Fuji Electric ALPHA7 Manuals

Manuals and User Guides for Fuji Electric ALPHA7. We have 3 Fuji Electric ALPHA7 manuals available for free PDF download: User Manual, Instruction Manual

Fuji Electric ALPHA7 User Manual (662 pages)

Brand: Fuji Electric | Category: Controller | Size: 19.81 MB

Table of Contents
5
Chapter 0 Introduction
22
Safety Precautions
23
Precautions on Use
24
Precautions on Storage
25
Precautions on Transportation
25
Precautions on Installation
26
Precautions on Wiring
27
Precautions on Operation
28
General Precautions
29
Harmonics Suppression Measures (for Japan)
29
Compliance with EU Directives
30
Service Life of EEPROM
30
Compliance with EU Directives and UL/CSA Standard
30
Outline of System
31
Servomotor
31
Servo Amplifier
32
Model Nomenclature
33
Servomotor
33
Servo Amplifier
35
Combination between Servomotor and Servo Amplifier
35
VV Type
35
Chapter 1 Installation
36
Servomotor
37
Storage Environment
37
Operating Environment
37
Installing the Servomotor
38
Water Proof and Oil Proof Properties
38
Servomotor Handling Precautions
39
Notes on Stress Given to Cable
39
Assembling Accuracy
40
Allowable Load
41
Cautionary Items on Servomotor Equipped with a Brake
41
Servo Amplifier
42
Storage Environment
42
Operating Environment
43
Installing the Servo Amplifier
44
Depth of Control Panel
46
Chapter 2 Wiring
48
Configuration
49
Part Name
49
Configuration
52
Sequence I/O
57
Pulse Input (PPI, CA, *CA, CB, *CA)
59
Pulse Output (FFA, *FFA, FFB, *FFB, FFZ, *FFZ)
60
Z-Phase Output (FZ, M5)
60
Analog Input (VREF [ TREF], [P10] M5)
61
Analog Monitor Output (MON1, MON2, M5)
62
Sequence Input (CONT1, CONT2, CONT3
62
Sequence Output (OUT1, OUT2
63
Communications (CN3)
63
Usb (Cn4)
64
Safety Function (CN6)
64
P-N Junction
65
Servomotor
66
Motor Power Connectors
66
Brake Connector
67
Encoder
68
Encoder Wiring Cable
68
Encoder Cable Fabrication Method
70
Encoder Cable with Battery Fabrication Method
71
Description of I/O Signals
75
List of Input Signals
75
List of Output Signals
76
Signal Descriptions
78
Input Signal
78
Servo-On [S-ON]: Sequence Input Signal (Reference Value 1)
78
Forward Command [FWD]: Sequence Input Signal (Reference Value 2)
79
Reverse Command [REV]: Sequence Input Signal (Reference Value 3)
79
Start Positioning [START]: Sequence Input Signal (Reference Value 4)
81
Homing [ORG]: Sequence Input Signal (Reference Value 5)
83
Homing Position LS [LS]: Sequence Input Signal (Reference Value 6)
83
Interrupt Input: Sequence Input Signal (Reference Value 49)
83
Sequence Input Signal (Reference Value 7)
86
Over-Travel in Negative Direction [-OT]
86
Sequence Input Signal (Reference Value 8)
86
Forced Stop [EMG]: Sequence Input Signal (Reference Value 10)
88
Alarm Reset [RST]: Sequence Input Signal (Reference Value 11)
89
ACC0: Sequence Input Signal (Reference Value 14)
90
Position Preset: Sequence Input Signal (Reference Value 16)
91
Gain Swtich: Sequence Input Signal (Reference Value 17)
92
Torque Limit 0: Sequence Input Signal (Reference Value 19)
93
Torque Limit 1: Sequence Input Signal (Reference Value 20)
93
Immediate Value Continuation: Sequence Input Signal (Reference Value 22)
95
Immediate Value Change: Sequence Input Signal (Reference Value 23)
97
Electronic Gear Numerator Selection
98
Sequence Input Signal (Reference Value 24)
98
Sequence Input Signal (Reference Value 25)
98
Command Pulse Inhibit: Sequence Input Signal (Reference Value 26)
99
Command Pulse Ratio 1: Sequence Input Signal (Reference Value 27)
99
Command Pulse Ratio 2: Sequence Input Signal (Reference Value 28)
99
Proportional Control: Sequence Input Signal (Reference Value 29)
100
Pause: Sequence Input Signal (Reference Value 31)
100
Positioning Cancel: Sequence Input Signal (Reference Value 32)
101
External Regenerative Resistor Overheat
101
Teaching: Sequence Input Signal (Reference Value 35)
102
Control Mode Selection: Sequence Input Signal (Reference Value 36)
103
Position Control: Sequence Input Signal (Reference Value 37)
103
Torque Control: Sequence Input Signal (Reference Value 38)
106
Override Enable: Sequence Input Signal (Reference Value 43)
108
Override 1: Sequence Input Signal (Reference Value 44)
108
Override 2: Sequence Input Signal (Reference Value 45)
108
Override 4: Sequence Input Signal (Reference Value 46)
108
Override 8: Sequence Input Signal (Reference Value 47)
108
Interrupt Input Enable: Sequence Input Signal (Reference Value 48)
109
Interrupt Input: Sequence Input Signal (Reference Value 49)
109
Deviation Clear: Sequence Input Signal (Reference Value 50)
111
Multi-Step Speed Selection [X1]: Sequence Input Signal (Reference Value 51)
112
Multi-Step Speed Selection [X2]: Sequence Input Signal (Reference Value 52)
112
Multi-Step Speed Selection [X3]: Sequence Input Signal (Reference Value 53)
112
Free-Run [BX]: Sequence Input Signal (Reference Value 54)
113
Edit Permission: Sequence Input Signal (Reference Value 55)
114
Anti Resonance Frequency Selection
115
AD0: Sequence Input Signal (Reference Value 60)
116
AD1: Sequence Input Signal (Reference Value 61)
116
AD2: Sequence Input Signal (Reference Value 62)
116
AD3: Sequence Input Signal (Reference Value 63)
116
AD4: Sequence Input Signal (Reference Value 64)
116
Positioning Data Selection: Sequence Input Signal (Reference Value 77)
118
Broadcast Cancel: Sequence Input Signal (Reference Value 78)
118
Output Signal
120
Ready for Servo-On [RDY]: Sequence Output Signal (Reference Value 1)
120
In-Position [INP]: Sequence Output Signal (Reference Value 2)
121
Speed Limit Detection: Sequence Output Signal (Reference Value 11)
123
Over Write Completion: Sequence Output Signal (Reference Value 13)
123
Brake Timing: Sequence Output Signal (Reference Value 14)
124
Point Detection, Area Detection 1: Sequence Output Signal (Reference Value 17)
127
Point Detection, Area Detection 2: Sequence Output Signal (Reference Value 18)
127
Limiter Detection: Sequence Output Signal (Reference Value 19)
128
OT Detection: Sequence Output Signal (Reference Value 20)
129
Cycle End Detection: Sequence Output Signal (Reference Value 21)
130
Homing Completion: Sequence Output Signal (Reference Value 22)
131
Zero Deviation: Sequence Output Signal (Reference Value 23)
132
Zero Speed [NZERO]: Sequence Output Signal (Reference Value 24)
132
Speed Coincidence [NARV]: Sequence Output Signal (Reference Value 25)
132
Torque Limit Detection: Sequence Output Signal (Reference Value 26)
133
Overload Warning Detection: Sequence Output Signal (Reference Value 27)
133
Servo Control Ready [S-RDY]: Sequence Output Signal (Reference Value 28)
135
Edit Permission Response: Sequence Output Signal (Reference Value 29)
135
Data Error: Sequence Output Signal (Reference Value 30)
136
Address Error: Sequence Output Signal (Reference Value 31)
136
Alarm Code 0: Sequence Output Signal (Reference Value 32)
137
Alarm Code 1: Sequence Output Signal (Reference Value 33)
137
Alarm Code 2: Sequence Output Signal (Reference Value 34)
137
Alarm Code 3: Sequence Output Signal (Reference Value 35)
137
Alarm Code 4: Sequence Output Signal (Reference Value 36)
137
OT Detection: Sequence Output Signal (Reference Value 38)
139
OT Detection: Sequence Output Signal (Reference Value 39)
139
Home Position LS Detection: Sequence Output Signal (Reference Value 40)
140
Forced Stop Detection: Sequence Output Signal (Reference Value 41)
140
Battery Warning: Sequence Output Signal (Reference Value 45)
140
Life Warning: Sequence Output Signal (Reference Value 46)
141
MD0: Sequence Output Signal (Reference Value 60)
141
MD1: Sequence Output Signal (Reference Value 61)
141
MD2: Sequence Output Signal (Reference Value 62)
141
MD3: Sequence Output Signal (Reference Value 63)
141
MD4: Sequence Output Signal (Reference Value 64)
141
MD5: Sequence Output Signal (Reference Value 65)
141
MD6: Sequence Output Signal (Reference Value 66)
141
MD7: Sequence Output Signal (Reference Value 67)
141
Position Preset Completion: Sequence Output Signal (Reference Value 75)
143
Immediate Value Continuation Permission
144
Immediate Value Continuation Completion
145
Immediate Value Change Completion
145
Command Positioning Completion
146
Range 1 of Position: Sequence Output Signal (Reference Value 83)
147
Range 2 of Position: Sequence Output Signal (Reference Value 84)
147
Interrupt Positioning Detection: Sequence Output Signal (Reference Value 85)
148
Interference Detection: Sequence Output Signal (Reference Value 86)
149
Function Safety SS1: Sequence Output Signal (Reference Value 89)
150
Function Safety SLS: Sequence Output Signal (Reference Value 90)
150
Conta Through: Sequence Output Signal (Reference Value 91)
151
Contb Through: Sequence Output Signal (Reference Value 92)
151
Contc Through: Sequence Output Signal (Reference Value 93)
151
Contd Through: Sequence Output Signal (Reference Value 94)
151
Conte Through: Sequence Output Signal (Reference Value 95)
151
Connection Example to Host Controller
152
Connection Example (MICREX-SX SPF Series: NA0PA24T-31C)
153
Connection Example (Positioning Module: NP1F-HD2A)
154
Connection Example (Positioning Module: F3YP14-0N/F3YP18-0N)
155
Connection Example (Positioning Unit: QD75D1 Type)
156
Safety Function
157
Overview
157
Usage Precautions
158
Terminal Wiring
158
Safety Stop Function (STO) Related Precautions
158
Safety Stop (STO) Test
159
Specifications
159
Function Block Diagram
159
Operating Sequences
160
Description of Signals
162
Chapter 3 Operation
164
Signal Description (Priority Among Input Signals)
165
Selection of Operation Procedure
166
Operation Check
167
Power-On
167
Power-On/Servo Control-Ready [S-RDY]
168
Servo-On [S-On]/Ready for Servo-On [RDY]
169
Test Operation at Keypad
170
If the Servomotor Fails to Start
171
Shutdown
171
Operation with VS Type
173
Position Control (Pulse)
173
Speed Control
174
Torque Control
175
Mode Selection
176
Extension Mode
177
Homing
179
Interrupt Positioning
180
Positioning Data Operation
183
Immediate Value Data Operation
184
Interrupting/Stopping Operation
185
Chapter 4 Parameter
192
Parameter Division
193
Basic Parameters
194
List (PA1_)
194
Description of each Parameter
195
PA1_01 Control Mode Selection
195
PA1_02 INC/ABS System Selection
199
PA1_03 Command Pulse Frequency, Form Setting
201
PA1_04 Rotation Direction Selection
204
PA1_05 Number of Command Input Pulses Per Revolution
204
PA1_08 Number of Output Pulses Per Revolution
207
PA1_09 Numerator of Electric Gear for Output Pulses
207
PA1_10 Denominator of Electric Gear for Output Pulses
207
PA1_11 Output Pulse Phase Selection at CCW Rotation
208
PA1_12 Z-Phase Position Offset
208
PA1_13 Tuning Mode Selection
209
PA1_14 Load Inertia Ratio
210
PA1_15 Auto Tuning Gain 1
211
PA1_16 Auto Tuning Gain 2
212
PA1_20 to 23 Easy Tuning Settings
213
PA1_25 Max. Rotation Speed (for Position and Speed Control)
213
PA1_26 Max. Rotation Speed (for Torque Control)
213
PA1_27 Forward Rotation Torque Limit
214
PA1_28 Reverse Rotation Torque Limit
214
PA1_29 Speed Coincidence Range
215
PA1_30 Zero Speed Range
215
PA1_31 Deviation Unit Selection
215
PA1_32 Zero Deviation Range/In-Position Range
216
PA1_33 to 35 In-Position Output Signals
216
PA1_41 to 47 Manual Feed Speed 1 to 7/Speed Limit 1 to 7 for Torque Control
220
Control Gain and Filter Setting Parameters
221
List (PA1_)
221
Description of each Parameter
223
PA1_51 to 53 Command Filter Settings
223
PA1_54 Position Command Response Time Constant
223
PA1_55 to 57 Response to Disturbance Settings
224
PA1_58 Feed Forward Gain 1
224
PA1_60 Torque Filter Time Constant for Torque Control
225
PA1_61 to 67 Second Gain Settings
226
PA1_70 to 76 Notch Filter Settings
227
PA1_77 to 86 Vibration Suppressing Control Settings
229
PA1_87 Model Torque Filter Time Constant
230
PA1_88 Position Loop Integration Time Constant
230
PA1_89 Position Loop Integration Limiter
230
PA1_90 Load Torque Observer
230
PA1_91 P/PI Automatic Change Selection
231
PA1_92 and 93 Friction Compensation Settings
231
PA1_94 Torque Filter Setting Mode
231
PA1_95 Model Torque Calculation Selection, Speed Observer Selection
232
PA1_96 Speed Limit Gain for Torque Control
232
Automatic Operation Setting Parameters
233
List (PA2_)
233
Description of each Parameter
234
PA2_01 Decimal Point Position of Positioning Data
234
PA2_06 to 18 and 22 to 24
234
Homing Settings
234
PA2_06 Homing Speed
237
PA2_07 Creep Speed for Homing
237
PA2_08 Starting Direction for Homing
237
PA2_09 Reverse Traveling Unit Amount for Homing
238
PA2_10 Homing Direction after Reference Signal Detection
239
PA2_11 Reference Signal for Shift Operation
239
PA2_12 Reference Signal for Homing (Deceleration Starting Signal)
240
PA2_13 Home Position LS Signal Edge Selection
240
PA2_14 Home Position Shift Unit Amount
241
PA2_15 Deceleration Operation for Creep Speed
241
PA2_16 Home Position after Homing Completion
242
PA2_17 Home Position Detection Range
242
PA2_18 Deceleration Time at OT During Homing
243
PA2_22 Detection Time for Contact-Stopper
243
PA2_23 Torque Limit for Contact-Stopper
243
PA2_24 Selection of Operation at OT During Homing
244
PA2_19 Preset Position
268
PA2_20 Interrupt Traveling Unit Amount
268
PA2_25 to 27 Position Operation Type, Software OT Detection Position
268
PA2_28 and 29 Limiter Detection Position
269
PA2_31 to 34 Point Detection, Area Detection Settings
269
PA2_36 to 39 Override Settings
271
PA2_40 Internal Positioning Data Selection
271
PA2_41 Sequential Start Selection
272
PA2_42 Decimal Point Position of Stand Still Timer
272
PA2_43 Output Selection at M Code off
272
Extended Function Setting Parameters
273
List (PA2_)
273
Description of each Parameter
274
PA2_51 to 53 Electronic Gear Ratio Numerator 1, 2, 3
274
PA2_54 and 55 Command Pulse Ratio 1, 2
274
PA2_56 Speed Limit Selection at Torque Control
275
PA2_57 to 60 Torque Limit Settings
275
PA2_61 to 63 Action Sequence Settings
279
PA2_64 Torque Keeping Time to Holding Brake
280
PA2_65 Regenerative Resistor Selection
280
PA2_66 Flying Start at Speed Control
281
PA2_67 Alarm Detection at Undervoltage
281
PA2_68 Main Power Shutoff Detection Time
281
PA2_69 Deviation Detection Overflow Value
282
PA2_70 Overload Warning Value
282
PA2_72 Station Number for Communications
282
PA2_73 Communication Baud Rate
282
PA2_74 Parameter Write Protection
282
PA2_75 Positioning Data Write Protection
283
PA2_76: No.3 Deceleration Time
283
PA2_77 Initial Display of the Keypad (Keypad)
284
PA2_78 Display Transition at Warning Detection
284
PA2_86 to 88 Positioning Data in RAM 1 to 3
285
PA2_89 and 90 Sequence Test Mode: Mode Selection and Encoder Selection
286
PA2_93 Parity/Stop Bit Selection (for Modbus)
286
PA2_94 Response Time (for Modbus)
287
PA2_95 Communication Time over Time (for Modbus)
287
PA2_97 Communication Protocol Selection
287
Input Terminal Function Setting Parameters
288
List (PA3_)
288
Description of each Parameter
290
PA3_01 to 24 CONT Signal Assignment
290
PA3_48 to 49 CONT CA Assignment/Cont CB Assignment
290
PA3_25 CONT Signal Inversion
293
PA3_50 CONT CA/CB Signal Inversion
293
PA3_26 to 30 CONT Always on 1 to 5
294
PA3_31 to 34 Speed and Torque Command Scale and Offset Settings
295
PA3_35 Zero Clamp Level
295
PA3_36 Deviation Clear Input Form
295
PA3_39 Speed Command Fine Adjustment Gain
296
PA3_40 Torque Command Fine Adjustment Gain
296
PA3_41～44 Address Free Assignment 1 to 4 (for Modbus)
296
Output Terminal Function Setting Parameters
298
List (PA3_)
298
Description of each Parameter
300
PA3_51 to 71 out Signal Assignment
300
PA3_98 out FZ Assignment
300
PA3_72 out Signal Inversion
303
PA3_99 out FZ Signal Inversion
303
PA3_81 to 87 Monitor Output Scale and Offset Settings
304
PA3_88 Command Pulse Frequency Sampling Time for Monitor
306
PA3_89 Feedback Speed Sampling Time for Monitor
307
PA3_90 Output Pulse Frequency Error
307
PA3_92 Range1 of Position: Setting1
307
PA3_93 Range1 of Position: Setting2
307
PA3_94 Range2 of Position: Setting1
307
PA3_95 Range2 of Position: Setting2
307
Extension Function 2 Setting Parameters
308
List (PA4_)
308
Description of each Parameter
310
PA4_10 Enable/Disable SEMI F47 Compatible Function
311
PA4_11 to 12 Function Safety Operation Settings
312
Pa4_21
314
Torque Control Speed Limit Method
314
PA4_51 to 59 Notch Filter Settings
314
PA4_60 Cogging Torque Compensation
315
PA4_61 to 63 Tuningless Function Settings
315
PA4_64 to 65 New Vibration Suppressing Settings
316
Chapter 5 Servo Adjustment
318
Adjustment Procedure
319
Tuningless Function
320
What Is the Tuningless Function
320
Setting Parameters
320
Operating Procedure
321
Disabled Functions and Parameters
321
Easy Tuning
322
What Is Easy Tuning
322
Easy Tuning Operation Profile
322
Description of Operation
324
Auto Tuning
328
Conditions for Auto Tuning
328
Parameters Used for Auto Tuning
328
Approximate Reference Value of Auto Tuning Gain 1
329
Auto Tuning Adjustment Procedure
330
Fine Tuning
331
What Is Fine Tuning
331
Adjusted Parameters
331
Operating Procedure
332
Manual Tuning
335
Conditions for Manual Tuning
335
Parameters Used for Manual Tuning
335
Approximate Gain Reference Value
335
Manual Tuning Adjustment Procedure
336
Individual Adjustment
337
Interpolation Control Mode
338
Conditions for Interpolation Control Mode
338
Parameters Used for Interpolation Control Mode
338
Adjustment Procedure in Interpolation Control Mode
339
Description of Operation
342
Special Adjustment (Vibration Suppression)
343
What Is Vibration Suppression
343
Automatic Vibration Suppression
345
Manual Adjustment of Vibration Suppression
345
Chapter 6 Keypad
354
Display
355
Mode
355
Key
356
Flashing Display
356
Mode Selection
357
Function List
358
Sequence Mode
362
Monitor Mode
368
Station no Mode
379
Maintenance Mode
380
Parameter Edit Mode
384
Positioning Data Edit Mode
390
Test Operation Mode
395
Chapter 7 Maintenance and Inspection
408
Inspection
409
Status Display
410
Initial State
410
State at Alarm
410
Alarm Display List
411
Troubleshooting Method
415
Items to be Inquired Upon Trouble
429
Maintenance and Discarding
430
Operating Environment
430
Life
431
Discarding
432
Approximate Replacement Timing
433
Chapter 8 Specifications
434
Specifications of Servomotor
435
GYS Motor
435
GYB Motor
439
GYG Motor
441
Specifications of Servo Amplifier
443
Common Specifications
443
VV Type Specifications
445
Dimensions of Servomotor
447
GYS Motor (with no Brake)
447
GYS Motor (with a Brake)
449
GYB Motor (Connector Type)
451
GYB Motor (Connector Type) (with a Brake)
452
GYB Motor (Lead Wire Type)
453
GYB Motor (Lead Wire Type) (with a Brake)
454
GYG Motor (2000 [R/Min])
455
GYG Motor (2000 [R/Min]) (with a Brake)
455
GYG Motor (1500 [R/Min])
456
GYG Motor (1500 [R/Min]) (with a Brake)
456
Dimensions of Servo Amplifier
457
Frame 1
457
Frame 2
458
Optional Specification of Shaft Extension
459
Chapter 9 Characteristics
460
Timing Chart
461
Power-On Timing
461
Each Signal Timing
463
Control Mode Selection Timing
464
Alarm Reset Timing
464
Overload Characteristic
465
GYS Motor
465
GYG Motor
467
GYB Motor
468
Power Supply Capacity and Generated Loss
469
Inrush Current
470
Bending Strength of Cable
471
Chapter 10 Peripheral Equipment
472
Overall Configuration of Peripheral Equipment
473
Cable Size
474
Main Circuit Section Cable Size
475
Encoder Cable
476
How to Calculate the Servo Amplifier Input Current
477
Conditions for Selecting Peripheral Equipment
478
Mccb/Elcb
479
Electromagnetic Contactor
480
Surge Absorber
481
Power Filter
483
AC/DC Reactor
485
External Regenerative Resistor
487
Optional Equipment
489
Sequence I/O Cable
489
Safety Device Connection Cable
490
Encoder Cable (1)
491
Encoder Cable (2)
492
Encoder Cable (3)
493
Encoder Cable (4)
494
Encoder Cable (5)
495
Motor Power Cable (1)
496
Motor Power Cable (2)
497
Brake Cable (1)
498
Brake Cable (2)
499
Sequence I/O Connector Kit
500
Encoder Connector Kit (Amplifier Side)
500
Encoder Connector Kit (Motor Side) (1)
501
Encoder Connector Kit (Motor Side) (2)
501
Connector Kit for Encoder (Motor Side) (3)
502
Motor Power Connector Kit (Motor Side) (1)
502
Connector Kit for Motor Power (Motor Side) (2)
503
Connector Kit for Motor Power (Motor Side) (3)
503
Connector Kit for Motor Power (Motor Side: with Brake) (1)
504
Connector Kit for Motor Power (Motor Side: with Brake) (2)
504
Brake Connector Kit (Motor Side) (1)
505
Encoder Relay Cable with Battery
506
Encoder Cable with Battery (1)
507
Encoder Cable with Battery (2)
508
Encoder Cable with Battery (3)
509
Encoder Cable with Battery (4)
510
Encoder Cable with Battery (5)
511
Battery Case Kit for Encoder Cable
512
Replacement Battery
512
Safety Device Connection Connector (CN6)
513
Monitor (CN7)
513
External Regenerative Resistor (1)
514
External Regenerative Resistor (2)
515
Chapter 11 Absolute Position System
516
Specifications
517
Specification List
517
Precautions
517
Battery Installation and Replacement Procedures
518
Battery Installation Procedure
518
Starting up Procedure
520
Battery Warning
521
Calculation of Battery Life
522
Chapter 12 Positioning Data
524
Operation Modes
525
Operation Method
525
Operation Mode Selection
527

Fuji Electric ALPHA7 User Manual (639 pages)

Brand: Fuji Electric | Category: Servo Drives | Size: 20.27 MB

Table of Contents
5
Chapter 0 Introduction
22
Safety Precautions
23
Precautions on Use
24
Precautions on Storage
25
Precautions on Transportation
25
Precautions on Installation
26
Precautions on Wiring
27
Precautions on Operation
28
General Precautions
29
Harmonics Suppression Measures (for Japan)
29
Compliance with EU Directives
30
Service Life of EEPROM
30
Compliance with EU Directives and UL/CSA Standard
30
Outline of System
31
Servomotor
31
Servo Amplifier
32
Model Nomenclature
33
Servomotor
33
Servo Amplifier
35
Combination between Servomotor and Servo Amplifier
35
SX Type
35
Chapter 1 Installation
36
Servomotor
37
Storage Environment
37
Operating Environment
37
Installing the Servomotor
38
Water Proof and Oil Proof Properties
38
Servomotor Handling Precautions
39
Notes on Stress Given to Cable
39
Assembling Accuracy
40
Allowable Load
41
Cautionary Items on Servomotor Equipped with a Brake
41
Servo Amplifier
42
Storage Environment
42
Operating Environment
43
Installing the Servo Amplifier
44
Depth of Control Panel
46
Chapter 2 Wiring
48
Configuration
49
Part Name
49
Configuration
52
Sequence I/O
57
Pulse Input (PPI, CA, *CA, CB, *CA)
59
Pulse Output (FFA, *FFA, FFB, *FFB, FFZ, *FFZ)
60
Z-Phase Output (FZ, M5)
60
Analog Monitor Output (MON1, MON2, M5)
60
Sequence Input (CONT1, CONT2, CONT3
61
Sequence Output (OUT1, OUT2
61
SX Bus (CN3)
62
Usb (Cn4)
68
Safety Function (CN6)
68
P-N Junction
69
Servomotor
70
Motor Power Connectors
70
Brake Connector
71
Encoder
72
Encoder Wiring Cable
72
Encoder Cable Fabrication Method
74
Description of I/O Signals
79
I/O Signals of VS Type
79
List of Input Signals
79
List of Output Signals
80
I/O Signals of LS Type
82
List of Input Signals
82
List of Output Signals
84
Signal Descriptions
86
Input Signal
86
Servo-On [S-ON]: Sequence Input Signal (Reference Value 1)
86
Forward Command [FWD]: Sequence Input Signal (Reference Value 2)
87
Reverse Command [REV]: Sequence Input Signal (Reference Value 3)
87
Start Positioning [START]: Sequence Input Signal (Reference Value 4)
89
Homing [ORG]: Sequence Input Signal (Reference Value 5)
91
Homing Position LS [LS]: Sequence Input Signal (Reference Value 6)
91
Interrupt Input: Sequence Input Signal (Reference Value 49)
91
Over-Travel in Positive Direction [+OT]: Sequence Input Signal
93
Over-Travel in Negative Direction [-OT]: Sequence Input Signal
93
ABS/INC: Sequence Input Signal (Reference Value 9)
96
Forced Stop [EMG]: Sequence Input Signal (Reference Value 10)
97
Alarm Reset [RST]: Sequence Input Signal (Reference Value 11)
98
VEL1: Sequence Input Signal (Reference Value 13)
99
ACC0: Sequence Input Signal (Reference Value 14)
100
Position Preset: Sequence Input Signal (Reference Value 16)
101
Gain Swtich: Sequence Input Signal (Reference Value 17)
102
Torque Limit 0: Sequence Input Signal (Reference Value 19)
103
Torque Limit 1: Sequence Input Signal (Reference Value 20)
103
Immediate Value Continuation: Sequence Input Signal (Reference Value 22)
105
Immediate Value Change: Sequence Input Signal (Reference Value 23)
107
Command Pulse Ratio 1: Sequence Input Signal (Reference Value 27)
108
Command Pulse Ratio 2: Sequence Input Signal (Reference Value 28)
108
Proportional Control: Sequence Input Signal (Reference Value 29)
109
Pause: Sequence Input Signal (Reference Value 31)
109
Positioning Cancel: Sequence Input Signal (Reference Value 32)
110
External Regenerative Resistor Overheat: Sequence Input Signal
110
Teaching: Sequence Input Signal (Reference Value 35)
111
Torque Control: Sequence Input Signal (Reference Value - )
112
Override Enable: Sequence Input Signal (Reference Value 43)
113
Override 1: Sequence Input Signal (Reference Value 44)
113
Override 2: Sequence Input Signal (Reference Value 45)
113
Override 4: Sequence Input Signal (Reference Value 46)
113
Override 8: Sequence Input Signal (Reference Value 47)
113
Interrupt Input Enable: Sequence Input Signal (Reference Value 48)
114
Interrupt Input: Sequence Input Signal (Reference Value 49)
114
Interrupt Position Detection: Sequence Input Signal (Reference Value -)
114
Deviation Clear: Sequence Input Signal (Reference Value 50)
117
Multi-Step Speed Selection [X1]: Sequence Input Signal (Reference Value 51)
118
Multi-Step Speed Selection [X2]: Sequence Input Signal (Reference Value 52)
118
Multi-Step Speed Selection [X3]: Sequence Input Signal (Reference Value 53)
118
Free-Run [BX]: Sequence Input Signal (Reference Value 54)
119
Edit Permission: Sequence Input Signal (Reference Value 55)
120
Anti Resonance Frequency Selection 0: Sequence Input Signal
121
Anti Resonance Frequency Selection 1: Sequence Input Signal
121
Toggle Monitor 0: Sequence Input Signal (Reference Value 75)
122
Toggle Monitor 1: Sequence Input Signal (Reference Value 76)
122
Position Control: Sequence Input Signal (Reference Value -)
123
Position Command Operation: Sequence Input Signal (Reference Value -)
123
Z-Phase Detection Command: Sequence Input Signal (Reference Value -)
124
Sel0：Sequence Input Signal (Reference Value -)
125
Sel1：Sequence Input Signal (Reference Value -)
125
Sel2：Sequence Input Signal (Reference Value -)
125
Sel3：Sequence Input Signal (Reference Value -)
125
Output Signal
126
Ready for Servo-On [RDY]: Sequence Output Signal (Reference Value 1)
126
In-Position [INP]: Sequence Output Signal (Reference Value 2)
127
Speed Limit Detection: Sequence Output Signal (Reference Value 11)
129
Over Write Completion: Sequence Output Signal (Reference Value 13)
130
Read Completion: Sequence Output Signal (Reference Value -)
130
Write Command: Sequence Input Signal (Reference Value -)
130
Read Command: Sequence Input Signal (Reference Value -)
130
Brake Timing: Sequence Output Signal (Reference Value 14)
133
Alarm Detection (Normally Open Contact): Sequence Output Signal
135
Alarm Detection (Normally Closed Contact): Sequence Output Signal
135
Point Detection, Area Detection 1: Sequence Output Signal (Reference Value 17)
136
Point Detection, Area Detection 2: Sequence Output Signal (Reference Value 18)
136
Limiter Detection: Sequence Output Signal (Reference Value 19)
137
OT Detection: Sequence Output Signal (Reference Value 20)
138
Cycle End Detection: Sequence Output Signal (Reference Value 21)
139
Homing Completion: Sequence Output Signal (Reference Value 22)
140
Zero Deviation: Sequence Output Signal (Reference Value 23)
141
Zero Speed [NZERO]: Sequence Output Signal (Reference Value 24)
141
Speed Coincidence [NARV]: Sequence Output Signal (Reference Value 25)
141
Torque Limit Detection: Sequence Output Signal (Reference Value 26)
142
Overload Warning Detection: Sequence Output Signal (Reference Value 27)
142
Servo Control Ready [S-RDY]: Sequence Output Signal (Reference Value 28)
144
Edit Permission Response: Sequence Output Signal (Reference Value 29)
144
Data Error: Sequence Output Signal (Reference Value 30)
145
Address Error: Sequence Output Signal (Reference Value 31)
145
Alarm Code 0: Sequence Output Signal (Reference Value 32)
146
Alarm Code 1: Sequence Output Signal (Reference Value 33)
146
Alarm Code 2: Sequence Output Signal (Reference Value 34)
146
Alarm Code 3: Sequence Output Signal (Reference Value 35)
146
Alarm Code 4: Sequence Output Signal (Reference Value 36)
146
OT Detection: Sequence Output Signal (Reference Value 38)
148
OT Detection: Sequence Output Signal (Reference Value 39)
148
Home Position LS Detection: Sequence Output Signal (Reference Value 40)
149
Forced Stop Detection: Sequence Output Signal (Reference Value 41)
149
Toggle Answer 0: Sequence Output Signal (Reference Value 42)
149
Toggle Answer 1: Sequence Output Signal (Reference Value 43)
149
Toggle Error: Sequence Output Signal (Reference Value 44)
149
Battery Warning: Sequence Output Signal (Reference Value 45)
150
Life Warning: Sequence Output Signal (Reference Value 46)
150
MD0: Sequence Output Signal (Reference Value 60)
151
MD1: Sequence Output Signal (Reference Value 61)
151
MD2: Sequence Output Signal (Reference Value 62)
151
MD3: Sequence Output Signal (Reference Value 63)
151
MD4: Sequence Output Signal (Reference Value 64)
151
MD5: Sequence Output Signal (Reference Value 65)
151
MD6: Sequence Output Signal (Reference Value 66)
151
MD7: Sequence Output Signal (Reference Value 67)
151
Position Preset Completion: Sequence Output Signal (Reference Value 75)
154
Immediate Value Continuation Permission: Sequence Output Signal
154
Immediate Value Continuation Completion: Sequence Output Signal
154
Immediate Value Change Completion: Sequence Output Signal
155
Command Positioning Completion: Sequence Output Signal
156
Conta Through: Sequence Output Signal (Reference Value 91)
157
Contb Through: Sequence Output Signal (Reference Value 92)
157
CONT1 Through: Sequence Output Signal (Reference Value -)
158
CONT2 Through: Sequence Output Signal (Reference Value -)
158
CONT3 Through: Sequence Output Signal (Reference Value -)
158
CONT4 Through: Sequence Output Signal (Reference Value -)
158
CONT5 Through: Sequence Output Signal (Reference Value -)
158
Internal Command Pulse Zero: Sequence Output Signal (Reference Value -)
158
Z-Phase Detection: Sequence Output Signal (Reference Value -)
158
Deviation Overflow: Sequence Output Signal (Reference Value -)
158
Interrupt Position Detection: Sequence Output Signal (Reference Value -)
158
CSEL0: Sequence Output Signal (Reference Value -)
159
CSEL1: Sequence Output Signal (Reference Value -)
159
CSEL2: Sequence Output Signal (Reference Value -)
159
Safety Function
160
Overview
160
Usage Precautions
161
Specifications
162
Chapter 3 Operation
167
Signal Description (Priority Among Input Signals)
168
Operation Check
169
Power-On
169
Power-On/Servo Control-Ready [S-RDY]
170
Servo-On [S-On]/Ready for Servo-On [RDY]
171
Test Operation at Keypad
172
If the Servomotor Fails to Start
173
Shutdown
173
Operation with VS Type
174
IQ Area
174
Servo-On [S-ON]/ Ready for Servo-On [RDY]
175
Switching Among Position Control, Speed Control and Torque Control
175
Operation under Position Control
175
Operation under Speed Control
177
Operation under Torque Control
177
Interrupting/Stopping Operation
178
Writing a Parameter
183
Selecting the Monitor
189
Operation with LS Type
191
IQ Area
191
Immediate Data Operation
200
Positioning Data Operation
205
Interrupting/Stopping Operation
209
Reading/Writing a Parameter
217
Reading/Writing a Positioning Data
220
Selecting the Monitor
224
Reading the LS-Z Interphase Pulse
226
Chapter 4 Parameter
227
Parameter Division
228
Basic Parameters
229
List (PA1_)
229
Description of each Parameter
231
PA1_02 INC/ABS System Selection
231
PA1_03 Command Pulse Input Method, Format Setting
233
PA1_04 Rotation Direction Selection
236
PA1_05 Number of Command Input Pulses Per Revolution
236
PA1_08 Number of Output Pulses Per Revolution
239
PA1_09 Numerator of Electric Gear for Output Pulses
239
PA1_10 Denominator of Electric Gear for Output Pulses
239
PA1_11 Output Pulse Phase Selection at CCW Rotation
240
PA1_12 Z-Phase Position Offset
240
PA1_13 Tuning Mode Selection
241
PA1_14 Load Inertia Ratio
242
PA1_15 Auto Tuning Gain 1
243
PA1_16 Auto Tuning Gain 2
244
PA1_20 to 23 Easy Tuning Settings
245
PA1_25 Max. Rotation Speed (for Position and Speed Control)
245
PA1_26 Max. Rotation Speed (for Torque Control)
245
PA1_27 Forward Rotation Torque Limit
246
PA1_28 Reverse Rotation Torque Limit
246
PA1_29 Speed Coincidence Range
247
PA1_30 Zero Speed Range
247
PA1_31 Deviation Unit Selection
247
PA1_32 Zero Deviation Range/In-Position Range
248
PA1_33 to 35 In-Position Output Signals
248
PA1_36 to 40 Acceleration / Deceleration Selection at Speed Control
250
Acceleration Time and Deceleration Time Settings
250
PA1_41 to 47 Manual Feed Speed 1 to 7
252
Control Gain and Filter Setting Parameters
253
List (PA1_)
253
Description of each Parameter
255
PA1_51 to 53 Command Filter Settings
255
PA1_54 Position Command Response Time Constant
255
PA1_55 to 57 Response to Disturbance Settings
256
PA1_58 Feed Forward Gain 1
256
PA1_60 Torque Filter Time Constant for Torque Control
257
PA1_61 to 67 Second Gain Settings
258
PA1_70 to 76 Notch Filter Settings
259
PA1_77 to 86 Vibration Suppressing Control Settings
261
PA1_87 Model Torque Filter Time Constant
262
PA1_88 Position Loop Integration Time Constant
262
PA1_89 Position Loop Integration Limiter
262
PA1_90 Load Torque Observer
262
PA1_91 P/PI Automatic Change Selection
263
PA1_92 and 93 Friction Compensation Settings
263
PA1_94 Torque Filter Setting Mode
263
PA1_95 Model Torque Calculation Selection, Speed Observer Selection
264
PA1_96 Speed Limit Gain for Torque Control
264
Automatic Operation Setting Parameters
265
List (PA2_)
265
Description of each Parameter
266
PA2_01 Decimal Point Position of Positioning Data
266
PA2_02 to 05 Positioning Speed 1 to 4
266
PA2_06 Homing Speed
269
PA2_07 Creep Speed for Homing
269
PA2_08 Starting Direction for Homing
269
PA2_09 Reverse Traveling Unit Amount for Homing
270
PA2_10 Homing Direction after Reference Signal Detection
271
PA2_11 Reference Signal for Shift Operation
271
PA2_12 Reference Signal for Homing (Deceleration Starting Signal)
272
PA2_13 Home Position LS Signal Edge Selection
272
PA2_14 Home Position Shift Unit Amount
273
PA2_15 Deceleration Operation for Creep Speed
273
PA2_16 Home Position after Homing Completion
274
PA2_17 Home Position Detection Range
274
PA2_18 Deceleration Time at OT During Homing
275
PA2_22 Detection Time for Contact-Stopper
275
PA2_23 Torque Limit for Contact-Stopper
275
PA2_24 Selection of Operation at OT During Homing
276
PA2_19 Preset Position
300
PA2_20 Interrupt Traveling Unit Amount
300
PA2_25 to 27 Position Operation Type, Software OT Detection Position
300
PA2_28 and 29 Limiter Detection Position
301
PA2_31 to 34 Point Detection, Area Detection Settings
302
PA2_36 to 39 Override Settings
304
PA2_40 Internal Positioning Data Selection
304
PA2_41 Sequential Start Selection
305
PA2_42 Decimal Point Position of Stand Still Timer
305
PA2_43 Output Selection at M Code off
305
Extended Function Setting Parameters
306
List (PA2_)
306
Description of each Parameter
307
PA2_54 and 55 Command Pulse Ratio 1, 2
307
PA2_56 Speed Limit Selection at Torque Control
307
PA2_57 to 60 Torque Limit Settings
308
PA2_61 to 63 Action Sequence Settings
312
PA2_64 Torque Keeping Time to Holding Brake
313
PA2_65 Braking Resistor Selection
313
PA2_66 Flying Start at Speed Control
314
PA2_67 Alarm Detection at Undervoltage
314
PA2_68 Main Power Shutoff Detection Time
314
PA2_69 Deviation Detection Overflow Value
315
PA2_70 Overload Warning Value
315
PA2_72 Station Number for Communications
315
PA2_74 Parameter Write Protection
315
PA2_75 Positioning Data Write Protection
315
PA2_76: No.3 Deceleration Time
316
PA2_77 Initial Display of the Keypad (Keypad)
316
PA2_80 to 85 Parameter in RAM 1 to 6
317
PA2_86 to 88 Positioning Data in RAM 1 to 3
317
PA2_89 and 90 Sequence Test Mode: Mode Selection and Encoder Selection
318
PA2_91 Position Command Delay Time
318
PA2_92 SX Extension Function
319
Input Terminal Function Setting Parameters
320
List (PA3_)
320
Description of each Parameter
321
PA3_01 to 19 CONT Signal Assignment
321
PA3_26 to 30 CONT Always on 1 to 5
326
PA3_36 Deviation Clear Input Form
326
Output Terminal Function Setting Parameters
327
List (PA3_)
327
Description of each Parameter
328
PA3_51 to 55 out 1 to 5 Signal Assignment
328
PA3_72 out Signal Inversion
332
PA3_81 to 87 Monitor Output Scale and Offset Settings
333
PA3_88 Command Pulse Frequency Sampling Time for Monitor
335
PA3_89 Feedback Speed Sampling Time for Monitor
336
PA3_90 Output Pulse Frequency Error
336
Extension Function 2 Setting Parameters
337
List (PA4_)
337
Description of each Parameter
339
PA4_01 to 06 Interference Detection Function Settings
339
PA4_10 Enable/Disable SEMI F47 Compatible Function
340
PA4_11 to 12 Function Safety Operation Settings
341
Pa4_21
342
Torque Control Speed Limit Selection
342
PA4_51 to 59 Notch Filter Settings
343
PA4_60 Cogging Torque Compensation
344
PA4_61 to 63 Tuningless Function Settings
344
PA4_64 to 65 New Vibration Suppressing Settings
345
Chapter 5 Servo Adjustment
347
Adjustment Procedure
348
What Is the Tuningless Function
349
Setting Parameters
349
Disabled Functions and Parameters
351
Easy Tuning
352
What Is Easy Tuning
352
Easy Tuning Operation Profile
352
Description of Operation
354
Auto Tuning
358
Conditions for Auto Tuning
358
Parameters Used for Auto Tuning
358
Approximate Reference Value of Auto Tuning Gain 1
359
Auto Tuning Adjustment Procedure
360
Fine Tuning
361
What Is Fine Tuning
361
Adjusted Parameters
361
Operating Procedure
362
Manual Tuning
365
Conditions for Manual Tuning
365

Fuji Electric ALPHA7 Instruction Manual (16 pages)

AC SERVO AMPLIFIER, Function Safety Module

Brand: Fuji Electric | Category: Control Unit | Size: 3 MB

Product Application
2
Function Block Diagram
4
Related Parameters
6
Power-On Sequence
6
Mounting Procedure
7
Maintenance and Inspection
7

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