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RS2A01A0AA0
Sanyo Denki RS2A01A0AA0 Manuals
Manuals and User Guides for Sanyo Denki RS2A01A0AA0. We have
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Sanyo Denki RS2A01A0AA0 manual available for free PDF download: Instruction Manual
Sanyo Denki RS2A01A0AA0 Instruction Manual (398 pages)
AC servo systems Analog / Pulse Input Type For Rotary Motor
Brand:
Sanyo Denki
| Category:
Servo Drives
| Size: 6.1 MB
Table of Contents
2 2. Specifications
45
Table of Contents
45
Servo Motor
46
Exterior Dimensions/ Specifications/ Mass
46
General Specifications
46
Mechanical Specifications/ Mechanical Strength/ Working Accuracy
46
Specifications
46
Oil Seal Type
47
Holding Brake
48
Degree of Decrease Rating for R2AA Motor, with Oil Seal and Brake
49
Motor Encoder
50
Serial Encoder Specifications
50
Pulse Encoder Specifications
50
Battery Specification
51
Servo Amplifier
52
General Specifications
52
Input Command, Position Signal Output, General Input, General Output
53
Torque Limit Input
54
Power Supply, Calorific Value
55
Main Circuit Power Supply Capacity, Control Power Supply Capacity
55
Incoming Current, Leakage Current
56
Calorific Value
57
Operation Pattern
58
Time of Acceleration and Deceleration, Permitted Repetition, Loading Precaution
58
Position Signal Output
61
Positions Signals by Serial Signals
61
Binary Code Output Format and Transfer Period
62
ASCII Decimal Code Output Format and Transfer Period
63
Position Signal Output from Pulse Signal
64
Specifications for Analog Monitor
65
Monitor Output
65
Monitor for Velocity, Torque, and Position Deviation
66
Specifications for Dynamic Brake
67
Allowable Frequency, Instantaneous Tolerance, Decreasing the Rotation Angle of the Dynamic Brake
67
Regeneration Process
70
Resistance Value of Built-In Regeneration Resistor
70
3 3. Installation
71
Installation
72
Servo Amplifier
73
Unpacking
73
Mounting Direction and Location
74
Control Arrangement Within the Machine
74
Servo Motor
75
Precautions
75
Unpacking
75
Installation
75
Mounting Method
76
Waterproofing and Dust Proofing
76
Protective Cover Installation
77
Gear Installation and Integration with the Target Machinery
77
Allowable Bearing Load
79
4 4. Wiring
81
Wiring
82
Wiring for Main Circuit Power Supply, Control Power, Regenerative Resistance, Servo Motor, and Protective Grounding
82
Part Name and Function
82
Wire
82
Wire Diameter-Allowable Current
83
Wiring of Servo Motor
85
Example of Wiring
88
Crimping of Wires
92
High Voltage Circuit Terminal; Tightening Torque
92
Wiring with Host Unit
93
CN1 Signal and Pin Number (Wiring with Host Unit)
93
CN1 Connector Disposition
95
Signal Name and Its Function
95
Terminal Connection Circuit
96
Wiring
104
EN1 Signal Names and Its Pin Numbers
104
EN1 Connector Layout
105
Connector Model Number for Motor Encoder
106
Recommended Encoder Cable Specification
107
Encoder Cable Length
107
Peripheral Equipments
108
Power Supply Capacity and Peripherals List
108
5 5. Operation
111
Changing Servo Motor Combination
112
Confirmation and Change of the Setup Software
112
Confirmation and Change by the Digital Operator
113
Operation
112
System Parameters
114
Confirmation of Specifications
114
System Parameters List
116
Confirmation and Settings of System Parameters
116
Confirmation and Settings of the System Parameters (Settings for Motor Encoder Specification)
120
Factory Default Setting Values
123
Test Operation
124
Confirmation of Installation and Wiring
124
Confirmation of Movement
124
Confirmation of I/O Signal
125
Confirmation of Device Operation
126
Confirmation of Safe Torque off Function
126
Servo Amplifier Status Display
127
Default Display
127
Alarm Display
127
Operation Sequence
128
Operation Sequence from Power Turn on to Power Shut off at the Standard Shipment Setting
128
Stop Sequence at Alarm
130
Sequence of Alarm Reset
132
Sequence When Power Is Turned off During Operation (During Servo ON)
133
Monitor Function
134
Description of Monitor
135
Analog Monitor and Digital Monitor
139
Setting Parameters
140
Parameters List
140
Parameter Functions
147
6 6. Adjustments
215
Servo Tuning Functions and Basic Adjustment Procedure
216
Servo Tuning Functions
216
Tuning Method Selection Procedure
217
Automatic Tuning
218
Use the Following Parameters for Automatic Tuning
218
Automatically Adjusted Parameters in Auto-Tuning
221
Adjustable Parameters During Auto-Tuning
221
Unstable Functions During Auto-Tuning
222
Auto-Tuning Characteristic Selection Flowchart
223
Adjustment Method for Auto-Tuning
224
Monitoring Servo Gain Adjustment Parameters
225
Manual Tuning Method Using Auto-Tuning Results
225
Automatic Tuning of Notch Filter
226
Operation Method
226
Setting Parameters
226
Automatic Tuning of FF Vibration Suppression Frequency
227
Operation Method
227
Setting Parameters
227
Using Manual Tuning
228
Servo System Configuration and Servo Adjustment Parameters
228
Basic Manual Tuning Method for Velocity Control
230
Basic Manual Tuning Method for Position Control
230
Model Following Control
231
Automatic Tuning Method for Model Following Control
231
Manual Tuning Method for Model Following Control
232
Tuning to Suppress Vibration
233
FF Vibration Suppression Control
233
Model Following Vibration Suppression Control
233
Tuning Methods
235
Using Disturbance Observer Function
236
7 7. Digital Operator
237
Digital Operator
238
Digital Operator Names and Functions
238
Modes
238
Changing Modes
238
Mode Contents
239
Setting and Display Range
240
Status Display Mode
241
Servo Amplifier Status Display
241
Over-Travel Status Display
241
Status Display of Battery Warning, Regenerative Overload Warning, and Overload Warning
241
Alarm Code and Servo Amplifier Status Code When Alarm Occurs
241
Alarm Reset When Alarm Activated
242
How to Check the Software Version of Servo Amplifier
242
How to Check Information 1, Information 2 (Servo Amplifier Information), and Information 3 (Motor Code)
243
How to Set Pass Ward
244
How to Cancel Password
244
Editing Parameters
245
Basic Parameters, Editing System Parameters
245
Editing General Parameters
246
How to Tune Automatic Notch Frequency
248
How to Tune Automatic FF Vibration Suppression Frequency
249
Offset Adjustment of Velocity/ Torque Command
250
Offset Adjustment of Analog Torque Compensation Command
251
Velocity-Controlled JOG Operation
252
Automatic Tuning Result Writing
253
Encoder Clear
253
Alarm History Display
254
Automatic Setting of Motor Parameter
254
How to Clear Alarm History
255
Monitor Display
255
Fixed Monitor Display
256
Motor Code-Setting of Servo Motor Used
256
8 8. Maintenance
257
Maintenance
258
Trouble Shooting
258
List of Warning and Alarm
260
Warning List
260
Alarm List
261
Trouble Shooting When Alarm Activated
264
Alarm Display
264
Corrective Action for Alarm
264
Encoder Clear and Alarm Reset
286
Types of Motor Encoder
286
Occurring Alarm Code
286
Inspection
288
Service Parts
289
Inspection Parts
289
Replacing Battery for Motor Encoder
290
9 9. Fully Closed Control
291
Fully Closed Control
292
Illustration of System Configuration
292
Internal Block Diagram
295
Wiring
297
Signal Names and Pin Numbers of EN1 and EN2
297
Connector Layout of EN1 and EN2
299
Fully Closed Control Related Parameters
300
System Parameters Settings
300
Remarks
303
Input Power Timing for External Pulse Encoder
303
Workings of External Pulse Encoder
303
10 10. Safe-Torque-Off (Sto) Function
305
Illustration of System Configuration
306
Safe-Torque-Off (STO) Function
306
Safe-Torque-Off (STO) Function
309
Outline
309
Standards Conformity
309
Risk Assessment
310
Residual Risk
310
Delay Circuit
310
Wiring
311
CN4 Connector Layout
311
Connection Diagram of CN4-Terminals
311
Example of Wiring
312
Safety Input-Off Shot Pulse for Safety Device Self-Diagnosis
313
Safe-Torque-Off Operation
314
Safe-Torque-Off State
314
Restoration from Safe-Torque-Off State
315
Safe-Torque-Off During Servo Motor Running
316
Safe Torque off During Servo Motor Stoppage
318
Deviation Clear
319
Safety Input Signal Failure Detection
319
Error Detection Monitor (EDM)
320
Specifications
320
Connection Example
320
Error Detection Method
320
Verification Test
321
Preparation
321
Confirmation Procedure
321
Acceptance Criteria
321
Safety Precautions
322
11 11. Selection
323
Selection
324
Servo Motor Sizing
324
Flowchart of Servo Motor Sizing
324
Make an Operation Pattern
325
Calculate Motor Shaft Conversion Load Moment of Inertia (J L )
325
Calculate Motor Shaft Conversion Load Torque (T L )
326
Calculate Acceleration Torque (T a )
328
Calculate Deceleration Torque (T B )
328
Calculate Effective Torque (Trms)
328
Judgment Condition
328
Capacity Selection of Regenerative Resistor
329
How to Find "Regeneration Effective Power (PM)" of the Horizontal Axis Drive by a Formula
329
How to Find "Regeneration Effective Power (PM)" of the Vertical Axis Drive by a Formula
330
Capacity Selection of Regenerative Resistor
330
Capacity Selection of External Regenerative Resistor
331
Capacity of External Regenerative Resistor and Resistor Model Name
332
Connection of Regenerative Resistance
333
Thermostat Connection of External Regenerative Resistor
334
Protection Function of Regenerative Resistance
334
Confirmation Method of Regeneration Power PM in Actual Operation
335
Installation
335
12 12. Appendix
337
12. Appendix Standards Conformity
339
Connection and Installation
340
Over-Voltage Category, Protection Grade, Pollution Level
340
UL File Number
340
Compliance with en Directives
342
EMC Installation Requirements
342
Q4 Motor, Flange Size 180Mm
350
Servo Motor Data Sheet
351
Characteristics Table
351
Velocity-Torque Characteristics
358
Overload Characteristic
365
Servo Amplifier Dimensions
371
Rs2□01A□□L
371
Rs2□03A□□L
371
Rs2□05A□□L
372
Rs2□10A□□A
372
Rs2□15A□□A
373
Rs2□30A□□L
373
Setup Software, Serial Communication Related Items
379
Battery for Battery Backup Absolute Encoder Related Items
379
Analog Monitor Related Item
379
Junction Cable for Servo Motor
380
Optional Parts Dimensions for Setup Software
381
Cable for Personal Computer Communications (Model No.: AL-00689703-01)
381
Cable for Communication between Amplifier (0.2M) (Model No.: AL-00695974-01)
381
Cable for Communication between Amplifier (3.0M) (Model No.: AL-00695974-02)
381
Communication Converter (Model No.: SAU-024-01)
382
Connector with Terminator (Model No.: AL-00695977-01)
382
Battery Peripherals Dimensions
383
Battery Body (Model No.: AL-00697958-01)
383
Battery Trunk Cable (Model No.: AL-00697960-□□)
384
Battery Trunk Cable (Model No.: AL-00731792-01)
385
External Dimension of Regenerative Resistor
387
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