Page 1 DATASHEET SANYO DENKI 65BA015DDK01 OTHER SYMBOLS: RGB ELEKTRONIKA AGACIAK CIACIEK SPÓŁKA JAWNA Jana Dlugosza 2-6 Street 51-162 Wrocław www.rgbelektronika.pl Poland biuro@rgbelektronika.pl +48 71 325 15 05 www.rgbautomatyka.pl www.rgbautomatyka.pl www.rgbelektronika.pl...
Page 2: Servo Amplifier
YOUR PARTNER IN MAINTENANCE Repair this product with RGB ELEKTRONIKA ORDER A DIAGNOSIS LINEAR ENCODERS SYSTEMS INDUSTRIAL COMPUTERS ENCODERS CONTROLS SERVO AMPLIFIERS MOTORS MACHINES OUR SERVICES POWER SUPPLIERS OPERATOR SERVO PANELS DRIVERS At our premises in Wrocław, we have a fully equipped servicing facility. Here we perform all the repair works and test each later sold unit.
Page 3 M0006890C TYPE Analogue / Pulse Input Type For Rotary Motor Instruction Manual E N G L I S H...
Page 4 Preface This product corresponds with the shipping regulations given in the Export Trade Control Ordinance (Table 1, item 16) and the Foreign Exchange Ordinance (Table 1, item 16). When these products are exported by customers, and when exported including the other freight or together with other freight, it is recommended to fulfill the requirements related to Security Export Control with the relevant authorities, including “Information Requirements”...
Page 5 【Safety Precautions】 This chapter is a summary of the safety precautions regarding the use of the R-series type-S amplifier. Please read this entire manual carefully prior to installing, operating, performing maintenance or inspecting this device to ensure proper use.
Page 6 Safety Precautions [Make sure to follow.] This documentation uses the following annotation. Make sure to strictly follow these safety precautions. ■ There are four precaution levels. Denotes immediate hazards which WILL probably cause Danger severe bodily injury or death as a result of incorrect operation. ...
Page 7 Safety Precautions [Make sure to follow.] Danger The protective ground terminal ( Do not damage the cable, do not apply should always be grounded. The ground unreasonable stress to it, do not place heavy terminal of the motor should always be items on it, and do not insert it in between connected to the protective ground...
Page 8 Safety Precautions [Make sure to follow.] Caution Keep the motor’s sensor terminals away from Verify that the products correspond to the order sheet/packing list. If the wrong product is static electricity.
Page 9: Dynamic Brake
Safety Precautions [Make sure to follow.] Caution There is no safeguard on the motor. Use an Do not touch the radiation fin of the amplifier, over-voltage safeguard, short-circuit breaker, the regenerative resistor, or the motor while overheating safeguard, and emergency stop the device is powered up, or immediately after...
Page 10 Safety Precautions [Make sure to follow.] Caution Please contact your distributor or sales office if Make sure the device does not fall, overturn, repairs are necessary. or move inadvertently during transportation. Disassembly could render the device inoperative.
Page 11 Safety Precautions [Make sure to follow.] Mandatory Install an external emergency stop circuit that Operate within the specified temperature and can stop the device and cut off the power humidity range instantaneously.
Page 12 [5 Description of parameters] ････････････････････････････････････ Parameter List [Table of Contents] ･･････ Parameter Setting Value【Group0】【Group1】 [1 Prior to use] ･････････････････ Parameter Setting Value【Group2】 Parameter Setting Value【Group3】････････････････5-10 Product Verification････････････････････････････････････････････････････････ Parameter Setting Value【Group4】････････････････5-12 Servo Motor Model Number Parameter Setting Value【Group8】････････････････5-13 Servo Amplifier Model Number･･････････････････････...
Page 13: Table Of Contents
[9 Specifications] Servo amplifier････････････････････････････････････ Pulse output･･････････････････････････････････････ Serial output･･････････････････････････････････････ General servo motor･･････････････････････････････ 9-23 ･･･････････････････ Rotation Direction Specifications 9-23 ･････････････････････････ Mechanical specifications 9-24 ･･･････････････････････ Holding brake specifications 9-26 [Materials] [Selection Details] Acceleration time / Moderation time / Allowable repetition frequency ･･･････････････････････････････････････････････････...
Page 14 1 [Prior to Use] Product verification ････････････････････････････1-1 ････････････････････ Servo motor model number ･･････････････････ Servo amplifier model number ･････････････････････ Servo amplifier part names ･･･････････････････････...
Page 15 1.Prior to Use [Product verification] ■ Verify the followings when the product arrives. If you find any discrepancy, contact your distributor or sales office. ● Verify that the model number of the servo motor or servo amplifier is the same as ordered. (The model number is located on the main name plate, following the word “MODEL”.
Page 16 1.Prior to Use [Servo motor model number] ■ Interpretation of servo motor model number Ｑ１ＡＡ０６０２０ＤＣＰ００ＥＡ Gear identification Q-series A･･･Type A 1/3 Additional specification Motor type identification 1:Low inertia Specification E･･CE mark supported identification ...
Page 17 1. Prior to Use [Servo amplifier model number] ■ Interpretation of servo amplifier model number（Full number）ＲＳ１Ａ０１ＡＴ０３４Ａ３Ｐ００ Individual specification R-series 00･･･Standard product A1･･single phase specification (AC200V) Amplifier description 01･･･15A Interface at control section ...
Page 18 1. Prior to Use [Servo amplifier model number] ■ Code for combined motor type ＡＣ２００Ｖ input ＡＣ１００Ｖ input Combined servo Combined servo Combined servo Combined servo Motor code Motor code Motor code Motor code Servo motor Servo motor Servo motor Servo motor amplifier amplifier amplifier amplifier...
Page 19 1. Prior to Use [Servo amplifier model number] ■ Interpretation of servo amplifier model number（Abbreviated number）ＲＳ１Ａ０１ＡＴ R-series Interface type for encoder and sensor A･･･ Wire-saving incremental encoder Wire-saving absolute encoder H･･･Absolute request sensor R･･･Absolute/incremental encoder T･･･Full close Motor type A･･･rotary motor ...
Page 20 1. Prior to Use [Servo amplifier model number] ■ Motor setting and sensor type of abbreviated model numbers Servo amplifier Servo motor model Sensor model number number RS1△01AA P50B03003D RS1△03AA P50B07040D RS1△05AA P50B08075D Standard I/F such as a wire-saving incremental encoder or wire-saving absolute encoder 2000P/R RS1△10AA P60B13200H RS1△15AA ...
Page 21 1.Prior to Use [Servo amplifier part names] ■ RS1□01A□ / RS1□03A□ Parts inside the cover (Same for all capacity amplifiers) Battery space Cover open Battery connector 5-digit 7-segment LED Analog monitor MODE MODE connector ...
Page 22 1.Prior to Use [Servo amplifier part names] ■ RS1□10A□ / RS1□15A□ 5-digit 7-segment LED R Main power input terminal board MODE Key to operate the Digital Operator. S Control power status LED (POWER, green) T ...
Page 23 １．Prior to Use [Servo motor part names] ■ Lead wire types Q1AA04○○○△□◇ Q1AA06○○○△□◇ Q1AA07○○○△□◇ Q2AA04○○○△□◇ Q2AA05○○○△□◇ Sensor Frame Q2AA07○○○△□◇ Q2AA08○○○△□◇ Shaft Flange Servo motor power line Sensor cable ...
Page 24 2 [Installation] ･･･････････････････････････････ Servo amplifier ■Mounting direction and location ･････････････････････････････ ■Arrangement within the machine ･･････････････････････････････････ Servo motor ■Waterproofing and dust proofing ･･････････････...
Page 25 2. Installation [Servo amplifier] ■ Please note the following points regarding the servo amplifier installation location and mounting method. Various precautions Do not stand, put or drop heavy items on the servo The device should be installed on non-flammable amplifier.
Page 26 2. Installation [Servo amplifier] If explosive or combustible gas is present Never use the device where explosive or combustible gas is present. The device’s relays and contacts, regenerative resistors and other parts can arc (spark) and can cause fire or explosion. ...
Page 27 2. Installation [Servo amplifier] ■ Mounting direction and location Rear-mounting Front-mounting Front panel mounting hardware Ventilation For metal fittings for front/rear mounting, refer to options (compatible with PY2 mounting). ■ Arrangement within the machine ●...
Page 28 2. Installation [Servo motor] ■ Please note the following regarding the installation location and mounting method for the servo motor. The servo motor is designed for indoor use. Make sure to Install it indoors. Do not use the device in locations where the oil seal lip is continuously exposed to oil, or where the device is exposed to large quantities of water, oil drops, or cutting fluid.
Page 29 2. Installation [Servo motor] ■ Waterproofing and dust proofing ● The protection inside the motor conforms to IEC standards (IEC34-5). However, such protection is suitable only for short-term use. For regular use, additional sealing measures are required. Be sure to handle the connector carefully, as damage to the exterior of the connector (painted surface) can reduce its waterproofing capability.
Page 30 2. Installation [Servo motor] ■ Gear installation ● The oil level of the gear box should be below the oil seal lip, for a slight spraying effect on the lip. ● Create a hole to prevent pressure build-up inside the gear box, as pressure can cause water or oil to penetrate the oil seal and enter inside the motor.
Page 31 2. Installation [Servo motor] ● Do not subject the motor shaft to shock, as the precision encoder is directly connected to it. If it is absolutely necessary to hit the motor for position adjustment or other reasons, use a rubber or plastic hammer and hit the front flange area.
Page 32 2. Installation [Servo motor] ■ Allowable bearing load ● The table below shows the allowable bearing load of the servo motors. Do not apply excessive thrust load or radial load. In case of belt driving, make sure that the shaft converted value of belt tension does not exceed the allowable values shown below.
Page 33 2. Installation [Servo motor] Assembly Operation Model Radial load (N)s Thrust load (N) Radial load (N) Thrust load (N) ＦＦ F direction F1 direction F direction F1 direction ＲＲ Q2AA22350 2300 1900 1900 1500 490 490 Q2AA22450 2300 ...
Page 34 3 [Wiring] Packaged Wiring Diagram ･･････････････････････ 3-1 High Voltage Circuit/Name・Function・Terminal Number ････ 3-5 Tightening Torque of High Voltage Circuit Terminal ･････････ 3-6 Wiring Example of High Voltage Circuit・Protective Circuit ････...
Page 35 3. Wiring [Packaged Wiring Diagram ＲＳ１□０１/ＲＳ１□０３/ＲＳ１□０５] ■ Packaged wiring diagram Do not connect S-phase terminal in the usage of AC200V single phase input. Setup software - Ｒ-Ｓｅｔｕｐ DC reactor Remove the short bar between DL1-DL2 Connected with PC using RS232C communication Protective grounding and connect this here, when needed for wire high frequency waves. Circuit breaker CNA Communication ...
Page 36 3. Wiring [Packaged Wiring Diagram ＲＳ１□０１/ＲＳ１□０３] ■ Packaged wiring diagram ＡＣ１００Ｖ input type ＲＳ１□０１Ａ / ＲＳ１□０３Ａ DC reactor Setup software - Ｒ-Ｓｅｔｕｐ Protective grounding wire Remove the short bar between DL1-DL2 and connect this here, when needed for Connected with PC using RS232C communication high frequency waves. ...
Page 37 3. Wiring [Packaged Wiring Diagram ＲＳ１□１０/ＲＳ１□１５] ■ Packaged wiring diagram ＡＣ２００Ｖ input type ＲＳ１□１０Ａ / ＲＳ１□１５Ａ Set-up software Model number of input/output connector DC reactor -Ｒ-Ｓｅｔｕｐ Protective plug/housing grounding wire Remove short between 10150-3000VE DL1-DL2 and connect this here, when ＣＮ１connector plug SUMITOMO 3M Ltd. needed for high frequency waves. 10350-52A0-008 Circuit breaker ...
Page 38 3. Wiring [Packaged Wiring Diagram ＲＳ１□３０] Model number of input/output connector ■ Packaged wiring diagram ＡＣ２００Ｖ input type /ＲＳ１□３０Ａ plug/housing Set-up software 10150-3000VE Protective ＣＮ１connector plug - Ｒ-Ｓｅｔｕｐ grounding wire SUMITOMO 3M Ltd. ＣＮ１ connector 10350-52A0-008 housing SUMITOMO 3M Ltd. Circuit breaker 10120-3000VE Will cut off the power to ＣＮ２connector plug ...
Page 39 [High Voltage Circuit; Terminal Name and Function] 3. Wiring ■ High voltage circuit; terminal name and functions Connector Remarks Terminal name marking Single phase AC100〜115V ＋10%,-15% 50/60Hz±3% R・T Main power source or Single phase AC200〜230V ＋10%,-15% 50/60Hz±3% R・S・T Three phase AC200〜230V ＋10%,-15% 50/60Hz±3% Single phase AC100〜115V ＋10%,-15% 50/60Hz±3% Control power source r・t Single phase AC200〜230V ＋10%,-15% 50/60Hz±3% Servo motor connector U・V・W Connected with servo motor ...
Page 40 [High Voltage Circuit; Terminal Name and Function] 3. Wiring ● Model number of recommended ferrules and crimping tools for various wire sizes （Manufactured by Phoenix Contact.） Model number AWG 1Pcs/Pkt 1000Pcs/Pkt Taped components AI0.75-8GY-B 0.75 mm 18 AI0.75-8GY AI0.75-8GY-1000 (1000Pcs/Pkt) AI1-8RD-B 1.0 mm 18 AI1-8RD AI1-8RD-1000 (1000Pcs/Pkt) AI1.5-8BK-B 1.5 mm 16 ...
Page 41 3. Wiring [Wiring Example of High Voltage/Protective Circuit] ■ Three phase 200V RS1□01A・RS1□03A・RS1□05A・RS1□30A Three phase AC200 〜 MC 230V SERVO MOTOR Noise filter For EMC countermeasures, refer to Operation ON OFF “International Standards” of the MC attached document.
Page 42 3. Wiring [Wiring Example of High Voltage/Protective Circuit] ■ Three phase 200V RS1□10A・RS1□15A Three phase AC200 MC 〜230V SERVO MOTOR Noise filter For EMC countermeasures, refer to “International Standards” of the Operation ON OFF MC attached document. MC ALARM ...
Page 43 3. Wiring [Low Voltage Circuit/Description of CN Terminal] ■ Low voltage circuit; terminal name and functions Terminal Description Terminal name symbol Upper device input/output CN1 Connects the input/output circuit between upper device (upper signal connector controller) and the Servo amplifier. Sensor/encoder connector CN2 Connects the sensor/encoder circuit of the servo motor. ■ Connector terminal number ● CN1 10150-3000VE （Soldered side） 24 ...
Page 44 3. Wiring [Low Voltage Circuit/Description of CN1 terminal] ■ CN1 connector terminal layout 24 22 20 18 16 14 12 10 8 6 4 2 ――――― ――――― ―― ―― ―― ―― OUT-COM T-COMP SG F-TLA SG BTN-1 CONT8 CONT7 25 23 21 19 ...
Page 45 3. Wiring [Low Voltage Circuit/CN1 Overall Wiring] ■ CN1 Connector terminal layout Servo amplifier F-PC 26 ― ― ―― ― 27 SG 47 SG R-PC ― 28 ― ― ―― 29 SG 48 ― SG SG ...
Page 46 3. Wiring [Low Voltage Circuit/Wiring Example of CN1 Input Circuit] ■ Connection example with analog input circuit ● Analog input circuit Speed command input/Torque command input Servo amplifier Host unit ・Analog command input is either speed command 1.8kΩ input or torque command input. V-REF/T-REF ・Speed command input → Speed control type. 21 ・Torque command input → Torque control type 10kΩ SG 20 ・Input impedance is 10kΩ. SG SG Twisted pair ...
Page 47 3. Wiring [Low Voltage Circuit/Wiring Example of CN1 Input Circuit] ● Position command input circuit [Input circuit ：Line receiver] Command pulse input ‒ Upper device line driver output Servo amplifier Host unit ・Connected with line driver. 1.5kΩ 1.0kΩ ・Applicable line driver：HD26C31 or equivalent 1.0kΩ manufactured by HITACHI. F-PC 26 150Ω 1.0kΩ ― ― ―― 27 F ・Position command input is command pulse input. ...
Page 48 3. Wiring [Low Voltage Circuit/Wiring Example of CN1 Input Circuit] ■ Connection example with generic input circuit ● Generic input circuit CONT1〜CONT6 [Input circuit：Bi-directional photo coupler] Host unit Servo amplifier ・Connected with transistor circuit of relay or CONT-COM 2.2kΩ 50 open collector. 4.7kΩ CONT1 37 ・Voltage range of power source：DC5V〜24V ・Minimum current：100mA CONT2 36 CONT3 35 ...
Page 49 3. Wiring [Low Voltage Circuit/Wiring Example of CN1 output Circuit] ■ Connection example with position signal output circuit ● Incremental pulse signal output circuit [output circuit：line driver] Servo amplifier Host unit ・Connected with line receiver. ・ Applicable line receiver： HD26C32 or equivalent HD26C31phase manufactured by HITACHI. ― ・Make sure to connect SG. If not, malfunction due to noise or damage may be caused. ―...
Page 50 3. Wiring [Low Voltage Circuit/Wiring Example of CN1 output Circuit] ■ Connection example with generic output circuit ● Generic output circuit OUT1〜OUT8 [output circuit：open collector] Host unit Servo amplifier ・Connected with photo coupler or relay circuit. OUT-PWR ・OUT-PWR(outer power source)specification OUT1 Power source voltage range：DC5V ±5% 、 DC12V ...
Page 51 3. Wiring [Low Voltage circuit/CN2 Wiring] ■ CN2 terminal layout 10 8 6 4 2 9 7 5 3 1 20 18 16 14 12 19 17 15 13 11 ■ Servo motor encoder at semi-closed control Incremental encoder Wire-saving absolute sensor Wire-saving absolute sensor ...
Page 52 3. Wiring [Low Voltage circuit/CN2 Wiring] ■ Wiring between servo motor encoder and external sensor at full-closed control Wire-saving absolute sensor Wire-saving absolute sensor （Optical）（Resolver） Termi Term Signal Signal Description inal Description name name 1 BAT+ Battery - - 2 BAT- 9 5V 5V power source 5V power source ...
Page 53 3. Wiring [Power Supply・Peripherals・Wire Diameter] ■ Power Capacity・Peripherals・Wire Diameter Examples Main Protective Regenerati Main electro Servo Servo Noise filter power grounding Power circuit magne Control motor Input Rated amplifier Servo motor wire wire resistance Circuit (EMC supply power wire power line voltag Output power tism diamet diameter wire...
Page 54 3. Wiring [Power Supply・Peripherals・Wire Diameter] ● The information is this table is based on rated current flowing at three bundled lead wires in ambient temperature of 40℃. ● When wires are bundled or put into a wire-duct, take the allowable current reduction ratio into account. ● If ambient temperature is high, service life of the wires becomes shorter due to heat-related deterioration. In this case, use heat-resistant vinyl wires. ● Depending on the servo motor capacity, thinner electric wires than indicated in the table can be used for the main circuit power input connector and the motor connector.（Choose appropriate size of wires in accordance with the power capacity.） ...
Page 55: Various Modes ･･･････････････････････････････････
4 [Digital operator] ･･････････････････････････ Names and Functions ････････････････････････････････ Various Modes ･･･････････････････････････････ Changing Modes ････････････ Monitor Mode Operations and Display ･･････････････ Basic Mode Operations and Display ･･...
Page 56 4. Digital Operator [Various Modes] ■ Digital Operator ● It is possible to change or set the parameters and to confirm the status display, monitor display, test operation and alarm history with the built-in digital operator. ■ Digital operator name and functions ...
Page 57 4. Digital Operator [Various Modes] ■ Various modes ● It is possible to display the status, to change or set the parameters, to automatically set the notch filter, and to confirm test operation, alarm history and monitor display with the built-in digital operator. ...
Page 58 4. Digital Operator [Changing Modes] ■ How to change the modes ● Change the modes in the order as shown below by pressing the MODE key for changing the settings or for test operation. Power ON Alarm history/ Status display Monitor ...
Page 59 4. Digital Operator [Monitor mode operations and display] Overload warning status If operation is kept on, alarm may be issued. Regenerative overload warning status If operation is kept on, alarm may be issued. Battery warning status Replace the battery. Alarm display When an alarm rings, take corrective actions as instructed in “Chapter 8, Maintenance”.
Page 60 4. Digital Operator [Monitor mode operations and display] Load inertia moment ratio monitor Values can be confirmed when gain switching and auto-tuning functions are used. Position loop ratio gain monitor Constant monitor at the time of Values can be confirmed when gain switching function is used. position loop integration Decimal Speed loop ratio gain monitor...
Page 61 4. Digital Operator [Monitor mode operations and display] Corresponding bits Name 7 6 5 4 3 2 1 0 Excessive Speed limit Torque limit Regeneration Amplifier Overload Warning status １ deviation --- operation operation overload --- temperature warning warning running running warning ...
Page 62 4. Digital Operator [Basic Mode Operations and Display] ■ Description of basic mode ● The following parameters can be set and changed at each page of the basic mode. These parameters are necessary when test run by JOG operation and real time auto-tuning are used. Name Contents MODE...
Page 63 4. Digital Operator [Basic Mode Operations and Display] Page Name Display form: decimal Setup software Data display 00 Communication axis number ０５０００ Setup software 01 Communication Baud rate Tuning mode 02 Name Standard Unit Setting setting range 03 Auto-tuning response Communication axis number of Setup software 01 --- 01〜0F communication baud rate of Setup software 05 --- 00〜05 06 ...
Page 64 4. Digital Operator [Basic Mode Operations and Display] ■ Description of general parameter mode ● The following parameters can be set and changed at each page of general parameter mode. Settings can be made suitable for machines and equipment. Parameters for adjusting servo gain can be changed.
Page 65 4. Digital Operator General parameter mode operations and display] Display form : integer Display of “-” Display of “＋” ✍ data data “The ＋”data is displayed without the mark“＋”on LED. −０１００００１０００ The setting ranges of the table below are displayed as shown １５０００ in the left. ...
Page 66 4. Digital Operator [Auto-adjustment mode operations and display] ■ Description of auto-adjustment mode ● Automatic notch frequency tuning, automatic damping frequency tuning, automatic offset of analog speed and torque command, and analog torque addition command auto-offset can be executed. Name MODE Page...
Page 67 4. Digital Operator [Test run mode operations and display] ■ Description of test run mode ● ＪＯＧ operation, alarm reset, encoder clear, alarm history clear, and writing of auto-tuning result can be executed. Name MODE Page Execution of JOG operation ...
Page 68 4. Digital Operator [Test run mode operations and display] ● See the followings for how to operate and set JOG operation. Input key Description Step Display status Press the ＭＯＤＥ key for cancellation and to proceed to step MODE ...
Page 69 4. Digital Operator [System parameter mode operations and display] ■ Description of system parameter mode ● On each page of the system parameter mode, parameters are set related to combinations and specifications of servo amplifier and servo motor as shown below. Name Setting range MODE...
Page 70 4. Digital Operator [Alarm trace／ＣＰＵ_ Ｖｅｒ mode operations and display] ■ Description of Alarm trace/ＣＰＵ＿Ｖｅｒ mode ● It is possible to confirm the latest 7 alarms and the software version of servo amplifier ＣＰＵ. Name MODE Page 1st latest alarm 2nd latest alarm latest alarm latest alarm...
Page 71 4. Digital Operator [Password setting] ■ Description of password function ● The password function allows selection of a password and protection against unauthorized parameter changes. Once a password has been set, “status mode” and “monitor mode” can only be used. Utilize this function to avoid operational mistakes.
Page 72 5 [Parameter] Parameter List････････････････････････････････ 5-1 Parameter setting value【Group0】【Group1】･･･ 5-7 Parameter setting value【Group2】･････････････ 5-9 Parameter setting value【Group3】････････････ 5-10 Parameter setting value【Group4】････････････ 5-12 Parameter setting value【Group8】････････････ 5-13 Parameter setting value【Group9】････････････ 5-18 Parameter setting value【GroupA】････････････ 5-20 Parameter setting value【GroupB】････････････ 5-23 Parameter setting value【GroupC】････････････ 5-26 System parameter setting value･･･････････････ 5-28 ...
Page 73 ５．Parameter [Parameter List] ■ Group 0［Auto-tuning setting］ General Parameter Reference level Name Standard Value Unit Display Range Page page ― Tuning mode _AutoTun 00〜02 ― Automatic Tuning Characteristic 00:_Positioning1 00〜04 ―...
Page 74 ５．Parameter [Parameter List] ■ Group 3［Setting for gain switching control／vibration suppressing frequency General Parameter switching］ Reference level Page Name Standard Value Unit Display Range page Position Loop Proportional Gain 2 1〜3000 5-10 Position Loop Integral Time Constant ...
Page 75 ５．Parameter [Parameter List] ■ Group 8［Control system setting］ General Parameter Reference level Page Name Standard Value Unit Display Range page ― Command Input Polarity 00:_PC+_VC+_TC+ 00〜07 5-13 ― Analog Input Dead Band _Disabled 00〜01 5-13...
Page 76 ５．Parameter [Parameter List] ■ Group 9［Function enabling condition setting］ General Parameter Reference level Page Name Standard Value Display Range page Positive Over-Travel Function 0D:_CONT6_OFF 00〜27 5-18,19 Negative Over-Travel Function 0B:_CONT5_OFF 00〜27 5-18,19...
Page 77 ５．Parameter [Parameter List] ■ Group B［Setting related to sequence/alarms］ General Parameter Reference Name Standard Value Unit Display Range Level Page page JOG Velocity Command 0〜32767 5-23 ― Dynamic Brake Action Selection 04:_SB__Free 00〜05 5-23...
Page 78 ５．Parameter [Parameter List] ■ [Digital operator basic mode] General Parameter Reference Group and Page Page Name Standard Value Display Range page Setup Software, Communication Axis GroupA 20 01:_#1 01〜0F 5-22 Number Setup Software, Communication Baud Rate...
Page 79 ５． Parameter [Parameter setting value 【 Group0】【Group1】 ] ■ General parameter Group 0［Auto-tuning settings］ Page Contents Tuning mode [TUNMODE] Standard Selection Contents Setting range Unit value 00:_AutoTun Automatic Tuning ― 00〜02 00:_AutoTun 01:_AutoTun_JRAT-Fix Autiomatic Tuning (JRAT Fixed) 02:_ManualTun Manual Tuning Automatic Tuning Characteristic ...
Page 80 ５． Parameter [Parameter setting value 【Group1】 ] Page Contents Higher Tracking Control, Position Compensation Gain [TRCPGN] Parameter to enhance following-up performance. The larger value can make the following-up performance Setting range Unit Standard higher. When the value other than 0% is set, position value command filter and feed forward gain are automatically 0〜100...
Page 81 ５． Parameter [Parameter setting value 【 Group2】 ] ■ General parameter Group 2［vibration suppressing control / notch filter / disturbance observer settings］ Page Contents Vibration Suppressor Frequency 1 [SUPFRQ1] Parameter to set the frequency of restricting vibration. Inside the servo amplifier, vibration suppressing frequency Setting range Unit Standard...
Page 82 ５． Parameter [Parameter setting value 【 Group2】【Group3】 ] Page Contents TCNFILD, Depth Selection [TCNFDD] Parameter to set the depth of torque command notch filter D. The greater the value is, the shallower the depth will be. Setting range Unit Standard value...
Page 83 ５． Parameter [Parameter setting value 【 Group3】 ] Page Contents Position Loop Proportional Gain 3 [KP3] Proportional gain for position controller. Setting range Unit Standard value 1〜3000 Position Loop Integral Time Constant 3 [TPI3] Integral time constant for position controller. Integral term is disabled (proportional control) with the set Setting range Unit...
Page 84 ５． Parameter [Parameter setting value 【 Group3】【Group4】 ] Page Contents Vibration Suppressor Frequency 2 [SUPFRQ2] Parameter to set the frequency of vibration suppressing Setting range Unit Standard vibration. value In the servo amplifier, the vibration suppressing frequency 5〜500 from 5 to 99Hz is treated by 1Hz unit, and from 100 to 500Hz is by 10Hz unit.
Page 85 ５． Parameter [Parameter setting value 【 Group8】 ] ■ General parameter Group 8［Settings for control system］ Page Contents Command Input Polarity [CMDPOL] Select the command polarity from the contents blow. Standard Setting range Unit value 00:_PC+_VC+_T ― 00〜07 Input Command Rotation Input...
Page 86 ５． Parameter [Parameter setting value 【 Group8】 ] Page Contents Position Command Pulse, Digital Filter [PCPFIL] Select the setting of position command pulse digital filter Standard from the contents below. Setting range Unit value As timing for command direction, observe the 00:_834nse ―...
Page 87 ５． Parameter [Parameter setting value 【 Group8】 ] Page Contents Preset Velocity Command 1 [VC1] Refer to “Chapter ７． Adjustment ・ Functions Internal velocity command”. Parameter for setting velocity command of internal velocity operation. Setting range Unit Standard value When internal velocity selection input 1 is valid and internal 0〜32767 velocity selection input 2 is invalid, this parameter is...
Page 88 ５． Parameter [Parameter setting value 【 Group8】 ] Page Contents Preset Torque Compensation Command 1 [TCOMP1] Parameter for using torque addition command in a fixed Setting range Unit Standard value, when torque addition function is used. value -500〜+500 Preset Torque Compensation Command 2 [TCOMP2] Parameter for using torque addition command in a fixed Setting range Unit...
Page 89 ５． Parameter [Parameter setting value 【 Group8】 ] Page Contents In-Position Near Range [NEAR] Parameter for setting the output range of near range signal Setting range Unit Standard (near in-position complete). value Pulse 1〜65535 Near range signal is output when the deviation counter is lower than this set value.
Page 90 ５．Parameter [Parameter setting value【Group9】] ■ General parameter Group 9［Condition settings for enabling functions］ Input signals and conditions to enable the functions of each page are set. ✍ Selection contents to be set are on the next page. Page Contents Page Contents Positive Over-Travel Function [F-OT] Preset Velocity Command, Select Input 1 ...
Page 91 ５．Parameter [Parameter setting value【Group9】] ● General parameter Group 9 List of selection contents When functions are to be always enabled or disabled. Selection Contents 00:_Always_ Disable Always disable the function. 01:_Always_ Enable Always enable the function. When functions are to be used with the generic input signals. Selection Contents 02:_CONT1_ON...
Page 92 ５． Parameter [Parameter setting value 【GroupA】 ] ■ General parameter Group A［generic output terminal outputting condition/monitor output selection/setup software settings］ Page Name and Contents [OUT1] General Purpose Output 1 Setting range Standard value 00〜5B 18:_INP_ON [OUT2] General Purpose Output 2 Setting range Standard value 00〜5B...
Page 93 ５． Parameter [Parameter setting value 【GroupA】 ] Generic output OUT1〜Generic output OUT8, List of selection contents for digital monitor output ● When functions are to be always enabled or disabled. Selection Contents 00:_Always_OFF The output is always OFF. 01:_Always_ON The output is always ON. When Generic input signal status is to be output.
Page 94 ５． Parameter [Parameter setting value 【GroupA】 ] Page Contents Analog monitor output polarity [MONPOL] The output polarity of analog monitor output MON1 and Setting MON2 is selected from the contents below. Standard value range 00〜08 00:_MON1+_MON2+ Selection Contents MON1：Output the positive voltage at forward rotation (positive direction). Output the positive/negative voltage.
Page 95 ５． Parameter [Parameter setting value 【 GroupB】 ] ■ General parameter Group B［sequence/alarm related settings］ Page Contents JOG Velocity Command [JOGVC] Velocity command for test run and adjustment JOG Setting range Unit Standard operation is set. value 0〜32767 Dynamic Brake Action Selection [DBOPE] Dynamic brake operation when shifted from servo ON →...
Page 96 ５． Parameter [Parameter setting value 【 GroupB】 ] Contents Page Delay Time of Engaging Holding Brake (holding brake holding delay time) [BONDLY] Holding brake operation delay time when shifted from Setting range Unit Standard servo ON to servo OFF is set. value 0〜1000 When shifted from servo ON to servo OFF, motor...
Page 97 ５． Parameter [Parameter setting value 【 GroupB】 ] Contents Page Overload Warning Level [OLWLV] Parameter for outputting warnings before overload alarm is Setting range Unit Standard output. The possible level to be set is ranged from 20%〜 value 20〜100 99%, assuming that the overload alarm level is 100%.
Page 98 ５．Parameter [Parameter setting value【GroupC】] ■ General parameter Group C［ Encoder related settings］ Page Contents Position detection system choice [ABS/INCSYS] Position detection system is selected from the contents Setting range Unit Standard below. value ― 00:_Absolute 00〜01 Selecting “incremental system” enables the use similar to Selection Contents incremental encoder without installing backup battery in...
Page 99 ５．Parameter [Parameter setting value【GroupC】] Contents Page Encoder Pulse Divided Output, Selection [PULOUTSEL] Encoder pulse division output signal is selected from the Setting range Unit Standard value contents below. ― 00:_Motor_Enc. 00〜01 When full close controlled and the motor encoder is Selection absolute encoder, external encoder pulse is output by 00:_Motor_Enc.
Page 100 ５． Parameter [Parameter setting value 【system parameter】 ] ■ System parameter Page Description Selects the input mode for power supplied to the main circuit power supply. Main Power, Input Type Setting range varies depending on the hardware type. Setting value Description ３...
Page 101 ５． Parameter [Parameter setting value 【system parameter】 ] Page Description In “The set up software”, model numbers of combined motor and their codes are shown. When combined motor is to be changed, change the motor parameter setting of “The set up software”. Combined motor model number Note 1）...
Page 102 6 [Operations] Procedure prior to operation･･････････････････ 6-1 Confirmation of Installation and Wiring･･･････ 6-3 Confirmation & Change of servo amplifier specification ･･･････ 6-4 Confirmation & Change of servo motor encoder specification ･･...
Page 103 6. Operations [Procedure prior to operation] ■ After wiring, test run will begin. Please do not connect the shaft of the servo motor with the machine. ● Confirm installation and wiring of the servo amplifier and servo motor. [Confirmation of installation and wiring] Item Contents Procedure Referring to [Chapter 2. Installation], install the servo amplifier and the servo motor. 1 Installation Do not connect the shaft of the servo motor into the machine to keep the status of no load. Referring to [Chapter 3. Wiring], perform wirings for the power supply, the servo motor, Wiring and 2 and the upper device. connection However, please do not connect CN1 with the servo amplifier after wiring has been done. Please turn on the power supply. Please confirm the alarm code is not being displayed Power supply 3 at a digital operator of the servo amplifier. When it is displayed, follow the instructions turning on ...
Page 104 6. Operations [Procedure prior to operation] ● The movement of the servo amplifier servo motor is confirmed by driving JOG. ] JOG driving Item Contents Procedure Do not connect the shaft of the servo motor into the machine to keep the status of no 9 JOG driving load, and perform JOG operation. Confirm that the servo motor rotates forwards and backwards. ● Connect the upper device with CN1, and set the parameter of the I/O signal. [I/O signal confirmation] Item Contents Procedure Setting of The generic I/O signal (CN1) has been set to standard at the time of shipment. Set I/O 10 generic I/O signals necessary to the servo amplifier. signal Confirm the I/O signal status using the monitoring function inside the servo amplifier. Confirmation of 11 Please confirm that there are protecting functions such as emergency stop, over travel, ...
Page 105 6. Operations [Confirmation of installation and wiring] ■ [Procedure １〜Procedure ３] Confirmation of installation and wiring Contents Proc Item edur e Installation Do not connect the Servo motor flange Install the servo amplifier and servo motor servo motor shaft to is fixed. the machine. referring to [Chapter 2, Installation]. 1 Do not connect the servo motor shaft to the machine to keep the status of no load. ...
Page 106 [Confirmation and change of servo amplifier specifications] 6. Operations ■ [Procedure ４〜Procedure ８] Confirming specifications and combination of servo amplifier ・servo motor ・encoder Item and Contents Proc edur e Confirming servo amplifier specifications System parameter settings Use the AC servo system supporting tool R-Setup to confirm and set the specifications of the servo amplifier. For how to use [the setup software R-Setup], refer to [R-SETUP Instruction Manual]. Item Amplifier capacity Capacity of the servo amplifier. Motor structure Structure of the motor that can be ...
Page 107 6. Operations [JOG operation] Item and Contents Proc edur e Confirming servo motor encoder specifications System parameter setting Use the AC servo system supporting tool R-Setup to confirm and set the specifications of the encoder. For how to use [the setup software R-Setup], refer to [R-SETUP Instruction Manual]. Item Motor encoder type Setting value Contents Selects the servo motor encoder type. 00：̲Inclemental̲ENC Incremental encoder 01：̲Absolute̲ENC Absolute encoder Incremental encoder function selection This is set when motor encoder type is “incremental encoder”. Selects detailed function of Setting value Contents incremental encoder. Wire-saving incremental encoder［standard（4 00：̲Stanndard pairs）］ 01：̲ 7pairs̲INC-E ...
Page 108 6. Operations [JOG operation] Item and Contents Proc edur e Confirming the combined servo motor System parameter setting Use the AC servo system supporting tool R-Setup to confirm and set the model type of combined servo motor. For how to use [the setup software R-Setup], refer to [R-SETUP Instruction Manual]. Item Model number of combined motor 6 例: Q2AA07030D(0000-0064) Shows the combined motor model ...
Page 109 6. Operations [JOG operation] ■ [Procedure ９] JOG operation Proce Item Contents dure JOG operation Co not connect Servo motor flange servo motor shaft is fixed. Do not connect the servo motor shaft to the to the machine. machine to keep the status of no load for JOG operation. Confirm that the servo motor rotates forward and backward. How to use digital operator Press the MODE key to display basic ...
Page 110 6. Operations [Confirmation of I/O signal] ■[Procedure １０〜１４] Connection of upper device with CN1, parameter setting for I/O signals Item Contents Procedure Settings for generic I/O signals (CN1) are standard ones set at the time of shipment. I/O signal setting Necessary I/O signals are set at the servo amplifier. General parameter Group 9 Input Name Set value signal CONT1 Servo ON function 02:̲CONT1̲ON CONT2 Velocity loop proportional control switching function 04:̲CONT2̲ON Generic input CONT3 Absolute encoder clearing function 06:̲CONT3̲ON signal CONT4 Deviation clearing function 08:̲CONT4̲ON CONT5 Reverse rotation over travel function 0B:̲CONT5̲OFF Standard setting CONT6 Forward rotation over travel function 0D:̲CONT6̲OFF at the time of CONT7 Torque limit function ...
Page 111 6. Operations [ Confirmation of I/O signals／Confirmation of device operation ] Item Contents Procedure Input the command suitable for the control mode in use. Check that the rotation direction matches the command input. Confirm the command input using monitoring function inside the servo amplifier. ● When velocity controlled, torque controlled. Monitor mode ０Ｄ Analog velocity command／ Analog torque command input Command voltage being input is displayed. voltage 13 Command input ● When position controlled. Monitor mode ０Ｅ Position pulse monitor Command pulse frequency being input is (Position ...
Page 112 6. Operations [Operation sequence] ■ Operation sequence from power turn ON to power shut OFF at the standard shipment setting ● ［Power ON → Servo ON］ Control source “ Control source ON” Max.2sec Power ON permission signal Min. 0msec Main power “ Main power supply ON” supply “Rush current prevention time” ...
Page 113 6. Operations [Operation sequence] ■ Alarm sequence When an alarm rings, the servo motor is stopped by dynamic brake or servo brake. Which brake is used depends on the alarm. Refer to [Chapter 8, Maintenance] [Alarm list]. ● Stop by dynamic brake at alarm Power permission “Power ON permission OFF Main power “Main power supply OFF” supply Operation setup “Ｓ−ＲＤＹ” “Ｓ−ＲＤＹ２” completion signal Servo ON “Servo ON” signal ...
Page 114 6. Operations [Operation sequence] ■ Sequence at alarm reset Alarms can be reset by inputting alarm reset signal from generic input signal. Power permission Main power supply “Main power supply ON” “In-rush current preventing Power ON signal “Ｓ−ＲＤＹ” Operation setup completion signal “DB relay wait time＝100msec” “Ｓ−ＲＤＹ２” Servo ON signal “Servo ON” ...
Page 115 7 [Adjustment・Functions] Servo gain tuning･････････････････････････････ 7-1 Functions of Ｇｒｏｕｐ８･････････････････････ 7-7 Functions of Ｇｒｏｕｐ９････････････････････ 7-25 Functions of ＧｒｏｕｐＢ････････････････････ 7-31 Functions of ＧｒｏｕｐＣ････････････････････ 7-36 Functions of monitors････････････････････････ 7-39 ...
Page 116 ７．Adjustment・Functions [Servo gain tuning] ■ Structure of tuning ≪General parameter Ｇｒｏｕｐ０≫ At “parameter Ｇｒｏｕｐ０”, tuning structure of the R series servo amplifier is as follows. ≪General parameter Ｇｒｏｕｐ０≫ Name Page ００ Tuning mode ０１ Auto-tuning 00:̲AutoTun auto- tuning characteristics auto- tuning ０２ Auto- tuning response 01:̲AutoTun̲JRAT-Fix [JRAT manual setting] Auto-tuning 02:̲ManualTun Manual tuning ０３ parameter auto-saving 00:̲Positioning1 Positioning control 1（for generic purpose） 01:̲Positioning2 Positioning control 2（for high response） Positioning control 3（for high response and ...
Page 117 ７．Adjustment・Functions [Servo gain tuning] ■ Tuning method selecting procedure Start tuning ※The flow chart in the left shows selecting method of tuning mode and tuning characteristics. Execute tuning mode Settings for auto-tuning response are not indicated 00:̲AutoTun auto- tuning here. Auto-tuning response shall be tuned at each status. Yes Operation unstable? Change tuning mode to 01:̲AutoTun auto- tuning ̲JRAT-Fix [JRAT manual setting] Set JRAT1 ...
Page 118 ７．Adjustment・Functions [Servo gain tuning] ■ Monitoring servo gain adjustment parameter The following parameters can be monitored when auto-tuning is used. ● Digital operator ● Ｒ−ＳＥＴＵＰ Monitor mode Name Load inertia moment ratio Page １５ monitor Position loop proportional Page １６ gain monitor Velocity loop proportional Page １８ gain monitor ...
Page 119 ７．Adjustment・Functions [Servo gain tuning] ■ Servo system structure Servo system consists of 3 subsystems; the position loop, the velocity loop and the current loop. High response is required for the internal loops. If this structure is compromised, it could result in instability, low response, vibration or oscillation. Position loop Velocity loop Host device Current loop Servo motor KP KVP TVI JRAT ＋＋ ...
Page 120 ７．Adjustment・Functions [Servo gain tuning] Velocity loop integration time constant [TVI] Set this equivalent to TVI ＝1000/(KVP ). [ms] [Hz] Load inertia moment ratio [JRAT] Set the value calculated as shown below. Motor axis converted load inertia moment 【JL】 JRAT＝ ×１００％ Motor inertia moment 【JM】 High tracking control velocity compensation gain [TRCVGN] Tracking effect can be improved by increasing compensation gain. Adjust this so as to shorten the positioning setting time. ※Set the value of JRAT properly to use this function. ...
Page 121 ７．Adjustment・Functions [Servo gain tuning] ■ Adjustment method of gain switch over When tracking effect is insufficient even if basic parameters of high tracking control position compensation gain and high tracking control velocity compensation gain are set, set the gain switch over so that tracking effect can be improved. (Example)Gain is increased near positioning compete. NEAR Gain ２ Gain １ Gain ２ The value of gain 2 shall be set to 1.2 times the value of gain 1. ...
Page 122 ７．Adjustment・Functions [Functions of Group 8][Position command pulse] ■ Functions of Group 8 [Ｇｒｏｕｐ８]００ Position, velocity, torque command input polarity [CMDPOL] Velocity control Position control Torque control The rotation direction of the servo motor can be reversed without modifying the input command ...
Page 123 ７．Adjustment・Functions [Functions of Group 8][Position command pulse] [Ｇｒｏｕｐ８]１１ Position command pulse selection [PCPTYP] Position control mode 3 types of location command pulse can be selected; make this selection per the specifications of the host unit. ...
Page 124 ７．Adjustment・Functions [Functions of Group 8][Position command pulse] [Ｇｒｏｕｐ８]１２ Position command pulse count polarity [PCPPOL] Position control mode Position command pulse count polarity can be selected form the following 4 types. Select the one suitable for the host unit. Selected Contents value 00:̲Type1 F-PC：Count at leading edge. ／ R-PC：Count at leading edge. 01:̲Type2 F-PC：Count at trailing edge. ／ R-PC：Count at leading edge. ...
Page 125 ７．Adjustment・Functions [Functions of Group 8][Position command pulse] Command Command pulse timing pulse F-PC Forward (Reverse rotation pulse) t1 t2 t3 ts1 rotation T pulse string R-P ＋ (Forward rotation pulse) Reverse rotation pulse string ...
Page 126 ７．Adjustment・Functions [Functions of Group 8] [Electronic gear・Positioning method] [Ｇｒｏｕｐ８]１５、１６ Electronic gear＊ [GER＊] Position control mode This function allows a distance setting on the servo motor in reference to the location command pulse from the unit. Setting range Unit Standard set value 1/32767〜32767/1 ― 1/1 Electronic gear Servo motor N (1〜32767) f2: Input command pulse after setting (f1×electronic gear) f1: Input command pulse Host unit D ...
Page 127 ７．Adjustment・Functions [Functions of Group 8 ][Deviation clear] [Ｇｒｏｕｐ８]１９ Deviation clear selection [CLR] Location control type This function is used for changing the location deviation counter in the servo amplifier from the host unit to zero. Selection Description ・Deviation is always cleared when servo is off.
Page 128 ７．Adjustment・Functions [Functions of Group 8][Internal velocity command ] [Ｇｒｏｕｐ８]２０〜２２ Internal velocity command １〜３ [VC＊] Speed control mode The servo motor can be controlled using internal velocity command. Internal velocity command settings have 3 ways. Internal velocity command and rotation direction can be selected via conditions of generic input CONT1 〜CONT8. Set the internal speed command value.
Page 129 ７．Adjustment・Functions [Functions of Group 8][Internal velocity command ] Examples of setting and operation pattern at internal velocity command operation. VC1: internal speed command 1 1000min VC2: internal speed command 2 2000min VC3: internal speed command 3 3500min SP1: internal speed setting selection input 1 Valid general input CONT3 ON function SP2: internal speed setting selection input 2 Valid general input CONT4 ON function...
Page 130 ７．Adjustment・Functions [Functions of Group 8][Velocity addition command ] [Ｇｒｏｕｐ８]２３〜２５ Velocity addition command input selection [VCOMSEL] /internal velocity addition command [VCOMP] Position control mode Analog velocity (addition) command scaling [VCGN] The speed addition function is the fast-forward function in the speed control system.
Page 131 ７．Adjustment・Functions [Functions of Group 8][Velocity addition command ] [Ｇｒｏｕｐ８]２６〜２７ Speed command adjustment constant. [TVCACC] Speed command adjustment constant. TVCDEC] Speed control mode The step input speed command can be changed to a constant adjustment speed command using the speed command adjustment constant.
Page 132 ７．Adjustment・Functions [Functions of Group 8] [Torque addition command ] [Ｇｒｏｕｐ８]３０〜３４ Speed control mode Position control mode Torque addition command input selection [TCOMSEL] Analog torque addition command scaling [TCOMPGN] Internal torque addition command 1 [TCOMP1] Internal torque addition command 2 [TCOMP2] Torque addition function 1 [TCOMPS1] Torque addition function 2 [TCOMPS2] The torque addition function is the fast-forward function of the torque control system. There are 2 types of settings for the torque addition command input function: the internal torque addition command and the analog torque addition command.
Page 133 ７．Adjustment・Functions [Functions of Group 8] [Torque limit] [Ｇｒｏｕｐ８]３５〜３６ Torque limit input selection [TLSEL] Internal torque limit value [TCLM] Velocity control Position control Torque control There are two areas where selections for the torque limit function can be made: the internal torque limit and the external torque limit.
Page 134 ７．Adjustment・Functions [Functions of Group 8] [Torque limit] The input voltage specification and the input signal specification can be used in three ways. torque limit input Parameter Group8Page35 TLSEL: Description Selection value Use the external torque limit input: ・Forward: The limit will be the positive voltage input to F-TLA. 01:_Analog_1 Forward/F-TLA, ・Reverse: The limit will be the negative voltage input to R-TLA.
Page 135 ７．Adjustment・Functions [Functions of Group 8][Sequence operation torque limit] [Ｇｒｏｕｐ８]３７ Sequence operation torque limit value [SQTCLM] Velocity control Position control Torque control During the sequence operation the output torque is limited. Limiting the output torque protects the unit mechanism. The torque limits during sequence operation support the following sequence operations: ・...
Page 136 ７．Adjustment・Functions [Functions of Group 8] [Near range] [Ｇｒｏｕｐ８]４０ Near range [NEAR] Position control mode Outputs signal indicating proximity to position completion. This is used together with positioning complete signal (INP) and near range of positioning complete is output. Parameter Group8Page40 NEAR：near range 1〜65535 Pulse Parameter GroupAPage0＊ OUT*：＊ general output Selection Description NEAR_ON Output turns ON during near range status NEAR_OFF ...
Page 137 ７．Adjustment・Functions [Functions of Group 8] [Positioning complete range] [Ｇｒｏｕｐ８]４１ Positioning complete range [INP] Position control mode The positioning completion signal is output from the selected output terminal when servo motor movement is completed (reaches the set deviation counter value) during location control mode. Setting the positioning completion range ...
Page 138 ７．Adjustment・Functions [Functions of Group 8] [Velocity setting] [Ｇｒｏｕｐ８]４３〜４５ Low speed setting [LOWV] speed coincidence range [VCMP] speed transport setting (High velocity setting) [VA] Position control mode Speed control mode Torque control mode This parameter affects settings for the speed output range. The signal can be output from general output (OUT1〜OUT8) and used as a valid condition for all functions.
Page 139 ７．Adjustment・Functions [Functions of Group 8] [Velocity setting] Various functions can be made valid without output signals taken into the host unit when this is used together with Group9 function enabling conditions (input signals). Selection Description 12 LOWV_IN Function is enabled during low speed status (speed below LOWV set value). 13 LOWV_OUT Function is enabled when not in low speed status (speed below LOWV set value). 14 ...
Page 140 ７．Adjustment・Functions [Functions of Group 9] [Over travel] ■ Functions of Ｇｒｏｕｐ９ [Ｇｒｏｕｐ９]００〜０１ Forward over travel function [F-OT] Position control mode Speed control mode Torque control mode Reverse over travel function [R-OT] The over travel function uses a limit switch to prevent damage to the unit. It stops the unit when the movement range of the moving part is exceeded.
Page 141 ７．Adjustment・Functions [Functions of Group 9] [Alarm reset・Servo ON] [Ｇｒｏｕｐ９]０２ Alarm reset function [AL-RST] Position control mode Speed control mode Torque control mode This function enables the sending of an alarm reset signal from the host unit. An alarm is cleared by enabling alarm reset function (AL-RST).
Page 142 ７．Adjustment・Functions [Functions of Group 9] [Control mode switch over・Position command pulse inhibit/Zero velocity stop] [Ｇｒｏｕｐ９]１０ Control mode switch over function [MS] Position control mode Speed control mode Torque control mode 2 types of control mode can be switched and used. The control mode to be combined is selected by system parameter and can be switched with control mode switch over function. ...
Page 143 ７．Adjustment・Functions [Functions of Group 9] [Gain switch over] [Ｇｒｏｕｐ９]１３〜１４ Gain switch over condition 1 [GC1] Gain switch over condition 2 [GC2] Position control mode Speed control mode Torque control mode 4 types of gains can be switched and used. Conditions enabling gain switch over are allocated. When the signal of GC1 and GC2 combination is valid, the set value of corresponding GAIN becomes enabled. GC1：Gain switch over condition１ Parameter Group9 Page13 GC2：Gain switch over condition ２ Parameter Group9 Page14 GC1：Gain switch over condition １ ...
Page 144 ７．Adjustment・Functions [Functions of group 9] [Position・ velocity loop proportional control switch over] [Ｇｒｏｕｐ９]１７ Position loop proportional control switch over function [PLPCON] Position control mode Switching between position loop PI control←→ P control is possible. Switching is possible when position loop proportional control switchover function (PPCON）is enabled. Conditions for enabling position loop proportional control switchover function are allocated. Switches to proportional control when the signal of PPCON is valid. PLPCON：Position loop proportional Parameter Group9 Page17 control switchover function ＰＩ control（proportional・integral control）・・・・Position loop proportional gain（KP）・Integral time constant（TPI）Ｐ control （Proportional control）・・・・Position loop proportional gain（KP） ...
Page 145 ７．Adjustment・Functions [Functions of Group 9] [External trip・Forced discharge・Emergency stop] [Ｇｒｏｕｐ９]４０ External trip input function [EXT-E] Position control mode Speed control mode Torque control mode This function can output a contact input (such as external thermal) as an alarm (AL55H) in the servo amplifier.
Page 146 ７．Adjustment・Functions [Functions of Group B] [Dynamic brake・Forced stop] ■ Functions of Group B [ＧｒｏｕｐＢ]１０ Dynamic brake operation [DBOPE] Position control mode Speed control mode Torque control mode Conditions for stop at servo OFF can be selected from Servo brake/dynamic brake/free run. ...
Page 147 ７． Adjustment・Functions [Functions of Group B] [Securing brake operation delay time] [ＧｒｏｕｐＢ]１３ ...
Page 148 ７．Adjustment・Functions [Functions of Group B] [Securing brake release delay time] [ＧｒｏｕｐＢ]１４ ...
Page 149 ７．Adjustment・Functions [Functions of Group B] [Power failure detection delay time] [ＧｒｏｕｐＢ]１６ Power failure detection delay time [PFDDLY] Position control mode Speed control mode Torque control mode This function can set a delay period, after power off of the control power supply, for detecting problems in the control power supply. Detection of unexpected power failure is diminished when this value is increased. However, ...
Page 150 ７． Adjustment・Functions [Excessive deviation warning・Deviation counter overflow・Overload warning] [ＧｒｏｕｐＢ]２０ Excessive deviation warning function [OFWLV] Position control mode Speed control mode Torque control mode This function gives a warning before reaching excessive deviation alarm status. Set the deviation excessive warning value. ...
Page 151 ７．Adjustment・Functions [Functions of Group C] [Digital filter・External encoder polarity] ■ Functions of Group C [ＧｒｏｕｐＣ]０１〜０２ Position control mode Speed control mode Torque control mode Motor incremental encoder digital filter ...
Page 152 ７．Adjustment・Functions [Functions of Group C] [Encoder pulse division] [ＧｒｏｕｐＣ]０４ Encoder pulse divider output selection [PULOUTSEL] Position control mode Speed control mode Torque control mode Encoder pulse divider output can be selected from 2 types; motor encoder or external encoder. PULOUTSEL：Encoder pulse divider output Parameter GroupCPage04 ...
Page 153 ７． Adjustment・Functions [Functions of Group C] [Encoder division・ Encoder clear] [ＧｒｏｕｐＣ]０６ Encoder Pulse Divider Output polarity selection function [PULOUTPOL] Position control mode Speed ...
Page 154 ７．Adjustment・Functions [Monitor] [Analog monitor] ■ Description of monitor All signals and internal status of the servo amplifier can be monitored. There are 3 kinds of monitors. １． Analog monitor Monitor box and dedicated monitor cable are needed. Refer to “Materials; Option, Monitor box”. Digital monitor ...
Page 155 ７．Adjustment・Functions [Monitor] [Digital monitor] [Displayed monitor list] ● Digital monitor（１ channel） [ＧｒｏｕｐＡ]１２ Digital monitor output selection [DMON] Position control mode Speed control mode Torque control mode Digital monitor for use is selected. Parameter GroupA Page12 DMON：Digital monitor output selection For selected values, refer to “Chapter 5, Parameter [Parameter setting value【GroupA】] generic output ...
Page 156 8 [Maintenance] ･･･････････････････････････････ Trouble Shooting ･････････････････････････････････････ Alarm List ･････････････ Trouble shooting when Alarm Occurs ･････････････････････ Inspection / Parts Overhaul 8-25 ...
Page 157 8. Maintenance [Trouble Shooting] ■ Corrective Actions for Problems During Operation ●When troubles occur without any alarm displayed, check and take corrective actions for them referring to the description below. When alarm rings, take corrective measures referring to “Trouble Shooting When Alarm Rings”...
Page 158 8. Maintenance [Trouble Shooting] No Problems Investigation Assumed causes and corrective actions Phase order of motor power line Check the motor power line. does not match. Motor accelerated. Check the wiring of encoder Wiring of A phase and B phase of cable. the encoder is incorrect. Motor Reduce the loop gain speed.
Page 159 8. Maintenance [Alarm List] ■ Alarm List Alarm code Detection Alarm 3 bits output PY compatible code Alarm title Alarm contents Operations Clear Display Bit7 Bit6 Bit5 ALM8 ALM4 ALM2 ALM1 Over current of drive module Power device Abnormality Abnormality in drive power source ２１Ｈ...
Page 160 8. Maintenance [Alarm List] Alarm code Operatio Alarm 3 bits output PY compatible code Alarm name Alarm contents ns while clear Display detecting Bit7 Bit6 Bit5 ALM8 ALM4 ALM2 ALM1 １０００ Encoder Abnormality 1 Breakdown of Encoder internal device ＤＢ...
Page 161 8. Maintenance [Trouble Shooting When Alarm Occurs] Alarm code 21H (Power Device Abnormality / Over current) Cause Status at the time of alarm 1 2 3 4 Issued when control power is turned ON. V Issued at servo input. V ...
Page 162 8. Maintenance [Trouble Shooting When Alarm Occurs] Alarm code 23H (Current detection abnormality 1) Alarm code 24H (Current detection abnormality 2) Cause Status during alarm Issued when the control power is turned ON. Issued during operation. Corrective actions ...
Page 163 8. Maintenance [Trouble Shooting When Alarm Occurs] Alarm code 41H (Overload 2) Cause Status during alarm 1 2 3 4 5 6 7 8 9 Issued when power supply control is turned ON. V ...
Page 164 8. Maintenance [Trouble Shooting When Alarm Occurs] Alarm code 51H (Amplifier temperature abnormality) Cause Status during alarm ５ Issued when power supply control is turned ON. Issued during operation. Issued after emergency stop. Corrective actions Cause Investigation and corrective actions Defect in internal circuit of servo amplifier.
Page 165 8. Maintenance [Trouble Shooting When Alarm Occurs] Alarm code 53H (DB Overheating) Cause Status during alarm Issued when power supply is turned ON. Issued during operation. Corrective actions Cause Investigation and corrective actions Defect in internal circuit of servo amplifier. Replace the servo amplifier.
Page 166 8. Maintenance [Trouble Shooting When Alarm Occurs] Alarm code 55H (External abnormality ) When external regenerative resistor and output terminal of upper device are not connected ● Cause Status during alarm Issued when power supply control is turned ON. ...
Page 167 8. Maintenance [Trouble Shooting When Alarm Occurs] Alarm code 61H (Over voltage ) Cause Status during alarm Issued when power supply control is turned ON. Issued when power supply of main circuit is turned ON. Issued at the time of motor start/stop. ...
Page 168 8. Maintenance [Trouble Shooting When Alarm Occurs] Alarm code 63H (Main power supply line -drop) Cause Status during alarm Issued when power supply control is turned ON. Issued when power supply of main circuit is turned ON. Issued during motor operations. Alarm issued during single-phase power input selection.
Page 169 8. Maintenance [Trouble Shooting When Alarm Occurs] Alarm code 81H (Pulse signal abnormality 1 of A phase/B phase) Alarm code 82H (Disconnection of absolute signal) Alarm code 83H (External encoder A phase/ B phase signal abnormality) Alarm code 84H (Error in communication between encoder and amplifier) ...
Page 170 8. Maintenance [Trouble Shooting When Alarm Occurs] Alarm code 91H (Encoder command abnormality) Alarm code 92H (Encoder FORM error) Alarm code 93H (Encoder SYNC Abnormality) Alarm code 94H (Encoder CRC Abnormality) When abnormalities are detected in the internal part of the absolute position detector for the start-stop synchronization system. ...
Page 171 8. Maintenance [Trouble Shooting When Alarm Occurs] Alarm code A3H (Encoder overheating ) When abnormalities are detected in the internal part of the absolute position detector for the start-stop synchronization system. Cause Status during alarm Issued when control power supply is turned ON. Issued while stopping the motor.
Page 172 8. Maintenance [Trouble Shooting When Alarm Occurs] Alarm code A6H（Encoder abnormality 4） When abnormalities are detected in the internal part of the absolute position detector for the start-stop synchronization system. Cause Status when alarm rings. Issued when power supply is turned ON. Issued during motor operations.
Page 173 8. Maintenance [Trouble Shooting When Alarm Occurs] Alarm Code B2H (Encoder abnormalities 2) When abnormality is detected in the internal part of the absolute position detector (RAO62M) of the Manchester system. Cause Status during alarm Issued during operation. ...
Page 174 8. Maintenance [Trouble Shooting When Alarm Occurs] Alarm code B5H (Over speed and multiple rotations generation abnormality) When abnormalities are detected in the internal part of the absolute position detector for the start-stop synchronization system. Cause Status during alarm Issued when power supply is turned ON.
Page 175 8. Maintenance [Trouble Shooting When Alarm Occurs] Alarm code C1H (Over speed) Cause Status during alarm Issued when control power supply is turned ON. Issued if command is entered after Servo ON Issued when the motor is started. Issued other than operating and starting the motor ...
Page 176 8. Maintenance [Trouble Shooting When Alarm Occurs] Alarm code C2H (Speed control abnormality) Cause Status during alarm Issued when control power supply is turned ON. Issued while due to input of Servo ON Issued if command is entered. Issued while starting and stopping the motor.
Page 177 8. Maintenance [Trouble Shooting When Alarm Occurs] Alarm code D1H (Excessive position deviation) Cause Status during alarm Issued when control power supply is turned ON. Issued when servo ON is stopped. Issued immediately after entering the command. Issued during starting or stopping at high speed.
Page 178 8. Maintenance [Trouble Shooting When Alarm Occurs] Alarm code D3H (Abnormal position pulse frequency 2) Cause Status during alarm Issued after entering position command pulse. Corrective actions Cause Investigation and corrective actions Frequency of command pulse input is Reduce the frequency of command pulse input.
Page 179 8. Maintenance [Trouble Shooting When Alarm Occurs] Alarm code E2H (Abnormality in the internal data of EEPROM) Cause Status during alarm Issued when control power supply is turned ON. Corrective actions Cause Investigation and corrective actions Correct value not read by CPU by nonvolatile memory of built-in servo Replace the servo amplifier.
Page 180 8. Maintenance [Trouble Shooting When Alarm Occurs] Alarm code E6H (Parameter error 2) Cause Status during alarm Issued when control power supply is turned ON. Issued after changing any of system parameters. Corrective actions Cause Investigation and corrective actions Confirm the model number of servo amplifier.
Page 181 8. Maintenance [Inspection/Parts overhaul] ■ Corrective Actions for Problems During Operation ● For maintenance purposes, a daily inspection is typically sufficient. Upon inspection, refer to the following description. Testing conditions Inspection Inspection Items Inspection Methods Solution if abnormal During While location Time operation stopping Check for excessive Daily...
Page 182 Check and adjust the relations between position data and machine coordinate system. ✍ At SANYO DENKI, the overhauled servo amplifier is shipped with the same parameters as the ones before overhauling. Be sure to confirm the parameters before use. 8-26 ...
Page 183 9 [Specifications] ････････････････････････････････ Servo amplifier ･･･････････････････････････････････ Pulse output ･･･････････････････････････････････ Serial output ･･･････････････････････････ General servo motor 9-23 ････････････････ Rotation Direction Specifications 9-23 ･･････････････････････ Mechanical specifications 9-24 ････････････････････...
Page 184 9.Specifications [Servo amplifier] ■ General specifications Model number RS1□01□ RS1□03□ RS1□05□ RS1□10□ RS1□15□ RS1□30□ Control function Speed control, torque control, or position control (Parameter change) Control system IGBT PWM control Sinusoidal drive Three-phase AC200~230V+10, -15%, 50/60Hz±3Hz ＊ 2 Main circuit ...
Page 185 9.Specifications [Servo amplifier] ＊１ Source Voltage should be within the specified range. AC200V Power input type Specified power supply range AC170V〜AC253V AC100V Power input type Specified power supply range AC85V〜AC127V Install a step-down transformer if power supply exceeds the specified power supply. ＊2 AC200V single-phase input type corresponds only to ＲＳ１□０１／ＲＳ１□０３／ＲＳ１□０...
Page 186 9.Specifications [Servo amplifier] ● Calorific value Total calorific Total calorific Input Amplifier Motor model Input Amplifier Motor model value of Servo value of Servo voltage capacity number voltage capacity number amplifier (W) amplifier (W) Q1AA04003D Q1EA04003D Q1AA04005D Q1EA04005D Q1AA04010D Q1EA04010D Q1AA06020D RS1□01A Q2EA04006D...
Page 187 9.Specifications [Pulse output] ■ Pulse output Outputs 90° phase difference two phase pulse (Phase A, Phase B) and Original pulse (Phase Z) from CN 1-3〜8 (Forward rotation) Power supply control Approx 1s Phase A Indefinite 90° Phase B Indefinite Phase Z Indefinite Phase B is advanced 90 °...
Page 188 9.Specifications [Serial output] ■ Serial output ( Wired-saving absolute encoder ) Encoder signal output（ＰＳ）format can be selected from 3 transmission methods. Select from selection values of [ＧｒｏｕｐＣ０７ encoder signal output（ＰＳ）format]. The specifications are shown below. Selection values Binary code output 00:_Binary Transmission method Asynchronous...
Page 189 9.Specifications [Serial output] ● Transfer format Selection value 00:_Binary Binary code output 1 Structure of Frame 1 Frame 1 (11 bit) ↑ ↑ ↑ Address signal Parity stop Start signal Position signal signal signal (1bit) (5bit) (3bit) (1bit) (1bit) Structure of each frame Start Address Parity Stop...
Page 190 9.Specifications [Serial output] Selection value 01:_Decimal ＡＳＣＩＩ in decimal code output Structure of Frame 1 Frame 1 (10bit) ↑ ↑ ↑ Start signal Position signal Parity Stop (1bit) (7bit) signalsignal (1bit) (1bit) Structure of each frame Frame Transmission character Data contents number Indicates that transmission “P”...
Page 191 9.Specifications [Serial output] Selection value 02:_Encoder_Signal Encoder signal direct output Structure of Frame 1 3〜4 frames ＩＦＤＦ０ＤＦ１ＤＦ２ Information field Data field 0 Data field 1 Data field 2 Frame structure Information field (IF) Frame 1 (18bit) ↑ ↑...
Page 192 9.Specifications [Serial output] Data field (DF0~DF2) Frame 1 (18bit) ↑ ↑ Start Data field Stop signal (LSB fast) signal (1bit) (15bit) (1bit) Compatibility table of command and data Command Data Frame CC[4:0] length DF0 D0[0:15] DF1 D1[0:15] DF2 D2[0:15] D2[0:7]=ABS[32:39] 4 frames 00000 D0[0:15]=ABS[0:15]...
Page 193 9.Specifications [Serial output] ● Transfer period Selection value 00:_Binary Binary code output Serial transfer Approx. 1s Power supply control Approximately 11 ms Serial output ―――― ＰＳ、ＰＳ “Ｈ” Indefinite Frame 1 Frame 2 Frame 3 Frame 4 Frame 5 Frame 6 Frame 7 Frame 8 Approx.
Page 194 9.Specifications [Serial output] ■ Serial output [Incremental absolute encoder] Encoder signal output(ＰＳ) format can be selected from among the three values. Select from among selection values of [ＧｒｏｕｐＣ０７ Encoder signal output（ＰＳ）format]. The specifications are shown below. Selection value Binary code output 00:_Binary Transmission method Asynchronous...
Page 195 9.Specifications [Serial output] ● Transfer format Selection value 00:_Binary Binary code output Structure of Frame 1 Frame1 (11 bit) ↑ ↑ ↑ Start signal Address signal Parity Stop Position signal signal signal (1bit) (5bit) (3bit) (1bit) (1bit) Structure of each frame Start Address Parity Stop...
Page 196 9.Specifications [Serial output] Selection value 01:_Decimal ＡＳＣＩＩ in decimal code output Structure of Frame 1 Frame1 (10 bit) ↑ ↑ ↑ Start signal Position signal Parity stop (1bit) (7bit) signal signal (1bit) (1bit) Structure of each frame Frame Transmission character Data contents number Indicates that transmission...
Page 197 9.Specifications [Serial output] Selection value 02:_Encoder_Signal Encoder signal direct output ( Synchronous Manchester encoding ） Structure of Frame 1 Frame 1 (25 bit) ↑ ↑ ↑ ↑ ↑ ↑ Start Position signal Frame Stop modem Address address signal signal signal signal...
Page 198 9.Specifications [Serial output] ●Transfer period Selection value 00:_Binary Binary code output Serial transfer Power supply Approx. 1s control Approx. 11 ms Serial output ―――― ＰＳ、ＰＳ “Ｈ” Indefinite Frame 1 Frame 2 Frame 3 Frame 4 Frame 5 Frame 6 Frame 7 Frame 8 About 1.1 ms Approx.
Page 199 9.Specifications [Serial output] ■ Serial output [Absolute encoder with request] Encoder signal output(ＰＳ) format can be selected from among these three values. Select from among the values of [ＧｒｏｕｐＣ０７ Encoder signal output（ＰＳ）format] The specifications are shown below. Selection value ...
Page 200 9.Specifications [Serial output] ● Transfer format Selection value 00:_Binary Binary code output Structure of Frame 1 Frame 1 (11bit) ↑ ↑ ↑ Start signal Position signal Address signal Parity Stop signal signal (1bit) (5bit) (3bit) (1bit) (1bit) Structure of each frame Start Address Parity...
Page 201 9.Specifications [Serial output] Selection value 01:_Decimal Decimal ＡＳＣＩＩ code output Structure of frame 1 Frame 1（10bit） ↑ ↑ ↑ Start signal Position signal Parity Stop signalsignal (1bit) (7bit) (1bit) (1bit) Structure of each frame Frame Transmission character Data contents Shows that transmission “P”（ASCII code 50H）...
Page 202 9.Specifications [Serial output] Selection code 02:_Encoder_Signal Encoder signal direct output （Synchronous Manchester encoding） Structure of Frame 1 Frame 1（25 Bit／27 Bit） ↑ ↑ ↑ ↑ ↑ ↑ Start modem Signal position Frame Stop Address Signal Address Signal Signal Signal Signal (3bit) (2bit) (15bit)
Page 203 9.Specifications [Serial output] ● Transfer period Selection value 00:_Binary Binary code output Serial transfer Power supply Approx. 1s control Approximately 11 ms Serial output ―――― ＰＳ、ＰＳ “Ｈ” Indefinite Frame 1 Frame 2 Frame 3 Frame 4 Frame 5 Frame 6 Frame 7 Frame 8 Approx.
Page 204 9.Specifications [Serial output] ■ Serial output［Incremental encoder］ When using the incremental encoder, the actual position monitor value is output, irrespective of the selected value in Group C 07 encoder signal output (PS) format. When using incremental encoder Selection value : invalid ―――...
Page 205 9.Specifications [Serial output] ● Transfer period Power supply Approx. 1s control Approximately 11 ms Serial output “Ｈ” ―――― Indefinite ＰＳ、ＰＳ Frame 1 Frame 2 Frame 3 Frame 4 Frame 5 Frame 6 Frame 7 Frame 8 Approx. 1.1 ms Approx. 9.2 ms 9−22 ...
Page 206 9.Specifications [Servo motor] ■ Servo motor general specifications Series Name Time Rating Continuous Insulation Classification Type F Dielectric Strength AC 1500V 1 minute Voltage DC 500 V, More than 10M Ω Insulation Resistance Fully closed, Auto cooling IP 67 (However, Q1□A04,06 and 07 is IP40) Protection method IP 67 It conforms to IP67 by using a waterproof...
Page 207 9.Specifications [Servo motor mechanical specifications] ■ Mechanical specifications ● Vibration Resistance Install the servo motor in a horizontal direction (as shown in the following figure), so that when vibration is applied in any 3 directions (up/down, back/forward, left/right) it can withstand the vibration acceleration up to 24.5m/s down Left/right...
Page 208 9.Specifications [Servo motor mechanical specifications] ● Vibration Classification The vibration classification of the servo motor is V15 or less, at the maximum rotation speed for a single servo motor unit, and is measured in the manner pictured below. Vibration measurement position ●...
Page 209 9.Specifications [Holding brake specifications] ■ Holding brake specifications An optional holding brake is available for each motor. Since this brake is used for holding, it cannot be used for braking, except for an emergency. Turn brake excitation ON or OFF by using the holding −...
Page 210 9.Specifications [Holding brake specifications] Braking delay time Static friction torque Model Release time msec msec Varistor Varistor Ｑ１ＥＡ０４００３Ｄ 0.098 Ｑ１ＥＡ０４００５Ｄ 0.157 Ｑ１Ｑ１ＥＡ０４０１０Ｄ 0.32 Ｑ１ＥＡ０６０２０Ｄ 0.637 Ｑ２ＥＡ０４００６Ｄ 0.191 Ｑ２ＥＡ０４０１０Ｄ 0.319 Ｑ２ＥＡ０５００５Ｄ 0.167 Ｑ２Ｑ２ＥＡ０５０１０Ｄ 0.353 Ｑ２ＥＡ０５０２０Ｄ 0.353 Ｑ２ＥＡ０７０２０Ｄ 0.69 Brake operating time is measured in the following circuit. Varister 100VAC 60Hz...
Page 211: International Standard Conformity・ Certificate Number
Materials [Selection Details] Acceleration time / Moderation time / Allowable repetition frequency・・・・・1 ････････････････････････････ Loading Precautions ･････････････････････････････････ Dynamic Brake Regenerative treatment / Regenerative electric power calculation / Confirmation of ･･････････････････････...
Page 212 Materials: Selection Details [Time of Acceleration and Deceleration/Permitted Repetion] ■ Time of Acceleration and Deceleration ● The motor’s acceleration time (t ) and deceleration time (t ) when under a constant load is calculated by following method. ＝（Ｊ＋Ｊ）・（２π/６０）・{（Ｎ −Ｎ...
Page 213 Materials Selection Details [Permitted Repetition] ■ When continuous-speed status and motor stop status is repeated ● In operating conditions such as those shown below, the effective value of the armature current of the motor is at a frequency below the rated armature current of the motor. Ｉ...
Page 214 Materials Selection Details [Permitted Repetition/Loading Precaution] When the motor repeats acceleration, constant speed operation, and deceleration status ■ ● For the operating status shown below, the value of permitted repetitions ‘n’ (times/min) is displayed by following equation. ＴＰＴ Servo Motor Current サーボモータ電流...
Page 215 Materials Selection Details [Dynamic brake] When the servo motor repeats acceleration, constant speed operation, and deceleration status ■ ● Coasting revolution angle negative load by dynamic brake ｌ１ N: Motor speed (min Ｎ : Slow-down revolution angle (rad) by amplifier Speed internal process time t : Slow-down revolution angle (rad) by on dynamic...
Page 216 Materials Selection Details [Dynamic brake] ■ Instantaneous tolerance of dynamic brake If the load inertia (J ) substantially exceeds the applicable load inertia, abnormal heat can be generated ● due to dynamic brake resistance. Take precautions against situations such as an overheat alarm or the failure of dynamic break resistance, and consult your dealer or sales representative if such a situation occurs.
Page 217 Materials Selection Details [Regeneration Process] ■ Dynamic brake constant table. Amplifier ２ Motor model number α β Ｊ (kg･m Ｍ capacity −７ −４Ｑ１ＡＡ０４００３Ｄ２０４９２．０×１００．０１×１０Ｑ１ＡＡ０４００５Ｄ１３０３４．３×１０ −７０．０１３４×１０ −４Ｑ１ＡＡ０４０１０Ｄ５３３５．０×１０ −７０．０２３３×１０ −４ −７ −４Ｑ１ＡＡ０６０２０Ｄ...
Page 218 Materials Selection Details [Regeneration Process] ■ Regeneration Process ● The regeneration capacity of the servo amplifier depends on the allowable power of the regenerative resistor. When using the servo amplifier with built-in regeneration resistor, be sure to calculate regeneration resistance PM and confirm that PM<PRI (the allowable power for the built-in regeneration resistor) is fulfilled.
Page 219 Materials Selection Details [Calculation Method of Regeneration Power by Operations along Horizontal Axis] ■ Regeneration Power (PM) by Operations along Horizontal Axis ● Regeneration energy is calculated. ２Ｔb １Ｔb ＥＭ＝ＥＨｂ＝ ×Ｎ×３･ＫＥφ × ×ｔb− ×３･Ｒφ×ｔb ２ＫＴＫＴ : Regeneration energy during operations along horizontal axis ……[J] EHB : Regeneration energy during deceleration ……[J]...
Page 220 Materials Selection Details [Calculation Method of Regeneration Power by Operations along Vertical Axis] ■ Regeneration Power (PM) by Operations along Vertical Axis (With a Gravitational Load) ● Regenerative energy is calculated. ＥM＝ＥVUb＋ＥVD＋ＥVDb ２ＴUb １ＴUb ＝Ｎ×３･ＫＥφ× ×ｔUb− ×３･Ｒφ×ｔUb ２ＫＴＫＴ２...
Page 221 Materials Selection Details [Confirmation Method of Regeneration Power] ■ Confirmation method of regeneration power PM in actual operation ● Regeneration power PM can be easily confirmed in the digital operator or by Q-SETUP setup software. ･･･ Digital operator Monitor mode Page 12・...
Page 222 Materials Selection Details [External Regenerative Resistor] ■ Selection of Optional External Regenerative Resistor ● You can select the combination of external regenerative resistors based on effective regenerative power [PM] sought by the regeneration calculation. 220W and Amplifier Model [PM] 110W Below 220W Up to Up to...
Page 223 Materials Selection Details [External Regenerative Resistor] ■ Connection of Regenerative Resistance ●ＲＳ１□０１ ●ＲＳ１□１０ ●ＲＳ１Ｌ３０ ●ＲＳ１□０３ ●ＲＳ１□１５ ●ＲＳ１□０５ Terminal Block ＣＮＢ ...
Page 224 Materials Selection Details [External Regenerative Resistor] ■ Connection Number of External Regenerative Resistor combinaton ConnectionⅠ ConnectionⅡ Built-in Regenerative RB4−RB1Terminal Short Bar TerminalBlock CNB RB1 RB2 ConnectionⅣ [×２] Series Connection ConnectionⅢ...
Page 225 Materials Selection Details [External Regenerative Resistor] ■ Protection Function of Regenerative Resistance With the R series servo amplifier, the regenerative resistance protection function is specified by parameter selections. Appropriate protection for regenerative resistance is applied by setting parameters according to the type of regenerative resistance to be connected.
Page 226 Materials Selection Details [External Regenerative Resistor Dimension] Unit：ｍｍ ■ External Dimension of Regenerative Resistor １３２３００１２２１００６ φ４．３ Model number Thermostat REGIST-080W100B Normal close contact ６２７０ REGIST-080W50B Normal close contact ｼﾘｺﾝｺﾞ...
Page 227 Materials Selection Details [External Regenerative Resistor Dimension] ±0.8 ±0.3 ＋0.4 Earth mark Model number Thermostat −1.2 Normal close REGIST-500W20B contact REGIST-500W20 None Normal close REGIST-500W10B contact Crimping terminal (Thermo stat) REGIST-500W10 None φ Normal close REGIST-500W7B contact REGIST-500W7 None Normal close REGIST-500W14B contact REGIST-500W14...
Page 228 Materials Selection Details [External Regenerative Resistor Dimension] ● Model number Thermostat 1 REGIST-1000W6R7B b Contact Point ● Connection Diagram Materials−17...
Page 229 Materials International Standards 〔 International standards Conformity] ■ Outline of International Standards Conformity ● ＲＳ１ servo amplifier conforms to the international standards below. International Mark Standard number Certification Organization standards UL standard UL508C （Underwriters Laboratories inc.） CSA standard UL508C EN50178 TÜV EN standard EN61000-6-2...
Page 230: Components
Materials International Standards 〔 International standards Conformity] ⑦ Connect earthing wire by using a crimping terminal with insulated tube, so that the connected wire will not touch the neighboring terminals. Crimping terminal Broken tube electric wire ⑧ For wire relays, use a fixed terminal block to connect wires; never connect wires directly. Good ⑨ ...
Page 231: Servo Amplifier
Materials International Standards [Compliance with EC Directives] ■ Compliance with EC Directives Our company has performed the requisite low voltage and EMC testing in accordance with EC Directives related to CE marking through a separate, third-party certifying authority. Directive Classification Test Test standard classification Low voltage...
Page 232 Materials International Standards [Compliance with EC Directives] ● Precautions for EMC Directives Use the following guidelines below for the RS1 servo system in order to conform the customer’s equipment and devices to the EMC Directives. ① A metallic material must be used for the door and main body of control panel. ② ...
Page 233 Materials International Standards [Compliance with EC Directives] ■ Installation of noise filter and servo amplifier ● Three-phase power supply Servo amplifier ｒ Noise filter ｔＭＣＬ１Ｌ１ＲＬ１Ｌ２Ｌ２ＳＬ２Ｌ３ＴＬ...
Page 234 Materials International Standards [Compliance with EC Directives] ■ Recommended prevention components ● Noise filter Model Number Specifications Manufacturer Rated voltage：Line-Line 500 V Okaya Electric Industries 3SUP-HK30-ER-6B Co. Ltd. Rated current：30 A Rated voltage：Line-Line 500 V Okaya Electric Industries 3SUP-HK50-ER-6B Co. Ltd. Rated current：50 A Rated voltage：Line-Line 440 to 550 V RASMI ELECTRONICS LTD.
Page 235 Materials Dimension [RS1□01] TION ▼ ▲ CHARGE POWER TION ○ − Materials−24...
Page 236 Materials Dimension [RS1□03] M TION ▲ ▼ CHARGE POWER M TION ○ − Materials−25...
Page 237 Materials Dimension [RS1□05] TION ▼ ▲ CHARGE POWER TION ○ − Materials−26...
Page 238 Materials Dimension [RS1□10] TION ▲ ▼ TION Materials−27...
Page 239 Materials Dimension [RS1□15] M TION ▲ ▼ TION Materials−28...
Page 240 Materials Dimension [RS1□30] TION ▲ ▼ TION Materials−29...
Page 241 Materials Dimension [Q1 □40〜□76] 0.07 □ＬＣ LLMAX. 0.02 0.06 M QE Tap Depth LT Teflon cable(for fixing) Shield cable(for fixing) (For motor,ground,brake) (For sensor) インクリメンタル Incremental ブレーキブレーキインクリ Incre Without With 無し付きメンタル mental Brake Brake MODEL D2 オイルシール Oil seal Q1AA04003△□◇ 123.5 ― ―...
Page 242 Materials Dimension [Q1 □100〜□180] γ M □LC α (LG) (IL2) (IF) 4- LZ1 2-M8 β M QE Tapping Oil seal Depth LT (S type) (IL1) (IL2) (KB1) (KB2) (IF) Eyebolt MS3102A20-29P 2-LZ2 2-M8 (Sensor) Note 3 Section H-H MS3102A□□-□□□ (Motor,Ground,Brake) Incremental Connector Note 1 ...
Page 243 Materials Dimension [Q2 □42〜□86] 0.07 □ＬＣ LLMAX. 0.02 0.06 M Ｏｉｌｓｅａｌ QE Tapping （Ｓｔｙｐｅ） Depth LT Teflon cable(for fixing) Shield cable(for fixing) (For motor,ground,brake) (For sensor) 04006〜05010 05020〜08100 Incremental Without Brake With Brake ...
Page 244 Materials Dimension [Q2 □100〜□220] γ M □LC α (LG) (IL2) (IF) 2-M8 β M QE Tapping Oil seal Depth LT (S type) (IL1) (IL2) (KB1) (KB2) (IF) Eyebolt MS3102A20-29P 2-LZ2 2-M8 (Sensor) Note 3 Section H-H MS3102A□□-□□□ (Motor,Ground,Brake) Incremental Connector Note 1 ...
Page 245: Servo Motor
Materials Servo motor data sheet [Characteristics table] Three-phase ＡＣ２００Ｖ Input specification Servo Motor model Q1AA 04003D 04005D 04010D 06020D 06040D 07075D 10100D Servo Amplifier model RS1□ *Rated output 0.03 0.05 0.75 − 1 *Rated speed 3000 3000 3000 3000 3000 3000 3000 − 1 *Maximum speed 5000 5000...
Page 246 Materials Servo motor data sheet [Characteristics table] ＡＣ１００Ｖ Input specification Servo Motor model Q1EA 04003D 04005D 04010D 06020D Servo Amplifier model RS1□ *Rated output 0.03 0.05 − 1 *Rated speed 3000 3000 3000 3000 − 1 *Maximum speed 5000 5000 5000 5000 *Rated torque N･m 0.098 0.159 0.318...
Page 247 Materials Servo motor data sheet [Characteristics table] Three-phase ＡＣ２００Ｖ Input specification Servo Motor model Q2AA 04006D 04010D 05005D 05010D 05020D 07020D 07030D Servo Amplifier model RS1□ *Rated output 0.06 0.05 *Rated speed min−1 3000 3000 3000 3000 3000 3000 3000 *Maximum speed Nmax min−1 5000 5000 5000...
Page 248 Materials Servo motor data sheet [Characteristics table] Servo Motor model Q2AA 18550R 22250H 22350H 22450R 22550B 22700S Servo Amplifier model RS1□ *Rated output *Rated speed min−1 1500 2000 2000 2000 1500 1000 *Maximum speed Nmax min−1 2500 3500 3000 2500 2000 1000 *Rated torque N･m 21.5 *Continuous stall N･m...
Page 249 Materials Servo motor data sheet [Characteristics table] Q1AA Motor speed-torque characteristics indicate the values in combination with an amplifier 3 phase when amplifier power supply is AC200V. Instant domain decreases when amplifier power supply is below 200V. Speed – torque characteristics Speed – torque characteristics Speed –...
Page 250 Materials Servo motor data sheet [Characteristics table] Speed – torque characteristics Speed – torque characteristics Speed – torque characteristics 速度−トルク特性速度−トルク特性速度−トルク特性 Q1AA10250D （ 2.5kW ） Q1AA12100D （ 1kW ） Q1AA12200D （ 2kW ） Instantaneous zone Instantaneous zone Instantaneous zone Continuous zone Continuous zone Continuous zone 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000...
Page 251 Materials Servo motor data sheet [Characteristics table] Q1EA Motor speed-torque characteristics indicate the values in combination with operation amplifier for single phase when amplifier power supply is AC100V. Instant domain decreases when amplifier power supply is below 100V. Speed – torque characteristics Speed – torque characteristics 速度−トルク特性...
Page 252 Materials Servo motor data sheet [Characteristics table] Speed – torque characteristics Speed – torque characteristics Speed – torque characteristics 速度−トルク特性速度−トルク特性速度−トルク特性 Q2AA07030D （ 300W ） Q2AA07040D （ 400W ） Q2AA07050D （ 500W ） Instantaneous zone Instantaneous zone Instantaneous zone Continuous zone Continuous zone Continuous zone 1000 2000 3000...
Page 253 Materials Servo motor data sheet [Characteristics table] Speed – torque characteristics Speed – torque characteristics Speed – torque characteristics 速度−トルク特性速度−トルク特性速度−トルク特性 Q2AA18200H （ 2kW ） Q2AA18350H （ 3.5kW ） Q2AA18450H （ 4.5kW ） Instantaneous zone Instantaneous zone Instantaneous zone Continuous zone Continuous zone Continuous zone 1000 2000 3000...
Page 254: Metal Mounting Fittings
Materials Option [Metal mounting fittings] ■ Input-output connector Connector table for AC 200V input type Manufacturer’s Application Model number Contents Manufacturer model number 10150-3000VE AL-00385594 Sumitomo 3M Ltd. Plug and housing 10350-52A0-008 10120-3000VE AL-00385596 Sumitomo 3M Ltd. Plug and housing 10320-52A0-008 Single connector MSTB2.5/5-STF-5.
Page 255 Materials Option [Metal mounting fittings] ■ Metal mounting fittings □ □ □ The servo amplifiers of RS 01,RS 03,RS 05 have metal mounting fittings of old compatible (PY2 series ) available. ● Metal mounting fittings table for RS □ 01~05 Servo amplifier Mounting Position...
Page 256 Materials Option [Metal mounting fittings] ● AL-00582789-01 ● AL-00582791-01 Materials−45...
Page 257 Materials Option [Metal mounting fittings] ● AL-00582790-01 ● AL-00582792-01 Materials−46...
Page 258: Monitor Box
Materials Option 〔Monitor Box] ■ Monitor box ● Monitor box and dedicated cable Model number Remarks Monitor box ＋（2 cables） Q-MON-1 Dedicated cables Two dedicated cables blow come with this monitor box. CN-L CN-R LEFT RIGHT ● Dedicated cables Model number Remarks （2 cables）...
Page 259 Materials Option [Lithium battery・EMCkit] ■ Lithium battery Model number Remarks ＥＲ３ＶＬＹ AL-00494635-01 Mass：0.02kg ＋赤＋赤 − 黒 − 黒 (24.5) 50±3 Manufacturer mdel Manufacturer number Connector IL-2S-S3L-(N) Japan Aviation Electronics Industry, Ltd. Contact IL-C2-1-10000 Japan Aviation Electronics Industry, Ltd. Toshiba Battery Co., Ltd. Battery ER3VLY ■...
Page 260 Materials Encoder clear [Encoder clear/ reset method] ■ Encoder clear / Alarm reset method ‘Encoder clear / alarm reset method’ vary according to the sensor you use. Any alarms will not be reset under the proceure of the list below unless any alarm factors are removed by correction. ● ...
Page 261: Usage
Materials Electronic Gear [Usage] ■ How to use electronic gear This has a function which can set up the servo motor travel distance equivalent to position command pulse in accordance with the device. For example： Set-up method when wiring-saving incremental encoder ２０００［P/R］is used. ① ...
Page 262: Set-Up Contents
Materials Shortened Model Number [Set-up Contents] ■ Set-up contents of shortened model number System parameter when shortened model number is shipped In the case of RS1A、RS1B、RS1L、RS1M Page Name Set-up value RS1□01A* RS1□03A* RS1A□05A* RS1A□10A* RS1□15A* RS1□30A* Amplifier capacity 15_Ampere 30_Ampere 50_Ampere 100_Ampere 150_Ampere...
Page 263 Index Alphabetical order ＡＤ Abandonment････････････････････････････････････････････････････5 Data sheet(Servo-motor)･････････････････････････････Materials-33 Absolute encoder clear function･････････････････････････････7-38 Deceleration time･･･････････････････････････････7-16､Materials-1 Absolute position data output circuit･･･････････････････････3-15 Delay time of engaging holding brake(BONDLY)････････････････7-32 ...
Page 264 Index Alphabetical order Ｉ Imposition/Position deviation monitor･･････････････････････7-11 Ｐ Incoming current････････････････････････････････････････････9-2 Packaged wiring diagram･････････････････････････････････････3-1 Incremental encoder digital filter･････････････････････････7-36 Parameter list･･････････････････････････････････････････････5-1 ...
Page 265 Index Alphabetical order Size of electric wire･･･････････････････････････････････････3-19 Speed command voltage････････････････････････････････････････9-1 Speed matching width･･･････････････････････････････････････7-23 Speed transport settings･･･････････････････････････････････7-23 Status display mode(Digital operator)･･･････････････････････4-3 Storage humidity････････････････････････････････････････････9-1 Storage temperature･････････････････････････････････････････9-1 Surge protector････････････････････････････････････････3-1､3-19 ...
Page 266 Release Revision C Dec.2005 Precautions For Adoption Cautions Cautions • Be sure to read the instruction manual before using this product. • Take sufficient safety measures and contact us before applying this product to medical equipment that may involve human lives. The possibility of moderate or minor injury •...

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Sanyo Denki Sanmotion R Series Type S Instruction Manual

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