Sanyo Denki Sanmotion R Instruction Manual

Download

M0009143C

TYPE F (DC48V)

Pulse Input Type

For Rotary Motor

Details of revision history The third edition (C)

Chapter 2 and 4

■

● A precaution to use battery for main circuit added.

■ Chapter 2

● A precaution on control power supply added.

● Terminal layout on connector for battery added.

■ Chapter 5

● A precaution on parameters for Backup Type Absolute Encoder Function Selection added.

● Maximum number of repetitions of turning-on/off of servo amplifier added.

● A precaution during parameter-writing to servo amplifier added.

● A precaution on resetting alarm added.

● A formula for converting between “effective torque monitor” and “motor utilization monitor” added.

● A precaution on parameters for Model Following Control added.

● A precaution on parameters for Torque Limit Function added.

● A precaution on parameters for Analog Monitor added.

● A precaution on parameters for Dynamic Brake Operation added.

■ Chapter 10

● Outline dimensional drawing of lithium battery added.

Safety precautions Please fully follow

Carefully review this operating manual and the supporting documentations to use the product properly before perfoming installation, operation, and maintenance. Use this product after you fully understand sufficient knowledges on all the equipments and safety information, and precautions.

This manual classifies safety precautions as follows:

• “DANGER”

• “WARNING”

• “CAUTION”

■ Signs of WARNING

DANGER

When handled incorrectly, excessive dangerous circumstances may occur to the extent that risk of death or suffering serious injuries are envisioned.

When handled incorrectly, dangerous circumstances may occur to

WARNING

the extent that risk of death or suffering serious injuries are envisioned.

When handled incorrectly, dangerous circumstances may occur to

CAUTION

Please be advised that even items in the scope of CAUTION may have serious consequences depending on circumstances. Fully observe every item that has important details.

■ Signs of PROHIBITION and MANDATORY

the extent that risk of moderate injuries, minor injuries, or physical damages only are envisoend.

Indicates PROHIBITIONs (actions that must not be done).

Indicates MANDATORY actions (that must be performed without fail).

Safety precautions Please fully follow

■ Operating precautions

WARNING

Fully observe the following warnings because of risk of electrical shock and injury.

 Do not operate the product in explosive atmospheres, because of risk of injuries and fire.  Do not perform wiring and maintenance with applying current. These must be done over 10

minutes after breaking main power supply and after confirmation main power supply capacitor discharged, because of risk of electrical shock and damages.

 Surely ground earth terminal of servo amplifier (protective grounding terminal) to equipment

or control board. Connect earth terminal of servo motor to earth terminal of servo amplifier without fail, because of risk of electrical shock.

 Never touch the inside of servo amplifier, because of risk of electrical.  Do not scratch cables, apply excessive stresses, put heavy things, and tuck down any

things, because of risk of electrical.

 Do not touch rotating area of servo motor while operating, because of injuries.

CAUTION

 Use designated combination of servo amplifier and motor, failure to observe this causes fire

and failure.

 Person with expertise shall perform transfer, installation, wiring, operation, and

maintenance, because of risk of electrical shock, injuries, and fire.

 Never install in water existed area, corrosive and flammable gas atmosphere, and near

combustible materials, failure to observe this causes fire and failure.

 Read operating manual and observe the instructions prior to installation, operation, and

maintenance, because of risk of electrical shock, injuries, and fire.

 Do not use servo amplifier and motor outside the scope of the specifications, because of

risk of electrical shock, injuries, and fire.

 When wiring of main power supply and motor power line are relatively lon g, motor torque

decreases due to impedance of wiring. Set acceleration and deceleration torque with sufficient margin when selecting motor, and verify them on actual equipment.

CAUTION

 Be careful of peripheral equipments of servo amplifier and motor that are subjected to high

temperature, because of risk of burn injuries.

 Do not touch heat sink fin of servo amplifier and servo motor are at high temperature when

applying current or for a while after breaking power supply, because of risk of burn injuries.

Safety precautions Please fully follow

■ Storage

PROHIBITION

 Do not storage the product in water, hazardous gas, and liquid existed area, failure to

observe this causes failure.

MANDATORY

 Storage the product within the specified temperature and himidity range ”-20°C thorugh

+65°C, 90%RH” or less (no condensation) and by avoiding direct sunlight. Failure to observe this causes failure.

 Please contact us if storage period of servo amplifier has been long-term (for over 3 years),

as long-term storage causes decrease capacity of electrolytic capacitor. Failure to observe this causes failure.

 Please contact us if storage period of servomotor has been long-term (for over 3 years)，

verification of bearing and brake are required.

■ Transportation

CAUTION

 When transporting the product, do not pick cables, motor shafts, and detecting devices,

because of risk of failure and injuries.

 When transporting the product，be aware of dangers of falling and roll ing over, because of

risk of injuries.

MANDATORY

 Products overloading causes collapsing, so observe the instructions on the outer case,

because of risk of injuries.

 Use eyebolt of servo motor to carry servo motor only, not any equipments, because of risk

of injuries and failure.

iii

Safety precautions Please fully follow

■ Installation

CAUTION

 Do not put heavy things or get on top of the product, because of risk of injuries.  Fully observe installation direction, failure to observe this causes fire and failure.  Do not let fall and apply high impacts on the products. Failure to observe this causes

failure.

 Do not shut or let foreign materials into the port, because of risk of fire.  Keep proper distances for lay out in servo amplifier control board as instructed in operating

manual, failure to observe this causes fire and failure.

 Unpack after confirming top and bottom of the case, because of risk of injuries.  Confirm no discrepancies between delivered product and ordered item. Failure to observe

this causes injuries and damages.

 Be aware of risk of falling and rolling over when installing. Use eyebolt if supplied with

servo motor, because of risk of injuries.

 Install the product in incombustible materials like metal, because of risk of fire.

Wiring

■

CAUTION

 Perform wiring surely and correctly, because of risk of injuries.  Perform wiring in accordance with instructions in wiring diagram or operating manual,

because of risk of electrical shock and fire.

 Perform wiring in accordance with electrical facility technical standard and wiring

regulation, because of risk of burnout and fire.

 Do not connect commercial power supply to U, V, and W terminal of servo motor, because

of risk of fire and failure.

 Place safety device like braker in case of short circuit of external wiring, because of risk of

fire.

 Do not band power conduit cables, I/O signal cables, and encoder cables together, or pass

them through the same duct. Failure to observe this causes malfunction.

 Do not connect DC90V or AC power supply to DC24V brake of servo motor. Do not

connect AC400V power supply to AC200V fan of servo motor, because of risk of burnout and fire.

 Do not use thin cables for wiring, or avoid excessive long wiring for power input cables and

motor power coduit cables, as these may cause control circuit inoperative or failure of specification-compliant operation due to torque decrease. Set acceleration and deceleration torque with sufficient margin when selecting motor.

Safety precautions Please fully follow

■ Operation

CAUTION

 Never make excessive adjustment change as the operation becomes unstable, and there is

risk of injuries.

 Fix servo motor apart from mechanical equipments to perform test operation and install in

the machine after operation check, because of risk of injuries.

 Holding brake is not a stopping device to secure machine safety. Place a stop device to

secure safety on the side of machine, because of risk of injuries.

 When alarm activated, eliminate the causes, ensure the safety, and reset alarm to restart

operation, because of risk of injuries.

 Confirm input power supply voltage is within the scope of the specification. Failure to

observe this causes failure.

 Do not get close to machine as the machine may restart without notice after recovery from

momentary stoppage. (Design machines so as to secure safety in case of restart.)

There are risks of injuries.

 Do not use broken, damaged, and burnout servo amplifier and motor, because of risk of

injuries and fire.

 In the event of malfunction, stop the operation immediately, because of risk of injuries,

electrical shock, and fire.

 When using servo motor on the vertical axis, place safety device so as not to let works fall

when alarm activated, Because of risk of injuries and damages.

PROHIBITION

 Holding brake supplied with servo motor is designed to hold only, so do not use this brake

for normal braking. If used for braking, this brake is damaged. Failure to observe this causes failure.

 Do not apply static electricity and high voltage to cables for servo motor encoder. Failure to

observe this causes failure.

 Do not continuously and externally rotate servomotor in combination with servo amplifier

with standard dynamic brake resistance when servo is off, as dynamic brake resistance produces heat, because of risk of fire and burn injuries.

 Do not disconnect connectors when applying current, because of risk of damages.

Safety precautions Please fully follow

MANDATORY

 Externally place emergency stop circuit so as to immediately stop operation and disconnect

power supply. Incorporate safeguard circuit into the outside of servo amplifier so as to disconnect main circuit power when alarm activated, because of risk of going out of control, injuries, burnout, fire, and secondary damages.

 Any protective devices are not supplied with servo motor, so protect the motor with

overcurrent protective device, earth leakage breaker, overtemperature preventive device, and emergency stop device, because of risk of injuries and fire.

 Operate within the scope of specified temperature and humidity.

Servo amplifier

Temperature: 0°C thorugh 40°C Humidity: 90% RH or less (No condensation)

Servo motor

Temperature: 0°C thorugh 40°C Humidity: 20 through 90%RH (No condensation, as this causes burnout and failure.)

■ Maintenance

CAUTION

 Some servo amplifier component parts (electrolytic capacitor and lithium battery for

encoder) aged-deterioration. For preventive maintenance, replace the parts by referring standard cycle of replace, and contact us when replacing. Failure to observe this causes failure.

 Never get close to or touch terminals and connectors when applying current, because of

risk of electrical shock.

 Do not disconnect connectors when applying current, because of risk of damages.  Be aware of high temperature of servo amplifier flame when performing maintenance,

because of risk of burn injuries.

 Please contact us when you would like to repair, as overhaul causes product inoperative.

Failure to observe this may causes failure.

PROHIBITION

 Do not perform overhaul.

Overhaul causes fire and electrical shock.

 Do not measure insulation resistance and dielectric strength voltage, because of risk of

damage.

 When applying current, never remove terminals and connectors (except for insertable and

removable ones), because of risk of electrical shock and damages.

 Do not remove nameplate

Disposal

■

MANDATORY

 Dispose servo amplifier or motor as industrial waste.

Table of contents

1. Preface

1.1 Introduction·······························································································································································1-1

1) Changes and additions to AC Servo amplifier SANMOTION R (previous model)···················································1-1

1.2 Instruction Manual ····················································································································································1-2

1) Contents··································································································································································1-2

2) Precautions on this manual·····································································································································1-2

1.3 Illustration of System Components···························································································································1-3

1.4 Model number structure············································································································································1-4

1) Model number of servo motor·································································································································1-4

2) Model numbers of servo amplifier (abbreviated model numbers) ···········································································1-5

1.5 Part names ·······························································································································································1-6

1) Servo amplifier························································································································································1-6

2) Servo motor ····························································································································································1-7

2. Specification

2.1 Servo motor ·························································································································································2-1

1) Common specification······································································································································2-1

2) Servo motor external dimension, specification, and weight··············································································2-1

3) Mechanical specification, strength, and engineering precision·········································································2-1

4) Oil seal type······················································································································································2-2

5) Holding brake ···················································································································································2-3

6) Degree of decrease rating for R2AA Motor, depending on with or without oil seal/brake······························· 2-3

2.2 Motor encoder······················································································································································2-4

1) Serial encoder ··················································································································································2-4

2) Pulse encoder ··················································································································································2-4

3) Battery specification ·········································································································································2-5

2.3 Servo amplifier·····················································································································································2-6

2) Input command, position output signal, general-purpose input signal, and general-purpose output signal··· 2-7

2.4 Power supply and amount of heat generation······································································································2-9

1) Input current of main circuit power supply and control power supply ·······························································2-9

2) Inrush current and leakage current···················································································································2-9

3) Amount of heat generation·······························································································································2-9

2.5 Cautions on load················································································································································2-10

1) Restrictions on acceleration time, deceleration time，and effective torque·····················································2-10

2) Negative load ·················································································································································2-10

3) Load inertia moment·······································································································································2-10

2.6 Position signal output·········································································································································2-11

1) Positions signals by serial signals·················································································································· 2-11

2) Binary code output format and transfer period ·······························································································2-12

3) ASCII decimal code output format and transfer period···················································································2-13

4) Position signal output from pulse signal ·········································································································2-14

2.7 Specifications for analog monitor·······················································································································2-15

2.8 Specifications for dynamic brake························································································································2-16

1) Allowable frequency, instantaneous tolerance, decreasing the rotation angle of the dynamic brake···········2-16

3. Installation

3.1 Installation·································································································································································3-1

2) Unpacking·······························································································································································3-2

3) Installation direction and position····························································································································3-3

4) Conditions on layout in control cabinet····················································································································3-3

5) Cooling conditions···················································································································································3-4

3.2 Servo motor······························································································································································3-5

1) Precautions·····························································································································································3-5

3) Installation·······························································································································································3-5

4) Installation·······························································································································································3-6

5) Water and dust proofing··········································································································································3-6

6) Protective cover placement·····································································································································3-7

7) Gear installation and co-assembly with mating machine·························································································3-7

8) Allowable load for bear ing·······································································································································3-9

9) Cable installation and its related cautions·············································································································3-10

vii

4. Wiring

4.1 Wiring of main circuit power supply, control power supply, servomotor, and protective grounding.·························· 4-1

1) Name and function··················································································································································4-1

2) Electrical wire··························································································································································4-1

3) Wire diameter - allowable current ···························································································································4-1

4) Terminal layout of connector CNA and CNB ···········································································································4-2

5) Recommended wire diameter and cable length······································································································4-3

6) Example of wiring····················································································································································4-4

4.2 Wiring connection diagram to host equipment··········································································································4-5

1) Name and pin number of signal CN1A and CN1B (wiring connection to host equipment)······································4-5

2) Layout of connector CN1-A·····································································································································4-6

3) Name and its function of signal CN1-A ···················································································································4-6

4) Connection circuit of terminal CN1-A······················································································································4-7

5) Layout of connector CN1-B·····································································································································4-9

6) Signal name and its function···································································································································4-9

7) Terminal connection circuit····································································································································4-10

4.3 Wiring of motor encoder ········································································································································· 4-12

1) Name and function of connector CN2···················································································································4-12

2) Terminal number on servo amplifier side··············································································································· 4-13

3) Recommended specification of encoder cable······································································································4-14

4) Encoder cable length ············································································································································4-14

5) Layout of terminal of connector for battery············································································································4-14

5. Operation

5.1 How to change servo motor to be combined··········································································································5-1

1) Change and verify servo motor with use of setup software··················································································5-1

5.2 System parameters ················································································································································5-2

1) Specification confirmation·····································································································································5-2

2) System parameters list·········································································································································5-4

3) Confirmation and settings of system parameters··································································································5-4

4) Change and verify system parameters (settings for motor encoder specification)················································5-6

5) Default set values at factory·································································································································5-9

5.3 Test operation·······················································································································································5-10

1) Confirmation of installation and wiring················································································································5-10

2) Confirmation of movement ·································································································································5-10

3) Confirmation of input-output signal····················································································································· 5-11

4) Confirmation of device operation························································································································5-12

5.4 Servo amplifier status display·······························································································································5-13

1) Default display····················································································································································5-13

2) Alarm display······················································································································································5-13

3) Control power input display································································································································5-13

5.5 Operation sequence·············································································································································5-14

1) Operational sequence from power-on through power-off in standard setting at factory······································5-14

2) Stop sequence when alarm activated·················································································································5-16

3) Sequence when alarm reset·······························································································································5-19

4) Sequence when power is turned OFF during operation (during servo ON)························································5-20

5.6 Monitor function····················································································································································5-21

1) Monitor function··················································································································································5-21

2) Description of monitor·········································································································································5-22

5.7 Analog monitor and digital monitor·······················································································································5-26

5.8 Setting of parameters···········································································································································5-27

1) Parameters list ···················································································································································5-27

5.9 Parameter functions·············································································································································5-33

5.10 Control block diagram········································································································································5-87

6. Adjustment

6.1 Servo tuning functions and basic adjustment procedure ··························································································6-1

1) Servo tuning functions·············································································································································6-1

2) Selection of tuning method······································································································································6-2

6.2 Automatic Tuning······················································································································································6-3

1) Parameters for use in automatic tuning.··················································································································6-3

2) Parameters automatically adjusted during automatic tuning···················································································6-6

3) Adjustable parameters when auto-tuning in progress·····························································································6-6

4) Unstable functions during auto-tuning·····················································································································6-7

5) Auto-Tuning Characteristic selection flowchart········································································································6-8

6) Adjustment method for auto-tuning ·························································································································6-9

7) Monitoring servo gain adjustment parameters······································································································6-10

8) Manual tuning method using auto-tuning results···································································································6-10

6.3 Automatic tuning of notch filter································································································································6-11

1) Operation method··········································································································································· 6-11

2) Parameters to be set······································································································································ 6-11

6.4 Automatic tuning of FF vibration suppression frequency ························································································6-12

6.5 Use of manual tuning··············································································································································6-13

1) Servo system configuration and servo adjustment parameter ··············································································6-13

2) Basic manual tuning method for velocity control···································································································6-15

3) Basic manual tuning method for position control···································································································6-15

6.6 Model-following control···········································································································································6-16

1) Automatic tuning method of model-following control·····························································································6-16

2) Manual tuning method of model-following control·································································································6-17

6.7 Tuning to suppress vibration···································································································································6-18

1) FF vibration suppression control···························································································································6-18

2) Model-following and vibration suppression control································································································6-18

3) Tuning method······················································································································································6-20

6.8 Use of disturbance observer functions····················································································································6-21

7. Maintenance

7.1 Troubleshooting························································································································································7-1

7.2 Warning and alarm list··············································································································································7-3

1) Warning list·····························································································································································7-3

2) Alarm List································································································································································7-4

7.3 Troubleshooting when alarm activated ·····················································································································7-7

7.4 Encoder-clear and alarm-reset procedure ··············································································································7-22

1) Motor encoder model············································································································································7-22

2) Alarm code activated·············································································································································7-22

7.5 Inspection ·······························································································································································7-24

1) Items to be checked and corrective actions for operation error·············································································7-24

7.6 Service parts···························································································································································7-25

1) Parts to be inspected······································································································································7-25

2) Motor encoder battery replacement······················································································································7-25

8. Fully-closed control

8.1 Illustration of system configuration····························································································································8-1

8.2 Internal block diagram ··············································································································································8-2

8.3 Wiring 8-4

1) Connector name and its function·····························································································································8-4

2) Terminal numbers on servo amplifier side···············································································································8-6

8.4 Fully closed control-related parameters····················································································································8-7

1) System parameter setting·······································································································································8-7

2) Servo motor rotation direction setting······················································································································8-8

3) External encoder resolution setting·························································································································8-9

4) Digital filter setting···················································································································································8-9

5) Encoder output pulse signal····································································································································8-9

8.5 Remarks ·································································································································································8-10

1) Timing to power-on external pulse encoder··········································································································8-10

2) Operation of external pulse encoder·····················································································································8-10

9 Selection

9.1 Servo motor volume selection 9-1

1) Servo motor capacity selection flowchart················································································································9-1

2) Create operation pattern.········································································································································9-2

3) Calculate motor axis-converted load inertia moment (JL).······················································································9-2

4) Calculate motor axis-converted load torque (TL).···································································································9-3

5) Calculate acceleration torque (Ta).··························································································································9-5

6) Calculate deceleration torque (Tb).·························································································································9-5

7) Calculate effective torque (Trms).···························································································································9-5

8) Judgment condition (determination condition)·········································································································9-5

9.2 Remarks on regeneration ·········································································································································9-6

1) Calculation of regenerative energy EM···················································································································9-6

2) Coping process for regenerative energy·················································································································9-8

9.3 Specification for regenerative unit···························································································································9-10

1) Specification··························································································································································9-10

2) Internal block diagram···········································································································································9-10

3) Regenerative unit front view·································································································································· 9-11

4) Connection diagram of regenerative unit ··············································································································9-12

5) Calculation of regenerative effective electrical power ···························································································9-14

10. Appendix

10.1 Conformance to standards····································································································································10-1

1) Conformance to standards····································································································································10-1

2) Overvoltage category, Ingress Protection code, and degree of contamination······················································10-1

3) Connection and installation···································································································································10-2

4) UL-file number ······················································································································································10-2

10.2 Conformance to EU Directive ·······························································································································10-3

1) Conformity verification test····································································································································10-3

2) EMC installation requirements······························································································································10-4

10.3 Outline dimensional drawing of servo motor·········································································································10-5

10.4 Servo motor data sheet·········································································································································10-6

1) Characteristics······················································································································································10-6

2) Velocity-torque characteristic································································································································10-7

3) Rating decrease rate of motor with oil seal···········································································································10-7

4) Overload characteristics········································································································································10-8

10.5 Outline dimensional drawing of servo amplifier·····································································································10-9

10.6 Optional items·····················································································································································10-10

1) Regenerative unit, RF1BB (A) 00························································································································10-10

2) Analog monitor box ············································································································································· 10-11

3) Connecting cable ················································································································································10-12

4) External regenerative resistor·····························································································································10-15

5) Lithium battery ····················································································································································10-16

No Text on This Page.

1. Preface

1.1 Introduction ................................................................................................................................................................ 1-1

1) Changes and additions to AC Servo amplifier SANMOTION R (previous model) ......................................................1-1

1.2 Instruction Manual .....................................................................................................................................................1-2

1) Contents.....................................................................................................................................................................1-2

2) Precautions on this manual ........................................................................................................................................1-2

1.3 Illustration of System Components..........................................................................................................................1-3

1.4 Model number structure ............................................................................................................................................ 1-4

1) Model number of servo motor.....................................................................................................................................1-4

2) Model numbers of servo amplifier (abbreviated model numbers)...............................................................................1-5

1.5 Part names..................................................................................................................................................................1-6

1) Servo amplifier............................................................................................................................................................1-6

2) Servo motor................................................................................................................................................................1-7

1. Preface Introduction

1.1 Introduction

AC servo amplifier “SANMOTION R ADVANCED MODEL low voltage-input type” is a small and one axis servo amplifier with 2 kinds of capacities, to which main circuit power DC48V<24Ｖ> and control power DC5V are input as external power supply. This model corresponds to rotary motor “series R,” and both serial encoder and pulse encoder are available. Also, this can correspond to external pulse encoder for fully closed system. Batteries for motor encoder can be installed in encoder cables. We achieved decrease in volume having great advantage over AC-input servo amplifier by decreasing voltage and down sizing of main circuit part, this can achieve down sizing in servo system

1) Changes and additions to AC Servo amplifier SANMOTION R (previous model)

The followings are differences between this model and the other SANYO DENKI products, such a s “SANMOTION series R (AC100/200V-input).”

■ DC-power input and down-sized

Down-sized and DC-power input type (main circuit DC48V <24Ｖ>, control circuit DC5V)servo amplifier.

■ Placement of input power supply unit and overcurrent protection device

Input power supply for main power (DC48V <24Ｖ>) and control power (DC5V) of the servo amplifier is designed to use AC/DC power (switching power supply). No fuses are built in input sections of main and control power supply of the servo amplifier, so plea se place fuses or breakers in power supply system from AC power down to servo amplifier input sections for the purpose of overcurrent protection. (This servo amplifier is UL-approved under the condition that fuses are placed in input sections. Refer to section 10 for global stand ards.)

■ Regenerative unit (optional)

Main circuit voltage may increase due to regenerative energies, depending on combined motor, operation conditions, servo amplifier connection conditions. Regenerative circuit is not built in servo amplifier. We can offer an optional regenerative unit for absorbing voltage.

■ Only available on pulse input mode

Control mode is position control mode only. Command is pulse input position command only. Please note that analog velocity command, torque command, and torque limit command is not available.

■

Analog monitor

Analog monitoring function to monitor servo amplifier & motor operation is not built in this servo amplifier. You can monitor by connecting external monitor box.

■ Digital operator

Digital operator is not built in this model, such as built in our AC servo amplifier “SANMOTION R” and “SANMOTION R ADVANCED MODEL.”

■ Safe torque-off function

Safe torque-off function is not built in this model.

■ Setup software

Setup software of “SANMOTION R ADVANCED MODEL” can be used as it is. (Except for multiple-drop function to monitor multiple axes servo amplifier status.) Make sure not to disconnect the control power supply, when writing parameters via setup software.

■ Cautions on wiring length

Main circuit power and control power supply are intended to be input from commonly used AC/DC converter. When wiring length from power supply to servo amplifier is relatively long, the voltage might drop due to cable impedance, and this may cause motor torque decrease and control circuit error. Please perform wiri ng with use of thick cable and minimal-le ngth as much as possible, so as not to let any voltage drops occur.

1-1

1. Preface How to use operating manual

1.2 Instruction Manual

This manual describes specification, installation, wiring, operation, functions, m aintenance of AC se rvo amplifier “SANMOTION R ADVANCED MODEL, low voltage-input type” as in the following order: The figures in parentheses for main circuit voltage described in this manual are the values when the voltage is DC24V.

1) Contents

■ “Section 1, Preface”

Describes product outline, model number structure, and each part name.

■ “Section 2, Specification”

Describes detailed specifications for “servo motor,” “motor encoder,” and “servo amplifier.”

■ “Section 3, Installation”

Describes installation method of product.

■ “Section 4, Wiring”

Describes wiring method of product.

■ “Section 5, Operation”

Describes operating sequence, test operation method, parameters.

■ “Section 6, Adjustment”

Describes automatic tuning and manual servo tuning.

■ “Section 7, Maintenance”

Describes probable causes and corrective actions when alarm activated, and maintenances.

■ “Section 8, Fully closed control”

Describes fully closed control and its usage.

■ “Section 9, Selection”

Describes selecting method of servo motor capacity, regenerative energy and its coping measures.

■ “Section 10, Appendix”

Describes overseas standard, servo motor data sheet, and outline dimen sion al drawing.

2) Precautions on this manual

Thoroughly read this manual prior to use the product to fulfill and correctly use functions of the product. After thoroughly reading this manual, keep it handy for reference when needed. Fully observe safety instructions described in this manual. Please note that we cannot guarantee the safety when you use the product in any usages other than the specified usages in this operating manual. Figures in this manual are partially schematic illustrations or abstractions. Contents of this manual are subject to change without notice depending on product version upgrade or any additions. Any changes shall be made only by revising this manual. We make assurance doubly sure on the contents of this manual, however, in the event that any suspicions, errors, or erroneous omissions, please contact our sales branch near you or head office indicated in the back of this manual.

1-2

1. Preface System configuration

1.3 Illustration of System Components

The folowing shows an example of system configulation.

Power input

Direct current DC5V

SANMOTION R ADVANCED MODEL

(Low voltage-input type)

Install this for the possibility of regenerative energies and DC voltage increase, depending on driving motor and operating conditions.

Direct current DC48V <24V>

Regenerative unit (An option)

Power supply to release brake

Motor input

Host equipment

Setup software

This can set parameters and monitor by communicating with PC.

Use this for servo motor with brake. Please be advised the power supply is user-prepared item.

Motor encoder

Servo motor

1-3

1. Preface Model number of servo motor

1.4 Model number structure

1) Model number of servo motor

R 2 GA 04 003 F X P 00

Series R

Servo motor type 2･･･Medium

Power-supply voltage GA･･･DC48V-motor

Flange size 04･･･40mm 06･･･60mm

Encoder type H･･･Absolute encoder for incremental system P･･･Battery backup method absolute encoder W･･･Battery less absolute encoder

Specification identification 00･･･Standard 01･･･With oil seal

Holding brake X･･･Without brake B･･･With brake (90V) C･･･With brake (24V)

Rated output 003･･･30W 005･･･50W 008･･･80W 010･･･100W 020･･･200W

Decreasing rating may be needed for the model with oil seal and brake. Refer to “Section 2.1.6, Degree of decrease rating for R2AA Motor, depending on with or without oil seal/brake.”

Motor encoder

■

Serial encoder

◆

Model

PA035S 131072(17bit) -

PA035C 131072(17bit) 65536(16bit)

RA035C 131072(17bit) 65536(16bit)

◆ Pulse Encoder

Model Resolution within 1 rotation PP031

Resolution within 1

rotation

1000/2000/2048/4096/5000/6000/8 192/10000 (P/R)

Resolution within multiple rotations

Maximum rev velocity F････6000min D････5000min-1 (4500min

-1

)

Name Transmission format

Absolute encoder for incremental system

Battery backup method absolute encoder

Battery less absolute encoder

Motor flange angle

40mm or over

Half-duplex start/stop synchronization

2.5Mbps (standard) Half-duplex start/stop synchronization

2.5Mbps (standard)

Name

Wire-saving incremental encoder

✔ Please contact us on combinations with servo motors.

1-4

1. Preface Model number of servo amplifier

2) Model numbers of servo amplifier (abbreviated model numbers)

RF2 G 21 A 0 A 00

Series RF2

Input voltage current G･･･DC48V H･･･DC24V

Servo amplifier size 11･･･Small-sized 21･･･Large-sized

Servo motor type A･･･Rotary motor

Separate specification 00･･･Standard

01･･･no DB

Interface type A･･･Pulse input, NPN (sink) output

Motor encoder type 0･･･Serial encoder 8･･･Pulse encoder

✔ Set value for servo amplifi er is set to “standard set value” at factory. ✔ User needs to changes “combination setting of servo amplifier and motor,” “system

parameters,” and “general parameters” that shall be tailored to user equipment.

✔ Please be advised that user shall perform settings as tailored to system you use by referring

to the following sections.

◆ “Section 5-1, Setting change of servomotor combination”

◆ “Section 5-2, System parameters”

◆ “Section 5-2, Standard set value at factory”

◆ “Section 5-8, Parameter setting”

✔ Standard model servo amplifier is not available for “fully-closed system.” Please conta ct us

when you consider using.

✔ RF2 servo am plifier does not support “safe torque off function.” ✔ Output circuit of RF2 se rvo amplifier is exclusive for NPN (sink) output, not available for PNP

(source) output.

1-5

1. Preface Part names of servo amplifier

1.5 Part names

1) Servo amplifier

Front view

Bottom view

POW: LED for indication control power established ALM：LED for alarm

STA：LED for status

Connector A for I/O signal for host equipment

CN1A: Plug-side model number Housing: PADP-14V-1-S Contact：SPH-002GW-P0.5S (J.S.T. Mfg. Co., Ltd product)

Connector B for I/O signal for host equipment

CN1B: Plug-side model number Housing：PADP-20V-1-S Contact：SPH-002GW-P0.5S (J.S.T. Mfg. Co., Ltd product)

Connector for encoder signal CN2: Plug-side model number

Housing：PADP-10V-1-S Contact：SPH-002GW-P0.5S (J.S.T. Mfg. Co., Ltd product)

Connector for communicating with setup software

Connector for batteries

Connector for analog monitor box

Connector for inputting external encoder

Connector for inputting power supply

CNA: Plug-side model number Housing：VHR-5N Contact：SVH-21T-P1.1 or

(J.S.T. Mfg. Co., Ltd product)

Connector for servo motor

CNB: Plug-side model number Housing：VHR-4N Contact：SVH-21T-P1.1 or SVH-41T-P1.1 (J.S.T. Mfg. Co., Ltd product)

■ Use gold-plated contacts for

SVH-41T-P1.1

CN1A，CN1B，and CN2.

1-6

1. Preface Part names of servo motor

2) Servo motor

■ Lead type

R2□A04○○○△□◇ R2□A06○○○△□◇

Shaft

Flange

Frame

Encoder

Servo motor power cable

Encoder cable

Brake cable

1-7

2. Specification

2.1 Servo motor ...........................................................................................................................................................2-1

1) Common specification..........................................................................................................................................2-1

2) Servo motor external dimension, specification, and weight..................................................................................2-1

3) Mechanical specification, strength, and engineering precision ............................................................................ 2-1

4) Oil seal type.........................................................................................................................................................2-2

5) Holding brake....................................................................................................................................................... 2-3

6) Degree of decrease rating for R2AA Motor, depending on with or without oil seal/brake ..................................2-3

2.2 Motor encoder........................................................................................................................................................2-4

1) Serial encoder...................................................................................................................................................... 2-4

2) Pulse encoder ...................................................................................................................................................... 2-4

3) Battery specification ............................................................................................................................................. 2-5

2.3 Servo amplifier.......................................................................................................................................................2-6

1) Common specification..........................................................................................................................................2-6

2) Input command, position output signal, general-purpose input signal, and general-purpose output signal.......2-7

2.4 Power supply and amount of heat generation.................................................................................................... 2-9

1) Input current of main circuit power supply and control power supply ...................................................................2-9

2) Inrush current and leakage current ...................................................................................................................... 2-9

3) Amount of heat generation................................................................................................................................... 2-9

2.5 Cautions on load .................................................................................................................................................2-10

1) Restrictions on acceleration time, deceleration time，and effective torque ....................................................... 2-10

2) Negative load ..................................................................................................................................................... 2-10

3) Load inertia moment .......................................................................................................................................... 2-10

2.6 Position signal output......................................................................................................................................... 2-11

1) Positions signals by serial signals ...................................................................................................................... 2-11

2) Binary code output format and transfer period ................................................................................................... 2-12

3) ASCII decimal code output format and transfer period ...................................................................................... 2-13

4) Position signal output from pulse signal............................................................................................................. 2-14

2.7 Specifications for analog monitor......................................................................................................................2-15

2.8 Specifications for dynamic brake.......................................................................................................................2-16

1) Allowable frequency, instantaneous tolerance, decreasing the rotation angle of the dynamic brake............... 2-16

2. Specification Servo motor

2.1 Servo motor

1) Common specification

Series Servo motor series R2

Time rating Continuous Insulation classification Dielectric strength voltage Dielectric resistance DC500V, over 10MΩ

Protection method

Oil sealing

Ambient temperature

Storage temperature -20 through +65 degrees Celsius Ambient humidity 20 through 90% (No condensation)

Vibration classification

Excitation method Permanent magnet Mounting method Flange

2) Servo motor external dimension, specification, and weight

Refer to 10-3, Servo motor outline dimensional drawing. Refer to 10-4, Servo motor data sheet.

3) Mechanical specification, strength, and engineering precision

Vibration tolerance

■

Install the servo motor axis horizontally as illustrated below so that the servo motor shall be tolerant of 24.5m/s2 of vibration acceleration in three directions (vertical, horizontal, and longitudinal) when being vibrated.

Vibration classification

■

Vibration classification of servo motor is V15 or less at maximum velocity of revolution when measuring servomotor alone as shown in the figure below.

Longitudinal

Class F

AC1500V for 1minute

Fully closed, self-cooled Motor flange angle shall be 80 or less: IP67 (Except for motor passed-through part and cable tip.) Motor flange angle shall be 80 or less: none (Except for options available.)

0 through +40 degrees Celsius

V15

Vertical direction

Lateral direction

Horizontal direction

Vibration measurement position

2-1

2. Specification Servo motor

■ Shock resistance

Servo motor shaft shall be installed in the horizontal direction as indicated in the figure below so that the shaft is tolerant of 98m/s twice. Note that the servo motor comes with precise motor encoder on the opposite side of the flange, so any impacts on the shaft may cause a damage to motor encoder. Do not apply any impacts on the shaft.

of impact acceleration when being applied a vertical impact

Mechanical strength

■

Horizontal

direction

Vertical direction

Servo motor shaft strength is tolerant of maximum momentary torque.

■ Engineering precision

The following table shows precisions (Total Indicator Reading) of servo motor output shaft and its peripheral mounting points.

Item T．I．R． Reference drawing

Vibration of output shaft

terminal: α

terminal: β

Perpendicularity of flange face

to output shaft M: γ

0.02

0.06 (80 or less) Vibration of output shaft

0.08 (130 or more)

0.07 (80 or less)

0.08(130 or over)

✔ The values in parentheses are motor flange angles.

4) Oil seal type Oil seals for servo motor output shaft are optional extras. So please contact us when you replace oil seal.

Servo motor model Oil seal type

R2□A04○○○□

R2□A06○○○□

Standard: No oil seal Option: type G Standard: No oil seal Option: type S

2-2

2. Specification Servo motor

5) Holding brake

An optional holding brake is supplied with the servo motor. This brake shall not be used as braking except in emergency as this is designed to hold. Use “the timing signal output for holding brake” to turn on/off the brake excitation. To use this signal, set the command to 0min-1 in the servo amplifier only for the brake open time. To control the holding brake externally, the following operating delay time should occur. To use the motor with braking, set the sequence on the basis of the above operating delay time.

Servo motor model

number

R2GA04003F 0.32

R2GA04005F 0.32 R2GA04008D 0.32 R2GA06010D 0.36 R2GA06020D 1.37

Brake operating time is measured in the following circuit:

■

◆ Circuit using varistor

100VAC 60Hz

Static friction

torque

N･m

Release time

(ms)

25 15 100

30 20 120

Brake

Braking delay time (ms)

Varistor Diode

Circuit using diode

◆

100VAC 60Hz

Exciting voltage

Exciting current

Holding torque

Brake release time

EDC

Braking delay time

Brake

100%100%

✔ Brake release time and Braking delay time refers to those times mentioned in the above table.

The Brake release time is the same for both the varistor and diode.

6) Degree of decrease rating for R2AA Motor, depending on with or without oil seal/brake

In terms of servomotors with oil-seal and/or brake, the following derating ratio have to be applied to the torque characteristic in the continuous velocity range.

Oil seal

Brake

With no brake - Degree of decrease rating 2 With brake Degree of decrease rating 1 Degree of decrease rating 2

R2GA04005F R2GA04008D Degree of decrease rating 1 - 90% Degree of decrease rating 2 90% 85%

Æ The above figures are provisional.

Without oil seal With oil seal

2-3

2. Specification Motor encoder

2.2 Motor encoder

1) Serial encoder

■ Absolute Encoder for Incremental System

Model Resolution Synchronization

PA035S Divided into 131072

■ Battery Backup Method Absolute Encoder

Model Resolution Multiple

Divided into 131072

PA035C

■

Battery-less Absolute Encoder

Model Resolution Multiple

RA035C Divided into

Divided into 131072

2) Pulse encoder

■ Wire-saving incremental encoder

Model Resolution

PP031 1000/2000/2048/4096/5000/6000/8192/10000 P/R 40mmor over

✔ Not all the pulse encoders are applicable depending on motor types. Please contact us when

you are planning to purchase.

(17bit)

131072 (17bit)

scheme

Start/stop

synchronization

Synchronization

rotations

65536 (16bit) Start/stop

synchronization

65536 (16bit) Start/stop

synchronization

Synchronization

rotations

65536 (16bit) Start/stop

synchronization

Transmission

scheme

Half duplex serial

communication

scheme

Transmission

2.5Mbps

Transmissio

n scheme

Half duplex

serial

Half duplex

serial

Transmission

scheme

Half duplex serial

communication

Applicable motor

flange angle

rate

Transmission

rate

2.5Mbps

4.0Mbps

Transmission

rate

2.5Mbps

2-4

2. Specification Motor encoder and battery

■ Servo motor rotation direction and encoder signal pulses of pulse encoder Motor rotation direction and motor encoder signal phases are related as follows:

Servo motor rotation

direction-Normal

Servo motor rotation direction- Reverse

Phase A pulse

Phase B pulse

Phase Z

Phase A pulse

Phase B pulse

Phase Z

90°

Phase B is ahead of Phase A 90°

90°

Phase B is behind Phase A 90°

✔ When Phase Z is at high level, both phases A and B cross the low level once every rotation.

■ Serial Encoder

Servo motor rotation direction (Normal rotation) Position signal output (PS data): Increase

Servo motor rotation direction (Reverse rotation) Position signal output (PS data): Decrease

✔ Forward: the servo motor rotates in a counterclockwise direction from the load side ✔ PS data can be confirmed by ”Monitor ID16,17 ABSPS”

3) Battery specification

Model: ER3VLY (Consumer Marketing Corporation product) Voltage：3.6V

2-5

2. Specification Servo amplifier

2.3 Servo amplifier

1) Common specification

■ General specification

Control function Position control Control system MOS-FET：PWM control, sine wave drive Main circuit power

supply Control power supply DC5V±5%

Environment

Configuration Tray shape, external power supply External dimension (H×W×D) Mass 0.23kg±20%

✔ Input power voltage shall be within the scope of this specification. ✔ Main circuit power depression decrease torque in the motor momentary range. Select motor

with sufficient margin.

✔ Encode also comes with control power supply. Pay attentions to input voltage as encoder

may not operate when being input voltage lower that 5V.

✔ Fuses are not built in servo amplifier. Place over current protection (such as fuse) on the line

toward DC input part of servo amplifier from AC power through DC power (user to prepare). (Please confirm that fuse is built in the DC power supply you purchase before use.)

✔ To use battery for main circuit DC power supply, make sure to install electrolytic capacitor in

parallel to protect the servo amplifier. (2,000μF or more-sized capacitor is recommended)

■ Performance

Velocity control range Frequency characteristic 1200Hz

✔ Internal velocity command ✔ In case of high-velocity sampling mode

Built-in functions

■

Protection functions

Display Status display, Alarm display, Power-supplied-state display

Dynamic brake circuit

■ Options

Regenerative unit

Monitor box

✔ Refer to section 10 for details of options.

DC48V<24Ｖ>±10%

Operating ambient temperature 0 through 40 degree Celsius Operating storage temperature -20 through +65 degree Celsius Operating and storage humidity 90% RH or less (No condensation) Height above sea level 1000m or less Vibration 4.9m/s2

Frequency range: 10 through 55Hz in X, Y, and Z direction each, within 2H

Impact (shock) 19.6m/s

116 ×30×70mm

1：5000

Over current, Current detection error, Overload, Amplifier overheating, External overheating, Over voltage, Main circuit power low voltage, Control power supply low voltage, Encoder error, Over velocity, Velocity control error, Velocity feedback error, Excessive position, Position command pulse error, Built-in memory error, Parameter error

Built-in *Some model numbers have no dynamic brake circuit depending on specifications.

Install when direct current of main circuit rise due to regenerative power, depending on combined motors or operating patterns. You can monitor operating status (velocity or torque) with oscilloscope by connecting this monitor box.

2-6

2. Specification Input command

2) Input command, position output signal, general-purpose input signal, and general-purpose output signal

■ Input command

Maximum input pulse frequency

Position command

Input pulse configuration

Electronic gear

■ Timing of position command

Normal rotation pulse train + reverse rotation pulse train

F-PC

R-PC

Rise time (t1)： ≦0.1µs Fall time (t2)：≦0.1µs

Duty [(t3/T)×100]： 50% Pulse switching time: ts1> T

90° phase-difference pulse train

F-PC

R-PC

Rise time (t1)：≦0.1µs Fall time (t2)：≦0.1µs Duty [(t3/T)×100]： 50%

Minimum phase difference between pulse edges (t4，t5，t6，and t7)：>250nsec

Code + pulse train

F-PC

R-PC

ts1

Rise time (t1)： ≦0.1µs Fall time (t2)： ≦0.1µs Duty [(t3/T)×100]： 50% Pulse switching time: ts1，ts2，and ts3 > T

5M PPS

(reverse rotation + normal rotation pulse and code + pulse)

1.25M PPS (90°-phase-difference, two-phase pulse) Normal rotation + reverse rotation command pulse，code +

pulse train command, or 90° phase-difference, two-phase pulse train command.

N/D (N=1 through 2097152, D=1 through 2097152) Except that 1/2097152≦N/D≦2097152

ts1

t4 t5

ts2

ts3

2-7

2. Specification General-purpose input and output

■ Position output signal

Encoder output Pulse frequency dividing

■

General-purpose input signal

Sequence input signal

■

General-purpose output signal [NPN-output]

Sequence output signal

N/32768 (N=1 through 32767)，1/N(N=1 through 64) or 2/N(N=2 through 64)

Interactive photo coupler (sink, source connection):×8-input Externally supplied power：DC5V±5%/DC12V through DC24V±10%，more than 100mA (DC24V) Servo-on, alarm reset, torque limit, encoder-clear, forward rotation prohibit,

reverse rotation prohibit, command prohibit, external trip, forced discharge, emergency stop, gain switching, internal velocity setting, etc. Refer to section 5-70, “Group9, Functions enabling condition settings,” for all the functions.

Open collector output：×8-output External power supply (OUT-PWR): DC5V±5%/ DC12V-DC24V±10%，more

than 20mA Circuit power for output signal: DC5V±5%/ Maximum current value:10mA (per 1 output) Circuit power for output signal：DC12V through DC15V±10%/ Maximum current value: 30mA (per 1 output) Circuit power for output signal：DC24V through DC15V±10%/ Maximum current value: 50mA (per 1 output) Servo-ready, power-on, servo-on, holding brake timing, torque and velocity limited state, low velocity, velocity attainment, velocity-matching, zero-velocity, command acceptable, status of gain switch, velocity loop proportional control state, control mode switching state, forward OT, reverse OT, warning, alarm code (3bits), etc. Refer to “Group A Multi-purpose outputting conditions (5-73),” for all the signal names.

2-8

2. Specification Power supply and amount of heat generation

2.4 Power supply and amount of heat generation

1) Input current of main circuit power supply and control power supply

Servo amplifier Servo motor model

R2GA04003F 30 2.5

RF2G and the

Subsequent

models

R2GA04005F 50 5.3 R2GA04008D 80 6.6 R2GA06010D 100 6.9 R2GA06020D 200 8.0

✔ Input current value of main circuit power is effective value in the case of rated revolution

velocity and rated torque. Two to three times of the current value shown in the table may be momentarily curried depending on operating patterns such as start-up or stop.

✔ The input current of control power supply above is the mean value. The value may vary

depending on operating conditions or the encoder connected to your motor, so select the power supply with a margin of more than 1.5 times.

2) Inrush current and leakage current

■ Inrush current

Large-capacitance capacitors are not contained in main circuit power and control power input part of this series, so high inrush current is not curried at power-on.

■ Leakage current

Servo amplifier Leakage current per motor

RF2G and the Subsequent models 0.8 mA

✔ When using two motors or more, add leakage current per motor. ✔ This is the value in the case of using 2m-length tough rubber sheath cable as a power line.

Leakage current increases and decreases depending on cable length, so refer to the value in the above table only as a guide of selection.

✔ Grounding of control board is mandatory to prevent occurrence of dangerous level voltage on

operating panel in the unlikely event of ground leakage. (Grounding resistance value shall be 100Ω or less.)

✔ Leakage current value is the value by measuring filter 700Hz with leak-checker. Use earth

leakage breaker supporting inverter loads, which is taken as a measure against the possibility that high-frequency earth leakage current is carried and then this causes error on ground-fault circuit interrupter and earth leakage protective relay placed on power supply conducting path, that are caused by floating earth capacitance of servo motor winding, power cable, and servo amplifier.

3) Amount of heat generation

Servo amplifier

RF2G and the

Subsequent

models

✔ These are rated revolution velocity and rated torque.

Servo motor

model NO.

R2GA04003F 9 R2GA04005F 15 R2GA04008D 20 R2GA06010D 22 R2GA06020D 26

Rated output

(W)

Servo amplifier

Total amount of

heat generation (W)

Input current of

main circuit power

supply

(A)

Input current of

control power

supply

(A)

0.5

2-9

2. Specification Cautions on load

2.5 Cautions on load

1) Restrictions on acceleration time, deceleration time，and effective torque

Motor acceleration time and deceleration time shall be subject to the restriction of momentary range of torque-rev characteristic of motor being operated together. Repetitions of motor operation and stop, and load torque are subject to the restriction of rated torque. Refer to section 9, “Selection”, for the details.

2) Negative load

Servo amplifier cannot courteously operate (for more than 1 second) to the extent that negative loads occur. Please contact us when you use this unit with negative load.

[e.g.]

◆ Downward driving force of motor (without counter weight)

◆ Generator-like application such as a winding off shaft of winder.

3) Load inertia moment

Rough reference value of ”allowable load inertia moment” shall be 10 times of “rotor inertia moment” of servo motor being operated together. Even when ”allowable load inertia moment” is ten times of “rotor inertia moment,” coping processes may be needed to deal with regenerative energies occurred at the time of stoppage. Refer to section 9.2, “precautions on regeneration”, for coping process. The following steps are required to deal the loads under the condition that “load inertia moment” are more that 10 times.

◆ Set limit on normal and reverse rotation internal torque, and then decrease motor torque under

the condition that the torque limitations are effective at all times to use.

◆ Lengthen commanded acceleration time and deceleration time.

◆ Slow down revolution to use.

The above case needs to contact us.

2-10

2. Specification Position signal output

2.6 Position signal output

The amplifier outputs two (2) kinds of position signals: Serial signals and Pulse signals

1) Positions signals by serial signals

■ The following serial encoders output absolute position data (encoder signal output -PS-) from the absolute encoder of the servo amplifier using serial signals.

Model Encoder name

PA035S Absolute encoder for incremental system 131072 (17bit) -

PA035C Absolute encoder with battery backup method 131072 (17bit) 65536 (16bit)

RA035C Absolute encoder- battery less 131072 (17bit) 65536 (16bit)

Resolution within

1 rotation

✔ Output signals (encoder signal output -PS-) are emitted from (CNA1-8 pin, 9 pin).

Encoder signal output –PS- format can be selected from among the 2 values.

■

Select from the general parameters (Group ID07: Encoder Signal Output (PS) Format [PSOFORM]).

Selection value 00: Binary Code Output

Transmission method Start/stop synchronization Start/stop synchronization

Baud rate 9600bps 9600bps

Format 11bits 10bits

Transmission error

check

Transfer time 9.2ms (Typ) 16.7ms (Typ)

Transfer period Approximately 11ms Approximately 40ms

Increase method

Even number parity

Increase during forward

1bit

operation

01: ASCII Decimal Code

Output

1bit

Even number parity

Increase during forward

operation

✔ Forward rotation is counter-clockwise rotation from the motor shaft axis. When absolute value

increases to maximum, it becomes minimum value (0).

✔ Pulse encoder outputs “Actual position monitor value” through binary code regardless of the

setting of (Group ID07: Encoder Signal Output (PS) Format [PSOFORM]).

Resolution within multiple rotations

2-11

2. Specification Position signal output

2) Binary code output format and transfer period

■ Format

◆ Data format

11bits

11bit

Transfer format

◆

Data positions of absolute data for motor encoder

Transfer period

■

1bit 5bit 3bit 1bit 1bit

Start bit

Start bit Data bit Address bit Parity bit Stop bit

･Data 1 0 D0 D1 D2 D3 D4 0 0 0 0/1 1

(LSB)

･Data 2 0 D5 D6 D7 D8 D9 1 0 0 0/1 1 ･Data 3 0 D10 D11 D12 D13 D14 0 1 0 0/1 1 ･Data 4 0 D15 D16 0/D17 0/D18 0/D19 1 1 0 0/1 1 ･Data 5 0 0/D20 0/D21 0/D22 0/D23 0/D24 0 0 1 0/1 1 ･Data 6 0 0/D25 0/D26 0/D27 0/D28 0/D29 1 0 1 0/1 1 ･Data 7 0 0/D30 0/D31 0/D32 0 0 0 1 1 0/1 1

(MSB)

･Data 8 0 0 0 0 0 0 1 1 1 0/1 1

Motor encoder mode Data within 1 rotation Data within multiple

PA035S “D0 through D16” PA035C “D0 through D16” “D17 through D32” RA035C “D0 through D16” “D17 through D32”

Data bit

Address bit

Parity bit

rotations

Stop bit

Power supply control ON

Encoder output signal (PS)

✔ The signal is indefinite for about 2 seconds after booting power and communication may not

Max2s

Indefinite H 12345678 1 2 3 4 5 678

pprox. 1.1ms

pprox.11ms

Data

Approx. 9.2ms

always begin from the first frame, even after 2 seconds.

2-12

2. Specification Position signal output

3) ASCII decimal code output format and transfer period

■ Format

◆ Data format

Transfer format

◆

Absolute data of motor encoder

■ Transfer period

Power supply control ON

Encoder output signal (PS)

✔ The signal is indefinite for about 2 seconds after booting power and communication may not

1bit 7bit 1bit 1bit

Start bit

Data number Start bit D0 D1 D2 D3 D4 D5 D6 Parity bit Stop bit

Data 1 0 Show position data ”P” 0/1 1

↓

Data 2 0 Show multiple rotation data ”+” 0/1 1

↓ Data 3 0 Multiple rotation data ”5th digit” 0/1 1 Data 4 0 Multiple rotation data “4th digit” 0/1 1 Data 5 0 Multiple rotation data “3rd digit” 0/1 1 Data 6 0 Multiple rotation data “2nd digit” 0/1 1 Data 7 0 Multiple rotation data ”1st digit” 0/1 1

↓ Data 8 0 Show comma “,” 0/1 1

↓ Data 9 0 1 rotation data “7thdigit” 0/1 1

Data 10 0 1 rotation data ”6thdigit” 0/1 1 Data 11 0 1 rotation data ”5thdigit” 0/1 1 Data 12 0 1 rotation data ”4thdigit” 0/1 1 Data 13 0 1 rotation data ”3rddigit” 0/1 1 Data 14 0 1 rotation data ”2nddigit” 0/1 1 Data 15 0 1 rotation data ”1st digit” 0/1 1

↓

Data 16 0 Carriage return “CR” 0/1 1

Motor encoder model Absolute value within 1 rotation Absolute value within multiple rotations

PA035S 00000 to 131071 PA035C 00000 to 131071 00000 to 65535

RA035C 00000 to 131071 00000 to 65535

Max2s

Indefinite

H123

pprox. 1.04ms

always begin from the first frame, even after 2 seconds.

10bit

Data bit

pprox. 40ms

････

pprox. 16.7ms

Parity bit

14 15 16 1 2 3

Data

Stop bit

････

14 15 16

2-13

2. Specification Position signal output

4) Position signal output from pulse signal

■ Servo amplifier outputs “90°-phase difference two-phase pulse (phase A, phase B) and original phase

(phase Z)”. Pulse output can change the division ratio by parameter. Set the general parameter “Group C ID04 Encoder Output Pulse Division [ENRAT]”

✔ Output signal “A phase pulse output (AO/AO ✔ Output signal “B phase pulse output (BO/BO ✔ Output signal “Z phase output (ZO/ZO

■ Output signal under forward rotation

――

) “outputs from “CNA-1 pin, 3 pin”

――

) “outputs from “CNA-4 pin, 5 pin”

) “outputs from “CNA-6 pin, 7 pin”

Power control ON

Phase A pulse

Phase B pulse

Phase Z

Max2s

The signal is indefinite for 2 sec after booting.

Phase B is 90 ° ahead of phase A.

✔ Serial encoder “positions signal output” delays about 224μs. ✔ Serial encoder Phase Z output is once in 1-rotation (at every change of multiple rotations)

based on loading or training edge of Phase A or Phase B with the width of one pulse of Phase A. (does not determine the position relation of Phase Z or Phases A&B.

✔ When value other than 1/1 is set as “encoder output pulse division,” ”A-phase pulse and

B-phase pulse“ are output as divided signal, however ”Z-phase” is output in original pulse width instead of as divided signal. In this case, phase relationship between Z-phase and A-phase pulse/B-phase pulse is not established (fixed).

2-14

2. Specification Analog monitor

2.7 Specifications for analog monitor

■ Analog monitor box (an option)

Analog monitor can monitor by connecting analog monitor box to connector for analog monitor on the bottom of servo amplifier. Analog monitor box needs power supply of ±12V separately. Please be advised that this is user prepared item.

■ Electrical specifications

Output voltage range: DC±8V

◆

◆ Output resistance: 1kΩ

◆ Load: less than 2mA

✔ Monitor output is indefinite at the time of power ON/OFF and may output DC12V+/- around

10%.

■ Velocity command, Velocity monitor

Velocity command, velocity monitor output

Output

voltage

-1000min

Reverse rotation

-2V

Forward rotation

1000min

Reverse rotation

-1000min

Output voltage

-2V

1000min

Forward

rotation

Reverse rotation

-1000min

Output voltage

Forward rotation

1000min

Torque command, torque monitor

■

Torque command, torque monitor output

Reverse rotation

Output voltage

-T

-2V

Forward

rotation

Output

voltage

Reverse rotation

-T

Forward rotation

(Rate torque)

-2V

Output voltage

Reverse rotation

-TR T

Forward rotation

Position deviation monitor

■

Position deviation monitor output

Reverse rotation

Output voltage

-1

-20mV

20mV

1 Pulse

Output voltage

20mV

-1

Reverse rotation

20mV

Forward rotation

1 Pulse

Reverse rotation

Output

voltage

-1

20mV

Forward

rotation

1 Pulse

2-15

2. Specification Dynamic brake

2.8 Specifications for dynamic brake

1) Allowable frequency, instantaneous tolerance, decreasing the rotation angle of the dynamic brake

■ Allowable frequency of the dynamic brake (main circuit power ON/OFF)

Less than 10 times per hour and 50 times per day at maximum velocity within the applied load

inertia moment.

■ Operation intervals

In basic terms, operation of the dynamic brake in six (6) minute intervals is acceptable. If the

brake is to be operated more frequently, the motor velocity must be reduced sufficiently. Refer to

the following expression to find a standard of operation:

(Rated rotation velocity/maximum rotation velocity in use)

6minutes

Staging down the rotation angle using the dynamic brake is show as follows:

■

I=I1+I2

2πN×t

JM : Inertia moment of servo motor (kg・m2)

◆

◆ J

: Load inertia moment (motor axis conversion)(kg・m2)

◆ N : Servo motor rotation velocity (min

◆ I

: Stage down rotation angle (rad) using

amplifier internal process t

◆ I

: Stage down rotation angle (rad) using dynamic

)×(αN＋+βN3)

M＋JL

-1

)

brake operation

◆ t

: 10 × 10-3(s)

α/β:

■

Servo amplifier

capacity

After RF2G

Servo motor

model number

α β JM(kg･m2)

R2GA04003F 185 R2GA04005F 93.9 R2GA04008D 32.5 R2GA06010D 21.9 R2GA06020D 7.4

5.14×10

3.82×10

2.00×10

7.53×10

4.88×10

－

-6

0.0247×10-4

0.0376×10-4

0.0627×10-4

0.117×10-4

0.219×10-4

✔ The values for α and β are reached based on an assumed resistance value of the power line

being 0Ω. Contact us when the combination with an amplifier is different than those shown above (invariably values are different).

✔ Dynamic brake cannot work for servo amplifiers with no dynamic brake circuit.

2-16

No Text on This Page.

3. Installation

3.1 Installation ..................................................................................................................................................................3-1

1) Servo amplifier............................................................................................................................................................3-1

2) Unpacking...................................................................................................................................................................3-2

3) Installation direction and position................................................................................................................................3-3

4) Conditions on layout in control cabinet.......................................................................................................................3-3

5) Cooling conditions......................................................................................................................................................3-4

3.2 Servo motor................................................................................................................................................................3-5

1) Precautions.................................................................................................................................................................3-5

2) Unpacking...................................................................................................................................................................3-5

3) Installation ..................................................................................................................................................................3-5

4) Installation ..................................................................................................................................................................3-6

5) Water and dust proofing.............................................................................................................................................3-6

6) Protective cover placement........................................................................................................................................3-7

7) Gear installation and co-assembly with mating machine............................................................................................3-7

8) Allowable load for bear ing ..........................................................................................................................................3-9

9) Cable installation and its related cautions.................................................................................................................3-10

3. Installation Servo amplifier

3.1 Installation

1) Servo amplifier

Fully observe the following precautions to perform installation.

■ Precautions

Installation in flammable material or its vicinity causes fire. Do not put heavy things and get on top of servo amplifier. Operate within the scope of specified ambient conditions. Do not let fall and apply high impacts on servo amplifier.

Do not let electrically conductive materials like screw or metal tip, and flammable materials into servo amplifier.

Do not shut the ports. Fully observe installation direction. Please contact us if storage period of servo amplifier has been long-term (for over 3 years), as long-term

storage causes decrease capacity of electrolytic capacitor. Please return the product to us to repair immediately when any damages found on product.

When storing servo amplifier in a box.

■

Temperature in a box can b ecome hi gher than ambient temperature outside, depending on box size and power loss of equipment to be stored. Make sure that surrounding temperature of servo amplifier is at 40°C or less, taking box size, cooling, and layout into consideration.

When vibration source is near servo amplifier.

■

Install servo amplifier in the base via shock absorber, so as not to let vibration transmit directly to servo amplifier.

When heating element is near servo amplifier.

■

Make sure that servo amplifier’s vicinity is at 40°C or less, even when temperature incr ease is likely to occur due to convective or radiation.

When corrosive gas exists.

■

Long period of operation causes bad electrical contacts on connectors or other parts having contact points. Never operate servo amplifier in the area corrosive gas exists.

When explosive and flammable gas exist.

■

Never operate servo amplifier in the area explosive and flammable gas exist. Failure to observe this may catch a fire and induce fire or explosive accident, as parts like relays, contactors, and regenerative resistor that generate arc (spark) in a box may become a source of ignition.

■

When dust and oil mist exist.

Servo amplifier cannot operate in the area dust and oil-mist exist. Dust and oil mist attached to servo amplifier and their accumulation cause insulation failure and leakage between

■

This causes malfunction as noise can contaminate input signal and power supply circuit. When any possibility of noise contamination, review line wiring and take actions on noise generation prevention. Place noise filter on the front stair of servo amplifier.

■ When connecting and disconnecting connectors.

Do not connect and disconnect connectors when applying current. T his cause failure. (Except for PC operating setup software.) Disconnect power supply as well as servo amplifier to connect and disconnect relay connectors when transmitting signals with use of relay connectors.

electrically conductive parts, and then induce damages on servo amplifier.

When major noise source exists.

3-1

3. Installation Servo amplifier

2) Unpacking

The following items shall be checked when the product delivered. In the event that any abnormal items are found, please contact us.

Check servo amplifier model number to see if any discrepanci es between ordered item and

■

delivered item. Model number is marked after each product nameplate “MODEL.”

■ Check servo amplifier exterior to see if any problems.

■ Check servo amplifier screws to see if any loosening.

Serial number structure Month (2-digit) + the dominical year (2-digit) + date (2-digit) + serial (4-digit) + revision (”A”-omitted)

Servo amplifier

Example of servo amplifier nameplate

MODEL RF2G21A0A00 INPUT DC48V 8A

DC5V 0.5A

OUTPUT 3φ 0-48 6A SER.No. 0110130561

Model number

Serial number

✔ Main nameplate may be changed according to overseas standard.

3-2

3. Installation Servo amplifier

3) Installation direction and position

4) Conditions on layout in control cabinet

Make space of over 50mm above and under servo amplifier not to prevent airflow from the

■

interior of heat sink and servo amplifier. Create flow with cooling fan if heat remains in the vicinity of servo amplifier.

■ Make sure that ambient temperature around servo amplifier shall be 40°C or less.

■ Make space of over 10mm on both side of servo amplifier not to prevent heat radiation from

side heat sink and airflow from interior of servo amplifier.

10mm or over

Ventilation

50mm or over

Ventilation

50mm or over

Ventilation

FAN

50mm or over

3-3

50mm or over

Ventilation

3. Installation Servo amplifier

5) Cooling conditions

Surely perform forced air-cooling for heat sink of servo amplifier, when operating conditions (load conditions) of servo motor is as follows:

■ Verification of effective output current by calculation

Check effective torque “Trms“, which is determined by actual operating pattern and load conditions, in accordance with “Section 9.1, Capacity selection of servo motor.”

Check rated torque “T servo amplifier, in accordance with “Section 10.4, Servo motor data sheet.”

Obtain effective value “Irms” of actual electrical current in the motor, according to the following equation.

Irms = IR× [A]

TR: Rated torque of servo motor (value on the catalog) [N･m] IR: Rated current of servo motor (value on the catalog) [A] Trms: Effective torque calculated according to operating pattern and load condition [N･m] Irms: Effective current calculated according to the above equation [A]

Trms

“ and rated current “IR“ of servo motor which is actually combined with

When “Irms” calculated by the above equation is Irms>3.3[A], perform forced air-cooling for servo amplifier.

Verification on actual machine.

■

Perform continuous running (heat-running) on actual system. When temperature in the cente r of heat sink is over 65°C, perform forced air-cooling for servo amplifier.

✔ Perform measuring with the operating pattern requiring the strictest load condition. ✔ Recommended FAN motors are as follows:

Manufactured by Sanyo Denki Co., Ltd.： DC San series Ace, square type: 60mm, 80mm (General model) Manufactured by Sanyo Denki Co., Ltd.： San Ace series L, square type: 60mm, 80mm (Long-life model)

Please contact our sales department if you use FAN motor.

3-4

3. Installation Servo motor

3.2 Servo motor

1) Precautions

Precautions

■

Installation in flammable material or its vicinity causes fire. Do not put heavy things and get on top of servo amplifier. Operate within the scope of specified ambient conditions. Fully observe installation method. Please return the product to us to repair immediately when any damages found on product.

2) Unpacking

The following items shall be checked when the product delivered. In the event that any abnormal items are found, please contact us.

■ Check servo motor model number to see if any discrepancies between ordered item and

delivered item. Model number is marked after each product nameplate “MODEL.”

■ Check servo motor exterior to see if any problems.

■ Check servo motor screws to see if any loosening.

3) Installation

The following items shall be checked on installation location and method.

Servo motor

Servo motor is designed to be used indoors. Install servo motor indoors. Do not use servo amplifier for the purpose that oil seal lip constantly exposures to oil, major amounts of

water/oil drop, and cutting fluid. Minor droplets are permissible as a pr ocedure on motor can protect from at least to minor droplets.

Ambient temperature：0 through 40°C Storage temperature：-20 through 65°C Ambient humidity：20 through 90%

No corrosive and explosive gas, and well ventilated. No dust and dirt. Easily checked and cleaned.

Example of servo motor nameplate

AC SERVO SYSTEMS

MODEL R2GA06020DXH00 60W AC200V 0.53A

-1

3000min IP40 SER No.090206001 2002 SANYO DENKI MADE IN JAPAN 00482921-01

3φ－・ CI.F

Model numbe

Serial numbe

3-5

3. Installation Servo motor

4) Installation

Installation in horizontal direction, on the axis ends, and downward is available.

■

■ Horizontal or downward placement is recommended, for reducer with lubricant agent like oil or

grease applied onto its output shaft, or output shaft exposing to liquid. Even in the case of models with oil seal (optional extras) attached on the output shaft side, oil may invade internal motor and this causes malfunction, due to worn oil seal and respiratory operation under the circumstance oil seal lip consta ntly exposures to oil when shaft installed upward. For solution to this case, we recommend to place oil seal on the load side. Please contact us when you use motor in this condition.

■ Place motor connector and cable outlet port downward as much as possible.

■ When installing vertically, place cable trap so that oil water does not run to the motor.

Cable trap

5) Water and dust proofing

■ Protection method for single body of motor conforms to IEC standards (IEC34-5). However, this is intended for short-term use only. Leak protection is needed for actual use. Be careful not to scratch connector insulators (coating surface), because of the risk of loosing waterproof property.

■ Be aware of the possibility that liquid can invade the inside of the motor due to motor respiration if the motor is always wet, even if protection against liquid is class IPX 7.

■ Place protective cover to prevent corrosion on coating and sealing material, depending on the types of coolant. (Especially applicable to water-soluble types).

■ Use waterproof plug for canon plug type motor.

Wires

3-6

3. Installation Servo motor

6) Protective cover placement

■ Place protective cover as indicated in the figure below in the environment that motor constantly

exposure to liquid.

■ Direct connector (lead outlet) downward at the range of angle indicated in the figure below.

■ Install cover in the direction to which water and oil scatter.

■ Slope cover so as not to let water and oil gather.

■ Avoid cables exposing to water and oil.

■ Slack cables so as not to let water and oil in motor, even cables are outside of cover.

■ When you cannot install connector (lead outlet) downward by any means, slack cables to

prevent invasion of water and oil.

Seal here with shield packing.

50 ° 50 °

Water (oil) pool

Cover

7) Gear installation and co-assembly with mating machine

■

Make sure that gearbox oil level is lower than oil seal lip to the extent that oil seal lip exposures to minor oil droplets.

■ Make drainage hole as water and oil can invade inside of motor through oil seal when gearbox

internal pressure increased.

■ If you use motor axis upward, oil seal placement on the mating side is recommended. Moreover,

make drainage to let out water and oil passed through this oil seal.

Oil seal lip

Outer diameter of axis

Gear

Loosening

Servo motor

Oil level

3-7

3. Installation Servo motor

■ Perform final centering for motor shaft and mating machine as indicated in the figure below

correctly. Be aware of risk of damages to output shaft due to minor misalignment of shaft, when using rigid boy coupling.

The difference between maximum and minimum value shall be 3/100mm or less, by measuring 4 points on the whole circumference. (Coupling shall be driven together.)

■

Do not apply any impacts on servo motor shaft as precise motor encoder is directly joined to motor shaft. If you need to hammer servo motor for positioning (alignment), ha mmer front flange part with use of rubber or plastic hammer.

■

When installing the motor in machine, process mounting hole with the accuracy that servo motor flange rabbet easily joined. Ensure flatness for the mounting surface, because of the possibility of damages to shaft and bearing.

■ Utilize screw of shat end to install gear，pulley, and coupling, so as not to apply any impacts

onto the motor.

■

Tapered servo motor shaft transmits torque via the tapered surface, so make sure key fits

Pulley

Bolt

Supporting

late

Pulley

without hammering. Process the hole so that tapered contacting surface shall be 70% or over.

3-8

3. Installation Servo motor

■ Use exclusive removal jig to remove gear or pulley.

Removal jig

Tapered

8) Allowable load for bearing

Allowable load for servo motor is as indicated in the table below. Do not apply excessive thrust

■

or radial load to servo motor . When performing belt drive, make sure axis conversion value of belt tension shall not exceed the allowable values in the table below. Thrust and radial loads in the table below are the allowable loads when each load is applied to shaft separately.

Allowable radial load is the maximum load that can be applied to the 1/3 point of output shaft length measured from output shaft end.

LR/3

Thrust load

Direction F Direction F1

Radial load FR

For assembling For operation

150 98 98 98 29 29 150 98 98 98 29 29 150 98 98 98 29 29 390 200 200 200 68 68

Direction F Direction

Series

Servo motor

model number

R2□A04003F 98 78 78 49 29 29 R2□A04005F R2□A04008D R2□A06010D R2□A06020D

Radial load (N) Thrust load (N) Radial load (N) Thrust load (N)

3-9

3. Installation Servo motor

9) Cable installation and its related cautions

Be careful not to apply excessive stress and damages onto cables.

■

■ When installing cables in the place servo motor can move, take suf f icient inflective radius so as

not to apply excessive stress onto cables.

■ Pass cables through the areas where cable insulators shall not be scratched by sharp cutting

debris. Do not pass cables through the areas having possibility that machine corner scrapes against cables, or personnel/machines may tread on cables.

■ Take measures such as clamping machines so as not to apply flexion stress and own weight

stress onto each connecting point of cables. When motor and cables need to be transferred with cableveyor (cable carrier), bending radius of cable shall be determin ed by referring required flexion life and wire type.

■ Periodic replaceable structure for movable part of cable is recommended. Please contact us

when you would like to use recommended cables for movable p arts.

3-10

No Text on This Page.

4. Wiring

4.1 Wiring of main circuit power supply, control power supply, servomotor, and protective grounding.................4-1

1) Name and function .....................................................................................................................................................4-1

2) Electrical wire ............................................................................................................................................................. 4-1

3) Wire diameter - allowable current...............................................................................................................................4-1

4) Terminal layout of connector CNA and CNB...............................................................................................................4-2

5) Recommended wire diameter and cable length.......................................................................................................... 4-3

6) Example of wiring ....................................................................................................................................................... 4-4

4.2 Wiring connection diagram to host equipment.......................................................................................................4-5

1) Name and pin number of signal CN1A and CN1B (wiring connection to host equipment).......................................... 4-5

2) Layout of connector CN1-A ........................................................................................................................................ 4-6

3) Name and its function of signal CN1-A.......................................................................................................................4-6

4) Connection circuit of terminal CN1-A.......................................................................................................................... 4-7

5) Layout of connector CN1-B ........................................................................................................................................ 4-9

6) Signal name and its function.......................................................................................................................................4-9

7) Terminal connection circuit ....................................................................................................................................... 4-10

4.3 Wiring of motor encoder..........................................................................................................................................4-12

1) Name and function of connector CN2....................................................................................................................... 4-12

2) Terminal number on servo amplifier side .................................................................................................................. 4-13

3) Recommended specification of encoder cable ......................................................................................................... 4-14

4) Encoder cable length................................................................................................................................................4-14

5) Layout of terminal of connector for battery ............................................................................................................... 4-14

4. Wiring Electrical wires

4.1 Wiring of main circuit power supply, control power supply, servomotor, and protective grounding.

1) Name and function

Name Connector and pin number Remarks

Main circuit power Pin 4 and 5 of CNA Inputs main circuit power apply (DC48V<24Ｖ>±10%)

Control power Pin 2 and 3 of CNA

Servo motor input Pin 1, 2, and 3 of CNB Connected to servomotor.

Protective grounding

(For power supply)

Protective grounding

(For motor)

2) Electrical wire

Electrical wires for use in servo amplifier main circuit (to turn on power) and inputting from servo motor are shown in the table below.

■ Wire type

Code Name

PVC Typical vinyl covered wire -

IV 600V-vinyl covered wire 60

HIV

Wire type

Special heat-resistant vinyl

covered wire

✔ The above values are provided under condition that ambient temperature is 40°C and rated

current is applied to 3 lead bands.

✔ Consider wire allowable current reduction rate, when you band wires and then insert them

into duct such as cured vinyl tube or metal tube.

✔ If ambient temperature is relatively high, the lifetime is shortened due to heat deterioration. In

this case special heat-resistant vinyl covered wire (HIV) is recommended.

3) Wire diameter - allowable current

AWG size

20 0.5 39.5 6.6 5.6 4.2 19 0.75 26.0 8.8 7.0 5.4 18 0.9 24.4 9.0 7.7 5.8 16 1.25 15.6 12.0 11.0 8.3 14 2.0 9.53 23.0 20.0 15.0 12 3.5 5.41 33.0 29.0 21.8 10 5.5 3.47 43.0 38.0 28.5

✔ The above are reference values in the case of special heat-resistance vinyl covered wire

(HIV).

✔ The above table shows wire diameter and allowable current in the case of 3 wires banded. ✔ Use the above wires within allowable current.

Nominal

sectional area

[mm2]

Pin 1 of CNA

Pin 4 of CNB -

Allowable temperature for

Conductor resistance

[Ω/km]

Inputs control power supply (DC5V±5%)

conductor [°C]

Allowable current

for ambient temperature [A]

30°C 40°C 55°C

4-1

4. Wiring Terminal layout of connector CAN and CNB

4) Terminal layout of connector CNA and CNB

Terminal layout of CNA

■

Terminal NO. Signal Description

1 FG ( ) Frame ground (earth)

Housing VHR-5N -

Contact

CNA Model number Applicable wire size Manufacturer

SVH-21T-P1.1 AWG22 to AWG18 Or SVH-41T-P1.1

2 5V Control power DC5V 3 5G Control power common 4 P Main power DC48V<24V> 5 N Main power common

J.S.T. Mfg. Co., Ltd

AWG20 to AWG16

Terminal layout of CNB

■

Terminal

NO.

Housing VHR-5N -

Contact

CNA Model number Applicable wire size Manufacturer

SVH-21T-P1.1 AWG22 to AWG18 Or SVH-41T-P1.1

1 U Motor inputting line U 2 V Motor inputting line V 3 W Motor inputting line W 4 FG ( ) Frame ground (earth)

Signal Description

J.S.T. Mfg. Co., Ltd

AWG20 to AWG16

4-2

4. Wiring Recommended wire diameter and cable length

5) Recommended wire diameter and cable length

■ Recommended wire diameters for use in servo amplifier and motor are shown in the table

below.

Servo motor

model NO.

R2GA04003F R2GA04005F R2GA04008D R2GA06010D R2GA06020D

Motor input

(U・V・W・ )

mm2

1.25

AWG

#16 #18

Servo amplifier

combined

After RF2G 1.25

✔ The above values are provided under condition that ambient temperature is 40°C and rated

current is applied to 3 lead bands.

✔ Consider wire allowable current reduction rate, when you band wires and then insert them

into duct such as cured vinyl tube or metal tube.

✔ If ambient temperature is relatively high, the lifetime is shortened due to

this case special heat-resistant vinyl covered wire (HIV) is recommended.

Main circuit power

(P・N)

AWG No

#16 #18

Control power

(5V,5G)

AWG

1.25

#16 #18

heat deterioration. In

■ Caution on cable length

◆ Control power (5V, 5G)

When control power input part is relatively long, 5V-voltage can drop due to cable impedance. Attention necessary especially when multiple servo amplifiers are supplied power from one power supply. Control power input shall be directly applied to encoder, so if the voltage is out of the scope of 5V±5%-specification (for servo amplifier and encoder) due to voltage drop, servo amplifier and encoder cannot operate. Please consider to shorten and thicken the wiring between power and servo amplifier as much as possible, or use wire corresponding to variable output voltage power supply and remote sensing, when wiring.

◆ Main circuit power (P, N)

When control power input part is relatively long, 48V<24V> can drop due to cable impedance. Attention necessary especially when multiple servo amplifiers are supplied power from one power supply. Please be ware that if main circuit power drops, motor generated torque shall drop (momentary range of high-velocity revolution).

◆ Motor input (U, V, and W)

When motor input line is relatively long, the voltage can drop due to cable impedance, and then motor generated torque can decrease. (Momentary range of high-velocity revolution.) To solve this problem, we recommend selecting motor with sufficient margin for acceleration and deceleration torque calculation.

4-3

4. Wiring Example of wiring

6) Example of wiring

The following shows an example of external wiring.

■ Example of layout

Power

input

Power

input

Power

Servo motor

Operation

Alarm

Operation

OFF

Emergency

stop

DC5V, DC12V-24V

COM

CN1B

12 - 18, 20 (OUT1 - OUT8)

✔ Use one output from “12 through 18, and 20 (OUT1 through OUT8)” of CN1B so that

“parameter group A” is selected to set, and then set either ”In ALM-state _output ON” or ”In ALM-state_ output OFF.”

✔ Place electrolytic capacitor between 5V and 5G, or P and N on amplifier side as required,

when wiring from DC power to servo amplifier is relatively long. In this case, inrush current runs into electrolytic capacitor on power-on, so DC power needs to respond the inrush current.

✔ To use battery for main circuit DC power supply, make sure to install electrolytic capacitor in

parallel to protect the servo amplifier. (2,000μF or more-sized capacitor is recommended)

4-4

4. Wiring Wiring connection to host equipment

4.2 Wiring connection diagram to host equipment

1) Name and pin number of signal CN1A and CN1B (wiring connection to host equipment)

■ Terminal layout of connector interfacing with host equipment

CN1-A

F-PC

――

F―-―PC

R-PC

―-―PC――

CN1-B

IN-COM

CONT1

CONT2

CONT3

CONT4

CONT5

CONT6

CONT7

CONT8

CN1-A

――

Servo amplifier

+5V SG

――

CN1-B

OUT-PWR

OUT1

OUT2

OUT3

OUT4

OUT5

OUT6

OUT7

OUT8

OUT-COM

✔ Use twisted-pair cable for use in host equipment-amplifier connection. ✔ Host equipment-amplifier cable length shall be 3m or less.

4-5

4. Wiring Wiring connection to host equipment

2) Layout of connector CN1-A

CN1-A PADP-14V-1-S (cable-crimped side)

■

1 3 5 7 9 13

2 4 6 8 10 12 14

CN1-A Model NO. Applicable wire size Manufacturer Housing PADP-14V-1-S Contact SPH-002GW-P0.5S AWG24 - AWG28

3) Name and its function of signal CN1-A

Terminal NO. Signal Description

1 AO Phase A pulse output

2 FG Frame ground

4 BO Phase B pulse output

6 ZO Phase Z pulse output

8 PS Encoder signal output

10 SG Common for pin 1 –14

11 F-PC Command pulse input

13 R-PC

――

―-―PC――

Phase /A pulse output

Phase /B pulse output

Phase /Z pulse output

/ Encoder signal output

Command pulse input

JST Mfg. Co., Ltd.

4-6

4. Wiring Wiring connection to host equipment

4) Connection circuit of terminal CN1-A

Terminal

NO.

2 FG Frame ground Connects shielded wire of cables between host controller of

Mark Name Description

CN1-A and servo amplifier.

1 A0 Phase A pulse output 3

4 BO Phase B pulse output 5

6 ZO

8 PS Encoder signal output 9

――

Phase /A pulse output

Phase /B pulse output

Phase Z pulse output Phase /Z pulse output

Encoder signal output

Outputs (RS422-compliant) signal of phase A pulse, B pulse, and original phase Z pulse of motor encoder. Connect to RS422-compliant line receiver.

Servo amplifie

HD26C31 or equivalent

―

Twisted-pair

Host equipment

HD26C32 or equivalent

Surely connect SG.

This is absolute position data output (RS422-compliant) of serial encoder. Connect to RS422-compliant line receiver.

Servo am

HD26C31 or equivalent

lifie

――

Twisted-pair

Host equipment

HD26C32 or equivalent

Surely connect SG.

4-7

4. Wiring Wiring connection to host equipment

Terminal

NO.

11 F-PC Command pulse output 12

13 R-PC Command pulse output 14

10 SG Signal ground

Mark Name Description

―-―PC――

Command pulse output

Command pulse input is position command input (RS422-compliant). Command input pulse method shall be selected from 3 types.

[Clockwise pulse + counterclockwise pulse] Maximum 5M pps [Code + pulse train] Maximum 5M pps [90°-phase difference and two-phase pulse train] Maximum 1.25M pps

Connection of differential output signal

Host equipment HD26C31 or

equivalent

Twisted-pair

11 12

Twisted-pair

13 14

Surely connect SG. Connection of open collector signal output

Host equipment

Twisted-pair

11 12

Twisted-pair

HD26C32 or equivalent

Servo amplifier

150Ω

1.0kΩ

1.5kΩ

1.0kΩ

1.5kΩ

1.0kΩ

F-PC

F―-―PC――

R-PC

―-―

――

1.0kΩ

150Ω

HD26C32 or equivalent

Servo amplifier

150Ω

1.0kΩ

1.5kΩ

1.0kΩ

1.5kΩ

1.0kΩ

F-PC

F―-―PC――

R-PC

R―-―PC――

1.0kΩ

4-8

4. Wiring Wiring connection to host equipment

5) Layout of connector CN1-B

■ CN1-B PADP-20V-1-S (cable-crimped side)

1 3 5 7 9 13 15 17 19

2 4 6 8 10 12 14 16 181120

CN1-B Model NO. Applicable wire size Manufacturer

Housing

PADP-20V-1-S

Contact SPH-002GW-P0.5S AWG24 - AWG28

6) Signal name and its function

Terminal

NO.

1 IN-COM Common for pin 3 -10 2 FG Frame ground 3 CONT1 General-purpose input 4 CONT2 General-purpose input 5 CONT3 General-purpose input 6 CONT4 General-purpose input 7 CONT5 General-purpose input 8 CONT6 General-purpose input

9 CONT7 General-purpose input 10 CONT8 General-purpose input 11 OUT-PWR For General-purpose output power supply 12 OUT1 General-purpose output 13 OUT2 General-purpose output 14 OUT3 General-purpose output 15 OUT4 General-purpose output 16 OUT5 General-purpose output 17 OUT6 General-purpose output 18 OUT7 General-purpose output 19 OUT-COM General-purpose output common 20 OUT8 General-purpose output

Signal Description

JST Mfg. Co., Ltd.

4-9

4. Wiring Wiring connection to host equipment

7) Terminal connection circuit

Terminal

NO.

2 FG Frame ground Connects shielded wire of cables between host controller of

1 CONT-COM General-purpose input

3 CONT1 General-purpose input 4 CONT2 General-purpose input 5 CONT3 General-purpose input 6 CONT4 General-purpose input 7 CONT5 General-purpose input 8 CONT6 General-purpose input 9 CONT7 General-purpose input

10 CONT8 General-purpose input

Mark Name Description

CN1-A and servo amplifier.

General-purpose input circuit shall connect to relay or

power supply

Sink circuit type Source circuit type

Open collector transistor circuit.

Specification for external power supply Power-supply voltage range：DC5V DC24V

±10%

Allowable current for host equipment： Ensure 100mA (DC24V) or over.

[Example of sink circuit]

Host equipment

CONT-COM

±5%/ DC12V through

CONT1

CONT2

CONT3

CONT4

CONT5

CONT6

CONT7

CONT8

Servo amplifier

2.2kΩ

4.7kΩ

4-10

4. Wiring Wiring connection to host equipment

Terminal

NO.

11 OUT-PWR For general-purpose

12 OUT1 General-purpose

13 OUT2 General-purpose

14 OUT3 General-purpose

15 OUT4 General-purpose

16 OUT5 General-purpose

17 OUT6 General-purpose

18 OUT7 General-purpose

20 OUT8 General-purpose

19 OUT-COM General-purpose

Mark Name Description

General-purpose circuit is connected to photo coupler and relay

output power

output

output -common

circuit. [NPN-output (sink output)] OUT-PWR (external power supply) specification

Power-supply voltage range：DC5V

±5%，DC12Vthrough24V

±10%

Current capacity：20mA or over

OUT-1 through OUT-8 (output circuit) Specification for power supply

Power-supply voltage range：DC5V Power-supply voltage range：DC12V through 15V Power-supply voltage range：DC24V

Maximum current value：DC5V･･････････10mA Maximum current value：DC12V through 15V････30mA Maximum current value：DC24V･････････50mA

Servo amplifier

±5%

±10%

OUT-PWR

OUT1

OUT2

OUT3

OUT4

OUT5

OUT6

OUT7

OUT8

OUT-COM

±10%

Host equipment

4-11

4. Wiring Wiring of motor encoder

4.3 Wiring of motor encoder

1) Name and function of connector CN2

■ Battery backup absolute encoder

Servo amplifier

CN2

Terminal NO.

1 Red 5V Power supply 2 Black SG Power supply common 3 Brown ES+ 4 Blue ES5 Pink BAT+ 6 Purple BAT7 - N.C. 8 - N.C. 9 Shield FG (earth)

10 Shield FG (earth)

✔ Use twisted-pair cable with shield inserted under jacket. ✔ Connect jacketed and shielded cable on servo amplifier side to either pin 9 or 10 of servo

amplifier connector CN2.

Servo motor

lead color for

Signal Description Note)

Twisted pair

Serial data signal

Battery

Unconnected -

Shield -

Twisted pair

Absolute encoder for incremental system

■

Servo amplifier

CN2

Terminal NO.

1 Red 5V Power supply 2 Black SG Power supply common 3 Brown ES+ 4 Blue ES5 - N.C. 6 - N.C. 7 - N.C. 8 - N.C. 9 Shield FG (earth)

10 Shield FG (earth)

Servo motor

lead color for

Signal Description Note)

Twisted pair

Serial data signal Twisted pair

Unconnected -

Shield -

✔ Use twisted-pair cable with shield under jacket ✔ Connect jacketed and shielded cable on servo amplifier side to either pin 9 or 10 of servo

amplifier connector CN2.

4-12

4. Wiring Wiring of motor encoder

■

Battery-less absolute encoder

Servo amplifier

CN2

Terminal NO.

1 Red 5V Power supply 2 Black SG Power supply common 3 Brown ES+ 4 Blue ES5 - N.C. 6 - N.C. 7 - N.C. 8 - N.C. 9 Shield FG (earth)

10 Shield FG (earth)

Servo motor

lead color for

Signal Description Note1)

Twisted pair

Serial data signal Twisted pair

Unconnected -

Shield -

✔ Use twisted-pair cable with shield under jacket ✔ Connect jacketed and shielded cable on servo amplifier side to either pin 9 or 10 of servo

amplifier connector CN2.

■ Pulse encoder

Servo amplifier

CN2

Terminal NO.

1 Red 5V Power supply 2 Black SG Power supply common 3 Blue A 4 Brown /A 5 Green B 6 Purple /B 7 White Z 8 Yellow /Z 9 Shield FG (earth)

10 Shield FG (earth)

Servo motor

lead color for

Signal Description Note1)

Twisted pair

Pulse A output Twisted pair

Pulse B output Twisted pair

Pulse C output Twisted pair

Shield -

✔ Use twisted-pair cable with shield under jacket ✔ Connect jacketed and shielded cable on servo amplifier side to either pin 9 or 10 of servo

amplifier connector CN2.

2) Terminal number on servo amplifier side

1 3 5 7 9

2 4 6 8

✔ Wiring varies depending on encoder types connected, so make sure to confirm the wiring

method.

CN2 Model NO. Applicable wire size Manufacturer

Housing PADP-10V-1-S -

Contact SPH-002GW-P0.5S AWG24-AWG28

JST Mfg. Co., Ltd.

4-13

4. Wiring Wiring of motor encoder

3) Recommended specification of encoder cable

Shielded many-to cable (AWG24 or equivalent) Cable rating 80°C 30V

4) Encoder cable length

Maximum cable length according to conductor size of power (5V, SG) wire

Battery-back up absolute encoder Absolute encoder for incremental

system

Pulse encoder

Length (m) Length (m)

Battery-less absolute encoder

Conductor size

AWG

(mm2)

Conductor resistance

Ω/km (20°C)

26 150 or less 4 6

24 100 or less 6 10

22 60 or less 10 16

20 40 or less 15 25

18 25 or less 25 41

0.15 150 or less 4 6

0.2 100 or less 6 10

0.3 65 or less 10 16

0.5 40 or less 15 25

0.75 28 or less 25 41

✔ The above conductor resistance values are for reference. Cable lengths are calculated

according to the above conductor lengths. Please consult manufacturers, as actual conductor resistance values shall be varied by cable specifications.

✔ The lengths are calculated under the condition that encoder is connected with an

appropriate conductor resistance cable, and the voltage at 5V-5G (control power input to servo amplifier) is 5V.

✔ CNA control power input at 5V-5G shall be directly output to encoder.

When this input voltage itself is low, the voltage can drop on the cable and then encoder cannot operate correctly, even the cable length is within the range shown in the table above. (Encoder operating voltage specification is 5V±5%.)

✔ When encoder cable is relatively long, place relay connector on wiring between servo

amplifier and encoder so as to ground wires in parallel, or use thicker wire diameter-conducting wire sized cable.

5) Layout of terminal of connector for battery

Housing IL-2S-S3L-(N) -

Contact IL-C2-1-10000 AWG28 to AWG22

1 2

1 JAE

Connector for battery Model number Applicable wire size Manufacturer

Terminal NO. Signal Description

1 BAT- Battery-negative 2 BAT+ Battery-positive

Japan Aviation Electronics Industry, Limited

4-14

No Text on This Page.

5. Operation

5.1 How to change servo motor to be combined.......................................................................................................... 5-1

1) Change and verify servo motor with use of setup software ....................................................................................... 5-1

5.2 System parameters ................................................................................................................................................... 5-2

1) Specification confirmation.......................................................................................................................................... 5-2

2) System parameters list..............................................................................................................................................5-4

3) Confirmation and settings of system parameters.......................................................................................................5-4

4) Change and verify system parameters (settings for motor encoder specification).....................................................5-6

5) Default set values at factory ...................................................................................................................................... 5-9

5.3 Test operation..........................................................................................................................................................5-10

1) Confirmation of installation and wiring ..................................................................................................................... 5-10

2) Confirmation of movement ......................................................................................................................................5-10

3) Confirmation of input-output signal.......................................................................................................................... 5-11

4) Confirmation of device operation............................................................................................................................. 5-12

5.4 Servo amplifier status display................................................................................................................................5-13

1) Default display.........................................................................................................................................................5-13

2) Alarm display...........................................................................................................................................................5-13

3) Control power input display ..................................................................................................................................... 5-13

5.5 Operation sequence................................................................................................................................................5-14

1) Operational sequence from power-on through power-off in standard setting at factory........................................... 5-14

2) Stop sequence when alarm activated......................................................................................................................5-16

3) Sequence when alarm reset....................................................................................................................................5-19

4) Sequence when power is turned OFF during operation (during servo ON) ............................................................. 5-20

5.6 Monitor function......................................................................................................................................................5-21

1) Monitor function.......................................................................................................................................................5-21

2) Description of monitor.............................................................................................................................................. 5-22

5.7 Analog monitor and digit a l monitor.......................................................................................................................5-26

5.8 Setting of parameters..............................................................................................................................................5-27

1) Parameters list......................................................................................................................................................... 5-27

5.9 Parameter functions................................................................................................................................................5-33

5.10 Control block diagram ..........................................................................................................................................5-87

5.Operation How to change servo motor to be combined

5.1 How to change servo motor to be combined

Change and verify servo motor to be combined with servo amplifier you use by using AC servo system supportive tool, “setup software.” Refer to separate operating manual M0008363 for more details on setup software operation.

1) Change and verify servo motor with use of setup software

Procedure Item and Contents

Confirmation of the servo motor model number

■ Confirm the servo motor model number to be combined with the servo amplifier. Confirm that the model number (first 10 digits) of the servo motor to be used is the same as the model number found in the Combination Motor model number in the Setup software. If the servo motor model number to be used is the same as the Combination

3 Re-turning on of control power enables changed settings.

✔ When parameters in servo amplifier are changed via setup software, the changed parameters are to be

written into non-volatile memory inside of the servo amplifier. Do not turn off the 5V-control power supply of servo amplifier during parameter-writing. If you turn off the control power supply after performing g parameter-writing via setup software, turn off the 5V-power supply more than 5 seconds surely after completion of parameter-writing.

Motor model number, there is no need to change the settings. If not, change the number to the correct servo motor model number.

■ Input control power (5V) of servo amplifier to start-up setup software. Open the System Parameters tab of Parameters setting (P) on Menu. The first 10 digits of the servo motor number appear on the upper left side of the monitor at the Present Setting of the Motor Combination.

Change servo motor model number

■ The way to change servo motor to be combined with servo amplifier is to use “select from list” of setup software.

◆ Input control power (5V) of servo amplifier to start-up setup software.

◆ Open the System Parameters tab of Parameters setting (P) on menu, open “select

from list” of motor to be combined located in the upper left portion of the screen, and then select file name (extension .mt1) of servo motor model number (10 digits from the first) you use.

5-1

5.Operation System parameters / Specification confirmation

5.2 System parameters

1) Specification confirmation

Confirm specification, combination of servo amplifier and motor encoder by using AC servo system supportive tool “setup software.”

Procedure Item and Contents

Confirmation of servo amplifier specifications

■ Confirm that the specifications of the product purchased are the same as that of the machine being used. Also, confirm the following four (4) items with statements or codes.

◆ Motor structure

◆ Main circuit power supply voltage

◆ Amplifier capacity code

◆ Control board code

■ Confirm the statement contents and codes with the AC servo system supportive tool “setup software.”

◆ Turn the Control Power ON and start the Setup software. Open the System

Parameters tab at Parameters (P) from the Menu and the items mentioned above will be displayed on the upper right of the monitor at System Information. Confirm them using Procedure 2 and the procedures that follow it. See separate volume, M0008363, for Setup software operation.

Motor structure

Code Motor structure

00 Rotary

■ Confirm that rotary is displayed at motor structure.

5-2

5.Operation System parameters / Specification confirmation

Procedure Item and Contents

Main circuit power supply voltage

Code Main circuit power supply voltage display

03 (04) 48V <24V>

■ Confirm that the main circuit power supply voltage of the connector CNA is displayed.

Amplifier capacity

Code Amplifier capacity Servo amplifier model number

2F 25A

(Small capacity)

2E 40A

(Large capacity)

■ Confirm that amplifier capacity for servo amplifier model number you use is displayed.

Control board code

Code

#0 PA035S, PA035C, RA035C Do not use #2 PA035S, PA035C, RA035C Pulse encoder #8 PP031, PP062 Do not use #A PP031, PP062 Pulse encoder

■ Confirm the corresponding code from the motor encoder of the servo motor to be used (EN1 and EN2) is displayed.

Model Name

PA035S Absolute Encoder for Incremental System PA035C Battery Backup Method Absolute Encoder RA035C Battery-less Absolute Encoder

PP031, PP062 Pulse Encoder

Motor encoder model

connected to EN1

RF2G (H) 01A####

RF2G (H) 02A####

External encoder

connected to EN2

5-3

5.Operation System Parameters List, Confirmation and Settings (Servo Amplifier)

2) System parameters list

The following is system parameters list. Settings vary depending on system you use. So please confirm 3) and 4) and later to surely and properly set.

Control Cycle

Main Circuit Power Input Type

Reserve

Serial Encoder Function Selection

Serial Encoder Resolution

Backup Type Absolute Encoder Function Selection

Pulse Encoder Function Selection

Pulse Encoder Resolution

Control Mode Selection

Position Control Selection

Position Loop Control, Position Loop Encoder Selection

External Pulse Encoder Resolution

Contents

3) Confirmation and settings of system parameters

Use AC servo system supportive tool, setup software, to set specification for and combination of servo amplifier and motor encoder. Refer to separate operating manual “M0008363 for details on operation of setup software.

System parameters (Settings for servo amplifier)

ID Contents

Control Cycle

■ Select the control cycle for Velocity control/ Torque control. “High Frequency Sampling” enables increasing the frequency response of the velocity control system. Please set at “00: Standard_Sampling” for normal use.

Selection Contents 00 Standard_Sampling Standard Sampling 01 High-freq_Sampling High Frequency Sampling

■ “High frequency sampling mode” is not available for the following conditions:

◆ System Parameters ID0A setting value of the “Position Control Selection”

Present setting value Contents

01:Model1 Model Following Control

Present setting value Contents

02:Model2 Model Following Vibration Suppressor Control

◆ System Parameters ID0B setting value of the “Position Loop Control, Position Loop

Encoder Selection”

Present setting value Contents

Main Circuit Power Input Type

■ Set the input mode for the main circuit power supply to the servo amplifier CNA.

01: External_Enc Fully closed control/ External Encoder

Selection Description

02:DC DC power is supplied to the main circuit

5-4

5.Operation Confirmation and Settings (Servo Amplifier)

ID Contents

Control Mode Selection

■ Set the control mode of the servo amplifier used as follows:

Position Control Selection

■ Select the function Position Control Mode.

■ Under the following parameter settings, ‘Model Following Control” and “Model Following

■ If the parameter is set as below, the “Model Following Vibration Suppressor Control” is not

Selection Description

02 Position Position Control Mode

Selection Description

00 Standard Standard 01 Model1 Model Following Control

02 Model2

Vibration Suppressor Control” are not valid.

◆ System parameter ID00 “Control Cycle” is set as follows:

Present setting value Description

01: High-freq_Sampling High Frequency Sampling

◆ System parameter ID09 “Control Mode Selection” is not set as follows:

Present setting value Description

valid.

◆ System parameter ID0B “Position Loop Control, Position Loop Encoder Selection” is

set as below:

Present setting value Description

01: External_Enc Fully closed control/ External Encoder

Model Following Vibration Suppress Control

02:Position Position Control Mode

Position Loop Control, Position Loop Encoder Selection

■ Select the encoder for “Position loop control system” and “Position loop control” for the servo amplifier under “Fully closed control”.

Selection Description

00 Motor_Enc Semi-closed Control/ Motor Encoder 01 External_Enc Fully closed control/ External Encoder

■ “Fully closed control” is not chosen, no need to change. Confirm that the setting is as follows:

Present setting value Description

External Pulse Encoder Resolution

■ Sets resolution of the external pulse encoder under Fully closed control. Sets the number of

00:Motor_Enc Semi-closed control/ Motor Encoder

converted pulses for each rotation of the motor shaft.

Setting range Unit

500 - 99999(multiply by 1) P/R

5-5

5.Operation Confirmation and Settings (Motor Encoder)

4) Change and verify system parameters (settings for motor encoder specification)

Set motor encoder you use. Items to be set vary depending on encoder you use. Parameters you need to set are listed below. Please set values for each motor encoder after checking the list in the following pages.

ID Contents

Serial Encoder Function Selection

■ Select the serial encoder function

Selection Description

00 PA_S_2.5M Absolute Encoder for Incremental System 2.5Mbps

01 PA_S_4M Absolute Encoder for Incremental System 4.0Mbps 02 PA_C_2.5M Battery Backup Method Absolute Encoder 2.5Mbps 03 PA_C_4M Battery Backup Method Absolute Encoder 4.0Mbps 04 RA_C_2.5M Battery-less Absolute Encoder 2.5Mbps 05 RA_C_4M Battery-less Absolute Encoder 4.0Mbps

Serial Encoder Resolution

■ Set the divisions per single (1) shaft rotation

Selection Description Selection Description

00 2048_FMT 2048 divisions 06 131072_FMT 131072 divisions 01 4096_FMT 4096 divisions 07 262144_FMT 262144 divisions 02 8192_FMT 8192 divisions 08 524288_FMT 524288 divisions 03 16384_FMT 16384 divisions 09 1048576_FMT 1048576 divisions 04 32768_FMT 32768 divisions 0A 2097152_FMT 2097152 divisions

05 65536_FMT 65536 divisions

Backup Type Absolute Encoder Function Selection

■ Select the proper setting for the system

Selection Description

00 Absolute_System Absolute System

01 Incremental_System Incremental System

✔ This is an exclusive setting for operation with battery-backup type absolute encoder

connected. (Effective when either 02 or 03 is selected in the above ID04.)

Selecting 01 performs “encoder clear” at the time the power supply is turned on, and then clear “encoder status (error, warning)” and multi-turn data.

Pulse Encoder Function Selection

■ Select the pulse encoder to be used

Selection Description 00 Standard Wire-saving Incremental Encoder [Standard (4 pairs)] 01 7Pairs_INC-E Incremental Encoder with CS Signal (７ pairs)

Pulse Encoder Resolution

■ Set the pulse number per single (1) shaft rotation

Setting range Unit

500 – 65535 (multiplied by 1) P/R

5-6

5.Operation Confirmation and Settings (Motor Encoder)

■

The following shows the setting when you use serial encoder for motor as incremental system.

Motor encoder used for CN2 PA035S: Absolute encoder for incremental system

Resolution per 1 rotation: 131072(17bits)

Motor encoder specification

■ Setting value for system parameter ID04 “Serial Encoder Function Selection”

Setting value Description

00: PA_S_2.5M Absolute Encoder for Incremental System 2.5Mbps

■ Setting value for system parameter ID05 “Serial Encoder Resolution”

Setting value Description

06: 131072_FMT 131072 divisions

Motor encoder used for CN2 PA035C: Battery backup method absolute encoder

Motor Encoder Specification

■ Setting value for system parameter ID04 “Serial Encoder Function Selection”

Setting value Description

02: PA_C_2.5M Battery Backup Method Absolute Encoder 2.5Mbps

■ Setting value for system parameter ID05 “Serial Encoder Resolution”

Setting value Description

06: 131072_FMT 131072 divisions

■ Setting value for system parameter ID06 “Backup Type Absolute Encoder Function Selection”

Setting value Description

01: Incremental_System Incremental System

✔ No need to connect backup battery

✔ Resolution and baud rate may vary depending on the motor encoder you use.

Transmission method: Half-duplex start/stop synchronization

2.5Mbps (standard)

Resolution per 1 rotation: 131072 (17bits) Transmission method: Half-duplex start/stop synchronization

2.5Mbps (standard)

5-7

5.Operation Confirmation and Settings (Motor Encoder)

■

The following shows the setting when you use serial encoder for motor as absolute system.

Motor encoder used for CN2 PA035C: Battery backup method absolute encoder

Resolution per 1 rotation: 131072(17bits)

Motor Encoder Specification

■ Setting value for system parameter ID04 “Serial Encoder Function Selection”

Setting value Description

02: PA_C_2.5M Battery Backup Method Absolute Encoder 2.5Mbps

■ Setting value for system parameter ID05 “Serial Encoder Resolution”

Setting value Description

06: 131072_FMT 131072 divisions

■ Setting value for system parameter ID06 “Backup Type Absolute Encoder Function Selection”

Setting value Description

00: Absolute _System Absolute System

Motor encoder used for CN2 RA035C: Battery less absolute encoder

Motor Encoder Specification

■ Setting value for system parameter ID04 “Serial Encoder Function Selection”

Setting value Description

04: RA_C_2.5M Battery-less Absolute Encoder 2.5Mbps

■ Setting value for system parameter ID05 “Serial Encoder Resolution”

Setting value Description

06: 131072_FMT 131072 divisions

The following shows the setting when you use pulse encoder for motor.

■

CN2: “PP031, PP062” Connect pulse encoder

■ Setting value for system parameter ID07 “Pulse Encoder Function Selection”

Setting value Description 00: Standard Wire-saving Incremental Encoder [Standard (4 pairs)]

■ Setting value for system parameter ID08 “Pulse Encoder Resolution”

Setting range Unit

500 - 65535(multiply by 1) P/R

Transmission method: Half-duplex start/stop synchronization

2.5Mbps(standard)

Resolution per 1 rotation: 131072(17bits) Transmission method: Half-duplex start/stop synchronization

2.5Mbps (standard)

✔ Resolution and baud rate may vary depending on the motor encoder you use.

5-8

5.Operation Factory Default Parameter Setting Values

5) Default set values at factory

The following table shows the defaults for parameter settings at factory.

■ Servo amplifier model number : RF2G(H)##A0□#

ID Name Setting value 00 Control Cycle 00: _ Standard_Sampling 01 Main Circuit Power Input Type 02: _DC 04 Serial Encoder Function Selection 00: PA_S_2.5M 05 Serial Encoder Resolution 06: 131072_FMT 06 Backup Type Absolute Encoder Function Selection 00: Absolute_System 09 Control Mode Selection 02: Position

0B Position Loop Control, Position Loop Encoder Selection 00: Motor_Enc.

■ Servo amplifier model number : RF2G(H)##A8□#

ID Name Setting value 00 Control Cycle 00: _ Standard_Sampling 01 Main Circuit Power Input Type 02: _DC

Pulse Encoder Function Selection

07 08 Pulse Encoder Resolution 2000P/R 09 Control Mode Selection 02: Position

0B Position Loop Control, Position Loop Encoder Selection 00: Motor_Enc.

✔ # shall be any given alphanumeric characters. ✔ Performing parameter backup function enables you to store “system parameters,” “general

parameters,” and “motor parameters” in servo amplifier, and then restore the parameters when needed.

✔ Please refer to separate document: M0008363 for operating setup software.

00: Standard

5-9

5.Operation Test Operation (Confirmation of installation and wiring)

5.3 Test operation

1) Confirmation of installation and wiring

Confirm installation and wiring of servo amplifier and motor. The connector of CN1A and CN1B is described as CN1 to represent the two in the following table.

Procedure Item and contents

Installation

■ Install the servo amplifier and the servo motor by referring to [Installation (3-1)]. Do not connect the servo motor shaft to the machine to maintain the no load status.

2) Confirmation of movement

Perform JOG operation by using setup software.

Procedure Item and contents

Wiring, connecting → Turning on the power supply

■ Wire power supply servo motor and host equipment by referring to [Wiring (4)]. Do not connect CN1 to the servo amplifier.

■ Turn on power supply. Confirm that alarm LED (ALM) mounted on upper front of servo amplifier is lighted. When alarm LED (ALM) is lighted, take actions according to”Section

7.3, Troubleshooting when alarm activated.”

■ When status LED (STA) does not flash even though main circuit power is turned on, take actions according to”Section 7.1, Troubleshooting.”

JOG driving

■ Do not connect the shaft of the servo motor into the machine to keep the status of no load, and perform JOG operation.

■ Confirm that the servo motor rotates forward direction and backward direction

◆ Select JOG driving from the Test operation menu. For operating instructions,

please see separate volume, M0008363, for Setup software.

Do not connect

5-10

5.Operation Test Operation (Confirmation of input-output signal)

3) Confirmation of input-output signal

Settings for multi-purpose I/O signals (CN1) are defaults at factory.

Procedure Item and contents

Confirmation of I/O signal

■ Select function you use from general parameters Group9 and allocate CONT１ - CONT8.

Input

signal

CONT1 3 Servo-on function

CONT2 4 Velocity loop proportional control

CONT3 5 Encoder clear function CONT4 6 Deviation clear function 08:_CONT4_ON CONT5 7 Negative over travel function CONT6 8 Positive over travel function CONT7 9 Torque limit function CONT8 10 Alarm reset function

Confirmation of output signals

■ Select the output signal from general parameters GroupA and allocate OUT1 - OUT 8.

Output

signal

OUT1 12 18:_INP_ON OUT5 16 33:_ALM5_OFF OUT2 13 0C:_TLC_ON OUT6 17 35:_ALM6_OFF OUT3 14 02:_S-RDY_ON OUT7 18 37:_ALM7_OFF OUT4 15 0A:_MBR_ON OUT8 20 39:_ALM_OFF

Confirmation of I/O signal

■ Confirm that the I/O signal functions fine at the monitor. Refer to “Section 5.6, Monitoring function” for monitor explanation.

◆ Confirm from the menu monitor.

For operating instructions of Setup software, please see the separate volume M0008363.

Input servo ON signal

■ Input servo ON signal. Confirm that servo motor is excited and status LED (STA) on the front of servo amplifier is flashing.

■ Setting and changing the over-travel function can be done at the general parameters Group9 ID00, ID01.

CN1pin number

CN1 Pin

number

Signal selected form general

switching function

Default setting

value at shipment

Setting value

Default setting value at shipment

parameter Group9

Output

signal

CN1 Pin

number

Setting value

02:_CONT1_ON 04:_CONT2_ON

06:_CONT3_ON

0B:_CONT5_OFF 0D:_CONT6_OFF 0E:_CONT7_ON 10:_CONT8_ON

Default setting

value at shipment

Setting value

5-11

5.Operation Test Operation (Confirmation of input-output signal)

Procedure Item and contents

Command input

■ Input position command pulse.

■ Confirm that the shaft of the servo motor rotates in the right direction.

■ If the shaft of the servo motor command input from the upper device does not rotate,

confirm that the command is input with the monitor function.

ID Symbol Monitor name Present value

13 FMON

Position command pulse

frequency monitor

Input value to be

indicated.

■ If the servo amplifier does not receive command from host unit, the value displayed on the monitor does not change. Incorrect wiring may cause the above. Please re-confirm the wiring

Power shutdown

■ Turn OFF the servo-ON signal. Then turn OFF the power supply.

4) Confirmation of device operation

Connect servo motor shaft to the machine and check the operation.

Procedure Item and contents

Connection to the machine

■ Connect the servo motor shaft to the machine.

■ Input the command (low velocity); check the operation direction, distance, emergency stop and over-travel (F-OT･R-OT) to make sure they are operating properly.

■ Be sure to stop in the event of any abnormal operation.

Operation

■ Input the command for the actual operation and start the machine.

■ At the time of shipment, Auto-tuning (auto-adjustment for servo gain and filter, etc.) has been set and is valid. If there is nothing wrong with operation and the characteristic, manual tuning is not necessary. Refer to [Adjustments (6)] for the Servo Tuning.

Connect the servo motor shaft to the machine

5-12

5.Operation Servo Amplifier Status Display

5.4 Servo amplifier status display

Servo amplifier status is identified by means of 3 LEDs on the front of amplifier as follows:

1) Default display

[STA] LED

Flashing at

256ms cycle

Flashing at

1.024s cycle

[STA] LED

Flashing at

1.024s cycle

2) Alarm display

[STA] LED

Marking

Extinction

Marking

Control power supply established. Control power supply (5V) is established and amplifier (RDY) is ON. Main circuit power supply established. Main power supply ｛48V<24V>｝is established, but operation preparation completion signal is OFF. Operation preparation completion signal established. Main power supply ｛48V<24V>｝is established and operation preparation completion signal is ON. Servo is ON.

Warning status: Battery Warning, position deviation warning, overload warning, amplifier temperature warning, positive/negative over travel, now in velocity-limiting, and now in torque limiting.

Description Status code

Description

Lighted When an alarm occurs, take corrective actions as instructed in [Maintenance (8)].

3) Control power input display

[STA] LED

Marking

Lighted Shows condition that DC5V is applied to CNA control power input.

Description

5-13

5.Operation Operation Sequence (Power ON)

5.5 Operation sequence

1) Operational sequence from power-on through power-off in standard setting at factory

■ Power ON → Servo ON

Control power supply

Power on enabling signal

Main circuit power supply

Power ON signal

Operation setup completion signal

Servo ON signal

Dynamic brake signal

Motor velocity

Holding brake excitation signal

Command acceptance permission signal

Motor excitation signal

✔ Maximum number of repetitions of turning-on/off of servo amplifier shall be 5 times or less per hour, 30

times or less a day.

* Dynamic brake cannot work for servo amplifiers without dynamic brake circuit.

Control power supply on

2sec (Max)

0msec (Min)

Main circuit power supply on

100ms

S-RDY

S-RDY2

DB relay waiting time = 100msec

Servo-on

Dynamic brake OFF

Holding brake release

Command acceptance permission

Motor excitation

BOFFDLY (300msec) + 28msec

5-14

5.Operation Operation Sequence (Power OFF)

■

Servo OFF → Power OFF

Control power supply

Control power supply OFF

0msec (Min)

Main circuit power supply

Power ON signal

Operation setup completion signal

Servo ON signal

Dynamic brake signal

Motor velocity

Holding brake excitation signal

Command acceptance permission signal

Motor excitation signal

Servo OFF

Motor stop

Holding brake hold

Command acceptance prohibition

Motor free

Main circuit power supply OFF

Power ON output OFF

S-RDY S-RDY2

Dynamic brake ON

BONDLY = 300msec

* Dynamic brake cannot work for servo amplifiers without dynamic brake circuit.

✔ Do not turn off the 5V-control power supply of servo amplifier during parameter-writing. If you turn off

the control power supply after performing parameter-writing via setup software, turn off the 5V-power supply more than 5 seconds surely after completion of parameter-writing.

5-15

5.Operation Operation Sequence (At Alarm)

2) Stop sequence when alarm activated

When an alarm activated, servo motor is stopped by either dynamic brake or servo brake. The selection of brake to use is depending on the alarm activated. Refer to “Section 7.2 Warning and alarm list.”

■

Stop by dynamic brake at alarm

Power-ON enabling signal

Main circuit power supply

Operation setup completion signal

Servo ON signal

Dynamic brake signal

Motor velocity

larm signal

Holding brake excitation signal

Command acceptance permission signal

Motor excitation signal

Power-on enablement OFF

Main power supply OFF

S-RDY S-RDY2

Servo ON

Dynamic brake ON

larm status

Holding brake hold

Command acceptance prohibition

Motor free

* Dynamic brake cannot work for servo amplifiers without dynamic brake circuit.

5-16

5.Operation Operation Sequence (At Alarm)

■

Stop by servo brake when alarm activated (With safeguard circuit)

Power-on enabling signal

Main circuit power supply

Operation setup completion signal

Servo ON signal

Dynamic brake signal

Motor velocity

Alarm signal

Holding brake excitation signal

Command acceptance permission signal

Motor excitation signal

✔ The above is sequence without

* Dynamic brake cannot work for servo amplifiers without dynamic brake circuit.

Power ON permission OFF

Main power supply OFF

S-RDY S-RDY2

Servo ON

Dynamic brake ON

Motor stop detect

Alarm status

Holding brake hold

Command

acceptance

prohibition

Motor free

BONDLY = 300msec

safeguard circuit.

5-17

5.Operation Operation Sequence (At Alarm)

■

Stop by servo brake when alarm activated (With safeguard circuit)

Power-on enabling signal

Main circuit power supply

Operation setup completion signal

Servo ON signal

Dynamic brake signal

Power ON permission OFF

Main power supply OFF

S-RDY S-RDY2

Servo ON

Dynamic brake ON

Motor stop detected

Motor velocity

Alarm signal

Holding brake excitation signal

Command acceptance permission signal

Motor excitation signal

✔ The above is sequence with safeguard circuit

Alarm status

Holding brake hold

Command acceptance prohibition

Motor free

When safeguard circuit breaks main circuit power, the motor operation switches to dynamic brake stop. Refer to Section 4.1, 6) Examples of wiring.

* Dynamic brake cannot work for servo amplifiers without dynamic brake circuit.

5-18

5.Operation Operation Sequence (Alarm Reset)

3) Sequence when alarm reset

Alarm can be reset by inputting alarm reset signal via general input.

Power-on enabling signal

Main circuit power supply

Power ON signal

Operation setup completion signal

Servo ON signal

Alarm signal

Alarm reset signal

✔ Some alarms cannot be reset unless the power is reset (control power is turned OFF and then re-

turned ON), or encoder clear is performed. Refer to Section 7.2 Warning and Alarm List.

✔ Reset alarm after eliminating the alarm cause and ensuring the safety when alarm activated. The alarm

signal cannot be cleared when alarm state continues, therefore, set a timeout period of 20ms or more to restore.

Make sure to input 20msec or over to input alarm reset signal without checking alarm signal.

Power ON permission

Main power supply ON

100ms

S-RDY

S-RDY2

DB relay waiting time = 100msec

Servo ON

Alarm released

Alarm reset input (over 20msec)

5-19

5.Operation Operation Sequence (Power OFF During Operation)

4) Sequence when power is turned OFF during operation (during servo ON)

Control power supply

Main circuit power supply

Power ON signal

Operation setup completion signal

Servo ON signal

Dynamic brake signal

Motor velocity

Holding brake excitation signal

Command acceptance permission signal

Motor excitation signal

Main circuit power supply OFF

Power ON output OFF

S-RDY S-RDY2

Dynamic brake ON

Motor stop

Holding brake hold

Command acceptance prohibition

Motor free

Control power supply OFF

✔ Refer to Section 5.5, 2, Dynamic brake stop when alarm activated for sequence when “Detect main

circuit power voltage decrease alarm” selected in main circuit power voltage decrease detection selection “GroupB ID18.”

* Dynamic brake cannot work for servo amplifiers without dynamic brake circuit.

5-20

5.Operation Monitor Function

5.6 Monitor function

1) Monitor function

ID Symbol Name Unit 00 01 02 03 04 05 06 07 08 09 0A

0C APMON Actual position monitor (Motor encoder) Pulse

0E EX-APMON External actual position monitor (External encoder) Pulse 10 CPMON Command position monitor Pulse

13 FMON1 Position command pulse frequency monitor k Pulse/s 14

16 ABSPS Serial encoder PS data monitor Pulse 1A 1B TRMS Effective torque monitor %

1C ETRMS Effective torque monitor (Estimated value) % 1D JRAT MON Load Inertia Moment Ratio monitor %

1E KP MON Position Loop Proportional Gain monitor 1/s 1F TPI MON Position Loop Integral Time Constant monitor ms 20 KVP MON Velocity Loop Proportional Gain monitor Hz 21 TVI MON Velocity Loop Integral Time Constant monitor ms 22 TCFIL MON Torque Command Filter monitor Hz 23 MKP MON Model Control Gain monitor 1/s 24 MTLMON -EST Load Torque monitor (Estimate value) % 25 OPE-TIM Amplifier operation time ×2 hour 30 VBUS Main circuit direct current voltage monitor V

STATUS WARNING1 WARNING2

CONT8-1

OUT8-1

INC-E MON

VMON

VCMON

TMON

TCMON

PMON

VC/TC-IN Analog velocity command/Analog torque command input

CSU

RegP

Servo amplifier status monitor --Warning status 1 monitor --Warning status 2 monitor --General Purpose Input CONT8 - 1 monitor --General Purpose Output OUT8 - 1 monitor --Pulse encoder signal monitor Velocity monitor min Velocity command monitor min-1 Torque monitor % Torque command monitor % Position deviation monitor Pulse

voltage monitor

U-phase electric angle monitor deg

Regenerative resistor operation percentage monitor %

-1

5-21

5.Operation Monitor Function

2) Description of monitor

ID Contents

Servo amplifier status monitor [STATUS]

Code Status

0 Power OFF status (P-OFF) 2 Power ON status (P-ON)

Warning status 1 monitor [WARNING1]

■ Displays warning status. Displays warning status under“1”or “ON”

4 Servo ready status (S-RDY) 8 Servo ON status (S-ON)

A Emergency stop status (EMR) 10 Alarm status and power OFF (ALARM_P-OFF) 12 Alarm status and power ON (ALARM_P-ON)

1A Alarm status and emergency stop status (ALARM_EMR)

Bit

Function --- Overload --- Temperature inside the amplifier

Bit

Function Excessive deviation --- Velocity controlled Torque controlled

3 2 1 0

7 6 5 4

Warning status 2 monitor [WARNING2]

■ Displays warning status. Valid when“1”or“ON”. Bit

Function

Bit

Function Voltage sag

General Purpose Input CONT8 - 1 monitor [CONT8-1]

■ Displays generic input terminal status. It will be in a photo coupler exciting state by 1 or ON. Bit

Function CONT4 CONT3 CONT2 CONT1

Bit

Function CONT8 CONT7 CONT6 CONT5

General Purpose Output OUT8 - 1 monitor [OUT8-1]

■ Displays generic output terminal status. It will be in a photo coupler exciting state by 1 or

ON.

Bit

Function OUT4 OUT3 OUT2 OUT1

Bit

Function OUT8 OUT7 OUT6 OUT5

Reverse direction

3 2 1 0

Forward direction

Over-travel

7 6 5 4

3 2 1 0

7 6 5 4

3 2 1 0

7 6 5 4

Over-travel

Low battery

voltage

Main circuit power

being charged

- -

5-22

5.Operation Monitor Function

ID Contents

Pulse encoder signal monitor [INC-E MON]

■ Displays pulse encoder signal status. 1 or ON shows an incoming signal level “H” state. Bit

Function -

Bit

Function -

Velocity monitor [VMON]

■ Displays the rotation velocity of the servo motor.

Display range

-9999 - 9999

Velocity command monitor [VCMON]

■ Displays the velocity command value.

Display range

-9999 - 9999

Torque monitor [TMON]

■ Displays the output torque.

Display range Unit

-499.9 - 499.9 %

3 2 1 0

Motor encoder

Z phase signal

Motor encoder B phase signal

Motor encoder

A phase signal

7 6 5 4

External encoder

Z phase signal

External encoder

B phase signal

External encoder

A phase signal

Unit

-1

min

Unit

-1

min

5-23

5.Operation Monitor Function

ID Contents

Torque command monitor [TCMON]

■ Displays the torque command value.

Position deviation monitor [PMON]

Actual position monitor (Motor encoder) [APMON]

Display range Unit

-499.9 - 499.9 %

■ Displays the position deviation value.

◆ The values are given in decimal on the display of setup software.

Display range Unit

-2147483648 - 2147483647 Pulse

■ Shows current motor encoder position with the origin at the position at control power-on. As

this is free-running counter, if current position exceeds display range, the value becomes the maximum value of reverse polarity.

Display range

-9223372036854775808 - 9223372036854775807 Pulse

Unit

External monitor (External encoder) [EX-APMON]

■ Shows current external encoder position with the origin at the position at control power-on.

As this is free-running counter, if current position exceeds display range, the value becomes the maximum value of reverse polarity.

-9223372036854775808 - 9223372036854775807 Pulse

Command position monitor [CPMON]

■ Shows current pulse command position with the origin at the position at control power-on. As

this is free-running counter, if current position exceeds display range, the value becomes the maximum value of reverse polarity.

-9223372036854775808 - 9223372036854775807 Pulse

Display range

Unit

5-24

5.Operation Monitor Function

ID Contents

Position command pulse frequency monitor [FMON1]

■ Displays entered command pulse frequency.

U-phase electric angle monitor [CSU]

■ Displays U-phase electric angle. Always displayed excluding encoder errors.

Serial encoder PS data monitor [ABSPS]

■ Displays position data of serial encoder.

Effective torque monitor [TRMS]

■ Displays effective torque. Depending on the operation pattern, it may take some hours to

Display range

-6000 - 6000 kPulse/s

Display range

0 - 359 deg

Display range

0 - 1099511627775 Pulse

(Actual display range varies depending on the encoder specifications.)

become stable.

Display range

0 - 499 %

Unit

Effective torque monitor (Estimated value) [ETRMS]

■ Displays effective torque estimated value. Estimates from short time operation. This can be

confirmed shortly if the same operation pattern is repeated.

Display range

0 - 499 %

Unit

5-25

5.Operation Analog Monitor, Digital Monitor

ID Contents

Load Inertia Moment Ratio monitor [JRAT MON]

■ Displays actual Load Inertia Moment Ratio.

Value can be confirmed when changing gain and at Auto-tuning function.

Position Loop Proportional Gain monitor [KP MON]

■ Displays actual Position Loop Proportional Gain.

Value can be confirmed when changing gain and at Auto-tuning function.

Position Loop Integral Time Constant monitor [TPI MON]

■ Displays actual Position Loop Integral Time Constant value.

Value can be confirmed when changing the gain function.

Velocity Loop Proportional Gain monitor [KVP MON]

■ Displays actual Velocity Loop Proportional Gain.

Value can be confirmed when changing gain and at Auto-tuning function.

Velocity Loop Integral Time Constant monitor [TVI MON]

■ Displays actual Velocity Loop Integral Time Constant.

Value can be confirmed when changing gain and at Auto-tuning function.

Torque Command Filter monitor [TCFIL MON]

■ Displays actual Torque Command Filter.

Value can be confirmed when changing gain and at Auto-tuning function.

Model Control Gain monitor [MKP MON]

■ Displays actual Model Control Gain.

Value can be confirmed when changing gain and at Auto-tuning function.

Load Torque monitor (Estimate value) [MTLMON-EST]

■ Displays estimated value of load torque.

Display range

-499.9 - 499.9 %

Unit

Amplifier operation time [OPE-TIM]

■ Counted during period control power is being turned ON. The time is displayed value x 2

✔ Use the following formula for converting from “effective torque monitor (estimated value) value” to

“motor utilization monitor value” that is indicated in RS1 model amplifier. Motor utilization monitor [%] = (effective torque monitor-indicated value [%]/100)

hours.

Unit

Main circuit direct current voltage monitor [VBUS]

■ Displays main circuit direct current voltage.

×2 hour

Unit

5.7 Analog monitor and digital monitor

All signals and internal status of servo amplifier can be monitored by using dedicated monitor box and cables. Refer to “Section 10.6, Optional parts” for details of dedicated monitor and cables.

Selection of output signal

■

Select from the following parameters to change output signal you use.

General parameters GroupA ID10 DMON: Digital Monitor Output Signal Selection General parameters GroupA ID11 MON1: Analog Monitor Select Output 1 General parameters GroupA ID12 MON2: Analog Monitor Select Output 2

×00

5-26

5.Operation Parameters List

5.8 Setting of parameters

1) Parameters list

The following is parameters list. Parameters are grouped and listed in the order of ID. Store “system parameters,” “general parameters,” and “motor parameters” in servo amplifier by performing parameter backup function so that you can restore the parameters when needed. Refer to separate manual M0008363 for operating setup software.

✔ When parameters in servo amplifier are changed via setup software, the changed parameters are to be

written into non-volatile memory inside of the servo amplifier. Do not turn off the 5V-control power supply of servo amplifier during parameter-writing. If you turn off the control power supply after performing parameterwriting via setup software, turn off the 5V-power supply more than 5 seconds surely after completion of parameter-writing.

■ General parameters group list

Group Classification of the parameters in this group

Group0 Auto-tuning settings Group1 Basic control parameter settings

Group2

Group3 Model following control settings Group4 Gain switching control/ Vibration suppressor frequency switching settings Group5 High setting control settings Group8 Control system settings Group9 Function enabling condition settings

GroupA

GroupB Sequence/alarm related settings GroupC Encoder related settings

✔ Invalid parameters vary depending on the servo amplifier you use. ✔ Setup software does not display invalid parameter (s).

FF (feed forward) vibration suppressor control/ Notch filter/ Disturbance observer settings

General output terminal output condition/ Monitor output selection/ Serial communication settings

■ General parameters Group0 “Auto-tuning settings”

ID Symbol Name Standard value Unit Setting range 00 TUNMODE Tuning Mode 00:AutoTun - 00 - 02 01 ATCHA Auto-Tuning Characteristic 00:Positioning1 - 00 - 06 02 ATRES Auto-Tuning Response 5 - 1 - 30

10 ANFILTC

20 ASUPTC

21 ASUPFC

Auto-Notch Filter Tuning Torque Command Auto-FF Vibration Suppressor Frequency Tuning Torque Command Auto-FF Vibration Suppressor Frequency Tuning Friction Compensation Value

50.0 % 10.0 - 100.0

25.0 % 10.0 - 100.0

5.0 % 0.0 - 50.0

5-27

5.Operation Parameters List

■

General parameters Group1 “Basic control parameter settings”

ID Symbol Name

00 PCSMT

01 PCFIL Position Command Filter 0.0 ms 0.0 - 2000.0 02 KP1 Position Loop Proportional Gain 1 30 1/s 1 - 3000

03 TPI1

04 TRCPGN

05 FFGN Feed Forward Gain 0 % 0 - 100 06 FFFIL Feed Forward Filter 4000 Hz 1 - 4000 10 VCFIL Velocity Command Filter 4000 Hz 1 - 4000 11 VDFIL Velocity Feedback Filter 1500 Hz 1 - 4000 12 KVP1 Velocity Loop Proportional Gain 1 50 Hz 1 - 2000

13 TVI1

14 JRAT1 Load Inertia Moment Ratio 1 100 % 0 - 15000

15 TRCVGN

16 AFBK Acceleration Feedback Gain 0.0 % -100.0 - 100.0 17 AFBFIL Acceleration Feedback Filter 500 Hz 1 - 4000 20 TCFIL1 Torque Command Filter 1 600 Hz 1 - 4000 21 TCFILOR Torque Command Filter Order 2 Order 1 - 3

Position Command Smoothing Constant

Position Loop Integral Time Constant 1 Higher Tracking Control Position Compensation Gain

Velocity Loop Integral Time Constant 1

Higher Tracking Control Velocity Compensation Gain

Standard

value

0.0 ms 0.0 - 500.0

1000.0 ms 0.3 - 1000.0

0 % 0 - 100

20.0 ms 0.3 - 1000.0

0 % 0 - 100

Unit Setting range

■ General parameters Group2 “FF (Feed forward) vibration suppressor control/ Notch filter/

Disturbance observer settings”

ID Symbol Name

00 SUPFRQ1 FF Vibration Suppressor Frequency 1 500 Hz 5 - 500

01 SUPLV

10 VCNFIL Velocity Command Notch Filter 1000 Hz 50 - 1000 20 TCNFILA Torque Command Notch Filter A 4000 Hz 100 - 4000

21 TCNFPA

22 TCNFILB Torque Command Notch Filter B 4000 Hz 100 - 4000 23 TCNFDB TCNFILB, Depth Selection 00 - 00 - 03 24 TCNFILC Torque Command Notch Filter C 4000 Hz 100 - 4000 25 TCNFDC TCNFILC, Depth Selection 00 - 00 - 03 26 TCNFILD Torque Command Notch Filter D 4000 Hz 100 - 4000 27 TCNFDD TCNFILD, Depth Selection 00 - 00 - 03 30 OBCHA Observer Characteristic 00:Low - 00 - 02 31 OBG Observer Compensation Gain 0 % 0 - 100 32 OBLPF Observer Output Low-pass Filter 50 Hz 1 - 4000 33 OBNFIL Observer Output Notch Filter 4000 Hz 100 - 4000

FF Vibration Suppressor Level Selection

TCNFILA, Low Frequency Phase Delay Improvement

Standard

value

00 - 00 - 03

00 - 00 - 02

Unit Setting range

5-28

5.Operation Parameters List

■

General parameters Group3 “ Model following control settings"

ID Symbol Name Standard value Unit Setting range 00 KM1 Model Control Gain 1 30 1/s 1 - 3000 01 OSSFIL Overshoot Suppressor Filter 1500 Hz 1 - 4000 02 ANRFRQ1 Model Control Antiresonance Frequency 1 80.0 Hz 10.0 - 80.0

03 RESFRQ1 Model Control Resonance Frequency 1 80.0 Hz 10.0 - 80.0

■ General parameters Group4 “Gain switching control/ Vibration suppressor frequency switching

settings”

ID Symbol Name Standard value Unit Setting range 00 KM2 Model Control Gain 2 30 1/s 1 - 3000 01 KP2 Position Loop Proportional Gain 2 30 1/s 1 - 3000 02 TPI2 Position Loop Integral Time Constant 2 1000.0 ms 0.3 - 1000.0

03 KVP2 Velocity Loop Proportional Gain 2 50 Hz 1 - 2000 04 TVI2 Velocity Loop Integral Time Constant 2 20.0 ms 0.3 - 1000.0 05 JRAT2 Load Inertia Moment Ratio 2 100 % 0 - 15000 06 TCFIL2 Torque Command Filter 2 600 Hz 1 - 4000 10 KM3 Model Control Gain 3 30 1/s 1 - 3000 11 KP3 Position Loop Proportional Gain 3 30 1/s 1 - 3000 12 TPI3 Position Loop Integral Time Constant 3 1000.0 ms 0.3 - 1000.0 13 KVP3 Velocity Loop Proportional Gain 3 50 Hz 1 - 2000 14 TVI3 Velocity Loop Integral Time Constant 3 20.0 ms 0.3 - 1000.0 15 JRAT3 Load Inertia Moment Ratio 3 100 % 0 - 15000 16 TCFIL3 Torque Command Filter 3 600 Hz 1 - 4000 20 KM4 Model Control Gain 4 30 1/s 1 - 3000 21 KP4 Position Loop Proportional Gain 4 30 1/s 1 - 3000 22 TPI4 Position Loop Integral Time Constant 4 1000.0 ms 0.3 - 1000.0 23 KVP4 Velocity Loop Proportional Gain 4 50 Hz 1 - 2000 24 TVI4 Velocity Loop Integral Time Constant 4 20.0 ms 0.3 - 1000.0 25 JRAT4 Load Inertia Moment Ratio 4 100 % 0 - 15000 26 TCFIL4 Torque Command Filter 4 600 Hz 1 - 4000 30 GCFIL Gain Switching Filter 0 ms 0 - 100 40 SUPFRQ2 FF Vibration Suppressor Frequency 2 500 Hz 5 - 500 41 SUPFRQ3 FF Vibration Suppressor Frequency 3 500 Hz 5 - 500 42 SUPFRQ4 FF Vibration Suppressor Frequency 4 500 Hz 5 - 500 50 ANRFRQ2 Model Control Antiresonance Frequency 2 80.0 Hz 10.0 - 80.0 51 RESFRQ2 Model Control Resonance Frequency 2 80.0 Hz 10.0 - 80.0 52 ANRFRQ3 Model Control Antiresonance Frequency 3 80.0 Hz 10.0 - 80.0 53 RESFRQ3 Model Control Resonance Frequency 3 80.0 Hz 10.0 - 80.0 54 ANRFRQ4 Model Control Antiresonance Frequency 4 80.0 Hz 10.0 - 80.0 55 RESFRQ4 Model Control Resonance Frequency 4 80.0 Hz 10.0 - 80.0

General parameters Group5 “High stabilization control settings”

■

ID Symbol Name

00 CVFIL Command Velocity Low-pass Filter 1000 Hz 1 - 4000 01 CVTH Command Velocity Threshold 20 min-1 0 - 65535 02 ACCC0 Acceleration Compensation 0 ×50 Pulse -9999 - 9999 03 DECC0 Deceleration Compensation 0 ×50 Pulse -9999 - 9999

Standard

value

Unit Setting range

5-29

5.Operation Parameters List

■

General parameters Group8 “Control system settings”

ID Symbol Name Standard value Unit Setting range

00 CMDPOL

10 PMOD Position Command Pulse Selection

11 PCPPOL

12 PCPFIL

13 B-GER1 Electronic Gear 1 Numerator 1 - 1 - 2097152 14 A-GER1 Electronic Gear 1 Denominator 1 - 1 - 2097152 15 B-GER2 Electronic Gear 2 Numerator 1 - 1 - 2097152 16 A-GER2 Electronic Gear 2 Denominator 1 - 1 - 2097152

17 EDGEPOS Positioning Methods

18 PDEVMON

19 CLR Deviation Clear Selection 00:Type1 - 00 - 03

27 VCOMSEL

28 V-COMP

2A EX-VCFIL External Velocity Command Filter 4000 Hz 1 - 4000

2B TVCACC

2C TVCDEC

2D VCLM Velocity Limit Command 65535 min-1 1 - 65535

30 TCOMSEL

31 T-COMP1

32 T-COMP2

35 EX-TCFIL External Torque Command Filter 4000 Hz 1 - 4000 36 TLSEL Torque Limit Input Selection 00:TCLM - 00 - 02

37 TCLM-F

38 TCLM-R

39 SQTCLM

3B TASEL Torque Attainment select 00 - 00 - 01 3C TA Torque attainment 100.0 % 0.0 - 500.0

40 NEAR Near Range 500 Pulse

41 INP In-Position Window 100 Pulse

42 ZV Velocity Zero Range 50 min-1 50 - 500 43 LOWV Low Velocity Range 50 min-1 0 - 65535

44 VA

45 VCMPUS Velocity Matching Unit Selection 00:min-1 - 00 - 01 46 VCMP Velocity Matching Range 50 min-1 0 - 65535 47 VCMPR Velocity Matching Range Ratio 5.0 % 0.0 - 100.0

Position, Velocity, Torque Command Input Polarity

Position Command Pulse Count Polarity Position Command Pulse Digital Filter

In-Position Signal/ Position Deviation Monitor

Velocity Compensation Command Input Selection Preset Velocity Compensation Command

Velocity Command Acceleration Time Constant Velocity Command Deceleration Time Constant

Torque Compensation Command Input Selection Preset Torque Compensation Command 1 Preset Torque Compensation Command 2

Forward Direction Internal Torque Limit Value Reverse Direction Internal Torque Limit Value Sequence Operation Torque Limit Value

Velocity Attainment Setting (High Velocity Range)

00:PC+_VC+

_TC+

00:F-PC_

R-PC

00:Type1 - 00 - 03

00:834nsec - 00 - 07

00:Pulse _Interval

00:After

_Filter

02:V-COMP - 01 - 02

0 min-1 -9999 - 9999

0 ms 0 - 16000

02:T-COMP - 01 - 02

0.0 % -500.0 - 500.0

100.0 % 10.0 - 500.0

120.0 % 10.0 - 500.0

1000 min

- 00 - 07

- 00 - 02

- 00 - 01

1 -

2147483647

1 -

2147483647

-1

0 - 65535

5-30

5.Operation Parameters List

■

General parameters Group9 “Function enabling condition settings”

ID Symbol Name Standard value

00 F-OT Positive Over Travel Function 0D:CONT6_OFF 00 - 27 01 R-OT Negative Over Travel Function 0B:CONT5_OFF 00 - 27 02 AL-RST Alarm Reset Function 10:CONT8_ON 00 - 27

03 ECLR Encoder Clear Function 06:CONT3_ON 00 - 27 04 CLR Deviation Clear Function 08:CONT4_ON 00 - 27 05 S-ON Servo-ON Function 02:CONT1_ON 00 - 27 10 MS Control Mode Switching Function 00:Always_Disable 00 - 27

Position Command Pulse Inhibit

11 INH/Z-STP

12 GERS Electronic Gear Switching Function 00:Always_Disable 00 - 27 13 GC1 Gain Switching Condition 1 00:Always_Disable 00 - 27 14 GC2 Gain Switching Condition 2 00:Always_Disable 00 - 27

15 SUPFSEL1

16 SUPFSEL2

17 PLPCON

18 MDLFSEL1

19 MDLFSEL2

27 VLPCON

28 V-COMPS Velocity Compensation Function 00:Always_Disable 00 - 27 30 T-COMPS1 Torque Compensation Function 1 00:Always_Disable 00 - 27 31 T-COMPS2 Torque Compensation Function 2 00:Always_Disable 00 - 27 32 TL Torque Limit Function 0E:CONT7_ON 00 - 27 33 OBS Disturbance Observer Function 00:Always_Disable 00 - 27 40 EXT-E External Trip Input Function 00:Always_Disable 00 - 27 41 DISCHARG Main Power Discharge Function 01:Always_Enable 00 - 27 42 EMR Emergency Stop Function 00:Always_Disable 00 - 27

■ General parameters GroupA “General output terminal output condition/ Monitor output

Function, Velocity Command Zero Clamp Function

FF Vibration Suppressor Frequency Select Input 1 FF Vibration Suppressor Frequency Select Input 2 Position Loop Proportional Control Switching Function Model Vibration Suppressor Frequency Select Input 1 Model Vibration Suppressor Frequency Select Input 2 Velocity Loop Proportional Control Switching Function

00:Always_Disable 00 - 27

01:Always_Enable 00 - 27

00:Always_Disable 00 - 27

04:CONT2_ON 00 - 27

selection/ Serial communication settings”

ID Symbol Name Standard value Unit Setting range 00 OUT1 General Purpose Output 1 18:INP_ON - 00 - 5F 01 OUT2 General Purpose Output 2 0C:TLC_ON - 00 - 5F

02 OUT3 General Purpose Output 3 02:S-RDY_ON - 00 - 5F 03 OUT4 General Purpose Output 4 0A:MBR_ON - 00 - 5F 04 OUT5 General Purpose Output 5 33:ALM5_OFF - 00 - 5F 05 OUT6 General Purpose Output 6 35:ALM6_OFF - 00 - 5F 06 OUT7 General Purpose Output 7 37:ALM7_OFF - 00 - 5F 07 OUT8 General Purpose Output 8 39:ALM_OFF - 00 - 5F

10 DMON

11 MON1 Analog Monitor Select Output 1

12 MON2 Analog Monitor Select Output 2 02:TCMON_2V/TR - 00 - 1C,1F

13 MONPOL Analog Monitor Output Polarity

20 COMAXIS Serial Communication Axis Number 01:#1 - 01 - 0F 21 COMBAUD Serial Communication Baud Rate 05:38400bps - 03 - 06

22 RSPWAIT

Digital Monitor Output Signal Selection

Latency to start sending response message

00:Always_OFF - 00 - 5F

05:VMON_2mV/mi

n-1

00:MON1+_MON2

0 ms 0 - 500

Setting

range

- 00 - 1C,1F

- 00 - 08

5-31

Sanyo Denki Sanmotion R Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

M0009143C

Table of contents

1. Preface

1.1 Introduction

1) Changes and additions to AC Servo amplifier SANMOTION R (previous model)

1.2 Instruction Manual

1) Contents

2) Precautions on this manual

1.3 Illustration of System Components

1.4 Model number structure

1) Model number of servo motor

2) Model numbers of servo amplifier (abbreviated model numbers)

1.5 Part names

1) Servo amplifier

2) Servo motor

2. Specification

2.1 Servo motor

1) Common specification

2) Servo motor external dimension, specification, and weight

3) Mechanical specification, strength, and engineering precision

4) Oil seal type Oil seals for servo motor output shaft are optional extras. So please contact us when you replace oil seal.

5) Holding brake

6) Degree of decrease rating for R2AA Motor, depending on with or without oil seal/brake

2.2 Motor encoder

1) Serial encoder

2) Pulse encoder

3) Battery specification

2.3 Servo amplifier

1) Common specification

2) Input command, position output signal, general-purpose input signal, and general-purpose output signal

2.4 Power supply and amount of heat generation

1) Input current of main circuit power supply and control power supply

2) Inrush current and leakage current

3) Amount of heat generation

2.5 Cautions on load

1) Restrictions on acceleration time, deceleration time，and effective torque

2) Negative load

3) Load inertia moment

2.6 Position signal output

1) Positions signals by serial signals

2) Binary code output format and transfer period

3) ASCII decimal code output format and transfer period

4) Position signal output from pulse signal

2.7 Specifications for analog monitor

2.8 Specifications for dynamic brake

1) Allowable frequency, instantaneous tolerance, decreasing the rotation angle of the dynamic brake

3. Installation

3.1 Installation

1) Servo amplifier

2) Unpacking

3) Installation direction and position

4) Conditions on layout in control cabinet

5) Cooling conditions

3.2 Servo motor

1) Precautions

2) Unpacking

3) Installation

4) Installation

5) Water and dust proofing

6) Protective cover placement

7) Gear installation and co-assembly with mating machine

8) Allowable load for bearing

9) Cable installation and its related cautions

4. Wiring

4.1 Wiring of main circuit power supply, control power supply, servomotor, and protective grounding.

1) Name and function

2) Electrical wire

3) Wire diameter - allowable current

4) Terminal layout of connector CNA and CNB

5) Recommended wire diameter and cable length

6) Example of wiring

4.2 Wiring connection diagram to host equipment

1) Name and pin number of signal CN1A and CN1B (wiring connection to host equipment)

2) Layout of connector CN1-A

3) Name and its function of signal CN1-A

4) Connection circuit of terminal CN1-A