HITACHI ADAX4 User Manual

HITACHI AC SERVO DRIVES

With Programmable Functions(Enhancement)

ADAX4 Series

Instruction Manual

Thank you very much for purchasing the HITACHI AC servo drives. This instruction manual describes the handling, maintenance, and others of the HITACHI

D series servo drives with AC servo programmable functions. Please read this manual thoroughly before operating it so that installation, maintenance, inspection may be performed correctly. For the program function, read the instruction manual pertaining to the Programmable Function. When using option products related to this servo drives, read the instruction manuals for the related products thoroughly.

Keep this manual handy for your quick reference.

NB284X

SAFETY

For the Best Results with AD Series servo drives, read this manual and all of the warning sign attached to the servo drive carefully before installing and operating it, and follow the instructions exactly . Keep this manual handy for your quick reference.

Definitions and Symbols

A safety instruction (message) is given with a hazard alert symbol and a signal word;

WARNING or CAUTION. Each signal word has the following meaning throughout this manual.

WARNING

This symbol means hazardous high voltage. It used to call your attention to items or operations that could be dangerous to you or other persons operating this equipment. Read these message and follow these instructions carefully.

This is the "Safety Alert Symbol" This symbol is used to call your attention to items or operations that could be dangerous to you or other persons operating this equipment. Read these messages and follow these instructions carefully.

WARNING

Indicates a potentially hazardous situation which, if not avoided, can result in serious injury or death.

CAUTION

Indicates a potentially hazardous situation which, if not avoided, can result in minor to moderate injury, or serious damage of product. The matters described under may, if not avoided, lead to serious results depending on the situation. Important matters are described in CAUTION (as well as WARNING), so be sure to observe them.

CAUTION

NOTE

When servicing drives and electronic controllers, there might be exposed components with cases or protrusions at or above line potential. Extreme care should be taken to product against shock.

Always work with another person in case an emergency occurs. Disconnect power before checking controllers or performing maintenance. Be sure equipment is properly grounded. Wear safety glasses

HAZARDOUS HIGH VOLTAGE

Motor control equipment and electronic controllers are connected to hazardous line voltages.

Stand on an insulating pad and make it a habit to use only one hand when checking components.

Notes indicate an area or subject of special merit, emphasizing either the product's capabilities or common errors in operation or maintenance.

whenever working on an electronic controller or rotating electrical equipment.

PRECAUTION

SAFETY

WARNING

maintenance personal familiar with the construction and operation of the equipment and the hazards involved. Failure to observe this precaution could results in bodily injury.

WARNING

mechanism not supplied by Hitachi, and process line material are capable of safe operation at an applied maximum speed to the AC servo motor. Failure to do so can result in destruction of equipment and injury to personnel should a single point failure occur.

WARNING

capable of large currents to avoid an unnecessary operation. The ground fault protection circuit is not designed to protect personal injury.

WARNING

BEFORE WORKING ON THIS CONTROL.

WARNING

PROTECTION IS REQUIRED TO BE PROVIDED IN ACCORDANCE WITH THE SAFETY CODES REQUIRED BY JURISDICTIONAL AUTHORITIES.

CAUTION

series equipment.

: This is equipment should be installed, adjusted and serviced by qualified electrical

: The user is responsible for ensuring that all driven machinery, drive train

: For protection, install an earth leakage breaker with a high frequency circuit

: HAZARD OF ELECTRICAL SHOCK. DISCONNECT INCOMING POWER

: SEPARATE MOTOR OVERCURRENT, OVERLOAD AND OVERHEATING

: These instructions should be read and clearly understood before working on AD

CAUTION

are the responsibility of the user and are not provided by Hitachi.

CAUTION

Therefore, it is strongly recommended that all electrical work conform to the National Electrical Codes and local regulations. Only qualified personnel should perform installation, alignment and maintenance. Factory recommended test procedures, included in the instruction manual, should be followed. Always disconnect electrical power before working on the unit.

: Proper grounds, disconnecting devices and other safety devices and their location

: DANGEROUS VOLTAGE EXISTS UNTIL CHARGE LAMP IS OFF. : Rotating shafts and above ground electrical potentials can be hazardous.

NOTE : POLLUTION DEGREE 2

The servo drives must be used environment of the degree 2. Typical constructions that reduce the possibility of conductive pollution are;

1) The use of an unventilated enclosure

2) The use of a filtered ventilated enclosure when the ventilation is fan forced that is, ventilation is accomplished by one or more blowers within the enclosure that provide a positive intake and exhaust.

iii

SAFETY

Cautions for EMC (Electromagnetic Compatibility)

It is required to satisfy the EMC directive (89/336/EEC) when using AD series servo drives in EU country. To satisfy the EMC directive and to comply with standard (EN61800-3), the followi ng should be kept.

WARNING

familiar with construction and operation of the equipment and the hazards involved. Failure to observe this precaution could result in bodily injury.

1. The power supply to the drives must meet these specifications: a. Voltage fluctuation +10%/-15% or less. b. Voltage unbalance +/-3% or less. c. Frequency variation +/-4% or less. d. Voltage distortion THD = 10% or less.

2. Installation measure: a. Use a filter designed for AD series servo drives.

3. Wiring a. Shielded wire (screened cable) is required for motor wiring, and the length must be less

than 30 meters.

b. Separate the main circuit from the signal/process circuit wiring.

: This equipment should be installed, adjusted, and serviced by qualified personal

4. Environmental conditions – when using a filter, follow these guidelines: a. Ambient air temperature: 0 - +55 ºC. b. Humidity: 20 to 90% RH (non-condensing)

c. Vibration: 5.9 m/sec d. Location: 1000meters or less altitude, indoors (no corrosive gas or dust)

(0.6 G) 10 – 55Hz.

SAFETY

Conformity to the Low Voltage Directive (LVD)

The protective enclosure is required to satisfy the Low Voltage Directive (73/23/EEC). The drives can conform to the LVD and comply with standard (EN50178) by mounting into the

following enclosure.

1.Enclosure The drives must be installed into a enclosure which has the protection degree of Type IP2X (See

EN60529). In addition the top surface or front surface of enclosure are easily accessible shall meet at least the requirements of the Protective Type IP4X.

2.Protection device A double pole disconnection device must be fitted to the incoming mains supply close to the drive.

Additionaly, a protection device meeting IEC947-1/IEC947-3 must be fitted at this point. (protection device data shown in page vii)

IP4

IP2X with louver

SAFETY

UL Warnings and Cautions Manual for AD series

This auxiliary instruction manual should be delivered to the end user.

1. Wiring Warnings for Electrical Practices and Wire Specifications

(1) ! WARNING : "Use 60/75 ºC CU wire only" or equivalent.

(2) ! WARNING: "Open Type Equipment."

(3) ! WARNING: " Suitable for use on a circuit capable or delivering not more than 10,000 rms symmetrical amperes, 240 V maximum.

2.Tightening Torque and Wire Range

(1) ! WARNING : Tightening torque and wire range for field wiring terminals are marked

adjacent to the terminal or on the wiring diagram.

Model Name

ADAX4-R5MS 1.2 18 18 ADAX4-01MS 1.2 18 18 ADAX4-02MS 1.2 18 18 ADAX4-04MS 1.2 16 18

ADAX4-R5LS 1.2 18 18 ADAX4-01LS 1.2 18 18 ADAX4-02LS 1.2 18 18 ADAX4-04LS 1.2 18 18 ADAX4-08LS 1.2 18 18 ADAX4-10LS 1.2 16 16 ADAX4-20LS 1.2 14 14 ADAX4-30LS 1.2 12 10 ADAX4-50LS 2.0 10 10

Tightening Torque [N•m] Wire Range (AWG)

Input Output

ADAX4-01NSE 1.2 18 18 ADAX4-02NSE 1.2 18 18 ADAX4-04NSE 1.2 18 18 ADAX4-08NSE 1.2 16 18

ADAX4-15HPE 0.5~0.6 18 18 ADAX4-35HPE 0.5~0.6 14 14 ADAX4-70HPE 2.0 10 10

SAFETY

3. Fuse Size

(1) ! WARNING : Distribution fuse size marking is included in the manual to indicate that the

unit shall be connected with an UL Listed Class J fuse rated 600 V with the current ratings as shown in the table below.

Model Name Input Phase ADAX4-R5MS 3 3 ADAX4-01MS 3 6 ADAX4-02MS 3 10 ADAX4-04MS 3 15

ADAX4-R5LS 3 3 ADAX4-01LS 3 3 ADAX4-02LS 3 3 ADAX4-04LS 3 6 ADAX4-08LS 3 10 ADAX4-10LS 3 10 ADAX4-20LS 3 20 ADAX4-30LS 3 30 ADAX4-50LS 3 50 ADAX4-01NSE 1/3 3/3 ADAX4-02NSE 1/3 6/3 ADAX4-04NSE 1/3 10/6 ADAX4-08NSE 1/3 15/10

ADAX4-15HPE 3 10 ADAX4-35HPE 3 20 ADAX4-70HPE 3 50

Fuse [A]

4.Others

(1) ! WARNING : "Field wiring connection must be made by an UL Listed and CSA Certified

closed-loop terminal connector sized for the wire gauge involved. Connector must be fixed using the crimp tool specified by the connector manufacturer. ", or equivalent wording included in the manual.

(2) ! WARNING : Use the transient voltage surge suppressors recognized in

UL1449.

(3) ! W ARNING : “Solid st ate motor over load protection is provided in each model.”, or equivalent.

(4) ! WARNING : “Maximum Surrounding Air Temperature 55°C.”

(5) ! WARNING : “Not incorporating Over-speed Protection.” or an equivalent statement.

vii

accordance with

Contents

CHAPTER 1 SAFETY PRECAUTIONS

1.1 Installation...................................1 − 2

1.2 Wiring..........................................1 − 3

1.3 Control and operation...................1 −4

1.4 Maintenance, inspection and ......1 − 5

part replacement

1.5 Others......................................... 1 − 5

CHAPTER 2 INTRODUCTION

2.1 Inspection upon unpacking.........2 − 2

2.1.1 Checking the product.............2 − 2

2.1.2 Instruction manual..................2 − 5

2.2 Inquiry about the Product

and Warranty ..............................2 − 5

2.2.1 Notes for making an

inquiry ....................................2 − 5

2.2.2 Product warranty....................2 − 5

2.2.3 Charged repair.......................2 − 5

2.3 Appearance and Names

of Parts .......................................2 − 6

2.4 Combination of servo amplifiers

and servo motors........................2 − 8

CHAPTER 3 INSTALLATION AND WIRING

3.1 Installation...................................3 − 2

3.1.1 Precautions on

installation..............................3 − 3

3.2 Wiring..........................................3 − 5

3.2.1 Terminals and connectors......3 − 6

3.2.2 Main circuit wiring...................3 − 8

3.2.3 Wiring for the control power connector (TM2)

(200V class).........................3 − 21

3.2.4 Connecting the backup battery for absolute

encoder................................3 − 22

3.2.5 Input/output signal

wiring....................................3 − 23

3.2.6 Wiring for encoder

signals..................................3 − 39

CHAPTER 4 OPERATION

4.1 Operating Method.......................4 − 2

4.1.1 Speed-control operation

by analog input.......................4 − 4

4.1.2 Speed control operation

by multistage speed...............4 − 5

4.1.3 Position control operation

by pulse train input.................4 − 6

4.2 Test Run.....................................4 − 7

4.2.1 Test run by analog input ........4 − 7

4.2.2 Test run by multistage

speed.....................................4 − 8

4.2.3 Jogging operation and teaching operation from the digital

operator .................................4 − 9

4.2.4 Test run by using the

setup software AHF..............4 − 11

CHAPTER 5 FUNCTIONS

5.1 Terminal Functions List...............5 − 2

5.2 Input Terminal Functions.............5 − 4

5.3 Output Terminal Functions........5 − 15

5.4 Analog Input/output

Function....................................5 − 21

5.4.1 Analog Input Function...........5 − 21

5.4.2 Analog Output Function.........5 − 27

5.5 Analog Input Acceleration/

Deceleration Function...............5 − 28

5.6 Multistage Speed Function........5 − 29

5.7 Position Pulse Train Input

Function....................................5 − 31

5.8 Smoothing Function..................5 − 34

5.9 Encoder Monitor Function.........5 − 36

5.10 Adjusting the Control Gain......5 − 38

5.10.1 Basic Rules of Gain

Adjustment ........................5 − 38

5.10.2 Rigidity and Response Setting of The Mechanical

System ..............................5 − 39

5.10.3 Adjusting The Speed

Feedback Loop..................5 − 40

5.10.4 Adjusting The Position

Feedback Loop..................5 − 41

5.1 1 Offline Auto-tuning Function...5 − 42

5.1 1.1 Offline Auto-tuning

Method...............................5 − 42

5.1 1.2 Offline Auto-tuning Using

the AD series Setup

Software AHF.....................5 − 45

5.12 Online Auto-tuning Function...5 − 47

5.12.1 Online Auto-tuning

Method...............................5 − 47

Contents

CONTENTS

5.12.2 Online Auto-tuning Using

the Setup Software AHF ....5 − 50

5.13 Gain Change Function............5 − 51

5.13.1 Changing the Control

Gain................................... 5 − 51

5.14 Functions for Absolute

Position Encoder ....................5 − 54

5.15 Clearing the Trip Log and

Factory Settings......................5 − 58

5.16 Directions of Run of the Servo

Motor and Servo Drive............5 − 60

5.17 Speed Limit Function..............5 − 60

5.18 Fast positioning Function........5 − 61

5.19 Notch filter Function................5 − 62

CHAPTER 6 DETAILS OF PARAMETERS

6.1 Names of Digital Operator

Parts and Operating the

Digital Operator...........................6 − 2

6.1.1 Names of Digital Operator

Parts.......................................6 − 2

6.1.2 Operating the Digital

Operator.................................6 − 3

6.2 List of Functions..........................6 − 6

6.2.1 List of Monitor Functions........6 − 7

6.2.2 List of Setting Parameters......6 − 8

6.3 Details of Functions ..................6 − 14

6.3.1 Details of Monitor

Indication..............................6 − 14

6.3.2 Details of Setting

Parameters ..........................6 − 18

6.4 Control Block Diagram and

Monitors....................................6 − 48

CHAPTER 7 MAINTENANCE AND

INSPECTION

7.1 Precautions on Maintenance

and Inspection.............................7 − 2

7.1.1 Request at Maintenance

and Inspection........................7 − 2

7.1.2 Daily Inspection......................7 − 2

7.1.3 Cleaning.................................7 − 2

7.1.4 Periodic Inspection.................7 − 2

7.2 Daily Inspection and Periodic

Inspection ...................................7 − 3

7.3 Megger Test and Withstand

Volt age Test ................................7 − 4

7.4 Checking the Inverter and

Converter....................................7 − 4

7.5 Capacitor Life Curve ..................7 − 6

7.6 Battery Life for

Absolute Encoder ......................7 − 6

CHAPTER 8 SPECIFICATIONS AND

DIMENSIONS

8.1 Specification Table Standard.......8 − 2

8.2 External Dimension and

Mounting Hole

Drawing of Servo Drive...............8 − 4

CHAPTER 9 TROUBLESHOOTING

9.1 Trip Indication (Trip Log).............9 − 2

9.2 List of Protective Functions.........9 − 3

9.3 Troubleshooting..........................9 − 5

9.3.1 When a trip is not caused ......9 − 5

9.3.2 When a trip is caused ............9 − 8

CHAPTER 10 OPTIONAL FUNCTIONS

10.1 Outline of Modbus communication

option module...........................10 − 2

10.2 Wiring of Modbus-Network........10 − 3

10.3 Modbus communication

specifications ............................10 − 5

10.4 Modbus commuication

setting.......................................10 − 5

10.5 Modbus transmission

procedure................................10 − 6

10.6 List of Modbus Coil number

and Register number..............10 − 15

10.7 Teaching Function..................10 − 26

10.7.1 Name and operation of

each parts of

Teaching UNIT....................10− 26

10.7.2 Mode change operation and

operation with each mode ..10− 28

10.7.3 Other explanations .............10− 31

CHAPTER 11 APPENDIXES

11.1 Options...................................11 − 2

1 1.2 Electronic Thermal Operation

Time.....................................11 − 19

11.3 Internal Block Diagram of

Servo Drive...........................11 − 23

CONTENTS

11.4 Example Connection with

Programmable Controller .....11 − 27

11.4.1 Main circuit connection.....11 − 27

11.4.2 Connection with Hitachi 4 axes

positioning module

EH-POS4(I/O)..................11 − 29

11.4.3 Connection with Hitachi one

axis positioning

module EH-POS(I/O)........11 − 30

11.4.4 Connection with Hitachi 4

axis positioning module

EH-POS4(I/O)...................11

11.4.5 Connection with Hitachi one

axis positioning module

EH-POS(I/O).....................11

11.4.6 Modbus connection

example.............................11

11.5 Example Connection with

peripheral equipment ...........11 − 34

11.5.1 Connection of Speed/

Torque control operation...11

− 31

− 32

− 33

− 34

Contents

CHAPTER 1 SAFETY PRECAUTIONS

Read this manual and all of the warning sign attached to the drives carefully before installing and operating it, and follow the instructions exactly . Keep this manual handy for your quick reference.

1.1 Installation.................................................... 1 − 2

1.2 Wiring........................................................... 1 − 3

1.3 Control and operation ………………………... 1 − 4

1.4 Maintenance, inspection and part ............... 1 − 5

replacement

1.5 Others.......................................................... 1 − 6

1 - 1

CHAPTER 1 SAFETY PRECAUTIONS

1.1 Installation

CAUTION

• Be sure to install the unit on flame resistant material such as metal. Otherwise, there is a danger of fire.

• Be sure not to place anything inflammable in the vicinity. Otherwise, there is a danger of fire.

• Do not carry unit by top cover, always carry by supporting base of unit. There is a risk of falling and injury.

• Be sure not to let the foreign matter enter such as cut wire refuse, spatter

from welding, iron refuse, wire, dust, etc.

Otherwise, there is a danger of fire.

• Be sure to install it in a place where can bear the weight according to the

specifications in the text.

Otherwise, it may fall and there is a danger of injury.

• Be sure to install the unit on a perpendicular wall where is not subject to

vibration.

Otherwise, it may fall and there is a danger of injury.

• Be sure not to install and operate AC servo drive which is damaged or parts

of which are missing.

Otherwise, there is a danger of injury.

• Be sure to install it in a room where is not exposed to direct sunlight and is

well ventilated. Avoid environments which tend to be high in temperature, high in humidity or to have dew condensation, as well as places with dust, corrosive gas, explosive gas, inflammable gas, grinding-fluid mist, salt damage, etc.

Otherwise, there is a danger of fire.

1 - 2

1.2 Wiring

• Be sure to ground the unit. Otherwise, there is a danger of electric shock and/or fire.

• Wiring work shall be carried out by electrical experts. Otherwise, there is a danger of electric shock and/or fire.

• Implement wiring after checking that the power supply is off. It might incur electric shock and/or fire.

• After installing the main body, carry out wiring. Otherwise, there is a danger of electric shock and/or injury.

WARNING

CHAPTER 1 SAFETY PRECAUTIONS

• Make sure that the input voltage is: Three phase 200 to 230V 50/60Hz (for models with suffix L) Single phase 100 to 115V 50/60Hz (for models with suffix M) Single phase 220 to 230V / Three phase 200 to 230V 50/60Hz (for models with suffix N) Three phase 380 to 480V 50/60Hz (for models with suffix H) Control power supply 200 to 240V 50/60Hz (for models with suffix H) Otherwise, there is a danger of fire.

• Be sure not to input a single phase for models with suffix H and suffix L. Otherwise, there is a danger of fire.

• Be sure not to connect AC power supply to the output terminals(U, V, W). Otherwise, there is a danger of injury and/or fire.

• Be sure not to connect the resistor to DC terminals (+1,+ and –) directly. Otherwise, there is a danger of fire.

• As for motor leads, fuses and electromagnetic contactors, be sure to use the

equivalent ones with the specified capacity (rated).

Otherwise, there is a danger of fire.

• Fasten the screws with the specified fastening torque. Check so that there is

no loosening of screws.

Otherwise, there is a danger of fire.

CAUTION

• Connection to field wiring terminals must be reliably fixed having two

independent means of support. Using terminal with cable support, cable gland or cable clamp etc.

Otherwise, there is a danger of fire.

• Be sure to connect between servo drive logic ground (L) and controller ground when pulse train input is used by servo drive with source type logic.

Otherwise, A equipment failure will be caused.

1 - 3

CHAPTER 1 SAFETY PRECAUTIONS

1.3 Control and operation

WARNING

• While the servo drive is energized, be sure not to touch the main terminal or to check the signal or put on/off wire and/or connector.

Otherwise, there is a danger of electric shock.

• Be sure to turn on the input power supply after closing the terminal cover. While being energized, be sure not to open the terminal cover.

Otherwise, there is a danger of electric shock.

• Be sure not to operate the switches with wet hands.

Otherwise, there is a danger of electric shock.

• While the servo drive is energized, be sure not to touch the servo drive terminals even during stoppage.

Otherwise, there is a danger of electric shock.

• It may suddenly restart after the incoming power failure. Be sure not to approach the machine. (Be sure to design the machine so that personnel safety will be secured even if it restarts.)

Otherwise, there is a danger of injury.

• Even if the power supply is cut for a short period of time, it may restart operation after the power supply is recovered if the operation command is given. If it may incur danger to personnel, be sure to make a circuit so that it will not restart after power recovery.

Otherwise, there is a danger of injury.

• After the operation command is given, if the alarm reset is conducted, it will restart suddenly. Be sure to set the alarm reset after checking the operation command is off.

Otherwise, there is a danger of injury.

• Be sure not to touch the inside of the energized servo drive or to put a bar into it.

Otherwise, there is a danger of electric shock and/or fire.

1 - 4

CHAPTER 1 SAFETY PRECAUTIONS

• Cooling fin will have high temperature. Be sure not to touch them.

Otherwise, there is a danger of getting burned.

• Install external break system if needed.

Otherwise, there is a danger of injury.

CAUTION

1.4 Maintenance, inspection and part replacement

• After a lapse of more than 10 minutes after turning off the input power supply, perform the maintenance and inspection.

Otherwise, there is a danger of electric shock.

• Make sure that only qualified persons will perform maintenance, inspection and part replacement. (Before starting the work, remove metallic objects from your body (wristwatch, bracelet, etc.) (Be sure to use tools protected with insulation.)

Otherwise, there is a danger of electric shock and/or injury.

WARNING

1.5 Others

• Never modify the unit.

Otherwise, there is a danger of electric shock and/or injury.

WARNING

1 - 5

CHAPTER 1 SAFETY PRECAUTIONS

MEMO

1 - 6

CHAPTER 2 INTRODUCTION

This chapter explains the checking, warranty, and names of parts of the product that you purchased.

2.1 Inspection upon unpacking.......................... 2 − 2

2.1.1 Checking the product ............................ 2 − 2

2.1.2 Instruction m anual................................. 2 − 5

2.2 Inquiry about the Product and Warranty...... 2 − 5

2.2.1 Notes for making an inquiry................... 2 − 5

2.2.2 Product warranty................................... 2 − 5

2.2.3 Charged repair ...................................... 2 − 5

2.3 Appearance and Names of Parts................. 2 − 6

2.4 Combination of servo amplifiers

and servo motors.................................... 2 − 8

2 - 1

CHAPTER 2 INTRODUCTION

2.1 Inspection upon unpacking

2.1.1 Checking the product

After unpacking, take out the servo drive and check the following items. If you have any doubt or fault on the product, please contact your dealer.

(1) Make sure that there was no damage (injury, falling or dents in the body) of the product. (2) After unpacking, make sure that the package contains the following articles.

ADAX4-LS/MS

Packed article

(a) Servo drive 1 unit 1 unit 1 unit 1 unit 1 unit (b) Control power

supply connector

/ control power

circuit connector (d)Instruction manual 1 copy 1 copy 1 copy 1 copy 1 copy Installation manual (e)communication

connector

ADAX4-LSMB/MSMB

50~1.5kw more than

2kW

1 piece Not

provided

Not

provided

1 piece 1 piece 1 piece 1 piece 1 piece Only ADAX4-

Not

provided Not provided 3 pieces

ADAX4-NS

ADAX4-NSMB

(200V class)

1 piece

ADAX4-HP

ADAX4-HPMB

(400V class)

1.5, 3.5kW 7kW

Not

provided

Not

provided

Not

provided

Remarks

With wire inserting jig

With B1-B2 short bar

Main power circuit : 2

Control power circuit : 1

MB

The attached manual with the servo drive is the simple one for installation, maintenance and inspection. This detailed manual is not attached.

(3) Check on the specification nameplate whether the product is as ordered or not.

(a)

Specification

(b)

nameplate (Located on the front cover for 3-phase 400V

3.5kW and 7kW)

(c)

(

HITACHI AC Servo Drives

ADAX4 Series

Instruction Manual

3-phase 400V

1.5, 3.5kW (Without cover)

HITACHI

Specification nameplate position

(200V class and 400V 1.5kW)

(e)

(e) Only ADAX4-MB

2 - 2

CHAPTER 2 INTRODUCTION

[200V class servo amplifiers]

Drive model

Applicable motor

maximum rated out

Input rating

Output rating

Production numbe

Model : kW Input :

Input :

Output : 3Ph MFG No.

Hitachi Industrial Equipment

ADAX3-02NSE

1Ph

3Ph

212U N12345 20001 0209

Systems

Co.,Ltd

0.2 220-230 2.5 200-230 230

Vmax

MADE IN JAPAN

[200V class servo amplifiers with Modbus optional board]

Drive model

Applicable motor

maximum rated out

Input rating

Output rating

Production numbe

Model : kW Input :

Input :

Output : 3Ph MFG No.

Hitachi Industrial Equipment

ADAX3-02NSEMB

0.2

1Ph

3Ph

220-230 2.5 200-230 230

212U N12345 20001 0209

Systems

Co.,Ltd

Vmax

[400V class servo amplifiers]

1.5

1.7

1.5

1.7

MADE IN JAPAN

50Hz

A A

Date:

NE17121

50Hz

A A

Date:

NE17121

,60Hz

-39

,60Hz

-39

Drive model

pplicable moto

maximum rated output

Control power circuit input

Main power circuit Input

Output rating

Production numbe

Model : kW Input(Control): 1Ph Input(Main) : 3Ph Output : MFG No.

Hitachi Industrial Equipment

ADAX3-35HPE

24A N12345 20001 0209

Systems

Co.

3.5

3Ph

,Ltd

200-240 0.3 380-4801213 480

[400V class servo amplifiers with Modbus optional board]

Drive model

pplicable moto

maximum rated output

Control power circuit input

Main power circuit Input

Output rating

Production numbe

Model : kW Input(Control): 1Ph Input(Main) : 3Ph Output : MFG No.

Hitachi Industrial Equipment

ADAX3-35HPEMB

3.5

3Ph

24A N12345 20001 0209

Systems

Co.

,Ltd

200-240 0.3 380-4801213 480

V V

Vmax

MADE IN JAPAN

V V

Vmax

MADE IN JAPAN

50Hz

0 -420Hz

Date:

NE17609

50Hz

0 -420Hz

Date:

NE17609

,60Hz ,60Hz

-2

,60Hz ,60Hz

-2

Contents of Specification Nameplate

2 - 3

CHAPTER 2 INTRODUCTION

(4) When the 200V class servo motor with the serial incremental encoder (17bit / revolution) is

different from the specification of the standard product, connect the encoder and then perform initialize processing. For the procedure, refer to Chapter 5, “Clearing the Trip Log and Performing Factory-setting”.

(5) In case that you use the motor with the serial absolute encoder (17bit / revolution), Absolute

Battery Error (E90) occurs after connecting the backup battery and turning on the power supply. Clear the trip and then clear the encoder data. For the procedure, refer to Chapter 5, “Functions for Absolute Position Encoder”, (2) Clearing the absolute position.

Explanation of Drive model

AX4

Series name

AD : AD series

Drive name AX4 : Programmable

function build-in

–

08 N

Option

None : Standard

MB :

Modbus

I/O polarity

None:

Input…Sink/Source Output…Sink Pulse input… insulation

Input…Sink/Source Output…Source

Pulse input… no insulation

Encoder type

17bit / revolution

Serial encoder

(Incremental, Absolute)

P: Wire-saving incremental encoder

Input power supply

M: Single phase 100V class L: Three phase 200V class N: Single / Three phase 200V class H: Three phase 400V class

Output rating

Symbol Rating(kW) Voltage

(Note) Drive is becomes an article of order by combination of input power supply, Encoder type and

I/O polarity. Refer to chapter 8 for Standard models.

R5 01 02 04 08 10 15 20 35 50 70

0.05 0.1 0.2 0.4 0.8 1.0 1.5 2.0 3.5 5.0 7 M

M L N

L N

2 - 4

CHAPTER 2 INSTRUCTION

2.1.2 Instruction manual

This instruction manual explains the detail of the Hitachi AD series servo. Please read this manual thoroughly to operate the product correctly before operating it. Keep the manual in custody with care. When using option products related to this servo drive, read the instruction manuals for the related products thoroughly.

2.2 Inquiry about the Product and Warranty

2.2.1 Notes for making an inquiry

If you have to make an inquiry about product damage, doubt, failure, etc., inform the dealer of the following items.

(1) Servo drive type a nd form (model No.) (2) Production number (MFG. No.) (3) Date of purchase (4) Contents of your inquiry

- Damage position, status, etc.

- Doubtful item, contents, etc.

2.2.2 Product warranty

The product warranty period shall be one year after purchase. In the following cases, however , the product is out of the warranty range and shall be repa ired with charge even within the warranty period.

(1) The failure is due to an operation error or improper repair or modification. (2) The failure is due to any other reason that is not related to your purchased product. (3) The product was operated over the specification value rang e. (4) The failure is due to a natural calamity, disaster, or secondary disaster.

The warranty herein referred to means the warranty of the delivered product proper. Any damage induced by a failure of the delivered product shall be excluded.

2.2.3 Charged repair

After the lapse of the warranty period (one year), any investigation and repair shall be performed with charge. In the warranty period, repair or investigation that is out of the above warranty range shall be undertaken with charge. For asking for a charged repair, contact with the dealer.

2 - 5

CHAPTER 2 INSTRUCTION

a PC

2.3 Appearance and Names of Parts

(The following drawings describe 200V class servo without optional board.)

Battery holde

Houses the backup battery when the absolute encoder is used.

Panel display unit

Used to indicate the servo drive condition or parameter setting by using a 5-digit 7-segment LED.

Charge lamp

Lights up when the main circuit power supply is turned on. While the electric charge remains on the main circuit capacitor after the power supply is turned off, this lamp continues to light. Do not touch the servo drive during lighting.

Main circuit terminal block (TM1)

Connection terminals with the main circuit power supply, external regenerative resistor, and motor power cable. This terminal block is covered with a cover.

Connector for connecting a PC (PC)

Battery housing cove

cover for the battery holder.

Battery connecto

Used to connect the backup battery for the absolute encoder.

Digital operato

Used to set parameters.

connector for communication with

Ground terminal

Used for protection against an electric shock.

Exhaust air

Input/output signal connecto (I/O)

connector for command input

signals and sequencer input signals.

Specification nameplate

Used to indicate the servo drive type and form and ratings.

Encoder connecto

Used to connect the encoder of the servo motor.

Control power supply connecto (TM2)

connector for connecting the

control power supply.

B1-B2 short ba

Be sure to connect this short bar when using the internal braking resistor.

(ENC)

Intake air

2 - 6

CHAPTER 2 INSTRUCTION

2.4 Combination of servo amplifiers and servo motors

The applicable combination of servo amplifiers and servo motors is shown in the following table.

Phase / Volt age

for main

power circuit

Single-phase

220~230V

/3-phase

200~230V

3-phase

380~480V

Rated speed

3000

-1

(min

2000

-1

(min

Outpu

(kW)

0.1

0.2

)

0.4

0.7 5

Servo amplifier

Model code

ADAX4-01NSE(MB)

ADAX4-02NSE(MB) ADAX4-04NSE(MB)

ADAX4-08NSE(MB)

— ADMA-01SA — ADMA-02SA — ADMA-04SA

— ADMA-08SA

0.5 — ADMG-05HP

1.0 — ADMG-10HP

ADAX4-15HPE(MB)

1.5

2.0 — ADMG-20HP

)

3.5

ADAX4-35HPE(MB)

Note 2)

— ADMG-15HP

Note 2)

— ADMG-35HP

4.5 — ADMG-45HP

5.5 — ADMG-55HP

ADAX4-70HPE(MB)

7.0

Note 2)

— ADMG-70HP

Applicable servo motor

With

Incremental

encoder



With

Absolute

encoder

ADMA-01SF ADMA-02SF ADMA-04SF

ADMA-08SF



Note 1) ADAX4 describes the standard high performance type, and ADAX3 describe

the programmable function built-in type.

Note 2) Single-phase 200 ~ 240V is needed for the control power circuit. Do not supply 3-phase

2 - 7

MEMO

2 - 8

CHAPTER 3 INSTALLATION AND WIRING

This chapter explains the procedure for installing this product, main circuit wiring, and input/output signal wiring. Typical connection examples are shown.

3.1 Installation ................................................... 3 − 2

3.1.1 Precautions on installation..................... 3 − 3

3.2 Wiring .......................................................... 3 − 5

3.2.1 Terminals and connectors...................... 3 − 6

3.2.2 Main circuit wiring.................................. 3 − 9

3.2.3 Wiring for the control power

connector (TM2) (200V class).............. 3 − 21

3.2.4 Connecting the backup

battery for absolute encoder.................. 3 − 22

3.2.5 Input/output signal wiring....................... 3 − 23

3.2.6 Wiring for encoder signals..................... 3 − 39

3 − 1

CHAPTER 3 INSTALLATION AND WIRING

3.1 Installation

CAUTION

• Be sure to install the unit on flame resistant material such as metal. Otherwise, there is a danger of fire.

• Be sure not to place anything inflammable in the vicinity. Otherwise, there is a danger of fire.

• Do not carry unit by top cover, always carry by supporting base of unit. There is a risk of falling and injury.

• Be sure not to let the foreign matter enter such as cut wire refuse, spatter from welding, iron

refuse, wire, dust, etc.

Otherwise, there is a danger of fire.

• Be sure to install it in a place which can bear the weight according to the specifications in the

text.

Otherwise, it may fall and there is a danger of injury.

• Be sure to install the unit on a perpendicular wall which is not subject to vibration. Otherwise, it may fall and there is a danger of injury.

• Be sure not to install and operate AC servo drive which is damaged or parts of which are

missing.

Otherwise, there is a danger of injury.

• Be sure to install it in a room which is not exposed to direct sunlight and is well ventilated.

Avoid environments which tend to be high in temperature, high in humidity or to have dew condensation, as well as places with dust, corrosive gas, explosive gas, inflammable gas, grinding-fluid mist, salt damage, etc.

Otherwise, there is a danger of fire.

A failure will be caused.

• Be sure to connect between servo drive logic ground (L) and controller ground when pulse train input is used by servo drive with source type logic.

Otherwise, A equipment failure will be caused.

3 − 2

CHAPTER 3 INSTALLATION AND WIRING

3.1.1 Precautions on installation

1) Precaution at transportation The servo drive employs plastic parts. Handle it so that these plastic p arts may not be damaged. In particular, do not carry the servo drive in such a way that force is applied to only the front surface cover and the terminal block cover. Falling may be caused. If any part is damaged or missing, do not install and operate the servo drive.

2) Install the servo drive on an incombustible (metal) surface. The servo drive goes to a high temperature. Install the servo drive on an incombustible vertical metal wall surface so as to avoid a fire. Ensure an enough space around the installation place. In particular, if there is any heat generating device (braking resistor, reactor, etc.), keep the servo drive away from such a material.

Ensure an enough space so

Air flow

Servo drive

that the upper/lower wiring ducts may not prevent the cooling air from flowing.

Wall

3) Precaution about the ambient temperature The ambient temperature in the installation place should not exceed the allowable operating temperature range (0 to 55°C) described in the standard specification. Measure the ambient temperature at an about 50 mm position away from the lower center of the servo drive body, and make sure that it is within the allowable operating temperature range. Operating the servo drive over the allowable operating temperature range may lead to its shorter life (especially, the life of the capacitor) or damage.

4) Do not install the servo drive in a high-temperature and high-humidity place that may easily cause condensation. Operate the servo drive within the allowable operating humidity range (20 to 90%RH) described in the standard specification. In particular, operate it in a place free from condensation. If water-drops are attached inside the servo drive by condensation, the section between electronic parts is shorted, resulting in a failure. Avoid installing the servo drive in a place that is exposed to direct sunlight.

5) Precaution about the installing environment Do not install the servo drive in a place where there is dust, corrosive gas, explosive gas, combustible gas, grinding lubricant mist, or injury from salt. Admitting foreign substances or dust inside the servo drive will result in a failure. Therefore, if the servo drive must be operated in very dusty place, for example, house it in a sealed type box.

3 − 3

CHAPTER 3 INSTALLATION AND WIRING

6) Precaution about the installing method and direction Install the servo drive on a mounting surface that can withstand its weight, firmly and vertically without any screw or bolt looseness. If the servo drive is not installed vertically on the wall surface, it may lower the cooling capacity with a result of trip or damage.

7) Precaution for housing servo drives in a box When multiple servo drives are housed in a box and ventilation fans are equipped in the box, provide the fans in the following way so as to make the ambient temperature of each servo drive uniform.

100 mm

or more

Fan Fan

75 mm or more

Servo drive

100 mm

Wiring space of

or more

40 mm

or more

10 mm

or more

10 mm

or more

10 mm

or more

40 mm

or more

In the case of boxes arranged in a row , inst all them at 40 mm or more from the wall surfaces with a space of 10 mm or more between servo drives and a clearance of 100 mm or more from the top or bottom.

3 − 4

CHAPTER 3 INSTALLATION AND WIRING

3.2 Wiring

WARNING

• Be sure to ground the unit. Otherwise, there is a danger of electric shock and/or fire.

• Wiring work shall be carried out by electrical experts. Otherwise, there is a danger of electric shock and/or fire.

• Implement wiring after checking that the power supply is off. It might incur electric shock and/or fire.

• After installing the main body, carry out wiring. Otherwise, there is a danger of electric shock and/or injury.

CAUTION

Otherwise, there is a danger of fire.

• Be sure not to input a single phase for models with suffix H. Otherwise, there is a danger of fire.

• Be sure not to connect AC power supply to the output terminals(U, V, W). Otherwise, there is a danger of injury and/or fire.

• Be sure not to connect the resistor to DC terminals (+1,+ and –) directly. Otherwise, there is a danger of fire.

• As for motor leads, fuses and electromagnetic contactors, be sure to use the equivalent ones

with the specified capacity (rated).

Otherwise, there is a danger of fire.

• Fasten the screws with the specified fastening torque. Check so that there is no loosening of

screws.

Otherwise, there is a danger of fire.

• Connection to field wiring terminals must be reliably fixed having two independent means of

support. Using terminal with cable support, cable gland or cable clamp etc.

Otherwise, there is a danger of fire.

• Be sure to connect between the servo drive logic common and master controller logic common when using pulse count input on source type logic. Otherwise, there is a danger of equipment failure.

3 − 5

CHAPTER 3 INSTALLATION AND WIRING

3.2.1 Terminals and connectors

(1) 200V class [less or equal 1.5kW(ADAX4-LS(MB) )]

[less or equal 750W(ADAX4-NS(MB)

)]

Main circuit terminals (TM1)

Grounding terminal

C SERVO

series

FUNC

CHARGE

HITACHI

AD*-04NSE

SET

PC connecting connector (PC)

Input/output signal connector (I/O)

Encoder (sensor) connector (ENC)

Control power connector (TM2)

This figure is without optional board

3 − 6

CHAPTER 3 INSTALLATION AND WIRING

(2)200V class [greater or equal 2kW]

C SERVO

series

HITACHI

AD*-20LS

Main circuit terminals (TM1)

Grounding terminal 2 screws for 2kW to 3kW

FUNC

CHARGE

SET

PC connecting connector (PC)

Input/output signal connector (I/O)

Encoder (sensor) connector (ENC)

3screws for 5kW

Note 1) 5kW drive is a different appearance.

3 − 7

This figure is without optional board

CHAPTER 3 INSTALLATION AND WIRING

(3) 400V class

Note1) Note2)

Control power

Note1) Main circuit connector 1

Note1) Main circuit connector 2

200~240V

C SERVO

series

FUNC

CHARGE

HITACHI

AD*-15HPE

SET

PC connecting connector (PC)

Input/output signal connector (I/O)

Encoder (sensor) connector (ENC)

Grounding terminal 2 screws for 1.5 to

3.5kW

This figure is without optional board

3screws for 7kW

Note 1) 3.5 and 7kW drive is a different appearance.

For 7kW, the control power and main circuit connectors are a terminal block.

Note 2) The input voltage to the control power connector is AC 200 to 240V.

Do not input the main power supply voltage to the control power connector.

3 − 8

* 1

CHAPTER 3 INSTALLATION AND WIRING

3.2.2 Main circuit wiring

(1) Terminal connection diagram

a) 200V class

Short bar (DC reactor connecting terminal)

Regenerative braking resistor (option)

Note 1)

Power supply Three-phase AC 200 to 230 V / single-phase AC 220 to 230 V / single-phase AC 100 to 115 V

Note 3) For using an external regenerative braking resistor, disconnect the B1-B2 short bar.

FUSE

TM1

(+)1

(+)

RB (-) L1 L2 L3

TM2 L1C L2C B1 B2

servo drive

I/O

3 series

CNBT

TM1

ENC

Note 2)

Battery

U V

PC for setting and

Servo

motor

Encoder

7 bits serial

encoder

monitoring

Master

controller

Note 1: For single-phase 100 to 115 V AC and single-phase 220 to 230 V AC, connect only L1 and L2. (For three phase connect L1, L2 and L3.) Note 2: The battery is used only for the absolute encoder. Note 3: The regenerative braking resistor is built in the model of… L series class 200 V, 400W to 5kW. M series class 100 V, 200W and 400 W N series class 200 V, 400W and 750 W

3 − 9

CHAPTER 3 INSTALLATION AND WIRING

b) 400V class

Short bar (DC reactor connecting terminal)

Regenerative braking resistor (option)

For using an external regenerative braking resistor, disconnect the B1-RB short bar.

Note 1)

Power supply

Three-phase

AC 380

to 480 V

FUSE

Note 1)

Transforme

single-phase

200 to 240 V

Note 1)

(+)1

(+)

RB B1

(-) L1 L2 L3

L1C L2C

3 series

servo drive

ENC

U V

Servo

motor

Encoder

Incremental

encoder

I/O

Master

controller

PC for setting and

monitoring

Note 1: Connect three phase 380 to 480 V to L1, L2 and L3, and single phase 200 to 240 V to

L1C and L2C. Do not input 380 to 480 V to L1C and L2C. Be sure to be the secondary voltage 200 to 240 V when the transformer is used.

3 − 10

(+)

(–)

(+)

(–)

)

CHAPTER 3 INSTALLATION AND WIRING

(2) Terminal assignment

Type

200V class less or equal 1.5kW

Terminal

name

Main circuit

terminals

(TM1)

Grounding

terminal

Control

power

connector

(TM2)

Terminal assignment

Short bar

DC reactor connecting terminal (Shorted in the unused status)

External braking resisto DC power supply input

L1 L2

Main power supply input

Motor connection

Grounding

Short bar

B1 B2

L1C

Short terminal for internal braking resistor (Open when the external resistor is used)

Control power supply inputControl power supply input

L2C

Note: The figure shows a view of the servo drive seen

from the lower side. Refer to 3.2.3 “Wiring for the control terminal”.

Termina

l screw

size

M4 8.1

Applicable cable size: 0.5 mm

2.0 mm

Termina

l width

(mm)

–

2 to 3 kW

200V class

5 kW

200V class

Main circuit

and control

power

connectors

Grounding

terminal

Main circuit

and control

power

terminals

Grounding

terminal

Short bar or wire

L1C L2C

L1 L2 L3

Control power supply input connecting terminal

DC reactor connecting terminal (Shorted in the unused status)

Short terminal for internal braking resistor (Open when the external resistor is used)

External braking resisto DC power supply input

Main power supply input

Motor connection

Grounding(2 to 3kW: 2screws,

5kW: 3screws

M5 13

–

3 − 11

(+)

(+)RB(–)

)

CHAPTER 3 INSTALLATION AND WIRING

Type

400V class

1.5 to 3.5 kW

7 kW

400V class

Terminal

name

Main circuit and control

power

connectors

Grounding

terminal

Main circuit and control

power

terminals

Grounding

terminal

Short bar or wire

Terminal assignment

L1C L2C

L1 L2 L3

U V

Control power supply input connecting terminal

DC reactor connecting terminal (Shorted in the unused status)

Short terminal for internal braking resistor (Open when the external resistor is used)

External braking resisto DC power supply input

Main power supply input

Motor connection

Grounding(1.5, 3.5kW: 2screws,

7kW: 3screws

Termina

l screw

size

M5 13

Terminal

width (mm)

–

CAUTION

1. For the connectors, perform wiring after removing them from the servo drive. Otherwise, the servo drive way be broken.

2. When inserting the cable, take care not to bring the core whisker into contact with the

other terminal.

The servo drive may be broken.

3. If the cable core has not enough contact for any reason, strip it again and them connect

the cable.

The servo drive may be broken.

(2-1) 400V class main circuit and control power connectors

The front terminal of the servo drive separates as follows.

Model

200V class

1.5kW 3.5kW 7kW

Terminal Terminal Connector Connector Terminal

The connectors of the front main circuit and control power are attached to the servo drive. The specification of the connectors of 400V class is shown in the following table.

400V class

ADAX4-HP(MB)

3 − 12

CHAPTER 3 INSTALLATION AND WIRING

Specification of connectors

Model ADAX4-15HPE(1.5kW) ADAX54-35HPE(3.5kW)

Spec. Connector name

Control power

connector

(L1C, L2C)

Main circuit

connector 1

Connector model Assignment Connector model Assignment

Model:MSTB2.5/2

-ST-5.08 Pin No. :2P Pin pitch:5.08mm Wire size:1.25 -

2.5mm2/AWG16 - 12 Manufacture: PHOENIX CONTACT GMBH & CO.

L1C L2C +1 + B1 RB

Model:PC4/2

-STF-7.62 Pin No. :2P Pin pitch:7.62mm Wire size:1.25 -

4mm2/AWG16 - 10 Manufacture: PHOENIX CONTACT GMBH & CO.

L1C L2C

Note1)

Model:MSTB2.5/4

-ST-5.08 Pin No. :4P Pin pitch:5.08mm Wire size:1.25 -

2.5mm

/AWG16 - 12 Manufacture: PHOENIX CONTACT GMBH & CO.

Model:PC4/5

-STF-7.62 Pin No. :5P Pin pitch:7.62mm Wire size:1.25 -

4mm2/AWG16 - 10 Manufacture: PHOENIX CONTACT GMBH & CO.

+1 + B1 RB -

Note2)

Model:PC4/6

-STF-7.62 Pin No. :6P Pin pitch:7.62mm Wire size:1.25 -

/AWG16 - 10

4mm Manufacture: PHOENIX CONTACT GMBH & CO.

Main circuit

connector 2

Model:GMSTB2.5/7

-ST-7.62 Pin No. :7P Pin pitch:7.62mm Wire size:1.25 -

2.5mm

/AWG16 - 12 Manufacture: PHOENIX CONTACT GMBH & CO.

Cover

Note1) Short bars or wires are connected between +1 and +, B1 and RB.

Do not remove them except for the optional use.

Note2) This cove prevents a faulty wiring.

When (-) terminal is used, remove it.

L3 U V W

3 − 13

CHAPTER 3 INSTALLATION AND WIRING

(2-2) 400V class cable terminal treatment for connectors

Strip the cable cover as follows. Then the cable can be used as it is.

7mm

(2-3) Connecting method

Insert the core the cable in the opening of the connector. Tighten the terminal screws with the specified torque. Insufficient tightening way result in a short cicuit or fire. Make sure not to remove the cable by pulling. For 3.5kW, tighten the screws of both sides of the connector after connecting it.

M3 screw

Fixing screw

M3 screw

Fixing screw

Connection procedure

3 − 14

CHAPTER 3 INSTALLATION AND WIRING

(3) Precautions on wiring

Before starting wiring, make sure that the charge lamp is completely extinguished. Take care about the capacitor that is charged at a high voltage. In 10 minutes or more after shutting off the power supply, check with a tester that no residual voltage exists between (+) and (–) on the main circuit terminal block, and then start the wiring work.

(3-1)Main power supply input connecting terminal (L1, L2, L3)

- Use fuses for circuit (wiring) protection between the power supply and the main power supply terminal (L1, L2, or L3).

- Connect an electromagnetic contactor that shuts off the power supply of the servo drive to prevent a failure or accident from spreading when the protective function of the servo drive is actuated.

- Do not start or stop the servo drive by turning on or off each electromagnetic contactor provided on the primary side and secondary side of the servo drive.

- Do not input a single phase to the main power supply input of 400V class servo drive (AD*3-HPE).

- In the following cases, the converter module may be damaged. The unbalance of power supply voltage is 3% or more. The power supply capacity is 10 times as large as the servo drive capacity, or 500 kVA or more. A sudden power supply change occurs. (Example) Multiple servo drives are interconnection with a short bus.

- Turn on and off the power supply, at least, at intervals of 5 minutes per operation. Otherwise, the servo drive may be damaged.

(3-2)Motor cable connecting terminal (U, V, W)

- Perform wiring by using a thicker cable than applicable cable in order to suppress a voltage drop.

(3-3)DC reactor connecting terminal ((+) 1, (+))

- This terminal is used to connect the DC reactor (option) for improvem ent of power factor. A short bar or wire is connected between terminals (+) 1 and (+) at delivery from the factory. When connecting the DC reactor, disconnect it bar beforehand. When the DC reactor is not used, do not remove it.

(3-4)External braking resistor connecting terminal ((+), RB))

- The regenerative braking circuit and the braking resistor are built-in the servo drive (But 200V class 100W, 200W not provided it). To enhance the braking capacity, connect the optional external braking resistor to this terminal. For using the external braking resistor , disconnect the short bar or wire between the terminals (B1 and B2 or RB) for internal braking resistor. The wiring length should be 5 m or less and perform wiring by twisting two wires without making inductance.

- Install a resistor exceeding the resistance value R

shown in the following table.

BRmin

Installing a resistor not exceeding the resistance value shown in the table will cause damage to the regenerative braking circuit.

3 − 15

CHAPTER 3 INSTALLATION AND WIRING

Servo drive capacity Built-in R

50W Not provided 35Ω

Single-phase

100V

(M)

100W Not provided 35Ω 200W 30 W 75Ω (9 W, 1.0%) 25Ω 400W 50 W 20Ω (17 W, 1.0%) 17Ω

50W,100W Not provided 100Ω

200W Not provided 100Ω 400W 30 W 75Ω (15 W, 0.5%) 50Ω

Three-phase

200V

750W 50 W 50Ω (15 W, 0.5%) 40Ω

1kW,1.5kW 70 W 25Ω (27 W, 0.5%) 25Ω

(L)

2kW 120 W 10Ω (70 W, 0.5%) 10Ω 3kW 120 W 10Ω (70 W, 0.5%) 10Ω

5kW 180 W 6Ω (120 W, 0.5%) 6Ω

Single-phase/ Three-phase

200 V

(N)

Three-phase

400 V

(H)

100 W Not provided 100Ω 200 W Not provided 100Ω 400 W 50 W 50Ω (15 W, 0.5%) 50Ω 750 W 50 W 50Ω (15 W, 0.5%) 40Ω

1.5 kW 50 W 100Ω (27 W, 0.5%) 100Ω

3.5 kW 120 W 50Ω (70 W, 0.5%) 50Ω 7 kW 180 W 25Ω (120 W, 0.5%) 25Ω

Minimum resistance

value R

BRmin

Note: The power of the built-in braking resistor RBR is the nominal power value. The values

in parentheses are the available average power (W) and the allowable operating ratio (%).

(3-5)DC power supply input connecting terminal ((+), (–))

- To supply the DC power from an external converter, this terminal is used to connect the DC power supply. The DC power supply voltage should be 270 V DC to 310 V DC for 200V class, 510V DC to 650V DC for 400V class (+10%, –15%). Use a power supply of enough capacity.

- When supplying the DC power supply, do not connect anything to the main power supply input connecting terminals (L1, L2, L3).

- When supplying the DC power supply, set the PN power supply (FA-07) to Pn. If this is not set, a momentary power failure will be detected by mistake for 200 V class servo drive.

(3-6)Control power supply input connecting terminal (L1C, L2C)

- This servo drive has to supply the control power supply apart from the main circuit power supply. Be sure to connect the single-phase AC power supply to the control power supply input terminal (L1C, L2C). For this power supply, use a fuse for circuit (wiring) protection.

- The control power supply of 400V class servo drive (AD*3-HPE) is AC 200 – 240 V.

- Turn on and off the power supply, at least, at intervals of 5 minutes per operation. Otherwise, the servo drive may be damaged.

3 − 16

CHAPTER 3 INSTALLATION AND WIRING

(3-7)Grounding connecting terminal ( ) )

- For prevention ag ainst an electric shock, be sure to be grounded the servo drive and the servo motor as specified.

- Use a larger size than the applicable wire as the grounding conductor. It should be as short as possible.

Note 1: For wiring to the terminals, use a solderless terminal conforming to the terminal screw

size and terminal width. If a too wide solderless terminal width is used, this connection may not be made. In particular, take care about the terminal width in the following cases.

-2 mm

-8 mm

Note 2: Separate the servo drive signal input cable or encoder cable from the main circuit power

cable or control power cable 30 cm or more from each other. If they must intersect each other, cause them to intersect at a right angle as shown in the following figure. If they are not separated enough, a malfunction may be caused.

or more cable is connected to the main circuit terminals of 200 V class.

or more cable is connected to the main circuit terminals of 400 V class 7kW.

30 cm or more

Main circuit power cable (L1, L2, L3, U, V, W, (+), (+)1, RB) Control power supply cable (L1C, L2C)

Intersect at a right angle.

Signal input or encoder cable

3 − 17

CHAPTER 3 INSTALLATION AND WIRING

(4) Wiring equipment, options

Name Model Function 1 Setup software AHF AHF-P01,P02 Setting,monitoring and graphic display by PC 2 Enco der cable ADCE-C---S,HP -C:standard type, -CH:high flexure life type

Power cable

(with or without brake) 4 Command cable ADCC-03 Cable with I/O connector 5 PC connecting cable ADCH-AT2 Cable with DOS/V PC connector(D-SUB 9P) 6 Connector set for I/O ADCC-CON Connector and its cover

Lithium battery

(for absolute encorder)

ADABS-BT

8 Terminal block ADCC-TM 9 Above adapter cable ADCC-T01,T02

10 Input –side rea cto r ALI- Power factor improvement, power cooperation 1 1 DC reactor DCL- Power factor improvement

12 Noise filter NF- EMC noise filter

Radio noise filter

(zero-phase reactor)

ZCL-B40,B75

ZCL-A

14 Input-side noise filter CFI-L,-H Reduction for radiating noise

External braking

resistor

RB,JRB---,SRB--- Braking power capacity improvement

16 Noise filter SUP-E1H-EP EMC noise filter for 400 V class control power 17

Teaching unit ADOPE-SR Teaching unit for optional board Teaching unit

connecting cable

ADICS-1/ADICS-3

Motor cable (Prepared by customer)

Encoder data are kept by battery at control power off for the absolute encoder use. Terminal connection adapter for I/O connector with 1m or 2m cable

Reduction for radiating noise

Cable with Teaching unit connector. This is necessity using teaching unit.

10.Input side reactor

Power supply

Power supply for brake

11.DC reactor

Earth

leakage

breaker

15.External

braking resistor

Electromagnetic contactor

12.Noise filter

Prepared by customer

13.Radio

noise filter

14.Input-

side noise

filter

16.Noise filter

7.Lithum battery

Servo drive

AC SERVO

series

FUN

CHARGE

3.Powe cable

3.Brake cable 3 − 18

(+1)

(

)

( L1 L2 L3

D*-08LS

)

SET

I/O

ENC

18.Teaching unit connecting cable

5.PC connecting

cable

6.Connector set for I/O

9.Adapter cable

13.Radio

noise filter

17.Teaching unit

2.Encode cable

1.Setup software

AHF

4.Command cable

8.Terminal block

Servo moto

Master

DOS/V PC

CHAPTER 3 INSTALLATION AND WIRING

5) Recommended wire size and wiring equipment

- For the wire size and wiring equipment to be used for wiring to the servo drive, refer to the following table.

- For safety, use fuses.

- As the cable, use a 75°C copper electric cable.

- When the wiring length exceeds 20 m, the power cable m ust be larger.

- Tighten the terminal screw with the specified tightening torque. Insufficient tightening may result in a short circuit or fire.

(Tightening torque)

For 1.5kW, 3.5kW (M3 screw): 0.6 N.m(max.0.66N.m)

For 7kW (M5 screw): 2.0 N.m(max.2.2N.m)

For up to 750W (M4 screw): 1.2 N.m(max.1.35N.m)

Voltage

class

Single phase

100V class

Three

phase

200V class

Single

/ Three

phase

200V class

Three

phase

400V class

Main circuit power

MotorkWServo drive

model

0.05 ADAX4-R5MS* AWG 18 (1.25mm2) AWG 18 (1.25mm2) AWG 20 (0.5mm2) 5A H10C

0.1 ADAX4-01MS* AWG 18 (1.25mm2) AWG 18 (1.25mm2) AWG 20 (0.5mm2) 5A H10C

0.2 ADAX4-02MS* AWG 18 (1.25mm2) AWG 18 (1.25mm2) AWG 20 (0.5mm2) 10A H10C

0.4 ADAX4-04MS* AWG 18 (1.25mm2) AWG 18 (1.25mm2) AWG 20 (0.5mm2) 15A H10C

0.05 ADAX4-R5LS* AWG 18 (1.25mm2) AWG 18 (1.25mm2) AWG 20 (0.5mm2) 5A H10C

0.1 ADAX4-01LS* AWG 18 (1.25mm2) AWG 18 (1.25mm2) AWG 20 (0.5mm2) 5A H10C

0.2 ADAX4-02LS* AWG 18 (1.25mm2) AWG 18 (1.25mm2) AWG 20 (0.5mm2) 5A H10C

0.4 ADAX4-04LS* AWG 18 (1.25mm2) AWG 18 (1.25mm2) AWG 20 (0.5mm2) 5A H10C

0.75 ADAX4-08LS* AWG 18 (1.25mm2) AWG 18 (1.25mm2) AWG 20 (0.5mm2) 10A H10C 1 ADAX4-10LS* AWG 18 (1.25mm2) AWG 18 (1.25mm2) AWG 20 (0.5mm2) 10A H10C

1.5 ADAX4-15LS* AWG 14 (2mm2) AWG 14 (2mm2) AWG 18 (1.25mm2) 15A H20 2 ADAX4-20LS* AWG 14 (2mm2) AWG 12 (3.5mm2) AWG 18 (1.25mm2) 20A H20 3 ADAX4-30LS* AWG 12 (3.5mm2) AWG 10 (5.5mm2) AWG 18 (1.25mm2) 30A H20 5 ADAX4-50LS* AWG 10 (5.5mm2)AWG 8 (8mm

0.1 ADAX4-01NS* AWG 18 (1.25mm2) AWG 18 (1.25mm2) AWG 20 (0.5mm2) 3A H10C

0.2 ADAX4-02NS* AWG 18 (1.25mm2) AWG 18 (1.25mm2) AWG 20 (0.5mm2)

0.4 ADAX4-04NS* AWG 18 (1.25mm2) AWG 18 (1.25mm2) AWG 20 (0.5mm2)

0.75 ADAX4-08NS* AWG 16 (2mm2) AWG 18 (1.25mm2) AWG 20 (0.5mm2)

~ 1.5 ADAX-15HP* AWG 18 (1.25mm ~ 3.5 ADAX-35HP* AWG 14 (2mm

~ 7 AD*3-70HP* AWG 10 (5.5mm

cable

(L1, L2, L3)

(+)1, (+), RB, (−)

) AWG 18 (1.25mm2) AWG 18 (1.25mm2) 10A H10C

) AWG 14 (2mm2) AWG 18 (1.25mm2) 20A H20

) AWG 10 (5.5mm2) AWG 18 (1.25mm2) 50A H20

Motor cable

(U, V, W)

Grounding cable

Control power cable

(L1C, L2C)

) AWG 18 (1.25mm2) 50A H25

Fuse (class J)

rated 600 V

6A (1 ph.) 3A (3 ph.)

10A (1 ph.)

6A (3 ph.) 15A (1 ph.) 10A (3 ph.)

Electromagnetic contactor

(MC)

(Note 1)

H10C

Note 1 : The electromagnetic contactor are the model manufactured by Hitachi Industrial

Equipment Systems Co., Ltd.

Note 2 : Field wiring connection must be made by a UL Listed and CSA Certified closed – loop

terminal connect or sized wire gauge involved. Connector must be fixed using the crimp tool specified by the connector manufacturer.

3 − 19

CHAPTER 3 INSTALLATION AND WIRING

(6) Opening the main circuit terminal block (TM1) cover (200 V class)

1- Loosen a fixing screw of the main circuit terminal cover. 2- Take the main circuit terminal cover on the body away from the front slowly. 3- Remove the cover from the hook.

1 Fixing

screw

Main circuit terminal cover

Hook

3 − 20

CHAPTER 3 INSTALLATION AND WIRING

3.2.3 Wiring for the control power connector (TM2) (200V class)

CAUTION

1. For the control power connector (TM2), perform wiring after removing it from the servo drive. Otherwise, the servo drive may be broken.

2. Insert one cable in one wiring hole of the control power connector (TM2). Otherwise, the servo drive may malfunction.

3. When inserting the cable, take care not to bring the core whisker into contact with the other terminal. The servo drive may be broken.

4. If the cable core has not enough contact for any reason, strip it again and then connect the cable. The servo drive may be broken.

(1) Cable terminal treatment

Strip the cable cover as shown in Fig. 1. Then, the cable can be used as it is. The applicable wire size is as follows.

Solid wire...............Wire size 0.5 to 2.0 mm

Stranded wire .........Wire size 0.5 to 2.0 mm

(2) Connecting method

Insert the core of the cable in the opening of the control power connector (TM2) (Fig. 2) by using one of the methods shown in Fig. 3 and Fig. 4. Make sure that the cable cannot be pulled out.

2 2

8 to 9 mm

Fig. 1

1- Insert the cable by using an attached lever as shown in Fig. 3. 2- Insert the cable by using a bladed screwdriver as shown in Fig. 4.

Fig. 2

L2C

L1C

Fig. 3 Fig. 4

3 − 21

CHAPTER 3 INSTALLATION AND WIRING

3.2.4 Connecting the backup battery for absolute encoder

Lay the cable on the battery surface.

Batter

Battery holde

Battery connecto

Cable housing

Black (-)

Red (+)

Battery housing cover

Fig. 1 Fig. 2

1- Set the click in the groove on the top surface of the battery housing cover and then open the cover. 2- Set the battery in the battery housing with its positive side on the receptacle side a s sh own in Fig. 1. 3- Insert the connector in the receptacle firmly. 4- Lay the battery cable surely on the battery surface as shown in Fig. 1 and house the excessive cable

in the cable housing.

5- Mount the battery housing cover on the front cover by pushing the upper part of the battery housing

cover (Fig. 2) with a finger until a click is produced.

Note 1: After mounting the battery and co nnecting the encoder, turn o n the po wer supply. At that

time, an absolute battery error (E90) may occur. In this case, clear the encoder to zero. For the procedure, refer to Chapter 5, Function for absolute position encoder, (2) Clearing the absolute position.

If the following trip related to the absolute battery occurs, take one of the measures shown below

Trip name Measure

Absolute battery error E90 - Replace the battery after turning off the control and main power

supply.

- Clear the encoder to zero. Perform the system adjustment from the beginning.

Absolute battery alarm E91 - Replace the battery with the control power supply (L1C, L2C)

incoming after a lapse of more than 10 minutes af ter turning off the main power supply (L1, L2, L3).

- Turn ON and OFF the alarm reset signal RS.

Note2: The absolute battery alarm (E91) occurs if the battery is removed with the control power

supply incoming. In this case, take the above measure

3 − 22

3.2.5 Input/output signal wiring

(1) Input/output signal connector

In the input/output signal connector , the upper left pin is pin no.1 when the servo drive is viewed from the front as shown in the figure. The signal assignment on the input/output signal connector (servo drive side) is shown in the following table.

No.

1 P24 Interface power 26 SON/ 2 PLC Intelligent input common 27 RS Alarm reset

Input/output

3MOD/

signal connector(I/O)

4TL//

C SERVO

series

Front view of the

0.4 kW servo drive

HITACHI

AD*-04NSE

FUNC

CHARGE

SET

5 SS1/

6 SS2/

7SRZ/

8ORL//

9CER//

10 CM1 Interface power common 35 SRD/ / 11 ALM/ /

12 INP// 13 BRK//

14 TLM/

15 PLSP Position command pulse 16 PLSN Position command pulse 17 L Analog input /output 18 AI3 Analog input 3 43 AI4 Analog input 4

19 AI1// 20 L Analog input /output 21 OAP Phase A (P) 46 OBP Phase B (P)

22 OAN Phase A (N) 47 OBN Phase B (N) 23 OZP Phase Z (P) 48 OZ Phase Z detection 24 OZ N Phase Z (N) 49 L Phase Z detection

25 AO1 Analog monitor 1 50 AO2 Analog monitor 2

code

PRB1/

X(00) X(01)

EGR2/

X(04)

ECLR/

X(05) EOH/

X(07) X(08)

REV/ X(11)

Y(01)

Y(02) Y(05)

AL2/

Y(06)

XA(0)

CHAPTER 3 INSTALLATION AND WIRING

Signal name

1st/2nd/programmable function

Control mode switch / Probe input 1 / General input 0 Torque limit / / General input 1

Multistage speed 1 / Electronic gear switch / General input 4

Multistage speed 2 / Encoder clear / General input 5 Zero speed clamp/ External trip General input 7 Home limit switch / / General input 8

Position error clear / Reverse command / General input 11

Alarm / / General output 1

Positioning complete/ / General output 2 Brake release / / General output 5

Torque limiting / Alarm code 2 / General output 6

(P) (N) common

Analog//General input 1 44 AI2//

common

Pin code Signal name

No.

1st/2nd/programmable function

Servo ON/

RUN/

28 FOT/

ROT/ X(02)

29 ROT/

FOT/ X(03)

Program start

Forward overtravel/ Reverse overtravel/ General input 2 Reverse overtravel/ Reverse overtravel/ General input 3

30 CM1 Interface power

common

31 PPI/

GCH/ X(06)

32 ORG/

PRB2/

X(09)

33 PEN/

FWD/ X(10)

Proportional control/ Gain change/ General input 6 Homing/ Probe input 2/ General input 9 Pulse train input enable/ Forward command/ General input 10

34 CM2 Output common

Servo ready/ /

Y(00)

36 SA/

AL1/

Y(03)

37 SZD/ /

Y(04)

38 OL1/

AL3/

Y(07)

General output 0 Up to speed/ Alarm code 1/ General output 3 Zero speed detection/ / General output 4 Overload notice/ Alarm code 3/ General output 7

39 CM2 Output common

40 SIGP Position command code

(P)

41 SIGN Position command code

(N)

42 −

Analog //General input 2

XA(1)

45 L Analog input /output

common

3 − 23

CHAPTER 3 INSTALLATION AND WIRING

In the connector (cable side) for connecting these input/output signals, the inner upper pin on the left side is pin no.1 when the connector is viewed from the solder side as shown in the following figure.

For connecting input/output signals (cable side), use the following connectors.

Connector name Model Manufacturer Solder plug 10150-3000VE Sumitomo 3M Ltd. Non-shield shell kit 10350-52A0-008 Sumitomo 3M Ltd.

2 4

22 24

1 3 5

23 25

47 49

26 28

48 50

2 PLC 27 RS

X(01)/

X(05)/

SS2/

ECLR X(08)/

ORL

10 CM1 35

Y(02)/

INP

Y(06)/

TLM/

AL2

16 PLSN 41 18 AI3 43 AI4 20 L 45 L 22 OAN 47 OBN 24 OZN 49 L

1 P24 26

X(00)/ MOD/

PRB1 X(04)/

SS1/

EGR2 X(07)/

SRZ/

EOH

X(11)/

CER/

REV

Y(01)/

ALM

Y(05)/

BRK 15 PLSP 40 SIGP 17 L 42 -

XA(0)/

19 21 OAP 46 OBP 23 OZP 48 OZ 25 AO1 50 AO2

AI1

X(03)/

ROT/

FOT

X(06)/

PPI/

GCH

X(10)/

PEN/

FWD

Y(00)/

SRD

Y(04)/

SZD

39 CM2

SIGN

SON/

RUN

X(02)/

FOT/

ROT

30 CM1

X(09)/

ORG

34 CM2

Y(03)/

SA/

AL1

Y(07)/

OL1/

AL3

XA(1)

AI2

Note : The command cable connected to the above connector is available as an option

(ADCC-03).

3 − 24

Ω

(2) Input/output signal connection diagram

Standard input/output signal connections are shown in the following figure.

(a)

Pulse train position command (Pulse)

Pulse train position command (Code)

Speed command/Speed limitation (0 to ±10 V)

Torque command/Torque limit (0 to ±10 V)

Forward torque limit (0 to ±10 V)

Reverse torque limit (0 to ±10 V)

Interface powe

MOD/PRB/X(00) TL/X(01)

FOT/ROT/X(02)

ROT/FOT/X(03)

SS1/ERG2/X(04)

SS1/ECLR/X(05)

PPI/GCH/X(06)

SRZ/EOH/X(07)

ORG/PRB2/X(09)

PEN/FWD/X(10) CER/REV/X(11)

Source type logic (I/O polarity: E, see page 2-2)

15 16

Logic common

40 41

ic common

SON/RUN

ORL/X(08)

19 20

44 45

26 27

4 28 29

6 31

8 32 33

CHAPTER 3 INSTALLATION AND WIRING

PLSP PLSN

SIGP SIGN

AI1

10k

L17

10k

P24

10k

4.7k

5V 5V

Ω

370

Ω

370

Ω

5V 5V

Ω

Logic common

Servo drive

1.5k

Ω

Logic common

Ω

Logic common

1.5k

Logic common

(L)

Ω

Logic common

(L)

DC24V

(L)

OAP

OAN2122

OBP

OBN4647

OZP OZN2324

Logic common

(L)

AO1 25

AO2

Logic common

(L)

CM2 34,39

SRD/Y(00)

INP/Y(02)

SA/AL1/Y(03)

SZD/Y(04)

BRK/Y(05)

TLM/AL2/Y(06)

Encode Phase A

Encode Phase B

Encode Phase Z

Phase Z detection

Phase Z detection common

nalog

monitor 1

nalog

monitor 2

Output common

LM/Y(01)

PLC

10,30

CM1

OL1/AL3/Y(07)

Intelli

ent input common

Interface power common

3 − 25

Ω

CHAPTER 3 INSTALLATION AND WIRING

(b) Sink type logic

Pulse train position command (Pulse)

Pulse train position command (Code)

Speed command/Speed limitation (0 to ±10 V)

Torque command/Torque limit (0 to ±10 V)

Interface powe

Intelligent input common

SON/RUN

MOD/PRB/X(00)

TL/X(01)

FOT/ROT/X(02)

ROT/FOT/X(03)

SS1/ERG2/X(04)

SS1/ECLR/X(05)

PPI/GCH/X(06)

SRZ/EOH/X(07)

ORL/X(08)

ORG/PRB2/X(09)

PEN/FWD/X(10)

CER/REV/X(11)

(I/O polarity: None, see page 2-2)

150Ω

PLSP

PLSN

150Ω

SIGP

SIGN

10k

10kΩ

P24

PLC

4.7k

4.7kΩ

4.7k

4.7kΩ

4.7k

Servo drive

Logic common

(L)

Logic common

DC24V

Logic common

(L)

OAP

OAN2122

OBP

OBN4647

OZP

OZN2324

OZ 48

AO1

AO2

Encode Phase A

Encode Phase B

Encode Phase Z

Phase Z detection

Phase Z detection common

nalog

monitor 1

nalog

monitor 2

SRD/Y(00)

LM/Y(01)

INP/Y(02)

SA/AL1/Y(03)

SZD/Y(04)

BRK/Y(05)

TLM/AL2/Y(06)

OL1/AL3/Y(07)

Interface power common

CM110,30

CM2 34,39

Output common

3 − 26

CHAPTER 3 INSTALLATION AND WIRING

(3) Input/output signal functions

The input/output signal functions are summarized in the following table.

Type

Terminal

symbol

P24 Interface power It is DC24V power for connection of input signal. Do CM1 Interface power PLC Intelligent input

SON Servo ON Puts the servo drive into a servo ON status (powers the

RUN Program start When this signal is ON, a user program that is internal

RS Alarm reset In the trip status, the alarm status is cleared by

X(00) ~

X(11)

MOD Control mode

TL Torque limit Enables the torque limit when this signal is input.

FOT For ward overtravel When this signal is OFF, the servo drive does not

ROT Reverse overtravel When this signal is OFF, the servo drive does not

SS1 Multistage speed 1

SS2 Multistage speed 2

PPI Proportional

Input signal

SRZ Zero speed clamp Fixes the speed command value to zero. ORL Home limit switch Inputs the signal of the home limit switch to indicate the

ORG Homing When this signal is input, a homing operation is started.

PEN Pulse train input CER Position error clearClears the position error counter. (The position

FWD Forward command Operates the motor in the forward direction at

REV Reverse command Operates the motor in the reverse direction at

GCH Gain change Changes the gain of the control loop.

EGR2 Electronic gear

ECLR Encoder clear Clears the multi-ration data of the absolute encoder

EOH Extern al trip The drive trips and its output stops. Trip is reset by RS

PRB1 Probe input 1 PRB2 Probe input 2

Terminal name Function

not use for the other purpose. common common

General input 0~11 Changes to general input terminal at programmed

switch

control

enable

switch

Common of the P24 power supply.

Select sink logic or source logic by connecting input

common signal. It also connects the external power

supply or the internal power supply (P24).

servo motor to put it under control).

servo drive is started.

inputting this signal. However, measure the cause of

error before resetting, and turn off the Servo ON

terminal.

operation. “0” : open “ 1 “ : close

Switches the control mode depending on the status of

this input.

(Position/Speed, Speed/Torque, Torque/Position)

operate in the forward direction.

(Forward direction limit signal)

operate in the reverse direction. (Reverse direction

limit signal)

A multistage speed of 3 steps is selected by combining

these signal states, and a speed control operation is

performed. When all of these signals are OFF, the

operation is stopped.

When this signal is ON, P (proportional) control is

performed as speed control.

home area. This signal is used for a homing in the

position control mode.

This signal is used for a homing in the position control

mode.

While this signal is ON, the pulse train position

command input is enabled.

command value is regarded as the present position.)

multistage speed operation.

(The 2nd function of the PEN signal)

multistage speed operation.

(The 2nd function of the CER signal)

(The 2nd function of the PPI signal)

Changes from 1st gear ratio to 2nd gear ratio and clears

the remaining pulses.

(The 2nd function of the SS1 signal.)

with 4 second or more signal input.

(The 2nd function of the SS2 signal.)

signal. (The 2nd function of the SRZ signal.)

Captor actual position when this terminal on and off.

(The 2nd function of the MOD and ORG signal)

Detail explanation is the manual of “AD Series Setup

Software Programmable Function”

Electrical

specification

DC+24 V ±10% Max 80 mA

Input impedance

4.7 kΩ 5 mA (at 24 V) per input

3 − 27

CHAPTER 3 INSTALLATION AND WIRING

Type

Terminal

symbol

XA(0)/

XA(1)/

Analog input

Y(00) ~

Y(07)

SRD

ALM

SZD BRK

Output signal

(SOA)

TLM

AL1~3

CM2 AO1

AO2

output

Monitor

PLSP PLSN

SIGP

Position

SIGN

command

OAN OBP OBN OZP OZN

Encoder monitor

Terminal name Function

General analog

AI1

input 1/ Analog input 1

General analog

AI2

AI3 AI4

input 2/ Analog input 2

Analog input 3 The forward torque limit level depends on input voltage Analog input 4 The reverse torque limit level depends on input voltage Analog input/

output common General output 0

Servo ready This signal is output when the servo drive can accept for

Alarm The alarm signal is output in the trip status. (This signal

INP

Positioning complete

Up to speed The signal is output when the speed detection value Zero speed

detection Brake release In the servo ON status, the brake release enable signal is

Torque limiting The signal is output in the torque limit status (where the

OL1

Overload notice The signal is output when the overload detection amount Alarm code The three bits – binary alarm signal is o utput for each Output common Common of the o utput signal.

monitor 1

Analo

monitor 2

Analo

Analog output common

Position command pulse (Pulse signal) Position command pulse (Code signal)

OAP

L Phase Z detection

Encoder Phase A

Encoder Phase B

Encoder Phase Z The monitor signal of the phase Z signal of the encoder is

Phase Z detection

common

Changes to general analog input 1 at programmed operation. The signal has each function of speed command, speed bias, or speed limit depending on the control mode and parameter setting. Changes to general analog input 2 at programmed operation. The signal has each function of torque command, torque bias, or torque limit depending on the control mode and parameter setting.

with TL signal ON. with TL signal ON.

Common of the analog input signal. Changes to general output terminal at programmed

operation. “0” : open “ 1 “ : close the servo ON (when the main power supply is set up

without any trip). is ON in the normal status and OFF in the trip status.)

This signal is output when the deviation between the command position and the current position is within the set positioning range.

reaches the speed command value. The signal indicates that the speed detection value is below the set zero speed detection value.

output. When the brake waiting time is set to 0, the signal can be used as Servo ON Answer (SOA).

torque command value is limited by the torque limit value).

reaches the set overload notice level. error code.

The speed detection value or torque command value monitors by analog voltage. The signal to be output can be set by parameter. Since these signals are for monitoring, do not use them for control. Common for the Monitor signal.

These are pulse train position command inputs. The following signal forms can be selected. 1-Command pulse + Direction signal 2- Forward pulse train + Reverse pulse train 3- Phase difference 2-phase pulse input

The monitor signal resulting from dividing the phase A signal of the enczoder is output.

The monitor signal resulting from dividing the phase B signal of the encoder is output.

output. The current position data is output as a serial signal by setting.

The monitor signal of the phase Z signal of the encoder is output.

Electrical

specification

0 to ±10 V Input impedance: approx. 10 kΩ

Open collector signal output +30 V DC or less, 50 mA max. per output

0 to ±3.0 V Load impedance: 3 kΩ or more

Isolation logic: Line receiver signal

input. No isolatio logic: Line

receiver signal input/ Open collector signal input.

Input impedance: approx. 150 kΩ

Line driver signal output

Open collector output

+30 V DC or less, 50 mA max

3 − 28

　 (4) Details of input/output signal wiring

(4-1) Contact input signal

• Contact signals of switches and relays are input. The following figures (a) and (b) show the wiring in the status where an external power supply is used or the internal interface power is used.

Servo drive Servo drive

CHAPTER 3 INSTALLATION AND WIRING

External powe supply

(DC12/24V)

Switch

P24

Input

PLC

CM1

DC24V

Switch

Short circuit

P24

PLC

CM1

4.7kΩ

(a) When an external power supply is used. (b) When the internal power supply is used.

• When a device requiring a power supply for output control, for example, the output module of the programmable controller, use an external power supply. (Do not use the internal interface power of the servo drive.) The following figures (c) and (d) show examples of connection with the transistor output module (sink type, source type) of the programmable controller.

Programmable controller

External power supply

(DC24V) (DC24V)

P24

Servo drive

DC24V

Programmable controller

External power supply

Servo drive

P24

DC24V

Output control

Input

PLC

CM1

Output control

Output Output

Input

PLC

CM1

4.7kΩ

• When using an external power supply, do not connect the internal interface power of the servo drive. When the external power supply is shut off, a current may flow as shown in the following figure (e), thereby turning on the input.

3 - 29

4.7kΩ

Ω

CHAPTER 3 INSTALLATION AND WIRING

P24

PLC

Input

CM1

Servo drive

DC24V

4.7k

Programmable controller

Output control

External powe supply

(DC24V

Output

Shorted status when the power supply is shut off

(e) Current when the external power supply is shut off

• When a switch contact or relay contact is used for a contact input signal, use a contact in which a contact defect may not be caused even by a very weak current or voltage , such as crossbar twin contacts, etc.

• Do not make a short circuit between the internal interface power P24 and CM1. The servo drive may fail.

• Electrical specifications of the input signal are shown in the following table.

Item Unit Minimum Maximum Condition

Input impedance kΩ 4.5 5.7

Input current at OFF mA 0 0.3

Input current at ON mA 3.0 5.2 Power supply voltage 24 V DC

(4-2) Open collector output signal

• The relay coil and the input module of the programmable controller is connected as shown in the figures (a), (b)(it is sink type module ) and (c), (d)(it is source type module). When using a relay, connect a diode for surge absorber in parallel with the coil. At this time, connect the diode as shown in the following figure (a) and (c) so that it may be in the opposite direction of the voltage applied to the coil.

Programmable

Servo drive Servo drive

(a) Connection of relay coil (sink type module)

Diode for surge

absorber

Output

Relay coil

CM2

External power supply (DC24V)

(b) Connection of programmable controller (sink type module)

Output Input

External power supply (DC24V)

CM2

controller

3 - 30

Ω

CHAPTER 3 INSTALLATION AND WIRING

Programmable

Servo drive Servo drive

Diode for surge

CM2

absorber

CM2

controller

Output

Relay

coil

External power supply (DC24V)

(d) Connection of programmable controller (source type module)

Output

External power supply (DC24V)

Input

• For the power supply for output signals, be sure to prepare an external power supply. Do not use the internal interface power (P24-CM1) of the servo drive. The servo drive may fail.

• The electrical specifications of the contact output signal are shown in the following table.

Item Unit Minimum Maximum Condition

Output power supply voltage V − 30

Output current at ON mA − 50

Leakage current at output OFF mA − 0.1

Output saturation voltage at ON V 0.5 1.5 Output current 50 mA

(4-3) Analog input signal

• The variable resistor and the analog output module of the programmable controller are connected as shown in the following figure (a). Prepare an external power supply for analog input. Each analog input signal cable should be a twisted pair cable with the analog common (L), being a shielded cable. Connect the cable shield to the ground ( ) on the servo drive side. (The I/O connector case of the servo drive is internally connected to the ground.)

Powe supply (DC10V)

Var iable resistor

Servo drive

AI1,

Shielded cable

AI2, AI3,

AI4

10k

Connector case

(a) Connection of analog input signal

converter

Logic common

3 - 31

CHAPTER 3 INSTALLATION AND WIRING

• The cable length for analog signal should be 3 m or less. Perform wiring as apart as possible from the main circuit cable and relay control cable.

• Electrical specifications of the analog input signal are shown in the following table.

Item Unit Specification

Input voltage V 0 to ±10

Allowable maximum input voltage V ±16

Input impedance kΩ Approx. 10

(4-4) Monitor output signal

• The meter (voltmeter) or the recorder for monitoring speed detection values and torque command values is connected as shown in the following figure (a). Use this signal for only monitoring but not for commands of other control devices. (The output signal accuracy is about ±10%.) Each monitor output signal cable should be a twisted pair cable with the analog common (L--- connector pin No.17, 20, 45, 49), being a shielded cable. Connect the cable shield to the ground ( ) on the servo drive side. (The I/O connector case of the servo drive is internally connected to the ground.)

Servo drive

converter

Logic common

AO1,

AO2

Connector case

Shielded cable

Voltmete

(a) Connection of monitor output signal

• The impedance of the load to be connected to this monitor signal should be 3 kΩ or more. Do not connect the monitor output signal (AO1, AO2) to the common (L) or another power supply. The servo drive may fail.

• The electrical specifications of the monitor output signal are shown in the following table.

Item Unit Specification

Output voltage V 0 to ±3.0

Load impedance kΩ 3.0 or more

Output voltage accuracy % ±10 or more

Output signal delay time ms 1.0 or less

3 - 32

(4-5) Position command signal

(a) Non Isolation type logic

• The pulse train signal of a position command is connected as shown in the following figure for a line driver (AM26LS31 or equivalent). Position command signal cable should be a twisted pair cable, being a shielded cable. Connect the cable shield to the ground ( ) on the servo drive side. (The I/O connector case of the servo drive is internally connected to the ground.)

Line drive

(AM26LS31)

CHAPTER 3 INSTALLATION AND WIRING

Servo drive

5V 5V

Shielded cable

PLSP,

SIGP

PLSN,

SIGN

Connector case

1kΩ

370Ω

1.5kΩ

1kΩ

Logic

common

Connection of line driver signal

• The electrical specifications and timing chart of the position pulse signal are shown in the following table.

Electrical specifications

Item Unit Specification Condition

Input current of logic 1 mA 8 to 15

Maximum input pulse rate

FWD/REV pulse Pulse / Direction signal

Phase difference 90° pulse

Pulses/s 2M Line driver

Pulses/s 500k Line driver

3 - 33

CHAPTER 3 INSTALLATION AND WIRING

Timing chart

Signal form Pulse train input timing chart Pulse/Direction signal (Fig.1)

In case of FA-11=P-S(If FA-11=-P-S, SIG signal logic becomes in reverse.)

PLS signal

“1”

“0”

“1”

FWD/REV pulse (Fig.2)

Phase difference signal (Fig.3)

SIG signal

FWD signal

REV signal

Logic

In case of FA-11=F-r(If FA-11=r-F, revolution signal becomes in reverse.)

PLS signal

SIG signal

FWD signal

REV signal

In case of FA-11=A-b(If FA-11=b-A, revolution signal becomes in reverse.)

PLS signal

SIG signal

FWD signal

REV signal

“0”

“1”

“0”

“1”

“0”

“1”

“0”

“1”

“0”

Time of timing chart

Signal form

Line driver signal

Fig.1,Fig2 Fig.3

Rise time :t1,t3 ≤ 0.1 us ≤ 0.1 us Fall time :t2,t4

Switching time:ts0,ts1,ts2,ts3,ts4 3us or more -

≤ 0.1 us ≤ 0.1 us

Phase difference:t5,t6 - T/4 ± T/8 Pulse width :(t0/T) x 100 50 ± 10% 50 ± 10% Maximum pulse rate(pulses/s) 2M 500k

3 - 34

CHAPTER 3 INSTALLATION AND WIRING

(b) Isolation type logic

• The pulse train signal of a position command is connected as shown in the following figure (a) for a line driver (AM26LS31 or equivalent) or as shown in the following figure (b) for an open collector signal. Each position command signal cable should be a twisted pair cable, being a shielded cable. Connect the cable shield to the ground ( ) on the servo drive side. (The I/O connector case of the servo drive is internally connected to the ground.)

Servo drive

Line drive

(AM26LS31)

Shielded cable

PLSP,

SIGP

PLSN,

SIGN

Connector case

Open collector output

Powe supply

Cs: It is effective in the increase of noise immunity to insert a capacitor of about 100 to 220 pF in the collectoremitter.

• The cable length of this signal cable should be 3 m or less. Perform this wiring as apart

as possible from the main circuit cable and the relay control cable.

• The drive may malfunction by noise if one master controller distributes the open collector

signal in parallel to multi-servo drives. Make sure that the signal is distributed one to one connection. If one to multi-dive is necessary, contact your dealer.

Be sure to connect the emitter terminal of open collector transistor (common signal terminal) to the CM1 terminal of servo drive not to cause the position error.

• The electrical specifications and timing chart of the position pulse signal are shown in the following table.

(a) Connection of line driver signal

Shielded cable

Power supply

VD (V)

12 820 to 1200

24 1800 to 2200

Load resistance

RL (Ω)

PLSP,

SIGP

PLSN,

SIGN

Connector case

(b) Connection of open collector signal

Servo drive

CM1

3 - 35

CHAPTER 3 INSTALLATION AND WIRING

Electrical specifications

Item Unit Specification Condition

Input current of logic 1 mA 8 to 15

Maximum input pulse rate

Pulse/ Direction signal

Phase difference pulse

Pulses/s

Timing chart

Signal form Pulse train input timing chart

Pulse/Direction

In case of FA-11=P-S(If FA-11=_P-S, SIG signal logic becomes in reverse.) signal (Fig.1)

PLS signal

500k Line driverFWD/REV pulse

200k Open collector

125k Line driver

50k Open collector

“1”

“0”

“1”

FWD/REV pulse (Fig.2)

Phase difference signal (Fig.3)

SIG signal

FWD signal

REV signal

Logic

In case of FA-11=F-r(If FA-11=r-F, revolution signal becomes in reverse.)

PLS signal

SIG signal

FWD signal

REV signal

In case of FA-11=A-b(If FA-11=b-A, revolution signal becomes in reverse.)

PLS signal

SIG signal

FWD signal

REV signal

“0”

“1”

“0”

“1”

“0”

“1”

“0”

“1”

“0”

Time of timing chart

Signal form

Line driver signal Open collector signal

Fig.1,Fig2 Fig.3 Fig.1,Fig2 Fig.3

Rise time :t1,t3 ≤ 0.1 us ≤ 0.1 us ≤ 0.25us ≤ 0.25us Fall time :t2,t4

≤ 0.1 us ≤ 0.1 us

Switching time:ts0,ts1,ts2,ts3,ts4 ≤ 3us - ≤ 7.5us -

≤ 0.25us ≤ 0.25us

Phase difference:t5,t6 - T/4 ± T/8 - T/4 ± T/8 Pulse width :(t0/T) x 100 50 ± 10% 50 ± 10% 50 ± 10% 50 ± 10% Maximum pulse rate(pulses/s) 500k 125k 200k 50k

3 - 36

Ω

CHAPTER 3 INSTALLATION AND WIRING

(4-6) Encoder monitor signal

• The encoder position signal is output as phase A, B, and Z signals. Regarding the line driver output signals (OAP-OAN, OBP-OBN, OZP-OZN), connect the line receiver (input impedance: 220 to 230 Ω) as shown in the following figure (a). For the open collector output signal (OZ-L), connect the input device as shown in the following figure (b). Each encoder monitor signal cable should be a twisted pair cable in each pair, being a shielded cable. Connect the cable shield to the ground ( ) on the servo drive side. (The I/O connector case of the servo drive is internally connected to the ground.)

Servo drive

Line drive (AM26LS31 or equivalent)

Servo drive

Open collecto

Logic common

OAP, OBP, OZP OAN, OBN, OZN

Connector case

Shielded cable

Line receive (AM26LS32 or equivalent)

R=220 ~ 330Ω

(a) Connection of line driver output signal

Shielded cable

Connector case

2.2k

High-speed

optical coupler

External

power supply

(DC24V)

(b) Connection of open collector output signal

• This signal becomes a high-speed signal (1 MHz or more max. for phase A or B signal) depending on the set value of resolution of the encoder monitor signal. Accordingly, the cable or the receiving circuit should be considered for the high-speed signal. In particular, when the open collector output of phase Z signal is received by optical coupler, use a high-speed optical coupler (1 MHz or more).

• The cable length for this signal should be 3 m or less. Perform this wiring as apart as possible from the main circuit cable and the relay control cable.

• Do not short between line driver output signals each other or connect them to another power supply. The servo drive may fail.

3 - 37

CHAPTER 3 INSTALLATION AND WIRING

• When the absolute encoder is used, absolute position data can be output from the phase Z line driver output signal (OZP-OZN) as a serial signal. However, this data cannot be output from the phase Z detection signal of the open collector.

• The electrical specifications of the line driver signal output conform to those of line driver (AM26LS31 or equivalent). The electrical specifications of the Phase Z detection signal of the open collector are shown in the following table.

Item Unit Minimum Maximum Condition

Output power supply voltage V 4 30

Output current at ON mA 0 50

Leakage current at output OFF mA 0 0.1

Output saturation voltage at ON V 0 0.4 Output current 50 mA

3 - 38

CHAPTER 3 INSTALLATION AND WIRING

3.2.6 Wiring for encoder signals

(1) Encoder signal connector

The AD series servo drive (ADAX4) is exclusively for a 17 bits/rev serial output encoder or incremental encoder mounted on the AD series servo motor. Connect this encoder signal to the connector ENC of the servo drive. Use the following connector as this connector ENC in the following figure.

Encoder connector plug and cover

No. Name/Model Picture Manufacture

1 Connector

plug/

54593-1011

No.9 Pin

No.5 Pin

No.1 Pin

2.22.2

14.1

16.7

12.7

Pin No.

2.4

11. 1

Molex-Japan

Co., Ltd.

No.10 Pin

2Cover/

54599-1005

(Form No.1 to

No.6 is

necessary.)

No.2 Pin

6.1

No.6 Pin

Pin No. when the connector is viewed from the solder side.

No.1 Cover A

No.2 Cover

2.9

7.2

No.3 Shell cover

No.5 Cable clamp

3 - 39

No.4 Shell body

No.6 Screw 2pcs

CHAPTER 3 INSTALLATION AND WIRING

(2) Connection of encoder signal

1- The following figure shows a connection diagram of 17 bits / rev serial encoder signal.

Servo drive

Note 1)

ENC

(1)

(2)

(3)

(4)

(5)

SDP

(6)

SDN

Connector case

Encoder connector

Shielded cable

SDP

SDN

SHD

Note 2)

[Orange]

[Orange/White]

[Blue/White]

[Shield]

Note 1) Number means the Pin No. of encoder connector. Note 2) Color means the color of encoder cable from the motor.

The signal assignment is shown in the following table.

[Red]

[Black]

[Blue]

Encoder

encoder

signal

Pin No.

Terminal

code

Signal name Pin No.

Terminal

code

Signal name

1 EP Encoder power supply + 2 EG Encoder power supply −

3 VB Battery power supply + 4 EG Battery power supply −

5 SDP Serial signal (P) 6 SDN Serial signal (N)

7- - 8- -

9- - 10- -

The battery power supply (VB-EG) is required only to use the absolute encoder. For using the incremental encoder, it is not necessary to connect the battery power supply signal.

3 - 40

CHAPTER 3 INSTALLATION AND WIRING

Caution

a) Pull out the encoder cable when the control power supply has been turned off. If the power

supply is turned on in the non-connection status and the encoder cable is connected, Encoder Error will occur. In this case, turn on the power supply once again. (Take care that the absolute encoder may lose the position data without the control power supply.)

b) High-speed serial communication is performed between the servo drive and the encoder.

Therefore, each encoder signal cable and the power cable should be twisted pair cables in each pair, being shielded cables. Connect the cable shield to the ground ( ) on the servo drive side. (The I/O connector case of the servo drive is internally connected to the ground.)

c) Do not short between serial signal cables or connect each serial signal cable to the power

supply. The servo drive and the encoder may fail.

d) The following table shows the maximum value of current flowing on each power cable or

signal cable, each allowable voltage drop (voltage drop at a forward/backward flow between the servo drive and the encoder), and allowable resistance value at a forward/backward flow. Select each cable length or wire size within these allowable values.

Power/signal

name

EP, EG 165 0.25 1.5

VB, EG 1 0.1 100

SDP, SDN 15 0.3 15

e) Separate the encoder cable from the main power cable and motor cable 30cm or more each

other.

Maximum

current (mA)

Allowable voltage

drop (V)

Allowable resistance

value (Ω)

3 - 41

CHAPTER 3 INSTALLATION AND WIRING

2- Connection of wiring-saving incremental encoder.

Servo drive

ENC

Note 1)

(1)

(2)

(7)

(8)

(5)

B+

(6)

B-

(9)

Z+

(10)

Z-

Connector case

Shielded cable

Note 2)

[J]

[N]

[A]

[D]

[B]

[E]

[F]

[G]

[H]

B+

B-

Z+

Z-

SHD

Encoder

Wiring-saving

incremental

encoder

Note 1) The figure in parentheses indicates the pin No. of encoder connector to the servo

drive.

Note 2) The character in parentheses indicates the pin code of encoder connector to the

servo motor..

The signal assignment of ENC connector to the servo drive.

Pin No.

Terminal

code

Signal name Pin

No.

Terminal

code

Signal name

1 EP Encoder power supply + 2 EG Encoder power supply −

3- - 4- -

5 B+ Phase B (phase V) signal (P) 6 B- Phase B (phase V) signal (N)

7 A+ Phase A (phase U) signal (P) 8 A- Phase A (phase U) signal (N)

9 Z+ Phase Z (phase W) signal (P) 10 Z- Phase Z (phase W) signal (N)

3 - 42

CHAPTER 3 INSTALLATION AND WIRING

Caution

a) High-speed pulse signal is transmitted between the servo drive and the encoder. Therefore,

each encoder signal cable and the power cable should be twisted pair cables in each pair, being shielded cables. Connect the cable shield to the ground ( ) on the servo drive side. (The I/O connector case of the servo drive is internally connected to the ground.)

b) Do not short between serial signal cables or connect each serial signal cable to the power

supply. The servo drive and the encoder may fail.

c) Pull out the encoder cable when the control power supply has been turned off. If the power

supply is turned on in the non-connection status and the encoder cable is connected, Encoder Error E39 will occur. In this case, turn on the power supply once again.

d) Separate the encoder cable from the main power cable and motor cable 30cm or more each

other.

3 - 43

CHAPTER 3 INSTALLATION AND WIRING

MEMO

3 - 44

CHAPTER 4 OPERATION

This chapter explains typical examples of operation of this product and also a simple trial run method.

4.1 Operating Method........................................ 4 − 2

4.1.1 Speed-control operation

by analog input...................................... 4 − 4

4.1.2 Speed control operation

by multistage speed .............................. 4 − 5

4.1.3 Position control operation

by pulse train input................................ 4 − 6

4.2 Test Run...................................................... 4 − 7

4.2.1 Test run by analog input........................ 4 − 7

4.2.2 Test run by multistage speed................. 4 − 8

4.2.3 Jogging operation and teaching

operation from the digital operator......... 4 − 9

4.2.4 Test run by using the

setup software AHF............................... 4 − 11

4 − 1

CHAPTER 4 OPERATION

4.1 Operating Method

WARNING

• While the servo drive is energized, be sure not to touch the main terminal or to check the signal or put on/off wire and/or connector.

Otherwise, there is a danger of electric shock.

• Be sure to turn on the input power supply after closing the terminal cover. While being energized, be sure not to open the terminal cover.

Otherwise, there is a danger of electric shock.

• Be sure not to operate the switches with wet hands.

Otherwise, there is a danger of electric shock.

• While the servo drive is energized, be sure not to touch the servo drive terminals even during stoppage.

Otherwise, there is a danger of electric shock.

• It may suddenly restart after the incoming power failure. Be sure not to approach the machine. (Be sure to design the machine so that personnel safety will be secured even if it restarts.)

Otherwise, there is a danger of injury.

• After the operation command is given, if the alarm reset is conducted, it will restart suddenly. Be sure to set the alarm reset after checking the operation command is off.

Otherwise, there is a danger of injury.

• Be sure not to touch the inside of the energized servo drive or to put a bar into it.

Otherwise, there is a danger of electric shock and/or fire.

4 − 2

CHAPTER 4 OPERATION

(

)

Before operating

Before operating AD series, be sure to choose a correct encoder type and parameter of ADAX4 servo motor by setup software “AHF” because there are two type encoders in ADAX4 according to voltage class (single-phase 100V class and single-phase / 3-phase 200V class servo motor has 17 bits serial encoder and 3-phase 400V class servo motor has wire-saving incremental encoder.).

The flowchart of setting is shown as following.

17 bits serial encoder (single-phase / 3-phase 200V class)

Power supply to control power

circuit L1C and L2C is turned on.

[Parameter setting]

Parameter FA-81 (Encoder selection)

Stnd(initial setting value)

Parameter FA-82 (Encoder resolution)

2^17(initial setting value)

[Motor parameter setting]

Confirm the servo motor type code Set the motor parameter Initialize the servo amplifier (Note 1)

Power supply to control power circuit

L1C and L2C is turned off and turned on.

(After that parameters are valid.)

Wire-saving incremental encoder (3-phase 400V class)

Power supply to control power

circuit L1C and L2C is turned on.

[Parameter setting]

Parameter FA-81 (Encoder selection)

IncE (initial setting value)

Parameter FA-82 (Encoder resolution)

8192 (initial setting value)

[Motor parameter setting]

Confirm the servo motor type code Set the motor parameter Initialize the servo amplifier

Note 1

Power supply to control power circuit

L1C and L2C is turned off and turned on.

(In case of changing no parameters at

the [Parameter setting] and [Motor

parameter setting], this operation is

unnecessary.)

End

Note 1) As for the detail of setting motor parameter, please refer to the instruction manual for AD

series setup software AHF-P01 / P02.

This servo drive has the control modes and operation patterns shown in the following figure.

Control mode Operation pattern Speed control

Position control Pulse train input

Torque control Analog input

In the following, typical operation examples are shown. Refer to Chapter 6 (Details of Parameters) regarding the parameter setting.

Analog input

Multistage

4 − 3

End

CHAPTER 4 OPERATION

4.1.1 Speed-control operation by analog input, not using programmable function.

In this method, the servo drive is operated by connecting an external signal (Speed command, Servo ON (SON) ). The control mode (FA-00) is S-P initial setting.

1- Make connections as shown in the following figure and check if they are correct. 2- Turn on the ELB and then turn on the power supply to the servo drive.

The digital operator comes on and “d-00” is indicated. (This is a factory-set initial status.) 3- Set Analog input (A1) in the parameter Speed Command Selection (FA-21). 4- Set Speed Command (nrEF) in the parameter Analog input 1 Function Selection (FC-03) and

adjust the Al1 input voltage to 0 [V]. 5- Input the speed command. (You can make sure of the speed command by d-00.) 6- Turn on the FOT and ROT terminals. 7- Turn on MC for main power supply. 8- Turn on the SON terminal. 9- Input the Al1 speed reference voltage up to the desired speed.

10- At a stop, set speed reference voltage to 0 and check that the motor rotation has been stopped. After that, turn off the SON terminal.

<Items required for operation> Servo ON (SON): Switch, relay, etc. Speed Command (AI1): External signal (DC±10 V)

3-phase 380 ~ 480V power supply

ELB

Down transformer

DC10V

DC10V VR:1~3kΩ

200 ~ 240V

Servo drive (AD*3-HPE)

Digital operator

L1 L2 L3

L1C L2C

P24 SON

FOT ROT CM

AI1

PLC CM1

Ground

U V W

ENC

Servo moto

Encoder

Note) The above picture is showing 3-phase 400V class servo drive.

Do not supply the control power circuit L1C and L2C with 400V power. Be sure to supply the control power circuit L1C and L2C with 200 ~ 240V power.

4 − 4

CHAPTER 4 OPERATION

)

4.1.2 Speed control operation by multistage speed, not using programmable function.

In this method, the servo drive is operated by cont act input signal. The control mode (FA-00) is S-P initial setting.

1- Make connections as shown in the following figure and check if they are correct. 2- Turn on the ELB and then turn on the power supply to the servo drive.

The digital operator comes on and “d-00” is indicated. (This is a factory-set initial status.) 3- Set Multistage speed Input (CnS) in the parameter Speed Command Selection (FA-21). 4- Set multistage speed (Fb-00 to Fb-03). 5- Set the acceleration/deceleration time (Fb-04, Fb-05).(The initial value is 10s.) 6- Turn on the FOT and ROT terminals. 8- Check that the SS1 and SS2 terminals are OFF and turn on MC for main power supply. 7- Turn on the SON terminal. 9- Input the SS1 terminal and SS2 terminal to operate the servo motor. At SS1 = ON and SS2 =

OFF, the Fb-00 setting is validated. Check the speed by d-01.)

10- To stop the motor, turn off the SS1 and SS2 terminals and check that the motor rotation has been stopped. After that, turn off the SON terminal.

<Items required for operation> Servo ON (SON): Switch, relay, etc. Multistage speed command (SS1, SS2): Switch, relay, etc.

3-phase 380 ~ 480V power supply

ELB

200 ~ 240V

Down transformer

Servo drive(ADAX4-HPE

Digital operator

L1 L2 L3

L1C L2C

P24 SON FOT ROT SS1 SS2 CM1 PLC CM1

Ground

U V W

ENC

Servo moto

Encoder

Note) The above picture is showing 3-phase 400V class servo drive.

Do not supply the control power circuit L1C and L2C with 400V power. Be sure to supply the control power circuit L1C and L2C with 200 ~ 240V power.

4 − 5

CHAPTER 4 OPERATION

4.1.3 Position control operation by pulse train input, not using programmable function. In this method, the servo drive is operated by pulse train input signal.

1- Make connections as shown in the following figure and check if they are correct. 2- Turn on the ELB and then turn on the power supply to the servo drive.

The digital operator comes on and “d-00” is indicated. (This is a factory-set initial status.) 3- Set the parameter Pulse Train Input Mode (FA-11). 4- Set the parameter Electronic Gear (FA-12, FA-13). 5- Set “Speed control – Position control” (S-P) in the parameter Control Mode (FA-00). 6- Turn on the MOD terminal. (With this, the servo motor is put into position control operation.) 7- Turn on and off the CER terminal. 8- Turn on the FOT and ROT terminals. 9- Turn on MC for main power supply.

10- Turn on the SON terminal. 1 1- Turn on the PEN terminal and input the position pulse command. (With this, the motor is operated up to the commanded position.) 12- To stop the motor , turn off the PEN terminal after completing positioning. After checking that the motor rotation has been stopped, turn off the SON terminal.

3-phase 380 ~ 480V power supply

Position pulse command

ELB

200 ~ 240V

Down transformer

Servo drive (ADAX4-HPE)

Digital operator

L1 L2 L3

L1C L2C

P24 SON

MOD FOT ROT CER PEN CM1 PLSP

PLSN

SIGP

SIGN PLC CM1

U V W

ENC

Servo moto

Encoder

Ground

Note) The above picture is showing 3-phase 400V class servo drive.

Do not supply the control power circuit L1C and L2C with 400V power. Be sure to supply the control power circuit L1C and L2C with 200 ~ 240V power.

4 − 6

CHAPTER 4 OPERATION

4.2 Test Run

The following is a comparatively simple test run method.

4.2.1 Test run by analog input The control mode (FA-00) is S-P initial setting.

1- Make connections as shown in the following figure and check if they are correct. 2- Turn on the ELB and then turn on the power supply to the servo drive.

The digital operator comes on and “d-00” is indicated. (This is a factory-set initial status.) 3- Open d-00 and adjust (input 0 V) the speed command so that the speed command may be 0.

(When d-00 is indicated, press the key once. If any other value is indicated, press

and several times.) 4- Turn on the FOT and ROT terminals. 5- Turn on MC for main power supply. 6- Turn on the SON terminal.

7- Input the speed command and check that the servo motor can be operated according to the

speed command. (Check the speed by d-01.) 8- At a stop, set the speed command to 0 and check that the motor rotation has been stopped. After

that, turn off the SON terminal.

FUNC

3-phase 380 ~ 480V power supply

DC10V

ELB

Down transformer

VR:1~3kΩ

200 ~ 240V

Servo drive (ADAX4-HPE)

Digital operator

L1 L2 L3

L1C L2C

P24 SON

FOT ROT CM1

I1 L PLC CM1

Ground

U V W

ENC

Servo moto

Encoder

Note) The above picture is showing 3-phase 400V class servo drive.

Do not supply the control power circuit L1C and L2C with 400V power. Be sure to supply the control power circuit L1C and L2C with 200 ~ 240V power.

4 − 7

CHAPTER 4 OPERATION

4.2.2 Test run by multistage speed The control mode (FA-00) is S-P initial setting.

1- Make connections as shown in the following figure and check if they are correct. 2- Turn on the ELB and then turn on the power supply to the servo drive.

The digital operator comes on and “d-00” is indicated. (This is a factory-set initial status.)

3- Set Multi-speed Input (CnS) in the parameter Speed Command Selection (FA-21).

Press the and keys to change d-00 into FA---. Press the key once to indicate FA-00. Press the and keys to indicate FA-21. Press the key once and then press the and keys to indicate CnS. Lastly, press

SET

to save the indication.

4 -Perform Multistage Speed Setting (Fb-00).

Press the key once to change FA-21into FA---. Press the and keys to indicate Fb---. Press the key once to indicate Fb-00.

Press the key to indicate the set data. Press the , and keys and input the speed command value. Lastly, press to save the value. 5- Input the acceleration/deceleration time (Fb-04, Fb-05).

(Since the initial value is 10.0 s, change this setting if you desire another value. 6- Turn on the FOT and ROT terminals. 7- Make sure that the SS1 and SS2 terminals are OFF and turn on MC, then turn on the SON

terminal. 8- With the SS1 terminal ON and the SS2 terminal OFF, make sure that the motor can operate

according to the speed command. (Check the speed by d-01.) 9- To stop the motor, turn off the SS1 and SS2 terminals and check that the motor rotation has been

stopped. After that, turn off the SON terminal.

FUNC

FUNC FUNC

SET

3-phase 380 ~ 480V power supply

ELB

Down transformer

200 ~ 240V

Servo drive (ADAX4-HPE)

Digital operator

L1 L2 L3

L1C L2C

P24 SON

FOT ROT SS1 SS2 CM1 PLC

CM1

4 − 8

ENC

Ground

Servo moto

U V W

Note) The above picture is

showing 3-phase 400V class servo drive. Do not supply the control power circuit L1C and L2C with 400V power. Be sure to supply the control power circuit L1C and L2C with 200 ~ 240V power.

Encoder

CHAPTER 4 OPERATION

4.2.3 Jogging operation and teaching operation from the digital operator

Jogging operation can be performed from the digital operator by using only the wiring of the servo motor, servo drive, and power supply. Also, operation by teaching function can be available in case program operation mode(FA-22 : set in Pro). Using this test run method permits making wiring checks among the servo drive, servo motor, and power supply.

(1) Operations for jogging operation

When the SON terminal is OFF in the speed control mode, perform the following operations.

FUNC

Blinking

1- Operate the , , and keys

FUNC

to indicate the set data of Jogging Speed Fb-03.

Blinking

3 times

2- Set the operation speed by using the

, , and keys. (The example shown in the figure at left shows the operating procedure for changing only the direction of run.)

Blinking

For the direction of reverse run, perform setting by negative speed. Input the code

SET

FUNC

The setting is saved.

The setting is not saved.

Blinking

by the LED of the second digit from the left.

3- For jogging operation, adjust to the most

significant digit by using the key.

4- Press the key in the above status.

With this operation, jogging operation is

Run

started and the servo motor starts to rotate.

5- Press the any of the following keys to stop

the operation.

key: The contents of indication

are continued.

SET

key: The set speed is saved. key: The set speed is not saved,

FUNC

returning to the menu display.

4 − 9

CHAPTER 4 OPERATION

(2) Operations for teaching operation

When the SON terminal is OFF, perform the following operations.

FUN

Blinking

1- Operate the , and keys

FUNC

to indicate the set date of jogging Speed

Fb-03.

X 4 times

2- Set the operation speed by using , and keys. In case the teaching operation, Set the absolute value as the

With period

Blinking

Run

run direction and movement are decided by the code and number of setting pulses (refer to 3-the following.).

(The example shown in the figure at left shows the operating procedure not to change the speed.)

3- After confirming the period appearance, set the pulse numbers for movement by , and keys.

(1=1/32768 rotation)

(The example shown in the figure at left shows –256 pulses) Only key press makes the transition to the setting of P() without movement

X 5 times

value input.

4- Adjust to blink the LED of the most

significant digit by using the key.

FUN

Returning to the menue display.

Blinking

5- Press the key in the above status.

Teaching operation is started, and the servo motor and LED circulation runs until movement pulses complete.

6- If the required movement is satisfied by teaching operation, For saving the movement value, adjust to the variable number P() of your choise by the key and save it by the key.

4 − 10

SET

CHAPTER 4 OPERATION

4.2.4 Test run by using the setup software AHF

Jogging operation can be started from a PC to perform a test run. At this jogging operation, wiring checks can be made for the servo drive, servo motor , and power supply because connections to I/O connectors from the outside are not required.

(1) Operations for jogging operation

Jogging is classified into two types: ordinary jogging in which operations are performed in the speed control mode and pulse train jogging in which a feed is made according to the number of pulses set in the position control mode. Each of these types is explained below.

(a)Operations for jogging

In this jogging, the servo motor is operated at a constant speed by the given speed command until a stop command.

After the setup software AHF is started, jogging operation is performed by the following operations. (For details, refer to the instruction manual for the setup software AHF.)

1- Click the Test Run and Adjustment buttons on the opening screen.

(Click the Jog & homing tags.) 2- Input the speed command for jogging operation. 3- After making a safety check, click the button of the direction in which operation is to be

performed.

(With this, the motor will rotate in the desired direction.) 4- Click the Stop button to stop the operation.

Note 1: Do not input any signal from I/O connectors including the SON terminal during this operation. Otherwise, the operation is performed on the basis of the input terminal. Note 2: In this jogging, the servo motor is operated when the acceleration/deceleration

time is 0 s, and the current settings are used, for example, for control gain and speed limit.

Note 3: With this operation, the motor rotates. Perform operations making a safety check.

4 − 11

CHAPTER 4 OPERATION

(b)Operations for pulse feed jogging

The servo motor is operated in the position control mode up to the commanded position by the given position command.

After the setup software AHF is started, jogging operation is performed by the following operations. (For details, refer to the instruction manual for the setup software AHF.)

1- Click the Test Run and Adjustment buttons on the opening screen.

(Click the Jog & homing tags.) 2- Input the number of feed pulses. (The number of pulses should be regarded as 32768

per rotation.) 3- After making a safety check, click the forward feed or reverse feed button. (With this operation, the motor will rotate and positioning is performed at the command value.) 4- After positioning, the return to the initial screen. In this status, the servo ON status is continued. So click the stop button.

Note 1: Do not input any signal from I/O connectors including the SON terminal during this

operation. Otherwise, the operation is performed on the basis of the input terminal.

Note 2: In this jogging, the servo drive is operated when the acceleration/deceleration time

is 0 s, and the current settings are used, for example, for control gain and speed limit.

Note 3: With this operation, the motor rotates. Perform operations making a safety check.

To stop positioning, click the stop button.

4 − 12

CHAPTER 5 FUNCTIONS

This chapter explains the functions of the input/output signals of this product and its major control functions.

5.1 Terminal Functions List.............................. 5 − 2

5.2 Input T erminal Functions........................... 5 − 4

5.3 Output Terminal Functions ........................ 5 − 15

5.4 Analog Input/Output Function.................... 5 − 21

5.5 Analog Input Acceleration/

Deceleration Function ............................... 5 − 27

5.6 Multistage Speed Function........................ 5 − 29

5.7 Position Pulse Train Input Function........... 5 − 31

5.8 Smoothing Function .................................. 5 − 34

5.9 Encoder Monitor Function......................... 5 − 36

5.10 Adjusting the Control Gain ........................ 5 − 38

5.1 1 Offline Auto-tuning Function...................... 5 − 42

5.12 Online Auto-tuning Function...................... 5 − 47

5.13 Gain Change Function .............................. 5 − 51

5.14 Functions for Absolute

Position Encoder....................................... 5 − 54

5.15 Clearing the Trip Log and

Factory Settings........................................ 5 − 58

5.16 Directions of Run of the Servo Motor

and Servo Drive ........................................ 5 − 60

5.17 Speed Limit Function................................. 5 − 60

5.18 Fast positioning

5.19 Notch filter Function .................................. 5 − 62

Function........................... 5 − 61

5 − 1

CHAPTER 5 FUNCTIONS

5.1 Terminal Functions List

In the following table, “Control mode” in the right column indicates control modes in which the servo drive is operated. The mark O denotes “operation”, the mark X denotes “non-operation” and the mark * denotes “Possible to assign”.

Type

Terminal

symbol

P24

CM1

PLC

SON RUN

X(00) ~

X(11) MOD

FOT

ROT

SS1 SS2

PPI

SRZ

Input signal

ORL

ORG

PEN CER FWD

REV

GCH

EGR2

ECLR

EOH External error When this signal is input, the error occurs.

PRB1 Probe input 1 PRB2 Probe input 2

Note) For electrical specifications, refer to Chapter 3.

Terminal name Function

Interface power It is DC24V power for connection of input signal. When

Interface power common Intelligent input common

Servo ON Puts the servo drive into a servo ON status (powers the servo Program start When this signal is ON, a user program which is internal servo Alarm reset In the trip status, the alarm status is cleared by inputting this

General input 0~11 Changes to general input terminal at programmed operation.

Control mode switch Switches the control mode depending on the statu s of this input. Torque limit Enables the torque limit when this signal is input.

Forward overtravel When this signal is OFF, the servo drive does not operate in the

Reverse overtravel When this signal is OFF, the servo drive doe s not opera te in the

Multistage speed 1 Multistage speed 2

Proportional control When this signal is ON, P (proportional) control is performed as Zero speed clamp Fixes the speed command value to zero.

Home limit switch Inputs the signal of the home limit switch to indicate the origin

Homing When this signal is input, a homing operation is started. This

Pulse train input enable Position error clear Forward command Operates the motor in the forward direction at multistage speed

Reverse command Operates the motor in the reverse direction at multistage

Gain change Changes the gain of the control loop. Electronic gear

change Absolute encoder

clear

selecting source logic, it’s for connection with input common PLC terminal. Common of the P24 power supply.

Select sink logic or source logic by connecting input common signal. It also connects the external power supply or the internal power supply (P24).

motor to put it under control). drive is started. signal.

However, clear the cause of error before resetting, and turn off the SON terminal. This signal is used to terminate the auto tuning and exit from the mode.

“0” : open “ 1 “ : close

(Position/Speed, Speed/Torque, Torque/Position)

forward direction. (Forward direction limit signal)

reverse direction. (Reverse direction limit signal) A multistage speed of 3 steps is selected by combining these signal states, and a speed control operation is performed. When all of these signals are OFF, the operation is stopped.

speed control.

area. This signal is used for a homing in the position control mode.

signal is used for a homing in the position control mode. While this signal is ON, the pulse train position command input

is enabled. Clears the position error counter . (The po sition command value is regarded as the current position.)

operation. (The second function of the PEN signal)

operation. (The second function of the CER signal)

(The second function of the PPI signal) Changes to the second electronic gear w hen thi s signal is input. The surplus pulse is cleared. (The second function of the SS1 signal) Clears multi-rotation data of absolute encoder when this signal is input during 4 s or more. (The second function of the SS2 signal)

The alarm status is cleared by inputting RS signal. (The second function of the SRZ signal) Captor actual position when this terminal on and off.

(The 2nd function of the MOD and ORG signal) There is detail explanation in other instruction manual. (AD Series Setup Software Programmable Function)

Progra mmable

Select

Control mode

Position Speed Torque

OOOO

OXXX

XOOO XOOX

OOO

able

XXOX

XO O X XXOX

able

XOXX XOXX

XXOX

XOOX

XOXX

XOOO

XOO

OOOO

OOO

OXX

5 − 2

CHAPTER 5 FUNCTIONS

Type

Analog input

Output signal

output

Monitor

Position

command

Encoder monitor

Terminal

symbol

XA(0)/

AI1

XA(1)/

AI2

AI3 AI4

LAnalog

Y(00) ~

Y(07)

SRD Servo ready This signal is output when the servo drive can accept

ALM Alarm The alarm signal is output in the trip status. (This

INP Positioning

SA Up to speed The signal is output when the speed detection value

SZD Zero speed

BRK

(SOA)

TLM Torque limiting The signal is output in the torque limit status (where

OL1 Overload notice The signal is output when the overload detection

AL1~3 Alarm code The three bits – binary alarm signal is output for each

CM2 Output common Common terminal of the sink output signal.

AO1 Monitor output 1

AO2 Monitor output 2

L Analog output

PLSP PLSN

SIGP SIGN

OAP OAN OBP OBN OZP OZN

OZ Phase Z

L Phase Z

Terminal name Function

General analog input 1/ Analog input 1

General analog input 2/ Analog input 2

Analog input 3 The forward torque limit level depends on input voltage Analog input 4 The reverse torque limit level depends on input voltage

input/output common General output 0~7

complete

detection Brake release In the servo ON status, the brake release enable

common Position command pulse (Pulse signal) Position command pulse (Code signal) Encoder PhaseAThe monitor signal resulting from dividing (FC-09, FC-

Encoder PhaseBThe monitor signal resulting from dividing (FC-09, FCEncoder PhaseZThe monitor signal of the Phase Z signal of the

detection common

Changes to general analog input 1 at programmed operation. When the control mode and parameters are set, each function of speed command/speed bias/speed limit is available. Changes to general analog input 2 at programmed operation. When the control mode and parameters are set, each function of torque command/torque bias/torque limit is available.

with TL signal ON. with TL signal ON.

Common of the analog input signal.

Changes to general output terminal at programmed operation. “0” : open “ 1 “ : close

for the servo ON (when the main power supply is set up without any trip).

signal is ON in the normal status and OFF in the trip status.) This signal is output when the error between the command position and the current position is within the set positioning range.

reaches the speed command value. The signal indicates that the speed detection value is below the set zero speed detection value.

signal is output. When the brake waiting time is set to 0, the signal can be used as Servo ON Answ er (SOA).

the torque command value is limited by the torque limit value).

amount reaches the set overload notice level. error code.

0 to ± 3.0 V voltage output The speed detection value or torque command value monitors by analog voltage. The signal to be output can be set by parameter. Since these signals are for monitoring, do not use them for control. Common for the Monitor signal.

The position pulse train input function permits selecting (FA-11) among the following signal forms. 1-Pulse train/direction command 2-Forward/reverse pulse train 3-Phase difference two-phase pulse

11) the Phase A signal of the encoder is output.

11) the Phase B signal of the encoder is output. encoder is output. The current position data is output

as a serial signal by setting (FC-12). The monitor signal of the phase Z signal of the encoder is output.

* For electrical specifications, refer to Chapter 3.

Control mode

Progra

Position

mmable

OOOO

XOOO XOOO

OOOO

OXXX

Selec

table

Selec

table

Selec

table

XXOX XOOO

XOOO

XOOX

XOOO XOOO

OOOO

OOXX

OOOO OOOO

OOOO

Speed Torque

OOO

OXX

5 − 3

CHAPTER 5 FUNCTIONS

5.2 Input Terminal Functions

Fourteen input signals are available as the following servo dedicated input signals. Usually , when an input terminal is closed, the function is turned on. If Input Terminal Polarity Setting FC-01 is specified, the function is turned on when the input terminal is opened.

Servo ON (SON)

When this signal is turned on, the servo ON status (powered status) is provided.

- Only when the main circuit power supply is set up and the servo drive is not in the trip status (SRD ON), the Servo ON signal is accepted, providing a servo ON status. When the above condition is not satisfied, the servo drive remains in the non-powered status even if this signal is turned on.

- When the parameter DB Operation Selection (FA-16) is set to SoF (Servo OFF), the dynamic brake is actuated at Servo OFF, so that the motor is suddenly stopped.

- In the servo drive of 5 kW or more, the servo drive is not put into the servo ON status unless the motor speed is below 0.5% of the rated speed after the DB is started. To provide a servo ON status once again, turn on this signal after making sure that the motor rotation speed is below the above level.

- The time from inputting the Servo ON Signal till providing an operation enable status is about 20 ms.

- The servo ON status can also be provided when the input terminal is opened, by specifying the parameter Input Terminal Polarity Setting (FC-01).

- When the SON signal is turned off and on in the position control mode, the pulses accumulated at the OFF time are cleared.

Program start (RUN) In Pro in the position command selection (FA-22) is set, The internal program becomes in running when this terminal is turned on.

- Wen a servo drive is become servo on and off in RUN terminal enable, use SON command and SOFF command which are internal program function command.

- In the servo drive is in servo ON, if the RUN terminal is turned off by SOFF command, the motor is into free run state. (There is detail explanation in other instruction manual. it is AD Series Setup Software Programmable Function).

Related parameters

FA-16: DB operation selection FC-01: Input terminal polarity setting

Related parameters

FA-22: Position comma nd selection FC-01: Input terminal polarity setting FC-40: Input terminal function selection

5 − 4

CHAPTER 5 FUNCTIONS

Alarm Reset (RS)

This signal turns off the SON signal in the trip status. When this signal is turned on, the trip status is cleared and the servo drive is put into an operation enable status again.

- If this signal is turned on in a non-strip status, this is ignored.

- When the signal changes from OFF into ON in the trip status and the ON status is continued for 20 ms or more, the trip status is cleared.

- Even if the ON status of this signal is continued, a reset operation is performed only once.

- Alarm resetting can also be performed when the input terminal is opened, by specifying the parameter Input Terminal Polarity Setting (FC-01).

- For protection against E31, E39, E40, E90, E92, E93, E97, E98 and E99 the trip status cannot be

cleared by the RS terminal. (Regarding E31 for 200V class servo drive is possible to clear by the RS terminal. In case of clearing E90, E92 or E93, at first ECLR is input during 4 s or more. After that RS is input.) For the clearing method, refer to Chapter 9 Error Processing.

Related parameters

FC-01: Input terminal polarity setting

General input (X(00)~X(11)) When Pro in the position command selection (FA-22)

is set, the input terminals except for SON, RS change to the general input. For the details, refer to the instruction manual pertaining to the programmable function.

Related parameters

FA-22 : Position command selection

5 − 5

CHAPTER 5 FUNCTIONS

Control Mode Switch (MOD)

A combination of available control modes is set by the parameter Control Mode (FA-00) and one of control modes is selected by this signal.

Control Mode (FA-00) and combinations of control mode switch are shown in the following table.

Related parameters

FA-00: Control mode FC-01: Input terminal polarity setting

Parameter value of

control mode setting

Control mode at

MOD = OFF

Control mode at

MOD = ON

S-P (initial setting) Speed control Position control

P-S Position control Speed control

S-t Speed control Torque control t-S Torque control Speed control t-P Torque control Position control P-t Position control Torque control

- This signal can be switched even in the servo ON status.

- At mode switching, a slight switching shock may be caused. As a rule, perform switching when the motor stops.

- MOD can also be turned on when the input terminal is opened, by specifying the parameter Input Terminal Polarity Setting (FC-01).

Torque limit (TL)

When this signal is turned on, torque limit becomes valid. The torque limit value permits selecting a control mode by the parameter (FA-17) on the basis of the parameter (Fb-07 to Fb-10) or the torque limit input

Related parameters

FA-00: Control mode FA-17: Torque limit mode Fb-07 to 10: Torque limit value 1 to 4 FC-01: Input terminal polarity setting

value (Al2, AI3 or AI4 input value).

- This signal is valid only in the speed control or position control mode.

- Torque limit can also be enabled when the input terminal is opened, by specifying the parameter Input Terminal Polarity Setting (FC-01).

- The parameters Fb-07 to Fb-10 perform torque limit for each quadrant as shown in the following figure.

(However, for parameter input, input the torque limit value as an absolute value.)

Torque

CCW Positive

Note: The working direction of Fb-07 to Fb-10 is the same in spite of Motor Revolution Direction (FA-14) setting.

Fb-08

Second

quadrant

First

Fb-07

5 − 6

Fb-09

Third

quadrant

Speed

CCW

Fb-10

Fourth

quadrant

CHAPTER 5 FUNCTIONS

Forward/Reverse Overtravel (FOT, ROT)

The operating range limit switch is connected to this signal so that the servo drive may not deviate from the operating range.

- When this signal is turned on, drive is enabled.

- “Overtravel” means that the internal speed command limit value is 0 in the speed /position control mode, or that the internal torque command limit value is 0 in the torque control mode.

- Drive can also be ena bled when the input terminal is opened, by specifying the parameter Input Terminal Polarity Setting (FA-01).

- When both FOT and ROT are activated (OFF) and the servo ON status is continued for 1 s or more, overtravel error (E25) occurs.

Multistage Speed 1, 2 (SS1, SS2)

One of the set 3 steps of multistage speed (Fb-00 to Fb-02) is selected by a combination of these signals and the servo drive is operated at this speed. The relation between the status of this signal and multistage speeds is shown in the following table.

SS2 SS1 Selected speed OFF OFF Zero Speed Command OFF ON Multistage speed 1

ON OFF Multistage speed 2 ON ON Multistage speed 3

Related parameters

FC-01: Input terminal polarity setting

Related parameters

FA-21: Speed Command

Selection Fb-00 to Fb-02: Multistage speed 1 to 3 Fb-04: Speed Acceleration Time Fb-05: Speed Deceleration Time FC-01: Input terminal polarity

setting

- This signal is valid only in the speed control mode but does not function in the other modes.

- When multi-speed is selected, the acceleration and deceleration time are the set value by Fb-04 and Fb-05.

- SS1 and SS2 can also be turned on when the input terminal is opened, by specifying the parameter Input Terminal Polarity Setting (FC-01).

Proportional Control (PPI)

While this signal is ON, the speed control system functions as P control (proportional control).

- The parameters Proportional Gain (Fd-02) and Integral Gain (Fd-03) in PI control, and P control Gain (Fd-04) in P control can be set individually.

- This signal is valid in the position control mode and

Related parameters

FC-01: Input terminal polarity setting Fd-00: Moment of inertia Fd-01: Speed control response frequency Fd-02: Speed control proportional gain Fd-03: Speed control integral gain Fd-04: P control gain

the speed control mode.

- P control can also be selected when the input terminal is opened, by specifying the parameter Input Terminal Polarity Setting (FC-01).

5 − 7

CHAPTER 5 FUNCTIONS

Zero Speed Clamp (SRZ)

While this signal is ON, the speed command value is fixed at 0.

- This signal functions only in the speed control mode but does not function in the other modes.

- Even when multistage speed is selected for operation, the speed command value becomes 0 if this signal is turned on. At this time, however, deceleration is performed according to the set parameter Speed Deceleration Time (Fb-05) and the command value becomes 0.

- The signal Zero speed clamp can also be validated when the input terminal is opened, by specifying the parameter Input Terminal Polarity Setting (FC-01).

Homing and Home Limit Switch (ORG, ORL)

This function makes the position return to the home position in case of the incremental encoder. If the homing signal is turned on in the servo ON status in the position control mode, the servo drive is operated according to the set parameter Homing Mode (FA-23). Homing Mode includes the modes shown in the following table. Each of them will be explained in sequence.

Set

value

CP Optional homing

L-F Low-speed homing(forward run)

L-r Low-speed homing (reverse run)

H1-F High-speed homing 1 (forward run)

H1-r High-speed homing 1 (reverse run)

H2-F High-speed homing 2 (forward run)

H2-r High-speed homing 2 (reverse run)

Homing mode

Related parameters

FA-23: Homing mode Fb-04: Speed acceleration time Fb-05: Speed deceleration time Fb-12: Homing speed 1 Fb-13: Homing speed 2 Fb-14: Homing position offset value (H) Fb-15: Homing position offset value (L) FC-01: Input terminal polarity setting

- The homing operation functions only in the position control mode. (The servo drive is operated in the position control mode.) It does not function in the other functions.

- The acceleration time and deceleration time of high-speed

homing are the set parameters Speed

Acceleration Time (Fb-04) and Speed Deceleration Time (Fb-05).

- The

homing and home limit switch signals can also be validated when the input terminal is opened,

by specifying the parameter Input Terminal Polarity Setting (FC-01).

- If the parameter Homing Speed 2 (Fb-13) at positioning is set a high value, the stop position may

slightly deviate. In the range of 60 to 100 min set the parameters

Homing Speed (Fb-12 and Fb-13) to 0.

-1

, the stop position becomes rather stable. Do not

Note: The present position is set to the offset position of Fb-14 and Fb-15 by homing even if the encoder is the absolute type and Abs setting in FA-80.

(1) Optional Homing (CP)

The position where the ORL signal was turned on during homing in the servo ON status is regarded as the optional home position ,which is the offset position set in the parameters Fb14 and Fb-15. However, this is valid only in the servo ON status.

5 − 8

CHAPTER 5 FUNCTIONS

(2) Low Speed Homing (L-F, L-r: ORL signal)

When the ORG signal is turned on, a homing is started and the servo motor is operated at a low speed. The operation is performed with the edge of OFF to ON of the ORL terminal as the home position.

- When no h oming is performed, the position where po wer was supplied to the servo drive is regarded as the home position.

- When the ORG signal is turned off during the homing operation, this operation is immediately stopped. At this time, the homing remains incomplete.

- Upon completion of the homing, the positioning complete signal (INP) is output.

- The direction of homing oper ation is set to L-F: forward or L-r: reve rse in the parameter Homing Mode (FA-23). The following figure shows the operational procedure in each case.

FA-23

L-F

L-r

Opera-

tional

proce-

dure

ORL terminal at the start of low speed homing

OFF ON

ORL

Forward run

Negative

Servo lock

Speed Positive

Home

Negative

Home

(Fb-13)

Negative

1- When the ORG signal is turned on, a homing is

started.

2- The operation is performed in the set direction of

homing according to the parameter Homing Speed 2(Fb-13).

3- The operation is stopped at the position where the

ORL signal was changed from OFF to ON. This position is regarded as the offset position (home) set in Fb-14 and Fb-15.

Speed Positive

(Fb-13)

Positive Position

ORL

Servo lock

Positive Position

Reverse rotation

ORL

Negative

Home

100

ms Negative

Speed Positive

(Fb-13)

Forward run

Negative

(Fb-13)

Negative

1- When the ORG signal is turned on, a homing is started. 2-The operation is performed in the opposite

direction of the set home according to the parameter Homing Speed2(Fb-13).

3- The ORL signal is changed from ON to

OFF. In about 100 ms, deceleration is performed and then reverse run is performed.

4- The operation is stopped at the position

where the ORL signal was changed from OFF to ON. This position is regarded as the offset position (home) set in Fb-14 and Fb-15.

Speed Positive

100

Home

(Fb-13)

Reverse rotation

(Fb-13)

ORL

Servo lock

Positive Position

Servo lock

Positive Position

5 − 9

CHAPTER 5 FUNCTIONS

(

)

(

)

(3) High Speed Homing1 (H1-F, H1-r: ORL signal)

When the ORG signal is turned on, a homing is started and the servo motor is operated at a high speed. The operation is performed with the edge of OFF to ON of the ORL terminal as the home. When the direction of home is forward or reverse, set H1-F or H1-r. The following figure shows the operational procedure in each case.

- When no h oming is performed, the position where po wer was supplied to the servo drive is regarded as the home.

- When the ORG signal is turned off during the homing operation, this operation is immediately stopped. At this time, the homing remains incomplete.

- Upon completion of the homing, the positioning complete signal (INP) is output.

- The direction of home for the homing operation is set to H1-F: forward or H1-r: reverse in the parameter Homing Mode (FA-23). The following figure shows the operational procedure in each case.

FA-23

H1-F

ORL

Forward run

Negative

Servo lock

H1-r

Negative

Fb-13

Speed Positive

Forward run

Fb-12

Negative

Opera-

tional

proce-

dure

1- When the ORG signal is turned on, a homing is

started.

2- The operation is performed in the set direction of

home according to the parameter to Homing Speed 1(Fb-12).

3- Deceleration/stop is performed at the position where

the ORL signal was changed from OFF to ON, and the operation is performed in the reverse direction.

4- The position where the ORL signal was changed

from ON to OFF is regarded as the offset position (home) set in Fb-14 and Fb-15 and positioning is performed.

Note: The travel time in the first direction of home for the homing start operation should be up to 30

minutes. If this value is exceeded, an incorrect operation or trip may be caused.

ORL terminal at the start of high speed homing 1

OFF ON

Speed

Positive

ORL

(Fb-12)

Home

Positive Position

Reverse

rotation

Negative

Home

(Fb-13)

Negative

Home

Servo lock

Reverse rotation

ORL

Positive Position

Negative

Reverse rotation

1- When the ORG signal is turned on, a

homing is started.

2- The operation is performed in the opposite

direction of the set home according to the parameter Homing Speed2 (Fb-13).

3- The position where the ORL signal was

changed from ON to OFF is regarded as the offset position (home) set in Fb-14 and Fb-15 and positioning is performed.

Forward run

Home

Speed Positive

Negative

Speed Positive

Negative

Servo lock

Positive Position

(Fb-13)

ORL

(Fb-13)

Positive Position

Servo lock

5 − 10

CHAPTER 5 FUNCTIONS

(4) High Speed Homing2 (H2-F, H2-r: Z signal input)

When the ORG signal is turned on, a homing is started and the servo motor is operated at a high speed. The first phase Z signal after the ORL terminal is turned on is ta ken as the home. When the direction of home is forward or reverse, set H2-F or H2-r. The following figure shows the operational procedure in each case.

FA-23

H2-F

ORL

Forward run

Negative

ORL terminal at the start of high speed homing 2

OFF ON

Speed Positive

(Fb-12)

Home

Servo lock

Positive

Position

Negative

ORL

(Fb-12)

(Fb-13)

Speed Positive

Home

Servo lock

Positive Position

(Fb-13)

H2-r

Speed Positive

Forward run

Reverse rotation

Negative

ORL

(Fb-12)

Phase Z signal

(Fb-12)

Negative

Speed Positive

ORL

(Fb-13)

Negative

Positive Position

(Fb-12)

Opera-

tional

proce-

dure

Negative

1- When the ORG signal is turned on, a homing is started. 2- The operation is performed in the set direction of home

3- Deceleration, stop, and reverse operation are started at

4- Deceleration is started at the position where the ORL 5- The operation is performed according to the parameter 6- The ORL signal changes from OFF to ON and the first

Home

Servo lock

Phase Z signal

according to the parameter Homing Speed1 (Fb-12). the position where the ORL signal was changed from

OFF to ON. The operation is performed according to the parameter Homing Speed 2(Fb-13).

signal changed from ON to OFF. Homing Speed2 (Fb-13) in the direction of origin. Phase Z signal position is regarded as the offset

position (home) set in Fb-14 and Fb-15. Then, positioning is performed.

Negative

Reverse rotation

(Fb-12)

Negative

Home

Servo

Position

lock

(Fb-13)

Phase Z signal

1- When the ORG signal is turned on, a homing is

started.

2- The operation is performed in the set direction of

origin according to the parameter Homing Speed 1(Fb-12).

3- Deceleration, stop, and reverse operation are started

at the position where the ORL signal changes from ON to OFF . The operation is performed according to the parameter Homing Speed 1 (Fb-12).

4- Deceleration, stop, and reverse operation are started

at the position where the ORL signal was changed from OFF to ON. The operation is performed according to the parameter Homing Speed 2(Fb-13).

5- Deceleration is started at the position where the ORL

signal changed from ON to OFF.

6- The operation is performed according to the

parameter Homing Speed (Fb-13) in the direction of home.

7- The ORL signal changes from OFF to ON and the first

phase Z signal position is regarded as the offset position (home) set in Fb-14 and Fb-15. Then, positioning is performed.

Note: The travel time in the first direction of home should b e up to 30 minutes. If this value is exceeded,

an incorrect operation or trip may be caused.

5 − 11

CHAPTER 5 FUNCTIONS

- If a homing is not performed, the position where the power supply to the servo drive is turned on is regarded as the home (0).

- If the ORG signal is turned off during a homing operation, this operation is immediately stopped. At this time, the homing remains incomplete.

- Upon completion of the homing, the positioning complete signal (INP) is output.

- The direction of home for the homing operation can be set in the parameter Homing Mode (FA-

23). The following figure (on the previous page) shows the operational procedure in each case.

Pulse Train Input Enable (PEN)

Only when this signal is ON, the position command

Related parameters

FC-01: Input terminal polarity setting

pulse train input is valid.

- Only whe n the servo drive is in the position control mode and the position command is set to the parameter Pulse Train Input, this signal is valid.

- While this signal is turned on, the position command value can be updated according to pulse train input signal.

- The position pulse train input can also be validated when the input terminal is opened, by specifying the parameter Input Terminal Polarity Setting (FC-01).

Position Error Clear (CER)

The position error goes to 0 (for edge signal) by specifying the position command value as the

Related parameters

FC-01: Input terminal polarity setting

current position in the position control mode.

- This signal is valid only in the position control mode. In the moment when this signal changes from OFF to ON, the position command value is made equal to the current position. This signal is of edge signal. Accordingly, even if the signal keeps ON, any counter clear operation is not performed. To clear the error counter again, turn off the signal once and then turn it on.

- The errror counter can also be validated when the input terminal is opened, by specifying the parameter Input Terminal Polarity Setting (FC-01).

Forward and Reverse Command (FWD, REV)

Usually , the multist age speed function using the SS1 and SS2 terminals does not permits specifying the direction of run. However , the direction of run can be specified by the second function terminal FWD/REV and the speed command value can be specified by the SS1 and SS2 terminals.

- The parameters Multist age S peed Setting (Fb-00 to Fb-02) are signed. Accordingly , if REV is specified, the reverse polarity of the set value is regarded as the speed command. The acceleration/deceleration time is based on the parameters Fb-04 and Fb-05 as ever. The following table shows the relation between each terminal and the speed command.

5 − 12

Related parameters

Fb-00 to Fb-02: Multistage speed Fb-04: Acceleration time Fb-05: Deceleration time Fb-01: Input terminal polarity

setting

Fb-40: Input terminal function

selection

CHAPTER 5 FUNCTIONS

SON FWD REV SS1 SS2 Speed command Remarks

OFF * * * * No output power

*: ALL Mighty

OFF OFF * *

ON ON * * ON OFF

OFF OFF 0 Zero speed servo

ON OFF (Fb-00) 1st speed

OFF ON (Fb-01) 2nd speed

ON ON (Fb-02) 3rd speed

OFF ON

OFF OFF 0 Zero speed servo

ON OFF −(Fb-00) Reverse 1st speed

OFF ON − (Fb-01) Reverse 2nd steed

ON ON − (Fb-02) Reverse 3rd speed

0 Zero speed servo

Gain Change (GCH)

When this signal is ON, the position/speed control gain is switched over to the second control gain.

- This signal is valid only in the position control mode.

- The gain switch function can also be validated when the input terminal is opened, by specifying the parameter Input Terminal Polarity Setting (FC-

01). For the detail, refer to Chapter 5.13 ‘Gain Change Function’.

Electronic gear change (EGR2) When this signal is ON, the electronic gear is switched over to the second electronic gear. For the detail, refer to (2) ‘Electronic Gear’ in Chapter

5.7 ‘Position Pulse Train Input Function’.

Absolute encoder clear (ECLR) In case of using absolute encoder, when this signal is ON during 4s or more, the multi-rotation data of absolute encoder is cleared. In case of clearing E90, E92 or E93, at first ECLR is input during 4s or more. After that RS is input. For the detail, refer to (2) ‘Clear Encoder to Zero’ in Chapter 5.14 ‘Functions for Absolute Position Encoder’.

Related parameters

FC-01: Input terminal polarity setting FC-40: Input terminal function selection Fd-30: Gain change mode Fd-31: Position error width for gain change Fd-01: Speed control cut-off frequency Fd-09: Position control cut-off frequency Fd-32: 2nd position control cut-off

frequency Fd-34: 2nd speed control cut-off frequency Fd-33: Gain change time constant Fd-35: Speed control gain change time

Related parameters

FA-12: Electronic gear numerator FA-13: Electronic gear denominator FA-32: Electronic gear 2 numerator FA-33: Electronic gear 2 denominator FC-01: Input terminal polarity setting FC-40: Input terminal function selection

Related parameters

FC-01: Input terminal polarity setting FC-40: Input terminal function selection

5 − 13

CHAPTER 5 FUNCTIONS

External error (EOH)

This signal is used with an external braking resistor or an external regenerative braking unit etc. which output alarm signal. When these units are overheated, the output signal from these units is input to EOH terminal in order to cause an error.

- When this signal is ON, E12 occurs and servo amplifier become ‘error status’.

- The operation when error occurs is selectable (The dynamic brake is used or not used) in parameter FA-16.

- In case of clearing alarm, at first EOH is OFF. After that RS is input.

- If the electrical specific ation of output signal from external units is for high voltage circuit, be sure to change the signal to be for low voltage circuit by using relay at the high voltage circuit side, and input the signal to EOH terminal.

FC-01: Input terminal polarity setting FC-40: Input terminal function selection FA-16: DB operation selection

Probe input 1, 2 (PRB1, PRB2) In Pro in the position command selection (FA-22) is set and a internal program is in running, actual position data is into the variable of programmable function (PRB1H, PRB1L, PRB2H, PRB2L) when the terminal is turned on and off (edge input). The internal program becomes in running when this terminal is turned on. (There is detail explanation in other instruction manual. it is [AD Series Setup Software Programmable Function]).

Second Terminal Function

There are 14 input terminals and one function is assigned to one terminal as a rule. However, the second function can be assigned to one terminal. An assignment change can be set in the parameter Input Terminal Function Selection (FC-40).

Parameter Function name Contents of function and set point Initial value

FC-40 Input terminal

function selection

Select the first function side or the second function side of the input side to be validated.

0 = 1st function, 1 = 2nd function Setting range: 0 to 3FFF

Related parameters FA-22: Position comma nd selection FC-01: Input terminal polarity setting FC-40: Input terminal function selection

To validate FWD, REV, and GCH, set 3100 (hexadecimal) to turn on the bits corresponding to PEN, CER, and PPI.

5 − 14

CHAPTER 5 FUNCTIONS

5.3 Output Terminal Functions

8 output signals can be used as servo dedicated output signals that are shown below. Usually , the output terminal is closed when the output function is ON. However, the output terminal can also be opened when the output function is ON, by specifying the parameter Output Terminal Polarity Setting (FC-02).

General output (Y(00)~Y(07)) When Pro in the position command selection (FA-22)

is set, the output terminals change to the general output. For the details, refer to the instruction manual pertaining to the programmable function.

Servo Ready (SRD)

When the main circuit power supply is set up and the servo drive is not in the trip status, this signal is output. While this signal is ON, the Servo ON signal is accepted. Otherwise, the Servo ON signal cannot be accepted.

- The output terminal can also be opened in the servo ready status by specifying the parameter Output Terminal Polarity Setting (FC-02).

Related parameters

FA-22: Position command selection

Related parameters

FC-02: Output terminal polarity setting

Related parameters

FC-02: Output terminal polarity setting

Alarm (ALM)

This signal indicates an trip status and can be set to the a-contact (Normally Open) or b-contact (Normally Close) (initial setting: b-contact ) by the parameter Setting (FC-02). The following table shows the relation between each contact specification and alarm output signal. When a trip status is indicated by this signal, clear the trip status by the Alarm Reset signal to return the signal to the normal status.

Contact specification Power OFF Normal status Trip status

b-contact OFF ON OFF a-contact OFF OFF ON

Positioning Complete (INP)

This signal indicates the positioning complete or the completion of a homing.

- This signal functions only in the position control mode, and turned off in the other control modes.

- When the homing signal is input, this signal is turned off to st art a homing. Upon completion of the homing, this signal is turned on. While the homing signal is input, this signal is continuously output.

- When the position deviation is within the set parameter Positioning Detection Range (Fb-23), this signal is turned on.

- In the servo OFF status, this signal is turned off.

- The output terminal can also be opened when positioning is completed, by specifying the

parameter Output Terminal Polarity Setting (FC-02).

Related parameters

Fb-23: Positioning detection range FC-02: Output terminal polarity setting

5 − 15

CHAPTER 5 FUNCTIONS

Up to Speed (SA)

When the speed command value is constant and the speed detection value is within the range of (Speed command) ± (Up to speed detection range), this signal is turned on and output.

- This signal functions only in the speed control mode and is turned off in the other control modes.

- When the speed command value is constant and the speed deviation between the speed command value and the speed detection value is within the width set in the parameter Up to speed Width (Fb-25), this signal is turned on.

- When the speed command value is analog and not constant because of noise, the signal may not be turned on and output.

- When hu nting tends to be caused by reason of control gain or customer’s load, this signal may cause chattering (repetition of ON and OFF). At this time, adjust the gain or increase the up to speed width (Fb-25).

- This signal is turned off in the servo OFF status.

- The output terminal can also be opened at the up to speed by specifying the parameter Output Terminal Polarity Setting (FC-02).

Related parameters

Fb-25: Up to speed detection range FC-02: Output terminal polarity setting

Zero Speed Detection (SZD)

When the speed detection value is within the zero speed detection value, this signal is output.

- This signal functions regardless of any control mode, and is turned on when the speed detection value is within the Zero Speed Detection Value (Fb-22).

- The output terminal can also be opened at zero speed detection by the parameter Output Terminal Polarity Setting (FC-02).

Related parameters

Fb-22: Zero speed detection value FC-02: Output terminal polarity setting

5 − 16

Brake Release (BRK/SOA)

This signal is used to control the brake that is externally equipped. The signal functions regardless of any control mode. For the brake signal, the two output methods of motor stop and motor run can be selected by exclusive setting as shown in the following table. Each output method is explained below.

CHAPTER 5 FUNCTIONS

Related parameters

FA-24: Servo OFF wait time FA-26: Brake operation start speed FA-27: Brake operation start time FC-02: Output terminal polarity setting

Setting parameter

Servo OFF wait time FA-24 Wait time setting 0 Brake operation start

speed Brake operation start

time

Unless the parameters are exclusively set as shown in the above table, the operation cannot be performed correctly.

(1) Brake Signal during Motor Stop

This function can delay the servo OFF time by the delay time after the brake signal (BRK) is actuated, in consideration of a brake ON delay. Accordingly, use this signal when the motor stops, for example, after a positioning stop. If this signal is often used during motor run, the brake will be worn away abnormally.

- When the Servo ON signal is input, this signal is turned on simultaneously . As soon as the Servo OFF signal is input, this signal is turned off. After the lapse of the time set in the parameter Servo OFF Wait T ime (FA-24), the servo drive is turned off. (Refer to the following figure.) Within this Servo OFF Wait Time, the speed command is forcibly caused to go 0.

- The Servo OFF W ait Time (F A-24) can be set in the range of 0 to 1.00 s by 10 ms step s. The operation may be delayed 1 ms max.

- When the Servo OFF Wait Time is set to 0, the SOA (Servo ON Answer) function is actuated.

- When a trip occurs, the servo drive is turned off simultaneously with this signal.

- This signal can also be turned off when the Servo ON signal is input , by specifying the parameter Output Terminal Polarity Setting (FC-02).

- For using this function, set the parameter Brake Operation Start Time (FA-27) to 0.

FA-26 − Start speed

FA-27 0 Start time

(1) Brake signal

during stop

(2) Brake signal

during run

SON

Servo status

BRK

Servo ON status

Powered status

Brake OFF status

5 − 17

Servo OFF wait time

FA-24

CHAPTER 5 FUNCTIONS

(2) Brake Signal during Motor Run

This function is used to apply the brake while the motor is rotating. Use the function for a use that permits obtaining sufficient deceleration, for example, for a case where the motor is put into a free run. If the function is used for a gravitational load, the brake operation may be relayed to invite a risk of falling.

- When the Servo ON signal is input, this signal is turned on simultaneously with a servo ON operation. With the Servo ON signal or in the trip status, the brake is actuated after the motor speed becomes below the Brake Operation Start Speed (FA-26) or after the Brake operation Start Time (FA-27) elapses after servo OFF. (Refer to the following figure.)

- The parameter Brake ON Start Time (FA-27) can be set in the range of 0 to 1.000 s by 4 ms steps and the operation may be delayed 4 ms max.

- This signal can also be turned off when the Servo ON signal is input, by specifying the parameter Output Terminal Polarity Setting (FC-02).

- For using this function, set the parameter Servo OFF Wait Time (FA-24) to 0.

SON = OFF

or trip

SON

Servo status

BRK

Motor speed

Torque Limit (TLM)

This signal is valid only in the position control mode

Servo ON status

Powered status

Brake OFF status

* Operational conditions FA-26 | Speed | or FA-27 Time elapsed

Related parameters

FC-02: Output terminal polarity setting

Brake ON start time

FA-27

Brake ON start speed

FA-26

or speed control mode and turned on when torque limit is in process.

- When the torqu e command value in the servo drive is limited to the momentary maximum torque limiter regardless of the TL terminal state, or the torque limit value by the torque limiting function, this signal is turned on.

- When hu nting tends to be caused by reason of control gain or customer’s load, this signal may provoke chattering (repetition of ON and OFF). In this case, adjust the control gain to prevent such hunting.

- This signal can also be turned off during torque limit by specifying the parameter Output Terminal Polarity Setting (FC-02).

- When the torque command value is higher than the limit level, this signal is turned on. Accordingly , the signal is also turned on even if no current flows and no torque is output with the motor cable open.

5 − 18

CHAPTER 5 FUNCTIONS

Overload Notice (OL1)

This signal is turned on when the integrated value of electronic thermal exceeds the overload notice level (FA-09).

- When hu nting tends to be caused by reason of control gain or customer’s load, this signal may provoke chattering (repetition of ON and OFF). In this case, adjust the notice level and the control gain.

- Once the signal is turned on, the ON output continues at least for 1 s.

- This can also be turned off at overload notice by specifying the parameter Output T erminal Polarity Setting (FC-02).

Alarm code (AL1~3)

This signal is available for all control mode (but not available when position command selection (FA-22) is set to “Pro”). The three bits – binary signal is output for each error code.

- The alarm signal is output to the general output terminal assigned to AL1, AL2 and AL3 when the parameter (FC-45) is set to ALC.

- The bit output can be changed to negative logic by the parameter output terminal polarity setting (FC-02).

- The following table shows the relation of error code and alarm signal.

Related parameters

FA-09: Overload notice level FC-02: Output terminal polarity setting

Related parameters

FC-45: Alarm code output enable

5 − 19

CHAPTER 5 FUNCTIONS

The relation of error code and alarm signal

Error code ALM

E08 Memory error E11 CPU error 1 E22 CPU error 2 E40 Motor power unmatch E42 Option error E61 E01 Overcurrent protection E31 E14 E06 Braking resistor overload protection E25 Overtravel error E83 Position error fault E84 Speed error fault E89 E07 Main power overvoltage protection E09 Main power undervoltage protection E16 Instantaneous power failure protection E20 E39 Encoder signal error E60 Option board communication error E85 Overspeed error E88 Driving range error E97 Encoder communication signal error1 E98 Encoder communication signal error2 E99

E90 E91 Absolute encoder battery alarm

E92 Absolute encoder counter overflow E93 E05 Overload protection

E10 CT error E21 Abnormal temperature E36 DB overload error E12

AL3

(OL1)

(TLM)

000

001

010 011

100

101

110

111

AL2

AL1

(SA)

Trip name

Duplicate MAC ID

Power module protection Ground fault protection

Position monitoring timeout error

Control power undervoltage protection

Encoder count error Absolute encoder battery error

/ Position data error

Absolute encoder error / Encoder failure

External error

5 − 20

HITACHI ADAX4 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

SAFETY

CONTENTS

CHAPTER 1 SAFETY PRECAUTIONS

CHAPTER 2 INTRODUCTION

CHAPTER 3 INSTALLATION AND WIRING

CHAPTER 4 OPERATION

CHAPTER 5 FUNCTIONS