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AC Servo Motor Controller LECSB Series

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1. Controller Note 1 Note 1 P S T CN Approx 5 6k 2 SON SON SON 15 LC Ve LS SP2 SP2 16 pc sti1 Rs2 17 H TL st2 Rs1 at RES RES RES 19 Note 3 ForTspilsPi 47 L schteg EMG 42 H _ _LSP LSP 43 H e LSN LSN 44 Approx stet _ LOP LOP LOP 45 DOCOM 46 lt lsolated gt S 24VDC OPC 12 Note 1 H DICOM 20 CN1 Note 2 _ mauaa z Approx 100kQ Approx 1 2kQ DO Th D d PG 11 Approx 100kQ Approx 1 2kQ Ge Ee ES NP 35 HO KH _ LG ING 36 35mA or less z z Z K e IK Open collector Note 1 _ _ ___ output P s T ON Note 1 V NI vc VLA 2 CN3 P SIT RS 422 a ee z s TLA TLA TC 27 LECH 4 SDN 3 RDP 15VDC P15R 1 4 tr 6 RDN 1 LG LG 3 A 7 LG LG cau TI Note 1 LG 30 SD Case rae Analog monitor Note 1 10VDC P S T CN5 co VBUS 1 Note 1 Servo motor D 2 USB D 3 GND 5 3 SIGNALS AND WIRING Note 1 P Position control mode S Speed control mode T Torque control mode 2 For the differential line driver pulse train input For the open collector pulse train input make the following connection 3
2. Controller LECSBLI U series has solid state servo motor overload protection The motor full load current is 115 rated current 1000 1000 D V ku e In operation SSL In operation 100 100 2 E SS w Es o N L o KS E IRCH E s7 S 10 In servo lock S 10 In servo lock H i i z i S x D x Q CG Q H O Z O T s i i SE 0 1 0 1 0 50 100 150 200 250 300 350 0 50 100 150 200 250 300 350 400 Note 1 2 Load ratio Note 1 2 3 Load ratio LECSB1 S5 LECSB1 S7 LECSB1 S8 Note 1 If operation that generates torque more than 100 of the rating is performed with an abnormally high frequency in a servo motor stop status servo lock status or in a 30r min or less low speed operation status the controller may fail even when the electronic thermal relay protection is not activated Fig 11 1 Electronic thermal relay protection characteristics 11 1 11 CHARACTERISTICS 11 2 Power supply equipment capacity and generated loss 1 Amount of heat generated by the controller Table 11 1 indicates controllers power supply capacities and losses generated under rated load For thermal design of an enclosure use the values in Table 11 1 in consideration for the worst operating conditions The actual amount of generated heat will be intermediate between values at rated torque and servo off according to the du
3. 6 Es Di SIS S y8 TO O S a c z z oO O O e O O IN g a S N to a N g S ke be E N O es S 56 z H 9 Q Q g a 2 y yn N 22 _ picom _47_Ipocom Position control mode CN1 App 3 APPENDIX App 3 Status display block diagram Japoous Uon2etep u alnjosqy Ploy yeed Ja uN09 SgY uolysod e UOonnoag Su0 UIUUA Jejunoo sgy osod abeljon sng CC u u UOMISOd UO0nIOAS wo 8U0 UIUUM Wiese JO4 U09 Wan et uolejnojeo anen npp ya Onel PeO ye d ones peo annoy enbio snoeuejue su 101 U09 p ds uogejnojeo one JUSWOW gau peo enua Jeng yoeqpssy p ds p ds JOJOW OMS uono s Hulun M ony 101 U09 EICH asind dooiq J1e o1u0409 9 asind yoeqnee SEI sasind puewwoo aayeinwng Aouaenbe y esind puewwoy s nd puewwop App 4 APPENDIX App 4 Handling of AC controller batteries for the United Nations Recommendations on the Transport of Dangerous Goods United Nations Recommendations on the Transport of Dangerous Goods
4. Controller FX 32MT L I Power supply 24voc N CNI a COM ES e lbocom 46 D 7 rn RUN N gt gt 3 3kQ ABS transmission data bit 0 Completion of positioning NN Kl Lg f X0 ABSBO 22 ABS transmission data bit 1 Zero speed detection I l x1 ABS transmission data ready Torque limit control speed A x2 7 ug ABST LC Alarm I X3 4 I Alarm reset Servo ready i x4 Emergency stop qe I Servo on 7 l l l oe d l Position start qe A Position stop gt L__ Home position return start 1PG error reset A Servo on K 4 Ka a ei gt ABS transfer mode 1 4 IABSM 17 f o ABS request I ABSR 18 1 gt Alarm reset 1 4 A RES 19 ei V le EE EE e bach z e Greg g e i a E WE Sia la et pee SP NE EE l Electromagnetic ny h P brake output oe i tjt b 4 Sota E poi Note 3 we l S l l coms 4 cs l j Note 2 ect e Servo alarm i l E oe I My ABS communication error i 1 l fay l ee Y12 dei LG ABS checksum error i i TAS gt E 244 d DICOM 20 a SS l l 1 l l i Proximity dog D vy Lu L 5D Dicom 21 r HNT Note 1 ef JN Sa opc 12 mS Se jete Nae Pulse train for forward rotation tT o 7 Ge A q C 3 oh ee ee ei C4 D H L q 15V Z phase pulse H SE EE EE OPN b SD Plate SD Note 1 To be connected for the dog t
5. Robot pan LE CSB ROA IP65 LES amn NE e TE Opposite to load side lead 1 Connection of controller and servo motor LE CSB LE CSB 24VDC power gt TT Servo motor supply for LE S5 electromagnetic or LE S6 brake LE S7 LE S8 Ee Cable model 1 For motor brake connector LE CSB SDA LE CSB SOB Connector JN4FTO2SJ1 R Hood socket insulator LE CSB ROA Bushing ground nut Contact ST TMH S C1B 100 A534G Crimping tool CT160 3 TMH5B LE CSB ROB Japan Aviation Electronics Industry View seen from wiring side 2 Internal wiring diagram LE CSB SLIA LE CSB RLIA LE CSB ST1B LE CSB R B AWG 20 Note B1 AWG 20 Ro Note These are not shielded cables 12 8 Et Z3 SMC 12 OPTIONS AND AUXILIARY EQUIPMENT 12 2 Regenerative options N CAUTION The specified combinations of regenerative options and servo amplifiers may only be used Otherwise a fire may occur 1 Combination and regenerative power The power values in the table are resistor generated powers and not rated powers Regenerative power W Servo amplifier Built in regenerative resistor LEC MR RB 032 400 LEC MR RB 12 400 LECSB1 S5 30 LECSB1 S7 10 30 100 LECSB1 S8 10
6. Unit mm gj ssescborscessscscsca 6 g SoSeeSso5eo0 GC A AAT E a lg ke i BEE UUUUUU poms di 6 X Approx 80 ig 170 x Cy T oO AU A A re F H mmm TIE am 3 VIII 1 ME Note op d 2 E geg rb ox 7 lu LU J S CNP2 US j l II e LU EC a Bales i LO o E TI IR CNP3 kee 9 a Zu ic UY OS wm ME FA U G A LIH rt L HARGER vi H GI IMT oe Elle BR sur S Se d A R 6 J Approx 68 ee 8 e eH anata d i lt Boy UU ooo U Note This data applies to the 3 phase or 1 phase 200 to 230VAC and 1 phase 230VAC power supply models For 1 phase 100 to 120VAC power supply refer to the terminal signal layout Mass 1 0 kg 2 21 lb Terminal signal layout Approx For 3 phase x 40 For 1 phase 200 to 230VAC and PE terminal g glg 100 to 120VAC 1 phase 230VAC Q Li Li 2 M5 screw Ser Es Screw size M4 Tightening torque 1 2 N m 10 6 Ib in Approx 168 156 0 5 Approx 6 Mounting hole process drawing Mounting screw Screw size M5 Tightening torque 3 24 N m 28 7 Ib in 10 2 SMC 10 OUTLINE DRAWINGS 10 2 Connector 1 Miniature delta ribbon MDR system 3M a One touch lock type Unit mm H LGT Logo etc are indicated here Fe Pc ee E b Jack screw M2 6 type This is not
7. External conductor Clamp section diagram 12 OPTIONS AND AUXILIARY EQUIPMENT Outline drawing Unit mm Earth plate Clamp section diagram 2 5 hole 17 5 installation hole N an a T T as f g 1 baal H L or less 10 n E o lt D eg EC ie K cos 0 a Eis i A N x e N Note M4 screw 6 lq 22 35 Note Screw hole for grounding Connect it to the earth plate of the control box tye A B c Accessory fittings AERSBAN DSET 100 86 30 clamp A 2pcs _ e s AERsBAaN EsET 70 s6 M clamp B 1pc _ 12 26 SMC 12 OPTIONS AND AUXILIARY EQUIPMENT d Line noise filter FR BSF01 FR BLF This filter is effective in suppressing noises radiated from the power supply side and output side of the controller and also in suppressing high frequency leakage current zero phase current especially within 0 5M to SMHz band Connection diagram Outline drawing Unit mm Use the line noise filters for wires of the main power supply FR BSF01 for wire size 3 5mm AWG 12 or less L L2 L3 and of the servo motor power supply U V W Approx 110 Pass all wires through the line noise filter an equal number of 95 0 5 2 65 times in the same direction For the main power supply the effect of the filter rises as the number of passes increases but generally four passes would be appropriate For
8. 1x108 5x107 1x107 5x106 a Long flex life encoder cable Long flex life motor power cable Long flex life motor brake cable 1x108 b Standard encoder cable 5x105 Standard motor power cable Standard motor brake cable OD 1x105 E 5x104 o E x lt LU 4 1x10 b 5x108 1x108 4 7 10 20 40 70 100 200 Flexing radius mm 11 5 Inrush currents at power on of main circuit and control circuit The following table indicates the inrush currents reference data that will flow when the maximum permissible voltage 200V class 253VAC 400V class 528VAC is applied at the power supply capacity of 2500k VA and the wiring length of 1m Controller Mrugh Currents Coe ee a Main circuit power supply Li Le Ls Control circuit power supply Li1 L21 LECSB1 38A Attenuated to approx 14A in 10ms 20 to 30A LECSB2 30A Attenuated to approx 5A in 10ms Attenuated to approx 0A in 1 to 2ms Since large inrush currents flow in the power supplies always use no fuse breakers and magnetic contactors Refer to section 12 12 When circuit protectors are used it is recommended to use the inertia delay type that will not be tripped by an inrush current 11 6 11 CHARACTERISTICS MEMO 12 OPTIONS AND AUXILIARY EQUIPMENT 12 OPTIONS AND AUXILIARY EQUIPMENT Before connecting any option or peripheral equipment turn off the power and wait for 15 minutes or longer until the charge l
9. 1 LECSBL a For 3 phase or 1 phase 200 to 230VAC RST Note 3 Power supply ER KS No fuse breaker CZ NFB or fuse gros CN6 Magnetic Servo amplifier contactor MC CNS Line noise filter l FR BSF01 e 5 CNS CN1 Junction terminal block Note 2 Power factor improving DC reactor FR BEL Battery MR J3BAT Servo motor Regenerative option Lin Note 1 The battery option is used for the absolute position detection system in the position control mode 2 The power factor improving AC reactor can also be used In this case the power factor improving DC reactor cannot be used When not using the power factor improving DC reactor short P1 and P2 3 For 1 phase 200 to 230VAC connect the power supply to L Le and leave Ls open Refer to section 1 3 for the power supply specification 1 FUNCTIONS AND CONFIGURATION b For 1 phase 100 to 120VAC R S Note 3 Power supply No fuse breaker NFB or fuse SNe Analog monitor Servo amplifier Magnetic contactor MC painter eee dates as s Power factor geed improving A l compute reactor CN5 MR Configurator FR BAL lt j Junction terminal block Battery MR J3BAT Servo motor Regene
10. Radio noise filter MR J3 500A or more MR J3 350A4 or more Servo amplifier NFB MC Radio noise filter 12 28 SMC 12 OPTIONS AND AUXILIARY EQUIPMENT f Varistors for input power supply Recommended Varistors are effective to prevent exogenous noise and lightning surge from entering the controller When using a varistor connect it between each phase of the input power supply of the equipment For varistors the TND20V 431K TND20V 471K and TND20V 102K manufactured by NIPPON CHEMI CON are recommended For detailed specification and usage of the varistors refer to the manufacturer catalog Maximum rating Static Power Maximum limit capacity Permissible circuit Surge current Energy supply Varistor voltage reference Varistor voltage rating range i i i i VimA voltage voltage immunity immunity value 200V class TND20V 471K 7000 2 time 1200 470 423 to 517 6500 2 time Unit mm D H T E Tote 1 d w A Le me mas mm io an es ao K ans aas Lt TND20V 471K f 66 35 20 10 0 4 Note For special purpose items for lead length L contact the manufacturer 100V class TND20V 431K 10000 1 time E 1300 430 387 to 473 100 12 29 SMC 12 OPTIONS AND AUXILIARY EQUIPMENT 12 9 Leakage current breaker 1 Selection method High frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits L
11. l l v Electromagnetic brake release 10ms u 5 ___ 210ms ON ag i Base circuit S pe E f 1g ___ 210ms Electromagnetic Note ON Electromagnetic brake brake interlock MBR OFF operation delay time Invalid ON f Emergency stop EMG Valid OFF Note ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated 3 SIGNALS AND WIRING 3 Alarm occurrence Dynamic brake Dynamic brake Servo motor speed Electromagnetic brake Electromagnetic brake H 4 10ms Sa ae ON i Base circuit 1 OFF i Electromagnetic Note ON Electromagnetic brake brake interlock MBR operation delay time OFF No ON Trouble ALM Yes OFF Note ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated 4 Both main and control circuit power supplies off Dynamic brake Dynamic brake Electromagnetic brake Servo motor speed y Electromagnetic brake Base circuit Electromagnetic brake interlock MBR l e Electromagnetic brake i operation delay time No ON Yes OFF Trouble ALM Main circuit ON power Control circuit OFF Note 1 Changes with the operating status 2 ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated 3 SIGNALS AND WIRING 5 Only main circuit power supply off control circuit power supply remains on Dynamic brake Dynamic brake x Elec
12. OFF E P a ae y Surge killer Surge killer This distance should be short within 20cm Ex CR 50500 OKAYA Electric Industries Co Ltd c R Outline drawing Unit mm HF 20 Q 30 Test voltage AC V g MI Band clear Se AWG18 Twisted wire y a Q 625VAC 50 60Hz 60s 41 161 Soldered Between terminals e l 61 e 300mim gt it mg 48 1 5 gt Between terminal and case 2 000VAC eae 50 60Hz 60s Note that a diode should be installed to a DC relay DC valve or the like Maximum voltage Not less than 4 times the drive voltage of the relay or the like ka Maximum current Not less than twice the drive current of the relay or the like Ei c Cable clamp fitting AERSBAN OSET Generally the earth of the shielded cable may only be connected to the connector s SD terminal However the effect can be increased by directly connecting the cable to an earth plate as shown below Install the earth plate near the controller for the encoder cable Peel part of the cable sheath to expose the external conductor and press that part against the earth plate with the cable clamp If the cable is thin clamp several cables in a bunch The clamp comes as a set with the earth plate Unit mm Cable Cable clamp A B dr Earth plate Strip the cable sheath of the clamped area cutter
13. T200 M6 1 Set ve Lk Retry Retry wait 5 timer To be continued 5 14 33 ABS data DO Di Adding 1PG home position address ABS data gt 1PG Setting ABS data ready Clearing checksum judging area Resetting retry flag Detecting ABS communication error Resetting ABS request ABS transfer mode 5s timer ABS request response 1s timer Ready to send response 1s timer ABS communication error Counting retry frequency Setting servo on request Writing absolute position data to 1PG Detecting ABS communication error ABS transfer retry control 14 ABSOLUTE POSITION DETECTION SYSTEM 5 Continued from preceding page M8000 H m109 Normally OFF M110 M111 1PG control command m2 not used m102 M103 X7 X12 M99 l PLS M120 Start command pulse Servo Position ABS data ready ready start switch X10 ung H 1PG JOG command Operati JOG peration command Ald control p05 1PG JOG command JOG Note Teen y GAS AAA a AA A AA Pg ee A ers aor a a ANN E R et rane aile r 1PG home position return i M106 start Servo ready Home position return switch e Be Say Sat Ae Re DATAE OEO AE teu e aon tty fy Cae ll We Bel Nh ck oat OE ad a Ba See at a Be Dn a zd M120 k H To ko K7 Dom KI Setting motion distance Position start command pulse H SET 108 1PG start s rine z s rine z I
14. EMG Note 1 Emergency stop Electromagnetic Out brake output PUt ABS transmission mode tii ABS request ABS transmission data bit 0 Reset Input PoP as transmission data bit II II II Sege ut iY Shah EI I O unit Proximity dog signal Stop signal Power supply 24V Ready Zero point signal Clear Positioning module pulses for differential line driver type Upper limit setting Pais og it Analog torque limit ii rd 10V max torque rt ER Note 1 Always install the emergency stop switch 2 For operation always turn on forward rotation stroke end LSP reverse rotation stroke end LSN 14 6 14 ABSOLUTE POSITION DETECTION SYSTEM 14 6 Signal explanation When the absolute position data is transferred the signals of connector CN1 change as described in this section They return to the previous status on completion of data transfer The other signals are as described in section 3 5 For the I O interfaces symbols in the I O Category column in the table refer to section 3 8 2 Control Signal name Code CN1 Pin No Function Application cae category mode While ABSM is on the controller is in the ABS transfer mode ABS transfer iod and the functions of ZSP TLC and D01 are as indicated in this table Note Turn on ABSR to request the ABS data in the ABS transfer ABS request ABSR 18 i
15. nm During this period get absolute position data 14 63 14 ABSOLUTE POSITION DETECTION SYSTEM d At the time of forced stop reset 210ms after the forced stop is deactivated the base circuit turns on and further 5ms after that the ready RD turns on Always get the current position data from when the ready RD is triggered until before the position command is issued 1 When power is switched on in a forced stop status Power ON supply OFF Servo on ON SON OFF Emergency stop ON EMG OFF X y 210ms ON Base circuit GN 11 Sms lg Ready ON RD OFF Absolute position data l command transmission i Absolute position i data receive Current position change Bag Current position y y A ABS data A Pulse train command o DD i 1 it gt i 1 d During this period get absolute position data 2 When a emergency stop is activated during servo on Servo on ON SON OFF Emergency stop ON EMG OFF A e ON 1 Base circuit OFF Ready ON Ir RD OFF Absolute position data command transmission t Absolute position l data receive Current position change Current position p X ABS data Y Pulse train command mm During this period get absolute position data 14 64 14 ABSOLUTE POSITION DETECTION SYSTEM 14 12 Confirmation of absolute position detection data You c
16. Note 0 off 1 on When the internal speed limits 1 to 7 are used to command the speed the speed does not vary with the ambient temperature c Limiting speed VLC VLC turns on when the servo motor speed reaches the speed limited using any of the internal speed limits 1 to 7 or the analog speed limit VLA 3 SIGNALS AND WIRING 3 6 4 Position speed control change mode Set 101011 in parameter No PA01 to switch to the position speed control change mode This function is not available in the absolute position detection system 1 Control change LOP Use control change LOP to switch between the position control mode and the speed control mode from an external contact Relationships between LOP and control modes are indicated below Note LOP Servo control mode ee fl Position control mode Speed control mode Note 0 off The control mode may be changed in the zero speed status To ensure safety change control after the servo motor has stopped When position control mode is changed to speed control mode droop pulses are reset If the LOP has been switched on off at the speed higher than the zero speed and the speed is then reduced to the zero speed or less the control mode cannot be changed A change timing chart is shown below Servo motor speed Zero speed detection ZSP Control change LOP e Ki OFF Position Speed Position control mode control mode control mode rg pt Zero speed
17. Analog torque maximum output command should be 30 or less 30 Maximum pushing force of the product o 5 1 FUNCTIONS AND CONFIGURATION 1 5 Model code definition 1 Model LECS A1 S1 Tye Capacity Encoder AC Servo motor S1 S2 50 100W AC Servo motor S3 200W Incremental Controller Type A Pulse input type Incremental encoder es AC Servo rer Schong Cse AC Serve motor s 200w Pulse input type Absolute encoder Power suppl AC100 120V 50 60Hz 2 Ac200 230V 50 60Hz o 5 1 FUNCTIONS AND CONFIGURATION 1 6 Combination with servo motor The following table lists combinations of controller and servo motors The same combinations apply to the models with an electromagnetic brake and the models with a reduction gear Controller LE LECSB1 S5 053 13 LECSB1 S7 LECSB1 S8 o S 1 FUNCTIONS AND CONFIGURATION 1 7 Structure 1 7 1 Parts identification 1 LECSBL Name Application Raum Display The 5 digit seven segment LED shows the servo status and alarm number Chapter 6 Operation section Used to perform status display diagnostic alarm and parameter setting operations De TO TOT Te ei ei ei ei MODE UP DOWN SET Chapter 6 MODE UP DOWN LUsed to set data ol Al Used to change the display or data in each mode Used to change th
18. Controller Max input pulse 140m or less frequency 1Mpps EE Ti Lremg Note 12 Ki Approx 100 Hie Hp aaa EE Am26LS31 or equivalent _ sp a 2 5V Voi 0 5V Note Pulse train input interface is comprised of a photo coupler Therefore it may be any malfunctions since the current is reduced when connect a resistance to a pulse train signal line 2 Input pulse condition aie tHL tLH tHL lt 0 1us pp pg HP tc gt 0 35us 0 1 tF gt 3us tc tLH LH NP NG A a b Open collector system 1 Interface Controller 24VDC Max input pulse d E frequency 200kpps Approx 1 2kQ 2m or less Note Note Pulse train input interface is comprised of a photo coupler Therefore it may be any malfunctions since the current is reduced when connect a resistance to a pulse train signal line 3 SIGNALS AND WIRING 2 Input pulse condition tc gt 2us PP 0 1 tF gt 3ys EE tLH tHL lt 0 2us 0 9 L NP E a 4 Encoder output pulse DO 2 a Open collector system Interface Max output current 35mA Servo amplifier Servo amplifier OP 5 to 24VDC b Differential line driver system 1 Interface Max output current 35mA Servo amplifier Photocoupler Controller LA LA LB LZ SEA Am26LS32 or equivalent LB LZ ee 100 Q Oo LH S Il LAR LAR pie High speed photocoupl
19. mP nopo 2s o zp z ze zsp zsp zsp Noppi4 2 o mp nesa sa sv gt me noros 2 Lo L S e SOT e e we wortc Noppie Leg ee ee dee ker ee Ee Oa LL o ows ae Tase L SLL me emg ema Ee e LSP LSP am RD No PD1s Note 1 l Input signal O Output signal 2 P Position control mode S Speed control mode T Torque control mode P S Position speed control change mode S T Speed torque control change mode T P Torque position control change mode b Symbol and signal names SP2 Speed seleciona 190 Reay o Forward rotation selection Reverse rotation selection oP Encoder Z phase pulse open collector al RS E ee External torque limit selection 3 Display data at initial values a Position control mode CN1 17 6 DISPLAY AND OPERATION SECTIONS PC TL LOP CN1 45 EMG CN1 42 Input CN1 18 a Output OP CN1 33 ALM CN1 48 CR CN1 41 RES CN1 19 SON CN1 15 LSN CN1 44 LSP CN1 43 bs lt 2 ebe Lit ON Extinguished OFF d J t H a b Speed control mode SP2 CN1 16 ST1 CN1 17 ST2 CN1 18 LOP CN1 45 EMG CN1 42 mout by Output OP CN1 33 ALM CN1 48 RD CN1 49 INP CN1 24 ZSP CN1 23 TLC CN1 25 INP CN1 22 SP1 CN1 41 RES CN1 19 SON CN1 15 LSN CN1 44 LSP CN1 4
20. return Check the in position range The in position range is too large Set the in position range smaller parameter No PA10 than the current setting Check that the proximity dog 1 The proximity dog switch is 1 Repair or replace the proximity signal is set properly malfunction dog switch 2 The proximity dog switch is not 2 Adjust the proximity dog switch installed properly installation Check the proximity dog switch The proximity dog switch is Adjust the proximity dog switch installation misaligned or not installed properly installation Check the controller program The controller programs are incorrect Review the controller programs 1 The home position address settings 2 The sequence programs and others 9 TROUBLESHOOTING Checkpoint Estimated cause The position is misaligned in operation after the home position The output pulse counter and the return controller cumulative command pulses of the controller do not match Check the servo alarm warning 1 A servo alarm is occurring 2 The servo motor coasts due to a servo alarm 1 An output pulses miscounting due to noises 2 A shield of a command cable is made incorrectly 3 Acommand cable is connected loosely or broken The servo on SON is turned off The command pulses voltage level is low at the open collector system normal value 24VDC The command pulses ripple error occurs due to a long command cable Check the
21. 11 3 Dynamic brake characteristics Dynamic brake operates at occurrence of alarm servo emergency stop warning AL EG and when power is turned off Do not use dynamic brake to stop in a normal operation as it is the function to stop in emergency Maximum usage time of dynamic brake for a machine operating under recommended load inertia moment ratio is 1000 time while decelerating from rated speed to a stop with frequency of once in 10 minutes Be sure to make emergency stop EMG valid after servo motor stops when using emergency stop EMG frequently in other than emergency 11 3 1 Dynamic brake operation 1 Calculation of coasting distance Fig 11 3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated Use Equation 11 2 to calculate an approximate coasting distance to a stop The dynamic brake time constant t varies with the servo motor and machine operation speeds Refer to 2 a b in this section N Emergency stop EMG Sc NS Dynamic brake time constant t Machine speed t Time ie ech 21 WEE 11 2 Lmax Maximum Coasting distance 2 0 0 eee ceeeeeeeeeee cette cence ee eeaeeeeeeeaeeeeeseaeeeeetaaeeeeeseaeeeeeseneaeeeseneaeees mm in Vo Machine rapid feed rate 0 0 ceecceceeeeeceeeeeeeeeeeeeeeeaeeeeaaeseeeeecaeeesaaesseaeeseeeeessaeeeseeeseaes mm min in min Jm Servo motor inertial moment REENEN kg cm oz in JL Load inertia moment converted into equ
22. 2 CN1 signal assignment The signal assignment of connector changes with the control mode as indicated below For the pins which are given parameter No s in the related parameter column their signals can be changed using those parameters Note 1 Note 2 I O signals in control modes Related Pin No arameter UO P P S S S T T T P p P15R P15R P15R P15R VLA P15R VC P15R VC VLA Ka gt Ka D C ius ii in Heb zR A N son Poos Res Poor Dicom 1 Dicom LU Dicom 1 Dicom LU zsp_ Poa i eed TC TLA A a oO A Jh GO IM EE eee aa Peer es sel ee Sl ee LZ ee Se eee eee Se Poos Ae a ISP2 SP2 SP2 SP2 PC ST1 ST1 ST1 RS2 TL ST2 ST2 ST2 RS1 a Ss aes a CO SE is ae ae LAR e eR CS o We Op lt son Ke fe DES Dicom _ ler CH DICOM DICOM DICOM DICOM INP SA DICOM DICOM SA DICOM DICOM SA N Wo n INP SA SA LC SA VLA LG LA LAR LB LBR LZR SON SP2 RS2 RS1 RES ZSP TLC VLC VLC a 4 kedecduge Gd dir CO Note 3 Note 3 Note 3 TLA TLA TC Lae ee el ro T e ro O NP ING NP NG A ojojo jNIjoc Ss Se ees eg Kees Ee Ed Ed Sa ed Kl Ke Kees ae PDOs SP1 CR PD08 LSP PD10 ILSN PD11 A CR SP1 SP1 SP1 SP1 SP1 M m eller iN EYEE O
23. PD02 For manufacturer setting Refer to Do not change this value by any means name and function column 5 PARAMETERS Symbol Rie hee Initial Setting Control mode value range D m Re CH P PDO3 DI Input signal device selection 1 CN1 15 0002 Refer to Any input signal can be assigned to the CN1 15 pin 0202h name Note that the setting digits and the signal that can be and assigned change depending on the control mode function column 0 0 G Select the Position control input davies i Speed control mode Vo CN1 _________________ Torque control mode A Ge The devices that can be assigned in each control mode are those that have the symbols indicated in the following table If any other device is set it is invalid Setting Control modes Note 1 NEE ee ee For manufacturer setting Note 2 SON SON SON Res RES RSC For manufacturer Ge Note 2 OE to 1F For manufacturer setting Note 2 Ch SPA ep Ee a SP2 22 spa Spa EE STAB2 STAB2 27 to 3F For manufacturer setting Note 2 Note 1 P Position control mode S Speed control mode T Torque control mode 2 For manufacturer setting Never set this value 5 PARAMETERS Refer to name and function column PD04 DI Input signal device selection 2 CN1 16 Any input signal can be assigned to the CN1 16 pin The devices that can be assigned and the setting method are the same as in parameter
24. YNT 1210S DH 121 DH 111 YF 1 EA YNE 38 DH 122 DH 112 DH 123 DH 113 YPT 60 21 eee eel Note 1 p R38 8 TD 124 TD 112 YF 1 E 4 YET 60 1 9 Jus YNT 1614 WEE YPT 60 21 Ee R38 10 TD 124 TD 112 S YF 1 E 4 YET 60 1 YPT 60 21 fe era Note UL Geng 0 TD 125 TD 113 Note 1 u YF 1 E 4 YET 60 1 Note 1 Coat the part of crimping with the insulation tube 2 Some crimping terminals may not be mounted depending on the size Make sure to use the recommended ones or equivalent ones 4 GT D 125 TD 113 Japan Solderless Terminals il Terminal block tightening torque 9 Tightening torque N m Controller Li La Ls TE1 1 TE1 TE2 TE3 PE U V W LA TE2 1 TE2 2 P P C N tele 5 App 14 APPENDIX 10 Overload protection characteristics An electronic thermal relay is built in the controller to protect the servo motor controller and servo motor power line from overloads The operation characteristics of the electronic thermal relay are shown below It is recommended to use an unbalanced torque generated machine such as a vertical motion shaft so that unbalanced torque is not more than 70 of the rated torque When you carry out adhesion mounting of the controller make circumference temperature into 0 to 45 C 32 to 113 F or use it with 75 or less of effective load torque Controller MR J3 series have servo motor overload protection The motor full load current is 115 rated curren
25. b Device list X input contact Y output contact ABS transmission data bit 0 Positioning completion Y30 Servo on ABS transmission data bit 1 zero speed detection Y31 ABS transfer mode ABS transmission data ready Torque limiting Y32 ABS request Servo alarm Y33 Alarm reset Alarm reset switch Y34 Note 2 Electromagnetic brake output Servo emergency stop Y35 Note 1 Clear Servo on switch Y38 Servo alarm Home position return start switch Y39 ABS communication error Operation mode Y3A ABS checksum error Operation mode II DO Number of retries MO End of error reset D9 Home position address Lower 16 bits M10 Preparation completion D10 Home position address Upper 16 bits M11 Servo on request D100 to D104 For absolute position restoration dedicated M12 Absolute position restoration instruction PLS instruction M13 Absolute position restoration memory T timer M14 Error flag output TO Retry wait timer M15 Sum check NG T10 Note 1 Clear CR ON timer M16 Retry flag M17 Retry flag reset request M20 Note 1 Clear CR ON timer request M21 Note 1 Data set type home position return request M100 to M101 For absolute position restoration dedicated instruction Retry counter Note 1 Required for data set type home position return 2 Required for electromagnetic brake output 14 51 14 ABSOLUTE POSITION DETECTION SYSTEM c ABS data transfer program for X axis S4403 LR PLC RUN Absolute position restoration
26. machine resonance suppression filter parameter No PB13 to PB16 may be used to suppress machine resonance Refer to section 8 3 1 For speed control a Parameters The following parameters are used for gain adjustment PB0O6 GD2 Ratio of load inertia moment to servo motor inertia moment PB10 Speed integral compensation b Adjustment procedure Brief adjust with auto tuning Refer to section 7 2 3 ig eee O Change the setting of auto tuning to the manual mode Parameter No PA08 0003 Set an estimated value to the ratio of load inertia moment to servo motor inertia moment If the estimate value with auto tuning is correct setting change is not required lcd Set a slightly larger value to the speed integral compensation Decrease the speed integral compensation within the vibration free range Decrease the time constant of the speed and return slightly if vibration takes place integral compensation Increase the model loop gain and return slightly if overshooting takes Increase the model loop gain place If the gains cannot be increased due to mechanical system resonance or Suppression of machine resonance the like and the desired response cannot be achieved response may be Refer to section 8 2 8 3 increased by suppressing resonance with adaptive tuning mode or machine resonance suppression filter and then executing steps 3 to 7 While checking the rotational status fine adjust each gain Fine
27. 1 95ms after the servo on SON has turned on the base circuit turns on 2 After the base circuit has turned on the ready RD turns on 3 After the ready RD turned on and the PC or PLC etc acquired the absolute position data give command pulses to the drive unit Providing command pulses before the acquisition of the absolute position data can cause a position shift b Communication error If a communication error occurs between the PC or PLC etc and controller the controller sends the error code The definition of the error code is the same as that of the communication function Refer to section 13 3 3 for details If a communication error has occurred perform retry operation If several retries do not result in a normal termination perform error processing 14 62 14 ABSOLUTE POSITION DETECTION SYSTEM c At the time of alarm reset If an alarm has occurred detect the trouble ALM and turn off the servo on SON After removing the alarm occurrence factor and deactivating the alarm get the absolute position data again from the controller in accordance with the procedure in a of this section Servo on SON Reset RES Base circuit Trouble ALM Ready RD Absolute position data command transmission Absolute position data receive Current position Pulse train command SE an OFF OO mz F S G m Mii Current position change YABS EN
28. 250000 pulses Position move account 3 0 pulses Clearing index registers V Z Setting 4 times for check sum error transmission frequency A To be continued 14 29 14 ABSOLUTE POSITION DETECTION SYSTEM Continued from preceding page X6 M6 LE fe M5 Servo on Retry switch M5 ab Mo Y11 mee a Servo on ABS check Error ABS request error flag communication error PLS M1 M1 M6 JE RST C1 ABS Retry transmission X6 start f RST M99 Servo on switch RST M5 Y12 RST Y1 ABS check error RST Y2 RST M6 7RST Mei M64 zRsST co c2 2 To be continued 14 30 Servo on request Servo on output ABS data transmission start Clearing retry counter Resetting ready to send ABS data Servo on and Resetting servo on request 9 q retry control Resetting ABS transfer mode Resetting ABS request Resetting retry flag Resetting checksum judgement flag Resetting communication counter 14 ABSOLUTE POSITION DETECTION SYSTEM 2 Continued from preceding page X4 Mo 1 vs Alarm reset Error switch flag Y3 RST c1 Alarm reset oner Mo M64 oner Do D3 RST c2 RST co X5 MO Emergency stop switch X3 Y10 Servo alarm Y1 Y2 M99 M5 M6 M 1 Kl gt SET Y1 ABS data transmission start oner vun M64 oner Do D2 RST c2 RST co 3 To be
29. A 5
30. Check that the brake is not 1 The electromagnetic brake release 1 Review the electromagnetic dragged for the servo motor with sequence is incorrect brake release sequence an electromagnetic brake 2 The power supply for the 2 Check the power supply for the electromagnetic brake is faulty electromagnetic brake The brake clacks for the servo This sound is from a clearance of the motor with an electromagnetic brake joint part This is nota brake malfunction The servo motor 1 If the safe operation is possible 1 The servo gain is too high Reduce the auto tuning response vibrates repeat acceleration deceleration 2 The auto tuning response is too and then adjust the gains again 4 times or more to complete the high Refer to chapter 7 auto tuning 2 Reduce the auto tuning response parameter No PAOQ except the manual mode If the safe operation is possible The machine vibrates in sympathy Adjust the machine resonance execute the adaptive tuning suppression filter Refer to section 8 2 If the safe operation is possible The machine vibrates in sympathy Adjust the gains execute the tuning with the Refer to chapter 7 advanced gain search on MR Configurator MRZJW3 SETUP221 CS2 or later If the safe operation is possible A machine terminal vibrates Adjust the filter execute the tuning with the Refer to section 8 4 advanced vibration suppression control Display the cumulative feedback Noises are overla
31. EICHER Note Signal layout omar L_ Ebzlssle i NN LE CSE SOB View seen from wiring side i iri ide View seen from wiring side LE CSE ROB Note Keep open the pins shown with DN Especially pin 10 is provided Note Keep open the pin shown for manufacturer adjustment If it is connected with any other pin with an TL the controller cannot operate normally 12 OPTIONS AND AUXILIARY EQUIPMENT b Cable internal wiring diagram LE CSE SLIB_ LE CSE SLJB LE CSE RUIB LE CSE ROB Controller Encoder side side connector connector P5 LG MR MRR BAT SHD 12 5 SMC 12 OPTIONS AND AUXILIARY EQUIPMENT 12 1 3 Motor cables These are Motor cables for the LE S5 LE S6 L LE S7 L LE S8 L series servo motors The numerals in the Cable Length field of the table are the symbols entered in the O part of the cable model The cables of the lengths with the symbols are available Refer to section 3 10 when wiring Cable model IP rating Application 5m 10m side lead Robot ore LE CSM RDOA IP65 LES Le De fre be i ae Nee e e Opposite to load side lead 1 Connection of controller and servo motor LE CSM S LE CSM S
32. MR J3BAT Battery Servo motor t High speed serial 1 pulse rev Accumulative ed s communication Within one revolution counter Position detector 14 1 14 ABSOLUTE POSITION DETECTION SYSTEM 14 1 2 Restrictions The absolute position detection system cannot be configured under the following conditions Test operation cannot be performed in the absolute position detection system either To perform test operation choose incremental in parameter No PAO3 1 Speed control mode torque control mode 2 Control switch over mode position speed speed torque torque position 3 Stroke less coordinate system e g rotary shaft infinitely long positioning 4 Changing of electronic gear after home position setting 5 Use of alarm code output 14 2 14 ABSOLUTE POSITION DETECTION SYSTEM 14 2 Specifications 1 Specification list Electronic battery backup system Bater 1 piece of lithium battery primary battery nominal 3 6V 2 Type MR J3BAT Note 1 Maximum speed at power failure 3000r min Note 2 Battery backup time Approx 10 000 hours battery life with power off Note 3 Battery life 5 years from date of manufacture Note 1 Maximum speed available when the shaft is rotated by external force at the time of power failure or the like 2 Time to hold data by a battery with power off Replace battery within three years since the operation start whether power is kept
33. Refer to chapter 14 UO division DI 1 Control pp is Tt Refer to Functions Appli cations 3 SIGNALS AND WIRING ABS request ABSR_ CN1 18 ABS request device The CN1 18 pin acts as ABSR only during absolute position data transfer Refer to chapter 14 3 SIGNALS AND WIRING b Output devices Connec uo Control Device Symbol tor pin Functions Applications he mode division No pp i s Tt Trouble CN1 48 ALM turns off when power is switched off or the protective circuit is DO 1 activated to shut off the base circuit Without alarm occurring ALM turns on within 1s after power on Dynamic brake When using the signal make it usable by the setting of parameter DO 1 interlock No PD13 to PD16 and PD18 DB turns off when the dynamic brake needs to operate When using the external dynamic brake on the controller of 11 kW or more this device is required Refer to section 12 6 For the controller of 7kW or less it is not necessary to use this Ready CN1 49 RD turns on when the servo is switched on and the controller is DO 1 ready to operate In position INP CN1 24 INP turns on when the number of droop pulses is in the preset in DO 1 position range The in position range can be changed using parameter No PA10 When the in position range is increased may be kept connected during low speed rotation INP turns on when servo on turns on Speed reached SA turns on when the servo motor speed has near
34. VCO Analog speed command offset Used to set the offset voltage of the analog speed command VC For example if CCW rotation is provided by switching on forward rotation start ST1 with OV applied to VC set a negative value When automatic VC offset is used the automatically offset value is set to this parameter Refer to section 6 4 The initial value is the value provided by the automatic VC offset function before shipment at the VC LG voltage of OV Analog speed limit offset Used to set the offset voltage of the analog speed limit VLA For example if CCW rotation is provided by switching on forward rotation selection RS1 with OV applied to VLA set a negative value When automatic VC offset is used the automatically offset value is set to this parameter Refer to section 6 4 The initial value is the value provided by the automatic VC offset function before shipment at the VLA LG voltage of OV PC39 MO1 Analog monitor 1 offset Used to set the offset voltage of the analog monitor MO1 PC40 MO2 Analog monitor 2 offset Used to set the offset voltage of the analog monitor MO2 PC41 For manufacturer setting Do not change this value by any means 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h PC38 Analog torque command offset Used to set the offset voltage of the analog torque command TC Analog torque limit offset Used to set the offset voltage of the analog torque limit TLA o 5 PA
35. a Controller drive unit at or above pollution degree 2 set forth in IEC EN 60664 1 For this purpose install the controller in a control box which is protected against water oil carbon dust dirt etc IP54 b Environment l Note 2 0 to 55 In operation Note 1 32 to 131 Ambient temperature In storage 20 to 65 in transportation 4 to 149 In operation Ambient humidity in storage 90 RH or less in transportation In operation p 1000m or less Maximum altitude in storage In transportation 10000m or less Note 1 Ambient temperature is the internal temperature of the control box 2 The controller 200V 3 5kW or less and 100V 400W or less can be mounted closely In this case keep the ambient temperature within 0 to 45 C 32 to 113 F or use the controller with 75 or less of the effective load ratio 4 Power supply a This controller drive unit can be supplied from star connected supply with earthed neutral point of overvoltage category M set forth in IEC EN 60664 1 However when using the neutral point of 400V system for single phase supply a reinforced insulating transformer is required in the power input section b For the interface power supply use a 24VDC power supply with reinforced insulation on I O terminals 5 Grounding a To prevent an electric shock the protective earth PE terminal marked of the controller drive unit must be connected to the protective earth PE of the c
36. i Selection of absolute position detection system Refer to chapter 14 0 Used in incremental system 1 Used in absolute position detection system ABS transfer by DIO 2 Used in absolute position detection system ABS transfer by communication 5 1 6 Using electromagnetic brake interlock MBR Parameter Initial Unit Setting Control mode Symbol Name value range Refer to PA04 AOP1 Function selection A 1 0000h the text Turn off the power and then on again after setting the parameter to validate the parameter value Set this parameter when assigning the electromagnetic brake to the CN1 23 pin Parameter No PA04 ofofo CN1 23 pin function selection 0 Output device assigned with parameter No PD14 1 Electromagnetic brake interlock MBR o S 5 PARAMETERS 5 1 7 Number of command input pulses per servo motor revolution Parameter Initial Unit Setting Control mode Symbol Name value range D 1000 PA FBP N f i l luti Turn off the power and then on again after setting the parameter to validate the parameter value When 0 initial value is set in parameter No PAO5 the electronic gear parameter No PA06 PAO7 is made valid When the setting is other than 0 that value is used as the command input pulses necessary to rotate the servo motor one turn At this time the electronic gear is made invalid Number of command input pulses per revolution Electronic gear CU LA seg Parame
37. indows rofessiona ome Edition indows Xp Professional H Editi Note 2 3 O indows Vista Home Basic Home Premium Business Ultimate Enterprise Personal computer indows 7 Starter Home Premium Professional Ultimate Enterprise operates Hard Disk 130MB or more of free space Browser Internet Explorer 4 0 or more One whose resolution is 1024 X 768 or more and that can provide a high color 16 bit display Connectable with the above personal computer Keyboard Mouse Printer RS 422 232C conversion cable Note 1 Windows and Windows Vista is the registered trademarks of Microsoft Corporation in the United States and other countries 2 On some personal computers MR Configurator may not run properly 3 64 bit Windows XP and 64 bit Windows Vista are not supported Display MR Configurator setup software English version contact your nearest sales branch 12 14 SMC 12 OPTIONS AND AUXILIARY EQUIPMENT b Connection with controller 1 For use of RS 422 Controller Personal computer RS 422 232C conversion cable DSV CABV To RS 232C Diatrend connector 2 For use of RS 422 to make multidrop connection Controller gem Controller RO OC E CA Personal computer U cog KSE LA cq Note Al Note 2 Do Note 2 UL ree ry Ee i Note 3 GE RS 422 232C conversion cable connector DSV
38. l l 3 ON Reset mergency stop i EMA OFF i i ON i ABS Manele mode During transfer of ABS i ABSM OFF i ABS request ON ABSR OFF ABS transmission ON data ready ABST OFF i Send ABS data ABS data X i 95 ms ON Base circuit eee OFF 5 ms ON Ready Operation RD OFF enabled 14 19 14 ABSOLUTE POSITION DETECTION SYSTEM b If emergency stop is activated during servo on The ABS transfer mode ABSM is permissible while in the emergency stop state In this case the base circuit and the ready RD are turned ON after the emergency stop state is reset ON Servo on SON OFF Emergency stop ON EMG OFF ON ABS transfer mode During transfer of ABS ABSM SEA ON ABS request ABSR OFF i ABS transmission ON data ready d ABST OFF D ABS data X 95 ms Send ABS data ON Base circuit OFF ON Ready Operation RD OFF enabled 14 20 14 ABSOLUTE POSITION DETECTION SYSTEM 14 8 3 Home position setting 1 Dog type home position return Preset a home position return creep speed at which the machine will not be given impact On detection of a zero pulse the home position setting CR is turned from off to on At the same time the controller clears the droop pulses comes to a sudden stop and stores the stop position into the non v
39. ojojo column BE the analog monitor 2 MO2 output The settings are the same as those of parameter No PC14 ms PC16 MBR Electromagnetic brake sequence output Used to set the delay time Tb between electronic brake interlock MBR and the base drive circuit is shut off PC17 ZSP Zero speed 50 Used to set the output range of the zero speed detection ZSP Zero speed detection ZSP has hysteresis width of 20r min refer to section 3 5 1 b 5 PARAMETERS DESEN TEE Initial Unit Setting Control mode mode value range PC18 appes Alarm history clear 0000h Refer to Used to clear the alarm history ante 0 0 10 and SR function Alarm history clear column 0 Invalid 1 Valid When alarm history clear is made valid the alarm history is cleared at next power on After the alarm history is cleared the setting is automatically made invalid reset to 0 PC19 ENRS Encoder output pulses selection 0000h Refer to Use to select the encoder output pulses direction and name encoder output pulses setting and function glo column Encoder output pulses phase changing Changes the phases of A B phase encoder output pulses s Servo motor rotation direction re d SC Y base FL AF Encoder output pulses setting selection refer to parameter No PA15 0 Output pulses setting 1 Division ratio setting 2 Ratio is automatically set to command pulse unit Setting 2 makes the parameter No PA15 enco
40. 0 Valid 1 Invalid Do not use this function except when configuring a speed loop externally If the speed limit is invalid the following parameters can be used Parameter No PB01 Adaptive tuning mode Adaptive filter IO Parameter No PB13 machine resonance suppression filter 1 Parameter No PB14 notch shape selection 1 Parameter No PB15 machine resonance suppression filter 2 Parameter No PB16 notch shape selection 2 PC24 COP3 Function selection C 3 0000h Refer to Select the unit of the in position range name and ojojo hina T d column In position range unit selection 0 Command input pulse unit 1 Servo motor encoder pulse unit a For manufacturer setting ee Ed not change this value by any means 5 PARAMETERS Nod Syribot EE Initial Unit Setting Controlmode mode value range PC26 COP5 Function selection C 5 Refer to Select the stroke limit warning AL 99 name and ojojo function ES Stroke limit warning AL 99 selection column 0 Valid 1 Invalid When this parameter is set to 1 AL 99 will not occur if the forward rotation stroke end LSP or reverse rotation stroke end LSN turns OFF PC27 COP6 Function selection C 6 Refer to Set this function if undervoltage alarm occurs because of name distorted power supply voltage waveform when using power and regenerative converter or power regenerative common function converter
41. 01FFFO53 means 053 special hexadecimal display format 000000 is transferred when the parameter that was read is the one inaccessible for write reference in the parameter write disable setting of parameter No PA19 5 Reading the setting range Read the parameter setting range Specify the parameter group in advance refer to 1 in this section a Transmission When reading the upper limit value transmit command 0 6 and the data No corresponding to the parameter No 0 0 to F F When reading the lower limit value transmit command 0 7 and the data No corresponding to the parameter No 0 0 to F F Refer to section 13 4 1 The data No is expressed in hexadecimal The decimal equivalent of the data No value corresponds to the parameter number b Reply The slave station sends back the data and processing information of the parameter No requested 0 0 Data is transferred in hexadecimal For example data 1OFFFFEC means 20 13 20 13 COMMUNICATION FUNCTION 6 Parameter write If setting values need to be changed with a high frequency i e one time or more per one hour write the setting values to the RAM not the EEP ROM The EEP ROM has a limitation in the number of write times and exceeding this limitation causes the controller to malfunction Note that the number of write times to the EEP ROM is limited to approximately 100 000 Write the param
42. 100 initial value Slow stop Position control mode The motor is decelerated to a stop in accordance with the parameter No PBO3 value Speed control mode The motor is decelerated to a stop in accordance with the parameter No PC02 value 5 PARAMETERS MEMO 23 6 DISPLAY AND OPERATION SECTIONS 6 DISPLAY AND OPERATION SECTIONS 6 1 Overview The LECSBL1 Licontroller has the display section 5 digit 7 segment LED and operation section 4 pushbuttons for controller status display alarm display parameter setting etc The operation section and display data are described below 5 digit LED Displays data Decimal LED Displays the decimal points alarm presence absence etc Ke we MODE Display mode change O s Ae HS Lit to indicate the decimal point Low High switching DEN ml UP Display data scrolling Decimal point DOWN Geen Sie l 4 el Li Litto indicate a negative when 7 SET Display data determination C m k 1 negative cannot be displayed Data clear SS vii Sg E a wes Flickers to indicate alarm occurrence E 27 d d Dy el Ki Flickers to indicate the test operation J l 1 mode o S 6 DISPLAY AND OPERATION SECTIONS 6 2 Display sequence Press the MODE button once to shift to the next display mode Refer to section 6 3 and later for the description of the corresponding display mode
43. 30 100 Note 1 Always install a cooling fan 2 Values in parentheses assume the installation of a cooling fan 2 Selection of the regenerative option Please refer to the manual and the catalog of each actuator when the selection of the regenerative option 3 Parameter setting Set parameter No DAOU according to the option to be used Parameter No PA02 Te Selection of regenerative option 00 Regenerative option is not used For servo amplifier of 100W regenerative resistor is not used For servo amplifier of 200 to 7kW built in regenerative resistor is used 02 LEC MR RB032 03 LEC MR RB12 12 9 SMC 12 OPTIONS AND AUXILIARY EQUIPMENT 4 Connection of the regenerative option POINT For the sizes of wires used for wiring refer to section 12 6 The regenerative option will cause a temperature rise of 100 C relative to the ambient temperature Fully examine heat dissipation installation position used cables etc before installing the option For wiring use flame resistant wire and keep them clear of the regenerative option body Always use twisted cables of max 5m length for connection with the servo amplifier a LECSBL Always remove the wiring from across P D and fit the regenerative option across P C The G3 and G4 terminals act as a thermal sensor G3 G4 is disconnected when the regenerative option overheats abnormally Always remove the lead from across P D Servo a
44. 6 Gain changing time constant parameter No PB28 You can set the primary delay filter to each gain at gain changing This parameter is used to suppress shock given to the machine if the gain difference is large at gain changing for example 7 Gain changing vibration suppression control Gain changing vibration suppression control is only available when changing the valid parameters with ON OFF of the input device 8 SPECIAL ADJUSTMENT FUNCTIONS 8 6 4 Gain changing procedure This operation will be described by way of setting examples 1 When you choose changing by input device CDP a Setting Abbreviation Setting Ratio of load inertia moment to servo motor Multiplier PB06 Gps e 4 0 p inertia moment x1 PBO7 PG1 Model loop gain 100 rad s SE Position loop gain PBO9 Speed loop gain 3000 PB10 Speed integral compensation 2 0 PB19 VRF1 Vibration suppression control vibration 50 tis frequency setting PB20 VRF2 Vibration suppression control resonance 50 tis frequency setting PB29 GD2B Gain changing ratio of load inertia moment a Multiplier to servo motor inertia moment x1 PB30 PG2B Gain changing position loop gain rad s 0 ms PB31 VG2B Gain changing speed loop gain 4000 rad s PB32 VICB Gain changing speed integral compensation 0001 PB2 DP in changing selecti Changed by ON OFF of Input device CDP PB28 Gain changing time constant PB33 VRF1B Gain changing vibration suppression control Hz vibration freq
45. Controller L e Servo motor j LE S5 z MTh LE S6 LE CSM R ee LE S8 CN P3 connector LE CSM R supplied with servo amplifier eS SC 3 O Zz U Cable model 1 For motor power supply connector LE CSM SDIA Signal layout LE CSM SOB LE CSM ROA Connector JN4FT04SJ1 R Hood socket insulator Bushing ground nut Contact ST TMH S C1B 100 A534G Crimping tool CT160 3 TMH5B LE CSM ROB Japan Aviation Electronics Industry View seen from wiring side 12 OPTIONS AND AUXILIARY EQUIPMENT 2 Internal wiring diagram LE CSM SLIA LE CSM RUJA LE CSM SI1B LE CSM RI 1B AWG 19 Red Note AWG 19 White AWG 19 Black AWG 19 Green yellow lt c Note These are not shielded cables 12 7 SMC 12 OPTIONS AND AUXILIARY EQUIPMENT 12 1 4 Lock cables These are Lock cables for the LE S5 _ _LE S6 LE S7 LE S8 L series servo motors The numerals in the Cable Length field of the table are the symbols entered in the O part of the cable model The cables of the lengths with the symbols are available Refer to section 3 11 when wiring Cablemodel model Cablemodel Lesser SC DEEL IP rating Flex life Application Ee e er eE side lead fesse Kf is e
46. Factory wired When using the regenerative option refer to section 12 2 For encoder cable use of the option cable is recommended Refer to section 12 1 for selection of the cable For the sink I O interface For the source UO interface refer to section 3 8 3 Refer to section 3 10 Configure the circuit to shut down the main circuit power supply simultaneously with the turn off of emergency stop EMG using the external sequence Be sure to use a magnetic contactor with an operation delay time of 80ms or less The operation delay time is the time interval between current being applied to the coil until closure of contacts o 3 SIGNALS AND WIRING 3 LECSB1 S5 LECSB1 S7 LECSB1 S8 a OFF ON Emergency stop lia Note 6 Servo motor 1 phase 100 to 120VAC X SC CN2 Note 3 Encoder H Encoder cable 4 Emergency stop Note 6 Note 4 lt Servo on Note 4 24VDC ALM P Trouble Note 1 Always connect Pi and P2 Factory wired The power factor improving DC reactor cannot be used 2 Always connect P and D Factory wired When using the regenerative option refer to section 12 2 For encoder cable use of the option cable is recommended Refer to section 12 1 for selection of the cable For the sink I O interface For the source UO interface refer to section 3 8 3 Refer to section 3 10 Configure the circuit
47. For manufacturer setting Never set this value When Valid ABS transfer by DIO has been selected for the absolute position detection system in parameter No PA03 the CN1 22 pin is set to the ABS transmission data bit 0 ABSBO in the ABS transfer mode only Refer to section 14 7 5 PARAMETERS Symbol EE Initial Setting Control mode value range PD14 PD15 PD16 PD17 For manufacturer setting Sdt Do not change this value by any means DO6 Output signal device selection 6 CN1 49 Any output signal can be assigned to the CN1 49 pin In the initial setting RD is assigned to the pin ele Refer to 8 name des 3 in and The devices that can be assigned and the setting method function are the same as in parameter No PD13 column o o PD18 DO2 Output signal device selection 2 CN1 23 Any output signal can be assigned to the CN1 23 pin In the initial setting ZSP is assigned to the pin When Valid ABS transfer by DIO has been selected for the absolute position detection system in parameter No PA03 the CN1 23 pin is set to the ABS transmission data bit 1 ABSB1 in the ABS transfer mode only Refer to AE Select the output device of the CN1 23 pin section 14 7 000Ch Refer to name en er in aid The devices that can be assigned and the setting method function are the same as in parameter No PD13 column DO3 Output signal device selection 3 CN1 24 0004h Refer to O O O Any outpu
48. None 1 1 777 ms 2 3 555 ms 3 5 333 ms PD20 DOP1 Function selection D 1 0000h Refer to Select the stop processing at forward rotation stroke end LSP reverse rotation stroke end LSN OFF and the base and circuit status at reset RES ON function column 0 0 L How to make a stop when forward rotation stroke end LSP reverse rotation stroke end LSN is valid Refer to Section 5 4 3 0 Sudden stop 1 Slow stop Selection of base circuit status at reset RES ON 0 Base circuit switched off 1 Base circuit not switched off PD21 For manufacturer setting 0000h Do not change this value by any means PD22 DOP3 Function selection D 3 Refer to Set the clear CR and 0 ojo function L Clear CR selection column 0 Droop pulses are cleared on the leading edge 1 While on droop pulses are always cleared PD23 For manufacturer setting 0000h Ki Do not change this value by any means 5 PARAMETERS Symbol Name and function DOP5 Function selection D 5 Select the alarm code and warning WNG outputs 0 0 Essin of alarm code output Connector pins of CN1 Set value oOo Alarm code is not output 1 Alarm code is output at alarm occurrence N D ECH Name CN1 CN1 CN1 pin 22 pin 23 pin 24 display aA pop L 10 L 45 L 46 L 47 AL 50 AL 51 AL 24 Pl LS gt gt gt Undervoltage Main ci
49. Note 1 For the dog type home position return Need not be connected for the data set type home position return 2 For the dog type home position return connect a QD75 deviation counter clearing signal cable For the data set type home position return connect a cable to the output module of the programmable PC or PLC etc 3 This circuit is provided for your reference 4 The electromagnetic brake output should be controlled via a relay connected to the programmable PC or PLC etc output 5 Refer to section 3 8 2 3 b and Type QD75P QD75D Positioning Module User s Manual when connecting to QD75P 2 Sequence program example a Conditions The ABS data is transmitted using the leading edge of the servo on switch as a trigger 1 When the servo on switch and power supply GND are shorted the ABS data is transmitted at power on of the controller or on the leading edge of the RUN signal after a PC reset operation PC RESET The ABS data is also transmitted when an alarm is reset or when an emergency stop is reset 2 An ABS checksum error is caused Y3AON if checksum inconsistency is found in transferred data 3 The following time periods are measured If the ON OFF state does not change within the specified time the ABS communication error occurs change within the specified time the ABS communication error occurs Y3A ON ON period of ABS transfer mode Y31 ON period of ABS request Y32 OFF period of reading to send ABS data X22
50. O O O CN3 CN3 CN3 O Personal computer i i t D t Note 1 t Note 1 qa Note 2 RS 422 232C conversion cable To RS 232C DSV CABV Diatrend Oo connector Note 1 The BMJ 8 Hakko Electric Machine Works is recommended as the branch connector 2 The final axis must be terminated between RDP pin No 3 and RDN pin No 6 on the receiving side controller with a 150Q resistor 13 1 13 COMMUNICATION FUNCTION b Cable connection diagram Note 1 DJ OO WwW Wire the cables as shown below Note 3 30m or less d Note 1 Note 1 Note 1 7 Axis 1 servo amplifier Axis 2 servo amplifier Axis n servo amplifier CN3 connector CN3 connector CN3 connector RJ45 connector RJ45 connector RJ45 connector Note 4 5 Note 4 5 Note 4 5 1 LG Note 3 lu Notet FG 2 P5D 2 P5D 2 P5D 3 RDP 3 RDP 3 RDP 4 SDN 4 SDN 4 SDN 5 SDP 5 SDP 5 SDP 6 RDN 6 RDN 6 RDN 7 LG 7 LG 7 LG 8 NC 8 NC H 8 NC 12345678 Note 5 d 1 1 1 1 1 2 2 2 2 2 2 RDP 3 gt 3 3 gt 3 3 H 3 Note 8 P gt gt 4 4 gt gt 4 4 C gt 4 h Note 2 5 gt 5 5 gt H 5 5 Li 1500 6 gt 6 6 I 6 6 i C H 6 RDN 7 7 7 7 7 es ad 7 Note 6 Branch connector Note 6 Branch connector Note 6 Branch connector Recommended connector Hirose Electric Plug TM10P
51. OD is about 10 greater 4 Purchase from Taisei 5 These wire sizes assume that the UL compliant wires are used at the wiring length of 10m 6 These models consist with solid wires Specify the color separately 12 20 SMC 12 OPTIONS AND AUXILIARY EQUIPMENT 12 7 No fuse breakers fuses magnetic contactors Always use one no fuse breaker and one magnetic contactor with one controller When using a fuse instead of the no fuse breaker use the one having the specifications given in this section No fuse breaker a ee Current Note 2 ee Controller Not using power Gis Set RE Note 1 Current Magnetic sing power factor factor improving 7 p Class contactor improving reactor reactor LECSB1 S7 30A frame 10A 30A frame 10A Note 1 When not using the controller as a UL CSA Standard compliant product K5 class fuse can be used 2 Be sure to use a magnetic contactor with an operation delay time of 80ms or less The operation delay time is the time interval between current being applied to the coil until closure of contacts 12 21 SMC 12 OPTIONS AND AUXILIARY EQUIPMENT 12 8 Noise reduction techniques Noises are classified into external noises which enter the controller to cause it to malfunction and those radiated by the controller to cause peripheral devices to malfunction Since the controller is an electronic device which handles small signals the following general noise reduction techniques are required Also the
52. PSH SSS SoS Se Re ee e Y axis ABS sequence program Refer to the X axis program and write the Y axis program b Data set type home position return Arrange the data set type home position return programs given in section 14 9 2 2 f in series to control two axes Refer to the X axis data set type home position return program and create the Y axis program Assign the X inputs Y outputs D registers M contacts and T timers of the Y axis so that they do not overlap those of the X axis The buffer memory addresses of the A1SD75 differ between the X and Y axes The instructions marked 1 in the program of section 14 9 2 2 f should be changed as indicated below for use with the Y axis DTOP H0000 K72 D9 Kl DTOP H0000 K222 D9 K1 DTOP Honn K1154 D9 K1 DTOP H0000 K1204 D3 K1 TO H0000 K1150 K9003 K1 gt TO H0000 K1200 K9003 K1 Program configuration Tae a a EE eg ag ee eS eel X axis data set type home position return program Program in section 14 10 2 2 f PPR ESOS Seo Se e SSeS OHS SS Shoe Se Se e Y axis data set type home position return program Refer to the X axis program and write the Y axis i program Le eS EN e ce BINT cS hse vas PE amy ai DEE EH 14 49 14 ABSOLUTE POSITION DETECTION SYSTEM 14 9 3 MELSEC QD75 1 Connection diagram Controller Q62P CN1 E te DICOM 20 Power INPUT supply 100 200VAC ABS transmis
53. Positioning completion ABS transmission data bit 0 Zero speed detection ABS transmission data bit 1 During torque limit control ABS transmission data ready 5 The ABS transfer mode ABSM is not accepted while the base circuit is ON For re transferring turn OFF the servo on SON signal and keep the base circuit in the off state for 20ms or longer 14 11 14 ABSOLUTE POSITION DETECTION SYSTEM b Detailed description of absolute position data transfer Servo on in ON programmable PC or PLC etc Servo on SON LL ADS transfer mode During transfer of ABS ABSM 3 5 i ABS request ON I We W m ABSR pe e 4 ABS transmission ON 2 6 data ready ABST OFF LU SE y Lower K A heck X Transmission ABS data Se Ste 2 bits Note If the servo on SON is not turned ON within 1 second after the ABS transfer mode ABSM is turned ON an SON time out warning AL EA occurs This warning however does not interrupt data transmission It is automatically cleared when the servo on SON is turned ON 1 The programmable PC or PLC etc turns ON the ABS transfer mode ABSM and servo on SON at the leading edge of the internal servo on SON 2 In response to the ABS transfer mode ABSM the servo detects and calculates the absolute position and turns ON the ABS transmission data ready ABST to notify the programmable PC or PLC etc that
54. TLC Analog torque command maximum output 100 0 0 Used to set the output torque at the analog torque command to voltage TC 8V of 8V on the assumption that the 1000 0 maximum torque is 100 For example set 50 to output maximum torque x 50 100 at the TC of 8V PC14 MOD1 Analog monitor 1 output 0000h Refer to Used to selection the signal provided to the analog monitor name 1 MO1 output Refer to section 5 3 3 and 010 function column Ehka monitor 1 MO1 output selection Servo motor speed 8V max speed Torque 8V max torque Note 2 Current command 8V max current command Command pulse frequency 10V 1Mpps 6 Droop pulses 10V 100 pulses Note 1 Droop pulses 10V 1000 pulses Note 1 8 Droop pulses 10V 10000 pulses Note 1 9 Droop pulses 10V 100000 pulses Note 1 Feedback position 10V 1 Mpulses Note 1 B_ Feedback position 10V 10 Mpulses Note 1 Feedback position 10V 100 Mpulses Note 1 D Bus voltage 8V 400V Note 3 Note1 Encoder pulse unit 2 8V is outputted at the maximum torque However when parameter No PA11 PA12 are set to limit torque 8V is outputted at the torque highly limited 3 For 400V class servo amplifier the bus voltage becomes 8V 800V PC15 MOD2 Analog monitor 2 output 0001h Refer to Used to selection the signal provided to the analog monitor name 2 MO2 output Refer to section 5 3 3 and function
55. Tt Alarm code To use this signal set 11 in parameter No PD24 This signal is output when an alarm occurs When there is no alarm ACD 2 CN1 22 respective ordinary signals RD INP SA ZSP are output Alarm codes and alarm names are listed below Note Alarm code Alarm code Alarm 22 23 24 AL12 12 Memory error 1 time out error atte AL 10 Undervoltage Main circuit device overheat AL A6 Servo motor overheat AL 47 Cooling fan alarm AL 50 Overload 1 AL bi Overload 2 Bee AL 24 Main circuit error AL 32 Overcurrent AL 321 Overspeed 1 Command EN EN alarm AL 52 Eis Note 0 off 1 on De e ee selection Spo eee Pop hh erasing NN S a a aa e a LD data bit 0 during ABS transmission data transmission Refer to chapter 14 NN a Ln ig ats aa aa ea eea te data bit 1 during ABS transmission data transmission Refer to chapter 14 AN fama aig a LD data ready during ABS transmission data transmission Refer to chapter 14 AN 3 SIGNALS AND WIRING 2 Input signals tor pin Functions Applications mode pi RE division elei Analog torque To use this signal in the speed control mode set any of parameters Analog limit No PD13 to PD16 PD18 to make external torque limit selection TL input available When the analog torque limit TLA is valid torque is limited in the full servo motor output torque range Apply 0 to 10VDC across TLA LG Connect the positi
56. When the servo motor shaft is rotated with the servo off the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway 9 TROUBLESHOOTING Alarm details AL 52 Error excessive The difference between the model constant is too small deceleration time constant AL 8A Serial communication time out error Serial communication error position andthe 2 Forward rotation torque limit Increase the torque limit actual servo motor parameter No PA11 or reverse value position exceeds rotation torque limit parameter three rotations No PA12 are too small Refer to the 3 Motor cannot be started due to torque 1 Check the power supply function block shortage caused by power supply capacity diagram in section voltage drop 2 Use servo motor which 1 2 provides larger output 4 Position loop gain 1 parameter Increase set value and No PBO08 value is small adjust to ensure proper operation 5 Servo motor shaft was rotated by 1 When torque is limited external force increase the limit value 2 Reduce load 3 Use servo motor that provides larger output 6 Machine struck something 1 Check operation pattern 2 Install limit switches 7 Encoder faulty Change the servo motor 8 Incorrect connection of servo motor Connect correctly Controller s output terminals U V W do not match servo motor s input terminals U V W 10 A command
57. Ysa H ABS checksum error Retry counter To be continued 14 ABSOLUTE POSITION DETECTION SYSTEM 4 Continued from preceding page M11 RST y32 H ABS request reset ABS 2 bits completion M10 Checksum 2 bits completion Y31 X22 8 PLS M12 H ABS 2 bits request ABS transfer Ready to send ABS request mode ABS data q M12 control SET Y32 ABS request set ABS 2 bits request Y32 K1 T200 H 10ms delay timer ABS request Y32 X22 T200 H m9 Transmitted data read enabled ABS Ready to 10ms delay timer request send ABS Me data 1 Reading A1SD75 home DFROPH0000 K0072 D9 K1 D Gheckeuni position address Note 2 OK ahs ose hes Soils OE ote Se las I EE s i i F Inserting constant K for conversion Restoring absolute Note 1 DP kO D3 D3 eerie constant pause pcs into the unit of feed per pulse position data E as Sy pat ged E an Sa ee a i See ge a NE BAS Bhd Sree eS ER a ae eae SN Sa a VE 4 Adding home position address D3 fe to absolute position M M8 ABS data ready Checksum Change OK flag W E ptor DEE ki 1 Changing X axis current position fe Writing absolute J tr Hooo kiso vg Ki 1 Writing No 9003 data for iti 9 datat changing current value postiomgatato A1SD75 Set Y10 Positioning start ind e 5i Switching start signal off on RST Y10 A Positioning Start com BUSY completion of positioning start pletion XA Error detection 5 To
58. an electric shock may occur In addition always confirm from the front of the controller converter unit whether the charge lamp is off or not Connect the converter unit controller drive unit and servo motor to ground Any person who is involved in wiring and inspection should be fully competent to do the work Do not attempt to wire the converter unit controller drive unit and servo motor until they have been installed Otherwise you may get an electric shock Operate the switches with dry hand to prevent an electric shock The cables should not be damaged stressed loaded or pinched Otherwise you may get an electric shock During power on or operation do not open the front cover You may get an electric shock Do not operate the converter unit and controller drive unit with the front cover removed High voltage terminals and charging area are exposed and you may get an electric shock Except for wiring or periodic inspection do not remove the front cover even if the power is off The controller drive unit is charged and you may get an electric shock 2 To prevent fire note the following N CAUTION Install the converter unit controller drive unit servo motor and regenerative resistor on incombustible material Installing them directly or close to combustibles will lead to a fire Always connect a magnetic contactor between the main circuit power supply and L1 L2 and Ls of the converter
59. change the wire type or correct it in order to prevent the end of ferrule from widening and then insert it How to connect a cable to the controller power supply connector is shown below a When using the supplied cable connection lever 1 The controller is packed with the cable connection lever a 54932 0000 Molex Unit mm 20 6 ki Le 10 ee ia ei tJ Approx 4 9 oO x Oa z N Li 19 lr Q Vv Approx 3 4 om b 231 131 WAGO Unit mm HH o Keeser H sl ci k 20 3 10 la CO of WAGO 231 UI LU 1 3 16 1 5 k 17 5 3 15 3 SIGNALS AND WIRING 2 Cable connection procedure Cable connection lever 1 Attach the cable connection lever to the housing Detachable 2 Push the cable connection lever in the direction of arrow 3 Hold down the cable connection lever and insert the cable in the direction of arrow 4 Release the cable connection lever 3 SIGNALS AND WIRING b Inserting the cable into the connector 1 Applicable flat blade screwdriver dimensions Always use the screwdriver shown here to do the work Unit mm Approx R0 3 Approx 22 3 Oy ok z Approx R0 3 to oO e C mM 2 When using the flat blade screwdriver part 1 1 Insert the screwdriver into the square hole In
60. is switched on Control mode ESE DI 5 PARAMETERS Set Water ed Initial Setting Control mode value range PB12 OVA Overshoot amount compensation Note Used to suppress overshoot in position control Overshoot can be suppressed in machines with high friction Set a control ratio against the friction torque in percentage unit Overshoot amount compensation can be set as shown in the following table in parameter No PAO1 control mode 4 PAO1 Ce value of parameter No PB12 Automatically set 5 when 0 is set in parameter No PB12 Set value of parameter No PB12 when a value other than 0 is set in parameter No PB12 Note This parameter is supported by the controllers whose software versions are C6 or later Check the software version using status display or MR Configurator PB13 Machine resonance suppression filter 1 Set the notch frequency of the machine resonance suppression filter 1 Setting parameter No PB01 Adaptive tuning mode Adaptive filter T to T1011 automatically changes this parameter When the parameter No PBO1 setting is O 0O00 the setting of this parameter is ignored 5 PARAMETERS PB14 NHQ1 Notch shape selection 1 0000h Refer to Used to selection the machine resonance suppression filter name 4 and function of o Ge L Notch depth selection o 0 Setting parameter No PB01 Adaptive tuning mode Adaptive filter T to T1011 automatically changes this parameter
61. lb in UI D OK Ee lel co EF E I N Mass 0 8 kg 1 76 lb Approx 40 Ka O SEA Q lt x a d q K 2 M5 screw Sie p x H O co SES a lt x EC ee 2 a oO Q Ke Mounting hole process drawing Mounting screw Screw size M5 Tightening torque 3 24 N m 28 7 Ib in 10 OUTLINE DRAWINGS 2 LECSBL S8
62. lt Speed control mode torque control 1 Review the wiring mode gt 2 Check the setting of the speed The setting of the speed selection 1 selection 1 SP1 the speed SP1 the speed selection 2 SP2 or selection 2 SP2 and the speed the speed selection 3 SP3 is selection 3 SPV incorrect 9 TROUBLESHOOTING Checkpoint Estimated cause The servo motor does not operate Check the cumulative command pulses with the status display or MR Configurator The display does not change even if the pulse train command is input The wiring of the command pulse train signal is incorrect Check the type of the command pulse train the differential receiver system or the open collector system Supply an external power 24VDC between OPC and DOCOM for the open collector system The command pulses are not input Review the controller setting The settings of the parameter No PA13 command pulse input form are incorrect Check the settings of the parameter No PA01 control mode The settings of the parameter Check that the generated torque does not exceed the torque limit value 1 Check instantaneous occurrence torque with status display Check the torque ripple with the Graph command on the Monitor menu on MR Configurator 1 The maximum torque is lacking The servo capacity is lacking Or the load is too large 2 Unintended torque limit is valid Or the setting of the torque limit is 0 no ge
63. parameter No PB13 PB14 However the machine resonance suppression filter 2 can be set whether the filter tuning mode is valid or not The machine resonance suppression filter is a delay factor for the servo system Hence vibration may increase if you set a wrong resonance frequency or a too deep notch If the frequency of machine resonance is unknown decrease the notch frequency from higher to lower ones in order The optimum notch frequency is set at the point where vibration is minimal A deeper notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration A wider notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration The machine characteristic can be grasped beforehand by the machine analyzer on the MR Configurator This allows the required notch frequency and depth to be determined o S 8 SPECIAL ADJUSTMENT FUNCTIONS 8 4 Advanced vibration suppression control 1 Operation Vibration suppression control is used to further suppress machine side vibration such as workpiece end vibration and base shake The motor side operation is adjusted for positioning so that the machine does not shake Position Position Motor side Machine side t Vibration suppression control OFF Vibration suppression control ON Nomal control Motor side Machine side t When the adv
64. pulse ON In position INP OFF 5 PARAMETERS 5 1 11 Torque limit Parameter Initial Unit Setting Control mode Symbol Name value range Ot ee ee d e Gees es fe hee lle ER 0 to PA12 TLN Reverse rotation torque limit 100 0 100 0 The torque generated by the servo motor can be limited Refer to section 3 6 1 5 and use these parameters When torque is output with the analog monitor output the smaller torque of the values in the parameter No PA11 forward rotation torque limit and parameter No PA12 reverse rotation torque limit is the maximum output voltage 8V 1 Forward rotation torque limit parameter No PA11 Set this parameter on the assumption that the maximum torque is 100 Set this parameter when limiting the torque of the servo motor in the CCW driving mode or CW regeneration mode Set this parameter to 0 0 to generate no torque 2 Reverse rotation torque limit parameter No PA12 Set this parameter on the assumption that the maximum torque is 100 Set this parameter when limiting the torque of the servo motor in the CW driving mode or CCW regeneration mode Set this parameter to 0 0 to generate no torque 5 PARAMETERS 5 1 12 Selection of command pulse input form Parameter Initial Unit Setting Control mode Symbol Name value range Refer to PA13 PLSS Command pulse input form 0000h the text Turn off the power and then on again after setting the parameter to validate th
65. td S a e evice Speed command value EE Analog speed command VC Oo o ee eee Internal speed command 1 parameter No PC05 ui o Internal speed command 2 parameter No PC06 Internal speed command 3 parameter No PC07 Note 0 off 1 on By making speed selection 3 SP3 usable by setting of parameter No PD03 to PD08 PD10 to PD12 you can choose the speed command values of analog speed command VC and internal speed commands 1 to 7 EE Speed command value o f o o __ Analog speed command VC o o a Internal speed command 1 parameter No PC05 o 1 o Internal speed command 2 parameter No PC06 Tg ae a Internal speed command 3 parameter No PCO07 to o 0o Internal speed command 4 parameter No PC08 a o a Internal speed command 5 parameter No PC09 nu a o Internal speed command 6 parameter No PC10 Internal speed command 7 parameter No PC11 Note 0 off 1 on The speed may be changed during rotation In this case the values set in parameters No PC01 and PC02 are used for acceleration deceleration When the speed has been specified under any internal speed command it does not vary due to the ambient temperature 2 Speed reached SA SA turns on when the servo motor speed has nearly reached the speed set to the internal speed command or analog speed command Internal speed Internal speed command 2 Set speed selection command 1 Start ST1 ST2 QN i Servo moto
66. turn on the servo on signal SON When the ABS transfer mode is off turning on the servo on signal SON does not switch on the base circuit 14 8 1 Data transfer procedure Each time the servo on SON is turned ON when the power is switched ON for example the programmable PC or PLC etc reads the position data present position of the controller Time out monitoring is performed by the programmable PC or PLC etc Controller Programmable PC or PLC etc Servo on SON ON D ABS transfer mode ON Every time the SON is SS ees turned ON the ABS transfer 8 mode signal is turned ON 9 ABS transmission data ready ON to set the data to be IR transmitted GG Oo ABS request ON g be nnn ZS Ge EC EE SE KA b ABS transmission data ready OFF Watch dog umer Cun position Gate y EC EE The data is read in units of D Kate 2 bits the read data is written 5 Reading 2 bits to the lowest bits and the 16 times _ Reading 2bits_ register is shifted right until 8 32 bit data is configured 2 Shift and addition S ABS request OFF 5 ke 2 a ABS transmission data ready ON Pa ee ABS request ON ee EE lt Sum check data gt icsi A RAA Deen The data is read in units of T 1 I H D ABS transmission data ready OFF GG SEN dog imer 3 2 bits the read data is written et to the lowest bits and the 3 times register is shifted right until Reading 2 bits 6 bit data is configured Shift and addition EERI shitt and aper
67. valid For details refer to section 3 6 1 5 When using this signal make it usable by making the setting of ae ig parameter No PD03 to PD08 PD10 to PD12 For details refer to section 3 6 1 5 Used to start the servo motor in any of the following directions When UI is set in parameter No PC23 the servo motor is not servo locked after deceleration to a stop DI 1 o o Stop servolock NEE BECH HE E EE EEN Note 0 off 1 on If both ST1 and ST2 are switched on or off during operation the servo motor will be decelerated to a stop according to the parameter No PC02 setting and servo locked Used to select any of the following servo motor torque generation directions DI 1 o 0 Torqueisnotgenerated E ee reverse rotation in regenerative mode N forward rotation in regenerative mode Torque is not generated Note 0 off 1 on 3 SIGNALS AND WIRING Connec Device Symbol tor pin No Speed selection 1 CN1 41 Speed selection 2 CN1 16 Speed selection 3 uo Control Functions Applications Ce mode division else lt Speed control mode gt DI 1 Used to select the command speed for operation When using SP3 make it usable by making the setting of parameter No PD03 to PD08 PD10 to PD12 Input device Speed command ololo Analog speed command VC olola Internal speed command 1 parameter No PC05 fo 1 o Internal speed command 2 parameter No PC06 o 1 1 intemal speed command 3
68. value range PB27 CDL Gain changing condition Used to set the value of gain changing condition command frequency droop pulses servo motor speed selected in parameter No PB26 The set value unit changes with the changing condition item Refer to section 8 6 PB28 Gain changing time constant Used to set the time constant at which the gains will change in response to the conditions set in parameters No PB26 and PB27 Refer to section 8 6 PB29 GD2B Gain changing ratio of load inertia moment to servo motor inertia moment Used to set the ratio of load inertia moment to servo motor inertia moment when gain changing is valid This parameter is made valid when the auto tuning is invalid parameter No PA08 0003 PB30 PG2B Gain changing position loop gain rad s 1 Set the position loop gain when the gain changing is valid to This parameter is made valid when the auto tuning is invalid 2000 parameter No PA08 0003 PB31 VG2B Gain changing speed loop gain rad s 20 Set the speed loop gain when the gain changing is valid to This parameter is made valid when the auto tuning is invalid 20000 parameter No PA08 0003 Note The setting range of 50000 applies to the controller whose software version is A3 or later The setting range of the controller whose software version is older than A3 is 20 to 20000 When the software version of MR Configurator is A3 or earlier 20001 or more cannot be set Use the display operation sect
69. voltage and the servo motor speed is shown below Rated speed is achieved at 10V with initial setting The speed at 10V can be changed using parameter No PC12 Rated speed r min Speed r min CCW direction 10 0 10 CW direction VC applied voltage V Is lt d SG Rated speed el The following table indicates the rotation direction according to forward rotation start ST1 and reverse rotation start ST2 combination Note 2 Rotation direction ST1 Analog speed command VC commands Stop S Servo lock Serv ST2 Stop top Stop Servo lock o lock Servo lock o at cow O cw Reverse rotation CW Stop ow O o f o om JL Nosenoio 4 4 Stop Stop Stop Stop Servo lock Servo lock Servo lock Servo lock Note 1 0 off 1 on 2 If the torque limit is canceled during servo lock the servo motor may suddenly rotate according to position deviation in respect to the command position Generally make connection as shown below Controller Japan resistor RRS10 or equivalent Note For the sink I O interface For the source I O interface refer to section 3 8 3 3 SIGNALS AND WIRING b Speed selection 1 SP1 speed selection 2 SP2 and speed command value Choose any of the speed settings made by the internal speed commands 1 to 3 using speed selection 1 SP1 and speed selection 2 SP2 or the speed setting made by the analog speed command VC Note
70. 1 Encoder connector CN2 44 At power on error occurred disconnected between encoder 2 Encoder cable type 2 wire 4 wire Correct the setting in the and controller selection was incorrect in parameter fourth digit of parameter No setting PC22 3 Encoder cable faulty Repair or change the cable Wire breakage or shorted 5 A servo motor other than that of MR Check the combination of J3 series is connected the controller and the servo motor 6 A communication error occurred due Ground correctly or take to external noise noise reduction measures lt Checking method gt 1 Check that the encoder cable and the power cables are wired side by side Check that the controller is not influenced by noise of magnetic valves magnetic contactors or relays Check the grounding of the controller and the servo motor Check that there is no cause of static electricity around Check that the shield of the encoder cable is made correctly Board error CPU parts fault Faulty parts in the controller Change the controller lt Checking method gt Alarm AL 17 or AL 19 occurs if power is Memory error 3 ROM memory fault switched on after disconnection of all Flash ROM cables but the control circuit power supply cable Motor Incorrect Incorrect combination of controller and Check the combination of combination combination of servo motor connected the controller and the servo error controller and motor servo motor o
71. 422 communication Note that using the USB communication function CN5 connector prevents the RS 422 communication function CN3 connector from being used and vice versa They cannot be used together Personal computer RS 232C RS 422 conversion cable Recommended product Interface cable DSV CABV Diatrend To RS 232C connector Controller Er CN3 MR PRUO3 parameter unit EIA568 compliant cable 10BASE T cable etc pm 1 9 Use an external power supply when inputting a negative voltage 10 For the sink I O interface For the source I O interface refer to section 3 8 3 3 SIGNALS AND WIRING 3 3 Explanation of power supply system 3 3 1 Signal explanations For the layout of connector and terminal block refer to outline drawings in chapter 10 Connection target au Abbreviation aes Description application Supply the following power to L1 L2 Ls For the 1 phase 200 to 230VAC power supply connect the power supply to L1 Lz and keep Ls open LECSB2 S5 LECSB1 S5 SEET LECSB2 S7 LECSB1 S7 pee LECSB2 S8 LECSBI S8 3 phase 200 to 230VAC 50 60Hz Satta ah 1 phase 200 to 230VAC Main circuit power 50 60Hz 1 phase 100 to 120VAC supply 50 60Hz When not using the power factor improving DC reactor connect P1 and P2 Factory wired When using the power factor improving DC reactor disconnect P1 and P2 and connect the power factor improving DC reactor to P1 and P2 Refer to section 12 13 W
72. 5 TAT eu EE 14 1 TEk l CCU OS ory cae cee ts Aan oe cae cet ne a cea Ld Aaa aoe a om eld cae a Aan aor a om ea ct td anata poe a ame ea ct 14 1 E Wee E 14 2 14 2 SPOCiiCAthOrns gcse cs 55 5 cic ete E E TE sais Seateasenea sages adept peescca ee siegeatte 14 3 14 3 Battery replacement procedure ssssesseseeeiesesissesnsttsestttnsistntstutnstntuntatutannntusnanunanunnannnnnnnnnnannnnn nnn 14 4 14 3 1 When replacing battery with the control circuit power ON 14 4 14 4 Battery installation procedure cccceccececeeseeeeceeceeeeseeeecaeeeeeeaeeaecaeeeeeaeeaeeeaesaeseaseaesaeseseaesaetaeseeseaeeaees 14 5 14 5 Standard connection dagram 14 6 14 6 Signal evplanaton nu EAnAEn tanutanu EAnnEEnnnnEnnn nunana nannan 14 7 14 8 Startup ee TE 14 8 14 8 Absolute position data transfer protocO 14 9 14 8 1 Data transfer procedure ececeececceeceeeeececeeeeaeeaecaeeeeeeaecaecaeseeeeaeseaecaeseeseaeeaesaeseeseaeeaesaeseeseaeeaee 14 9 14 8 2 Transfer method DE 14 10 14 8 3 Home position Setting 14 21 14 8 4 Use of servo motor with an electromagnetic Drake 14 23 14 8 5 How to process the absolute position data at detection of stroke end 14 24 EC ul 14 25 14 9 1 MELSEC FX 2N 32MT FX 2N 1 PG ceceeeeeceeeeeeeececeeeeeecaeceeseeesaesaeseeseeesaesaeseeeaeseaeeaeseeseaeeateas 14 25 EEN MEL SEG A1 SD7 ET 14 37 14 9S MELSE O QD bisa r a T a chi veer eatl va oleh been oid eek gland eat at en eed el a AA ERAEN 14 50 14 10 Absolute posi
73. 50 The additional program is not required for the unit setting is PLS M101 MOV KO K3 Y30 Output signal reset Error reset completion e fT Hooo Kin K1 K1 A1SD75 error reset Initial Setti h Beret N setting mov Ka be etting the number of retries to 3 times SET M101 H Error reset completion flag M9039 DMov D110 A0 Loading received shift data PC RUN To be continued 14 40 14 ABSOLUTE POSITION DETECTION SYSTEM Servo on request DN Continued from preceding page X26 SET M13 Servo on switch c TFR H0000 K816 D11 WAND H0001 K1 D11 1203 Error reset Error flag switch 4 Alarm rese X25 Emergency stop switch X23 Servo alarm M23 ae pn PLS M24 Processing instruction RDY signal ON judgement X26 RST M8 Servo on switch RST M13 RST co st C1 M13 M14 M16 A _ Dag Servo on Error Retry flag request flag set PLS M5 M13 n A n is M17 Servo on request M17 A Huuu RST C2 Retry flag reset request X24 M14 m E A M14 M8 M13 2 To be continued 14 41 7 Dram Reading A1SD75 1 axis RDY signal Masking RDY signal Current position change processing instruction Current position change flag Servo on Resetting ready control Resetting servo on request Resetting ABS transmission counter at servo OFF Resetting checksum transmission counter at servo OFF S
74. AL 50 Indicates that the second alarm in the past is overvoltage AL 33 Indicates that the third alarm in the past is undervoltage AL 10 Alarm history Indicates that the fourth alarm in the past is overspeed AL 31 Indicates that there is no fifth alarm in the past Indicates that there is no sixth alarm in the past 6 DISPLAY AND OPERATION SECTIONS Display _ Indicates no occurrence of parameter error AL 37 Parameter error No eee Indicates that the data of parameter No PA12 is faulty Functions at occurrence of an alarm 1 Any mode screen displays the current alarm 2 Even during alarm occurrence the other screen can be viewed by pressing the button in the operation area At this time the decimal point in the fourth digit remains flickering 3 For any alarm remove its cause and clear it in any of the following methods for clearable alarms refer to section 9 1 a Switch power OFF then ON b Press the SET button on the current alarm screen c Turn on the alarm reset RES 4 Use parameter No PC18 to clear the alarm history 5 Pressing SET on the alarm history display screen for 2s or longer shows the following detailed information display screen Note that this is provided for maintenance by the manufacturer 6 Press UP or DOWN to move to the next history o 5 6 DISPLAY AND OPERATI
75. APPENDIX 8 Selection example of wires To comply with the UL C UL Standard use UL approved copper wires rated at 60 75 C 140 167 F for wiring The following table shows the wire sizes AWG and the crimping terminal symbols rated at 60 C 140 F The sizes and the symbols rated at 75 C 167 F are shown in the brackets Note 3 Wires AWG Converter Controller V W unit W La pe P Ba LECSB1 S5 LECSB1 S8 eee et 14 14 Note 4 14 14 App 12 APPENDIX Note 3 Wires mm Converter Controller i Unit B1 B2 BU BV BW OHS1 OHS2 LECSB1 85 LECSB1 58_ Il ee Note 1 To connect these models to a terminal block be sure to use the screws that come with the terminal block 2 For the servo motor with a cooling fan 3 Alphabets in the table indicate crimping tools Refer to the following table for the crimping terminals and crimping tools 4 To wire the controller and a LE LJ L servo motor use the MR PWS1CBL option To extend the wiring use the AWG14 wire size App 13 APPENDIX Table Recommended crimping terminals Controller side crimping terminals Symbol Note 2 Applicable tool dE 7 Manufacturer Crimping terminal EE RE Note 1 b 8 4NS YHT 8S FVD14 6 DH 122 DH 112 YF 1 EA YNE 38 D FVD226 DH 123 DH 113 Note 1 e 38 TD 124 TD 112 YF 1 EA YET 60 1 8 6 YPT 60 21 el Note 117 R60 8 YF 1 EA YET 60 1 FVD2 4 YNT 1614
76. B O C 0 D O E 8 0 Status display data value and processing Cumulative feedback pulse 8 1 information Servo motor speed 8 2 Droop pulse 8 3 Cumulative command pulse 8 4 8 5 Instantaneous torque Within one revolution position ABS counter Load inertia moment ratio Bus voltage Command pulse frequency Analog speed command voltage Analog speed limit voltage 8 6 Analog torque command voltage Analog torque limit voltage 8 7 818 819 8 A 8 B 8 C 8 D 8 E Regenerative load ratio Effective load ratio Peak load ratio Instantaneous torque Within one revolution position ABS counter Load inertia moment ratio Bus voltage 13 10 13 COMMUNICATION FUNCTION 2 Parameters Command 0 4 0 5 O 6 0 7 0 8 cee Frame erat l IO O 1 to F F i OJE to EIS or TOJN to FIF RW OJE to EIS O 1 to F F Parameter group read 0000 Basic setting parameter No PATI 0001 Gain filter parameter No PBC 0002 Extension setting parameter No PC 0003 I O setting parameter No PD Current values of parameters Reads the current values of the parameters in the parameter group specified with the command 8 5 data No 0 0 Before reading the current values therefore always specify the parameter group with the command 8 5 data No 0 0 The decimal equivalent of the data No value hexadecimal corresponds to the para
77. E Ui Ge Wiring allowance A 80mm Top 10mm or more Ce YZ Bottom A 2 INSTALLATION b Installation of two or more controllers Leave a large clearance between the top of the controller and the internal surface of the control box and install a cooling fan to prevent the internal temperature of the control box from exceeding the environmental conditions Control box E Y H yy Vy IZ W 5 Z Af yy 7 Yi y Yy Yj Wy Wy Y yyy Ee YW YW Z LC Ee 100mm or more yy UY Y 10mm or more yy YW dk YY ULL Y To Y oJ U lo oJ U o 5 p Ze F et el SE Z SH ze Yy 30mm o E o 30mm ho ke or more Ta d I el or more Z Giel Gi UY Z 2 S E Z Z ey yy iy in fal f Yy Ye r Yj Bottom A Yi Z yy ES 120mm or more Yj Z Os Y 5 ny A fo SS i jy yy f f LL Yyrysyg f y 7 TA 4 SIRIARA iy YY E G i i fa E 3 Others When using heat generating equipment such as the regenerative option install them with full consideration of heat generation so that the controller is not affected Install the controller on a perpendicular wall in the correct vertical direction 2 2 Keep out foreign materials 1 When installing the unit in a control box prevent drill chips and wire fragments from entering the controller 2 Prevent oil water metallic dust etc from entering the controller through openings in the control box or a co
78. Low pass filter selection B24 MVS Slight vibration suppression control P S selection B2 B2 PB27 B2 moment to servo motor inertia moment B3 B31 PB32 VICB Gain changing speed integral R S tomporcaton Seno control vibration frequency setting control resonance frequency settin For manufacturer setting CNHF Vibration suppression control filter 2 g v U v NIN Pp v U U v U oe O ES CH m EE Mm ES P P P P P P BE GE el P ES 7 P ka S IER GE EZ TE APPENDIX Extension setting parameters PCO Extension setting parameters PCOD SES Name Se Symbol Name Control mode ite PCO1 STA Acceleration time constant PC39 Analog monitor 1 offset PC02 Deceleration time constant PC40 Analog monitor 2 offset P S T PC03 STC S pattern acceleration S T For manufacturer setting deceleration time constant PC04 Torque command time constant T PC05 SC1 Internal speed command 1 Internal speed limit 1 PC06 PC07 C08 4 0 el j Ke UO setting parameters PDOD mode PDO1 DIA1 Input signal automatic ON selection 1 PD02 _ For manufacturer setting gt a PDO3 DI1 Input signal device selection 1 EM CN1 pin 15 PD04 DI Input signal device selection 2 MEM CN1 pin 16 PD05 DI Input signal device selection 3 CM CN1 pin 17 CN1 pin 18 CN1 pin 19 CN1 pin 41 M For manufacturer set
79. Masking rotation direction setting detection parameter Masking ABS data sign PLS processing command Reversing polarity of upper 16 bits Decrementing upper 16 bits By Reversing absolute Reversing polarity of lower position polarity 16 bits Lower 16 bits 0 gt D4 1 D4 ABS transfer mode To be continued 14 ABSOLUTE POSITION DETECTION SYSTEM Continued from preceding page 3 M9 co MOV K1X20 Read ABS data enabled counter WAND H0003 D5 J WOR D5 ao H ROR kv H D1 A o H PLs Mio J M9 co e i mov xa pe H Read ABS data enabled counter WAND H0003 D5 J WOR D5 ao H DROR K2 H D5 D2 D2 DO co A PLS mit H c1 x22 RORP Ko Checksum Ready to counter send ABS data WAND H003F ao H 14 43 Reading 4 bits Masking 2 bits Rea ABIS Reading checksum 6bits Right rotation of AO 2 bits Pole xo times Counting the number of checksum data Completion of reading checksum 2 bits Reading 4 bits Masking 2 bits Adding 2 bits Reading ABS data 32 bits 2 bits x16 times Right rotation of AO 2 bits Adding checksum Counting the number of ABS data Completion of reading ABS 2 bits data Right rotation of AO 10 bits Masking sum check D2 ao m H Sum check OK Detecting ABS checksum error m7 H Sum check NG MOV AO De H Sum check memory ser wes H ABS transfer mode OFF permission c2
80. No PDO3 0 0 Speed control mode Torque control mode of the CN1 16 pin ei Select the Position control SEN device 5 PARAMETERS Symbol Dee Initial Setting Control mode value range PDO5 DI Input signal device selection 3 CN1 17 0007 Refer to Any input signal can be assigned to the CN1 17 pin 0704h name The devices that can be assigned and the setting method and are the same as in parameter No PD03 function column 0 0 Position control mode es Speed control mode Shine CN1 Torque control mode 17 pin When Valid ABS transfer by DIO has been selected for the absolute position detection system in parameter No PAO03 the CN1 17 pin is set to the ABS transfer mode ABSM Refer to section 14 7 PDO6 DI4 Input signal device selection 4 CN1 18 0008 Refer to Any input signal can be assigned to the CN1 18 pin 0805h name The devices that can be assigned and the setting method and are the same as in parameter No PDO3 function column 0 0 Position control Ce G Speed control mode ae CN1 Torque control mode 18 pi pin When Valid ABS transfer by DIO has been selected for the absolute position detection system in parameter No PAO3 the CN1 18 pin is set to the ABS transfer request ABSR Refer to section 14 7 PDO7 DI5 Input sign
81. ON Zero speed detection ZSP oF F ON Control change LOP OFF 2 Speed limit in torque control mode As in section 3 6 3 3 3 Torque control in torque control mode As in section 3 6 3 1 4 Torque limit in torque control mode As in section 3 6 3 2 5 Torque limit in position control mode As in section 3 6 1 5 3 SIGNALS AND WIRING 3 7 Alarm occurrence timing chart When an alarm has occurred remove its cause make sure that the operation signal A CAUTION is not being input ensure safety and reset the alarm before restarting operation As soon as an alarm occurs turn off Servo on SON and power off When an alarm occurs in the controller the base circuit is shut off and the servo motor is coated to a stop Switch off the main circuit power supply in the external sequence To reset the alarm switch the control circuit power supply from off to on press the SET button on the current alarm screen or turn the reset RES from off to on However the alarm cannot be reset unless its cause is removed Note 1 Main circuit control circuit ON Power off power supply OFF a e e Ee Geesen OFF Invalid Brake operation Brake operation ee ee ae E it aaa Le Le y SON OFF R ec e eg LV rk B RD OFF Trouble ON e TY TT CT ALM DEES Reset ON A G RES OFF Alarm occurs l 50ms or longer 15 to 60ms Note 2 Remove cause of trouble Note 1 Shut o
82. ON detection ZSP OFF ZSP turns on 1 when the servo motor is decelerated to 50r min and ZSP turns off 2 when the servo motor is accelerated to 70r min again ZSP turns on 3 when the servo motor is decelerated again to 50r min and turns off 4 when the servo motor speed has reached 70r min The range from the point when the servo motor speed has reached ON level and ZSP turns on to the point when it is accelerated again and has reached OFF level is called hysteresis width Hysteresis width is 20r min for the MR J3 A controller Set the parameter No PD13 to PD16 PD18 or parameter No PA04 to make this signal usable Note that ZSP will be unusable MBR turns off when the servo is switched off or an alarm occurs To use this signal assign the connector pin for output using parameter No PD13 to PD16 PD18 The old signal before assignment will be unusable When warning has occurred WNG turns on When there is no warning WNG turns off within about 1 5s after power on To use this signal assign the connector pin for output using parameter No PD13 to PD16 PD18 The old signal before assignment will be unusable BWNG turns on when battery cable disconnection warning AL 92 or battery warning AL 9F has occurred When there is no battery warning BWNG turns off within about 1 5s after power on 3 SIGNALS AND WIRING Connec uo Control Signal Symbol tor pin Functions Applications Ee mode division No Pi s
83. Press MODE four times Select parameter No 8 with UP or DOWN se eeee The REH is displayed Press UP or DOWN to change the number Press SET twice MAAT The set value of the specified parameter number flickers Press UP twice MA During flickering the set value can be changed Use UP or DOWN 2 Speed control mode Press SET to enter To shift to the next parameter press the UP or DOWN button When changing the parameter No PA01 setting change its set value then switch power off once and switch it on again to make the new value valid 6 DISPLAY AND OPERATION SECTIONS 2 Parameters of 6 or more digits The following example gives the operation procedure to change the electronic gear numerator parameter No PA06 to 123456 Note yo Jb Press MODE three times Press UP or DOWN to choose parameter No PA06 ay ay ay em Cd pDubl a Gem Li Press SET once Setting of upper 1 digits Setting of lower 4 digits Press MODE once H Ke Ne d q Li 5 ms d JL Press SET once b a S 3 e S RR d The screen flickers Press UP or DOWN to change the setting 1 SEL E gt w tA w Press SET once ia SES u Enter the setting d rr L fm ffe l gt Press MODE once eee eee Note The example assumes that the status d
84. Press SET for longer than Press SET for longer than 2s LM a Se LM CH BEE When this screen appears CH eee When this screen is displayed L L Wi JOG operation can be Li L l WW motor less operation can be performed performed Flickers in the test operation mode 6 DISPLAY AND OPERATION SECTIONS 6 9 2 JOG operation When performing JOG operation turn ON EMG LSP and LSN LSP and LSN can be set to automatic ON by setting parameter No PDO1 to OCOD JOG operation can be performed when there is no command from the external command device 1 Operation The servo motor rotates while holding down the UP or the DOWN button The servo motor stops rotating by releasing the button The operation condition can be changed using the MR Configurator The initial conditions and setting ranges for operation are listed below Initial setting Setting range Speed r min 0 to instantaneous permissible speed Acceleration deceleration time constant ms 1000 0 to 50000 How to use the buttons is explained below UP Press to start CCW rotation Release to stop Press to start CW rotation DOWN l Release to stop If the communication cable is disconnected during JOG operation using the MR Configurator the servo motor decelerates to a stop 2 Status display Call the status display screen by pressing the MODE button in the JOG operation stand by status When the JOG operation is performed using t
85. Rev 15 hereinafter Recommendations of the United Nations has been issued To reflect this transport regulations for lithium metal batteries are partially revised in the Technical Instruction ICAO TI by the International Civil Aviation Organization ICAO and the International Maritime Dangerous Goods Code IMDG Code by the International Maritime Organization IMO To comply the instruction and code we have modified the indication on the package for general purpose AC servo batteries 1 Target model Battery Cell MR J3BAT MR BAT A6BAT Battery unit Battery MR J2M BT 2 Purpose Safer transportation of lithium metal batteries 3 Change in regulations The following points are changed for lithium metal batteries transportation by sea or air due to Recommendations of the United Nations Rev 15 and ICAO TI 2009 2010 edition For lithium metal batteries cells are classified as UN3090 and batteries contained in or packed with equipment are classified as UN3091 a A package containing 24 cells or 12 batteries or less that are not contained in equipment are no longer exempt from the following attachment of a handling label submission of the Shipper s Declaration for Dangerous Goods and a 1 2m drop test b A battery handling label size 120 x 110mm is required Emergency telephone number must be filled out in the additional handling information of the Shipper s Declaration for Dangerous Goods c New handling label desig
86. S 9 TROUBLESHOOTING Displa Name Definition Cause Action ote 2 INI play Ce details AL 20 Encoder error 2 Communication 1 Encoder cable disconnected Connect the servo motor during runtime error occurred lt Checking method gt encoder connector to the between encoder Check the connection of the encoder controller connector CN2 and controller cable correctly 2 Encoder cable fault Repair or change the cable lt Checking method gt Check that the encoder cable is broken or shorted 3 The encoder detected high acceleration 1 Decrease the position rate due to oscillation and other loop gain causes 2 Reduce the response lt Checking method gt setting of the auto tuning Check that the servo motor does not vibrate or does not make unusual noise 4 Encoder fault Change the servo motor 5 Acommunication error occurred due Ground correctly or take to external noise noise reduction measures lt Checking method gt 1 Check that the encoder cable and the power cables are wired side by side Check that the controller is not influenced by noise of magnetic valves magnetic contactors or relays Check the grounding of the controller and the servo motor Check that there is no cause of static electricity around Check that the shield of the encoder cable is made correctly AL 21 Encoder error 3 Error occurred in Detection circuit error in encoder Change the servo motor during runtime encode
87. To refer to or set the gain filter parameters extension setting parameters and I O setting parameters make them valid with parameter No PA19 parameter write disable Display mode transition 4 Servo status display Status display E appears at power on Note Section 6 3 Sequence display external signal display forced output signal DO test operation software version display VC automatic offset servo motor series ID display servo motor type ID display servo motor encoder ID display parameter write inhibit next deactivation display Current alarm display alarm history display parameter error No display point table error No display Section 6 5 f I Section 6 4 Display and setting of basic setting parameters AA Basic setting parameters Display and setting of gain filter parameters Gain filter parameters Display and setting of extension setting SERIES parameters Extension setting parameters Display and setting of I O setting parameters I O setting parameters Note When the axis name is set to the controller using MR Configurator the axis name is displayed and the servo status is then displayed o S 6 DISPLAY AND OPERATION SECTIONS 6 3 Status display The servo status during operation is shown on the 5 digit 7 segment LED display Press the UP or DOWN button to change display data as desired When the required data is selected t
88. When the parameter No PBO1 setting is IO the setting of this parameter is ignored 5 PARAMETERS No Symbol Name and function iniia Unit Sening Control mode value range Hz PB15 NH2 Machine resonance suppression filter 2 Set the notch frequency of the machine resonance suppression filter 2 Set parameter No PB16 notch shape selection 2 to T 1 to make this parameter valid PB16 NHQ2 Notch shape selection 2 0000h Refer to Select the shape of the machine resonance suppression filter 2 and function 0 column Machine resonance suppression filter 2 selection 0 Invalid 1 Valid L Notch depth selection Steen PB17 Automatic setting parameter The value of this parameter is set according to a set value of parameter No PB06 Ratio of load inertia moment to servo motor inertia moment PB18 LPF Low pass filter setting 3141 rad s 100 Set the low pass filter Setting parameter No PB23 low pass filter selection to con C1000 automatically changes this parameter When parameter No PB23 is set to 10 this parameter can be set manually PB19 VRF1 Vibration suppression control vibration frequency setting Set the vibration frequency for vibration suppression control to suppress low frequency machine vibration such as enclosure vibration Setting parameter No PBO2 vibration suppression control tuning mo
89. adjustment 5 Increase the speed loop gain within the vibration and unusual noise free Increase the speed loop gain range and return slightly if vibration takes place c Adjustment description 1 Speed loop gain parameter No PBO9 This parameter determines the response level of the speed control loop Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate The actual response frequency of the speed loop is as indicated in the following expression Speed loop response _ Speed loop gain setting frequency Hz 1 ratio of load inertia moment to servo motor inertia moment x22 o S 7 GENERAL GAIN ADJUSTMENT 2 Speed integral compensation VIC parameter No PB10 To eliminate stationary deviation against a command the speed control loop is under proportional integral control For the speed integral compensation set the time constant of this integral control Increasing the setting lowers the response level However if the load inertia moment ratio is large or the mechanical system has any vibratory element the mechanical system is liable to vibrate unless the setting is increased to some degree The guideline is as indicated in the following expression Speed integral compensation gt 2000 to 3000 setting ms Speed loop gain setting 1 ratio of load inertia moment to servo motor inertia moment setting 2 For position control a Parameters The following parame
90. and then adjust the gains again Refer to chapter 7 1 Change the mass or the shape of the work to reduce the load 2 Make the acceleration deceleration time shorter to make the effective load ratio lower Review the torque limit setting Adjust the coupling or the backlash of the mechanical parts Set the status to on line Select On line on System settings on the Setup menu Check that the communication A communication cable is faulty Replace the communication cable cables are not damaged Check the communication settings The communication setting is baud rate and port incorrect Check with the system settings on the setup menu The other model which differs from the one connected on the model selection is selected Check that the model selection is set correctly Check with the System settings command on the Setup menu Check that MITSUBISHI MELSERVO USB Controller is displayed under the controller by the device manager of the personal computer The device is not set correctly Set the communication settings correctly Set the model settings correctly Delete the unknown device or other devices Turn the controller power on and then re set with found new hardware wizard Refer to the MR Configurator help for details 9 TROUBLESHOOTING Checkpoint Estimated cause Check that the model selection is set correctly Check with the System settings command on the S
91. automatically by making home position return correctly The number of home position setting times is limited to 1 000 000 times Manual feed JOG etc Servo motor Completion of ON positioning INP OFF Home position ON setting CR OFF 20 ms or longer Home position ABS data Y RSR 14 22 14 ABSOLUTE POSITION DETECTION SYSTEM 14 8 4 Use of servo motor with an electromagnetic brake The timing charts at power on off and servo on SON on off are given below Preset parameter No PA04 PD13 to PD16 PD18 of the controller to make the electromagnetic brake interlock MBR valid When the ABS transfer mode is ON the electromagnetic brake interlock MBR set in parameter No PA04 is used as the ABS data bit 1 Hence make up an external sequence which will cause the electromagnetic brake torque to be generated by the ABS mode ABSM and electromagnetic brake interlock MBR Power oN SUPPIY OFF Servo on oN SOM OFF ON 7 E z mg ABS transfer mode During transmission During transmission ABSM OFF of ABS of ABS ABS request ON ABSR ER ABS transmission ON data ready ABST OFF gt e EE Send ABS data d ABSdata y ABS data X ABS X X X X l 95 ms 95 ms ON i Base circuit OFF i i i i 5 ms 5 ms tt p Ready ON RD OF
92. been set to the negative logic and forward and reverse rotation pulse trains parameter No PA13 has been set to 0010 The waveforms of PP PG NP and NG are based on that of the ground of the differential line driver Forward rotation pulse train KAAN pe E Reverse rotation pulse train ee aE NP IS E RE Eat 3 Forward rotation command d Reverse rotation command 2 In position INP INP turns on when the number of droop pulses in the deviation counter falls within the preset in position range parameter No PA10 INP turns on when low speed operation is performed with a large value set as the in position range ON Servo on SON OFF Yes Alarm No In position range Droop pulses ON In position INP p Yo 3 SIGNALS AND WIRING 3 Ready RD ON Servo on SON OFF Yes No Alarm vk 100ms or less 10ms or less KR 10ms or less Ready RD SS ea 7 OFF 4 Electronic gear switching The combination of CM1 and CM2 gives you a choice of four different electronic gear numerators set in the parameters As soon as CM1 CM2 is turned ON or OFF the molecule of the electronic gear changes Therefore if any shock occurs at this change use position smoothing parameter No PBO3 to relieve shock Note ai cen device Electronic gear molecule cm o 0 Parameter No PA0S Po 1 Femme Hp P 0 fO Parameter No P03
93. breaker having lg of 15 mA is used with the NV SP SW CP CW HW series 12 31 SMC 12 OPTIONS AND AUXILIARY EQUIPMENT 12 10 EMC filter recommended For compliance with the EMC directive of the IEC EN Standard it is recommended to use the following filter Some EMC filters are large in leakage current 1 Combination with the controller R ded filter Soshin Electri See ecommended filter Soshin Electric Mass kg Ib Leakage current mA LECSB2 Note HF3010A UN 5 3 6 61 LECSB1 Note A surge protector is separately required to use any of these EMC filters 2 Connection example EMC filter Controller NFB _ 1 4 Note 1 Power supply ns d VS 5 KE Cem ee 3 60 E TE 1 Note 2 2 Surge protector 1 RAV 781BYZ 2 Ali OKAYA Electric Industries Co Ltd Note 2 4 2 3 Surge protector 2 ep RAV 781BXZ 4 OKAYA Electric Industries Co Ltd Note 1 For 1 phase 200 to 230VAC power supply connect the power supply to L1 L2 and leave Ls open There is no Ls for 1 phase 100 to 120VAC power supply Refer to section 1 3 for the power supply specification 2 The example is when a surge protector is connected 12 32 SMC 12 OPTIONS AND AUXILIARY EQUIPMENT 3 Outline drawing a EMC filter HF3010A UN Unit mm 3
94. cable LE CSM S IP65 Cable length 2 5 Motor cable Opposite to LE S5 load side lead Motor cable LE CSM R ees IP65 Cable length 2 5 10m LE S8 Opposite to series load side lead Robot cable 14 Lock cable LE CSB SLIA IP65 Cable length 2 5 10m Lock ae ae Load side lead LE S6 15 Lock cable LE CSB RUJIA LE S7 IP65 Cable length 2 5 10m LE S8 Load side lead Refer to section 12 1 4 for details SE Robot cable Lock cable LE CSB S IP65 Cable leng Lock cable Opposite to LE S5 load side lead 17 Lock cable LE CSB R LE S6 IP65 LE S7 LE S8 Refer to section 12 1 4 for details series 8 9 Refer to section 12 1 3 for details 16 Opposite to load side lead Robot cable 20 Encoder LE CSE S e IP65 cable Cable leng l i Encoder Ces 55 21 Encoder LE CSE R az ES IP65 cable Cable length 2 5 10m LE S7 Opposite to LE S8 load side lead series Robot cable 22 Encoder LE CSE S c IP65 cable Cable len Opposite to Ce Go side lead LE S6 23 Encoder LE CSE R LE S7 IP65 cable Cable length 2 5 10m LE S8 Opposite to series load side lead Robot cable Refer to se
95. contacts and T timers of the Y axis so that they do not overlap those of the X axis The buffer memory addresses of the QD75 differ between the X and Y axes The instructions marked 1 in the program of section 14 9 2 2 f should be changed as indicated below for use with the Y axis DMOVP D9 U0 G72 DMOVP D UO G222 DMOVP U0 G72 D9 gt DMOVP Uo G222 D9 DMOVP D9 Uo 1506 DMOVP D UO 1606 DMOVP K9003 U0 1500 DMOVP D9 UO 1600 Program configuration X axis data set type home position return program Program in section 14 10 3 2 f ETEEN E EEN EE E EE EE ve e e EE EE r Y axis data set type home position return program Refer to the X axis program and write the Y axis i program 14 57 14 ABSOLUTE POSITION DETECTION SYSTEM 14 10 Absolute position data transfer errors 14 10 1 Corrective actions 1 Error list The number within parentheses in the table indicates the output coil or input contact number of the A1SD75 Output coil ar F Name Description Cause Action Nme pou Ee beson Io lm Note Y39 Y11 1 The ABS data transfer mode 1 Wiring for ABS transfer mode Correct the wiring ABS signal Y41 is not completed signal ABS data request communication within 5s signal or ready to send signal error 2 The ready to send signal is disconnected or connected X32 is not turned OFF within to the DOCOM terminal signal Y42 is turned ON PLC etc program incorre
96. controller can be a source of noise as its outputs are chopped by high carrier frequencies If peripheral devices malfunction due to noises produced by the controller noise suppression measures must be taken The measures will vary slightly with the routes of noise transmission 1 Noise reduction techniques a General reduction techniques Avoid laying power lines input and output cables and signal cables side by side or do not bundle them together Separate power lines from signal cables Use shielded twisted pair cables for connection with the encoder and for control signal transmission and connect the shield to the SD terminal Ground the controller servo motor etc together at one point refer to section 3 12 b Reduction techniques for external noises that cause the controller to malfunction If there are noise sources Such as a magnetic contactor an electromagnetic brake and many relays which make a large amount of noise near the controller and the controller may malfunction the following countermeasures are required Provide surge absorbers on the noise sources to suppress noises Attach data line filters to the signal cables Ground the shields of the encoder connecting cable and the control signal cables with cable clamp fittings Although a surge absorber is built into the controller to protect the controller and other equipment against large exogenous noise and lightning surge attaching a varistor to the po
97. converter unit controller drive unit or servo motor Isolate from all impact loads Securely attach the servo motor to the machine If attach insecurely the servo motor may come off during operation The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage Take safety measures e g provide covers to prevent accidental access to the rotating parts of the servo motor during operation Never hit the servo motor or shaft especially when coupling the servo motor to the machine The encoder may become faulty Do not subject the servo motor shaft to more than the permissible load Otherwise the shaft may break O N CAUTION When you keep or use it please fulfill the following environmental conditions GE Environmental conditions Converter unit controller drive unit Servo motor In C 0 to 55 non freezing 0 to 40 non freezing Ambient operation 32 to 131 non freezing 32 to 104 non freezing F temperature In storage 20 to 65 non freezing 15 to 70 non freezing 4 to 149 non freezing 5 to 158 non freezing Ambient 90 RH or less non condensing 80 RH or less non condensing humidity 90 RH or less non condensing Indoors no direct sunlight Free from corrosive gas flammable gas oil mist dust and dirt Max 1000m 3280 ft above sea level LECSOO S5 5 9 or less at 10 to Note 55Hz directions of LP LECSOO S8 Vibration X Y an
98. devices fters b1 bO 1 0N 0 OFF Command of each bit is transmitted to the master station as hexadecimal data bit CDPS x ee i CAR e o ETN eee al CDPs 27 asv EE Ee 13 COMMUNICATION FUNCTION 13 5 5 Input device ON OFF POINT The ON OFF states of all devices in the controller are the states of the data received last Hence when there is a device which must be kept ON send data which turns that device ON every time Each input device can be switched on off However when the device to be switched off exists in the external input signal also switch off that input signal Send command 9 2 data No 6 0 and data CC TC Command of each bit is transmitted to the slave station as hexadecimal data fe se BE SP2 eee Lee a ee ee ee pon eee ee ft ee ees stapes 28 __ Ke D s Sen BE ES ee EE SE 13 5 6 Disable enable of I O devices DIO Inputs can be disabled independently of the I O devices ON OFF When inputs are disabled the input signals devices are recognized as follows Among the input devices EMG LSP and LSN cannot be disabled Status Input devices Dl External analog input signals Pulse train inputs 1 Disabling enabling the input devices Dl external analog input signals and pulse train inputs with the exception of EMG LSP and LSN T
99. does not operate in the intended direction check the input signal In this step connect the servo motor with the machine and confirm that the machine operates normally under the commands from the command device Make sure that the servo motor rotates in the following procedure 1 Switch on the Emergency stop EMG and Servo on SON When the controller is put in a servo on status the Ready RD switches on 2 Switch on the Forward rotation stroke end LSP or Reverse rotation stroke end LSN 3 When the analog speed command VC is input from the command device and the Forward rotation start ST1 or Reverse rotation start ST2 is switched on the servo motor starts rotating Give a low speed command at first and check the operation direction etc of the machine If the machine does not operate in the intended direction check the input signal In the status display or MR Configurator check for any problems of the servo motor speed load ratio etc 4 Then check automatic operation with the program of the command device 4 STARTUP 4 3 4 Parameter setting The encoder cable MR EKCBLOIM L H for the HF MP series HF KP series servo motor or the encoder cable MR ENECBLOIM H for HF JP11K1M 4 15K1M 4 servo motor requires the parameter No PC22 setting to be changed depending on its length Check whether the parameter is set correctly If it is not set correctly the encoder error 1 At power on AL 16 will occur a
100. driver system as a pulse input system Refer to section 3 8 2 3 b and A1SD75PO0 S3 Positioning Module User s Manual IB NA 66716 for the open collector system To enhance noise immunity connect LG and pulse output COM N oa Aa WwW e gt 2 Sequence program example a Conditions The ABS data is transmitted using the leading edge of the servo on switch as a trigger 1 When the servo on switch and power supply GND are shorted the ABS data is transmitted at power on of the controller or on the leading edge of the RUN signal after a PC reset operation PC RESET The ABS data is also transmitted when an alarm is reset or when an emergency stop is reset Before starting the ABS data transfer confirm that it is the servo on SON ON state refer to section 3 3 2 2 If a checksum mismatch is detected in the transmitted data data transmission is retried up to three times If the checksum mismatch still persists after the retries the ABS checksum error occurs Y3A ON 3 The following time periods are measured If the ON OFF state does not change within the specified time the ABS communication error occurs change within the specified time the ABS communication error occurs Y3A ON ON period of ABS transfer mode Y31 ON period of ABS request Y32 OFF period of reading to send ABS data X22 14 38 14 ABSOLUTE POSITION DETECTION SYSTEM b Device list X input contact Y output contact ABS T
101. es else zo speed 8a pol pes Alarmhistoryclear DO oO PC19 ENRS Encoder output pulses selection ooon O Fecz0 Sno Salon umber sting EEN Pc21 soe Communication function selection ooon Li _ O E e E Pc25 For manufacturer setting ooon PC28 For manufacturer setting 0000h PC29 0000h Command pulse multiplying factor numerator 2 PC33 Command pulse multiplying factor numerator 3 r min VEER Mul R A ess Des Ee WS A Wa e ES D e S o DN EA Ed o T y Co o em oO o KA o Wee KSC DESCH Cd Eed CES ea WS E SC A OLM Helle Milt i Bin E As HEN A 5 5 PARAMETERS osition Spee orque Pc34 cmx4 Command pulse multiplying factornumerator4 1 lo SJ Pc35 TL2 Intemnaltorquelimt2 A000 Lee OT OO OO PC36 DMD Statusdisplayselection _ _ o Jl O 0 Analog speed command offset Analog speed limit offset Analog torque command offset Analog torque limit offset FC von Analogmonitortofset oo mv pc4o Moz Analog monitor 2 offset o i For manufacturer setting 0000h 0000h 0000h 0000h 0000h 0000h ES Pcs0 PC49 0000h PC50 0000h 5 3 2 List of details Symbol GE EE Initial Setting Control mode value range STA Acceleration time constant Used to set the acceleration time required to reach the rated speed from Or min in response to the analog speed SE command and internal speed commands 1 to 7 If
102. for data ASCII unit codes are used Y Y Y Y KEESSIER SES o NuL DLE Space o P e 1 Jsonjoc 1 alata a 2 soc EE E Elo 3 c s s NS ee afo 310 A lech ak N 3 Station numbers You may set 32 station numbers from station 0 to station 31 and the ASCII unit codes are used to specify the stations Station number_ o 2 3 4 5 6 7 8 9 10 14 12 13 14 15 jasciicode o f 2tsit4 s5je 7 s totatelic oyje e jasciicode G Ht futk etm n oftefajtris ru v For example 30H is transmitted in hexadecimal for the station number of 0 axis 1 13 6 13 COMMUNICATION FUNCTION 13 3 3 Error codes Error codes are used in the following cases and an error code of single code length is transmitted On receipt of data from the master station the slave station sends the error code corresponding to that data to the master station The error code sent in upper case indicates that the servo is normal and the one in lower case indicates that an alarm occurred Errorcode Of code Error name Description Remarks Servo normal Servo alarm TAL NM Nomai Loss transmitted was processed properly a Parity error occurred in the transmitted data Checksum error occurred in the transmitted data Character not existing in the specifications was Character error transmitted Negative response Command not existing in the spec
103. hexadecimal 155 9B Hence 0200009B is transmitted 13 17 13 COMMUNICATION FUNCTION 13 5 2 Status display 1 Reading the status display name and unit Read the status display name and unit a Transmission Transmit command 0 1 and the data No corresponding to the status display item to be read 0 0 to O E Refer to section 13 4 1 b Reply The slave station sends back the status display name and unit requested O Unit characters 5 digits Name characters 9 digits 2 Status display data read Read the status display data and processing information a Transmission Transmit command 0 1 and the data No corresponding to the status display item to be read Refer to section 13 4 1 b Reply The slave station sends back the status display data requested P OT Data 32 bits long represented in hexadecimal Data conversion into display type is required Display type 0 Used unchanged in hexadecimal 1 Conversion into decimal required Decimal point position 0 No decimal point 1 Lower first digit usually not used 2 Lower second digit 3 Lower third digit 4 Lower fourth digit 5 Lower fifth digit 6 Lower sixth digit 3 Status display data clear The cumulative feedback pulse data of the status display is cleared Send this command immediately after reading the status display item The data of the status display item transmitted is cleared to
104. level Y i 7A N Note Note Note When ZSP is not on control cannot be changed if LOP is switched on off 2 Torque limit in position control mode As in section 3 6 1 5 If ZSP switches on after that control cannot be changed 3 SIGNALS AND WIRING 3 Speed setting in speed control mode a Speed command and speed The servo motor is run at the speed set in parameter No 8 internal speed command 1 or at the speed set in the applied voltage of the analog speed command VC A relationship between analog speed command VC applied voltage and servo motor speed and the rotation directions determined by the forward rotation start ST1 and reverse rotation start ST2 are as in a 1 in section 3 6 2 Generally make connection as shown below Controller Japan resistor RRS10 or equivalent Note For the sink I O interface For the source I O interface refer to section 3 8 3 b Speed selection 1 SP1 speed selection 2 SP2 and speed command value Choose any of the speed settings made by the internal speed commands 1 to 3 using speed selection 1 SP1 and speed selection 2 SP2 or the speed setting made by the analog speed command VC Note Input device De SE vi Speed command value SaaS Analog speed command VC oOo o o a Internal speed command 1 parameter No PC05 a SE o Internal speed command 2 parameter No PC06 Internal speed command 3 parameter No PC07 Note 0 off 1
105. loop Set this parameter to increase the position response to level load disturbance Higher setting increases the response level but is liable to generate vibration and or noise When auto tuning mode 1 2 and interpolation mode is selected the result of auto tuning is automatically used PBO9 VG2_ Speed loop gain Used to set the gain of the speed loop Set this parameter when vibration occurs on machines of low rigidity or large backlash Higher setting increases the response level but is liable to generate vibration and or noise When auto tuning mode 1 2 manual mode and interpolation mode is selected the result of auto tuning is automatically used Note The setting range of 50000 applies to the controller whose software version is A3 or later The setting range of the controller whose software version is older than A3 is 20 to 20000 When the software version of MR Configurator is A3 or earlier 20001 or more cannot be set Use the display operation section of the controller to set 20001 or more PB10 VIC Speed integral compensation Used to set the integral time constant of the speed loop Lower setting increases the response level but is liable to generate vibration and or noise When auto tuning mode 1 2 and interpolation mode is selected the result of auto tuning is automatically used PB11 VDC Speed differential compensation Used to set the differential compensation Made valid when the proportion control PC
106. loose 2 Check that the machine is not worn Check the machine required torque does not exceed the maximum torque of the servo motor Increase the auto tuning response parameter No PA09 except the manual mode The setting of the speed command the speed limit or the electronic gear is incorrect lt Speed control mode torque control mode gt The setting of the speed selection 1 SP1 the speed selection 2 SP2 or the speed selection 3 SP3 is incorrect An output circuit is open The main circuit power voltage decreased The electromagnetic brake is not released The load to motor inertia moment ratio by the auto tuning is not estimated correctly The load to motor inertia moment ratio setting parameter No PBO6 is incorrect when the auto tuning mode 2 or the manual mode is used Commands from the controller are unstable The load of the mechanical part is changed The acceleration deceleration torque overshot at stop due to exceed its servo motor performance 1 The servo gain is low 2 The auto tuning response is low Review the settings of the speed command the speed limit and the electronic gear is incorrect 1 Review the wiring 2 Check the setting of the speed selection 1 SP1 the speed selection 2 SP2 and the speed selection 3 SP3 Review the wiring of the servo motor power supply cable 1 Set the main circuit power supply within the specified range of the perm
107. lowers the response level However if the load inertia moment ratio is large or the mechanical system has any vibratory element the mechanical system is liable to vibrate unless the setting is increased to some degree The guideline is as indicated in the following expression Speed integral 2000 to 3000 gt compensation setting ms Speed loop gain setting 1 ratio of load inertia moment to servo motor inertia moment 2 setting o S 7 GENERAL GAIN ADJUSTMENT 7 4 Interpolation mode The interpolation mode is used to match the position loop gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X Y table or the like In this mode manually set the model loop gain that determines command track ability Other parameters for gain adjustment are set automatically 1 Parameter a Automatically adjusted parameters The following parameters are automatically adjusted by auto tuning Parameter No Abbreviation Ratio of load inertia moment to servo motor inertia moment Position loop gain Speed loop gain Speed integral compensation b Manually adjusted parameters The following parameters are adjustable manually Abbreviation PBO7 PG1 Model loop gain 2 Adjustment procedure Operation Description Set to the auto tuning mode Select the auto tuning mode 1 During operation increase the response level setting parameter No PAO9 and return the set
108. of the analog speed command VC the analog torque limit TLA and the analog input voltage Review the settings of the analog torque command TC the analog speed limit VLA and the analog input voltage Eliminate the machine interference Turn the electromagnetic brake power on to release the brake Set the controller setting parameter No PA03 wiring and ladder program of the controller properly Check the electronic gear settings The electronic gear settings are Set the proper electronic gear incorrect 9 TROUBLESHOOTING Checkpoint Estimated cause The servo motor speed is not accelerated Or too fast The servo motor vibrates due to low frequency Check the settings of the speed command the speed limit and the electronic gear Check the external input signal is on or off 1 Check with the external I O signal display in the diagnostic mode Check the I O signal status on the I O interface display command on the Monitor menu on MR Configurator Check the power supply cable of the servo motor Check that the main circuit power voltage is not low Check the power supply for the servo motor with an electromagnetic brake If the safe operation is possible repeat acceleration deceleration 4 times or more to complete the auto tuning Check commands from the controller Check the mechanical part if errors do not occur Examples 1 Check that the timing belt is not
109. on the display shows the corresponding warning However by switching on the main circuit power supply the warning disappears and the controller will operate properly 3 The controller can accept the servo on SON about 1 to 2s after the main circuit power supply is switched on Therefore when SON is switched on simultaneously with the main circuit power supply the base circuit will switch on in about 1 to 2s and the ready RD will switch on in further about 5ms making the controller ready to operate Refer to paragraph 2 of this section 4 When the reset RES is switched on the base circuit is shut off and the servo motor shaft coasts 2 Timing chart Servo on SON accepted Main circuit ON T Control circuit OFF l Power supply i Base circuit ON OFF l l 10ms l 110ms 95ms ON i bs Rx eg He e Kee dl Servo on SON eege WE CES Se agmg Reset RES ON Ss 5ms 10ms me 10ms 5ms 10ms ON rte T Ready RD OFF A ete al ei E 1s Trouble aLm No ON L Yes OFF 1 1 to 1 5s gt e Power on timing chart 3 SIGNALS AND WIRING 3 Emergency stop A CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately Make up a circuit that shuts off main circuit power as soon as EMG is turned off at an emergency stop When EMG is turned off the dynamic brake is operated to bring the servo motor to a
110. on off If the battery is used out of specification the absolute position erase AL 25 may occur 3 Quality of battery degrades by the storage condition It is recommended to connect and use battery in the controller within two years from the production date The life of battery is five years from the production date regardless of the connection Maximum revolution range Home position 32767 rev 2 Configuration Positioning module UO module QD750 QX40 41 42 QY40 41 42 50 A1SD75 AX40 41 42 AY40 41 42 FXen 1GP FXe2n 10PG FXe2n 10GM FX2n 20GM FXenc series FXsu c series PC or PLC etc Controller QD750 etc CN1 CNS Battery MR J3BAT Servo motor 3 Parameter setting Set 00011 in parameter No PA03 to make the absolute position detection system valid Set 0002 when using the communication based ABS transfer system Refer to section 14 11 for the communication based ABS transfer system Parameter No PA03 Zane ile Absolute position detection system selection 0 Used in incremental system 1 Used in absolute position detection system ABS transfer by DIO 2 Used in absolute position detection system ABS transfer by communication 14 3 14 ABSOLUTE POSITION DETECTION SYSTEM 14 3 Battery replacement procedure Before replacement a battery turn off the main circuit power and wait for 15 minutes or longer 20 minutes for 30kW or higher until the
111. operation O inthe data GOUO indicates a blank CLRO STOP Temporary stop GOULD Restart for remaining distance CLRO Remaining distance clear 13 15 13 COMMUNICATION FUNCTION 13 5 Detailed explanations of commands 13 5 1 Data processing When the master station transmits a command data No or a command data No data to a slave station the controller returns a reply or data according to the purpose When numerical values are represented in these send data and receive data they are represented in decimal hexadecimal etc Therefore data must be processed according to the application Since whether data must be processed or not and how to process data depend on the monitoring parameters etc follow the detailed explanation of the corresponding command The following methods are how to process send and receive data when reading and writing data 1 Processing the read data When the display type is 0 the eight character data is converted from hexadecimal to decimal and a decimal point is placed according to the decimal point position information When the display type is 1 the eight character data is used unchanged The following example indicates how to process the receive data 003000000929 given to show The receive data is as follows 0 10 3101 0 0 0 0101 9 219 Data 32 bit length hexadecimal representation Data conversion is required as indicated in the display type Display type 0 Data must be c
112. or MR Analog speed command is OV Section 6 3 rotation start ST1 not rotate Configurator and check the input or reverse rotation voltage of the analog speed start ST2 command VC Call the external I O signal display LSP LSN ST1 or ST2 is off Section 6 7 section 6 7 and check the ON OFF status of the input signal Check the internal speed Set value is 0 Section commands 1 to 7 5 1 9 parameters No PC05 to PC11 Check the forward rotation torque Torque limit level is too low as limit Parameter No PA11 or compared to the load torque reverse rotation torque limit Parameter No PA12 When the analog torque limit Torque limit level is too low as TLA is usable check the input compared to the load torque voltage on the status display or MR Configurator 4 STARTUP Start up sequence Investigation Gain adjustment Rotation ripples Make gain adjustment in the Gain adjustment fault Chapter 7 speed fluctuations following procedure are large at low Increase the auto tuning response speed level Repeat acceleration and deceleration several times to complete auto tuning Large load inertia If the servo motor may be run with Gain adjustment fault Chapter 7 moment causes the safety repeat acceleration and servo motor shaft to deceleration several times to oscillate side to complete auto tuning side 4 4 Startup in torque control mode Make a startup in accordance with section 4 1 This secti
113. parameter No PD20 This device is not designed to make a stop Do not turn it ON during operation Forward rotation LSP CN1 43 To start operation turn LSP LSN on Turn it off to bring the motor to DI 1 OJO stroke end a sudden stop and make it servo locked Set O001 in parameter No PD20 to make a slow stop Refer to section 5 4 3 Note Input device Operation LSP LSN CEW as direction direction LSN Reverse rotation CN1 44 stroke end Note 0 off 1 on Set parameter No PD01 as indicated below to switch on the signals keep terminals connected automatically in the controller Parameter No PD01 aoo Automaticon _ 0400 osoo Automatic On Automatic ON Automatic ON 3 SIGNALS AND WIRING When LSP or LSN turns OFF an external stroke limit warning AL 99 occurs and Warning WNG turns OFF However when using WNG set the parameter No PD13 to PD16 PD18 to make it usable 3 SIGNALS AND WIRING Device External torque limit selection Internal torque limit selection Forward rotation start Reverse rotation start Forward rotation selection Reverse rotation selection Connec tor pin No Functions Applications division _Tode pp i s Tt Turn TL off to make Forward torque limit parameter No PA11 and DI 1 Reverse torque limit parameter No PA12 valid or turn it on to make Analog torque limit TLA
114. parameter No PCo7 Du 1 o o intemal speed command 4 parameter No PC08 1 o 1 intemal speed command 5 parameter No PCO9 1 1 0 intemal speed command 6 parameter No PC10 _ Note 0 off 1 on lt Torque control mode gt Used to select the limit speed for operation When using SP3 make it usable by making the setting of parameter No PD03 to PD08 PD10 to PD12 Note o o 0 Analogspeediimit vLA o o 1 intemal speed limit 1 parameter No Pcos o 1 0 intemal speed limit 2 parameter No Pcoe o 1 1 intemal speed limit 3 parameter No Pco7 1 o o intemal speed limit 4 parameter No Pcos 1 o 1 intemal speed limit 5 parameter No Pcoo 1 1 0 intemal speed limit 6 parameter No PC10 Internal speed limit 7 parameter No PC11 Note 0 off 1 on 3 SIGNALS AND WIRING Connec Device Symbol tor pin No Proportion control CN1 17 Emergency stop CN1 42 i Electronic gear CM1 selection 1 Electronic gear CM2 selection 2 Gain changing C Spa Functions Applications mode division e i s Tt Turn PC on to switch the speed amplifier from the proportional integral type to the proportional type If the servo motor at a stop is rotated even one pulse due to any external factor it generates torque to compensate for a position shift When the servo motor shaft is to be locked mechanically after positioning completion stop switching on the
115. section 12 11 for the wire used for the extension cable 2m or less 4 gt MR PWS1CBL2M A1 L MR PWS1CBL2M A2 L MR PWS1CBL2M A1 H 50m or less MR PWS1CBL2M A2 H gt MR PWS2CBL03M A1 L Controller MR PWS2CBLO03M A2 L Servo motor CNP3 Extension cable S X TO AWG 19 red U V AWG 19 white V w AWG eea reen yello green yellow e Bo Note Note a Relay connector for b Relay connector for motor extension cable power supply cable Note Use of the following connectors is recommended when ingress protection IP65 is necessary Relay connector Description IP rating Connector RM15WTPZ 4P 71 IP65 a Relay connector for Gord clamp JR13WCC 5 72 extension cable Hirose Electric T Numeral changes depending on the cable OD b Relay connector for Connector RM15WTJZ 4S 71 motor power supply Cord clamp JR13WCC 8 72 Hirose Electric cable T Numeral changes depending on the cable OD 3 SIGNALS AND WIRING 3 11 Servo motor with an electromagnetic brake 3 11 1 Safety precautions Configure an electromagnetic brake circuit so that it is activated also by an external emergency stop switch Contacts must be opened by servo on SON OFF trouble ALM and Contacts must be opened by an electromagnetic brake interlock MBR emergency stop switch Servo motor Electromagnetic brake The electromagnetic brake is provided for holding purpose and must not b
116. selection 1 cN1 22 04h PD14 oo Output signal device selection 2 CN1 23 000Ch_ J PD15 oo Output signal device selection 3 CN1 24 04h Output signal device selection 4 CN1 25 ooo7h Io P017 For manufacturersetting MOER D PD18 DO6 Output signal device selection 6 CN1 49 LL 02h PD19 DIF_ inputfiterseting DEEL PD20 DOP Funotion seleoionb1 oooon el P021 For manufacturer setting oon PD22 DOP3 Function selection D 3 ooon P023 For manufacturer setting Dh DITT J PD24 DOPs Function selection D 5 000 Ta e e For manufacturer setting e e E Meery eree Melki etke 5 PARAMETERS 5 4 2 List of details No Symbol EE minerion Initial Unit Setting Control mode value range PDO1 DIA1 Input signal automatic ON selection 1 Refer to Select the input devices to be automatically turned ON name and 0 j function Initial value lumn eee Fan Tr SAS Servo on SON o geg DEIER EH Sans nara Initial value gna name Bin HEX L Proportion control PC 0 External torque limit selection TL Forward rotation stroke end LSP I___ Reverse rotation stroke end LSN BIN 0 Used as external input signal BIN 1 Automatic ON For example to turn ON SON the setting is I s
117. slave station is a negative response code B to F b to f In this case the master station retransmits the message which was sent at the occurrence of the fault Retry processing A communication error occurs if the above processing is repeated and results in the error three or more consecutive times Communication error D D ZS PC or PLC etc 5 5 b Master station D E EH Ki Ki Ki Servo S S S Slave station T T T X X X Station number Station number Station number Similarly when the master station detects a fault e g checksum parity in the response data from the slave station the master station retransmits the message which was sent at the occurrence of the fault A communication error occurs if the retry processing is performed three times 13 8 13 COMMUNICATION FUNCTION 13 3 7 Initialization After the slave station is switched on it cannot reply to communication until the internal initialization processing terminates Hence at power on ordinary communication should be started after 1 1s or longer time has elapsed after the slave station is switched on and 2 Making sure that normal communication can be made by reading the parameter or other data which does not pose any safety problems 13 3 8 Communication procedure example The following example reads the set value of alarm history last alarm from the controller of station 0 Station number o Controller sta
118. status display item of the controller display shown at power on can be changed by changing the parameter No PC36 settings The item displayed in the initial status changes with the control mode as follows Control mode Status display at power on Position Cumulative feedback pulses Position speed Cumulative feedback pulses servo motor speed Speed Servo motor speed Speed torque Servo motor speed analog torque command voltage Analog torque command voltage Torque position Analog torque command voltage cumulative feedback pulses o S 6 DISPLAY AND OPERATION SECTIONS 6 4 Diagnostic mode Display Not ready Indicates that the controller is being initialized or an alarm has occurred Sequence Ready Indicates that the servo was switched on after completion of initialization and the controller is ready to operate Refer to section 6 7 Indicates the ON OFF states of the external I O signals The upper segments correspond to the input signals and the lower External I O signal display segments to the output signals Lit ON Extinguished OFF Output signal DO forced The digital output signal can be forced on off For more information output refer to section 6 8 JOG operation can be performed when there is no command from the external command device For details refer to section 6 9 2 JOG operation Positioning operation can be performed when there is no command Positioning from
119. sudden stop At this time the display shows the servo emergency stop warning AL E6 During ordinary operation do not use the external emergency stop EMG to alternate stop and run The controller life may be shortened Also if the forward rotation start ST1 and reverse rotation start ST2 are on or a pulse train is input during an emergency stop the servo motor will rotate as soon as the warning is reset During an emergency stop always shut off the run command Controller 24VDC _Dicom Note Emergency stop EMG Note For the sink I O interface For the source UO interface refer to section 3 8 3 3 SIGNALS AND WIRING 3 3 3 CNP1 CNP2 CNP3 wiring method POINT Refer to section 12 11 for the wire sizes used for wiring Use the supplied controller power supply connectors for wiring of CNP1 CNP2 and CNP3 1 LECSBLI a Controller power supply connectors Note Servo amplifier Power supply connectors Per Ses E EE oe se Se eS ek aa e Sr a i ie a ee Se Se eg Connector for CNP1 54928 0670 Molex Controller OOOO00 ran l Connector for CNP2 lt Applicable cable example gt 54927 0520 Molex Cable finish OD to 3 8mm d 000 lt 4 i Connector for CNP3 54928 0370 Molex Le EE eeben ee Eet Eeer E a a EE
120. the parameter number b Reply The slave station sends back the name of the parameter No requested of ojo Name characters 9 digits 13 19 13 COMMUNICATION FUNCTION 4 Reading the setting Read the parameter setting Specify the parameter group in advance refer to 1 in this section a Transmission Transmit command 0 5 and the data No corresponding to the parameter No 0 1 to F F Refer to section 13 4 1 The data No is expressed in hexadecimal The decimal equivalent of the data No value corresponds to the parameter number b Reply The slave station sends back the data and processing information of the parameter No requested KETASAN Data is transferred in hexadecimal Decimal point position 0 No decimal point 1 Lower first digit 2 Lower second digit 3 Lower third digit 0 4 Lower fourth digit 5 Lower fifth digit C Display type 0 Used unchanged in hexadecimal 1 Must be converted into decimal Parameter write type 0 Valid after write 1 Valid when power is switched on again after write For example data 1200270F means 999 9 decimal display format and data 0003ABC means 3ABC hexadecimal display format When the display type is 0 hexadecimal and the decimal point position is other than 0 the display type is a special hexadecimal display format and F of the data value is handled as a blank Data
121. the preset speed command is Speed lower than the rated speed acceleration deceleration time jee SE will be shorter Parameter Parameter No PC01 setting No PC02 setting For example for the servo motor of 3000r min rated speed set 3000 3s to increase speed from Or min to 1000r min in 1 second Deceleration time constant Used to set the deceleration time required to reach Or min to from the rated speed in response to the analog speed 50000 command and internal speed commands 1 to 7 5 PARAMETERS os Sorbo TEE Initial Unit Setting Controlmode mode value range PC03 STC S pattern acceleration deceleration time constant ms 0 Used to smooth start stop of the servo motor to Set the time of the arc part for S pattern acceleration 1000 deceleration Speed command gt STC stcslA STC STC STB STA Acceleration time constant parameter No PC01 STB Deceleration time constant parameter No PC02 STC S pattern acceleration deceleration time constant parameter No PCO3 Long setting of STA acceleration time constant or STB deceleration time constant may produce an error in the time of the arc part for the setting of the S pattern acceleration deceleration time constant The upper limit value of the actual arc part time is limited by 2000000 2000000 STA for acceleration or by STB for deceleration Example At the setting of STA 20000 STB 5000 and STC 200 the actual arc part times are as follows Limited to 100 m
122. their signal cables are contained in a control box together with the controller or run near the controller such devices may malfunction due to noises transmitted through the air The following techniques are required 1 Provide maximum clearance between easily affected devices and the controller 2 Provide maximum clearance between easily affected signal cables and the I O cables of the controller 3 Avoid laying the power lines Input cables of the controller and signal cables side by side or bundling them together 4 Insert a line noise filter to the I O cables or a radio noise filter on the input line 5 Use shielded wires for signal and power cables or put cables in separate metal conduits When the power lines and the signal cables are laid side by side or bundled together magnetic induction noise and static induction noise will be transmitted through the signal cables and malfunction may occur The following techniques are required 1 Provide maximum clearance between easily affected devices and the controller 2 Provide maximum clearance between easily affected signal cables and the I O cables of the 1 2 4 3 6 5 controller 3 Avoid laying the power lines I O cables of the controller and signal cables side by side or bundling them together 4 Use shielded wires for signal and power cables or put the cables in separate metal conduits When the power supply of peripheral devices is connected to the power s
123. to be able to shut down the power supply on the side of the controller s power supply If a magnetic contactor is not connected continuous flow of a large current may cause a fire when the controller malfunctions Use the trouble ALM to switch power off Otherwise a regenerative transistor fault or the like may overheat the regenerative resistor causing a fire Check the model and input the correct voltage for the power supply of the controller When a voltage which exceeds the maximum input voltage of the controller specifications is input the controller malfunctions Wire the power supply and main circuit as shown below so that the servo on SON turns off as soon as alarm occurrence is detected and power is shut off A no fuse breaker NFB must be used with the input cables of the power supply 1 For 3 phase 200 to 230VAC power supply to LECSB2 S5 LECSB2 S7 LECSB2 S8 Trouble OFF ae uw Emergency stop Note 6 Servo motor ie sip ee ee O j U Oo 230VAC Motor VF V Wu w eee are m EL 6 97 oJ CN2 Note 3 TT Encoder cable H SCH CN 24VDC Emergency stop Note 6 bocom Note 4 lt Servo on DICOM Note 4 ALM a Trouble 3 SIGNALS AND WIRING Note 1 Always connect P1 and P2 Factory wired When using the power factor improving DC reactor refer to section 12 13 Use only one of power factor improving DC reactor or
124. to shut down the main circuit power supply simultaneously with the turn off of emergency stop EMG using the external sequence 7 Be sure to use a magnetic contactor with an operation delay time of 80ms or less The operation delay time is the time interval between current being applied to the coil until closure of contacts oon E WwW o S 3 SIGNALS AND WIRING 3 2 I O signal connection example 3 2 1 Position control mode Controller 24VDC Note 4 12 Note 7 Positioning module CN1 QD75D Note 7 zu locom me ae rouble Note 6 DICOM 20 48 ALM fe 4 cLEARCOM 14 L L DOCOM 46 Pi Zero speed detection CLEAR 13 im wi cR 41 23 ZSP fe ee Note 12 Vi et P Limiting torque RDYCOM 12 m 25 TLC af f READY 11 So RD 49 e In position PULSEF 15 Le PP 10 24 INP sem PULSE F 16 Li PG 11 S PULSE R 17 Lp NP 35 10m max PULSE R 18 e en NG 36 4 LA re Encoder A phase pulse PGO 9 k e iz 8 5 ILAR differential line driver PGO COM 10 LZR 9 6 LB Encoder B phase pulse Note 11 SS LG 3 7 LBR e differential line driver SD Plate J p Control common 34 LG Control comm
125. to suppress mechanical vibration e high f hich Low pass filter Suppresses hig frequency resonance which occurs as servo system response is increased Analyzes the frequency characteristic of the mechanical system by simply connecting a personal computer installed MR Configurator with a controller MR Configurator is necessary for this function Can simulate machine motions on a personal computer screen Machine simulation on the basis of the machine analyzer results MR Configurator is necessary for this function Personal computer changes gains automatically and searches Gain search function for overshoot free gains in a short time MR Configurator is necessary for this function Section 8 5 Machine analyzer function This function provides better disturbance response in case of Robust disturbance low response level due to high load inertia moment ratio for the compensation roll send axes MR Configurator is necessary for this function Advanced Gain search automatically searches for the optimum parameter for settle time to be short Advanced Gain search The gain can be adjusted by setting sequentially in accordance with wizard screens MR Configurator is necessary for this function control stop No PB24 1 FUNCTIONS AND CONFIGURATION aig Parameters Electronic gear Input pulses can be multiplied by 1 50 to 50 WS No PA06 PA07 Auto tuning Automatically adjusts the gain to optimum value if load applied PS Chapter 7 to the se
126. zero Silt ois DIAS For example after sending command 0 1 and data No 8 0 and receiving the status display data send command 8 1 data No 0 0 and data 1EA5 to clear the cumulative feedback pulse value to zero 13 18 13 COMMUNICATION FUNCTION 13 5 3 Parameters 1 Specify the parameter group The group of the parameters to be operated must be specified in advance to read or write the parameter settings etc Write data to the controller as described below to specify the parameter group to be operated 8 5 0 0 0000 Basic setting parameter No PATI 0001 Gain filter parameter No PB 0002 Extension setting parameter No PCI 0003 UO setting parameter No PDC 2 Reading the parameter group Read the parameter group a Transmission Send command 0 4 and data No 0 1 oi mt b Reply The slave station sends back the preset parameter group Parameter group 0 Basic setting parameter No PATI 1 Gain filter parameter No PBC 2 Extension setting parameter No PCOID 3 I O setting parameter No PDOD 3 Reading the symbol Read the parameter name Specify the parameter group in advance refer to 1 in this section a Transmission Transmit command 0 8 and the data No corresponding to the parameter No 0 1 to F F Refer to section 13 4 1 The data No is expressed in hexadecimal The decimal equivalent of the data No value corresponds to
127. 0 Feed rate 1000 Parameter H0000 Command unit Pulses Max speed Vmax 100000PPS Bias speed Vbia OPPS JOG operation Vjog 10000PPS Home position return speed high speed VRT 50000PPS Home position return speed creep VeL 1000PPS Home position return zero point signal count 2 pulses Initial value 10 Home position address 0 Acceleration deceleration time 200ms Initial value 100 Not usable Target address l 0 Operation speed I 100000 Initial value 10 Target address II 0 Operation speed Il 10 Operation command H0000 3 Instructions When the servo on switch and the COM of the power supply are shorted the ABS data is transmitted when the controller power is turned ON or at the leading edge of the RUN signal after a PC reset operation PC RESET The ABS data is also transmitted when an alarm is reset or when the emergency stop state is reset If checksum discrepancy is detected in the transmitted data the ABS data transmission is retried up to three times If the checksum discrepancy is still detected after retrying the ABS checksum error is generated Y12 ON The following time periods are measured and if the ON OFF state does not change within the specified time the ABS communication error is generated Y11 ON ON period of ABS transfer mode Y1 ON period of ABS request Y2 OFF period of ready to send the ABS data X2 14 27 14 ABSOLUTE POSITION DETECTION SYSTEM b Device list X input contact Y outp
128. 0000 Write enabled 0001 Write disabled 3 External I O signals Command 1 2 Frame length II IO HO C 0 Input device status External input pin status Status of input device turned ON by communication Output device status External output pin status 13 11 13 COMMUNICATION FUNCTION 4 Alarm history Command 3 3 3 3 Alarm number in alarm history most recent alarm 4 Alarm occurrence time in alarm history 5 Current alarm Command 0 2 Frame length HS Ha 13 12 13 COMMUNICATION FUNCTION DIS Status display name and unit at alarm 16 occurrence op 0 3 Cumulative command pulse Analog speed limit voltage Analog torque limit voltage 0 B Within one revolution position Status display data value and processing information at alarm occurrence 8 2 Droop pulse 8 3 Cumulative command pulse 8 4 Command pulse frequency Analog speed limit voltage Analog torque limit voltage 8 D Load inertia moment ratio 8 E Bus voltage 6 Test operation mode Command 0 0 Frame length 4 1 2 Test operation mode read 0000 Normal mode not test operation mode 0001 JOG operation 0002 Positioning operation 0003 Motorless operation 0004 Output signal DO forced output 7 Others Frame length 0 2 9 0 Servo motor end pulse unit absolute position i 8e 9 1 Command unit absolute position Oosa 7 0 So
129. 0000h eterence writing 2 ooosn Reference O intial value writing O SE PA19 only Reference O Writin Parameter No g PA19 only o 5 PARAMETERS 5 1 3 Selection of control mode Parameter Initial Unit Setting Control mode Symbol Name value range Refer to PAO1 STY Control mode 0000h the text Turn off the power and then on again after setting the parameter to validate the parameter value This parameter is supported by a combination of a controller whose software version is C6 or later manufactured in January 2010 or later and a HF KP servo motor manufactured in June 2009 or later Check the software version using status display or MR Configurator Review the following parameter settings if the 350 maximum torque setting of the HF KP servo motor has been set valid because these parameter settings are set based on the maximum torque setting Parameter No PA11 forward rotation torque limit Parameter No PA12 reverse rotation torque limit Parameter No PC13 analog torque command maximum output Parameter No PC35 internal torque limit 2 A HF KP servo motor with a decelerator and servo motors except the HF KP series do not support the 350 maximum torque setting Making the 350 maximum torque setting valid when using these servo motors causes the parameter error AL 37 o S 5 PARAMETERS The following control mode can be selected for applicable actuat
130. 0M L H OOO Liinitial value MR EKCBL30M L H series MR De H MR MR EKCBL50M H H When using this servo in the torque control mode change the parameter No PA01 setting to select the torque control mode In the torque control mode the servo can be used by merely changing the basic setting parameters No PAO O and extension setting parameters No PC D mainly As necessary set the I O setting parameters No PDO D Parameter group Main description Basic setting parameter Set the basic setting parameters first No PAO DO In this parameter group set the following items Control mode selection select the torque control mode Regenerative option selection Torque limit setting Encoder output pulse setting Gain filter parameter If satisfactory operation cannot be achieved by the gain adjustment made by auto tuning execute in No PBOD depth gain adjustment using this parameter group This parameter group must also be set when the gain changing function is used Extension setting parameter In this parameter group set the following items No PCOO Acceleration deceleration time constant S pattern acceleration deceleration time constant Internal torque command Analog torque command maximum speed Analog torque command offset In addition this parameter group must be set when analog monitor output speed limit etc are used Note Used when changing the I O devices of the controller UO s
131. 144 pulse rev CMX _ age Pt an 262144 _ 102760448 5 1 CDV A0 625 12544 360 703125 Since CMX is not within the setting range in this status it must be reduced to the lowest term When CMX has been reduced to a value within the setting range round off the value to the nearest unit CMX _ 102760448 _ 822083 6 _ 822084 CDV 703125 5625 5625 Hence set 822084 to CMX and 5625 to CDV For unlimited one way rotation e g an index table indexing positions will be missed due to cumulative error produced by rounding off For example entering a command of 36000 pulses in the above example causes the table to rotate only 262144 12544 360 360 00018 Therefore indexing cannot be done in the same position on the table 5 PARAMETERS 2 Instructions for reduction The calculated value before reduction must be as near as possible to the calculated value after reduction In the case of 1 b in this section an error will be smaller if reduction is made to provide no fraction for CDV The fraction of Expression 5 1 before reduction is calculated as follows Ee 5 2 CDV 703125 7 146 1481927 ee The result of reduction to provide no fraction for CMX is as follows CMX _ 102760448 _ 917504 917504 8 ER E 5 3 CDV 703125 e779 627g 908 6 3 The result of reduction to provide no fraction for CDV is as follows CMX _ 102760448 _ 822083 6 822084 CDV 703125 5625 5625 E RE EE 5 4
132. 15VDC power supply Control common ne Shield Forward reverse rotation pulse train va O Analog speed limit CR SP1 ST1 ST2 TL RES EMG LOP VC VLA TLA TC RS1 RS2 NP PG NG 3 SIGNALS AND WIRING 3 5 Signal explanations For the I O interfaces symbols in I O division column in the table refer to section 3 8 2 In the control mode field of the table P Position control mode S Speed control mode T Torque control mode O Denotes that the signal may be used in the initial setting status A Denotes that the signal may be used by setting the corresponding parameter No PD03 to PD08 PD10 to PD12 PD13 to PD16 PD18 The pin No s in the connector pin No column are those in the initial status 1 I O devices a Input devices uo Control Functions Applications or mode division Connec Device Symbol tor pin No Lelsl S R Servo on ON CN1 15 Turn SON on to power on the base circuit and make the controller DI 1 ready to operate servo on Turn it off to shut off the base circuit and coast the servo motor Set 101044 in parameter No PD01 to switch this signal on keep terminals connected automatically in the controller Reset ES CN1 19 Turn RES on for more than 50ms to reset the alarm DI 1 Some alarms cannot be deactivated by the reset RES Refer to section 9 1 Turning RES on in an alarm free status shuts off the base circuit The base circuit is not shut off when 1101101 is set in
133. 2 1 to 12 36 EC Wee Ee ee TEE 12 1 12 1 1 Combinations of cable connector Sets cccccecccceeccccssseeseeeeseeeeceseeaeeeseseeseseauaeeseeeesenessaueeeeeeess 12 2 12 1 2 Encoder cable Connector Sets AAA 12 4 T2133 Motor Cables vscccsscssecessiecstevteccseeusccuscestacceseeceanecentencsseutaeneseutaceeceuscageceutaneeseucaegeeustesseresccusecesteneeceecegs 12 6 T2514 EEN 12 8 12 2 Regenerative ee 12 9 12 3 Junction terminal block MP TB 12 12 ES WE e Ee 12 13 12 5 Batiery unit MRISBAT ee e EE ae OR ee ee a a ae 12 16 12 6 Selection example Of wires ceccesceeccecceceeseeeeceeceeeeaeeaecaeeeaeseaesaecaeseeseaeeaecaeseeseaesaesaeseeeeaesaeeeseeseaeeats 12 17 12 7 No fuse breakers fuses magnetic Contactors eeccesccesccesseeeeceeeeseeeaeecaeesaeeeaeeeaeeeaeenaeeeaeeeaeeeaeeeas 12 21 12 8 Noise reduction techniques A 12 22 12 9 Leakage Current Dreaker ccecceecceeccceceeeceeseceeeceneceneeenseeneeneeseeenseesseeseeseeesseesneesseeseeeseeesseesneeeneeeaes 12 30 12 10 EMC filter recommended AAA 12 32 E ERT II 13 1 13 2 Communication specifications ceccececceceeseeeeceeceeeeeeeeaeeeeceeseeeeaecaeseeseaesaesaeseeseaeeaesaeseeseaesaeeeseeseteaees 13 3 13 2 1 COMMUNICATION Overvlew nn nannnnn nenene nn nat 13 3 T322 Parameter seling iea e a EE AE E EEEE AEA R 13 4 13 3 Protocols EE 13 5 13 3 1 Transmission data Confiouraton s seia ane aeae aaae a aaae aea ea E EA AAEE Eaa 13 5 1313 2 le ege EE 13 6 13
134. 3 J i xs Li p er Lt e KS Lit ON Extinguished OFF lt w aw c Torque control mode SP2 CN1 16 RS2 CN1 17 LOP CN1 45 RS1 CN1 18 EMG CN1 42 a Output OP CN1 33 1 L RD CN1 49 SA CN1 24 ZSP CN1 23 TLC CN1 25 SA CN1 22 SP1 CN1 41 RES CN1 19 SON CN1 15 yl RR ir i qpr Lit ON Extinguished OFF ALM CN1 48 d RD CN1 49 ZSP CN1 23 VLC CN1 25 6 DISPLAY AND OPERATION SECTIONS 6 8 Output signal DO forced output When the servo system is used in a vertical lift application turning on the electromagnetic brake interlock MBR by the DO forced output after assigning it to connector CN1 will release the electromagnetic brake causing a drop Take drop preventive measures on the machine side The output signal can be forced on off independently of the servo status This function is used for output signal wiring check etc This operation must be performed in the servo off state by turning off the servo on SON Operation After power on change the display mode to the diagnostic mode using the MODE button Press UP twice Press SET for longer than 2 seconds seers Switch on off the signal below the lit segment lt lt A A Always lit KR q E al a i a ew Indicates the ON OFF of the output signal The corr
135. 3 Parameter No PC34 Note 0 off 1 on 5 Torque limit a Torque limit and torque By setting parameter No PA11 forward rotation torque limit or parameter No PA12 reverse rotation torque limit torque is always limited to the maximum value during operation A relationship between the limit value and servo motor torque is shown below CW direction Max torque CCW direction Torque 100 0 100 Torque limit value in Torque limit value in parameter No PA12 parameter No PA11 3 SIGNALS AND WIRING A relationship between the applied voltage of the analog torque limit TLA and the torque limit value of the servo motor is shown below Torque limit values will vary about 5 relative to the voltage depending on products At the voltage of less than 0 05V torque may vary as it may not be limited sufficiently Therefore use this function at the voltage of 0 05V or more a Controller 3 100 S ae T 1 1 Note Z _ Docom E kd 4 P15R tof oO 3 2kQ E TLA o 7 LG S 0 05 10 Japan resistor SD TLA application voltage V RRS10 or equivalent TLA application voltage vs Connection example torque limit value Note For the sink I O interface For the source I O interface refer to section 3 8 3 b Torque limit value selection As shown below the forward rotation torque limit parameter No PA11 or reverse rotation torque limit parameter No PA12 and the analog torque limit
136. 39 Emor CodeS eege re 13 7 EN KEE ln EE 13 7 13 3 5 Timeout tw Bed Avie aed Aa a i ln Ae la an le Bel ean Avie 13 8 13 3 6 ROU fcc eege ee tee tated tee fie ite dees eee einige hehe nba DEE ee d 13 8 acral lallelel Pcl l 8 9 a career reerre peer rrenc reer prreercerri rer ree pr a a AA AS 13 9 13 3 8 Communication procedure evample nnne 13 9 13 4 Command and data No Wei 13 10 13 4 1 Read command Saias einean lei ia ENAN AAKE evaded div OEA a EERE ANT AENA NATEN A 13 10 13 4 2 Write commands EE 13 14 13 5 Detailed explanations of commande A 13 16 13 5 4 Data een UE 13 16 1315 2 Status dene cejeseaaedendaesageecqanedeacaenesecenstedcnstdeneqesndsedastedenenabedeadasheeneqanedescass NEES RENE 13 18 13 5 3 EE 13 19 13 5 4 External I O signal statuses DIO diagnosis cccecceceeeeeeeeeeeeeeeeeeeceeeeeseaeeaeeaeseeseaesaeeaeeeeeeaeeees 13 22 13 5 5 Input device ON OFF rreren isiin ariin riea dae aceite celina sted in cada NENNEN Ee 13 25 13 5 6 Disable enable of I O devices DIO 0 cecceceeceeseeeeeeeeeeeeseeeeeeeeeeesaecaeceeseaesaeesaesaeseeseaesaesaeseetaeeats 13 25 13 5 7 Input devices ON OFF test Operation ceccesceeceeceeeeeeeeceeeceeeeeeeaesaeseeeeaesaesaeseeeeaesaesaeseeeeaneaes 13 26 135 8 ee e ue 13 27 13 5 9 Output signal pin ON OFF output signal DO forced oufput 13 30 13 5 10 Alarim DISTONY 238 ek hes ve hee Mean ae ai ave avi ah aes atte ied 13 31 13 5241 CUPPONT Alan E 13 32 13 512 Other command EE 13 33
137. 88P Connection tool CL250 0228 1 The final axis must be terminated between RDP pin No 3 and RDN pin No 6 on the receiving side controller with a 150Q resistor The overall length is 30m or less in low noise environment The wiring between the branch connector and controller should be as short as possible Use the EIA568 compliant cable 10BASE T cable etc Recommended branch connector BMJ 8 Hakko Electric Machine Works n lt 32 Up to 32 axes can be connected RS 422 232C conversion cable DSV CABV Diatrend 13 2 13 COMMUNICATION FUNCTION 13 2 Communication specifications 13 2 1 Communication overview This controller is designed to send a reply on receipt of an instruction The device which gives this instruction e g personal computer is called a master station and the device which sends a reply in response to the instruction controller is called a slave station When fetching data successively the master station repeatedly commands the slave station to send data 9600 19200 38400 57600 1 15200 asynchronous system Start bit 1 bit Transtercode Data bit 8 bits Parity bit 1 bit even Transfer protocol Character system half duplex communication system 1 frame 11bits 13 3 13 COMMUNICATION FUNCTION 13 2 2 Parameter setting When the USB RS 422 communication function is used to operate the servo set the communication specifications of the controller in the correspon
138. As a result it is understood that the value nearer to the calculation result of Expression 5 2 is the result of Expression 5 4 Accordingly the set values of 1 b in this section are CMX 822084 CDV 5625 3 Setting for use of QD75 The QD75 also has the following electronic gear parameters Normally the controller side electronic gear must also be set due to the restriction on the command pulse frequency differential 1Mpulse s open collector 200kpulse s AP Number of pulses per servo motor revolution AL Moving distance per servo motor revolution AM Unit scale factor AP75P Command 8 AP JUUL value Control AL x AM Command unit 7 ulse Electronic gear H Controller CMX Deviation CDV cous E H w Servo motor Electronic gear Feedback pulse The encoder resolution of the servo motor is 262144 pulses rev For example the pulse command required to rotate the servo motor is as follows Servo motor speed r min Required pulse command 2000 262144 x 2000 60 8738133 pulse s 3000 262144 x 3000 60 13107200 pulse s Use the electronic gear of the controller to rotate the servo motor under the maximum output pulse command of the QD75 5 PARAMETERS To rotate the servo motor at 3000r min in the open collector system 200kpulse s set the electronic gear as follows _CMX No CDV 60 f Input pulses frequency pulse s No Servo motor speed r mi
139. CABV Diatrend Note 1 Refer to section 13 1 for cable wiring 2 The BMJ 8 Hakko Electric Machine Works is recommended as the branch connector 3 The final axis must be terminated between RDP pin No 3 and RDN pin No 6 on the receiving side controller with a 150 Q resistor 12 15 SMC 12 OPTIONS AND AUXILIARY EQUIPMENT 12 5 Battery unit MR J3BAT Refer to appendix 7 and 8 for battery transportation and the new EU Battery Directive 1 Purpose of use for MR J3BAT This battery is used to construct an absolute position detection system Refer to section 14 3 for the fitting method etc 2 Year and month when MR J3BAT is manufactured Production year and month of the MR J3BAT are indicated in a serial number on the rating plate of the battery back face The year and month of manufacture are indicated by the last one digit of the year and 1 to 9 X 10 Y 11 Z 12 For October 2004 the Serial No is like SERIALO4KO 0 0000 12 16 12 OPTIONS AND AUXILIARY EQUIPMENT 12 6 Selection example of wires Wires indicated in this section are separated wires When using a cable for power line U V and W between the controller and servo motor use a 600V grade EP rubber insulated chloroprene sheath cab tire cable 2PNCT For selection of cables refer to appendix 6 To comply with the UL CSA Standard use the wires shown in appendix 10 for wiring To comply with other standards use a wire that is c
140. Connect properly rating flew intensively in phases of the servo motor occurred Reduce the load any of the U V and W repeatedly exceeding the warning level Replace the controller phases of the servo servo motor with the one of motor was repeated larger capacity AL ED Output watt The status in which the Continuous operation was performed with 1 Reduce the servo motor excess warning output wattage speed x _ the output wattage speed x torque of the speed torque of the servo motor servo motor exceeding 150 of the rated Reduce the load exceeded the rated output output Replace the controller servo continued steadily motor with one of larger capacity 9 TROUBLESHOOTING 9 4 Troubles without an alarm warning Even if a controller a servo motor or an encoder malfunctions the following phenomena may occur The following shows the examples of the estimated causes of the troubles without alarms warnings Refer to this chapter and remove their causes Checkpoint Estimated cause A LED indication When fixing by disconnecting all An external I O terminal is shorted Check the wiring of the I O signal turns off the connectors other than the power supply check if the disconnected cables are not shorted power is not turned off power voltage is not low decreased within the rated range The servo motor Check that a warning AL 99 does The forward rotation stroke end LSP Turn on bo
141. DC reactor should be connected P1 and P2 For 11k to 22kW P and P Refer to section 12 13 Controller Power factor improving DC O reactor Note Always disconnect P1 and P2 For 11k to 22kW P and P 2 I O signal wiring a The I O signals should be connected correctly Use DO forced output to forcibly turn on off the pins of the CN1 connector This function can be used to perform a wiring check Refer to section 6 8 In this case switch on the control circuit power supply only b 24VDC or higher voltage is not applied to the pins of connectors CN1 c SD and DOCOM of connector CN1 is not shorted c Controller pH 4 1 3 Surrounding environment 1 Cable routing a The wiring cables are free from excessive force b The encoder cable should not be used in excess of its flex life Refer to section 11 4 c The connector part of the servo motor should not be strained 2 Environment Signal cables and power cables are not shorted by wire offcuts metallic dust or the like o 4 STARTUP tl 4 2 Startup in position control mode Make a startup in accordance with section 4 1 This section provides the methods specific to the position control mode 4 2 1 Power on and off procedures 1 Power on Switch power on in the following procedure Always follow this procedure at power on 1 Switch off the servo on SON 2 Make sure that a command pulse train is not input 3 Switch on the main ci
142. Doc no LEC OM02401 Operation Manual PRODUCT NAME AC Servo Motor Controller LECSB Series SMC Corporation AN i LECSBO UO Series Controller 1 Safety Instructions These safety instructions are intended to prevent hazardous situations and or equipment damage These instructions indicate the level of potential hazard with the labels of Caution Warning or Danger They are all important notes for safety and must be followed in addition to International Standards ISO IEC Japan Industrial Standards JIS 1 and other safety regulations 2 1 ISO 4414 Pneumatic fluid power General rules relating to systems ISO 4413 Hydraulic fluid power General rules relating to systems IEC 60204 1 Safety of machinery Electrical equipment of machines Part 1 General requirements ISO 10218 1992 Manipulating industrial robots Safety JIS B 8370 General rules for pneumatic equipment JIS B 8361 General rules for hydraulic equipment JIS B 9960 1 Safety of machinery Electrical equipment for machines Part 1 General requirements JIS B 8433 1993 Manipulating industrial robots Safety etc 2 Labor Safety and Sanitation Law etc Caution indicates a hazard with a low level of risk which if not avoided could result in minor or _ A Caution moderate injury A Warning or serious injury Danger indicates a hazard with a high level of risk which if not avoided will result in death or A Danger ser
143. F 3 I I Tb I L1 Tb gt e ort Electromagnetic ON i brake interlock MBR OFF i i ON TT Electromagnetic brake torque OFF 14 23 14 ABSOLUTE POSITION DETECTION SYSTEM 14 8 5 How to process the absolute position data at detection of stroke end The controller stops the acceptance of the command pulse when stroke end LSP LSN is detected clears the droop pulses to 0 at the same time and stops the servo motor rapidly At this time the programmable PC or PLC etc keeps outputting the command pulse Since this causes a discrepancy between the absolute position data of the controller and the programmable PC or PLC etc a difference will occur between the position data of the controller and that of the programmable PC or PLC etc To prevent this difference in position data from occurring do as described below When the controller has detected the stroke end perform JOG operation or the like to clear the stroke end After that switch the servo on SON off once then on again or switch the power off once then on again This causes the absolute position data of the controller to be transferred to the programmable PC or PLC etc restoring the normal data 14 24 14 ABSOLUTE POSITION DETECTION SYSTEM 14 9 Examples of use 14 9 1 MELSEC FX 2N 32MT FX 2N 1PG 1 Connection diagram a FX 32MT FX 1PG
144. For the sink I O interface For the source I O interface refer to section 3 8 3 3 8 2 Detailed description of interfaces This section provides the details of the I O signal interfaces refer to the I O division in the table given in section 3 5 Refer to this section and make connection with the external equipment 1 Digital input interface DI 1 Give a signal with a relay or open collector transistor Refer to section 3 8 3 for source input Controller For transistor BEE SON Approx 5mA se Approx 5 6k Q Switch Ze TR DICOM Vces lt 1 0V 24VDC 10 lceo lt 100 uA 300mA 2 Digital output interface DO 1 A lamp relay or photocoupler can be driven Install a diode D for an inductive load or install an inrush current suppressing resistor R for a lamp load Rated current 40mA or less maximum current 50mA or less inrush current 100mA or less A maximum of 2 6V voltage drop occurs in the controller Refer to section 3 8 3 for the source output Controller If polarity of diode is reversed servo amplifier will fail Note 24VDC 10 300mA Note If the voltage drop maximum of 2 6V interferes with the relay operation apply high voltage up to 26 4V from external source 3 SIGNALS AND WIRING 3 Pulse train input interface DI 2 Give a pulse train signal in the differential line driver system or open collector system a Differential line driver system 1 Interface
145. I O 2 Review the sequence of the controller power signal display in the diagnostic servo on SON supply is turned mode on The servo Check with the I O interface motor starts display command on the immediately when Monitor menu on MR servo on is Configurator executed Check the brake release timing for 1 The electromagnetic brake release 1 Review the electromagnetic the servo motor with an sequence is incorrect brake release sequence electromagnetic brake The power supply for the 2 Check the power supply for the electromagnetic brake is faulty electromagnetic brake Check the status of the analog The analog speed command VC Set the offset voltage of the analog speed command VC and the and the analog torque command speed command VC and the analog torque command TC TC has already input at power on analog torque command TC 1 Check with the status display The offset voltage of the analog properly 2 Check with the Display all speed command VC or the analog command on the Monitor torque command TC is incorrect menu on MR Configurator Check the power supply cable of An output circuit is open Review the wiring of the servo the servo motor motor power supply cable The position is A certain amount one revolution The zero pulse detection occurs near Adjust the proximity dog installation misaligned at of misalignment occurs the dog off position dog type home home position position return
146. LSP LSP LSN arnasan Wee Kee Ee ea BESCHE 28 at E LGE WS Tic ai Ese nen Pies A A Son ee Ea nee GE S N N m cR EMG ae isn epea aee 3 SIGNALS AND WIRING e ee ee A ee ee ee e 3 SIGNALS AND WIRING Note 2 I O signals in control modes Related arameter 46 bocom pocom 47 bocom pocom s o am am 49 O RD RD RD RD RD RD E e e ee Note 1 l Input signal O Output signal 2 P Position control mode S Speed control mode T Torque control mode P S Position speed control changeover mode S T Speed torque control changeover mode T P Torque position control changeover mode 3 TLA can be used when TL is made usable by setting the parameter No PD03 to PD08 PD10 to PD12 3 Explanation of abbreviations LSN Reverse rotation strokeend RD Ready o er Clear CTS SP Zero speed detection sP1__ Speedselectiont JL np Insta Speed reached PC Trouble Warning Reverse rotation start BWNG Battery warning External torque limit selection Encoder Z phase pulse open collector Emergency stop Encoder Z phase pulse Proportion control Forward rotation start Electromagnetic brake interlock Control selection differential line driver op MBR Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Digital VF power supply input Open collector power input Digital I F common P15R
147. M4 4 5 5x7 3 M4 M4 eas Sl e e el SS q Ss SS W pa g cCc D ll z Approx 41 258 4 4 gt 6544 27342 gt 288 4 e gt 300 5 4 gt HF3030A UN HF 3040A UN 6 K r A 7 lt lt S 3 L i d A 2 d n HOHH W O d i E A E ai 8 e Yy L Go db c1 B 2 rt gt A 5 gt Dimensions mm 70 12 33 12 OPTIONS AND AUXILIARY EQUIPMENT HF3100A UN TF3005C TX TX3020C TX TF3030C TX Unit mm 3 M4 6 R3 25 length8 M4 M4 3 M4 M4 D dee N _ x x T 2 Q Q lt ey yay e Sge 150 2 bw gt Approx 160 33245 17045 gt bh gt 12 34 SMC 12 OPTIONS AND AUXILIARY EQUIPMENT TF3040C TX TF3060C TX Unit mm 3 M6 8 M M4 M4 3 M6 M6 N UE x A e A a EE TA Q lt x 1 i E N i i ag ni ae A 3 a ea fe l D Dasi g AA Ty L C 2 K 2 gt lt gt B 5 J je gt lt gt A 5 H 5 gt lt gt Dimensions mm R3 25 TF3040C TX length 8 TF3060C TX M6 12 35 12 OPTIONS AND AU
148. N timer request T203 Ready to send response timer M71 Note 1 Data set type home position return request T204 ABS data waiting timer M99 ABS data ready T210 ete 1 Clear CR ON timer T211 Retry ABS transfer mode OFF wait timer 20ms i set i All data reception frequency counter 19 times i Checksum reception frequency counter i C2 i ABS data reception frequency counter 16 times Note 1 Necessary when data set type home position return is executed 2 Necessary in the event of electromagnetic brake output ABS data 2 bit receiving buffer For checksum comparison 14 28 14 ABSOLUTE POSITION DETECTION SYSTEM c ABS data transfer program for X axis M8002 DMOV ko D24 Initial pulse K3 KO Kt H K4 K100000 K1 K7 K10000 K Gd K9 K50000 K bu Ki K1000 K1 H K12 K2 K1 H K13 D24 K1 H K15 K200 K1 H K19 K100000 Ki H DMOV K300000 D100 H DMOV K 250000 D102 DMOV KO D104 DMOV ko z H DMOV K4 D4 H Setting home position address to 0 Setting 1PG pulse command unit 1PG max speed 100 kpps 1PG JOG speed 10 kpps 1PG home position return speed 50 kpps 1PG creep speed 1 kpps 1PG home position return zero point count twice 1PG home position address setting Initial setting 1PG acceleration deceleration time 200ms 1PG operation speed 100kpps Position move account 1 300000 pulses Position move account 2
149. N1 No PD13 to PD16 connectors PD18 Restart after instantaneous power failure Input signal selection Device settings Output signal selection Device settings ee SE Section 3 6 1 5 Torque limit Servo motor torque can be limited to any value P S is i g i ie a Z Bow Section 5 1 11 3 Section 3 6 3 Speed limit Servo motor speed can be limited to any value Parameter No PCO5 to PC11 Status display Servo status is shown on the 5 digit 7 segment LED display Section 6 3 ON OFF statuses of external I O signals are shown on the External UO signal display g P S T Section 6 7 display Output signal can be forced on off independently of the servo Output signal DO ae H y status P S T Section 6 8 forced output f i F ae Use this function for output signal wiring check etc Voltage is automatically offset to stop the servo motor if it does Automatic VC offset not come to a stop at the analog speed command VC or analog speed limit VLA of OV JOG operation positioning operation motor less operation r DO forced output and program operation Test operation mode p i prog p a Section 6 9 However MR Configurator is necessary for positioning operation and program operation ST P S T Analog monitor output Servo status is output in terms of voltage in real time Parameter No PC14 Using a personal computer parameter setting test operation MR Configurator g P p p g p P S T Section 12 8 status display et
150. Natural cooling open Note 2 0 to 55 non freezing Note 2 32 to 131 non freezing 20 to 65 non freezing 4 to 149 non freezing ro o alSjn Hi D Main circuit power supply 1 phase 170 to 253VAC CO CH Protective functions Position control mode Speed control Compliance to standards 90 RH or less non condensing Indoors no direct sunlight Free from corrosive gas flammable gas oil mist dust and dirt Note 1 0 3A is the value applicable when all I O signals are used The current capacity can be decreased by reducing the number of UO points 2 When closely mounting the controller of 3 5kW or less operate them at the ambient temperatures of 0 to 45 C or at 75 or 1 3 1 FUNCTIONS AND CONFIGURATION smaller effective load ratio 3 When a UL C UL compliant servo motor is used in combination the value is 2 9A 4 Use an external dynamic brake for this controller Failure to do so will cause an accident because the servo motor does not stop immediately but coasts at an emergency stop and such conditions Ensure the safety in the entire system 1 4 Function list The following table lists the functions of this servo For details of the functions refer to the reference field F ae Note D Referen Function escription EE eference Section 3 2 1 Position control mode This servo is used as position control servo Section 3 6 1 Secti
151. O e be So 9 6 DISPLAY AND OPERATION SECTIONS Display Name Symbol Unit Description Peak load ratio The maximum current is displayed The highest value in the past 15 seconds is displayed relative to the rated current of 100 Instantaneous torque Torque that occurred instantaneously is displayed The value of the torque that occurred is displayed in real time relative to the rate torque of 100 Within one revolution Position within one revolution is displayed in encoder pulses position low The value returns to 0 when it exceeds the maximum number of pulses However the counter shows only the lower five digits of the actual value since the controller display is five digits The value is incremented in the CCW direction of rotation Within one revolution The within one revolution position is displayed in 100 pulse increments of position high the encoder The value returns to 0 when it exceeds the maximum number of pulses The value is incremented in the CCW direction of rotation ABS counter Travel value from the home position in the absolute position detection systems is displayed in terms of the absolute position detectors counter value Load inertia moment Multiplier The estimated ratio of the load inertia moment to the servo motor shaft ratio 1 inertia moment is displayed Bus voltage The voltage across P N of the main circuit converter is displayed 6 3 4 Changing the status display screen The
152. ON SECTIONS 6 6 Parameter mode To use the I O setting parameters change the parameter No PA19 parameter write inhibit value Refer to section 5 1 1 The I O signal settings can be changed using the I O setting parameter No PD03 to PD08 PD10 to PD16 PD18 6 6 1 Parameter mode transition After choosing the corresponding parameter mode with the MODE button pressing the UP or DOWN button changes the display as shown below EY To status display mode lt MODE Basic setting Gain filter Extension setting UO setting parameters parameters parameters parameters Parameter No PA01 Parameter No PB01 Parameter No PC01 Parameter No PD0O1 Parameter No PA02 Lib Parameter No PB02 Parameter No PC02 Cu Parameter No PD02 Parameter No PA18 Parameter No PA19 A A Parameter No PB44 Parameter No PB45 D A Parameter No PD29 Parameter No PC50 A Parameter No PD30 A UP 6 DISPLAY AND OPERATION SECTIONS 6 6 2 Operation example 1 Parameters of 5 or less digits The following example shows the operation procedure performed after power on to change the control mode Parameter No PA01 into the speed control mode Press MODE to switch to the basic setting parameter screen
153. ON or simultaneous OFF of forward rotation selection RS1 and reverse rotation selection RS2 The servo motor coasts A sudden stop indicates deceleration to a stop at the deceleration time constant of zero 4 STARTUP 4 4 3 Test operation Before starting actual operation perform test operation to make sure that the machine operates normally Refer to section 4 4 1 for the power on and off methods of the controller Test operation of servo motor alone in JOG operation of test operation mode Test operation of servo motor alone by commands Test operation with servo motor and machine connected In this step confirm that the controller and servo motor operate normally With the servo motor disconnected from the machine use the test operation mode and check whether the servo motor correctly rotates at the slowest speed Refer to section 6 9 for the test operation In this step confirm that the servo motor correctly rotates at the slowest speed under the commands from the command device Make sure that the servo motor rotates in the following procedure 1 Switch on the Servo on SON When the controller is put in a servo on status the Ready RD switches on 2 When the analog speed command TC is input from the command device and the Forward rotation start RS1 or Reverse rotation start RS2 is switched on the servo motor starts rotating Give a low speed command at first and check the rotation directio
154. OQ9 of the whole servo system As the response level setting is increased the track ability and settling time for a command decreases but a too high response level will generate vibration Hence make setting until desired response is obtained within the vibration free range If the response level setting cannot be increased up to the desired response because of machine resonance beyond 100Hz adaptive tuning mode parameter No PBO1 or machine resonance suppression filter parameter No PB13 to PB16 may be used to suppress machine resonance Suppressing machine resonance may allow the response level setting to increase Refer to section 8 2 8 3 for adaptive tuning mode and machine resonance suppression filter Setting of parameter No PA09 Machine characteristic Response level setting ante Machine resonance Bees e Machine rigidity SE Guideline of corresponding machine frequency guideline 10 0 11 3 12 7 14 3 16 1 18 1 20 4 23 0 25 9 29 2 32 9 Large conveyor 37 0 SN Arm robot a General machine tool conveyor Precision working machine N CH Inserter Mounter Bonder we ye NIN INIS JAJA osm N Kalte AJA bai OO N 7 GENERAL GAIN ADJUSTMENT 7 3 Manual mode 1 simple manual adjustment If you are not satisfied with the adjustment of auto tuning you can make simple manual adjustment with three parameters If machine resonance occurs adaptive tuning mode parameter No PB01 or
155. Otherwise an electric shock may occur In addition always confirm from the front of the controller whether the charge lamp is off or not Any person who is involved in inspection should be fully competent to do the work Otherwise you may get an electric shock For repair and parts replacement contact your local sales office N WARNING Do not test the controller with a megger measure insulation resistance or it may become faulty Do not disassemble and or repair the equipment on customer side It is recommended to make the following checks periodically 1 Check for loose terminal block screws Retighten any loose screws 2 Check the cables and the wires for scratches and cracks Perform periodic inspection according to operating conditions o S 2 INSTALLATION 2 5 Parts having service lives The following parts must be changed periodically as listed below If any part is found faulty it must be changed immediately even when it has not yet reached the end of its life which depends on the operating method and environmental conditions For parts replacement please contact your local sales office Life guideline Smoothing capacitor Controller stop times 100 000 times 1 Smoothing capacitor Affected by ripple currents etc and deteriorates in characteristic The life of the capacitor greatly depends on ambient temperature and operating conditions The capacitor will reach the end of its life in 10 year
156. PB26 Gain changing selection N Used to select the changing condition DL Used to set the changing condition values PB27 C Gain changing condition 8 GG Sch You can set the filter time constant for a gain change at PB28 CDT Gain changing time constant ms changing PB33 VRE1B Gain changing vibration suppression Hz Used to set the value of the after changing vibration control vibration frequency setting suppression control vibration frequency setting Gain changing vibration suppression Used to set the value of the after changing vibration PB34 VRF2B AE A Hz i EE control resonance frequency setting suppression control resonance frequency setting 1 Parameters No PB06 to PB10 These parameters are the same as in ordinary manual adjustment Gain changing allows the values of ratio of load to motor inertia moment ratio the position loop gain the speed loop gain and the speed integral compensation to be changed 2 Gain changing ratio of load inertia moment to servo motor inertia moment GD2B parameter No PB29 Set the load to servo motor inertia moment ratio after changing the gain If the load to servo inertia moment ratio does not change set the parameter to the same value as the load to servo motor inertia moment ratio parameter No PBO6 3 Gain changing position loop gain parameter No PB30 Gain changing speed loop gain parameter No PB31 Gain changing speed integral compensation parameter No PB32 Set the values of
157. PD12 Turn CDP on to change the load inertia moment ratio and gain values into the parameter No PB29 to PB34 values 3 SIGNALS AND WIRING Connec Device Symbol tor pin Functions Applications No Control change LOP CN1 45 lt Position speed control change mode gt Used to select the control mode in the position speed control change mode 0 Position Note 0 off 1 on lt Speed torque control change mode gt Used to select the control mode in the speed torque control change mode 0o sped Note 0 off 1 on lt Torque position control mode gt Used to select the control mode in the torque position control change mode 8 Torque Note 0 off 1 on Second STAB2 When using this signal set the parameter No PD03 to PD08 PD10 acceleration dece to PD12 to make it usable leration selection This signal allows selection of the acceleration deceleration time constant at servo motor rotation in the speed control mode or torque control mode The S pattern acceleration deceleration time constant is always uniform Note STAB2 Acceleration deceleration time constant Acceleration time constant parameter No PC01 Deceleration time constant parameter No PC02 Acceleration time constant 2 parameter No PC30 Deceleration time constant 2 parameter No PC31 Note 0 off 1 on ABS transfer ABSM CN1 17 ABS transfer mode request device mode The CN1 17 pin acts as ABSM only during absolute position data transfer
158. R J2M CN1TBLOM Ground the junction terminal block cable on the junction terminal block side with the standard accessory cable clamp fitting AERSBAN ESET For the use of the cable clamp fitting refer to section 12 8 2 c 2 Terminal labels Use the following junction terminal block labels This label is supplied with the junction terminal block MR TB50 3 Outline drawing Position control mode ST1 RES LSP LOP pocom RD Dicom ZSP TLC TLA OP SP1 al amp gl S g 8 SON 2 Torque control mode P15R LG LAR LBR LZR SON RS2 RES p1com zsp VLC TC oP SP1 LOP poco RD A A A of N e dd al a kl al X al s x el d s e VLA LA LB LZ SP2 RS1 ocom LG LG LG EMG pocon ALM SD of e sl e s e e a s al amp al e a s N N ai d el sis 235 Unit mm gt 2 04 5 MITSUBISHI MR TBSO 23 252729 31B3B5B7 B94 1143 45 4 714 30 32 34 36 38h0 42 Ne 46 5 Terminal screw M3 5 Applicable cable 2mm Crimping terminal width 7 2mm or less 12 12 SMC 12 OPTIONS AND AUXILIARY EQUIPMENT 12 4 MR Configurator The MR Configurator LEC MR SETUP uses the communication function of the controller to perform parameter setting cha
159. RAMETERS 5 3 3 Analog monitor The servo status can be output to two channels in terms of voltage 1 Setting Change the following digits of parameter No PC14 PC15 Parameter No PC14 L Analog monitor MO1 output selection Signal output to across MO1 LG Parameter No PC15 0 00 T Analog monitor MO2 output selection Signal output to across MO2 LG Parameters No PC39 and PC40 can be used to set the offset voltages to the analog output voltages The setting range is between 999 and 999mV Setting range mV PC39 Used to set the offset voltage for the analog monitor 1 MO1 999 to 999 PC40 Used to set the offset voltage for the analog monitor 2 MO2 2 Set content The controller is factory set to output the servo motor speed to analog monitor 1 MO1 and the torque to analog monitor MO2 The setting can be changed as listed below by changing the parameter No PC14 and PC15 value Refer to 3 for the measurement point Output item Output item RES motor speed FE Note 3 Driving in CCW tu 4CCW direction 0 direction Servo motor speed LAA ea Torque Note 3 Driving in CW 8M Driving in CCW direction direction Max torque 0 Max torque 5 PARAMETERS Current command Command pulse 10m 4CCW direction frequency Max current command Max torque command 1M kpps Max current command Max torque command 8 CW direction M L 10 CW direction Y 5 PA
160. RAMETERS Setting Output item Output item Droop pulses Note 10M4 4CCW direction SE pulses Note 10M4 4CCW direction 10V 100 pulses 10V 1000 pulses 100 pulse 100 pulse E 101V e CW direction Droop pulses 104 4CCW direction Droop pulses Note 1 Note 1 10V 10000 10V 100000 pulses 10000 pulse pulses 100000 pulse 4 1 gt D 400000 oulse al L 10 CW direction Y M Note 1 2 Note 1 2 10V 1 Mpulses 10V 10 Mpulses 1M pulse 10M pulse 4 1 gt 10M pulse 10 CW direction Y M Feedback position Bus voltage Note 1 2 Note 4 10V 100 Mpulses 100M pulse 10 CW direction Y M i Feedback position Feedback position dt 4CCW direction Note 1 Encoder pulse unit 2 Available in position control mode 3 8V is outputted at the maximum torque However when parameter No PA11 PA12 are set to limit torque 8V is outputted at the torque highly limited 4 For 400V class controller the busvoltage becomes 8V 800V 5 PARAMETERS 3 Analog monitor block diagram Command Current Speed Bus voltage command Position control M Servo motor Command pulse Current feedback Encoder Position feedback A gt Feedback A osition Servo Motor speed Torque Home position CR input position 5 3 4 Alarm history clear The controller stores past six alarm
161. S P S T PS PS P S T PS P S T PS in 18 in 19 in 41 in 43 PC18 Alarm history clear PD12 DIH0 Input signal device selection 10 CN1 pin 45 PC20 Parameter block in 22 in 23 in 25 E For manufacturer setting L E C27 COP6 Function selection C 6 P 3 STA2 Acceleration time constant 2 Sl bl bli wo NIN 0o0 0 o ala v v gjojg o NIN NMN oj o v U oju ala TB2 Deceleration time constant 2 U S C32 CMX2 Command pulse multiplying factor numerator 2 PC33 CMX3 Command pulse multiplying factor numerator 3 D M For manufacturer setting DOP5 Function selection D 4 ES For manufacturer setting to T Ss SS SS F vio ojo NIN RIO PC34 CMX4 Command pulse multiplying factor numerator 4 Internal torque limit 2 3 Status display selection VCO Analog speed command offset Analog speed limit offset PO PC38 T Analog torque command offset Analog torque limit offset COP5 Function selection C 5 E U e v o CA CH U Q O 0 AlN njan App 2 APPENDIX App 1 2 Converter unit Symbol PAO1 Regenerative selection PA02 Magnetic contactor drive output selection PA03 For manufacturer setting to PA07 PA08 Auto tuning mode PA09 Alarm history clear For manufacturer setting PA12 Input filter setting PA13 For manufacture setting to PA19 App 2 Signal layout recording paper
162. S2 Call the external I O signal display RS1 or RS2 is off Section 6 7 section 6 7 and check the ON OFF status of the input signal Check the internal speed limits 1 Set value is 0 Section 5 3 to 7 parameters No PC05 to PC11 Check the analog torque Torque command level is too low command maximum output as compared to the load torque parameter No 26 value Check the internal torque limit 1 Set value is 0 Section parameter No PC13 5 1 11 5 PARAMETERS 5 PARAMETERS Never adjust or change the parameter values extremely as it will make operation instable When a fixed number is indicated in each digit of a parameter do not change the value by any means In this controller the parameters are classified into the following groups on a function basis Parameter group Main description No PADIL No PBOD No PCOD parameters No PDOO When using this servo in the position control mode mainly setting the basic setting parameters No PATI allows the setting of the basic parameters at the time of introduction 5 1 Basic setting parameters No PADD For any parameter whose symbol is preceded by set the parameter value and switch power off once then switch it on again to make that parameter setting valid 5 1 1 Parameter list Paor sp Controlmode LO Le OO OC OO a e Le Electronic gear numerator mal oe LE engel S Electronic
163. SON command from controller ON OFF Tb ms after the servo on SON signal is switched off the servo lock is released and the servo motor coasts If the electromagnetic brake is made valid in the servo lock status the brake life may be shorter Therefore when using the electromagnetic brake in a vertical lift application or the like set Tb to about the same as the electromagnetic brake operation delay time to prevent a drop Coasting Servo motor speed O r min 1 i I l 95ms j i Tb A I WK ON l Base circuit OFF i Electromagnetic brake interlock Vite en brake operation delay time MBR OFF i ON Servo on SON OFF i H I 1 Note 3 1 l a i i H Position command 0 r min i Note 4 i i i Electromagnetic Release brake Activate l Release delay time and external relay Note 2 gt tt Note 1 ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated 2 Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of external circuit relay For the release delay time of electromagnetic brake refer to the Servo Motor Instruction Manual Vol 2 3 Give a position command after the electromagnetic brake is released 4 For the position control mode 2 Emergency stop EMG ON OFF Dynamic brake Dynamic brake LS Electromagnetic brake Servo motor speed Electromagnetic brake
164. TLA can be chosen using the external torque limit selection TL When internal torque limit selection TL1 is made usable by parameter No PD03 to PD08 PD10 to PD12 internal torque limit 2 parameter No PC35 can be selected However if the parameter No PA11 and parameter No PA12 value is less than the limit value selected by TL TL1 the parameter No PA11 and parameter No PA12 value is made valid Note Input device Validated torque limit values Limit value status CCW driving CW CW driving CCW regeneration regeneration Parameter No PA11 Parameter No PA12 Parameter No PA11 Parameter No PAI Parameter No PA11 Parameter No PA12 T LA gt Parameter No PA11 TLA 2 Parameter No PA12 TEA TLA Parameter No PA11 Parameter No PA12 Parameter No PA11 Parameter No PA12 Parameter No PC35 gt Parameter No PA11 Parameter No PA12 Parameter No PC35 Parameter No PC35 Parameter No PC35 lt Parameter No PC35 TLA lt TLA TLA Note 0 off 1 on c Limiting torque TLC TLC turns on when the servo motor torque reaches the torque limited using the forward rotation torque limit reverse rotation torque limit or analog torque limit 3 SIGNALS AND WIRING 3 6 2 Speed control mode 1 Speed setting a Speed command and speed The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage of the analog speed command VC A relationship between the analog speed command VC applied
165. XILIARY EQUIPMENT b Surge protector RAV 781BYZ 2 Unit mm 1 2 3 e NEE Black Black 9 Black 64 2 0 2 H H 5 e H 5 28 541 0 4 H H H H gt N UL 1015AWG16 J en dE Bless al 1 0 200 2 ka 1 CH H i S aeo RAV 781BXZ 4 Unit mm 64 2 0 2 Mi Z OD Oo O S 5 28 541 0 a gt H SSC 4 JL 20023 l 4520 5 a UL 1015AWG16 2841 0 12 36 13 COMMUNICATION FUNCTION 13 COMMUNICATION FUNCTION The USB communication function CNS connector and the RS 422 communication function CN3 connector are mutually exclusive functions They cannot be used simultaneously Using the serial communication function of RS 422 this controller enables servo operation parameter change monitor function etc 13 1 Configuration 1 Single axis Operate the single axis controller It is recommended to use the following cable Controller Personal computer 10m or less d Ee ve S 40 o RS 422 232C conversion cable To RS 232C DSV CABV Diatrend connector pe ee U oo 2 Multidrop connection a Diagrammatic sketch Up to 32 axes of controllers from stations 0 to 31 can be operated on the same bus Controller Controller Controller 8 O o0
166. a BU be BW OHS1 eS DEER S5 GG S7 LECSB1 58 S8 1 25 AWG16 b When using the 600V Grade heat resistant polyvinyl chloride insulated wire HIV wire Selection example of wire size when using HIV wires is indicated below For the wire 8 for power regenerative converter FR RC H use the IV wire indicated in 1 a in this section Table 12 2 Wire size selection example 2 HIV wire Wires EA Note 1 4 Controller 2 Lit La apc C 5 B1 B2 Li Lo a U V A BU a BW OHS1 ie e S5 ES S7 5 AWG1 uecsarse S8 12 18 12 OPTIONS AND AUXILIARY EQUIPMENT c Selection example of crimping terminals Selection example of crimping terminals for the controller terminal box when using the wires mentioned in 1 a and b in this section is indicated below Controller side crimping terminals Note 2 Applicable tool Crimping Manufacturer terminal a FVD5 5 4 YNT 1210S Note 1 b 8 4NS YHT 8S c FVD14 6 DH 122 DH 112 YF 1 EA YNE 38 d FVD22 6 DH 123 DH 113 Note 1 e 38 6 E TD 124 TD 112 YF 1 EA YET 60 1 Note 1 f R60 8 YPT 60 21 TD 125 TD 113 Japan Solderless YF 1 EA YET 60 1 Terminals YNT 1614 g FVD2 4 h FVD2 M3 FVD5 5 6 FVD5 5 8 FVD8 6 DH 121 e DH 111 FVD14 8 DH 122 DH 112 DH 123 DH 113 ier stoi es el teas YF 1 E 4 YET 60 1 q YNT 1614 Note 1 Coat the part of crimping with the insulation tube 2 Some crimpi
167. a 200V class b 400V class Fig 12 3 Leakage current example oi Ig2 for CV cable run in metal conduit 12 30 12 OPTIONS AND AUXILIARY EQUIPMENT Table 12 4 Servo motor s leakage current example om Table 12 5 Controller s leakage current example Iga Servo motor power Leakage current kW mA 0 05 to 4 Controller capacity Leakage current kW mA 0 1 to 0 6 0 75 to 3 5 Note Note For the 3 5kW of 400V class leakage current is 2mA which is the same as for 5kW and 7kW Table 12 6 Leakage circuit breaker selection example Rated sensitivity current of Controller AC leakage circuit breaker mA MR J3 10A to MR J3 350A MR J3 10A1 to MR J3 40A1 15 MR J3 60A4 to MR J3 350A4 MR J3 500A 4 MR J3 700A 4 MR J3 11KA 4 to MR J3 22KA 4 2 Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions 2mm x 5m 2mm x 5m NV Controller Servo motor LECSB L1 S8 HF KP43 Use a leakage current breaker generally available Find the terms of Equation 12 1 from the diagram zoga D a oi 20 ie 0 1 mA Ig2 20 gt 0 1 mA 1000 Ign 0 not used Iga 0 1 mA Igm 0 1 mA Insert these values in Equation 12 1 Ig 10 0 1 0 0 1 1 0 1 0 1 24 0 mA According to the result of calculation use a leakage current breaker having the rated sensitivity current lg of 4 0 mA or more A leakage current
168. after changing position loop gain speed loop gain and speed integral compensation 8 SPECIAL ADJUSTMENT FUNCTIONS 4 Gain changing selection parameter No PB26 Used to set the gain changing condition Choose the changing condition in the first digit and second digit If 1 is set in the first digit the gain can be changed by the gain changing CDP input device The gain changing CDP can be assigned to the pins using parameters No PD03 to PD08 and PD10 to PD12 Parameter No PB26 NES changing selection Under any of the following conditions the gains change on the basis of the parameter No PB29 to PB34 settings 0 Invalid 1 Input device Gain changing CDP 2 Command frequency Parameter No PB27 setting 3 Droop pulse Parameter No PB27 setting 4 Servo motor speed Parameter No PB27 setting Gain changing condition 0 Valid when the input device gain changing CDP is ON or valid when the value is equal to or larger than the value set in parameter No PB27 Valid when the input device gain changing CDP is OFF or valid when the value is equal to or smaller than the value set in parameter No PB27 5 Gain changing condition parameter No PB27 Used to set the gain changing level when command frequency droop pulse or servo motor speed is set in the gain changing selection parameter No PB26 The setting unit is as follows Gain changing condition Command frequency Droop pulses Servo motor speed
169. al device selection 5 CN1 19 0003 Refer to Any input signal can be assigned to the CN1 19 pin 0303h name The devices that can be assigned and the setting method and are the same as in parameter No PDO3 function Din column Position control mode en rs Speed control mode P of the CN1 Torque control mode 19 pi pin PDO8 DI6 Input signal device selection 6 CN1 41 0020 Refer to Any input signal can be assigned to the CN1 41 pin 2006h name The devices that can be assigned and the setting method and are the same as in parameter No PDO3 function 010 column Position control mode garg See Speed control mode fof the CN1 Torque control mode 41 pin Kik For manufacturer setting 0000 K e not change this value by any means 0000h 5 PARAMETERS Symbol DE Initial Setting Control mode value range PD10 DI8 Input signal device selection 8 CN1 43 Refer to Any input signal can be assigned to the CN1 43 pin name The devices that can be assigned and the setting method and are the same as in parameter No PDO3 function column 0 0 Position control mode ae Speed control mode Pie CN1 Torque control mode 43 pin PD11 DI9 Input signal device selection 9 CN1 44 Refer to Any input signal can be assigned to the CN1 44 pin name The devices that can be assigned and the setting method an
170. ameter No PB20 VRF2B Parameter No PB34 REALE 1 sch N ue Changing Valid GD2 value Valid PG2 value Valid VG2 value Valid VIC value Valid VRF1 value Valid VRF2 value 8 SPECIAL ADJUSTMENT FUNCTIONS 8 6 3 Parameters When using the gain changing function always set parameter No PA08 to JO 013 auto tuning mode to select the manual mode in the auto tuning modes The gain changing function cannot be used in the auto tuning mode Parameter Abbrevi i pow Name Unit Description No ation PBO6 GD2 Ratio of load inertia moment to servo Multiplier Control parameters before changing motor inertia moment x1 Position and speed gains of a model used to set the response PBO7 PG1 Model loop gain rad s A level to a command Always valid SC Position loop gain Oe eee pBo9 vG2_ Speed loop gain E ME PB10 Vic Speed integral compensation Ee EE Gain changing ratio of load inertia Used to set the ratio of load inertia moment to servo motor PB29 GD2B moment to servo motor inertia inertia moment after changing moment PB30 PG2B Gain changing position loop gain Used to set the value of the after changing position loop gain PB31 VG2B Gain changing speed loop gain Used to set the value of the after changing speed loop gain Gain changing speed integral Used to set the value of the after changing speed integral pB32 vicg oe Cnangng sp q ms SE compensation compensation
171. ameter group must be set when analog monitor output torque limit etc are used Note Used when changing the I O devices of the controller UO setting parameter No PDOD Note The parameter No PA19 setting must be changed when this parameter group is used 4 STARTUP 4 3 5 Actual operation Start actual operation after confirmation of normal operation by test operation and completion of the corresponding parameter settings 4 3 6 Trouble at start up Excessive adjustment or change of parameter setting must not be made as it will J N CAUTION make operation instable Using the MR Configurator you can refer to unrotated servo motor reasons etc The following faults may occur at start up If any of such faults occurs take the corresponding action 1 Power on LED is not lit Not improved if connectors CN1 1 Power supply voltage fault is disconnected shorted 2 Improved when connector CN2 is 1 Power supply of encoder disconnected cabling is shorted 2 Encoder is faulty disconnected shorted Switch on servo on SON Servo motor shaft is 1 Check the display to see if the 1 Servo on SON is not input Section 6 7 not servo locked controller is ready to operate Wiring mistake is free 2 Check the external I O signal 2 24VDC power is not supplied to indication section 6 7 to see if DICOM the servo on SON is ON Switch on forward Servo motor does Call the status display
172. ameter group must be set when multiple electronic gears analog monitor outputs or analog No PCOD inputs are used Note Used when changing the I O devices of the controller UO setting parameter No PD Note The parameter No PA19 setting must be changed when this parameter group is used o S 4 STARTUP 4 2 5 Actual operation Start actual operation after confirmation of normal operation by test operation and completion of the corresponding parameter settings Perform a home position return as necessary 4 2 6 Trouble at start up Excessive adjustment or change of parameter setting must not be made as it will A CAUTION make operation instable Using the optional MR Configurator you can refer to unrotated servo motor reasons etc The following faults may occur at start up If any of such faults occurs take the corresponding action 1 Troubleshooting Start up sequence Investigation 1 Power on LED is not lit Not improved if connectors CN1 1 Power supply voltage fault LED flickers CN2 and CN3 are disconnected 2 Controller is faulty Improved when connectors CN1 Power supply of CN1 cabling is is disconnected shorted 2 Improved when connector CN2 is 1 Power supply of encoder disconnected cabling is shorted 2 Encoder is faulty disconnected shorted Switch on servo on SON Servo motor shaft is 1 Check the display to see if the 1 Servo on SON is not
173. amp turns off Then confirm that the N WARNING voltage between P and N is safe with a voltage tester and others Otherwise an electric shock may occur In addition always confirm from the front of the controller whether the charge lamp is off or not The IP rating indicated is the cable s or connector s protection against ingress of dust and water when the cable or connector is connected to a controller or servo motor If the IP rating of the cable connector controller and servo motor vary the overall IP rating depends on the lowest IP rating of all components As the cables and connectors used with this servo purchase the options indicated in this section 12 1 12 OPTIONS AND AUXILIARY EQUIPMENT 12 1 1 Combinations of cable connector sets b d B Controller CNP1 Direct connection type cable length 10m or less IP65 20 21 22 23 Battery To 24VDC power MR j3BAT supply for electromagnetic brake Servo Motor LE S5 0 LE S6 O To CN3 ESA LE S8 O Motor cable Lock cable Encoder cable 12 2 12 OPTIONS AND AUXILIARY EQUIPMENT No Application CN1 LE cs O OU O Connector 10150 3000PE connector set Shell kit 10350 52F0 008 3M or equivalent Motor cable LE CSM SLIA Cable length 2 5 10m Motor cable LE S5 LE S6 Motor cable LE CSM RLJA LE S7 Cable length 2 5 10m LE S8 Load side lead Refer to section 12 1 3 for details Senga Robot cable 10 Motor
174. an confirm the absolute position data with MR Configurator Choose Diagnostics and Absolute Encoder Data to open the absolute position data display screen 1 Choosing Diagnostics in the menu opens the sub menu as shown below OOStation MR J Parameters Test Advan ect name Axis1 Alarm effi Beie Q No motor rotation System information display Tuning data Absolute encoder data Axis name setting Amplifier diagnostic 2 By choosing Absolute Encoder Data in the sub menu the absolute encoder data display window appears Absolute encoder data Absolute position data Command pulse value Value of each motor edge pulse Command pulse value 156501673 156501673 Value of each command pulse CDVICMX Xx Value of each motor edge pulse Encoder data Current position Position at power loss gt Absolute encoder data pulse Absolute encoder data cYC Motor edge pulse value CYCO Motor edge pulse value B487 rees Number of motor rotations rev Number of motor rotations ABS 19105 ABSO Convert to starting point by the following expressions Value of each motor edge pulse ABS X Encoder one revolution counts CYC CYC0 3 Press the Close button to close the absolute encoder data display window 14 65 APPENDIX App 1 Parameter list For any parameter whose symbol is preceded by set the parameter value and swit
175. ance suppression filter and then executing steps 3 to 8 While checking the settling characteristic and rotational status fine adjust Fine adjustment each gain Increase the position loop gain and return slightly if vibration takes place Increase the position loop gain 7 GENERAL GAIN ADJUSTMENT c Adjustment description 1 Model loop gain parameter No PBO7 This parameter determines the response level of the model loop Increasing position loop gain 1 improves track ability to a position command but a too high value will make overshooting liable to occur at the time of settling Model loop gain lt Speed loop gain setting S 1 guideline 1 ratio of load inertia moment to servo motor inertia moment 4 8 2 Speed loop gain VG2 parameter No PBO9 This parameter determines the response level of the speed control loop Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate The actual response frequency of the speed loop is as indicated in the following expression Speed loop response _ Speed loop gain setting frequency Hz 1 ratio of load inertia moment to servo motor inertia moment x 27 3 Speed integral compensation parameter No PB10 To eliminate stationary deviation against a command the speed control loop is under proportional integral control For the speed integral compensation set the time constant of this integral control Increasing the setting
176. anced vibration suppression control vibration suppression control tuning mode parameter No PBO2 is executed the vibration frequency at machine side can automatically be estimated to suppress machine side vibration In the vibration suppression control tuning mode this mode shifts to the manual mode after positioning operation is performed the predetermined number of times The manual mode enables manual setting using the vibration suppression control vibration frequency setting parameter No PB19 and vibration suppression control resonance frequency setting parameter No PB20 2 Parameter Select the adjustment mode of the vibration suppression control tuning mode parameter No PBO2 Parameter No PB02 KR Vibration suppression control tuning mode Setting Vibration suppression control tuning mode Automatically set parameter za Vibration suppression control OFF Note 1 Vibration suppression control tuning mode Parameter No PB19 Advanced vibration suppression control Parameter No PB20 2 Manualmode Note Parameter No PB19 and PB20 are fixed to the initial values o 5 8 SPECIAL ADJUSTMENT FUNCTIONS The function is made valid when the auto tuning mode parameter No PAO8 is the auto tuning mode 2 0002 or manual mode 0003 The machine resonance frequency supported in the vibration suppression control tuning mode is 1 0 to 100 0Hz The function is not effective for vibration outside this range Stop
177. and the connector use a flat blade driver with 0 6mm blade edge thickness and 3 5mm diameter Recommended flat blade screwdriver Phoenix Contact SZS 0 6 X3 5 Apply 0 5 to 0 6 N m torque to screw Unit mm Flat blade 180 d CH screwdriver a 100 To loosen_ To tighten Ch Wire Io EE J H S Opening Recommended flat blade screwdriver dimensions 35 To loosen _To tighten Connector screw Ne ifi Flat blade Servo amplifier power d supply connector ER 3 SIGNALS AND WIRING 3 4 Connectors and signal arrangements The pin configurations of the connectors are as viewed from the cable connector wiring section Refer to 2 of this section for CN1 signal assignment 1 Signal arrangement The controller front view shown is that of the LECSBo S5 LECSBo S7 Refer to chapter 10 Outline Drawings for the appearances and connector layouts of the other controllers CNS USB connector cng Refer to section 12 8 CN3 RS 422 connector Refer to section 13 1 CN1 i CN2 CN2 E The frames of the CN1 connectors is connected to the PE earth terminal in the amplifier The 3M make connector is shown When using any other connector refer to section 12 1 2 3 SIGNALS AND WIRING
178. and torque position control Hence it is applicable to a wide range of fields not only precision positioning and smooth speed control of machine tools and general industrial machines but also line control and tension control As this new series has the USB or RS 422 serial communication function a MR Configurator installed personal computer or the like can be used to perform parameter setting test operation status display monitoring gain adjustment etc With real time auto tuning you can automatically adjust the servo gains according to the machine The LECSBLJ L series servo motor with an absolute position encoder which has the resolution of 262144 pulses rev to ensure Simply adding a battery to the controller makes up an absolute position detection system This makes home position return unnecessary at power on or alarm occurrence by setting a home position once 1 Position control mode An up to 1Mpps high speed pulse train is used to control the speed and direction of a motor and execute precision positioning of 262144 pulses rev resolution The position smoothing function provides a choice of two different modes appropriate for a machine so a smoother start stop can be made in response to a sudden position command A torque limit is imposed on the controller by the clamp circuit to protect the power transistor in the main circuit from overcurrent due to sudden acceleration deceleration or overload This torque limit valu
179. ansfer Torque limiting mode mode IM Torque limiting mode 14 56 14 ABSOLUTE POSITION DETECTION SYSTEM 3 Sequence program 2 axis control The following program is a reference example for creation of an ABS sequence program for the second axis Y axis using a single QD75 module Create a program for the third axis in a similar manner a Y axis program Refer to the X axis ABS sequence program and create the Y axis program Assign the X inputs Y outputs D registers M contacts T timers and C counters of the Y axis so that they do not overlap those of the X axis The buffer memory addresses of the QD75 differ between the X and Y axes The instructions marked 1 in the program of section 14 9 3 2 c should be changed as indicated below for use with the Y axis Z ABRST1 UO D100 M100 Z ABRST2 UO D100 M100 Program configuration ES ip a ie ee ee a RES X axis ABS sequence program Program in section 14 10 3 2 c U2 Sto ote Qo ee as oot Se SS Ste See Smee Se Bes Y axis ABS sequence program Refer to the X axis program and write the Y axis i program E EI N A ES AE A E Fe Dis oo E A tae be A A E E b Data set type home position return Arrange the data set type home position return programs given in section 14 9 3 2 f in series to control two axes Refer to the X axis data set type home position return program and create the Y axis program Assign the X inputs Y outputs D registers M
180. anually Check that the coupling with the servo motor shaft is not loose 4 Encoder fault Change the servo motor lt Checking method gt When the servo motor shaft is rotated with the servo off the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway 9 TROUBLESHOOTING Displ N Definition Cause Action one m isplay ame efinitio u Alarm details AL 51 Overload 2 Machine collision 1 Controller fault Change the controller or the like caused lt Checking method gt a continuous The servo motor is disconnected on maximum current the machine side and then the servo for a few seconds motor is test operated The alarm AL 51 does not occur Check after setting the gain to the initial value 2 The servo system is instable and Repeat acceleration causes oscillation or hunting deceleration to execute auto tuning Change the auto tuning response setting Set auto tuning to OFF and make gain adjustment manually Check that the coupling with the servo motor shaft is not loose 3 Machine struck something Check operation pattern Install limit switches Check that the electromagnetic brake is not applied 4 Incorrect connection of servo motor Connect correctly Controller s output terminals U V W do not match servo motor s input terminals U V W 5 Encoder fault Change the servo motor lt Checking method gt
181. appears by slecting alarm alarm history on MR Configurator 9 TROUBLESHOOTING 9 3 Remedies for warnings If an absolute position counter warning AL E3 occurred always to make home position setting again Not doing so may cause unexpected operation N CAUTION When any of the following alarms has occurred do not resume operation by switching power of the controller OFF ON repeatedly The controller and servo motor may become faulty If the power of the controller is switched OFF ON during the alarms allow more than 30 minutes for cooling before resuming operation Excessive regenerative warning AL EO Overload warning 1 AL EI If AL E6 or AL EA occurs the servo off status is established If any other warning occurs operation can be continued but an alarm may take place or proper operation may not be performed Remove the cause of warning according to this section Use the MR Configurator to refer to a factor of warning occurrence Display AL 92 Battery cable Absolute position 1 Battery cable is open Repair cable or changed disconnection detection system battery 2 Battery voltage supplied from the Change the battery warning voltage is low controller to the encoder fell to about 3V or less Detected with the encoder 3 An encoder cable is broken cable AL 96 Home position Home position setting setting warning could not be made at the home position setting in position range home position settin
182. are not satisfied Time to reach 2000r min is the acceleration deceleration time constant of 5s or less Speed is 150r min or higher The ratio of load inertia moment to servo motor inertia moment is 100 times or less The acceleration deceleration torque is 10 or more of the rated torque Under operating conditions which will impose sudden disturbance torque during acceleration deceleration or on a machine which is extremely loose auto tuning may not function properly either In such cases use the auto tuning mode 2 or manual mode to make gain adjustment 2 Auto tuning mode 2 Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1 Since the load inertia moment ratio is not estimated in this mode set the value of a correct load inertia moment ratio parameter No PBO6 The following parameters are automatically adjusted in the auto tuning mode 2 Abbreviation PBO7 Model loop gain SCH Position loop gain Fam Speed loop gain PB10 Speed integral compensation 7 GENERAL GAIN ADJUSTMENT 7 2 2 Auto tuning mode basis The block diagram of real time auto tuning is shown below Load inertia Automatic setting moment Loop gains Encoder PG1 PG2 VG2 VIC Command O Current a O P control Current feedback Servo motor Set 0 or 1 to turnon Real time auto Position speed A tuning section feedback i Load inertia momen
183. at their end of life should be disposed of separately from your household waste If a chemical symbol is printed beneath the symbol shown above this chemical symbol means that the battery or accumulator contains a heavy metal at a certain concentration This will be indicated as follows Hg mercury 0 0005 Cd cadmium 0 002 Pb lead 0 004 In the European Union there are separate collection systems for used batteries and accumulators Please dispose of batteries and accumulators correctly at your local community waste collection recycling centre Please help us to conserve the environment we live in App 6 APPENDIX App 6 Compliance with the European EC directives App 6 1 What are EC directives The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety guaranteed products In the EU countries the machinery directive effective in January 1995 EMC directive effective in January 1996 and low voltage directive effective in January 1997 of the EC directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks CE marking CE marking applies also to machines and equipment into which servos have been installed 1 EMC directive The EMC directive applies to the servo units alone This servo is designed to comply with the EMC directive The EMC directive also applies the servo incorporated machines an
184. ata using the ladder program and compare it with the checksum code sent from the servo The method of calculating the checksum is shown Every time the programmable PC or PLC etc receives 2 bits of ABS data it adds the data to obtain the sum of the received data The checksum is 6 bit data Example ABS data 10 FFFFFFF6H 10 ad Oe I E ee ls p 01 lt Appendix gt K 11 Decimal 10 11 11 Hexadecimal FFFF FFF6 11 gt 410 Binary 1111 1111 1111 om o 11 When the binary data of each 2bits of the 11 ABS data is added up 10 1101 is obtained 11 D E E E E ft 11 bk 11 gt 11 gt 11 gt 11 gt 1011015 Therefore the checksum of 10 ABS data is 2p 14 13 14 ABSOLUTE POSITION DETECTION SYSTEM 2 Transmission error a Time out warning AL E5 In the ABS transfer mode the time out processing shown below is executed at the servo If a time out error occurs an ABS time out warning AL E5 is output The ABS time out warning AL E5 is cleared when the ABS transfer mode ABSM changes from OFF to ON 1 ABS request OFF time time out check applied to 32 bit ABS data in 2 bit units checksum If the ABS request signal is not turned ON by the programmable PC or PLC etc within 5s after the ABS transmission data ready ABST is turned ON this is regarded as a transmission error and the ABS time out warning AL ER is output Signal is not turned ON ON ABS
185. ation PB33 VRFIB Gain changing vibration suppression control vibration frequency 100 0 setting PB34 VRF2B Gain changing vibration suppression control resonance 100 0 frequency setting Ps Le Ss Les ES ed o em o Ee em RES o on l O ml ml Es SS ee Bom RS Rew E l o Ss K K ol ae i o oO oO o Ee o o o Oo oO Se ol T oO em oO aer d ea o mf o oO oO oO DER wz o HARRIET Rea i 5 PARAMETERS ES SE GEES SE St PB35 For manufacturer setting E PB45 CNHF Vibration suppression control filter 2 0000h fect AER eel 5 PARAMETERS 5 2 2 Detail list Se ET Initial Setting Control mode value range Response of mechanical system Notch depth PBO1 FILT Adaptive tuning mode adaptive filter T 0000h Refer to Select the setting method for filter tuning Setting this name parameter to 0001 filter tuning mode automatically and changes the machine resonance suppression filter 1 function parameter No PB13 and notch shape selection 1 column parameter No PB14 Machine resonance point l ee Frequency EE Frequency Notch frequency ale Adaptive tuning mode selection parameter o FitterOFF mee Parameter No PB14 2 Manualmode o Note Parameter No PB13 and PB14 are fixed to the initial values When this parameter is set to 1 1011 the tuning is compl
186. ation mode II e 9 oa l Position start gt I A pm i Position stop Note 3 l p JOG Operation i G IG de Operating status es D EHEH Ee E or OFF Lem mem 4 E COM Home return NG A1SY40 0 Servo on S Ah AG transfer mode 2 A ABS request 1 3 Alarm reset l S A GC Electromagnetic i 5 x brake output f 6 Note 4 7 EE rx A t pT 8 EA LC 4 Servo alarm f 9 SL Ct ABS communication error f A deit CH ABS checksum error t FN 7B 4 eS DRS Swe Se See Ser nr GUNG eat bei LC LEE Re ee EE e Note 1 _ a AT SD75P S3 Proximity signal Note 2 DOG l FLS AN KR K JL Servo ready 3 h Positioning completion gt LZ 8 eg PGO COM LZR 9 PULSE F 21 PG 11 PULSEF 3 PP 10 y PULSE R PULSE R PLS COM PLS COM Note 5 Ns Plate Note 6 14 37 14 ABSOLUTE POSITION DETECTION SYSTEM Note 1 For the dog type home position return Need not be connected for the data set type home position return If the servo motor provided with the zero point signal is started the A1SD75 will output the deviation counter clear CR Therefore do not connect the clear CR of the LECSBL LI to the A1SD75 but connect it to the output module of the programmable PC or DLC etc This circuit is provided for your reference The electromagnetic brake output should be controlled via a relay connected to the programmable PC or PLC etc output This connection diagram applies to the differential line
187. ative option of larger capacity 3 Reduce the load 3 Bus voltage is abnormal MR J3 OA 1 400VDC or more MR J3 OA4 800VDC or more regenerative option is not connected regenerative option faulty regenerative option Check the power supply Permissible 1 Incorrect setting of parameter No Set correctly 1 regenerative power PA02 of the built in 2 High duty operation or continuous 1 Reduce the frequency of Regenerative transistor fault 6 Controller fault Change the controller Regenerative transistor fault lt Checking method gt 1 The regenerative option has overheat abnormally 2 The alarm occurs even after removal of the built in regenerative resistor or regenerative option 7 Controller fault Change the controller 2 Regenerative circuit fault 9 TROUBLESHOOTING edt Note 2 high frequency correctly constant caused overshoot to be large deceleration time constant 3 Servo system is instable to cause 1 Re set servo gain to proper value 2 If servo gain cannot be set to proper value AL 32 Overcurrent Speed has exceeded the instantaneous permissible speed Current that flew is higher than the permissible current of the controller overshoot 1 Reduce load inertia moment ratio or 2 Reexamine acceleration decelerati on time constant 4 Electronic gear ratio is large Set correctly Setting by parameters No PAO6 PA07 5 Encode
188. available as option Unit mm Logo etc are indicated here ae 10 3 SMC 10 OUTLINE DRAWINGS 2 SCR connector system 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 Unit mm 11 0 22 4 10 4 SE 10 OUTLINE DRAWINGS MEMO 11 CHARACTERISTICS 11 CHARACTERISTICS 11 1 Overload protection characteristics An electronic thermal relay is built in the controller to protect the servo motor controller and servo motor power line from overloads Overload 1 alarm AL 50 occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 11 1 Overload 2 alarm AL 51 occurs if the maximum current flows continuously for several seconds due to machine collision etc Use the equipment on the left hand side area of the continuous or broken line in the graph In a machine like the one for vertical lift application where unbalanced torque will be produced it is recommended to use the machine so that the unbalanced torque is 70 or less of the rated torque When you carry out adhesion mounting of the controller make circumference temperature into 0 to 45 C 32 to 113 F or use it at 75 or smaller effective load ratio
189. be continued Note 1 When the unit setting parameter value of the A1SD75 positioning module is changed from 3 pulse to 0 mm the unit is x 0 1H4m for the input value To set the unit to x 1Hm add this program to multiple the feed value by 10 2 The home position address loaded from flash ROM of normal positioning module can be obtained For updating the home position address by the home position setting refer to 2 f Data set type home position return in this Section 14 44 14 ABSOLUTE POSITION DETECTION SYSTEM 5 Y39 X26 oea i SS rT Y31 ABS communi Servo on cation error switch Y31 SCH I D ABS transfer mode Ken Y32 K10 e er ABS transfer ABS request Y31 X22 K10 E TZ ABS transfer Ready to send ABS data T H 39 ransfer NG ABS request NG T3 Readying to send ABS data NG M7 l SET M15 Sum check NG Y31 M15 K2 l T201 ABS transfer ABS transfer mode retry start T201 C2 m SET M16 Retry ABS Retry transfer counter mode OFF D7 wait timer c2 r LRST M15 M16 KI T2 Retry flag set T2 RST we Retry waiting timer M9039 d DMov Ao D110 PC RUN ESAS 14 45 Continued from preceding page Resetting ABS transfer mode ABS transfer mode 5s timer ABS request response 1s timer Detecting ABS ABS data send ready i g 8 communication response 1s timer error ABS communication error ABS transfer retry sta
190. beet Note These connectors are of insert type As the crimping type the following connectors Molex are recommended For CNP1 51241 0600 connector 56125 0128 terminal For CNP2 51240 0500 connector 56125 0128 terminal For CNP3 51241 0300 connector 56125 0128 terminal Crimping tool CNP57349 5300 lt Connector applicable cable example gt Cable finish OD to 3 8mm b Termination of the cables Solid wire After the sheath has been stripped the cable can be used as it is Sheath Core o 8 to 9mm Twisted wire Use the cable after stripping the sheath and twisting the core At this time take care to avoid a short caused by the loose wires of the core and the adjacent pole Do not solder the core as it may cause a contact fault Alternatively a ferrule may be used to put the wires together 1 25 1 5 Al 1 5 10 BK aeneus TWIN2 x 1 5 10 BK Variocrimp 4 206 204 212 5 Al 2 5 10 BU Note 1 Manufacturer Phoenix Contact 2 Manufacturer WAGO 3 SIGNALS AND WIRING 2 Insertion of cable into Molex and WAGO connectors Insertion of cable into 54928 0670 54927 0520 54928 0370 Molex connectors and 721 207 026 000 721 205 026 000 and 721 203 026 000 WAGO connectors are as follows The following explains for Molex however use the same procedures for inserting WAGO connectors as well It may be difficult for a cable to be inserted to the connector depending on wire size or ferrule configuration In this case
191. by interlocking with the emergency stop switch 6 Do not use the 24VDC interface power supply for the electromagnetic brake 3 SIGNALS AND WIRING 3 12 Grounding Ground the controller and servo motor securely To prevent an electric shock always connect the protective earth PE terminal terminal marked of the controller with the protective earth PE of the control box The controller switches the power transistor on off to supply power to the servo motor Depending on the wiring and ground cable routing the controller may be affected by the switching noise due to di dt and dv dt of the transistor To prevent such a fault refer to the following diagram and always ground To conform to the EMC Directive refer to the EMC Installation Guidelines IB NA 67310 Control box Servo amplifier Servo motor Note Va Power supply ae x l Line filter Ensure to connect it to PE terminal of the servo amplifier Do not connect it directly to the protective earth of the control panel Programmable controller rb Protective earth PE Note For 1 phase 200 to 230VAC or 1 phase 100 to 120VAC connect the power supply to L1 L2 and leave Ls open There is no L3 for 1 phase 100 to 120VAC power supply For the specification of power supply refer to section 1 3 4 STARTUP 4 STARTUP AN WARNING Do not operate the switches with wet hands You may get an electric sho
192. c can be performed If an alarm has occurred the corresponding alarm number is Alarm code output f H g P S T Section 9 1 output in 3 bit code P S T The DI DO signals analog monitor input I F analog monitor output command pulse UE and encoder pulse output are Controller diagnosis function Section 12 8 2 C g checked The diagnosis cable MR J3ACHECK and MR i elle Configurator are necessary for this function Note P Position control mode S Speed control mode T Torque control mode 1 FUNCTIONS AND CONFIGURATION P S Position speed control change mode S T Speed torque control change mode T P Torque position control change mode 1 4 1 Applicable control mode for each actuator The following control mode can be selected for applicable actuators Please refer 13 SIGNALS AND WIRING and 15 PARAMETERS about wiring and parameter setting Table Applicable control mode O Applicable Xx Inapplicable x x O x x Pulse train ON OFF Signal ON OFF Signal Positioning operation Setting speed operation Setting torque operation Note 1 The control change mode cannot be used Note 2 Make the moving range limitation by external sensor etc to avoid actuator hitting to the work piece or stroke end Note 3 When using the pushing operation the following parameter should be set If not it will cause malfunction LECSB The value of the parameter value PC13
193. ch power off once then switch it on again to make that parameter setting valid App 1 1 Controller drive unit Basic setting parameters PADD Gain filter parameters PBO D0 PB02 VRFT Vibration suppression control tuning Pay aen n mode Advanced vibration suppression system control PB03 PST Position command acceleration Position smoothing pulses per revolution PAO6 CMX Electronic gear numerator For manufacturer setting Command pulse multiplying factor numerator Kees PBO6 GD2 Ratio of load inertia moment to servo P S eh PA07 CDV Electronic gear denominator Command pulse multiplying factor denominator 0 Model loop gain 0 Position loop gain PA08 Auto tuning mode PAOQ Auto tuning response 0 Speed loop gain A10 INP Control mode regenerative option selection 1 Speed integral compensation Forward rotation torque limit ES W CH oa 0 ES D N 0 Co UlU op Te U 0 U U W W wo ojojoj v ard herd ber NIDA B11 1 f S Rotation direction selection Notch shape selection 1 PA15 Encoder output pulses S H Machine resonance suppression filter 2 H PA16 For manufacturer setting to PA18 Notch shape selection 2 PA19 Parameter write inhibit v U v v o o A A v v ojo Ala Automatic setting parameter LPF Low pass filter setting frequency setting B20 VRF2 Vibration suppression control resonance el eegene ES B23 VFBF
194. charge lamp turns off Then check the voltage between P and N with a voltage tester or others Otherwise an electric shock may occur In addition always confirm from the front of the controller whether the charge lamp is off or not The internal circuits of the controller may be damaged by static electricity Always take the following precautions Ground human body and work bench Do not touch the conductive areas such as connector pins and electrical parts directly by hand 14 3 1 When replacing battery with the control circuit power ON Replacing battery with the control circuit power OFF will erase the absolute position data Replacing battery with the control circuit power ON will not erase the absolute position data Refer to section 14 4 for installation procedure of battery to the controller T 14 4 14 ABSOLUTE POSITION DETECTION SYSTEM 14 4 Battery installation procedure For the controller with a battery holder on the bottom it is not possible to wire for the earth with the battery installed Insert the battery after executing the earth wiring of the controller Insert connector into CN4 For LECSBO S5 LECSBO S7 LECSBO S8 14 5 14 ABSOLUTE POSITION DETECTION SYSTEM 14 5 Standard connection diagram Controller Note 2 Stroke end in forward rotation 24VDC CN1 DICOM 20 Stroke end in reverse rotation In External torque limit selection Reset
195. ck Before starting operation check the parameters Some machines may perform unexpected operation Take safety measures e g provide covers to prevent accidental contact of hands and parts cables etc with the controller heat sink regenerative resistor servo A CAUTION motor etc since they may be hot while power is on or for some time after power off Their temperatures may be high and you may get burnt or a parts may damaged During operation never touch the rotating parts of the servo motor Doing so can cause injury 4 1 Switching power on for the first time When switching power on for the first time follow this section to make a startup 4 1 1 Startup procedure Wiring check Surrounding environment check Parameter setting Test operation of servo motor alone in test operation mode Test operation of servo motor alone by commands Test operation with servo motor and machine connected Gain adjustment Actual operation Check whether the controller and servo motor are wired correctly using visual inspection output signal DO forced output section 6 8 etc Refer to section 4 1 2 Check the surrounding environment of the controller and servo motor Refer to section 4 1 3 Set the parameters as necessary such as the used control mode and regenerative option selection Refer to chapter 5 and sections 4 2 4 4 3 4 and 4 4 4 For the test operation with th
196. column 0 0 L Setting when undervoltage alarm occurs 0 Initial value Waveform of power supply voltage is not distorted 1 Set 1 if undervoltage alarm occurs because of distorted power supply voltage waveform when using power regenerative converter or power regenerative common converter PC28 For manufacturer ERE E PC29 Do not E ee this value by any means PC30 STA2 Acceleration time constant 2 This parameter is made valid when the acceleration deceleration selection STAB2 is turned ON Used to set the acceleration time required to reach the rated speed from Or min in response to the analog speed command and internal speed commands 1 to 7 PC31 Deceleration time constant 2 This parameter is made valid when the acceleration deceleration selection STAB2 is turned ON Used to set the deceleration time required to reach Or min from the rated speed in response to the analog speed command and internal speed commands 1 to 7 PC32 Command pulse multiplying factor numerator 2 Available when the parameter No PAO5 is set to 0 PC33 Command pulse multiplying factor numerator 3 Available when the parameter No PAO5 is set to 0 PC34 Command pulse multiplying factor numerator 4 Available when the parameter No PAO5 is set to 0 5 PARAMETERS E E EE Initial Unit Setting Control mode mode Ge value range PC35 TL2 Internal torque limit 2 100 0 0 Set this parameter to limit ser
197. continued 14 31 Alarm reset output Clearing retry counter Clearing ABS data receiving area Clearing ABS receive data buffer Resetting ABS data reception counter Resetting all data reception counter Servo alarm Error flag output detection alarm reset control Servo alarm output Resetting ABS transfer mode Resetting ABS request Resetting ready to send Resetting servo on request Resetting retry flag ABS transfer mode ON Clearing ABS data reception area Clearing ABS receiver data ABS transfer mode buffer or l Initial setting Resetting ABS data reception counter Resetting all data reception counter 14 ABSOLUTE POSITION DETECTION SYSTEM Y1 ABS co All data Continued from preceding page X2 a a E Send data ready m3 H M62 C1 Retry counter transfer receptin mode counter M3 i ve H ABS data read Y2 X2 K1 e T204 A ABS Send data request ready T204 WANDP K1X0 H0003 K1M10 ABS data waiting timer SFTR wn M20 on K2 H C2 r H ADDP KimioD2 D2 H K16 ce K19 co cl rst y2 H co X2 r per y H Al data Send data receptin ready counter WANDP H003F D2 D2 H CMPP K2M52 D2 M62 H C1 aaa Retry counter PLS tity H MOV K2M52 ve H K2 ps nl SET M6 H T211 PLS ww H Retry ABS transfer mode OFF wait timer M4 RST ms H Servo on request res
198. control change mode 3 48 3 6 6 Torque position control change mode AAA 3 50 3 7 Alarm occurrence TIMING chat an eei a p a a a A 3 51 KENE 3 52 3 8 1 Internal connection diagram eeceecceeeceeeceeeceeeceeectecceneeceseceeceaceecesacesecesaceeeaeeecseacesaceeeanteceeeaeeaeees 3 52 3 8 2 Detailed description of Wtertaces AAA 3 53 1 9 020 DOUICE ADRIANE ET eE AA AAEE TARE EE E AAA E AEAEE E TEE AAE ES 3 57 3 9 Treatment of cable shield external conductor escceceeeeeeeeeeeeeeeeeeceeeeaecaeeaeseeeeaesaesaeseaeeaesaeseeeaeeaeeas 3 58 3 10 Connection of servo amplifier and Servo moto 3 59 3 10 1 Connection Imstruchons nanat 3 59 3 10 2 Power supply cable wiring diagrams A 3 60 3 11 Servo motor with an electromagnetic brake 3 61 TL Safety precautions RENATE ENEE anvil een 3 61 Bil 1e2 ln E 3 61 DEE lui fastener they sctteteadt sya Slatcenth R ty hatches 3 62 3 11 4 Wiring diagrams HF MP series HF KP series servo motor sssssssssssssrssrssrsrisrrsrrsrrsrisrnsrnsnns 3 64 3 12 GLOUNGING cccecceceeseeeceeeeeeenecaecaeceeeeaecaecaeceeeeaesaecaesseeeaecaecaeseaeeaesaecaeseeeaesaecaeseaesaseeesaeseassaesaeseeseaeeaneas 3 66 4 1 Switching power on for the first time ceecceceeceeseeeeeeeceeeeseeaecaeeeeeeaesaecaeseaesaecaeseeseaesaesaeseeseaeeaeseeseaeeateas 4 1 4 d1 Stant p prO CEET 4 1 WE leie Re Ve 4 2 4 1 3 Surrounding environment nnna 4 3 4 2 Startup in position control Mode eeceecceseesece
199. ct 3 The ready to send signal 3 Faulty programmable PC or Change the input or output X32 remains OFF for longer PLC etc output or input module than 1s module controller is OFF controller ABS data ABS data sumcheck resulted 1 Wiring for the ABS data signal Correct the wiring checksum in mismatch four times ABS bit 0 PF bit 1 ZSP is error consecutively disconnected or connected to the SG terminal 2 Programmable PC or Correct the ladder PLC etc program incorrect PLC etc input module controller Servo alarm Y38 Y10 Alarm occurred in the controller controller was o a 2 Trouble ALM of the controller was turned on action Note Refer to 2 of this section for details of error occurrence definitions 14 58 14 ABSOLUTE POSITION DETECTION SYSTEM 2 ABS communication error a The OFF period of the ABS transmission data ready signal output from the controller is checked If the OFF period is 1s or longer this is regarded as a transfer fault and the ABS communication error is generated The ABS communication error occurs if the ABS time out warning AL E5 is generated at the controller due to an ABS request ON time time out ON ABS transfer mode OFF ON ABS request OFF ABS transmission ON ie 2 KS data ready OFF The signal does not come ON 1 gt 1 1 1 1 1 j 1 1 1 1 1 1 1 1 1 1 T 1 i 1 1 ABS communication YES erro
200. ction 12 1 2 1 for details Note Use this option when the connector is expected to receive large vibration and shock 12 3 SMC 12 OPTIONS AND AUXILIARY EQUIPMENT 12 1 2 Encoder cable 1 LE CSE A LE CSE B These cables are encoder cables for the LE S5 L LE S6 L LE S7 L LE S8 LJ series servo motors The numerals in the Cable Length field of the table are the symbols entered in the O part of the cable model The cables of the lengths with the symbols are available Cable length Cable ee Cable model IP rat Applicat m fo SNR e LE S7 L LE S8 LE CSE RDA 10 Sei IP65 Roba servo motor ee Load side lead soe e E NSSS a LE S7 L LE S8 Robot servo motor lead a Connection of controller and servo motor Controller LE CSE SOB LE CSE ROB b H e SECH ml Servo motor D LE S5 1 LE S6 ai LE S7 LE S8 LE CSE S Lr LE CSE R ei 4 CORK eb CN2 Receptacle 36210 Connector set 54599 Connector 1674320 1 0100PL 1019 Crimping tool for ground LE CSE SOA Shell kit 36310 3200 008 Molex clip 1596970 1 3M Crimping tool for receptacle contact Note Signal layout Note Signal layout 1596847 1 e S Tyco Electronics LE CSE RDA
201. cuit is shut off coasting the controller 1 Preparation and cancel of test operation mode a Preparation of test operation mode Set the test operation mode type in the following procedure 1 Selection of test operation mode Send the command 8 B data No 0 0 to select the test operation mode Test operation mode selection 8 B 0 0 0001 JOG operation 0002 0003 0004 DO forced output Note Note Refer to section 13 5 9 for DO forced output 2 Confirmation of test operation mode Read the test operation mode set for the slave station and confirm that it is set correctly a Transmission Send the command 0 0 data No 1 2 ovo DI b Return The slave station returns the set test operation mode Test operation mode read 0 Normal mode not test operation mode 1 JOG operation 2 Positioning operation 3 Motorless operation 4 DO forced output b Cancel of test operation mode To terminate the test operation mode send the command 8 B data No 0 0 data Test operation mode selection 8 B 0 0 0000 Test operation mode cancel 13 27 13 COMMUNICATION FUNCTION 2 JOG operation Send the command data No and data as indicated below to execute JOG operation Start Command 8 B Data No 0 0 Data 0001 JOG operation Select the JOG operation in the test operation mode Servo motor speed setting Command A 0 Data No 1 0 Data Write the speed r
202. curs during operation the corresponding alarm or warning is displayed If any alarm or warning has occurred refer to section 9 2 or 9 3 and take the appropriate action When an alarm occurs ALM turns off Set 0001 in parameter No PD24 to output the alarm code is outputted by ON OFF of bi to bit2 Warnings AL 92 to AL EA have no alarm codes Any alarm code is output at occurrence of the corresponding alarm In the normal status the alarm code is not output After its cause has been removed the alarm can be deactivated in any of the methods marked O in the alarm deactivation column Note 2 Alarm deactivation O Dea Name Alarm code AL 92 Battery cable Press disconnection warning Display CN1 CN1 CN1 Name SET on Home position setting 22 23 24 SEEN current AL 98 error bit2 bit1 bitO alarm AL 99 Stroke limit warning reen AL 9F Battery warning AL 10 0 1 0 Undervoltage O A en Excessive regeneration AL 12 1 o o o Memory error 1 RAM l warning AL13 0 o o Clockerror Overload warning 1 AL 15 0 0 o Memory error 2 EEP ROM Absolute position counter warning AL i16 4 1 Encoder error 1 At power on ABS time out warning AL17 0 o o Boarderror ALE6 Servo emergency stop warning ings gt gt E m Warn gt gt E m D gt m aof o of o IT Mor comb AL 1A 1 1 0 Motor combination error reduction warning Re ae a during run
203. d are the same as in parameter No PDO3 function column dy Position control mode Ser Ger Speed control mode fof the CN1 Torque control mode 44 pin PD12 DI10 Input signal device selection 10 CN1 45 Refer to Any input signal can be assigned to the CN1 45 pin name The devices that can be assigned and the setting method and are the same as in parameter No PD03 function column dy EN Select the Position control mode input device Speed control mode of the CN1 Torque control mode 45 pin 5 PARAMETERS Symbol EC Initial Setting Control mode value range PD13 DO1 Output signal device selection 1 CN1 22 0004h Refer to Any output signal can be assigned to the CN1 22 pin name In the initial setting INP is assigned in the position control and mode and SA is assigned in the speed control mode function Note that the device that can be assigned changes column depending on the control mode o o pe Select the output device of the CN1 22 pin The devices that can be assigned in each control mode are those that have the symbols indicated in the following table If any other device is set it is invalid ZE LS JL 00 wats OFF Always OFF Always OFFI a For manufacturer setting Note 2 was OC sa sa oc zsp zs zee o2 For manufacturer seting Note 2 _ Always n Note 1 P Position control mode S Speed control mode T Torque control mode 2
204. d Z axes series Note Except the servo motor with reduction gear When the equipment has been stored for an extended period of time contact your local sales office 2 Wiring N CAUTION Wire the equipment correctly and securely Otherwise the servo motor may operate unexpectedly Do not install a power capacitor surge absorber or radio noise filter ER DIE H option between the servo motor and controller drive unit Connect the wires to the correct phase terminals U V W of the controller drive unit and servo motor Not doing so may cause unexpected operation Connect the servo motor power terminal U V W to the servo motor power input terminal U V W directly Do not let a magnetic contactor etc intervene Servo amplifier Servo amplifier drive unit Servo motor drive unit Servo motor Do not connect AC power directly to the servo motor Otherwise a fault may occur A SMC N CAUTION The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction Otherwise the emergency stop and other protective circuits may not operate Servo amplifier Servo amplifier drive unit drive unit 24VDC 24VDC Control output signal DICOM For sink output interface For source output interface When the cable is not tightened enough to the terminal block connector the cable or terminal block connector may generate heat because of t
205. d equipment This requires the EMC filters to be used with the servo incorporated machines and equipment to comply with the EMC directive For specific EMC directive conforming methods refer to the EMC Installation Guidelines IB NA 67310 2 Low voltage directive The low voltage directive applies also to servo units alone This servo is designed to comply with the low voltage directive 3 Machinery directive Not being machines the converter units and controllers drive units need not comply with this directive App 6 2 For compliance Be sure to perform an appearance inspection of every unit before installation In addition have a final performance inspection on the entire machine system and keep the inspection record 1 Converter units controllers drive units and servo motors used Use the converter units controllers drive units and servo motors which standard product Controller LECSBLI 014 Servo motor series LE S5 L1 LE S6 L1 LES LE S8 App 7 APPENDIX 2 Structure The control circuit provide safe separation to the main circuit in the controller Control box Reinforced insulating type Servo amplifier drive unit No fuse breaker Magnetic Servo contactor t 7 motor 2 pe NFB MC Note Controllers of 22kW or less do not have a converter unit 3 Environment
206. d via a timing belt the electromagnetic brake may not hold the motor shaft To ensure safety install a stopper on the machine side O 5 Corrective actions N CAUTION When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault use a servo motor with an electromagnetic brake or an external brake mechanism for the purpose of prevention Configure an electromagnetic brake circuit so that it is activated also by an external emergency stop switch Contacts must be opened by servo on SON OFF trouble ALM and Contacts must be opened by an electromagnetic brake interlock MBR emergency stop switch Servo motor gt Electromagnetic brake When any alarm has occurred eliminate its cause ensure safety and deactivate the alarm before restarting operation When power is restored after an instantaneous power failure keep away from the machine because the machine may be restarted suddenly design the machine so that it is secured against hazard if restarted 6 Maintenance inspection and parts replacement N CAUTION With age the electrolytic capacitor of the converter unit and controller drive unit will deteriorate To prevent a secondary accident due to a fault it is recommended to replace the electrolytic capacitor every 10 years when used in general environment Please contact your local sales office 7 General instructio
207. de to I 1 automatically changes this parameter When parameter No PBO2 is set to 0O 0O02 this parameter can be set manually PB20 VRF2 Vibration suppression control resonance frequency setting Set the resonance frequency for vibration suppression control to suppress low frequency machine vibration such as enclosure vibration Setting parameter No PBO02 vibration suppression control tuning mode to I 1 automatically changes this parameter When parameter No PBO2 is set to 0O 0O02 this parameter can be set manually 5 PARAMETERS Initial i No Symbol Name and function nitial Unit Setting value range PB23 VFBF Low pass filter selection 0000h Refer to Select the low pass filter name and 0 0 L 0 function Low pass filter selection column 0 Automatic setting 1 Manual setting parameter No PB18 setting When automatic setting has been selected select the filter that has the band width close to the one calculated with VOP SAO rade 1 GD2 PB24 MVS Slight vibration suppression control selection 0000h Refer to Select the slight vibration suppression control name When parameter No PA08 auto tuning mode is set to and I 3 the slight vibration suppression control is made function valid column ojojo yE Slight vibration suppression control selection 0 Invalid 1 Valid PB25 BOP1 Functio
208. der output pulses setting invalid PC20 SNO Station number setting station 0 Used to specify the station number for serial communication to Always set one station to one axis of controller If one 31 station number is set to two or more stations normal communication cannot be made PC21 SOP Communication function selection 0000h Refer to Select the communication UE and select the RS 422 name communication conditions and function 0 0 column RS 422 communication baud rate selection 0 9600 bps 1 19200 bps 2 38400 bps 3 57600 bps 4 115200 bps c RS 422 communication response delay time 0 Invalid 1 Valid reply sent after delay time of 800 us or longer 5 PARAMETERS ge Syribot EE Initial Unit Setting Control mode mode value range PC22 COP1 Function selection C 1 0000h Refer to Select the execution of automatic restart after instantaneous name power failure selection and encoder cable communication and system selection function column 010 L Restart after instantaneous power failure selection If the power supply voltage has returned to normal after an undervoltage status caused by the reduction of the input power supply voltage in the speed control mode the servo motor can be restarted by merely turning on the start signal without resetting
209. details of the alarm and remove its cause 1 Check that the shield of the command cable is made correctly 2 When wiring with the open collector system change it to the differential system 3 Wire apart from the strong electric circuit 4 Install the data line filters Refer to section 12 17 Review the wiring and the controller programs in order that the servo on SON is not turned to off in operation Review the wiring and command pulse specifications Replace the controller if an error cannot be detected Shorten the wiring length Differential system 10m or shorter Open collector system 2m or shorter The cumulative feedback pulses x 1 A machine slipped Adjust the machine parts the travel distance per pulse does 2 A machine backlash is big not match with the actual machine position The cumulative feedback pulses do not match with the cumulative The servo gain is low Increase the auto ining response command pulses x the electronic The auto tuning response is low and then adjust the gains again The setting time is late Refer to chapter 7 1 Review the wiring and the The position is misaligned in operation after the home position gear setting value return The forward rotation stroke end LSP or the reverse rotation stroke sequence of each signal end LSN is turned off 2 If a noise may malfunction greatly AL 99 occurred make the input filter setting Clear CR or rese
210. ding parameters After setting the values of these parameters they are made valid by switching power off once then on again 1 Serial communication baud rate Choose the communication speed Match this value to the communication speed of the sending end master station Parameter No PC21 III IES Communication baud rate 0 9600 bps 1 19200 bps 2 38400 bps 3 57600 bps 4 115200 bps 2 RS 422 communication response delay time Set the time from when the controller slave station receives communication data to when it sends back data Set 0 to send back data in less than 800pus or 1 to send back data in 800us or longer Parameter No PC21 RS 422 communication response delay time 0 Invalid 1 Valid reply sent in 800us or longer 3 Station number setting Set the station number of the controller in parameter No PC20 The setting range is station 0 to 31 13 4 13 COMMUNICATION FUNCTION 13 3 Protocol 13 3 1 Transmission data configuration Since up to 32 axes may be connected to the bus add a station number to the command data No etc to determine the destination controller of data communication Set the station number to each controller using the parameter Transmission data is valid for the controller of the specified station number When is set as the station number added to the transmission data the transmission data is made valid for all controllers connected However when return data is requi
211. do so will fail the connected controller and servo motor Controller Servo motor 3 The earth terminal of the servo motor is connected to the PE terminal of the controller Controller Servo motor ane 4 P1 P2 For 11k to 22kW P P should be connected Controller d P P2 c When option and auxiliary equipment are used 1 When regenerative option is used under 3 5kW for 200V class and 2kW for 400V class The lead between P terminal and D terminal of CNP2 connector should not be connected The generative brake option should be connected to P terminal and C terminal A twisted cable should be used Refer to section 12 2 o 4 STARTUP 2 When regenerative option is used over 5kW for 200V class and 3 5kW for 400V class The lead of built in regenerative resistor connected to P terminal and C terminal of TE terminal block should not be connected The generative brake option should be connected to P terminal and C terminal A twisted cable should be used when wiring is over 5m and under 10m Refer to section 12 2 3 When brake unit and power regenerative converter are used over 5kW The lead of built in regenerative resistor connected to P terminal and C terminal of TE1 terminal block should not be connected Brake unit power regenerative converter or power regenerative common converter should be connected to P terminal and N terminal Refer to section 12 3 to 12 5 4 The power factor improving
212. drive unit When the product has been stored for an extended period of time contact your local sales office When handling the converter unit and controller drive unit be careful about the edged parts such as the corners of the each unit The converter unit and controller drive unit must be installed in the metal cabinet control box o S 2 INSTALLATION 2 1 Installation direction and clearances The equipment must be installed in the specified direction Otherwise a fault may occur Z CAUTION Leave specified clearances between the controller and control box inside walls or other equipment 1 7kW or less a Installation of one controller Control box Control box Yy Z E Z Wiring f soem Ge 0 ms 40mm or lt TED E 10mm or more ER more Il ST ei Tat ae me Miia of A m a H f ma id Uf di ON Bottom o 2 INSTALLATION b Installation of two or more controllers Close mounting is available for the controller of under 3 5kW for 200V class and 400W for 100V class Leave a large clearance between the top of the controller and the internal surface of the control box and install a cooling fan to prevent the internal te
213. e inertia moment ratio may malfunction temporarily In such a case choose the auto tuning mode 2 parameter No PA08 0002 and set the correct load inertia moment ratio in parameter No PBO6 When any of the auto tuning mode 1 and auto tuning mode settings is changed to the manual mode 2 setting the current loop gains and load inertia moment ratio estimation value are saved in the EEP ROM 7 GENERAL GAIN ADJUSTMENT 7 2 3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory simply running the servo motor automatically sets the optimum gains that match the machine Merely changing the response level setting value as required completes the adjustment The adjustment procedure is as follows Auto tuning adjustment Acceleration deceleration repeated oad inertia moment ratio estimation value stable Auto tuning Conditions not satisfied Estimation of load inertia Choose the auto tuning mode 2 parameter No PA08 0002 and set the load inertia moment ratio parameter No PB06 manually Adjust response level setting so that desired response is achieved on vibration free level Acceleration deceleration repeated Requested performance satisfied To manual mode o S 7 GENERAL GAIN ADJUSTMENT 7 2 4 Response level setting in auto tuning mode Set the response The first digit of parameter No PA
214. e mode Main circuit power supply connector CNP 1 Section 3 1 Connect the input power supply Section 3 3 USB communication connector CN5 Connect the personal computer Section 12 8 Fixed part 2 GE Analog monitor connector CN6 Section 3 2 Outputs the analog monitor Section 3 4 RS 422 communication connector CN3 Section 12 8 Connect the personal computer Chapter 13 Control circuit connector CNP2 Section 3 1 Connect the control circuit power supply regenerative R e Section 3 3 option I O signal connector CN1 Section 3 2 Used to connect digital I O signals Section 3 4 Servo motor power connector CNP3 Section 3 1 Connect the servo motor Section 3 3 Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Encoder connector CN2 Section 3 4 Used to connect the servo motor encoder Section 12 1 Battery connector CN4 Used to connect the battery for absolute position data Section 12 9 backup Chapter 14 Battery holder Contains the battery for absolute position data backup SEH Rating plate Section 1 5 Protective earth PE terminal Section 3 1 Ground terminal Section 3 3 C T 1 FUNCTIONS AND CONFIGURATION 1 8 Configuration including auxiliary equipment Equipment other than the controller and servo motor are optional or recommended products
215. e parameter value Select the input form of the pulse train input signal Command pulses may be input in any of three different forms for which positive or negative logic can be chosen Arrow _f L or JI in the table indicates the timing of importing a pulse train A and B phase pulse trains are imported after they have been multiplied by 4 Selection of command pulse input form Setting Pulse train form Forward rotation command Reverse rotation command PP WU Forward rotation pulse train 0010h 8 Reverse rotation pulse train NP LI 1 LI LI 0011h A ph l i 0012h phase pulse train B phase pulse train Forward rotation pulse train 0000h Reverse rotation pulse train 0001h A phase pulse train 0002h Gees B phase pulse train Signed pulse train Negative logic Signed pulse train Positive logic 5 PARAMETERS 5 1 13 Selection of servo motor rotation direction Parameter Initial Unit Setting Name value range Pa14 ro Rotation direction selection o DN 0 o Da Turn off the power and then on again after setting the parameter to validate the parameter value Select servo motor rotation direction relative to the input pulse train Servo motor rotation direction Parameter No PA14 setting When forward rotation pulse When reverse rotation pulse is is input input Reverse rotation CW 5 1 14 Encoder output pulse Parameter Initial Unit Setting Control mode Sy
216. e analyzer set the Factor f or unusual noise is resolved filter manually The response has increased to the machine limit The machine is too complicated to provide the optimum filter End o 8 SPECIAL ADJUSTMENT FUNCTIONS Filter OFF enables a return to the initial value When adaptive tuning is executed vibration sound increases as an excitation signal is forcibly applied for several seconds When adaptive tuning is executed machine resonance is detected for a maximum of 10 seconds and a filter is generated After filter generation the adaptive tuning mode automatically shifts to the manual mode Adaptive tuning generates the optimum filter with the currently set control gains If vibration occurs when the response setting is increased execute adaptive tuning again During adaptive tuning a filter having the best notch depth at the set control gain is generated To allow a filter margin against machine resonance increase the notch depth in the manual mode 8 3 Machine resonance suppression filter 1 Function The machine resonance suppression filter is a filter function notch filter which decreases the gain of the specific frequency to suppress the resonance of the mechanical system You can set the gain decreasing frequency notch frequency gain decreasing depth and width Mechanical Machine resonance point system response level L Frequency Notch width Notch depth y Notch d
217. e can be changed to any value with an external analog input or the parameter 2 Speed control mode An external analog speed command 0 to 10VDC or parameter driven internal speed command max 7 speeds is used to control the speed and direction of a servo motor smoothly There are also the acceleration deceleration time constant setting in response to speed command the servo lock function at a stop time and automatic offset adjustment function in response to external analog speed command 3 Torque control mode An external analog torque command 0 to 8VDC is used to control the torque output by the servo motor To prevent unexpected operation under no load the speed limit function external or internal setting is also available for application to tension control etc o 1 FUNCTIONS AND CONFIGURATION 1 2 Function block diagram The function block diagram of this servo is shown below 1 LECSBD Power factor i i C Regenerative option improving D reactor Pulse input H lamp Note 3 Regene rative TR CHARGE Cooling fan Servo motor Dynamic brake circuit Analog 2 channels Failure etc Note 1 The built in regenerative r
218. e l X12 I Position stop oe X13 Dm 4 Mid Home position return start kd D 1PG error reset X15 ch COM si EMG ervo on oo 0 A ABS transfer mode Yi dh ABSM ABS request Y2 ABSR Alarm reset SG a COM2 EE E acts eee H CH aie eee ee A GE e eee se l Electromagnetic AE P brake output Ko LEE EE EE a l dere in Note 3 NZ pi i Cous z G l Y10 e Servo alarm i 1 Note 2 Y11 det CH ABS communication error e I 2 1 l ab EH ABS checksum error a i Y13 1 I PN G 24 Ge A 20 eh ay Vt l S S Li i SD DOG Proximity dog WR ef 1 STOP el VN at Note 1 IL K 3 3kQ aT Ree Sa a Jf Pulse train for forward rotation 7 pa f hA a ao COM Gr E Se poco p Pulse train for reverse rotation Geo RP NP 3 3kQ e 14 ABSOLUTE POSITION DETECTION SYSTEM 2 Sequence program example a Conditions 1 Operation pattern ABS data transfer is made as soon as the servo on switch is turned on After that positioning operation is performed as shown below Home position 300000 address After the completion of ABS data transmission JOG operation is possible using the JOG or JOG switch and dog type home position return is possible using the home position return switch 2 Buffer memory assignment For BFM 26 and later refer to the FX2 N 1PG User s Manual BMF BMFNo Upper 16 Lower 16 Name and symbol Set value Remark bits bits Pulse rate 200
219. e position is sent back in hexadecimal in the servo motor side pulse unit Must be converted into decimal For example data 000186A0 is 100000 pulse in the motor side pulse unit 2 Command unit absolute position Read the absolute position in the command unit a Transmission Send command 0 2 and data No 9 1 HS St b Reply The slave station sends back the requested command pulses PTT TET Absolute position is sent back in hexadecimal in the command unit Must be converted into decimal For example data 000186A0 is 100000 pulse in the command unit 13 33 13 COMMUNICATION FUNCTION 3 Software version Reads the software version of the controller a Transmission Send command 0 2 and data No 7 0 HS PR b Reply The slave station returns the software version requested ee EMI Tete Se eT ae SSE IE i Software version 15 digits Space 13 34 14 ABSOLUTE POSITION DETECTION SYSTEM 14 ABSOLUTE POSITION DETECTION SYSTEM If an absolute position erase AL 25 or absolute position counter warning AL E3 A CAUTION has occurred always perform home position setting again Not doing so can cause runaway Not doing so may cause unexpected operation If the encoder cable is disconnected absolute position data will be lost in the following servo motor series LE S5 L LE S6 L LES LE S8 L After disconnecting the encoder cable al
220. e prohibition of the input device 1EA5 4 external analog input signal or pulse train input except EMG LSP and LSN OS Cancels the prohibition of the output device 1EA5 13 14 13 COMMUNICATION FUNCTION 7 Operation mode selection Command 8 B Setting range Frame length 8 B 0 0 Operation mode switching 0000 to 0004 4 0000 Test operation mode cancel 0001 JOG operation 0002 Positioning operation 0003 Motorless operation 0004 Output signal DO forced output E Test operation mode data Command 9 2 A 0 Setting range Frame length aT e Input signal for test operation Refer to section 13 5 7 BEE wm 0 Forced output of signal pin Refer to section 13 5 9 to section 13 5 9 1 0 Writes the speed in the test operation mode 0000 to 7FFF JOG operation positioning operation 1 1 Writes the acceleration deceleration time 00000000 to 7FFFFFFF constant in the test operation mode JOG operation positioning operation 2 0 Sets the moving distance in the test operation 00000000 to 7FFFFFFF mode JOG operation positioning operation 2 1 Selects the positioning direction of test operation 0000 to 0001 4 positioning operation 0 Forward rotation direction 1 Reverse rotation direction 0 Command pulse unit 1 Encoder pulse unit 4 0 Test operation positioning operation start 1EA5 command 4 1 Used to make a temporary stop during test STOP operation positioning
221. e servo motor must be at a stop IM H Zero speed ABS transfer Zero mode speed Y31 ABS transfer mode j Torque limiting To create the status information for the torque limiting mode During ABS data transfer for several seconds after the servo on SON is turned on the torque limiting must be off Y31 X22 OM Torque limiting mode ABS transfer Torque limiting mode mode 14 48 14 ABSOLUTE POSITION DETECTION SYSTEM 3 Sequence program 2 axis control The following program is a reference example for creation of an ABS sequence program for the second axis Y axis using a single A1SD75 module Create a program for the third axis in a similar manner a Y axis program Refer to the X axis ABS sequence program and create the Y axis program Assign the X inputs Y outputs D registers M contacts T timers and C counters of the Y axis so that they do not overlap those of the X axis The buffer memory addresses of the A1SD75 differ between the X and Y axes The instructions marked 1 in the program of section 14 9 2 2 c should be changed as indicated below for use with the Y axis FROMP H0000 kb D8 Ki _ FROMP H0000 K155 D8 K1 DFROP H0000 K0072 D9 Ki DFROP H0000 K222 D9 Ki DTOP H0000 K1154 D3 K1 DTOP H0000 K1204 D3 K1 TO H0000 K1150 K9003 K1 _ TO H0000 K1200 K9003 K1 Program configuration erer X axis ABS sequence program Program in section 14 10 2 2 c
222. e servo motor disconnected from the machine and operated at the speed as low as possible check whether the servo motor rotates correctly Refer to sections 6 9 4 2 3 4 3 3 and 4 4 3 For the test operation with the servo motor disconnected from the machine and operated at the speed as low as possible give commands to the controller and check whether the servo motor rotates correctly Connect the servo motor with the machine give operation commands from the host command device and check machine motions Make gain adjustment to optimize the machine motions Refer to chapter 7 Stop giving commands and stop operation The other conditions where the servo motor will come to a stop are indicated in sections 4 2 2 4 3 2 and 4 4 2 4 1 SMC O 4 STARTUP 4 1 2 Wiring check 1 Power supply system wiring Before switching on the main circuit and control circuit power supplies check the following items a Power supply system wiring The power supplied to the power input terminals L1 L2 L3 L11 L21 of the controller should satisfy the defined specifications Refer to section 1 3 b Connection of controller and servo motor 1 The servo motor power supply terminals U V W of the controller match in phase with the power input terminals U V W of the servo motor Controller Servo motor U 2 The power supplied to the controller should not be connected to the servo motor power supply terminals U V W To
223. e used for ordinary braking Before performing the operation be sure to confirm that the electromagnetic brake operates properly Do not use the 24VDC interface power supply for the electromagnetic brake Always use the power supply designed exclusively for the electromagnetic brake Otherwise a fault may occur Refer to the Servo Motor Instruction Manual Vol 2 for specifications such as the power supply capacity and operation delay time of the electromagnetic brake Refer to the Servo Motor Instruction Manual Vol 2 for the selection of a surge absorber for the electromagnetic brake Note the following when the servo motor with an electromagnetic brake is used 1 Set 001011 in parameter No PA04 to make the electromagnetic brake interlock MBR valid 2 The brake will operate when the power 24VDC switches off 3 While the reset RES is on the base circuit is shut off When using the servo motor with a vertical shaft use the electromagnetic brake interlock MBR 4 Switch off the servo on SON after the servo motor has stopped 3 11 2 Setting 1 Set 0001 in parameter No PA04 to make the electromagnetic brake interlock MBR valid 2 Using parameter No PC16 electromagnetic brake sequence output set a delay time Tb at servo off from electromagnetic brake operation to base circuit shut off as in the timing chart shown in section 3 11 3 1 3 SIGNALS AND WIRING 3 11 3 Timing charts 1 Servo on
224. e within a maximum 55 C 131 F limit The necessary enclosure heat dissipation area can be calculated by Equation 11 1 oP K AT Ee 11 1 where A Heat dissipation area m P Loss generated in the control box W AT Difference between internal and ambient temperatures C K Heat dissipation coefficient 5 to 6 When calculating the heat dissipation area with Equation 11 1 assume that P is the sum of all losses generated in the enclosure Refer to Table 11 1 for heat generated by the controller A indicates the effective area for heat dissipation but if the enclosure is directly installed on an insulated wall that extra amount must be added to the enclosure s surface area The required heat dissipation area will vary wit the conditions in the enclosure If convection in the enclosure is poor and heat builds up effective heat dissipation will not be possible Therefore arrangement of the equipment in the enclosure and the use of a cooling fan should be considered Table 11 1 lists the enclosure dissipation area for each controller when the controller is operated at the ambient temperature of 40 C 104 F under rated load Outside Inside Air flow Fig 11 2 Temperature distribution in enclosure When air flows along the outer wall of the enclosure effective heat exchange will be possible because the temperature slope inside and outside the enclosure will be steeper 11 3 11 CHARACTERISTICS
225. eakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply Select a leakage current breaker according to the following formula and ground the controller servo motor etc securely Make the input and output cables as short as possible and also make the grounding cable as long as possible about 30cm to minimize leakage currents Cable NV Noise filter en Leakage current breaker current breaker Tyee Tye Ire ne products Controller Cable Models provided with harmonic and surge reduction techniques BV C1 General models NFB Io Leakage current on the electric channel from the leakage current breaker to the input terminals of the controller Found from Fig 12 3 Ig2 Leakage current on the electric channel from the output terminals of the controller to the servo motor Found from Fig 12 3 Ign Leakage current when a filter is connected to the input side 4 4mA per one FR BIF H Iga Leakage current of the controller Found from Table 12 5 lgm Leakage current of the servo motor Found from Table 12 4 Ig1 Ign Iga Ig Igm 120 120 _ 100 8 100 5 5 3 80 5 80 60 2 60 bd bg 5 SS 2 40 3 40 MA mA 20 H 100 2 35 8 1422 3880 150 2 55 14 38 5 5 30 60 100 3 5 8 22 60 150 30 80 Cable size mm Cable size mm
226. ectives COMPLIANCE WITH UL C UL STANDARD Refer to Appendix 10 for the compliance with UL C UL standard lt lt About the manuals gt gt This Instruction Manual and the LECSBLJ C1 Instruction Manual Vol 2 are required if you use the General Purpose AC servo LECSBLI C1 for the first time Relevant manuals LECSBL U Series Instructions and Cautions for Safe Use of AC Servos IB NA 0300077 Enclosed in converter unit and controller drive unit LECSBLI U Instruction Manual Vol 2 SH NA 030041 EMC Installation Guidelines IB NA 67310 lt lt Wiring gt gt Wires mentioned in this instruction manual are selected based on the ambient temperature of 40 C 104 F O MEMO lt O CONTENTS 1 FUNCTIONS AND CONFIGURATION 1 1to 1 13 Tun E LEE 1 1 1 2 Function block diagrames ee a NENNEN AE E A E AEEA EAN E AO 1 2 1 3 Servo amplifier standard epechfcations 1 3 attente fees soe fe oes ca soc age tudes vo faeces ce ee ee ee att ea a a 1 4 1 4 1 Applicable control mode for each actuator e ceeeeeeeceeeeeeeeceeeeeeeeeeaeecaecaeseeeeaesaesaeseeesaeeaeseeseateaeeas 1 7 1 5 Model Code definition AAA 1 8 1 6 Combination with servo mobor ananunua nan nanat 1 9 1 7 SUUCUIC EE 1 10 SR Be Eier Let 1 10 1 8 Configuration including auxiliary equipment ceceeeeeeeeeeeeeeeeeeeeeeeeeaceeaecaeseeseaeeaesaeseseaetaeeaeeeeeaeeaees 1 11 2 1 Installation direc
227. ectly the encoder error 1 At power on AL 16 will occur at power on Encoder cable Parameter No PC22 setting MR EKCBL20M L H OOO Liinitial value MR EKCBL30M L H series MR De H MR MR EKCBL50M H H In the position control mode the controller can be used by merely changing the basic setting parameters No PAOD mainly As necessary set the gain filter parameters No PBO O extension setting parameters No PCOID and I O setting parameters No PDO D Parameter group Main description Basic setting parameter Set the basic setting parameters first Generally operation can be performed by merely setting this No PADD parameter group In this parameter group set the following items Control mode selection select the position control mode Regenerative option selection Absolute position detection system selection Setting of command input pulses per revolution Electronic gear setting Auto tuning selection and adjustment In position range setting Torque limit setting Command pulse input form selection Servo motor rotation direction selection Encoder output pulse setting Gain filter parameter If satisfactory operation cannot be achieved by the gain adjustment made by auto tuning execute in No PBOD depth gain adjustment using this parameter group This parameter group must also be set when the gain changing function is used Extension setting parameter This par
228. eeeaesateaeseeteaeeaes 8 4 8 4 Advanced vibration suppression Control 8 7 8 5 LOW PaSS EE 8 11 8 6 Gain changing FUNCTION ceceeeeeeeeeeceeeeeeeaeeaeceeeeaeeaecaeceeseaecaecaeseeeeaeeaeceeseaesaesaesaeseaesaesaeeaeseaesaeseseaseaeeas 8 11 8 6 1 ee EE 8 11 8 6 2 FUNCTION block dagram A 8 12 8 6 3 Parameters xas aean anil wise did abet ANSA EEA AA AS AEE EAA ASS 8 13 8 6 4 Gaim changing telen TEE 8 15 8 7 Vibration suppression control filter 2 8 17 9 1 Alarms and warning E EE 9 1 9 2 Remedies for alai MSas iiitide aiia aie viata ieee aviv dient EA 9 2 9 3 Remed eS fO Warns ee Ee EE EE 9 16 9 4 Troubles without an alarm warning A 9 18 10 OUTLINE DRAWINGS 10 1 to 10 5 10 1 Coritvoller 2 ugebuede Sg dee ata d se DEED eee dened de tee nea A 10 1 10 2 GONnNG e riisi aeiia a n aari a adn ia nto aids aie a dete det 10 3 11 CHARACTERISTICS 11 1to 11 7 11 1 Overload protection characteristics cccesceeceeeceeeeeeeceeeceeeeeeeaecaeceeseaesaecaesaeseaeeaesaeseseaesaeeeseeseaeeaees 11 1 11 2 Power supply equipment capacity and generated Joes A 11 3 11 3 Dynamic brake charachertetice AAA 11 4 11 3 1 Dynamic brake operaio Msosi asiasi n aaia ai Ea EE AA EEA AN E EN 11 4 11 3 2 The dynamic brake at the load inertia moment 11 5 11 4 Cable flexing TICE 11 6 11 5 Inrush currents at power on of main circuit and Control CirCUit ceceeeeeeeeeeeeeteeeeeeeeeeeeeeeeteeeeeeaes 11 6 12 OPTIONS AND AUXILIARY EQUIPMENT 1
229. elimit ae aeaea apia araar ath fiesta ten aaa a ea ath cin ea ena eat 5 15 5 1 12 Selection of command pulse input Tom 5 16 5 1 13 Selection of servo motor rotation direction 5 17 5 1 14 Encoder Output pulse AA 5 17 5 2 Gain filter parameters NO PR 5 19 5 2 1 Parameter list aeaaaee a a a a E a a a E a a a T a 5 19 52 2 Detall iStsscests riara et cian ieeiece ed li aes vided cae a tee avi cd og cin tg eee ee 5 21 5 2 3 POsition SMOONING 4a keen i hein ohn wien aan dies bein ee 5 32 5 3 Extension setting parameters No PC DU 5 33 e DE NET E 5 33 Eege E EE 5 34 5 3 3 Analog MOMO EE 5 44 5 3 4 Alarm history leet uge ieena ena aa eiai eE enee aieeaa a a a ien Ed EN 5 47 5 4 I O setting parameters No PD D 5 48 e a Wen hsi E 5 48 A Eege E EE E Severs T 5 49 5 4 3 Using forward reverse rotation stroke end to change the stopping pattern e sseeeeeeeeee 5 58 6 1 OVENVIOW tivities RA Ai Bee avid Bei ave eed ae A i i nie eel aa 6 1 6 2 Display seouence nnn noenn nennen 6 2 6 3 status Ne TEE EE 6 3 6 3 1 Display EIN LTE 6 3 6 3 2 Display evamples AAA 6 4 GEREENT 6 5 6 3 4 Changing the status display screen 6 6 6 4 Didgnostic MOC EE 6 7 LR gn Re Le 6 8 6 6 Parameter Mode E 6 10 6 6 1 Parameter mode TraNnStthO mss csckcscetvcee T A ct cenvenatgeaven SEENEN SEELEN SEENEN 6 10 6 6 2 Operation exvample nnan ennnen 6 11 6 7 External I O signal display ccccecceceeseeeeceeeeceeeeeeseeaeceeeeaeeaeca
230. en the data of the home position address parameter is not written from GX Developer or the like before starting the data set type home position return program this sequence circuit is required When the home position address is written in the home position address parameter change to the following circuit Note 2 ro H0000 K72 D9 K1 Y 2 Changes are stored temporarily to buffer memory at this time An additional processing is required when changes should be reflected to memory for OS or flash ROM For details refer to the positioning module user s manual 14 47 14 ABSOLUTE POSITION DETECTION SYSTEM g Electromagnetic brake output During ABS data transfer for several seconds after the servo on SON is turned on the servo motor must be at a stop Set 001011 in parameter No PA04 of the controller to make the electromagnetic brake interlock MBR valid Y31 X21 EH Electromagnetic brake output ABS transfer Electromagnetic brake mode interlock MBR h Positioning completion To create the status information for positioning completion During ABS data transfer for several seconds after the servo on SON is turned on the servo motor must be at a stop Y31 X20 ft Ky H Positioning completion ABS transfer Positioning mode completion Y31 ABS transfer mode i Zero speed To create the status information for zero speed During ABS data transfer for several seconds after the servo on SON is turned on th
231. epth L Frequenc Notch frequency g y You can use the machine resonance suppression filter 1 parameter No PB13 PB14 and machine resonance suppression filter 2 parameter No PB15 PB16 to suppress the vibration of two resonance frequencies Execution of adaptive tuning in the filter tuning mode automatically adjusts the machine resonance suppression filter When filter tuning mode is ON the filter tuning mode shifts to the manual mode after the predetermined period of time The manual mode enables manual setting using the machine resonance suppression filter 1 o 8 SPECIAL ADJUSTMENT FUNCTIONS Machine resonance point Mechanical system i l response level Frequency l l i i l Notch depth Kg Y l 4 Frequency Parameter No PB01 Parameter No PB15 PB13 PB14 PB16 o S 8 SPECIAL ADJUSTMENT FUNCTIONS 2 Parameters a Machine resonance suppression filter 1 parameter No PB13 PB14 Set the notch frequency notch depth and notch width of the machine resonance suppression filter 1 parameter No PB13 PB14 When the manual mode is selected in the adaptive tuning mode parameter No PB01 the settings of the machine resonance suppression filter 1 are valid b Machine resonance suppression filter 2 parameter No PB15 PB16 Setting method for the machine resonance suppression filter 2 parameter No PB15 PB16 is same as for the machine resonance suppression filter 1
232. er LBR LZR LBR LZR LGw SD ER SD 3 55 A S 3 SIGNALS AND WIRING 2 Output pulse Servo motor CCW rotation Am Time cycle T is determined by the settings of parameter No PA15 and PC19 LAR T LB Carane e HO LI LI L LBR Pa LZ E ees LZR Lo e 400us or longer OP lt LOOT 5 Analog input Input impedance 10 to 12kQ Controller 15VDC P15R 2kQ 10kQ SD 6 Analog output Controller MO1 MO2 d gt F Output voltage 10V Note LG Max Output current 1mA Resolution 10 bits or equivalent oa Note Output voltage range varies depending on the monitored signal Refer to section 5 3 3 When connecting an analog output to an external device use one whose withstand voltage is 15VDC or more 3 SIGNALS AND WIRING 3 8 3 Source I O interfaces In this controller source type I O interfaces can be used In this case all DI 1 input signals and DO 1 output signals are of source type Perform wiring according to the following interfaces 1 Digital input interface DI 1 Controller SON Te etc Approx 5 6k Q lt lt l Q Approx 5mA 24VDC 10 Vces lt 1 0V 300mA lceo lt 100 uA 2 Digital output interface DO 1 A maximum of 2 6V voltage drop occurs in the controller Controller If polarity of diode is reversed servo amplifier wil
233. er 7 moment causes the safety repeat acceleration and servo motor shaft to deceleration several times to oscillate side to complete auto tuning side Cyclic operation Position shift occurs Confirm the cumulative command Pulse counting error etc 2 in this pulses cumulative feedback due to noise section pulses and actual servo motor position 2 How to find the cause of position shift Positioning unit Servo amplifier a Output Electronic gear pulse parameter No PA06 PA07 counter Oley A C Servo on SON stroke end LSP LSN input Machine Servo motor d Machine stop position M b Cumulative command pulses c Cumulative feedback pulses When a position shift occurs check a output pulse counter b cumulative command pulse display c cumulative feedback pulse display and d machine stop position in the above diagram A B and C indicate position shift causes For example A indicates that noise entered the wiring between positioning unit and controller causing pulses to be miss counted In a normal status without position shift there are the following relationships 1 Q P positioning unit s output counter controller s cumulative command pulses 2 When using the electronic gear CMX parameter No PA06 CDV parameter No PA07 C cumulative command pulses x electronic gear cumulative feedback pulses 3 When using para
234. ero point position is Open collector reached Negative logic The minimum pulse width is about 400ys For home position return using this pulse set the creep speed to 100r min or less Encoder A phase CN1 4 Outputs pulses per servo motor revolution set in parameter No PA15 DO 2 pulse CN1 5 in the differential line driver system In CCW rotation of the servo Differential line motor the encoder B phase pulse lags the encoder A phase pulse driver by a phase angle of 7 2 Encoder B phase CN1 6 The relationships between rotation direction and phase difference of pulse LBR CN1 7 the A and B phase pulses can be changed using parameter No Differential line PC19 driver Encoder Z phase LZ CN1 8 The same signal as OP is output in the differential line driver DO 2 pulse LZR CN1 9 system Differential line driver Analog monitor 1 MO1 CN6 3 Used to output the data set in parameter No PC14 to across MO1 Analog LG in terms of voltage Resolution 10 bits or equivalent output 3 SIGNALS AND WIRING Analog monitor 2 MO2 CN6 2 Used to output the data set in parameter No PC15 to across MO2 Analog LG in terms of voltage Resolution 10 bits or equivalent output 3 SIGNALS AND WIRING 4 Communication Refer to chapter 13 for the communication function Connec uo Control Signal Symbol tor pin Functions Applications Ze mode division No PIS IT RS 422 I F CN3 5 Terminals for RS 422 communication Refer to cha
235. erpolation Yes Used when you want to match made for 2 or more ve Ti reem between 2 or more sre No Interpolation mode 4 between 2 or more axes Normally not used for other Operation purposes j l Auto tuning mode1 d Allows adjustment by merely changing the response level O setting peration First use this mode to make adjustment ves OK m OK Used when the conditions of auto tuning mode 1 are not No Yes met and the load inertia puto tuning mode 2 E A ee ae AE moment ratio could not be estimated properly for example Yes You can adjust all gains manually when you want to do Manual mode eege a ie fast settling or the like Operation END 7 1 2 Adjustment using MR Configurator This section gives the functions and adjustment that may be performed by using the controller with the MR Configurator which operates on a personal computer Adjustment Machine analyzer With the machine and servo motor coupled You can grasp the machine resonance frequency and the characteristic of the mechanical system determine the notch frequency of the machine resonance can be measured by giving a random suppression filter vibration command from the personal You can automatically set the optimum gains in response computer to the servo and measuring the to the machine characteristic This simple adjustment is mach
236. ervo motor is large specifications of the servo motor Refer to Servo motor Instruction Manual Vol 2 for details of the axial end load on the servo motor Check the vibration from the The outside vibration propagated to Control the vibration from the outside the servo motor outside source 1 If the safe operation is possible 1 The servo gain is low repeat acceleration deceleration 2 The auto tuning response is low 4 times or more to complete the auto tuning 2 Increase the auto tuning response parameter No PA09 except the manual mode Check if the limiting torque TLC is not on 1 Check with the external I O signal display in the diagnostic mode Check the torque ripple with the I O interface display command on the Monitor menu on MR Configurator Check if the maximum torque does The maximum torque is lacking not exceed the torque limit value 1 The servo capacity is lacking 1 Check instantaneous torque 2 The load is too large on the status display Check the torque ripple with the Graph command on the Monitor menu on MR Configurator Unintended torque limit is valid The torque limit TLC is on while the torque limit is valid Set with the parameter No PA1 1 PA12 PC35 Input voltage of the analog speed command VC or the analog speed limit VLA is instable Check the status of the analog input voltage 1 Check with the status display 2 Check with the Dis
237. ervo on output ABS interface start Setting retry flag ABS transfer retry control Resetting retry counter Alarm reset output Error flag output Servo alarm detection alarm reset Resetting ready control Resetting servo on request Servo alarm 14 ABSOLUTE POSITION DETECTION SYSTEM Y31 ABS data transfer start Y31 M26 ABS transfer ABS transfer mode mode OFF permission co C1 Y31 Hlor ao D3 Counter Sum ABS transfer counter mode e ove ko AO From H0000 K5 D8 K1 wan Hooo D8 WAND H8000 A r LPLS M18 40 He direction ki M18 judgement D8 Ki NEG D4 PLS processing command K1 D4 r NEG D3 K1 D4 14 42 Continued from preceding page M5 MOV K16 DO ABS data transfer start MOV K3 D1 MOV KO D2 MOV KO D5 DMOV KO D9 DMOV KO AO RST co RST C RST M26 M5 Initializing ABS data transmission counter Initializing checksum transmission counter Initializing checksum register Initializing ABS data register ABS transfer mode Initializing ABS data register gt g g initial setting Initializing ABS data register Resetting ABS transmission counter Resetting checksum transmission counter ABS transfer mode OFF permission ABS transfer mode control Saving ABS 32 bit data Clearing register 1 Reading x axis rotation aes Absolute position direction parameter polarity A1SD75 rotation direction
238. eseeeeaeeaecaeseaeeaesaeseeseaesaesaeseaeeaesaeseeseaeeaeeas 6 13 6 8 Output signal DO forced ott 6 16 6 9 Test operation MOG EEN 6 17 99 T Mode Change fin ict anh ant a E anit ante ae 6 17 GER SCHT 6 18 6 9 3 ee treie Kee EE 6 19 6 9 4 Motor less operation cccecceecceeceeceeeeceeceeeeaeeaeceeseaesaeeaaecaeseeeeaeeaesaeseeesaesaesaeseaesaesaeseeseessaeseeseaseaeeas 6 21 7 tDifferent adjustment Methods iieicicstvcussahs bees Taraa a aa araa a aea aeaa a aa aea T aaa aa ENEE ge EEN 7 1 3 7 1 1 Adjustment on a single servo amplfler ee cecececeeeeeeeceeceseeeeceeeeeeeaeceaeeaesaeseaesaesaesaeseaesaesaeeaeeeaeeaes 7 1 7 1 2 Adjustment using MR Confouraior 7 2 Te AO TUNING WT 7 3 7 2 1 AUTO TUNING MOE eeir a a E A EA 7 3 7 2 2 Auto tUNING mode baste AA 7 4 7 2 3 Adjustment procedure by auto tUNING cee eeeeeeeeeeeeeeeeeeeeeeaeteneeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeas 7 5 7 2 4 Response level setting in auto tuning mode sssssssesessesesresesnsresnsresrsrsrnnsinstnsistunnnnnnnsnnnusnnnnnnnnnne 7 6 7 3 Manual mode 1 simple Manual adjustment AAA 7 7 7 4 Interpolation ue s2 5 ode sees each sede edhevahetihepadendgenad pubs aT a AEA EEEa EEEE AAE A AEE RE 7 10 8 1 Funcion DIOCK dagrar aeann i e Ea Er TN E iaa Eaa a Naa aa i 8 1 8 2 Adaptive filter Issoria ninina ana vie nel as edie nde 8 1 8 3 Machine resonance Suppression filter ecceceeeceeeceeceeeeseeeecaeceeeeaeeaecaeseeeeaesaesaeseeesaesaese
239. eseeeseeseesseeeseesseesseesseesseesaeesseesaeesseesaeeseesaeeseesieeseeseess 4 4 4 2 1 Power on and Off Drocecdures nna 4 4 A 2 2 SUOP ET 4 4 A238 VOSt e EE le EE 4 5 4 2 4 Parameter setting EE 4 6 4 2 5 Actual Operallon EE 4 7 A2 G6 TOUDIS Al StartUp EE 4 7 4 3 Startup in speed control mode 4 9 4 3 1 Power on and Off Drocecdures nnna 4 9 ELTER 4 10 E e le E 4 11 4 3 4 Parameter setting EEN 4 12 4 3 5 Actual Op6ration TTT 4 13 4 3 6 Trouble at Start Up E 4 13 4 4 Startup in torque Control mode ccscsescssssessesseecseesseesseesseessnessussseesenesseeseneseeeseeesseesenessnessnesenessnesenes 4 14 4 4 1 Power on and off Drocecures A 4 14 STEE 4 15 Aaa VOSt e e 4 16 4 4 4 Parameter setting EE 4 17 4 4 5 Actual Operation TEE 4 18 4 4 6 TOUDIS eat eela E T aE E E E E E EE E E EE EAE 4 18 5 1 Basic setting parameters NO PA DI 5 1 E Weu 5 1 5 1 2 Parameter write inhibit asea aa eaae E a AEE NE EE EE AEE AE SAE A i aS A 5 2 5 1 3 Selection of control Mode ececcecceseeeeceeceeeeseeeeceeceeeeaesaeceeseaesaecaeseeeeeeeeaesaeceeseaesaesaeseseaesaesaeseeteaeeaes 5 3 5 1 4 Selection of regenerative option 5 6 5 1 5 Using absolute position detection system AA 5 7 2 5 1 6 Using electromagnetic brake interlock MDP 5 7 5 1 7 Number of command input pulses per servo motor revolution 5 8 5 1 8 BIGCHOMIC TTT 5 9 HAG AUTO TUNING aerar E E A AA T pactnatepdctvaceqacteateptones 5 13 5 1 10 Imposition ue EE 5 14 SATA porg
240. esetting the error Output coil ni Name EE Servo status Resetting condition A1SD75 ABS communication error Y39 Y11 Ready RD off Reset when servo on SON switch X26 signal turns off ABS checksum error Y3A Y12 Ready RD on For A1SD75 Reset when servo on SON switch X26 signal turns from off to on For FX 1PG Reset when servo on SON switch X26 signal turns off Servo alarm Y38 Y10 Ready RD on Reset when alarm reset switch turns on or power switches from off to on 14 60 14 ABSOLUTE POSITION DETECTION SYSTEM 14 11 Communication based ABS transfer system 14 11 1 Serial communication command The following commands are available for reading absolute position data using the serial communication function When reading data take care to specify the correct station number of the drive unit from where the data will be read When the master station sends the data No to the slave station controller the slave station returns the data value to the master station 1 Transmission Transmit command 0 2 and data No 9 1 2 Reply The absolute position data in the command pulse unit is returned in hexadecimal EE Data 32 bit length hexadecimal representation 14 11 2 Absolute position data transfer protocol 1 Data transfer procedure Every time the servo on SON turns on at power on or like the PC or PLC etc must read the current position data in the controller Not performing this operati
241. esistor is not provided for the LECSB1 S5 2 For 1 phase 200 to 230VAC connect the power supply to Li Le and leave Ls open There is no Ls for 1 phase 100 to 120VAC power supply For the specification of power supply refer to section 1 3 t2 O SMC ex B1 Control Electro i circuit 24VDC magnetic power l brake supply 1 l B2 Base Voltage Overcurrent Current S i amplifier detection protection detection Oo Encoder e Virtual 7 Sen ee encoder Model position Model speed 1 control control l Virtual i motor 2 Model Model Model torque position speed i Actual position Actual speed Current i control control control f i 1 i i i USB RS 422 D A MEPA Z VF Topi Optional battery ON1 7 CN3 CN for absolute position detection system D I O control Servo on Personal ao pulse train input computer Controller Analog monitor 2 channels 1 FUNCTIONS AND CONFIGURATION 1 3 Controller standard specifications 1 200V class 100V class controller LECSBLD 3 Rated voltage 3 phase 170VAC 6 Rated current Voltage frequency 3 phase or 1 phase 200 to 230VAC 50 60Hz A Rated current DR WM EE ee 3 phase or 1 phase Permissible voltage fluctuation 170 to 253VAC Within 5 Refer to section 11 2 Refer to section 11 5 1 phase 200 to 230VAC 50 60Hz Permissible voltage fluctuation C
242. espondences i i Cl N1 2 Aa l between segments and signals are as in the output signals of the Cp On COON CNICNI C external UO signal display EE eet TA Lit ON extinguished OFF gt i ei e Press MODE once mmm e mm e The segment above CN1 pin 24 is lit E N YY de b S v Vv Press UP once 7 ZE d lt mmm emm emm 1 CN1 pin 24 is switched on AN LU Le l R CN1 pin 24 DOCOM conduct Press DOWN once wem emm emm L een CN1 pin 24 is switched off Press SET for longer than 2 seconds 6 DISPLAY AND OPERATION SECTIONS 6 9 Test operation mode The test operation mode is designed to confirm servo operation Do not use it for actual operation If any operational fault has occurred stop operation using the emergency stop EMG signal The test operation mode cannot be used in the absolute position detection system by DIO parameter No PA03 0001 The MR Configurator is required to perform positioning operation Test operation cannot be performed if the servo on SON is not turned OFF 6 9 1 Mode change After power on change the display mode to the diagnostic mode using the MODE button Choose JOG operation motor less operation in the following procedure Press UP three times Press UP five times EE wm wm be 2 et
243. et permission M5 M6 AT T200 H Servo on Retry flag request Resetting ABS data ABS data 32 bits ABS equest ON 2 bits x16 times Checksum 6 bits ABS data waiting timer 10ms 2 bits x3 times Masking ABS data 2 bits Right shift 2 bits of ABS data Checksum addition Updating ABS data reception counter Updating all data reception counter Resetting ABS request Resetting ABS transfer mode Masking checksum 6 bits Comparison of checksum Detection of ABS checksum error ABS data checksum error retry control Retry command Retry ABS transfer mode OFF wait timer 20ms set Storing checksum value in the case of checksum error Retry flag ON Servo on request reset permission Resetting servo on request Setting retry wait timer 100ms To be continued 4 14 32 14 ABSOLUTE POSITION DETECTION SYSTEM Continued from preceding page 4 M63 DMovp Ksmz0 Do Checksum match DADDPDO D244 Do DTOP ko K26 DO vu H Set M99 J ZRST ve Mei J RST Mme J Yi x6 F It RST y H ABS Servo on communi switch cation error E RST y2 H wi K500 __ A A 7201 a ABS transfer mode Y1 Y2 K100 T202 ABS transfer ABS request mode Y1 X2 K100 r g T203 H ABS transfer Send data ready mode T201 mi H ABS transmission NG T202 ABS request NG T203 Send data ready NG M2 D4 c H Retry command
244. eted after positioning operation is done the predetermined number or times for the predetermined period of time and the setting changes to 1012 When the adaptive tuning is not necessary the setting changes to C1000 When this parameter is set to OOOO the initial values are set to the machine resonance suppression filter 1 and notch shape selection 1 However this does not occur when the servo off 5 PARAMETERS Symbol Noreen EE Initial Setting Control mode value range PB02 VRFT Vibration suppression control tuning mode advanced 0000h Refer to vibration suppression control name The vibration suppression is valid when the parameter and No PA08 auto tuning mode setting is 0002 or function 0003 When PAO8 is 0001 vibration suppression is column always invalid Select the setting method for vibration suppression control tuning Setting this parameter to 201011 vibration suppression control tuning mode automatically changes the vibration suppression control vibration frequency parameter No PB19 and vibration suppression control resonance frequency parameter No PB20 after positioning is done the predetermined number of times Droop pulse lu Automatic Droop pulse Command J_ adjustment Command Machine side Machine side position sad position olojo Vibration suppression control tuning mode control tuning mode parameter Vibration suppression pmo leen Vibration supp
245. eter setting into EEP ROM of the controller Specify the parameter group in advance refer to 1 in this section Write the value within the setting enabled range For the setting enabled range refer to chapter 5 or read the setting range by performing operation in 3 in this section Transmit command 8 4 the data No and the set data The data No is expressed in hexadecimal The decimal equivalent of the data No value corresponds to the parameter number When the data to be written is handled as decimal the decimal point position must be specified If it is not specified data cannot be written When the data is handled as hexadecimal specify 0 as the decimal point position Write the data after making sure that it is within the upper lower limit value range Read the parameter data to be written confirm the decimal point position and create transmission data to prevent error occurrence On completion of write read the same parameter data to verify that data has been written correctly Set data FIF Data is transferred in hexadecimal Decimal point position 0 No decimal point 1 Lower first digit 2 Lower second digit 3 Lower third digit 4 Lower forth digit 5 Lower fifth digit Write mode 0 Write to EEP ROM 3 Write to RAM When the parameter data is changed frequently through communication set 3 to the write mode to change only the RAM data in the servo amplifier When changing data frequen
246. etting parameter No PDOD Note The parameter No PA19 setting must be changed when this parameter group is used 4 STARTUP 4 4 5 Actual operation Start actual operation after confirmation of normal operation by test operation and completion of the corresponding parameter settings 4 4 6 Trouble at start up Excessive adjustment or change of parameter setting must not be made as it will J N CAUTION make operation instable Using the MR Configurator you can refer to unrotated servo motor reasons etc The following faults may occur at start up If any of such faults occurs take the corresponding action No Startup sequence E D cause _ Reference Power on LED is not lit Not improved if connectors CN1 1 Power supply voltage fault is disconnected shorted Improved when connector CN2 is 1 Power supply of encoder disconnected cabling is shorted 2 Encoder is faulty disconnected shorted Switch on servo on SON Servo motor shaft is Call the external UO signal display 1 Servo on SON is not input Section 6 7 section 6 7 and check the Wiring mistake ON OFF status of the input signal 2 24VDC power is not supplied to DICOM Switch on forward Servo motor does Call the status display or MR Analog torque command is OV Section 6 3 rotation start not rotate Configurator section 6 3 and RS1 or reverse check the analog torque rotation start command TC R
247. etup menu An abnormal value is displayed on the monitor value on MR Configurator The electromagnetic brake does not work for the servo motor with the electromagnetic brake The servo motor coasting amount is enlarged Remove the servo motor from the machine and remove all the wiring Check that the servo motor shaft can be turned over by the hand If the shaft can be turned over the electromagnetic brake is malfunction Check that a load is not increased For the servo motor with an electromagnetic brake 1 Check that the external relay which is connected to the electromagnetic brake interlock MBR operates properly 2 Check that the electromagnetic brake is not malfunction The other model which differs from the one connected on the model selection is selected The electromagnetic brake reached the end of its usefulness or malfunctioned Refer to Servo motor Instruction Manual Vol 2 for details of the life of the electromagnetic brake If a load is increased the value exceeded the permissible load to motor inertia moment ratio of the dynamic brake Refer to section 11 3 1 An external relay malfunctions 2 The electromagnetic brake interlock MBR wiring is incorrect 3 The electromagnetic brake reached the end of its usefulness or malfunctioned Set the model settings correctly Replace the servo motor 1 Reduce the load 2 Replace the controller 1 Re
248. fault Input pulse 1 Frequendy of the command pulse is frequency of the frequency to a lower value command pulse is too high 3 Command device failure Change the command device Parameter setting 1 Regenerative option not used with Set parameter No PA02 is incorrect controller was selected in parameter correctly No PA02 2 For a drive unit of MR J3 DU30KA or Set parameter No PC22 to higher parameter No PC22 is set to J000 Invalid and turn 0001 Valid the power off then on 3 The number of write times to EEP Change the controller ROM exceeded 100 000 due to parameter write etc 4 Controller fault caused the parameter Change the controller setting to be rewritten 9 TROUBLESHOOTING Displa Name Definition Cause Action Note 2 initi Alarm details AL 45 Main circuit Main circuit device 1 Ambient temperature of controller is Check environment so that device overheat overheat over 55 C 131 F ambient temperature is 0 to 55 C 32 to 131 F 2 Used beyond the specifications of Use within the range of close mounting specifications Refer to section 2 1 off continuously by overloaded status reviewed 4 Foreign matter caught in a cooling fan Clean the cooling fan or the or heat sinks heat sinks 5 Controller fault Change the controller When it occurs immediately after power on AL 46 Servo motor Servo motor 1 Amb
249. ff the main circuit power as soon as an alarm occurs 2 Changes depending on the operating status 1 Overcurrent overload 1 or overload 2 If operation is repeated by switching control circuit power off then on to reset the overcurrent AL 32 overload 1 AL 50 or overload 2 AL 51 alarm after its occurrence without removing its cause the controller and servo motor may become faulty due to temperature rise Securely remove the cause of the alarm and also allow about 30 minutes for cooling before resuming operation 2 Regenerative alarm If operation is repeated by switching control circuit power off then on to reset the regenerative AL 30 alarm after its occurrence the external regenerative resistor will generate heat resulting in an accident 3 Instantaneous power failure Undervoltage AL 10 occurs when the input power is in either of the following statuses A power failure of the control circuit power supply continues for 6Oms or longer then the power restores During the servo on status the bus voltage dropped to 200VDC or less for LECSB2 L 158VDC or less for LECSB1 4 In position control mode incremental When an alarm occurs the home position is lost When resuming operation after deactivating the alarm make a home position return 3 SIGNALS AND WIRING 3 8 Interfaces 3 8 1 Internal connection diagram
250. ftware version 13 13 13 COMMUNICATION FUNCTION 13 4 2 Write commands 1 Status display Command 8 1 Frame length GI ott Status display data erasure 1EA5 2 Parameters Command 8 4 8 5 Setting range Frame length 8 4 0 1 to F F Write of parameters Depending on the parameter Writes the values of the parameters in the parameter group specified with the command 8 5 data No 0 0 Before writing the values therefore always specify the parameter group with the command 8 5 data No 0 0 The decimal equivalent of the data No value hexadecimal corresponds to the parameter number Parameter group write 0000 to 0003 4 0000 Basic setting parameter No PATI 0001 Gain filter parameter No PBC 0002 Extension setting parameter No PC 0003 I O setting parameter No PD 3 External I O signal Command 9 2 Frame length 9 2 6 0 Communication input device signal Refer to section 13 5 5 ee 4 Alarm history Command 8 2 Setting range Frame length az mg Alarm history erasure 1EA5 5 Current alarm Command 8 2 Frame length DS og 1EA5 6 I O device prohibition Command 9 0 Setting range Frame length 9 0 0 0 Turns OFF the input device external analog 1EA5 4 input signal or pulse train input except EMG LSP and LSN independently of the external ON OFF status ost Disables all output devices DO 1EA5 1 0 Cancels th
251. g the home position setting AL 99 Stroke limit The stroke end LSP or The forward rotation stroke end LSP is Review the moving range to warning LSN of the direction turned off at the forward rotation avoid turning off LSP LSN which gave instructions command was turned off The reverse rotation stroke end LSN is turned off at the reverse rotation command Battery warning Voltage of battery for Battery voltage fell to 3 2V or less Change the battery absolute position detection Detected with the controller system reduced AL EO Excessive There is a possibility that Regenerative power increased to 85 or Reduce frequency of regenerative regenerative power may more of permissible regenerative power of positioning warning exceed permissible built in regenerative resistor or Change the regenerative regenerative power of regenerative option option for the one with larger built in regenerative lt Checking method gt capacity resistor or regenerative Call the status display or MR Reduce load option Comfigurator and check regenerative Replace the controller servo load ratio motor with one of larger capacity 9 TROUBLESHOOTING Display Overload There is a possibility that Load increased to 85 or more of Refer to AL 50 AL 51 warning 1 overload alarm 1 or 2 overload alarm 1 or 2 occurrence level may occur AL E3 Absolute position Absolute position encoder 1 Noise entered the encoder Take no
252. g to conditions Please follow the instructions of both levels because they are important to personnel safety What must not be done and what must be done are indicated by the following diagrammatic symbols d Pe sinks Indicates what must not be done For example No Fire is indicated by i D Prohibition i G Compulsion Indicates what must be done For example grounding is indicated by ER In this Instruction Manual instructions at a lower level than the above instructions for other functions and so on are classified into POINT After reading this installation guide always keep it accessible to the operator O LECSBLI LU Series Controller 1 Safety Instructions ZXCaution The product is provided for use in manufacturing industries The product herein described is basically provided for peaceful use in manufacturing industries If considering using the product in other industries consult SMC beforehand and exchange specifications or a contract if necessary If anything is unclear contact your nearest sales branch Limited warranty and Disclaimer Compliance Requirements The product used is subject to the following Limited warranty and Disclaimer and Compliance Requirements Read and accept them before using the product Limited warranty and Disclaimer The warranty period of the product is 1 year in service or 1 5 years after the product is delivered 3 Also the product may have s
253. gear denominator el ov E geneet LL LC Paos ATU Autotuningmode JL ooon Paco RSP Auto tuning responses Paio INP In positionrange 10 JL pue Se PA11 Forward rotation torque limit 100 0 PA12 Reverse rotation torque limit 100 0 p pulse Fam PLSS Command pulse input form LD N Pan POL Rotation direction selection d oo s o Mmo r E o o ees des Weess eege Dee e WEAN 5 PARAMETERS For manufacturer setting Parameter write inhibit Loop Oo o oO 5 1 2 Parameter write inhibit Parameter Initial Unit Setting Control mode Symbol Name value range EE Refer to PA19 BLK Parameter write inhibit 000Bh the text Turn off the power and then on again after setting the parameter to validate the parameter value In the factory setting this controller allows changes to the basic setting parameter gain filter parameter and extension setting parameter settings With the setting of parameter No PA19 writing can be disabled to prevent accidental changes The following table indicates the parameters which are enabled for reference and writing by the setting of parameter No PA19 Operation can be performed for the parameters marked O Basic setting Gain Filter Extension setting I O setting Setting operation parameters parameters parameters parameters No PAO DO No PBOO No PCOO No PDOO Parameter No PA19 setting Reference O
254. gurator Note 10 USB cable CN5 option 3 MO1 gt Analog monitor 1 1 LG He 2 MO2 H L gt Analog monitor 2 II eat O 3 SIGNALS AND WIRING Note 1 To prevent an electric shock always connect the protective earth PE terminal terminal marked D of the controller to the protective earth PE of the control box 2 Connect the diode in the correct direction If it is connected reversely the controller will be faulty and will not output signals disabling the emergency stop EMG and other protective circuits 3 The emergency stop switch normally closed contact must be installed Supply 24VDC 10 300mA current for interfaces from the outside 300mA is the value applicable when all I O signals are used The current capacity can be decreased by reducing the number of UO points Refer to section 3 8 2 1 that gives the current value necessary for the interface 5 When starting operation always turn on emergency stop EMG and forward reverse rotation stroke end LSP LSN Normally closed contacts Trouble ALM turns on in normal alarm free condition The pins with the same signal name are connected in the controller 8 By setting parameters No PD03 to PD08 PDO9 to PD12 to make external torque limit selection TL available TLA can be used 9 Use MRZJW3 SETUP 221E 10 Personal computers or parameter units can also be connected via the CN3 connector enabling RS 422 communication Note that
255. h and you may get burnt or a parts may damaged During operation never touch the rotating parts of the servo motor Doing so can cause injury 4 Additional instructions The following instructions should also be fully noted Incorrect handling may cause a fault injury electric shock etc 1 Transportation and installation N CAUTION Transport the products correctly according to their mass Stacking in excess of the specified number of products is not allowed Do not carry the servo motor by the cables shaft or encoder Do not hold the front cover to transport the converter unit and controller drive unit The converter unit and controller drive unit may drop Install the converter unit and controller drive unit in a load bearing place in accordance with the Instruction Manual Do not climb or stand on servo equipment Do not put heavy objects on equipment The converter unit controller drive unit and servo motor must be installed in the specified direction Leave specified clearances between the converter unit controller drive unit and control enclosure walls or other equipment Do not install or operate the converter unit controller drive unit and servo motor which has been damaged or has any parts missing Do not block the intake and exhaust areas of the converter unit controller drive unit and servo motor which has a cooling fan Doing so may cause faults Do not drop or strike
256. he UP or the DOWN button the servo status appears on the display The status display screen shifts to the next screen every time the MODE button is pressed For details of the status display refer to section 5 3 The status display screen returns to the JOG operation stand by screen after one screen cycle Note that the status display screen cannot be changed by the UP or the DOWN button in the JOG operation mode 3 Termination of JOG operation To end the JOG operation turn the power off once or press the MODE button to switch to the next screen and then hold down the SET button for 2 s or longer AA LM a Li DI 6 18 6 DISPLAY AND OPERATION SECTIONS 6 9 3 Positioning operation MR Configurator is required to perform positioning operation Turn ON EMG when performing positioning operation With no command given from the external command device positioning operation can be executed 1 Operation s Positioning Mode a M imi otor speed 200 min Forward CCw 0 6900 Lee b Accel decel time 1000 ms Reverse CW 0 50000 c i 262144 pulse 0 99999999 d LSP and LSN are automatically turned ON Move until the initial Z phase signal of the move distance e in the move direction is turned ON Pulse move distance unit selection So a n Ze Command input pulse unit Electronic gear valid stop C Encoder pulse unit Electronic gear invalid i Operating status 9 Repeated operat
257. he corresponding symbol appears Press the SET button to display its data At only power on however data appears after the symbol of the status display selected in parameter No PC36 has been shown for 2 s The controller display shows the lower five digits of 16 data items such as the motor speed 6 3 1 Display transition After choosing the status display mode with the MODE button pressing the UP or DOWN button changes the display as shown below To Bus voltage A Cumulative feedback pulse Effective load ratio a Servo motor speed Peak load ratio i y mm Droop pulse Instantaneous torque L a E Ki Cumulative command Within one revolution position pulse 1 pulse unit p on Command pulse Within one revolution position frequency i 100 pulse unit H A A rr Analog speed command rr ae voltage ABS counter Analog speed limit voltage 1 Lem a x i LY Analog torque command i H voltage om Load inertia moment ratio rt Analog torque limit voltage rt JEN T i 7 d 1 L H a Regenerative load ratio Li Bus voltage IW H H H 1 I To Cumulative feedback pulse 6 DISPLAY AND OPERATION SECTIONS 6 3 2 Display examples The following table lists display examples Displ Item Status isplayed data Controller display Forward rotation at 2500r min Servo motor speed Reve
258. he poor contact Be sure to tighten the cable with specified torque 3 Test run adjustment N CAUTION Before operation check the parameter settings Improper settings may cause some machines to perform unexpected operation The parameter settings must not be changed excessively Operation will be insatiable 4 Usage N CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately Any person who is involved in disassembly and repair should be fully competent to do the work Before resetting an alarm make sure that the run signal of the controller drive unit is off to prevent an accident A sudden restart is made if an alarm is reset with the run signal on Do not modify the equipment Use a noise filter etc to minimize the influence of electromagnetic interference which may be caused by electronic equipment used near the converter unit and controller drive unit Burning or breaking a converter unit and controller drive unit may cause a toxic gas Do not burn or break a converter unit and controller drive unit Use the converter unit and controller drive unit with the specified servo motor The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking For such reasons as service life and mechanical structure e g where a ball screw and the servo motor are couple
259. he slave station sends back the statuses of the input pins Command of each bit is transmitted to the master station as hexadecimal data Abbreviation __ Abbreviation We E ee WER eee Ee BE il eee eee a Ses Sa ie eee ioe ee 1 1 1 2 LOP AN a Ee 13 23 13 COMMUNICATION FUNCTION 4 External output pin status read Read the ON OFF statuses of the external output pins a Transmission Transmit command 1 2 and data No C 0 DIS cm b Reply The slave station sends back the ON OFF statuses of the output pins E b1 bo 1 0N III AUL co Command of each bit is transmitted to the master station as hexadecimal data CN1 connector pin bit CN1 connector pin bit CN1 connector pin o e o O e o a Vd p2 a To Ee Ee o o ae CN1 connector pin Ge a EE ES GE Reece eal C 5 Gel GE ll Be ee Po ees fe ee Reeg Fe a E E EE EE Weeer uol oao ee ee e Ce Ee Ee 49 eee 24 We 23 E 25 ee 22 Soe 48 ae eee 33 a ap ees ae ee el 5 Read of the statuses of output devices Read the ON OFF statuses of the output devices a Transmission Transmit command 1 2 and data No 8 0 DIS 8 0 b Reply The slave station sends back the statuses of the output
260. hen using controller built in regenerative resistor connect P and D Factory wired When using regenerative option disconnect P and D and connect regenerative option to P and C Refer to section 12 2 to 12 5 Supply the following power to L11 La LECSB2 5 LECSB1 S5 d LECSB2 S7 LECSB1 S7 ower Supe iy LECSB2 8 LECSB1 8 Power factor improving DC reactor Regenerative option Control circuit power supply 1 phase 200 to 230VAC 50 60Hz 50 60Hz 50 60Hz 3 SIGNALS AND WIRING gea Connection target St Abbreviation ate cet Description application Servo motor Connect to the servo motor power supply terminals U V W During power on do not open or power close the motor power line Otherwise a malfunction or faulty may occur Brake unit For details refer to section 12 3 to 12 5 Connect to the earth terminal of the servo motor and to the protective earth PE of the control PE box to perform grounding 3 3 2 Power on sequence 1 Power on procedure 1 Always wire the power supply as shown in above section 3 1 using the magnetic contactor with the main circuit power supply 3 phase L1 L2 L3 1 phase L1 L2 Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs 2 Switch on the control circuit power supply L11 L21 simultaneously with the main circuit power supply or before switching on the main circuit power supply If the main circuit power supply is not
261. iation pulse train l Pt counter Encoder CMX Parameter No PA06 CDV Parameter No PA07 The following setting examples are used to explain how to calculate the electronic gear The following specification symbols are required to calculate the electronic gear Pb Ball screw lead mm In Reduction ratio Pt Encoder resolution of servo motor pulses rev Travel per command pulse mm pulse AS _ Travel per servo motor revolution mm rev A Angle per pulse pulse A0 Angle per revolution rev 5 PARAMETERS a For motion in increments of 10um per pulse 1 n E 1n Z1 Ze 1 2 T Machine specifications RE rau be Pb 10 mm Ball screw lead Pb 10 mm D E Reduction ratio 1 n Z1 Z2 1 2 Encoder resolution of servo motor 2621 44 pulse rev Z1 Number of gear teeth at the servo motor side Z2 Number of gear teeth at the load side Encoder resolution of servo motor Pt 262144 pulse rev CMX Pt Pt 3 262144 524288 65536 cov Aas Anapo 12X10 gt 1210 1000 125 Hence set 65538 to CMX and 125 to CDV b Conveyor setting example For rotation in increments of 0 01 per pulse Encoder resolution of servo motor Machine specifications 262144 pulse rev Table Table 360 rev Reduction ratio 1 n P1 P2 625 12544 P1 Pulley diameter at the servo motor side Timing belt 625 12544 P2 Pulley diameter at the load side Encoder resolution of servo motor Pt 262
262. ic gear parameter No PA06 PA07 The positioning after is not misaligned after the home position return The maximum permissible speed at while the controller is off Review the setting of the reduction ratio Review the machine configuration in power failure 3000r min is exceeded order that the servo motor speed does not exceed 3000r min The transfer data to the controller is Review the controller programs incorrect 1 Check that the overshoot undershoot occurs to confirm the speed ripple with the Graph command on the Monitor menu on MR Configurator If the safe operation is possible repeat acceleration deceleration 4 times or more to complete the auto tuning 1 The servo gain is too low or too high 2 The auto tuning response is low or too high Check if the maximum torque does not exceed the torque limit value 1 Check the instantaneous torque with the status display 2 Check the torque ripple with the Graph command on the Monitor menu on MR Configurator The maximum torque is lacking 1 The servo capacity is lacking 2 The load is too large Set with the parameter No PA11 PA12 PC35 The servo motor and the machine gear coupling etc have backlashes The status is off line Check that the machine parts are not unstable or do not have backlashes Check that the status is on line The torque limit settings are incorrect Adjust the auto tuning response
263. ient temperature of servo motor is Check environment so that overheat temperature rise over 40 C 104 F ambient temperature is 0 to actuated the 40 C 32 to 104 F thermal sensor 2 Servo motor is overloaded 1 Reduce load 2 Check operation pattern 3 Use servo motor that provides larger output AL 47 Cooling fan The cooling fan of 1 KC fan life expiration Refer to alarm the controller section 2 5 the controller stopped or its 2 Foreign matter caught in the cooling Remove the foreign matter alarm level failed 1 2 10 20 9 TROUBLESHOOTING Displ Name Definition Cause Action Note 2 INI u Spay Alarm details AL 50 Overload 1 Load exceeded 1 Controller is used in excess of its Reduce load overload protection continuous output current Check operation pattern characteristic of Check that the controller electromagnetic brake is not applied Check that the machine is not fractioned Use servo motor and controller that provides larger output 2 After Overload 2 AL 51 occurred Reduce load turn OFF ON the power supply to clear 2 Check operation pattern the alarm Then the overload operation 3 Use servo motor that is repeated provides larger output 3 The servo system is instable and Repeat acceleration causes oscillation or hunting deceleration to execute auto tuning Change the auto tuning response setting Set auto tuning to OFF and make gain adjustment m
264. ifications was E e Command error transmitted Data No not existing in the specifications was F f Data No error transmitted 13 3 4 Checksum The checksum is a ASCIl coded hexadecimal representing the lower two digits of the sum of ASCIl coded hexadecimal numbers up to ETX with the exception of the first control code STX or SOH Example Station number s E T 0 A 1 2 5 CF 7 S 2 a aaa X X 02H 30H 41H 31H 32H 35H 46H 03H STX or ETX Check SOH 30H 41H 31H 32H 35H 46H 03H 152H Checksum range je gt Lower 2 digits 52 is sent after conversion into ASCII code 5 2 13 7 13 COMMUNICATION FUNCTION 13 3 5 Time out The master station transmits EOT when the slave station does not start reply processing STX is not received 300 ms after the master station has ended communication processing 100 ms after that the master station retransmits the message Time out occurs if the slave station does not answer after the master station has performed the above communication processing three times Communication error 100ms 100ms 100ms Time out 300ms 300ms 300ms 300ms oO E oO E 0 E oO PC or PLC etc O P O P O P Master station D T D T D T 3 gt Servo Slave station 13 3 6 Retry When a fault occurs in communication between the master and slave stations the error code in the response data from the
265. ile the ABS data is transmitted the base circuit is turned ON 95 ms after resetting If the ABS transfer mode ABSM is OFF when the base circuit is turned ON the ready RD is turned ON 5 ms after the turning ON of the base circuit If the ABS transfer mode ABSM is ON when the base circuit is turned ON it is turned OFF and then the ready RD is turned ON The ABS data can be transmitted after the emergency stop state is reset The current position in the controller is updated even during an emergency stop When servo on SON and ABS transfer mode ABSM are turned ON during an emergency stop as shown below the controller transmits to the PC or PLC etc the current position latched when the ABS transfer mode ABSM switches from OFF to ON and at the same time the controller sets this data as a position command value However since the base circuit is OFF during an emergency stop the servo lock status is not encountered Therefore if the servo motor is rotated by external force or the like after the ABS transfer mode ABSM is turned ON this travel distance is accumulated in the controller as droop pulses If the emergency stop is cleared in this status the base circuit turns ON and the motor returns to the original position rapidly to compensate for the droop pulses To avoid this status reread the ABS data before clearing the emergency stop Power ER supply Off Servo on ON SON a a
266. imit value Speed r min CCW direction 10 i l 0 10 A d CW direction VC applied voltage V QA SE Rated speed Reverse rotation CW The following table indicates the limit direction according to forward rotation selection RS1 and reverse rotation selection RS2 combination Note Input device Speed limit direction Gei RS Analog speed limit VLA l Internal speed Polarity Polarity commands ae TEEN E EEN e Ee pt cow Note 0 off 1 on 3 SIGNALS AND WIRING Generally make connection as shown below on Controller Japan resistor RRS10 or equivalent Note For the sink I O interface For the source I O interface refer to section 3 8 3 b Speed selection 1 SP1 speed selection 2 SP2 speed selection 3 SP3 and speed limit values Choose any of the speed settings made by the internal speed limits 1 to 7 using speed selection 1 SP1 speed selection 2 SP2 and speed selection 3 SP3 or the speed setting made by the analog speed limit VLA as indicated below EE Speed limit value SP3 o o o Analog speedtimit VLA o f o 1 intemalspeedliimit1 parameter No PCO5 o f 1 o Internal speed limit 2 parameter No PCO6 Internal speed limit 3 parameter No PC07 o Internal speed limit 4 parameter No PC08 o Internal speed limit 6 parameter No PC10 Internal speed limit 7 parameter No PC11 o o 1 __ internal speed limit 5 parameter No Pco9
267. ine response suitable for a machine which has large machine resonance and does not require much settling time Gain search Executing gain search under to and fro You can automatically set gains which make positioning positioning command measures settling settling time shortest characteristic while simultaneously changing gains and automatically searches for gains which make settling time shortest Machine simulation Response at positioning settling of a You can optimize gain adjustment and command pattern machine can be simulated from machine on personal computer analyzer results on personal computer 7 GENERAL GAIN ADJUSTMENT 7 2 Auto tuning 7 2 1 Auto tuning mode The controller has a real time auto tuning function which estimates the machine characteristic load inertia moment ratio in real time and automatically sets the optimum gains according to that value This function permits ease of gain adjustment of the controller 1 Auto tuning mode 1 The controller is factory set to the auto tuning mode 1 In this mode the load inertia moment ratio of a machine is always estimated to set the optimum gains automatically The following parameters are automatically adjusted in the auto tuning mode 1 Abbreviation Pe Ratio oftoad inertia moment o servo motor inerta moment __ PB07 Model loop gain ee ae PBog Speedtoopgain o O The auto tuning mode 1 may not be performed properly if the following conditions
268. input Section 6 7 not servo locked controller is ready to operate Wiring mistake is free 2 Check the external I O signal 24VDC power is not supplied to indication section 6 7 to see if DICOM the servo on SON is ON Enter input Servo motor does Check the cumulative command Wiring mistake Section 6 3 command not rotate pulse on the status display or MR a For open collector pulse Test operation Configurator section 6 3 train input 24VDC power is Check if the Ready RD is ON not supplied to OPC Check the parameter No PA13 b LSP and LSN are not on command pulse input form Pulse train is not input from the setting controller Check if the Electromagnetic Electromagnetic brake is brake interlock MBR is ON operating Servo motor un In Check the cumulative command Mistake in wiring to controller Chapter 5 reverse direction pulse on the status display or MR 2 Mistake in setting of parameter Configurator No PA14 Check the parameter No PA14 rotation direction selection setting 4 STARTUP Start up sequence Investigation Gain adjustment Rotation ripples Make gain adjustment in the Gain adjustment fault Chapter 7 speed fluctuations following procedure are large at low 1 Increase the auto tuning speed response level 2 Repeat acceleration and deceleration several times to complete auto tuning Large load inertia If the servo motor may be run with Gain adjustment fault Chapt
269. ion Stop lv M ed operation valid Repeat pattern Fwd rot CCW Rev rot CW Repeat pattern Dwell Time 2 0 0 1 50 0 1 io Number of repeats mes 1 9999 BEER of repeats Make the aging function valid imes 0 The SHIFT key can be used for Software forced stops Close a Motor speed r min Enter the servo motor speed into the Motor speed input field b Accel decel time ms Enter the acceleration deceleration time constant into the Accel decel time input field c Move distance pulse Enter the moving distance into the Move distance input field d LSP and LSN are automatically turned ON When setting the external stroke signal to automatic ON click the check box to make it valid When it is not checked turn ON LSP and LSN externally e Move until the initial Z phase signal of the move distance in the move direction is turned ON Movement is made until the moving distance is reached and the first Z phase signal in the moving direction turns ON 6 DISPLAY AND OPERATION SECTIONS f Pulse move distance unit selection Select with the option buttons whether the moving distance set in c is in the command pulse unit or in the encoder pulse unit When the command input pulse unit is selected the value which is the set moving distance multiplied by the electronic gear Kc will be the command value When the encoder pulse unit is selected the moving distance is not multiplied by the elect
270. ion of the controller to set 20001 or more PB32 VICB_ Gain changing speed integral compensation 33 7 ms 0 1 Set the speed integral compensation when the gain to changing is valid 5000 0 This parameter is made valid when the auto tuning is invalid parameter No PA08 0003 PB33 VRF1B Gain changing vibration suppression control vibration frequency setting Set the vibration frequency for vibration suppression control when the gain changing is valid This parameter is made valid when the parameter No PB02 setting is I 12 and the parameter No PB26 setting is I 1 When using the vibration suppression control gain changing always execute the changing after the servo motor has stopped PB34 VRF2B Gain changing vibration suppression control resonance frequency setting Set the resonance frequency for vibration suppression control when the gain changing is valid This parameter is made valid when the parameter No PBO2 setting is el 2 and the parameter No PB26 setting is 0001 When using the vibration suppression control gain changing always execute the changing after the servo motor has stopped Control mode 5 PARAMETERS Sekt N meandit hdion Initial Setting Control mode a range PB35 For manufacturer setting PB36 Do not change this value by any means B i a 1 we GH PB44 0000h PB45 CNHF Vibration s
271. ious injury Warning indicates a hazard with a medium level of risk which if not avoided could result in death Warning 1 A The compatibility of the product is the responsibility of the person who designs the equipment or decides its specifications Since the product specified here is used under various operating conditions its compatibility with specific equipment must be decided by the person who designs the equipment or decides its specifications based on necessary analysis and test results The expected performance and safety assurance of the equipment will be the responsibility of the person who has determined its compatibility with the product This person should also continuously review all specifications of the product referring to its latest catalog information with a view to giving due consideration to any possibility of equipment failure when configuring the equipment Only personnel with appropriate training should operate machinery and equipment The product specified here may become unsafe if handled incorrectly The assembly operation and maintenance of machines or equipment including our products must be performed by an operator who is appropriately trained and experienced Do not service or attempt to remove product and machinery equipment until safety is confirmed The inspection and maintenance of machinery equipment should only be performed after measures to prevent falling or runaway of the drive
272. is input when the torque oe ae limit is 0 proper value USB 1 Communication cable breakage Repair or change the SECHER regulated time cycle stopped for longer than the specified 3 Incorrect protocol Correct protocol communication Open cable or short circuit error occurred 2 Communication device e g personal Change the communication between controller computer faulty device e g personal and computer communication 3 A character code is faulty Check the character codes aS device e g personal 4 A command is faulty Check the commands E computer 5 A data No is faulty Check the data No 9 TROUBLESHOOTING Displa Name Definition Cause Action Note 2 INI u 2 Alarm details Note 1 Watchdog CPU parts faulty 1 Fault of parts in controller Change the controller 88888 lt Checking method gt Alarm 88888 occurs if power is switched on after disconnection of all cables but the control circuit power supply cable 2 The CPU in the servo motor is 1 Check that the controller malfunctioned due to external noise is not influenced by noise of magnetic valves magnetic contactors or relays 2 Check the grounding of the controller and the servo motor Note 1 At power on 88888 appears instantaneously but it is not an error 2 MR Configurator is required to check the alarm detailed information The alarm detailed information can be checked on the alarm history list window The window
273. ise suppression counter warning pulses faulty measures 2 Encoder faulty Change the servo motor The multi revolution 3 The travel distance from the home Make home position setting counter value of the position exceeded a 32767 rotation or again absolute position encoder 37268 rotation in succession exceeded the maximum revolution range warning program incorrect 2 Reverse rotation start ST2 Limiting torque TLC improper wiring stop warning EMG was turned off emergency stop A 1 L E8 Cooling fan The speed of the Cooling fan life expiration Refer to Change the cooling fan of the speed reduction controller decreased to or section 2 5 controller warning below the warning level The power supply of the cooling fan is Change the controller broken Foreign matter is caught in the cooling Remove the foreign matter fan and decreased speed AL E9 Main circuit off Servo on SON was Switch on main circuit power warning switched on with main circuit power off AL EA ABS servo on Servo on SON turned Programmable controller ladder Correct the program warning on more than 1s after program incorrect controller had entered absolute position data transfer mode AL EC Overload warning Operation in which a During a stop the status in which a current 1 Reduce the positioning current exceeding the flew intensively in any of the U V and W frequency Servo on SON improper wiring
274. isplay screen that appears at power on has been set to the servo motor speed in parameter No PC36 6 DISPLAY AND OPERATION SECTIONS 6 7 External I O signal display The ON OFF states of the digital I O signals connected to the controller can be confirmed 1 Operation After power on change the display mode to the diagnostic mode using the MODE button LU LA Bes Ge Press UP once Li Li LI Li LI SE External I O signal display screen o DO RA 2 Display definition The 7 segment LED segments and CN1 connector pins correspond as shown below CN1 CN1 CN1 CN CN CN1 CN1 CN1 CN1 CN1 45 18 17 16 41 19 15 44 43 ms Yt D Lt Lt Lt Always lit _ wwe D A E ch dt CN1 CN1 CN1 CN1 CN1 CN CN1 33 48 22 25 23 24 49 Lit ON Extinguished OFF The LED segment corresponding to the pin is lit to indicate ON and is extinguished to indicate OFF The signals corresponding to the pins in the respective control modes are indicated below 6 DISPLAY AND OPERATION SECTIONS a Control modes and I O signals Signal Note 2 Symbols of I O signals in control modes Related Connector Pin No input output 1 LL so son son son son SON no Poos e LL er sp spzsr2 spz spz nenne 1 Po posts sm Lens oe rszpc no PDos 1 LL m se strz stamsi oe asi no Poos 28 LL Loes res RES Tee res RES T _NoPpo7_ 2 o mp nesa sa sv
275. issible voltage fluctuation 2 Review the wiring of the main circuit power supply Turn the electromagnetic brake power on to release the brake Adjust the gains Refer to chapter 7 Review the load to motor inertia moment ratio parameter No PB06 when the auto tuning mode 2 or the manual mode is used 1 Review the commands from the controller 2 Check the command cable if errors do not occur such as breaking 1 Adjust the gains again Refer to chapter 7 2 Maintain the mechanical part Reduce loads by setting the acceleration deceleration longer or making the work mass lighter etc Increase the auto tuning response and then adjust the gains again Refer to chapter 7 9 TROUBLESHOOTING Checkpoint Estimated cause Unusual noise is 1 If the safe operation is possible 1 The servo gain is high Reduce the auto tuning response generated from repeat acceleration deceleration 2 The auto tuning response is high and then adjust the gains again the controller 4 times or more to complete the Refer to chapter 7 auto tuning 2 Reduce the auto tuning response parameter No PAOQ If the safe operation is possible When unusual noise is generated the Replace the servo motor remove the load and then check cause is the bearing life the noise with only the servo When unusual noise is not generated Maintain on the machine side motor the cause is the backlash increase on the machine side
276. ition change processing instruction TO ABS transmission mode timer M24 Current position change flag T1 ABS request response timer M26 ABS transfer mode OFF permission T2 Retry wait timer T3 ABS data send reading response timer ABS data receive times counter T10 ae Clear CR ON timer Checksum receive times counter T200 Transmitted data read 10ms delay timer Retry counter T211 Retry ABS transfer mode OFF wait timer 20ms set Note 1 Required for data set type home position return 2 Required for electromagnetic brake output 14 39 14 ABSOLUTE POSITION DETECTION SYSTEM c ABS data transfer program for X axis This sequence program example assumes the following conditions Parameters of the A1SD75P1 S3 positioning module 1 Unit setting 3 pulse PLS 2 Travel per pulse 1 1 pulse To select the unit other than the pulse conversion into the unit of the feed value per pulse is required Hence add the following program to the area marked Note in the sequence program lt Additional program gt tem m inch __ dege puse D PKOO D3 Deh Usage EE EE 00001 0 0001 0 001 0 01 0 0001 0 001 0 01 Be GE E ol oo Pees Pee Pee N Unitoftravel of travel um PLS O sinch PLS OE degree PLS PLS Constant K for conversion into unit of 10 to 1000 10 to 1000 10 to 1000 None travel Reference For 1um PLS set constant K to 10 For 5um PLS set constant K to
277. ivalent value on servo motor shaft kg cm oz in t Dynamic brake time Constant s te Delay time of Control section s For 7kW or lower servo there is internal relay delay time of about 10ms For 11k to 22kW servo there is delay caused by magnetic contactor built into the external dynamic brake about 50ms and delay caused by the external relay 11 4 11 CHARACTERISTICS 2 Dynamic brake time constant The following shows necessary dynamic brake time constant t for the equations 11 2 a 200V class servo motor 25 g 20 73 e S 15 23 2 8 10 053 13 E 5 0 43 0 1000 2000 3000 4000 5000 6000 Speed r min LE S5 0 LE S6 O LE S7 0 LE S8 O series 11 3 2 The dynamic brake at the load inertia moment Use the dynamic brake under the load inertia moment ratio indicated in the following table If the load inertia moment is higher than this value the dynamic brake may burn If there is a possibility that the load inertia moment may exceed the value contact your local sales office The values of the load inertia moment ratio in the table are the values at the maximum rotation speed of the servo motor Servo motor LE O O Controller LECSBO O 30 11 5 11 CHARACTERISTICS 11 4 Cable flexing life The flexing life of the cables is shown below This graph calculated values Since they are not guaranteed values provide a little allowance for these values
278. justed offset voltage 1 Press SET once 2 Set the number in the first digit to 1 with UP DOWN 3 Press SET This function cannot be used if the input voltage of VC or VLA is 0 4V or less or 0 4V or more Automatic VC offset A 5 6 DISPLAY AND OPERATION SECTIONS Press the SET button to show the series ID of the servo motor currently connected For indication details refer to the Servo Motor Instruction Manual Vol 2 Press the SET button to show the type ID of the servo motor currently connected For indication details refer to the Servo Motor Instruction Manual Vol 2 Press the SET button to show the encoder ID of the servo motor currently connected For indication details refer to the Servo Motor Instruction Manual Vol 2 Servo motor series ID Servo motor type ID Servo motor encoder ID For manufacturer setting For manufacturer setting For manufacturer setting For manufacturer setting 6 5 Alarm mode The current alarm past alarm history and parameter error are displayed The lower 2 digits on the display indicate the alarm number that has occurred or the parameter number in error Display examples are shown below Display Indicates no occurrence of an alarm Current alarm Indicates the occurrence of overvoltage AL 33 Flickers at occurrence of the alarm Indicates that the last alarm is overload 1
279. l fail Note 24VDC 10 300mA Note If the voltage drop maximum of 2 6V interferes with the relay operation apply high voltage up to 26 4V from external source 3 SIGNALS AND WIRING 3 9 Treatment of cable shield external conductor In the case of the CN1 and CN2 connectors securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell External conductor Sheath Core Sheath External conductor Strip the sheath Pull back the external conductor to cover the sheath 1 For CN1 connector 3M connector Screw 2 For CN2 connector 3M or Molex connector 3 SIGNALS AND WIRING 3 10 Connection of controller and servo motor During power on do not open or close the motor power line Otherwise a J N WARNING Sg j i malfunction or faulty may occur 3 10 1 Connection instructions JN WARNING Insulate the connections of the power supply terminals to prevent an electric shock Connect the wires to the correct phase terminals U V W of the controller and servo motor Not doing so may cause unexpected operation Do not connect AC power supply directly to the servo motor Otherwise a fault may occur Do not use the 24VDC interface power supply for the electromagnetic brake Always use the power supply designed exclusively for the electromagnetic brake Otherwise a fault may occur Refer to
280. larm in the past are read a Transmission Send command 3 3 and data No 1 0 to 1 5 Refer to section 13 4 1 b Reply The alarm No corresponding to the data No is provided Alarm No is transferred in hexadecimal For example 0032 means AL 32 and OOFF means AL _ no alarm 2 Alarm occurrence time read Read the occurrence time of alarm which occurred in the past The alarm occurrence time corresponding to the data No is provided in terms of the total time beginning with operation start with the minute unit omitted a Transmission Send command 3 3 and data No 2 0 to 2 5 Refer to section 13 4 1 b Reply L The alarm occurrence time is transferred in hexadecimal Hexadecimal must be converted into decimal For example data 01F5 means that the alarm occurred in 501 hours after start of operation 3 Alarm history clear Erase the alarm history Send command 8 2 and data No 2 0 SS 2110 13 31 13 COMMUNICATION FUNCTION 13 5 11 Current alarm 1 Current alarm read Read the alarm No which is occurring currently a Transmission Send command 0 2 and data No 0 0 ms mm b Reply The slave station sends back the alarm currently occurring Alarm No is transferred in hexadecimal For example 0032 means AL 32 and OOFF means AL _ no alarm 2 Read of the status display at alarm occurrence Read the status display data at alar
281. le speed 0 to instan taneous permi ssible speed 0 to instan taneous permi ssible speed Internal speed command 7 800 r min 0 to Used to set speed 7 of internal speed commands instan taneous Internal speed limit 7 permi ssible speed Used to set speed 7 of internal speed limits r min 1 to 50000 Internal speed command 5 300 r min Used to set speed 5 of internal speed commands Internal speed limit 5 Used to set speed 5 of internal speed limits Internal speed command 6 500 r min Used to set speed 6 of internal speed commands Internal speed limit 6 Used to set speed 6 of internal speed limits Analog speed command maximum speed Used to set the speed at the maximum input voltage 10V of the analog speed command VC When 0 is set the analog speed command maximum speed would be the rated speed of the servo motor connected The speed is as indicated below for motorless operation of test operation Controller capacity W _ Servo motor speed r min 100V class_ 100 to 400_ OOV class 100 to 400 3000 200V class 100 to 750 1k to 37k 2000 400V class 600 to 55k Analog speed limit maximum speed Used to set the speed at the maximum input voltage 10V of the analog speed limit VLA Set 0 to select the rated speed of the servo motor connected J i a 3 Sch 3 oo 25 E 5 PARAMETERS Ne Synibal E EE ae Initial Unit Setting Control mode value range PC13
282. ls 1 Auto tuning mode parameter No PA08 Select the gain adjustment mode Parameter No PA08 Je Gain adjustment mode setting mc adjustment mode Automatically set parameter No Note ee PBO8 PBO9 PB10 0 uergen mode Interpolation mode E PBO7 PBO8 PBO9 PB10 Auto tuning mode 1 PBO7 PBO8 PBO9 PB10 Auto tuning mode 2 ee Ee Note The parameters have the following names Name PBO6 Ratio of load inertia moment to servo motor inertia moment PBO7 Model loop gain PBO8 Position loop gain PBO9 Speed loop gain PB10 Speed integral compensation 5 PARAMETERS 2 Auto tuning response parameter No PAO9 If the machine hunts or generates large gear sound decrease the set value To improve performance e g shorten the settling time increase the set value resonance frequency Hz resonance frequency Hz Low response Middle response ei ef i Middle response 5 1 10 In position range Parameter Initial Unit Setting Control mode No Symbol Name value range PA10 In position range Note For the software version CO or older controllers the setting range is 0 to 10 000 Set the range where In position INP is output in the command pulse unit before calculation of the electronic gear With the setting of parameter No PC24 the range can be changed to the encoder output pulse unit Servo motor droop pulse Command pulse Command pulse Droop pulse In position range
283. lses may be input in any of three different forms for which positive or negative logic can be chosen Set the command pulse train form in parameter No PA13 Refer to section 5 1 10 for details b Connections and waveforms 1 Open collector system Connect as shown below Controller 24VDC OPC DOCOM O Approx 1 2k Q Note lt m Note Pulse train input interface is comprised of a photo coupler Therefore it may be any malfunctions since the current is reduced when connect a resistance to a pulse train signal line The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains parameter No PA13 has been set to 0010 Their relationships with transistor ON OFF are as follows Forward rotation pulse train OFF on elo OFF transistor Reverse rotation pulse train OFF on OFF ON OFF ON transistor dh Forward rotation command Reverse rotation command 3 SIGNALS AND WIRING 2 Differential line driver system Connect as shown below 7 2s Controller Approx PP 1009 LC PG Note Approx NP 1002 Note Pulse train input interface is comprised of a photo coupler Therefore it may be any malfunctions since the current is reduced when connect a resistance to a pulse train signal line The explanation assumes that the input waveform has
284. lute Absolute position position restoration restoration error completion completion z kas D Jeets uis UE co Sum check Retry NG counter Retry counter DG Ki 10 4 Retry flag T0 po i IR M16 Retry waiting timer em 14 53 Absolute position restoration start flag Absolute position restoration status reset Absolute position restoration output Error code storage Absolute position restoration start flag reset Absolute position Preparation completion restoration Absolute position restoration data reception Absolute position restoration data reception Absolute position restoration data reception Absolute position restoration dedicated instruction execution ABS communication error Sum check error detection Retry flag set Error detection retry ntrol Retry counter coniro ABS checksum error Retry wait timer Retry flag reset 14 ABSOLUTE POSITION DETECTION SYSTEM d X axis program Do not execute the X axis program while the ABS ready M10 is off BEE A Note Positi X aM ee st EE ee Seng l Mio S When M10 ready to send ABS data switches on e El _ X axis start program the X axis start program is executed by the X axis Sond ABS GE start command deis e Dog type home position return Refer to the home position return program in the QD75 User s Manual 14 54 14 ABSOLUTE POSITION DETECTION SYSTEM f Data set t
285. ly reached the DO 1 preset speed When the preset speed is 20r min or less SA always turns on SA does not turn on even when the servo on SON is turned off or the servo motor speed by the external force reaches the preset speed while both the forward rotation start ST1 and the reverse rotation start ST2 are off Limiting speed CN1 25 VLC turns on when speed reaches the value limited using any of the DO 1 internal speed limits 1 to 7 parameter No PC05 to PC11 or the analog speed limit VLA in the torque control mode VLC turns off when servo on SON turns off Limiting torque TLC turns on when the torque generated reaches the value set to DO 1 the Forward torque limit parameter No PA11 Reverse torque limit parameter No PA12 or analog torque limit TLA 3 SIGNALS AND WIRING Connec Device Symbol tor pin No Zero speed detection Functions Applications ZSP turns on when the servo motor speed is zero speed 50r min or less Zero speed can be changed using parameter No PC17 Example Zero speed is 50r min Forward rotation direction A OFF level 70r min ON level 50r min 20r min Hysteresis width Parameter Electromagnetic brake interlock EES ZTN Battery warning BWNG K No PC17 Servo motor speed Or min Parameter No PC17 Reverse ON level _ rotation 50r min direction OFF level y 70r min Se eee aie See 20r min Hysteresis width Zero speed
286. m occurrence When the data No corresponding to the status display item is transmitted the data value and data processing information are sent back a Transmission Send command 3 5 and any of data No 8 0 to 8 E corresponding to the status display item to be read Refer to section 13 4 1 b Reply The slave station sends back the requested status display data at alarm occurrence 0 0 Data 32 bits long represented in hexadecimal Data conversion into display type is required Display type 0 Conversion into decimal required 1 Used unchanged in hexadecimal Decimal point position No decimal point Lower first digit usually not used Lower second digit Lower third digit Lower fourth digit Lower fifth digit Lower sixth digit onakhwn o 3 Current alarm clear As by the reset RES on reset the controller alarm to make the controller ready to operate After removing the cause of the alarm reset the alarm with no command entered SS DS 13 32 13 COMMUNICATION FUNCTION 13 5 12 Other commands 1 Servo motor side pulse unit absolute position Read the absolute position in the servo motor side pulse unit Note that overflow will occur in the position of 8192 or more revolutions from the home position a Transmission Send command 0 2 and data No 9 0 HS ER b Reply The slave station sends back the requested servo motor side pulses RRRERIEND Absolut
287. mbol Name value range pulse 1 to PA1 ENR E 4 Turn off the power and then on again after setting the parameter to validate the parameter value Used to set the encoder pulses A phase B phase output by the controller Set the value 4 times greater than the A phase or B phase pulses You can use parameter No PC19 to choose the output pulse setting or output division ratio setting The number of A B phase pulses actually output is 1 4 times greater than the preset number of pulses The maximum output frequency is 4 6Mpps after multiplication by 4 Use this parameter within this range 5 PARAMETERS 1 For output pulse designation Set 0000 initial value in parameter No PC19 Set the number of pulses per servo motor revolution Output pulse set value pulses rev For instance set 5600 to parameter No PA15 the actually output A B phase pulses are as indicated below A B phase output pulses 2800 1400 pulse 2 For output division ratio setting Set 0010 in parameter No PC19 The number of pulses per servo motor revolution is divided by the set value Resolution per servo motor revolution Output pulse Set value pulses rev For instance set 8 to parameter No PA15 the actually A B phase pulses output are as indicated below A B phase output pulses 262144 is 8192 pulse 3 When outputting pulse train similar to command pulses Set parameter No PC19 to 0020 The feedback pulses from the
288. memory 14 52 0 uoy Loi Kt 61502 Error reset completion wov K3 00 SET wo X26 Led EI Wii Servo on switch RsT M10 RST wit wit wi4 NIE d y As DD Servo on Errorflag Retry request output flag PLS wi lt Rst co Retry flag reset request X24 Mi4 33 Alarm reset Error flag output u4 Alarm reset switch RST DN Servo alarm RST wi 38 Programmable controller ready QD75 error reset Initial setting Retry frequency set Set 3 times Error reset completion flag Servo on request Preparation completion reset Servo on control Servo on request reset Absolute position restoration start Retry flag set Retry counter reset Alarm reset output Servo alarm detection alarm reset control Error flag output Preparation completion reset Servo on request reset Servo alarm 14 ABSOLUTE POSITION DETECTION SYSTEM M12 xo H Set u3 Absolute QD75 ready position signal restoration instruction PLS wov KO D104 Mun W101 WO 0103 WEI Absolute Absolute position position restoration restoration error completion completion W101 Nov D101 D110 Absolute position restoration error completion KO D104 RST DR SET wo DIR x20 102 0 x21 0102 1 ABS data bit 1 x22 0102 2 Transmission data ready flag ll ABRST I vo D100 DE M100 M101 K213 D110 ha LEI Abso
289. meter No PA05 to set the number of pulses per servo motor one rotation 262144 FBP parameter No PA05 P C 4 C A M cumulative feedback pulses x travel per pulse machine position 8 SMC 4 STARTUP Check for a position shift in the following sequence 1 When Q P Noise entered the pulse train signal wiring between positioning unit and controller causing pulses to be miss counted Cause A Make the following check or take the following measures Check how the shielding is done Change the open collector system to the differential line driver system Run wiring away from the power circuit Install a data line filter Refer to section 12 17 2 a 2 When P om Z CDV G During operation the servo on SON or forward reverse rotation stroke end was switched off or the clear CR and the reset RES switched on Cause C If a malfunction may occur due to much noise increase the input filter setting parameter No PD19 3 WhenC A M Mechanical slip occurred between the servo motor and machine Cause B 4 3 Startup in speed control mode Make a startup in accordance with section 4 1 This section provides the methods specific to the speed control mode 4 3 1 Power on and off procedures 1 Power on Switch power on in the following procedure Always follow this procedure at power on 1 Switch off the servo on SON 2 Make sure that the Forward rotation start ST1 and Reverse rotatio
290. meter number Upper limit values of parameter setting ranges Reads the permissible upper limit values of the parameters in the parameter group specified with the command 8 5 data No 0 0 Before reading the upper limit values therefore always specify the parameter group with the command 8 5 data No 0 0 The decimal equivalent of the data No value hexadecimal corresponds to the parameter number Lower limit values of parameter setting ranges Reads the permissible lower limit values of the parameters in the parameter group specified with the command 8 5 data No 0 0 Before reading the lower limit values therefore always specify the parameter group with the command 8 5 data No 0 0 The decimal equivalent of the data No value hexadecimal corresponds to the parameter number N Abbreviations of parameters Reads the abbreviations of the parameters in the parameter group specified with the command 8 5 data No 0 0 Before reading the abbreviations therefore always specify the parameter group with the command 8 5 data No 0 0 The decimal equivalent of the data No value hexadecimal corresponds to the parameter number Write enable disable of parameters Reads write enable disable of the parameters in the parameter group specified with the command 8 5 data No 0 0 Before reading write enable disable therefore always specify the parameter group with the command 8 5 data No 0 0
291. min in hexadecimal Acceleration deceleration time constant setting Command A 0 Data No 1 1 Data Write the acceleration deceleration time constant ms in hexadecimal Set the operation pattern When LSP LSN was turned OFF by When LSP LSN was turned OFF by external input signal external input signal or automatically Start Start Command 9 2 Command 9 2 Data No O 0 Data No 0 0 Data Forward rotation direction Data Forward rotation direction 00000807 00000801 Start SON LSP LSN ST1 turned ON SON ST1 turned ON Reverse rotation direction Reverse rotation direction 00001007 00001001 SON LSP LSN ST2 turned ON SON ST2 turned ON Stop Stop Command 9 2 Data No 0 0 Data 00000007 SON LSP LSN turned ON Command 9 2 Data No 0 0 Data 00000001 SON turned ON Stop END Command 8 B Data No 0 0 Data 0000 Test operation mode cancel Cancel the test operation mode 13 28 13 COMMUNICATION FUNCTION 3 Positioning operation a Operation procedure Send the command data No and data as indicated below to execute positioning operation Start Command 8 B Select the positioning operation in Data No 0 0 the test operation mode Data 0002 positioning operation 2 Servo motor speed setting Command A 0 Data No 1 0 Da
292. mission data ready is turned ON the ABS time out warning AL E5 occurs regarding it as a transfer error ABS transfer mode ABS request ABS transmission data ready AL E5 warning ON sho OFF eS S OFF J 4 j WEDA PET ONE OFF w Yes i No 14 15 14 ABSOLUTE POSITION DETECTION SYSTEM 5 Servo on SON OFF Reset RES ON Emergency stop EMG OFF check during the ABS transfer When the ABS transfer mode is turned ON to start transferring and then the servo on SON is turned OFF the reset RES is turned ON or the emergency stop EMG is turned ON before the 19th ABS transmission data ready signal is turned ON the ABS time out warning AL E5 occurs regarding it as a transfer error ON Servo on SON OFF ON ABS transfer mode OFF ON ABS request OFF SE ON DG ABS transmission 1 l data ready OFF i eg Yes AL E5 warning No 14 16 14 ABSOLUTE POSITION DETECTION SYSTEM b Checksum error If the checksum error occurs the programmable PC or PLC etc should retry transmission of the ABS data Using the ladder check program of the programmable PC or PLC etc turn OFF the ABS transfer mode ABSM After a lapse of 10ms or longer turn OFF the servo on SON OFF time should be longer than 20ms and then turn it ON again If the ABS data transmission fails to end normally even after retry regard this situation as an ABS checksum error and execute erro
293. mperature of the control box from exceeding the environmental conditions When installing the controllers closely leave a clearance of 1mm between the adjacent controllers in consideration of mounting tolerances In this case make circumference temperature into 0 to 45 C or use it at 75 or a smaller effective load ratio Control box Ys 100mm or more 10mm or more Pea p Pea g See yy e3 PE ee Z d D OCI CA Uri an n ote er 9 We Lae 40mm or more Leaving clearance 2 11k to 22kW or more a Installation of one controller Z 7 10mm or more C 30mm or more ontrol box Wi Control box WWW 100mm or more E 1mm 1mm Mf ks gt lt Top Pea gPa gi Peg op L ap on og oq mm E oo 8 eE Joo SECH or more galt i os 020 gt 19 G r On SH 85 SH oD og og o ols o ojal o Des LLL ope lone oge Z B B o Ld Bottom U aca D OI U JS H Wy Se GLE Yt es Mounting closely Control box Ys yf VL
294. mplifier Regenerative option eo DS G3 DO x 5m or less Doss Co LO A SS ttt Note 1 Cooling fan Note 1 Make up a sequence which will switch off the magnetic contactor when abnormal heating occurs G3 G4 contact specifications Maximum voltage 120V AC DC Maximum current 0 5A 4 8VDC Maximum capacity 2 4VA 12 10 12 OPTIONS AND AUXILIARY EQUIPMENT 5 Outline drawings a LEC MR RB12 Unit mm TE Terminal block 40 6 mounting hole L oF 15 5 C a r lt y i on Eo Applicable wire size 0 2 to 2 5mm AWG24 to AWG12 Te ry Tightening torque 0 5 to 0 6 N m 4 to 5 Ib in Mounting screw l Screw size M5 1 ka l 5 I A DG Soll Tightening torque 3 24 N m 28 7 Ib ml I I TEI 3 i Mass 1 1 kg 2 4 lb SI i l i Lt Lie y 6 of at 2 e P Approx 20 k 149 A 169 Ja fei 12 11 SMC 12 OPTIONS AND AUXILIARY EQUIPMENT 12 3 Junction terminal block MR TB50 1 How to use the junction terminal block Servo amplifier Junction terminal block Cable clamp MR TB50 CN1 Junction terminal block L cable E M
295. n To illustrate details the equipment in the diagrams of this Specifications and Instruction Manual may have been drawn without covers and safety guards When the equipment is operated the covers and safety guards must be installed as specified Operation must be performed in accordance with this Specifications and Instruction Manual O DISPOSAL OF WASTE e Please dispose a converter unit controller drive unit battery primary battery and other options according to your local laws and regulations A EEP ROM life The number of write times to the EEP ROM which stores parameter settings etc is limited to 100 000 If the total number of the following operations exceeds 100 000 the converter unit controller drive unit and or converter unit may fail when the EEP ROM reaches the end of its useful life Write to the EEP ROM due to parameter setting changes Home position setting in the absolute position detection system Write to the EEP ROM due to device changes Precautions for Choosing the Products SMC will not be held liable for damage caused by factors found not to be the cause of SMC machine damage or lost profits caused by faults in the SMC products damage secondary damage accident compensation caused by special factors unpredictable by SMC damages to products other than SMC products and to other duties COMPLIANCE WITH THE EUROPEAN EC DIRECTIVES Refer to Appendix 9 for the compliance with EC Dir
296. n has increased to the machine side vibration frequency vibration suppression control limit Using the machine analyzer or from machine side vibration waveform set the vibration suppression control manually Decrease the response until vibration of workpiece end device is resolved End 8 SPECIAL ADJUSTMENT FUNCTIONS 4 Vibration suppression control manual mode Measure work side vibration and device shake with the machine analyzer or external measuring instrument and set the vibration suppression control vibration frequency parameter No PB19 and vibration suppression control resonance frequency parameter No PB20 to set vibration suppression control manually a When a vibration peak can be confirmed using machine analyzer by MR Configurator or external measuring instrument Gain characteristic 1Hz 100Hz Resonance of more Vibration suppression control Vibration suppression than 100Hz is not the vibration frequency control resonance target of control Anti resonance frequency frequency Parameter No PB19 Parameter No PB20 Phase 90deg b When vibration can be confirmed using monitor signal or external sensor Motor side vibration External acceleration pick signal etc Droop pulses Position command frequency gt t E Vibration suppression control T Vibration cycle Hz vibration frequency Vibration cycle Hz Vibration suppression con
297. n Pt Encoder resolution of servo motor pulse rev _CMX _ 3000 200 10 CDV en 262144 CMX _ 3000 262144 2000 262144 _ 8192 CDV 60 200 103 60 200000 125 The following table indicates the electronic gear setting example ball screw lead 10mm when the QD75 is used in this way Rated servo motor speed 3000r min 2000r min Open Differential Open Differential Input system Es EH driver ee SSC driver Controller Max input Max input pulse frequency pulse s ss frequency pulse s 200k e 200k Feedback pulse revolution pulse rev e 44 a_i Electronic GH CMX CDV eT 92 125 8192 625 16384 375 16384 1875 Command Command pulse frequency kpulse s Note frequency kpulse s Note 200k 200k 1M Number of pulses per servo motor revolution as onna i ulse Electronic gear i E 0 14um k 10 Note Command pulse frequency at rated speed In addition to the setting method using the electronic gear given here the number of pulses per servo motor revolution can also be set directly using parameter No PAOS5 In this case parameter No PAO5 is the Number of pulses per servo motor revolution as viewed from QD75 5 PARAMETERS 5 1 9 Auto tuning Parameter Initial Unit Setting Control mode Symbol Name value range Refer to PA08 ATU _ Auto tuning mode 0001h the text 12 Auto tuning response Dolio o o MN Make gain adjustment using auto tuning Refer to section 7 2 for detai
298. n etc of the servo motor If the servo motor does not operate in the intended direction check the input signal In this step connect the servo motor with the machine and confirm that the machine operates normally under the commands from the command device Make sure that the servo motor rotates in the following procedure 1 Switch on the Servo on SON When the controller is put in a servo on status the Ready RD switches on 2 When the analog speed command TC is input from the command device and the Forward rotation start RS1 or Reverse rotation start RS2 is switched on the servo motor starts rotating Give a low speed command at first and check the operation direction etc of the machine If the machine does not operate in the intended direction check the input signal In the status display or MR Configurator check for any problems of the servo motor speed load ratio etc 3 Then check automatic operation with the program of the command device 4 STARTUP 4 4 4 Parameter setting The encoder cable MR EKCBLOIM L H for the LE O series servo motor or the encoder cable MR ENECBLOIM H for HF JP11K1M 4 15K1M 4 servo motor requires the parameter No PC22 setting to be changed depending on its length Check whether the parameter is set correctly If it is not set correctly the encoder error 1 At power on AL 16 will occur at power on Encoder cable Parameter No PC22 setting MR EKCBL2
299. n containing battery illustration Figure must be used CAUTION N bd IF DAMAGED Lithium Metal batteries DO NOT LOAD OR TRANSPORT PACKAGE IF DAMAGED Figure Example of Mitsubishi Label with Battery Illustration size 120 x 110mm 4 Action taken by Mitsubishi The following caution will be added to the packages of the target batteries Containing lithium metal battery Regulations apply for transportation App 5 APPENDIX 5 Transportation precaution for customers For sea or air transportation the handling label Figure is required for the package of a Mitsubishi cell or battery and the outer package containing several packages of Mitsubishi cells or batteries Documentations like the handling label in the specified design and the Shipper s Declaration for Dangerous Goods are required Please attach the documentations to the packages The above change will not affect the function and performance of the product App 5 Symbol for the new EU Battery Directive Symbol for the new EU Battery Directive 2006 66 EC that is plastered to general purpose AC servo battery is explained here Note This symbol mark is for EU countries only This symbol mark is according to the directive 2006 66 EC Article 20 Information for end users and Annex II Your SMC product is designed and manufactured with high quality materials and components which can be recycled and or reused This symbol means that batteries and accumulators
300. n driving mode forward rotation in regenerative mode in regenerative mode Note 0 off 1 on Generally make connection as shown below Controller ae Note See TC i 8 to 8V_ LG Le Note For the sink I O interface For the source UO interface refer to section 3 8 3 3 SIGNALS AND WIRING b Analog torque command offset Using parameter No PC38 the offset voltage of 999 to 999mV can be added to the TC applied voltage as shown below D x Gem Si 5 a c Parameter No PC38 offset range 999 to 999mV Generated torque 8 8 TC applied voltage V 2 Torque limit By setting parameter No PA11 forward rotation torque limit or parameter No PA12 reverse rotation torque limit torque is always limited to the maximum value during operation A relationship between limit value and servo motor torque is as in section 3 6 1 5 Note that the analog torque limit TLA is unavailable 3 Speed limit a Speed limit value and speed The speed is limited to the values set in parameters No PC05 to PC11 internal speed limits 1 to 7 or the value set in the applied voltage of the analog speed limit VLA A relationship between the analog speed limit VLA applied voltage and the servo motor speed is shown below When the servo motor speed reaches the speed limit value torque control may become unstable Make the set value more than 100r min greater than the desired speed l
301. n excess of 99999 can be counted However the counter shows only the lower five digits of the actual value since the controller display is five digits The number of pulses displayed is in the encoder pulse unit The position command input pulses are counted and displayed As the value displayed is not yet multiplied by the electronic gear CMX CDV it may not match the indication of the cumulative feedback pulses The values in excess of 99999 can be counted However the counter shows only the lower five digits of the actual value since the controller display is five digits Press the SET button to reset the display value to zero When the servo motor is rotating in the reverse direction the decimal points in the upper four digits are lit The frequency of the position command input pulses is displayed The value displayed is not multiplied by the electronic gear CMX CDV 1 Torque control mode Analog speed limit VLA voltage is displayed 2 Speed control mode Analog speed command VC voltage is displayed 1 Position control mode speed control mode Analog torque limit TLA voltage is displayed 2 Torque control mode Analog torque command TLA voltage is displayed The ratio of regenerative power to permissible regenerative power is displayed in e ojo CH The continuous effective load current is displayed The effective value in the past 15 seconds is displayed relative to the rated current of 100 o
302. n objects have been confirmed When the product is to be removed confirm that the safety measures as mentioned above are implemented and the power from any appropriate source is cut and read and understand the specific product precautions of all relevant products carefully Before machinery equipment is restarted take measures to prevent unexpected operation and malfunction Contact SMC beforehand and take special consideration of safety measures if the product is to be used in any of the following conditions 1 Conditions and environments outside of the given specifications or use outdoors or in a place exposed to direct sunlight 2 Installation on equipment in conjunction with atomic energy railways air navigation space shipping vehicles military medical treatment combustion and recreation or equipment in contact with food and beverages emergency stop circuits clutch and brake circuits in press applications safety equipment or other applications unsuitable for the standard specifications described in the product catalog 3 An application which could have negative effects on people property or animals requiring special safety analysis 4 Use in an interlock circuit which requires the provision of double interlock for possible failure by using a mechanical protective function and periodical checks to confirm proper operation A 1 SMC Note that the CAUTION level may lead to a serious consequence accordin
303. n selection B 1 Refer to Select the control systems for position command name acceleration deceleration time constant parameter and No PBO3 function column 0 0 0 i Control of position command acceleration deceleration time constant 0 Primary delay 1 Linear acceleration deceleration When linear acceleration deceleration is selected do not execute control switching after instantaneous power failure The servo motor will make a sudden stop during the control switching or automatic restart Control mode li N N 5 PARAMETERS PB26 CDP Gain changing selection 0000h Refer to Select the gain changing condition Refer to section 8 6 and function L Gain changing selection column Under any of the following conditions the gains change on the basis of the parameter No PB29 to PB34 settings 0 Invalid 1 Input device Gain changing CDP 2 Command frequency Parameter No PB27 setting 3 Droop pulse Parameter No PB27 setting 4 Servo motor speed Parameter No PB27 setting 0 0 4 Gain changing condition 0 Valid when the input device gain changing CDP is ON or valid when the value is equal to or larger than the value set in parameter No PB27 Valid when the input device gain changing CDP is OFF or valid when the value is equal to or smaller than the value set in parameter No PB27 5 PARAMETERS Initia Settin me SE Ge m EE GIS
304. n start ST2 are off 3 Switch on the main circuit power supply and control circuit power supply At power on 88888 appears instantaneously but it is not an error When main circuit power control circuit power is switched on the display shows r servo motor speed and in two second later shows data 2 Power off 1 Switch off the Forward rotation start ST1 or Reverse rotation start ST2 2 Switch off the Servo on SON 3 Switch off the main circuit power supply and control circuit power supply o 5 4 STARTUP 4 3 2 Stop In any of the following statuses the controller interrupts and stops the operation of the servo motor Refer to section 3 11 for the servo motor with an electromagnetic brake a Servo on SON OFF The base circuit is shut off and the servo motor coasts b Alarm occurrence When an alarm occurs the base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop c Emergency stop EMG OFF The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop Alarm AL E6 occurs d Stroke end LSP LSN OFF The servo motor is brought to a sudden stop and servo locked The motor may be run in the opposite direction e Simultaneous ON or simultaneous OFF of forward rotation start ST1 and reverse rotation start ST2 The servo motor is decelerated to a stop A sudden stop indicates deceleration to a
305. n the metal cabinet control box 3 Short circuit rating SCCR Short Circuit Current Rating Suitable For Use In A Circuit Capable Of Delivering Not More Than 100 kA rms Symmetrical Amperes 500 Volts Maximum 4 Flange Mount the servo motor on a flange which has the following size or produces an equivalent or higher heat dissipation effect Flange size mm LE S1 250 x 250 x6 053 13 23 250 x 250 x 12 300 x 300 x12 5 About wiring protection For installation in United States branch circuit protection must be provided in accordance with the National Electrical Code and any applicable local codes For installation in Canada branch circuit protection must be provided in accordance with the Canada Electrical Code and any applicable provincial codes 6 Options peripheral devices Use the UL C UL Standard compliant products Use the no fuse breaker UL489 Listed MCCB or a Class T fuse indicated in the table below No fuse breaker Note Controller Voltage AC Voltage AC LECSB1 S5 LECSB2 S7 30A frame 5A 240V 300V LECSB2 S8 LECSB1 S7 30A frame 10A 7 Capacitor discharge time The capacitor discharge time is as follows To ensure safety do not touch the charging section for 15 minutes 20 minutes in case drive unit is 30kW or more after power off Discharge Controller 9 time min LECSB2 S5 LECSB2 S7 LECSB2 S8 LECSB1 S5 LECSB1 S7 aS Ef LECSB1 S8 Doo a App 11
306. n to reset the alarm 4 Confirmation of absolute position data transfer When the servo on SON is turned on the absolute position data is transferred to the programmable PC or PLC etc When the ABS data is transferred properly a The ready output RD turns on b The programmable PC or PLC etc ABS data ready contact turns on c The MR Configurator ABS data display window refer to section 14 12 and programmable PC or PLC etc side ABS data registers show the same value at the home position address of 0 If any warning such as ABS time out warning AL ER or programmable PC or PLC etc side transfer error occurs refer to section 14 10 or chapter 8 and take corrective action 5 Home position setting The home position must be set if a System set up is performed b The controller has been changed c The servo motor has been changed or d The absolute position erase AL 25 occurred In the absolute position detection system the absolute position coordinates are made up by making home position setting at the time of system set up The motor shaft may operate unexpectedly if positioning operation is performed without home position setting Always make home position setting before starting operation For the home position setting method and types refer to section 14 8 3 14 8 14 ABSOLUTE POSITION DETECTION SYSTEM 14 8 Absolute position data transfer protocol After switching on the ABS transfer mode ABSM
307. nd after Time 2 For trapezoidal input For trapezoidal input linear acceleration deceleration the setting range is 0 to 10ms Input position command Position command after filtering for linear acceleration deceleration Position command after filtering for primary delay Command t Position command acceleration deceleration time constant parameter No PBO3 5 PARAMETERS 5 3 Extension setting parameters No PCOD For any parameter whose symbol is preceded by set the parameter value and switch power off once then switch it on again to make that parameter setting valid 5 3 1 Parameter list eee a VC oe Oo lo Pco2 em Deceleration time constant o m DMN OO OO Pco3 stc_ S patter acceleration deceleration time constat o ms JO rond Tac Torquecommandtimeconstant 0 m PCO5 SC1 Internal speed command 1 r min SIS Internal speed limit 1 e PCO6 SC2 Internal speed command 2 r min bes Internal speed limit 2 ee Internal speed command 3 r min Internal speed limit 3 Internal speed command A Peel r min Internal speed limit 4 Internal speed command 5 CS r min Internal speed limit 5 Internal speed command 6 er r min Internal speed limit 6 Internal speed command 7 ES r min Internal speed limit 7 VCM Analog speed command maximum speed de Analog speed limit maximum speed 100 0 100 0 elen elecronagnsi brake ssencs cup
308. ndex processin e H 9 Position c Dra K6 M121 command control M122 DmMov ko z INDX 6 X13 m101 H 1PG stop command Position stop switch MO Error flag X16 mio0 H 1PG error reset 1PG error reset e To be continued 6 Note Program example for the dog type home position return For the data set type home position return refer to the program example in 2 d of this section 14 34 14 ABSOLUTE POSITION DETECTION SYSTEM Continued from preceding page M8000 TO KO K25 K4M100 K1 Normally ON FROM KO K28 K3M200 K1 DFROMKO K26 D106 K1 M108 END d Data set type home position return FX2 1PG Transmission of control signals 1PG gt FX2 Transmission of status 1PG gt FX2 Transmission of present position D106 D107 1PG Resetting start command After jogging the machine to the position where the home position e g 500 is to be set choose the home position return mode set the home position with the home position return start switch X14 ON After switching power on rotate the servo motor more than 1 revolution before starting home position return Do not turn ON the clear CR Y5 for an operation other than home position return Turning it ON in other circumstances will cause position shift XO X14 PLS M70 ABS transfer Positioning Home position mode completion return start switch M70 Ki T210 Clear signal ON timer request M71 SET M71 Date set t
309. nerating torque Set with the parameter No PA1 1 PA12 PC35 lt Position control mode gt The input voltage of the analog torque limit TLA is incorrect Check the status of the analog input voltage 1 Check with the status display 2 Check with the Display all command on the Monitor menu on MR Configurator lt Speed control mode gt The input voltage of the analog speed command VC or that of the analog torque limit TLA is incorrect lt Torque control mode gt The input voltage of the analog torque command TC or that of the analog speed limit TLA is incorrect Check that machine interference Machine interference occurs occurs Check the power supply for the servo motor with an electromagnetic brake The ABSM signal is on while the absolute position detection system is used The electromagnetic brake is not released 1 The controller operates in the ABS transfer mode 2 The absolute position data transfer is not complete No PA01 control mode are incorrect Set the same value as the pulse output form of the controller Review the settings of the parameter No PA01 control mode 1 Change the mass or the shape of the work to reduce the load 2 Make the acceleration deceleration time shorter to make the effective load ratio lower Review the torque limit setting Review the settings of the analog torque limit TLA and the analog input voltage Review the settings
310. ng command data No and data during a temporary stop to make a restart Note Data int op Note O indicates a blank Send the following command data No and data during a temporary stop to stop positioning operation and erase the remaining travel distance Note Data Ge H CLRO Note O indicates a blank 13 5 9 Output signal pin ON OFF output signal DO forced output In the test operation mode the output signal pins can be turned on off independently of the servo status Using command 9 0 disable the output signals in advance 1 Choosing DO forced output in test operation mode Transmit command 8 B data No 0 0 data 0004 to choose DO forced output pe Selection of test operation mode 4 DO forced output output signal forced output 2 External output signal ON OFF Transmit the following communication commands SEI Did EE b1 bO CN1 connector pin it CN1 connector pin bit CN1 connector pin Bia eS ae ae 18 EC BE al 2 EIn el GE e 20 21 22 Di Es Se ee E ee ee ee e BER 13 30 13 COMMUNICATION FUNCTION 3 DO forced output Transmit command 8 B data No 0 0 data to choose DO forced output Test operation mode selection 8 B 0 0 0000 Test operation mode cancel 13 5 10 Alarm history 1 Alarm No read Read the alarm No which occurred in the past The alarm numbers and occurrence times of No 0 last alarm to No 5 sixth a
311. ng terminals may not be mounted depending on the size Make sure to use the recommended ones or equivalent ones YNT 1210S 12 19 SMC 12 OPTIONS AND AUXILIARY EQUIPMENT 2 Wires for cables When fabricating a cable use the wire models given in the following table or equivalent Table 12 3 Wires for option cables Length Core Number Insulation Note 3 m size of structure CONUS coating OD Finishing Wire model resistance 2 mm TypeEncod er cable mm Cores Wires mm dimm OD mm Note 1 Note 3 LE CSE SO res sp 2to10 AWG22 E e 7 10 3 VNR ere or equivalent Encoder cable EE Ban gi shi 16823 LE CSE ROA Note 3 ieee H to 10 AWG22 Lu pairs 70 008 ae 7 10 3 ETFE SVP 70 0 08 AWG 22 or LE CSE LE CSE ROB pal equivalent 3P Ban gi shi 16824 LE CSM SOA 2 to 10 21 8 2110 AWG18 4 34 0 18 1 71 62 0 3 HRZFEV A CL3 AWG18 4 cores LE CSM SOB or less Motor cable LE CSM ROA Note 6 a Note 4 4 150 0 08 i 1 63 5 70 5 LE CSM ROB SE or less RMFES A CL3X AWG19 4 cores m LE CSB SHA AWG20 210 18 348 Aan ee LE CSB SOB 2 to 10 to 10 or less HRZFEV A CL3 AWG20 2 cores Lock cable LE CSB ROA Note 6 SCH AWG20 2 110 0 08 i 1 37 4 50 3 RMFES A CL3X AWG20 2 cores LE CSB ROB 2 to 10 19 75mm or less Note 1 d is as shown below Conductor Insulation sheath 2 Purchase from Toa Electric Industry 3 Standard OD Max
312. ng the servo motor to a sudden stop Alarm AL E6 occurs d Forward rotation stroke end LSP reverse rotation stroke end LSN OFF The droop pulses are erased and the servo motor is stopped and servo locked It can be run in the opposite direction 4 SMC 4 STARTUP 4 2 3 Test operation Before starting actual operation perform test operation to make sure that the machine operates normally Refer to section 4 2 1 for the power on and off methods of the controller Test operation of servo motor alone in JOG operation of test operation mode Test operation of servo motor alone by commands Test operation with servo motor and machine connected In this step confirm that the controller and servo motor operate normally With the servo motor disconnected from the machine use the test operation mode and check whether the servo motor correctly rotates at the slowest speed Refer to section 6 9 for the test operation mode In this step confirm that the servo motor correctly rotates at the slowest speed under the commands from the command device Make sure that the servo motor rotates in the following procedure 1 Switch on the Emergency stop EMG and Servo on SON When the controller is put in a servo on status the Ready RD switches on 2 Switch on the Forward rotation stroke end LSP or Reverse rotation stroke end LSN 3 When a pulse train is input from the command device the servo motor sta
313. nges graph display test operation etc on a personal computer 1 Specifications Description The following table shows MR Configurator software version for each controller Compatible controller Drive unit Version 200V class 400V class Compatibility with a Bote o e E eg es Se E ee ee el EE or aoa ae EEn EE ae NEE ECH Or Ie Bsorlater o o o oa areas 115200 57600 38400 19200 9600 Monitor Display high speed monitor trend graph i Minimum resolution changes with the processing speed of the personal computer Display history amplifier data Digital I O no motor rotation total power on time amplifier version info motor information Diagnostic S e tuning data absolute encoder data automatic voltage control Axis name setting Parameter list turning change list detailed information JOG operation positioning operation motor less operation Do forced output program operation Machine analyzer gain search machine simulation robust disturbance compensation Advanced function advanced gain search File operation Data read save delete print Automatic demo help display Test operation 12 13 SMC 12 OPTIONS AND AUXILIARY EQUIPMENT 2 System configuration a Components To use this software the following components are required in addition to the controller and servo motor Equipment Note 1 Description bai indows 98 Windows Me Windows 2000 Professional
314. ntrol mode Controller Note 7 CN1 Note 7 la 24VDC Note 4 CN1 21 Gro 20 Trouble Note 6 d DIGON 48 ALM DOCOM 46 Zero speed detection Note 3 5 Emergency stop SCH EMG 42 23 ZSP Ge Servo on ___ SON 15 25 TLC gaea gt Note 12 Reset __ _ RES 19 Speed reached Note 12 lt Speed selection 1 lt spi Ai 24 SA er Speed selection 2 _ sp2 _16 49 RD y Forward rotation start e _ BI 17 7 Reverse rotation start ST2 18 NN 10m max Forward rotation stroke end ____ LSP 43 N La e Note 5 R tati trok D sn 44 8 LZ gt Encoder Z phase pulse SEIS LOMO SOK on e 9 LZR l differential line driver DOCOM 7 10m max 4 LA eer Encoder A phase pulse 5 LAR EES differential line driver II II Upper limit setting hd 6 LB gt Encoder B phase pulse Note 11 Analog speed command fi DZ pent 7 ISS L gt differential line driver 10V rated speed wyi 1 LG ES ANNI Control common Upper limit setting Ss 34 LG Note 8 Analog torque limit j i 1 TLA 27 33 OP Ge SE Encoder Z phase pulse 10V max torque WW Wi 1 P15R open collector Sag oe SD Plate Plate SD Ly 2m max Note 9 East 2 MR Confi
315. ode g DI 1 Indicates the lower bit of the ABS data 2 bits which is sent ABS transmission from the servo to the programmable PC or PLC etc in the data bit 0 ABS transfer mode If there is a signal D01 turns on P Indicates the upper bit of the ABS data 2 bits which is sent Position ABS transmission from the servo to the programmable PC or PLC etc in the control data bit 1 ABS transfer mode If there is a signal ZSP turns on Indicates that the data to be sent is being prepared in the ABS transfer mode At the completion of the ready state TLC turns on When CR is turned on the position control counter is cleared and the home position data is stored into the non volatile memory backup memory ABS transmission data ready Home position setting Note When Used in absolute position detection system is selected in parameter No PAO3 pin 17 acts as the ABS transfer mode ABSM and pin 18 as the ABS request ABSR They do not return to the original signals if data transfer ends 14 7 14 ABSOLUTE POSITION DETECTION SYSTEM 14 7 Startup procedure 1 Battery installation Refer to section 14 3 2 Parameter setting Set 00011 in parameter No PA03 of the controller and switch power off then on 3 Resetting of absolute position erase AL 25 After connecting the encoder cable the absolute position erase AL 25 occurs at first power on Leave the alarm as it is for a few minutes then switch power off then o
316. olatile memory as the home position ABS data The home position setting CR should be turned on after it has been confirmed that the in position INP is on If this condition is not satisfied the home position setting warning AL 96 will occur but that warning will be reset automatically by making home position return correctly The number of home position setting times is limited to 1 000 000 times Servo motor Dog signal DOG Completion of positioning INP Home position setting CR Home position ABS data ON OF ON OF ON OF Proximity dog BEE K 120 ms or longer 20 ms or longer K X Update 14 21 14 ABSOLUTE POSITION DETECTION SYSTEM 2 Data set type home position return Never make home position setting during command operation or servo motor rotation It may cause home position sift It is possible to execute data set type home position return when the servo off Move the machine to the position where the home position is to be set by performing manual operation such as JOG operation When the home position setting CR is on for longer than 20ms the stop position is stored into the non volatile memory as the home position ABS data When the servo on set home position setting CR to ON after confirming that the in position INP is ON If this condition is not satisfied the home position setting warning AL 96 will occur but that warning will be reset
317. oling fan installed on the ceiling 3 When installing the control box in a place where there are much toxic gas dirt and dust conduct an air purge force clean air into the control box from outside to make the internal pressure higher than the external pressure to prevent such materials from entering the control box o 2 INSTALLATION 2 3 Cable stress 1 The way of clamping the cable must be fully examined so that flexing stress and cable s own weight stress are not applied to the cable connection 2 For use in any application where the servo motor moves fix the cables encoder power supply brake with having some slack from the connector connection part of the servo motor to avoid putting stress on the connector connection part Use the optional encoder cable within the flexing life range Use the power supply and brake wiring cables within the flexing life of the cables 3 Avoid any probability that the cable sheath might be cut by sharp chips rubbed by a machine corner or stamped by workers or vehicles 4 For installation on a machine where the servo motor will move the flexing radius should be made as large as possible Refer to section 11 4 for the flexing life 2 4 Inspection items Before starting maintenance and or inspection turn off the power and wait for 15 minutes or longer until the charge lamp turns off Then confirm that the voltage between P and N is safe with a voltage tester and others
318. omplied with each standard Selection condition of wire size is as follows Construction condition One wire is constructed in the air Wire length 30m or less 1 Wires for power supply wiring Always use the 600V grade heat resistant polyvinyl chloride insulated wire HIV wire when using the HF JP series servo motor The following diagram shows the wires used for wiring Use the wires given in this section or equivalent 1 Main circuit power supply lead 3 Motor power supply lead Controller Servo motor Power supply SE U Wi vU V C i i V Ls Note Ww O W Motor 2 Control power supply lead E SS o 8 Power regenerative 4 Electromagnetic converter lead brake lead Le A pi Electro WE magnetic Power regenerative vat B2 brake converter Lk lt Regenerative option ZC Encodercable ee 4 Regenerative option lead Cooling fan Power supply BU BV an ee 6 Cooling fan lead Thermal OHS1 i OHS2 7 Thermal H v Note There is no Ls for 1 phase 100 to 120VAC power supply 12 17 SMC 12 OPTIONS AND AUXILIARY EQUIPMENT a When using the 600V Polyvinyl chloride insulated wire IV wire Selection example of wire size when using IV wires is indicated below Table 12 1 Wire size selection example 1 IV wire Wires mm Note 1 4 Controller 1 2 Lit La 4 P C 5 B1 B2 L1 L2 L3 U V
319. on By making speed selection 3 SP3 usable by setting of parameter No PD03 to PD08 PD10 to PD12 you can choose the speed command values of analog speed command VC and internal speed commands 1 to 7 EE Speed command value o o o __ Analog speed command VC EMETTE Internal speed command 1 parameter No PC05 ee A Internal speed command 2 parameter No PC06 o f 1 f 1 Internal speed command 3 parameter No PCO7 1 o f o Internal speed command 4 parameter No PCO8 1 o f 1 _ Internal speed command 5 parameter No PCO9 1 1 o intemal speed command 6 parameter No PC10 Note 0 off 1 on 3 SIGNALS AND WIRING The speed may be changed during rotation In this case the values set in parameters No PC01 and PC02 are used for acceleration deceleration When the internal speed command 1 to 7 is used to command the speed the speed does not vary with the ambient temperature c Speed reached SA As in section 3 6 2 2 3 6 5 Speed torque control change mode Set 110103 in parameter No PA01 to switch to the speed torque control change mode 1 Control change LOP Use control change LOP to switch between the speed control mode and the torque control mode from an external contact Relationships between LOP and control modes are indicated below Note LOP Servo control mode o O Speed control mode Torque control mode Note 0 off 1 on The control mode may be changed a
320. on Lt EE 33 OP Encoder Z phase pulse 1 P15R open collector 10m max Note 7 pate ONT 2m max Note 3 5 Emergency stop Ze EMG 42 Servo on cc DONT 15 Note 7 Reset _ RES 19 CN6 Note 12 Proportion control PC 17 2 MO1 gt gt Analog monitor 1 External torque limit selections cl TL 18 1 LG H gt Note 5 Forward rotation stroke end ____ LSP AN 2 MO2 H gt Analog monitor 2 Reverse rotation stroke end ___ LSN 44 LV Upper limit setting POSON AT Ai Ge i feel TEE P15R 1 HOVimax torque ama ee aot LG 28 5 i on oo SD Plate Note 9 Se MR Configurator Note 10 USB cable CN5 option p O 3 SIGNALS AND WIRING Note 1 To prevent an electric shock always connect the protective earth PE terminal terminal marked D of the controller to the protective earth PE of the control box 2 Connect the diode in the correct direction If it is connected reversely the controller will be faulty and will not output signals disabling the emergency stop EMG and other protective circuits 3 The emergency stop switch normally closed contact must be installed 4 Supply 24VDC 10 300mA current for interfaces from the outside 300mA is the value applicable when all I O signals are used The current capacity can be decreased by reducing the number of UO points Refer to section 3 8 2 1 that gives the current value necessary for the interface 5 When starting operation alway
321. on 4 2 Section 3 2 2 Speed control mode This servo is used as speed control servo Section 3 6 2 Section 4 3 Section 3 2 3 Torque control mode This servo is used as torque control servo Section 3 6 3 Section 4 4 Positi ing i ice control can itch n position e osition speed contro Using input device control can be switched between positio PIS Section 3 6 4 change mode control and speed control ch ingi i l itch n g Speed torque control change Using input device control can be switched between speed S T Section 3 6 5 mode control and torque control iti l ingi i l itch n tor Torque position contro Using input device control can be switched between torque T P Section 3 6 6 change mode control and position control igh luti f 262144 pul i High resolution encoder High resolution encoder of 26 pulses rev is used as a par servo motor encoder Absolute position detection Merely setting a home position once makes home position Chapter 14 system return unnecessary at every power on P i You can switch between gains during rotation and gains durin Gain changing function S si WW 9 anng ga S ing P S Section 8 6 stop or use an input device to change gains during operation Advanced vibration This function suppresses vibration at the arm end or residual Section 8 4 suppression control vibration sk es ical fil F Adaptive filter I Controller detects mechanical resonance and sets ilter l Section 8 2 characteristics automatically
322. on provides the methods specific to the torque control mode 4 4 1 Power on and off procedures 1 Power on Switch power on in the following procedure Always follow this procedure at power on 1 Switch off the servo on SON 2 Make sure that the Forward rotation selection RS1 and Reverse rotation selection RS2 are off 3 Switch on the main circuit power supply and control circuit power supply At power on 88888 appears instantaneously but it is not an error When main circuit power control circuit power is switched on the display shows U torque command voltage and in two second later shows data 2 Power off 1 Switch off the Forward rotation selection RS1 or Reverse rotation selection RS2 2 Switch off the Servo on SON 3 Switch off the main circuit power supply and control circuit power supply 4 STARTUP 4 4 2 Stop In any of the following statuses the controller interrupts and stops the operation of the servo motor Refer to section 3 11 for the servo motor with an electromagnetic brake a Servo on SON OFF The base circuit is shut off and the servo motor coasts b Alarm occurrence When an alarm occurs the base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop c Emergency stop EMG OFF The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop Alarm AL E6 occurs d Simultaneous
323. on will cause a position shift Time out monitoring is performed by the PC or PLC etc Controller PC or PLC etc SON O ON Absolute position data command transmission Command 0 2 data No 9 1 Pia SS aa Absolute position data acquisition Absolute position data return Current position acquisition Current value change Position command start eeh 14 61 14 ABSOLUTE POSITION DETECTION SYSTEM 2 Transfer method The sequence in which the base circuit is turned ON servo on when it is in the OFF state due to the servo on SON going OFF an emergency stop or alarm is explained below In the absolute position detection system always give the serial communication command to read the current position in the controller to the PC or PLC etc every time the ready RD turns on The controller sends the current position to the PC or PLC etc on receipt of the command At the same time this data is set as a position command value in the controller a Sequence processing at power on Power supply Servo on SON Base circuit Ready RD Absolute position data command transmission Absolute position data receive Current position Pulse train command ON t Da OFF ON eFTS OFF le HUE ON ore ON E OFF Current position change Hi ABs aaa ERAN lt gt During this period get absolute position data
324. ontrol box App 8 APPENDIX b Do not connect two ground cables to the same protective earth PE terminal Always connect cables to the terminals one to one QOO w w PE terminals PE terminals c If an earth leakage circuit breaker is used always earth the protective earth PE terminal of the controller to prevent an electric shock 6 Wiring a The cables to be connected to the terminal block of the controller drive unit must have crimping terminals provided with insulating tubes to prevent contact with adjacent terminals Insulating tube 8 Cable Crimping terminal of b Use the servo motor side power connector which complies with the IEC EN Standard The IEC EN Standard compliant power connector sets are available as options c The converter unit and controller drive unit must be installed in the metal cabinet control box 7 Peripheral devices options a Use the circuit breaker and magnetic contactor models which are IEC EN Standard compliant products given in this Instruction Manual Use a type B Note breaker When it is not used provide insulation between the controller and other device by double insulation or reinforced insulation or install a transformer between the main power supply and controller drive unit Note Type A AC and pulse detectable Type B Both AC and DC detectable b The sizes of the wires given in this Instruction Manual meet the following conditions For u
325. ontrol circuit power Permissible supply frequency Within 5 fluctuation Power consumption W Refer to section 11 5 wollege 24VDC 10 Interface power supply Power supply capacity Note 1 0 3A Control System Sine wave PWM control current control system Built in Overcurrent shut off regenerative overvoltage shut off overload shut off electronic thermal relay servo motor overheat protection encoder error protection regenerative error protection undervoltage instantaneous power failure protection overspeed protection excessive error protection Max input pulse frequency 1Mpps for differential receiver 200kpps for open collector a Pee ear Electronic gear A 1 to 1048576 B 1 to 1048576 1 10 lt A B lt 2000 In position range setting 0 to 10000 pulse command pulse unit 3 revolutions Set by parameter setting or external analog input 0 to 10VDC maximum torque Analog speed command 1 2000 internal speed command 1 5000 0 to 10VDC Rated speed 0 01 or less load fluctuation 0 to 100 Speed fluctuation ratio 0 power fluctuation 10 0 2 or less ambient temperature 25 10 C 59 to 95 F Set by parameter setting or external analog input 0 to 10VDC maximum torque aoe control See torque command 0 to 8VDC Maximum torque input impedance 10 to 12kQ Speed limit Set by parameter setting or external analog input 0 to 10VDC Rated speed CE LVD IEC EN 50178 EMC IEC EN 61800 3 UL UL 508C
326. ontrol switching or restart Example When a command is given from a synchronizing detector synchronous operation can be started smoothly if started during line operation Synchronizing detector 7 Start gt Servo motor Servo amplifier Without time 7 S constant setting De With time Servo motor constant setting f gt OFF Feed forward gain Set the feed forward gain When the setting is 100 the to droop pulses during operation at constant speed are nearly 100 zero However sudden acceleration deceleration will increase the overshoot As a guideline when the feed forward gain setting is 100 set 1s or longer as the acceleration time constant up to the rated speed 5 PARAMETERS value range Ell Do not change this value by any means PBO6 Ratio of load inertia moment to servo motor inertia moment Used to set the ratio of the load inertia moment to the servo motor shaft inertia moment When auto tuning mode 1 and interpolation mode is selected the result of auto tuning is automatically used Refer to section 7 1 1 In this case it varies between 0 and 100 0 PBO7 PG1_ Model loop gain 24 rad s 1 Set the response gain up to the target position to Increase the gain to improve track ability in response to the 2000 command When auto turning mode 1 2 is selected the result of auto turning is automatically used PBO8 PG2_ Position loop gain Used to set the gain of the position
327. onverted into decimal 1 Data is used unchanged in hexadecimal Decimal point position 0 No decimal point 1 First least significant digit normally not used 2 Second least significant digit 3 Third least significant digit 4 Forth least significant digit 5 Fifth least significant digit 6 Sixth least significant digit Since the display type is 0 in this case the hexadecimal data is converted into decimal 00000929H gt 2345 As the decimal point position is 3 a decimal point is placed in the third least significant digit Hence 23 45 is displayed 13 16 13 COMMUNICATION FUNCTION 2 Writing the processed data When the data to be written is handled as decimal the decimal point position must be specified If it is not specified the data cannot be written When the data is handled as hexadecimal specify 0 as the decimal point position The data to be sent is the following value CEAREGAM i Data is transferred in hexadecimal Decimal point position 0 No decimal point 1 First least significant digit 2 Second least significant digit 3 Third least significant digit 4 Forth least significant digit 5 Fifth least significant digit By way of example here is described how to process the set data when a value of 15 5 is sent Since the decimal point position is the second digit the decimal point position data is 2 As the data to be sent is hexadecimal the decimal data is converted into
328. or 2 Replace the external dynamic brake A 5 9 TROUBLESHOOTING 6 Encoder fault Change the servo motor Do 5 9 TROUBLESHOOTING Disp Name Definition Cause Action Note 2 initi u Ee Alarm details Command pulse frequency error Parameter error Bus voltage 1 Regenerative option is not used Use the regenerative option exceeded to 2 Though the regenerative option is Set correctly following hl used the parameter No PAO2 setting LECSB1 0 is 1000 not used 400VDC 3 Lead of built in regenerative resistor or 1 Change the lead regenerative option is open or 2 Connect correctly disconnected 4 Wire breakage of built in regenerative For wire breakage of resistor or regenerative option built in regenerative resistor change the controller 2 For wire breakage of regenerative option change the regenerative option 5 Capacity of built in regenerative Add regenerative option or resistor or regenerative option is increase capacity insufficient 6 The jumper across BUE SD of the FR Fit the jumper across BUE BU2 brake unit is removed SD 7 Impedance at main circuit power Use the regenerative option supply cable L4 Le Ls is high and leak current from servo motor power supply cable U V W is large 8 Ground fault occurred in servo motor Correct the wiring power U V W 9 Power supply voltage high Check the power supply Regen ratived transistor
329. ors Please refer 13 SIGNALS AND WIRING and 15 PARAMETERS about wiring and parameter setting Table Applicable control mode O Applicable Xx Inapplicable O x x Pulse train ON OFF Signal ON OFF Signal Positioning operation Setting speed operation Setting torque operation Note 1 The control change mode cannot be used Note 2 Make the moving range limitation by external sensor etc to avoid actuator hitting to the work piece or stroke end Note 3 When using the pushing operation the following parameter should be set If not it will cause malfunction LECSB The value of the parameter value PC13 Analog torque maximum output command should be 30 or less 30 Maximum pushing force of the product o 5 5 PARAMETERS Set the control mode and control loop composition of the controller and the maximum torque of the HF KP series servo motor By making the high response control valid in the control loop composition response of the servo can be increased compared to the response under the standard control factory setting Moreover the track ability for a command and the settling time in machines with high rigidity can be decreased To further shorten the settling time using the auto tuning results of the high response control increase the setting of model loop gain parameter No PBO7 in the manual mode Refer to section 7 3 By making the 350 maximum torque se
330. otor must be at a stop Y1 X1 ABS transfer Zero speed mode Y1 OM Zero speed ABS transfer mode h Torque limiting To create the status information for the torque limiting mode During ABS data transfer for several seconds after the servo on SON is turned on the torque limiting must be off Y1 X2 W II OI Torque limiting mode TT ABS transfer Torque limiting mode mode 14 36 14 ABSOLUTE POSITION DETECTION SYSTEM 14 9 2 MELSEC A1SD75 1 Connection diagram Servo amplifier A1S62P CN1 24 A soma Ea SS LG FG Power gt INPUT supply gt 100 200VAC A1SCPU Al SX40 ABS transmission data bit 0 Completion of positioning pi UC 0 A S I ABSBO 22 ABS transmission data bit 1 Zero speed detection 1 N GE ABSB1 23 ABS transmission data ready Torque limit control speed S Cp Trouble ABST BS 3 rn ALM 48 1 Alarm reset A emergency 19 5 gency siop WW EMG 42 H 1 Servo on Ze 4 6 Home position return Pan limit Ee Lemma CH be t LSP 43 A COM A In LSN 44 4 p 3 Operation mode I Lower limit Ee Oper
331. owing voltage or more LECSB2 U 200VDC LECSB1 U 158VDC 3 The bus voltage dropped to the following value or less LECSB2 L 200VDC LECSB1 U 158VDC power failure of 60ms or longer 5 Faulty parts in the controller Change the controller lt Checking method gt 1 Alarm AL 10 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables 2 Check that the bus voltage is the following voltage or more LECSB2 L 200VDC LECSB1 L 158VDC 6 Waveform of power supply voltage is Set the parameter No PC27 distorted to 0001 When power supply impedance is high waveform of power voltage is distorted and it may recognized as undervoltage Memory error 1 RAM memory fault Faulty parts in the controller Change the controller RAM lt Checking method gt Alarm any of AL 12 and AL 13 occurs Clock error Printed board fault if power is switched on after Change the controller disconnection of all cables but the control circuit power supply cables Memory error 2 EEP ROM fault 1 Faulty parts in the controller Change the controller EEP ROM lt Checking method gt Alarm AL 15 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables 2 The number of write times to EEP ROM exceeded 100 000 9 TROUBLESHOOTING Gr E AL 16 Encoder error 1 Communication
332. parameter No PB18 setting 8 6 Gain changing function This function can change the gains You can change between gains during rotation and gains during stop or can use an input device to change gains during operation 8 6 1 Applications This function is used when 1 You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation 2 You want to increase the gains during settling to shorten the stop settling time 3 You want to change the gains using an input device to ensure stability of the servo system since the load inertia moment ratio varies greatly during a stop e g a large load is mounted on a carrier 8 11 SMC O 8 SPECIAL ADJUSTMENT FUNCTIONS 8 6 2 Function block diagram The valid loop gains PG2 VG2 VIC GD2 VRF1 and VRF2 of the actual loop are changed according to the conditions selected by gain changing selection CDP parameter No PB26 and gain changing condition CDL parameter No PB27 CDP Parameter No PB26 Input device CDP Command pulse frequency Droop pulses Model speed CDL Parameter No PB27 Yo a Comparator Parameter No PB06 GD2B Parameter No PB29 PG2 Parameter No PB08 ih PG2B Parameter No PB30 Parameter No PBO9 VG2B Parameter No PB31 VIC Parameter No PB10 VICB Parameter No PB32 VRF1 Parameter No PB19 VRF1B Parameter No PB33 VRF2 Par
333. pecified durability running distance or replacement parts Please consult your nearest sales branch For any failure or damage reported within the warranty period which is clearly our responsibility a replacement product or necessary parts will be provided This limited warranty applies only to our product independently and not to any other damage incurred due to the failure of the product Prior to using SMC products please read and understand the warranty terms and disclaimers noted in the specified catalog for the particular products 3 Vacuum pads are excluded from this 1 year warranty A vacuum pad is a consumable part so it is warranted for a year after it is delivered Also even within the warranty period the wear of a product due to the use of the vacuum pad or failure due to the deterioration of rubber material are not covered by the limited warranty Compliance Requirements When the product is exported strictly follow the laws required by the Ministry of Economy Trade and Industry Foreign Exchange and Foreign Trade Control Law O 1 To prevent electric shock note the following A WARNING Before wiring or inspection turn off the power and wait for 15 minutes or more 20 minutes or for drive unit 30kW or more until the charge lamp turns off Then confirm that the voltage between P and N L and L for drive unit 30kW or more is safe with a voltage tester and others Otherwise
334. place the external relay 2 Review the wiring 3 Replace the servo motor 9 TROUBLESHOOTING MEMO 10 OUTLINE DRAWINGS 10 OUTLINE DRAWINGS 10 1 Controller Approx 80 Unit mm 0000000 DICH popgopopp0op0pp00g0 ooppp0opp0p0p00 o D En DCH Lt I b SE 135 1 LECSBO S5 LECSBLI S7 p6 a mounting hole 40 WR 6 Aes KE _ K a A g NN I a MIT Noe Loft P Wee 2 El SE R owes SUH a E Ee k eal Bi E D CHba lt v o D d e who gle e Teale ITT r P ible LE E mn cic of ine a f if Approx 68 Approx With MR J3BAT 235 S EL lt Note This data applies to the 3 phase or 1 phase 200 to 230VAC power supply models For 1 phase 100 to 120VAC power supply refer to the terminal signal layout CNP1 For 3 phase For 1 phase 200 to 230VAC and PE terminal 100 to 120VAC phase 230VAC li li L2 Le Ls CNP1 N Screw size M4 10 1 SMC Terminal signal layout ____ Tightening torque 1 2 N m 10 6
335. play all command on the Monitor menu on MR Configurator Check commands from the controller Check the ripple of the command frequency with the Graph command on the Monitor menu on MR Configurator 1 If the safe operation is possible 1 The servo gain is low repeat acceleration deceleration 2 The auto tuning response is low 4 times or more to complete the auto tuning 2 Increase the auto tuning response parameter No PA09 except the manual mode Commands from the controller are unstable The torque limit settings are incorrect Increase the auto tuning response and then adjust the gains again Refer to chapter 7 Release the torque limit 1 Change the mass or the shape of the work to reduce the load 2 Make the acceleration deceleration time shorter to make the effective load ratio lower Review the torque limit setting Review the settings of the analog speed command VC the analog speed limit VLA and the analog input voltage 1 Review the commands from the controller 2 Check the command cable if errors do not occur such as breaking Increase the auto tuning response and then adjust the gains again Refer to chapter 7 9 TROUBLESHOOTING Checkpoint Estimated cause The servo motor Check that the servo on SON is The servo on SON is on status at 1 Review the wiring of the servo on starts immediately not on power on SON when the 1 Check with the external
336. power factor improving AC reactor Always connect P and D Factory wired When using the regenerative option refer to section 12 2 For encoder cable use of the option cable is recommended Refer to section 12 1 for selection of the cable For the sink UO interface For the source I O interface refer to section 3 8 3 Refer to section 3 10 Configure the circuit to shut down the main circuit power supply simultaneously with the turn off of emergency stop EMG using the external sequence Be sure to use a magnetic contactor with an operation delay time of 80ms or less The operation delay time is the time interval between current being applied to the coil until closure of contacts 2 For 1 phase 200 to 230VAC power supply to LECSB2 S5 LECSB2 S7 LECSB2 S8 Trouble OFF RA Emergency stop Note 6 Note 7 Controller Servo motor jak NFB MC CNP1 phase x 200 to i CNP3 __ Note 5 230VAC Xs Hr U Motor Ve W m W be SE Si See PE_ _ CNP2 Sag CN2 Note 3 H Encoder cable H Sei CN 24VDC Emergency stop Note 6 bocom Note 4 lt Servo on _ DICOM Note 4 ALM f Trouble Note 1 Always connect Pi and P2 Factory wired When using the power factor improving DC reactor refer to section oO Om WN 12 13 Use only one of power factor improving DC reactor or power factor improving AC reactor Always connect P and D
337. pped in the encoder Reduce the noises by setting the pulses with the High speed cable This causes miscounting of the encoder cable apart from the power monitor command on the cumulative feedback pulses supply cable etc Monitor menu on MR Configurator Check the numerical values are not skipped Check that the mechanical parts The servo motor and the machine Adjust the coupling or the backlash are not unstable or do not have gear coupling etc have of the mechanical parts backlashes backlashes Check the mounting part of the The mounting part of the servo motor Improve the rigidity by using a servo motor is not enough rigid thicker board for the mounting part backing up with ribs etc Check the power supply cable of An output circuit is open Review the wiring of the servo the servo motor motor power supply cable Check that the degree of vibration The unbalanced torque is big onthe Adjust the balance on the machine changes depending on the motor machine side side speed 9 TROUBLESHOOTING Checkpoint Estimated cause The servo motor Check the mounting accuracy of The eccentricity is big by the core Review the direct connection the servo motor and the machine gaps accuracy vibrates Check the axial end load on the The axial end load on the servo motor Adjust the axial end load within the Rotation accuracy is not satisfactory The speed is unstable The servo motor wobbles at stop s
338. proportion control PC upon positioning completion will suppress the unnecessary torque generated to compensate for a position shift When the shaft is to be locked for a long time switch on the proportion control PC and external torque limit selection TL at the same time to make the torque less than the rated by the analog torque limit TLA Turn EMG off open between commons to bring the motor to an emergency stop state in which the base circuit is shut off and the dynamic brake is operated Turn EMG on short between commons in the emergency stop state to reset that state Turn CR on to clear the position control counter droop pulses on its leading edge The pulse width should be 10ms or longer The delay amount set in parameter No PBO3 position command acceleration deceleration time constant is also cleared When the parameter No PD22 setting is O00 1 the pulses are always cleared while CR is on When using CM1 and CM2 make them usable by the setting of parameters No PDO03 to PD08 PD10 to PD12 The combination of CM1 and CM2 gives you a choice of four different electronic gear numerators set in the parameters CM1 and CM2 cannot be used in the absolute position detection system Note ee Gu device Electronic gear molecule cm a S o 1 ParameterNo Pc32 1 o ParameternoPc3s Note 0 off 1 on When using this signal make it usable by the setting of parameter No PDO3 to PD08 PD10 to
339. pte ABS transmission data ready ON Repeated to configure 6 bit data st S i D A sum check is executed ZS for the received 32 bit data After making sure that S ABS transfer mode OFF there are no errors in the data amp io ee ee the current position is set ZS f TLC ABS transmission data m 14 9 14 ABSOLUTE POSITION DETECTION SYSTEM 14 8 2 Transfer method The sequence in which the base circuit is turned ON servo on when it is in the OFF state due to the servo on SON going OFF an emergency stop EMG or alarm ALM is explained below In the absolute position detection system every time the servo on SON is turned on the ABS transfer mode ABSM should always be turned on to read the current position in the controller to the PC or PLC etc The controller transmits to the PC or PLC etc the current position latched when the ABS transfer mode ABSM switches from OFF to ON At the same time this data is set as a position command value inside the controller Unless the ABS transfer mode ABSM is turned ON the base circuit cannot be turned ON 1 At power on a Timing chart Power ES supply SN If SON is turned ON before ABSM is input ON Servo on SON OFF 4 ON ABS transfer mode ABSM OFF ABS request ABSR ABS transmission ON data ready ABST OFF Transmission ABS data ABSBO bit1 ABSB1 bit2 ON Base ci
340. pter 13 SDN RDP RDN 5 Power supply Connec vo Control Signal Symbol tor pin Functions Applications A oy mode division No Lelsl Digital I F power DICOM CN1 20 Used to input 24VDC 24VDC 10 300mA for I O interface of the supply input CN1 21 controller The power supply capacity changes depending on the number of I O interface points to be used For sink interface connect of 24VDC external power supply For source interface connect of 24VDC external power supply Open collector CN1 12 When inputting a pulse train in the open collector system supply this N power input terminal with the positive power of 24VDC Digital I F DOCOM CN1 46 Common terminal for input device such as SON and EMG of the common CN1 47 controller Pins are connected internally For sink interface connect of 24VDC external power supply For source interface connect of 24VDC external power supply 15VDC power P15R CN1 1 Outputs 15VDC to across P15R LG Available as power for TC supply TLA VC VLA Permissible current 30mA Control common CN1 3 Common terminal for TLA TC VC VLA FPA FPB OP MO1 MO2 CN1 28 and P15R CN1 30 Pins are connected internally Shield ESETA Connect the external conductor of the shield cable _ o o o 3 SIGNALS AND WIRING 3 6 Detailed description of the signals 3 6 1 Position control mode 1 Pulse train input a Input pulse waveform selection Command pu
341. que of the servo motor during the operation For use in the torque control mode you need not make gain adjustment 7 1 Different adjustment methods 7 1 1 Adjustment on a single controller The gain adjustment in this section can be made on a single controller For gain adjustment first execute auto tuning mode 1 If you are not satisfied with the results execute auto tuning mode 2 and manual mode in this order Gain adjustment mode explanation Parameter No Estimation of load inertia Automatically set Gain adjustment mode Manually set parameters PAO8 setting moment ratio parameters Auto tuning mode 1 initial value Auto tuning mode 2 Manual mode 0003 Interpolation mode o S Always estimated 0002 Fixed to parameter No PBO6 value 0000 Always estimated GD2 parameter No PB0O6 PG1 parameter No PB0O7 PG2 parameter No PB08 VG2 parameter No PB09 VIC parameter No PB10 PG1 parameter No PB07 PG2 parameter No PB08 VG2 parameter No PBO9 VIC parameter No PB10 GD2 parameter No PB06 PG2 parameter No PB08 VG2 parameter No PBO9 VIC parameter No PB10 RSP parameter No PAOO GD2 parameter No PB06 RSP parameter No PAOO GD2 parameter No PBO6 PG1 parameter No PB07 PG2 parameter No PB08 VG2 parameter No PB09 VIC parameter No PB10 PG1 parameter No PB07 RSP parameter No PAOO 7 GENERAL GAIN ADJUSTMENT 2 Adjustment sequence and mode usage START nt
342. quence circuit is required When the home position address is written in the home position address parameter change to the following circuit uoy owove 672 D9 14 55 14 ABSOLUTE POSITION DETECTION SYSTEM g Electromagnetic brake output During ABS data transfer for several seconds after the servo on SON is turned on the servo motor must be at a stop Set 001011 in parameter No PA04 of the controller to make the electromagnetic brake interlock MBR valid Y31 X21 JE 34 Electromagnetic brake output ABS transfer Electromagnetic brake interlock MBR mode h Positioning completion To create the status information for positioning completion During ABS data transfer for several seconds after the servo on SON is turned on the servo motor must be at a stop Y31 X20 ft Ky H Positioning completion ABS transfer Positioning mode completion Y31 ABS transfer mode i Zero speed To create the status information for zero speed During ABS data transfer for several seconds after the servo on SON is turned on the servo motor must be at a stop Y31 X21 IM H Zero speed ABS transfer Zero mode speed Y31 ABS transfer mode j Torque limiting To create the status information for the torque limiting mode During ABS data transfer for several seconds after the servo on SON is turned on the torque limiting must be off Y31 X22 im ABS tr
343. r o S 9 TROUBLESHOOTING Displ N Definition Cause Action pated m isplay ame efinitio u Alarm details AL 24 Main circuit Ground fault 1 Power input wires and servo motor Modify the wiring occurred in servo power wires are in contact A power motor power U V input cable and a servo motor power W cable are in contact at the main circuit terminal block TE1 Short or ground fault occurs at a servo Repair the cable motor power cable A sheath of a servo motor power cable deteriorated resulting in short or ground fault 3 Controller fault Change the controller lt Checking method gt The alarm AL 24 occurs even after removing servo motor power cables U V W 4 Servo motor fault Change the servo motor lt Checking method gt The servo motor power cables U V W are disconnected on the servo motor terminal side After that the servo motor is turned on and the alarm AL 24 does not occur 5 External dynamic brake fault 1 Check parameters and lt Checking method gt the dynamic brake The servo motor power cables U V interlock W are disconnected on the external 2 Replace the external dynamic brake terminal side After dynamic brake that the servo motor is turned on and the alarm AL 24 does not occur External noise caused erroneous Ground correctly or take operation to the overcurrent detection noise reduction measures circuit lt Checking method gt 1 Check that the cont
344. r NO b The time required for the ABS transfer mode signal to go OFF after it has been turned ON ABS transfer time is checked If the ABS transfer time is longer than 5s this is communication error occurs if the ABS time out warning AL E5 is generated at the controller due to an ABS transfer mode completion time time out 5s i gt i ON wa ABS transfer mode OFF The signal does not go OFF Eeer N 18 19 1 2 3 4 ON ABS request OFF d ON is fio ABS transmission ABS communication XES error NO Z gt wo A data ready OFF 14 59 14 ABSOLUTE POSITION DETECTION SYSTEM c To detect the ABS time out warning AL ER at the controller the time required for the ABS request signal to go OFF after it has been turned ON ABS request time is checked If the ABS request remains ON for longer than 1s it is regarded that an fault relating to the ABS request signal or the ABS transmission data ready ABST has occurred and the ABS communication error is generated The ABS communication error occurs if the ABS time out warning AL E5 is generated at the controller due to an ABS request OFF time time out ON ABS transfer mode See ON ABS request i OFF Ee The signal does not go OFF I 4 ABS transmission ON data ready OFF ABS communication YES error NO 14 10 2 Error resetting conditions Always remove the cause of the error before r
345. r faulty Change the servo motor 1 Short or ground fault occurs at a servo Repair the cable motor power cable A sheath of a servo motor power cable deteriorated resulting in short or ground fault lt Checking method gt The servo motor power cables U V W are disconnected on the servo motor terminal side After that the servo motor is turned on and the alarm AL 32 occurs 2 External dynamic brake fault 1 Check parameters and lt Checking method gt the dynamic brake The servo motor power cables U V interlock W are disconnected on the external dynamic brake terminal side After that the servo motor is turned on and the alarm AL 32 does not occur 3 Controller fault Change the controller lt Checking method gt The servo motor power cables U V W are disconnected After that the servo motor is turned on and the alarm AL 32 occurs 4 Servo motor fault Change the servo motor lt Checking method gt The servo motor power cables U V W are disconnected on the external dynamic brake terminal side After that the servo motor is turned on and the alarm AL 32 does not occur 5 External noise caused erroneous Ground correctly or take operation to the overcurrent detection noise reduction measures circuit lt Checking method gt 1 Check that the controller is not influenced by noise of magnetic valves magnetic contactors or relays 2 Check the grounding of the controller and the servo mot
346. r processing The start command should be interlocked with the ABS data ready signal to disable positioning operation when an checksum error occurs 20ms or longer 20ms or longer 20ms or longer ON Servo on OFF C Retry 1 Retry 2 Retry 3 10ms i 10ms i 10ms 10ms i or longer lor longer lor longer i f ON gt t ABS transfer mode OFF ON ABS request ON ABS send data ready OFF or longer 1 E e UI 0 0 20 ABS checksum error 14 17 Yes No 14 ABSOLUTE POSITION DETECTION SYSTEM 3 At the time of alarm reset If an alarm occurs turn OFF the servo on SON by detecting the alarm output ALM If an alarm has occurred the ABS transfer mode ABSM cannot be accepted In the reset state the ABS transfer mode ABSM can be input Servo on ER i SON OFF Reset ON RES OFF ABS transfer mode ABSM ABS request ABSR ABS transmission ON data ready ABST OFF Transmission ABS data ON Base circuit OFF Alarm output ALM ON Ready 4 Operation RD OFF enabled A Occurrence of alarm 14 18 14 ABSOLUTE POSITION DETECTION SYSTEM 4 At the time of emergency stop reset a If the power is switched ON in the emergency stop state The emergency stop state can be reset while the ABS data is being transferred If the emergency stop state is reset wh
347. r speed N Speed reached SA OFF LJ 3 Torque limit As in section 3 6 1 5 3 SIGNALS AND WIRING 3 6 3 Torque control mode 1 Torque control a Torque command and torque A relationship between the applied voltage of the analog torque command TC and the torque by the servo motor is shown below The maximum torque is generated at 8V Note that the torque at 8V input can be changed with parameter No PC13 Speed r min CCW direction 10 l D 10 CW direction VC applied voltage V l SEH Rated speed Reverse rotation CW Generated torque limit values will vary about 5 relative to the voltage depending on products Also the torque may vary if the voltage is low 0 05 to 0 05V and the actual speed is close to the limit value In such a case increase the speed limit value The following table indicates the torque generation directions determined by the forward rotation selection RS1 and reverse rotation selection RS2 when the analog torque command TC is used Note Input device Rotation direction Torque control command TC Polarity Polarity a o Torque is not generated Torque is not generated RS2 RS1 CCW reverse rotation in CW forward rotation in driving mode forward rotation driving mode reverse rotation in regenerative mode Torque is not in regenerative mode CW forward rotation in generated CCW reverse rotation in driving mode reverse rotatio
348. ransmission data bit 0 positioning Y30 Servo on completion Ken ABS transfer mode ABS Transmission data bit 1 zero speed Y32 ABS request detection Y33 Alarm reset Reading to send ABS data limiting torque Y34 Moie Electromagnetic brake output Servo alarm Y35 Mote Clear Alarm reset switch Y38 Servo alarm Servo emergency stop Y39 ABS communication error Servo on switch Y3A ABS checksum error Home position return start switch Operation mode M5 ABS data transmission start Operation mode II M6 Sum check completion D register M7 Sum check mismatch ABS data transmission counter M8 ABS data ready Checksum transmission counter M9 Transmission data read enabled Checksum addition register M10 Checksum 2 bits read completion ABS data Lower 16 bits M11 ABS 2 bits read completion ABS data Upper 16 bits M12 ABS 2 bits request ABS data 2 bit receiving buffer M13 Servo on request Check data in case of checksum error M14 Servo alarm Number of retries M15 ABS data transfer retry start flag set Forward rotation direction M16 Retry flag set Home position address Lower 16 bits M17 Retry flag reset Home position address Upper 16 bits M18 PLS processing command Drive unit ready data M20 ote1 Clear CR ON timer request Home position return completion data M21 Note 1 Data set type home position return request Received shift data Lower 16 bits M22 Home position return processing instruction Received shift data Upper 16 bits M23 Current pos
349. ransmit the following communication commands a Disable SS DS b Enable SS 1 0 13 25 13 COMMUNICATION FUNCTION 2 Disabling enabling the output devices DO Transmit the following communication commands a Disable b Enable 1113 13 5 7 Input devices ON OFF test operation Each input devices can be turned on off for test operation when the device to be switched off exists in the external input signal also switch off that input signal Send command 9 2 data No 0 0 and data SEI H o wo 1 1 1 1 1 1 1 1 1 1 1 1 d 1 1 1 1 1 1 1 1 I 1 I 1 1 1 1 1 1 1 1 1 1 1 I 1 1 1 1 1 1 1 1 1 1 1 1 1 I 1 1 1 j d 1 1 o o CH Command of each bit is transmitted to the slave station as hexadecimal data Ee ee e see BEE Ee ee Ee el ie Al Se ee Seen 13 26 13 COMMUNICATION FUNCTION 13 5 8 Test operation mode The test operation mode is used to confirm operation Do not use it for actual operation If communication stops for longer than 0 5s during test operation the controller decelerates to a stop resulting in servo lock To prevent this continue communication all the time e g monitor the status display Even during operation the controller can be put in the test operation mode In this case as soon as the test operation mode is selected the base cir
350. ration suppression control filter 2 as shown below For the vibration suppression control filter 2 set a frequency close to the vibration frequency Hz at the machine side Parameter No PB45 0 o a0 008 Vibration suppression filter 2 setting frequency selection CS Tea 15 6 14 8 14 1 13 4 12 8 ojo of N wj AI AIAIAI AIA O No oO WG ajojo wo O N POPP oO oO w S 6 Co qr P ajala CO CO 1 o PP Old CO oo N o 160 _ 180 SE WER WER ns REES 07 _ 102 90 L 86 83 20 Beat 72 wlll vjvjlwll col ala ol alcalo olafrm msm mfr fp po pl prof po nro po pr nim OL O DW YS O ao N a a Sicona Oo mM OO WD S O eo NN o om A a po Aaaalayantatalalalalafalafal ayaa A ASA ATA A A A A A ATA nim OLO DW gt oO SoN oO a A SoN el oO n m ol O WM gt oO N oO A ow Pp ALAl Al A alata ala om a NIN N ol ofololo Sisls lils CS Ca SR Ce Co N N 8 SPECIAL ADJUSTMENT FUNCTIONS MEMO 8 19 9 TROUBLESHOOTING 9 TROUBLESHOOTING As soon as an alarm occurs turn off Servo on SON and power off Refer to section 15 6 for the controllers of 30k to 55kW If an alarm warning has occurred refer to section 9 1 to 9 3 and remove its cause In case of a trouble without an alarm warning refer to section 9 4 and remove its cause 9 1 Alarms and warning list When a fault oc
351. rative option Note 1 The battery option is used for the absolute position detection system in the position control mode 2 The power factor improving DC reactor cannot be used 3 Refer to section 1 3 for the power supply specification 1 FUNCTIONS AND CONFIGURATION MEMO 1 13 Ga 2 INSTALLATION 2 INSTALLATION J N WARNING To prevent electric shock ground each equipment securely Stacking in excess of the limited number of product packages is not allowed Install the equipment to incombustibles Installing them directly or close to combustibles will led to a fire Install the equipment in a load bearing place in accordance with this Instruction Manual Do not get on or put heavy load on the equipment to prevent injury Use the equipment within the specified environmental condition range For details of the environmental condition refer to section 1 3 Provide an adequate protection to prevent screws metallic detritus and other conductive matter or oil and other combustible matter from entering the converter unit and controller drive unit Z CAUTION Do not block the intake and exhaust areas of the converter unit controller drive unit and servo motor which has a cooling fan Doing so may cause faults Do not subject the converter unit and controller drive unit to drop impact or shock loads as they are precision equipment Do not install or operate a faulty converter unit and controller
352. rcuit OFF ON Ready Operation Operation RD OFF enabled enabled Note For details refer to 1 b of this section 14 10 14 ABSOLUTE POSITION DETECTION SYSTEM 1 The ready RD is turned ON when the ABS transfer mode ABSM is turned OFF after transmission of the ABS data While the ready RD is ON the ABS transfer mode ABSM input is not accepted 2 Even if the servo on SON is turned ON before the ABS transfer mode ABSM is turned ON the base circuit is not turned ON until the ABS transfer mode ABSM is turned ON If a servo alarm has occurred the ABS transfer mode ABSM is not received The ABS transfer mode ABSM allows data transmission even while a servo warning is occurring 3 If the ABS transfer mode ABSM is turned OFF during the ABS transfer mode the ABS transfer mode is interrupted and the time out error AL E5 occurs If the servo on SON is turned OFF the reset RES is turned ON and the emergency stop EMG is turned OFF during the ABS transfer mode the ABS time out warning AL E5 occurs 4 The functions of output signals such as ABST ABSBO and ABSB1 change depending on the ON OFF state of the ABS transfer mode ABSM Note that if the ABS transfer mode ABSM is turned ON for a purpose other than ABS data transmission the output signals will be assigned the functions of ABS data transmission CN1 Pin No Output signal ABS transfer mode ABSM OFF ABS transfer mode ABSM ON
353. rcuit device overheat Servo motor overheat Cooling fan alarm Overload 1 Overload 2 Main circuit AL 32 AL 31 AL 35 AL 52 AL 16 AL 1A AL 20 Overcurrent Overspeed Command pulse frequency error Error excessive Encoder error 1 Motor combination error Encoder error 2 PD24 AL 25 Absolute position erase ifo Kk Gs Note 0 off 1 on A parameter alarm AL 37 occurs if the alarm code output is selected with parameter No PAOS set to 110101 and the DI0 based absolute position detection system selected Selection of output device at warning occurrence Select the warning WNG and trouble ALM output status at warning occurrence Note Device status Warning occurrence x Warning occurrence Note 0 off 1 on value range 0000h Refer to name and function column Control mode 5 PARAMETERS Symbol Tee ee Initial Setting Control mode Ga range For manufacturer setting Do not change this value by any means 5 4 3 Using forward reverse rotation stroke end to change the stopping pattern The stopping pattern is factory set to make a sudden stop when the forward reverse rotation stroke end is made valid A slow stop can be made by changing the parameter No PD20 value Parameter No PD20 setting Stopping method Sudden stop Position control mode Motor stops with droop pulses cleared Speed control mode Motor stops at deceleration time constant of zero
354. rcuit power supply and control circuit power supply At power on 88888 appears instantaneously but it is not an error When main circuit power control circuit power is switched on the display shows C Cumulative feedback pulses and in two second later shows data y In the absolute position detection system first power on results in the absolute position lost AL 25 alarm and the servo system cannot be switched on The alarm can be deactivated then switching power off once and on again Also in the absolute position detection system if power is switched on at the servo motor speed of 3000r min or higher position mismatch may occur due to external force or the like Power must therefore be switched on when the servo motor is at a stop 2 Power off 1 Make sure that a command pulse train is not input 2 Switch off the Servo on SON 3 Switch off the main circuit power supply and control circuit power supply 4 2 2 Stop In any of the following statuses the controller interrupts and stops the operation of the servo motor Refer to section 3 11 for the servo motor with an electromagnetic brake a Servo on SON OFF The base circuit is shut off and the servo motor coasts b Alarm occurrence When an alarm occurs the base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop c Emergency stop EMG OFF The base circuit is shut off and the dynamic brake is operated to bri
355. red from the controller in response to the transmission data set 0 to the station number of the controller which must provide the return data 1 Transmission of data from the PC or PLC etc to the servo 10 frames data PC or PLC etc Master station Station number No L Command Servo side x Station number Slave station 03 O QO O e LI 6 frames Positive response Error code A Negative response Error code other than A 2 Transmission of data request from the PC or PLC etc to the servo 10 frames T T ne S S S E f Data gt PC orPLC ete o z T lt T Ge Station number Master station H S X IX i i Station number Servo side Slave station Data 0 O Q O D CO E LI 6 frames data 3 Recovery of communication status by time out EOT causes the servo to return to S E the receive neutral status PC or PLC etc Master station 40m Servo side Slave station 4 Data frames The data length depends on the command T T T T T T Data or Data or 12 frames or 16 frames J L i L 4 frames 8 frames 13 5 13 COMMUNICATION FUNCTION 13 3 2 Character codes 1 Control codes Bede nage Hexadecimal Description Personal computer terminal key operation ASCII code H General start of head ctrl A start of text ctrl B end of text ctrl C end of transmission ctrl D 2 Codes
356. requency which adaptive filter I adaptive tuning can respond to is about 100 to 2 25kHz Adaptive vibration suppression control has no effect on the resonance frequency outside this range Adaptive vibration suppression control may provide no effect on a mechanical system which has complex resonance characteristics 2 Parameters The adjustment mode of adaptive tuning mode parameter No PB01 Parameter No PBO1 o o o RS tuning mode selection Setting Adaptive tuning mode Automatically set parameter o Filter OFF Note 1 Filter tuning mode SE lasted 9 Parameter No PB14 2 Manualmode O SSS Note Parameter No PB13 and PB14 are fixed to the initial values 8 ZSMC 8 SPECIAL ADJUSTMENT FUNCTIONS 3 Adaptive tuning procedure C Adaptive tuning D Operation Yes Is the target response reached Increase the response setting Has vibration or unusual noise occurred Execute or re execute adaptive tuning Set parameter No PB01 to 0001 Tuning ends automatically after the predetermined period of time Parameter No PB01 turns to 0002 or 0000 lf assumption fails after tuning is executed at a large vibration or oscillation decrease the response setting temporarily down to the vibration level and execute again as vibration or unusual noise been resolved Decrease the response until vibration Using the machin
357. ression control tuning mode Parameter No PB19 Advanced vibration Parameter No PB20 suppression control PSCC oe ee Note Parameter No PB19 and PB20 are fixed to the initial values When this parameter is set to 11011 the tuning is completed after positioning operation is done the predetermined number or times for the predetermined period of time and the setting changes to 1012 When the vibration suppression control tuning is not necessary the setting changes to O O00 When this parameter is set to O 000 the initial values are set to the vibration suppression control vibration frequency and vibration suppression control resonance frequency However this does not occur when the servo off 5 PARAMETERS Symbol EE Initial Setting Control mode value range Position command acceleration deceleration time constant position smoothing Used to set the time constant of a low pass filter in response SE to the position command You can use parameter No PB25 to choose the primary delay or linear acceleration deceleration control system When you choose linear acceleration deceleration the setting range is 0 to 10ms Setting of longer than 10ms is recognized as 10ms When you have chosen linear acceleration deceleration do not select control selection parameter No PA01 and restart after instantaneous power failure parameter No PC22 Doing so will cause the servo motor to make a sudden stop at the time of position c
358. roller is not influenced by noise of magnetic valves magnetic contactors or relays 2 Check the grounding of the controller and the servo motor o S 9 TROUBLESHOOTING eat Note 2 Displa Name Definition Cause Action Depay name ps cass lz Alarm details AL 25 Absolute position erase Absolute position data is erased Power was switched on for the first time in the absolute position 1 Voltage drop in encoder Battery disconnected 2 Battery voltage low 3 Loose connection of the battery connector or battery fault 4 Encoder cable fault After leaving the alarm occurring for a few minutes switch power off then on again Always make home position setting again Change the battery Always make home position setting again Change the battery Always make home position setting again Repair or change the encoder cable 5 Encoder fault Change the servo motor 6 Home position not set detection system After leaving the alarm occurring for a few minutes switch power off then on again Always to make home position setting again AL 30 Regenerative regenerative resistor or regenerative option is exceeded regenerative operation caused the permissible regenerative power of the regenerative option to be exceeded lt Checking method gt Call the status display MR Comfigurator and check the regenerative load ratio positioning 2 Use the regener
359. ronic gear g Repeat operation To perform the repeated operation click the check box of Make the repeated operation valid The next table shows the initial setting and the setting range of the repeated operation intial setting SE Fwd rot CCW Rev rot CW Fwd rot CCW Fwd rot CCW Repeat pattern Fwd rot CCW Rev rot CW We LOE ESN PWA rot Rev rot CW gt Fwd rot CCW Rev rot CW Rev rot CW Dwell time s 0 1 to 50 0 Number of repeats times 1 to 9999 To perform continuous operation with the repeat pattern and dwell time settings which are set by referring to the above table click the check box of Make the aging function valid h Forward Reverse Click the Forward button to rotate the servo motor in the forward rotation direction Click the Reverse button to rotate the servo motor in the reverse rotation direction i Pause Click the Pause button during servo motor rotation to temporarily stop the servo motor This button is valid during servo motor rotation j Restart Click the Restart button during a temporary stop to restart the servo motor rotation This button is valid during a temporary stop of the servo motor k Remaining distance clear Click the Remaining distance clear button during a temporary stop to erase the remaining distance This button is valid during a temporary stop of the servo motor 1 Software forced stop Click the Software forced stop b
360. rse rotation at 3000r min Reverse rotation is Load inertia 15 5 Multiplier X 1 moment 11252rev ABS counter 12566rev Negative value is indicated by the lit decimal points in the upper four digits 6 SMC 6 DISPLAY AND OPERATION SECTIONS 6 3 3 Status display list Refer to appendix 3 for the measurement point The following table lists the servo statuses that may be shown a Display Name Symbol Unit Description range Cumulative feedback pulses Servo motor speed Droop pulses Cumulative command pulses Command pulse frequency Analog speed command voltage Analog speed limit voltage Analog torque command voltage Analog torque limit voltage Regenerative load ratio Effective load ratio Feedback pulses from the servo motor encoder are counted and displayed The values in excess of 99999 can be counted However the counter shows only the lower five digits of the actual value since the controller display is five digits Press the SET button to reset the display value to zero The value of minus is indicated by the lit decimal points in the upper four digits The servo motor speed is displayed The value rounded off is displayed in lt 0 1r min The number of droop pulses in the deviation counter is displayed When the servo motor is rotating in the reverse direction the decimal points in the upper four digits are lit The values i
361. rt flag set Retry ABS transfer mode OFF wait timer 20ms Setting retry flag Retry counter ABS transfer retry control Setting ABS transfer retry start flag Retry waiting timer 100ms Resetting retry flag Saving received shift data 14 ABSOLUTE POSITION DETECTION SYSTEM d X axis program Do not execute the X axis program while the ABS ready M8 is off Mess A Note Positi L leans Sa EE GE Enge T wn F When M10 ready to send ABS data switches on m _ X axis start program the X axis start program is executed by the X axis 1 Ready to I 1 l sand ABS EE i start command data e Dog type home position return Refer to the home position return program in the A1SD75 User s Manual Note that this program requires a program which outputs the clear CR Y35 after completion of home position return Add the following program Home position return start command r Reading 1 axis home position return FROM H0000 K817 D12 K1 completion signal WAND K0016 D12 Masking home position return completion M22 Home position return processing instruction M22 H D12 K166 ls H Switching clear CR on Processing Home position return instruction completion judgement 14 46 14 ABSOLUTE POSITION DETECTION SYSTEM f Data set type home position return After jogging the machine to the position where the home position e g 500 is to be set choose the home position return mode and set
362. rtia moment f Position loop gain 120 Speed loop gain 3000 Speed integral compensation 20 8 SPECIAL ADJUSTMENT FUNCTIONS 8 7 Vibration suppression control filter 2 By using the advanced vibration suppression control and the vibration suppression control filter 2 the machine side vibration of two frequencies can be suppressed The frequency range of machine vibration which can be supported by the vibration suppression control filter 2 is between 4 5Hz and 2250Hz Seta frequency close to the machine vibration frequency and within the range When the parameter of the vibration suppression control filter 2 parameter No PB45 is changed during the positioning operation the changed setting is not reflected The setting is reflected approximately 150ms after the servo motor stops after servo lock 1 Operation Vibration suppression control filter 2 has a filter function notch filter that lowers the gain of the specified frequency contained in a positioning command By lowering the gain machine side vibration such as workpiece end vibration and base shake can be suppressed Which frequency to lower the gain and how deep to lower the gain can be set A A c Leg o 2 z 3 Oo oO o o Machine side Machine side gt t gt t Vibration suppression control filter 2 invalid Vibration suppression control filter 2 valid 8 17 8 SPECIAL ADJUSTMENT FUNCTIONS 2 Parameter Set parameter No PB45 vib
363. rts rotating Give a low speed command at first and check the rotation direction etc of the servo motor If the servo motor does not operate in the intended direction check the input signal In this step connect the servo motor with the machine and confirm that the machine operates normally under the commands from the command device Make sure that the servo motor rotates in the following procedure 1 Switch on the Emergency stop EMG and Servo on SON When the controller is put in a servo on status the Ready RD switches on 2 Switch on the Forward rotation stroke end LSP or Reverse rotation stroke end LSN 3 When a pulse train is input from the command device the servo motor starts rotating Give a low speed command at first and check the operation direction etc of the machine If the machine does not operate in the intended direction check the input signal In the status display or MR Configurator check for any problems of the servo motor speed command pulse frequency load ratio etc 4 Then check automatic operation with the program of the command device o 5 4 STARTUP 4 2 4 Parameter setting The encoder cable MR EKCBLOM L H for the HF MP series HF KP series servo motor or the encoder cable MR ENECBLOIM H for HF JP11K1M 4 15K1M 4 servo motor requires the parameter No PC22 setting to be changed depending on its length Check whether the parameter is set correctly If it is not set corr
364. rvo motor shaft varies SMC 1 FUNCTIONS AND CONFIGURATION Note Function Description Reference Control mode Position smoothing Speed can be increased smoothly in response to input pulse aa Parameter No PB03 S pattern acceleration we E Speed can be increased and decreased smoothly S T Parameter No PC03 deceleration time constant Used when the built in regenerative resistor of the controller Regenerative option does not have sufficient regenerative capability for the P S T Section 12 2 regenerative power generated Used when the regenerative option cannot provide enough Brake unit regenerative power Section 12 3 Can be used with the MR J3 500A MR J3 700A Used when the regenerative option cannot provide enough Return converter regenerative power P S T Section 12 4 Can be used with the MR J3 500A MR J3 700A If the input power supply voltage had reduced to cause an alarm but has returned to normal the servo motor can be Parameter No PC22 restarted by merely switching on the start signal Command pulse train form can be selected from among three Command pulse selection p q Section 5 1 12 different types Forward rotation start reverse rotation start servo on SON Parameters and other input device can be assigned to certain pins of the No PDO3 to PDO8 CN1 connectors PD10 to PD12 Trouble ALM dynamic brake interlock MBR and other Parameters output device can be assigned to certain pins of the C
365. s since During acceleration 100 ms 2000000 _ 50000 100 ms lt 200 ms 200 ms as set since During deceleration 200 ms 2 aa 400 ms gt 200 ms Speed Servo motor Q S 2 D PC04 TQC Torque command time constant ms 0 Used to set the constant of a low pass filter in response to to the torque command 20000 Torque fie command Ba gt After Dy K filtered lt a TQC TQC Torque command time constant PCO5 GC Internal speed command 1 100 r min 0 to Used to set speed 1 of internal speed commands instan taneous Internal speed limit 1 permi Used to set speed 1 of internal speed limits ssible speed 5 PARAMETERS PCO6 PC07 PC08 PC09 PC10 PC11 PC12 SCc4 Nas Smib TEE Initial Unit Setting Control mode mode value range 500 Internal speed command 2 r min 0 to Used to set speed 2 of internal speed commands instan taneous permi ssible speed 0 to instan taneous permi ssible speed Internal speed limit 2 Used to set speed 2 of internal speed limits Internal speed command 3 1000 r min Used to set speed 3 of internal speed commands Internal speed limit 3 Used to set speed 3 of internal speed limits AAAA ATAA A AA AAAA 7 Internal speed command 4 200 r min 0 to Used to set speed 4 of internal speed commands instan taneous Internal speed limit 4 permi Used to set speed 4 of internal speed limits ssib
366. s of continuous operation in normal air conditioned environment 40 C 104 F surrounding air temperature or less 2 Relays Their contacts will wear due to switching currents and contact faults occur Relays reach the end of their life when the cumulative number of power on and emergency stop times is 100 000 which depends on the power supply capacity 3 Controller cooling fan The cooling fan bearings reach the end of their life in 10 000 to 30 000 hours Normally therefore the cooling fan must be changed in a few years of continuous operation as a guideline It must also be changed if unusual noise or vibration is found during inspection o 3 SIGNALS AND WIRING 3 SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work Before wiring turn off the power and wait for 15 minutes or longer until the charge lamp turns off Then confirm that the voltage between P and N is safe with a voltage tester and others Otherwise an electric shock may occur In addition always confirm from the front of the controller whether the charge lamp is off or not Ground the controller and the servo motor securely Do not attempt to wire the controller and servo motor until they have been installed Otherwise you may get an electric shock The cables should not be damaged stressed excessively loaded heavily or pinched Otherwise you may get an electric shock Wire the equipmen
367. s since the power is switched on for the first time To control alarms which will occur during the operation clear the alarm history using parameter No PC18 before starting the operation Turn off the power and then on again after setting the parameter to validate the parameter value Clearing the alarm history automatically returns to O 000 After setting this parameter is made valid by switch power from OFF to ON Parameter No PC18 Alarm history clear 0 Invalid not cleared 1 Valid cleared 5 PARAMETERS 5 4 I O setting parameters No PDO O For any parameter whose symbol is preceded by set the parameter value and switch power off once then switch it on again to make that parameter setting valid 5 4 1 Parameter list Unit PDo1 DIA1 Input signal automatic ON selection om N O P002 For manufacturer setting ooon ff aNs POOS op Jena signal device selection 1 On Jane _ PDo4 op Jena signal device selection 2 CN1 16 00212100 _ Poos op Input signal device selection 3 CN1 17 00070704n _ Poos o Input signal device selection 4 CN1 18 ooogoso5i Input signal device selection 5 CN1 19 00030303h PDo8 pe Input signal device selection 6 CN1 41 00202006h Ee SC ISCH SC ee PDo9 For manufacturer setting 00000000h PD10 Dis_ input signal device selection 8 CN1 43 _ 000000 PD13 oo Output signal device
368. s turn on emergency stop EMG and Forward Reverse rotation stroke end LSP LSN Normally closed contacts 6 Trouble ALM turns on in normal alarm free condition When this signal is switched off at occurrence of an alarm the output of the programmable controller should be stopped by the sequence program 7 The pins with the same signal name are connected in the controller 8 This length applies to the command pulse train input in the differential line driver system It is 2m or less in the open collector system 9 Use MRZJW3 SETUP 221E 10 Personal computers or parameter units can also be connected via the CN3 connector enabling RS 422 communication Note that using the USB communication function CN5 connector prevents the RS 422 communication function CN3 connector from being used and vice versa They cannot be used together Personal computer RS 232C RS 422 conversion cable oe product Interface DSV CABV Diatrend To RS 232C connector Controller e CH MR PRUO3 il parameter unit EIA568 compliant cable 10BASE T cable etc p 11 This connection is not required for the QD75D Depending on the used positioning module however it is recommended to connect the LG and control common terminals of the controller to enhance noise immunity 12 For the sink I O interface For the source I O interface refer to section 3 8 3 o 5 3 SIGNALS AND WIRING 3 2 2 Speed co
369. se in any other conditions follow Table 5 and Annex C of IEC EN 60204 1 Ambient temperature 40 C 104 F Sheath PVC polyvinyl chloride Installation on wall surface or open table tray c Use the EMC filter for noise reduction 8 Performing EMC tests When EMC tests are run on a machine device into which the converter unit and controller drive unit has been installed it must conform to the electromagnetic compatibility immunity emission standards after it has satisfied the operating environment electrical equipment specifications For the other EMC directive guidelines on the converter unit and controller drive unit refer to the EMC Installation Guidelines IB NA 67310 App 9 APPENDIX App 7 Conformance with UL C UL standard This controller complies with UL 508C and CSA C22 2 No 14 standard 1 Converter units controllers drive units and servo motors used Use the converter units controllers drive units and servo motors which standard product Controller LE S1 LECSA1 S7 053 13 LECSA1 S8 23 App 10 APPENDIX 2 Installation The MR J3 series have been approved as the products which have been installed in the electrical enclosure The minimum enclosure size is based on 150 of each MR J3 combination And also design the enclosure so that the ambient temperature in the enclosure is 55 C 131 F or less refer to the spec manual The controller must be installed i
370. section 12 1 for the selection of the encoder cable Refer to the Servo Motor Instruction Manual Vol 2 for the selection of a surge absorber for the electromagnetic brake This section indicates the connection of the motor power supply U V W Use of the optional cable or connector set is recommended for connection between the controller and servo motor Refer to section 12 1 for details of the options 1 For grounding connect the earth cable of the servo motor to the protective earth PE terminal of the controller and connect the ground cable of the controller to the earth via the protective earth of the control box Do not connect them directly to the protective earth of the control panel Control box 2 Do not use the 24VDC interface power supply for the electromagnetic brake Always use the power supply designed exclusively for the electromagnetic brake 3 SIGNALS AND WIRING 3 10 2 Power supply cable wiring diagrams 1 LE O series servo motor a When cable length is 10m or less 10m or less MR PWS1CBLOJM A1 L MR PWS1CBLOIM A2 L MR PWS1CBLOM A1 H Se aise MR PWS1CBLUIM A2 H SE Controller AWG 19 red AWG 19 white AWG 19 black AWG 19 green yellow ede b When cable length exceeds 10m When the cable length exceeds 10m fabricate an extension cable as shown below In this case the motor power supply cable should be within 2m long Refer to
371. sert it along the top of the square hole to insert it smoothly 2 If inserted properly the screwdriver is held 3 With the screwdriver held insert the cable in the direction of arrow Insert the cable as far as it will go 4 Releasing the screwdriver connects the cable 3 SIGNALS AND WIRING 3 When using the flat blade screwdriver part 2 1 Insert the screwdriver into the 2 Push the screwdriver in the 3 With the screwdriver pushed insert the cable in the square window at top of the direction of arrow direction of arrow Insert the cable as far as it will go connector 4 Releasing the screwdriver connects the cable 3 SIGNALS AND WIRING 3 How to insert the cable into Phoenix Contact connector Do not use a precision driver because the cable cannot be tightened with enough torque Insertion of cables into Phoenix Contact connector PC 4 6 STF 7 62 CRWH or PC 4 3 STF 7 62 CRWH is shown as follows Before inserting the cable into the opening make sure that the screw of the terminal is fully loose Insert the core of the cable into the opening and tighten the screw with a flat blade screwdriver When the cable is not tightened enough to the connector the cable or connector may generate heat because of the poor contact When using a cable of 1 5mm or less two cables may be inserted into one opening Secure the connector to the controller by tightening the connector screw For securing the cable
372. servo motor encoder are processed and output as shown below The feedback pulses can be output in the same pulse unit as the command pulses Servo motor Feedback pulse Encoder Parameter No PA05 Re SSS SS Se SS SS Se EG FBP Other than o Pt Bote hee aS olS AS38244 5 PARAMETERS 5 2 Gain filter parameters No PBODO For any parameter whose symbol is preceded by set the parameter value and switch power off once then switch it on again to make that parameter setting valid 5 2 1 Parameter list Symbol Name Initial value Unit Controlmode mode PBO1 FILT Adaptive tuning mode Adaptive filter T 0000h oe Vibration suppression control tuning mode pBo2 vret suppressi SAWS 0000h Advanced vibration suppression control Position command acceleration deceleration time constant PB03 ms Position KEE EEN Feed forward oan forward gain GE PBO6 Ratio of load inertia moment to servo motor inertia moment ro a Fam PG2 Positionloopgain Tals 823 d 2 LV AVA rad s PB11 voc Speed differential compensation oso PB12 ova Overshootamount compensation o roir P monano sonrasa rad s PB21 zet For manufacturer setting PB22 ee Gain changing ratio of load inertia moment to servo motor ae inertia moment PB30 PG2B Gain changing position loop gain SE PB31 VG2B Gain changing speed loop gain Ea rad s PB32 VICB Gain changing speed integral compens
373. sion data bit 0 Completion of positioning ABS transmission data bit 1 Zero speed detection ABS transmission data ready Torque limit control speed i t aBsBi 23 ABST 25 j ALM 4 m Za Alarm reset Emergency stop EMG FE AA Servo on U limit Home position return cher me 4 A LSP 43 HE D SC LSN 44 Operation mode I A Lower limit Operation mode II Position start Position stop ST Note 3 JOG Operating JOG status a position return are Servo on 3 Cen pe SON 15 o 1 SE Mp ss i 2 hh q ABER TI W f Alarm reset A e l 3 RES 19 HMAT ee I 4 an van IRAQ i PN N Electromagnetic i 5 brake output 1 6 Note 4 eg 7 com dem J 4 8 e C fy Servo alarm 9 z it ABS communication error I A O7 MMe ABS checksum error A B Ser CC ks KS SS ET UE Se COM2 H Ce t hn E Se a ee eg Ee Ay Note 1 3 Proximity signal Note 2 an be d a A Servo ready RA Ee 75 INP 22 DY COM 12 kl l P em GEN CLEAR Ter e m CR a 4 L CLEAR COM 14 VW TI id DOCOM 47 EE e EEN ee d x PGO 9 LZ 8 g PGO COM EE PULSE F PULSE R PULSE R 14 50 14 ABSOLUTE POSITION DETECTION SYSTEM
374. stop at the deceleration time constant of zero 4 STARTUP 4 3 3 Test operation Before starting actual operation perform test operation to make sure that the machine operates normally Refer to section 4 3 1 for the power on and off methods of the controller Test operation of servo motor alone in JOG operation of test operation mode Test operation of servo motor alone by commands Test operation with servo motor and machine connected In this step confirm that the controller and servo motor operate normally With the servo motor disconnected from the machine use the test operation mode and check whether the servo motor correctly rotates at the slowest speed Refer to section 6 9 for the test operation mode In this step confirm that the servo motor correctly rotates at the slowest speed under the commands from the command device Make sure that the servo motor rotates in the following procedure 1 Switch on the Emergency stop EMG and Servo on SON When the controller is put in a servo on status the Ready RD switches on 2 Switch on the Forward rotation stroke end LSP or Reverse rotation stroke end LSN 3 When the analog speed command VC is input from the command device and the Forward rotation start ST1 or Reverse rotation start ST2 is switched on the servo motor starts rotating Give a low speed command at first and check the rotation direction etc of the servo motor If the servo motor
375. t In operation In operation 100 7 n servo lock Operation time s Operation time s E 0 1 0 100 200 300 350 0 100 200 300 350 Note 2 Load ratio bal Note 2 Load ratio bal LECSB1 S5 LECSB1 S7 LECSB1 S8 App 15 APPENDIX 11 Figure configuration Representative configuration example to conform to the UL C UL standard is shown wiring is excluded from the figure configuration a MR J3 22KA A4 or less below The earth Power z supply x Controller Fuse ONS or no fuse breaker Lt Le Ls O CN6 U CN3 0O Lu Let NI g TE Command device CN2 E Encoder cable U V W Control panel side Machine side Servo motor Encoder b MR J3 DU30KA 4 or more Converter unit Drive unit Power o L L CN5 supply e SC Li Le Ls Til ee a Fuse CN6 or no fuse breaker CN3 L11 La Jus La CN e Command device CN2 Encoder cable U V W ee Servo motor JJ Encoder App 16 Control panel side Machine side Revision history SMC Corporation 4 14 1 Sotokanda Chiyoda ku Tokyo 101 0021 JAPAN Tel 81 3 5207 8249 Fax 81 3 5298 5362 URL http Awww smcworld com Note Specifications are subject to change without prior notice and any obligation on the part of the manufacturer 2011 SMC Corporation All Rights Reserved
376. t RES is turned parameter No PD19 value on bigger 1 If the safe operation is possible The auto tuning response is low Increase the auto tuning response repeat acceleration deceleration and then adjust the gains again 4 times or more to complete the Refer to chapter 7 auto tuning 2 Increase the auto tuning response parameter No PA09 except the manual mode Check the settings as follows for The calculation of the reduction ratio Review the setting of the reduction the geared servo motor is not correct ratio 1 The travel distance per revolution of the servo motor Set by the controller 2 Command input pulses per revolution parameter No PA05 3 Electronic gear parameter No PA06 PA07 Check the in position range The in position range is too large Set the in position range smaller 9 TROUBLESHOOTING parameter No PA10 cl than the current setting De 5 9 TROUBLESHOOTING Checkpoint Estimated cause The absolute position reconstruction position is misaligned at recovery by the absolute position detection system The overshoot undershoot occurs The communication cannot be made with the controller by MR Configurator The calculation of the reduction ratio is not correct Check the settings as follows for the geared servo motor 1 The travel distance per servo motor revolution Set with the controller Command input pulses per revolution parameter No PA05 Electron
377. t VLA Internal speed limit 1 parameter No PC05 Note 0 off 1 on When the internal speed limit 1 is used to command the speed the speed does not vary with the ambient temperature c Limiting speed VLC As in section 3 6 3 3 c 5 Torque control in torque control mode As in section 3 6 3 1 6 Torque limit in torque control mode As in section 3 6 3 2 3 SIGNALS AND WIRING 3 6 6 Torque position control change mode Gei O00 5 in parameter No PA01 to switch to the torque position control change mode 1 Control change LOP Use control change LOP to switch between the torque control mode and the position control mode from an external contact Relationships between LOP and control modes are indicated below Note LOP Servo control mode ro Torque control mode Position control mode Note 0 off 1 on The control mode may be changed in the zero speed status To ensure safety change control after the servo motor has stopped When position control mode is changed to torque control mode droop pulses are reset If the LOP has been switched on off at the speed higher than the zero speed and the speed is then reduced to the zero speed or less the control mode cannot be changed A change timing chart is shown below Speed Torque Speed control mode control mode control mode Pit gt 4 1 I i l X Zero speed Servo motor speed level EI Gg 10V Analog torque command TC OV
378. t any time A change timing chart is shown below Speed Torque Speed control mode control mode control mode a I ON Control change LOP OFF Servo motor speed Note Load torque 10V ar Analog torque i command TC 0 Forward rotation in driving mode Note When the start ST1 ST2 is switched off as soon as the mode is changed to speed control the servo motor comes to a stop according to the deceleration time constant 2 Speed setting in speed control mode As in section 3 6 2 1 3 Torque limit in speed control mode As in section 3 6 1 5 3 SIGNALS AND WIRING 4 Speed limit in torque control mode a Speed limit value and speed The speed is limited to the limit value set in parameter No 8 internal speed limit 1 or the value set in the applied voltage of the analog speed limit VLA A relationship between the analog speed limit VLA applied voltage and the servo motor speed is as in section 3 6 3 3 a Generally make connection as shown below Controller Japan resistor RRS10 or equivalent Note For the sink I O interface For the source I O interface refer to section 3 8 3 b Speed selection 1 SP1 and speed limit value Use speed selection 1 SP1 to select between the speed set by the internal speed limit 1 and the speed set by the analog speed limit VLA as indicated in the following table Note Ee device Speed command value Analog speed limi
379. t correctly and securely Otherwise the servo motor may operate unexpected resulting in injury Connect cables to correct terminals to prevent a burst fault etc Ensure that polarity is correct Otherwise a burst damage etc may occur The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction Otherwise the emergency stop and other protective circuits may not operate Controller Controller 24VDC DOCOM o Control output Control output 4 PA signal signal oe S DICOM 9 DICOM 0 For sink output interface For source output interface Use a noise filter etc to minimize the influence of electromagnetic interference which may be given to electronic equipment used near the controller Do not install a power capacitor surge killer or radio noise filter FR BIF H option with the power line of the servo motor When using the regenerative resistor switch power off with the alarm signal Otherwise a transistor fault or the like may overheat the regenerative resistor causing a fire Do not modify the equipment During power on do not open or close the motor power line Otherwise a malfunction or faulty may occur o S 3 SIGNALS AND WIRING 3 1 Input power supply circuit Always connect a magnetic contactor between the main circuit power and L1 L2 and Ls of the controller and configure the wiring
380. t power on Encoder cable Parameter No PC22 setting MR EKCBL20M L H OOO Liinitial value MR EKCBL30M L H series MR Dee H MR MR EKCBL50M H H When using this servo in the speed control mode change the parameter No PA01 setting to select the speed control mode In the speed control mode the servo can be used by merely changing the basic setting parameters No PAO O and extension setting parameters No PC D mainly As necessary set the gain filter parameters No PBO O and I O setting parameters No PDO DO Parameter group Main description Basic setting parameter Set the basic setting parameters first No PAO DO In this parameter group set the following items Control mode selection select the speed control mode Regenerative option selection Auto tuning selection and adjustment Torque limit setting Encoder output pulse setting Gain filter parameter If satisfactory operation cannot be achieved by the gain adjustment made by auto tuning execute in No PBOD depth gain adjustment using this parameter group This parameter group must also be set when the gain changing function is used Extension setting parameter In this parameter group set the following items No PCOO Acceleration deceleration time constant S pattern acceleration deceleration time constant Internal speed command Analog speed command maximum speed Analog speed command offset In addition this par
381. t ratio Switch estimation section Parameter No PB06 Load inertia moment ratio estimation value Parameter No PA08 0 0 0 Gain adjustment mode selection Parameter No PA09 Response setting When a servo motor is accelerated decelerated the load inertia moment ratio estimation section always estimates the load inertia moment ratio from the current and speed of the servo motor The results of estimation are written to parameter No PBO6 the ratio of load inertia moment to servo motor These results can be confirmed on the status display screen of the MR Configurator section If the value of the load inertia moment ratio is already known or if estimation cannot be made properly chose the auto tuning mode 2 parameter No PA08 0002 to stop the estimation of the load inertia moment ratio Switch in above diagram turned off and set the load inertia moment ratio parameter No PBO6 manually From the preset load inertia moment ratio parameter No PBO6 value and response level parameter No PAOQ the optimum loop gains are automatically set on the basis of the internal gain tale The auto tuning results are saved in the EEP ROM of the controller every 60 minutes since power on At power on auto tuning is performed with the value of each loop gain saved in the EEP ROM being used as an initial value If sudden disturbance torque is imposed during operation the estimation of th
382. t signal can be assigned to the CN1 24 pin name In the initial setting INP is assigned in the position control and mode and SA is assigned in the speed control mode function The devices that can be assigned and the setting method column are the same as in parameter No PD13 0 0 DO4 Output signal device selection 4 CN1 25 Any output signal can be assigned to the CN1 25 pin ga Select the output device of the CN1 24 pin control mode The devices that can be assigned and the setting method are the same as in parameter No PD13 When Valid ABS transfer by DIO has been selected for the absolute position detection system in parameter No PA03 the CN1 25 pin is set to the ABS transmission data ready ABST in the ABS transfer mode only Refer to FE Select the output device of the CN1 25 pin 0007h Refer to in name In the initial setting TLC is assigned in the position control and and speed control modes and VLC is assigned in the torque function column olo section 14 7 a SSS Ea JE Select the output device of the CN1 49 pin 5 PARAMETERS os Syribol Dee Initial Unit Setting Controlmode mode value range PD19 DIE Input filter setting 0002h Refer to Select the input filter and ojojo ee Input signal filter PT If external input signal causes chattering due to noise etc input filter is used to suppress it 0
383. ta Write the speed r min in hexadecimal ae eration time constant setting Command A 0 Data No 1 1 Data S Write the acceleration deceleration time constant ms in hexadecimal Ge Set the operation pattern Travel distance setting Command A 0 Data No 2 0 Data Write the travel distance pulse in hexadecimal Rotation direction selection Command A 0 Data No 2 0 Data 0000 forward rotation direction 0001 reverse rotation When LSP LSN was turned OFF by external input signal When LSP LSN was turned OFF by external input signal or automatically turned ON Make input device valid Make input device valid Command 9 2 Command 9 2 Data No 0 0 Data No 0 0 Data 00000007 Data 00000001 SON LSP LSN turned ON SON turned ON Turn ON Servo on SON to make the servo amplifier ready Note Positioning start Command A o i Data No 4 0 Start Data 1EA5 pe ee a End Command 8 B Data No 0 0 Data 0000 Test operation mode cancel Cancel the test operation mode Note There is a 100ms delay 13 29 13 COMMUNICATION FUNCTION b Temporary stop restart remaining distance clear Send the following command data No and data during positioning operation to make deceleration to a stop Command Data AI 0 HUT STOP Send the followi
384. ter No PA06 PAO7 Q Initial value CMX Servo motor Command CDV Deviation pulse train Pt a counter Other than 0 FBP Pt Encoder resolution of servo motor 262144 pule rev Encoder Parameter No PA0S setting ae eae ae Electronic gear parameter No PA06 PAO7 is made valid 1000 to 50000 Number of command input pulses necessary to rotate the servo motor one turn pulse o S 5 PARAMETERS 5 1 8 Electronic gear Parameter Initial Unit Setting Control mode Symbol Name value range pace CMX Electronic gear DOE SE PAK 1 to ce command pulse multiplying factor numerator 1048576 pao7 cpv Electronic gear denominator l Je 1 to PSPS command pulse multiplying factor denominator DANA N caution Incorrect setting can lead to unexpected fast rotation causing injury lt GMX lt CDV If the set value is outside this range noise may be generated during acceleration deceleration or operation may not be performed at the preset speed and or acceleration deceleration time constants Always set the electronic gear with servo off state to prevent unexpected operation due to improper setting The electronic gear setting range Sie t lt 2000 1 Concept of electronic gear The machine can be moved at any multiplication factor to input pulses Number of command input pulses Panele NE FANE Electronic gear EE Parameter No PA06 PA07 0 1 CMX Servo motor Command CDV Dev
385. ters are used for gain adjustment Abbreviation PBO6 Ratio of load inertia moment to servo motor inertia moment PBO7 Model loop gain PBOS Position loop gain PB09 Speed loop gain PB10 Speed integral compensation b Adjustment procedure Brief adjust with auto tuning Refer to section 7 2 3 Se eee O Change the setting of auto tuning to the manual mode Parameter No PA08 0003 Set an estimated value to the ratio of load inertia moment to servo motor inertia moment If the estimate value with auto tuning is correct setting Keel change is not required Set a slightly larger value to the speed integral compensation Increase the speed loop gain within the vibration and unusual noise free Increase the speed loop gain range and return slightly if vibration takes place a een Set a slightly smaller value to the model loop gain and the position loop in EH Decrease the speed integral compensation within the vibration free range Decrease the time constant of the speed and return slightly if vibration takes place integral compensation in Increase the model loop gain and return slightly if overshooting takes Increase the position loop gain place If the gains cannot be increased due to mechanical system resonance or Suppression of machine resonance the like and the desired response cannot be achieved response may be Refer to section 8 2 8 3 increased by suppressing resonance with adaptive tuning mode or machine reson
386. th the forward rotation does not operate not occur or the reverse rotation stroke end stroke end LSP and the reverse LSN is not turned on rotation stroke end LSN Check the connection with the The U V W output terminals of the Connect each U V W phase servo motor controller is not connected with each properly U V W input terminals of the servo motor Check that a warning AL E9 The servo on SON is turned on Turn the main circuit power on does not occur while the main circuit power of the controller is off warning is occurring remove its cause Check the external input signal is _ The servo on SON is off on or off Turn reset RES off 1 Check the external I O signal lt Speed control mode gt Input the forward rotation start ST1 display in the diagnostic mode 1 Both the forward rotation start and the reverse rotation start ST2 2 Check that the input signal is ST1 and the reverse rotation start properly ON or OFF on the I O interface ST2 are off display command of the 2 Both the forward rotation start Monitor menu on MR ST1 and the reverse rotation start Configurator ST2 are on lt Torque control mode gt Input the forward rotation selection 1 Both the forward rotation selection RS1 and the reverse rotation RS1 and the reverse rotation selection RS2 properly selection RS2 are off 2 Both the forward rotation selection RS1 and the reverse rotation selection RS2 are on
387. the alarm 0 Invalid Undervoltage alarm AL 10 occurs 1 Valid If this function is enabled for the drive unit of 30kW or more the parameter error AL 37 occurs _ Encoder cable communication system selection 0 Two wire type 1 Four wire type Incorrect setting will result in an encoder error 1 At power ON AL 16 Refer to section 12 1 2 for the communication method of the encoder cable 5 PARAMETERS Nios Symbol TEE Initial Unit Setting Control mode mode value range PC23 COP2 Function selection C 2 0000h Refer to Select the servo lock at speed control mode stop the VC name VLA voltage averaging and the speed limit in torque control and mode function column L Selection of servo lock at stop In the speed control mode the servo motor shaft can be locked to prevent the shaft from being moved by the external force 0 Valid Servo locked The operation to maintain the stop position is performed 1 Invalid Not servo locked The stop position is not maintained The control to make the speed Or min is performed L VCNLA voltage averaging Used to set the filtering time when the analog speed command VC voltage or analog speed limit VLA is imported Set 0 to vary the speed to voltage fluctuation in real time Increase the set value to vary the speed slower to voltage fluctuation Filtering time ms 0 444 0 888 1 777 3 555 7111 Selection of speed limit for torque control
388. the external command device operation The MR Configurator is required for positioning operation For details refer to section 6 9 3 Without connection of the servo motor the controller provides output Motorless signals and displays the status as if the servo motor is running operation actually in response to the input device For details refer to section 6 9 4 Test operation mode Merely connecting the controller allows the resonance point of the mechanical system to be measured The MR Configurator is required for machine analyzer operation For details refer to section 12 8 Machine analyzer operation Simple diagnosis as to correct function of the input output interface of Controller the controller can be made To diagnose the controller the diagnosis diagnosis cable MR J3ACHECKk and MR Configurator are necessary For details refer to section 12 8 Software version low Indicates the version of the software Software version high Indicates the system number of the software If offset voltages in the analog circuits inside and outside the controller cause the servo motor to rotate slowly at the analog speed command VC or analog speed limit VLA of OV this function automatically makes zero adjustment of offset voltages When using this function make it valid in the following procedure Making it valid causes the parameter No PC37 value to be the automatically ad
389. the home position with the home position return start switch X27 ON After switching power on rotate the servo motor more than 1 revolution before starting home position return Do not turn ON the clear CR Y35 for an operation other than home position return Turning it on in other circumstances will cause position shift M9039 Coop Programmable controller ready PC RUN Home position return mode Y31 X20 X27 t PLS Van H Clear CR ON timer request ABS transfer Positioning Home position mode completion return start switch M20 K1 T10 Clear CR 100ms ON timer Clear signal ON timer request M21 SET M21 Setting data set type home position return request Data set type home position return request mo SE wor 1 Resetting data set type home position return S request Clear signal 100ms ON timer M21 Y35 Switch clear CR on Data set type home position return request Setting X axis home position address 500 _____Jpiovp K500 D i in data register i Note 1 Tor Ho0000 K72 D9 K1 1 Changing X axis home position address Note 2 EE EE ei kl TOP H0000 K1154 D9 K1 1 Changing X axis current value lro H0000 K1150 kann K1 1 Writing positioning data No 9003 set Y10 Starting positioning Y10 x1 X4 suite A e y fast Vib Switching BUSY signal off to switch start Positioning Start BUSY signal off start completion XA Error detection Note 1 Wh
390. the motor before changing the vibration suppression control related parameters parameter No PB02 PB19 PB20 PB33 PB34 A failure to do so will cause a shock For positioning operation during execution of vibration suppression control tuning provide a stop time to ensure a stop after full vibration damping Vibration suppression control tuning may not make normal estimation if the residual vibration at the motor side is small Vibration suppression control tuning sets the optimum parameter with the currently set control gains When the response setting is increased set vibration suppression control tuning again o 8 SPECIAL ADJUSTMENT FUNCTIONS 3 Vibration suppression control tuning procedure Vibration suppression control tuning Operation Yes S Is the target response reached Increase the response setting Has vibration of workpiece end device increased Stop operation Execute or re execute vibration suppression control tuning Set parameter No PB02 to 0001 Resume operation Tuning ends automatically after positioning operation is performed the predetermined number of times Parameter No PBO2 turns to 0002 or 0000 as vibration of workpiece end device been resolved Factor Estimation cannot be made as machine side vibration has not been transmitted to the motor side The response of the model loop gai
391. the motor power supply passes must be four times or less Do not pass the grounding earth wire through the filter or the effect of the filter will drop Wind the wires by passing through the filter to satisfy the required number of passes as shown in Example 1 If the wires are too thick to wind use two or more filters to have the required number of passes as shown in Example 2 Place the line noise filters as close to the controller as possible for their best performance Approx 22 5 t _ gt Of Approx 65 11 25 0 5 Approx 65 Servo amplifier Example 1 NEB MC x Line noise filter Line noise filter Two filters are used Total number of turns 4 12 27 SMC 12 OPTIONS AND AUXILIARY EQUIPMENT e Radio noise filter FR BIF H This filter is effective in suppressing noises radiated from the power supply side of the controller especially in 10MHz and lower radio frequency bands The FR BIF H is designed for the input only 200V class FR BIF 400V class FR BIF H Connection diagram Outline drawing Unit mm Make the connection wires as short as possible Grounding is always required When using the FR BIF with a single phase power supply always insulate the wires that are not used for wiring MR J3 350A or less MR J3 200A4 or less Leakage current 4mA Red White Blue Green d Approx 300 Terminal block Servo amplifier
392. the servo is ready for data transmission 3 After acknowledging that the ready to send ABST has been turned ON the programmable PC or PLC etc turns ABS request ABSR ON 4 In response to ABS request ABSR the servo outputs the lower 2 bits of the ABS data and the ABS transmission data ready ABST in the OFF state 5 After acknowledging that the ABS transmission data ready ABST has been turned OFF which implies that 2 bits of the ABS data have been transmitted the programmable PC or PLC etc reads the lower 2 bits of the ABS data and then turns OFF the ABS request ABSR 6 The servo turns ON the ABS transmission data ready ABST so that it can respond to the next request Steps 3 to 6 are repeated until 32 bit data and the 6 bit checksum have been transmitted 7 After receiving of the checksum the programmable PC or PLC etc confirms that the 19th ABS transmission data ready ABST is turned ON and then turns OFF the ABS transfer mode ABSM If the ABS transfer mode ABSM is turned OFF during data transmission the ABS transfer mode ABSM is interrupted and the ABS time out warning AL E5 occurs 14 12 14 ABSOLUTE POSITION DETECTION SYSTEM c Checksum The checksum is the code which is used by the programmable PC or PLC etc to check for errors in the received ABS data The 6 bit checksum is transmitted following the 32 bit ABS data At the programmable PC or PLC etc calculate the sum of the received ABS d
393. time aaa Sa during runtime Output watt excess AL 24 1 o 0 Maincircuiterror warning AL 25 1 1 0 Absolute position erase sall kees AL31 1 0 1 Overspeed AL 32 1 0 0 Overcurrent AL 33 o o 1 Overvoltage AL ap HAE Command pulse frequency alarm AL 37 o 0 o Parametererror AL 45 Peele Main circuit device overheat AL 46 En care Servo motor overheat Not AL 47 0 1 1 Coolingfan alarm O AL 50 ESaKESES Overload 1 Note 1 acstfo 1 1 teg We AL 52 1 O 1 Errorexcessive Serial communication time out oO 0 0 Serial communication error_ Ea CC gt gt gt EG ore AVIV NM E D ar E e D a E bei bd Thor hirr l z glos ASA 2 OS Z Os 2 zZ bei E D E bei D Og O O Z 2 B10 81 10 Z zlog O Fee feke fek Watchdog Note 1 Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence 2 0 off 1 on 9 TROUBLESHOOTING 9 2 Remedies for alarms When any alarm has occurred eliminate its cause ensure safety then reset the alarm and restart operation Otherwise injury may occur If an absolute position erase AL 25 occurred always to make home position setting again Not doing so may cause unexpected operation As soon as an alarm occurs turn off Servo on SON and power off When any of the following alarms has occ
394. ting be ks Internal speed command 2 Internal speed limit 2 id ee Internal speed command 3 Internal speed limit 3 Internal speed command A Internal speed limit 4 Internal speed command 5 Internal speed limit 5 Internal speed command 6 Internal speed limit 6 SC 6 PC11 nternal speed command 7 C nternal speed limit 7 PC12 VCM Analog speed command i maximum speed Analog speed limit maximum speed PC13 TL Analog torque command maximum output PC14 MOD1 Analog monitor 1 output Re PC15 MOD2 Analog monitor 2 output PD10 DI8 Input signal device selection 8 ojo ajaja CN1 pin 43 PC16 MBR Electromagnetic brake PSs sequence output PD11 DI9 Input signal device selection 9 PC17 CN1 pin 44 U v v olojojo a 0 n PC21 SOP communication function EC CN1 pin 22 selection PD14 DO2 Output signal device selection 2 PC22 COP1 Function selection C 1 CN1 pin 23 RR We 4 Q N a I For manufacturer setting COPS U oO C2 v Re C24 COP3 Function selection C 3 PD16 DO4 Output signal device selection A i CN1 pin 25 7 For manufacturer setting PD18 DO6 Output signal device selection 6 CN1 pin 49 2 gt For manufacturer setting U fa Wee es Weg sg es ES ep Weg Weg E a PC23 COP2 Function selection C 2 PD15 DO3 Output signal device selection 3 CN1 pin 24 n 4 U PS PS P S T P
395. ting if vibration occurs Check the values of model loop gain Check the upper setting limits Set the interpolation mode parameter No PA08 0000 Select the interpolation mode Set the model loop gain of all the axes to be interpolated to the same value At that time adjust to the setting value of the axis which has the Set model loop gain smallest model loop gain Looking at the interpolation characteristic and rotation status fine adjust the gains and response level setting Adjustment in auto tuning mode 1 Fine adjustment 3 Adjustment description a Model loop gain parameter No PB07 This parameter determines the response level of the position control loop Increasing model loop gain improves track ability to a position command but a too high value will make overshooting liable to occur at the time of settling The droop pulses are determined by the following expression Rotation speed r min 60 Model loop gain setting x 262144 pulse Droop pulses pulse 7 GENERAL GAIN ADJUSTMENT MEMO 8 SPECIAL ADJUSTMENT FUNCTIONS 8 SPECIAL ADJUSTMENT FUNCTIONS The functions given in this chapter need not be used generally Use them if you are not satisfied with the machine status after making adjustment in the methods in chapter 7 If a mechanical system has a natural resonance point increasing the servo system response level may cause the mechanical system to produce resonance
396. tion 0 Alarm history last alarm Axis No Command Data No ward Data 0898 STX f O ETX Data make up 0 3 3 1 0 Checksum calculation and Checksum 30H 33H 33H 02H 31 H 30H 03H F addition x Addition of SOH to make Transmission data SOH 08 8 STX DOE HO 46H 43H up transmission data DEN EE DEE Master station gt slave station Data transmission Master station lt slave station Data receive 4 Is there receive data ves 300ms elapsed Yes No 3 consecutive times Master station gt slave station Yes Other than error cod No A a 3 consecutive times Yes Receive data analysis Error processing 100ms after EOT transmission Error processing End 13 9 13 COMMUNICATION FUNCTION 13 4 Command and data No list If the command and data No are the same the description may be different from that of the controller 13 4 1 Read commands 1 Status display Command 0 1 Display item Frame length IO 0 0 i i Cumulative feedback pulse IO Servo motor speed 0 2 Droop pulse 0 3 Cumulative command pulse 0 4 0 5 Command pulse frequency Analog speed command voltage Analog speed limit voltage 0 6 Analog torque command voltage Analog torque limit voltage IOI 0 8 Regenerative load ratio Effective load ratio Peak load ratio O A 0
397. tion and dearances cecccceccsecceecceeceeeeeteceeeeneceeseeneaeeseateaeeseeseeeeeeseceneeeseeeeeeateeaeeeetes 2 2 2 2 Keep out foreign materials cccccccecceceseeseceeceeeeseesaeeaeceeeeaeeaecaeceeseaesaeceesaesaecaeseeseaesaesaeseeseaeeaeseeseaseaneas 2 4 RA Le EE 2 5 Ee nl 2 5 2 5 Parts having service LIVES pesait aisan eE EE EE EEEE E A EERE EISE EER EEE ee a S R 2 6 3 1 Input power SUPPLY CNE eee eee eee ha Ene er aee E ENEA CNE EREA KES EVENS ERASE NENESE AENEON ERAS ANENE VENEER ENTA 3 2 3 2 I O signal connection example ccecceseeeeeeeeeceeseeeeceeeeeeceaeeaecaeceeeeaesaecaesaesaesaeseeseaeeaesaeseessaeeaeseseaseaeeas 3 5 3 2 1 Postion control ue EE 3 5 3 2 2 Speed control MOE AAA 3 7 3 2 3 Orque CONtrol moOd EE 3 9 3 3 Explanation of power supply system 3 11 3 3 1 Signal explanations isin ama asina aiaa eed endl nie adele deeded 3 11 332 Poweron Ee 3 12 3 3 3 CNP1 CNP2 CNP3 wiring method 3 14 3 4 Connectors and Signal arrangements ssssseeeseeiesestsstsrsretnsistnststunstntnstnstnntstnnunnntunnnnnannnnnnnnunnnnnn nnt 3 20 3 5 Signal explanations ceccecceeccececeeceeeeeeeeeceeceeeeaecaecaeeseeeaesaesaeseaeeaecaecaesaeeaecaeseeseaesaesaesaeseaeeaesaeseeseaseateas 3 24 3 6 Detailed description of the sionals AAA 3 37 3 6 1 Position control mode AAA 3 37 3 6 2 Speed control MOC ET 3 41 3 6 3 Torgu control nl 3 43 3 6 4 Position speed control change mode AAA 3 46 3 6 5 Speed torque
398. tion data transfer errors cccccccecececeseeseceeceeeeeeseecaeceeseaeeaesaeeeseaesaesaeseeeeaesaesaeseaseaeeate 14 58 141 041 Corrective Actions E 14 58 14 10 2 Error resetting CONCILIONS AAA 14 60 14 11 Communication based ABS transfer system 14 61 14 11 1 Serial communication Commande 14 61 14 11 2 Absolute position data transfer probocO 14 61 14 12 Confirmation of absolute position detection datz 14 65 App t VT TEE App 1 App 2 Signal layout recording paper cecceccescseeeeeceeeeseesecaeeeaeceeseaecaecaeseeeeaesaesaeseaeeaesaesaeseeesaesaseeeseaeeateas App 3 App 3 Status display block diagram cecceccesceeeeeeceeeeseeseceeceeeeaecaecaeceeseaeeeaecaecaeseeeeaesaesaeseeeeaeeaeeeeseaeeateas App 4 App 4 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goocde App 5 App 5 Symbol for the new EU Battery Directive eceeceecceceeseeeeceeceeeeeeeeaecaeeaeseeesaesaesaeseeesaeeaeeeseaeeaeeas App 6 App 6 Compliance with the European EC directives s eseseeeeseeeeeesresesneissnsrsrnsrstnsnsrnrnsnnrnsrsnnsnsnnsnnnnns App 7 App 7 Conformance with UL C UL standard AAA App 10 6 A S 1 FUNCTIONS AND CONFIGURATION UU1 FUNCTIONS AND CONFIGURATION 1 1 Summary It has position control speed control and torque control modes Further it can perform operation with the control modes changed e g position speed control speed torque control
399. tive common converter Parameter No PA02 IES Selection of regenerative option 00 Regenerative option is not used For servo amplifier of 100W regenerative resistor is not used For servo amplifier of 200 to 7kW built in regenerative resistor is used Supplied regenerative resistors or regenerative option is used with the servo amplifier of 11k to 22kW For a drive unit of 30kW or more select regenerative option by the converter unit 01 FR BU2 H FR RC H FR CV H 02 MR RB032 03 MR RB12 04 MR RB32 05 MR RB30 06 MR RB50 Cooling fan is required 08 MR RB31 09 MR RB51 Cooling fan is required 80 MR RB1H 4 81 MR RB3M 4 Cooling fan is required 82 MR RB3G 4 Cooling fan is required 83 MR RB5G 4 Cooling fanis required 84 MR RB34 4 Cooling fanis required 85 MR RB54 4 Cooling fanis required FA When the supplied regenerative resistor is cooled by the cooling fan to increase the ability with the servo amplifier of 11k to 22kW o S 5 PARAMETERS 5 1 5 Using absolute position detection system Parameter Initial Unit Setting Control mode Symbol Name value range ve Refer to PA03 ABS Absolute position detection system 0000h the text Turn off the power and then on again after setting the parameter to validate the parameter value Set this parameter when using the absolute position detection system in the position control mode Parameter No PA03 ofojo
400. tly once or more within one hour do not write it to the EEP ROM 13 21 13 COMMUNICATION FUNCTION 13 5 4 External I O signal statuses DIO diagnosis 1 Reading of input device statuses Read the statuses of the input devices a Transmission Transmit command 1 2 and data No 0 0 D tg b Reply The slave station sends back the statuses of the input pins Command of each bit is transmitted to the master station as hexadecimal data bit oE son e se esa Re eee fo ee Keel en poe ea eb female CDR STAB2 GE Ee eee LOP e mee c c RE EE CDP eee See Il Ee E Ce d E STAB2 Ke AE Eed Ee 2 External input pin status read Read the ON OFF statuses of the external output pins a Transmission Transmit command 1 2 and data No 4 0 D DR b Reply The ON OFF statuses of the input pins are sent back Command of each bit is transmitted to the master station as hexadecimal data 13 22 13 COMMUNICATION FUNCTION CN1 connector pin CN1 connector pin CN1 connector pin CN1 connector pin Le eee aay eel ese ee Ee 3 Read of the statuses of input devices switched on through communication Read the ON OFF statuses of the input devices switched on through communication a Transmission Transmit command 1 2 and data No 6 0 D BR b Reply T
401. to section 12 1 4 3 SIGNALS AND WIRING 2 When cable length exceeds 10m When the cable length exceeds 10m fabricate an extension cable as shown below on the customer side In this case the motor brake cable should be within 2m long Refer to section 12 11 for the wire used for the extension cable le 2m or less MR BKS1CBL2M A1 L SE d MR BKS1CBL2M A2 L Extension cable MR BKS1CBL2M A1 H Note 6 To be fabricated MR BKS1CBL2M A2 H 24VDC power Note 4 MR BKS2CBL03M A1 L Servo motor supply for Electromagnetic MR BKS2CBL03M A2 L electromagnetic brake interlock Trouble m Note 3 brake MBR ALM Note 5 AWG20 pe T B1 Note 1 a AWG20 e Note 2 Note 2 a Relay connector for b Relay connector for motor extension cable brake cable Note 1 Connect a surge absorber as close to the servo motor as possible 2 Use of the following connectors is recommended when ingress protection IP65 is necessary Relay connector IP rating a Relay connector for CM10 CR2P IP65 extension cable DDk T Wire size S M L b Relay connector for CM10 SP2S D6 IP65 motor brake cable DDK T Wire size S M L 3 There is no polarity in electromagnetic brake terminals B1 and B2 4 When using a servo motor with an electromagnetic brake assign the electromagnetic brake interlock MBR to external output signal in the parameters No PA04 PD13 to PD16 and PD18 5 Shut off the circuit
402. transfer mode OFF 5s ket gt I ON f KEE Ee ABS request i OFF ABS transmission ON data ready OFF Yes AL E5 warning No 2 ABS request ON time time out check applied to 32 bit ABS data in 2 bit units checksum If the ABS request signal is not turned OFF by the programmable PC or PLC etc within 5s after the ABS transmission data ready ABST is turned OFF this is regarded as the transmission error and the ABS time out warning AL E5 is output ON ABS transfer mode F ABS request ABS transmission oN data ready OFF AL E5 warning 14 14 14 ABSOLUTE POSITION DETECTION SYSTEM 3 ABS transfer mode finish time time out check If the ABS transfer mode ABSM is not turned OFF within 5s after the last ABS transmission data ready 19th signal for ABS data transmission is turned ON it is regarded as the transmission error and the ABS time out warning AL E5 is output ABS transfer mode ABS request ABS transmission data ready AL E5 warning 5s l I I I an KC S ee Signal is not turned OFF i l 1 ON 1 2 3 4 18 19 EM OFF i SENGER Mel el E i OFF 1 6 n i l l l Yes p No 4 ABS transfer mode ABSM OFF check during the ABS transfer When the ABS transfer mode is turned ON to start transferring and then the ABS transfer mode is turned OFF before the 19th ABS trans
403. trol resonance frequency Set the same value 8 SPECIAL ADJUSTMENT FUNCTIONS When machine side vibration does not show up in motor side vibration the setting of the motor side vibration frequency does not produce an effect When the anti resonance frequency and resonance frequency can be confirmed using the machine analyzer or external measuring instrument do not set the same value but set different values to improve the vibration suppression performance A vibration suppression control effect is not produced if the relationship between the model loop gain parameter No PBO7 value and vibration frequency is as indicated below Make setting after decreasing model loop gain PG1 e g reduce the response setting se 1 5xPG1 gt vibration frequency 8 5 Low pass filter 1 Function When a ball screw or the like is used resonance of high frequency may occur as the response level of the servo system is increased To prevent this the low pass filter is initial setting to be valid for a torque command The filter frequency of this low pass filter is automatically adjusted to the value in the following expression Filter frequency rad s Sr x10 When parameter No PB23 is set to 0010 manual setting can be made with parameter No PB18 2 Parameter Set the low pass filter selection parameter No PB23 Parameter No PB23 oo o ES Low pass filter selection 0 Automatic setting initial value 1 Manual setting
404. tromagnetic brake Electromagnetic brake 10ms oS a ig Servo motor speed 1 Note 1 4 y ON ms or onser Base circuit l l OFF l 1 ae Electromagnetic Note 2 ON brake interlock OFF l MBR yy Electromagnetic brake No ON operation delay time Trouble ALM Yes OFF ON Main circuit power supply OFF Note 1 Changes with the operating status 2 ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated 3 11 4 Wiring diagrams LE LI L series servo motor 1 When cable length is 10m or less 10m or less MR BKS1CBL OM A1 L Note 5 MR BKS1CBL OM A2 L 24VDC power Note 3 MR BKS1CBL OM A1 H Servo motor supply for Electromagnetic MR BKS1CBL OM A2 H electromagnetic brake interlock Trouble Note 2 brake MBR ALM Note 4 AWG20 B1 Note 1 J AWG20 Note 1 Connect a surge absorber as close to the servo motor as possible 2 There is no polarity in electromagnetic brake terminals B1 and B2 3 When using a servo motor with an electromagnetic brake assign the electromagnetic brake interlock MBR to external output signal in the parameters No PA04 PD13 to PD16 and PD18 4 Shut off the circuit by interlocking with the emergency stop switch 5 Do not use the 24VDC interface power supply for the electromagnetic brake When fabricating the motor brake cable MR BKS1CBLOM H refer
405. tting valid the maximum torque of the HF KP servo motor can be increased from 300 to 350 To operate at the maximum torque of 350 operate within the range of overload protection characteristic If operated beyond the overload protection characteristic range servo motor overheat AL 46 overload 1 AL 50 and overload 2 AL 51 may occur Parameter No PA01 jE Selection of control mode 0 Position control mode 1 Position control mode and speed control mode 2 Speed control mode 3 Speed control mode and torque control mode 4 Torque control mode 5 Torque control mode and position control mode Control type selection Si 350 maximum torque setting Setting Control loop composition of HF KP servo motor o S 5 PARAMETERS 5 1 4 Selection of regenerative option Parameter Initial Unit Setting Control mode Symbol Name value range l Refer to PA02 REG Regenerative option 0000h the text Turn off the power and then on again after setting the parameter to validate the parameter value Incorrect setting may cause the regenerative option to burn If the regenerative option selected is not for use with the controller parameter error AL 37 occurs For a drive unit of 30kW or more always set the parameter to T1100 since selecting regenerative option is carried out by the converter unit Set this parameter when using the regenerative option brake unit power regenerative converter or power regenera
406. ty used during operation When the servo motor is run at less than the maximum speed the power supply capacity will be smaller than the value in the table but the controller s generated heat will not change Table 11 1 Power supply capacity and generated heat per controller at rated output Note 1 Note 2 Area required for Controller Servo motor Power supply Controller generated heat W heat dissipation capacity kVA At rated torque With servo off S Lesen SE LE S5 tecseiss fig Se os ME EEN EE LECSB1 S7 LES e E E E LECSB1 S8 LE S8 Ce e o Se e Note 1 Note that the power supply capacity will vary according to the power supply impedance This value is applicable when the power factor improving AC reactor or power factor improving DC reactor is not used 2 Heat generated during regeneration is not included in the controller generated heat To calculate heat generated by the regenerative option refer to section 12 2 3 For 400V class the value is within the 4 The controllers which support these servo motors have LR at the end of their model names 11 2 11 CHARACTERISTICS 2 Heat dissipation area for enclosed controller The enclosed control box hereafter called the control box which will contain the controller should be designed to ensure that its temperature rise is within 10 C at the ambient temperature of 40 C With a 5 C 41 F safety margin the system should operat
407. uency setting PB34 VRF2B Gain changing vibration Suppression control Hz resonance frequency setting b Changing timing chart Gain changing OFF ONY OFF CDP After changing gain Change of Before changing gain each gain eg r CDT 100ms to servo motor inertia moment 120 84 120 3000 Ei 4000 3000 i 50 Z 20 Vibration suppression control SEENEN 50 gt 60 gt 50 vibration frequency setting Vibration suppression control anu Pp l 8 50 60 50 resonance frequency setting 8 SPECIAL ADJUSTMENT FUNCTIONS 2 When you choose changing by droop pulses In this case gain changing vibration suppression control cannot be used a Setting Abbreviation Setting Ratio of load inertia moment to servo motor Multiplier PBO6 apo2 29 4 0 p inertia moment x1 PB29 GD2B Gain changing ratio of load inertia moment to 10 0 Multiplier servo motor inertia moment SI 4000 rad s Gain changing speed integral compensation ms 0003 PB26 CDP Gain changing selection Ps o ane Changed by droop pulses pB27 CDS__ Gain changing condition pulse pB28 JI ot Loan changing time constant ms b Changing timing chart Command pulse O Droop pulses Droop pulses 0 pulse cm NN l I 1 ae After changing gain i SE i Change of Before changinggainf a each gain C CDT 100ms 1 Model loop gain Ratio of load inertia moment 40 to servo motor ine
408. ulse LAR LB E differential line driver gt Encoder B phase pulse N QO oO A o o ko 27 LBR 28 g 33 OP Plate Personal Note 7 MR Configurator computer Note 8 USB cable I option o differential line driver Control common _ Encoder Z phase pulse open collector 3 SIGNALS AND WIRING Note 1 To prevent an electric shock always connect the protective earth PE terminal of the terminal marked D controller to the protective earth PE of the control box 2 Connect the diode in the correct direction If it is connected reversely the controller will be faulty and will not output signals disabling the emergency stop EMG and other protective circuits 3 The emergency stop switch normally closed contact must be installed 4 Supply 24VDC 10 300mA current for interfaces from the outside 300mA is the value applicable when all I O signals are used The current capacity can be decreased by reducing the number of I O points Refer to section 3 8 2 1 that gives the current value necessary for the interface 5 Trouble ALM turns on in normal alarm free condition 6 The pins with the same signal name are connected in the controller 7 Use MRZJW3 SETUP 221E 8 Personal computers or parameter units can also be connected via the CN3 connector enabling RS
409. unit controller drive unit and configure the wiring to be able to shut down the power supply on the side of the converter unit controller drive unit power supply If a magnetic contactor is not connected continuous flow of a large current may cause a fire when the converter unit controller drive unit malfunctions When a regenerative resistor is used use an alarm signal to switch main power off Otherwise a regenerative transistor fault or the like may overheat the regenerative resistor causing a fire Provide adequate protection to prevent screws and other conductive matter oil and other combustible matter from entering the converter unit controller drive unit and servo motor Always connect a no fuse breaker to the power supply of the controller converter unit O 3 To prevent injury note the follow N CAUTION Only the voltage specified in the Instruction Manual should be applied to each terminal Otherwise a burst damage etc may occur Connect the terminals correctly to prevent a burst damage etc Ensure that polarity is correct Otherwise a burst damage etc may occur Take safety measures e g provide covers to prevent accidental contact of hands and parts cables etc with the converter unit and controller drive unit heat sink regenerative resistor servo motor etc since they may be hot while power is on or for some time after power off Their temperatures may be hig
410. upply of the controller system noises produced by the controller may be transmitted back through the power supply cable 7 and the devices may malfunction The following techniques are required 1 Insert the radio noise filter FR BIF H on the power cables Input cables of the controller 2 Insert the line noise filter FR BSFO1 FR BLF on the power cables of the controller 8 When the cables of peripheral devices are connected to the controller to make a closed loop circuit leakage current may flow to malfunction the peripheral devices If so malfunction may be prevented by disconnecting the grounding cable of the peripheral device 2 Noise reduction products a Data line filter Recommended Noise can be prevented by installing a data line filter onto the encoder cable etc For example the ZCAT3035 1330 of TDK and the ESD SR 250 of NEC TOKIN make are available as data line filters As a reference example the impedance specifications of the ZCAT3035 1330 TDK are indicated below This impedances is reference values and not guaranteed values Impedance Q Unit mm 10 to 100MHz 100 to 500MHz Loop for fixing the cable band Product name Lot number Outline drawing ZCAT3035 1330 12 24 SMC 12 OPTIONS AND AUXILIARY EQUIPMENT b Surge killer The recommended surge killer for installation to an AC relay AC valve or the like near the controller is shown below Use this product or equivalent
411. uppression control filter 2 0000h Refer to Note 1 Used to set the vibration suppression control filter 2 name By setting this parameter machine side vibration such as and workpiece end vibration and base shake can be function suppressed column m Vibration suppression control filter 2 setting frequency selection Note 2 ae Setting value EE Notch depth selection Note 2 senna value Depth Note 1 This parameter is supported by the controllers whose software versions are C6 or later Check the software version using status display or MR Configurator 2 Refer to section 8 7 for the setting details 5 PARAMETERS 5 2 3 Position smoothing By setting the position command acceleration deceleration time constant parameter No PBO3 you can run the servo motor smoothly in response to a sudden position command The following diagrams show the operation patterns of the servo motor in response to a position command when you have set the position command acceleration deceleration time constant Choose the primary delay or linear acceleration deceleration in parameter No PB25 according to the machine used 1 For step input e Input position command filtering for primary delay a Position command after filtering dee for linear acceleration deceleration t Position command acceleration i S deceleration time constant parameter No PBO3 Command gt SAs Position comma
412. urred do not deactivate the alarm and resume operation repeatedly To do so will cause the controller servo motor to fail Remove the cause of occurrence and leave a cooling time of more than 30 minutes before resuming operation Regenerative error AL 30 Main circuit device overheat AL 45 Servo motor overheat AL 46 Overload 1 AL 50 Overload 2 AL 51 The alarm can be deactivated by switching power off then on press the SET button on the current alarm screen or by turning on the reset RES For details refer to section 9 1 When an alarm occurs the trouble ALM switches off and the dynamic brake is operated to stop the servo motor At this time the display indicates the alarm No The servo motor comes to a stop Remove the cause of the alarm in accordance with this section Use the MR Configurator to refer to a factor of alarm occurrence The alarm details can be confirmed by the alarm history of MR Configurator o S 9 TROUBLESHOOTING Displa Name Definition Cause Action Mele INI u play Alarm details AL 10 Undervoltage Power supply 1 Power supply voltage is low Check the power supply voltage dropped lt Checking method gt Check that the power supply voltage is the following voltage or more LECSB2 U 160VAC LECSB1 U 83VAC 2 Shortage of power supply capacity caused the power supply voltage to drop at start etc lt Checking method gt Check that the bus voltage is the foll
413. using the USB communication function CN5 connector prevents the RS 422 communication function CN3 connector from being used and vice versa They cannot be used together A NO Personal computer RS 232C RS 422 conversion cable Recommended product Interface cable DSV CABV Diatrend To RS 232C connector Controller CN3 or MR PRUO3 parameter unit EIA568 compliant cable 10BASE T cable etc es 11 Use an external power supply when inputting a negative voltage 12 For the sink I O interface For the source I O interface refer to section 3 8 3 o 5 3 SIGNALS AND WIRING 3 2 3 Torque control mode Note 3 Emergency stop Servo on Reset Speed selection 1 Speed selection 2 Note 10 lt Upper limit setting Analog torque command 8V max torque Upper limit settin Note 9 Analog speed limit 0 to 10V rated speed Forward rotation selection Reverse rotation selection Controller Note 6 CN1 Note 6 24VDC Note 4 an ce Note 4 CN1 Note 21 Trouble Note 5 Dicom 20 48 ALM kra A 46 P Zero speed detection 23 ZSP Ra P Limiting speed Sei 25 VLC e a P Ready 49 RS2 DOCOM Encoder Z phase pulse LZR 10m max gt differential line driver 3 Eer Encoder A phase p
414. ut contact i Transmission data bit 0 completion of YO i Servo on positioning K ABS transfer mode i Transmission data bit 1 zero speed detection Y2 i ABS request i Send ABS transmission data ready torque limit Y3 Alarm reset control Y4 Note 2 Electromagnetic brake output Servo alarm Y5 oe Clear Alarm reset switch Y10 i Servo alarm Servo emergency stop Y11 ABS communication error Servo on switch Y12 ABS checksum error i Servo ready i JOG switch i JOG switch i Position start switch Position stop switch i Home position return start switch 1PG error reset ABS data Lower 16 bits MO Error flag i ABS data Upper 16 bits M1 i ABS data transmission start Checksum addition counter M2 Retry command i Check data in case of checksum error M3 i ABS data read i Transmission retry count in checksum M4 Servo on request reset permission discrepancy M5 i Servo on request i Home position address Lower 16 bits M6 i Retry flag Home position address Upper 16 bits M10 i 1PG present position address Lower 16 bits M11 gt 1PG present position address Upper 16 bits M12 M13 M20 l ABS data 32 bit buffer M51 M52 1 Checksum 6 bit buffer M57 i M58 i i M59 j M62 Sum check discrepancy greater gt T200 Retry wait timer M63 Sum check discrepancy T201 i ABS transfer mode timer M64 i Sum check discrepancy less lt T202 ABS request response timer M70 ote 1 Clear CR O
415. utton during servo motor rotation to make a hard stop This button is valid during servo motor rotation m Repeat operation status Display the operation status the repeat pattern and the number of repeats during the repeated operation n Close Click the Close button to cancel the positioning operation mode and close the window 6 DISPLAY AND OPERATION SECTIONS 2 Status display The status display can be monitored during positioning operation 6 9 4 Motor less operation Without connecting the servo motor you can provide output signals or monitor the status display as if the servo motor is running in response to input device This operation can be used to check the sequence of a host programmable controller or the like 1 Operation Turn SON off and then select motor less operation After that perform external operation as in ordinary operation 2 Status display Change the display to the status display screen by pressing the MODE button Refer to section 6 2 The status screen can be changed by pressing the UP or the DOWN button Refer to section 6 3 3 Termination of motor less operation To terminate the motor less operation switch power off 6 DISPLAY AND OPERATION SECTIONS MEMO 7 GENERAL GAIN ADJUSTMENT 7 GENERAL GAIN ADJUSTMENT Consider individual machine differences and do not adjust gain too strictly It is recommended to keep the servo motor torque to 90 or less of the maximum tor
416. ve terminal of the power supply to TLA Maximum torque is generated at 10V Refer to section 3 6 1 5 Resolution 1 Obit Analog torque Used to control torque in the full servo motor output torque range Analog command Apply 0 to 8VDC across TC LG Maximum torque is generated at input 8V Refer to section 3 6 3 1 The torque at 8V input can be changed using parameter No PC13 Analog speed VC CN1 2 Apply 0 to 10VDC across VC LG Speed set in parameter command No PC12 is provided at 10V Refer to section 3 6 2 1 Resolution 14bit or equivalent Analog speed Apply 0 to 10VDC across VLA LG Speed set in parameter Analog NN limit No PC12 is provided at 10V Refer to section 3 6 3 3 input Forward rotation Used to enter a command pulse train pulse train In the open collector system max input frequency 200kpps Forward rotation pulse train across PP DOCOM Reverse rotation pulse train across NP DOCOM In the differential receiver system max input frequency 1Mpps Forward rotation pulse train across PG PP Reverse rotation pulse train across NG NP The command pulse train form can be changed using parameter No PA13 Reverse rotation pulse train 3 Output signals Connec uo Control Signal Symbol tor pin Functions Applications E mode division No Lelsl Encoder Z phase CN1 33 Outputs the zero point signal of the encoder One pulse is output per DO 2 pulse servo motor revolution OP turns on when the z
417. vibration or unusual noise at that resonance frequency Using the machine resonance suppression filter and adaptive tuning can suppress the resonance of the mechanical system 8 1 Function block diagram Speed Servo a Parameter Parameter Low pass Parameter motor A contro No PBO1 No PB16 filter J No PB23 ZE E Um Machine resonance 1 d ees l Current suppression filter 1 ME SE d Ee Ge Filter tuning Machine resonance suppression filter 2 Manual mode 0001 0001 seting T5qig Encoder Manual mode 8 2 Adaptive filter I 1 Function Adaptive filter I adaptive tuning is a function in which the servo amplifier detects machine vibration for a predetermined period of time and sets the filter characteristics automatically to suppress mechanical system vibration Since the filter characteristics frequency depth are set automatically you need not be conscious of the resonance frequency of a mechanical system Machine resonance point i Machine resonance point Mechanical Mechanical system system response response level Frequency level Frequency Notch Notch depth depth H l Frequency 1 Frequency Notch frequency Notch frequency When machine resonance is large and When machine resonance is small and frequency is low frequency is high o S 8 SPECIAL ADJUSTMENT FUNCTIONS The machine resonance f
418. vo motor torque on the to assumption that the maximum torque is 100 100 0 When 0 is set torque is not produced When torque is output in analog monitor output this set value is the maximum output voltage 8V Refer to section 3 6 1 5 WrowmrNanRWDM HO Speed torque Servo motor speed analog torque command voltage Analog torque command voltage Torque position Analog torque command voltage cumulative feedback pulses 1 Depends on the first digit setting of this parameter PC36 DMD Status display selection 0000h Refer to Select the status display to be provided at power on name and fol function RS of status display at power on column Cumulative feedback pulse Servo motor speed Droop pulse Cumulative command pulses Command pulse frequency Analog speed command voltage Note 1 Analog torque command voltage Note 2 Regenerative load ratio Effective load ratio Peak load ratio Instantaneous torque Within one revolution position 1 pulse unit C Within one revolution position 100 pulse unit D ABS counter E Load inertia moment ratio F Bus voltage In speed control mode Analog speed limit voltage in torque control mode In torque control mode Analog torque limit voltage in speed or position control mode Status display at power on in corresponding control mode 0 Depends on the control mode 5 PARAMETERS Symbol TEE Initial Setting Control mode value range PC37
419. ways execute home position setting and then positioning operation When configuring an absolute position detection system using the QD75P D PLC refer to the Type QD75P QD75D Positioning Module User s Manual SH NA 080058 14 1 Outline 14 1 1 Features For normal operation as shown below the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions The absolute position detection system always detects the absolute position of the machine and keeps it battery backed independently of whether the general purpose programming PC or PLC etc power is on or off Therefore once the home position is defined at the time of machine installation home position return is not needed when power is switched on thereafter If a power failure or a fault occurs restoration is easy General purpose programmable controller Controller Pulse train command Home position date Positioning module d hc EEP ROM memor position BEE ROM memory Current i FS data Di 898 8 position 1 8s 222 2 SSS SSeS Sees data 52 OO Backed up in the cS oS case of power failure is 1X z 8 9 Detecting the Detecting the 6a 238 number of position within LE 2 DS revolutions one revolution or SE data
420. wer input section of the equipment is recommended 12 22 12 OPTIONS AND AUXILIARY EQUIPMENT c Techniques for noises radiated by the controller that cause peripheral devices to malfunction Noises produced by the controller are classified into those radiated from the cables connected to the controller and its main circuits input and output circuits those induced electromagnetically or statically by the signal cables of the peripheral devices located near the main circuit cables and those transmitted through the power supply cables Noises produced Noises transmitted Noise radiated directly by servo amplifier in the air from servo amplifier Route 1 Noise radiated from the power supply cable Route 2 Noise radiated from servo motor cable Route 3 Magnetic induction noise Static induction N noise J Noises transmitied i through electric channels J Routes 4 and 5 Route 6 Noise transmitted through power supply cable Route 7 Noise sneaking from grounding cable due to Route 8 leakage current EE Fee Sensor power supply Instrument ac See Seel e Shep Servo motor M rs 12 23 SMC 12 OPTIONS AND AUXILIARY EQUIPMENT Noise transmission route Suppression techniques When measuring instruments receivers sensors etc which handle weak signals and may malfunction due to noise and or
421. ype home position return After jogging the machine to the position where the home position e g 500 is to be set choose the home position return mode and set the home position with the home position return start switch X27 ON After switching power on rotate the servo motor more than 1 revolution before starting home position return Do not turn ON the clear CR Y35 for an operation other than home position return Turning it on in other circumstances will cause position shift OI x20 DI Lal PLS u20 Home ABS Positioning Home position position transfer completion return start switch retum mode mode Clear signal ON timer request T10 RST w21 Clear CR timer 35 Clear CR K500 bo uox D G72 uoy D G1506 voy K9003 61500 Set v10 Mi Error delection Clear CR ON timer request Clear CR 100ms ON timer Setting data set type home position return request Resetting data set type home position return request Switch clear CR on Setting X axis home position address 500 d in data register i 1 Changing X axis home position address i see ee J 1 Changing X axis current value 1 Writing positioning data No 9003 Starting positioning Switching BUSY signal off to switch start signal off Note When the data of the home position address parameter is not written from GX Developer or the like before starting the data set type home position return program this se
422. ype home position return request T210 RST M71 Clear signal 100ms ON timer M71 T vs Data set type home position return request DMOVvP K500 D24 DTOP KO K13 D24 K1 DTOP KO K26 D24 K1 14 35 Clear CR ON timer request Clear CR 100ms ON timer Setting data set type home position return request Resetting data set type home position return request Clear CR ON Setting X axis home position address 500 in the data register Changing X axis home position address Changing X axis present position data 14 ABSOLUTE POSITION DETECTION SYSTEM e Electromagnetic brake output During ABS data transfer for several seconds after the servo on SON is turned on the servo motor must be at a stop Set 001011 in parameter No PA04 of the controller to make the electromagnetic brake interlock MBR valid Y1 X1 Y4 Electromagnetic brake output ABS transfer Electromagnetic brake mode interlock MBR f Positioning completion To create the status information for positioning completion During ABS data transfer for several seconds after the servo on SON is turned on the servo motor must be at a stop Y1 X0 He AR H Completion of positioning ABS transfer Positioning mode completion Y1 ABS transfer mode g Zero speed To create the status information for zero speed During ABS data transfer for several seconds after the servo on SON is turned on the servo m
423. ype home position setting At this time do not connect the portions marked Note 2 2 To be connected for the data set type home position setting At this time do not connect the portions marked Note 1 3 The electromagnetic brake interlock MBR should be controlled by connecting the programmable PC or PLC etc output to a relay 14 25 14 ABSOLUTE POSITION DETECTION SYSTEM b FX2N 32MT FX2N 1PG Z phase pulse SD Note 1 To be connected for the dog type home position setting At this time do not connect the portions marked Note 2 2 To be connected for the data set type home position setting At this time do not connect the portions marked Note 1 3 The electromagnetic brake interlock MBR should be controlled by connecting the programmable PC or PLC etc output to a relay 14 26 Controller FXen 32MT L T Power supply zavoc N GNI COM e 46 ABS transmission data bit 0 Completion of positioning el a i xO AN 22 7 ABS transmission data bit 1 Zero speed detection Lo SKR xi ch ate i X ABS transmission data ready Torque limit control speed DESEN e hemm l Alarm reset Servo reach zl l X4 E 7 y is A l mergency sto e l x5 SEY SOR IN Servo on oo l X6 deed 1 o X7 AN JOG I X10 d f JOG oe I X11 8 a Position start e

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