Parker Hannifin G2 User Manual

Automation

p/n 88-020389-01 A



Dynaserv G2 Drive

User Guide

Effective: March 1, 2002

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.

-1-

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.

-2-

Precautions

! 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.

! 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.

-3-

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.

-4-

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

An example of a DM series motor

The minimum
bending radius
should be
50mm or more.

The minimum
bending radius
should be
50mm or more.

-5-

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.

µ

-6-

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

-i-

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

-ii-

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

-iv-

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

1-1

1

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.

1-2

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.

1

1-3

1

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

1

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

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

1

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.

1-4

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

□□□□□□□□□－□＊

1

(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.

1

1-5

1

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

1-6

(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

1-7

Regenerative unit

1

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.

1-8

[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 -

1

- TB2 -

7

- 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

V

V

V

GND

SW1

A

B

C

0

1

9

2

8
7

6

5

1

4

ON

CRDY

3

4

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

1

- 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

1

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)

(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

Chapter 2
Installation

2.1 Installation of the Motor

2.2 Installation of the Driver

2-1

2

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

2.2 Installation of the Driver

e

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.

2

0%

10℃ 20℃ 30℃0℃

Ambient air temperature during operation

40℃ 50℃ 60℃

2-3

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

3

Connection and Wiring

3.1 Diagram of Overall Connection

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

PC

* 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

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

2.0 mm

2.0 mm

or more, 30 m or less in length TB1

2

or more TB1

2

Dedicated cable is required. CN1

2

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

2

, 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

3-3

3

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

V

A

V

B

V

C

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

V

A

V

B

V

C

Shielded

cable

Encoder cable

Shielded twisted
pair cable

3-4

(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

VA

VB

VC

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

3-5

3

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

P

resistance*

AC power
supply cable

Ground cable

Motor cable

(Red)

(White)

(Black)

(Green)

Japan Solderless Terminal
type (N1.25-M4)

GND

V

V

V

GND

AC

AC

A

B

C

N
100­115VAC

LINE

GND

MOTOR

V

A

V

B

V

C

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)

AC

AC

GND

Jumper
cable

Driver side
(2KW level)

3-6