Parker Hannifin G2 User Manual

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Page 1

Automation

p/n 88-020389-01 A



Dynaserv G2 Drive

User Guide

Effective: March 1, 2002

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Introduction

Thank you very much for your purchase of the DD servo actuator DYNASERV. The DYNASERV is an outer rotor type servo actuator that has achieved high torque, high speed, and high precision. It can be used in a wide range of applications in the FA device-related fields, such as industrial robotics and indexing.

This technical manual explains the DYNASERV DM/SR series motors as well as its combinations with the DrvGII drivers. Please refer to this technical manual thoroughly when you use the product.

Precautions for Using this Technical Manual

1. Please make sure that this manual is handed out to the end user.

2. Please read this manual thoroughly and understand the contents fully before proceeding to the operation of the product.

3. Please note that the safety protection may be lost and the proper safety may not be guaranteed if the product is not used according to the instructions described in this manual.

4. Always make sure that this manual is handy for the operator when using this product. If it is stained or lost, we will distribute copies upon request, subject to charge.

5. This manual explains details of the features included in the product and does not guarantee to meet the specific purpose of the customers.

6. No part of this manual may be reprinted or reproduced in any form without permission.

7. The information in this document is subject to change without notice.

8. The information contained in this document is believed to be accurate at the time of publication, but if you notice any inaccuracies, errors, or omissions, please contact our sales or service staff.

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Regarding the safe usage of this device

! This product has been marked with and signs so that it can be used safely. Ignoring precautions and

prohibitions related to these signs and using this product in an incorrect way may cause danger to the life and body of the operator. Always follow the precautions and observe the prohibitions explained below.

! Please make sure to understand the information given below completely before you start reading the technical

manual.

! Please keep the technical manual and this sheet handy while using the product. In addition, make sure that they are

handed out to the operator of the product.

!!!!

Warnings

!!!!

Warnings

!!!! Warning about rotation:

The motor periphery part of this device rotates at a high speed. People and objects should not be placed within the rotational radius when a load is attached to the motor.

!!!! Warning about electric shock:

Make sure to connect the device to ground to avoid electric shock. Make sure to turn the power off when connecting cables to the driver part. Make sure to turn the power off when removing the cover of the driver part while performing adjustment operations, etc.

!!!! Fire and electric shock warning:

If any abnormalities such as abnormal noise, bad smell, or release of fumes that coming from the device are detected while it is in operation, turn the power off immediately, pull out the power supply plug, and contact us. If the device is dropped or given a strong impact, stop the operation immediately, turn the power off, and contact us. Do not operate at power supply voltages other than the one indicated on the device.

!!!! Fire and electric shock warning:

Avoid dropping or inserting metal shards or combustible materials, or allowing water to get into the opening parts of the device (e.g., the clearance between the rotor and stator of the motor part, or the air vent of the driver part). In such an eventuality, turn the power off immediately and contact us. The cables coming out from the motor part or the bottom of the index part should not be forcibly bent, twisted, pulled, heated, or placed under a heavy object. Never try to remodel or repair the device by yourself.

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Precautions

! This product has been marked with and signs so that it can be used safely. Ignoring precautions and

! Please make sure to understand the information given below completely before you start reading the technical

manual.

! Please keep the technical manual and this sheet handy while using the product. In addition, make sure that they are

handed out to the operator of the product.

! Make sure to read the technical manual before using the device.

Operational mistakes and faulty wiring may result in damages and failure of the device.

! Make sure to check the wiring once more before turning the power on.

Faulty wiring may result in fire, electric shock, or damage of the device.

! Confirm that the proper combination of motor and driver parts is used. Using the device with an incorrect

configuration may result in failure. (Be sure to confirm the model--MODEL--on the rating nameplates.)

! Make sure the conditions of temperature, humidity, dust, etc. are as specified for the installation and storage

environments.

! Do not block the air vent of the device. Keep the specified open space around the device as well. Poor ventilation

may cause overheating, leading to failure.

!!!!

Precautions

!!!!

! Some of the motor parts are very heavy; please pay sufficient attention to this when carrying and installing the

parts. If the weight is more than 10kg (22.04 lbs), carrying or lifting tools should be used as much as possible.

! Both the motor and driver parts should be installed in the specified orientation.

! Keep the protection cover (transparent plastic plate) attached on the power supply terminal part of the driver. It is

provided to prevent inadvertent electric shock accidents.

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Handling Precautions

1. Do not install the motor in reverse direction in such a way that the rotor of the motor is fixed and the stator rotates.

2. Make sure to turn the power off before removing the side panel of the driver to set jumpers, etc. Touching the high

voltage part inside the driver is dangerous.

3. This motor rotates at a high speed and with a high torque. Take the rotation radius into consideration and pay

special attention to the prevention of any dangerous situations that may occur during the operation when a load is attached to the motor.

4. Make sure to ground the ground terminal to earth.

5. When attached a load to the rotor, make sure to keep a clearance of 1 mm or more between the load and the upper

surface of the motor in order to maintain the surface precision. Furthermore, never push or squeeze an object into the shaft hole. (See the figure below.)

Attached part

1mm or more

Rotor

When feeding an object through the shaft hole, make sure to secure a clearance of at least 1mm on one side.

Shaft hole

6. Do not touch the bolts (indicated by the arrow) that fix the

bottom part of the rotor (see the figure to the right). If these bolts are loosened or tightened, the commutation angle will become inaccurate, which may result in uneven rotation (this applies only to the DM series).

DM series motor

7. The motor surface is magnetized; do not place things that can be affected by magnetism close to it.

8. The motor part shown in the figure to the right includes a

magnetic resolver. Strong force, impacts, or magnetic fields

Bottom cap

should not be applied to the motor part (this applies only to the DR series).

Magnetic

9. Make sure to use load attachment screws that are shorter than the

resolver

effective depth of the thread in the motor part. Depending on the model, if a screw exceeds the effective thread depth, the function may be impaired (this applies only to the DR series).

DR series motor

10. The motor is neither dust-, drip- nor water (oil)-proof; the motor should be installed in carefully chosen

environments.

11. If the motor will be oscillating or rotating at small angles (50° or less), it should be allowed to oscillate at an angle

of 90° or more for approximately 10 times (running-in operation) each time it has made 10,000 small-angle oscillations in order to prevent poor lubrication of the bearing.

12. In order for the motor and driver to be compatible with each other, they must be of the same model.

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13. Never attempt to disassemble or remodel the motor and driver. If such service is necessary, please contact us. We

assume no responsibility for products that have been disassembled or remodeled without permission.

14. For the DYNASERV DR series motors, a coating has been applied on the load attachment surface of the upper

surface of the motor and the stator on the lower surface in order to prevent rust. When starting to use the product, wipe off the coating completely with cloth or paper soaked in a petroleum or chlorine solvent before assembling. If any of the coating remains, it may affect the mechanical precision.

Rust-proof

coated

surface

15. Do not place the motor on the floor and other surface in the manner shown in the figure below when carrying and

installing the DYNASERV. The cables are crushed by the motor’s own weight and the copper wires may be broken inside the cables. If it cannot be avoided to place the motor in such a manner, a support bench should always be placed so that the cables are lifted. Furthermore, if the cables need to be bent when installed in a device, etc., the minimum bending radius should be 50 mm or more. The cables are not strong enough to live up to robot cable specifications, so they should not be bent repeatedly.

An example of a DM series motor

The minimum bending radius should be 50mm or more.

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16. Do not perform a withstanding voltage test on this device. If such a test is performed without discretion, the

circuits may be damaged. If such test must be conducted, make sure to contact us.

17. When connecting the motor with a load, the centerlines of both cores should be aligned to a sufficient degree.

Please note that if the deviation between the two cores becomes 10 µm or more, the bearings inside the motor may be damaged.

The core deviation should be 10

mm or less.

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Table of Contents

Introduction..........................................................................................................................1

Chapter 1 Overview of the Product 1-1

1.1 About the DYNASERV DM/DR Series ................................................................... 1-2

1.2 About the DrvGII Type Driver ................................................................................. 1-3

1.3 Product Configuration .............................................................................................. 1-4

1.4 Model Names and Codes .......................................................................................... 1-5

1.5 Name and Function of Each Part .............................................................................. 1-6

1.6 System Configuration Diagram .............................................................................. 1-10

Chapter 2 Installation 2-1

2.1 Installation of the Motor ........................................................................................... 2-2

2.2 Installation of the Driver........................................................................................... 2-3

Chapter 3 Connection and Wiring 3-1

3.1 Diagram of Overall Connection................................................................................ 3-2

3.2 Cable Specification List............................................................................................ 3-3

3.3 Connection between Motor and Driver .................................................................... 3-4

3.4 Wiring of Motor, AC Power Supply, and Ground Cable.......................................... 3-6

3.5 Wiring of Encoder Cable .......................................................................................... 3-8

3.6 Wiring of Controller Cable....................................................................................... 3-9

3.7 Wiring of Sensor Brake Terminal ........................................................................... 3-10

3.8 Wiring of Regenerative Alarm Contact <CNA>

(For 500W Level Drive Only) ................................................................................ 3-11

Chapter 4 Basic Settings for Operating the Motor 4-1

4.1 Procedure (Flowchart) .............................................................................................. 4-2

4.2 Preoperation check.................................................................................................... 4-3

4.3 Installing the PC Utility on the PC ........................................................................... 4-6

4.3.1 Procedure .......................................................................................................................................4-6

4.3.2 Startup............................................................................................................................................4-8

4.4 Preparation................................................................................................................ 4-9

4.4.1 Selecting Communication Port ......................................................................................................4-9

4.4.2 Selecting Channels.........................................................................................................................4-9

4.4.3 Displaying Communication Strings.............................................................................................4-10

4.4.4 Main Menu...................................................................................................................................4-11

4.5 Setting the Status to Servo ON ............................................................................... 4-12

4.6 Auto-tuning............................................................................................................. 4-14

4.7 Performing Homing Operation ............................................................................... 4-16

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4.8 Performing the Basic Settings of Pulse Commands ............................................... 4-18

4.8.1 About Position Command Pulse Input.........................................................................................4-18

4.8.2 Example of Operation..................................................................................................................4-19

Chapter 5 Functions 5-1

5.1 Parameters and Monitors .......................................................................................... 5-2

5.1.1 General Parameters........................................................................................................................5-2

5.1.2 Mechanical Setting Parameters......................................................................................................5-2

5.1.3 Monitors.........................................................................................................................................5-2

5.2 Operation Functions.................................................................................................. 5-3

5.2.1 Jog Move........................................................................................................................................5-3

5.2.2 Test Operation................................................................................................................................5-4

5.2.3 Auto-Tuning Operation ..................................................................................................................5-4

5.2.4 Homing Move................................................................................................................................5-5

5.2.5 Mechanical Setting Mode ..............................................................................................................5-9

5.3 Coordinate System.................................................................................................... 5-9

5.3.1 Coordinate System.........................................................................................................................5-9

5.3.2 Switching Position Command Pulse Weights ................................................................................5-9

5.4 Control System ....................................................................................................... 5-10

5.4.1 Velocity Control Part....................................................................................................................5-11

5.4.2 Position Control Part....................................................................................................................5-12

5.4.3 Feed Forward...............................................................................................................................5-12

5.4.4 Servo Stiffness Parameter ............................................................................................................5-13

5.5 Acceleration/Deceleration Function ....................................................................... 5-14

5.5.1 Velocity Override Function..........................................................................................................5-14

5.5.2 Velocity Profile ............................................................................................................................5-15

5.6 Other Functions ...................................................................................................... 5-17

5.6.1 Settling Wait, Position Settling Status, and Positioning Status ....................................................5-17

5.6.2 Velocity Monitor and Analog Monitor.........................................................................................5-18

5.6.3 Brake Signal.................................................................................................................................5-18

5.7 Special Parameter Processing ................................................................................. 5-19

5.7.1 Internal Generation of Parameter Initial Values ...........................................................................5-19

5.7.2 Limiting and Checking Maximum Velocity When Changing Simplified Scaling

Weighted Data and Maximum Velocity Parameters.....................................................................5-19

5.7.3 Auto Conversion and Clear Functions When Changing Simplified Scaling Weighted Data.......5-20

5.7.4 Limiting the Maximum Parameter Values ...................................................................................5-20

Chapter 6 Control Interfaces 6-1

6.1 Terminal Function..................................................................................................... 6-2

6.1.1 Connection, Setting, and I/O Mapping ..........................................................................................6-2

6.1.2 Explanation of Terminals ...............................................................................................................6-3

6.1.3 Electrical specifications .................................................................................................................6-4

6.1.4 I/O logic setting..............................................................................................................................6-5

6.2 Position Command Pulse Input ................................................................................ 6-6

6.3 Encoder Pulse Output ............................................................................................... 6-6

6.4 Operations................................................................................................................. 6-7

6.4.1 Starting an Operation.....................................................................................................................6-7

6.4.2 Aborting an Operation ...................................................................................................................6-7

6.4.3 Timing Charts ................................................................................................................................6-8

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6.5 Other Inputs .............................................................................................................. 6-9

6.5.1 Pulse Weight Selection PLS_DIRECT ..........................................................................................6-9

6.5.2 Position Control Bandwidth Selection FN.....................................................................................6-9

6.5.3 Velocity Control Bandwidth Selection GAIN................................................................................6-9

6.5.4 Settling Width Selection POSW [1..0] ...........................................................................................6-9

6.5.5 Disable Position Control Integral Operation PACT .......................................................................6-9

6.5.6 Error reset (ERR_RESET).............................................................................................................6-9

6.5.7 Servo ON SERVO........................................................................................................................6-10

6.5.8 Current Limit Input ......................................................................................................................6-10

Chapter 7 RS232C Interfaces 7-1

7.1 Overview .................................................................................................................. 7-2

7.2 Connection and Setting ............................................................................................ 7-2

7.3 Communication Specifications ................................................................................ 7-4

7.4 @ Commands ........................................................................................................... 7-6

7.4.1 Start @3: Field 0 .........................................................................................................................7-6

7.4.2 Stop @2 ......................................................................................................................................7-6

7.4.3 Abort @1 ....................................................................................................................................7-6

7.4.4 Error reset @4.............................................................................................................................7-6

7.4.5 Homing offset position setting @10 ...........................................................................................7-7

7.4.6 Jog move command @11: Field 0...............................................................................................7-7

7.4.7 Other convenient commands..........................................................................................................7-7

7.5 Parameter Commands............................................................................................... 7-8

Chapter 8 DrvGII PC Utility 8-1

8.1 Overview .................................................................................................................. 8-2

8.1.1 Overview of the Operation Menu ..................................................................................................8-2

8.1.2 Overview of the Action Menu........................................................................................................8-2

8.1.3 Overview of the Data Management Menu .....................................................................................8-2

8.2 Installation ................................................................................................................ 8-3

8.2.1 Installation under Windows 95/98/98SE/Me/NT4.0/2000.............................................................8-3

8.2.2 Starting the PC Utility....................................................................................................................8-5

8.3 Preparation................................................................................................................ 8-6

8.3.1 Selecting a Communication Port....................................................................................................8-6

8.3.2 Selecting Channels.........................................................................................................................8-6

8.3.3 Displaying Communication Strings...............................................................................................8-7

8.3.4 Main Menu.....................................................................................................................................8-8

8.4 Operation Menu ........................................................................................................ 8-9

8.4.1 Terminal .........................................................................................................................................8-9

8.4.2 Servo Tuning................................................................................................................................8-14

8.4.3 Oscilloscope.................................................................................................................................8-16

8.5 Action Menu ........................................................................................................... 8-19

8.5.1 Homing ........................................................................................................................................8-20

8.5.2 Jog Move......................................................................................................................................8-22

8.5.3 Test Operation..............................................................................................................................8-23

8.6 Data Management Menus ....................................................................................... 8-24

8.6.1 Parameter Manager......................................................................................................................8-24

8.6.2 I/O Set..........................................................................................................................................8-27

8.6.3 Pulse Set.......................................................................................................................................8-30

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Chapter 9 Operation Display Pendant ........................................................................... 9-1

9.1 Overview................................................................................................................... 9-2

9.2 Features and Part Names .......................................................................................... 9-2

9.3 Switching Displays ................................................................................................... 9-3

9.4 Terminal Mode Display ............................................................................................ 9-4

9.5 Parameter Monitor Display....................................................................................... 9-5

9.6 Parameter Settings Display....................................................................................... 9-6

9.7 I/O Monitor Display.................................................................................................. 9-7

9.8 Special Command Display........................................................................................ 9-8

Chapter 10 Maintenance and Inspection ....................................................................... 10-1

10.1 Maintenance and Inspection of the Motor Part....................................................... 10-2

10.2 Maintenance and Inspection of the Driver Part ...................................................... 10-2

10.3 Replacing the Battery for Memory Backup............................................................ 10-2

10.4 Backup and Restore Operations of Driver Memory Contents................................ 10-3

10.4.1 Backup Operation ........................................................................................................................10-3

10.4.2 Restore Operation ........................................................................................................................10-4

10.5 Motor Problems and Corrective Actions ................................................................ 10-5

Chapter 11 Specifications...............................................................................................11-1

11.1 Standard Specifications ...........................................................................................11-2

11.2 Torque - Speed Characteristics ................................................................................11-8

11.3 External Dimensions (Unit: mm).............................................................................11-9

11.4 Restrictive Conditions for the Frequency of

Repeated Operations (DR5000B Series Only) ......................................................11-13

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Chapter 1 Overview of the Product

1.1 About the DYNASERV DM/DR Series

1.2 About the DrvGII Type Driver

1.3 Product Configuration

1.4 Model Names and Codes

1.5 Name and Function of Each Part

1.6 System Configuration Diagram

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Overveiw of the Product

1.1 About the DYNASERV DM/DR Series

The DYNASERV servo motor, is a high speed, high torque, and high precision outer rotor type direct drive motor.

The DM series motors are contained in an aluminum chassis and have a built-in optical encoder. There are four models in the A series with output torques of 50 to 200N⋅m and five models in the B series with torques of 15 to 75N⋅m. The outside diameters are 264 mm for the A series and 160 mm for the B series. Each has a shaft hole of 58 mm and 25 mm in diameter at the center, respectively.

The outer shapes of the small-diameter and flat type DM series motors have successfully been made flatter and smaller in diameter based on the basic performance of the conventional DM/SD series. An outer diameter of 116 mm and a height (thickness) of 45 mm, respectively, are achieved for the DM small-diameter type and the DM flat type.

Both types are equipped with an optical encoder, which is characteristic of the DM series, and have the added features of high resolution and high mechanical precision. They are actuators with excellent output-to-space ratios and the best available option for servos for semi-conductor manufacturing devices, precision test devices, etc. They can be used in various applications.

The DYNASERV DR series is a series of operational direct drive motors that was developed based on the fieldproven DM series to satisfy new demands. There are six A type models (50 to 400N⋅m) with an outer diameter of 264 mm (10 inches), seven E type models (30 to 250N⋅m) with an outer diameter of 205 mm (8 inches), and five B type models (8 to 60N⋅m) with an outer diameter of 150 mm (6 inches). In addition, there is a 5000B/E type (consisting of five high-speed type models).

Moreover, in addition to the above standard models, several special type models are also available, such as lightweight types, types with flanges, types with brakes, and high mechanical precision installation surface types.

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1.2 About the DrvGII Type Driver

The DrvGII type driver is a digital servo driver with a RS232 communication, developed as the successor to the conventional SD/SR/TM type driver. Not only have the functions been improved, but also the driver box volume has been made smaller, and it can support the DYNASERV rotation type motors, as well as the LINEARSERV series motors that are of the direct drive type.

The features include the following: (1) The size of the driver is reduced to approximately half of the previous size (comparison within our

company).

(2) The internal resolution is increased by a factor of four for the DM series and a factor of two for the DR

series. (3) It can now support most of the models of the DYNASERV and LINEARSERV series. (4) A sophisticated utility is now available and an oscilloscope function has been included as well.

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Overveiw of the Product

1.3 Product Configuration

The following shows the configuration of this product. Upon unpacking, please check the model name and code of the product’s main unit, whether or not all the standard accessories are included, and also the quantity supplied.

Part name Number Notes

Motor part 1

Main body

Driver part 1

Connector for driver CN2 Connector for

driver CN4 Standard accessory

* Supplied for drivers whose interface type is the I/O contact type. ** Supplied only for 500W level drivers with regenerative terminals

Connector for

driver CN5*

Terminal for

driver CNA**

Regenerative

resistor **

The external appearance varies depending on the model name/code. The external appearance varies depending on the model name/code.

1 Made by Phoenix Contact MC1, 5/6-ST-3, 81

1 Made by Phoenix Contact MC1, 5/2-ST-5, 08

Made by Honda Tsushin Kogyo (connector) PCR-S20FS

(cover) PCR-LS20LA1

Made by Honda Tsushin Kogyo (connector) PCR-S50FS

(cover) PCR-LS50LA

80W 60Ω (for 100V) or 80W 200Ω (for 200V)

Driver part (2kW level)

With regenerative unit

Motor part/DM series

Motor part/DM1004B

Motor part/DM1004C Motor part/

DR series

Connector for CN4

Regenerative

terminal

Connecto for CN2

Connector for CNA

Driver part (500W level)

Note: The exact shape varies depending on the model you ordered. Refer to the figure showing the outer

dimensions for more details.

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1.4 Model Names and Codes

There are restrictions on the combination of specifications. Please check with our sales staff before determining the specification.

(1) Motor

Motor series name

(DM or DR)

Design version

(1: standard/5: high-speed)

Maximum output torque

(N-m, three-digit number)

Motor type/outer diameter (A:φ264/B:φ160/C:φ116/E:φ205)

Destination

(0: domestic)

Motor part special shape (0: standard/B: light-weight/C: with flange/ D: with mechanical brake/F: with base)

Mechanical precision - only for models requiring mechanical precision. Omitted if it is not required

(-1: mechanical precision of 5 mm or less/-2: mechanical precision of 10 mm or less/µm

-3: mechanical precision of 20 mm or less)

With compatibility function

□□□□□□□□□－□＊

(2) Driver

□□□□□□□□□□－□□□＿

Driver series name (UD for DM and UR for DR)

Motor type/

(four-digit number of the motor, one line of alphabet letters)

Box type/ (first digit 0: domestic standard/second digit A: 500W level without regenerative terminal, B: 500W level with regenerative terminal, K: 2kW level with built-in regenerative unit, L: 2kW level without regenerative unit)

Current/ (A: 5A-DM small-diameter/B: 6A-DM flat/C: 15A-DMB type, DRB type, DR5000B type / D: 20A-DMA type, DRA type, DRE type, DR5000E type)

Voltage/1: 100V system, 2: 200V system

Interface/(first digit/S: pulse train position command,

Option/0: none, N: with notch filter

CE marking/no mark: no CE specification, *C: with CE mark specification*

Note: 1. Compatibility between the motor and driver is valid only between the same models.

second digit/A: contact I/O voltage 12 to 24V + position command input; differential, B: contact I/O voltage 5V + position command input; differential)

This means that, for the standard models, the motor and driver are compatible only when the designations of the five digits in motor type (DR""""") and driver type (UR"""""

) are the same.

2. Separate selection is required for the driver without 2 kW class regenerative unit.

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Overveiw of the Product

1.5 Name and Function of Each Part

(1) Motor Part

DM series

Rotor

Load installation surface

Shaft hole

(Upper surface)

Shaft hole

Load installation screw

Bottom cap

nameplate

Load installation

screw

Rotor

Base part

(stator)

Stator installation

screw

Stator

Rating

Encoder cable

(Bottom surface)

Shaft hole

Motor cable

Load installation surface

DR series

(DM1004C)

Load installation screw

Shaft hole

Rating

nameplate

Motor cable

Encoder cable

Stator installation

Rotor

Stator

Bottom

cap

Motor cable

screw

(DM1004B)

Encoder cable

Rating nameplate

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(2) Driver part

! 500W level

(A model with regenerative terminal is shown)

Setting switch

and status LED

display part

Mounting bracket

<CN1>RS232C connnector

<TB2> Sensor brake terminal

Connection of power

<TB1>

supply and motor cable

! 2kW level

(A model with a regenerative terminal is shown)

Heat sink

<CN4> Contact I/O connector 1

<CN3> Analog monitor connector

Mounting bracket

<CN2> Encoder resolver connector

1-7

Regenerative unit

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Overveiw of the Product

(3) Details of the Front Panel of the Driver

500W level

(with regenerative terminal)

Regenerative

terminal

Power supply

terminal

Power supply

ground terminal

Motor cable

phase A terminal

Motor cable

phase B terminal

Motor cable

phase C terminal

Motor cable

ground terminal

Regenerative error

<CNA>

connector

(without regenerative terminal)

500W level

2kW level

Signal ground terminal

ZERO signal terminal

Settling signal terminal

Note: (1) All the items shown are of the contact I/O type.

(2) The power supply ground terminal and the motor cable ground terminal are connected within the driver

chassis.

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[Details of Setting Switches and Status Display LEDs]

Status display LEDs

CRDY CPU ready Indicates that the driver finished its initial

SRDY Servo ready

ERR Error status BUSY Busy Indicates that the driver is currently

AXIS Axis is operating Indicates that the axis is currently operating

COIN Settling status Indicates that the axis is in its position

COIN

ZERO

GND

RS EN

TEST

RS232C

- CN1 -

- TB2 -

- CN4 -

- CN3 -

RS-ID Rotary switch

The communication method of the RS232C interface is set according to the status of this switch when the power is turned on. 0 Single channel communication 1 to 9 Multi-channel communication. The value corresponds to

SRV-DS Servo disable switch

The servo is turned off for as long as this switch is pressed, regardless of the command status of the RS232C interface and PLC interface.

SW1 Slide switch

When the power is turned on, the operation status of the driver is determined by the status of these switches. bit1 Reset all

bit2 Reserved bit3 Reserved bit4 Maintenance operation setting

Check terminal

COIN Settling Indicates that the axis is in its position settling

ZERO Zero signal status

GND Digital ground

PSW1 Piano switch

bit1 Test operation

bit2 RS-232C operation enable

RS ID

SRV DS

200230VAC

LINE

GND

MOTOR

GND

SW1

8 7

CRDY

SRDY

ERR

BUSY

AXIS

COIN

TB1

processing and went into its normal status.

operating.

(dwell operation)

settling status.

the ID of the slave station.

If this bit is on when the power is turned on, all driver information is reset to the default status at shipping.

If this bit is on when the power is turned on, the driver is set in maintenance operation status. Normally, this bit should be set to off.

status.

(LED display indicates the Zero signal status.)

Starts test operation when the lever is up. Ends test operation when the lever is down.

Enables or disables the following commands from the RS-232C interface depending on the status when the power is turned on. Commands to be disabled: @1 Abort

@2 Stop @3 Stop

@11 Jog Lever up: Enable Lever down: Disable

- CN2 -

Error display LED

Displays an error code when an error occurs. When resetting: "0" (lit) When operating: "." (flashing)

CN4 Controller interface connector

1-9

Page 21

Overveiw of the Product

1.6 System Configuration Diagram

Operation display pendant

(PC)

LINEARSERV motor part <LM series>

PC utility floppy disk <Utility>

(PLC)

I/O monitor board

DYNASERV motor part <DM/DR series>

DrvGII type driver

(Home position sensor)

(Over travel sensor)

Note: The allowable combinations between the DYNASERV motors and the DrvGII drivers are as follows.

(1) The 500W level driver can only be used with the DM1004B/1004C. (2) All other DM and DR series should be used with the 2kW level driver. Note that they cannot be used

with the 500W level driver.

1-10

Page 22

Chapter 2 Installation

2.1 Installation of the Motor

2.2 Installation of the Driver

2-1

Page 23

Installation

When you receive the product, verify the model name and code of the product’s main unit, whether all the standard accessories are included, and that the combination of a motor and a driver is correct before you begin installation and wiring.

2.1 Installation of the Motor

The motor part can be installed and used in either a horizontal or a vertical position. However, if installed in a wrong way or position, the life of the motor may be shortened or the motor may fail. Always follow the instructions explained below.

(1) Installation Position

The motor part is designed based on the assumption that it is used indoors. Therefore, choose the location of installation so that it satisfies the following conditions:

! It should be indoors and not in a place where it can be exposed to corrosive and/or volatile gases. ! The ambient air temperature should be from 0 to 45 °C. ! There should not be too much dust or particles, the ventilation should be good, and the humidity should

be low.

Note: The DYNASERV is not drip- or water (oil)-proof. If it is used in such an environment, a proper drip- or

water (oil)-proof cover should be applied.

(2) Mechanical Installation

! When installing a load on the rotor of the motor, make sure to secure a clearance of 1 mm or more

between the upper surface of the motor and the installed part in order to maintain the surface accuracy.

! The clamping torque of the screws used to install the rotor and stator of the motor should be equal to or

less than the value indicated below.

! The surface flatness where the motor is fixed should be 0.01 mm or less.

Rotor mounting screw Clamping torque (maximum) A/E type: 21N-m (210kgf-cm) B type: 11N-m (110kgf-cm) DM1004B/1004C: 2N-m (20kgf-cm)

Motor

Stator mounting screw Clamping torque (maximum) A/E type: 21N-m (210kgf-cm) B type: 11N-m (110kgf-cm) DM1004B/1004C: 2N-m (20kgf-cm)

1mm or more

Flatness of fixing surface: 0.01mm

Note: When tightening the screws, make sure to apply a screw lock using Loctite 601 or equivalent product.

2-2

Page 24

2.2 Installation of the Driver

The standard installation method for the driver is either to mount it on a rack or a wall.

(1) Installation Position

! If there is a heating source near by, the temperature should be prevented from increasing by installing a

shielding cover, etc.; the temperature around the driver should not exceed 50 °C (Note 1).

! If there is a source of vibration near by, the rack should be installed via a vibration absorption material. ! In addition to the above, it should be avoided to install the driver in surroundings that are high in

temperature and humidity, filled with dust, metal powder, corrosive gas, etc.

(2) Installation Method

! The standard way of installation is to install the driver on a rack, aligning the top and bottom with the

front panel in the front. Do not put the panel surface into a sideways position or upside down (see the figure below).

! The driver box employs a natural air ventilation system. Make sure to secure space for ventilation above

and below (25 mm or more) and right and left (25 mm or more) (see the figure below).

! Make sure to use the installation holes (four places) of the upper and lower brackets at installation.

25 mm

Should not be installed in a

sideways position.

Should not b

25 mm

(Note: 1) 2 kW level drivers, but not other types, will have the current characteristics shown in the graph below as a

function of the ambient air temperature during operation. Therefore, it is recommended to use the driver in an ambient air temperature of 40 °C or less in order to prolong its life.

Current derating curve

50%

45%

40%

30%

25%

20%

Square current duty

10%

installed upside down.

10℃ 20℃ 30℃0℃

Ambient air temperature during operation

40℃ 50℃ 60℃

2-3

Page 25

Chapter 3 Connection and Wiring

3.1 Diagram of Overall Connection

3.2 Cable Specification List

3.3 Connection between Motor and Driver

3.4 Wiring of Motor, AC Power Supply, and Ground Cable

3.5 Wiring of Encoder Cable

3.6 Wiring of Controller Cable

3.7 Wiring of Sensor Brake Terminal

3.8 Wiring of Regenerative Alarm Contact <CNA>

(For 500W Level Drive Only)

3-1

Page 26

Connection and Wiring

3.1 Diagram of Overall Connection

* Operation display pendant (including 1.5 m cable) [PM000AT]

* PC Utility

1) * AC power supply cable

7) Jumper cable

2) Ground cable

<DrvGII> type drive The figure shows a 2kW level.

Line

filter

4) Sensor brake cable

Programmable controller

9) Controller cable [CP4202G-ooo]

5) * RS232C communication cable [CP7675S-020 (for DOSV, 2m)] [CP7577S-020 (for PC98, 2m)]

8) * Analog monitor card (with cable connector)

[KC 601A (Japanese)] [KC 602A (English)]

Sensor

* Regenerative resistance (with lead wire)

3) * Motor cable Motor part

(DM/DR series)

* Optional parts (see separate wiring section for motor and encoder cables.)

3-2

6) * Encoder cable

Page 27

3.2 Cable Specification List

Cable name Electric cable size Driver Current (A)

AC power supply

1) cable

Ground cable (power

2) supply)

3) Motor cable 2.0 mm2 or more, 30 m or less in length TB1

4) Sensor brake cable 0.3 to 0.75 mm RS232C

5) communication cable

Encoder resolver

6) cable

7) Jumper cable 2.0 mm2 or more TB1

8) Analog monitor card

9) Controller cable

* 20A for the A (φ 264mm) and E (φ 205mm) types for both the DM and DR series

15A for the B (φ 160mm) type, and 10A for the DM1004B/1004C motors

2.0 mm

or more, 30 m or less in length TB1

or more TB1

Dedicated cable is required. CN1

0.2mm

twisted pair, batch shielded cable, outer

diameter φ 14 mm or less, 10 m or less in length

Dedicated cable is required. [R7033YB] (cable with connector)

0.2 to 0.5mm

, batch shielded cable, outer

diameter φ 9 mm or less, 3 m or less in length

TB2

CN2

CN3

CN4

Maximum 100 mA DC

Maximum 500 mA DC

3-3

Page 28

Connection and Wiring

3.3 Connection between Motor and Driver

Note: Shielding should be applied to each wire.

(1) DM Series (DM1004B/1004C) motors

Motor partDriver part

＜TB1＞

GND

Motor cable

Red

White

Black

Green

＜CN2＞

+10V/ 1

GND/12

θSIG0/3

GND/14

θSIG1/5

GND/16

ECLK+/ 7

ECLK-/18

Chassis ground

Red

Black

Blue

Blue and white

Brown

Brown and white

Orange

Orange and white

Encoder cable

(2) DM Series motors (models other than the above)

Shielded cable

Motor partDriver part

Red

White

Black

Green

Red

Black

Blue

Blue and white

Brown

Brown and white

Green

Green and white

Orange

Orange and white

＜TB1＞

GND

＜CN2＞

+10V/ 1

GND/12

θSIG0/3

GND/14

θSIG1/5

GND/16

ZERO+/ 9

ZERO-/19

ECLK+/ 4

ECLK-/13

Chassis ground

Motor cable

Shielded

cable

Encoder cable

Shielded twisted pair cable

3-4

Page 29

(3) DR Series motors

＜TB1＞

GND

＜CN2＞

+S0/ 2

+S180/11

-S0/6

-S180/15

+C0/10

+C180/20

-C0/ 8

-C180/17

Chassis ground

Motor cable

Motor partDriver part

Red

White

Black

Green

Encoder cable

Brown and white

Green and white

Brown

Green

Orange and white

Blue and white

Orange

Blue

Black

3-5

Page 30

Connection and Wiring

3.4 Wiring of Motor, AC Power Supply, and Ground Cable

(1) For the DM1004B/1004C motors (in connection with a 500W level driver)

* In the case shown, a regenerative resistance is required.

Regenerative

resistance*

AC power supply cable

Ground cable

Motor cable

(Red)

(White)

(Black)

(Green)

Japan Solderless Terminal type (N1.25-M4)

GND

N 100115VAC

LINE

GND

MOTOR

GND

Driver side (500W level)

TB1

(2) For other DM/DR series (other than above) (in connection with 2kW level driver)

Power supply cable

Ground cable

Motor cable

Japan Solderless Terminal type (N2-M4)

(Red)

(White)

(Black)

(Green)

GND

Jumper cable

Driver side (2KW level)

3-6

Page 31

Cable

AC power supply cable

Motor cable

Specification

DM1004B/1004C Other DM/DR series

0.5 mm2 or more, 30 m or less in length

! Clamping torque of terminal: 12[kgf-cm

](1.18[N⋅m])

2.0 mm2 or more, 30 m or less in length

(terminal screw: M4x0.7)

! Power supply filter, recommended part: Tokin Corporation #LF-200 series ! 0.5 mm

Optional cable: CM6000C-

or more, 15 m or less in length ! 2.0 mm2 or more, 30 m or less in length

"""

! Optional cable: CM300M-""" or

CM0300R-"""

or more (use as thick cable as

Ground cable

0.5 mm2 or more (use as thick cable as possible)

2.0 mm

possible)

! Third grade ground (ground resistance 100Ω or less) Jumper wire ! 2.0 mm2 or more Regenerative resistance*

For 100V: 80W 60Ω

For 200V: 80W 200Ω

* Only for models with regenerative resistance (500W level)

3-7

Page 32

Connection and Wiring

3.5 Wiring of Encoder Cable

(1) DM1004B/C motor

Pin #

Signal

name 1 + 10 V 11 - 1 + 10 V 11 - 1 - 11 +S180 2 - 12 GND 2 - 12 GND 2 +S0 12 3

θSIG 0 4 - 14 GND 4 ECLK+ 14 GND 4 - 14 5

θ SIG 1 6 - 16 GND 6 - 16 GND 6 -S0 16 7 ECLK+ 17 - 7 - 17 - 7 - 17 -C180 8 - 18 ECLK- 8 - 18 - 8 -C0 18 9 - 19 - 9 ZERO+ 19 ZERO- 9 - 19 -

10 - 20 - 10 - 20 - 10 +C0 20 +C180

Pin #

Chassis ground

Signal

name

13 - 3

15 - 5

Shielded cable

(other than the one described to the left)

Pin #

(2) DM series motor

Signal

name

θSIG 0

θSIG 1

Pin #

13 ECLK- 3 - 13 -

15 - 5 - 15 -S180

Chassis ground

Signal

name

Shielded cable

Pin #

(3) DR series motor

Signal name

Pin #

Chassis ground

Terminal for <CN2>

2011

Insertion

surface

Made by Honda Tsushin Kogyo Connector: PCR-S2OF Housing: PCR-LS20LA1

Chassis ground

(shielded cable)

1 32

Signal

name

FG Shielded cable

Soldering

surface

Electric wire specification

11 1312

! 0.2 mm

less in length*

multiple-core twisted pair batch shielded cable, 30 m or

Optional cable

DM series motor

DM1004B/C

(other than the ones

described to the left)

CE7900C-""" CE7900M-""" CE7900R-"""

* Within 10 m only for small-diameter/flat types (DM1004B/C).

DR series motor

3-8

Page 33

3.6 Wiring of Controller Cable

<CN4> terminal

Pin # Signal name Pin # Signal name Pin # Signal name Pin # Signal name

1 COMP1 10 UA_OUT- 19 IN_ERR_RESET 28 IN_FN

2 COMN1 11 DB_OUT+ 20 IN_SERVO 29 IN_PLS_DIRECT

3 OUT_DRDY 12 DB_OUT- 21 IN_MODE_START 30 IN_PACT

4OUT_SRDY 13Z_OUT+ 22IN_ABORT 31 (NC)

5 OUT_BUSY 14 Z_OUT- 23 IN_MODE.0 32 (NC)

6 OUT_XOVL 15 PUA_IN+ 24 IN_MODE.1 33 CRNT_LMT_IN+

7 OUT_OVER 16 PUA_IN- 25 IN_POSW.0 34 CRNT_LMT_IN-

8 OUT_COIN 17 SDB_IN+ 26 IN_POSW.1 35 (NC)

9 UA_OUT+ 18 SDB_IN- 27 IN_GAIN 36 (NC)

Terminal for <CN4>

Made by Honda Tsushin Kogyo Connector: PCR-S36FS Housing: PCR-LS36LA

Chassis ground (shielded cable)

Electric wire specification

19 36

118

1 32

0.2 to 0.5 mm2 or more, multiple-core batch shielded cable, 3 m or less in length

Optional cable: CP4202G-

Insertion surface

Soldering surface

36212019

"""

3-9

Page 34

Connection and Wiring

3.7 Wiring of Sensor Brake Terminal

Pin # Signal name

1COMP0

2XORG

3XOTD

4XOTU

5(NC)

6 XBRKP

7 XBRKN

1) Push down the lever with a screwdriver.

Electric wire specification

See the panel surface of the driver for the pin numbers.

<TB2> Made by Sato Parts (ML1900H)

2) Insert the wire deeply.

! 0.3 to 0.75 mm2, electric wire coating with 10 mm of the core

exposed at the tip

! If a twisted wire is used, the diameter of the strand should be

φ 0.18 or larger.

3) Push up the lever (until you hear the click)

10mm

Example of sensor connection (sensor: EE-SX670 manufactured by Omron)

The recommended sensor logic is B contact. Set the sensor to OFF when the light is shielded. The sensor described above will be set to OFF when the light is shielded by the following result.

Signal

name

XORG

XOTD

XOTU

(NC)

XBRKP

XBRKN

Pin #

1COMP0

1 2 3 4

DC power supply

Home position sensor

(-) Over travel

(+) Over travel

COMP0

XORG XOTD XOTU

[Electrical specifications]

Input specifications

Rated voltage

Rated input current

Input impedance

Operating voltage (relative to COMP*)

Allowable leakage current

470Ω

2.7kΩ

12～24VDC　（±10％）

4.1 mA/point (at 12 VDC)

8.5 mA/point (at 24 VDC)

3.0kΩ

At OFF: 3.0 VDC or less At ON: 9.0 VDC or more

OFF is guaranteed at 1.0 mA or less.

Vcc

100kΩ

PS2805

10kΩ

0.01μF

3-10

Page 35

3.8 Wiring of Regenerative Alarm Contact <CNA> (For 500W Level Drive Only)

This driver (with regenerative terminal) is equipped with a regenerative circuit failure detection circuit. When connecting the regenerative circuit, build a sequence circuit as shown in the figure below in order to prevent burnout incidents.

Note: Build a sequence circuit so that it will turn off the power supply at alarm operation.

Driver

LINE

<TB1>

<CNA>

Made by Phoenix Contact (plug: MC1, 5/2-ST-5, 08)

Direction of insertion

ONOFF

Regenerative

<CNA>

Blade point of the driver used Thickness 0.4mm, width 2.5mm (clamping torque: 0.22 to 0.25 [N-m]

alarm 250 V AC 0.1 A 30 V DC 1 A

7 mm

3-11

Page 36

Chapter 4 Basic Settings for Operating

the Motor

This chapter describes "Basic Settings," which should be used as the first step in understanding the "motor/driver/PC utility." The information is provided progressively, focusing on motor tuning, homing operation, and its setting method. Make sure to perform the operations described in this chapter as a preliminary step before commencing device production.

4.1 Procedure (Flowchart)

4.2 Preoperation check

4.3 Installing the PC Utility on the PC

4.3.1 Procedure

4.3.2 Startup

4.4 Preparation

4.4.1 Selecting Communication Port

4.4.2 Selecting Channels

4.4.3 Displaying Communication Strings

4.4.4 Main Menu

4.5 Setting the Status to Servo ON

4.6 Auto-tuning

4.7 Performing Homing Operation

4.8 Performing the Basic Settings of Pulse Commands

4.8.1 About Position Command Pulse Input

4.8.2 Example of Operation

4-1

Page 37

Basic Settings for Operating the Motor

4.1 Procedure (Flowchart)

In this section, we will operate the motor according to the procedure below.

START

Preoperation check

Install the PC utility.

Set the status to

"Servo ON."

Auto-tuning

Homing operation

Basic settings of

pulse commands

Check the installation of the motor, wiring etc.

Install the software PC utility on your PC.

Set the status of the motor to "Servo ON."

Operation using the PC utility (RS-232C).

Adjust the servo (gain adjustment).

Operation using the PC utility (RS-232C).

Perform homing operation.

The case where the home position proximity sensor is input in the driver is explained.

Perform the basic settings required for pulse input.

Operate (pulse input)

END

Perform the settings and pulse input required for operation from the user's controller.

4-2

Page 38

4.2 Preoperation check

(1) Items to prepare

• Motor unit/driver/sensor/DC power supply

• PC utility (floppy disk)

• Level block for fixing the motor

• PC (with Windows 95/98/98SE/Me/NT4.0/2000 installed)

• Various cables

(2) Installation and Wiring

Positioning

controller

PC utility (software)

24V DC

power supply

(prepared by customers)

TB 2

DrvGII

type

TB 1

CN 2

driver

CN 1

CN 4

(prepared by customers)

7) RS232C cable (dedicated) CP7576(77)S-020

3) Power supply line

1) Level block (prepared by customers)

6) Sensor wiring (prepared bycustomers)

Motor part

(main body)

Sensor

Level block

4) Motor cable CM0300M(R) -ooo

5) Encoder cable CE7800M(R)-ooo

(3) Items to be checked Check

1) Is the main body fixed on the level block? "

2) Is the motor not interfering with peripherals? "

3) Is the power supply line wired properly? (LINE, GND) "

4) Is the motor cable wired properly? (VA, VB, VC. GND) "

5) Is the encoder cable wired properly? "

6) Is the sensor wired properly? "

(Home position, OT sensor: driver (or positioning controller))

7) Is the RS232C cable wired properly? "

8) Is RS-232C operation enabled? "

(Is bit 2 of PSW1 is on?)

9) Is the wiring with the positioning controller done properly? "

(See a connection example on the following page.)

4-3

Page 39

Basic Settings for Operating the Motor

Controller

12 to 24 VDC

Photocoupler, contact, etc.

DrvGII (CN4) I/O 24V Specification

COMP1

IN_ERR_RESET

IN_SERVO

IN_MODE_START

IN_ABORT

IN_MODE.0

IN_MODE.1

IN_POSW.0

IN_POSW.1

IN_GAIN

IN_FN

IN_PLS_DIRECT

IN_PACT

2.7K

PS2805 or equivalent

Ω

470

Ω

Photocoupler, contact, etc.

AM26LS31 or equivalent

AM26LS32 or equivalent

LMIT

12 to 24 VDC

OUT_DRDY

MA8330 or equivalent

OUT_SRDY

OUT_BUSY

OUT_XOVL

OUT_OVER

OUT_COIN

COMN1

PUA_IN+

PUA_IN-

SDB_IN+

SDB_IN-

UA_OUT+

UA_OUT-

DB_OUT+

DB_OUT-

Z_OUT+

Z_OUT-

CRNT_LMT_IN+

CRNT_LMT_IN-

Ω

2AD1820A or equivalent

MA8330 or equivalent

PS2805 or equivalent

TLP115A or equivalent

Ω

AM26LS31 or equivalent

200K

Ω

200K

Connect the shield with the shell of the connector.

4-4

Page 40

Controller

5VDC

7407 or equivalent

DrvGII (CN4) I/O 5V Specification

COMP1

IN_ERR_RESET

Ω

470

Ω

PS2805 or equivalent

74LS244 or equivalent

5VDC

Ω

IN_SERVO

IN_MODE_START

IN_ABORT

IN_MODE.0

IN_MODE.1

IN_POSW.0

IN_POSW.1

IN_GAIN

IN_FN

IN_PLS_DIRECT

IN_PACT

OUT_DRDY

MA8330 or equivalent

OUT_SRDY

MA8330 or equivalent

2AD1820A or equivalent

PS2805 or equivalent

AM26LS31 or equivalent

AM26LS32 or equivalent

LMIT

Connect the shield with the shell of the connector.

OUT_BUSY

OUT_XOVL

OUT_OVER

OUT_COIN

COMN1

PUA_IN+

PUA_IN-

SDB_IN+

SDB_IN-

UA_OUT+

UA_OUT-

DB_OUT+

DB_OUT-

Z_OUT+

Z_OUT-

CRNT_LMT_IN+

CRNT_LMT_IN-

Ω

200K

TLP115A or equivalent

AM26LS31 or equivalent

Ω

4-5

Page 41

Basic Settings for Operating the Motor

4.3 Installing the PC Utility on the PC

4.3.1 Procedure

Installation under Windows 95/98/98SE/Me/NT4.0/2000

The G2 PC utility (hereinafter referred to as the “PC utility”) runs on Windows 95, 98, 98SE, Me, WindowsNT4.0 and 2000. It can be installed via “Add/Remove Programs” under the “Control Panel” in Windows. If an older version of the PC utility is present, delete it first and then install the new version. Display the “Properties of Adding/Removing Programs” dialog box and click “Set Up (1).” Then proceed according to the instructions displayed on the screen. The PC utility setup program starts up. Proceed with the setup according to the instructions on the screen. A dialog box for determining the directory in which to install the PC utility appears (see Figure 4.3.1).

Figure 4.3.1 “Choose Destination Location” dialog box

Click “Browse” to display the “Select Directory” dialog box and select the desired drive and directory. Click “Next” to display “Select Program Folder” (see Figure 4.3.2).

4-6

Page 42

Figure 4.3.2 “Select Program Folder” dialog box

Select a program folder and click “Next.” The installation begins. Follow the instructions on the screen and change disks. When the setup is completed, the “Setup Complete” dialog box appear (see Figure 4.3.3).

Figure 4.3.3 “Setup Complete” dialog box

To start the program, select “Launch the program file” and click “Finish.” If you do not want to start the program, just click “Finish.” If you are prompted to restart the computer, simply follow the message and restart it.

Note: Remove the floppy disk before restarting the computer.

4-7

Page 43

Basic Settings for Operating the Motor

4.3.2 Startup

1)To start the PC utility, click “Start,” “Program (P),” “YOKOGAWA_E” and then “DrvGII.”

Figure 4.3.4 “Startup”

2) An “Version Information” dialog box is displayed for several seconds and then the PC utility starts up.

Version of PC utility

Figure 4.3.5 “Version Information” dialog box

Figure 4.3.6 After starting up the PC utility

4-8

Page 44

4.4 Preparation

Connect the serial port of the PC with the serial port of the driver with a dedicated cable. (Do not use any of commercially available cables. Since 5V power is being output from the driver as the power supply for the operation display pendant, a breakdown may occur in the PC if such cable is used.)

4.4.1

Selecting Communication Port

When you start the PC utility, the “ComPortSelect” dialog box appears in the left side of the screen (see Figure

4.4.1). Change the setting according to the communication port of the connected PC.

Figure 4.4.1 “ComPortSelect” dialog box

Note: Settings made in the “ComPortSelect” dialog box are stored in a file. It is not necessary to make settings

from the next time you start the PC utility. Change the setting as necessary.

4.4.2 Selecting Channels

When you start the PC utility, the “Communication mode” dialog box appears in the upper left corner of the screen (see Figure 4.4.2). If you are using one driver, select a single channel, and if you are using multiple drivers, select multi-channel addresses. (See Chapter 6 for how to make setting on the driver side.)

Figure 4.4.2 “Communication mode” dialog box

Note: The settings made in the “Communication mode” dialog box are not stored. When the PC utility is started up,

a single channel is always set.

4-9

Page 45

Basic Settings for Operating the Motor

4.4.3 Displaying Communication Strings

When you start the PC utility, the “Communication string” dialog box appears in the upper right corner of the screen. (See Figure 4.4.3.) Any strings that the PC utility sends to the driver as well as any strings received from the driver are displayed regardless of the menu.

->　[String sent] <-　[String received]

Figure 4.4.3 “Communication string” dialog box

4-10

Page 46

4.4.4 Main Menu

When you start the PC utility, the “MainMenu” dialog box appears (see Figure 4.4.4). See the following chapters for how to start the actual operation.

Figure 4.4.4 “MainMenu” dialog box

4-11

Page 47

Basic Settings for Operating the Motor

4.5 Setting the Status to Servo ON

The driver can be put into Servo On status through the following operation.

(1) Click the “I/O Config (I)” button in the “MainMenu” and then the “I/O config (L)” button.

Click the I/O Config (I)

button.

(2) Enable Servo ON. Click the checkmark of “1” under DI and then click the Set (S) button.

Set Servo ON (DI-1) to “no

check.” (Negative setting)

Click the I/O Config

(L) button.

!!!!

Caution

Set button

Make sure to click the “Set” button after finishing the setting (the status will become Servo ON). Verify that the “S-RDY” LED on the front panel is turned on.

4-12

Page 48

(3) Reset the driver according to the message in the dialog box.

Click OK.

(4) Verify that the driver is reset and the “SRDY” LED on the front panel is turned on.

4-13

Page 49

Basic Settings for Operating the Motor

4.6 Auto-tuning

The auto-tuning can be performed according to the following procedure.

(1) Checking the rotation direction

Check the rotation direction (CW/CCW) of the motor.

CW CCW

Load installation surface

Look carefully from both sides of the load installation surface to check the CW/CCW

Caution

!!!!

(2) Click the “Servo Cntl (S)” button on the “MainMenu.”

movement. When started, the motor operates in the CCW direction. Take extra care to ensure that there is no mechanical interference with the rotor, which is currently in the stop position.

Click the Servo Cntl

button

4-14

Page 50

(3) Click Auto Tuning Start (tuning starts).

play

(4) Follow the message on the dialog box and click “OK” to start the auto-tuning operation.

Click the Auto Tuning

Start button

After the auto-tuning is

performed, the set values

!!!!

Caution

are dis

ed.

The rotor rotates a maximum of 30º (seven times of reciprocating operation) in the CW direction. The operation width varies depending on the velocity rating of the motor. Take extra care not to cause any mechanical interference around the rotor. <How to calculate the operation width> Operation width (degree) = motor velocity rating [rps] x 0.02 x 360

(5) Each parameter setting value is displayed and the auto-tuning is automatically terminated.

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Basic Settings for Operating the Motor

4.7 Performing Homing Operation

A homing operation can be performed according to the following procedure.

(1) Checking the rotation direction

Check the rotation direction (CW/CCW) of the motor.

Load installation surface

CW CCW

!!!!

Caution

(2) Check the setting of the homing direction through the PC utility.

Look carefully from both sides of the load installation surface to check the CW/CCW movement. When started, the motor operates in the CCW direction. Take extra care to ensure that there is no mechanical interference with the rotor.

Click “Drive” in the Main Menu, then “Homing.”

Click “Drive.”

Click “Homing.”

MainMenu DriveMenu

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Page 52

(3) Set the “homing direction” in the “Homing” dialog box.

1) The current setting values are displayed in the Setting value box by clicking grid “#20.”

The current setting values for the “homing related” parameters are displayed.

3) Click the “Set” button.

2) Enter 1 in the Setting Value box. Make sure to press the return key; otherwise the entry is not made valid.

!!!!

Caution

The initial value that should be set depends on the homing direction. Enter “#20 = 1” if the homing direction is CW and “#20 = 0” if it is CCW.

(4) Click the “Start” button to start the homing operation.

Click “Start.”

1) The homing operation finishes automatically after the operation is completed. In the event of

• The homing operation does not finish, and

!!!!

Caution

2) If a homing abnormality message is displayed, follow the message to adjust the

• The motor does not stop even when the home position sensor is detected,

Click “Abort (A)” to stop the motor, then check “wiring” and “auto-tuning” again.

flag position using the limit value as a guideline. If an error occurs, press “ErrReset” as well.

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Basic Settings for Operating the Motor

4.8 Performing the Basic Settings of Pulse Commands

4.8.1 About Position Command Pulse Input

Perform input (pulses) required for operation according to the explanation in Section 6.2, “Position Command Pulse Input” in Chapter 6, “Controller Interface.” Prior to performing pulse input, be sure to perform required settings according to the explanation in Section 6.1, “Terminal Function.”

(PLS, SIGN) (UP, DOWN) (A, B)

+ direction - direction + direction - direction + direction - direction

PUA_IN

PLS

150ns min

SDB_IN

Caution

3µs min 3µs min

The signal should be H when active (status for flowing current to the driver photocoupler). As for the PLS, it should be L when normal.

SIGN

DOWN

6µs min

The signal should be H when active (status for flowing current to the driver photocoupler). As for both the UP and DOWN, they should be L when normal.

The signal should be H when active (status for flowing current to the driver photocoupler).

300ns min

The position command value instructed from the controller interface can change the weight of a single pulse on the interface by the input signal “PLS_DIRECT.” When the status of the input signal “PLS_DIRECT” is 0, a single pulse on the interface becomes the value set with the #207 Simplified scaling weighted data parameter. While the status of the input signal “PLS_DIRECT” is 1, a single pulse on the interface is independent of the value set with the #207 Simplified scaling weighted data parameter, and becomes a single pulse inside the driver. However, do not change the status of any of the (PLS, SIGN), (UP, DOWN) and (A, B) signals for 2 msec each

before and after switching the input signal “PLS_DIRECT” (off → on, on → off).

PLS_DIRECT

PUA_IN

SDB_IN

Status 1

Status 0

Unchanged

2 msec

or more

2 msec or more

4-18

2 msec

or more

2 msec

or more

Page 54

4.8.2 Example of Operation

The following shows an example of operation. Input pulses from the positioning controller according to the velocity pattern shown below.

Upper surface of the motor

(load installation surface side)

Home position

sensor

Homing position

The rotor moves 50 degrees away from the homing position, then back again. CW direction -> stops for one second -> CCW direction -> finish

Velocity

[mm/sec]

Moving distance

(positive direction)

50 degrees

Setting value of

acceleration time

Setting value of

deceleration time

Stop time

1.0sec

Moving distance

(negative direction)

Setting value of

acceleration time

50 degrees

deceleration time

Time [sec]

Setting value of

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Page 55

Chapter 5 Functions

5.1 Parameters and Monitors

5.1.1 General Parameters

5.1.2 Mechanical Setting Parameters

5.1.3 Monitors

5.2 Operation Functions

5.2.1 Jog Move

5.2.2 Test Operation

5.2.3 Auto-Tuning Operation

5.2.4 Homing Move

5.2.5 Mechanical Setting Mode

5.3 Coordinate System

5.3.1 Coordinate System

5.3.2 Switching Position Command Pulse Weights

5.4 Control System

5.4.1 Velocity Control Part

5.4.2 Position Control Part

5.4.3 Feed Forward

5.4.4 Servo Stiffness Parameter

5.5 Acceleration/Deceleration Function

5.5.1 Velocity Override Function

5.5.2 Velocity Profile

5.6 Other Functions

5.6.1 Settling Wait, Position Settling Status, and Positioning Status

5.6.2 Velocity Monitor and Analog Monitor

5.6.3 Brake Signal

5.7 Special Parameter Processing

5.7.1 Internal Generation of Parameter Initial Values

5.7.2 Limiting and Checking Maximum Velocity When Changing Simplified Scaling Weighted Data and Maximum Velocity Parameters

5.7.3 Auto Conversion and Clear Functions When Changing Simplified Scaling Weighted Data

5.7.4 Limiting the Maximum Parameter Values

5-1

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Functions

5.1 Parameters and Monitors

The group of variables expressed by #*** is called parameters and monitors. Parameters/monitors are classified according to their numbers as follows.

Parameter No. Parameter type Backup Comments 0 to 199 General parameters Stored Always possible to read and write.

200 to 299

300 to 399 Monitors -

By expressing all parameters/monitors by #***, their values can be referenced (read). It is also possible to change (write) the values within the range allowed for each parameter/monitor.

5.1.1 General Parameters

These parameters can be read and written at all times and an operational meaning is assigned to each. The details of each parameter will be explained separately. Note that these parameters are stored in the driver; they will not be deleted even if the power is turned off.

5.1.2 Mechanical Setting Parameters

Mechanical setting

parameters

Stored

Reading is always possible, but writing is possible only when operating in mechanical setting mode. Read only. Reading is always possible, but writing is not possible at any time.

It is always possible to read these parameters, but writing is possible only when operating in mechanical setting mode. These parameters are set only once when the device is started up. An operational meaning is assigned to each. The details of each parameter will be explained separately. Note that these parameters are stored in the driver; they will not be deleted even if the power is turned off.

Note: If these parameters are changed during execution in mechanical setting mode, the changes made to the

values will not be reflected until the power is turned on again. Therefore, please note that if you try to read a parameter value after you change the parameter, the value before the change is read until you turn the power off and on again.

5.1.3 Monitors

These variables are used to display the driver's status. Only reading is allowed at all times and each has an operational meaning. The details of each parameter will be explained separately.

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5.2 Operation Functions

Idle status Controller interface position command follow-up

Jog move

Test operationOperating status

Auto-tuning operation

Homing move

Mechanical setting mode

The status in which no operation is performed is called the idle status; jog moves can be performed in this status. If no jog move is being performed in the idle status, the driver follows the position command from the controller interface.

This driver is equipped with the operation functions listed below. Use them as needed.

The start, end, and stop actions of these operations can be controlled from either the controller interface side or the RS232C interface side. Refer to the related chapters (Chapter 6, "Controller Interface" and Chapter 7, "RS232C Interface") for operation methods.

The methods used to end each operation can be classified into three categories: the self-end type that ends automatically when the operation is complete, the non-self-end type that cannot end the action by itself, and the non-end type that cannot be stopped once started. An appropriate end or stop action must be performed for each type.

Operation

No.

0 Test operation

2 (Reserved)

3 Homing move

4 to 14 (Reserved)

Name Comment Ending type

Generates a 2.5Hz square wave position command signal for

adjustment of the control part. Auto-tuning operation

Mechanical setting mode

Makes the rotor oscillate, measures load inertia and load mass, and

sets the parameters for the control part automatically.

Finds the home position using the hardware over-travel signal,

homing sensor, and motor Zero signal to establish the coordinate

system.

Special mode for changing mechanical setting parameters. Non-end

5.2.1 Jog Move

The rotor can be moved in the positive (+) or negative (-) direction by issuing a jog move command while in idle status. There are three types of jog move commands: (+) direction move, (-) direction move, and stop. Refer to the sections about the RS232C interface and PLC interface for how to issue a command. The move can only be trapezoidal but it is possible to set the acceleration and deceleration profile. In addition, the velocity override does function in real time. The velocity in the jog move is determined by the value in the #10 Jog Velocity parameter. If operation is started while the jog move is in progress, the operation is executed as soon as the jog move stops. The settling wait function is not performed at the end of the jog move.

[Related parameter]

Non-self-end

Self-end

#10 Jog velocity

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Functions

5.2.2 Test Operation

This operation generates a 2.5Hz square wave and uses it as position command signal for adjustment of the control part. Set the analog monitor to test operation response to measure the response waveform on the oscilloscope. The position feed forward, velocity feed forward, and acceleration feed forward are set to 0 internally during the test operation. The settling wait function is not performed at the end of the test operation.

[Related parameters]

#31 Operation width under testing mode #50 Position control bandwidth 1 #48 Position control bandwidth 2 #51 Velocity control bandwidth 1 #49 Velocity control bandwidth 2 #53 Position integral limiting value #70 Analog monitor selection #72 Test operation monitoring gain (analog monitor)

• Obtain the fastest possible rise time of the response waveform and make adjustments so that

!!!!

Caution

• The closer the position control bandwidth and velocity control bandwidth are, the more the waveform

• If the inertia and weight of the load are large, the oscillations may be eliminated by setting the

overshoot will not occur.

will oscillate.

position integral limiting value to a small value.

Increase the position control bandwidth.

Make adjustments until this waveform

is reached

If the velocity control bandwidth cannot be increased any further, the position control bandwidth should be decreased

5.2.3 Auto-Tuning Operation

This operation makes the rotor oscillate, measures the inertia and weight of the load, and automatically sets the parameters for the control part. It accelerates/decelerates with half the rated torque and rated thrust of the motor, and measures the inertia and weight of the load from the velocity changes at that time. The result of the measurement is written to the #155 Load inertia/load mass parameter. From the measured inertia and weight of the load, it adjusts the position control bandwidth, velocity control bandwidth, and position integral limiting value according to the setting value of the #38 Servo stiffness settings parameter. For the position control bandwidth and the velocity control bandwidth, the results are reflected in the parameters on the side selected by the controller interface (see Section 6.5.2, “Position Control Bandwidth Selection FN” and Section 6.5.3, “Velocity Control Bandwidth Selection GAIN). It does not adjust position feed forward, velocity feed forward, and acceleration feed forward. The settling wait function is not performed at the end of the auto-tuning operation.

[Related parameters] [Auto-set parameters]

#32 Operation width under Auto-tuning #33 Maximum deceleration under Auto-tuning #34 Initializing the deceleration time while under Auto-

tuning #37 Auto-tuning repeat count #38 Servo stiffness settings

#50 Position control bandwidth 1 #48 Position control bandwidth 2 #51 Velocity control bandwidth 1 #49 Velocity control bandwidth 2 #53 Position integral limiting value #155 Load inertia/load mass

5-4

Page 59

5.2.4 Homing Move

In this operation the rotor is moved according to a preset home position search method in order to establish a coordinate system. After first moving to the home position determined by the proximity signal and motor Zero signal, it continues to move an amount further given in the #29 Offset distance from the Home position parameter's setting value. It then sets the drive coordinate command value to the value set in the #30 Homing complete operation command value parameter. There are two ways to generate motor Zero signals (hardware and software Zero signals). The method used varies depending on the motor. See the explanation given below. The homing operation is processed in the following order. The move can only be trapezoidal but it is possible to set the acceleration and deceleration profile. In addition, the velocity override does function in real time. The settling wait function is performed at each point during the homing operation.

[Related parameters]

#11 Over-travel search velocity during a homing move #12 Homing operation: Home sensor proximity signal

search velocity #13 Homing operation: Home sensing feed velocity 1 #15 Homing operation: Origin position offset feed velocity #20 Homing direction #21 Enable/Disable the over-travel signal under the

homing mode #25 Homing operation: Origin inside selection #26 Enabling the proximity signal during OT search under

the homing mode #27 Enabling the homing flag position error #29 Offset distance from the Home position #30 Homing complete operation command value #202 Coordinates (+) direction setting

[Hardware Zero signal] Applicable motor:

DYNASERV

DMA and DMB series

[Software Zero signal] Applicable motor:

DYNASERV

Flat motor (DM1004B) Small-diameter motor (DM1004C) Standard DRA, DRB and DRE series High-speed DRB and DRE series

(1) OT search move

The rotor moves until it finds an over-travel (OT) signal in the opposite side of the homing direction and in the opposite direction of homing direction. It is executed only when the OT signal search move is enabled in #21 Enable/Disable the over-travel signal under the homing mode parameter. If the proximity signal during OT search move is enabled in the #26 Enabling the proximity signal during OT search under the homing mode parameter, and an home position proximity signal is detected during an OT search move, the rotor stops the OT search move, and then proceeds to (2) or (3) below. The moving velocity is set to the value in #11 Over-travel search velocity during a homing move parameter.

(2) Homing search move

The rotor moves until it finds a homing sensor in the homing direction. The moving velocity is set to the value in #12 Homing operation: Home sensor proximity signal search velocity parameter.

(3) Moving to outside of home position proximity area

This is executed only if #25 = 1. If #202 = 1, the rotor moves in (+) direction until it leaves the home position proximity area. If #202 = 0, the rotor moves in (-) direction until it leaves the home position proximity area. The moving velocity is set to the value in the #13 Homing operation: Home sensing feed velocity 1 parameter.

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Functions

(4) First home sensing move

With the #25 Homing operation: Origin inside selection parameter, it is possible to select and set either the inside Zero signal or outside Zero signal of the home position proximity signal as the home position. If #25 = 1, the inside Zero signal is set as the home position; if #25 = 0, the outside Zero signal is set as the home position. If #202 = 1, the rotor moves to search the home position proximity signal in (-) direction. If #25 = 1, the rotor recognizes the first Zero signal edge as the home position upon entering the area, and then stops. If #25 = 0, the rotor recognizes the first Zero signal edge as the home position upon leaving the area, and then stops. If #202 = 0, the rotor moves to search the home position proximity signal in (+) direction. If #25 = 1, the rotor recognizes the first Zero signal edge as the home position upon entering the area, and then stops. If #25 = 0, the rotor recognizes the first Zero signal edge as the home position upon leaving the area, and then stops. The moving velocity is set to the value in the #13 Homing operation: Home sensing feed velocity 1 parameter.

(5) Second home sensing move

The second home sensing move is executed in two steps.

1) Preparation move The rotor moves as far as diametrically opposite the Zero signal edge in the opposite direction of the Zero signal edge search direction that was used in the first home sensing move. The moving velocity is set to the value in the #13 Homing operation: Home sensing feed velocity 1 parameter.

2) Zero signal edge search move The rotor moves until it finds the Zero signal edge in the Zero signal edge search direction that was used in the first home sensing move. The moving velocity is set to the value in the #13 Homing operation: Home sensing feed velocity 1 parameter.

(6) Home position move

The home position is moved to the detected Zero signal edge position. Motors that use software Zero signals further perform a second corrective move. The moving velocity is determined internally by the driver.

(7) Home position offset move

The home position is moved for the distance given by the value set in #29 Offset distance from the Home position parameter, after which the operation coordination command value is set to the value given in #30 Homing complete operation command value parameter.

The moving velocity is set to the value in #15 Homing operation: Origin position offset feed velocity parameter.

For the homing move to be completed normally, the distance between the home position proximity area and the Zero signal edge must be within a specific range based on the value of #358 Z-phase signal pulse interval monitor. The reference value differs depending on the method by which the Zero signal (hardware or software Zero signal) is generated. At the first home sensing move, the distance to the first Zero signal edge after passing through the home position proximity area (pulse amount) has been measured and written in #318 Homing operation: The measured value monitor. If this value does not satisfy the equations below, an error or warning will occur. In that case, the home position proximity dog should be adjusted and the homing move should be performed again. Repeat these steps until the operation is completed normally.

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Page 61

[Hardware zero signal type]

0.05*＃358 value

0.1 *＃358 value

0.7 *＃358 value

0.75*＃358 value

[Software zero signal type]

0.05*＃358 value

0.1 *＃358 value

0.4 *＃358 value

0.45*＃358 value

≦＃ ≦＃＜＃＜＃

318 value

＃

318 value 318 value 318 value 318 value error

318 value

＃

318 value 318 value 318 value 318 value error

0.05*＃358 value error

＜

0.1 *＃358 value warning

＜

0.7 *＃358 value normal

≦

0.75*＃358 value warning

≦

0.05*＃358 value error

＜

0.1 *＃358 value warning

＜

0.4 *＃358 value normal

≦

0.45*＃358 value warning

≦

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Functions

- Operation example 1 -

(2)

(4)

(+) direction

←

(4)

- Operation example 2 -

(1)

(4)

(+) direction

←

- Operation example 3 -

(4)

(7)

(5)-2

(3)

(5)-1

(6)

Home position proximity signal

Zero signal

(3)

(5)-1

(6)

(3)

(5)-1

(6)

Home position proximity signal

Zero signal

(3)

(5)-1

(6)

Home position proximity signal

Zero signal

Homing from outside of the proximity area

(2)

#20 = 0 Homing direction (-) direction #21 = 0 Enable/disable the over-travel Not used

#25 = 1 Homing operation: Inside

#26 = 0 Enabling the proximity signal Invalid

#29 = 0 Offset distance from the Home 0

#202 = 1 Coordinate (+) direction setting

#20 = 0 Homing direction (+) direction #21 = 0 Enable/disable the over-travel Used

#25 = 1 Homing operation: Inside

#26 = 0 Enabling the proximity signal Invalid

#29 = positive value

#202 = 1 Coordinate (+) direction setting

#20 = 0 Homing direction (-) direction #21 = 0 Enable/disable the over-travel Not used

#25 = 1 Homing operation: Inside

#26 = 0 Enabling the proximity signal Invalid

#29 = negative value

#202 = 1 Coordinate (+) direction setting

(+) direction

signal under the homing mode

Origin inside selection

during OT search under the homing mode

position

(Initial value setting)

signal under the homing mode

Origin inside selection

during OT search under the homing mode

Offset distance from the Home position

(2)

(-) direction over travel signal

signal under the homing mode

Origin inside selection

during OT search under the homing mode

Offset distance from the Home position

→

- Operation example 4 -

(2)

(+) direction

←

(4)

(3)

(5)-2

Home position proximity signal

Zero signal inside Zero signal outside

(5)-1

(6)

#20 = 0 Homing direction (-) direction #21 = 0 Enable/disable the over-travel Not used

signal under the homing mode

#25 = 0 Homing operation: Outside

Origin inside selection

#26 = 0 Enabling the proximity signal Invalid

during OT search under the homing mode

#29 = 0 Offset distance from the Home 0

position

#202 = 1 Coordinate (+) direction setting

5-8

Page 63

5.2.5 Mechanical Setting Mode

This is a special mode for changing parameters related to the mechanical settings. Parameters #200 to #299 can be changed only when this operation is being executed. In addition, once started, this operation cannot be stopped. After you finish changing the necessary parameters, turn the power to the driver off and on again. Note that if you change these parameters, the changed values are not reflected until after the power is turned on again. Therefore, please note that if you try to read a parameter value after you change the parameter, the value before the change is read until you turn the power off and on again.

5.3 Coordinate System

5.3.1 Coordinate System

The driver controls the position of the motor by three coordinate systems with different units: a command unit coordinate system, and a pulse coordinate system.

The pulse coordinate system manages the coordinate values in units of pulses that can be detected by the encoder resolver. The position control part of the driver controls the motor based on these coordinate values. It has a command value and a current value, and they are always updated and displayed in the #320 Pulse position command value monitor and #321 Pulse position current value monitor, respectively. The command unit coordinate system manages coordinate values in the amount of pulses on the controller interface. The position command values that occur in the driver itself (test operation, auto-tuning operation, homing operation, jog move operation) are also processed based on these coordinate values. The command unit coordinate system has command values and current values, each of which are constantly updated and displayed in the #323 Command unit command value monitor and the #370 Command unit current value monitor, respectively.

5.3.2 Switching Position Command Pulse Weights

The position command value instructed from the controller interface is given to the driver by any pair of the (PLS, SIGN), (UP, DOWN) and (A, B) signals, which is then reflected in the command unit command value. Normally, the pulse position command value inside the driver for a single pulse on the controller interface becomes the value set with the #207 Simplified scaling weighted data parameter. For example, if the setting value is 4, a single pulse on the controller interface will be equivalent to 4 pulses inside the driver. In addition, the command unit current value is output from the driver by either the (UP, DOWN) or (A, B) signal. The pulse position current value inside the driver for a single pulse on the controller interface always becomes the value set with the #207 Simplified scaling weighted data parameter. For example, if the setting value is 4, a single pulse on the controller interface will be equivalent to 4 pulses inside the driver. While the input signal “PLS_DIRECT” is on, the position command value instructed from the controller interface is independent of the value set with the #207 Simplified scaling weighted data parameter; a single pulse on the controller interface will be a single pulse inside the driver, instead. However, do not change the status of any of the (PLS, SIGN), (UP, DOWN) and (A, B) signals for 2 msec each before and after switching the

input signal “PLS_DIRECT” (off → on, on → off).

[Related parameters]

#207 Simplified scaling weighted data

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Page 64

Functions

5.4 Control System

In this section, the position control part, velocity control part, and feed forward of the driver are explained. The block diagram of the control system is shown below.

←

＃387

Motor linear

coordinate

command

value

Feed forward

Acceleration feed forward

Velocity feed

forward

Position feed

forward

＋

－

＋

－

＃389

Motor linear

coordinate

deviation

＃56

＃55

Integral main

＃54

＋

＃59

Position

current

value filter

current value after filtering

switch

Proportio

nal

control

Integral

control

Differential

feedback

＃384

Motor linear coordinate

Position

control part

＃50 ＃48

＃203

＋

limiting value

－

control part

＃364

Velocity

command value

after filtering

(digital)

＃363

Velocity value

(digital)

＋

＃53

Position integral

＃388

Motor linear coordinate

current position

Velocity

command

＋

Velocity current

after filtering

＃321 Pulse position current value

＃320 Pulse position command value

＃322 Pulse position deviation

Velocity

＃221

filter

＃366

value

＋

－

＃365

Velocity error

(digital)

＃361←＃51

＃49

Velocity

proportional

gain

Velocity

feedback filter

＃219，＃220

＃152

＋

First order delay

＋

compensation

device setting

＃365

Velocity current value

＃153，＃154

Notch

filter 2Ch

＃155 ＃360

Motor

mechanical

system

Velocity

sensor

＃356

＃355

Position

sensor

Motor

position

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Page 65

5.4.1 Velocity Control Part

For the velocity control bandwidth, either the value set with the #51 Velocity control bandwidth 1 parameter or the #49 Velocity control bandwidth 2 parameter is selected, according to the status of the controller interface input signal IN_GAIN. The selected value is displayed in the #376 Velocity control bandwidth monitor. The velocity control part calculates the #361 Velocity proportional gain monitor value from the #155 Load inertia/load mass parameter value, which is either measured and set by an auto-tuning operation or entered directly as a numerical value, according to the velocity control bandwidth value. During this process, the frequency characteristics of neither the velocity feedback filter nor the notch filter are considered but only the frequency characteristic of the first order delay compensation device is considered to calculate the velocity proportional gain. The first order compensation device can be set in four ways via the #152 First order delay compensation device setting parameter. The first order delay compensation device has the effect that it improves the gain characteristics of the velocity control part. The frequency characteristics for each setting of the first order compensation device is shown below. Note that there is no frequency dependency when the first order compensation is not set. There are two channels available for the notch filter (optional). The central frequency value can be set independently for each channel via the #153 Notch filter: Frequency selection 1 and #154 Notch filter: Frequency selection 2 parameters. The notch filter has the effect that it improves the gain characteristics of mechanical systems that tend to resonate. The velocity feedback filter can be enabled or disabled by setting the #219 Enable/Disable velocity feedback filter parameter. When enabled, the filter bandwidth can be set in the #220 Velocity feedback filter bandwidth parameter. The velocity feedback filter is effective in eliminating noise at motor operation, but with a small bandwidth the velocity control part tends to oscillate. The filter bandwidth of the velocity command filter can be set in the #221 Velocity command filter bandwidth parameter. The velocity command filter helps achieving smoother acceleration/deceleration, but with a small bandwidth the position control part tends to oscillate.

[Related parameters]

#51 Velocity control bandwidth #152 First order delay compensation device setting #153 Notch filter: Frequency selection 1 #154 Notch filter: Frequency selection 2 #155 Load inertia/load mass #219 Enable/Disable velocity feedback filter #220 Velocity feedback filter bandwidth #221 Velocity command filter bandwidth

20Hz/80Hz 30Hz/120Hz 40Hz/160Hz

20Hz/80Hz

30Hz/120Hz

40Hz/160Hz

[Frequency characteristics of the first order

delay compensation device]

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Functions

5.4.2 Position Control Part

For the position control bandwidth, either the value set with the #50 Position control bandwidth 1 parameter or the #48 Position control bandwidth 2 parameter is selected, according to the status of the controller interface input signal IN_FN. The selected value is displayed in the #375 Position control bandwidth monitor. The position control part calculates the proportional control gain, integral control gain, and differential feedback gain, according to the position control bandwidth value. The position integral limiter set by the #53 Position integral limiting value parameter is effective in suppressing integrator windup due to motor torque and thrust saturation. Decrease the value in order to suppress windup further. On the other hand, if you set the value too small, the motor torque and thrust are limited; set a value as large as possible in the range where windup does not occur. The integral operation of the position control part can also be set either to be active (allow) or inactive (prohibit). If you clamp the motor with an external device when the motor is stopped, the integral operation should be prohibited after clamping in order to prevent overloading the controller. Refer to Chapter 6 “Controller Interface” and Chaper 7 “RS232C Interface” for details of the operation. The position current value filter outputs the result obtained by filtering the position current value to the #384

Motor linear coordinate current value after filtering monitor. The filter bandwidth is set with the #59 Position current value filter frequency parameter. The position control part outputs a value before or after being filtered to the #321 Pulse position current value monitor, according to the setting status of the #203 Using position current value filter parameter. It also calculates the value of the #322 Pulse position deviation monitor, using the current value before or after being filtered, according to the setting status of the

#203 parameter.

[Related parameters]

#50 Position control bandwidth 1 #48 Position control bandwidth 2 #53 Position integral limiting value #59 Position deviation filter frequency #203 Using position current value filter

5.4.3 Feed Forward

Three types of feed forward functions are available: position feed forward, velocity feed forward, and acceleration feed forward. Feed forward function is effective for quick positioning. The position feed forward can be set by percentage in the #54 Position feed forward percentage parameter. The position feed forward makes the position deviation at equal velocity move smaller and helps to achieve a smooth settling at acceleration/deceleration. The velocity feed forward can be set by percentage in the #55 Velocity feed forward percentage parameter. The acceleration feed forward calculates the acceleration feed forward gain from the #155 Load inertia/load mass parameter values, which are measured and set by the auto-tuning operation or set directly by numerical values, based on the #56 Acceleration feed forward gain parameter. #56 parameter is given as a percentage.

[Related parameters]

#54 Position feed forward percentage #55 Velocity feed forward percentage #56 Acceleration feed forward percentage #155 Load inertia/load mass

5-12

Page 67

5.4.4 Servo Stiffness Parameter

The #38 Servo stiffness settings parameter is for general settings for the control system. The control parameters are set based on this parameter after measuring the load inertia/load mass in the auto-tuning operation. If #38 is changed, either one of the position control bandwidth parameters (#50, #48) selected by IN_FN and either one of the velocity control bandwidth parameters (#51, #49) selected by IN_GAIN are set. In addition, the gain of the control system is set automatically, and the position integral limiting value parameter (#53) is also automatically set to the minimum position integral limiting value that can generate the maximum torque and the maximum thrust in the motor lock status. It is not necessary to set parameters related to feed forward and filters again.

[Related parameters]

#38 Servo stiffness settings #50 Position control bandwidth 1 #48 Position control bandwidth 2 #51 Velocity control bandwidth 1 #49 Velocity control bandwidth 2 #53 Position integral limiting value

5-13

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Functions

5.5 Acceleration/Deceleration Function

This driver performs trapezoidal moves during jog moves and homing moves, and uses the acceleration/deceleration function described in this section. In addition, it has a velocity override function for switching velocity during a move, which works in real time even during the move (real time velocity override function). The maximum velocity of the motor is defined in #213 Maximum velocity, but is limited by the maximum velocity defined within the driver. The limited value is displayed in the #357 Maximum velocity monitor.

5.5.1 Velocity Override Function

The velocity override value is set with the #16 Velocity override percentage 1 parameter. The velocity override value can be set in increments of 0.01% from 0 to 200%. Please note that if a value greater than 100% is set, the velocity during the move may exceed the maximum velocity, which may cause an error. How the velocity override is applied differs for the trapezoidal move and cam profile move.

[Related parameters]

#16 Velocity override percentage 1

5-14

Page 69

5.5.2 Velocity Profile

In a trapezoidal motion, the acceleration of the moving part follows the acceleration type set by the #4 Selecting acceleration type parameter until it reaches the feed velocity. Hereafter, the move is continued with the feed velocity, then decelerates and stops according to the deceleration type set by the #5 Selecting deceleration type parameter. The feed velocity varies depending on the operation.

The acceleration and deceleration types can be selected separately. There are two options for acceleration and deceleration: a constant acceleration type and an S-shaped type (where the acceleration/deceleration follows a second order spline). Generally, the S-shaped type can limit vibrations in the machine better, but the peak torque or peak thrust at acceleration/deceleration become greater and a correspondingly larger motor torque or motor thrust will be required. The acceleration/deceleration time can also be selected separately. The values of the #7 Acceleration time during a trapezoidal move and #8 Deceleration time during a trapezoidal move parameters are set to values equivalent to the maximum velocity shown in the #357 Maximum velocity monitor. The actual acceleration/deceleration time becomes the value obtained by multiplying the maximum velocity by the velocity ratio during a trapezoidal move. By doing so, the same acceleration can be maintained without changing #7 and #8 even when the feed velocity setting is changed.

Waiting for trigger Waiting for trigger

200ms/div

[Constant

acceleration]

#7 Acceleration time during a trapezoidal move

Actual acceleration time

NORM:5kS/s

Maximum velocity

Feeding Velocity

Maximum velocity

Feeding Velocity

#8 Deceleration time during a trapezoidal move

Actual deceleration time

200ms/div NORM:5kS/s

[S-shaped]

Waiting for trigger

#7 Acceleration time during a trapezoidal move

Actual acceleration time

[Acceleration] [Deceleration]

Waiting for trigger

200ms/div NORM:5kS/s

#8 Deceleration time during a trapezoidal move

Maximum velocity

Feeding Velocity

Maximum velocity

Feeding Velocity

Actual deceleration time

[Acceleration] [Deceleration]

200ms/div NORM:5kS/s

5-15

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Functions

The feed velocity during a move becomes the commanded velocity multiplied by the velocity override value. If the velocity override value is changed during a move, the moving part is accelerated at the same acceleration profile and acceleration as the normal acceleration time when the velocity override value is increased. In the same way, the moving part is decelerated at the same deceleration profile and deceleration as the normal deceleration time when the velocity override value is decreased.

Waiting for trigger

500ms/div

NORM:2kS/s

150%

100%

[Acceleration: s-shaped, deceleration: constant acceleration]

[Related parameters]

#3 Selecting the type of cam profile move #4 Selecting the acceleration type #5 Selecting the deceleration type #7 Acceleration time during a trapezoidal move #8 Deceleration time during a trapezoidal move

Waiting for trigger

150%

100%

500ms/div

NORM:2kS/s

5-16

Page 71

5.6 Other Functions

5.6.1 Settling Wait, Position Settling Status, and Positioning Status

Position settling status refers to the status where the position deviation (pulse coordinates) is within the specified range in the pulse coordinate system. The specified range is set with the #58 Position settling pulse

width 1, #45 Position settling pulse width 2, #46 Position settling pulse width 3, and #47 Position settling pulse width 4 parameters in pulse units, which are selected by the controller interface input signal IN_POSW[1..0]. The selected value is then displayed in the #377 Position settling width monitor. The #322 Pulse position deviation monitor is used for the position deviation to be evaluated. The position settling status

is set when the absolute value of position deviation becomes shorter than the position settling width for the duration set with the #61 Position settling signal chattering processing count parameter. The check cycle is 2 msec. If chattering occurs in a “COIN” due to an overshoot during position settling, depending on the load status, the settling condition can be obtained without fail by increasing the chattering processing count. The position settling status is displayed in the #328 Position settling status monitor. It is also displayed with the “COIN” LED on the front panel: it turns on to indicate the position settling status. Furthermore, it is output to the “COIN” of the CN3 analog monitor interface by a digital signal. Positioning status is the status where an acceleration/deceleration command for a move is completed and in position settling status. The positioning settling status is displayed in the #329 Positioning status monitor. Settling wait is a function invoked to keep on waiting until the positioning status is reached at the end of a move. Settling wait can be made in two ways depending on the operation: never perform settling wait or always perform settling wait.

Operation

Never perform Jog move, test operation, auto-tuning operation

Always perform Homing move

[Related parameters]

#58 Positioning settling width 1 #45 Positioning settling width 2 #46 Positioning settling width 3 #47 Positioning settling width 4 #61 Position setting signal chattering processing count #203 Using position current value filter

5-17

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Functions

5.6.2 Velocity Monitor and Analog Monitor

The current velocity value of the motor is output to “VEL” of the CN3 analog monitor interface as the velocity monitor signal.

The signal sensitivity of the velocity monitor ([V/rps] in case of a rotating DYNASERV motor and [V/mps] in case of a linear LINEARSERV motor) can be obtained by multiplying the #69 Velocity monitor gain parameter setting by the #356 Digital velocity sensitivity monitor value. For example, if the setting of #69 is 6.55V/8192 digits and the value of #356 is 4800 [digit/rps] in a rotating motor, the signal sensitivity of the velocity monitor is

3.84 [V/rps]. The velocity monitor signal is output in the range of ± 6.55V. Moreover, it is possible to output only the AC element of the current velocity value of the motor via the setting of the #75 Velocity monitor selection parameter. One of the data items below is output to “AMON” of the CN3 analog monitor interface as an analog monitor signal. The content of the analog monitor can be selected by the #70 Analog monitor selection parameter. Depending on the selected content, the signal sensitivity is adjusted using the corresponding monitor gains #71 to 74. The analog monitor signals are output in the range of ± 6.55V.

Analog monitor selection Unit Monitor gain Position deviation Pulse #71 Positioning error monitoring gain (Analog monitor) Test operation response Pulse #72 Test operation monitoring gain (Analog monitor) Position command value Pulse Position current value Pulse Position command differential value pps Position current differential value pps

#73 Position monitoring gain (Analog monitor)

#74 Position differential value monitor gain (Analog monitor)

[Related parameters]

#69 Velocity monitoring gain #70 Analog monitor selection #71 Positioning error monitoring gain (Analog monitor) #72 Test operation monitoring gain (Analog monitor) #73 Position monitoring gain (Analog monitor) #74 Position difference value monitor gain (Analog

monitor) #74

#75 Velocity monitor selection

5.6.3 Brake Signal

BRK+ and BRK- are output to the TB2 external sensor interface as brake signal outputs that operate linked to the Servo ON status. The brake signal is a relay contact output. The contact opens when the brake should be applied such as when the power is disconnected or the driver is in Servo OFF status, and the contact short circuits when the brake should be released. The Servo ON status and the brake signal operate according to the timing diagram shown below via the #89 Brake turn OFF delay time upon Servo ON and parameters.

Servo ON status

Brake signal

OFF

Open-circuit

Short-circuit

#90

Advanced brake turn ON before Servo OFF

[Related parameters]

#89 Brake turn OFF delay time upon Servo ON #90 Advanced Brake turn ON before Servo OFF

#90#89

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5.7 Special Parameter Processing

The setting values of the parameters listed below are automatically changed inside the driver by the operation of the driver.

5.7.1 Internal Generation of Parameter Initial Values

The initial values of all of the following parameters when they are reset will be generated internally by the motor:

[Related parameters]

#9 Feeding velocity Value obtained by converting the motor rating velocity

#10 Jog velocity Value obtained by converting the motor rating velocity

#11 Over-travel search velocity during a homing

move

#12 Homing operation: Home sensor proximity

signal search velocity

#13 Homing operation: Home sensing feed

velocity 1

#15 Homing operation: Origin position offset

move feed velocity

#31 Operation width under testing mode Value obtained by converting the motor rating

#32 Operation width under Auto-tuning Value obtained by converting the motor rating

#213 Maximum velocity Value obtained by converting the motor rating velocity

#207 Simplified scaling weighted data DM: 4

#58 Positioning setting width 1: Pulse width equivalent to command unit * 1

into command units.

into command units. Value obtained by converting the motor rating velocity∗0.1 into command units. Value obtained by converting the motor rating velocity∗0.1 into command units. Value obtained by converting the motor rating velocity∗0.05 into command units. Value obtained by converting the motor rating velocity∗0.1 into command units.

velocity∗0.002 into command units.

velocity∗0.02 into command units.

into command units.

DR: 2

2: Pulse width equivalent to command unit * 5 3: Pulse width equivalent to command unit * 20 4: Pulse width equivalent to command unit * 100

5.7.2 Limiting and Checking Maximum Velocity When Changing Simplified Scaling Weighted Data and Maximum Velocity Parameters

The following maximum velocity limiting and checking are performed during processing when the power is turned ON after simplified scaling weighted data is changed.

Limit item 1) A limit is set when the maximum velocity in command units [unit/s] exceeds 9999999.

2) A data checksum error is generated when the maximum velocity in pulse units [pls/s] exceeds

8000000.

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Functions

5.7.3 Auto Conversion and Clear Functions When Changing Simplified Scaling Weighted Data

When simplified scaling weighted data is changed, the following parameters are automatically converted:

[Related parameters]

#9 Feeding velocity #10 Jog velocity #11 Over-travel search velocity during a homing move #12 Homing operation: Home sensor proximity signal search velocity #13 Homing operation: Home sensing feed velocity 1 #15 Homing operation: Origin position offset move feed velocity #29 Offset distance from the Home position #31 Operation width under testing mode #32 Operation width under Auto-tuning #58 Positioning setting width #45 Positioning setting width2 #46 Positioning setting width3 #47 Positioning setting width4 #213 Maximum velocity

5.7.4 Limiting the Maximum Parameter Values

Limit processing is performed for the following parameters related to velocity at the time of parameter entry and when the power is turned ON.

[Related parameters]

[At the time of parameter entry]

If a parameter value exceeds #357 Maximum velocity monitor value when it is set by the user, it will be processed as out of range data. However, limit processing is not performed in the hold-on state (while downloading parameters), when changing the simplified scaling weighted data, or when changing the maximum velocity data.

[When the power is turned ON]

During processing when the power is turned ON after simplified scaling weighted data or maximum velocity data is changed, a limit is applied using the value equivalent to the #357 Maximum velocity monitor that is successively initialized.

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Chapter 6 Control Interfaces

6.1 Terminal Function

6.1.1 Connection, Setting, and I/O Mapping

6.1.2 Explanation of Terminals

6.1.3 Electrical specifications

6.1.4 I/O logic setting

6.2 Position Command Pulse Input

6.3 Encoder Pulse Output

6.4 Operations

6.4.1 Starting an Operation

6.4.2 Aborting an Operation

6.4.3 Timing Charts

6.5 Other Inputs

6.5.1 Pulse Weight Selection PLS_DIRECT

6.5.2 Position Control Bandwidth Selection FN

6.5.3 Velocity Control Bandwidth Selection GAIN

6.5.4 Settling Width Selection POSW [1..0]

6.5.5 Disable Position Control Integral Operation PACT

6.5.6 Error reset (ERR_RESET)

6.5.7 Servo ON SERVO

6.5.8 Current Limit Input

6-1

Page 76

Control Interfaces

6.1 Terminal Function

6.1.1 Connection, Setting, and I/O Mapping

CN4

Made by Honda Tsushin Kogyo

Connector PCR-S36FS Cover PCR-LS36LA

19 IN_ERR_RESET 01 COMP1

20 IN_SERVO 02 COMN1

21 IN_MODE_START 03 OUT_DRDY

22 IN_ABORT 04 OUT_SRDY

23 IN_MODE. 0 05 OUT_BUSY

24 IN_MODE. 1 06 OUT_XOVL

25 IN_POSW. 0 07 OUT_OVER

26 IN_POSW. 1 08 OUT_COIN

27 IN_GAIN 09 UA_OUT+

28 IN_FN 10 UA_OUT-

29 IN_PLS_DIRECT 11 DB_OUT+

30 IN_PACT 12 DB_OUT-

31 (NC) 13 Z_OUT+

32 (NC) 14 Z_OUT-

33 CRNT_LMT_IN+ 15 PUA_IN+

34 CRNT_LMT_IN- 16 PUA_IN-

35 (NC) 17 SDB_IN+

36 (NC) 18 SDB_IN-

Note) Do not connect any terminal with NCs.

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6.1.2 Explanation of Terminals

Signal name Description

Contact input signals Total 12 points

IN_MODE_START 1 Operation start command

IN_ABORT 1 Operation abort command

IN_MODE1, 0 2 Operation mode number

IN_PLS_DIRECT 1 Pulse weight selection

IN_FN 1 Position control bandwidth selection

IN_GAIN 1 Velocity control bandwidth selection

IN_POSW1, 0 2 Settling width selection

IN_PACT 1

IN_ERR_RESET 1 Error reset

IN_SERVO 1 Servo ON Servo ON by turning ON.

Contact output signals Total 6 points

OUT_DRDY 1 Driver ready

OUT_SEDY 1 Servo ready

OUT_OVER 1 Over signal

OUT_XOVL 1 Overload signal Turns OFF when overload occurs.

OUT_COIN 1 Position settling signal

OUT_BUSY 1 Busy

Position command pulse input signals Total 2 pairs

PUA_IN ±

SDB_IN ±

Position current pulse output signals Total 3 pairs

UA_OUT ±

DB_OUT ±

Z_OUT ±

Analog input Total 1 pair

CRNT_LMT_IN ±

Position control integral operation disabled

1 Position command pulse 1

1 Position command pulse 2

1 Position current pulse 1 UP or A, depending on the setting

1 Position current pulse 2

1 Origin pulse

1 Current limit 0V: 0% to 10V: 100%

Starts operation when setting from OFF to ON. Stops operation when setting from OFF to ON.

Changes the position control bandwidth. Changes the velocity control bandwidth. Switches the settling width.

Disables the integral operation by turning ON. Executes error status reset when setting from OFF to ON.

Turns ON when it is not in the error status. Turns ON when it is in the servo ready status. Turns ON when position deviation overflow or excessive velocity occurs.

Turns ON when the position deviation is within the settling width. The status where operation cannot be performed according to the pulse train position command.

PLS, UP, or A, depending on the setting SIGN, DOWN, or B, depending on the setting

DOWN or B, depending on the setting

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Control Interfaces

6.1.3 Electrical specifications

[Interface power supply inputs] COMP1, COMN1

Input the interface power supply for contact inputs and contact outputs.

Interface type name SA SB

Rated voltage

[Contact inputs] IN_ERR_RESET, IN_SERVO, IN_MODE_START, IN_ABORT, IN_MODE.0, IN_MODE.1,

IN_POSW.0, IN_POSR.1, IN_GAIN, IN_FN, IN_PLS_DIRECT, IN_PACT

12 to 24 VDC (±10%) 50VCD ( ±10%)

Vcc

100k

Ω

COMP1

IN_*

470

SA:2.7k SB:1k

Ω

PS2805

Ω

Input is ON while current flows into the photocoupler.

Interface type name SA SB

Rated voltage

Rated input current

0.1µF

Input impedance 3.0k

Operation voltage (relative to COMP*)

12 to 24 VDC (± 10%

4.1 mA/point (at 12 VDC)

8.5 mA/point (at 24 VDC)

Ω

At OFF 3.0VDC or less At ON 9.0VDC or more

)

5 VDC (± 10%

4.0 mA/point (at 5 VDC)

1.0k

Ω

At OFF 1.0VDC or less At ON 4.0VDC or more

Allowable leak current OFF is guaranteed at 1.0 mA or less

[Contact outputs] OUT_DRDY, OUT_SRDY, OUT_BUSY, OUT_XOVL, OUT_OVER, OUT_COIN

Vcc

COMP1

OUT_*

COMN1

MA8330

2SD1820A

10k

Ω

SA:8.2k SB:1k

Ω

PS2805

Ω

Output is ON while the output transistor is ON.

[Position command pulse inputs] PUA_IN ±, SDB_IN

Interface type name

1.5k

Ω

Rated voltage

12 to 24 VDC

Maximum load current 0.1A/point, 0.5 A/common

ON voltage 0.5VDC or less

Leak current at OFF 0.1mA or less

SA SB

(

± 10%

5 VDC

)

(

Connect a differential type line driver conforming to the RS422A standard, which is equivalent to AM26LS31. (There is also an open collector specification. Please contact our sales department for more details.)

± 10%

)

Input is ON when the (+) terminal has a higher voltage than the (-) terminal, and current flows into the photocoupler

Equivalent to

AM26LS31

Controller

Ω

[Position current pulse outputs] UA_OUT ±, DB_OUT ±, Z_OUT

Ω

TLP115A

470pF

470

Ω

Connect a differential type line receiver conforming to the RS422A standard, which is equivalent to AM26LS32.

Output is ON when the (+) terminal has a higher voltage than the (-) terminal

Equivalent to

AM26LS32

Controller

AM26LS31

6-4

Vcc

Page 79

[Current limit analog input] CRNT_LMT_IN

Current 100% at 10 VDC Current 0% at 0 VDC

CRNT_LMT_IN+

0 to 10VDC

CRNT_LMT_IN-

Controller

200k

Ω

6.1.4 I/O logic setting

For the contact input and contact output signals, it is possible to set the physical I/O status and the logical relationship of the driver’s internal signal status in both contact and bit units. The input signals IN*** are processed via the I/O logical conversion and are then expressed as a logical input signal ***. If the signal status is reached, it is expressed as 1 and if the status is not reached, expressed as 0. A logical output signal *** is expressed as 1 if the status is reached and 0 if the status is not reached. After conversion via the I/O logical setting, it becomes an output signal OUT_***. The I/O logical settings at the time of shipment from the factory are set to positive logic for all input and output signals. In other words, the internal input and output signals are set to 1 when the corresponding contact points are turned ON. By setting the I/O logical setting for IN_SERVO to negative logic using the PC utility, it is possible to connect a PLC interface in the same state as it was shipped from the factory. As a result, an RS232C interface can be used to confirm basic operations. Refer to Chapter 8 “DrvGII PC Utility” for a description of how to set the I/O logic.

Driver's internal processing

Logic setting

Positive logic

setting

Negative logic

setting

Bit I/O status

0 Status 1

Logic signal

Status 0

Status 1

Status 0

Bit input (IN_***)

Bit output (OUT_***)

Processing by logic setting

Logical input signal (***)

Logical output signal (***)

6-5

Page 80

Control Interfaces

6.2 Position Command Pulse Input

(PLS, SIGN) (UP, DOWN) (A, B)

+ direction - direction + direction - direction + direction - direction

150ns min

PUA_IN

PLS

150ns min

SDB_IN

Caution

3µs min 3µs min

The signal should be H when active (status for flowing current to the driver photocoupler). As for the PLS, it should be L when normal.

SIGN

DOWN

6µs min

The signal should be H when active (status for flowing current to the driver photocoupler). As for both the UP and DOWN, they should be L when normal.

The signal should be H when active (status for flowing current to the driver photocoupler).

300µs min

before and after switching the input signal “PLS_DIRECT” (off →on, on → off).

PLS_DIRECT

PUA_IN

SDB_IN

Status 1

Status 0

Unchanged

2 msec

or more

2 msec

or more

2 msec

or more

2 msec

or more

6.3 Encoder Pulse Output

The position current value is output from the driver via the controller interface by either pair of the (UP, DOWN) or (A, B) signals. Which pair of the signals will be used to output is set with the #205 Monitor pulse type parameter. The encoder origin signal is independent of this setting.

(UP, DOWN) (A, B)

UA_OUT

DB_OUT

+ direction - direction + direction

3MHz max

DOWN

750kHz max

6-6

- direction

Page 81

6.4 Operations

6.4.1 Starting an Operation

The operation start command via MODE_START instructs the start of operations other than jog moves. The operation start command is issued when the status is 1. MODE[1..0] must set the number of the operation to be performed when the operation start command is issued via MODE_START. See the table below. In addition, the value set by MODE[1..1] is read and processed 10ms after the operation start command is issued. Therefore, if deviation in time between outputs by the controller is within several msec, the motor can be started normally by setting the time earlier than the time of the operation start command issuance via MODE_START. However, note that the dead time for issuing the operation start command will be added to this duration (10ms). The total dead time until the motor starts operating is thus 10ms (scan time) + 10ms (read delay) + internal delay time. The BUSY output retains the executing status even when an operation ends while MODE_START is giving a command (while in status 1) after an operation is started.

No. Name End type

0 Test operation Non-self-end 1 Auto-tuning operation Self-end 2 (Reserved) 3 Homing move Self-end

6.4.2 Aborting an Operation

The operation abort command via MODE_ABORT stops operations other than jog moves. The operation abort command is issued when the status is 1. The motor immediately decelerates even during an operation involving a move, and ends the operation.

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Control Interfaces

6.4.3 Timing Charts

[Self-end type] In case of self-end

MODE_START

MODE[1..0]

BUSY

STATUS1

STATUS0

Not necessary

to consider

STATUS1

STATUS0

Not necessary

to consider

0 or more

At the end of

[Self-end type] In case of end by the operation abort command [Non-self-end type]

MODE_START

MODE[1..0]

MODE_ABORT

BUSY

STATUS1

STATUS0

Not necessary

to consider

STATUS1

STATUS0

STATUS1

STATUS0

0 or more

Not necessary

to consider

processing

Not necessary

to consider

Not necessary

to consider

0 or more

[Non-end type]

MODE_START

MODE[1..0]

BUSY

STATUS1

STATUS0

Not necessary

to consider

STATUS1

STATUS0

0 or more

Not necessary

to consider

6-8

Page 83

6.5 Other Inputs

6.5.1 Pulse Weight Selection PLS_DIRECT

When the status of the PLS_DIRECT pulse weight selection input signal is 1, it is independent of the #207 Simplified scaling weighted data parameter; the position command pulse that is input is directly used as the

internal position command pulse. For more details, see Section 5.3.2, “Switching Position Command Pulse Weights” and Section 6.2, “Position Command Pulse Input.”

6.5.2 Position Control Bandwidth Selection FN

The FN position control bandwidth selection signal selects to use either #50 Position control bandwidth 1 parameter or the #48 Position control bandwidth 2 parameter for the position control bandwidth value. Position control bandwidth 2 is selected with status 1, and position control bandwidth 1 is selected with status 0.

6.5.3 Velocity Control Bandwidth Selection GAIN

The GAIN velocity control bandwidth selection signal selects to use either #51 Velocity control bandwidth 1 parameter or the #49 Velocity control bandwidth 2 parameter for the velocity control bandwidth value. Velocity control bandwidth 2 is selected with status 1, and velocity control bandwidth 1 is selected with status 0.

6.5.4 Settling Width Selection POSW [1..0]

The POSW [1..0] settling width selection signal selects to use either one of #58 and #45 to #47 Position settling width pulse 1 to 4 parameters for the settling width used as the specified range for generating settling

signals.

POSW [1..0]

Status 0 Status 0 #58 Position settling width pulse 1

Status 0 Status 1 #45 Position settling width pulse 2

Status 1 Status 0 #46 Position settling width pulse 3

Status 1 Status 1 #47 Position settling width pulse 4

Settling width value

6.5.5 Disable Position Control Integral Operation PACT

The PACT disable position control integral operation signal disables the integral operation of the position control part. Integral operation is disabled with status 1, and integral operation is enabled with status 0.

6.5.6 Error reset (ERR_RESET)

The error reset command, ERR_RESET, cancels an error status in the driver. It functions irrespectively of the operation mode. It can only be executed while in the idle status. The error reset command is issued as the status 1. Depending on the error content, there are errors that cannot be canceled or errors that cause identical errors immediately after canceling. Avoid creating a program that maintains ERR_RESET and waits until ERR, the error status output, is canceled.

50 ms or more

ERR_RESET

Status 1

Status 0

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Control Interfaces

6.5.7 Servo ON SERVO

The SERVO servo ON input signal is set to servo ON when the status is 1. In addition to this instruction, the actual Servo ON/OFF status is affected by the setting of the SRV DS Servo ON disable switch on the front panel. See the table below.

Servo ON/OFF

SERVO

Status 0

Status 1

SRV DS Servo ON

disable on the front panel

Disabled

Enabled

Disabled

Enabled Servo ON

Actual servo status

Servo OFF

6.5.8 Current Limit Input

The current limit analog input signal gives a current limit from 0 to 100%, in proportion to a voltage input of 0 to 10V given by the external source. To enable this function, enable the #206 Enabling current limit external

input parameter. This parameter has been disabled by factory default setting.

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Page 85

Chapter 7 RS232C Interfaces

7.1 Overview

7.2 Connection and Setting

7.3 Communication Specifications

7.4 @ Commands

7.4.1 Start @3: Field 0

7.4.2 Stop @2

7.4.3 Abort @1

7.4.4 Error reset @4

7.4.5 Homing offset position setting @10

7.4.6 Jog move command @11: Field 0

7.4.7 Other convenient commands

7.5 Parameter Commands

7-1

Page 86

RS232C Interfaces

7.1 Overview

The CN1 RS232C communication connector is provided in order to make connection with host devices such as PCs and PLCs via the RS232C. The operation display pendant (abbreviated as TBX, optional device) can also be connected to this connector. Refer to Chapter 9, “Operation Display Pendant” for a description of how to use the operation display pendant. This chapter explains how to connect the CN1 RS232C communication connector to devices other than the operation display pendant. In the RS232C interface, two communication modes are available. The first is a single channel

communication where the connection is made 1:1 with the host device, and the other is a multi-channel communication where 1:N communication can be performed by connecting one host device with several of

these drivers (a maximum of nine). Please note that the connection and operation methods are different for each communication mode. In addition, the PC utility (optional) running under Windows can also be connected to the drivers via the RS232C interface in order to support setting, operation, and maintenance work on the drivers. Refer to Chapter 8, “DrvGII PC Utility” for a description of how to use the PC utility.

7.2 Connection and Setting

[Connectors and terminal assignment]

Made by Japan Aviation Electronics DELC-J9SAF13L6 (9 pins)

01 FG

RxD

TxD

(NC)

XTBXON

XTBXEMG

+5V

Do not use these connections, since they are used for the operation display pendant.

[Single channel]

The connection cables (optional) are available according to the PC to be connected (DOS/V, NEC PC98).

Driver PCDOS/V

RxD

TxD

D-sub 9-pin male D-sub 9-pin female

Driver PCPC98

RxD

TxD

RxD

TxD

RxD RTS

0504CTS

Option cable CP7576S-020 (2 m)

Option cable CP7577S-020 (2 m)

D-sub 9-pin male

D-sub 25-pin male

In order to set the communication mode to the single channel mode, the rotary switch RS-ID on the front panel should be turned to “0.” This setting should be made before turning the power on.

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[Multi-channel]

When preparing for multi-channel communication, connect the host device and a maximum of nine drives in a loop shape as shown in the figure below.

TxD

RxD

D-sub 9-pin female

TxD

RxD

RTS

CTS

D-sub 25-pin male

DOS/V

PC98

RxD

TxD

RxD

TxD

RxD

TxD

09 SG

RxD

TxD

09 SG

RxD

TxD

09 SG

Driver 1PC

D-sub 9-pin male

Driver 2

D-sub 9-pin male

Driver 9

D-sub 9-pin male

Driver 1PC

D-sub 9-pin male

Driver 2

D-sub 9-pin male

02 05 03 09 SG

Driver 9

RxD

TxD

D-sub 9-pin male

In multi-channel communication, the host device is assigned to host ID “0.” The drivers should be set as slave stations and the IDs should be set for each driver from “1” to “9” in such a way that the station numbers do not

overlap, using the rotary switch RS-ID on each driver’s front panel. The order of the IDs does not need to be the same as the order of connection. This setting should also be made before turning the power on.

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RS232C Interfaces

7.3 Communication Specifications

[Communication parameters]

Communication method Start-stop system, text communication Communication speed 9600 bps Stop bit 1 bit Data length 8 bits Parity None Terminate CR (both transmission and reception) Flow control None

[Single channel and multi-channel]

Single channel Multi-channel Topology Cross Ring ID Unnecessary Host device 0

Destination specification Unnecessary Add the destination ID at the beginning of the packets

[Transmission from the host device to drivers]

Drivers 1 to 9

From the host device to drivers: n****CR (n: slave station ID) From drivers to the host device: 0n****CR (n: slave station ID)

The number of characters to be transmitted should be 128 letters or less, including the slave station ID, recognition key, transmission character string, and CR.

Single channel

Multi-channel

Slave

station ID

Recognition

key

Recognition

key

Transmission character string CR

[Response from drivers to the host device]

The number of response characters should be 128 letters or less, including 0, slave station ID, recognition key, transmission character string, and CR.

Single channel

Multi-channel

Slave

station ID

Recognition

key

Recognition

key

Response character string CR

[Recognition key]

The recognition key is a function provided so that the host device can recognize that a response is a reply to a specific transmission by the host device. A maximum of 15 “!” characters can be included in the recognition key part. If more than 15 are added, the remainder of the number divided by 16 is processed as the actual recognition key number. When the host device transmits a message to a driver and attaches N recognition keys to the transmission character string, the driver will send a response message back in which it attaches N recognition keys to that transmission character string. If, for instance, the host device issues a transmission character string to a driver that does not generate an immediate response, the host device may issue the next transmission character string before the response is returned. In such cases, it becomes difficult for the host device to recognize to which transmission character string the response character string returned afterward is issued. In this case, by issuing transmission character strings with different recognition key numbers, it becomes possible to judge to which transmission character string a particular response corresponds, simply by obtaining the recognition key number as the response is received.

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[Transmission character string]

Transmission character strings are classified as follows. The details about the @ commands and parameter commands will be explained separately in Section 7.4, “@ Commands” and Section 7.5, “Parameter Commands.”

Explanation Receivable status

@ commands Commands for operating the driver

Parameter commands

Commands for setting parameters and reading parameter/monitor values.

Receivable status changes depending on the command. Receivable status changes depending on the parameter.

[Response character string]

A response character string is structured as follows.

Response character string

Header

Prompt : Field 2

Space, one character

: Field 1

: Field 3

．．．

Response character strings are classified as follows.

Header

structure

General R!"

Error ERR!!."

Alarm ALM!!."

Note: In case of a general response the " part of the field is expressed in one of the following ways:

0: In case there is no field D: Character string expressed in decimal B: Binary expression (8, 16, 32 digits) H: Hexadecimal expression (2, 4, 8 digits) S: Character string Z: Other than above (character string, etc.)

! part " part Explanation

Number of fields

Error/alarm code (main)

For the field expression method; see the note.

Error/alarm code (sub)

Normal response character strings to a transmission character string. The number of fields changes depending on the content of the response. Response character string to a transmission character string at error and alarm. Fields never exists.

The following shows some examples of response character strings.

R00 R1D Position control bandwidth: 12 R1B Sensor group signal status: 00010000 ERR30.0 Servo not ready ALM60.0 Cannot interpret command

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RS232C Interfaces

7.4 @ Commands

Command

＠

number

Command name Command No. No. of fields

Abort 1 0

Stop 2 0

Start 3 1

Error reset 4 0

Homing offset position setting 10 0

Jog move command 11 1

: Field 0Command format

: Field 1

: Field 2

Response at

normal operation

R00

．．．

7.4.1 Start @3: Field 0

Start commands begin operating actions other than jog moves. For argument 0, set a numeric value corresponding to the content of the operation to be performed. A response is issued when the corresponding operation is complete. In case of operations that do not end by themselves, such as test operations, perform the next operation without waiting for the response.

Operating action name Command No. of fields

Test operation @3:0 1

Auto-tuning operation @3:1 1

Homing move @3:3 1

Mechanical setting mode @3:15 1

7.4.2 Stop @2

Stop commands are used to end operating actions other than jog moves. They can be issued via the RS232C interface when the setting of the operation mode has given the main operation authority to the RS232C interface. The driver’s response to stop commands varies depending on the current operating action. Refer to the table below. The response is issued immediately.

Operating action name Driver response Test operation Ends the operation when the motor returns to the start position. Auto-tuning operation Ends the operation when the oscillation command to the motor is

Homing move Immediately decelerate and stop the move, and ends the operation. Mechanical setting mode Invalid because this operation cannot be completed (ignored).

completed.

7.4.3 Abort @1

The abort command stops operating actions other than jog moves. It functions irrespectively of the operation mode. Unlike with the stop commands, the motor immediately decelerates and stops, and the operating action is ended even during an operation that involves movement. When the M function is being executed, the abort command stops the execution and ends the operating action. The response is issued immediately.

7.4.4 Error reset @4

The error reset command cancels error statuses of the driver. It functions irrespectively of the operation mode. It can only be run while in the idle status. Depending on the error content, there are errors that cannot be canceled or errors that cause the same errors again immediately after being canceled. The response is issued immediately.

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7.4.5 Homing offset position setting @10

The homing offset position setting command instructs the #29 Offset distance from the home position parameter to auto-set so that the current motor position will become the position after homing is completed from the next time. It functions irrespectively of the operation mode. It can only be run while in the idle status. When the command is issued, the current command unit command value and the value of the #29 parameter at that point are added. This value is temporality stored in the #29 parameter. The response is issued immediately.

7.4.6 Jog move command @11: Field 0

The jog move command is for performing jog operations. This command can be executed in the idle status when the #217 Jog move operation: RS232C selection parameter is set so that operations are performed via the RS232C interface. When field 0 contains “1” a move in the + direction is commanded, when it contains “-1” a move in the direction is commanded, and when it contains “0,” a stop command is issued. In the idle status, a jog move is performed as commanded by this command. If a start command is issued during a jog move, the move is immediately decelerated and stopped, after which the operation is started. If the operation is ended after that, the motor remains stopped regardless of the jog move status before starting the operation. The response is issued immediately.

7.4.7 Other convenient commands

Command name Command No. Number of fields

Status request 0 1 R3H

Software driver reset 96 0 None

Response at

normal operation

[Status request] @0:0

This command notifies the status of the driver. It functions irrespectively of the operation mode. The response is issued immediately.

Response character string: R3H:driver status:execution program number:execution block number

Driver status

Bit No. Content

0 Operation mode PLC RS232C

1 Servo ready Not ready Ready

2 Operation is being executed Not being executed Being executed

3 Axis operation is being executed Not being executed Being executed

Mechanical setting mode is

being executed

16 Error status Not in error status Error status

17 Alarm status Not in alarm status Alarm status

Others (Reserved)

Not being executed Being executed

Val ue

[Software driver reset] @96

This command is software equivalent to turning the power to the driver off and on. There is no response.

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RS232C Interfaces

7.5 Parameter Commands

Through the use of parameter commands, it is possible to refer to values of parameters and monitor (reference commands), assign numerical values and variables to parameters (simple setting commands), and assigning results of arithmetic operations on numerical values and variables to parameters (calculation result setting commands). The response is issued immediately.

A reference command issues a transmission character string simply containing a variable given directly by #***. At normal operation, if a response is generated, a response character string that begins from “R1!” and one data is returned. In simple setting commands and calculation result setting commands, the left-hand side must be variables expressed by #***. The right-hand side can be direct numerical values, or it can contain variables such as a parameter/monitor referred to by #***. The response at normal operation is “R00.”

[Reference commands]

[Simple setting commands]

#400=! #400=#!

[Calculation result setting commands]

The following operands can be used:

+ Addition

- Subtraction * Multiplication / Division % Remainder at integer division

#! = ! + ! #! = #! - ! #! = ! * #! #! = #! / #!

#! = !%!

Reads the value of parameter #!

Reads the value of monitor #!

Sets ! to variable #400. Sets the value stored in #! to variable #!.

Sets the result of adding ! and ! to variable #!. Sets the value obtained by subtracting ! from the value stored in #! to variable #!. Sets the result of multiplication of ! and the value stored in #! to variable #!. Sets the value obtained by dividing the value stored in #! by the value stored in #! to variable #!. Sets the remainder of ! divided by ! to variable #!.

Response character string: R1D ! : ! Response character string: R1B ! : 00010000

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Chapter 8 DrvGII PC Utility

8.1 Overview

8.1.1 Overview of the Operation Menu

8.1.2 Overview of the Action Menu

8.1.3 Overview of the Data Management Menu

8.2 Installation

8.2.1 Installation under Windows 95/98/98SE/Me/NT4.0/2000

8.2.2 Starting the PC Utility

8.3 Preparation

8.3.1 Selecting a Communication Port

8.3.2 Selecting Channels

8.3.3 Displaying Communication Strings

8.3.4 Main Menu

8.4 Operation Menu

8.4.1 Terminal

8.4.2 Servo Tuning

8.4.3 Oscilloscope

8.5 Action Menu

8.5.1 Homing

8.5.2 Jog Move

8.5.3 Test Operation

8.6 Data Management Menus

8.6.1 Parameter Manager

8.6.2 I/O Set

8.6.3 Pulse Set

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8.1 Overview

The DrvGII PC Utility consists of three components that are accessed from the following menus: “operation menu,” “action menu,” and “data management menu.”

8.1.1 Overview of the Operation Menu

The operation menu contains the following three functions：

• Terminal:

This menu allows you to send and receive character strings to/from the G2 driver (hereinafter referred to as the “driver”), monitor parameters/monitors as well as errors/alarms, and use parameter/command help.

• Servo control:

This menu allows you to adjust the servo parameters of the motor through auto-tuning and manual tuning. It also allows you to adjust various compensation filters.

• Oscilloscope:

This function displays graphs of time-series of parameter/monitor values.

8.1.2 Overview of the Action Menu

In the action menu, you can set and display parameters, display monitors, and start or stop actions related to the operations listed below. “Homing move,” “jog move,” and “Test operation.”

8.1.3 Overview of the Data Management Menu

The data management menu contains the following seven functions:

• Parameter:

This function allows you to save all the parameters to files and register them from files. It also allows you to edit the machine setting parameters.

• I/O set:

This function allows you to set the logical setting of I/O points.

• Pulse setting:

This function allows you to perform various parameter settings related to pulses.

• Absolute precision compensation:

This function allows you to edit, register, and save absolute precision compensation data. (This setting is valid if the absolute precision option is set to “yes,” with which the absolute precision of the motor is compensated for the entire circumference.)

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8.2 Installation

8.2.1 Installation under Windows 95/98/98SE/Me/NT4.0/2000

The DrvGII utility (hereinafter referred to as the “PC utility”) runs on Windows 95, 98, 98SE, Me, NT4.0 and

2000. It can be installed via “Add/Remove Programs” under the “Control Panel” in Windows. If an older version of the PC utility is present, delete it first and then install the new version. Display the “Properties of Adding/Removing Programs” dialog box and click “Set Up (1).” Then proceed according to the instructions displayed on the screen. The PC utility setup program starts up. Proceed with the setup according to the instructions on the screen. A dialog box for determining the directory in which to install the PC utility appears (see Figure 8.1).

Figure 8.1 “Choose Destination Location” dialog box

Click “Browse” to display the “Select Directory” dialog box and select the desired drive and directory. Click “Next” to display “Select Program Folder” (see Figure 8.2).

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DrvGII PC Utility

Figure 8.2 “Select Program Folder” dialog box

Figure 8.3 “Setup Complete” dialog box

To start the program, select “Launch program file” and click “Finish.” If you do not want to start the program, just click “Finish.” If you are prompted to restart the computer, simply follow the message and restart it.

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8.2.2 Starting the PC Utility

In order to start the PC utility under Windows, click the “Start” button, “Program,” “Specified program folder,” and then “YOKOGAWA_E” The “Version Information” dialog box (see Figure 8.4) is displayed for several seconds, and the PC utility starts up. (By default, the specified program folder is “YOKOGAWA_E”)

Version of the PC utility

Figure 8.4 “Version Information” dialog box

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DrvGII PC Utility

8.3 Preparation

8.3.1 Selecting a Communication Port

When you start the PC utility, the “ComPortSelect” dialog box appears in the left side of the screen (see Figure

8.5). Change the setting according to the communication port of the connected PC.

Figure 8.5 “ComPortSelect” dialog box

Note: Settings made in the “ComPortSelect” dialog box are stored in a file. It is not necessary to make settings

from the next time you start the PC utility. Change the setting as necessary.

8.3.2 Selecting Channels

When you start the PC utility, the “Communication mode” dialog box appears in the upper left corner of the screen (see Figure 8.6). If you are using one driver, select a single channel, and if you are using multiple drivers, select multi-channel addresses. (See Chapter 7 for how to make setting on the driver side.)

Figure 8.6 “Communication mode” dialog box

Note: The settings made in the “Communication mode” dialog box are not stored. When the PC utility is started up,

a single channel is always set.

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8.3.3 Displaying Communication Strings

When you start the PC utility, the “Communication string” dialog box appears in the upper right corner of the screen. (See Figure 8.7.) Any strings that the PC utility sends to the driver as well as any strings received from the driver are displayed regardless of the menu.

->　[String sent] <-　[String received]

Figure 8.7 “Communication string” dialog box

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8.3.4 Main Menu

When you start the PC utility, the “MainMenu” dialog box appears (see Figure 8.8). See the following chapters for how to start the actual operation.

Figure 8.8 “MainMenu” dialog box

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