Instruction Manual - SANYO DENKI SHANGHAI CO.,LTD.

Transcription

M0007912B
TYPE
R
Pulse Input Type
For Rotary Motor
Instruction Manual
No Text on This Page.
Preface
Shipping the product
This product in this instruction manual corresponds with the shipping regulations given in the
Export Trade Control Ordinance (Table 1, item 16). When these products are exported by
customers, it is recommended to fulfill the requirements of export procedure with the relevant
authorities, as well as “Information Requirements” and “Objective Requirements” according to the
Catch-all regurations.
Feature outline
This manual outlines the functions, wiring, installation, operations, maintenance, specifications,
etc. of the AC servo amplifier “SANMOTION R” Series, Type R (multi-axis servo system). The
“R” Series Type R AC servo system is compatible with a wide variety of various applications
requiring multi-functions, high efficiency, reduced footprint, and excellent cost performance.
This product was developed to offer a series of servo motors that are easy to use and offer
excellent functionality in an AC servo motor. It fulfills various needs, such as the downsizing of
the control panel, and offers compatability for a wide range of applications requiring a servo
motor.
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Precautions related to this Instruction Manual
In order to fully understand the functions of AC servo amplifier “R” Series Type R, please read
this instruction manual thoroughly before use.
After reading this manual thoroughly, please keep it handy for reference.
Please contact the dealre or sales representative if there are defects such as nonconsecutive
pages, missing pages or if the manual is lost or damaged.
Carefully and completely follow the safety instructions outlined in this manual. Please note
that safety is not guaranteed for usage methods other than those specified in this manual or
usage methods intended for the original product.
The contents of this manual may be modified without prior notice, as revisions or additions are
made in the usage method of this product. Modifications are performed per the revisions of
this manual.
Permission is granted to reproduce or omit part of the attached figures (as abstracts) for use.
Although the manufacturer has taken all possible measures to ensure the veracity of the
contents of this manual, if you should notice any error or ommission, please notify the dealer
or sales office of the finding.
Terminology
Within this Instruction Manual:
“AC servo motor” is abbreviated as “servo motor” or “motor”;
“AC servo amplifier” is abbreviated as “servo amplifier” or “amplifier”;
“Wire-saving increment encoder” is abbreviated as “incre”, “wire-saving incre” or “INC-E”;
“Absolute encoder with incre” is abbreviated as “Abso with incre” or “ABS-E”;
“Optical wire-saving absolute encoder ” is abbreviated as “PA035”;
“Resolver wire-saving absolute encoder ” is abbreviated as “RA062”.
Table of Contents
1. Safety precautions
6. Operations
1.1 Introduction
1-2
1.2 Location of warning labels on the unit
1-2
6.1.1 Power ON -> Servo ON sequence
6-2
6-3
1.3 Interpretation of the warning labels
6.1 Power ON/OFF sequence
1-3
6.1.2 Servo OFF - Power OFF sequence
1.3.1 Label description
1-3
6.1.3 Sequence when power is turned OFF when servo is ON
1.3.2 Precaution levels
1-3
1.3.3 Graphic symbols
1.4 Safety Precautions
6.2 Sequence-related functions
6-2
6-3
6-4
1-3
6.2.1 Forced electric discharge selection
6-4
1-4
6.2.2 Holding brake excitation function and sequence
6-4
6.2.3 Brake function and sequence
6-5
2. Prior to use
6.2.4 Forced stop function and sequence
6.2.5 Brake operation start time
6-8
6-10
2.1 Package opening
2-2
2.2 Product verification
2-2
6.3.1 Sequence during dynamic brake
6-13
2.3 Precautions related to use
2-3
6.3.2 Sequence during servo brake
6-14
2.4 Interpretation of the model number
2-6
6.3.3 Alarm reset sequence
2.4.1 Q / R series Servo motor model number
2.4.2 Servo system model number
2.5 Combinations list
2.5.1Applicable motor list
2.5.2Applicable encoder list
2.6 Restrictions for the multi-axis servo system
6.3 Alarm sequence
6-13
6-15
2-6
6.4 Display on the Amplifier Unit
6-16
2-7
6.5 Digital operator
6-17
2-9
6.5.1 Names of each part
6-17
2-9
6.5.2 Various modes
6-18
2-10
6.5.3 How to change the modes
6-19
2-11
6.5.4 Status display mode
6-20
3. Servo System Configuration
6.5.5 General parameter mode
6-21
6.5.6 Auto-adjustment mode
6-24
6.5.7 Test run mode
6-25
3. 1 Block Diagram
3-2
6.5.8 System parameter mode
6-28
3. 2 External Wiring Diagram
3-3
6.5.9 Alarm trace / CPU version mode
6-29
3-3
6.5.10 Monitor mode
6-30
3. 2. 1 External Wiring Diagram
3. 2. 2 Peripherals
3. 3
3-4
Part Names for Each Unit
7. Description of Parameters
3-5
3.3.1 Amplifier Unit
3-5
3.3.2 Power Supply Unit
3-6
7. 1 List of Parameters
7-2
3.3.3 Mother Board
3-7
7. 2 Generic parameters Group0
7-7
7-7
4. Wiring
7-9
7-10
4. 1 Electric Wire Size
4-2
7-12
4. 2 Connector Specifications
4-3
7-13
4-4
7-16
4. 3. 1 External Wiring Example
4-4
7. 9 Generic parameters GroupA
7-19
4. 3. 2 Input/Output Signal Connectors
4-6
7. 10 Generic parameters GroupB
7-22
4-12
7. 11 Generic parameters GroupC
7-25
4. 4 Wiring Precautions
4. 3. 3 Encoder Wiring Diagram
4-15
7. 12 System parameters
7-27
4. 5 Shielding Method
4-16
8. Adjustment & Functions
5. Installation
5.1 How to assemble the servo system
5.2 Servo system installation
8.1
Servo Gain Tuning
8-2
5-2
8.2
Functions of Group8
8-8
5-3
8.3
Functions of Group9
8-18
5.2.1 Installation environment
5-3
8.4
Functions of GroupB
8-22
5.2.2 Mounting method
5-4
8.5
Functions of GroupC
8-26
5-6
8.6
Functions of analog monitor
8-29
5.3 Servo motor installation
5-6
5-6
5.3.3 Waterproofing and dust proofing
5-7
5.3.4 Protective cover installation
5-7
5.3.5 Gear installation
5-8
5.3.6 Integration with the target machinery
5-8
5.3.7 Allowable bearing load
5-10
5.3.8 Cable installation considerations
5-11
9. Maintenance
9. 1 During an Alarm
11. Selection Details
9-2
9. 1. 1 Alarm Reset
9-2
9. 1. 2 Alarm/Warning List
9-2
9. 2 Troubleshooting the Alarm
9-6
9. 3 Corrective actions for Operational Problems
9-28
9. 4 Maintenance
9-29
9. 5 Parts Overhaul
9-30
11. 1 Time of Acceleration and Deceleration
11-2
11. 1. 1 Calculation of Acceleration/Deceleration Time 11-2
11. 2 Permitted Repetitions
11-3
11. 2. 1 When the motor repeats continuous speed status
and stop status
11-3
11. 2. 2 When the motor repeats acceleration, deceleration
and stop status
11-4
11. 2. 3 When the motor repeats acceleration, constant speed
10. Specifications
10. 1 Servo amplifier
operation and deceleration status
11-4
11. 3 Loading Precautions
11-5
11-5
10-2
11. 3. 1 Negative Load
10. 1. 1 General specifications
10-2
11. 3. 2 Load Inertia(JL)
10. 1. 2 Power capacity and applicable load
10-4
11. 4 Dynamic Brake
11-5
11-5
10. 1. 3 Servo system/motor current leakage
10-6
11. 4. 1 Slowing Down the Revolution by the Dynamic Brake
11-5
10. 1. 4 Calorific value
10-7
11. 4. 2 Instantaneous Tolerance of Dynamic Brake
11-6
10. 1. 5 Position command input
10-8
10. 1. 6 Generic output
10-8
11. 5. 1 Calculation Method of Regeneration Power PM
10. 1. 7 Alarm output
10-8
11. 5. 2 Confirmation of Regeneration Power PM in Actual
10. 1. 8 Generic input
10. 1. 9 Position signal output
10. 2 Servo motor
10-9
10-10
10-24
10-24
10. 2. 2 Rotation direction specifications
10-24
10. 2. 3 Mechanical specifications of the motor
10-25
10. 2. 4 Holding brake specifications
10-27
11. 5 Regeneration Process
Operations
11-7
11-7
11-9
11. 5. 3 Selection Judgment between Built-in/External
Regenerative Resistor
11. 5. 4 Combined Regenerative Resistor
11-9
11-10
12. International Standards
10-29
12.1 International Standards Conformity
12-2
10-29
12.2 Compliance with EC Directives
12-4
10. 3. 2 Q2 motor data sheet
10-30
12.3 Installation of Noise Filter/Servo Amplifier
12-6
10. 3. 3 R2 Motor data sheet
10-31
12.4 Recommended Parts of Countermeasures
12-7
10. 3. 4 Motor torque rotation characteristics
10-32
12.5 Implementation of Check Test
12-7
10. 3 Motor data sheet
10. 4 External appearance diagrams
10-37
10. 4. 1 Servo amplifier unit external appearance
10-37
10. 4. 2 Power supply unit external appearance
10-39
10. 4. 3 Mother board external appearance
10-40
10. 4. 4 External appearance when combining each unit
10-41
10. 4. 5 Servo motor external appearance diagrams
10-42
1. Safety Precautions
This document is a summary of the safety
precautions regarding the use of the
R-series R-type Servo System.
Please read it carefully prior to use.
1.1 Introduction
1.2 Location of warning labels on the unit
1.4 Safety Precautions
1-1
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1-2
1-2
1-3
1-3
1-3
1-3
1-4
1.1 Introduction
The R-series servo amplifiers and servo motors were designed for use with general industrial
equipment. The following instructions should be followed:
・ Read the User Manual carefully before any installation or assembly work, and to ensure
proper use.
・ Do not perform any retrofitting or modification of the product.
・ Consult with your sales representative or a trained, professional technician regarding the
installation and maintenance of these devices.
・ Special consideration, such as redundant services or an emergency generator, is required
when operating, maintaining and controlling devices in certain applications related to human
safety or public functions. Contact your distributor or sales office if you intend to use these
devices in applications such as:
1. In medical instruments or systems used for life support;
2. With control systems for trains or elevators, the failure of which could cause bodily injury;
3. In computer systems of social or public importance;
4. In other equipment or systems related to human safety or public infrastructure.
・ Additionally, please contact your distributor or sales office if the device is to be used in an
environment where vibration is present, such as in-vehicle or transport applications.
Before installing, operating, performing maintenance or inspecting this device, read this entire manual
carefully to ensure proper use. Use this device only after learning about its operation, safety
information, and the precautions related to its use. After reading the User Manual, keep it in a
location where it is always available to the user for easy reference.
1.2 Location of warning labels on the product
Warning labels are located on the front panel of the servo amplifier.
RR1A01AA
WR/
MODE
POWER
CNA
r
RR1A01AA
RR1A01AA
RR1A01AA
C
N
6
C
N
6
C
N
6
C
N
6
C
N
2
C
N
2
C
N
2
C
N
2
C
N
1
C
N
1
C
N
1
C
N
1
t
R
C
N
5
S
T
CHARGE
C
N
1
B
RB2
RB1
P
C
N
1
A
POW
M1
POW
M1
POW
M1
ALM
M2
ALM
M2
ALM
M2
ALM
M2
STA
SG
STA
SG
STA
SG
STA
SG
P
C
U
○
－
○
RRPAA00_*
P
C
U
C
N
C
W
DL1
ADDR
M1
V
DL2
ADDR
POW
P
C
CNB
ADDR
ADDR
P
C
V
W
U
C
N
C
○
XXXXXXXX_*
○
P
C
V
W
U
C
N
C
○
XXXXXXXX_*
C
N
C
V
W
○
XXXXXXXX_*
XXXXXXXX_*
○
1-2
This documentation uses the following annotation.
Read “1.4 Safety precautions” after you understand the meanings of the warning labels.
Section 1.4 uses the following annotation.
1
Danger
1 : Safety precaution level
2 : Graphic symbol
3 : Details of the graphic symbol.
1. Do not use this ...
2
3
2. Inside the amplifier ...
There are four different precaution levels.
1.
Danger
Denotes immediate hazards which WILL probably cause
severe bodily injury or death as a result of incorrect operation.
Caution
Denotes hazards which COULD cause bodily injury and
product or property damage as a result of incorrect operation.
2.
Caution
In addition, even those hazards denoted by
could lead to a serious accident, so
the instructions should be strictly followed.
3.
4.
Mandatory
Prohibited
Indicates actions that must be carried out (mandatory
actions).
Indicates actions that must not be allowed to occur
prohibited actions).
There are eight different graphic symbols.
Symbol Type
Sample symbols
Danger symbols
Danger/Injury
Electric shock
Caution symbols
Caution
Prohibition symbols
Mandatory symbol
Prohibited
Mandatory
1-3
Fire
Burn
Disassembly prohibited
1.4
Safety Precautions
Danger
<General>
1. Do not use this device in explosive environment.
Injury or fire could otherwise result.
2. Do not touch the inside of the amplifier.
Electric shock could otherwise result.
3. Do not perform any wiring, maintenance or inspection when
the device is hot-wired.
After switching the power off, wait at least 5 minutes before
performing these tasks.
4. Only technically qualified personnel should transport, install, wire,
operate, or perform maintenance and inspection on this device.
Electric shock, injury or fire could otherwise result.
<Wiring>
5. The protective ground terminal (
) should always be grounded.
The ground terminal of the motor should always be connected to
the protective ground terminal (
) of the amplifier.
6. Do not damage the cable, do not apply unreasonable stress to it,
do not place heavy items on it, and do not insert it in between
objects.
7. Wiring should be done based on the wiring diagram or the user
manual.
Electric shock or fire could otherwise result.
<Operation>
8. Do not touch the rotating part of the motor during operation.
Bodily injury could otherwise result.
9. Do not touch or get close to the terminal while the device is
powered up.
10. Do not unplug the connector while the device is powered up.
1-4
Caution
<General>
1. Please read the User Manual carefully before installation, operation, maintenance or
inspection, and perform these tasks according to the instructions. Electric shock,
injury or fire could otherwise result.
2. Do not use the amplifier or the motor outside their specifications.
Electric shock, injury or damage to the device could otherwise result.
3. Do not use a defective amplifier or motor. Injury or fire could otherwise result.
4. Use the amplifier and motor together in the specified combination.
Fire or damage to the device could otherwise result.
5. Be careful of the high temperatures generated by the amplifier/motor and the peripherals.
Burn could otherwise result.
<Package opening>
6. Open the box only after checking its top and bottom location.
7. Verify that the products correspond to the order sheet/packing list.
If the wrong product is installed, injury or damage could result.
8. Keep the motor’s encoder terminals away from static electricity.
Damage to the device could otherwise result.
9. Do not measure the insulation resistance and the pressure resistance. Damage to the device
could otherwise result. Contact your dealer or our sales office if you wish to perform such
testing.
10. Wiring should follow electric equipment technical standards and indoor wiring regulations.
An electrical short or fire could otherwise result.
11. Wiring connections must be secure. Motor interruption or bodily injury could otherwise result.
12. Keep static electricity and high voltage away from the encoder terminals of the
motor. Damage to the device could otherwise result.
<Installation>
13. Do not stand on the device or place heavy objects on top of it.
14. Do not obstruct the air intake and exhaust vents, and keep them free of debris and
foreign matter. Fire could otherwise result.
15. Make sure the mounting orientation is correct.
16. Consult the User Manual regarding the required distance between the amplifier,
the control panel interior, and other devices.
17. Do not subject the device to excessive shock or vibration. Damage to the device could
otherwise result.
18. Secure the device against falling, overturning, or shifting inadvertently during
installation.
Use the hardware supplied with the motor (if applicable).
19. Do not expose the device to water, corrosive or flammable gases, or any flammable
material.
Fire or damage to the device could otherwise result.
20. Install the device on a metal or other non-flammable support.
Fire could otherwise result.
1-5
Caution
<Operation>
21. There is no safeguard on the motor. Use an over-voltage safeguard, short-circuit breaker,
overheating safeguard, and emergency stop to ensure safe operation.
Injury or fire could otherwise result.
22. Do not touch the radiation fin of the amplifier, the regenerative resistor, or the motor while the
device is powered up, or immediately after switching the power off, as these parts generate
excessive heat.
23. In the case of any irregular operation, stop the device immediately.
Electric shock, injury or fire could otherwise result.
24. Do not perform extensive adjustments to the device as they may result in unstable operation.
25. Trial runs should be performed with the motor in a fixed position, separated from the
mechanism. After verifying successful operation, install the motor on the mechanism.
26. The holding brake is not to be used as a safety stop for the mechanism.
Install a safety stop device on the mechanism. Bodily injury could otherwise result.
27. In the case of an alarm, first remove the cause of the alarm, and then verify safety. Next,
reset the alarm and restart the device. Bodily injury could otherwise result.
28. Avoid getting close to the device, as a momentary power outage could cause it to suddenly
restart (although it is designed to be safe even in the case of a sudden restart).
29. Verify that the power specifications are normal.
30. Standard specification servo amplifiers have a dynamic brake resistor. Do not rotate the
motor continuously from the outside when the amplifier is not powered on, because the
dynamic brake resistor will heat up, and can be dangerous.
<Maintenance>
31. Be careful during maintenance and inspection, as the body of the amplifier becomes hot.
32. It is recommended to replace the electrolytic capacitors in the amplifier after 5 years, if used
at an average temperature of 40°C year round.
33. Please contact your distributor or sales office if repairs are necessary.
Disassembly could render the device inoperative.
<Transportation>
34. Make sure the device does not fall, overturn, or move inadvertently during transportation.
35. Do not hold the device by the cables or the shaft while handling it.
Damage to the device or bodily injury could otherwise result.
<Disposal>
36. If the amplifier or the motor is no longer in use, it should be discarded as general industrial
waste.
1-6
Prohibited
<Storage>
1. Do not store the device where it could be exposed to rain, water, toxic gases or other
liquids. Damage to the device could otherwise result.
<Operation>
2. The built-in brake is intended to secure the motor; do not use it for regular control.
Damage to the brake could otherwise result.
<Maintenance>
3. Do not overhaul the device.
Fire or electric shock could otherwise result.
<General>
4. Do not remove the nameplate cover attached to the device.
Mandatory
<Storage>
1. Store the device where it is not exposed to direct sunlight,
and within the specified temperature and humidity ranges
{ - 20°C to + 65°C，below 90% RH (non-condensing)}.
2. Please contact our office if the amplifier is to be stored for a period of 3 years or
longer. The capacity of the electrolytic capacitors decreases during long-term
storage, and could cause damage to the device.
<Operation>
3. Install an external emergency stop circuit that can stop the device and cut off the
power instantaneously. Install an external protective circuit to the amplifier to cut off
the power from the main circuit in the case of an alarm. Motor interruption, bodily
injury, burnout, fire and secondary damages could otherwise result.
4. Operate within the specified temperature and humidity range
{Amplifier: Temperature 0°C to 40°C (Natural cooling), 0°C to 55°C (Forcible cooling)
Humidity below 90% RH (non-condensing); Motor: Temperature 0°C to 40°C,
Humidity below 90% RH (non-condensing)}.
<Transportation>
5. Follow the directions written on the outside box.
Excess stacking could result in collapse.
6. The motor angling bolts are used for transporting the motor itself;
do not use them for transporting the machinery, etc.
1-7
1-8
2. Prior to Use
2. Prior to Use
2.1 Package opening
2.4.1 Q / R series Servo motor model number
2.5.1Applicable motor list
2.5.2Applicable encoder list
2.6 Restrictions for the multi-axis servo system
2-1
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2-2
2-2
2-3
2-6
2-6
2-7
2-9
2-9
2-10
2-11
2. Prior to Use
The instructions listed below should be followed when using the product. Incorrect use could
result in accidents or damage to the device.
2. 1 Package opening
The instructions below should be followed when opening the package and removing the product from
the box.
Be careful to not drop the product when removing it from the box.
Be especially careful with motors, as they can be very heavy.
Verify the following when the product arrives. If you find any discrepancy, contact your distributor or
sales office.
x Verify that the model numbers of the servo motor and those of each unit of the servo system
are the same as ordered. (The model number is located on the main name plate, following
the word “MODEL”. )
x Verify that there are no abnormalities, such as damages to the exterior of the device, or
missing accessories.
x Verify that there are no loose screws on the servo motor or servo amplifier.
Servo motor main nameplate
Servo motor
AC SERVO SYSTEMS
Ｑ
MODEL Q2AA04006DXS21
60W AC200V 0.53A
Model No.
3000min-1 3φ－・ CI.F IP40
SER No.090206001
2002
Serial No.
Interpretation of the serial number
Month (2 digits) + Year (2 digits) + Day (2 digits)+
Serial number (4 digits) + Revision ("A" is omitted)
Servo amplifier
Nameplate of Servo Amplifier
RR1A01AE
C
N
6
Amp model No.
Model No.
C
N
2
C
N
1
ADDR
POW
ALM
STA
Serial No.
M1
M2
SG
P
C
U
V
W
C
N
C
○
2-2
XXXXXXXX X
Serial No.
2. Prior to Use
Use the product with the following precautions in mind:
・ Do not subject the servo motor and the units of the servo amplifier to shock
during installation; damage to the device could otherwise result. Be especially
careful when handling the servo motor as it has a encoder attached.
Fault !
Fault !
Always use the specified range for electric power.
AC 200V input type: AC200 - 230V (+10%, -15%) 50/60Hz
If the power does not meet these specifications, an accident could result.
・ If there are surges on the power line, use a surge protector between the power
source and the device, as a malfunction or accident could otherwise result.
・ When doing maintenance or inspection, switch the power on or off only after
verifying safety concerns, such as the status of the load device. If the power is
switched ON/OFF with the load connected, accident or damage to the device
could result.
・ Never use this product in the proximity of corrosive (acid, alkali, etc.),
flammable, explosive liquids or gases, as these could damage the device.
・ Never use the product where flammable or explosive liquids or gases are
present, as these can catch fire.
Fault !
Fault !
Gas
Explosives
Acid/Alkali
Fault !
Fault !
2-3
2. Prior to Use
・ Use the device within the specified operating temperature of 0-40°C (0-55°C for
amplifiers) and relative humidity below 90%.
・ Prevent water, cutting fluid or rain from contacting the servo motor or servo
amplifier; a short circuit or electric shock could otherwise result.
104°F
32°F
Fault !
Fault !
・ For safety, verify that the protective ground terminal connection ( ) of the
servo amplifier is at least D-type (Class 3 (Max 100Ω)). The ground terminal of
the servo motor should always be connected to the protective ground terminal
( ) of the servo amplifier.
・ Never perform a withstand voltage test or a Megger-test on the servo motor or
servo amplifier. This product uses capacitor grounding between the 0V and
the main unit. If you wish to perform such testing, please contact the distributor
or sales office.
Fault !
Fault !
2-4
2. Prior to Use
・ Wiring should be performed after reading “5. Wiring” to ensure correct
connections. Incorrect wiring could result in damage to the device, or fire.
・ The servo motor is not an induction motor. Therefore, reversing the phases of
the motor will not result in reverse rotation.
Fault !
・ Apply a surge protector to coils such as relays, electromagnetic contacts,
induction motors and brake solenoids, etc.
・ Connect power at the specified range to the r, t, R, S, and T terminals of the
servo amplifier. If the power is out of the specified range, use a transformer. If
commercial power is applied to the U, V, W terminals of the servo amplifier, it
will cause damage to the device.
Fault !
Commercial power
2-5
2. Prior to Use
2.4.1 Q-, R-series servo motor model number
Q
1

2
A
3
A
4
1. Series name:
Q: Q-series Servo Motor
R: R-series Servo Motor
2. Motor type:
1:Low inertia
2: Medium inertia
3. Voltage:
A: AC200V input

5
{{{
6

7

8

9
00
10

11
E: AC100V input
4. Motor form:
A: Standard flange
5. Flange angle dimensions
04: 40 or 42mm;
05: 54mm;
10: 100mm;
12: 120mm;
6. Rated output
{{{ = {{{ × 10W
06: 60mm;
13: 130mm;
07: 76mm;
18: 180mm;
08: 80mm or 86mm;
22: 220mm
Example･･･200: 200×10W = 2kW
7. Maximum rotation speed
M: 1500 min-1
S: 1000 min-1
-1
H: 3000 or 3500 min-1
R: 2500 min
B: 2000 min-1
D: 5000 min-1
F: 6000 min-1
8. Existence of a holding brake
X: No brake; B: 90 V brake; C: 24V brake
9. Detector type
S: Wire-saving incremental encoder
D: Incremental/absolute encoder
P: Wire-saving absolute encoder (optical type, 3 provided) (PA035C)
W: Wire-saving absolute encoder (resolver type, 2 provided) (RA062M)
10. Specification identification
00: Standard product
11. Additional specification identification
E: CE mark supported; U: UL supported; M: CE mark + UL supported
12. Special specification
No indication…Standard product
* Gear identification shall be coded if provided.
2-6

12
2. Prior to Use
2.4.2.1 Amplifier unit model number
RR1
1
1. RR1:
A
2
01
3
A
4
A
5
A
6
00
7
R-series, type R, Amplifier unit (R series, Type R servo system, amplifier unit)
2. Power input, power part description
A
… Specification of 280VDC input
3. Amplifier description:
01: 15A;
03: 30A;
4. Motor structure type:
A: Rotary motor
5. Specification of Servo System I/F
A: Pulse Row I/F Specification
6. Combined Encoder :
A: Wire-saving incremental encoder
B: PA035C (RA-062C), half duplicate ABS encoder
H: Resolver type, ABS encoder with request signal (RA-062M)
7. Individual specification
2.4.2.2 Power unit model number
RRP
1
1. RRP:
A
2
A
3
00
4
R-series, type R, power unit (R series, Type R servo system, power unit)
A
… Specification of 200VAC input
3. Specification of Servo System I/F
A: Pulse Row I/F Specification
2-7
2. Prior to Use
2.4.2.3 Mother board model number
RRM
1
1. RRM:
A
2
4
3
00
4
R-series, type R, Mother Board (R series, Type R servo system, mother board)
A
…
Specification of 200VAC input
3. Mother board slot description:
4: 4 Slots;
6: 6 Slots;
8: 8 Slots;
1.
2.
3.
The number of amplifier units that can be connected is determined by Slot specification.
1 slot is only possible for the amplifier unit with a capacity of 15A.
2 slots is only possible for the amplifier unit with a capacity of 30A.
A maximum of 6 amplifier units can be connected. Please note it is impossible to install
8 amplifier units with a capacity of 15A to the mother board with 8 slots.
There are other restrictions by the combined motor, regardless of the slot number or capacity
of the combined amplifier. Refer to 10.1.2 “Power Capacity” for details.
2-8
2. Prior to Use
2.5.1 Applicable motor list
Table 2-1
Amp. capacity
RR1A{{AA
Motor code
Motor
combination
Amp. capacity
RR1A{{AA
Motor code
Q1AA04003D
01(15A)
31
Q2AA04006D
01(15A)
41
Q1AA04005D
01(15A)
32
Q2AA04010D
01(15A)
42
Q1AA04010D
01(15A)
33
Q2AA05005D
01(15A)
43
Q1AA06020D
01(15A)
34
Q2AA05010D
01(15A)
44
Q1AA06040D
03(30A)
35
Q2AA05020D
01(15A)
45
Q1AA07075D
03(30A)
36
Q2AA07020D
01(15A)
46
Q2AA07030D
01(15A)
47
Q2AA07040D
03(30A)
48
Q2AA07050D
03(30A)
49
Q2AA08050D
03(30A)
4A
Q2AA13050H
03(30A)
4F
Series
Q1
Amp. capacity
RR1A{{AA
Motor code
R2AA04003F
01(15A)
D1
R2AA04005F
01(15A)
D2
R2AA04010F
01(15A)
D3
R2AA06010F
01(15A)
D4
R2AA06020F
01(15A)
D5
R2AA06040F
03(30A)
D6
R2AA08075F
03(30A)
D7
Table 2-2
Series
Q1
Series
Q2
Motor
combination
Series
R2
Q-, R-series motor and servo amplifier combinations (200VAC input type)
Motor
combination
Q-series motor and servo amplifier combinations (100VAC input type)
Motor
combination
Amp. capacity
RR1A{{AA
Motor code
Motor
combination
Amp. capacity
RR1A{{AA
Motor code
Q1EA04003D
01(15A)
3S
Q2EA04006D
01(15A)
4V
Q1EA04005D
01(15A)
3T
Q2EA04010D
01(15A)
4W
Q1EA04010D
01(15A)
3U
Q2EA05005D
01(15A)
4X
Q1EA06020D
03(30A)
3V
Q2EA05010D
01(15A)
4Y
Q2EA05020D
03(30A)
4Z
Q2EA07020D
03(30A)
71
Series
Q2
2-9
2. Prior to Use
2.5.2 Applicable encoder list
See the list of applicable encoders for the R-series type R servo system as follows:
Table 2-2 Applicable encoder list for R-series type R servo system
Encoder type
Wire-saving incremental encoder
PA035 Start-stop synchronization 2.5Mbps Half duplex
RA062 Start-stop synchronization 2.5Mbps Half duplex
RA062 Manchester 1Mbps Full duplex
Combined amplifier type
A
B
B
H
See the model number of the combined servo amplifier at 6 “2.4.2.1 Servo amplifier model number.”
2-10
2. Prior to Use
2. 6 Restrictions for the multi-axis servo systems.
R series Type R is the multi-axis servo system designed on the basis of R series single-axis servo amplifier. You must
read and make sure the following restrictions for your systems before using this product.
(1). Physical limitation of the number of axis (Eight-slot motherboard)
Eight-slot motherboard can accommodate maximum Six-axis modules due to internal circuit limitation.
(2). Current limitation of the number of axis
In the R series multi-axis servo system, the summation of the rated watts by combined motors is limited due
to the amplifier’s current capacity.
1. The summation of the rated output by combined motors should be 2000W or less at AC 200V input, 800W or less at
AC 100V input.
2. When the value of the total effective load delivered by the operation pattern is less than the specified value (See
10.1.2.), that is, that can be used when the value meets the above conditions 1. And 2.
(3). Encoder output signals in the multi-axis servo system
In the multi-axis servo system, if the absolute types of encoders or the absolute encoders for the incremental
systems are used, the encoder output connector CN6 is disabled to accept spurious incremental signals
(A, B, C signals).
Therefore, use PS signal (serial output), or if spurious signal (A, B, C signals) are needed in your system,
use the incremental encoders.
(4). Position command pulse input
In the R series multi-axis servo systems, position command pulses would be taken maximum 500μsec to
reach the each of axis. (It may take maximum 500μ to start up the motors from the time of the command
pulses are input.) when highly-responsive system is required, make sure whether this system would be meet
your purpose or not, before use.
(5). Restrictions for Heat radiation in the multi-axis servo systems
The R series type multi-axis servo system is provided without internal cooling fan motors.
In use by natural air-cooling, keep the ambient temperature around the servo system in the 40-centigrade
range.
Apply external cooling fan motors as arranged to force air-cooling at high load operation or high temperature
environment. (For details on air-cooling fan motors, see Chapter 5.2)
2-11
2. Prior to Use
2-12
3. 1 Block Diagram
3. 2. 2 Peripherals
3. 3 Part Names for Each Unit
3.3.3 Mother Board
･････････････････
･････････････････
･････････････････
･････････････････
･････････････････
･････････････････
･････････････････
･････････････････
3-1
3-2
3-3
3-3
3-4
3-5
3-5
3-6
3-7
3. 1 Block Diagram
AC200V/230V＋10％，-15％
50/60Hz
DC reactor
CNB
DL1 DL2
Regenerative resistor
P RB1 RB2
Mother board
Noise filter
CNA
R
S
CHARGE
T
r
DC/DC
Conversion
t
Voltagedetection
Drive
Drive
PC
ＣＰＵ
CN1A
Generic I/O
Command pulse
7segment
LED
key input
Ｉ／ＦＬＳＩ
CN1B
Power Supply Unit
PC
LED display
Rotary switch
CN1
Generic I/O
Enc
CN2
CPU ＆ control circuit
Drive
Current
detection
Gate drive
CNC
U
Mot
V
W
E
Amplifier Unit
Fig. 3-1 Block Diagram
3-2
Voltage
detection
The following diagram shows the external wiring.
3φ AC200 - 230V +10%, -15% 50/60Hz
1φ AC200 - 230V +10%, -15% 50/60Hz
1. Circuit breaker
7. Setup software
R-Setup
2. Noise filter
3. Electromagnetic
contacts
PC
S
S
o
m
Seeerrrvvvo
o sssyyysssttteeem
m
T
S
R
t
r
RR1A01AA
8. DC reactor
WR/
MODE
Protectivecircui
DL1
DL2
POWER
CNA
r
RR1A01AA
RR1A01AA
RR1A01AA
C
N
6
C
N
6
C
N
6
C
N
6
C
N
2
C
N
2
C
N
2
C
N
2
C
N
1
C
N
1
C
N
1
C
N
1
t
R
C
N
5
S
T
RB1
RB2
CHARGE
C
N
1
B
RB2
W
V
U
E
5. External
regenerative resistor
RB1
P
C
N
1
A
POW
M1
POW
M1
POW
M1
M2
ALM
M2
ALM
M2
ALM
M2
STA
SG
STA
SG
STA
SG
STA
SG
P
C
U
W
DL1
RRPAA00_*
P
C
U
C
N
C
○
－
○
ADDR
M1
ALM
V
DL2
ADDR
POW
P
C
CNB
ADDR
ADDR
P
C
V
W
U
C
N
C
○
XXXXXXXX_*
○
P
C
V
W
U
C
N
C
○
XXXXXXXX_*
C
N
C
V
W
○
XXXXXXXX_*
XXXXXXXX_*
○
CN2 (encoder)
4. Motor holding brake release power
You can use the servo amplifier
holding brake timing output
(CN1, CN1A, CN1B) for the
holding rake excitation timing, or
create your own circuit.
Your can use the servo
amplifier system abnormal
output (CN1, CN1A, CN1B)
for the system abnormality
timing, or create your own
circuit.
Fig.3-2 External wiring diagram
S
S
o
m
o
o
Seeerrrvvvo
om
mo
ottto
orrr
3-3
3. 2. 2 Peripherals
Standard peripherals connected to the R-series type R products are shown below:
1. Circuit breaker
2. Noise Filter
Will cut off the power to protect the
power line in case of an overload or
significant leakage current.
Used to protect the power line
from external noise and from
the noise generated by the
servo amplifier.
3. Electromagnetic Contacts
4. Motor holding brake release power
Switch the main circuit power
ON/OFF; require installation of a
surge protector. It is recommended to
install the protective circuit shown in
Chapter 4 to the excitation circuit.
If the servo motor has a brake,
this power is used to release
the brake.
5. External regenerative resistor
6. DC Reactor
A full capacity DC reactor can
be connected to the R-series
servo amplifier to protect
other devices from the effects
of harmonics. Connect it
between DL-1 and DL-2 terminals.
If the capacity of the internal
regenerative resistor is insufficient,
remove the wires for the internal
regenerative resister connected to
RB1-RB2, and connect an external
one between the RB1-RB2
terminals.
7. Setup software R-Setup
Connect the PC using the RS-232C port to perform
various monitoring on PC.
Setup software
R-Setup
3-4
3. 3 Part Names for Each Unit
1. Amplifier unit mounting hole
1
A (φ5) hole to install the servo unit on the mother board. Use a M4 screw.
RR1A01AA
RR1A03AA
2. Encoder output connector (CN6)
C
N
6
2
Connector for encoder signal output.
C
N
2
3
3. Encoder signal connector (CN2)
C
N
1
4
4.Generic input/output connector (CN1)
POW
ALM
STA
ADDR
5
M1
M2
SG
6
P
C
Connect the encoder signal from the servo motor.
Connector for input/output signal between amplifier unit and host controller, etc.
5. Axis address setting rotary switch (ADDR)
Set the axis address of the amplifier unit. The same axis number cannot be set on
one mother board. Set from “1” to “6” according to the number of connected axes.
7
6. Check terminals for analog monitor (M1,M2,SG)
8
Check terminals for analog monitor. M1 and M2 are monitor terminals and SG is
ground terminal.
U
V
W
C
N
C
7. Status display LED (POW,ALM,STA)
9
LED display showing the status of amplifier unit.
POW : Indicates establishment of control power supply of 5V.
ALM : Turns ON when alarm occurs.
STA : Displays the amplifier unit status with lighting or blinking.
○
XXXXXXXX_*
8. Connector for communication with PC (PC)
Fig. 3-3 Amplifier unit front view
1
This connector is used to connect the setup software (R-Setup) to use the functions
of “Status display”, “Monitoring”, Tests/Adjustments”, “Parameter editing”, “Alarm
display” and “Wave form display”.
9. Servo motor power connector (CNC)
Attach the power connector of the servo motor.
10
10. Control signal, control power input/output connector
Connector for input/output of amplifier unit control signal, and for input of control
power supply. Connected to the mother board.
11
11. Main circuit power input connector
Connector for amplifier unit main circuit power input.
Fig. 3-4 Amplifier unit rear view
3-5
1
1. Power supply unit mounting hole
Holes of (φ5) to mount the power supply unit to the mother board.
Use M4 screws.
2
3
POWER
CNA
r
t
R
S
T
C
N
5
P
C
CHARGE
CNB
RB2
RB1
P
2. 7 segment LED display
Shows the system status.
WR/
MODE
C
N
1
B
C
N
1
A
3. Push button switch
4
Use these for setting the power supply unit or selection of the servo
amplifier status monitor.
5
4. Control power set-up LED (POWER, green)
6
7
Shows that the control power (r,t) is supplied and 5V control power
is on, when this turns on.
8
5. Connector for communication with PC (PC)
9
This connector is used to connect the setup software (R-Setup) to
use
the
functions
of
“Status
display”,
“Monitoring”,
Tests/Adjustments”, Parameter editing”, “Alarm display” and Wave
form display”.
DL2
DL1
10
－
○
RRPAA00_*
6. Connector for battery input (CN5)
Back up power input connector for ABS encoder.
7. Connector for control power/main circuit input (CNA)
Control power is connected to (r, t) and main circuit power is
to (R, S, T).
Fig.3-5 Power supply unit front view
8. Main circuit power charge LED (CHARGE, red)
1
Shows that the smoothing capacitor of the main circuit is charged,
when this turns on.
9. Interface connector (CN1A,CN1B)
Connector for input/output signals for the servo amplifier and the
host controller.
11
10. External regenerative resistor,
DC reactor connector (CNB)
Connect the external regenerative resistor to (RB1,RB2), and the
DC reactor to (DL1, DL2). If the DC reactor is not used, always short
the DL1-DL2 terminals.
12
11. Control signal, control power input/output connector
Connector for input/output of amplifier unit control signal, and for
input of control power supply. Connected to the mother board.
12. Connector for control power/main power supply
Connector for control power and main power supply of the power
unit. Connected to the mother board.
Fig. 3-6 Power supply unit rear view
3-6
3.3.3 Mother Board Unit
1
2
5
4
3
○
1
Fig.3-7 Mother board front view
1. Mother board mounting notch/hole
Notches and holes to mount the mother board on the customer’s equipment. Use the M5 screws.
2. Amplifier unit & power supply / Interface unit mounting holes
Tapped holes for the screws to mount amplifier unit and power supply･interface unit. Use the M4 screws for fixing each
unit.
3. Protective grounding terminal
Connect the protective ground. Use D-type (Class 3) grounding.
4. Connector for power supply / Interface unit
Connect the power supply and interface unit.
5. Connector for amplifier unit
Connect the amplifier unit.
3-7
3-8
4. Wiring
4. Wiring
4. 1 Electric Wire Size
4. 2 Connector Specifications
4. 3. 1 External Wiring Example
4. 3. 2 Input/Output Signal Connectors
4. 3. 3 Encoder Wiring Diagram
4. 4 Wiring Precautions
4. 5 Shielding Method
･･･････････････････
･･･････････････････
･･･････････････････
･･･････････････････
･･･････････････････
･･･････････････････
･･･････････････････
･･･････････････････
4-1
4-2
4-3
4-4
4-4
4-6
4-12
4-15
4-16
4. Wiring
4.1 Electric Wire Size
・
・
・
The following table shows the electric wire sizes used with the external connectors of the servo amplifier.
The electric wire and its size should be selected based on the wiring distances, environment and the current
capacity.
The information in Table 4-1 assumes an ambient temperature of 40°C, 3 lead coil wires and rated current.
Type
External connector
name
Main circuit / Control circuit
Signal circuit
Main circuit
power input
connector
Control power
input
connector
Motor
connector
(power line)
Safeguard
connector
(
)
Regenerative
resistor input
connector
Input/output
signal
connector
Encoder
signal
connector
Encoder
signal output
connector
1.
2.
3.
Table 4-1 Electric Wire Sizes
Electric wire size examples
Power supply unit
RRPA
Amplifier unit
RR1A01A
Amplifier unit
RR1A03A
Mother board
RRMA
CNA
(R, S, T)
AWG14
Equivalent
-
-
-
CNA
(r, t)
AWG16
Equivalent
-
-
-
CNC
(U, V, W)
-
AWG16
Equivalent
AWG14
Equivalent
-
-
-
-
AWG14
Equivalent
AWG16
Equivalent
-
-
-
Connector
marking
CNB
(RB1, RB2)
CN1A
CN1B
At least AWG24
(Partially use the single shied twisted pair wire.)
CN2
Single shield twisted pair wire, at least AWG24
CN6
Single shield twisted pair wire, at least AWG24
If you bundle the wires or insert them into a wire duct, consider the acceptable current reduction
ratio.
Wires may deteriorate by heat in high ambient temperature, resulting in shorter service life. To
avoid this, use heat-resistant vinyl wires.
Depending on the capacity of the motor or the loading conditions, smaller sized electric wires than
indicated above can be used.
4-2
4. Wiring
4.2 Connector Specifications
Please see the manufacturers (specifications) of the servo system connectors as follows.
Connectors are not provided with the servo amplifier, and customers are required to source them.
Unit
Connector
Code
CNA
Power supply
unit
CNB
CN1A
CN1B
CNC
Amplifier unit
CN1
CN2
CN6
Table 4-2 Connector list
Connector model number (Manufacturer)
Cable side
Substrate side
Solderless type receptacle
housing:F32FSS-05V-KX
Contact:SF3F-71GF-P2.0(reel)
LF3F3F-71GF-P2.0(loose)
S05B-F32SK-GGXR
or
Electric wire type receptacle:05JFAT-SBXGF-1
Open tool: J-FAT-OT
S06B-F32SK-GGXR
or
Open tool: J-FAT-OT
Shell kit:10350-52A0-008
10150-52A2JL
Receptacle:10150-3000-PE
S04B-F32SK-GGXR
or
Open tool: J-FAT-OT
55100-0670
53460-0629
Shell kit: 36310-3200-008
Receptacle: 36210-0100PL
36110-2220PE
or
Set of the above two items: 36810-2000PL
4-3
Manufacturer
Japan
Solderless
Terminal
Mfg. Co.,
Ltd.
(JST)
Japan
Solderless
Terminal
Mfg. Co.,
Ltd.
(JST)
Sumitomo
3M
Japan
Solderless
Terminal
Mfg. Co.,
Ltd.
(JST)
Molex
Sumitomo
3M
4. Wiring
4.3 External Wiring Diagram
4.3.1 External wiring example
CNA
User's device
AC power 3φ
200～230Ｖ
r
t
R
S
T
MC
CNB
MC
RB2
RB1
P
DL2
DL1
Position command
pulse input
CN1B
Line receiver
26C32 Equivalency
CN1A
FWD.pulse
(first axis)
FWD.pulse
(fourth axis)
REV.pulse
(first axis)
REV.pulse
(fourth axis)
FWD.pulse
(second axis)
FWD.pulse
(fifth axis)
REV.pulse
(second axis)
REV.pulse
(fifth axis)
FWD.pulse
(third axis)
FWD.pulse
(sixth axis)
Position command
pulse input
REV.pulse
(third axis)
REV.pulse
(sixth axis)
～
～
～
～
Generic input output
～
～
～
～
Battery input
Battery input
Plug：10150-3000PE
Shell：10350-52A0-008
CN5
Battery input
CNC
MON1
Monitor output
CH1
MON2
SG
CH2
SG
CN6
U
Red
V
White
W
Black
Green
SG
CN2
Plug：36320-0100PL
Shell：36310-3200-008
Encoder division
signal output
CN1
Note 8）
DC12V～24V
4-4
Relay for holding
brake release
4. Wiring
1.
Use a twisted pair cable with external shield. The shield is connected to the ground at the connecting parts of the user
device and of the servo amplifier.
2.
The regenerative resistor is connected between RB1 – RB2 terminals, CNB of the power supply unit. If an external
regenerative resistor is used, first remove the internal resistor wires connected to RB1 and RB2 terminals, then connect the
external regenerative resistor between RB1 – RB2 terminals.
3.
The DL2 - DL2 terminals, CNB of the power supply unit, are for connecting a DC reactor. If a DC reactor is not used,
connect the DL1 and DL2 terminals using the short bar supplied.
4.
The
terminal and the P terminal are for maintenance. Do not connect anything to these terminals. Take care, because
these terminals are connected to high-voltage circuit.
5.
Refer to section 4.5 for shielding method.
6.
Connection at the motor side varies depending on the specification of the motor. Description of colors - red, white, black,
green, and orange - is for the lead type motor power line and brake line. For the cannon plug type, connect the wires to “U,
V, W, and E terminal” according to the motor specification.
7.
Connection of CN2 encoder connector of the amplifier unit varies depending on the specification of the encoder in use.
Refer to the encoder connection diagram in 4.3.3. and onward for encoder connection.
8.
Customers are requested to source the external power for CN1 of the amplifier unit and CN1A and CN1B of the power unit.
9.
CNA and CNB of the power unit and CNC of the amplifier unit are high-voltage circuit. All other lines are low-voltage.
Ensure sufficient distance between the high- and low-voltage circuits, and avoid wiring them in parallel considering noise
resistance.
10. It is recommended to use a ground fault interrupter conforming to the UL, IEC and EN standards for power input section.
11. Do not connect S-phase terminal in the usage of the single phase input.
12. Do not connect S phase for the single phase amplifier.
13. Make sure to connect SG (signal ground) between the system when difference input signal is used.
14. Battery power is for common use in the unit. When connected, connect it with either one of CN1A, CN1B or CN5 of the
power unit.
4-5
4. Wiring
4.3.2 Input/output signal connector
4.3.2.1 Amplifier unit
(1)CN1 Terminal layout
Terminal
number
Signals
1
2
3
4
5
OUT1
OUT2
IN1
IN2
COM
6
NC
Generic output
Generic input
Common for generic
input/output
Not connected
(2) Connection example
z Generic input circuit
Amplifier unit
Host device
x Connected to the relay or open collector
transistor circuit.
3
CONT1
2.2kΩ
4.7kΩ
x Power voltage range:DC12V - 24V ±10%
x Serial resistance of 2.2kΩ is connected inside
the amplifier unit.
4
5
CONT2
COM
z Generic output circuit
x Connected to the photo coupler or relay circuit.
Host device
Amplifier unit
x Specification of input circuit power
Power voltage range: DC12V ±10%
OUT1
1
The maximum output current is 20mA (max.).
OUT2
COM
4-6
2
5
4. Wiring
(3) CN6 terminal layout
Terminal
number
1
2
3
4
5
6
7
8
9
10
Signal
SG
SG
A
Common
Common
A phase position signal output
A
B
B
Z
A phase position signal output
B phase position signal output
Z
PS
Z phase position signal output
Position data output
Position data output
PS
B phase position signal output
Z phase position signal output
(4) Connection example
z Incremental pulse output circuit
Incremental pulse output - Host device line receiver input
x Connected to the line receiver.
x Applicable line receiver: RS422 standard
conforming products.
Host device
Amplifier unit
HD26C31equival
x Make sure to connect SG. If not, malfunction or
breakage due to noise may be caused.
A
A
x These are output signals of incremental
encoder A phase and B phase pulses and of
return-zero Z phase pulse.
B
x When absolute encoder and absolute encoder
are used, incremental pulse is not output.
(Note that quasi-incremental signal when using
absolute encoder is not output. )
Z
B
Z
3
4
5
6
7
8
Twisted pair
SG
SG
1
2
z Absolute position data output circuit
Absolute position data output - Host device line receiver input
x Connected to the line receiver.
x Applicable line receiver: RS422 standard
conforming products.
Host device
Amplifier unit
HD26C31equivql
x Make sure to connect SG. If not connected,
malfunction or breakage due to noise may be
caused.
PS
PS
x These are position data output of absolute
encoder and absolute encoder.
9
10
Twisted pair
SG
SG
4-7
1
2
4. Wiring
4.3.2.2 Power supply unit
(1)
CN1A、CN1B terminal layout
CN1A terminal layout
24
22
20
18
16
OUT6
OUT4
OUT2
SG
SG
14
12
R - PC6
10
F - PC6
8
R - PC5
6
F - PC5
4
R - PC4
2
BATN
-1
F - PC4
25
23
21
19
17
15
13
11
9
7
5
3
ALM1
OUT5
OUT3
OUT1
SG
SG
R - PC6
F - PC6
R - PC5
F - PC5
R - PC4
F - PC4
49
OUT
-PWR
50
OUT
-PWR
47
CONT
-COM
48
OUT
-PWR
45
CONT
-COM
46
CONT
-COM
43
OUT
-COM
44
OUT
-COM
41
39
CONT
14
SG
42
OUT
-COM
40
CONT
15
37
CONT
12
38
CONT
13
35
CONT
10
36
CONT
11
33
CONT
8
34
CONT
9
31
CONT
6
32
CONT
7
29
CONT
4
30
CONT
5
1
BATP
-1
27
CONT
2
28
CONT
3
26
CONT
1
CN1A terminal layout
Terminal
number
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
Signal
Definition
BATP-１
BATN-１
F - PC1
Battery plus
Battery minus
F - PC1
R - PC1
st
1 axis command pulse input
R - PC1
F - PC2
F - PC2
R - PC2
nd
R - PC2
F - PC3
F - PC3
R - PC3
rd
R - PC3
SG
OUT1
OUT2
OUT3
OUT4
OUT5
OUT6
ALM1
Common for command pulse
st
1 axis generic output
nd
rd
Alarm output 1
Terminal
number
26
27
28
CONT1
CONT2
CONT3
29
CONT4
30
CONT5
Signal
31
CONT6
32
CONT7
33
CONT8
34
CONT9
35
CONT10
36
CONT11
37
CONT12
Definition
Generic input
38
CONT13
39
CONT14
40
41
42
43
44
45
46
47
48
49
50
CONT15
SG
OUT-COM
Common for generic output
CONT-COM
Common for generic input
OUT-PWR
Power for generic output
“1” in “1st axis……” in the above table indicates the scale in the axis address setting rotary switch on
the front of the amplifier unit. In the RR servo system, for the multiple amplifier units to be connected, set
the rotary switch from “1” to “6”, and connect the signal to an appropriate input/output pin.
4-8
4. Wiring
CN1B terminal layout
24
22
20
18
16
14
12
10
8
6
4
OUT12
OUT10
OUT8
SG
SG
R - PC6
F - PC6
R - PC5
F - PC5
R - PC4
F - PC4
2
BATN
-2
25
23
21
19
17
15
13
11
9
7
5
3
ALM2
OUT 11
OUT9
OUT7
SG
SG
R - PC6
F - PC6
R - PC5
F - PC5
R - PC4
F - PC4
49
OUT
-PWR
50
OUT
-PWR
47
CONT
-COM
48
OUT
-PWR
45
CONT
-COM
46
CONT
-COM
43
OUT
-COM
44
OUT
-COM
42
OUT
-COM
41
39
CONT
29
SG
40
CONT
30
37
CONT
27
38
CONT
28
35
CONT
25
36
CONT
26
33
CONT
23
34
CONT
24
31
CONT
21
32
CONT
22
29
CONT
19
30
CONT
20
1
BATP
-2
27
CONT
17
28
CONT
18
26
CONT
16
CN1B terminal name
Terminal
number
1
2
3
4
5
Signal
BATP-2
BATN-2
F - PC4
F - PC4
R - PC4
Battery plus
Battery minus
th
4 axis Command pulse input
Terminal
number
26
27
28
CONT16
CONT17
CONT18
29
CONT19
Signal
30
CONT20
R - PC4
F - PC5
31
CONT21
32
CONT22
F - PC5
R - PC5
33
CONT23
34
CONT24
R - PC5
F - PC6
35
CONT25
36
CONT26
CONT27
13
F - PC6
R - PC6
37
14
R - PC6
6
7
8
9
10
11
12
15
16
17
18
19
20
21
22
23
24
25
SG
OUT7
OUT8
OUT9
OUT10
OUT11
OUT12
ALM2
th
th
th
th
th
Alarm output 2
Generic input
38
CONT28
39
CONT29
40
41
42
43
44
45
46
47
48
49
50
CONT30
SG
OUT-COM
Common for generic output
CONT-COM
Common for generic input
OUT-PWR
Power for generic output
“4” in “4th axis……” in the above table indicates the scale in the axis address setting rotary switch on
the front of the amplifier unit. In the RR servo system, for the multiple amplifier units to be connected, set
the rotary switch from “1” to “6”, and connect the signal to an appropriate input/output pin.
4-9
4. Wiring
(2)
Connection example
z Position Command pulse input circuit
Command pulse input - Host device line driver output
x Connected with the line driver.
x Applicable line driver: RS422 standard or
equivalent.
Host device
Power unit
1.0kΩ
3
x Position command input is by command pulse.
x Three types of command input pulse.
[Forward pulse+ Reverse pulse]
Max.
5M pulse/second
[Code + pulse train]
Max.
5M pulse/second
[90°phase difference 2 phase pulse train]
Max. 2.5M pulse/second
1.0kΩ
150Ω
F - PC1
1.0kΩ
―― ――
4
15
1.5kΩ
F-PC1
SG
1.0kΩ
HD26C32equival
Twisted pair
5
R-PC1
― ― ――
6
x Make sure to connect SG(pins 15 - 18 and 41).
If not connected, malfunction or breakage due
to noise may be caused.
16
R - PC1
SG
Twisted pair
Command pulse input - Host device open collector output
Host device
x Connected with the open collector transistor
circuit.
x Position command input is by command pulse.
x Three types of command input pulse.
[Forward pulse+ reverse pulse]
[Code + pulse train]
[90°phase difference 2 phase pulse train]
Power unit
3
15
x Maximum pulse frequency:150kHz
F-PC1
SG
HD26C32equival
Twisted pair
5
16
R-PC1
SG
Twisted pair
Note) For the host device side of the command pulse input circuit, line driver output is recommended to prevent
malfunction due to noise from occurring.
When open collector output is used, there are only 5 SG terminals for 6 pulse command input terminals.
For this, connect 2 signals in 1 terminal.
z Battery input circuit
x Connected with back-up battery when absolute
encoder and absolute encoder are used.
x If the battery is connected to CN5, there is no
need to connect here.
Power
unit
Host dev ice
CN2
Battery
1
2
Twisted pair
4-10
Amplifier
unit
Servo motor
4. Wiring
z Generic input circuit
x Connected with the relay or open collector
transistor circuit.
Host device
Power unit
45
CONT-COM
x Power voltage range:DC5V - 24V
±10%
46
2.2kΩ
47
x Serial resistance of 2.2kΩ is connected inside
the amplifier unit.
26
27
28
CONT1 4.7kΩ
CONT2
CONT3
･
･
･
･
･
･
39
40
CONT14
CONT15
z Generic output circuit
x Connected with the photo coupler or relay
circuit.
Host device
Power unit
OUT-PWR
x OUT-PWR (outer power) specification
Power voltage range: DC5V ±5%,
DC12V - 24V ±10%
Minimum current: 20mA
OUT-PWR
48
49
OUT-PWR 50
OUT1
x Input circuit power specification
Power voltage range: DC12V - 15V ±10%
OUT2
Maximum current : DC5V･･･････････10mA
Maximum current : DC12V - 15V････30mA
Maximum current : DC24V･･････････50mA
OUT3
19
20
21
OUT4 22
OUT5
23
OUT6 24
ALM1
25
OUT-COM 42
OUT-COM
OUT-COM
4-11
43
44
4. Wiring
4.3.3 Encoder wiring diagram
(3)
Absolute encoder PA035C, RA062C (2.5Mbps Star-stop synchronous absolute encoder)
SERVO AMPLIFIER
Note5)
+5V
0V
+5V
0V
N.C.
N.C.
ES+
ESEBAT+
EBAT-
1
2
3
4
5
6
7
8
9
10
Note2)
Note1)
red(H)
black(G)
brown(E)
Blue(F)
Pink(T)
Purple(S)
Note1)
En
Note3)
Use a twisted pair cable with external shield.
Note2) External shielded wire should be connected to the metal case (ground) at CN2 side and to the ground at the
encoder side.
Note3) Colors at the encoder side in the figure above show that the lead wire type encoder is used, and codes in
parentheses show that the canon plug type encoder is used.
Note4) Possible connection distance between the amplifier - encoder depends on the wire diameter (impedance).
Power voltage specification of the encoder is 5V± 5%. If the cable is long, encoder side voltage of 5V
decreases. Measure the voltage at the encoder side and select appropriate cables and their number to
make the voltage within the specified range.
Note5) As for RA062C, connection with EBAT+ and EBAT- is not necessary.
4-12
4. Wiring
(2) Wire-saving Incremental Encoder
SERVO AMPLIFIER
+5V
0V
+5V
0V
B+
BA+
AC+
C-
1
2
3
4
5
6
7
8
9
10
Note2)
Note1)
Red(J)
Black(N)
Green(B)
Purple(E)
Blue(A)
Brown (D)
White(F)
Yellow(G)
Note1)
En
Note3)
Note2) External shielded wire should be connected to the metal case (ground) at CN2 side and to the ground at
the encoder side.
Power voltage specification of the encoder is 5V ±5%. If the cable is long, encoder side voltage of 5V
decreases. Measure the voltage at the encoder side and select appropriate cables and their quantity to
4-13
4. Wiring
(3) Absolute encoder RA062M(with request signals, 1Mbps Manchester serial transmission method absolute encoder)
SERVO AMPLIFIER
+5V
0V
+5V
0V
PS+
PSREQ+
REQECLR
0V
1
2
3
4
5
6
7
8
9
10
Note2)
Note1)
Red(H)
Black(G)
Brown (E)
Blue(F)
Orange (N)
Green(P)
White(R)
Yellow(S)
Note1)
En
Note3)
Note2) External shielded wire should be connected to the metal case (ground) at CN2 side and to the ground at the
encoder side.
Power voltage specification of the encoder is 5V ±5%. If the cable is long, encoder side voltage of 5V
decreases. Measure the voltage at the encoder side and select appropriate cables and their quantity to
4-14
4. Wiring
4.4 Wiring Precautions
The servo system is a control device processing the signals under a few millivolts.
instructions when wiring:
Therefore, observe the following
1.
Input/output signal line, encoder signal line
Use the twisted pair and multi-core single shield twisted pair cables for the input/output signal line and the encoder
signal line. Perform wiring with the following precautions in mind:
・ Wire using the shortest distance.
・ Separate the main circuit lines and the signal lines.
・ Do not wire the main circuit lines near the side of the amplifier.
・ If it is necessary to have an insulation distance between the main circuit wires and between the main circuit
and the signal circuit wires, pole terminals with insulation sleeves should be used. (These cannot be used for
AWG12.)
2.
Grounding
Abide by the following rules of grounding:
・ One-point grounding using 2.0mm2 diameter wire.
・ Use D-type (Class 3) grounding (ground resistance max. 100Ω).
・ The frame (ground terminal, ground line) of the servo motor should always be connected to the protective
ground terminal ( ) of the servo amplifier.
・ The protective ground terminal ( ) of the servo amplifier should always be connected to the PE (Protective
Earth) terminal of the control panel. Always use single-point grounding.
3.
Noise protection
Follow the instructions below to prevent malfunctions due to noise.
・ The noise filter, servo amplifier, and the host controller should be separated by a short distance.
・ Apply a surge absorber circuit to coils such as relays, electromagnetic contacts, induction motors and brake
solenoids, etc.
・ Do not pass the main circuit lines and the signal lines through the same wire conduit; do not overlap them in
any way.
・ If there are large noise sources such as electric welding machines or electric discharge machines nearby,
apply a noise filter for the power line and the input circuit.
・ Do not bundle the primary and secondary wiring of the noise filter together.
・ Do not use a long grounding line.
The servo amplifier uses the power element for the PWM control. Incorrect grounding can cause switching noise, due
to di/dt and dv/dt during switching of the power element. Correct wiring and grounding is required for noise protection.
The servo amplifier power noise tolerance (normal, common noise) is 1500V, 1μsec, within 30 minutes. If larger
voltage than this is to be applied for a noise test, insert a noise filter at the power input section. Do not perform noise
testing longer than 30 minutes.
4.
RF interference countermeasures
The servo amplifier is an industrial machine; therefore it does not include RF interference countermeasures.
If RF interference is a problem, insert a line filter to the power line input.
5.
Faulty wiring
Take care to ensure that all wiring is correct, as faulty wiring can cause damage to the device.
Make sure to confirm correct wiring before turning ON the power.
6.
Leakage current
Since the servo amplifier and the servo motor are controlled by switching the power element (inverter control), high
frequency leakage current will flow via floating capacity of the amplifier, motor or wirings. The leakage current may
cause malfunctions of the leakage current breaker or the leakage current protection relay. To avoid these
malfunctions, use a leakage current breaker that can be applied to an inverter.
7.
Lightning surge
If there is a possibility that the servo amplifier is subject to lightning surges in excess of 2KV, insert a lightning surge
protector to the control board input. If you wish to insert a surge protector at the servo system power input, we
recommend R･A･V-781BXZ-2A (manufactured by Okaya Electric Industry Co., Ltd.).
4-15
4. Wiring
4.5 Shielding Method
The following diagram shows the shielding on the CN1A and CN1B connectors.
There are two shielding methods: by using a clamp, or by soldering.
● Using a clamp
Remove the external layer of the cable.
1
Attach a tape or a compression insert.
2
The tape or compression insert must be
on top of the external layer of the cable.
3
Fold back the drain line.
Tighten the cable clamp from the top of
the drain line.
4
Attach it about 1 mm from the tape or the
compression insert.
Attach the compression insert before soldering the cable to the connector.
4-16
4. Wiring
● Soldering
Item 1 and 2 are identical to using a clamp.
3
4
4-17
4. Wiring
4-18
5. Installation
5. Installation
5.2 Servo system installation
5.3 Servo motor installation
5.3.3 Waterproofing and dust proofing
5.3.4 Protective cover installation
5.3.5 Gear installation
5.3.6 Integration with the target machinery
5.3.7 Allowable bearing load
5.3.8 Cable installation considerations
5-1
･･･････････････････
･･･････････････････
･･･････････････････
･･･････････････････
･･･････････････････
･･･････････････････
･･･････････････････
･･･････････････････
･･･････････････････
･･･････････････････
･･･････････････････
･･･････････････････
･･･････････････････
5-2
5-3
5-3
5-4
5-6
5-6
5-6
5-7
5-7
5-8
5-8
5-10
5-11
5. Installation
The R series, type R servo system includes 3 units; the amplifier unit, power supply unit and the mother board unit.
See below for how to assemble (install) these units.
3
2
1
Fig. 5-1 How to assemble each unit of the servo system
1. Insert the mounting claw on the resin cover of the amplifier unit (power supply unit) to the
metal notch of the mother board.
2. Diagonally insert the amplifier unit (power supply unit) thoroughly to the mother board using the
point of claw (already joined in 1) as a fulcrum.
3. In the end, insert the M4 screw through the hole on the amplifier unit (power supply unit) to the tap on
the mother board and tighten it. The number of screws is 1 for 15A amplifier unit and
2 for 30A amplifier unit and power supply unit.
The M4 screws (M4×14) are not provided with the product, so customers are required to source them.
5-2
5. Installation
5. 2 Servo system (servo amplifier) installation
5. 2. 1 Installation environment
Environment
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Altitude
Vibration
Shock at storage
Atmosphere
Conditions
0°C - 40°C (with natural cooling)
0°C to 55°C (with forcible cooling) (No freezing)
90%RH or lower (No condensation)
-20°C to 65°C (No freezing)
B e l o w 90%RH (No condensation)
Below 1000m from the sea level
Less than 0.5G
Less than1.0G
Well-ventilated, without corrosive or inflammable gas, without oil mist or dust.
Places easy to inspect and clean.
Install the servo amplifier in compliance with the following precautions.
Issue
Various precautions
If enclosed in a cabinet
Precautions
z The device should be installed on non-flammable surfaces
only. Installation on or near flammable materials can
cause fire.
z Do not stand, put or drop heavy items on the servo
amplifier.
z Operate the device within the specified environmental
conditions.
z Make sure no screws or other conductive or flammable
materials get inside the servo amplifier.
z Do not drop the device or subject it to excessive shock.
z Do not install or operate a damaged device, or one with
damaged parts; return it for repair.
z Contact your distributor or sales office if the servo amplifier
was stored or out of use for an extended period of time.
z The temperature inside the cabinet can exceed the
external temperature depending on the power
consumption of the device and the size of the cabinet.
Consider the cabinet size, cooling, and placement, and
make sure the temperature around the servo amplifier
does not exceed 55°C. For longevity and reliability
purposes it is recommended to keep the temperature
below 40°C.
If there is a vibration source
nearby
z Protect the servo amplifier from vibration by installing it on
a base with a shock absorber.
If there is a heat generator
nearby
z If the ambient temperature may increase due to convection
or radiation, make sure the temperature near the servo
amplifier does not exceed 55°C.
If corrosive gas is present
zLong-term use may cause contact failure on the connectors
and connecting parts.
Never use the device where it may be exposed to
corrosive gas.
If explosive or
combustible gas is present
z Never use the device where explosive or combustible gas
is present. The device’s relays and contacts, regenerative
resistors and other parts can arc (spark) and can cause
fire or explosion.
If dust or oil mist is present
z The device cannot be used where dust or oil mist is
present. If dust or oil mist accumulates on the device, it
can cause insulation deterioration or leakage between
the conductive parts, and damage the servo amplifier.
If a large noise source is
present
z If inductive noise enters the input signals or the power
circuit, it can cause a malfunction. If there is a possibility
of noise, inspect the line wiring and take appropriate
noise prevention measures. A noise filter should be
installed to protect the servo amplifier.
5-3
5. Installation
5. 2. 2 Mounting Method
z Mounting direction and location
Mounting hardware
M5 screw
M5 screw
Ventilation
Fig. 5-2 Servo system mounting
Mount the servo system (servo amplifier) standing upright as shown in Fig. 5-2.
5-4
5. Installation
●
Arrangement within the machine
Front view
Side view
Ventilation
50mm min.
RR1A01AA
WR/
MODE
POWER
CNA
RR1A01AA
RR1A01AA
C
N
6
C
N
6
C
N
6
C
N
6
C
N
2
C
N
2
C
N
2
C
N
2
C
N
1
r
RR1A01AA
C
N
1
C
N
1
50mm min.
C
N
1
t
R
C
N
5
S
T
POW
M1
POW
M1
POW
M1
M2
ALM
M2
ALM
M2
ALM
M2
STA
SG
STA
SG
STA
SG
STA
SG
CNB
C
N
1
A
C
N
1
B
P
W
DL1
P
C
U
V
DL2
RRPAA00_*
P
C
U
C
N
C
○
－
○
○
ADDR
M1
ALM
P
C
RB1
ADDR
POW
CHARGE
RB2
ADDR
ADDR
P
C
V
W
U
C
N
C
○
XXXXXXXX_*
P
C
V
W
U
C
N
C
○
XXXXXXXX_*
C
N
C
V
W
○
XXXXXXXX_*
XXXXXXXX_*
○
主銘板
50mm min.
10mm min.
FAN
50mm min.
Ventilation
FAN
Fig. 5-3 Arrangement within the machine
1. Fig. 5-3 shows an example of the arrangement within the machine.
2. Leave at least 50 mm space above and below the servo system, and at least 10mm space on
both sides to ensure unobstructed airflow from inside the servo system (servo amplifier) and the
radiator.
3. Make sure to have insulation holes at both the lower and upper sections of the box to ensure
airflow.
4. Fig. 5-3 shows an image when there is forcible air flown to the servo system from the fan
motors installed at the amplifier bottom. Forcible cooling by air flowing of about 2m/s will
make the ambient usage temperature of the servo system 0 - 55℃. If forcible cooling is not
used, make sure to keep the ambient usage temperature at 0 - 40℃. Please note that even
at natural cooling, spaces for air flow are necessary.
5. For the six or more slot systems at AC100V input power supply needs forcible air-cooling.
6. Fig. 5-3 shows an image of forcible air flowing from the bottom to the top by fan motors.
However, reverse air flowing, from the top to the bottom, can also be possible depending on
the environment such as usage in a clean room.
7. Please use the recommended fan motors as follows:
Manufactured by SANYO DENKI Co. Ltd. : DC San Ace Series, 60 angle / 80 angle
type(general types)
Manufactured by SANYO DENKI Co. Ltd. : San Ace L series 60 angle･80 angle
type(long life type)
5-5
5. Installation
5. 3 Servo motor installation
5. 3. 1 Installation environment
The servo motor is designed for indoor use.
Please note the following regarding the installation location and mounting method for the servo motor.
Environment
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Altitude
Vibration
Shock at storage
Atmosphere
Conditions
0°C to 40°C(No freezing)
Below 20 - 90%RH
-20°C to 65°C(No freezing)
Below 20 - 90%RH (No condensation)
Below 1000m from the sea level
Less than 0.5G
Less than 1.0G
x Well-ventilated places.
x No corrosive or inflammable gases present.
x Where there is no splash of water, oil or cut liquid at any time.
x Do not use the device in locations where the oil seal lip is continuously exposed to
oil, or where the device is exposed to large quantities of water, oil drops or cutting
fluid. Do not put any pressure on it.
The servo motor is designed to withstand only small amounts of moisture spray.
x Easy access for inspection and cleaning.
5. 3. 2 Mounting Method
Please note the following points regarding the installation location and mounting method:
1. Mounting in several orientations - horizontal, or with the shaft on top or bottom- is acceptable.
2. If the output shaft is used in reduction devices that use grease, oil, or other lubricants, or in
mechanisms exposed to liquids, the motor should be installed in a perfectly horizontal or downward
position. In some models, there is an oil-seal attached to the output shaft. If the shaft is facing
upwards and the seal lip is continuously exposed to oil, oil can enter inside the motor and cause
damage, as a result of wear and degradation of the oil seal. In such cases an oil-seal should be
used on the load-side as well. Contact your distributor or sales office if the device is to be used in
such conditions.
3. The motor connector and cable outlet should be installed facing downwards, as nearly vertical as possible.
4. In vertical installation, create a cable trap to prevent oily water from getting into the motor.
Cable trap
Lead wire
Fig. 5-4 Motor mounting direction
5-6
5. Installation
5. 3. 3 Waterproofing and dust proofing
1. The protection inside the motor conforms to IEC standards (IEC34-5). However, such protection is
suitable only for short-term use. For regular use, additional sealing measures are required.
Be sure to handle the connector carefully, as damage to the exterior of the connector (painted
surface) can reduce its waterproofing capability.
2. The motor waterproofing is of IPX 7 class level, but still requires careful handling. If the motor is
continuously wet, due to the respiratory effect of the motor, liquid may penetrate inside the
motor.
3. Install a protective cover to prevent corrosion of the coating and the seal material, which can be
caused by certain types of coolants (especially water soluble types).
4. The canon plug type motors are applicable to IP67 or equivalent when waterproof connectors
and/or conduits are used on the matching canon connectors.
5. Q1-series motors (with all flange sizes) except cannon plug type and Q2-series motors (with the
42mm flange size) are IP40 rated, but IP67 rated waterproofing is also available as an option.
Q2-series motors with flange sizes of 54mm, 76mm and 86mm have IP67 rated waterproofing.
R2 series motors have IP67 rated water proofing, except for shaft inserting part and cable tips.
5. 3. 4 Protective cover installation
1. Install a protective cover (as described below) for motors continuously subjected to liquids.
2. Turn the connectors (lead outlets) downwards within the angle range shown in the picture below.
3. Install the cover on the side where the water or oil would drip.
4. Install the cover at an angle (for runoff), to prevent water or oil from collecting.
5. Make sure that the cable does not get soaked in water or oil.
6. Create a sag in the cable outside the cover, to make sure water or oil does not penetrate to the motor.
Seal this portion with sheet packing.
Cover
50°max
50°max
Water (Oil)pool.
Fig. 5-5 Protective cover and motor installation angle
5-7
5. Installation
7. If
it is not possible to install the connectors (lead outlets) facing downwards, create a sag in the
cable to prevent water or oil from entering the motor.
External diameter of the shaft
Gear
Motor
Slackness
Oil level
Oil seal lip
Fig. 5-6 Cable sag
Fig. 5-7 Oil level
5. 3. 5 Gear installation
Install the gear based on Fig. 5-6 and the following precautions.
1. The oil level of the gear box should be below the oil seal lip, for a slight spraying effect on the lip.
2. Create a hole to prevent pressure build-up inside the gear box, as pressure can cause water or oil
to penetrate the oil seal and enter inside the motor.
3. If the motor is used with the shaft facing upwards, an oil seal should be used on the opposite side
of the mechanism as well. In addition, install a drain to expel the water or oil that may penetrate
through this oil seal.
5. 3. 6 Integration with the target machinery
1. Use
Fig, 5-7 as a reference for correct centering of the motor shaft and the target machinery.
Please note when using a rigid coupling that even a slight mistake in centering can damage the
output shaft.
Measured at all 4 locations, the
difference between the maximum
and the minimum should not
exceed 3/100mm
(coupling rotates jointly)
Fig. 5-8 Centering
5-8
5. Installation
2. Do not subject the motor shaft to shock, as the precision encoder is directly connected to it. If it
is inevitable to hit the motor for position adjustment or other reasons, use a rubber or plastic
hammer and hit the front flange area.
Correct!
Incorrect!
3. If mounting to a machine, create enough mounting holes for smooth coupling of the motor flange
rabbet.
The mounting surface should be flat, otherwise damage to the shaft or the load may occur.
4. Use the screw at the end of the shaft for installing parts such as the gear, pulley, or coupling, to avoid
shock.
Correct!
Incorrect!
Bolt
Pulley
Plate
Pulley
5.Tapered motor shafts transmit the torque via the tapered surface. Make sure the key fits without
rattling. The tapered surface contact should be no less than 70%.
6. Use a special tool for removing the gear, pulley, etc.
Correct!
Incorrect!
Taper
Extracting tool
7. If a belt-drive is used, verify that the gear reduction value of the belt tension does not exceed the
tolerance values listed in Tables 5-1 and 5-2.
5-9
5. Installation
5. 3. 7 Allowable bearing load
1. Tables 5-1 shows the allowable bearing load of the servo motors. Maximum thrust load and radial
load values should not be exceeded.
The thrust load and radial load tolerance values assume individual application to the shaft.
Table 5-1 Q-series radial load and thrust load tolerances (200VAC input type)
Model
Q1
Q2
R2
Q1AA04003
Q1AA04005
Q1AA04010
Q1AA06020
Q1AA06040
Q1AA07075
Q2AA04006
Q2AA04010
Q2AA05005
Q2AA05010
Q2AA05020
Q2AA07020
Q2AA07030
Q2AA07040
Q2AA07050
Q2AA08050
Q2AA13050
R2AA04003
R2AA04005
R2AA04010
R2AA06010
R2AA06020
R2AA06040
R2AA08075
Radial load(N)
FR
98
150
150
390
390
590
150
150
200
200
250
250
250
250
250
590
1700
98
150
150
150
390
390
590
Assembly
Thrust load(N)
F direction
F 1 direction
78
78
98
98
98
98
200
200
200
200
390
390
98
98
98
98
200
150
200
150
200
150
490
200
490
200
490
200
490
200
780
290
1300
1300
78
78
98
98
98
98
98
98
200
200
200
200
390
390
Radial load(N)
FR
49
98
98
200
250
340
98
98
150
150
200
200
200
250
250
340
490
49
98
98
98
200
250
340
Operation
Thrust load(N)
F direction
F1 direction
29
29
29
29
29
29
78
78
98
98
200
200
29
29
29
29
78
78
78
78
78
78
98
98
98
98
98
98
98
98
200
200
290
290
29
29
29
29
29
29
29
29
68
68
68
68
200
200
Table 5-2 Q-series radial load and thrust load tolerances (100VAC input type)
Model
Q1
Q2
Q1EA04003
Q1EA04005
Q1EA04010
Q1EA06020
Q2EA04006
Q2EA04010
Q2EA05005
Q2EA05010
Q2EA05020
Q2EA07020
Radial load(N)
FR
98
150
150
390
150
150
200
200
250
250
Assembly
Thrust load(N)
F direction
F 1 direction
78
78
98
98
98
98
200
200
98
98
98
98
200
150
200
150
200
150
490
200
Radial load(N)
FR
49
98
98
200
98
98
150
150
200
200
Operation
Thrust load(N)
F direction
F1 direction
29
29
29
29
29
29
78
78
29
29
29
29
78
78
78
78
78
78
98
98
LR
LR/3
x The radial load tolerance value is
the maximum load that can be
applied at the point measuring 1/3
of the distance from the tip of the
output shaft.
(Refer to Fig. 5-9.)
Thrust load
F direction
F1 direction
Point load FR
Fig. 5-9 Radial load position
5-10
5. Installation
5. 3. 8 Cable installation considerations
1. Make sure that no stress is applied to the cable and that it is undamaged.
2. If the servo motor is installed in a moving location, make sure that no excessive stress is applied
to the cable, by allowing a large bending radius.
3. Avoid pulling the cable over sharp objects such as cutting scrap that can damage its exterior.
Make sure the cable is not touching any machinery, and that it is out of the path of people and
machines.
4. Prevent bending or additional weight stress on the cable connection by clamping the cable to the
machinery.
5. In applications where the motor or the cable is moving using a cable bear, the bending radius
should be based on the required cable-life and the type of cable used.
6. Install the cables of moving parts in a manner that permits easy regular replacement. Consult
with your distributor or sales office for recommendations, if you use cables for moving parts.
5-11
5. Installation
5-12
6. Operations
6. Operations
6.1 Power ON/OFF sequence
6.1.1 Power ON -> Servo ON sequence
6.1.2 Servo OFF - Power OFF sequence
6.1.3 Sequence when power is turned OFF when servo is ON
6.2 Sequence-related functions
6.2.1 Forced electric discharge selection
6.2.2 Holding brake excitation function and sequence
6.2.3 Brake function and sequence
6.2.4 Forced stop function and sequence
6.2.5 Brake operation start time
6.3 Alarm sequence
6.3.1 Sequence during dynamic brake
6.3.2 Sequence during servo brake
6.3.3 Alarm reset sequence
6.4 Display on the Amplifier Unit
6.5 Digital operator
6.5.2 Various modes
6.5.5 General parameter mode
6.5.7 Test run mode
6.5.9 Alarm trace / CPU version mode
6.5.10 Monitor mode
6-1
････････････････
････････････････
････････････････
････････････････
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････････････････
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････････････････
････････････････
････････････････
････････････････
････････････････
････････････････
････････････････
････････････････
････････････････
････････････････
････････････････
････････････････
････････････････
････････････････
6-2
6-2
6-3
6-3
6-4
6-4
6-4
6-5
6-8
6-10
6-13
6-13
6-14
6-15
6-16
6-17
6-17
6-18
6-19
6-20
6-21
6-24
6-25
6-28
6-29
6-30
6. Operations
6. 1 Power ON/OFF sequence
Various sequences can be managed by setting various parameters in the R series amplifier. Read this section referring
to Chapter 7 “Parameters”, in which various parameters are described.
6. 1. 1 Power ON -> Servo ON sequence
Control source input
( r, t )
Power ON permission signal
*1.(generic output)
Main power supply input
(R, S, T)*2
EMR signal input
Control source ON
Max 20 sec
Min 0 msec
Can be turned on
simultaneously
EMR signal input status
Rush current
prevention
time
EMR signal input release status
2sec
Min 0 msec
Operation setup completion signal
*3.
Max 100 ms
Dynamic brake operation
Dynamic brake OFF
（ DBOFF ）
Servo ON signal
*4
Servo ON
( SON )
Motor excitation
Command acceptance permission
signal
Holding brake release delay time set value
(BOFFDLY)
Command acceptance
permission
Motor rotation
Motor speed
*1 Power ON permission signal is output from generic output when selecting power ON permission signal
output at amplifier unit GroupA. This signal need not be used depending on the system configuration.
*2 The frequency of the power ON/OFF of the servo amplifier must be less than 5 times/hour and less than
30times/day. => Refer to 6.2.1.
*3 During initialization of the servo amplifier or in alarm status or EMR input status, operation setup
completion signal is not output.
*4 Servo ON signal must be input while the motor stops. If being input during motor rotation, an alarm
(servo ON error: 28H) is detected.
6-2
6. Operations
6. 1. 2 Servo OFF - Power OFF sequence
Control source
( r, t )
Control source OFF
Min 0 sec
Can be turned off
simultaneously.
*1
Main power supply
(R, S, T)
Main circuit power OFF
EMR signal input
Operation ready
OFF
Dynamic brake ON
( DBON )
Servo ON signal
Motor excitation
output
Servo OFF
( SOFF )
Holding brake delay time set value
(BONDLY)
Motor free
Command acceptance
prohibition
Motor speed
Motor stop
6. 1. 3 Sequence when power is turned OFF when servo is ON
Control power
( r, t )
Min 0 sec
*1
Control power OFF
Main power supply input
(R, S, T)
Main circuit power
OFF
Operation setup
completion output
OFF( Low )
Servo ON signal input
Motor excitation
Dynamic brake ON
( DBON )
Servo ON
( SON )
(BONDLY)
output
Motor free
Command acceptance
prohibition
Motor speed
Motor stops.
*1 Control power must be shut off at the same time or after the main circuit power shut off.
6-3
6. Operations
6. 2 Sequence related functions
In the R series servo amplifiers, sequence timing or operations can be managed and changed by setting various
parameters.
6. 2. 1 Forced electric discharge selection
If the frequency of the power ON/OFF of the servo amplifier is less than 5 times/hour and less than 30 times/day,
the forced electric discharge funtion will attempt to compensate.
To raise the frequency of the main power supply ON / OFF sequence, set the parameter so that the main power
supply is OFF in such a way that the discharge process is not performed.
Take care in this case, however, since electricity is being charged at the main circuit capacitor even if the main circuit
is shut off.
Forced electric discharge selection: Power unit, Group0 Page1
Standard setting is ”01H”, which means function enable. Set to ”00H”, function disabled, if forced discharge is not
desired.
While the main power supply is OFF, repeated “ON / OFF” cycling of the main power supply by the
discharge function at frequent intervals during operational status may cause burning of the
amplifier and power input circumference circuit, and eventual failure.
6. 2. 2 Holding brake excitation function and sequence
When using a holding brake with the servo motor, it is possible to change the excitation time of the servo motor during
the operation and release of the brake. Set this function with the following parameters:
Holding brake operation delay time (BONDLY): Amplifier unit, GroupB Page13
Holding brake operation release delay time: Amplifier unit, GroupB Page14
When the input value is 0msec, the command becomes invalid within 4msec after SON.
Servo ON (SON)
Servo OFF (SOFF)
Motor Excitation (GATE ON)
Motor Excitation
Motor Excitation OFF (GATE OFF)
Holding brake release
Holding brake
Excitation signal
Holding brake hold
Command permission
output
Command acceptance prohibited
（BOFFDLY）
6-4
（BONDLY）
6. Operations
6. 2. 3 Brake function and sequence
This function is valid from the start of operation (Servo ON status), until a Servo OFF signal is received.
The method for stopping the servo motor (free run operation / dynamic brake operation / servo brake operation) is selected when
specifying the Servo OFF signal. The servo motor status after stopping (motor free / dynamic brake status) is also determined in the
same way. Select these combined conditions from the dynamic brake operation parameters listed below.
It is possible to set the conditions for stopping the motor (motor speed) with the parameter zero speed range (ZV). IF the motor
speed is within the set range, it will be detected as zero speed status.
Zero speed range (ZV)
Set value at Group B
Page10
00H
01H
02H
03H
04H
05H
● Operation description
Free run operation
: Amplifier unit, GroupB Page10
: Amplifier unit, Group8 Page42
Motor operation
When servo is OFF
After stopping the motor
Free run operation
Motor free operation
Free run operation
Servo brake operation
Sequence
6. 2. 3. 1
6. 2. 3. 2
6. 2. 3. 3
6. 2. 3. 4
6. 2. 3. 5
6. 2. 3. 6
Motor status: current is not passed, not excited. Motor stops due to friction of the machine.
Motor status: short circuit in the electric circuit of servo motor; motor is stopped at once.
Motor status: speed command is forcibly set to “zero speed”, output torque is controlled and
stopped. Possible to change the limit value of output torque with the following parameters:
Torque limit value during sequence operation: Amplifier unit, Group 8 Page37
Motor status: current is not passed, not excited. Motor stops due to machine friction.
6. 2. 3. 1 Servo OFF: Free run operation + After motor stop: Motor free operation
When servo is ON.
When servo is OFF
After stopping the
motor
When servo is ON
Servo ON (SON)
Servo OFF (SOFF)
Motor excitation (GATE ON)
Motor excitation
Command acceptance
permission output
Motor excitation OFF (GATE OFF)
Command acceptance prohibition
(BOFFDLY)
Command
permission
Dynamic brake OFF
(DBOFF)
Motor rotation
Motor operation
Motor free
6-5
6. Operations
6. 2. 3. 2 Servo OFF: Free run operation+After motor stop: Dynamic brake operation
When servo is ON.
When servo is OFF. After stopping the
When servo is ON
motor
Servo ON (SON)
Servo OFF (SOFF)
100ms
Motor excitation
Motor excitation OFF
(GATE OFF)
Command acceptance permission output
(BOFFDLY)
Command
permission
Dynamic brake operation (DBON)
Dynamic brake OFF (DBOFF)
DBOFF delay time
Max100ms
Motor rotation
Motor operation
Motor free
Holding brake operation delay time set value
(BONDLY)
6. 2. 3. 3 Servo OFF: Dynamic brake operation+After motor stop: Motor free operation
When Servo is ON.
When Servo is OFF.
After stopping the
motor
When servo is ON.
Servo ON (SON)
Servo OFF (SOFF)
Motor excitation
(BOFFDLY)
(DBON)
Command
acceptance
prohibition
Command permission
Holding brake operation
delay time set value(BONDLY)
Motor rotation
Motor operation
Motor free
Zero velocity range
*1
6. 2. 3. 4 Servo OFF: Dynamic brake operation + After motor stop: Dynamic brake operation
When servo is ON.
When servo is OFF.
After stopping the motor When servo is ON.
Servo ON (SON)
Servo OFF (SOFF)
100ms
Motor excitation
Command acceptance permission output
(BOFFDLY)
Command permission
Dynamic brake operation(DBON)
DBOFF delay time
Max100ms
Motor rotation
Motor operation
Motor free
6-6
6. Operations
6. 2. 3. 5 Servo OFF: Servo brake operation+After motor stop: Motor free operation
When servo is ON. When servo is OFF.
After stopping the motor
When servo is ON.
Servo ON (SON)
Servo OFF (SOFF)
Motor excitation
Motor excitation OFF
(GATE OFF)
Command acceptance
permission output
(BOFFDLY)
Command permission
Command acceptance
prohibition
Dynamic brake OFF （DBOFF）
Motor rotation
Motor operation
Motor free
Zero velocity range
*1
6. 2. 3. 6 Servo OFF: Servo brake operation+After motor stop: Dynamic brake operation
When Servo is ON When Servo is OFF
After Motor stop
When Servo is ON
Servo ON (SON)
Servo OFF (SOFF)
Motor Excitation (GATE ON)
Motor Excitation
Motor Excitation OFF
(GATE OFF)
Command acceptance
permission output
Command permission
Command acceptance
prohibited
Dynamic brake
operation(DBON)
DBOFF delay time
Max100ms
Motor operation
Holding brake release delay time ser value
(BOFFDLY)
Motor rotation
Motor free
Zero velocity range
*1
*1 Judgment for motor stoppage to start the dynamic brake operation is made by zero velocity range (ZV)
set value of the generic parameters. (Amplifier unit Group 8 Page 42, Zero velocity range set value)
Therefore, after confirming it within the ZV range, dynamic brake is turned ON or delay counter starts to
set the holding brake operation delay time and to turn ON the dynamic brake.
6-7
6. Operations
6. 2. 4 Forced stop (Power OFF / EMR input ) function and sequence
This function is valid from Servo ON status (operating) until the main circuit power supply is disconnected and when EMR signal is
input from the host device.
When the main circuit power is disconnected or when an emergency stop (EMR) signal is input , the operation method for stopping
the servo motor (servo brake stop or dynamic brake stop) is selected.
Make selection from the following parameters:
Forced stop operation:Amplifier unit, GroupB Page12
Set value at Group B
page 12
Forced stop selection
00H
Servo brake
01H
Dynamic brake
Forced stop operation
Emergency stop (EMR)
Emergency stop (EMR)
Sequence
6. 2. 4. 1
6. 2. 4. 2
6. 2. 4. 3
6. 2. 4. 4
When dynamic brake is selected and an alarm for a servo brake stop is detected, bring the servo motor to a stop with the dynamic
brake. (Refer to “Chapter 6. 3.”)
● Operation description
In this operation, the speed command is forcibly set to “Zero speed”, the output torque is
controlled, and the motor is stopped. It is possible to change the limit value of output torque with
the following parameters:
Torque limit value during sequence: Amplifier unit, Group 8 Page 37
In this operation, there is a short in the electric circuit of the servo motor and the motor is
stopped at once.
6. 2. 4. 1 Servo brake forced stop operation (when main circuit power OFF)
Main circuit power input
Main circuit
power supplied
Main circuit power shut OFF
Command acceptance
permission output
1.5 cycles
Servo ON (SON)
(BONDLY)
Motor Excitation
Motor operation
Motor Excitation
(GATE ON)
Dynamic brake OFF
(DBOFF)
Dynamic brake ON (DBON)
Motor rotation
Motor stop
Zero velocity range
*1
6-8
Motor free
6. Operations
6. 2. 4. 2 Servo brake forced stop operation
EMR input
Command acceptance
permission output
Motor Excitation
EMR signal input
being released
Command
permission
Servo ON
(SON)
(BONDLY)
Motor Excitation
(GATE ON)
Dynamic brake OFF
（DBOFF）
Motor operation
(Emergency stop by EMR input))
Motor rotation
Motor stop
Zero velocity range
*1
Motor free
6. 2. 4. 3 Dynamic brake forced stop operation (when main circuit power OFF)
Main circuit power
Main circuit
power supplied
Command acceptance
permission output
1.5 cycles
Servo ON signal
Servo ON (SON)
Motor Excitation
Motor Excitation
(GATE ON)
Motor operation
Dynamic brake OFF
(DBOFF)
Motor rotation
Motor stop
Motor free
6. 2. 4. 4 Dynamic brake forced stop operation (emergency stop by EMR input)
EMR input
Command acceptance
permission output
EMR signal input
Being released
Command
permission
Servo ON (SON)
Motor Excitation
Motor Excitation
(GATE ON)
Dynamic brake
OFF(DBOFF)
Motor rotation
Motor operation
Motor stop
Motor free
6-9
6. Operations
6. 2. 5 Brake operation start time (BONBGN)
This function is used to control the gravitational axis (vertical axis).
Brake operation start time
Setting range
: Amplifier unit, GroupB Page15
: 0 - 65535 msec ( “0” msec function is invalid.)
Zero velocity range (ZV)
Setting range
: Amplifier unit Group8 Page42
-1
: 50 - 500 min
If the motor does not stop within the set time of brake operation start time, from Servo ON status to Servo OFF status (where
motor speed has not reached below the value of “Zero velocity range [ZV]”), stop the motor with both the holding brake and
dynamic brake. In this situation, the motor is stopped with both holding brake and dynamic brake (6.2.5.1) regardless of the
selected operation for motor stop during servo OFF signal input/setting of brake selection after stopping the motor. Only the
holding brake operates when the servo is OFF and dynamic brake is ON (6.2.5.2).
Group B Page10 (Selection of dynamic brake operation)
Set value
Contents
00H / 01H
Free run operation when servo is OFF
Servo brake operation when servo is
04H / 05H
OFF
Dynamic brake operation when servo is
02H / 03H
OFF
Input
Servo OFF
Sequence
6. 2. 5. 1
6. 2. 5. 2
When the motor s tops within the selected value of brake operation (when the motor speed is below the setting value of “Zero
velocity range [ZV]”), this setting will not function per the normal status. Refer to the sequence 6.2.3.
When the motor brake operation start time has been set, and power is interrupted to stop the motor during motor operations
(“motor not stopped“ status), this sequence changes per the conditions (servo brake operation/dynamic brake operation) of
“Forced stop operation: Amplifier unit, GroupB Page12”.
Group B Page12 (Selection of forced stop operation)
Set value
Contents
00H
Servo brake
01H
Dynamic brake
Input
Power shut-off
Sequence
6. 2. 5. 3
6. 2. 5. 4
6. 2. 5. 1 If free run or servo brake operation are selected, when servo is off and motor does not stop within brake
operation start time.
Servo ON signal
input
Command
acceptance
permission output
Servo ON (SON)
Servo OFF (SOFF)
Command
permission
brake start time set value
(BONBGN)
Command
acceptance
prohibited
Holding brake
release
Holding brake hold
Holding brake
Excitation signal
Dynamic brake OFF(DBOFF)
Dynamic
Brake operation
Stop by DB
Motor rotation
Motor stop
Motor operation
Zero velocity range
Holding brakes may be damaged if the brake operation start time (BONBGN) is extended, as the holding
brakes are continuously applied.
6-10
6. Operations
6. 2. 5. 2 If dynamic brake operations are selected, when servo is off and motor does not stop within brake
operations start time
Servo ON signal
input
Servo OFF (SOFF)
Servo ON (SON)
Command
acceptance
permission output
Holding brake
excitation signal
Dynamic brake
operation
Command permission
Brake start time set value
(BONBGN)
Command acceptance
prohibited
Holding brake hold
Motor stop
Motor operation
Motor rotation
Zero velocity range
6. 2. 5. 3 If servo brake operations are selected, when main circuit power is shut off and motor does not stop within
brake operation start time
Main circuit power
input
Main circuit power
supplied
Servo ON (SON)
Servo ON signal
input
Command
acceptance
permission output
Command
permission
1.5 cycles
(BONBGN)
Command acceptance
prohibited
Holding brake hold
Holding brake
excitation signal
Dynamic brake
operation
Stop by DB
Motor rotation
Motor stop
Motor operation
Zero velocity range
6-11
6. Operations
6. 2. 5. 4 If dynamic brake operations are selected, when main circuit power is shut off and motor does not stop
within brake operation start time
Main circuit power
input
Servo ON signal
input
Command
acceptance
permission output
Main circuit power
supplied
Servo ON (SON)
Command
permission
1.5 cycles
Command acceptance
prohibited
(BONBGN)
Holding brake hold
Holding brake
excitation signal
Dynamic brake
operation
Motor rotation
Motor stop
Motor operation
Zero velocity range
6-12
6. Operations
6. 3 Alarm sequence
There are 2 different sequences for stop operation (DB, SB) available at the time of alarm detection. As the stop operation
differs per the alarm type,
confirm the selected stop operation in “Chapter 9, Maintenance, List of Operations at the Time of Alarm Detection”.
・ DB operation : Slows down and stops the servo motor with the dynamic brake upon alarm. (Sequence 6. 3. 1)
・ SB operation : lows down and stops the servo motor with a sequence current limiting value. (Sequence 6. 3. 2)
When dynamic brake operation is selected as a forcible stop operation, alarm detection will initiate dynamic brake operations to
slow down and stop the servo motor.
Related parameter : Amplifier unit, GroupB Page12
Install a safety circuit, as shown in the following figure, so that the main power supply can be cut off immediately when the
alarm rings.
Check the alarm status on the unit’s front LED display and proceed according to “Chapter 9, In Case of Alarm”. Failure to
follow the procedures outlined in “Chapter 9, In Case of Alarm” may lead to failure of the external amplifier and/or peripheral
device, and fire.
6. 3. 1 Sequence during dynamic brake
Inner status
(Alarm)
Servo ON signal
input
Command
acceptance
permission output
Normal
operration
Alarm status
Servo ON (SON)
Command
permission
Motor excitation
(GATE ON)
Motor excitation
Dynamic brake
operation
Holding brake hold
Holding brake
excitation signal
Motor operation
Motor rotation
Motor stop
6-13
Motor free
6. Operations
6. 3. 2 Sequence during servo brake
Inner status
(Alarm)
Servo ON signal
input
Command
acceptance
permission output
Normal
operation
Alarm status
Servo ON (SON)
Command
permission
Motor excitation
（GATE ON）
Motor excitation
Dynamic brake
operation
Holding brake
excitation signal
Motor operation
(BONDLY)
Holding brake hold
Motor rotation
Motor stop
Zero velocity range
6-14
Motor free
6. Operations
6. 3. 3 Alarm reset sequence
The procedure to reset an alarm by the alarm reset signal input will follow the sequence described in the figure below. The
alarm cannot be reset unless the power is switched ON, following a power OFF based on the conditions of the alarm. For more
detailed explanation, see “Chapter 9, Maintenance, Alarm Clear in Alarm List”.
20msec or longer
Alarm reset signal
Inside status
(Alarm)
Servo ON signal
Alarm release
Alarm status
servo ON (SON)
Servo OFF (SOFF)
6-15
6. Operations
6. 4 Display on the Amplifier Unit
The LED display on the front of the amplifier unit tells its status.
Table 6-1 LED Display on the amplifier unit
LED display
POW LED (green)
ALM LED (red)
STA LED (green)
Status
When this is on, amplifier unit control power of +5V is established.
When this is on, alarm is issued at the amplifier unit.
Quick blinking (at frequency of 128msec): Communication not established.
Slow blinking (at frequency of 256msec): Communication established. Initial bank not received.
Slower blinking (at frequency of 512msec): Servo amplifier initialization is in process.
When this is ON: Servo amplifier initialization completed.
Blinking at frequency of 1024msec: Motor excitation ON.
6-16
6. Operations
6. 5 Digital Operator
The power supply unit has an internal digital operator which has 5 digit 7 segment LED and 4 keys. It is possible to
set and change the parameters of the power supply unit, to perform test run, to display the status, and to monitor and
trace the alarms. Adjustment, test run, status display and monitoring of the amplifier unit are also possible.
[▲]Up key
7 segment LED display
[MODE]
MODE switch key
[▼]Down key
MODE
MODE
Display
Digital display
WR
MODE
►
▲▼
[WR] / [►]
Cursor movement, decision, and write key
WR
WR/
Function
Displays monitor value or parameter setting value in 5 digits.
To input MODE selections and save the edited data.
Changes the MODE.
Cursor key. Changes the cursor position.
To change pages and edit the data.
Input time
―――
1 second or longer
Within 1 second
Within 1 second
Within 1 second
Displays by Cursor key and U/Down key
● Up and Down from “1 to 9”
Press the Up key, and the blinking numeric value of LED display will increase. Press the Down key, and the
numeric value decreases.
● Up from “9”
Press the Up key, and the numeric value at cursor position increases and shifts to the left digit.
● Down from “0”
Press the Down key, and the numeric value at cursor position decreases and the numeric values in the left of
cursor position shift to the right. If there is no numeric value in the left of cursor position, all the left digits from
cursor position show 9 with a right shift.
6-17
6. Operations
6.5.2 Various modes
It is possible to display the status, to set the parameters, to confirm test operation, alarm trace and monitor
display with the built-in digital operator.
Mode
Status display
[Gr]
Generic parameter
[Au]
Auto-adjustment
[Ad]
Test operation
[Sy]
System parameter
[AL]
Alarm trace
CPU version
[ob]
Monitor
Contents
D i s p l a y s t h e e s t a b l i s h m e n t o f c o n t r o l o r m a i n p o we r s u p p l y , S e r v o
O N , o v e r - t r a v e l , wa r n i n g a n d a l a r m s t a t u s .
P a r a m e t e r s r e l a t e d t o p o we r s u p p l y u n i t c a n b e s e t .
Classified into 2 groups according to the contents.
Group
Group0
Group1
Description of Group
Settings related to sequence
S e t t i n g s r e l a t e d t o s e t u p s o f t wa r e .
Torque command notch filter A and vibration suppressing
frequency can be automatically adjusted.
Enables alarm reset and alarm trace clear.
S e t s t h e p a r a m e t e r s r e l a t e d t o p o we r s u p p l y u n i t s p e c i f i c a t i o n s .
D i s p l a y s t h e l a t e s t 7 a l a r m e v e n t s , a s we l l a s t h e p o we r s u p p l y
u n i t C P U s o f t wa r e v e r s i o n .
D i s p l a y s t h e s e r v o a m p l i f i e r i n n e r s t a t u s s u c h a s v e l o c i t y, t o r q u e
command, position deviation, absolute position, and alarms
issued in the amplifier unit.
6-18
6. Operations
Change the modes in the order as shown below by pressing the MODE key.
Power supply ON
Status display
MODE
Monitor
☜
MODE
Alarm trace/CPU_Ver
☜
MODE
☞
System parameter
MODE
☞
MODE
☞
General parameter
MODE
Auto-adjustment
☞
MODE
☞
6-19
Test run
6. Operations
In the status display mode, various conditions of the servo amplifier are displayed as shown below.
Servo amplifier status
Marking
Control power supply established. 2nd digit (axis No.) blinking
Control power supply (r, t) has been setup. (Amplifier unit not connected.)
Control power supply established.
Control power supply (r, t) has been setup.
Main power supply being established.
Main power supply (R,S,T) has been setup.
Main power supply established.
Main power supply (R,S,T) has been setup, and operation ready
completion signal is “ON”.
Servo ON status.
Rotates in the shape of “8”.
Over-travel status at normal rotation
Forward rotation Is in over-travel status.
Over-travel status at reverse rotation
Reverse rotation is in Over-travel status.
Regenerative operation in process.
Regenerative operation is in process.
Overload warning status.
If operation is kept on, alarm may occur.
Regenerative overload warning status
If operation is kept on, alarm may occur.
Battery warning status
Replace the battery.
Over-current warning status at power supply unit
If kept operating, the power supply unit may break.
Alarm display
When an alarm rings, the 4th digit shows the axis number where the alarm occurs
(L is for the power supply unit), and the 1st and 2nd digits show the alarm code.
To get rid of the alarm status, take corrective actions as instructed in Chapter 9,
Maintenance.
6.5.4.1 Operation method
Step
Input key
1
――
2
3
Description
After the control power has been supplied, the axis number will blink
in the 2nd digit until the communication with the amplifier unit is
setup.
Display status
――
When communication with the connected amplifier unit is setup, the
nd
st
2 digit will turn ON with the 1 digit showing the status.
1-
▲▼
Pressing the Up key makes the axis number increase, and the Down
key decrease.
Selection from 1 to 6 is possible.
When the connected axis number is selected, the status turns ON.
When the un-connected one is selected, the axis number blinks and
the status display disappears.
23
6-20
1
6. Operations
6.5.5 Generic parameter mode
Generic parameter mode is classified into the following 2 pages and can be used for setting the parameters related to
the power supply unit.
(Use the setup software to edit the parameters of the amplifier unit.)
Group
Description of group
Group0
Settings related to sequence
Group1
Settings related to setup software
Step
1
Input key
MODE
Description
Display status
Press the MODE key to display generic parameter mode.
Gr
Displays the page automatically. After the power supply is turned ON,
“Group0” “Page00” is displayed. Then, the previously displayed page is
displayed.
Group No. is displayed here.
Gr0 .00
2
――
3
►
Press the cursor key, and the blinking LED moves. Move the blinking
LED to the desired group or page to be changed.
Gr0 .00
4
▲▼
Pressing the Up key increases the blinking numeric value LED and the
Down key decreases.
Gr0 .00
5
WR
6
►
7
▲▼
8
WR
On the group or page to be changed, press the WR key to display the
data.
Press the cursor key, and the blinking LED moves. Move the blinking
LED to the desired numeric value to be changed.
Pressing the Up key increases the blinking numeric value LED, and the
Down key decreases.
Press the WR key, and the LED blinks 3 times and the data is saved. If
not saved, the setting is out of range. Check the setting value.
00
00
10
10
9
MODE
Pressing the MODE key returns to step 2.
Gr0 .00
10
MODE
Pressing the MODE key again displays auto-adjustment mode.
Au
Parameter page No. is displayed here.
Note) If the setting is for groups or pages not supported, it means invalid and no reaction to the WR key.
6-21
6. Operations
6.5.5.2 Parameter list
Page
Standard set
value
Name
Unit
Setting range
Level
32
01H
01H
01H
ms
―
20 - 1000
00H - 01H
00H - 01H
00H - 01H
Ad
Ba
Ba
Ba
01H:_#1
02H:_38400bps
―
―
01H - 0FH
00H - 02H
Ba
Ba
Group 0[Settings related to sequence]
00
01
02
03
Power failure detection delay time
Selection enabling forcible discharge function
ALM1 output polarity selection
ALM 2 output polarity selection
Group 1[Settings related to Setup software]
00
01
Setup software communication axis number
Setup software communication baud rate
6.5.5.3 Details of parameters
Group 0 [Settings related to sequence]
Page
Contents
Power failure detection delay time [PFDDLY]
Setting range
Unit
20 - 1000
ms
Standard set
value
32
00
Sets the delay time from turning off the control power supply to
detection of the control power supply error. Larger set value means
slower detection.
(Larger set value will only result in slower detection of error. In case
of power failure of the internal logic circuit, the operation is the same
as when the control power is turned ON again. In case of energy
shortage of the main circuit power, other errors such as the main
circuit power loss may be detected.)
In this setting, actual detection delay time varies by 12ms and +6ms.
* The selected value is enabled after control power is turned ON
again.
01
Selection enabling forcible discharge function [DISCHARGE]
Selection for Enable / Disabled of the main circuit capacitor
discharge function.
Setting range
Standard set value
00H - 01H
01H:_Enable
* The selected value is enabled after control power is turned ON
again.
Selection
00H:_Disabled(No discharge)
01H:_Enable(Discharge if permitted.)
ALM1 output polarity selection [ALM1POL]
Polarity of ALM1 output terminal is selected.
Setting range
02
00H - 01H
Standard set value
01H:_Output OFF
during alarm.
Selection
00H:_Output ON during alarm.
01H:_Output OFF during alarm.
ALM2 output polarity selection [ALM2POL]
Polarity of ALM2 output terminal is selected.
Setting range
00H - 01H
Standard set value
01H:_Output OFF
during alarm.
03
Selection
00H:_Output ON during alarm.
01H:_Output OFF during alarm.
6-22
6. Operations
Group 1[Settings related to setup software]
Page
00
Contents
Setup software communication axis number [COMAXIS]
Select the axis number for communication with PC from the
Setting
contents below:
Standard set value
range
01H - 0FH
01H:_#1
* Enabled after turning ON the control power supply again.
Selection
01H:_#1
02H:_#2
Selection
03H:_#3
04H:_#4
Selection
05H:_#5
06H:_#6
Selection
07H:_#7
08H:_#8
Selection
09H:_#9
0AH:_#A
Selection
0BH:_#B
0CH:_#C
Selection
0DH:_#D
0EH:_#E
Selection
0FH:_#F
Setup software communication baud rate [COMBAUD]
Setting
range
00H - 02H
Standard set value
02H:_38400bps
01
Baud rate for communication with PC is selected from the
contents below:
* The selected value is enabled after control power is turned
ON again.
Selection
00H:_9600bps
01H:_19200bps
02H:_38400bps
6-23
6. Operations
Auto-notch frequency tuning and auto-vibration suppressing frequency tuning can be executed.
MODE
Page
Name
0
Execution of auto-notch frequency tuning
Au
Execution of auto-vibration suppressing frequency
1
tuning.
Step
Input key
1
MODE
Description
Status display
Press the MODE key to display the auto-adjustment mode.
Au
nd
Axis number is automatically displayed in the 2 digit, page number
is in the 1st digit.
st
After the power is supplied, [1 axis, Page0] is displayed.
Then the previously displayed axis and page numbers are displayed.
Pressing the cursor key makes the blinking LED move. Move the
blinking LED to the desired page to be changed.
Au 1 .0
2
――
3
►
4
▲▼
Pressing the UP key increases the blinking LED numeric value and
the Down key decreases.
Au 1 .1
Au 2 .1
5
WR
On the page to be changed, press the WR key, and confirmation of
execution will appear.
_y _ n_
▲
For execution, press the ▲ key.
Proceed to step 7.
▼
For cancellation, press the ▼ key, and return to step 2.
Au 1 .1
---
If possible for execution, “rdy” will appear. Proceed to step 8.
Note1)
rdy
---
If not possible for execution, “no.rdy” will appear. Press the MODE
key to return to step 2.
no .rdy
MODE
Press the MODE key to abort the auto-adjustment operation and
proceed to step 11.
6
7
8
WR
9
Au 1 .0
8
Press the WR key for execution.
r.u.n.
If terminated normally, “-End-” will appear.
If abnormally terminated, “-Err-” will appear.
- End - Err -
10
MODE
Press the MODE key to return to step 7.
rdy
11
MODE
Terminate with the display of “AL_dF”.
AL
.
dF
Note) When un-supported axis number and page are set, it is invalid, and there is no reaction to the WR key.
If pressing the MODE key while auto-vibration suppressing is in process (step 8), the operation will abort
and proceed to step 11.
Note1) If the main circuit power supply is shut off during tuning operation, turn ON again the main power or
control power.
6-24
6. Operations
6.5.7 Test run mode
Executions are possible for alarm resetting and alarm trace clear of the power supply unit, and JOG operation, alarm
resetting,, encoder clear, alarm trace clear and auto-tuning result writing of the amplifier unit.
MODE
Page
Name
Power
Amplifier
~
0
JOG operation
~
~
1
Alarm resetting execution
Ad
~
2
Auto-tuning result writing
~
3
Encoder clear
~
~
4
Alarm trace clear execution
Step
Input key
1
MODE
Description
Display status
Ad
Press the MODE key to display test run mode.
nd
Axis number is automatically displayed in the 2 digit and page is in
st
the 1 digit.
After the power is supplied, [Power supply unit, Page0] is displayed.
Then, the previously displayed axis number and page will appear.
“P” in axis number indicates the power supply unit, and “1” to “6”
indicate the amplifier unit.
Press the cursor key to move the blinking LED.
Move the blinking LED to the page to be changed.
Ad P .0
2
――
3
►
4
▲▼
Pressing the UP key makes the blinking LED numeric value
increase, and the DOWN key decrease.
Selection from 1 to 6 + power supply unit is possible.
Ad P .1
Ad 1 .1
5
WR
On the page to be executed, press the WR key, and confirmation of
execution will appear.
_y _ n_
▲
For execution, press the ▲ key.
Proceed to step 7.
▼
For cancellation, press the ▼ key to return to step 2.
Ad 1 .0
---
If execution is possible, “rdy” will appear. Proceed to step 8.
Note 1)
rdy
---
If not possible, “no.rdy” will appear. Press the MODE key to return to
step 2.
no .rdy
6
7
Ad P .0
Note) On and after step 8, the display and operations differ depending on the function in use.
See the following pages for separate descriptions of each function.
6-25
6. Operations
Method for JOG Operation
Input key
Step
MODE
8
Press the MODE key for cancellation and to proceed to step 10.
Display status
AL
dF
WR
Pressing the WR key displays a number of “8” in servo ON status.
Note 2)
▲
Press the ▲ key, and the motor shaft rotates to CCW direction.
(Dot moves.)
Note 2)
r.u.n.
.
8
▼
Press the ▲ key, and the motor shaft rotates to CW direction.
(Dot moves.)
Note 2)
r.u.n.
.
8
9
10
Description
8
Note) Command speed at the time of JOG operation shall be set at “GroupB Page00 of each amplifier
unit”.
-1
If not changed, the rotation will be “50min ” , which was set at the time of shipment.
Press the MODE key, and JOG operation will end.
MODE
The display shows “AL_dF”, which is not an error.
AL
dF
Note1) Maintain servo OFF status while executing JOG operation.
Note2) If the main circuit power is shut OFF during JOG operation, turn ON again the main power supply or
control power supply.
Note3) While the power supply unit is selected, function is invalid.
Alarm resetting method
Step
Input key
MODE
8
WR
9
MODE
Description
Display status
For cancellation, press the MODE key to return to step 2.
Ad 1 .1
Press the WR key to reset the alarm, and “-End-” will be displayed.
While “-Err-” is displayed, alarm cause is not yet eliminated. Take
the corrective actions as instructed in “Chapter 9, Maintenance”.
- End - Err -
Ad 1 .1
Method for auto-tuning result writing
Step
Input key
MODE
8
WR
9
MODE
Description
Display status
Press the MODE key for cancellation and to return to step 2.
Ad 1 .2
Press the WR key, and the auto-tuning result is saved with the
display of “-End-”. If “-Err-” is displayed, there may be a low control
power alarm. Eliminate the alarm cause as instructed in “Chapter 9,
Maintenance.
- End - Err -
Ad 1 .2
6-26
6. Operations
Method for encoder clear
Step
Input key
MODE
8
WR
9
MODE
Description
Display status
Ad 1 .3
- End - Err -
Ad 1 .3
Method for alarm trace clear
Step
Input key
MODE
8
WR
9
MODE
Description
Display status
Ad 1 .4
- End - Err -
Ad 1 .4
6-27
6. Operations
Set the system parameters related to the power supply unit.
MODE
Page
Name
00
Main circuit power supply input type
Sy
01
Regenerative resistor selection
Setting range
2 ways(1 way)
3 ways
Step
Input key
1
MODE
Description
Press the MODE key to display the system parameter mode.
Page is automatically displayed. After the power source is turned
ON, “Page 00” is displayed then the previously displayed page is
displayed.
blinking LED to the page to be changed.
Display status
Sy
Sy
00
Sy
00
Sy
01
2
――
3
►
4
▲▼
5
WR
On the page to be changed, press the WR key to display the data.
01
6
►
blinking LED to the page to be changed.
01
7
▲▼
Pressing the UP key increases the blinking numeric value and the
DOWN key decreases.
01
8
WR
Press the WR key, and the display will blink 3 times to write the data.
If writing is impossible, the numeric value is out of the setting range.
Check the setting value again.
02
9
MODE
Press the MODE key to returns to step 2.
Sy
10
MODE
Press the MODE key, and alarm trace/CPU version mode is
displayed.
AL
Pressing the UP key increases the blinking numeric value and the
DOWN key decreases.
01
Note) When un-supported page is set, it is invalid, and there is no reaction to the WR key.
6.5.8.2 Details of system parameters
Page
Contents
Selection of the input power type supplied to the main
circuit.
Depending on the hardware type, the setting range varies.
Main circuit power source input type
* Enabled after the control power source is turned ON.
00
Set value
Contents
3 phase AC power is supplied to the
main circuit.
Single phase AC power is supplied to
the main circuit.
00:_AC_3-phase
01:_AC_Single-phase
Selection of regenerative resistor to be connected.
* Enabled after the control power source is turned ON.
0B
Set value
00:_Not_connect
01:_Built-in_R
02:_External_R
Contents
Regenerative resistor not connected.
Built-in regenerative resistor is used.
External regenerative resistor is used.
6-28
6. Operations
6.5.9 Alarm trace/CPU version mode
It is possible to check the latest 7 alarms issued in the power supply unit and the CPU software version.
ＭＯＤＥ
AL
Page
n
1
2
3
4
5
6
7
Name
Current alarm
st
1 latest alarm
nd
2 latest alarm
rd
3 latest alarm
th
4 latest alarm
th
5 latest alarm
6the latest alarm
7the latest alarm
CPU software version
Step
Input key
1
MODE
2
――
Description
Display status
Press the MODE key to display the alarm trace mode.
AL
Page is automatically displayed. After the power source is turned
ON, “Current alarm” is displayed, then the previously displayed page
is displayed.
Aln .61
AL1 .71
3
▲▼
Alarm trace from n to 7, and CPU version will be displayed in turn.
AL7 .71
P * .** .*
4
MODE
Press the MODE again to display the monitor mode.
6-29
Ob
6. Operations
6.5.10 Monitor mode
6.5.9.1 Monitor data list
Page
Name
00
01
02
03
04
05
06
08
Servo Amplifier Status 1
Servo Amplifier Status 2
Warning Status 1
Warning Status 2
CPU version
Alarm Code
Velocity Monitor
Torque Command
Monitor
Position Deviation Monitor
09
Absolute position monitor
07
operation percentage
Main circuit DC power
voltage
Position command pulse
input frequency
Estimated input current
percentage
0A
0B
0C
0D
Contents
Displays the status of amplifier unit.
Displays the status of amplifier unit.
Displays warning status.
Displays warning status.
Displays the CPU software version of amplifier unit.
Displays the alarm code issued in amplifier unit.
Display number of motor rotations.
Displays torque command value.
Displays position deviation value.
Incremental encoder in use:Displays 48 bit free run counter
assumed that the position at the time of control power
turn-ON is origin.
Absolute encoder in use:Displays position data of absolute
encoder.
Unit
------------min-1
Display
form
Bit
Code
Decimal
%
Pulse
Pulse
Displays run rate of regenerative resistor.
%
Displays DC power voltage of main circuit.
V
Hexadeci
mal
Decimal
The command pulse frequency being input is displayed.
Displays the output current form diode module in the power
supply unit.
k Pulse/s
%
6.5.10. 2 Operation method
Step
Input key
Description
1
MODE
2
――
3
▲▼
4
WR
On the axis number to be monitored, press the WR key to display the Page
number. After the power supply is turned ON, “Page 00” is displayed. Then
the previously displayed page is displayed.
ob 00
5
►
Pressing the cursor key makes the blinking LED move. Move the blinking
LED to the desired digit to be changed.
ob 00
6
▲▼
Pressing the UP key increases the blinking numeric value and the Down key
decreases.
ob 01
7
WR
On the page to be monitored, press the WR key to display the data.
Refer to display
form.
8
MODE
Pressing the MODE key returns to step 5.
ob 01
9
MODE
Pressing the MODE key again returns to step 2.
ob 01 .
10
MODE
Pressing the MODE key again returns to status display.
Press the MODE key to display monitor mode.
Displays automatically the axis number blinking. After the power supply is
turned ON, “Axis number 01” is displayed. Then the previously displayed
axis number is displayed.
The dot in lower right indicates the screen for axis number selection.
Pressing the UP key increases the axis number, and the DOWN key
decreases.
Display form
ob
ob 00 .
ob 01 .
Note) When unconnected axis number or unsupported pages are set, it means disabled and no reaction to the WR key.
6-30
6. Operations
6.5.10.3 Monitor data display form
Page
Name
00
Status 1
01
Status 2
02
Warning 1
03
Warning 2
Display form
Display
LED 1 from right on the front
4 3 2 1 ←[LED] ↑State established
╹ ╻ ╹ ╻ ╹ ╻ ╹ ╻
↓State not established
7 6 5 4 3 2 1 0 bit
LED 1 from right on the front
4 3 2 1 ←[LED] ↑With warning
╹ ╻ ╹ ╻ ╹ ╻ ╹ ╻
↓Without warning
7 6 5 4 3 2 1 0 bit
Status1
Status2
Warning state1
Warning state2
04
05
06
07
08
0B
0C
0D
08
09
P*. **. *
AL **
CPU version
Alarm code
Velocity monitor
Torque command
monitor
run rate
voltage monitor
Position command
pulse input frequency
percentage
CPU software version of the amplifier unit is displayed.
In case of normal state, alarm code is “00”.
Display of “-” data
Display of “+”data
-9999
9999
Display of “2 decimal
places”
099.99
Display range
Maximum
Minimum
±9999
0
Name
Velocity monitor
Torque Command
±499
monitor
99.99
run rate
1000
voltage monitor
Position command pulse
±6000
input frequency
999.99
percentage
* The “+”data is displayed without the mark “+” on LED.
Display of 32 bit data
Bit data display“31”-“16”
Position deviation
monitor
Absolute position
monitor
Unit
min
-1
0
%
0.00
%
0
V
0
k Pulse/S
0.00
%
¯.0000
¯.0000
Bit data display “47”-“32”
Bit data display “31”-“16”
¯.0000
-.0000
¯.0000
Display of 48 bit data.
Display range
Unit
Maximum
Minimum
Position deviation monitor
7FFF-FFFF
8000-0000
Pulse
Absolute position monitor
7FFF-FFFF-FFFF
8000-0000-0000
Pulse
* Pressing the ▲ key displays upper data, and the ▼ key displays lower data.
Name
Table of corresponding bit data display
Name
Bit
7
Bit
6
Status 1
Emergency
stop state
Positioning
complete
Status 2
---
---
Warning
state 1
Warning
state 2
Over
deviation
warning
Over-input
current
warning
--Low battery
warning
Bit
5
Bit
Low battery
warning
4
Bit
3
Torque
being
limited
Servo ON
state
Near
range
Zero velocity
Velocity
loop
proportional
control
Velocity
being
limited
Torque
being
limited
---
---
6-31
Regenerative
overload
warning
Reverser
rotation
over-travel
Bit 2
Holding
brake
being
released
Bit
1
Bit
0
Servo
ready state
During
alarm
Velocity
matching
Velocity
reach
Low
velocity
Overload
warning
---
Forward
rotation
over-travel
---
Ambient
temperature
warning
Main circuit
being
charged
6. Operations
6-32
7.Parameters
7. Parameters
7. 1 List of Parameters
7. 9 Generic parameters GroupA
7. 10 Generic parameters GroupB
7. 11 Generic parameters GroupC
7. 12 System parameters
･･････････････････
･･････････････････
･･････････････････
･･････････････････
･･････････････････
･･････････････････
･･････････････････
･･････････････････
･･････････････････
･･････････････････
･･････････････････
･･････････････････
7-1
7-2
7-7
7-7
7-9
7-10
7-12
7-13
7-16
7-19
7-22
7-25
7-27
7.Parameters
7.1 List of Parameters
The following is the parameter list of the amplifier unit.
■
Generic parameters Group 0[Auto-tuning setting]
Page
Name
Standard Value
Unit
Display Range
00
01
02
03
Tuning mode
Auto-tuning characteristics
Auto-tuning response
Auto-saving of auto-tuning parameters
Torque command value of auto-notch filter
tuning
Torque command value of auto-vibration
suppressing frequency tuning
Friction torque compensation of
auto-vibration suppressing frequency
tuning
00:_AutoTun
00:_Positioning1
5
00:_Auto_Saving
-
00 - 02
00 - 04
1 - 30
00 - 01
Reference
Page
7-7
7-7
7-7
7-7
50
%
10 - 100
7-7
Ad
25
%
10 - 100
7-7
Ad
5
%
0 - 50
7-7
Ad
10
20
21
■
Ba
Ad
Ba
Ad
Generic parameters Group 1［Setting of basic control parameters］
Page
Name
01
Position command filter
02
Position loop proportional gain１
03
Position loop integral time constant１
Standard
Value
0.0
ms
0.0 - 2000.0
Reference
Page
7-7
30
1/s
1 - 3000
7-7
Ad
1000.0
ms
0.5 - 1000.0
7-7
Ad
Unit
Display Range
Higher follow-up control position
0
%
0 - 100
7-8
compensation gain
Feed forward gain
05
0
%
0 - 100
7-8
08
Feed forward filter
2000
Hz
1 - 2000
7-8
10
Velocity command filter
2000
Hz
1 - 2000
7-8
12
Velocity feed back filter
1500
Hz
1 - 2000
7-8
Velocity loop proportional gain1
13
50
Hz
1 - 2000
7-8
Velocity loop integral time constant1
14
20.0
ms
0.5 - 1000.0
7-8
Load inertia moment ratio
15
100
%
0 - 15000
7-8
(load mass ratio)1
Higher follow-up control velocity
16
0
%
0 - 100
7-8
compensation gain
17
Acceleration feed back gain
0.0
%
-100.0 to 100.0
7-8
18
Acceleration feed back filter
500
Hz
1 - 2000
7-8
20
600
Hz
1 - 2000
7-8
Torque command filter １
21
Torque command filter order
2
Order
1-3
7-8
* To make the same status as the Q series standard characteristics by way of manual tuning, set 100% at “16Page:Higher
control velocity compensation gain”.
04
■
Level
Level
Ba
Ad
Ad
Ad
Ad
Ad
Ad
Ad
Ad
Ad
Ad
Ad
Ad
Ad
follow-up
Generic parameters Group 2 [Settings of Vibration suppressing control/Notch filter/Disturbance observer]
Page
00
01
10
20
21
22
23
24
25
26
27
30
31
32
33
Name
Vibration suppressing frequency1
Vibration suppressing control level selection
Velocity command notch filter
Torque command notch filterA
Torque command notch filterA low
frequency phase delay improvement
Torque command notch filterB
Torque command notch filterB depth selection
Torque command notch filterC
Torque command notch filterC depth selection
Torque command notch filterD
Torque command notch filterD depth selection
Observer characteristics
Observer compensation gain
Observer output low pass filter
Observer output notch filter
Standard
Value
500
00
500
2000
Unit
Display Range
Hz
Hz
Hz
5 - 500
00 - 03
50 - 500
100 - 2000
Reference
Page
7-9
7-9
7-9
7-9
00
-
00 - 02
7-9
Ad
2000
00
2000
00
2000
00
00:_Low
0
50
2000
Hz
Hz
Hz
%
Hz
Hz
100 - 2000
00 - 03
100 - 2000
00 - 03
100 - 2000
00 - 03
00 - 01
0 - 100
1 - 2000
100 - 2000
7-9
7-9
7-9
7-9
7-9
7-10
7-10
7-10
7-10
7-10
Ad
Ad
Ad
Ad
Ad
Ad
Ad
Ad
Ad
Ad
7-2
Level
Ad
Ad
Ad
Ad
7.Parameters
■
Generic parameters Group 3 [ Settings for Gain switch over control/Vibration suppressing frequency switch- over]
Page
00
01
02
03
Position loop proportional gain2
Position loop integral time constant2
04
Load inertia moment比(load mass ratio)2
05
10
11
12
13
Torque command filter2
Load inertia moment ratio
(load mass ratio)3
14
15
20
21
22
23
■
Name
Standard
Value
30
1000.0
50
20.0
Unit
Display Range
1/s
ms
Hz
ms
1 - 3000
0.5 - 1000.0
1 - 2000
0.5 - 1000.0
Reference
Page
7-10
7-10
7-10
7-10
Level
Ad
Ad
Ad
Ad
100
%
0 - 15000
7-10
Ad
600
30
1000.0
50
20.0
Hz
1/s
ms
Hz
ms
1 - 2000
1 - 3000
0.5 - 1000.0
1 - 2000
0.5 - 1000.0
7-10
7-11
7-11
7-11
7-11
Ad
Ad
Ad
Ad
Ad
100
%
0 - 15000
7-11
Ad
600
30
1000.0
50
20.0
Hz
1/s
ms
Hz
ms
1 - 2000
1 - 3000
0.5 - 1000.0
1 - 2000
0.5 - 1000.0
7-11
7-11
7-11
7-11
7-11
Ad
Ad
Ad
Ad
Ad
24
Load inertia moment比(load mass ratio)4
100
%
0 - 15000
7-11
Ad
25
30
40
41
42
Gain switch over low pass filter
600
0
500
500
500
Hz
ms
Hz
Hz
Hz
1 - 2000
0 - 100
5 - 500
5 - 500
5 - 500
7-11
7-11
7-12
7-12
7-12
Ad
Ad
Ad
Ad
Ad
Unit
Display Range
Hz
-1
min
×50 Pulse
×50 Pulse
1 - 2000
0 - 65535
-9999 to +9999
-9999 to +9999
Generic parameters Group 4 [To set high setting control]
Page
00
01
02
03
Name
Command velocity low pass filter
Command velocity threshold
Acceleration compensation
Deceleration compensation
Standard
Value
1000
20
0
0
7-3
Reference
Page
7-12
7-12
7-12
7-12
Level
Ad
Ad
Ad
Ad
7.Parameters
■
Generic parameters Group 8 [Control system setting]
Page
Name
11
12
13
14
15
16
17
Position command pulse selection
Position command pulse count polarity
Position command pulse digital filter
Position command pulse multiplier
Electric gear 1
Electric gear 2
Positioning method
Positioning complete signal/
Position deviation monitor
Deviation clear selection
Preset velocity addition command
Velocity command acceleration time
constant
Velocity command deceleration time
constant
Velocity limit command
Preset torque addition command1
Preset torque addition command2
Preset torque limit value
Torque limit at sequence operation
Near range
Positioning complete range
Zero Velocity range
Low Velocity range
Velocity match range
Velocity reach setting
(high velocity setting)
18
19
24
26
27
28
31
32
36
37
40
41
42
43
44
45
Unit
Display Range
Reference
Page
Level
00:_F-PC_R-PC
00:_Type1
00:_834nsec
1
1/1
1/1
00:_Pulse_Interval
-
00 - 02
00 - 03
00 - 07
1 - 63
1/32767 - 32767/1
1/32767 - 32767/1
00 - 01
7-13
7-13
7-14
7-14
7-14
7-14
7-14
Ad
Ad
Ad
Ad
Ba
Ad
Ad
00:_After_Filter
-
00 - 01
7-14
Ad
-1
min
00 - 03
-9999 to +9999
7-14
7-15
Ad
Ad
0
ms
0 - 16000
7-15
Ad
0
ms
Standard Value
00_Type1
0
0 - 16000
7-15
Ad
-1
1 - 65535
-500 to 500
-500 to 500
10 - 500
10 - 500
1 - 65535
1 - 65535
50 - 500
0 - 65535
0 - 65535
7-15
7-16
7-16
7-16
7-16
7-17
7-17
7-17
7-17
7-17
Ad
Ad
Ad
Ad
Ad
Ad
Ba
Ad
Ad
Ad
-1
0 - 65535
7-17
Ad
65535
0
0
100
120
500
100
50
50
50
min
%
%
%
%
Pulse
Pulse
-1
min
-1
min
-1
min
1000
min
7-4
7.Parameters
■
Generic parameters Group 9 [Function enabling condition setting]
Page
Standard Value
Display Range
Reference
Page
Level
00
Positive over-travel function
3B:_PS_CONT6_OFF
00 - 6B
7-18,19
Ba
01
Negative over-travel function
39:_PS_CONT5_OFF
00 - 6B
7-18,19
Ba
02
Alarm reset function
3E:_PS_CONT8_ON
00 - 6B
7-18,19
Ba
03
Absolute encoder clear function
34:_PS_CONT3_ON
00 - 6B
7-18,19
Ba
04
Deviation clear function
36:_PS_CONT4_ON
00 - 6B
7-18,19
Ba
05
Servo ON function
30:_PS_CONT1_ON
00 - 6B
7-18,19
Ba
11
Position command pulse prohibition
function･Velocity zero stop function
00:_Always_ Disable
00 - 6B
7-18,19
Ad
12
Electric gear
00:_Always_ Disable
00 - 6B
7-18,19
Ad
13
Gain switch-over condition 1
00:_Always_ Disable
00 - 6B
7-18,19
Ad
14
Gain switch-over condition 2
00:_Always_ Disable
00 - 6B
7-18,19
Ad
00:_Always_ Disable
00 - 6B
7-18,19
Ad
00:_Always_ Disable
00 - 6B
7-18,19
Ad
01:_Always_ Enable
00 - 6B
7-18,19
Ad
32:_PS_CONT2_ON
00 - 6B
7-18,19
Ba
15
16
17
26
■
Name
switch-over function
Vibration suppressing
frequency selection input 1
Vibration suppressing
frequency selection input 2
Position loop proportional
control
Velocity loop proportional
control
27
Velocity addition function
00:_Always_ Disable
00 - 6B
7-18,19
Ad
30
Torque addition function1
00:_Always_ Disable
00 - 6B
7-18,19
Ad
31
Torque addition function2
00:_Always_ Disable
00 - 6B
7-18,19
Ad
32
Torque limit function
3C:_PS_CONT7_ON
00 - 6B
7-18,19
Ba
33
Disturbance observer function
00: Always_ Disable
00 - 6B
7-18,19
Ad
40
External trip input function
00:_Always_ Disable
00 - 6B
7-18,19
Ad
42
Emergency stop function
00:_Always_ Disable
00 - 6B
7-18,19
Ad
Generic parameters Group A [Settings for general output terminal output condition /monitor output selection/set-up software]
Page
00
01
02
03
11
12
13
20
21
Name
Generic output 1
Generic output 2
Generic output 3
Generic output 4
Analog monitor output 1 selection
Analog monitor output 2 selection
Analog monitor output polarity
Setup software communication
axis number
Setup software communication baud rate
Standard Value
Display Range
Reference
Page
7-20,21
7-20,21
7-20,21
7-20,21
7-20
7-20
7-22
Level
18:_INP_ON
0C:_TLC_ON
02:_S-RDY_ON
0A:_MBR_ON
-1
05:VMON_2mV/ min
02:TCMON_2V/TR
00:_MON1+_MON2+
00 - 5B
00 - 5B
00 - 5B
00 - 5B
00 - 15
00 - 15
00 - 08
01:_#1
01 - 0F
7-22
Ba
05:_38400bps
00 - 05
7-22
Ba
7-5
Ad
Ad
Ad
Ad
Ad
Ad
Ad
7.Parameters
■
Generic parameters Group B [Settings related to sequence/alarms]
Page
00
10
11
12
50
04:_SB__Free
00:_CMDINH_SB_SON
00:_SERVO-BRAKE
min
-
0 - 32767
00 - 05
00 - 06
00 - 01
Page
7-23
7-23
7-23
7-23
300
ms
0 - 1000
7-24
Ad
300
ms
0 - 1000
7-24
Ad
0
32
ms
ms
X1024
pulse
X1024
pulse
%
0 - 65535
20 - 1000
7-24
7-24
Ad
Ad
1 - 65535
7-24
Ad
1 - 65535
7-24
Ad
20 - 100
7-25
Ad
01:_Enabled
-
00 - 01
7-25
Ad
00:_Disabled
-
00 - 01
7-25
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Reference
Page
7-26
Leve
l
Ad
15
16
20
Over-deviation warning Level
21
Deviation counter over-flow value
500
22
Over-load warning level
Velocity feed back error (ALM_C3)
detection
Velocity control error (ALM_C2)
detection
90
14
23
24
65535
Level
Ba
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Generic parameters Group C [Encoder related setting]
Page
Name
00
Position detection system selection
Motor incremental encoder
digital filter
Encoder output pulse, divide ratio
Encoder pulse divide output polarity
Encoder signal output (PS) format
Absolute encoder clear function selection
01
05
06
07
08
■
Unit
-1
Display Range
Reference
Standard Value
JOGVelocity command
Dynamic brake action
Over-travel action
Emergency stop operation
Delay time of engaging holding brake
(Holding brake holding delay time)
Delay time of releasing holding brake
(Holding brake release delay time)
Brake operation beginning time
Power failure detection delay time
13
■
Name
Standard Value
00:_Absolute
Unit
Display Range
--
00 - 01
01:_220nsec
-
00 - 07
7-26
Ad
1/1
00:_Type1
00:_Binary
00:_Status_MultiTurn
-
1/8192 - 1/1
00 - 03
00 - 02
00 - 01
7-27
7-27
7-27
7-27
Ba
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System parameters[for Setup software - R-Setup]
Page
00
01
02
03
04
05
06
08
09
0A
0B
Name
Display Range
Main power input type
Motor encoder type
Incremental encoder function selection
Incremental encode resolution
Absolute encoder function selection
Absolute encoder resolution
Model number of combined motor
Control mode
Position loop control / Position loop encoder selection
External encoder resolution
7-6
2 ways ( depending on the hardware)
1 way ( depending on the hardware)
500P/R - 65535P/R
11 ways
1 way
1 way
-
Reference
Page
7-28
7-28
7-28
7-28
7-28
7-28
7-29
7-29
7-29
7. Parameters
7.2 Generic parameters Group0 [Auto-tuning setting]
Page
Contents
Tuning mode [TUNMODE]
00
Display Range
Unit
00 - 02
-
Selection
00:_AutoTun
Standard
Value
00:_AutoTun
01:_AutoTun_JRAT-Fix
02:_ManualTun
Contents
Auto-tuning
Auto-tuning
[JRAT manual setting]
Manual tuning
Auto-tuning characteristics [ATCHA]
01
Display
Range
00 - 04
Unit
Standard Value
-
00:_Positioning1
Selection
00:_Positioning1
01:_Positioning2
02:_Positioning3
03:_Trajectory1
04:_Trajectory2
Contents
Positioning control 1(for general)
Positioning control 2(for high response)
Positioning control 3(for high response,
horizontal axis only)
Trajectory control
Trajectory control (Kp manual setting)
Auto-tuning response [ATRES]
02
Display Range
Unit
1 - 30
-
Sets the auto-tuning response. The larger the set value,
the higher the response. Make the setting suitable for
rigidity of the device.
Standard
Value
5
Auto-tuning parameters saving [ATSAVE]
03
Display
Range
00 - 01
Unit
Standard Value
-
00:_Auto_Saving
The parameter (JRAT) obtained from auto-tuning result is
automatically saved.
Selection
00:_Auto_Saving
01:_No_Saving
Contents
Save parameter automatically in JRAT1.
Automatic saving is invalid.
Torque command value for auto-notch filter tuning [ANFILTC]
10
Display Range
Unit
10 - 100
%
Sets the torque command value applied to the motor at the
time of auto-notch filter tuning.
Larger value makes the tuning more accurate; however,
note that it also makes the move of the machine larger.
Standard
Value
50
20
Torque command value at auto-vibration suppressing frequency tuning[ASUPTC]
Sets the torque command value applied to the motor at the
Standard
time of auto-vibration suppressing frequency tuning. Larger
Display Range
Unit
Value
value makes the tuning more accurate; however, note that
10 - 100
%
25
it also makes the move of the machine larger.
21
Friction torque compensation at auto-vibration suppressing frequency tuning [ASUPFC]
Sets the friction torque compensation added to the motor
Standard
torque at the time of auto-vibration suppressing frequency
Display Range
Unit
Value
tuning. Set this value close to actual friction torque, and
0 - 50
%
5
vibration suppressing frequency tuning will be more
accurate.
7.3 Generic parameters Group1 [Basic control parameter setting]
Page
Contents
Position command filter [PCFIL]
01
Display Range
Unit
0.0 - 2000.0
ms
Parameter to put primary low pass filter to the position
command pulse. Time constant of the filter is set. Filter is
disabled with the set value of 0.0ms.
Standard
Value
0.0
Position loop proportional gain1 [KP1]
02
Display Range
Unit
1 - 3000
1/s
Proportional gain for position controller.
When auto-tuning result saving is executed, the tuning
result is automatically saved in this parameter.
Standard
Value
30
Position loop integral time constant1 [TPI1]
03
Display Range
Unit
0.5 - 1000.0
ms
Integral time constant for position controller.
When position loop proportional control switching function
is disabled, this setting becomes enabled.
Integral term (proportional control) is disabled with the set
value of 1000.0ms.
Standard
Value
1000.0
7-7
7. Parameters
Page
Contents
Higher follow-up control, position compensation gain [TRCPGN]
04
Display Range
0 - 100
Unit
%
Parameter to enhance following-up performance.
The larger value can make the following-up performance
higher. When the value other than 0% is set, position
command filter and feed forward gain are automatically
set.
Standard Value
0
Feed forward gain [FFGN]
05
Display Range
0 - 100
Unit
%
Feed forward compensation gain at the time of position
control.
Standard Value
0
Feed forward filter [FFFIL]
08
Display Range
1 - 2000
Unit
Hz
Standard Value
2000
Parameter to put primary low pass filter to feed forward
command. Sets the cut-off frequency. Filter is disabled with
the set value of 2000Hz.
Standard Value
2000
Parameter to put primary low pass filter to velocity
command. Sets the cut-off frequency. Filter is disabled with
the set value of 2000Hz.
Standard Value
1500
Parameter to put low pass filter to velocity feed back.
Sets the cut-off frequency. Filter is disabled with the set
value of 2000Hz.
Velocity command filter [VCFIL]
10
Display Range
1 - 2000
Unit
Hz
Velocity feed back filter [VDFIL]
12
Display Range
1 - 2000
Unit
Hz
Velocity loop proportional gain １ [KVP1]
13
Display Range
1 - 2000
Unit
Hz
Proportional gain of velocity controller.
Standard Value
50
Velocity loop integral time constant1 [TVI1]
14
Display Range
0.5 - 1000.0
Unit
ms
Integral time constant of velocity controller. When velocity
loop proportional control switch - over function is disabled,
this value is enabled.
Integral term (proportional control) is disabled with the set
value of 1000.0ms. When auto-tuning result saving is
executed, the tuning result is automatically saved in this
parameter.
Standard Value
20.0
Load inertia moment ratio (load mass ratio)1 [JRAT1]
15
Display Range
0 - 15000
Unit
%
Set inertia moment of the loading device to the motor
inertia moment. Set value = JL/JM×100%
JL: load inertia moment
JM: motor inertia moment
Standard Value
100
Higher follow-up control velocity compensation gain [TRCVGN]
16
Display Range
0 - 100
Unit
%
Parameter to enhance following-up performance. The
larger value can make the following-up performance
higher. When velocity loop proportional control switching
function is used, set this to 0%.
Standard Value
0
Acceleration velocity feed back gain [AFBK]
17
Display Range
-100.0 to 100.0
Unit
%
Compensation function to make the velocity loop stable.
Multiply this gain with the detected acceleration to
compensate torque command. Setting unit is 0.1%.
Standard Value
0.0
Acceleration feed back filter [AFBFIL]
18
Display Range
1 - 2000
Unit
Hz
Parameter to put primary low pass filter to acceleration
feedback compensation. Sets the cut-off frequency. Filter
is disabled with the set value of 2000Hz.
Standard Value
500
Torque command filter1 [TCFIL1]
20
Display Range
1 - 2000
Unit
Hz
Parameter to put primary low pass filter to torque
command. Sets the cut-off frequency. When auto-tuning
result saving is executed, the tuning result is automatically
saved in this parameter.
Standard Value
600
Torque command filter order [TCFILOR]
21
Display Range
1-3
Unit
Order
Parameter to set the ordinal number of torque command
filter.
Standard Value
2
7-8
7. Parameters
7.4 Generic parameters Group2 [Settings of Vibration suppressing control / notch filter / Disturbance observer]
Page
Contents
Vibration suppressing frequency1 [SUPFRQ1]
Display Range
5 - 500
Unit
Hz
Parameter to set the frequency of restricting vibration.
Inside the servo amplifier, vibration suppressing frequency
from 5 - 99Hz is treated by 1HzUnit, and that from 100 500Hz is by 10HzUnit. Even when set by lower unit than
these, operations do not change.
Vibration suppressing control is disabled with the set value
of 500Hz.
When auto-vibration suppressing frequency tuning is
executed, the tuning result is automatically saved in this
parameter. Change this while the motor stops.
Standard Value
500
00
Vibration suppressing control level selection [SUPLV]
01
Display Range
00 - 03
Unit
-
Parameter to set the size of vibration suppressing control
effect, The smaller the value is, the greater the effect will
be. Change this while the motor stops.
Standard Value
00
Velocity command notch filter [VCNFIL]
10
Display Range
50 - 500
Unit
Hz
Parameter to set notch filter to velocity command. Sets the
center frequency.
Inside the servo amplifier, the center frequency from 50 99Hz is treated by 1HzUnit, and that from 100 - 500Hz is by
10HzUnit. Even when set by lower unit than these,
operations do not change.
Filter is disabled with the set value of 500Hz.
Standard Value
500
Torque command notch filterA [TCNFILA]
20
21
Parameter to set notch filter to torque command. Sets the
center frequency.
Inside the servo amplifier, the center frequency is treated by
10HzUnit. Even when set by 1HzUnit, operations do not
change.
When auto-notch filter tuning is executed, the tuning result
is automatically saved in this parameter.
Torque command notch filterA, low frequency phase delay improvement [TCNFPA]
Parameter to improve the phase delay at lower frequency
than the center frequency of torque command notch filter A.
Display Range
Unit
Standard Value
The larger the value is, the greater the effect is.
00 - 02
00
Same characteristics as the standard notch filter with the
set value of 0.
Display Range
100 - 2000
Unit
Hz
Standard Value
2000
Torque command notch filterB [TCNFILB]
22
Display Range
100 - 2000
Unit
Hz
center frequency.
change.
Standard Value
2000
Torque command notch filterB depth selection [TCNFDB]
23
Display Range
00 - 03
Unit
-
Parameter to set the depth of torque command notch filter
B. The larger the value is, the shallower.
Standard Value
00
Torque command notch filterC [TCNFILC]
24
Display Range
100 - 2000
Unit
Hz
center frequency.
Inside the servo amplifier the center frequency is treated by
change.
Standard Value
2000
Torque command notch filterC depth selection [TCNFDC]
25
Display Range
00 - 03
Unit
-
Parameter to set the depth of torque command notch filter
C. The larger the value is, the shallower.
Standard Value
00
Torque command notch filterD [TCNFILD]
26
Display Range
100 - 2000
Unit
Hz
center frequency.
change.
Standard Value
2000
7-9
7. Parameters
Page
27
Contents
Torque command notch filterD depth selection [TCNFDD]
Parameter to set the depth of torque command notch
Display Range
Unit
Standard Value
filterD. The greater the value is, the shallower the depth
will be.
00 - 03
00
Observer characteristics [OBCHA]
Selects the observer characteristics.
30
Display Range
00 - 01
Unit
-
Standard Value
00:_Low
Selection
00:_Low
01:_Middle
Contents
For low cycle
For middle cycle
Observer compensation gain [OBG]
31
Display Range
0 - 100
Unit
%
Observer compensation gain. The larger the value is, the
higher the suppression characteristics will be. However, if
this is too large, oscillation may sometimes occur.
Standard Value
0
Observer output low pass filter [OBLPF]
32
Display Range
1 - 2000
Unit
Hz
Sets the cut off frequency of observer output low pass
filter.
When the observer characteristics is “for middle cycle”, the
function is disabled.
Standard Value
50
Observer output notch filter [OBNFIL]
33
Display Range
100 - 2000
Unit
Hz
Sets the center frequency of observer output notch filter.
Inside the servo amplifier, the center frequency is treated
by 10HzUnit. Even when set by 1HzUnit, operations do not
change.
Standard Value
2000
7.5 Generic parameters Group [Settings of gain switch-over control / Vibration suppressing frequency switch-over]
Page
Contents
00
Display Range
1 - 3000
Unit
1/s
Standard Value
30
01
Display Range
0.5 - 1000.0
Unit
ms
Integral term is disabled (proportional control) with the set
value of 1000.0ms.
* Cannot be used when the position loop proportional
control switch-over function is enabled.
Standard Value
1000.0
Velocity loop proportional gain2 [KVP2]
02
Display Range
1 - 2000
Unit
Hz
Proportional gain for velocity controller.
When load inertia is the one set by load inertia moment
ratio (load mass ratio) 2, the response is this set value.
Standard Value
50
03
Display Range
0.5 - 1000.0
Unit
ms
Integral time constant for velocity controller. Enabled when
velocity loop proportional control switch-over function is
disabled.
value of 1000.0ms.
Standard Value
20.0
04
Display Range
0 - 15000
Unit
%
Sets the inertia moment of load device to the motor inertia
moment; Set value = JL/JM×100%
JL:load inertia moment
JM:motor inertia moment
Standard Value
100
05
Display Range
1 - 2000
Unit
Hz
Parameter to set low pass filter to torque command. Sets
the cut off frequency.
Standard Value
600
7-10
7. Parameters
Page
Contents
10
[KP3]
Display Range
1 - 3000
Unit
1/s
Standard Value
30
11
Display Range
0.5 - 1000.0
Unit
ms
[TPI3]
value of 1000.0ms.
Standard Value
1000.0
* Cannot be used when position loop proportional control
switch-over function is enabled.
12
Display Range
1 - 2000
Unit
Hz
Standard Value
50
13
Display Range
0.5 - 1000.0
Unit
ms
Integral time constant for velocity controller. This setting is
enabled when velocity loop proportional control switch-over
value of 1000.0ms.
Standard Value
20.0
14
Display Range
0 - 15000
Unit
%
moment. Set value=JL/JM×100%
Standard Value
100
15
Display Range
1 - 2000
Unit
%
Standard Value
600
20
Display Range
1 - 3000
Unit
1/s
Standard Value
30
21
Display Range
0.5 - 1000.0
Unit
ms
Integral term is disabled with the set value of 1000.0ms.
Standard Value
1000.0
* Cannot be used when position loop proportional control
switch-over function is enabled.
22
Display Range
1 - 2000
Unit
Hz
Standard Value
50
23
Display Range
0.5 - 1000.0
Unit
ms
Integral time constant for velocity controller. This setting is
enabled when velocity loop proportional control switch-over
value of 1000.0ms.
Standard Value
20.0
24
Display Range
0 - 15000
Unit
%
moment. Set value=JL/JM×100%
Standard Value
100
25
Display Range
1 - 2000
Unit
%
Gain switch-over low pass
30
Display Range
0 - 100
Unit
ms
Standard Value
600
filter [GCFIL]
Parameter to set time constant for gain switch-over.
The larger the value is, the gentler the switching is.
Standard Value
0
7-11
7. Parameters
Page
Contents
Display Range
5 - 500
Unit
Hz
Parameter to set the frequency of vibration suppressor.
In the servo amplifier, the vibration suppressing frequency
from 5 - 99Hz is treated by 1HzUnit, and from 100 - 500Hz
is by 10HzUnit. Operations do not change if set by lower
unit than these.
Vibration suppressing control is disabled when the set
value is 500Hz.
Standard Value
500
40
* Change this while the motor stops.
Display Range
5 - 500
Unit
Hz
Parameter to set the frequency of vibration suppressor.
unit than these.
value is 500Hz.
Standard Value
500
41
Display Range
5 - 500
Unit
Hz
Parameter set the frequency of vibration suppressor.
unit than these.
value is 500Hz.
Standard Value
500
42
7.6 Generic parameters Group4 [Settings of high setting control]
Page
Contents
Command Velocity, Low pass filter [CVFIL]
00
Display Range
1 - 2000
Unit
Hz
Sets the cut off frequency of low pass filter, when
command velocity is calculated. When the position
command resolution is low, lower the cut off frequency.
Filter is disable when the set value is 2000Hz.
Standard Value
1000
Command velocity threshold [CVTH]
01
Display Range
0 - 65535
Unit
min-1
When the command velocity calculated from position
command is larger than this threshold, acceleration or
deceleration compensation will be performed.
Standard Value
20
Acceleration compensation [ACCCO]
Compensation at acceleration.
02
Display Range
-9999 to +9999
Unit
×50
Pulse
Standard Value
0
Deceleration compensation [DECCO]
Compensation at deceleration.
03
Display Range
-9999 to +9999
Unit
×50
Pulse
Standard Value
0
7-12
7. Parameters
7.7 Generic parameters Group8 [Settings of control system]
Page
Contents
Position command pulse selection [PCPTYP]
Select the position command pulse type from the contents below:
Display Range
00 - 02
Unit
-
Selection
Standard Value
00:_F-PC_R-PC
11
Contents
00:_F-PC_R-PC
Positive move pulse+Negative move pulse
01:_2PhasePuls
e
02:_CODE_PC
Code+ pulse train
Two-phase pulse train of 90° phase difference
* The set value is enabled after control power is turned ON
again.
Position command pulse count polarity [PCPPOL]
Display Range
00 - 03
12
Unit
-
Selection
00:_Type1
01:_Type2
02:_Type3
03:_Type4
Select the position command pulse count polarity from the
contents below:
Standard Value
00:_Type1
Contents
F-PC:Count at the rising edge / R-PC:Count at the rising edge
F-PC:Count at the falling edge / R-PC:Count at the rising edge
F-PC:Count at the rising edge / R-PC:Count at the falling edge
F-PC:Count at the falling edge / R-PC:Count at the falling edge
* The set value is enabled after control power is turned ON again.
Position command pulse digital filter [PCPFIL]
Display Range
00 - 07
Unit
-
Select the setting of position command pulse digital filter from the
contents below. When the timing for command direction
switchover is 90°phase difference 2 phase pulse train command,
observe the specifications of position command.
Standard Value
00:_834nsec
Selection
00:_834nsec
01:_250nsec
02:_500nsec
03:_1.8usec
04:_3.6usec
05:_7.2usec
06:_125nsec
07:_83.4nsec
13
Contents
Minimum pulse width=834nsec
Minimum pulse width=1.8μsec
Minimum pulse width=83.4nsec
Position command pulse multiplier [PCPMUL]
14
Display Range
1 - 63
Unit
-
Parameter to multiply the command pulse by x1 - x63.
Values from 1 to 63 are set, which are always enabled.
Standard Value
1
Electric gear 1 [GER1]
15
Display Range
1/32767 - 32767/1
Unit
-
Setting of electronic gear to position command pulse.
Standard Value
1/1
N(1 - 32767)
D(1 - 32767)
f1
Electric gear 2 [GER2]
f2( f2 = f1×N/D)
1/32767<=N/D<=32767
16
Display Range
1/32767 - 32767/1
Unit
-
Standard Value
1/1
Positioning method [EDGEPOS]
Select the encoder pulse positioning from the contents below;
17
Display Range
00 - 01
Unit
-
Standard Value
00:_Pulse _Interval
Selection
00:_Pulse_Interval
01:_Pulse_Edge
Contents
Specify pulse interval
Specify pulse edge
again.
7-13
7. Parameters
Page
Contents
In-position / Position deviation monitor [PDEVMON]
Display Range
00 - 01
Unit
-
Select the positioning complete signal (INP) and position
deviation monitor from the contents below:
Standard Value
00:_After_Filter
Selection
18
00:_After_Filter
01:_Before_Filter
Contents
Compare “Position command value
after filter passes by” with ”feedback
value”.
Compare “Position command value
before filter passes by” with
“feedback value”.
Deviation clear selection [CLR]
Display Range
00 - 03
Unit
-
Select the position deviation clearing method from the
contents below:
Standard Value
00:_Type1
Selection
19
00:_Type1
01:_Type2
02:_Type3
03:_Type4
Contents
When SERVO-OFF -> deviation clear
Deviation clear input =Level detection
When SERVO-OFF -> deviation clear
Deviation clear input =Edge detection
When SERVO-OFF -> Not deviation clear
Deviation clear input =Level detection
When SERVO-OFF -> Not deviation clear
Deviation clear input =Edge detection
During SERVO-OFF, deviation clear is always executed.
While deviation clear input is ON, deviation clear is always
executed.
At the edge of OFF -> ON of deviation clear input, deviation clear
is executed.
During SERVO-OFF, deviation clear is not executed.
(After Servo ON, the motor may operate suddenly.)
During SERVO-OFF, deviation clear is not executed.
(After Servo ON, the motor may operate suddenly.)
Preset velocity addition command [VCOMP]
24
Display Range
-9999 to +9999
Unit
min-1
Parameter for using velocity addition command in a fixed
value when velocity addition function is used.
Standard Value
0
Velocity command, Acceleration time constant [TVCACC]
26
Display Range
0 - 16000
Unit
ms
Parameter for restricting acceleration of command; to
analog velocity command input, analog velocity addition
input, internal velocity command.
-1
Acceleration:0 min -> Positive / Negative
-1.
Sets the acceleration time for 1000 min
Standard Value
0
Velocity command deceleration time constant [TVCDEC]
27
Display Range
0 - 16000
Unit
ms
Parameter for restricting deceleration of command; to
analog velocity command input, analog velocity addition
input, internal velocity command.
-1
Deceleration:Positive / Negative -> 0 min
-1.
Sets the deceleration time for 1000 min
Standard Value
0
Velocity limit command [VCLM]
Display Range
1 - 65535
Unit
min-1
Parameter for restricting the velocity command. Sets the
maximum value of velocity command. Velocity command is
restricted by this value at operations of position control and
velocity control.
When the set value is larger than 50000, velocity
command is restricted at (maximum speed×1.1). Set this
parameter when it is to be restricted at lower than (motor
rotation speed ×1.1). (Use the standard value usually.)
Standard Value
65535
28
Preset torque addition command1 [TCOMP1]
31
Display Range
-500 to +500
Unit
%
Parameter for using torque addition command in a fixed
value, when torque addition function is used.
Standard Value
0
Preset torque addition command2 [TCOMP2]
32
Display Range
-500 to +500
Unit
%
Parameter for using torque addition command in a fixed
value when torque addition function is used.
Standard Value
0
Internal torque limit [TCLM]
36
Display Range
10 - 500
Unit
%
Parameter to limit output torque. Torque limit value is
determined by comparing it with the rated output torque.
(100%=rated torque)
Output torque is limited at the internal torque limit set value
when the torque limit input signal is functioning.
Output torque is limited at TP if a value exceeding the peak
output torque TP is selected.
Standard Value
100
7-14
7. Parameters
Page
Contents
Torque limit at sequence operation [SQTCLM]
Display Range
10 - 500
Unit
%
Parameter for setting sequence operation torque limit
value (JOG operation, holding brake operation waiting, and
OT status, etc.) Torque limit value is determined by
comparing it with the rated output torque. (100%= rated
torque)
During sequence operation, output torque is restricted by
this set value.
Output torque is limited at TP if a value exceeding the peak
output torque TP is selected.
Standard Value
120
37
In-position near range [NEAR]
40
Display Range
1 - 65535
Unit
Pulse
Parameter for setting the output range of near range signal
Standard Value
500
(near in-position complete).
Near range signal is output when the deviation counter is
lower than this set value.
Encoder pulse is standard irrespective of electronic gear and
command multiplication functions.
In-Position window [INP]
Display Range
1 - 65535
Unit
Pulse
Parameter for setting output range of positioning complete
Standard Value
100
signal.
Positioning complete signal is output when the deviation
counter is lower than this set value.
Encoder pulse is standard irrespective of the electronic
41
gear function or command multiplication function.
Incremental encoder
-> Encoder pulse multiplied by 4 is standard.
Absolute
encoder
(except for the ones with incremental signal)
-> Absolute value is standard.
Speed Zero range [ZV]
42
Display Range
50 - 500
Unit
min-1
Set value for detecting zero-speed status (motor stop).
When the motor speed becomes lower than this value,
zero-speed status is detected.
Standard Value
50
Low speed range [LOWV]
43
Display Range
0 - 65535
Unit
min-1
Parameter for setting low-speed output range.
Standard Value
50
When the speed is lower than this value, low-speed range
is output.
Speed matching width [VCMP]
44
Display Range
0 - 65535
Unit
min-1
Parameter for setting the range of speed matching. Speed
Standard Value
50
matching is output when the speed deviation (difference
between speed command and actual speed) is within the
setting range.
High speed range (high speed setting) [VA]
Display Range
0 - 65535
Unit
min-1
Parameter for setting the value for speed attainment
Standard Value
1000
output. When the speed exceeds this set value, velocity
attainment is output.
45
If the motor speed exceeds the selected value during
torque control operations, and when the control switching
function is enabled, the torque command is always set to
0. Control at a fixed speed is impossible. Avoid continuous
usage in this manner.
7-15
7. Parameters
7.8 Generic parameters Group9 [Condition setting for enabling various funtions]
Setting of input signals and conditions for enabling the functions of each page.
* Selection contents to be set are on the next page.
Page
Contents
Page
Positive over-travel function [F-OT]
00
Display
Range
00 - 6B
15
Standard Value
3B:_PS_CONT6_OFF
Display
Range
00 - 6B
16
Standard Value
39:_PS_CONT5_OFF
Display
Range
00 - 6B
17
Standard Value
3E:_PS_CONT8_ON
Display
Range
00 - 6B
26
Standard Value
34:_PS_CONT3_ON
Deviation clear function [CLR]
04
Display
Range
00 - 6B
Display
Range
00 - 6B
27
Standard Value
36:_PS_CONT4_ON
Display
Range
00 - 6B
Electric gear
12
Display
Range
00 - 6B
30
Standard Value
30:_PS_CONT1_ON
13
31
Standard Value
00:_Always_Disable
switch-over function [GERS]
Display
Range
00 - 6B
Display Range
00 - 6B
Standard Value
32:_PS_CONT2_ON
Display Range
00 - 6B
Standard Value
00:_Always_Disable
Display Range
00 - 6B
Standard Value
00:_Always_Disable
Display Range
00 - 6B
Standard Value
00:_Always_Disable
Torque limit function [TL]
32
Standard Value
00:_Always_Disable
Display Range
00 - 6B
Standard Value
3C:_CONT7_ON
Disturbance observer function [OBS]
33
Standard Value
00:_Always_Disable
Gain switch-over condition 2 [GC2]
14
Standard Value
01:_Always_Enable
Torque addition function2 [TCOMPS2]
Gain switch-over condition 1 [GC1]
Display
Range
00 - 6B
Display Range
00 - 6B
Torque addition function1 [TCOMPS1]
Position command pulse prohibition function ・ Velocity
zero clamp function [INH/Z-STP]
11
Standard Value
00:_Always_Disable
Velocity addition function [VCOMPS]
Servo ON function [S-ON]
05
Display Range
00 - 6B
Velocity loop proportional control switch-over
function [VLPCON]
Absolute encoder clear function [ECLR]
03
Standard Value
00:_Always_Disable
Position loop proportional control switch-over
function [PLPCON]
Alarm reset function [AL-RST]
02
Display Range
00 - 6B
Vibration suppressing frequency selection input 2
[SUPFSEL2]
Negative over-travel function [R-OT]
01
Contents
Vibration suppressing frequency selection input 1
[SUPFSEL1]
Display Range
00 - 6B
Standard Value
00:_Always_Disable
External trip input function [EXT-E]
40
Standard Value
00:_Always_Disable
Display Range
00 - 6B
Standard Value
00:_Always_Disable
Emergency stop function [EMR]
42
7-16
Display Range
00 - 6B
Standard Value
00:_Always_Disable
7. Parameters
●
Generic parameters Group 9
List of selection contents
When functions are to be always enabled or disabled.
Selection
00:_Always_ Disable
01:_Always_ Enable
Contents
Always disable the function.
Always enable the function.
When functions are to be set with the conditions of the servo motor rotation speed.
Selection
12:_LOWV_IN
13:_LOWV_OUT
14:_VA_IN
15:_VA_OUT
16:_VCMP_IN
17:_VCMP_OUT
18:_ZV_IN
19:_ZV_OUT
Contents
Function enabled in low velocity status (Velocity is less than LOWV).
Function enabled while low velocity status (Velocity is less than LOWV ) is not kept.
Function enabled during velocity reach status (Velocity is more than VA ).
Function enabled while velocity reach status (Velocity is more than VA) is not kept.
Function enabled during velocity matching status (Velocity deviation< VCMP ).
Function enabled while velocity matching status (Velocity deviation< VCMP) is not kept.
Function enabled during zero Velocity status (Velocity is less than ZV).
Function enabled while zero Velocity status (Velocity is less than ZV) is not kept.
When the functions are to be set with the conditions of positioning signals.
Selection
20:_NEAR_IN
21:_NEAR_OUT
1A:_INP_IN
1B:_INP_OUT
26:_INPZ_IN
27:_INPZ_OUT
Contents
Function enabled during NEAR status.
Function enabled while NEAR status is not kept.
Function enabled during In-Position status (Position deviation < INP).
Function enabled while In-Position status (Position deviation< INP) is not kept.
Function enabled during Position command= 0 and In-Position status. (Position deviation<INP)
Function disabled during Position command=0 or In-Position status (Position deviation<INP).
When functions are to be set with the conditions of torque/speed limit.
Selection
1C:_TLC_IN
1D:_TLC_OUT
1E:_VLC_IN
1F:_VLC_OUT
Contents
Function enabled during torque limiting.
Function enabled while torque limiting is not performed.
Function enabled during velocity limiting.
Function enabled while velocity limiting is not performed.
When functions are to be set with the servo motor rotation direction and stop status.
Selection
22:_VMON_>_+LV
23:_VMON_<=_+LV
24:_VMON_<_-LV
25:_VMON_>=_-LV
Contents
Function enabled when rotation direction is positive. (VMON > LOWV)
Function enabled when rotation direction is not positive. (VMON =< LOWV)
Function enabled when rotation direction is negative. (VMON < LOWV)
Function enabled when rotation direction is not negative. (VMON >= LOWV)
7-17
7. Parameters
When using generic input signals.
Selection
02:_CONT1_ON
03:_CONT1_OFF
04:_CONT2_ON
05:_CONT2_OFF
30:_PS_CONT1_ON
31:_PS_CONT1_OFF
32:_PS_CONT2_ON
33:_PS_CONT2_OFF
34:_PS_CONT3_ON
35:_PS_CONT3_OFF
36:_PS_CONT4_ON
37:_PS_CONT4_OFF
38:_PS_CONT5_ON
39:_PS_CONT5_OFF
3A:_PS_CONT6_ON
3B:_PS_CONT6_OFF
3C:_PS_CONT7_ON
3D:_PS_CONT7_OFF
3E:_PS_CONT8_ON
3F:_PS_CONT8_OFF
40:_PS_CONT9_ON
41:_PS_CONT9_OFF
42:_PS_CONT10_ON
43:_PS_CONT10_OFF
44:_PS_CONT11_ON
45:_PS_CONT11_OFF
46:_PS_CONT12_ON
47:_PS_CONT12_OFF
48:_PS_CONT13_ON
49:_PS_CONT13_OFF
4A:_PS_CONT14_ON
4B:_PS_CONT14_OFF
4C:_PS_CONT15_ON
4D:_PS_CONT15_OFF
4E:_PS_CONT16_ON
4F:_PS_CONT16_OFF
50:_PS_CONT17_ON
51:_PS_CONT17_OFF
52:_PS_CONT18_ON
53:_PS_CONT18_OFF
54:_PS_CONT19_ON
55:_PS_CONT19_OFF
56:_PS_CONT20_ON
57:_PS_CONT20_OFF
58:_PS_CONT21_ON
59:_PS_CONT21_OFF
5A:_PS_CONT22_ON
5B:_PS_CONT22_OFF
5C:_PS_CONT23_ON
5D:_PS_CONT23_OFF
5E:_PS_CONT24_ON
5F:_PS_CONT24_OFF
60:_PS_CONT25_ON
61:_PS_CONT25_OFF
62:_PS_CONT26_ON
63:_PS_CONT26_OFF
64:_PS_CONT27_ON
65:_PS_CONT27_OFF
66:_PS_CONT28_ON
67:_PS_CONT28_OFF
68:_PS_CONT29_ON
69:_PS_CONT29_OFF
6A:_PS_CONT30_ON
6B:_PS_CONT30_OFF
Contents
Function enabled while generic input CONT1 is ON.
Function enabled while generic input CONT1 is OFF.
Function enabled while generic input CONT2 is ON.
Function enabled while generic input CONT2 is OFF.
Function enabled while generic input PS_CONT1 is ON.
Function enabled while generic input PS_CONT1 is OFF.
7-18
7. Parameters
7.9 Generic parameters GroupA [Settings of Generic output terminal output condition /Setup software]
Page
Name and Contents
Generic output 1 [OUT1]
00
Display Range
00 - 5B
Standard Value
18:_INP_ON
01
Display Range
00 - 5B
Output signals for Generic output OUT1 - Generic output
OUT4 are selected.
* Selection values to be set are on the next page.
Standard Value
OC:_TLC_ON
[OUT1], [OUT2] are the signals output from the amplifier
unit Generic output CN1.
[OUT3], [OUT4] are the signals output from output pins
st
th
OUT1 - OUT12 of the 1 axis to 6 axis generic output in
the power supply unit.
02
Display Range
00 - 5B
Standard Value
02:_S-RDY_ON
03
Display Range
00 - 5B
Analog monitor
11
12
output 1 selection [MON1]
Display Range
00 - 15
Analog monitor
Standard Value
0A:_MBR_ON
Standard Value
05:_VMON_1mV/min-1
Output signals for analog monitor output 1, 2 are selected
from the followings.
output 2 selection [MON2]
Display Range
00 - 15
Standard Value
02:_TCMON_0.5V/TR
00
01:_TMON_0.5V/TR
02:_TCMON_0.5V/TR
-1
03:_VMON_0.2mV/ min
-1
04:_VMON_0.5mV/ min
-1
05:_VMON_1mV/ min
-1
06:_VMON_2mV/ min
-1
07:_VCMON_0.2mV/ min
-1
-1
09:_VCMON_1mV/ min
-1
0A:_VCMON_2mV/ min
0B:_PMON_0.1mV/P
0C:_PMON_1mV/P
0D:_PMON_10mV/P
0E:_PMON_20mV/P
0F:_PMON_50mV/P
10:_FMON_2mV/kP/s
11:_FMON_10mV/kP/s
12:_TLMON_EST_0.5V/TR
13:_Sine-U
14:_VBUS_0.5V/DC100V
15:_VBUS_0.5V/DC10V
Reserved
Torque(thrust) monitor
0.5V/ rated torque(thrust)
Torque(thrust) command monitor 0.5V/ rated torque(thrust)
-1
Velocity monitor
0.2mV/ min
-1
Velocity monitor
0.5mV/ min
-1
Velocity monitor
1mV/ min
-1
Velocity monitor
2mV/ min
-1
Velocity command monitor 0.2mV/ min
-1
Velocity command monitor 0.5mV/ min
-1
Velocity command monitor 1mV/ min
-1
Velocity command monitor 2mV/ min
Position deviation counter monitor 0.1mV/ Pulse
Position deviation counter monitor 1mV/ Pulse
Position deviation counter monitor 50mV/Pulse
Position command pulse monitor
(Position command pulse input frequency) 2mV/kPulse/s
Position command pulse monitor
(Position command pulse input frequency) 10mV/kPulse/s
Load torque (thrust) monitor (estimated value) 0.5V/
rated torque (thrust)
U phase electric angle Sin 2Vpeak
Mai circuit DC voltage 0.5V/DC100V
Main circuit DC voltage 0.5V/DC10V
7-19
7. Parameters
●
Generic output OUT1 - Generic output OUT4, List of selection contents
When functions are to be always enabled or disabled.
Selection
00:_Always_OFF
01:_Always_ON
Contents
The output is always OFF.
The output is always ON.
When generic input signal status is to be output.
Selection
3A:_CONT1_ON
3B:_CONT1_OFF
Contents
The output is ON while generic input CONT1 is ON.
The output is OFF while generic input CONT1 is ON.
Selection
3C:_CONT2_ON
3D:_CONT2_OFF
Contents
The output is ON while generic input CONT2 is ON.
The output is OFF while generic input CONT2 is ON.
When servo amplifier inner status is to be output.
Selection
02:_S-RDY_ON
03:_S-RDY_OFF
58:_S-RDY2_ON
59:_S-RDY2_OFF
04:_P-ON_ON
05:_P-ON_OFF
06:_A-RDY_ON
07:_A-RDY_OFF
08:_S-ON_ON
09:_S-ON_OFF
Contents
The output is ON during Servo ready complete.
The output is OFF during servo ready complete.
The output terminal is ON during servo ready
complete.
The output terminal is OFF during servo ready
complete.
The output is ON during power supply ON.
The output is OFF during power supply ON.
The output is ON during power supply on
permission.
The output is OFF during power supply ON
permission.
The output is ON during motor excitation.
The output is OFF during motor excitation.
0A:_MBR-ON_ON
Selection
16:_ZV_ON
17:_ZV_OFF
1C:_CMD-ACK_ON
1D:_CMD-ACK_OFF
1E:_GC-ACK_ON
1F:_GC-ACK_OFF
20:_PCON-ACK_ON
control switching.
21:_PCON-ACK_OFF The output is OFF during velocity loop proportional
control switching.
22:_GERS-ACK_ON The output is ON during electric gear switching.
23:_GERS-ACK_OFF The output is OFF during electric gear
switching.
24:_MS-ACK_ON
The output is ON during control mode switching.
The output is ON during holding brake
excitation signal output.
0B:_MBR-ON_OFF The output is OFF during holding brake
excitation signal output.
0C:_TLC_ON
The output is ON during torque limiting.
26:_F-OT_ON
0D:_TLC_OFF
The output is OFF during torque limiting.
27:_F-OT_OFF
0E:_VLC_ON
The output is ON during velocity limiting.
28:_R-OT_ON
0F:_VLC_OFF
The output is OFF during velocity limiting.
29:_R-OT_OFF
10:_LOWV_ON
The output is ON during low velocity status.
4A:_CHARGE_ON
11:_LOWV_OFF
The output is OFF during low velocity
operation.
The output is ON during velocity reach status.
The output is OFF during velocity reach status.
The output is ON during velocity matching
status.
The output is OFF during velocity matching
status.
4B:_CHARGE_OFF
12:_VA_ON
13:_VA_OFF
14:_VCMP_ON
15:_VCMP_OFF
25:_MS-ACK_OFF
4C:_DB_OFF
4D:_DB_ON
When positioning signal is to be output.
Selection
18:_INP_ON
19:_INP_OFF
1A:_NEAR_ON
1B:_NEAR_OFF
5A:_INPZ_ON
5B:_INPZ_OFF
Contents
The output is ON during in-position
status.
The output is OFF during in-position
status.
The output is ON near range status.
The output is OFF during near range
status.
The output is ON during PCMD=0 and
in-position status.
The output is OFF during PCMD=0 and
in-position status.
Contents
Output alarm code bit 5 (Positive logic)
Output alarm code bit 5 (Negative logic)
The output is ON during alarm status.
The output is OFF during alarm status.
The output is OFF during control mode
switching.
The output is ON during positive over-travel
status.
The output is OFF during positive over-travel
status.
The output is ON during negative over-travel
status.
The output is OFF during negative over-travel
status.
The output is ON while main power supply is
charging.
The output is OFF while main power supply is
charging.
The output is OFF during dynamic braking.
The output is ON during dynamic braking.
When warning signal is to be output.
Selection
2A:_WNG-OFW_ON
2B:_WNG-OFW_OFF
2C:_WNG-OLW_ON
2D:_WNG-OLW_OFF
2E:_WNG-ROLW_ON
2F:_WNG-ROLW_OFF
30:_WNG-BAT_ON
31:_WNG-BAT_OFF
When alarm signals are to be output.
Selection
32:_ALM5_ON
33:_ALM5_OFF
34:_ALM6_ON
35:_ALM6_OFF
36:_ALM7_ON
37:_ALM7_OFF
38:_ALM_ON
39:_ALM_OFF
Contents
The output is ON during zero velocity status.
The output is OFF during zero velocity status.
The output is ON while command can be
accepted.
The output is OFF while command can be
accepted.
The output is ON during gain switching status.
The output is OFF during gain switching status.
The output is ON during velocity loop proportional
Contents
The output is ON during over-deviation warning status.
The output is OFF during over-deviation warning
status.
The output is ON during over-load warning status.
The output is OFF during over-load warning status.
The output is ON during over-regenerative load
warning status.
The output is OFF during over-regenerative load
warning status.
The output is ON during battery warning status.
The output is OFF during battery warning status.
When Alarm signals are to be compatible with PY.
Selection
50:_PYALM1_ON
51:_PYALM1_OFF
52:_PYALM2_ON
53:_PYALM2_OFF
54:_PYALM4_ON
55:_PYALM4_OFF
56:_PYALM8_ON
57:_PYALM8_OFF
7-20
Contents
Output PY compatible alarm code 1(Positive logic)
Output PY compatible alarm code 1 (Negative logic)
Output PY compatible alarm code 2 (Positive logic)
7. Parameters
Page
Contents
Analog monitor output polarity [MONPOL]
Display Range
00 - 08
The output polarity of analog monitor output MON1 and
MON2 is selected from the contents below.
Standard Value
00:_MON1+_MON2+
Selection
00:_MON1+_MON2+
01:_MON1-_MON2+
02:_MON1+_MON2-
03:_MON1-_MON2-
13
04:_MON1ABS_MON2+
05:_MON1ABS_MON2-
06:_MON1+_MON2ABS
07:_MON1-_MON2ABS
08:_MON1ABS_MON2ABS
Contents
MON1:Output the positive voltage at forward rotation (positive direction);
Output the positive/negative voltage.
MON1:Output the negative voltage at forward rotation (positive direction);
MON1:Output the positive voltage at both forward rotation (positive direction) and
reverse rotation (reverse direction).
MON2: Output the negative voltage at forward rotation (positive direction);
Setup software communication axis number [COMAXIS]
Display Range
01 - 0F
20
Selection
01:_#1
02:_#2
03:_#3
04:_#4
05:_#5
06:_#6
07:_#7
08:_#8
The axis number for communication with PC is selected
from the contents below.
* The selected value is enabled after turning ON the
control power again.
Standard Value
01:_#1
Selection
09:_#9
0A:_#A
0B:_#B
0C:_#C
0D:_#D
0E:_#E
0F:_#F
Setup software communication baud rate [COMBAUD]
Display Range
00 - 05
The baud rate for communication with PC is selected from
the contents below.
Standard Value
05:_38400bps
* The selected value is enabled after turning ON the control
power again.
21
Selection
00:_1200bps
01:_2400bps
02:_4800bps
03:_9600bps
04:_19200bps
05:_38400bps
7-21
7. Parameters
7.10 Generic parameters GroupB [Settings related to sequence/alarm]
Page
Contents
JOGVelocity command [JOGVC]
00
Display Range
0 - 32767
Unit
min-1
Sets the speed command value for test run and for
adjustment JOG operation.
Standard Value
50
Dynamic brake action [DBOPE]
Display Range
00 - 05
10
Unit
-
Selection
00:_Free_Free
01:_Free_DB
02:_DB__Free
03:_DB__DB
04:_SB__Free
05:_SB__DB
Dynamic brake action when shifted from Servo ON→Servo
OFF, and during servo OFF is selected from the contents
below.
* When the main circuit power is shut off, the dynamic
brake will operate irrespective of this setting.
Standard Value
04:_SB__Free
Contents
When SERVO-OFF, free run is operated. :After stop, motor free is operated.
When SERVO-OFF, free run is operated.
:After stop, dynamic braking is performed.
When SERVO-OFF, Dynamic brake action:After stop, motor free is operated.
When SERVO-OFF, Dynamic brake action:After stop, dynamic brake action.
When SERVO-OFF, servo brake action. :After stop, motor free action.
When SERVO-OFF, servo brake action. :After stop, dynamic brake action｡
Over-travel action [ACTOT]
Display Range
00 - 06
Unit
-
Selection
00:_CMDINH_SB_SON
11
Operations at over-travel are selected from the contents
below.
Standard Value
00:_CMDINH_SB_SON
Contents
At OT, command input is disabled and the motor stops by servo braking. After the motor stops, Servo
ON is operated.
(Command at OT side is disabled. = Velocity limit command=0)
01:_CMDINH_DB_SON
At OT, command input is disabled, and the motor stops by dynamic braking. After the motor stops,
servo ON is operated.
(Command at OT side is disabled. =Velocity limit command=0)
02:_CMDINH_Free_SON
At OT, command input is disabled, free run is operated.
After the motor stops, servo ON is operated.
(Command at OT side is disabled.=Velocity limit command=0)
03:_CMDINH_SB_SOFF
At OT, command input is disabled, the motor stops by servo braking. After the motor stops, servo
OFF is operated.
04:_CMDINH_DB_SOFF
At OT, command input is disabled, the motor stop by dynamic braking. After the motor stops, servo
OFF is operated.
05:_CMDINH_Free_SOFF
At OT, command input is disabled, free run is operated.
After the motor stops, servo OFF is operated.
At OT, velocity limit command for OT side becomes 0.
06:_CMDACK_VCLM=0
Emergency stop operation [ACTEMR]
Display Range
00 - 01
Unit
-
From the following contents, select operation at the time of
emergency stop (EMR, main power OFF).
Besides, in usage by a vertical axis, please use it with standard
setting (00:_SERVO-BRAKE).
Standard Value
00:_SERVO-BRAKE
12
Selection
00:_SERVO-BRAKE
01:_DINAMIC-BRAKE
Contents
When EMR is input, motor is stopped by servo brake operation.
When EMR is input, motor is stopped by dynamic brake operation.
7-22
7. Parameters
Contents
Page
Delay time of engaging holding brake (Holding brake holding delay time) [BONDLY]
13
Display Range
0 - 1000
Unit
ms
Sets the holding brake operation delay time when shifted
Standard Value
300
from Servo ON to Servo OFF.
When shifted from servo ON to servo OFF, motor
excitation is kept by setting this command to zero.
Delay time of releasing holding brake (Holding brake release delay time [BOFFDLY]
14
Display Range
0 - 1000
Unit
ms
Sets the delay time of holding brake release when shifted
Standard Value
300
from servo OFF to servo ON.
When shifted from servo OFF to servo ON, motor is
excited by setting this command to zero.
Brake operation beginning time [BONBGN]
Display Range
0 - 65535
Unit
ms
Parameter for setting the motor free operation time,
Standard Value
0
dynamic brake operation time and servo brake operation
time.
After shifted from servo ON to servo OFF, holding brake
and dynamic brake start to operate in this set time.
When motor does not stop even after servo OFF at gravity
15
axis or else, motor is stopped by holding brake and
dynamic brake.
In the system where motor velocity becomes lower than
zero velocity within the set time, this setting does not
function.
If set to 0msec, brake operation start time is disabled
(=infinite).
Power failure detection delay time [PFDDLY]
Display Range
20 - 1000
Unit
ms
The delay time from control power OFF to control power
Standard Value
32
error detection is set. The larger value makes the detection
of instantaneous stop slower. (Larger set value will only
result in slower detection of error. In case of power failure
of internal logic circuit, operation is the same as when
control power is turned ON again. In case of energy
16
shortage of main circuit power, other errors, such as main
circuit power loss, may be detected.)
In this setting, actual detection delay time varies by 12ms
and +6ms.
* The selected value is enabled after control power is
turned ON again.
Following error warning level [OFWLV]
20
Display Range
Unit
1 - 65535
×1024 Pulse
Parameter to output warning before excessive position
Standard
Value
65535
deviation alarm is output.
Following error limit [OFLV]
21
Display Range
Unit
1 - 65535
×1024 Pulse
Parameter for setting the value to output position
Standard
Value
500
excessive deviation alarm. Encoder pulse is the standard
irrespective of electronic gear and command multiplication
function.
7-23
7. Parameters
Contents
Page
Over load warning level [OLWLV]
Display Range
Unit
20 - 100
%
Parameter for outputting warnings before overload alarm is
Standard
Value
90
output. The possible level to be set is ranged form 20% 99%, assuming that the overload alarm level is 100%.
When set to 100%, overload warning and overload alarm
are output at one time.
Overload detection is assumed and set as 75% of a rated
22
load when control power is turned ON (hot start).
Therefore, if this is set to below 75%, overload warning
may be output when control power is turned ON.
again.
Velocity feed back error (ALM_C3) detection [VFBALM]
Display Range
00 - 01
23
Unit
-
Selection
00:_Disabled
01:_Enabled
Select either one from enabled or disabled of velocity feed
Standard Value
01:_Enabled
back error alarm detection.
Contents
Disabled
Enabled
Velocity control error (ALM_C2) detection [VCALM]
Display Range
00 - 01
24
Selection
00:_Disabled
01:_Enabled
Unit
-
Select either one from enabled or disabled of velocity
Standard Value
00:_Disabled
control error alarm detection.
In such an operation pattern as causing a motor overshoot
to the command, velocity control error may be detected by
Contents
Disabled
Enabled
mistake. For this, set this parameter to “Disabled”.
7-24
7. Parameters
7.11 Generic parameters GroupC [ Settings related to encoder]
Page
Contents
Selection of Position detection system
Display Range
00 - 01
Unit
[ABS/INCSYS]
Position detection system is selected from the contents
below.
Standard Value
00:_Absolute
-
Selecting “Incremental system” enables the use similar to
incremental encoder without installing backup battery in
absolute encoder.
00
Selection
00:_Absolute
01:_Incremental
Contents
Absolute System
Incremental System
Motor incremental encoder digital filter [ENFIL]
Display Range
00 - 07
Unit
-
Selection
01
Settings for motor incremental encoder digital filter are
selected from the contents below.
Standard Value
01_220nsec
Contents
00:_110nsec
Minimum pulse width=110nsec (Minimum phase difference=37.5nsec)
01:_220nsec
02:_440nsec
03:_880nsec
04:_75nsec
05:_150nsec
06:_300nsec
07:_600nsec
Minimum pulse width=75nsec (Minimum phase difference=37.5nsec)
Encoder output pulse, divide ratio [ENRAT]
Display Range
05
1/1 - 1/64
2/3 - 2/64
1/8192 - 8191/8192
Unit
Standard Value
-
1/1
Parameter for setting division ratio of encoder pulse
dividing output. Division ratio is set.
Encoder pulse divided output, Polarity [PULOUTPOL]
Display Range
00 - 03
06
Selection
00:_Type1
01:_Type2
02:_Type3
03:_Type4
Unit
-
Encoder pulse dividing output polarity is selected from the
followings.
Standard Value
00:_Type1
Contents
A phase signal/Not reversed
Z phase signal logic/High active
A phase signal/Reversed
Z phase signal logic/High active
A phase signal/Not reversed.
Z phase signal logic/Low active
A phase signal/Reversed.
Z phase signal logic/Low active
7-25
7. Parameters
Page
Contents
Encoder signal output (PS) format [PSOFORM]
Display Range
00 - 02
Unit
-
Signal format of encoder signal output (ＰＳ) is selected
from the followings.
Standard Value
00:_Binary
again.
07
Selection
Contents
00:_Binary
01:_Decimal
02:_Encoder_Signal
Binary code output
Decimal ASCⅡ code output
Encoder (sensor) signal direct output
Absolute encoder clear function selection [ECLRFUNC]
Display
Range
00 - 01
Unit
Standard Value
-
Used for clearing some absolute encoder warnings which
are not automatically restored.
*Valid when wire-saving absolute encoder is used.
08
Selection
01:_Status
Contents
Clear encoder status (alarm and warning) and multi-turn data.
Clear encoder status (alarm and warning)
7-26
7. Parameters
7.12 System parameters
Page
Main power input
00
Contents
Selects the input mode for power supplied to the main
circuit.
Setting range varies depending on the hardware type.
type
Setting value
00:_AC_3-phase
01:_AC_Single-phase
Contents
3 phase AC power is supplied to the main circuit.
Single phase AC power is supplied to the main circuit.
Motor encoder type
01
Motor encoder type is selected.
Setting value
Contents
00:_Inclemental_ENC
Incremental encoder
01:_Absolute_ENC
Absolute encoder
Incremental encoder type is selected when an incremental
encoder is used for the motor encoder.
Incremental encoder function selection
02
Setting value
Contents
Wire-saving incremental encoder
[standard (4 pairs)]
00:_Stanndard
Pulse number per motor shaft rotation is set when an
incremental encoder is used for the motor encoder.
Incremental encoder resolution
03
Display Range
500 - 65535
Unit
P/R
Standard Value
Absolute encoder type is selected when an absolute
Can only be selected when 01:_Absolute_ENC is selected
at Page01(motor encoder type).
Absolute encoder function selection
04
Setting
04:_PA035C-2.5MH_Manu
05:_PA035C-4MH_Manu
06:_RA062C-2.5MH_Manu
07:_RA062C-4MH_Manu
80:_RA062M-1MF
81:_RA062M-2MF
Contents
PA035 Asynchronous 2.5Mbps Half duplex communication (manual setting)
PA035 Asynchronous 4.0Mbps Half duplex communication (manual setting)
RA062 Asynchronous 2.5Mbps Half duplex communication (manual setting)
RA062 Asynchronous 4.0Mbps Half duplex communication (manual setting)
RA062 Manchester 1Mbps Full duplex communication
RA062 Manchester 2Mbps Full duplex communication
Divisions per motor shaft rotation are set when absolute
Can only be selected when 01:_Absolute_ENC is selected
at Page01(motor encoder type).
Absolute encoder resolution
05
Setting
00:_2048_fmt
01:_4096_fmt
02:_8192_fmt
03:_16384_fmt
04:_32768_fmt
05:_65536_fmt
06:_131072_fmt
07:_262144_fmt
08:_524288_fmt
09:_1048576_fmt
0a:_2097152_fmt
Contents
2048 divisions
4096 divisions
8192 divisions
16384 divisions
32768 divisions
65536 divisions
131072 divisions
262144 divisions
524288 divisions
1048576 divisions
2097152 divisions
7-27
7. Parameters
Page
06
Contents
In “The Setup software”, model number of combined motor
and their codes are show.
When combined motor is to be changed, change the motor
parameter setting of “The setup software”.
Combined motor model number
Note1)
* Combined motor cannot be changed.
* Page contents are different for digital operator. Refer to
Note1)
Selects control mover.
Control mode
08
Setting
02:_Position
Contents
Position control type
Position loop encoder is selected used for position loop
control method and position loop control.
Display Range varies depending on the hardware type.
Position loop control / encoder selection
09
Setting
00:_Motor_encoder
Contents
Semi-closed control / motor
encoder
Note1) For digital operator
Page
06
07
Contents
Servo amplifier information
This is for maker maintenance.
Combined motor code
In the digital operator, motor codes of the selected servo
motor are displayed.
To change the combined motor, change the motor
parameter setting at “The Setup software”.
* Combined motor cannot be changed by the digital
operator.
7-28
8. Adjustment, Functions
8. Adjustment & Functions
8.1
8.2
8.3
8.4
8.5
8.6
･････････････････
･････････････････
･････････････････
･････････････････
･････････････････
･････････････････
Servo Gain Tuning
Functions of Group8
Functions of Group9
Functions of GroupB
Functions of GroupC
Functions of analog monitor
8-1
8-2
8-8
8-18
8-22
8-26
8-29
8．Adjustment･Functions
8.1 Servo Gain Tuning
■ Structure of tuning [General parameter Group0]
At “parameter Group0”, tuning structure of the R series servo amplifier is as follows.
[General parameter Group0]
00
01
Name
Tuning mode
Auto-tuning characteristics
02
Auto- tuning response
Page
03
00:_AutoTun
Auto-tuning
parameter auto-saving
02:_ManualTun
00:_Positioning1
01:_Positioning2
02:_Positioning3
03:_Trajectory1
04:_Trajectory2
1 - 30
● Tuning mode [page00]
00:_AutoTun auto- tuning
Auto- tuning
Auto- tuning
Manual tuning
Positioning control 1(for generic purpose)
Positioning control 2(for high response)
Positioning control 3
(for high response and horizontal axis only)
track control
track control (Kp manual setting)
Auto- tuning response
00:_Auto_Saving
01:_No_Saving
Auto-saving at JRAT1
Without auto-saving
The servo amplifier estimates the load inertia moment ratio of the machine and equipment at real time and
automatically tunes the servo gain so that it will become the best one. The parameters for the servo amplifier to
automatically tune vary depending on the selected auto-tuning characteristics.
* The servo amplifier estimates the load inertia moment ratio at the time of acceleration/deceleration. Therefore, for
operations with only excessively low acceleration/deceleration time constant or with only low torque with low velocity, this
mode cannot be used. Also, operations with large disturbance torque or with large mechanical clearance, this mode
cannot be used, either.
01:_AutoTun_JRAT-Fix Usage at Auto-tuning [JRAT manual setting].
Auto-tuning [JRAT manual setting]
Based on the load inertia moment ratio (JRAT1)which was set, the servo amplifier automatically tunes and
makes the servo gain the best one. The parameters for the servo amplifier to automatically tune vary
depending on the selected auto-tuning characteristics.
02:_ManualTun
Manual tuning
This is used in order for adjusting the servo gain to the machine and equipment to ensure the maximum
response, and when characteristics in auto-tuning are insufficient.
● Auto- tuning characteristics [page 01]
Characteristics adjusted to machines and equipment are selected when Auto-tuning and
Auto-tuning [JRAT manual setting] are used.
When Manual tuning is used, this does not function.
● Auto- tuning response [page 02]
Set this when Auto- tuning and Auto- tuning [JRAT manual setting] are used. The larger set
value makes the response higher. Set this suitable for the equipment rigidity.
When Manual tuning is used, this does not function.
● Auto-tuning parameter auto-saving ［load inertia moment ratio］ [page 03]
The “load inertia moment ratio” obtained from auto-tuning is automatically saved in parameter JRAT1 at every
2 hours. The set value is enabled when auto-tuning is used.
When Auto-tuning [JRAT manual setting] and Manual tuning are used, this does not function.
8-2
■
Tuning method selecting procedure
Start tuning
* The flow chart in the left shows selecting method of
tuning mode and tuning characteristics.
Settings for auto-tuning response are not indicated
here. Auto-tuning response shall be tuned at each
status.
Execute tuning mode
00:_AutoTun
auto- tuning
Operation
unstable?
Yes
Change tuning mode to
01:_AutoTun
auto- tuning
_JRAT-Fix
No
Set JRAT1
Yes
No problem with
characteristics？
No
Match the
characteristics
between axes?
Yes
Use tracking
control?
Yes
No
No
Change to auto-tuning characteristics
track
03:_Trajectory1
control
auto-tuning characteristics
01:_Positioning2
（for high response）
Yes
No problem with
characteristics?
Yes
No problem with
characteristics?
No
No
Use with horizontal
axis?
No
track control
(Kp manual setting)
Yes
04:_Trajectory2
（for high response,
02:_Positioning3
horizontal axis only）
Yes
Set Kp1.
No problem with
characteristics?
Yes
No
No problem with
characteristics?
No
Change to tuning mode
02:_ManualTun
Manual tuning
Manually tune the servo gain.
Tuning complete.
8-3
■
Monitoring servo gain adjustment parameter
The following parameters can be monitored when auto-tuning is used.
● R-SETUP
For how to operate these, refer to “R-SETUP Instruction Manual”.
■
Using auto-tuning result at manual tuning.
At manual tuning, auto-tuning result is saved as a batch or by selection using R-SETUP,
and can be used as controlling parameter.
For how to operate these, refer to “ R-SETUP Instruction Manual”.
Note)In the setting of TUNMODE=02:_ManualTun, parameter setting value is used in the control
loop. When auto-tuning result saving is executed, the gain parameter being used will change
(except during gain switch over). Therefore, the motor operation may change suddenly.
Execute auto-tuning result saving while servo OFF or motor stoppage.
8-4
■
Servo system structure
Servo system consists of 3 subsystems; the position loop, the velocity loop and the current loop. High
response is required for the internal loops. If this structure is compromised, it could result in instability, low
response, vibration or oscillation.
Position loop
Host device
Velocity loop
+
+
+
-
Servo motor
KVP
TVI
JRAT
KP
+
Current loop
+
-
Current loop
Velocity loop
Position loop
Encoder
The response of the current loop is ensured internally in the servo amplifier, there is no need for the user to
make additional adjustments.
■ Servo adjustment parameters
Position command filter [PCFIL]
When the position command resolution is low, set this parameter to suppress the ripples contained in the position
command. The larger value of this will make the ripple suppressing effect greater, however, delay will be greater.
* When high tracking control position compensation gain is set to other than 0%, this parameter is automatically
set.
Position loop proportional gain [KP]
Set this equivalent to KP[1/S] = KVP[Hz] / 4･2π.
High tracking control position compensation gain [TRCPGN]
When tracking effect needs to be improved under high resolution of position command, increase this
parameter after adjustment of high tracking control velocity compensation gain.
Feed forward gain [FFGN]
Tracking effect of position command can be improved by increasing this gain.
Under positioning control, set this to approximately 30 - 40%.
* When high tracking control position compensation gain is set to other than 0%, this parameter is
automatically set.
Feed forward filter [FFFIL]
When position command resolution is low, set this parameter to suppress ripples.
Velocity command filter [VCFIL]
Under velocity control, when there is a big noise component contained in velocity command, set this
parameter to suppress the noise.
Velocity loop proportional gain [KVP]
Set this as high as possible within such a stable operation range as not to cause vibration or oscillation
of the machine. If JRAT is accurately set, the set value of KVP becomes the velocity loop response
zone.
8-5
Velocity loop integration time constant [TVI]
Set this equivalent to TVI [ms] = 1000 / (KVP[Hz]).
Load inertia moment ratio [JRAT]
Set the value calculated as shown below.
Motor axis converted load inertia moment
JRAT =
Motor inertia moment
[JL]
×100%
[JM]
High tracking control velocity compensation gain [TRCVGN]
Tracking effect can be improved by increasing compensation gain.
Adjust this so as to shorten the positioning setting time.
* Set the value of JRAT properly to use this function.
Torque command filter [TCFIL]
When rigidity of the mechanical device is high, set this value high and the velocity loop proportional
gain can be set to high. When rigidity of the mechanical device is low, set this value low and resonance
in high frequency zone and abnormal sound can be suppressed. For normal usage, set this below
1200Hz.
■ Adjustment method of vibration suppressing control
Set vibration suppressing frequency to suppress the low frequency vibration at the tip or the body
of the machine. Vibration suppressing frequency is obtained by executing auto-tuning of vibration
suppressing frequency or by calculating vibration frequency of vibrating point at positioning and
its reciprocal. When vibration does not stop with the vibration suppressing control, there is a
possibility that the gain for control system may be too high. In this case, lower the control system
gain. Also, when used together with high tracking control velocity compensation gain, vibration
suppressing effect may be greater.
* Vibration suppressing control function can be used together with auto-tuning.
■ Adjustment method of notch filter
Set the torque command notch filter to suppress high frequency resonance resulted from
coupling and rigidity of the device mechanism. Notch filter center frequency can be obtained by
executing auto-notch filter tuning or by system analysis.
* Torque command notch filter function can be used together with auto-tuning.
* When resonance of the device mechanism does not stop even after this parameter is set, there
may be two or more resonance points. In this case, insert notch filters B, C and D to suppress
each of them. If not yet suppressed, there is a possibility that auto-tuning response or control
gain is too high. If so, lower the auto-tuning response or control gain.
■ Adjustment method of disturbance observer
Set the disturbance observer to suppress the disturbance applied to the motor.
At first, use the low frequency observer characteristics. If not suppressed by that,
use that for medium frequency. Gradually increase the observer compensation gain.
The higher the observer compensation gain becomes, the more the disturbance suppressing
characteristics will be improved.
However, if it is excessively high, oscillation may result. Use this within the range not causing
oscillation.
* Disturbance observer cannot be used with auto-tuning.
8-6
■ Adjustment method of gain switch over
When tracking effect is insufficient even if basic parameters of high tracking control
position compensation gain and high tracking control velocity compensation gain are set,
set the gain switch over so that tracking effect can be improved.
(Example)Gain is increased near positioning compete.
NEAR
Gain 2
Gain1
Gain 2
The value of gain 2 shall be set to 1.2 times the value of gain 1.
* Gain switch over function cannot be used with auto-tuning.
■ Adjustment method of high setting control
When tracking effect is insufficient even after gain switch over, set the high setting
control parameter and in-position setting characteristics can be improved. When position
command resolution is low, set the value of command velocity calculation low pass filter
low. Set the acceleration compensation so that the position deviation near acceleration
conclusion becomes small. Set the deceleration compensation so that the position
deviation near deceleration conclusion (positioning complete) becomes small.
* This function cannot be used together with auto-tuning.
■ How to make R series control characteristics equal to Q series standard characteristics
Parameter change as follows can make the status equal to Q series standard characteristics.
Group
0
1
Page
00
16
Tuning mode
High tracking control velocity
compensation gain
8-7
Before change
00:_AutoTun
0%
After change
02:ManualTun
100%
8. Adjustment / Functions
8.2 Functions of Group 8
[Group8] 11
Position command pulse selection [PCPTYP]
3 types of position command pulse can be selected; make this selection per the specifications of the
upper unit.
Selected value
00:_F-PC_R-PC
01:_2PhasePulse
02:_CODE_PC
Contents
Forward (positive direction) pulse +reverse (reverse direction) pulse
90°phase difference 2 phase pulse string
Code + pulse string
There are 2 output types for the upper unit, the “Line driver output” and the “Open collector output”.
Using line driver output
Upper unit
Forward pulse (F-PC)
Forward pulse SG
Reverse pulse (R-PC)
Reverse pulse
SG
Servo amplifier
Twisted pair
CN1A-3
CN1A-4
CN1A-15
SG
CN1A-5
CN1A-6
CN1A-16
SG
Twisted pairs
* Always connect SG.
* Line Receiver : HD26C32 or equivalent
Using open collector output
Upper unit
Forward pulse SG
Twisted pair
Servo amplifier
CN1A-3
CN1A-15
SG
CN1A-5
Reverse pulse SG
CN1A-16
SG
Twisted pair
* The above diagrams show a connection example of the 1st axis. The terminal numbers are different for the 2nd to 6th
axes.
* Always connect SG.
* Line Receiver : HD26C32 or equivalent
* For the upper unit, line driver output is recommended.
8-8
[Group8] 12
Position command pulse count polarity [PCPPOL]
Position command pulse count polarity can be selected form the following 4 types. Select the one suitable for the upper
device.
Selected value
00:_Type1
01:_Type2
02:_Type3
03:_Type4
Contents
F-PC:Count at leading edge. / R-PC:Count at leading edge.
F-PC:Count at trailing edge. / R-PC:Count at leading edge.
F-PC:Count at leading edge. / R-PC:Count at trailing edge
F-PC:Count at trailing edge / R-PC:Count at trailing edge
[Group8] 13
Position command pulse digital filter [PCPFIL]
When the time for minimum pulse width at position command input maximum frequency is less than the digital
filter set value, alarm “AL D2” will be issued. Set the smaller value for digital filter than the time of minimum pulse
width at the time of position command input maximum frequency. Select the position command pulse digital filter
setting from the followings according to the command pulse type of the device in use.
Forward pulse string + Reverse pulse string
Selected value
00
01
02
03
04
05
06
07
t
t
t
t
t
t
t
t
Minimum pulse width [t]
> 834 nsec
> 250 nsec
> 500 nsec
> 1.8 μsec
> 3.6 μsec
> 7.2 μsec
> 125 nsec
> 83.4 nsec
Position command input maximum frequency[f]
f < 599 Kpps
f < 2.0 Mpps
f < 1.0 Mpps
f < 277 Kpps
f < 138 Kpps
f < 69 Kpps
f < 4 Mpps
f < 5.9 Mpps
t
t
t
t
t
t
t
t
A phase･B phase
Minimum edge interval [t]
> 834 nsec
> 250 nsec
> 500 nsec
> 1.8 μsec
> 3.6 μsec
> 7.2 μsec
> 164 nsec
> 164 nsec
t
t
t
t
t
t
t
t
Minimum pulse width [t]
> 834 nsec
> 250 nsec
> 500 nsec
> 1.8 μsec
> 3.6 μsec
> 7.2 μsec
> 125 nsec
> 83.4 nsec
f < 599 Kpps
f < 2.0 Mpps
f < 1.0 Mpps
f < 277 Kpps
f < 138 Kpps
f < 69 Kpps
f < 4 Mpps
f < 5.9 Mpps
90°phase difference2 phase pulse
Selected value
00
01
02
03
04
05
06
07
f < 599 Kpps
f < 2.0 Mpps
f < 1.0 Mpps
f < 277 Kpps
f < 138 Kpps
f < 69 Kpps
f < 1.5 Mpps
f < 1.5 Mpps
Code + pulse string
Selected value
00
01
02
03
04
05
06
07
8-9
Command
pulse
Forward
rotation pulse
Command pulse timing
F-PC
(Reverse rotation pulse)
string
+
t1
t2
t3
ts1
T
Reverse
rotation pulse
string
R-P
(Forward rotation pulse)
F-PC
(A phase)
t1
90°phase
R-PC
difference
(B phase)
t2
t3
T
2 phase pulse
t4 t5 t6 t7
Forward rotation
Reverse rotation
A phase is ahead of B phase by 90°.
B phase is ahead of A phase by 90°.
F-PC
(code)
ts2
code
R-PC
pulse string
(pulse)
Reverse rotation
ts3
t8
+
t9
t3
t1
t1/t8
t2/t9
ts1/ts2
ts3/ts4
t4/ t5/ t6/t 7
(t3/T)x100
ts4
Forward rotation
Forward rotation pulse
+
Reverse rotation pulse
=<0.1 μs
=<0.1 μs
t2
T
=<0.1 μs
=<0.1 μs
Code
+
pulse string
=<0.1 μs
=<0.1 μs
>T
>T
>T
――
50%
>250ns
50%
――
50%
90°phase difference
2 phase pulse
8-10
[Group8] 15, 16
Electronic gear*
[GER*]
This function allows a distance setting on the servo motor in reference to the position command pulse
from the device.
Setting range
1/32767 - 32767/1
Unit
-
Standard set value
1/1
Electronic gear
f1: Input command pulse
Upper unit
N (1～32767)
Servo motor
f2: Input command pulse after setting (f1×electronic gear)
D (1～32767)
Electronic gear setting range:
1
32767
N
D
32767
1
Refer to “Materials; Electronic Gear”.
[Group8] 17
Positioning method [EDGEPOS]
The position of positioning stop is selected; between encoder pulses or at edge.
Selected value
00:_Pulse_Interval
01:_Pulse_Edge
Contents
Positioning between pulses
Positioning at edge
Positioning between pulses
A phase
B phase
Positioning at edge
[Group8] 18
Positioning complete signal/position deviation monitor [PDEVMON]
Positioning complete signal when the position control mode is used, and position command used for outputting position
deviation monitor can be selected from before or after the position command filter passes.
Selected value
00:_After_Filter
01:_Before_Filter
Contents
Compare “position command value” and “feedback value” after filter passes.
Compare “position command value” and “feedback value” before filter passes.
+
Position deviation
monitor
-
Position
command
pulse
PMUL
KP
TPI
Filter
GER1
+
-
Position loop
encoder
8-11
[Group8] 19
Deviation clear selection [CLR]
This function is used for changing the position deviation counter in the servo amplifier from the upper
unit to zero.
Selection
Description
* Deviation is always cleared when servo is off.
Servo ON signal
Servo OFF
Logic can be changed
Deviation clear
0H
Servo OFF/deviation clear:
Deviation clear input/level detection
* Deviation is always cleared when deviation clear input is ON.
CLR signal
CLR ON
Logic cannot be changed
Deviation clear
* Deviation is always cleared when servo is off.
Servo ON signal
Servo OFF
Deviation clear
1H
Servo OFF/deviation clear:
Deviation clear input / edge detection
* Deviation is cleared in the edge when deviation clear input becomes
OFF/ON.
CLR signal
CLR is ON in edge
* Deviation is not cleared when servo is OFF.
* The motor may start suddenly after servo is turned ON with position
deviation detected.
Servo ON signal
2H
Servo OFF/deviation not cleared:
Deviation clear input/level detection
Servo OFF
Deviation not cleared
OFF/ON.
CLR signal
CLR ON
Deviation clear
* Deviation is not cleared when servo is OFF.
* The motor may start suddenly after servo is turned ON with position
deviation detected.
Servo ON signal
3H
Servo OFF/deviation not cleared:
Deviation clear input / edge detection
Servo OFF
Deviation not cleared
OFF/ON.
CLR signal
CLR is ON in edge
Select the conditions for enabling deviation clear. Internal velocity command when conditions are
valid is selected.
Parameter Group9 page04
CLR : Deviation clear function
8-12
[Group8] 28
Speed limit command [VCLM]
An upper limit value can be locked in with the speed limit command.
This value cannot be set to exceed the speed capabilities of the adjoining motor.
Parameter Group8Page28
VCLM : Speed limit command
1 – 65535 min-1
Abnormal high speed value
Input command→
Speed limit setting value
Speed command
[Group8] 31 - 32
Internal torque addition command 1 [TCOMP1]
Internal torque addition command 2 [TCOMP2]
The torque addition function is the fast-forward function of the torque control system. There are 2
types of settings for the torque addition command input function: the internal torque addition
command and the analog torque addition command. The internal torque addition command can be
used when using the torque addition command value as a fixed value. The analog torque addition
command can be used when setting the torque addition command input value from the upper unit.
1. Sets the internal torque addition command value.
TCOMP:Internal torque addition command1
TCOMP:Internal torque addition command2
-500 to +500 %
-500 to +500 %
2．Select and set the condition for enabling the torque addition function.
Parameter Group9Page30 TCOMPS1:Torque addition function1
Parameter Group9Page31 TCOMPS2:Torque addition function2
[Group8] 36
Internal torque limit value [TCLM]
The torque command can be limited by internal torque limit value.
Internal torque limit
1.Internal torque limit value setting
Parameter Group8 Page36
TCLM：Internal torque limit value
2. Torque limit function enable
10 - 500%
TL: Torque limit function
Conditions for enabling torque limit permission function are selected. When conditions are valid,
torque limit is permitted and operation starts.
* If the value is set higher than the maximum output torque (TP) of the servo
motor, it will be limited by (TP).
* Set this value after considering the acceleration time. Too low of a setting can
result in insufficient acceleration torque and poor control.
* The internal torque limit should be set higher than the acceleration torque.
* The internal torque limit is identical for forward and reverse rotation. Separate
torque limits cannot be set.
8-13
[Group8]37
Sequence operation torque limit value [SQTCLM]
During the sequence operation the output torque is limited. Limiting the output torque protects the
device mechanism.
The torque limits during sequence operation support the following sequence operations:
* JOG operation
* Over travel operation
* Holding brake standby time
* Servo brake operation
Sequence operation torque limit value setting
Parameter Group 8 Page37
SQTCLM：Sequence torque operation limit
10 - 500%
If this value is set higher than the maximum output torque (TP) of the servo motor,
it will be limited by (TP).
[Group8] 40
Near range [NEAR]
Outputs signal indicating proximity to position completion.
This is used together with positioning complete signal (INP) and near range of positioning complete is output.
Parameter GroupAPage0*
Selection
NEAR：near range
1 - 65535 Pulse
OUT*:general output*
Description
1A
NEAR_ON
Output turns ON during near range status
1B
NEAR_OFF
Output turns OFF during near range status
Determine the logical status of the NEAR signal output, and to which output terminal to assign
the positioning completion signal output.
If set to a value greater than the positioning completion range settings, the upper unit receives
the NEAR signal before receiving the positioning completion signal (INP), and transition to the
positioning completion operations is enabled.
Speed command monitor→
←Speed monitor
Position deviation monitor→
Amount of deviation 500Pulse
Positioning completion range setting value: 100Pulse
Near range setting value: 500Pulse
8-14
Positioning signal: (INP_ON)
Near signal: (NEAR_ON)
[Group8] 41
Positioning complete range [INP]
The positioning completion signal is output from the selected output terminal when servo motor
movement is completed (reaches the set deviation counter value) during position control mode.
Setting the positioning completion range
INP: Positioning completion range
1 - 65535 Pulse
Set the deviation counter value with positioning completion signals. The encoder pulse is
standard, irrespective of the command pulse multiplication and electronic gear settings.
Incremental encoder: 4 times (4x) encoder pulses is standard.
Absolute encoder: absolute value is standard.
Setting the positioning completion signal
Parameter GroupA Page0*
Selection
OUT*:general output*
Description
18
INP_ON
Output turns ON during positioning completion status.
19
INP_OFF
Output turns OFF during positioning completion status.
Determine the logical status of the positioning completion signal output, and to which output
terminal to assign the positioning completion signal output.
Speed command monitor→
←Speed monitor
Position deviation monitor→
Positioning completion range setting value: 100Pulse
8-15
Positioning signal (INP_ON)
[Group8] 43 - 45
Low speed setting [LOWV]
speed coincidence range [VCMP]
speed transport setting (High velocity setting)
[VA]
This parameter affects settings for the speed output range. The signal can be output from general
output and used as a valid condition for all functions.
To direct signals to the upper unit, make assignments to the signals in parameter Group A. Use the
general output terminal of the connected CN1 or CN1A, CN1B.
10
11
12
13
14
15
Selection
LOWV_ON
LOWV_OFF
VA_ON
VA_OFF
VCMP_ON
VCMP_OFF
OUT*:General output*
Description
Output turns ON during low speed status
Output turns OFF during low speed operation
Output turns ON during speed transport status
Output turns OFF during speed transport status
Output turns ON during speed coincidence status
Output turns OFF during speed coincidence status
Low speed range: Low speed signal is sent if speed goes below the set value.
LOWV: Low speed settings
0 - 65535min-1
V
Low speed setting value
ｔ
Output【LOVW】
【Output LOVW】
Speed coincidence range: Speed coincidence range signal is given if speed deviation reaches the
set range.
VCMP: Speed coincidence range
V
-1
0 - 65535min
Output [VCMP] between this set width
Speed command
ｔ
Speed transport settings: Speed transport signal is given if speed exceeds the set value.
VA: Speed transport settings
-1
0 - 65535min
V
Speed transport setting value
ｔ
Output [VA]
8-16
Various functions can be made valid without output signals taken into the upper device when this is used together with
Group9 function enabling conditions (input signals).
12
13
14
15
16
17
Selection
LOWV_IN
LOWV_OUT
VA_IN
VA_OUT
VCMP_IN
VCMP_OUT
Description
Function is enabled during low speed status (speed below LOWV set value).
Function is enabled when not in low speed status (speed below LOWV set value).
Function is enabled during speed transport status (speed above VA set value).
Function is enabled when not in speed transport status (speed above VA set value).
Function is enabled during speed coincidence status (speed deviation below VCMP set value).
Function is enabled when not in speed coincidence status (speed deviation below VCMP set value).
Low speed status [LOWV_IN]: Function is enabled during low speed status (speed below LOWV set value).
Low speed status [LOWV_OUT]: Function is enabled outside of low speed status (speed below LOWV set value).
V
Low speed setting value
ｔ
[LOWV_IN] valid
[LOWV_OUT] valid
[LOWV_IN] valid
Speed coincidence status [VCMP_IN]: Function is enabled during speed coincidence status
(speed deviation below VCMP set value).
Speed coincidence status [VCMP_OUT]: Function is enabled outside of speed coincidence status
(speed deviation below VCMP set value).
V
[VCMP_IN] valid
Speed command
ｔ
[VCMP_OUT] valid
Speed transport status [VA_IN]: Function is enabled during speed transport status (speed above VA set value).
Speed transport status [VA_OUT]: Function is enabled outside of speed transport status (speed above VA set value).
V
Speed transport setting value
ｔ
[VA_OUT] valid
[VA_IN] valid
8-17
[VA_OUT] valid
8.3 Functions of Group9
[Group9] 00 - 01
Forward over travel function [F-OT]
Reverse over travel function [R-OT]
The over travel function uses a limit switch to prevent damage to the device. It stops the device when
the movement range of the moving part is exceeded.
1. Allocate the over travel input signal to CONT1~CONT8.
F-OT:Forward over travel function
R-OT:Reverse over travel function
Forward
Limit switch
Reverse
Limit switch
R-OT
CONT1 - 8
F-OT
2. If the over travel function is used, select the operating conditions of “Position command input,
Servo motor stop operation and Servo ON signal” in the case of over travel.
Parameter GroupB Page11
ACTOT: Over travel operation
Selected value
00:_CMDINH_SB_SON
01:_CMDINH_DB_SON
02:_CMDINH_Free_SON
03:_CMDINH_SB_SOFF
04:_CMDINH_DB_SOFF
05:_CMDINH_Free_SOFF
06:_CMDACK_VCLM=0
Contents
* If OT occurs, command input is disabled, the servo brake operates and the motor stops.
* After the motor stops, the servo turns ON. (At OT, command disabled = velocity limit command = 0)
* If OT occurs, command input is disabled, the dynamic brake operates and the motor stops.
* If OT occurs, command input is disabled, and the free-run operates.
* If OT occurs, command input is disabled, the servo brake operates and the motor stops.
* After the motor stops, the servo turns OFF.
* If OT occurs, command input is disabled, the dynamic brake operates and the motor stops.
* If OT occurs, command input is disabled, and the free-run operates.
* If OT occurs, OT occurrence velocity limit command becomes zero.
If “the motor is stopped by servo brake operation” [00:_CMDINH_SB_SON][ 03:_CMDINH_SB_SOFF] is selected
when over travel occurs, torque at the time of servo brake operation can be set at the sequence torque operation limit
value.
SQTCLM: Sequence torque operation limit 10 - 500%
If the value is set higher than the maximum output torque (TP) of the servo motor, it will
be limited by (TP).
8-18
[Group9] 02
Alarm reset function [AL-RST]
This function enables the sending of an alarm reset signal from the upper unit. An alarm is cleared by
enabling alarm reset function (AL-RST).
The conditions for enabling alarm reset function are assigned. The alarm is cleared if the AL-RST signal is valid.
AL-RST: Alarm reset function
The following circuit is created when valid conditions are assigned to PS-CONT2. The logic can also
be modified by the alposition of valid conditions.
Upper unit
Servo Amplifier
DC5V
to
24V
CN1A-45
CN1A-27
CONT-COM
CONT1
Alarm reset signal
Shielding Wire
“Alarm status”
Alarm signal
Alarm reset signal
“Cancel alarm”
“Reset alarm”
Above 20msec
* Note that any alarm not cleared by simply turning OFF the control power supply cannot be cleared
with the alarm reset signal.
[Group9] 05
Servo ON function [S-ON]
This function enables the sending of a servo ON signal from the upper unit. The servo motor can
be set to “ready” status by enabling the servo ON function (SON).
The conditions for enabling the Servo ON function are assigned. The servo motor is set to “ready”
status when the SON signal is enabled.
Parameter Group9 Page05 S-ON: Servo ON function
The following circuit is created when valid conditions are assigned to CONT1.The logic can also be
modified by the alposition of valid conditions.
Upper unit
DC5V
to
24V
Servo Amplifier
CN1A-45
CONT-COM
CN1A-26
CONT1
Servo ON signal
Shielding Wire
8-19
[Group9] 11
Position command pulse inhibit function [INH/Z-STP]
This can be used as position command pulse inhibit function (INHIBIT function).
When the function is enabled while servo motor is operating, input command is inhibited and the servo motor stops at
servo motor excitation status. Even if position command pulse is input, the input pulse is not counted in the servo
amplifier.
Conditions enabling position command pulse inhibit are allocated. When signals of INH/Z-STP are valid, this will
function.
INH/Z-STP: Position command pulse inhibit
[Group9] 13 - 14
Gain switch over condition 1 [GC1]
Gain switch over condition 2 [GC2]
4 types of gains can be switched and used.
Conditions enabling gain switch over are allocated. When the signal of GC1 and GC2 combination is valid, the
set value of corresponding GAIN becomes enabled.
GC1: Gain switch over condition1
GC2: Gain switch over condition2
GC1:Gain switch over condition1
GC2:Gain switch over condition 2
Invalid
Invalid
↓
GAIN 1
Gain to be enabled
Valid
Invalid
↓
GAIN 2
Invalid
Valid
↓
GAIN 3
Valid
Valid
↓
GAIN4
[Group9] 15 - 16
Vibration suppressing frequency selection input1 [SUPFSEL1]
Vibration suppressing frequency selection input2 [SUPFSEL2]
4 types of vibration suppressing frequency can be switched and used.
Conditions for enabling vibration suppressing frequency selection input are allocated. When the signal of
SUPFSEL1 and SUPFSEL2 combination is valid, the set value of corresponding vibration frequency
becomes enabled.
SUPFSEL1:Vibration suppressing frequency selection input1
SUPFSEL2:Vibration suppressing frequency selection input2
SUPFSEL1:Vibration suppressing
frequency selection input1
SUPFSEL2:Vibration suppressing
frequency selection input2
Vibration suppressing frequency
to be enabled
Invalid
Valid
Invalid
Valid
Invalid
Invalid
Valid
Valid
↓
Vibration
suppressing
frequency 1
↓
Vibration
suppressing
frequency 2
↓
Vibration
suppressing
frequency 3
↓
Vibration
suppressing
frequency4
Group2 Page 00
Group 3 Page 40
Group 3 Page 41
Group 3 Page 42
8-20
[Group9] 17
Position loop proportional control switch over function [PLPCON]
Switching between position loop PI control<- -> P control is possible. Switching is possible when position loop
proportional control switchover function (PPCON)is enabled.
Conditions for enabling position loop proportional control switchover function are allocated. Switches to
proportional control when the signal of PPCON is valid.
PLPCON: Position loop proportional control switchover function
PI control(proportional / integral control) …. Position loop proportional gain(KP) / Integral time constant(TPI)
P control (Proportional control)
…. Position loop proportional gain(KP)
* Position loop integral time constant (TPI)is 1000.0ms at standard setting, therefore, integral function is invalid.
[Group9] 26
Speed loop comparison control switchover function [VLPCON]
Speed loop PI control / P control can be used alternatively. Activate switching by enabling the speed
loop comparison control switching function (PCON)
The conditions for enabling the speed loop comparison control switching function are assigned. Change the comparison control
when the PCON signal is valid.
VLPCON: Speed loop comparison control switchover function
PI control (comparison / integral control): Speed loop comparison gain (KVP) / Speed loop reset time constant (TVI)
P control (Comparison control): Speed loop comparison gain (KVP)
* When set to comparison control, servo gain is reduced and the servo system is made stable.
* When the speed loop reset time constant (TVI) is set to 1000.0ms, it is not necessary to use this function, since the reset time
constant in use is invalid (Comparison control)
[Group9] 40
External trip input function [EXT-E]
This function can output a contact input (such as external thermal) as an alarm (AL55H) in the servo
amplifier.
The conditions for enabling the external trip function are assigned. An alarm (AL55H) is given if the EXT-E signal is valid.
EXT-E: External trip function
[Group9]42
Emergency Stop Function [EMR]
This function enables an emergency stop of the servo motor after receiving an emergency stop
signal in the servo amplifier.
The conditions for enabling the unit emergency stop signal are assigned. The unit emergency stop
function is executed when the EMR signal is valid.
EMR: Emergency stop function
8-21
8.4 Functions of Group B
[GroupB] 10
Dynamic brake operation [DBOPE]
Conditions for stop at servo OFF can be selected from Servo brake/dynamic brake/free run.
Conditions after servo motor stop can be selected from dynamic brake/free run.
DBOPE: Dynamic brake operation
Selected value
00:_Free_Free
01:_Free_DB
02:_DB__Free
03:_DB__DB
04:_SB__Free
05:_SB__DB
Free run operation at servo OFF
:Motor free operation after motor stop.
Free run operation at servo OFF
:Dynamic brake operation after motor stop.
Dynamic brake operation at servo OFF :Motor free operation after motor stop.
Dynamic brake operation at servo OFF :Dynamic brake operation after motor stop.
Servo brake operation at servo OFF
:Motor free operation after motor stop
Servo brake operation at servo OFF
:Dynamic brake operation after motor stop
[GroupB] 12
Forced stop operation [ACTEMR]
When forced stop is executed by power shut off while servo motor is operating (servo motor is not stopped), conditions
for servo motor stop can be selected from servo brake/dynamic brake.
Selected value
ACTEMR: Forced stop operation
Contents
00:_SERVO-BRAKE
When EMR is input, motor is stopped by servo brake operation.
01:_DINAMIC-BRAKE
When EMR is input, motor is stopped by dynamic brake operation.
8-22
[GroupB] 13
Holding brake operation delay function [BONDLY]
This function is enabled during servo brake operation at servo OFF. It is disabled for dynamic brake
and free-run.
Servo ON signal
Servo ON
Holding brake exc. Signal
Brake excitation off
Command rec. perm. Signal
Comm.-rec. perm
Motor excitation signal
Motor excited
Servo OFF
Brake excitation on
Motor free
If the motor excitation is turned off here, any delay until the holding brake engages
can cause a weight-drop.
Set the delay time for the holding brake operation
Parameter GroupB Page13 BONDLY: Holding brake operation delay time
Servo ON signal
Servo ON
Brake excitation of
Command-rec. perm. Signal
Comm.-rec. perm
Motor excited
0 - 1000ms
Servo OFF
Brake excitation on
BONDLY
Motor free
A delay in switching off the motor excitation can prevent weight-drop,
as the motor is excited until the holding brake turns ON.
*The setting increment is 4 msec.
If the setting is 0 msec, the command is disabled (forced zero) for 4 msec after SON.
The holding brake excitation signal can be output through the generic outputs.
OUT*: Generic output *
0A:_MBR-ON_ON
During holding brake excitation signal output, the output turns ON.
0B:_MBR-ON_OFF
During holding brake excitation signal output, the output turns OFF.
8-23
[GroupB] 14
Holding brake release delay function [BOFFDLY]
Servo ON signal
Servo OFF
Servo ON
Command-rec. perm. Signal
Comm.-rec. perm
Motor excited
If there is a delay between the motor start and the holding brake release, the motor operates
with the holding brake on, and will damage the brake.
・Set the delay time for the holding brake release
Parameter GroupB Page14 BOFFDLY：Holding brake release delay time
Servo ON signal
Servo OFF
Servo ON
Command-rec. perm. signal
0 - 1000ms
Comm. rec. perm
Motor excited
BOFFDLY
Damage to the holding brake due to this delay can be prevented by lengthening
the time of the command-receive permission.
*The setting increment is 4 msec.
If the setting is 0 msec, the command is disabled (forced zero) for 4 msec after SON.
The holding brake excitation signal can be output through the generic outputs .
Parameter Group9 Page0*
OUT*:Generic output*
0A:_MBR-ON_ON
0B:_MBR-ON_OFF
During holding brake excitation signal output, the output turns ON.
During holding brake excitation signal output, the output turns OFF.
[GroupB] 15
Brake operation start time [BONBGN]
If the motor does not stop within the time frame set for the brake operation start (BONBGN)when the servo is turned
OFF, the holding brake and the dynamic brake force the motor to stop. The function can be disabled by setting the
value to “0”ms. The setting increment is 4msec; therefore, set the value to 4 msec or higher.
BONBGN: Brake operation start time
0 - 65535ms
* The term “motor does not stop” (above) means that the motor velocity does not fall below the zero velocity (ZV)
range.
* The stop sequence is different depending on the condition settings of the emergency stop operation.
* When the brake operation start time(BONBGN)passes, the servo motor will be forced to stop by both the dynamic
brake and the holding brake, which can cause damage to the holding brake. Therefore, use this function only after
considering the specifications and the sequence of the device.
8-24
[GroupB] 20
Excessive deviation warning function [OFWLV]
This function gives a warning before reaching excessive deviation alarm status.
Set the deviation excessive warning value.
OFWLV: Excessive deviation warning level
1 - 65535 × 1024 pulse
For sending the signals to the upper unit, assign the signals in parameter Group 9. Output from general output.
OUT*: Generic output*
2A:_WNG-OFW_ON
Output turns ON during excessive deviation warning status
2B:_WNG-OFW_OFF
Output turns OFF during excessive deviation warning status
[GroupB] 21
Deviation counter overflow [OFLV]
Parameter to set the value for outputting excessive position deviation alarm. Encoder pulse is the standard irrespective
of electronic gear or command multiplication functions.
Deviation counter overflow value is set.
OFLV:Deviation counter overflow
1 - 65535 × 1024 pulse
[GroupB] 22
Overload warning function [OLWLV]
This function will send a warning before reaching overload alarm status. Set the ratio corresponding to the overload alarm value to
100%. When set to 100%, the overload warning and overload alarm are given simultaneously.
Set the overload warning level.
OLWLV:Overload warning level
20 - 100 %
For sending the signals to the upper unit, assign the signals in parameter Group 9. Output from general output terminals.
OUT*: General output*
2C:_WNG-OLW_ON
Output turns ON during overload warning status
2D:_WNG-OLW_OFF
Output turns OFF during overload warning status
*The overload detection process is assumed to be 75% of the rated load at the time of starting the control power supply (hot start). At
this time, if the overload warning level is set below 75%, an overload warning is given after starting the control power supply.
8-25
8.5 Functions of Group C
[GroupC] 01
Motor incremental encoder digital filter [ENFIL]
You can set the digital filer value of the incremental pulse for the selected incremental encoder. When noise is
superimposed on the incremental encoder, the pulse below the set value is removed as noise. Set this value by
considering the frequency of pulses from the selected encoder and the maximum number of rotations of the
servo motor. If the input value is greater than the encoder frequency during the peak rotation of the servo motor,
the encoder pulse is removed and the servo motor will stop.
Selection for motor incremental encoder digital filter
Parameter GroupC Page01
ENFIL: Motor incremental encoder digital filter
Selected value
00:_110nsec
Contents
Minimum pulse width =110nsec (Minimum phase difference=37.5nsec)
01:_220nsec
02:_440nsec
Minimum pulse width =220nsec
03:_880nsec
04:_75nsec
05:_150nsec
06:_300nsec
07:_600nsec
Minimum pulse width =75nsec (Minimum phase difference=37.5nsec)
Minimum pulse width
A phase
B phase
Minimum phase difference
Minimum pulse width
Z phase
8-26
[GroupC] 05
Division ratio for encoder pulse divider output [ENRAT]
The encoder signals (Phase A/ Phase B) used in the host unit can be output according to a ratio formula. When
using in the host unit’s position loop control, input the result (obtained after dividing the number of encoder
pulses) as an integer. However, when using this function to monitor the host unit, input a ratio that is as close to
the setup value as possible.
The output of Z phase is not divided.
Division ratio for the encoder pulse divider output is set.
ENRAT: Ratio of the encoder pulse divider output
1/1 - 1/8192
The following settings are possible.
When numerator is “1”
When numerator is “2”
When denominator is “8192”
:
:
:
1/1 - 1/64, 1/8192
2/3 - 2/64, 2/8192
1/8192 - 8191/8192
can be set.
can be set.
can be set.
Frequency division 1/1 (Forward rotation)
90°
A phase
B phase
Z phase
90°
A phase
B phase
Z phase
108°
90°is not possible.(Phase relation does not change.)
A phase
B phase
Z phase
* Destabilizes for 1 sec after control power is supplied.
8-27
[GroupC] 06
Encoder Pulse Divider Output polarity selection function [PULOUTPOL]
The polarity of the encoder pulse frequency output can be selected.
Selected
value
00:_Type1
01:_Type2
02:_Type3
03:_Type4
PULOUTPOL: Encoder pulse frequency output polarity
Contents
A phase signal / not reversed
Z phase signal logic / High active
A phase signal / reversed
Z phase signal logic / High active
A phase signal / not reversed
Z phase signal logic / Low active
A phase signal / reversed
Z phase signal logic / Low active
Setting 0H (Frequency division ratio 1/1: with forward rotation)
Using the incremental encoder
Setting 3H (Frequency division ratio 1/1: with forward rotation)
Using the incremental encoder
90°
90°
A phase
B phase
Z phase
[GroupC] 08
Absolute encoder clear function [ECLRFUNC]
Select the conditions for enabling absolute encoder clear.
ECLR: Absolute encoder clear function
When using a wire-saving absolute encoder, you can select the contents to be cleared.
Clear “Warning + multiple rotation data”
Clear only “Warning”
Selected value
ECLRFUNC: Select absolute encoder clear function
Contents
Clear encoder status (abnormal / warning) and multiple rotation data [standard setting]
01:_Status
Clear only encoder status (abnormal / warning)
* These conditions are applicable only to the wire-saving absolute encoder.
* Do not input this while the servo motor is rotating. Confirm that the servo motor stops before inputting this.
8-28
8.6 Functions of analog monitor
[GroupA] 11 - 13
Analog monitor output 1 selection [MON1]
Analog monitor output 2 selection [MON2]
Analog monitor output polarity [MONPOL]
Analog monitor for use is selected.
Parameter GroupA Page11
Selected value
00
01:_TMON_0.5V/TR
02:_TCMON_0.5V/TR
-1
03:_VMON_0.2mV/ min
-1
04:_VMON_0.5mV/ min
-1
05:_VMON_1mV/ min
-1
06:_VMON_2mV/ min
-1
-1
-1
09:_VCMON_1mV/ min
-1
0A:_VCMON_2mV/ min
0B:_PMON_0.1mV/P
0C:_PMON_1mV/P
0D:_PMON_10mV/P
0E:_PMON_20mV/P
0F:_PMON_50mV/P
10:_FMON_2mV/kP/s
11:_FMON_10mV/kP/s
12:_TLMON_EST_0.5V/TR
13:_Sine-U
14:_VBUS_0.5V/DC100V
15:_VBUS_0.5V/DC10V
MON1: Analog monitor output 1 selection
MON2: Analog monitor output 2 selection
Contents
Reserved
Torque (thrust) monitor
0.5V/ rated torque (thrust)
Torque (thrust) command monitor 0.5V / rated torque (thrust)
-1
velocity monitor
0.2mV/ min
-1
velocity monitor
0.5Mv / min
-1
velocity monitor
1mV / min
-1
velocity monitor
2mV / min
-1
velocity command monitor 0.2mV / min
-1
velocity command monitor 0.5mV / min
-1
velocity command monitor 1mV / min
-1
velocity command monitor 2mV / min
position deviation counter monitor 0.1mV / Pulse
position deviation counter monitor 1mV / Pulse
position deviation counter monitor 50mV /Pulse
position command pulse monitor(position command pulse input frequency)2mV/kPulse/s
position command pulse monitor(position command pulse input frequency)10mV/kPulse/s
Load torque (thrust) monitor (estimated value) 0.5V/ rated torque (thrust)
U phase electric angle Sin 2Vpeak
Main circuit DC voltage 0.5V / DC100V
Main circuit DC voltage 0.5V / DC10V
Select this when polarity is to be changed.
MONPOL: Analog monitor output polarity
Selected value
00:_MON1+_MON2+
01:_MON1-_MON2+
02:_MON1+_MON203:_MON1-_MON204:_MON1ABS_MON2+
05:_MON1ABS_MON206:_MON1+_MON2ABS
07:_MON1-_MON2ABS
08:_MON1ABS_MON2ABS
Contents
MON1: Positive voltage output in forward rotation; output pos and neg voltage.
MON1: Negative voltage output in forward rotation; output pos and neg voltage.
MON1: Positive voltage output together in forward and reverse rotation
8-29
8-30
9．Maintenance
9. Maintenance
9. 1. 1 Alarm Reset
9. 2 Troubleshooting the Alarm
9. 3 Corrective actions for Operational Problems
9. 4 Maintenance
9. 5 Parts Overhaul
････････････････
････････････････
････････････････
････････････････
････････････････
････････････････
････････････････
9-1
9-2
9-2
9-2
9-6
9-28
9-29
9-30
9．Maintenance
When an alarm is issued in the amplifier unit, the display of “ALM” on the front LED (red) turns ON and the 7 segment
LED shows the alarm code. If the alarm occurs in the shaft from 1 - 3, alarm signal is output from CN1A pin 25, and if it
occurs in the shaft from 4 - 6, alarm signal is output from CN1B pin 25.
When an alarm is issued in the power supply unit, the alarm code is shown on the 7 segment LED, and the alarm signal
is output from each pin 25 of CN1A and CN1B.
When an alarm rings, check the contents per the Alarm List (Section 9.1) eliminate the cause per the Corrective Action
List (Section 9.2) and resume operations after safety has been confirmed. Please note that for some alarms, it is very
dangerous to resume operations without eliminating the causes.
9. 1.1 Alarm Reset
See the followings for resetting the alarm.
1. Clear the alarm by enabling the alarm resetting function from generic input which has allocation of
alarm reset function.
2. Clear the alarm by resetting it via the R-SETUP setup software.
3. Cut off the control power and eliminate the alarm cause. Then turn ON the power again.
Always confirm that the main circuit power supply is turned off, and then reactivate.
4. Clear the alarm using the test run mode of the digital operator.
・
Detection operations: After alarm, “DB” will slow down and stop the servo motor.
・
Detection operations: “SB” slows down and stops the servo motor as per the sequence current limitation value.
However, when dynamic brake is selected in forced stop operation selection, the servo motor will slow down and
stop by dynamic brake operations
・
Detection operations: “-” is an alarm detected only in the initial process after turning ON the control power.
・
Alarm clear: Alarms represented by an “×”
reconnected, alarm clearing is not possible.
signify that unless the control power supply is disconnected and
9-2
9．Maintenance
Table9-1 Alarm List (1/2)
Abnormality related to encoder wiring
Abnormality in
power source
Abnormality related to load
Abnormality
related to drive
Alarm code
Alarm title
Alarm contents
21H
Power device abnormality
(Over current)
22H
23H
Electric current abnormality 0
24H
28H
41H
42H
43H
Servo ON error
Overload 1
Overload 2
Regeneration abnormality
51H
Amplifier overheating
52H
In-rush prevention resistor overheating
54H
Internal overheating
55H
External overheating
56H
61H
Power element overheating
Excess voltage
62H
Main circuit under voltage
63H
Main power supply line drop
71H
Control power supply under voltage
Note1) Note2) Note5)
81H
Encoder A phase/B phase pulse signal
abnormality 1
82H
84H
85H
87H
91H
92H
93H
94H
Note3)
Note3)
• Over current of drive module
• Drive power supply error
• Overheating of drive module
• Abnormality of current detection value
• Abnormality of current detection circuit
• Abnormality in communication with
current detection circuit
• Servo ON is input during motor rotation
• Excessive effective torque
• Stall overload
• Regeneration load ratio exorbitance
• Overheating detection of amplifier
ambient temperature
• Overheating is detected at in-rush
prevention resistor
• Overheating detection of internal
regeneration resistor
• Overheating detection of external
regenerative resistor
• Overheating detection of power element
• DC excessive voltage of main circuit
Detection Detection Alarm
unit
operations clear
AMP
DB
Yes
AMP
AMP
DB
DB
Yes
Yes
AMP
DB
Yes
AMP
AMP
AMP
PS
DB
SB
DB
Note9)
Yes
Yes
Yes
Yes
AMP
SB
Yes
PS
SB
Yes
PS
Note9)
Yes
AMP
Note9)
Yes
AMP
PS
DB
Note9)
Yes
Yes
Note9)
Yes
Note9)
Yes
DB Note9)
Yes
Note4)
AMP
DB
No
AMP
DB
Yes
AMP
DB
Yes
AMP
-
No
AMP
DB
No
AMP
DB
Yes
AMP
DB
Yes
AMP
DB
Yes
AMP
DB
Yes
• Main circuit low voltage
PS
• 1 phase of the 3 phase main circuit power
PS
supply disconnected
• Control power supply low voltage
• Incremental encoder (A, B, Z) signal line
break
• Power supply break
• Absolute encoder (PS) signal line break
Absolute signal wire breaks
Abnormality in communication between
• Encoder serial signal time out
encoder and amplifier
• Filed to read CS data of incremental
encoder
Encoder initialization abnormality
• Abnormality in initial process of absolute
encoder
• Cable break
CS disconnection
• CS signal line break
• Mismatch of transmission command and
Encoder command abnormality
reception command
• Start, Stop bit abnormality
Encoder FORM abnormality
• Insufficient data length
・• Data cannot be received during the
Encoder SYNC abnormality
prescribed time after the command is
sent.
• CRC generated from the received data
Encoder CRC abnormality
and sent CRC does not match.
9-3
AMP/PS
9．Maintenance
Table 9-1 Alarm list (2/2)
Abnormality in encoder main body
Alarm code
A1H
A2H
A3H
Encoder abnormality 1
Absolute Encoder battery abnormality
Encoder overheating
A5H
A6H
A7H
A8H
A9H
B2H
Encoder failure
Absolute encoder rotations counter
abnormality
Absolute encoder 1 rotation counter
abnormality
Exceeds the permitted speed while
turning ON the absolute encoder power
Internal memory error of encoder
B3H
B4H
B5H
B6H
B7H
Control system abnormality
C1H
C2H
C3H
D1H
D2H
D3H
Control system/memory system
abnormality
Alarm name
DFH
E1H
E2H
E3H
E4H
E5H
E6H
E8H
F1H
F2H
F5H
Alarm contents
• Break down of encoder internal device
• Battery low voltage
• Motor built-in encoder overheating
• Generation error of multi-rotation data
• Abnormality in operations of temperature
encoder
• Encoder internal EEPROM data is not set
• Overflow of multi-rotation data
• Resolver abnormality
• Light receiving abnormality in encoder
• Resolver disconnection
• Light receiving abnormality in encoder
• Encoder failure
• Position data incorrect
• Detection of incorrect multiple rotations
coefficient
• Detection of incorrect 1 rotation coefficient
• Exceeds the permitted speed of motor rotation
speed when the power is turned ON
• Access error of encoder internal EEPROM
• Exceeds the permitted speed for motor
Acceleration error
rotation
• Motor rotation speed is 120% more than
Over speed
the highest speed limit
• Power command and acceleration codes
Speed control abnormality
are mismatched.
Speed feedback abnormality
• Motor power disconnection
Note8)
• Position deviation counter exceeds the
Excessive position deviation
setup value.
• Frequency of entered position command
Position command pulse frequency
abnormality 1
pulse is excessive.
• Overflow of position command low-pass
Position command pulse frequency
abnormality 2
filter.
Test mode end
Note7)
• Detection in “Test mode end” status.
EEPROM abnormality
• Abnormality of amplifier with built-in EEPROM.
EEPROM check sum abnormality Note9) • Error in check sum of EEPROM (entire area).
Internal RAM abnormality
• Access error in CPU built-in RAM.
Process abnormality in CPU - ASIC
• Access error in CPU - ASIC.
• Detection when non-corresponding or
Parameter abnormality 1
undefined amplifier, motor, encoder code
are specified.
• Abnormality in combining motor, encoder,
and/or amplifier code set from system
parameter.
• Detected when the connected amplifier
axis number has been changed since the
last turn ON of the control power supply.
Task process abnormality
• Abnormality in CPU interruption process.
• When initialization process does not end
Initial time out
within the predetermined time.
Internal processing error
• Processing error inside the servo system
Detection Detection Alarm
unit
operation clear
AMP
DB
Note6)
AMP
DB
Note6)
AMP
DB
Note6)
AMP
DB
Note6)
AMP
DB
Note6)
AMP
DB
Note6)
AMP
DB
Note6)
AMP
AMP
DB
DB
Note6)
Note6)
AMP
DB
Note6)
AMP
DB
Note6)
AMP
DB
Note6)
AMP
DB
Note6)
AMP
DB
Note6)
AMP
DB
Yes
AMP
DB
Yes
AMP
DB
Yes
AMP
DB
Yes
AMP
SB
Yes
AMP
SB
Yes
AMP
DB
AMP/PS DB/ Note9)
AMP/PS
AMP/PS
AMP/PS
-
Yes
No
No
No
No
AMP/PS
-
No
AMP
-
No
AMP
-
No
AMP
DB
No
AMP/PS
-
No
AMP
DB
Yes
Note1) Normal operation is possible up to AC power supply 1.5 cycle pause.
Note2) Detection of control source abnormality or servo ready OFF is operated in 1.5 ~ 2 cycle pause.
Detection of control power abnormality and servo ready OFF can be delayed by setting larger value at PFDDLY
(GroupB Page 16).
Note3) When the main power voltage increases or decreases with a gentle slope, or when the voltage pauses
momentarily, main circuit short voltage or main power phase loss may be detected.
Note4) When the control power +5V drops due to momentary pause, the alarm cannot be cleared even ifcontrol power error is
detected after +5V does not drop thoroughly and returns. In this case, turn off the control power supply once.
Note5) When the control power pauses lasts long, it is regarded as a power shut-off and turning-on again, and the detected
control power error will not be recorded in the alarm history.
(If the pause lasts longer than 1 second, it is surely regarded as a power shut-off.)
Note6) Encoder clear may be needed in some cases due to faulty encoder main body.
Note7) An alarm that occurs at test mode termination is not recorded in the alarm history.
Note8) When the motor drops fast simultaneously with servo ON, motor power line disconnection may not be detected.
Note9) The setting of the amplifier unit determines stop operation.
Note10) Supporting function of alarm-reset depends on each of alarms activated.
9-4
9．Maintenance
Table 9-2 Warning list
Warning title
Warning contents
Overload warning
• When the effective torque exceeds the set torque.
Regeneration overload warning
• In case of overload of regeneration resistor.
Load system
• Ambient temperature of the amplifier is out of the
Amplifier overheating warning
set range.
Power supply system Main circuit is charging
• Voltage of main circuit is above DC105V.
Encoder system
Absolute encoder battery warning
• Battery voltage is below 3.0V.
• While restricting the torque command by torque
Restricting torque command
restriction value.
• While restricting the speed command by speed limit
Control system
Restricting speed command
value.
• When position deviation warning setup value is out
Excessive position deviation
of the set limits.
・
・
・
While warning is being detected, normal operation is possible. However, if the operation goes on, there is
a possibility that an alarm may occur. Before an alarm rings, customers are requested to review the
operational condition.
A warning is not latched at the time of detection. Without warning, it is automatically released.
Since the over load detection operation is estimated at 75% (Hot Start) when control power turns on, if the
overload warning level (GroupB Page22) is set to 75% or lower, overload warning may be detected at
control power turn-on.
9-5
9．Maintenance
9. 2 Troubleshooting when alarm occurs
When an alarm rings, take appropriate measures for each alarm according to the corrective actions as given below.
1. An “{” represents the cause number under “Status when the alarm occurs” in the
charts.
2. Take corrective actions for items where “{” is marked.
3. If the problem is not resolved, next take corrective actions for items where “U” is
marked.
4. If the problem persists, contact your dealer or sales office.
While investigating the cause of the problem, confirm the safety of the surrounding environment, including
the servo amplifier, motor and manufacturing system. Failure to ensure the safety could lead to dangerous
situation.
During troubleshooting, first study the conditions at the time of alarm occurrence to focus on the areas
relative to the malfunction, which will shorten the time needed for solution.
When replacing the servo motor and amplifier, confirm that the harmful condition has been eliminated, in
order to avoid repeat damage to the system.
If the problem is not resolved after referring to this explanation, contact your dealer or sales office for
assistance. Please refer to the back cover of this document for contact information.
9-6
9．Maintenance
Abnormality related to drive
CODE: 21,22,23,24,28
● Alarm code 21H (Power device abnormality / Over current)
Status at the time of alarm
Issued when control power is turned ON.
Issued at servo ON input.
Issued while starting and stopping the motor.
Issued after extended operating time.
1
U
{
U
U
Cause
2
3
{
{
{
U
U
U
U
4
U
{
Corrective actions
1
2
3
4
Cause
Investigation and corrective actions
• U/ V/ W phase of the amplifier is short circuited due • Check the wiring between the amplifier and motor, and
to the wiring in amplifier and motor.
confirm that there is no error. If some error is detected,
• U/ V/ W phases are grounded in the earth.
modify or change the siring.
• Short circuit or fault in U/ V/ W phase on servo motor
• Replace the servo motor.
side.
• Defect in amplifier unit inner circuit.
• Replace the amplifier unit.
• Defect in power device.
• Confirm that the cooling fan motor for the servo amplifier is
working. If it is not working, replace the servo amplifier.
• Confirm that the temperature of the control panel (ambient
• Overheat is detected in power device(IPM).
temperature of the servo amplifier) does not exceed 55°C. If
it exceeds 55°C, check the installation method of the servo
amplifier, and confirm that the cooling temperature of the
control panel is set to below 55°C.
● Alarm code 22H (Electric current abnormality 0)
Issued when the control power is turned ON.
Issued after the power is turned ON.
Cause
1
2
{
U
{
U
corrective actions
1
2
Cause
• Defect in power device.
Servo amplifier and motor are not combined properly.
• Confirm that the proper codes (per the specified motor
codes) have been used for the servo motor.
It not, replace the servo motor.
Cause
1
2
{
{
U
Issued during operation.
Corrective actions
1
Cause
2
• Malfunction due to noise.
• Confirm proper grounding of the amplifier.
• Add ferrite core or similar countermeasures against noise.
9-7
9．Maintenance
● Alarm code 28H (Servo ON error)
Cause
1
2
{
{
U
Issued when servo ON is input.
Corrective actions
1
2
Cause
• Servo ON is input during motor rotation.
• Input servo ON while motor stops.
9-8
9．Maintenance
Abnormality related to load
CODE: 41, 42, 43,51,52,54.55, 56
● Alarm code 41H (Over load 1)
1
{
{
After command input, issued without rotating the motor.
After command input, issued after extended operating time.
2
3
4
Cause
5
6
7
{
{
{
{
U
{
{
{
{
8
9
10
{
{
{
{
Corrective actions
2
Cause
• Defect in amplifier unit inner circuit or power
element peripherals.
• Defect in encoder circuit of servo motor.
3
• Effective torque exceeds the rated torque.
4
• Defect in motor-amplifier combination.
5
• Holding brake of servo motor does not release.
1
6
7
8
9
10
• Wirings of U・V・W phase between servo amplifier
and motor do not match.
• One or all connections of U/ V/ W phase wiring of
servo amplifier / motor is disconnected.
• Machines collided.
• Encoder pulse number setting does not match with
the motor.
• Voltage of main power supply input (R, S, T) is low.
• Monitor the motor-generated torque in the effective torque estimated
value (Trms), and confirm that the effective torque exceeds the rated
torque.
• (Or,) calculate the effective torque of the motor from its loading and
operating conditions.
-> If the effective torque is excessive, review the operating or
loading, or replace it with large capacity motor.
• Check if the motor in use matches the motor type setting, and correct
the setting if it is improper.
• Check that the wiring and voltage of the holding brake are
acceptable. If not, repair it.
->If the above are OK, replace the servo motor.
• Check the wiring conditions and restore them if they are improper.
• Check the operating conditions and the limit switch.
• Match the encoder pulse number with the motor.
• Review the input voltage of main power supply.
While checking the alarm caused by conditions in alarm #3 (above), repetition of power OFF->ON could cause
burn. Once the cause of #3 has been eliminated, have sufficient time (30 minutes or longer) for cooling after
power turn-off, then resume operation.
9-9
9．Maintenance
● Alarm code 42H (Over load 2)
After command input, issued without motor rotation.
After command input, issued after extended operating time.
1
{
{
2
3
4
Cause
5
{
{
{
{
{
{
6
7
{
{
U
8
9
{
{
{
Corrective actions
1
2
3
Cause
• Defect in amplifier unit inner circuit or power
element peripherals.
• Defect in encoder circuit of servo motor.
•
4
•
5
•
6
7
8
9
•
•
•
•
• Check if the torque command exceeds twice the rated torque using
torque command monitor (TCMON).
-1
Rotation is lower than 50m , and torque command • Calculate the effective torque of the motor from its loading and
exceeds twice the rated torque.
operating conditions.
-> If it exceeds the effective torque, review the operating or loading
conditions, or replace it with larger capacity motor.
• Check if the motor in use matches the motor type setting, and correct
Defect in motor-amplifier combination.
the setting if it is improper.
• Check that the wiring and voltage of the holding brake are
Holding brake of servo motor does not release.
acceptable. If not, repair it.
-> If the above are OK, replace the servo motor.
Wirings of U/ V/ W phase between servo amplifier
and motor do not match.
One or all connections of U/ V/ W phase wiring of
servo amplifier / motor is disconnected.
Machines collided.
• Check the operating conditions and the limit switch.
Encoder pulse number setting does not match with
• Match the encoder pulse number with the motor.
the motor.
9-10
9．Maintenance
● Alarm code 43H (Regeneration abnormality)
Issued when power supply of main circuit is turned ON.
1
2
3
Cause
4
5
{
{
{
{
6
{
{
7
{
{
U
8
{
Corrective actions
Cause
•
1
•
2
3
4
5
6
7
8
•
•
•
Exceeded the permitted value of regenerating power in •
built-in regeneration resistance specifications.
•
Excessive load inertia or tact time is short.
•
•
Regeneration resistor wiring conflicts with the
•
specifications of built-in regeneration resistor.
Regeneration resistor wiring conflicts with the
•
specifications of external regeneration resistor.
•
• Regeneration resistor is disconnected.
•
• Resistance value of external regeneration resistor is
excessive.
• Input power supply voltage exceeds the specified range.
• Defect in power supply unit inner circuit.
• When external regeneration resistance “02” is selected for
system parameter Page0B and external regeneration
resistor is not installed.
•
•
•
Check the load inertia and operating pattern.
Use an external regeneration resistor.
Set the load inertia within the specified range.
Increase the deceleration time.
Increase the tact time.
Check the wiring and replace it if it is incorrect.
Check the wiring and replace it if it is incorrect.
For built-in regeneration resistor specifications, replace the
servo amplifier.
For external regeneration resistor specifications, replace the
regeneration resistor.
Replace the current resistance value with a value matching
the specifications.
Check the input power supply voltage level.
Replace the power supply unit.
• Install the external regeneration resistor.
If regeneration resistance (either internal or external) is not actually connected, a regeneration abnormality is
detected. Since a regeneration abnormality is not detected when regeneration resistance is connected but not
selected in the setup, there is a danger that the amplifier or circuit will burn out or incur damage.
9-11
9．Maintenance
● Alarm code 51H (Amplifier temperature abnormality)
Issued when power supply control is turned ON.
Cause
1
2
{
U
{
U
Corrective actions
1
2
Cause
• Defect in internal circuit of amplifier unit.
• Ambient temperature of amplifier unit is out of • Confirm that the cooling method maintains the temperature
specified range.
of control panel between 0 - 55°C.
Abnormalities are detected in the internal temperature of the amplifier regardless of its ambient temperature.
When an amplifier ambient temperature warning is issued, please be sure to check the cooling method of the
control panel.
● Alarm code 52H (In-rush prevention resistor overheating)
1
{
Issued when power supply is turned ON.
Cause
2
3
{
{
Corrective actions
1
2
3
Cause
• Defect in internal circuit of power supply unit.
• Power supply is turned ON and OFF too
frequently.
• Replace the power supply unit.
• Reduce the frequency of turning the supply power ON/OFF.
• If the servo amplifier has a cooling fan, check if it is properly
working. If not, replace the servo amplifier.
• Check the temperature inside the control panel (ambient
• Ambient temperature of amplifier unit is out of
temperature of the servo amplifier); If it exceeds 55°C,
specified range.
review the installing method of the servo amplifier and
cooling method of the control panel to make the temperature
lower than 55°C.
● Alarm code 54H (Internal overheating)
1
U
U
Cause
2
{
3
{
{
Corrective actions
1
Cause
2
• Regeneration power is excessive.
3
• Improper wiring of built-in regeneration resistor.
• Check the built-in regeneration resistor absorption power.
• Check the operating conditions, so that regenerating
power is within permitted absorption power.
• Use an external regeneration resistor.
• Check improper condition and repair if necessary.
Set “Built-in regenerative resistor” in the system parameter Page 0B [Regenerative resistor type] when
using one in the power unit. The overheat protection of the built-in regenerative resistor is monitored per this
setting. When “Regenerative resistor not connected” or “External regenerative resistor” is selected, overheating of
the built-in regenerative resistor will not be detected, which may lead to burn or damage to the built-in
regenerative resistor.
9-12
9．Maintenance
● Alarm code 55H (External error)
When output terminals for regenerative resistor thermal/host device are not connected.
Cause
1
2
{
U
Corrective actions
1
2
Cause
• “Enable” is set at condition setting of external trip
• Set 00:_Always_Disable at Group9 40, when not using.
function.
• Defect in internal circuit of power supply unit and
• Replace the power supply unit/amplifier unit.
amplifier unit.
When external regeneration thermal is connected.
1
{
Issued after extended operation time.
Cause
2
{
3
U
U
Corrective actions
1
2
3
Cause
• Incorrect wiring of external regenerative resistor.
• External thermal terminal
(external regenerative resistor) is operated.
amplifier unit.
• Check and repair the wiring conditions.
• Review the operation conditions.
• Make the regenerative resistor capacity greater.
• Replace the power supply unit/amplifier unit.
When output terminal of host device is connected.
Eliminate the alarm cause inside the host device.
● Alarm code 56H (Power element overheating)
Cause
1
2
{
U
{
U
Issued after extended operation time.
Corrective actions
1
2
Cause
• Power element over heating detection
(IPM) works.
• When there is a cooling fan motor for servo amplifier,
check it if it is working. If not, replace the fan motor.
• Check the temperature inside the control panel (ambient
temperature of the servo amplifier); If it exceeds 55°C,
review the installing method of the servo amplifier and
cooling method of the control panel to decrease the
temperature lower than 55°C.
9-13
9．Maintenance
Abnormality in power source
CODE: 61, 62, 63, 71,
● Alarm code 61H (Over voltage)
1
{
{
Issued at the time of motor start/stop.
Cause
2
3
4
{
U
{
{
Corrective actions
1
2
3
4
Cause
• Defect in power supply unit inner circuit.
•
• The power supply voltage of main circuit exceeds •
the rated value.
• Excessive load inertia.
•
•
Replace the power supply unit.
Reduce the power supply voltage to within the specified
range.
Reduce the load inertia to within the specified range.
If a built-in regeneration resistor is used, check the
connection of RB1, RB2.
• Built-in regeneration circuit is not functioning.
• If an external regeneration resistor is used, check the
• External regeneration resistor is not connected in
wiring and resistance value.
“RB1-RB2”.
• Replace the power supply unit if any abnormality remains
even after the above measures have been taken.
● Alarm code 62H (Main circuit under voltage)
Issued after power supply of main circuit is turned ON.
Issued during operation, alarm resetting is possible.
Issued during operation, alarm resetting is not possible.
1
2
{
{
U
{
Cause
3
4
{
5
U
{
Corrective actions
1
2
3
4
5
Cause
• Power supply voltage is below the specified
range.
• Rectifier of the main circuit is broken.
• Check the power supply and set it within the specified
range.
• Check the power supply and confirm that there is not
• Input voltage is reduced and/or blinking.
blinking or low voltage.
• Check the main circuit voltage. Confirm that there is not
• Low voltage outside the specified range is
external power supply to R/ S/ T when the main circuit is
supplied to the main circuit (R/ S/ T).
OFF.
• Defect in internal circuit of the power supply unit.
9-14
9．Maintenance
● Alarm code 63H (Main power supply line-drop)
1
Issued during motor operations.
Alarm occurs in spite of the specifications for single phase power input.
{
U
Cause
2
{
3
{
{
Corrective actions
1
2
3
Cause
• One out of 3 phases (R/ S/ T) is not inserted.
• Check the wiring and repair if necessary.
• Check the power supply unit model number and its
• Specification for the power supply unit is not for
specifications, and replace it with the one of single phase
single phase.
power supply.
• Edit the parameter to make it single phase specification.
● Alarm code 71H
(Under voltage of control power supply)
1
U
U
Cause
2
{
3
{
Corrective actions
1
2
3
Cause
• Defect in internal circuit of the power supply unit
• Replace the power supply unit and amplifier unit.
and amplifier unit.
• Confirm that the power supply is set within the specified
• Power supply voltage is below the specified range.
range.
• Confirm that the power supply is neither stopped nor
• Input voltage is fluctuating or stopped.
reduced.
9-15
9．Maintenance
Abnormality in encoder wiring
CODE: 81, 82, 84, 85, 87, 91, 92, 93, 94
● Alarm code 81H (Pulse signal abnormality 1 A phase/B phase)
● Alarm code 82H (Disconnection of absolute signal)
● Alarm code 84H (Error in communication between encoder and amplifier)
● Alarm code 87H (CS disconnection)
1
{
Issued after servo is turned ON.
2
{
Cause
3
{
U
4
{
{
{
5
{
{
{
Corrective actions
1
2
3
4
5
Cause
For encoder wiring;
• Improper wiring
• Check the wiring and repair any abnormality.
• Connector is removed.
• Confirm that the encoder power supply voltage of the
• Loose connection.
motor is above 4.75V. If it is below 4.75V, increase it.
• Encoder cable is too long.
• Encoder cable is too thin.
• Wrong amplifier encoder type is selected.
• Select the correct encoder type.
• Motor encoder that does not match with the • Replace with the servo motor equipped with proper
amplifier encoder type is attached.
encoder.
• Defect in servo motor encoder.
● Alarm code 85H (Abnormality in initial process of encoder)
1
{
2
{
Cause
3
{
4
{
5
U
Corrective actions
1
2
3
4
5
Cause
For encoder wiring:
• Improper wiring
• Connector is removed.
• Loose connection
• Encoder cable is too long.
• Encoder cable is too thin.
• Wrong amplifier encoder type is selected.
• Defect in servo motor encoder.
• Since the motor was rotating at 300min-1 or above
when the power supply turned ON, initial setting of
position data was impossible.
• Check the wiring and repair any abnormality.
• Confirm that the encoder power supply voltage of the
motor is above 4.75V. If it is below 4.75V, increase it.
• Select the correct encoder type.
• Turn ON the power supply again while the motor stops.
(only when encoder PA035C is used.)
9-16
9．Maintenance
● Alarm code 91H (Encoder command abnormality)
● Alarm code 92H (Encoder FORM abnormality)
● Alarm code 93H (Encoder SYNC abnormality)
● Alarm code 94H (Encoder CRC abnormality)
These abnormalities are detected in the internal part of the absolute position detector for
the start-stop synchronization system. (PA035C, RA062C).
Cause
1
2
3
{
{
Issued when control power supply is turned ON.
U
Corrective actions
1
Cause
• Defect in encoder.
2
3
• Abnormality in encoder wiring.
•
•
•
•
•
9-17
Replace the servo motor.
Confirm proper grounding of the amplifier.
Check the shielding of the encoder cable.
Add ferrite core or similar countermeasures against noise.
Check wiring between the encoder and amplifier.
9．Maintenance
Abnormality in encoder main body
CODE: A1,A2,A3,A5,A6,A7,A8,
A9, B2,B3,B4,B5,B6,B7
● Alarm code A1 (Abnormality of encoder internal parts)
Cause
1
U
{
Issued during motor operation.
Corrective actions
Cause
1
• Defect in encoder internal circuit.
• Turn the power supply ON again. If not restored, replace the
motor.
● Alarm code A2H (Battery abnormality of absolute encoder)
Cause
1
2
{
{
{
Corrective actions
Cause
1
• Loose connection of battery cable.
2
• Low voltage of battery
• Check the battery connection on the front cover of
amplifier.
• Confirm the battery voltage.
● Alarm code A3H (Encoder overheating)
These abnormalities are detected in the internal part of the absolute position detector for the start-stop synchronization system.
Cause
1
2
3
{
U
{
Issued while stopping the motor.
U
{
{
Corrective actions
1
2
3
Cause
• Defect in internal circuit of encoder.
• Motor is not generating heat, but encoder ambient • Confirm that the cooling method keeps the encoder
temperature is high.
ambient temperature below 80°C.
• Motor is overheated.
• Confirm the cooling procedure of the servo motor.
● Alarm code A5 (Encoder abnormality 3)
These abnormalities are detected in the internal part of the absolute encoder (ABS-E).
Cause
1
2
3
{
{
U
{
U
Corrective actions
Cause
• Turn ON the power supply again. If not restored, replace the
motor.
• Check the shielding of the encoder cable.
• Add ferrite core or similar countermeasure against noise.
1
2
3
• Number of rotations exceeds the permitted
• Turn ON the power supply again, while motor is stopped.
number of rotations.
9-18
9．Maintenance
Cause
1
2
3
{
{
{
{
Corrective actions
Cause
1
2
3
• Multi-rotation data overflowed.
motor.
• Review operation patterns and avoid continuous one-way
operation.
● Alarm code A9 (Encoder failure)
Cause
1
2
{
{
{
U
Corrective actions
Cause
1
2
motor.
9-19
9．Maintenance
● Alarm code B2H (Encoder abnormality 2)
When abnormality is detected in the internal part of the absolute position detector (RA062M) of the Manchester system.
Cause
1
2
{
U
Corrective actions
Cause
1
2
• Turn ON the power supply again. If not restored, replace
the motor.
● Alarm code B3H (Absolute encoder multi-rotation counter abnormality)
● Alarm code B4H (Absolute encoder 1 rotation counter abnormality)
● Alarm code B6H (Encoder memory abnormality)
When abnormalities are detected in the internal part of the absolute position detector for the start-stop synchronization system.
Cause
1
2
{
{
Corrective actions
1
Cause
2
•
•
•
•
Confirm proper grounding of the amplifier.
Check the shielding of the encoder cable.
Add ferrite core or similar countermeasures against noise.
● Alarm code B5H (Over speed, multi rotation creation error)
Cause
1
2
3
{
U
{
{
Issued while the motor stops.
{
{
Issued while rotating the motor.
U
Corrective actions
Cause
1
2
3
• Detect in internal circuit of encoder.
motor.
• Number of motor rotations exceeds the permitted • Check the operation pattern and reduce the maximum
speed.
9-20
9．Maintenance
● Alarm code B7H (Acceleration abnormality)
Cause
1
2
3
{
{
Issued while stopping the motor.
{
{
Issued while rotating the motor.
U
Corrective actions
Cause
1
2
3
motor.
• Number of motor rotations exceeds the permitted • Check the operation pattern and reduce the maximum
speed.
• Detect in internal circuit of encoder.
9-21
9．Maintenance
Control system abnormality
CODE: C1,C2,C3,C4,D1,D2,D3,DF
● Alarm code C1H (Over speed)
1
{
U
Issued if command is entered after Servo ON.
Issued when the motor is started.
Issued other than operating and starting the motor.
Cause
2
3
U
{
{
{
{
4
{
Corrective actions
1
2
Cause
• Detect in amplifier unit inner circuit.
• Detect in the encoder of servo motor.
• Monitor speed with the analog monitor.
-> Adjust the servo parameters if overshoot is excessive.
-> Simplify the acceleration and deceleration command
pattern.
-> Reduce the load inertia.
3
• Excessive overshoot while starting.
4
• Wiring of U/V/W –phase between servo amplifier
• Check the wiring and repair any irregularities.
and motor does not match.
● Alarm code C2H (Speed control abnormality)
Issued due to input of servo ON.
Issued when command is entered.
Issued while starting and stopping the motor.
1
2
Cause
3
{
{
{
{
{
4
5
{
{
Corrective actions
1
2
3
4
5
Cause
• Wiring of U/V/W –phase between servo amplifier
and motor does not match.
• Wiring of A, B phase of INC-E and ABS-E encoder
connection is incorrect.
• Adjust the servo parameters so that servo motor will not
• Motor is vibrating (oscillating).
vibrate (oscillate).
• Monitor the speed with the analog monitor.
• Adjust the servo parameters to reduce overshoot and
• Excessive overshoot and undershoot.
undershoot.
• Increase acceleration and deceleration command time.
Mask the alarm.
• Abnormality in amplifier unit inner circuit.
For the speed control abnormality alarm, an alarm may occur while starting and stopping when load inertia
is excessive. For this reason, in the gravitational axis applications, “Do not detect.” is selected as
the standard setting. Contact your distributor or sales office if detection is necessary.
9-22
9．Maintenance
● Alarm code C3H (Speed feedback abnormality)
1
{
Issued when command is entered.
Cause
2
U
3
{
Corrective actions
Cause
1
• Motor is not rotating.
2
3
• The motor is vibrating (oscillating).
•
•
•
•
Confirm that the power line is properly connected.
Replace the amplifier unit.
Adjust the servo parameters so that servo motor will not
vibrate (oscillate).
● A larm code D1H（Excessive position deviation）
St a t u s a t t h e t i m e o f a l a r m
Issued when control power supply is turned
ON.
Issued while servo ON and stopping.
Issued immediately after entering the
command.
Issued during starting or stopping at high
speed.
Issued during the operations by lengthy
command.
1
2
3
4
5
Cause
6
7
8
9
10
11
12
{
{
{
U
{
{
{
U
{
U
{
{
{
{
U
{
{
U
{
{
{
{
U
Corrective actions
1
2
3
4
5
6
7
8
Cause
• Position command frequency is high or acceleration
• Correct the position command of the controller.
and deceleration time is short.
• Excessive load inertia or low motor capacity.
• Correct the load condition or increase the motor capacity.
• Check the wiring and repair any abnormalities. If specified
• Holding brake is not released.
voltage is applied, replace the servo motor.
• Motor is mechanically locked or machine is
• Check the machinery system.
colliding.
• One or all phases of U/V/W-phase of the servo
• Check and repair the wiring connections.
amplifier and motor have been disconnected.
• Motor is being rotated by an external force (Gravity,
• Check the load, and/or increase the motor capacity.
etc.) during stopping (positioning completion).
• Valid current limit command is entered by the
controller, and the current limit setting is reduced.
• Increase the current limit value or disable the current limit.
• Number of encoder pulses does not match the
• Match the number of motor encoder pulses.
motor.
• Setting of servo parameters
• Check the servo parameter settings. (Increase the position
(position loop gain, etc.) are not appropriate.
loop gain, etc.)
9
• Excessive deviation setting value is reduced.
• Set a greater value for excessive deviation.
10
11
12
• Servo motor encoder is detective.
• Power supply voltage is low.
• Check the power supply voltage.
9-23
9．Maintenance
● Alarm code D2H(Position command pulse frequency abnormality1)
Cause
1
{
Issued after entering the position command pulse.
Corrective actions
1
Cause
• Command exceeding the digital filter set value is • Decrease the command pulse input frequency.
input in the command pulse.
• Increase the digital filter frequency.
● Alarm code D3H(Position command pulse frequency abnormality2)
Cause
1
2
{
{
Issued after entering the position command pulse.
Corrective actions
1
2
Cause
• Command pulse input frequency is too high.
• Electric gear set value is excessive.
• Decrease the frequency of command pulse input.
• Decrease the electric gear set value.
● Alarm code DFH(Test mode end)
Cause
1
○
Issued after executing test mode.
Corrective actions
Cause
1
• This is a normal operation.
• Reset the alarm and reactivate. (This is made to be an
error, considering that the deviation remains in the
controller side after test mode.)
9-24
9．Maintenance
Control system / memory system abnormality
CODE: E1,E2,E3,E4,E5,E6,E8,F1,F2,F5
● Alarm code E1H (EEPROM abnormality)
Cause
1
{
Issued during computer interface operation.
2
U
{
Corrective actions
1
2
Cause
• Correct value was not read by CPU by nonvolatile
memory of built-in servo amplifier.
• Defect in inner circuit of power supply unit and
amplifier unit.
● Alarm code E2H (Abnormality in the internal data of EEPROM)
Cause
1
U
2
{
Corrective actions
1
2
Cause
• Correct value was not read by CPU by nonvolatile
memory built-in the power supply unit and •
amplifier unit.
•
• Failed to write into the nonvolatile memory during
last power supply cutoff.
Replace the power supply unit and amplifier unit.
Change the optional parameters, turn ON the power
supply again, and confirm that alarm has been cleared.
-> If alarm remains, replace the power supply unit and
amplifier unit.
● Alarm code E3H (Internal RAM abnormality)
● Alarm code E4H (Abnormality in process between CPU and ASIC)
Cause
1
{
Corrective actions
1
Cause
• Replace the power supply unit and servo amplifier unit.
amplifier unit.
● Alarm code E5H (Parameter error1)
Cause
1
{
{
Issued after changing any of system parameters.
2
{
Corrective actions
Cause
1
2
• Check the model number of power supply unit and servo
amplifier unit.
• Selected value is outside the specified range for a • Confirm the selected values of system parameters and
system parameter.
modify if necessary.
-> Turn ON the power again and confirm that alarm is
cleared.
amplifier unit.
9-25
9．Maintenance
● Alarm code E6H (Parameter error 2)
Cause
1
{
{
Issued after changing any of system parameters.
2
{
Corrective actions
1
2
Cause
• Confirm the model number of servo amplifier.
• Selected values of system parameters and actual
• Confirm the selected values of system parameters and
hardware do not match.
correct if necessary.
• Improper assembly of system parameters
-> Turn ON the power RG again and confirm that alarm is
settings.
cleared.
● Alarm code E8H (Parameter error 3)
Cause
1
{
2
{
Corrective actions
1
2
Cause
• Number of the axes does not match with the
previous one when control power was turned ON
last.
• Turn ON the power again.
• Setting of amplifier axis does not match with the
previous one when control power was turned ON
last.
amplifier unit.
● Alarm code F1H (Abnormality in task process)
Issued while operating.
Cause
1
{
Corrective actions
1
Cause
• Abnormality in amplifier unit inner circuit.
● Alarm code F2H (Initial time out)
Cause
1
{
2
{
Corrective actions
1
2
Cause
amplifier unit.
9-26
9．Maintenance
● Alarm code F5H (Internal processing error)
1
{
Cause
2
{
3
{
Corrective actions
1
2
3
Cause
• Defective contact between amplifier unit and
mother board.
• Check the connection between amplifier unit and mother
board, power unit and mother board.
• Defective contact between power supply unit and
mother board.
9-27
9．Maintenance
9. 3 Corrective Actions for Problems During Operation
See as follows causes, investigation and corrective actions, when problems occurred and alarm is not displayed.
If problem is not resolved even after taking the corrective actions, contact our company.
Conducting investigations or corrective actions without turning the power OFF is dangerous, and could
lead to injury.
Table 9-3 Corrective Actions for problems during operation
No
1
2
3
Problems
Assumed causes and corrective actions
• If voltage is low, check the power supply.
1. Check the voltage at the power input
“≡” does not blink in
• If there is no voltage, check that wires and screws are
terminal.
7-segment LED even if
fastened properly.
main power is ON.
2. Check that the red “CHARGE” LED is • Internal power circuit of power supply unit is defective.
blinking.
-> Replace the power supply unit.
1. Check that command is entered.
• Reenter the previous command.
7 segment LED rotates in
• Fasten the connecting screws, as power line of motor
2. Check that servo is locked.
the shape of “8”, (Servo
is not connected.
ON status), but motor
• As current limit is entered, motor cannot generate
does not rotate.
3. Check that current limit is entered.
more torque than the load torque, so the motor does
not rotate.
1. Check that proportional control is
• Stop the input of proportional control.
Rotations of servo motor
entered.
are unstable and less than
2.
Check that current limit is entered.
the specified command.
• Stop the input of current limit.
4
Servo motor rotates only
once, and stops.
5
Servo motor is
accelerated.
6
Motor is vibrating with
frequency above 200Hz.
7
Excessive
overshoot/undershoot
during starting/stopping.
8
Abnormal sound occurs.
Investigation
1. Check motor power line.
• A motor power line is not connected.
2. Check that encoder code (resolution)
• Change the settings and turn ON the power again.
settings are correct.
1. Check motor power line.
• Phase order of motor power line does not match.
• Wiring of A phase and B phase of the encoder is
2. Check the wiring of encoder cable.
incorrect.
• Reduce the loop gain speed.
• Set the torque command low-pass filter and torque
command notch filter.
• Adjust the servo tuning “responsiveness”.
• Reduce the loop gain speed.
• Increase the integral time constant.
• Simplify the acceleration and deceleration command.
• Use position command low-pass filter.
• Observe by rotating one motor.
1. Check that there is no defect in
• Pay attention while coupling and confirm that there is
mechanical installation.
no unbalance.
• Confirm that the twisted pair and shield processing of
2. Check whether abnormal sound is
encoder signal line are correct.
random or periodic while operating at • Confirm that the wiring for encoder line and power line
are not installed in the same port.
low speed.
• Confirm that the power supply voltage is sufficient.
9-28
9．Maintenance
9. 4 Maintenance
For maintenance purposes, a daily inspection is typically sufficient. A summary and schedule of inspection are shown in the
following table.
1.
As there is a possibility of damage during a megger test of the servo amplifier, a cable check (depending on
the test) is recommended.
2. Do not dismantle the servo amplifier and servo motor by removing the cover of servo motor detector.
Table 9-4 Inspection summary
Inspection
location
Servo
motor
Testing conditions
During
While
Time
operation stopping
Inspection items
Daily
V
Vibration
Daily
V
Sound
Periodic
V
Cleanliness
Yearly
V
Measured value of
insulation resistance
V
Replacement of lie
seal
V
Cleaning
5000 hours
->
Servo
amplifier
2
Periodic
Yearly
Regularly
Battery
->
Temperature
3
On demand
1.
2.
3.
V
Inspection method
Solution when abnormality
is found.
Check for excessive vibration.
Check if there is not abnormal
sound compared with normal
sound.
Check for dirt and dust.
Contact our dealer/sales
office.
Clean with cloth or air.
->
Contact our dealer or sale office.
Check for dust accumulated in the Clean with air.
accessories.
->
V
Loose screws
Check for loose connections.
V
Battery voltage
Confirm that battery voltage is
Replace the battery.
more than DC3.6V.
Temperature
measurement
Ambient temperature
Motor frame temperature
1
Fasten the screws properly.
Set the ambient
temperature within the limit.
Check the load condition
pattern.
While cleaning with air, confirm that there is no oil content and/or moisture in the air.
This inspection and replacement period is when water- or oil-proof functions are required.
The life expectancy of the battery is approximately 2 years, when its power is OFF throughout the year. For
replacement, a lithium battery (ER3V: 3.6V, 1000mAh) manufactured by Toshiba Corp. is recommended.
9-29
1
9．Maintenance
9. 5 Parts Overhaul
Parts indicated in Table 9-5 may deteriorate over time. Perform periodic inspection for preventive maintenance.
No.
1
2
Table 9-5 Periodic inspection of parts
Average years
Part name
Treatment/Conditions of use
for replacement
Needs to be replaced with new part.
Load ratio: Less than 50% of rated output current
Smoothing capacitor of main circuit
5 years
of amplifier.
Conditions:Average temp. 40°C year round.
Lithium battery for absolute
encoder
ER3V
3 years
3
Electrolysis capacitor (other than
smoothing capacitor for main circuit)
5 years
Conditions: Average temp. 40°C year round.
Annual usage period is 4800 hours.
4
Fuse
10 years
1. Capacitor for smoothing the main circuit
• If the mother board unit is in use for more than 3 years, contact the dealer or sales office.
The capacity of the capacitor for smoothing the main circuit decreases due to the motor output current in use and
frequency of the power ON/OFF, which will cause damages.
• When the capacitor is used in an average temperature of 40°C throughout the year and exceeds 50% of the rated
output current of the servo amplifier, it is necessary to replace the capacitor with a new part every 5 years.
• If used in the application in which the power supply is turned ON/OFF more than 30 times/day, contact our dealer/sales office.
2. Lithium battery
• The standard replacement period recommended by our company is the life expectancy of lithium battery based on
normal usage conditions. However, if there is high frequency of turning the power ON/OFF, or the motor is not used
for a long period, the life of lithium battery is shorter.
Replace the battery with a new one if the power is less than 3.6V when inspected.
The parameters of an overhauled servo amplifier are shipped as is.
Make sure to confirm the parameters before use.
9-30
10. Specifications
10. Specifications
10. 1 Servo amplifier
10. 1. 3 Servo system/motor current leakage
10. 2 Servo motor
10. 3 Motor data sheet
10. 3. 3 R2 Motor data sheet
10. 3. 4 Motor torque rotation characteristics
10. 4 External appearance diagrams
10. 4. 1 Servo amplifier unit external appearance
10. 4. 2 Power supply unit external appearance
10. 4. 3 Mother board external appearance
10. 4. 4 External appearance when combining each unit
10-1
･･･････････････････
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10-2
10-2
10-4
10-6
10-7
10-8
10-8
10-8
10-9
10-10
10-24
10-24
10-24
10-25
10-27
10-29
10-29
10-30
10-31
10-32
10-37
10-37
10-39
10-40
10-41
10-42
10. Specifications
10. 1 Servo system specifications
● Amplifier unit specifications
Basic specifications
Model number
Control function
Control system
Control circuit
Input power *1
Main circuit
Environment
Ambient temperature *2
Storage temperature
Operating/storage
humidity
Elevation
Vibration
Performance / Function
Shock
Structure
Mass kg (±10%)
Frequency characteristics *3
Speed control range
Load variation
For speed control
(0 - 100%)
specification *3
Voltage variation
(170V - 253V)
Applied load inertia
Table 10-1 Amplifier unit specifications
RR101AA
RR103AA
Position control
IGBT-PWM control, Sinusoidal drive
5VDC±5%, 15VDC+10%, -2% (Supplied from the mother board)
280 - 326VDC. + 10%, -15% (Supplied from the mother board)
141 - 163VDC. + 10%, -15% (Supplied from the mother board)
0 – 40°C (natural cooling), 0 – 55°C (forcible cooling)
-20 to +65°C
Below 90%RH (No condensation)
Below 1000 m
2
Acceleration:0.5G(4.9m/s )
Frequency:10 - 55Hz, (Tested for 2H max. in each direction of X, Y, Z)
2
2G (19.6m/s )
Rack mount type
0.48
0.77
600Hz (at J L= J m)
1:5000
±0.015% or less / maximum rotation
±0.05% or less / maximum rotation
I/O signals
LED display
Regeneration process
Dynamic brake
Within the applied load inertia of combined servo motor
Over current, Current detection error, Overload, Over voltage, Low voltage, Encoder error,
Over speed, Speed control error, Speed feedback error, CPU error, Built-in memory error,
Parameter error, etc.
Control power supply setup (green), Alarm display (red), Amplifier status display (green)
Not built-in (Built in the power supply unit)
Built-in
Encoder output signal *4
A phase, B phase, Z phase, PS signal
Input/output signals
Generic input/output, input × 2, output × 2
Analog monitor
2CH on the servo amplifier front
(Precision: within ±10%, ±20% depending on the selected signal.)
Protective functions
*1 Power input is supplied from the mother board.
Main input power supply
AC200V Input type:280 - 326VDC. + 10%, -15%
AC100V Input type:141 - 163VDC. + 10%, -15%
*2 When stored in a box, make sure that the internal temperature does not exceed this temperature.
*3 This is defined according to the combination of power supply unit and mother board.
*4 Encoder output signals - A phase, B phase, Z phase and PS signals - can only be used when combined
with incremental encoder.
10-2
10. Specifications
● Power supply unit specifications
Table 10 - 2 Power supply unit specifications
Model number
Control circuit
Input power
Min circuit
Environment
Ambient temperature
Storage temperature
Operating/storage
humidity
Elevation
Vibration
Shock
Structure
RRPAA (AC200V input type)
RRPEA (AC100V input type)
Single phase 200VAC - 230V,
+10%,-15%,50/60Hz±3%
+10%,-15%,50/60Hz±3%
3 phase 200VAC - 230V,
+10%,-15%,50/60Hz±3%
+10%,-15%,50/60Hz±3%
0 - 40 (natural cooling),0 – 55°C (forcible cooling)
-20 to +65°C
Below 90%RH (no condensation)
Below 1000m
2
Acceleration: 0.5G(4.9m/s )
Frequency: 10 - 55Hz, (Tested for 2H max. in each direction of X, Y, Z)
2
Acceleration: 2G(19.6m/s )
Rack mount type
Mass kg(±10%)
0.55
Protective functions
LED display
Regeneration process
Over voltage, Low voltage, Regeneration error, Internal overheating, Memory error, etc.
7-segment LED×5 digits, main circuit charge(red),control power setup (green)
Built-in
Position command pulse input (for six axes)
Generic input/output (30 inputs, 12 outputs, 2 alarm outputs)
6 maximum.
Below 2000W
Below 800W
(Sum of rated output of combined motor) (Sum of rated output of combined motor)
Input/Output signal
Number of amplifier units to be connected
Connected motor output
● Mother board specifications
Table 10 – 3 Mother board specifications
Model number
Ambient temperature
Storage temperature
Operating/storage
humidity
Environment
Elevation
Vibration
Shock
Structure
Mass kg (±10%)
Number of amplifier units to be connected
Connected motor output
RRMA4
RRMA6
RRMA8
RRME4
RRME6
0 - 40°C (natural cooling), 0 - 55°C (forcible cooling)
-20 to +65°C
RRME8
Below 90%RH (No condensation)
Below 1000m
2
Acceleration: 0.5G (4.9m/s )
Frequency: 10 - 55Hz, (Tested for 2H max. in each direction of X, Y, Z.)
2
Acceleration : 2G(19.6m/s )
Open frame type
0.99
1.33
1.57
0.99
1.33
1.57
4
6
6
4
6
6
Below 2000W
Below 800W
(Sum of rated output of combined motor) (Sum of rated output of combined motor)
● Notes for combining each unit
(1) In the R series type R, up to 6 amplifier units can be connected in the mother board. (Note that it is impossible to
connect 8 amplifier units of RR1A01AA(15A) in the RRMA8, 8-slot mother board.)
(2) In the R series type R servo system, the sum of the rated output of combined motor shall be below 2000W.
Do not combine any motors (amplifier units) greater than 2000W. Even below 2000W, combined motors cannot
operate due to effective torque in some cases. Refer to section 10.1.2 for power capacity and applicable load.
(3) In the R series multi axis servo system at AC100V input type, the summation of the rated output by combined
motors must be less than 800W, due to the amplifier’s current capacity. Do not combine the motors (in the amplifier
unit) that would exceed 800W. In exceptional case, the summation of the effective torque by the combined motors
may not be able to work according to the operation patterns. See 10.1.2. for details on “Power capacity and
applicable load”.
(4) In the R series type R servo system, cooling fan motor is not equipped. Apply forcible cooling from outside
according to using conditions (load or installation conditions). When using forcible cooling, keep air flowing around
the servo system at least 2m/s from outside. Ambient temperature when using forcible cooling is 0 – 55°C. In case
of no forcible cooling, keep the ambient temperature around the servo system below 40°C.
10-3
10. Specifications
● Applicable load limit
In the R series type R servo system, there are restrictions in combination depending on the combined motor capacity
and operation pattern. Please observe the following restrictions.
1. Limit by total rated output of the motor
The summation of the rated output by combined motors should be below 2000W at AC 200V 3-phase input type,
1300W or less at AC 200V input single-phase input type and 800W or less at AC 100V input type.
2. Limit by total effective load rate
Depending on the operation pattern of customer’s device, there is a possibility that operation is impossible even when
total rated output of the motor (as in 1. above) is less than 2000W.
Please obtain the sum of the rated current ΣIR(permissible effective load current) using effective torque of each servo
motor and confirm that ΣIR is less than 10 Arms.
ΣIR>=
IR(1)×Trms(1)
TR(1)
+
IR(2)×Trms(2)
TR(2)
+…
IR(n)×Trms(n)
TR(n)
: Rated current of the 1st servo motor
IR(1)
TR(1) : Rated torque of the 1st servo motor
Trms(1) : Effective torque of the 1st servo motor
[Arms]
[Nxm]
[Nxm]
:
IR(n)
: Rated current of n-th servo motor
TR(n) : Rated torque ofn-th servo motor
Trms(n) : Effective torque of n-th servo motor
ΣIR
(1)
(2)
: Permissible effective load current
[Arms]
[Nxm]
[Nxm]
[Arms]
With regard to servo motor rated current IR[Arms] and rated torque TR[Nxm], refer to the servo motor data sheet.
To calculate effective torque [Trms], refer to Chapter 11, Selection Details. In actual operation, use the R-setup
software to monitor the effective torque.
1. Exceeding the limit of the total rated output of motors and the total effective load rate (See above
mentioned 1 and 2) may cause abnormal heat and reach dangerous temperatures in the servo
amplifier. Must be used within the defined range of that.
2. RR Servo System (AC200V input type) should be used at “AC200V, 3-phase” input in general
principle. If Single-phase is applied to that, consult our sales office before use.
Applicable load limit for Single-phase using;
The total rated output of motors should be below 1300W, the total effective load rate (ΣIR) should be
less than 6.6 Arms.
10-4
10. Specifications
● Power Capacity
The table 10-4 below shows input power capacity (per axis) for amplifier unit and the combined motor rated output
under load.
Table 10-4 Power capacity per amplifier unit
Input
voltage
Amplifier volume
RR101AA
AC
200V
RR103AA
RR1E01AA
AC
100V
RR1E03AA
Motor model number
Rated
output(W)
Q1AA04003D
Q1AA04005D
Q1AA04010D
Q1AA06020D
Q2AA04006D
Q2AA04010D
Q2AA05005D
Q2AA05010D
Q2AA05020D
Q2AA07020D
Q2AA07030D
R2AA04003F
R2AA04005F
R2AA04010F
R2AA06010F
R2AA06020F
Q1AA06040D
Q1AA07075D
Q2AA07040D
Q2AA07050D
Q2AA08050D
Q2AA13050H
R2AA06040F
R2AA08075F
Q1EA04003D
Q1EA04005D
Q1EA04010D
Q2EA04006D
Q2EA04010D
Q2EA05005D
Q2EA05010D
Q1EA06020D
Q2EA05020D
Q2EA07020D
30
50
100
200
60
100
50
100
200
200
300
30
50
100
100
200
400
750
400
500
500
500
400
750
30
50
100
60
100
50
100
200
200
200
Main power supply
during rating
(KVA)
0.2
0.2
0.3
0.8
0.3
0.4
0.3
0.4
0.8
0.8
1.0
0.2
0.2
0.4
0.4
0.8
1.0
1.7
1.3
1.5
1.5
1.4
1.0
1.7
0.2
0.3
0.5
0.3
0.5
0.3
0.5
0.5
0.5
0.5
Control power
supply
(VA)
40
40
40
40
Power capacity in the table 10-4 shows the one at the time of rated output. Note that 2 to 4
times as much more power may be needed than the above values when the motor accelerates.
● Wiring tool examples
Using the power capacity (kVA) in Table 10-4, obtain the total power capacity with the one for the combined amplifier
unit added and determine appropriate wiring tools (circuit breaker, noise filter and electromagnetic contactor).
See table 10-5 below for example of wiring tools suitable for the obtained total power capacity.
Table10-5 Wiring tool examples
Total power
capacity
2kVA or less
4kVA or less
4kVA or more
Circuit breaker
NF30
shape10A(Manufactured
by Mitsubishi Ltd.)
NF30 shape
15A(Manufactured by
Mitsubishi Ltd.)
NF30 shape
30A(Manufactured by
Mitsubishi Ltd.)
Noise filter(EMC
corresponding)
Electromagnetic
contactor
RF3010-DLC
(Manufactured by RASMI)
S-N10
(Manufactured by
Mitsubishi Ltd.)
RF3020-DLC
(Manufactured by RASMI)
S-N18
(Manufactured by
Mitsubishi Ltd.)
10-5
10. Specifications
● Incoming current
See table 10-6 below for incoming current at the time of power turn-on.
Table10-6 Incoming current
Power supply unit model
RRPAA
RRPEA
Control circuit
(Maximum in 1ms after turn-on)
40A(0-P)
20A(0-P)
*2
Main circuit
(Maximum in 1.2 second after turn-on)
18A(0-P) *1
9A(0-P) *1
*1 The incoming current value is the maximum when 230VAC is supplied.
*2 A thermistor is used as an incoming current prevention circuit of the control power.
When the power is turned ON again immediately after power shut-off, or when power turn-on
and shut-off are repeated in a short period, or when the ambient temperature is high, which
causes thermistor heating up, incoming current exceeding the above values may flow.
10. 1. 3 Servo system / motor leak current
Since the R series type R servo system drives the motor by PWM, high frequency leak current can flow through the
floating capacity of the motor winding, power cable or amplifier. This may cause a malfunction in the short circuit breaker
and the protective relay installed in the power supply electric circuit. Therefore, use the inverter as a leak breaker so as
to prevent any malfunction from occurring.
Table10-7 Leak current
Amplifier unit model number
RR101, RR103
Leak current per motor
0.5 mA max.
1. When using multiple motors, leak current of each motor shall be added.
2. The above values are based on using the recommended captire 2m cable as a power line. Leak current
varies depending on the cable type in use and the length of wiring. Especially with long wiring between
amplifier unit and servo motor, larger leak current than the values in table 10-7 will flow.
3. Make sure to ground (D type, “III”) the machine to prevent dangerous voltage from affecting the machine
main body and the operational panel in case of leakage.
4. Value of the leak current is the one measured by 700Hz filter leak checker.
10-6
10. Specifications
See the calorific values in Table 10-8 below in the amplifier unit and the combined motor.
Table 10-8 Calorific value
Input voltage
Amplifier capacity
RR101AA
AC200V
RR103AA
RR1E01AA
AC100V
RR1E03AA
Motor model number
Q1AA04003D
Q1AA04005D
Q1AA04010D
Q1AA06020D
Q2AA04006D
Q2AA04010D
Q2AA05005D
Q2AA05010D
Q2AA05020D
Q2AA07020D
Q2AA07030D
R2AA04003F
R2AA04005F
R2AA04010F
R2AA06010F
R2AA06020F
Q1AA06040D
Q1AA07075D
Q2AA07040D
Q2AA07050D
Q2AA08050D
Q2AA13050H
R2AA06040F
R2AA08075F
Q1EA04003D
Q1EA04005D
Q1EA04010D
Q2EA04006D
Q2EA04010D
Q2EA05005D
Q2EA05010D
Q1EA06020D
Q1EA05020D
Q2EA07020D
Servo system total
calorific value (W)
11
15
18
24
12
19
16
19
26
32
32
11
13
15
16
24
44
66
45
62
55
65
43
67
16
22
27
21
26
22
31
51
43
49
1. Because heat generation of the built-in regenerative resistance is not included in the values in the table above, it is
necessary to add it.
2. When an external regenerative resistor is used, modify the addition of calorific value of the external regenerative
resistor according to where it is installed.
3. Strictly follow the installation method outlined in “Chapter 5, Installation”.
10-7
10. Specifications
Position command pulse shall be input from CN1A and CN1B of the power supply unit.
See the input terminals for each axis in the table below.
T
st
1 axis
nd
2 axis
rd
3 axis
SG
th
4 axis
th
5 axis
th
6 axis
SG
connector
CN1A
Forward pulse
Pins 3,4
Pins 7,8
Pins 11,12
Reverse pulse
Pins 5,6
Pins 9,10
Pins 13,14
Pins 15,16,17,18,41
Pins 3,4
Pins 7,8
Pins 11,12
CN1B
Pins 5,6
Pins 9,10
Pins 13,14
Pins 15,16,17,18,41
For wiring examples, see Chapter 4, “Wiring”.
To avoid malfunction due to noise, line driver output circuit is recommended for the host device on the command pulse
input circuit.
Use the Setup software for setting. In this system, there are 2 output terminals with each amplifier unit (CN1) and 2
(CN1A and CN1B) with each amplifier in the power supply unit.
The output data from each output terminal is selected at the amplifier unit Group A.
Amplifier unit
Connector
CN1
Terminal
number
1
2
Terminal name
Setting
OUT1
OUT2
GroupA Page 00 generic output1
GroupA Page 01 generic output2
Power supply unit (generic output terminal for each axis number is fixed.)
Connector
CN1A
CN1B
Terminal
number
19
20
21
22
23
24
19
20
21
22
23
24
Terminal name
OUT1
OUT2
OUT3
OUT4
OUT5
OUT6
OUT7
OUT8
OUT9
OUT10
OUT11
OUT12
Axis
number
st
1 axis
nd
2 axis
rd
3 axis
th
4 axis
th
5 axis
th
6 axis
Setting
GroupA Page 02
GroupA Page 03
GroupA Page 02
GroupA Page 03
GroupA Page 02
GroupA Page 03
GroupA Page 02
GroupA Page 03
GroupA Page 02
GroupA Page 03
GroupA Page 02
GroupA Page 03
generic
generic
generic
generic
generic
generic
generic
generic
generic
generic
generic
generic
output3
output4
output3
output4
output3
output4
output3
output4
output3
output4
output3
output4
Alarm signal is output from the pin 25 of each CN1A and CN1B in the power supply unit.
See the output conditions for each in the table below.
Connector
CN1A
CN1B
Output condition
st
rd
Alarm status in either one of the 1 axis - 3 axis amplifier unit or the power
supply unit.
th
th
Alarm status in either one of the 4 axis - 6 axis amplifier unit or the power
supply unit.
Output logic can be selected at the power supply unit.
Alarm 1 output polarity selection
: Power supply unit Group0 Page 2
Alarm 2 output polarity selection
: Power supply unit Group0 Page 3
(For details, refer to 6.5 “Digital operator”.)
10-8
10. Specifications
In this system, there are 2 input terminals with each amplifier unit (CN1) and 30 (CN1A, CN1B) with power supply unit.
Generic input can be selected as conditions enabling the functions of Group9 of the amplifier unit.
Use the Setup software for setting.
Selection value of function enabling conditions
Selection value
02:_CONT1_ON
04:_CONT2_ON
.
.
.
30:_PS_CONT1_ON
32:_PS_CONT2_ON
34:_PS_CONT3_ON
36:_PS_CONT4_ON
38:_PS_CONT5_ON
3A:_PS_CONT6_ON
3C:_PS_CONT7_ON
3E:_PS_CONT8_ON
40:_PS_CONT9_ON
42:_PS_CONT10_ON
44:_PS_CONT11_ON
46:_PS_CONT12_ON
48:_PS_CONT13_ON
4A:_PS_CONT14_ON
4C:_PS_CONT15_ON
4E:_PS_CONT16_ON
50:_PS_CONT17_ON
52:_PS_CONT18_ON
54:_PS_CONT19_ON
56:_PS_CONT20_ON
58:_PS_CONT21_ON
5A:_PS_CONT22_ON
5C:_PS_CONT23_ON
5E:_PS_CONT24_ON
60:_PS_CONT25_ON
62:_PS_CONT26_ON
64:_PS_CONT27_ON
66:_PS_CONT28_ON
68:_PS_CONT29_ON
6A:_PS_CONT30_ON
Contents
Function enabled when generic input
CONT1 is ON.
CONT2 is ON.
.
.
.
PS_CONT1 is ON.
PS_CONT2 is ON.
PS_CONT3 is ON.
PS_CONT4 is ON.
PS_CONT5 is ON.
PS_CONT6 is ON.
PS_CONT7 is ON.
PS_CONT8 is ON.
PS_CONT9 is ON.
PS_CONT10 is ON.
PS_CONT11 is ON.
PS_CONT12 is ON.
PS_CONT13 is ON.
PS_CONT14 is ON.
PS_CONT15 is ON.
PS_CONT16 is ON.
PS_CONT17 is ON.
PS_CONT18 is ON.
PS_CONT19 is ON.
PS_CONT20 is ON.
PS_CONT21 is ON.
PS_CONT22 is ON.
PS_CONT23 is ON.
PS_CONT24 is ON.
PS_CONT25 is ON.
PS_CONT26 is ON.
PS_CONT27 is ON.
PS_CONT28 is ON.
PS_CONT29 is ON.
PS_CONT30 is ON.
Selection value
02:_CONT1_OFF
04:_CONT2_OFF
.
.
.
31:_PS_CONT1_OFF
33:_PS_CONT2_OFF
35:_PS_CONT3_OFF
37:_PS_CONT4_OFF
39:_PS_CONT5_OFF
3B:_PS_CONT6_OFF
3D:_PS_CONT7_OFF
3F:_PS_CONT8_OFF
41:_PS_CONT9_OFF
43:_PS_CONT10_OFF
45:_PS_CONT11_OFF
47:_PS_CONT12_OFF
49:_PS_CONT13_OFF
4B:_PS_CONT14_OFF
4D:_PS_CONT15_OFF
4F:_PS_CONT16_OFF
51:_PS_CONT17_OFF
53:_PS_CONT18_OFF
55:_PS_CONT19_OFF
57:_PS_CONT20_OFF
59:_PS_CONT21_OFF
5B:_PS_CONT22_OFF
5D:_PS_CONT23_OFF
5F:_PS_CONT24_OFF
61:_PS_CONT25_OFF
63:_PS_CONT26_OFF
65:_PS_CONT27_OFF
67:_PS_CONT28_OFF
69:_PS_CONT29_OFF
6B:_PS_CONT30_OFF
Contents
CONT1 is OFF.
CONT2 is OFF.
.
.
.
PS_CONT1 is OFF.
PS_CONT2 is OFF.
PS_CONT3 is OFF.
PS_CONT4 is OFF.
PS_CONT5 is OFF.
PS_CONT6 is OFF.
PS_CONT7 is OFF.
PS_CONT8 is OFF.
PS_CONT9 is OFF.
PS_CONT10 is OFF.
PS_CONT11 is OFF.
PS_CONT12 is OFF.
PS_CONT13 is OFF.
PS_CONT14 is OFF.
PS_CONT15 is OFF.
PS_CONT16 is OFF.
PS_CONT17 is OFF.
PS_CONT18 is OFF.
PS_CONT19 is OFF.
PS_CONT20 is OFF.
PS_CONT21 is OF.
PS_CONT22 is OFF.
PS_CONT23 is OFF.
PS_CONT24 is OFF.
PS_CONT25 is OFF.
PS_CONT26 is OFF.
PS_CONT27 is OFF.
PS_CONT28 is OFF.
PS_CONT29 is OFF.
PS_CONT30 is OFF.
Multiple functions of multiple axes can be allocated to each one input terminal of the 30 generic inputs
(PS_CONT1 - PS_CONT30) of the power supply unit.
For example, to control servo ON function for all the 6 axes from 1 input terminal (CONT1 of the power supply unit), set
Group9 Page05, servo ON function of the amplifier unit to “30:_PS_CONT1_ON” for all the amplifier units.
Turn ON the power supply unit CONT1, then all the axes become servo ON.
10-9
10. Specifications
10. 1. 9. 1 Pulse output
Outputs 90°phase difference 2 phase pulse (A phase, B phase) and original pulse (Z phase) from CN3-3~8.
<forward>
Control power
Approx.1s
A phase Unstable
90°
B phase Unstable
Z phase Unstable
t
B phase is ahead of A phase by 90°.
●
Destabilizes for 1 sec after control power is supplied.
●
If an absolute encoder is used, pulses of A phase, B phase and Z phase are not output.
●
If other values than 1/1 are set as a division ratio, A phase and B phase are divided,
but Z phase will be output with the original pulse width. In this case,
phase relation of Z phase and A/B phase is indefinite.
10-10
10. Specifications
10. 1. 9. 2 Serial output
Wire-saving absolute encoder
Encoder signal output (PS) format can be selected from 3 selections.
Select it from selections of [GroupC Page 07 encoder signal output(PS) format].
See the specifications below.
Selection value 00:_Binary
Transmission method
Baud rate
Transfer frame
Transfer format
Transmission error check
Transfer time
Transfer cycle
Increase method
Binary code output
Synchronous
9600bps
8 frames (11 bit/ frame)
Refer to Page 9-6.
Even parity (1 bit)
9.2ms(Typ.)
Approx. 11ms Refer to Page 9-10.
Increase at forward rotation.
Selection value 01:_Decimal
Transmission method
Baud rate
Transfer frame
Transfer format
Transfer time
Transfer cycle
Increase method
Decimal ASCII code output
Synchronous
9600bps
16 frame (10 bit/ frame)
Refer to Page 9-7.
(1 bit) Even parity
16.7ms(Typ.)
Approx. 40ms Refer to Page 9-10.
Increase at forward rotation
Selection value 02:_Encoder_Signal
Transmission method
Baud rate
Transfer frame
Transfer format
Transfer time
Encoder signal direct output
Synchronous
2.5Mbps, 4.0Mbps
3 or 4 frames (18 bit/ frame)
Refer to Page 9-8.
(8 bit) CRC error check
21.6μs or 28.8μs(Typ.) 2.5Mbps
13.5μs or 18.0μs(Typ.) 4.0Mbps
125μs Refer to Page 9-10.
Transfer cycle
Increase method
●
Forward rotation means anti-clockwise rotation when viewed from the motor shaft.
When the absolute value increases up to the maximum, it becomes the minimum (0).
10-11
10. Specifications
● Transfer format
binary code output
Structure in 1 frame
1 frame (11bits)
↑
↑
Start signal
(1bit)
Position signal
(5bits)
↑
Address signal Parity Stop
(3bits)
signal signal
(1bit) (1bit)
Structure of each frame
Start
signal
• 1st frame 0
Position signal
D1
D2
D3
D4
Address
signal
0
0
0
Parity Stop
signal signal
0/1
1
D6
D7
D8
D9
1
0
0
0/1
1
0
D0
(LSB)
D5
rd
0
D10
D11
D12
D13
D14
0
1
0
0/1
1
th
• 4 frame
0
D15
D16
D17
D18
D19
1
1
0
0/1
1
• 5th frame
0
D20
D21
D22
D23
D24
0
0
1
0/1
1
• 6 frame
0
D25
D26
D27
D28
D29
1
0
1
0/1
1
• 7th frame
0
0
0
1
1
1
0/1
1
• 8th frame
0
0
0
1
1
1
0/1
1
• 2nd frame
• 3 frame
th
D30 0/D31 0/D32
(MSB)
(MSB)
0
0
0
For PA035C
D0 - D16 … Absolute value for 1 turn
D17 - D32 … Absolute value for multi-turn
For RA062C
D0 - D16 … Absolute value for 1 turn
D17 - D30 … Absolute value for multi-turn
10-12
10. Specifications
Structure in 1 frame
1 frame (10bits)
0
D0
↑
Start signal
(1bit)
Frame
number
D1
D2
D3
D4
D5
Position signal
(7bit)
D6
0/1
1
↑
↑
Parity Stop
signalsignal
(1bit) (1bit)
Transmission character
Data contents
1
“P”(ASCII code 50H)
Shows that the transmission
data is position data.
2
“+”(ASCII code 2BH)
Code for multi-turn data.
3
4
5
6
7
8
9
10
11
12
13
14
15
16
“0”(ASCII code 30H)
Most significant
0000 - 8191
Least significant
“,”(ASCII code 2CH)
Most significant
000000 - 131071
Least significant
“CR”(ASCII code 0DH)
For PA035C
For RA062C
Multi-turn data
( 5 digits)
Delimiter
Absolute value data within 1 turn
(7 digits)
Carriage turn
1turn data
:000000 - 131071
Multi-turn data
:00000 - 65535
1 turn data
:000000 - 131071
Multi-turn data
:00000 - 16383
10-13
10. Specifications
encoder signal direct output
Frame structure
3 - 4 frame
IF
DF0
DF1
DF2
Information
Data
Data
Data
field
field0
field1
field2
Frame structure
Information field (IF)
1 frame (18bits)
0
0
0
1
0
0
0
CC
CC
CC
CC
CC
0
1
2
3
4
↑
0
ES
ES
ES
ES
0
1
2
3
↑
Start
Sink
signal
code
↑
Encoder Address
Command code
Fixed
Encoder status
(3bits)
(3bits)
(5bits)
(1bit)
(4bits)
001 fixed
000 fixed
(1bit)
Command code CC [4:0]
CC[4:0]
Contents of command
00000
Request of absolute full-data
00011
Request of encoder status
01000
Request of status clear
01010
Request of status + multi-turn data clear
Encoder status ES [3:0]
ES[3:0]
PA035C
ES0
RA062C
ES1
ES2
ES3
PA035C
RA062C
PA035C
RA062C
PA035C
RA062C
Contents of status
During encoder access, during memory access in the encoder
During memory action in the encoder
Battery warning
“0” fixed.
Encoder overheating., memory error, over speed.
Encoder overheating, memory error, over speed, encoder error.
Battery alarm, multi-turn counter error, 1-turn counter error.
Multi-turn counter error
10-14
1
Stop
signal
(1bit)
10. Specifications
Data field (DF0 - DF2)
1 frame (18bits)
0
Dn
Dn
Dn
Dn
Dn
Dn
Dn
Dn
Dn
Dn
Dn
Dn
Dn
Dn
Dn
Dn
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
1
↑
↑
Start
Data field
Stop
signal
(LSB first)
signal
(1bit)
(15bit)
(1bit)
Correlation between command and data
Command
Data
CC[4:0]
DF0 D0[0:15]
00000
D0[0:15]=ABS[0:15]
00011
01000
01010
CRC[0:7]
D0[0:15]=ALM[0:15]
Frame
DF1 D1[0:15]
D1[0:15]=ABS[16:31]
DF2 D2[0:15]
D2[0:7]=ABS[32:39]
D2[8:15]=CRC[0:7]
D1[0:7]=”00000000”
D2[8:15]=CRC[0:7]
-
CRC creation formula P(X)=X8+X4+X3+X2+1
Can be applied to all the bits except Start and Stop bit of each frame.
ALM[0:15]
The contents vary depending on the encoder type.
For details, refer to the encoder specifications.
10-15
length
4 frame
3 frame
10. Specifications
● Transfer cycle
binary code output
Serial Transfer
Approx.1s
Control power
Approx.11ms
Serial output
Unstable
PS, PS
1st frame
“H”
2nd frame
1
2
3rd frame
3
4
5
4th frame
6
7
8
5th frame
1
2
6th frame
3
4
5
7th frame
6
7
8
8th frame
Approx.1.1ms
Approx.9.2ms
Serial Transfer
Control power
Approx.1s
Approx.40ms
Serial output
“H”
Unstable
PS, PS
1
2
3
4
5
6
7
8
9
10
11
12
13
14
16
1
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
frame
frame
frame
frame
frame
frame
frame
frame
frame
frame
frame
frame
frame
frame
frame
frame
Approx.1.04ms
Approx.16.7ms
IF
DF0
DF1
encoder signal direct output
DF2
IF
DF0
DF1
DF2
21.6μs or 13.5μs
28.8μs or 18μs
125μs
●
15
Destabilizes for 1 sec after control power is supplied.
st
And even after 1s, communication does not always start from the 1 frame.
10-16
10.Specifications
Absolute encoder with request
There are 3 selections for encoder signal output (PS) format.
Select one from values of [GroupC Page 07 encoder signal output (PS) format].
See the specification below:
Selection value
00:_Binary
Transmission method
Baud rate
Transfer frame
Transfer format
Transfer time
Transfer cycle
Increase method
Selection value
01:_Decimal
Transmission method
Baud rate
Transfer frame
Transfer format
Transfer time
Transfer cycle
Increase method
Selection value
02:_Encoder_Signal
Transmission method
Baud rate
Transfer frame
Transfer format
Transfer time
Transfer cycle
Increase method
●
Binary code output
Synchronous
9600bps
8 frame (11bits/ frame)
Refer to page 9-17.
(1 bit) even parity
9.2ms (Typ.)
Approx. 11ms Refer to page 9-20.
Increase at forward rotation.
DecimalASCII code output
Synchronous
9600bps
16 frame (10 bit / frame)
Refer to page 9-18.
(1 bit) even parity
16.7ms (Typ.)
Approx. 40ms Refer to page 9-20.
Manchester coding synchronous
1Mbps
2 frame (27 bits/ frame)
Refer to page 9-19.
(3 bits) CRC error check
66μs(Typ.)
84μs±2μs
Refer to page 9-20.
10-17
10.Specifications
● Transfer format
binary code output
Structure of 1 frame
1 frame (11bits)
↑
↑
Start signal
(1bit)
Position signal
(5bits)
↑
(3bits)
signal signal
(1bit) (1bit)
Start
signal
• 1st frame 0
Position signal
D1
D2
D3
D4
Address
signal
0
0
0
Parity Stop
signal signal
0/1
1
D6
D7
D8
D9
1
0
0
0/1
1
0
D0
(LSB)
D5
rd
0
D10
D11
D12
D13
D14
0
1
0
0/1
1
th
• 4 frame
0
D15
D16
D17
D18
D19
1
1
0
0/1
1
• 5th frame
0
D20
D21
D22
D23
D24
0
0
1
0/1
1
• 6th frame
0
1
0
1
0/1
1
• 7th frame
0
D25 0/D26 0/D27 AW0 AW1
(MSB)
(MSB)
0
0
0
0
0
0
1
1
0/1
1
• 8th frame
0
1
1
1
0/1
1
• 2nd frame
• 3 frame
0
0
0
0
0
D0 - D14 … Absolute value of 1 turn
D15 - D27 … Absolute value of multi-turn
AW0
AW1
Contents
0
0
Normal
0
1
Encoder failure
1
1
Defect in position data
OutputLOW
Encoder error
10-18
10.Specifications
DecimalASCII code output
1 frame (10bits)
0
D0
D1
D2
D3
D4
D5
↑
Start signal
(1bit)
Position signal
(7bit)
D6
0/1
1
↑
↑
Parity Stop
signal signal
(1bit) (1bit)
Frame
number
Transmission character
1
“P”(ASCII code 50H)
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
“+”(ASCII code 2BH)
Most significant
0000 - 8191
Least significant
“,”(ASCII code 2CH)
Most significant
Data contents
Shows that the send data is
position data.
Code for multi-turn data
Multi-turn data
(5 digits)
Delimiter
Absolute value data in 1 turn.
(7digits)
0000 - 2047
Least significant
“CR”(ASCII code 0DH)
1 turn data : 0000 - 32767
Multi-turn data : 0000 - 8191
10-19
Carriage turn
10.Specifications
(Manchester coding synchronous)
1 frame(25 bits/27 bits)
↑
Start
signal
・
↑
Address
signal for
↑
Position signal
↑
↑
Frame
CRC
Address signal
signal
↑
Stop
signal
(3bits) (2bits)
(15bits)
(1bit)
(3bits)
The first 2 bits of start signal are output as all bit area H(1) signal.
The following 23 bits are Manchester coded.
(1bits)
Manchester code
Data 0
Data 1
1
0
・
3
CRCsignal creation formula is P(X)=X +X+1.
・ 1st frame
Address signal for
modem
0 0
Start signal
Position
1 1 1
signal
D0
D1
D2
D3
D4
D5
(LSB)
Frame address signal
0
・
D6
D7
D8
D9
D10
CRC signal
CRC0
CRC1
D11
D12
D13
D14
Stop signal
CRC2
0
2nd frame
Position
signal
D15
D16 D17
D18
D19 D20
D21 D22
D23
1
D0 - D14 … Absolute value of 1 turn
D15 - D27 … Absolute value of multi-turn
AW1
0
0
0
1
1
1
outputLOW
0/D2 0/D2
AW0 AW1
6
7
(MSB)
Start signal, modem signal, CRC signal,
Stop signal is the same as in 1st frame.
Frame address signal
AW0
D24 D25
Contents
Normal
Encoder failure
Defect position data
Encoder error
10-20
10.Specifications
● Transfer cycle
binary code output
Serial Transfer
Control power
Approx.1s
Approx.11ms
Serial output
Unstable
PS, PS
1st frame
“H”
2nd frame
1
2
3rd frame
3
4
5
4th frame
6
7
8
5th frame
1
2
6th frame
3
4
5
7th frame
6
7
8
8th frame
Approx.1.1ms
Approx.9.2ms
Serial Transfer
Control power
Approx.1s
Approx.40ms
Serial output
Unstable
PS, PS
“H”
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
1
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
frame
frame
frame
frame
frame
frame
frame
frame
frame
frame
frame
frame
frame
frame
frame
frame
Approx.1.04ms
Approx.16.7ms
Serial
1st frame
2nd frame
1st frame
(Manchester coding synchronous)
2nd frame
output
25μs
16μs
25μs
125μs ± 2μs
●
Distabilizes for approx.1s after the control power is supplied. And even after 1s, communication does not
st
always start from the 1 frame.
10-21
10.Specifications
Incremental encoder
When incremental encoder is used, current position monitor is output whatever value is selected
at [GroupC Page 07 encoder signal output(PS) format].
When incremental encoder is used.
Selection value disabled
―――
Transmission method
Synchronous
Baud rate
9600bps
Transfer frame number
8 frame (11 bits/ frame)
Transfer format
See the diagram below.
(1 bit) even parity
Transfer time
9.2ms (Typ.)
Transfer cycle
Approx.11ms
Refer to Page 9-22.
Direction of increase
●
●
Transfer format
1 frame (11bits)
↑
↑
Start signal
(1bit)
↑
(3bits)
signal signal
(1bit) (1bit)
Position signal
(5bits)
Start
signal
st
• 1 frame 0
Position signal
D1
D2
D3
D4
Address
signal
0
0
0
Parity Stop
signal signal
0/1
1
D6
D7
D8
D9
1
0
0
0/1
1
0
D0
(LSB)
D5
rd
0
D10
D11
D12
D13
D14
0
1
0
0/1
1
th
0
D15
D16
D17
D18
D19
1
1
0
0/1
1
th
0
D20
D21
D22
D23
D24
0
0
1
0/1
1
th
• 6 frame
0
D25
D26
D27
D28
D29
1
0
1
0/1
1
• 7th frame
0
D30
0
0
0
0
1
1
0/1
1
• 8th frame
0
0
D31
(MSB)
0
0
0
0
1
1
1
0/1
1
• 2nd frame
• 3 frame
• 4 frame
• 5 frame
10-22
10.Specifications
● Transfer cycle
Serial Transfer
Approx.1s
Control power
Approx.11ms
Serial output
Unstable
PS, PS
1st frame
2nd frame
“H”
1
3rd frame
2
3
4
5
4th frame
6
5th frame
Approx.1.1ms
Approx.9.2ms
10-23
7
8
1
6th frame
2
3
4
7th frame
5
6
7
8
8th frame
10.Specifications
10. 2 Servo motor
10. 2. 1 General specification
Table10-9 General specifications of Q series servo motor
Series name
Q1
Q2
Time rating
Continuous
Insulation classification
Type F
Dielectric strength voltage
AC1500V 1 minute
Insulating resistance
DC500V, more than 10MΩ
Full-closed, Auto cooling
Protecting method
Sealing
IP67
(IP40 for Q2A04)
IP40 *1
Sealed
(Except Q1AA04, 06, 07)
Ambient temperature
Storage temperature
Ambient humidity
Vibration classification
Coating color
Excitation method
Installation method
20
R2
IP67
(Except for axis penetrating
part and cable tip)
Not sealed.
(Optionally available)
Sealed
(Except Q2A04)
0 - +40°C
-20 to +65°C
- 90% (without condensation)
V15
Munsell N1.5 equivalent
Permanent magnet type
Flange mounting
*1 Conforms to IP67 by using a waterproof connector, conduit, shell clamp, etc.
The rotation characteristics for the servo motor and encoder are explained in this section.
( 1 ) Servo motor
When a command to increase the position command is entered, the servo motor rotates in a counterclockwise direction from
the load side (Normal rotation).
Rotation direction during normal motor operation
Direction of motor forward rotation
10-24
10.Specifications
( 2 ) Encoder signal phases
Incremental encoder
Phase A
90°
Phase B
<Normal rotation>
Phase Z
t
Phase B is ahead of phase A by 90°
Phase A
90°
Phase B
<Reverse rotation>
Phase Z
t
Phase B is behind Phase A by 90°.
When Z-phase is high, both A-and B-Phases cross the low level, once every revolution.
Absolute encoder
Normal (forward) rotation … Position data incremental output
Reverse rotation … Position data decreased output
( 1 ) Vibration resistance
Install the servo motor in a horizontal direction (as shown
in the following figure), so that when vibration is applied
in any 3 directions (up/down, back/forward, left/right) it
2
can withstand the vibration acceleration up to 24.5m/s .
Up/down
Left/right
Forward/
backward
Horizontal
direction
( 2 ) Shock resistance
Install the shaft of the servo motor in a horizontal
direction (as shown in the following figure). It should
2
withstand shock acceleration up to 98 m/s (when
shocks are applied in an Up/down direction) for 2
rotations. However, since a precision detector is fixed to
the counter-load side of the motor, any shock applied to
the shaft may cause damage the detector, therefore, do
not subject the shaft to shock under any circumstances.
Up/down
Horizontal
direction
Shock measurement
10-25
10.Specifications
( 3 ) Working accuracy
The following table shows the accuracy of the servo motor output shaft and precision (Total Indicator Reading)
of the parts surrounding the shaft.
Items
Vibrations of output shaft terminal α
T.I.R. *1
Reference figure
0.02
β
0.06(below 86)
Eccentricity of the external diameter of
the flange on output shaft M β
α
0.08(above 100)
0.07(below 86)
M
Perpendicularity of the flange face to
output shaft M γ
0.08(above 100)
γ
*1 T.I.R. (Total Indicator Reading)
( 4 ) Vibration classification
The vibration classification of the servo motor is V15 or less, at the maximum rotation speed for a single servo motor unit,
and is measured in the manner pictured below.
Vibration
measurement
position
Vibration measurement
( 5 ) Mechanical strength
The output strength of the servo motor can withstand instantaneous torque of 300% the maximum continuous torque.
( 6 ) Oil seal
A type of S oil (as described in the following table) is fixed to the output shaft of the servo motor. This oil seal is produced by
NOK Corporation; please contact your dealer or sales representative for replacement of the oil seal.
Servo motor model
Oil seal type (type S)
Q1AA04{{{
None
Q1AA06{{{
None
Q1AA07{{{
None
Q2AA04{{{
None
Q2AA05{{{
AC0382A0
Q2AA07{{{
AC0687A0
Q2AA08{{{
AC0875A0
Q2AA13{{{
AC1677E1
R2AA04{{{
None (Optionally available)
R2AA06{{{
R2AA08{{{
10-26
10.Specifications
An optional holding brake is available for each motor. Since this brake is used for holding, it cannot be used for braking, except
for an emergency. Turn brake excitation ON or OFF by using the holding brake timing signal output. When using this signal,
-1
set the command for brake release time to 0min for the servo amplifier. To externally control the holding brake, a response
time (as shown in the following table) is required. When using a motor with a brake, determine a time sequence that takes this
delay time into account.
Table10-10 Holding brake specifications
Model
Q1
Q2
R2
Q1AA04003D
Q1AA04005D
Q1AA04010D
Q1AA06020D
Q1AA06040D
Q1AA07075D
Q2AA04006D
Q2AA04010D
Q2AA05005D
Q2AA05010D
Q2AA05020D
Q2AA07020D
Q2AA07030D
Q2AA07040D
Q2AA07050D
Q2AA08050D
Q2AA13050H
R2AA04003F
R2AA04005F
R2AA04010F
R2AA06010F
R2AA06020F
R2AA06040F
R2AA08075F
Static friction torque
Nxm
Release time
msec
0.098
0.157
0.320
0.637
1.274
2.38
0.191
0.319
0.167
0.353
0.353
0.69
0.98
1.372
1.85
1.96
3.50
0.32
0.32
0.32
0.36
1.37
1.37
2.55
Braking delay time
msec
Varistor
Diode
25
15
100
30
20
120
40
20
200
25
15
100
15
10
100
25
15
100
30
30
40
20
20
30
200
200
120
25
15
100
30
20
120
40
20
200
Specification of 100V
Model
Q1
Q2
Q1EA04003D
Q1EA04005D
Q1EA04010D
Q1EA06020D
Q2EA04006D
Q2EA04010D
Q2EA05005D
Q2EA05010D
Q2EA05020D
Q2EA07020D
Static friction torque
Nxm
0.098
0.157
0.32
0.637
0.191
0.319
0.167
0.353
0.353
0.69
10-27
Release time
msec
Braking delay time
msec
Varistor
Diode
25
15
100
30
20
120
25
15
100
15
10
100
25
15
100
10.Specifications
Brake operating time is measured in the following circuit.
100VAC
60Hz
E DC
E DC
Id
100%
100%
* The brake release time and braking delay time refer to those mentioned in the above tables.
The brake release time is the same for both the varistor and diode.
10-28
10．Specifications
10.3
Motor Data Sheet
• This section displays motor data sheet (characteristics.)
• The values below are for the amplifier power supply of 200VAC 3 phase when combined with the servo
amplifier in the table.
• The radiation constant for installing the motor on an aluminum plate is shown as (Thickness) × (The length
of one side of square).
• The mark “ * ” and speed-torque characteristics indicate the value after rise to the maximum
temperature. Other values are at 20°C, and are all typical values.
• Error for the torque constant and the voltage constant of each phase is ±10% or less.
• There are 5 digits or alphabetical characters for servo amplifier models with the mark *.
10.3.1 Q1Motor data sheet
Specifications for 200V
Servo motor model Q1AA
Servo amplifier model RR1
*Rated output
PR
kW
-1
*Rated speed
NR
min
-1
*Maximum speed
Nmax
min
*Rated torque
TR
Nxm
*Continuous stall torque
TS
Nxm
*Peak torque
TP
Nxm
*Rated current
IR
Arms
*Continuous stall
Arms
IS
current
*Peak current
IP
Arms
Torque constant
KT
Nxm/Arms
Voltage constant for
-1
KEφ
mV/min
each phase
Phase resistance
Rφ
Ω
*Rated power rate
QR
kW/s
Inertia (Wire-saving INC
2
2
-4
kgxm (GD /4) ×10
JM
included.)
Aluminum plate
mm
04003D
01*
0.03
3000
5000
0.098
0.108
0.322
0.49
04005D
01*
0.05
3000
5000
0.159
0.159
0.477
0.80
04010D
01*
0.1
3000
5000
0.318
0.318
0.955
1
06020D
01*
0.2
3000
5000
0.637
0.637
1.91
1.5
06040D
03*
0.4
3000
5000
1.27
1.27
3.82
2.9
07075D
03*
0.75
3000
5000
2.38
2.38
7.16
4.5
0.53
2.2
0.220
0.80
1
2.9
0.23
3.6
0.360
1.5
2.9
4.5
5.8
0.49
10.5
0.510
15
0.61
7.68
8.0
12.6
17.2
17.8
21.4
15
9.60
8.1
18.8
7.6
43.4
2.5
28.7
1.3
65.3
0.63
89.6
0.01
0.0134
0.0233
0.141
0.247
0.636
t6×250
t6×250
t6×250
t12×250
t12×250
t12×250
04003D
01*
0.03
3000
5000
0.098
04005D
01*
0.05
3000
5000
0.159
04010D
01*
0.1
3000
5000
0.318
06020D
03*
0.2
3000
5000
0.637
Servo motor model Q1EA
Servo amplifier model RR1E
*Rated output
PR
kW
-1
*Rated speed
NR
min
-1
*Maximum speed
Nmax
min
*Rated torque
TR
Nxm
*Continuous stall
TS
Nxm
torque
*Peak torque
TP
Nxm
*Rated current
IR
Arms
*Continuous stall
Arms
IS
current
*Peak current
IP
Arms
Torque constant
KT
Nxm/Arms
-1
KEφ
mV/min
each phase
Phase resistance
Rφ
Ω
*Rated power rate
QR
kW/s
2
2
kgxm (GD /4) ×10-4
JM
included.)
Aluminum plate
mm
0.108
0.159
0.318
0.637
0.322
0.9
0.477
1.48
0.955
1.9
1.91
4.0
0.95
1.48
1.9
4.0
3.7
0.126
5.4
0.124
7.5
0.194
15.5
0.182
4.39
4.32
6.76
6.34
4.46
9.60
2.5
18.9
2.41
43.4
0.457
28.8
0.01
0.0134
0.0233
0.141
t6×250
t6×250
t6×250
t6×250
10-29
10．Specifications
10.3.2 Q2 Motor data sheet
*Rated output
PR
kW
-1
*Rated speed
NR
min
-1
*Maximum speed
Nmax
min
*Rated torque
TR
Nxm
*Continuous stall
TS
Nxm
torque
*Peak torque
TP
Nxm
*Rated current
IR
Arms
*Continuous stall
Arms
IS
current
*Peak current
IP
Arms
Torque constant
KT
Nxm/Arms
-1
KEφ
mV/min
each phase
Phase resistance
Rφ
Ω
*Rated power rate
QR
kW/s
Inertia (wire-saving
2
2
-4
kgxm (GD /4) ×10
JM
INC INCLUDED.)
Aluminum plate
mm
04006D
01*
0.06
3000
5000
0.191
04010D
01*
0.1
3000
5000
0.318
05005D
01*
0.05
3000
5000
0.159
05010D
01*
0.1
3000
5000
0.318
05020D
01*
0.2
3000
5000
0.637
07020D
01*
0.2
3000
5000
0.637
07030D
01*
0.3
3000
5000
0.955
0.216
0.65
0.67
0.353
0.167
0.353
0.686
0.686
0.98
1
1.1
0.518
0.86
1.06
1.1
2.05
1.6
2.1
2.1
3.4
2.1
0.67
1.2
0.88
1.2
1.7
2.2
2.5
2.7
0.314
3.6
0.325
3.3
0.21
4.3
0.33
5.9
0.435
7.5
0.34
7.9
0.519
10.97
11.34
7.26
11.4
15.2
11.8
18.1
11.3
6.46
6.77
11.8
4.72
3.78
4.05
7.78
3.24
16.2
1.88
10.6
2.22
20.3
0.057
0.086
0.067
0.13
0.25
0.38
0.45
t6×250
t6×250
t6×250
t6×305
t6×305
t6×305
t6×305
07040D
03*
0.4
3000
5000
1.273
07050D
03*
0.5
3000
5000
1.59
08050D
03*
0.5
3000
5000
1.589
13050H
03*
0.5
2000
3500
2.5
1.372
1.85
1.96
3
4.1
3.0
5.2
4.3
6.56
3.7
7.1
4.6
3.1
5.0
4.3
5.2
12
0.482
15
0.442
15
0.52
15
0.607
16.8
15.4
18.1
21.2
1.26
21.6
0.8
27.3
0.800
19.4
0.442
22.3
*Rated output
PR
kW
-1
*Rated speed
NR
min
-1
*Maximum speed
Nmax
min
*Rated torque
TR
Nxm
*Continuous stall
TS
Nxm
torque
*Peak torque
TP
Nxm
*Rated current
IR
Arms
*Continuous stall
Arms
IS
current
*Peak current
IP
Arms
Torque constant
KT
Nxm/Arms
-1
KEφ
mV/min
each phase
Phase resistance
Rφ
Ω
*Rated power rate
QR
kW/s
Inertia (Wire-saving
2
2
-4
kgxm (GD /4) ×10
JM
INC included.)
Aluminum plate
mm
0.75
0.85
1.3
2.8
t6×305
t6×305
t6×305
t20×305
04006D
01*
0.06
3000
5000
0.191
0.216
0.65
1.4
1.5
5
0.161
04010D
01*
0.1
3000
5000
0.318
0.353
1
1.8
1.9
6
0.211
05005D
01*
0.05
3000
5000
0.159
0.167
0.518
1.5
1.5
5
0.121
05010D
01*
0.1
3000
5000
0.318
0.353
1.03
2.2
2.4
7.5
0.165
05020D
03*
0.2
3000
5000
0.637
0.686
2.1
3.3
3.5
12
0.217
07020D
03*
0.2
3000
5000
0.637
0.686
2.1
3.8
4.0
14.4
0.189
5.63
7.37
4.23
5.77
7.56
6.59
2.85
6.4
2.64
11.8
2.46
3.8
0.615
7.8
0.964
16.2
0.731
10.6
Servo motor model Q2EA
Servo amplifier model RR1E
*Rated output
PR
kW
-1
*Rated speed
NR
min
-1
*Maximum speed
Nmax
min
*Rated torque
TR
Nxm
*Continuous stall torque
TS
Nxm
*Peak torque
TP
Nxm
*Rated current
IR
Arms
*Continuous stall current
IS
Arms
*Peak current
IP
Arms
Torque constant
KT
Nxm/Arms
-1
KEφ
mV/min
each phase
Phase resistance
Rφ
Ω
*Rated power rate
QR
kW/s
2
2
kgxm (GD /4) ×10-4
JM
included.)
Aluminum plate
mm
0.057
0.086
0.067
0.13
0.25
0.382
t6×250
t6×250
t6×250
t6×250
t6×250
t6×250
10-30
10．Specifications
10.3.3 R2 Motor data sheet
Servo motor model R2AA
*Rated output
PR
kW
-1
*Rated speed
NR
min
-1
*Maximum speed
Nmax
min
*Rated torque
TR
Nxm
*Continuous stall
TS
Nxm
torque
*Peak torque
TP
Nxm
*Rated current
IR
Arms
*Continuous stall
Arms
IS
current
*Peak current
IP
Arms
Torque constant
KT
Nxm/Arms
-1
KEφ
mV/min
each phase
Phase resistance
Rφ
Ω
*Rated power rate
QR
kW/s
Inertia (Wire-saving
2
2
-4
kgxm (GD /4) ×10
JM
INC included.)
Aluminum plate
mm
04003F
01*
0.03
3000
6000
0.098
04005F
01*
0.05
3000
6000
0.159
04010F
01*
0.1
3000
6000
0.318
06010F
01*
0.1
3000
6000
0.318
06020F
01*
0.2
3000
6000
0.637
06040F
03*
0.4
3000
6000
1.27
08075F
03*
0.75
3000
6000
2.39
0.108
0.167
0.318
0.353
0.686
1.37
2.55
0.37
0.51
0.59
0.67
1.18
0.81
1.13
0.86
2.2
1.5
4.8
2.8
8.5
4.6
0.56
0.69
0.81
0.86
1.6
2.8
4.6
2.15
0.201
2.8
0.246
3.3
0.424
3.5
0.375
5.6
0.476
10.8
0.524
15.5
0.559
7
8.6
14.8
13.1
16.6
18.3
19.5
12
3.9
9
6.7
9.3
16
4.8
8.6
2.7
19
1.36
39
0.4
31
0.0247
t6×250
0.0376
t6×250
10-31
0.0627
t6×250
0.117
0.219
0.412
1.82
t6×250
t6×250
t6×250
t6×250
10．Specifications
10.3.4 Motor torque rotation characteristics
The motor (Q1AA motor, Q2AA motor and R2AA motor) speed - torque characteristics below show
the values when the 200VAC power is supplied.
Note that instant domain decreases when the power supply is blow 200V at the time of high speed rotation.
Speed速度－トルク特性
– torque characteristics
Q1AA04003D（30W）
Speed 速度－トルク特性
Q1AA04005D（50W）
0.4
Q1AA04010D（100W）
1
0.6
Instantaneous
瞬時領域 zone
0.2
0.1
0.8
0.4
Instantaneous
瞬時領域 zone
0.3
0.2
0.1
Continuous
Continuouzone
0
Instantaneous
瞬時領域 zone
0.4
0.2
Continuous
Continuouzone
1000 2000 3000 4000 5000 6000
0
1000 2000 3000 4000 5000 6000
-1
-1
Speed(min
速度（ min )）
速度（ min-1)）
Speed(min
0
6
トルク（ N・m）
Torque(N
xm)
3
Torque(N
xm)
1.5
Instantaneous
瞬時領域 zone
2
1
1000
2000
3000
4000
5000
2
0
0
6000
1000
2000
3000
4000
5000
0
6000
0.6
1
Instantaneous
瞬時領域 zone
0.5
Continuous
Continuou zone
-1
-1
Speed(min
速度（ min )）
6000
0.4
Instantaneous
瞬時領域 zone
0.2
Continuous
Continuouzone
Continuous
zone
Continuou
0
1000 2000 3000 4000 5000 6000
Torque(N
xm)
トルク（
N・m）
1.5
Torque(N
xm)
トルク（
N・m）
0.6
0
5000
Q2AA05005D（50W）
0.8
0
4000
Speed –速度－トルク特性
torque characteristics
Q2AA04010D（100W）
2
0.2
3000
-1
0.8
Instantaneous
zone
瞬時領域
2000
速度（ min -1）
Speed(min
)
-1
Speed(min
速度（ min )）
0.4
1000
速度（ min -1）
Speed(min
)
-1-1
Speed
速度－トルク特性
Q2AA04006D（60W）
6000
Continuous
Continuouzone
0
0
5000
Instantaneous
瞬時領域 zone
4
Continuous
Continuou zone
Continuous
Continuouzone
4000
Q1AA07075D（750W）
8
Instantaneous
瞬時領域 zone
3000
Q1AA06040D（400W）
1
2000
-1-1
Speed(min
速度（ min )）
4
0
1000
-1
2
0.5
Continuous
Continuouzone
0
Q1AA06020D（200W）
トルク（
Torque(N
xm)
N・m）
0.6
0
0
Torque(N
xm)
トルク（
N・m）
Torque(N
xm)
トルク（
N・m）
Torque(N
xm)
トルク（
N・m）
Torque(N
xm)
トルク（
N・m）
0.5
0.3
0
0
1000 2000 3000 4000 5000 6000
-1-1
Speed(min
速度（ min ) ）
10-32
0
1000 2000 3000 4000 5000 6000
-1-1
Speed(min
速度（ min )）
10．Specifications
Q2AA07020D （200W ）
Q2AA05020D （200W ）
4
4
1.5
3
3
1
Instantaneous
瞬時領域 zone
0.5
Continuous
zone
Continuou
0
0
2
Instantaneous
瞬時領域 zone
1
1000 2000 3000 4000 5000 6000
0
1000
2000
2
Instantaneous
瞬時領域 zone
1
Continuous
Continuou zone
Continuous
zone
Continuou
0
-1
-1
Speed(min
速度（ min )）
0
3000
4000
5000
6000
0
1000
3
6
6
1
Torque(N
xm)
トルク（
N・m）
8
Torque(N
xm)
トルク（
N・m）
8
Instantaneous
瞬時領域 zone
4
Instantaneous
zone
瞬時領域
2
1000
2000
3000
4000
5000
6000
0
1000
2000
2
Continuous
zone
Continuou
5000
6000
6
6
Instantaneous
zone
瞬時領域
2
Instantaneous
瞬時領域 zone
4
2
Continuous
zone
Continuou
Continuous
Continuouzone
0
0
0
1000
2000
3000
4000
-1
速度（ min ) ）
Speed(min
-1
5000
6000
0
1000
2000
-1
-1
Speed(min
速度（ min )）
10-33
0
1000
2000
3000
4000
-1-1
Speed(min
速度（ min ) ）
Q2AA13050H （500W ）
Torque(N
xm)
トルク（
N・m）
Torque(N
xm)
トルク（
N・m）
4000
-1 -1
8
4
3000
Speed(min
min ）)
速度（
-1
8
6000
0
速度（ min -1）
Speed(min
)
Q2AA08050D （500W ）
5000
Instantaneous
瞬時領域 zone
Continuous
Continuou zone
0
0
4000
4
Continuous
zone
Continuou
0
3000
Q2AA07050D（500W ）
Q2AA07040D（400W ）
4
2
2000
-1
-1
Speed(min
速度（ min )）
-1
-1 )
Speed(min
速度（ min ）
Q2AA07030D（300W ）
トルク（
N・m）
Torque(N
xm)
Torque(N
xm)
トルク（
N・m）
2
Torque(N
xm)
トルク（
N・m）
Torque(N
xm)
トルク（
N・m）
Q2AA05010D（100W ）
3000
4000
5000
6000
10．Specifications
R2AA04003F（30W ）
0.8
Instantaneous zone
0.2
0.1
R2AA04010F（100W ）
2
0.6
トルク（
Torque(N
xm)
N・m）
0.3
Torque(N
xm)
Torque(N
xm)
0.4
R2AA04005F（50W ）
Instantaneous zone
0.4
0.2
1.5
1
Instantaneous zone
0.5
Continuous zone
1000
2000
3000
4000
5000
6000
0
-1
速度（ min-1)）
Speed(min
2000
3000
4000
5000
0
6000
1000
Torque(N
xm)
トルク（
N・m）
Instantaneous
瞬時領域 zone
0.5
2000
3000
4000
5000 6000
-1
-1
Speed(min
)
速度（ min ）
R2AA06040F（400W ）
Speed –
速度－トルク特性
R2AA06020F（200W ）
4
1.5
1
1000
-1
-1
Speed(min
速度（ min )）
R2AA06010F（100W ）
2
0
0
8
3
2
Torque(N
xm)
トルク（
N・m）
0
Torque(N
xm)
Continuous zone
Continuous zone
0
Instantaneous
瞬時領域zone
1
6
4
Instantaneous
瞬時領域 zone
2
Continuous
Continuouzone
0
1000
2000
3000
4000
5000
6000
0
1000
2000
3000
Instantaneous
瞬時領域 zone
6
4
2
Continuous
zone
Continuou
0
0
1000
2000
3000
4000
4000
-1
min -1
速度（
）)
Speed(min
R2AA08075F（750W ）
8
Torque(N
xm)
0
0
-1
速度（ min-1)）
Speed(min
10
Continuous
zone
Continuou
Continuous
zone
Continuou
0
5000
6000
-1-1
Speed(min
速度（ min ) ）
10-34
5000
6000
0
1000
2000
3000
4000
-1-1)
Speed(min
速度（ min ）
5000
6000
10．Specifications
The motor (Q1AA motor, Q2AA motor and R2AA motor) speed – torque characteristics below show
the values when the 100VAC power is supplied.
Note that instant domain decreases when the power supply is blow 100V at the time of high speed rotation.
Q1EA04005D（50W）
0.8
0.3
0.6
0.2
瞬時領域 zone
Instantaneous
0.1
1
0.8
0.4
瞬時領域
Instantaneous
zone
0.2
0
1000 2000 3000 4000 5000 6000
-1-1
Speed(min
速度（ min ) ）
連続領域 zone
Continuous
0
0
1000 2000 3000 4000 5000 6000
-1
-1
Speed(min
速度（ min )）
Q1EA06020D（200W）
2
トルク（
N・m）
Torque(N
xm)
瞬時領域 zone
Instantaneous
0.4
連続領域 zone
Continuous
0
1.5
瞬時領域 zone
Instantaneous
1
0.5
連続領域 zone
Continuous
0
0
0.6
0.2
連続領域zone
Continuous
0
Q1EA04010D（100W）
Torque(N
xm)
トルク（
N・m）
0.4
Torque(N
xm)
トルク（
N・m）
Torque(N
xm)
トルク（
N・m）
Q1EA04003D（30W）
1000 2000 3000 4000 5000 6000
-1
速度（ min-1）
Speed(min
)
10-35
0
1000 2000 3000 4000 5000 6000
-1
-1
Speed(min
速度（ min )）
Q2EA04006D（60W）
Q2EA04010D（100W）
Q2EA05005D（50W）
1.2
0.8
0.6
0.9
0.6
0.4
Instantaneous
瞬時領域 zone
0.2
0.6
Instantaneous
zone
瞬時領域
0.3
0.4
Instantaneous
瞬時領域 zone
0.2
Continuous
連続領域zone
Continuous
連続領域zone
0
Continuous
連続領域zone
0
0
1000 2000 3000 4000 5000 6000
0
0
1000 2000 3000 4000 5000 6000
0
-1-1)
Speed(min
min ）
速度（
-1
-1
Speed(min
)
速度（ min ）
1000 2000 3000 4000 5000 6000
-1-1)
Speed(min
速度（ min ）
Q2EA05010D（100W）
Q2EA05020D（200W）
Q2EA07020D（200W）
4
4
0.9
3
3
Instantaneous
瞬時領域 zone
0.6
0.3
Torque(N
xm)
トルク（
N・m）
1.2
Torque(N
xm)
トルク（
N・m）
Torque(N
xm)
トルク（
N・m）
Torque(N
xm)
トルク（
N・m）
0.8
Torque(N
xm)
トルク（
N・m）
Torque(N
xm)
トルク（
N・m）
10．Specifications
2
Instantaneous
瞬時領域 zone
1
2
Instantaneous
瞬時領域 zone
1
Continuous
連続領域zone
Continuous
連続領域zone
0
Continuous
連続領域 zone
0
0
1000 2000 3000 4000 5000 6000
-1
-1
Speed(min
)
速度（ min ）
0
0
1000 2000 3000 4000 5000 6000
-1 -1
Speed(min
min ）)
速度（
10-36
0
1000 2000 3000 4000 5000 6000
-1 -1
Speed(min
min ）)
速度（
10. Specifications
10.4 External appearance diagrams
10.4.1 Servo amplifier unit external appearance
φ5
6
Amplifier unit: RR101AA
122.8
○
XXXXXXXX_*
C
N
C
W
U
V
P
C
STA
ADDR
M1
M2
SG
ALM
POW
C
N
1
C
N
2
RR1A01AA
C
N
6
120
130
30
(70)
(140.7)
8
5
10-37
10-38
○
W
V
U
P
C
STA
ALM
POW
C
N
1
C
N
2
C
N
6
XXXXXXXX_*
C
N
C
M1
M2
SG
ADDR
RR1A03AA
60
(70)
122.8
8
120
130
6
5
(140.7)
30
2-φ
5
10. Specifications
Amplifier unit: RR103AA
10-39
－
○
DL1
DL2
P
RB1
RB2
CNB
CHARGE
T
S
R
t
r
CNA
MODE
60
C
N
1
A
P
C
POWER
RRPAA00_*
C
N
1
B
C
N
5
WR/
(100)
122.8
4
120
130
7.5
5
(140.7)
45
2-φ
5
10. Specifications
10.4.2 Power supply unit external appearance
Power supply unit: RRPAA
○
B
6
φ
2-
○
6
5
150
5
10-40
3
2
1
15
130
160
MODEL NUMBER
RRMA800
RRMA600
RRMA400
15
A
27.2
8
6
4
250
190
130
B Dimensions
Correspondence dimensions
300
240
180
A Dimensions
10. Specifications
10.4.3 Mother board external appearance
Mother board: RRMA4
－
○
－
DL1
DL1
DL2
DL2
P
RB1
RB1
RB2
RB2
CNB
○
○
V
V
W
W
○
○
CC
NN
CC
M1
M1
M2
M2
SG
SG
○
ADDR
ADDR
XXXXXXXX_X
XXXXXXXX_*
－
○
DL1
UU
P
CC
P
DL2
STA
STA
RB1
RB2
NN
1
CNB
C
○
○
V
V
W
W
UU
PP
CC
STA
STA
POW
POW
ALM
ALM
CC
NN
11
CC
NN
22
C
NNCHARGE
2
POW
POW
ALM
ALM
主銘板
C
N
4
C
C
N
N
31
A
C
N
5
PP
CC
POWER
POWER
RRP*E**_*
RRPAA00_*
C
N
1
B
C
N
5
WR/
WR/
XXXXXXXX_X
XXXXXXXX_*
CC
NN
CC
M1
M1
M2
M2
SG
SG
ADDR
ADDR
RR1A01AE
RR1A01AA
CC
M1
M1
M2
M2
SG
SG
ADDR
ADDR
RR1A01AE
RR1A01AA
W
W
○
○
○
○
VV
W
W
UU
PP
CC
STA
STA
○
C
N
C
CC
XXXXXXXX_*
NN
CC
M1
M1
M2
M2
SG
SG
XXXXXXXX_X
XXXXXXXX_*
○
W
V
ADDR
ADDR
SG
STA
P
C
M2
ALM
RR1A01AE
RR1A01AA
主銘板
XXXXXXXX_X
XXXXXXXX_*
CC
NN
CC
NN
22
CC
NN
66
M1
ADDR
POW
C
N
1
C
N
2
C 11
N
1
POW
APOW
U
ALM
ALM
P
C
POWER
CC
V
V
RRPAA00_*
NN
UU
PP
CC
ALM
ALM
STA
STA
CC
NN
CC
NN
22
CC
NN
66
C 11
N
1
POW
BPOW
C
N
5
WR/
RR1A01AA
○
W
V
U
P
C
STA
ALM
STA
SG
15
XXXXXXXX_*
C
N
C
ALM
M2
○
W
V
U
P
C
M1
XXXXXXXX_*
C
N
C
SG
M2
ADDR
POW
C
N
1
C
N
1
(70)
M1
C
N
2
C
N
2
RR1A01AA
ADDR
C
N
6
RR1A01AA
C
N
6
POW
130
160
CHARGE
CHARGE
T
S
R
t
r
CNA
MODE
CC
NN
66
130
130
C
NN
6
RR1A01AE
RR1A01AA
T
S
R
t
r
CNA
MODE
180
180
C
N
6
5
150
10-41
130
5
160
○
W
V
U
P
C
STA
ALM
POW
C
N
1
C
N
2
C
N
6
○
XXXXXXXX_*
C
N
C
SG
M2
M1
ADDR
RR1A01AA
5
15
180
150
10. Specifications
10.4.4 External appearance when combining each unit
The diagram below show external appearance of 4 amplifier units of RR1A01AAA,
power supply unit and mother board combined.
160
150
150
10．Specifications
Q1 servo motor
0.07
□ＬＣ
M
LR
0.02
4-
LE
0.06 M
LZ
LLMAX.
LG
Q
LH
S
LB
LA
KL
M
D2
（５０）
1100±100
（５０）
D1
1100±100
QE Tap
Depth LT
Teflon cable(for fixing)
(For motor,ground,brake)
MODEL
Incremental
Without
With
brake
brake
LL
LL
Absolute
Without
With
brake
brake
LL
LL
Q1AA04003U
75±2
121.5±2
80.3±2
125.3±2
Q1AA04005U
81±2
127.5±2
87.3±2
131.3±2
Q1AA04010U
100±2
146.5±2
106.3±2
150.3±2
Q1AA06020U
111±2
140±2
116±2
145±2
Q1AA06040U
140±2
169±2
145±2
174±2
Q1AA07075U
154±2
177.5±2
163.6±2
187±2
LG
5
KL
30
LA
46
LB
LE
0
2.5
30-0.021
Shield cable(for fixing)
(For sensor)
LH
54
LC
40
LZ
4.5
LR
25
S
0
6-0.008
0
8-0.009
Q
QE
LT
-
-
-
-
D1
Increm Absol
ental
ute
D2
D2
7
4.7
6
41
70
0
50-0.025
8
50
90
0
70-0.030
3
81
60
5.5
30
0
14-0.011
3
100 76
5.5
40
0
16-0.011
10-42
Oil seal
35
M5
12
7.5
M5
12
7.5
5
Optional
10．Specifications
Q2 servo motor
0.07
□ＬＣ
M
LR
0.02
4-
0.06 M
LZ
LLMAX.
LG
LE
Q
LH
LA
QK
S
LB
QA
W
D2
（５０）
1100±100
D1
1100±100
QE Tapping
Depth LT
Ｏｉｌ　ｓｅａｌ
（Ｓ　ｔｙｐｅ）
（５０）
KL
M
QK
U
Teflon cable(for fixing)
(For motor,ground,brake)
T
04006～05010
MODEL
05020～08100
Incremental
Without
With
brake
brake
LL
LL
Absolute
Without
With
brake
brake
LL
LL
Q2AA04006U
80±2
112±2
88±2
120±2
Q2AA04010U
94±2
126±2
102±2
134±2
Q2AA05005U
79±2
108±2
88±2
110.5±2
Q2AA05010U
87±2
115±2
96±2
118.5±2
Q2AA05020U
103±2
131±2
112±2
134.5±2
Q2AA07020U
96±2
121±2
105±2
131±2
Q2AA07030U
103±2
128±2
113±2
138±2
Q2AA07040U
110±2
135±2
120±2
145±2
Q2AA07050U
118±2
143±2
128±2
153±2
Q2AA08050U
128±2
164±2
136.5±2
172.5±2
Q2AA08075U
145±2
181±2
153.5±2
189.5±2
Q2AA08100U
164±2
198±2
170.5±2
206.5±2
MODEL
S
Q2AA04006U
0
7-0.009
20
-
0
8-0.009
20
0
11-0.011
25
Q2AA04010U
Q2AA05005U
Q2AA05010U
Q2AA05020U
Shield cable(for fixing)
(For sensor)
Q
QA
QK
W
LG
KL
LA
LB
LE
LH
LC
LZ
LR
2
57
42
3.5
24
2.5
71.5
54
4.5
5
31
48
0
34-0.025
5
38
60
0
50-0.025
24
30
8
50
90
0
70-0.030
3
100
76
5.5
30
8
55
100
0
80-0.030
3
115
86
6.6
35
QE
LT
D1
15
2 slot cuts
6.5±0.2
-
-
7
-
15
2 slot cuts
7.5±0.2
M3
8
2
20
M4
10
4
T
4
U
1.5
Q2AA07020U
Q2AA07030U
Q2AA07040U
25
2
20
5
5
2
M5
12
0
16-0.011
30
2
25
5
5
2
M5
21
Q2AA08050U
Q2AA08100U
10-43
7.5
Oil seal
None Note1
4.7
0
14-0.011
Q2AA07050U
Q2AA08075U
Incremental Absolute
D2
D2
5
Available
10．Specifications
R2 servo motor
□LC
LR
φ
φL
H
LL±1
LG
LE
LA
φS
φLB
Q
KL
M
φD1
Without oil seal
Absolute
(SANYO’s
standard:without
capacitor)
φD2
Absolute
(With capacitor)
W/O brake
W brake
W/O brake
W brake
W/O brake
W brake
W/O brake
W brake
LL
LL
LL
LL
LL
LL
LL
LL
R2AA04003U
51.5
87.5
54.5
90.5
56.5
92.5
59.5
95.5
R2AA04005U
56.5
92.5
59.5
95.5
61.5
97.5
64.5
100.5
R2AA04010U
72
108
75
111
77
113
80
116
R2AA06010U
58.5
82.5
61.5
85.5
65.5
89.5
68.5
92.5
R2AA06020U
69.5
97.5
72.5
100.5
76.5
104.5
79.5
107.5
R2AA06040U
95.5
123.5
98.5
126.5
102.5
130.5
105.5
133.5
R2AA08075U
107.3
143
110.3
146
114.3
150
117.3
153
Absolute
S
R2AA04003U
0
6 -0.008
R2AA04005U
R2AA04010U
R2AA06010U
R2AA06020U
R2AA06040U
R2AA08075U
Q
QE
LT
20
-
-
0
8 –0.009
20
-
-
0
14 –0.011
25
M5
12
0
16 –0.011
35
M5
12
0
8 –0.009
（50）
With oil seal Note1
Absolute
(SANYO’s
standard:without
capacitor)
Absolute
(with capacitor)
MODEL
MODEL
φD3
（50）
（50）
QE Tap
Depth LT
Oil Seal
D1
D2
D3
6
5
5
10-44
LG
KL
LA
LB
LE
LH
LC
LZ
LR
5
35.3
46
0
30-0.021
2.5
56
40
4.5
25
70
0
50-0.025
3
0
70-0.030
3
25
6
8
44.6
54.4
90
82
60
5.5
30
108
80
6.6
40
･････････････････
11. 1 Time of Acceleration and Deceleration
･････････････････
11. 1. 1 Calculation of Acceleration/Deceleration Time
･････････････････
･････････････････
11. 2. 1 When the motor repeats continuous speed status and stop status
･････････････････
11. 2. 2 When the motor repeats acceleration, deceleration and stop status
11. 2. 3 When the motor repeats acceleration, constant speed operation and deceleration status ･･･
･････････････････
･････････････････
11. 3. 1 Negative Load
･････････････････
11. 3. 2 Load Inertia(JL)
･････････････････
11. 4 Dynamic Brake
･････････････････
11. 4. 1 Slowing Down the Revolution by the Dynamic Brake
･････････････････
11. 4. 2 Instantaneous Tolerance of Dynamic Brake
･････････････････
11. 5 Regeneration Process
･････････････････
11. 5. 1 Calculation Method of Regeneration Power PM
･････････････････
11. 5. 2 Confirmation of Regeneration Power PM in Actual Operations
･････････････････
11. 5. 3 Selection Judgment between Built-in/External Regenerative Resistor
･････････････････
11. 5. 4 Combined Regenerative Resistor
11-1
11-2
11-2
11-3
11-3
11-4
11-4
11-5
11-5
11-5
11-5
11-5
11-6
11-7
11-7
11-9
11-9
11-10
11 .1 Time of Acceleration and Deceleration
11. 1. 1 Calculation of Acceleration/Deceleration Time
The motor’s acceleration time( t a ) and deceleration time( t b ) under the constant load is calculated by the following method.
These expressions are for the rated speed values, but exclude the viscous torque and friction torque of the motor.
Acceleration time: ta =( JM + JL )
•
2π
60 •
N2-N1
TP+TL
( sec )
Deceleration time: tb =( JM + JL )
•
2π
N2-N1
60 • TP+TL
( sec )
ta :
tb :
JM :
JL :
N1, N2 :
Acceleration time
( sec )
Deceleration time
( sec )
2
Motor inertia
( kgxm )
2
Load inertia
( kgxm )
-1
Rotational speed of motor ( min )
TP :
TL :
Instantaneous maximum stall torque
Load torque
N2
→ Time
N1
ta
Fig.
*
tb
11-1 Time chart of motor rotation speed
It is recommended to calculate the load margin and decrease the instantaneous maximum stall torque value
(TP) to 80%, when determining t a and t b .
11-2
(Nxm)
(Nxm)
There are separate limitations on repetitive operations for both the servo motor and servo amplifier, and the conditions of both
must be fulfilled simultaneously.
● Permitted repetitions for the servo amplifier
When START / STOP sequences are repeated frequently, confirm in advance that they are within the allowed range.
Allowed repetitions differ depending on the type, capacity, load inertia, adjustable-speed current value and motor rotation
speed of the motor in use. If the load inertia = motor inertia × m times, and when the permitted START / STOP repetitions
(up until the maximum rotation speed) exceed
times/min., contact your dealer or sales office for assistance, as precise
calculation of effective torque and regenerating power is critical.
● Permitted repetitions for the motor
Permitted START / STOP repetitions differ according to the motor’s usage conditions, such as the load condition and time
of operation. As the conditions vary and as such cannot be specified uniformly, an example is given to aid in explanation.
11. 2. 1 When the motor repeats continuous speed status and stop status
In such operating conditions as shown in Figure 11-2 below, the effective value of the armature current of the motor is at a
frequency below the rated armature current IR of the motor. If the operating cycle is considered as “t”, the usable range can be
determined as follows:
2
Ip : Instantaneous maximum stall
armature current
IR : Rated armature current
IL : Current corresponding to load
torque
2
Ip (ta+ tb) + IL tS
t >=
[s]
IR
When cycle time ( t ) is predetermined,
2
I p , t a , t b appropriate in the above formula are required.
* When actually determining the system drive mode, it is recommended to calculate the load margin and suppress
it to
Trms =< 0.7 TR
IP
IL
Motor current
ta
-> Time
ts
-I P
tb
N
Motor rotation
speed
-> Time
t
Fig. 11-2 Time chart of motor current and rotation speed
11-3
11. 2. 2 When the motor repeats acceleration, deceleration and stop status.
For the operating status shown in Figure 11－3, the value of permitted repetitions ‘n’ (times/min) is displayed by the following
equation.
n=
1
N (J M+J L) ×
2
2.86 × 10 ×
2
TP -TL
3
TP
2
× TR
2
( times/min )
TR: Rated torque
TP
TL
Motor current
-> Time
-T P
N
Motor rotation
speed
-> Time
t
Fig. 11－3 Time chart of motor current and rotation speed
11. 2. 3 When the motor repeats acceleration, constant speed operation and deceleration status.
For the operating status shown in Figure 11-4, the value of permitted repetitions ‘n’ (times/min) is displayed by the following
equation.
1
×
N (J M+J L)
2
n = 2.86 × 10 ×
2
TR -TL
TP
2
( times/min )
TP
TL
Motor current
-> Time
－T P
N
Motor rotation
speed
-> Time
t
Fig.
11-4 Time chart of motor current and rotation speed
11-4
11. 3. 1 Negative load
The servo unit cannot perform negative load operations for more than several seconds, as that causes the motor to rotate
continuously.
[Examples]
y Downward motor drive (when there is no counter weight.)
y When using like a generator, such as the wind-out spindle of a winder.
When applying the amplifier to a negative load, contact your lealer or sales representative.
11. 3. 2 Load inertia ( JL )
When the servo amplifier is used with a load inertia exceeding the allowable load inertia calculated in terms of the motor shaft,
a main circuit power overvoltage detection or regenerative error may be issued at the time of deceleration.
In this case, the following treatments are needed.
1. Reduce the current limit.
2. Extend the acceleration and deceleration time.(slow down)
3. Reduce the maximum motor speed.
4. Install an external regenerative resistor (optional).
For more details, please consult with your dealer or sales representative.
11. 4 Dynamic brake
11. 4. 1 Slowing down the revolution angle by the dynamic brake
l1
N
I1
N
Speed
l2
I2
tD
-1
: Motor speed( min )
: Slow-down revolution angle (rad) by amplifier internal
process time tD
: Slow-down revolution angle (rad) by dynamic brake
operation
: Delay time from signal display to operation start ( sec )
(Depending on the amplifier capacity: Refer to the Table 11-1.)
Time
tD
Fig. 11-5
[Standard formula] When load torque ( TL ) is considered as zero.
I
= I1 + I2 =
2πN x t D
60
I
Jm
JL
αxβ
3
+ (Jm+ JL) × (αN+ βN )
:Integrated slow-down rotation angle
( rad )
2
:Motor inertia
(kgxm )
2
:Load inertia (Motor axis conversion)
( kgxm )
:Motor constant
( sec )
(Refer to the Table 11-2, Dynamic brake constant table, for αxβ)
Table 11－1
Amplifier model name
RR101
RR103
Delay time t D ( sec )
-3
10×10
-3
10×10
11-5
Table 11-2
Motor model number
Q1AA04003D
Q1AA04005D
Q1AA04010D
Q1AA06020D
Q1AA06040D
Q1AA07050D
Q2AA04006D
Q2AA04010D
Q2AA05005D
Q2AA05010D
Q2AA05020D
Q2AA07020D
Q2AA07030D
Q2AA07040D
Q2AA07050D
Q2AA08050D
Q2AA13050H
R2AA04003F
R2AA04005F
R2AA04010F
R2AA06010F
R2AA06020F
R2AA06040F
R2AA08075F
Q1EA04003D
Q1EA04005D
Q1EA04010D
Q1EA06020D
Q2EA04006D
Q2EA04010D
Q2EA05005D
Q2EA05010D
Q2EA05020D
Q2EA07020D
Dynamic brake constant table for Q series motor
α
β
-7
204
92.0×10
-7
130
34.3×10
-7
53
35.0×10
-7
87.8
25.6×10
-7
9.13
13.1×10
-7
5.24
7.75×10
-7
87.8
25.6×10
-7
55.2
8.4×10
-7
132
10.7×10
-7
45.2
7.93×10
-7
19.0
46.9×10
-7
25.9
11.7×10
-7
11.0
13.9×10
-7
10.2
7.08×10
-7
10.6
3.84×10
-7
7.71
4.51×10
-7
5.34
6.99×10
-6
227
4.29×10
-6
119
2.96×10
-6
41.2
1.56×10
-6
32.6
5.04×10
-6
14.5
2.46×10
-6
8.82
1.00×10
-8
5.84
9.10×10
-7
202
103×10
-7
93.3
58.9×10
-7
45.0
27.6×10
-7
7.90
52.5×10
-7
70.5
24.7×10
-7
33.5
10.9×10
-7
78.7
33.2×10
-7
26.8
22.6×10
-7
11.9
10.4×10
-7
12.0
39.4×10
2
J M ( kg-m )
-4
0.01×10
-4
0.0134×10
-4
0.0233×10
-4
0.057×10
-4
0.247×10
-4
0.636×10
-4
0.057×10
-4
0.086×10
-4
0.067×10
-4
0.13×10
-4
0.25×10
-4
0.382×10
-4
0.45×10
-4
0.75×10
-4
0.85×10
-4
1.30×10
-4
2.80×10
-4
0.0247×10
-4
0.0376×10
-4
0.0627×10
-4
0.117×10
-4
0.219×10
-4
0.412×10
-4
1.82×10
-4
0.01×10
-4
0.0134×10
-4
0.0233×10
-4
0.0141×10
-4
0.0565×10
-4
0.086×10
-4
0.067×10
-4
0.13×10
-4
0.25×10
-4
0.38×10
The values for α and β are based on an assumed resistance value of the power line of 0Ω.
If the combination with an amplifier is different than those shown above, or if the motor is not listed above,
consult your dealer or sales office.
11. 4. 2 Allowable frequency of dynamic brake
Dynamic brake is for emergency stop of the servo motor at the time of alarms or power failure. In normal operations or
sequence operations, it is not used for such an application as dynamic brake starts to operate. When setting the system or
operation conditions, please avoid such settings as dynamic brake is likely to operate. For testing the dynamic brake function,
test must done less than 10 rotations per hour and 50 rotations per day under the conditions of maximum speed and applicable
load inertia.
11-6
11. 5 Regeneration process
This R series type R servo system has a built-in regenerative resistor. Therefore, as the regeneration capacity of the amplifier
depends on the allowable power of the built-in regenerative resistor, calculate the regeneration power PM, and be sure to confirm
that PM < PRI (allowable power of the amplifier’s built-in regeneration resistor) is fulfilled. When regeneration power PM exceeds
the allowable range of power PR1 of the amplifier’s built-in regeneration resistor, connect an optional external regeneration
resistor for increasing regeneration capacity. In this case, calculate regeneration resistance PM and confirm that PM<PRO (the
maximum allowable power for the external regeneration resistor) is fulfilled.
When regeneration power PM exceeds the maximum permitted power (PRO) of the external regeneration resistor, reconsider the
acceleration constant, load inertia, etc.
The calculation method and measurement method of regeneration power PM, and the selection method and parameter setting of
appropriate regeneration resistance, are explained in this section.
11. 5. 1 Calculation method of regeneration power PM
[ Step 1 ]
Calculate the regeneration energy.
An example of the calculation of regeneration energy (EM) is shown below.
1. For operations along a horizontal axis.
EM ＝ EHb ＝
2
1
Tb
⎛ Tb ⎞
× N × 3・ KE φ×
× tb － ⎜
⎟ × 3・ R φ× tb
2
KT
⎝ KT ⎠
EM
EHb
KEφ
KT
N
Rφ
tb
Tb
Tc
TF
Speed
: Regeneration energy during operations along horizontal axis
(J)
: Regeneration energy during deceleration
(J)
-1
(Motor constant)
: Induced voltage
( Vrms/min )
: Torque constant
( Nxm/Arms )
(Motor constant)
-1
: Motor rotation speed
( min )
: Armature resistance
(Ω)
(Motor constant)
: Deceleration time
( sec )
: Torque during deceleration
( Nxm )
(Tb=Tc-TF)
: Adjustable speed torque
( Nxm )
: Friction torque
( Nxm )
N
0
Motor output shaft torque
-> Time
Tc+TF
TF
-> Time
Tb
tb
t0
Fig. 11-6
11-7
2. For operations along vertical axis (with a gravitational load)
EM = EVUb + EVD + EVDb
2
＝
1
TUb
⎛ TUb⎞
× N× 3・ KEφ ×
× tU b － ⎜
⎟ × 3 ・ R φ × tU b
⎝ KT ⎠
2
KT
2
＋ N× 3・ KEφ ×
TD
⎛ TD ⎞
× tD － ⎜
⎟ × 3 ・ R φ × tD
⎝ KT ⎠
KT
2
＋
1
TDb
⎛ TDb ⎞
× N× 3・ KEφ ×
× tD b － ⎜
⎟ × 3 ・ R φ × tD b
⎝ KT ⎠
2
KT
EM
EVUb
EVD
EVDb
TUb
tUb
TD
tD
TDb
tDb
TM
Speed
: Regeneration energy during operations along vertical axis
(J)
: Regeneration energy during increased deceleration
(J)
: Regeneration energy during descending run
(J)
: Regeneration energy during decreased deceleration
(J)
: Torque during Increased deceleration
( Nxm )
: Increased deceleration time
( sec )
: Torque during descending run
( Nxm )
(TD=TM-TF)
: Descending run time
( sec )
: Torque during decreased deceleration
(Nxm ) (TDb =TC-TF+TM)
: Decreased deceleration time
( sec )
: Gravitational load torque
( Nxm )
N
Increase
0
-> Time
Decline
-N
Tc+TF+TM
Tc+TF-TM
Motor output shaft torque
TDb
TM+TF
TM
TD
-> Time
TUb
tUb
tD
tDb
t0
Fig. 11-7
When the calculation result of either of EVUb, EVD, EVDb is negative, calculate EM by considering the value of
those variables as 0.
[ Step 2 ]
Calculate the effective regeneration power.
Confirm the regeneration capacity of regeneration resistance connected to the amplifier from the calculation result during
regeneration.
1. For operations along horizontal axis.
PM ＝
EM
to
PM
EM
to
: Effective regeneration power
: Regeneration energy during deceleration
: Cycle time
(W)
(J)
( sec )
PM
EM
: Effective regeneration power
(W)
: Regeneration energy during increased deceleration/
descending /decreased deceleration
(J)
: Cycle time
( sec )
2. For operations along vertical axis.
PM＝
EM
to
to
11-8
11. 5. 2 Confirmation of regeneration power PM in actual operation
Regeneration power PM can be easily confirmed by Q-SETUP setup software.
Setup software …. Monitor display 11xRegPxRegeneration circuit operating rate
The monitor value of the regeneration circuit operating rate shows the operating rate of regeneration circuit.
The display range is 0.01% - 99.99%.
The actual regeneration power PM can be calculated from this monitor value by the following equation.
400(V) × 400(V)
Regeneration power PM (W) =
Regeneration
×
Regeneration circuit operating rate (%)
100(%)
* This equation is used when the input supply voltage of the servo amplifier is 200V.
If the input supply voltage is 100V, calculate PM after replacing “400(V)×400(V)” by “200(V)×200(V)”.
* Refer to the following table for the regeneration resistance value of built-in regeneration resistance.
Calculation example) When RegP monitor value=0.05% by using RRPAE, built-in regeneration resistance.
(Input supply voltage of 200V, Built-in regeneration resistance of 17Ω)
400(V)×400(V)
Regeneration power PM (W) =
17(Ω)
×
0.05(%)
100(%)
= 4.7 (W)
The regeneration power calculated from this monitor value is a target value. The regeneration power varies per the
voltage fluctuation of the input power supply or by age in servo amplifier and loading device.
Select the regeneration resistance by calculating regeneration power PM from the operation pattern, as per 11.5.1
Calculation method of regeneration power PM.
11. 5. 3 Selection judgment of built-in or external regeneration resistor
There is no need to have an external regeneration resistor when the regeneration power PM calculated in Chapter 11.5.1 is
below allowable absorbing power PRI of the built-in regeneration resistor as shown in Table 11-5.
In case of PM>PRI, use an external regeneration resistor according to the value of regeneration power PM calculated in Chapter
11.5.1, referring to Chapter 11.5.4.
Table 11-4 Specifications for built-in regeneration resistor
Power supply
unit mode
number
RRPAA
RRPEA
Input power
voltage
Built-in regeneration
resistance value
200V type
100V type
17Ω
17Ω
Allowable absorbing regeneration power PRI(W)
Natural cooling
Forcible cooling
5W
5W
10W
10W
1.Regeneration power may vary depending on the power supply voltage, loading device fluctuation with age or
ambient temperature of the servo amplifier. Upon selection of built-in or external regeneration resistor, it is
recommended to include leeway of about PM<PRI×0.7.
2.When using an external regeneration resistor, take the larger value than that for a built-in regeneration
resistor as shown in Table 11-4. For RRPAA power supply unit, 20Ω is recommended.
Select “Use external regenerative resistor.” in the setting of “system parameter” “selection of regenerative
resistor”.
11-9
11. 5. 4 External regeneration resistor
In accordance with the effective regeneration power (PM) calculated in “11.5. 1 Calculation of regeneration power PM”, if the
regeneration resistor built in the power unit cannot absorb the regeneration power, an external regeneration resistor shall be
connected.
For connecting an external regeneration resistor, first remove the resistance line of the built-in regeneration resistor which is
connected between RB1 – RB2 of the power supply unit CNB and connect the external one between RB1 - RB2.
Select the resistor according to the effective regeneration power PM from Table 11-5 below.
Table 11-5 External regeneration resistor
Allowable effective
Resistance
External size
power PM
(Can be absorbed.)
Model
REGIST-220W20B
55W
20Ω
W60,L230,D20
REGIST-500W20B
125W
20Ω
W80,L250,D40
Thermostat
Yes
(b contact point)
Yes
(b contact point)
Appearance
diagram
Fi9g. 11-8
Fig. 11-9
1.The allowable effective power PM in Table 11-5 above is a target value, not an assured value of the power that can
be absorbed. In actual operations, absorbable power varies depending on the installing and cooling conditions of the
resistor. Before using one, try a continuous operation with the actual machine under such circumstances as to
generate the maximum regeneration power and measure how high the temperature rises. Judge carefully whether it
can be used or not.
2.When using the resistor listed in Table11-5, protective measures against burning is recommended such as to use a
thermostat for prevention of heating up. A thermostat shall be connected to generic input of the amplifier, or inserted
in the host controller.
Example of parameter setting:
Thermostat is connected to PS_CONT9
[Group9 Page40 external trip input function] is [41:PS_CONT9_OFF]
When PS_CONT9 is OFF, external trip function is enabled.
IF the thermostat of the regenerative resistor tripped (away from connection), alarm (ALM_55) will be output from
the servo amplifier.
3. When using an external regeneration resistor, select “Use external regeneration resistor” of the regeneration
resistor select parameter on digital operator of the power supply unit or in the R-Setup.
4. Make sure to use twisted wire and keep the wiring as short as possible (5m max.) for connecting an external
regeneration resistor. Long wiring could cause noise and malfunction.
5. Regeneration resistor may heat up. Take preventive measures against heating; e.g. avoid contact with wires in use,
use nonflammable wires, or keep hands away from it.
11-10
300 +20
0
230
270 +15
0
220 0.4
200
6 1
6 1
42.7
4.3 +0.3
0
60 0.4
4.3
1.2
20
Silicone rubber glass fiber cable
0.5mm 2 (thermostat) , White
0.75mm 2 , Black
Fig. 11-8 REGIST-220W20B External Appearance
250
8
4.5
234
3
2- 4.5
UL 1430 electric cable 0.2mm 2 , White
60
M3
Thermostat
80
3
M3
Earth mark
Crimped terminal(for M5) A
2mm 2 , White
B
40
218
C
Fig. 11-9 REGIST-500W20B External Appearance
11-11
11-12
12.1 International Standards Conformity
12.3 Installation of Noise Filter/Servo Amplifier
12.4 Recommended Parts of Countermeasures
12.5 Implementation of Check Test
12-1
･････････････････
･････････････････
･････････････････
･････････････････
･････････････････
12-2
12-4
12-6
12-7
12-7
●
12. 1 International Standards Conformity
The RR1 servo amplifier conforms to the international standards below.
Mark
●
International
standards
Standard number
UL standard
UL508C
CSA standard
UL508C
EN standard
EN50178
EN61000-6-2
EN61800-3
Certification Organization
UL
(Underwriters Laboratories inc.)
TÜV
(TÜV Product Service Japan, Ltd.)
TheQ servo motor conforms to the international standards below.
Display
International
standards
Standard number
Certification Organization
UL standard
UL1004
UL1446
UL
(Underwriters Laboratories inc.)
EN standards
IEC-34-1
IEC34-5
IEC34-9
TÜV
(TÜV Product Service Japan, Ltd.)
Note) Specifications of the servo motor conforming to the international standards may differ from the standard products due to
prerequisites necessary for obtaining approval. Contact the manufacturer for more details.
●
Precautions for conformity standards
1.
Make sure to use the servo amplifier and the servo motor in correct combination. Check “Section2 : Prior to use --- Servo amplifier
model number”.
2.
Make sure to install the servo amplifier in your control panel in an environment where the pollution level is no less than 2 ( polution level
1, 2) as specified in EN50178 and IEC664. The control panel installation configuration (under IP54) must exclude exposure to water,
3.
oil, carbon, dust, etc.
The servo amplifiers must be used under the conditions specified in overvoltage categoryⅢ, EN50178. For the interface, use a DC
4.
Always ground the protective earth terminals of the servo amplifier to the power supply earth. (
5.
When connecting grounding wire to the protective earth terminal, always connect one wire in one terminal; never connect jointly with
6.
When connecting the leakage stopper, make sure to connect the protective earth terminal to the power supply earth. (
power supply with reinforced and insulated input and outputs.
)
multiple wires or terminals.
12-2
)
7.
Connect earthing wire by using a crimping terminal with insulated tube, so that the connected wire
will not touch the neighboring terminals.
Crimping terminal
Insulation tube
electric wire
8.
For wire relays, use a fixed terminal block to connect wires; never connect wires directly.
Good
9.
No
Connect an EMC filter to the input power supply of the power unit.
10. Use an EN/ IEC-standard compatible no-fuse circuit breaker and electromagnetic contactor.
Note) The file number of UL is available at the UL homepage: http://www.ul.com/database/.
Note) Please contact your dealer or sales representative if you need the above certiification.
12-3
Our company has performed the requisite low voltage and EMC testing in accordance with EC
Directives related to CE marking through a separate, third-party certifying authority.
Directive
classification
Classification
Test
-
-
Test standard
Low voltage
Directive
EN50178: 1997
(Servo amplifier)
Conducted emission
EN55011: A1/1999
Emission
Radiated emission
EN55011: A1/1999
Electrostatic discharge immunity
Radiated electromagnetic field immunity
EMC Directive
(Servo amplifier
/ servo motor)
EN61000-4-2: A2/2001
Electrical first transient/ burst immunity
Immunity test
Conducted disturbance immunity
EN61000-4-5: A1/2001
Voltage Dips & Interruptions immunity
EN61000-4-11: A1/2001
Rotating electrical machines-
IEC-34-1
Rating and performance
Rotating electrical machines-Part5:Classification of degrees of
Low voltage
Directive
EN61000-4-4: A2/2001
EN61000-4-6: A1/2001
Surge immunity
Part1:
EN61000-4-3: A2/2001
-
(Servo motor)
protection provided by enclosures of rotating electrical
machines(IP code)
Rotating electrical machines-Prat9:
Noise limits
IEC34-5
IEC34-9
Note) For the EMC Directives, tests are performed by general installation and countermeasure methods, in our company as
machines and configurations differ depending on the customers’ needs.
Note) This servo amplifier has been authorized to display CE marking based on the certificate issued by a separate,
third-party certifying authority.
Accordingly, customers are instructed to perform the final conformity tests for all the
instruments and devices in use.
12-4
● Precautions for EMC Directives
Use the following guidelines for the RR1 servo system in order to conform the customer’s equipment and
devices to the EMC Directives.
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
11.
12.
13.
A metallic material must be used for the door and main body of control panel.
The joints of the top and side panels must be masked and welded.
Parts joined with screws must be welded to prevent noise from leaking out from joints.
When joining parts with screws or spot welding, the welding space must be within 10cm.
Use an EMI gasket so that there is zero clearance between the door and control panel.
Install EMI gasket uniformly to the contact points between door and main body of control panel.
Perform conductivity processing on the EMI gasket, door and main body of control panel to
confirm their conductivty.
Ground the noise filter frame to the control panel.
Ground the servo amplifier chassis provided by the customer.
Use shield cables for the motor power line and encoder cable.
Ground the shield of motor power wire and encoder cable to the control panel with the clamp.
Ground and clamp the shield of motor power line and encoder cable to the frame of the servo
motor (or of customers’ equipement / device).
Use a conducting metal P clip or U clip to ground and clamp the shield wire, and fix it directly
with metal screws. Do not ground by soldering electric wire to the shield wire.
Good
No
Grounding by U clip or P clip
Grounding by soldering
14. Wrap the zero-phase reactor four times around the primary side of the noise filter.
L1
L2
L3
L1
L2
L3
15. Wire the servo amplifier at a short distance from the secondary side of noise filter.
16. Wire the primary side and secondary side of the noise filter separately.
12-5
12. 3 Installation of noise filter and servo amplifier
● Three-phase power supply
Servo amplifier
r
Noise filter
t
MC
L1
L2
L3
PE
L1
L1
L2
L2
L3
L3
R
S
T
Connected to protective earth
terminal
Toroidal core
Ground without fail
● Single-phase power supply
Servo amplifier
r
Noise filter
t
MC
L1
L2
L1
L1
L2
L2
R
S
PE
Connected to protective earth
terminal
Toroidal core
Ground without fail
Note) Always ground the frame of the noise filter.
Note) Install wiring by separating the primary and secondary wiring of the noise filter
as much as possible.
Note) Keep wiring from the noise filter to servo amplifier as short as possible.
Note) Connect the servo amplifier to the secondary side of noise filter.
12-6
12. 4 Recommended parts of countermeasures
● Noise filter
Model Number
3SUP-HK30-ER-6B
3SUP-HK50-ER-6B
RF3020-DLC
RF3030-DLC
RF3070-DLC
RF1010-DLC
FS5559-35-33
Specifications
Rated voltage:Line-Line 500 V
Rated current:30 A
Rated current:50 A
Rated voltage:Line-Line 440 to 550 V
Rated current:20 A
Rated current:30 A
Rated current:70 A
Rated voltage:Line-Neutral 250 V
Rated current:10 A
Rated current:35 A
Manufacturer
Okaya Electric Industries
Co. Ltd.
Okaya Electric Industries
Co. Ltd.
RASMI ELECTRONICS LTD.
SCHAFFNER
● Toroidal core
Model Number
251-211
External diameter
65 mm
Internal diameter
36 mm
Manufacturer
SCHAFFNER
Okaya Electric Industries Co. Ltd.: http://www.okayaelec.co.jp/
RASMI ELECTRONICS LTD. : http://www.rasmi.com/
SCHAFFNER : http://www.schaffner.com/
Note) If you wish to order the products manufactured by RASMI, please contact SANYO DENKI.
12. 5 Implementation of check test
EMC testing of the equipment and devices which the RR1 servo system is built–in
should meet the emission and immunity standards (electromagnetic
compatibility) for the usage environment / and operating conditions.
It is necessary to follow the instructions mentioned above and conduct a final conformity
check test after review.
12-7
12-8
Release
Revision A Jun. 2007
Revision B Jan. 2010
Precautions For Adoption
Cautions
The possibility of moderate or minor injury
and the occurrence of physical damage are assumed
when the precautions at right column are not observed.
Depending on the situation,
this may cause serious consequences.
Be sure to follow all listed precautions.
Cautions
• Be sure to read the instruction manual before using this product.
• Take sufﬁcient safety measures and contact us before applying this
product to medical equipment that may involve human lives.
• Contact us before adapting this product for use with equipment that
could cause serious social or public effects.
• The use of this product in high motion environments where vibration
is present, such as in vehicles or shipping vessels, is prohibited.
• Do not convert or modify any equipment components.
* Please contact our Business Division for questions and consultations regarding the above.
http://www.sanyodenki.co.jp
1-15-1, Kita-Otsuka, Toshima-ku, Tokyo 170-8451, Japan
Phone: +81 3 3917 5157
468 Amapola Avenue Torrance, CA 90501 U.S.A.
Phone: +1 310 783 5400
P.A. Paris Nord ll 48 Allee des Erables-VILLEPINTE BP.57286 F-95958 ROISSY CDG Cedex France
Phone: +33 1 48 63 26 61
Frankfurter Strasse 63-69 65760 Eschborn Germany
Phone: +49 6196 76113 0
9F 5-2, Sunwha-dong Jung-gu Seoul, 100-130, Korea
Phone: +82 2 773 5623
Rm2108-2109, Bldg A, Far East International Plaza, No.319, Xianxia Rd., Shanghai, 200051, China
Phone: +86 21 6235 1107
Room 1208, 12F, No.96 Chung Shan N, Rd., Sec.2, Taipei 104, Taiwan, R.O.C.
Phone: +886 2 2511 3938
Room 2305, 23/F, South Tower, Concordia Plaza, 1 Science Museum Rd., TST East, Kowloon, Hong Kong
Phone: +852 2312 6250
10 Hoe Chiang Road #14-03A/04 Keppel Towers Singapore 089315
Phone: +65 6223 1071
The names of companies and/or their products specified in this manual are the trade names, and/or trademarks and/or registered trademarks of such respective companies.
*Remarks : Specifications Are Subject To Change Without Notice.