Sanyo Denki Sanmotion R 3E S Instruction Manual
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Sanyo Denki Sanmotion R 3E S Instruction Manual

Sanyo Denki Sanmotion R 3E S Instruction Manual

Ac servo systems, analog / pulse input type, for rotary motor
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Table of Contents

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M0010630G
Analog / Pulse Input Type
For Rotary Motor
Instruction Manual

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Summary of Contents for Sanyo Denki Sanmotion R 3E S

  • Page 1 M0010630G Analog / Pulse Input Type For Rotary Motor Instruction Manual...
  • Page 3 Details of revision history The seventh edition (G) Overall ■ Unify encoder names and add encoder code information.  Single-turn absolute encoder (Encoder code: H) Battery backup absolute encoder (Encoder code: P) Battery-less absolute encoder (Encoder code: R) Wire-saving incremental encoder (Encoder code: S) Resolver type battery-less absolute encoder (RA035) is added.
  • Page 4 Details of revision history p. 7-5 ■ Regenerative power monitor display (monitor ID: 4C) is added.  p. 8-7, 8-29 ■ "Abnormality in external encoder main body: B0 to BF" is added.  p. 8-41 ■ Section "8.3.3 Correspondence table of EnDat Error message/alarm code" is added. ...
  • Page 5 Safety Precautions Please read this User Manual and its appendix carefully prior to installation, operation, maintenance or inspection and perform all tasks according to the instructions provided here. A good understanding of this equipment, its safety information as well as all Warnings / Cautions is also necessary before using.
  • Page 6 Safety Precautions ■ Attention in use Warning  Do not use this device in explosive environment. Injury or fire could otherwise result.  Do not perform any wiring, maintenance or inspection when the device is hot-wired. After switching the power off, wait at least 15 minutes before performing these tasks. Electric shock or damage could otherwise result.
  • Page 7 Safety Precautions Caution  Use the amplifier and motor together in the specified combination. Fire or damage to the device could otherwise result.  Only technically qualified personnel should transport, install, wire, operate, or perform maintenance and inspection on this device. Electric shock, injury or fire could otherwise result.
  • Page 8 Safety Precautions Mandatory  Store the device where it is not exposed to direct sunlight, and within the specified temperature and humidity ranges {- 20°C to + 65°C，below 90% RH (non-condensing)}. Damage to the device could otherwise result.  Please contact our office if the amplifier is to be stored for a period of 3 years or longer. The capacity of the electrolytic capacitors decreases during long-term storage, and could cause damage to the device.
  • Page 9 Safety Precautions ■ Installation Caution  Do not stand on the device or place heavy objects on top of it. Bodily injury could otherwise result.  Make sure the mounting orientation is correct. Fire or damage to the device could otherwise result. ...
  • Page 10 Safety Precautions ■ Wiring Caution  Wiring connections must be secure. Bodily injury could otherwise result.  Wiring should be completed based on the Wiring Diagram or the User Manual. Electric shock or fire could otherwise result.  Wiring should follow electric equipment technical standards and indoor wiring regulations.
  • Page 11 Safety Precautions ■ Operation Caution  Do not perform extensive adjustments to the device as they may result in unstable operation. Bodily injury could otherwise result.  Trial runs should be performed with the motor in a fixed position, separated from the mechanism.
  • Page 12 Safety Precautions Prohibited  The built-in brake is intended to secure the motor; do not use it for regular control. Damage to the brake could otherwise result. Damage to the device could otherwise result.  Keep the motor’s encoder cables away from static electricity and high voltage. Damage to the device could otherwise result.
  • Page 13 Safety Precautions ■ Maintenance・Inspection Caution  Some parts of the servo amplifier (electrolytic capacitor, cooling fan, lithium battery for encoder, fuse and relay kinds) can deteriorate with long-term use. Please contact our offices for replacements. Damage to the device could otherwise result. ...
  • Page 14 Table of contents 1. Preface 1.1 Introduction ················································································································ 1-1 1.1.1 Product overview ································································································ 1-1 1.1.2 Features of "SANMOTION R" 3E Model ··································································· 1-2 1.1.3 Cautions for replacement from "SANMOTION R" ADVANCED MODEL ··························· 1-3 1.2 Instruction manual ······································································································· 1-5 1.2.1 Contents ··········································································································· 1-5 1.2.2 Precautions related to these instructions ··································································...
  • Page 15 Table of contents 2.7 Specifications for analog monitor ·················································································· 2-23 2.7.1 Specifications for analog monitor ·········································································· 2-23 2.7.2 Monitor for velocity, torque, and position deviation ···················································· 2-24 2.8 Specifications for dynamic brake ··················································································· 2-25 2.8.1 Allowable frequency, instantaneous tolerance, decreasing the rotation angle of the dynamic brake ···························································································...
  • Page 16 Table of contents 4.3 Wiring for motor encoder ····························································································· 4-27 4.3.1 EN1, EN2 signal names and its pin numbers ··························································· 4-27 4.3.2 EN1, EN2 pin assignment ··················································································· 4-29 4.3.3 Connector model number for motor encoder ··························································· 4-30 4.3.4 Recommended encoder cable specification ···························································· 4-31 4.3.5 Encoder cable length ·························································································...
  • Page 17 Table of contents 5.11 Virtual motor operation function ················································································· 5-140 5.11.1 Setting ········································································································ 5-140 5.11.2 Restrictions ·································································································· 5-141 5.11.3 Digital operator display ··················································································· 5-142 5.11.4 Operating precautions ···················································································· 5-142 6. Servo Tuning 6.1 Servo tuning functions and basic adjustment procedure ······················································· 6-1 6.1.1 Servo tuning functions ·························································································...
  • Page 18 Table of contents 7. Digital Operator 7.1 Digital Operator names and functions ·············································································· 7-1 7.2 Modes ······················································································································ 7-1 7.2.1 Changing modes ································································································ 7-1 7.2.2 Mode contents ··································································································· 7-2 7.3 Setting and display range ······························································································ 7-3 7.4 Status display mode ····································································································· 7-6 7.4.1 Status display mode ····························································································...
  • Page 19 Table of contents 8.4 Encoder clear and alarm reset ····················································································· 8-42 8.5 Inspection ················································································································ 8-43 8.6 Service parts ············································································································ 8-44 8.6.1 The parts requiring Inspection ·············································································· 8-44 8.6.2 Replacing battery for motor encoder ····································································· 8-46 9. Dedicated function 9.1 Full-closed system ······································································································· 9-1 9.1.1 Illustration of system components ···········································································...
  • Page 20 Table of contents 10.2.4 Residual risk ·································································································· 10-3 10.2.5 Delay circuit ··································································································· 10-4 10.3 Wiring ··················································································································· 10-5 10.3.1 CN4 connector layout ······················································································· 10-5 10.3.2 Connection diagram of CN4-terminals ································································· 10-5 10.3.3 Example of wiring ···························································································· 10-6 10.3.4 Safety input-off shot pulse for safety device self-diagnosis ······································· 10-8 10.4 Safe-Torque-Off operation ·························································································...
  • Page 21 Table of contents 11.2.9 Confirmation method of regeneration power PM in actual operation ··························· 11-13 11.2.10 Precautions for external regenerative resistor use ················································ 11-14 12. Appendix 12.1 Standards Conformity ······························································································· 12-1 12.1.1 Standards Conformity ······················································································· 12-1 12.1.2 Over-voltage Category，Protection Grade，Pollution Level ········································ 12-2 12.1.3 Connection and installation ················································································...
  • Page 22 Table of contents 12.6.5 Communication cable of tandem operation between amplifiers ································ 12-47 12.6.6 Junction cable for servo motor ········································································· 12-47 12.6.7 Servo motor powe cable ················································································· 12-49 12.6.8 External regenerative resistor ·········································································· 12-55 12.7 Optional parts dimensions ······················································································· 12-56 12.7.1 Battery peripherals dimensions ········································································...
  • Page 23 Preface In this chapter, Introduction, Instruction manual, Illustration of system components, Model number structure and Part names of servo amplifier/motor are explained. 1.1 Introduction ......................1-1 1.1.1 Product overview ..........................1-1 1.1.2 Features of "SANMOTION R" 3E Model ..................1-2 1.1.3 Cautions for replacement from "SANMOTION R"...
  • Page 24 1. Preface 1.1 Introduction 1.1.1 Product overview Thank you for purchasing the AC servo system, “SANMOTION R” 3E Model. This instruction manual describes important things to notice to ensure your safety, such as specifications, installation, wiring, operation, functions and maintenance of the system. Please make sure to read this instruction manual before use to operate this AC servo system correctly.
  • Page 25 1.1 Introduction 1.1.2 Features of "SANMOTION R" 3E Model "SANMOTION R" 3E Model is having concepts of "Evolved", "Eco-Efficient" and "Easy to use", as below. (1) Evolved ■ Shortening of positioning settle time Positioning settle time is shortened to 1/3 of previous model by higher response of velocity loop (2.2 kHz) and evolution of model following vibration suppression control.
  • Page 26 1. Preface 1.1.3 Cautions for replacement from "SANMOTION R" ADVANCED MODEL Please check contents below for replacement from "SANMOTION R" ADVANCED MODEL. ■ Servo amplifier capacity The lineup under 100A are refining to 6 types (10A, 20A, 30A, 50A,75A,100A) from 4 types (15A, 30A, 50A,100A).
  • Page 27 1.1 Introduction ■ General input 7,8 (CONT 7,8) General input 7,8 have changed to photo coupler from line receiver because all the circuit of general input (CONT 1 to 8) unifies to insulation type. Therefore line driver output cannot use to upper controller. And, when open collector output is used, wiring change is needed.
  • Page 28 1. Preface 1.2 Instruction manual This manual outlines the specifications, installation, wiring, operations, functions, maintenance, etc. of the AC servo amplifier “SANMOTION R” 3E Model as follows: 1.2.1 Contents ■ Chapter 1 Preface Product outline, model number, names of components ■...
  • Page 29 1.2 Instruction manual 1.2.2 Precautions related to these instructions In order to fully understand the functions of this product, please read this instruction manual thoroughly before using the product. After thoroughly reading the manual, keep it handy for reference. Carefully and completely follow the safety instructions outlined in this manual. Note that safety is not guaranteed for usage methods other than those specified in this manual or those methods intended for the original product.
  • Page 30 1. Preface 1.3 Illustration of system components ■ RS3□01/02/03/05 T S R Wiring breaker (MCCB) Used to protect power line. SANMOTION R 3E Model Turns off the power supply when Enables parameter setup overload runs. and monitoring through communication with a PC. Noise filter Installed to protect power line from external noise.
  • Page 31 1.3 Illustration Of System Components ■ RS3A70 T S R Wiring breaker (MCCB) Used to protect power line. Turns off the power supply when overload runs. SANMOTION R 3E Model Enables parameter setup Noise filter and monitoring through communication with a Installed to protect power line from external noise.
  • Page 32 1. Preface ■ RS3A10/15 T S R Wiring breaker (MCCB) Used to protect power line. Enables parameter setup Turns off the power supply when SANMOTION R 3E Model and monitoring through overload runs. communication with a PC. Noise filter Installed to protect power Setup software line from external noise.
  • Page 33 1.3 Illustration Of System Components ■ RS3A30 T S R Wiring breaker (MCCB) Used to protect power line. Turns off the power supply when overload runs. Noise filter Installed to protect power line from external noise. Enables parameter setup and monitoring through SANMOTION R 3E Model communication with a PC.
  • Page 34 1. Preface 1.4 Model number structure 1.4.1 Servo Motor Model Number ■ R motor R 2 AA ○○ ○○○ △ □ ◇ ○○ △ □ Servo motor series R・・・R series Servo motor type 1・・・R1 motor 2・・・R2 motor 5・・・R5 motor Voltage AA・・・AC200V EA・・・AC100V Flange dimensions...
  • Page 35 1.4 Model number structure  Absolute encoder (Standard) Motor model Resolution Multi turn Name (Code) number Transfer method per rotation amount Encoder code Half-duplex Single-turn absolute encoder － 131072(17bit) asynchronous (PA035S) 2.5Mbps Battery backup absolute Half-duplex encoder 131072(17bit) 65536(16bit) asynchronous (PA035C) 2.5Mbps Half-duplex...
  • Page 36 1. Preface 1.4.2 Servo Amplifier Model Number RS3 △ ○○ A □ ◇ △ 0 Servo amplifier series RS3・・・”SANMOTION R” 3E Model series Input voltage A・・・AC200V E・・・AC100V Servo Amplifier capacity 01・・・10A 02・・・20A 03・・・30A 05・・・50A 07・・・75A 10・・・100A 15・・・150A 30・・・300A See page 1-14 for servo amplifier capacity and combination motor.
  • Page 37 1.4 Model number structure ■ Servo amplifier capacity and combination motor (AC200V) *: Factory setting value of shortened model number Input Servo amplifier Servo motor Input Servo amplifier Servo motor voltage model number model number voltage model number model number R2AA04003F* R1AA13300F R2AA04005F...
  • Page 38 1. Preface ■ Sink type general output, Source type general output General Interface type output circuit Output current Circuit type Sink type Current flows to output terminal general from a load at output signal ON. Servo amplifier Host equipment OUT-PWR output OUT1 to 8 Load...
  • Page 39 1.5 Part names 1.5 Part names 1.5.1 Servo amplifier ■ RS3□01/ RS3□02/ RS3□03/ RS3□05 Name/ Use Digital operator display/ For servo amplifier status, alarm code and data display for parameter input Digital operator key/ For parameter setting, test operation etc. Control power status LED (Blue)/ Lighting on when control power inputted and control circuit is working.
  • Page 40 1. Preface ■ RS3A07 Name/ Use Digital operator display/ For servo amplifier status, alarm code and data display for parameter input Digital operator key/ For parameter setting, test operation etc. Control power status LED (Blue)/ Lighting on when control power inputted and control circuit is working.
  • Page 41 1.5 Part names ■ RS3A10/ RS3A15 Name/ Use Digital operator display/ For servo amplifier status, alarm code and data display for parameter input Digital operator key/ For parameter setting, test operation etc. ■ Control power status LED (Blue)/ Lighting on when control power inputted and control circuit is working.
  • Page 42 1. Preface ■ RS3A30 Name/ Use Name/ Use Digital operator display/ Main circuit power input terminal/ For servo amplifier status, alarm code and data For input terminal of main power display for parameter input Control power input (CNA)/ For input terminal of control power Digital operator key/ For parameter setting, test operation etc.
  • Page 43 1.5 Part names 1.5.2 Servo motor □ ■ R1 servo motor 180mm, 5.5kW to 15kW R1AA18550△□◇ R1AA18750△□◇ Frame Brake R1AA1811K△□◇ Fan motor R1AA1815K△□◇ Encoder Shaft Flange Fan connector Encoder connector Brake connector Servo motor power and earth connector □ □ ■...
  • Page 44 1. Preface □ □ ■ R1 servo motor 100mm, 1.0kW to 2.5kW, 130mm, 3kW to 5kW □ □ R2 servo motor 130mm, 0.5kW to 2kW, 180mm, 3.5kW to 4.5kW R1AA10100△□◇ R1AA10150△□◇ R1AA10200△□◇ R1AA10250△□◇ R1AA13300△□◇ Frame Brake R1AA13400△□◇ Encoder R1AA13500△□◇ R2AA13○○○△□◇ R2AA18350△□◇...
  • Page 45 1.5 Part names □ ■ R2 servo motor 180mm, 11kW R2AA1811K△□◇ Frame Brake Encoder Fan motor Shaft Flange Fan connector Encoder connector Servo motor power and earth connector Brake connector □ ■ R2 servo motor 220mm, 5kW R2AA22500△□◇ Frame Brake Encoder Shaft Encoder connector...
  • Page 46 1. Preface □ ■ R2 servo motor 220mm, 7kW to 15kW R2AA22700△□◇ R2AA2211K△□◇ R2AA2215K△□◇ Brake Encoder Shaft Flange Encoder connector Brake connector Servo motor power and earth connector 1-23...

  • Page 47: Table Of Contents

    Specifications In this chapter, specifications of servo amplifier, servo motor and regenerative resistor are explained. 2.1 Servo motor ......................2-1 2.1.1 General specifications ......................... 2-1 2.1.2 Exterior dimensions/ specifications/ mass ................... 2-1 2.1.3 Mechanical specifications/ mechanical strength/ working accuracy ........... 2-1 2.1.4 Oil seal type ............................

  • Page 48: Servo Motor

    2. Specifications 2.1 Servo motor 2.1.1 General specifications Series name R1,R2,R5 Time rating Continuous Insulation classification Type F Voltage/Dielectric strength AC1500V 1 minute Insulation resistance DC500V, greater than 10MΩ Protection method Totally Enclosed, Non-Ventilated Motor flange size 100 or less: IP65, 67 Motor flange size 130 or over: IP65 However, except for axial penetration part and cable tip part Oil Sealing...

  • Page 49: Oil Seal Type

    2.1 Servo motor Shock resistance ■ Install the shaft of servo motor in a horizontal direction (shown in the figure below). This shaft should withstand shock acceleration up to 98m/s2 (when shock is applied in an upward/downward direction) for two (2) times. However, since a precision motor encoder is fixed to the counter-load side of the flange, any shock applied to the shaft may cause damage to the motor encoder.

  • Page 50: Holding Brake

    2. Specifications 2.1.5 Holding brake An optional Holding Brake is available for the servo motor. Since the primary use of this brake is for holding, it should never be used for braking, except in emergency situations. Surge-absorbing element ■ Must connect surge-absorbing element such as varistor or diode, to between holding brake terminals, for suppressing surge noise which occurs at holding brake excitation turn off.
  • Page 51 2.1 Servo motor Braking delay time Static friction Release delay Servo motor model torque time msec number N・m msec Varistor Diode R2AA04003F R2AA04005F 0.32 R2AA04010F R2AA06010F 0.36 R2AA06020F 1.37 R2AA06040□ 1.37 R2AA08020F R2AA08040F 2.55 R2AA08075F R2AAB8075F R2AAB8100□ 3.92 R2AA10075F R2AA10100F R2AA13050□...

  • Page 52: Degree Of Decrease Rating For R2Aa Motor, With Oil Seal And Brake

    2. Specifications Measurement of release delay time and braking delay time ■ The value of release delay time and braking delay time are measured by the circuit below.  Varistor used circuit 100VAC 60Hz Brake Varistor  Diode used circuit Exciting voltage 100VAC...

  • Page 53: Motor Encoder

    2.2 Motor encoder 2.2 Motor encoder 2.2.1 Absolute encoder Absolute encoder specifications ■ Motor model Resolution Multi turn part Name (code) number per rotation amount Transfer method encoder code (Single turn) (Multi turn) 131,072 (17bit) Half duplex Battery less absolute encoder 1,048,576 (20bit) 65536 (16bit) asynchronous...

  • Page 54: Incremental Encoder Specifications

    2. Specifications 2.2.2 Incremental encoder specifications Wire-saving incremental encoder ■ Motor model Conform to Model number Resolution motor encoder code flange angle PP031H 1000/2000/2048/4096/5000/6000/8192/10000 Greater than PP031T 40mm 1000/2000/2048/4096/5000/6000/8192/10000 Greater than PP062 80mm Model number example: R2-series, square type: 60mm, 200W-model R2AA06020FCS00 Servo motor rotation direction and encoder signal phase ■...

  • Page 55: Servo Amplifier

    2.3 Servo amplifier 2.3 Servo amplifier 2.3.1 General specifications General specifications ■ Control function Speed control/Torque control/Position control (Parameter changeover) Control system IGBT: PWM control Sinusoidal drive Main Circuit Power Three-phase: AC200 to 240V+10,-15% , 50/60Hz±3Hz Note 1) Single-phrase: AC200 to 240V+10,-15% , 50/60Hz±3Hz Note 2) Single-phrase: AC100 to 120V+10,-15% , 50/60Hz±3Hz Note 3) Control power Single-phrase: AC200 to 240V+10,-15% , 50/60Hz±3Hz...

  • Page 56: Input Command, Position Signal Output, General Input, General Output

    2. Specifications 2.3.2 Input command, position signal output, general input, general output Input command ■  Position command 4M Pulse/s (Reverse + Forward pulse, Code +Pulse) Maximum input pulse frequency 1M Pulse/s (90-phase difference two-phase pulse) Forward + Reverse command pulse, Position Code + Pulse train command or Input pulse form...

  • Page 57: Torque Limit Input

    2.3 Servo amplifier  Torque command DC±2.0V Voltage command at 100% torque, Plus command (forward) rotation Torque Maximum input voltage ±10kΩ command Input impedance Approximately 10kΩ Position signal output ■ Encoder output N/32768(N=1～32767), 1/N(N=1～64) or 2/N(N=2～64) Pulse signal Encoder output Binary code output, decimal ASCII output serial signal General input...

  • Page 58: Power Supply, Calorific Value

    2. Specifications 2.4 Power supply, calorific value 2.4.1 Main circuit power supply capacity, control power supply capacity AC200V Input ■ Input Servo Servo motor Rated Control Rated main circuit Voltage amplifier model output power supply power supply (kVA) capacity number (VA) R2AA04003F R2AA04005F...
  • Page 59 2.4 Power supply calorific value AC200V input ■ Servo Rated Control Input Servo motor Main circuit power amplifier output power Voltage model number supply (kVA) capacity supply (VA) R1AA13300F 3000 R1AA13400H 4000 R1AA13500H 5000 RS3A10# R2AA13180D 1800 R2AA13200D 2000 R2AA18350L 3500 R1AA10200F 4000...

  • Page 60: Inrush Current, Leakage Current

    2. Specifications 2.4.2 Inrush current, leakage current Inrush current ■ Control power Main circuit power Servo amplifier Input Voltage (Maximum value (Maximum value between capacity between1ms after input) 1.2 seconds after input) RS3A01# RS3A02# 22A(0-P) RS3A03# RS3A05# AC200V 40A(0-P) RS3A07# RS3A10# 17A(0-P) RS3A15#...

  • Page 61: Calorific Value

    2.4 Power supply calorific value 2.4.3 Calorific value Servo amplifier Servo motor model Servo amplifier total Input voltage capacity number calorific value (W) R2AA04003F R2AA04005F RS3A01# R2AA04010F R2AA06010F R5AA06020H R2AA06020F R2AA06040F R2AA06040H R2AA08020F RS3A02# R2AA08040F R5AA06020F R5AA06040F R5AA06040H R1AA10100H R1AA10150H R2AA08075F R2AAB8100H R2AA10075F...
  • Page 62 2. Specifications Servo amplifier Servo motor model Servo amplifier total Input voltage capacity number calorific value (W) R1AA13300F R1AA13400H R1AA13500H RS3A10# R2AA13180D R2AA13200D R2AA18350L R1AA13400F R1AA13500F R2AA18350D RS3A15# R2AA18450H R2AA18550R AC200V R2AA22500L R2AA22700S R1AA18550H R1AA18750L R1AA1811KR R1AA1815KB RS3A30# R2AA18550H R2AA18750H R2AA1811KR R2AA2211KB R2AA2215KB...

  • Page 63: Operation Pattern

    2.4 Power supply calorific value 2.5 Operation pattern 2.5.1 Time of acceleration and deceleration, permitted repetition, loading precaution The motor’s acceleration time (ta), and deceleration time (tb) when under constant load is calculated using the following method: Acceleration time: t )・(2π...
  • Page 64 2. Specifications When the motor repeats continuous speed status and stop status ■ In operating status (shown below) the motor should be used at a frequency in which its effective torque is less than the rated torque TR. Servo motor Time torque ...
  • Page 65 2.5 Operation pattern When the motor repeats acceleration – constant speed operation – deceleration status ■ For the operating status shown below, the value of permitted repetitions n (times/min) is found in the following equation: Servo motor Time torque Servo motor Time rotational velocity [times/ min]...

  • Page 66: Position Signal Output

    2. Specifications 2.6 Position signal output The amplifier outputs two (2) kinds of position signals: Serial signals and Pulse signals 2.6.1 Positions signals by serial signals Absolute position data of absolute encoder, "Encoder signal output (PS)", is output with the ■...

  • Page 67: Binary Code Output Format And Transfer Period

    2.6 Position signal output 2.6.2 Binary code output format and transfer period Format ■  Data format 11bit 1bit 5bit 3bit 1bit 1bit Start bit Data bit Address bit Parity bit Stop bit  Transfer format Data Start Parity Stop Data bit Address bit number...

  • Page 68: Ascii Decimal Code Output Format And Transfer Period

    2. Specifications 2.6.3 ASCII decimal code output format and transfer period Format ■  Data format 10bit 1bit 7bit 1bit 1bit Stop bit Parity bit Start bit Data bit  Transfer format Data Parity Start bit Stop bit number Data 1 Show position data ”P”...

  • Page 69: Position Signal Output From Pulse Signal

    2.6 Position signal output 2.6.4 Position signal output from pulse signal Servo amplifier outputs "90°-phase difference two-phase pulse (phase A, phase B) and ■ original phase (phase Z)". Pulse output can change the division ratio by parameter. Set the general parameter "GroupC ID04 Encoder Output Pulse Division [ENRAT]". ―...

  • Page 70: Specifications For Analog Monitor

    2. Specifications 2.7 Specifications for analog monitor 2.7.1 Specifications for analog monitor Monitor output ■ Connector model number on board: DF11-4DP-2DSA(01) Housing model number on receiving equipment: DF11-4DS-2C Connector model number on receiving equipment: DF11-2428SCA General input/output connector CN1 Analog monitor output 1(MON1) CN1-30 CN6-3 Analog monitor output 2(MON2)

  • Page 71: Monitor For Velocity, Torque, And Position Deviation

    2.7 Specifications for analog monitor 2.7.2 Monitor for velocity, torque, and position deviation Electrical specifications ■  Output voltage range: DC±8V  Output resistance: 1kΩ  Load: less than 2mA * Monitor output is indefinite at the time of power ON/OFF and may output DC12V+/- around 10%. * Monitor output polarity can be selected from "+, Without polarity inversion", "-, With polarity inversion", "ABS, Absolute value output".

  • Page 72: Specifications For Dynamic Brake

    2. Specifications 2.8 Specifications for dynamic brake 2.8.1 Allowable frequency, instantaneous tolerance, decreasing the rotation angle of the dynamic brake Allowable frequency of the dynamic brake ■ Less than 10 times per hour and 30 times per day at maximum speed within allowable load inertia moment.
  • Page 73 2.8 Specifications for dynamic brake Staging down the rotation angle using the dynamic brake is show as follows: ■ 2π N×t + (J ) x (α N+β N : Inertia of servo motor (kg･m : Load inertia (motor axis conversion) (kg･m N : Servo motor rotation speed (min : Stage down rotation angle (rad) using amplifier internal process t : Stage down rotation angle (rad) using dynamic brake operation...
  • Page 74 2. Specifications Servo amplifier Servo motor α β (kg･m capacity model number R1AA10200F 3.17 5.00×10 2.3×10 R1AA10250F 2.15 4.70×10 2.8×10 R1AA13300H 1.00 5.60×10 7.0×10 RS3A07 R2AA13180D 2.12 1.23×10 9.0×10 R2AA13200D 1.69 0.91×10 12.2×10 R2AA18350V 3.23 2.5×10 40×10 R1AA13300F 3.08 4.20×10 7.0×10 R1AA13400H 3.40×10...

  • Page 75: Regeneration Process

    2.8 Specifications for dynamic brake 2.9 Regeneration process Allowable minimum values of Built-in/ external regenerative resistor and allowable regenerative power of regenerative circuit of servo amplifier are shown below. See "11.2 Selection of regenerative resistor" for selection method of regenerative resistor. 2.9.1 Minimum values of Built-in/ external regenerative resistor External regenerative Servo amplifier model...
  • Page 76 No Text on This Page.
  • Page 77 Installation In this chapter, installation of servo amplifier and servo motor are explained. 3.1 Servo amplifier ......................3-1 3.1.1 Precautions ............................3-1 3.1.2 Unpacking ............................3-2 3.1.3 Mounting direction and location ......................3-3 3.1.4 Arrangement within the cabinet ......................3-3 3.2 Servo motor ......................

  • Page 78: Servo Amplifier

    3. Installation 3.1 Servo amplifier 3.1.1 Precautions When installing, please be sure to protect the following precautions. ■ Various precautions The device should be installed on non-flammable surfaces only. Installation on or near flammable materials can cause fire. Do not stand on, or put heavy items on the servo amplifier. Operate the device within the specified environmental conditions.

  • Page 79: Unpacking

    3.1 Servo amplifier 3.1.2 Unpacking 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 nameplate, following the word “MODEL”.

  • Page 80: Mounting Direction And Location

    3. Installation 3.1.3 Mounting direction and location Front-mounting Rear-mounting (Attached to servo amplifier) Ventilation * For metal fittings of front mounting, see “12.6 Optional parts”. 3.1.4 Arrangement within the cabinet ■ Leave at least 50 mm space above and below the servo amplifier to ensure unobstructed airflow from the inside of the servo amplifier and the radiator.

  • Page 81: Servo Motor

    3.2 Servo motor 3.2 Servo motor 3.2.1 Precautions ■ Various precautions The device should be installed on non-flammable surfaces only. Installation on or near flammable materials can cause fire. Do not stand on, or put heavy items on the servo amplifier. Operate the device within the specified environmental conditions.

  • Page 82: Mounting Method

    3. Installation 3.2.4 Mounting method ■ Mounting in several orientations are acceptable as horizontal, or upper side/bottom side of the shaft end. ■ If the output shaft is used in reduction devices that use grease, oil, or other lubricants, or in mechanisms exposed to liquids, the motor shaft should be installed in a perfectly horizontal or downward position.

  • Page 83: Protective Cover Installation

    3.2 Servo motor 3.2.6 Protective cover installation ■ Install a protective cover (as described below) for motors continuously subjected to liquids. ■ Turn the connectors (lead outlets) downwards within the angle range shown in the picture below. ■ Install the cover on the side where the water or oil would drip. ■...
  • Page 84 3. Installation ■ Refer to the drawing below for correct centering of the motor shaft and the target machinery. Please note when using a rigid coupling that even a slight mistake in centering can damage the output shaft. Measured at all 4 locations, the difference between the maximum and the minimum should not exceed 3/100mm.

  • Page 85: Allowable Bearing Load

    3.2 Servo motor ■ Use a special tool for removing the gear, pulley, etc. Tapered Removal tool 3.2.8 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 86 3. Installation Assembly Operation Radial load Radial load Servo motor Thrust load (N) Thrust load (N) model number Direction Direction Direction Direction R2□A04003 R2□A04005 R2EA04008 R2AA04010 R2□A06010 R2□A06020 R2AA06040 R2AA08020 R2AA08040 R2AA08075 R2AAB8075 R2AAB8100 R2AA10075 R2AA10100 R2AA13050 1400 1400 R2AA13120 1700 1900 1900...

  • Page 87: Cable Installation Considerations

    3.2 Servo motor 3.2.9 Cable installation considerations ■ Be careful not to apply excessive stress and damages onto cables. ■ When installing cables in the place servo motor can move, take sufficient inflective radius so as not to apply excessive stress onto cables. ■...
  • Page 88 No Text on This Page.
  • Page 89 Wiring In this chapter, wiring between the servo amplifier, servo motor and peripherals are explained. 4.1 Wiring for the terminal of high voltage and grounding ........4-1 4.1.1 Part name and function ........................4-1 4.1.2 Wire ..............................4-1 4.1.3 Wire size - allowable current ......................4-2 4.1.4 Recommended wire size ........................

  • Page 90: Wiring For The Terminal Of High Voltage And Grounding

    4. Wiring 4.1 Wiring for the terminal of high voltage and grounding 4.1.1 Part name and function Connector Terminal name Remarks marking Single phase AC100 to 120V +10%, -15% 50/60Hz±3% R･T Single phase AC200 to 240V +10%, -15% 50/60Hz±3% Main circuit power supply R・S・T AC200 to 240V +10%, -15% 50/60Hz±3% Three-phase...

  • Page 91: Wire Size - Allowable Current

    4.1 Wiring for the terminal of high voltage and grounding 4.1.3 Wire size - allowable current Conductor Allowable current over ambient Nominal cross-sectional resistance temperature [A] area size [Ω /km] 30°C 40°C 55°C 39.5 0.75 26.0 24.4 1.25 15.6 12.0 11.0 9.53 23.0...

  • Page 92: Recommended Wire Size

    4. Wiring 4.1.4 Recommended wire size The recommendation electric wire size used for servo amplifiers and servo motors are shown below. Input voltage 200V AC ■ Main circuit Motor power Control Regenerative Combination power supply Servo motor (U・V・W・ ) power supply resistance servo (R・S・T)
  • Page 93 4.1 Wiring for the terminal of high voltage and grounding Continuing Input voltage 200V AC ■ Main circuit Motor power Control Regenerative Combination power supply Servo motor (U・V・W・ ) power supply resistance servo (R・S・T) model No. amplifier R1AA13300F R1AA13400H R1AA13500H RS3A10# R2AA13200D R2AA13180D...

  • Page 94: Wiring For Servo Motor

    4. Wiring 4.1.5 Wiring for servo motor Specifications for lead wires and pin assignment of R-series servo motor ■ Servo motor model number: R2#A04***, R2#A06***, R2AA08***, R2AAB8***, R2AA10***, R5AA06***, R5AA08*** Lead color Name Remarks Yellow Brake Power for brake (24V DC) Yellow Brake Power for brake (GND of DC24V)
  • Page 95 4.1 Wiring for the terminal of high voltage and grounding Model number of fan plug for motor connection ■ (Products of Japan Aviation Electronics Industry, Ltd.) Plug model number for Disposition symbol of Servo motor cooling fan Connector pins model (Cable clamp model number) type 200V AC±10%...
  • Page 96 4. Wiring Pin assignment of cannon plug ■ Pin assignments are below, depending on model number for power, brake and cooling fan cable. Phase U Phase U Phase V Phase V Phase W Earth Earth Phase W Canon plug for power line Canon plug for power line (for N/MS3106(8)B20-15S) (for N/MS3106(8)B24-11S)

  • Page 97: Example Of Wiring

    4.1 Wiring for the terminal of high voltage and grounding 4.1.6 Example of wiring Even if it turns off power supply, high-pressure voltage may remain in servo amplifier. Therefore, do not touch a power supply terminal for 15 minutes for the prevention from an electric shock. Completion of electric discharge turns off the CHARGE LED.
  • Page 98 4. Wiring Single phase AC200V [General output: Sink type] ■ Single phase AC200 to 240V 50/60 Hz Servo motor Noise filter Operation ON OFF DC5V,DC12～24V Diode 39～46 (OUT1～OUT8) 24･25 DC5V，DC12V～24V Single phase AC100V [General output: Sink type] ■ Single phase AC200 to 240V 50/60 Hz Servo motor Noise...
  • Page 99 4.1 Wiring for the terminal of high voltage and grounding 3-phase AC200V [General output: Source type] ■ 3-phase AC200～240V 50/60 Hz Servo motor Noise filter Operation ON OFF Emergency stop Diode 39～46 (OUT1～OUT8) DC5V，DC12V～24V Single phase AC200V [General output: Source type] ■...
  • Page 100 4. Wiring Single phase AC200V [General output: Source type] ■ Single phase AC200 to 240V 50/60 Hz Servo motor Noise filter Operation ON OFF Emergency stop Diode 39～46 (OUT1～OUT8) 38,49 DC5V，DC12V～24V For ALM contact of safety circuit, use one of the outputs from CN1- 39 to 46 (OUT1 to OUT8) as alarm signal by setting either During ALM status output ON or During ALM status output OFF at the selection setting of Group A “General output terminal output condition"...

  • Page 101: Crimping Of Wires

    4.1 Wiring for the terminal of high voltage and grounding 4.1.7 Crimping of wires Insert the wire into ferrule, and use a special tool to crimp it in. Insert the ferrule deep into the connector, and tighten it with a special minus screwdriver or something.

  • Page 102: Wiring With Host Unit

    4. Wiring 4.2 Wiring with Host Unit 4.2.1 CN1 signal name and pin number (wiring with host unit) CN1 terminal sequence [General output: Sink type output] ■ Servo amplifier ＋5V SG F-PC F-PC R-PC R-PC V-REF/T-REF T-COMP OUT-PWR OUT+COM OUT1 F-TLA OUT2 R-TLA...
  • Page 103 4.2 Wiring with Host Unit CN1 terminal sequence [General output: Source type output] ■ Servo amplifier +5V SG F-PC F-PC R-PC R-PC V-REF/T-REF T-COMP OUT-PWR OUT+COM F-TLA OUT1 OUT2 OUT3 R-TLA OUT4 CONT-COM OUT5 CONT1 OUT6 OUT7 CONT2 CONT3 CONT4 OUT8 CONT5 OUT-COM...

  • Page 104: Cn1 Pin Assignment

    4. Wiring 4.2.2 CN1 pin assignment CN1 10150-3000PE (Soldered side) ■ 22 20 18 16 14 12 10 8 25 23 21 19 17 15 13 11 47 45 43 41 39 37 35 33 31 29 27 50 48 46 44 42 40 38 36 34 32 30 28 26 4.2.3 Signal name and its function Terminal Signal...

  • Page 105: Terminal Connection Circuit

    4.2 Wiring with Host Unit 4.2.4 Terminal connection circuit Battery ■ When using a Battery Backup Absolute Encoder (Encoder code: P), the battery for backup can be mounted in the host unit side, and it can connect via servo amplifier. Terminal Symbol Name...
  • Page 106 4. Wiring Encoder signal output: Z phase pulse, open collector ■ The origin Z phase pulse of a motor encoder is output by open collector.  Sink type open collector output Terminal Symbol Name Description [Circuit spec.] Max. voltage: DC30V Host unit Max.
  • Page 107 4.2 Wiring with Host Unit Torque limit input ■ Forward and reverse side torque is restricted on external analog voltage. Terminal Symbol Name Description [Circuit spec.] Input voltage range -10V to +10V Input impedance: about 10kΩ Forward side torque F-TLA Host unit Servo amplifier limit input...
  • Page 108 4. Wiring Torque compensation input ■ Inputting torque compensation value (position or velocity control only) by analog voltage. Terminal Symbol Name Description [Circuit spec.] Max. allowable input voltage is ±10V. Input impedance is about 10kΩ Servo amplifier Host unit Torque T-COMP 0.01μ...
  • Page 109 4.2 Wiring with Host Unit Command pulse input ■ For inputting position command pulse of position control. [Command pulse input type] Command pulse input type is able to choose from 3 types below. Command pulse input type Maximum frequency of input pulse Forward pulse 4 M Pulse/s and Reverse pulse...
  • Page 110 4. Wiring  For Sink type open collector (Internal +5V is used) Terminal Symbol Name Description [Output transistor spec.] F-PC Command pulse input Choose host unit side transistor which has collector-emitter voltage (V ) range: less than 1.5V. F-PC Command pulse input Host unit Servo amplifier Internal power for...
  • Page 111 4.2 Wiring with Host Unit  For Sink type open collector (External power is used) Terminal Symbol Name Description [Pull up resistance spec.] Choose pull up resistance (R ) from table below with depending to power supply voltage (V ) to keep range of F-PC Command pulse input input current to servo amplifier: 3.8 to 15 mA.
  • Page 112 4. Wiring  For Source type open collector (External power only) Terminal Symbol Name Description [Pull up resistance spec.] Choose pull up resistance (R ) from table below with depending to power supply voltage (V ) to keep range of F-PC Command pulse input input current to servo amplifier: 3.8 to 15 mA...
  • Page 113 4.2 Wiring with Host Unit Analog monitor output ■ Outputs the selection of analog monitor output 1. Terminal Symbol Name Description [Circuit spec.] Load shall be less than 2mA. Output resistance shall be 1kΩ. Analog monitor MON1 Output voltage range shall be ±8V. output Host unit Servo amplifier...
  • Page 114 4. Wiring General output ■ Driving electric loads like relay switch or photo-coupler.  For sink type These outputs pull current from electric load when output state is ON. Terminal Symbol Name Description [Internal power supply spec. for general output(OUT-PWR] Power supply voltage range: OUT1 General output...
  • Page 115 4.2 Wiring with Host Unit  For source type These outputs flow current to electric load from terminal when output state is ON. Terminal Symbol Name Description [Internal power supply spec. for general output(OUT-PWR] Power supply voltage range: OUT1 General output DC5V±5%, DC12V to DC24V±10% Current capacity: 20mA or more [General output (OUT-1 to OUT-8) spec.]...

  • Page 116: Wiring For Motor Encoder

    4. Wiring 4.3 Wiring for motor encoder 4.3.1 EN1, EN2 signal names and its pin numbers Battery backup absolute encoder (Encoder code: P) ■ Servo R-series Amplifier Signal Servo motor Remarks Description name plug pin number Note 1) Terminal No. (For lead wire type) 9 (Red) Power supply...
  • Page 117 4.3 Wiring for motor encoder Battery less absolute encoder (Encoder code: R) ■ Resolver type battery-less absolute encoder (Encoder code: W) ■ Servo R-series Amplifier Signal Servo motor Remarks Description name plug pin number Note 1) Terminal No. (For lead wire type) 9 (Red) Power supply Twisted pair...

  • Page 118: En1, En2 Pin Assignment

    4. Wiring 4.3.2 EN1, EN2 pin assignment EN1, EN2 36210-0100PL (soldered side) ■ Wirings vary depending on encoders to be connected, so please carefully perform wiring. Connector model number (3M Japan Limited) ■ Applicable cable Model Number Applicable wire size diameter Connector 36210-0100PL...

  • Page 119: Connector Model Number For Motor Encoder

    4.3 Wiring for motor encoder 4.3.3 Connector model number for motor encoder R-series servo motor encoder ■ Connector model numbers (Products of Japan Aviation Electronics Industry, Ltd.) Motor model Motor encoder plug model Connector Applicable cable number number type diameter R2#A04003 R2#A04005 R2EA04008...

  • Page 120: Recommended Encoder Cable Specification

    4. Wiring Contact model numbers (Products of Japan Aviation Electronics Industry, Ltd.) ■ Applicable wire Type Model number size JN1-22-20S-R-PKG100 Note 1) AWG20 Manual crimping JN1-22-22S-PKG100 Note 1) AWG21 to AWG25 type JN1-22-26S-PKG100 Note 1) AWG26 to AWG28 Soldering type JN1-22-22F-PKG100 Note 1) AWG20 max.

  • Page 121: Peripheral Equipments

    4.4 Peripheral equipments 4.4 Peripheral equipments 4.4.1 Power supply capacity and peripherals list AC200V input ■ Servo Main circuit Molded Input amplifier Servo motor power Case Circuit Magnetic Surge Noise filter voltage model model No. supply Breaker contact absorber number rating (kVA) (MCCB) R2AA04003F...
  • Page 122 4. Wiring AC200V input ■ Servo Main circuit Molded Case Input amplifier Servo motor power Circuit Magnetic Surge Noise filter voltage model model No. supply Breaker contact absorber number rating (kVA) (MCCB) R1AA13300F R1AA13400H Model NF50 S-N18 R1AA13500H RS3A10# MITSUBISHI MITSUBISHI R2AA13180D ELECTRIC...
  • Page 123 Operation In this chapter, each items for motor operations are explained. 5.1 Basic setting of the system ................... 5-1 5.1.1 Specification check ........................... 5-1 5.1.2 System parameters .......................... 5-5 5.1.3 Servo motor setting .......................... 5-8 5.1.4 Motor encoder setting ........................5-11 5.1.5 Main circuit power setting .......................
  • Page 124 5. Operation 5.1 Basic setting of the system Basic settings of the system that needed to the operation are explained. 5.1.1 Specification check Check the specification of servo amplifier through the setup software "SANMOTION MOTOR SETUP (hereinafter referred to as setup software)" or digital operator. [Step 1: Check for the servo amplifier spec] Check by 4 items below whether your product is fit to the target system spec.

  • Page 125: Basic Setting Of The System

    5.1 Basic setting of the system Property window for the axis will open when Amplifier information in the popup menu is ■ selected. The codes of "Motor structure", "Main power supply voltage", "Amplifier capacity" and "Encoder type" are shown in System Information area. (See below) Check each item above by following description of step 2 or later.
  • Page 126 5. Operation [Step 2: Check for motor structure] This shows available motor structure with the servo amplifier. Please confirm that motor structure code is 00 (rotary motor). motor structure code Description Rotary 1) By the setup software Motor structure code is shown in System Information area of Axis property window. 2) By the digital operator Motor structure code is shown at an upper byte of InFo.1.
  • Page 127 5.1 Basic setting of the system [Step 5: Check for encoder type] This shows the allowable encoder for the amplifier. Please confirm that combined motor encoder and external encoder you use are available. Servo amplifier Encoder type The motor encoder The external encoder model number code...

  • Page 128: System Parameters

    5. Operation 5.1.2 System parameters System parameters decide basic specs and functions such as servo motor setting, selection of motor encoder, main power supply and control method. See details of each parameter through page reference table below. 1) System parameter list Parameter name Description Page...
  • Page 129 5.1 Basic setting of the system 2) Factory setting value Part of system parameters at factory setting are different depending on product model number. RS3 △ ## A □ # ◇ # Input power voltage Option 1 A・・・AC200V A・・・With regenerative resistor/ E・・・AC100V With DB reisitor L・・・Without regenerative resistor/...
  • Page 130 5. Operation System parameter related to encoder ■ Set value of system parameter related to encoder depends on encoder type. Symbol at "□" part that shows encoder type Parameter name Motor parameter automatic set 00:Enabled function selection EN1 encoder type 11:PA_C-ABS 80:Pulse 22:EnDat...

  • Page 131: Servo Motor Setting

    5.1 Basic setting of the system 5.1.3 Servo motor setting Combination servo motor can set by three ways below.  Connected servo motor set automatically at power on. (Motor automatic set)  Setting by the digital operator for the servo motor in use. ...
  • Page 132 5. Operation Combination Servo motor Servo motor Motor Servo motor Motor Motor servo model model code model number code code amplifier number number R1AA18550H 0109 R1AA18750L 010F R1AA1811KR 010D RS3A30 R1AA1815KB 010E R2AA18550H 011F R2AA18750H 01B9 R2AA1811KR 0120 R2AA2211KB 0483 R2AA2215KB 0117 RS3E01...
  • Page 133 5.1 Basic setting of the system 2) How to set motor through the digital operator [Step 1: Disabling motor automatic set function] For setting by the digital operator, please check the system parameter ID09 that is set to "01: Disabled" or not. If "00: Enabled" is set, change to "01: Disabled", and then power-cycle and go Step 2.

  • Page 134: Motor Encoder Setting

    5. Operation 5.1.4 Motor encoder setting The motor encoder that will be used is set. Available encoder differs by encoder type of the servo amplifier. Please set the system parameter concerned with motor encoder by following table reference below. Target Applicable encoder type by servo amplifier model number Reference motor encoder...
  • Page 135 5.1 Basic setting of the system Battery backup absolute encoder function selection ■ Select a use of battery backup absolute encoder as an absolute system with multi turn value or as an incremental system without multi turn value.  Must connect battery if use as an absolute system. ...
  • Page 136 5. Operation 2) Incremental encoder (Applicable amplifier model number: RS3xxxx2xxx, RS3xxxx8xxx, RS3xxxxAxxx) Motor encoder connector selection ■ Select the connector for connecting motor encoder. Must set "00: EN1".  Select "01:EN2" if "RS3xxxx2xxx" is used.  Select "00:EN1" if "RS3xxxx8xxx or RS3xxxxAxxx" is used. Group Selection Description...
  • Page 137 5.1 Basic setting of the system 3) System parameters setting list related to motor encoder due to encoder types each Motor model number System paramer RxxxxxxxxxxHxx RxxxxxxxxxxPxx RxxxxxxxxxxRxx RxxxxxxxxxxSxx 00: EN1 Motor encoder 00: EN1 00: EN1 00: EN1 input selection Note 1) 01: EN2 EN1 encoder type...

  • Page 138: Main Circuit Power Setting

    5. Operation 5.1.5 Main circuit power setting Set the parameters about main circuit power. Main circuit power input type selection ■ Set the type of power that will connect to main circuit power terminal (R/S/T of CNA or terminal block) of servo amplifier. ...

  • Page 139: Control Method Selection

    5.1 Basic setting of the system 5.1.7 Control method selection Set the basic control method to use. Control cycle ■ Select the control cycle of velocity control and torque control. Velocity control type response frequency is able to set high by setting "01:High-freq_Sampling".
  • Page 140 5. Operation Position control selection ■ Select the type of position control. Group Selection Type Standard Standard position control Model1 Model-following control Model-following vibration suppression Model2 control System Model-following / standard position Model3 control switching Model-following vibration suppression / Model4 standard position control switching When "01:High-freq_Sampling"...

  • Page 141: Test Operation

    5.2 Test operation 5.2 Test operation 5.2.1 Check of installation and wiring Check the installation and wiring of servo motor. [Step 1: installation] Set the servo amplifier and motor by following "3. Installation". ■ Do not connect servo motor shaft to any mechanism, keep free from a load. ■...

  • Page 142: Check Of I/O Signal

    5. Operation 5.2.3 Check of I/O signal Do the I/O signal setting, and then operation check by command from host controller. [Step 1: Input signal setting] Select the function to be used from parameter Group9, and then set it to CONT1 to CONT8. ■...
  • Page 143 5.2 Test operation [Step 4: Input servo ON signal] Input servo ON signal. Confirm that the servo motor is excited and the digital operator display on the servo amplifier front is drawing the character “8”. When the digital operator shows as below, it means over travel status. ■...

  • Page 144: Check Of Device Operation

    5. Operation 5.2.4 Check of device operation Connect the servo motor shaft with the machine and check the operation. [Step 1: Connection to the machine] Connect the servo motor shaft with the machine and check the operation. ■ Connect the servo motor shaft to the machine Input the command (low speed);...

  • Page 145: Servo Amplifier Status Display

    5. Operation 5.3 Servo amplifier status display 5.3.1 Normal display Marking Description Status code Control power supply established. Control power supply (r, t) is established and amplifier (RDY) is on. Main circuit power supply established. Main power supply (R, S and T) is established, but operation preparation completion signal is off.

  • Page 146: Operation Sequence

    5. Operation 5.4 Operation sequence 5.4.1 The operation sequence with factory setting from "turn power on" to "turn power off" Power ON --> Servo ON Control power ON (When EnDat is used in external encoder, it takes maximum 3sec until Control power issuing the power ON-permission signal from control power ON.) 2sec.
  • Page 147 5. Operation Servo OFF --> Power OFF Control power Control power OFF 0msec. (Min) Main circuit power Main circuit power OFF Power OFF detection delay time Power ON signal Power ON signal output OFF Operation setup completion signal S-RDY Servo ON signal Servo OFF Dynamic brake signal Dynamic brake ON...

  • Page 148: Stop Sequence At Alarm

    5. Operation 5.4.2 Stop sequence at alarm When an alarm occurs, the servo motor is stopped by either dynamic brake or servo brake. Which brake is to be used is depending on alarm. See "8.2 List of warning and alarm". Stop by dynamic brake at alarm Power ON permission OFF Power ON permission signal...
  • Page 149 5.4 Operation sequence Stop by servo brake at alarm Power ON permission signal Power ON permission OFF Main circuit power Main circuit power OFF Operation setup completion signal S-RDY Servo ON signal Servo ON Dynamic brake signal Dynamic brake ON Motor stop detect Motor velocity Alarm signal...

  • Page 150: Sequence Of Alarm Reset

    5. Operation 5.4.3 Sequence of alarm reset Inputting alarm reset signal from general input signal can reset alarms. Power ON permission signal Power ON permission ON Main circuit power Main circuit power Inrush current prevention time Power ON signal DB relay waiting time = 100msec. Operation setup completion signal S-RDY Servo ON signal...

  • Page 151: Sequence When Power Is Turned Off During Operation (During Servo On)

    5.4 Operation sequence 5.4.4 Sequence when power is turned OFF during operation (During servo ON) Stop by servo brake Control power Control power OFF Main circuit power Main circuit power OFF Power ON signal Power ON signal output OFF Operation setup completion signal S-RDY Servo ON signal Dynamic brake signal...

  • Page 152: Monitor Function

    5. Operation 5.5 Monitor function 5.5.1 Monitor list Symbol Name Unit STATUS Servo amplifier status monitor WARNING1 Warning status 1 monitor WARNING2 Warning status 2 monitor WARNING3 Warning status 3 monitor WARNING4 Warning status 4 monitor CONT8-1 General Purpose Input CONT8 to 1 monitor OUT8-1 General Purpose Output OUT8 to 1 monitor INC-E MON...

  • Page 153: Descriptions Of Each Monitor

    5.5 Monitor function 5.5.2 Descriptions of each monitor Description Servo amplifier status monitor [STATUS] Code Status Power OFF state (P-OFF) Power ON state (P-ON) Servo ready state (S-RDY) Servo ON state (S-ON) Servo OFF and stop status (S-OFF) Emergency stop state (EMR) Alarm and power OFF state (ALARM_P-OFF)
  • Page 154 5. Operation Description General input CONT8 to 1 monitor [CONT8-1] ■ Displays generic input terminal status. It will be in a photo coupler excitation state by "1" or "ON". CONT4 CONT3 CONT2 CONT1 Function CONT8 CONT7 CONT6 CONT5 Function General output OUT8 to 1 monitor [OUT8-1] ■...
  • Page 155 5.5 Monitor function Description Actual position monitor (Motor encoder) [APMON] Displays the current position of the motor encoder that has the origin as the position at the ■ time the control power was turned ON. As this is a free run counter, if the current position exceeds the displayed range, the maximum reverse polarity value will be displayed.
  • Page 156 5. Operation Description Velocity monitor [VMON] Displays the rotation speed of the servo motor. ■  Setup software displays values in decimal notation. Display range Unit -2147483648 to 2147483647  Digital operator displays values in hexadecimal notation. Data range Display range Unit Bit31 to Bit0 H.8000 L.0000 to H.7FFF L.FFFF...
  • Page 157 5.5 Monitor function Description Load Torque monitor (Estimate value) [MTLMON-EST] Displays the estimated value of load torque. ■ Display range Unit -499.9 to 499.9 Position command pulse frequency monitor [FMON1] Displays the entered command pulse frequency. ■  Setup software displays values in decimal notation. Display range Unit -2147483648 to 2147483647...
  • Page 158 5. Operation Description Motor Encoder frequency monitor [MMOENCF] Displays the motor encoder frequency of incremental encoder. ■  Setup software displays values in decimal notation. Display range Unit -2147483648 to 2147483647 kPulse/s  Digital operator displays values in hexadecimal notation. Data range Display range Unit...
  • Page 159 5.5 Monitor function Description Amplifier temperature monitor [MATEMP] Displays internal temperature of servo amplifier. ■ Display range Unit -15 to 150 degree C  Internal temperature of servo amplifier is the point near to power device. Amplifier Operation Time [RUNTIM] Displays the total time of control power ON.
  • Page 160 5. Operation Description Load inertia moment ratio monitor [JRAT MON] Displays the present load inertia moment ratio. ■ Value can check when using gain switching and auto-tuning function. Model Control Gain monitor [MKP MON] Displays the present Model Control Gain. ■...

  • Page 161: Analog Monitor And Digital Monitor

    5.6 Analog monitor and digital monitor Description Present position monitor (External encoder) [EX-APMON] Displays the current position of the external encoder that has the origin as the position at the ■ time the control power was turned ON. As this is a free run counter, if the current position exceeds the displayed range, the maximum reverse polarity value will be displayed.
  • Page 162 5. Operation Description Remaining life of relay for an inrush current prevention [RSRLYLF] ■ Displays the remaining life of relay for an inrush current prevention. Display range Unit 0 to 100.00 Remaining life of relay for a dynamic brake [DBRLYLF] ■...
  • Page 163 5.6 Analog monitor and digital monitor 5.6 Analog monitor and digital monitor All signals and internal status of the servo amplifier can be monitored by using the dedicated Monitor Box and cable. See "12.6 Optional parts" for the details of monitor box and dedicated cable.

  • Page 164: Setting Parameters

    5. Operation 5.7 Setting parameters 5.7.1 Parameters list Below is the parameters list that classified to each Group and put in ID order. “System parameters”, “General parameters” and “Motor parameters” are retained in the servo amplifier by running the parameter back-up function, and they can reload as needed. See another manual: M0010842 for the setup software operation.
  • Page 165 5.7 Settnig parameters General parameters Group1 "Basic control parameter settings" ■ Control Setting Symbol Name Default value Unit mode range Position Command Smoothing PCSMT 0.0 to 500.0 Constant PCFIL Position Command Filter 0.0 to 2000.0 Position Loop Proportional Gain 1 1 to 3000 TPI1 Position Loop Integral Time Constant 1...
  • Page 166 5. Operation General parameters Group2 "FF (Feed forward) vibration suppression control/ Notch filter/ ■ Disturbance observer settings" Control Default Setting Symbol Name Unit mode value range SUPFRQA1 FF Vibration Suppression Frequency A1 500.0 1.0 to 500.0 SUPLVA FF Vibration Suppression Level Selection A 00 to 03 SUPFRQB1 FF Vibration Suppression Frequency B1...
  • Page 167 5.7 Settnig parameters General parameters Group3 "Model following control settings" ■ Control Setting Symbol Name Default value Unit mode range Model Control Gain 1 1 to 3000 MZETA Model control damping coefficient 0 to 100 MFFGN Model velocity feedforward gain 0 to 100 Model velocity feedforward differential time MTFFD...
  • Page 168 5. Operation General parameters Group4 "Gain switching control/ Vibration suppression frequency ■ switching settings" Control Default Setting Symbol Name Unit mode value range Model Control Gain 2 1 to 3000 Position Loop Proportional Gain 2 1 to 3000 TPI2 Position Loop Integral Time Constant 2 1000.0 0.3 to 1000.0 KVP2...
  • Page 169 5.7 Settnig parameters General parameters Group8 "Control system settings" ■ Control Symbol Name Default value Unit Setting range mode CMDPOL Position, Velocity, Torque Command Input Polarity M,P,V,T 00:PC+_VC+_TC+ ― 00 to 07 VC/TC-DW Analog Velocity, Torque Command Input Dead Band Width P,V,T 0.0 to 6553.5 PMOD...
  • Page 170 5. Operation General parameters Group9 "Function enabling condition settings" ■ Control Setting Symbol Name Default value mode range F-OT Positive Over Travel Function M,P,V,T 0D:CONT6_OFF 00 to 29 R-OT Negative Over Travel Function M,P,V,T 0B:CONT5_OFF 00 to 29 AL-RST Alarm Reset Function M,P,V,T 10:CONT8_ON 00 to 29...
  • Page 171 5.7 Settnig parameters General parameters GroupA "General output terminal output condition/ Monitor output ■ selection" Control Setting Symbol Name Default value Unit mode range OUT1 M,P,V,T 18:INP_ON ― 00 to 81 General Output 1 OUT2 M,P,V,T 0C:TLC_ON ― 00 to 81 General Output 2 OUT3 M,P,V,T...
  • Page 172 5. Operation General parameters GroupB "Sequence/Alarm related settings" ■ Control Symbol Name Default value Unit Setting range mode DBOPE Servo-OFF stop behavior M,P,V,T 04:SB_Free ― 00 to 07 00:CMDINH_ ACTOT Over-Travel Action M,P,V,T ― 00 to 08 SB_SON 00:SERVO- ACTEMR Emergency Stop Operation M,P,V ―...
  • Page 173 5.7 Settnig parameters General parameters GroupD "Support function related settings" ■ Control Symbol Name Default value Unit Setting range mode JOGVC JOG Velocity Command M,P,V,T 0 to 32767 Support function torque limit TSTTCLM M,P,V,T 120.0 10.0 to 500.0 value Serial Communication Axis COMAXIS M,P,V,T 01:#1...
  • Page 174 5. Operation Basic parameters ■ Control Symbol Name Remarks mode COMAXIS Serial Communication Axis Number M,P,V,T This is common with GroupD ID11 TUNMODE Tuning Mode M,P,V,T This is common with Group0 ID00 ATRES Auto-Tuning Response M,P,V,T This is common with Group0 ID02 PCSMT Position Command Smoothing Constant This is common with Group1 ID00...

  • Page 175: Parameter Functions

    5.8 Parameter functions 5.8 Parameter functions Each parameter function is explained below. Group0 "Auto-tuning settings" ■ Contents Setting range Unit Default Tuning mode [TUNMODE] 00 to 02 00:AutoTun Set the validity/ invalidity of Auto-tuning and Load inertia moment rate estimation. ■...
  • Page 176 5. Operation －Group0－ Contents Setting range Unit Default Auto-Tuning Characteristic [ATCHA] 00 to 06 00:Positioning1 Set the suitable parameters for each control method. ■ Selection Contents Positioning1 Positioning Control 1 (General Purpose) Positioning2 Positioning Control 2 (High Response) Positioning3 Positioning Control 3 (High Response, FFGN Manual Setting) Positioning4 Positioning Control 4 (High Response, Horizontal Axis Limited) Positioning Control 5 (High Response, Horizontal Axis Limited,...
  • Page 177 5.8 Parameter functions －Group0－ Contents Setting range Unit Default Auto-Tuning Response [ATRES] 1 to 40 Sets the Auto-Tuning Response. ■  The larger the set value, the higher the response.  Caution, if the response is set too high, the machine may oscillate. ...
  • Page 178 5. Operation －Group0－ Contents Adaptive notch filter function E Setting range Unit Default [ADNFE] 00 to 01 00: Adp_Filter Disable This is the parameter which selects function of torque command notch filter E. ■ By setting "01: Adp_Filter Enable Adaptation at all times", notch filter E will be adjusted to mechanical resonant frequency.
  • Page 179 5.8 Parameter functions Group1 "Basic control parameter settings" ■ Contents Setting range Unit Default Position Command Smoothing Constant [PCSMT] 0.0 to 500.0 This is the moving-average filter which makes smooth the position command pulse. ■ Sets time constants.   Applies ramp to the step form position command pulse.
  • Page 180 5. Operation －Group1－ Contents Setting range Unit Default Position Command Filter [PCFIL] 0.0 to 2000.0 This primary low-pass filter suppresses any sudden change of the position control pulse. ■ Sets time constants.  This parameter setting is valid when the value of Group1 ID08 Higher Tracking Control Position Compensation Gain is set at 0%.
  • Page 181 5.8 Parameter functions －Group1－ Contents Setting range Unit Default Velocity Feed Forward Gain [FFGN] 0 to 100 Sets the feed forward compensation gain to position control system. ■ When "Model following control" is enabling, model velocity feed forward gain will be enabled and ■...
  • Page 182 5. Operation －Group1－ Contents Setting range Unit Default Velocity Feedback Filter [VDFIL] 1 to 4000 1500 This is primary low-pass filter to eliminate ripples caused by encoder pulse included in the ■ velocity control system feedback. Sets the cutoff frequency. When the encoder resolution is low, lowering the setting value and suppressing the ...
  • Page 183 5.8 Parameter functions －Group1－ Contents Setting range Unit Default Load Inertia Moment Ratio 1 [JRAT1] 0 to 15000 Sets the inertia moment of the loading device to the servo motor inertia moment. ■  Setting value=J ×100%  : Load inertia moment ...
  • Page 184 5. Operation －Group1－ Contents Torque Feed Forward Gain Setting range Unit Default [TFFK] 0 to 100 Sets feed forward compensation gain to velocity control system. ■  The setting value is not applied when "Position control selection " is "Model following control".
  • Page 185 5.8 Parameter functions －Group1－ Contents Setting range Unit Default Acceleration Feedback Gain [AFBK] -100.0 to 100.0 Sets acceleration feedback compensation gain to make the velocity loop stable. ■ Multiply this gain with the detected acceleration to compensate torque command.  Automatically overwrite by Auto-tuning result saving.
  • Page 186 5. Operation －Group1－ Contents Setting range Unit Default Torque Command Filter 1 [TCFIL1] 1 to 4000 This is Low-pass filter to eliminate high frequency component included in the torque command. ■ Sets cutoff frequency.  Automatically overwrite by Auto-tuning result saving. ...
  • Page 187 5.8 Parameter functions －Group1－ Contents Setting range Unit Default Dual position feedback gain [DFBCG] 0 to 100 Sets the dual position feedback compensation gain. The larger value, the higher influence of ■ the dual position feedback compensation.  Become Invalid the dual position feedback gain compensation function when 0% is set. Setting range Unit Default...
  • Page 188 5. Operation Group2 "FF (Feed Forward) vibration suppression control/ Notch filter/ Disturbance observer ■ settings" Contents Setting range Unit Default FF Vibration Suppression Frequency A1 [SUPFRQA1] 1.0 to 500.0 0.1Hz 500.0 Sets the frequency of the machine vibration to be suppressed by FF vibration suppressor ■...
  • Page 189 5.8 Parameter functions －Group2－ Contents Velocity Command Notch Filter Setting range Unit Default [VCNFIL] 50 to 1000 1000 This is notch filter to eliminate frequency element arbitrarily set from velocity command. ■ Sets the resonant frequency.  When sympathetic vibration occurs in velocity control system, the gain will be able to raise by setting the resonance frequency.
  • Page 190 5. Operation －Group2－ Contents Setting range Unit Default Torque Command Notch Filter A [TCNFILA] 100 to 4000 4000 This is notch filter to eliminate sympathetic vibration element included in torque command. ■ Sets the resonant frequency.  Invalid setting value varies depending on the setting of the system parameter ID00 Control Cycle.
  • Page 191 5.8 Parameter functions －Group2－ Contents Torque Command Notch Filter B Setting range Unit Default [TCNFILB] 100 to 4000 4000 Torque Command Notch Filter C Setting range Unit Default [TCNFILC] 100 to 4000 4000 Setting range Unit Default Torque Command Notch Filter D [TCNFILD] 100 to 4000 4000...
  • Page 192 5. Operation －Group2－ Contents Setting range Unit Default Observer Characteristic [OBCHA] 00 to 02 00:Low ― Selects frequency characteristic of the disturbance observer. ■ Selection Contents For Low Frequency Middle For Middle Frequency High For High Frequency  Select “00: Low, Low Frequency Disturbance Observer Suppressor” for Load torque monitor (estimate value).
  • Page 193 5.8 Parameter functions －Group2－ Contents Setting range Unit Default Observer Output Notch Filter [OBNFIL] 100 to 4000 4000 This is notch filter to eliminate arbitrarily selected frequency from observer compensation. ■ Sets the resonant frequency. When resonance appears in disturbance observer output, such as sympathetic vibration with the mechanical system, this notch filter sometimes suppresses the vibration.
  • Page 194 5. Operation －Group2－ Contents Setting range Unit Default CP vibration suppression control frequency [CPVSFQ] 10.0 to 100.0 0.1Hz 100.0 Sets the vibration frequency of Machine stand. ■ The filter will invalid if set value is 100.0 Hz or more.  This function will valid if in conditions below.
  • Page 195 5.8 Parameter functions Group3 "Model following control settings" ■ Contents Setting range Unit Default Model Control Gain 1 [KM1] 1 to 3000 Proportional gain for model position controller. ■  Use within the range of 15 to 315 (1/s) if operate with Model-following vibration suppression control.
  • Page 196 5. Operation －Group3－ Contents Overshoot Suppression Filter Setting range Unit Default [OSSFIL] 1 to 4000 1500 Filter to suppress overshoot with Model following control or Model following vibration ■ suppression control. Sets cutoff frequency.  Lower the setting value when overshoot on position deviation occurs. ...
  • Page 197 5.8 Parameter functions Group4 "Gain switching control/ vibration suppression frequency switching settings" ■ Contents Setting range Unit Default Model Control Gain 2 [KM2] 1 to 3000 Model Control Gain 3 Setting range Unit Default [KM3] 1 to 3000 Model Control Gain 4 Setting range Unit Default...
  • Page 198 5. Operation －Group4－ Contents Velocity Loop Integral Time Constant 2 Setting range Unit Default [TVI2] 0.3 to 1000.0 20.0 Setting range Unit Default Velocity Loop Integral Time Constant 3 [TVI3] 0.3 to 1000.0 20.0 Setting range Unit Default Velocity Loop Integral Time Constant 4 [TVI4] 0.3 to 1000.0 20.0...
  • Page 199 5.8 Parameter functions －Group4－ Contents Gain Switching Filter Setting range Unit Default [GCFIL] 0 to 100 This is primary Low-pass filter which makes gain change gently at Gain switching. ■ Sets time constant.  When the mechanical system is shocked by the change of gain resulted from gain switching, making a gentle gain change will soften the shock.
  • Page 200 5. Operation －Group4－ Contents Model Control Antiresonance Frequency 2 Setting range Unit Default [ANRFRQ2] 10.0 to 80.0 80.0 Setting range Unit Default Model Control Antiresonance Frequency 3 [ANRFRQ3] 10.0 to 80.0 80.0 Model Control Antiresonance Frequency 4 Setting range Unit Default [ANRFRQ4] 10.0 to 80.0...
  • Page 201 5.8 Parameter functions Group5 " Fast-settling control settings" ■ Contents Setting range Unit Default Command Velocity Low-pass Filter [CVFIL] 1 to 4000 1000 This is primary low-pass filter to eliminate high frequency component such as ripples included in ■ the velocity (command velocity) calculated from position command pulse inside of fast-settling control.
  • Page 202 5. Operation Group8 "Control system settings" ■ Contents Setting range Unit Default Position, Velocity, Torque Command Input Polarity [CMDPOL] 00 to 07 00:PC+_VC+_TC+ Selects the combination of each command polarity for position command pulse, Analog velocity ■ command and Analog torque command input from the list below. ...
  • Page 203 5.8 Parameter functions －Group8－ Contents Setting range Unit Default Analog Velocity/Torque Command Input Dead Band Width [VC/TC-DW] 0.0 to 6553.5 Sets the voltage as dead band for Analog velocity command input and Analog torque command ■ input.  Command voltage within the dead band setting range is treated as 0V at internal of servo amplifier.
  • Page 204 5. Operation －Group8－ Contents Setting range Unit Default Position Command Pulse Count Polarity [PCPPOL] “Power cycle for control after setting” 00 to 03 00:Type1 Selects the Position Command Pulse Count Polarity from the list below. ■ Select according to host equipment. ...
  • Page 205 5.8 Parameter functions －Group8－ Contents Setting range Unit Default Electronic Gear 1 Numerator [B-GER1] 1 to 2097152 Setting range Unit Default Electronic Gear 1 Denominator [A-GER1] 1 to 2097152 Setting range Unit Default Electronic Gear 2 Numerator [B-GER2] 1 to 2097152 Electronic Gear 2 Denominator Setting range Unit...
  • Page 206 5. Operation －Group8－ Example 2. In case of that the encoder resolution is changed by the motor exchange. ■ To change a servo motor with 2000[P/R] incremental encoder, to a servo motor with 8576[P/R] absolute encoder without changing upper controller position resolution. Use the calculation formula below and calculate Electronic gear numerator and denominator.
  • Page 207 5.8 Parameter functions －Group8－ Contents Setting range Unit Default Positioning Methods [EDGEPOS] “Power cycle for control after setting” 00 to 01 00:Pulse_Interval Selects the Encoder pulse positioning. ■  Positioning accuracy may improved by selecting Edge positioning when the encoder resolution is coarse.
  • Page 208 5. Operation －Group8－ Contents Setting range Unit Default Deviation Clear Selection [CLR] 00 to 03 00:Type1 Sets whether a position deviation will be cleared or not during servo OFF, and how to treat ■ deviation clear signal.  Selects operation during servo OFF. Deviation cleared/ Deviation not cleared ...
  • Page 209 5.8 Parameter functions －Group8－ Contents Preset Velocity Command 1 Setting range Unit Default [VC1] 0 to 32767 Setting range Unit Default Preset Velocity Command 2 [VC2] 0 to 32767 Setting range Unit Default Preset Velocity Command 3 [VC3] 0 to 32767 Preset Velocity Command 4 Setting range Unit...
  • Page 210 5. Operation －Group8－ Contents Examples of setting and operation pattern at Preset Velocity Command Operation ■ VC1 Preset Velocity Command 1 500[min VC2 Preset Velocity Command 2 1000[min VC3 Preset Velocity Command 3 1500[min VC4 Preset Velocity Command 4 2000[min VC5 Preset Velocity Command 5 2500[min VC6 Preset Velocity Command 6...
  • Page 211 5.8 Parameter functions －Group8－ Contents Setting range Unit Default Velocity Compensation Command Input Selection [VCOMSEL] 01 to 02 02:V-COMP Selects Velocity compensation command input. ■ Selection Contents Analog velocity compensation command value is used when Analog_Input velocity compensation function is valid. Preset velocity compensation command is used when velocity V-COMP compensation function is valid.
  • Page 212 5. Operation －Group8－ Contents About Velocity Compensation Function ■ Velocity Compensation Function is a Feed forward function for the Velocity control system. There are two settings for the Velocity compensation command input function: Preset velocity compensation command and Analog velocity compensation command. Use preset velocity compensation command to keep the Velocity compensation command fixed.
  • Page 213 5.8 Parameter functions －Group8－ Contents Setting range Unit Default Velocity Command Acceleration Time Constant [TVCACC] 0～16000 Setting range Unit Default Velocity Command Deceleration Time Constant 0 to 16000 [TVCDEC] These are parameters to restrict Acceleration and Deceleration commands of the Analog ■...
  • Page 214 5. Operation －Group8－ Contents Setting range Unit Default Torque Compensation Command Input Selection [TCOMSEL] 01 to 02 02:T-COMP Select Torque compensation command input from the list below. ■ Selection Contents Analog torque compensation command value is used when torque Analog_Input compensation function is valid.
  • Page 215 5.8 Parameter functions －Group8－ Contents About Torque Compensation Function ■ The Torque Compensation Function is a feed forward function for the Torque control system. There are two settings for Torque compensation command input function: Preset torque compensation command and Analog torque compensation command. Use preset torque compensation command to keep the Torque compensation command fixed.
  • Page 216 5. Operation －Group8－ Contents Setting range Unit Default Forward Direction Internal Torque Limit Value [TCLM-F] 10.0 to 500.0 100.0 Setting range Unit Default Reverse Direction Internal Torque Limit Value [TCLM-R] 10.0 to 500.0 100.0 Limits the Torque output at this setting value when Preset torque limit value is valid. ■...
  • Page 217 5.8 Parameter functions －Group8－ Contents  To use External torque limit  Restricts forward and reverse rotation torque by inputting External analog voltage to CN1. Forward side torque limit input (F-TLA): CN1-18 input voltage range -10V to +10V ✔ Reverse side torque limit input (R-TLA): CN1-19 input voltage range -10V to +10V ✔...
  • Page 218 5. Operation －Group8－ Contents  Inputs the voltage corresponding to the Torque limit. Torque Torque 0V -0.2V -2.0V 0V 0.2V ＋2.0V Voltage setting Voltage setting value value  Enables the Torque limit function Group Symbol Contents Torque Limit Function  Selects the condition to enable the Torque limit function.
  • Page 219 5.8 Parameter functions －Group8－ Contents Setting range Unit Default Torque Attainment select [TASEL] 00 to 01 ■ To select a setting rate type of attaining torque Selection Contents Sets the rate against rated torque. TA/TR (Rated torque is 100%) TA/TCLM Sets the rate against Torque limit value.
  • Page 220 5. Operation －Group8－ Contents The amounts of torque limit value restoration when Setting range Unit Default power restored 0.0 to 500.0 10.0 [TLMREST] Sets the torque-recovering value per 1ms which is used to normal torque from limited torque of ■ power supply drop.
  • Page 221 5.8 Parameter functions －Group8－ Contents Setting range Unit Default Near Range [NEAR] 1 to 2147483647 Pulse Sets the output range of near range (near in-position) signal. ■  Outputs the Near range signal if the Position deviation counter is lower than this set value.
  • Page 222 5. Operation －Group8－ Contents Setting range Unit Default Speed Zero Range [ZV] 50 to 500 Setting value for detecting Zero-speed status (motor stop). ■ When the speed becomes lower than this value, Zero-speed status is out.  Setting range Unit Default Low Speed Range [LOWV]...
  • Page 223 5.8 Parameter functions －Group8－ Contents Setting range Unit Default Speed Matching Unit Selection [VCMPUS] “Power cycle for control after setting” 00 to 01 00:min ― Selects Speed Matching Unit setting method. ■ Selection Contents Sets by [min ] unit. Uses the setting value of ID46 [VCMP] Speed Matching Range Sets the ratio to velocity command by [%] unit.
  • Page 224 5. Operation －Group8－ Contents By combining with Group9 "Condition Settings for Enabling Functions", ID42 to ID47 will ■ make the functions of Group9 valid. Selection Contents Function is valid while in low speed status (speed is LOWV_IN lower than the LOWV Setting Value). Function is valid while not in low speed status (speed LOWV_OUT is lower than the LOWV Setting Value).
  • Page 225 5.8 Parameter functions General parameters Group9 "Function enabling condition settings" ■ Setting Functions-enabled Name Default value range input time Positive Over Travel Function [F-OT] 00 to 29 0D:CONT6_OFF 20ms Negative Over Travel Function [R-OT] 00 to 29 0B:CONT5_OFF 20ms Alarm Reset Function [AL-RST] 00 to 29 10:CONT8_ON 20ms...
  • Page 226 5. Operation Group9 List of selection contents Keeping the function always valid or invalid ■ Selection Contents Always_Disable Function is always invalid Always_Enable Function is always valid Using function with the generic input signals ■ Selection Contents CONT1_ON Function is valid when generic input, CONT1, is ON CONT1_OFF Function is valid when generic input, CONT1, is OFF CONT2_ON...
  • Page 227 5.8 Parameter functions －Group9－ Activating the functions using the positioning signals ■ Selection Contents NEAR_IN Function is valid while in Near range status NEAR_OUT Function is valid while not in Near range status Function is valid while in In-Position status (position deviation < INP_IN INP) Function is valid while not in In-Position status (position deviation <...
  • Page 228 5. Operation －Group9－ Contents Forward Over-Travel Function [F-OT] Reverse Over-Travel Function [R-OT] The over travel function uses limit switch to prevent damage to the unit. This function forcedly ■ stops the unit when the movement range of the moving part is exceeded. ...
  • Page 229 5.8 Parameter functions －Group9－ Selection Contents Command input is disabled, and motor is stopped by servo-braking (with peak torque) when OT occurs. Servo is turned on after motor stops. CMDINH_SB_SON (Command from either positive or negative direction in which OT occurs, command disabled = velocity limit command = 0) (Torque command for OT side is limited by the sequence torque limit.)
  • Page 230 5. Operation －Group9－ Contents Alarm reset function [AL-RST] This function enables inputting alarm reset signal from host equipment. Alarm is cleared by ■ enabling alarm reset function (AL-RST). Allocating conditions to enable alarm reset function. When AL-RST signal enabled, this ...
  • Page 231 5.8 Parameter functions －Group9－ Contents Control mode switching function [MS] 2 types of control mode can be switched and used. ■ The control mode combination is selected by system parameter and can be switched with control mode switching function.  Selecting control modes from system parameters ID06.
  • Page 232 5. Operation －Group9－ Contents FF vibration suppression frequency selecting input A1 [SUPFSELA1] FF vibration suppression frequency selecting input A2 [SUPFSELA2] 4 types of FF vibration suppression frequency can be used by switching them. ■  Allocating conditions to enable FF vibration suppression frequency selecting input. You can switch FF vibration suppression frequency A1 to A4 by combination of SUPFSELA1 and SUPFSELA2 setting.
  • Page 233 5.8 Parameter functions －Group9－ Contents Position loop proportional control switching function [PLPCON] You can switch between position loop PI control and P control. Enabling position loop ■ proportional control switching function (PLPCON) enable switching.  Allocating conditions to enable position loop proportional control switching function. When PLPCON signal enabled, the control is switched to proportional control.
  • Page 234 5. Operation －Group9－ Contents Velocity loop proportional control switching function [VLPCON] You can switch between velocity loop PI control and P control. ■ Enabling velocity loop proportional control switching function (VLPCON) enables  switching.  Allocating conditions to enable velocity loop proportional control switching function. When VLPCON signal is enabled, the control is switched to proportional control.
  • Page 235 5.8 Parameter functions －Group9－ Contents Axes-sync compensation function [SYNCEN] Tandem operation function will work when "01: Tandem" is set to system parameter ID08 ■ "Amplifier communication function", and this parameter is valid. ✔ Valid condition is limited to 00 to 11. Axes-sync compensation proportional control switching function [SYNPCNEN] Able to switch PI control and P control, in the axes-sync compensation function.
  • Page 236 5. Operation GroupA "General output terminal output condition/ Monitor output selection" ■ Contents Setting range Unit Default value General Purpose Output 1 [OUT1] 00 to 81 18:INP_ON General Purpose Output 2 [OUT2] 00 to 81 OC:TLC_ON General Purpose Output 3 [OUT3] 00 to 81 02:S-RDY_ON General Purpose Output 4 [OUT4]...
  • Page 237 5.8 Parameter functions －GroupA－  When Positioning signal is to be output While In-Position Status 18:INP_ON 19:INP_OFF While Near Range Status 1A:NEAR_ON 1B:NEAR_OFF While In-Position with Position 5A:INPZ_ON 5B:INPZ_OFF Command 0 Status While position command distribution 60:TRJCMP_ON 61: TRJCMP_OFF completion status ...
  • Page 238 5. Operation －GroupA－ Contents Setting range Unit Default value Analog Monitor Select Output 1 00 to 36 05:VMON_2mV/min [MON1] Analog Monitor Select Output 2 00 to 36 02:TCMON_2V/TR [MON2] Selects output signals to output to Analog monitor 1 and 2 from the list below. ■...
  • Page 239 5.8 Parameter functions －GroupA－ 1A:ACMON_0.1mV/rad/s Acceleration monitor 0.1mV/rad/s 1B:ACMON_1mV/rad/s Acceleration monitor 1mV/rad/s 1C:ACMON_10mV/rad/s Acceleration monitor 10mV/rad/s 1D: VBUS_ 1V/DC100V Bus voltage monitor 1V/DC100V 1E: VBUS_ 1V/DC10V Bus voltage monitor 1V/DC10V 1F:DFERR_10mV/P Dual position error monitor 10mV/Pulse 20:DFERR_0.1mV/P Dual position error monitor 0.1mV/Pulse 21:SYNERR_10mV/P Axes-sync error monitor...
  • Page 240 5. Operation －GroupA－ Contents Analog Monitor Output Polarity Setting range Unit Default value [MONPOL] 00 to 08 00:MON1+_MON2+ Selects Output polarity of Analog monitor output, MON1and MON2 from below. ■ For both MON1 and MON2, set from any of the followings: ...
  • Page 241 5.8 Parameter functions GroupB "Sequence/Alarm related settings" ■ Contents Setting range Unit Default value Servo-OFF stop behavior [DBOPE] 00 to 07 04:SB_Free Sets the stop behavior when state changed to servo OFF from servo ON, and the dynamic brake ■ operation during servo OFF.
  • Page 242 5. Operation －GroupB－ Contents Setting range Unit Default value Over-Travel Action [ACTOT] 00 to 08 00:CMDINH_SB_SON Selects operations at over-travel action. ■ Selection Contents Command input is disabled, and motor is stopped by servo-braking (with peak torque) when OT occurs. Servo is turned on after motor stops.
  • Page 243 5.8 Parameter functions －GroupB－ Contents Setting range Unit Default value Emergency Stop Operation [ACTEMR] 00 to 02 00:SERVO-BRAKE Sets operation at Emergency Stop ■ Selects operation at the time of emergency stop.  In case of vertical axis use, please use it with default setting (00: SERVO-BRAKE). Selection Contents Stops servo motor by operating servo brake at...
  • Page 244 5. Operation －GroupB－ About Holding Brake ■ Servo motor with Holding brake function is usually used Holding brake → with an axis that is always affected by gravity and external forces in order to avoid movable parts falling off from its position when main circuit power is OFF, or servo OFF.
  • Page 245 5.8 Parameter functions －GroupB－ Contents Setting range Unit Default value Power Failure Detection Delay Time [PFDDLY] “Power cycle for control after setting” 20 to 1000 Sets the delay time from Control power OFF to Control power error detection. ■ The larger value makes the detection of Instantaneous stop slower. (Control power holding time: 200V ac input type: about 100msec 100V ac input type: about 80msec...
  • Page 246 5. Operation －GroupB－ Contents Velocity Control Alarm (ALM_C2) Detection Setting range Unit Default value [VCALM] 00 to 01 00:Disabled Selects Valid/Invalid Velocity control error detection. ■ Selection Contents Disabled Invalid Enabled Valid In such an operation pattern as causing a servo motor overshoot to the command, Velocity control error may be detected by mistake.
  • Page 247 5.8 Parameter functions －GroupB－ Contents Dual position error warning level Setting range Unit Default value [DFOFWLV] 0 to 2147483647 Pulse 2147483647 Warning is output when current position difference between external encoder and motor encoder ■ exceeds this value. Using as warning output before the Dual position error excess alarm occurs. Sets 4 multiples of external encoder resolution as standards.
  • Page 248 5. Operation GroupC "Encoder related settings" ■ Contents Setting range Unit Default value Motor Incremental Encoder Digital Filter [ENFIL] 00 to 07 01:220ns This parameter is settable only when using incremental encoder. ■ Sets Digital filter to motor Incremental Encoder. Pulse lower than the set value is eliminated as noise when noise superposition occurs in encoder signals.
  • Page 249 5.8 Parameter functions －GroupC－ Contents Setting range Unit Default value External Encoder Polarity Selection [EX-ENPOL] “Power cycle for control after setting” 00 to 07 00:Type1 This parameter is settable only when using fully closed control function. ■  Select External encoder signal polarity. Selection Contents Type1...
  • Page 250 5. Operation －GroupC－ Contents Setting range Unit Default value Encoder Output Pulse Division 1/1 to 1/64 [ENRAT] 2/3 to 2/64 1/32768 to 32767/32768 Sets ratio of Encoder output pulse division. ■  When the numerator of the dividing ratio is 1, setting range of the denominator is 1 (not divide), 2-64 or 32768.
  • Page 251 5.8 Parameter functions －GroupC－ Contents Setting range Unit Default value Encoder Output Pulse Divide Resolution Selection [PULOUTRES] “Power cycle for control after setting” 00 to 01 00:32768P/R This parameter is settable only when using absolute encoder. ■  Sets resolution of Encoder output pulse divide. ...
  • Page 252 5. Operation －GroupC－ Contents Setting range Unit Default value External absolute encoder polarity selection [EX-SENPOL] “Power cycle for control after setting” 00 to 01 00:Standard Selects the count polarity of external encoder against motor rotation direction. ■  Select the polarity to match between the increment/decrement of monitor of ID61/62 (EX-APMON) and the ID10/11 (APMON).
  • Page 253 5.8 Parameter functions －GroupC－ Contents Setting range Unit Default value Broken wire mask level at Encoder connector 1 [DE1MSKLVL] 0 to 65535 Sets the encoder pulse frequency (1-multiplied) which masks the detection of "Encoder ■ Connector Disconnection 1 (AL.81)" if the motor encoder is incremental encoder and connect to encoder connector 1 (EN1).
  • Page 254 5. Operation GroupD "Supporting function related settings" ■ Contents Setting range Unit Default value JOG velocity command [JOGVC] 0 to 32767 Sets the velocity command value for JOG operation. ■  This value will be initial setting value of JOG velocity command in the Setup software. Support function torque limit Setting range Unit...
  • Page 255 5.8 Parameter functions －GroupD－ Contents Setting range Unit Default value Drec. sampling rate [SAMPDIV] 0 to 65535 Sets the sampling rate of the Drive recorder. ■  Minimum sampling rate (Ts) is fixed to 112 μs.  Sampling timing (T) is shown by T=Ts*n, and this parameter sets "n". Drive recorder will stop if 0 is set.
  • Page 256 5. Operation －GroupD－ Contents Drec. Analog CH1 selection Setting range Unit Default value [CH1SEL] 00 to 23, FF 08:PCMDF1 Setting range Unit Default value Drec. Analog CH2 selection [CH2SEL] 00 to 23, FF 01:VCMON Drec. Analog CH3 selection Setting range Unit Default value [CH3SEL]...
  • Page 257 5.8 Parameter functions －GroupD－ Contents Setting range Unit Default value Drec. Digital CH1 selection [DCH1SEL] 00 to 20, FF 16:SRDY Drec. Digital CH2 selection Setting range Unit Default value [DCH2SEL] 00 to 20, FF 15:SACT Drec. Digital CH3 selection Setting range Unit Default value [DCH3SEL]...
  • Page 258 5. Operation 5.9 Control block diagram [Feed forward control] Without using Model control [Posiotion command input process] [Torque feed forward] [Torque FF output selection] [G1-1B] [Position control] Position command pulse frequency monitor 1 TFFK ［G1-19］ Position FFFIL PMOD FFGN TFFAVE command [G8-10] [G1-06]...
  • Page 259 5.9 Control block diagram Using Model following control [Posiotion command input process] [Model following control] [Model velocity feed forward] MTFFD Position command Position command pulse frequency monitor 2 [G3-03] pulse frequency monitor 1 (Analog monitor) MFFFIL [G3-04] MFFGN [FF Vibration [G3-02] suppression control]...
  • Page 260 5. Operation [Posiotion command input process] [Model following vibration suppression control] Using Model following [Model velocity feed forward] vibration Position command MTFFD Position command pulse frequency monitor 2 suppression control pulse frequency monitor 1 [G3-03] (Analog monitor) MFFFIL [G3-04] MFFGN [FF Vibration [G3-02] suppression...
  • Page 261 5.10 SEMI F47 supporting function 5.10 SEMI F47 supporting function This function limits motor current when it detects voltage sag warning due to instantaneous power failure (when voltage dropped to 135 - 152VAC). This function is provided to support acquiring “SEMI F47 Standard” that is requisite for semiconductor equipments.
  • Page 262 5.Operation 5.10.3 Notes Set torque limit value under voltage sag warning smaller than that of normal operation. Even if the torque limit value of voltage sag is greater than that of normal operation, it limits the torque at the set value when in voltage sag. After power restoration, the limiting value goes back to that of normal operation.
  • Page 263 5.11 Virtual motor operation function 5.11 Virtual motor operation function This is the function which simulates servo motor behavior and servo amplifier status at internal of the servo amplifier. This function is able to check a sequence with output signal and check a wiring with upper controller, without actual motor operation.
  • Page 264 5. Operation 5.11.2 Restrictions There are restrictions below for this function. Load model for virtual motor operation is rigid body sysytem by load inertia moment. ■ Item Conditions Load torque 0 [N・m] Load inertia moment Load inertia moment ratio × Servo motor inertia moment Mechanical stiffness Rigid body Load inertia moment ratio is used from Group1 ID14.
  • Page 265 5.11 Virtual motor operation function 5.11.3 Digital operator display Digital operator display will change during virtual motor operation. Display Description Alphabet "t" shows at second LED from right, during virtual motor operation. The other LEDs show same as normal status display. In case except status display mode, also the same as normal.
  • Page 266 No Text on This Page.
  • Page 267 Servo Tuning In this chapter, tuning of servo amplifier are explained. 6.1 Servo tuning functions and basic adjustment procedure ........6-1 6.1.1 Servo tuning functions ........................6-1 6.1.2 Tuning method selection procedure ....................6-3 6.2 Adaptive notch filter function ................6-4 6.3 Auto-tuning function ....................

  • Page 268: Servo Tuning Functions And Basic Adjustment Procedure

    6. Servo Tuning 6.1 Servo tuning functions and basic adjustment procedure To operate the servo motor (and machine) using the servo amplifier, adjustments of the servo gain and its control system is necessary. Generally, the higher setting value of the servo gain increases the machine response.
  • Page 269 Servo tuning functions and basic adjustment procedure Vibration suppression function ■  Model-following vibration suppression Positioning settle time and response of machine are able to improve by using model control system to suppress machine stand vibration.  Auto FF Vibration Suppression Frequency Tuning, FF vibration suppression control FF Vibration Suppression control is able to suppress low frequency resonance like machine end vibration.

  • Page 270: Tuning Method Selection Procedure

    6. Servo Tuning 6.1.2 Tuning method selection procedure The selection procedure is displayed in the following chart: Start turning Perform "Servo Tuning Navigation" in the Setup software instruction manual Tuning result is good? Additionally use compensation of resonant frequency variation follow-up or of load inertia moment variation follow-up? Set the below functions depending on desired tuning.

  • Page 271: Adaptive Notch Filter Function

    6.2 Adaptive notch filter function 6.2 Adaptive notch filter function Vibration suppression operation which adapt to frequency variation of mechanical vibration is realized by estimating mechanical resonant frequency in motor operation and reflecting to the control system. It can suppress dispersion and variation of mechanical resonance frequency. How to use ■...

  • Page 272: Auto-Tuning Function

    6. Servo Tuning 6.3 Auto-tuning function 6.3.1 Selection of tuning method Parameter list ■ Using parameters below for auto-tuning mode.  Tuning mode Group Selection Contents AutoTun Auto-tuning AutoTun_JRAT-Fix Auto-tuning [JRAT manual setting ] ManualTun Manual Tuning  Auto-Tuning characteristic Group Selection Contents...
  • Page 273 6.3 Auto-tuning function Explanation for each parameter ■ Details of each parameter are shown below.  General Parameter Group0 Auto-Tuning Contents Tuning Mode [TUNMODE] Selection Contents 00: AutoTun Auto-Tuning  Servo amplifier estimates Load inertia moment ratio of the machine or equipment during real time and automatically tunes the servo gain.
  • Page 274 6. Servo Tuning Contents Auto-Tuning Characteristic [ATCHA] Auto-Tuning Characteristic to fit the mechanical requirements and movements are ■ provided. Parameters that can be adjusted vary depending on each auto-tuning characteristic. Select the parameters based on the situation. [Positioning control (Positioning)] ■...
  • Page 275 6.3 Auto-tuning function Contents Auto-Tuning Characteristic [ATCHA] Selection Contents Positioning control 5 (for high response, horizontal axis Positioning5 only, FFGN manual setting)  Select this mode when the machine movement is on a horizontal axis and receives no disturbing influence from external sources and when you want to adjust Group1 id06 "Velocity Feed Forward Gain [FFGN]"...
  • Page 276 6. Servo Tuning Contents Auto-Tuning Response [ATRES] Set this parameter when "00: Auto Tun" or "01: AutoTun_JRAT-Fix" in Group0 ID00 are ■ used. As the setting value rises, the response increases. Set the value suitable for equipment ■ rigidity. This does not function when "02: ManualTun" of the Tuning mode is selected. ■...

  • Page 277: Automatically Adjusted Parameters In Auto-Tuning

    6.3 Auto-tuning function 6.3.2 Automatically adjusted parameters in auto-tuning These parameters will not reflect on servo motor movements by changing or overriding those values. However, some of them can be adjusted manually depending on selected Group0 ID00 "Tuning mode [TUNMODE]" and Group0 ID01 "Auto-Tuning Characteristic [ATCHA]. At the standard position control, below parameters are adjusted automatically.
  • Page 278 6. Servo Tuning At the model following control, below parameters are adjusted automatically. ■  General parameters Group1 “Basic control parameter settings” Symbol Name Remarks Position Loop Proportional Gain 1 Note 1) Higher Tracking Control Position TRCPGN Compensation Gain KVP1 Velocity Loop Proportional Gain 1 Velocity Loop Integral Time TVI1...

  • Page 279: Adjustable Main Parameters During Auto-Tuning

    6.3 Auto-tuning function 6.3.3 Adjustable main parameters during auto-tuning The following main parameters are adjustable during auto-tuning: ■  General parameters Group1 “Basic control parameter settings” Symbol Name PCSMT Position Command Smoothing Constant PCFIL Position Command Filter FFFIL Velocity Feed Forward Filter VCFIL Velocity Command Filter VDFIL...

  • Page 280: Unavailable Functions During Auto-Tuning

    6. Servo Tuning  General parameters Group5 “High setting control setting” Symbol Name CVFIL Command Velocity Low-pass Filter CVTH Command Velocity Threshold ACCCO Acceleration Compensation DECCO Deceleration Compensation 6.3.4 Unavailable functions during auto-tuning The following functions CANNOT be used during auto-tuning: ■...

  • Page 281: Auto-Tuning Characteristic Selection

    6.3 Auto-tuning function 6.3.5 Auto-tuning characteristic selection Start tuning Select tuning mode 00: AutoTun Automotic Tuning Change tuning to Can Automatic estimate JRAT? 00: AutoTun_JRAT-Fix Automatic Tuning [JRAT Manual Setting] Set JRAT1 Are there any problems with response or setting time? Use trajectory control? Match the characteristics between the axes? Change Auto-Tuning Characteristic to...

  • Page 282: Adjustment Method For Auto-Tuning

    6. Servo Tuning 6.3.6 Adjustment method for auto-tuning Auto-tuning is a function where the servo amplifier automatically tunes to the best servo gain in real time. Select "00: AutoTun Auto-Tuning" at Group0 ID00 "Tuning mode [TUNMODE]" to ■ estimate load inertia moment ratio by servo amplifier on a real-time basis, and then automatically adjust servo gain.

  • Page 283: Manual Tuning Method Using Auto-Tuning Results

    6.3 Auto-tuning function 6.3.8 Manual tuning method using auto-tuning results Result of auto-tuning can be stored in block and used to perform auto-tuning. Refer to "7. Digital operator" for use of the Digital Operator. For the Setup software, perform "Auto-tuning >> Auto-tuning result saving". Saving parameters ■...

  • Page 284: Manual Tuning Function

    6. Servo Tuning 6.4 Manual tuning function All gain is adjustable manually using manual tuning mode when characteristics in auto-tuning are insufficient. Select "02: ManualTun Manual Tuning" at Group0 ID00 "Tuning mode [TUNMODE]". Setting parameters ■  General parameters Group0 ID00 “Tuning Mode [TUNMODE]” Selection Contents ManualTun...
  • Page 285 6.4 Manual tuning function Group1 ID06 "Velocity Feed Forward Gain [FFGN]" ■ The tracking effect of position command can be improved by increasing this gain. Under positioning control, set this to approximately 30-40% as the standard.  When Group1 ID1E "Higher Tracking Control Position Compensation Gain [TRCPGN]" is set to other than 0%, this parameter is automatically set.

  • Page 286: Basic Manual Tuning Method For Velocity Control

    6. Servo Tuning 6.4.2 Basic manual tuning method for velocity control Set value of Group1 ID12 "Velocity Loop Proportional Gain 1 [KVP1]" as high as possible ■ within the range that mechanical system can stably work without any vibration or oscillation. If vibration increases, lower the value.

  • Page 287: The Function Of Making Servo Gain Higher

    6.5 The function of making servo gain higher 6.5 The function of making servo gain higher There are explanations of the function for improving response, for position/ velocity/ torque control system each. 6.5.1 Velocity loop phase lead compensation This is the function to compensate phase delay of Velocity control system, and helps Group1 ID12 "Velocity loop proportional gain 1 [KVP1]"...

  • Page 288: Position Loop Phase Lead Compensation

    6. Servo Tuning 6.5.2 Position loop phase lead compensation This is the function to compensate phase delay of Position control system, and helps Group1 ID02 "Velocity Loop Proportional Gain 1 [KVP1]" change higher. Use when "Velocity Loop Proportional Gain 1 [KVP1]" is not able to change higher by overshoot occurring.

  • Page 289: Torque Feed Forward Compensation

    6.5 The function of making servo gain higher 6.5.3 Torque feed forward compensation There is explanation of function which improving response against a command of control system and applying feed forward compensation to the torque control system. Use when response is not good against command during circular machining etc.
  • Page 290 6. Servo Tuning 6.6 Model following control function Model following control is a method used to obtain a higher response. Model control systems include mechanical devices in a servo amplifier and drive a servo motor in order to track the Model control system.

  • Page 291: Model Following Control Function

    6.6 Model following control function 6.6.1 Manual tuning method for model following control Set value of Group1 ID12 "Velocity Loop Proportional Gain 1 [KVP1]" as high a value as ■ possible within the range that mechanical system stably works without any oscillation. If vibration occurs, lower the value.

  • Page 292: Switching Of The Feedback Control And The Model-Following (Vibration Suppression) Control

    6. Servo Tuning 6.6.2 Switching of the Feedback control and the Model-following (vibration suppression) control Explains the function which switches standard position control, model-following control and model-following vibration suppression control, on real-time. Select "02: Position Position control type" at the system parameter ID06 "Control mode selection", and select "03: Model3 Model-following / standard position control switching"...

  • Page 293: Model Velocity Feed Forward Differential Compensation

    6.6 Model following control function 6.6.3 Model velocity feed forward differential compensation This is the function to improve command response of model control system by differential compensation for feed forward of model control system. How to use ■  Able to improve a command-following by increasing Group3 ID02 "Model velocity feed forward gain [MFFGN]", at the model following control mode and the model following vibration suppression control mode.

  • Page 294: Auto Notch Filter Tuning Function

    6. Servo Tuning 6.7 Auto notch filter tuning function Notch filter is able to suppress high frequency resonance depends on a mechanical system coupling or stiffness. "Auto notch filter tuning" is able to search mechanical system resonant frequency easily by rotating servo motor in a short time. How to use ■...
  • Page 295 6.7 Auto notch filter tuning function Adaptive notch filter function E ■ Selects the valid/invalid of the Adaptive notch filter.  General parameters Group0 “Auto-Tuning” Symbol Name Unit Setting range ADNFE Adaptive notch filter function E 00 to 01 Select value Content Adp_Filter Disable Adaptation invalid (TCNFILE manual setting)

  • Page 296: Vibration Suppression Function

    6. Servo Tuning 6.8 Vibration suppression function 6.8.1 Model following vibration suppression control When you use the servo motor to drive tables on a machine stand, the stand itself may vibrate as a reciprocal reactor of the motor. When the machine stand vibrates, the vibration may cause a reaction with the Positioning stabilizing time of the table working on the stand.
  • Page 297 6.8 Vibration suppression function  When responsiveness is low, change the value of "Model control gain 1 [KM1]" to the value approximately 1.1 to 1.2 times the value.  Depending on the mechanical system, there may be two or more frequency vibrations aside from anti-resonance and resonance frequencies that have already been set.
  • Page 298 6. Servo Tuning Parameter setting range for model following vibration suppression control ■ Setting ranges for the following parameters are restricted:  General parameters Group1 “Basic control parameter settings” Symbol Name Unit Setting range JRAT1 Load Inertia Moment Ratio 1 100 to 3000 TCFIL1 Torque Command Filter 1...

  • Page 299: Auto Ff Vibration Suppression Frequency Tuning

    6.8 Vibration suppression function 6.8.2 Auto FF Vibration Suppression Frequency Tuning FF Vibration Suppression control is able to suppress low frequency resonance like machine end vibration. "Auto FF Vibration Suppression Frequency Tuning" is able to set FF Vibration Suppression Frequency easily by rotating servo motor in a short time. How to use ■...

  • Page 300: Ff Vibration Suppression Control

    6. Servo Tuning The parameter saved automatically by the Auto FF Vibration Suppression Frequency Tuning ■  General parameters Group2 "FF (Feed forward) vibration suppression control/ Notch filter/ Disturbance observer settings" Symbol Name Unit Setting range SUPFRQA1 FF Vibration Suppression Frequency A1 1.0 to 500.0 6.8.3 FF vibration suppression control FF vibration suppression control can be used as a method of suppressing the vibration of the...
  • Page 301 6.8 Vibration suppression function  General parameters Group9 "Function enabling condition settings" Symbol Name Unit Setting range SUPFSELA1 00 to 29 FF Vibration Suppression Frequency Select Input A1 SUPFSELA2 00 to 29 FF Vibration Suppression Frequency Select Input A2 SUPFSELB1 00 to 29 FF Vibration Suppression Frequency Select Input B1 SUPFSELB2...

  • Page 302: Cp Vibration Suppression Control

    6. Servo Tuning 6.8.4 CP vibration suppression control This is the function which suppress a vibration of machine stand, even if perform CP control like as during machine cutting. How to use ■  If a vibration occur by low rigidity of machine, calculate and find out vibration frequency from position deviation monitor, and set it to Group2 ID50 "CP vibration suppression control frequency [CPVSFQ]".

  • Page 303: Minor Vibration Suppression

    6.8 Vibration suppression function 6.8.5 Minor vibration suppression Explains the function which suppresses a minor vibration against velocity feedback during servo motor stop. How to use ■  The function is valid when condition that is selected in Group9 ID35 "Minor vibration suppression function"...

  • Page 304: Disturbance Impact Suppression Function

    6. Servo Tuning 6.9 Disturbance impact suppression function When a force is given to a servo motor externally, bad impact might be given to the control system. Follows are explaining the function of suppressing disturbance impact. 6.9.1 High order integral control Use for suppression of disturbance impact for control system by decreasing Group1 ID13 "Velocity Loop Integral Time Constant 1 [TVI1]"...

  • Page 305: Disturbance Observer Function

    6.9 Disturbance impact suppression function 6.9.2 Disturbance Observer Function The Disturbance Observer is a function to suppress the influence of external load torque by estimating the load torque inside the servo amplifier and adding the load torque compensation to the torque command. How to use ■...

  • Page 306: Stick-Slip Behavior Compensation Function

    6. Servo Tuning 6.10 Stick-slip behavior compensation function Explains the compensation function of stick-slip behavior which occurs by machine system friction etc. How to use ■  The function will be valid when the condition which is selected at Group9 ID34 "Stick-slip behavior compensation function"...
  • Page 307 Digital Operator In this chapter, details of the Digital operator are explained. 7.1 Digital Operator names and functions ..............7-1 7.2 Modes ........................7-1 7.2.1 Changing modes ..........................7-1 7.2.2 Mode contents ..........................7-2 7.3 Setting and display range ..................7-3 7.4 Status display mode ....................

  • Page 308: Digital Operator Names And Functions

    7. Digital Operator 7.1 Digital Operator names and functions 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. ■ Names Displays 5-digit, 7-segment LED Cursor movement, decision, and writing Key MODE...

  • Page 309: Mode Contents

    7.2 Modes 7.2.2 Mode contents Mode Contents ■ Status Display Displays the establishment of control or main power supply, Servo ON, over-travel, warning and alarm status. ■ Basic parameter Parameters necessary for test operations by JOG and auto-tuning. Can be set at general parameter mode.
  • Page 310 7. Digital Operator 7.3 Setting and display range Digital operator displays data becomes the following form. ■ Data of 0 to +65535 Symbol Digital operator display Range of a digit display Plus Position of 1 display 0 to 9 Plus Position of 10 display 10 to 99 Plus...

  • Page 311: Setting And Display Range

    7.3 Setting and display range ■ Hexadecimal data Data size Digital operator display Range of a digit display 1 byte 00 to FF 2 byte 0000 to FFFF 4 byte Low 0000 to FFFF (Bit15 to Bit0) display 4 byte High 0000 to FFFF (Bit31 to Bit16) display ■...
  • Page 312 7. Digital Operator ■ Regenerative power monitor display (Monitor ID: 4C) Display range of regenerative power is automatically changed depending on the value, to indicate optimum range. Regenerative power range Example display Unit ≦ Regenerative power ≦ 99.999 W 0.000 W ≦...

  • Page 313: Status Display Mode

    7.4 Status display mode 7.4 Status display mode In this mode, the state of servo amplifier and the display of the alarm number when alarm occurring can be checked. In addition to these, reset of alarm, the software version check of servo amplifier, and setup of a password can be performed at the time of an alarm number display.

  • Page 314: Status Display Of Warning

    7. Digital Operator 7.4.3 Status display of warning Marking Description Encoder system warning status Occurred warning below ■ Battery voltage sag Load system warning status Occurred one of warnings below ■ Regeneration overload ■ Overload ■ Servo amplifier internal temperature Power system warning status Occurred warning below ■...

  • Page 315: Alarm Code And Servo Amplifier Status Code When Alarm Occurs

    7.4 Status display mode 7.4.4 Alarm code and servo amplifier status code when alarm occurs Marking Description Please take a measure according to the contents of "Maintenance" when alarm occurs. Status code Alarm code 7.4.5 Alarm reset when alarm activated Alarm can be reset from the digital operator.

  • Page 316: How To Check The Servo Amplifier Information 1 To 3

    7. Digital Operator 7.4.7 How to check the servo amplifier information 1 to 3 Displayed Step Character, Input button How to operate number code Make the state of servo amplifier, or the state where alarm is displayed. Push the subtraction button for more than 1 second.

  • Page 317: How To Set Pass Ward

    7.4 Status display mode 7.4.8 How to set pass ward The function that can be used by setting up a password from digital operator can be restricted, and change of a parameter etc. can be forbidden. The function and the setting method can be used is the following.

  • Page 318: How To Cancel Password

    7. Digital Operator 7.4.9 How to cancel password Displayed Step character, Input button How to operate number, code Display switches as the left and the whole display lights up. Password is not set up when the display is blinking. Push WR for more than 1 second. ▲...

  • Page 319: Editing Parameters

    7.5 Editing parameters 7.5 Editing parameters The parameter inside servo amplifier can be changed into a setup put together with equipment and the machine of usage in fundamental parameter edit mode, general parameter edit mode, and system-parameter edit mode. Here, the setting method is explained to an example for fundamental parameter edit mode. 7.5.1 Basic parameters, editing system parameters Displayed Step...

  • Page 320: Editing General Parameters

    7. Digital Operator 7.5.2 Editing general parameters For example, method of changing Group9 ID01 “Negative Over Travel Function [R-OT]” from “0B” to ”00“ is as follows. Also, see next example for GroupC ID04 “Encoder Output Pulse Division [ENRAT]”. Displayed Step character, Input button How to operate...
  • Page 321 7.5 Editing parameters Displayed Step character, Input button How to operate number, code When display flashes 3 times, and then the flashing stops, the setting of denominator is completed. If the set value is out of the setting range, the set value in the step 6 is displayed without flashing 3 times.

  • Page 322: How To Tune Automatic Notch Frequency

    7. Digital Operator 7.6 How to tune automatic notch frequency Displayed Step character, Input button How to operate number, code Push MODE until it displays the left. ▲ ▼ MODE Display changes and right end LED blinks. Make as the left display with addition and ▲...

  • Page 323: Auto Ff Vibration Suppression Frequency Tuning

    Auto FF vibration suppression frequency tuning 7.7 Auto FF vibration suppression frequency tuning Displayed Step character, Input button How to operate number, code Push MODE until it displays the left. ▲ ▼ MODE Display changes and right end LED blinks. Make as the left display with addition and ▲...

  • Page 324: Offset Adjustment Of Velocity/ Torque Command

    7. Digital Operator 7.8 Offset adjustment of velocity/ torque command ■ Method of auto offset Displayed Step character, Input button How to operate number, code Push MODE until it displays the left. ▲ ▼ MODE Display changes and right end LED blinks. Make as the left display with addition and ▲...

  • Page 325: Offset Adjustment Of Analog Torque Compensation Command

    Offset adjustment of analog torque compensation command 7.9 Offset adjustment of analog torque compensation command ■ Method of auto offset Displayed Step character, Input button How to operate number, code Push MODE until it displays the left. ▲ ▼ MODE Display changes and right end LED blinks.

  • Page 326: Velocity-Controlled Jog Operation

    7. Digital Operator 7.10 Velocity-controlled JOG Operation Displayed Step character, Input button How to operate number, code Push MODE until it displays the left. ▲ ▼ MODE Display changes and right end LED blinks. Make as the left display with addition and ▲...

  • Page 327: Encoder Clear

    7.11 Encoder Clear 7.11 Encoder Clear Displayed Step character, Input button How to operate number, code Push MODE until it displays the left. ▲ ▼ MODE Display changes and right end LED blinks. Make as the left display with addition and ▲...

  • Page 328: Motor Origin Search

    7. Digital Operator 7.13 Motor origin search Displayed Step character, Input button How to operate number, code Push MODE until it displays the left. ▲ ▼ MODE Display changes and right end LED blinks. Make as the left display with addition and ▲...

  • Page 329: Alarm History Display

    7.14 Alarm history display 7.14 Alarm history display Displayed Step character, Input button How to operate number, code Push MODE until it displays the left. ▲ ▼ MODE Display changes and right end LED blinks. Display the number of an alarm history to check with an addition-and-subtraction button.

  • Page 330: How To Clear Alarm History

    7. Digital Operator 7.15 How to clear alarm history Displayed Step character, Input button How to operate number, code Push MODE until it displays the left. ▲ ▼ MODE Display changes and right end LED blinks. Display the left with the addition-and-subtraction ▲...

  • Page 331: Fixed Monitor Display

    7.17 Fixed monitor display 7.17 Fixed monitor display The display shows monitoring value in 2 seconds after powering up. It shows monitoring value set at Group D ID11 “Monitor Display Selection [MONDISP]” in status display mode. “Monitor” to be displayed is the same as parameter ID in monitor display mode, but in the setting value “00 STATUS servo amplifier status monitor”, the display will be different from the code display in the monitor mode and will show the amplifier status in the status display mode (- or Ξ...
  • Page 332 No Text on This Page.
  • Page 333 Maintenance In this chapter, trouble shooting, inspection and service parts are explained. 8.1 Trouble shooting ..................... 8-1 8.2 List of warning and alarm ..................8-4 8.2.1 Warning List ............................8-4 8.2.2 Alarm list ............................8-5 8.3 Trouble shooting when alarm activated ............. 8-10 8.3.1 Alarm display ..........................

  • Page 334: Trouble Shooting

    8. Maintenance 8.1 Trouble shooting When troubles occurred without any alarm displayed, check and take corrective actions for them by referring to the description below. When alarm occurs, take corrective measures referring to “8.3 Trouble shooting when alarm is activated “. “≡“...
  • Page 335 8.1 Trouble shooting Servo motor operation is unstable or lower speed than the specified velocity command. ■ Investigation Assumed causes and corrective actions Stop the input of proportional control if the ■ signal is in. Check the status of proportional control Check of “Functions enabling condition input signal.
  • Page 336 8. Maintenance Abnormal sound occurs ■ Investigation Assumed causes and corrective actions Observe by operating servo motor by stand ■ Check whether there is any problem in alone. mechanical attachment. Check that the coupling does not have core ■ shift or unbalance. Confirm that the twisted pair and shield ■...

  • Page 337: List Of Warning And Alarm

    8.2 List of warning and alarm 8.2 List of warning and alarm Names, contents and stopping operation of warning/ alarm, and alarm-reset methods are listed below. 8.2.1 Warning List Name Contents When the effective torque exceeds the ■ Overload Warning Overload Warning Level In case of overload of regenerative ■...

  • Page 338: Alarm List

    8. Maintenance 8.2.2 Alarm list Operation at detecting: “DB“ performs the slowdown stop of the servo motor by dynamic brake operation at the alarm generating. Operation at detecting: “SB“ performs the slowdown stop of the servo motor with sequence current limiting value. When dynamic brake is selected by Emergency Stop Operation selection, the servo motor is decelerating stopped for the dynamic brake operation regardless of the operation when detecting it.
  • Page 339 8.2 List of warning and alarm Alarm code Detection Alarm 3bits output PY compatible code Alarm name Alarm contents Operations reset Display Bit7 Bit6 Bit5 ALM8 ALM4 ALM2 ALM1 ■ Incremental encoder (A, B, Z) signal line Encoder Connector 1 Disconnection break ■...
  • Page 340 8. Maintenance Alarm code Detection Alarm 3bits output PY compatible code Alarm name Alarm contents Display Operations reset Bit7 Bit6 Bit5 ALM8 ALM4 ALM2 ALM1 External Absolute Encoder Internal Error 0 ■ Encoder failure External Absolute Encoder Internal Error 1 ■...
  • Page 341 8.2 List of warning and alarm Alarm code Detection Alarm 3bits output PY compatible code Alarm name Alarm contents Operations reset Display Bit7 Bit6 Bit5 ALM8 ALM4 ALM2 ALM1 ■ Motor rotation speed reaches 120 % of the Over-speed highest speed limit. Velocity Control Error ■...
  • Page 342 8. Maintenance Note 1) When the main power voltage increases or decreases gradually or is suspended, main circuit low voltage or main power failed phase may be detected. Note 2) Control power supply under-voltage or servo ready OFF is detected during instantaneous break of 1.5 to 2 cycles. Detection of control power supply under-voltage and servo ready OFF can be delayed by setting larger value of Group B ID16 ”Power Failure Detection Delay Time [PFDDLY]”.

  • Page 343: Trouble Shooting When Alarm Activated

    8.3 Trouble shooting when alarm activated 8.3 Trouble shooting when alarm activated 8.3.1 Alarm display When an alarm occurs, the display shows the alarm code and the servo amplifier status code. Display Description Take appropriate action based on "8.3.2 Corrective action for alarm". Servo amplifier status code Alarm code Status code...
  • Page 344 8. Maintenance Alarm code 22 (Current Detection Error 0) ■ Cause Status at the time of alarm Issued at input of servo ON. ✔ ✔  Corrective actions Cause Investigation and corrective actions Defect in internal circuit of servo ■ Replace the servo amplifier.
  • Page 345 8.3 Trouble shooting when alarm activated Alarm code 26 (Safe Torque Off error 2) ■ Cause Status at the time of alarm Occurred when control power is turned on. ✔ ✔ Occurred during the operation. ✔  Corrective actions Cause Investigation and corrective actions Defect in internal circuit of servo ■...
  • Page 346 8. Maintenance Alarm code 41 (Overload 1) ■ Cause Status at the time of alarm Issued at input of servo ON. ✔ ✔ ✔ After command input, issued without rotating the ✔ ✔ ✔ ✔ ✔ motor. After command input, brief motor rotation ✔...
  • Page 347 8.3 Trouble shooting when alarm activated Alarm code 42 (Overload 2) ■ Cause Status at the time of alarm Issued at input of servo ON. ✔ ✔ ✔ After command input, issued without rotating ✔ ✔ ✔ ✔ ✔ ✔ ✔...
  • Page 348 8. Maintenance Alarm code 43 (Regenerative Overload) ■ Cause Status at the time of alarm Issued when control power supply is turned ON. ✔ Issued when main circuit power supply is turned ON. ✔ ✔ ✔ ✔ ✔ ✔ Issued during operation. ✔...
  • Page 349 8.3 Trouble shooting when alarm activated Alarm Code 52 (In-rush prevention resistance Overheat) ■ Cause Status at the time of alarm Issued when control power supply is turned ✔ Issued when main circuit power supply is ✔ turned ON. Issued during operation. ✔...
  • Page 350 8. Maintenance Alarm Code 54 (Built-in Regenerative Resistance Overheat) ■ Cause Status at the time of alarm Issued when control power supply is turned ✔ ✔ Issued during operation. ✔ ✔ ✔  Corrective actions Cause Investigation and corrective actions Defect in internal circuit of servo ■...
  • Page 351 8.3 Trouble shooting when alarm activated Alarm Code 55 (External Error) ■ When host device or thermal output signal of external regenerative resistor are not connected Cause Status at the time of alarm Issued when control power is turned ON. ✔...
  • Page 352 8. Maintenance Alarm Code 56 (Main Circuit Power Device Overheat) ■ Cause Status at the time of alarm Issued when control power is turned ON. ✔ ✔ ✔ Issued at input of servo ON. ✔ ✔ ✔ Issued while starting and stopping the ✔...
  • Page 353 8.3 Trouble shooting when alarm activated Alarm Code 62 (Main Circuit Under-voltage) ■ Cause Status at the time of alarm Issued when control power is turned ON. ✔ ✔ Issued when main circuit power supply is ✔ ✔ ✔ turned ON. Issued during operation.
  • Page 354 8. Maintenance Alarm Code 71 (Control Power Supply Under-voltage) ■ Cause Status at the time of alarm Issued when control power is turned ON. ✔ ✔ Issued during operation. ✔ ✔  Corrective actions Cause Investigation and corrective actions Defect in internal circuit of servo ■...
  • Page 355 8.3 Trouble shooting when alarm activated Alarm Code 81 (Encoder Connector 1 Disconnection) ■ Alarm Code 87 (CS Signal Disconnection) ■ Cause Status at the time of alarm Issued when control power is turned ON. ✔ ✔ ✔ ✔ Issued during operation. ✔...
  • Page 356 8. Maintenance [Use of EN2 with motor encoder in the semi-closed system] Cause Status at the time of alarm Issued when control power is turned ON. ✔ ✔ ✔ ✔ Issued during operation. ✔ ✔ ✔  Corrective actions Cause Investigation and corrective actions For motor encoder wiring: ■...
  • Page 357 8.3 Trouble shooting when alarm activated Alarm Code 84 (Absolute Encoder Communication Error) ■ Cause Status at the time of alarm Issued when control power is turned ON. ✔ ✔ ✔ Issued during operation. ✔  Corrective actions Cause Investigation and corrective actions Defect in internal circuit of motor ■...
  • Page 358 8. Maintenance Alarm Code 88 (External Absolute Encoder Communication Error) ■ Cause Status at the time of alarm Issued when control power is turned ON. ✔ ✔ ✔ Issued during operation. ✔ ✔  Corrective actions Cause Investigation and corrective actions Defect in internal circuit of external ■...
  • Page 359 8.3 Trouble shooting when alarm activated Alarm Code BD (External encoder (EnDat) combination error) ■ Cause Status at the time of alarm Issued when control power is turned ON. ✔  Corrective actions Cause Investigation and corrective actions Combined external encoder is not Replace to our recommended ■...
  • Page 360 8. Maintenance Alarm Code A1 (Absolute Encoder Internal Error 1) ■ Cause Status at the time of alarm Issued when control power is turned ON. ✔ ✔ Issued during operation. ✔ ✔  Corrective actions Cause Investigation and corrective actions Check the battery connector of ■...
  • Page 361 8.3 Trouble shooting when alarm activated Alarm Code A3 (Absolute Encoder Internal Error 3) ■ Cause Status at the time of alarm Issued when control power is turned ON. ✔ ✔ Issued while stopping the servo motor. ✔ ✔ Issued while rotating the servo motor. ✔...
  • Page 362 8. Maintenance Alarm Code A4 to A6 (Absolute Encoder Internal Error 4 to 6) ■ Alarm Code AA, AC, AD, AF (Absolute Encoder Internal Error 10, 12, 13, 15) ■ Cause Status at the time of alarm Issued when control power is turned ON. ✔...
  • Page 363 8.3 Trouble shooting when alarm activated Alarm Code B0 to BF (External absolute encoder Internal Error 0 to 15) ■ Cause Status at the time of alarm Issued when control power is turned ON. ✔ Issued during operation. ✔ ✔ ...
  • Page 364 8. Maintenance Alarm Code C1 (Over-speed) ■ Cause Status at the time of alarm Issued when command is entered after ✔ ✔ Servo ON. Issued when the servo motor is started. ✔ ✔ ✔ Issued other than operating and starting ✔...
  • Page 365 8.3 Trouble shooting when alarm activated Alarm Code C3 (Velocity Feedback Error) ■ Cause Status at the time of alarm Issued when command has entered. ✔ ✔ ✔ Issued when control power is turned ON. ✔  Corrective actions Cause Investigation and corrective actions Check the wiring conditions of ■...
  • Page 366 8. Maintenance Alarm Code D1 (Excessive Position Deviation) ■ Cause Status at the time of alarm Issued when control power ✔ is turned ON. Issued when servo ON and ✔ ✔ while motor stopping. Issued immediately after ✔ ✔ ✔ ✔...
  • Page 367 8.3 Trouble shooting when alarm activated Alarm Code D2 (Faulty Position Command Pulse Frequency 1) ■ Cause Status at the time of alarm Issued after entering position command ✔ pulse.  Corrective actions Cause Investigation and corrective actions Decrease the frequency of the ■...
  • Page 368 8. Maintenance Alarm Code D5 (Dual position error excess) ■ Cause Status at the time of alarm Issued immediately after ✔ ✔ ✔ ✔ ✔ ✔ ✔ ✔ entering the command. Issued during starting / stopping ✔ ✔ ✔ ✔ ✔...
  • Page 369 8.3 Trouble shooting when alarm activated Alarm Code D6 (Dual position error feedback error) ■ Cause Status at the time of alarm Issued after entering position command ✔ ✔ ✔ pulse.  Corrective actions Cause Investigation and corrective actions Lower a frequency of command ■...
  • Page 370 8. Maintenance Alarm Code E1 (Memory Error 1) ■ Cause Status at the time of alarm Issued during display key operation or ✔ setup software operation.  Corrective actions Cause Investigation and corrective actions Defect in internal circuit of servo ■...
  • Page 371 8.3 Trouble shooting when alarm activated Alarm Code E5 (System Parameter Error 1) ■ Cause Status at the time of alarm Issued when control power is turned ON. ✔ ✔  Corrective actions Cause Investigation and corrective actions Confirm the model number of the ■...
  • Page 372 8. Maintenance Alarm Code EA (Memory Error 3) ■ Cause Status at the time of alarm Issued during display key operation or ✔ setup software operation.  Corrective actions Cause Investigation and corrective actions Defect in internal circuit of servo ■...
  • Page 373 8.3 Trouble shooting when alarm activated Alarm Code F1 (Task Process Error) ■ Cause Status at the time of alarm Issued during operation. ✔  Corrective actions Cause Investigation and corrective actions Defect in internal circuit of servo ■ Replace the servo amplifier. ■...

  • Page 374: Correspondence Table For Endat Error Message And Alarm Code

    8. Maintenance 8.3.3 Correspondence table for EnDat Error message and alarm code EnDat Error message RS3 Servo Amplifier Alarm Code Priority Light Source Signal amplitude Position Overvoltage Undervoltage Overcurrent Battery Currently not allocated Extension planned "Error message" means Operation Status Word0 of EnDat. "Alarm Code"...

  • Page 375: Encoder Clear And Alarm Reset

    8.4 Encoder clear and alarm reset 8.4 Encoder clear and alarm reset Procedure of "encoder clear and alarm reset method" varies depending on motor encoder you use. See table below and return to normal operation from alarm state. Please operate "alarm reset" after solving alarm cause.

  • Page 376: Inspection

    8. Maintenance 8.5 Inspection For maintenance purposes, a daily inspection is typically sufficient. Upon inspection, refer to the following description. Conditions Inspection Items Methods Solution if abnormal During While target Time operation stopping Check for excessive Daily Vibration ✔ vibration than Contact dealer or usual.

  • Page 377: Service Parts

    8.6 Service parts 8.6 Service parts 8.6.1 The parts requiring Inspection Some parts have aging degradation. Please request us an overhaul by referring to the periods below for preventive maintenance. Number of average Part name replacement Corrective measures / usage conditions periods Replacement with new part is necessary.
  • Page 378 8. Maintenance Cooling Fan motor ■  The servo amplifier is designed corresponding to the pollution degree specified in EN61800-5-1 or IEC 664-1. It is not for dust proof or oil proof, so use it in an environment at Pollution Level 2 or less (i.e., Pollution Level 1, 2). ...

  • Page 379: Replacing Battery For Motor Encoder

    8.6 Service parts 8.6.2 Replacing battery for motor encoder Battery box attached to the servo amplifier ■ Process Description Turn ON the servo amplifier control power supply. Prepare the replacement lithium battery. [Our model number: AL-00879511-01] Detach the battery connector from servo amplifier. Detach the battery box from servo amplifier.
  • Page 380 8. Maintenance Battery unit attached to junction cable for motor encoder ■ Process Description Turn ON the servo amplifier control power supply. Prepare the replacement lithium battery. [Our model number: AL-00697958-01] Open the battery unit. Detach the battery connector from the battery case. Take out the old lithium battery and insert prepared new one to the battery case.
  • Page 381 Dedicated function In this chapter, the things concerning dedicated function are explained. 9.1 Full-closed system ....................9-1 9.1.1 Illustration of system components ................9-1 9.1.2 Internal block diagram ................... 9-2 9.1.3 Combination encoder ..................... 9-3 9.1.4 Wiring ........................9-4 9.1.4.1 Signal names and its pin numbers for external encoder (EN2) ......9-4 9.1.4.2 EN2 pin assignment ....................

  • Page 382: Full-Closed System

    9. Dedicated function 9.1 Full-closed system 9.1.1 Illustration of system components RS3□01/02/03/05 ■ T S R Wiring breaker (MCCB) Used to protect power line. Turns off the power supply when SANMOTION R 3E Model overload runs. Enables parameter setup and monitoring through communication with a PC.

  • Page 383: Internal Block Diagram

    9.2 Internal block diagram 9.1.2 Internal block diagram Feed Forward Control Servo motor Valid in position ＋ control Position ＋ Position Position command ＋ control Velocity control Torque control Machine input process controller counter ＋ ＋ ＋ ＋ － ＋ ＋...

  • Page 384: Combination Encoder

    9. Dedicated function 9.1.3 Combination encoder Apply to the product below as external combination encoder. Incremental encoder ■ Manufacturer Series Output signal Power Minimum name supply resolution Renishaw plc RGH22 0.1 to 5μm RS422 compliant, LIDA400 0.05 to 1μm degree phase 5V±5% HEIDENHAIN K.K.

  • Page 385: Wiring

    9.1.4 Wiring 9.1.4 Wiring Connect external encoder to EN2 when using as full-closed system. See "4.3 Wiring for motor encoder" for motor encoder wiring (EN1 connector). 9.1.4.1 Signal names and its pin numbers for external encoder (EN2) Incremental encoder ■ Signal Remarks Description...

  • Page 386: En2 Pin Assignment

    9. Dedicated function 9.1.4.2 EN2 pin assignment EN2 36210-0100PL (soldered side) ■ Connector model number (3M Japan Limited ) ■ Applicable cable Model Number Applicable wire size diameter Connector 36210-0100PL AWG30 to AWG18 －...

  • Page 387: Basic Setting Of Full-Closed System

    9.1.5 Basic setting of full-closed system 9.1.5 Basic setting of full-closed system Explains basic setting of the system for full-closed system operation. 9.1.5.1 Specification confirmation Confirm specifications of servo amplifier through the setup software or the digital operator. [Step 1: How to confirm specifications of servo amplifier] Confirm that your servo amplifier is fit to full-closed system or not by the information below.

  • Page 388: System Parameter Setting

    9. Dedicated function 9.1.5.2 System parameter setting Set the parameters as follows for use of full-closed control. Control cycle ■ Select a control cycle of velocity control and torque control. "00: Standard_Sampling" shall be selected for use of full-closed control. Group Selection Description...

  • Page 389: Full-Closed Encoder Selection

    9.1.5 Basic setting of full-closed system 9.1.5.3 Full-closed encoder selection EN2encoder type ■ Selects the external encoder type connected to EN2. Select depending on encoder type as below: 8th digit of servo amplifier model number is 1 or 9 (Absolute encoder): "22: EnDat_ABS" 8th digit of servo amplifier model number is 2 or A (Incremental encoder): "82: Pulse_without_CS"...

  • Page 390: Feedback Pulse Setting

    9. Dedicated function 9.1.5.4 Feedback pulse setting External incremental encoder resolution ■ Sets pulse amount (multiply 1) of external encoder per 1 turn of motor axis. Be valid after control power cycle. Group Setting range Unit System 500 to 500,000 (multiplied 1) ...
  • Page 391 9.1.5 Basic setting of full-closed system External absolute encoder resolution (for absolute encoder) ■ Sets the external encoder resolution per equal to motor single-turn. Be valid after control power cycle. Group Setting range Unit System 2048 to 8388608  Setting sample [Use condition] ・...
  • Page 392 9. Dedicated function Feedback pulse electronic gear ■ Sets the electronic gear ratio for converting motor encoder resolution to external encoder resolution. This parameter is used for calculation of dual position error (position error between motor encoder and external encoder). Be valid after control power cycle.
  • Page 393 9.1.5 Basic setting of full-closed system External Encoder Digital Filter ■ Sets the digital filter for external encoder. Even if noise is given to external incremental encoder, eliminate pulses below set value, as noise. Considering encoder resolution and maximum operation speed of servo motor, and set a quarter of maximum speed pulse width as a rough indication.

  • Page 394: Rotation Direction Setting For Servo Motor

    9. Dedicated function 9.1.5.5 Rotation direction setting for servo motor At full-closed control, servo motor rotation direction is decided by command polarity and external incremental encoder polarity. Position, Velocity, Torque Command Input Polarity ■ Selects command polarity of position command pulse. Rotation direction of servo motor is able to invert without changing command wiring.

  • Page 395: Encoder Output Pulse Signal Setting

    9.1.5 Basic setting of full-closed system 9.1.5.6 Encoder output pulse signal setting Encoder Output Pulse Divide Selection ■ Selects encoder output pulse divide signal. Select desired signal when upper controller requires encoder pulse signal. Be valid after control power cycle. Group Selection Description...

  • Page 396: Dual Position Feedback Compensation Setting

    9. Dedicated function 9.1.5.7 Dual position feedback compensation setting Dual position feedback compensation performs full-closed control using along with external encoder feedback and motor encoder feedback, by setting dual position feedback filter. From above, it can use full-closed control at motor stop or constant rotation, and use semi-closed control at accel/decel, so accuracy of full-closed control and response of semi-closed control are able to go together.

  • Page 397: Alarm Detection Setting

    9.1.5 Basic setting of full-closed system 9.1.5.8 Alarm detection setting Warning and alarm are able to output by detecting position difference between external encoder and motor encoder. It is able to avoid that continuous rotation of motor when abnormal issue is occurred like as external encoder signal does not change by something or change to opposite direction of motor encoder.

  • Page 398: External Encoder Signal Output Waiting Function Setting

    9. Dedicated function 9.1.5.9 External encoder signal output waiting function setting If there is delay from supplying power to outputting encoder signal depending on external encoder specification, this function is able to delay boot time of servo amplifier along with encoder signal start time.

  • Page 399: Precautions

    9.1.6 Precautions 9.1.6 Precautions 9.1.6.1 Power supply for external encoder Please prepare power supply for external encoder by yourself. ■ Power supply to external encoder shall be start at before or same timing of servo amplifier ✔ control power. 9.1.6.2 External encoder operation Please check that external encoder has no problem before servo ON (exciting servo motor).

  • Page 400: Tandem Operation

    9. Dedicated function 9.2 Tandem operation This is the function that operates 2 axes with checking position error each other and compensating difference, through local communication function built in the servo amplifier. 9.2.1 Illustration of system components T S R Wiring breaker (MCCB) Enables parameter setup Used to protect power line.
  • Page 401 9.2 Tandem-operation Precaution for system construction ■ ✔ Construct system as balance of machine system (load inertia moment, friction, load torque) will be same in 2 axes. When that balance differs in 2 axes, overload alarm might occur only in 1 axis. At the tandem operation, please use servo motors and amplifiers with a same model ✔...

  • Page 402: Internal Block Diagram

    9. Dedicated function 9.2.2 Internal block diagram Feed Forward control Axis 1 Servo motor ＋ Position command input process Position, velocity controller Torque control ＋ ＋ Velocity command input process Torque command input process for Absolute encoder [Axes sync compensation] 4-multiplier [Axes sync controller] Motor encoder...

  • Page 403: Wiring

    9.2.3 Wiring 9.2.3 Wiring For use of the tandem operation, connect the communication cable to CN5. NO.8 NO.1 NO.8 NO.1 Cable ケーブル For use of the Safe Torque Off function, connect the wiring of CN4 (connector for ✔ safety device connection), between 2 axes. See "12.6.5 Communication cable between servo amplifiers"...
  • Page 404 9. Dedicated function Polarity selection of axes-sync compensation input ■ Fit a polarity of position deviation each other. Set "01: Reversed" to one axis if rotation directions of combination axes are different. Group Setting range Default Contents 00:Not_reversed Without reversing 00: Not_reversed 01:Reversed Reversing...

  • Page 405: How To Use

    9.2.5 How to use 9.2.5 How to use Tandem operation has the mutual compensating method and the Master-Slave method. ■  Mutual compensating method: This is the method that 2 axes are checking position error each other and compensating difference, through local communication function built in the servo amplifier.

  • Page 406: Error Detection

    9. Dedicated function 9.2.6 Error detection Warnings or alarms are able to output by detecting position deviation error of own axis and counterpart axis. Avoids continuance of servo motor rotation if motions between 2 axes have gap by something cause. Axes-sync error warning level ■...

  • Page 407: Precaution

    9.2.7 Precaution 9.2.7 Precaution  At the tandem operation, different load inertia moment ratios cannot use in 2 axes. (Please set same load inertia moment ratio in 2 axes if using the value estimated by the load inertia moment ratio estimation.) ...
  • Page 408 No Text on This Page.
  • Page 409 Safe-Torque-Off (STO) function In this chapter, details of Safe-Torque-Off (STO) function are explained. 10.1 Illustration of system configuration ..............10-1 10.2 Safe-Torque-Off function ..................10-2 10.2.1 Outline ............................10-2 10.2.2 Standards conformity ........................10-3 10.2.3 Risk assessment .......................... 10-3 10.2.4 Residual risk ..........................10-3 10.2.5 Delay circuit ..........................

  • Page 410: Illustration Of System Configuration

    10. Safe Torque Off function 10.1 Illustration of system configuration T S R [Molded case circuit breaker (MCCB)] Used to protect power line. Enables parameter setting SANMOTION R 3E Model Turns off the power supply monitoring through when overcurrent runs. communication with a PC.

  • Page 411: Outline

    10.2 Safe Torque Off function 10.2 Safe-Torque-Off function Safe-torque-off function reduces injury risks and ensures the safety for those who work near moving parts of equipment. This function employs 2-channel input signal to block current to servo motor. Previously we ensure machine safety by blocking current to servo amplifier with use of electromagnetic contactor.

  • Page 412: Standards Conformity

    10. Safe Torque Off function 10.2.2 Standards conformity This function meets the following safety functions, safety standards, and safety parameters. Item Standard Safety IEC61800-5-2, safe-torque-off (STO) / EN61800-5-2 ■ functions IEC60204, Stop Category 0 / EN60204 ■ IEC61508(2 ), SIL3, HFT=1, type B / EN61508 ■...

  • Page 413: Delay Circuit

    10.2 Safe Torque Off function 10.2.5 Delay circuit We offer two paths, with or without delay circuit between safety input 1(HGWOFF1)/safety input 2 (HWGOFF2) input circuit and servo motor current control signal blocking circuit. When using in vertical axis, please use path with delay circuit to prevent motor shaft falling due to holding brake operation delay during safe torque off function operation.

  • Page 414: Wiring

    10. Safe Torque Off function 10.3 Wiring 10.3.1 CN4 connector layout CN4 2013595-3 (soldered side) ■ 10.3.2 Connection diagram of CN4-terminals Functions and connection circuit of each CN4-teminal are as shown below. Terminal Signal Code Description These are connecting terminals when the function is not used. Do not use these terminals.

  • Page 415: Example Of Wiring

    10.3 Wiring Terminal Signal Code Description This is a signal to monitor safe-torque-off functions faults. Connection circuit: Connects to photo coupler or relay circuit. Power supply voltage range (Uext): DC24V±10% EDM- Maximum current value: 50mA Output voltage: Uext-0.5 -Uext Error detection Servo amplifier Host equipment...
  • Page 416 10. Safe Torque Off function Example of wiring to safety unit (multiple-servo amplifier connected) Servo amplifier Safety unit HWGOFF1+ 4 HWGOFF1- Output HWGOFF2+ HWGOFF2- EDM+ EDM- Feedback input Servo amplifier HWGOFF1+ 4 HWGOFF1- HWGOFF2+ HWGOFF2- EDM+ EDM- Servo amplifier HWGOFF1+ 4 HWGOFF1- HWGOFF2+ HWGOFF2-...

  • Page 417: Safety Input-Off Shot Pulse For Safety Device Self-Diagnosis

    10.3 Wiring 10.3.4 Safety input-off shot pulse for safety device self-diagnosis When you connect safety device supplied with safety input-off shot pulse signal for self-diagnosis added to safety output signal, such as safety unit or safety sensor, use safety device whose safety input-off shot pulse signal is 1ms or less. Safe-torque-off function is not activated when the period of safety input signal (HWGOFF1, HWGOFF2)-OFF is 1ms or less.

  • Page 418: Safe-Torque-Off Operation

    10. Safe Torque Off function 10.4 Safe-Torque-Off operation 10.4.1 Safe-torque-off state When safety input 1(HWGOFF1) or safety input 2 (HWGOFF2) signal is off (as shown the table below), the state becomes safe-torque-off state. In this state, servo-ready signal is turned off, and servo-on signal reception is prohibited. Signal Input condition Servo amplifier condition...

  • Page 419: Restoration From Safe-Torque-Off State

    10.4 Safe-Torque-Off operation 10.4.2 Restoration from safe-torque-off state In the state servo-on signal is not input as described in 10.4.1, turning on safety input 1 or 2 activates SRDY state. Operation is restarted on inputting servo-on signal. (For delay circuit equipped hardware, it takes maximum 700ms to become SRDY state.) Safety input 1 Safety input 2...

  • Page 420: Safe-Torque-Off During Servo Motor Running

    10. Safe Torque Off function 10.4.3 Safe-Torque-Off during servo motor running Stoppage behavior varies depending on forced outage operation settings (ACTEMR Group B ID02). In case of setting "00: SERVO-BRAKE" at GroupB ID02 "Emergency Stop Operation ■ [ACTEMR]". Stoppage behavior varies depending on amplifier model numbers. ...
  • Page 421 10.4 Safe-Torque-Off operation  RS3#######4 (with safe-torque-off delay circuit) Motor stops with servo brake when safety input 1 or 2 is turned off. Safety input 1 Safety input 2 Stoppage Servo motor current (Motor-free) Holding brake excitation Released Brake-activated signal Dynamic brake signal Released Brake-activated...
  • Page 422 10. Safe Torque Off function In case of setting "01: DYNAMIC-BRAKE" at GroupB ID02 "Emergency Stop Operation ■ [ACTEMR]". When safety input 1 or 2 is turned off, this setting blocks servo motor current, and then stops servo motor with dynamic brake after. Transition behavior to safe-torque-off state varies depending on amplifier model numbers.

  • Page 423: Safe-Torque-Off During Servo Motor Stoppage

    10.4 Safe-Torque-Off operation 10.4.4 Safe-Torque-Off during servo motor stoppage When safety input 1 or safety input 2 is turned off, holding brake signal outputs brake-activated state，however this blocks servo motor current, so “holding brake activation delay time” becomes invalid. In line with this, servo motor may run by an external force during the period from the time holding brake signal activation state output to the time holding brake being activated.

  • Page 424: Deviation Clear

    10. Safe Torque Off function 10.4.5 Deviation clear When selecting 02:Type3 or 03:Type4 (not to clear deviations at servo-off state) on Group8 ID19 "Deviation Clear Selection [CLR]", please pay careful attention to the followings. When safe-torque-off function activated under the condition that position command is input at the time of position control, position deviation accumulates and this causes alarm (excess position deviation: alarm D1) activated.

  • Page 425: Error Detection Monitor (Edm)

    10.5 Error Detection Monitor (EDM) 10.5 Error Detection Monitor (EDM) 10.5.1 Specifications Error detection monitor (EDM) output is a signal to monitor wiring errors in safe-torque-off circuit or between safety equipment and safety input. The following table shows connections between safety input (HWGOFF1 and HWGOFF2) and error detection monitor (EDM) output.

  • Page 426: Error Detection Method

    10. Safe Torque Off function 10.5.3 Error detection method EDM output will not on and EDM-signal remains off even if emergency stop button is pressed, in the case of an error such as either of safety input remains on inside of servo amplifier. In line with this, errors like this can be detected by developing system with use of safety unit enabling to detect any failures in the connections in the above table.

  • Page 427: Verification Test

    10.6 Verification test 10.6 Verification test For use of the Safe Torque Off function, you must confirm that the safe torque off operations correctly during machine startup, servo amplifier replacement and test operation. Even if it is not fit to the case above, strongly recommended that confirmation of function operation at least once every three months.

  • Page 428: Safety Precautions

    10. Safe Torque Off function 10.7 Safety precautions Please thoroughly observe the following safety precautions to use safe-torque-off functions. Incorrect use of the functions can lead to personal injury or death. Safety system with safe-torque-off function shall be designed by the person with expertise of ✔...
  • Page 429 Selection In this chapter, each kind of selections are explained. 11.1 Servo motor sizing ....................11-1 11.1.1 Flowchart of servo motor sizing ..................... 11-1 11.1.2 Make an operation pattern ......................11-2 11.1.3 Calculate motor shaft conversion load moment of inertia (J ) ............

  • Page 430: Servo Motor Sizing

    11．Selection 11.1 Servo motor sizing It is estimated that selection of servo motor capacity computes required servo motor capacity from machine specification (composition). In addition, since the capacity selection of a servo motor can download "the capacity selection software of a servo motor" for free from our company "website", please use it here.

  • Page 431: Make An Operation Pattern

    11.1 Servo motor sizing 11.1.2 Make an operation pattern Velocity [min Time [s] ta=Acceleration time tb=Deceleration time tr=Constant velocity time ts=Stop time t=1cycle 11.1.3 Calculate motor shaft conversion load moment of inertia (J The inertia moment of a moving part. ■...

  • Page 432: Calculate Motor Shaft Conversion Load Torque (T )

    11．Selection 11.1.4 Calculate motor shaft conversion load torque (T Ball screw (in horizontal axis) ■ (F + μ W) × × × [N・m] η 2π Ball screw (in vertical axis) ■ When motor drives upward (F + (μ +1)W) × ×...
  • Page 433 11.1 Servo motor sizing Belt pulley (in vertical axis) ■ (F+μ W) × × × [N・m] [N・m] η η Belt pulley (in vertical axis) ■ Belt pulley (in vertical axis) (F+(μ +1)W) × × × [N・m] η When motor drives downward (F+(μ...

  • Page 434: Calculate Acceleration Torque (T )

    11．Selection 11.1.5 Calculate acceleration torque (T 2π (N ) × (J [N・m] 60 × ta : Servo motor rotation velocity after acceleration [min Servo motor rotation velocity before acceleration [min : Load inertia moment [kg･m : Rotor inertia moment of servo motor [kg･m 11.1.6 Calculate deceleration torque (T 2π...

  • Page 435: Selection Of Regenerative Resistor

    11.2 Selection of regenerative resistor 11.2 Selection of regenerative resistor Calculate "regeneration effective power (PM)," and determine the capacity of the regeneration resistance to be used. Judge whether usage of an internal regenerative register machine is possible by this calculation result. 11.2.1 How to find "regeneration effective power (PM)"...

  • Page 436: How To Find "Regeneration Effective Power (Pm)" Of The Vertical Axis Drive By A Formula

    11．Selection 11.2.2 How to find "regeneration effective power (PM)" of the vertical axis drive by a formula Calculate regeneration energy. ■ EM = EVUb + EVD + EVDb × tUb - × N × 3・Keφ × × 3・Rφ × tUb ×...

  • Page 437: Selection Of Regenerative Resistor

    11.2 Selection of regenerative resistor 11.2.3 Selection of regenerative resistor Judge whether an internal regenerative resistor can be used from the calculation result. Moreover, when you cannot use it, determine the capacity of an external regeneration resistor. Allowable power of an internal regenerative resistor ■...

  • Page 438: Selection Of External Regenerative Resistor

    11．Selection 11.2.4 Selection of external regenerative resistor With the regeneration effective power "PM" found from calculation, choose the external regeneration resistor to be used from the following table. Servo amplifier [PM] 20W or 55W or 60W or 110W or 125W or model number less less...

  • Page 439: Specification Of External Regenerative Resistor

    11.2 Selection of regenerative resistor 11.2.5 Specification of external regenerative resistor The resistor model name corresponds with the sign of the external regeneration resistor selected for the preceding clause. Thermostat Permissi Allowable Rated Resista Detection instantan Resistor Resistor Model power temperature Effective eous...

  • Page 440: Connection Of Regenerative Resistor

    11．Selection 11.2.6 Connection of regenerative resistor The connection method of a resistor corresponds with the connection number of the external regeneration resistor selected by the 4) clause. Connection of regenerative resistor ■ Connection Number Ⅲ Connection Number Ⅳ One resistance is connected. Series connection about two ■...

  • Page 441: Thermostat Connection Of External Regenerative Resistor

    11.2 Selection of regenerative resistor 11.2.7 Thermostat connection of external regenerative resistor Connect a thermostat to either of "the general-purpose inputs CONT1-CONT8". Depending on the connected general-purpose input signal terminal, please set Group9 ID40 "External Trip Input Function [EXT-E]". Example: when connecting the thermostat to CONT6 ■...

  • Page 442: Confirmation Method Of Regeneration Power Pm In Actual Operation

    11．Selection 11.2.9 Confirmation method of regeneration power PM in actual operation Regeneration power PM can be easily confirmed in the digital operator or by R ADVANCED MODEL setup software. Digital operator: Monitor mode ID40 "Regenerative Resistor Operation Percentage monitor" ■ Setup software: Monitor display ID40 "Regenerative Resistor Operation Percentage monitor"...

  • Page 443: Precautions For External Regenerative Resistor Use

    11.2 Selection of regenerative resistor 11.2.10 Precautions for external regenerative resistor use The place where corrosive gas has occurred, and when there is much dust, insulated ■ degradation, corrosion, etc .may arise. There fore be careful of an attachment place. External regeneration resistor should be placed by keeping enough distance from the other ■...
  • Page 444 No Text on This Page.
  • Page 445 Appendix In this chapter, servo motor outline drawing and datasheet, servo amplifier outline drawing and option parts are explained. 12.1 Standards Conformity ..................12-1 12.1.1 Standards Conformity ........................12-1 12.1.2 Over-voltage Category，Protection Grade，Pollution Level ............12-2 12.1.3 Connection and installation ......................12-2 12.1.4 UL File Number ..........................
  • Page 446 12.6.4 Analog monitor related item ......................12-46 12.6.5 Communication cable of tandem operation between amplifiers ..........12-47 12.6.6 Junction cable for servo motor ....................12-47 12.6.7 Servo motor powe cable ......................12-49 12.6.8 External regenerative resistor ....................12-55 12.7 Optional parts dimensions ................12-56 12.7.1 Battery peripherals dimensions ....................

  • Page 447: Standards Conformity

    12.1 Standards Conformity 12.1 Standards Conformity In our company, compatibility examinations of overseas standards are carried out in certificate authorities, and attestation markings are done based on the published certificate of attestation. 12.1.1 Standards Conformity This servo amplifier implements the standards examinations below. ■...

  • Page 448: Over-Voltage Category，Protection Grade，Pollution Level

    12. Appendix The servo motor implements the attestation examination to the following standards. ■ Standards Standards code Certificate authorities UL1004-1 UL standards UL1004-6 (Underwriters Laboratories inc.) UL1446 EN60034-1 TÜV EN Directive EN60034-5 (TÜV SÜD Japan, Ltd.) ✔ For products conforming to conformity standards, some specifications may differ from the standard product due to prerequisites necessary for obtaining approval.

  • Page 449: Conformity Verification Test

    12.2 Compliance with EN Directives 12.2 Compliance with EN Directives We implement the conformity verification test of "Low Voltage Directive" and "an EMC command" in a certificate authority so that a user's CE Marking acquisition can be performed easily, and servo amplifier CE Marking is done based on the published certificate of attestation.

  • Page 450: Emc Installation Requirements

    12. Appendix 12.2.2 EMC Installation Requirements For the installation requirements, in our company the verification test is implemented by the following installations and measures methods, as machines and configurations differ depending on customers’ needs. This servo amplifier has been authorized to display CE marking based on the recognition certificate issued by a certifying authority.

  • Page 451: Precautions For Noise Filter Connection

    12.2 Compliance with EN Directives 12.2.3 Precautions for noise filter connection Precautions for noise filter mounting and wiring See below precautions for mounting and wiring when noise filter is used. Do not bundle with input line and output line of noise filter. (Earth line also.) ■...

  • Page 452: Servo Motor Dimensions

    12. Appendix 12.3 Servo motor dimensions Below shows outline drawing and each dimensions of the motor with battery-less absolute encoder or single-turn absolute encoder. Each dimensions of the motor with battery backup encoder [PA035C] are same with the motor ✔ with single-turn absolute encoder.

  • Page 453: R1 Motor, Flange Size 130Mm

    12.3 Servo motor dimensions 12.3.2 R1 motor, flange size 130mm Battery-less absolute encoder (Encoder code: R) ■ Single-turn absolute encoder (encoder code: H) ■ Without brake With brake Servo motor model number R1AA13300△□◇ R1AA13400△□◇ 110 -0.035 R1AA13500△□◇ 12.3.3 R1 motor, flange size 180mm Battery-less absolute encoder (Encoder code: R) ■...

  • Page 454: R2 Motor, Flange Size 40Mm, 60Mm, 80Mm, 86Mm, 100Mm

    12. Appendix 12.3.4 R2 motor, flange size 40mm, 60mm, 80mm, 86mm, 100mm Battery-less absolute encoder (Encoder code: R) ■ Without Oil Seal With Oil Seal Without With Without With brake brake brake brake Servo motor model number 62.5 98.5 67.5 103.5 R2□A04003△□◇...
  • Page 455 12.3 Servo motor dimensions Single-turn absolute encoder (encoder code: H) ■ Without Oil Seal With Oil Seal Without With Without With brake brake brake brake Servo motor model number 51.5 87.5 56.5 92.5 R2□A04003△□◇ 56.5 92.5 61.5 97.5 R2□A04005△□◇ R2EA04008△□◇ R2AA04010△□◇...

  • Page 456: R2 Motor, Flange Size 130Mm 0.5Kw To 1.8Kw

    12. Appendix 12.3.5 R2 motor, flange size 130mm 0.5kW to 1.8kW Battery-less absolute encoder (Encoder code: R) ■ Single-turn absolute encoder (encoder code: H) ■ Without brake With brake Servo motor model number 139.5 R2AA13050△□◇ 120.5 R2AA13120△□◇ R2AA13180△□◇ Servo motor LG KL1 KL2 LZ1 LZ2 model number...

  • Page 457: R2 Motor, Flange Size 180Mm 3.5Kw To 7.5Kw

    12.3 Servo motor dimensions 12.3.7 R2 motor, flange size 180mm 3.5kW to 7.5kW Battery-less absolute encoder (Encoder code: R) ■ Without brake With brake Servo motor KB2 KB3 KB2 KB3 KL3 LG KL1 KL2 LA model number R2AA18350△□◇ 16 123 21 10 -0.036 R2AA18450△□◇...

  • Page 458: R2 Motor, Flange Size 180Mm 11Kw

    12. Appendix 12.3.8 R2 motor, flange size 180mm 11Kw Battery-less absolute encoder (Encoder code: R) ■ Single-turn absolute encoder (encoder code: H) ■ Without brake With brake Servo motor model number R2AA1811K△□◇ Servo motor LG KL1 KL2 LA LE LH LC LZ1 LZ2 LR model number R2AA1811K△□◇...

  • Page 459: R2 Motor, Flange Size 220Mm 7Kw To 15Kw

    12.3 Servo motor dimensions 12.3.10 R2 motor, flange size 220mm 7kW to 15kW Battery-less absolute encoder (Encoder code: R) ■ Single-turn absolute encoder (encoder code: H) ■ Without brake With brake Servo motor model number R2AA22700△□◇ R2AA2211K△□◇ 200 -0.046 16 -0.043 R2AA2215K△□◇...

  • Page 460: R5 Motor, Flange Size 60Mm，80Mm

    12. Appendix 12.3.11 R5 motor, flange size 60mm，80mm Batteryless absolute encoder (Encoder code: R) ■ Without Oil Seal With Oil Seal Without brake With brake Without brake With brake Servo motor model number 79.5 107.5 86.5 114.5 R5□□06020△□◇ 105.5 133.5 112.5 140.5 R5□□06040△□◇...

  • Page 461: Servo Motor Data Sheet

    12.4 Servo motor data sheet 12.4 Servo motor data sheet 12.4.1 Characteristics table Specification of R1 motor, AC200V ■ Servo motor model number R1AA 10100H 10150H 10100F 10150F 10200H 10250H Amplifier size combined RS3A03A RS3A03A RS3A05A RS3A05A RS3A05A RS3A05A *Rated output *Rated velocity 3000 3000...
  • Page 462 12. Appendix Servo motor model number R1AA 13400H 13500H 13400F 13500F Amplifier size combined RS3A10A RS3A10A RS3A15A RS3A15A *Rated output *Rated velocity 3000 3000 3000 3000 *Maximum velocity 3000 3000 6000 6000 *Rated torque N・m 12.8 16.0 12.8 16.0 *Continuous Torque at stall N・m 12.8 16.0...
  • Page 463 12.4 Servo motor data sheet Specification of R2 motor, AC200V ■ Servo motor model number R2AA 04003F 04005F 04010F 06010F 06020F 06040H 08020F Amplifier size combined RS3A01 RS3A01 RS3A01 RS3A01 RS3A02 RS3A02 RS3A02 *Rated output 0.03 0.05 *Rated velocity 3000 3000 3000 3000...
  • Page 464 12. Appendix Servo motor model number R2AA 10100F 13050H 13050D 13120B 13120D 13120L 13180H Amplifier size combined RS3A05 RS3A03 RS3A03 RS3A03 RS3A05 RS3A05 RS3A05 *Rated output 0.55 0.55 *Rated velocity 3000 2000 2000 2000 2000 2000 2000 *Maximum velocity 6000 3500 5000 2000...
  • Page 465 12.4 Servo motor data sheet Servo motor model number R2AA 18550R 18550H 18750H 1811KR 22500L 22700S Amplifier size combined RS3A15 RS3A30 RS3A30 RS3A30 RS3A15 RS3A15 *Rated output *Rated velocity 1500 1500 1500 1500 2000 1000 *Maximum velocity 2500 3000 3000 2500 4000 1000...
  • Page 466 12. Appendix Specification of R2 motor, AC100V ■ Servo motor model number R2EA 04003F 04005F 04008F 06010F 06020F Amplifier size combined RS3E01 RS3E02 RS3E02 RS3E02 RS3E03 *Rated output 0.03 0.05 0.08 *Rated velocity 3000 3000 3000 3000 3000 *Maximum velocity 6000 6000 6000...

  • Page 467: Velocity-Torque Characteristics

    12.4 Servo motor data sheet 12.4.2 Velocity-torque characteristics R1AA motor velocity-torque characteristics charts show the values when AC200V is used as input power supply. When power supply voltage is less than 200V, instantaneous zone decreases. Velocity-torque characteristic Velocity-torque characteristic Velocity-torque characteristic R1AA10150H (1.5kW) R1AA10100F (1kW) R1AA10100H (1kW)
  • Page 468 12. Appendix Note 1) Velocity-torque characteristic Velocity-torque characteristic R1AA13400F (4kW) R1AA13500F (5kW) Instantaneous zone Instantaneous zone Continuous zone Continuous zone Velocity (min Velocity (min Note 1) Velocity-torque characteristic Velocity-torque characteristic Velocity-torque characteristic R1AA18550H (5.5kW) R1AA1811KR (11kW) R1AA18550H (5.5kW) Instantaneous zone Instantaneous zone Instantaneous zone Continuous zone...
  • Page 469 12.4 Servo motor data sheet R2AA motor velocity-torque characteristics charts show the values when AC200V 3-phase and single-phase are used as input power supply. When power supply voltage is less than 200V, instantaneous zone decreases. Velocity-torque characteristic Velocity-torque characteristic Velocity-torque characteristic R2AA04005F (50W) R2AA04010F (100W) R2AA04003F (30W)
  • Page 470 12. Appendix Velocity-torque characteristic Velocity-torque characteristic Velocity-torque characteristic R2AA10075F (750W) R2AA10100F (1kW) R2AAB8100F (1kW) 3φ Instantaneous zone 3φ Instantaneous zone 3φ 1φ Instantaneous zone 1φ 1φ Continuous zone Continuous zone Continuous zone 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000...
  • Page 471 12.4 Servo motor data sheet Velocity-torque characteristic Velocity-torque characteristic Velocity-torque characteristic R2AA18350D (3.5kW) R2AA18350L (3.5kW) R2AA18350V（3.5kW） Instantaneous zone Instantaneous zone Instantaneous zone Continuous zone Continuous zone Continuous zone 1000 2000 3000 4000 5000 1000 2000 3000 4000 Velocity (min Velocity (min Velocity (min Velocity-torque characteristic Velocity-torque characteristic...
  • Page 472 12. Appendix R2EA Motor velocity-torque characteristics indicate the values when amplifier power supply is AC100V. Instantaneous zone decreases when amplifier power supply is below 100V. Velocity-torque characteristic Velocity-torque characteristic Velocity-torque characteristic R2EA04005F (50W) R2EA04008F (80W) R2EA04003F (30W) Instantaneous zone Instantaneous zone Instantaneous zone Continuous zone Continuous zone...
  • Page 473 12.4 Servo motor data sheet R5AA Motor velocity-torque characteristics indicate the values when amplifier power supply is AC200V. Instantaneous zone decreases when amplifier power supply is below 200V. Velocity-torque characteristic Velocity-torque characteristic Velocity-torque characteristic R5AA06020F (200W) R5AA06040H (400W) R5AA06020H (200W) 3φ...

  • Page 474: Overload Characteristics

    12. Appendix 12.4.3 Overload characteristics The following show overload characteristic of R1AA motor. Overload characteristic Overload characteristic Overload characteristic R1AA10150H (1.5kW) R1AA10100H (1kW) R1AA10100F (1kW) Maximum At stoppage rotational velocity When rotating At stoppage Output current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR) Overload characteristic Overload characteristic...
  • Page 475 12.4 Servo motor data sheet The following show overload characteristic of R1AA motor. Overload characteristic Overload characteristic R1AA13400F (4kW) R1AA13500F (5kW) Maximum At stoppage rotational velocity Output current ratio (I/IR) Output current ratio (I/IR) Overload characteristic Overload characteristic Overload characteristic R1AA18550H (5.5kW) R1AA1811KR (11kW) R1AA18750L (7.5kW)
  • Page 476 12. Appendix The following show overload characteristic of R2AA motor. Overload characteristic Overload characteristic Overload characteristic R2AA04005F (50W) R2AA04003F (30W) R2AA04010F (100W) 10000 10000 10000 Maximum rotational velocity At stoppage 最高回転速度 停止時 1000 1000 1000 When rotating 回転時 At stoppage 停止時...
  • Page 477 12.4 Servo motor data sheet Overload characteristic Overload characteristic Overload characteristic R2AA10075F (750W) R2AAB8100F (1kW) R2AA10100F (1kW) R2 AA10075 F（7 50W） 10000 1 00 00 10000 Maximum 停止時 At stoppage 最高回転速度 rotational velocity 10 00 1000 1000 1 00 回転時 When rotating At stoppage 停止時...
  • Page 478 12. Appendix Overload characteristic Overload characteristic Overload characteristic R2AA18350L (3.5kW) R2AA18350D (3.5kW) R2AA18350V (3.5kW) R2AA1835 0D（3.5kW） 10000 100 0 0 10000 Maximum At stoppage rotational velocity 1000 10 0 0 1000 1 0 0 0 .5 1 .5 2. 5 3 .5 Output current ratio (I/IR) Output current ratio (I/IR)
  • Page 479 12.4 Servo motor data sheet The following show overload characteristic of R2EA motor. Overload characteristic Overload characteristic Overload characteristic R2EA04005F (50W) R2EA04003F (30W) R2EA04008F (80W) 10000 10000 10000 Maximum At stoppage rotational velocity 1000 1000 1000 When rotating At stoppage Output current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR)
  • Page 480 12. Appendix 12.5 Servo amplifier dimensions 12.5.1 RS3□01A□□L□ (70) （16.5） （5） 12.5.2 RS3□02A□□L□ （5） (70) （16.5） （5） 12-34...

  • Page 481: Servo Amplifier Dimensions

    12.5 Servo amplifier dimensions 12.5.3 RS3□03A□□L□ (70) （16.5） （5） 12.5.4 RS3A05A□□L□ (70) （16.5） （5） 12-35...

  • Page 482: Rs3A07A□□L

    12. Appendix 12.5.5 RS3A07A□□L□ 12.5.6 RS3A10A□□A□ (20) (70) (16.5) 12-36...

  • Page 483: Rs3A15A□□A

    12.5 Servo amplifier dimensions 12.5.7 RS3A15A□□A□ (20) (70) (16.5) (20) 12.5.8 RS3A30A□□L□ (70) (16.5) 12-37...

  • Page 484: Optional Parts

    12. Appendix 12.6 Optional parts SANYO DENKI offers the following optional parts. 12.6.1 Connectors of servo amplifier Model numbers of single connectors for RS3□01，RS3□02，RS3□03 and RS3A05 ■ Connector SANYO DENKI Manufacturer’s Item Manufacturer model No. model No. 10150-3000PE and For host unit connection...
  • Page 485 12.6 Optional parts RS3□01，RS3□02，RS3□03，RS3A05 (For input power supply, and regenerative resistance CN1 (For host unit connection) connection) (For safety device connection) Use only with Safe Torque Off (For servo motor connection) equipped model. (For motor encoder connection) (For motor encoder or external encoder connection) Used for a part of semi-closed system or a full-closed control...
  • Page 486 12. Appendix Model numbers of single connector for RS3□07 ■ Connector SANYO DENKI Manufacturer’s Item Manufacturer model No. model No. 10150-3000PE and For host unit connection AL-00385594 10350-52A0-008 3M Japan 36210-0100PL and Limited EN1,EN2 For encoder connection AL-00632607 36310-3200-008 For main circuit power supply, and AL-Y0011766-01 PC5/7-STF1-7.62...
  • Page 487 12.6 Optional parts RS3A07 (For control power supply connection) (For main circuit power supply, and regenerative resistance connection) CN1 (For host unit connection) (For safety device connection) Use only with Safe Torque Off equipped model. (For servo motor connection) (For motor encoder connection) (For motor encoder or external encoder connection) Used for a part of semi-closed...
  • Page 488 12. Appendix Model numbers of single connectors for RS3A10, RS3A15, and RS3A30 ■ Connector SANYO DENKI Manufacturer’s Item Manufacturer model No. model No. To connect host 10150-3000PE and AL-00385594 equipment 10350-52A0-008 3M Japan 36210-0100PL and Limited EN1,EN2 To connect encoder...
  • Page 489 12.6 Optional parts RS3A10，RS3A15 (For input power supply) CN1 (For host unit connection) (For safety device connection) Use only with Safe-Torque-Off equipped model. EN1 (For motor encoder connection) Terminal block (For motor encoder or external (For main circuit power, encoder connection) regenerative resistance Used for a part of semi-closed system and servo motor connection)
  • Page 490 12. Appendix 12.6.2 Fixing bracket Fixing brackets for mounting servo amplifier front side are prepared. List of fixing brackets for RS3□01 to 30 ■ Bracket Servo amplifier fixing Model number Contents model number position Fixing bracket (upper/bottom): 1 ea, RS3□01,02,03 Front AL-00880390-01 respectively Tightening screw: 4 ea...
  • Page 491 12.6 Optional parts For RS3A10, RS3A15 AL-00907039-01 Common parts (Upper / Bottom) For RS3A30 AL-00907040-01 Upper Bottom 12-45...

  • Page 492: Battery Backup Absolute Encoder (Encoder Code: P) Related Items

    12. Appendix 12.6.3 Battery backup absolute encoder (Encoder code: P) related items SANYO DENKI Name Details model No. Battery body for battery box Lithium battery: ER3VLY AL-00879511-01 (Lithium battery) Toshiba Lifestyle Products & Services Corporation Lithium battery: ER3VLY Battery BOX Toshiba Lifestyle Products &...

  • Page 493: Communication Cable Of Tandem Operation Between Amplifiers

    12.6 Optional parts 12.6.5 Communication cable of tandem operation between amplifiers SANYO DENKI Name Details model No. Communication cable between AL-00911582-01 amplifiers (0.2m) Servo amplifier(CN5) ⇔ Servo amplifier(CN5) Communication cable between AL-00911582-02 amplifiers (3.0m) 12.6.6 Junction cable for servo motor Power cable AMP INC.
  • Page 494 12. Appendix Servo motor with connectors for junction cables, 200V Rated output Motor flange size Holding brake Model number Remarks R2AA04003FXPA0 □40mm － □40mm With holding brake (DC24V) R2AA04003FCPA0 □40mm － R2AA04005FXPA0 With holding brake (DC24V) R2AA04005FCPA0 □40mm 100W R2AA04010FXPA0 □40mm －...

  • Page 495: Servo Motor Powe Cable

    12.6 Optional parts 12.6.7 Servo motor powe cable Amplifier model number: RS3□03A ■ Motor/amplifier option Cable length: Applicable motor For power, AWG#19 L (m) RS-CM4-01-R RS-CM4-02-R R2AA06040F RS-CM4-03-R R2AA08075F RS-CM4-05-R RS-CM4-10-R Item Connector model number Remarks Connector: 1-480703-0 Motor side connector Tyco Electronics Japan G.K.
  • Page 496 12. Appendix Amplifier model number: RS3□05A ■ Model number Cable length: For power and brake, For power, Applicable motor L(m) AWG#14 AWG#14・AWG#20 AL-00937698-01 AL-00937699-01 AL-00937698-02 AL-00937699-02 R2AA13120D R2AA13120L AL-00937698-03 AL-00937699-03 R2AA13180H R2AA13200L AL-00937698-05 AL-00937699-05 AL-00937698-10 AL-00937699-10 Item Connector model number Remarks Japan Aviation Straight plug:...
  • Page 497 12.6 Optional parts Amplifier model number: RS3□07A ■ Model number Cable length: For power and brake, For power, Applicable motor L(m) AWG#12 AWG#12・AWG#20 AL-00962887-01 AL-00962895-01 AL-00962887-02 AL-00962895-02 R1AA10200F AL-00962887-03 AL-00962895-03 R1AA10250F AL-00962887-05 AL-00962895-05 AL-00962887-10 AL-00962895-10 Item Connector model number Remarks Japan Aviation Straight plug: JL04V-6A20-15SE-EB-R...
  • Page 498 12. Appendix Amplifier model number: RS3□15A ■ Model number Cable length: For power and brake, Applicable motor L(m) For power, AWG#10 AWG#10・AWG#20 AL-00918635-01 AL-00918636-01 AL-00918635-02 AL-00918636-02 R2AA18350D AL-00918635-03 AL-00918636-03 R2AA18450H AL-00918635-05 AL-00918636-05 AL-00918635-10 AL-00918636-10 Item Connector model number Remarks Japan Aviation Straight plug: JL04V-6A24-11SE-EB-R Motor side connector...
  • Page 499 12.6 Optional parts Amplifier model number: RS3□15A (continued) ■ Model number Cable length: Applicable motor L(m) For power, AWG#6 For brake, AWG#19 AL-00968911-01 AL-00918630-01 AL-00968911-02 AL-00918630-02 AL-00968911-03 AL-00918630-03 R2AA18550R AL-00968911-05 AL-00918630-05 AL-00968911-10 AL-00918630-10 Item Connector model number Remarks For power ■...
  • Page 500 12. Appendix For encoder ■ Cable length: Model number Applicable motor L(m) RS-CA4-01-R RS-CA4-02-R R2AA06040F RS-CA4-03-R R2AA08075F RS-CA4-05-R RS-CA4-10-R Item Connector model number Remarks Housing: 172161-1 Motor side connector Tyco Electronics Japan G.K. Contact: 170359-3 Receptacle: 36210-0100PL Amplifier side connector 3M Japan Limited Shell kit: 36310-3200-008...

  • Page 501: External Regenerative Resistor

    12.6 Optional parts 12.6.8 External regenerative resistor Thermostat Detection Rated power Resistance Resistor Model Number temperature Mass [PR] value (Contact specification) REGIST-080W100B 100Ω 0.19kg REGIST-080W50B 50Ω REGIST-120W100B 120W 100Ω 0.24kg 135C±7C REGIST-120W50B 120W 50Ω (Switching contact b) REGIST-220W100B 220W 100Ω REGIST-220W50B 220W 50Ω...
  • Page 502 12. Appendix 12.7 Optional parts dimensions 12.7.1 Battery peripherals dimensions Battery body for battery box (Model No.: AL-00879511-01) ■ Battery Connector 1. Battery and connector specifications Thionyl Chloride Lithium Battery ER3VLY (Toshiba Lifestyle Products & Services Corporation) Lithium battery Nominal Voltage: 3.6V Nominal Capacity: 1000mAh Lithium metal mass as standard: 0.31g DF3-2S-2C;...

  • Page 503: Optional Parts Dimensions

    12.7 Optional parts dimensions Battery body for junction cable (Model No.: AL-00697958-01) ■ 605 (24.5) Battery Connector Black 1. Battery and connector specifications Thionyl Chloride Lithium Battery ER3VLY (Toshiba Lifestyle Products & Services Corporation) Lithium battery Nominal Voltage: 3.6V Nominal Capacity: 1000mAh Lithium metal mass as standard: 0.31g DF3-2S-2C;...
  • Page 504 12. Appendix Battery trunk cable (Model No.: AL-00697960-□□) ■ Battery unit To: battery backup absolute encoder Connector for The battery backup method Model number L [m] the servo amplifier side with built-in battery absolute encoder side AL-00697960-01 AL-00697960-02 MODEL AL-00697960- – – AL-00697960-03 MADE IN JAPAN 00157312A Length of cable:L(m)
  • Page 505 12.7 Optional parts dimensions 4. Outline specification for cable Robot cable for moving part at mid-low speed; UL-ORHV30-SB， Composite wire specification (Manufactured by OKANO ELECTRIC WIRE Co., Ltd.) High-density polyethylene insulated wire, Vinyl sheath, Braided shield addition. UL STYLE NO. 20276 (Ratings: 80°C, 30V) AL-00697960-01 - 04;...
  • Page 506 12. Appendix 3. Specification for the connector and the battery unit Connectors for 36210-0100PL; Wiremount Receptacle (3M) servo amplifier 36310-3200-008; Shell Kit (3M) Trunk connectors 36110-3000FD; Wiremount Plug (3M) for encoder 36310-F200-008; Shell Kit (3M) Built-in battery; ER3VLY (Toshiba Lifestyle Products & Services Corporation) Battery unit Nominal Voltage: 3.6V Nominal Capacity: 1000mAh...

  • Page 507: Monitor Box Outline Drawing

    12.7 Optional parts dimensions 12.7.2 Monitor box outline drawing Monitor Box (Model No.: Q-MON-3 ■ CN-L CN-R LEFT RIGHT DM M2 M1 12.7.3 Dedicated Cable outline drawing Dedicated Cable (Model No.: AL-00690525-01) ■ 2000±50 20±5 20±5 20±5 20±5 Note 1) A pair of the dedicated cable shown above (model number: AL-00690525-01) are supplied with the Monitor Box (model number: Q-MON-3).

  • Page 508: Outline Drawing Of Usb Communication Cable

    12. Appendix 12.7.4 Outline drawing of USB communication cable USB communication cable (1.0m) (Model number: AL-00896515-01) ■ 1000 Standard-A Plug Mini-B　Plug ✔ Appearance and spec may change without prior notice. USB communication cable (2.0m) (Model number: AL-00896515-02) ■ 2000 Standard-A Plug Mini-B　Plug Appearance and spec may change without prior notice.

  • Page 509: Outline Drawing Of Regenerative Resistor

    12.7 Optional parts dimensions 12.7.6 Outline drawing of regenerative resistor REGIST-080W ■ 122±0.4 6±1 6±1 φ4.3 ２ Silicon rubber glass braided wire 0.5mm White (Thermo start) ２ Silicon rubber glass braided wire 0.75mm Black REGIST-120W ■ 172±0.4 6±1 6±1 φ4.3 ２...
  • Page 510 12. Appendix REGIST-220W ■ 220±0.4 6±1 6±1 φ4.3 ２ Silicon rubber glass braided wire 0.5mm White (Thermo start) ２ Silicon rubber glass braided wire 0.75mm Black REGIST-500CW ■ 2-Φ4.5 250 ±0.8 +0.4 8±0.3 -1.2 Thermostat Lead AWG24, White Earth mark 2-M3 350±15 ±...
  • Page 511 12.7 Optional parts dimensions REGIST-1000W ■ ● ● Wiring diagram 12-65...
  • Page 512 No Text on This Page.
  • Page 513 Release Revision A May. 2014 Revision B Aug. 2014 Revision C Jan. 2015 Revision D May. 2016 Revision E Nov. 2016 Revision F Jul. 2017 Revision G May. 2018...
  • Page 514 ■ ECO PRODUCTS Sanyo Denki's ECO PRODUCTS are designed with the concept of lessening impact on the environment in the process from product development to waste. The product units and packaging materials are designed for reduced environmental impact. We have established our own assessment criteria on the environmental impacts applicable to all processes, ranging from design to manufacture.

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