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This manual is "User's Manual for Fuji AC Servo System ALPHA7 Series". The user's manual is in one volume and covers all handling methods of the product. The following documents are included in the package of each device. Device Document name Doc.
Contents CHAPTER 0 INTRODUCTION 0.1 Safety Precautions ··································································· 0-2 ■ Precautions on use ··················································································· 0-3 ■ Precautions on storage ············································································· 0-4 ■ Precautions on transportation ····································································· 0-4 ■ Precautions on installation ········································································· 0-5 ■ Precautions on wiring ················································································ 0-6 ■ Precautions on operation ··········································································· 0-7 ■...
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1.2.3 Installing the Servo Amplifier ··················································· 1-9 1.2.4 Depth of Control Panel ························································ 1-11 CHAPTER 2 WIRING Configuration ······································································· 2-2 2.1.1 Part Name ·········································································· 2-2 2.1.2 Configuration ······································································· 2-5 2.1.3 Sequence I/O ···································································· 2-10 2.1.3.1 Pulse Input (PPI, CA, *CA, CB, *CA) ···································· 2-12 2.1.3.2 Pulse Output (FFA, *FFA, FFB, *FFB, FFZ, *FFZ) ···················...
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Homing position LS [LS]: Sequence input signal (Reference value 6) ················· 2-44 Interrupt input: Sequence input signal (Reference value 49) ····························· 2-44 Over-travel in positive direction [+OT]: Sequence input signal (Reference value 7) ················································································· 2-46 Over-travel in negative direction [-OT]: Sequence input signal (Reference value 8) ·················································································...
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Free-run [BX]: Sequence input signal (Reference value 54) ····························· 2-72 Edit permission: Sequence input signal (Reference value 55) ··························· 2-73 Anti resonance frequency selection 0: Sequence input signal (Reference value 57) ··············································································· 2-74 Anti resonance frequency selection 1: Sequence input signal (Reference value 58) ···············································································...
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Overload warning detection: Sequence output signal (Reference value 27) ········· 2-95 Servo control ready [S-RDY]: Sequence output signal (Reference value 28) ········ 2-97 Edit permission response: Sequence output signal (Reference value 29) ············ 2-97 Data error: Sequence output signal (Reference value 30) ································ 2-98 Address error: Sequence output signal (Reference value 31) ···························...
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CONT1 Through: Sequence output signal (Reference value -) ························· 2-111 CONT2 Through: Sequence output signal (Reference value -) ························· 2-111 CONT3 Through: Sequence output signal (Reference value -) ························· 2-111 CONT4 Through: Sequence output signal (Reference value -) ························· 2-111 CONT5 Through: Sequence output signal (Reference value -) ·························...
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3.4.1 IQ Area ·········································································· 3-25 3.4.2 Immediate data operation ·················································· 3-34 3.4.3 Positioning Data Operation ················································ 3-39 3.4.4 Pulse Operation ······························································· 3-41 3.4.5 Interrupting/Stopping Operation ·········································· 3-43 3.4.6 Reading/writing a Parameter ·············································· 3-51 3.4.7 Reading/writing a Positioning Data ······································ 3-54 3.4.8 Selecting the Monitor ························································...
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PA1_32 Zero deviation range/In-position range ··········································· 4-22 PA1_33 to 35 In-position output signals ····················································· 4-22 PA1_36 to 40 Acceleration / deceleration selection at speed control, Acceleration time and deceleration time settings ············································ 4-24 PA1_41 to 47 Manual feed speed 1 to 7 ···················································· 4-26 4.3 Control Gain and Filter Setting Parameters ·······························...
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PA2_12 Reference signal for homing (Deceleration starting signal) ················· 4-46 PA2_13 Home position LS signal edge selection ········································· 4-46 PA2_14 Home position shift unit amount ··················································· 4-47 PA2_15 Deceleration operation for creep speed ·········································· 4-47 PA2_16 Home position after homing completion ········································· 4-48 PA2_17 Home position detection range ·····················································...
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PA2_76: No.3 deceleration time ································································· 4-90 PA2_77 Initial display of the keypad (Keypad) ············································ 4-90 PA2_78 Display transition at warning detection ··········································· 4-91 PA2_80 to 85 Parameter in RAM 1 to 6 ····················································· 4-91 PA2_86 to 88 Positioning data in RAM 1 to 3 ·············································· 4-91 PA2_89 and 90 Sequence test mode: Mode selection and encoder selection ····...
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5.2 Tuningless Function ································································ 5-3 5.2.1 What is the Tuningless Function? ············································ 5-3 5.2.2 Setting Parameters ······························································· 5-3 5.2.3 Operating Procedure ····························································· 5-4 5.2.4 Disabled Functions and Parameters ········································· 5-5 5.3 Easy Tuning ············································································ 5-6 5.3.1 What is Easy Tuning? ··························································· 5-6 5.3.2 Easy Tuning Operation Profile ·················································...
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(Amplifier models RYT500F7 to RYT401F7) ···································· 11-3 11.2.2 Battery Installation Procedure (Amplifier models RYT751F7 to RYT152F7) ···································· 11-4 11.2.3 Battery Replacement Procedure ·········································· 11-5 11.3 Connection Diagram ····························································· 11-6 11.3.1 VS Type ········································································· 11-6 11.3.2 LS Type ·········································································· 11-7 11.4 Starting Up Procedure ·························································· 11-8 11.5 Battery Warning ···································································...
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CHAPTER 14. STANDARDS COMPLIANCE 14-1 14.1 European Standards Compatibility ( ) ······························· 14-2 14.1.1 Compatibility with EMC Standards ········································ 14-3 14.1.2 Compatibility with European Low Voltage Directive ·················· 14-4 14.2 UL Standards and Canadian Standards (cUL Certification) Compliance ··············································································· 14-6 14.2.1 General ··········································································...
CHAPTER 0 INTRODUCTION 0.1 Safety Precautions (1) Types and meanings of warning signs Before starting installation, wiring work, maintenance or inspection, read through this manual and other attached documents. Be familiar with the device, safety information and precautions before using. In this manual, safety precautions are described in two categories: "WARNING"...
CHAPTER 0 INTRODUCTION ■ Precautions on use WARNING Do not touch the inside of the servo amplifier. There is a risk of electric shock. Make sure to ground the grounding terminal of the servo amplifier and servomotor. There is a risk of electric shock. ...
CHAPTER 0 INTRODUCTION ■ Precautions on storage CAUTION Do not store at places susceptible to rain or water splashes or toxic gases or liquid. It might cause failure. Store at places without direct sunshine within the predetermined temperature and humidity range (between -20 [°C] and +60 [°C] , between 10 [%] and 90 [%] RH, without condensation).
CHAPTER 0 INTRODUCTION ■ Precautions on installation CAUTION Do not ride on the servomotor or place a heavy matter on it. It might cause failure, breakage, electric shock and injuries. Do not block the exhaust port or do not allow foreign substance to enter. It might cause fire and electric shock.
CHAPTER 0 INTRODUCTION ■ Precautions on wiring CAUTION Never apply the commercial power supply to the U, V and W terminals of the servomotor. It might cause fire and failure. Do not connect the grounding (E) cable to the U, V and W terminals of the servomotor. Do not connect the U, V and W terminals in inappropriate order.
CHAPTER 0 INTRODUCTION ■ Precautions on operation CAUTION In order to avoid unstable motions, never change adjustment radically. It might cause injuries. To perform test operation, fix the servomotor and leave it disconnected from the mechanical system. After checking the motion, connect to the machine. Otherwise, it might cause injuries.
CHAPTER 0 INTRODUCTION ■ General precautions CAUTION Drawings in this manual may show the state without covers or shields for safety to explain in details. Restore the covers and shields in the original state when operating the product. In case of disposal of the product, comply with the following two laws and act in accordance with each regulation.
CHAPTER 0 INTRODUCTION ■ Compliance with EU directives EU directives aim at integration of regulations among the EU member countries to promote distribution of safety assured products. It is required to satisfy basic safety requirements including machine directive (2006/42/EC), EMC directive (2014/30/EU), and low voltage directive (2014/35EU) and affix a CE mark (CE marking) on the product sold in EU member countries.
CHAPTER 0 INTRODUCTION 0.2 Outline of System ALPHA 7 Series is an AC servo system that supports various host interfaces and realizes the best motion control for the target machine. 0.2.1 Servomotor Three types of servomotor are available; an ultra-low inertia type (GYS), and two medium inertia types (GYG/GYB).
CHAPTER 0 INTRODUCTION 0.2.2 Servo Amplifier General-purpose interface type (VV) and high-speed serial bus type (VS, LS) servo amplifiers are available (high-speed serial bus type servo amplifiers are Fuji's SX-bus compatible products). Control mode Supported Command Type Power supply Capacity Model motor Positioning...
CHAPTER 0 INTRODUCTION 0.3 Model Nomenclature When unpacking Check the following items. Check if the delivered item is what you have ordered. Check if the product is damaged during transportation. Check if the instruction manual is included. If you have any uncertainties, contact the seller.
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CHAPTER 0 INTRODUCTION 0.3.2 Servo Amplifier Rating plate (servo amplifier) Model nomenclature (servo amplifier) The model and serial number are also marked on the front panel of the main body of the servo amplifier. 2 0 1 F 7 V S 2 Digit Specification...
CHAPTER 0 INTRODUCTION 0.4 Combination between Servomotor and Servo Amplifier 0.4.1 SX Type Use the servomotor and servo amplifier in one of the following sets. Do not use in other sets. Applicable motor Applicable motor GYS motor GYB motor GYG motor GYG motor capacity - ultra-low inertia...
CHAPTER 1 INSTALLATION 1.1 Servomotor 1.1.1 Storage Environment Select the following environment when storing the servomotor, or when resting the machine under the state without power distribution. Item Environmental condition Ambient temperature -20 [°C] to +60 [°C] (no freezing allowed) Ambient humidity 10 [%] to 90 [%] RH (no condensation allowed) 1.1.2 Operating Environment...
40-degree or less. Install a cover in environments susceptible to much water, oil or AC SERVO MOTOR oil mist. Fuji Electric FA Do not operate with cables immersed in oil. YM 539189 - 1 JAPAN Some coolant types can provide on sealant, cable, case or similar.
CHAPTER 1 INSTALLATION 1.1.5 Servomotor Handling Precautions Do not hammer Do not give a strong impact on the output shaft of the servomotor. Otherwise the encoder inside the motor will be broken. Align the center when connecting with the machine system. Use a flexible coupling. Use rigid one designed exclusively for servomotors whenever possible.
CHAPTER 1 INSTALLATION 1.1.7 Assembling Accuracy The assembling accuracy of the servomotor is shown below. Unit: [mm] Runout at shaft Misalignment Perpendicularity of Servomotor model (flange) flange face GYSD7 GYG7 Within 0.02 Within 0.06 Within 0.08 GYBD7 Runout at shaft end Misalignment (flange) Perpendicularity of flange face Servomotor...
Radial load Thrust load the shaft end Motor model Radial load (Fr) Fr[N] Fs[N] LR[mm] GYS500D7-2 GYS101D7-2 AC SERVO MOTOR Thrust Fuji Electric FA load GYS201D7-2 YM539189-1 JAPAN (Fs) GYS401D7-2 GYS751D7-2 Servomotor at the shaft end (LR) GYS102D7-2 GYS152D7-2 GYG102C7-2 GYG851B7-2...
CHAPTER 1 INSTALLATION 1.2 Servo Amplifier 1.2.1 Storage Environment Temporary storage Table1.2-1 Storage and transportation environment Item Environmental conditions Storage temperature -25 to 80 °C (there should no freezing) Relative humidity 10 to 90 [%] RH or less (there should no condensation) The product should be stored indoors at an altitude of 1,000 [m] or lower, and there should be no dust, direct sunlight, corrosive gas, Atmosphere...
CHAPTER 1 INSTALLATION If storing for 1 year or longer The properties of electrolytic capacitors will deteriorate if the power is not turned ON for a long period of time, and therefore the product should be connected to a power supply once a year, and turned ON for 30 to 60 minutes.
CHAPTER 1 INSTALLATION 1.2.3 Installing the Servo Amplifier (1) Install the servo amplifier vertically to the ground so that the "ALPHA7" characters (see the arrow in the figure on the right) on the front panel of the servo amplifier is horizontal.
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CHAPTER 1 INSTALLATION (4) To suppress rises in servo amplifier temperature, secure the interval shown in the following diagram between servo amplifiers and from peripheral equipment. 10[mm] or more 10[mm] or more 50[mm] or more 5[mm] or more 40[mm] or more 5[mm] or more 1-10 Servo Amplifier...
CHAPTER 1 INSTALLATION 1.2.4 Depth of Control Panel Reserve 80 [mm] or a wider space in front of the servo amplifier which is connected with sequence I/O cables and encoder cable. Main power connector Sequence cable Encoder cable Main power connector 80 [mm] Amplifier depth...
CHAPTER 2 WIRING 2.1 Configuration 2.1.1 Part Name Servomotors GYS, GYB (lead wire specification): 0.75kW or less GYB (connector connection specification): 0.75kW or less Motor power Encoder wiring Encoder Power cable (lead 300 (lead 300 [mm]) connector connector [mm]) ...
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CHAPTER 2 WIRING Servo amplifier (frame 1) 0.4kW or less Keypad 5-digit 7-segment LED, 4 keys, monitor terminal Analog monitor (CN7) Monitors analog waveforms. SX bus (CN3A (IN), CN3B (OUT)) Upper side CN3A, lower side CN3B Power supply (TB1) ∙...
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CHAPTER 2 WIRING Servo amplifier (frame 2) Keypad 5-digit 7-segment LED, 4 keys, monitor terminal, 1 LED Analog monitor (CN7) Monitors analog waveforms. SX bus (CN3A (IN), CN3B (OUT)) Upper side CN3A, lower side CN3B Power supply (TB1) ∙ Control power supply Safety device connection ∙...
CHAPTER 2 WIRING 2.1.2 Configuration The figure on page 2-6 shows the general configuration of devices. There is no need to connect all devices. The size on each device in the figure is not drawn at the uniform scale. (same as other chapters) ...
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CHAPTER 2 WIRING For servo amplifier frames 1 For lead wire type motors, connect cables as shown below. Computer (commercially available MCCB/ELCB product) Loader software can be downloaded free of charge. AC reactor Operation panel display (USB) SYSTE F1 F2 F3...
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CHAPTER 2 WIRING Connection Diagram (Servo amplifier frame 1) Connect the external regenerative resistor across RB1 and RB2. If using a single-phase 200 V P(+) N(-) RB1 RB2 (Disconnect the short-circuit wire input commercial power supply, across RB2 and RB-3.) connect across terminals L1 and 1 L1C U 1...
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CHAPTER 2 WIRING For servo amplifier frames 2 (except for 751F7 in frame 2) For Cannon connector type motors, connect cables as shown below. Computer (commercially available product) Loader software can MCCB/ELCB be downloaded free of charge. AC reactor (USB) Power filter SX bus cable Electromagnetic contactor...
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CHAPTER 2 WIRING Connection Diagram (Servo amplifier frame 2) Connect the external regenerative resistor across RB1 and RB2. If using a single-phase 200 V P(+) N(-) RB1 RB2 (Disconnect the short-circuit wire input commercial power supply, across RB2 and RB-3.) connect across terminals L1 and 1 L1C U 1...
CHAPTER 2 WIRING 2.1.3 Sequence I/O The wiring connector is not included in the servo amplifier. Connector kit type: WSK-D36P MON1 *FFA MON2 *FFB *FFZ OUT1 OUT2 CONT1 CONT2 CONT5 19 COMOUT 20 COMIN CONT3 CONT4 Terminal Function symbol Pull-up power input for pulse input 12 to 24 [V] DC Pulse input (for VS type, counter function only) Max.
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CHAPTER 2 WIRING Terminal Function symbol CONT1 Sequence input (For sink/source) CONT2 Supply command signals to the servo amplifier through these terminals. CONT3 12 to 24 [V] DC/approx. 8[mA] (per point). Photo coupler isolated. The reference potential is the COMIN terminal. CONT4 (Soft filter 0.5 [ms], agreement of two scans, except for interrupt input) CONT5...
CHAPTER 2 WIRING 2.1.3.1 Pulse Input (PPI, CA, *CA, CB, *CA) Pulse input terminal Format: Command pulse/direction, forward/reverse pulse, A/B phase pulse (parameter switch) Max. input frequency: 4[MHz] (differential input), 200[kHz] (open collector input) The 90° phase difference 2 signal is the frequency after multiplying by four. It is normally a multiple of four.
CHAPTER 2 WIRING 2.1.3.2 Pulse Output (FFA, *FFA, FFB, *FFB, FFZ, *FFZ) The pulses proportional to the motor revolutions are output as A/B phase pulse. The number of output pulses per motor revolution can be specified in the parameter (PA1_08). ...
CHAPTER 2 WIRING 2.1.3.5 Sequence Input (CONT1, CONT2, CONT3, ... COMIN) These are input terminals for sequence control. They are compatible with both sink input and source input. Use in the 12 to 24 VDC range. Approximately 8[mA] (for 24 VDC) is consumed per point. ...
CHAPTER 2 WIRING 2.1.4 SX Bus (CN3) The SX bus is established by connecting the MICREX-SX (SPH) using a SX bus extension cable. Connect the CN3A (IN) terminal to the OUT terminal of another SX bus device, or CN3B (OUT) terminal to the IN terminal of another SX bus device.
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(2) Number of the ALPHA7 connecting units The number of the ALPHA7 units connected to SX bus is up to 10 in link to each of the IN and OUT connectors of the unit. This is because the number is limited by the module mounted on the base board, number of devices of direct connection I/O, and wiring length, etc.
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CHAPTER 2 WIRING (3) SX bus transmission distance The SX bus supports the length up to 25 [m] as standard. If you need longer distance, you can use a SX bus electrical repeater unit: NP2L-RP1 to extend 25 [m] in addition. Up to three SX bus electrical repeater units can be used and the extended length will be up to 100 [m] in total.
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TB Power shut off at production with mechanism halt If switching from the FALDIC-α Series to the ALPHA7 Series, the system operation when turning OFF the servo amplifier control power supply will be different. The following will occur when the control power supply is turned off if there is no degrading.
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CHAPTER 2 WIRING IQ area (VS type) Address Command position (PC ← servo amplifier) Feedback position (PC ← servo amplifier) Feedback speed (1 word) /parameter current value /monitor area 1 (PC ← servo amplifier) Torque (1 word) /parameter current value /monitor area 2 (PC ← servo amplifier) Position data sampling timing (PC ←...
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CONT CONT CONT CONT CONT Write Read command command Data selection Word 0 (ALPHA7→SX) bit11 bit10 bit9 bit8 Command position Feedback position Position deviation Accessing data and signals is executed according to address designation. Address designation follows MICREX-SX specifications. I=input...
CHAPTER 2 WIRING Data assigned in IQ area can be changed using 8 to 11 bits in data selection (word +14). If command position is selected in data selection, specifications become compatible with conventional FALDIC-α series. One bit has been added to data selection of Faldic-α series. (This is the same specification as the ALPHA5 Series.) When data assigned in IQ area has been updated in data selection (word +14), the data selection check (word +6) will be updated to the identical pattern.
CHAPTER 2 WIRING 2.2 P-N Junction Connect the DC intermediate voltages of two servo amplifiers directly to facilitate power transfer. By doing so, power can be supplied by the regenerative side (brake side) servo amplifier to the powering side (drive side) servo amplifier, allowing overall power consumption to be reduced. Application examples ...
CHAPTER 2 WIRING 2.3 Servomotor There are wiring of the main body of the servomotor and that of the brake (servomotor equipped with a brake). CAUTION Keep consistency in the phase order between the servomotor and servo amplifier. Do not connect commercial power to the servomotor. Otherwise it may cause failure. 2.3.1 Motor Power Connectors Connector kit models: WSK-M04P-E (GYS model 0.75kW or less/GYB model lead wire specification servomotor side)
CHAPTER 2 WIRING 2.3.2 Brake Connector Connector kit type: WSK-M02P-E (GYS model: 0.75kW or less/GYB model: lead wire specification servomotor side) Connector terminal symbol The brake of the servomotor equipped with a brake is a non-exciting brake. To turn the servomotor, +24 [V] must be supplied.
CHAPTER 2 WIRING 2.4.2 Encoder Cable Fabrication Method To fabricate the encoder cable by yourself, take care of the following. Do not install a relaying terminal block between the servo amplifier and motor. Use a shielded cable. Connect the shielded cable with the designated connector pin, connector shell or cable clamp on both sides.
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CHAPTER 2 WIRING Solder the wiring to the connector. Fitting a shrinkable tube to each wire ensures safety. Secure the connector to the shell cover. Fold over the shielded section to secure the wiring. Fit the shell cover while aligning the clips on both sides.
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CHAPTER 2 WIRING [3] Wrap vinyl tape 2 to 3 times around approximately 10 mm of the base of the braided wire for insulation. Vinyl tape [4] Wrap the battery board wiring 2 to 3 times around the shield wire, and pass through the thermal contraction Battery board wiring Thermal contraction...
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CHAPTER 2 WIRING [16] Connect the battery to CN4. Battery [17] Store the battery in battery case (A). [18] Hook battery case (B) onto the shaft, and secure by aligning the clips at 2 locations. Battery case (B) [Complete] 2-30 Encoder...
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CHAPTER 2 WIRING Encoder cable wire size Servo amplifier Servomotor P5 1 M5 2 BAT + 3 BAT+ BAT- 4 BAT- SIG + 5 SIG+ SIG- 6 SIG- Shell Servo Lead wire diameter Signal amplifier side Motor side Wiring length 10 m or Wiring length between name Connector...
CHAPTER 2 WIRING 2.5 Description of I/O Signals 2.5.1 I/O Signals of VS Type List of input signals The signal assigned to the sequence input terminal or to IQ area can be specified with a parameter. Default Name Setting range Change value PA03_01 CONT1 signal assignment...
CHAPTER 2 WIRING (3) Input signals fixed in IQ area (cannot be changed) Function Function Servo-on [S-ON] Interrupt input enable Forward command [FWD] Deviation clear Reverse command [REV] Free-run Homing [ORG] Toggle monitor 0 Forced stop [EMG] Toggle monitor 1 Alarm reset [RST] Position command operation Write command...
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CHAPTER 2 WIRING Output signals fixed in IQ area (cannot be changed) Function Function Ready for servo-on [RDY] Toggle error In-position [INP] Toggle answer 0 Over write completion Toggle answer 1 Read completion Forced stop detection Alarm detection Z-phase detection Homing completion Interrupt position detection Zero deviation...
CHAPTER 2 WIRING 2.5.2 I/O Signals of LS Type List of input signals The signal assigned to the sequence input terminal or to IQ area can be specified with a parameter. Name Setting range Default value Change PA03_01 CONT1 signal assignment PA03_02 CONT2 signal assignment PA03_03...
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CHAPTER 2 WIRING Function list (sequence input signal, IQ area) Function Function Servo-on [S-ON] Pause Forward command [FWD] Positioning cancel Reverse command [REV] External braking resistor overheat Start positioning [START] Teaching Homing [ORG] Override enable Home position LS [LS] Override 1 Override 2 Override 4 ABS/INC...
CHAPTER 2 WIRING List of output signals Set the sequence output terminals or signals assigned to IQ area in parameters. Name Setting range Default value Change PA03_51 OUT1 signal assignment PA03_52 OUT2 signal assignment PA03_53 OUT3 signal assignment 1 (IQ:RDY) PA03_54 OUT4 signal assignment 2 (IQ:INPOS) PA03_55 OUT5 signal assignment...
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CHAPTER 2 WIRING Function list (sequence output signal, IQ area) Function Function Function 1 Ready for servo-on [RDY] 30 Data error 60 MD0 2 In-position [INP] 31 Address error 61 MD1 11 Speed limit detection 32 Alarm code 0 62 MD2 13 Over write completion 33 Alarm code 1 63 MD3...
CHAPTER 2 WIRING 2.5.3 Signal Descriptions Input signal Servo-on [S-ON]: Sequence input signal (Reference value 1) The signal makes the servomotor ready to rotate. Function The servomotor is ready to rotate while the servo-on [S-ON] signal remains turned on. When the servo-on signal is turned off, the gate for IGBT is turned off and the servomotor does not rotate.
CHAPTER 2 WIRING Forward command [FWD]: Sequence input signal (Reference value 2) Reverse command [REV]: Sequence input signal (Reference value 3) The signal makes the servomotor keep running while it remains turned on. (1) Speed control VS type: The motor rotates at the speed specified in IQ area (word +12). When both the forward rotation command [FWD] and reverse rotation command [REV] are turned on, the motor is controlled to stop.
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CHAPTER 2 WIRING (3) Torque control (VS type only) A torque is output at the servomotor shaft. The torque is output according to IQ area (Reference value in word +13). The output torque at motor shaft 4000H is equivalent to torque of 300%. ...
CHAPTER 2 WIRING Start positioning [START]: Sequence input signal (Reference value 4) Positioning motion is executed according to positioning data or IQ area data. This signal is enabled only for LS type. Function The positioning motion starts at the activating edge of the start positioning signal. Specify the positioning data number to be executed to the positioning address in word+14.
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CHAPTER 2 WIRING Relevant description (1) Backlash compensation Backlash in mechanical system can be compensated using the traveling unit amount of the servomotor output shaft. Name Setting range Default value Change PA2_30 Backlash compensation 0 to 200000 [pulse] Always (in increments of 1) The servomotor rotates with adding the amount of reference value each time the servomotor changes the direction of rotation.
CHAPTER 2 WIRING Homing [ORG]: Sequence input signal (Reference value 5) Homing position LS [LS]: Sequence input signal (Reference value 6) Interrupt input: Sequence input signal (Reference value 49) A homing motion is executed and the home position is determined. ...
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CHAPTER 2 WIRING To perform homing, use up positive over-travel [+OT] and negative over-travel [-OT] signals to assure safety. Homing direction Detection of over-travel signal If homing is started from position A in the figure above, the home position LS is detected and stoppage is caused.
CHAPTER 2 WIRING Home position LS signal edge selection (PA2_13) After the trailing edge of the LS is detected, the Z-phase signal after the home position LS is detected. Deceleration operation for creep speed (PA2_15) Controlled stop is caused during homing upon detection of the home position LS (or reference signal for shift operation), followed by reverse rotation until the point before the home position LS is reached, and then homing is performed again at the creep speed.
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CHAPTER 2 WIRING Parameter setting To assign the +OT signal to a sequence input terminal, specify the corresponding value ("7") to the input terminal function setting parameter. For the -OT signal, specify ("8"). This signal is handled to be always turned on if it is not assigned to the sequence input terminal. This signal is operated at the normally closed contact when assigned to the sequence input terminal and at the normally open contact when assigned to IQ area.
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CHAPTER 2 WIRING (3) Software OT VS type: PA2_25: Software OT selection = 1 (enable) LS type: PA2_25: Software OT selection function is always enabled. In the above case, operation is enabled when the current position is in the range between (PA2_26: Positive software OT detection position) and (PA2_27: Negative software OT detection position).
CHAPTER 2 WIRING ABS/INC: Sequence input signal (Reference value 9) Set the ABS/INC of positioning data when starting using an immediate value from IQ area. This signal is enabled only for LS type. Function ABS/INC While the ABS/INC signal is turned off, the position data when the start positioning [START] signal is turned on is handled as an ABS (absolute position specification).
CHAPTER 2 WIRING Forced stop [EMG]: Sequence input signal (Reference value 10) Used to forcibly stop the servomotor. Function (1) Forced stop The servomotor is forcibly stopped while the forced stop [EMG] signal remains turned off. This signal is enabled in all control modes and it is given the highest priority. Because the safety and detection speed are significant, the forced stop signal is generally connected to the servo amplifier directly.
CHAPTER 2 WIRING Alarm reset [RST]: Sequence input signal (Reference value 11) The alarm reset signal resets alarm detection of the servo amplifier. Function The sequence input signal resets alarm detection of the servo amplifier. The rising edge of the alarm reset [RST] signal resets alarm detection. By starting the test operation mode at the keypad, operating the PC Loader or turning the power on again, the alarm can be reset.
CHAPTER 2 WIRING VEL0: Sequence input signal (Reference value 12) VEL1: Sequence input signal (Reference value 13) Used to select a motor rotation speed at immediate value positioning. This signal is enabled only for LS type. Function (1) Positioning speed selection Positioning speed of the servomotor follows the setting of PA2_02 to 05 (positioning speed 1 to 4).
CHAPTER 2 WIRING ACC0: Sequence input signal (Reference value 14) ACC0 switches the acceleration/deceleration time. Function (1) Acceleration/deceleration time switch The acceleration time and deceleration time of the servomotor follow the setting of PA1_37 to 40 (acceleration time, deceleration time). The acceleration time and deceleration time can be set separately.
CHAPTER 2 WIRING Position preset: Sequence input signal (Reference value 16) The present command position and feedback position are preset (overwritten). Function The present command position and the present feedback position are made the reference value of PA2_19 (preset position) at the rising edge. However, the deviation is subtracted from the feedback position.
CHAPTER 2 WIRING Gain swtich: Sequence input signal (Reference value 17) To switch the gain (response capability) of the servo system. Function When PA1_61 (gain changing factor) is set at "3" (external switch: CONT signal), the CONT signal assigned to this function switches the gain of the servo system. The control gain parameters that are enabled with the gain switch are listed in the table below.
CHAPTER 2 WIRING Torque limit 0: Sequence input signal (Reference value 19) Torque limit 1: Sequence input signal (Reference value 20) Limitations are set on the output torque of the servomotor. The torque limit 0 signal is enabled only for VS type. ...
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CHAPTER 2 WIRING Torque limit under torque control (VS type only) The limit [2] is always enabled. Deviation hold selection at torque limit Use deviation hold selection at torque limit (PA2_59) under position control to select the torque limit for retaining the deviation amount.
CHAPTER 2 WIRING Immediate value continuation: Sequence input signal (Reference value 22) Positioning motion can be continued according to the next data from the target position (speed) started in the immediate value mode. This signal is enabled only for LS type. ...
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CHAPTER 2 WIRING Parameter setting To assign the immediate value continuation command to IQ area (sequence input terminal), specify the corresponding value ("22") to the input terminal function setting parameter. Relevant signal reference values include following. Assigned signal Immediate value continuation: sequence input signal Immediate value continuation completion: sequence output signal...
CHAPTER 2 WIRING Immediate value change: Sequence input signal (Reference value 23) The target position and target speed of immediate data start can be changed at an arbitrary timing. This signal is enabled only for LS type. Function After immediate data operation is started and the in-position signal is turned off, the target position and target speed can be changed at an arbitrary timing.
CHAPTER 2 WIRING Relevant description (1) Change setting completion The signal is turned on after the changing process is executed according to the immediate value change signal, and it is turned off after the immediate value change command is turned off. (2) Command position / command speed / ABS/INC (IQ area) Each piece of data can be changed arbitrarily.
CHAPTER 2 WIRING Proportional control: Sequence input signal (Reference value 29) Proportional band control is adopted as a servo amplifier control method. Function With [S-ON] signal turned on, the signal will be turned on while the servomotor shaft is mechanically locked.
CHAPTER 2 WIRING Relevant description (1) Positioning cancel If positioning cancel (32) is executed while the pause (31) signal remains turned on, the positioning motion is canceled. (2) ABS/INC (positioning data) After the pause (31) signal is turned off, the remaining motion continues without relations to the absolute (ABS) or incremental (INC) mode of positioning data.
CHAPTER 2 WIRING Teaching: Sequence input signal (Reference value 35) The current position of the servomotor is written as position data in the positioning data. This signal is enabled only for LS type. Function The current command position of the servomotor is written as position data in the positioning data at the activating edge of the teaching signal.
CHAPTER 2 WIRING Torque control: Sequence input signal (Reference value - ) This signal is enabled only for VS type. Function The torque control is executed by setting a value in data area after turning the "torque control" and "forward or reverse command"...
CHAPTER 2 WIRING Override enable: Sequence input signal (Reference value 43) Override 1: Sequence input signal (Reference value 44) Override 2: Sequence input signal (Reference value 45) Override 4: Sequence input signal (Reference value 46) Override 8: Sequence input signal (Reference value 47) The rotation speed of the servomotor can be changed during operation.
CHAPTER 2 WIRING (2) Weight of override The weight can be changed, using PA2_36 to 39 (override 1/2/4/8). Default Name Setting range Change value PA2_36 Override 1 PA2_37 Override 2 0[%] to 150[%] Always (In increments of 1) PA2_38 Override 4 PA2_39 Override 8 If all the override 1/2/4/8 settings are turned on, the weight is 150 (10 + 20 + 40 + 80).
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CHAPTER 2 WIRING Relevant description (1) Interrupt traveling unit amount The traveling unit amount after the interrupt input signal is turned on is specified in PA2_20 (interrupt traveling unit amount). The timing chart is shown in the figure below. Rotation speed Time Position control...
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CHAPTER 2 WIRING (4) Command input cumulative pulse latch function This function is enabled only for VS type. While PA2_92 is 4 through 7 and the interrupt position detection command (input signal: %QX*.15.10) in IQ area and interrupt input enable are turned on, an interrupt input is detected to retain the number of input cumulative pulses at that point.
CHAPTER 2 WIRING Deviation clear: Sequence input signal (Reference value 50) The difference (deviation) between the command position and feedback position is zeroed. Function The difference (deviation) between the command position and the feedback position is zeroed while the deviation clear signal remains turned on. The present command position changes to the present feedback position.
CHAPTER 2 WIRING Multi-step speed selection [X1]: Sequence input signal (Reference value 51) Multi-step speed selection [X2]: Sequence input signal (Reference value 52) Multi-step speed selection [X3]: Sequence input signal (Reference value 53) The manual feed speed is specified. This signal is enabled only for LS type. ...
CHAPTER 2 WIRING Free-run [BX]: Sequence input signal (Reference value 54) To put the servomotor forcibly into free-run (coast-to-stop). Priority is given to this signal in all control modes. Function While the free-run [BX] signal assigned to a CONT input signal remains turned on, the output of the servo amplifier is shut off and the servomotor free-run.
CHAPTER 2 WIRING Edit permission: Sequence input signal (Reference value 55) Editing operation for parameters and so on is limited with an external sequence input signal. This signal is enabled only for LS type. Function The edit permission assigned to a CONT input signal controls editing operation made at the keypad or PC Loader.
CHAPTER 2 WIRING Anti resonance frequency selection 0: Sequence input signal (Reference value 57) Anti resonance frequency selection 1: Sequence input signal (Reference value 58) Select the anti resonance frequency, which is a vibration suppressing control function. Function In a spring characteristic structure such as the robot arm and transfer machine, vibration is caused at the end of the workpiece upon sudden acceleration or deceleration of the motor.
CHAPTER 2 WIRING Toggle monitor 0: Sequence input signal (Reference value 75) Toggle monitor 1: Sequence input signal (Reference value 76) This signal checks if communications between the SX controller and servo amplifier is properly carried out. Function Using the toggle monitor bit and toggle answer bit, the normality of communications data of SX bus can be checked.
CHAPTER 2 WIRING VS type: Signals related to toggle monitor are assigned and fixed to IQ area. Address Signal Toggle monitor 0 %QX*.15.15 Toggle monitor 1 %QX*.15.14 Toggle answer 0 %IX*.9.15 Toggle answer 1 %IX*.9.14 Toggle error %QX*.8.5 The toggle monitor function can be disabled by the setting of parameter PA2_92. (VS type only) LS type: Signals related to toggle monitor are used by assigning them OUT and CONT signals in parameter as necessary.
CHAPTER 2 WIRING Z-phase detection command: Sequence input signal (Reference value -) The Z-phase detection is enabled while the signal is turned on. This signal is enabled only for VS type. Function If Z-phase of the servomotor is detected while the this function is activated, bit 6 in word 9 in IQ area (Z-phase signal detection) is turned on.
CHAPTER 2 WIRING SEL0:Sequence input signal (Reference value -) SEL1:Sequence input signal (Reference value -) SEL2:Sequence input signal (Reference value -) SEL3:Sequence input signal (Reference value -) Selects the data in IQ area. Function Data in IQ area can be selected by combination of ON and OFF among SEL0 though SEL3. VS type: Select data by combination among SEL0 through SEL2.
CHAPTER 2 WIRING Output signal Ready for servo-on [RDY]: Sequence output signal (Reference value 1) This signal is turned on if the servomotor is ready to operate. Function The ready for servo-on signal is turned on if the conditions shown in the table below are satisfied. Signal division Signal name Function No.
CHAPTER 2 WIRING In-position [INP]: Sequence output signal (Reference value 2) This signal is turned on after a positioning motion is finished. Function (1) Status of in-position signal The state under position control is shown in the table below. Status of in-position signal Factor Sequence status...
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CHAPTER 2 WIRING Rotation Speed PA1_32: Zero deviation range/In-position range Time Zero speed Zero deviation In-position (level) PA1_35: In-position judgment time In-position (single shot) ON PA1_34: In-position output time (VS type), In-position min. OFF time/single shot ON time (LS type) (3) Interrupt positioning Level: The signal is turned on if conditions (A) and (B) below are satisfied.
CHAPTER 2 WIRING Speed limit detection: Sequence output signal (Reference value 11) This signal turns ON when the speed command value to the servo amplifier reaches the speed limit value. Function This signal is output externally when the speed command value to the servo amplifier reaches the speed limit value.
CHAPTER 2 WIRING Over write completion: Sequence output signal (Reference value 13) Read completion: Sequence output signal (Reference value -) Write command: Sequence input signal (Reference value -) Read command: Sequence input signal (Reference value -) Signals used to execute read/wirte parameters and positionind data in IQ area. ...
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CHAPTER 2 WIRING (3) Positioning data overwrite Positioning data is overwritten with the activation of write command according to the table below. When the write command is turned off, the over write completion (13) is also turned off. Name Area Positioning data designation bit 8 to 11 position in %QW*.14 Position data of positioning data...
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CHAPTER 2 WIRING Parameter setting To assign the over write completion signal to IQ area (sequence output terminal), specify the corresponding value ("13") to the output terminal function setting parameter. The signals of over write completion, read completion, write command and read command are assigned and fixed in IQ area.
CHAPTER 2 WIRING Brake timing: Sequence output signal (Reference value 14) The timing signal for applying or releasing the brake of the servomotor. The signal is turned on during operation, while it is turned off after operation is stopped. Function The brake timing output is turned off if the servo-on [S-ON] signal is turned off.
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CHAPTER 2 WIRING (2) Upon alarm Alarm detection Base signal Ready for servo-on [RDY] Brake timing output (3) Upon main power supply OFF Main power suppy Base signal Ready for servo-on [RDY] Brake timing output 2-87 Description of I/O Signals...
CHAPTER 2 WIRING Alarm detection (normally open contact): Sequence output signal (Reference value 16) Alarm detection (normally closed contact): Sequence output signal (Reference value 76) Signals are turned on (off in case of normally closed contact) if the servo amplifier detects an alarm (activation of a protective function).
CHAPTER 2 WIRING Point detection, area detection 1: Sequence output signal (Reference value 17) Point detection, area detection 2: Sequence output signal (Reference value 18) The current position of the servomotor is detected and output in these signals. This function is valid following homing or position preset. This signal is enabled only for LS type.
CHAPTER 2 WIRING Parameter setting To assign the point detection and area detection 1 to IQ area (sequence output terminal), specify the corresponding value ("17") to the output terminal function setting parameter. Specify ("18") for point detection and area detection 2. Limiter detection: Sequence output signal (Reference value 19) Whether the limiter function is enabled or not is checked.
CHAPTER 2 WIRING OT detection: Sequence output signal (Reference value 20) This signal is output if the over-travel (OT) signal is turned off. Function The OT detection ("20") sequence output is issued while the +OT (7) or -OT (8) sequence input signal terminal remains turned off.
CHAPTER 2 WIRING Cycle end detection: Sequence output signal (Reference value 21) Add a cycle end to positioning data to check if the data position is reached. PA2_41 (sequential start selection) must be set at “1” (enable). Change PA2_40 (internal positioning data selection) to “1” (enable).
CHAPTER 2 WIRING Relevant description The cycle end detection signal is not output if sequential start cannot be executed. If the servo-on signal is turned off If the pulse ratio is enabled or a homing cycle is executed during sequential operation ...
CHAPTER 2 WIRING Zero deviation: Sequence output signal (Reference value 23) The signal is turned on if the deviation (deviation amount) retained in the servo amplifier becomes within the reference value under position control. Whether the servomotor has reached close to the command position can be checked. ...
CHAPTER 2 WIRING Parameter setting To assign the speed coincidence [NARV] signal to IQ area (sequence output terminal), specify the corresponding value ("25") to the output terminal function setting parameter. Relevant description PA1_25 (max. rotation speed (for position and speed Control)) Specify the upper limit of the servomotor rotation speed which is specified with a parameter.
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CHAPTER 2 WIRING Standard series Overload forecast time (at 3,000 r/min) 1200 Overload forecast value = 20% 1000 Overload forecast value = 40% Overload forecast value = 60% Overload forecast value = 80% Overload forecast value = 100% OL2 alarm OL1 alarm Load factor [%] Overload forecast time (at 6,000 r/min)
CHAPTER 2 WIRING Servo control ready [S-RDY]: Sequence output signal (Reference value 28) Use the signal to check that the servo amplifier and servomotor operate correctly. Function The servo control ready signal remains turned on while the conditions listed in the table below are satisfied.
CHAPTER 2 WIRING Parameter setting To assign the edit permission response to IQ area (sequence output terminal), specify the corresponding value ("29") to the output terminal function setting parameter. Relevant description For details, refer to “Edit permission: Sequence input signal (Reference value 55)” signal description.
CHAPTER 2 WIRING Alarm code 0: Sequence output signal (Reference value 32) Alarm code 1: Sequence output signal (Reference value 33) Alarm code 2: Sequence output signal (Reference value 34) Alarm code 3: Sequence output signal (Reference value 35) Alarm code 4: Sequence output signal (Reference value 36) Upon alarm, signal to output alarm details into code ...
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CHAPTER 2 WIRING List of alarm nature and code Nature of alarm ALM4 ALM3 ALM2 ALM1 ALM0 Code Indication No alarm (during correct operation) - Overload 1 Overload 2 Overload 3 Command pulse frequency error Amplifier overheat Internal braking resistor overheat External braking resistor overheat Braking transistor error Deviation overflow...
CHAPTER 2 WIRING Type Nature of alarm Code Address error Out-of-range error Command rejection Data error Out-of-range error, 0 data write Negative sign designation Battery warning Maintenance function Life warning If two or more alarms occur simultaneously, alarms are output in the priority specified in the table above.
CHAPTER 2 WIRING Home position LS detection: Sequence output signal (Reference value 40) The signal is output while the home position LS signal (input signal) remains turned on. Function The sequence output corresponding to home position LS detection is turned on while the home position LS sequence input signal remains turned on.
CHAPTER 2 WIRING Battery warning: Sequence output signal (Reference value 45) The signal is output if the battery voltage is smaller than the rated value. Function If the battery voltage is smaller than the rated value in an established ABS system (absolute system), a battery warning signal is turned on.
CHAPTER 2 WIRING MD0: Sequence output signal (Reference value 60) MD1: Sequence output signal (Reference value 61) MD2: Sequence output signal (Reference value 62) MD3: Sequence output signal (Reference value 63) MD4: Sequence output signal (Reference value 64) MD5: Sequence output signal (Reference value 65) MD6: Sequence output signal (Reference value 66) MD7: Sequence output signal (Reference value 67) The M code of positioning data currently executed is output.
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CHAPTER 2 WIRING Related (1) M code setting range M codes can be set in binary from 00h to FFh. (2) Output at startup (during startup)/output at completion (after completion) The M code output timing can be selected between during the execution of positioning data (output at startup) and after the execution of positioning data (output at completion).
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CHAPTER 2 WIRING Output at completion (after completion) M codes are output when the positioning operation is complete and then held. Simultaneous M code simultaneous Rotation speed M code 20 Time Timer time (positioning data) Operation prep. complete [RDY] Auto start AD7 to AD0 Positioning complete (level)
CHAPTER 2 WIRING Position preset completion: Sequence output signal (Reference value 75) The signal is output after position preset (position change) is executed and completed. Function If position preset is executed in an established ABS system (absolute system) to reset from an alarm or change the current position, the sequence output corresponding to position preset completion is turned on after position preset is finished.
CHAPTER 2 WIRING Immediate value continuation completion: Sequence output signal (Reference value 80) The signal is turned on after continuation of immediate value operation is processed according to an immediate value continuation command, and it is turned off after the immediate value continuation command is turned off.
CHAPTER 2 WIRING Command positioning completion: Sequence output signal (Reference value 82) The signal is turned on after the command value inside the servo amplifier is completed. This signal is enabled only for LS type. Function The signal changes from ON to OFF when starting manual operation, automatic operation, homing, or interrupt positioning, and from OFF to ON when the internal command becomes zero.
CHAPTER 2 WIRING Parameter setting To assign the command position completion to IQ area (sequence output terminal), specify the corresponding value ("82") to the output terminal function setting parameter. CONTa Through: Sequence output signal (Reference value 91) CONTb Through: Sequence output signal (Reference value 92) The signals input to IQ area on the SX controller side can be output to the OUT signal of the servo amplifier.
CHAPTER 2 WIRING CONT1 Through: Sequence output signal (Reference value -) CONT2 Through: Sequence output signal (Reference value -) CONT3 Through: Sequence output signal (Reference value -) CONT4 Through: Sequence output signal (Reference value -) CONT5 Through: Sequence output signal (Reference value -) The signals input to CONT input terminal can be output to IQ area (%IX*.9.13 to 9).
CHAPTER 2 WIRING CSEL0: Sequence output signal (Reference value -) CSEL1: Sequence output signal (Reference value -) CSEL2: Sequence output signal (Reference value -) The signal status set in SEL0 to SEL2 data selection can be checked. SEL0 to SEL2 correspond to CSEL0 to CSEL2. These signals are output to IQ area (%IX*.9.4 to 2).
2.6 Safety Function 2.6.1 Overview With the ALPHA7 Series, the servo amplifier output transistor is stopped by hardware circuit, and the motor is slowly stopped (free-run stop) by opening (turning OFF) safety device connection connector CN6 [EN1+] or [EN2+] input. This is the Cat.0 (uncontrolled stoppage) safety stop function (STO) regulated by EN60204-1, and complies with functional safety standards.
CHAPTER 2 WIRING 2.6.2 Usage Precautions 2.6.2.1 Terminal Wiring The [EN1+], [EN1-], [EN2+], and [EN2-] terminals are used for safety circuit wiring. When carrying out terminal wiring, use shielded wire, and wire in such a way as to ensure no shorting between terminals.
CHAPTER 2 WIRING Employ double [EN1+] and [EN2+] inputs (with redundancy circuit) to ensure that the safety stop function (STO) is not lost due to a single fault. If a single fault is detected by the safety cutoff circuit, an alarm is output to external devices, and the servo amplifier slowly stops the motor (free-run stop), even if the [EN1+] and [EN2+] status is ON.
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CHAPTER 2 WIRING 2.6.3.2 Operating Sequences The signal ON/OFF definition given in the safety function description refers to the following statuses. ON: The safety switch is closed, and current is flowing to the signal line. OFF: The safety switch is open, and current is not flowing to the signal line. (1) Servo amplifier output status if safety stop function (STO) activated The servo amplifier will be in the safety stop (STO) condition if [EN1+] and [EN2+] are turned OFF.
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CHAPTER 2 WIRING (2) Ecf alarm (logic mismatch) and servo amplifier output status Fig. 2.6.3-4 shows the timing chart for the Ecf alarm following an [EN1+] and [EN2+] input mismatch. The servo amplifier will be in the safety stop (STO) condition if [EN1+] and [EN2+] input turns OFF. If the [EN1+] and [EN2+] input mismatch lasts longer than 50 ms, the servo amplifier will interpret that logic is in disagreement, and an Ecf alarm is output.
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CHAPTER 2 WIRING 2.6.3.3 Description of Signals The signal specifications for the safety device connection connector (CN6) are shown below. Symbol Specification Use is prohibited. Do not wire. Use is prohibited. Do not wire. EN1- This is the [EN1+] input signal common terminal. EN1+ This is the safety stop (STO) input signal.
CHAPTER 3 OPERATION 3.1 Signal Description (Priority among Input Signals) Input signals of the servo amplifier for stopping the motor shaft are received first in view of safety. Description Applicable function (Function No.) STO (EN terminal input) 01 Operation signal always given highest priority ...
CHAPTER 3 OPERATION 3.2 Operation Check 3.2.1 Power-On Connect the commercial power supply and the servomotor to the servo amplifier. For the wiring method, refer to "CHAPTER 2 WIRING." Supplying commercial power Operate MCCB/ELCB to supply power. Supply main power simultaneously or later to the control power. If necessary, insert an electromagnetic contactor in the upstream of the main power input so that the power can be shut off at any time.
CHAPTER 3 OPERATION If the keypad does not light up Appropriate voltage (200 [V]) is not supplied to the control power terminals (L1C and L2C). Check the source voltage. In case of three-phase 400 [V], use a transformer to drop to 200 [V] to supply. (400 [V] will damage the servo amplifier.) ...
CHAPTER 3 OPERATION 3.2.3 Servo-On [S-ON]/Ready for Servo-On [RDY] This signal is used to supply power to the servomotor to enable rotation. If turned OFF while stopping the motor, it will decelerate and stop based on the parameter PA2_61 setting. If the signal is turned off during motor rotation, the motor decelerates to stop and, after it is stopped, the motor free-run.
CHAPTER 3 OPERATION 3.2.4 Test Operation at Keypad Using the test operation mode of the keypad, check the motor rotation. In case of a servomotor equipped with a brake, supply 24 [V] DC to release the brake. The motor rotates even without a sequence I/O signal. The relevant parameter settings and default values are shown below.
CHAPTER 3 OPERATION After checking shaft rotation in the test operation mode, press the [MODE/ESC] key to return until Fn_01 ] is displayed again. Fn_01 Unless [ ] is displayed again, rotation with the sequence I/O signal is impossible. Notation of key In this chapter, keys on the keypad may be simply specified as shown below.
CHAPTER 3 OPERATION 3.3 Operation with VS Type This section describes the VS type (RST □□□F7-VS2) servo amplifier. The servo amplifier occupies 16 words of the IQ area. 3.3.1 IQ Area Select the individual module and servo in the system definition of D300win. Designate an arbitrary station number.
CHAPTER 3 OPERATION 3.3.2 Servo-On [S-ON]/ Ready for Servo-on [RDY] The servo amplifier becomes operable about 4.5 seconds after the control power and motor power are supplied. Turn on servo-on [S-ON] (%QX*.14.15) to supply power to the servomotor to make it ready to rotate. After servo-on is turned on and the motor becomes ready to rotate, the ready for servo-on [RDY] (%IX*.8.15) signal is turned on to indicate that the motor is ready to rotate.
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CHAPTER 3 OPERATION Turn on servo-on [S-ON] and position control (%QX*.14.9) to stop with the servo locked. The position command remains enabled after the activating edge while position command operation is turned on. Change the position command (%QD*.10) after in-position (%IX*.8.14) is turned off. Speed [RDY] Position control...
CHAPTER 3 OPERATION The toggle error is not a detected alarm. The toggle error is detected after the toggle is executed even once. Issue an alarm reset signal after toggle restart to reset from the toggle error. Command position (%ID*.0) The position command that is given through the SX bus and interpolated at the servo amplifier control period into the latest command position is output.
CHAPTER 3 OPERATION 3.3.7 Interrupting/Stopping Operation The following input signals interrupt or stop each operation. ・STO (EN terminal input) ・Servo-on [S-ON] ・+OT/-OT ・Forced stop [EMG] ・Positioning cancel ・Deviation clear ・Free-run (1) STO (EN terminal input) If terminals [EN1+] or [EN2+] are opened while the motor is running, the STO function will be triggered, and the motor will free run to a stop.
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CHAPTER 3 OPERATION (3) +OT/-OT / positive software OT / negative software OT If +OT/-OT is detected (OFF because contact b) during motor operation, or if positive software OT or negative software OT is detected, operation is stopped, and the motor comes to a rapid deceleration stop based on the PA2_60: Third torque limit torque.
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CHAPTER 3 OPERATION (4) Forced stop [EMG] If a forced stop [EMG] is detected during motor operation, operation is stopped, and the motor comes to a rapid deceleration stop based on the PA2_60: Third torque limit torque. While forced stop [EMG] is detected, the motor is stopped at the zero speed and the current position is not retained.
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CHAPTER 3 OPERATION (5) Positioning cancel If the positioning cancel signal is turned on during motor rotation, operation is stopped and controlled stop is caused according to the deceleration time setting. While the positioning cancel signal remains active, homing or position command operation does not start. The signal is disabled for speed operation.
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CHAPTER 3 OPERATION (7) Free-run While the free-run signal is turned on, outputs of the servo amplifier are turned off and the servomotor coasts to stop (at zero torque). (The motor rotation is not controlled.) If the free-run signal is turned on during motor rotation, operation is stopped and the motor keeps rotating due to the inertia of the load.
CHAPTER 3 OPERATION 3.3.8 Writing a Parameter To read or write parameters, change the SEL2, SEL1 and SEL0 bits to those specified in the table below. Reading or writing is made at the activating edge of the read command or write command bit. Designate the parameter number in low order bits of word +14.
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CHAPTER 3 OPERATION (1) Parameter read Parameter data is read by the read command (0 bit in 15th word). [SEL2, 1, 0] [ON, OFF, OFF] → PA1_ Parameter no. [Set] 0F(Hexadecimal)=15(Decimal) Read command [CSEL2, 1, 0] [ON, OFF, OFF] → PA1_ Read completion Parameter read value 0C(Hexadecimal)=12(Decimal)
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CHAPTER 3 OPERATION (3) Parameter read/write error If parameter read/write fails, a data error is turned on instead of read/write completion. If a data error is turned on, correct setting items and execute read/write again. [SEL2, 1, 0] [ON, OFF, OFF] → PA1_ 0F(Hexadecimal)=15(Decimal) Parameter no.
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CHAPTER 3 OPERATION Bit command (word position 15) Name Bit position Function Toggle monitor 0 Refer to the description about toggle monitor in the text. Toggle monitor 1 Position command Enabled while the position command is turned on. operation Forced stop [EMG] A forced stop state is caused while the bit is turned on.
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CHAPTER 3 OPERATION Bit data (8 word) Name Bit position Function Ready for The bit is turned on when the servomotor is ready to rotate. servo-on [RDY] The bit is turned off if position command operation is turned on In-position and the position command can be updated.
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CHAPTER 3 OPERATION Bit data (9 word) Name Bit position Function Toggle answer 0 Refer to the description about toggle monitor in the text. Toggle answer 1 CONT1 Through CONT2 Through The status of the sequence input terminal is output without CONT3 Through changes.
CHAPTER 3 OPERATION 3.3.9 Selecting the Monitor Enter the parameter address to select the active monitor. Use bit settings of words +14 and +15 in the following IQ address to select the monitor as shown in the table on the next page. Address Command position (PC ←...
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CHAPTER 3 OPERATION ① ② ③ ④ Address Data format Data Parameter selection address (+14) [00□□□□□□] Feedback speed Command torque [01□□□□□□] Feedback speed: 4000'H/3000r/min or [10 000□□□] Feedback speed 3000'H/3000r/min (signed) [10 001□□□] Command speed Command speed: 4000'H/3000r/min or 3000'H/3000r/min (signed) [10 010□□□] Command torque: Command torque...
CHAPTER 3 OPERATION 3.4 Operation with LS Type This section describes the LS type (RYT□□□F7-LS2) servo amplifier. The servo amplifier occupies 16 words of the IQ area. 3.4.1 IQ Area Register the servo and RYS-LS/RYT-LS linear positioning in the system definition of SX-Programmer Expert.
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CHAPTER 3 OPERATION The following signals are assigned if the input terminal function parameters and output terminal function parameters are in the default states (bit data at word 7, bit command at word 15). Address Command position/feedback position/deviation current value/ parameter read value/position data (positioning data)/LS-Z pulse Feedback speed/speed data (positioning data)/command speed/ torque current value/motor feedback current value/peak torque/effective torque...
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CHAPTER 3 OPERATION Details of I/O signals in IQ area Address Command position/feedback position/position deviation (Low order word) Command position/feedback position/position deviation (High order word) Feedback speed (Low order word) Feedback speed (High order word) Command torque (1 word) Alarm code Execution M code Data selection check...
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CHAPTER 3 OPERATION Address Command position/feedback position/position deviation (Low order word) Command position/feedback position/position deviation (High order word) Monitor 1 (Low order word) Monitor 1 (High order word) Monitor 2 (1 word) Alarm code - Data selection check Monitor 1 and 2 selection check -...
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CHAPTER 3 OPERATION Address Command position/feedback position/position deviation (Low order word) Command position/feedback position/position deviation (High order word) Feedback speed (Low order word) Feedback speed (High order word) Command torque (1 word) Alarm code - Data selection check Vibration suppressing workpiece inertia ratio check -...
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CHAPTER 3 OPERATION Address Read position data (Low order word) Read position data (High order word) Read speed data (Low order word) Read speed data (High order word) Read timer data Read attribute Read M code Data selection check Positioning data no. check -...
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CHAPTER 3 OPERATION Allocation of IQ area ・Acceleration/deceleration time rate You can designate the actual Acceleration Deceleration Acceleration time Deceleration time time rate time rate acceleration/deceleration 0:PA1_37, PA1_39 0:PA1_38, PA1_40 time according to this 1 to 255:0.1 to 25.5ms 1 to 255:0.1 to 25.5ms 0 to 255:0 to 255ms 0 to 255:0 to 255ms...
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CHAPTER 3 OPERATION Setting and display unit Data item Unit Setting range Command 1 [unit amount], signed - position Feedback position 1 [unit amount], signed - Position deviation 1 [pulse], signed - Feedback speed 1 [r/min], signed - Command torque 1 [%], signed -...
CHAPTER 3 OPERATION 3.4.2 Immediate data operation Use position data setting at words 8 and 9 and speed data setting at words 10 and 11 to execute immediate data operation. When in-position [INP] is turned on, immediate data operation is executed at the activating (rising) edge of start positioning [START].
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CHAPTER 3 OPERATION Speed data setting Speed Position data setting Time [RDY] [INP] [OFF, OFF, OFF, OFF] [CSEL3, 2, 1, 0] [OFF, OFF, OFF, OFF] [SEL3, 2, 1, 0] 10000 [unit amount] Position data setting 50000 [×0.01 r/min] Speed data setting 200 [×acceleration time rate] Acceleration time data [0,1](→×1 ms)...
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CHAPTER 3 OPERATION You can perform “immediate value change operation” to change the target stopping position during immediate data operation. Change position data setting (words 8 and 9) and speed data setting (words 10 and 11) and turn the immediate value change command on during immediate data operation to change operation.
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CHAPTER 3 OPERATION Perform “immediate value continuation operation” to designate the next target stopping position during immediate data operation and continue operation. Specify the position data setting (words 8 and 9) and speed data setting (words 10 and 11) during immediate data operation and turn the immediate value continuation command on to execute (continue) immediate data operation.
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CHAPTER 3 OPERATION The immediate value continuation command can be given if immediate value continuation permission is turned on. Continuation data can be loaded only for a single stage. If the direction of rotation is switched during immediate value continuation operation, movement is temporarily stopped at the command position before the next immediate value continuation data is executed.
CHAPTER 3 OPERATION 3.4.3 Positioning Data Operation Enter “1” as an automatic operation setting parameter (internal positioning data selection (PA2_40)) to execute positioning data operation. Specify the positioning data number to be executed as a positioning address at bits 7 to 0 of word 14 and turn start positioning [START] on to execute positioning.
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CHAPTER 3 OPERATION Enter “1” as an automatic operation setting parameter (sequential start selection (PA2_41)) to execute positioning data of continuous numbers continuously. Specify “0” as a positioning address (bits 7 to 0 of word 14) at the second and later inputs of the start positioning [START] to continue positioning without updating the address setting.
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CHAPTER 3 OPERATION 3.4.4 Pulse Operation Pulse operation can be performed when either command pulse ratio 1 or 2 is turned on. Use command pulse ratios 1 and 2 to the CONT signal with input terminal function parameters. Enter and adjust the following parameters to perform pulse operation.
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CHAPTER 3 OPERATION The number of motor travel pulses corresponding to each input pulse is obtained in the equation below. 1 input pulse × command pulse ratio 1 × (numerator 0 of electronic gear / denominator of electronic gear) = number of motor travel pulses (example with command pulse ratio 1 input turned on) Operation follows the frequency and pulse count of the supplied pulse.
CHAPTER 3 OPERATION 3.4.5 Interrupting/Stopping Operation The following input signals interrupt or stop each operation. ・STO (EN terminal input) ・Servo-on [S-ON] ・+OT/-OT ・Forced stop [EMG] ・Pause ・Positioning cancel ・Deviation clear ・Free-run (1) STO (EN terminal input) If terminals [EN1+] or [EN2+] are opened while the motor is running, the STO function will be triggered, and the motor will free run to a stop.
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CHAPTER 3 OPERATION (3) +OT/-OT / positive software OT / negative software OT If +OT/-OT is detected (OFF because contact b) during motor operation, or if positive software OT or negative software OT is detected, operation is stopped, and the motor comes to a rapid deceleration stop based on the PA2_60: Third torque limit torque.
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CHAPTER 3 OPERATION (4) Forced stop [EMG] If a forced stop [EMG] is detected during motor operation, operation is stopped, and the motor comes to a rapid deceleration stop based on the PA2_60: Third torque limit torque. While forced stop [EMG] is detected, the motor is stopped at the zero speed and the current position is not retained.
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CHAPTER 3 OPERATION (5) Pause If the pause signal is turned on during homing, interrupt positioning, immediate data operation or positioning data operation, operation is interrupted and the motor is stopped while the signal remains turned on. After the signal is turned off, the operation continues. In-position [INP] is not turned on in a pause.
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CHAPTER 3 OPERATION (6) Positioning cancel If the positioning cancel signal is turned on during motor rotation, operation is stopped and controlled stop is caused according to the deceleration time setting. While the positioning cancel signal remains active, homing, interrupt positioning, immediate data operation or positioning data operation does not start.
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CHAPTER 3 OPERATION (7) Deviation clear If the deviation clear signal is detected during motor rotation, operation is stopped and immediate controlled stop is caused according to the selected torque limit. (The maximum torque is assumed if parameter setting is selected with the default setting). If "1" (level signal) is selected with PA3_36: Deviation clear input form, the motor is stopped at zero speed and the current position is not held while the deviation clear signal remains ON.
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CHAPTER 3 OPERATION (8) Free-run While the free-run signal is turned on, outputs of the servo amplifier are turned off and the servomotor coasts to stop (at zero torque). (The motor rotation is not controlled.) If the free-run signal is turned on during motor rotation, operation is stopped and the motor keeps rotating due to the inertia of the load.
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CHAPTER 3 OPERATION (9) Positive limiter detection / negative limiter detection If the limiter detection position (PA2_28, PA2_29) is set, operation is canceled before exceeding the target positon and stopped at positive/negative limiter detection position. Speed Automatic operation setting parameter Positive limit detection position (PA2_28) Time [RDY]...
CHAPTER 3 OPERATION 3.4.6 Reading/writing a Parameter To read or write a parameter, enter the SEL3, SEL2, SEL1 and SEL0 bits as shown in the table below and switch the IQ area of the SX bus to that of parameter reading/writing, and designate the page to be edited (PA*_) and number and set the data.
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CHAPTER 3 OPERATION (1) Parameter read Parameter data is read by the read command (0 bit in 15th word). [SEL3, 2, 1, 0] [OFF, OFF, ON, ON] → PA1_ Parameter no. [Set] 0F(Hexadecimal)=15(Decimal) Read command [CSEL3, 2, 1, 0] [OFF, OFF, ON, ON] → PA1_ Parameter no.
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CHAPTER 3 OPERATION (3) Parameter read/write error If parameter read/write fails, a data error is turned on instead of read/write completion. If a data error is turned on, correct setting items and execute read/write again. [SEL3, 2, 1, 0] [OFF, OFF, ON, ON] → PA1_ Parameter no.
CHAPTER 3 OPERATION 3.4.7 Reading/writing a Positioning Data To read or write a positioning data, enter the SEL3, SEL2, SEL1 and SEL0 bits as shown in the table below and switch the IQ area of the SX bus to that of positioning data reading/writing, and designate the number to be edited (address) and set the positioning data.
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CHAPTER 3 OPERATION (1) Positioning data read Positioning data is read by the read command (0 bit in 15th word). [SEL3, 2, 1, 0] [OFF, ON, ON, OFF] Positioning address Read command [CSEL3, 2, 1, 0] [OFF, ON, ON, OFF] Positioning address [Check] Read completion Position data [Read]...
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CHAPTER 3 OPERATION (2) Positioning data write Positioning data is written by the write command (0 bit in 15th word). [SEL3, 2, 1, 0] [OFF, ON, ON, OFF] Positioning address Position data 10000 Speed data 2500 Stand still timer M code output timing ON = Output at completion M code selection ON = Enable...
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CHAPTER 3 OPERATION (3) Positioning data read/write error If positioning data read/write fails, a data error is turned on instead of read/write completion. If a data error is turned on, correct setting items and execute read/write again. [SEL3, 2, 1, 0] [OFF, ON, ON, OFF] Positioning address Position data...
CHAPTER 3 OPERATION 3.4.8 Selecting the Monitor Enter the parameter address to select the active monitor. Use bit settings of words +14 and +15 in the following IQ address to select the monitor as shown in the table on the next page. Address Command position/feedback position/position deviation Monitor area +2, +3...
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CHAPTER 3 OPERATION ① ② ③ Parameter address Address +2, 3 (DINT-type) Address +4 (INT-type) Data format Feedback speed Command torque [00 □□□□□□] [01 □□□□□□] [10 □□□000] Feedback speed 1r/min, signed [10 □□□001] Command speed 1r/min, signed [10 □□□010] Command torque 1%, signed [10 □□□011] Motor current...
CHAPTER 3 OPERATION 3.4.9 Reading the LS-Z Interphase Pulse If reading the LS-Z interphase pulse, set the SEL3, SEL2, SEL1 and SEL0 bits as follows, change the SX-bus IQ area to LS-Z interphase pulse, and read at the read command ON edge. Data selection (14 words, 8 to 11 bits) SEL3 SEL2...
CAUTION Never add an extreme change to parameters. Otherwise machine motion will become unstable. Risk of injuries Parameters of the ALPHA7 servo amplifiers are divided into the following setting items according to the function. Ref. Parameter setting item Major description...
CHAPTER 4 PARAMETER 4.2 Basic Parameters Parameters marked "" in the "Power" field are enabled after the control power is turned off then turned on again. (Check that the keypad (7-segment display) of the servo amplifier is unlit when the control power is turned off.) 4.2.1 List (PA1_) Record of Control mode...
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CHAPTER 4 PARAMETER Record of Control mode Name Default value Power reference PA1_ Position Speed Torque value Acceleration / deceleration selection at speed control Acceleration time 1 100.0 Deceleration time 1 100.0 Acceleration time 2 500.0 ...
CHAPTER 4 PARAMETER 4.2.2 Description of Each Parameter PA1_02 INC/ABS system selection Default Name Setting range Change value INC/ABS selection 0: Incremental system 1:Absolute system Power 2: Non-overflow absolute system Select either the relative position (incremental) system or absolute position system. Reference Function Description...
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CHAPTER 4 PARAMETER Precaution when setting ABS, endless ABS <Precaution on electronic gear settings> Set electronic gears as follows. When setting ABS: PA1_06/PA1_07 ≥ 2 When setting endless ABS: PA1_06/PA1_07 = 2 (n ≥ 8) With single-turn counter of 24 bits, and multi-turn counter of 16 bits, the ABS encoder functions as a ring counter with a total of 40 bits.
CHAPTER 4 PARAMETER Do not use the immediate value change function. PA1_03 Command pulse input method, format setting Name Setting range Default Change value Command pulse 00 to 12 Power input method, form supply setting This parameter is enabled only under position control, and is set for each input pulse frequency and signal format.
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CHAPTER 4 PARAMETER 90° phase difference 2 signal (reference value of parameter 03: 2) The A-phase signals (CA, *CA) and B-phase signals (CB, *CB) indicate the direction of rotation and rotation amount. Each edge of A-phase signals and B-phase signals is equivalent to 1 pulse. (Multiplied by 4 internally) •...
CHAPTER 4 PARAMETER PA1_04 Rotation direction selection Default Name Setting range Change value Rotation direction 0: CCW rotation direction at forward command. Power selection 1: CW rotation direction at reverse command. This parameter keeps consistency between the direction of rotation of the servomotor and the traveling direction of the machine.
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CHAPTER 4 PARAMETER PA1_06 Numerator 0 of electronic gear, PA1_07 Denominator of electronic gear Default Name Setting range Change value Numerator 0 of electronic gear 1 to 67108864 (in increments of 1) Always Denominator of electronic gear 1 to 67108864 (in increments of 1) Always These parameters are enabled only under position control.
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CHAPTER 4 PARAMETER Entering from PC Loader Use the "Mechanical settings calculation (T)" button provided at the lower part of the parameter editing screen (PA1: Basic setting) of PC Loader to specify the electronic gear simply. Enter the specifications of the machine to automatically calculate the settings.
CHAPTER 4 PARAMETER PA1_08 Number of output pulses per revolution Default Name Setting range Change value Number of output 0: Entered values at PA1_09 and _10 are enabled. pulses per 16 to 4194304 [pulses]: Number of command input 2048 Power revolution pulses per revolution is enabled.
CHAPTER 4 PARAMETER PA1_11 Output pulse phase selection at CCW rotation Default Name Setting range Change value Output pulse phase 0: B-phase pulse lead at CCW rotation selection at CCW 1: A-phase pulse lead at CCW rotation Power rotation The phase of the output pulse of the servomotor is adjusted to the traveling direction of the machine. Select the phase of forward rotation (CCW rotation) of the servomotor.
CHAPTER 4 PARAMETER PA1_13 Tuning mode selection Default Name Setting range Change value 0: Auto tuning 1: Semi-auto tuning Tuning mode selection Always 2: Manual tuning 3: Interpolation control mode This parameter is enabled under position and speed control. Select the tuning method of the servo amplifier. Refer to the following description to select the mode. ...
CHAPTER 4 PARAMETER Parameters that must be entered in each tuning mode and automatically adjusted parameters are shown below. Tuning mode selection Name 3: Interpolation PA1_ 0: Auto 1: Semi-auto 2: Manual control Load inertia ratio Auto tuning gain 1 ...
CHAPTER 4 PARAMETER How to enter the ratio of inertia of load (1) Entering the value monitored at keypad on_14 Use the monitor mode of the keypad to monitor. Enter the monitored value. If the value drifts, enter an average value. If fluctuation is substantial and the ratio of the maximum to the minimum exceeds two, adopt entry method (2).
CHAPTER 4 PARAMETER PA1_16 Auto tuning gain 2 Default Name Setting range Change value Auto tuning gain 2 1 to 12 (in increments of 1) Always This parameter is enabled only under position control. The parameter is enabled if PA1_13 (tuning mode selection) is 0 (auto tuning) or 1 (semi-auto tuning). This parameter adjusts the command response.
CHAPTER 4 PARAMETER PA1_20 to 23 Easy tuning settings Default Name Setting range Change value Easy tuning: 0.01 [rev] to 200.00 [rev] (in increments of 0.01) 2.00 Always stroke setting Easy tuning: 10.00 [r/min] to Max. rotation speed [r/min] (in 500.00 Always speed setting...
CHAPTER 4 PARAMETER PA1_29 Speed coincidence range Default Name Setting range Change value Speed coincidence range 10 [r/min] to max. rotation speed [r/min] Always Enter the range in which the "speed coincidence" output signal is turned on. The speed coincidence signal is turned on if the actual servomotor rotation speed is nearly the command speed.
CHAPTER 4 PARAMETER PA1_32 Zero deviation range/In-position range Default Name Setting range Change value Zero deviation range/ 0 [pulse] to 4000000 [pulse]/ Always In-position range [unit amount] Zero deviation range Enter the activation level of the "zero deviation" output signal. The signal is turned on at position deviation within the reference value.
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CHAPTER 4 PARAMETER In-position signal The in-position signal is turned on if position deviation is within the reference value of "zero deviation range" and the motor rotation speed is within the reference value of "zero speed range" (AND condition of zero speed and zero deviation). The output timing of this signal substantially varies according to the setting of PA1_31 (deviation unit selection).
CHAPTER 4 PARAMETER PA1_36 to 40 Acceleration / deceleration selection at speed control, Acceleration time and deceleration time settings Default Name Setting range Change value Acceleration / deceleration 0: Disable Always selection at speed control 1: Enable Acceleration time 1 100.0 Deceleration time 1 100.0...
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CHAPTER 4 PARAMETER VS type Use PA1_36 (acceleration / deceleration selection at speed control) to select acceleration/deceleration of speed control. To perform position control at the host control unit and to perform speed control at the servo system, enter "0" to PA1_36 (control method to output analog speed command voltage at host control unit). To perform speed control independently in the servo system, enter "1"...
CHAPTER 4 PARAMETER PA1_41 to 47 Manual feed speed 1 to 7 Default Name Setting range Change value Manual feed speed 1 for 100.00 Always position and speed control Manual feed speed 2 for 500.00 Always position and speed control Manual feed speed 3 for 1000.00 Always...
CHAPTER 4 PARAMETER 4.3 Control Gain and Filter Setting Parameters Parameters marked "" in the "Power" field is enabled after the control power is turned off then turned on again. (Check that the keypad (7-segment display) of the servo amplifier is unlit when the control power is turned off.) 4.3.1 List (PA1_) Default value: *** Determined in auto tuning.
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CHAPTER 4 PARAMETER Control mode Default Record of Name Power PA1_ value reference value Position Speed Torque Vibration suppressing workpiece inertia ratio (vibration suppressing resonance frequency) 3 0.0000 Vibration suppressing damping coefficient Model torque filter time constant ...
CHAPTER 4 PARAMETER 4.3.2 Description of Each Parameter PA1_51 to 53 Command filter settings Default Name Setting range Change value Moving average S-curve time 0, 2 to 500 (×0.05 [ms]) Always Low-pass filter (for S-curve) time 0.0 [ms] to 1000.0 [ms] Always constant Command pulse smoothing function 0: Disable 1: Enable...
CHAPTER 4 PARAMETER PA1_55 to 57 Response to disturbance settings Default Name Setting range Change value Position loop gain 1 1 [rad/s] to 2000 [rad/s] Always Speed loop gain 1 1 [Hz] to 2000 [Hz] Always Speed loop integration time constant 1 0.5 [ms] to 1000.0 [ms] Always Position loop gain 1: Position disturbance response setting.
CHAPTER 4 PARAMETER PA1_59 Torque filter time constant for position and speed control PA1_60 Torque filter time constant for torque control Default Name Setting range Change value Torque filter time constant for position and speed 0.00 [ms] to 20.00 [ms] Always control Torque filter time constant...
CHAPTER 4 PARAMETER PA1_61 to 67 Second gain settings Default Name Setting range Change value 0: Position deviation (×10) 1: Feedback speed 2: Command frequency Gain changing factor Always (position control)/command speed (speed contorl) 3: External switch (use CONT signal) Gain changing level 1 to 1000 (in increments of 1) Always...
CHAPTER 4 PARAMETER If external switch is selected as a gain changing factor, changeover to the second gain occurs during OFF-to-ON transition as shown on the last page. In this case, you can turn on or off at an arbitrary timing without relations to the motor motion.
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CHAPTER 4 PARAMETER How to set the notch filter (1) If there is resonance in the mechanical system, a notch filter is automatically set. If resonance is not suppressed, set PA1_70 (automatic notch filter selection) at 0 (disable) and follow the procedure below to manually adjust the notch filter.
CHAPTER 4 PARAMETER PA1_77 to 86 Vibration suppressing control settings Default Name Setting range Change value Automatic vibration suppressing selection 0: Disable 1: Enable 2: IQ area Always 3: 2 point simultaneous setting Vibration suppressing anti resonance frequency 0 1 [Hz] to 300.0 [Hz] 300.0 Always (in increments of 1)
CHAPTER 4 PARAMETER If using “2 point simultaneous setting”, be sure to change the “Vibration suppressing anti resonance frequency 0 and 1” settings while the motor is stopped. An unexpected operation may occur if changed while the motor is rotating. For details of vibration suppressing control, refer to "Section 5.9 Special Adjustment (Vibration Suppressing Control)."...
CHAPTER 4 PARAMETER PA1_91 P/PI automatic change selection Default Name Setting range Change value P/PI automatic change selection 0: Disable 1: Enable Always The speed adjuster switches to P (proportional) or PI (proportional + integral) control. Set at 1 (enable) to automatically switch according to the setting of PA1_61 (gain changing factor). The switching level follows the reference value of PA1_62 (gain changing level).
CHAPTER 4 PARAMETER PA1_95 Model torque calculation selection, speed observer selection Default Name Setting range Change value Setting Model torque Speed observer calculation Model torque Disable Disable calculation selection, Always Enable Disable speed observer Disable Enable selection Enable Enable This parameter is enabled under position and speed control. Select whether model torque calculation and speed observer are enabled or disabled.
CHAPTER 4 PARAMETER 4.4 Automatic Operation Setting Parameters Parameters marked "" in the "Power" field are enabled after the control power is turned off then turned on again. (Check that the keypad (7-segment display) of the servo amplifier is unlit when the control power is turned off.) 4.4.1 List (PA2_) Control mode Record of...
CHAPTER 4 PARAMETER Control mode Record of Name Default value Power reference PA2_ Position Speed Torque value Point detection, area detection position 2 Point detection range Override 1 Override 2 Override 4 ...
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1: Stop and cancel the homing *: Compulsory setting item ALPHA7 can combine parameter settings to create the desired homing profile. The homing profile is configured with combination of the following parameters. (1) Starting direction for homing Specify the starting direction (forward/reverse rotation) of homing. The direction opposite to the homing direction after reference signal detection can be specified.
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CHAPTER 4 PARAMETER (1) Homing profile setting procedure The basic procedure for specifying the homing profile (homing parameter) is described. Homing pattern setting procedure Home position shift unit amount Z-phase/home Enter the standard signal for position LS determining the home position Enter the reference signal for +OT/-OT Shift operation.(PA2_11)...
CHAPTER 4 PARAMETER PA2_09 Reverse traveling unit amount for homing Default Name Setting range Change value Reverse traveling unit 0 to 2000000000 [unit amount] Always amount for homing Not a compulsory item Specify the reverse traveling amount taken in the direction opposite to the starting direction for homing at the start of homing motion.
CHAPTER 4 PARAMETER PA2_10 Homing direction after reference signal detection Default Name Setting range Change value Homing direction after 0: Forward rotation Power reference signal detection 1: Reverse rotation Specify the direction of the zero position when viewed from the reference signal for shift operation. The reference signal for shift operation is passed during home position shift unit amount travel in this direction.
CHAPTER 4 PARAMETER PA2_12 Reference signal for homing (Deceleration starting signal) Default Name Setting range Change value Reference signal for homing 0: Home position LS 1:+OT 2:-OT Power (Deceleration starting signal) 3: Encoder Z-phase 5: Stopper If the encoder Z-phase is selected as a reference signal for shift operation, specify the timing signal for deceleration to the creep speed for homing.
CHAPTER 4 PARAMETER PA2_14 Home position shift unit amount Default Name Setting range Change value Home position shift unit 0 to 2000000000 [unit amount] 1000 Always amount Specify the distance (traveling amount) from the reference Home position shift unit amount signal for shift operation to the home position.
CHAPTER 4 PARAMETER PA2_16 Home position after homing completion Default Name Setting range Change value Home position after homing -2000000000 to 2000000000 Always completion [unit amount] Not a compulsory item Home position shift unit amount Specify the coordinate position of the homing completion point. After a homing is normally finished, the current position is replaced with the reference value of this parameter.
CHAPTER 4 PARAMETER PA2_18 Deceleration time at OT during homing Default Name Setting range Change value Deceleration time at OT 0.0 [ms] to 99999.9 [ms] 100.0 Always during homing Specify the deceleration time taken after +OT or -OT is detected during homing motion. Specify the time taken to decelerate from 2000 [r/min] to 0 [r/min].
CHAPTER 4 PARAMETER PA2_24 Selection of operation at OT during homing Default Name Setting range Change value Selection of operation at 0: Reverse rotation Power OT during homing 1: Stop and cancel the homing Specify the motion taken upon first OT detection during homing motion. Specify 0 to reverse the motion upon first OT detection.
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CHAPTER 4 PARAMETER PA2_60 third torque limit Default Name Setting range Change value Third torque limit 0 [%] to 300 [%] Always Specify the deceleration torque for stopping upon detection of +OT or -OT during homing motion. If 1 (stop) is selected as parameter PA2_24 (selection of operation at OT during homing) and OT is detected, the homing process is canceled and controlled stop is caused according to this parameter.
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CHAPTER 4 PARAMETER Typical homing profiles (1) Basic homing profile (equivalent to homing profile 1 of FALDIC-α Series) Described here is the homing profile of the most basic motion, in which homing is started, the reference signal for homing (deceleration starting signal) is detected and deceleration to the creep speed for homing occurs, and the reference signal for shift operation is detected and movement by the home position shift unit amount is caused until the motion is stopped.
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CHAPTER 4 PARAMETER The motion proceeds in the following procedure. (1) The motion starts upon homing [ORG] (OFF → ON) in the starting direction for homing (PA2_08) at homing speed (PA2_06). (2) When the home position LS (PA2_12, PA2_13) is detected, the motion changes in the homing direction after reference signal detection (PA2_10) at the creep speed for homing (PA2_07).
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Because the reverse rotation upon OT detection is enabled with the standard homing setting of ALPHA7, the OT reference homing is executed with the same parameter settings as those of the basic homing profile. If the reference signal for homing (deceleration starting signal) is detected before OT is detected, the motion profiles the same as that of (1) basic homing profile.
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CHAPTER 4 PARAMETER (4) If home position LS (PA2_12) is detected in the homing direction (PA2_10), the motor will begin traveling in the homing direction (PA2_10) at homing creep speed (PA2_07), and will stop after moving by the home position shift amount (PA2_14) from the point of initial encoder Z-phase (PA2_11) detection.
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CHAPTER 4 PARAMETER (3) At-start reverse rotation homing profile1 (equivalent to homing profile 3 of FALDIC-α Series) After homing is started, a travel occurs in the direction opposite to the starting direction for homing by the specified reverse traveling unit amount for homing while the reference signal for homing (deceleration starting signal) is searched for.
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CHAPTER 4 PARAMETER The motion proceeds in the following procedure. (1) The motion starts at the rising edge (OFF → ON) of homing [ORG] in the direction opposite to the starting direction for homing (PA2_08) at the homing speed (PA2_06). (2) If the home position LS (PA2_12) is detected during travel by the reverse traveling unit amount for homing (PA2_09), the motion changes in the homing direction after reference signal detection (PA2_10) at the creep speed for homing (PA2_07).
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CHAPTER 4 PARAMETER If the home position LS (PA2_12) is not found during travel from the homing starting position in the reverse traveling unit amount for homing (PA2_09), the motion continues in the starting direction for homing to search for the home position LS (PA2_12). (1) The motion starts at the rising edge (OFF →...
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CHAPTER 4 PARAMETER At the rotation direction selection point with zero speed, zero speed and in-position [INP] are momentarily turned on. The signal change may fail to be sensed according to some scanning periods of the host controller. If the home position LS (PA2_12) is not found during travel from the homing starting position in the reverse traveling unit amount for homing (PA2_09), the motion changes in the starting direction for homing and the home position LS (PA2_12) is searched for.
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CHAPTER 4 PARAMETER Home position shift unit amount Encoder Z-phase ④ Home Home Starting direction for homing position position LS Homing direction after reference signal detection Home position shift unit Reverse traveling Homing creep speed [PA2_07] amount [PA2_14] unit amount for homing [PA2_09] Speed Homing speed...
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CHAPTER 4 PARAMETER (4) Reference signal for shift operation homing profile (equivalent to homing profile 4 of FALDIC-α Series) Upon detection of a reference signal for shift operation after the start of homing, the motion reverses to the point ahead of the reference signal for shift operation, and then the motion continues at the creep speed for homing to detect the reference signal for shift operation and determine the home position.
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CHAPTER 4 PARAMETER The motion proceeds in the following procedure. (1) The motion starts at the rising edge (OFF → ON) of homing [ORG] in the starting direction for homing (PA2_08) at the homing speed (PA2_06). (2) Upon detection of the home position LS (PA2_12, PA2_13), the motion reverses in the direction opposite to the homing direction after reference signal detection (PA2_10) to the point ahead of the home position LS (PA2_12).
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CHAPTER 4 PARAMETER (5) At-start reverse rotation homing profile2 The motion occurs in the direction opposite to the homing direction after reference signal detection (direction of home position when viewed from the reference signal for homing) to detect the reference signal for homing (deceleration starting signal) and reference signal for shift operation. This profile is used if the machine stopping position is larger than the reference signal for homing or reference signal for homing.
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CHAPTER 4 PARAMETER The motion proceeds in the following procedure. (1) The motion starts at the rising edge (OFF → ON) of homing [ORG] in the starting direction for homing (PA2_08; direction opposite to homing direction after reference signal detection in this case) at the homing speed (PA2_06).
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CHAPTER 4 PARAMETER (6) Homing profile without using OT Below is an example of the setting for returning to the home position with the home position LS signal without the OT signal. Use this profile for mechanical configurations where one of directions of the moving part of the mechanical system is turned on with the home position LS signal as shown in the figure below.
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CHAPTER 4 PARAMETER If PA2_08 = “2” and neither of the above conditions is satisfied, the starting direction for homing follows the setting of PA2_10 (homing direction after reference signal detection). If PA2_08 is set at “2,” PA2_09 (reverse traveling unit amount for homing) is internally handled as zero forcibly. The motion proceeds in the following procedure.
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CHAPTER 4 PARAMETER Zero speed and in-position [INP] are temporarily turned on when the speed is reduced to zero at changeover of the direction of rotation. Signal transition may not be detected according to some scanning frequencies of the host controller. ...
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CHAPTER 4 PARAMETER Operation example at parameter setting change Operation examples after a parameter change necessitated due to the position, etc. of the home position LS (see Table a for the setting example) are shown in Figs. a to c. Table a Setting example of Setting example of...
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CHAPTER 4 PARAMETER [Fig. b] Reverse rotation LS ON edge Forward rotation LS (ON active) Z-phase PA2_06:Homing speed [Start from the inside of LS] → Position PA2_07:Creep speed for homing PA2_14:Home position shift unit amount [Start from outside of LS] →...
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CHAPTER 4 PARAMETER (7) Profile using encoder Z-phase for home position reference signal Set PA2_12: Reference signal for homing to "Encoder Z-phase" if using machines on which sensors such as limit switches cannot be installed. [Parameter setting examples] PA2_ Default Name Setting Change...
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CHAPTER 4 PARAMETER Timing chart (1) When homing starts, operation begins in the homing start direction at homing creep speed. (2) The first Z-phase is detected, the motor moves by the PA2_14: Home position shift unit amount in the homing start direction, and homing is completed. Creep speed for homing [PA2_07] Home position shift unit amount [PA2_14]...
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CHAPTER 4 PARAMETER (8) Homing pattern using the stopper [Parameter setting example] PA2_ Default Name Setting Change value Homing speed 500.00 [r/min] 500.00 Always Creep speed for homing 50.00 [r/min] 50.00 Always Homing direction after reference signal 0: Forward rotation Power detection Reference signal for...
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CHAPTER 4 PARAMETER Timing chart Speed Homing speed PA2_06 Time Home position shift unit amount PA2_14 Creep speed for Stopper homing PA2_07 Homing PA2_22: Detection time for contact-stopper Torque limit detection Homing completion PA2_23: Torque limit for contact-stopper Torque limit value PA1_27: Forward rotation torque limit PA1_28: Reverse rotation torque limit (1) The activating edge of the homing signal starts operation at the homing speed (PA2_06)
CHAPTER 4 PARAMETER PA2_19 Preset position Default Name Setting range Change value -2000000000 to 2000000000 [unit Preset position Always amount] Specify the new position to be substituted with the current position upon an input signal ("position preset (16)" assigned to a CONT signal). After position preset is turned on, the current position changes to the reference value of this parameter.
CHAPTER 4 PARAMETER Non-overflow: Repetitive rotation in the same direction can be made. The position is preset at the start, and all position data is handled as an incremental value. The OT function, software OT and hardware OT functions allocated to input signals are disabled.
CHAPTER 4 PARAMETER PA2_31 to 34 Point detection, area detection settings Default Name Setting range Change value Point detection, area 0: Point detection detection 1: ON for positive side Always 2: ON for negative side Point detection, area -2000000000 to 2000000000 [unit amount] Always detection position 1 Point detection, area...
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CHAPTER 4 PARAMETER (1) Point detection (If PA2_31 (point detection, area detection) is 0) The signal is turned on if the current position is nearly the position specified in PA2_32 and PA2_33. Point detection, area detection position 1 (PA2_32) Point detection, area detection position 2 (PA2_33) 190.0 200.0...
CHAPTER 4 PARAMETER PA2_36 to 39 Override settings Default Name Setting range Change value Override 1 Always Override 2 Always 0 [%] to 150 [%] Override 4 Always Override 8 Always This parameter is enabled only for LS type. These parameters are enabled under speed and position control. To use these signals, be sure to turn on "override enable."...
CHAPTER 4 PARAMETER PA2_41 Sequential start selection Default Name Setting range Change value Sequential start selection 0: Disable 1: Enable Power This parameter is enabled only for LS type. Select whether sequential start is enabled or disabled. For details of sequential start, refer to “CHAPTER 12 POSITIONING DATA” PA2_42 Decimal point position of stand still timer Default Name...
CHAPTER 4 PARAMETER 4.5 Extended Function Setting Parameters Parameters marked "" in the "Power" field are enabled after the control power is turned off then turned on again. (Check that the keypad (7-segment display) of the servo amplifier is unlit when the control power is turned off.) 4.5.1 List (PA2_) Control mode Record of...
CHAPTER 4 PARAMETER Control mode Record of Name Default value Power reference PA2_ Position Speed Torque value Positioning data in RAM 1 *2) ○ Positioning data in RAM 2 *2) ○ ○ - - Positioning data in RAM 3 *2) ○...
CHAPTER 4 PARAMETER PA2_57 to 60 Torque limit settings Name Setting range Default value Change 0: As per CONT signal torque limit Torque limit selection Power (VS type only) 1:Torque limit specified in IQ area GYB: 0 [%] to 350 [%] GYB: 350 [%] Second torque limit Other than GYB: 0 [%] to 300 [%]...
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CHAPTER 4 PARAMETER LS type: always CONT signal* Enabled torque limit State of each limit CCW: Powering, CCW: Powering, Torque limit 1 CW: Regeneration CW: Regeneration Forward rotation Reverse rotation No condition judgment torque limit torque limit Second torque limit ≥ Forward/reverse torque Forward rotation Reverse rotation limit...
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CHAPTER 4 PARAMETER (4) Third torque limit This parameter is enabled under position or speed control. The reference value of this parameter becomes the torque limit under the following conditions. Sudden controlled stop caused by servo-on (S-ON) turned off ...
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CHAPTER 4 PARAMETER [Reference example] Example: Timing chart with VS model To hold deviation at TL (IQ area) (Torque limit 1 = OFF, Torque limit 0 = ON) Forward rotation torque limit Reverse rotation torque limit Torque limit 150% 200% Time Forward rotation torque limit Reverse rotation torque limit...
CHAPTER 4 PARAMETER PA2_61 to 63 Action sequence settings Default Name Setting range Change value Action sequence at Power 0000 to 3021 2021 servo-on OFF supply Power Action sequence at alarm 0000 to 2011 0000 supply Action sequence at main Power power supply OFF, OT 0000 to 3021...
CHAPTER 4 PARAMETER If upgrading from the ALPHA5 Series, by setting "0000" to "0005", the values will be the same as those for ALPHA5 parameter settings PA2_61 to 63. In this case, the deceleration operation when performing a forced stop or following OT detection will be fixed at rapid deceleration.
CHAPTER 4 PARAMETER PA2_66 Flying start at speed control Default Name Setting range Change value Flying start at speed 0: No flying start Power control 1: Flying start This parameter is enabled only for VS type. The parameter is enabled under speed control. If servo-on is turned on during free-run operation, the speed at the timing is picked and acceleration begins at the speed.
CHAPTER 4 PARAMETER PA2_69 Deviation detection overflow value Default Name Setting range Change value Deviation detection 0.1 [rev] to 100.0 [rev] 15.0 Always overflow value Specify the value for detecting an "Deviation overflow" alarm. Enter the parameter in a rotation amount of the motor output shaft. PA2_70 Overload warning value Default Name...
CHAPTER 4 PARAMETER PA2_76: No.3 deceleration time Name Setting range Default Change value No.3 deceleration time 0.0 to 99999.9 [ms] 100.0 Always Set the deceleration time when bringing the motor to a decelerated stop with a forced stop, etc. The motor decelerates based on this parameter setting under the following conditions. ...
CHAPTER 4 PARAMETER PA2_78 Display transition at warning detection Default Name Setting range Change value Display transition at 0: No transition 1: Transition to Power warning detection warning display Select whether or not a warning sign is displayed at the keypad on the front panel of the amplifier when a "cooling fan life expiration,"...
CHAPTER 4 PARAMETER PA2_89 and 90 Sequence test mode: Mode selection and encoder selection Default Name Setting range Change value Sequence test mode: 0: Normal mode Power Mode selection 1: Sequence test mode Sequence test mode: 4: 24 bit Power Encoder selection PA2_89 (sequence test mode): Select 0 to start the sequence test mode from the PC Loader or keypad.
CHAPTER 4 PARAMETER PA2_92 SX extension function Default Name Setting range Change value SX extension function Corresponds to the table below. Always This parameter is enabled only for VS type. PA2_92 is configured to allocate all kinds of function selection to each bit which is expressed in binary.
CHAPTER 4 PARAMETER 4.6 Input Terminal Function Setting Parameters Parameters marked "" in the "Power" field are enabled after the control power is turned off then turned on again. (Check that the keypad (7-segment display) of the servo amplifier is unlit when the control power is turned off.) 4.6.1 List (PA3_) Control mode Record of...
CHAPTER 4 PARAMETER 4.6.2 Description of Each Parameter PA3_01 to 19 CONT signal assignment Default Name Setting range Default value (LS) Change value (VS) CONT1 signal assignment CONT2 signal assignment CONT3 signal assignment CONT4 signal assignment CONT5 signal assignment CONT6 signal assignment 0 (IQ) 1 (IQ: S-ON) CONT7 signal assignment...
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CHAPTER 4 PARAMETER VS Type Function List (A) Functions assigned to CONT 1 to 5 The signals which are turned on and off by an external signal. You can select five signals in the table below. Name Servo-on [S-ON] Home position LS [LS] Forced stop [EMG] External braking resistor overheat...
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CHAPTER 4 PARAMETER Functions fixed in IQ area (cannot be changed) For details, refer to "CHAPTER 3 OPERATION." Name Servo-on [S-ON] Forward command [FWD] Reverse command [REV] Homing [ORG] Forced stop [EMG] Alarm reset [RST] Position preset Position control Torque control Interrupt input enable Deviation clear Free-run...
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CHAPTER 4 PARAMETER LS Type Function List Name Name Servo-on [S-ON] Pause Forward command [FWD] Positioning cancel External braking resistor Reverse command [REV] overheat Start positioning [START] Teaching Homing [ORG] Override enable Home position LS [LS] Override 1 Override 2 Override 4 ABS/INC Override 8...
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CHAPTER 4 PARAMETER (2) Connector pin layout (Common to VS and LS types) The pin layout of each signal is shown in the figure below. Assign a desired function to signals CONT1 through CONT5. CONT 6 to 19 are assigned to IQ area. MON1 *FFA MON2...
CHAPTER 4 PARAMETER PA3_26 to 30 CONT always ON 1 to 5 Default Name Setting range Change value CONT always ON 1 CONT always ON 2 Specify the number corresponding to CONT always ON 3 Power desired function (0 to 76) CONT always ON 4 CONT always ON 5 Specify the CONT input signal that is always enabled after the power is turned on.
CHAPTER 4 PARAMETER 4.7 Output Terminal Function Setting Parameters Parameters marked "" in the "Power" field are enabled after the control power is turned off then turned on again. (Check that the keypad (7-segment display) of the servo amplifier is unlit when the control power is turned off.) 4.7.1 List (PA3_) Record of Control mode...
CHAPTER 4 PARAMETER 4.7.2 Description of Each Parameter PA3_51 to 55 OUT 1 to 5 signal assignment Default value Default value Name Setting range Change (VS) (LS) OUT1 signal assignment OUT2 signal assignment OUT3 signal assignment OUT4 signal assignment OUT5 signal assignment OUT6 signal assignment OUT7 signal assignment Select among OUT...
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CHAPTER 4 PARAMETER (1) Output terminal (OUT output signal) list Select the output terminal function assigned to the OUT signal in the table below. The “number” and “name” functions have a one-to-one relationship, and so to specify the desired function, assign the corresponding “number” to the OUT output signal (VS type: OUT 1 and 2, LS type: OUT 1 to 16).
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CHAPTER 4 PARAMETER (B) Functions fixed in IQ area (cannot be changed) For details, refer to "CHAPTER 3 OPERATION." Name Name Ready for servo-on Alarm code 1 [RDY] In-position [INP] Alarm code 2 Alarm detection Alarm code 3 (normally open contact) Homing completion Alarm code 4 Zero deviation...
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CHAPTER 4 PARAMETER LS Type Function List Name Name Ready for servo-on +OT detection [RDY] In-position [INP] -OT detection Home position LS Speed limit detection detection Over write completion Forced stop detection Brake timing Toggle answer 0 Alarm detection Toggle answer 1 (normally open contact) Point detection, area Toggle error...
CHAPTER 4 PARAMETER (2) Connector pin layout (Common to VS and LS types) The pin layout of each signal is shown in the figure below. Assign desired function to signals OUT1 through OUT2. LS type: CONT 3 to 16 are assigned to IQ area. MON1 *FFA MON2...
CHAPTER 4 PARAMETER PA3_81 to 87 Monitor output scale and offset settings Default Name Setting range Change value 1: Command speed. 2: Feedback speed. Monitor 1 signal Always 3: Torque command. assignment 4: Position deviation [unit amount/pulse]. 5: Position deviation 1/10 [unit amount/pulse]. 6: Position deviation 1/100 [unit amount/pulse].
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CHAPTER 4 PARAMETER Monitor 1/2 signal assignment Specify the data to be output at the monitor 1 [MON1] and monitor 2 [MON2] terminals. Monitoring item Description Specifications 1: Command speed Speed command given to servomotor Output voltage corresponding to maximum rotation speed 2: Feedback speed Actual rotation speed given to servomotor...
CHAPTER 4 PARAMETER Monitor 1/2 offset The offset voltage between the monitor 1 [MON1] and monitor 2 [MON2] terminals can be adjusted. The setting range is from -50 to 0 to 50 in increments of 1. The reference value has no unit.
CHAPTER 4 PARAMETER 4.8 Extension Function 2 Setting Parameters Parameters with "" in the parameter list "Power supply" column are enabled by turning OFF the control power and then turning it back ON (ensure that servo amplifier keypad (7-segment display) is OFF when the control power is OFF). 4.8.1 List (PA4_) Control mode Record of...
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CHAPTER 4 PARAMETER Control mode Record of Default Power Name reference PA4_ value supply Speed Position Torque value Tuningless function Enable/disable Tuningless level Tuningless load level New vibration suppressing damping coefficient New vibration suppressing ...
CHAPTER 4 PARAMETER 4.8.2 Description of Each Parameter PA4_01 to 06 Interference detection function settings Default Name Setting range Change value GYB: 350 [%] GYB: 0 [%] to 350 [%] Other Interference detection level Always Other than GYB: 0 [%] to 300 [%] than GYB: 300 [%]...
CHAPTER 4 PARAMETER Collision Collision occurrence Speed PA4_02: Interference detection return value Time PA4_03: Interference detection return speed [Recovering normal operation] If the interference detection function is triggered and the servomotor has retreated in the direction of no interference, normal operation will be possible after this signal turns OFF. When in position control mode (pulse train operation) or speed control mode, however, the operations indicated in the following table will be required to recover normal operation.
CHAPTER 4 PARAMETER PA4_11 to 12 Function safety operation settings Default Name Setting range Change value Function safety amplifier 00 to 11 Always operation selection GYS, 750W or less: GYS, GYB 750W or less: 6000.00 Function safety SLS speed 0.01 to 6000.00 [r/min] Always limit value GYS 1kW or more: 0.01 to 5000.0 [r/min]...
CHAPTER 4 PARAMETER When performing position command operation with the VS type, or pulse train operation with the LS type, ensure that commands from the host device do not exceed the speed limit. Operation should normally be performed with command values which ensure a speed of PA1_25: Max.
CHAPTER 4 PARAMETER PA4_51 to 59 Notch filter settings Default Name Setting range Change value Notch filter 3 frequency 10 to 4000[Hz] 4000 Always Notch filter 3 attenuation 0 to 40 [dB] Always Notch filter 3 width 0 to 3 Always Notch filter 4 frequency 10 to 4000[Hz]...
CHAPTER 4 PARAMETER PA4_60 Cogging torque compensation Default Name Setting range Change value 0: Disable Cogging torque 1: Enable Power compensation 2: Learning supply 3: Clear learning result Speed fluctuations resulting from servomotor cogging torque can be suppressed. Use this parameter if wishing to suppress speed fluctuations during operation. This function can be used by setting the parameter to 2 (learning), rotating the servomotor 10 times or more, and after the servo amplifier has learned the cogging torque (the parameter is automatically set to 1: Enable when learning is complete.)
CHAPTER 4 PARAMETER PA4_64 to 65 New vibration suppressing settings Default Name Setting range Change value New vibration suppressing 0 to 99 [%] Always damping coefficient New vibration suppressing 5 to 80 [%] Always workpiece inertia ratio These parameters are valid only for position control. They are used to suppress (vibration suppression) vibrations at the tip of workpieces.
CHAPTER 5 SERVO ADJUSTMENT 5.1 Adjustment Procedure Adjustment (tuning) of the servo amplifier is necessary so that the servomotor operates according to commands sent from the host control unit. Proceed servo amplifier tuning as in the following chart. Using the tuning procedure and mode selection START Synchronous Adjust in the...
CHAPTER 5 SERVO ADJUSTMENT 5.2 Tuningless Function 5.2.1 What is the Tuningless Function? With the tuningless function, the servo amplifier adjusts parameters automatically to provide almost the same response based on the machine model or load fluctuations, eliminating the need to make manual adjustments.
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CHAPTER 5 SERVO ADJUSTMENT 5.2.3 Operating Procedure The tuningless function is used to automatically adjust internal servo amplifier parameters based on the load condition, and therefore the function will remain ON continuously after the function is enabled. There is generally no need to change or adjust parameter setting values, however, if vibrations or oscillations occur during operation, or if unsatisfied with operation, the following parameter settings should be specified.
CHAPTER 5 SERVO ADJUSTMENT 5.2.4 Disabled Functions and Parameters If the tuningless function is enabled, the following functions and parameters will be disabled. Furthermore, this function will be disabled if the control mode is torque control mode. Name PA1_13 Tuning mode selection PA1_14 Load inertia ratio PA1_15...
CHAPTER 5 SERVO ADJUSTMENT 5.3 Easy Tuning 5.3.1 What is Easy Tuning? Disconnect the servo amplifier from the host control Servo amplifier Reciprocal motion, unit and operate only the servo amplifier and etc. servomotor to automatically tune internal parameters of the amplifier. With this function, even if the host control unit program is incomplete, the servomotor can be operated in advance which can lead to the...
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CHAPTER 5 SERVO ADJUSTMENT [2] Easy tuning Select "easy tuning" on the aforementioned screen . Enter the "stroke," "speed" and other particulars and press the "START/STOP" button. Up to 25 reciprocal motions occur while parameters are automatically tuned. "Slow run" for rotation direction and stroke "Easy tuning"...
CHAPTER 5 SERVO ADJUSTMENT 5.3.3 Description of Operation Two operation patterns of easy tuning are described. Slow running Starting conditions Conditions for starting slow running are indicated "" in the table below. Slow running does not start if the conditions shown below are not satisfied ("NG1" is indicated). If none of conditions are satisfied during operation, operation is stopped ("NG2"...
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CHAPTER 5 SERVO ADJUSTMENT Details of tuning No tuning is performed in slow running. However, the auto tuning gain is automatically decreased if resonance is observed in the machine. In this case, the automatic notch filter function is activated. Details of completion of action The action completion method includes three patterns: normal completion, interruption by user, and faulty termination.
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CHAPTER 5 SERVO ADJUSTMENT Operation profile (in case of reciprocal motion) The operation profile is shown below. "P□□" in the table indicates the number of the basic setting parameter (PA1_□□). Rotation speed Automat- Automat- 24 more times ically ically calculated calculated Automat- Time [s]...
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CHAPTER 5 SERVO ADJUSTMENT Results of easy tuning After easy tuning is normally finished, the gain and load inertia ratio automatically adjusted in tuning are reflected on parameters. (See the table below.) If resonance is observed during easy tuning, a notch filter is automatically set to suppress resonance, and the filter is reflected on parameters.
CHAPTER 5 SERVO ADJUSTMENT 5.4 Auto Tuning If satisfactory results are not obtained after easy tuning, perform "auto tuning." In this mode, the load inertia ratio of the machine is always estimated, and optimum gain is automatically settled. 5.4.1 Conditions for Auto Tuning Auto tuning may not function correctly if the following conditions are not satisfied.
CHAPTER 5 SERVO ADJUSTMENT 5.4.3 Approximate Reference Value of Auto Tuning Gain 1 By increasing auto tuning gain, response will be improved while possibly causing vibration or other ill effects. Change the value at intervals of about 2 points. If resonance with the mechanical system or abnormal noises are not caused, auto tuning gain 1 can be increased and the settling time can be decreased.
CHAPTER 5 SERVO ADJUSTMENT 5.4.4 Auto Tuning Adjustment Procedure START Repeat acceleration/deceleration operation. Is the estimated Change to semi-auto tuning and enter the load inertia ratio stable? ratio of moment of inertia of load. Adjust auto tuning gain 1. Satisfactory motion? Adjust auto tuning gain 2.
CHAPTER 5 SERVO ADJUSTMENT 5.5 Fine Tuning 5.5.1 What is Fine Tuning? If unsatisfied with operation using "easy tuning" or "auto tuning" adjustments, adjustments can be made using the "fine tuning" function. The status of the motor run with the servo amplifier is observed with PC Loader, and this function is used to set optimum control gain and filter setting values based on the operating status.
CHAPTER 5 SERVO ADJUSTMENT 5.5.3 Operating Procedure The screen below appears when the fine tuning function is selected. By specifying settings and performing operations using the following procedure, the servo amplifier adjusts the optimum gain and filter settings. The fine tuning function involves motor movement. ...
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CHAPTER 5 SERVO ADJUSTMENT [Step 3. Gain adjustment] Adjust the parameters to optimum values at the servo amplifier while running the motor. (6) Set the adjustment indicator. Emphasis on command response/emphasis on disturbance response Select whether to perform adjustment emphasizing the response to commands to the servo amplifier, or adjustment emphasizing the response to disturbances.
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CHAPTER 5 SERVO ADJUSTMENT START Specify vibration settings (1), (2). Start the vibration motion (3). Display the frequency characteristics, and control gain, filter settings (4), (5). Select the adjustment indicator (6). Select the operation profile and start adjustment (7), (8). Satisfied with operation? Check the adjustment results and write the adjustment values (9), (10).
CHAPTER 5 SERVO ADJUSTMENT 5.6 Manual Tuning If the result of "auto tuning application" is not satisfactory or if faster response is intended, perform manual adjustment of all gains. 5.6.1 Conditions for Manual Tuning Check the following conditions when adjusting. ...
CHAPTER 5 SERVO ADJUSTMENT 5.6.4 Manual Tuning Adjustment Procedure START Select the manual tuning mode. Re-read out of the parameters. Enter the load inertia ratio. Increase speed loop gain 1 to the maximum as far as vibration or abnormal noises are not caused. Adjust the torque filter time constant for position and speed control.
CHAPTER 5 SERVO ADJUSTMENT 5.6.5 Individual Adjustment The adjustment method for the individual case is described (for position control). The method varies according to the configuration of the mechanical system and other particulars. Use the procedure as a basic adjustment procedure. Before making adjustment, use historical trace of the PC Loader to measure the action time and output timing of in-position signal.
CHAPTER 5 SERVO ADJUSTMENT 5.7 Interpolation Control Mode Use the "interpolation control mode" to adjust command responses of a system with two or more servomotor axes such as the X-Y table when performing synchronous operation or interpolation operation. 5.7.1 Conditions for Interpolation Control Mode Check the following conditions to perform adjustment.
CHAPTER 5 SERVO ADJUSTMENT 5.7.3 Adjustment Procedure in Interpolation Control Mode [1] Specify PA1_13 (semi-auto tuning mode). [2] Specify PA1_14 (load inertia ratio). [3] Increase PA1_15 (auto tuning gain 1). [4] If vibration or abnormal noises are caused in the mechanical system, reset the gain and set that value as the upper limit.
CHAPTER 5 SERVO ADJUSTMENT 5.8 Profile Operation 5.8.1 What is Profile Operation? Even if the host control unit is not connected, automatic operation can be executed according to the specified operation pattern. The motion continues until the user stops it. Use this feature to check the load condition of the mechanical system, effective torque, etc.
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CHAPTER 5 SERVO ADJUSTMENT In case of operation at keypad The following procedure illustrates how to perform profile operation from the keypad. NG表示となった場合は If NG displayed, refer to Fn_13 運転モード 「6.9 」の “■ NG indication” in “6.9 中の「■ NG表示」を Test Operation Mode”.
CHAPTER 5 SERVO ADJUSTMENT 5.8.2 Description of Operation Starting conditions Conditions for starting profile operation are described. Necessary conditions are indicated with "." The operation does not start if the following conditions are not satisfied ("NG1" is indicated). Operation is interrupted if any condition is dissatisfied during operation ("NG2" is indicated). The gain reference value is left unchanged at the start level as far as resonance is not observed.
CHAPTER 5 SERVO ADJUSTMENT 5.9 Special Adjustment (Vibration Suppression) 5.9.1 What is Vibration Suppression ? Purpose of vibration suppression The end of the workpiece held in a structure having a spring characteristic such as the robot arm and transfer machine vibrates during quick acceleration or deceleration of the motor. The vibration suppression function aims at suppression of the workpiece and realization of positioning in a shorter cycle time in such a system.
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CHAPTER 5 SERVO ADJUSTMENT Principles of vibration suppression A machine model is contained inside, and the control works inside the model to eliminate vibration of the position of the assumed workpiece held in the model. The control amount is added as an offset to the position and speed control of the motor, thereby suppressing vibration of the actual workpiece position.
CHAPTER 5 SERVO ADJUSTMENT 5.9.2 Automatic Vibration Suppression Automatic vibration suppression is a function for automatically adjusting the vibration suppressing anti resonance frequency to the optimum value. Follow the procedure below. Automatic vibration suppression setting procedure [1] Set PA1_77 (automatic vibration suppression selection) at 1 (enable). [2] Perform profile operation or issue position commands from the host unit to start and stop the servomotor nine times.
CHAPTER 5 SERVO ADJUSTMENT 5.9.3 Manual Adjustment of Vibration Suppression Adjustment flow chart START Adjust the servo gain. Check the vibration suppressing anti resonance frequency. Enter the vibration suppressing anti resonance frequency (parameters PA1_78, _80, _82 and _84). * May not be entered in case of Enter the S-curve (parameters PA1_51, 52).
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CHAPTER 5 SERVO ADJUSTMENT (1) Adjusting the servo gain To ignore the vibration of the tip of the machine and reserve smooth stopping action of the servomotor free from overshoot, refer to the description given in sections 5.1 through 5.7 to adjust the servo gain.
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CHAPTER 5 SERVO ADJUSTMENT Not using the PC Loader There are two checking methods. If measurement of the vibration frequency can be made with a laser displacement gauge or similar, adopt method 1). In other cases, adopt method 2). 1) Measure the vibration of the arm tip with a laser displacement gauge or similar. Frequency of vibration (Ts) Vibration Time...
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CHAPTER 5 SERVO ADJUSTMENT (3) Entering the vibration suppressing anti resonance frequency Enter the vibration suppressing anti resonance frequency obtained in step (2) to one of parameters PA1_78, _80, _82 and _84*. Name Setting range Default value Change 300.0 PA1_78 Vibration suppressing anti resonance frequency 0 1.0 to 300.0 [Hz] (in increments of 0.1) Always...
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CHAPTER 5 SERVO ADJUSTMENT α/β ≦2000(PG=24bit) α/β ≦10000(PG=24bit) PA1_78/80/82/84 (Vibration suppressing anti PA1_51 PA1_52 PA1_51 PA1_52 resonance frequency) (Moving average (Low-pass filter for (Moving average (Low-pass filter for S-curve time) S-curve time constant) S-curve time) S-curve time constant) < 10Hz 10ms 20ms 10Hz to 20Hz...
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CHAPTER 5 SERVO ADJUSTMENT (7) Entering the vibration suppressing workpiece inertia ratio Ratio of the inertia of the vibrating point such as the arm specifies the portion of the total load inertia. By setting the vibration suppressing workpiece inertia ratio which is equivalent to amount to be applied when receiving reaction force from mechanical system (workpiece), the vibration can be further suppressed.
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CHAPTER 5 SERVO ADJUSTMENT (8) New vibration suppressing adjustment If vibrations persist even after performing adjustment at steps (3) to (7), vibrations can be further suppressed by performing this adjustment. Setting method [1] PA4_64 (New vibration suppressing damping coefficient) Increase the value in increments of 0.1 while checking vibration to adjust to the most effective adjustment value.
CHAPTER 6 KEYPAD 6.1 Display The servo amplifier is equipped with a keypad (see the figure on the right). The keypad is fixed. The keypad is equipped with a 5-digit 7-segment LED (1) and 4 keys (2) (lift the front cover). The 5-digit 7-segment LED displays both numbers and characters.
CHAPTER 6 KEYPAD 6.1.2 Key [SET/SHIFT] [] The cursor digit shifts to the right The sub mode is selected. (SHIFT). The value increases by one (+1). The mode or value settles (SET). Press and hold for at least one second to settle.
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CHAPTER 6 KEYPAD 6.1.4 Mode Selection Use the [MODE/ESC] key to select each mode. Indication example Mode selection Sub mode selection The power is turned on. Sequence mode Sn_01 ~ - PSoF [MODE/ESC] Monitor mode on_01 -6000 [MODE/ESC] Station number mode An_01 A~000 [MODE/ESC]...
CHAPTER 6 KEYPAD 6.2 Function List In the parameter edit mode and the positioning edit mode (LS type only), the setting values can be checked and changed. Mode Sub mode Sub mode selection Indication and entry example Sn_01 ~ - PSoF Sequence mode Sequence mode Sn_02...
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CHAPTER 6 KEYPAD Mode Sub mode Sub mode selection Indication and entry example on_11 H--20 Monitor mode Feedback cumulative pulse on_12 H--20 Command cumulative pulse on_13 H-104 LS-Z pulse on_14 300. 0 Load inertia ratio on_15 DC link voltage (max.) on_16 DC link voltage (min.) on_17...
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CHAPTER 6 KEYPAD Mode Sub mode Sub mode selection Indication and entry example on_28 1000 Monitor mode Resonance frequency 2 An_01 A~000 Station number mode Station number display En_01 AL. o L1 Maintenance mode Alarm at present En_02 AL. o L1 Alarm history En_03 Er.
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CHAPTER 6 KEYPAD Mode Sub mode Sub mode selection Indication and entry example Fn_01 Test operation mode Manual operation Fn_02 PrSEt Position preset Fn_03 Homing Fn_04 AUto Automatic operation (LS type only) Fn_05 AL. r St Alarm reset Fn_06 AL. i ni Alarm history initialization Fn_07 PA.
CHAPTER 6 KEYPAD 6.3 Sequence Mode In the sequence mode, the state of the servo amplifier and amplifier setting are displayed. Press the [MODE/ESC] key until [ sn_0n ] is displayed, and press and hold the [SET/SHIFT] key for at least one second to show data.
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CHAPTER 6 KEYPAD Control Display Name Description mode The motor is not turned on. ~ - PSoF Servo off The servomotor has no driving force. #PSon Servo on The servomotor is ready to rotate. Manual _PJoG Manual feed rotation state operation Pulse train During pulse input operation according to position...
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CHAPTER 6 KEYPAD Control Display Name Description mode The motor is not turned on. ~tSoF Servo off The servomotor has no driving force. =tSon Servo on The servomotor is ready to rotate. Torque Manual _tJoG Manual feed rotation state. control operation Refer to "7.3-3.
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CHAPTER 6 KEYPAD Reference Reference Initial display Initial display value value Sn_01 on_18 Sequence mode TREF input voltage on_01 on_19 Feedback speed Input signals on_02 on_20 Command speed Output signals on_03 on_21 Command torque OL thermal value Braking resistor on_04 on_22 Motor current thermal value...
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CHAPTER 6 KEYPAD (2) Amplifier setting The servo amplifier control function, interface format and capacity are displayed. Sn_02 (1秒以上) (1 sec. or over) uS. 2 01 表示 Control function 制御機能 Indication 表示 Connection format 接続形態 Indication 表示 アンプ容量 Capacity Indication 0.2kW Speed SXバス...
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CHAPTER 6 KEYPAD (4) Option information Displays the option type connected to the servo amplifier. Sn_04 (1 sec. or over) (1秒以上) nonE Indication Option type nonE None WSU-ST1 6-14 Sequence Mode...
CHAPTER 6 KEYPAD 6.4 Monitor Mode In the monitor mode, the servomotor rotation speed, cumulative input pulse and so on are displayed. Press the [MODE/ESC] key until [ on_0n ] is displayed, and press and hold the [SET/SHIFT] key for at least one second to display data.
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CHAPTER 6 KEYPAD (2) Command speed (displayed digits: signed four digits) Current speed command issued to the servomotor. The command speed is given in a speed command voltage, multi-step speed, pulse or similar. The speed is displayed in [r/min] and a negative sign is attached for reverse rotation (clockwise rotation when viewed against the motor shaft).
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CHAPTER 6 KEYPAD (5) Peak torque (displayed digits: signed three digits) Peak torque value of the servomotor at every two seconds; the torque is displayed in percent [%] to the rated torque. The range from 0 [%] to the maximum torque is displayed in increments of 1 [%]. In case of a negative peak torque, a negative sign is attached to the most significant digit.
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CHAPTER 6 KEYPAD (8) Command position (displayed digits: signed 10 digits) The position of the servomotor controlled by the servo amplifier is displayed in the unit amount after correction with an electronic gear. If the operation command is turned off and the load (mechanical system) rotates the motor after the target position is reached, the position is not correct.
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CHAPTER 6 KEYPAD (10) Command pulse frequency (displayed digits: signed five digits) The pulse frequency supplied to the pulse input terminal is displayed. The value is displayed in 0.1 [kHz]. on_10 (1秒以上) (1 sec. or over) H---1 L000. 0 SIFT The display changes between H/L each SHIFTキーを押す毎に、...
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CHAPTER 6 KEYPAD (12) Command cumulative pulse (displayed digits: signed 10 digits) The number of pulses supplied to the pulse input terminal is displayed. The cumulative value increases upon forward direction pulses, while it decreases upon reverse direction pulses. With two signals at A/B phase pulse, each edge is counted (multiple of four).
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CHAPTER 6 KEYPAD (14) Load inertia ratio (displayed digits: unsigned four digits) The load inertia ratio recognized by the servo amplifier without relations to parameter PA1_13 (tuning mode selection) is displayed. The value is displayed in a multiple (in 0.1 increments) to the inertia of the servomotor itself.
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CHAPTER 6 KEYPAD (17) VREF input voltage Only display shown below is indicated as the analog function is not provided. on_17 (18) TREF input voltage Only display shown below is indicated as the analog function is not provided. on_18 (19) Input signals The ON/OFF status of sequence input signals supplied to the servo amplifier is displayed.
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CHAPTER 6 KEYPAD (21) OL thermal value (displayed digits: unsigned three digits) The load ratio to the load alarm level is displayed in percent. An overload alarm is caused if this value reaches 100. The minimum increment is 1 [%]. The displaying range is from 0 [%] to 100 [%]. on_21 (1秒以上) (1 sec.
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CHAPTER 6 KEYPAD (24) Motor temperature (displayed digits: unsigned three digits) The servomotor temperature is displayed. The range from 0 [°C] to 120 [°C] is displayed in increments of 1 [°C]. on_24 (1秒以上) (1 sec. or over) (25) Overshoot unit amount (displayed digits: signed 10 digits) The overshoot unit amount under position control is displayed.
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CHAPTER 6 KEYPAD (27) Resonance frequency 1 (displayed digits: unsigned four digits) The resonance frequency recognized by the servo amplifier is displayed. The displaying range is from 100 [Hz] to 2000 [Hz]. If no resonance is detected, "4000 [Hz]" is displayed.
CHAPTER 6 KEYPAD 6.5 Station No Mode In the station no mode, the station no of the servo amplifier is displayed and a new station no can be entered. Press the [MODE/ESC] key until [ An_01 ] is displayed, and press and hold the [SET/SHIFT] key for at least one second to display data.
CHAPTER 6 KEYPAD 6.6 Maintenance Mode In the maintenance mode, detected alarms, total time - main power supply and so on are displayed. Press the [MODE/ESC] key until [ En_0n ] is displayed and press and hold the [SET/SHIFT] key for at least one second to display data.
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CHAPTER 6 KEYPAD Alarm indication Order Indication Name Order Indication Name Main power AL. o c1 AL. L uP Overcurrent 1 undervoltage Internal braking AL. o c2 AL. r H1 Overcurrent 2 resistor overheat External braking AL. o AL. r H2 Overspeed resistor overheat Control power...
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CHAPTER 6 KEYPAD Supplementary alarm information Supplementary Name Display example Display content information No. Total time - main power rc_01 10000 See item En_04 supply Total time - control rc_02 10000 See item En_05 power supply rc_03 . 0 5. 3 0 Motor running time See item En_06...
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CHAPTER 6 KEYPAD (2) Alarm history Up to 20 past alarms can be displayed. Press the [] or [] key to scroll in the history. En_02 (1 sec. or over) (1秒以上) AL-01 AL-20 ∧/∨ 検出履歴番号(1が最新、20が最古) Detection history No. (1 is newest, 20 is oldest) ・∧/∨キーで番号を選択...
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CHAPTER 6 KEYPAD (4) Total time - main power supply The cumulative time of turning the main power (L1, L2 and L3) on is displayed. The display range is 0 [h] to 99999 [h]. (The alarm supplementary information display range is 0 [h] to 65535 [h].) En_04 (1秒以上) (1 sec.
CHAPTER 6 KEYPAD 6.7 Parameter Edit Mode Parameters can be edited in the parameter edit mode. Press the [MODE/ESC] key until [ pA_0n ] is displayed and press and hold the [SET/SHIFT] key for at least one second to select parameter editing. After selecting parameter editing, press the [] or [] key to select the number of the desired parameter to be edited.
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CHAPTER 6 KEYPAD (2) Parameter page 2 On parameter page 2, parameters related to system setting such as the homing functions are registered. Changes in parameters become enabled after the power is turned off then on again. ~ P A_02 (1秒以上) (1 sec.
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CHAPTER 6 KEYPAD (4) Parameter page 4 Content relating to new functions introduced from the ALPHA7 Series are registered on parameter page 4. ~ P A_04 (1秒以上) (1 sec. or over) ~ P A4. 0 1 ~ P A4. 9 9 ∧/∨...
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CHAPTER 6 KEYPAD <Parameters with no symbol and 6 digits or more/with symbol and 5 digits or more> Parameters with 6 digits or more including symbol setting digit and value digits are displayed on multiple screens. Characters H/C/L used to identify high order/middle order/low order digits, and 4 value digits are displayed on one screen.
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CHAPTER 6 KEYPAD Setting values Press and hold the [SET/SHIFT] key for 1 second or longer to write the edited value to the parameters. When the value has been written successfully, all digits flash six times to notify the operator (3 seconds in 0.5 second cycles).
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CHAPTER 6 KEYPAD Edit operation example The parameter PA1_7 electronic gear denominator is changed to 100000. Key operation Description 備考 キー操作 ~ - PSoF This is a sequence mode display example. シーケンスモードの表示例です。 ~ S n_01 [MODE] Returns to mode selection. モード選択に戻ります。...
CHAPTER 6 KEYPAD 6.8 Positioning Data Edit Mode This mode is enabled only for the LS-type. Positioning data can be edited in positioning data edit mode. Each piece of positioning data contains the following five items. Po. 0 1. 1 : Positioning status Po.
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CHAPTER 6 KEYPAD Positioning status contains the following setting items. A. 0 0. 0 Command method 指令方式 ステップモード Step mode M code setting Mコード設定 Not specified 無指定 無効 Disabled Output at Continuous 継続 起動中出力 startup Output at サイクルエンド 終了後出力 Cycle end completion (2) Target position...
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CHAPTER 6 KEYPAD (4) Stand still timer Set the stop time after the motor has reached the target position. The setting value range is from 0.00 to 655.35 [s] in increments of 0.01. After the stop time has elapsed, the sequence output signal (in-position signal [INP]) turns on. The decimal point position can be changed in the parameter PA2-42 (timer data decimal point position).
CHAPTER 6 KEYPAD 6.9 Test Operation Mode In the test operation mode, you can operate keypad keys to rotate the servo amplifier or reset various data. Press the [MODE/SET] key until [ fn_0n ] is displayed, and press and hold the [SET/SHIFT] key for at least one second to execute test operation.
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CHAPTER 6 KEYPAD NG No. NG details The parameter, or the data being written to the positioning data lies outside the range. nG3- The motor is resonating even with gain of 4 or less after performing Fn_12 : Easy tuning.
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CHAPTER 6 KEYPAD (2) Position preset Reset the command current position and feedback current position to the parameter PA2_19 (preset position) setting value. Fn_02 If NG displayed, refer to NG表示となった場合は “■ NG indication”. 「■ NG表示」を (1秒以上) (1 sec. or over) 参照ください。...
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CHAPTER 6 KEYPAD (3) Homing Perform homing with keypad key operation. The homing operation is based on the settings in parameters PA2_6 to PA2_18, and PA2_22 to PA2_23. Fn_03 NG表示となった場合は If NG displayed, refer to 「■ NG表示」を “■ NG indication”. (1秒以上) (1 sec.
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CHAPTER 6 KEYPAD (4) Automatic operation Operate keypad keys to perform automatic operation. Positioning is executed according to registered positioning data. VS type: As there is no automatic operation function, only the following displays. Fn_04 LS type: (only RYT□□□7-LS□) Fn_04 If NG displayed, refer to NG表示となった場合は...
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CHAPTER 6 KEYPAD (5) Alarm reset The alarm currently detected in the servo amplifier is reset. Fn_05 (1秒以上) (1 sec. or over) AL. r St (1秒以上) (1 sec. or over) _G_o_ 実行中 During execution donE アラームリセット終了 Alarm reset complete ・The servo amplifier is not reset from some alarms through alarm resetting. To reset these alarms, turn the power off then on again.
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CHAPTER 6 KEYPAD Alarms not removed through alarm resetting Indication Name Indication Name AL. E t1 AL. d L1 Encoder trouble 1 Absolute data Lost 1 AL. E t2 AL. d L2 Encoder trouble 2 Absolute data Lost 2 AL.
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CHAPTER 6 KEYPAD (7) Parameter initialization Parameters are initialized. After initializing parameters, be sure to turn the power off then on again. Fn_07 If NG displayed, refer to NG表示となった場合は “■ NG indication”. 「■ NG表示」を (1秒以上) (1 sec. or over) 参照ください。 PA.
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CHAPTER 6 KEYPAD LS type: (only RYT□□□7-LS□) Fn_08 If NG displayed, refer to NG表示となった場合は “■ NG indication”. 「■ NG表示」を (1秒以上) (1 sec. or over) 参照ください。 Po. i ni NG indication example 試運転名 NG表示例 Test operation name nG1- (1秒以上) (1 sec. or over) _G_o_ 実行中...
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CHAPTER 6 KEYPAD (11) Auto tuning gain Parameter PA1_15 (auto tuning gain 1) is updated at real time. The data is reflected at real time merely through increase/decrease of data, different from regular parameter entry (parameter PA1_15 is not updated if no operation is made; press the [SET/SHIFT] key to register parameter PA1_15).
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CHAPTER 6 KEYPAD (12) Easy tuning Operate the servomotor automatically and adjust the auto tuning gains automatically. Best adjustment can be obtained according to the machine even if cables to the host control unit are not connected. The operation pattern includes two variations: slow running and easy tuning. For details, refer to "CHAPTER 5 SERVO ADJUSTMENT."...
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CHAPTER 6 KEYPAD (13) Profile operation Operate the servomotor continuously. Once started, reciprocal operation (depending on parameter PA1_23) continues until operation is stopped. Continuous operation is possible even if cables to the host control unit are not connected. Use this mode to check the effective torque or for other purposes.
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CHAPTER 6 KEYPAD (14) Sequence test mode You can issue sequence output signals and show statuses without connecting the servomotor as if the servomotor actually operates in response to sequence input signals. Use this mode to check the program (sequence) of the host controller or similar. Fn_14 NG表示となった場合は...
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CHAPTER 6 KEYPAD (15) Teaching mode After operating the servomotor in the manual operation or pulse train operation or similar, the target position can be written to the specified address as the positioning data. ・Only the target position can be written and other data need to be set separately. (Positioning status, rotation speed, stand still timer) If the initial positioning data is selected for teaching, the command method of positioning status is set to [ABS].
CHAPTER 7 MAINTENANCE AND INSPECTION 7.1 Inspection The servo amplifier and servomotor are maintenance free and no special daily inspection is necessary. However, to avoid accidents and operate the devices for a long term at a stable reliability, perform periodical inspection. WARNING ...
CHAPTER 7 MAINTENANCE AND INSPECTION 7.2 Status Display 7.2.1 Initial State (1) After the control power (L1C, L2C) is supplied to the servo amplifier, the seven-segment LED of the keypad lights up. (2) After the main circuit power (L1, L2, L3) is supplied to the servo amplifier, the "charge LED" lights To operate the servomotor, states (1) and (2) must be arranged.
CHAPTER 7 MAINTENANCE AND INSPECTION 7.2.3 Alarm Display List When an alarm is detected, the keypad of the servo amplifier automatically shows alarm data. Order of Indication Name (in English) Type description AL. o c1 Over Current 1 AL. o c2 Over Current 2 AL.
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CHAPTER 7 MAINTENANCE AND INSPECTION Order of Indication Name (in English) Type description AL. A Amp Heat AL. E Encoder Heat AL. d L1 Absolute data Lost 1 AL. d L2 Absolute data Lost 2 AL. d L3 Absolute data Lost 3 Minor failure AL.
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CHAPTER 7 MAINTENANCE AND INSPECTION Alarm reset Some alarms cannot be canceled through alarm resetting. To remove the alarm that is not canceled through alarm resetting, reset it by turning the power off then on again. Alarms that can be canceled through alarm resetting Display Name Display...
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CHAPTER 7 MAINTENANCE AND INSPECTION Alarm reset at keypad The alarm currently detected at the servo amplifier is reset. Fn_05 (1 sec. or (1秒以上) more) AL. r St (1 sec. or (1秒以上) more) _G_o_ 実行中 During execution donE アラームリセット終了 During execution Status Display...
CHAPTER 7 MAINTENANCE AND INSPECTION 7.3 Troubleshooting Method 1. Overcurrent [Display] [Description of detected alarm] The output current of the servo amplifier exceeds the rated value. AL. o c1 OC1: Direct detection by internal transistor of servo amplifier OC2: Indirect detection with software of servo amplifier AL.
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CHAPTER 7 MAINTENANCE AND INSPECTION 2. Overspeed [Display] [Description of detected alarm] The rotation speed of the servomotor exceeds 1.1 times the maximum AL. o speed. [Cause and remedy] Cause Remedy Wrong servomotor output Correct the wiring of power cables (U, V and W). wiring Check the speed waveform during acceleration with the PC Loader or similar (see the figure below) and take the following...
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CHAPTER 7 MAINTENANCE AND INSPECTION 4. Overvoltage [Display] [Description of detected alarm] The DC voltage inside the servo amplifier exceeds the upper limit. AL. H [Cause and remedy] Cause Remedy Check if the source voltage is within the specification The source voltage is too high limits.
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CHAPTER 7 MAINTENANCE AND INSPECTION 6. Memory Error [Display] [Description of detected alarm] The parameter data stored in the servo amplifier is damaged. AL. d [Cause and remedy] Cause Remedy Using the PC Loader, read parameters and enter those indicated in red. ...
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CHAPTER 7 MAINTENANCE AND INSPECTION 8. Encoder Communication Error [Display] [Description of detected alarm] Communications with the internal encoder of the servomotor fails. AL. E [Cause and remedy] Cause Remedy Interrupted encoder Check cables visually and through continuity check and communications correct faults.
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CHAPTER 7 MAINTENANCE AND INSPECTION 10. Overload [Display] [Description of detected alarm] OL1: Instantaneous alarm such as a locked shaft. AL. o L1 OL2: The effective torque exceeds the allowable limit of the servomotor. (Detection at electronic thermal relay built in servo AL.
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CHAPTER 7 MAINTENANCE AND INSPECTION 11. Main Power Undervoltage [Display] [Description of detected alarm] The power supplied to the servo amplifier falls below the minimum AL. L uP specification voltage limit. [Cause and remedy] Cause Remedy Check the power supply environment whether momentary power failure is generated or not, and The source voltage drops due to improve the power supply environment.
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CHAPTER 7 MAINTENANCE AND INSPECTION 13. External Braking Resistor Overheat [Display] [Description of detected alarm] The external braking resistor overheat signal (normally closed contact AL. r H2 signal) is turned off. [Cause and remedy] Cause Remedy Excessive source voltage Check if the source voltage is within the specification limits. (immediately after power-on) ...
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CHAPTER 7 MAINTENANCE AND INSPECTION 15. Deviation Overflow [Display] [Description of detected alarm] A position deviation amount equivalent to servomotor revolutions AL. o specified in PA2_69 (deviation detection overflow value) is accumulated inside the servo amplifier. [Cause and remedy] Cause Remedy Wrong connection of power cables ...
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CHAPTER 7 MAINTENANCE AND INSPECTION 17. Encoder Overheat [Display] [Description of detected alarm] The encoder inside the servomotor may be overheated. AL. E [Cause and remedy] Cause Remedy Reduce the ambient temperature of the servomotor to 40 [°C] or lower. Excessive ambient temperature ...
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CHAPTER 7 MAINTENANCE AND INSPECTION 19. Multi-turn Data Overflow [Display] [Description of detected alarm] Rotation of the output shaft of the servomotor exceeds the range AL. A between -32766 and +32765. [Cause and remedy] Cause Remedy Check the servomotor revolutions. Excessive servomotor revolutions ...
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CHAPTER 7 MAINTENANCE AND INSPECTION 21. Command Pulse Frequency Error [Display] [Description of detected alarm] The input frequency for pulse train input exceeds the maximum input AL. H specification. The output frequency for pulse train output exceeds the maximum output specification. 2000 [MHz] or a higher frequency is detected at the inlet of the position deviation counter inside the servo amplifier.
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CHAPTER 7 MAINTENANCE AND INSPECTION 22. Safety function error [Display] [Description of detected alarm] Safety input signal mismatch AL. E cF Internal circuit error The function safety module (WSU-ST1) output an alarm. [Cause and remedy] Cause Remedy The [EN1+], [EN2+] terminal input mismatch ...
CHAPTER 7 MAINTENANCE AND INSPECTION 7.4 Items to be Inquired upon Trouble If an alarm is alerted due to any cause, take corrective actions according to description given in "7.3 Troubleshooting Method." If the servo amplifier is reset to continue operation though the cause is unknown, damage may be caused to the servomotor and/or servo amplifier.
CHAPTER 7 MAINTENANCE AND INSPECTION 7.5 Maintenance and Discarding 7.5.1 Operating Environment Use in the operating environment specified in "CHAPTER 1 INSTALLATION." (1) Power-on Power can be supplied continuously to the servo amplifier. WARNING Do not touch the servomotor, servo amplifier or cables in the power-on state. There is a risk of electric shock.
CHAPTER 7 MAINTENANCE AND INSPECTION 7.5.2 Life The servomotor and servo amplifier have service lives even if they are used under regular operating conditions. Contact our service division for parts replacement. Never disassemble or repair by yourself. (1) Bearing of servomotor The service life of the servomotor varies according to the operating conditions.
CHAPTER 7 MAINTENANCE AND INSPECTION 7.5.3 Discarding If this product is damaged, the following two laws apply, and restrictions apply to each of the respective laws. These law are effective inside Japan. Local laws shall take precedence if outside Japan. Announce this for, or indicate this on the final product if required.
CHAPTER 7 MAINTENANCE AND INSPECTION 7.6 Approximate Replacement Timing The approximate replacement timings of parts for the following operating conditions are shown below. However, note that the timing varies according to the operation method, environmental conditions and so on. For the replacement method, contact us. [Operating conditions] Ambient temperature: Annual average 30 [°C]...
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CHAPTER 8 SPECIFICATIONS These characteristics indicate typical values when each servomotor is combined with the corresponding servo amplifier. The rated torque indicates the value obtained when the servo amplifier is installed to the following aluminum heat sink. Model GYS500, 101 : 200 ×...
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CHAPTER 8 SPECIFICATIONS Torque characteristics drawing (at 3-phase 200 [V] or single-phase 230 [V] source voltage) GYB201D7-□□2-□ (0.2 [kW]) GYB401D7-□□2-□ (0.4 [kW]) GYB751D7-□□2-□ (0.75 [kW]) These characteristics indicate typical values when each servomotor is combined with the corresponding servo amplifier. The rated torque indicates the value obtained when the servo amplifier is installed to the following aluminum heat sink.
CHAPTER 8 SPECIFICATIONS 8.1.3 GYG Motor Standard specifications Motor type GYG102C7-2 GYG851B7-2 Rated output [kW] 0.85 Rated torque [N・m] 4.77 5.41 Rated speed [r/min] 2000 1500 Max. speed [r/min] 3000 Max. torque [N・m] 14.3 16.2 Inertia [kg・m 11.8×10 11.8×10 Rated current [A] Max.
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CHAPTER 8 SPECIFICATIONS Torque characteristics drawing (at 3-phase 200 [V]) GYG102C7-□□2 (1.0 [kW]) GYG851B7-□□2 (0.85 [kW]) These characteristics indicate typical values when each servomotor is combined with the corresponding servo amplifier. The rated torque indicates the value obtained when the servo amplifier is installed to the following aluminum heat sink.
CHAPTER 8 SPECIFICATIONS VS/LS Type Specifications Outline of system configuration SX bus Motion controller (MICREX-SX SPH) Oscilloscope Control power SX bus Main power DC reactor Pulse command DC linkage Di/Do External regenerative resistor Motor power cable 24-bit ABS 24-bit INC ABS Backup Battery ...
CHAPTER 8 SPECIFICATIONS 8.3 Dimensions of Servomotor 8.3.1 GYS Motor (With no Brake) Unit: mm Encoder wire Power wire [Figure A] [Figure B] Overall Dimensions Power Rated Rated Shaft length (Flange) Type Mass [kg] supply speed output shape 0.05kW GYS500D7-B2 Figure A 0.45 200V...
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CHAPTER 8 SPECIFICATIONS Unit: mm Power wire Encoder wire Power supply Rated speed Rated output Type Mass [kg] 200V series 3000r/min 0.75kW GYS751D7-B2 Unit: mm Power supply connector Encoder connector Overall Dimensions Terminal Power Rated Rated length (Flange) portion Type Mass [kg] supply speed...
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CHAPTER 8 SPECIFICATIONS 8.3.2 GYS Motor (With a Brake) Unit: mm Encoder Power wire wire [Figure A] [Figure B] Overall Dimensions Power Rated Rated Shaft length (Flange) Type Mass [kg] supply speed output shape 0.05kW GYS500D7-B2-B Figure A 123.5 98.5 0.62 200V 3000r/min...
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CHAPTER 8 SPECIFICATIONS Unit: mm Power wire Encoder wire Power supply Rated speed Rated output Type Mass [kg] 200V series 3000r/min 0.75kW GYS751D7-B2-B Unit: mm Power supply Encoder connector connector Overall Dimensions Terminal Power Rated Rated length (Flange) portion Type Mass [kg] supply speed...
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CHAPTER 8 SPECIFICATIONS 8.3.3 GYB Motor (Connector Type) Unit: mm Power supply connector Encoder connector Overall Dimensions Terminal Power Rated Rated length (Flange) portion Type Mass [kg] supply speed output 0.2kW GYB201D7-B2-C 96.2 66.2 35.7 200V 3000r/min series 0.4kW GYB401D7-B2-C 53.5 Unit: mm Power supply...
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CHAPTER 8 SPECIFICATIONS 8.3.4 GYB Motor (Connector Type) (With a Brake) Unit: mm Power supply connector Brake connector Encoder connector Overall Dimensions Terminal Power Rated Rated length (Flange) portion Type Mass [kg] supply speed output 0.2kW GYB201D7-B2-D 136.25 106.25 35.7 200V 3000r/min series...
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CHAPTER 8 SPECIFICATIONS 8.3.5 GYB Motor (Lead Wire Type) Unit: mm Power wire Encoder wire Dimensions Overall length Power Rated (Flange) Rated output Type Mass [kg] supply speed 0.2kW GYB201D7-B2 96.2 66.2 200V series 3000r/min 0.4kW GYB401D7-B2 Unit: mm Power wire Encoder wire...
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CHAPTER 8 SPECIFICATIONS 8.3.6 GYB Motor (Lead Wire Type) (With a Brake) Unit: mm Power wire Encoder wire Brake wire Dimensions Overall length Power Rated (Flange) Rated output Type Mass [kg] supply speed 0.2kW GYB201D7-B2-B 136.25 106.25 200V series 3000r/min 0.4kW GYB401D7-B2-B 154.1...
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CHAPTER 8 SPECIFICATIONS 8.3.7 GYG Motor (2000 [r/min]) Unit: mm Power supply connector Encoder connector Power supply Rated speed Rated output Type Mass [kg] 200V series 2000r/min 1.0kW GYG102C7-B2 * See “8.5 Optional Specification of Shaft Extension [With a Key, Tapped]” for the shaft extension specifications of the motor with a key.
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CHAPTER 8 SPECIFICATIONS 8.3.9 GYG Motor (1500 [r/min]) Unit: mm Encoder connector Power supply connector Power supply Rated speed Rated output Type Mass [kg] 200V series 1500r/min 0.85kW GYG851B7-B2 * See “8.5 Optional Specification of Shaft Extension [With a Key, Tapped]” for the shaft extension specifications of the motor with a key.
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CHAPTER 8 SPECIFICATIONS 8.4 Dimensions of Servo Amplifier Frame 1 Unit: mm Power supply Rated speed Applicable motor output Type Mass [kg] 0.05kW RYT500D7-S2 0.1kW RYT101D7-S2 200V series 3000r/min 0.2kW RYT201D7-S2 0.4kW RYT401D7-S2 8-22 Dimensions of Servo Amplifier...
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CHAPTER 8 SPECIFICATIONS Frame 2 Unit: mm M4 (for switching from ALPHA5) Mounting hole dimension M4 (for switching from ALPHA5) Power supply Rated speed Applicable motor output Type Mass [kg] 0.75kW RYT751D7-S2 3000r/min 1.0kW RYT102D7-S2 200V series 1.5kW RYT152D7-S2 2000r/min 1.0kW RYT102C7-S2 1500r/min...
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CHAPTER 8 SPECIFICATIONS 8.5 Optional Specification of Shaft Extension [With a Key, Tapped] Unit: mm Motor type GYS motor 3000r/min — — GYS500D7-A-* — — GYS101D7-A-* — M5 depth: 8 GYS201D7-C- — M5 depth: 8 GYS401D7-C- — M5 depth: 8 GYS751D7-C2-...
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CHAPTER 9 CHARACTERISTICS 9.1 Timing Chart 9.1.1 Power-On Timing If the motor power and control power are turned on simultaneously (1) After power-on, it takes about 4.5 seconds until initialization of the servo amplifier is finished. It may take 4.5 seconds or longer if using an option module. Refer to the option module manual.
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CHAPTER 9 CHARACTERISTICS If the control power is turned on first (1) It takes about 4.5 seconds until initialization of the servo amplifier is finished since the control power is turned on. (2) Completion of initialization is indicated by activation of the servo control ready [S-RDY] signal after power-on.
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CHAPTER 9 CHARACTERISTICS 9.1.2 Each Signal Timing Sequence input signal response time The response time from sequence signal activation to signal recognition inside the servo amplifier is 2 [ms]. Leave the sequence input signal turned on for at 1 [ms] or more. CONT signal (sequence input signal) Recognition by servo...
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CHAPTER 9 CHARACTERISTICS 9.1.3 Control Mode Selection Timing (VS Type Only) Transition time for each control mode is 2 [ms]. After issuing a selection signal, wait for 2 [ms] or more before issuing next commands. [Example] Switching from position control to speed control PA01_01 (control mode selection) Position Speed...
CHAPTER 9 CHARACTERISTICS 9.2 Overload Characteristic The detection time and load factor characteristics until an overload alarm (OL1/OL2) occurs are indicated by rotation speed. 9.2.1 GYS Motor (1) In case of operation at rated rotation speed (3000 [r/min]) OL検出時間(at 3000r/min) 1000 OL2 alarm OL2アラーム...
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CHAPTER 9 CHARACTERISTICS (3) In case of operation at max. rotation speed (5000 [r/min]) OL検出時間(at 3000r/min) Target capacity: 1.0 [kW] 1000 OL2アラーム OL2 alarm OL1アラーム OL1 alarm Load factor [%] 負荷率[%] Overload Characteristic...
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CHAPTER 9 CHARACTERISTICS 9.2.2 GYG Motor OL検出時間(at 2000、1500r/min) (1) In case of operation at rated rotation speed (1500/2000 [r/min]) 1000 OL2 alarm OL2アラーム OL1 alarm OL1アラーム Load factor [%] 負荷率[%] (2) In case of operation at max. rotation speed (3000 [r/min]) OL検出時間(at 5000r/min)...
CHAPTER 9 CHARACTERISTICS 9.2.3 GYB Motor (1) 3000 [r/min] or less 1000 OL2 alarm OL2アラーム OL1 alarm OL1アラーム 負荷率[%] Load factor [%] (2) 6000 [r/min] or less 1000 OL2 alarm OL2アラーム OL1 alarm OL1アラーム 負荷率[%] Load factor [%] Overload Characteristic...
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CHAPTER 9 CHARACTERISTICS 9.3 Power Supply Capacity and Generated Loss Heat value of amplifier(Qamp) Heat value of motor(Qmot) Power consumption (P) Power supply capacity [kVA] Power Rated Power Heat value of Heat value of Servo amplifier Capacity supply rotation Servomotor model consumption amplifier motor...
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CHAPTER 9 CHARACTERISTICS 9.4 Inrush Current The allowable inrush current of the servo amplifier is specified below. Servo amplifier model Inrush current [A] RYT500F7-□□2 RYT101F7-□□2 RYT201F7-□□2 RYT401F7-□□2 RYT751F7-□□2 RYT102F7-□□2 RYT152F7-□□2 Input voltage = 200 [V] AC The inrush current indicates the maximum peak current. 9-11 Inrush Current...
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CHAPTER 9 CHARACTERISTICS 9.5 Bending Strength of Cable If using an option cable (for motor power wiring/encoder wiring/brake wiring) provided by Fuji at recommended bend radius R=60 [mm] or higher, the bend life will be 5 millions times or greater under the following test conditions.
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CHAPTER 10 PERIPHERAL EQUIPMENT 10.1 Overall Configuration of Peripheral Equipment MCCB/ELCB Install at the power supply side (primary side) of the servo amplifier to prevent damage caused by power switching and short-circuiting current. AC reactor Install for large power supply capacities, imbalances in the source voltage, and for harmonic suppression.
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CHAPTER 10 PERIPHERAL EQUIPMENT 10.2 Cable Size Main circuit section 600V class 2 vinyl cable, or 600V polyethylene insulated cable (HIV cable) When compared with the IV cable, the cable size is smaller and the cable is superior in flexibility and the maximum allowable temperature as an insulated cable is as high as 75 [°C].
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CHAPTER 10 PERIPHERAL EQUIPMENT 10.2.1 Main Circuit Section Cable Size The following cable sizes are recommended for parts (1), (2), (3), (4) and (5) specified “10.1 Overall Configuration of Peripheral Equipment”. Single-phase 200V Recommended cable size [mm (1) Power supply (4) Control Servo (L1,L2,L3)
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CHAPTER 10 PERIPHERAL EQUIPMENT 10.2.2 Encoder Cable Use the specified shielded wire for the servomotor encoder wiring. The optional cable for the servomotor is a UL-rated cable having bend resistance. Use a regular twisted pair batch shield cable if the servomotor and cable do not move. ...
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CHAPTER 10 PERIPHERAL EQUIPMENT 10.2.3 How to Calculate the Servo Amplifier Input Current Calculate the servo amplifier input current in the following equation to select peripheral equipment. Formula Input current (single-phase 200 [V]): Iin = (Po + Pi) / (Vac × 1.35 × ηamp × ηmot) × 1.27 × √3 Input current (3-phase 200 [V]): Iin = (Po + Pi) / (Vac ×...
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CHAPTER 10 PERIPHERAL EQUIPMENT 10.2.4 Conditions for Selecting Peripheral Equipment of Servo Amplifier To select peripheral equipment for a single servo amplifier Obtain "1.5 times" the input current (Iin) obtained above. To select peripheral equipment for two or more servo amplifiers Multiply "1.5 times"...
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CHAPTER 10 PERIPHERAL EQUIPMENT 10.3 MCCB/ELCB (Molded Case Circuit Breaker/Earth Leakage Breaker) Install MCCB (molded case circuit breaker) or ELCB (earth leakage breaker) in the primary circuit (power supply circuit) of the servo amplifier to protect the servo amplifier against losses caused by the power switching current and short circuit current.
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CHAPTER 10 PERIPHERAL EQUIPMENT 10.4 Electromagnetic Contactor Connect the electromagnetic contactor to disconnect the servo amplifier from the power supply with an external signal or to turn the power on or off from a remote operation panel. The model is to turn the primary circuit of a single servo amplifier of 500 [kVA] or less power capacities with the designated cable size and 20 [m] or less wiring length.
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CHAPTER 10 PERIPHERAL EQUIPMENT 10.5 Surge Absorber For protection from lightning surge Install a surge absorber to protect servo system from the surge approaching from the power line (induced lightning surge). Serge absorber absorbs lightning surge, preventing malfunction or damage of a servo system. Recommendation [Soshin Electric product]...
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CHAPTER 10 PERIPHERAL EQUIPMENT Control relay, etc. Model: S1-B-0 (made by OKAYA ELECTRIC INDUSTRIES) 40±1 20±1 27.5 [mm] Electromagnetic contactor, etc. Model: S2-A-0 (made by OKAYA ELECTRIC INDUSTRIES) 40±1 30±1 37.5 [mm] Applicable to 250 [V] AC or less voltages A non-inductive capacitor and a non-inductive resistor are connected in series and filled in epoxy resin.
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CHAPTER 10 PERIPHERAL EQUIPMENT 10.6 Power Filter The servo amplifier performs high frequency switching under PWM control similarly to general-purpose inverters. Therefore radiant noise, conductive noise and so on may give effect on peripheral equipment. The following method is effective as a countermeasure. Radio Radiant noise Servomotor...
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CHAPTER 10 PERIPHERAL EQUIPMENT TRAFY Power filter Servo amplifier Copper bar Numbers (1), (2), ... in the figure indicate the paragraph number given on the previous page. Power filter model ■ ■ In case of single-phase 200V In case of 3-phase 200V Servo amplifier Servo amplifier capacity Power filter...
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CHAPTER 10 PERIPHERAL EQUIPMENT 10.7 AC/DC Reactor Connect an AC or DC reactor in following cases. (1) Large power supply capacity With power supply capacities exceeding 500 [kVA], the power-on input current fed to the servo amplifier may become too large and cause damage to the internal rectifying diode. (The power supply capacity depends on the 20 [m] wiring length and the designated cable size.) (2) Imbalance in source voltage If there is imbalance in the source voltage, the current gathers to the phase of a higher voltage.
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CHAPTER 10 PERIPHERAL EQUIPMENT In case of 3-phase 200V Servo amplifier capacity AC reactor DC reactor [kW] 0.05 DCR2-0.2 ACR2-0.4A DCR2-0.4 ACR2-0.75A DCR2-0.75 0.75 ACR2-1.5A DCR2-1.5 ACR2-2.2A DCR2-2.2 How to connect the AC reactor Connect in the primary circuit of the servo amplifier as shown in the figure below. Servo amplifier AC reactor Commercial power supply...
Page 514
CHAPTER 10 PERIPHERAL EQUIPMENT 10.8 External Braking Resistor The external braking resistor consumes regenerative power generated by the servomotor. Use an external braking resistor if the elevating load is large and the operation frequency is high. External Capacity Applicable Servo amplifier model Built-in resistor* Regenerative resistance [Ω]...
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CHAPTER 10 PERIPHERAL EQUIPMENT To connect the optional external braking resistor P(+) Symbol example CONTn 1 2 M24 (Disconnect the jumper wire) External Braking Resistor N(-) RB2 RB3 P1 P(+) RB1 Commercial power supply 3-phase 200V M P5 BAT+ 3 BAT+ PG...
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CHAPTER 10 PERIPHERAL EQUIPMENT Safety device connection cable Model: WSC-D08P01 Application range: Common to all models (for CN6) Servo amplifier side connector (11) WSC-D08P01 20±5 (33) 1000 +100 ■ Model/manufacturer Servo amplifier side connector INDUSTRIAL MINI I/O D-SHAPE TYPE 1 2013595-1 TE Connectivity Corporation Cable...
Page 518
CHAPTER 10 PERIPHERAL EQUIPMENT Encoder cable (1) Model: WSC-P06P02-E to WSC-P06P20-E Applicable range: GYS/GYB (lead wire specification) model ..0.75 [kW] or less (for CN2) Servo amplifier side connector Servomotor side connector 42.5 ■ Model/manufacturer Servo amplifier side connector Servomotor side connector Plug housing body 54180-0619 Cap housing...
Page 519
CHAPTER 10 PERIPHERAL EQUIPMENT Encoder cable (2) Model: WSC-P06P02-K to WSC-P06P20-K Application range: GYB (connector connection specification) model ..0.75 [kW] or less (for CN2) Servo amplifier side connector Servomotor side connector ■ Model/manufacturer Servo amplifier side connector Servomotor side connector Plug housing body 54180-0619 Plug...
Page 520
CHAPTER 10 PERIPHERAL EQUIPMENT Encoder cable (3) Model: WSC-P06P05-C to WSC-P06P20-C Application range: GYS model ..1.0 to 1.5 [kW] (for CN2) Model indication L Servo amplifier side connector Servomotor side connector ■ Model/manufacturer Servomotor side connector Servo amplifier side connector L-type clamp MS3108B20-29S Plug housing body...
Page 521
CHAPTER 10 PERIPHERAL EQUIPMENT Encoder cable (4) Model: WSC-P06P05-J to WSC-P06P20-J Application range: GYG model ..0.85 to 1.0 [kW] (for CN2) Model indication L Servo amplifier side connector Servomotor side connector ■ Model/manufacturer Servomotor side connector Servo amplifier side connector Plug (L = 500 and 10000) JN2FS10SL1-R Plug housing body...
Page 522
CHAPTER 10 PERIPHERAL EQUIPMENT Encoder cable (5) Model: WSC-P06P05-W to WSC-P06P20-W Application range: Common to all models (for CN2) Servo amplifier side connector 42.5 ■ Model/manufacturer Servo amplifier side connector Plug housing body 54180-0619 Plug shell cover 58299-0626 Plug shell body 58300-0626 Plug mold cover (A) 54181-0615...
Page 523
CHAPTER 10 PERIPHERAL EQUIPMENT Motor power cable (1) Model: WSC-M04P02-E to WSC-M04P20-E Applicable range: GYS/GYB (lead wire specification) model: 0.75 [kW] or less Servo amplifier side Servomotor side connector Wire size: AWG#19x4 23.7 ■ Model/manufacturer Servomotor side connector Cap housing 172159-9 Socket 170362-1...
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CHAPTER 10 PERIPHERAL EQUIPMENT Motor power cable (2) Model: WSC-M04P02-K to WSC-M04P20-K Application range: GYB (connector connection specification) model ..0.75 [kW] or less サーボモータ側コネクタ Servo amplifier side Servomotor side connector Wire size: AWG#20x4 電線サイズ: AWG#20×4 24.5 11.4 ■ Model/manufacturer Servomotor side connector Plug JN6FS04SJ2...
Page 525
CHAPTER 10 PERIPHERAL EQUIPMENT Brake cable (1) Model: WSC-M02P02-E to WSC-M02P20-E Applicable range: GYS/GYB (lead wire specification) model ..0.75 [kW] or less (with brake) サーボモータ側コネクタ サーボアンプ側 Servo amplifier side Servomotor side connector Wire size: AWG#19x2 電線サイズ:AWG#19×2 23.7 ■ Model/manufacturer Servomotor side connector Cap housing 172157-9...
Page 526
CHAPTER 10 PERIPHERAL EQUIPMENT Brake cable (2) Model: WSC-M02P02-K to WSC-M02P20-K Application range: GYB (connector connection specification) model ..0.75 [kW] or less (with brake) サーボアンプ側 サーボモータ側コネクタ Servo amplifier side Servomotor side connector Wire size: AWG#22x2 電線サイズ:AWG#22×2 21.5 ■ Model/manufacturer Servomotor side connector Plug JN6FR02SM1...
Page 527
CHAPTER 10 PERIPHERAL EQUIPMENT Sequence I/O connector kit Model: WSK-D36P Application range: Common to all models ■ External dimensions ■ Model/manufacturer Solder plug 10136-3000PE Shell kit 10336-52A0-008 Unit: [mm] 単位:[mm] Sumitomo 3M Limited ■ Terminal layout 32.2 43.5 12.7 The connector kit model differs from the optional cable. ...
Page 529
CHAPTER 10 PERIPHERAL EQUIPMENT Connector kit for encoder (motor side) (3) Model: WSK-P10P-J Application range: GYG model ..0.85 to 1.0 [kW] ■ External dimensions ■ Model/manufacturer JN2FS10SL2-R Plug (Applicable wire diameter: φ6.5 to φ8.0 [mm]) Japan Aviation Electronics Industry, Limited ■...
Page 530
CHAPTER 10 PERIPHERAL EQUIPMENT Connector kit for motor power (motor side) (2) Model: WSK-M04P-CA Application range: GYS model ..1.0 to 1.5 [kW] ■ External dimensions ■ Model/manufacturer L-type clamp MS3108B18-10S Groove position Unit: [mm] Cable clamp MS3057-10A DDK Ltd. ■...
Page 531
CHAPTER 10 PERIPHERAL EQUIPMENT Connector kit for motor power (motor side) (3) Model: WSK-M04P-CC Application range: GYG model ..0.85 to 1.0 [kW] ■ External dimensions ■ Model/manufacturer Groove position Plug JL10-8A18-10SE-EB ミゾ位置 JL04-18CK(13)-R Cable clamp (Applicable wire diameter: ø11 to ø14.1 [mm]) Japan Aviation Electronics Industry, Limited ■...
Page 532
CHAPTER 10 PERIPHERAL EQUIPMENT Connector kit for motor power (motor side: with brake) (1) Model: WSK-M06P-CA Application range: GYS model ..1.0 to 1.5 [kW] (with brake) ■ External dimensions ■ Model/manufacturer L-type clamp MS3108B20-15S Groove position Unit: [mm] Cable clamp MS3057-12A DDK Ltd.
Page 533
CHAPTER 10 PERIPHERAL EQUIPMENT Connector kit for motor power (motor side: with brake) (2) Model: WSK-M06P-CC Application range: GYG model ..0.85 to 1.0 [kW] ■ External dimensions ■ Model/manufacturer Plug JL10-8A20-18SE-EB Groove position JL04-2022CK(14)-R Cable clamp (Applicable wire diameter: φ12.9 to φ16 [mm]) Japan Aviation Electronics Industry, Limited ■...
Page 534
CHAPTER 10 PERIPHERAL EQUIPMENT Brake connector kit (motor side) (1) Model: WSK-M02P-E Applicable range: GYS/GYB (lead wire specification) model ..0.75 [kW] or less (with brake) ■ External dimensions ■ Model/manufacturer Cap housing 172157-9 Unit: [mm] Socket 170362-1 TE Connectivity Corporation 23.7 ■...
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CHAPTER 10 PERIPHERAL EQUIPMENT Battery + housing Model: WSB-SC Application range: All models ■ Battery ■ Battery case ø17 36±1 60±5 20.4 ■ Model/manufacturer Battery ER17/33WK41 1PP Hitachi Maxell, Ltd. 17.5 Safety device connection connector (CN6) This connector is not available as an option. Product name: INDUSTRIAL MINI I/O D-SHAPE TYPE 1 Model: 2013595-1 Manufacturer: TE Connectivity Corporation...
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CHAPTER 10 PERIPHERAL EQUIPMENT Monitor (CN7) Connect a measuring instrument, etc. to servo amplifier connector 7 (CN7). This is an analog output voltage signal for measuring instruments, and is not required for servo amplifier operation. This connector is not available as an option. ■...
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CHAPTER 10 PERIPHERAL EQUIPMENT External regenerative resistor (1) Model: WSR-401 Application range: Amplifier models RYT500F7 to RYT401F7 182.5±1.5 172±1 150±1 1000 +100 20±0.3 * Attachment part thickness: 1.2 mm Item Specification Model WSR-401 Resistance 68Ω Resistor Allowable 17W (cont.) power Operating Open at 135 ±10 °C temperature...
Page 538
CHAPTER 10 PERIPHERAL EQUIPMENT External regenerative resistor (2) Model: WSR-152 Application range: Amplifier models RYT751F7 to RYT152F7 345 ± 1.5 +0.3 ø15 M3.5 -1.0 210 ± 1 Item Specification Model WSR-152 Resistance 15Ω Resistor Allowable 50W (cont.) power Operating Open at 150 ±10 °C temperature Dielectric Thermostat...
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CHAPTER 11 ABSOLUTE POSITION SYSTEM 11-1...
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CHAPTER 11 ABSOLUTE POSITION SYSTEM 11.1 Specifications 11.1.1 Specification List Item Description Method Battery backup method Battery Lithium battery (primary battery, nominal +3.6 [V]) Max. rotation range Home position ±32767 [rev] Max. rotation speed at power failure 6000 [r/min] Service life of battery About 35000 hours (life without power turned on) Lithium content 0.5 [g]...
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CHAPTER 11 ABSOLUTE POSITION SYSTEM 11.2 Battery Installation and Replacement Procedures 11.2.1 Battery Installation Procedure (Amplifier models RYT500F7 to RYT401F7) Install the battery in the following procedure. Prepare the servo amplifier, battery and battery case. Connect the lead wire connector of the battery to CN5 on the front panel of the servo amplifier.
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CHAPTER 11 ABSOLUTE POSITION SYSTEM 11.2.2 Battery Installation Procedure (Amplifier models RYT751F7 to RYT152F7) Prepare the servo amplifier, battery and battery [1] case. Connect the lead wire connector of the battery to [2] CN5 on the front panel of the servo amplifier. Engage one catch of the battery case with the [3]...
Page 543
CHAPTER 11 ABSOLUTE POSITION SYSTEM 11.2.3 Battery Replacement Procedure Reverse the installation procedure to remove and install the new battery according to the installation procedure. Be sure to leave the control power supplied when working (turn the main power off). ...
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CHAPTER 11 ABSOLUTE POSITION SYSTEM 11.3 Connection Diagram 11.3.1 VS Type (Example) 0.75 [kW] or less Connect the external regenerative resistor across RB1 and RB2. If using a single-phase 200 V (Disconnect the short-circuit wire P(+) N(-) RB1 RB2 input commercial power across RB2 and RB3.) supply, connect across terminals L1 and L2.
Page 545
CHAPTER 11 ABSOLUTE POSITION SYSTEM 11.3.2 LS Type 0.75 [kW] or less Connect the external regenerative resistor across RB1 and RB2. If using a single-phase 200 V P(+) N(-) RB1 RB2 (Disconnect the short-circuit wire input commercial power across RB2 and RB3.) supply, connect across terminals L1 and L2.
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CHAPTER 11 ABSOLUTE POSITION SYSTEM 11.4 Starting Up Procedure Follow the procedure below to start up the absolute position system. Follow the description of section 11.2 Install the battery to install the battery correctly. Set PA1_02 (INC/ABS system) at 1 (ABS) or 2 Enter PA1_02 (endless non-overflow ABS).
Page 547
CHAPTER 11 ABSOLUTE POSITION SYSTEM 11.5 Battery Warning A battery warning is issued if the battery voltage is lower than the value preset in the servo amplifier. If this warning* is issued, replace the battery immediately. *: The battery warning is detected when the control power is turned on. If the battery is kept installed and the system is left shut off for a long time, the battery life limit may be reached before the battery warning is issued.
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CHAPTER 11 ABSOLUTE POSITION SYSTEM 11.6 Calculation of Battery Life The battery life elapses if the control power of the servo amplifier is left turned off for 35,000 hours. During actual operation, the power-on and shutoff cycles are repeated. An example of calculation of the service life in this case is shown as a reference.
Page 550
CHAPTER 12 POSITIONING DATA 12.1 Settings The positioning data function described in this chapter is enabled only for the LS type servo amplifier. The servo amplifier can register 99-point positioning data. For one positioning data, one positioning motion content shall be registered. Each data is assigned with a number between 1 and 99 (address number).
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CHAPTER 12 POSITIONING DATA 12.1.1 Position data (stop position) Specify a position at which the servo motor stops when the status is ABS. Specify an increment when the status is INC. To travel the mechanical system for the same amount (20.00 [mm]) as the setting of positioning data (ex.
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CHAPTER 12 POSITIONING DATA 12.1.3 Stand still timer (stop time) After the motor has reached a specified position of the positioning data, when the set time of the stand still timer has passed, the in position [INP] signal is output outside. This timer can be set from 0.00 to 655.35 [s] in increments of 0.01 [s].
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CHAPTER 12 POSITIONING DATA 12.1.4 Status (command system, step mode) To set status, ABS/INC, CO, and CEND are usable. It is also allowed not to specify CO or CEND. CO is used when performing operation with data continuation. CEND is used when performing sequential start operation. ...
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CHAPTER 12 POSITIONING DATA Data continuation (CO) When the motor is started up by positioning data with data continuation specified, positioning is completed by the data, and then the motor moves according to the setting of the next positioning data.
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CHAPTER 12 POSITIONING DATA Data continuation of positioning data Step mode Stop position Rotation speed M code M code output Command style 0.00 0.00 5000.00 5000.00 5200.00 500.00 5400.00 50.00 Cycle end (CEND) After the motor has been moved completely by positioning data with cycle end specified, the cycle end signal assigned to OUT is output.
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CHAPTER 12 POSITIONING DATA M code By specifying an M code on positioning data, it is able to output an arbitrary numerical value outside while positioning is executed (output at startup) or after positioning has been complete (output at completion).
Page 557
CHAPTER 12 POSITIONING DATA 12.3 Setting Change The setting of positioning data can be edited by the following method. Edit on the keypad of the servo amplifier Edit using the PC loader Change positioning data by the teaching signal assigned to control ...
Page 558
CHAPTER 12 POSITIONING DATA 12-10 Response Time...
Page 560
CHAPTER 13 PC LOADER 13.1 Operating Environment A PC with the following environment is required to use PC Loader. Operating system Windows 10 Windows 8.1 Windows 7 CPU 1[GHz] or higher Memory environment 2 [GB] or more (1 [GB] or more for 32-bit system) ...
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CHAPTER 13 PC LOADER 13.2 Installation Method Exit Message Manager (MM) prior to installation. [1] Start the ALPHA7 Series PC Loader setup program. Click “setup.exe”. [2] The installation preparation screen is displayed. Click [Next]. [3] The license agreement for the ALPHA7 Series PC Loader software is displayed.
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CHAPTER 13 PC LOADER [5] Select the installation folder. Select the folder in which PC Loader is to be installed, and click [Next]. [6] The installation preparation start screen is displayed. Click [Install]. File copying is started. [7] The installation complete screen is displayed. Click [Finish] to complete the installation.
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MM. The versions of MM for PC Loader (versions) in the following list are old, and therefore it will not be possible to run ALPHA7 Series PC Loader. If ALPHA7 Series PC Loader is started first, the versions of PC Loader in the following list can be used as is.
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CHAPTER 13 PC LOADER The following procedure can be used to exit MM (explanation based on use of right-hand mouse). [1] By aligning the mouse cursor with the MM icon and right-clicking, “Exit Message Manager” is displayed. [2] By aligning the mouse cursor with “Exit Message Manager”...
Page 565
CHAPTER 13 PC LOADER [3] Right-click "Unknown device", and then left-click "Update Driver Software...". [4] Select the USB driver file. Click [Browse]. [5] Select "Browse my computer for driver software". [6] Select the USB driver file. Click [Browse]. The USB driver is copied to the folder on which PC Loader is installed.
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CHAPTER 13 PC LOADER Windows 7 edition [1] Connect the computer and servo amplifier with a USB cable. By connecting, the computer recognizes the USB device, and a message is displayed. [2] The wizard used to install the USB driver does not start automatically, and therefore the following procedure should be used to install the driver.
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CHAPTER 13 PC LOADER [5] Select "Browse my computer for driver software". [6] Select the USB driver file. Click [Browse]. [7] Select the folder which contains the driver file. The USB driver is copied to the folder * on which PC Loader is installed.
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CHAPTER 13 PC LOADER [10] The file is copied, and the completion screen is displayed. Click [Close] to complete the driver installation. 13-10 Installation Method...
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CHAPTER 13 PC LOADER 13.3 List of Functions The following basic menu is displayed when PC Loader starts up. Real-time Trace Speed and torque waveforms, etc. can be obtained easily with a single click. Historical Trace Detailed waveforms can be obtained from real-time traces by setting triggers. ...
Page 570
CHAPTER 13 PC LOADER 13.4 Setup Procedure Use the following procedure to ensure smooth equipment setup. Details Check item PC LOADER operation Procedure • → Run the motor Perform manual Select [Test Operation] [Manual Operation]. independently operation [JOG], and to ensure that it ensure that the is running equipment functions as...
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CHAPTER 13 PC LOADER 13.5 Detailed Function Description 13.5.1 Real-time Trace This function draws the servomotor operation Relationship between sampling time and trace waveform. Data for approximately 60,000 points is time acquired continuously. Sampling time [ms] Trace possible time [s] The trace ends automatically when 60,000 points are exceeded.
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CHAPTER 13 PC LOADER Trace procedure [1] Select the waveform to be acquired. [2] Select the sampling time. [3] Press the [START/STOP] button to start the trace. [4] Press the [START/STOP] button to stop the trace. Waveforms that can be acquired Analog signal and digital signals can be acquired for a total of 10 channels *.
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CHAPTER 13 PC LOADER 13.5.2 Historical Trace This function draws the servomotor operation Relationship between sampling time and trace waveform. time Data for approximately 500 points is acquired. Sampling time [ms] Trace possible time [s] 0.05 By setting a trigger, the waveform for the section to be viewed can be picked up and acquired.
Page 574
CHAPTER 13 PC LOADER Trace procedure [1] Select the waveform to be acquired. [2] Set trigger conditions. [3] Select the sampling time. [4] Set the number of traces from the trigger position. [5] Press the [START/STOP] button to start the trace. When trigger conditions are met, the waveform is acquired, and acquisition then automatically stops.
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CHAPTER 13 PC LOADER Setting method example if waveform measured during stoppage (1) Set analog waveform x 3 (command speed, position deviation, command torque), and digital waveform x 1 (positioning complete (INP)). (2) Set the digital trigger signal for the digital waveform (positioning complete (INP)) to “Use with ↑ edge”.
Page 576
CHAPTER 13 PC LOADER 13.5.3 Monitors The monitors listed in the following table are used to monitor the servo amplifier and servomotor status. Item Details Screen example Checks whether digital input/output signals turn ON and OFF. Lamps light up to indicate that signals are ON, and turn OFF I/O monitor to indicate that signals are...
Page 577
CHAPTER 13 PC LOADER Displays the warning and forecast status occurring at the servo amplifier. Displays such information as Warning, forecast battery warnings, remaining monitor main circuit capacitor time, and remaining cooling fin time. Displays the automatic vibration suppression learning state.
Page 578
CHAPTER 13 PC LOADER 13.5.4 Parameter Editing Servo amplifier parameters are edited at this screen. Select [Menu] - [Parameter Edit] to start the parameter editor. The following functions can be used at this screen. (1) Re-read Reads parameters from the connected servo amplifier. (2) Send Changes Sends changed parameters to the connected servo amplifier.
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CHAPTER 13 PC LOADER Automatic electronic gear calculation By selecting [PA1: Basic Settings] - [Set Electronic Gear from Machine Configuration], a dedicated window appears. By entering all machine system specifications, electronic gear calculation is performed automatically. Automatic workpiece inertia ratio calculation By selecting [PA1: Control Gain, Filter Settings] - [Set Vibration Suppressing Anti Resonance Frequency], workpiece inertia ratio can also be automatically calculated by entering the anti resonance frequency and resonance frequency *.
Page 580
CHAPTER 13 PC LOADER 13.5.5 Positioning Data Editing This screen is used to register positioning data in the servo amplifier. This function is a an LS type dedicated function, and is run by selecting [Menu] - [Edit Positioning Data]. The functions of each button on this screen are as follows. (1) Re-read Reads positioning data from the connected servo amplifier.
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CHAPTER 13 PC LOADER 13.5.6 Test Operation Turn the servo amplifier offline, and test run a servomotor from the servo amplifier. Use this function at such times as when the servomotor does not function normally with commands from the host, if the motor does not move, or if wishing to check the rotation direction. *1 The servo turns on automatically, and the motor rotates.
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CHAPTER 13 PC LOADER Test operation screens (1) Manual Operation Selects the speed (parameters PA1_41 to 47). The motor rotates in the forward direction while clicked. The motor rotates in the backward direction while clicked. (2) Origin Return By pressing the [Origin Return] button, the motor rotates based on the origin return related parameter settings in PA2_06 to 14.
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CHAPTER 13 PC LOADER (6) Feedback Cumulative Pulse Clear By pressing the [Clear] button, the feedback cumulative pulse count is set to “0”. (7) Command Cumulative Pulse Clear By pressing the [Clear] By pressing the [START/STOP] button, the button, the command operation selected at (a) starts.
Page 584
CHAPTER 13 PC LOADER (9) Fine tuning Step 1. By pressing the [Start] button, characteristics analysis is started based on the conditions set at (a). Step 2. The analysis result is drawn, and the recommended setting values are displayed. Step 3. By pressing the [Adjust Start] button, reciprocal operation is started based on the conditions set at (b), and the adjustment result is displayed when reciprocal operation is complete.
Page 585
CHAPTER 13 PC LOADER (10) Pattern operation By pressing the [START/STOP] button, pattern operation starts. Furthermore, by pressing the [START/STOP] button during operation, the cycle stops. [Pattern operation NG screen] (11) Forced OUT Signal Output Select the OUT signal to be operated at (a), and turn the OUT signal ON or OFF with the (b) [ON] or [OFF] buttons.
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CHAPTER 13 PC LOADER (12) Forced Pulse Output Select the pulse signal to be output at (a). A-phase, B-phase By setting the frequency and pressing the [Forced Pulse Output] button, a pulse is output. Frequency setting range: 0 to ±1,000[kHz], 1[kHz] increments Z-phase The Z-phase signal changes each time the [Forced H...
Page 587
CHAPTER 13 PC LOADER Sequence test mode status check When the servo amplifier is in sequence test mode, all digits on the 7-segment LED flash every two seconds (they do not flash when performing key operations.) Startup screen 13-29 Detailed Function Description...
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CHAPTER 13 PC LOADER (13) Positioning startup (LS type only) Select [Test Operation] - [Positioning Start] to start positioning. The following window is displayed when positioning starts. (A positioning data editing screen can be started at the same time in order to check positioning data.) Selects the data for which positioning is to be started.
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CHAPTER 13 PC LOADER (14) Teaching (LS type only) Select [Test Operation] → [Teaching] to start teaching. The following window is displayed when teaching starts. (A positioning data editing screen can be started at the same time in order to check positioning data.) Selects the positioning data to be written.
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CHAPTER 13 PC LOADER 13.5.7 Servo Analyze Servo Analyze is a tool used to measure machinery frequency characteristics. By running Servo Analyze, machinery resonance points and anti resonance points and so on are displayed visually, providing the user with a guide for setting these parameters (anti resonance frequency, notch filter related).
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CHAPTER 13 PC LOADER 13.5.8 Diagnosis to be Made if the Servomotor Fails to Start When the servomotor fails to start, or when an unexpected display appears, the assumed cause of the problem can be analyzed in real time by running [Failure Diagnosis]. ...
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CHAPTER 13 PC LOADER 13.5.9 Changing the Language This PC Loader supports Japanese only. 13-34 Detailed Function Description...
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CHAPTER 14 STANDARDS COMPLIANCE 14.1 European Standards Compatibility ( The CE marking on Fuji products indicates that they comply with the essential requirements of European Council of Ministers Directive (EMC Directive) 2014/30/EU, Low Voltage Directive 2014/35/EU, and Machinery Directive 2006/42/EC relating to electromagnetic compatibility (EMC). Table14.1-1 Compatible standards Compatible standards Note 1...
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CHAPTER 14 STANDARDS COMPLIANCE 14.1.1 Compatibility with EMC Standards The CE marking on servo amplifiers does not certify that all machinery and equipment using Fuji products are compatible with the EMC Directive. Consequently, if affixing CE marking to machinery and equipment, the responsibility for doing so lies with the machinery manufacturer.
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CHAPTER 14 STANDARDS COMPLIANCE 14.1.2 Compatibility with European Low Voltage Directive Servo amplifiers are subject to compatibility with the European Low Voltage Directive. The CE marking on servo amplifiers represents a self-declaration that the product complies with the Low Voltage Directive.
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CHAPTER 14 STANDARDS COMPLIANCE Compatibility with European Low Voltage Directive (cont.) WARNING 4. Use a molded case circuit breaker (MCCB), earth leakage breaker (RCD/ELCB), or magnetic contactor (MC) compatible with EN or IEC standards. 5. If using an earth leakage circuit breaker (RCD/ELCB) to provide either direct or indirect electric shock protection, always install a Type B earth leakage circuit breaker (RCD/ELCB) at the servo amplifier input side (primary side).
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CHAPTER 14 STANDARDS COMPLIANCE 14.2 UL Standards and Canadian Standards (cUL Certification) Compliance 14.2.1 General UL Standards (Underwriters Laboratories Inc. standards) are North American safety standards used to prevent fire and other such accidents, and offer protection to users, service technicians, and the general public.
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CHAPTER 14 STANDARDS COMPLIANCE UL Standards and Canadian Standards (cUL certification) compatibility (cont.) CAUTION 6. The protection circuit inside this servo amplifier does not conform to UL Standards' "branch circuit protection". It is necessary to install "branch circuit protection" conforming to the National Electrical Code or similar standard outside the amplifier.
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CHAPTER 14 STANDARDS COMPLIANCE 14.3 Radio Waves Act (South Korea) 韓国電波法への対応 本製品は韓国電波法に適合しています。韓国では下記に注意して使用してください。 (本製品は業務用(A 級)電磁波適合機器であり,販売者あるいは使用者はこの点にご注意くだ さい。 尚,家庭外の地域で使用するのを目的とします。 ) 本対象は,形式 RYT△△△□7-□□2 のみ対象となります。 (△にはサーボアンプ容量,□にはバリエーションを示す英数字がはいります。 ) 한국 전파법 대응 본제품은 한국전파법에 적합한 제품입니다 한국에서 사용시는 아래에 주의하여 주시길 바랍니다 “ 이 기기는 업무용 급...
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CHAPTER 14 STANDARDS COMPLIANCE 14.4 Complying with "Guideline for Suppressing Harmonics by Customers Receiving High Voltage or Special High Voltage" The Public Utilities Department of the Ministry of International Trade and Industry's Agency for Natural Resources and Energy enacted the following two guidelines relating to harmonic suppression on September 30, 1994.
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CHAPTER 14 STANDARDS COMPLIANCE (1) Regulation scope Generally speaking, regulations apply if the following two conditions are satisfied. The device is receiving high or extra-high voltage. Converter load "equivalent capacity" exceeds the standard value (50kVA when receiving 6.6 kV) for the receiving voltage.
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CHAPTER 14 STANDARDS COMPLIANCE Three-phase input: Input rated capacity = √3 x (power supply voltage) x I1 x 1.0228/1000 (kVA) Single-phase input: Input rated capacity = (power supply voltage) x I1 x 1.0228/1000 (kVA) Here, 1.0228 is the 6-pulse converter (effective value current)/(fundamental harmonic current) value. The "input rated capacity"...
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CHAPTER 14 STANDARDS COMPLIANCE (3) Rated input current (receiving voltage conversion value) calculation Rated input current (receiving voltage conversion value) is calculated with the following equation. : Rated input current (receiving voltage conversion value) (mA) : Fundamental harmonic input current (A) : Power supply voltage (V) : Receiving voltage (V) (4) Servo amplifier operation rate...
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CHAPTER 14 STANDARDS COMPLIANCE 14.4.2.2 Harmonic Current Calculation (1) Harmonic current calculation Generally speaking, harmonic current is calculated using "Table 3 Three-phase bridge (capacitor smoothing)" in "Guidelines - Appendix 2". Refer to Table14.4-4 for the guidelines appendices. Table14.4-4 Amount of harmonic current generation (%), three-phase bridge (capacitor smoothing) Degree 11th 13th...
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CHAPTER 14 STANDARDS COMPLIANCE 14-14 Complying with "Guideline for Suppressing Harmonics by Customers Receiving High Voltage or Special High Voltage"...
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CHAPTER 15 APPENDIXES 15.3 Control Circuit Block Diagram 15-5 Control Circuit Block Diagram...
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CHAPTER 15 APPENDIXES 15.4 Parameter List PA1_: Basic parameters Record of reference Name Power value INC/ABS system selection ○ Command pulse form selection ○ ○ Rotation direction selection Number of command input pulses per revolution ○ Numerator 0 of electronic gear -...
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CHAPTER 15 APPENDIXES Record of reference Name Power value Acceleration / deceleration selection at speed control - Acceleration time 1 - Deceleration time 1 - - Acceleration time 2 Deceleration time 2 - Manual feed speed 1 - Manual feed speed 2 -...
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CHAPTER 15 APPENDIXES Record of reference Name Power value Automatic notch filter selection - Notch filter 1 frequency - Notch filter 1 attenuation - - Notch filter 1 width Notch filter 2 frequency - Notch filter 2 attenuation - Notch filter 2 width -...
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CHAPTER 15 APPENDIXES PA2_: Automatic operation setting parameters Record of reference Name Power value Decimal point position of positioning data - Positioning speed 1 - Positioning speed 2 - Positioning speed 3 - Positioning speed 4 - Homing speed -...
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CHAPTER 15 APPENDIXES Record of reference Name Power value Point detection range - Override 1 - Override 2 - Override 4 - Override 8 - Internal positioning data selection ○ ○ Sequential start selection Decimal point position of stand still timer -...
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CHAPTER 15 APPENDIXES Record of reference Name Power value No.3 deceleration time - Initial display of the keypad (keypad) ○ Display transition at warning detection ○ Parameter in RAM 1 ○ Parameter in RAM 2 ○ Parameter in RAM 3 ○...
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CHAPTER 15 APPENDIXES Record of reference Name Power value CONT14 signal assignment ○ CONT15 signal assignment ○ CONT16 signal assignment ○ CONT17 signal assignment ○ CONT18 signal assignment ○ CONT19 signal assignment ○ CONT signal inversion ○ CONT always ON 1 ○...
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CHAPTER 15 APPENDIXES PA3_: Output terminal function setting parameters Record of reference Name Power value OUT1 signal assignment ○ OUT2 signal assignment ○ OUT3 signal assignment ○ OUT4 signal assignment ○ OUT5 signal assignment ○ OUT6 signal assignment ○ OUT7 signal assignment ○...
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CHAPTER 15 APPENDIXES PA4_: Extension function 2 setting parameters Record of reference Name Power value Interference detection level Interference detection return amount Interference detection return speed Interference detection LPF time constant Interference detection HPF time constant Enable/disable interference detection Enable/disable SEMI F47 compatible function ○...
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CHAPTER 15 APPENDIXES 15.5 Capacity Selection Calculation 15.5.1 Type of Mechanical System The mechanical system driven by a variable speed motor includes the following types. Mechanism Features Ball screw (direct coupling) Used for a relatively short distance and accurate positioning. The motor is connected with the ball screw via a coupling and no play is included.
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CHAPTER 15 APPENDIXES Mechanism Features Chain drive Mainly used for the transfer line. Countermeasures against elongation of the chain itself are necessary. Used mainly for relatively large reduction ratios; the traveling speed of the mechanical system is small. Feed roll The material on a plate (band) is sandwiched between rolls and fed.
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CHAPTER 15 APPENDIXES η Approximate mechanical efficiency Mechanism Mechanical efficiency Trapezoidal screw thread 0.5 to 0.8 Ball screw Rack & Pinion Gear reducer 0.8 to 0.95 Worm reducer 0.5 to 0.7 (starting) Worm reducer 0.6 to 0.8 (during operation) Belt transmission 0.95 Chain transmission Module...
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CHAPTER 15 APPENDIXES Follow the procedure below to perform capacity selection calculation. Capacity selection flow chart Start (1) Calculate the load inertia according to the configuration of the machine. (2) Calculate the load torque according to the Calculate the moment of configuration of the machine.
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CHAPTER 15 APPENDIXES Conversion Ball screw 1 BP J = × W × GL 2π 10 W: Total mass of moving parts [kg] BP: Thread lead [mm] GL: Reduction ratio (no unit) Rack & Pinion, conveyor and chain drive W D J...
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CHAPTER 15 APPENDIXES Calculation of load torque (T Ball screw Traveling speed Mass of moving parts V W (μ W+F)×9.81 BP × GL T = L 2π η 10 μ : Friction coefficient BP : Screw lead [mm] Reduction ratio GL...
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CHAPTER 15 APPENDIXES (1) Calculating the load inertia (J Calculate the inertia (J ) of the load of the mechanical system converted to the motor axis. Calculate the inertia of the parts rotating (moving) along with motor rotation, and obtain the sum of all.
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CHAPTER 15 APPENDIXES (5) Creating the torque pattern Create the pattern of the output torque according to the operation pattern. ・ Operation pattern Traveling speed Time ・ Torque pattern Acceleration torque Output torque Load torque Time Deceleration torque (6) Calculating the effective torque (T Calculate the effective torque of each cycle of the operation pattern.
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CHAPTER 15 APPENDIXES (8) Calculating the regenerative power Regenerative operation is caused in general in the following state. Horizontal feed: During deceleration Vertical feed: During constant speed feed in the lowering cycle and during deceleration Regenerative power during deceleration (P [W] =...
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CHAPTER 15 APPENDIXES (1) Max. traveling speed (v) If the reduction ratio is 1/1 and the rotation speed of the motor shaft is 3000 [r/min] v = (3000/60) × 10×(1/1) = 500 [mm/s] (2) Load inertia converted to motor axis (J ...
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CHAPTER 15 APPENDIXES (4) Capacity selection condition ≤ × 0.9 ≤ × 5 (Frequent feed) = 0.03 Nm = 1.1 × 10 [kg m (5) Temporary selection According to the capacity selection condition, GYS201D7- □□ 2 (0.2 [kW]) is found. = 0.135 ×...
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CHAPTER 15 APPENDIXES (7) Operation profile Speed 500[mm/s] 50[mm] Time 0.05 0.05 0.05 Toque 0.78 0.03 Time 0.78 This profile is based on calculation selection. The operation cycle time supposes 0.5 sec. (8) Effective torque (T Time-average output torque × t +...
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CHAPTER 15 APPENDIXES (10) Regenerative power Regenerative power is caused during deceleration. [W] =(2π/60) × T [Nm] × N[r/min] ×(1/2) P 1 =(2π/60)× 0.78 × 3000 ×(1/2) ≈ 123 [W] Average regenerative power of cycle operation P = (123 ×0.05)/0.5 ≈...
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CHAPTER 15 APPENDIXES [4] Calculate the energy (E ) that can be absorbed by the servo amplifier. 2 2 E = C(V -V ) S -6 2 2 = (440×10 )×(390 -(200×√2) ) = 15.86 [J] DC link capacity (RYT201): 440 [μF], source voltage 200 [V] (actual value) ...
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CHAPTER 15 APPENDIXES Constants 200 V series Rated Phase Capacity Inertia Capacity of capacitor Series current resistance [kW] [kg·m [μF] [Ω] 0.05 0.0192 0.85 0.0371 0.135 0.246 0.75 0.36 0.853 0.35 1.73 1360 0.25 2.37 Rated Phase Capacity Inertia Capacity of capacitor Series...
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CHAPTER 15 APPENDIXES 15.6 Revision History Date of printing Index Description of revision July, 2017 None First version August, 2018 Changes made to servo amplifier type indication. 15-31 Revision History...
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