Parker Dynaserv G2 User Manual
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Parker Dynaserv G2 User Manual

Parker Dynaserv G2 User Manual

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p/n 88-020389-01 A
Automation
Dynaserv G2 Drive
User Guide
Effective: March 1, 2002

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  • Page 1 88-020389-01 A Automation Dynaserv G2 Drive User Guide Effective: March 1, 2002...

  • Page 2: Introduction

    Introduction Thank you very much for your purchase of the DD servo actuator DYNASERV. The DYNASERV 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.
  • Page 3 Regarding the safe usage of this device ! This product has been marked with 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. ! Please make sure to understand the information given below completely before you start reading the technical manual.
  • Page 4 ! This product has been marked with 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. ! Please make sure to understand the information given below completely before you start reading the technical manual.

  • Page 5: 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.
  • Page 6 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. 14. 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.
  • Page 7 16. Do not perform a withstanding voltage test on this device. If such a test is 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 be aligned to a sufficient degree. Please note that if the deviation between the two cores becomes 10 µm or more, the bearings inside the motor may be damaged.

  • Page 8: Table Of Contents

    Introduction ...1 Chapter 1 Overview of the Product About the DYNASERV DM/DR Series ... 1-2 About the DrvGII Type Driver ... 1-3 Product Configuration ... 1-4 Model Names and Codes ... 1-5 Name and Function of Each Part ... 1-6 System Configuration Diagram ...
  • Page 9 Performing the Basic Settings of Pulse Commands ... 4-18 4.8.1 About Position Command Pulse Input...4-18 4.8.2 Example of Operation ...4-19 Chapter 5 Functions Parameters and Monitors ... 5-2 5.1.1 General Parameters ...5-2 5.1.2 Mechanical Setting Parameters ...5-2 5.1.3 Monitors...5-2 Operation Functions... 5-3 5.2.1 Jog Move...5-3 5.2.2 Test Operation...5-4 5.2.3 Auto-Tuning Operation...5-4...
  • Page 10 Other Inputs ... 6-9 6.5.1 Pulse Weight Selection PLS_DIRECT ...6-9 6.5.2 Position Control Bandwidth Selection FN ...6-9 6.5.3 Velocity Control Bandwidth Selection GAIN...6-9 6.5.4 Settling Width Selection POSW [1..0]...6-9 6.5.5 Disable Position Control Integral Operation PACT ...6-9 6.5.6 Error reset (ERR_RESET) ...6-9 6.5.7 Servo ON SERVO...6-10 6.5.8 Current Limit Input ...6-10 Chapter 7 RS232C Interfaces...
  • Page 11 Chapter 9 Operation Display Pendant ... 9-1 Overview... 9-2 Features and Part Names ... 9-2 Switching Displays ... 9-3 Terminal Mode Display ... 9-4 Parameter Monitor Display... 9-5 Parameter Settings Display... 9-6 I/O Monitor Display... 9-7 Special Command Display... 9-8 Chapter 10 Maintenance and Inspection ...

  • Page 12: Chapter 1 Overview Of The Product

    Chapter 1 Overview of the Product About the DYNASERV DM/DR Series About the DrvGII Type Driver Product Configuration Model Names and Codes Name and Function of Each Part System Configuration Diagram...
  • Page 13 Overveiw of the Product About the DYNASERV DM/DR Series The DYNASERV servo motor, is a high 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.
  • Page 14 About the DrvGII 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.

  • Page 15: Product Configuration

    Overveiw of the Product Product Configuration The following shows the configuration of this product. Upon unpacking, please check the model name and code of the product’s main unit, whether or not all the standard accessories are included, and also the quantity supplied.

  • Page 16: Model Names And Codes

    Model Names and Codes There are restrictions on the combination of specifications. Please check with our sales staff before determining the specification. (1) Motor !Motor series name (DM or DR) !Design version (1: standard/5: high-speed) !Maximum output torque (N-m, three-digit number) !Motor type/outer diameter (A:φ264/B:φ160/C:φ116/E:φ205) !Destination (0: domestic)

  • Page 17: Name And Function Of Each Part

    Overveiw of the Product Name and Function of Each Part (1) Motor Part Rotor series Load installation surface (DM1004C) Load installation screw series Load installation screw Shaft hole Stator installation Stator Bottom cap Rating nameplate (Upper surface) Load installation screw Shaft hole Rotor Base part...
  • Page 18 (2) Driver part ! 500W level (A model with regenerative terminal is shown) Setting switch and status LED display part <TB1> Connection of power supply and motor cable ! 2kW level (A model with a regenerative terminal is shown) Heat sink Mounting bracket <CN1>RS232C connnector...
  • Page 19 Overveiw of the Product (3) Details of the Front Panel of the Driver !500W level (with regenerative terminal) Regenerative terminal Power supply terminal Power supply ground terminal Motor cable phase A terminal Motor cable phase B terminal Motor cable phase C terminal Motor cable ground terminal <CNA>...
  • Page 20 [Details of Setting Switches and Status Display LEDs] CRDY RS ID SRDY SRV DS BUSY AXIS COIN COIN ZERO 200- RS EN 230VAC TEST LINE MOTOR Status display LEDs CRDY CPU ready Indicates that the driver finished its initial processing and went into its normal status. SRDY Servo ready Error status...

  • Page 21: System Configuration Diagram

    Overveiw of the Product System Configuration Diagram Operation display pendant LINEARSERV motor part <LM series> DYNASERV motor part <DM/DR series> Note: The allowable combinations between the DYNASERV motors and the DrvGII drivers are as follows. The 500W level driver can only be used with the DM1004B/1004C. All other DM and DR series should be used with the 2kW level driver.

  • Page 22: Chapter 2 Installation

    Chapter 2 Installation Installation of the Motor Installation of the Driver...
  • Page 23 Installation 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.

  • Page 24: Installation Of The Driver

    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 ! If there is a heating source near by, the temperature should be prevented from increasing by installing a shielding cover, etc.;...

  • Page 25: Chapter 3 Connection And Wiring

    Chapter 3 Connection and Wiring 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 <CNA> (For 500W Level Drive Only)
  • Page 26 Connection and Wiring Diagram of Overall Connection 1) * AC <DrvGII> type drive power supply The figure shows a 2kW level. cable Line filter 7) Jumper cable 2) Ground cable * Regenerative resistance (with lead wire) * Optional parts (see separate wiring section for motor and encoder cables.) * Operation display pendant (including 1.5 m cable) [PM000AT]...

  • Page 27: Cable Specification List

    Cable Specification List Cable name AC power supply 2.0 mm cable Ground cable (power 2.0 mm supply) Motor cable 2.0 mm Sensor brake cable 0.3 to 0.75 mm RS232C Dedicated cable is required. communication cable 0.2mm Encoder resolver diameter φ 14 mm or less, 10 m or less in length cable Jumper cable 2.0 mm...

  • Page 28: Connection Between Motor And Driver

    Connection and Wiring Connection between Motor and Driver Note: Shielding should be applied to each wire. (1) DM Series (DM1004B/1004C) motors Driver part ＜TB1＞ ＜CN2＞ +10V/ 1 GND/12 θSIG0/3 GND/14 θSIG1/5 GND/16 ECLK+/ 7 ECLK-/18 Chassis ground (2) DM Series motors (models other than the above) Driver part ＜TB1＞...
  • Page 29 (3) DR Series motors Driver part Motor cable ＜TB1＞ Encoder cable ＜CN2＞ +S0/ 2 +S180/11 -S0/6 -S180/15 +C0/10 +C180/20 -C0/ 8 -C180/17 Chassis ground Motor part White Black Green Brown and white Green and white Brown Green Orange and white Blue and white Orange Blue...

  • Page 30: Wiring Of Motor, Ac Power Supply, And Ground Cable

    Connection and Wiring 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. Regenerative resistance* AC power supply cable Ground cable Motor cable (2) For other DM/DR series (other than above) (in connection with 2kW level driver)
  • Page 31 Cable DM1004B/1004C ! 0.5 mm or more, 30 m or less in length AC power ! Clamping torque of terminal: 12[kgf-cm supply cable (terminal screw: M4x0.7) ! Power supply filter, recommended part: Tokin Corporation #LF-200 series ! 0.5 mm or more, 15 m or less in length ! Optional cable: CM6000C-"""...

  • Page 32: Wiring Of Encoder Cable

    Connection and Wiring Wiring of Encoder Cable (1) DM1004B/C motor Signal Signal Pin # Pin # name name + 10 V θSIG 0 5 θ SIG 1 ECLK+ ECLK- Chassis Shielded ground cable Terminal for <CN2> Chassis ground (shielded cable) Electric wire ! 0.2 mm specification...

  • Page 33: Wiring Of Controller Cable

    Wiring of Controller Cable <CN4> terminal Pin # Signal name Pin # 1 COMP1 2 COMN1 3 OUT_DRDY 4 OUT_SRDY 5 OUT_BUSY 6 OUT_XOVL 7 OUT_OVER 8 OUT_COIN 9 UA_OUT+ Terminal for <CN4> Made by Honda Tsushin Kogyo Connector: PCR-S36FS Housing: PCR-LS36LA Insertion surface Chassis ground...

  • Page 34: Wiring Of Sensor Brake Terminal

    Connection and Wiring Wiring of Sensor Brake Terminal Pin # Signal name 1 COMP0 Electric wire 2 XORG specification 3 XOTD 4 XOTU See the panel surface of the driver for the pin numbers. 5 (NC) <TB2> Made by Sato Parts (ML1900H) 6 XBRKP 7 XBRKN 1) Push down the lever with...

  • Page 35: Wiring Of Regenerative Alarm Contact (For 500W Level Drive Only)

    Wiring of Regenerative Alarm Contact <CNA> (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 circuit as shown in the figure below in order to prevent burnout incidents.

  • Page 36: Chapter 4 Basic Settings For Operating The Motor

    Chapter 4 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.

  • Page 37: Procedure (Flowchart)

    Basic Settings for Operating the Motor Procedure (Flowchart) In this section, we will operate the motor according to the procedure below. START Preoperation check Install the PC utility. Set the status to "Servo ON." Auto-tuning Homing operation Basic settings of pulse commands Operate (pulse input) Check the installation of the motor, wiring etc.

  • Page 38: Preoperation Check

    Preoperation check (1) Items to prepare • 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 6) Sensor wiring (prepared bycustomers) Motor part (main body) Level block...
  • Page 39 Basic Settings for Operating the Motor DrvGII (CN4) I/O 24V Specification Controller 12 to 24 VDC Photocoupler, contact, etc. Photocoupler, 12 to 24 VDC contact, etc. AM26LS31 or equivalent AM26LS32 or equivalent LMIT Connect the shield with the shell of the connector.
  • Page 40 DrvGII (CN4) I/O 5V Specification Controller 5VDC 7407 or equivalent 74LS244 or 5VDC equivalent 1KΩ AM26LS31 or equivalent AM26LS32 or equivalent LMIT Connect the shield with the shell of the connector. COMP1 PS2805 or equivalent 470Ω IN_ERR_RESET 1KΩ IN_SERVO IN_MODE_START IN_ABORT IN_MODE.0 IN_MODE.1...

  • Page 41: Installing The Pc Utility On The Pc

    Basic Settings for Operating the Motor Installing the PC Utility on the PC 4.3.1 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.
  • Page 42 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). Figure 4.3.3 “Setup Complete”...

  • Page 43: Startup

    Basic Settings for Operating the Motor 4.3.2 Startup To start the PC utility, click “Start,” “Program (P),” “YOKOGAWA_E” and then “DrvGII.” Figure 4.3.4 “Startup” An “Version Information” dialog box is displayed for several seconds and then the PC utility starts up. Figure 4.3.5 “Version Information”...

  • Page 44: Preparation

    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.) 4.4.1 Selecting Communication Port When you start the PC utility, the “ComPortSelect”...

  • Page 45: Displaying Communication Strings

    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.

  • Page 46: Main Menu

    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. Figure 4.4.4 “MainMenu” dialog box 4-11...

  • Page 47: Setting The Status To Servo On

    Basic Settings for Operating the Motor 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 (I) button.
  • Page 48 (3) Reset the driver according to the message in the dialog box. Click OK. (4) Verify that the driver is reset and the “SRDY” LED on the front panel is turned on. 4-13...

  • Page 49: Auto-Tuning

    Basic Settings for Operating the Motor 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. Look carefully from both sides of the load installation surface to check the CW/CCW movement.
  • Page 50 (3) Click Auto Tuning Start (tuning starts). (4) Follow the message on the dialog box and click “OK” to start the auto-tuning operation. After the auto-tuning is performed, the set values are displayed. The rotor rotates a maximum of 30º (seven times of reciprocating operation) in the CW direction.

  • Page 51: Performing Homing Operation

    Basic Settings for Operating the Motor Performing Homing Operation A homing operation can be performed according to the following procedure. (1) Checking the rotation direction Check the rotation direction (CW/CCW) of the motor. Look carefully from both sides of the load installation surface to check the CW/CCW Caution ! ! ! ! movement.
  • Page 52 (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.” 3) Click the “Set” button. The initial value that should be set depends on the homing direction. Enter “#20 = 1” if Caution ! ! ! ! the homing direction is CW and “#20 = 0”...

  • Page 53: Performing The Basic Settings Of Pulse Commands

    Basic Settings for Operating the Motor Performing the Basic Settings of Pulse Commands 4.8.1 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.”...

  • Page 54: Example Of Operation

    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) <Velocity pattern : Example of operation> Velocity [mm/sec] Moving distance (positive direction)

  • Page 55: Chapter 5 Functions

    Chapter 5 Functions 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 5.2.2 Test Operation 5.2.3 Auto-Tuning Operation 5.2.4 Homing Move 5.2.5 Mechanical 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...
  • Page 56 Functions 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 No. Parameter type 0 to 199 General parameters Mechanical setting 200 to 299 parameters 300 to 399 Monitors By expressing all parameters/monitors by #***, their values can be referenced (read).

  • Page 57: Operation Functions

    Operation Functions Idle status Controller interface position command follow-up 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.

  • Page 58: Test Operation

    Functions 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.

  • Page 59: Homing Move

    5.2.4 Homing Move In this operation the rotor is moved according to a preset home 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.
  • Page 60 Functions (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;...
  • Page 61 [Hardware zero signal type] ＃318 value 0.05*＃358 value ＃318 value ≦ 0.1 *＃358 value ＃318 value ≦ 0.7 *＃358 value ＜ ＃318 value 0.75*＃358 value ＜ ＃318 value [Software zero signal type] ＃318 value 0.05*＃358 value ＃318 value ≦ 0.1 *＃358 value ≦...
  • Page 62 Functions - Operation example 1 - (5)-2 ← (+) direction (5)-2 - Operation example 2 - ← (+) direction - Operation example 3 - (5)-2 - Operation example 4 - ← (+) direction #20 = 0 Homing direction #21 = 0 Enable/disable the over-travel signal under the homing mode #25 = 1...

  • Page 63: Mechanical Setting Mode

    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.

  • Page 64: Control System

    Functions 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. Feed forward ＃56 Acceleration feed forward ＃55 Velocity feed forward Integral main ＃54...

  • Page 65: Velocity Control Part

    5.4.1 Velocity Control Part For the velocity control bandwidth, either the value set with the #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 #361 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.

  • Page 66: Position Control Part

    Functions 5.4.2 Position Control Part For the position control bandwidth, 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.

  • Page 67: Servo Stiffness Parameter

    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 is 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.

  • Page 68: Acceleration/Deceleration Function

    Functions Acceleration/Deceleration 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).

  • Page 69: Velocity Profile

    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.
  • Page 70 Functions 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.

  • Page 71: Other Functions

    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_POSW[1..0].

  • Page 72: Velocity Monitor And Analog Monitor

    Functions 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 sensitivity monitor value.

  • Page 73: Special Parameter Processing

    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 parameters when they are reset will be generated internally by the motor: [Related parameters] Feeding velocity...

  • Page 74: Auto Conversion And Clear Functions When Changing Simplified Scaling Weighted Data

    Functions 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] Feeding velocity Jog velocity 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 move feed velocity Offset distance from the Home position...

  • Page 75: Chapter 6 Control Interfaces

    Chapter 6 Control Interfaces Terminal Function 6.1.1 Connection, Setting, and I/O Mapping 6.1.2 Explanation of Terminals 6.1.3 Electrical specifications 6.1.4 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...
  • Page 76 Control Interfaces Terminal Function 6.1.1 Connection, Setting, and I/O Mapping Made by Honda Tsushin Kogyo Connector PCR-S36FS Cover PCR-LS36LA IN_ERR_RESET IN_SERVO IN_MODE_START IN_ABORT IN_MODE. 0 IN_MODE. 1 IN_POSW. 0 IN_POSW. 1 IN_GAIN IN_FN IN_PLS_DIRECT IN_PACT (NC) (NC) CRNT_LMT_IN+ CRNT_LMT_IN- (NC) (NC) COMP1 COMN1...

  • Page 77: Explanation Of Terminals

    6.1.2 Explanation of Terminals Contact input signals Total 12 points IN_MODE_START IN_ABORT IN_MODE1, 0 IN_PLS_DIRECT IN_FN IN_GAIN IN_POSW1, 0 IN_PACT IN_ERR_RESET IN_SERVO Contact output signals Total 6 points OUT_DRDY OUT_SEDY OUT_OVER OUT_XOVL OUT_COIN OUT_BUSY Position command pulse input signals Total 2 pairs PUA_IN ±...

  • Page 78: Electrical Specifications

    Control Interfaces 6.1.3 Electrical specifications [Interface power supply inputs] Input the interface power supply for contact inputs and contact outputs. [Contact inputs] IN_ERR_RESET, IN_SERVO, IN_MODE_START, IN_ABORT, IN_MODE.0, IN_MODE.1, IN_POSW.0, IN_POSR.1, IN_GAIN, IN_FN, IN_PLS_DIRECT, IN_PACT 100kΩ COMP1 470Ω IN_* SA:2.7kΩ PS2805 SB:1kΩ...

  • Page 79: I/O Logic Setting

    [Current limit analog input] CRNT_LMT_IN Current 100% at 10 VDC Current 0% at 0 VDC 0 to 10VDC 6.1.4 I/O logic setting For the contact input and contact output signals, it is 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.

  • Page 80: Position Command Pulse Input

    Control Interfaces 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.

  • Page 81: Operations

    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.

  • Page 82: Timing Charts

    Control Interfaces 6.4.3 Timing Charts [Self-end type] In case of self-end MODE_START MODE[1..0] BUSY [Self-end type] In case of end by the operation abort command [Non-self-end type] MODE_START MODE[1..0] MODE_ABORT BUSY [Non-end type] MODE_START MODE[1..0] BUSY STATUS1 STATUS0 Not necessary Not necessary to consider to consider...

  • Page 83: Other Inputs

    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.

  • Page 84: Servo On Servo

    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.

  • Page 85: Chapter 7 Rs232C Interfaces

    Chapter 7 RS232C Interfaces Overview Connection and Setting Communication Specifications @ Commands 7.4.1 Start @3: Field 0 7.4.2 Stop @2 7.4.3 Abort @1 7.4.4 Error reset @4 7.4.5 Homing offset position setting @10 7.4.6 Jog move command @11: Field 0 7.4.7 Other convenient commands Parameter Commands...

  • Page 86: Overview

    RS232C Interfaces 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.
  • Page 87 [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. D-sub 9-pin female DOS/V D-sub 25-pin male PC98 In multi-channel communication, the host device is assigned to host ID “0.” The drivers should be set as slave stations and the IDs should be set for each driver from “1”...

  • Page 88: Communication Specifications

    RS232C Interfaces Communication Specifications [Communication parameters] Communication method Communication speed Stop bit Data length Parity Terminate Flow control [Single channel and multi-channel] Topology Destination specification [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.
  • Page 89 [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 @ commands Commands for operating the driver Parameter Commands for setting parameters and commands...

  • Page 90: Commands

    RS232C Interfaces @ Commands Command format ＠ Command name Abort Stop Start Error reset Homing offset position setting Jog move command 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 the operation to be performed.

  • Page 91: Homing Offset Position Setting @10

    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.

  • Page 92: Parameter Commands

    RS232C Interfaces Parameter Commands Through the use of parameter commands, it is possible to refer to values of parameters and monitor (reference commands), assign 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).

  • Page 93: Chapter 8 Drvgii Pc Utility

    Chapter 8 DrvGII 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...
  • Page 94 DrvGII PC Utility 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： •...

  • Page 95: Installation

    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 of the PC utility is present, delete it first and then install the new version.
  • Page 96 DrvGII PC Utility 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). Figure 8.3 “Setup Complete”...

  • Page 97: Starting The Pc Utility

    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) is displayed for several seconds, and the PC utility starts up. (By default, the specified program folder is “YOKOGAWA_E”) Version of the PC utility Figure 8.4 “Version Information”...

  • Page 98: Preparation

    DrvGII PC Utility 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...

  • Page 99: Displaying Communication Strings

    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.

  • Page 100: Main Menu

    DrvGII 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. Figure 8.8 “MainMenu” dialog box...

  • Page 101: Operation Menu

    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 “MainMenu” to display the “Terminal” dialog box (see Figure 8.9). Figure 8.9 “Terminal”...
  • Page 102 DrvGII 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.
  • Page 103 (2) I/O monitor In the “Terminal” menu, click “I/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 is 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.
  • Page 104 DrvGII 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. Figure 8.12 “Axis signal status”...
  • Page 105 (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.

  • Page 106: Servo Tuning

    DrvGII 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. Figure 8.16 “Servo Tuning”...
  • Page 107 [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 time decrease. * The torque limiter parameter should be changed when limiting the motor torque. (3) Filter setting Click “Filter (F)”...

  • Page 108: Oscilloscope

    DrvGII PC Utility 8.4.3 Oscilloscope The oscilloscope displays time-series of parameter/monitor values. Click “Oscilloscope (O)” under “MainMenu” 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. (This operation is required only once for the initial use.) 12) Vertical axis range selection...
  • Page 109 [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). 3) Trigger mode 4) Trigger edge Figure 8.19 “SetCondition/ELogStart” dialog box (2) Click the ↓ to select the parameters/monitors you want to display in the “source selection choice box.” (CH1 to CH4) (3) Select a trigger mode.
  • Page 110 DrvGII 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"...

  • Page 111: Action Menu

    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 “MainMenu” to display the “DriveMenu” dialog box (see Figure 8.20). Figure 8.20 “DriveMenu”...

  • Page 112: Homing

    DrvGII 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. Parameter number cell Figure 8.21...
  • Page 113 (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).”...

  • Page 114: Jog Move

    DrvGII 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. Parameter number cell Figure 8.22...

  • Page 115: Test Operation

    (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).

  • Page 116: Data Management Menus

    DrvGII PC Utility 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 “MainMenu” to display the “Parameter Manager” dialog box (see Figure 8.23). Figure 8.23 “Parameter Manager”...
  • Page 117 (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. Parameter number cell Figure 8.24...
  • Page 118 DrvGII 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.

  • Page 119: I/O Set

    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 (I)” under “MainMenu” to display the “I/O configuration” dialog box (see Figure 8.26). Figure 8.26 “I/O configuration”...
  • Page 120 DrvGII 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.) Figure 8.27 “Discrete configuration”...
  • Page 121 (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 (*.ioc); it is added automatically.

  • Page 122: Pulse Set

    DrvGII 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. Figure 8.28 “Puls configuration” dialog box 3) Select the parameter from the combobox.

  • Page 123: Chapter 9 Operation Display Pendant

    Chapter 9 Operation Display Pendant Overview Features and Part Names Switching Displays Terminal Mode Display Parameter Monitor Display Parameter Settings Display I/O Monitor Display Special Command Display...

  • Page 124: Overview

    Operation Display Pendant 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.

  • Page 125: Switching Displays

    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).

  • Page 126: Terminal Mode Display

    Operation Display Pendant 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”...

  • Page 127: Parameter Monitor Display

    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. In the previous example of display 2), parameter number “50” is entered to display the prompt character string of that parameter/monitor.

  • Page 128: Parameter Settings Display

    Operation Display Pendant 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 displayed, it is possible to move the cursor to the data setting area using the ←...

  • Page 129: I/O Monitor Display

    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 types 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.

  • Page 130: Special Command Display

    Operation Display Pendant 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.
  • Page 131 Chapter 10 Maintenance and Inspection 10.1 Maintenance and Inspection of the Motor Part 10.2 Maintenance and Inspection of the Driver Part 10.3 Replacing the Battery for Memory Backup 10.4 Backup and Restore Operations of Driver Memory Contents 10.4.1 Backup Operation 10.4.2 Restore Operation 10.5...

  • Page 132: 10.1 Maintenance And Inspection Of The Motor Part

    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.

  • Page 133: Backup And Restore Operations Of Driver Memory Contents

    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 shipment from the factory.

  • Page 134: 10.4.2 Restore Operation

    Maintenance and Inspection 10.4.2 Restore Operation The restore operation uses either of the backup data 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.

  • Page 135: 10.5 Motor Problems And Corrective Actions

    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, take an appropriate corrective action as provided below.

  • Page 136: Specifications

    Chapter 11 Specifications 11.1 Standard Specifications 11.2 Torque - Speed Characteristics 11.3 External Dimensions (Unit: mm) 11.4 Restrictive Conditions for the Frequency of Repeated Operations (DR5000B Series Only) 11-1...

  • Page 137: 11.1 Standard Specifications

    Specifications 11.1 Standard Specifications (1) DM Series Motor Item Maximum output torque Rated number of revolutions Motor (100/200V) Encoder resolution driver Rotational Repeatability accuracy positioning Absolute accuracy Rotor inertia Allowable axial load Allowable moment load Axial displacement Motor rigidity Moment displacement rigidity Mass Height (refer to dimension diagram) Item...
  • Page 138 Motor model name Maximum torque (N⋅m) Maximum number of revolutions (rps) Encoder resolution (p/rev) Absolute accuracy (sec) Repeatability accuracy (sec) Axial rotational deflection (µm) Radial rotational deflection (µm) Rotor inertia (kg⋅m Withstand load (N) Mass (kg) Note: □: A/Absolute accuracy ±20 sec, B/Absolute accuracy ±60 sec DM1004B0F-2!*1 DM1004C0F-2!*1 2,621,440...
  • Page 139 Specifications (2) DR Series Motor Item Maximum output torque Rated number of revolutions (100/200V) Motor Encoder resolution driver Rotational Repeatability positioning accuracy Absolute accuracy Rotor inertia Allowable axial load Allowable moment load Axial displacement Motor rigidity Moment displacement rigidity Mass Height (refer to dimension diagram) Item...
  • Page 140 Item Maximum output torque Rated number of revolutions (100/200V) Motor Encoder resolution driver Rotational Repeatability accuracy positioning Absolute accuracy Rotor inertia Positive Allowable axial load Negative Allowable moment load Positive Axial displacement Motor rigidity Negative Moment displacement rigidity Mass Height (refer to dimension diagram) Item Maximum output torque Rated number of revolutions...
  • Page 141 Specifications (3) DR/5000 Series Motor Item Maximum output torque Rated number of revolutions (100/200V) Motor Encoder resolution driver Rotational Repeatability positioning accuracy Absolute accuracy Rotor inertia Allowable axial load Allowable moment load Axial displacement Motor rigidity Moment displacement rigidity Mass Height (refer to dimension diagram) (4) Motor Environment Specification Temperature 0 to 45°C...
  • Page 142 (6) Driver Function Specifications Item RS232C interface (single channel communication, multi-channel communication) Higher interface 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)

  • Page 143: 11.2 Torque - Speed Characteristics

    Specifications 11.2 Torque - Speed Characteristics (1) DM Series 200-230 VAC power supply 100-115 VAC power supply 1) Type A 3) DM1004B/C (2) DR Series 200-230 VAC power supply 100-115 VAC power supply 1) Type B 3) Type E No. of revolutions (rps) DM1004B/C No.

  • Page 144: External Dimensions (Unit: Mm)

    11.3 External Dimensions (Unit: mm) (1) DM Series Motor 1) Type A 6-M8 screw depth 10 (Equal circular division) (Through hole) 2) Type B 6-M8 screw depth 8 (Equal circular division) 3) DM1004B/C <DM1004C> ƒDM1004C „ 6-φ 4.5 hole 6-M4 screw depth 6 φ...
  • Page 145 Specifications (2) DR Series Motor 1) Type A 6-M8 screw depth 12 (Equal circular division) 2) Type E 3) Type B 4) Type B (DR1008B only) Rotor L (Refer to standard specification) Rotor 6-M8 screw depth 12 (Equal circular division) L (Refer to standard specification) Rotor Stator...
  • Page 146 (3) Driver Section 1) U!!!!!!!A/B (500W, Type B is shown in the figure.) 2) U!!!!!!!L (2kW level without regenerative unit) 11-11...
  • Page 147 Specifications 3) U!!!!!!!K (2kW level with regenerative unit) 11-12...

  • Page 148: Restrictive Conditions For The Frequency Of Repeated Operations (Dr5000B Series Only)

    11.4 Restrictive Conditions for the Frequency of Repeated Operations (DR5000B Series Only) When running and stop operations are performed repeatedly on DYNASERV 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.
  • Page 149 Specifications <Example> = 4 (rps) = 9 (A) = 3 (A) = 1/4t When calculating from the above setting example, η + 4 t 2 ( 4 = 5 × 100 = 40 η + 4 t + 4 t 17100 = 19 When substituting the above into equation (3),...

  • Page 150: Parameter List

    Parameter List Parameter No. Parameter name Enables the over-travel error function in the + direction Enables the over-travel error function in the - direction Selecting the acceleration type Selecting the deceleration type Acceleration time during a trapezoidal move Deceleration time during a trapezoidal move Feeding Velocity Jog Velocity...
  • Page 151 Parameter No. 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...
  • Page 152 Parameter No. 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...
  • Page 153 Parameter details Enables the over-travel error function in the + direction Minimum value: 0 Maximum value: 1 Initial value: Unit: None 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.
  • Page 154 Feeding Velocity Minimum value: 0 Maximum value: 16000000 Initial value: Motor dependent Unit: Axis command unit/sec Specify the feeding velocity. For trapezoidal move: Specify the feeding velocity. For cam move: Specify the feeding velocity (peak velocity). Jog Velocity Minimum value: 0 Maximum value: 16000000 Initial value: Motor dependent...
  • Page 155 Velocity override percentage 1 Minimum value: 0 Maximum value: 20000 Initial value: 10000 Unit: 1/100 % Specify override 1 for feeding velocity. Homing direction Minimum value: 0 Maximum value: 1 Initial value: Unit: None Specify the homing direction (origin proximity signal search direction) in homing mode. 0: - direction 1: + direction Enable/Disable the over-travel signal under the homing...
  • Page 156 Operation width under testing mode Minimum value: 0 Maximum value: 9999999 Initial value: Motor dependent Unit: Axis command unit Specify the operation width in test mode. Operation width under Auto-tuning Minimum value: 1 Maximum value: 9999999 Initial value: Motor dependent Unit: Axis command unit Specify the operating range in auto-tuning mode.
  • Page 157 Position settling pulse width 3 Minimum value: 0 Maximum value: 32767 Initial value: Motor dependent Unit: pulse 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. Position settling pulse width 4 Minimum value: 0 Maximum value: 32767...
  • Page 158 Position integral limiting value Minimum value: 0 Maximum value: 4999999 Initial value: 10000 Unit: None 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"...
  • Page 159 Position settling signal chattering processing count Minimum value: 1 Maximum value: 100 Initial value: Unit: None 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.
  • Page 160 Analog monitor selection Minimum value: 0 Maximum value: 5 Initial value: Unit: None Select the content to be output to the analog monitor. 0: Position deviation [pulse] 1: Test operation response [pulse] 2: Position command value [pulse] 3: Current position value [pulse] 4: Position command differential value (command velocity) [pps] 5: Current position differential value (current velocity) [pps] Axis positioning error monitoring gain (analog monitor)
  • Page 161 Position monitoring gain (analog monitor) Minimum value: 0 Maximum value: 14 Initial value: Unit: None Specify the position monitoring (position command value and current position value) gain of the analog monitor. 0: 6.55V / 4194304 pulses 1: 6.55V / 2097152 pulses 2: 6.55V / 1048576 pulses 3: 6.55V / 524288 pulses 4: 6.55V / 262144 pulses...
  • Page 162 TBX_EMG Servo status Minimum value: 0 Maximum value: 5 Initial value: Unit: None Specify the servo status of the motor when EMG from TBX is executed. 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).
  • Page 163 Position command differential value excessive error processing type Minimum value: 0 Maximum value: 5 Initial value: Unit: None Specify the processing type when a position command differential value excessive error 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).
  • Page 164 Over-travel error function in the - direction processing type Minimum value: 0 Maximum value: 5 Initial value: Unit: None 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).
  • Page 165 Notch filter: Frequency 1 selection Minimum value: 50 Maximum value: 1500 Initial value: 1500 Unit: 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. Notch filter: Frequency 2 selection Minimum value: 50 Maximum value: 1500...
  • Page 166 Command pulse type Minimum value: 0 Maximum value: 2 Initial value: 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 Monitor pulse type Minimum value: 0 Maximum value: 1 Initial value: Unit: None Specify the position monitor command pulse type.
  • Page 167 Velocity feedback filter use Minimum value: 0 Maximum value: 1 Initial value: Unit: None 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. 1: Use. Velocity feedback filter bandwidth Minimum value: 50 Maximum value: 1000...
  • Page 168 Over-speed error processing type Minimum value: 0 Maximum value: 5 Initial value: Unit: None Specify the processing type when an over-speed error 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).
  • Page 169 Excessive position deviation error processing type Minimum value: 0 Maximum value: 5 Initial value: Unit: None Specify the processing type when an excessive position deviation error 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).
  • Page 170 Monitor List Monitor No. 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...
  • Page 171 Monitor No. 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...
  • Page 172 Monitor detail Currently under operation Unit: None Indicates that an operation is being performed. Axis is under operation Unit: None Indicates that an axis operation is being performed. Error status Unit: None Indicates the error status. Alarm status Unit: None Indicates the alarm status.
  • Page 173 Pulse position command value Unit: pulse Displays the pulse position command value. Pulse position current value Unit: pulse Displays the current pulse position value. Pulse position deviation Unit: pulse Displays the pulse position deviation. Command unit command value Unit: Axis command unit Displays the command unit command value.
  • Page 174 Zero signal status Unit: None Displays the zero signal status. Sensor group signal status Unit: None Displays the sensor group signal status. Each bit in binary notation corresponds as follows: bit0: (Reserved) bit1: (Reserved) bit2: (Reserved) bit3: (Reserved) bit4: ORG Origin neighboring signal bit5: OTU + direction hardware over-travel signal bit6: OTD - direction hardware over-travel signal bit7: (Reserved)
  • Page 175 Operation mode number Unit: None Indicates the operation mode number during or after operation. 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 Multi-channel communication slave code Unit: None Indicates the slave station (self-station) code in multi-channel communication.
  • Page 176 Velocity ratio gain Unit: x 1/100 Displays the velocity loop ratio gain. Velocity command value (digital) Unit: 1/16 digit Displays the velocity command value when controlling the digital velocity. (1msec sample) Post-filter velocity command value (digital) Unit: 1/16 digit Displays the post-filter velocity command value when controlling the digital velocity. (1msec sample) Present velocity current value Unit: 1/16 digit...
  • Page 177 Present command unit value Unit: Axis command unit Displays the present command unit value. Command unit deviation Unit: Axis command unit Displays the command unit deviation. Present velocity value DC Unit: 1/16 digit Displays the present velocity value DC. (10msec sample) Motor linear coordinate command second-order differential value Unit: pulse/ΔT...
  • Page 178 Motor linear coordinate command differential value Unit: pulse/∆T Displays the differential value of the motor linear coordinate command value. (2msec sample) Present motor linear coordinate differential value Unit: pulse/∆T Displays the differential value of the present motor linear coordinate value. (2msec sample) Pre-filter current square duty Unit: digit...
  • Page 179 Error/Alarm List Error No. 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...
  • Page 180 Error/Alarm Details Error number Error type: [KIND_POR] Start-up error Measures: [TYPE_POR] Do not start up. Main cause: 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 Action to take: Contact us.
  • Page 181 Error number Error type: [KIND_SYS] System error Measures: [TYPE_ELS] Others Main cause: An error that should have not occurred in driver software has occurred. [Subcode] 1: Axis operation handshake error 2: System program error Action to take: Contact us. Error number Error type: [KIND_POR] Start-up error Measures:...
  • Page 182 Error number Error type: [KIND_SYS] System error Measures: [TYPE_SRV] Servo OFF 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 Error type: [KIND_ERRALM2] Error/operation alarm Measures: [TYPE_E2] Stop deceleration.
  • Page 183 Error number Error type: [KIND_RGR] Always error Measures: [TYPE_SRV] Servo OFF 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 Error type: [KIND_SRV] Servo error...
  • Page 184 Error number Error type: [KIND_ERR] error Measures: [TYPE_E2] Stop deceleration. Main cause: The servo was not ready for the process that requires the servo to be ON. Action to take: Perform an error reset operation, turn ON the servo, and execute again. Error number Error type: [KIND_ERR] error...
  • Page 185 Error number Error type: [KIND_ERR] error Measures: [TYPE_E2] Stop deceleration. 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.
  • Page 186 Error number Error type: [KIND_ERRALM2] Error/operation alarm Measures: [TYPE_E2] Stop deceleration. 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 Error type: [KIND_ERRALM1] Error/operation alarm Measures: [TYPE_E2] Stop deceleration.
  • Page 187 Error number Error type: [KIND_ERRALM2] Error/operation alarm Measures: [TYPE_E2] Stop deceleration. Main cause: The command cannot be interpreted. Action to take: Error number Error type: [KIND_ERRALM2] Error/operation alarm Measures: [TYPE_E2] Stop deceleration. Main cause: A command format error occurred. Action to take: Error number Error type: [KIND_ERRALM2] Error/operation alarm...
  • Page 188 Error number Error type: [KIND_ALM] Operation alarm Measures: [TYPE_E2] Stop deceleration. Main cause: An operation was attempted using a device whose operation was prohibited. Action to take: Error number Error type: [KIND_ERRALM2] Error/operation alarm Measures: [TYPE_E2] Stop deceleration. Main cause: A write access was attempted to an area that is prohibited to be written.
  • Page 189 Error number Error type: [KIND_ALM] Operation alarm Measures: [TYPE_E2] Stop deceleration. Main cause: An operation was attempted by another device while other device was being operated. Action to take: Device conflict Long: DeviceConflict Short: DevConflic...

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