USER`S MANUAL 3G3AX-PG
Contents
1. Earaeizt Function name Data range Default setting henge gun Unit No ing operation Operation ur P001 selection at 20 Tip 00 x 01 Continues operation option 1 error Operation ams P002 selection at 00 Trip 00 x 3 01 Continues operation option 2 error 128 to 9999 P011 Encoder pulses 1000 to 6500 10000 to 65000 1024 x Pulse 00 ASR speed control mode 01 APR pulse train position control mode poiz V2 control mode 02 APR2 absolute position control 00 x selection mode 03 HAPR high resolution absolute position control mode Pulse train mode 00 Mode 0 P013 selecti n 01 Mode 1 00 x 02 Mode 2 poid e a E e 0 x position Orientation speed Starting frequency to Max frequency P015 setting Upper limit 120 0 5 00 i BR P016 Orientation direction 00 Forward side 00 g u setting 01 Reverse side Position ready 0 to 9999 P017 range setting 1000 10000 3 FRE poig Positionready 4 00 to 9 99 0 00 x s delay time setting Electronic gear ni a 00 Position feedback side FB u P019 setting position 54 Position command side REF 00 x selection pozo Flestroniegear 9 10 9999 1 x ratio numerator poa Elestroniegear 9 9990 1 x ratio denominator Position control 0 00 to 99 99 F022 feed forward gain 100 0 to 655 3 9 00 4 u P023 Position loop gain 9 00 10 99 99 0 50 x rad s 100 0 poz4 Position bias 204 2048 999 to 202. Detects if the motor rotation has ex ceeded Maximum frequen Adjust the parameters of Kp and J c7 Overspe d cy 2 x Overspeed error detection 0 a conirol and level P026 3 9 Detects if the current position devia Set melange value for position Sie as P A loop gain of position control Positioning tion against the position command Le Reduce the pulse per unit time of error value exceeds 1 000 000 pulses a ae the pulse train position command during position control input Shuts off the output and displays an ETS error when the current position ex en Position con ceeds the set values for the position 7 Correct the position command ES trol range trip ing range specifications for both Forward P072 and Reverse P073 during absolute position control coor 3G3AX PG connection nape Pa Board Conner Check the PG Board connection EI error 4 Appears when the PG Board is connected to Board port 2 2 Upper limit value is applied when the frequency upper limit A061 is set 3 This error could occur again even if the trip is reset during free running Reset the trip after stopping motor operation 5 2 suorelodO vueu zuIeN Maintenance Operations 5 3 Warning Display 5 3 Warning Display For warnings other than the one mentioned below refer to the general purpo
3. Parameter No Function name Data Default setting Unit P019 Electronic gear setting 00 Position feedback side FB 00 _ position selection 01 Position command side REF P020 Electronic gear ratio 1 to 9999 1 _ numerator P021 Electronic gear ratio 1 to 9999 1 _ denominator P022 e eee 0 00 to 655 3 0 00 feedforward gain 1 P023 Position loop gain 0 00 to 99 99 100 0 0 50 rad s Note Below are the block diagrams of the electronic gear function First order lag filter Position control feedforward gain P019 00 FB Position Speed command command Position feedback Position control First order lag filter feedforward gain P019 01 REF Electronic gear Position Speed command command Position feedback 1 Itis recommended that position control feedfoward gain adjustment should be started with P022 2 00 To reduce the position deviation between the main and sub motors increase the position control feedforward gain If motor hunting occurs reduce the position control feedforward gain 2 It is recommended that position loop gain adjustment should be started with P023 2 00 To increase positioning accuracy and holding power increase the position loop gain If an increased position loop gain causes hunting reduce the position loop gain 3 Make sure that the N D setting is within the range of 1 50 lt N D lt 20 N Electronic gear ratio numerator P020 D Electronic gear ratio denominator P021 4
4. Safety Precautions Safety Precautions Bindications and Meanings of Safety Information In this user s manual the following precautions and signal words are used to provide information to ensure the safe use of the 3G3AX PG Board The information provided here is vital to safety Strictly observe the precautions provided MMeanings of Signal Words Z N WARNING Indicates an imminently hazardous situation which if not avoided is likely to result in serious injury or may result in death Additionally there may be severe property damage CAU TI 6 N Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury or in property damage BAlert Symbols in This Document A WARNING Turn off the power supply and implement wiring correctly Not doing so may result in a serious injury due to an electric shock Wiring work must be carried out only by qualified personnel Not doing so may result in a serious injury due to an electric shock Do not touch the surface of the PG Board or terminals and do not remove the encoder wire or the PG Board while the power is being supplied Doing so may result in a serious injury due to an electric shock or fire Turn off the input power of the Inverter and wait for more than 10 minutes before putting on or taking off the PG Board changing the setting wiring or conducting inspection Not doing so may result in
5. Position ready delay time setting P018 In the absolute position control mode the Inverter moves to the target position according to the fol lowing parameter settings and is then set in the position servo lock status Position command Speed command frequency reference e Acceleration Deceleration time The servo lock status is retained until the RUN command is turned OFF The frequency reference and acceleration deceleration command for absolute position control con form to the parameters selected when the RUN command is ON If the position command is set to a low value the Inverter may start deceleration and perform posi tioning before the speed command value is reached In the absolute position control mode the direction of RUN command FW or RV does not refer to the rotating direction The FW or RV signal starts or stops the Inverter The Inverter runs forward when Target position Current position is a positive value or runs in reverse when it is a negative value If you do not perform zero return operation the position at power on is regarded as the origin po sition 0 When position command is set to zero position ready is set when the RUN command is turned ON In reset selection C102 select 03 trip reset only If reset selection C102 is not set to 03 turning ON the Inverter s reset terminal or RESET key clears the current position counter To operate the Inverter by using th
6. APR is selected in P012 the Inverter enables position control by generating frequency reference based on the position command pulse input from the pulse train position command input terminal and on the position feedback detected by the encoder Select any of the three pulse train position command input modes in pulse train mode selection P013 To perform pulse train position control allocate 48 STAT to any of the multi function input termi nals While the STAT terminal is tuned on pulse train position command input is accepted Position deviation can be cleared through external input Allocate 47 PCLR to any of the multi function input terminals Turning ON OFF the PCLR terminal can clear position deviation data Allocating 22 DSE to any of the multi function output terminals enables excessive speed devia tion signal output Set a deviation level in speed deviation error detection level P027 When the deviation between real frequency and reference frequency exceeds the P027 set value the DSE signal turns on When 02 APR2 or 03 HAPR is selected in P012 the Inverter performs absolute position con trol with reference to the absolute position from its origin Parameter No Function name Data DEREN Unit setting 00 ASR speed control mode 01 APR pulse train position control mode P012 V2 control mode selection 02 APR2 absolute position control mode
7. Serial number PG Board Checking the Accessories Accessories of the 3G3AX PG Board are shown below e Fixing screws M3 x 8 2 e Ferrite cores 2 Revision History Revision History A manual revision code appears as a suffix to the catalog number located at the lower left of the front and back covers Conte 1564 61 01 Revision code Revision code Revision date Changes and revision pages 01 April 2008 First printing About This Manual About This Manual This User s Manual is compiled chapter by chapter for user s convenience as follows Understanding the following configuration ensures more effective use of the product 10 Chapter Overview Chapter 1 Overview Describes the functional block diagram of the product Chapter 2 Design Describes the mounting method of the product terminal names and wiring Chapter 3 Operation Describes the parameters related to the product and precautions for operation Chapter 4 Functions Describes the parameter functions Maintenance Chapters Operations Describes the causes and their countermeasures if the Inverter fails Chapter 6 Specifications Describes the product specifications Contents MMP OCU CU OM ects ee este NE 1 Read and Understand This Manual 2 Safety Precautions sn cud ates vepaghartacs weatiahaeenseeteeecteeGdint 5 Precautions for Safe Use si in
8. Operation 01 Digital Operator FREQ adjuster A141 frequency input Enabled when 3G3AX OP01 is 02 x _ A setting connected 02 Input FV 03 Input FI Operation 04 RS485 communication A142 frequency Input 05 Option 1 03 x B setting 06 Option 2 07 Pulse train frequency Frequency 0 00 to 99 99 AS addition amount 100 0 to 400 0 9 00 X Hz 00 Adds the A145 value to the output A146 Frequency frequency 0 0 addition direction 01 Subtracts the A145 value from the output frequency 3 1 3 1 Related Parameters Baal Function name Data range Default setting SEINE ur Unit No ing operation C001 Multi function input 1 01 selection oe 45 ORT orientation coo2 Multifunction input2 47 PCLR position deviation clear 18 selection 48 STAT pulse train position command C003 Multi function input 3 input permission 5 selection 50 ADD frequency addition 52 ATR torque reference input 3 C004 Multi function input 4 permission 02 selection 54 SON servo ON 2 u Baus Multi function input 5 66 CP1 position command selection 1 aa selection 67 CP2 position command selection 2 O 68 CP3 position command selection 3 5 coog Multifunction input6 69 ORL zero return limit signal 04 selection 70 ORG zero return startup signal D Multi function input 7 71 FOT forward driving stop
9. and on the reverse side when the ROT terminal is turned on This function can be used as the limit switch at the machine end when 71 FOT and 72 ROT are allocated to any of multi function inputs 1 to 8 C001 to C008 Position Range Specification Function Set a forward reverse position control range in position range specification forward P072 and po sition range specification reverse P073 If the current position counter exceeds this setting range the position control range trip E63 or E73 occurs and the Inverter goes into free run status The upper limit setting of multi step position commands 0 to 7 is limited by this position range set ting You cannot set a position command beyond the position range Teaching Function This function starts or stops the motor at a desired position and stores the current position in a de sired position command area Allocate 45 ORT to any of multi function inputs 1 to 8 C001 to C008 When V2 control mode selection P012 is set to 02 absolute position control or 03 high resolu tion absolute position control the relevant terminal serves as a teaching terminal Related functions C001 to C008 C012 C074 lt Teaching Procedure gt 1 In teaching selection P074 select the position command you want to set 2 Move the workpiece Input the RUN command with the ORT terminal turned ON At this time the speed command and accelerat
10. b041 to b044 limit Low frequen Rotation is not constant Increase motor parameter J from the set parameter H024 H034 cy operation Related functions A001 A044 F001 b040 H002 H003 H004 H020 H021 H022 HO23 H050 H051 H052 P011 P012 Note 1 Make sure that the carrier frequency b083 is not lower than 2 1 kHz If the carrier frequency is at 2 1 kHz or lower the Inverter will not operate normally Note 2 To use a motor with a capacity lower than that of the Inverter set a torque limit value b041 to b044 while keeping the value in the following formula at 200 or lower Otherwise the motor may burn out Q Torque limit set value x Inverter capacity Motor capacity Example If the Inverter capacity is 0 75 kW and the motor capacity is 0 4 kW the torque limit set value for 200 calculated with the above formula is as follows Torque limit set value b041 to b044 x Motor capacity Inverter capacity 200 x 0 4 kW 0 75 kW 106 4 2 suoroun Functions 4 2 Sensor Vector Control speed control Torque Bias Function This function applies bias to the torque reference generated in speed control and is useful for elevating applications Parameter No Function name Data Default setting Unit 00 Disabled P036 Torque bias mode 01 Set via the Digital Operator 00 _ 02 Set via terminal FE P037 Torque bias value 200 to 200 Enabled whe
11. 00 03 HAPR high resolution absolute position control mode 128 to 9999 1000 to 6553 P011 Encoder pulses 10000 to 65535 1024 Pulse Number of encoder pulses P023 Position loop gain 0 00 to 99 99 100 0 Position loop gain 0 50 rad s Speed deviation error 0 00 to 99 99 100 0 to 120 0 Poet detection level DSE signal output level 7 99 Hz H004 Motor poleinumber 2 4 6 8 10 Select a motor pole number 4 Pole selection se 47 PCLR position deviation clear C001 to coog Multifunction inputs 1108 48 STAT pulse train position command in 2 2 selection eae put permission Multi function output ter C021 to C025 minals P1 to P5 selection u 22 DSE excessive speed deviation Relay output MA MB C026 05 function selection Related functions A001 P013 4 1 4 2 Sensor Vector Control speed control Sensor Vector Control speed control To use this function set V f characteristics selection A044 to 05 V2 and V2 control mode selec tion P012 to 00 speed control Sensor vector control can be selected for 1st control only To use this function make sure that the motor parameter settings are suitable for your motor For details refer to Chapter 4 Functions 4 2 Function Mode Moter Parameter Selection in the gen eral purpose Inverter 3G3RX User s Manual Also be sure to set the number of your encoder pulses With V2 control mode selection P012 you can select four types of
12. 8 suol gt unJ Functions 4 3 Pulse Train Position Control Mode Example Synchronous Operation Master Inverter Slave Inverter AP BP SAP SBP AN BN SAN SBN EGS EAP EBP EAP EBP EAN EBN EAN EBN For the Inverter master Inverter on the main motor side you can select either the speed control or pulse train position control mode For the Inverter slave Inverter on the sub motor side you need to select the pulse train position control mode Configuration Example e Main motor Number of encoder pulses 1024 Sub motor Number of encoder pulses 3000 e Main motor rpm Sub motor rpm 2 1 For operation under the above conditions set the following data in the slave Inverter Pulse train mode selection P013 00 pulse with 90 phase difference Electronic gear setting position selection P019 01 REF Electronic gear ratio numerator P020 3000 Electronic gear ratio denominator P021 1024 x 2 2048 The following shows an example of the ratio of slave rpm to master rpm depending on the P019 to P021 settings Note that the same number of encoder pulses 1024 pulses should be set on both Inverters REF REF e u Position com Position com FE FB position selection P019 Position feedback side Position feedback side mand side mand side Electronic gear ratio numerator P020 1924 2048 1024 2048 Electronic gear ratio denominator P021 ae 1024
13. Depends on the Hozz L 100 0 to 655 3 motor capacity x m Motor parameter 0 01 to 99 99 Depends on the H023 lo 100 0 to 655 3 motor capacity x A 0 001 to 9 999 Motor parameter 10 00 to 99 99 Depends on the 2 H024 J 100 0 to 999 9 motor capacity x kgm 1000 to 9999 Motor parameter 4 991 to 9 999 Depends on the HOSO RI 10 00 to 65 53 motor capacit x auto tuning data i i pacity Motor parameter 4 904 to 9 999 Depends on the a R 10 00 to 65 53 motor capacit auto tuning data i pes Motor parameter 001 to 99 99 Depends on the H032 L 100 0 to 655 3 motor capacit mH auto tuning data i Baer Motor parameter 51 to 99 99 Depends on the 1088 lo 100 0 to 655 3 motor capacit 4 A auto tuning data i 3 pacity Motor parameter Geto Bee P 10 00 to 99 99 Depends on the H034 J x kgm auto tuning data 100 0 to 999 9 motor capacity 9 1000 to 9999 H050 PI proportional 0 0 to 999 9 100 0 o z gain 1000 F 0 0 to 999 9 H051 Pl integral gain 1000 100 0 O Hose T proportional 0 01 to 10 00 1 00 O a gain H060 Limit at O Hz 0 0 to 100 0 100 0 O Boost amount at 5 H061 SLV startup 0 Hz 0 to 50 50 O Yo For PI proportional 0 0 to 999 9 Z MOO gain switching 1000 1099 9 For PI integral 0 0 to 999 9 Hor gain switching 1000 190 9 2 u Ho72 ForP proportional 9 99 to 10 00 1 00 2 gain switching Ho73 Gain switching to 9999 100 O ms time 3 3 3 1 Related Parameters
14. exceeds the limit value 4 3 Pulse Train Position Control Mode To use this function set V f characteristics selection A044 to 05 V2 and V2 control mode selec tion P012 to 01 pulse train position control Sensor vector control can be selected for 1st control only Select a pulse train position command input mode in pulse train mode selection P013 Parameter No Function name Data PEU Unit setting P012 v2 control meds 01 APR pulse train position control mode selection 00 Mode 0 pulse train with 90 phase difference 00 P013 Pulse train mode 01 Mode 1 forward reverse command Pulse selection train 02 Mode 2 Forward pulse train Reverse pulse train Position Sa nee 0 to 9999 1000 10000 P017 y rang Set a value equivalent to encoder x4 5 setting Be multiplication P018 POSAIT delay 0 00 to 9 99 0 00 s time setting P019 Electronic gear setting 00 FB feedback side 00 _ position selection 01 REF command side P020 Electronic gear ratio 4 to 9999 1 u numerator P021 Electronic gear ratio 1 to 9999 4 _ denominator P022 Ppeilaeonttonicrd 0 00 to 99 99 100 0 to 655 3 0 00 forward gain P023 Position loop gain 0 00 to 99 99 100 0 0 50 rad s P024 Position bias amount 204 2048 999 to 2048 0 _ C001 to C008 Multi function inputs 1 to 8 selection 47 PCLR position deviation clear 48 STAT pulse train position command input
15. or to the ground for shielding To connect to the ground be careful of the ground cabling route and avoid multi point grounding To use a PG Board encoder power supply for the interface power supply between the PG Board and relay amplifier adopt a shielding method following Mounting the Ferrite Cores page 2 5 A different method can be applied however for the power supply from a source other than the PG Board If using a relay amplifier also follow Mounting the Ferrite Cores page 2 5 for the con nection of the ferrite cores 2 4 2 4 Wiring Mounting the Ferrite Cores The ferrite core mounting method is shown below Mount the two provided ferrite cores as below when connecting the encoder cable Connect the wire to the EG5 terminal of the 3G3AX PG Board through the ferrite cores for shielding 9 9 3G3AX PG 4 Design Ferrite cores Precautions for Correct Use If the ferrite cores cover the shield coating they fail to work effectively causing the Inverter to mal function Be sure to fix the ferrite cores or take other appropriate measures so that they do not over lap the shield coating The shield wire connected to the terminal could become disconnected due to the weight of the ferrite cores Be sure to fix the ferrite cores or take other appropriate measures so that the shield wire does not receive the we
16. screws for the encoder wire on the PG Board Tightening torque 0 9 N m 1 0 N m max Be sure to use the provided ferrite cores Fix the ferrite cores on the wire or take appropriate measures so that the ferrite cores will not cover the shield coating of the wire Not doing so may cause the Inverter to malfunction Fix the shielding wire properly or take appropriate measures so that the wire will not be weighed down Not doing so may result in shielding wire breakage due to the weight of the ferrite cores Check whether the motor rotation direction is correct and unusual sound or vibration occurs during operation Maintenance and Inspection Be sure to confirm safety before conducting maintenance inspection or parts replacement Precautions for Correct Use Precautions for Correct Use Rated Voltage Confirm that the power voltage for the encoder is the same as the rated voltage 5 V DC of the product Product Disposal Comply with the local ordinance and regulations when disposing of the product Checking Before Unpacking Checking Before Unpacking Checking the Product On delivery be sure to check that the delivered product is the 3G3AX PG Board that you ordered Should you find any problems with the product immediately contact your nearest local sales representative or OMRON sales office Checking the Nameplate 15 13 Nameplate O V 80261 LOSdE y co HChecking the Model 3G3AX PG01
17. 060 01 Multi step position command 1 P061 02 Multi step position command 2 P062 03 Multi step position command 3 P063 Pont ITeaching selection 04 Multi step position command 4 P064 oe 05 Multi step position command 5 P065 06 Multi step position command 6 P066 07 Multi step position command 7 P067 C169 Mult step speed position 0 to 200 x 10 ms 0 ms determination time d029 Position command monitor 1073741823 to 1073741823 E d030 Current position monitor 1073741823 to 1073741823 45 ORT orientation 54 SON servo ON 66 CP1 position command selection 1 67 CP2 position command selection 2 C001 to Multi function inputs 1 to 8 68 CP3 position command selection 3 z C008 selection 69 ORL zero return limit signal 70 ORG zero return startup signal 71 FOT forward driving stop 72 ROT reverse driving stop 73 SPD speed position switching C102 R set sel tion 03 Does not initialize internal data during re 0 5 set 4 16 suol gt unJ Functions 4 4 Absolute Position High resolution Absolute Position Control Modes Absolute Position Control Operation Outp RUN command on ut frequency Hz Speed command When the position command level is low the motor decelerates and its position is determined before the output frequency reaches the speed Position ready range setting P017 command level Position POK signal 4 17
18. 2048 1024 Slave rpm 4 2 Master rpm 4 9 4 3 Pulse Train Position Control Mode Configuration Example e Main motor Number of encoder pulses 1024 Sub motor Number of encoder pulses 3000 e Main motor rpm Sub motor rpm 2 1 For operation under the above conditions set the following data in the Inverter on the sub motor side Electronic gear setting position selection P019 01 REF Electronic gear ratio numerator P020 3000 Electronic gear ratio denominator P021 1024 x 2 2048 Position control feed forward gain REF ASR suol gt unJ Position control feed forward gain REF ASR Position loop gain FB Electronic gear setting position 01 REF 4 10 Functions 4 3 Pulse Train Position Control Mode Motor Gear Ratio Setting Function This function is useful for a system with an optional encoder installed on the machine side Set the number of actual encoder pulses in encoder pulses P011 Set a motor to encoder rpm ratio in motor gear ratio numerator denominator P028 P029 With the above settings the number of encoder pulses converted into motor shaft data is set in the Inverter This function performs speed position detection based on the number of encoder pulses converted into motor shaft data and calculates the orientation stop position based on the number of encoder pulses P011 Parameter No Function name Data Defau
19. 3 268435455 O reverse side Displays MSB 4 digits 3 6 l uoneiodO Operation le 3 1 Related Parameters ei Function name Data range Default setting Sens oie Unit No ing operation 00 Multi step position command 0 P060 01 Multi step position command 1 P061 02 Multi step position command 2 P062 P074 Teaching 03 Multi step position command 3 P063 00 oO u selection 04 Multi step position command 4 P064 05 06 07 Multi step position command 5 P065 Multi step position command 6 P066 Multi step position command 7 P067 3 7 3 2 Precautions for Operation 3 2 Precautions for Operation Operation For operation refer to Chapter 3 Operation of the Inverter 3G3RX User s Manual When operating the RUN command from the terminal block side of the Inverter follow the procedure below 1 Supply power to the Inverter 2 Set the V f characteristics selection A044 to 05 3 Set the necessary items according to Chapter 4 Functions of the Inverter 3G3RX User s Manual 4 For speed control operation starts according to each setting when the Inverter RUN command is turned ON 5 For position control turn ON the STAT terminal and turn ON the Inverter RUN com mand When inputting the pulse train position command between SAP and SAN and between SBP and SBN the motor rotates according to the input pulse Test Run Che
20. 48 0 O amount 3 4 po uoneiodO Operation e 3 1 Related Parameters Parameter Function name Data range Default setting enanos elur Unit No ing operation Secondary resis tance compensa 00 Disabled z P025 tion enable 01 Enabled o9 3 disable selection Poze Overspeed error 00 to 150 0 135 0 x detection level Speed deviation 0 00 to 99 99 P027 error detection 100 0 to 120 0 7 50 x Hz level poag Motor gear rato to 9999 1 x numerator poag Motor gear rato 4 to 9999 1 x denominator Acceleration 00 Digital Operator P031 deceleration time 01 Option 1 00 x input type 02 Option 2 00 Digital Operator P032 Rues a 01 Option 1 00 x P put TYPE 02 Option 2 00 Terminal FV Torque reference 01 Terminal FI PROSS input selection 02 Terminal FE Da a u 03 Digital Operator pog4 Torque reference 0 to 200 0 O setting Polarity selection 00 As per sign 2 at torque 01 Depends on the RUN direction a 2 reference via FE 00 Disabled P036 Torque bias mode 01 Digital Operator 00 x 02 Terminal FE P037 Torque bias value 200 to 200 0 O Torque bias 00 As per sign Ba polarity selection 01 Depends on the RUN direction 09 2 Speed limit value P039 in torque control 0 00 to Max frequency 0 00 O Hz forward Speed limit value P040 in torque control 0 00 to Max frequency 0 00 O H
21. Design Guideposts for positioning the PG Board ss gt gt Fixing screw holes for the PG Board M3 screw LS x gt Guideposts for positioning the PG Board Precautions for Correct Use To mount the PG Board be sure to tightly fix it with the two provided fixing screws after putting in place the connector securely Otherwise the Inverter will not operate properly 2 1 2 2 Terminal Arrangement 2 2 Terminal Arrangement The terminal arrangement on the PG Board is shown below DIP switch DIP switch SWENC SWR Connector to the Inverter TM1 TM2 TM1 terminal arrangement TM2 terminal arrangement SAPJSAn spejsen AP AN BP EN 2 2 w 2 5 Design 2 3 Terminal Functions 2 3 Terminal Functions Terminal Terminal symbol Functions Electric specifications name Pulse train mode selection P013 Mode 0 Pulse train with 90 phase difference SAP Pulse train R A Mode 1 Forward Reverse command Pulse train OR SAN position j f f 5V DC Receiver input Mode 2 Forward pulse train Reverse pulse train SBP command Built i ER b bled Complies with RS 422 a SBN input Built in termination resistor can be set enabled or disabled using the DIP switch on the PG Board 5 Built in termination resistance 1509 3 EAP EAN Photocoupler input Encoder i EBP signal A B Z Enc
22. MRON OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED REGARDING NON INFRINGEMENT MERCHANTABILITY OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY REPAIR OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED STORED INSTALLED AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION ABUSE MISUSE OR INAPPROPRIATE MODIFICATION OR REPAIR Read and Understand This Manual Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards codes or regulations that apply to the combination of products in the customer s application or use of the products At the customer s request OMRON will provide applicable third party certification doc
23. Multi step position command 6 07 P067 Multi step position command 7 suol gt unJ Servo ON Function This function brings the Inverter into speed servo lock status via an input terminal when 05 sensor vector control is selected in V f characteristics selection A044 Allocate 54 SON to the desired multi function input The Inverter will not accept the RUN command unless the SON terminal is turned on when SON is allocated If the SON terminal is turned off during operation the Inverter goes into free run status When the SON terminal is turned on again the Inverter restarts according to the setting of free run stop se lection b088 This function cannot be simultaneously used with the preliminary excitation function 55 FOC If FOC and SON are both allocated to multi function inputs priority is given to FOC and SON is dis abled SON ON ON FWIRV ON ON Does not operate because the SON Output terminal is OFF frequency Ki TO Es Free running Restarts according to b088 Speed servo lock status Related functions A044 C001 to C008 4 22 4 4 Absolute Position High resolution Absolute Position Control Modes Pulse Train Frequency Input This function allows you to use a pulse train input to the SAP SAN terminals on the PG Board as frequency reference or PID feedback value in each control mode This function can be used in all control modes Set the input frequen
24. OMRON Mids ER S MANUAL 3G3AX PG Encorder Feedback Board Introduction Introduction Thank you for choosing the 3G3AX PG Board This User s Manual hereinafter called this manual describes the parameter setting methods required for installation wiring and operation of the 3G3AX PG model as well as troubleshooting and inspection methods eThis manual should be delivered to the actual end user of the product After reading this manual keep it handy for future reference eThis manual describes the specifications and functions of the product as well as the relations between them You should assume that anything not described in this manual is not possible with the product Intended readers This manual is intended for Those with knowledge of electrical systems qualified electrical engineers or the equivalent and also in charge of Introducing the control equipment Designing the control system Installing and or connecting the control equipment Field management Read and Understand This Manual Read and Understand This Manual Please read and understand this manual before using the product Please consult your OMRON representative if you have any questions or comments Warranty and Limitations of Liability WARRANTY OMRON s exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year or other period if specified from date of sale by O
25. a serious injury due to an electric shock VANE ey NTON Place covers on the openings or take other precautions to make sure that no metal objects such as cutting bits or lead wire scraps go inside when installing the PG Board and wiring Install a stop motion device to ensure safety Not doing so might result in a minor injury Do not dismantle repair or modify the product Doing so may result in an injury A A A A 1 A Precautions for Safe Use Precautions for Safe Use Binstallation and Storage Do not store or use the product in the following places Locations subject to direct sunlight Locations subject to ambient temperature exceeding the specifications Locations subject to relative humidity exceeding the specifications Locations subject to condensation due to severe temperature fluctuations Locations subject to corrosive or flammable gases Locations subject to exposure to combustibles Locations subject to dust especially iron dust or salt Locations subject to exposure to water oil or chemicals Locations subject to shock or vibration Transportation Installation and Wiring Observe the following instructions during transportation installation and wiring Do not drop or apply a strong impact on the product Doing so may result in damaged parts or malfunction Connect the PG Board to the Inverter tightly with the provided fixing screws Tighten securely the terminal
26. ameter No Function name Data Default setting Unit Multi function inputs 1 to 8 C001 to C008 selection 45 ORT orientation C021 to C025 Multi function output terminal selection 23 POK position ready Relay output MA MB function selection 09 C026 RUN commands FwRv ION ORT terminal Output frequency 2 1 Orientation speed setting P015 3 Position ready range setting P017 NE Z pulse i POK signal _ Eon Position ready i 7 A E Position ready delay time setting Speed control Position control P018 gt 1 When the RUN command is turned ON with the ORT terminal turned ON the Inverter accelerates to the orientation speed P015 and then performs constant speed operation If the RUN command is input during operation the operation speed changes to the orientation speed when the ORT terminal is turned ON 2 After the orientation speed is reached the Inverter shifts to the position control mode when the first Z pulse is detected 3 During forward run position control is performed with a target value of Orientation stop position P014 one rotation During reverse run with a target value of Orientation stop position P014 two rotations In this step the higher the position loop gain P023 the shorter the deceleration time regardless of the deceleration time setting 4 After the remaining number of pulses reaches th
27. celeration time setting The Inverter runs at the low speed zero return frequency The Inverter performs positioning when the ORL signal is input The Inverter accelerates to the high speed zero return frequency according to the acceleration time setting The Inverter runs at the high speed zero return frequency The Inverter starts deceleration when the ORL signal is turned ON The Inverter runs in reverse at the low speed zero return frequency The Inverter performs positioning when the ORL signal is turned OFF The Inverter accelerates to the high speed zero return frequency according to the acceleration time setting The Inverter runs at the high speed zero return frequency The Inverter starts deceleration when the ORL signal is turned ON The Inverter runs in reverse at the low speed zero return frequency The Inverter starts deceleration when the ORL signal is turned OFF The Inverter runs forward at the low speed zero return frequency The Inverter performs positioning at the first Z pulse position after the ORL signal is turned ON 4 20 suol gt unJ Functions 4 4 Absolute Position High resolution Absolute Position Control Modes Forward Reverse Run Stop Function FOT ROT With a signal from the control range limit switch this function prevents the Inverter from running out side the specified operation range The torque limit is set to 10 on the forward side when the FOT terminal is turned on
28. ck the following items for a test run Does the motor accelerate normally Is the motor rotation direction correct Is there any abnormal vibration or noise in the motor Check whether the phase sequence is correct if the motor does not accelerate normally or an In verter overload trip is observed in the test run If the waveform of phase A is 90 ahead of that of phase B in forward rotation the phase sequence can be said to be normal Note 1 In some cases monitor signal is not output from the MP terminal of Inverter if the Inverter runs without the motor connected and with the control method set to 05 sensor vector control in the Inverter function mode A044 With 05 set check the motor output after connecting the motor with an encoder Note 2 Do not perform free running through the RS terminal allocated to the multifunction input of the Inverter during operation Otherwise an overcurrent trip or power element breakage may occur Use the FRS terminal allocated to the multifunction input of the Inverter for free running during operation Note 3 With a large value set for torque limit 0041 b044 an overcurrent trip may occur during load application Adjust the torque limit set value to avoid this Note 4 Perform auto tuning if the motor parameter is unknown 3 8 uoneiodO le Operation le 3 2 Precautions for Operation Note 5 If vector control cannot provide the desired characterist
29. control modes Speed control Pulse train position control Absolute position control and High resolution absolute position control Note the following before use e Sufficient characteristics may not be obtained if you select a motor size two or more ranks lower than the motor size specified If the Inverter does not normally accelerate or if overload protection is activated check the phase sequence of the encoder signal If phase A is advanced by 90 from phase B during forward run it is judged as being normal When running the Inverter with V f characteristics selection A044 set to 00 VC you can check the rotation direction with real frequency monitor d008 If positive frequency is detected when the forward command is activated or if negative fre quency is detected when the reverse command is activated the rotation direction is judged as being normal If sensor vector control cannot provide the desired characteristics adjust the motor parameters de pending on the phenomenon as shown in the table below Opie Phenomenon Adjustment method Adjustment item status During a ui Reduce motor parameter J from the set parameter H024 H034 startup startup During Reduce the speed response H005 z Motor hunting occurs deceleration Reduce motor parameter J from the set parameter H024 H034 During torque Ds ine Set an overload limit level lower than the torque limit b021 limit requency during torque evel
30. cy at the maximum frequency in pulse train frequency scale P055 The analog input start end function cannot be used To limit the input frequency use pulse train fre quency bias amount P057 and pulse train frequency limit P058 ES Parameter No Function name Data peau Unit setting P055 Pulse train frequency scale 10 i 50 0 Set the input frequency at the 25 0 kHz 2 maximum frequency fe Pulse train frequency filter 0 01 to 2 00 Set a filter time constant for P056 ra 0 10 s O time constant pulse train input c 5 P057 Pulse train frequency bias _100 to 100 0 LL amount P058 Pulse train frequency limit 0 to 100 100 A001 Frequency rejerence 06 Pulse train frequency 02 selection A076 PID feedback selection 03 Pulse train frequency 00 A141 Operation frequency input 07 Pulse train frequency 02 A setting A142 Operation frequency input 07 Pulse train frequency 03 B setting Pulse train frequency processing block Frequency measurement Frequency scale P055 1 0 to 50 0 kHz Note Set the SWENC switch on the PG Board to OFF encoder disconnection detection disabled 4 23 First order lag filter P056 Bias Limit Maximum frequency A004 Frequency reference Chapter 5 Maintenance Operations 5 1 Operation Selection During Option Error 5 1 5 2 Cause and Countermeasure of Option Errors 5 2 5 3 Warning Di
31. e current position counter value after resetting a trip by turning on the reset terminal or RESET key be sure to set reset selection C102 to 03 If PCLR is allocated turning on the PCLR terminal clears the current position counter The internal position deviation counter will be simultaneously cleared The absolute position control mode disables the ATR terminal Torque control is disabled The absolute position control mode disables the STAT terminal Pulse train position control is dis abled The absolute position control mode disables the orientation function However the ORT terminal is used for teaching as described later 4 4 Absolute Position High resolution Absolute Position Control Modes Multi step Position Switching Function CP1 CP2 CP3 By allocating 66 to 68 CP1 to CP3 to any of multi function inputs 1 to 8 C001 to C008 you can select from multi step positions 0 to 7 Set position commands in multi step position commands 0 to 7 P060 to P067 If no position command is allocated to the terminals multi step position command 0 P060 is de fined as the position command Position command CP3 CP2 CP1 Multi step position 0 0 0 0 a Multi step position 1 0 0 1 Multi step position 2 0 1 0 Multi step position 3 0 1 1 Multi step position 4 1 0 0 2 Multi step position 5 1 0 1 H Multi step position 6 1 1 0 7 Multi step position 7 1 1 1 When y
32. e position ready range setting P017 the Inverter outputs the POK signal after the position ready delay time setting P018 elapses The POK output remains until the ORT signal is turned OFF After positioning is completed the servo lock status remains until the RUN command is turned OFF Note 1 Do not set a high frequency for the orientation speed because positioning must be completed within two rotations during deceleration Otherwise an overvoltage trip may occur 4 13 4 3 Pulse Train Position Control Mode Note 2 Orientation stop position is defined as 4096 0 to 4095 divisions of one forward rotation from the reference point The number of divisions is fixed to 4096 regardless of the encoder s number of pulses The reference point is defined as the point where the pulse is input between EZP and EZN Below is the layout of the stop target position Positive phase connection Motor shaft viewed from motor Position of Z pulse shaft load side Reference point 0 1024 3072 2048 Orientation stop position conceptual drawing suol gt unJ 4 14 Functions 4 4 Absolute Position High resolution Absolute Position Control Modes 4 4 Absolute Position High resolution Absolute Position Control Modes To use the absolute position control mode set V f characteristics selection A044 to 05 V2 and V2 control mode selection P012 to 02 APR2 absolute position control When 03 high reso
33. eed limit value in P039 forward or P040 reverse Parameter No Function name Data Default setting Unit 00 Input via terminal FV P033 Torque reference input 01 Input via terminal FI 00 z selection 02 Input via terminal FE 03 Input via the Digital Operator P034 Torque reference setting 4 200 Torque reference whet 033 0 P035 Polarity selection attorque 00 As per sign 00 _ reference via FE 01 Depends on the RUN direction P039 Speed limit value in torque 00 to 99 99 100 0 to 400 0 0 00 Hz control forward P040 Spsedlimitvaluein torque 9 49 40 99 99 100 0 to 400 0 0 00 Hz control reverse 00 Disabled P036 Torque bias mode 01 Set via the Digital Operator 00 _ 02 Set via terminal FE P037 Torque bias value 200 to 200 Enabled when P036 01 0 P038 Torque bias polarity 00 As per sign 00 e selection 01 Depends on the RUN direction C001 to C008 Multi function inputs 1 to 8 selection 52 ATR torque reference input permis sion Related functions d009 d010 d012 4 4 suol gt unJ Functions 4 2 Sensor Vector Control speed control Control Block Diagram ATR terminal Speed control P control Speed monitor Speed limit value Speed detection value Torque limit Torque reference Reference value for current control The speed control P control operates when a speed detection value
34. er C007 raie 72 ROT reverse driving stop 05 O 73 SPD speed position switching 5 C008 Multi function input 8 06 selection C021 Multifunction output 00 terminal P1 selection Multi function output coze terminal P2 selection a Multi function output C023 terminal P3 selection 21 ZS 0 Hz signal 03 22 DSE excessive speed deviation x co24 Multifunction output 23 POK position ready 07 terminal P4 selection C025 Multi function output 40 terminal P5 selection Relay output MA ene MB function selection 03 00 Disabled H001 Auto tuning selection 01 Not rotate 00 x 02 Rotate 00 Standard motor parameter H002 Motor parameter 01 Auto tuning parameter 00 _ selection 02 Auto tuning parameter Online auto tuning enabled Hoog Motor capacity 9 99 to 75 00 Default setting x kw selection Motor pole H004 2 2 4 6 8 10 4 x Pole number selection 0 001 to 9 999 10 00 to 80 00 H005 Speed response 10 000 to 80 000 1 590 O Hoo 7 hllzellon 0 to 255 100 o parameter H020 Motor parameter 0 001 to 9 999 Depends onthe Q R1 10 00 to 65 53 motor capacity 3 2 Operation e 3 1 Related Parameters Parameter Changes dur Function name Data range Default setting Unit No ing operation H021 Motor parameter 0 001 to 9 999 Depends on the y Q R2 10 00 to 65 53 motor capacity Motor parameter 0 01 to 99 99
35. he RUN command Output frequency Position count started Speed control Position control Target position SPD terminal ON 4 4 Absolute Position High resolution Absolute Position Control Modes Zero Return Function This function performs three types of zero return operations according to the zero return mode P068 When zero return is complete the current position is cleared to zero You can select the zero return direction in zero return direction selection P069 If zero return is not performed the Inverter performs position control with the position at power on defined as the origin lt Low speed zero return P068 00 gt ORG terminal ON ORL terminal OO N Output frequency Low speed zero return frequency 3 P070 Origin Position lt High speed zero return 1 P068 01 gt ORG terminal ON ORL terminal ON Output 2 _____ High speed zero frequency h return frequency Position 4 Low speed zero return frequency P070 lt High speed zero return 2 P068 02 gt ORG terminal ON ORL terminal Output 2 High speed zero frequency return frequency P071 3 Low speed zero return frequency P070 Origin Position 4 Low speed zero return frequency P070 1 2 3 1 2 3 4 5 6 7 The Inverter accelerates to the low speed zero return frequency according to the ac
36. he default settings factory settings are shown below DIF San Switch No Settings Bees name setting Disconnection detection enabled when encoder A ON and B phases are not connected 1 OFF Disconnection detection disabled when encoder A OFF and B phases are not connected SWENC ON Disconnection detection enabled when encoder Z phase is not connected 2 OFF Disconnection detection disabled when encoder Z OFF phase is not connected ON Built in termination resistor between SAP and SAN 150 Q enabled 1 OFF OFF Built in termination resistor between SAP and p SAN disabled SWR ON Built in termination resistor between SBP and SBN 150 Q enabled 2 OFF OFF Built in termination resistor between SBP and SBN disabled 1 When connecting the multiple units in parallel for pulse train position command inputs turn ON the SWR1 and SWR2 of the only one unit located farthest from the master unit 2 8 Design 2 7 Switch Setting Flow Chart 2 7 Switch Setting Flow Chart Will disconnection NO detection of the encoder A and B phases signal be enabled Turn OFF the SWENC1 Turn ON the SWENC1 Will disconnection detection of the encoder Z phase signal be enabled NO Turn OFF the SWENC2 Turn ON the SWENC2 Will the pulse train position command input be used NO Will the multiple units for pulse train po
37. ics adjust the motor parameters depending on the phenomenon according to the table below Operation status Phenomenon Adjustment method Adjustment item Reduce motor parameter J from the set During startup Shock occurs during startup H024 H034 parameter Reduce the speed response H005 During L Motor hunting occurs deceleration Reduce motor parameter J from the set H024 H034 parameter Insufficient torque occurs at Set an overload limit level lower than b021 During torque limit low frequency during torque limit the torque limit level b041 to b044 Low frequency operation Rotation is not constant Increase motor parameter J from the set parameter H024 H034 High frequency operation high frequency Torque reduction occurs at Decrease motor parameter lo to ap prox 0 7 times H023 3 9 Chapter 4 Functions 4 1 4 2 4 3 4 4 V2 Control Mode Selection 4 1 Sensor Vector Control speed control 4 2 Pulse Train Position Control Mode 4 6 Absolute Position High resolution Absolute Position Control Modes 4 15 Functions 4 1 V2 Control Mode Selection 4 1 V2 Control Mode Selection Select a control method in V2 control mode selection P012 When 00 ASR is selected in P012 speed control mode is enabled Select a frequency reference in frequency reference selection A001 When 01
38. ight of the ferrite cores 2 5 2 5 Connection Diagram 2 5 Co nnection Diagram Available to assign to multi function input terminals 1 to 8 Input terminal Output terminal Available to assign to multi function output terminals 1 to 5 Inverter control terminal PG Board Encoder signal FW H A RV EP5 IR 4 LAC LAD cancel ae PCLR ss deviation ae it 4 ORT Orientation STAT Pulse train position TMI EBP IN cm1 command input EBN 2 permission EZP ran POK Position ready EZN y ZS 0 Hz signal ARNO DSE Excessive speed 7 17 deviation Motor with ES SB an encoder ae SAN Pulse train SBP ST position command TM2 SBN AP am BP Encoder signal output ie Note 1 For the terminal connection on the Inverter refer to the Inverter 3G3RX User s Manual Note 2 For the signal line use a twisted shield wire and apply the shield coating as illustrated be low Keep the length to 20 m or less If the wiring length should be 20 m or more by neces sity use a VX application control device RCD E remote control device or CVD E insulated type signal converter For the encoder line use a twisted shield wire of 0 75 mm or more Keep the length to 20 m or less If the wiring length should be 20 m or longer by necessity use a relay amplifier that specifies 5 V line drive
39. ion deceleration time conform to the currently selected parameters ORT terminal RUN command Output frequency Depends on the speed command selected Position If the Inverter control circuit Ro To is turned on teaching is enabled The current position counter operates even if the workpiece is moved by an external device Teaching is therefore enabled even while the Inverter is stopped Note Make sure that the Inverter power circuit R L1 S L2 T L3 is turned off Also make sure that the Inverter s output U T1 V T2 W T3 is disconnected from the motor Not doing so may result in injury and or damage to the equipment 4 21 4 4 Absolute Position High resolution Absolute Position Control Modes 3 When the target position is reached press the Enter key on the Digital Operator Press the key on the data display screen the PRG LED indicator is lit 4 The current position is set to the area corresponding to the position command source set in teaching selection P074 However the P074 setting is not stored After the power is shut off or after reset this parameter is indicated as 00 x00 P074 set values Position commands to be set 00 P060 Multi step position command 0 01 P061 Multi step position command 1 02 P062 Multi step position command 2 03 P063 Multi step position command 3 a 04 P064 Multi step position command 4 05 P065 Multi step position command 5 06 P066
40. ional board for the 3G3RX Series Inverter With this board you can realize highly accurate system operation with minimum speed fluctuation and position control via pulse train position command input by detecting the rotation speed of the motor with an encoder and using the data for feedback Inverter Internal settings ere Sas Sy Position Speed Torque Current M control control limit control Rotation speed EC detection Position 1 1 Orientation detection control Excessive speed deviation signal output Chapter 2 Design 2 1 2 2 2 3 2 4 2 5 2 6 2 7 Mounting the PG Board 2 1 Terminal Arrangement 2 2 Terminal Functions 2 3 WIRING RSR EE ee ER ES 2 4 Connection Diagram ccceceeeeeeeeeeeeeeeeeees 2 6 SWITCH SO CLINGS oases oscar rere reece eee ene 2 8 Switch Setting Flow Chart 2 9 2 1 Mounting the PG Board 2 1 Mounting the PG Board Securely mount the PG Board as shown below 2 Place the four holes in the corners and the connector on the back of the PG Board on Board port 1 or port 2 correctly with the two holes on the guideposts and the other two on the screw holes The PG Board
41. lt setting Unit P028 Motor gear ratio numerator 0 to 9999 i Motor gear ratio Set a motor to encoder rpm ratio i u P029 denominator P011 Encoder pulses 128 to 9999 1000 to 6553 10000 to 65535 1024 Pulse Set the number of actual encoder pulses Note Make sure that the N D setting is within the range of 1 50 lt N D lt 20 N Motor gear ratio numerator D Motor gear ratio denominator lt Example gt Encoder Gear Load 1024 pulses When the motor to encoder rpm ratio is 1 10 set the following data Number of encoder pulses P011 1024 Motor gear ratio numerator P028 10 e Motor gear ratio denominator P029 100 In this case the orientation stop position is defined as 4096 divisions of the encoder s one rotation Note that the concept of the stop position is inverted from the description in Orientation stop po sition conceptual drawing page 4 14 Position Bias Function Set this function to apply position command bias in the pulse train position control mode The set number of pulses is added to a change value at 2 ms intervals This is used for adjusting the phase of synchronization points during synchronous operation Set an addition value in position bias amount P024 A positive value adds the value in the forward direction Related functions P024 4 3 Pulse Train Position Control Mode Speed Bias Function This function applies speed command bias in
42. lution absolute position control is selected in V2 control mode selection P012 control is based on x4 the number of pulses used for internal operations Set the multi step position command and position range specification for x4 multiplication control The position command can be changed up to 8 steps depending on combinations of multi function inputs Zero return speed can be selected from one low speed and two high speeds The orientation function described in the previous section is not available By using the teaching function you can set the position command while running the machine By allocating 73 SPD to a multi function input you can switch between the speed and position controls For data with many digits e g position command only the higher 4 digits are displayed Parameter No Function name Data Default setting Unit 02 APR2 absolute position control mode P012 V2 control mode selection 03 HAPR high resolution absolute position 00 control mode P023 Position loop gain 0 00 to 99 99 100 0 0 50 rad s P060 Multi step position Position range specification reverse side 0 u command 0 to Position range specification forward side Multi step position Position range specification reverse side P061 ts i 0 _ command 1 to Position range specification forward side P062 Multi step position Position range specification reverse side 0 command 2 to Position range s
43. n P036 01 0 Torque bias polarity 00 As per sign E FOSS selection 2 01 Depends on the RUN direction u Related d010 functions 1 When torque bias is set to the FE terminal 10 to 10 V is recognized as 200 to 200 2 e When 00 As per sign is selected 4 3 When the polarity of a torque bias signal is the torque increases for forward rotation and when it is the torque increases for reverse rotation regardless of the RUN direction e When 01 Depends on the RUN direction is selected The torque bias signal polarity and torque bias direction vary depending on the RUN command direction Forward command Applies torque in the same direction as the torque bias Reverse command Applies torque in the opposite direction of the torque bias 4 2 Sensor Vector Control speed control Torque Control This function can be used in torque control as well as in the speed and pulse train position controls Torque control can be applied to winders and more To run the Inverter in torque control mode allocate 52 ATR to any of the multi function inputs While the ATR terminal is turned on the torque reference input is enabled With torque reference input selection P033 you can select either each analog input or the input via the Digital Operator The torque control speed depends on the balance between torque and load To prevent the Inverter from running out of control set a sp
44. ner 6 Precautions for Correct Use nasi uen ee He 7 Checking Before Unpacking ss 8 REUSIOH FISIOD anne essen seele nr 9 ABOUT TIS MANU al zes esse lan 10 Chapter 1 Overview NET OM GTMIGW ae ee ers ee eee de 1 1 Chapter2 Design 2 1 Mounting the PG Board a2 ae 2 1 2 2 Terminal Arrangement 2 2 2 9 Terminal FUNCIONS s eseni ee 2 3 Ze 1 11 010 A A ASEE E AEE EEEE O 2 4 2 5 Connection Diagramis seen dede ann 2 6 20 SWiteh Settings lee te lh let na ri eee 2 8 2 7 switch Setting Flow Chart el 2 9 Chapter 3 Operation 3 1 Related Parameters nennen ernennen 3 1 3 2 Precautions for Operation 3 8 Chapter 4 Functions 4 141 V2 Control Mode Sel ci n 288 2 tante are 4 1 4 2 Sensor Vector Control speed control 4 2 4 3 Pulse Train Position Control Mode c cccccceceeceeeeeeeeeeneeeeeeeeeeeeeeeeeees 4 6 4 4 Absolute Position High resolution Absolute Position Control MOAES wet irae ieee Sit casa Seat ira en Le 4 15 Chapter 5 Maintenance Operations 5 1 Operation Selection During Option Error 5 1 5 2 Cause and Countermeasure of Option Errors c ccceeeeeeeeeeeeeeeeees 5 2 5 3 Warming Display 22 22 5 3 Chapter 6 Specifications 6 1 Product Specifications nn 6 1 11 Contents Chapter 1 Overview Wea ROVER VLG Wirt eae PR Be Se ee Tees Overview 1 1 Overview 1 1 Overview The PG Board 3G3AX PG01 is an opt
45. ng error 3G3AX PG connection error 1 The Inverter setting or external input is available Note that the 3G3AX DI Board is required separately for the external input 6 1 Authorized Distributor
46. oder signal input Compatible with ne toler EBN sn a goas IRP encoder of 5V DC line driver EZP P output type EZN AP Encoder F i g AN sianal Outputs the encoder signal input by the pulse ratio 5V DC line driver output BP ut 1 1 Complies with RS 422 E BN P 2 EP5 Encoder EG5 power 5 V DC power supply 150 mA max Common supply 2 3 1 Use the Inverter parameters for the pulse train mode selection 2 4 Wiring 2 4 Wiring Wiring Length of Encoder Cable Do not exceed 20 m for the wiring length of the encoder cable If the wiring length should be 20 m or longer by necessity use a relay amplifier that specifies 5 V line driver output In this case be careful of the following points for wiring To use a relay amplifier the wiring length between the PG Board and the relay amplifier must be within 20 m Check the input specifications of the relay amplifier to determine the wiring length be tween the relay amplifier and encoder Confirm with the relay amplifier manufacturer If the wiring length is longer than that specified the Inverter could work erroneously due to influ ence from the outside noise at that point Be careful of the relay amplifier wiring w 2 3 The encoder cable could be easily influenced by outside noise depending on the shielding method of the shield cable resulting in an Inverter failure Generally connect to the power supply ground of a signal line
47. ou input a multi step position command you can set the wait time until the terminal input is determined This prevents the transition status from being applied before it is determined You can adjust the determination time in multi step speed position determination time C169 If no input is made during the time set in C169 the data is determined after the set time elapses Note that the longer the determination time the slower the input response With determination time C169 te Without determination time C169 Position command 4500 CP1 CP2 CP3 Determination time C169 4 18 Functions 4 4 Absolute Position High resolution Absolute Position Control Modes Speed Position Switching Function SPD 4 19 This function is used for speed control operation Allocate 73 SPD to any of the multi function inputs While the SPD terminal is turned ON the current position counter is retained at zero The Inverter shifts to the position control mode when the SPD terminal is turned OFF during operation Speed Position switching With the position command set to 0 the Inverter shifts to the stop operation when the SPD terminal is turned OFF Hunting may occur depending on the position loop gain setting While the SPD terminal is turned ON the Inverter runs in the direction specified by the RUN com mand To shift from speed control to position control be careful about the polarity sign of t
48. pecification forward side P063 Multi step position Position range specification reverse side 0 u command 3 to Position range specification forward side P064 Multi step position Position range specification reverse side 0 2 command 4 to Position range specification forward side P065 Multi step position Position range specification reverse side 0 u command 5 to Position range specification forward side P066 Multi step position Position range specification reverse side 0 _ command 6 to Position range specification forward side Multi step position Position range specification reverse side P067 gt 0 _ command 7 to Position range specification forward side 00 Low P068 Zero return mode 01 Hi 00 _ 02 Hi2 P069 Zero return direction 00 Forward side 00 _ selection 01 Reverse side 4 15 4 4 Absolute Position High resolution Absolute Position Control Modes Parameter No Function name Data Default setting Unit pozo LOw speed zero return 0 00 to 10 00 0 00 Hz frequency P071 High speed zero return 49 to 99 99 100 0 to 400 0 0 00 Hz frequency Position range P 0 to 268435456 when APR2 is selected POT Specification 0 to 1073741823 when HAPR is selected 708435455 forward Position range 268435456 t00 when APR2 is selected REP speciticauon 1073741823 to 0 when HAPRis selected 2868435455 E reverse 00 Multi step position command 0 P
49. permission Frequency reference for the pulse train position control mode is calculated with the following formu la Frequency reference Hz P Number of motor poles 6 4 x P x Kv AP Kv _ Position loop gain ENC 255 ENC Number of encoder pulses AP Position deviation In the position control mode the acceleration deceleration time settings are disabled The Inverter will be automatically brought into LAD cancel status The higher the position loop back gain the shorter the acceleration deceleration time 4 6 suol gt unJ Functions 4 3 Pulse Train Position Control Mode For details on the pulse train input mode refer to the following Mode 0 pulse train with 90 phase difference Pulse train input Detected pulses rse Forward Reversa Time Mode 1 Forward Reverse command Pulse train SAN J J J N Pulse train input i l SBP Forward Reverse command Detected pulses Forward oe Pe Time Mode 2 Forward pulse train Reverse pulse train Reverse pulse train input Detected pulses Forward Reverse Time 4 7 4 3 Pulse Train Position Control Mode Electronic Gear Function This function allows you to set a gain relative to position command or position feedback and to change the main sub motor rotation ratio particularly for synchronous operation
50. r output Perform insulating treatment Connect to each common terminal on the PG Board Ground connection is not required 2 6 oO ubiso Design 2 5 Connection Diagram Note 3 Separate the wiring from that of the main circuit and or the relay control circuit If they have to be crossed be sure to cross them at right angles Main circuit R L1 S L2 T L3 U T1 V T2 W T3 power cable P 2 PD RB N Ro To etc a Cross at right angles a VO signal lines Control signals including STAT ORT LAC PCLR SAP SAN SBP SBN EAP EAN EBP EBN POK DSE ZS AP AN BP BN FC EP5 EG5 CM1 CM2 P24 and PLC Separate them 10 cm apart or more Note 4 Do not short circuit between the terminals EP5 and EG5 in order to avoid breakage Note 5 Insulate between the analog input common terminal FC of the Inverter and the common terminal common for the encoder signal and such peripheral devices as a sequencer Note 6 To connect the encoder signal line follow the illustration below for phase relations during the rotation of the motor EZP _ 2 7 2 6 Switch Settings 2 6 Switch Settings Switch Arrangement The switch arrangement is shown below w o SWENC O Q 5 Switch ON OFF setting Om 1 disk Slide the switch from left OFF to right to turn it ON Default Settings T
51. se Inverter 3G3RX User s Manual Fault display Description Displays when the orientation speed setting P015 becomes larger than the maximum frequency A004 Check the orientation speed setting and the maximum frequency I ES I 5 3 Chapter 6 Specifications 6 1 Product Specifications unusunennnnnnnnnnnnnn Specifications 6 1 Product Specifications 6 1 Product Specifications Item Specifications Encoder feedback Speed control Standard number of encoder pulses 1024 pulses r Maximum input number of pulses 100k pulses s Speed control system Proportional integral P1 Proportional P control Position command Position control The pulse train can be input in three modes Mode 0 Pulse train with 90 phase difference Mode 1 Forward Reverse command Pulse train Mode 2 Forward pulse train Reverse pulse train The input mode depends on the Inverter setting Maximum input number of pulses 100k pulses s Electronic gear Pulse ratio A B A B 1 to 9999 can be set Available setting range 1 50 lt A B lt 20 Stop position 4096 divisions per one motor rotation Orientation Speed Orientation speed and rotation direction settings available Protective functions Encoder cable disconnection protection Overspeed protection Overspeed error detection level P026 Positioni
52. sition command inputs be connected in parallel NO Turn ON the SWR1 and 2 of the only one unit that is Turn ON the SWR1 and 2 farthest from the master unit End 2 9 Chapter 3 Operation 3 1 Related Parameters 5 25e 3 1 3 2 Precautions for Operation 3 8 Operation e 3 1 Related Parameters 3 1 Related Parameters For details on the parameters refer to Chapter 4 Functions and the Inverter 3G3RX User s Man ual Parameter 5 Default setting Changes dur 3 No Function name Data range 3G3RX ing operation Unit 00 Digital Operator FREQ adjuster Enabled when 3G3AX OP01 is connected 01 Terminal Frequency 02 Digital Operator F001 A001 reference 03 ModBus communication 02 x selection 04 Option 1 05 Option 2 06 Pulse train frequency 07 Not used 10 Frequency operation result 01 Terminal 02 Digital Operator F001 A002 RUN command 03 ModBus communication 02 x selection 04 Option 1 05 Option 2 00 Constant torque characteristics VC 01 Special reduced torque characteris gt tics special VP A044 4 en 02 Free V f characteristics 00 x 03 Sensorless vector control SLV 04 0 Hz sensorless vector control 05 Sensor vector control V2 00 FI 01 FV More Ele back 02 RS485 communication 00 x selection 03 Pulse train frequency 10 Operation function output 00 Digital Operator F001
53. splay 5 3 Maintenance Operations 5 1 Operation Selection During Option Error 5 1 Operation Selection During Option Error You can select whether to trip the Inverter or continue operation ignoring an error when the optional PG Board causes an error Parameter No Function name Data REC EST SIE Unit setting ing operation P001 Operation selection at option 00 Trip 00 3 _ 1 error 01 Continues operation P002 Operation selection at option 00 Trip 00 y _ 2 error 01 Continues operation Note Even if 01 has been selected in operation selection at option error the Inverter trips when an encoder disconnection error E60 E70 or 3G3AX PG connection error E69 E79 occurs Refer to 2 6 Switch Settings page 2 8 5 1 5 2 Cause and Countermeasure of Option Errors 5 2 Cause and Countermeasure of Option Errors The Inverter stops and displays an error in the following cases Pewi Enon Description Remedy display name Detects encoder disconnection and Check the connection and con connection failure ductive wire of encoder line Detects if the encoder has broken or Encoder disconnection the encoder is not the one that spec ifies the line driver output Use the specified encoder instead Detects if an encoder without phase Z has been used Turn OFF the SWENC 2 on the PG Board
54. the pulse train position control mode Set a bias value in frequency addition amount A145 and select a sign in frequency addition direc tion A146 Allocate 50 ADD to any of the multi function inputs While the ADD terminal is turned ON the bias value is added to the speed command Position feedback variation Position command variation Speed bias Set with A146 Speed control Speed feedback value suol gt unJ Related functions A145 A146 Orientation Function This function determines a motor position at a single desired point during one rotation ofthe motor and can be used to exchange tools for a machine tool main spindle or others During positioning the Z pulse one rotation position signal is used as the reference signal Input Z pulse between EZP and EZN Parameter No Function name Data Default setting Unit 128 to 9999 1000 to 6553 P011 Encoder pulses 10000 to 65530 1024 Pulse P014 Orientation stop position 0 to 4095 0 P015 Orientation speed setting 0 00 to 99 99 100 0 to 120 0 5 00 Hz i i irecti 00 Forward side P016 Orientation direction 00 setting 01 Reverse side Position ready range 0 to 9999 PON setting 1000 10000 5 Pulse P018 Position ready delay time 0 00 to 9 99 0 00 setting P023 Position loop gain 0 00 to 99 99 100 0 0 50 rad s 4 12 Functions 4 3 Pulse Train Position Control Mode Par
55. uct or any consequence thereof Read and Understand This Manual Disclaimers CHANGE IN SPECIFICATIONS Product specifications and accessories may be changed at any time based on improvements and other reasons It is our practice to change model numbers when published ratings or features are changed or when significant construction changes are made However some specifications of the products may be changed without any notice When in doubt special model numbers may be assigned to fix or establish key specifications for your application on your request Please consult with your OMRON representative at any time to confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of OMRON s test conditions and the users must correlate it to actual application requirements Actual performance is subject to the OMRON Warranty and Limitations of Liability ERRORS AND OMISSIONS The information in this manual has been carefully checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions
56. uments identifying ratings and limitations of use that apply to the products This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product machine system or other application or use The following are some examples of applications for which particular attention must be given This is not intended to be an exhaustive list of all possible uses of the products nor is it intended to imply that the uses listed may be suitable for the products Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this manual e Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to separate industry or government regulations Systems machines and equipment that could present a risk to life or property Please know and observe all prohibitions of use applicable to the products NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM PROGRAMMABLE PRODUCTS OMRON shall not be responsible for the user s programming of a programmable prod
57. z reverse po55 Pulse train 1 0 to 50 0 25 0 x kHz frequency scale Pulse train P056 frequency filter 0 01 to 2 00 0 10 x s time constant 3 5 3 1 Related Parameters Parameter Function name Data range Default setting Cnengee au Unit No ing operation Pulse train P057 frequency bias 100 to 100 0 x amount pose use tram 0 to 100 100 x frequency limit P060 Multi step position 0 command 0 P06 1 Multi step position 0 command 1 P062 Multi step position 0 command 2 P063 Multi step position Position range specification reverse 0 command 3 side to Position range specification o _ Multi step position forward side POSE and Displays MSB 4 digits including 0 P065 Multi step position 0 command 5 P066 Multi step position 0 command 6 P067 Multi step position 0 command 7 00 Low P068 Zero return mode 01 Hi1 00 O _ 02 Hi2 Zero return 00 Forward side page direction selection 01 Reverse side 99 Q pozo Low speed zero Go to 10 00 0 00 O Hz return frequency High speed zero 0 00 to 99 99 FO return frequency 100 0 to Max frequency 9 00 9 Hz Position range 0 to 268435455 at P012 02 P072 specification 0 to 1073741823 at P012 03 268435455 O forward side Displays MSB 4 digits Position range 268435455 to 0 at P012 02 P073 specification 1073741823 to 0 at P012 0
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