extension prm it i
8. 0 DIO8 DIO9 DI10 DI11 DI12 DI13 DI14 DI15 OO OO RI WW 9 7 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved 0 DIO7 to DIOO 1 DI 15 to DIOS Signal status display area O On x Off The signal numbers on a block increase from the right end toward the left 0 1 7 Function key content display area o gt gt Ns or gt 8 Operation Display Pendant 9 8 Special Command Display In this display you can transmit selected commands to the controller The selection of the commands you can choose from depends on the main operation mode They can be switched by pressing the f2 f6 SEL key When you select a command from the list and press the Return key it is transmitted to the controller and the result of the command is shown in the display By pressing the f2 f6 SEL key it is switched to the command content display In the previous example of display 2 command toMode15 is selected When you press the Return key this command is transmitted to the controller and the result of the command is displayed in display 3 Command Display Abort CMD Abort Error reset CMD RstErr Servo ON CMD SrvOn Software driver reset CMD RstDrive ROM version request CMD ROM Version Error status request refresh CMD RefErrSts 1 Initial display f2 SEL Switches command positive x f3 N To the next display p iit N P f6 SEL Switches command op
9. 15 90 91 94 95 96 98 106 Parameter name Position control bandwidth 1 Velocity control bandwidth 1 Position integral limiting value Position feed forward percentage Velocity feed forward percentage Acceleration feed forward gain Position settling pulse width 1 Position current value filter frequency Position settling signal chattering processing count Value causing an error detection in the or CW direction Value causing an error detection in the or CCW direction Torque limit percentage Axis velocity monitoring gain digital monitor Analog monitor selection Axis positioning error monitoring gain analog monitor Test operation monitoring gain analog monitor Position monitoring gain analog monitor Position differential value monitoring gain analog monitor Velocity monitor selection digital monitor Brake turn OFF delay time upon Servo ON Advanced Brake turn ON before Servo OFF TBX_EMG Servo status IFB EMG Servo status Position command differential value excessive error processing type Over travel error function in the direction processing type Over travel error function in the direction processing type Emmergency stopping deceleration time during a trapezoidal move Settling wait enable Minimum value 2 2000000 gt 1 999999 O O O O O O Maximum value 32 200 4999999 126 126 200 32767 200 100 999999 9999 Initial value 1 20
10. A A EE E E E NEEN E ENEA E EEE Response character strings are classified as follows qme te aa 0 Normal response character strings to a General Number of For the field expression transmission character string fields method see the note The number of fields changes depending on the content of the response Error ERRLILI N Response character string to a transmission Error alarm A ALMOO code main Error alarm code sub character string at error and alarm add i Fields never exists Note In case of a general response the lil part of the field is expressed in one of the following ways In case there is no field Character string expressed in decimal Binary expression 8 16 32 digits Hexadecimal expression 2 4 8 digits Character string Other than above character string etc NO TUUS The following shows some examples of response character strings ROO R1D Position control bandwidth 12 R1B Sensor group signal status 00010000 ERR30 0 Servo not ready ALM60 0 Cannot interpret command ll RS232C Interfaces 7 4 Commands Command format e Cem FieldO Field1 Field2 DusececccomceocsececcliccnccccocccccccccccdtsctL E Ei s EE SE S Ls SEE Response at 9 9 Homing offset position setting 7 4 1 Start 3 Field 0 Start commands begin operating actions other than jog moves For argument 0 set a numeric value corresponding to the content of th
11. 0 0 Sets the value obtained by dividing the value stored in 0 by the value stored in 0 to variable 0 0 0 0 Sets the remainder of O divided by O to variable 0 Chapter 8 DrvGll PC Utility 8 1 Overview 8 1 1 Overview of the Operation Menu 8 1 2 Overview of the Action Menu 8 1 3 Overview of the Data Management Menu 8 2 Installation 8 2 1 Installation under Windows 95 98 98SE Me NT4 0 2000 8 2 2 Starting the PC Utility 8 3 Preparation 8 3 1 Selecting a Communication Port 8 3 2 Selecting Channels 8 3 3 Displaying Communication Strings 8 3 4 Main Menu 8 4 Operation Menu 8 4 1 Terminal 8 4 2 Servo Tuning 8 4 3 Oscilloscope 8 5 Action Menu 8 5 1 Homing 8 5 2 Jog Move 8 5 3 Test Operation 8 6 Data Management Menus 8 6 1 Parameter Manager 8 6 2 I O Set 8 6 3 Pulse Set e DrvGII PC Utility 8 1 Overview The DrvGII PC Utility consists of three components that are accessed from the following menus operation menu action menu and data management menu 8 1 1 Overview of the Operation Menu The operation menu contains the following three functions e Terminal This menu allows you to send and receive character strings to from the G2 driver hereinafter referred to as the driver monitor parameters monitors as well as errors alarms and use parameter command help e Servo control This menu allows you to adjust the servo parameters of the motor through auto tuning an
12. 2 the homing mode 4 C S 3 E 29 negative value PEE 5 1 Offset distance from the Home 5 2 C 8 position de pos Um M AE Home position direction m proximity signa Zero signal Operation example 4 2 Ec 3 4 S 2 51 5 2 C S 6 direction Home position proximity signa NS 1 Zero signal inside Zero signal outside 20 0 Homing direction direction 421 70 Enable disable the over travel Not used signal under the homing mode 25 0 Homing operation Outside Origin inside selection 26 0 Enabling the proximity signal Invalid during OT search under the homing mode 29 0 Offset distance from the Home 0 position 202 Coordinate direction setting L 5 2 5 Mechanical Setting Mode This is a special mode for changing parameters related to the mechanical settings Parameters 200 to 299 can be changed only when this operation is being executed In addition once started this operation cannot be stopped After you finish changing the necessary parameters turn the power to the driver off and on again Note that if you change these parameters the changed values are not reflected until after the power is turned on again Therefore please note that if you try to read a parameter value after you change the parameter the value before the change is read until you turn the power off and on again 5 3 Coordinate System 5 3 1 Coordinate System The driver controls
13. Absolute accuracy 90 125 x 10 100 x 10 37 x 10 34x 10 27 x 10 Allowable axial 4 x 1044 4 x 10 3 x 104 3 x 103 N kgf 5 load 2 x 104 2 x 10 1 x 104 1 x 10 Allowable moment load N m kgf m 400 40 200 20 M Axial displacement mm N 2 x 10 2 x 10 3 x 10 3 x 10 otor rigidity mm kgf 3 x 10 3 x 10 4 x 10 4 x 10 t rad N m 4 x 10 2 x 10 Moment displacement rigidity rad kgf m 4 x 10 2 x 105 Height refer to dimension diagram 4 Motor Environment Specification Current derating curve Motor Comment 2kW driver only Ambient 0to45C J 50 Should have no condensation operating m 20 to 85 45 Ambient Temperature 20 to 85 C storage Humidit 20 to 85 Should have no conditions UMIANy R H condensation should be present 40 Square current duty 10 0 0 C 10 C 20 30 40C 50C 60 C Ambient operating air temperature 5 Driver Part General Specifications 500W type ULILILILILILILIALI LILI 7 2 vgododoa80 00 UDNOOOOOOKO 00 UDNOOOOOOLDO 00 100 to 115V 200 to 230V 100 to 115V 200 to 230V 100 to 115V 200 to 230V AC AC AC AC AC AC 1096 15 1095 15 1096 15 10 15 1096 15 1095 15 50Hz 60Hz 50Hz 60Hz 50Hz 60Hz 50Hz 60Hz 50Hz 60Hz 50Hz 60Hz Model name Input power supply voltage Ambient operating air A l temperature and humidity O to 50 C 20 to 90
14. Displays the pulse position command value 321 Pulse position current value Unit pulse Displays the current pulse position value 322 Pulse position deviation Unit pulse Displays the pulse position deviation 323 Command unit command value Unit Axis command unit Displays the command unit command value 324 Scaling data command unit side Unit Axis command unit Displays the axis scaling data command unit side that 1s actually used 325 Scaling data pulse side Unit pulse Displays the axis scaling data pulse side that is actually used 328 Position settling status Unit None Indicates that the axis position deviation is within the specified range 335 Interface ready Unit None Indicates that the PLC interface is ready 33 Overload status Unit None Displays the overload status 338 Zero signal status Unit None Displays the zero signal status 339 Sensor group signal status Unit None Displays the sensor group signal status Each bit in binary notation corresponds as follows bit0 Reserved bitl Reserved bit2 Reserved bit3 Reserved bit4 ORG Origin neighboring signal bits OTU direction hardware over travel signal bit6 OTD direction hardware over travel signal bit7 Reserved 340 Excessive position deviation status Unit None Displays the excessive position deviation status 341 Excessive velocity status Unit None Displays the excessive velocity status 342 Braking OFF Unit
15. Mass o p o o a diagram Moment displacement rigidity Motor Item Unit DR1250E DR1220E DR1160E DR1130E DR1100E 00 1 00 1 00 1 00 1 00 1 Motor 100 200V A Dy driver Rotational Repeatability T 13 positioning accuracy m Absolute accuracy EE AA 185 x 40 170 x 10 140 x 10 125 x 10 100 x 10 Allowable axial 4 x 10 4 x 10 N kgf 7 load 2 x 10 2 x 10 Allowable moment load N m kgf m 400 40 Axial displacement mm N 2 x 10 2 x 107 Motor rigidity mm kgf 3 x 10 3 x 10 Nu rad N m 4 x 107 Moment displacement rigidity rad kgf m 4 x 10 m russo H e gt Height refer to dimension diagram mm 355 327 271 243 210 r Item Unit DR1070E DR1030E Rated number of revolutions rps 1 5 2 0 1 5 2 0 Motor 100 200V positioning accuracy Absolute accuracy Se m Allowable axial N kgh 4 x 10 4 x 10 load Negative 9f 2x10 2x10 Allowable moment load N m kgf m 400 40 Motor Axial displacement Positive Positive mm N 2 x 10 2 x 10 rigidity mm kgf 2 x 10 3 x 10 7 Moment displacement rigidity astm Lus LM Mass Height refer to dimension diagram M aR M a AOT IM Specifications 3 DR 5000 Series Motor NN d 00 1 00 1 00 1 00 1 00 1 Rated number of revolutions Encoder resolution 638 976 997 056 driver Rotational Repeatability c Ej e positioning accuracy i t
16. Mon DATA NIP N P Parameter settings display 4001 HOT ErrEn Set DATA N P i I O monitor display PLC 100 xxxxxxxx 1 O SEL N P ds E Special command display CMD Abort Spc SEL N P N P a i J N P Next Prev functions are assigned to the f3 f7 keys in each display f3 N To the next display f7 P To the previous display 9 3 8 Operation Display Pendant 9 4 Terminal Mode Display The terminal mode display allows you to send a character string entered from the keypad to the driver and display the response character string in the display In the example below 50 is input in display 2 and the response character string R1D position bandwidth 12 is shown in display 3 In the response character string display the header part of a response character string e g ROO ALM is not displayed Even though the cursor is not displayed hidden parts can be horizontally scrolled through and displayed by pressing the lt and keys The cursor is displayed by pressing the input key a key that allows character input when pressed or the 1 and Y keys Once it is displayed you can enter character strings tinj i f0 lt gt Character selection positive direction Cn apay The character in lt gt changes at every key press f1 S Inputs the
17. RH without condensation Ambient storage air temperature and humidity 20 to 85 C 20 to 90 RH without condensation Operating environment No corrosive gases and dust should be present Mass kg Maximum current 34 consumption KVA Input voltage 100 to 115V AC 1 200 to 230V AC 2 Note The 20A type driver requires the derating as indicated in the figure above for the current square duty depending on the ambient temperature during operation For motors of DM1000A series DR1000A series DR1000E series and DR5000E series 11 6 L 6 Driver Function Specifications Specifications RS232C interface single channel communication multi channel communication Higher interface l ud Controller interface pulse train position command Mechanical input Homing signal direction hardware over travel signal direction hardware over travel signal signal emergency stop input signal Mechanical input Brake signal can be switched between clamp and dynamic brake applications with a signal parameter Rotating type DM1000A series 4096000 pls rev 1024000 pls rev DM1000B series 2621000 pls rev 655360 pls rev DM1004B C 2621000 pls rev 655360 pls rev DR1000A series 1638400 pls rev 819200 pls rev DR1000B series 1015808 pls rev 507904 pls rev DM1000E series 1228800 pls rev 614400 pls rev DR5000B series 557056 plc rev 278528 pls rev DR5000E series 638976 pls rev 319488 pls rev stiffness seri
18. S button on the MainMenu Operation DataCtrl 2 Paramater M Click the Servo Cnt button servo Crtl 3 UGO sett Osciloscopel Pulse Confiz P Action Drivel D Exit X 4 14 Od 3 Click Auto Tuning Start tuning starts 4 Follow the message on the dialog box and click OK to start the auto tuning operation Click the Auto Tuning Servo Tuning Start button Auto Tuning Starti A TestMode T y TUD 001 ES Fil Inertia Set Servo Rigidity mal g 0 001Kem 2 3 0 001Ez After the auto tuning is y performed the set values Fain Pos Gam Pos Gam are displayed 20 Hz l Hz 10000 PosFeedFoward VelFeedFeward AccFeedFowrard TorgLim a o ta 100 ta Oo o 10000 0 01 The rotor rotates a maximum of 30 seven times of reciprocating operation in the CW direction The operation width varies depending on the velocity rating of the motor A Caution Take extra care not to cause any mechanical interference around the rotor lt How to calculate the operation width gt Operation width degree motor velocity rating rps x 0 02 x 360 5 Each parameter setting value is displayed and the auto tuning is automatically terminated 4 15 EH Basic Settings for Operating the Motor 4 7 Performing Homing Operation A homing operation can be performed according to the following procedure 1 Checking the rotation direction Check the rotat
19. The response is issued immediately 7 4 4 Error reset 04 The error reset command cancels error statuses of the driver It functions irrespectively of the operation mode It can only be run while in the idle status Depending on the error content there are errors that cannot be canceled or errors that cause the same errors again immediately after being canceled The response is issued immediately L 7 4 5 Homing offset position setting 10 The homing offset position setting command instructs the 29 Offset distance from the home position parameter to auto set so that the current motor position will become the position after homing is completed from the next time It functions irrespectively of the operation mode It can only be run while in the idle status When the command is issued the current command unit command value and the value of the 29 parameter at that point are added This value is temporality stored in the 29 parameter The response is issued immediately 7 4 Jog move command 11 Field 0 The jog move command is for performing jog operations This command can be executed in the dle status when the 217 Jog move operation RS232C selection parameter is set so that operations are performed via the RS232C interface When field 0 contains 1 a move in the direction is commanded when it contains 1 a move in the direction is commanded and when it contains 0 a stop command is issued In the idle stat
20. direction hardware over travel Long Hard OT direction KIND ERR error Short TYPE ELS Others Hard OT The direction hardware over travel signal was detected while moving to the direction Perform an error reset operation then move to the direction 44 direction software over travel Long Soft OT direction KIND ERR error Short TYPE E2 Stop deceleration Soft OT Attempted to move to outside of the direction area via positioning move but the command unit command value was outside of the direction area Perform an error reset operation If the command unit command value is outside of the area move to the direction This error occurs only for the linear coordinates Error number 45 direction software over travel Long ooft OT direction Error type KIND ERR error Short Measures TYPE E2 Stop deceleration Soft OT Main cause Attempted to move to outside of the direction area via positioning move but the command unit command value was outside of the direction area Action to take Perform an error reset operation If the command unit command value is outside of the area move to the direction This error occurs only for the linear coordinates Error number 46 Emergency stop Long EmergencyStop Error type KIND RGR Always error Short Measures TYPE E2 Stop deceleration EMG Stop Main cause An emergency stop instruction was entered Action to take Reset the error Error number 49 H
21. of the PC utility is present delete it first and then install the new version Display the Properties of Adding Removing Programs dialog box and click Set Up 1 Then proceed according to the instructions displayed on the screen The PC utility setup program starts up Proceed with the setup according to the instructions on the screen A dialog box for determining the directory in which to install the PC utility appears see Figure 8 1 Choose Destination Location Figure 8 1 Choose Destination Location dialog box Click Browse to display the Select Directory dialog box and select the desired drive and directory Click Next to display Select Program Folder see Figure 8 2 8 3 e DrvGll PC Utility Select Program Folder Setup will add program icons to the Program Folder listed below TOU may type a new folder name or select one fram the existing Folders list Click Nest to continue Program Folders TOROGAW SAE Existing Folders Accessonezs Internet Explorer Online Services StartUp Yokogawa TOKOGAWwA E Back Cancel Figure 8 2 Select Program Folder dialog box Select a program folder and click Next The installation begins Follow the instructions on the screen and change disks When the setup is completed the Setup Complete dialog box appear see Figure 8 3 Setup Complete Setup has finished copying files to your computer S
22. second digit A contact I O voltage 12 to 24V position command input differential B contact I O voltage 5V position command input differential i Option 0O none N with notch filter MCE marking no mark no CE specification C with CE mark specification Note 1 Compatibility between the motor and driver is valid only between the same models This means that for the standard models the motor and driver are compatible only when the designations of the five digits in motor type DRLILILILIET and driver type UROOOOD are the same 2 Separate selection is required for the driver without 2 kW class regenerative unit 1 5 IB Overveiw of the Product 1 5 Name and Function of Each Part 1 Motor Part Shaft hole Load installation screw Encoder cable Stator installation 4 Motor cable nameplate DM Gases Bottom surface series d E Load installation sei i dad BEIEN Shaft hole Load installation surface Rating nameplat i Motor cable D AL Encoder cable DM1004C DM1004B Motor cable Load installation screw a So Encoder cable Stator installation DR series 2 Driver part B 500W level A model with regenerative terminal 1s shown Mounting bracket lt CN1 gt RS232C connnector Setting switch and status LED displ rt ISplay pa lt TB2 gt Sensor brake terminal lt TB1 gt Connection of powe lt CN4 gt Contact I O connector 1 supply and motor
23. 51 Velocity control bandwidth 1 parameter or the 49 Velocity control bandwidth 2 parameter is selected according to the status of the controller interface input signal IN GAIN The selected value is displayed in the 376 Velocity control bandwidth monitor The velocity control part calculates the 367 Velocity proportional gain monitor value from the 155 Load inertia load mass parameter value which is either measured and set by an auto tuning operation or entered directly as a numerical value according to the velocity control bandwidth value During this process the frequency characteristics of neither the velocity feedback filter nor the notch filter are considered but only the frequency characteristic of the first order delay compensation device is considered to calculate the velocity proportional gain The first order compensation device can be set in four ways via the 152 First order delay compensation device setting parameter The first order delay compensation device has the effect that it improves the gain characteristics of the velocity control part The frequency characteristics for each setting of the first order compensation device is shown below Note that there is no frequency dependency when the first order compensation is not set There are two channels available for the notch filter optional The central frequency value can be set independently for each channel via the 153 Notch filter Frequency selection 1 and 154 Notch filter
24. 64 16000000 1 1 1000 1000 Initial value 0 1500 1500 0 0 1 Motor dependent 2 1 0 4 Motor dependent 1 0 1000 1000 Unit 1 1000kgm or 1 1000kg None None None None None None None Axis command unit sec None None Hz Hz None None None None None Possible to change Always Always Always Always While in machine setting mode While in machine setting mode While in machine setting mode While in machine setting mode While in machine setting mode While in machine setting mode While in machine setting mode While in machine setting mode While in machine setting mode While in machine setting mode While in machine setting mode While in machine setting mode While in machine setting mode While in machine setting mode While in machine setting mode While in machine setting mode While in machine setting mode Parameter details 1 Enables the over travel error function in the direction Minimum value 0 Maximum value 1 Initial value 0 Unit None STD1 Always Long HOT ErrorEnable Short HOT_ErrEn Specify whether or not to enable an error when the over travel signal in the direction is detected while commanding to move the axis in the direction 0 Does not enable an error 1 Enables an error 2 Enables the over travel error function in the direction Minimum value 0 Maximum value 1 Initial value 0 Unit None Always L
25. E da aaa ESE EM PS bc Boc dos dba o ANAT on ones cirea dod t S em REND ath fo apte eem dn Feeding Velocity Feeding Velocity a c CO eel A dts M EU eau cue E A te duas uto urbcs T A EN SNL de ME ER CES G M Acceleration Deceleration Waiting for trigger Waiting for trigger q q e 200ms div e S 200ms div Tocem m NORMSSKS s dotato A nul ases en ath ah cos QUINDRMESKSIS 7 Acceleration time during a 3 8 Deceleration time during a re trapezoidal move A ener tes Te eeseebeeeseiecs h Arapezoidal move _ A Maximum velocity Actual deceleration time Espe O A A A eu A e O sed at must ee MAA aed Feeding Velocity Feeding Velocity Acceleration Deceleration 9 15 The feed velocity during a move becomes the commanded velocity multiplied by the velocity override value If the velocity override value is changed during a move the moving part is accelerated at the same acceleration profile and acceleration as the normal acceleration time when the velocity override value is increased In the same way the moving part is decelerated at the same deceleration profile and deceleration as the normal deceleration time when the velocity override value is decreased Waiting for trigger 500ms div NORM 2kS s Related parameters H3 Selecting the type of cam profile move 4 Selecting the acceleration type 5 Selecting the dece
26. FeO 4 Vm ax D 60 1310720 OverloadErrorEn 22l15 UseVfbF i ter z2159 2 VfbFilterFreq 2 20 1000 Printi D Figure 8 25 Parameter file display dialog box 5 Resetting the communication If the communication with the driver finishes abnormally click Reset Com R in the Parameter Manager dialog box to return to the normal status 8 26 L 8 6 2 I O Set In this menu you can set the logical setting of DI DO points For reference of DI and DO numbers and signal names see Chapter 6 Click I O set 1 under MainMenv to display the I O configuration dialog box see Figure 8 26 170 configuration UpLoad Uj D eamLoadt D LO config L Ut Figure 8 26 I O configuration dialog box 8 27 Y DrvGil PC Utility 1 Logical setting 1 Click I O config L in the I O configuration dialog box 2 The Discrete configuration dialog box is displayed and the current setting status is read The maximum number of setting statuses that can be displayed at once is 32 points for both DI and DO Discrete configuration T T o Select D a00 031 76 5435 21 U yee BOSOM y PERE AD Iis EE E i i i A 16 fs pr s n n n 24 DO 76543210 LT Iv lv lv lv Jl a FFF S SIS Sh S Sil p ore SIS Sh S SIS Gl pa ioa o Figure 8 27 Discrete configuration dialog box Hone Negative Selection text field 3 Click a number you want to displ
27. Figure 4 3 5 Version Information dialog box CC 2 I M Figure 4 3 6 After starting up the PC utility 4 8 Oe 4 4 Preparation Connect the serial port of the PC with the serial port of the driver with a dedicated cable Do not use any of commercially available cables Since 5V power is being output from the driver as the power supply for the operation display pendant a breakdown may occur in the PC if such cable is used 4 4 4 Selecting Communication Port When you start the PC utility the ComPortSelect dialog box appears in the left side of the screen see Figure 4 4 1 Change the setting according to the communication port of the connected PC ComPortSelect C ComPonz C ComPort3 C ComPord C ComPors C ComPors C ComPort C ComPort Figure 4 4 1 ComPortSelect dialog box Note Settings made in the ComPortSelect dialog box are stored in a file It is not necessary to make settings from the next time you start the PC utility Change the setting as necessary 4 4 2 Selecting Channels screen see Figure 4 4 2 If you are using one driver select a single channel and if you are using multiple When you start the PC utility the Communication mode dialog box appears in the upper left corner of the drivers select multi channel addresses See Chapter 6 for how to make setting on the driver side Communication made YI raf S m C306 SNS Figure 4 4 2 Communica
28. Frequency selection 2 parameters The notch filter has the effect that it improves the gain characteristics of mechanical systems that tend to resonate The velocity feedback filter can be enabled or disabled by setting the 219 Enable Disable velocity feedback filter parameter When enabled the filter bandwidth can be set in the 220 Velocity feedback filter bandwidth parameter The velocity feedback filter is effective in eliminating noise at motor operation but with a small bandwidth the velocity control part tends to oscillate The filter bandwidth of the velocity command filter can be set in the 221 Velocity command filter bandwidth parameter The velocity command filter helps achieving smoother acceleration deceleration but with a small bandwidth the position control part tends to oscillate Related parameters 451 Velocity control bandwidth 4152 First order delay compensation device setting 3153 Notch filter Frequency selection 1 o T E uet 154 Notch filter Frequency selection 2 40Hz 160Hz 4155 Load inertia load mass 4219 Enable Disable velocity feedback filter 4220 Velocity feedback filter bandwidth E Frequency Hz 4221 Velocity command filter bandwidth 20Hz 80Hz LS Gain dB 20Hz 80Hz gt lt 30Hz 120Hz 40Hz 160Hz Phase deg Frequency Hz Frequency characteristics of the first order delay compensation device 5 4 2 Position Control Part For the position control b
29. HOT EmorEmble 7 TaccTrapemoid S TdecTrapezoid 11 ORG OT SearchVel 12 ORG ORG_SearchWel Exit X The homing operation finishes automatically after the operation is completed In the event of e The homing operation does not finish and N Caution e The motor does not stop even when the home position sensor is detected Click Abort A to stop the motor then check wiring and auto tuning again If a homing abnormality message is displayed follow the message to adjust the flag position using the limit value as a guideline If an error occurs press ErrReset as well EH Basic Settings for Operating the Motor 4 8 Performing the Basic Settings of Pulse Commands About Position Command Pulse Input Perform input pulses required for operation according to the explanation in Section 6 2 Position Command Pulse Input in Chapter 6 Controller Interface Prior to performing pulse input be sure to perform required settings according to the explanation in Section 6 1 Terminal Function The position command value instructed from the controller interface is given to the driver by any pair of the PLS SIGN UP DOWN and A B signals which is then reflected in the command unit command value Which pair of the signals will be used to give a command is set with the 204 Command pulse type parameter PLS SIGN UP DOWN A B direction direction direction dir
30. Long Maximum value 1500 NotchFilterFreq 1 Initial value 1500 Short Unit Hz NotchFreq1 Specify the frequency of notch filter channel 1 for the driver equipped with the notch filter option This parameter is no valid for the driver without the notch filter option 154 Notch filter Frequency 2 selection Always Minimum value 50 Long Maximum value 1500 NotchFilterFreq2 Initial value 1500 Short Unit Hz NotchFreq2 Specify the frequency of notch filter channel 2 for the driver equipped with the notch filter option This parameter is no valid for the driver without the notch filter option 155 Load inertia load mass Always Minimum value 0 Long Maximum value 200000 Load J or M Initial value 0 Short Unit 1 1000kgm or 1 1000kg LoadJ or M Specify the load inertia or load mass mounted on the motor If an auto tuning operation is executed the measured value will be set automatically 201 Selection of English Japanese display While in machine setting mode Minimum value 0 Long Maximum value 1 EnglishDisplay Initial value 0 Short Unit None EnglishDsp Specify whether English display or Japanese display is used 0 Japanese display 1 English display 202 Coordinate direction setting While in machine setting mode Minimum value 0 Long Maximum value 1 AxisCoordinateDir Initial value 1 Short Unit None AxCoordDir Specify the coordinate system direction 0 1 203 Using position current value filter While in mach
31. None Indicates that the brake signal is OFF 343 Position control integral main switch status Unit None Displays the position control integral main switch status 0 OFF disable 1 ON enable 345 Error code main Unit None Displays the error code main code 346 Error code sub Unit None Displays the error code subcode 347 Operation mode number Unit None Indicates the operation mode number during or after operation 348 Multi channel communication status Unit None Indicates that the multi channel communication status has been set 0 Single channel communication status 1 multi channel communication status 349 Multi channel communication slave code Unit None Indicates the slave station self station code in multi channel communication 354 Maximum motor pulse velocity Unit pulse sec Displays the maximum velocity defined for the motor driver 355 Monitor resolution Unit pulse rev pulse m Displays the monitor resolution 356 Digital velocity sensitivity Unit digit rps digit mps Displays the digital velocity sensitivity 357 Maximum velocity Unit Axis command unit sec This parameter is defined by the smaller value of the maximum velocity axis command unit sec set by the user and the maximum velocity axis command unit sec converted from the maximum velocity rps mps set by the motor and driver The position command velocity is restricted by this value In addition for trapezoidal constant acce
32. Selection GLS DIRECT 6 5 2 Position Control Bandwidth Selection FN 6 5 3 Velocity Control Bandwidth Selection GAIN 6 5 4 Settling Width Selection POSW 1 0 6 5 5 Disable Position Control Integral Operation PACT 6 5 6 Error reset ERR_RESET 6 5 servo ON SERVO 6 5 8 Current Limit Input 4B Control Interfaces 6 1 Terminal Function 6 1 1 Connection Setting and I O Mapping CN4 Made by Honda Tsushin Kogyo Connector PCR S36FS Cover PCR LS36LA IN MODE 0 OUT BUSY 4 INMODE1 06 OUTXOVL 25 INPOSW 08 OULCON er nean oo un ours IN PLS DIRECT 35 NC 17 SDB_IN Note Do not connect any terminal with NCs NO L 6 1 2 Explanation of Terminals Contact input signals Total 12 points Signal name Description l Starts operation when setting from IN MODE START Operation start command OFF to ON l Stops operation when setting from IN_ABORT Operation abort command OFF to ON IN MODE1 0 Operation mode number IN PLS DIRECT Pulse weight selection DS IN FN 1 Position control bandwidth selection Changes the position control bandwidth IN GAIN 1 Velocity control bandwidth selection Changes the velocity control bandwidth IN POSW1 0 Settling width selection Switches the settling width IN PACT a IN ERR RESET IN SERVO Contact output signals Total 6 points OUT DRDY OUT SEDY OUT OVER OUT XOVL OUT COIN OUT BUSY 1 Position command pulse input signals
33. Setting Mode Coordinate System 5 3 1 Coordinate System 5 3 2 Switching Position Command Pulse Weights Control System 5 4 1 Velocity Control Part 5 4 2 Position Control Part 5 4 3 Feed Forward 5 4 4 Servo Stiffness Parameter Acceleration Deceleration Function 5 5 1 Velocity Override Function 9 5 2 Velocity Profile Other Functions 5 6 1 Settling Wait Position Settling Status and Positioning Status 5 6 2 Velocity Monitor and Analog Monitor 5 6 3 Brake Signal Special Parameter Processing 5 5 1 Internal Generation of Parameter Initial Values 5 1 2 Limiting and Checking Maximum Velocity When Changing Simplified Scaling Weighted Data and Maximum Velocity Parameters 5 7 3 Auto Conversion and Clear Functions When Changing Simplified Scaling Weighted Data 5 7 4 Limiting the Maximum Parameter Values 5 1 Parameters and Monitors The group of variables expressed by is called parameters and monitors Parameters monitors are classified according to their numbers as follows Parameter type 0 to 199 General parameters Always possible to read and write Mechanical setting 200 to 299 Stored Reading is always possible but writing is possible only parameters when operating in mechanical setting mode 300 to 399 Monitors Read only Reading is always possible but writing is not possible at any time By expressing all parameters monitors by their values can be referenced read It 1s also possible to chan
34. This manual explains details of the features included in the product and does not guarantee to meet the specific purpose of the customers No part of this manual may be reprinted or reproduced in any form without permission The information in this document is subject to change without notice The information contained in this document is believed to be accurate at the time of publication but if you notice any inaccuracies errors or omissions please contact our sales or service staff Regarding the safe usage of this device B This product has been marked with N and AN Warnings signs so that it can be used safely Ignoring precautions and prohibitions related to these signs and using this product in an incorrect way may cause danger to the life and body of the operator Always follow the precautions and observe the prohibitions explained below B Please make sure to understand the information given below completely before you start reading the technical manual B Please keep the technical manual and this sheet handy while using the product In addition make sure that they are handed out to the operator of the product O Warning about rotation The motor periphery part of this device rotates at a high speed People and objects should not be placed within the rotational radius when a load is attached to the motor O Warning about electric shock Make sure to connect the device to ground to avoid electric shock Make sure to
35. Total 2 pairs PUA IN Position current pulse output signals SDB IN Total 3 pairs Z OUT Analog input CRNT_LMT_IN Total 1 pair Position control integral operation disabled Disables the integral operation by turning ON Executes error status reset when Position settling signal Busy 1 Driver ready Turns ON when it is not in the error status 1 Servo ready Turns ON when it is in the servo ready status 1 Over signal Turns ON when position deviation overflow or excessive velocity occurs Overload signal Turns OFF when overload occurs Turns ON when the position deviation is within the settling width The status where operation cannot be performed according to the pulse train position command Position command pulse 1 Position command pulse 2 Position current pulse 1 Position current pulse 2 Origin pulse Current limit setting setting UP or A depending on the setting DOWN or B depending on the setting OV 0 to 10V 100 4B Control Interfaces 6 1 3 Electrical specifications Interface power supply inputs COMP1 COMN1 Input the interface power supply for contact inputs and contact outputs 121024 VDC 10 50VCD 410 Contact inputs IN ERR RESET IN SERVO IN MODE START IN ABORT IN MODE O0 IN MODE 1 IN POSW 0 IN POSR 4 IN GAIN IN FN IN PLS DIRECT IN PACT P Interface type name Rated voltage 12 to 24 VDC 10 5 VDC
36. board Contact us 3 Battery alarm Long BatteryAlarm KIND ELS Others Short TYPE ELS Others BatteryAlm Battery voltage for memory backup is low Replace with a new lithium battery 4 Watchdog error Long WatchdogError KIND SYS System error Short TYPE ELS Others Watchdog A watchdog timer error occurred The driver will be set in the reset status Contact us Error number Error type Measures Main cause Action to take Error number Error type Measures Main cause Action to take Error number Error type Measures Main cause Action to take Error number Error type Measures Main cause Action to take 5 Kernel error Long KernelError KIND SYS System error Short TYPE ELS Others KernelErr An error that should have not occurred in driver software has occurred Subcode 1 Axis operation handshake error 2 System program error Contact us 10 Data sum error Long DataSumError KIND POR Start up error Short TYPE POR Do not start up DataSumErr Destroyed data was detected during data check when the power was turned on Subcode 1 Parameter file 2 Parts data file 3 Program file 4 Index correction file 5 I O logic setting file 6 Index file Type B 7 Absolute accuracy compensation file Perform the Reset All operation and download all backup data 11 Data error Long DataError KIND POR Start up error Short TYPE POR Do not start up DataError Da
37. cable lt CN3 gt Analog monitor connector Mounting bracket lt CN2 gt Encoder resolver connector B 2kW level A model with a regenerative terminal 1s shown Heat sink Regenerative unit 1 7 Overveiw of the Product 3 Details of the Front Panel of the Driver 8500W level 8500W level with regenerative terminal without regenerative terminal Regenerative terminal Power supply terminal Power supply ground terminal ral DOI T AN NEA I l AA EY Motor cable phase A terminal I S Q9 AN ANI GS Motor cable phase B terminal GN Ex T GS ISS T Motor cable phase C terminal TAA NU Motor cable ground terminal lt CNA gt Regenerative error connector AN CAUTION EBA HIGH areal AY TEMPERATURE Bake pr ALY GE ical SSE ES e PEERS Be DO SERVO ACTUATOR AR eT AA T EN Fanos YOKOGAWA e Mida b Jem CE SESE Va i Ly NIA Note 1 All the items shown are of the contact I O type Signal ground terminal ZERO signal terminal Settling signal terminal 2 The power supply ground terminal and the motor cable ground terminal are connected within the driver chassis 1 8 Details of Setting Switches and Status Display LEDs Status display LEDs CRDY CPU ready Indicates that the driver finished its initial processing and went into its normal status SRDY Servo
38. core specification exposed at the tip If a twisted wire is used the diameter of the strand should be 0 18 or larger See the panel surface of the driver for the pin numbers lt TB2 gt Made by Sato Parts ML1900H 2 Insert the wire deeply 3 Push up the lever until you hear the click Example of sensor connection sensor EE SX670 manufactured by Omron The recommended sensor logic is B contact Set the sensor to OFF when the light is shielded The sensor described above will be set to OFF when the light is shielded by the following result Electrical specifications Input specifications Home position sensor Rated voltage 12 24VDC 210960 Rated input 4 1 mA point at 12 VDC current 8 5 mA point at 24 VDC Over travel e impedance Input 3 0kQ Operating voltage At OFF 3 0 VDC or less relative to COMP At ON 9 0 VDC or more Over travel Allowable OFF is guaranteed at 1 0 i t leakage current mA or less DC power supply COMPOO 4700 TORD 0 01 UF XOTD 2 7kQ POEMAS XOTU PS2805 V NUS 3 10 L 3 8 Wiring of Regenerative Alarm Contact lt CNA gt For 500W Level Drive Only This driver with regenerative terminal is equipped with a regenerative circuit failure detection circuit When connecting the regenerative circuit build a sequence circu
39. display changes similarly to display 6 1 Initial display 5 Displaying setting result 001 HOT_ErrEn 050 NG ALM62 0 Set DATA NIP Set DATA N P Cursor 2 Displaying comment 6 Displaying comment when a number does not exist 050 Position bandwidth Set DATA N P Set DATA N P CMNT 3 Displaying data f2 DATA Switches display to the data display CMNT To the comment prompt display 050 0000000012 f3 N To the next display Set CMNT N P f7 P To the previous display 4 Setting data 0 to 9 Each character is entered The sign of the data value is reversed if pressed while the _ 4 cursor is at the data setting area sign part se Paa Return key Sets the input data to the driver PME lt and gt key Moves the cursor in the parameter number setting area and data setting area absolute value part to the left or right T and y key Increases decreases the numeric value of the digit indicated by the cursor Parameter number setting area Comment display area Function key content display area Parameter number Data setting area setting area sign part Data setting area absolute value part Function key content display area 9 6 Ce 9 7 I O Monitor Display The I O signal status of the blocks with numbers input from the keypad for the selected I O type is displayed periodically It is not necessary to press the Return key in order to set a number There are three ty
40. lt Utility gt PLC Operation display pendant PC LINEARSERV motor part A Ta board LM series LA z MH M M M mo ES DYNASERV motor part lt DM DR series gt cy Home position sensor AS a US Zh Over travel sensor P Over travel sensor Note The allowable combinations between the DYNASERV motors and the DrvGIl drivers are as follows 1 The 500W level driver can only be used with the DM1004B 1004C 2 All other DM and DR series should be used with the 2kW level driver Note that they cannot be used with the 500W level driver Chapter 2 Installation 2 1 Installation of the Motor 2 2 Installation of the Driver 2 1 Ya Installation 2 1 When you receive the product verify the model name and code of the product s main unit whether all the standard accessories are included and that the combination of a motor and a driver is correct before you begin installation and wiring Installation of the Motor The motor part can be installed and used in either a horizontal or a vertical position However if installed in a wrong way or position the life of the motor may be shortened or the motor may fail Always follow the instructions explained below 1 Installation Position The motor part is designed based on the assumption that it is used indoors Therefore choose the location of installation so that it satisfies the following conditions B It should be ind
41. one side Shaft hole Attached part E or more Rotor DM series motor 7 The motor surface is magnetized do not place things that can be affected by magnetism close to it 8 The motor part shown in the figure to the right includes a magnetic resolver Strong force impacts or magnetic fields Bottom cap should not be applied to the motor part this applies only to the DR series Magnetic 9 Make sure to use load attachment screws that are shorter than the resolver effective depth of the thread in the motor part Depending on the model if a screw exceeds the effective thread depth the function may be impaired this applies only to the DR series DR series motor 10 The motor is neither dust drip nor water oil proof the motor should be installed in carefully chosen environments 11 If the motor will be oscillating or rotating at small angles 50 or less it should be allowed to oscillate at an angle of 90 or more for approximately 10 times running in operation each time it has made 10 000 small angle oscillations in order to prevent poor lubrication of the bearing 12 In order for the motor and driver to be compatible with each other they must be of the same model 13 Never attempt to disassemble or remodel the motor and driver If such service is necessary please contact us We assume no responsibility for products that have been disassembled or remodeled without permission 1
42. operation stops low level 2 Stops the axis operation low level and turns the servo OFF immediately 3 4 Turns the servo OFF after the axis operation stops high level de Maintains the servo status after the axis operation stops low level Maintains the servo status after the axis operation stops high level Stops the axis operation high level and turns the servo OFF immediately When performing the higher controller follow up 0 Switches to the built in controller and maintains the servo status after a deceleration stop 1 Switches to the built in controller and turns the servo OFF after a deceleration stop 2 Switches to the built in controller performs a deceleration stop and turns the servo OFF immediately 3 Switches to the built in controller and maintains the servo status after an immediate stop 4 Switches to the built in controller and turns the servo OFF after an immediate stop 5 Switches to the built in controller performs an immediate stop and turns the servo OFF immediately 228 Over load error processing type While in machine setting mode Minimum value 0 Long Maximum value 5 OverloadErrorT ype Initial value l Short Unit None OVL_ErrTyp Specify the processing type when an over load error occurs When operating the built in controller axis 0 1 Turns the servo OFF after the axis operation stops low level 2 Stops the axis operation low level and turns the servo OFF immedi
43. orbe saben reae eco Rao 6 3 6 T ST peH SME CLI CALI ONS ii 6 4 OLD POTASIO a oe 6 5 62 Position Command Pulse Input ata 6 6 Go Encoder Pulse Output oa 6 6 UU Oe a AAR N N o e 6 7 04 TL Sarna dnm ODGratiOIss uua ene i meu sas eas saad rene Neu sds een EE 6 7 6 2 2 Aboring di Oper atom caos nasum ad eedem ir Mee de e aes 6 7 CAS irme Charts ode guit s uten dado eim MM M CE LM UE 6 8 G3 UMMC ETI Saat UU T T 6 9 65 1 Pulse Weight Selection PLS DIREC a 6 9 6 5 2 Position Control Bandwidth Selection EN nce cineca hii d base isis ibis a eR SU NONU EINE 6 9 6 5 3 Velocity Control Bandwidth Selection GAIN 6 9 6 3 4 Settling Width Selection POSW Olinda a esa OX kom ee ntes 6 9 6 5 5 Disable Position Control Integral Operation PACT 00 0 cccccccccccccecceceeeeeeeseeeeeeeeeeeeeeeeeeeeeeeeeeeees 6 9 6 5 6 Error reset ERR RESET a 6 9 MM SE Io 6 10 eT Curent ET IU RE m 6 10 Chapter 7 RS232C Interfaces 2 cece cece eee teense 1 1 7 1 eund 7 2 dee Grossen LUN Rm 7 2 7 3 Communication Specifications resserre eae r ennO NEENA ERNE EAEAN 7 4 Ae lt Q COMMAS aia 7 6 NAME rud uii wr eo oe RE eee ee ae 7 6 JE E ME I AD E 7 6 ME o WE CUm E cr 7 6 re dssdo 7 6 TAS JHomdnsoHlssbpostlomsetuhg Oia 7 7 T46 Joo moye command Lr Field a ERN S ue o SPA ERR EA A RUSSE 7 7 TAT Other convenient commands uu basan er rs es a ate d
44. parameter entry and when the power is turned ON Related parameters HO Feeding velocity 410 Jog velocity 11 Over travel search velocity during a homing move 12 Homing operation Home sensor proximity signal search velocity 13 Homing operation Home sensing feed velocity1 415 Homing operation Origin position offset move feed velocity I At the time of parameter entry If a parameter value exceeds 357 Maximum velocity monitor value when it 1s set by the user it will be processed as out of range data However limit processing 1s not performed in the hold on state while downloading parameters when changing the simplified scaling weighted data or when changing the maximum velocity data When the power is turned ON During processing when the power is turned ON after simplified scaling weighted data or maximum velocity data is changed a limit is applied using the value equivalent to the 357 Maximum velocity monitor that 1s successively initialized 9 20 Chapter 6 Control Interfaces 6 1 6 2 6 3 6 4 6 5 Terminal Function 1 Connection Setting and I O Mapping 2 Explanation of Terminals 3 Electrical specifications 4 I O logic setting Position Command Pulse Input Encoder Pulse Output Operations 6 4 1 Starting an Operation 6 4 2 Aborting an Operation 6 4 3 Timing Charts Other Inputs 6 5 1 Pulse Weight
45. ready ERR Error status BUSY Busy Indicates that the driver is currently operating AXIS Axis is operating Indicates that the axis is currently operating dwell operation COIN Settling status Indicates that the axis is in its position settling status 0000 00000 RS ID Rotary switch The communication method of the RS232C interface is set according to the status of this switch when the power is turned on 0 Single channel communication 1 to 9 Multi channel communication The value corresponds to the ID of the slave station SRV DS Servo disable switch The servo is turned off for as long as this switch is pressed regardless of the command status of the RS232C interface and PLC interface RSID ADE O SRV DS e TO suy Q O SW1 x o qu ON I SW1 Slide switch When the power is turned on the operation status of the driver is determined by the status of these switches bit Reset all If this bit is on when the power is turned on all driver information is reset to the default status at shipping bit2 Reserved bit3 Reserved bit4 Maintenance operation setting If this bit is on when the power is turned on the driver is set in maintenance operation status Normally this bit sh
46. sample The conversion rate is as follows 1 digit 0 0036 27840digits 100 0 digits 0 27840 digits 100 370 Present command unit value Unit Axis command unit Displays the present command unit value 371 Command unit deviation Unit Axis command unit Displays the command unit deviation 372 Present velocity value DC Unit 1 16 digit Displays the present velocity value DC 10msec sample 3 3 Motor linear coordinate command second order differential value Unit pulse A T Displays the second order differential value of the motor linear coordinate command value example 2 msec 374 Acceleration feed forward command value Unit digit Displays the acceleration feed command value 3 5 Position control bandwidth Unit Hz Displays the position control bandwidth 376 Velocity control bandwidth Unit Hz Displays the velocity control bandwidth 377 Position settling width Unit pulse Displays the position settling width 384 Motor linear coordinate current value after filtering Unit pulse Displays the eccentricity compensated motor linear coordinate current value after position current value filter processing 390 Motor linear coordinate command differential value Unit pulse AT Displays the differential value of the motor linear coordinate command value 2msec sample 391 Present motor linear coordinate differential value Unit pulse AT Displays the differential value of the present motor linear coordinate
47. selected character The character in lt gt is input by pressing this key f2 Inputs f3 N To the next display 2 During character string input f4 lt gt Character selection opposite direction The character in lt gt changes at every key press 50_ f5 Inputs lt gt S N P f6 Inputs f7 P To the previous display 3 Displaying a response character string 0 to 9 Each character is input zog INS key Shifts the character string one character after the cursor position and insert a space at the cursor position DEL key Deletes the character immediately before the cursor The Characters in lt gt 7o G X cursor does not move the sikon F f A a M P BS key Deletes the character immediately before the cursor and move the cursor to the position one character before Return key Sends the entered character string to the controller lt and gt keys Moves the cursor on the input character string to the left or right T and Y keys Moves up and down in the input character string buffer Input character string and response character string display area Function key content display area Input character string buffer 16 lines 64 characters gt Od 9 5 Parameter Monitor Display The current values of parameters monitors with the numbers input from the keypad are displayed periodically It is not necessary to press the Return in order to set a number I
48. set with the 207 Simplified scaling weighted data parameter For example if the setting value is 4 a single pulse on the controller interface will be equivalent to 4 pulses inside the driver In addition the command unit current value is output from the driver by either the UP DOWN or A B signal The pulse position current value inside the driver for a single pulse on the controller interface always becomes the value set with the 4207 Simplified scaling weighted data parameter For example if the setting value is 4 a single pulse on the controller interface will be equivalent to 4 pulses inside the driver While the input signal PLS DIRECT is on the position command value instructed from the controller interface is independent of the value set with the 2207 Simplified scaling weighted data parameter a single pulse on the controller interface will be a single pulse inside the driver instead However do not change the status of any of the PLS SIGN UP DOWN and A B signals for 2 msec each before and after switching the 5 input signal PLS DIRECT off on on off Related parameters 9 9 5 4 Control System In this section the position control part velocity control part and feed forward of the driver are explained The block diagram of the control system is shown below
49. setting for IN SERVO to negative logic using the PC utility it 1s possible to connect a PLC interface in the same state as it was shipped from the factory As a result an RS232C interface can be used to confirm basic operations Refer to Chapter 8 DrvGII PC Utility for a description of how to set the I O logic Driver s internal I I processing Logic setting Bit I O status Logic signal i Tm Processing Logical input Positive logic 0 Status 0 IN_ Y setting v signal 7 setting 1 Status 1 Processing Logical Negative logic 0 Status 1 QUE by logic output signal setting 1 Status 0 setting 77 I I Control Interfaces 6 2 Position Command Pulse Input The position command value instructed from the controller interface is given to the driver by any pair of the PLS SIGN UP DOWN and A B signals which is then reflected in the command unit command value Which pair of the signals will be used to give a command is set with the 204 Command pulse type parameter PLS SIGN UP DOWN A B direction direction direction direction direction direction 150ns min 150ns min Ae S 3us min DOWN Va 300us min 6us min 6 3 The
50. shipment from the factory If the driver memory contents have been backed up in such a case the driver memory contents can easily be restored to the factory settings 10 4 1 Backup Operation It is recommended to back up the driver memory contents to a file using the PC utility as well as to back up the driver memory contents to the driver s built in flash ROM Backup to a file using the PC utility Using the PC utility back up the driver memory contents to an electronic file in the personal computer Perform the following backup operation using the PC utility Parameters upload Programs upload batch Index equal division compensation upload batch Index unequal division upload batch Parts upload batch I O settings upload Backup to the driver s built in flash ROM Back up the driver memory contents to the on board flash ROM by copying the driver memory contents to the driver s built in flash ROM in a batch operation Set the slide switch on the front panel as shown in the figure below and turn ON the power When the CRDY lamp flashes after several seconds the backup operation is completed CRDY LED that flashes when backup is properly completed ERR LED that flashes when backup is not properly completed SW1 slide switch Only bit 1 and bit 4 are ON bit 2 and bit 3 are OFF 10 3 N Maintenance and Inspection 10 4 2 Restore Operation The restore operation uses either of the backup da
51. system 4 to 14 Reserved UU aS 15 Mechanic Special mode for changing mechanical setting parameters Non end setting mode 2 Reserved 000 O 4to14 5 2 1 Jog Move The rotor can be moved in the positive or negative direction by issuing a jog move command while in idle status There are three types of jog move commands direction move direction move and stop Refer to the sections about the RS232C interface and PLC interface for how to issue a command The move can only be trapezoidal but it is possible to set the acceleration and deceleration profile In addition the velocity override does function in real time The velocity in the jog move is determined by the value in the 10 Jog Velocity parameter If operation is started while the jog move is in progress the operation is executed as soon as the jog move stops The settling wait function is not performed at the end of the jog move Related parameter 5 2 2 Test Operation This operation generates a 2 5Hz square wave and uses it as position command signal for adjustment of the control part Set the analog monitor to test operation response to measure the response waveform on the oscilloscope The position feed forward velocity feed forward and acceleration feed forward are set to 0 internally during the test operation The settling wait function is not performed at the end of the test operation Relate
52. the product s main unit whether or not all the standard accessories are included and also the quantity supplied Motorman The external appearance varies depending on the model p name code Main body The external appearance varies depending on the model name code Made by Honda Tsushin Kogyo connector PCR S50FS cover PCR LS50LA Made by Phoenix Contact MC1 5 6 ST 3 81 Terminal for driver CNA Made by Phoenix Contact MC1 5 2 ST 5 08 Regenerative 80W 60Q for 100V or 80W 200Q for 200V driver CN4 Standard Connector for accessory driver CNS Connector for 1 Made by Honda Tsushin Kogyo connector PCR S20FS driver CN2 cover PCR LS20LA1 resistor Supplied for drivers whose interface type is the I O contact type A Supplied only for 500W level drivers with regenerative terminals Motor part DM series Motor part DM1004B y Motor part Motor part DM1004C A DR series Driver part 2kW level With regenerative unit pro ais U U 4 E X a A aN A Kex er IN N 3 X Regenerative terminal B N VA s x E Y d cd oe N Qe Gal aa SA N e Connecto for CN2 Connector for CNA x Driver part SOOW level Note The exact shape varies depending on the model you ordered Refer to the figure showing the outer dimensions for more details 1 4 L 1 4 Model Names and Codes There are restrictions on th
53. when the trigger conditions are met 4 Select a trigger edge Valid when the trigger mode is Single 5 Click the Y to select a trigger source Valid when the trigger mode is Single 6 Enter a trigger level Valid when the trigger mode is Single 7 Click the Y to select a trigger position Valid when the trigger mode is Single 8 Click the to select a time horizontal axis The unit is msec 9 Click Set Start to return to the Oscilloscope dialog box and wait for the completion of data acquisition 10 When the data 1s obtained Start Acquisition becomes active 11 Click Start Acquisition to extract data from the driver and display it in the Oscilloscope dialog box Note If the set trigger conditions are not satisfied and Start Acquisition does not become active click Log Stop and set the trigger conditions again e DrvGll PC Utility 12 The displayed waveform can be reshaped using Display position selection and Vertical axis range selection in the Oscilloscope dialog box When Auto is clicked at this time the Display position selection value is changed to 5 and the Vertical axis range selection value is changed automatically to a value that enables to display the entire waveform as much as possible without cutting any part of the waveform 13 When Condition and display under Data save is clicked the status set in the SetCondition ELogStart dialog box as well as
54. 10000 90 100 0 1 10 1 999999 999999 10000 0 4 0 O O O 200 Hz Hz None pulse Hz None pulse pulse 1 100 None None None None None None None msec msec None None None None None MSEC None Unit Possible to change Always Always Always Always Always Always Always Always Always Always Always Always Always Always Always Always Always Always Always Always Always Always Always Always Always Always Always Always Parameter No 152 153 154 155 201 202 203 204 205 206 207 213 218 219 220 221 222 224 227 228 229 Parameter name First order delay compensator setting Notch filter Frequency 1 selection Notch filter Frequency 2 selection Load inertial load mass Selection of English Japanese display Coordinate direction setting Using position current value filter Command pulse type Monitor pulse type Enabling current limit external input Simplified scaling weighted data Maximum velocity Enables error when over load occurs Velocity feedback filter use Velocity feedback filter bandwidth Velocity command filter bandwidth Enables error when over speed occurs Enables error when excessive position deviation occurs Over speed error processing type Over load error processing type Excessive position deviation error processing type Minimum value 50 50 Maximum value 3 1500 1500 200000 1 1 1
55. 225 Mechanical Settine Modeion a 5 0 52 C OOfdinate System ass cite ie aie tet eek 5 9 NL ACA IURE UU dace dese aes cea eee eS 5 9 5 3 2 Switching Position Command Pulse Weights sse 5 0 SU ZEE Eon e I o Uo LIST UEM 5 10 ME vein geo l RR m 5 11 542 POSTOR Contfol PS sepe sati tmie snap too leer des pau rod ids 5 12 AbD CSS OL Ww AN Ch Mr T i A vp asealiads suena TT 5 12 SAA SNO A AA A 5 13 3 9 Acceleration Deceleration PUnCu OM ii ai 5 14 SL Velocity verde AC ia 5 14 3 52 e Lo ETO ME AO o O A A 5 15 O MA o 5 17 5 6 1 Settling Wait Position Settling Status and Positioning Status cccccccccnccncncnnnnnonnninininininininanos 5 17 5 6 2 Velocity Monitor and Analog MOnIOr 5 18 Moss REN A A A EN S 5 18 24 Spectral Parameter Process eee Epstein D iio i ones detal letis del 5 19 5 7 1 Internal Generation of Parameter Initial Values 5 19 5 7 2 Limiting and Checking Maximum Velocity When Changing Simplified Scaling Weighted Data and Maximum Velocity Parameters sss sese 5 9 5 7 3 Auto Conversion and Clear Functions When Changing Simplified Scaling Weighted Data 5 20 STA Limits the Maximum Parameter Values cds 5 20 Chapter 6 Control Interfaces ence cece cece ee aLaaa La adaa 6 1 6 1 ui tdeo etos fs rfe 6 2 6 1 1 Connection Setting and I O Mapping ccccccccccssseseeeeeeseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 6 2 6 12 3xExplanatiotr oL Terminal suyo eoe orba aer ee For YES ER orc
56. 26LS32 or en 09 UA _OUT AM26L831 or equivalent EN 2 E rao UA OUT FE gt Z 41 DB OUT um E i 42 DB OUT Pa lt gt E 43 Z OUT iH Z OUT XH E E pe es E f gg CRNT LMT IN 20po d E P Ta wal gt E CRNT_LMT_IN LMIT e E 34 m EN ANN NE 200KQ i pd Connect the shield with the shell of the connector 4 4 DrvGll CN4 I O 5V Specification Controller 5VDC pen T i y 01 gt COMP1 4700 PS2805 or equivalent 7407 or equivalent MEM T Dhi i 419 IN_ERR_RESET 1KQ AY lt A gt LAWN L E IN SERVO s AY a BEO xL am PE IN_MODE_START s AY lt L gt WwW L ME IN ABORT s AY n yet e o l L l IN MODE O 2 AY a MEM ea L
57. 4 For the DYNASERV DR series motors a coating has been applied on the load attachment surface of the upper surface of the motor and the stator on the lower surface in order to prevent rust When starting to use the product wipe off the coating completely with cloth or paper soaked in a petroleum or chlorine solvent before assembling If any of the coating remains it may affect the mechanical precision Rust proof coated surface 15 Do not place the motor on the floor and other surface in the manner shown in the figure below when carrying and installing the DYNASERV The cables are crushed by the motor s own weight and the copper wires may be broken inside the cables If it cannot be avoided to place the motor in such a manner a support bench should always be placed so that the cables are lifted Furthermore if the cables need to be bent when installed in a device etc the minimum bending radius should be 50 mm or more The cables are not strong enough to live up to robot cable specifications so they should not be bent repeatedly The minimum bending radius should be 50mm or more bending radius should be 50mm or more An example of a DM series motor 16 Do not perform a withstanding voltage test on this device If such a test 1s performed without discretion the circuits may be damaged If such test must be conducted make sure to contact us 17 When connecting the motor with a load the centerlines of both cores should
58. 5 40 Square current duty 10 0 oc 10C 20C 30c 40 50 8 60 C Ambient air temperature during operation 2 3 Chapter 3 Connection and Wiring 3 1 3 2 3 3 3 4 3 5 3 6 3 3 8 Diagram of Overall Connection Cable Specification List Connection between Motor and Driver Wiring of Motor AC Power Supply and Ground Cable Wiring of Encoder Cable Wiring of Controller Cable Wiring of Sensor Brake Terminal Wiring of Regenerative Alarm Contact lt CNA gt For 500W Level Drive Only 3 1 M Connection and Wiring 3 4 Diagram of Overall Connection Operation display pendant including 1 5 m cable PMOOOAT PC PC Utility on _ DANA DrvGll type drive KC 601A di pP The figure shows a 2kW level Japanese KC 602A English A CAUTION 58 T T 5 RS232C communication INE MEER OR OBB HIE RE p cable x CP7675S 020 for DOSV 2m 7 J Sensor Jumper a A eee oe ee cable mae 3 LP EET fe Programmable controller At 2 Ground cable S EEE lig ISS 9 Controller cable i Lud CP4202G 000 T 8 Analog monitor card with cable connector Regenerative resistance with lead wire x 6 Encoder cable Motor part DM DR series Optional parts see separate wiring section for motor and encoder cables 3 2 L 3 2 Cable Specification List B UM Supply 2 0 mm or more 30 m or less in length
59. 5V 16384 pulses 6 55V 8192 pulses 6 55V 4096 pulses 6 55V 2048 pulses 6 55V 1024 pulses 6 55V 512 pulses 6 55V 256 pulses 6 55V 128 pulses Long Short Long Short Long Short Always AnalogMonitorSelect A MonSel Always PerrMonitorGain PerrMon G Always TestMonitorGain PerrMon G T3 Position monitoring gain analog monitor Always Minimum value 0 Long Maximum value 14 PosMonitorGain Initial value 0 Short Unit None PosMon G SEE the position monitoring position command value and current position value gain of the analog monitor 6 55V 4194304 pulses 6 55V 2097152 pulses 6 55V 1048576 pulses 6 55V 524288 pulses 6 55V 262144 pulses 6 55V 131072 pulses 6 55V 65536 pulses 6 55V 32768 pulses 6 55V 16384 pulses 6 55V 8192 pulses 10 6 55V 4096 pulses 11 6 55V 1024 pulses 12 6 55V 512 pulses 13 6 55V 256 pulses 14 6 55V 128 pulses Ss Se dier 74 Position differential value monitoring gain analog Always monitor Minimum value 0 Long Maximum value 7 VelMonitorGain Initial value 0 Short Unit None VelMon G Specify the position differential value monitoring position command differential value and current position differential value gain of the analog monitor 0 6 55V 8192000 pulses 6 55V 4096000 pulses 6 55V 2048000 pulses 6 55V 1024000 pulses 6 55V 512000 pulses 6 55V 256000 pulses 6 55V 128000 pulses 6 55V 64000
60. 6 ALOE Proce dU has TUTTI T 4 6 A Te 4 8 c WPS o ic RET Rn 4 9 24 1 Selecting Communication POLL sd oomen ex oerte mo o tU e Co Ee buo eter EM eer s 4 9 gd clectibs C MANNIE IS scere dm inco A E 4 9 4 4 3 Displaying Communication Strings sss sese eee eee eee eee eee eee 4 10 444 Mam Menos m Se D vea dme sain cs aie ensues m Mv DIR SRM X EQUI Saw MEL saan tee A 4 11 45 ete the Status to Servo ON oae tas 4 12 2 0 RMON etie Saat eee ale AE A oee bartonc tute un tee ied 4 14 4 7 Performing Homing Operation ccoccccccccnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnos 4 16 Table of Contents 4 8 Performing the Basic Settings of Pulse Commands sese 4 18 45 1 About Position Command Pulse IPUR idas 4 18 2 5 2 AAA EN nD e aseo RE e ue n Doe eR e Yo ineo eM edu a ELE 4 19 Chapter 5 EUunciions LLL aLa LaaLa 9 1 5 1 Parameters and MONOS a eee 5 2 SIL General Pa a nda unas podus iaa oasis aS ios 5 2 MZ Mechanical Setung PA ler 35oiososotedieena osea t tese aed occ euren a cus Eee Paese lom se espe aamaaittanuaows 5 2 S e MONO A ted naa accitus a Sanivncs Gia aunal O II BECAS e E epe 5 2 53 OPERAUION PUNCHONS aceites insta o Hog tnde taire tepida veas tica 5 3 SIS MERI e 5 3 3 2 ESO A dos Std emi dion did deem eun Id NU DM UAM LL Sahay 5 4 523 AVOTU Operation s oed ESSE DINI nM NEM E 5 4 304 omis MOVE suse mM IMEEM MEME A E MEL 5 5 5
61. AM a l L HE IN MODE 1 2 AY x e s y pme L EF IN POSW O 2 AY x gt 128 15 gt pw mE IN POSW 1 s Yw EE ES Wot e Q ag T IN GAIN S AY lt A gt LW l L E IN FN Z AY a lt i i 28 gt i ANA E L ME IN PLS DIRECT S XY 49 1 pme Y MK IN PACT Z AY x lt __1 30 E Wee V MA8330 or equivalent 74LS244 or equivalent iic SVDC a MN or PS2805 ee jum TT ES pau raz e O ANNA d x OUT SRDY 4 d y fry ft I e gt ka VA d a ule LAA Q5 OUT BUSY4 4 A Aw ts pt fl lt gt foa p YA l e AAA e A 06 OUT_XOVL KA PIU 1 U e gt 9 L K VA e AAN e As 07 OUT OVER M l N m O kd VA Po Alem od ANN gg OUT COIN 4 yy K pe O o lt gt 9 L K V AS coMN uma l lt gt FAN AM26LS31 or aa f 45 PUA_IN n TLP115A or equivalent S g UN 16 5 PUA_IN any Va gt O n l a L c 47 SDB IN eN T X L SDB_IN x v P R lt 18 am AM26LS32 or SS S 09 UA_OUT AMZ6LS31 or equivalent ae 7 ES UA OUT XH lt n gt n 11 DB OUT n L E a E DB OUT XH L gt z 7 zu 13 _ Z OUT va Lk M4 Z OUT x lt H lt gt 33 CRNT_LMT_IN zoo uL lt gt LMIT Z7 JN ga CRNT LMT IN s E A 20d S Sau Q c gt e v Connect the shield with the shell of the connector UN Basic Settings for Operating the Motor Installing the PC U
62. Displa TTT 9 4 9 5 Parameter Monitor DISD IASE c di Eia e dd utes NE bia tas dba bn ud dus 9 5 06 Parameter settinmos Displays as sos tecla sq rtu kc aunties 9 6 OT JqOMOnEOEDISplay cc teoitet vertidas onde OS 9 7 9 8 Special Command Display serea ee od ib tete bep ale le o Rt Utt b utbs 9 8 Chapter 10 Maintenance and Inspection cesse eee eee e ee ee 10 1 10 1 Maintenance and Inspection of the Motor Part sese 10 2 10 2 Maintenance and Inspection of the Driver Part esse sss 10 2 10 3 Replacing the Battery for Memory Backup 10 2 10 4 Backup and Restore Operations of Driver Memory Contents 10 3 IO T Backup Operaio ii 10 3 MAD RES Ore O Peron ss 10 4 10 5 Motor Problems and Corrective Actions sss sese 10 5 Chapter TL electio Sion 11 1 IN Standard SPC CI CAU ONS RA cua iios tu nsu RUE 11 2 HL 2 Torque Speed CDartacterisL IC Sie ct eddie ea 11 8 11 3 External Dimensions Unit mmi sese 11 9 11 4 Restrictive Conditions for the Frequency of Repeated Operations DR5000B Series Only cccccccccccncnnnncnononononanananaccnnncnnnos 11 13 V Chapter 1 Overview of the Product 1 1 1 2 1 3 1 4 1 5 1 6 About the DYNASERV DM DR Series About the DrvGll Type Driver Product Configuration Model Names and Codes Name and Function of Each Part system Configuration Diagram 1 1 IB Overveiw of the Product 1 1 About the DYNASERV DM DR Series The DYNASERV servo motor is a hi
63. Encoder cable CE7800M R o00 3 Items to be checked Check 1 Is the main body fixed on the level block O 2 Is the motor not interfering with peripherals O 3 Is the power supply line wired properly LINE GND O 4 Is the motor cable wired properly VA VB VC GND O 5 Is the encoder cable wired properly O 6 Is the sensor wired properly O Home position OT sensor driver or positioning controller 7 Is the RS232C cable wired properly O 8 Is RS 232C operation enabled O Is bit 2 of PSWI is on 9 Is the wiring with the positioning controller done properly O See a connection example on the following page 4 3 UN Basic Settings for Operating the Motor DrvGll CN4 I O 24V Specification Controller 12 to 24 xL ve lt L y 01
64. Herisert effective screw Equal circular division zt Length 4 Equal circular m division d 160 140 25 Hole Encoder cable 47 5 A Motorcable 11x4 IN Pb Motor cable x j 41 14 8 e ES Encoder cable 67 5 XB IM Specifications 2 DR Series Motor 1 Type A Rotor Stator 6 M8 screw depth 12 Equal circular division Motor cable p 3 2 x 4 L Refer to standard specification D a nnn d 6 M8 screw depth 12 Equal circular division 150 hole 79 300 Encoder cable 5 8 2 Type E Rotor 6 M8 screw depth 12 M Equal circular diis Stat 6 M8 screw depth 12 Equal circular division L Refer to standard specification ator x poe La Motor cable od ox 4 96 8 Encoder cable Rotor 6 M6 screw depth 9 Stator Equal circular division L Refer to standard specification Motor cable od PX 4 6 M6 screw depth 12 Equal circular division 0 9 e 4 Type B DR1008B only 6 M5 maximum depth 5 Equal circular division Hb 1 Equal circular division Stator Motor cable 302 EM S E T 65 PARA Y ion DE 66 8 11 10 L 3 Driver Section 1 ULILILIEILIEIETA B 500W Type B is shown in the figure On 10 50 0 5 25041 SEE 1 8 Fi emi A 2 ULILIEIEIEIEIEIL 2kW level without regenerativ
65. Keep the protection cover transparent plastic plate attached on the power supply terminal part of the driver It is provided to prevent inadvertent electric shock accidents Handling Precautions 1 Do not install the motor in reverse direction in such a way that the rotor of the motor is fixed and the stator rotates 2 Make sure to turn the power off before removing the side panel of the driver to set jumpers etc Touching the high voltage part inside the driver is dangerous 3 This motor rotates at a high speed and with a high torque Take the rotation radius into consideration and pay special attention to the prevention of any dangerous situations that may occur during the operation when a load is attached to the motor 4 Make sure to ground the ground terminal to earth 5 When attached a load to the rotor make sure to keep a clearance of 1 mm or more between the load and the upper surface of the motor in order to maintain the surface precision Furthermore never push or squeeze an object into the shaft hole See the figure below Bij my o NN 6 Do not touch the bolts indicated by the arrow that fix the bottom part of the rotor see the figure to the right If these bolts are loosened or tightened the commutation angle will become inaccurate which may result in uneven rotation this applies only to the DM series When feeding an object through the shaft hole make sure to secure a clearance of at least 1mm on
66. O Set T Pulse Cone P 2 Enable Servo ON Click the checkmark of 1 under DI and then click the Set S button pe er oet Servo ON DI 1 to no Select check Negative setting 100 031 Hone Megative DI noB cd 3 2 0 Iv Ie Te lv Iv eo PEPE Jr lv lv S Ju E EJ ES EJ EJ Pa 16 FFF 2a MTection 000 031 DO 76543210 PE 1 lv fvw Jl o frs fe jan o S l fea S Ed ERES E a fF 16 frs nr Fs n po a al 24 A Caution Make sure to click the Set button after finishing the setting the status will become Servo ON Verify that the S RDY LED on the front panel is turned on 4 12 Oe 3 Reset the driver according to the message in the dialog box DRYGII Discrete configuration completed Reset driver 4 Verify that the driver is reset and the SRDY LED on the front panel is turned on 4 13 EH Basic Settings for Operating the Motor 4 6 Auto tuning The auto tuning can be performed according to the following procedure 1 Checking the rotation direction Check the rotation direction CW CCW of the motor Load installation surface CCW Look carefully from both sides of the load installation surface to check the CW CCW A Caution movement When started the motor operates in the CCW direction Take extra care to ensure that there is no mechanical interference with the rotor which is currently in the stop position 2 Click the Servo Cntl
67. SY output retains the executing status even when an operation ends while MODE START is giving a command while in status 1 after an operation is started End type mE a Test operation Non self end Auto tuning operation Self end Reserved Emp NEC Self end 6 4 2 Aborting an Operation The operation abort command via MODE ABORT stops operations other than jog moves The operation abort command is issued when the status 1s 1 The motor immediately decelerates even during an operation involving a move and ends the operation 6 7 4B Control Interfaces 6 4 3 Timing Charts Self end type In case of self end STATUS1 qu MODE START Tx S STATUSO Not necessa ot necessary Not necessary MODET1 0 to id p consider S to consider STATUS1 E BUSY S STATUSO lt gt 0ormore At the end of processing Self end type In case of end by the operation abort command Non self end type STATUS1 L MODE_START Ta S STATUSO 1 Yo Not necessary i 7 ot necessary Not necessary MODE 1 0 to consider E j j P consider S to consider MODE_ABORT i S TN STATUS1 i E STATUSO HE l f STATUS1 A K BUSY Y STATUSO lt gt 0 or more 0 or more Non end type STATUS1 pe MODE START N STATUSO V y MODE 1 0 Not necessary X Not necessary to consider to consider STATUS1 a BUSY STAT
68. This operation is required only once for the initial use 3563 cmd 3565 MTD F322 Perr pulse i328 C oin CHI CH2 CH3 CH4 IDIV 20000 h 20000 5000 hd 1 ka POSITION 5 7 3 SOURCE 4363 Venw amp 355 Vfh 8322 Perr pulse 328 Com TIME Loo La DataSave io o a Condition j Logstart AcquisitionStar Terminal Auto Graph Graph Logstop Acqusitionstop Exi E 12 Vertical axis range lecti selection 13 Data save 13 Data load Simplified terminal 12 Vertical axis range selection 12 Auto Figure 8 18 Oscilloscope dialog box 8 16 L How to use the oscilloscope 1 Click Log Start on the Oscilloscope dialog box to display the SetCondition ELogStart dialog box see Figure 8 19 SetConditionjELogStart 2 Source selection choice box Source Eu 1 HOT_ErrorEnable h Enz 3 2 HOT_ErrorEnable 9 ES 3 CamMovesel 9 Ena 4 AccProfeel 9 5 Trigger source 3 Trigger mode 6 Trigger level Trigger 7 Tii Bource rigger position Mode Edge E SUM MEE IC Rise evel 0 6 Single C Fall Positior 5 8 Time e 4 Trigger edge me ime 10 A DIV 9 Set Start Cancel Figure 8 19 SetCondition ELogStart dialog box 2 Click the Y to select the parameters monitors you want to display in the source selection choice box CH1 to CH4 3 Select a trigger mode Free Obtains data immediately without using the trigger Single Obtains data
69. USO lt 0 or more 6 8 L 6 5 Other Inputs 6 5 1 Pulse Weight Selection PLS DIRECT When the status of the PLS DIRECT pulse weight selection input signal is 1 it is independent of the 207 Simplified scaling weighted data parameter the position command pulse that is input is directly used as the internal position command pulse For more details see Section 5 3 2 Switching Position Command Pulse Weights and Section 6 2 Position Command Pulse Input 6 5 2 Position Control Bandwidth Selection FN The FN position control bandwidth selection signal selects to use either 50 Position control bandwidth 1 parameter or the 48 Position control bandwidth 2 parameter for the position control bandwidth value Position control bandwidth 2 1s selected with status 1 and position control bandwidth 1 is selected with status 0 6 5 3 Velocity Control Bandwidth Selection GAIN The GAIN velocity control bandwidth selection signal selects to use either 51 Velocity control bandwidth 1 parameter or the 49 Velocity control bandwidth 2 parameter for the velocity control bandwidth value Velocity control bandwidth 2 is selected with status 1 and velocity control bandwidth 1 is selected with status 0 6 5 4 Settling Width Selection POSW 1 0 The POSW 1 0 settling width selection signal selects to use either one of 58 and 45 to 47 Position settling width pulse 1 to 4 parameters for the settling width used as the specified range fo
70. ackup A lithium battery is provided inside the driver in order to store parameter data in memory The life span of the lithium battery is normally 20 000 hours When the battery reaches the end of its life an alarm signal will be displayed When this happens replace the battery as soon as possible The following describes the procedure used to replace the battery 1 Back up parameters programs cam data and other important data stored in memory to flash ROM before replacing the battery For details on memory backup see Section 10 4 2 Turn OFF the power 3 Remove the six screws located on the side panel of the driver See the figure below Em uu ee f EK s ZR 4 Replace the battery quickly within 10 seconds 5 Check the connection and turn ON the power If no error is displayed the battery has been replaced correctly Note 1 If a battery error is displayed it is necessary to reset the system after replacing the battery In this case parameters and other data must be set again Note 2 Be sure to use lt CR2032 gt 3V or equivalent battery Be careful on the front and back orientation of the battery 10 2 ce VIMUS 10 4 Backup and Restore Operations of Driver Memory Contents Be sure to back up the driver memory contents in case of the occurrence of problems If a problem occurs in the driver memory contents it may become necessary to initialize all reset the driver to the same settings at the time of
71. ain Analog monitor 2 74 Position difference value monitor gain Analog E monitor 74 475 Velocity monitor selection O 5 6 3 Brake Signal BRK and BRK are output to the TB2 external sensor interface as brake signal outputs that operate linked to the Servo ON status The brake signal is a relay contact output The contact opens when the brake should be applied such as when the power is disconnected or the driver is in Servo OFF status and the contact short circuits when the brake should be released The Servo ON status and the brake signal operate according to the timing diagram shown below via the 89 Brake turn OFF delay time upon Servo ON and 90 Advanced brake turn ON before Servo OFF parameters Servo ON status ON X OFF Open circuit Brake signal Short circuit S lt gt 89 lt 90 Related parameters PO EEEE EE EEEE EEEE EEEE EEEE EOE EEEE EE EEEEEEEEEEEE EEEE EEEEEEEEE EEEE EEEE EEEE EEEE EEEE EEEE EEEE EEEE EEEE EEEE EEEE EEE EE EEEE EEE EEEE EEEE EEEE EEEE EEEE Wg 489 Brake turn OFF delay time upon Servo ON 90 Advanced Brake turn ON before Servo OFF 9 18 L 5 Special Parameter Processing The setting values of the parameters listed below are automatically changed inside the driver by the operation of the driver 5 7 1 Internal Generation of Parameter Initial Values The initial values of all of the following param
72. ake an appropriate corrective action as provided below If the driver is still not be able to return to a normal operating condition despite corrective actions taken stop operating the drive and contact us Item s to be inspected The motor does not servo lock The motor does not start The motor rotation is unstable The motor overheats Abnormal sounds are generated Motor torque is too small Motor runs out of control No AC power is being supplied Check the wiring Turn on the power The servo ON terminal is set to Set to L The Servo ON disable SRVDS Inspect Release the button button is being pressed Position control bandwidth m velocity control bandwidth Adjust to the proper value s eae m nspect and or position integral limiting or perform auto tuning value are too small Check to see if the Reduce the load or replace Motor is overloaded otor operates without a motor with higher torque if any load the motor starts Refer to the connection Incorrect external wiring Inspect the wiring diagram and connect correctly Position control bandwidth M velocity control bandwidth Adjust to the proper value s made deest nspect and or position integral limiting or perform auto tuning value are too small Check the motor Refer to the connection Improper connections connections in phases diagram and connect A B C and GND correctly Check the model If the comb
73. al hardware or software Zero signal is generated At the first home sensing move the distance to the first Zero signal edge after passing through the home position proximity area pulse amount has been measured and written in 318 Homing operation The measured value monitor If this value does not satisfy the equations below an error or warning will occur In that case the home position proximity dog should be adjusted and the homing move should be performed again Repeat these steps until the operation is completed normally 9 6 L Hardware zero signal type 11318 value lt 0 05 358 value error 0 05 358 value 318 value lt 0 1 358 value warning 0 1 358 value xx 318 value lt 0 7 1 358 value normal 0 7 358 value s 318 value lt 0 75 358 value warning 0 75 358 value lt 318 value error Software zero signal type 318 value lt 0 05 358 value error 0 05 358 value 318 value lt 0 1 358 value warning 0 1 358 value 318 value lt 0 4 358 value normal 0 4 358 value lt 318 value lt 0 45 358 value warning 0 45 358 value 318 value error 5 7 icr Ko emet e Dem e A Sh e mei E aE Stir eB e e re uerb ro e ede ec RR i Pe dn ta e SD A Em AVE E 20 lt 0 Homing direction direct
74. and unit equals to during a simplified scaling operation Specify in a power of 2 e g 1 2 4 8 213 Axis maximum velocity Minimum value 1 Maximum value 16000000 Initial value Motor dependent Unit Axis command unit sec While in machine setting mode Long Vmax Short Vmax Specify the maximum velocity during operation The actual maximum velocity is determined by the smaller value of this parameter or the maximum velocity axis command unit sec converted from the maximum velocity rps mps determined by the motor and driver This maximum velocity value is displayed on the monitor 218 Enables error when over load occurs Minimum value 0 Maximum value 1 Initial value l Unit None Specify whether or not to process as an error when over load occurs 0 Does not process as an error 1 Processes as an error While in machine setting mode Long OverloadErrorEn Short OVL ErrEn 219 Velocity feedback filter use While in machine setting mode Minimum value 0 Long Maximum value 1 UseVfbFilter Initial value 0 Short Unit None UseVfbFil Specify whether or not to use a filter for the velocity information that is fed back to the velocity control part 0 Do not use Use 220 Velocity feedback filter bandwidth While in machine setting mode Minimum value 50 Long Maximum value 1000 VfbFilterFreq Initial value 1000 Short Unit Hz VfbFilFreq Specify the bandwidth of a filter to be applied to
75. andwidth either the value set with the 50 Position control bandwidth 1 parameter or the 48 Position control bandwidth 2 parameter is selected according to the status of the controller interface input signal IN FN The selected value is displayed in the 375 Position control bandwidth monitor The position control part calculates the proportional control gain integral control gain and differential feedback gain according to the position control bandwidth value The position integral limiter set by the 53 Position integral limiting value parameter is effective in suppressing integrator windup due to motor torque and thrust saturation Decrease the value in order to suppress windup further On the other hand if you set the value too small the motor torque and thrust are limited set a value as large as possible in the range where windup does not occur The integral operation of the position control part can also be set either to be active allow or inactive prohibit If you clamp the motor with an external device when the motor is stopped the integral operation should be prohibited after clamping in order to prevent overloading the controller Refer to Chapter 6 Controller Interface and Chaper 7 RS232C Interface for details of the operation The position current value filter outputs the result obtained by filtering the position current value to the 384 Motor linear coordinate current value after filtering monitor The filter bandwidth is se
76. ately 3 4 Turns the servo OFF after the axis operation stops high level S Maintains the servo status after the axis operation stops low level Maintains the servo status after the axis operation stops high level Stops the axis operation high level and turns the servo OFF immediately When performing the higher controller follow up 0 VU rub dE Mim Switches to the built in controller and maintains the servo status after a deceleration stop Switches to the built in controller and turns the servo OFF after a deceleration stop Switches to the built in controller performs a deceleration stop and turns the servo OFF immediately Switches to the built in controller and maintains the servo status after an immediate stop Switches to the built in controller and turns the servo OFF after an immediate stop Switches to the built in controller performs an immediate stop and turns the servo OFF immediately 229 Excessive position deviation error processing type While in machine setting mode Minimum value 0 Long Maximum value 5 OverSpeedErrorT ype Initial value 1 Short Unit None OVPeErrT yp Specify the processing type when an excessive position deviation error occurs When operating the built in controller axis 0 1 Turns the servo OFF after the axis operation stops low level 2 Stops the axis operation low level and turns the servo OFF immediately 3 4 Turns the servo OFF after the axis oper
77. ation stops high level de Maintains the servo status after the axis operation stops low level Maintains the servo status after the axis operation stops high level Stops the axis operation high level and turns the servo OFF immediately When performing the higher controller follow up 0 SAM b cao ee Switches to the built in controller and maintains the servo status after a deceleration stop Switches to the built in controller and turns the servo OFF after a deceleration stop Switches to the built in controller performs a deceleration stop and turns the servo OFF immediately Switches to the built in controller and maintains the servo status after an immediate stop Switches to the built in controller and turns the servo OFF after an immediate stop Switches to the built in controller performs an immediate stop and turns the servo OFF immediately Monitor List Monitor No 300 301 302 303 304 305 310 317 318 320 321 322 323 324 325 328 335 337 338 339 340 341 342 343 345 346 347 348 349 354 Monitor name Currently under operation Axis is under operation Error status Alarm status Driver ready Servo ready Display of program number under execution Completion of homing status display Homing operation The measured value Pulse position command value Pulse position current value Pulse position deviation Command unit command value scaling data command unit side Scaling data pul
78. ation types can be selected separately There are two options for acceleration and deceleration a constant acceleration type and an S shaped type where the acceleration deceleration follows a second order spline Generally the S shaped type can limit vibrations in the machine better but the peak torque or peak thrust at acceleration deceleration become greater and a correspondingly larger motor torque or motor thrust will be required The acceleration deceleration time can also be selected separately The values of the 7 Acceleration time during a trapezoidal move and 8 Deceleration time during a trapezoidal move parameters are set to values equivalent to the maximum velocity shown in the 357 Maximum velocity monitor The actual acceleration deceleration time becomes the value obtained by multiplying the maximum velocity by the velocity ratio during a trapezoidal move By doing so the same acceleration can be maintained without changing 7 and 8 even when the feed velocity setting is changed Waiting for trigger Waiting for trigger q 200ms div l 200ms div NORM 5kS s E NORM 5kS s 7 Acceleration time duririg a 8 Deceleration time during a apezoidal mo me E TE T e ETE aa aaa eee IUE judo Maximum velocity Actual deceleration time Constant co v m e ee ee x acceleration dS dott c Ho et cx Ad EU SERET dto s NEO EU eres a MI E
79. ay from the selection text field in order to display the logical setting of that number 4 Click the check boxes of the I O points to change the logical setting Note An I O point with a check mark is set to positive logic A contact and an I O without a check mark is set to negative logic B contact 5 Click Set S 6 When the setting is completed follow the message and reset the driver 2 Uploading from the driver to a file 1 Click Upload U in the I O configuration dialog box 2 Enter the name of the file to which I O configuration is to be saved Do not enter a file extension 10c it is added automatically 3 Click Save S to start uploading If you wish to stop the uploading click Cancel 8 28 L 3 Downloading from a file to the driver 1 Click Download D in the I O configuration dialog box 2 Enter the name of the file to be downloaded to the driver Do not enter a file extension 10c it is added automatically 3 Click Open O to start downloading If you wish to stop the downloading click Cancel 4 When the downloading is finished follow the message and reset the driver 8 29 Y DrvGil PC Utility 8 6 3 Pulse Set 1 Pulse setting 1 Click Puls Config P in the Main Menu dialog box 2 The Puls configuration dialog box is displayed and the current setting status is read Pulse configuration Axis Coordinate Director
80. ayed in the input text field ES 5 It is possible to display a maximum of ten transmitted character strings in the order of transmission in the input text field by pressing the T arrow key on the PC keyboard By pressing the Y arrow key the character strings displayed by pressing the T arrow key can be displayed in the reverse order 8 9 e DrvGll PC Utility 1 Parameter monitor In the Terminal menu click Parameter Monitor M under Monitor to display the Parameter Monitor dialog box see Figure 8 10 If the number of a parameter monitor you want to monitor is entered in the parameter monitor number text field the contents and values of the corresponding parameters are displayed Up to five parameters monitors can be monitored and they can be switched on and off by clicking their respective switch check boxes the update cycle of the parameter monitor values can be shortened by decreasing the number of parameters to be monitored Parameter monitor number text field Parameter Monitor K ModeExec T zal e 1301 p AxiExec Iv 302 Error Iv EE Alarm 444 Parameter monitor Contents of value parameter monitor Figure 8 10 Parameter Monitor dialog box L 2 1 0 monitor In the Terminal menu click O Monitor I under Monitor to display the I O Monitor dialog box see Figure 8 11 With the I O Monitor dialog box it i
81. be aligned to a sufficient degree Please note that if the deviation between the two cores becomes 10 um or more the bearings inside the motor may be damaged The core deviation should be 10 umm or less MVE OCI CE OM ERR ER ERE 1 Chapter 1 Overview of the Product ecce 1 1 1 1 Aboutthe DYNASERV DM DB Setl6Ssud betty rer tiara iran 1 2 L2 About the DrvGIl Type Driver iue p EIE bb e tar ET Ut Idee tene eveniet 1 3 I Product Cont CULATION ainni a ia o erm s eit bc et reve Pete ecu deed 1 4 L4 ModelNames and Ode Ss nisin HER RO e eb rM Ete ada set ibd eee arse 1 5 15 Nameand Function of Each Patan 1 6 1 6 System Configuration Dig Oram risa 1 10 Chapter 2 A pecie ope plici pp ELLE 2 1 2 1 Installation ot tbe Motor citaciones 2 2 22 Anstallatiom OL the Ee Ad 2 3 Chapter 3 Connection and Wiring ccce 3 1 3 1 Diagram of Overall Conectada 3 2 3 2 Cable Spectator dada 3 3 3 3 Connection between Motor and Driver sss sse 3 4 34 Wiring of Motor AC Power Supply and Ground Cable 3 6 o W bcorlb codeb CA DIG AA A 3 8 36 MW rnne ot Controller Cable abia 3 9 E Wine of sensor Brake Termina c ooo ott en s tte er Ente edes 3 10 3 8 Wiring of Regenerative Alarm Contact lt CNA gt For s00W Level Drive ONY espe A teet Ee RE ERU Red 3 11 Chapter 4 Basic Settings for Operating the Motor 4 1 4 1 Procedure CEIOWGBOEL oil ollas 4 2 AD PP v ade tpi Rd 4 3 ao Anstalime tae PC Unity Me PG oo 4
82. box 8 7 e DrvGll PC Utility 8 3 4 Main Menu When you start the PC utility the MainMenu dialog box appears see Figure 8 8 See the following chapters for how to start the actual operation End al Figure 8 8 MainMenu dialog box 8 8 Od 8 4 Operation Menu 8 4 1 Terminal Using this menu you can send and receive character strings to from the driver monitor parameters monitors as well as errors alarms and use parameter command help Click Terminal T under MainMenv to display the Terminal dialog box see Figure 8 9 Input text field Terminal mode Morutor c Hide D 16 RID VelOvenel 1 0000 fl C LO MonitoxI C Param Mon M RID EnghshDuplay 7 Axis signal A Enorlam t List Hide L C Param help H C Command helpt E zs Prev Resend E Mext Re edit F Ex x Hi Display text area Figure 8 9 Terminal dialog box Sending receiving character strings 1 Enter a character string in the input text field and press the Enter Return key The character string is sent to the driver and at the same time displayed in the display text area 2 When a character string is received from the driver it is displayed in the display text area 3 If you click Resend R the character string transmitted last time is sent again 4 If you click Re edit P the character string transmitted last time is displ
83. ches to the built in controller and turns the servo OFF after a deceleration stop 2 Switches to the built in controller performs a deceleration stop and turns the servo OFF immediately 3 Switches to the built in controller and maintains the servo status after an immediate stop 4 Switches to the built in controller and turns the servo OFF after an immediate stop 5 Switches to the built in controller performs an immediate stop and turns the servo OFF immediately Over travel error function in the direction processing Always type Minimum value 0 Long Maximum value 5 Hot ErrorType Initial value l Short Unit None Hot ErrTyp Specify the processing type when an over travel error in the direction occurs When operating the built in controller axis 0 Maintains the servo status after the axis operation stops low level 1 Turns the servo OFF after the axis operation stops low level 2 Stops the axis operation low level and turns the servo OFF immediately 3 Maintains the servo status after the axis operation stops high level 4 Turns the servo OFF after the axis operation stops high level 5 Stops the axis operation high level and turns the servo OFF immediately When performing the higher controller follow up 0 Switches to the built in controller and maintains the servo status after a deceleration stop Switches to the built in controller and turns the servo OFF after a deceleration stop Switches to the built
84. d can actually be measured by the oscilloscope function see Chapter 8 of the PC utility Verify them with the monitor numbers listed below 365 Present velocity value o 369 Present current value A D n Velocity duty n Current duty It b Is Current A NR No of revolutions rps B 4256 C 103 Eauation 3 tcy Cycle time msec 1 iu 3 ti t2 t5 Time msec B NR l n 5 ti 2t2 t3 x5 pa x 100 Equation 1 1 n P E E x zty x 100 Equation 2 Figure 11 2 Average velocity current duty S Figure 11 1 n simplified graph O 5 rps 96 O gt L 9 i i l 2 i L O ti te its i 3 Sato o my i 9 o D Q S ES i og i Nr L e oO i i Z Le r Current duty nc 96 11 13 Ill Specifications Example NR 4 rps h I3 9 A I2 3 A ti t2 t3 l Atcv When calculating from the above setting example 4 2 l i HR a tex toy 7 tcy Na 100 2 5 x 100 40 81 9 81 M ne gq tev 7 tey g tcy x 5 tc x 17100 900 1 When substituting the above into equation 3 40 2 6 x19 98 lt 103 Therefore the result satisfies the equation and the setting is deemed to be correct 2 Restrictions on the driver The repeat frequency caused by the driver is restricted by the heat generation of the driver s built in regenerative resistor If a repeated operation is perform
85. d manual tuning It also allows you to adjust various compensation filters e Oscilloscope This function displays graphs of time series of parameter monitor values 8 1 2 Overview of the Action Menu In the action menu you can set and display parameters display monitors and start or stop actions related to the operations listed below Homing move jog move and Test operation 8 1 3 Overview of the Data Management Menu The data management menu contains the following seven functions e Parameter This function allows you to save all the parameters to files and register them from files It also allows you to edit the machine setting parameters e I O set This function allows you to set the logical setting of I O points e Pulse setting This function allows you to perform various parameter settings related to pulses e Absolute precision compensation This function allows you to edit register and save absolute precision compensation data This setting is valid if the absolute precision option is set to yes with which the absolute precision of the motor is compensated for the entire circumference 8 2 Cc NNNM 8 2 Installation 8 2 1 Installation under Windows 95 98 98SE Me NT4 0 2000 The DrvGII utility hereinafter referred to as the PC utility runs on Windows 95 98 98SE Me NT4 0 and 2000 It can be installed via Add Remove Programs under the Control Panel in Windows If an older version
86. d parameters 421 450 448 451 849 AN Caution Operation width under testing mode Position control bandwidth 1 Position control bandwidth 2 Velocity control bandwidth 1 Velocity control bandwidth 2 Position integral limiting value Analog monitor selection Test operation monitoring gain analog monitor e Obtain the fastest possible rise time of the response waveform and make adjustments so that overshoot will not occur e The closer the position control bandwidth and velocity control bandwidth are the more the waveform will oscillate e f the inertia and weight of the load are large the oscillations may be eliminated by setting the position integral limiting value to a small value Stopp Stopp Stopp CHI 1 B ms div CHI 1 i B ms div CHI 1 E 50ms div DC 10 1 50ms div DC 10 1 i l E S0ms div DC 103 i E 50ms div NORM20kS s T NORM20kS s i NORMZ0kS ZS Increase the position control bandwidth Make adjustments until this waveform If the velocity control bandwidth cannot is reached be increased any further the position control bandwidth should be decreased 5 2 3 Auto Tuning Operation This operation makes the rotor oscillate measures the inertia and weight of the load and automatically sets the parameters for the control part It accelerates decelerates with half the rated torque and rated thrus
87. d with the COIN LED on the front panel it turns on to indicate the position settling status Furthermore it is output to the COIN of the CN3 analog monitor interface by a digital signal Positioning status 1s the status where an acceleration deceleration command for a move is completed and in position settling status The positioning settling status is displayed in the 329 Positioning status monitor Settling wait is a function invoked to keep on waiting until the positioning status is reached at the end of a move Settling wait can be made in two ways depending on the operation never perform settling wait or always perform settling wait Operation O Never perform Jog move test operation auto tuning operation Jason parameters 458 Positioning settling width 1 445 Positioning settling width 2 446 Positioning settling width 3 447 Positioning settling width 4 61 Position setting signal chattering processing count 4203 Using position current value filter 5 17 5 6 2 Velocity Monitor and Analog Monitor The current velocity value of the motor is output to VEL of the CN3 analog monitor interface as the velocity monitor signal The signal sensitivity of the velocity monitor V rps in case of a rotating DYNASERV motor and V mps in case of a linear LINEARSERV motor can be obtained by multiplying the 69 Velocity monitor gain parameter setting by the 356 Digital velocity sensitivi
88. e combination of specifications Please check with our sales staff before determining the specification 1 Motor LESE ME EET el iMotor series name DM or DR Design version 1 standard 5 high speed ilVMaximum output torque N m three digit number E Motor type outer diameter A 4264 B 4 160 C 0116 E 0205 Destination 0 domestic Motor part special shape 0 standard B light weight C with flange D with mechanical brake F with base Mechanical precision only for models requiring mechanical precision Omitted if it is not required 1 mechanical precision of 5 mm or less 2 mechanical precision of 10 mm or less um 3 mechanical precision of 20 mm or less DNOOOOOOOOO OoOo _ i With compatibility function 2 Driver Driver series name UD for DM and UR for DR Motor type four digit number of the motor one line of alphabet letters iBBox type first digit 0 domestic standard second digit A 500W level without regenerative terminal B 500W level with regenerative terminal K 2kW level with built in regenerative unit L 2kW level without regenerative unit i Current A 5A DM small diameter B 6A DM flat C 15A DMB type DRB type DR5000B type D 20A DMA type DRA type DRE type DR5000E type i Voltage 1 100V system 2 200V system mlnterface first digit S pulse train position command
89. e decrease The torque limiter parameter should be changed when limiting the motor torque 3 Filter setting Click Filter F under Servo Tuning to display the Filter dialog box see Figure 8 17 The filter setting 1s divided into two sections a first order delay filter setting and a notch filter setting 1 To set the first order delay filter Select one from None 20 80 30 120 and 40 160 2 To set the notch filter Manipulate the frequency setting scroll bar and set e Clicking the arrows at either end The frequency changes in steps of one e Clicking between the slider bar and an arrow The frequency changes in steps of ten e Dragging the slider bar The frequency is set to the value at the position to which the slider bar is moved Refer to Chapter 5 for how to use the filters Filter Slider bar First laz Filter Hz Hotch Filter Hz l 1500 yi Hone C 20 80 30 120 C 40 160 2 1500 Frequency setting scroll bar T El El El 50 1500 Figure 8 17 Filter dialog box 8 15 e DrvGII PC Utility 8 4 3 Oscilloscope The oscilloscope displays time series of parameter monitor values Click Oscilloscope O under MainMenv to display the Oscilloscope dialog box Note The parameter monitor information is obtained automatically from the driver when the Oscilloscope dialog is started Please wait for a while until it becomes ready for use
90. e drive error Long SlaveDriveError Error type KIND RGR Always error Short Measures TYPE SRV Servo OFF SlvDrvErr Main cause A tandem slave driver error occurred Action to take Check the error code of the tandem slave driver and take measures against the tandem slave driver problem This error occurs only if the driver is the tandem master driver Error number 20 Power module error Long PowerModuleError Error type KIND RGR Always error Short Measures TYPE SRV Servo OFF PwrMalErr Main cause A power module error in the driver was detected Subcode 1 Over voltage over voltage of main power supply 2 Over current over current detected 1 PM fault Action to take Error number 21 AC power error Long AC PowerError Error type KIND SRV Servo error Short Measures TYPE SRV Servo OFF AC PwrErr Main cause Either the main power supply is not input or the input voltage has not reached the rating level Action to take Verify the main power supply Error number 22 Over load Long Overload Error type KIND RGR Always error Short Measures TYPE ELS Others Overload Main cause The motor use is overloaded Subcode 1 The motor is overheated 2 The power module heat sink is overheated Action to take Error number 23 Excessive position deviation Long OverPerr Error type KIND SRV Servo error Short Measures TYPE ELS Others OverPerr Main cause The position deviation was greater than the tolerance Ac
91. e operation to be performed A response is issued when the corresponding operation is complete In case of operations that do not end by themselves such as test operations perform the next operation without waiting for the response Operating action name No of fields Auto tuning operation 3 1 1 7 4 2 Stop 2 Stop commands are used to end operating actions other than jog moves They can be issued via the RS232C interface when the setting of the operation mode has given the main operation authority to the RS232C interface The driver s response to stop commands varies depending on the current operating action Refer to the table below The response is issued immediately Operating action name Test operation Ends the operation when the motor returns to the start position Auto tuning operation Ends the operation when the oscillation command to the motor is completed Homing move Immediately decelerate and stop the move and ends the operation Mechanical setting mode Invalid because this operation cannot be completed ignored 7 4 3 Abort 01 The abort command stops operating actions other than jog moves It functions irrespectively of the operation mode Unlike with the stop commands the motor immediately decelerates and stops and the operating action 1s ended even during an operation that involves movement When the M function is being executed the abort command stops the execution and ends the operating action
92. e unit 16 200 lt JIL K a fu s GB 215 1 Tran 5 i x ES ESAS IE 11 11 IM Specifications 3 ULILILIEILILIEIK 2kW level with regenerative unit 110 1 P 66 250 4 AENA RARAS I Nt YY IIH OO l E all AN IN NE 11 12 L 11 4 Restrictive Conditions for the Frequency of Repeated Operations DR5000B Series Only When running and stop operations are performed repeatedly on DY NASERV DR5000B series DR5030B 5050B 5070B because of a high number of rated revolution some restrictions may apply based on the characteristic of the motor and the driver with respect to the frequency of repeated running and stop operations Consider those restrictions carefully when using the motor 1 Restrictions on the motor The operating conditions under which the motor rotates and stops repeatedly are set assuming that the motor is mounted on a metal stand and the ambient temperature 1s 45 C When the motor is operated repeatedly with a cycle of acceleration uniform speed deceleration and stop if the load conditions and the operation time are set as shown in Figure 11 1 it is necessary to satisfy the equations below In addition if either the average speed number of revolutions or the current duty is known the other can simply be obtained from the graph shown in Figure 11 2 The motor current and spee
93. ection direction direction 150ns min 150ns min Ade lt lt 3us min DOWN i 17 300ns min 6us min The signal should be H when active The signal should be H when active status for flowing current to the status for flowing current to the The signal should be H when active Caution driver photocoupler driver photocoupler status for flowing current to the PLS_DIRECT PUA_IN X Unchanged x S T Unchanged X SDB_IN Ne Unchanged x S X Unchanged X As for the PLS it should be L when As for both the UP and DOWN they driver photocoupler normal should be L when normal The position command value instructed from the controller interface can change the weight of a single pulse on the interface by the input signal PLS DIRECT When the status of the input signal PLS DIRECT is 0 a single pulse on the interface becomes the value set with the 207 Simplified scaling weighted data parameter While the status of the input signal PLS DIRECT is 1 a single pulse on the interface is independent of the value set with the 207 Simplified scaling weighted data parameter and becomes a single pulse inside the driver However do not change the status of any of the PLS SIGN UP DOWN and A B signals for 2 msec each before and after sw
94. ed to by if they can be written to e I O monitor display In this display the updated I O status of the PLC interface and the signal status of the TB2 sensor break can be displayed repeatedly e Special command display In this display you can issue common commands in a simple manner e Program menu display In this display you can edit copy and delete programs 9 2 Features and Part Names Display area Upper row input display Lower row function key content display Emergency stop Numeric keypad Shift key T Scroll keys lt Cursor keys Function keys INS Insert key DEL Delete key BS Backspace key Minus sign subtraction operator key Multiplication operator key Division operator key If you press another key while holding down this key that key will have the meaning indicated Q Q 7 S on the lower part of the key Return ke YOKOGAWA 4 Command input execution 9 2 L 9 3 Switching Displays Each display shifts in the order shown in the figure below When the power is turned on and the operation display pendant is connected the initial screen shows the terminal mode display Each display of the program menu display can be accessed by selecting edit EDT copy CPY or delete DEL d y N N P Terminal mode display it S l N P N P Parameter monitor display 001 HOT_ErrEn
95. ed using the pattern as shown in Figure 11 3 the repeat frequency as shown in Figure 11 4 is restricted by the load inertia using the number of revolutions as a parameter If the load inertia exceeds 1 kgm or if it is necessary to use on DYNASERV DR5000B series DR5030B 5050B 5070B outside of the limits please contact Compumotors Applications Dept Figure 11 3 Figure 11 4 100 Maximum velocity 80 S 9 E 2 E l 60 w Ter Time gt 60 Repeat frequency times min o 2 40r ab Q 02 U 20 0 0 0 5 1 0 Load inertia kgm 11 14 Parameter List STD4 Parameter No Parameter name Minimum value Maximum value Initial value Unit Possible to change 1 Enables the over travel error function in the 0 1 0 None Always direction 2 Enables the over travel error function in the 0 1 0 None Always direction 4 Selecting the acceleration type 0 1 0 None Always 5 selecting the deceleration type 0 1 0 None Always 7 Acceleration time during a trapezoidal 1 9999 1000 msec Always move 8 Deceleration time during a trapezoidal 1 9999 1000 msec Always move 9 Feeding Velocity 0 16000000 Motor dependent Axis command Always unit sec 10 Jog Velocity 0 16000000 Motor dependent Axis command Always unit sec 11 Over travel search velocity during a 1 16000000 Motor dependent Axis command Always homing move unit sec 12 Homing operation Home sensor proximity 1 16000000 Motor dependent Ax
96. ely When performing the higher controller follow up 0 Switches to the built in controller and maintains the servo status after a deceleration stop 1 Switches to the built in controller and turns the servo OFF after a deceleration stop 2 Switches to the built in controller performs a deceleration stop and turns the servo OFF immediately 3 Switches to the built in controller and maintains the servo status after an immediate stop 4 Switches to the built in controller and turns the servo OFF after an immediate stop 5 Switches to the built in controller performs an immediate stop and turns the servo OFF immediately 93 IFB EMG Servo status Always Minimum value 0 Long Maximum value 5 IfDBEmgServoCondition Initial value 0 Short Unit None lfoEmgServ Specify the servo status of the motor when executing EMG from the interface board When operating the built in controller axis 0 1 Turns the servo OFF after the axis operation stops low level 2 Stops the axis operation low level and turns the servo OFF immediately 3 4 Turns the servo OFF after the axis operation stops high level S Maintains the servo status after the axis operation stops low level Maintains the servo status after the axis operation stops high level Stops the axis operation high level and turns the servo OFF immediately When performing the higher controller follow up 0 VU rub dE Mim Switches to the built in cont
97. ent to command unit 100 5 7 2 Limiting and Checking Maximum Velocity When Changing Simplified Scaling Weighted Data and Maximum Velocity Parameters The following maximum velocity limiting and checking are performed during processing when the power is turned ON after simplified scaling weighted data is changed Limit item 1 A limit is set when the maximum velocity in command units unit s exceeds 9999999 2 A data checksum error is generated when the maximum velocity in pulse units pls s exceeds 8000000 5 7 3 Auto Conversion and Clear Functions When Changing Simplified Scaling Weighted Data When simplified scaling weighted data is changed the following parameters are automatically converted Related parameters 3 HO Feeding velocity 10 Jog velocity 11 Over travel search velocity during a homing move 12 Homing operation Home sensor proximity signal search velocity 413 Homing operation Home sensing feed velocity 1 415 Homing operation Origin position offset move feed velocity 29 Offset distance from the Home position 431 Operation width under testing mode 32 Operation width under Auto tuning 458 Positioning setting width 445 Positioning setting width2 446 Positioning setting width3 447 Positioning setting width4 4213 Maximum velocity 5 7 4 Limiting the Maximum Parameter Values Limit processing is performed for the following parameters related to velocity at the time of
98. ere is a heating source near by the temperature should be prevented from increasing by installing a shielding cover etc the temperature around the driver should not exceed 50 C Note 1 B fthere is a source of vibration near by the rack should be installed via a vibration absorption material E In addition to the above it should be avoided to install the driver in surroundings that are high in temperature and humidity filled with dust metal powder corrosive gas etc 2 Installation Method B The standard way of installation is to install the driver on a rack aligning the top and bottom with the front panel in the front Do not put the panel surface into a sideways position or upside down see the figure below E The driver box employs a natural air ventilation system Make sure to secure space for ventilation above and below 25 mm or more and right and left 25 mm or more see the figure below B Make sure to use the installation holes four places of the upper and lower brackets at installation Should not be installed in a sideways position Should not be installed upside down Note 1 2 kW level drivers but not other types will have the current characteristics shown in the graph below as a function of the ambient air temperature during operation Therefore it is recommended to use the driver in an ambient air temperature of 40 C or less in order to prolong its life Current derating curve 50 4
99. es 0 5 um Linear LM1 2 0 25 um 0 25 um LM3 5 0 5 um 1 0 um I PD position control position integral proportional control velocity proportional control Various feed forward functions position velocity acceleration Various standard filters velocity command filter velocity feedback filter first order delay filter Optional filter notch filter 2 channels Position control bandwidth 1 Hz to 32Hz velocity control loop width 5Hz to 200Hz Position integral limiter setting Various feed forward percentages position velocity acceleration Various standard filter settings velocity command filter bandwidth velocity feedback filter Control enable disable bandwidth first order delay filter setting part Optional filter setting notch filter bandwidth SNS 1 Calculates proportional gain and acceleration feed forward gain of the velocity control part automatically based on measurement by the auto tuning operation or manual setting of Encoder resolution position command resolution when shipped Method the load inertia weight with respect to the settings of velocity control bandwidth and acceleration feed forward percentage Calculates position control bandwidth velocity control loop bandwidth and position integral limiting value automatically during execution of the auto tuning operation or by manual setting of the servo stiffness Trapezoidal move Acceleration curve and deceleration curve can be selected individuall
100. eters when they are reset will be generated internally by the motor Related parameters 9 Feeding velocity Value obtained by converting the motor rating velocity o o into command units 10 Jog velocity Value obtained by converting the motor rating velocity into command units 2 11 Over travel search velocity during a homing Value obtained by converting the motor rating move velocity 0 1 into command units 2 12 Homing operation Home sensor proximity Value obtained by converting the motor rating signal search velocity velocity 0 1 into command units 2 13 Homing operation Home sensing feed Value obtained by converting the motor rating velocity 1 velocity 0 05 into command units 15 Homing operation Origin position offset Value obtained by converting the motor rating move feed velocity velocity 0 1 into command units 4831 Operation width under testing mode Value obtained by converting the motor rating o velocity 0 002 into command units 32 Operation width under Auto tuning Value obtained by converting the motor rating velocity 0 02 into command units E 213 Maximum velocity Value obtained by converting the motor rating velocity into command units o 207 Simplified scaling weighted data DM 4 DR 2 58 Positioning setting width 1 Pulse width equivalent to command unit 1 2 Pulse width equivalent to command unit 5 3 Pulse width equivalent to command unit 20 4 Pulse width equival
101. etup will now launch the program Select your option below Click Finish to complete Setup E Figure 8 3 Setup Complete dialog box To start the program select Launch program file and click Finish If you do not want to start the program just click Finish If you are prompted to restart the computer simply follow the message and restart it 8 4 L 8 2 2 Starting the PC Utility In order to start the PC utility under Windows click the Start button Program Specified program folder and then YOKOGAWA E The Version Information dialog box see Figure 8 4 1s displayed for several seconds and the PC utility starts up By default the specified program folder is YOKOGAWA E DrvGll Version Infonation Version of the PC utility DreGII Version 1 2 4 Copyright C 2000 Yokogawa Precision Corp Figure 8 4 Version Information dialog box 8 5 S DrvGll PC Utility 8 3 Preparation Connect the serial port of the PC with the serial port of the driver with a dedicated cable Do not use any of commercially available cables Since 5V power is being output from the driver as the power supply for the operation display pendant a breakdown may occur in the PC if such cable is used 8 3 1 Selecting a Communication Port When you start the PC utility the ComPortSelect dialog box appears in the left side of the screen see Figure 8 5 Change t
102. g stop and set a new trigger condition again The simplified terminal function is provided in the Oscilloscope dialog box Use this function in order to change parameter values or to start an operation 8 18 Cd 8 5 Action Menu In the operation menu you can set and display parameters display monitors and start or stop actions related to the operations listed below Homing move jog move and Test operation Click Drive D under MainMenv to display the DriveMenu dialog box see Figure 8 20 Drvelenu Homing C Jost TI Test adet T Lu Figure 8 20 DriveMenu dialog box 8 19 Y DrvGil PC Utility 8 5 1 Homing Click Homing O in the DriveMenu dialog box to display the Homing dialog box see Figure 8 21 If the connection with the driver is established the current values of the related parameters are read and can be edited Start LD Abort A Terminal T ErrEeset E Parameter number cell setis SettingValue 2 l HOT EnerEnable Changed value text H2 HOT EnorEnable field 4 hecProfeel H5 DecProfeel 1 Parameter content 8 TdecTrapezoid cell 11 ORG OT_Search fel 131072 amp l ORG ORG Search Vel 1310772 Parameter value cell 417 Mirra Well BS SE Exit X 1 Figure 8 21 Homing dialog box 1 Editing parameters 1 Click the parameter content cell of the parameter to be chan
103. ge write the values within the range allowed for each parameter monitor 5 1 1 General Parameters These parameters can be read and written at all times and an operational meaning is assigned to each The details of each parameter will be explained separately Note that these parameters are stored in the driver they will not be deleted even if the power is turned off 5 1 2 Mechanical Setting Parameters It is always possible to read these parameters but writing is possible only when operating in mechanical setting mode These parameters are set only once when the device is started up An operational meaning is assigned to each The details of each parameter will be explained separately Note that these parameters are stored in the driver they will not be deleted even if the power is turned off Note If these parameters are changed during execution in mechanical setting mode the changes made to the values will not be reflected until the power is turned on again Therefore please note that if you try to read a parameter value after you change the parameter the value before the change is read until you turn the power off and on again 5 1 3 Monitors These variables are used to display the driver s status Only reading is allowed at all times and each has an operational meaning The details of each parameter will be explained separately 0 2 L 5 2 Operation Functions Idle status Controller interface position command follow u
104. ge back in which it attaches N recognition keys to that transmission character string If for instance the host device issues a transmission character string to a driver that does not generate an immediate response the host device may issue the next transmission character string before the response is returned In such cases it becomes difficult for the host device to recognize to which transmission character string the response character string returned afterward is issued In this case by issuing transmission character strings with different recognition key numbers it becomes possible to judge to which transmission character string a particular response corresponds simply by obtaining the recognition key number as the response is received 7 4 L Transmission character string Transmission character strings are classified as follows The details about the commands and parameter commands will be explained separately in Section 7 4 Commands and Section 7 5 Parameter Commands Explanation Receivable status commands Commands for operating the driver pecelvable Stalls Changes depending on the command Parameter Commands for setting parameters and Receivable status changes commands reading parameter monitor values depending on the parameter Response character string A response character string is structured as follows Header 1 Prompt Field1 Field2 Field3 Response character string
105. ged The current value is displayed in the changed value text field 2 Enter a value in the changed value text field and click the Enter Return key or click another cell to make the new parameter value valid 3 Repeat steps 1 and 2 as necessary and click Set S to set the changed values in the driver If there is an error in the set value a warning message is displayed and the parameter is read again Parameters whose setting values are erroneous will not be changed therefore the changed parameters should be verified 8 20 L 2 Operation The motor can be operated when the operation mode is set to the RS232C operation enable mode see Chapter 5 When the RS232C operation disable mode is set some buttons are disabled Start 1 Set the motor to Servo ON see Chapter 5 2 Click Start D The measured value of the homing is displayed after the homing operation is finished Abort 1 Click Abort A The motor decelerates and stops Error Reset 1 Click ErrReset R Errors that can be recovered are canceled Simplified terminal 1 Click Terminal T 2 Send or receive character strings 8 21 Y DrvGil PC Utility 8 5 2 Jog Move Click Jog J in the DriveMenu dialog box to display the JogMove dialog box see Figure 8 22 If the connection with the driver is established the current values of the related parameters are read and can be edited
106. gh speed high torque and high precision outer rotor type direct drive motor The DM series motors are contained in an aluminum chassis and have a built in optical encoder There are four models in the A series with output torques of 50 to 200N m and five models in the B series with torques of 15 to 75N m The outside diameters are 264 mm for the A series and 160 mm for the B series Each has a shaft hole of 58 mm and 25 mm in diameter at the center respectively The outer shapes of the small diameter and flat type DM series motors have successfully been made flatter and smaller in diameter based on the basic performance of the conventional DM SD series An outer diameter of 116 mm and a height thickness of 45 mm respectively are achieved for the DM small diameter type and the DM flat type Both types are equipped with an optical encoder which is characteristic of the DM series and have the added features of high resolution and high mechanical precision They are actuators with excellent output to space ratios and the best available option for servos for semi conductor manufacturing devices precision test devices etc They can be used in various applications The DYNASERV DR series is a series of operational direct drive motors that was developed based on the field proven DM series to satisfy new demands There are six A type models 50 to 400N m with an outer diameter of 264 mm 10 inches seven E type models 30 to 250N m with an outer d
107. gt COMP1 y 4709 poze or equivalent Photocoupler contact etc 5 4 T IN ERR RESET ka aw K ae lt gt E E 20 IN SERVO z ARN Val T W n i 21 IN MODE START z AY ds c lt gt i ANN 3 22 IN ABORT Z Ava G i gt AN La l O e y 23 IN MODE O s AY sh Val i K z y ba i 24 IN MODE 1 s AY Yu L lt i o WW a i 25 IN POSW O z AY ha Ht gt LAM ps E 98 IN POSW 1 s AV sty E lt gt ANN Vu o Y o 01 2 IN GAIN z AY G Va si S i T t L H 28 IN FN z AVS Yu L lt 9 o WWW 9 i 29 IN PLS DIRECT z AY fa Yu L S i 4 o NN Y ha l 890 IN PACT AVS ter lt gt ANN e p Y e y Y MA8330 or equivalent Photocoupler 12 to 24 VDC NE e MA8330 PS2805 or equivalent contact erc 03 OUT DRDY SO T a ANN lt i 5 Pi 2AD1820A or NI VA x ra 4 A NI S K i i OUT SRDY 4 e Jd WA lt 4 7 Wa etk e e AN e i 05 OUT BUSY ww FI O Jn WX lt gt 1 x Y 5 3 VW e i 1 06 OUT XOVL4 4 4 AAA t xv ANN gt e VA Ai i A eN 5 e 07 OUT OVERf M o Ey N ANN lt i gt X YA ey 24 ew G gg OUT COIN 44 yy t N ANN lt X V x XY A e AAN A 2 L 02 COMNT Tu AM26LS31 or equivalent 45 1 PUA_IN WES TLP115A or equivalent X ME PUA IN XJ vxo e 16 y z i 909 I i SDB_IN f lt 3 A ANN 3 e d SDB IN Eu XX oer lt 18 e Ne AM
108. hattering processing count Always Minimum value 1 Long Maximum value 100 COIN ChatterVolume Initial value l Short Unit None COIN_Vol Specify the chattering count when a position settling signal is generated If the absolute values of position deviations values after being filtered in case a position deviation filter is used continue to be shorter than the position settling width for the specified number of times a position settling signal will be formed Once any of the absolute values becomes out of such range a position settling signal will not be formed The check cycle is 2 msec 65 Value causing an error detection in the or CW direction Always Minimum value 1 Long Maximum value 999999 PosDevErrLimit Initial value 999999 Short Unit pulse PerrLim Specify the direction detection value when an excessive position deviation error occurs 66 Value causing an error detection in the or CCW Always direction Minimum value 999999 Long Maximum value 1 PosDevErrLimit Initial value 999999 Short Unit pulse PerrLim Specify the direction detection value when an excessive position deviation error occurs 68 Torque limit percentage Always Minimum value 0 Long Maximum value 10000 TorqLimit 9o Initial value 10000 Short Unit 1 100 96 TorqLimit9o This parameter can limit the torque or thrust 69 A Axis velocity monitoring gain digital monitor Always Minimum value 0 Long Maximum value 8 VelMonit
109. he precautions and observe the prohibitions explained below NW Please make sure to understand the information given below completely before you start reading the technical manual B Please keep the technical manual and this sheet handy while using the product In addition make sure that they are handed out to the operator of the product N Precautions Make sure to read the technical manual before using the device Operational mistakes and faulty wiring may result in damages and failure of the device Make sure to check the wiring once more before turning the power on Faulty wiring may result in fire electric shock or damage of the device Confirm that the proper combination of motor and driver parts is used Using the device with an incorrect configuration may result in failure Be sure to confirm the model MODEL on the rating nameplates Make sure the conditions of temperature humidity dust etc are as specified for the installation and storage environments Do not block the air vent of the device Keep the specified open space around the device as well Poor ventilation may cause overheating leading to failure Some of the motor parts are very heavy please pay sufficient attention to this when carrying and installing the parts If the weight is more than 10kg 22 04 lbs carrying or lifting tools should be used as much as possible Q Both the motor and driver parts should be installed in the specified orientation Q
110. he setting according to the communication port of the connected PC ComPortSelect C ComPort2 C ComPort3 C ComPort4 ComPorts C ComPorts C ComPort C ComPort Figure 8 5 ComPortSelect dialog box Note Settings made in the ComPortSelect dialog box are stored in a file It is not necessary to make settings from the next time you start the PC utility Change the setting as necessary 8 3 2 Selecting Channels When you start the PC utility the Communication mode dialog box appears in the upper left corner of the screen see Figure 8 6 If you are using one driver select a single channel and if you are using multiple drivers select multi channel addresses See Chapter 7 for how to make setting on the driver side Communication mode DI eS E of 3178 C3C8039 Figure 8 6 Communication mode dialog box Note The settings made in the Communication mode dialog box are not stored When the PC utility is started up a single channel is always set 8 6 Cc NM 8 3 3 Displaying Communication Strings When you start the PC utility the Communication string dialog box appears in the upper right corner of the screen See Figure 8 7 Any strings that the PC utility sends to the driver as well as any strings received from the driver are displayed regardless of the menu Communication string gt String sent lt String received Figure 8 7 Communication string dialog
111. iameter of 205 mm 8 inches and five B type models 8 to 60N m with an outer diameter of 150 mm 6 inches In addition there is a 5000B E type consisting of five high speed type models Moreover in addition to the above standard models several special type models are also available such as light weight types types with flanges types with brakes and high mechanical precision installation surface types 1 2 L 1 2 About the DrvGll Type Driver The DrvGII type driver is a digital servo driver with a RS232 communication developed as the successor to the conventional SD SR TM type driver Not only have the functions been improved but also the driver box volume has been made smaller and it can support the DYNASERV rotation type motors as well as the LINEARSERV series motors that are of the direct drive type The features include the following 1 The size of the driver is reduced to approximately half of the previous size comparison within our company 2 The internal resolution is increased by a factor of four for the DM series and a factor of two for the DR series 3 It can now support most of the models of the DYNASERV and LINEARSERV series 4 A sophisticated utility is now available and an oscilloscope function has been included as well 1 3 IB Overveiw of the Product 1 3 Product Configuration The following shows the configuration of this product Upon unpacking please check the model name and code of
112. ice and the other is a multi channel communication where 1 N communication can be performed by connecting one host device with several of these drivers a maximum of nine Please note that the connection and operation methods are different for each communication mode In addition the PC utility optional running under Windows can also be connected to the drivers via the RS232C interface in order to support setting operation and maintenance work on the drivers Refer to Chapter 8 DrvGII PC Utility for a description of how to use the PC utility 7 2 Connection and Setting Connectors and terminal assignment Made by Japan Aviation Electronics DELC J9SAF13L6 9 pins 01 FG 02 RxD 03 TxD 04 NC 05 SG 06 07 08 09 Do not use these connections since they are used for the operation display pendant Single channel The connection cables optional are available according to the PC to be connected DOS V NEC PC98 Driver RxD SG TxD SG C DOS V PC 7 TxD k SG Option cable 7 RxD CP7576S 020 2 m D sub 9 pin male Driver RxD SG TxD SG D sub 9 pin female D sub 9 pin male E PC98 D PC A TxD i 2d Option cabl ption cable 7 un CP75778 020 2 m RTS CTS D sub 25 pin male In order to set the communication mode to the single channel mode the rotary switch RS ID on the fro
113. in controller performs a deceleration stop and turns the servo OFF immediately Switches to the built in controller and maintains the servo status after an immediate stop Switches to the built in controller and turns the servo OFF after an immediate stop Switches to the built in controller performs an immediate stop and turns the servo OFF immediately e co e 96 Over travel error function in the direction processing Always type Minimum value 0 Long Maximum value 5 Hot ErrorType Initial value 1 Short Unit None Hot ErrTyp Specify the processing type when an over travel error in the direction occurs When operating the built in controller axis 0 Maintains the servo status after the axis operation stops low level 1 Turns the servo OFF after the axis operation stops low level 2 Stops the axis operation low level and turns the servo OFF immediately 3 Maintains the servo status after the axis operation stops high level 4 Turns the servo OFF after the axis operation stops high level 5 Stops the axis operation high level and turns the servo OFF immediately When performing the higher controller follow up 0 Switches to the built in controller and maintains the servo status after a deceleration stop Switches to the built in controller and turns the servo OFF after a deceleration stop Switches to the built in controller performs a deceleration stop and turns the servo OFF immediately Switches to the bui
114. ination is Incorrect motor driver model l EE numbers on the rating incorrect change to the combination dd nameplates correct combination Ee iie ambient Lower the ambient Ambient temperature is too high temperature is above 5 45 C temperature to 45C or less Check to see if the Reduce the load or replace Motor is overloaded motor operates without a motor with higher torque if any load the motor starts Improper mounting pete SCIENS Ar Tighten the screws loosened Check for abnormal l l e i Motor replacement is Bearing problem sound and vibration necessary Contact us from the bearings Check the mounting Reinforce the mounting base base Check the model If the combination is Incorrect motor driver model E LE numbers on rating incorrect change it to the combination EU nameplates correct combination Check the OVL error Review the operation Motor is overloaded l signal Reduce the load Position control bandwidth velocity control bandwidth Adjust to the proper value s SUE MSN nspect and or position integral limiting or perform auto tuning value are too small Check the model If the combination is numbers on rating incorrect change it to the nameplates correct combination Check the Refer to the connection Improper connections motor encoder diagram and connect connections correctly Mounting base vibration Incorrect motor driver model combination
115. ine setting mode Minimum value 0 Long Maximum value 1 UsePfbMonFilter Initial value Motor dependent Short Unit None UsePfbFil Specify whether or not to use a filter to generate the position current value However the filter will not function for the position information that is fed back to the position control part regardless of the setting of this parameter 0 Do not use 1 Use 204 Command pulse type Minimum value 0 Maximum value 2 Initial value 2 Unit None Specify the position command pulse type 0 PUA IN UP SDB IN DOWN 1 PUA IN A SDB IN B 2 PUA IN PLS SDB IN SIGN 205 Monitor pulse type Minimum value 0 Maximum value 1 Initial value l Unit None Specify the position monitor command pulse type 0 UA OUT UP DB OUT DOWN 1 UA OUT A DB OUT B 206 Enabling current limit external input Minimum value 0 Maximum value 1 Initial value 0 Unit None While in machine setting mode Long CmdPlsType Short CmdPlsType While in machine setting mode Long MonPlsType Short MonPlsType While in machine setting mode Long ExtCurLmtEn Short ExCurLmtEn Specify whether or not to perform a current limit according to the current limit external input signal 0 Do not perform 1 Perform 207 Simplified scaling weighted data Minimum value Maximum value 64 Initial value 4 Unit None While in machine setting mode Long CmdWeight Short CmdWeight Specify how many pulses a single comm
116. ined tenance D et aaa n earn A 7 7 LS Parameter COMmMandS ne da ga ted Leeds 7 8 Chapter 8 DrvGll PC Utility 8 1 8 1 Buda W 8 2 oL Overview or the Operation D ome e aO teo as 8 2 5 12 OVERVIEW OF the Action Mela 8 2 8 1 3 Overview of the Data Management Menu ccccesessssssssssssesssesseseeeeeeeseeaaeaasaaaaaaaaaasaaaaaagaas 8 2 S2 E E m 8 3 8 2 1 Installation under Windows 95 98 98SE Me NT4 0 2000 eee 8 3 AS al ER UY RE MO r es 8 5 5 9 Prepara 8 6 8 9 1 Selectine a Communication POFt oe repere ie 8 6 5 9 2 Selectinp C hannelson eec e tou E edt EDU MPa usd S 8 6 uu Displaying Communication SINS Ss aiite romae Pape asi Pepe eds Pen rese tape Cer edt eed 8 7 A Mr A t 8 8 Du ODOLQUOHIMeBU S eet ite reos PR lie etd ilo efe e doles etude tod 8 9 SEN AM A OR 8 9 SAL SENO TUDIN Oorr testi o O O OU E M Sea ae os ee oot A OU rei a eu pH 8 14 BAD SOSCIITOSCODOL ur A en a ote ep iR A ei a eren n eu ones 8 16 8 9 PACU Om MENU e dept e tantus e eo tuae uude teet metuens at 8 19 SS HOMID o 8 20 SoL JOST MOVO rr XP 8 22 cauce LT A E A E 8 23 S 0 Data Nanas cement Monus avus Rn p E a 8 24 SOL Parameter Manara 8 24 A A 8 27 8 05 2D INS OPI O UU A E A O cer ou O ases ber itd 8 30 Chapter 9 Operation Display Pendant css 9 1 9 1 RA e 9 2 92 JBealures and Part Names aiii 9 2 C ica ODI Day rada 9 3 OA TetmmalMode
117. ing the servo stiffness settings parameter This parameter is used when the velocity control bandwidth 2 has been selected 50 Position control bandwidth 1 Always Minimum value 1 Long Maximum value 32 PosControlFreq1 Initial value 1 Short Unit Hz PosFreq1 Specify the position control bandwidth of the axis position control section This parameter is set automatically by either executing auto tuning operation or changing the servo stiffness settings parameter This parameter is used when the position control bandwidth 1 has been selected 51 Velocity control bandwidth 1 Always Minimum value 5 Long Maximum value 200 VelControlFreq1 Initial value 20 Short Unit Hz VelFreq1 Specify the control bandwidth of the velocity control section This parameter is set automatically by either executing auto tuning operation or changing the servo stiffness settings parameter This parameter is used when the velocity control bandwidth 1 has been selected 53 Position integral limiting value Always Minimum value 0 Long Maximum value 4999999 PosIntegralLimit Initial value 10000 Short Unit None PosIntLim Specify the limiter value of the position error integrator in the axis position control section Specify a smaller value when a wind up condition occurs during axis operation This parameter is set automatically by either executing auto tuning operation or changing the servo stiffness settings parameter 54 Position feed forwa
118. ion 421 0 Enable disable the over travel Not used Operation example 1 signal under the homing mode 25 1 Homing operation Inside Origin inside selection 2 p dE 426 70 Enabling the proximity signal Invalid 4 C 5 1 Homing from during OT search under 5 2 c lt J outside of the the homing mode d 6 proximity area 429 gt 0 Offset distance from the Home 0 position 202 1 Coordinate direction setting direction nome Dosen Initial value setting proximity signal 9 Zero signal 420 2 0 Homing direction direction 821 0 Enable disable the over travel Used signal under the homing mode 4 C s 3 25 Homing operation Inside P b 1 Homing from Origin inside selection 5 2 C gt outside of the 26 0 Enabling the proximity signal Invalid 6 proximity area during OT search under the homing mode 29 positive value Operation example 2 Offset distance from the Home position 202 1 Coordinate direction setting 1 Eom 2 dc Q os D 5H 7 SE 6 direction over travel signal direction Home position proximity signal Zero signal 20 0 Homing direction direction 421 0 Enable disable the over travel Not used signal under the homing mode Operation example 3 25 Homing operation Inside Origin inside selection 26 lt 0 Enabling the proximity signal Invalid during OT search under
119. ion direction CW CCW of the motor Load installation surface CW CCW Look carefully from both sides of the load installation surface to check the CW CCW AN Caution movement When started the motor operates in the CCW direction Take extra care to ensure that there is no mechanical interference with the rotor 2 Check the setting of the homing direction through the PC utility Click Drive in the Main Menu then Homing HM End enu Operation servo ntl Oscilloscoperty Action Drivel D Ext DriveHMenu Homing Jog Ti TestMode T il MainMenu DriveMenu 4 16 Od 3 Set the homing direction in the Homing dialog box 1 The current setting values are displayed in the Setting value box by clicking grid 20 HonungFlagPosition Measured Value 2 Enter 1 in the Setting Value box Make sure to press the return key otherwise the entry is not made valid a The current setting values for the homing related parameters are displayed 3 Click the Set button AN Caution The initial value that should be set depends on the homing direction Enter 20 1 if the homing direction is CW and 20 0 if it is CCW 4 Click the Start button to start the homing operation Abort A Termunal T ErrReset R bn Set S SettingValue i Wl HOT EmorEmable 2
120. ion settling pulse width 3 Always Minimum value 0 Long Maximum value 32767 CoinWidth Pls3 Initial value Motor dependent Short Unit pulse CoinWidth P3 Specify the setting width to be used for position settling check and position settling wait in the axis position control section This parameter is used when the position settling width 3 has been selected 47 Position settling pulse width 4 Always Minimum value 0 Long Maximum value 32767 CoinWidth Pls4 Initial value Motor dependent Short Unit pulse CoinWidth P4 Specify the setting width to be used for position settling check and position settling wait in the axis position control section This parameter is used when the position settling width 4 has been selected 48 Position control bandwidth 2 Always Minimum value 1 Long Maximum value 32 PosControlFreq2 Initial value 2 Short Unit Hz PosFreq2 Specify the position control bandwidth of the axis position control section This parameter is set automatically by either executing auto tuning operation or changing the servo stiffness settings parameter This parameter is used when the position control bandwidth 2 has been selected 49 Velocity control bandwidth 2 Always Minimum value 5 Long Maximum value 200 VelControlFreq2 Initial value 30 Short Unit Hz VelFreq2 Specify the control bandwidth of the velocity control section This parameter is set automatically by either executing auto tuning operation or chang
121. ion to take Error number Error type Measures Main cause Action to take Error number Error type Measures Main cause Action to take 66 Illegal device Long IllegalDevice KIND ALM Operation alarm Short TYPE E2 Stop deceleration IlgDevice An operation was attempted using a device whose operation was prohibited 67 Write protected Long WriteProtected KIND ERRALMO2 Error operation alarm Short TYPE E2 Stop deceleration WrtProtect A write access was attempted to an area that is prohibited to be written 80 No such command Long NoSuchCommand KIND ALM Operation alarm Short TYPE E2 Stop deceleration NoSuchCmd A non existent command was specified 81 Not registered Long NotRegistered KIND ALM Operation alarm Short TYPE E2 Stop deceleration NotRegistd Registration did not complete normally 82 Out of memory Long Out ofMemory KIND ALM Operation alarm Short TYPE E2 Stop deceleration MemoryLow Insufficient memory Error number 85 Device conflict Long DeviceConflict Error type KIND ALM Operation alarm Short Measures TYPE E2 Stop deceleration DevConflic Main cause An operation was attempted by another device while other device was being operated Action to take
122. is command Always signal search velocity unit sec 13 Homing operation Home sensing feed 0 16000000 Motor dependent Axis command Always velocity 1 unit sec 15 Homing operation Origin position offset 1 16000000 Motor dependent Axis command Always move feed velocity unit sec 16 Velocity override percentage 1 0 20000 10000 1 100 96 Always 20 Homing direction 0 1 0 None Always 21 Enable disable the over travel signal under 0 1 0 None Always the homing mode 25 Homing operation Origin inside selection 0 1 1 None Always 27 Enabling the homing flag position error 0 1 1 None Always 29 Offset distance from the Home position 9999999 9999999 0 Axis command unit Always 31 Operation width under testing mode 0 9999999 Motor dependent Axis command unit Always 32 Operation width under Auto tuning 1 9999999 Motor dependent Axis command unit Always 33 Maximum acceleration deceleration under 100 9999 9999 msec Always Auto tuning 34 Initializing the acceleration deceleration 100 9999 1000 msec Always time while under Auto tuning 38 Servo stiffness settings 1 5 3 None Always 45 Position settling pulse width 2 0 32767 Motor dependent pulse Always 46 Position settling pulse width 3 0 32767 Motor dependent pulse Always 47 Position settling pulse width 4 0 32767 Motor dependent pulse Always 48 Position control bandwidth 2 1 32 1 Hz Always 49 Velocity control bandwidth 2 5 200 20 Hz Always Parameter No 65 66 68 69 70 71 72 73 74
123. isplayed it is possible to move the cursor to the data setting area using the and keys In the data setting area sign part it is possible to reverse the sigh by pressing the key In the data setting area absolute value part the setting value can be set using the numeric keys as well as the T and Y keys When you press the Return key the entered data is set as the parameter value of the parameter number the Return key is accepted only when data is being displayed When the data is set the setting result is displayed If it is set normally the display shows OK If it failed to set the display shows NG ERROR ALARM CODE When you press the f2 DATA key the display switches to the data display when you press the numeric keys or the T and y keys it switches to the comment display In the previous example of display 2 the parameter number 50 is entered to display the prompt character string of that parameter monitor If the f2 DATA key is pressed here display 3 appears and displays the current value of the parameter monitor Display 4 shows the status in which the cursor is moved and data is input from the keypad When the Return key is pressed here the setting result is displayed as in display 5 If a nonexistent number is entered both the data and comment displays show the comment in display 6 In addition if you input a parameter that exists but cannot be written to the data display but not the comment
124. it as shown in the figure below in order to prevent burnout incidents Note Build a sequence circuit so that it will turn off the power supply at alarm operation Driver LINE OFF ON O 0 O 0 Regenerative EE alarm MC 250 V AC 0 1 A 30VDC1A lt CNA gt Made by Phoenix Contact plug MCI 5 2 ST 5 08 Blade point of the driver used Thickness 0 4mm width 2 5mm clamping torque 0 22 to 0 25 N m Direction of insertion 3 11 Chapter4 Basic Settings for Operating the Motor This chapter describes Basic Settings which should be used as the first step in understanding the motor driver PC utility The information is provided progressively focusing on motor tuning homing operation and its setting method Make sure to perform the operations described in this chapter as a preliminary step before commencing device production 4 1 Procedure Flowchart 4 2 Preoperation check 4 3 Installing the PC Utility on the PC 4 3 1 Procedure 4 3 2 Startup 4 4 Preparation 4 4 1 Selecting Communication Port 4 4 2 Selecting Channels 4 4 3 Displaying Communication Strings 4 4 4 Main Menu 4 5 Setting the Status to Servo ON 4 6 Auto tuning 4 Performing Homing Operation 4 8 Performing the Basic Settings of Pulse Commands 4 8 1 About Position Command Pulse Input 4 8 2 Example of Operation 4 1 UN Basic Settings for Operating the Motor 4 1 Procedure Flowchart I
125. itching the input signal PLS DIRECT off on on off Status 1 S Status 0 lt gt lt gt lt gt lt gt 2 msec 2 msec 2 msec 2 msec or more or more or more or more 4 18 L 4 8 2 Example of Operation The following shows an example of operation Input pulses from the positioning controller according to the velocity pattern shown below Upper surface of the motor load installation surface side Home position sensor Homing position The rotor moves 50 degrees away from the homing position then back again CW direction gt stops for one second gt CCW direction gt finish lt Velocity pattern Example of operation gt Velocity mm sec A 50 e Moving distance positive direction 50 degrees Stop time 0 Moving distance negative direction Time 90 degrees sec Jp rr a e 1 0sec lt gt lt gt lt gt a Setting value of Setting value of Setting value of Setting value of acceleration time deceleration time acceleration time deceleration time 4 19 Chapter 5 Functions 9 1 9 2 9 3 9 4 9 0 9 6 5 7 Parameters and Monitors 5 1 1 General Parameters 5 1 2 Mechanical Setting Parameters 5 1 3 Monitors Operation Functions 5 2 1 Jog Move 0 2 2 Test Operation 0 2 3 Auto Tuning Operation 0 2 4 Homing Move 5 2 5 Mechanical
126. ity signal is used in homing mode specify whether the Z signal inside the home sensor proximity signal is used as the origin or the Z signal outside the home sensor proximity signal is used as the origin 0 The Z signal outside the home sensor proximity signal is used as the origin 1 The Z signal inside the home sensor proximity signal is used as the origin 27 Enabling the homing flag position error Always Minimum value 0 Long Maximum value 1 ORG DogErrorEnable Initial value l Short Unit None O DogErrEn When the homing mode is completed an error or warning is generated when the relationship between the origin flag position and motor Z phase position is as follows 0 Valid 1 Invalid 29 Offset distance from the Home position Always Minimum value 9999999 Long Maximum value 9999999 ORG Offset Initial value 0 Short Unit Axis command unit O Offset Specify the origin offset amount in homing mode 31 Operation width under testing mode Minimum value 0 Long Maximum value 9999999 Initial value Motor dependent Short Unit Axis command unit Specify the operation width in test mode 32 Operation width under Auto tuning Minimum value 1 Long Maximum value 9999999 Initial value Motor dependent Short Unit Axis command unit Specify the operating range in auto tuning mode 33 Maximum acceleration deceleration under Auto tuning Minimum value 100 Long Maximum value 9999 Initial value 9999 Short Unit msec S
127. l values based on the 56 Acceleration feed forward gain parameter 56 parameter is given as a percentage Related parameters 454 Position feed forward percentage 455 Velocity feed forward percentage 56 Acceleration feed forward percentage 4155 Load inertia load mass 9 12 L 5 4 4 Servo Stiffness Parameter The 38 Servo stiffness settings parameter is for general settings for the control system The control parameters are set based on this parameter after measuring the load inertia load mass in the auto tuning operation If 38 1s changed either one of the position control bandwidth parameters 50 48 selected by IN FN and either one of the velocity control bandwidth parameters 51 49 selected by IN GAIN are set In addition the gain of the control system is set automatically and the position integral limiting value parameter 53 is also automatically set to the minimum position integral limiting value that can generate the maximum torque and the maximum thrust in the motor lock status It is not necessary to set parameters related to feed forward and filters again Related parameters 438 Servo stiffness settings 450 Position control bandwidth 1 448 Position control bandwidth 2 451 Velocity control bandwidth 1 449 Velocity control bandwidth 2 453 Position integral limiting value O TB 5 5 Acceleration Decelerati
128. leration deceleration move the inclination of acceleration deceleration is calculated from the acceleration deceleration time parameter feed velocity parameter in operation mode and this parameter value 358 Z phase signal pulse interval Unit pulse rev pulse m Displays the Z phase signal pulse interval 360 Load ratio Unit x 1 100 Displays the load inertia self inertia and load mass self mass 361 Velocity ratio gain Unit x 1 100 Displays the velocity loop ratio gain 363 Velocity command value digital Unit 1 16 digit Displays the velocity command value when controlling the digital velocity 1msec sample 364 Post filter velocity command value digital Unit 1 16 digit Displays the post filter velocity command value when controlling the digital velocity 1msec sample 365 Present velocity current value Unit 1 16 digit Displays the present velocity value 1msec sample 366 Present post filter velocity value Unit 1 16 digit Displays the present post filter velocity value 1 msec sample 367 Velocity deviation digital Unit 1 16 digit Displays the velocity deviation 1 msec sample 368 Current command value D A Unit digit Displays the current command value D A output value The conversion rate is as follows 1 digit 0 003696 27853 digits 100 0 digits 0 27853 digits 100 369 Present current value A D Unit digit Displays the A D input value of the present current command value 1 msec
129. leration type 1 Acceleration time during a trapezoidal move 88 Deceleration time during a trapezoidal move 0 16 Waiting for trigger q 500ms div NORM 2kS s L 5 6 Other Functions 5 6 1 Settling Wait Position Settling Status and Positioning Status Position settling status refers to the status where the position deviation pulse coordinates is within the specified range in the pulse coordinate system The specified range is set with the 58 Position settling pulse width 1 45 Position settling pulse width 2 46 Position settling pulse width 3 and 47 Position settling pulse width 4 parameters in pulse units which are selected by the controller interface input signal IN POSWL I 0 The selected value is then displayed in the 377 Position settling width monitor The 322 Pulse position deviation monitor is used for the position deviation to be evaluated The position settling status is set when the absolute value of position deviation becomes shorter than the position settling width for the duration set with the 67 Position settling signal chattering processing count parameter The check cycle is 2 msec If chattering occurs in a COIN due to an overshoot during position settling depending on the load status the settling condition can be obtained without fail by increasing the chattering processing count The position settling status is displayed in the 328 Position settling status monitor It is also displaye
130. lt in controller and maintains the servo status after an immediate stop Switches to the built in controller and turns the servo OFF after an immediate stop Switches to the built in controller performs an immediate stop and turns the servo OFF immediately doe ia 98 Deceleration time for immediate stop during trapezoidal Always move Minimum value 1 Long Maximum value 9999 TdecTrapezHighAbort Initial value SHOE Unit msec Specify the deceleration time required to change the velocity from the maximum velocity when stopping immediately during a trapezoidal move TdecT High 106 Settling wait enable Always Minimum value 0 Long Maximum value 1 CoinEnable Initial value 1 Short Unit None CoinEnable Specify whether or not to execute a settling wait for the move followed by positioning when the axis move operation is completed For the move that is not followed by positioning the settling wait is not executed regardless of this parameter setting The settling wait is executed in homing mode regardless of this parameter setting 0 Does not execute settling wait 1 Executes settling wait 152 First order delay compensator setting Always Minimum value 0 Long Maximum value 3 CompFilterSel Initial value 0 Short Unit None FilterSel Specify the first order delay compensator 0 No first order delay compensator 1 20Hz 80Hz 2 30Hz 120Hz 3 40Hz 160Hz 153 Notch filter Frequency 1 selection Always Minimum value 50
131. ly displayed commands are displayed Command Help ABORT STOP 23 0 START TEST MODE 25 1 START AUTO TUNING 3 5 START ORG RETURN 5 4 START PROGRAM 3 7 START MDI 25 15 START MACHINE SET ERR RESET 10 ORG OFFSET Figure 8 15 Command Help dialog box 8 13 e DrvGll PC Utility 8 4 2 Servo Tuning This menu allows you to adjust the servo parameters of the motor through auto tuning and manual tuning in addition to adjust various compensation filters Click Servo Cntl S on MainMenu to display the Servo Tuning dialog box Servo Tuning L Auto Tuning Stania TestMade T E 0 001Ez Filter E Inertia Set servo Rigidity 0 soon 2 3 TU 001 K lt PosFeedFoward VelFeedFoward AccFeedFoward TorqLim 9n 100 94 D Pes 10000 0 07 Figure 8 16 Servo Tuning dialog box 1 Auto tuning 1 Set the operation mode to the RS232C operation enable mode and then turn on the power see Chapter 5 2 Set the motor to Servo ON the operations until this point must be made before opening the Servo Tuning dialog box 3 Click Auto Tuning A to start the auto tuning Note The motor performs reciprocating movements in order to estimate the inertia and weight of the load the operation width of the reciprocating movement can be changed in parameter lt 32 gt Please make sure that there are no interfering objects within the range of the operation
132. me position search method in order to establish a coordinate system After first moving to the home position determined by the proximity signal and motor Zero signal it continues to move an amount further given in the 29 Offset distance from the Home position parameter s setting value It then sets the drive coordinate command value to the value set in the 30 Homing complete operation command value parameter There are two ways to generate motor Zero signals hardware and software Zero signals The method used varies depending on the motor See the explanation given below The homing operation is processed in the following order The move can only be trapezoidal but it is possible to set the acceleration and deceleration profile In addition the velocity override does function in real time The settling wait function is performed at each point during the homing operation Related parameters E 12 413 415 420 421 425 26 27 Over travel search velocity during a homing move Homing operation Home sensor proximity signal search velocity Homing operation Home sensing feed velocity 1 Homing operation Origin position offset feed velocity Homing direction Enable Disable the over travel signal under the homing mode Homing operation Origin inside selection Enabling the proximity signal during OT search under the homing mode Enabling the homing flag position error Offset distance from the Home position H
133. mping torque of terminal 12 kgf cm 1 18 N m supply cable terminal screw MAxO 7 R Power supply filter recommended part Tokin Corporation LF 200 series E 0 5 mm or more 15 m or less in length E 2 0 mm or more 30 m or less in length m Optional cable CMe000C 000 eee Motor cable So Oo 2 E 0 5 mm or more use as thick cable as possible 2 IIT Or ore USE ds MICK CADIE ds Ground cable possible B Third grade ground ground resistance 100 or less Jumper wire WM20mm ormoe O Regenerative For 100V 80W 600 AAA resistance For 200V 80W 2000 e Only for models with regenerative resistance 500W level 3 7 M Connection and Wiring 3 5 Wiring of Encoder Cable 2 DM series motor eee mora other m die one described to the left penes Motor Pin Signal Pin Signal Pin Signal Pin Signal Pin Signal Pin Signal name name name name name name fie he SE 12 aS Sasso BE 4 ECLK 14 GND RT E BE A AM E ABECUR Il 9 s ep ot 9 19 9 ZERO 19 ZERO OE 1 OEA qn ep POLA Chassis Shielded ground cable Chassis Shielded ground cable Terminal for lt CN2 gt Insertion surface Made by Honda Tsushin Kogyo Chassis ground 423 gt Connector PCR S20F shielded cable Housi
134. n Unnecessary Add the destination ID at the beginning of the packets From the host device to drivers n CR n slave station ID From drivers to the host device On CR n slave station ID Transmission from the host device to drivers The number of characters to be transmitted should be 128 letters or less including the slave station ID recognition key transmission character string and CR Recognition Single channel 5e Transmission character string CR Multi channel oe Recognition Transmission character strin CR station ID key g Response from drivers to the host device The number of response characters should be 128 letters or less including 0 slave station ID recognition key transmission character string and CR Single channel hz Response character string CR Multi channel 0 vais Recognition Response character string CR station ID key Recognition key The recognition key is a function provided so that the host device can recognize that a response is a reply to a specific transmission by the host device A maximum of 15 characters can be included in the recognition key part If more than 15 are added the remainder of the number divided by 16 is processed as the actual recognition key number When the host device transmits a message to a driver and attaches N recognition keys to the transmission character string the driver will send a response messa
135. n the previous example of display 2 parameter number 50 is entered to display the prompt character string of that parameter monitor When the f2 DATA key is pressed here display 3 appears and displays the current value of the parameter monitor If a nonexistent number is entered both the data and comment displays show the comment in display 4 Ai f2 DATA Switches display to the data display er CMNT To the comment prompt display 001 HOT_ErrEn f3 N To the next display Mon DATA NIP mE f7 P To the previous display Cursor 2 Displaying comment 0 to 9 Each character is entered 050 Position bandwidth lt and gt keys Moves the cursor on the parameter monitor Mon DATA N P number to the left or right T and J keys Increases decreases the numeric value of l l the digit indicated with the cursor 3 Displaying data 050 12 Mon CMNT NIP 4 Displaying comment when a number does not exist Mon DATA N P CMNT Parameter monitor Data display area number setting area Comment display area Function key content display area 9 5 8 Operation Display Pendant 9 6 Parameter Settings Display This display is for changing the values of parameters When you input a parameter number from the keypad the display shows a prompt for the parameter when comments are being displayed and the current value of the parameter when data is being displayed When data is being d
136. n this section we will operate the motor according to the procedure below START Preoperation check Check the installation of the motor wiring etc Install the PC utility Install the software PC utility on your PC Set the status to Set the status of the motor to Servo ON Servo ON O Operation using the PC utility RS 232C Adjust the servo gain adjustment O Operation using the PC utility RS 232C Auto tuning Perform homing operation Homing operation e he case where the home position proximity sensor is input in the driver is explained Basic settings of Perform the basic settings required for pulse pulse commands input Perform the settings and pulse input required for operation from the user s controller 4 2 L 4 2 Preoperation check 1 Items to prepare e Motor unit driver sensor DC power supply PC utility floppy disk Level block for fixing the motor PC with Windows 95 98 98SE Me NT4 0 2000 installed Various cables 2 Installation and Wiring Positioning controller PC utility software 6 Sensor wiring Noe prepared bycustomers S RDUM by customers PC prepared by customers Motor part TB main body CN 1 Level block DrvGll 7 RS232C cable type dedicated 4 Motor cable driver CP7576 77 S 020 r4 CM0300M R 000 1 Level block prepared by customers 3 Power supply line 5
137. ng PCR LS20LA1 Soldering surface 11 12 13 20 Electric wire B 0 2 mm multiple core twisted pair batch shielded cable 30 m or specification less in length Optional cable DM series motor DM1004B C other than the ones DR series motor eed to the left CE7900C LILILI CE7900M LILILI CE7900R LILILI Within 10 m only for small diameter flat types DM1004B C 3 8 L 3 6 Wiring of Controller Cable lt CN4 gt terminal 1 COMP1 10 UA OUT 19 IN ERR RESET IN FN IN SERVO IN PLS DIRECT IN MODE START IN PACT OCN OCN wmm Terminal for lt CN4 gt Made by Honda Tsushin Kogyo Connector PCR S36FS Housing PCR LS36LA Chassis ground 1 Insertion surface 18 12 4 shielded cable 3 8 19 2021 Soldering surface 36 Electric wire B 0 2 to 0 5 mm2 or more multiple core batch shielded cable 3 m or specification less in length E Optional cable CP4202G 000 3 9 3 Connection and Wiring 3 7 Wiring of Sensor Brake Terminal 1 COMPO ee 1 Push down the lever with a screwdriver Electric wire 0 3 to 0 75 mm electric wire coating with 10 mm of the
138. nt panel should be turned to 0 This setting should be made before turning the power on L Multi channel When preparing for multi channel communication connect the host device and a maximum of nine drives in a loop shape as shown in the figure below PC TxD A D Driver 1 SG SG RxD 7 TxD SG D sub 9 pin male Driver 2 D sub 9 pin female RxD SG TxD SG D sub 9 pin male DOSV RxD Driver 9 SG TxD SG D sub 9 pin male PC uS j A RxD Driver 1 SG SG RxD jN TxD RTS SG D sub 9 pin male CTS RxD Driver 2 SG TxD SG D sub 25 pin male C PC98 D D sub 9 pin male RxD Driver 9 SG TxD SG Gaal Gal D sub 9 pin male In multi channel communication the host device is assigned to host ID 0 The drivers should be set as slave Stations and the Ds should be set for each driver from 1 to 9 in such a way that the station numbers do not overlap using the rotary switch RS ID on each driver s front panel The order of the IDs does not need to be the same as the order of connection This setting should also be made before turning the power on ll RS232C Interfaces 7 3 Communication Specifications Communication parameters Single channel and multi channel Single channel Multi channel Topology Unnecessary Host device 0 Drivers 1 to 9 Destination specificatio
139. ntact us Error number 60 Cannot interpret Long Cantlnterpret Error type KIND ERRALMO2 Error operation alarm Short Measures TYPE E2 Stop deceleration Cantlntp Main cause The command cannot be interpreted Action to take Error number 61 Command format error Long FormatError Error type KIND ERRALM2 Error operation alarm Short Measures TYPE E2 Stop deceleration FormatErr Main cause A command format error occurred Action to take Error number 62 Data is out of range Long Out ofRange Error type KIND ERRALMO2 Error operation alarm Short Measures TYPE E2 Stop deceleration OutOfRange Main cause The data is out of range Action to take Error number 63 Operation error Long OperationError Error type KIND ALM Operation alarm Short Measures TYPE E2 Stop deceleration OperateErr Main cause An operation error occurred Subcode 1 Prohibited operation in machine setting mode 2 Prohibited operation while holding an operation Action to take Error number 65 Illegal parameter and monitor number Long IllegalNo Error type KIND ERRALMO2 Error operation alarm Short Measures TYPE E2 Stop deceleration IllegalNo Main cause The parameter and monitor of a non existent number was specified Action to take Error number Error type Measures Main cause Action to take Error number Error type Measures Main cause Action to take Error number Error type Measures Main cause Act
140. numerical values and variables to parameters simple setting commands and assigning results of arithmetic operations on numerical values and variables to parameters calculation result setting commands The response is issued immediately A reference command issues a transmission character string simply containing a variable given directly by At normal operation if a response is generated a response character string that begins from R10 and one data is returned In simple setting commands and calculation result setting commands the left hand side must be variables expressed by The right hand side can be direct numerical values or it can contain variables such as a parameter monitor referred to by The response at normal operation is R00 Reference commands e o o gE Response character string R1D O O 0 Reads the valie ot monitors Response character string R1B L1 00010000 400 0 Sets O to variable 400 400 0 _ Sets the value stored in 0 to variable 0 Calculation result setting commands The following operands can be used as Addition Subtraction i Multiplication Division Remainder at integer division HDH lt D D Sets the result of adding O and D to variable 0 0 0 U Sets the value obtained by subtracting L1 from the value stored in 0 to variable 0 HD D 0 Sets the result of multiplication of O and the value stored in 0 to variable 0 0
141. oming complete operation command value Coordinates direction setting 1 OT search move Hardware Zero signal Applicable motor DYNASERV DMA and DMB series Software Zero signal Applicable motor DYNASERV Flat motor DM1004B Small diameter motor DM1004C Standard DRA DRB and DRE series High speed DRB and DRE series The rotor moves until it finds an over travel OT signal in the opposite side of the homing direction and in the opposite direction of homing direction It is executed only when the OT signal search move is enabled in 21 Enable Disable the over travel signal under the homing mode parameter If the proximity signal during OT search move is enabled in the 26 Enabling the proximity signal during OT search under the homing mode parameter and an home position proximity signal is detected during an OT search move the rotor stops the OT search move and then proceeds to 2 or 3 below The moving velocity is set to the value in 11 Over travel search velocity during a homing move parameter 2 Homing search move The rotor moves until it finds a homing sensor in the homing direction The moving velocity is set to the value in 12 Homing operation Home sensor proximity signal search velocity parameter 3 Moving to outside of home position proximity area This is executed only if 225 1 If 202 1 the rotor moves in direction until it leaves the home position proximity area If 202 0 the rotor m
142. oming error Long OriginError Error type KIND ERRALM1 Error operation alarm Short Measures TYPE E2 Stop deceleration OriginErr Main cause An error occurred during homing operation Subcode 1 Locating fixture position problem Action to take Error number 50 Cannot execute Long CantExec Error type KIND ERRALMO2 Error operation alarm Short Measures TYPE E2 Stop deceleration CantExec Main cause Cannot execute Subcode 1 Prohibited command Execution in progress Error status Data is being used Invalid data Access timing Driver mode Invalid program file E ONE Oy UE es a Nesting overflow Action to take Error number 51 Data not ready Long DataNotReady Error type KIND ERRALMO2 Error operation alarm Short Measures TYPE E2 Stop deceleration DataNotRdy Main cause Data is not ready Subcode 2 Part data 3 Program file 4 Index A correction file 6 Index B file Action to take Error number 52 Timeout Long TimeOut Error type KIND ERRALM1 1 Error operation alarm Short Measures TYPE E2 Stop deceleration TimeOut Main cause A timeout occurred during internal processing Action to take Contact us Error number 53 Cannot calculate Long CantCalc Error type KIND ERRALM1 Error operation alarm Short Measures TYPE E2 Stop deceleration CantCalc Main cause The condition that cannot be calculated occurred during internal processing Subcode 1 Auto tuning Action to take Co
143. on Function This driver performs trapezoidal moves during jog moves and homing moves and uses the acceleration deceleration function described in this section In addition it has a velocity override function for switching velocity during a move which works in real time even during the move real time velocity override function The maximum velocity of the motor is defined in 4213 Maximum velocity but is limited by the maximum velocity defined within the driver The limited value is displayed in the 4357 Maximum velocity monitor 5 5 1 Velocity Override Function The velocity override value is set with the 16 Velocity override percentage 1 parameter The velocity override value can be set in increments of 0 01 from 0 to 200 Please note that if a value greater than 100 is set the velocity during the move may exceed the maximum velocity which may cause an error How the velocity override is applied differs for the trapezoidal move and cam profile move Related parameters 5 14 L 5 5 2 Velocity Profile In a trapezoidal motion the acceleration of the moving part follows the acceleration type set by the 4 Selecting acceleration type parameter until it reaches the feed velocity Hereafter the move is continued with the feed velocity then decelerates and stops according to the deceleration type set by the 5 Selecting deceleration type parameter The feed velocity varies depending on the operation The acceleration and deceler
144. ong HOT_ErrorEnable Short HOT_ErrEn Specify whether or not to enable an error when the over travel signal in the direction is detected while commanding to move the axis in the direction 0 Does not enable an error 1 Enables an error 4 Selecting the acceleration type Minimum value 0 Maximum value 1 Initial value 0 Unit None Select the acceleration type during trapezoidal move 0 Constant acceleration 1 S shaped 5 Selecting the deceleration type Minimum value 0 Maximum value 1 Initial value 0 Unit None Select the deceleration type during trapezoidal move 0 Constant deceleration 1 S shaped 7 Acceleration time during a trapezoidal move Minimum value 1 Maximum value 9999 Initial value 1000 Unit msec Always Long AccProfeel Short AccProfeel Always Long DecProfeel Short DecProfeel Always Long TaccTrapezoid Short TaccTrapez Specify the acceleration time required for velocity change for the maximum velocity during trapezoidal move 8 Deceleration time during a trapezoidal move Minimum value 1 Maximum value 9999 Initial value 1000 Unit msec Always Long TdecTrapezoid Short TdecTrapez Specify the deceleration time required for velocity change for the maximum velocity during trapezoidal move 9 Feeding Velocity Always Minimum value 0 Long Maximum value 16000000 FeedVelocity Initial value Motor dependent Short Unit Axis command unit sec FeedVel Specify
145. ont panel Disabled Status O Status 1 Servo OFF 6 5 8 Current Limit Input The current limit analog input signal gives a current limit from 0 to 100 in proportion to a voltage input of 0 to 10V given by the external source To enable this function enable the 206 Enabling current limit external input parameter This parameter has been disabled by factory default setting 6 10 Chapter 7 RS232C Interfaces 7 1 1 2 7 3 7 4 1 9 Overview Connection and Setting Communication Specifications Commands 7 4 1 7 4 2 7 4 3 1 4 4 7 4 5 7 4 6 1 4 1 Start s3 Field 0 Stop 2 Abort 1 Errorreset 4 Homing offset position setting 10 Jog move command 11 Field O Other convenient commands Parameter Commands 7 1 ll RS232C Interfaces 7 1 Overview The CN1 RS232C communication connector is provided in order to make connection with host devices such as PCs and PLCs via the RS232C The operation display pendant abbreviated as TBX optional device can also be connected to this connector Refer to Chapter 9 Operation Display Pendant for a description of how to use the operation display pendant This chapter explains how to connect the CN1 RS232C communication connector to devices other than the operation display pendant In the RS232C interface two communication modes are available The first is a single channel communication where the connection is made 1 1 with the host dev
146. oors and not in a place where it can be exposed to corrosive and or volatile gases B The ambient air temperature should be from 0 to 45 C B There should not be too much dust or particles the ventilation should be good and the humidity should be low Note The DYNASERY is not drip or water oil proof If it is used in such an environment a proper drip or water oil proof cover should be applied 2 Mechanical Installation B When installing a load on the rotor of the motor make sure to secure a clearance of 1 mm or more between the upper surface of the motor and the installed part in order to maintain the surface accuracy B Theclamping torque of the screws used to install the rotor and stator of the motor should be equal to or less than the value indicated below B The surface flatness where the motor is fixed should be 0 01 mm or less Rotor mounting screw Clamping torque maximum A E type 21N m 210kgf cm B type 11N m 110kgf cm DM1004B 1004C 2N m 20kgf cm 1mm or more Stator mounting screw Clamping torque maximum A E type 21N m 210kgf cm B type 11N m 110kgf cm DM1004B 1004C 2N m 20kgf cm NN NS Flatness of fixing surface 0 01mm Note When tightening the screws make sure to apply a screw lock using Loctite 601 or equivalent product 2 2 Installation of the Driver The standard installation method for the driver is either to mount it on a rack or a wall 1 Installation Position B If th
147. opposite the Zero signal edge in the opposite direction of the Zero signal edge search direction that was used in the first home sensing move The moving velocity is set to the value in the 13 Homing operation Home sensing feed velocity 1 parameter 2 Zero signal edge search move The rotor moves until it finds the Zero signal edge in the Zero signal edge search direction that was used in the first home sensing move The moving velocity is set to the value in the 73 Homing operation Home sensing feed velocity 1 parameter 6 Home position move The home position is moved to the detected Zero signal edge position Motors that use software Zero signals further perform a second corrective move The moving velocity is determined internally by the driver 7 Home position offset move The home position is moved for the distance given by the value set in 29 Offset distance from the Home position parameter after which the operation coordination command value is set to the value given in 30 Homing complete operation command value parameter The moving velocity is set to the value in 75 Homing operation Origin position offset feed velocity parameter For the homing move to be completed normally the distance between the home position proximity area and the Zero signal edge must be within a specific range based on the value of 358 Z phase signal pulse interval monitor The reference value differs depending on the method by which the Zero sign
148. or linear coordinate command differential value Present motor linear coordinate differential value Pre filter current square duty Post filter current square duty Driver code Motor code Time after power ON msec Unit pulse rev pulse m digit rps digit mps Axis command unit sec pulse rev pulse m x 1 100 x 1 100 1 16 digit 1 16 digit 1 16 digit 1 16 digit 1 16 digit digit digit Axis command unit Axis command unit 1 16 digit pulse AT digit Hz Hz pulse pulse pulse AT pulse AT digit digit None None msec Monitor detail STD1 300 Currently under operation Unit None Indicates that an operation is being performed 301 Axis is under operation Unit None Indicates that an axis operation is being performed 302 Error status Unit None Indicates the error status 303 Alarm status Unit None Indicates the alarm status 304 Driver ready Unit None Indicates that the driver 1s ready 305 Servo ready Unit None Indicates that the servo is ready 310 Display of program number under execution Unit None Indicates the program number during execution or after execution 317 Completion of homing status display Unit None Indicates whether a homing operation has been completed after the power is turned on 318 Homing operation The measured value Unit pulse Indicates the distance between the neighboring signal and origin that is measured during homing operation 320 Pulse position command value Unit pulse
149. orGain Dig Initial value 0 Short Unit None VdigMon G Specify the axis velocity monitoring gain of the velocity monitor when controlling the digital velocity 0 6 55V 32768 digits at digital detection velocity 6 55V 16384 digits 6 55V 8192 digits 6 55V 4096 digits 6 55V 2048 digits 6 55V 1024 digits 6 55V 512 digits 6 55V 256 digits 6 55V 128 digits CO EE LE ce Mo ns 70 Analog monitor selection Minimum value 0 Maximum value 5 Initial value 4 Unit None Select the content to be output to the analog monitor 0 MU IE 71 Position deviation pulse Test operation response pulse Position command value pulse Current position value pulse Position command differential value command velocity pps Current position differential value current velocity pps Axis positioning error monitoring gain analog monitor Minimum value 0 Maximum value 8 Initial value 0 Unit None Specify the position deviation monitoring gain of the analog monitor 0 72 Wo mU eS E 6 55V 32768 pulses 6 55V 16384 pulses 6 55V 8192 pulses 6 55V 4096 pulses 6 55V 2048 pulses 6 55V 1024 pulses 6 55V 512 pulses 6 55V 256 pulses 6 55V 128 pulses Test operation monitoring gain analog monitor Minimum value 0 Maximum value 8 Initial value 0 Unit None SPED the test operation response monitoring gain of the analog monitor Po ee oe 6 55V 32768 pulses 6 5
150. ould be set to off COIN ZERO GND 200 RS EN Check terminal 230VAC TEST Con LINE COIN Settling Indicates that the axis is in its position settling 5 status ZERO Zero signal status Honn ee LED display indicates the Zero signal status GND Digital ground OW demo es M e ES GE HII PSW1 Piano switch bit1 Test operation Starts test operation when the lever is up Ends test operation when the lever is down bit2 RS 232C operation enable Enables or disables the following commands from the RS 232C interface depending on the status when the power is 5 QU Tas CM turned on GND ES EL Commands to be disabled 1 Abort pee 9 j i 2 Stop S 3 Stop L Tp4 Aa 911 Jog Lever up Enable Lever down Disable P Error display LED Displays an error code when an error occurs CN2 7 When resetting O lit O When operating flashing E CN4 Controller interface connector IB Overveiw of the Product 1 6 System Configuration Diagram PC utility floppy disk
151. oves in direction until it leaves the home position proximity area The moving velocity is set to the value in the 13 Homing operation Home sensing feed velocity 1 parameter 4 First home sensing move With the 25 Homing operation Origin inside selection parameter it is possible to select and set either the inside Zero signal or outside Zero signal of the home position proximity signal as the home position If 25 1 the inside Zero signal is set as the home position if 25 0 the outside Zero signal is set as the home position If 202 1 the rotor moves to search the home position proximity signal in direction If 25 1 the rotor recognizes the first Zero signal edge as the home position upon entering the area and then stops If 25 0 the rotor recognizes the first Zero signal edge as the home position upon leaving the area and then stops If 202 0 the rotor moves to search the home position proximity signal in direction If 25 1 the rotor recognizes the first Zero signal edge as the home position upon entering the area and then stops If 25 0 the rotor recognizes the first Zero signal edge as the home position upon leaving the area and then stops The moving velocity is set to the value in the 13 Homing operation Home sensing feed velocity 1 parameter 5 Second home sensing move The second home sensing move is executed in two steps 1 Preparation move The rotor moves as far as diametrically
152. p LL Jog move Operating status Test operation Auto tuning operation Homing move Mechanical setting mode The status in which no operation is performed is called the idle status jog moves can be performed in this status If no jog move is being performed in the idle status the driver follows the position command from the controller interface This driver is equipped with the operation functions listed below Use them as needed The start end and stop actions of these operations can be controlled from either the controller interface side or the RS232C interface side Refer to the related chapters Chapter 6 Controller Interface and Chapter 7 RS232C Interface for operation methods The methods used to end each operation can be classified into three categories the se f end type that ends automatically when the operation is complete the non self end type that cannot end the action by itself and the non end type that cannot be stopped once started An appropriate end or stop action must be performed for each type Test operation Generates a 2 5Hz square wave position command signal for Nosema adjustment of the control part Auto tuning Makes the rotor oscillate measures load inertia and load mass and 1 r l Self end operation sets the parameters for the control part automatically 2 Finds the home position using the hardware over travel signal 3 Homing move homing sensor and motor Zero signal to establish the coordinate Self end
153. p n 88 020389 01 A Automation Dynaserv G2 Drive User Guide Effective March 1 2002 As CAUTION X AN mc Kat MRS s y 1 a S cS e m 29 COIN 230VAC As Ai ZERO LINE woui aa GNO dL RS EN LINE MN 200 230VAC LINE Sono MOTOR VA HA LI DIGNO P d N MOTOR VA vB y ve Introduction Thank you very much for your purchase of the DD servo actuator DYNASERV The DYNASERY is an outer rotor type servo actuator that has achieved high torque high speed and high precision It can be used in a wide range of applications in the FA device related fields such as industrial robotics and indexing This technical manual explains the DY NASERV DM SR series motors as well as its combinations with the DrvGII drivers Please refer to this technical manual thoroughly when you use the product Precautions for Using this Technical Manual Please make sure that this manual is handed out to the end user 2 Please read this manual thoroughly and understand the contents fully before proceeding to the operation of the product Please note that the safety protection may be lost and the proper safety may not be guaranteed if the product is not used according to the instructions described in this manual Always make sure that this manual is handy for the operator when using this product If it is stained or lost we will distribute copies upon request subject to charge
154. pecify the maximum value of acceleration deceleration time in auto tuning mode 34 Initializing the acceleration deceleration time while under Auto tuning Minimum value 100 Long Maximum value 9999 Initial value 1000 Short Unit msec Specify the initial value of acceleration deceleration time in auto tuning mode 38 Servo stiffness settings Minimum value 3 Long Maximum value 5 Initial value 3 Short Unit None Always TestWidth TestWidth Always A TUNE Width AT Width Always A TUNE_TaccMax AT_TaccMax Always A TUNE Tacclni AT Tacclni Always ServoRigidity ServoRigit Specify the servo stiffness The larger the number is specified the stronger the servo stiffness becomes However the motor vibrates more 1 Velocity control width 30Hz Velocity control width 40Hz Velocity control width 50Hz Velocity control width 60 Hz Velocity control width 70Hz Position control width 7Hz Position control width 10Hz Position control width 12Hz Position control width 15 Hz Position control width 17Hz 45 Position settling pulse width 2 Minimum value 0 Long Maximum value 32767 Initial value Motor dependent Short Unit pulse Always CoinWidth Pls2 CoinWidth P2 Specify the setting width to be used for position settling check and position settling wait in the axis position control section This parameter is used when the position settling width 2 has been selected 46 Posit
155. pes of I O that can be selected Ctl I Ctl 0 and Drv I You can switch among them by pressing the f2 f6 SEL key In the previous example of display 2 block number 1 is entered to display the signal status of Ctl DI block 1 If the f2 f6 SEL key is pressed here the display changes similarly to display 3 and switches to the Ctl DO display 1 Initial display Ctl 100 xxxxxxxx 1 0 SEL NIP Cursor 2 Displaying Ctl DI Ctl 101 xxxxxxxx 1 O SEL NIP 3 Displaying Ctl DO Ctl 000 xxxxxxxx O SEL NIP I O signal block number setting area I O signal type display area Driver input signal status DIOO Reserved DIO1 Reserved DIO2 Reserved DIO3 Reserved DIO4 Homing detection DIO5 direction over travel detection DIO6 direction over travel detection DIO7 Reserved f2 SEL f3 N f6 SEL f7 P 0 to 9 lt and key T and y key Ctl Block number Ctl O Block number Switches l O signal type positive direction To the next display Switches I O signal type opposite direction To the previous display Each character is entered Moves the cursor in the I O signal block number setting area to the left or right Increases decreases the numeric value of the digit indicated by the cursor 0 DIO7 to DIOO 1 DI15 to DIOS 0 DOO to DOOO 1 DO15 to DOO8 Drv Driver input signal status Block number TI
156. posite o9pc f7 P To the previous display 2 Displaying command Return key Transmits the selected command to the driver CMD toMode15 Spc SEL N P 3 Displaying command result Mode15 Exec Spc SEL N P Command display area Function key content display area Command result display area Function key content display area 9 8 Chapter 10 Maintenance and Inspection 10 1 10 2 10 3 10 4 10 4 1 10 4 2 10 5 Maintenance and Inspection of the Motor Part Maintenance and Inspection of the Driver Part Replacing the Battery for Memory Backup Backup and Restore Operations of Driver Memory Contents Backup Operation Restore Operation Motor Problems and Corrective Actions 10 1 N Maintenance and Inspection 10 1 Maintenance and Inspection of the Motor Part Simple daily checks need to be performed on the motor part Check the motor for excessive noise or abnormal vibration Do not dismount the motor If the motor operates abnormally after 20 000 hours of operation or five years since installation depending on the environment and conditions used replace the motor and the servo driver if necessary 10 2 Maintenance and Inspection of the Driver Part There is no need for a daily maintenance and inspection of the driver part However it is prudent to clean the driver unit periodically to protect it from dust or particles since they may damage insulation 10 3 Replacing the Battery for Memory B
157. pulses o ge Me TE 75 Velocity monitor selection digital monitor Always Minimum value 0 Long Maximum value 1 VelMonSel Digital Initial value 0 Short Unit None VelMonSelD This parameter switches the velocity monitoring output content when controlling the digital velocity 0 Velocity monitor 1 Velocity monitor AC 89 Brake turn OFF delay time upon Servo ON Always Minimum value 0 Long Maximum value 2000 TimeSrvOn toBrkOff Initial value 0 Short Unit msec TimeBrkOff Specify the delay time from servo ON to brake OFF 90 Advanced Brake turn ON before Servo OFF Always Minimum value 0 Long Maximum value 000 TimeBrkOn toSrvOff Initial value 0 Short Unit msec TimeBrkOn Specify the advanced time for brake ON before servo OFF 91 TBX_EMG Servo status Always Minimum value 0 Long Maximum value 5 TbxEmgServoCondition Initial value 0 Short Unit None TbxEmgServ Specify the servo status of the motor when EMG from TBX is executed When operating the built in controller axis 0 1 Turns the servo OFF after the axis operation stops low level 2 Stops the axis operation low level and turns the servo OFF immediately 3 4 Turns the servo OFF after the axis operation stops high level de Maintains the servo status after the axis operation stops low level Maintains the servo status after the axis operation stops high level Stops the axis operation high level and turns the servo OFF immediat
158. r Position current pulse outputs UA OUT DB OUT Z OUT Connect a differential type line receiver conforming to the RS422A standard which is equivalent to AM26L832 lt a Output is ON when the terminal has SE a higher voltage than the terminal E AM26LS31 O O O Controller L Current limit analog input CRNT LMT IN Current 10096 at 10 VDC CRNT LMT IN 200kQ Current 0 at O VDC Q O 0 to 10VDC gt 200kQ Y Y CRNT LMT IN 9 See wW Controller 6 1 4 I O logic setting For the contact input and contact output signals it 1s possible to set the physical I O status and the logical relationship of the driver s internal signal status in both contact and bit units The input signals IN are processed via the I O logical conversion and are then expressed as a logical input signal If the signal status is reached it is expressed as 1 and if the status is not reached expressed as 0 A logical output signal 1s expressed as 1 if the status 1s reached and 0 if the status is not reached After conversion via the I O logical setting it becomes an output signal OUT The I O logical settings at the time of shipment from the factory are set to positive logic for all input and output signals In other words the internal input and output signals are set to 1 when the corresponding contact points are turned ON By setting the I O logical
159. r generating settling signals POSW 1 0 Status 0 Status 0 58 Position settling width pulse 1 Status 0 Status 1 45 Position settling width pulse 2 Status 1 Status 0 46 Position settling width pulse 3 Status 1 Status 1 47 Position settling width pulse 4 6 5 5 Disable Position Control Integral Operation PACT The PACT disable position control integral operation signal disables the integral operation of the position control part Integral operation is disabled with status 1 and integral operation is enabled with status 0 6 5 6 Error reset ERR_RESET The error reset command ERR RESET cancels an error status in the driver It functions irrespectively of the EN operation mode It can only be executed while in the idle status The error reset command is issued as the status 1 Depending on the error content there are errors that cannot be canceled or errors that cause identical errors immediately after canceling Avoid creating a program that maintains ERR RESET and waits until ERR the error status output 1s canceled lt gt 50 ms or more Status 1 Status 0 _ ERR_RESET 6 9 4B Control Interfaces 6 5 7 Servo ON SERVO The SERVO servo ON input signal is set to servo ON when the status is 1 In addition to this instruction the actual Servo ON OFF status is affected by the setting of the SRV DS Servo ON disable switch on the front panel See the table below SERVO disable on the fr
160. rd percentage Always Minimum value 0 Long Maximum value 126 Position FF io Initial value 90 Short Unit Inch_FF Specify the position feed forward of the axis control section 55 Velocity feed forward percentage Always Minimum value 0 Long Maximum value 126 Velocity FF 96 Initial value 100 Short Unit Vel FF Specify the velocity feed forward 56 Acceleration feed forward gain Always Minimum value 0 Long Maximum value 200 Accelaration_FF_ Initial value 0 Short Unit Acc_FF Specify the acceleration feed forward This parameter calculates the internal gain based on the load inertia load mass 58 Positioning settling pulse width 1 Always Minimum value 0 Long Maximum value 32767 CoinWidth Pls Initial value 1 Short Unit pulse Coin widthP 1 Specify the settling width to be used for position settling check and position settling wait in the axis position control section This parameter is used when the position settling width 1 has been selected 59 Position current value filter frequency Always Minimum value 1 Long Maximum value 200 PfbMonFilteFreq Initial value 10 Short Unit Hz PfbFilFrq Specify the position current value filter frequency The position current value filter functions when the Using position current value filter parameter is set to Use This filter does not function for the position information that is fed back to the position control part 61 Position settling signal c
161. registered Out of memory Device conflict STD1 Type KIND POR Start up error KIND POR Start up error KIND ELS Others KIND SYS System error KIND SYS System error KIND POR Start up error KIND POR Start up error KIND SYS System error KIND SYS System error KIND ERRALM2 Error operation alarm KIND SYS System error KIND RGR Always error KIND RGR Always error KIND SRV Servo error KIND RGR Always error KIND SRV Servo error KIND RGR Always error KIND ERR error KIND ERR error KIND ERR error KIND ERR error KIND ERR error KIND ERR error KIND RGR Always error KIND ERRALM1 Error operation alarm KIND ERRALM2 Error operation alarm KIND ERRALM2 Error operation alarm KIND ERRALM1 Error operation alarm KIND ERRALM1 Error operation alarm KIND ERRALM2 Error operation alarm KIND ERRALM2 Error operation alarm KIND ERRALM2 Error operation alarm KIND ALM Operation alarm KIND ERRALM2 Error operation alarm KIND ALM Operation alarm KIND ERRALM2 Error operation alarm KIND ALM Operation alarm KIND ALM Operation alarm KIND ALM Operation alarm KIND ALM Operation alarm Measures TYPE POR Do not start up TYPE POR Do not start up TYPE ELS Others TYPE ELS Others TYPE ELS Others TYPE POR Do not start up TYPE POR Do not start up TYPE SRV Servo OFF TYPE SRV Servo OFF TYPE E2 Stop deceleration TYPE SRV Servo OFF TYPE SRV Se
162. roller and maintains the servo status after a deceleration stop Switches to the built in controller and turns the servo OFF after a deceleration stop Switches to the built in controller performs a deceleration stop and turns the servo OFF immediately Switches to the built in controller and maintains the servo status after an immediate stop Switches to the built in controller and turns the servo OFF after an immediate stop Switches to the built in controller performs an immediate stop and turns the servo OFF immediately 94 Position command differential value excessive error Always processing type Minimum value 0 Long Maximum value 5 Over_dScmdErrorT ype Initial value I Short Unit None OVP ErrTyp Specify the processing type when a position command differential value excessive error occurs 95 When operating the built in controller axis 0 Maintains the servo status after the axis operation stops low level 1 Turns the servo OFF after the axis operation stops low level 2 Stops the axis operation low level and turns the servo OFF immediately 3 Maintains the servo status after the axis operation stops high level 4 Turns the servo OFF after the axis operation stops high level 5 Stops the axis operation high level and turns the servo OFF immediately When performing the higher controller follow up 0 Switches to the built in controller and maintains the servo status after a deceleration stop 1 Swit
163. ror Reset 1 Click ErrReset R gt gt Recoverable errors are canceled Simplified terminal 1 Click Terminal T 2 Send or receive character strings 8 5 3 Test Operation To start a test operation click TestMode T under DriveMenu This function is the same as the test operation of servo tuning Note The motor performs reciprocating motions with fine width The operating width of reciprocating motions can be changed with the parameter lt 31 gt Be sure that there are no obstacles within the range of the operating width 8 23 Y DrvGil PC Utility 8 6 Data Management Menus 8 6 1 Parameter Manager This menu allows you to save all the parameters to files and register them from files in addition to edit the machine setting parameters Click Parameter M under MainMenv to display the Parameter Manager dialog box see Figure 8 23 Parameter Manager o Upload T DowmloadrD View fiel V Reset Comi R Exit X Figure 8 23 Parameter Manager dialog box 8 24 L 1 Editing machine parameters Click Machine Parameter Edit M in the Parameter Manager dialog box to display the MachineParameterEdit dialog box see Figure 8 24 If the connection with the driver is established the current values of the machine parameters are read and can be edited jal y 1 n EN jal 2 T rm E Changed value text
164. rvo OFF TYPE SRV Servo OFF TYPE SRV Servo OFF TYPE ELS Others TYPE ELS Others TYPE ELS Others TYPE E2 Stop deceleration TYPE ELS Others TYPE ELS Others TYPE ELS Others TYPE E2 Stop deceleration TYPE E2 Stop deceleration TYPE ELS Others TYPE E2 Stop deceleration TYPE E2 Stop deceleration TYPE E2 Stop deceleration TYPE E2 Stop deceleration TYPE E2 Stop deceleration TYPE E2 Stop deceleration TYPE E2 Stop deceleration TYPE E2 Stop deceleration TYPE E2 Stop deceleration TYPE E2 Stop deceleration TYPE E2 Stop deceleration TYPE E2 Stop deceleration TYPE E2 Stop deceleration TYPE E2 Stop deceleration TYPE E2 Stop deceleration TYPE E2 Stop deceleration Error Alarm Details Error number Error type Measures Main cause Action to take Error number Error type Measures Main cause Action to take Error number Error type Measures Main cause Action to take Error number Error type Measures Main cause Action to take 1 Memory error Long MemoryError KIND POR Start up error Short TYPE POR Do not start up MemoryErr An error is detected during memory check when the power is turned on Subcode 1 CPU built in ROM sum error 2 RAM error 3 Flash ROM sum error Contact us 2 Interface board error Long InterfaceBoardError KIND POR Start up error Short TYPE POR Do not start up IFB Err Failed to initialize the interface
165. s added automatically 3 Click Save S to start uploading If you wish to stop the uploading click Cancel ES 8 25 e DrvGll PC Utility 3 Downloading from a file to the driver 1 Click Download D in the Parameter Manager dialog box 2 Enter the name of the file to be downloaded to the driver Do not enter a file extension prm it is added automatically 3 Click Open O to start downloading If you wish to stop the downloading click Cancel 4 When the downloading is finished follow the message and reset the driver 4 Displaying the file contents 1 Click View file V in the Parameter Manager dialog box 2 Enter the name of the file you want to display Do not enter a file extension prm it is added automatically 3 Click Open O to begin displaying the file contents in the Parameter file display dialog box see Figure 8 25 4 If you want to print the file click Print P 5 Click Exit X and return to the Parameter Manager dialog box View parameter file ROM _ Version A ID S R7U33SE Al T Upload information CpuFRom ec T Z ExtFRom 1c1 IFE 100 Mee OM LOCO C Std x Uploaded riim E e parameter value Engl ishDi spl ay 201 l Ax1sCoaaordinateDir 20 2 JE I zeP fbMonFil ter 203 U CmdP 1 gt T Ype 204 E MonP1 lt T ps F205 l ExtcCurLmtEn e 206 y mdWeight
166. s possible to monitor the on off status of DI and DO points It displays the status of electrical I O signals regardless of the I O logic setting For reference of DI and DO numbers and signal names see Chapter 6 DI status e Red x DI Select db 76543210 Gray nonexistent 00 031 n eeecccece ooooeeees 000000001 OOOO Ol O24 MD 76 54 397 10 Select DI DO points to display ed on i NE OOeeeeco o Gray nonexistent OOOO g IO point OOOO OOO 16 OOOO Ol O24 RED On Figure 8 11 VO Monitor dialog box 8 11 e DrvGll PC Utility 3 Axis signal status display In the Terminal menu click Axis signal status A under Monitor to display the Axis signal status dialog box see Figure 8 12 Via the Axis signal status dialog box it is possible to monitor the axis status etc of the driver Asis signal status 2 AUT Pe Dy Servo ready kererence mark Green on Red off Gray nonexistent signal Figure 8 12 Axis signal status dialog box 4 Error or alarm monitor In the Terminal click Error or Alarm S under Monitor to display the Error or Alarm dialog box see figure 8 13 When an error occurs this dialog box displays error message and shows the error history in the display text area When an alarm occurs it displays alarm message and shows the alarm history in the display text area In the display text area the error his
167. se side Position settling status Interface ready Overload status Zero signal status Sensor group signal status Excessive position deviation status Excessive velocity status Braking OFF Position control integral main switch status Error code main Error code sub Operation mode number Multi channel communication status Multi channel communication slave code Maximum motor pulse velocity Unit None None None None None None None None pulse pulse pulse pulse Axis command unit Axis command unit pulse None None None None None None None None None None None None None None pulse sec STD1 Monitor No 355 356 357 358 360 361 363 364 365 366 367 368 369 370 371 312 373 374 375 376 377 384 390 391 392 393 396 398 399 Monitor name Monitor resolution Digital velocity sensitivity Maximum velocity Z phase signal pulse interval Load ratio Velocity ratio gain Velocity command value digital Post filter velocity command value digital Present velocity value Present post filter velocity value Velocity deviation digital Current command value D A Present current value A D Present command unit value Command unit deviation Present velocity value DC Motor linear coordinate command second order differential value Acceleration feed forward command value Position control bandwidth Velocity control bandwidth Position settling width Motor linear coordinate current value after filtering Mot
168. sensing move Excessive move for the second home sensing move Excessive move for home sensing after a home sensing move Homing move after a home sensing move 15 Homing operation Origin position offset feed velocity Always Minimum value 1 Long Maximum value 16000000 ORG OffsetVel Initial value Motor dependent Short Unit Axis command unit sec ORG OffVel Specify the velocity when executing origin offset move in homing mode This parameter is invalid if the origin offset 1s 0 16 Velocity override percentage 1 Always Minimum value 0 Long Maximum value 20000 VelOverride1 Initial value 10000 Short Unit 1 100 VelOvrrid1 Specify override 1 for feeding velocity 20 Homing direction Always Minimum value 0 Long Maximum value 1 ORG Direction Initial value 0 Short Unit None O OrgDir Specify the homing direction origin proximity signal search direction in homing mode 0 direction 1 direction 21 Enable Disable the over travel signal under the homing Always mode Minimum value 0 Long Maximum value 1 ORG OT SignalUse Initial value 0 Short Unit None O OT Use Specify whether or not to execute the over travel signal search in homing mode 0 Disables the over travel signal search 1 Enables the over travel signal search 25 Homing operation Origin inside selection Always Minimum value 0 Long Maximum value 1 ORG InsideSelect Initial value l Short Unit None O Inside If the home sensor proxim
169. signal should be H when active The signal should be H when active status for flowing current to the status for flowing current to the The signal should be H when active Caution driver photocoupler driver photocoupler status for flowing current to the As for the PLS it should be L when As for both the UP and DOWN they driver photocoupler normal should be L when normal The position command value instructed from the controller interface can change the weight of a single pulse on the interface by the input signal PLS DIRECT When the status of the input signal PLS DIRECT is 0 a single pulse on the interface becomes the value set with the 2207 Simplified scaling weighted data parameter While the status of the input signal PLS DIRECT is 1 a single pulse on the interface is independent of the value set with the 207 Simplified scaling weighted data parameter and becomes a single pulse inside the driver However do not change the status of any of the PLS SIGN UP DOWN and A B signals for 2 msec each before and after switching the input signal PLS DIRECT off gt on on off Status 1 S Status 0 PUA_IN X Unchanged E S X Unchanged F SDB_IN x Unchanged X S FS Unchanged x PLS_DIRECT lt gt lt gt lt gt lt gt 2 msec 2 msec 2 msec 2 msec or more or more or more or more Encoder Pulse Output The position current value is o
170. t of the motor and measures the inertia and weight of the load from the velocity changes at that time The result of the measurement is written to the 155 Load inertia load mass parameter From the measured inertia and weight of the load it adjusts the position control bandwidth velocity control bandwidth and position integral limiting value according to the setting value of the 38 Servo stiffness settings parameter For the position control bandwidth and the velocity control bandwidth the results are reflected in the parameters on the side selected by the controller interface see Section 6 5 2 Position Control Bandwidth Selection FN and Section 6 5 3 Velocity Control Bandwidth Selection GAIN It does not adjust position feed forward velocity feed forward and acceleration feed forward The settling wait function 1s not performed at the end of the auto tuning operation a Related parameters sess X JAMO Set parameters css 432 Operation width under Auto tuning 50 Position control bandwidth 1 433 Maximum deceleration under Auto tuning 1448 Position control bandwidth 2 434 Initializing the deceleration time while under Auto 51 Velocity control bandwidth 1 E tuning i449 Velocity control bandwidth 2 437 Auto tuning repeat count 1453 Position integral limiting value 438 Servo stiffness settings 155 Load inertia load mass L 5 2 4 Homing Move In this operation the rotor is moved according to a preset ho
171. t with the 59 Position current value filter frequency parameter The position control part outputs a value before or after being filtered to the 327 Pulse position current value monitor according to the setting status of the 203 Using position current value filter parameter It also calculates the value of the 322 Pulse position deviation monitor using the current value before or after being filtered according to the setting status of the 203 parameter Related parameters 50 Position control bandwidth 1 448 Position control bandwidth 2 453 Position integral limiting value 459 Position deviation filter frequency 203 Using position current value filter 5 4 3 Feed Forward Three types of feed forward functions are available position feed forward velocity feed forward and acceleration feed forward Feed forward function 1s effective for quick positioning The position feed forward can be set by percentage in the 54 Position feed forward percentage parameter The position feed forward makes the position deviation at equal velocity move smaller and helps to achieve a smooth settling at acceleration deceleration The velocity feed forward can be set by percentage in the 55 Velocity feed forward percentage parameter The acceleration feed forward calculates the acceleration feed forward gain from the 155 Load inertia load mass parameter values which are measured and set by the auto tuning operation or set directly by numerica
172. ta that cannot be processed was detected when the power was turned on Subcode 1 Basic data and adjustment data problem 2 Servo constant problem Contact us 15 Encoder error Long EncoderError KIND SYS System error Short TYPE SRV Servo OFF EncoderErr An encoder and revolver signal problem was detected Subcode 1 No SIGO signal edge 2 No SIGI signal edge 3 SIGO signal cycle problem 4 SIGI signal cycle problem Contact us Error number 16 Coordinate error A Long CoordinateErrorA Error type KIND SYS System error Short Measures TYPE SRV Servo OFF CoordiErrA Main cause An error occurred during coordinate processing Subcode 1 Eccentricity compensation computation problem 2 Conversion problem from the command unit to pulses Action to take Error number 17 Coordinate error B Long CoordinateErrorB Error type KIND ERRALMO2 Error operation alarm Short Measures TYPE E2 Stop deceleration CoordiErrB Main cause An error occurred during coordinate processing Subcode 1 Executed the process that was prohibited in the coordinate non settling status 2 Out of the command coordinate area 3 Executed a process using the setting that is prohibited Action to take Error number 18 Monitor pulse output error Long MonitorPulseError Error type KIND SYS System error Short Measures TYPE SRV Servo OFF MonPlsErr Main cause Monitor pulses cannot be output Action to take Error number 19 Slav
173. ta that was copied to a file via the PC utility or that was copied to the driver s built in flash ROM Perform either of the following restore operations Restore using the PC utility Using the PC utility restore the backed up driver memory contents to an electronic file in the personal computer to the driver Perform the following restore operation using the PC utility Parameters download Programs download batch Index equal division compensation download batch Index unequal division download batch Parts download batch I O settings download Restore from the driver s built in flash ROM Restore the driver memory contents from the on board flash ROM by copying the driver memory contents to the driver s built in flash ROM in a batch operation Set the slide switch on the front panel as shown in the figure below and turn ON the power When the CRDY lamp flashes after several seconds the restore operation is completed CRDY LED that flashes when backup is properly completed DYNASERV ERR LED that flashes when backup is not properly completed SW1 slide switch Only bit 2 and bit 4 are ON bit 1 and bit 3 are OFF 10 4 L 10 5 Motor Problems and Corrective Actions When an abnormality occurs during motor operation first check the LED display as well as the error display LED 7 segments on the front panel of the driver If the cause of the problem cannot be determined by the indication of the LED display t
174. the Program Folder listed below Y ou may type a new folder name or select one fram the existing Folders list Click Nest ta continue Program Folders TOROGAW E Existing Folders Accessonezs Internet Explorer Online Services StartUp Yokogawa YOROGAMA E Back Cancel Figure 4 3 2 Select Program Folder dialog box Select a program folder and click Next The installation begins Follow the instructions on the screen and change disks When the setup is completed the Setup Complete dialog box appear see Figure 4 3 3 Setup Complete Setup has finished copying files to your computer Setup will now launch the program Select your option below Click Finish to complete Setup E Figure 4 3 3 Setup Complete dialog box To start the program select Launch the program file and click Finish If you do not want to start the program just click Finish If you are prompted to restart the computer simply follow the message and restart it Note Remove the floppy disk before restarting the computer 4 7 UN Basic Settings for Operating the Motor 4 3 2 Startup 1 To start the PC utility click Start Program P YOKOGAWA E and then DrvGH Figure 4 3 4 Startup 2 An Version Information dialog box is displayed for several seconds and then the PC utility starts up Version of PC utility DryGll Version Infonation
175. the feeding velocity For trapezoidal move Specify the feeding velocity For cam move Specify the feeding velocity peak velocity 10 Jog Velocity Always Minimum value 0 Long Maximum value 16000000 JogVelocity Initial value Motor dependent Short Unit Axis command unit sec JogVel Specify the feeding velocity in jog mode 11 Over travel search velocity during a homing move Always Minimum value 1 Long Maximum value 16000000 ORG OT SearchVel Initial value Motor dependent Short Unit Axis command unit sec ORG OT Vel Specify the velocity when executing over travel signal search move in homing mode This parameter is invalid if the over travel signal search is not executed 12 Homing operation Home sensor proximity signal search Always velocity Minimum value 1 Long Maximum value 16000000 ORG ORG SearchVel Initial value Motor dependent Short Unit Axis command unit sec ORG ORGVel Specify the velocity to search the home proximity signal in homing mode This parameter is invalid if the origin proximity signal is not used 13 Homing operation Home sensing feed velocity 1 Always Minimum value 1 Long Maximum value 16000000 ORG Z Vel Initial value Motor dependent Short Unit Axis command unit sec ORG Z Vel Specify the velocity when performing the first home sensing move in homing mode The velocity set here is also used as the feed velocity when performing the following moves in addition to performing the first home
176. the position of the motor by three coordinate systems with different units a command unit coordinate system and a pulse coordinate system The pulse coordinate system manages the coordinate values in units of pulses that can be detected by the encoder resolver The position control part of the driver controls the motor based on these coordinate values It has a command value and a current value and they are always updated and displayed in the 320 Pulse position command value monitor and 327 Pulse position current value monitor respectively The command unit coordinate system manages coordinate values in the amount of pulses on the controller interface The position command values that occur in the driver itself test operation auto tuning operation homing operation jog move operation are also processed based on these coordinate values The command unit coordinate system has command values and current values each of which are constantly updated and displayed in the 323 Command unit command value monitor and the 370 Command unit current value monitor respectively 5 3 2 Switching Position Command Pulse Weights The position command value instructed from the controller interface is given to the driver by any pair of the PLS SIGN UP DOWN and A B signals which is then reflected in the command unit command value Normally the pulse position command value inside the driver for a single pulse on the controller interface becomes the value
177. the values set by Display position selection and Vertical axis range selection can be saved by assigning a file name In addition when Graph under Data save is clicked the waveform currently being displayed the status set in the SetCondition ELogStart dialog box and the values set by Display position selection and Vertical axis range selection can be saved by assigning a file name The status set in the SetCondition ELogStart dialog box as well as the values set by Display position selection and Vertical axis range selection are automatically saved in the oscscope cnd file when the Oscilloscope dialog box is closed When the dialog box 1s opened next time it displays the previous setting values 14 When Condition and display under Data load is clicked the setting status of the SetCondition ELogStart dialog box as well as the values set by Display position selection and Vertical axis range selection are loaded from files and then displayed The waveform is cleared at this time and all values are set to 0 In addition when Graph under Data save is clicked the waveform data the setting status 1n the SetCondition ELogStart dialog box and the values set by Display position selection and Vertical axis range selection are loaded from files and then a waveform is displayed Note If the trigger condition that has been set cannot be established and Start acquisition cannot be activated click Lo
178. the velocity information that 1s fed back to the velocity control part The velocity feedback filter functions when the Using velocity feedback filter parameter is set to Use 221 Velocity command filter bandwidth While in machine setting mode Minimum value 50 Long Maximum value 1000 VcmdFilterFreq Initial value 1000 Short Unit Hz VcmdFilFrq Specify the bandwidth of a filter to be applied to the velocity command value that is an output from the position control part 222 Enables error when over speed occurs While in machine setting mode Minimum value 0 Long Maximum value 1 OverSpeedErrorEn Initial value 1 Short Unit None OVS ErrEn Specify whether or not to process as an error when over speed occurs 0 Does not process as an error 1 Processes as an error 224 Enables error when excessive position deviation occurs While in machine setting mode Minimum value 0 Long Maximum value 1 OverPerrErrorEn Initial value l Short Unit None OVPe_ErrEn Specify whether or not to process as an error when an excessive position deviation occurs 0 Does not process as an error 1 Processes as an error 227 Over speed error processing type While in machine setting mode Minimum value 0 Long Maximum value 5 OverSpeedErrorT ype Initial value 1 Short Unit None OVS ErrTyp Specify the processing type when an over speed error occurs When operating the built in controller axis 0 1 Turns the servo OFF after the axis
179. tility on the PC Procedure Installation under Windows 95 98 98SE Me NT4 0 2000 The G2 PC utility hereinafter referred to as the PC utility runs on Windows 95 98 98SE Me WindowsNT4 0 and 2000 It can be installed via Add Remove Programs under the Control Panel in Windows If an older version of the PC utility is present delete it first and then install the new version Display the Properties of Adding Removing Programs dialog box and click Set Up 1 Then proceed according to the instructions displayed on the screen The PC utility setup program starts up Proceed with the setup according to the instructions on the screen A dialog box for determining the directory in which to install the PC utility appears see Figure 4 3 1 Choose Destination Location Setup will install OrvGll_E in the following directory To install to this directory click Nest To install to a different directory click Browse and select another directory Tou can choose nat to install Drvlall E by clicking Cancel to exit Setup Destination Directory L Pragram Files xY okeagawa sDrelill E Browse Cancel Figure 4 3 1 Choose Destination Location dialog box Click Browse to display the Select Directory dialog box and select the desired drive and directory Click Next to display Select Program Folder see Figure 4 3 2 4 6 Select Program Folder Setup will add program icons to
180. tion mode dialog box Note The settings made in the Communication mode dialog box are not stored When the PC utility is started up a single channel is always set 4 9 EH Basic Settings for Operating the Motor 4 4 3 Displaying Communication Strings When you start the PC utility the Communication string dialog box appears in the upper right corner of the screen See Figure 4 4 3 Any strings that the PC utility sends to the driver as well as any strings received from the driver are displayed regardless of the menu Communication string gt String sent nw g lt String received 16 z RID VelOverndel 1 0000 gt 20 RID EnghshDisplay 1 Figure 4 4 3 Communication string dialog box 4 10 4 4 4 Main Menu When you start the PC utility the MainMenu dialog box appears see Figure 4 4 4 See the following chapters for how to start the actual operation gt Manken enu i Figure 4 4 4 MainMenu dialog box 4 11 EH Basic Settings for Operating the Motor 4 5 Setting the Status to Servo ON The driver can be put into Servo On status through the following operation 1 Click the I O Config I button in the MainMenu and then the I O config L button Click the I O Config l Click the I O Config button L button MainkHenu 170 configuration UpLoadi U serva Cnt Oscillascope t Paral End L
181. tion to take Perform the servo adjustment again If an error still occurs extend the tolerance Error number 24 Over speed Long OverSpeed Error type KIND RGR Always error Short Measures TYPE ELS Others OverSpeed Main cause The velocity was higher than the maximum velocity Action to take Error number Error type Measures Main cause Action to take Error number Error type Measures Main cause Action to take Error number Error type Measures Main cause Action to take Error number Error type Measures Main cause Action to take Error number Error type Measures Main cause Action to take 30 Servo not ready Long ServoNotReady KIND ERR error Short TYPE E2 Stop deceleration SrvNotRdy The servo was not ready for the process that requires the servo to be ON Perform an error reset operation turn ON the servo and execute again 31 Excessive position command differential value Long OverDiffPcmd KIND ERR error Short TYPE ELS Others OverDPcmd The position command with the variation rate that was greater than the maximum velocity was given The velocity override may be 10096 or more Verify it 42 direction hardware over travel Long Hard OT direction KIND ERR error Short TYPE ELS Others Hard OT The direction hardware over travel signal was detected while moving to the direction Perform an error reset operation then move to the direction 43
182. tory is displayed first and a maximum of 16 errors alarms is displayed Error message Alarm message Errar or Alarm Display text area Figure 8 13 Error or Alarm dialog box L 5 Parameter monitor help In the Terminal menu click Parameter Monitor help H under List to display the Parameter Monitor help dialog box see Figure 8 14 The Parameter Monitor help can display the contents of a maximum of ten parameters monitors If you click Prev P parameters monitors with smaller numbers than the currently displayed parameters monitors are displayed If you click Next N parameters monitors with larger numbers than the currently displayed parameters monitors are displayed Parameter Monitor help 1 HOT_ExrorEnable amp 3 HOT ErorEnable d AccProfeel amp S DecProfeel 7 TaceTrapezoid amp B TdecTrapezoid amp U FeedVelocity LU TogVelocity 11 ORG OT_SearchVel 12 ORG ORG SearchYel Previa Figure 8 14 Parameter Monitor help dialog box 6 Command help In the Terminal menu click Command Help C under List to display the Command Help dialog box see Figure 8 15 The Command Help can display the contents of a maximum of ten commands If you click Prev P commands with smaller numbers than the currently displayed commands are displayed If you click Next N commands with larger numbers than the current
183. turn the power off when connecting cables to the driver part Make sure to turn the power off when removing the cover of the driver part while performing adjustment operations etc O Fire and electric shock warning If any abnormalities such as abnormal noise bad smell or release of fumes that coming from the device are detected while it is in operation turn the power off immediately pull out the power supply plug and contact us If the device is dropped or given a strong impact stop the operation immediately turn the power off and contact us Do not operate at power supply voltages other than the one indicated on the device O Fire and electric shock warning Avoid dropping or inserting metal shards or combustible materials or allowing water to get into the opening parts of the device e g the clearance between the rotor and stator of the motor part or the air vent of the driver part In such an eventuality turn the power off immediately and contact us The cables coming out from the motor part or the bottom of the index part should not be forcibly bent twisted pulled heated or placed under a heavy object Never try to remodel or repair the device by yourself B This product has been marked with N and NPrecaution signs so that it can be used safely Ignoring precautions and prohibitions related to these signs and using this product in an incorrect way may cause danger to the life and body of the operator Always follow t
184. ty monitor value For example if the setting of 69 is 6 55V 8192 digits and the value of 356 is 4800 digit rps in a rotating motor the signal sensitivity of the velocity monitor is 3 84 V rps The velocity monitor signal is output in the range of 6 55V Moreover it is possible to output only the AC element of the current velocity value of the motor via the setting of the 75 Velocity monitor selection parameter One of the data items below is output to AMON of the CN3 analog monitor interface as an analog monitor signal The content of the analog monitor can be selected by the 70 Analog monitor selection parameter Depending on the selected content the signal sensitivity is adjusted using the corresponding monitor gains 71 to 74 The analog monitor signals are output in the range of 6 55V Analog monitor selection Position deviation Pulse 71 Positioning error monitoring gain Analog monitor Test operation response 72 Test operation monitoring gain Analog monitor Position command value Pulse a vaie 73 Position monitoring gain Analog monitor Position command differential value 74 Position differential value monitor gain Analog Position current differential value monitor Related parameters 469 Velocity monitoring gain 470 Analog monitor selection A71 Positioning error monitoring gain Analog monitor 472 Test operation monitoring gain Analog monitor 473 Position monitoring g
185. us a jog move is performed as commanded by this command If a start command is issued during a jog move the move is immediately decelerated and stopped after which the operation is started If the operation is ended after that the motor remains stopped regardless of the jog move status before starting the operation The response is issued immediately 7 4 7 Other convenient commands l Response at 1 Status request 0 R3H Software driver rest 0 Noe Status request 00 0 This command notifies the status of the driver It functions irrespectively of the operation mode The response is issued immediately Response character string R3H driver status execution program number execution block number Driver status Value 0 1 0 Operation mode RS292C Not ready Operation is being executed Not being executed Being executed 1 Bit No Content Axis operation is being executed Not being executed Being executed cue SEMU MOGE Not being executed Being executed being executed 6 Error status Not in error status Error status Alarm status Not in alarm status Alarm status Reserved poo Software driver reset 96 This command is software equivalent to turning the power to the driver off and on There is no response ll RS232C Interfaces 7 5 Parameter Commands Through the use of parameter commands it is possible to refer to values of parameters and monitor reference commands assign
186. utput from the driver via the controller interface by either pair of the UP DOWN or A B signals Which pair of the signals will be used to output is set with the 205 Monitor pulse type parameter The encoder origin signal is independent of this setting UP DOWN direction direction direction direction 3MHz max 750kHz max L 6 4 Operations 6 4 1 Starting an Operation The operation start command via MODE START instructs the start of operations other than jog moves The operation start command is issued when the status is 1 MODE 1 0 must set the number of the operation to be performed when the operation start command is issued via MODE START See the table below In addition the value set by MODE 1 1 is read and processed 10ms after the operation start command is issued Therefore if deviation in time between outputs by the controller is within several msec the motor can be started normally by setting the time earlier than the time of the operation start command issuance via MODE START However note that the dead time for issuing the operation start command will be added to this duration 10ms The total dead time until the motor starts operating is thus 10ms scan time 10ms read delay internal delay time The BU
187. value 2msec sample 392 Pre filter current square duty Unit digit Displays the pre filter current square duty decimal point 15 bits 393 Post filter current square duty Unit digit Displays the post filter current square duty decimal point 15 bits 396 Driver code Unit None Displays the driver code 398 Motor code Unit None Displays the motor code 399 Time after power ON msec Unit msec Indicates the time after the power has been turned on Error Alarm List Error No KR WN A 11 15 16 17 18 19 20 21 22 23 24 30 31 42 43 44 45 46 49 50 51 52 53 60 61 62 63 65 66 67 80 81 82 85 Name Memory error Interface board error Battery alarm Watchdog error Kernel error Data sum error Data error Encoder error Coordinate error A Coordinate error B Monitor pulse output error Slave drive error Power module error AC power error Over load Excessive position deviation Over speed Servo not ready Excessive position command differential value direction hardware over travel direction hardware over travel direction software over travel direction software over travel Emergency stop Homing error Cannot execute Data not ready Timeout Cannot calculate Cannot interpret Command format error Data is out of range Operation error Illegal parameter and monitor number Illegal device Write protected No such command Not
188. width 4 After performing reciprocating movement for several times the estimation of the inertia and weight is completed and reflected in the parameter for inertia weight By changing the servo stiffness setting parameter three parameters the velocity control bandwidth position control bandwidth and position control integral limiter are changed and thus the servo stiffness changes 2 Manual tuning 1 Set the operation mode to the RS232C operation enable mode and then turn on the power see Chapter 5 2 Set the motor to Servo ON the operations until this point must be made before opening the Servo Tuning dialog box 3 Click Test Mode T to enter the test mode Note The motor performs small width reciprocating movements the operation width of the reciprocating movement can be changed in parameter lt 32 gt Please make sure that there are no interfering objects in the range of the operation width 4 Inthe test mode the driver monitors the waveform of the motor position by oscilloscope etc and manipulates three parameters the velocity control bandwidth position control bandwidth and position control integral limiter to tune the servo see Chapter 5 for more details 8 14 Oe Other parameters The three parameters position feed forward velocity feed forward and acceleration feed forward have no relation with servo stiffness They are parameters for adjusting the settling tim
189. wr Ground cable power 2 0 mm or more S 3 Motor cable 2 0 mm or more 30 m or less in length ep pn Sensor brake cable 0 3 to 0 75 mm ITB2 5 Mni Dedicated cable is required ra communication cable Encoder resolver 0 2mm twisted pair batch shielded cable outer CN2 Maximum aU T TEN diameter 14 mm or less 10 m or less in length 100 mA DC 7 Jumpercabe cable 20mm ormre 20mm ormre or more mm Dedicated cable is required R7033YB cable cy MO with connector Conirollareanle 0 2 to 0 5mm batch shielded cable outer CN4 Maximum diameter 4 9 mm or less 3 mor less in length 500 mA DC 20A for the A 4 264mm and E 0 205mm types for both the DM and DR series 15A for the B 4 160mm type and 10A for the DM1004B 1004C motors 3 3 M Connection and Wiring 3 3 Connection between Motor and Driver Note Shielding should be applied to each wire 1 DM Series DM1004B 1004C motors Driver part Motor part lt TB1 gt Motor cable Va VB Vc lt CN2 gt 10V 1 GND 12 9 SIGO 3 GND 14 0 SIG1 5 GND 16 ECLK 7 O ECLK 18 um Orange and white Chassis ground Encoder cable 2 DM Series motors models other than the above Driver part TB1 VA VB Vc Motor part Motor cable Shielded cable Encoder cable ds A lt CN2 gt 10V 1 GND 12 9 SIGO 3 GND 14 0 SIG1 5 GND 16 ZERO 9 ZERO 19 ECLK 4 Red Black
190. x 10 load 1x 10 1 x 10 Allowable moment load N m kgf m 200 20 Axial displacement mm N 2 5 x 10 2 5 x 10 Motor S rigidity mm kgf 3 x 10 3 x 10 Pi rad N m 1 x 10 Moment displacement rigidity rad kgf m 1x 10 0 Note A Absolute accuracy 20 sec B Absolute accuracy 60 sec 3 orano ue neta RE i Ill Specifications 2 DR Series Motor Item Unit DR1400 DR1300 DR1200 DR1150 DR1100 DR1050 AO00 1 ADO 1 AO0 1 AO00 1 AO0 1 AO00 1 Maximum output torque N m kgf m 400 40 300 30 200 20 150 15 100 10 50 5 0 Rated number of revolutions Motor 100 200V os 0 25 0 5 0 5 1 0 1 0 1 0 1 5 1 5 positioning accuracy fist sag 9 3 sso Allowable axial 4 x 104 4 x Ts Negative 2 x 10 2 x 10 Aral mm N t SRE Cen mm kgf 3 x 10 3 x 105 rigidity rad N m 4 x 107 taii OK Ra a x 10 Mass S LLL diagram Item Unit DR1060 DR1045 DR1030 DR1015 DR1008 Boo 1 BOO 1 Boot Boot Boor Nm kgfm 60 6 0 45 4 5 30 3 0 15 1 5 8 0 8 Rated number of revolutions Motor 100 200V om 1 0 1 5 1 0 2 0 1 5 2 0 2 0 2 0 po 1015808 10 positioning accuracy Jetta eee i 45 24 x 10 Allowable axial load Axial Positive om displacement mm kgf 4 x 10 4 x 105 rigidity rad N m 2 x 10 Moment displacement rigidity eiat m 2 x 10
191. y Acceleration time or deceleration time can be selected individually with respect to the maximum velocity Acceleration decelerat ion control 3 Real time override possible interlock possible Follows the position command from the controller interface when none of the operations listed below is being performed Pulse train Pulse rain udin dd Operation function Homing operation O est operation O O awn O9 6 ag move RO Encoder resolver error power module error over voltage and over current main power Protection functions supply error overload maximum velocity excessive position deviation hardware over travel software over travel only for linear coordinate Support software PC utility running under Windows optional Others E E Possible to connect the operation display pendant optional Analogue signal monitor velocity general torque thrust command For general monitoring what is shown by the monitor can be selected by setting position error test operation response position command value current position value position command Monitor differential value Digital signal monitor settling signal Monitoring internal information by higher interface Error and alarm display on a 7 segment LED Ill Specifications 11 2 Torque Speed Characteristics 1 DM Series 200 230 VAC power supply 100 115 VAC power supply pwr
192. y Command Weight Defa Command Pulse Type PLs SIGN setis Monitor Pulse Type JA Figure 8 28 Puls configuration dialog box 3 Select the parameter from the combobox 4 Click Set S to start downloading the selected parameter to the driver 5 When the downloading is finished follow the message and reset the driver 8 30 Chapter 9 Operation Display Pendant 9 1 9 2 9 3 9 4 9 5 9 6 9 9 8 Overview Features and Part Names Switching Displays Terminal Mode Display Parameter Monitor Display Parameter Settings Display I O Monitor Display Special Command Display 9 1 8 Operation Display Pendant 9 1 Overview The operation display pendant abbreviated as TBX optional device should be connected to the CN1 RS232C communication connector It is set to the same status as the single channel communication in the RS232C interface regardless of the setting status of the rotary switch RS ID on the front panel The following functions are provided for the operation display pendant e Terminal mode display In this display you can send commands and parameter commands in the same way as with the RS232C interface and display response character strings e Parameter monitor display In this display the updated contents of parameters monitors referred to by can be displayed repeatedly e Parameter settings display In this display you can make changes to parameters referr

Parker Hannifin Dynaserv G2 User's Manual

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