Panasonic MINAS E-series User Manual

Page 1

Instruction Manual

AC Servo Motor & Driver

MINAS E-series

Thank you very much for buying Panasonic AC Servo Motor & Driver, MINAS E-series. Before using this driver, please read this manual especially refer the safty precautions (page 8 to 11) to ensure proper use. Then, keep this manual for your future use.

Page 2

Contents

[Before Use] Page

Safety Precautions ................................................................................................ 8

Maintenance/Inspections .................................................................................... 12

Introduction ......................................................................................................... 14

General ....................................................................................................................................................14

After Opening the Package......................................................................................................................14

Model of Driver ........................................................................................................................................ 14

Model of Motor ......................................................................................................................................... 15

Check the Combination of Driver and Motor............................................................................................15

Parts Description ................................................................................................. 16

Driver ....................................................................................................................................................... 16

Motor........................................................................................................................................................16

Console....................................................................................................................................................17

Installation ........................................................................................................... 18

Driver ....................................................................................................................................................... 18

Motor........................................................................................................................................................20

Console....................................................................................................................................................22

[Preparations] Page

System Configuration and Wiring......................................................................24

General Wiring Diagram .......................................................................................................................... 24

List of Driver and Compatible Peripheral Equipment ............................................................................... 26

Wiring of Connectors CN X1 and X3 (Wiring of Main Circuits) ................................................................ 27

Wiring of Connector CN X4 (Connection with Encoder) .......................................................................... 29

Wiring of Connector CN X5 (Connection with Host Controller) ............................................................... 30

Wiring of Connector CN X6 (Connection with Personal Computer/Console) .......................................... 31

Timing Chart ........................................................................................................ 32

Holding Brake ...................................................................................................... 35

Dynamic Brake (DB) ............................................................................................ 36

Homing Operation (Precautions) ....................................................................... 38

Setting the Parameters ....................................................................................... 39

Overview of Parameters .......................................................................................................................... 39

How to Set ............................................................................................................................................... 39

Overview of Console................................................................................................................................39

Overview of PANATERM® ........................................................................................................................ 39

How to Connect ....................................................................................................................................... 40

Parameter Groups and Listing ................................................................................................................. 41

Using the Console ............................................................................................... 47

Using the Console ................................................................................................................................... 47

The initial State of the Display (7-segment LED) ..................................................................................... 47

Structure of Each Mode ...........................................................................................................................48

Monitoring Mode ......................................................................................................................................51

Page 3

Parameter Setting Mode .......................................................................................................................... 57

Before Use

Preparations

Connections and

Settings in Position

Control Mode

Connections and

Settings in Internal

Velocity Control Mode

Adjustment

Trouble Case Reference

Normal Auto Gain Tuning Mode............................................................................................................... 58

Alarm Clear .............................................................................................................................................. 59

Test Run (JOG) ........................................................................................................................................ 60

Test Run Procedures ...............................................................................................................................61

Copy Function..........................................................................................................................................62

[Connections and Settings in Position Control Mode]

Page

Control Block Diagram in Position Control Mode ............................................ 66

Wiring to Connector CN X5 ................................................................................ 67

Example of Wiring in Position Control Mode ........................................................................................... 67

Interface Circuit........................................................................................................................................68

Input Signal and Pin No. of Connector CN X5 ......................................................................................... 70

Output Signal and Pin No. of Connector CN X5 ...................................................................................... 72

Example of Connection to a Host Controller............................................................................................73

Test Run in Position Control Mode .................................................................... 82

Inspection prior to Test Run ..................................................................................................................... 82

Test Run with Connector CN X5 Connected............................................................................................ 82

Real time Auto Gain Tuning................................................................................86

Outline ..................................................................................................................................................... 86

Scope.......................................................................................................................................................86

Operating Instruction ............................................................................................................................... 86

Adaptive Filter .......................................................................................................................................... 87

Parameters to be Set Automatically......................................................................................................... 87

Cautions...................................................................................................................................................87

[Connections and Settings in Internal Velocity Control Mode]

Parameter Setting ................................................................................................ 88

Parameter for Selection of Functions ...................................................................................................... 88

Parameters for Adjustment of Time Constants of Gains/Filters ............................................................... 91

Parameters for Auto Gain Tuning ............................................................................................................ 92

Parameters for Adjustment (Related to Second Gain Switching Function) ............................................. 94

Parameters for Position Control...............................................................................................................95

Parameters for Internal Velocity Control .................................................................................................. 98

Parameters for Torque Limits................................................................................................................... 99

Parameters for Sequences ...................................................................................................................... 99

Page

Control Block Diagram in Internal Velocity Control Mode ............................ 104

Wiring to Connector CN X5 .............................................................................. 105

Example of Wiring to Connector CN X5 ................................................................................................ 105

Interface Circuit...................................................................................................................................... 106

Input Signal and Pin No. of Connector CN X5 ....................................................................................... 107

Output Signal and Pin No. of Connector CN X5 .................................................................................... 109

Test Run in Internal Velocity Control Mode .................................................... 110

Page 4

Inspection prior to Test Run ................................................................................................................... 110

Test Run with Connector CN X5 Connected ......................................................................................... . 111

Real time Auto Gain Tuning.............................................................................. 114

Outline ................................................................................................................................................... 114

Scope..................................................................................................................................................... 114

Operating Instruction ............................................................................................................................. 114

Parameters to be Set Automatically....................................................................................................... 115

Cautions................................................................................................................................................. 115

Parameter Setting .............................................................................................. 116

Parameter for Selection of Functions .................................................................................................... 116

Parameters for Adjustment of Time Constants of Gains/Filters ............................................................. 119

Parameters for Auto Gain Tuning .......................................................................................................... 120

Parameters for Position Control............................................................................................................. 121

Parameters for Internal Velocity Control ................................................................................................ 122

Parameters for Torque Limits ................................................................................................................. 123

Parameters for Sequences .................................................................................................................... 123

[Adjustment] Page

Gain Adjustment ................................................................................................ 128

Objective of Gain Adjustment ................................................................................................................ 128

Types of Gain Adjustment ...................................................................................................................... 128

Procedures of Gain Adjustment ............................................................................................................. 129

Real time Auto Gain Tuning.............................................................................. 130

Normal Auto Gain Tuning ................................................................................. 132

Cancellation of the Automatic Gain Tuning .................................................... 135

Manual Gain Tuning (Basic) ............................................................................. 136

Manual Gain Tuning (Application) ................................................................... 138

Gain Switching Function ........................................................................................................................138

To Reduce Mechanical Resonance ....................................................................................................... 140

Anti-Vibration Control............................................................................................................................. 142

Page 5

Before Use

Preparations

Connections and

Settings in Position

Control Mode

Connections and

Settings in Internal

Velocity Control Mode

Adjustment

[Trouble Case] Page

Reference

Trouble Case

Protective Functions ......................................................................................... 144

What are Protective Functions?............................................................................................................. 144

Details of Protective Functions .............................................................................................................. 145

Software limit function............................................................................................................................ 148

Troubleshooting ................................................................................................ 150

[Reference] Page

Outline of “PANATERM®”, Setup Support Software ............................................................................... 156

Communications ....................................................................................................................................158

Description on Dividing/Multiplier Ratio ................................................................................................. 178

Conformance to EC Directives/UL Standards ....................................................................................... 180

Optional Parts ........................................................................................................................................184

Recommended Parts .............................................................................................................................192

Dimensional Outline Drawing (Driver) ................................................................................................... 193

Dimensional Outline Drawing (Motor) .................................................................................................... 194

Allowable Load of Output Shaft ............................................................................................................. 196

Motor Characteristics (S-T Characteristics) ........................................................................................... 197

Servo Motor with Gear ........................................................................................................................... 198

Dimensional Outline Drawing of Motor with Gear .................................................................................. 200

Allowable Load of Output Shaft of Servo Motor with Gear .................................................................... 202

Characteristics of Servo Motor with Gear (S-T Characteristics) ............................................................203

Driver Internal Block Diagram ................................................................................................................ 204

Control Block Diagram ........................................................................................................................... 205

Specifications (Driver/Motor) ................................................................................................................. 206

Hit-and-stop Initialization and Load Pressing Control ............................................................................ 207

Index ......................................................................................................................................................209

Reference .............................................................................................................................................. 214

After-Sale Service (Repair) ........................................................................................................ Back cover

Page 6

MEMO

Page 7

Before Use

Page

Safety Precautions .......................................................... 8

Maintenance/Inspections ............................................. 12

Introduction ................................................................... 14

General ...................................................................................................14

After Opening the Package ..................................................................... 14

Model of Driver ........................................................................................ 14

Model of Motor ........................................................................................15

Check the Combination of Driver and Motor ........................................... 15

Parts Description .......................................................... 16

Driver ......................................................................................................16

Motor ....................................................................................................... 16

Console ................................................................................................... 17

Installation ..................................................................... 18

Driver ......................................................................................................18

Motor ....................................................................................................... 20

Console ................................................................................................... 22

Page 8

Safety Precautions

See the following precautions in order to avoid damages on machinery and injuries among the operators and other people during the operation.

The following symbols are used to indicate the degrees of hazard seriousness possibly occurred when you fail to comply with the safety precautions.

Indicates a potentially hazardous situation, which if not avoided, will result in

DANGER

CAUTION

The following symbols indicate what you must do.

Indicates that the operation is prohibited to do.

Indicates that the operation must be done.

death or serious injury.

Indicates a potentially hazardous situation, which if not avoided, will result in

minor injury or physical damage.

Important

DANGER

Do not subject the product to water,

corrosive or flammable gases, and

combustibles.

The failure could result in

fire.

Do not put your hands in the servo

driver.

The failure could result in

burns, or electric shocks.

Do not expose the cables to sharp

objects, excessive pressing or

pinching forces, and heavy loads.

The failure could result in electric shocks, damages, or malfunction.

Do not touch the rotating part of the

motor while operating.

Rotating Part

Do not drive the motor from the

external power.

The failure could result in

fire.

The failure could result in injuries.

Do not touch the motor, driver, and external regenerative resistor, since

they become hot.

The failure could result in

burns.

Page 9

Before Use

DANGER

[Before Use]

Do not place inflammable matter near the motor, driver, and regenerative resistor.

The failure could result in

fire.

Ground the earth of the servo motor and servo driver.

The failure could result in electric shocks.

Install an external emergency stop device to shut down the main power source in any emergency.

The failure could result in electric shocks, injuries, fire, damages or malfunction.

Do not install the console near sources of heat like the heater, the resistor, or etc.

The failure could result in fire or damages.

An over-current protection, earth leakage breaker, over temperature protecter and emergency stop device must be installed.

The failure could result in electric shocks, injuries, or fire.

Wait at least the time described on the driver after switching off the power to allow the capacitors to discharge before beginning to conduct the transportation, wiring, and inspection of the driver.

The failure could result in electric shocks.

Install the product properly to avoid personal accidents or fire in case of an earthquake.

The failure could result in electric shocks, injuries, or fire.

Make sure to secure the safety after the earthquake.

The failure could result in electric shocks, injuries, or fire.

Attach the motor, driver, regenerative resistor to incombustible matter such as metal.

The failure could result in fire.

Confirm that there is no danger of an electric shock before beginning to conduct the transportation, wiring, and inspection of the motor.

The failure could result in electric shocks.

Only persons who are trained and qualified to work with or on electrical equipment are permitted to operate or maintain this equipment.

The failure could result in electric shocks.

Arrange the phase sequense of the motor and wiring of the encoder.

The failure could result in injuries, damages, or malfunction.

Page 10

Safety Precautions

CAUTION

Important

Do not hold the cables or motor

shaft when transporting the motor.

The failure could result in

injuries.

Never start and stop the motor by

magnet contactor which is provide on

the main line.

The failure could result in

damages.

Do not give hard

pressure to the shaft.

The failure could result in damages.

Do not block the heat dissipation

hole.

The failure could result in

electric shocks, or fire.

Do not climb or stand on the servo

equipment.

The failure could result in

electric shocks, injuries,

damages, or malfunction.

Do not turn on or off the power

frequently.

The failure could result in

damages.

Do not shock the driver and the motor.

The failure could result in

damages.

Do not use the motor internal brake

for the purpose of controlling speed

of load.

The failure could result in

injuries, or damages.

Do not modify, dismantle or repair

the product.

The failure could result in

Avoid excessive gain adjustments, changes,

or unstable operation of the product.

The failure could result in

injuries.

Do not approach to the equipment

after recovery from the power failure

because they may restart suddenly.

Execute the personal safety setting

on the Equipment after the restart.

The failure could result in

injuries.

Do not pull the motor cable by too

much power.

electric shocks, injuries, or

fire.

The failure could result in

damages.

Page 11

Before Use

CAUTION

[Before Use]

Use the motor and driver with the

specified combination.

The failure could result in

fire.

Use the eye-bolt of the motor only

when you carry the motor.

Do not use it when you carry the machine.

The failure could result in

injuries, or damages.

Conduct proper installation according

to product weight or rated output.

Make sure that the wirings are

correctly connected.

The failure could result in

electric shocks, or injuries.

Install the driver and the motor in the

specified direction.

The failure could result in

damages.

Use the specified voltage on the

product.

The failure could result in

injuries, or damages.

Ambient temperature of installed

motor and driver should be under

permittable one.

The failure could result in

damages.

Connect a relay that stops at

emergency stop in series with the

brake control relay.

The failure could result in

injuries, or damages.

electric shocks, injuries, or

fire.

Execute the trial-operations with the motor fixed and a load unconnected. Connect a load to the motor after the successful trial-operations.

The failure could result in

injuries.

If an error occurs, remove the causes

of the error and secure the safety

before restarting the operation.

The failure could result in

injuries.

This product should be treated as an

industrial waste when it is disposed.

Page 12

Maintenance/Inspection

• Routine maintenance and inspections are essential for proper and satisfactory operation of the driver

and motor.

Notes to Maintenance/Inspections Personnel

(1) Power-on/off operations should be done by the operators themselves.

(2) For a while after power off, the internal circuits is kept charged at higher voltage. Inspections should be done a

while (about 10 minutes), after the power is turned off and the LED lamp on the panel is extinguished.

(3) When conducting meager test (to measure insulation resistance) on the servo driver, disconnect all the connec-

tions from the driver. Conducting the test as connected would cause trouble of the driver.

Inspection Items and Cycles

Normal (correct) operating conditions:

Ambient temperature: 30˚C (annual average) Load factor: max. 80%

Operating hours: max. 20 hours per day

Daily and periodical inspections should be done per the following instructions.

Type

Daily inspection

Periodical inspection

<Notes>

If the operating conditions (as stated above) differ, this periodic inspection interval is subject to change.

Cycles

Daily

Every year

Inspection items

• Ambient temperature, humidity, dust, particles, foreign matters, etc.

• Abnormal sound and vibration

• Main circuit voltage

• Odor

• No yarn piece, etc. adhered to the air hole?

• How the driver front and connector are cleaned?

• Each wired cable is damage-free?

• The portions connected with the motors of equipment/plant are free

from loose and center deviation?

• No inclusion of foreign matter at the load side?

• Loosened screws

• Signs of overheat

We make the utmost effort to ensure the quality of our product. However, the product may operate differently from your settings, due to unexpectedly high exogenous noise/applied static electricity, or an unforeseen failure in the input power supply, wiring, components, etc. Hence, we would like to request you to give adequate consideration to the fail-safe design and assurance of safety within the operable range at the place of operation in your company.

Page 13

[Before Use]

Before Use

Replacement Guidance

Parts replacement cycles depend on the actual operating conditions and how the equipment has been used.

Defective parts should be replaced or repaired immediately.

Dismantling for inspections or repairs should be done by our

company (or our sales agents).

Prohibited

Equipment

Driver

Motor

Motor with Gear

Part

Smoothing condenser Aluminum electrolytic capacitor on the print board

Rush current preventive relay

Rush current preventive resistor

Cooling fan

Bearing

Oil seal

Encoder

Speed reducer

Standard replacement

cycles (hour)

about 5 years

Approx. 100,000 cycles

(The life depends on the

actual operating

conditions.)

Approx. 20,000 cycles

(The life depends on the

actual operating

conditions.) 2 to 3 years

(10,000 to 30,000 hours)

3 to 5 years

(20,000 to 30,000 hours)

5000 hours 3 to 5 years

(20,000 to 30,000 hours)

10,000 hours

Remarks

The replacement cycles shown here are just only for reference if any part is found defective regardless of the standard replacement cycles, immediately replace it with a new one.

Page 14

Introduction

General

MINAS-E series is a unit of an AC servo motor and driver with downsized capability and performance that are useful for positioning of a motor whose capacity is small from 50W to 400W. By adopting 2500 P/r incremental encoder with velocity response frequency of approximately 400 Hz and 5 wires, we could omit wiring. The equipment includes real-time auto tuning and enables automatic setting of complicated gain tuning. In addition, it has a damping control function that provides for stable stop performance and contributes to miniaturization of the equipment and reduction of tact time. It supports a console (available as an option) capable of monitoring such as display of rotation speed, parameter setting, test run (JOG operation), parameter copying, etc., and pursues maximum ease for use. This document is designed for you to properly and sufficiently use functions of MINAS-E series with such excellent features.

Cautions (1) No part or whole of this document may be reproduced in any form or by any means. (2) Contents of this document are subject to change without notice.

After Opening the Package

• Make sure that the product is what you ordered.

• Check whether the product is damaged.

•

The instruction manual (Safety edition and Extracted edition) is included in a carton box.

If the product is not what you purchase, or it is, or damaged, contact dealer or sales agent.

Model of Driver

Name plate

Rated input voltage

Rated motor output

Model Designation

Outer frame symbolic characters

Symbol

MKDE MLDE

Model

03010001

Serial Number

Ex.:

03010001

Rated output current

MKDET1310 P

1~4 5~6

Frame name E-Series K frame E-Series L frame

7 10

Control Mode P: Position Control

Current rating of current detector

Power supply 1: Single-phase 100 V 2: Single-phase 200 V 3: Three-phase, 200 V 5: Single-phase/Three-phase, 200 V

Symbol

Lot Number

Month of production

Year of production (Lower 2 digits of AD year)

11~128~9

Special specifications

Current rating of current detector 05 10

10A

Maximum current rating of power element

Symbol

Maximum current rating of power element T1 T2

10A 15A

Page 15

Before Use

Model of Motor

)

Name plate

Rated output

Rated speed

Type

AC SERVO MOTOR

MODEL No.

MUMA022PIS

INPUT 3ﬂAC

RATED OUTPUT RATED FREQ. RATED REV.

200

3000

102

CONT. TORQUE RATING S1 INS. CLASS B (T V) A (UL) IP65

V A1.6

CONNECTION

0.2

SER No.

r/min

0.64

03010001

Serial Number

Ex.:

03010001

Lot Number

Month of production

Year of production (Lower 2 digits of AD year

[Before Use]

Model Designation

MUMA5AZP1S

1~4 5~6

Symbol

MUMA

Table 1a: Motor rated output

Symbol

01 02 04

Table 1-b: Rotary encoder

Symbol

Type

Incremental

Type

Ultra low inertia

Rated output

50W 100W 200W 400W

Specifications

No. of pulses

2500P/r

Rated output

Resolution

10000

Lead wire

5-wire

Check the Combination of Driver and Motor

78910

11~12

Motor structure

Design order 1: Standard

Type of encoder

Power supply 1: 100 V 2: 200 V Z: 100/200 V common-used (Limited to 50W only)

Table 1c: Motor structure

Shaft

Center tap on key-wayed shaft end

S T

Custom specifications

Holding brake Without

With

Oil seal

Without

With

This driver is designed for use in combination with a motor to be specified by us.

Check a name of series, rated output, voltage specifications and encoder specifications of a motor you wish to use.

Incremental specification 2500 P/r

Power Supply Motor Series Driver Type

Single-phase 100V

Single-phase 200V

MUMA Ultra low inertia

Three-phase 200V

Rated Speed

3000r/min

<Note> You must not use any other combinations than those listed below:

Applicable Motor Applicable Driver

Motor Type

MUMA5AZP1*

MUMA011P1*

MUMA021P1*

MUMA5AZP1*

MUMA012P1*

MUMA022P1*

MUMA042P1*

MUMA5AZP1*

MUMA012P1*

MUMA022P1*

MUMA042P1*

Rated Output

50W

100W

200W

50W

100W

200W

400W

50W

100W

200W

400W

MKDET1105P

MKDET1110P

MLDET2110P

MKDET1505P

MLDET2210P

MLDET2510P

MKDET1505P

MKDET1310P

MLDET2310P

MLDET2510P

Driver Frame

Frame K

Frame L

Frame K

Frame L

Frame K

Frame L

The marking " * " in Motor Type column of Applicable Motor represents a motor specifications.

Page 16

Parts Description

Driver

Motor

Status LED

STATUS

ALM CODE

Alarm Code LED

Connector for Serial Communications (X6)

Interface Connector (X5)

Encoder Connector (X4)

Motor Connector (X3)

Main Power Supply Connector (X1)

MUMA 50W - 400W

Motor Cable

Encoder Cable

Encoder

Flange

Frame

Mounting Holes (in 4 locations)

Example: Super Low Inertia Type (MUMA Series 50W) <Remarks> For detailed information on each type, refer to a dimensional outline drawing (Pages 194 to 195) of Reference edition.

Page 17

Before Use

Console

Main body

[Before Use]

Connector

Console main unit

Cable

The console is optionally available. (Part No.: DV0P3690)

Touch panel

Display, LED (display in 6 digits)

Display of selected Driver ID No. (2 digits)

The value set up on Pr00 (shaft name) is ID No. Parameter No. (2 digits) is displayed under Parameter Setting mode.

This is used to shift the digits of data.

This is used to change the data and to execute parameter selection. The numerical value goes up and down by pressing and .

MODE

MINAS

DIGITAL AC SERVO

SHIFT

I F

Touch panel

Display (7-segment LED)

SET

Setting Button: This is to shift each mode, which was selected by

the mode selector button, to EXECUTE display.

Mode Selector Buttons: These buttons are used to select 6 different modes.

(1) MONITOR mode

(2) PARAMETER SETTING mode

(3) EEPROM WRITE mode

(4) NORMAL AUTO GAIN TUNING mode

(5) AUXI FUNCTION mode

Test run (JOG mode)

Alarm clear

(6) COPING FUNCTION mode

To copy parameters to the console from the servo driver.

To copy parameters to the servo driver from the console.

Page 18

Installation

The driver and motor should be properly installed to avoid failures, mechanical damages and injuries.

Driver

Location

(1) Indoors, where the driver is not subjected to rain water and direct sun beams. Note that the driver is not a

waterproof structure.

(2) The place where the driver is not exposed to corrosive atmospheres such as hydrogen sulfide, sulfurous acid,

chlorine, ammonia, sulfur, chlorine gas, sulfuric gas, acid, alkali, salt, etc. and is free from splash of flammable

gas, grinding coolant, oil mist, iron powder, chips, etc.

(3) Place in a well-ventilated, and humid-and dust-free space.

(4) Place in a vibration-free space.

Environmental Conditions

Item

Ambient temperature

Ambient humidity

Lower than 90%RH (free from condensation)

Storage temperature

Storage humidity

Vibration

Lower than 90%RH (free from condensation)

Lower than 5.9 m/s2 (0.6G) at 10 to 60 Hz

Altitude

How to Install

(1) Parallel type. Install in vertical position. Reserve a drafting

space around the driver for ventilation.

(2) For the mounting dimensions onto the wall face in the board,

refer to Page 193 of the dimensional outline drawing.

Conditions

0 to 55°C (free from freezing)

-20 to 80°C (free from freezing)

Lower than 1000 m

Base mount type

STATUS

ALM CODE

Earth connection (M4 screw) tightening torque shall not exceed 0.39 - 0.59 N•m

(3) Installing to DIN Rail

Install the main body of the driver by using optionally available DV0P3811 (see an “optional” DIN rail mounting unit

on page 190 of Reference edition) and screws (M4 x length 8, pan-head machine screws) supplied with the

option.

Ancillary Screws

(M4 x Length 8 )

DIN rail mounting unit attached to the driver

Page 19

Before Use

Part where DIN rail is mounted

DIN rail

With rail stop pushed in

Press lightly.

Ensure that the rail stop has been pushed in.

[Before Use]

Driver mounted to DIN rail

Hook the upper side of DIN rail mounting part on the DIN rail.

Press lightly the lower part of the main body of driver.

(4) Removing from DIN Rail

By lifting the driver, you can remove it from the DIN rail.

Pull out the lower part of the driver to the near side.

With the rail stop released, pull out the lower part of the driver to the near side.

Mounting Direction and Space Requirements

• Allow enough space to ensure enough cooling.

• Install fans to provide a uniform distribution of temperature in the control box.

• Observe the environmental requirements for the control box, mentioned in the previous page.

min.

40 mm

Fan

Driver Exhaust

Direction

STATUS

ALM CODE

Driver Intake

Direction

min.

10 mm

Driver Exhaust

Direction

STATUS

ALM CODE

Driver Intake

Direction

min.

10 mm

Fan

Driver Exhaust

Direction

STATUS

ALM CODE

Driver Intake

Direction

min.

10 mm

Driver Exhaust

Direction

STATUS

ALM CODE

Driver Intake

Direction

min.

100 mm

min.

40 mm

min.

100 mm

This driver has a cooling fan in its bottom and a mounting face.

To install the driver, ensure that there is enough space around the inlet and outlet ports so as not to prevent

intake and exhaust of the fans.

Page 20

Installation

Motor

Location

(1) Indoors, where the driver is not subjected to rain water and direct sun beams.

(2) The place where the motor is not exposed to corrosive atmospheres such as hydrogen sulfide, sulfurous acid,

chlorine, ammonia, sulfur, chlorine gas, sulfuric gas, acid, alkali, salt, etc. and is free from splash of flammable

gas, grinding coolant, oil mist, iron powder, chips, etc.

(3) Place in a well-ventilated, and humid- and dust-free space.

(4) The place where the motor can be checked and cleaned easily.

Environmental Conditions

Vibration

Shock

Item

Ambient temperature

Ambient humidity

Storage temperature

Storage humidity

Motor only

With gear (At rotation)

Motor only

With gear

0 to 40°C (free from freezing)

Lower than 85%RH (free from condensation)

-20 to 80°C (free from freezing)

Lower than 85%RH (free from condensation)

49 m/s2 (5G) or less at rotation, 24 5 m/s2 (2.5G) or less

High precision: 24.5 m/s2 (2.5G) max.

98 m/s2 (10G) max.

High precision: 98 m/s2 (10G) max.

Conditions

How to Install

The motor can be installed either vertically or horizontally. Observe the following notes.

(1) When installing in horizontal direction

• Mount the motor with its cable lead-out port faced downward as the countermeasure for oil and water.

(2) When installing in vertical direction

• When installing the motor with speed reducer with its output shaft upside, use the oil-sealed motor to prevent oil

inflow to the motor from the speed reducer. In this case, the oil-sealed motor is a special product.

(3) For the mounting dimensions, refer to a dimensional outline drawing (Pages 194 to 195).

Oil and Water Protections

(1) Don’t use the motor under an environment where oil and water splash over

the motor body.

(2) In combining with the speed reducer, use the oil-sealed motor to prevent oil

inflow to the motor internal through its shaft through-penetration hole. In this

case, the oil-sealed motor used is a special product.

(3) Don’t use the motor with its cable dipped in oil/water.

Oil and water

Cable

Motor

Page 21

[Before Use]

Before Use

Cable: Stress relieving

(1) Don’t apply stress to the cable lead-out port and connections by bending and self-weight.

(2) Particularly in the case of application in which the servo motor must be movable, fix the accessory cable of the

motor and house the extension junction cable, which is connected to the terminal end of the said cable, in the

cable bearer to thereby minimize stress acting on the cable by bending.

(3) Make the cable bending radius as large as possible. (Minimum bending radius: to be 20 mm and over.)

Permissible Shaft Load

(1) Do mechanical design so both of radial load and thrust load being applied to the motor shaft during installation

and running are maintained within the permissible value specified for each model.

(2) In using the rigid coupling, take good care of mounting. (Over-bending load on it, if any, would cause damage/

wear of the shaft and shorter life of the bearings.)

(3) Use the flexible coupling of possibly high stiffness to control radial load arising from minor center deviation at the

permissible value or less.

(4) For information on allowable load of an output shaft of each type, refer to Allowable Load of Output Shafts on

Page 196 of Reference.

Installation Notes

(1) When connecting /disconnecting the coupling to/from the motor shaft end, don’t apply

direct impact to the shaft by hammering, etc. (Failure to observe this instruction would

cause damage of the encoder mounted on the counter-load side shaft end.)

(2) Do perfect centering. (Imperfect centering would result in vibration, which would cause

damage of the bearings.)

Motor

Page 22

Installation

Console

Location

(1) Indoors, where the driver is not subjected to rain water and direct sun beams. The console is not water-

resistant.

(2) The place where the driver is not exposed to corrosive atmospheres such as hydrogen sulfide, sulfurous acid,

chlorine, ammonia, sulfur, chlorine gas, sulfuric gas, acid, alkali, salt, etc. and is free from splash of flammable

gas, grinding coolant, oil mist, iron powder, chips, etc. (3) Place in a well-ventilated, and humid-and dust-free space. (4) Place in a space to be easily accessed for inspection and cleaning.

Environmental Conditions

Item

Ambient temperature

Ambient humidity

Storage temperature

Storage humidity

Vibration

Shock

Altitude

0 to 55°C (free from freezing)

Lower than 90%RH (free from condensation)

-20 to 70°C (free from freezing)

Lower than 90%RH (free from condensation)

Lower than 5.9 m/s2 (0.6G) at 10 to 60 Hz

Compliant with free-fall test JIS C 0044 (1-m fall with a fall guide, twice in each direction)

Conditions

Lower than 1000 m

<Note>

• Avoid strong physical shock to the product.

• Do not drop the product.

• Do not pull the cable with an excessive force.

• Do not set the product near a heat generating device such as heater and large wire wound resistor.

Method of Connection

STATUS

Connect to CN X6.

ALM CODE

M O

D E

H I F T

E T

• Securely connect the console connector to the connector CN X6 of the driver.

• Never connect or disconnect the connector by grabbing the connector cable.

Page 23

Preparations

Page

System Configuration and Wiring ............................... 24

General Wiring Diagram ......................................................................... 24

List of Driver and Compatible Peripheral Equipment ..............................26

Wiring of Connectors CN X1 and X3 (Wiring of Main Circuits) ...............27

Wiring of Connector CN X4 (Connection with Encoder) ......................... 29

Wiring of Connector CN X5 (Connection with Host Controller)............... 30

Wiring of Connector CN X6 (Connection with Personal Computer/Console) ......

Timing Chart .................................................................. 32

Holding Brake ................................................................ 35

Dynamic Brake (DB)...................................................... 36

Homing Operation (Precautions) ................................. 38

Setting the Parameters ................................................. 39

Overview of Parameters .........................................................................39

How to Set ..............................................................................................39

Overview of Console ............................................................................... 39

Overview of PANATERM® ....................................................................... 39

How to Connect ......................................................................................40

Parameter Groups and Listing ................................................................41

Using the Console......................................................... 47

Using the Console ................................................................................... 47

The initial State of the Display (7-segment LED) ....................................47

Structure of Each Mode ..........................................................................48

Monitoring Mode .....................................................................................51

Parameter Setting Mode .........................................................................57

Normal Auto Gain Tuning Mode .............................................................. 58

Alarm Clear .............................................................................................59

Test Run (JOG) .......................................................................................60

Test Run Procedures .............................................................................. 61

Copy Function ......................................................................................... 62

Page 24

System Configuration and Wiring

General Wiring Diagram

Main Circuits

Circuit Breaker (NFB)

(Refer to Page 26)

Used to protect the power lines: overcurrent will shut off the circuit.

(Refer to Page 26, 182)

Noise Filter (NF)

Prevents the external noise from the power line, and reduces the effect of the noises generated by the servo motor.

(Refer to Page 26)

Magnetic Contactor (MC)

Turns on/off the main power of the servo motor. Used together with a surge absorber.

Never start or stop the motor with the magnetic contactor.

(Refer to Page 191)

Reactor (L)

Reduces the harmonic current in the main power.

5 Pins - 3 Pins of CN X1 ---

When using the driver for an application of large regenerative energy, connect an external regenerative resistor between P (5 pins) and B (3 pins) of connector CN X1. Install an external regenerative resistor on incombustible material, such as metal, and provide the regenerative resistor with a protective device such as temperature fuse, etc, to prevent the resistor from being overheated.

Regenerative discharge resistor

(Optional)

Wiring connection to Connector CN X1

(Connection with the input power su

Ground

Page 25

[Preparations]

Preparations

Setup support software

"PANATERM "

STATUS

ALM CODE

Personal computer

Console

M O

D E

H I

F T

S E

Wiring to Connector CN X6

(Connection with personal computers and consoles)

Wiring to Connector CN X5

(Connection with host controllers such as PLC, etc.)

ply)

MKDET1310P 200V

L3L3L3

Junction cable for motor

Junction cable for brake

Wiring to Connector CN X4

(Connection with encoder)

Junction cable for encoder

Wiring to Connector CN X3

(Connection with each phase of motor windings)

Motor cable

Power supply for motor brake (24 V DC)

For connections, refer to Points in Wiring (Page 27).

Page 26

System Configuration and Wiring

List of Driver and Compatible Peripheral Equipment

Series

MKDE

MLDE

MKDE

MLDE

MKDE

MLDE

Driver

Power

voltage

1-phase,

100V

1-phase,

200V

3-phase,

200V

Output

50W

100W

200W

50W

100W

200W

400W

50W

100W

200W

400W

Required

Power

(rated load)

0.3kVA

0.4kVA

0.5kVA

0.3kVA

0.5kVA

0.9kVA

0.3kVA

0.5kVA

0.9kVA

Circuit breaker

(rated current)

BBC25N

(5A)

BBC2101N(10A)

BBC25N

(5A)

BBC2101N(10A)

BBC35N

(5A)

BBC3101N(10A)

Noise filter

DV0P4160

Magnetic contactor

(composition of

contacts)

BMFT61041N

(3P+1a)

BMFT61542N

(3P+1a)

BMFT61042N

(3P+1a)

0.75mm

AWG18

Circuit breaker, magnetic contactor: manufactured by Matsushita Electric Industrial Co., Ltd.

For compliance with EC Directives, don’t fail to connect the circuit breaker (with LISTED, Mark), which is

authorized and certified under IEC and UL Standards, between the power supply and the noise filter.

Noise filter

For DV0P4160, refer to Page 182.

Cable

diameter

(L1, L2, L3,

U, V, W, E)

0.85mm

< Remarks >

• For wiring to the power connector, motor connector and earth terminal, use the copper conductors of 60°C and

over in the temperature rating.

• For the connector-side earth cable, use the cable of 0.75 mm2 - 0.85 mm2 (AWG18) in diameter.

• For the mounting screw-side earth cable, use the cable of 2.0 mm2 (AWG14) or more in diameter.

• Where two or more drivers are used and the noise filters for the drivers are mounted in set in the power unit, feel

free to consult with the noise filter manufacturer.

Page 27

[Preparations]

Preparations

Wiring of Connectors CNX1, X3 (Wiring of Main Circuits)

• Don’t fail to request an electric wiring specialist for wiring.

• Don’t switch ON the electric power until completion of the wiring, to prevent electric shock.

Points in Wiring

(1) For the cable diameter used, refer to “List of Driver and Compatible Peripheral Equipment” (page 26).

(2) Insert securely the connectors.

CN X3

(Driver side)

Do wiring in perfect color matching between the identification colors of the motor lead-out cable and corresponding motor output terminal (U, V, W). Connect U (1 pin), V (4 pins), W (6 pins) and E (3 pins) respectively.

Avoid shorting and ground fault. At this stage, don't connect the power supply cable.

Adopt a duplex circuit as the brake control circuit so it can actuate even with emergency stop signal from external device. The magnetic brake has no polarity. For the power capacity and operation detail of the magnetic brake, refer to the "Holding Brake" (page 35). Install the surge absorber (C-5A2 or Z15D151 made by Ishizuka Electronic).

Read the driver nameplate to check the power specification.

Provide circuit breaker or leakage breaker without fail. In this case, use a leakage breaker to which countermeasure for high frequency is applied for "inverter application".

Motor

Red

White or

yellow

Black

Green/

yellow

24V

DC power for brake use

Surge absorber

Fuse (5A)

NFB

NF MC L

Power

(Driver side)

Ground resistance: 100Ω max. For applicable wire, see page 26.

CN X1

Don't fail to provide noise filter.

Provide the magnetic contactor coil with surge absorber.

Never start/stop the motor by magnetic contactor.

Install AC reactor.

For three-phase 200V, connect L1 (10 pints), L2 (8 pins) and L3 (6 pins).

For single-phase 100V and 200V, connect L1 (10 pins) and L3 (6 pins).

Connect to the grounding system of the facility.

Connect the driver protective earth terminal ( ) and the protective earth (earth plate) of the control panel for preventing of electric shock. In this case, don't co-clamp the earth wires to the protective earth terminal ( ). Two protective earth terminals are provided.

Page 28

System Configuration and Wiring

Wiring Diagrams

Compose such a power supply as to switch OFF the power against alarm output.

For three-phase 200V

Power supply

172167-1

(Tyco Electronics AMP K.K.)

Motor

Red

White or

yellow

Black

Green yellow

NFB

172159-1

(Tyco Electronics AMP K.K.)

Noise

filter

OFF

5557-10R-210

(Molex Incorporated)

5557-06R-210

(Molex Incorporated)

ALM

12~24V

4 6

ALM

COM —

P N

CN X1

CN X3

CN X5

For Single-phase 100V/200V

172167-1

(Tyco Electronics AMP K.K.)

Motor

Red

White or

yellow

Black

Green yellow

For single-phase 200V, use the reactor for three-phase.

NFB

Power supply

172159-1

(Tyco Electronics AMP K.K.)

Noise

filter

OFF

5557-10R-210 (Molex Incorporated)

5557-06R-210 (Molex Incorporated)

ALM

12~24V

4 6

ALM

COM —

P N

CN X1

CN X3

CN X5

Page 29

Preparations

Wiring to Connector CN X4 (Connection with Encoder)

Points in Wiring

[Preparations]

STATUS

ALM CODE

20 m max.

Encoder

30 cm min.

Power

section

Motor

Cable length between the driver and the motor - 20 m max.

If this cable length exceeds 20 m, consult with the

dealer/distributor from which you have purchased the

driver.

Keep 30 cm or more spacing from the main circuit wiring.

Neither guide this wiring through the same duct, together

with the main circuit nor bundle these two together.

Wiring Diagram

¥ When you plan to make an encoder junction cable by yourself, refer to Requests on a self-made encoder junction

cable (For connectors, refer to Optional Parts (Connector Kits for Connection of Motor and Encoder) on Page

186 of Reference edition). (1) Refer to the wiring diagram below. (2) Cable used: Shielded twist pair cable of 0.18 mm

bending resistance.

+5V

172160-1172168-1

(made by Tyco Electronics AMP K.K.)

Junction cable

Servo motor

Black

White

(NC)

Light blue

Purple

Shielded cable

(made by Tyco

Electronics AMP K.K.)

Motor side Servo driver side

TX/RX

(AWG 24) minimum in conductor diameter that is excellent in

(3) For signal/power wiring in pair,

Case

+5V

TX/RX

X4CN

Regulator

+5V

use twist pair cable. (4) Shielding treatment Driver-side shield sheath:

Connect to CNX4 connector

case (FG). Motor-side shield sheath:

Connect to 6 pins.

(5) Where the cable length

exceeds 10 m, do double-

wiring for the encoder power

Twist pair

(+5V, 0V), as illustrated left.

(6) Connect nothing to the empty

terminal (NC) of the

connector.

(7) Don’t use a cable pair composed of the motor cable and encoder cable which were shielded in batch.

Page 30

System Configuration and Wiring

Wiring of Connector CN X5 (Connection with Host Controller)

Points in Wiring

Power

Supply

Motor

Unit

Controller

Within 3 m

30 cm or More

COM+

COM-

CN X5

STATUS

GND

Place any peripheral equipment such as a host controller within 3 meters

ALM CODE

from the driver.

Separate the wiring at least 30 cm or more from the main circuit wires.

The wiring should neither run through a same duct as the main circuit

wires nor be bundled together with them.

A customer is requested to prepare for power supply for control signals

) between COM+ and —COM.

Voltage: DC +12 to 24V

For such wiring as command pulse input or encoder signal output, etc.,

use shielded twist pair cable.

Neither apply 24V or more to a control signal output terminal, nor run

50mA or higher.

If you directly activate a relay using the control signal output, install a

diode in parallel with a relay in the direction shown in the left figure.

Without a diode or with it but placed in the opposite direction, the driver

will be damaged.

The Frame Ground (FG) is connected to an earth terminal in the driver.

For detailed information on wiring of respective pins, refer to Page 65 (position control mode) and Page

103 (internal velocity control mode) of connections for each control mode.

CN X5 Connector Specifications

Connectors on Driver Side

10226-52A2JL

Connector (solder type)

Connector cover

Compatible Connectors on User Side

Part Name

10126-3000VE

10326-52A0-008

Part No.

Manufacturer

Sumitomo 3M Ltd.

• For details, refer to “Optional Parts” on Page 188 of Reference edition.

Page 31

[Preparations]

Preparations

STATUS

ALM CODE

STATUS

ALM CODE

Wiring of Connector CN X6 (Connection with Personal Computer/Console)

• It is capable of RS232C communications.

For RS232C communications only

1) Connect the personal computer and driver 1:1 through RS-232C, and use “PANATERM®” (optional component),

the setup supporting software. Running “PANATERM®” on your personal computer, you can have convenient

functions with excellent operability, such as various types of monitors, parameter settings/changes, waveform

graphic displays, etc.

2) You can connect a host (personal computer, or host controller) and driver through RS 232C for communications.

For detailed information, refer to “Communications” on Page 158 of Reference edition.

Connection

Refer to "Optional Parts" of dedicated connecting cables.

Insert or pull out a connector only after cutting power off both personal computer and driver.

Tighten stop screws firmly.

Connection with Console

CN X6

Connect to CN X6.

Back Plane of Connector for RS232C

D E

S H

I F T

S E

Page 32

Timing Chart

Power Supply

Internal Control Power Supply

Initialization of Driver

Servo-ON Input (SRV-ON) (X5 2 pins)

Dynamic Brake

Motor Energized

Brake Release Output (BRK-OFF) (X5 11 pins)

Position/Velocity Command

Normal Operation

OFF

* 1

OFF (Braking Operation)

ON (Brake Release)

OFF

Not Energized

Energized

Not input

Input

100ms or Longer

Approx. 700 ms

Established

Initialize Approx. 2 seconds

Approx. 40 ms

Approx. 1 - 5 ms

Approx. 10 ms

Approx. 2 seconds

OFF

-After Power-ON (Receiving Servo-ON Signal)

• The above chart shows timing from AC power-ON to command input.

• Enter Servo-ON signal and external command according to the above timing chart.

*1: During this period, the SRV-ON signal has not been accepted although it was mechanically input.

Page 33

Preparations

After an Alarm event (during Servo-ON)

[Preparations]

Alarm

Dynamic Brake

Motor Energized

Servo Alarm (ALM)

Brake Release (BRK-OFF)

Normal

Energized

Not Alarm

Release (ON)

1 - 5 ms

Setting of Pr6B

Operation (OFF)

t1 *1

Error

Operation *2

Not Energized

Alarm

Approx. 30r/min

Setting of Pr6B

Release (ON)

t1 *1

Operation (OFF)

Approx. 30r/min

*1. A value of t1 is a value of Pr6B or time needed for decreasing the motor speed to approx. 30 r/min,

whichever is shorter.

*2. For operation of the dynamic brake following an alarm event, also refer to the description in “Sequence at

Alarm” (“Parameter Setting” for every control mode) on Pr68.

After an Alarm is Cleared (during Servo-ON Command)

120ms or Longer

Alarm Clear Input (A-CLR)

Dynamic Brake

Motor Energized

Brake Release Output

Servo Alarm Output (ALM)

Position/Velocity Command

(BRK-OFF)

Operation

Not Energized

Operation (OFF)

Alarm

Cleared

Approx. 40 ms

100ms or Longer

Release

Energized

Release (ON)

Approx. 10 ms

Not Alarm

No Input

Input Enabled

Page 34

Timing Chart

Servo-ON/OFF Operation When the Motor is Stopped

(During normal operation, perform the Servo-ON/OFF operation after the motor stops.)

Servo-ON Input (SRV-ON)

Dynamic Brake

Motor Energized

Brake Release Output (BRK-OFF)

When you turn off the power of the electromagnetic brake, the motor brake will run. When you turn on the power of the electromagnetic brake, the motor brake will be released.

OFF

Approx. 1 - 5 ms

Operation *3

Not Energized

Approx. 40 ms

Operation (OFF)

Release

Energized

Approx. 10 ms

Release (ON)

OFF

Approx. 1 - 5 ms

Operation *2

t1 *1

Not Energized

Operation (OFF)

*1. A value of t1 depends on a setting of Pr6A. *2. For the operation of the dynamic brake during Servo-OFF, also refer to the description of “Sequence

during Servo-OFF” (“Parameter Settings” of every control mode) on Pr69.

*3. Servo-ON input will not be active until the motor rotation speed falls below approx. 30r/min.

Servo-ON/OFF Operation When the Motor is Rotating

(The following chart shows timing in the case of emergency stop or trip. You cannot use Servo-ON/OFF

repeatedly.)

Servo-ON Input (SRV-ON)

Dynamic Brake

OFF

* 4

Operation Release

OFF

Approx. 1 - 5 ms

Operation *3

Motor Energized

Not Energized

Brake Release Output (BRK-OFF)

Operation

(OFF)

Number of Motor Rotations

Motor Rotation Speed

Servo-ON input will not be active until the motor rotation speed falls below approx. 30r/min.

Approx.

Approx. 30 r/min

Servo enabled

40 ms

Energized

Approx. 10 ms

Release

(ON)

Motor Rotation Speed A

Approx. 30 r/min

Setting of Pr.6B

Release

(ON)

Motor Rotation Speed B

Approx. 30 r/min

Not Energized

Setting of Pr.6B

Operation

t1 * 1

Operation

t1 * 1

(OFF)

When the motor rotation speed falls below 30r/min earlier.

(OFF)

When the time defined by Pr.6B is reached earlier.

*1. A value of t1 is a value of Pr6B or time needed for decreasing motor speed to approx. 30 r/min,

whichever is shorter.

*2. Even if SRV-ON signal turns on again during deceleration of the motor, SRV-ON input does not become

active until it stops.

*3. For operation of the dynamic brake during Servo-OFF, also refer to the description of “Sequence at

Servo-OFF” (“Parameter Settings” of every control mode) on Pr69.

*4. Servo-ON input will not be active until the motor rotation speed falls below approx. 30r/min.

Page 35

Preparations

Holding Brake

[Preparations]

The brake is to hold a work (movable part) and prevent it from dropping by gravity when power to the servo is shut off for the purpose of driving a vertical shaft in the servo motor.

The brake built in the servo motor is only for holding, namely, maintaining, stopped condition. Thus, you must not use it for “braking” to stop moving load.

Wiring (Example)

This circut shows an example in which a brake release (BRK-OFF) signal from the driver is used to control the brake.

1. A brake coil has no polarity.

2. A customer is requested to provide for power supply for the brake. In addition, do not use power supply for control signals (VDC) for driving the brake.

3. In order to suppress surge voltage due to ON/OFF operation of the relay (RY), install a surge absorber. When you’re using a diode in place of a surge absorber, note that start of the servo motor is delayed in comparison with when the latter is used.

4. For a surge absorber for the brake, refer to “Recommended Parts” on Page 192 of Reference edition.

5. The recommended parts are those specified for measuring brake release time. In some cases, reactance of electric wires may vary depending on wire length, causing sporadic rise of voltage. Select a surge absorber so that the relay coil voltage (maximum rating: 30V, 50 mA) and voltage between brake terminals do not exceed a rated value.

Driver

BRK-OFF

COM-

CN X5

12~24V

Cut off upon emergency stop

Surge absober

Power for brake

DC24V

Motor

Brake coil

Fuse (5A)

• For timing of brake release upon power-on or that of brake operations in case of servo-off/alarm while the motor

• In case of Servo-OFF or alarm while the motor is rotating, you can set with the parameter (i.e., Pr6B: Mech.

1. The servo motor with built-in brake could result in brake lining sound (Chattering, etc.) while it is running. But this

2. When the current is fed into the brake coil (with the brake kept released), it could result in leak magnetic flux from

• Excitation voltage should be DC24V ± 10%.

• The values in the above table are representative characteristics (except static friction torque, releasing voltage,

• A backlash of the brake is ± 1˚ of a setup value.

• Allowable angular acceleration of MUMA series: …..10000 rad/s

• Service life of the number of accelerations/decelerations with the allowable angular acceleration is 10 million

BRK-OFF Signal Output Timing

is rotating, refer to “Timing Chart” on Page 32.

break action set-up at motor in motion) time till BRK-OFF signal turns off (i.e., the brake is actuated) after the motor is freed from energized state. For details, refer to “Parameter Settings” of every control mode.

is not a problem.

the shaft, etc. Be careful when a magnetic sensor, etc. are used around the motor.

Specifications of Holding Brake

Motor

Series

MUMA

Motor Output

50W, 100W

200W, 400W

Static Friction

Torque (N/m)

0.29 or higher

1.27 or higher

Inertia

-4

x 10

kg•m

0.003

0.03

Intake Time

25 or shorter

50 or shorter

(ms)

Release Time

(ms)

20 or

shorter(30)

15 or shorter

(100)

*1 A value when the surge absorber is used.

Values given in ( ) are actual values measured with diodes (V03C manufactured by HITACHI Semiconductor and Devices Sales Co., Ltd.).

and excitation current).

times or greater. (The number of accelerations/decelerations till backlash of the brake changes drastically.)

Excitation

Current DC A

(during cooling)

0.26

0.36

Release

Voltage

DC1V or

higher

Allowable

Workload per

Braking J

39.2

137

Allowable Workload

Total

x 103J

4.9

44.1

Page 36

Dynamic Brake

Dynamic brake is built in this driver for emergency stop.

For this dynamic brake observe the precautions given below.

<Notes>

1. This dynamic brake functions for emergency stop of the driver.

Don’t start and stop by ON/OFF of the Servo-ON signal (SRV-ON signal). Doing so could result in rupture of the dynamic brake circuit built in the driver.

If the motor is started by an external unit, it would acts as a generator and, as a result, short current would flow while the dynamic brake is acting, which could then result in fuming and fire.

2. The dynamic brake is a short-time rating brake just for emergency stop use. If the dynamic brake acts

commencing from the time of high speed running, provide a lead time of about 3 minutes after complete stop.

This dynamic brake can be started in the following cases.

(1) Against “Servo OFF”

(2) When any of the protective functions actuate

(3) When the overtravel inhibit inputs (CWL, CCWL) of the connector CN X5 actuate

In the above cases (1) - (3), it is selectable by setting up the applicable parameters whether the dynamic

brake is started or put in free running during deceleration or after complete stop.

However, the dynamic brake is kept actuating when the power is switched OFF.

Page 37

[Preparations]

Preparations

(1) Setting driving conditions through deceleration and stop by turning on Servo-OFF (Pr69)

Sequence at Servo-OFF (Pr69)

Setting of Pr69

Driving Conditions

During

deceleration

D B

Free Run

D B

Free Run

D B

Free Run

D B

Free Run

After stop

D B

Free Run

D B

Free Run

Status of Deviation Counter

Cleared

Holding

(2) Setting of Driving Conditions from Deceleration till Stop by Turning on Protective Function (Pr68)

Sequence at alarm (Pr68)

Setting of Pr68

Driving Conditions

(During

deceleration)

D B

(After stop)

D B

Status of Deviation Counter

Cleared

Free Run

D B

Free Run

D B

Free Run

Cleared

(3) Setting of Driving Conditions through Deceleration and Stop by Enabling Overtravel Inhibit Input

(CWL, CCWL) (Pr66)

Deceleration and stop set-up at overtravel inhibit (Pr66)

Setting of Pr66

(Position control.)

(Internal velocity control.)

Driving Conditions

During

deceleration

D B

After stop

Free Run

Free Run Free Run

Servo Lock Servo Lock

Speed

zero clamp

Speed

zero clamp

Page 38

Homing Operation (Precautions)

In initialization (i.e., operation to return to a home position) by using the host controller, if origin input (Z-phase

from the encoder) is entered before the motor has not adequately decelerated since the proximity sensor was

activated, the motor may not stop at a requested position. In order to prevent this, determine positions where the

proximity input and origin input turn on, by taking into consideration the number of pulses required for successful

deceleration. As settings of parameters “acceleration/deceleration time” have also effects on initialization,

consider both positioning and initialization when you set them.

For detailed information on initialization, refer to the operating manual for the host controller.

Example of Homing Operation

Proximity dog on .... When the proximity input turns ON, the motor will start to decelerate, and stop when a first

origin input (Z phase) is entered.

Proximity Input

Speed

Origin Input

Proximity Sensor Dog

Z-phase output from encoder

Proximity dog off .... When the proximity input turns ON, the motor will start to decelerate, and stop when a first

origin input (Z phase) is entered after the proximity input turns off.

Proximity Sensor Dog

Proximity Input

Speed

Origin Input

Z-phase output from encoder

Page 39

Preparations

Setting the Parameters

[Preparations]

Overview of Parameters

The servo driver has various parameters to set up its characteristics, functions, etc. This Section describes the

function and purpose of each parameter. Before using, understand well the descriptive contents and adjust each

parameter to the condition optimum to your intended operational conditions.

How to Set

Parameters can be set up on;

(1) Console

(2) the screen of personal computer (PC) wherein the setting-up support software “PANATERM®” for E-Series was

installed.

For how to set up the parameters on the PC screen, refer to “PANATERM®” Instruction Manual.

Overview of Console

Console is able to:

(1) Monitor rotation speed, torque, positional deviation, input/output power, pulse input, load factor, etc. of servo-

motors,

(2) Setup and save parameters of servo-motor drivers,

(3) Write the data into memory (EEPROM),

(4) Execute normal-auto-gain tuning,

(5) Indicate current alarms and make reference to error history,

(6) Operate test runs,

(7) Make copies of parameters and clear alarms.

Overview of PANATERM®

This PANATERM® is able to;

(1) Set up, save and write the driver parameters in the memory (EEPROM),

(2) Monitor I/O data, pulse input data and load factor,

(3) Refer to current alarm display and error history,

(4) Measure the waveform graphic data and to call the saved data,

(5) Execute auto gain tuning,

(6) Measure the frequency characteristic of the mechanical system.

Page 40

Setting the Parameters

How to Connect

RS-232C connecting cable

• DV0P1960 (for DOS/V)

STATUS

ALM CODE

Connecting to CNX6

Console

• DV0P3690

O D

S H

I F

S E

Setup Disk for Setting-up Support

Software “PANATERM®”

• DV0P4230: Japanese version

• DV0P4240: English version

For the latest version, contact us.

Connecting to CNX6

<Notes>

• Securely connect the connector with the connector CN X6 of the driver.

• Never insert or pull out the connector while holding a cable.

Page 41

Preparations

Parameter Groups and Listing

[Preparations]

Group

Function selecting

Adjustment

Position control

Internal velocity and torque control

Sequence

Parameter No.

(Pr )

00 - 0E

10 - 1E

20 - 2F

30 - 35

40 - 4E

53 - 59

60 - 6B

70 - 73

Briefing

These parameters are used to select control mode, allocate I/O

signals and to set up communication baud rate.

These parameters are used to set up servo gains (1st, 2nd) of

position, velocity, integration, etc. and the time constants of various

filters.

These parameters related to real time auto tuning and damping function

are used to set up the modes and to select mechanical stiffness.

These parameters are used to set up the data related to

interchange of 1st gain 2nd gain.

These parameters are used to set up input form and logical

selection of command pulses and dividing of encoder output pulses,

and to set up the dividing multiplier ratio of command pulses, etc.

These parameters are used to set up internal velocity (1 - 4 velocity,

JOG speed), acceleration/deceleration time, etc.

This parameter is used to set up torque limit.

These parameters are used to set up the conditions for detecting

output signals such as positioning end, zero speed, etc. and the

conditions for corrective action against positional over-deviation.

Furthermore, these are used to set up deceleration and stopping

against power OFF, alarm output and servo OFF, and the conditions

for clearing the deviation counter.

Page 42

Setting the Parameters

Parameters for Selecting Function

Parameter No.

(Pr )

*00

*01

*02

*04

*06

07,08

0A,0B

*0C

Axis address

7-segment LED for console, initial condition display

Control mode set up

(For manufacturer use)

Overtravel Input inhibit

(For manufacturer use)

ZEROSPD/TC input selection

(For manufacturer use)

Warning output selection

(For manufacturer use)

Baud rate set-up of RS232C

(For manufacturer use)

Parameter description Range Default Unit

1 - 15

0 - 15

0 - 2

—

0 - 1

—

0 - 2

—

0 - 6

—

0 - 2

—

0 - 1

—

Parameters for adjusting the time constants of gain filter

Parameter No.

(Pr )

27 - 2A

1st position loop gain

1st velocity loop gain

1st velocity loop integration time constant

1st speed detection filter

1st torque filter time constant

Velocity feed forward

Feed forward filter time constant

(For manufacturer use)

2nd position loop gain

2nd velocity loop gain

2nd velocity loop integration time constant

2nd speed detection filter

2nd torque filter time constant

1st notch frequency

1st notch width selection

(For manufacturer use)

Software limit function

(For manufacturer use)

Damping frequency

Damping filter setting

Parameter description Range Default Unit

0 - 32767

1 - 3500

1 - 1000

0 - 5

0 - 2500

–2000 - 2000

0 - 6400

—

0 - 32767

1 - 3500

1 - 1000

0 - 5

0 - 2500

100 - 1500

0 - 4

—

0 - 1000

—

0 - 5000

–200 - 2500

<63>

<35>

<16>

<0>

<65>

<300>

<50>

<73>

<35>

<1000>

<0>

<65>

1500

—

1/s

—

0.01ms

0.1%

0.01ms

—

1/s

—

0.01ms

—

0.1 rev

—

0.1Hz

Related control mode

P • P2 • S

Related control mode

P • P2

P • P2 • S

P • P2

P • P2 • S

P • P2

—

Parameters for Auto Gain Tuning

Parameter No.

(Pr )

23,24

2D,2E

Inertia ratio

Real time auto tuning set-up

Machine stiffness at auto turning

(For manufacturer use)

Normal auto tuning motion set-up

(For manufacturer use)

Adaptive filter frequency

Parameter description Range Default Unit

0 - 10000

0 - 7

0 - 15

—

0 - 7

—

0 - 64

<100>

<0>

—

Related control mode

P • P2 • S

—

Page 43

Preparations

Parameters for Adjustment for 2nd Gain

P: High velocity response positioning control, P2: High function positioning control, S: Internal velocity control

[Preparations]

Parameter No.

(Pr )

36 - 3F

2nd gain action set-up

Position control switching mode

Position control switching delay time

Position control switching level

Position control switching hysteresis

Position loop gain switching time

(For manufacturer use)

Parameter description Range Default Unit

0 - 1

0 - 10

0 - 10000

0 - 20000

0 - 10000

—

<1>

<10>

<30>

<50>

<33>

<20>

—

166µs

—

Setup value

× 166µs

—

Related control mode

P • P2

—

• *-marked parameter No. in the above table is validated by writing the parameter No. in EEPROM after set

up and re-switching ON the power after once switched OFF.

<Note>

• The parameters which of “standard default value” is enclosed with < > vary automatically with execution

of the real time auto tuning function. For adjusting in MANUAL mode, set Pr21 real time auto tuning set-

up to “0” (invalidated).

Parameter No.

(Pr )

Parameter description

Control mode set-up

1st notch frequency

Damping frequency

Real time auto tuning set-up

Adaptive filter frequency

High velocity response

positioning control: P

Conditional *2

Invalidated

High function

positioning control: P2

Validated

Validated *3

Internal Velocity Control: S

Conditional *2

Invalidated

Conditional *2

Invalidated

*2 In “High Velocity Response Positioning Control” and “Internal Velocity Control” modes, simultaneous use of the

*3 An adaptive filter is only validated in high function positioning control mode.

first notch frequency, damping frequency and real time auto tuning set-up is not allowed, and any one of

parameters (functions) can only be used. By priority a parameter that is entered first will be validated.

(Ex.) By setting “Real time auto tuning“ parameter, 1st notch frequency is set compulsorily to 1500

(Invalidated) at the driver side even it was input.

Page 44

Setting the Parameters

Parameters for Positioning Control

P: High velocity response positioning control, P2: High function positioning control, S: Internal velocity control

Parameter No.

(Pr )

*40

*41

*42

*44

*45

48,49

*4E

Command pulse multiplier set-up

Command pulse direction of rotation set-up

Command pulse input mode set-up

(For manufacturer use)

Output pulses per single turn

Pulse output logic inversion

Numerator of 1st command pulse ratio

Numerator of 2nd command pulse ratio

(For manufacturer use)

Multiplier of numerator of command pulse ratio

Denominator of command pulse ratio

Smoothing filter set-up

(For manufacturer use)

FIR filter set-up

(For manufacturer use)

• *-marked parameter No. in the above table is validated by writing the parameter No. in EEPROM after set

up and re-switching ON the power after once switched OFF.

Parameter description Range Default Unit

1 - 4

0 - 3

—

1 - 16384

0 - 1

1 - 10000

—

0 - 17

1 - 10000

0 - 7

—

0 - 31

—

2500

10000

—

P/r

—

(Setup value + 1)

cycles

—

Related control mode

P • P2

—

P • P2 • S

P • P2

—

P • P2

—

P • P2

—

Parameters for Velocity Control and Torque Limit

Parameter No.

(Pr )

50 - 52

5A - 5D

5E*1

(For manufacturer use)

1st internal speed set-up

2nd internal speed set-up

3rd internal speed set-up

4th internal speed set-up

JOG internal speed set-up

Acceleration time set-up

Deceleration time set-up

(For manufacturer use)

1st torque limit set-up

(For manufacturer use)

*1 : Each standard default setup value in Pr5E differs depending on combination of driver and motor. Refer

to “Pr5E 1st Torque Limit Set-up” on next page, too.

Parameter description Range Default Unit

—

–20000 - 20000

0 - 500

0 - 5000

—

0 - 500

—

300

See next page

—

r/min

2ms/(1000r/min)

—

Related control mode

—

P • P2 • S

—

P • P2 • S

—

Page 45

Preparations

Pr5E 1st Torque Limit Set-up

[Preparations]

Driver power

1-phase

100V

1-phase/

3-phase

200V

Motor model

MUMA5AZP1 MUMA011P1 MUMA021P1 MUMA5AZP1 MUMA012P1 MUMA022P1 MUMA042P1

Parameter 5E standard

default setup value

300

330

300

330

• Pr5E 1st torque limit can’t be set up in excess to the value that was set up before shipping, under “Maximum Torque Setting” of the system parameters. The setup value under “Maximum Torque Setting” is the same as the standard default setup value.

• The system parameters are those before shipping from the shop which can’t be changed in PANATERM® and the console.

<Note> Where the motor model was changed, the maximum value of Pr5E may vary eventually. Therefore, recheck the setup value and re-set it as necessary.

Notes in Replacing Motor

The upper limit value of Pr5E 1st torque limit setting-up range is automatically decided by connecting the motor to the driver. Therefore, Pr5E setup value must be rechecked when replacing the motor.

1. When replacing the current motor with motor of the same model

2. When limiting motor torque

MKDET1505P

Pr5E 1st torque limit value to be set up after motor replacement is the value that has been written in the driver before the replacement. Particularly, the setup value needs no change.

Ex.)

Before replacing motor

50W motor had been used with 100-% torque limit.

In the case the current 50W motor is replaced with another 50W motor of the same output capacity, Pr5E

After having replaced

setup value remains unchanged as 100-% torque limit.

Pr5E 1st torque limit is set up at percentile (%) value against the rated torque. In the case the current motor was replaced with another motor different from it in the motor series or W-number, Pr5E setup value must be re-set up because the rated torque value differs from that of the motor before being replaced.

Ex.)

Before replacing motor

50W motor had been used with 100-% torque limit.

In the case the current motor is replaced with 100W motor, must be re-set at 100-% torque limit to 100W motor.

After having replaced

When limiting 100W motor torque with the same torque as 50W motor, set up the Pr5E 1st torque limit at 50.

Ex.)

STATUS

ALM CODE

Pr5E Setting-up range: 0 - 300%

Before replacing motor

MUMA5AZP1

When the setup value is 100%,

0.16N•m × 100%=

Rated torque

0.16N•m

torque limit value

0.16N•m

After having replaced

MKDET1505P

STATUS

ALM CODE

MUMA012P1

Pr5E Setting-up range: 0 - 300%

If the setup value remains unchanged as 100%,

0.32N•m × 100% =

Rated torque

0.32N•m

torque limit value

0.32N•m

For torque limit value 0.16N•m, set it to 50% (0.32N•m × 50% =

0.16N•m).

Page 46

Setting the Parameters

Parameters for Sequence

P: High velocity response positioning control, P2: High function positioning control, S: Internal velocity control

Parameter No.

(Pr )

*66

6E - 6F

In-position range

Zero speed

At-speed

1st position over-deviation set-up

Position over-deviation invalidation

(For manufacturer use)

Deceleration and stop set-up at overtravel inhibit

(For manufacturer use)

Sequence at alarm

Sequence at Servo-OFF

Mech. break action set-up at motor standstill

Mech. break action set-up at motor in motion

External regenerative discharge resister selection

(For manufacturer use)

Parameter description Range Default Unit

0 - 32767

0 - 20000

1 - 32767

0 - 1

—

0 - 2

—

0 - 3

0 - 7

0 - 100

0 - 3

—

1000

1875

Pulse

r/min

256Pulse

—

2ms

—

Related control mode

P • P2

P • P2 • S

P • P2

—

P • P2 • S

—

P • P2 • S

—

Pr63 position over-deviation is set up at the over-deviation detection value of “setup value x 256pulses”.

The default setup value would result in position over-deviation error if the value of “1875 x 256pulses” is

exceeded.

Parameter No.

(Pr )

1st over-speed level set-up

2nd torque limit set-up

2nd position over-deviation set-up

2nd over-speed level set-up

Parameter description Range Default Unit

0 - 6000

0 - 500

1 - 32767

0 - 6000

1875

r/min

256Pulse

r/min

Related control mode

P • P2 • S

P • P2

P • P2 • S

Page 47

Preparations

Using the Console

Display, LED (display in 6 digits)

Display of selected Driver ID No. (2 digits)

The value set up on Pr00 (shaft name) is ID No. Parameter No. (2 digits) is displayed under “Parameter Setting” mode.

MINAS

DIGITAL AC SERVO

This is used to shift the digits of data to be changed.

MODE

SHIFT

SET

Mode Selector Buttons: These buttons are used to select 6 different modes. (1) MONITOR mode (2) PARAMETER SETTING mode (3) EEPROM WRITE mode (4) NORMAL AUTO GAIN

TUNING mode

This is used to change the data and to execute parameter selection. The numerical value increments by pressing , and it decrements by pressing .

Setting Button:

This is to shift each mode, which was selected by the mode selector button, to "EXECUTE" display.

(5) AUXI FUNCTION mode

• Test run (JOG mode)

• Alarm clear (6) COPING FUNCTION mode

• To copy parameters from the servo driver to the console.

• To copy parameters from the console to the servo driver.

[Preparations]

In parameter setting, set data after switching to parameter set mode.

The Initial State of the Display (7-Segment LED)

Turn on the driver with the console connector connected to the driver, or connect the console connector to connec-

tor CN X6.

0.6 sec

To initialize the console, the display comes on about 0.6 seconds respectively.

0.6 sec

------Version of the microcomputer of the console is indicated. (The indicated number differs according to the version of the microcomputer.)

------------------------Indicates ID number or the driver (data of parameter Pr00).

1 sec

------Indication of the initial state of LED

Determined by the setting of parameter Pr01 in the initial state of LED.

Page 48

Using the Console

Structure of Each Mode

The structure of each mode and the mode switching procedure can be changed with each

button on the operation panel.

Selection Display

Set button

SET

Monitor

Initial state of console LED

setting

Parameter

writ

EEPROM

Mode switch

MODE

button

Mode switch

MODE

button

Mode switch

MODE

button

gain tuning

Normal-auto-

MODE

Auxiliary

functions

MODE

Copy function

MODE

Mode switch

button

Mode switch

button

Mode switch

button

Page 49

Preparations

Set button

SET

Set button

SET

[Preparations]

Execution Display

------Page 50

------Page 57 For details on parameters, refer to Position Control Mode on Page 65 and Internal Velocity Control Mode on Page 103.

Set button

SET

Set button

SET

Set button

SET

------Page 50

------Page 58

------Page 59

Alarm clear

------

Unusable

------Page 60

Test run (JOG)

SET

Set button

------Page 62

Make a copy of parameters from servo driver to console.

------Page 63

Make a copy of parameters from console to servo driver.

Page 50

Using the Console

Example of Settings

(1) Insert the connector of

console into CN X6 of the driver, and then turn on the power of the driver.

Setting parameters:

MODE

SET

MINAS

DIGITAL AC SERVO

SHIFT

(2) Press .

(3) Press .

SET

MODE

(4) Select the parameter to be

set with and .

(5) Press .

(6) Change the value with ,

SET

SHIFT

, and .

(7) Press .

SET

Starting EEPROM write:

(8) Press .

(9) Press .

MODE

SET

(10) Keep pressing (about

5 seconds). Then, the number of bars increases as shown on the right.

Start of write (indicated momentarily.)

End

Write finishes.

Write error occurs.

After finishing write, return to Selection Display referring to “Structure of Each Mode” (Page 48 and 49).

<Notes>

When the parameters that become active after they are reset have been changed, appears on

completion of the write. Once turn off power for the console to reset them.

• If any data write error has occurred, write the data again. If the write error occurs repeatedly, the console may be

in failure.

• Do not turn off power while writing data into EEPROM. Otherwise, some false data may be written in the

EEPROM. If such an erroneous operation were made, setup all the parameters again, and after thoroughly

checking the settings, write the data again.

• Do not disconnect the console connector from the servo driver during the proceeding from to

. If the connector is disconnected during the time by any chance, connect the connector again, and

restart the operation from the beginning.

Page 51

[Preparations]

Preparations

Monitoring Mode

When power of the servo driver is turned on for the first time after the driver is purchased, appears on the display (when the motor is stopped). If the indication on the display that appears after turning on power is to be changed, change the initial setting of Pr01LED. For the details, refer to the parameter setting in each control mode.

Selection Display

Positional deviation

Rotation speed of motor

Torque output

Control mode

Input/output signal status

Error factor, history

Used by manufacturer

Warning

Regenerative load factor

Overload factor

SET

(Set button)

Example of

display

Execution Display

Description

(Deviation: 5 pulses)

(1000r/min)

(Torque output: 100%)

(Position control mode)

(Input signal No. 0: active)

(Currently no error)

(No warning)

(30% of permissible regenerative power)

(Overload factor: 28%)

Reference

page

P.52

P.53

P.55

P.56

Inertia ratio

Total number of feedback pulses

Total number of control pulses

Unusable

Motor auto recognition

Selection of communication

The display shifts in the arrow direction by pressing

, and in the reverse direction by pressing .

(Mode switch button)

MODE

(Inertia ratio: 100%)

(Total feedback pulses: 50)

(Total control pulses: 10)

(Motor auto recognition active)

(RS232C communication)

P.56

To parameter setting mode

Page 57

Page 52

Using the Console

Display of positional deviation, rotation speed of motor, and torque output

Data

•••••• Positional deviation (cumulative number of pulses counted by deviation counter)

• Indication with "-" : Rotation torque is generated in CW direction viewed from the end of axis. Without "-" : Rotation torque is generated in CCW direction viewed from the end of axis.

•••••• Rotation speed of motor [r/min]

• Indication with "-": CW rotation, Without "-": CCW rotation

•••••• Torque output [%] (Rated output: 100%)

• Indication with "-": CW rotation, Without "-": CCW rotation

“+” is not indicated with LED. Only “-” is indicated.

Display of control mode

•••••• Position control mode

•••••• Velocity control mode

(High velocity response positioning control made, High function positioning control mode)

(Internal velocity control mode)

Both high velocity response positioning

control and high function positioning

control are indicated as . To

discriminate between them, check the

setting value of Pr02 control mode.

Page 53

Preparations

Display of input/output signal status

The status of control input/output signal connected with connector CN X5 is displayed.

Make use of this display to check the quality of wiring and for other purposes.

Select no. of the signal to be monitored by pressing

and .

•••••• Active (The signal is active.)

•••••• Inactive (The signal is inactive.)

Signal No. (hexadecimal number 0 - 1F)

•••••••• Input signal

Transition by

pressing .

[Preparations]

(No. of the lowest

place of input signal)

(No. of the highest

place of input signal)

(No. of the lowest

place of output signal)

•••••••• Output signal

• The blinking decimal point is shifted by pressing .

SHIFT

(Right side of the decimal point: Signal selection mode)

SHIFT

(Left side of the decimal point: Input/output selection mode)

• Signal No. can also be changed with input/output mode as follows:

(No. of the highest

place of output signal)

Page 54

Using the Console

Correspondence between signal no., signal name, and signal status

Input signals

Signal no.

07 - 08

0E - 0F

10 - 1F

Connector CN X5

Signal name

Servo-ON

Alarm clear

CW overtravel inhibition

CCW overtravel inhibition

For manufacturer use

Zero speed clamp

First command division/ multiplication switching

For manufacturer use

Gain switching

Deviation counter clear

For manufacturer use

Internal command speed selection 1 Internal command speed selection 2

For manufacturer use

Designation

SRV-ON

A-CLR

CWL

CCWL

ZEROSPD

GAIN

INTSPD1

INTSPD2

DIV

Pin no.

When Servo-ON signal is connected (turned on), A is indicated.

When alarm clear signal is connected (turned on), A is indicated.

When the overtravel inhibit input, Pr04 is inactive (set to 1), - is indicated. When it is active

(set to 0), that is, the signal input is open (off), A is indicated and any torque is not generated.

When ZEROSPD/TC input selection, Pr06 is active (set to 1), the motor stops with the signal open (off) and A is indicated.

When the signal is connected (turned on), A is indicated and the second command division/multiplication numerator is brought in.

When 2nd gain action set-up Pr30 is set to 0 and gain switching signal is open (off), Pl operation (proportion and integration) is performed and - is indicated.

Used in clearing deviation counter, and A is indicated when the signal is connected (turned on).

When the signal is connected (turned on), A is indicated.

Description

Output signals

Connector CN X5

Signal no.

06 - 08

0A - 1F

Signal name

For manufacturer use

Servo alarm

Positioning completion

Brake release

Zero speed detected

Torque limited

For manufacturer use

Achieved speed

For manufacturer use

BRK-OFF

Designation

ALM

COIN

ZSP

TLC

COIN

Pin no.

When servo alarm occurs, output transistor comes off and A is displayed.

When number of deviation pulses comes in the in-position range Pr60, A is indicated.

When output transistor for electromagnetic brake release signal is turned on, A is indicated.

When signal output selected by warning output selection Pr09 turns on the transistor, A is indicated.

When actual speed of motor exceeds achieved speed set by Pr62, the transistor is turned on and A is indicated.

The signals of connector CN X5 that have attached on them are active when they are L (ON).

Description

Page 55

Preparations

Referring to error factors and error history

It is possible to review the factors of the past 14 errors including current error.

Select the error to be reviewed by pressing and .

<Note>

Error code No. (" " means no error.)

Currently occurring error

Error history 0 (the latest error history)

Error history 13 (the oldest error history)

The following errors are not recorded in the error history:

11: Power voltage shortage protection 36: EEPROM parameter error protection 37: EEPROM check code error protection 38: Driving Prohibit input protection 95: Motor auto recognition error protection 96: LSI setup error protection

When an error to be recorded in the history occurs, both the current

error and history 0 have same error code No. indicated.

When an error occurs, the error display blinks.

Relation between error code no. and error factor

Error code no.

Power voltage shortage protection

Over-voltage protection

Over-current and ground fault protection

Internal resistor heating protection

Overload protection

Regenerative resistor overload protection

Encoder communication error protection

Encoder communication data error protection

Position over-deviation protection

Over-speed protection

Command pulse multiplier error protection

Deviation counter overflow protection

Error factor

Error code no.

Other No.

[Preparations]

Error factor

Software limit protection

EEPROM parameter error protection

EEPROM check code error protection

Overtravel inhibit input protection

ABS 1-rotation counter error protection

ABS multi-rotation counter error protection

Encoder Z-phase error protection

Encoder CS signal error protection

Motor auto recognition error protection

LSI setup error protection

Other trouble and error

Page 56

Using the Console

Warning display

No occurrence of warning Occurrence of warning

Warning of overload: Load has exceeded 85% of the level where overload

protection alarm occurs.

Warning of regenerative overload: Regenerative load has exceeded 85% of the level where regenerative overload protection alarm occurs. When externally added regenerative resistor, Parameter No. 6C, is selected to be "1", the alarm is set to occur at 10% of the full working level of the regenerative resistor.

For manufacturer use : Can not be used.

Display of regenerative load factor

Regenerative resistor load factor is indicated as a percentage with reference to 100% level where regenerative protection is activated.

With externally added resistor, this display is active when parameter Pr6C is set to “0” or “1”.

Display of overload factor

Load factor is indicated as a percentage with reference to the rated load 100%.

See also “Overload Protection Time-limiting Characteristics” on Page 146.

Display of inertia ratio

Inertia ratio is indicated in percent.

Display of total number of feedback pulses and total number of control pulses

32767 pulses

Total number of the pulses after turning on the control power. This display overflows as shown on the right.

The indicated total pulse number can be reset (comes to 0) by pressing about 5 seconds or more.

CW direction CCW direction

−32768 pulses

Turning on the

•••Can not be used.

control power

SET

−32768 pulses

•••Can not be used.

Auto recognition of motor

Auto recognition is active (always indicated as shown on the left).

Page 57

Preparations

Parameter Setting Mode

Operations with Selection Display

Bring in the display of parameter setting mode

Select the number of the parameter to be referred to or to be set by pressing or .

In the arrow direction by pressing .

by pressing once after pressing in the initial

MOOD

state of LED.

Parameter No. (hexadecimal)

<Note>

The parameters in which “r” is indicated in this place are made active after they are changed and written into EEPROM and then power is once turned off.

[Preparations]

SET

In the reverse direction by pressing .

Operation with Execution Display

Reveal execution display by pressing .

The number of the place accompanied by blinking decimal point can be changed.

Value of the parameter

(1) By pressing , shift the decimal point to the place where

SHIFT

the number is to be changed.

(2) Set the value of the parameter by pressing or .

The value increases by pressing and decreases by pressing .

After setting parameters, return to Selection Display by referring to “Structure of Each Mode”. (Page 48 and 49).

SET

Number of shifts to the upper place of the decimal point depends on each of the parameters.

<Notes>

After you change a parameter value and press , the changed content is reflected in the associated

control. When a parameter having a significant effect on motion of the motor, especially motor velocity

loop gain, positional loop gain, etc., is to be changed, do not change the value by a large quantity at one

time, but change the value in small increments.

SET

Page 58

Using the Console

Normal Auto Gain Tuning Mode

<Notes>

• For details on normal auto gain tuning function, refer to “Normal Auto Gain Tuning” on Page 132 of Adjustment edition. Especially, please thoroughly understand the scope and cautions described in the manual to use the auto gain tuning function.

• In the normal auto gain tuning mode the driver automatically drives the servo-motor in a predetermined operating pattern. The operating pattern can be changed with Pr25 (normal auto tuning motion set-up), but be sure to execute normal auto gain tuning after moving the load to the position where the motor can be driven in the changed operating pattern without any hitch.

• Execute the normal auto gain tuning after switching on the servo.

Operations with Selection Display

Bring in the normal auto

gain tuning mode display

Select mechanical stiffness no. by pressing and .

by pressing once and then three times in the initial state of LED.

Mechanical stiffness no.

S M

SET

Operation with Execution Display

Reveal execution display

Switch on the servo after inhibiting entry of command input, and then keep pressing

until the LED display of the console is changed to “ ”

by pressing .

Keeping pressing (about 5 seconds) increases number of “ ” as shown left.

SET

<Remarks> For mechanical stiffness No., see Page

134.

MODE

Motor start

<Remarks> Write the gain value into EEPROM so that the value may not be

Finish

Tuning errorTuning has completed

lost with power off.

After finishing the tuning, return to Selection Display referring to “Structure of Each Mode” (Page 48 and 49).

<Notes> Do not disconnect the console cable from the servo driver during the proceeding from to .

If the connector is disconnected (during the time) by any chance, connect the connector again, and restart the operation from the beginning. <Remarks> If any of the followings takes place during the tuning operation, it will cause a tuning error:

(1) During the tuning operation: 1) Any failure occurs, 2) The servo is switched off, 3) The deviation counter is

cleared, 4) The operation is made near the limit switch. (2) The inertial or load is too heavy and the output torque is saturated. (3) The tuning operation can not be carried out properly because some oscillation of the servo occurs.

If a tuning error occurs, value of each gain is brought back to the value that was assigned before the execution of the tuning. The tuning is not tripped except when some failure occurs. In some occasions depending on the load, oscillation of the servo may occur without indication of tuning error (“ ” is not displayed). Therefore, great attention must be given to safety of the operation.

Page 59

Preparations

Alarm Clear

The motor stop condition (trip condition) is cleared by the protective function.

Operations with Selection Display

Enter the auxiliary function mode by pressing once and four times in

SET

the initial state of LED, and then bring in

MODE

by pressing and .

Operation with Execution Display

[Preparations]

Reveal execution display

by pressing .

SET

Keep pressing until the LED display of the console is changed to " ".

Keeping pressing (about 5 seconds) increases number of “ ” as shown left.

Start of alarm clear

Finish

Alarm clear is finished.

Alarm is not cleared. Clear the alarm by resetting power.

After clearing the alarm, return to Selection Display referring to “Structure of Each Mode” (Page 48 and 49).

<Notes> Do not disconnect the console cable from the servo driver during the proceeding from to . If the connector is disconnected during the time by any chance, connect the connector again, and restart the operation from the beginning.

Page 60

Using the Console

Test Run (JOG)

It is possible to make test runs without connecting any host controller such as PLC to connector CN X5.

<Note>

• Be sure to make test runs after isolating the motor from the load and disconnecting connector CN X5.

• To avoid any failure such as oscillation of the servo, reset the user parameters (especially, the 1st position loop

gain Pr10 and the 1st velocity loop gain Pr11) to their default value.

(1) Check the wirings:

• Connected correctly (especially power

supply connection and motor connection),

• Not shorted and properly earthed, and

• Not loose.

(2) Check the supply

voltage:

Power

supply

• Check that the rated

voltage is supplied.

(3) Install the motor:

• Check that the servo-

motor is firmly installed.

(4) Isolate the mechanical load.

• Perform a test run of the motor independently.

(5) Release the brake.

Machine

Ground

STATUS

ALM CODE

CN X4

(6) Switch off the servo by pressing

Motor

after finishing test runs.

SET

Page 61

[Preparations]

Preparations

Test Run Procedure

Turn on power for the driver and connect the console connector to connector CN X6 of the driver.

Display of motor rotation speed (Initial state of LED)

Operations with Selection Display

Enter the auxiliary function

mode by pressing once and

four times, and then bring in

MODE

Operation with Execution Display

SET

by pressing and .

Reveal execution display

Keep pressing until the LED

display of the console is changed

to " ".

Step 1 ready for motor test run

Keep pressing until the LED

SHIFT

display is changed to

" ".

by pressing .

SET

Keeping pressing (about 5

seconds) increases number of “ ”

as shown left.

By keeping pressing (about 3

SHIFT

seconds), position of the decimal

point shifts to left as shown on the left.

Step 2 ready for motor test run

After the servo is turned on at Step 2 ready for motor test run:

The servo-motor continues to turn in CCW direction by keeping pressing and in CW direction by keeping pressing at the speed determined by Pr57 (JOG speed).

After finishing test runs, return to Selection Display referring to “Structure of Each Mode” (Page 48 and 49).

If connector CN X6 is disconnected during JOG operation, the servo is turned off after 100 ms at maximum.

<Note>

If any trouble, such as break of cable or disconnection of connector, occurs during test run, the servo-

motor overruns for 100 ms at maximum. Check the safety about test runs to a sufficient degree.

Servo is turned on.

Pressing turns off the servo.

SET

Page 62

Using the Console

Copying parameters from servo driver to console (Copy Function)

Operations with Selection Display

Enter the copy mode by

pressing once and

five times in the initial state of

LED, and then bring in

Operation with Execution Display

S M

SET

MODE

by pressing and .

Reveal execution display by pressing .

SET

Keep pressing until the LED

display of the console is changed

to " ".

Keeping pressing (about 3 seconds)

increases number of " " as shown left.

Initialization of EEPROM of the console starts.

The number decreases over time as 10, 9, 8, ----.

Copying parameters and model code from servo driver to consloe starts.

Writing parameters into EEPROM of console starts.

Copying has finished normally.

Error display

<Note> If this error display appears, start the operation from the beginning again. To cancel the error, press

SET

After finishing copying, return to Selection Display referring to Structure of Each Mode (Page 48 and 49).

<Note> Do not disconnect the console cable from the servo driver during the proceeding from to .

If the connector is disconnected during the time by any chance, connect the connector again, and restart the

operation from the beginning.

If the error display appears repeatedly, that is presumably because of break of cable, disconnection of

connector, wrong operation due to noises, or failure of EEPROM of the console.

Page 63

Preparations

Copying parameters from console to servo driver (Copy Function)

Operations with Selection Display

Enter the copy mode by pressing once and five

S M

SET

MODE

times in the initial state of LED, and then bring in

by pressing and .

Operation with Execution Display

[Preparations]

Reveal execution display by pressing .

Keep pressing until the LED

display of the console is changed

to “ ”.

Reading parameters and model code from EEPROM of console starts.

Checking whether parameters can be transmitted to servo driver starts.

Writing parameters into EEPROM of servo driver starts.

After finishing copying, return to Selection Display referring to “Structure of Each Mode” (Page 48 and 49).

<Note> Do not disconnect the console cable from the servo driver during the proceeding from to . If the connector is disconnected during the time, wrong data will be written in and the data will be crashed. In this occasion, copy the parameters from the copy source driver to the console, and then copy the parameters from the console to the copy destination driver. <Remarks> If the error display appear repeatedly except for , that is presumably because of break of cable, disconnection of connector, wrong operation due to noises, or failure of EEPROM of the console.

When the model code read from console is corresponded to the model code of servo driver.

Copying has finished normally.

When the model code read from console is different from the model code of servo driver.

SET

Keeping pressing (about 3 seconds)

increases number of “ ” as shown left.

The number decreases over time as 10, 9, 8, ----.

Error display

<Note>

By keeping pressing (about 3 seconds),

SHIFT

position of the decimal point shifts to left as shown on the left. To cancel the copy,

press .

SET

If this error display appears during , a parameter value read from the console is out of range. In this occasion check and modify the parameters in the copy source driver, and then copy the parameters from the copy source driver to the console, and then copy the parameters from the console to the copy destination driver. If this error display appears except for , start the operation from the beginning again. To cancel the error, press .

SET

Page 64

MEMO

Page 65

Connections and Settings in Position Control Mode

Connections and

Settings in Position

Control Mode

Page

Control Block Diagram in Position Control Mode ...... 66

Wiring to Connector CN X5 .......................................... 67

Example of Wiring in Position Control Mode ........................................... 67

Interface Circuit ....................................................................................... 68

Input Signal and Pin No. of Connector CN X5 ........................................70

Output Signal and Pin No. of Connector CN X5 ..................................... 72

Example of Connection to a Host Controller ........................................... 73

Test Run in Position Control Mode ............................. 82

Inspection prior to Test Run .................................................................... 82

Test Run with Connector CN X5 Connected ........................................... 82

Real time Auto Gain Tuning ......................................... 86

Outline .....................................................................................................86

Scope ...................................................................................................... 86

Operating Instruction ............................................................................... 86

Adaptive Filter .........................................................................................87

Parameters to be Set Automatically ........................................................ 87

Cautions .................................................................................................. 87

Parameter Setting ......................................................... 88

Parameter for Selection of Functions ...................................................... 88

Parameters for Adjustment of Time Constants of Gains/Filters .............. 91

Parameters for Auto Gain Tuning ............................................................92

Parameters for Adjustment (Related to Second Gain Switching Function) ...

Parameters for Position Control .............................................................. 95

Parameters for Internal Velocity Control .................................................98

Parameters for Torque Limits ..................................................................99

Parameters for Sequences .....................................................................99

Page 66

Control Block Diagram in Position Control Mode

*1: This is valid only

when Pr42 =0 or 2.

Dividing

Torque Filter

Position Error

Driver

Notch Filter

Speed Error

Driver

Vibration Damping

Filter

Input Setting

Pr 1

Pr 11

Pr 1

Pr 14

Pr 2B

Pr 2C

Pr 15

Pr 16

Pr46

Pr47

Pr4A

Pr4B

Dividing Multiplier

1st

2nd

Numerator

Denominator

FIR Filter

Pr 4E

Pr 1

Pr 2

Pr 4

Pulse Row

PULS

SIGN

Inversed

Mode

Multiplier

Smoothing

Filter

Pr 4C

Position Deviation

Monitor

2nd

1st

Proportion

1st

Integration

Inertia ratio

1st

Frequency

1st Width

1st Time

Constant

2nd Time

Constant

Inverted

Dividing

Speed Detection

Filter

Limit

Pr 5

Motor

Encoder

Torque Command

Monitor

Speed

Detected

Command

Speed Monitor

Velocity Feed

Forward

2nd

Proportion

2nd

Integration

2nd

1st

Real Speed

Monitor

Feedback Pulse

Encoder

Reception

Operation

OA/OB/OZ

When Pr02, parameter for setting control mode is [0] or [2]*:

Page 67

Connections and

Settings in Position

Control Mode

Wiring to Connector CN X5

Example of Wiring in Position Control Mode

[Connections and Settings in Position Control Mode]

Page 68

Wiring to Connector CN X5

Interface Circuit

Input Circuit

Connection with Sequence Input Signal

• Connect to a contact of switch and relay, or a transistor of an open collector output.

• When you plan to use a contact input, use switch and relay for minute electric current so as to avoid poor contact.

• In order to secure appropriate level of primary current of the photo coupler, set lower limit voltage of the power supply (12 to 24 V) 11.4V or more.

Command Pulse Input Circuit

(1) Line Driver I/F

• This signal transmission method is less susceptible to effects of noise. We recommend this method to improve reliability of signal transmission.

12~24V

Relay

12~24V

Item Equivalent to AM26LS31

(1)

COM+4.7kΩ

SRV-ON, etc.

COM+4.7kΩ

SRV-ON, etc.

PULS1

220Ω

PULS2 SIGN1

220Ω

SIGN2

GND

(2) Open Collector I/F

• The method uses control power supply (VDC) external to the driver.

• This requires a current-limiting resistor (R) that relies on VDC.

• Be sure to connect specified resistor (R).

VDC Specification of R

12V 1kΩ 1/2W

VDC—1.5

R+220

=.10mA

(2)

PULS1

PULS2

220Ω

SIGN1

SIGN2

220Ω

GND

Maximum Input Voltage DC24V Rated Current: 10mA

24V 2kΩ 1/2W

This represents a twisted pair cable.

When the connection method is inversed if you use the CW pulse row + CCW pulse row method as

pulse input form, pulses do not count and the motor does not rotate.

Connect so that a photo coupler in the driver on the side on which pulse input is not done turns OFF.

Page 69

Connections and

Settings in Position

Control Mode

Output Circuit

Sequence Output Circuit

SO1

[Connections and Settings in Position Control Mode]

Be sure to install in the direction shown in the figure.

• This output circuit is configured with a Darlington connection transistor output of open collector. It is connected to a relay or photo coupler.

• Due to Darlington connection of the output transistor, there exists a collector-to-emitter voltage VCE (SAT) of approx. 1V upon power-ON of the transistor. Note that normal TTLIC cannot be directly connected since it does not meet VIL requirement.

• When a recommended value of primary current of a photo coupler to be used is 10mA, determine a resistance value

with the following formula:

R [kΩ] =

DC[V] – 2.5[V]

For a recommended primary current value, check the data sheets of equipment or photo coupler you plan to use.

Line Driver (Differential Output) Output

PO1

• Provide differential outputs of encoder signal output (Phases A, B and Z) after dividing operation is performed, by respective line drivers.

• On the host controller side, receive signals with a line receiver. Then, be sure to install termination resistor (approx. 330Ω) between inputs of the line receivers.

• These outputs are non-insulated signals.

This represents a twisted pair cable.

SO1

ALM, etc.

12~24V

COIN, etc.

COM

Maximum rating: 30V

50mA

Item equivalent to

AM26C32

OA+ OA-

OB+ OB-

OZ+ OZ-

Be sure to connect the signal grounds between the host controller and driver.

Item equivalent to

AM26C31

17 18

19 20

14GND

Open Collector Output

PO2

• Among signals from the encoder, output phase Z signals with the open collector. This is non-insulated output.

• On the host controller side, use a high-speed photo coupler for reception, since pulse width of phase Z signal is usually narrow.

This represents a twisted pair cable.

Maximum rating: 30V

2114CZ

GND

High-speed Photo Coupler (Equivalent to TLP554 by Toshiba Corporation)

50mA

Page 70

Wiring to Connector CN X5

Input Signal and Pin No. of Connector CN X5

Input signals (common) and their functions

Signal Name

Control Signal Power Supply Input (+)

Control Signal Power Supply Input (–)

Servo-ON input

Alarm Clear Input

Pin No. Symbol Function

COM +

• Connect positive (+) pole of external DC power supply (12 to 24V).

• Total supply voltage should range from 12V ± 5% to 24V ± 5%.

COM–

• Connect negative (-) pole of external DC power supply (12 to 24V).

• The voltage source capacity varies depending on configuration of input/output circuits to be used. We recommend 0.5A or greater.

SRV-ON

• When this signal is connected to COM-, the driver will be enabled (Servo-on) (motor energized).

1. The signal will become valid about 2 seconds after power-ON. (See the timing chart.)

2. Don’t use Servo ON/OFF signal to drive/stop the motor. Refer to “Dynamic Brake” on Page 36 of Preparation edition.

• Take the time of 100 ms or longer before entering a command on speed, pulse, etc., after transition to Servo-ON.

• When you open the connection with COM-, the driver will be disabled (Servo-OFF) and the current flow to the motor will be cut off.

• You can select dynamic brake operation during Servo-OFF and clear operation of the deviation counter by using Pr69 (sequence during Servo-OFF).

A-CLR

• If this signal is connected to COM- for 120 ms or longer, it will clear alarm status.

• There are some alarms that this signal cannot release. For details, refer to “Protective Functions” on Page 144 of Edition of When You Have Trouble.

I/F Circuit

——

Page 68

Deviation Counter Clear/Internal Command Speed Selection 2 Input

Gain Switching/Speed Zero Clamp/Torque Limit Switching Input

Position Control

Internal Velocity Control

Pr06

0, 1

CL /

INTSPD2

• Input of this signal is to clear the deviation counter. When the signal is connected to COM- for 2 ms or longer, it will clear the deviation counter.

• With input of internal command speed selection 2 (INTSPD2), four-speed can be set in combination with INTSPD1 input.

• For details on settings of control mode, refer to Page 117.

GAIN

/ZEROSPD

/TC

Control Mode

When

position

control

Pr02 is

0 or 2

For details on the 2nd gain switching function, refer to Page 138.

When

internal

velocity

control

Pr02 is 1

Position

Control/

Internal

Velocity

Control

The control mode changes functions.

• Settings of Pr06 and control mode can change functions.

Descriptions

• The following 2 functions can be used with settings of Pr30.

• Gain switching input (GAIN) switches P1/P operation and first/second gain.

Setting of Pr30

[Default value]

Setting of Pr31

–

Connection with COM-

Open

Connected

Open

Connected

Velocity loop: P1 (proportional/integral) operation

Description

Velocity loop: P (proportion) operation 1st gain selected (Pr10,11,12,13,14) 2nd gain selected (Pr18,19,1A,1B,1C)

• With speed zero clamp input (ZEROSPD), velocity command is opened when connection with COM- is opened.

• You can override this input with Pr06.

• A default value of Pr06 is 1, and this input is valid. When connection with COM- is opened, speed will be zero.

Pr06

0 ZEROSPD input is invalid.

1 [Default value] ZEROSPD input is valid.

Description

With torque limit switching input, parameters of acceleration level, torque limit, excessive position deviation can be switched.

Connection with COM-

Open 1st setting value selected (Pr70,5E,63)

Connected 2nd setting value selected (Pr71,72,73)

Description

Page 68

Page 71

[Connections and Settings in Position Control Mode]

Connections and

Settings in Position

Control Mode

Signal Name

Command Dividing Multiplier Switching/ Internal Command Speed Selection 1 Input

CW Overtravel Inhibit Input

Pin No. Symbol Function

DIV

/INTSPD1

CWL

CCWL

The control mode can change functions.

Position Control

Internal Velocity Control

You must not enter any command pulse for 10 ms before or after switching.

• If you open connection with COM- when a moving part of the machine exceeds the movable range in CW direction, no torque will be generated in CW direction.

• If you open connection with COM- when a moving part of the machine exceeds the movable range in CCW direction, no torque will be generated in CCW direction.

• If you set 1 to Pr04 (Overtravel input inhibit), CWL/CCWL inputs will be invalid. A default value is invalid (1).

• Setting of Pr66 (DB inaction during driving prohibition) can activate the dynamic brake when CWL/CCWL input is valid. According to a default value, the dynamic brake will run (Pr66 is 0).

• Input to switch dividing multiply of command pulse

• When this signal is connected to COM-, it will switch a command dividing multiply numerator from Pr46 (Numerator of 1st command pulse ratio) to Pr47 (Numerator of 2nd command pulse ratio).

You must not enter any command pulse for 10 ms before or after switching.

• With internal command speed selection 1 (INTSPD1), four-speed can be set in combination with INTSPD 2.

• For details on settings of control mode, refer to Page 117.

I/F Circuit

Page 68

Input Signal (Related to Position Control) and its Functions

Signal Name

Command Pulse Input

Command sign input

Pin No. Symbol Function

PULS1

PULS2

SIGN1

SIGN2

• Input terminal of command pulse. The signal is received by the high-speed photo coupler on the driver side.

• Allowable Input Highest Frequency At the time of the line driver input : 500kpps At the time of the open collector input : 200kpps

• Input impedance of PULS and SIGN is 220Ω.

• The following 3 forms of command pulse input can be selected with Pr42 (command pulse input mode set up). (1) 2-phase (Phase A/B) input (2) CW (PULS)/CCW (SIGN) pulse input (3) Command pulse (PULS)/sign (SIGN) input

I/F Circuit

Page 68

Page 72

Wiring to Connector CN X5

Output Signal and Pin No. of Connector CN X5

Output Signals (Common) and their Functions

Signal Name

Servo Alarm Output

Positioning Completion/Achieved Speed Output

Brake Release Signal Output

Warning Output

Phase-A Output

Phase-B Output

Phase-Z Output

Pin No. Symbol Function I/F Circuit

BRK-OFF

0 1

ALM

COIN

WARN

OA+ OA– OB+ OB– OZ+ OZ– CZ

• The output transistor turns OFF when an alarm is generated.

• The control mode changes functions.

• Positioning completion output

• The output transistor turns ON when the deviation pulse does not exceed setting of Pr60 (In-position range).

• Achieved Speed Output

• The output transistor turns ON when motor speed exceeds Pr62 (At-speed).

• This signal is used to release the electromagnetic brake of the motor.

• The output transistor turns ON when the brake is released.

• Refer to “Timing Chart” on Page 32 of Preparation edition.

• A signal selected with Pr09 (warning output selection) is output.

Functions The output transistor turns ON while torque is limited. The output transistor turns ON when the speed falls below setting of Pr61 (Zero speed). The output transistor turns ON when any of the following 3 warning functions is activated: regenerative/overload/fan rotation speed abnormality. With the regenerative warning function activated (85% of the regenerative abnormality detection level is exceeded), the output transistor turns ON. With overload warning function activated (effective torque exceeds 85% when the detection level of overload protection is considered 100%), the output transistor turns ON. Displays may appear but do not function. With the abnormal fan rotation speed warning function activated (the fan stops), the output transistor turns ON.

•This signal provides differential output of the encoder signal (Phases A/B/Z) that undergoes dividing process (RS 422 phase, etc.).

• The logical relation between phases A and B can be selected with Pr45 (Pulse output logic inversion).

• Not insulated

• Phase Z signal output in an open collector

• Not insulated

SO1

Page 69

SO1

Page 69

SO1

Page 69

SO1

Page 69

PO1

Page 69

PO2

Page 69

Position Control

Internal Velocity Control

Settings

[Default value]

* With settings of 2 to 6, once a warning is detected, the output transistor turns ON for

at least 1 second.

15 16 17 18 19 20 21

Output Signals (Others) and their Functions

Signal Name

Signal Ground

Frame Ground

Pin No. Symbol Function

GND

• Signal ground in the driver

• Insulated from the control signal power supply (COM-) in the driver.

• Connected with the earth terminal in the driver.

I/F Circuit

––

Page 73

Connections and

Settings in Position

Control Mode

Example of Connection to a Host Controller

Matsushita Electric Works, Ltd. FPG-C32T

[Connections and Settings in Position Control Mode]

PLC

FPG-C32T (Matsushita Electric Works, Ltd. FP∑)

2kΩ

3kΩ

5.6kΩ

COM

–

COM

2kΩ

CW pulse command output

CCW pulse command output

Origin input

Deviation counter reset output

Origin proximity input

From PLC I/O output

E-series

PULS1

PULS2

SIGN1

SIGN2

GND

COM+

SRV-ON

GAIN/TC

A-CLR

CCWL

CWL

Driver

220Ω

4.7kΩ

CW pulse command input

CCW pulse command input

Phase Z output

Counter clear input

Servo-ON input

Gain switching input/torque limit switching input

Alarm clear input

CCW overtravel inhibit input

CW overtravel inhibit input

CCW limit over input

CW limit over input

Origin proximity sensor

CCW limit sensor

CW limit sensor

5.6kΩ

This represents a twisted pair cable.

GND +24V

DC24V

power supply

To PLC I/O input

ALM

COIN

BRKOFF

WARN

COM–

Servo alarm output

Positioning completion output

Brake release output

Warning output

Page 74

Wiring to Connector CN X5

Matsushita Electric Works, Ltd. FP2-PP22 AFP2434/FP2-PP42 AFP2435

PLC

FP2-PP22 AFP2434(Matsushita Electric Works, Ltd.) FP2-PP42 AFP2435(Matsushita Electric Works, Ltd.)

(

Pulse output A

Pulse output B

Origin input

Deviation counter reset output

Origin proximity input

Limit over

–

A10)

(

B10)

A11)

(

B11)

(

A13)

(

B12)

(

A16)

(

B16)

(

B13)

(

A14)

(

A15)

(

B15)

From PLC I/O output

E-series

PULS1

PULS2

SIGN1

SIGN2

OZ+

OZ–

GND

COM+

SRV-ON

GAIN/TC

A-CLR

CCWL

CWL

Driver

220Ω

4.7kΩ

CW pulse command input

CCW pulse command input

Phase Z output

Counter clear input

Servo-ON input

Gain switching input/torque limit switching input

Alarm clear input

CCW overtravel inhibit input

CW overtravel inhibit input

Power supply for internal circuit

Origin proximity sensor

CW limit sensor

CCW limit sensor

+24VDC

GND

This represents a twisted pair cable.

A20

B20

GND +24V

DC24V

power supply

To PLC I/O input

ALM

COIN

BRKOFF

WARN

COM–

Servo alarm output

Positioning completion output

Brake release output

Warning output

Page 75

[Connections and Settings in Position Control Mode]

Connections and

Settings in Position

Control Mode

Matsushita Electric Works, Ltd. FP2-PP2 AFP2430

PLC

FP2-PP2 AFP2430(Matsushita Electric Works, Ltd.)

220

1.6k

A19

B19

CW pulse command output

CCW pulse command output

Origin input

Deviation counter reset output

Origin proximity input

From PLC I/O output

E-series

PULS1

PULS2

SIGN1

SIGN2

OZ+

OZ–

GND

COM+

SRV-ON

GAIN/TC

A-CLR

CCWL

CWL

ALM

Driver

220Ω

4.7kΩ

CW pulse command input

CCW pulse command input

Phase Z output

Counter clear input

Servo-ON input

Gain switching input/torque limit switching input

Alarm clear input

CCW overtravel inhibit input

CW overtravel inhibit input

Servo alarm output

24V+

External power input

24V–

Origin proximity sensor

CCW limit sensor

CW limit sensor

This represents a twisted pair cable.

A20

B20

To PLC I/O input

GND +24V

DC24V

power supply

To PLC I/O input

COIN

BRKOFF

WARN

COM–

Positioning completion output

Brake release output

Warning output

Page 76

Wiring to Connector CN X5

Yokogawa Electric Corporation F3NC11-ON

PLC

F3NC11-ON (Yokogawa Electric Corporation)

1kΩ

CW pulse command output

CCW pulse command output

Origin line driver input

Emergency stop input

5V power supply for pulse output

3.5kΩ

V+

GND

From PLC I/O output

E-series

PULS1

PULS2

SIGN1

SIGN2

OZ+

OZ–

GND

COM+

SRV-ON

GAIN

A-CLR

CCWL

CWL

Driver

220Ω

4.7kΩ

CW pulse command input

CCW pulse command input

Phase Z output

Counter clear input

Servo-ON input

Gain switching input/torque limit switching input

Alarm clear input

CCW overtravel inhibit input

CW overtravel inhibit input

CW limit input

CCW limit input

Origin proximity input

Origin proximity sensor

CCW limit sensor

CW limit sensor

3.5kΩ

This represents a twisted pair cable.

To PLC I/O input

ALM

COIN

BRKOFF

Servo alarm output

Positioning completing output

Brake release output

WARN

GND +5V

DC5V

power supply

GND +24V

DC24V

power supply

COM–

Warning output

Page 77

[Connections and Settings in Position Control Mode]

Connections and

Settings in Position

Control Mode

Yokogawa Electric Corporation F3YP14-ON/F3YP18-ON

PLC

F3YP14-ON/F3YP18-ON(Yokogawa Electric Corporation)

240Ω

7.4kΩ

14a

13a

12a

11a

15a

16a

10a

CW pulse command output

CCW pulse command output

Origin line driver input

Deviation pulse clear signal output

5V power supply for pulse output

CW limit input

V+

GND

From PLC I/O output

E-series

PULS1

PULS2

SIGN1

SIGN2

OZ+

OZ-

GND

COM+

SRV-ON

GAIN/TC

A-CLR

CCWL

CWL

ALM

Driver

220Ω

4.7kΩ

CW pulse command input

CCW pulse command input

Phase Z output

Counter clear input

Servo-ON input

Gain switching input/torque limit switching input

Alarm clear input

CCW overtravel inhibit input

CW overtravel inhibit input

Servo alarm output

CCW limit input

Origin proximity input

Origin proximity sensor

CCW limit sensor

CW limit sensor

7.4kΩ

This represents a twisted pair cable.

COIN

To PLC I/O input

GND +5V

DC5V

power supply

GND +24V

DC24V

power supply

BRKOFF

WARN

COM-

Positioning completing output

Brake release output

Warning output

Page 78

Wiring to Connector CN X5

Omron Corporation CS1W-NC113 (Open Collector Output)

PLC

CS1W-NC113(Omron Corporation)

1.6kΩ

150Ω

A16

A14

A10

A24

A20

A21

CW pulse command output

CCW pulse command output

Origin line driver input

Power supply for output

Deviation counter reset output

Emergency stop input

Origin proximity input

V+

GND

4.7kΩ

From PLC I/O output

E-series

PULS1

PULS2

SIGN1

SIGN2

OZ+

OZ-

GND

COM+

SRV-ON

GAIN/TC

A-CLR

CCWL

CWL

Driver

220Ω

4.7kΩ

CW pulse command input

CCW pulse command input

Phase Z output

Counter clear input

Servo-ON input

Gain switching input/torque limit switching input

Alarm clear input

CCW overtravel inhibit input

CW overtravel inhibit input

CCW limit over input

CW limit over input

Origin proximity sensor

CCW limit sensor

CW limit sensor

4.7kΩ

This represents a twisted pair cable.

A23

A22

GND +24V

DC24V

power supply

To PLC I/O input

ALM

COIN

BRKOFF

WARN

COM-

Servo alarm output

Positioning completing output

Brake release output

Warning output

Page 79

[Connections and Settings in Position Control Mode]

Connections and

Settings in Position

Control Mode

Omron Corporation CS1W-NC133 (Line Driver Output)

PLC

CS1W-NC133(Omron Corporation)

150Ω

A16

A14

A10

A24

A20

A21

CW pulse command output

CCW pulse command output

Origin line driver input

24V power supply for output

Deviation counter reset output

Immediate cessation input

Origin proximity input

V+

GND

4.7kΩ

From PLC I/O output

E-series

PULS1

PULS2

SIGN1

SIGN2

OZ+

OZ–

GND

COM+

SRV-ON

GAIN/TC

A-CLR

CCWL

CWL

Driver

220Ω

4.7kΩ

CW pulse command input

CCW pulse command input

Phase Z output

Counter clear input

Servo-ON input

Gain switching input/torque limit switching input

Alarm clear input

CCW overtravel inhibit input

CW overtravel inhibit input

CCW limit over input

CW limit over input

5V power supply for pulse output

Origin proximity sensor

CCW limit sensor

CW limit sensor

4.7kΩ

GND

This represents a twisted pair cable.

A23

A22

GND +5V

DC5V

power supply

To PLC I/O input

GND +24V

DC24V

power supply

ALM

COIN

BRKOFF

WARN

COM–

Servo alarm output

Positioning completing output

Brake release output

Warning output

Page 80

Wiring to Connector CN X5

Omron Corporation C200H-NC211

PLC

C200H-NC211(Omron Corporation)

1.6kΩ

150Ω

Pulse (CW+CCW) output

Direction output

Origin line driver input

Power supply for output

Deviation counter reset output

Emergency stop input

Origin proximity input

V+

GND

2kΩ

From PLC I/O output

E-series

PULS1

PULS2

SIGN1

SIGN2

OZ+

OZ–

GND

COM+

SRV-ON

GAIN/TC

A-CLR

CCWL

CWL

Driver

220Ω

4.7kΩ

CW pulse command input

CCW pulse command input

Phase Z output

Counter clear input

Servo-ON input

Gain switching input/torque limit switching input

Alarm clear input

CCW overtravel inhibit input

CW overtravel inhibit input

CCW limit over input

CW limit over input

Origin proximity sensor

CCW limit sensor

CW limit sensor

2kΩ

This represents a twisted pair cable.

GND +24V

DC24V

power supply

To PLC I/O input

ALM

COIN

BRKOFF

WARN

COM–

Servo alarm output

Positioning completing output

Brake release output

Warning output

Page 81

[Connections and Settings in Position Control Mode]

Connections and

Settings in Position

Control Mode

Mitsubishi Electric Corporation A1SD75/AD75P1

<Note>

You can switch output of an open collector/line driver. Use this with the line driver.

If you use the open collector, it does not count pulse and the motor does not rotate.

PLC

A1SD75/AD75P1 (Mitsubish Electric Corporation)

CW pulse command output

CCW pulse command output

Point zero signal

Deviation counter cleared

Drive unit ready

In-position

Common

500Ω

4.7kΩ

From PLC I/O output

E-series

PULS1

PULS2

SIGN1

SIGN2

OZ+

OZ–

GND

COM+

SRV-ON

GAIN/TC

A-CLR

CCWL

CWL

Driver

220Ω

4.7kΩ

CW pulse command input

CCW pulse command input

Phase Z output

Counter clear input

Servo-ON input

Gain switching input/torque limit switching input

Alarm clear input

CCW overtravel inhibit input

CW overtravel inhibit input

Near point signal

Upper limit

Lower limit

Origin proximity sensor

CW limit sensor

CCW limit sensor

4.7kΩ

This represents a twisted pair cable.

GND +24V

DC24V

power supply

To PLC I/O input

ALM

COIN

BRKOFF

WARN

COM–

Servo alarm output

Positioning completing output

Brake release output

Warning output

Page 82

Test Run in Position Control Mode

Inspection prior to Test Run

(1) Check the wirings:

• Connected correctly (especially power supply connection and motor connection),

• Not shorted and properly earthed, and

• Not loose.

(2) Check the supply

voltage:

• Check that the rated voltage is supplied.

Powe r

supply

STATUS

ALM CODE

Host Controller

(3) Install the motor:

• Check that the servomotor is firmly installed.

Ground

(4) Isolate the mechanical load.

• Perform a test run of the motor independently.

Machine

Motor

(5) Release the brake.

Test Run with Connector CN X5 Connected

(1) Connect CN X5. (2) Connect the control signal (COM+/COM-) to the power

supply (12 to 24 VDC). (3) Turn on the power (of the driver). (4) Check default settings of parameters. (5) Activate Servo-ON by connecting Servo-ON input SRV-

ON (CN X5 pin 2) and COM- (CN X5 pin 13). Then the

motor will be energized. (6) Set Pr42 (command pulse input mode set up)

according to output form of the host controller, and

write it into EEPROM. Then, you should turn the power

OFF and ON again. (7) Send a low-frequency pulse signal from the host

controller to run the motor at low speed. (8) Check rotation speed of the motor in the monitor mode.

• Check that the motor rotates at set speed.

• Check if the motor stops when you stop the command

(pulse).

DC 12V ~ 24V

DC 5V

CN X4

Wiring Diagram

120Ω

COM+

SRV-ON

COM

PULS1

PULS2

SIGN1

SIGN2

GND

CW/CCW pulse input In the case the open collector is used for input

Output of phase Z for initialization

Page 83

[Connections and Settings in Position Control Mode]

Connections and

Settings in Position

Control Mode

Parameters Input Signal Status

PrNo.

Pr02

Pr04

Pr42

Parameter Name

Settings

Control mode set up

Overtravel input inhibit

Command pmulse input mode set up

• Use the host controller to send command pulses.

Signal No.

Input Signal Name

Servo-ON

CW overtravel inhibit

CCW overtravel inhibit

Counter clear

Monitor Display

–

Setting of Motor Rotation Speed and Input Pulse Frequency

Input pulse

frequency

(pps)

500k

250k

100k

500k

* You can set any value depending on a numerator and denominator setting. However, if you specify

an extreme dividing/multiplier ratio, we cannot guarantee proper operation of the motor. We

recommend that you set the dividing/multiplier ratio in the range of to 20 times.

Motor

rotation

speed (r/min)

3000

1500

Pr 46 x 2

Pr 4B

10000 x 2

10000

10000 x 2

5000

10000 x 2

2000

5000 x 2

10000

Pr 4A

←←

←Defaul Setup

←←

* Our default setup is “the motor shaft rotates once at

10000 pulse input”. Note that the maximum input pulse

frequency is 500 kpps for a line driver and 200 kpps for

an open collector.

Relationship between Motor Angle of Rotation and Input Pulse Frequency

(Example 1) Rotate the motor at 60 degrees with overall deceleration ratio of 18/365.

Encoder Pulse

2500P/r

Pr4A

Pr46

Pr4B

Theory

Determination of the

parameter

365

From your controller to the driver, enter

command that the motor rotates 60

degrees with 10000 pulses.

365

365 x 2

108

10000 10000

Gear

60˚

360˚

* Also refer to “Description on Dividing/Multiplier

Ratio” on Page 178 of Reference edition.

Pulley Ratio:

Gear ratio:

18 60 12 73

Overall deceleration ratio:

365

Page 84

Test Run in Position Control Mode

Basic Operations and LED Display

(1) Turn on the power.

Power

Supply

STATUS

ALM CODE

CN X4

Machine

Ground

Motor

Page 85

Connections and

Settings in Position

Control Mode

(2) Check LED status.

[Connections and Settings in Position Control Mode]

Color of

LED Status

Green

Orange

Red

Check that alarm code LED does not flash? (It is out during normal operation).

It starts flashing in case of an alarm.

An alarm code (refer to pages 145 to 148) indicates the alarm code number

by the number of flashes of orange and red lights.

Orange: 10 digit Red: 1 digit

(Example)

When overload (alarm code No.16) occurs and the motor stops:

The orange light flashes once and red one flashes 6 times.

Orange

1 sec.

The main power is turned ON. The driver is switched ON.

The LED flashes (for 1 second) when a warning is issued.

(Abnormal overload, regeneration, and fan rotation speed)

Alarm output.

0.5 sec. 0.5 sec. 0.5 sec. 0.5 sec.

0.5 sec.1 sec.

Red

0.5 sec.

Red

0.5 sec.

Red

0.5 sec.

Description

Red

0.5 sec.

Red

0.5 sec.

Red

0.5 sec.

After 2 seconds

(3) Setting the parameter

Prepare for a personal computer and “PANATERM®”. Or prepare for a console.

(4) Enter a command that matches the control mode.

Page 86

Real time Auto Gain Tuning

Outline

Load inertia of the machine is real-time estimated, and

based on the result of estimation, optimum gain is

automatically set. In addition, an adaptive filter

automatically suppresses vibration due to resonance.

Position/velocity

command

Operation command under actual service conditions

Automatic gain setting

Position/velocity

command

Automatic filter tuning

Adaptive

filter

Estimation of

resonance frequency

Estimation of load inertia

Real time auto gain tuning

Servo driver

Torque

command

Current

control

Motor

current

Motor speed

Scope

• Real time auto gain tuning is valid in all control modes.

• You can use an adaptive filter only when Pr02=2: high function positioning control.

Cautions

Under the following conditions, real time auto gain tuning may not properly function. In such a case, use either

normal auto gain tuning (Refer to Page 132) or manual gain tuning (Refer to Page 136).

Conditions that Hinder Real time Auto Gain Tuning from Functioning

Load Inertia

Load

Operation

Pattern

When load inertia is smaller or greater than rotor inertia (i.e., 3 times or less or 20 times or more). When load inertia changes quickly (less than 10 [s]).

When mechanical stiffness is extremely low. • When there is play such as backlash. When the motor runs at a continuous low speed below 100 [r/min]. When acceleration/deceleration is gradual, e.g., 2000 [r/min] or less in 1 [s]. When acceleration/deceleration torque is smaller than unbalanced load/viscous friction torque. When the time that meets conditions of speed/acceleration is short, e.g., less than 40 [ms].

Motor

Encoder

Operating Instruction

(1) Stop the motor (Servo-OFF).

(2) Set Pr21 (Real time auto tuning set-up) to 1 to 6.

A default setup is 1.

Setting

value

[1]

When load inertia changes widely, set Pr21 to 3 or 6.

If there is possibly effect of resonance, select “adaptive filter Yes”.

(3) Turn the servo on to operate the machine as usual.

(4) If you wish to improve responsiveness, gradually increase Pr22

(Machine stiffness at auto tuning). In addition, if any abnormal

noise or oscillation occurs, set a value lower (e.g. 0 to 3).

(5) If you wish to save result, write it into EEPROM.

Any change to Pr21 (Real time auto tuning set-up) will become

valid when you turn on the power and when Servo-OFF switches to

Servo-ON.

Thus, to disable real time auto tuning, set Pr21 (Real time auto

tuning mode setting) to 0, and then switch from Servo-OFF to

Servo-ON. Similarly, when you enable real time auto tuning, set

Pr21 to any value other than 0 and 7 and then switch from Servo-

OFF to Servo-ON.

Real time

Auto Tuning

Not used

Used

Not used

Degree of Load Inertia

Changes in Service

Little change

Gradual change

Sharp change

Little change

Gradual change

Sharp change

Adaptive Filter

(When Pr02=2)

Yes

Insert the connector of console into CNX6 of the driver, and then turn on the power of the driver.

Setting parameter Pr21

Press .

SET

Press .

MODE

Select the parameter to be set with

and .

(In this case, select Pr21.)

Press .

SET

Change the value with or .

Press .

SET

Setting parameter Pr22

Select Pr22 with .

Press .

SET

When you press , a value increases,

and when you press , it decreases.

Now writing into EEPROM

Press .

MODE

Press .

SET

Keep pressing (about 5 seconds). Then, the number of bars in creases as shown on the right.

Start of write (indicated momentarily).

End

Write finishes

After finishing write, return to Selection Display referring to "Structure of Each Mode" (Page 48 and 49).

(Default Setup Value)

Write error occurs

Page 87

[Connections and Settings in Position Control Mode]

Connections and

Settings in Position

Control Mode

Adaptive Filter

An adaptive filter will be enabled when Pr02=2 (high function positioning control mode) and Pr21 (Real time auto tuning set-up) is 1 to 3 or 7. The adaptive filter reduces resonance point vibration, by estimating resonance frequency from vibration component that appears in motor speed in operation, and removing resonance component from a torque command through automatic setting of a coefficient of a notch filter. The adaptive filter may not function normally under the following conditions. In such a case, take resonance measures using the 1st notch filter (Pr1D, 1E) and according to the manual tuning procedure. For details on the notch filter, refer to “To Reduce Mechanical Resonance” on Page 140.

Conditions that Hinder an Adaptive Filter from Functioning

When the resonance frequency is 300 [Hz] or lower.

Resonance Point

Load

Command Pattern

Parameters to be Set Automatically

The following parameters are tuned automatically. The following parameters are also set up to the following fixed values automatically.

PrNo.

When resonance peak or control gain is low, which does not affect the motor speed

When there is more than one resonance point

When the motor speed having high frequency component fluctuates due to nonlinear element such as backlash, etc.

When acceleration or deceleration is exponential such as 30000 [r/min] or more in 1 [s]

Name

1st position loop gain

1st velocity loop gain

1st velocity loop integration time constant

1st velocity detection filter

1st torque filter time constant

2nd position loop gain

2nd velocity loop gain

2nd velocity loop integration time constant

2nd velocity detection filter

2nd torque filter time constant

Inertia ratio

Adaptive filter frequency

PrNo.

Name Setting

Velocity feed forward

Feed forward filter time constant

2nd gain action set-up

Position control switching mode

Position control switching delay time

Position control switching level

Position control switching hysteresis

Position loop gain switching time

300

When real time auto tuning is enabled, you are not allowed to change any parameter to be automatically tuned.

Cautions

(1) After startup, immediately following a first Servo-ON or when you increase Pr22 (Machine stiffness at real time

auto tuning), you may have abnormal noise or oscillation before you identify load inertia or an adaptive filter is

stabilized. However, this doesn’t constitute abnormality if it disappears in no time. If oscillation or noise persists

over 3 reciprocating operations, you should take any of the following measures in any possible order:

1) Write into EEPROM parameters used during normal operation.

2) Decrease Pr22 (Machine stiffness at real time auto tuning).

3) Once set Pr21 (Real time auto tuning set-up) to 0 and disable an adaptive filter. Then, enable real time auto

4) Manually set a notch filter (Refer to “To Reduce Mechanical Resonance” on Page 140).

(2) In some cases, after abnormal noise or oscillation is generated, Pr20 (Inertia ratio) or Pr2F (Adaptive filter

frequency) may change to an extreme value. Even in such a case, you should take the measures described above.

(3) Among results of real time auto gain tuning, Pr20 (Inertia ratio) and Pr2F (Adaptive filter frequency) are written

into EEPROM every 30 minutes. When you power ON again, auto tuning will be carried out using the data as an initial value.

tuning again (To disable inertia estimation/resetting of adaptive operation, or real time auto tuning, refer to “Cancellation of the Automatic Gain Tuning” on Page 135).

Page 88

Setting

0 1

[2]

Control Mode

High velocity response positioning control (pulse)

Internal velocity control

High function positioning control (pulse)

Parameter Setting

Parameter for Selection of Functions

PrNo. Parameter Name Function/Content

Axis address

LED for console, initial condition display

Range of

Settings

0 - 15

[1]

0 - 15

Turn on the power

This blinks during initialize operation (about 2 seconds).

Setting of Pr01

Standard Default Setup: [ ]

In communications with a host such as a personal computer that uses RS232C with multiple axes, you should identify to which axis the host is accessing. With this parameter, you can see an axis name by number. In the initial state after power-on, you can select any type of data displayed by 7 segment LEDs on the console.

Settings Content

Position deviation

[1]

Motor rotation speed

Torque output

Control mode

Input/output signal condition

Error factor, history

To be used by the manufacturer

Warning

Regenerative Load Ratio

Overload factor

Inertia ratio

Feedback pulse total

Command pulse total

Not available

Checking if there is motor automatic recognition function

Control mode set

In high velocity response positioning control, simultaneous use of the 1st notch frequency, vibration damping

frequency, real time auto tuning mode setting is not allowed. A parameter entered earlier takes precedence.

(Example) If real time auto tuning has been set, the first notch frequency will be forcibly set to 1500

For details of displays, refer to “Monitoring Mode” on Page 51 of Preparation edition.

The parameter sets a control mode to be used.

Parameter Name

High velocity response

positioning control

Conditional

Invalidated

Parameter No.

(Pr )

Control mode set-up

1st notch frequency

Damping frequency

Real time auto tuning mode set up

Adaptive filter frequency

(invalidated) on the driver side, even when you enter it.

0 - 2

High function

positioning control

Validated

Page 89

[Connections and Settings in Position Control Mode]

Connections and

Settings in Position

Control Mode

Standard Default Setup: [ ]

PrNo. Parameter Name Function/Content

Overtravel Input in-

hibit

Range of

Settings

0 - 1

In the case of linear driving, in particular, limit switches should be provided on both ends of the axis, as illustrated in the figure below, to prevent any mechanical damage due to overshoot of a work, and inhibit driving in the direction in which the switches operate.

CW Direction CCW Direction

Work

Settings

[1]

CCWL/

CWLInput

Enabled

Disabled

Driver

Operation

Input

CCWL

(CN pin X5-8)

CWL

(CN pin X5-7)

Servo Motor

Limit

Switch

Connection with COM-

Connected

Open

Connected

Open

This shows normal state in which the limit

switch on CCW side does not operate.

CCW direction inhibited, and CW direction allowed. This shows normal state in which the limit

switch on CCW side does not operate.

CCW direction inhibited, and CW direction allowed.

Limit

Switch

CCWL

CWL

CCWL and CWL inputs are ignored, and driving is not inhibited (allowed) in both CCW and CW directions.

1. When you set Pr04 to 0, and do not connect CCWL/CWL input to COM- (OFF), it will be judged as abnormality in which limits are simultaneously exceeded in both CCW and CW directions, and the driver will trip due to “Overtravel input error”.

2. You can set whether to activate a dynamic brake during deceleration when CCW overtravel inhibit input (CCWL) or CW overtravel inhibit input (CWL) works. For details, refer to descriptions on Pr66 (Deceleration and stop set-up at overtravel inhibit input).

3. In some cases, after you turn off the limit switch located above a work on the vertical axis, a work repeatedly moves up and down since there is no longer upward torque. In this case, don’t use this function, and carry out limit process on the host controller side.

ZEROSPD/TC input selection

Warning output selection

Setting

[1]

Setting

0 1

[2]

3 4 5 6

0 - 2

The parameter is used to select functions of speed zero clamp input (ZEROSPD)/ torque limit switching (TC) input (connector) CN X5 pin 5.

Speed Zero Clamp

Torque Limit Switching Input

Disabled

Enabled

Disabled

<Remarks> If you wish to use torque limit switching input, also set Pr5E, Pr63, and Pr70 to 73 all at once. If settings of Pr70 and Pr73 remain 0, the error No.26 acceleration protection will occur.

0 - 6

This parameter is to allocate functions of warning output(WARN:CN X5 pin 12).

Functions

Output during torque limit Zero speed detection output Over-regeneration/overload/fan rotation speed abnormality Over-regeneration warning output Overload warning output To be displayed, but not functioning. Fan rotation speed abnormality warning output

<Caution> If you ignore output of warning and continue to use, the motor or driver may fail/be damaged.

Disabled Disabled

Enabled

Remarks

For detailed information on functions of respective outputs listed in the left, refer to “Wiring to Connector CN X5” on Page 72.

Page 90

Parameter Setting

PrNo. Parameter Name Function/Content

0C Baud rate set-up of

RS232C

Range of

Settings

0 - 2

Settings

0 1

[2]

Standard Default Setup: [ ]

Baud Rate

2400bps 4800bps

9600bps

Page 91

[Connections and Settings in Position Control Mode]

Connections and

Settings in Position

Control Mode

Parameters for Adjustment of Time Constants of Gains/Filters

PrNo. Parameter Name Unit Function/Content

1st position loop

gain

1st velocity loop gain

1st velocity loop integration time constant

1st speed detection filter

1st torque filter time constant

Velocity feed forward

Feed forward filter time constant

2nd position loop gain 2nd velocity loop

gain 2nd velocity loop

integration time constant

2nd speed detection filter

2nd torque filter time constant

1st notch frequency

1st notch width selection

Range of

Settings

0 - 32767

[63]

1 - 3500

[35]*

1 - 1000

[16]*

0 - 5

[0]*

0 - 2500

[65]*

–2000 -

2000

[300]*

0 - 6400

[50]*

0 - 32767

[73]*

1 - 3500

[35]*

1 - 1000

[1000

0 - 5

[0]*

0 - 2500

[65]*

100 -

1500

[1500]

0 - 4

[2]

1/s

–

0.01ms

0.1%

0.01ms

1/s

–

0.01ms

–

• The parameter determines responsiveness of the position control

system. If you can set a position gain higher, positioning time will be shorter.

• The parameter determines responsiveness of the velocity loop. To improve responsiveness of the entire servo system by setting the position loop gain high, you should be able to set this velocity loop gain higher.

• This is an integration element provided to velocity loop, and works to drive minute speed deviation after shutdown to zero. The smaller setting is, the faster the parameter drives it zero.

• If it is set to “1000”, there will be no effect of integration.

• The parameter is used to set a time constant of the low pass filter

(LPF) entered after the block capable of conversion from an encoder signal to a speed signal in 6 phases (0 to 5).

• As you increase a setting, the time constant will also rise. Thus, although you can reduce noise from the motor, we recommend you set it to 4 or less usually.

• The parameter sets a time constant of the primary delay filter inserted into torque command unit.

• This might take effect on suppression of vibration due to torsional resonance.

The parameter sets velocity feed forward volume in position control. If you set it to 100%, position deviation in operation at given speed will be almost 0. Although position deviation will be smaller when you set this higher, and thus responsiveness will be improved, overshoot is liable to occur more often. Thus, be careful.

• The parameter sets a time constant of the primary delay filter inserted into the velocity feed forward unit.

• With the feed forward feature included, the filter might improve speed overshoot/undershoot and thus chattering of positioning completion signal.

• A position loop, velocity loop, speed detection filter, and torque command filter have 2 pairs of gains or time constants (1st and 2nd ), respectively.

• The functions/descriptions of respective gains/time constants are same as the first gain/time constants.

• For details on switching of the 1st/2nd gain, and time constants, refer to Page 127 of Adjustment edition.

* When Pr20 inertia ratio is set correctly, Pr11 and Pr19 will be set in

(Hz).

• The parameter sets notch frequency of a resonance suppression notch filter.

• Set the parameter about 10% lower than resonance frequency of the mechanical system that has been found by the frequency characteristic analysis feature of “PANATERM software.

• Setting this parameter to “1500” disables functions of the notch filter.

• The parameter sets width of notch frequency of a resonance

suppression notch filter in 5 stages. The higher setting is, the wider filter width will be.

• Usually, use a default set-up value.

®, the setup support

Parameters having standard default setup value with “*” mark are automatically set while real time auto gain tuning is running. To change to manual, refer to “Cancellation of the Automatic Gain Tuning” on Page 135 of Adjustment edition, disable real time auto gain tuning and then set.

Page 92

Parameter Setting

Parameters for Auto Gain Tuning

PrNo. Parameter Name Unit Function/Content

Inertia ratio

Real time auto

tuning set-up

Settings

[1]

Range of

Settings

0 - 10000

[100]*

0 - 7

Real time auto tuning

–

Not used

Used

Not used

Standard Default Setup: [ ]

• The parameter sets a ratio of load inertia to rotor inertia of the motor.

Pr20 = (Load inertia/rotor inertia) x 100 [%]

• When you execute auto gain tuning, load inertia is estimated and the

result will be reflected in the parameter.

If inertia ratio has been set correctly, Pr11 and Pr19 will be set in

(Hz). When Pr20 inertia ratio is greater than actual value, setting

unit of the velocity loop gain will be greater. If inertia ratio is smaller

than actual value, setting unit of the velocity loop will be smaller.

• The inertia ratio estimated during execution of real time auto tuning

is saved in EEPROM every 30 minutes.

• The parameter sets an operation mode of real time auto tuning. As

you set this to a higher value such as 3, 6…, inertia change during

operation will be quickly responded. However, operation may

become unstable, depending on the operation pattern. Thus, we

recommend that you usually set the parameter to 1 or 4.

• When you sent the adaptive filter to disabled, Pr2F adaptive filter

frequency will be reset to 0.

• The adaptive filter will be enabled only when Pr02=2 (in high

function positioning control mode).

Degree of changes in load inertia during operation

Little change

Gradual change

Sharp change

Little change

Gradual change

Sharp change

Adaptive filter

Yes

(When Pr02=2)

• Any change to this parameter will be valid when Servo-OFF switches to Servo-ON.

For Pr02 = 0 (in high velocity response positioning control mode), setting will be possible only when both first

notch filter and vibration damping filter are set to disabled.

Machine stiffness

at auto turning

0 - 15

[4]

–

• The parameter sets mechanical stiffness during execution of real

time auto tuning in 16 stages.

Low ← Mechanical stiffness→ High Low ←Servo gain→ High

Pr22 0 • 1- - - - - - - - - - - - 14 • 15

Low ←Responsiveness→ High

• If you change a setting sharply and abruptly, gain will vary suddenly, thus giving impact to the machine. Be sure to start with a small setting and gradually increase it while observing how the machine is running.

Page 93

[Connections and Settings in Position Control Mode]

Connections and

Settings in Position

Control Mode

PrNo. Parameter Name Unit Function/Content

Normal auto tuning

motion set-up

Software limit

setup

Damping

frequency

Damping filter

setting

Adaptive filter

frequency

Range of

Settings

0 - 7

0 - 1000

[10]

0 - 5000

[0]

–200 -

2500

[0]

0 - 64

–

0.1rev

0.1Hz

–

• The parameter sets operation patterns of normal auto gain tuning.

Settings

[0]

1 2 3 4 5 6

Set the motor operational range for the corresponding position

command range.

If this parameter is set to “0”, then the software limit protection

detection will be disabled. When using it, refer to “Software limit function”, Troubleshooting on page

148.

• The parameter sets vibration damping frequency for anti-vibration

control that suppresses vibration at leading ends of load.

• The parameter measures frequency of vibration at leading ends of

load, and sets it in [0.1Hz].

• Set minimum frequency is 100 [0.1Hz]. Even though you set it to 0

to 99, it will be ignored.

When you use this parameter, also see “Anti-Vibration Control” on

Page 142 of Adjustment edition.

For Pr02=0 (high velocity response positioning control mode), you can set

the parameter only when both first notch filter and real time auto tuning are

disabled.

• You should set the parameter to a small value if torque saturation

results from setting of Pr2B damping frequency. Set it to a great

value if you wish to expedite positioning operation.

• We recommend that you usually set it to 0. Also see “Anti-Vibration Control” on Page 142 of Adjustment edition.

• The parameter indicates Table No. that corresponds to frequency of

the adaptive filter (See Page 135).

• This parameter is automatically set when the adaptive filter is

enabled (i.e., when Pr21 real time auto tuning set-up is 1 to 3.7) and

a user is not allowed to change it.

[0]: Filter disabled 1-64: Filter enabled

• When the adaptive filter is enabled, this parameter is saved in

EEPROM every 30 minutes. If the adaptive filter is enabled next

time you power up, adaptive operation will start with the data

contained in EEPROM as an initial value.

• Should operation be wrong, clear the parameter. If you wish to reset

the adaptive operation, disable the adaptive filter, and then set it to

enabled again (i.e., set Pr21 real time auto tuning set-up to any

value other than 1 to 3.7).

Refer to “Manual Gain Tuning (To Reduce Mechanical Resonance”

on Page 140 of Adjustment edition.

Number of Rotations

2 rotations

1 rotations

Rotation Direction

CCW →CW CW →CCW

CCW →CCW

CW →CW

CCW → CW

CW →CCW

CCW →CCW

CW →CW

Page 94

Parameter Setting

Parameters for Adjustment (Related to Second Gain Switching Function)

PrNo. Parameter Name Unit Function/Content

2nd gain action

set-up

Position control

switching mode

Settings

3 *

5 *

6 *

7 *

8 *

9 *

[10]*

* For a switching level and timing, refer to “Gain Switching Function” on Page 138 of Adjustment edition.

Range of

Settings

0 - 1

0 - 10

Trigger for Switching Gains

Fixed to the 1st gain.

Fixed to the 2nd gain.

The 2nd gain switching input (GAIN) of pin 5 of CN X5 is ON (Pr30 needs setting of 1.) Torque command variation Fixed to the 1st gain.

Command speed

Position deviation

Position command

Positioning not completed

Motor real speed

Position command + speed

• Set the parameter when you carry out optimum tuning by using gain

–

switching function.

Settings

[1]

For conditions of switching of the 1st and 2nd gains, refer to “Gain

Switching Function” on Page 138 of Adjustment edition.

–

• The parameter is used to select conditions of switching the 1st and

2nd gain in the position control mode.

Use the first gain (Pr10 to Pr14).

Switch between first gain (Pr10 to Pr14) and

second gain (Pr18 to Pr1C).

Standard Default Setup: [ ]

Position control

switching delay

time

Position control

switching level

Position control

switching

hysteresis

10000

[30]

20000

[50]*

20000

[33]*

0 -

x 166µ s

–

• The parameter is enabled when Pr31 is 3 or 5 to 10, and sets delay

time from when it no longer meets the condition of switching

selected with Pr31 till actual return to the 1st gain.

• The parameter is enabled when Pr31 is 3, 5, 6, 9, or 10, and sets

judgment level of when the 1st and 2nd are switched.

Unit may vary depending on setting of Pr31.

• The parameter sets margin of hysteresis to be provided above and

below the judgment level set with Pr33 mentioned above.

• The following figure illustrates definitions of Pr32 (delay), Pr33

(level) and Pr34 (hysteresis).

Pr33

Pr34

First gain

Settings of Pr33 (level) and Pr34 (hysteresis) are valid as absolute

value (positive/negative).

Second gain

First

Pr32

Page 95

[Connections and Settings in Position Control Mode]

Connections and

Settings in Position

Control Mode

PrNo. Parameter Name Unit Function/Content

Position loop gain

switching time

Range of

Settings

0 - 10000

[20]*

Parameters for Position Control

PrNo. Parameter Name Function/Content

Command pulse

multiplier set-up

Range of

Settings

1 - 4

(Setting value+1)

x 166 ms

• With the 2nd gain switching function enabled, you can provide

phased switching time only for position loop gain when gain is

switched.

166

(Example)

Kp2(Pr10)

Pr35=

166 µs

166 166

Kp1(Pr10)<Kp2(Pr18)

Thick solid line

Thin solid line

Kp1(Pr18)

1st gain

2nd gain

1st gain

• Switching time is only provided when a small position loop gain is

switched to a large position loop gain (Kp1 → Kp2) (in order to

alleviate impact to the machine due to abrupt change in gain).

• Set a value that is smaller than a difference between Kp2 and Kp1.

Standard Default Setup: [ ]

The parameter sets a multiplier number with Pr42 (Command pulse input mode

set-up) when “2 phase pulse input” is selected as a form of command pulse.

Command pulse

direction of rotation

set-up

Command pulse

input mode set-up

0 - 3

Settings

1 or 2

3 or [4]

Multiplier number at 2 phase pulse input

x 2

x 4

The parameter sets direction of rotation of the motor to the command pulse input.

Settings

[0] or 3

1 or 2

The motor rotates in a direction given by the command

pulse.

The motor rotates in a direction opposite to the

command pulse.

Direction of Rotation

The parameter sets input form of command pulse to be given to the driver from

the host. Three input forms illustrated in the following table can be set. Select

any of them according to specifications of the host.

Settings

[1]

Command pulse form

90˚ phase

difference

2 phase pulse

(Phase A +

Phase B)

CW pulse row

CCW pulse row

Signal Name

PULS

Phase A

SIGN

Phase B

Phase B goes ahead

PULS

SIGN

CCW Command CW Command

t1 t1 t1 t1

t1 t1t1 t1

Phase B delays from

of Phase A by 90˚.

t2 t2

Phase A by 90˚.

t2t3t2

Pulse row

Sign

PULS

SIGN

“H”

t6 t6 t6 t6

t5t4

“L”

Page 96

Parameter Setting

PrNo. Parameter Name Function/Content

Command pulse

(Cont’d)

input mode set-up

(Cont’d)

Range of

Settings

0 - 3

Allowable input maximum frequency of command pulse input signal and minimum required time width

Input I/F of PULS/

SIGN signal

Line driver interface

Open collector

Set rise/fall time of command pulse input signal to 0.1 µs or lower.

interface

Allowable input

maximum frequency

500kpps

200kpps

Minimum required time width[

Set rise/fall time of command pulse input signal to 0.1 µs or lower.

Output pulses per

single turn

1 - 16384

[2500]

The parameter sets the number of pulses per rotation of the encoder pulse to be

output to the host. Pulse should be set with dividing.

Directly set the number of pulses per rotation, in [Pulse/rev], necessary for a

device/system on your side.

Any value that exceeds the encoder pulse will be disabled.

Pulse output logic

inversion

0 - 1

A phase relation of output pulses from the rotary encoder is as follows: Phase B

pulse is behind Phase A pulse during rotation in CW direction (Phase B pulse is

ahead of Phase A pulse during rotation in CCW direction).

Reversing logic of Phase B pulse with this parameter, you can reverse the phase relation of Phase B to Phase

When the motor is rotating in CCW direction When the motor is rotating in CW direction

Settings

Phase B

Noninverted

[0]

Phase A

(OA)

Phase B

(OB)

Phase Z

(OZ)

Phase A

(OA)

Phase B

(OB)

Phase Z

(OZ)

µµ

µs]

µµ

2.5

Phase B

Inverted

Phase B

(OB)

Phase Z

(OZ)

Phase B

Phase Z

Phase Z is in sync with Phase A. You cannot reverse Phase Z. Even by dividing, Phase Z outputs 1 pulse per rotation.

(OB)

(OZ)

Page 97

[Connections and Settings in Position Control Mode]

Connections and

Settings in Position

Control Mode

Standard Default Setup: [ ]

PrNo. Parameter Name Function/Content

Numerator of 1st

command pulse ratio

Numerator of 2nd

command pulse ratio

Multiplier of numerator

of command pulse ratio

Denominator of

command pulse

ratio

Range of

Settings

Related to command pulse dividing multiplier function (Pr46, 47, 4A, 4B)

1 -

10000

[10000]

1 -

10000

[10000]

0 - 17

1 -

Command pulse dividing multiplier (electronic gear) function

• Purposes of Use

(1) To arbitrarily set rotation/motion of the motor per a unit input command

pulse.

(2) To increase apparent command pulse frequency, by using multiplier

function, when the pulse oscillation capacity (maximum frequency that can

be output) of the host is limited and thus required motor speed cannot be

[0]

obtained.

• Block Diagram of Dividing Multiplier Unit

10000

[10000]

Command pulse

1st numerator (Pr46)

2nd numerator (Pr47)

Scaling factor (Pr4A)

× 2

Denominator (Pr4B)

Internal command

Feedback pulse

(Resolution)

• A calculated value of a numerator shall be up to 2621440. Even though you

set a value greater than this upper limit, setting will be invalid. Note that

2621440 will be a numerator.

Selection of command multiplier dividing “numerator”

*1: Select 1 or 2 with command dividing multiplier input switching (DIV:CN X5 pin

6).

DIV OFF

DIV ON

Select a 1st numerator (Pr46).

Select a 2nd numerator (Pr47).

To deviation counter

–

10000P/rev

• It is essential that “the motor rotates once with command input (f) for resolution

of the encoder”, when the diving multiplier ratio = 1.

Thus, in order to rotate the motor once as an example when the encoder

resolution is 10000 P/r, you should enter f =5000 Pulse for double multiplier,

and f=40000 Pulses in 1/4 dividing.

• Set Pr46, 4A and 4B so that internal command (F) after dividing multiplier will

be equal to resolution of the encoder (10000).

F = f x

Pr46 x 2

Pr4B

Pr4A

=10000

F: Number of internal command pulses for one rotation of the motor

f: Number of command pulses for one rotation of the motor

Resolution of Encoder

Example 1

Set command input (f) to

5000 per one rotation of

the motor

Example 2

Set command input (f) to

40000 per one rotation of

10000 (2500P/r x 4)

Pr 46 10000 x 2

Pr 4B 5000

Pr 46 2500 x 2

Pr 4B 10000

Pr 4A

the motor

Page 98

Parameter Setting

PrNo. Parameter Name Function/Content

Smoothing filter

set-up

Range of

Settings

0 - 7

Standard Default Setup: [ ]

A smoothing filter is the primary delay filter inserted after command dividing

multiply part of the command pulse input part.

Purpose of smoothing filter

• Its primary purpose is to reduce stepping motion of the motor when a

command pulse is rough.

• To give actual examples of rough command pulse:

(1) When you set a high multiplier ratio (i.e., 10 times or more) in command

dividing multiplier

(2) When the command pulse frequency is low

• With Pr4C, you can set a time constant of the smoothing filter in 8 steps:

Settings

[1]

Time Constant

No filtering function

Low time constant

FIR filter set-up

0 - 31

[0]

• The parameter selects a time constant of FIR filter to be subjected to command

pulse.

• When setting is higher, a command will be smoother.

• Note that any change to this parameter will only be enabled after you reset the

power supply.

Input position command

Command

The control cycle is 166 µs for Pr02=0 (high velocity response positioning control)

and 333 µs for Pr02=2 (high function positioning control).

High time constant

Position command after processing of the smoothing filter

Position command after processing of FIR filter

tf = (Pr4E+1) x control cycle

Time

Parameters for Internal Velocity Control

PrNo. Parameter Name Function/Content

57 JOG internal speed

set-up

Range of

Settings

0 -

500

[300]

The parameter directly sets in [r/min] JOG speed during JOG operation in “motor

test run mode”.

For details of JOG function, refer to “Test Run (JOG)” on Page 60 of Preparations

edition.

Standard Default Setup: [ ]

Page 99

Connections and

Settings in Position

Control Mode

Parameters for Torque Limits

[Connections and Settings in Position Control Mode]

PrNo. Parameter Name Function/Content

5E 1st torque limit set-

Range of

Settings

0 -

500

• With this parameter set, maximum torque of the motor is limited in the driver.

• Normal specification allows torque about 3 times as large as rated torque, if in

an instant. We recommend that you limit the maximum torque with this param-

eter if the tripled torque might cause trouble to intensity of the motor load

(machine).

• You can give setting as a percentage

(%) value to rated torque.

• The right figure shows an example in

When Pr5E=150

which it is limited to 150%.

• Pr5E limits the maximum torque of

both CW and CCW directions simulta-

neously.

With torque limit switching function enabled (Pr06=2), this parameter is a

value of the 1st torque limit.

You cannot set to this parameter a value that exceeds a default setup value

with “Maximum Output Torque Setting” of the system parameter (i.e., factory

default parameters that cannot be changed through manipulation of

PANATERM

® and console). A default setup value may differ depending on a

combination of a motor and driver. For detailed information, refer to “Setting

of 1st Torque Limit” on Page 45 of Preparation edition.

Torque [%]

300

(Max.)

200

100 (Rated)

200

300

CCW

Speed

(Max.)

(Rated)100

Parameters for Sequences

PrNo. Parameter Name Function/Content

60 In-position range 0 -

Range of

Settings

32767

[10]

Standard Default Setup: [ ]

• The parameter sets timing to output a positioning completion signal (COIN:CN

X5 pin 10) when movement of the motor (work) is complete after input of

command pulse ends.

• The positioning completion signal (COIN) is output when the number of pulses

of the deviation counter falls within ± (setting).

• A basic unit of deviation pulse is

“resolution” of an encoder to be

used. Thus, in the case of E series,

it will be: 4 x 2500P/rev=10000

1. Setting of too small a value to Pr60 might extend time before COIN signal

is output, or generate chattering during output.

2. Setting of “In-position range” does not affect precision of final positioning.

Deviation pulse

COIN

Pr60

Page 100

Parameter Setting

PrNo. Parameter Name Function/Content

Zero speed

Range of

Settings

0 -

20000

[50]

Standard Default Setup: [ ]

• The parameter directly sets in [r/min] timing to output zero speed detection

output signal (WARN: CN X5 pin 12).

You need to set parameter warning output selection (Pr09) to 1.

• The zero speed detection signal (WARN) will be output when the motor speed

falls below the set speed of this parameter Pr61.

1st position over-

deviation set-up

Position over-

deviation

invalidation

0 -

32767

[1875]

0 - 1

• Setting of Pr61 acts on both CW and

CCW directions, irrespective of the

direction of motor rotation.

• There is hysteresis of 10 rpm. Set the

Speed

Pr61

CCW

parameter 10 or more.

Pr61

WARN

• The parameter sets a detection level for determining excessive deviation of

“protection against excessive position deviation” feature, by using the number

of retained pulses of the deviation counter.

• Calculate setting according to the expression shown below:

Setting =

Level for Determining Excessive Position Deviation [PULSE]

256

Be careful because the protection against excessive position deviation may

work although there is no abnormality, in particular, when you not only set

position gain low but also set Pr63 low.

This parameter can disable the “protection against excessive position deviation”

function.

Setting

[0]

Disabled. The operation continues without causing abnormality

even when retained pulse exceeds the level for judgment set with

Protection against excessive position deviation

Enabled

Pr63.

Runaway may occur if you make a mistake in the sequence of

phases of the motor or wiring of the encoder. Install a failsafe in

the device to prevent runaway.

Deceleration and

stop set-up at

overtravel inhibit

0 - 2

The parameter sets the deceleration and stop operation after the overtravel inhibit

input (CCWL: Connector CNx58 pin or CWL: Connector CNx57 pin) activates and

becomes enabled.

Setting

[0]

Invalidate torque in the overtravel inhibit direction, and activate

the dynamic brake.

Invalidate torque in the overtravel inhibit direction, and have the motor free run.

Driving Conditions from Deceleration to Stop

In the position control mode, servo lock is decelerated and

stopped, and in the internal velocity control mode, speed zero

clamp deceleration and stop is actuated.

100

Panasonic MINAS E-series User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual