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MINAS AIII-series
Operating Manual
DV0P3450
INDEX
page
[Before Use]
page
Introduction.............................................................................. 14
Outline .......................................................................................................................................................... 14
Check the Model of Driver ............................................................................................................................ 14
Check the Model of Motor ............................................................................................................................ 15
Check the Combination of Driver and Motor ................................................................................................ 16
Installation................................................................................ 23
Driver ............................................................................................................................................................ 23
Motor ............................................................................................................................................................. 24
[Preparations]
page
page
page
Appendix
Encountering
Difficulties?
Adjustments
Full-closed control
mode
Outline .......................................................................................................................................................... 88
Application range .......................................................................................................................................... 88
How to use .................................................................................................................................................... 88
Description of the adaptive filter ................................................................................................................... 89
Parameters, which are set up automatically
Caution ......................................................................................................................................................... 89
Preparations
CN X5 Connector ......................................................................................................................................... 73
Interface Circuit ............................................................................................................................................ 74
Input signal (common) assignment to CN X5 connector pins ...................................................................... 76
Input signal assignment to CN X5 connector pins - designation(logic) ....................................................... 78
Output signal assignment to CN X5 connector pins - designation(logic) .................................................... 78
Examples of connection to high order control equipment ............................................................................ 80
Before Use
CN X5 Connector ..................................................................... 73
page
page
page
[Encountering Difficulties?]
page
Adjustments
Encountering
Difficulties?
Full-closed control
mode
Preparations
Before Use
[Adjustments]
Appendix
5
[Appendix]
page
[Index]
A ................................................................................................................................................................. 314
B ................................................................................................................................................................. 314
C ................................................................................................................................................................. 314
D ................................................................................................................................................................. 315
E ................................................................................................................................................................. 315
I ................................................................................................................................................................... 315
M ................................................................................................................................................................. 315
O ................................................................................................................................................................. 316
P ................................................................................................................................................................. 316
R ................................................................................................................................................................. 317
S ................................................................................................................................................................. 317
T .................................................................................................................................................................. 317
W ................................................................................................................................................................ 317
Before Use
Preparations
Adjustments
Encountering
Difficulties?
Appendix
DANGER
Indicates a potentially hazardous situation, which if not avoided, will result in death or serious injury.
CAUTION
Indicates a potentially hazardous situation, which if not avoided, will result in minor injury or physical damage.
DANGER
Do not subject the product to water,
corrosive or flammable gases, and
combustibles.
The failure could result in
fire.
DANGER
Install the product properly to avoid
personal accidents or fire in case of
an earthquake.
Rotor
The failure could result
in injuries.
Motor
CAUTION
Use the specified voltage on the
product.
The failure could result
in electric shocks,
injuries, or fire.
Avoid excessive gain adjustments,
changes, or unstable operation of the
product.
The failure could result
in injuries.
11
Cycles
Type
Daily
inspection
Cycles
Periodical
inspection
Every year
<Notes>
If the actual operating conditions differ from things mentioned above, the inspection cycles may change
accordingly.
Replacement Guidance
Parts replacement cycles depend on the actual operating conditions and how the equipment has been used.
Defective parts should be replaced or repaired immediately.
Dismantling for inspections or repairs should be done by our company (or our sales agents).
Prohibited
Equipment
Part
Standard replacement
cycles (hour)
Smoothing condenser
about 5 years
2 to 3 years
(10 to 30 thousand hours)
Cooling fan
Driver
Aluminum
electrolytic capacitor
on the print board
Inrush current
preventing relay
Bearing
Oil seal
Motor
Encoder
Battery
(Absolute encoder)
12
Remarks
about 5 years
Approx. 100 thousand times
(Life expectancy depends
on operating condition)
3 to 5 years
(20 to 30 thousand hours)
5000 hours
3 to 5 years
(20 to 30 thousand hours)
1 year from
the first use
[Before Use]
page
Introduction ............................................................. 14
Outline .........................................................................................
Check the Model of Driver ...........................................................
Check the Model of Motor ...........................................................
Check the Combination of Driver and Motor ...............................
14
14
15
16
Installation ............................................................... 23
Driver ........................................................................................... 23
Motor ........................................................................................... 24
13
Introduction
Outline
The high performance AC servo motor driver MINAS-AIII series which can drive a machine at a high speed
through a small servomotor of 30 W or a large servomotor of 5.0 kW. By using a top performance CPU, it
responses to a speed at frequency 1 kHz, enabling the driven machine to operate at a high speed and
significantly reducing tact time.
It supports full closed loop control and has an auto-tuning function. The motor can support either 2,500 p/r
incremental encoder specification or a high-resolution 17-bit absolute/incremental encoder.
It also has a damping control equipment that makes it possible to automate complicated gain tuning and
enables a low rigid equipment to have stable stop performance. A variety of high speed motors are available
for various applications.
This document is prepared for you to fully make use of excellent features and functions available on the
MINAS-AIII series.
Precautions
(1) No part of this publication may be reproduced in any form by any means without prior permission.
(2) Contents of this publication are subject to change without notice.
Model
MODEL No.
MADCT1503
Voltage
Phase
200-240V
1/3
84V
3
F.L.C
Freq.
1.0A/0.70A
50/60Hz
1.0A
0~333.3Hz
INPUT
OUTPUT
product No.
mm
yy
Rated output current
100W
Power
Serial Number
ex. 0 2 0 7 0 0 0 1
ENCODER
Model Designation
M A D C T 1 5 0 3
2
Applicable motors
Symbol Applicable motors
A
AIII Series Type A
B
AIII Series Type B
C
AIII Series Type C
D
AIII Series Type D
E
AIII Series Type E
F
AIII Series Type F
G
AIII Series Type G
AC servo driver
C: AIII Series
14
5~6
8~9
10~12
Custom specification
(Alphanumeric)
Maximum continuous
output current
continuous
Symbol Maximum
output current
Power supply voltage
03
3A
1: Single-phase 100 V
05
5A
3: 3-phase 200 V
07
7.1A
5: Single-phase/3-phase 200 V 12
12.5A
16
Maximum instantaneous
16.7A
output current
25
25A
instantaneous
Symbol Maximum
33
33.3A
output current
50
50A
T1
10A
75
75A
T2
15A
T3
30A
T5
50A
T7
75A
TA
100A
TB
150A
TC
200A
[Before Use]
Before Use
Type
Rated output
Revolution rating
AC SERVO MOTOR
MODEL No. MSMA3AZS1A
INPUT 3AC
92
V
1.6 A
RATED OUTPUT 0.2 kW
Hz
RATED FREQ. 200
RATED REV. 3000 r/min
Serial No
ex. 0 2 0 7 0 0 0 1
yy
mm
product No.
Model Designation
M S M A 3 A Z S 1 A
1~4
Symbol
MSMA
MAMA
MDMA
MHMA
MFMA
MGMA
5~6
10
11~12
Custom
specification
Type
Low inertia
Ultra Low inertia
Middle inertia
High inertia
Middle inertia
Middle inertia
Motor structure
Custom specification
1: Standard
Specification for Position/Speed Detector
Rated output
Voltage
1: 100V
2: 200V
Z: 100/200V
(only 30/50W)
15
Introduction
Check the Combination of Driver and Motor
The Driver has been designed for use in combination with the specified motors only. Check the specifications (Series symbol, output rating, voltage rating and encoder type) of the motor you want to use.
Driver
power
suply
Motor
Series symbol
Revolution
rating
Single-phase
200V
MAMA
Ultra Low inertia
5000r/min
Three-phase
200V
Single-phase
100V
Single-phase
200V
MSMA
Low inertia
Three-phase
200V
16
3000r/min
Driver
Motor type
Output
rating
MAMA012P1*
100W
MAMA022P1*
MAMA042P1*
MAMA082P1*
200W
400W
750W
MAMA012P1*
100W
MAMA022P1*
MAMA042P1*
MAMA082P1*
200W
400W
750W
MSMA3AZP1*
30W
MSMA5AZP1*
50W
MSMA011P1*
100W
MSMA021P1*
MSMA041P1*
200W
400W
MSMA3AZP1*
30W
MSMA5AZP1*
50W
MSMA012P1*
100W
MSMA022P1*
200W
MSMA042P1*
MSMA082P1*
400W
750W
MSMA3AZP1*
30W
MSMA5AZP1*
50W
MSMA012P1*
100W
MSMA022P1*
200W
MSMA042P1*
400W
MSMA082P1*
750W
MSMA102P1*
1.0KW
MSMA152P1*
1.5KW
MSMA202P1*
MSMA252P1*
MSMA302P1*
MSMA352P1*
MSMA402P1*
MSMA452P1*
MSMA502P1*
2.0KW
2.5KW
3.0KW
3.5KW
4.0KW
4.5KW
5.0KW
Driver
MADCT1505
MBDCT1505
MBDCT2507
MCDCT3512
MDDCT5516
MADCT1505
MBDCT1505
MBDCT2507
MCDCT3512
MDDCT5516
MADCT1103
MBDCT1103
MADCT1103
MBDCT1103
MADCT1105
MBDCT1107
MBDCT2107
MCDCT3112
MADCT1503
MBDCT1503
MADCT1503
MBDCT1503
MADCT1503
MBDCT1503
MADCT1505
MBDCT1507
MBDCT2507
MDDCT5512
MADCT1503
MBDCT1503
MADCT1503
MBDCT1503
MADCT1503
MBDCT1503
MADCT1505
MBDCT1507
MBDCT2507
MCDCT3312
MDDCT5512
MDDCT5316
MEDCT5316
MDDCT5325
MEDCT5325
MFDCT7333
MFDCT7333
MGDCTA350
MGDCTB375
MGDCTB375
MGDCTB375
MGDCTB375
Driver
type
Type A
Type B
Type B
Type C
Type D
Type A
Type B
Type B
Type C
Type D
Type A
Type B
Type A
Type B
Type A
Type B
Type B
Type C
Type A
Type B
Type A
Type B
Type A
Type B
Type A
Type B
Type B
Type D
Type A
Type B
Type A
Type B
Type A
Type B
Type A
Type B
Type B
Type C
Type D
Type D
Type E
Type D
Type E
Type F
Type F
Type G
Type G
Type G
Type G
Type G
[Before Use]
Motor
Series symbol
Revolution
rating
Single-phase 200V
Three-phase
200V
MDMA
Middle inertia
2000r/min
Single-phase 200V
Three-phase
200V
MHMA
High inertia
2000r/min
Single-phase
200V
Three-phase
200V
MFMA
Middle inertia
2000r/min
Single-phase
200V
Three-phase
200V
MGMA
Middle inertia
1000r/min
Before Use
Driver
power
suply
Driver
Motor type
Output
rating
MDMA082P1*
750W
MDMA082P1*
750W
MDMA102P1*
1.0KW
MDMA152P1*
1.5KW
MDMA202P1*
MDMA252P1*
MDMA302P1*
MDMA352P1*
MDMA402P1*
MDMA452P1*
MDMA502P1*
MHMA052P1*
2.0KW
2.5KW
3.0KW
3.5KW
4.0KW
4.5KW
5.0KW
500W
MHMA052P1*
500W
MHMA102P1*
1.0KW
MHMA152P1*
1.5KW
MHMA202P1*
MHMA302P1*
MHMA402P1*
MHMA502P1*
MFMA042P1*
MFMA082P1*
2.0KW
3.0KW
4.0KW
5.0KW
400W
750W
MFMA042P1*
400W
MFMA082P1*
750W
MFMA152P1*
1.5KW
MFMA252P1*
MFMA352P1*
MFMA452P1*
MGMA032P1*
MGMA062P1*
2.5KW
3.5KW
4.5KW
300W
600W
MGMA032P1*
300W
MGMA062P1*
600W
MGMA092P1*
900W
MGMA122P1*
MGMA202P1*
MGMA302P1*
MGMA452P1*
1.2KW
2.0KW
3.0KW
4.5KW
Driver
MDDCT5512
MDDCT5512
MEDCT5312
MEDCT5316
MDDCT5316
MDDCT5325
MEDCT5325
MFDCT7333
MFDCT7333
MGDCTA350
MGDCTB350
MGDCTB375
MGDCTB375
MGDCTB375
MDDCT5507
MDDCT5507
MEDCT5307
MDDCT5316
MEDCT5316
MDDCT5325
MEDCT5325
MFDCT7333
MGDCTA350
MGDCTB375
MGDCTB375
MDDCT5507
MDDCT5512
MCDCT3307
MDDCT5507
MDDCT5512
MEDCT5312
MDDCT5325
MEDCT5325
MFDCT7333
MGDCTB350
MGDCTB375
MDDCT5507
MDDCT5512
MCDCT3307
MDDCT5507
MDDCT5512
MEDCT5312
MDDCT5316
MEDCT5316
MFDCT7325
MGDCTA350
MGDCTB375
MGDCTB375
Driver
type
Type D
Type D
Type E
Type E
Type D
Type D
Type E
Type F
Type F
Type G
Type G
Type G
Type G
Type G
Type D
Type D
Type E
Type D
Type E
Type D
Type E
Type F
Type G
Type G
Type G
Type D
Type D
Type C
Type D
Type D
Type E
Type D
Type E
Type F
Type G
Type G
Type D
Type D
Type C
Type D
Type D
Type E
Type D
Type E
Type F
Type G
Type G
Type G
17
Introduction
With the Absolute/Incremental type encoder: 17bit
* You must not use a combination other than those listed below:
Driver
power
suply
Motor
Series symbol
Revolution
rating
Single-phase
200V
MAMA
Ultra Low inertia
5000r/min
Three-phase
200V
Single-phase
100V
Single-phase
200V
3000r/min
MSMA
Low inertia
Three-phase
200V
18
Driver
Motor type
Output
rating
MAMA012S1*
100W
MAMA022S1*
MAMA042S1*
MAMA082S1*
200W
400W
750W
MAMA012S1*
100W
MAMA022S1*
MAMA042S1*
MAMA082S1*
200W
400W
750W
MSMA3AZS1*
30W
MSMA5AZS1*
50W
MSMA011S1*
100W
MSMA021S1*
MSMA041S1*
200W
400W
MSMA3AZS1*
30W
MSMA5AZS1*
50W
MSMA012S1*
100W
MSMA022S1*
200W
MSMA042S1*
MSMA082S1*
400W
750W
MSMA3AZS1*
30W
MSMA5AZS1*
50W
MSMA012S1*
100W
MSMA022S1*
200W
MSMA042S1*
400W
MSMA082S1*
750W
MSMA102S1*
1.0KW
MSMA152S1*
1.5KW
MSMA202S1*
MSMA252S1*
MSMA302S1*
MSMA352S1*
MSMA402S1*
MSMA452S1*
MSMA502S1*
2.0KW
2.5KW
3.0KW
3.5KW
4.0KW
4.5KW
5.0KW
Driver
MADCT1505
MBDCT1505
MBDCT2507
MCDCT3512
MDDCT5516
MADCT1505
MBDCT1505
MBDCT2507
MCDCT3512
MDDCT5516
MADCT1103
MBDCT1103
MADCT1103
MBDCT1103
MADCT1105
MBDCT1107
MBDCT2107
MCDCT3112
MADCT1503
MBDCT1503
MADCT1503
MBDCT1503
MADCT1503
MBDCT1503
MADCT1505
MBDCT1507
MBDCT2507
MDDCT5512
MADCT1503
MBDCT1503
MADCT1503
MBDCT1503
MADCT1503
MBDCT1503
MADCT1505
MBDCT1507
MBDCT2507
MCDCT3312
MDDCT5512
MDDCT5316
MEDCT5316
MDDCT5325
MEDCT5325
MFDCT7333
MFDCT7333
MGDCTA350
MGDCTB375
MGDCTB375
MGDCTB375
MGDCTB375
Driver
type
Type A
Type B
Type B
Type C
Type D
Type A
Type B
Type B
Type C
Type D
Type A
Type B
Type A
Type B
Type A
Type B
Type B
Type C
Type A
Type B
Type A
Type B
Type A
Type B
Type A
Type B
Type B
Type D
Type A
Type B
Type A
Type B
Type A
Type B
Type A
Type B
Type B
Type C
Type D
Type D
Type E
Type D
Type E
Type F
Type F
Type G
Type G
Type G
Type G
Type G
[Before Use]
Motor
Series symbol
Revolution
rating
Single-phase 200V
Three-phase
200V
MDMA
Middle inertia
2000r/min
Single-phase 200V
Three-phase
200V
2000r/min
Single-phase
200V
MFMA
Three-phase
200V
2000r/min
Motor type
Output
rating
MDMA082S1*
750W
MDMA082S1*
750W
MDMA102S1*
1.0KW
MDMA152S1*
1.5KW
MDMA202S1*
MDMA252S1*
MDMA302S1*
MDMA352S1*
MDMA402S1*
MDMA452S1*
MDMA502S1*
MHMA052S1*
2.0KW
2.5KW
3.0KW
3.5KW
4.0KW
4.5KW
5.0KW
500W
MHMA052S1*
500W
MHMA102S1*
1.0KW
MHMA152S1*
1.5KW
MHMA202S1*
MHMA302S1*
MHMA402S1*
MHMA502S1*
MFMA042S1*
MFMA082S1*
2.0KW
3.0KW
4.0KW
5.0KW
400W
750W
MFMA042S1*
400W
MFMA082S1*
750W
MFMA152S1*
1.5KW
MFMA252S1*
MFMA352S1*
MFMA452S1*
MGMA032S1*
MGMA062S1*
2.5KW
3.5KW
4.5KW
300W
600W
MGMA032S1*
300W
MGMA062S1*
600W
MGMA092S1*
900W
MGMA122S1*
MGMA202S1*
MGMA302S1*
MGMA452S1*
1.2KW
2.0KW
3.0KW
4.5KW
Middle inertia
Single-phase
200V
Three-phase
200V
Driver
MHMA
High inertia
MGMA
Middle inertia
Before Use
Driver
power
suply
1000r/min
Driver
MDDCT5512
MDDCT5512
MEDCT5312
MEDCT5316
MDDCT5316
MDDCT5325
MEDCT5325
MFDCT7333
MFDCT7333
MGDCTA350
MGDCTB350
MGDCTB375
MGDCTB375
MGDCTB375
MDDCT5507
MDDCT5507
MEDCT5307
MDDCT5316
MEDCT5316
MDDCT5325
MEDCT5325
MFDCT7333
MGDCTA350
MGDCTB375
MGDCTB375
MDDCT5507
MDDCT5512
MCDCT3307
MDDCT5507
MDDCT5512
MEDCT5312
MDDCT5325
MEDCT5325
MFDCT7333
MGDCTB350
MGDCTB375
MDDCT5507
MDDCT5512
MCDCT3307
MDDCT5507
MDDCT5512
MEDCT5312
MDDCT5316
MEDCT5316
MFDCT7325
MGDCTA350
MGDCTB375
MGDCTB375
Driver
type
Type D
Type D
Type E
Type E
Type D
Type D
Type E
Type F
Type F
Type G
Type G
Type G
Type G
Type G
Type D
Type D
Type E
Type D
Type E
Type D
Type E
Type F
Type G
Type G
Type G
Type D
Type D
Type C
Type D
Type D
Type E
Type D
Type E
Type F
Type G
Type G
Type D
Type D
Type C
Type D
Type D
Type E
Type D
Type E
Type F
Type G
Type G
Type G
Parts Description
Driver
<Type A>
Mounting bracket
MODE
selector switch
SET
button
MODE
SET
Check pins
: UP
: DOWN
Connector
Check pins
Main power supply
input terminal
(L1, L2, L3)
L2
L1
Communication
connector 1
(CN X7)
Communication
connector 2
(CN X6)
L1C
L3
DL1
RB2
RB1
DL2
Regenerative discharge
resistor connection terminal
(RB1, RB2, RB3)
Controller connector
Host device, etc.
(CN X5)
Encoder connector
(CN X4)
Motor connector
CN X3
723-604
(WAGO)
Normally short-circuited
(DL1, DL2)
Regenerative
resistor
connector
CN X2
723-605
(WAGO)
RB3
L2C
Power input
connector
CN X1
721-205/026-000
(WAGO)
Ground terminal
(Two Locations)
<Type B D>
Mounting bracket
MODE
selector switch
SET
button
MODE
SET
Check pins
: UP
Connector
Main power supply
input terminal
(L1, L2, L3)
L2
L1
X7
L3
X6
L1C
L2C
Power input
connector
CN X1
721-205/026-000
(WAGO)
: DOWN
DL1
DL2
RB1
X5
RB3
Regenerative discharge
resistor connection terminal
(RB1, RB2, RB3)
Controller connector
Host device, etc.
(CN X5)
RB2
Normally short-circuited
(DL1, DL2)
X4
Encoder connector
(CN X4)
Motor connector
CN X3
723-604
(WAGO)
Regenerative
resistor
connector
CN X2
723-605
(WAGO)
Communication
connector 1
(CN X7)
Communication
connector 2
(CN X6)
Ground terminal
(Two Locations)
[Before Use]
Mounting bracket
Rotary switch (ID)
MODE
selector switch
SET
button
MODE
SET
Before Use
<Type E F>
Check pins
: UP
: DOWN
Terminal
Main power supply
input terminal
(L1, L2, L3)
Communication
connector 1
(CN X7)
Communication
connector 2
(CN X6)
X7
L1
X6
L2
L3
r
X5
Regenerative discharge
resistor connection terminal
(P, B2)
P
B1
B2
X4
Encoder
connector
(CN X4)
Controller
connector
Host device,
etc.
(CN X5)
Terminal
block cover
Ground terminal
(Two Locations)
Cover setscrew
<Type G>
MODE
selector switch
SET
button
MODE
SET
: UP
: DOWN
X7
L1
L2
X6
L3
r
X5
t
P
B1
B2
U
V
W
X4
Communication connector 1
(CN X7)
Communication connector 2
(CN X6)
Controller
connector
Host device,
etc.
(CN X5)
Encoder
connector
(CN X4)
Terminal
block cover
Ground terminal
(Two Locations)
Cover setscrew
Parts Description
Motor
MAMA 100W ~ 200W
MSMA 30W ~ 750W
Motor cable
Encoder cable
Rotary encoder
Frame
Flange
Mounting bolt holes (Four locations)
MSMA
MDMA
MHMA
MFMA
MGMA
1.0kW ~ 5.0kW
750W ~ 5.0kW
500W ~ 5.0kW
400W ~ 4.5kW
300W ~ 4.5kW
Flange
Mounting bolt holes (4)
Frame
Installation
[Before Use]
Before Use
The motor and driver should be properly installed to avoid failures, mechanical damages and injuries.
Driver
Location
1) Indoors, where the driver is not subjected to rain water and direct sun beams. Note that the driver
is not a waterproof structure.
2) A void the place where the driver is subjected to corrosive gases, flammable gases, grinding liquids,
oil mists, iron powders and cutting particles.
3) Place in a well-ventilated, and humid- and dust-free space.
4) Place in a vibration-free space.
Environmental Conditions
Item
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Vibration
Altitude
Conditions
0 to 55C (free from freezing)
Not greater than 90%RH (free from condensation)
20 to 80C (free from freezing)
Not greater than 90%RH (free from condensation)
Not greater than 5.9m/s2 (0.6G) at 10 to 60 Hz
Not greater than 1000 m
How to Install
1) This is a rack-mount type.
Place the driver vertically. Allow enough space surrounding for ventilation.
Type D and smaller : Back panel mount type (projected, use Bracket A)
Type E and larger : Front panel mount type (recessed, use Bracket B)
(Type A D)
(Type E G)
Bracket A
Bracket B
MEDC
MFDC
MGDC
MADC
MBDC
MCDC
MDDC
2) If you want to change the mounting configuration, use the optional bracket (see page 273 "Optional Parts" in Appendix).
Fan
Fan
min. 100mm
min.
40mm
min.
10mm
min.
10mm
min.
10mm
min.
40mm
min. 100mm
23
Installation
Motor
Location
1) Indoors, where the driver is not subjected to rain water and direct sun beams.
2) Avoid the place where the driver is subjected to corrosive gases, flammable gases, grinding liquids, oil
mists, iron powders and cutting particles.
3) Place in a well-ventilated, and humid- and dust-free space.
4) Easy maintenance, inspections and cleaning is also important.
Environmental Conditions
Item
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Motor only
Vibration
Mechanical shock Motor only
Conditions
0 to 40C (free from freezing)
Not greater than 85%RH (free from condensation)
-20 to 80C (free from freezing)
Not greater than 85%RH (free from condensation)
Not greater than 49m/s2 (5G) in operation; not greater than 24.5m/s2 (2.5G) at rest
Not greater than 98m/s2 (10G)
How to Install
The motor can be installed either vertically or horizontally. Observe the following notes.
1) Horizontal mounting
Place the motor with the cable outlet facing down to prevent the entry of oil and water.
2) Vertical mounting
If the motor is coupled with a reduction gear, make sure that the oil in the reduction gear does not enter into
the motor.
Installation Notes
1) Don't hit the shaft with a hammer directly while attaching/detaching the coupling to
the motor shaft.(otherwise the encoder at the opposite end of the shaft will be damaged).
2) Try perfect alignment between shafts (misalignment may cause vibration, and damages of the bearings).
24
Motor
[Preparations]
page
26
30
32
36
38
39
40
44
46
48
50
50
55
56
56
57
60
63
63
64
66
25
<Main Circuits>
(See P.30 and 31)
Wires to connector
CN X1
(connection to power source)
L1
L2
L3
L1C
L2C
RB1
(See P.281)
Reactor (L)
Reduces the harmonic in the main
power.
26
RB2
Wires to connector
CN X2
(connection to
external component)
Regenerative
discharge
resistor
Ground
[Preparations]
Preparations
X7
X6
CN X6/CN X7
(to connect a PC or controller)
CN X5
(to connect a controller)
X5
CN X4
(to connect an encoder)
X4
Wire to connector CN X3
(To each phase and ground of the
motor driving circuit)
<Main Circuits>
(See P.30 and 31)
Reactor (L)
Reduces the harmonic in the main
power.
Terminals P, B1 and B2
Normally keep B1 and B2 shorted.
When the internal regenerative
resistance does not have sufficient capacity, remove the
short bar between B1 and B2,
and connect an external regenerative resistance to P to B2
terminals.
28
Ground
Regenerative
discharge
resistor
[Preparations]
Preparations
Personal computer
X7
L1
L2
CN X6/CN X7
(to connect a PC or controller)
X6
L3
r
X5
CN X5
(to connect a controller)
t
P
B1
B2
CN X4
(to connect an encoder)
X4
U
V
Encoder
junction cable
Compatible
motor
MSMA
MADC
MAMA
Output
Single-phase
100V
30W ~ 50W
100W
30W ~ 100W
200W
100W
30W ~ 100W
200W
100W
30W ~ 50W
100W
200W
30W ~ 100W
200W
400W
100W
200W
30W ~ 100W
200W
400W
100W
200W
400W
400W
750W
400W
300W
400W
750W
750W
400W
750W
500W
300W
600W
750W
750W
750W
400W
750W
500W
300W
600W
750W
900W
1kW
1kW
1kW
1.5kW
1.5kW
1.5kW
1.5kW
Single-phase
200V
MSMA Three-phase
200V
MAMA
Single-phase
100V
MSMA
MBDC
Single-phase
200V
MAMA
MSMA
Three-phase
200V
MAMA
MSMA
MAMA
MCDC MSMA
MFMA
MGMA
MAMA
MSMA
MDMA
Single-phase 100V
Single-phase 200V
Three-phase
200V
MFMA
Single-phase
MHMA 200V
MGMA
MAMA
MSMA
MDMA
MDDC
MFMA
MHMA
MGMA
MAMA Three-phase
MGMA 200V
MSMA
MDMA
MHMA
MSMA
MDMA
MFMA
MHMA
30
Circuit
Required Power breaker
(at the rated load) (rated current)
Noise
filter
Magnetic
contactor
(contacts)
BMFT61041N
approx. 0.3kVA BBC 2101N
(10A)
(3P+1a)
approx. 0.4kVA
approx. 0.3kVA
BMFT61541N
DV0P3390
approx. 0.5kVA
(3P+1a)
approx. 0.3kVA BBC 3101N
(10A)
approx. 0.3kVA
BMFT61042N
approx. 0.5kVA
(3P+10a)
approx. 0.3kVA
approx. 0.3kVA
BBC 2101N
BMFT61041N
approx. 0.4kVA
(10A)
(3P+1a)
approx. 0.5kVA
approx. 0.3kVA
approx. 0.5kVA
BMFT61541N
approx. 0.9kVA
(3P+1a)
approx. 0.3kVA
approx. 0.5kVA BBC 3101N
(10A)
DV0P1441
approx. 0.3kVA
0.75 ~ 2.0mm2
approx. 0.5kVA
BMFT61042N
AWG14 18
approx. 0.9kVA
(3P+10a)
approx. 0.3kVA
approx. 0.5kVA
BMFT61541N
approx. 0.9kVA BBC 2101N(10A)
(3P+1a)
approx. 0.9kVA
approx. 1.3kVA
BMFT61042N
approx. 0.9kVA
(3P+10a)
approx. 0.7kVA
approx. 0.9kVA
approx. 1.6kVA
approx. 1.6kVA
approx. 0.9kVA
BMFT61541N
approx. 1.6kVA
(3P+1a)
approx. 1.1kVA
approx. 0.7kVA
approx. 1.2kVA BBC 3151N
(15A)
approx. 1.6kVA
approx. 1.3kVA
approx. 1.3kVA
approx. 1.0kVA
DV0P3410 BMFT61042N
approx. 1.3kVA
(3P+10a)
approx. 1.0kVA
approx. 0.7kVA
approx. 1.1kVA
approx. 1.3kVA
approx. 1.8kVA
BMFT61542N
approx. 1.8kVA
(3P+1a)
approx. 1.8kVA
2.0mm2
approx. 1.8kVA
AWG14
approx. 2.3kVA
BMFT61842N
approx. 2.3kVA BBC 3201N
(20A)
(3P+1a)
approx. 2.3kVA
approx. 2.3kVA
0.75mm2
AWG18
Voltage
[Preparations]
Driver
Compatible
motor
Voltage
MDMA
MFMA
MHMA
MEDC MSMA
MDMA
MHMA
MSMA
MDMA
MFMA
MHMA
MGMA
MSMA
MDMA
MFDC MHMA
MSMA
MDMA
MFMA Three-phase
MGMA 200V
MSMA
MDMA
MHMA
MFMA
MGMA
MGDC MSMA
MDMA
MHMA
MFMA
MSMA
MDMA
MSMA
MDMA
MHMA
MGMA
750W
750W
500W
600W
900W
1kW
1kW
1kW
1.5kW
1.5kW
1.5kW
1.5kW
1.2kW
2kW
2kW
2kW
2.5kW
2.5kW
2.5kW
2kW
3kW
3.5kW
3kW
3.5kW
3kW
3.5kW
3kW
4kW
4kW
4kW
4.5kW
4.5kW
4.5kW
5kW
5kW
5kW
4.5kW
Circuit
Required Power breaker
(at the rated load) (rated current)
approx. 1.3kVA
approx. 1.3kVA
approx. 1.0kVA
approx. 1.1kVA
approx. 1.8kVA
approx. 1.8kVA
approx. 1.8kVA
approx. 1.8kVA
approx. 2.3kVA
approx. 2.3kVA
approx. 2.3kVA
approx. 2.3kVA
approx. 2.3kVA
approx. 3.3kVA
approx. 3.3kVA
approx. 3.3kVA
approx. 3.8kVA
approx. 3.8kVA
approx. 3.8kVA
approx. 3.8kVA
approx. 4.5kVA
approx. 5.3kVA
approx. 4.5kVA
approx. 5.3kVA
approx. 4.5kVA
approx. 5.3kVA
approx. 5.3kVA
approx. 6.0kVA
approx. 6.0kVA
approx. 6.0kVA
approx. 6.8kVA
approx. 6.8kVA
approx. 6.8kVA
approx. 7.5kVA
approx. 7.5kVA
approx. 7.5kVA
approx. 7.5kVA
Noise
filter
Magnetic
contactor
(contacts)
Pressure
Main circuit wire Control power terminal
on
wire diameter terminal block
diameter
Preparations
MGMA
Output
BMFT61542N
(3P+1a)
BBC 3201N
(20A)
DV0P1442
BMFT61842N
(3P+1a)
2.0mm2
AWG14
BMF6252N
(3P+2a2b)
BBC 3301N
(30A)
0.75mm2
AWG18
M5
BMF6352N
(3P+2a2b)
3.5mm2
AWG11
BBC 3501N
(50A)
DV0P1443
BMF6502N
(3P+2a2b)
BMF6652N
(3P+2a2b)
5.3mm2
AWG10
*Select the single-phase/3-phase 200 V type according to the power supply used.
Manufacturer of circuit breaker and electromagnetic contactor: Matsushita Electric Works, Ltd.
When it is necessary to conform to the EC Directive, be sure to use a circuit breaker having IEC and
marking between the power source and the noise filter.
For models of 750W or greater, when the installation is protected by a circuit breaker maximum rating of
which is 20A, energy fed to the circuit should be limited to 5000 Arms. Ensure that no load exceeding
these values should be applied.
For further information on the noise filter, see page 268 "Peripheral Devices Applicable to Drivers (EC
Directires)" in Appendix.
<Please note>
Select circuit breaker and noise filter rated at a capacity enough to accommodate the applicable power
and load.
Terminal block and ground terminal
For wiring, use a copper conductor cable having 60*C or higher temperature rating.
For protective earth terminals, use M4 for types A to D and M5 for types E to G.
Mounting torque of screws in excess of the maximum value (M4: 1.2N m and M5: 2.0N m) might break
down a terminal block.
When output is 30W to 2.5kW, use earth cable whose wire diameter is 2.0 mm2 (AWG14) or greater.
When output ranges from 3kW to 5kW, use earth cable whose wire diameter is not less than 3.5mm2
(AWG 11).
For types A to D, you should use an ancillary dedicated connector. In this case, the length of bare cable
must be 8 to 9 mm.
31
Wiring Instructions
8 9mm
2. Insert the cable into the connector disconnected from the body. Release the lever and verify that the cable
is positively held. For further information, see page 70 "Connecting cables to the terminal block".
Power
supply
NFB
NF
MC
L1
L2
L3
L1C
L2C
DL1
DL2
RB1
RB3
RB2
Yellow
2 wires
Red
White or
yellow
Black
Green
yellow
1
2
U
V
W
3
4
Motor
Earthing resistance
: 100 or less
See pages 30 and 31
for applicable cable.
32
[Preparations]
Main Circuits (Type E G)
Wiring work must be conducted by a qualified electrician.
Don't turn on the main power until the wiring is completed, to avoid electric shocks.
Wiring Instructions
L1
Power
supply
NFB
NF
MC
L2
L3
r
t
P
B1
B2
Yellow
2 wires
Red
White or
yellow
Black
Green
yellow
Motor
Earthing resistance: 100 or less
See pages 30 and 31
for applicable cable.
Preparations
33
ON
ON
ALM
ALM
MC
MC L
NFB
Power
supply
MC
OFF
MC
OFF
MC
Noise
Filter
MC
NFB
L1
L1
P
Power
supply
L2
Noise
Filter
L3
L2
N
L3
L1C
L1C
DC/DC
DC/DC
L2C
L2C
DL1
DL1
DL2
DL2
RB1
RB1
RB2
U
V
Earth
Earth
Motor
Motor
37
ALM
VDC
ALM+
37
ALM
VDC
36 ALM41 COM-
1224V
1224V
CN X5
ON
ON
ALM
NFB
OFF
MC L
Noise
Filter
ALM
MC
MC
MC
MC
MC
NFB
L1
L2
OFF
L
L1
Power
supply
Noise
Filter
DC/DC
L2C
DC/DC
L2C
DL1
DL1
DL2
DL2
RB1
RB2
RB2
U
Earth
Earth
Motor
ALM
VDC
Motor
ALM
VDC
1224V
37
1224V
ALM+
36 ALM41 COM-
CN X5
34
RB3
RB3
L3
L1C
L1C
RB1
L2
L3
ALM+
36 ALM41 COM-
CN X5
Power
supply
RB2
U
RB3
RB3
37
ALM+
36 ALM41 COM-
CN X5
[Preparations]
3-phase 200V(Type E G)
ON
ALM
MC
MC
L
L1
Power
supply
Preparations
MC
NFB
OFF
Noise
Filter
L2
N
L3
r
DC/DC
t
P
B1
B2
U
Earth
Motor
ALM
VDC
124V
37
ALM+
36 ALM41 COM-
CN X5
Not fitted
Fitted
Series symbol
Output rating
MSMA
1 ~ 2.5kW
MDMA
0.75 ~ 2.5kW
MGMA
0.3 ~ 0.9kW
MHMA
0.5 ~ 1.5kW
MSMA
3 ~ 5kW
MDMA
3 ~ 5kW
MGMA
1.2 ~ 4.5kW
MHMA
2 ~ 5kW
MFMA
0.75 ~ 1.5kW
D, E
G, H
MFMA
2.5 ~ 4.5kW
MSMA
1 ~ 2.5kW
MDMA
0.75 ~ 2.5kW
MGMA
0.3 ~ 0.9kW
MHMA
0.5 ~ 1.5kW
MFMA
0.4 ~ 1.5kW
MSMA
3 ~ 5kW
MDMA
3 ~ 5kW
MGMA
1.2 ~ 4.5kW
MHMA
2 ~ 5kW
MFMA
2.5 ~ 4.5kW
Brake 1
Brake 2
D
E
G
H
<Note> See page 270 "Optional Parts" (Specifications of connectors/plugs for motors) in Appendix.
35
Power
Motor
Encoder
min. 30 cm
max. 20 m
Connector
Connecting cable
max. 20 m
Cannon plug
Connecting cable
max. 20 m
Encoder cable
Connectors
(canon plugs)
on the encoder
Wiring Diagrams
1
2
3
Black
White
4
5
6
Light Biue
17
Purple
18
19
Shield wire
172168-1
(Tyco Electronics Amp)
Servo motor
Motor side
36
E0V
E0V
0V
Regulator
E5V
E5V
+5V
BTP-0
BTN-0
PS
PS
FG
[Preparations]
MSMA 1kW or larger, MDMA,
MFMA, MHMA, MGMA
1
2
3
5
6
K
17
18
20
0V
Regulator
E5V
E5V
+5V
Preparations
E0V
E0V
BTP-0
BTN-0
PS
PS
FG
Motor side
Wiring Diagrams
1
2
White
3
4
Red
Pink
Light Biue
17
Purple
Yellowish
green
18
20
Shielded wire
0V
Regulator
E5V
E5V
+5V
BTP-0
BTN-0
PS
PS
FG
172169-1
(Tyco Electronics Amp)
Servo motor
Connecting cable
Motor side
E0V
E0V
1
2
3
4
T
17
18
20
E0V
E0V
0V
Regulator
E5V
E5V
+5V
BTP-0
BTN-0
PS
PS
FG
Connecting cable
*2 If you use an absolute/incremental encoder ([S]) as an incremental encoder, you don't need to
connect the back-up battery.
shows a pair of twisted wires.
37
Special cable
(optional)
RS485
Host
(personal computer
or controller)
RS232C
RS485 connector
(CN X7)
Rotary switch (ID): select a position 1 to F.
38
232C/485 connector
(CN X6)
Rotary switch (ID):
select the position of 0.
[Preparations]
CN X5 Connector (For High order control equipment)
Wiring Instructions
max. 3 m
Controller
min. 30 cm
Power
supply
Motor
COM+
1
2
GND
+
GND
VDC
Analog
GND
COM-
FG
CN X5
CN X5 Connector Specifications
Receptacle on the
driver side
529865071
Manufacturer
Part No.
54306-5011
Connector cover
54331-0501
10150-3000VE
Connector cover
10350-52A0-008
39
Preparations
OFF
ON
Approx.
700 ms
Internal control
power supply
Activated
(Initialize)
Microcomputer
OFF
Approx.
2s
ON
0 s or more
Main power supply
(L1, L2, L3)
S-RDY output
(X5 Pins 35 and 34)
OFF
OFF
*2
Approx. 10 ms
or more
Approx. 10 ms
or more
*2
ON
ON
0 s or more
Servo-ON input
(X5 Pin 29)
OFF
ON
Approx. 2ms
Dynamic brake
ON
OFF
Approx. 40 ms
Motor energized
Not energized
Energized
Approx. 2ms
BRK-OFF output
(X5 Pins 10 and 11)
Position/ Speed/
Torque command
ON (Brake released)
Command
input
<Notes>
The above chart shows the timing from AC power-ON to command input.
Activate the Servo-ON signal and external command input according to the above timing chart.
*1. During this period, the SRV-ON signal is mechanically input, but not accepted actually.
*2. The S-RDY output turns ON when the microcomputer's initialization is completed, and the main
power supply is activated.
40
[Preparations]
After an Alarm event (during Servo-ON)
Alarm
Error
Normal
Dynamic brake
Servo ready
output (S-RDY)
Servo alarm
output (ALM)
approx.1 to 5 ms
Energized
Preparations
Motor energized
Operation *2
Ready
Not ready
Not alarm
Alarm
Set by Pr6B
Brake release
output (BRK-OFF)
Engaged (OFF)
Released (ON)
t1 *1
A
approx. 30 r/min
Set by Pr6B
Released (ON)
t1 *1
Engaged (OFF)
approx. 30 r/min
<Notes>
*1.The value of t1 is the value of Pr6B or the time needed for decreasing the motor speed to approx. 30
r/min, which is shorter.
*2. For the operation of the dynamic brake following an alarm event, also see the description on Pr68
"Sequence upon alarm", "Parameter setting" (for individual control modes).
Position/speed/
torque command
Released
approx, 50 ms
Braking (OFF)
Energized
Released (ON)
Not ready
Ready
Alarm
Not alarm
No
Yes
41
Servo-ON
input (SRV-ON)
servo-OFF
Servo-ON
servo-OFF
approx. 2 ms
Dynamic brake
approx. 1 to 5 ms
Braking
Released
Braking*2
t1 *1
Motor energized
Free
(not energized)*3
approx. 40 ms
Energized
Free
(not energized)
approx. 2 ms
Brake release
(BRK-OFF)
Braking (OFF)
Released (ON)
Braking (OFF)
<Notes>
*1. "tl" depends on the setting of Pr6A.
*2. For the operation of the dynamic brake during servo-off status, also see the description on Pr69
"Sequence during servo-off", "Parameter settings" (for individual control modes).
*3. The Servo-ON input does not become active until the motor speed falls below approx. 30 r/min.
42
[Preparations]
Servo-ON/OFF operation when the motor is in operation
(The following chart shows the timing in emergency stop or trip. The Servo-ON/OFF cannot be repeatedly
used.)
Servo-ON
Servo-OFF
input (SRV-ON)
Servo-ON
*4
Dynamic brake
Motor energized
Preparations
approx. 1 to 5 ms
Braking
Free
(not energized)
approx. 40 ms
Released
Braking*3
Energized
Free
(not energized)
approx. 2 ms
Set by Pr6B
Brake release
output (BRK-OFF)
Braking (OFF)
Released (ON)
approx. 40 ms
Braking (OFF)
t1*1
Motor speed A
approx. 30 r/min
Motor rpm
approx. 30 r/min
Set by Pr6B
Motor speed
The timedefined
by Pr6B is reached
earlier.
Servo enabled
Released (ON)
Engaged (OFF)
t1*1
The motorspeed
fallsbelow 30 r/min
earlier.
<Notes>
*1. "t1" is the time defined by Pr6B or the time required to decrease the motor speed to
approx. 30 r/min, whichever is earlier.
*2. Even if the SRV-ON signal turns ON again during motor deceleration, the SRV-ON input does not
become active until the motor stops.
*3. For the operation of the dynamic brake during servo-off status, also see the description on Pr69
"Sequence during servo-off", "Parameter settings" (for individual control modes).
*4 The Servo-ON input does not become active until the motor speed falls below approx. 30 r/min.
43
The holding brake is to hold the work, not stop its motion. Never use the brake
for decelerating and stopping the machine.
Wiring (Example)
This circuit shows a function of controlling the brake using the brake release signal (BRK-OFF) from the
driver.
Cut off upon emergency stop
Surge absorber
Driver
Motor
RY
11
12~24V
10
RY
BRK-OFF+
Brake coil
VDC
BRK-OFFFuse (5A)
Power for brake
41
COM-
DC24V
CN X5
BRK-OFF Signal
Refer to Timing Chart on page 40
, for timing to release the brake at power-on or timing to actuate the
brake in case of servo-off/alarm while the motor is running.
The timing (delay) of deactivating BRK-OFF signal (i.e. activating the brake) after the motor is freed into
a non-excited status in case of Servo-OFF or alarm event can be adjusted by using Pr6B (brake output
delay time set-up at motor in motion). For details, see "Parameter setting" (for individual control modes).
<Note>
1. The brake may produce a sound (rattling of brake liner). This is not a problem.
2. When energizing the brake coil (when the brake is off), magnetic flux may leak from the end of the axis. If
a magnetic sensor or similar device is used near the motor, make sure that the device is not affected by
the magnetic flux.
44
[Preparations]
Holding Brake Specifications
Motor
MSMA
MSMA
MDMA
MHMA
MFMA
100W
200W, 400W
750W
30W 100W
200W, 400W
750W
1kW
1.5kW 2.5kW
3kW, 3.5kW
0.29 or less
1.27 or less
2.45 or less
0.29 or more
1.27 or more
2.45 or more
4.9 or more
7.8 or more
11.8 or more
4kW 5kW
16.1 or more
750W
7.8 or more
1kW
4.9 or more
1.5kW, 2kW
2.5kW, 3kW
13.7 or more
16.1 or more
3.5kW, 4kW
21.5 or more
4.5kW, 5kW
24.5 or more
500W, 1kW
4.9 or more
1.5kW
13.7 or more
2kW 5kW
24.5 or more
400W
4.9 or more
750W, 1.5kW
7.8 or more
2.5kW, 3.5kW
4.5kW
21.6 or more
31.4 or more
300W
4.9 or more
600W, 900W
13.7 or more
1.2kW, 2kW
24.5 or more
3kW, 4.5kW
58.8 or more
MGMA
Allowable
Allowable
Preparations
MAMA
Capacity
Static friction
torque
(Nm)
Sequence at
main power-off (Pr67)
Operating conditions
During deceleration
After stop
Position error
counter
Pr67
0
1
2
3
4
5
6
7
46
Free run
D
Free run
D
Free run
D
Free run
Clear
Clear
Free run
Clear
Free run
Clear
Hold
Hold
Free run
Hold
Free run
Hold
[Preparations]
2) Options of the operation through deceleration and stop by turning on Servo-OFF (Pr69)
Sequence
at Servo-OFF (Pr69)
Operating conditions
During deceleration
After stop
Position
error counter
Pr69
1
2
3
4
5
6
7
Free run
D
Free run
D
Free run
D
Free run
Clear
Clear
Free run
Clear
Free run
Clear
Hold
Hold
Free run
Hold
Free run
Hold
Preparations
3) Options of the operation through deceleration and stop by turning on a protective function (Pr68)
Sequence
at alarm-on (Pr68)
Operating conditions
During deceleration
After stop
Position
error counter
Pr68
0
1
2
3
Free run
D
Free run
Clear
Clear
Free run
Clear
Free run
Clear
4) Options of the operation through deceleration and stop by turning on Over-travel Inhibit (CWL or CCWL)
(Pr66)
DB inhibition at
overtravel limit (Pr66)
Operating conditions
During deceleration
After stop
Pr66
0
1
Free run
Free run
Free run
47
Proximity
sensor
Proximity sensor
(dog) range
Speed
Initialization
signal
Proximity dog OFF ....... The motor will start to decelerate with the proximity sensor ON, and stop with the
first initialization Z-phase signal after the proximity sensor OFF.
Proximity sensor
(dog) range
Proximity
sensor
Speed
Initialization
signal
48
[Preparations]
MEMO
Preparations
49
Parameter No.
(Pr
)
Brief explanation
Function selection
00 0F
Adjustment
10 1F
20 2F
The parameters related to real-time auto gain tuning are used to select
the mode, select machine stiffness, etc.
Position control
30 3F
To set parameters related to switching between the 1st and 2nd gains.
40 4F
Speed and
50 5B
torque control
To set input gain, polarity inversion, offset adjustment, and torque limit
of torque command.
60 6F
Sequence
Full-close version
70 7F
Control mode
Command
form
Symbol
Control mode
T
PF
PH
PR
UPF
Command
form
Torque
Full
closed
loop
You can select position control for high rigid and low rigid devices, speed control for low rigid devices, and the 2nd full-closed control can be made only when 17-bit encoder is used.
For respective control modes, refer to connection and setting of each control mode, and a block
diagram by adjustment and control mode.
50
[Preparations]
Parameters for Selecting Function
Parameter No.
(Pr
)
Parameter description
Range
Default
Unit
Axis address
0 15
All
*01
0 15
All
*02
Control mode
0 14
All
03
01
Other than T
04
01
All
05
02
S, LS
01
T, S, LS
07
09
All
08
0 12
All
09
05
All
0A
*06
05
All
*0B
02
All
*0C
02
All
*0D
02
All
0E
0F
Preparations
*00
With the parameter number marked with * in the table, the set value becomes valid when the control
power supply is turned OFF and then turned ON again after the set value is written into the EEPROM.
Range
Default
Unit
0 32767
<63>
1/s
11
1 3500
<35>
Hz
Other than PR
12
1 1000
<16>
ms
Other than PR
13
14
15
16
10
Parameter description
06
<0>
Other than PR
0 2500
<65>
0.01ms
Other than PR
2000 2000
<300>
0.1%
0 6400
<50>
0.01ms
17
0 10000
<0>
x10/s2
18
0 32767
<73>
1/s
19
1 3500
<35>
Hz
All
1A
1 1000
<1000>
ms
All
1B
1C
1D
1E
1F
26
27
28
29
2A
2B
2C
06
<0>
All
0 2500
<65>
0.01ms
All
100 1500
1500
Hz
All
04
All
0 10000
<0>
x10/s2
HP
0 200
0 255
<0>
100 1500
1500
Hz
All
04
All
0 99
All
0 500
Hz
P, PS, LP
20 250
Hz
P, PS, LP
<Notes>
Default setting of parameter in < > will be changed automatically as the real time auto gain tuning
operates. To manually adjust the parameter, see page 196 "Disabling of auto tuning function".
51
Parameter description
Range
Default
Unit
20
Inertia ratio
0 10000
<100>
All
21
07
P, S, T, PS
22
0 15
P, S, T, PS
23
02
P,PS
24
32768 32767
P, PS
25
07
P, S, T, PS
2D
2E
2F
0 64
<0>
P, S, T, PS
Default
Unit
Parameter description
Range
30
01
<1>
All
31
0 10
<10>
32
0 10000
<30>
166s
33
0 20000
<50>
34
0 20000
<33>
35
0 10000
<20>
1 + Set value
x 166s
36
05
<0>
S, LS
37
0 10000
166s
S, LS
38
0 20000
S, LS
39
0 20000
S, LS
3A
03
<0>
3B
0 10000
166s
3C
0 20000
3D
0 20000
3E3F
<Notes>
Default setting of parameter in < > will be changed automatically as the real time auto gain tuning
operates. To manually adjust the parameter, see page 196 "Disabling of auto tuning function".
[Preparations]
Parameters for Position Control
Parameter No.
(Pr
)
Parameter description
Range
Default
Unit
14
*4 1
03
03
01
P,PS,HP,LP,UPF
1 16384
2500
P/r
All
01
All
*4 2
43
*4 4
*4 5
46
1 10000
10000
47
1 10000
10000
48
1 10000
10000
49
1 10000
10000
4A
0 17
4B
1 10000
10000
4C
Smoothing filter
07
4D
01
*4 E
0 31
Set value + 1
HP, LP
*4 F
0 31
Set value + 1
HP
With the parameter number marked with * in the table, the set value becomes valid when the control
power supply is turned OFF and then turned ON again after the set value is written into the EEPROM.
Parameter description
Range
Default
Unit
10 2000
500
(r/min) /V
S, LS
01
S, LS
50
51
52
2047 2047
0.3mV
S, T, LS
53
20000 20000
r/min
S, LS
54
20000 20000
r/min
S, LS
55
20000 20000
r/min
S, LS
56
20000 20000
r/min
S, T, LS
57
0 500
300
r/min
All
58
Acceleration time
0 5000
2ms/(1000r/min)
S, LS
59
Deceleration time
0 5000
2ms/(1000r/min)
S, LS
5A
0 500
2ms
S, LS
0 31
Set value + 1
LS
10 100
30
0.1V/100%
01
All
*5 B
5C
5D
5 E * 1 Torque limit
5F
0 500
500 *1
*1 Normal default setting of Pr5E is based on the combination of driver and motor. Refer to page 55
"Pr5E Torque limit setting" shown below.
53
Preparations
*4 0
Parameter description
Range
Default
Unit
60
In-position range
0 32767
131
Pulse
61
Zero speed
0 20000
50
r/min
All
62
At-speed
0 20000
1000
r/min
S, T, LS
63
1 32767
25000
256Pulse
64
01
65
01
All
66
01
67
07
All
68
03
All
69
Sequence at Servo-OFF
07
All
6A
0 100
2ms
All
6B
0 100
2ms
All
*6 C
*6 D
6E6F
03
All
0 32767
35
2ms
All
With the parameter number marked with * in the table, the set value becomes valid when the control
power supply is turned OFF and then turned ON again after the set value is written into the EEPROM.
Parameter description
Range
Default
Unit
70
1 20000
10
r/min
PH
71
0 10000
2ms
PH
72
1 10000
10
2ms
PH
73
1 10000
100
Resolution of
external scale
74
1 10000
75
0 17
17
2n
76
1 10000
10000
03
*7 7
*7 8
*7 9
*7A
7B
7C
7D
7E
7F
01
1 10000
10000
1 10000
10000
2000 2000
<0>
1/s
UPF
0 255
<0>
3.7Hz
UPF
2047 2047
<0>
UPF
2047 2047
<0>
UPF
With the parameter number marked with * in the table, the set value becomes valid when the control
power supply is turned OFF and then turned ON again after the set value is written into the EEPROM.
<Notes>
Default setting of parameter in < > will be changed automatically as the real time auto gain tuning
operates. To manually adjust the parameter, see page 196 "Disabling of auto tuning function".
[Preparations]
Pr5E Torque limit setting
For driver-motor combinations other than those listed blew, the standard default setting of Pr5E is 300.
Model
MADCT1505
MBDCT1505
MBDCT2507
MCDCT3307
MCDCT3512
MDDCT5507
B
C
MDDCT5512
Compatible
motor
MAMA012***
MAMA012***
MAMA022***
MGMA032***
MAMA042***
MGMA032***
MHMA052***
MGMA062***
Pr5E
Range
00 500
00 500
00 500
00 260
00 500
00 260
00 255
00 260
Pr5E
Max.
500
500
500
260
500
260
255
260
Type
D
E
F
G
Compatible
motor
MDDCT5316 MGMA092***
MDDCT5516 MAMA082***
MEDCT5312 MGMA062***
MEDCT5316 MGMA092***
MFDCT7325 MGMA122***
MGDCTA350 MGMA202***
MGMA302***
MGDCTB375
MGMA452***
Model
Pr5E
Range
00 225
00 500
00 260
00 225
00 245
00 230
00 235
00 255
Pr5E
Max.
225
500
260
225
245
230
235
255
Preparations
Type
Before Replacement
of Motor
MADCT1505
C DE
AB
789
789
IM
456
456
AB
F01
23
23
C DE
F01
After Replacement
of Motor
IM
SP
SP
MSMA****
MSMA****
Rated torque
0.64N m
Rated torque
0.19N m
Pr5E Range of setting:
Change to 0 500%.
Set value:
The value should remain as 100%.
0.19N.m x 100%
= Torque limit value 0.19N m
Before Replacement
of Motor
C DE
AB
789
AB
F01
456
456
789
IM
IM
SP
MSMA****
After Replacement
of Motor
23
23
C DE
F01
MADCT1505
SP
MSMA****
Rated torque
0.19N m
55
Type A
Type B ~ G
Active condition
Function
Used to shift between the following five modes:
1) Monitor mode
display
(MODE key)
(SET key)
<Notes>
The above five modes provide "selection display" and "execution display" individually.
For details on these displays, see to page 57 "operating procedure.
56
[Preparations]
Operating procedure
When you turn on the power of this servo driver for the first time,
is displayed (when the
motor is stopped). If you wish to change display at power on, change setting of Pr01 LED initial
state (For details, refer to parameter settings for each control mode).
Execution display
Reference
section
Position error
(Error 5 pulse)
Page 59
Motor speed
(1000 r/min)
Page 59
Torque output
Page 59
Control mode
Page 59
(No error)
Page 60
Software version
Page 61
Warning
(No warning)
Page 61
(30% of allowable
regenerative power)
Page 61
Overload ratio
Page 61
Inertial ratio
Page 61
Page 61
Page 61
Page 62
Page 62
(Motor auto-recognition
enable)
Page 62
(SET key)
Pressing the
Pressing the
To next page
Meaning
Preparations
Selection display
(MODE key)
Meaning
Reference
section
Pr00
(Parameter value: 1000)
Page 63
Pr7F
Pressing the
Pressing the
NOTE
(SET key)
(MODE key)
Meaning
Reference
section
Page 63
Writing starts.
To write a parameter into the EEPROM, press the
key to go to the execution display.
(SET key)
Writing is completed.
(MODE key)
Mechanical stiffness
No. 0 (low)
Meaning
(Auto gain tuning)
Mechanical stiffness
No. 14
Reference
section
Page 64
key.
Tuning starts.
(SET key)
Mechanical stiffness
No. 15 (high)
Tuning is completed.
Pressing the
Pressing the
To next page
From next page
58
Example
(MODE key)
Meaning
(Adaptive filter enabled)
Reference
section
Page 65
key to go to
[Preparations]
To previous page
Meaning
Reference
section
Page 66
(Alarm clear)
key.
Pressing the
Pressing the
(Automatic offset
adjustment)
Page 67
Page 69
Page 231
(MODE key)
59
Preparations
Alarm clear
Data
........ Position error (Pulse count accumulated in the error counter)
Polarity (+): CCW torque (viewed from the axis end)
(): CW torque (viewed from the axis end)
........ Motor speed (Unit: r/min)
Polarity (+): CCW, (): CW
........ Torque output
Polarity (+): CCW, (): CW
<Note>
LED does not display +. It only displays .
..... Active
(The signal is active.)
..... Inactive
(The signal is inactive.)
Signal No. (0 to 1F)
..... Input signal
..... Output signal
60
(Least-significant
input signal No.)
Pressing the
key
shifts the display in
this order.
(Most-significant
input signal No.)
(Least-significant
output signal No.)
(Most-significant
output signal No.)
[Preparations]
Relation between signal No. and signal name
Input signal
Signal
No.
Output signal
Signal name
Code
Pin No.
Signal
No.
Signal name
Code
Pin No.
Servo ON
SRV-ON
29
Servo ready
S-RDY
35/34
01
Alarm clear
A-CLR
31
Servo alarm
ALM
37/36
02
CW overtravel input
CWL
In-position
COIN
39/38
03
CCWL
BRK-OFF
11/10
04
C-MODE
32
ZSP
12
05
ZEROSPD
26
TLC
40
06
28
At-speed
COIN
39/38
07
Full-closed in-position
EX-COIN
39/38
08
INH
33
09
Gain switching
GAIN
27
0A
CL
30
0C
33
0D
30
0F
Scale error
SC-ERR
33
12
Smoothing switching
SMOOTH
Contents
Contents
11
35
12
Overvoltage error
36
13
Undervoltage error
37
14
Overcurrent error
38
15
Overheat error
40
16
Overload error
41
18
42
21
44
23
45
24
47
25
48
26
Overspeed error
49
27
95
28
97
29
Other
Other errors
61
Preparations
00
Warning indication
..... No warning
Indicates the total pulse count after poweron of the control power supply. The pulse
count overflows asshown below.
CW
Control power is ON
-32768
-32768
CCW
Indicates the total pulse count after poweron of the control power supply. The pulse
count overflows as shown below.
62
CW
Control power is ON
-32768
-32768
CCW
[Preparations]
Motor automatic recognition function
Automatic recognition enabled (Always displayed this sign)
Parameter setup
".
Writing starts.
Writing ends.
Writing is completed.
If you change the setting of the parameter that will become valid after reset, "
" will be
displayed after completion of the writing. In this case, turn OFF the control power supply once, and
reset it.
NOTE 1) When a writing error occurs, re-write the same data into the EEPROM. If the same writing
error occurs repeatedly, the servo driver may be defective.
NOTE 2) Do not turn OFF the power supply while writing data into the EEPROM. Otherwise, incorrect
data may be written into the EEPROM. If this trouble occurs, re-set up all parameters, and
perform re-writing after checking the parameter settings thoroughly.
63
[Selection display]
or
key.
[Execution display]
Press the
key to show the execution display
.
To execute the auto gain tuning function, inhibit a command input first, and then activate the SER-ON
signal. Then, keep pressing the
key until the display is switched to
.
Motor starts.
End
Tuning is completed.
Error occurred.
NOTE) If any of the following conditions occurs during execution of auto tuning, it is judged as a tuning
error.
1) During auto tuning : An error occurred.
Servo-OFF is activated.
The error counter is cleared.
2) When the output torque is saturated because the inertia or load is too large:
3) When the tuning cannot be normally completed due to oscillation, etc.
If a tuning error occurs, each gain will be reset to the value defined before executed of the auto tuning.
The tuning error does not result in a trip, unless other error simultaneously occurs. Also, oscillation may
occur without the tuning error indication
depending on the load. During auto gain tuning,
exercise through caution to ensure safety.
64
[Preparations]
Real-time Auto Gain Tuning Screen
[Selection display]
Fit gain window
Preparations
[Execution display]
Press the
Position the decimal point to [1], [2], [4] or [6] using the
key. The fit gain function can be started or
real time auto gain tuning/adaptive filter can be altered or stored using the
keys.
Meaning of the display
[1]Setting of the real time auto gain tuning stiffness/fit gain starting up
Display
Meaning
Extension function
Can be
changed
with
Stiffness 15
Rigidity will change in the sequence of 0 to 9, A (10) to F (15)
every time you press
.
Stiffness 1
Stiffness 0
Meaning
Extension function
or
[4]Copying to the 1st notch filter of adaptive filter operation switching and adaptive filter setting
Display
Meaning
Can be
changed
with
Enabled
Disabled
Extension function
In a state of adaptive filter enabled , press
for approx. 3 seconds.
Present adaptive filter setting is copied to the first notch frequency
(Pr1D, Pr1E).
In a state of adaptive filter disabled , press
for approx. 3 seconds.
The setting of the 1st. notch frequency (Pr1D, Pr1E) is cleared.
or
Meaning
Enabled
Disabled
Extension function
In the state of fit gain enabled, press
for approx. 3 seconds.
Result of fit gain function (Pr23 and Pr24) is cleared.
Press
for approx. 3 seconds , present setting is written in the
EEPROM.
65
[Selection display]
[Execution display]
Press the
key to show the execution display
To execute the alarm clear function, keep pressing the
to
.
.
key until the display is switched
End
Alarm clear is completed.
66
[Preparations]
Automatic offset adjustment
This function is used to adjust the offset value (Pr52 Speed command offset) for the analog speed command
input (SPR/TRQR) automatically.
[Selection display]
Preparations
[Execution display]
Press the
key to show the execution display
.
To execute the automatic offset adjustment, set a command input to 0 V first, and then keep pressing
the
key until the display is switched to
.
Keep pressing the
key
for approx. 5 seconds.
A bar is added as shown
on the right.
Automatic offset
adjustment starts.
End
Automatic offset adjustment
is completed.
Error occurred.
67
LED display
2) Inspecting the power specifications
Make sure that the voltage
is correct.
Power
L2
L1
X7
RB1
DL2
DL1
L2C
L1C
L3
X6
RB2
RB3
X5
CN X4
X4
Motor
Machine
68
Ground
[Preparations]
Motor trial run
The motor can be run on trial, without connection of the X5 connector.
[Selection display]
Preparations
[Execution display]
Press the
key to show the execution display
To execute the motor trial run, keep pressing the
.
key until the display is switched to
Preparatory step 1
Preparatory step 2
(Servo-ON)
69
Wiring procedure
1. Unsheathe the cable to be used.
8 9mm
2. Plug the cable in the connector. To plug the cable, the following two methods are available:
(a) Insert the cable by using the supplied operation lever.
(b) Insert the cable by using either a flat head (lip width 3.0 to 3.5 mm) or any of 210-120J,
210-350/01,270-258J of WAGO Company of Japan, Ltd.
(a) When using the operation lever
* The cable can be disconnected from the connector in the same manner as the above procedure.
CAUTION
Unsheathe the cable exactly by the specified length. (8 9mm)
Before connecting a cable into the connector, remove the connector from the servo driver.
Only one cable can be inserted into one insertion hole of the connecter.
Be careful not to be injured when using a screwdriver.
70
73
74
76
78
78
80
88
88
88
89
89
89
Parameter Setting.................................................... 90
Parameters for Function Selection .............................................. 90
Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning ........ 93
Parameters for real time auto gain tuning ................................... 94
Parameters for Switching to 2nd Gains ....................................... 96
Parameters for Position Control .................................................. 97
Parameters for Speed Control .................................................. 100
Parameters for Torque Control .................................................. 101
Parameters for various sequences ........................................... 101
71
72
Division gradual
increase
Pr 46
Pr 47
Pr 4A
Pr 4B
1st
numerator
2nd
numerator
Numerator
magnification
Denominator
Input setting
Pr 40
Pr 41
Pr 42
Gradual
increase
Inverse
Mode
OA / OB / OZ
Feedback pulse
Pulse
string
PULS
SIGN
Division
Pr 45
Pr 44
Division
Inverse
Pr 4C
Pr 2C
Pr 2B
Command
speed monitor
Filter
Frequency
Selection
Pr 10
Pr 18
Position
deviation monitor
2nd
1st
Position control
Pr 1 6
Filter
Smoothing
Pr 15
Gain
Speed feed
foreword
2nd
Speed detection
Pr 13
Pr 1B
1st
Speed
detection filter
+
+ +
Pr 19
Pr 1A
Pr 20
2nd
ratio
2nd
differential
Inertia
ratio
Actual speed
monitor
Pr 11
Pr 12
1st
differential
Speed control
1st ratio
Pr 2A
2nd
depth
Pr 27
Encoder
receive
processing
Filter
Disturbance
observer
Pr 29
2nd
width
Pr 1C
Pr 28
PS / PS
signal
Pr 5E
2nd time
constant
Pr 1E
1st width
2nd
frequency
Limit
Pr 14
1st time
constant
Pr 1D
Torque filter
1st
frequency
Notch filter
Encoder
Motor
Torque command
monitor
* For the block diagram showing "Control mode set-up parameter Pr02=[11] (position control for high-stiffness
equipment) and Pr02 [12] (position control for low-stiffness equipment), see page 301"Appendix".
(Pr0A)
Torque limited
(Pr09)
TLC
50
FG
44 BATT+
45
BATT-
ZSP
41 COM-
12
40
11 BRKOFF+
10 BRKOFF-
39 COIN+
38 COIN-
In-position
37 ALM+
36 ALM-
Servo alarm
CN X5
to CN X4 (5th pin)
10k
Scaler
VDC
12-24V
35 S-RDY+
34 S-RDY-
Servo-ready
ZEROSPD
Control mode switching 32
C-MODE
31 A-CLR
Alarm clear
26
29 SRV-ON
P-operation/2nd gain switching 27 GAIN
Command scaling switching 28
DIV
Servo-ON
4.7k
PULS2
1k
1k
10k
10k
20k
IM
SP
CWTL
GND
CCWTL/TRQR
GND
SPR/TRQR
CZ
GND
330
330
330
42
43
18
17
16
15
14
20
25
47
SIGN1 5
6
SIGN2
220
13
GND
21
OA+
22
OA48
OB+
49
OB23
OZ+
24
OZ46
220
PULS1
2
3
7 COM+
Command pulse input inhibit 33
INH
Deviation counter clear 30
CL
CCW torque
limit input
(0 to +10V)
CW torque
limit input
(-10 to 0V)
Speed monitor
output
Torque monitor
output
Z-phase
output
B-phase
output
A-phase
output
Command
pulse input
CN X5 Connector
[Connections and Settings in Position Control Mode]
CN X5 Connector
73
CN X5 Connector
Interface Circuit
Input Circuit
SI SI Connecting to
sequence input signals
12~24V
7 COM+4.7k
Servo-ON or
other input
PI PI Command pulse
input circuit
74
R value
12V
1k 1/2W
24V
2k 1/2W
12~24V
7 COM+4.7k
Servo-ON or
other input
1)
AM26LS31or equivalent
3 PULS1
4
Relay
VDC 1.5 .
=. 10mA
R + 220
220
PULS2
5 SIGN1
6 220
13 SIGN2
GND
2)
3 PULS1
R
4 PULS2
220
5 SIGN1
R
VDC
6 SIGN2
220
GND
13
SO1
ALM+
or other signal
ALM
or other signal
1224V
VDC
SO2
ZSP, TLC
41 COM
Maximum rating: 30V, 50mA
VDC[V] 2.5[V]
R [k] =
10
For the recommended primary current value, check the data sheet on the equipment and photocoupler used.
PO1 Line Driver (Differential Output) Output
Provides differential outputs of encoder signals (A, B and
Z phases) that come from the scalar.
Receive these signals with a line receivers. In this case,
install a resistor of approx. 330 between the inputs.
These outputs are non-insulated signals.
AM26LS32
or equivalent
OA+
OA-
AM26LS31
or equivalent
21
A
22
OB+
OB-
48
49
OZ+
OZ-
23
24
GND 25
Maximum rating:
30V, 50mA
19 CZ
25 GND
High-speed
photo coupler
(Equivalent to Toshiba TLP554)
1k
CN X5 Connector
Input signal (common) assignment to CN X5 connector pins
Input Signals (Common) and their Functions
Signal
Pin No.
Symbol
Control signal
power (+)
COM +
Control signal
power ()
41
COM
Servo-ON
29
SRV-ON
Function
I/F circuit
24VDC).
Use source voltage of 12V10% 24V10%.
Connect to () of an external power supply (12VDC to
24VDC).
The required
capacity depends on the I/O circuit
configuration. 0.5A or larger is recommended.
When this signal is connected to COM, the dynamic brake
SI
will be released and the driver is enabled. (Servo-ON).
page 74
<Notes>
1. This signal becomes effective about two seconds after power on (see the Timing Chart).
2. Don't use this Servo-ON or Servo-OFF signal to turn on or off the motor. See page
46 "Dynamic Brake" in Preparations.
Allow at least 50ms delay after the driver is enabled before any command input is
entered.
By opening the connection to COM , the driver will be disabled(Servo-OFF) and
the current flow to the motor will be inhibited.
Operation of the dynamic brake and clearing action of the position error counter can
be selected using Pr69 (Sequence under Servo-OFF).
Control mode
switching
32
C-MODE
Pr02 value
3
4
5
CW overtravel
inhibit
CCW overtravel
inhibit
Counter clear
CWL
Speed control
Pr4D value
Meaning
0(Factory-setting)
LEVEL
EDGE
With speed setting of the 2nd selection input, you can set 4
speeds in combination with INH.
For details, see Pr05 (Speed Set-Up Switching) description.
Torque control
76
Invalid
Pin No.
Symbol
33
INH
Position control
Function
The function differs depending on the control mode.
Enter command pulse input inhibit.
You can disable this input with Pr43
(disable command pulse input inhibit).
I/F circuit
SI
page 74
Speed control
Torque control
Speed zero clamp
26
Pr43 value
Meaning
1(Factory-setting) The INH signal (input) is disabled.
0
With COM closed, the pulse
command signal (PULSE SIGN) is
enabled.
With COM open, the pulse
command signal (PULSE SIGN) is
inhibited.
With speed setting of the 1st selection input, you can set 4
speeds in combination with CL input.
For details, see Pr05 (Speed Set-Up Switching) description.
Invalid
ZEROSPD
Gain switching
27
GAIN
Connection
Function
to COM
0
Speed loop: PI (Proportional / Integral) action
Open
(Factory-setting)
Speed loop: P (Proportional) action
Close
1st gain selected (Pr10, 11, 12, 13 and 14)
Open
1
2nd gain selected (Pr18, 19, 1A, 1B, 1C)
Close
To use the second gain, set Pr31 to 2.
Pr30 value
Alarm clear
31
A-CLR
77
CN X5 Connector
Input signal assignment to CN X5 connector pins - designation(logic)
Input Signals (Position Control) and their Functions
Signal
Pin No.
Symbol
PULS1
PULS2
SIGN1
SIGN2
Command pulse
scalar switch
28
DIV
Battery +
44
BATT +
Battery
45
BATT
Command pulse
Command sign
Function
I/F circuit
Pin No.
37
36
35
34
11
10
Servo-ready output
Mechanical brake
release output
Zero speed
detection
12
Symbol
Function
Function
Output(transistor) turns ON during the In-toque limiting.
Output(transistor) turns ON when the motor speed becomes
lower than that of the preset speed with Pr61(Zero speed).
Output(transistor) turns ON when either one of
overregeneration, overload or battery warning is activated.
3*
Output(transistor) turns ON when the over-regeneration (more
than 85% of permissible power of the internal regenerative
discharge resistor) warning is activated.
4*
Output(transistor) turns ON when the overload (the effective
torque is more than 85% of the overload trip level) warning is
activated.
5*
Output(transistor) turns ON when the battery (the voltage of the
backup battery becomes lower than approx. 3.2V at the
encoder side) warning is activated.
* When the setting is a value between 2 and 5, the output transistor will be turned on
for at least 1 second upon detecting an alarm condition.
Pr0A value
0
1
(Factory-setting)
2*
78
I/F circuit
SO1
page 75
SO1
page 75
SO1
page 75
SO2
page 75
Pin No.
Symbol
Torque in-limit
40
TLC
In-position/
At-speed
39
38
COIN +
COIN
Z-phase output
Z-phase output
Speed monitor
output
Torque monitor
output
21
22
48
49
23
24
19
OA +
OA
OB +
OB
OZ +
OZ
CZ
43
SP
(17)
(GND)
42
IM
(17)
(GND)
Speed and
torque
B-phase output
I/F circuit
In-position output
Output(transistor) turns ON when the position error is below
the preset value by Pr60 (In-Position Range).
At-speed output
Output(transistor) turns ON when the motor speed reaches
the preset value by Pr62 (At-Speed ).
Position
A-phase output
Function
PO1
page 75
PO2
page 75
AO
page 75
AO
page 75
Frame ground
(Not in use)
Pin No.
Symbol
13
15
17
25
50
1
2
20
46
47
GND
FG
Function
I/F circuit
79
CN X5 Connector
Examples of connection to high order control equipment
Example 1 - PLC: FPG-C32T (Matsushita Electric Works)
PLC
Driver
CW pulse command
output
Y1
AIII series
2k
2k
X2
PULS1
PULS2
SIGN1
SIGN2
19
CZ
13
GND
COM+
30
CL
220
CW pulse
command
input
220
CCW pulse
command
input
Z phase
output
Origin input
COM
+
Y2
Deviation counter
reset output
29 SRV-ON
27
GAIN
31
A-CLR
COM
CCWL
X3
CWL
From
PLC I/O
output
3k
35 S-RDY+
CCW limit over input
5.6k
5.6k
X5
Counter
clear input
4.7k
Servo ON
input
4.7k
Gain change
input
4.7k
Alarm clear
input
4.7k
CCW drive
disable input
4.7k
CW drive
disable input
Servo ready
output
34 S-RDY
To
PLC I/O
input
X6
Origin proximity
sensor
CCW
limit sensor
CW
limit sensor
GND +24V
DC24V
Power supply
80
4.7k
37
ALM+
36
ALM
39
COIN+
38
COIN
41
COM
Servo alarm
output
Positioning
complete output
PLC
Driver
Pulse output A
Pulse output B
Origin input
+
Limit over
A7
(A16)
B7
(B16)
B4
(B13)
A5
(A14)
A6
(A15)
B6
(B15)
PULS1
PULS2
SIGN1
SIGN2
23
OZ+
24
OZ
13
GND
COM+
30
CL
29 SRV-ON
27
From
PLC I/O
output
GAIN
31 A-CLR
9
CCWL
CWL
35 S-RDY+
220
CW pulse
command
input
220
CCW pulse
command
input
AIII series
Z phase
output
4.7k
Counter
clear input
4.7k
Servo ON
input
4.7k
Gain change
input
4.7k
Alarm clear
input
4.7k
CCW drive
disable input
4.7k
CW drive
disable input
Servo ready
output
34 S-RDY
Power supply to
internal circuit
+24VDC
GND
A20
To
PLC I/O
input
B20
37
ALM+
36
ALM
39 COIN+
Origin proximity
sensor
Servo alarm
output
Positioning
complete output
38 COIN
CW
limit sensor
CCW
limit sensor
41
COM
GND +24V
DC24V
Power supply
81
CN X5 Connector
PLC
Driver
CS1W-NC113(Omron)
1.6k
CW pulse command
output
1.6k
CCW pulse command
output
150
Origin line driver
input
V+
GND
Deviation counter
reset output
AIII series
3
A6
A8
A16
CW limit over
input
PULS2
SIGN1
SIGN2
23
OZ+
A14
24
OZ
A1
13
GND
A2
COM+
A10
30
CL
29 SRV-ON
A24
Emergency stop
input
PULS1
4.7k
4.7
A20
27
From
PLC I/O
output
A21
GAIN
31 A-CLR
9
CCWL
CWL
35 S-RDY+
4.7k
4.7k
A23
CW pulse
command
input
220
CCW pulse
command
input
Z phase
output
4.7k
Counter
clear input
4.7k
Servo ON
input
4.7k
Servo ON
input
4.7k
Alarm
clear input
4.7k
CCW drive
disable input
4.7k
CW drive
disable input
Servo ready
output
34 S-RDY
To
PLC I/O
input
A22
37
ALM+
36
ALM
39 COIN+
Origin proximity
sensor
CCW
limit sensor
CW
limit sensor
38 COIN
41
GND +24V
DC24V
Power supply
82
220
COM
Servo alarm
output
Positioning
complete output
PLC
Driver
CS1W-NC133 (Omron)
AIII series
150
Origin line driver
input
V+
GND
PULS1
A6
PULS2
A7
SIGN1
A8
SIGN2
A16
23
OZ+
A14
24
OZ
A1
13
GND
A2
COM+
A10
30
CL
29 SRV-ON
A24
Immediate stop
input
4.7k
Near origin
input
4.7k
From
PLC I/O
output
A20
A21
GAIN
31 A-CLR
9
CCWL
CWL
35 S-RDY+
4.7k
CW limit over
input
5 V power supply
for pulse output
27
4.7k
GND
+V
A23
220
CW pulse
command
input
220
CCW pulse
command
input
24 V supply for
output
A5
CW pulse command
output
Z phase
output
4.7k
Counter
clear input
4.7k
Servo ON
input
4.7k
Gain change
input
4.7k
Alarm clear
input
4.7k
CCW drive
disable input
4.7k
CW drive
disable input
Servo ready
output
34 S-RDY
To PLC
I/O
input
37
ALM+
A22
36
ALM
A3
39
COIN+
A4
38 COIN
41
Servo alarm
output
Positioning
complete output
COM
Origin proximity
sensor
CCW
limit sensor
CW
limit sensor
GND +5V
DC5V
Power supply
GND +24V
DC24V
Power supply
83
CN X5 Connector
PLC
Driver
C200H-NC211 (Omron)
1.6k
CW+CCW pulse output
1.6k
AIII series
3
13
PULS1
PULS2
SIGN1
Direction output
150
Origin line driver input
V+
GND
SIGN2
23
OZ+
11
24
OZ
13
GND
23
COM+
30
CL
29 SRV-ON
22
Emergency stop
input
2k
2k
19
27
From
PLC I/O
output
GAIN
31 A-CLR
9
CCWL
CWL
35 S-RDY+
17
2k
18
37
ALM+
36
ALM
39 COIN+
Origin proximity
sensor
CCW
limit sensor
CW
limit sensor
38 COIN
41
GND +24V
DC24V
Power supply
84
Pulse
command
input
220
Direction
command
input
Z phase
output
4.7k
Counter
clear input
4.7k
Servo ON
input
4.7k
Gain change
input
4.7k
Alarm clear
input
4.7k
CCW drive
disable input
4.7k
CW drive
disable input
Servo ready
output
34 S-RDY
To PLC
I/O
input
220
COM
Servo alarm
output
Positioning
complete output
PLC
Driver
AIII series
3
3
CW pulse command
output
PULS1
21
PULS2
SIGN1
22
SIGN2
24
23
OZ+
25
24
OZ
13
GND
COM+
30
CL
23
29 SRV-ON
26
27
220
CW pulse
command
input
220
CCW
command
input
Z phase
output
4.7k
7
In-position
4.7k
From
PLC I/O
output
CCWL
35
CWL
36
35 S-RDY+
4.7k
4.7k
12
Lower limit
4.7k
4.7k
Counter
clear input
4.7k
Servo ON
input
4.7k
Gain change
input
4.7k
Alarm clear
input
4.7k
CCW drive
disable input
4.7k
CW drive
disable input
Servo ready
output
34 S-RDY
11
Upper limit
31 A-CLR
9
8
Common
From
PLC I/O
output
GAIN
To
PLC I/O
input
13
37
ALM+
36
ALM
39 COIN+
Origin proximity
sensor
CW
limit sensor
CCW
limit sensor
Servo alarm
output
Positioning
complete output
38 COIN
41
COM
GND +24V
DC24V
Power supply
85
Wiring Diagram
7
33
DC
12V 24V
COM+
INH
29
SRV-ON
41
3
120
DC
5V
120
COMPULS1
PULS2
SIGN1
SIGN2
CZ
GND
86
Parameters
Open collector
for CW/CCW
pulse inputs
Z-phase
output
for homing
PrNo.
Parameter description
Value
Pr02 Control mode set-up
0
Pr04 Overtravel input inhibit
1
Pr42 Command pulse input mode set-up
1
Pr43 Command pulse input inhibit
1
Use the controller to send command pulses.
Input signal
0
2
3
8
A
Servo-ON
CW overtravel inhibit
CCW overtravel inhibit
Command pulse input inhibit
Counter clear
Monitor
display
+A
Related to Pr43
Motor
speed
(r/min)
500k
3000
1 x 2 17
10000
10000 x 2 0
10000
250k
3000
1 x 2 17
5000
10000 x 2 0
5000
100k
3000
1 x 2 17
2000
10000 x 2 0
2000
500k
1500
1 x 2 16
10000
5000 x 2 0
10000
Pr46 x 2 Pr4A
Pr4B
17 bits
2500P/r
* You can set any value by setting any value for the numerator and denominator. However, the motor
action will not follow any extreme setting of the ratio. It is recommended to set within a range from
1/50 to 20 times.
Gear
(Example) Rotate the motor by 60 degrees with an overall reduction ratio of 18/365
Encoder pulse
17 bits
Pr46 x 2 Pr4A
Pr4B
Theory
Determining
the parameter
365 x 2
6912
10
2500P/r
365 x 2
108
365
1 x 217
60
x
x
18
2 13
360
365 x 2 17
=
884736
365
10000
60
x
x
18
10000
360
365 x 2 0
=
108
1 x 210
60
x
26
360
365 x 2 10
6912
2n
20
21
22
23
24
25
26
27
28
29
210
211
212
213
214
215
216
217
10 Decimal
1
2
4
8
16
32
64
128
256
512
1024
2048
4096
8192
16384
32768
65536
131072
* See also Description on Command Pulse Ratio for Parameter Setup on page 264.
87
Preset value
* Our preset value causes the motor shaft
to rotate by one with 10,000 pulses
input. Note that the maximum input
pulse frequency is 500 kpps with line
driver and 200 kpps with open collector.
Gain auto
setting
Position/speed
command
Filter auto
tuning
Position/speed
control
Torque
command
Applied
filter
Motor
Current current
control
Motor
Motor
speed
Encoder
Servo driver
Application range
Under the following conditions, the real time auto gain tuning may not function properly.
In such case, use the normal mode auto gain tuning (see page 193 "Adjustments") or manual gain tuning
(see page 197 "Adjustments").
Conditions under which the real time auto gain tuning is prevented from functioning
When the load inertia is smaller/larger than the rotor inertia
(3 times or less; or 20 times or more)
Load inertia
Load
Operation pattern
How to use
[1] Stop the motor (Servo-OFF).
[2] Set up Pr21 (Real-time auto tuning set-up) to 1 ~ 6.
Set up value before shipment is1.
Setting value
Not used
[1]
No
Little change
2
3
Change slowly
Used
Yes
Change s haply
Little change
Change slowly
No
Change s haply
Yes
Not used
When the changing degree of the load inertia is too large, set Pr21 to 3 or 6.
When the influence of resonance is conceivable, select adaptive filter YES.
[3] Set 0 2 to Pr22 (real-time auto tuning machine stiffness).
[4] Turn the servo ON to operate the machine ordinarily.
[5] To increase the response performance, gradually increase Pr22 (Machine stiffness at real-time
auto tuning). When any noise or vibration is found, decrease the Pr22 to a lower value soon.
[6] To store the result, write the data into the EEPROM.
88
When a motor speed fluctuation having a high frequency component is caused due to a non-linear element such as backlash etc
Command pattern
When acceleration/deceleration is too sharp like 30000 [r/min] or more per 1 [s]
Name
1st position loop gain
1st speed loop gain
1st speed loop integration time constant
1st speed detection filter
1st torque filter time constant
2nd position loop gain
2nd speed loop gain
2nd speed loop integration time constant
2nd speed detection filter
2nd torque filter time constant
Inertia ratio
Adaptive filter frequency
Name
Speed feed forward
Feed forward filter time constant
1st position integration gain
2nd position integration gain
Disturbance torque observer filter selection
2nd gain action set-up
Position control switching mode
Position control switching delay time
Position control switching level
Position control switching hysteresis
Position loop gain switching time
Set value
300
50
0
0
0
1
10
30
50
33
20
Caution
[1] Immediately after the first turning the servo ON at start up, or when Pr22 (Machine stiffness at real-time
auto tuning) is stated up, sometimes a noise or vibration may be generated until the load inertia is determined or the adaptive filter is stabilized. But, when the machine gets stabilized soon, there is no problem.
But, when such problem as vibration or noise continues during a period of 3 reciprocal operations, etc
occurs frequently, take the following measures.
1) Write the parameter of normal operation into the EEPROM.
2) Decrease the Pr22 (Machine stiffness at real-time auto tuning).
* 3) Once set up Pr21 (Real-time auto tuning set-up) to 0 to disable the adaptive filter. Then, enable the
real time auto tuning again. (resetting of inertia estimate adaptive operation)
* 4) Set up the notch filter manually.
* When disabling he real time auto tuning, see page 196 "Disabling of auto tuning function" in Adjust
ments.
[2] After a noise or vibration has occurred, Pr20 (Inertia ratio) and/or Pr2F (Adaptive filter frequency) may
have been changed into an extreme value. In such a case also, take the above measures.
[3] In
the results of the real time auto gain tuning, Pr20 (Inertia ratio) and Pr2F (Adaptive filter frequency) are
written into the EEPROM every 30 minutes. And auto tuning is carried out using the data as the initial value.
89
Parameter Setting
Parameters for Function Selection
Default setting is shown by [
Parameter
Parameter Name
No.
00
Axis address
Setting
range
0 15
[1]
Function/Description
In communications with a host device such as a personal computer that uses
RS232C/485 with multiple axes, you should identify to which axis the host accesses
and use this parameter to confirm axis address in terms of numerals.
At power on, settings of the rotary switch ID on the front panel (0 F) will be
programmed into parameters of the driver.
Settings of Pr00 can be changed only by means of the rotary switch ID.
01
LED display
at power up
0 15
In the initial condition after turning ON the control power, the following data displayed
on the 7-segment LED can be selected.
Setting
value
Power ON
Setting of Pr01
Control mode
0 14
90
Positional deviation
Motor revolving speed
Torque output
Control mode
I/O signal status
Error cause/record
Software version
Alarm
Regenerative load ratio
Overload load ratio
Inertia ratio
Feedback pulse sum
Command pulse sum
External scale deviation
External scale feedback pulse sum
Motor auto recognition
Control mode
The 1st Mode
The 2nd Mode*1
0
Position control
[1] Speed control
Torque control
3
Speed control
Position
4
Torque control
Position
5
Torque control
Speed
6
Semi-closed control
7
Full-closed control
8
Hybrid control
9
External encoder control
Speed
10
Semi-closed control
Speed
High-stiff equipment
11
position control
Low-stiff equipment
12
position control
Low-stiff equipment
13
speed control
14
Second full-closed control
Setting
value
Description
0
[1]
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Open
The 1st
Closed
The 2nd
10 ms or longer
Open
The 1st
10 ms or longer
<Caution>
Enter a command after 10ms or longer have passed
since C-MODE was entered.
Do not enter any command on position, speed or
torque.
Setting
range
01
[1]
Function/Description
The parameter is used to disable analog torque limit input (CCWTL, CWTL) signals.
0: Enabled
1: Disabled
Overtravel input
inhibit
01
Driver
Servo Motor
Limit
Switch
Limit
Switch
CCWL
CWL
Setting
value
CCWL/CWL
Input
Input
Enable
[1]
Disable
Action
<Cautions>
1. When you set 0 to Pr04 and do not connect both CCWL and CWL inputs to COM(off), abnormal condition in which limits are exceeded in both CCW and CW
directions is detected, and the driver will then trip due to abnormal overtravel
input inhibit.
2. You can set whether or not to activate the dynamic brake when slowdown occurs
because CCW or CW overtravel input inhibit has been enabled. For details, refer
to descriptions on Pr66 (DB deactivation at overtravel input inhibit).
3. Work may repeat vertical motion as a result of absence of upward torque after you
turned off the limit switch on the upper side of work on the vertical axis. In such a
case, you should not use this function, and instead execute limit processing on the
host controller side.
07
Speed monitor
(SP) selection
09
SP Signals
Motor Actual
Speed
Command
Speed
91
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
08
Torque monitor
(IM) selection
Setting
range
0 12
Function/Description
The parameter selects/sets a relationship between voltage output to the torque
monitor signal output (IM: CN X5 42-pin) and generated torque of the motor or
number of deviation pulses.
Setting value IM Signals Relationship between output level and torque or number of deviation pulses
Torque
[0]
3V / rated (100%) torque
1
3V / 31Pulse
2
3V / 125Pulse
No. of
3
3V / 500Pulse
Deviation
4
3V / 2000Pulse
Pulses
5
3V / 8000Pulse
6 10
Enabled under full-closed control (See P156 .)
11
3V / 200% torque
Torque
12
3V / 400% torque
09
TLC output
selection
05
ZSP output
selection
05
Absolute encoder
set up
02
0C
Baud rate of
RS232C
02
0D
Baud rate of
RS485
02
0A
0B
92
Baud Rate
2400bps
4800bps
9600bps
Setting value
0
1
[2]
Baud Rate
2400bps
4800bps
9600bps
Setting
range
0 32767
[63]*
1 3500
[35]*
Function/Description
1/s
Hz
12
13
1st speed
detection
filter
14
15
Velocity feed
forward
16
Feed forward
filter
time constant
0 6400
[50]*
0.01ms
17
1st position
integration gain
0 10000
[0]*
x 10/s2
18
1/s
0 32767
[73]*
Hz
1 3500
[35]*
ms
1 1000
[1000]*
06
[0]*
0 2500 0.01ms
[65]*
100 1500
Hz
[1500]
19
1A
1B
1C
1D
1 1000
[16]*
ms
06
[0]*
0 2500
[65]*
0.01ms
2000
2000
[300]*
0.1%
1E
04
[2]
1F
2nd position
integration gain
0 10000
[0]*
x 10/s2
Unit
Note) Standard default setting in [ ] under "Setting range" and marked with * is automatically set during the
real time auto gain tuning. To manually change the value, first disable the auto gain tuning feature be
seeing page 196 "Disabling of auto tuning function" in Adjustments, and then enter the desired value.
93
Parameter Setting
Parameters for real time auto gain tuning
Default setting is shown by [
Parameter
Parameter Name
No.
20
Inertia ratio
Setting
range
0 10000
[100]*
Unit
%
Function/Description
Defines the ratio of load inertia to the motor's rotor inertia.
Pr20 = (rotor inertia / load inertia) x 100[%]
When you execute auto gain tuning, load inertia will be estimated and
the result will be reflected in this parameter.
Pr11 and Pr19 will be set in terms of (Hz) when inertia ratio has been set
correctly. When Pr20 inertia ratio is greater than the actual ratio, setting
of the speed loop gain will increase. When Pr20 inertia ratio is smaller
than the actual ratio, setting of speed loop gain will decrease.
21
07
Setting value
0
[1]
2
3
4
5
6
7
22
Defines the operation mode of real-time auto tuning. Increasing the set
value (3, 6,...) provides higher response to the inertia change during
operation. However, operation may become unstable depending on the
operation pattern. Normally, set this parameter to "1" or "4".
If you set this parameter to any value other than 0, Pr27 disturbance
observer filter selection will be disabled (0). In addition, if you set the
adaptive filter to disabled, Pr2F adaptive filter frequency will be reset to 0.
When Pr20 is "0", Pr2F (Adaptive notch frequency) is reset to "0".
In the torque control mode, the adaptive notch filter is always invalid.
Absent
Hardly changes.
Present
Changes moderately.
Changes sharply.
Used
Hardly changes.
Absent
Changes moderately.
Changes sharply.
Not used
Present
Note that any change in this parameter will be enabled when Servo OFF
changes to Servo ON.
Defines the machine stiffness during execution of real-time auto tuning.
Machine stiffness
at auto tuning
0 15
[4]
23
02
[2]
24
32768 32767
[0]
The parameter displays the result of tuning of the fit gain function.
This value is set automatically by the fit gain function; it can not be altered.
25
Normal auto
tuning motion
set up
07
Revolving direction
CCW CW
CW CCW
CCW CCW
CW CW
CCW CW
CW CCW
CCW CCW
CW CW
Example) Setting this parameter to "0" provides two CCW revolutions and two CW revolutions.
94
27
Disturbance
torque observer
filter selection
Setting
range
0 200
[0]
0 255
Unit
Function/Description
When the control mode is HP, LP, LS or UPF, a gain, in which the torque
command is multiplied by a disturbance torque estimate value, is set.
By setting 100 [%], a torque compensation that clears the disturbance
torque is applied.
When Pr21 real time auto tuning mode setting is altered, Pr26 changes
to 0 (disabled).
A larger value provides stronger disturbance suppression; but a larger operation noise is emitted. When using this
function, it is necessary to set Pr20 inertia ratio correctly. When Pr.21 real time auto tuning mode setting is altered,
Pr27 changes to 0(disabled). Also, while the real time auto tuning is enabled (Pr21 is not 0 or 7), Pr27 is fixed to 0
and the disturbance observer is disabled.
28
2nd notch
frequency
29
100 1500
[1500]
Hz
04
[2]
Select the notch width of the second resonance suppression notch filter.
Increasing the set value enlarges the notch width.
2A
0 99
[0]
Select the notch depth of the second resonance suppression notch filter.
Increasing the set value reduces the notch depth and the phase delay.
2B
Vibration
suppression
frequency
0 500
[0]
Hz
Vibration suppression frequency of the vibration suppression for suppressing vibration at the front end of a load is set. Frequency of vibration
at the front end of the load is measured and set. Unit: [Hz]
Minimum setting frequency is 10 [Hz]. When it is set to 0 - 9, it is disabled.
Before using this function, see page 211 "Vibration suppression control"
in Adjustments.
2C
20 250
Vibration
suppression filter
[0]
Hz
2F
Adaptive filter
frequency
Table No. corresponding to the frequency of the applied filter is displayed. (See page 196)
When the applied filter is enabled (when Pr21 (real time auto tuning
mode setting) is 1-3,7), this parameter is set automatically and can not
be altered.
0: Filter disabled 1 - 64: Filter enabled
Before using this function, see page 196 Disabling of auto tuning function in adjustments.
When the applied filter is enabled, the parameter is stored in the EEPROM every 30 minutes. And when the applied filter is enabled at turning ON the power next time, the data stored in the EEPROM is used as
the initial value to adapt the operation.
When clearing the parameter to reset the adapted operation due to unsatisfactory operation, once set the applied filter disabled (set Pr21 (real
time auto tuning mode setting) to other than 1 - 3, 7), and make it enabled again.
Refer to Control of Vibration Damping of Adjustment volume on page 211.
0 64
[0]*
Set value
[0]*
1 255
Note) Standard default setting in [ ] under "Setting range" and marked with * is automatically set during the
real time auto gain tuning. To manually change the value, first disable the auto gain tuning feature be
seeing page 196 "Disabling of auto tuning function" in Adjustments, and then enter the desired value.
95
Parameter Setting
Parameters for Switching to 2nd Gains
Default setting is shown by [
Parameter
Parameter Name
No.
30
2nd gain action
set up
Setting
range
01
Unit
Function/Description
The parameter selects switching of PI/P operation and the 1st/2nd gain
switching.
Setting value
0
[1]*
Gain Selection/Switching
The 1st Gain (Possible to switch PI/P) *1
Possible to switch the 1st/2nd gain *2
*2 For conditions of switching between the 1st and 2nd gains, refer to
Adjustment upon switching gain of Adjustment volume on page 202.
31
Position control
switching mode
Setting value
0
1
2
3
4
5
6
7
*3
*3
*3
*3
*3
*3
*3
[10]* *3
0 10
The parameter selects conditions of switching the 1st and 2nd gains in
position control mode.
32
33
96
Position control
switching delay
time
Position control
switching level
0 10000 x 166s
[30]*
0 20000
[50]*
The parameter sets delay time of diversion from switching conditions set
with Pr31 to actual return to the 1st gain, when Pr31 is enabled at settings of 3, 5, 6, 7, 9, and 10.
The parameter sets judgment level upon switching between the 1st and
the 2nd gains, when Pr31 is enabled at settings of 3, 5, 6, 9, and 10.
Setting
range
0 20000
[33]*
Unit
Function/Description
Pr34
0
1st Gain
2nd Gain
1st
Connections and Settings in
Position Control Mode
Pr32
<Caution>
Settings of Pr33 (level) and Pr34 (hysteresis) are enabled as an absolute
value (positive/negative).
35
Position gain
switching time
0 10000 (Setting +1) The parameter sets stepped switching time only for position loop gain
[20]* x 166s
upon switching gains when the 2nd gain switching function has been enabled.
(Example)
166
166s
166
Kp1(Pr10)<Kp2(Pr18)
166
Kp2(Pr10)
3
2
Pr35= 0
Kp1(Pr18)
1st Gain
2nd Gain
1st Gain
Switching time should be provided only when a small position loop gain
is switched to a large position loop gain (Kp1 > Kp2). (This is to alleviate impact on the machine due to rapid change of gain.)
You should set a value smaller than a difference of Kp2 and Kp1.
Setting
range
14
Function/Description
The parameter sets a multiply when 2-phase pulse input has been selected as a
command pulse form with Pr42 (command pulse input mode setting).
Setting value
1
2
3 or [4]
41
Command pulse
logic inversion
03
Each of logics of 2 pulse command input (PULS, SIGN) systems can be individually
set inside the driver.
Setting value
[0]
1
2
3
Note) Standard default setting in [ ] under "Setting range" and marked with * is automatically set during the
real time auto gain tuning. To manually change the value, first disable the auto gain tuning feature be
seeing page 196 "Disabling of auto tuning function" in Adjustments, and then enter the desired value.
97
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
42
Command pulse
input mode
Setting
range
03
Function/Description
The parameter sets an input form of a command pulse to be given from the host
device to the driver. Three types of forms listed in the following table can be set.
Make selection in accordance with specifications of the host device.
Command
CW Command
Setting value
Signal Name CCW Command
pulse form
t1
0 or 2
PULS
SIGN
CW pulse train
+
CCW pulse train
PULS
SIGN
Pulse train
+
symbols
PULS
SIGN
[1]
t1
t1
t1
Phase A
90 phase difference
Two-phase pulse
(Phase A + Phase B)
Phase B
t1
t1
t1
Phase B advances 90
ahead of phase A.
t1
Phase B delays 90
from phase A
t3
t2 t2
t2 t2
t4 t5
t4 t5
H
t6
t6 t6
t6
Allowed maximum input frequency and required minimum time width of command pulse input signal
Input I/F of
PULS/SIGN signals
Allowed maximum
input frequency
500kpps
200kpps
2.5
2.5
2.5
2.5
2.5
Pulse rise/fall time of command pulse input signal should be set to no more than 0.1s.
43
Command pulse
inhibit input
invalidation
01
INH Input
Enable
Disable
With INH input, connection with COM- will be open, and command pulse input will
be inhibited. If you do not use INH input, set 1 to Pr43. You no longer need to
connect INH (CN 1/F 33-pin) and COM- (41-pin) external to the driver.
44
Output pulses per 1 16384 The parameter sets number of pulses per one revolution of encoder pulse to be outsingle turn
[2500] put to the host device. The pulse will be set in dividing.
You should directly set in this parameter the number of pulses per revolution needed
for your device/system in terms of [Pulse/rev].
45
Pulse output
logic inversion
01
In a relationship of phases of output pulse from the rotary encoder, Phase B pulse is
behind pulse A when the motor rotates in CW direction. (Phase B pulse advances
ahead of phase A pulse, when the motor rotates in CCW direction.)
Inversion of logic of phase B pulse with this parameter could invert a phase
relation of phase B pulse to phase A pulse.
IWhen Motor is Rotating
in CCW direction
Setting value
A pulse(OA)
[0]
1
98
B pulse(OB)
Non-inverting
B pulse(OB)
Inverting
Command
Pulse
f
x2
Internal
Command
F
Feedback
Pulse
(Resolution)
Denominator (Pr4B)
0 17
[0]
To Deviation
Counter
10000P/rev
or 217P/rev
An upper limit of computed value of a numerator will be 2621440. Note that even
when you set a value higher than this, it will become invalid and 2621440 will be a
numerator.
*1: Select the 1st or 2nd numerator by means of command multiply division switch1 10000
ing (DIV:CN X5 28-pin).
[10000]
DIV Off
Select the first numerator (Pr46).
DIV ON
Select the second numerator (Pr47).
Parameter
Parameter Name
No.
46
1st numerator of
command
pulse ratio
2nd numerator of
47
command
pulse ratio
3rd numerator of
48
command
pulse ratio
4th numerator of
49
command
pulse ratio
Multiplier of
4A
numerator of
command pulse
ratio
Denominator of
4B
command pulse
ratio
*2: 3rd and 4th numerators are used for special specifications such as full-closed
specification. For further information, refer to Full-Closed Control volume on
page 156.
<Examples of Setting>
It is basic to have a relation a motor rotates once with command input (f) for resolution of an encoder when the multiply division ratio is 1.
Therefore, to rotate the motor once as an example of the case in which the encoder
has resolution of 10000P/r, f=5000Pulse at multiply of 2 and f=40000Pulse at 1/4
division should be input.
Pr46, Pr4A and Pr4B should be set so that internal command after multiply division
will be equal to resolution of the encoder (i.e., 10000 or 217).
F = f x Pr46 x 2 Pr4A = 10000 or 217
Pr4B
F: Number of internal command pulses for one revolution of the motor
f: Number of command pulses for one revolution of the motor
Resolution of Encoder
Example 1:
When command input (f)
is set to 5000 per
revolution of the motor]
Example 2:
When command input (f)
is set to 40000 per
revolution of the motor]
217 (131072)
Pr4A 17
Pr46 1 x 2
Pr4B 5000
Pr4A 15
Pr46 1 x 2
Pr4B 10000
10000 (2500P/r x 4)
Pr46 10000 x 2
Pr4B 5000
Pr46 2500 x 2
Pr4B 10000
Pr4A 0
Pr4A 0
Note) Standard default setting in [ ] under "Setting range" and marked with * is automatically set during the
real time auto gain tuning. To manually change the value, first disable the auto gain tuning feature be
seeing page 196 "Disabling of auto tuning function" in Adjustments, and then enter the desired value.
99
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
4C
Smoothing filter
Setting
range
07
Function/Description
A smoothing filter is a primary delay filter inserted after command multiply division
unit of command pulse input unit.
Purpose of Smoothing Filter:
Basically, it is to alleviate stepped movement of the motor when a command
pulse is rough.
Following are the specific examples in which a command pulse becomes rough:
1) When a multiply ratio is set for command multiply division (10 times or higher)
2) When command pulse frequency is low in some cases
A time constant of the smoothing filter should be set in 8 steps with Pr4C.
4D
Counter clear
input
01
Setting value
0
[1]
Time constant
No filter function
Small time constant
The parameter sets clear conditions of counter clear input signal for clearing the deviation counter (CL: CNX5 30-pin).
Setting value
[0]
1
Clear Conditions
Clear at level (*1).
Clear at edge (falling edge).
100s or longer
4E
0 31
[0]
4F
0 31
[0]
100
Setting
range
0 500
[300]
Unit
r/min
Function/Description
The parameter directly sets JOG speed in JOG run in motor trial run
mode in terms of [r/min].
For details on JOG function, refer to Trial Run (JOG) of Preparations volume on page 68.
Setting
range
0 500
Unit
Function/Description
300 (Max.)
When Pr5E=150
200
100
(Rated)
Speed
100
(Rated) (Max.)
200
300
CW
<Caution>
You cannot set this parameter to a value above a factory setting of the
system parameter (i.e., a factory set parameter that cannot be changed
through of PANATERM and panel manipulation) Maximum Output
Torque Setting. A factory setting may vary depending on a combination
of an driver and motor. For further information, refer to Pr5E Setting of
Torque Limit of Preparations volume on page 55.
Setting
range
0 32767
[131]
Unit
Function/Description
Pluse
101
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
61
Zero speed
Setting
range
0 20000
[50]
Unit
Function/Description
r/min
The parameter directly sets timing to an output zero speed detection output signal (ZSP: CN X5 12-pin) in terms of [r/min].
A zero speed detection signal (ZSP) is output when motor speed falls
below the speed set with this parameter Pr61.
Setting of Pr61 acts on both
CW and CCW directions, irrespective of rotating direction
of the motor.
There is hysteresis of 10rpm.
The parameter should be set to
10 or greater.
63
Position error
set up
1 32767
[25000]
CCW
Speed
Pr61
Pr61
CW
ZSP
ON
<Note>
Note that setting this Pr63 too small, in particular, when positional gain
is set low might activate protection against excessive positional deviation even though there was no abnormality.
64
Position error
invalidation
01
65
Undervoltage
error response
at main power-off
01
The parameter sets whether to enable the protection against main power
source under-voltage function when you shut down the main power of
main and control power supplies.
Setting value
[1]
Dynamic breke
inhibition at
overtravel limit
01
The parameter sets driving conditions at decelerated operation after overtravel input inhibit (CCWL: connector CN X5 9-pin or CWL: connector CN
X5 8-pin) has been activated and enabled.
Setting value
[0]
1
102
Setting
range
07
Unit
Function/Description
The parameter sets:
(1) Driving conditions during deceleration and after stopping; and
(2) Processing to clear content of the deviation counter
after the main power source is shut off.
Driving Conditions
During Deceleration After Stopped
DB
DB
DB
Free Run
Free
DB
Free
Free Run
DB
DB
DB
Free Run
Free
DB
Free
Free Run
Content of Deviation
Counter
Clear
Clear
Clear
Clear
Retention
Retention
Retention
Retention
Error response
action
03
Driving Conditions
During Deceleration After Stopped
DB
DB
DB
Free Run
Free
DB
Free
Free Run
Content of Deviation
Counter
Clear
Clear
Clear
Clear
Sequence at
Servo-OFF
6A
Mechanical
brake delay at
motor standstill
07
[0]
0 100
[0]
2ms
SRV-ON
BRK-OFF
Actual Brake
OFF
ON
Release
tb
Retention
Retention
Release
Motor Energized
Energization
Nonenergization
Pr6A
See also Serve On/Off Operation When the Motor Stops of the timing
chart of Preparations volume on page 43.
103
Setting
value
[0]
1
2
3
4
5
6
7
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
6B
Mechanical
brake delay at
motor in motion
Setting
range
0 100
[0]
Unit
Function/Description
2ms
Unlike Pr6A, the parameter sets time till brake release signal (BRK-OFF)
turns off (brake retained) after motor non-energization (servo-free), at Servo off while the motor is rotating.
This should be set to prevent de- SRV-ON
ON
terioration of the brake due to
BRK-OFF
Release
revolutions of the motor.
At Servo off while the motor is ro- Motor Energized
Energization
tating, time tb in the right figure
will be either set time of Pr6B or
time till the motor rotational Motor Speed
speed falls below approximately
30r/min, whichever is smaller.
See Serve On/Off Operation When the Motor is
Rotating of the timing chart of on page 43.
OFF
Retention
tb
Nonenergization
30 r/min
See also Serve On/Off Operation When the Motor Stops of the timing
chart of Preparations volume on page 42.
6C
External
regenerative
resister set up
03
This parameter is set depending on whether to use regeneration resistance built in the driver, or to provide a regeneration resistance in the external (connect between RB1 and RB2 of connector CN X 2 in types A to
D, and between terminal blocks P and B2 in types E - G).
Setting
value
[0]
Regeneration
Resistance to Use
Built-in resistance
External resistance
Built-in resistance
External resistance
<Request>
When you use an external regeneration, you must install external safeguards such as a temperature fuse, etc.
Otherwise, as protection of regeneration resistance would be lost, causing
abnormal heat generation and burnout.
<Caution>
Be careful not to touch an external regeneration resistance.
While you are using an external resistance, it may become hot and scald
you. For type A, only external regeneration resistance is used.
6D
104
Main power-off
detection time
0 32767
[35]
2ms
The parameter sets time to detect shut-off when shut-off of main power
supply continues.
106
OA / OB / OZ
Feedback pulse
Analog
speed
command
16bitA/D
SPR
Pr58
Pr56
Division Pr44
Inverse Pr45
Pr13
Pr1B
detection Speed
1st
2nd
Speed
detection filter
Pr54
Pr5A
Pr59
Pr55
Pr53
Division
1st
speed
2nd
speed
3rd
speed
4th
speed
S-shape
Pr52
Offset
Pr05
Deceleration
Selection
Pr50
Pr51
Acceleration
Accel./decel. limit
Inverse
Command
selection
Gain
Input setting
Command speed
monitor
Pr 1A
Pr 20
2nd
differential
Inertia
ratio
Actual speed
monitor
Pr 19
Pr 12
2nd ratio
1st
differential
Pr 11
control Speed
1st ratio
Pr29
2nd
width
Pr27
Encoder
receive
processing
Filter
Disturbance
observer
Pr2A
Pr28
2nd
frequency
2nd
depth
2nd time
constant
Pr1E
1st width
PS / PS
signal
Limit
1st time
constant
Pr 5E
Pr 1C
Pr 14
Torque filter
Pr1D
1st
frequency
Notch filter
Encoder
Motor
Torque command
monitor
* For the block diagram showing "Control mode set-up parameter Pr02=[13] (speed control for low-stiffness equipment), see page 302 "Appendix".
39 COIN+
38 COIN-
At-speed
(Pr0A)
Torque limited
(Pr09)
ZSP
TLC
45
44
50
FG
BATT-
BATT+
41 COM-
12
40
11 BRKOFF+
10 BRKOFF-
37 ALM+
36 ALM-
Servo alarm
35 S-RDY+
34 S-RDY-
Servo-ready
VDC
1224V
DIV
ZEROSPD
Control mode switching 32
C-MODE
31 A-CLR
Alarm clear
28
Zero speed clamp (Pr06) 26
Servo-ON
CL
29 SRV-ON
P-operation/2nd gain switching 27 GAIN
30
INH
7 COM+
33
PULS2
20k
SPR/TRQR
CZ
GND
OZ-
OZ+
OB-
OB+
OA-
CN X5
1k
1k
IM
SP
330
330
330
14
20
25
47
46
24
23
49
48
22
5
SIGN1
SIGN2 6
220
13
GND
21
OA+
220
PULS1
2
3
42
43
GND 15
10k
16
CCWTL/TRQR
10k
17
GND
to CN X4 (5th pin)
10k
CWTL 18
to CN X4 (6th pin) 10k
4.7k
Scaler
Connections and Settings in
Speed Control Mode
Internal command
speed selection 1
Internal command
speed selection 2
Speed monitor
output
Torque monitor
output
CW torque limit
(-10 to 0V)
Speed command
(0 to 10V)
Z-phase
output
B-phase
output
A-phase
output
CN X5 Connector
[Connections and Settings in Speed Control Mode]
CN X5 Connector
107
CN X5 Connector
Interface Circuit
Input Circuit
SI SI Connecting to
sequence input signals
1224V
7 COM+4.7k
Servo-ON or
other input
Relay
1224V
7 COM+4.7k
Servo-ON or
other input
SPR/TRQR 14
+12V
VR
-12V
R
108
20k
R
15
ADC
1
GND
CCWTL 16 10k
17 GND
CWTL 18 10k
+
10k
+
10k
ADC
2
1224V
VDC
SO2
ZSP, TLC
41 COM
Maximum rating: 30V, 50mA
VDC[V] 2.5[V]
R [k] =
10
AM26LS32
or equivalent
OA+
OA-
AM26LS31
or equivalent
21
A
22
OB+
OB-
48
49
OZ+
OZ-
23
24
For the recommended primary current value, check the data sheet on the equipment and photocoupler used.
GND 25
Maximum rating:
30V, 50mA
19 CZ
25 GND
High-speed
photo coupler
(Equivalent to Toshiba TLP554)
1k
CN X5 Connector
Input signal (common) assignment to CN X5 connector pins
Input Signals (Common) and their Functions
Signal
Pin No.
Symbol
Control signal
power (+)
COM +
Control signal
power ()
41
COM
Servo-ON
29
SRV-ON
Function
I/F circuit
24VDC).
Use source voltage of 12V10% 24V10%.
Connect to () of an external power supply (12VDC to
24VDC).
The required
capacity depends on the I/O circuit
configuration. 0.5A or larger is recommended.
When this signal is connected to COM, the dynamic brake
SI
will be released and the driver is enabled. (Servo-ON).
page 108
<Notes>
1. This signal becomes effective about two seconds after power on (see the Timing Chart).
2. Don't use this Servo-ON or Servo-OFF signal to turn on or off the motor. See page
46 "Dynamic Brake" in Preparations.
Allow at least 50ms delay after the driver is enabled before any command input is
entered.
By opening the connection to COM , the driver will be disabled(Servo-OFF) and
the current flow to the motor will be inhibited.
Operation of the dynamic brake and clearing action of the position error counter can
be selected using Pr69 (Sequence under Servo-OFF).
Control mode
switching
32
C-MODE
Pr02 value
3
4
5
CW overtravel
inhibit
CCW overtravel
inhibit
Counter clear
CWL
Speed control
Pr4D value
Meaning
0(Factory-setting)
LEVEL
EDGE
With speed setting of the 2nd selection input, you can set 4
speeds in combination with INH.
For details, see Pr05 (Speed Set-Up Switching) description.
Torque control
110
Invalid
Pin No.
Symbol
33
INH
Position control
Function
The function differs depending on the control mode.
Enter command pulse input inhibit.
You can disable this input with Pr43
(disable command pulse input inhibit).
I/F circuit
SI
page 108
Pr43 value
Meaning
1(Factory-setting) The INH signal (input) is disabled.
0
With COM closed, the pulse
command signal (PULSE SIGN) is
enabled.
With COM open, the pulse
command signal (PULSE SIGN) is
inhibited.
Speed control
Torque control
26
ZEROSPD
Gain switching
27
GAIN
Connection
Function
to COM
0
Speed loop: PI (Proportional / Integral) action
Open
(Factory-setting)
Speed loop: P (Proportional) action
Close
1st gain selected (Pr10, 11, 12, 13 and 14)
Open
1
2nd gain selected (Pr18, 19, 1A, 1B, 1C)
Close
To use the second gain, set Pr31 to 2.
Pr30 value
Alarm clear
31
A-CLR
111
With speed setting of the 1st selection input, you can set 4
speeds in combination with CL input.
For details, see Pr05 (Speed Set-Up Switching) description.
Invalid
CN X5 Connector
Input signal assignment to CN X5 connector pins - designation(logic)
Input Signals (Speed Control) and their Functions
Signal
Pin No.
Symbol
14
SPR/TRQR
(15)
(GND)
16
CCWTL/
TRQR*
(17)
(GND)
18
CWTL
Battery +
(17)
44
(GND)
BATT +
Battery
45
BATT
Speed (torque)
command
CW torque limit
Function
I/F circuit
* When the torque control mode is selected at the velocity/torque switching mode (Pr02 = 5), the
No.16 pin (CCWTL/TRQR) becomes the torque command input (analogue). You can set-up the
relationship between the command voltage level and the motor torque with Pr5C (Torque Command Input Gain).
Pin No.
Symbol
37
36
35
34
11
10
ALM +
ALM S-RDY +
S-RDY BRK-OFF +
BRK-OFF -
Servo-ready output
Mechanical brake
release output
112
Function
I/F circuit
In-position/
At-speed
Symbol
ZSP
In-position output
Output(transistor) turns ON when the position error is below
the preset value by Pr60 (In-Position Range).
At-speed output
Output(transistor) turns ON when the motor speed reaches
the preset value by Pr62 (At-Speed ).
Speed and
torque
B-phase output
Z-phase output
Z-phase output
Velocity monitor
output
Torque monitor
output
I/F circuit
Position
A-phase output
Function
21
22
48
49
23
24
19
OA +
OA
OB +
OB
OZ +
OZ
CZ
43
SP
(17)
(GND)
42
IM
(17)
(GND)
PO1
page 109
PO2
page 109
AO
page 109
AO
page 109
Pin No.
Symbol
13, 15
17, 25
50
1, 2, 20
46, 47
GND
FG
Function
Signal ground in the driver
Internally isolated from the control power (COM ).
Internally connected to the earth terminal.
No connections should be made.
I/F circuit
113
Torque in-limit
Pin No.
Wiring Diagram
7
29
DC
12V 24V
26
41
14
DC
10V
15
COM+
SRV-ON
ZEROSPD
COM
SPR/TRQR
GND
ZEROSPD switch
Close: Run
Open: Stop
One way
operation
For multi direction
(CW and CCW)
operation, use a
bipolar power
source.
114
Parameters
PrNo.
Pr02
Pr04
Pr06
Pr50
Pr58
Pr59
Pr5A
Parameter description
Value
1
Control mode set-up
1
Overtravel input inhibit
1
ZEROSPD input selection
Speed command input gain
Set as
Acceleration time set-up
Deceleration time set-up
required
S-shaped accel/decel time set-up
Input signal
Servo-ON
CW overtravel inhibit
CCW overtravel inhibit
Speed zero clamp
Monitor
display
+A
Stop with + A
115
Gain auto
setting
Position/speed
command
Filter auto
tuning
Position/speed
control
Torque
command
Applied
filter
Motor
Current current
control
Motor
Motor
speed
Encoder
Servo driver
Application range
Under the following conditions, the real time auto gain tuning may not function properly.
In such case, use the normal mode auto gain tuning (see page 193 "Adjustments") or manual gain tuning
(see page 197 "Adjustments").
Conditions under which the real time auto gain tuning is prevented from functioning
When the load inertia is smaller/larger than the rotor inertia
(3 times or less; or 20 times or more)
Load inertia
Load
Operation pattern
How to use
[1] Stop the motor (Servo-OFF).
[2] Set up Pr21 (Real-time auto tuning set-up) to 1 6.
Set up value before shipment is 1.
Setting value
Not used
[1]
No
Little change
2
3
Change slowly
Used
Yes
Change s haply
Little change
Change slowly
No
Change s haply
Yes
6
7
Not used
When the changing degree of the load inertia is too large, set Pr21 to 3 or 6.
When the influence of resonance is conceivable, select adaptive filter YES.
[3] Set 0 2 to Pr22 (real-time auto tuning machine stiffness).
[4] Turn the servo ON to operate the machine ordinarily.
[5] To increase the response performance, gradually increase Pr22 (Machine stiffness at real-time
auto tuning). When any noise or vibration is found, decrease the Pr22 to a lower value soon.
[6] To store the result, write the data into the EEPROM.
116
When resonance peak is low, or control gain is low; and its influence does not appear on the motor speed
When plural resonance points reside in
Load
When a motor speed fluctuation having a high frequency component is caused due to a non-linear element such as backlash etc
Command pattern
When acceleration/deceleration is too sharp like 30000 [r/min] or more per 1 [s]
Name
1st speed loop gain
1st speed loop integration time constant
1st speed detection filter
1st torque filter time constant
2nd speed loop gain
2nd speed loop integration time constant
2nd speed detection filter
2nd torque filter time constant
Inertia ratio
Adaptive filter frequency
Set value
0
1
0
Caution
[1] Immediately after the first turning the servo ON at start up, or when Pr22 (Machine stiffness at real-time
auto tuning) is stated up, sometimes a noise or vibration may be generated until the load inertia is determined or the adaptive filter is stabilized. But, when the machine gets stabilized soon, there is no problem.
But, when such problem as vibration or noise continues during a period of 3 reciprocal operations, etc
occurs frequently, take the following measures.
1) Write the parameter of normal operation into the EEPROM.
2) Decrease the Pr22 (Machine stiffness at real-time auto tuning).
3) Once set up Pr21 (Real-time auto tuning set-up) to 0 to disable the adaptive filter. Then, enable the
real time auto tuning again. (resetting of inertia estimate adaptive operation)
4) Set up the notch filter manually.
* When disabling he real time auto tuning, see page 196 "Disabling of auto tuning function" in Adjust
ments.
[2] After a noise or vibration has occurred, Pr20 (Inertia ratio) and/or Pr2F (Adaptive filter frequency) may
have been changed into an extreme value. In such a case also, take the above measures.
[3] In
the results of the real time auto gain tuning, Pr20 (Inertia ratio) and Pr2F (Adaptive filter frequency) are
written into the EEPROM every 30 minutes. And auto tuning is carried out using the data as the initial value.
117
Parameter Setting
Parameters for Function Selection
Default setting is shown by [
Parameter
Parameter Name
No.
00
Axis address
Setting
range
0 15
[1]
Function/Description
In communications with a host device such as a personal computer that uses
RS232C/485 with multiple axes, you should identify to which axis the host accesses
and use this parameter to confirm axis address in terms of numerals.
At power on, settings of the rotary switch ID on the front panel (0 F) will be
programmed into parameters of the driver.
Settings of Pr00 can be changed only by means of the rotary switch ID.
01
LED display at
power up
0 15
In the initial condition after turning ON the control power, the following data displayed
on the 7-segment LED can be selected.
Setting
value
Power ON
Setting of Pr01
Control mode
0 14
118
Positional deviation
Motor revolving speed
Torque output
Control mode
I/O signal status
Error cause/record
Software version
Alarm
Regenerative load ratio
Overload load ratio
Inertia ratio
Feedback pulse sum
Command pulse sum
External scale deviation
External scale feedback pulse sum
Motor auto recognition
Control mode
The 1st Mode
The 2nd Mode*1
0
Position control
[1] Speed control
Torque control
3
Speed control
Position
4
Torque control
Position
5
Torque control
Speed
6
Semi-closed control
7
Full-closed control
8
Hybrid control
9
External encoder control
Speed
10
Semi-closed control
Speed
High-stiff equipment
11
position control
Low-stiff equipment
12
position control
Low-stiff equipment
13
speed control
14
Second full-closed control
Setting
value
Description
0
[1]
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Open
The 1st
Closed
The 2nd
10 ms or longer
Open
The 1st
10 ms or longer
<Caution>
Enter a command after 10ms or longer have passed
since C-MODE was entered.
Do not enter any command on position, speed or
torque.
Setting
range
01
[1]
Function/Description
The parameter is used to disable analog torque limit input (CCWTL, CWTL) signals.
0: Enabled
1: Disabled
Overtravel input
inhibit
01
Limit
Switch
Limit
Switch
CCWL
CWL
CCWL/CWL
Input
Input
Enable
[1]
Disable
Action
<Cautions>
1. When you set 0 to Pr04 and do not connect both CCWL and CWL inputs to COM(off), abnormal condition in which limits are exceeded in both CCW and CW
directions is detected, and the driver will then trip due to abnormal overtravel
input inhibit.
2. You can set whether or not to activate the dynamic brake when slowdown occurs
because CCW or CW overtravel input inhibit has been enabled. For details, refer
to descriptions on Pr66 (DB deactivation at overtravel input inhibit).
05
Internal/external
speed switching
02
This is equipped with the internal speed setting capability that can easily implement
speed control only through input of a contact.
Method of Setting Speed
Setting value
External speed command
[0]
Internal speed control mode (4 speeds)
1
External speed control and internal speed control mode (3 speeds)
2
This parameter sets whether
to enable or disable internal
speed setting.
There are 4 types of internal
speed commands, and each
command data should be set
to Pr53 (1st speed), Pr54 (2nd
speed), Pr55 (3rd speed), and
Pr56 (4th speed).
Block Diagram of
Internal/External Speed Setting Unit
Contact
Input
CL
INH
CN X5
30
33
1st Speed (Pr53)
2nd Speed (Pr54)
3rd Speed (Pr55)
4th Speed (Pr56)
1
Pr05
2
0
External Speed
Command
SPR
14
GND 15
AD
Converter
Speed Command
119
Setting
value
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
05
Internal/external
(Continued) speed switching
Setting
range
02
Function/Description
Switching of 4 types of internal speed
commands is executed through 2 types
of contact inputs:
1) INH (CN X5, 33-pin): Selection and
input of the 1st speed of speed setting
2) CL (CN X5, 30-pin): Selection and input
of the 2nd speed of speed setting
Internal Speed
1st Speed (Pr53)
2nd Speed (Pr54)
3rd Speed (Pr55)
4th Speed (Pr56)
CL
INH
(33-pin) (30-pin)
open
open
open
close
close
open
close
close
SRV-ON Input
ZEROSPD Input
Stop
Driving
INH Input
open
close
open
close
CL Input
open
open
2nd
Speed
close
close
Speed
1st
Speed
3rd
Speed
4th
Speed
Time
<Caution>
Using the following parameters, you can individually set acceleration time,
deceleration time, and Sigmoid acceleration/deceleration time.
In this chapter, Pr58: Setting of acceleration time
Pr59: Setting of deceleration time
Pr5A: Setting of Sigmoid acceleration/deceleration time
06
ZEROSPD input
selection
01
07
Speed monitor
(SP) selection
09
120
SP Signals
Motor Actual
Speed
Command
Speed
Setting
range
0 12
Function/Description
The parameter selects/sets a relationship between voltage output to the torque
monitor signal output (IM: CN X5 42-pin) and generated torque of the motor or
number of deviation pulses.
Setting value IM Signals Relationship between output level and torque or number of deviation pulses
Torque
[0]
3V / rated (100%) torque
1
3V / 31Pulse
2
3V / 125Pulse
No. of
3
3V / 500Pulse
Deviation
4
3V / 2000Pulse
Pulses
5
3V / 8000Pulse
6 10
Enabled under full-closed control (See P156 .)
11
3V / 200% torque
Torque
12
3V / 400% torque
09
05
ZSP output
selection
05
Absolute encoder
set up
02
0C
Baud rate of
RS232C
02
0D
Baud rate of
RS485
02
0A
0B
Baud Rate
2400bps
4800bps
9600bps
Setting value
0
1
[2]
Baud Rate
2400bps
4800bps
9600bps
121
TLC output
selection
Parameter Setting
Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning
Default setting is shown by [
Parameter
Parameter Name
No.
11
1st velocity loop
gain
Setting
range
1 3500
[35]*
Unit
Function/Description
Hz
12
13
1st speed
detection
filter
14
19
06
2nd speed
[0]*
detection filter
0 2500 0.01ms
2nd torque filter
[65]*
time constant
1A
1B
1C
1D
1st notch
frequency
1E
1 1000
[16]*
ms
06
[0]*
0 2500
[65]*
0.01ms
100 1500
[1500]
Hz
04
[2]
Setting
range
0 10000
[100]*
Unit
%
Function/Description
Defines the ratio of load inertia to the motor's rotor inertia.
Pr20 = (rotor inertia / load inertia) x 100[%]
When you execute auto gain tuning, load inertia will be estimated and
the result will be reflected in this parameter.
Pr11 and Pr19 will be set in terms of (Hz) when inertia ratio has been set
correctly. When Pr20 inertia ratio is greater than the actual ratio, setting
of the speed loop gain will increase. When Pr20 inertia ratio is smaller
than the actual ratio, setting of speed loop gain will decrease.
Note) Standard default setting in [ ] under "Setting range" and marked with * is automatically set during the
real time auto gain tuning. To manually change the value, first disable the auto gain tuning feature be
seeing page 196 "Disabling of auto tuning function" in Adjustments, and then enter the desired value.
122
Setting
range
07
Unit
Function/Description
Defines the operation mode of real-time auto tuning. Increasing the set
value (3, 6,...) provides higher response to the inertia change during
operation. However, operation may become unstable depending on the
operation pattern. Normally, set this parameter to "1" or "4".
If you set this parameter to any value other than 0, Pr27 disturbance
observer filter selection will be disabled (0). In addition, if you set the
adaptive filter to disabled, Pr2F adaptive filter frequency will be reset to 0.
When Pr20 is "0", Pr2F (Adaptive notch frequency) is reset to "0".
In the torque control mode, the adaptive notch filter is always invalid.
Setting value
Used
Not used
Degree of Changes
in Load Inertia
Hardly changes.
Changes moderately.
Changes sharply.
Hardly changes.
Changes moderately.
Changes sharply.
Adaptive Filter
Absent
Present
Absent
Present
Note that any change in this parameter will be enabled when Servo OFF
changes to Servo ON.
22
Machine stiffness
at auto tuning
0 15
[4]
25
Normal
auto tuning
motion set up
07
Revolving direction
CCW CW
CW CCW
CCW CCW
CW CW
CCW CW
CW CCW
CCW CCW
CW CW
Example) Setting this parameter to "0" provides two CCW revolutions and
two CW revolutions.
26
Disturbance
torque
compensation
gain
0 200
[0]
When the control mode is HP, LP, LS or UPF, a gain, in which the torque
command is multiplied by a disturbance torque estimate value, is set.
By setting 100 [%], a torque compensation that clears the disturbance
torque is applied.
When Pr21 real time auto tuning mode setting is altered, Pr26 changes
to 0 (disabled).
123
0
[1]
2
3
4
5
6
7
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
27
Disturbance
torque observer
filter selection
Setting
range
0 255
Unit
Function/Description
Cut-off frequency of the filter for disturbance torque observer is set.
Set value
[0]*
1 255
Cutoff Frequency
Disturbance Observer Disabled
Enabled, filter cutoff frequency [Hz] = 3.7 x setting
A larger value provides stronger disturbance suppression; but a larger operation noise is emitted. When using this
function, it is necessary to set Pr20 inertia ratio correctly. When Pr.21 real time auto tuning mode setting is altered,
Pr27 changes to 0(disabled). Also, while the real time auto tuning is enabled (Pr21 is not 0 or 7), Pr27 is fixed to 0
and the disturbance observer is disabled.
28
2nd notch
frequency
100 1500
[1500]
Hz
29
04
[2]
Select the notch width of the second resonance suppression notch filter.
Increasing the set value enlarges the notch width.
2A
0 99
[0]
Select the notch depth of the second resonance suppression notch filter.
Increasing the set value reduces the notch depth and the phase delay.
2F
Adaptive filter
frequency
0 64
[0]*
Table No. corresponding to the frequency of the applied filter is displayed. (See page 196)
When the applied filter is enabled (when Pr21 (real time auto tuning
mode setting) is 1-3,7), this parameter is set automatically and can not
be altered.
0: Filter disabled 1 - 64: Filter enabled
Before using this function, see page 196 Disabling of auto tuning function in adjustments.
When the applied filter is enabled, the parameter is stored in the EEPROM every 30 minutes. And when the applied filter is enabled at turning ON the power next time, the data stored in the EEPROM is used as
the initial value to adapt the operation.
When clearing the parameter to reset the adapted operation due to unsatisfactory operation, once set the applied filter disabled (set Pr21 (real
time auto tuning mode setting) to other than 1 - 3, 7), and make it enabled again.
Refer to Control of Vibration Damping of Adjustment volume on page 211.
Setting
range
01
Unit
Function/Description
The parameter selects switching of PI/P operation and the 1st/2nd gain
switching.
Setting value
0
[1]*
Gain Selection/Switching
The 1st Gain (Possible to switch PI/P) *1
Possible to switch the 1st/2nd gain *2
*2 For conditions of switching between the 1st and 2nd gains, refer to
Adjustment upon switching gain of Adjustment volume on page 202.
124
Setting value
[0]*
1
2
3
4
5
*1
*1
*1
Setting
range
05
Unit
Function/Description
The parameter sets conditions for switching the 1st and 2nd gains in
speed control mode.
This is same as Pr31 (position control switching mode) except for position control.
37
39
0 10000 x 166s
[0]
0 20000
[0]
0 20000
[0]
38
Speed control
switching delay
time
Speed control
switching level
Speed control
switching
hysteresis
Pulse output
logic inversion
01
In a relationship of phases of output pulse from the rotary encoder, Phase B pulse is
behind pulse A when the motor rotates in CW direction. (Phase B pulse advances
ahead of phase A pulse, when the motor rotates in CCW direction.)
Inversion of logic of phase B pulse with this parameter could invert a phase
relation of phase B pulse to phase A pulse.
IWhen Motor is Rotating
in CCW direction
Setting value
A pulse(OA)
[0]
1
4E
0 31
[0]
B pulse(OB)
Non-inverting
B pulse(OB)
Inverting
Note) Standard default setting in [ ] under "Setting range" and marked with * is automatically set during the
real time auto gain tuning. To manually change the value, first disable the auto gain tuning feature be
seeing page 196 "Disabling of auto tuning function" in Adjustments, and then enter the desired value.
125
Parameter Setting
Parameters for Speed Control
Default setting is shown by [
Parameter
Parameter Name
No.
50
Velocity
command
input gain
51
Velocity
command
input
logic inversion
Setting
Unit
range
10 2000 (r/min)/V
[500]
Function/Description
The parameter sets a relationship between voltage applied to speed control input (SPR: CN X5 14-pin) and motor speed.
CCW
Pr50 sets a gradient in a relationSpeed
ship of command input voltage and
Rated Speed
rotational speed.
Gradient of
Factory Setting
As a standard factory setting is
-10
-6
2 4 6 8 10
Pr50=500 [(r/min)/V], the relation will
Command
nput Voltage
be 3000r/min with input of 6V.
Rated Speed
<Cautions>
1.Dont apply10V or greater to speed
CW
command input (SPR).
2.When this driver is used in speed control mode and a position loop is
established external to the driver, setting Pr50 varies positional gain
of the entire servo system. You should be careful about oscillation
due to too a high setting of Pr50.
01
The parameter inverts polarity of speed command input signal (SPR). Use
this, for instance, when you wish to change the direction of rotation without
changing the polarity of a command signal on the host device side.
Direction of Motor Rotation
Setting value
CCW direction viewed from the edge of axis for (+) command
0
CW direction viewed from the edge of axis for (+) command
[1]
<Notice>
A standard factory setting of this parameter is 1. With (+) command, the
motor rotates in CW direction, and thus compatibility with the driver of
each series of conventional MINAS is achieved.
<Caution>
When you configure the servo driving system by combining the driver
set to speed control mode and external position unit, be careful as the
motor may abnormally operate unless polarity of speed command signal
from the position unit and polarity setting of this parameter agree.
52
Velocity
command
offset
2047
2047
[0]
0.3mV
126
Setting
range
20000
20000
[0]
Unit
r/min
Function/Description
The parameter directly sets the 1st to 4th speed of internal command
speed of when setting of internal speed has been enabled with the parameter speed setting internal/external switching (Pr05), to Pr53 to Pr56,
respectively, in the unit of [r/min].
<Caution>
Polarity of settings shows that of internal command speed.
CCW direction viewed from the edge of axis for (+) command
CW direction viewed from the edge of axis for () command
0 500
[300]
r/min
The parameter directly sets JOG speed in JOG run in motor trial run
mode in terms of [r/min].
For details on JOG function, refer to Trial Run (JOG) of Preparations volume on page 68.
58
Acceleration time
59
Deceleration time
2ms/
0 5000
Speed control is possible by applying acceleration/deceleration to speed
[0] (1000r/min) command in the driver in speed control mode.
When you input stepped speed command or use in internal speed setting,
0 5000
you will have soft start/soft down actions.
2ms/
[0] (1000r/min)
Speed
Command
Pr58 x 2ms/(1000r/min)
ta
Pr58 x 2ms/(1000r/min)
td
Speed
ta
td
<Caution>
When you use this in combination with a position loop external to the driver,
you should not use acceleration/deceleration time.
(Set 0 to both Pr58 and Pr59.)
5A
S-shaped
acceleration/
deceleration time
0 500
[0]
2ms
This parameter enables smooth run by adding pseudo Sigmoid acceleration/deceleration to speed control, in applications in which acceleration at
startup/stop considerably changes, thus causing a shock.
Speed
ts
ts
ta
5B
Speed command
FIR filter set up
0 31
[0]
ts
ts
td
ta
td
> ts, and
> ts
2
2
To be used in Pr5A.
Set value Select the filter for the analog speed command in the LS control mode.
+1
The filter is a moving average filter (the number of averaging: Set value + 1).
Note that a change of this parameter becomes valid after the power
supply is reset.
127
57
Parameter Setting
Parameters for Torque Control
Default setting is shown by [
Parameter
Parameter Name
No.
5E
Torque limit
Setting
range
0 500
Unit
Function/Description
Torque [%]CCW
300 (Max.)
200
When Pr5E=150
100
(Rated)
Speed
100
(Rated) (Max.)
200
300
CW
<Caution>
You cannot set this parameter to a value above a factory setting of the
system parameter (i.e., a factory set parameter that cannot be changed
through of PANATERM and panel manipulation) Maximum Output
Torque Setting. A factory setting may vary depending on a combination
of an driver and motor. For further information, refer to Pr5E Setting of
Torque Limit of Preparations volume on page 55.
Setting
range
0 20000
[50]
Unit
Function/Description
r/min
The parameter directly sets timing to an output zero speed detection output signal (ZSP: CN X5 12-pin) in terms of [r/min].
A zero speed detection signal (ZSP) is output when motor speed falls
below the speed set with this parameter Pr61.
Setting of Pr61 acts on both
CW and CCW directions, irrespective of rotating direction
of the motor.
There is hysteresis of 10rpm.
The parameter should be set to
10 or greater.
62
At-speed
0 20000
[1000]
r/min
Speed
Pr61
Pr61
CW
ON
ZSP
The parameter sets timing to output a at-speed signal (COIN;CN X5 39pin) in speed control and torque control modes in terms of rotational
speed [r/min].
When the motor speed exceeds setting of this parameter Pr62, at-speed
signal (COIN) will be output.
Setting of Pr61 acts on both
CW and CCW directions, irrespective of rotating direction
of the motor.
There is hysteresis of 10rpm.
The parameter should be set to
10 or greater.
Speed
Pr62
CCW
CW
Pr62
COIN
128
CCW
OFF
ON
Setting
range
01
Unit
Function/Description
The parameter sets whether to enable the protection against main power
source under-voltage function when you shut down the main power of
main and control power supplies.
Setting value
0
[1]
66
Dynamic breke
inhibition at
overtravel limit
01
1
07
Driving Conditions
During Deceleration After Stopped
DB
DB
DB
Free Run
Free
DB
Free
Free Run
DB
DB
DB
Free Run
Free
DB
Free
Free Run
Content of Deviation
Counter
Clear
Clear
Clear
Clear
Retention
Retention
Retention
Retention
Error response
Action
03
Driving Conditions
During Deceleration After Stopped
DB
DB
DB
Free Run
Free
DB
Free
Free Run
Content of Deviation
Counter
Clear
Clear
Clear
Clear
Sequence at
Servo-OFF
07
[0]
[0]
Error response
at main power-off
67
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
6A
Mechanical
brake delay at
motor standstill
Setting
range
0 100
[0]
Unit
Function/Description
2ms
The parameter sets time till non-energization of motor (servo free) after
the brake release signal (BRK-OFF) turns off (brake retained), at Serve
Off while the motor stops.
In order to prevent minor
movement/drop of the motor
(work) due to operation delay time of the brake (tb):
> tb.
Setting of Pr6A =
See Serve On/Off Operation
When the Motor Stops of
the timing chart on page 42.
SRV-ON
BRK-OFF
Actual Brake
OFF
ON
Release
tb
Retention
Retention
Release
Motor Energized
Energization
Nonenergization
Pr6A
See also Serve On/Off Operation When the Motor Stops of the timing
chart of Preparations volume on page 43.
6B
Mechanical
brake delay at
motor in motion
0 100
[0]
2ms
Unlike Pr6A, the parameter sets time till brake release signal (BRK-OFF)
turns off (brake retained) after motor non-energization (servo-free), at Servo off while the motor is rotating.
This should be set to prevent de- SRV-ON
ON
terioration of the brake due to
BRK-OFF
revolutions of the motor.
Release
At Servo off while the motor is rotating, time tb in the right figure Motor Energized
Energization
will be either set time of Pr6B or
time till the motor rotational
Motor Speed
speed falls below approximately
30r/min, whichever is smaller.
See Serve On/Off Operation When the Motor is
Rotating of the timing chart of on page 43.
OFF
Retention
tb
Nonenergization
30 r/min
See also Serve On/Off Operation When the Motor Stops of the timing
chart of Preparations volume on page 42.
6C
External
regenerative
resister set up
03
This parameter is set depending on whether to use regeneration resistance built in the driver, or to provide a regeneration resistance in the external (connect between RB1 and RB2 of connector CN X 2 in types A to
D, and between terminal blocks P and B2 in types E - G).
Setting
value
[0]
Regeneration
Resistance to Use
Built-in resistance
External resistance
Built-in resistance
External resistance
<Request>
When you use an external regeneration, you must install external safeguards such as a temperature fuse, etc.
Otherwise, as protection of regeneration resistance would be lost, causing
abnormal heat generation and burnout.
<Caution>
Be careful not to touch an external regeneration resistance.
While you are using an external resistance, it may become hot and scald
you. For type A, only external regeneration resistance is used.
6D
130
Main power-off
detection time
0 32767
[35]
2ms
The parameter sets time to detect shut-off when shut-off of main power
supply continues.
133
134
136
138
138
142
142
142
143
143
131
132
Pr 5C
Offset
Pr 52
Inverse Pr 5D
Gain
Input setting
Feedback pulse
OA / OB / OZ
Inverse
Pr 45
Division
Division Pr 44
When pr 02 = 5
Analog torque
Input setting
command
10bitA/D
Gain
Pr 5C
CCWTL /
TRQR
Inverse Pr 5D
Analog torque
command
16bitA/D
SPR /
TRQR
When pr 02 = 2 or 4
Pr 12
1st
differential
Pr 1B
2nd
Speed detection
Pr 13
Actual speed
monitor
Pr 20
Inertia
ratio
1st
Pr 1A
2nd
differential
Pr 56
4th
speed
Pr 19
Pr 11
Speed control
1st ratio
2nd ratio
Speed
detection filter
Sign()
Command speed
monitor
Multiplication
Absolute
(magnitude)
Pr 2A
Pr 27
Encored
receive
processing
Filter
Disturbance
observer
2nd
depth
Pr 28
Pr 29
2nd
width
PS / PS signal
Pr 5E
Pr 1C
2nd time
constant
Pr 1E
1st width
2nd
frequency
Limit
Pr 14
1st time
constant
Pr 1D
Torque f ilter
1st
frequency
Notch filter
Torque
limit
Encoder
Motor
Torque command
monitor
DIV
39 COIN+
38 COIN-
At-speed
(Pr0A)
Torque limited
(Pr09)
TLC
50
FG
44 BATT+
45
BATT-
ZSP
41 COM-
12
40
11 BRKOFF+
10 BRKOFF-
37 ALM+
36 ALM-
Servo alarm
35 S-RDY+
34 S-RDY-
Servo ready
ZEROSPD
Control mode switching 32
C-MODE
31 A-CLR
Alarm clear
VDC
12-24V
28
CL
29 SRV-ON
27 GAIN
P-operation/2nd gain
switching
Servo-ON
30
10k
CN X5
4.7k
Scaler
CZ
GND
OZ-
OZ+
OB-
OB+
OA-
OA+
GND
SIGN2
SIGN1
PULS2
1k
1k
10k
20
17
IM
SP
42
43
CWTL 18
GND
330
330
330
Torque monitor
Speed monitor
Torque command
(0 to 10V)
ZZ-phase
output
B-phase
output
A-phase
output
25
47
46
24
23
49
48
22
21
6
13
2
3
14
SPR/TRQR
GND 15
10k
CCWTL/TRQR 16
20k
220
220
PULS1
7 COM+
33 INH
CN X5 Connector
[Connections and Settings in Torque Control Mode]
CN X5 Connector
133
CN X5 Connector
Interface Circuit
Input Circuit
SI SI Connecting to
sequence input signals
1224V
7 COM+4.7k
Servo-ON or
other input
Relay
1224V
7 COM+4.7k
Servo-ON or
other input
SPR/TRQR 14
+12V
VR
-12V
R
134
20k
R
15
ADC
1
GND
CCWTL 16 10k
17 GND
CWTL 18 10k
+
10k
+
10k
ADC
2
1224V
VDC
SO2
ZSP, TLC
41 COM
Maximum rating: 30V, 50mA
VDC[V] 2.5[V]
R [k] =
10
For the recommended primary current value, check the data sheet on the equipment and photocoupler used.
PO1 Line Driver (Differential Output) Output
OA+
OA-
AM26LS31
or equivalent
21
A
22
OB+
OB-
48
49
OZ+
OZ-
23
24
AM26LS32
or equivalent
GND 25
Maximum rating:
30V, 50mA
19 CZ
25 GND
High-speed
photo coupler
(Equivalent to Toshiba TLP554)
1k
CN X5 Connector
Input signal (common) assignment to CN X5 connector pins
Input Signals (Common) and their Functions
Signal
Pin No.
Symbol
Control signal
power (+)
COM +
Control signal
power ()
41
COM
Servo-ON
29
SRV-ON
Function
I/F circuit
24VDC).
Use source voltage of 12V10% 24V10%.
Connect to () of an external power supply (12VDC to
24VDC).
The required
capacity depends on the I/O circuit
configuration. 0.5A or larger is recommended.
When this signal is connected to COM-, the dynamic brake
SI
will be released and the driver is enabled. (Servo-ON).
page 134
<Notes>
1. This signal becomes effective about two seconds after power on (see the Timing Chart).
2. Don't use this Servo-ON or Servo-OFF signal to turn on or off the motor. See page
46 "Dynamic Brake" in Preparations.
Allow at least 50ms delay after the driver is enabled before any command input is
entered.
By opening the connection to COM , the driver will be disabled(Servo-OFF) and
the current flow to the motor will be inhibited.
Operation of the dynamic brake and clearing action of the position error counter can
be selected using Pr69 (Sequence under Servo-OFF).
Control mode
switching
32
C-MODE
Pr02 value
3
4
5
CW overtravel
inhibit
CCW overtravel
inhibit
Counter clear
CWL
Speed control
Pr4D value
Meaning
0(Factory-setting)
LEVEL
EDGE
With speed setting of the 2nd selection input, you can set 4
speeds in combination with INH.
For details, see Pr05 (Speed Set-Up Switching) description.
Torque control
136
Invalid
Pin No.
Symbol
33
INH
Position control
Function
The function differs depending on the control mode.
Enter command pulse input inhibit.
You can disable this input with Pr43
(disable command pulse input inhibit).
I/F circuit
SI
page 134
Pr43 value
Meaning
1(Factory-setting) The INH signal (input) is disabled.
0
With COM closed, the pulse
command signal (PULSE SIGN) is
enabled.
With COM open, the pulse
command signal (PULSE SIGN) is
inhibited.
Speed control
Torque control
Speed zero clamp
26
With speed setting of the 1st selection input, you can set 4
speeds in combination with CL input.
For details, see Pr05 (Speed Set-Up Switching) description.
Invalid
ZEROSPD
Gain switching
27
GAIN
Connection
Function
to COM0
Speed loop: PI (Proportional / Integral) action
Open
(Factory-setting)
Speed loop: P (Proportional) action
Close
1st gain selected (Pr10, 11, 12, 13 and 14)
Open
1
2nd gain selected (Pr18, 19, 1A, 1B, 1C)
Close
To use the second gain, set Pr31 to 2.
Pr30 value
Alarm clear
31
A-CLR
137
Pr06 value
Meaning
0 (Factory-setting) ZEROSPD is disabled.
1
ZEROSPD is enabled.
CN X5 Connector
Input signal assignment to CN X5 connector pins - designation(logic)
Input Signals (Speed Control) and their Functions
Signal
Pin No.
Symbol
14
SPR/TRQR
(15)
(GND)
16
CCWTL/
TRQR*
(17)
(GND)
18
CWTL
Battery +
(17)
44
(GND)
BATT +
Battery -
45
BATT -
Speed (torque)
command
CW torque limit
Function
I/F circuit
* When the torque control mode is selected at the speed/torque switching mode (Pr02 = 5), the
No.16 pin (CCWTL/TRQR) becomes the torque command input (analogue). You can set-up the
relationship between the command voltage level and the motor torque with Pr5C (Torque Command Input Gain).
Pin No.
Symbol
37
36
35
34
11
10
ALM +
ALM
S-RDY +
S-RDY BRK-OFF +
BRK-OFF
Servo-ready output
Mechanical brake
release output
138
Function
I/F circuit
Torque in-limit
In-position/
At-speed
Pin No.
Symbol
ZSP
Z-phase output
Z-phase output
Speed monitor
output
Torque monitor
output
21
22
48
49
23
24
19
OA +
OA
OB +
OB
OZ +
OZ
CZ
43
SP
(17)
(GND)
42
IM
(17)
(GND)
PO1
page 135
PO2
page 135
AO
page 135
AO
page 135
Pin No.
Symbol
13, 15
17, 25
50
1, 2, 20
46, 47
GND
FG
Function
Signal ground in the driver
Internally isolated from the control power (COM -).
Internally connected to the earth terminal.
No connections should be made.
I/F circuit
139
In-position output
Output(transistor) turns ON when the position error is below
the preset value by Pr60 (In-Position Range).
At-speed output
Output(transistor) turns ON when the motor speed reaches
the preset value by Pr62 (At-Speed ).
Speed and
torque
B-phase output
I/F circuit
Position
A-phase output
Function
Wiring Diagram
7
29
DC
12V 24V
26
41
COM+
SRV-ON
ZEROSPD
COM
ZEROSPD switch
Close: Run
Open: Stop
Parameters
PrNo.
Pr02
Pr04
Pr06
Pr56
Pr5C
Pr5D
Parameter description
Control mode set-up
Overtravel input inhibit
ZEROSPD input selection
4th internal speed
Torque command input gain
Torque command input inversion
Value
2
1
0
Set as
required
DC
10V
15
SPR/TRQR
GND
One way
operation
For multi direction
(CW and CCW)
operation, use a
bipolar power
source.
140
Input signal
Servo-ON
CW overtravel inhibit
CCW overtravel inhibit
Speed zero clamp
Monitor
display
+A
141
Gain auto
setting
Position/speed
command
Filter auto
tuning
Position/speed
control
Torque
command
Applied
filter
Motor
Current current
control
Motor
Motor
speed
Encoder
Servo driver
Application range
Under the following conditions, the real time auto gain tuning may not function properly.
In such case, use the normal mode auto gain tuning (see page 193 "Adjustments") or manual gain tuning
(see page 197 "Adjustments").
Conditions under which the real time auto gain tuning is prevented from functioning
When the load inertia is smaller/larger than the rotor inertia
(3 times or less; or 20 times or more)
Load inertia
Load
Operation pattern
How to use
[1] Stop the motor (Servo-OFF).
[2] Set up Pr21 (Real-time auto tuning set-up) to 1 6.
Set up value before shipment is1.
Setting value
Not used
[1]
No
Little change
Change slowly
Change s haply
Used
Yes
Little change
Change slowly
No
Change s haply
Yes
Not used
When the changing degree of the load inertia is too large, set Pr21 to 3 or 6.
When the influence of resonance is conceivable, select adaptive filter YES.
[3] Set 0 2 to Pr22 (real-time auto tuning machine stiffness).
[4] Turn the servo ON to operate the machine ordinarily.
[5] To increase the response performance, gradually increase Pr22 (Machine stiffness at real-time
auto tuning). When any noise or vibration is found, decrease the Pr22 to a lower value soon.
[6] To store the result, write the data into the EEPROM.
142
Name
Name
Parameter No.
1st speed loop gain
27
Disturbance torque observer filter selection
1st speed loop integration time constant
30
2nd gain action set-up
3A
Torque control switching mode
1st speed detection filter
1st torque filter time constant
2nd speed loop gain
2nd speed loop integration time constant
2nd speed detection filter
2nd torque filter time constant
Inertia ratio
Set value
0
1
0
Caution
[1] Immediately after the first servo ON at startup or when Pr22 (machine stiffness at real-time auto tuning)
is increased, abnormal noise or oscillation may be generated before load inertia is determined. This is
not anomaly if it is stabilized shortly. However when such problems as oscillation or noise that continues
for 3 reciprocal operations or longer is encountered frequently, take the following measures:
1) Write the parameter of normal operation into the EEPROM.
2) Decrease the Pr22 (Machine stiffness at real-time auto tuning).
3) Once set up Pr21 (Real-time auto tuning set-up) to 0 to disable the adaptive filter. Then, enable the
real time auto tuning again. (resetting of inertia estimate adaptive operation)
[2] After abnormal noise or oscillation, Pr20 (inertial ratio) may be changed to an extreme value. In such a
case, also take the above measures.
[3]
Among results of real-time auto gain tuning, Pr20 (inertia ratio) is programmed into EEPROM every 30 minutes. When you turn on the power again, auto tuning will be executed using the data as initial value.
143
Parameter Setting
Parameters for Function Selection
Default setting is shown by [
Parameter
Parameter Name
No.
00
Axis address
Setting
range
0 15
[1]
Function/Description
In communications with a host device such as a personal computer that uses
RS232C/485 with multiple axes, you should identify to which axis the host accesses
and use this parameter to confirm axis address in terms of numerals.
At power on, settings of the rotary switch ID on the front panel (0 F) will be
programmed into parameters of the driver.
Settings of Pr00 can be changed only by means of the rotary switch ID.
01
LED display at
power up
0 15
In the initial condition after turning ON the control power, the following data displayed
on the 7-segment LED can be selected.
Setting
value
Power ON
Setting of Pr01
Control mode
0 14
144
Positional deviation
Motor revolving speed
Torque output
Control mode
I/O signal status
Error cause/record
Software version
Alarm
Regenerative load ratio
Overload load ratio
Inertia ratio
Feedback pulse sum
Command pulse sum
External scale deviation
External scale feedback pulse sum
Motor auto recognition
Control mode
The 1st Mode
The 2nd Mode*1
0
Position control
[1] Speed control
Torque control
3
Speed control
Position
4
Torque control
Position
5
Torque control
Speed
6
Semi-closed control
7
Full-closed control
8
Hybrid control
9
External encoder control
Speed
10
Semi-closed control
Speed
High-stiff equipment
11
position control
Low-stiff equipment
12
position control
Low-stiff equipment
13
speed control
14
Second full-closed control
Setting
value
Description
0
[1]
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Open
The 1st
Closed
The 2nd
10 ms or longer
Open
The 1st
10 ms or longer
<Caution>
Enter a command after 10ms or longer have passed
since C-MODE was entered.
Do not enter any command on position, speed or
torque.
Setting
range
01
Function/Description
In the case of linear driving, in particular, to prevent mechanical damage due to
overtraveling of work, you should provide limit switches on both ends of the axis, as
shown below, whereby driving in a direction of switch action is required to be
inhibited.
CW direction Work
CCW direction
Driver
Servo Motor
Limit
Switch
Limit
Switch
CCWL
CWL
Setting
value
CCWL/CWL
Input
Input
Enable
[1]
Disable
Action
06
ZEROSPD input
selection
01
This sets switching of enable and disable of speed zero clamp input (ZEROSPD,
CNX5 26-pin).
Setting value
[0]
1
07
Speed monitor
(SP) selection
09
SP Signals
Motor Actual
Speed
Command
Speed
145
<Cautions>
1. When you set 0 to Pr04 and do not connect both CCWL and CWL inputs to COM(off), abnormal condition in which limits are exceeded in both CCW and CW
directions is detected, and the driver will then trip due to abnormal overtravel
input inhibit.
2. You can set whether or not to activate the dynamic brake when slowdown occurs
because CCW or CW overtravel input inhibit has been enabled. For details, refer
to descriptions on Pr66 (DB deactivation at overtravel input inhibit).
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
08
Torque monitor
(IM) selection
Setting
range
0 12
Function/Description
The parameter selects/sets a relationship between voltage output to the torque
monitor signal output (IM: CN X5 42-pin) and generated torque of the motor or
number of deviation pulses.
Setting value IM Signals Relationship between output level and torque or number of deviation pulses
Torque
[0]
3V / rated (100%) torque
1
3V / 31Pulse
2
3V / 125Pulse
No. of
3
3V / 500Pulse
Deviation
4
3V / 2000Pulse
Pulses
5
3V / 8000Pulse
6 10
Enabled under full-closed control (See P156 .)
11
3V / 200% torque
Torque
12
3V / 400% torque
09
TLC output
selection
05
ZSP output
selection
05
Absolute encoder
set up
02
0C
Baud rate of
RS232C
02
0D
Baud rate of
RS485
02
0A
0B
146
Baud Rate
2400bps
4800bps
9600bps
Setting value
0
1
[2]
Baud Rate
2400bps
4800bps
9600bps
Setting
range
1 3500
[35]*
Function/Description
Hz
12
13
1st speed
detection
filter
14
19
06
2nd speed
[0]*
detection filter
0 2500 0.01ms
2nd torque filter
[65]*
time constant
1A
1B
1C
1D
1st notch
frequency
1E
1 1000
[16]*
ms
06
[0]*
0 2500
[65]*
0.01ms
100 1500
[1500]
Hz
04
[2]
Unit
Note) Standard default setting in [ ] under "Setting range" and marked with * is automatically set during the
real time auto gain tuning. To manually change the value, first disable the auto gain tuning feature be
seeing page 196 "Disabling of auto tuning function" in Adjustments, and then enter the desired value.
147
Parameter Setting
Parameters for real time auto gain tuning
Default setting is shown by [
Parameter
Parameter Name
No.
20
Inertia ratio
Setting
range
0 10000
[100]*
Unit
%
Function/Description
Defines the ratio of load inertia to the motor's rotor inertia.
Pr20 = (rotor inertia / load inertia) x 100[%]
When you execute auto gain tuning, load inertia will be estimated and
the result will be reflected in this parameter.
Pr11 and Pr19 will be set in terms of (Hz) when inertia ratio has been set
correctly. When Pr20 inertia ratio is greater than the actual ratio, setting
of the speed loop gain will increase. When Pr20 inertia ratio is smaller
than the actual ratio, setting of speed loop gain will decrease.
21
07
Setting value
0
[1]
2
3
4
5
6
7
Defines the operation mode of real-time auto tuning. Increasing the set
value (3, 6,...) provides higher response to the inertia change during
operation. However, operation may become unstable depending on the
operation pattern. Normally, set this parameter to "1" or "4".
If you set this parameter to any value other than 0, Pr27 disturbance
observer filter selection will be disabled (0). In addition, if you set the
adaptive filter to disabled, Pr2F adaptive filter frequency will be reset to 0.
When Pr20 is "0", Pr2F (Adaptive notch frequency) is reset to "0".
In the torque control mode, the adaptive notch filter is always invalid.
Real-time Auto Gain
Tuning
Not used
Used
Not used
Degree of Changes
in Load Inertia
Hardly changes.
Changes moderately.
Changes sharply.
Hardly changes.
Changes moderately.
Changes sharply.
Adaptive Filter
Absent
Present
Absent
Present
Note that any change in this parameter will be enabled when Servo OFF
changes to Servo ON.
22
Machine stiffness
at auto tuning
0 15
[4]
25
Normal auto
tuning motion
set up
07
Revolving direction
CCW CW
CW CCW
CCW CCW
CW CW
CCW CW
CW CCW
CCW CCW
CW CW
Example) Setting this parameter to "0" provides two CCW revolutions and
two CW revolutions.
148
Setting
range
0 255
Unit
Function/Description
Cut-off frequency of the filter for disturbance torque observer is set.
Set value
[0]*
1 255
Cutoff Frequency
Disturbance Observer Disabled
Enabled, filter cutoff frequency [Hz] = 3.7 x setting
A larger value provides stronger disturbance suppression; but a larger operation noise is emitted. When using this
function, it is necessary to set Pr20 inertia ratio correctly. When Pr.21 real time auto tuning mode setting is altered,
Pr27 changes to 0(disabled). Also, while the real time auto tuning is enabled (Pr21 is not 0 or 7), Pr27 is fixed to 0
and the disturbance observer is disabled.
28
2nd notch
frequency
100 1500
[1500]
Hz
29
04
[2]
Select the notch width of the second resonance suppression notch filter.
Increasing the set value enlarges the notch width.
2A
0 99
[0]
Select the notch depth of the second resonance suppression notch filter.
Increasing the set value reduces the notch depth and the phase delay.
2F
Adaptive filter
frequency
0 64
[0]*
Table No. corresponding to the frequency of the applied filter is displayed. (See page 196)
When the applied filter is enabled (when Pr21 (real time auto tuning
mode setting) is 1-3,7), this parameter is set automatically and can not
be altered.
0: Filter disabled 1 - 64: Filter enabled
Before using this function, see page 196 Disabling of auto tuning function in adjustments.
When the applied filter is enabled, the parameter is stored in the EEPROM every 30 minutes. And when the applied filter is enabled at turning ON the power next time, the data stored in the EEPROM is used as
the initial value to adapt the operation.
When clearing the parameter to reset the adapted operation due to unsatisfactory operation, once set the applied filter disabled (set Pr21 (real
time auto tuning mode setting) to other than 1 - 3, 7), and make it enabled again.
Refer to Control of Vibration Damping of Adjustment volume on page 211.
Note) Standard default setting in [ ] under "Setting range" and marked with * is automatically set during the
real time auto gain tuning. To manually change the value, first disable the auto gain tuning feature be
seeing page 196 "Disabling of auto tuning function" in Adjustments, and then enter the desired value.
149
Parameter Setting
Parameters for Switching to 2nd Gains
Default setting is shown by [
Parameter
Parameter Name
No.
30
2nd gain action
set up
Setting
range
01
Unit
Function/Description
The parameter selects switching of PI/P operation and the 1st/2nd gain
switching.
Setting value
0
[1]*
Gain Selection/Switching
The 1st Gain (Possible to switch PI/P) *1
Possible to switch the 1st/2nd gain *2
*2 For conditions of switching between the 1st and 2nd gains, refer to
Adjustment upon switching gain of Adjustment volume on page 202.
3A
Torque control
switching mode
03
The parameter selects conditions for switching between the 1st and 2nd
gains in torque control mode.
This is same as Pr31 except parts related to position and speed control.
Conditions for Switching Gains
Setting value
[0]* Fixed to the 1st gain.
1
Fixed to the 2nd gain.
With the gain switching input (GAIN) turned ON, 2nd gain is
2
selected. (Pr30 should be set to 1.)
With much variation of torque command, the 2nd gain is
3 *1
selected.
*1 For details on levels to be switched, refer to Adjustment upon switching
gain of Adjustment volume on page 202.
3B
3C
3D
Torque control
switching delay time
Torque control
switching level
Torque control
switching hysteresis
0 10000 x 166s
[0]
0 20000
[0]
0 20000
[0]
Pulse output
logic inversion
01
In a relationship of phases of output pulse from the rotary encoder, Phase B pulse is
behind pulse A when the motor rotates in CW direction. (Phase B pulse advances
ahead of phase A pulse, when the motor rotates in CCW direction.)
Inversion of logic of phase B pulse with this parameter could invert a phase
relation of phase B pulse to phase A pulse.
IWhen Motor is Rotating
in CCW direction
Setting value
A pulse(OA)
[0]
1
150
B pulse(OB)
Non-inverting
B pulse(OB)
Inverting
Setting
range
2047
2047
[0]
Unit
Function/Description
0.3mV
1) Manual adjustment
When you make offset adjustment with the driver only:
Using this parameter, set a value that prevents the motor from rotating, after you have correctly input 0V in torque command input
(SPR/TRQR) (or connected to signal ground).
When the host device establishes a position loop:
With servo locked, using this parameter, set a value so that deviation
pulse will be zero.
2) Automatic Adjustment
For details on operating instructions in automatic offset adjustment
mode, refer to Details of Execution Display of Auxiliary Function
Mode of Preparations volume on page 66.
When you execute automatic offset adjustment, result will be reflected in this parameter Pr52.
56
4th internal
speed
r/min
The parameter directly sets the 1st to 4th speed of internal command
speed of when setting of internal speed has been enabled with the parameter speed setting internal/external switching (Pr05), to Pr53 to Pr56,
respectively, in the unit of [r/min].
<Caution>
Polarity of settings shows that of internal command speed.
+
CCW direction viewed from the edge of axis for (+) command
CW direction viewed from the edge of axis for (-) command
57
0 500
[300]
r/min
5C
Torque command
input gain
10 100
[30]
0.1V/
100%
Torque CCW
Setting of
300[%]
Shipment
Time
Rated 200
Torque
100
-10V -8 -6 -4 -2
2
100
8 10V
Command
Input Voltage
200
300[%]
CW
5D
Torque command
input inversion
01
20000
20000
[0]
Parameter Setting
Parameters for Torque Control
Default setting is shown by [
Parameter
Parameter Name
No.
5E
Torque limit
Setting
range
0 500
Unit
Function/Description
Torque [%]CCW
300 (Max.)
200
When Pr5E=150
100
(Rated)
Speed
100
(Rated) (Max.)
200
300
CW
<Caution>
You cannot set this parameter to a value above a factory setting of the
system parameter (i.e., a factory set parameter that cannot be changed
through of PANATERM and panel manipulation) Maximum Output
Torque Setting. A factory setting may vary depending on a combination
of an driver and motor. For further information, refer to Pr5E Setting of
Torque Limit of Preparations volume on page 55.
Setting
range
0 20000
[50]
Unit
Function/Description
r/min
The parameter directly sets timing to an output zero speed detection output signal (ZSP: CN X5 12-pin) in terms of [r/min].
A zero speed detection signal (ZSP) is output when motor speed falls
below the speed set with this parameter Pr61.
Setting of Pr61 acts on both
CW and CCW directions, irrespective of the rotating direction of the motor.
Speed
CCW
Pr61
Pr61
CW
ON
ZSP
62
At-speed
0 20000
[1000]
r/min
The parameter sets timing to output a at-speed signal (COIN;CN X5 39pin) in speed control and torque control modes in terms of rotational
speed [r/min].
When the motor speed exceeds setting of this parameter Pr62, at-speed
signal (COIN) will be output.
Speed
Pr62
CCW
CW
Pr62
COIN
152
OFF
ON
Setting
range
01
Unit
Function/Description
The parameter sets whether to enable the protection against main power
source under-voltage function when you shut down the main power of
main and control power supplies.
Setting value
0
[1]
66
Dynamic breke
inhibition at
overtravel limit
01
[0]
1
Error response
at main power-off
07
67
Setting
value
[0]
1
2
3
4
5
6
7
Driving Conditions
During Deceleration After Stopped
DB
DB
DB
Free Run
Free
DB
Free
Free Run
DB
DB
DB
Free Run
Free
DB
Free
Free Run
Content of Deviation
Counter
Clear
Clear
Clear
Clear
Retention
Retention
Retention
Retention
Error response
action
03
Driving Conditions
During Deceleration After Stopped
DB
DB
DB
Free Run
Free
DB
Free
Free Run
Content of Deviation
Counter
Clear
Clear
Clear
Clear
Sequence at
Servo-OFF
07
[0]
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
6A
Mechanical brake
delay at
motor standstill
Setting
range
0 100
[0]
Unit
Function/Description
2ms
The parameter sets time till non-energization of motor (servo free) after
the brake release signal (BRK-OFF) turns off (brake retained), at Serve
Off while the motor stops.
In order to prevent minor
movement/drop of the motor
(work) due to operation delay time of the brake (tb):
> tb.
Setting of Pr6A =
See Serve On/Off Operation
When the Motor Stops of
the timing chart on page 42.
SRV-ON
BRK-OFF
Actual Brake
OFF
ON
Release
tb
Retention
Retention
Release
Motor Energized
Energization
Nonenergization
Pr6A
See also Serve On/Off Operation When the Motor Stops of the timing
chart of Preparations volume on page 43.
6B
Mechanical brake
delay at
motor in motion
0 100
[0]
2ms
Unlike Pr6A, the parameter sets time till brake release signal (BRK-OFF)
turns off (brake retained) after motor non-energization (servo-free), at Servo off while the motor is rotating.
This should be set to prevent de- SRV-ON
ON
terioration of the brake due to
BRK-OFF
revolutions of the motor.
Release
At Servo off while the motor is rotating, time tb in the right figure Motor Energized
Energization
will be either set time of Pr6B or
time till the motor rotational
Motor Speed
speed falls below approximately
30r/min, whichever is smaller.
See Serve On/Off Operation When the Motor is
Rotating of the timing chart of on page 43.
OFF
Retention
tb
Nonenergization
30 r/min
See also Serve On/Off Operation When the Motor Stops of the timing
chart of Preparations volume on page 42.
6C
External
regenerative
resister set up
03
This parameter is set depending on whether to use regeneration resistance built in the driver, or to provide a regeneration resistance in the external (connect between RB1 and RB2 of connector CN X 2 in types A to
D, and between terminal blocks P and B2 in types E - G).
Setting
value
[0]
Regeneration
Resistance to Use
Built-in resistance
External resistance
Built-in resistance
External resistance
<Request>
When you use an external regeneration, you must install external safeguards such as a temperature fuse, etc.
Otherwise, as protection of regeneration resistance would be lost, causing
abnormal heat generation and burnout.
<Caution>
Be careful not to touch an external regeneration resistance.
While you are using an external resistance, it may become hot and scald
you. For type A, only external regeneration resistance is used.
6D
154
Main power-off
detection time
0 32767
[35]
2ms
The parameter sets time to detect shut-off when shut-off of main power
supply continues.
170
175
175
179
180
180
184
155
(Speed
detection)
Position
command
Controller
Position
detection
Linear scale
< linear scale division ratio <
For division ratio of a linear scale, we recommend 1/16 =
=32.
Control mode
Full-closed control of the AIII series provides four control modes as listed below.
In order to maintain compatibility with the Matsushita A-series, full-closed control, hybrid control and external encoder control modes are given.
In AIII series, it is recommended to use second full-closed control mode. For each control mode, see also
Block Diagram by Control Mode of Preparations volume on page 298.
Control mode
Position
control
Speed
control
Full-closed control
External
scale
Encoder
Hybrid control
Encoder/
external
scale
Encoder
External encoder
control
External
scale
External
scale
Second full-closed
control
External
scale
Encoder
156
Characteristics
A control in which external scale position is used as feedback for
position control, and encoder (motor) speed is used as feedback for
speed control.
Be careful that the unit of the ordinary position control and the unit of
position loop gain are different from each other.
A mixed control mode of full-closed control and semi-closed control.
When the full-closed control mode is used, in case of low machine
stiffness, compared to semi-closed control mode, there may be a case
that sufficient control gain can not be obtained resulting in a failure in
obtaining required operation.
Hybrid control is a control mode that provides both of response
performance of the semi-closed control mode and accuracy of fullclosed control mode in which, while the semi-closed control is always
performed, position command is corrected on the basis of a deviation
between the encoder and the external scale at predetermined timing
when the machine comes to a stop.
A control mode in which both position control and speed control uses
external scale position/speed as feedback data.
Although second full-closed control mode is the same as the full-closed
control mode in the point that external scale position is used as
feedback for position control and encoder (motor) speed is used as
feedback for speed control, the unit of the position loop gain is
the same as that of the ordinary position control mode. Torsion
correction function using Pr7B and Pr7C and status feedback function
using Pr7C-Pr7E are available.
Corresponding
Encoders
2500 P/r
17-bit
2500 P/r
17-bit
2500 P/r
17-bit
Only 17-bit
During normal operation at the reference speed (Pr70) or higher speed, both speed control and position
control are based on the encoder's feedback signal (as in the semi-closed control mode). If the reference
speed or lower speed continued for the specified period (Pr71), high-precision positioning is performed
through position correction based on the external scale's feedback signal for the specified control period
(Pr72).
Normally, even if the mechanical stiffness between the motor and external scale is low, stable operation is
ensured as in the semi-closed control mode. During positioning control, the servo driver corrects position
data through the external scale, enabling high-precision positioning.
Set Pr70 (hybrid switching speed) and Pr71 (hybrid switching time) so that correction will start when vibration of the motor at setting deadens.
Input a command pulse based on the external scale's reference signal.
<CAUTION>
(1) Note that the command multiply division ratio of full-closed specification differs from that of semiclosed control mode because command 1 pulse is one pulse of an external scale.
(2) If the ratio of the encoder pulse to the external scale pulse is large (x20 or more), or the ratio cannot
be defined by Pr74 to Pr76, particularly when moving distance is long, the internal position error
data may overflow, resulting in a position error. Adjust the mechanical and control systems so that
the position error for each encoder does not exceed 32767.
157
Full-closed control
mode
1
0
With the above parameter settings, the gain for the speed control mode, and the gain for the
external encoder control mode are fixed to "Gain 1" (P10 to Pr14) and "Gain 2" (Pr18 to Pr1C),
respectively.
(3) When the control mode is switched between the external encoder control mode and the speed
control mode, speed data may rapidly change. To prevent a trouble during the switching time, stop
the motor before switching the control mode. (Mode switching time: 1 to 5 ms)
Although speed loop gain (Pr19) when the external encoder control is selected is actually used in
the control to setting [Hz], it differs from:
Speed Loop Gain (Pr19) x
Be careful because oscillation may take place, in particular, when the number of external scale
pulse is greater than that of encoder pulses per revolution of the motor, or when it is too small.
(4) If you set control mode setting parameter Pr02 = 9, 10, and switch to speed control, in particular,
functions of I/O ports will also be switched simultaneously. Thus, refer to List of Function Switching by Control Mode of Interface Connector CN X5 and be careful in using.
158
Pr 49
Pr 4A
Pr 4B
4th
numerator
Numerator
magnification
Denominator
Pr 42
Selection
Denominator
Pr 45
Denominator
Pr 7A
Division
Pr 79
Numerator
Inverse
Pr 75
Pr 76
Numerator
magnification
External scale
correction
Numerator Pr 74
Pr 4C
Smoothing
Selection
Division
Division Pr 44
Position
deviation monitor
Pr 78
Output
selection
Pr 48
3rd
numerator
Pr 41
Inverse
Mode
Command
speed monitor
Pr 47
2nd
numerator
Pr 40
Input setting
Division gradual
increase
1st
numerator Pr 46
Gradual
increase
Feedback pulse
OA / OB / OZ
Pulse
string
PULS
SIGN
1st
2nd
Pr 18
Pr 10
Position
control
Full-closed
deviation monitor
Pr 16
Full-closed control
mode
Pr 15
Gain
Filter
Speed feed
foreword
Pr 1B
Speed detection
1st
Speed
detection filter
2nd
Pr 13
+
+ +
Actual speed
monitor
Pr 20
Pr 1A
2nd
differential
Inertia
ratio
Pr 19
Pr 12
1st
differential
2nd ratio
Pr 11
Speed control
1st ratio
Pr 2A
External scale
receive processing
Encoder
receive
processing
Pr 29
2nd width
Pr 5E
Pr 1C
Pr 14
PS / PS
signal
Limit
2nd time
constant
Pr 1E
Pr 28
1st time
constant
Torque filter
Pr 1D
2nd depth
2nd
frequency
1st width
1st
frequency
Notch filter
External
scale
Encoder
Motor
Torque command
monitor
159
CN X5 Connector
Functional selection of interface connector CN X5 by control mode
Input Circuit
Signal
Pin
(symbol)
No.
SPR/TRQR
14
CCWTL/T
16
7:
6:
circuit Semi-closed Full-closed
control
control
AI
AI
RQR
CWTR
I/F
18
AI
8:
Hybrid
control
9:
Parameter
10:
14:
Speed
Speed
command
command
CCW
CCW
CCW
CCW
CCW
CCW
torque limit
torque limit
torque limit
torque limit
torque limit
torque limit
CW
CW
CW
CW
CW
CW
torque limit
torque limit
torque limit
torque limit
torque limit
torque limit
PULS1.2
3,4
PI
Command pulse Command pulse Command pulse /Command pulse /Command pulse Command pulse
SIGN1.2
5,6
PI
Command sign Command sign Command sign /Command sign /Command sign Command sign
SRV-ON
29
SI
Servo on
Servo on
Servo on
Servo on
Servo on
Servo on
GAIN
27
SI
P action
P action
P action
1st gain
P action
P action
(2nd gain)
(2nd gain)
(2nd gain)
fixed
/2nd gain
fixed
DIV
28
SI
ZEROSPD
26
SI
CL//INTSP
30
SI
Command div/
Command div/
Command div/
Command div/
related to port
setting
Speed command
enabled with
Pr05=0.2
CCW torque limit
enabled with
Pr03=0
CW torque limit
enabled with
Pr03=0
Pr30=0 : P
(2nd gain) action changeover
(2nd gain)
Pr30=1 and
changeover changeover
Pr31= 2, Pr36=2,
Pr3A=2 : 2nd gain
change over
Command div/
multi changeover 1 multi changeover 1 multi changeover 1 multi changeover 1 multi changeover 1
D2
Speed zero Speed zero Speed zero Speed zero Speed zero
clamp
clamp
clamp
Counter
Counter
Counter
clear
clear
clear
Command
Scale error
clamp
Counter
clamp
selection 2/
clear
33
SI
pulse
PDI/SC-
input disable
ERR
C-MODE
32
CWL/SMO
OTH
Control mode
changeover
Smoothing
Smoothing
SI
filter
filter
filter
disable
SI
Command div/
Command div/
Command div/
CCW drive
Alarm clear
SI
Control mode
changeover
Control mode
changeover
CW drive
CCWL/DI
V2
A-CLR
SI
Alarm clear
35,34
SI
Servo ready Servo ready Servo ready Servo ready Servo ready Servo ready
S-RDY+,-
disable
Mode specific
Pr31=1,
precautions
Pr36=0
Precautions common
to modes
execute the control mode at 0: position control mode. In this case, be careful
because functions of the above ports will also be switched.
2) Pr50, 51 can set speed command input gain/reverse and Pr5C/5D can set
torque command input gain/reverse.
3) Pr77=1 disables scale error input.
160
CW drive disable is
active with Pr04=0
CCW drive disable is
active with Pr04=0
Output Circuit
Signal
(symbol)
ALM+,COIN+,-
Pin
I/F
6:
No. circuit Semi-closed
control
37,36 SO1 Servo alarm
39,38 SO1 Positioning
complete
BRKOFF+,ZSP
TLC
IM
SPM
Positioning
complete
12
40
42
43
AO
21,22 PO1
48,49 PO1
complete
related to port
setting
positioning
complete
complete
complete
Pr60 sets
positioning compte;
Pr62 sets
reached speed
19
PO2
Torque
Torque
Torque
Torque
Torque
Torque
limited
limited
limited
limited
limited
limited
Torque
Torque
Torque
Torque
Torque
Torque
monitor
monitor
monitor
monitor
monitor
monitor
Speed
Speed
Speed
Speed
Speed
Speed
monitor
monitor
monitor
monitor
Encoder
Encoder
Phase A
Phase A
phase A)
phase A)
Encoder
Encoder
Phase B
Phase B
phase B)
phase B)
Encoder
Encoder
Phase Z
Phase Z
phase Z)
phase B)
Encoder
Encoder
Phase Z
Phase Z
phase Z)
phase Z)
phase Z)
monitor
Pr09 selects
output type
Pr08 selects the range
of command torque/
positional deviation/
external scale deviation
Pr07 selects the range
of actual speed/
command speed
1) In the above control modes, you cannot use frequency characteristics analysis
from auto gain tuning or PANATERM. If you wish to use it, execute the
control mode at 0: position control mode. In this case, be careful because
functions of the above ports will also be switched.
161
Full-closed control
mode
23,24 PO1
Precautions common
to modes
detect
phase Z)
CZ
14:
detect
phase B)
OZ+,-
Parameter
10:
phase A)
OB+,-
9:
11,10 SO1 External brake External brake External brake External brake External brake External brake
release
release
release
release
release
release
monitor
OA+,-
7:
8:
Full-closed
Hybrid
control
control
Servo alarm Servo alarm
CN X5 Connector
Interface Circuit
Input Circuit
SI SI Connecting to
sequence input signals
1224V
7 COM+4.7k
Servo-ON or
other input
PI PI Command pulse
input circuit
VDC
R value
1k 1/2W
24V
2k 1/2W
1224V
7 COM+4.7k
Servo-ON or
other input
1)
AM26LS31or equivalent
3 PULS1
4
Relay
220
PULS2
5 SIGN1
6 220
13 SIGN2
GND
2)
3 PULS1
R
4 PULS2
220
5 SIGN1
R
VDC
VDC 1.5 .
=. 10mA
R + 220
6 SIGN2
220
GND
13
SPR/TRQR 14
+12V
VR
-12V
R
162
20k
R
15
ADC
1
GND
CCWTL 16 10k
17 GND
CWTL 18 10k
+
10k
+
10k
ADC
2
1224V
VDC
SO2
ZSP, TLC
41 COM
Maximum rating: 30V, 50mA
VDC[V] 2.5[V]
R [k] =
10
For the recommended primary current value, check the data sheet on the equipment and photocoupler used.
PO1 Line Driver (Differential Output) Output
Provides differential outputs of encoder signals (A, B and
Z phases) that come from the scalar.
Receive these signals with a line receivers. In this case,
install a resistor of approx. 330 between the inputs.
These outputs are non-insulated signals.
AM26LS32
or equivalent
OA+
OA-
AM26LS31
or equivalent
21
A
22
OB+
OB-
48
49
OZ+
OZ-
23
24
GND 25
Full-closed control
mode
Maximum rating:
30V, 50mA
19 CZ
25 GND
High-speed
photo coupler
(Equivalent to Toshiba TLP554)
1k
CN X5 Connector
Connector CN X4
Power supply for the external scale should be prepared by the user. Alternatively, encoder power supply
shown below can be used (250 mA max.).
Application
Encoder power supply output
Connector
pin No.
1, 2
3, 4
Function
7-Wire
E0V
+5V power source
Battery (+)
Battery (+)
(for absolute encoder)
Battery ()
(for absolute encoder)
Encoder/external scale signal input
(phase A)
Encoder/external scale signal input
(phase B)
Encoder/external scale signal input
(phase Z)
Encoder signal I/O
(Serial signal)
Battery ()
7
8
9
10
11
12
17
18
EXA
EXA
EXB
EXB
EXZ
EXZ
PS
PS
Frame ground
20
FG
<NOTE>
"0 V" of the encoder power supply output is connected to the ground terminal of the control circuit that
is connected to Connector X5 .
<Requests>
1) Pins Nos. 13, 14, 15, 16 and 19 (not listed above) must not be connected.
2) When you use the absolute encoder or absolute/incremental-shared encoder as an incremental
encoder, you do not have to connect battery between 5- and 6-pin.
Connector CN X5
When the Pr02 control mode is set to one of 6-10 and full-closed control mode is selected, some pin functions are changed. For pin function changes, see the table below and pages 160 and 161 "Functional
selection of interface connector CN X5 by control mode".
Pin No.
Symbol
7
41
13,15
17,25
50
29
COM +
COM
GND
FG
SRV-ON
Control mode
changeover input
32
C-MODE
31
A-CLR
Control signal
power supply
Signal ground
Frame ground
Serve on input
164
Function
Positive terminal of control signal power supply (12 ~ 24 V)
Negative terminal of control signal power supply (12 ~ 24 V)
Driver circuit signal ground.
This is a signal ground internal to the driver.
Enables Servo-on when it is connected to COM.
I/F circuit
SI
page 162
With Pr02 (control mode setting) set to 3, 4, 5, 9, and 10,
SI
when connection with COM- is open and then the 1st control page 162
mode shorts, the 2nd control mode will be selected.
Clears the alarm condition and returns to operation mode
SI
when connected to COM. (This pin is active only when there page 162
is an alarm that can be cleared.)
See page 216 "Protective functions" in "Encountering
Difficulties?"
Pin No.
Symbol
CCWL/
DIV2
Function
I/F circuit
Pin 28 DIV
Pin 9 DIV2(CCWL)
Open
Open
Open
Short circuit
x2
x2
x2
Short circuit
x2
CWL/
SMOOTH
Gain changeover
input
27
GAIN
Reserved for
manufacturer
CW torque limit
input
CCW torque limit
input
1
2
18
16
CCWTL
/TRQR
26
ZEROSPD
Speed command
input
14
SPR/TRQR
CWTL
SI
page 162
SI
page 162
SI
page 162
SI
page 162
165
Full-closed control
mode
CW drive disable
input
CN X5 Connector
Signal
Pin No.
Symbol
28
DIV
Command
dive./multi.
changeover input
Function
I/F circuit
Command div./multi.setting
Pin 9 DIV2(CCWL)
Pin 28 DIV
Open
Open
Short circuit
Open
x2
x2
x2
Short circuit
x2
Command pulse
input disable
33
INH/
INTSPD1
/SC-ERR
Counter clear
30
CL/
INTSPD2
166
2
Speed setting 1st speed
(Pr53)
Speed setting 2st speed
(Pr54)
Speed setting 3st speed
(Pr55)
Analog speed command
(CN X5 pin 14)
2
Speed setting 1st speed
(Pr53)
Speed setting 2st speed
(Pr54)
Speed setting 3st speed
(Pr55)
Analog speed command
(CN X5 pin 14)
Command sign
input
Absolute encoder
battery
Pin No.
Symbol
PULS1
PULS2
SIGN1
SIGN2
44
BATT+
45
BATT
Function
I/F circuit
Function
I/F circuit
Symbol
Servo alarm
output
Servo ready output
37
36
35
34
39
38
ALM+
ALM
S-RDY+
S-RDY
COIN+
COIN
11
10
BRK-OFF+
BRK-OFF
40
(41)
12
(41)
21
22
48
49
23
24
19
43
TLC
(COM)
ZSP
(COM)
OA+
OA
OB+
OB
OZ+
OZ
CZ
SP
Torque motor
signal
42
IM
Reserved
for manufacturer
Reserved
for manufacturer
46
47
20
TX+
TX
Positioning
complete
/speed achieved
output
External brake
release output
Torque limiting
output
Zero speed detect
output
Pulse
Phase A
output
Phase B
Phase Z
Phase Z
Speed monitor
signal
SO1
page 163
Turns on as control/main power supply are established
SO1
without alarm condition.
page 163
In full-closed control/hybrid control/external encoder control,
SO1
the output signal turns ON when a value of the external scale page 163
deviation counter falls within the range set by Pr60
(positioning completion range). It also turns ON when a
value of the deviation counter falls within the range set by
Pr60 in semi-closed control/position control.
In speed control, the signal turns ON when the motor actual
speed reaches speed set by Pr62 (Reached Speed).
This output signal controls the external mechanical brake.
SO1
Configure the external circuit which releases the brake when page 163
this signal turns on.
Selects the signal output by Pr09 (TLC output select).
SO1
With the default setting, outputs this signal at 0.
page 163
Selects the signal output by Pr0A (ZSP output select).
SO1
With the default setting, outputs this signal at 1.
page 163
Output the divided encoder differential output or external
PO1
scale differential output pulse through the line driver.
page 163
Logical relationship between phase A pulse and phase B
PO1
pulse can be selected by Pr45 (pulse output logic reverse). page 163
PO1
page 163
Open collector signal output with respect to common GND.
PO1
Selects the analog signal to be monitored by using Pr07
AO
(speed monitor select).
page 163
Factory setting is 3 which outputs motor actual speed in
approx. 6 V/3000 rpm/min.
Positive voltage is for CCW and negative voltage for CW.
The output impedance is 1 k.
Selects the analog signal to be monitored by using Pr08
AO
(torque monitor select).
page 163
Factory setting is 0 which outputs command torque of
approx. 3 V/rated torque to the motor.
Positive voltage is for CCW and negative voltage for CW.
The output impedance is 1 k.
Not available for the user.
167
Full-closed control
mode
Signal
CN X4
DS26C32ATM
or equivalent
External scale
2k
EXA
220
EXA
2k
43k
Twisted pair
cable
2k
EXB
EXB
43k
220
2k
10
43k
Twisted pair
cable
2k
EXZ
EXZ
43k
43k
11
220
2k
12
Twisted pair
cable
43k
1,2
168
Motor
White
Red
Pink
1
2
Light blue
Violet
Yellow/green
4
5
3
1
2
3
4
5
6
7
8
9
10
11
12
17
18
20
172161-1
172169-1
Servo motor (Tyco Electronics AMP) (Tyco Electronics AMP)
E0V
E0V
E5V
E5V
BTP-0
BTN-0
EXA
EXA
EXB
EXB
EXZ
EXZ
PS
PS
FG
0V
+5V
Regulator
Black
Driver
Twisted
pair cable
External scale
Power supply to
external scale
Note: Pins 5 and 6 should be left unused the encoder is incremental type.
Junction cable
Motor
Driver
T
S
K
L
J
Straight plug
MS3106B20-29S
Cable clamp
MS3057-12A
(Japan Aviation
Servo motor Electronics Industry)
E0V
E0V
E5V
E5V
BTP-0
BTN-0
EXA
EXA
EXB
EXB
EXZ
EXZ
PS
PS
FG
0V
+5V
Regulator
1
2
3
4
5
6
7
8
9
10
11
12
17
18
20
Twisted
pair cable
External scale
Power supply to
external scale
Note: Pins 5 and 6 should be left unused the encoder is incremental type.
169
Parameter Setting
Parameters for Function Selection
Default setting is shown by [
Parameter
Parameter Name
No.
00
Axis address
Setting
range
0 15
[1]
Function/Description
In communications with a host device such as a personal computer that uses
RS232C/485 with multiple axes, you should identify to which axis the host accesses
and use this parameter to confirm axis address in terms of numerals.
At power on, settings of the rotary switch ID on the front panel (0 F) will be
programmed into parameters of the driver.
Settings of Pr00 can be changed only by means of the rotary switch ID.
01
LED display at
power up
0 15
In the initial condition after turning ON the control power, the following data displayed
on the 7-segment LED can be selected.
Setting
value
Power ON
Setting of Pr01
Control mode
0 14
170
Positional deviation
Motor revolving speed
Torque output
Control mode
I/O signal status
Error cause/record
Software version
Alarm
Regenerative load ratio
Overload load ratio
Inertia ratio
Feedback pulse sum
Command pulse sum
External scale deviation
External scale feedback pulse sum
Motor auto recognition
Control mode
The 1st Mode
The 2nd Mode*1
0
Position control
[1] Speed control
Torque control
3
Speed control
Position
4
Torque control
Position
5
Torque control
Speed
6
Semi-closed control
7
Full-closed control
8
Hybrid control
9
External encoder control
Speed
10
Semi-closed control
Speed
High-stiff equipment
11
position control
Low-stiff equipment
12
position control
Low-stiff equipment
13
speed control
14
Second full-closed control
Setting
value
Description
0
[1]
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Open
The 1st
Closed
The 2nd
10 ms or longer
Open
The 1st
10 ms or longer
<Caution>
Enter a command after 10ms or longer have passed
since C-MODE was entered.
Do not enter any command on position, speed or
torque.
Setting
range
01
[1]
Function/Description
The parameter is used to disable analog torque limit input (CCWTL, CWTL) signals.
0: Enabled
1: Disabled
Overtravel input
inhibit
01
Limit
Switch
Limit
Switch
CCWL
CWL
Setting
value
CCWL/CWL
Input
Input
Enable
[1]
Disable
Action
07
Speed monitor
(SP) selection
09
SP Signals
Motor Actual
Speed
Command
Speed
171
Full-closed control
mode
<Cautions>
1. When you set 0 to Pr04 and do not connect both CCWL and CWL inputs to COM(off), abnormal condition in which limits are exceeded in both CCW and CW
directions is detected, and the driver will then trip due to abnormal overtravel
input inhibit.
2. You can set whether or not to activate the dynamic brake when slowdown occurs
because CCW or CW overtravel input inhibit has been enabled. For details, refer
to descriptions on Pr66 (DB deactivation at overtravel input inhibit).
3. Work may repeat vertical motion as a result of absence of upward torque after you
turned off the limit switch on the upper side of work on the vertical axis. In such a
case, you should not use this function, and instead execute limit processing on the
host controller side.
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
08
Torque monitor
(IM) selection
Setting
range
0 12
Function/Description
The parameter selects/sets a relationship between voltage output to the torque
monitor signal output (IM: CN X5 42-pin) and generated torque of the motor or
number of deviation pulses.
Setting value
[0]
1
2
3
4
5
6
7
8
9
10
11
12
09
TLC output
selection
05
ZSP output
selection
05
Absolute encoder
set up
02
0C
Baud rate of
RS232C
02
0D
Baud rate of
RS485
02
0A
0B
172
IM Signals Relationship between output level and torque or number of deviation pulses
Torque
3V / rated (100%) torque
3V / 31Pulse
No. of
3V / 125Pulse
Deviation
3V / 500Pulse
Pulses
3V / 2000Pulse
3V / 8000Pulse
3V / 31Pulse
No. of
3V / 125Pulse
full-closed
3V / 500Pulse
deviation
3V / 2000Pulse
pulse
3V / 8000Pulse
3V / 200% torque
Torque
3V / 400% torque
Baud Rate
2400bps
4800bps
9600bps
Setting value
0
1
[2]
Baud Rate
2400bps
4800bps
9600bps
Setting
range
0 32767
[63]*
1 3500
[35]*
Function/Description
1/s
Hz
12
13
1st speed
detection
filter
14
15
Velocity feed
forward
16
Feed forward
filter
time constant
18
2nd speed
06
detection filter
[0]*
2nd torque filter
0 2500 0.01ms
time constant
[65]*
100 1500
1st notch
Hz
frequency
[1500]
19
1A
1B
1C
1D
1E
1 1000
[16]*
ms
06
[0]*
0 2500
[65]*
0.01ms
2000
2000
[300]*
0 6400
[50]*
04
[2]
0.1%
0.01ms
173
Full-closed control
mode
Unit
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
20
Inertia ratio
Setting
range
0 10000
[100]
Unit
%
Function/Description
Defines the ratio of load inertia to the motor's rotor inertia.
Pr20 = (rotor inertia / load inertia) x 100[%]
When you execute auto gain tuning, load inertia will be estimated and
the result will be reflected in this parameter.
Pr11 and Pr19 will be set in terms of (Hz) when inertia ratio has been set
correctly. When Pr20 inertia ratio is greater than the actual ratio, setting
of the speed loop gain will increase. When Pr20 inertia ratio is smaller
than the actual ratio, setting of speed loop gain will decrease.
26
*1
Disturbance
torque
compensation
gain
0 200
[0]
When the control mode is HP, LP, LS or UPF, a gain, in which the torque
command is multiplied by a disturbance torque estimate value, is set.
By setting 100 [%], a torque compensation that clears the disturbance
torque is applied.
When Pr21 real time auto tuning mode setting is altered, Pr26 changes
to 0 (disabled).
27
*1
Disturbance
torque observer
filter selection
0 255
Cutoff Frequency
Disturbance Observer Disabled
Enabled, filter cutoff frequency [Hz] = 3.7 x setting
A larger value provides stronger disturbance suppression; but a larger operation noise is emitted. When using this
function, it is necessary to set Pr20 inertia ratio correctly. When Pr.21 real time auto tuning mode setting is altered,
Pr27 changes to 0(disabled). Also, while the real time auto tuning is enabled (Pr21 is not 0 or 7), Pr27 is fixed to 0
and the disturbance observer is disabled.
28
2nd notch
frequency
100 1500
[1500]
Hz
29
04
[2]
Select the notch width of the second resonance suppression notch filter.
Increasing the set value enlarges the notch width.
2A
0 99
[0]
Select the notch depth of the second resonance suppression notch filter.
Increasing the set value reduces the notch depth and the phase delay.
Setting
range
01
Unit
Function/Description
The parameter selects switching of PI/P operation and the 1st/2nd gain
switching.
Setting value
0
[1]*
Gain Selection/Switching
The 1st Gain (Possible to switch PI/P) *1
Possible to switch the 1st/2nd gain *2
*2 For conditions of switching between the 1st and 2nd gains, refer to
Adjustment upon switching gain of Adjustment volume on page 202.
174
*3
*3
*3
*3
*3
*3
*3
*3
Setting
range
0 10
Unit
Function/Description
The parameter selects conditions of switching the 1st and 2nd gains in
position control mode.
32
33
34
0 10000 x 166s
[30]*
0 20000
[50]*
0 20000
[33]*
The parameter sets delay time of deviation from switching conditions set
with Pr31 to actual return to the 1st gain.
The parameter is enabled when Pr31 is set to 3 8, and sets a determination level when No.1 and No.2 gain are switched.
The parameter sets width of hysteresis to be provided above and under
the judgment level set with Pr33 mentioned above.
The following figure shows definitions of the above-mentioned Pr32 (delay), Pr33 (level) and Pr34 (hysteresis).
Pr33
Pr34
0
1st Gain
2nd Gain
1st
Pr32
<Caution>
Settings of Pr33 (level) and Pr34 (hysteresis) are enabled as an absolute
value (positive/negative).
35
Position gain
switching time
0 10000 (Setting +1) The parameter sets stepped switching time only for position loop gain
upon switching gains when the 2nd gain switching function has been en[20]* x 166s
abled.
166
166s
(Example)
Kp1(Pr10)<Kp2(Pr18)
166
166
Kp2(Pr10)
3
2
Pr35= 0
Kp1(Pr18)
1st Gain
2nd Gain
1st Gain
Switching time should be provided only when a small position loop gain
is switched to a large position loop gain (Kp1 > Kp2). (This is to alleviate impact on the machine due to rapid change of gain.)
You should set a value smaller than a difference of Kp2 and Kp1.
175
Full-closed control
mode
Position control
switching delay time
Position control
switching level
Position control
switching
hysteresis
Parameter Setting
Parameters for Position Control
Default setting is shown by [
Parameter
Parameter Name
No.
40
Command pulse
multiplier set up
Setting
range
14
Function/Description
The parameter sets a multiply when 2-phase pulse input has been selected as a
command pulse form with Pr42 (command pulse input mode setting).
Multiply when 2-phase pulse is input
x1
x2
x4
Setting value
1
2
3 or [4]
41
Command pulse
logic inversion
03
Each of logics of 2 pulse command input (PULS, SIGN) systems can be individually
set inside the driver.
Setting value
[0]
1
2
3
42
Command pulse
input mode
03
The parameter sets an input form of a command pulse to be given from the host
device to the driver. Three types of forms listed in the following table can be set.
Make selection in accordance with specifications of the host device.
Command
CW Command
Setting value
Signal Name CCW Command
pulse form
t1
0 or 2
PULS
SIGN
CW pulse train
+
CCW pulse train
PULS
SIGN
Pulse train
+
symbols
PULS
SIGN
t1
t1
t1
Phase A
90 phase difference
Two-phase pulse
(Phase A + Phase B)
[1]
Phase B
t1
t1
t1
Phase B advances 90
ahead of phase A.
t1
Phase B delays 90
from phase A
t3
t2 t2
t2 t2
t4 t5
t4 t5
H
t6
t6 t6
t6
Allowed maximum input frequency and required minimum time width of command pulse input signal
Input I/F of
PULS/SIGN signals
Allowed maximum
input frequency
500kpps
200kpps
2.5
2.5
2.5
2.5
2.5
Pulse rise/fall time of command pulse input signal should be set to no more than 0.1s.
43
Command pulse
inhibit input
invalidation
01
INH Input
Enable
Disable
With INH input, connection with COM- will be open, and command pulse input will
be inhibited. If you do not use INH input, set 1 to Pr43. You no longer need to
connect INH (CN 1/F 33-pin) and COM- (41-pin) external to the driver.
176
Pulse output
logic inversion
01
In a relationship of phases of output pulse from the rotary encoder, Phase B pulse is
behind pulse A when the motor rotates in CW direction. (Phase B pulse advances
ahead of phase A pulse, when the motor rotates in CCW direction.)
Inversion of logic of phase B pulse with this parameter could invert a phase
relation of phase B pulse to phase A pulse.
IWhen Motor is Rotating
in CCW direction
Setting value
A pulse(OA)
[0]
1
46
47
48
49
4B
Command
Pulse
f
x2
Denominator (Pr4B)
0 17
[0]
Internal
Command
F
Feedback
Pulse
(Resolution)
To Deviation
Counter
10000P/rev
or 217P/rev
An upper limit of computed value of a numerator will be 2621440. Note that even
when you set a value higher than this, it will become invalid and 2621440 will be a
numerator.
*1: Select the 1st or 2nd numerator by means of command multiply division switch1 10000
ing (DIV:CN X5 28-pin).
[10000]
DIV Off
Select the first numerator (Pr46).
DIV ON
Select the second numerator (Pr47).
*2: 3rd and 4th numerators are used for special specifications such as full-closed
specification. For further information, refer to Full-Closed Control volume on
page 156.
<Examples of Setting>
It is basic to have a relation a motor rotates once with command input (f) for resolution of an encoder when the multiply division ratio is 1.
Therefore, to rotate the motor once as an example of the case in which the encoder
has resolution of 10000P/r, f=5000Pulse at multiply of 2 and f=40000Pulse at 1/4
division should be input.
Pr46, Pr4A and Pr4B should be set so that internal command after multiply division
will be equal to resolution of the encoder (i.e., 10000 or 217).
F = f x Pr46 x 2 Pr4A = 10000 or 217
Pr4B
F: Number of internal command pulses for one revolution of the motor
f: Number of command pulses for one revolution of the motor
177
Full-closed control
mode
4A
1st numerator of
command
pulse ratio
2nd numerator of
command
pulse ratio
3rd numerator of
command
pulse ratio
4th numerator of
command
pulse ratio
Multiplier of
numerator of
command pulse
ratio
Denominator of
command pulse
ratio
B pulse(OB)
Non-inverting
B pulse(OB)
Inverting
Parameter Setting
Parameter
Parameter Name
No.
46
(Continued) 1st numerator of
command
pulse ratio
2nd numerator of
47
command
pulse ratio
3rd numerator of
48
command
pulse ratio
4th numerator of
49
command
pulse ratio
Multiplier of
4A
numerator of
command pulse
ratio
Denominator of
4B
command pulse
ratio
4C
Smoothing filter
1 10000
[10000]
07
A smoothing filter is a primary delay filter inserted after command multiply division
unit of command pulse input unit.
Purpose of Smoothing Filter:
Basically, it is to alleviate stepped movement of the motor when a command
pulse is rough.
Following are the specific examples in which a command pulse becomes rough:
1) When a multiply ratio is set for command multiply division (10 times or higher)
2) When command pulse frequency is low in some cases
A time constant of the smoothing filter should be set in 8 steps with Pr4C.
4D
Counter clear
input
01
Setting value
0
[1]
Time constant
No filter function
Small time constant
The parameter sets clear conditions of counter clear input signal for clearing the deviation counter (CL: CNX5 30-pin).
Setting value
[0]
1
Clear Conditions
Clear at level (*1).
Clear at edge (falling edge).
178
100s or longer
Setting
range
0 500
[300]
Unit
r/min
Function/Description
The parameter directly sets JOG speed in JOG run in motor trial run
mode in terms of [r/min].
For details on JOG function, refer to Trial Run (JOG) of Preparations volume on page 68.
Setting
range
0 500
Unit
Function/Description
Torque [%]CCW
300 (Max.)
When Pr5E=150
200
100
(Rated)
Speed
100
(Rated) (Max.)
200
300
CW
179
Full-closed control
mode
<Caution>
You cannot set this parameter to a value above a factory setting of the
system parameter (i.e., a factory set parameter that cannot be changed
through of PANATERM and panel manipulation) Maximum Output
Torque Setting. A factory setting may vary depending on a combination
of an driver and motor. For further information, refer to Pr5E Setting of
Torque Limit of Preparations volume on page 55.
Parameter Setting
Parameters for various sequences
Default setting is shown by [
Parameter
Parameter Name
No.
60
In-position range
Setting
range
0 32767
[131]
Unit
Function/Description
Pluse
61
Zero speed
0 20000
[50]
r/min
The parameter directly sets timing to an output zero speed detection output signal (ZSP: CN X5 12-pin) in terms of [r/min].
A zero speed detection signal (ZSP) is output when motor speed falls
below the speed set with this parameter Pr61.
Setting of Pr61 acts on both
CW and CCW directions, irrespective of rotating direction
of the motor.
There is hysteresis of 10rpm.
The parameter should be set to
10 or greater.
63
Position error
set up
1 32767
[25000]
CCW
Speed
Pr61
Pr61
CW
ZSP
ON
<Note>
Note that setting this Pr63 too small, in particular, when positional gain
is set low might activate protection against excessive positional deviation even though there was no abnormality.
64
Position error
invalidation
01
180
Setting
range
01
Unit
Function/Description
The parameter sets whether to enable the protection against main power
source under-voltage function when you shut down the main power of
main and control power supplies.
Setting value
[0]
Dynamic breke
inhibition at
overtravel limit
01
The parameter sets driving conditions at decelerated operation after overtravel input inhibit (CCWL: connector CN X5 9-pin or CWL: connector CN
X5 8-pin) has been activated and enabled.
Setting value
[0]
1
67
Error response
at main power-off
07
Content of Deviation
Counter
Clear
Clear
Clear
Clear
Retention
Retention
Retention
Retention
Error response
action
03
Driving Conditions
During Deceleration After Stopped
DB
DB
DB
Free Run
Free
DB
Free
Free Run
Content of Deviation
Counter
Clear
Clear
Clear
Clear
181
Full-closed control
mode
Setting
value
[0]
1
2
3
4
5
6
7
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
69
Sequence at
Servo-OFF
6A
Mechanical brake
delay at
motor standstill
Setting
range
07
[0]
0 100
[0]
Unit
2ms
Function/Description
The parameter sets:
1) Driving conditions during deceleration or after stop
2) Processing to clear the deviation counter
following Servo off (SRV-ON signal: CN X5 29-pin turns On Off).
A relationship between setting of Pr69 and driving conditions/deviation
counter processing conditions is similar to that of Pr67 (Sequence at
Main Power Off).
See also Serve On/Off Operation When the Motor Stops of the timing
chart of Preparations volume on page 42.
The parameter sets time till non-energization of motor (servo free) after
the brake release signal (BRK-OFF) turns off (brake retained), at Serve
Off while the motor stops.
In order to prevent minor
movement/drop of the motor
(work) due to operation delay time of the brake (tb):
> tb.
Setting of Pr6A =
See Serve On/Off Operation
When the Motor Stops of
the timing chart on page 42.
SRV-ON
BRK-OFF
Actual Brake
OFF
ON
Release
tb
Retention
Retention
Release
Motor Energized
Energization
Nonenergization
Pr6A
See also Serve On/Off Operation When the Motor Stops of the timing
chart of Preparations volume on page 43.
6B
Mechanical brake
delay at
motor in motion
0 100
[0]
2ms
Unlike Pr6A, the parameter sets time till brake release signal (BRK-OFF)
turns off (brake retained) after motor non-energization (servo-free), at Servo off while the motor is rotating.
This should be set to prevent de- SRV-ON
ON
terioration of the brake due to
BRK-OFF
Release
revolutions of the motor.
At Servo off while the motor is ro- Motor Energized
Energization
tating, time tb in the right figure
will be either set time of Pr6B or
time till the motor rotational Motor Speed
speed falls below approximately
30r/min, whichever is smaller.
See Serve On/Off Operation When the Motor is
Rotating of the timing chart of on page 43.
OFF
Retention
tb
Nonenergization
30 r/min
See also Serve On/Off Operation When the Motor Stops of the timing
chart of Preparations volume on page 42.
182
Setting
range
03
Unit
Function/Description
This parameter is set depending on whether to use regeneration resistance built in the driver, or to provide a regeneration resistance in the external (connect between RB1 and RB2 of connector CN X 2 in types A to
D, and between terminal blocks P and B2 in types E - G).
Setting
value
[0]
Regeneration
Resistance to Use
Built-in resistance
External resistance
Built-in resistance
External resistance
<Request>
When you use an external regeneration, you must install external safeguards such as a temperature fuse, etc.
Otherwise, as protection of regeneration resistance would be lost, causing
abnormal heat generation and burnout.
<Caution>
Be careful not to touch an external regeneration resistance.
While you are using an external resistance, it may become hot and scald
you. For type A, only external regeneration resistance is used.
6D
Main power-off
detection time
0 32767
[35]
2ms
The parameter sets time to detect shut-off when shut-off of main power
supply continues.
Setting
range
1 20000
[10]
Unit
Function/Description
r/min
71
*2
Hybrid shifting
delay time
0 10000
[0]
2ms
72
*2
Hybrid control
period
1 10000
[10]
2ms
73
74
Numerator of
external ratio
1 10000 Resolution Defines the allowable difference between the current motor position and
the current position of the external scale, when an external scale is used
[100] of external
for control.
scale
Defines the numerator of the ratio of encoder pulse to external scale pulse.
1 10000
The actual numerator is the nth power of the numerator of the external
[1]
scale pulse ratio (Pr74) multiplied by 2. (n = Set value)
The upper limit of the actual numerator calculation is 131072. If the
calculated value exceeds this limit, it becomes invalid, and the actual
numerator is set to 131072.
This parameter must be changed during Servo-OFF.
183
Full-closed control
mode
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
75
Multiplier of
numerator of
external scale
ratio
76
77
Denominator of
external scale
ratio
Scale error
cancel
Setting
range
0 17
[17]
Unit
Function/Description
2n
Defines the numerator of the ratio of encoder pulse to external scale pulse.
The actual numerator is the nth power of the numerator of the external
scale pulse ratio (Pr74) multiplied by 2. (n = Pr75 Set value)
The upper limit of the actual numerator calculation is 131072. If the
calculated value exceeds this limit, it becomes invalid, and the actual
numerator is set to 131072.
This parameter must be changed during Servo-OFF.
1 10000
[10000]
03
EXZ disconnection
Enabled
Enabled
Disabled
Disabled
In full-closed control, hybrid control, external encoder control, or 2nd fullclosed control mode, original signal for the pulse output signal (X5 0A+:
21-pin, 0A-: 22-pin, 0B+: 48pin, 0B-: 49-pin) is selected.
0: External scale (EXA, EXB, EXZ-phase) 1: Encoder (A, B, Z-phase)
In a control mode other than the above, this parameter is disabled and
encoder (A, B, Z-phase) outputs pulses.
Numerator of
1 10000
external scale
[10000]
pulse output ratio
Defines the numerator of the pulse output scale ratio when Pr78 (Pulse
output selection) is set to "0".
Set up this parameter so that the scale ratio is "1" or less.
7A
Denominator of
1 10000
external scale
[10000]
pulse output ratio
7B
*1
Torsion
correction gain
2000
2000
[0]
1/s
Difference (torsion amount) between the motor and load position is filtered
through a high-pass filter detemined by Pr7C; and the obtained value is
multiplied by this gain and is sbtracted from the speed command.
Note) When using Pr7B, set Pr7D and Pr7E to 0.
7C
*1
Torsion/
Differential speed
detection filter
0 255
[0]
3.7Hz
Defines the high-pass filter's response to the torsion multiplied by the Pr7B
set value, and the low-pass filter's response to the differential speed
multiplied by the Pr7E set value.
0: Disabled 1 to 255: Enabled
The filter's cutoff frequency is (Set value x 3.7 [Hz]).
7D
Torsion feedback
gain
2047
2047
[0]
7E
Differential speed
feedback gain
2047
2047
[0]
Difference (differential speed) between the motor and load speed is filtered
through a low-pas filter determined by Pr7C; and the obtained value is
multiplied by this gain/2 and is added to torque command (2000 = rated
torque).
Note) When using Pr7D and Pr7E, set Pr7B to 0.
78
Pulse output
selection
79
01
[0]
184
SC-ERR
Enabled
Disabled
Enabled
Disabled
[Adjustments]
page
198
200
200
201
201
202
204
206
Gain tuning
Gain Adjustment
Purposes of
The motor is required to act per any command without any time delay, or without missing any commands.
To provide the motor operation more resemble to the command pulse and obtain the best performance of
the machine, perform gain adjustment.
<Example: ball screw>
Gain set-up: low
+2000 +2000
Command
Speed
Actual velocity
-2000 -2000
(r/min) (r/min) 0.0
125
250
375
:
:
:
:
:
20
100
50
0
100
0.0
125
250
375
:
:
:
:
:
0.0
100
50
50
0
100
125
250
375
:
:
:
:
:
100
50
50
50
100
Is auto tuning
executed?
Yes
Is command input
possible?
Yes
Setting before
shipment
No
No
Adaptive filter
Is operation OK?
No
Yes
Is operation OK?
No
Yes
Does load
characteristics
fluctuate?
Yes
(Basic)
Basic procedure
(Application)
Instantaneous speed observer
Damping control
No
Disturbance observer
Auto tuning function
release
Is operation OK?
No
Yes
Write to EEPROM
Tuning completion
186
[Adjustments]
Function
tuning
Manual
tuning
Refaerence
Page
P.188
P.189
P.190
P.193
P.196
P.197
P.198
P.200
P.200
P.201
P.201
P.202
P.204
P.206
P.207
P.207
P.208
Adjustments
This function estimates machine's load inertia in real time, and automatically specifies the optimum gain according to the result.
This function estimates resonance frequency from the frequency component appearing in motor speed in actual operating condition, and reAdaptive filter
duces vibration at resonance point by automatically specifying the
coefficient of the notch filter that eliminates resonance component from
torque command.
To improve accuracy of real-time automatic gain tuning for position
control, this function automatically searches for the gain that provides
Fit gain function
the shortest stabilization time when operation of a specified pattern is
repeatedly input.
When the motor is operated based on a command pattern automatically generated by the driver, this function estimates load inertia from the
Normal mode automatic gain tuning
torque required for the operation, and automatically specifies the optimum gain.
This function indicates precautions for executing real-time automatic
Disabling of auto tuning function
gain tuning with default settings, or for disabling the adaptive filter.
If automatic gain tuning cannot be executed because of limitation on
Manual gain tuning (Basic)
control mode or load condition, or to ensure the maximum response
according to each load, manual tuning should be executed.
For position control
For speed control
Basic procedure
For torque control
For full-closed control
For hybrid control
By switching gain based on internal data or external signal, this funcGain switching function
tion can reduce vibration at stop, shorten stabilization time, and improve command follow-up performance.
When mechanical stiffness is low, resonance due to axial torsion may
generate vibration or sound, disabling higher gain setting. In such a
Mechanical resonance suppression
condition, this function can suppress resonance by using two types of
filters.
This function initializes control parameter or gain switching parameter
Automatic gain setting function
to the value defined depending on automatic tuning stiffness parameter
before execution of manual tuning.
When specifications cannot be satisfied through basic tuning, the folManual gain tuning (Application)
lowing application tuning functions are available to improve performance.
This function improves the speed detection accuracy by estimating the
Instantaneous speed observer
motor speed with a load model, to ensure balance between high response speed and reduction in vibration at stop.
This control method maintains position error at nearly "0", and sets the
positioning stabilizing time to "0" by improving position command folCommand follow-up control
low-up performance through position integration and feedforward control.
When vibration occurs with the end of the machine, this function elimDamping control
inates vibration frequency component from command to suppress vibration.
When resonance vibration occurs, this function estimates the axial torque between the motor and load, and corrects the motor torque so that
Resonance ratio control
the torsion can be reduced, thus lowering the resonance peak to suppress vibration.
Using disturbance torque value estimated by the disturbance observer,
Disturbance observer
this function reduces influence of disturbance torque to suppress vibration.
Through addition or subtraction of encoder position and external scale
Torsion correction/status feedback position data with speed command or torque command, this function
reduces the torsion between the motor and load to suppress vibration.
Automatic
Description
P.211
P.212
P.213
P.214
<Note>
Pay extra attention to safety.
If the machine enter to oscillation ( abnormal sound and vibration) , shut off the power immediately, or
change to Servo-OFF.
187
Position/speed
control
Torque
command
Applied
filter
Motor
Current current
control
Motor
Filter auto
tuning
Gain auto
setting
Position/speed
command
Motor
speed
Encoder
Servo driver
Pr02=3:Position/speed control
Pr02=4: Position/torque control
Pr02=5: Speed/torque control
Application range
Under the following conditions, the real time auto gain tuning may not function properly.
In such case, use the normal mode auto gain tuning (see page 193 "Adjustments") or manual gain tuning(see
page 197 "Adjustments").
Conditions under which the real time auto gain tuning is prevented from functioning
When the load inertia is smaller/larger than the rotor inertia
(3 times or less; or 20 times or more)
Load inertia
Load
Operation pattern
How to use
[1] Stop the motor (Servo-OFF).
[2] Set up Pr21 (Real-time auto tuning set-up) to 1 6.
Set up value before shipment is1.
Setting value
Not used
[1]
No
Little change
2
3
Change slowly
Used
Yes
Change s haply
Little change
Change slowly
No
Change s haply
Yes
Not used
[Adjustments]
Description of the adaptive filter
By setting Pr21 (Real-time auto tuning set-up) to 1 3 or 7, the adaptive filter is enabled.
In an actual operation state, resonance frequency is estimated based on the vibration component, which
appears in motor speed, and resonance point vibration is reduced by removing resonance component from
the torque command by the adaptive filter.
The adaptive filter may not function normally under the following conditions. In such a case, take anti-resonance measures using the 1 st . notch frequency (Pr1D and 1E) or second notch filter (Pr28 ~ 2A) in accordance with the manual tuning procedure.
For further information on the notch filter, refer to To Reduce the Mechanical Resonance on page 204.
Conditions under which the adaptive filter is prevented from functioning
When the resonance frequency is 300 [Hz] or less
Resonance point
When resonance peak is low, or control gain is low; and its influence does not appear on the motor speed
When plural resonance points reside in
Load
When a motor speed fluctuation having a high frequency component is caused due to a non-linear element such as backlash etc
Command pattern
When acceleration/deceleration is too sharp like 30000 [r/min] or more per 1 [s]
Name
1st position loop gain
1st velocity loop gain
1st velocity loop integration time constant
1st speed detection filter
1st torque filter time constant
2nd position loop gain
2nd velocity loop gain
2nd velocity loop integration time constant
2nd speed detection filter
2nd torque filter time constant
Inertia ratio
Adaptive filter frequency
Name
Velocity feed forward
Feed forward filter time constant
1st position integration gain
2nd position integration gain
Disturbance torque observer filter selection
2nd gain action set-up
Position control switching mode
Position control switching delay time
Position control switching level
Position control switching hysteresis
Position loop gain switching time
Speed control switching mode
Torque control switching mode
Set value
300
50
0
0
0
1
10
30
50
33
20
0
0
Caution
189
Adjustments
[1] Immediately after the first turning the servo ON at start up, or when Pr22 (Machine stiffness at real-time
auto tuning) is stated up, sometimes a noise or vibration may be generated until the load inertia is
determined or the adaptive filter is stabilized. But, when the machine gets stabilized soon, there is no
problem. But, when such problem as vibration or noise continues during a period of 3 reciprocal operations, etc occurs frequently, take the following measures.
1) Write the parameter of normal operation into the EEPROM.
2) Decrease the Pr22 (Machine stiffness at real-time auto tuning).
* 3) Once set up Pr21 (Real-time auto tuning set-up) to 0 to disable the adaptive filter. Then, enable the
real time auto tuning again. (resetting of inertia estimate adaptive operation)
* 4) Set up the notch filter manually.
* When disabling he real time auto tuning, see page 196 "Disabling of auto tuning function" in Adjust
ments.
[2] After a noise or vibration has occurred, Pr20 (Inertia ratio) and/or Pr2F (Adaptive filter frequency) may
have been changed into an extreme value. In such a case also, take the above measures.
[3]
Among results of real-time auto gain tuning, Pr20 (Inertia ratio) and Pr2F (Adaptive filter frequency) are programmed into EEPROM every 30 minutes. When you turn on the power again, auto tuning will be executed
using the data as initial value.
Level 1 Search
Level 2 Search
Applicable range
This function cannot be applied unless the following conditions, in addition to those for applying real-time
auto gain tuning conditions, are met.
Real time auto gain
tuning operation
Control mode
Operation pattern
Others
Before Use
Before starting the fit gain function, set the following with parameter set mode on the front panel or setup
assisted software PANATERM:
Parameter
Pr21
(Real-time auto tuning mode
setting)
Pr22 (Real-time auto tuning
machine stiffness selection)
Pr23
(Fit gain function mode setting)
Pr23
(Positioning completion range)
190
Set value
Any of 1 to 3:
1: Almost no change in load inertia and the adaptive filter enabled.
2: Moderate change in load inertia and the adaptive filter enabled.
3: Sharp change in load inertia and the adaptive filter enabled.
0: Real-time stiffness No.0
1: Level 1 (stiffness) search
2: Level 2 (optimal gain) search
In the case of a 17-bit encoder, it shall be 20 pulses or more.
In the case of a 2500 P/r encoder, it shall be 10 pulses or more.
Remarks
The parameters shown to
the left can also be set in
execution display of the
real-time auto gain tuning
screen on the front panel.
(See page 63)
[Adjustments]
Operating Instructions
Operating Procedures
1) Change the display on the front panel to execution display of real-time auto gain tuning
screen. (For details on manipulations on the
front panel, see pages 57 and 65.)
2) Holding down
on the front panel for about
3 seconds, start the fit gain function.
3) Give a position command that satisfies operating pattern condition of scope on page 190.
(Caution 1)
In the fit gain operation, there will be about 50
reciprocal operations at the maximum in level
1 search, and about 250 operations at the
maximum in level 2 search. Normally, the fit
gain function ends when searching of optimal
real-time stiffness No. and fine-tuning of gain
are completed.
Execution Display
(When Pr23=1)
SET button
When the fit gain function normally ends, data on real-time stiffness No. and gain will be saved in Pr24 (fit
gain function tuning result). If you wish to apply the result obtained through fit gain after power reset,
program it into EEPROM (See the description below).
If you do not apply the result, program into EEPROM after clearing the fit gain result with the following
procedures:
191
Adjustments
Name
1st position loop gain
1st velocity loop gain
1st velocity loop integration time constant
1st speed detection filter
1st torque filter time constant
2nd position loop gain
2nd velocity loop gain
2nd velocity loop integration time constant
2nd speed detection filter
2nd torque filter time constant
Inertia ratio
Machine stiffness at auto tuning
Adaptive filter frequency
Position control switching level
Position control switching hysteresis
Name
Velocity feed forward
Feed forward filter time constant
1st position integration gain
2nd position integration gain
Disturbance observer filter setting
2nd gain action set-up
Position control switching mode
Position control switching delay time
Position loop gain switching time
Speed control switching mode
Torque control switching mode
Set value
300
50
0
0
0
1
10
30
20
0
0
Cautions
During fit gain operation, some sound or vibration may be generated. Normally, they will cause no problem,
because gain will be lowered automatically. However, sound or vibration continues, press any button on the
front panel to suspend fit gain.
In addition, if abnormal behavior occurs after execution fit gain, change Pr23 (fit gain function mode setting)
to 0 (disable) or clear the result of fit gain on the fit gain screen.
192
[Adjustments]
Motor Acceleration
Position Command
Normal Mode
Auto Gain Tuning
Load Inertia
Estimation
Generation of
Internal Position
Command
Gain Automatic
Adjustment Torque
Position/Speed Command
Control
Motor
Electric Current Motor
Current
Control
Motor Toque
Motor
Speed
Applicable range
Servo Driver
Encoder
Others
Servo-ON status
Deviation counter clear signal is not inputted.
Cautions
Under the following conditions, normal mode auto gain tuning may not function normally.
In such case, set up the data in manual gain tuning mode.
Conditions under which normal mode auto gain tuning is prevented from functioning.
Load inertia is smaller/larger than the rotor inertia
Load inertia
Load
Be very careful of the safety. If vibration occurs, turn OFF the power or the servo
promptly, and return the gain to the set value before shipment with the parameter.
193
Adjustments
When an error, servo-OFF or deviation counter clear has occurred during auto gain tuning operation, it
results in a tuning error.
Even when the auto gain tuning has carried out, when it has failed in estimating the load inertia value, the
gain value is not changed and the previous data remains as it was.
Motor output torque during auto gain tuning operation is permitted up to the maximum output torque that
has been set up by Pr5E (torque limit set-up), and CW/CCW drive prohibition input is ignored.
How to oprate
[1] Set the operation pattern to Pr25.
[2] Move
the load to a position where is safe even when the motor performs a operation pattern set up by Pr.25.
[3] Prohibit the command.
[4] Turn the servo ON.
[5] Start the auto gain tuning operation.
Start the operation using the front panel or PANATERM.
For operating instructions of the front panel, refer to the next page.
[6] Adjust the machine stiffness number so that a desired response is obtained within a level in which any
vibration does not occur.
[7] When no problem is found in the result, write the data into the EEPROM.
194
Pr No.
Name
Pr No.
Pr10
Pr11
Pr12
Pr13
Pr14
Pr18
Pr19
Pr1A
Pr1B
Pr1C
Pr20
Pr15
Pr16
Pr17
Pr1F
Pr30
Pr31
Pr32
Pr33
Pr34
Pr35
Pr36
Pr3A
Pr7B
Pr7C
Pr7D
Pr7E
Name
Velocity feed forward
Feed forward filter time constant
1st position integration gain
2nd position integration gain
2nd gain action set up
Position control switching mode
Position control switching delay time
Position control switching level
Position control switching hysteresis
Position loop gain switching time
Velocity control switching mode
Torque control switching mode
Torsion correction gain
Torsion and Differential speed detection filter
Torsion feedback gain
Differential speed feedback gain
Set value
300
50
0
0
1
10
30
50
33
20
0
0
0
0
0
0
[Adjustments]
Operation on front panel
1) Select the Normal Auto Gain Tuning Mode.
Press SET button once and press MODE
switching button three times.
See page 56 "Operating procedure" in
Preparations.
2) Press
or
button to select the
stiffness of the machine.
Driving method
Machine Stiffness No.
8 14
Ball screw direct connection
6 12
Ball screw + timing belt
4 10
Timing belt
28
Gear, or rack & pinion
28
Other machines with low stiffness
3) Press
button to turn to the
monitor/execution mode.
4) Operation at the monitor/execution mode:
Keep pressing
button until
appears.
The connector CN X5 29-pin is in servo ON state.
Pr1D (notch frequency) is set to 1500.
Keep pressing
button
(approx. three seconds).
The horizontal bar increases as shown in the right figure.
Adjustments
<Caution>
DDo not use the motor driver alone for normal mode auto gain tuning. Pr20 (inertia ratio) will be 0.
<Notes>
Symptom
Error message
displayed
Cause
Either one of Alarm, ServoOff or Position Error Counter
Clear activated.
The load inertia cannot be
calculated.
Remedy
Avoid operation near the limit switch or home position sensor.
Turn to Servo-ON.
Cancel the Position Error Counter Clear.
Retry by changing Pr10 to 10, and Pr11 to 50.
Execute the manual adjustment.
Cautions
When you disable the auto adjustment function, do so while the motor stops its operation
(servo off).
Pr2F
Pr2F
1800 (1499)
22
766
44
326
1731 (1499)
23
737
45
314
1666 (1499)
24
709
46
302
1602 (1499)
25
682
47
290
1541 (1499)
26
656
48
279
1482
27
631
49
269
1426
28
607
50
258
1372
29
584
51
248
1319
30
562
52
239
1269
31
540
53
230
10
1221
32
520
54
221
11
1174
33
500
55
213
12
1130
34
481
56
205
13
1087
35
462
57
197
14
1045
36
445
58
189
15
1005
37
428
59
182
16
967
38
412
60
175
17
930
39
396
61
169
18
895
40
381
62
162
19
861
41
366
63
156
20
828
42
352
64
150
21
796
43
339
* By executing the copy function when Pr2 Fis set up to 0-4, the frequency within the ( ) is set up
196
[Adjustments]
MINAS- AIII series provides the above d escribed auto gain tuning function. However, theremay be a case
that fine tuning is required when it is failed to obtain a desired gain aftercarrying out the auto gain tuning due
to the load conditions etc; or in a case that the optimumresponse performance or stability is required in
accordance with the respective loads, and soon.
In this section, the steps of manual gain tuning will be described on each control mode andfunction.
Before Adjustment
Although adjustment is possible with the motor (machine) behavior or sound, you can achieve quick and
reliable adjustment by observing analog waveforms using the monitor function.
1. Analog Monitor Output
You can measure motor actual speed, command speed, torque and number of deviation pulses by using
the oscilloscope at analog voltage level. Use Pr07 (speed monitor selection) and Pr08 (torque monitor
selection) to set a type of signal to be output or output voltage level.
For further information, refer Wiring to Connector CN X5 and Parameter Settings for each control mode.
2. Waveform Graphic Function of PANATERM
You can measure command to the motor and behavior of the motor (speed, torque, and deviation pulse)
as waveforms on the display of personal computer. For details, refer to Outline of Setup Assisted Software PANATERMof Reference volume on page 236.
RS-232C cable
1k
42
IM
1k
* Note
Connect to
CN X6
(not CN X7)
43
SP
17
CN X5
Adjustments
Adjust the
1) Speed loop gain Pr11.
< 2 x speed loop gain Pr11 as guidance of operation.
2) Position loop gain, Pr10 =
3) Once the position loop gain Pr10 > 5 x speed loop gain Pr11, hunting or oscillation may occur.
<Note>
You cannot adjust the current loop gain.
Position
Speed
Torque
Full
closed
loop
Control mode
Position
Semi-closed
Position for high-stiffness equipment
Position for low-stiffness equipment
Speed
Speed forlow-stiffness equipment
Torque
Full closed loop
Hybrid
External encoder
Second full-closed
197
198
[Adjustments]
(B) When the vibration frequency is 600 Hz 1500 Hz
Set up the 1st notch frequency (Pr1D) to the value of vibration frequency.
When the vibration is not reduced, slightly change the value of Pr1D and 1E.
Resonance peak can be measured using the frequency characteristic function of the set up support
software PANATERM. Set up the notch filter so as to reduce the resonance peak.
When vibration of 600Hz or more is still generated, set up the 1st torque filter time constant (Pr14) to
a larger value.
(C) When the vibration frequency is 400 600Hz
Measure the resonance frequency using the frequency characteristic function etc of the set up
support software PANATERM.
Set up the 1st notch frequency (Pr1D) to the value of resonance frequency.
Measure the frequency characteristics again and check that the resonance peak is reduced.
When the resonance peak is not reduced, adjust the 1st notch width selection (Pr1E) and the 1st
notch frequency (Pr1D) so that the resonance peak is reduced.
As for vibration of which resonance peak is in low frequency and is lower than the anti- resonance
frequency, set the 1st speed loop gain (Pr11) to a smaller value.
When the resonance frequency falls in approx. 350 450 Hz, increase the value of the 1st speed
loop gain (Pr11) and set the notch filter at a point that vibration begin to be generated. The vibration
may be reduced.
When the vibration is not reduced, disable the notch filter. Determine the value of the first speed loop
gain as the upper limit value.
[5] Setting of torque filter time constant
When any operation noise is heard, gradually increase the value of the 1st torque filter time
constant (Pr14).
To increase the response, gradually reduce the value of the 1st torque filter time constant
(Pr14) and increase the value of the 1st speed loop gain (Pr11).
As a reference value of the minimum value, it is recommended to set the value, for the absolute encoder (7-core 17-bit), to10; for the incremental encoder (5-core 2500P/r), to 25.
[6] Setting of 1st speed detection filter (Pr13)
199
Adjustments
To increase the response, gradually reduce the value of the 1st speed detection filter (Pr13)
and increase the value of the 1st speed loop gain (Pr11).
In the case that high frequency noise is generated when the value of the 1st speed detection
filter (Pr13) is reduced, measure the resonance frequency using the waveform graphic function
etc of the Matsushita set up support software PANATERM and adjust the notch filter in step [4]
or the torque filter in step [5].
Speed control system of the MINAS- AIII series is as shown in the f ollowing block diagram (see page 106).
The tuning steps in speed control is almost the same as that of the position control mode in page 198.
Excluding the setting of [7] position loop gain and [9] speed feed forward, follow the steps [1] [6] and [8] t
carry out the tuning.
200
[Adjustments]
Tuning of full closed loop control mode
Full-closed control system of the MINAS-AIII series is as shown in the following block diagram (see page 159).
In the full-closed control mode, excluding the cautions (difference in command unit, unit conversion of the
position loop gain is necessary and difference in command division scale ratio etc) as described in page 156
"Full-closed control", the tuning can be carried out by following the same steps as "Tuning of position control
mode" in page 198.
In this section, the setting of the external scale ratio, the hybrid error and the hybrid control in the initial
setting of the full-closed control will be described.
Pr74 1 x 2
Pr74 5000
If the ratio is incorrect, the difference between the position calculated from the encoder pulse and the
position calculated from the external scale pulse is increased. Particularly, when it is driven a long
distance, a hybrid error (Err25) occurs.
201
Adjustments
Hybrid control is a control mode intended to ensure the response performance during operation and the
external scale accuracy during a stop, in which, while constantly operating in semi-closed control mode,
and after a motor stop, the difference between the external scale position and the encoder position is
calculated at a specific period and is added to the position command as the correction command.
In a state that the command pulse is not fed, as shown in the diagram below, from a point of time when a
state of Pr70 (hybrid switching speed) or less has
passed the point of Pr71 (hybrid shifting delay time),
Speed
A
Correction timing
the above-described correction is applied at period
of Pr72 (hybrid control period).
B
The following diagram shows a case in which speed
changes smoothly A . However, as a case of B , Pr.70
when the hybrid correction is applied before the hybrid
switching
0
vibration is converged, a large correction amount speed
Time
may cause vibration resulting in an oscillation adversely. In such a case, set up the Pr71(hybrid shifting delay time) longer to start the correction operaPr71
Pr72
hybrid switching
hybrid
tion later.
delay time
control period
Pr12
Pr13
Pr14
Pr18
Pr19
Pr20
Pr30
Pr31
Pr1A
Pr1B
Pr1C
Parameter
Guideline
Stop
(Servo-Lock)
Low gain
(1st gain)
Run
Stop
(Servo-Lock)
High gain
(2nd gain)
1ms
2ms
Time
Low gain
(1st gain)
How to adjust
Position control
7
switching mode
Switching conditions
Fixed to 1st gain
Fixed to 2nd gain
Gain switching input,
2nd gain selected with GAIN On
2nd gain selected with a large
torque command differential
Fixed to 1st gain
Large target speed commanded
Large position error
Position command existing
Positioning incomplete
Speed
Presence of a command + speed
Figure
C
D
E
F
A
G
*3
[0.05%/166s]
[r/min]
[pulse]*4
[r/min]
[r/min]*6
*3
[0.05%/166s]
[r/min]
[pulse]*4
[r/min]
[r/min]*6
202
Switching conditions
Fixed to 1st gain
Fixed to 2nd gain
Gain switching input,
2nd gain selected with GAIN On
2nd gain selected with a large
torque command differential
2nd gain selected with a large
speed command differential
Large speed command
Figure
A
B
C
*3
[0.05%/166s]
*5
[10(r/min)/s]
[r/min]
*3
[0.05%/166s]
*5
[10(r/min)/s]
[r/min]
[Adjustments]
Torque Control Mode
Gain switching conditions
Pr3A
0
1
Switching conditions
Fixed to 1st gain
Fixed to 2nd gain
Gain switching input,
2nd gain selected with GAIN On
2nd gain selected with a large
torque command differential
2
3
Figure
*3
[0.05%/166s]
*3
[0.05%/166s]
*1 Delay time (parameters Pr32, Pr37 and Pr3B) become effective when returning from 2nd gain to
1st gain.
*2 For the definitions of hysteresis parameters (Pr34, Pr39 and Pr3D), see the right figure.
*3 Set the value 200 in the case that 10% torque-fluctuation happens within 166s.
10% / 166s = Setting value 200 x [0.05% / 166
s]
*4 Resolution of encoders
*5 Set the value 1 in the case that 10r/min speed changes within 1s.
*6 When Pr31=10, delay time, level and hysteresis have different meaning than usual (See Figure G).
Hysteresis
Level
(Pr33.38.3C)
Speed N
Speed command S
Speed command S
Level
delayed
delayed
Torque T
1st
2nd Gain
1st
1st
2nd Gain
1st
T
Level
Speed N
Position error
Delay
1st
2nd
2nd
1st Gain
1st
2nd
2nd
1st
Speed N
COIN
Level
1st
delayed
delayed
1st
2nd Gain
command pulse is on
S
Level
2nd Gain
1st
1st
motor in standstill
motor in motion
1st Gain
2nd Gain
motor in fixed
2nd Gain
Adjustments
Speed command S
1st
delayed
1st
2nd
1st Gain
2nd
1st
<Notes>
The figures above do not reflect the gain switching timing delay caused by hysteresis
(parameters Pr34, Pr39 and Pr3D) .
203
Real time
auto tuning
set up
Pr2F
Adaptive
filter
frequency
1st and 2nd notch filter (Pr1D, Pr1E, Pr28, Pr29 and Pr2A)
MINAS-AIII series is equipped with 2 normal notch filters: the 1st notch filter makes it possible to
adjust frequency and width, while the 2nd notch filter makes it possible to adjust by frequency, width,
and depth parameters.
Pr1D 1st notch
frequency
204
2nd notch
frequency
[Adjustments]
width
width
After
filtering
Torque
command
Torque
command
depth
automatically
following freqency
freqency
freqency
Adaptive filter
Suppress resonance
points in an instance
Adjastable freqency,
width and depth
Applications
gain
gain
gain
freqency
freqency
freqency
responce
Machine chenges resonance
points by difference of each
machine or machine aging
Adjustments
<Notes>
Before starting the measurement, make sure that the machine does not move beyond the limit.
Approximate speed = Offset (r/min.) x 0.017 x (Sampling rate + 1)
With a larger offset value, good results can be obtained, though the speed becomes higher.
Set-up Pr22 (Real time auto tuning mode set-up) to 0.
<Notes>
Set-up the offset larger than the amplitude setting, and with one-way rotation so that you can obtain
better results.
Cautions
Before executing the gain auto setting function, terminate the operation.
How to use
Refer to Real-time Auto Gain Tuning Screen of Preparations volume on page 65.
[1] Once stop the operation.
[2] Start gain automatic setting function on the real-time auto gain tuning screen.
appears. If it abnormally ends,
[3] When gain automatic setting normally ends,
displayed. (You can clear these displays through some key manipulation.)
The following parameters are also set up to the following fixed values automatically.
Parameter No.
Pr15
Pr16
Pr17
Pr1F
Pr30
Pr31
Pr32
Pr33
Pr34
Pr35
Pr36
Pr3A
Pr7B
Pr7C
Pr7D
Pr7E
206
Set value
300
50
0
0
1
10
30
50
33
20
0
0
0
0
0
0
is
[Adjustments]
Speed
command
Torque
command
Speed
control
Speed
estimate
value
Motor
current
Motor
Load
Instantaneous
speed observer
Load model
(Total inertia)
Motor
position
To position
control
Applicable range
Current
control
Encoder
Servo driver
Control mode
Any one of the position control for high-stiffness equipment, speed control forlow-stiffness
equipment or second full-closed control.
The combined motor encoder shall be a 17-bit absolute/increment.
Pr02 = 11: position control for high-stiffness equipment
Pr02 = 13: speed control for low-stiffness equipment
Pr02 = 14: second full-closed control
Cautions
Under the following conditions, the function may not work normally, or the intended effect may not be obtained.
Conditions under which the effect of the instantaneous speed observer is prevented
Compared to the inertia load including the motor and load as a unit, error is too different from that
of the actual equipment .
Load
Example) A large resonance point resides in the frequency zone of 300 [Hz] or less; A non-linear
factor such as large backlash etc resides in, and so on.
Load inertia changes
An external disturbance torque of large high frequency component is applied
Other
How to use
[1] Setting of inertia ratio (Pr20)
Set up an inertia ratio as precise as possible.
207
Adjustments
When an applicable inertia ratio (Pr20) has been already obtained through the real time auto gain
tuning during an ordinary position control etc, use it as the setting value of Pr20 as it is.
When the inertia ratio is known via calculation etc, input the calculated value.
When the inertia ratio is unknown, once change to the ordinary position control (Pr02 = 0) to carry out
the normal mode auto gain tuning and measure the inertia.
[2] Tuning in ordinary position control
See page 198 "Tuning of position control mode".
[3] Setting of the 1st/2nd speed detection filter (Pr13 and Pr1B)
Setting 6 to the 1st/2nd speed detection filter (Pr13 and Pr1B) switches the speed detection method to
instantaneous speed observer.
Then, if variations in torque waveforms or operating sound increases, immediately reset to original
setting and recheck cautions and (1) described above.
If some effects such as decreased torque waveforms variations or operating sound, etc., have been
achieved, find setting where variations are minimized, by fine-tuning inertia ratio (Pr20) while observing position deviation waveforms or actual speed waveforms. In addition, since an optimal value of
inertia ratio (Pr20) may change when you have made a change to a position loop gain or speed loop
gain, execute fine-tuning again.
If you use gain switching, change in ascending order of operating time of the 1st/2nd gain. As sound
may be generated at timing of switching, select setting that is used for both as far as possible.
Position
command
Speed feed
foreword
Positional
+ deviation Position
control (PI)
Motor
Torque
current
command
Current
Speed control
Motor
control
(PI)
Motor
speed
Encoder
Servo driver
Applicable range
This function is applicable to the following condition.
Condition under which the command follow-up control functions
Control mode
Cautions
Under the following conditions, the function may not work normally, or the intended effect may not be obtained.
Command pattern
Load
Condition under which the effect of the command follow-up control is prevented
A command pattern in which the command speed comes to 0 before the positionerror is
converged during deceleration
Example) a small shift amount;
a large command acceleration/deceleration, etc
Stiffness of the load is low
Example) A large resonance point resides in the frequency band of 300 [Hz] or less, etc
In the command follow-up control, a positional deviation is always around 0 even during operation.
Thus, COIN (positioning completion signal) may continue to be ON. Determine on completion of
positioning in terms of command pulse output signal of the host controller.
How to use
[1] Tuning in ordinary position control
See page 198 "Tuning of position control mode".
[2] Gain switching setting
Referring to sect.11-6-5, set up the following items.
Pr18 1C (2nd gain) = Pr10 14 (1st gain)
Pr17 (1st position integration gain) = 0
Pr1F (2nd position integration gain) = 0
Pr30 (2nd gain action set-up) = 1
Pr31 (Position control switching mode) = 7
Pr32 (Position control switching delay time) = 0
Pr33 (Position control switching level) = 0
Pr34 (Position control switching hysteresis) = 0
Pr35 (Position loop gain switching time) = 0
[3] Setting of speed integration gain
Set up Pr12 (1st speed loop integration time constant) using the following formula as a reference.
Pr12 = 50000/(Pr11 x 2 )
Enable the Pr1A (2nd speed loop integration time constant).
Pr12 = 1000
208
[Adjustments]
Example 1) By carrying out the tuning up to this point, the response waveform during trapezoid drive
be comes as shown below.
actual speed [r/min]
Torque [%]
5000
500
540
400
480
300
420
2000
200
360
1000
100
300
240
100
200
300
400
500
180
Command speed/
actual speed
4000
Position
deviation
3000
1000
2000
3000
4000
5000
Torque
command
0.06
0.08
0.1
0.12
0.14
[s]
120
60
0
60
Torque [%]
Position
deviation
500
540
400
480
3000
300
420
2000
200
360
1000
100
300
240
100
200
300
400
500
180
5000
4000
Command speed/
actual speed
1000
2000
3000
4000
5000
Torque
command
0.06
0.08
0.1
0.12
0.14
[s]
120
60
0
60
Adjustments
Torque [%]
Position
deviation
500
540
400
480
3000
300
420
2000
200
360
1000
100
300
240
100
200
300
400
500
180
5000
4000
Command speed/
actual speed
1000
2000
3000
4000
5000
Torque
command
0.06
0.08
0.1
0.12
0.14
[s]
120
60
0
60
209
Position command
completion point
Position command
completion point
[10] Fine tuning of Pr1A (2nd speed loop integration time constant)
When the viscous friction is too large, the convergence value of the position error immediately before the
position command completes varies as shown in the right diagram. In this case, the convergence value
can be adjusted via Pr1A (2nd speed loop integration time constant). Adjust Pr1A so that the convergence
value of the position error immediately before the position command completes become 0. The larger
viscous friction requires the smaller value of Pr1A.
Changes in position deviation
Viscous friction is too large
Adjust Pr1A.
Position
command
differential value
Position command
completion point
210
Position command
completion point
[Adjustments]
Vibration suppression control
Outline
Vibration at
the front end
Vibration is
measured by
displacement
sensor.
Position
command
Torque
command
Vibration
reducing filter
Position/ speed
control
Current
control
Motor position
Applicable range
Shift
Motor
Machine
table
Load
Encoder
Servo driver
Cautions
Before changing parameter setting, make sure to stop the operation.
Under the following conditions, the function may not work normally, or the intended effect may not be
obtained.
Conditions under which the effect of the vibration suppression control is prevented
When vibration is generated by a cause (external force etc.) other than the command
Load
When the ratio between the resonance frequency and anti-resonance frequency is too large
Vibration frequency is too high (100 [Hz] or more).
How to use
Position deviation
Vibration frequency
is calculated
211
Adjustments
Two-inertia system
External
disturbance torque +
Load
+
Axis torque
+
Correction
Spring
rigidity
Motor
Subtract in the
direction that axis
torque decreases
Motor
speed
Torque
command
+
Motor model
Gain
Set by Pr.26
0 ~ 200
Filter
Set by Pr.27
0 ~ 255
Axis torque estimate
Applicable range
Cautions
Under the following conditions, the function may not work normally, or the intended effect may not be obtained.
Conditions under which the effect of the resonance ratio control is prevented
Load
How to use
[1] Setting of disturbance torque observer filter selection (Pr27)
Measure the frequency [Hz] at the resonance point using the frequency characteristics measurement
function of the Matsushita set up support software PANATERM, and set up the disturbance torque observer filter selection (Pr27) so that the cutoff frequency [Hz] of the filter is larger than that value.
Cutoff frequency [Hz] = disturbance torque observer filter selection (Pr27) x 3.7[Hz]
> frequency [Hz] at the resonance point
=
Cutoff frequency [Hz]
A larger filter setting value provides an estimation of shaft torque with smaller delay resulting in an enhanced resonance suppression performance, but operation noise is increased.
[2] Setting of disturbance torque compensation gain (Pr26)
While operating the actual machine, check the position error and torque waveform etc and gradually
increase the disturbance torque compensation gain (Pr26). A larger value of the gain provides an enhanced resonance suppression performance, but operation noise is increased. In this case, alter the
disturbance torque observer filter setting (Pr27) to search the optimum setting in which well-balance is
obtained.
212
[Adjustments]
Disturbance observer
Outline
Disturbance observer is a function by which, using a disturbance
torque estimate value which is estimated by the disturbance
observer, influence of disturbance torque and vibration are reduced.
Torque command
Motor + load
Torque command
+
Motor speed
Load model
Gain
Set by Pr26
0 ~ 200
Filter
Set by Pr27
0 ~ 255
External disturbance
Applicable range
External disturbance
torque estimate value
Control mode
Any one of the position control, speed control, semi-closed control or position control for
high-stiffness equipment
Pr02 = 0: position control
Pr02 = 1: speed control
Pr02 = 3: both of position and speed control
Pr02 = 4: first control mode of position / torque control
Pr02 = 5: first control mode speed /torque control
Second control mode of Pr02 = 6 or Pr02 = 10: semi-closed control
Pr02 = 11: position control for high-stiffness equipment
Cautions
Under the following conditions, the intended effect may not be obtained.
Conditions under which the effect of the disturbance observer is prevented
In a control mode other than Pr02 = 11: position control for high-stiffness equipment, when the
Command pattern
Load
When the resonance point resides under the cutoff frequency estimated by disturbance observer
High frequency component is included in the disturbance torque
213
Adjustments
How to use
Applicable range
This function is applicable to the following conditions.
Condition under which the torsion correction/ status feedback control functions
Second full-closed control mode
Control mode
Cautions
Under the following conditions, the intended effect may not be obtained.
Conditions under which the torsion correction/status feedback control is prevented from functioning
Load
The torsion correction and the status feedback control commonly use Pr7C as the filter setting. Therefore,
use the respective functions separately.
214
[Encountering Difficulties?]
page
215
Identifying Problem
Check Points
The voltage of the
power is correct?
Parameter
values correct?
L2
L1
X7
X6
L2C
Controller
RB1
X5
CN X5 connections
correct?
Not loosened?
U
V
RB2
RB3
Abnormal sound
from the motor?
DL2
DL1
L1C
L3
Are connectors
firmly secured?
X4
Machine
CN X4 connections
correct?
Not loosened?
Motor
Coupling
loosened?
Loosened connections (wire break,
ill contact)? Wiring correct?
[Encountering Difficulties?]
Protective Functions (Details of Alarm Codes)
Alarm
Code No.
Cause
Control power
undervoltage
11
Overvoltage
12
Protection
13
* Overcurrent
and ground fault
14
1) Disconnect the motor wires, and enter ServoON. If this trouble happens immediately,
replace the driver with a new one (that is
working correctly).
2) Check if the U. V and W wires are shorted at
the connections. Reconnect them, if necessary.
3) Measure the insulation resistance between
U/V/W and earth wire. If the resistance is not
correct, replace the motor with a new one.
4) Measure the resistance between U,V and W. If
they are unbalanced, replace the motor with a
new one.
5) Check if the U/V/W connector pins are firmly
secured with screws. Loosened pins should be
fixed firmly.
6) Replace the driver with a new one. Do not start
or stop the motor by entering Servo-ON or OFF.
7) Check the capacity of the motor and driver on
the nameplate. If the motor is not compatible
with the driver, replace it with a correct one.
8) Input the pulse at least 50 ms after servo-on.
See page 41 the Timing Chart.
217
Encountering
Difficulties?
4) Motor burned
Countermeasures
Measure the P-N voltage to check whether the
voltage is correct or not. Modify the control voltage
to an acceptable value, and/or increase the power
capacity.
Measure the terminal-to-terminal voltages
(between L1, L2 and L3). Remove the causes,
and input the correct voltage.
Identifying Problem
Protection
Alarm
Code No.
Cause
* Motor and/ or
Drive Overtemp.
15
Overload
(Discharge)
16
Countermeasures
100
MAMA
MSMA
MAMA
MSMA
MDMA
MHMA
MFMA
MGMA
10
1
115
100
150
200
250
300
350
400
100W
30W 100W
200W 750W
200W 5kW
750W 5kW
500W 5kW
400W 4.5kW
300W 4.5kW
450
500
550
Torque(%)
* Regenerative
resistor overload
18
218
[Encountering Difficulties?]
Cause
* Encoder
communication
error
21
* Encoder
communication
data error
23
Position
deviation error
24
* Hybrid
deviation error
25
Overspeed
26
Command
scaling error
27
* External scale
communication
data error
28
Deviation
counter overflow
29
* External scale
communication
error
* EEPROM
parameter error
35
36
* EEPROM
check code error
37
Overtravel inhibit
input error
38
Countermeasures
Correct the encoder wiring per the wiring diagram.
Correct the connection of the pins.
219
Encountering
Difficulties?
Alarm
Code No.
Protection
Identifying Problem
Protection
Alarm
Code No.
40
* Absolute
encoder counter
overflow
Absolute
encoder
overspeed
* Absolute encoder
single-rotation
counter error
* Absolute encoder
multi-rotation
counter error
41
42
44
45
Absolute
encoder status
error
* Encoder
Z-phase error
47
* Encoder
commutation
signal error
49
* Motor auto
recognition error
95
* Control mode
setting error
97
48
* Other errors
* Other errors
220
Cause
Absolute
encoder system
down error
Numbers
other
than
the
above
Countermeasures
Check the voltage of the battery. Connect to the
battery, and then clear the encoder using the
absolute encoder clear mode contained in the
auxiliary function (see page 231 "Setup of the
absolute encoder (initialization)" in Appendix).
Limit the movable range to 32767 revolutions (15
bits) from the initial position. Adjust the value of
Pr0B.
Connect the power to the encoder and then make
sure that the encoder voltage is 5V5%. Correct
CN X4 connections, if necessary.
Turn off the power and turn it on again. If the error
cannot be eliminated, the motor and/or driver may
be broken. Disconnect the power supply of these
equipment, and replace them with new ones.
Return the old equipment to the sales agent for
repair.
Troubleshooting
[Encountering Difficulties?]
Causes
The control mode selected is not
correct.
The internal speed command (switching
between internal and external
commands) does not work.
The torque limit inhibition setting is not
correct.
Wiring
Installation
Bearing lock
Countermeasures
Check the value of Pr02 (control mode set-up).
0: position control, 1: speed control, 2: torque control
Check the value of Pr05 (Internal speed swiching).
0: At analogue speed command set-up,
Change the value to 1 or 2.
Check the value of Pr03
(Analog torque limit inhibit).
0: torque cannot be produced, so the motor does not rotate.
Change the value to 1.
Check the value of Pr5E (torque limit set-up).
Change the value to 300 (default).
Check the value of Pr06 (ZERPSPD input selection).
Change the value to 0. If the value is 1, the zero clamp function is
valid. If you desire to set the parameter to 1, enable the zero
speed clamp input, and adjust the wiring so that the zero speed
clamp input can be turned on correctly.
Check the Pr53 ~ 56.
Set to the speed desired.
Check the value of Pr04. If the value is 0, connect between CN
X5 pins 9 and 41, and 8 and 41.
Connect (short circuit) between CN IX5 pins 29 and 41.
Disconnect between CN IX5 pins 30 and 41.
Check the value of Pr43 If the value is 0, connect between CN
X5 pins 33 and 41. If the value is 1, the command pulse input
inhibition is disregarded, so the motor will rotate according to
command pulses.
Turn off the power. Disconnect the motor. Rotate the motor shaft
by hand to make sure that the motor rotates freely. If the motor is
fitted with an electromagnetic brake, rotate the shaft by hand
while applying a voltage
(24VDC) to the brake. If the motor does not rotate, consult the
sales agent to repair it.
Causes
Parameters
Adjustment
221
Encountering
Difficulties?
Wiring
Countermeasures
Troubleshooting
Category
Wiring
Causes
4) Speed zero clamp signal
Countermeasures
4) Check the wiring and connections between CN X5 pins 26 and
41 by monitoring the display of input and output signals status.
Modify the wiring so that Zero Speed Clamp input can be
made active correctly. Check the controller.
5) Check the wiring and connections between CN X5 pins 33 and
41 by monitoring the display of input and output signals status.
Modify the wir-ing so that Command Pulse Input Inhibit can be
made active correctly. Check the ontroller.
Use shielded cables for connection to CN X5. Power and signal
cables should be separated by at least 30 cm and put in duct.
Measure the voltage between CN X5 pins 14 and 15 (speed
command inputs) using a circuit tester and/or oscilloscope. Adjust
the value of Pr52 so that the motor can stop.
Use shielded cables for connection to CN X5. Power and signal
cables should be separated by at least 30 cm and put in duct.
Adjustment
Parameter
Wiring
Installation
222
Causes
Countermeasures
[Encountering Difficulties?]
The initial (home) position varies.
Category
System
Wiring
Causes
When calculating the initial (home)
position, the Z-phase output is not
detected.
Creep speed to initial position is too
high.
The output of the initial (home) position
proximity sensor (Proximity dog sensor)
is chattering.
Noise on encoder wires
Countermeasures
Check that the Z-phase accords to the center of the proximity
dog. Perform initialization correctly according to the controller.
Decrease the return speed near the initial (home) position, or
lengthen the initialization sensor.
Check the input to the sensor using an oscilloscope. Modify the
wiring around the sensor. Take measures to reduce the noise.
Take measures to reduce the noise (noise filters, ferrite cores,
etc.). Properly connect the shield wires of I/F cables. Use twistpaired wires. Separate the signal and power wires.
Monitor the Z-phase signal using an oscilloscope. Check that CN
X5 Pin 13 is connected to the ground terminal of the controller.
Connect the open collector to the ground of the driver. Replace
the driver and controller, or repair them.
Check that the line driver is connected at the both sides. If the
controller does not have a differential input, use CZ output (open
collector).
Check that the line driver is connectdt at the both sides.
Causes
Speed commands contain noises.
Installation
Motor bearing
Countermeasures
Check the wiring between CN X5 Pins 14 and 15 (speed
command inputs) using an oscilloscope. Take measures to
reduce the noise (noise filters, ferrite cores, etc.). Properly
connect the shield wires of I/F cables. Use twist-paired wires.
Separate the signal and power wires.
Decrease the values of Pr10 (speed loop gain) and Pr11 (position
loop gain).
Increase the value of Pr13 (speed detection filter) until the sound
decreases to an acceptable level, or return the value to 4
(default).
Adjust the value of Pr14 (torque filter). Check the mechanical
resonance using the frequency characteristics analysis program
in PANATERM. If a resonance occurs, set Pr10(notch
frequency).
Operate the motor without load in order to check the sound and
vibration near the bearing. Replace the motor and operate it to do
the same checks. Repair the motor, if necessary.
Operate the motor without load in order to check the sound.
Repair the motor, if necessary.
223
Troubleshooting
Overshoot or undershoot
Category
Adjustment
Installation
Countermeasures
Check the gains using the wave form graphics monitoring function
of PANATERM, speed monitor (SP) and/or torque monitor (IM).
Adjust the gains. See "Adjustments" chapter.
Load inertia is too large.
Check the load inertia using the wave form graphics monitoring
function of PANATERM, speed monitor. Adjust the gains
correctly. Increase the wattage of the motor and the driver.
Reduce the inertia ratio. Use gears.
Rattling or slip of the machine
Check the coupling between the motor and machine.
Environment (ambient temperature, etc.) If the ambient temperature is higher than the specified value,
install a cooling fan.
The cooling fan does not work. The air
Check the cooling fans of the driver and machine. The cooling
intake is dirty.
fan of the driver should be replaced at regular cycles. This
replacement should be done by a service engineer of the sales
agent.
Mismatch between the driver and motor Check the nameplates of the driver and motor. For available
combinations between driver and motor, see the instruction
manuals or catalogues.
Motor bearings fail.
Turn off the power. Rotate the motor shaft by hand to check
whether abnormal sound (rumbling) occurs or not. If it rumbles,
replace it with a new one, or repair it.
The electromagnetic brake is ON (failure Check the voltage at the brake terminal. Apply 24VDC to release
to release the brake).
the brake.
The motor fails (due to oil, water, etc.).
Avoid high temperature/humidity, oil, dust and iron powders.
The motor is operated by external forces Check the operation pattern, use and working status. This kind of
while the dynamic brake is activated.
operation should be avoided.
Causes
The speed command input gain is not
correct.
The position loop gain is too small.
The scale is not appropriate.
Countermeasures
Check that the value of Pr50 (speed command input gain) is 500
(i.e. 3000r/min/6V).
Adjust the value of Pr10 (position loop gain) to approximately
100.
Correct the values of Pr46 (numerator of 1st command pulse
ratio), Pr4A (Multiplier of numerator of command pulse radio) and
Pr4B (denominator of pulse command scale). See "Parameter
settings" for the mode in topic.
Causes
Parameter values are not downloaded
into EEPROM before power off.
Countermeasures
See page 63 "Writing parameter into EEPROM" in Preparations.
224
Causes
The communication cable (RS232C) is
connected to CN X7.
Countermeasures
The communication cable (RS232C) must be connected to CN
X6.
[Appendix]
page
226
236
238
264
266
269
270
282
284
296
298
304
306
314
225
Absolute System
Outline
An absolute system based on an absolute encoder eliminates the necessity of origin return upon power up.
This is an advantageous feature when the application includes operation of robot etc.
When the MINAS-AIII of absolute and/or incremental is connected to a motor containing an encoder fed by
dedicated battery and the parameter Pr0B is set to 0, the upper unit (host controller) can obtain accurate
positioning information once the absolute system is powered up.
After initial connection of the battery, return the system to its origin, and then reset the absolute encoder to
clear revolution data. In the subsequent operation, absolute position is detected without first returning to the
home position.
The upper device can connect up to 16 MINAS-AIII units and acquire current position data through RS232C
or RS485 serial communication links; and then, based on the data, can determine the absolute position of
individual shafts.
Model
M*MA***S**
M*DC******
Motor
Resolutions of encoder
17 bits
(131072)
Lead wire
7 conductors
Absolute specification
The MINAS-AIII driver can be connected to the upper unit (host) in one of the three ways shown below,
based on specification of the host interface and the number of MINAS-AIIIs connected together, if any. When
two or more MINAS-AIIIs are to be connected to a single host through a communication line, allocate the
module ID to each RSW.
Module ID (RSW)
F01
45
67
AB
23
CD E
Up to 16 MINAS-AIII can be connected to the host though RS232C interface by allocating unique ID (0 to
F) to them.
When a MINAS-AIII connected to the host through RS232C is also connected to other MINAS-AIIIs through
RS485, it must be given an ID 0, while the remaining devices from 1, 2,,,(F).
Alternatively, up to MINAS-AIIIs can be connected to the host through RS485 interface. If this is the case,
module ID 0 is allocated to the host and 1 ,,, (F) to MINAS-AIIIs. (Up to 15 units can be connected.)
89
RSW
MBDC Driver
226
[Appendix]
Configuration of the absolute system using the RS232C interface
RS232C
Switching device
Host
Host
RS485
RS485
RS485
Up to 16 axes
RSW(ID)=0
Host controller
CN X6
RS232C interface
TXD
RXD
GND
5
3
4
SN751701 or
equivalent
RXD
TXD
GND
CN X5
Positioning
controller
CN X4
Motor
44
BTP-0
45
BTN-0
Battery
RSW(ID)=1
RSW(ID)=2
RSW(ID)=3
Servo driver
5
6
* For battery connecting procedure, see "Battery installation" described on the next page.
RS485
Module ID = 0
Host
Up to 15 axes
RSW(ID)=1
Host controller
RS485 interface
RS485+
RS485GND
RSW(ID)=2
RSW(ID)=3
Servo driver
CN X7
ADM485 or
equivalent
7
RS485+
8
RS4854
GND
CN X6
7
The
RS485+
downstream 8 RS4854
driver
GND
CN X5
Appendix
Positioning
controller
RSW(ID)=4
CN X4
Motor
44
BTP-0
45
BTN-0
Battery
* For battery connecting procedure, see "Battery installation" described on the next page.
227
Absolute System
Battery installation
Initial installation
Connect the lead wire from the battery unit top to its own connector. Wait for 5 minutes and then install the
battery to the servo driver which should have been turned on for at least 1 hour. (This is because excessive
charging current rushes to the encoder internal capacitor after the power to the driver is first turned on.) After
installing the battery by following the procedure shown below, set up the absolute encoder in accordance
with page 231 "Setup of the absolute encoder (initialization).
Keep the battery in good condition by turning on the main power daily for appropriate period.
Battery cover
CN601
After 5 minutes, remove the
connector from CN601.
228
[Appendix]
3) Mount the new battery unit to the panel with attention not to catch the lead wire, and mount the battery
cover. (After inserting the battery cover from the bottom of the panel, slide the cover upward.)
battery unit
Battery holder
229
Appendix
<Warning>
1. For Type A, a battery unit is specified to be externally attached. Connect it to Connector CN X5 (44- and
45-pin) or connect it on the host controller side.
2. If battery is installed on both the upper controller and drive, confliction of two power circuits leads to
dangerous malfunction.
3. Battery and battery connector must be positively engaged to avoid loose connection.
4. Use the following battery:
Lithium ER6V 3.6 V 2000 mAh, Toshiba Battery Co., Ltd. Part No.: DVOP2990
Absolute System
<Reference>
The below calculates the expected lift of a lithium battery, taking Toshiba Battery Co., Ltd. ER6V 3.6 V 2000
mAh as an example.
Since the battery life depends on the application (in this example, robot) and working/storage conditions, the
calculated life below may not be guaranteed.
(1) 2 cycles/day operation
Mon.- Sat. 313 of 365 days
24h
24h
10h
2h
10h
2h
bc
bc
ON
Power
OFF
c
230
[Appendix]
Setup of the absolute encoder(initialization)
Set up the absolute encoder in the following cases:
When the machine is first started
Absolute system down error (alarm 40) is generated
Encoder cable is disconnected
To do so, return to the machine to the origin, clear the absolute encoder to release the encoder error and
reset the revolution data to 0. The absolute encoder can be cleared from the front control panel or PANATERM.
Turn off the control power to store the data and then turn it again.
Mode selection
1) Turn power on. Return the
machine to the home position.
Automatic offset adjust mode
2) Set control on the front panel
to the auxiliary function mode.
Display "Absolute encoder
clear mode" on the execution
screen. See page 56 "Setting
parameters and mode".
Automatic offset
adjust mode
Motor test run mode
Alarm clear mode
Absolute value
encoder clear mode
Appendix
4) Turn off the driver control power supply and then turn it on again.
231
Absolute System
Absolute data delivery sequence
Approx. 2 seconds after turning on of the control power supply, servo ready is turned on. While the servo
ready is on, turn motor servo off, and keep the motor locked by using the brake (the motor fully stops).
Transfer the absolute data by following the procedure below.
Transmission
starts
05h Transmission
04h
Reception
Data
transmission
request to
servo
driver
RSW (ID)
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Y
00h Transmission
01h Transmission *1
D2h Transmission
2Dh Transmission *2
06h Reception
Y
05h Reception
Y
Absolute
data
reception
from servo
driver
04h Transmission
Receiving
absolute data
(15 charact ers)
Check sum OK
Data *1
00h
01h
02h
03h
04h
05h
06h
07h
08h
09h
0Ah
0Bh
0Ch
0Dh
0Eh
0Fh
Data*2
2Eh
2Dh
2Ch
2Bh
2Ah
29h
28h
27h
26h
25h
24h
23h
22h
21h
20h
1Fh
Y
06h Transmission
15h Transmission
Transmission
ends
On the host, enter the RSW value of the destination driver into axis(data *1) of the command block and
send the command according to the RS232C transfer protocol. For further information on the communications, see page 238 "Communication".
To read data on two or more axes, wait for at least 500 ms before accessing
the next axis data.
232
[Appendix]
Transmission
starts
81h Transmission *1
05h Transmission
*1
81h Reception
04h Reception
Data
transmission
request to
servo
driver
Y
00h Transmission
01h Transmission *2
D2h Transmission
2Dh Transmission *3
06h Reception
Y
80h Reception
05h Reception
Y
Absolute
data
reception
from servo
driver
80h Transmission
04h Transmission
Receiving
absolute data
(15 characters)
Check sum OK
Y
06h Transmission
15h Transmission
Transmission
ends
From the host, send the command to the destination driver by following transfer protocol of RS485.
For further information on the communications, see page 238 "Communication".
Appendix
To read data on two or more axes, wait for at least 500 ms before accessing
the next axis data.
233
Absolute System
Structure of Absolute Data
The absolute data consist of:Single-turn data that defines the absolute position of the motor, and Multi-turn
data that counts the number of turns after the latest clearing operation of the encoder.
131071 0,1,2 131071 0,1,2 131071 0,1,
Single-turn data
-1 0
Multi-turn data
01
12
Origin
CW
CCW
The single- and multi-turn data consist of 15-character data (hexadecimal binary code) from the RS232C or
RS485 communication interface.
0Bh
RSW (ID)
D2h
Maker code
Maker code
Encoder status (L)
Absolute data
(15 characters)
received
Single-turn data
= Single-turn data (H) x 10000h + Single-turn data (M) x 100h + Single-turn data (L)14
Multi-turn data
00h
Error code
Checksum
Multi-turn data
Absolute counter
over protection
CW
CCW
NG
GOOD
NG
Note: If the multi-turn data in the figure above is from 32768 to 65535, subtract 65536 and convert
the result to signed data.
Bit 6
Bit 1
Bit 0
Over-speed
Full absolute status
Count error
Counter overflow
Multi-turn counter error
Battery error
Battery alarm
234
Err42
(absolute over-speed error)
Err47
(absolute status error)
Err44
(absolute single-turn counter error)
Err41
(absolute counter overflow error)
Err45
(absolute multi-turn counter error)
Err40
(absolute system down error)
Battery alarm
[Appendix]
Encoder status (H) (1 means the occurrence of an error)
Bit 7
0
Bit 6
0
Bit 1
0
Bit 0
0
Battery error
Occurrence of battery alarm, multi-turn counter error,
counter over, counter error, full absolute status or
over-speed
Note: For details of encoder errors refer to "Protective Functions" in "Encountering Difficulties?",
on page 216. For details of warning, see "Battery warning display" shown below.
...Not occurred,
...Occurred,
Appendix
235
Connecting Cable
DVOP1960
RS-232C
*Note (DOS/V)
Connect to
CN X6.
<Note>
* Do not connect to CN X7. Otherwise an error message meaning
that PANATERMcannot detect
the communication port or driver
will appear.
Installation Procedure
1) Turn on the power of personal computer and start corresponding OS.
2) Insert the PANATERMSetup Disc 1 into the floppy disc drive.
3) Start Explorer, and switch to (select) the floppy disc drive. (For the procedure for starting the Explorer
program, see the instructions for corresponding OS.)
4) Double click on "Setup.exe" (PANATERMSetup program will start).
5) Click on OK to start the setup program.
6) Keep the operation according to the guide of the setup program.
(Prompted to change to the setup disk 2 along the path, follow it.)
7) Click on Start installing? to start the setup routine.
8) Confirm an message "Setup completed". Then click on OK .
9) Close all the applications. Then restart Windows. PANATERMwill be added to the program menu.
236
[Appendix]
Starting PANATERM
<Notes>
1. Once you install PANATERMon your hard disc, you do not have to install it again for next use.
2. Before using PANATERM, the driver, power supply, motor and encoder should be connected. For the
procedure for starting PANATERM, see the Windows manual.
Procedure
1) Turn on your personal computer. Start corresponding OS.
2) Turn on the driver.
3) Click on the start button of Windows (see the corresponding OS manual).
4) Select (click on) PANATERMfrom the program menu.
5) An opening splash will be displayed for two seconds, and then PANATERMscreen will appear.
For the operation, functions and other details about PANATERM, see the Instructions for the PANATERM
program.
237
Appendix
Communication
Outline of Communication
When a PC or host NC is connected with up to sixteen MINAS-AIII drivers via the RS232C and RS485 serial
interfaces, the following functions are provided:
1) Parameter change
2) Alarm data and history browse/clear
3) Control monitor including status and I/O monitor
4) Absolute data browse
5) Parameter save/load
Advantages
All parameters can be loaded from a host at machine start-up.
Since machine's operating conditions are displayed, maintainability can be improved.
Multi-axis absolute position control system can be configured with simple wiring.
For the MINAS-AIII series, the following PC application software and cables are available. For the PANATERM
operating procedures, refer to the PANATERM Operation Manual.
DV0P3170
DV0P3180
DV0P1960
DV0P1970 (200[mm])
DV0P1971 (500[mm])
DV0P1972 (1000[mm])
DV0P1960
DV0P1970
Host
238
DV0P1970
DV0P1970
[Appendix]
Communication Specifications
Connection of Communication Line
The MINAS-AIII series provides two communication ports, enabling the following three types of connections
between the host and individual drivers.
RS232C Communication
For communication according to the RS232C transmission protocol, a host is connected to a MINAS-AIII
driver via the RS232C interface.
Switching device
RS232C
Host
X6
X6
RSW(ID)=1
X6
RSW(ID)=1
X6
RSW(ID)=1
RSW(ID)=1
A MINAS-AIII module ID is assigned to the RSW on the front panel. In the above case, specify any
code between "0" and "F" for the module ID. If there is no particular problem on host control, the same
module ID can be assigned to several MINAS-AIII drivers.
RS232C
Host
RS485
RS485
RS485
X7
X7
X7
X6
X6
X6
RSW(ID)=0
RSW(ID)=1
RSW(ID)=2
X6
Up to 16 axes
RSW(ID)=3
RS485 Communication
A host is connected to several MINAS-AIII drivers via the RS485 interface, and any code between "1" and
"F" is assigned to the RSW on each MINAS-AIII front panel.
RSW(ID)=1
RSW(ID)=2
RSW(ID)=3
RSW(ID)=4
RS485
Module ID = 0
Host
X7
X7
X7
X6
X6
X6
Module ID = 2
Module ID = 3
Up to 15 axes
Appendix
Module ID = 1
X6
Module ID = 4
Communication
Communication Connector Interface
Connecting Host via RS232C Interface
MINAS-AIII
Host
X6
1
RTS
2
SN751701 or equivalent
CTS
3
TXD
RXD
4
G
5
RXD
TXD
6
FG
7
RS485+
DTR
8
RS485
DSR
ADM485 or equivalent
FG
X7
1
2
3
4
G
5
6
7
RS485+
8
RS485
FG
X6
1
2
3
TXD
4
G
5
RXD
6
7
RS485+
8
RS485
FG
240
Note)
1. Pin Nos. 1, 2 and 6 of Connector X6,
and Pin Nos. 1, 2, 3, 5 and 6 of
Connector X7 must be unused.
2. Connector X7 cannot be used for
RS232C communication.
[Appendix]
Host
SN751701 or equivalent
3
TXD
RS485+
4
RS485
5
G
RXD
6
FG
7
RS485+
8
RS485
ADM485 or equivalent
FG
X7
1
2
3
4
G
5
6
7
RS485+
8
RS485
Note)
1. Pin Nos. 1, 2 and 6 of Connector X6,
and Pin Nos. 1, 2, 3, 5 and 6 of
Connector X7 must be unused.
FG
X6
1
2
3
TXD
4
G
5
RXD
6
7
RS485+
Appendix
8
RS485
FG
241
Communication
Communication Method
RS485
Half-duplex, start-stop transmission
2400/4800/9600 bps
8 bits
None
1 bit
1 bit
RS232C
Full-duplex, start-stop transmission
2400/4800/9600 bps
8 bits
None
1 bit
1 bit
Baud rate
Data
Parity
Start bit
Stop bit
To set up the RS232C and RS485 communication baud rates, use "Pr0C" and "Pr0D" respectively. Changes
in these parameters become valid after the control power supply is turned ON. For details, refer to the
communication parameter list below.
Axis name
0 15
0C
RS232C
baud rate setup
02
0D
RS485
baud rate setup
02
Function/Description
Used to conform the ID assigned to the front panel RSW at power-ON of the control
power supply. This value indicates the axis number for serial communication.
This parameter setting has no influence on the servo motor's operation.
Used to define the RS232C communication speed.
0: 2400 (bps), 1: 4800 (bps), 2: 9600 (bps)
A change in this parameter becomes valid after the control power supply is turned ON.
Used to define the RS485 communication speed.
0: 2400 (bps), 1: 4800 (bps), 2: 9600 (bps)
A change in this parameter becomes valid after the control power supply is turned ON.
The data transmission time per byte is calculated from the following formula: Example) When the baud
rate is 9600 (bps): (1000/9600) x (1+8+1) =1.04 [ms/byte]
Start bit
Stop bit
Data
When the baud rate is 2400 (bps) and 4800 (bps), the data transmission time per byte are 4.17 [ms/byte]
and 2.08 [ms/byte], respectively.
Note) For calculation of the actual communication time, received command processing time and the line
and transmission/receiving control switching time are additionally required.
Code
(Target module identification byte)05h
(Target module identification byte)04h
06h
15h
Function
Transmission request
Ready to receive
Acknowledgement
Negative acknowledgement
bit6
0
bit5
0
bit4
0
bit3
bit2
bit1
Module ID
bit0
Module ID: For RS485 communication, the MINAS-AIII front panel RSW setting must be any code
between "1" and "F", because the host module ID is "0".
242
[Appendix]
Transmission Sequence
Transmission Protocol
<RS232>
Host
MINAS-AIII
1) ENQ(05h)
2) EOT(04h)
3) Data block
Received
data
4) ACK(06h)
(or NAK (15h))
5) ENQ(05h)
6) EOT(04h)
7) Data block
Transmission
data
8) ACK(06h)
(or NAK (15h))
<RS485>
Host
Module ID: 0
1) 81h, ENQ(05h)
MINAS-AIII
Module ID: 1
2) 81h, EOT(04h)
3) Data block
Received
data
4) ACK(06h)
(or NAK (15h))
5) 80h, ENQ(05h)
6) 80h, EOT(04h)
7) Data block
Transmission
data
8) ACK(06h)
((or NAK (15h))
Line control
Direction of transmission and priority at conflict are defined.
Receiving mode: When a module sends EOT after receiving ENQ, it enters the receiving mode.
Transmission mode: When a module receives EOT after sending ENQ, it enters the transmission mode.
At conflict between transmitting and receiving modules: When a slave receives ENQ when waiting for
EOT after sending ENQ, priority is given to ENQ sent from a master, and the slave enters the receiving mode.
Transmission control
A module in the transmission mode continuously sends command blocks, and then waits for ACK. When
the module receives ACK, the transmission mode is completed. If a command byte number transmission
error occurs, ACK may not be returned. When ACK is not returned within the T2 period, or when NAC or
any code other than ACK is returned, transmission retry will be executed.
Transmission retry will be started with ENQ.
243
Appendix
Receiving control
A module in the receiving mode continuously receives command blocks. It obtains a command byte
number from the first byte, and receives command blocks as many as the specified byte number +3.
When the sum of the received data becomes "0", it judges that the receiving mode is normally completed, and
returns ACK. If a checksum error or character transmission timeout error occurs, NAK will be returned.
Communication
Configuration of Data Block
The data block transmitted on physical phase is configured as follows:
1 byte
N
axis
mode
command
Parameter
(N bytes)
check sum
N:
Command byte number (0 to 240), which indicates the number of parameters required for a
command.
axis:
Defines the value (0 to 15) assigned to the RSW on the driver front panel.
Module ID can be confirmed via Pr.00 (axis address).
command: Control command (0 to 15)
mode:
Command execution mode (0 to 15).
The set value varies depending on the command to be executed.
checksum: Two's complement of the total number of bytes, ranging from the first byte to the byte imme
diately before the checksum byte.
Protocol Parameters
The following parameters are used for block transmission control. For these parameters, a desired value
can be specified with the INIT command described later.
Name
T1
T2
RTY
M/S
Function
Character transmission timeout
RS232C
Protocol time out
RS485
Retry limit
Master/Slave
Initial value
5 (0.5 sec)
10 (10 sec)
2 (2 sec)
1 (Once)
0 (Slave)
Setting range
1 to 255
Unit
0.1 sec
1to 255
1 sec
1 to 8
0, 1 (Master)
Once
T1: Allowable wait time between module identification byte and ENQ/EOT reception, or for receiving
the next character code after receiving a character code in a data block. If the specified time is
exceeded, it is judged as a timeout error, and NAK is returned to the transmitting module.
T2: Allowable wait time for receiving EOT after sending ENQ. If the specified is exceeded, it means that
the receiving module is not ready to receive data, or that the ENQ code cannot be received for any
reason. In this case, the ENQ code is re-sent to the receiving module. (Retry number)
Allowable wait time for receiving the first character after sending EOT. If the specified time is
exceeded, NAK is returned, and the receiving mode ends.
Allowable wait time for receiving ACK after sending checksum byte. If the specified time is ex
ceeded, the ENQ code is re-sent to the receiving module, as in the case with NAK reception.
RTY: Maximum retry number. If this number is exceeded, it is judged as a transmission error.
M/S: Master/Slave switching parameter. If ENQ transmission conflicts, this parameter determines which
is given priority. (0 = Slave mode, 1 = Master mode) Transmission priority is given to the module
defined as master.
244
[Appendix]
Example of Data Communication
Browsing Absolute Data (Example)
This section describes an example of communication data flow for acquisition of absolute data on Model
ID = 1, wherein a host is connected to a MINAS-AIII driver via the RS232C interface and the MINAS-AIII
driver is connected to several drivers via the RS485 interface.
Configuration
RSW(ID)=0
RS232C
Host
RSW(ID)=1
RSW(ID)=2
RS485
RS485
RS485
X7
X7
X7
X6
X6
X6
RSW(ID)=3
X6
RS232C communication
Host
05
(ENQ)
00
01
D2
2D
04
(EOT)
MINAS-AIII(0)
04
(EOT)
06
(ACK)
05
(ENQ)
0B
01
D2
06
(ACK)
03
11
00
00
D8
FF
01
00
01
D2
00
00
00
00
36
RS485 communication
MINAS-AIII(0)
81
05
(ENQ)
2D
80
04
(EOT)
MINAS-AIII(1)
80
04
(EOT)
06
(ACK)
80
05
(ENQ)
MINAS-AIII(0)
MINAS-AIII(1)
0B
01
D2
MINAS-AIII(0)
MINAS-AIII(1)
03
11
00
00
D8
FF
01
00
00
06
(ACK)
00
00
36
Appendix
Communication
Example of Parameter Change
The following is the time-series communication data flow for parameter change.
Generally, communication is conducted in the following sequence:
1) Request for execution right acquisition,
2) Parameter individual writing,
3) Writing parameter into EEPROM (if parameter must be saved), and
4) Execution right release.
This example shows that a MINAS-AIII driver (User ID = 1) is directly connected to a host via the
RS232C interface. The data are expressed by hexadecimal numbers.
1) Request for execution right acquisition
Host
05
01
01
71
01
8C
04
(ENQ)
(EOT)
04
MINAS-AIII(1)
(EOT)
Host
06
2) Parameter individual
writing
06
05
03
05
01
01
00
D9
71
(ACK) (ENQ)
01
18
0B
00
(ACK) (ENQ)
MINAS-AIII(1)
00
8D
04
06
(EOT)
Host
04
06
(EOT)
MINAS-AIII(1)
05
05
01
01
48
01
18
00
E6
01
01
71
04
(EOT)
B7
06
MINAS-AIII(1)
00
(ACK) (ENQ)
(ENQ)
Host
(ACK)
04
06
(EOT)
(ACK)
05
01
01
48
00
B6
05
01
01
71
00
8D
04
(ENQ)
(EOT)
04
MINAS-AIII(1)
06
(EOT)
Host
05
(ACK) (ENQ)
06
(ACK)
MINAS-AIII(1)
00
8D
Note) For details on the commands, see page 245 "Communication Command Details".
246
[Appendix]
Status Transition Chart
RS232C communication
Transmitting module
EOT is received
Size <
Command byte
number + 3
T2 stop
One character is
received
Size <
Command byte
number - 1
Block transmission
Transmission
request (Within
retry number)
Sending ENQ
T2 start
Size = "0"
T2 start
Transmission request
(Beyond retry number)
One retry reset
Transmission request
clear
NAK is received, or
T2 timeout
One retry count
T2 stop
Transmission buffer
clear
ACK is received
Retry number reset
T2 stop
Transmission
request clear
Idling
T1 timeout or
checksum error
(when size = "0")
NAK is sent, T1 stop
T2 timeout
NAK is sent, T2 stop
ENQ
EOT is sent
T2 start
Successful reception
(Sum check is OK
when size = "0")
NAK is sent, T1 stop
Size <
Command byte number + 3
Sum <
Command byte number
T1 start, T2 stop
Size <
Command byte number -1
Sum <
Sum + Received character
T1 start
Receiving module
Appendix
247
Communication
RS485 communication
Transmitting module identification byte
= Target module ID | 80h
Transmitting module
EOT is received
Size <
Command byte number + 3
T2 stop
Target module ID
T1 start
Waiting for ID
Transmission
request
(Within retry
number)
Module
identification
byte and ENQ
are sent
T2 start
Different module ID is
received (in slave mode)
ENQ is returned to
receiving buffer.
( > Receiving processing)
Transmission request
(Beyond retry number)
One retry reset
Transmission request
clear
One character is
received
Size <
Size - 1
Block transmission
Size = "0"
T2 start
T2 timeout
One retry count
T2 stop
Transmission buffer
clear
Preparation of error
transmission data
(when module ID = "0")
T1 timeout
One retry count
T1 stop
Transmission
buffer clear
Preparation of error
return data
(when module ID = "0")
ACK is received
Retry number
reset
T2 stop
Transmission
request clear
NAK is received, or
T2 timeout
One retry count
T2 stop
Transmission buffer
clear
Preparation of error
return data
(when module ID = "0")
Idling
Module
identification
byte
Received
T1 timeout
T1 stop
ENQ is received
(Module identification
byte is different from
target module ID)
T1 stop
Successful reception
(Sum check is OK when size =
"0", and Module identification
byte = target module ID)
ACK is sent, T1 stop
T2 timeout
NAK is sent (Module
identification byte =
target module ID)
T2 stop
EOT is received
T2 start
Receiving module
248
[Appendix]
Communication Timing
RS485 communication (Same as for RS232 communication)
T3
T4
T3
T5
T4
Transmission request
Permit to send
0 ~ 2ms
0 ~ 2ms
0 ~ 2ms
0 ~ 2ms
Dedicated to
RS485 bus
T3
T5
T3
T4
T5
ACK/NAK
Transmission request
0 ~ 2ms
0 ~ 2ms
Data block
0 ~ 2ms
Dedicated to
RS485 bus
Name
Code
T3
Continuous character transmission time
T4
Driver response time
T5
Host response time
Minimum
Stop bit length
4ms
2ms
Maximum
Protocol parameter T1
Protocol Parameter T2
Protocol Parameter T2
<CAUTION>
The specified time indicates the period from the stop bit rising edge.
Appendix
249
Communication
Communication Command List
command
Description
mode
1
2
5
6
1
2
7
0
1
2
4
5
6
7
8
9
A
D
0
1
4
0
1
2
3
4
B
0
1
2
NOP
Reading CPU1 Version
Reading CPU2 Version
Reading Driver Model
Reading Motor Model
INIT
RS232C Protocol Parameter Setup
RS485 Protocol Parameter Setup
Execution Right Acquisition/Release
POS, STATUS, I/O
Reading Status
Reading Command Pulse Counter
Reading Feedback Pulse Counter
Reading Current Speed
Reading Current Torque Output
Reading Current Error Counter
Reading Input Signal
Reading Output Signal
Reading Current Speed/Torque/Error Counter
Reading Status/Input Signal/Output Signal
Reading Absolute Encoder
PARAMETER
Parameter Individual Reading
Parameter Individual Writing
Writing Parameter into EEPROM
ALARM
Reading Current Alarm Data
User Alarm History Individual Reading
User Alarm History Batch Reading
User Alarm History Clear (from EEPROM)
Alarm Clear
Absolute Encoder Clear
PARAMETER
User Parameter Individual Reading
User Parameter Page Reading
User Parameter Page Writing
Be sure to use the above commands only. If unspecified commands are used, the driver's
operation cannot be guaranteed.
mode
1
axis
0
checksum
Error code
bit7
0 : Normal
1 : Error
5
4
Command error RS485 error
0
Version (High-order)
(Low-order)
Error code
checksum
The version information (Ver. X.XX) is divided into high-order data and low-order data. (The decimal point is expressed by
"0" in the least -significant 4 bits of the high-order data.)
The version information is expressed by numbers between "0" and "9". (Example: "Version 3.13" is expressed by "30h"
(high-order data) and "13h" (low-order data).)
The version information indicates the CPU1 version No.
250
[Appendix]
command
0
mode
2
Received data
0
axis
2
Error code
bit7
0 : Normal
1 : Error
0
Version (High-order)
(Low-order)
Error code
checksum
checksum
5
4
Command error RS485 error
The version information (Ver. X.XX) is divided into high-order data and low-order data. (The decimal point is expressed by
"0" in the least -significant 4 bits of the high-order data.)
The version information is expressed by numbers between "0" and "9". (Example: "Version 3.13" is expressed by "30h"
(high-order data) and "13h" (low-order data).)
The version information indicates the CPU2 version No.
command
0
mode
5
Received data
0
axis
5
5
0
Driver model (High-order)
checksum
5
4
Command error RS485 error
command
0
mode
6
Transmission data
0Dh
axis
6
0
Motor model (High-order)
0
checksum
5
4
Command error RS485 error
Appendix
251
Communication
command
1
mode
1
Received data
3
axis
1
T1
T2
M/S
Error code
checksum
RTY
checksum
Error code
bit7
0 : Normal
1 : Error
5
4
Command error RS485 error
3
RTY error
2
T2 error
1
T1 error
0
M/S error
The previous protocol parameter setting remains valid until execution of this command is completed. After execution of this
command is completed, the updated parameter setting becomes valid when the next command is executed.
M/S =0 indicates "SLAVE" mode, and M/S = 1 indicates "MASTER" mode.
The RTY code is 4 bits, and the M/S code is 1 bit.
The units of T1 and T2 are "0.1 sec" and "1 sec", respectively.
command
1
mode
2
Transmission data
1
axis
1
T1
T2
M/S
Error code
checksum
RTY
checksum
Error code
bit7
0 : Normal
1 : Error
5
4
Command error RS485 error
3
RTY error
2
T2 error
1
T1 error
0
M/S error
The previous protocol parameter setting remains valid until execution of this command is completed.
After execution of this command is completed, this parameter setting becomes valid when the next command is executed.
M/S =0 indicates "SLAVE" mode, and M/S = 1 indicates "MASTER" mode.
The RTY code is 4 bits, and the M/S code is 1 bit.
command
1
mode
7
Received data
1
axis
7
mode
checksum
Error code
bit7
0 : Normal
1 : Error
6
00
5
4
Command error RS485 error
3
mode error
Before writing parameter (into EEPROM), the execution right acquisition request is executed.
completed, the execution right release request is executed.
mode =1: Execution right acquisition request
mode =0: Execution right release request
If the execution right acquisition request ends in failure, the "Used" error code is transmitted.
252
1
Error code
checksum
0
Used
[Appendix]
command
2
mode
0
Reading Status
Received data
0
axis
0
Transmission data
3
axis
2
checksum
Status
bit7
Error code
bit7
0 : Normal
1 : Error
5
CCW
torque output
5
4
Command error RS485 error
Control mode
Status
Error code
checksum
4
CW
torque output
3
CCW
revolution
3
2
CW
revolution
1
0
Under DB
Torque
permission speed limitation
command
2
mode
1
7
8
9
10
Transmission data
5
axis
2
checksum
2
Counter value L
H
Error code
checksum
Error code
bit7
0 : Normal
1 : Error
5
4
Command error RS485 error
The current command position is expressed by the absolute coordinates from the starting point.
(Cumulative sum of command pulse numbers)
The counter value is 32 bits.
For the counter value, "-" indicates CW, and "+" indicates CCW.
Appendix
253
Communication
command
2
mode
2
Transmission data
5
axis
2
2
Counter value L
checksum
H
Error code
checksum
Error code
bit7
0 : Normal
1 : Error
5
4
Command error RS485 error
The current position of the feedback pulse counter is expressed by the absolute coordinates from the starting point.
For the counter value, "-" indicates CW, and "+" indicates CCW.
The feedback pulse counter indicates a cumulative sum of the position detector's pulse numbers, which corresponds to the
actual motor position.
command
2
mode
4
Transmission data
3
axis
2
4
2
Data (Current speed) L
H
Error code
checksum
checksum
Error code
bit7
0 : Normal
1 : Error
5
4
Command error RS485 error
command
2
mode
5
Transmission data
3
axis
2
checksum
Error code
bit7
0 : Normal
1 : Error
5
4
Command error RS485 error
2
Data (Torque) L
H
Error code
checksum
This command is used to read the current torque output. (Unit: conversion from rated torque = 2000)
The output value is 16 bits.
254
[Appendix]
command
2
mode
6
Transmission data
5
axis
2
checksum
2
Data (Error) L
H
Error code
checksum
Error code
bit7
0 : Normal
1 : Error
5
4
Command error RS485 error
This command is used to read the current value of the error counter. (Unit: pulse)
The output value is 32 bits.
"+" indicates that the encoder is in the CW direction, and "-" indicates that the encoder is in the CCW direction relative to the
position command.
command
2
mode
7
Transmission data
5
axis
2
checksum
2
Data L
Data H
Error code
checksum
Error code
bit7
0 : Normal
1 : Error
5
4
Command error RS485 error
Data
bit7
Command pulse
ratio switching 2
6
Command pulse
ratio switching 1
5
Speed zero
clamp
bit15
Scale error
14
Reserve
bit23
Reserve
bit31
Reserve
4
Control mode
switching
3
CCW drive
inhibited
2
CW drive
inhibited
1
Alarm clear
0
Servo ON
13
12
11
Internal speed
Internal speed
Reserve
command selection 2 command selection 1
10
Counter clear
9
Gain switching
8
Command pulse
input inhibited
22
Reserve
21
Reserve
20
Reserve
19
Reserve
18
Smoothing
selection
17
Reserve
16
Reserve
31
Reserve
29
Reserve
28
Reserve
27
Reserve
26
Reserve
25
Reserve
24
Reserve
For the "CCW drive inhibited", "CW drive inhibited", "Speed zero clamp" and "Command pulse input inhibited" input signals,
"1" indicates the open status. For other input signals, "0" indicates the open status.
Appendix
255
Communication
command
2
mode
8
Transmission data
7
axis
2
checksum
Data H
Alarm data L
H
Error code
checksum
Alarm data
bit 7 Overload
bit 5 Over-regenerative
bit 0 Battery
Error code
bit7
0 : Normal
1 : Error
2
Data L
5
4
Command error RS485 error
Data
bit7
Reserve
6
Reserve
5
Torque
limitation
4
Zero speed
detection
3
Mechanical
brake reset
2
In-position
1
Servo alarm
0
Serve ready
bit15
Reserve
14
Reserve
13
Dynamic
brake ON
12
Reserve
11
Reserve
10
9
Full-closed
At-speed
positioning complete
8
Reserve
bit23
Reserve
22
Reserve
21
Reserve
20
Reserve
19
Reserve
18
Reserve
17
Reserve
16
Reserve
bit31
Reserve
31
Reserve
29
Reserve
28
Reserve
27
Reserve
26
Reserve
25
Reserve
24
Reserve
The following table shows the relation between each signal and operation.
Signal name
Servo ready
Servo alarm
In-position
Mechanical brake OFF
Zero speed detection
Torque limitation
At-speed
Dynamic brake ON
command
2
mode
9
0
Not ready
Normal
Not finished
ON
Not detected
Not limited
Not reached
OFF
1
Ready
Error
Finished
OFF
Detected
Limited
Reached
ON
Received data
0
axis
9
Error code
bit7
0 : Normal
1 : Error
(Error) H
Error code
checksum
6
5
4
Command error RS485 error
The speed and torque output values are 16 bits, and the error output value is 32 bits.
The unit and sign of the output data are same as those for Command Nos. 24, 25 and 26.
256
2
Data L
(Speed) H
Data L
(Torque) H
Data L
checksum
[Appendix]
command
2
mode
A
Transmission data
0Dh
axis
A
2
Control mode
Status
Input signal L
checksum
Input signal H
Output signal L
Output signal H
Alarm data L
Alarm data H
Error code
checksum
Error code
bit7
0 : Normal
1 : Error
5
4
Command error RS485 error
For control mode, status, input signal, output signal and alarm data, the meanings of individual bits are same as those for
Command Nos. 20 (command=2, mode=0), 27 (mode=7) and 28 (mode=8).
command
2
mode
D
Transmission data
0BH
axis
2
2
Encoder ID (L)
(H)
Status (L)
(H)
(L)
Single-revolution data
(H)
Multi-revolution data (L)
(H)
0
Error code
checksum
checksum
6
Battery error
Encoder ID (L)
3
5
Multi-revolution 0
error
Encoder ID (H)
0x11
3
Counter
overflow
2
Count error
1
Full absolute
status
0
Over-speed
Status (H)
5
4
Command error RS485 error
Appendix
Error code
bit7
0 : Normal
1 : Error
bit 5: When received data are not matched or the encoder is set in incremental mode
257
Communication
command
8
mode
0
Transmission data
3
axis
8
Parameter No.
checksum
Error code
bit7
0 : Normal
1 : Error
command
8
mode
1
5
4
Command error RS485 error
3
No. error
Transmission data
1
axis
1
8
Error code
checksum
Parameter No.
Parameter value L
H
checksum
6
Data error
Error code
bit7
0 : Normal
1 : Error
8
Parameter value L
H
Error code
checksum
3
No. error
5
4
Command error RS485 error
This command is used to change a parameter setting only temporarily. To save the changed parameter into the EEPROM,
execute the <Writing Parameter into EEPROM> command (mode=4).
For unused parameters, be sure to set "0": Otherwise, data error will occur.
command
8
mode
4
Transmission data
1
axis
8
checksum
Error code
bit7
0 : Normal
1 : Error
6
Data error
5
4
Command error RS485 error
8
Error code
checksum
1
Control LV
258
[Appendix]
command
9
mode
0
Transmission data
2
axis
0
Error code
bit7
0 : Normal
1 : Error
9
Alarm No.
Error code
checksum
checksum
5
4
Command error RS485 error
command
9
mode
1
Transmission data
3
axis
9
History No.
checksum
Error code
bit7
0 : Normal
1 : Error
9
History No.
Alarm No.
Error code
checksum
5
4
Command error RS485 error
3
No. error
History Nos. 1 to 14 indicates the 1st to 14th previous alarm history, respectively.
command
9
mode
2
Transmission data
0Fh
axis
9
2
1st previous
2nd previous
checksum
14th previous
Error code
bit7
0 : Normal
1 : Error
5
4
Command error RS485 error
9
Alarm No.
Alarm No.
~
Alarm No.
Error code
checksum
Appendix
259
Communication
command
9
mode
3
Transmission data
1
axis
3
Error code
bit7
0 : Normal
1 : Error
6
Data error
9
Error code
checksum
checksum
5
4
Command error RS485 error
1
Control LV
command
9
mode
4
Alarm Clear
Received data
0
axis
4
Transmission data
1
axis
9
checksum
Error code
bit7
0 : Normal
1 : Error
9
Error code
checksum
5
4
Command error RS485 error
This command clears the current alarm. (Only applicable to the alarms that can be cleared)
command
9
mode
B
Transmission data
1
axis
9
checksum
Error code
bit7
0 : Normal
1 : Error
5
4
Command error RS485 error
260
9
Error code
checksum
[Appendix]
command
B
mode
0
Transmission data
9
axis
B
Parameter No.
checksum
Attribute
bit7
Unused
parameter
6
Display
inhibited
bit15
14
Error code
bit7
0 : Normal
1 : Error
command
B
mode
1
5
Privileged user
13
4
Change at
initialization
12
5
4
Command error RS485 error
3
System-related
11
10
3
No. error
8
Read only
Transmission data
82h
axis
B
Page No.
checksum
B
Page No.
Parameter value L
(No.0) H
MIN value L
(No.0) H
MAX value L
(No.0) H
Attribute L
(No.0) H
Parameter value L
(No.0fh) H
MIN value L
(No.0fh) H
MAX value L
(No.0fh) H
Attribute L
(No.0fh) H
Error code
checksum
Attribute
bit7
Unused
parameter
6
Display
inhibited
bit15
14
6
Data error
5
Privileged user
13
4
Change at
initialization
12
5
4
Command error RS485 error
3
System-related
11
10
3
No. error
8
Read only
Appendix
Error code
bit7
0 : Normal
1 : Error
B
Parameter value L
H
MIN value L
H
MAX value L
H
Attribute L
H
Error code
checksum
For designation of page No., set a value between "0" and "7". With each page No. setting, 16 parameters can be read out.
261
Communication
command
B
mode
2
Received data
33
axis
2
Error code
bit7
0 : Normal
1 : Error
6
Data error
5
4
Command error RS485 error
3
No. error
262
B
Page No.
Error code
checksum
Page No.
Parameter L
(No. 0 value) H
Parameter value L
(No.1 value) H
~
Parameter value L
(No.0th value) H
checksum
2
[Appendix]
MEMO
Appendix
263
Pr46 x 2
Pr4B
Pr4A
Servo
motor
Gear
Machine
Reduction ratio: R
Encoder
M = (D/E) x (1/R) x L
....................................... (2)
Through transformation of Formula (2), command pulse ratio D is calculated from Formula (3):
D = (M x E x R) / L
....................................... (3)
The actual moving speed of the ball thread (V [mm/s]) according to the moving speed command (F) is
expressed by Formula (4), and the corresponding motor rpm (N) is calculated from Formula (5):
D = (N x E) / (F x 60)
....................................... (6)
<Note>
1) Set the positional resolution (M) at approx. 1/5 to 1/10 of the machine's positioning accuracy ( ), in
view of mechanical errors.
2) For Pr46 and Pr4B, set any value between 1 and 10000.
3) The command pulse ratio can be freely specified depending on the denominator and numerator settings.
However, if an extremely high or low pulse ratio is specified, the motor operation cannot be guaranteed.
The command pulse ratio should be specified in the range of 1/50 to 20.
4)
n
2
20
21
22
23
24
25
26
27
28
29
210
211
212
213
214
215
216
217
264
Decimal number
1
2
4
8
16
32
64
128
256
512
1024
2048
4096
8192
16384
32768
65536
131072
[Appendix]
Command pulse ratio
Lead of ball thread: L= 10 mm
Reduction ratio: R = 1
Positional resolution: M=0.005 mm
Number of encoder pulses: 2500 P/r
(E = 10000 P/r)
Lead of ball thread: L=20mm
Reduction ratio: R = 1
Positional resolution: M=0.0005 mm
Number of encoder pulses: 2500 P/r
(E = 10000 P/r)
0.005 x 10000 x 1
=5
10
500000 x
N=Fx
1 x 2 15
x
10000
D=
=
2000 x 2 17
500000 x 60
D=
Pr46 x 2 Pr4A
Pr4B
Pr46 = 10000
Pr4A = 0
Pr4B = 2000
0.0005 x 2 17 x 1
1 x 2 17
1 x 2 2 x 2 15
=
= 2
20
40000
2 x 10000
Pr46 = 1
Pr4A = 15
Pr4B = 10000
D
x 60
E
1
1
x 60 = 50 x 60 x 2 = 750
17
2
2
M x Ex R
L
10000 x 2
2000
0.0005 x 10000 x 1
= 0.25
20
D=
D=
NxE
F x 60
2 1 x 1000 x 2 17
30000000
1 x 2 15
1 x 2 3 x 2 15
=
3750
2 3 x 3750
D=
Pr46 x 2P Pr4A
Pr4B
Pr46 = 1
Pr47 = 15
Pr48 = 3750
Appendix
265
EMC Directives
Our servo systems can meet EMC Directives and related standards. However, to meet these requirements,
the systems must be limited with respect to configuration and other aspects, e.g. the distance between the
servo driver and motor is restricted, and some special wiring conditions must be met. This means that in
some cases machines and equipment comprising our servo systems may not satisfy the requirements for
wiring and grounding conditions specified by the EMC Directives. Therefore, conformance to the EMC Directives (especially the requirements for emission noise and noise terminal voltage) should be examined
based on the final products that include our servo drivers and servo motors.
Applicable Standards
Subject
Motor
Motor
and
driver
Applicable standard
IEC60034-1 IEC60034-5
EN50178
IEC61800-3
EMC Requirements for Variable Speed Electric Power Driven Systems
EN55011
Radio Disturbance Characteristics of Industrial,
Scientific and Medical (ISM) Radio-Frequency Equipment
IEC61000-4-2 Electrostatic Discharge Immunity Test
IEC61000-4-3 Radio Frequency Electromagnetic Field Immunity Test
IEC61000-4-4 Electric High-Speed Transition Phenomenon - Burst Immunity Test
IEC61000-4-5 Lightning Surge Immunity Test
IEC61000-4-6 High Frequency Conduction - Immunity Test
IEC61000-4-11 Instantaneous Outage- Immunity Test
Standards referenced by
Low-Voltage Directive
Standards referenced by
EMC Directives
Power
supply
Circuit
breaker
Ground-fault
circuit breaker
(RCD)
L1
L2
L3
Noise filter
Surge
absorber
CN X5
AC servo
driver
Zero-phase
reactor
U
V
W
L1C(r)
L2C(t)
RE
CN X4
Protective earth (PE)
266
[Appendix]
Power supply
+10%
+10%
115V 15% 50/60Hz
15%
+10%
+10%
200V system: Single-phase / Three-phase 200V 15% 240V 15% 50/60Hz
(Type A TypeD)
+10%
+10%
200V system: Single-phase / Three-phase 200V 15% 230V 15% 50/60Hz
(Type E TypeG)
100V system: Single-phase 100V
(1) Use the power supply in an environment corresponding to Overvoltage Category III prescribed in IEC60664-1.
(2) For the interface, use a 12 to 24 VDC insulated power supply conforming to the CE Marking or EN
standard (EN60950).
Circuit Breaker
Be sure to connect a circuit breaker conforming to the IEC and UL standards (LISTED /
between the power supply and the noise filter.
mark applied)
Noise Filter
To provide a noise filter for the power supply when several servo drivers are connected, consult the noise
filter manufacturer.
A4.0
B1.5
C1.0
D1.5
H1.5
I1.5
M1.5
Circuit diagram
R
N
L A B E L
Cx
Cx
G1.5
F1.0
E1.5
O1.5
Cy
2-L
6-J
2-K
DV0P1441
55
25
DV0P1442
60
30
DV0P1443
80
40
M5 4.5 4.5 x 7 10
M4
17.5
3SUP-A10H-ER-4
M6 4.5 4.5 x 7 10
M4
17.5
3SUP-A30H-ER-4
M6 6.5 6.5 x 8 15
M4
20
SSUP-A50H-ER-4
A3.0
B
C4.0
D
2-J
I
Circuit diagram
4
Cx2
(C)
L A B E L
F1.0
E
(H)
2-K
Manufacturer
Cx1
L2
L1
Cy
Cx3
Cy
DV0P3390
85
13
3SUP-HL30-ER-6B
DV0P3410
90
13
3SUP-HL50-ER-6B
Manufacturer
Okaya Electric Industries Co., Ltd.
Surge Absorber
111
5.51
28.51
4.20.2
3
1
Manufacturer
Optional Part No. Manufacturer's Product No.
DV0P1450
R A V-781BXZ-4 Okaya Electric Industries Co., Ltd.
<NOTE>
To conduct a withstand voltage test for a machine or equipment, be sure to remove the surge absorber.
Otherwise, the surge absorber may be damaged.
267
Appendix
411
UL-1015 AWG16
4.50.5
281
+30
200 -0
Circuit diagram
341
301
131
Weight: 62.8 kg
Manufacturer
TDK Corporation
Grounding
(1) To prevent an electric shock, be sure to connect the servo driver's protective earth terminal ( ) with
the control panel's protective earth terminal (PE).
(2) The servo driver provides two protective earth terminals. Do not connect these terminals together.
Zero-phase reactor
Attach a zero-phase reactor to the secondary side of the noise filter.
For the Type A: 2 turns; for Type B, C, E, F and G: 7 turns
The Type D does not use any zero-phase reactor.
3
7
12.5
25
951.0
20
4.5
6
7.2
65.51.0
2-5.5
31.41.0
1101.0
2-4.2
Manufacturer
Optional Part No. Manufacturer's Product No.
DV0P3400
RZR-6020N
Okaya Electric Industries Co., Ltd.
Conform to UL Standards
The noise filters conform to UL508C (File No. E164620) to satisfy the following conditions.
1) The servo driver should be used under Contamination Level 2 or 1 specified by IEC60664-1 (housing the
driver in an IP54 control box).
2) Install a circuit breaker or fuse between the power supply and noise filter. The circuit breaker or fuse
should be a UL listed
marked) type. The current rating of the circuit breaker or fuse should be per the
table in page 30 "List of Drivers and Compatible Peripheral Equipment".
268
[Appendix]
A
M
B
L/2
P
MSMA
MAMA
MSMA
MDMA
MHMA
MFMA
MGMA
Motor capacity
30W
50W, 100W
200W, 400W
750W
100W
200W, 400W
750W
1kW
1.5kW ~ 3.5kW
4kW ~ 5kW
750W
1kW ~ 2kW
2.5kW, 3kW
3.5kW, 4kW
4.5kW, 5kW
500W ~ 1.5kW
2kW ~ 5kW
400W
750W, 1.5kW
2.5kW ~ 4.5kW
300W ~ 600W
900W
1.2kW
2.0kW
3kW ~ 4.5kW
Radial load
Design
Thrust load
A direction
B direction
147
88
117.6
392
686
147
392
686
686
147
294
88
147
294
392
196
392
117.6
196
392
490
980
588
686
686
392
490
980
588
686
1666
784
980
980
1666
588
784
686
980
980
588
1862
686
980
588
1666
784
980
2058
980
1176
686
29.4
58.8
98
147
49
68.6
68.6
147
196
343
147
196
784
343
490
784
392
490
784
490
686
784
1176
1470
196
343
147
196
294
196
343
490
Appendix
269
Optional Parts
Motor connectors and plugs
MSMA 30W ~ 750W, MQMA 100W ~ 400W
Plug specification
Motor
AMP plug 172167-1
Pin
170360-1
Brake (option)
AMP plug 172165-1
Pin
170360-1
Connector specification
FG BTN-0 BTP-0
V U
PS
PS
E W
FG
E0V E5V
NC
NC
PS PS
Brake
Brake
NC E0V E5V
L
K
T
S
R
G
M
C
D
E
Detector:
MS3102A
20-29P
P
S
A
B
R
G
D
E
Detector:
MS3102A
20-29P
E
G
270
Description
U phase
V phase
W phase
E-GND
Pin No.
A
B
C
D
Motor(w/o brake)
JL04V-2E20-4PE-B(JAE) or equivalent
JL04V-2E22-22PE-B(JAE) or equivalent
MFMA
MHMA
MGMA
0.4 1.5
2.5 4.5
0.5 1.5
2.0 5.0
0.3 0.9
1.2 4.5
Yes
20-18P
24-11P
20-18P
24-11P
20-18P
24-11P
20-18P
24-11P
20-18P
24-11P
No
20- 4P
22-22P
20- 4P
22-22P
20-18P
24-11P
20-4P
22-22P
20-4P
22-22P
[Appendix]
Junction cables for MINAS-AIII series
Motor type
MSMA 30 750W
MAMA 100 750W
(*)
MGMA 300W
(*)
MSMA 1.0 2.5kW
MDMA 750W 2.5kW
MHMA 500W 1.5kW
MGMA 600 900W
(*)
MSMA 3.0 5.0kW
MDMA 3.0 5.0kW
MHMA 2.0 5.0kW
MGMA 1.2 4.5kW
MFMA 400W
(*)
Junction cable
Encoder cable (17 bits, 7 wires)
for absolute/incremental encoders
Encoder cable (2500 pulses, 5 wires),
incremental encoders
Motor cable
Brake cable
Encoder cable (17 bits, 7 wires)
for absolute/incremental encoders
Encoder cable (2500 pulses, 5 wires),
incremental encoders
Motor cable
Brake cable
Encoder cable (17 bits, 7 wires)
for absolute/incremental encoders
Encoder cable (2500 pulses, 5 wires),
incremental encoders
Motor cable
Brake cable
Encoder cable (17 bits, 7 wires)
for absolute/incremental encoders
Encoder cable (2500 pulses, 5 wires),
incremental encoders
Motor cable
Brake cable
Encoder cable (17 bits, 7 wires)
for absolute/incremental encoders
Encoder cable (2500 pulses, 5 wires),
incremental encoders
Motor cable
Brake cable
Encoder cable (17 bits, 7 wires)
for absolute/incremental encoders
Encoder cable (2500 pulses, 5 wires),
incremental encoders
Motor cable
Brake cable
Encoder cable (17 bits, 7 wires)
for absolute/incremental encoders
Encoder cable (2500 pulses, 5 wires),
incremental encoders
Motor cable
Brake cable
Part No.
fig No.
MFECAO * * OLAA
1-1
MFECAO * * OEAC
2-1
MFMCAO * * OEEB
MFMCBO * * OGET
3-1
4-1
MFECAO * * OLSA
1-2
MFMCDO * * 2ECB
MFMCAO * * 2FCC
3-6
4-2
MFECAO * * OLSA
1-2
MFMCDO * * 2ECT
MFMCAO * * 2FCT
3-2
4-3
MFECAO * * OLSA
1-2
MFMCAO * * 3ECT
MFMCAO * * 3FCT
3-4
4-4
MFECAO * * OLSA
1-2
MFMCAO * * 2ECB
MFMCAO * * 2FCC
3-5
4-2
MFECAO * * OLSA
1-2
MFMCAO * * 2ECT
MFMCAO * * 2FCT
3-3
4-3
MFECAO * * OLSA
1-2
MFMCDO * * 3ECT
MFMCAO * * 3FCT
3-7
4-4
MSMA 750W
MAMA 750W
Part No.
fig No.
MFECAO * * OLAA
1-1
MFECAO * * OEAC
2-1
MFMCAO * * OEEB
MFMCBO * * OGET
3-1
4-1
MFECAO * * OLSA
1-2
MFMCDO * * 2ECB
MFMCAO * * 2FCC
3-6
4-2
MFECAO * * OLSA
1-2
MFMCAO * * 2ECB
MFMCAO * * 2FCC
3-5
4-2
271
Appendix
Junction cable
Encoder cable (17 bits, 7 wires)
for absolute/incremental encoders
Encoder cable (2500 pulses, 5 wires),
incremental encoders
Motor cable
Brake cable
Encoder cable (17 bits, 7 wires)
for absolute/incremental encoders
Encoder cable (2500 pulses, 5 wires),
incremental encoders
Motor cable
Brake cable
Encoder cable (17 bits, 7 wires)
for absolute/incremental encoders
Encoder cable (2500 pulses, 5 wires),
incremental encoders
Motor cable
Brake cable
Optional Parts
Encoder junction cable
fig 1-1
MFECA0 * * 0LAA
(4)
(14)
3M
10320
(16)
(7)
(4)
Part No.
MFECA0030LAA
MFECA0050LAA
MFECA0100LAA
MFECA0200LAA
L (m)
3
5
10
20
Part No.
MFECA0030LSA
MFECA0050LSA
MFECA0100LSA
MFECA0200LSA
L (m)
3
5
10
20
Part No.
MFECAO030EAC
MFECAO050EAC
MFECAO100EAC
MFECAO200EAC
L (m)
3
5
10
20
Part No.
MFECAO030ESA
MFECAO050ESA
MFECAO100ESA
MFECAO200ESA
Sumitomo 3M
fig 1-2
L (m)
3
5
10
20
MFECA0 * * 0LSA
3M
10320
37.3
(7)
Japan Aviation
Electronics Industry, Ltd.
fig 2-1
Sumitomo 3M
MFECA0 * * 0EAC
L
(4)
(14)
3M
10320
(9.8)
(9.2)
(20)
(4)
fig 2-2
Sumitomo 3M
MFECA0 * * OESA
Japan Aviation
Electronics Industry, Ltd.
272
3M
10320
(9.2)
37.3
Sumitomo 3M
[Appendix]
Motor junction cable (Robotop , 600V . DP)
fig 3-1
MFMCA0 * * 0EEB
(50)
(50)
(11)
(12.0)
(4)
(10.0)
(4)
L (m)
3
5
10
20
Part No.
MFMCA0030EEB
MFMCA0050EEB
MFMCA0100EEB
MFMCA0200EEB
L (m)
3
5
10
20
Part No.
MFMCD0032ECT
MFMCD0052ECT
MFMCD0102ECT
MFMCD0202ECT
L (m)
3
5
10
20
Part No.
MFMCA0032ECT
MFMCA0052ECT
MFMCA0102ECT
MFMCA0202ECT
L (m)
3
5
10
20
Part No.
MFMCA0033ECT
MFMCA0053ECT
MFMCA0103ECT
MFMCA0203ECT
L (m)
3
5
10
20
Part No.
MFMCA0032ECB
MFMCA0052ECB
MFMCA0102ECB
MFMCA0202ECB
L (m)
3
5
10
20
Part No.
MFMCD0032ECB
MFMCD0052ECB
MFMCD0102ECB
MFMCD0202ECB
L (m)
3
5
10
20
Part No.
MFMD0033ECT
MFMD0053ECT
MFMD0103ECT
MFMD0203ECT
fig 3-2
MFMCD0 * * 2ECT
(50)
(12.5)
37.3
fig 3-3
MFMCA0 * * 2ECT
(50)
(12.5)
37.3
fig 3-4
MFMCA0 * * 3ECT
(50)
(14)
40.5
fig 3-5
MFMCA0 * * 2ECB
(50)
(12.5)
37.3
fig 3-6
MFMCD0 * * 2ECB
(50)
(12.5)
37.3
MFMCD0 * * 3ECT
(50)
273
Appendix
(14)
43.7
fig.3-7
Optional Parts
Motor (with Brake) junction cables (Robotop , 600V DP)
fig 4-1
MFMCB0 * * 0GET
(Brake cable)
(40)
(9.8)
(12.0)
(10.0)
(5.6)
fig 4-2
(50)
L (m)
3
5
10
20
Part No.
MFMCB0030GET
MFMCB0050GET
MFMCB0100GET
MFMCB0200GET
L (m)
3
5
10
20
Part No.
MFMCA0032FCC
MFMCA0052FCC
MFMCA0102FCC
MFMCA0202FCT
L (m)
3
5
10
20
Part No.
MFMCA0032FCT
MFMCA0052FCT
MFMCA0102FCT
MFMCA0202FCT
L (m)
3
5
10
20
Part No.
MFMCA0033FCT
MFMCA0053FCT
MFMCA0103FCT
MFMCA0203FCT
MFMCA0 * * 2FCC
(50)
(9
.8 )
37.3
(12.5)
L
(50
)
fig 4-3
MFMCA0 * * 2FCT
(50)
(9
.8 )
37.3
(12.5)
L
(50
)
fig 4-4
MFMCA0 * * 3FCT
(50)
(9
.8)
43.7
(14)
L
(50
)
274
[Appendix]
Communication Cables (for RS485)
L
Part No.
DVOP1970
DVOP1971
DVOP1972
L [mm]
200
500
1000
3) Recommended tool to
fix socket
(Prepare by customer)
Used for:
Quantity
1
1
1
9
1
4
Manufacturer
Sumitomo
3M
Tyco electronics
AMP
Remarks
For CN X4
(20pin)
For encoder cable
(9 pins)
For motor cable
(4 pins)
Manufacturer
Tyco electronics AMP
with a 2500-pulse,
5-wire incremental encoder
Quantity
1
1
1
6
1
4
Manufacturer
Sumitomo
3M
Tyco electronics
AMP
Remarks
For CN X4
(20pin)
For encoder cable
(6 pins)
For motor cable
(4 pins)
Appendix
3) Recommended tool to
fix socket
(Prepare by customer)
Manufacturer
Tyco electronics AMP
275
Optional Parts
Used for:
Quantity
1
1
1
1
1
1
Manufacturer
Sumitomo
3M
Remarks
For CN X4
(20pin)
Japan Aviation
Electronics
Industry, Ltd.
Used for:
Item
Connector
Connector cover
Straight plug
Cable clamp
Straight plug
Cable clamp
Used for:
MSMA
MDMA
MHMA
MGMA
1.0kW 2.5kW
750W 2.5kW
500W 1.5kW
300W 900W
Quantity
1
1
1
1
1
1
Manufacturer
Sumitomo
3M
Remarks
For CN X4
(20pin)
Japan Aviation
Electronics
Industry, Ltd.
without brake
with brake
276
Quantity
1
1
1
1
1
1
Manufacturer
Sumitomo
3M
Remarks
For CN X4
(20pin)
Japan Aviation
Electronics
Industry, Ltd.
[Appendix]
Used for:
MSMA
MDMA
MHMA
MGMA
3.0kW 5.0kW
3.0kW 5.0kW
2.0kW 5.0kW
1.2kW 4.5kW
without brake
with brake
Quantity
1
1
1
1
1
1
Manufacturer
Sumitomo
3M
Remarks
For CN X4
(20pin)
Japan Aviation
Electronics
Industry, Ltd.
<Notes>
1. For components such as a connector, connector cover, etc., you may use products of other manufacturers
equivalent to item numbers mentioned above.
2. Pin Arrangement of Connector CN X4 (20-pin)
2500P/R
11
NC
13
NC
12
NC
1
0V
15
NC
14
NC
3
5V
2
0V
17
PS
16
NC
5
NC
4
5V
19
NC
18
PS
7
NC
6
NC
17bits
11
NC
20
FG
(Shield)
9
NC
8
NC
13
NC
12
NC
1
0V
10
NC
15
NC
14
NC
16
NC
19
NC
4
5V
20
FG
(Shield)
18
PS
5
7
BTP-0 NC
5V
2
0V
17
PS
6
8
BTN-0 NC
9
NC
10
NC
Notes>
1. The tables above show the pins alignment, looking from where the plugs are soldered.
Also check pin No. imprinted on the connector body and be sure that there is no wrong wiring.
2. The pin 20 (FG) should be connected to the shield of the shielded wire. Pins marked with NC should be
left unconnected.
3. For cable connections, see page 36 "System Configuration and Wiring: CN X4 Connector (For Encoder)"
in Preparations.
Appendix
277
Optional Parts
Connector Kits for External Equipment
1) Part No. DV0P0980
2) Components
Item
Connector
Connector cover
Quantity
1
1
Manufacturer
SUMITOMO
3M
Remarks
For CN X5
(50 pins)
48
OB
47
NC
50
FG
49
OB
23
OZ
22
OA
25
GND
24
OZ
<Notes>
1. Before making connections, check the Pin Numbers stamped on the plugs.
2. For the symbols that indicate the above signal names and the signal functions,see "CN X5 connector
wiring" for the specific control mode.
3. Pins marked with NC should be left unconnected.
Interface Cables
1) Part No. DV0P2190
2) Dimension
50
12.7
39
25
2000+200
0
26
52.4
50 +10
0
3) Wire table
Pin No. Wire color Pin No.
Orange
1
11
(Red 1)
Orange
2
12
(Black1)
Gray
3
13
(Red 1)
Gray
4
14
(Black 1)
White
5
15
(Red 1)
White
6
16
(Black 1)
Yellow
7
17
(Red 1)
Pink
8
18
(Red 1)
Pink
9
19
(Black 1)
Orange
10 (Red2)
20
278
30
18
Wire color
Orange
(Red 5)
Orange
(Black5)
Gray
(Red 5)
White
(Red 5)
White
(Black5)
Yellow
(Red 5)
Yellow
(Black5)
Pink
(Red 5)
Pink
(Black 5)
Gray
(Black 5)
<Notes>
For example, Orange (Red 1)
for Pin No.1 means that the
lead wire is colored in orange
with one dot mark in red.
[Appendix]
Brackets for Mounting the Driver
2-M3 Countersinking
17
9.5
110.2
110.2
2
R1
10
190.2
2-M3 Countersinking
190.2
5
2-M3 Countersinking
17
9.5
.2
10
15
5
10
29
29
5
5.2
15
21
21
17
9.5
M3 x 8
pan head
screw
x 4 pcs.
R2 5.2
15
.
5
Type B
lower brackets
2-M3 Countersinking
17
9.5
M3 x 8
pan head
screw
x 4 pcs.
DV0P
3000
Upper brackets
DV0P
3050
Outer dimension
Screws
15
Type A
Part No.
10
Driver
type
340.2
340.2
2-M4 Countersinking
17
9.5
20
20
5.2
.2
44
50
17
9.5
15
10
2-M4 Countersinking
.2
52
50
74
2-
40
2-M4 Countersinking
17
9.5
10
26
10
15
Type D
M4 x 6
pan head
screw
x 4 pcs.
40
.6
44
26
DV0P
3270
R2
20
10
10
15
R1
15
M4 x 6
pan head
screw
x 4 pcs.
Type C
DV0P
3010
17
9.5
2-M4 Countersinking
74
.2
M4 x 6
pan head
screw
x 4 pcs.
18
30
DV0P
2102
5.2
22.5
Type E
Type F
5.2
7.5
38
7.5
76
500.2
13
400.2
2.3
2-M4 Countersinking
<Notes>
The driver in Type G can be installed on both front and rear by replacing ancillary L-shaped brackets.
Appendix
279
Optional Parts
External Regenerative Discharge Resistor
57
4.3
300
52
DV0P3630
DV0P3631
DV0P1980
DV0P1981
DV0P1982
DV0P1983
DV0P3630, DV0P3631
Model
Product
Internal thermal fuse
number Specifications Resistance melting temperature
130 2C
10W
50
45M03
130 2C
10W
100
45M03
Non
90W
50
RH150M
Non
90W
100
RH150M
Non
120W
30
RH220M
Non
300W
20
RH500M
60
Part.No.
4.3
Female terminal
5556PBTL
(or 5556PBT)
65
t0.6
10
E
place 1 DV0P 1983.
F
Arrange 2 3 DV0P 1982 in a line or
G
place 1 DV0P 1983.
3.5
E
4.5
4.5
E
30
20
DV0P1983
4.5
250
234
3
60
80
2M3
Lead
wires
24.5
218
40
<Caution>
Be careful not to touch the external regeneration resistance.
It may be hot and scald you while using.
72
Lead wire: 50 mm
DV0P2990
00090001
14.5
18
W/insulation paper
[Appendix]
Reactor
fig 1
fig 2
X Y Z
NP
R S T
6-I
2-I
C
D
C
D
4-H
(mounting dimension)
(mounting dimension)
fig 1
fig 2
(mounting dimension)
4-H
Part No.
DV0P220
DV0P221
DV0P222
DV0P223
DV0P224
DV0P225
DV0P226
DV0P227
DV0P228
DV0P229
65
60
60
60
60
60
55
55
55
55
125
150
150
150
150
150
80
80
80
80
83
113
113
113
113
113
68
68
68
68
118
137
137
137
137
137
90
90
90
90
145
120
130
140
145
160
90
90
95
105
70
60
70
79
84
100
41
41
46
56
85
75
95
95
100
115
55
55
60
70
W7 x L12
W7 x L12
W7 x L12
W7 x L12
W7 x L12
W7 x L12
7
7
7
7
M4
M4
M4
M4
M4
M5
M4
M4
M4
M4
(mounting dimension)
MSMA Single-phase
Reactor Motor
Reactor
Voltage
Rated
Product
Product
Series Specifications
Output
No.
No.
30W100W DVOP227 MGMA
900W, 1.2kW
MSMA
Motor
Voltage
Series Specifications
100V
Rated
Output
MSMA
30W200W
MDMA
MAMA
100W200W
MHMA
MHMA
500W
DVOP220 MFMA
MFMA
400W
MSMA
MGMA Single-phase
300W
MDMA
MSMA
400W750W
MHMA
MAMA
400W750W
MGMA
MDMA
750W
MFMA
750W
MDMA
MGMA
600W
MFMA
100V
30W400W
MSMA
MAMA
100W400W
MDMA
MGMA
300W
DVOP220 MHMA
400W
MGMA
500W
MSMA
600W
MDMA
MFMA
MGMA
Three-phase
200V
MSMA
MAMA
MFMA
1.5kW
DVOP222
1.5kW
2.0kW
DVOP223
2.0kW
MSMA
MHMA
1.0kW
200V
2.5kW
3.0kW
DVOP224
3.5kW
MFMA
750W
DVOP221 MSMA
MDMA
4.0kW
DVOP225
MFMA
Appendix
<Reference>
[Harmonics suppression technical guideline], JEAG 9702-1995, Japan Electric Association
[Harmonic current calculation procedure for general-purpose inverter at special customers], JEM-TR201-1996, Japan
Electrical Manufacturers' Association
[Servo driver (input current 20 A or lower) harmonic current suppression procedure guideline], JEM-TR199, Japan
Electrical Manufacturers' Association
281
Recommended Parts
Surge Absorber for Motor Brake
Motor
MSMA
MAMA
MHMA
MGMA
MSMA
MDMA
MDMA
MFMA
MGMA
MDMA
MFMA
MFMA
MHMA
MGMA
30W 1.0kW
100W 750W
2.0kW 5.0kW
600W 2.0kW
1.5kW 5.0kW
750W
3.5kW 5.0kW
750W 1.5kW
3.0kW 4.5kW
1.0kW 3.0kW
400W
2.5kW 4.5kW
500W 1.5kW
300W
C-5A2 or Z15D151
Ishizuka.co.
C-5A3 or Z15D151
Ishizuka.co.
TNR9G820K
NIPPON CHEMI_CON CO.
The recommended parts are those specified for measurement of brake release time.
Sumitomo 3M
SUMITOMO Denso
282
Tel
81-6-6908-1131
81-44-833-4311
Kantou Area 81-3-5436-7608
Chubu Area 81-52-772-8551
Kansai Area 81-6-6338-2331
Kantou Area 81-3-3621-2703
Chubu Area 81-52-777-5070
Kansai Area 81-6-6391-6491
81-6-6263-2031
Kantou Area 81-3-5201-7229
Chubu Area 81-52-971-1712
Kansai Area 81-6-6245-7333
East Japan 81-3-3424-8120
West Japan 81-6-6392-1781
Kantou Area 81-3-3780-2717
Chubu Area 81-52-953-9520
Kansai Area 81-6-6447-5259
Kantou Area 81-3-5716-7290
Chubu Area 81-52-322-9652
Kansai Area 81-6-6447-3944
Kantou Area 81-44-844-8111
Chubu Area 81-565-29-0890
Kansai Area 81-6-6533-8232
046-261-4500
Tokyo
03-5627-2050
Nagoya 052-701-7171
Osaka
06-6386-5573
Fukuoka 092-762-1141
81-6-6229-1960
Equipment
No-fuse breaker
magnetic contact
surge absorber
Regenerative discharge resistor
Connector
Cable
[Appendix]
MEMO
Appendix
283
Dimensions
MSMA Series 30W 750W
LL
220
LR
LF
LC
200
LH
LA
LBh7
Sh6
4-LZ
LW
LK
RH
KH
KWh9
(Keyed version)
Encoder specifications
without brake
M
S
M
A
with brake
284
Model
MSMA3AZP1
MSMA5AZP1
MSMA01 P1
MSMA02 P1
MSMA04 P1
MSMA082P1
MSMA3AZS1
MSMA5AZS1
MSMA01 S1
MSMA02 S1
MSMA04 S1
MSMA082S1
MSMA3AZP1
MSMA5AZP1
MSMA01 P1
MSMA02 P1
MSMA04 P1
MSMA082P1
MSMA3AZS1
MSMA5AZS1
MSMA01 S1
MSMA02 S1
MSMA04 S1
MSMA082S1
Output(W)
30
50
100
200
400
750
30
50
100
200
400
750
30
50
100
200
400
750
30
50
100
200
400
750
LL
65
73
103
94
123.5
142.5
82
90
120
109
138.5
157.5
97
105
135
127
156.5
177.5
114
122
152
142
171.5
192.5
LB
LF
LR
LA
LC
LH
LZ
30
25
45
38
32
3.4
50
30
70
60
34
4.5
70
35
90
80
53
30
25
45
38
32
3.4
50
30
70
60
34
4.5
70
35
90
80
53
30
25
45
38
32
3.4
50
30
70
60
34
4.5
70
35
90
80
53
30
25
45
38
32
3.4
50
70
7
8
30
35
70
90
60
80
34
53
4.5
6
LW
13
LK KW KH
12
2
RH
5.8
14
12.5
6.2
20
13
18
22.5
22
12
4
5
6
2
8.5
11
15.5
5.8
14
12.5
6.2
20
13
18
22.5
22
12
4
5
6
2
8.5
11
15.5
5.8
14
12.5
6.2
20
13
18
22.5
22
12
4
5
6
2
8.5
11
15.5
5.8
14
12.5
6.2
20
18
22.5
22
4
5
6
8.5
11
15.5
25
25
25
25
Weight(kg)
0.27
0.34
0.56
1.0
1.6
3.2
0.33
0.40
0.62
1.1
1.7
3.3
0.47
0.53
0.76
1.4
2.0
3.9
0.53
0.59
0.82
1.5
2.1
4.0
[Appendix]
MSMA Series 1.0 5.0kW
MSMA1.0 2.5kW
4.0 5.0kW
MSMA3.0 3.5kW
LC
LL
LR
LC
LF LE
Sh6
L Bh7
LG
LH
4-LZ
L
135
145
LZ
LW
LK
RH
KH
KWh9
(Keyed version)
Encoder specifications
without brake
M
S
M
A
Output(W)
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
LL
175
180
205
230
217
237
240
260
280
175
180
205
230
217
237
240
260
280
200
205
230
255
242
262
265
285
305
200
205
230
255
242
262
265
285
305
S
19
LB
80
LE
LF
7
LR
LA
100
LC
90
LD
120
95
10
55
115
100
135
120
162
145
130
165
118
100
90
120
98
6.6
115
100
135
103
120
162
145
130
165
118
100
90
120
98
6.6
115
100
135
103
120
162
145
130
165
118
100
90
120
98
6.6
115
100
135
103
120
162
130
165
22
110
24
95
65
7
10
55
22
110
24
95
65
7
10
55
22
110
24
95
65
7
10
55
22
110
24
103
LW
LK
KW
KH
42
45
111 Wide9
41
84
55
51
42
45
111 Wide9
41
84
55
51
42
45
111 Wide9
41
12
80
19
LZ
6.6
12
80
19
84
LH
98
12
80
19
LG
84
55
51
42
45
111 Wide9
41
12
6
65
145
118
55
51
RH Weight(kg)
4.5
5.1
15.5
6.5
7.5
9.3
18
10.9
12.9
20
15.1
17.3
4.5
5.1
15.5
6.5
7.5
9.3
18
10.9
12.9
20
15.1
17.3
5.1
6.5
15.5
7.9
8.9
11.0
18
12.6
14.8
20
17.0
19.2
5.1
6.5
15.5
7.9
8.9
11.0
18
12.6
14.8
20
17.0
19.2
285
Appendix
with brake
Model
MSMA102P1
MSMA152P1
MSMA202P1
MSMA252P1
MSMA302P1
MSMA352P1
MSMA402P1
MSMA452P1
MSMA502P1
MSMA102S1
MSMA152S1
MSMA202S1
MSMA252S1
MSMA302S1
MSMA352S1
MSMA402S1
MSMA452S1
MSMA502S1
MSMA102P1
MSMA152P1
MSMA202P1
MSMA252P1
MSMA302P1
MSMA352P1
MSMA402P1
MSMA452P1
MSMA502P1
MSMA102S1
MSMA152S1
MSMA202S1
MSMA252S1
MSMA302S1
MSMA352S1
MSMA402S1
MSMA452S1
MSMA502S1
Dimensions
MAMA Series 100W 750W
LL
LR
LF
LC
200
220
LE
LH
LBh9
Sh6
4-LZ
LA
LW
LK
RH
KH
KWh9
(Keyed version)
Encoder specifications
with brake
286
without brake
M
A
M
A
Model
MAMA012P1
MAMA022P1
MAMA042P1
MAMA082P1
MAMA012S1
MAMA022S1
MAMA042S1
MAMA082S1
MAMA012P1
MAMA022P1
MAMA042P1
MAMA082P1
MAMA012S1
MAMA022S1
MAMA042S1
MAMA082S1
Output(W)
100
200
400
750
100
200
400
750
100
200
400
750
100
200
400
750
LL
110.5
111
139
160
127
126
125
175
138
139
167
192.5
154.5
154
182
207.5
S
8
11
14
19
8
11
14
19
8
11
14
19
8
11
14
19
LE
2
LF
7
3
8
2
7
3
8
2
7
3
8
2
7
3
8
LR
24
LA
48
LC
42
LH
34
LZ
3.4
30
70
60
43
4.5
35
24
90
48
80
42
53
34
5
3.4
30
70
60
43
4.5
35
24
90
48
80
42
53
34
5
3.4
30
70
60
43
4.5
35
24
90
48
80
42
53
34
5
3.4
30
70
60
43
4.5
35
90
80
53
LW
14
20
25
14
20
25
14
20
25
14
20
25
LK KW KH
12.5
3
18
4
22.5
5
20
6
12.5
3
18
4
22.5
5
20
6
12.5
3
18
4
22.5
5
20
6
12.5
3
18
4
22.5
5
20
6
RH Weight(kg)
6.2
0.65
8.5
1.1
11
1.5
15.5
3.3
6.2
0.71
8.5
1.2
11
1.6
15.5
3.4
6.2
0.85
8.5
1.5
11
1.9
15.5
4.0
6.2
0.91
8.5
1.6
11
2.0
15.5
4.1
[Appendix]
MDMA Series 750W 5.0kW
MDMA 750W
LL
LR
LC
LF LE
LH
Sh6
L Bh7
LG
4-LZ
135
145
LZ
LW
LK
RH
KH
KWh9
(Keyed version)
Encoder specifications
without brake
M
D
M
A
Output(W)
0.75
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
0.75
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
0.75
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
0.75
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
LL
147
150
175
200
225
250
222
242
205
225
147
150
175
200
225
250
222
242
205
225
172
175
200
225
250
275
247
267
230
250
172
175
200
225
250
275
247
267
230
250
S
19
22
LB
LE
3
LF
LR
LA
LC
120
LD
162
145
130
165
LG
LH
LZ
LW
111 Wide9
55
110
12
45
24
118
130
165
150
190
128
11
200
176
233
143
13.5
120
162
111 Wide9
70
3
55
110
12
45
145
130
130
165
118
165
150
190
128
11
70
200
176
233
143
13.5
120
162
111 Wide9
3
55
110
12
50
10
42
50
10
42
10
55
45
145
130
130
165
118
41
9
51
165
150
190
128
11
200
176
233
143
13.5
120
162
111 Wide9
70
3
55
110
55
18
114.3
19
12
45
145
130
165
24
118
41
84
65
130
3.2
35
84
3.2
28
41
65
22
51
24
35
18
114.3
19
28
10
42
84
3.2
22
50
55
65
35
51
24
28
41
18
114.3
19
22
KH
6
84
3.2
35
KW
6
65
28
LK
42
114.3
51
165
150
190
128
11
200
176
233
143
13.5
55
18
70
50
RH Weight(kg)
15.5
4.8
6.8
18
8.5
10.6
12.8
20
14.6
16.2
24
18.8
21.5
30
25.0
15.5
4.8
6.8
18
8.5
10.6
12.8
20
14.6
16.2
24
18.8
21.5
30
25.0
15.5
6.5
8.7
18
10.1
12.5
14.7
20
16.5
18.7
24
21.3
25.0
30
28.5
15.5
6.5
8.7
18
10.1
12.5
14.7
20
16.5
18.7
24
21.3
25.0
30
28.5
287
Appendix
with brake
Model
MDMA082P1
MDMA102P1
MDMA152P1
MDMA202P1
MDMA252P1
MDMA302P1
MDMA352P1
MDMA402P1
MDMA452P1
MDMA502P1
MDMA082S1
MDMA102S1
MDMA152S1
MDMA202S1
MDMA252S1
MDMA302S1
MDMA352S1
MDMA402S1
MDMA452S1
MDMA502S1
MDMA082P1
MDMA102P1
MDMA152P1
MDMA202P1
MDMA252P1
MDMA302P1
MDMA352P1
MDMA402P1
MDMA452P1
MDMA502P1
MDMA082S1
MDMA102S1
MDMA152S1
MDMA202S1
MDMA252S1
MDMA302S1
MDMA352S1
MDMA402S1
MDMA452S1
MDMA502S1
Dimensions
MHMA Series 500W 5.0kW
LL
LC
LR
LF LE
Sh6
L Bh7
LG
LH
4-LZ
LW
LK
RH
KH
KWh9
(Keyed version)
Encoder specifications
without brake
M
H
M
A
with brake
288
Model
MHMA052P1
MHMA102P1
MHMA152P1
MHMA202P1
MHMA302P1
MHMA402P1
MHMA502P1
MHMA052S1
MHMA102S1
MHMA152S1
MHMA202S1
MHMA302S1
MHMA402S1
MHMA502S1
MHMA052P1
MHMA102P1
MHMA152P1
MHMA202P1
MHMA302P1
MHMA402P1
MHMA502P1
MHMA052S1
MHMA102S1
MHMA152S1
MHMA202S1
MHMA302S1
MHMA402S1
MHMA502S1
Output(W)
0.5
1.0
1.5
2.0
3.0
4.0
5.0
0.5
1.0
1.5
2.0
3.0
4.0
5.0
0.5
1.0
1.5
2.0
3.0
4.0
5.0
0.5
1.0
1.5
2.0
3.0
4.0
5.0
LL
150
175
200
190
205
230
255
150
175
200
190
205
230
255
175
200
225
215
230
255
280
175
200
225
215
230
255
280
LB
LE
LF
LR
LA
LC
LD
22
110
12
70
145
130
165
35
114.3
3.2
18
80
200
176
22
110
12
70
145
35
114.3
3.2
18
80
22
110
12
35
114.3
3.2
22
110
35
114.3
LG
LH
LZ
LW
LK
KW
KH
118
45
41
233
143
13.5
55
50
10
130
165
118
45
41
200
176
233
143
13.5
55
50
10
70
145
130
165
118
45
41
18
80
200
176
233
143
13.5
55
50
10
12
70
145
130
165
118
45
41
3.2
18
80
200
176
233
143
13.5
55
50
10
84
84
84
84
RH Weight(kg)
5.3
18
8.9
10.0
16.0
18.2
30
22.0
26.7
5.3
18
8.9
10.0
16.0
18.2
30
22.0
26.7
6.9
18
9.5
11.6
19.5
21.7
30
25.5
30.2
6.9
18
9.5
11.6
19.5
21.7
30
25.5
25.5
[Appendix]
MFMA Series 400W 4.5kW
LL
LR
LF
LC
LC
LE
4-LZ
4-LZ
D
50
LH
LA
LBh7
LG
Sh6
LA
LD
LW
LK
RH
KH
KWh9
(Keyed version)
Encoder specifications
without brake
M
F
M
A
Output(W)
0.4
0.75
1.5
2.5
3.5
4.5
0.4
0.75
1.5
2.5
3.5
4.5
0.4
0.75
1.5
2.5
3.5
4.5
0.4
0.75
1.5
2.5
3.5
4.5
LL
120
125
145
139
147
163
120
125
145
139
147
163
145
150
170
166
174
194
145
150
170
166
174
194
S
19
22
35
LB
110
LE
6
LF
12
114.3
3.2
18
200
16
LR
55
LA
145
LC
130
LD
165
LG
LH
118
200
176
233
235
220
268
145
130
165
118
200
176
233
143
235
220
268
145
130
165
118
200
176
233
143
235
220
268
145
130
165
118
200
176
233
143
235
220
268
LW
LK
42
41
KW
6
8
KH
6
7
55
50
10
45
42
41
6
8
6
7
55
50
10
45
42
41
6
8
6
7
55
50
10
45
42
41
6
8
6
7
55
50
10
45
143
84
65
LZ
9
13.5
164
70
19
22
35
110
12
114.3
3.2
18
200
16
55
84
65
13.5
164
70
19
22
35
110
12
114.3
3.2
18
200
16
55
84
65
13.5
164
70
19
22
35
110
12
114.3
3.2
18
200
16
55
84
65
70
13.5
164
RH Weight(kg)
15.5
4.7
18
8.6
11.0
14.8
30
15.5
19.9
15.5
4.7
18
8.6
11.0
14.8
30
15.5
19.9
15.5
6.7
18
10.6
14.0
17.5
30
19.2
24.3
15.5
6.7
18
10.6
14.0
17.5
30
19.2
24.3
289
Appendix
with brake
Model
MFMA042P1
MFMA082P1
MFMA152P1
MFMA252P1
MFMA352P1
MFMA452P1
MFMA042S1
MFMA082S1
MFMA152S1
MFMA252S1
MFMA352S1
MFMA452S1
MFMA042P1
MFMA082P1
MFMA152P1
MFMA252P1
MFMA352P1
MFMA452P1
MFMA042S1
MFMA082S1
MFMA152S1
MFMA252S1
MFMA352S1
MFMA452S1
Dimensions
MGMA Series 300W 4.5kW
MGMA 300W 3.0kW
LL
LC
LR
4-LZ
Sh6
L Bh7
LG
LF LE
MGMA 4.5kW
LL
LC
LR
eyebolt call 10
LF LE
L Bh7
Sh6
LH
4-LZ
LD
LW
LK
RH
KH
KWh9
(Keyed version)
Encoder specifications
without brake
M
G
M
A
with brake
290
Model
MGMA032P1
MGMA062P1
MGMA092P1
MGMA122P1
MGMA202P1
MGMA302P1
MGMA452P1
MGMA032S1
MGMA062S1
MGMA092S1
MGMA122S1
MGMA202S1
MGMA302S1
MGMA452S1
MGMA032P1
MGMA062P1
MGMA092P1
MGMA122P1
MGMA202P1
MGMA302P1
MGMA452P1
MGMA032S1
MGMA062S1
MGMA092S1
MGMA122S1
MGMA202S1
MGMA302S1
MGMA452S1
Output(W)
0.3
0.6
0.9
1.2
2.0
3.0
4.5
0.3
0.6
0.9
1.2
2.0
3.0
4.5
0.3
0.6
0.9
1.2
2.0
3.0
4.5
0.3
0.6
0.9
1.2
2.0
3.0
4.5
LL
125
150
175
162.5
182.5
222.5
300.5
125
150
175
162.5
182.5
222.5
300.5
150
175
200
187.5
207.5
271
337.5
150
175
200
187.5
207.5
271
337.5
LB
LE
LF
LR
LA
LC
LD
22
110
12
70
145
130
165
114.3
3.2
18
80
200
176
233
24
113
12
70
18
80
24
113
12
70
18
80
24
113
12
70
18
80
24
113
LG
LH
LZ
LW
LK
KW
KH
118
45
41
143
13.5
55
50
10
96
90
12
45
41
55
50
10
96
90
12
45
41
55
50
10
96
90
12
45
41
55
50
10
96
90
12
84
35
42
22
110
114.3
3.2
145
130
165
200
176
233
118
143
13.5
84
35
42
22
110
114.3
3.2
145
130
165
200
176
233
118
143
13.5
84
35
42
22
110
114.3
3.2
145
130
165
200
176
233
118
143
13.5
84
35
42
RH Weight(kg)
5.1
18
6.8
8.5
15.5
30
17.5
25.0
37
34.0
5.1
18
6.8
8.5
15.5
30
17.5
25.0
37
34.0
6.7
18
8.4
10.0
19.0
30
21.0
28.5
37
39.5
6.7
18
8.4
10.0
19.0
30
21.0
38.5
37
39.5
[Appendix]
MEMO
Appendix
291
Dimensions
Driver Type A
21
40
11
5
MODE
Nameplate
C DE
F01
789
SP
SET
456
AB
23
456
SET
789
IM
IM
SP
L1
L1
L3
L3
L2
X7
L2
X7
DL1
160
172
182
L2C
L1C
X8
DL2
DL2
DL1
160
180
190
L2C
L1C
X8
RB2
RB3
RB1
X5
RB2
RB3
RB1
X5
X4
X4
Mounting bracket
(optional: DV0P3050)
ID
23
C DE
22
5
.2
MODE
ID
F01
AB
170
20
15
5
.2
5
2.6
5.2
2.6
5.2
Mounting bracket
(optional: DV0P3050)
20
Mounting bracket
(standard)
Driver Type B
29
55
170
SET
C DE
C DE
AB
789
IM
Nameplate
SP
L3
L3
L2
X7
L2
X7
160
172
182
DL2
DL1
180
190
L2C
L1C
X8
RB1
RB1
DL2
DL1
160
L2C
L1C
X8
RB2
RB3
X5
RB2
RB3
X5
X4
5.2
2.
2.6
X4
5.2
27.5
292
Mounting bracket
(optional: DV0P3000)
L1
789
L1
456
456
SP
SET
F01
23
23
AB
MODE
ID
F01
IM
11
5
2
5
.
15
5
.
MODE
ID
22
27.5
Mounting bracket
(optional: DV0P3000)
Mounting bracket
(standard)
[Appendix]
Driver Type C
44
70
170
MODE
ID
SET
C DE
SP
AB
L1
IM
L3
L3
L2
X7
L2
X7
DL2
RB1
V
RB2
RB3
X5
RB2
RB3
X5
182
160
L2C
L1C
X8
DL1
190
160
DL1
DL2
RB1
180
L2C
L1C
X8
172
C DE
789
L1
Nameplate
SET
F01
789
456
456
SP
Mounting bracket
(optional: DV0P3010)
23
23
AB
MODE
ID
F01
IM
11
5
.2
.
5
22
20
15
20
X4
X4
5.2
20
5.2
2.6
20
Mounting bracket
(optional: DV0P3010)
Mounting bracket
(standard)
MODE
50
5.2
SET
B CD
EF
IM
Nameplate
SP
L1
L2
L3
L3
L2
X7
160
L2C
L1C
X8
RB1
DL2
DL1
190
160
DL1
DL2
X5
RB2
U
V
W
RB2
RB3
X5
RB3
RB1
180
L2C
L1C
X8
X4
X4
.6
R2
R2
.6
.6
R2
.6
R2
10
182
89A
X7
172
67
L1
SET
012
89A
SP
Mounting bracket
(optional: DV0P3270)
345
IM
MODE
ID
012
170
22
2-
345
B CD
ID
EF
10
2-
5.2
50
67
10
Air (outward)
100
15
74
11
Driver Type D
5.2
50
10
50
5.2
Air (outward)
Mounting bracket
(standard)
Appendix
Mounting bracket
(optional: DV0P3270)
Air flow
293
Dimensions
Approximate weight : 4.2 kg
85
76
50
205
13
22.3
2.3
38
5.2
15
.
5
345
67
B CD
SET
012
IM
SP
89A
X7
X6
250
220
235
X5
Nameplate
Nameplate
2.3
X4
MODE
ID
EF
7.5
5.2
2.3
Mounting bracket
(standard)
Mounting bracket
(optional: DV0P2102)
2.3
Driver Type E
5.2
5.2
5.2
Terminal block
cover
38
Battery cover
50
13
Mounting bracket
(standard)
Mounting bracket
(optional: DV0P2102)
Driver Type F
Approximate weight : 8 kg
100
76
50
205
13
38
5.2
SP
89A
X7
X6
250
220
Nameplate
2.3
X4
5.2
5.2
5.2
Terminal block
cover
235
X5
Battery cover
38
50
13
294
Nameplate
76
67
B CD
345
IM
SET
012
2.3
15
.
5
MODE
ID
EF
7.5
5.2
2.3
Mounting bracket
(standard)
Mounting bracket
(optional: DV0P2102)
22.3
2.3
Mounting bracket
(standard)
Mounting bracket
(optional: DV0P2102)
[Appendix]
Driver Type G
Approximate weight : 18 kg
150
100
25
75
275
5.2
22.3
2.3
.
5
2.3
2
MODE
ID
SET
456
AB
23
C DE
F01
IM
SP
Mounting bracket
(standard)
Mounting bracket
(Change to the bracket
for back panel mounting)
2.3
5.2
2.5
789
Nameplate
X6
250
220
235
X5
Nameplate
100
Mounting bracket
(standard)
Mounting bracket
Battery cover
75
25
76
Terminal block
cover
5.2
5.
2
5.2
2.3
2.3
X4
Appendix
295
(Types A, B, C, D)
U
L1
L2
L3
W
N
Voltage
detection
L1C
RE
fuse
12V
+5V
Gate drive power supply
RE power supply
DC /
DC
L2C
Gate drive
RB1
RB3
RB2
Front panel
Error
detection
Sequence control
Parameter control
Operator interface
Protective
circuit
EEPROM
X7
X6
X5
Alarm signal
Pulse
command
Analogue
speed
command
Control
(input)
Scale
+
-
A/D
Position error
Position error
counter
counter
External
Position
16 bits
Internal speed
command
Speed
error
driver
+
-
Speed
Speed
detection
Internal
Speed
Torque
limit
Current
control
PWM
circuit
Torque
A/D
Control
(output)
X4
Processing
encoder
signals
Pulse
output
Scaling
CN BAT
For battery
connection
(Types E, F)
U
P
fuse
L1
L2
L3
+
fuse
W
N
Voltage
detection
Fan
fuse
DC /
DC
RE
Gate drive
12V
+5V
Gate drive power supply
RE power supply
P
B1
B2
Front panel
Error
detection
Sequence control
Operator interface
Parameter control
Protective
circuit
EEPROM
X7
X6
X5
Alarm signal
Pulse
command
Analogue
speed
command
Control
(input)
Scale
A/D
16 bits
+
-
Position error
Position error
counter
counter
External
Position
+
-
Speed
error
driver
Speed
Torque
limit
Speed
Internal speed
command
Internal
Speed
detection
Processing
encoder
signals
For battery
connection
296
PWM
circuit
A/D
Control
(output)
Pulse
output
Current
control
Torque
Scaling
X4
CN BAT
[Appendix]
(Type G)
U
P
L1
L2
L3
fuse
+
fuse
W
N
Voltage
detection
DB
Fan
fuse
DC / DC
RE
Gate drive
12V
+5V
Gate drive power supply
RE power supply
P
B1
B2
Front panel
Error
detection
Sequence control
Operator interface
Parameter control
Protective
circuit
EEPROM
X7
X6
X5
Alarm signal
Pulse
command
Analogue
speed
command
Control
(input)
Scale
A/D
16 bits
+
-
Position error
Position error
driver
counter
External
Position
+
Speed
Internal speed
command
Internal
Speed
detection
Speed
error
driver
Speed
Torque
limit
PWM
circuit
A/D
Control
(output)
Processing
encoder
signals
Pulse
output
Current
control
Torque
Scaling
X4
CN BAT
For battery
connection
Appendix
297
Speed feed
foreword
Pulse
string
PULS
SIGN
Gain
Pr 15
Filter
Pr 16
Input setting
Division gradual
increase
Gradual
increase
Pr 40
1st
numerator
Pr 46
Selection
Inverse
Pr 41
2nd
numerator
Pr 47
Frequency
Pr 2B
Mode
Pr 42
3rd
numerator
Pr 48
Filter
Pr 2C
4th
numerator
Pr 49
Numerator
magnification
Pr 4A
Denominator
Smoothing
Pr 4C
Torque command
monitor
+
+ +
Position
control
Pr 10
1st
Pr 18
2nd
Speed control
1st ratio
Position
deviation monitor
Speed
detection filter
Command
speed monitor
Pr 4B
1st
Pr 13
2nd
Pr 1B
Pr 11
1st
differential
Pr 12
2nd ratio
Pr 19
2nd
differential
Pr 1A
Inertia
ratio
Pr 20
Notch filter
Pr 44
Inverse
Pr 45
1st width
Pr 1E
2nd time
constant
Pr 1C
2nd
frequency
Pr 28
Limit
Pr 5E
2nd width
Pr 29
2nd depth
Pr 2A
Pr 14
Encoder
Filter
Pr 27
Speed detection
Division
Division
Motor
Pr 1D
1st time
constant
Disturbance
observer
Actual speed
monitor
Feedback pulse
OA / OB / OZ
Torque filter
1st
frequency
Encoder
receive
processing
PS / PS
signal
Input setting
Division gradual
increase
Smoothing
Gradual
increase
Pr 40
1st
numerator
Pr 46
Selection
Inverse
Pr 41
2nd
numerator
Pr 47
Mode
Pr 42
3rd
numerator
Pr 48
4th
numerator
Pr 49
Numerator
magnification
Pr 4A
Denominator
Pr 4C
Hybrid
correction
setting
Speed
Pr 71
Pr 4B
Cycle
Division
Pr 44
Division
Feedback
pulse
OA / OB / OZ
selection
Output
Selection
Pr 78
Inverse
Pr 45
Division
Pr 79
Numerator
Denominator
298
Pr 70
Pr 7A
Gain
Pr 15
Filter
Pr 16
External scale
correction
Numerator Pr 74
Numerator
magnification
Pr 75
Denominator
Pr 76
Command
speed monitor
Pr 72
External scale
correction
Numerator Pr 74
Numerator
magnification
Pr 75
Denominator
Pr 76
Full-closed
deviation monitor
Torque command
monitor
Position deviation
monitor
Position
control
1st
2nd
Pr 10
Pr 18
+
+ +
Speed
detection filter
1st
Pr 13
2nd
Pr 1B
Speed control
Pr 11
1st ratio
1st
differential
Pr 12
2nd ratio
Pr 19
2nd
differential
Pr 1A
Inertia
ratio
Pr 20
Notch filter
Torque filter
Motor
1st
frequency
Pr 1D
1st time
constant
1st width
Pr 1E
2nd time
constant
Pr 1C
2nd
frequency
Pr 28
Limit
Pr 5E
2nd width
Pr 29
2nd depth
Pr 2A
Pr 14
Encoder
Actual speed
monitor
Speed detection
Encoder
PS / PS signal
receive
processing
External scale
receive processing
External
scale
[Appendix]
Speed/external encoder control mode - Speed control block diagram
Control mode set-up: when Pr02 is [9] (case 1)
Gain changeover function is not available in this mode.
To use 1st gain [Pr10]-[Pr14], set [Pr30] to 1 and [Pr36] to 0. Do not change these settings.
Command speed
monitor
Analog
speed
command
16bitA/D
SPR
Input setting
Command
selection
Pr50
Gain
Inverse
Pr51
Offset
Pr52
Pr05
Selection
Pr58
Deceleration
Pr59
S-shape
Pr5A
Feedback pulse
OA / OB / OZ
Accel./decel. limit
Acceleration
Torque command
monitor
control Speed
1st ratio
Pr53
Speed
detection filter
Pr54
1st
Pr13
Pr55
2nd
Pr1B
Pr 11
1st
differential
Pr 12
2nd ratio
Pr 19
2nd
differential
Pr 1A
Inertia
ratio
Pr 20
Actual speed
monitor
Pr56
Notch filter
Torque filter
Motor
1st
frequency
Pr1D
1st time
constant
1st width
Pr1E
2nd time
constant
Pr 1C
2nd
frequency
Pr28
Limit
Pr 5E
2nd width
Pr29
2nd depth
Pr2A
Pr 14
Encoder
Disturbance
observer
Filter
Pr27
detection Speed
Division
Division
Pr44
Inverse
Pr45
Encoder
receive
processing
PS / PS
signal
Gain
Pr 15
Filter
Pr 16
Input setting
Division gradual
increase
Smoothing
Gradual
increase
Pr 40
1st
numerator
Pr 46
Selection
Inverse
Pr 41
2nd
numerator
Pr 47
Mode
Pr 42
3rd
numerator
Pr 4C
Torque command
monitor
Position control
1st Pr 10
+
+ +
Speed control
Pr 11
1st
differential
Pr 12
Pr 48
2nd ratio
Pr 19
4th
numerator
Pr 49
2nd
differential
Pr 1A
Numerator
magnification
Pr 4A
Inertia ratio
Pr 20
Denominator
External scale
correction
Pr 4B
2nd
Pr 18
Full-closed
deviation monitor
Numerator
Pr 74
Speed
detection filter
Numerator
magnification
Pr 75
1st
Pr 13
Denominator
Pr 76
2nd
Pr 1B
Command
speed monitor
Position
deviation monitor
Numerator
Pr 79
Denominator
Pr 7A
1st width
Pr 1E
2nd time
constant
Pr 1C
2nd
frequency
Pr 28
Limit
Pr 5E
2nd width
Pr 29
2nd depth
Pr 2A
Pr 14
Encoder
Speed detection
Encoder
receive
processing
Pr 45
Division
Motor
Pr 1D
1st time
constant
PS / PS
signal
Appendix
Inverse
Torque filter
1st
frequency
Actual speed
monitor
Division
Division Pr 4 4
Feedback
Output selection
pulse
OA / OB / OZ Selection Pr 78
Notch filter
1st ratio
Full-closed
speed detection
External scale
receive
processing
External
scale
299
Command speed
monitor
Analog
speed
command
16bitA/D
SPR
Input setting
Gain
Pr50
Inverse
Pr51
Offset
Pr52
Command
selection
Acceleration
Pr58
Deceleration
Pr59
S-shape
Pr5A
Pr05
Selection
Feedback pulse
OA / OB / OZ
Accel./decel. limit
Torque command
monitor
control Speed
Pr53
Speed
detection filter
Pr54
1st
Pr13
Pr55
2nd
Pr1B
1st ratio
Pr 11
1st
differential
Pr 12
2nd ratio
Pr 19
2nd
differential
Pr 1A
Inertia
ratio
Pr 20
Actual speed
monitor
Pr56
Notch filter
Torque filter
Motor
1st
frequency
Pr1D
1st width
Pr1E
2nd time
constant
Pr 1C
2nd
frequency
Pr28
Limit
Pr 5E
2nd width
Pr29
2nd depth
Pr2A
1st time
constant
Pr 14
Encoder
Disturbance
observer
Filter
Pr27
detection Speed
Division
Division
Pr44
Inverse
Pr45
Encoder
receive
processing
PS / PS
signal
Speed feed
foreword
Pulse
string
PULS
SIGN
Gain
Pr 15
Filter
Pr 16
Input setting
Division gradual
increase
Gradual
increase
Pr 40
1st
numerator
Pr 46
Selection
Inverse
Pr 41
2nd
numerator
Pr 47
Frequency
Pr 2B
Mode
Pr 42
3rd
numerator
Pr 48
Filter
Pr 2C
4th
numerator
Pr 49
Numerator
magnification
Pr 4A
Denominator
Smoothing
Pr 4C
Torque command
monitor
Position
control
1st
2nd
Pr 10
Pr 18
+
+ +
Position
deviation monitor
Command
speed monitor
Pr 4B
Speed
detection filter
1st
Pr 13
2nd
Pr 1B
Speed control
1st ratio
Pr 11
1st
differential
Pr 12
2nd ratio
Pr 19
2nd
differential
Pr 1A
Inertia
ratio
Pr 20
Division
300
Division
Pr 44
Inverse
Pr 45
Torque filter
Motor
Pr 1D
1st width
Pr 1E
2nd time
constant
Pr 1C
2nd
frequency
Pr 28
Limit
Pr 5E
2nd width
Pr 29
2nd depth
Pr 2A
1st time
constant
Filter
Pr 27
Speed detection
Encoder
receive
processing
Pr 14
Encoder
Disturbance
observer
Actual speed
monitor
Feedback pulse
OA / OB / OZ
Notch filter
1st
frequency
PS / PS
signal
[Appendix]
Position control for high-stiffness equipment block diagram
Control mode set-up: when Pr02 is [11]
Speed feed
foreword
Pulse
string
PULS
SIGN
Input setting
Smoothing
Division gradual
increase
Gradual
increase
Pr 40
FIR
Filter
1st
numerator
Pr 46
Inverse
Pr 41
2nd
numerator
Pr 47
Pr 42
Numerator
magnification
Pr 4A
Mode
Pr 4E
Denominator
Gain
Pr 15
FIR
Filter
Pr 4F
Position control
1st ratio
Command
speed monitor
+
+ +
Speed control
Pr 11
1st ratio
1st
differential
Pr 12
Pr 18
2nd ratio
Pr 19
Pr 1F
2nd
differential
Pr 1A
Inertia
ratio
Pr 20
1st
differential
Pr 17
2nd ratio
2nd
differential
Pr 4B
Pr 10
Torque command
monitor
Position deviation
monitor
Speed
detection filter
1st
Pr 13
2nd
Pr 1B
Motor
Pr 1D
1st width
Pr 1E
2nd time
constant
Pr 1C
2nd
frequency
Pr 28
Limit
Pr 5E
2nd width
Pr 29
2nd depth
Pr 2A
Pr 14
Gain
Pr 26
Encoder
Filter
Pr 27
Speed detection
Division
Division
Pr 44
Inverse
Pr 45
OA / OB / OZ
Torque filter
1st time
constant
Disturbance observer
Actual speed
monitor
Feedback pulse
Notch filter
1st
frequency
Encoder
receive
processing
PS / PS
signal
Speedfeed
foreword
Pulse
string
PULS
SIGN
Input setting
Smoothing
Division gradual
increase
Gradual
increase
Pr 40
Selection
Pr 4C
Numerator
Pr 46
Inverse
Pr 41
FIR
Filter
Pr 4E
Numerator
magnification
Pr 4A
Mode
Pr 42
Frequency
Pr 2B
Denominator
Pr 4B
Filter
Pr 2C
Gain
Pr 15
Filter
Pr 16
Position control
1st
Pr 10
2nd
Pr 18
Torque command
monitor
+
+ +
Position deviation
monitor
Command speed
monitor
Speed
detection filter
1st
Pr 13
2nd
Pr 1B
Speed control
1st ratio
Pr 11
1st
differential
Pr 12
2nd ratio
Pr 19
2nd
differential
Pr 1A
Inertia
ratio
Pr 20
+
+
Division
OA / OB / OZ
Division
Pr 44
Inverse
Pr 45
Torque filter
Motor
1st
frequency
Pr 1D
1st width
Pr 1E
2nd time
constant
Pr 1C
2nd
frequency
Pr 28
Limit
Pr 5E
2nd width
Pr 29
2nd depth
Pr 2A
1st time
constant
Feedback pulse
Notch filter
Gain
Pr 26
Filter
Pr 27
Pr 14
Encoder
Speed detection
Encoder
receive
processing
PS / PS
signal
Appendix
301
Torque command
monitor
Command speed
monitor
Analog speed
command
16bitA/D
SPR
Input setting
Filter
FIR
Filter
Pr 5B
Pr 50
Gain
Command
selection
Selection
Inverse
Pr 51
Offset
Pr 52
Pr 05
Deceleration
Pr 59
S-shape
Pr 5A
Internal speed
setting
Speed control
1st ratio
1st
speed
Pr 53
Speed
detection filter
2nd
speed
Pr 54
1st
Pr 13
3rd
speed
Pr 55
2nd
Pr 1B
4th
speed
Pr 11
1st
differential
Pr 12
2nd ratio
Pr 19
2nd
differential
Pr 1A
Inertia
ratio
Pr 20
Notch filter
Torque filter
1st time
constant
Motor
1st
frequency
Pr 1D
1st width
Pr 1E
2nd time
constant
Pr 1C
2nd
frequency
Pr 28
Limit
Pr 5E
2nd width
Pr 29
2nd depth
Pr 2A
Pr 14
Encoder
Pr 56
Actual speed
monitor
Gain
Pr 26
Filter
Pr 27
Speed detection
Division
Feedback pulse
OA / OB / OZ
Accel./ decel.limit
Acceleration Pr 58
Division
Pr 44
Inverse
Pr 45
Encoder
receive
processing
PS / PS
signal
Input setting
Smoothing
Pr 40
Selection
Pr 4C
Numerator
Pr 46
Inverse
Pr 41
FIR
Filter
Pr 4D
Numerator
magnification
Pr 4A
Mode
Pr 42
Frequency
Pr 2B
Denominator
Pr 4B
Filter
Division gradual
increase
Gradual
increase
Pr 2C
Gain
Pr 15
Filter
Pr 16
Torque command
monitor
Position control
1st
Pr 10
2nd
Pr 18
+
+
Speed control
External scale
correction
Numerator
Pr 74
Numerator
magnification
Pr 75
Denominator
Pr 76
Command speed
monitor
Twist correction
Gain
Filter
Position deviation
monitor
Pr 7B
Inverse
Pr 11
1st
differential
Pr 12
2nd ratio
Pr 19
2nd
differential
Pr 1A
Inertia
ratio
Pr 20
1st
Pr 13
2nd
Pr 1B
Pr 7A
Notch filter
Torque filter
Motor
1st
frequency
Pr 1D
1st time
constant
1st width
Pr 1E
2nd time
constant
Pr 1C
2nd
frequency
Pr 28
Limit
Pr 5E
2nd width
Pr 29
2nd depth
Pr 2A
Pr 14
Actual speed
monitor
Filter
Pr 7C
Gain1
Pr 7D
Gain2
Pr 7E
Encoder
Speed detection
Encoder
receive
processing PS / PS signal
External scale
correction
Division
Numerator Pr 79
+
+
State feedback
Pr 45
Denominator
1st ratio
Speed
detection filter
Pr 7C
Division
Division Pr 44
302
Numerator
Pr 74
Numerator
magnification
Pr 75
Denominator
Pr 76
Torsion amount
External scale
receive
processing
External
scale
[Appendix]
MEMO
Appendix
303
Specifications (Driver)
100 115V
Control circuit
power
Single-phase
100 115V
Type A D
Single/three-phase
200 240V
Type E G
Three-phase
200 230V
Type A D
Single-phase
200 240V
Type E G
Single-phase
200 240V
Main circuit
power
Single-phase
200Vline
Control
circuit power
100Vline
Main circuit
power
Operation
conditions
15%
+10%
15%
+10%
15%
+10%
15%
+10%
15%
50 / 60 Hz
50 / 60 Hz
50 / 60 Hz
50 / 60 Hz
50 / 60 Hz
Operation temperature :
Operation/storage humidity
Vibration
20 80 C
Output
Linear scale / encoder signal can be input for outputting 2-phase (A/B) square-wave to line driver.
10-input
[1] Servo-ON [2] Control mode select [3] Gain select [4] Alarm clear
Other inputs depend on the control mode.
6-output
[1] Servo alarm [2] Servo ready [3] External brake release signal [4] Zero-speed detection
[5] In torque control
Other outputs depend on the control mode.
3-input (16 bit A / D 1 input, 10 bit A / D 2 input)
2-output (for monitor)
[1] Speed monitor (Actual speed of the motor or command speed can be monitored.
Contents of the monitor and scale is selected by parameter.)
[2] Torque monitor (torque command (approx. 3 V / rated torque), deviation counter, or full closed deviation can bemonitored. Contents of the monitor and scale is selected by parameter.)
Input
2-input
Both of the line driver I / F and open collector I / F are available by means of photocoupler input
Output
4-output
Encoder pulse (A / B / Z-phase) or external scale pulse (EXA / EXB / EXZ-phase) is output by
the line driver. For Z-phase or EXZ-phase pulse, an open collector output is also available.
Pulse signal
Communication RS232C
function
RS485
Front panel
Regeneration
Storage temperature :
Encoder feedback
Basic specifications
+10%
50 / 60 Hz
Humidity
Control method
304
15%
Temperature
Analogue
signal
0 55 C
+10%
Dynamic brake
Internal
Control mode
Selectable from the following 15 mode using parameters : [1] position control
[2] speed control [3] torque control [4] position / speed control [5] position / torque control
[6] speed / torque control [7] semi-closed control [8] full-closed control [9] hybrid control
[10] speed / external encoder control [11] speed / semi-closed control
[12] position control for high-rigidity equipment [13]*position control for low-rigidity equipment
[14]*speed control for low-rigidity equipment [15]*second full-closed control
For a motor of which encoder specification is 17-Bit (131072 resolution).
For a motor of 2500 p / r (resolution : 10000, 5 - serial), 11 modes only excluding item
marked with ( * ) are available.
[Appendix]
Control input
[5] CW drive prohibition [6] CCW drive prohibition [7] Deviation counter clear
[8] Command pulse input prohibition [9] Command dividing gradual increase switching
Control output
Torque control
Command pulse
division gradual
increase (electronic
gear ratio setting)
Smoothing filter
Analogue
input
Full-closed related
Control output
Max.command
pulse frequency
Pulse
input
Input pulse string mode Differential input Selectable with parameter. ( [1] CCW / CW [2] A / B-phase [3] Command / direction)
Smoothing filter
Analogue Torque limit
input
command input
Real time
Auto
tuning
[5] Smoothing filter switching [6] Scale error input [7] Deviation counter clear
[8] Command pulse input prohibition [9] Command division gradual increase switching 1
[10] Command division gradual increase switching 2
[6] full-closed positioning completion
Common
Function
Speed control
Position control
Max.command
pulse frequency
Normal mode
Fit gain function
Appendix
Motor characteristics
Motor characteristics depend on whether the oil seal and/or brake is used or not used.
Continuous torque vs ambient temperature characteristics are measured with our standard aluminum L
flange (angle approx. twice the motor flange size) installed.
MSMA3AZ***
MSMA3AZ***
0.15
Instantaneous
operating range
*Continuous torque vs
ambient temperature
100
0.3
50
Continuous
operating range
[%] 0
10
20
30 40
1000 2000 3000 4000 5000
Ambient temperature: [C]
Speed: [r/min]
MSMA5AZ***
0.15
Instantaneous
operating range
With brake
50
0.25
With brake
50
0.5
With brake
100
75
70
50
Continuous
operating range
10
20
30
40
1000 2000 3000 4000 5000 [%] 0
Ambient temperature: [C]
Speed: [r/min]
*Continuous torque vs
ambient temperature
With brake
*Continuous torque vs
ambient temperature
Torque
[N m]
100
95
1.0
50
0.5
Continuous
operating range
[%] 0
1000 2000 3000 4000 5000
10
20
30
40
Ambient temperature: [C]
Speed: [r/min]
Instantaneous
operating range
Without brake
Rated torque ratio
Instantaneous
operating range
Instantaneous
operating range
Without brake
MSMA012***
0.5
*Continuous torque vs
ambient temperature
Torque
[Nm]
1.0
MSMA012***
1.0
With brake
100
95
Continuous
operating range
[%] 0
10
20
30
40
1000 2000 3000 4000 5000
Ambient temperature: [C]
Speed: [r/min]
Torque
[N m]
100
70
60
50
Continuous
operating range
10
20
30
40
1000 2000 3000 4000 5000 [%] 0
Ambient temperature: [C]
Speed: [r/min]
Instantaneous
operating range
*Continuous torque vs
ambient temperature
Rated torque ratio
0.5
Instantaneous
operating range
Without brake
MSMA011***
1.0
Torque
[N m]
0.5
MSMA011***
Torque
[N m]
*Continuous torque vs
ambient temperature
100
90
Continuous
operating range
[%] 0
1000 2000 3000 4000 5000
10
20
30
40
Ambient temperature: [C]
Speed: [r/min]
Continuous
operating range
1000 2000 3000 4000 5000 [%] 0
10
20
30
40
Ambient temperature: [C]
Speed: [r/min]
0.25
With brake
60
50
45
*Continuous torque vs
ambient temperature
Rated torque ratio
0.5
Instantaneous
operating range
Without brake
100
MSMA5AZ***
Torque
[N m]
*Continuous torque vs
ambient temperature
Torque
[N m]
0.3
Torque
[N m]
100
75
70
50
With brake
Continuous
operating range
1000 2000 3000 4000 5000 [%] 0
10
20
30
40
Ambient temperature: [C]
Speed: [r/min]
* Information on this page is subject to change: for the latest design, consult us. * Rated torque ratio is 100% at 40C without oil seal and brake.
306
[Appendix]
MSMA series (200 W 750 W)
Without oil seal
MSMA021***
MSMA021***
1.0
Instantaneous
operating range
Continuous
operating range
2.0
50
1.0
[%] 0
10
20
30
40
Ambient temperature: [C]
*Continuous torque vs
ambient temperature
[%] 0
10
20
30
40
Ambient temperature: [C]
50
2.0
[%] 0
10
20
30
40
Ambient temperature: [C]
2.0
[%] 0
10
20
30
40
Ambient temperature: [C]
75
50
10
20
30
40
Ambient temperature: [C]
Instantaneous
operating range
Continuous
operating range
1000 2000 3000 4000 5000
Speed: [r/min]
*Continuous torque vs
ambient temperature
100
75
50
[%] 0
10
20
30
40
Ambient temperature: [C]
Torque
[N m]
8.0
4.0
50
[%] 0
10
20
30 40
Ambient temperature: [C]
Instantaneous
operating range
Continuous
operating range
1000 2000 3000 4000 5000
Speed: [r/min]
*Continuous torque vs
ambient temperature
100
Appendix
100
[%] 0
100
Continuous
operating range
Continuous
operating range
1000 2000 3000 4000 5000
Speed: [r/min]
*Continuous torque vs
ambient temperature
MSMA082***
4.0
Instantaneous
operating range
Torque
[N m]
50
*Continuous torque vs
ambient temperature
Instantaneous
operating range
10
20
30
40
Ambient temperature: [C]
4.0
8.0
100
90
MSMA082***
Torque
[N m]
[%] 0
Continuous
operating range
0
2.0
100
80
70
*Continuous torque vs
ambient temperature
Without brake
With brake
MSMA042***
*Continuous torque vs
ambient temperature
Instantaneous
operating range
Continuous
operating range
1000 2000 3000 4000 5000
Speed: [r/min]
Torque
[N m]
4.0
4.0
10
20
30
40
Ambient temperature: [C]
100
90
MSMA042***
Torque
[N m]
Instantaneous
operating range
Continuous
operating range
0
2.0
[%] 0
With brake
MSMA041***
*Continuous torque vs
ambient temperature
Instantaneous
operating range
Torque
[N m]
1.0
50
4.0
100
80
70
50
2.0
90
MSMA041***
Torque
[N m]
Continuous
operating range
1000 2000 3000 4000 5000
Speed: [r/min]
Continuous
operating range
1.0
Instantaneous
operating range
Instantaneous
operating range
*Continuous torque vs
ambient temperature
Without brake
MSMA022***
2.0
Torque
[N m]
100
90
MSMA022***
Torque
[N m]
2.0
Torque
[N m]
50
[%] 0
10
20
30 40
Ambient temperature: [C]
* Information on this page is subject to change: for the latest design, consult us.
307
Motor characteristics
MSMA series (1 kW 5 kW)
With oil seal
MSMA102***
MSMA152***
Instantaneous
operating range
Continuous
operating range
1000 2000 3000 4000 5000
Speed: [r/min]
100
15
50
7.5
[%] 0
10
20
30 40
Ambient temperature: [C]
*Continuous torque vs
ambient temperature
Without brake
With brake
100
85
70
50
[%] 0
10
20
30
40
Ambient temperature: [C]
Without brake
With brake
100
90
85
50
[%]0
30
100
90
85
50
[%] 0
Continuous
operating range
1000 2000 3000 4000 5000
Speed: [r/min]
25
Without brake
With brake
100
90
85
50
[%] 0
10
20
30
40
Ambient temperature: [C]
*Continuous torque vs
ambient temperature
Without brake
With brake
10
20
30
40
Ambient temperature: [C]
100
70
50
[%] 0
10
20
30
40
Ambient temperature: [C]
* Information on this page is subject to change: for the latest design, consult us.
308
Instantaneous
operating range
Continuous
operating range
0
1000 2000 3000 4000 5000
Speed: [r/min]
*Continuous torque vs
ambient temperature
Instantaneous
operating range
*Continuous torque vs
ambient temperature
Torque
[N m]
50
10
20
30
40
Ambient temperature: [C]
MSMA502***
Torque
[N m]
[%] 0
Instantaneous
operating range
Continuous
operating range
1000 2000 3000 4000 5000
Speed: [r/min]
*Continuous torque vs
ambient temperature
Rated torque ratio
Continuous
operating range
1000 2000 3000 4000 5000
Speed: [r/min]
With brake
70
50
MSMA452***
20
Instantaneous
operating range
Without brake
100
Instantaneous
operating range
10
20
30
40
Ambient temperature: [C]
40
23.8
20
15
MSMA402***
Torque
[N m]
*Continuous torque vs
ambient temperature
Continuous
operating range
Instantaneous
operating range
10
20
30
40
Ambient temperature: [C]
MSMA352***
*Continuous torque vs
ambient temperature
15
[%] 0
Torque
[N m]
Continuous
operating range
30
50
10
MSMA302***
Torque
[N m]
3500
Continuous
operating range
1000 2000 3000 4000 5000
Speed: [r/min]
10
Instantaneous
operating range
With brake
MSMA252***
20
Instantaneous
operating range
Without brake
100
85
Continuous
operating range
MSMA202***
Torque
[N m]
*Continuous torque vs
ambient temperature
Torque
[N m]
10
Torque
[N m]
100
85
70
50
[%] 0
Without brake
With brake
10
20
30
40
Ambient temperature: [C]
[Appendix]
MAMA series (100 W 750 W)
Without oil seal
MAMA022***
MAMA012***
Instantaneous
operating range
0.5
(0.19)
0
*Continuous torque vs
ambient temperature
Torque
[N m]
2.0
(1.91)
100
1.0
(0.38)
50
[%] 0
Speed: [r/min]
10
20
30 40
Ambient temperature: [C]
MAMA042***
2.0
(0.76)
100
50
[%] 0
10
20
30 40
Ambient temperature: [C]
*Continuous torque vs
ambient temperature
Torque
[N m]
8.0
(7.16)
100
50
[%] 0
Instantaneous
operating range
4.0
(1.43)
10
20
30 40
Ambient temperature: [C]
Instantaneous
operating range
4.0
(3.82)
*Continuous torque vs
ambient temperature
MAMA082***
Instantaneous
operating range
1.0
(0.95)
Torque
[N m]
*Continuous torque vs
ambient temperature
100
50
[%] 0
10
20
30 40
Ambient temperature: [C]
MDMA082***
MDMA102***
10
5
Instantaneous
operating range
Continuous
operating range
1000
2000
3000
Speed: [r/min]
*Continuous torque vs
ambient temperature
Torque
[N m]
100
15
Instantaneous
10 operating range
50
[%] 0
10
20
30
40
Continuous
operating range
0
1000
2000
3000
Speed: [r/min]
3000
Speed: [r/min]
100
50
[%] 0
10
20
30
40
*Continuous torque vs
ambient temperature
100
30
Instantaneous
15 operating range
50
[%] 0
10
20
30 40
Ambient temperature: [C]
Continuous
operating range
1000
2200
2000
3000
Speed: [r/min]
10
Instantaneous
operating range
2200
2000
*Continuous torque vs
ambient temperature
MDMA202***
20
1000
MDMA152***
Torque
[N m]
Continuous
operating range
Torque
[N m]
*Continuous torque vs
ambient temperature
100
50
[%] 0
10
20
30 40
Ambient temperature: [C]
* Information on this page is subject to change: for the latest design, consult us.
Appendix
309
Motor characteristics
MDMA series (2.5 W 5 kW)
With oil seal
MDMA252***
MDMA302***
40
Torque
[N m]
100
(35.5)
Instantaneous
20 operating range
*Continuous torque vs
ambient temperature
Continuous
operating range
1000
2000
50
Instantaneous
25 operating range
50
[%] 0
3000
Speed: [r/min]
10
20
30 40
Ambient temperature: [C]
MDMA352***
Continuous
operating range
1000
2000
*Continuous torque vs
ambient temperature
Without brake
With brake
100
90
85
50
Torque
[N m]
(56.4)
50
[%] 0
3000
10
20
30
40
Ambient temperature: [C]
Speed: [r/min]
Continuous
operating range
2000
1000
2000
*Continuous torque vs
ambient temperature
Without brake
With brake
100
85
70
50
[%] 0
3000
Speed: [r/min]
10
20
30
40
Ambient temperature: [C]
*Continuous torque vs
ambient temperature
Without brake
With brake
100
90
85
50
*Continuous torque vs
ambient temperature
Rated torque ratio
Instantaneous
operating range
1000
10
20
30 40
Ambient temperature: [C]
MDMA502***
Torque
[N m]
60
Instantaneous
operating range
Continuous
operating range
50
25
MDMA452***
30
100
[%] 0
3000
Speed: [r/min]
Instantaneous
25 operating range
*Continuous torque vs
ambient temperature
MDMA402***
50
Continuous
operating range
1000
2000
Torque
[N m]
70
35
Instantaneous
operating range
Continuous
operating range
[%] 0
3000
10
20
30
40
Ambient temperature: [C]
Speed: [r/min]
1000
2000
Without brake
With brake
100
90
85
50
[%] 0
3000
Speed: [r/min]
10
20
30
40
Ambient temperature: [C]
MFMA042***
MFMA082***
2.5
Instantaneous
operating range
Continuous
operating range
1000
2000
3000
Speed: [r/min]
100
Torque
[N m]
10
50
[%] 0
10
20
30 40
Ambient temperature: [C]
Torque
[N m]
Continuous
operating range
0
1000
2000
3000
Speed: [r/min]
3000
Speed: [r/min]
100
50
[%] 0
10
20
30 40
Ambient temperature: [C]
*Continuous torque vs
ambient temperature
100
Instantaneous
operating range
50
[%] 0
Continuous
operating range
10
20
30 40
Ambient temperature: [C]
* Information on this page is subject to change: for the latest design, consult us.
310
2000
10
1000
*Continuous torque vs
ambient temperature
MFMA252A***
Instantaneous
operating range
Instantaneous
operating range
Continuous
operating range
MFMA152A***
20
*Continuous torque vs
ambient temperature
1000
2000
3000
Speed: [r/min]
*Continuous torque vs
ambient temperature
100
50
[%] 0
10
20
30 40
Ambient temperature: [C]
[Appendix]
MFMA series (3.5 kW 4.5 kW)
With oil seal
MFMA352***
MFMA452***
50
Instantaneous
25 operating range
Continuous
operating range
0
1000
2000
3000
Speed: [r/min]
Torque
[N m]
*Continuous torque vs
ambient temperature
100
Torque
[N m]
50
Instantaneous
operating range
25
50
Continuous
operating range
[%] 0
10
20
30 40
Ambient temperature: [C]
1000
2000
3000
Speed: [r/min]
*Continuous torque vs
ambient temperature
100
50
[%] 0
10
20
30 40
Ambient temperature: [C]
MHMA052***
MHMA102***
5.0
Instantaneous
operating range
2.5
Continuous
operating range
0
1000
2000
3000
Speed: [r/min]
Torque
[N m]
*Continuous torque vs
ambient temperature
15
100
10
5
50
10
20
30
40
1000
2000
3000
Speed: [r/min]
15
50
10
20
30 40
Ambient temperature: [C]
1000
(2200)
2000
3000
Speed: [r/min]
10
20
30 40
Ambient temperature: [C]
*Continuous torque vs
ambient temperature
50
[%] 0
10
20
30
40
MHMA402***
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
Torque
[N m]
*Continuous torque vs
ambient temperature
100
3000
Speed: [r/min]
Instantaneous
operating range
Continuous
operating range
[%] 0
Instantaneous
25 operating range
Continuous
operating range
0
1000
2000
100
30
100
50
[%]
*Continuous torque vs
ambient temperature
MHMA302***
Torque
[N m]
3000
Speed: [r/min]
50
Continuous
operating range
2000
100
MHMA202***
10
Instantaneous
operating range
1000
*Continuous torque vs
ambient temperature
20
Continuous
operating range
(2200)
[%] 0
MHMA152***
Torque
[N m]
Instantaneous
operating range
Torque
[N m]
50
Instantaneous
operating range
50
25
Continuous
operating range
[%] 0
10
20
30
40
1000
2000
3000
Speed: [r/min]
*Continuous torque vs
ambient temperature
100
85
50
[%] 0
10
20
30
40
MHMA502***
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
Torque
[N m]
35
Instantaneous
operating range
Continuous
operating range
1000
2000
3000
Speed: [r/min]
100
85
Appendix
70
*Continuous torque vs
ambient temperature
50
[%] 0
10
20
30
40
Ambient temperature: [C]
* Information on this page is subject to change: for the latest design, consult us.
311
Motor characteristics
MGMA series (300 W 4.5 kW)
With oil seal
MGMA032***
MGMA062***
Continuous
operating range
1000
2000
Speed: [r/min]
100
15
50
[%] 0
Torque
[N m]
10
20
30
40
Ambient temperature: [C]
MGMA092***
10
Instantaneous
operating range
Continuous
operating range
Torque
[N m]
1000
2000
Speed: [r/min]
*Continuous torque vs
ambient temperature
100
50
[%] 0
10
20
30
40
Ambient temperature: [C]
Instantaneous
15 operating range
Continuous
operating range
0
[%] 0
1000
2000
Speed: [r/min]
100
50
10
20
30 40
Ambient temperature: [C]
[%] 0
100
50
10
20
30
40
Ambient temperature: [C]
[%] 0
*Continuous torque vs
ambient temperature
Instantaneous
50 operating range
Continuous
operating range
0
[%] 0
*Continuous torque vs
ambient temperature
Instantaneous
35 operating range
Continuous
operating range
70
MGMA452***
100
50
10
20
30
40
Ambient temperature: [C]
* Information on this page is subject to change: for the latest design, consult us.
312
*Continuous torque vs
ambient temperature
*Continuous torque vs
ambient temperature
Instantaneous
25 operating range
Continuous
operating range
1000
2000
Speed: [r/min]
10
20
30
40
Ambient temperature: [C]
MGMA302***
Torque
[N m]
100
[%] 0
Torque
[N m]
1000
2000
Speed: [r/min]
50
30
MGMA202***
50
100
Continuous
operating range
10
Instantaneous
operating range
*Continuous torque vs
ambient temperature
MGMA122***
20
1000
2000
Speed: [r/min]
2.5
Instantaneous
operating range
5.0
*Continuous torque vs
ambient temperature
1000
2000
Speed: [r/min]
100
50
10
20
30
40
Ambient temperature: [C]
[Appendix]
MEMO
Appendix
313
Index
A
item
word
Adjustments
page
Driver
B
item
word
Block diagram
(Control block
diagrams)
page
Brake
C
item
word
Communication
Protocol
314
page
[Appendix]
C
(Continued)
item
word
Communication
Protocol
page
Control mode
D
item
word
Display (monitor)
page
E
item
word
Encoder
page
Error codes
I
item
word
Initialization
page
M
word
page
315
Appendix
item
Motor
Index
O
item
word
Option
page
P
item
word
PANATERM
Parameter
Peripheral Equipment
316
page
[Appendix]
R
item
word
Recommended Parts
page
S
item
word
Safety Precautions
page
T
item
word
Time Limiting
Characteristic
page
Timing Chart
Trouble
W
item
word
Wiring
page
Appendix
317
MEMO
318
Reference
TEL (03)3538-2961
FAX (03)3538-2964
TEL (072)870-3065
FAX (072)870-3151
319
Technical information
Electric data of this product (Instruction Manual, CAD data) can be downloaded from the following web site.
http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html
Date of
purchase
Model No.
DC
MA
Dealer
Tel : (
Motor Company
Matsushita Electric Industrial Co., Ltd.
7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan
Tel : (81)-72-871-1212
2004 Matsushita Electric Industrial Co., Ltd. All Rights Reserved.
IMC41
S0904-3066