Nidec Control Techniques Digitax-SF DA21223 Manuals

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Nidec Control Techniques Digitax-SF DA21223 Instruction Manual

Nidec Control Techniques Digitax-SF DA21223 Instruction Manual (387 pages)

AC SERVO MOTOR and SERVO DRIVE

Brand: Nidec | Category: Servo Drives | Size: 32 MB

Table of Contents

Overview
3
Contents
4
Table of Contents
5
Before Use
7
Important Safety Instructions
8
Safety Precautions
8
Electrical Hazards
9
Responsibility
9
Motor
10
Environmental Limits
10
Mechanical Brake Control
10
Access to Equipment
10
Adjusting Parameters
11
Electromagnetic Compatibility (EMC)
11
Installation and Wiring
12
Operation

12
- Additional Precautions
  13
- Maintenance and Inspection
  13
- Other Considerations and Precautions
  16
- Rating
  17
- Safety Standards
  17
- Maintenance
  19
- Check Items Upon Unpacking
  20
- Drive Label
  21
- Motor Label
  21
- Product Label
  21
- Danger Signs
  22
- Electric Shock Warning
  22
- Hot Surface Warning
  22
- No Impact/No Disassembly Label
  22
- Specifications
  24
- Models
  25
- Motor
  25
  - Names of Parts
    26
  - Specifications
    27
  - Encoder
    41
  - Specifications
    41
  - Drive
    42
  - Drive
    43
    
    Notice
    49
    
    Overload Detection Feature
    50
    
    Dimensions
    51
    
    Preparation
    53
    
    Dust-Proof and Waterproof
    54
    
    Installation and Operating Environment
    54
    
    Precautions
    54
    
    Installation Precautions
    55
  - Motor Installation
    55
    
    Shock and Impact Force
    55
    
    Connection with Machines
    56
    
    Countermeasure for Oil and Water
    56
    
    Stress to the Cables
    56
    
    Types of Mounting and Oil Seal
    56
  - Drive Installation
    57
    
    Mounting Orientation and Clearance
    57
    
    Mounting Drives
    58
  - System Wiring
    59
    
    AC Supply
    61
    
    Cables
    64
    
    Circuit Breaker
    64
  - Connecting Equipment and Recommended Peripherals
    64
    
    Control Power
    64
    
    Braking Resistor
    65
    
    EMC Noise Filter
    65
    
    Surge Absorber
    65
    
    Emergency Stop Brake
    66
    
    Grounding
    66
  - Wiring to the Connectors
    67
- Motor Connector Pinout
  67
  - Drive Connectors and Pinouts
    69
- Accessory Connector
  72
  - Connector Parts
    72
  - Stripping Cables with Recommended Tools
    72
  - Connecting the Connectors
    73
  - Disconnecting the Connectors
    73
  - Wire Connection
    74
  - Wire Disconnection
    74
  - Recommended Cable Wires
    75
  - List of Timing Diagrams
    76
  - Timing Diagram Overview
    76
  - Timing Diagrams
    77
  - Turning the Power on
    77
  - Servo off
    78
  - Alarm Occurs
    81
  - Deceleration Stop Behaves as Follows Depending on the Error Type
    81
  - Timing of MBRK Turning off
    81
  - Alarm Reset (Servo ON)
    82
  - Alarm Reset (Servo OFF)
    83
  - Brake Release
    84
  - Deceleration Stop: Timing for Engaging Brake
    84
  - Emergency Stop
    85
  - Upon Alarm Clear, if Deceleration Stop
    85
  - Deceleration Stop Status During
    86
  - Deceleration Stop: Deceleration Stop Status During
    86
  - Delay Time for Quick Stop Complete
    87
  - Connections
    88
  - Analog Command
    89
  - Internal Command
    89
  - Introduction
    89
    
    Pulse Train Command
    89
    
    CN1 Connector Wiring Example
    90
  - Differential, Standard I/O Setting
    91
  - General-Purpose Output
    91
  - Position Control Mode
    91
  - Pulse Train Command
    91
    
    Pulse Train Command, Differential, Standard I/O Configuration
    92
    
    Command Input
    93
  - Differential, I/O Setting Option 1
    93
    
    Encoder Output
    93
    
    RS-485 Communication
    93
  - Differential, I/O Setting Option 2
    95
    
    24V Open Collector, Standard I/O Configuration
    97
    
    5V Open Collector, Standard I/O Configuration
    99
  - Internal Position Command
    101
  - Standard I/O Configuration
    101
  - Optional I/O Configuration
    103
  - Internal Position Command, Optional I/O Configuration
    104
  - Analog Velocity Command
    105
  - Velocity Control Mode
    105
  - Internal Velocity Command
    107
  - Analog Torque Command
    109
  - Torque Control Mode
    109
  - Descriptions of CN1 Connector Signals
    111
  - General-Purpose Input
    112
  - General-Purpose Output
    120
  - Command Input
    127
  - Encoder Output
    130
  - Communication
    131
  - Interface Circuit of CN1 Connector
    132
    
    24V Open Collector
    134
    
    5V Open Collector
    134
    
    Connection to Pulse Train Command Signal
    134
    
    Differential
    134
    
    Connection to Analog Command Signal
    135
    
    If Isolated
    135
    
    If Not Isolated
    135
    
    Connection to Encoder Output Circuit
    136
    
    Connection to RS-485 Circuit
    137
    
    Settings
    138
    
    Parameter Tuning Method
    139
    
    Display Panel
    140
    
    MODE Button
    140
    
    Setup Panel
    140
    
    Setup Panel Features
    140
    
    Displaying a Number with 6 or more Digits
    141
    
    Selecting the Digit to Edit
    141
    
    Character Table for 7-Segment LED Display
    142
    
    Using the Setup Panel
    142
    
    Alarm Display Mode
    143
    
    Main Menu
    143
    
    Status Display Mode
    143
    
    Turn the Control Power on
    143
    
    I/O Status
    145
    
    Control Component Temperature
    146
    
    Pulse Train Command Input
    146
    
    Pulse Train Command Input (Speed)
    146
    
    ABS Position Command
    147
    
    ABS Position Feedback
    147
    
    Command Position
    147
    
    Positioning Status
    147
    
    ABS Position Error
    148
    
    Position Command Value
    148
    
    Position Error
    148
    
    Position Feedback
    148
    
    Speed Command Setting
    149
    
    Speed Error
    149
    
    Speed Feedback
    149
    
    Torque Command Value
    149
    
    Encoder Rotor Mechanical Angle (Multi-Turn)
    150
    
    Encoder Rotor Mechanical Angle (Single Turn)
    150
    
    Estimated Inertia Ratio
    150
    
    Load Factor
    150
    
    Encoder Battery Voltage
    151
    
    Encoder Communication Retry Count
    151
    
    Encoder Data Error Counter
    151
    
    Encoder Temperature
    151
    
    Regeneration Control Output
    152
    
    Regeneration Status
    152
    
    Regeneration Voltage Threshold
    152
    
    Regeneration Voltage Warning
    152
    
    AC Supply Power Voltage
    153
    
    Model Code
    153
    
    Serial Number
    153
    
    List of Alarms
    155
    
    List of Warnings
    155
    
    Parameter Setting Mode
    156
    
    Position Control Mode Only
    157
    
    Quick Tuning Mode
    157
    
    Auto Tuning Mode
    158
    
    Parameter Saving Mode
    160
    
    Auxiliary Function Mode
    161
    
    JOG Operation
    162
    
    JOG Operation Related Parameters
    162
    
    Modes and Conditions that Allow JOG Operation
    162
    
    Clear Encoder
    163
    
    Clear Parameter
    163
    
    Connecting Drive and PC
    164
    
    System Requirements for Digitax SF Connect
    164
    
    Overview of the Parameter List
    165
    
    Parameters
    165
    
    Characteristics of Parameters
    166
    
    Common
    167
    
    RS-485 Communications
    167
    
    Warning/Error Detection
    167
    
    Homing
    169
    
    Positioning Complete
    169
    
    Command Mode
    171
    
    Control Mode
    171
    
    Details of Parameters
    171
    
    Enable Switch
    172
    
    Minimum Response Time
    172
    
    Parity
    172
    
    Stop Bit
    172
    
    Alarm Output Timing
    173
    
    Input Pulse Form
    173
    
    Warning Latch Time
    173
    
    Input Filter
    174
    
    Input Logic
    174
    
    Interpolation with Pulse Ratio
    174
    
    Rotational Direction
    174
    
    Input Filter (Denominator)
    175
    
    Input Filter (Numerator)
    175
    
    Ratio (Denominator)
    175
    
    Ratio (Numerator)
    175
    
    CCW Speed Limit (Denominator)
    176
    
    CCW Speed Limit (Numerator)
    176
    
    Input Gain (Denominator)
    176
    
    Input Gain (Numerator)
    176
    
    Offset Tuning Method
    177
    
    Offset Value
    177
    
    Determination Method
    178
    
    Feed Forward Delay Compensation
    179
    
    Position Command Filter
    179
    
    Select Switch
    179
    
    Limit Switch Input: Setup
    180
    
    Detection Criteria - Range
    181
    
    Detection Criteria - Speed
    181
    
    Detection Criteria - Command Input
    182
    
    Detection Delay Time
    182
    
    High Frequency Gain
    183
    
    Notch Frequency
    183
    
    Notch Width
    183
    
    Notch Depth
    184
    
    Smoothing Filter
    184
    
    Smoothing Filter - Moving Average Time
    184
    
    Smoothing 1 - Moving Average Counter
    185
    
    Smoothing 2 - Moving Average Counter
    185
    
    Selection
    186
    
    Delay Time
    188
    
    Value
    188
    
    Damping Ratio
    189
    
    Inertia Ratio
    189
    
    Inertia Ratio Upper Limit
    189
    
    Items
    190
    
    Mode Switch
    190
    
    Position Control Mode - Control Gain Set
    191
    
    Position Control Mode - Inertia Conditions
    192
    
    Position Control Mode - Control Level
    193
    
    Position Control Mode - Control Gain 1
    194
    
    Position Control Mode - Control Gain 2
    194
    
    Position Control Mode - Gain FF Compensation 1
    195
    
    Position Control Mode - Gain FF Compensation 2
    195
    
    Control Gain Set - Upper Limit
    196
    
    Control Gain Set Automatic Enable Switch
    196
    
    Position Control Mode - Integral Gain
    196
    
    Control Gain Set - Tuning Constant
    197
    
    Velocity Control Mode - Control Gain Set
    197
    
    Velocity Control Mode - Control Gain 1
    198
    
    Velocity Control Mode - Control Level
    198
    
    Switch
    199
    
    Velocity Control Mode - Gain FF Compensation 1
    199
    
    Velocity Control Mode - Integral Gain
    199
    
    Torque Limit Output
    200
    
    Value 1
    200
    
    Value 2
    200
    
    Low-Pass Filter
    201
    
    Notch Filter
    201
    
    Speed Limit
    201
    
    Torque Command Limit
    201
    
    Low-Pass Filter - Auto Setting
    202
    
    Low-Pass Filter - Time Constant
    202
    
    Notch Filter - Depth
    203
    
    Notch Filter - Frequency
    203
    
    Notch Filter - Width
    203
    
    Notch Filter 2 - Depth
    204
    
    Notch Filter 2 - Frequency
    204
    
    Notch Filter 2 - Width
    204
    
    Method (Upon Servo Off)
    205
    
    Release Conditions
    205
    
    Warning Output
    206
    
    Warning Output Timing
    206
    
    Cancellation Speed
    207
    
    Operating Time
    207
    
    Smoothing Filter - Moving Average Counter
    208
    
    Brake Engagement - Timing
    209
    
    Short Brake Operation after a Stop
    209
    
    Method (When Alarm Is On)
    210
    
    Brake Engagement - Delay Time
    211
    
    Brake Engagement - Rotational Speed
    211
    
    DBRK Output after Stopping
    211
    
    Deceleration Time
    212
    
    Extention Time
    212
    
    Servo OFF: Delay Time
    212
    
    Battery Voltage Drop Detection Switch
    213
    
    Overheat Detection Switch
    213
    
    Using this Parameter in Absolute Systems
    213
    
    Battery Voltage Drop Detection - Value
    214
    
    Overheat Detection - Value
    214
    
    Pulse Ratio (Denominator)
    215
    
    Pulse Ratio (Numerator)
    215
    
    Error Detection - Delay Time
    216
    
    Error Detection - Frequency Upper Limit
    216
    
    CCW Torque Limit (Denominator)
    218
    
    CCW Torque Limit (Numerator)
    218
    
    Direction of Rotation
    219
    
    Maximum Rotational Speed of Motor
    224
    
    Operation Mode
    225
    
    Overflow Detection
    225
    
    Encoder Z-Phase Selection
    226
    
    Home Reference Signal Selection
    226
    
    Point Table - Point Number Output Method
    226
    
    Re-Detection of Home Position Sensor
    227
    
    Point Table - Motion of Point No.0
    229
    
    Sensor Polarity
    229
    
    Creep Speed Enable Switch
    230
    
    Acceleration/Deceleration Time
    231
    
    Amount of Home Position Shift
    231
    
    Creep Speed
    231
    
    Rapid Speed
    231
    
    Home Position Data
    232
    
    Time to Detect Press Stopper
    232
    
    Torque Command Limit Value
    232
    
    Z-Phase Disabled Distance
    232
    
    Point Table
    233
    
    Acceleration Time
    234
    
    Dwell Time
    234
    
    Rotational Speed
    234
    
    Point Table Parameter List
    235
    
    Operation
    236
    
    Configuring Operating Mode
    237
    
    Position Control
    237
    
    Torque Control
    237
    
    Velocity Control
    237
  - Configuring Operatin G Mode
    238
    
    Deceleration Stop
    238
    
    Limit Switch Input
    238
  - Related to Parameter
    238
  - Configuring Parameters
    239
  - Position Control Mode
    241
  - Pulse Train Command
    241
    
    Optional Parameters
    242
    
    Input Pulse Form and Parameter Setting
    243
    
    Positive or Negative Pulse
    243
    
    Pulse and Direction
    243
    
    Quadrature Phase Difference Pulse
    243
    
    Precautions for Testing
    244
    
    Testing Procedure
    244
  - Analog Velocity Command
    245
  - Required Parameters
    245
  - Velocity Control Mode
    245
    
    Configuration of Parameter No.62.0 and Rotational Direction of Motor
    246
    
    Example of Input Gain Configuration
    246
    
    Example of Speed Limit Configuration
    246
  - Internal Velocity Command
    248
  - Analog Torque Command
    250
  - Torque Control Mode
    250
  - Internal Position Command（Point Table
    253
  - Position Control Mode
    253
    
    Creating Point Table
    255
    
    Command Method
    256
    
    Rotation Speed
    256
    
    Running Operation
    257
    
    If You Start with a Point Number that Is “Disabled”
    259
    
    Valid or Invalid
    259
  - Operation by User I/O
    261
    
    Example of Point Table Setting (Single-Motion)
    262
    
    Timing Diagram and Point Table Items
    262
    
    Example of Operation 1 Single-Motion Positioning
    263
    
    Continuous Positioning Motion
    264
    
    Press Motion
    267
    
    Homing Methods
    270
    
    If You Changed the Command Paired-Pulse Ratio Value
    270
    
    If You Execute Homing by Using Encoder Z-Phase
    270
    
    Types of Homing
    270
    
    Homing with User I/O Input
    271
  - Types of Homing Motion
    274
- Pinout Diagram
  90
Tuning

284
- Introduction
  285
- Overview
  285
- Control Block Diagram
  287
- Tuning Procedure
  290
- Overview
  291
- Position Control Mode
  291
- Quick Tuning on Digitax SF Connect
  291
- Final Tuning: Position Control Mode
  295
- Quick Tuning on Setup Panel
  297
- Velocity Control Mode
  300
- Auto Tuning on Digitax SF Connect
  301
- Final Tuning: Velocity Control Mode
  303
- Auto Tuning on Setup Panel
  305
- Tuning Parameters
  309
- Tuning
  309
- Inertia Condition
  309
- Control Gain Set
  310
- Mode Switch
  311
- Tuning Items
  311
- Final Tuning
  312
- Inertia Ratio
  312
- Position Control Mode: Control Gain 1
  313
- Position Control Mode: Control Gain 2
  314
- Velocity Control Mode: Control Gain 1
  315
- Position Control Mode: Gain FF Compensation 1
  316
- Position Control Mode: Gain FF Compensation 2
  316
- Integral Gain
  318
- Position Command Filter
  319
- Position Command Smoothing Filters 1 and 2
  321
- Position Command Notch Filter
  322
- Position Command Γ-Notch Filter
  323
- Torque Command Filter
  324
- Torque Command Filter: Notch Filter
  325
- Torque Command Low-Pass Filter
  326
- Using Digitax SF Connect to Measure Vibration Frequency (FFT)
  327
- Using Digitax SF Connect to Measure Vibration Frequency
  327
Troubleshooting

330
- Checking Warnings and Alarms
  331
- Using the Setup Panel
  331
- Using Digitax SF Connect
  333
- Warnings and Remedies
  334
- Warning Output
  334
- Warning Details
  335
- Alarms and Remedies
  337
- Alarms and Remedies
  338
- Alarm Details
  338
- Troubleshooting
  346
- Problem 1（No Display on the Setup Panel
  347
- Problem 3（No Motor Rotation
  349
- Problem 4（Unstable Motor Motion
  350
- Problem 5（Positional Disturbance
  351
- Problem 6（Vibration and Abnormal Noise
  352
Appendices

354
- Absolute System
  355
- Overview
  355
- System Configuration
  356
- Backup Battery
  357
- Absolute Encoder Cable
  359
- Initializing Absolute Encoder
  360
- Obtaining Absolute Data
  364
- Alarm
  366
- Function
  368
- Emergency Stop
  368
- Technical Data
  369
- Drive Circuit Block Diagram
  369
- Status Display
  370
- Introduction
  370
- Details of each Status Variable
  372
- How to Set Pulse Train Command: Input Filter (33.0)
  385
- How to Set Pulse the Train Command: Input Filter (33.0)
  385

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