Parker Hannifin G2 Bedienungsanleitung

Effective: March 1, 2002 p/n 88-020389-01 A Automation  Dynaserv G2 Drive User Guide[...]

-1- Introductio n T h a nk y o u v e r y m u c h f o r y o u r p u rc h a s e o f t h e DD s er v o act u a tor D Y N A S E R V . T h e D Y N A S E R V i s a n o u ter rotor t y pe servo actu ator that has ach ieved high torqu e, high speed, an d high precisi on. It can be used i n a wide range of application s in the F A device- related fields , s[...]

-2- Regardin g the safe usage of this de vice ! This product has been marked with and signs so that it can be used safely . Ignoring precautions and prohibitions related to th ese signs and u sing this product in an incorrect w ay may cause danger to th e life and body of the operator . A lways follo w the precautions and observe the prohibitions e[...]

-3- ! This product has been marked with and sign s so that it can be used safely . Ignoring precautions and prohibitions related to th ese signs and u sing this product in an incorrect w ay may cause danger to th e life and body of the operator . A lways follo w the precautions and observe the prohibitions explained belo w . ! Please make sure to u[...]

-4- Handling Precaution s 1. Do not install the motor in reverse directio n in such a way that the rotor of the motor is fixed and the stato r rotates. 2. Make su re to turn th e power of f before remov ing the side pan el of th e driver to set jum pers, etc. T ouching the h igh voltage part inside the driver is dangerous. 3. This motor rotates at [...]

-5- 13. Never attem pt to disassemble or remodel the m otor and driver . If such service is necessary , please contact us. W e assume no responsibilit y for prod ucts that have been disassembled or remodeled without pe rmission. 14. For the DYNAS ER V DR series motors, a coating has been applied on the load attachment su rface of the upper surface [...]

-6- 16. Do not perform a withstandin g voltage test on this dev ice. If su ch a test is perf ormed withou t discretion , the circ uits may b e da maged. If suc h te st mu st be c onduc ted , make sur e to c ontac t us. 17. When conn ecting the motor with a load, the centerlin es of both cores shou ld be aligned to a suf ficient degree. Please note [...]

-i- T able of Contents Introduction ................................................................................................................... .......1 Chapter 1 Overv iew of the Prod uct 1-1 1.1 About the DYNASER V DM/DR Series ................................................................... 1-2 1.2 About the DrvGII T y pe Driver .....[...]

-ii- 4.8 Performing the Basic Settings of Pulse Commands ............................................... 4-18 4.8.1 About Position Command Pulse Input ........................................................................................ .4- 18 4.8.2 Example of Operation ............................................................................[...]

-iii- 6.5 Other Inputs .............................................................................................................. 6- 9 6.5.1 Pulse W eight Selection PLS_DIRECT ......................................................................................... .6 - 9 6.5.2 Position Control Bandwidth Selection FN ...........................[...]

-iv- Chapter 9 Operation D isplay Pendant ........................................................................... 9-1 9.1 Overview................................................................................................................... 9 -2 9.2 Features and Part Names ...................................................................[...]

1-1 Chapter 1 Overview of the Produ ct 1.1 About the D YNASER V DM/DR Ser ies 1.2 About the Drv GII T ype Driv er 1.3 Product C onfiguratio n 1.4 Model Na mes and C odes 1.5 Name an d Function o f Each Par t 1.6 System C onfigur ation D iagr am[...]

1-2 Overveiw of the Product 1 1.1 A bout th e DYNA SERV D M/DR Series T h e DYN A S E R V ser v o m o t o r , is a h i gh s p ee d , h i g h t o r q u e , and high precision outer rotor type direct drive motor. The DM series motors are con tained in an aluminum chassis and have a built-in optical encoder . T here are four models in the A se ries wi[...]

1-3 1.2 A bout the DrvG II T y pe Dr iver T h e Dr v GII t y p e d r i v er is a digital servo d r i v er w i t h a RS232 communication, d e v el op e d as t h e s u cce s s o r t o t h e conventional SD/SR/T M type driver . Not only have the functio ns been improved, but also the driver bo x volume has been made smaller , and it can su pport the D[...]

1-4 Overveiw of the Product 1 1.3 Product C onfigura tion The follow ing shows th e configuration of this product. U pon unpacki ng, please ch eck the model name and code of the produ ct’s main unit, whether or not all the standard acces sories are included, and also th e quantity suppl ied. Part name Number Notes Motor part 1 The ex ternal appea[...]

1-5 1.4 M odel Names an d Codes There are restrictions on the combination of specifications. Please ch eck with our sales staf f before determining the specification. (1) Motor □□□□□□□□□－□＊ 1 ! With compatibility function ! Motor series name (DM or DR) ! Design version (1: standard/5: high-speed) ! Maximum output torque (N-m[...]

1-6 Overveiw of the Product 1 1.5 N ame and Fu nction of Each Part (1) Motor Part DM series Rotor Shaft hole Load installation screw Stator installation screw Stator Encoder cable Motor cable Bottom cap Rating nameplate (Upper surface) (Bottom surface) Load installation surface Shaft hole Load installation screw Rotor Base part (stator) Motor cable[...]

1-7 (2) Dri ver part ! 500W leve l (A model with regenerative terminal is shown) Setting switch and status LED display part <TB1> Connection of power supply and motor cable <CN1>RS232C connnector <TB2> Sensor brake terminal <CN4> Contact I/O connector 1 <CN3> Analog monitor connector <CN2> Encoder resolver connec[...]

1-8 Overveiw of the Product 1 (3) Details of the F ront Pan el of the Dr iver ZERO signal terminal ! 500W level (with regenerative terminal) ! 500W level (without regenerative terminal) Regenerative terminal Power supply terminal Power supply ground terminal Motor cable phase A terminal Motor cable phase B terminal Motor cable phase C terminal Moto[...]

1-9 [Details of Setting Switc hes and Status Dis pla y LEDs] SRV-DS Servo disable switch The servo is turned off for as long as this switch is pressed, regardless of the command status of the RS232C interface and PLC interface. When the power is turned on, the operation status of the driver is determined by the status of these switches. bit1 Reset [...]

1-10 Overveiw of the Product 1 1.6 System Confi guration Diagra m PC utility floppy disk <Utility> I/O monitor board (PC) Operation display pendant LINEARSERV motor part <LM series> DYNASERV motor part <DM/DR series> (Home position sensor) (Over travel sensor) (Over travel sensor) DrvGII type driver (PLC) Note: The allowable combi[...]

2-1 Chapter 2 Installation 2.1 Installati on of the M otor 2.2 Installati on of the D riv er[...]

2-2 Installation 2 When you receive the produ ct, verify the m odel name and code of the produ ct’s main unit, whether all th e standard access ories are included, and that the com binatio n of a m otor and a driver is correct bef ore you begin installation and wiring. 2.1 Installatio n of the M otor The motor part can be installed and used in ei[...]

2-3 2.2 I nstallation o f the Dri ver The standard installation method for the driver is either to mount it on a rack or a wall. (1) Instal lation Pos ition ! If there is a heating source near by , the temperature should be prevented from increasing by installing a shielding cover , etc.; the temperature around the driver s hould not exceed 50 ° C[...]

3-1 Chapter 3 Connection an d Wiring 3.1 Dia gram of Overall Conne ction 3.2 Cable Speci f icati on List 3.3 Connecti on between Motor and Dri ver 3.4 W ir ing of M otor , AC Pow er Sup ply , and Ground Ca ble 3.5 W iring of E nco der Cab le 3.6 W iring of Controller Ca ble 3.7 W ir ing of Se nsor Brake T erminal 3.8 W ir ing o f Regener ative Al a[...]

3-2 Connection and Wiring 3 3.1 Diagra m of Overall Conn ection 1) * AC power supply cable PC * PC Utility * Regenerative resistance (with lead wire) <DrvGII> type drive The figure shows a 2kW level. * Line filter 2) Ground cable 5) * RS232C communication cable [CP7675S-020 (for DOSV, 2m)] [CP7577S-020 (for PC98, 2m)] Programmable controller [...]

3-3 3.2 C able Specificati on List Cable name Electric cab le size Driver Current (A) 1) AC power supp ly cable 2.0 mm 2 or more, 30 m or less in length TB1 * 2) Ground cable (pow er supply) 2.0 m m 2 or more TB1 * 3) M otor cable 2.0 mm 2 or more, 30 m or less in length TB1 * 4) Sensor bra k e cab le 0.3 to 0.7 5 mm 2 TB2 5) RS232C communic ation [...]

3-4 Connection and Wiring 3 3.3 Connection betw een Motor and Driver Note: Shield ing shoul d be applie d to each w ire. (1) DM Series (DM 1004B /1004C) m otors GND +10V/ 1 GND/12 θ SIG0/3 GND/14 θ SIG1/5 GND/16 ECLK+/ 7 ECLK-/18 ＜ TB1 ＞ ＜ CN2 ＞ V A V B V C Motor part Driver part Motor cable Red Black Blue Blue and white Brown Brown and w[...]

3-5 (3) DR Se ries m otors ＜ TB1 ＞ ＜ CN2 ＞ VA VB VC GND +S0/ 2 +S180/11 -S0/6 -S180/15 +C0/10 +C180/20 -C0/ 8 -C180/17 Motor part Driver part Motor cable Encoder cable Brown and white Green and white Brown Green Orange and white Blue and white Orange Blue Black Chassis ground Red White Black Green 3[...]

3-6 Connection and Wiring 3 3.4 Wiring of Motor , AC Pow er Supply , an d Ground C able (1) For the DM10 04B/1 004C m otors (in connection with a 5 00W level dri ver) * In the cas e sho wn, a re generati ve resis tance is required . AC power supply cable Ground cable Motor cable AC (Red) (White) (Black) (Green) 100- 115VAC LINE GND MOTOR V A V B V [...]

3-7 Specificati on Cable DM1004B/10 04C Other DM /DR series ! 0.5 mm 2 or more, 30 m or les s in lengt h ! 2.0 mm 2 or more, 30 m or less in l ength AC power supply cab le ! Clamping torque of ter minal: 12[k gf-cm 2 ](1 .18[ N ⋅ m]) (terminal scr ew: M4x0.7) ! Power supply filter , recommended part : T okin Corp oration #LF-20 0 series ! 0.5 mm [...]

3-8 Connection and Wiring 3 3.5 Wiring o f Encoder Cable (1) DM1004B/C motor (2) DM series mot or (other than the one described to the left) (3) DR series motor Pin # Signal name Pin # Signal name Pin # Signal name Pin # Signal name Pin # Signal name Pin # Signal name 1 + 10 V 1 1 - 1 + 10 V 1 1 - 1 - 1 1 +S180 2 - 12 GND 2 - 12 GND 2 +S0 12 - 3 θ[...]

3-9 3.6 Wiring o f Controller Cable <CN4> terminal Pin # Si gnal name Pin # Si gnal name Pin # Signal name Pin # Signal name 1 COMP1 10 UA_OUT- 19 IN_ERR_RE SET 28 IN_FN 2 COMN1 1 1 DB_OUT+ 20 IN_SERVO 29 IN_PLS_DIRECT 3 OU T _D RD Y 12 D B _O UT - 2 1 I N_M ODE_ST ART 30 IN _ P A C T 4O U T _ S R D Y 1 3Z _ O U T + 2 2I N _ A B O R T 3 1 ( N[...]

3-10 Connection and Wiring 3 3.7 Wiring o f Sensor Brake T erminal Pin # Signal name 1C O M P 0 2X O R G 3X O T D 4X O T U 5( N C ) 6 XBR KP 7 XBR KN 10mm 1) Push down the lever with a screwdriver. 2) Insert the wire deeply. 3) Push up the lever (until you hear the click) Pin # 7 6 5 4 Signal name XBRKN XBRKP (NC) XOTU 3 2 XOTD XORG 1 COMP0 The rec[...]

3-1 1 3.8 Wiring o f Regenerati ve Alarm Con tact <CN A > (For 500W Le vel Dri ve Onl y) This driver (with regenerative terminal) is equippe d with a regenerative circuit failure detection circuit. When connecting the regen erative circuit, build a sequence circuit as shown in the figure below in order to p revent burnou t incidents . Note: B[...]

4-1 Chapter 4 Basic Settings f o r Operating the Motor This chapter describes "B asic Setting s," which shoul d be used as the first step in understandi ng the " motor/driv er/PC utility ." T he information is provi ded progressiv ely, focusing on motor tuning, ho ming operati on, and its setting method. Make sure to perform the[...]

4-2 Basic Settings for Operating the Motor 4 4.1 P rocedure (Flow chart) In this section, we w ill operate the motor according to the procedu re below . START Preoperation check Install the PC utility. Set the status to "Servo ON." Auto-tuning Homing operation Basic settings of pulse commands Check the installation of the motor, wiring et[...]

4-3 4.2 P reoperation chec k (1) Item s to prepare • Motor unit/driver/sensor/DC po wer supply • PC utility (floppy disk) • Leve l bl ock fo r fi xin g the moto r • PC (w ith W indows 95/98/98S E/Me/NT4.0/2 000 ins talled) • V arious cables (2) Instal lation an d W iring Motor part (main body) DrvGII type driver Sensor PC (prepared by cus[...]

4-4 Basic Settings for Operating the Motor 4 DrvGII ( CN4 ) I/O 24V Specification CRNT_LMT_IN+ CRNT_LMT_IN- 200K Ω 33 34 200K Ω Z_OUT- Z_OUT+ DB_OUT+ DB_OUT- UA_OUT+ UA_OUT- PUA_IN+ PUA_IN- SDB_IN+ SDB_IN- OUT_DRDY OUT_SRDY OUT_BUSY OUT_XOVL OUT_OVER OUT_COIN COMN1 COMP1 IN_ERR_RESET IN_SERVO IN_MODE_START IN_ABORT IN_MODE.0 IN_MODE.1 IN_POSW.0[...]

4-5 CRNT_LMT_IN+ CRNT_LMT_IN- 33 34 Z_OUT- Z_OUT+ DB_OUT+ DB_OUT- UA_OUT+ UA_OUT- PUA_IN+ PUA_IN- SDB_IN+ SDB_IN- OUT_DRDY OUT_SRDY OUT_BUSY OUT_XOVL OUT_OVER OUT_COIN COMN1 COMP1 IN_ERR_RESET IN_SERVO IN_MODE_START IN_ABORT IN_MODE.0 IN_MODE.1 IN_POSW.0 IN_POSW.1 IN_GAIN IN_FN IN_PLS_DIRECT IN_PACT 91 Ω 33 Ω 1K Ω PS2805 or equivalent TLP115A[...]

4-6 Basic Settings for Operating the Motor 4 4.3 I nstalling the PC Utility on the PC 4.3.1 Procedure Instal lation under W indows 95/ 98/98SE/Me/NT4.0/2 000 The G2 PC utility (hereinafter referred to as the “PC utility”) runs on W indo ws 95, 98, 98SE, Me, W indow sNT4.0 and 2000. It can be ins talled via “ Add/Remove Prog rams” u nder the[...]

4-7 Figure 4.3. 2 “Select Program Folder ” dialo g box Select a program f older and click “ Next .” The installatio n begins. Follo w the instructions on the screen and change di sks. When the s etup is compl eted, the “ Setup Complete” dialog box appear (see Figu re 4.3.3). Figure 4.3.3 “Setu p Complete” dia log box T o start the p[...]

4-8 Basic Settings for Operating the Motor 4 4.3.2 Startup 1 ) T o start t h e P C u tili t y , cli c k “ S tart,” “ P r o g r a m ( P ),” “ Y OKOGAWA _E ” a n d t h e n “ D r v G II.” Figure 4.3.4 “Star tup” 2) An “V ersion Informat ion” dialog box is displ ayed for sev eral seconds and then the PC u tility starts up. Figur[...]

4-9 4.4 Preparation Connect the serial port of the PC with the serial port of the driv er with a dedicated cable. (Do not use any of commercially available cables. Since 5V power is being output from the driver as the power supply for the operation display pen dant, a breakdown m ay occur in the PC if such cable is us ed.) 4.4.1 Selecting Communica[...]

4-10 Basic Settings for Operating the Motor 4 4.4.3 Display ing Communication Strings When you start the PC u tility , t he “Communication string ” dialog box appears in the upper rig ht corner of the screen. (See Figure 4.4.3.) Any strings that the PC utilit y sends to the driver as well as any strin gs received from the driver are display ed [...]

4-1 1 4.4.4 Main Menu When you start the PC u tility , t he “MainMenu” dialog box appears (see Figure 4.4.4). See th e following chapters for how to start the actual operation. Figure 4.4.4 “Main Menu” dial og box 4[...]

4-12 Basic Settings for Operating the Motor 4 4.5 S etting the Statu s to Ser vo ON The driver can be put into Servo On status through the following operation. (1) Click the “I/O Config (I)” bu tton in the “MainMenu” and th en the “I/O config (L)” button . (2) Enable Servo ON. Click the checkmark of “1” under DI an d then click the [...]

4-13 (3) Reset the driver according to the message in the dialog box. (4) V erify that the driver is reset an d the “SRDY” LED on the front panel is turned on. Click OK. 4[...]

4-14 Basic Settings for Operating the Motor 4 4.6 Auto-tuni ng The auto-tun ing can be performed accordin g to the following procedu re. (1) Checking the rotation direction Check the rotation direction (CW/CCW ) of the motor . CW CCW Load installation surface Caution Look careful ly from both side s of the loa d installat ion surface to check the C[...]

4-15 (3) Clic k Auto T uning Start (tuning starts). (4) Follow the message on th e dialog box an d click “OK” to s tart the auto-tuni ng operation. Caution The rotor rot ates a max imum of 30º (seven t imes of re ciprocat ing operati on) in the C W direction. T he operation width vari es depend ing on the velocity rating of t he motor . T ake [...]

4-16 Basic Settings for Operating the Motor 4 4.7 P erforming Homin g Operation A homing operation can be perform ed according to the follow i ng procedure. (1) Checking the rotation direction Check the rotation direction (CW/CCW ) of the motor . CW CCW Load installation surface Caution Look careful ly from both side s of the loa d installat ion su[...]

4-17 (3) Set the “homing direction” in the “Homing” dialog box. Caution The initial v alue that should be set depe nds on the homing direction. E nter “#20 = 1” if the homing d i rectio n is C W and “# 20 = 0” if it is CC W. (4) Click the “Start” button to start the homing operation. Caution 1) The homing o peration finishes aut[...]

4-18 Basic Settings for Operating the Motor 4 4.8 Performing the Basic Se ttings of Pulse C omma nds 4.8.1 About Position Command Pulse Input Perform input (pulses) required for operation according to the explanation in Section 6.2, “Po sition Command Pulse Inpu t” in Chapter 6, “Controller In terface.” Prior to perform ing pulse inpu t, be[...]

4-19 4.8.2 Example of Operation The following shows an example of operation. Input pulses fro m the positioning controller according to the velocity pattern sho wn below . Home position sensor Homing position The rotor moves 50 degrees away from the homing position, then back again. CW direction -> stops for one second -> CCW direction -> [...]

5-1 Chapter 5 Functions 5.1 Parameters an d Monitors 5.1.1 G eneral Par ameter s 5.1.2 Mec hanical Setting Param eters 5.1.3 Monitors 5.2 Operation Fu nctions 5.2.1 J og Move 5.2.2 T est O peration 5.2.3 Auto- Tuning Operation 5.2.4 H oming Mo ve 5.2.5 Mec hanical Setting Mode 5.3 Coordinat e System 5.3.1 C oordinate S ystem 5.3.2 S witching P osit[...]

5-2 Functions 5 5.1 P arameters and Monitors The group of variables expressed by # *** is called parameter s and m onitors . Parameters/monitors are classified according to their numbers as follows. Parameter No. Parameter type Backup Comments 0 to 199 Gener al param eters Stored A lways pos sibl e to read and wr ite. 200 to 299 Mechanic al set tin[...]

5-3 5.2 Opera tion Funct ions Idle status Controller interface position command follow-up Jog move Test operation Operating status Auto-tuning operation Homing move Mechanical setting mode The status in which no operation is perfor med is called the idle stat us ; jog moves can be perf ormed in this status. If no jog move is being performed in the [...]

5-4 Functions 5 5.2.2 T est Ope ration This operatio n generates a 2.5Hz square wave and uses it as positio n command signal for adj ustment of the control part. Set the analog monitor to test oper ation r espons e to measure th e response wavef orm on the oscilloscope. The position feed forward, velocity feed forward, and acceleration feed forward[...]

5-5 5.2.4 Homing Move In this operation the rotor is moved according to a preset home position searc h method in order to establish a coordinate system. After first moving to the home positio n determined by the proximity signal and motor Zero signal , it co nti nues to mo ve a n amo unt fur ther give n in the #29 Offset distance fr om th e Home po[...]

5-6 Functions 5 (4) First home s ensing m ove W ith the #25 Homi ng opera tion: Or igin inside se lect ion parameter , it is possib le to select and set either the inside Zero s ignal or outs ide Zero signal of th e home position proxim ity signal as the home pos ition. If #25 = 1, the inside Zero sign al is set as the home position; if #25 = 0, th[...]

5-7 [Hardware z ero signal ty pe] ＃ 318 value ＜ 0.05* ＃ 358 value error 0.05* ＃ 358 v alue ≦＃ 318 value ＜ 0.1 * ＃ 358 value warning 0.1 * ＃ 358 v alue ≦＃ 318 value ≦ 0.7 * ＃ 358 value normal 0.7 * ＃ 358 v alue ＜＃ 318 value ≦ 0.75* ＃ 358 value w arning 0.75* ＃ 358 v alue ＜＃ 318 value error [Software z ero si[...]

5-8 Functions 5 - Operation example 1 - (2) (4) (3) (3) (4) (6) (5)-1 (5)-2 (5) -1 (5) -2 (6) ← (+) direction Homing from outside of the proximity area Home position proximity signal Zero signal Homing from outside of the proximity area - Operation example 2 - ← (+) direction (1) (-) direction over travel signal - Operation example 3 - (+) dire[...]

5-9 5.2.5 Mechanical Setting Mode This is a s pecial mode f or changing param eters related to th e mechanical se ttings. Paramet ers #200 to #299 can be changed only when this operation is being executed. In addition, once started, t his operation cannot be stopped. A fter you finish changing the necessary parameters, turn the pow er to the driver[...]

5-10 Functions 5 5.4 Con trol S ystem In this section, the position co ntrol part , velocity con trol part , an d feed forward of the driver are explained. The block diag ram of t he control sys tem is sh own below . Proportio nal control Integral control Position integral limiting value Differential feedback Velocity feed forward Acceleration feed[...]

5-1 1 5.4.1 V elocity Control Part For the velocity cont rol bandwidth, either the value set with the #51 V elocity contro l bandwid th 1 parameter or the #49 Velocity contro l bandw idth 2 parameter is selected, according to the status of the controller interface input signal IN_GAIN. The selected v alue is displayed in the #376 V e locity contr o[...]

5-12 Functions 5 5.4.2 Position Control Part For the position control bandwidth, either the value set with the #50 Position contro l bandw idth 1 parameter or the #48 Pos ition co ntrol ba ndwidt h 2 parameter is selected, according to the status of the con troller interface input signal IN_FN. The selected v alue is displayed in the #375 Position [...]

5-13 5.4.4 Servo Stif fness Paramet er The #38 Ser vo stiffness s ettings para meter is for general settings for the con trol system. The control parameters are set based on this parameter after measuring the load inertia/load mass i n the auto-tuning operation. If #38 is ch anged, either one of the position control bandw idth parameters (#50, #48)[...]

5-14 Functions 5 5.5 Acceleration/ Deceleration F unction This driv er performs t rapezoidal m oves during jog m oves and homi ng moves, and us es the acceleration/deceleration function described in th is section. In addition, it has a velocity override functio n for switching velocity during a move, which works in real time even during th e move ([...]

5-15 5.5.2 V elocity Profile In a trapezoidal m otion, the acceleration of the moving part follows the acceleration type s et by the #4 Select ing accelerat ion type parameter until it reaches the feed velocity . Hereafter , the move is continued with th e feed velocity , then decelerates and stops accordin g to the deceleration type set by the #5 [...]

5-16 Functions 5 The feed velocity during a move becomes the commanded velocity multiplied by the velocity override value. If the velocity override value is changed during a move, the m oving part is accelerated at the same acceleration profile and acceleration as the normal acceleration time when the velocity override v alue is increased. In the s[...]

5-17 5.6 Ot her Functio ns 5.6.1 Settling Wait, Position S ettling Status, and Pos itioning Status Position settlin g status refers to the status where the position deviation (pulse co ordinates) is within the specified range in the pulse coordinate system. The specif ied range is set w ith the #58 Positio n sett ling pulse width 1 , #4 5 Position [...]

5-18 Functions 5 5.6.2 V elocity Monitor and A n alog Monitor The current v elocity value of the motor is outpu t to “VEL” of the CN3 an alog monitor interface as the veloci ty monitor si gnal. The signal sensitivity of the velocit y monitor ([V/rps] in case of a rotating DYN ASER V motor and [V/mps] in case of a linear LINEARSER V motor) can b[...]

5-19 5.7 S pecial Parameter Processi ng The setting values of the parameters listed below are automatically changed inside the driver b y the operation of the driver . 5.7.1 Internal Generation of Paramet er Initial V alues The initial values of all of the follo wing parameters when they are reset will be generated internally by the moto r: [Relat [...]

5-20 Functions 5 5.7.3 Auto Conversion and Clear Functions When Changing Simplified Scaling Weighted Data When simplified scaling weigh ted data is changed, the follow ing parameters are automatically converted: [Relat ed param eters ] #9 Feedi ng vel ocit y #10 Jog vel ocit y #1 1 Over-tr avel sear ch veloc ity dur ing a homing mo ve #12 Homing op[...]

6-1 Chapter 6 Control Interfaces 6.1 T erminal Functio n 6.1.1 C onnectio n, Setting, and I/O Mappin g 6.1.2 Ex planat ion of T erminals 6.1.3 Electr ical sp ecif ications 6.1.4 I/O logic s etting 6.2 Position C ommand Pulse Input 6.3 Encoder Puls e Output 6.4 Operatio ns 6.4.1 Star ting an Operati on 6.4.2 Abor ting an O perat ion 6.4.3 Timing Cha[...]

6-2 Control Interfaces 6 6.1 T erm inal Fu ncti on 6.1.1 Connection, Setting, and I/O Mapping CN4 Made by Honda T sushin Kogyo Connector PCR -S36FS Cover PCR- LS36LA 19 IN_ERR_RESET 01 COMP1 20 IN_SERVO 02 COMN1 21 IN_MODE_ST ART 03 OUT_DRDY 22 IN_ABORT 04 OUT_SRDY 23 IN_MODE. 0 05 OUT_BU SY 24 IN_MODE. 1 06 OUT_XO VL 25 IN_POSW. 0 07 OUT_OV ER 26 [...]

6-3 6.1.2 Explanation of T erminals Signal nam e Desc ripti on Contact input signals T otal 12 points IN_MODE_ST ART 1 Oper ation s tart c ommand Starts oper ation when s etti ng from OFF to ON. IN_ABORT 1 Oper ation a bort c ommand Stops operati on when set ting f rom OFF to ON. IN_MODE1, 0 2 Oper ation mo de number IN_PLS_DI RECT 1 Pulse weight s[...]

6-4 Control Interfaces 6 6.1.3 Electrical specification s [Interfac e power supp ly inputs] COMP1 , COMN1 Input the in terface po w er supply for contact in puts and contact outputs. Inter face t ype name SA SB Rated volt age 12 to 24 VDC ( ± 10%) 5 0 V C D ( ± 10%) [Contact in puts] IN_ERR_R ESET , IN_SERVO, IN _MODE_ ST ART , IN_ABORT , IN_MODE[...]

6-5 [Current lim it analo g input] CRNT _LMT_IN ± Current 100% at 10 VDC Current 0% at 0 VDC Controller + - 0 to 10VDC CRNT_LMT_IN+ 200k Ω 200k Ω CRNT_LMT_IN- 6.1.4 I/O logic setting For the contact inpu t and contact output signals, it is pos sible to set the physical I/O status and the logical relationsh ip of th e driver’s inte rnal signa[...]

6-6 Control Interfaces 6 6.2 P osition C ommand Pu lse Input The position command value instructed fro m the controller interface is given to the driver by any pair of the (PLS, SIGN), (UP , DOWN ) and (A , B) signals, w hich is then reflected in the command unit command value. Which pair of the signals will be used to gi ve a command is set with t[...]

6-7 6.4 Operations 6.4.1 Starting an Operation The operatio n start command via MODE_ST AR T instructs the start of ope rations other than jog moves. The operation start comm and is issued when the s tatus is 1. MODE[1..0] m ust set the num ber of the operat ion to be perform ed when the operation start command is issu ed via MODE_ST AR T . See the[...]

6-8 Control Interfaces 6 6.4.3 Timing Charts [Self- end t ype] In cas e of self -end STATUS1 MODE_START MODE[1..0] STATUS0 BUSY Not necessary to consider 0 or more At the end of processing STATUS1 STATUS0 Not necessary to consider Not necessary to consider [Self- end type] In case of end b y the oper ation abor t com m and [Non-self -end type] MODE[...]

6-9 6.5 Ot her Inputs 6.5.1 Pulse Weight S election PLS_DIREC T When the status of the PLS_DIRECT pulse weig ht selection input signal is 1, it is i ndependent of the # 207 Simplif ied sca ling weig hted dat a para meter; the position command pulse that is input is directly used as the internal position command p ulse. For more details, see Section[...]

6-10 Control Interfaces 6 6.5.7 Servo ON SER VO The SER VO servo ON inpu t signal is set to ser vo ON when the status is 1. In addition to this instructio n, the actual S ervo ON/OFF status is aff ec ted by th e setting of the SR V DS Servo O N disable switch on the front panel. See the table below . Servo ON/OFF SERVO SRV DS Servo ON disabl e on t[...]

7-1 Chapter 7 RS232C Interf aces 7.1 Overv iew 7.2 Connecti on and Setting 7.3 Communic ation Speci fications 7.4 @ Comm ands 7.4.1 Star t @3: Field 0 7.4.2 Stop @2 7.4.3 Abor t @1 7.4.4 Error rese t @4 7.4.5 H oming offs et position s ettin g @10 7.4.6 J og m ove comm and @1 1: Field 0 7.4.7 O ther con venient c omm ands 7.5 Parameter C ommands[...]

7-2 RS232C Interfaces 7 7.1 Overview The CN1 RS232C communicati on connector is prov ided in order to make conn ection with host devices su ch as PCs an d PLCs v ia the RS232C. Th e operation d isplay pendant (abbreviated as TB X, optional dev ice) can also be connected to this connector . Refer to C hapter 9, “Operation Display Pendant” for a [...]

7-3 [Multi-cha nnel] When preparing for multi-channel communication, conn ect the host device an d a maximum of nine drives in a loop shape as shown in th e figure below . 03 02 05 TxD RxD SG 03 02 05 TxD RxD SG Driver 1 PC DOS/V D-sub 9-pin male D-sub 9-pin female PC98 D-sub 25-pin male 09 SG 03 02 05 TxD RxD SG Driver 2 D-sub 9-pin male 09 SG 03 [...]

7-4 RS232C Interfaces 7 7.3 C ommunica tion Specifica tions [Comm unication param eters ] Communicat ion meth od Start -stop s ystem, t ext communic ation Communicat ion spee d 960 0 bps Stop bit 1 bit Data lengt h 8 bits Parit y None T erminate CR (both t ransmi ssion and r ecepti on) Flow cont rol None [Single c hanne l and m ulti-chan nel] Singl[...]

7-5 [Transmission c haracter s tring] Tran smission character st rings are classified as follows. The details about th e @ commands and parameter commands w ill be explained s eparately in Section 7.4, “@ Commands ” and Section 7.5, “ Parameter Comma nds. ” Explanat ion Receivabl e stat us @ commands Commands for operat ing the dr iver Rec [...]

7-6 RS232C Interfaces 7 7.4 @ Comma nds ＠ : Field 0 Command format Command number : Field 1 ．．． : Field 2 Command nam e Command No. No. of fi elds Res ponse at normal oper ation Abort 1 0 Stop 2 0 Start 3 1 Error re set 4 0 Homing offs et posi tion s etting 10 0 Jog move comman d 1 1 1 R00 7.4.1 Start @3: Field 0 Start co mmands b egin o pe[...]

7-7 7.4.5 Homing offset position setting @10 The homing offset position setting command instructs the #29 O ffset dista nce from the home position parameter to auto-set so that the current motor position will beco me the position after homing is completed fro m the next time. It functions irrespectively of the operation mode. It can only be run whi[...]

7-8 RS232C Interfaces 7 7.5 Parameter Comma nds Thr ough t he use of pa ra meter c omma nds, it is p ossib le to refe r to va lue s of p ara meter s and mon itor ( reference commands ), assign num erical values and variables to parameters ( simple setting co mmands ), and assign ing results of arithmetic operations on numerical value s and variable[...]

8-1 Chapter 8 DrvGII PC Utility 8.1 Overv iew 8.1.1 Overv iew of the Oper ation Men u 8.1.2 Overv iew of the Actio n Menu 8.1.3 Overv iew of the Data Managem ent Menu 8.2 Installati on 8.2.1 Instal lation un der W indows 95/98 /98SE/Me /NT4.0/20 00 8.2.2 Start ing the PC Utilit y 8.3 Preparati on 8.3.1 Selectin g a Comm unication Port 8.3.2 Selecti[...]

8-2 DrvGII PC Utility 8 8.1 Overview The DrvGII PC Utility consists of three components that are accessed fro m the following menus: “operati on menu, ” “action m enu,” and “data management menu.” 8.1.1 Overview of the Operation Menu The operation m e nu contai ns the followin g three functi ons ： • Te r m i n a l : This menu allows[...]

8-3 8.2 Installation 8.2.1 Installation under Windows 95/98/98SE/Me /NT4.0/20 00 T h e Dr v G II u tili t y ( h erei n a f t er re f erre d t o as t h e “ P C u tili t y ”) r u n s o n W i n d o w s 95 , 98 , 9 8 SE, Me, N T 4 . 0 a n d 2000. It can be instal led via “Add/ Remove Program s” under th e “Control Pane l” in W indows. If an[...]

8-4 DrvGII PC Utility 8 Figure 8.2 “Selec t Progr am Folder” dial og box Select a program f older and click “ Next .” The installatio n begins. Follo w the instructions on the screen and change disks . When the setup is completed, the “ S etup Complete” dialog box appear (see Figu re 8.3). Figure 8.3 “ Setup Complete” dialog box T o[...]

8-5 8.2.2 Starting the PC Utility In order to start the PC utility under W indo ws, click the “Start” button, “Program,” “Specified program folder ,” and then “YOKOGA W A_E” The “V ersion Information” dialog box (see Fig ure 8.4) is displayed for several seconds, an d the PC utility starts up. (By def ault, the specified program[...]

8-6 DrvGII PC Utility 8 8.3 Preparation Connect the serial port of the PC with the serial port of the driv er with a dedicated cable. (Do not use any of commercially available cables. Since 5V power is being output from the driver as the power supply for the operation display pen dant, a breakdown may occur in th e PC if such cable is used.) 8.3.1 [...]

8-7 8.3.3 Displa y ing Communication Strings When you start the PC u tility , t he “Communication string ” dialog box appears in the upper rig ht corner of the screen. (See Figure 8.7.) A ny strings that the PC utility sends to the driver as well as any strings receiv ed from the driver are display ed regardless of the menu. Figure 8.7 “Comm [...]

8-8 DrvGII PC Utility 8 8.3.4 Main Menu When you start the PC u tility , t he “MainMenu” dialog box appears (see Figure 8.8). See th e following chapters for how to start the actual operation. Figure 8.8 “ MainMen u” dialog box[...]

8-9 8.4 Opera tion Menu 8.4.1 T erminal Using this menu , you can send and receive character s trings to/from the driver , monitor parameters /monitors as well as errors/alarm s, and use param eter/command help. Click “T ermi nal (T )” under “Main Menu” to display the “T erminal” dial og box (see Fi gure 8.9). Figure 8.9 “T erminal”[...]

8-10 DrvGII PC Utility 8 (1) Param eter/m onitor In th e “T er minal” m enu, click “Par ameter/ Monitor ( M)” under “Monitor” to di splay th e “Parameter/Monitor” dialog box (see Figu re 8.10). If the number of a parameter/m onitor you want to monitor is entered in the parameter/monitor number text field, the cont ents and values of[...]

8-1 1 (2) I/O monitor In th e “T er minal” m enu, click “I/O Monitor (I)” under “Monitor” to di splay th e “I/O Monitor” dial og box (see Figure 8.1 1). W ith the “I/O Monitor” dialog box, it is po ssible to monitor the on/off status of DI and DO points. It displa ys the status of electrical I/O signals regardless of the I/O log[...]

8-12 DrvGII PC Utility 8 (3) Axis sig nal statu s display In th e “T er minal” m enu, click “Ax is signal s tatus ( A)” under “Monit or” to display the “A xi s signal status ” dialog box (see Figu re 8.12). V ia the “Axis signal status” dialog box, it is possible to monitor the axis status , etc. of the driver . Figure 8.1 2 “[...]

8-13 (5) Parameter /m onitor help In th e “T er minal” m enu, click “Par ameter/ Monitor h elp (H)” under “List” to dis play the “Parameter/ Monitor help” dialog box (see Figure 8.14). The Parameter/Monitor help can display the contents o f a maximum of ten parameters/monitors. If you click “Prev (P),” para meters/m onitors with[...]

8-14 DrvGII PC Utility 8 8.4.2 Servo T uning This menu allows you to adjust t he servo parameters of the motor through auto-tuning and manual tuning in addition to adj ust various compensation filters Click “Servo C ntl (S) ” on “Ma inM en u” to disp la y the “S ervo Tuning” d ialo g b ox. Figure 8.16 “ Servo Tuning” dialog box (1) [...]

8-15 [Other par am eters] * T he three param eters – position feed forward, velocity feed forward, and acceleration feed forward – have no relation with servo stiffness. They are parameters for adj usting th e settli ng time decrease. * T he torque limiter parameter should be changed when limiting the motor torque. (3) Filter setting Click “F[...]

8-16 DrvGII PC Utility 8 8.4.3 Oscilloscope The oscilloscope d isplays time-series of parameter/monitor values. Click “O scillos cop e (O) ” under “MainMenu” to displa y the “O scillo scope” dialog bo x. Note: The parameter/mon itor informat ion is obt ained auto matically from the driver when th e “Oscillos cope” dial og is started[...]

8-17 [How to use t he os cillosc ope] (1) Click “Log Star t” on the “Oscillo scope” dialog box to d isplay the “SetConditio n/ELogStart” dialog box (see Figu re 8.19). Figure 8.1 9 “SetCond ition/ELo gStar t” dialog b ox (2) Clic k the ↓ to select the parameters/monitors you want to display in the “source selection choice box.?[...]

8-18 DrvGII PC Utility 8 (12) The displayed wavefor m can be reshaped using “Display position selectio n” and “V er tical axis range selection” in the "Oscillo scope" dialog box. When "Auto" is clic ked at this time, the "Display positio n selection" value is changed to " 5," and the "V ertical a[...]

8-19 8.5 Actio n Menu In the operation menu, you can set and displa y parameters, display monitors, and start o r stop actions related to the operations listed belo w . “Homing m ove,” “jog m ove,” and “T est operation.” Click “Drive (D)” under “MainMenu ” to display the “DriveMenu” dial og box (see F igure 8.20). Figure 8.2[...]

8-20 DrvGII PC Utility 8 8.5.1 Homing Click “Hom ing (O) ” in the “DriveMen u” dialog box to display the “ Ho ming” dialog box (s ee Figure 8.21). If the connection with the driv er is established, the current values of t he related parameters are read an d can be edited. Figure 8.21 “ Homing” dialog box (1) Editing param eters 1) C[...]

8-21 (2) Operati on The motor can be operated wh en the operation mode is set to th e RS232C operation enable m ode (see Chapter 5). (When t he RS232C operati on disable m ode is set , some buttons are disabled.) [Start] 1) Set the motor to Servo ON (see Chapter 5). 2) Clic k “Start (D).” → The measur ed va lue o f the homi ng i s disp la yed[...]

8-22 DrvGII PC Utility 8 8.5.2 Jog Move Click “Jog (J)” in the “DriveMenu” dial og box to dis play the “ JogMove” dialog box (s ee Figure 8.22). If the connection with the driv er is established, the current values of t he related parameters are read an d can be edited. Figure 8.22 “J ogMove” dialog box (1) Editing param eters 1) Cl[...]

8-23 (2) Operati on The following operation can be perform ed when jog move is selected vi a the RS232C interface (see Ch apter 5). (When t he main operation mode is s et to the PLC main operation m ode, some bu ttons are disabl ed.) [Jog m ove in pos itive direct ion] 1) Set the motor to Servo ON (see Chapter 5). 2) Clic k “Start + (P).” [Jog [...]

8-24 DrvGII PC Utility 8 8.6 Data Ma nagemen t Menus 8.6.1 Parameter Manag er This menu allows you to sa ve all the parameters to files a nd register them from files in additio n to edit the machine setting parameters. Click “Para meter ( M)” under “MainMenu” to display the “ Parameter Manager” dialog box (see Figu re 8.23). Figure 8.2 [...]

8-25 (1) Editing m achine param eters Click “ Machine Par amet er Edit ( M)” in the “Parameter Manag er” dialog box to display the “MachineParameterEdit” dialog box (see Figure 8.24). If the connection with the driver is established, the current valu es of the machine parameters are read and can be edited. Figure 8.24 “ MachineP aram [...]

8-26 DrvGII PC Utility 8 (3) Downloa ding (f rom a f ile to the driver) 1) Clic k “Downloa d (D) ” in the “ Parameter Manager” dialog box. 2) Enter the name of the file to be do wnloaded to the driver . Do not enter a file ex tension ( *.prm); it is added automatically . 3) Clic k “Open (O )” to start down loading. If you wish to s top [...]

8-27 8.6.2 I/O Set In this m e nu, you can s et the logical s etting of DI/ DO points (For ref erence of D I and DO numbers and s ignal names, see Ch apter 6.). Click “I/O set (I) ” under “MainMenu ” to display the “I/O configu ratio n” dialog box (see Fi gure 8.26). Figure 8.2 6 “I/O conf igurat ion” dialog box 8[...]

8-28 DrvGII PC Utility 8 (1) Logic al settin g 1) Clic k “I/O conf ig (L)” in the “I/O conf iguration” dial og box. 2) The “Discrete configuration ” dialog box is displayed an d the current s etting status is read. (The m aximum number of setting st atuses that can be di splayed at once is 32 point s for both DI and DO.) Figure 8.2 7 ?[...]

8-29 (3) Downloa ding (f rom a f ile to the driver) 1) Clic k “Downloa d (D) ” in the “ I/O configuration” dialog box. 2) Enter the name of the file to be do wnloaded to the driver . Do not enter a file extension (*.ioc); it is added automatically . 3) Clic k “Open (O )” to start down loading. If you wish to s top the dow nloading , cli[...]

8-30 DrvGII PC Utility 8 8.6.3 Pulse Set (1) Pul se setting 1) Clic k “P uls Co nfi g (P )” in the “Main Menu” dialog box. 2) The “Puls configuration” dialog box i s displayed an d the current sett ing status is read. Figure 8.2 8 “Puls conf igur ation” dia log box 3) Select the param e ter from the com bobox. 4) Clic k “ Set (S) [...]

9-1 Chapter 9 Operation Displ ay Pendant 9.1 Overv iew 9.2 Features and Par t Names 9.3 Switchi ng Displ ays 9.4 T erminal Mode Di splay 9.5 Parameter M onitor D ispl ay 9.6 Parameter Setti ngs Display 9.7 I/O Monitor Display 9.8 Special Co mmand Di splay[...]

9-2 Operation Display Pendant 9 9.1 Overview The operation dis play pen dant (abbrevia ted as TBX, optional dev ice) shou ld be connected to t he CN1 RS232C communication con nector . It is set t o the same status as th e single channel commun ication in the RS232C interface, regardless of t he setting status of the rotary switch RS-ID on the front[...]

9-3 9.3 Swi tching Displa ys Each display shifts in the order sh own in the figu re below . When the power i s turned on and the operation display pendant is connected, the initial screen shows the terminal mode display . Each display of the program m enu display can be accessed by selecting edit (EDT ), copy (CPY), or delete (DEL). _ <#> S/+[...]

9-4 Operation Display Pendant 9 9.4 T erminal Mode D isplay The terminal mode display allows you to send a character string entered from the keypad to the driver and display the response ch aracter string in the display . In the example below , “#50” is in put in display 2) and the respon se character string “R 1D position bandw idth:12” is[...]

9-5 9.5 P arameter Monitor Di spla y The current v alues of parameters/mon itors with the numbers input from the keypad are displayed periodically . It is not necessary to p ress the Return in order to set a number . In the prev io us exampl e of display 2), param eter number “50” is ent ered to display t he prompt ch aracter string of that par[...]

9-6 Operation Display Pendant 9 9.6 P arameter Settings Displa y This displa y is for changing the values of parameters. When you input a param eter number from the keypad, the dis play shows a prompt for the parame ter when comments are being displayed, and the current value of the parameter when data is being displayed. When data is being displa [...]

9-7 9.7 I/O Mo nitor Displa y The I/O signal status of the blocks with numbers input f rom the keypad for the selected I/O type is displayed periodically . It is not necessary to press the Ret urn key in order to set a number . There are three types of I/O that can be selected: “Ctl I,” “Ctl 0,” and “ Drv I.” Y ou can switch among them [...]

9-8 Operation Display Pendant 9 9.8 S pecial Command Dis pla y In this display , you can transmit selected commands to the controller . The selection of the comm ands you can choose from depends on the main operation mode. They can be sw itched by pres sing the f 2/f6 SEL key . When you select a command from the list a nd press the Retur n key , it[...]

10-1 Chapter 10 Maintenance and In spection 10.1 M aintenance an d Inspection o f the Mo tor Part 10.2 M aintenance an d Inspection o f the Dri ver Par t 10.3 R eplacing th e Battery for Memory Backup 10.4 Backup and Rest ore Operati ons of Driv er Memory Contents 10.4.1 Backup Operati on 10.4.2 Restore Operati on 10.5 M otor Probl ems and Cor rect[...]

10-2 Maintenance and Inspection 10 10.1 Maintenan ce and Inspec tion of the Mo tor Part S i m p le dai l y c h e c k s n eed to be per f or m ed o n t h e m o tor part. C h e c k t h e m o tor f o r e x ce s s i v e n o i s e or ab n o r m al vibr atio n. Do not dismount the motor . If th e motor operates abnorm all y after 20,000 hours of operatio[...]

10-3 10.4 Backup an d Restore Operati ons of Dri ver Memory Contents Be sure to back u p the driver memory contents in case of the occurren ce of problems. If a problem occurs in the driver memory contents, it may beco me necessary to initialize (all reset) the driver to the same settings at the time of shipment f rom the factory . If the driver me[...]

10-4 Maintenance and Inspection 10 10.4.2 Rest ore Operation The restore operation uses either of the backup data that was copied to a file via the PC utility or that was copied to the driv er’s buil t-in flash RO M. Perform either of the follow i ng restore operation s: [Restore u sing the PC uti lity] Using the PC utility , restore the back ed [...]

10-5 10.5 Motor Pr oblems and C orrective Actions When an abnormality occurs during motor operation, first check the LED displa y as well as the error displa y LED (7 se gments) on the front panel of the driv er . If th e cause of the problem cannot be determ ined by the indication of t he LED displ ay , take an appropriate corrective action as pro[...]

11 - 1 Chapter 1 1 Specifications 1 1.1 Standar d Specific ations 1 1.2 T orque - Speed C haracteristics 1 1.3 Ex ternal Dimensi ons (Unit: mm) 1 1.4 Restri ctive Conditi ons for th e Frequency of Repeated Operations (DR5000B Ser ies Only)[...]

11 - 2 Specifications 11 1 1.1 Standard Sp ecifications (1) DM Seri es Motor A Series Item Unit DM1200A 00*1 DM1 150 A 00*1 DM1 100 A 00*1 DM1050A 00*1 Maximum output torque N ⋅ m (kgf ⋅ m) 200 (20) 150 (15) 100 ( 10) 50 (5.0) Rated num ber of revol utions (100/20 0V) rps 0.5 /1.0 1.0/1 .0 Encoder r esolut ion p/rev 4,096,0 00 Rep eatab ility a[...]

11 - 3 Motor model name DM1004B0 F-2 ! *1 DM100 4C0F-2 ! *1 Maximum torque (N ⋅ m) 4 Maximum number of revolut ions ( rps) 2.5 Encoder r esolut ion (p/ rev) 2,621,4 40 Abso lute a ccuracy (sec) Note Rep eatab ility accura cy (se c) ± 3 Axial r otati onal deflec tion ( µ m) p-p 10 Radial r otational deflec tion ( µ m) p-p 10 Rotor i nerti a (kg[...]

11 - 4 Specifications 11 (2) DR Series M otor A Series Item Unit DR1400 A00*1 DR1300 A00*1 DR1200 A00*1 DR1 15 0 A00*1 DR1 10 0 A00*1 DR1050 A00*1 Maximum output torque N ⋅ m (kgf ⋅ m) 400 (40) 300 (30) 200 (20) 150 ( 15) 100 (10) 50 (5. 0) Rated num ber of revol utions (100/20 0V) rps 0.25/0 .5 0.5/1.0 1.0/1 .0 1.5/1 .5 Encoder r esolut ion p/[...]

11 - 5 E Series Item Unit DR1250E 00*1 DR1220E 00*1 DR1 16 0E 00*1 DR1 13 0E 00*1 DR1 10 0E 00*1 Maximum output torque N ⋅ m ( kgf ⋅ m) 250 (25) 220 (22) 160 (16) 130 (13) 100 ( 10) Rated num ber of revol utions (100/20 0V) rps 0.5/1 .0 1.0/1.5 Encoder r esolut ion p/r ev 1,228,8 00 Repea tability accura cy Sec ± 3 Motor + driver Rot ational p[...]

11 - 6 Specifications 11 (3) DR/5000 Ser ies Motor 5000 E Seri es 5000 B Series Item Unit DR5100E 00*1 DR5070E 00*1 DR5070B 00*1 DR5050B 00*1 DR5030B 00*1 Maximum output torque N ⋅ m (kgf ⋅ m) 100 (10) 70 (7.0) 70 ( 7.0) 50 (5.0) 30 (3.0) Rated num ber of revol utions (100/20 0V) rps /2. 0 /4.0 Encoder r esolut ion p/rev 638,976 557.056 Repea t[...]

11 - 7 (6) Driver Functi on Spec ific ations Item Spec ifi cati ons Higher i nterfac e RS23 2C inter face ( single channel communic ation, multi- channel c ommunicat ion) Control ler int erfac e (puls e train pos ition c ommand) Mechanic al input signal Homing si gnal, ( +) dir ection hardwar e over -travel signal , (- ) direct ion hardwar e over-t[...]

11 - 8 Specifications 11 11.2 T orq ue - Speed C haracteristics (1) DM Series 2) Type B No. of revolutions (rps) Output torque (N-m) 1) Type A Output torque (N-m) No. of revolutions (rps) 200-230 VAC power supply 100-115 VAC power supply DM1004B/C Output torque (N-m) 3) DM1004B/C No. of revolutions (rps) (2) DR Series No. of revolutions (rps) Outpu[...]

11 - 9 11.3 External Dime nsions (Unit: mm ) (1) DM Seri es Motor 1) T ype A 6-M8 screw depth 10 (Equal circular division) (Through hole) L (Refer to standard specification) Rotor Stator 6-M6 screw depth 15 Encoder cable Motor cable 2) T ype B 6-M8 screw depth 8 (Equal circular division) L (Refer to standard specification) (Through hole) Rotor Stat[...]

11 - 1 0 Specifications 11 6-M8 screw depth 12 (Equal circular division) L (Refer to standard specification) Rotor Stator Motor cable ( φ 3.2 x 4) 6-M8 screw depth 12 (Equal circular division) Encoder cable 6-M8 screw depth 12 (Equal circular division) L (Refer to standard specification) Rotor Stator 6-M8 screw depth 12 (Equal circular division) M[...]

11 - 11 (3) Driv er Section 1) U !!!!!!! A/ B (500W , T ype B is show n in the figu re.) 2) U !!!!!!! L (2kW level without regenerative unit) 11[...]

11 - 1 2 Specifications 11 3) U !!!!!!! K (2kW level with regenerative unit)[...]

11 - 1 3 1 1.4 Restricti ve Conditions for the Frequenc y of Repeated Operations ( DR5000B Series Onl y) When runn ing and st op operations are perf orme d repeatedly on D YNASER V DR5000B seri es (DR5030B, 5050B, 5070 B) becaus e of a high num ber of rated revolution, some res trictions may apply based on the characteristic of the motor and th e d[...]

11 - 1 4 Specifications 11 <Example> N R = 4 (rps) I 1 = I 3 = 9 (A ) I 2 = 3 (A) t 1 = t 2 = t 3 = 1/4t CY When calculating from the abov e setting example, 4 12 1 1 η B = 2 ( 4 t CY + 4 t CY + 4 t CY ) × 5t CY × 100 2 = 5 × 100 = 40 81 9 81 1 η C = ( 4 t CY + 4 t CY + 4 t CY ) × 225t CY × 10 0 17100 = 900 = 19 When substituting the a[...]

Parameter List STD1 Parameter No. Parameter name M inimum value M aximum value I nitial value Unit Possible to change 1 Enables the over-travel error function in the + direction 010N o n e A l w a y s 2 Enables the over-travel error function in the - directio n 010N o n e A l w a y s 4 Selecting the acceleration ty pe 0 1 0 None Always 5 Selecting [...]

Parameter No. Parameter name M inimum value M aximum value I nitial value Unit Possible to change 50 Position control bandwidth 1 1 32 1 Hz Always 51 Velocity control bandwidth 1 5 200 20 Hz Always 53 Position integral limiting value 0 4999999 10000 None Always 54 Position f eed forward perc entage 0 126 90 % Always 55 Velocity feed f orward percen[...]

Parameter No. Parameter name M inimum value M aximum value I nitial value Unit Possible to change 152 First order delay compensator s etting 0 3 0 None Always 153 Notch filter: Frequency 1 selec tion 50 1500 1500 Hz Always 154 Notch filter: Frequency 2 selec tion 50 1500 1500 Hz Always 155 Load inertial/load mass 0 200000 0 1/1000kgm 2 or 1/1000kg [...]

Parameter details STD1 1 Enables the over-travel error function in the + direction Always Minimum v alue: 0 Maximu m value: 1 Initial value: 0 Unit: None Long: Short: +HOT _ErrorEna ble +HOT_ErrE n Specify whether or n ot to enable an error wh en the over-travel signal in th e + direction is detected while commanding to move the axis in the + direc[...]

9 Feeding Velocit y Always Minimum v alue: 0 Maximu m value: 16000000 Initial value: Motor dependent Unit: Axis command unit/sec Long: Short: FeedVel ocit y FeedVel Specify th e feeding velocity . For trapezoidal mov e: Specify the feeding velocity. For cam move: Specify the f eeding velocity (peak velocity). 10 Jog Velo city Always Minimum v alue:[...]

16 Velocit y override percentage 1 Always Minimum v alue: 0 Maximu m value: 20000 Initial value: 10000 Unit: 1/100 % Long: Short: Vel Override1 VelOvrri d1 Specify override 1 for f eeding velocity. 20 Homing direction Always Minimum v alue: 0 Maximu m value: 1 Initial value: 0 Unit: None Long: Short: ORG-Directi on O-OrgDir Specify the homing direc[...]

31 Operation width under te sting mode A lw ays Minimum v alue: 0 Maximu m value: 9999999 Initial value: Motor dependent Unit: Axis command un it Long: Short: Tes t W idt h Tes t W idt h Specify the operation width in test mode. 32 Operation width under A uto-tuning A lw ays Minimum v alue: 1 Maximu m value: 9999999 Initial value: Motor dependent U[...]

46 Position settling pulse width 3 A lw ays Minimum v alue: 0 Maximu m value: 32767 Initial value: Motor dependent Unit: puls e Long: Short: CoinW idth Pls3 CoinW idth P3 Specify the setting width to be used for positio n settling check and position settling wait in the axis positio n control section. This parameter is used when the positio n settl[...]

53 Position integral limiting v alue A lw ays Minimum v alue: 0 Maximu m value: 4999999 Initial value: 10000 Unit: None Long: Short: PosIntegr alLim it PosInt Lim Specify the limiter value of the position error integrator in the axis position control section. Speci fy a smaller value when a wind-up condition occurs during axis operatio n. This para[...]

61 Position settling si gnal chattering processing count Always Minimum v alue: 1 Maximu m value: 100 Initial value: 1 Unit: None Long: Short: COIN_Chatter Volum e COIN_Vol Specify the chattering count when a position set tling signal is ge nerated. If the absolute values of position dev iations (values after being filtered in case a position devia[...]

70 A na log monitor selection A lw ays Minimum v alue: 0 Maximu m value: 5 Initial value: 4 Unit: None Long: Short: AnalogMo nitor Select A_Mon Sel Select the content to be output to the analog monitor. 0: P osition deviation [pulse] 1: Test operation response [puls e] 2: P osition command value [pulse] 3: Current po sition value [pulse] 4: Po siti[...]

73 Position monitori ng gain (analog monitor) A lw ays Minimum v alue: 0 Maximu m value: 14 Initial value: 0 Unit: None Long: Short: PosMo nitorG ain PosMon_G Specify the position monitoring (position co mmand value and current position value) gain of the analog monitor. 0: 6.55V / 4194 304 puls es 1: 6.55V / 2097 152 puls es 2: 6.55V / 1048 576 pu[...]

91 TB X_EMG Servo st atus Alwa ys Minimum v alue: 0 Maximu m value: 5 Initial value: 0 Unit: None Long: Short: TbxE mgServ oCondit ion Tbx E mgSe rv Specify the servo st atus of the motor when EMG from TBX is executed. When operating the built-in controller axis: 0: Maintains the servo status a fter the axis operation stops (lo w level). 1: Turns t[...]

94 Position comman d differen tial v alue exce ssive erro r processing ty pe Alw a y s Minimum v alue: 0 Maximu m value: 5 Initial value: 1 Unit: None Long: Short: Over_d Scm dErrorT ype OVP_Er rT yp Specify the processing type when a positio n command differential value excessive error occurs. When operating the built-in controller axis: 0: Mainta[...]

96 Over- travel erro r funct ion in t he - di rection pro cessin g type Alw a y s Minimum v alue: 0 Maximu m value: 5 Initial value: 1 Unit: None Long: Short: -Hot_Erro rT yp e -Hot_ErrTyp Specify the process ing type when an over- travel error in the - direction occu rs. When operating the built-in controller axis: 0: Maintains the servo status a [...]

153 Notch filt er: Frequ ency 1 s election Always Minimum v alue: 50 Maximu m value: 1500 Initial value: 1500 Unit: Hz Long: Short: NotchFilterFreq1 NotchFreq1 Specify the frequency of notch filter channel 1 for the driver equipped with the notch filter option. This parameter is no valid for the driver without the notch filter option. 154 Notch fil[...]

204 Command pulse type While in machine setting mode Minimum v alue: 0 Maximu m value: 2 Initial value: 2 Unit: None Long: Short: CmdPls Type CmdPls Type Specify the position co mmand pulse type. 0: PUA_ IN:UP, SDB_IN: DOWN 1: PUA_IN:A, SDB_IN:B 2: PUA_IN:PLS, SDB_IN:SIGN 205 M onitor pulse type While in machine setting mode Minimum v alue: 0 Maxim[...]

219 Velocity feedback filte r use While in machine s etting mode Minimum v alue: 0 Maximu m value: 1 Initial value: 0 Unit: None Long: Short: UseVfbF ilter UseVfbFil Specify whether or not to use a filter for the velocity information that is fed back to the velocit y control part. 0: Do no t use. 1: Use. 220 Velocity feedback filte r bandwidth Whil[...]

227 Over- speed error p rocessin g type While in mach ine set ting mod e Minimum v alue: 0 Maximu m value: 5 Initial value: 1 Unit: None Long: Short: OverSpee dErrorT ype OVS_Er rT yp Specify the proces sing type when an ov er-speed error occurs . When operating the built-in controller axis: 0: Maintains the servo status a fter the axis operation s[...]

229 Excessiv e positio n deviat ion error p roces sing type While in machine s etting mode Minimum v alue: 0 Maximu m value: 5 Initial value: 1 Unit: None Long: Short: OverSpee dErrorT ype OVPeEr rT yp Specify the processing type when an excessi ve position deviation error occurs. When operating the built-in controller axis: 0: Maintains the servo [...]

Monitor List STD1 Monitor No. Monitor name Unit 300 Currentl y under operation None 301 Axis is under operatio n None 302 Error st atus None 303 Alarm status None 304 Driver re ady None 305 Servo rea dy None 310 Displa y of program num ber under ex ecution None 317 Completion of hom ing st atus dis pla y None 318 Homing oper atio n: The m easur ed [...]

Monitor No. Monitor name Unit 355 Monitor res olut ion pulse/re v, puls e/m 356 Digital v elocit y sensit ivit y dig it/rps, d igit/m ps 357 Maxim um velocit y Axis c omm and unit/sec 358 Z-phase s ignal pu lse inter val puls e/rev, pulse/m 360 Load ratio x 1/100 361 Velocit y ratio gai n x 1/100 363 Velocit y comm and value ( dig ital) 1/16 digit [...]

Monitor detail STD1 300 Currently under operation Unit: None Indicates that an operation i s being perf ormed. 301 Axis is under operation Unit: None Indicates that an axis operati on is being performed. 302 Error st atus Unit: None Indicates the error statu s. 303 Alarm status Unit: None Indicates the alarm status. 304 Driver read y Unit: None Ind[...]

320 Pulse position command v alue Unit: puls e Displays the pulse po sition command value. 321 Pulse p osition cur rent v alue Unit: puls e Displays the current pulse position value. 322 Pulse position deviation Unit: puls e Displays the pulse po sition deviatio n. 323 Command unit command value Unit: Axis command un it Displays the command unit co[...]

338 Zero signa l status Unit: None Displays the zero signal status. 339 Sensor group signal status Unit: None Displays the sensor grou p signal status. Each bit in bi nary notat ion corresponds as follows: bit0: (Reserved) bit1: (Reserved) bit2: (Reserved) bit3: (Reserved) bit4 : ORG Ori gin neig hbor ing signal bit5: OTU + direction hardware over-[...]

347 Operation mode number Unit: None Indicates the operation mode n umber during or after operation . 348 Multi- channel commun ication status Unit: None Indicates that the multi-channel communication status has been set. 0: Single channel communication status 1: multi-channel communication status 349 Multi- channel commun ication slave code Unit: [...]

361 Velocit y ratio gain Unit: x 1/100 Displays t he velocity loop ratio g ain. 363 Velocit y command v alue (digit al) Unit: 1/16 dig it Displays the velocity co mmand value when controlling the digital velocity. (1msec sample) 364 Post-filter velocity command v alue (digital) Unit: 1/16 dig it Displays the post-filter velocity co mmand value when[...]

370 Present co mmand unit valu e Unit: Axis command un it Displays the prese nt command unit value. 371 Command unit deviation Unit: Axis command un it Displays the com mand unit deviation. 372 Present v elocit y value DC Unit: 1/16 dig it Displays the present velocity value DC. (10m sec sample) 373 Mo tor linear coordinate command second-order dif[...]

390 Mo tor linear c oordinate command differential value Unit: pulse/ ∆ T Displays the differential value of the motor linear coordinate comm and value. (2msec sample) 391 Present mo tor lin ear coordin ate dif ferenti al value Unit: pulse/ ∆ T Displays the differential value of the present motor linear coordinate value. (2m sec sample) 392 Pre[...]

Error/A larm List STD1 Error No. N ame T y pe Measures 1 Memory error [KIND_POR] Start-up error [TYPE_POR] Do not star t up. 2 Interface boar d error [KIND_POR] Start-up error [TY PE_POR] Do not start up. 3 Battery alarm [KIND_ELS] Others [TYPE_ELS] Others 4 Watchdog error [KIND_SYS] Sy stem error [TYPE_ELS] Others 5 Kernel error [KIND_SYS] System [...]

Error/A larm Details Error n umbe r 1 M emo ry error Error type: [KIND_P OR] Start- up error Measur es : [TYPE _POR ] Do no t star t up. Long: Short: MemoryErro r Mem oryErr Main cause: An error is detected during mem ory check when the power is turned on. [Subcode] 1: CPU built- in ROM sum error 2: RAM error 3: Flash ROM sum error Action to take: [...]

Error nu mbe r 5 Kernel error Error type: [KIND_SYS] System error Measures: [TYPE_ELS] Others Long: Short: KernelE rror KernelEr r Main cause: An error that should have not occu rred in driver software h as occurred. [Subcode] 1: Axis o per atio n hand sha ke er ro r 2: System program error Action to take: Contact us. Error nu mbe r 10 Dat a sum er[...]

Error number 16 Coordinate err or A Error type: [KIND_SYS] System error Measures: [TYPE_SRV] Servo OFF Long: Short: Coordinat eErrorA CoordiErr A Main cause: An error occurred during coordinate proces sing. [Subcode] 1: Eccentricity compensation com putation problem 2: Conversion proble m f ro m the comman d unit to pu lses Action to take: Error nu[...]

Error number 20 Power module error Error type: [KIND_RGR] Always error Measures: [TYPE_SRV] Servo OFF Long: Short: Power Module Error PwrM dlErr Main cause: A power module error in th e driver was detected. [Subcode] 1: Over-voltage (over-v oltage of main power su pply) 2: Over-current (ov er-current detected, 1 PM fault) Action to take: Error numb[...]

Error number 30 Servo not ready Error type: [KIND_ERR] error Measures: [TYPE_E2] Stop deceleration. Long: Short: ServoNot Ready SrvNotRd y Main cause: T he servo w as not ready for th e process that requires the s ervo to be ON. Action to tak e: P erform an error reset operation, tu rn ON the servo, and ex ecute again. Error nu mber 31 Excessive p [...]

Error nu mber 45 - direction softw are ov er-trav el Error type: [KIND_ERR] error Measures: [TYPE_E2] Stop deceleration. Long: Short: Soft_O T_-_dir ectio n -_Soft_ OT Main cause: Attempted to move to outside of the - direction area via positionin g move, but the command unit command value was outside of the - direction area. Action to tak e: P erf[...]

Error number 51 Data not ready Error type: [KIND_ERRALM2] Error/operation alarm Measures: [TYPE_E2] Stop deceleration. Long: Short: DataNotRead y DataNotRd y Main cause: Data is not ready. [Subcode] 2: Part data 3: Program file 4: Index A correction file 6: Index B f ile Action to take: Error number 52 Timeout Error type: [KIND_ERRALM1] Error/opera[...]

Error number 60 Cannot interpr et Error type: [KIND_ERRALM2] Error/operation alarm Measures: [TYPE_E2] Stop deceleration. Long: Short: CantInterpret CantIntp Main cause: The command cannot be interpreted. Action to take: Error n umbe r 6 1 C ommand format erro r Error type: [KIND_ERRALM2] Error/operation alarm Measures: [TYPE_E2] Stop deceleration.[...]

Error numbe r 66 Illegal d evice Error type: [KIND_ALM] Operation alarm Measures: [TYPE_E2] Stop deceleration. Long: Short: IllegalD evice IlgDevic e Main cause: An operation was attempted using a device whose operation was p rohibited. Action to take: Error number 67 W rite prote cted Error type: [KIND_ERRALM2] Error/operation alarm Measures: [TYP[...]

E rr o r numb e r 8 5 D e v i ce c onfli c t Err o r t y p e : [ KIND _ A L M] O p erati o n alarm Mea s u r e s : [ T Y P E_ E 2] Stop deceleratio n . Long: S ho r t: D e v i c e C o n f l i ct DevConf lic Main cause: An operation w as attempted by a nother device w hile other dev ice was being operated. Action to take:[...]