No. SR-ZSV00039 TECHNICAL REFERENCE MODE L Product name: Product number: AC Servo Amplifier Minas-LIQI series Issued on March 26, 2012 （REVISION . .
№SR-ZSV00039 REVISIONS Date Mar.
№SR-ZSV00039 Contents 1． Specification Overview.........................................................................................................................1 2． Specifications of Interface.....................................................................................................................2 2-1 Specifications of Input Signal of I/F Connector.................................................................................2 2-2 Specifications of Output Signal of I/F Connector ....
№SR-ZSV00039 8-2-2 Timing Chart of Servo On/Off When Monitor is Turned Off ..................................................74 8-2-3 Timing Chart of Servo On/Off When Motor is Operating .......................................................74 8-2-4 Timing Chart of Operations When Alarm is Issued (Servo-On Command Status)..................75 8-2-5 Timing Chart of Operations When Alarm is Cleared (Servo-On Command Status) ...............
№SR-ZSV00039 － 1 － 1．Specification Overview Control method Control mode Encoder feedback Input Basic Specification Control signal output Input Pulse signal output Communication function(USB) Front panel Regeneration Dynamic brake Position control Control output Maximum command pulse frequency Input pulse train Input pulse Command scaling (electric gear ratio setting) Smoothing filter Damping control Auto tuning Common Function Control input Dividing encoder pulse Protective function Alarm data tra
№SR-ZSV00039 － 2 － 2．Specifications of Interface 2－1 Specifications of Input Signal of I/F Connector Input signals and their functions Control input Input pulse Common Category Code Connector pin No. COM+ 1 Plus terminal of an external 12 - 24 V DC power COM- 11 Minus terminal of an external 12 - 24 V DC power Command pulse inp ut 1 PULS1 20 PULS2 21 Command direction i nput 1 SIGN1 22 Position command pulse input terminal dedicated for the line driver output.
№SR-ZSV00039 － 3 － Control input Category Code Connector pin No. Command scaling switch 1 DIV1 - Damping switch 1 VS-SEL1 - GAIN - Torque limit switch TL-SEL - Damping switch 2 VS-SEL2 - DIV2 E-STOP Signal Gain switch Command scaling switch 2 Forced Alarm Input Item This input switches the command scaling numerator. For details, see Section 6-4. This input switches frequencies applied for the damping control.
№SR-ZSV00039 － 4 － 2－2 Specifications of Output Signal of I/F Connector Output signals and their functions Common Category Code Connector pin No.
№SR-ZSV00039 － 5 － 2－3 Input/Output Signal Allocation The assignment of the input/output signals can be changed from the default setting. 2－3－1 Allocation of Input Signal An input signal that you wish can be assigned to an input pin of the I/F connectors. It is also possible to change the logic. Note that for some signals, assignment is limited. For details, see (2) "Change the default assignment for input signals.
№SR-ZSV00039 － 6 － (2) Change the default assignment for input signals To reassign an input signal, change the following parameter. Category No. Parameter Setup range Unit Function To assign a function to the input SI1. Set this parameter with the hexadecimal system. *1 Following the hexadecimal form, set each control mode as follows: ００００００＊＊ｈ 4 00 SI1 input selection 0～ 00FFFFFFh - Enter a function number in the place marked with "**.
№SR-ZSV00039 － 7 － Function number table Signal Code Invalid Positive overtravel limit Negative overtravel limit Servo on Alarm clear （No setting） Gain switch Deviation counter clear Command pulse inhibition Torque limit switch Damping switch 1 Damping switch 2 Command scaling switch Command scaling switch 2 （No setting） Forced alarm input （No setting） POT NOT SRV-ON A-CLR GAIN CL INH TL-SEL VS-SEL1 VS-SEL2 DIV1 DIV2 E-STOP - Setting a connect b connect 00h 01h 02h 03h 04h 05h 06h 07h 08h 09h 0Ah 0B
№SR-ZSV00039 － 8 － 2－3－2 Allocation of Output Signal Output signals can assign any function except Servo Alarm Output (ALM) to output pins of the I/F connector. The logic cannot be changed for the output pins. (1) Use the default signal assignment The following table shows the default setting for the signal assignment. Corresponding parameter Default value (): Decimal number SO1 output Pr4.10 00000001h (1) ALM SO2 output Pr4.11 00000004h (4) INP SO3 output Pr4.
№SR-ZSV00039 － 9 － (2) Change the default assignment for output signals To reassign an output signal, change the following parameter. Category No. Parameter Setup range Unit 4 10 SO1 output selection 0～ 00FFFFFFh - Function To assign a function to the output SO1. Set this parameter with the hexadecimal system.*1 Following the hexadecimal form, set each control mode as follows: ００００００＊＊ｈ Enter a function number in the place marked with "**.
№SR-ZSV00039 － 10 － 3．Specifications of Front Panel 3－1 Rotary switch(RSW) By manipulating the RSW、Pr.0.03(selection of stiffness at real-time auto-gain tuning) was corrected by setting the RSW, and can be changed from the front panel gain control. Example)Pr0.
№SR-ZSV00039 － 11 － 3－2 7 segment LED At power-up after displaying the check pattern, perform the following normal display. If you operate the front RSW will show the real-time stiffness value of RSW after adjustment for the front. However, when an alarm occurs when an alert will display a warning code, the alarm code (main + sub)。 Control power ON All display Dot display [８８] display ＜Normal ＞ Priority display of PANATERM and panel RSW is decided by the vaule of RSW.
№SR-ZSV00039 － 12 － 4．Basic function 4－1 Setting Rotational Direction The rotation direction of the motor to the directions of position command can be switched. ■Related parameters Cate- No. Parameter Setup range Unit 0 Rotational direction setup 0～1 - Function gory 0 Specifies the relationship between the commanded direction and the direction of rotation of the motor.
№SR-ZSV00039 － 13 － 4－2 Position control Position control is performed based on a position command (pulse train) input from the controller. This section describes basic settings for position control.
№SR-ZSV00039 － 14 － The following table shows the combinations of Pr0.06 "Command pulse rotational direction setup" and Pr0.07 "Command pulse input mode setup" Pulses are counted at the edges with arrows in the table. Pr0.06 Pr0.
№SR-ZSV00039 － 15 － 4－2－2 Command Scaling (Electronic Gear) This function multiplies a pulse command value input from the controller by the specified scaling factor to use as a position command to the position control section. Using this function allows arbitrary setting of the motor revolution and distance per unit input command pulse and increase of a command pulse frequency when the required motor speed cannot be obtained due to the limit to the controller pulse output capability.
№SR-ZSV00039 － 16 － 4－2－3 Position Command Filter A command filter can be specified to smooth a position command after scaling (electric gear). Related parameters Category No. Parameter Setup range Unit 2 22 Position command smoothing filter 010000 0.1 ms 2 23 Position command FIR filter 010000 0.1 ms Function Specifies the first order filter time constant for a position command. Specifies the FIR filter time constant for a position command. Pr2.
№SR-ZSV00039 － 17 － Pr2.23 "Position command FIR filter" Specifies the time required to reach Vc for a square wave command with a target velocity of Vc as shown in the figure below. Velocity [r/min] Position command before filtering Position command after filtering Waiting time for swiching filter *2 Vc Position command FIR filter setting time [ms] (Pn2Pr2.230.1 ms) *1 Time *1 Actual average travel times contains absolute error of 0.2 ms maximum when the set value multiplied by 0.
№SR-ZSV00039 － 18 － 4－2－4 Pulse Regeneration A distance can be transmitted from the servo drive as phase A and phase B pulses signal to the controller. If the output source is an encoder, the phase Z signal is output one time per rotation of the motor. ■Related parameters Category No.
№SR-ZSV00039 － 19 － The following table shows combinations of Pr0.11 "Output pulse counts per one motor revolution" and Pr5.03 "Denominator of pulse output division". Pr0.11 Pr5.03 Pulse regeneration output processing [When the output source is the encoder] Encoder pulse [pulse] [Set value of Pr0.11] 4 Output pulse [pulse] Encoder resolution 1～262144 0 * When Pr5.03 is set as 0, the process shown above is executed in accordance with the set value of Pr0.11.
№SR-ZSV00039 － 20 － ■Notes on pulse regeneration function The maximum output frequency of pulse regeneration output is 4 Mpps (after multiplying by 4). speed exceeding this may cause faulty functioning of regeneration leading to displacement. Operation at a PH A PH B 0.25μs min By Pr5.33 "Pulse regenerative output limit setup", Err28.0 "Limit of pulse replay error protection" can be issued when reaching the limit of pulse regeneration.
№SR-ZSV00039 － 21 － 4－2－5 Counter Clear (CL) This function allows the position deviation counter value in position control to be cleared to 0 by using a deviation counter clear input (CL). ■Related parameters Category No. Parameter Setup range Unit 5 17 Counter clear input mode 04 Function Selects the input mode of deviation counter clear input.
№SR-ZSV00039 － 22 － 4－2－6 In-position Output (INP) Whether or not positioning has been completed can be checked with the In-position output (INP). This signal is turned on when the absolute value of the deviation counter value in position control is in the in-position range specified with the parameter. Settings such as including in the criteria whether or not a position command has been given are also available. ■Related parameters Category No.
№SR-ZSV00039 － 23 － 4－2－7 Command Pulse Inhibition (INH) The command pulse inhibition input signal (INH) can be used to force the command pulse input processing to stop. Turning the INH input on forces the servo drive to ignore the command pulse input and the pulse counting does not take place. This function is disabled by the factory setting. Before use, change the setting of Pr5.18 "Invalidation of command pulse inhibit input". Related parameters Category No.
№SR-ZSV00039 － 24 － 4－3 Setting of Regenerative Resistor This section describes the settings concerning the regenerative resistor. For detailed specifications of the regenerative resistor. Related parameters Category No. Parameter Setup range Unit 0 16 External regenerative resistor setup 03 Function Set this parameter according to whether the built-in regenerative resistor is used as it is or the built-in resistor is isolated and an external regenerative resistor is provided.
№SR-ZSV00039 － 25 － 5．Gain Adjustment / Damping Control Functions 5－1 Automatic Adjusting Function The following figure shows an overview of automatic adjustment function.
№SR-ZSV00039 － 26 － 5－1－1 Real-time Auto Tuning Load characteristic of a machine is estimated on a real-time basis, and using the results, basic gain settings and friction compensation are automatically specified in accordance of hardness parameters. 1) Scope of application This function is enabled under the following conditions: Conditions for real-time auto tuning In Servo On status.
№SR-ZSV00039 － 27 － 3) Parameters controlling operation of real-time auto tuning Configure the real-time auto tuning operation by setting the following parameters. Category No. Parameter Setup range Unit Function 0 02 Real-time auto-gain tuning setup 0～6 - 0 03 Selection of machine stiffness at realtime auto-gain tuning 0～31 - Specifies the operation mode of real-time auto tuning. Setting Mode Description 0 Invalid The real-time auto tuning function is disabled.
№SR-ZSV00039 － 28 － 4）Parameter changed by real-time auto tuning The real-time auto tuning function updates the following parameters using load characteristic values, in accordance with Pr0.02 "Real-time auto-gain tuning setup". Category No. Parameter Setup range Unit 0 04 Inertia ratio 010000 % 6 07 -100100 % 6 08 -100100 % Function This parameter is updated if updating inertia ratio of real-time auto tuning is valid.
№SR-ZSV00039 － 29 － Specify the following parameters for real-time auto tuning in accordance with gain switching settings. Category No. 1 14 1 15 1 16 1 17 1 18 1 19 Parameter 2nd gain setup Mode of position control switching Delay time of position control switching Level of position control switching Hysteresis at position control switching Position gain switching time Setup range 01 Unit 010 010000 0.1 ms 020000 020000 010000 0.
№SR-ZSV00039 － 30 － 7）Basic gain parameter settings table Gain 1 Pr1.01 Pr1.02 Position [0.1/s] Speed [0.1 Hz] Velocity integral [0.1 ms] Torque [0.01 ms] 0 20 15 3700 1 25 20 2800 2 30 25 3 40 4 45 5 6 Pr1.05 Pr1.09 *2 Pr1.06 Pr1.07 Position [0.1/s] Speed [0.1 Hz] Velocity integral [0.1 ms] Torque [0.
№SR-ZSV00039 － 31 － 5－1－2 Adaptive Filter Vibrations are reduced by estimating resonance frequency on the basis of vibration components appearing in motor speeds under actual operations, and by removing the resonance components from torque command. 1) Scope of application This function is enabled under the following conditions Conditions for the functioning of adaptive filter Control mode Control mode must be that other than torque control mode. In servo On status.
№SR-ZSV00039 － 32 － The adaptive filter function automatically specifies the following parameters. Category Parameter No. 2 07 2 08 2 09 2 10 2 11 2 12 3rd Notch frequency 3rd notch width selection 3rd notch depth selection 4th Notch frequency 4th notch width selection 4th notch depth selection Setup range Unit 505000 Hz 020 - 099 - 505000 Hz 020 - 099 - Function Automatically specifies the first resonance frequency estimated by the adaptive filter function.
№SR-ZSV00039 － 33 － 5－2 Manual Adjustment The LIQI series the automatic adjustment function described above. However, if the function is not available due to load conditions or restrictions of operating patterns, or if best responses and stability is needed suitable for device characteristics, manual readjustment may be required. This section describes the manual tuning function with different subsections for the individual control modes and functions as shown below.
№SR-ZSV00039 － 34 － 5－2－1 Block Diagram of Position Control Mode LIQI series position control has a structure shown in the following block diagram.
№SR-ZSV00039 － 35 － 5－2－2 Gain Switching Function Gain switching by internal data or external signals provides the following effects. Decreased gain during stop (servo lock) for reducing vibration. Increased gain during stop (stabilization) for reducing the stabilization time. Increased gain during operation for faster follow-up to command. Gain is switched by external signals in accordance with device conditions.
№SR-ZSV00039 － 36 － 2）Usage After a gain switching mode for each control mode to use, and make gain switching function valid (Pr1.14=1) by Pr1.14 “2nd gain setup” to use.
№SR-ZSV00039 － 37 － 3）Setting procedures For example, assume that conditions inside the servo drive changed as shown in the following figure, when the load moved from A position to B position. The following describes the procedures for specifying related parameters when using the gain switching function under those conditions. ①Specify the conditions of switching gains with the following parameters: Pr1.15”Mode of position control switching” Ｍ Ａ Ｂ Large Specify Prl.
№SR-ZSV00039 － 38 － ② Specify switching level and hysteresis in accordance with switching conditions. 1st gain 2nd gain 1st gain Hysteresis Switching level ③ Specify switching delay time。 The switching delay time specifies a period of delay time for switching from 2nd gain to 1st gain. When switching from 2nd gain to 1st gain, the switching conditions must be satisfied during a period of switching delay time. Hysteresis Cancelled because the conditions are not satisfied.
№SR-ZSV00039 － 39 － 5－2－3 Notch Filter When the mechanical stiffness is low, resonance due to axis distortion, etc. may generate vibration or noise, in which case a high gain cannot be specified. In that case, specifying a higher gain or reducing vibrations is made possible by suppressing a resonance peak with the notch filter. 1）Related parameter Category 2 It is possibility to adjust the frequency、width、depth,four related parameter can be used. Parameter Setup range Unit Function No.
№SR-ZSV00039 － 40 － Bandwidth/Center frequency A4 series (Reference) 0.41 0.50 0.56 0.59 0.71 0.71 0.86 0.84 1.01 1.00 1.19 1.41 1.68 2.00 2.38 2.83 3.36 4.00 4.76 5.66 6.73 8.00 9.51 11.31 13.45 16.00 Notch width 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Notch depth I/O ratio In [dB] 0 1 2 3 4 5 6 7 8 9 10 15 20 25 30 35 40 45 50 60 70 80 90 100 0.00 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.10 0.15 0.20 0.25 0.30 0.35 0.40 0.45 0.50 0.60 0.70 0.80 0.90 1.00 -∞ -40.0 -34.0 -30.5 -28.
№SR-ZSV00039 － 41 － 5－2－4 Damping Control When an end of the equipment vibrates or the entire device shakes, damping control can be used to remove the vibration frequency component from a position command for the reduction of vibration. Of the four frequency settings, up to two can be used simultaneously.
№SR-ZSV00039 － 42 － 3）Related parameters The operation of damping control can be specified by using the following parameters. Category No. Parameter Setup range Unit Function Specifying the mode for switching between four filters used for damping control. ・up to two filters can be used simultaneously. ・1 or 2: switched by external input (VS-SEL1/VS-SEL2) 1st 2nd 3rd Pr VSVSvibration vibration vibration 2.
№SR-ZSV00039 － 43 － *2 There is a delay in applying changed vibration suppression frequencies and damping filter setup to internal calculations. If a switching timing of *1 comes within the delay time, the changes may be suspended. Category 2 2 2 2 18 19 20 21 Setup range Parameter No. 3rd damping frequency 3rd damping filter setup 4th damping frequency 4th damping filter setup 0～2000 0～1000 0～2000 0～1000 Unit 0.1Hz 0.1Hz 0.1Hz 0.
№SR-ZSV00039 － 44 － 5－2－5 Feed Forward Function Position deviation can be reduced and response can be improved in comparison with controlling by feedback only, but also using the velocity feed forward function, which calculates speed control command required for operations on the basis of internal position command and adds the calculation to speed control, which is calculated by comparison with position feedback.
№SR-ZSV00039 － 45 － specified at approximately 50 (0.5 ms). Increasing torque feed forward gain can make position deviation closer to “0” under a constant acceleration/deceleration. Therefore, under ideal conditions with no influence from disturbance torque, position deviation can be almost “0” for all operating ranges in operations of a trapezoid speed pattern.
№SR-ZSV00039 － 46 － 5－2－6 3rd Gain Switching In addition to normal Gain switching function described in Section 5-2-5, specifying 3rd gain is allowed to switch gain just before stopping. By specifying a higher gain for a specified period of time just before stopping, settling time for positioning can be shorter. (1) Scope of application □This function is applicable only when the following conditions are satisfied: Conditions for operating 3rd Gain switching function Action state In Servo On status.
№SR-ZSV00039 － 47 － 5－2－7 Friction Torque Compensation Two types of friction torque compensation functions are available for reducing influences from frictions exists in mechanical system: Biased load compensation that compensates offset torque at constant degree, and dynamic friction compensation that changes direction in accordance with operating directions.
№SR-ZSV00039 － 48 － (3) Usage Friction torque compensation is added in accordance with input position command direction, as show in the following figure: Command speed [Normal direction] Pr6.08 "Positive direction torque compensation value" Pr6.07 "Torque command additional Pr6.
№SR-ZSV00039 － 49 － 6．Applied Functions 6－1 Torque Limit Switching The parameters below have functions to switch torque limit values per the operation direction or with the input of the torque limit switch (TL-SEL). (1) Scope of application □This function is applicable only when the following conditions are satisfied: Conditions for operating torque limit switching function Action state In Servo On status.
№SR-ZSV00039 － 50 － 6－2 Motor Movement Range Setting If the motor travels exceeding the motor working range which is set with Pr5.14 “Motor working range setup” in addition to the position command input range, the software limit protection will make an alarm stop. The use of this function will prevent collision with the machine end caused by motor oscillation.
№SR-ZSV00039 － 51 － (4) Example of movement: 1) When no position command is entered (with the servo control on) The motor movable range will be set only by Pr5.14 at both sides of the motor because there is no position command entered. If the load enters the error occurrence range (the lightly shaded area in the figure below) due to vibration and other reasons, the motor movable range protection will be activated. Motor Load Pr5.14 Pr5.
№SR-ZSV00039 － 52 － 6－3 Electronic Gear Switching With the following parameters, it is possible to switch between maximum of 4 numerators of the command scaling by using DIV1 and DIV2. For the command scaling function, please refer to 4-2-2 “Command Scaling (Electronic Gear).” (1) Scope of application □This function is applicable only when the following conditions are satisfied: perating conditions for specified frequency division multiplication switching function Action state In Servo On status.
№SR-ZSV00039 － 53 － 6－4 Setting of Sequence Movements A series of actions can be defined for various operation states. 6－4－1 Drive prohibition input (POT , NOT ) sequence The following shows how to prescribe actions taken after an overtravel limit (POT or NOT) is entered. (1) Related parameters Category No.
№SR-ZSV00039 － 54 － 6－4－2 Sequence at Servo Off This section shows how to define actions taken while the servo control is off. (1) Related parameters Category No. Parameter Setup range Unit 5 06 Sequence at Servo-Off 09 5 07 Main power off action 0～9 - 5 11 Torque setup for emergency stop 0500 • To define the states during the deceleration and after the stop when the main power is turned off. To set a torque limit for the immediate stop. (2) Item Details of Pr5.
№SR-ZSV00039 － 55 － 6－4－3 Emergency Stop at Alarm If an alarm occurs that requires an immediate stop, setting the following parameters will control the motor to immediately stop it. (1) Related parameters Category No. Parameter Setup range Unit 5 10 Sequence at alarm 07 • Function To set up the states during the deceleration and after the stop when an alarm occurs. The immediate stop is valid when the parameter is set to either 4, 5, 6 or 7. (2) Item Details of Pr5.
№SR-ZSV00039 － 56 － 6－4－4 Emergency Stop at Alarm If an alarm occurs that requires an immediate stop, setting the following parameters will control the motor to immediately stop it. (1) Related parameters Category No.
№SR-ZSV00039 － 57 － 7． Protective/Warning Functions 7－1 List of Protective Functions This servo drive has various integrated protective functions. If any of these functions is activated, the driver will turn off the alarm output signal (ALM) and go into a trip state, showing the error code number in the 7-segment LED at the front panel.
№SR-ZSV00039 － 58 － *4：If the control circuit within the servo drive has malfunctioned due to reasons such as excessive noise, the following may be displayed. In such a case, immediately turn off the power. *5：A fast shutdown refers to an alarm that causes an immediate stop when Pr5.10 “Sequence at alarm” is set to the value between 4 and 7. Please refer to 6-5-4 “Sequence at Alarm” for details.
№SR-ZSV00039 － 59 － 7－2 Details of Protective Functions Protective function Main 11 12 Cause Name Action Sub 0 0 Control power supply undervoltage protection Over-voltage protection The PN voltage at the converter of the control power has reduced to the specified value or less. ① The supply voltage is too low. An instantaneous power failure has occurred. ② The power supply capacity is too small: the supply voltage has reduced due to rush current when the main power was turned on.
№SR-ZSV00039 － 60 － Protective function Main 15 16 Name Cause Action Sub Over-heat protection 0 Over-load protection 0 The temperature of the servo drive heat sink and power devices has increased to the specified value or more. ① ① The ambient temperature of the servo drive has exceeded the specified value. ② ② Overload Improve the ambient temperature and cooling conditions for the servo drive. Increase the capacity of the servo drive and motor. Specify a longer acceleration time. Reduce load.
№SR-ZSV00039 － 61 － Protective function Main 0 21 1 23 Name Action The communication between the encoder and the servo drive was interrupted a certain number of times, and the disconnection detection function started to work. The data communication from the encoder is erroneous. The data error is mainly due to noise. Encoder The encode wires are connected but there is a communication communication data error.
№SR-ZSV00039 － 62 － Protective function Main Cause Name Action Sub The position deviation value based on the encoder pulse has exceeded 229(536870912).
№SR-ZSV00039 － 63 － Protective function Main Sub 44 0 45 0 Name counter error protection 49 87 95 Incremental Encoder Z-phase error protection Incremental Encoder CS 0 signal error protection Compulsory 0 alarm input protection Motor automatic 0～4 recognition err or protection 0 Other numbers Action Absolute single The absolute encoder has detected a malfunction of turn counter error the single turn counter. protection Absolute multi-turn 48 Cause Other error Replace the motor.
№SR-ZSV00039 － 64 － 7－3 Warning Functions A warning is generated before the protective function is activated. This allows you to check the status such as an overload in advance. In principle, a warning will automatically return to the state where it is not issued if the faulty state is corrected. However, the warning state will be kept during latch duration as shown in the following figure. To clear a latched warning before the latch time expires, perform the procedure taken to execute an alarm clear.
№SR-ZSV00039 － 65 － 7－4 Protection Function Setting before Gain Adjustment When carrying out the gain adjustment, you can enjoy the comfortable usage of it by properly setting the parameters below according to the operating condition. １） Overtravel limit setting Allows you to proactively avoid a collision at the end by entering the limit sensor signal into the amplifier. Refer to positive/ negative overtravel limit (POT/ NOT) in the interface specification.
№SR-ZSV00039 － 66 － ４） Position deviation excess protection Err24.0 “Position deviation excess protection” is generated by detecting the excessive deviation between position command and motor position during the position or full closed control. The excessive position deviation level can be set up in Pr0.14 “Position deviation excess setup”.
№SR-ZSV00039 － 67 － 8．Others 8－1 List of parameters Category 0: Base configuration Category No. 0 00 02 Unit Setup range Rotational direction setup - 01 Real-time auto-gain tuning setup - 06 To select an action mode for the real-time auto tuning. Always valid - 031 To set the machine stiffness when the real-time auto tuning is executed. Always valid % 010000 To set the load inertia ratio to the motor’s rotor inertia.
№SR-ZSV00039 － 68 － Category 1: Gain Tuning Category 1 No.
№SR-ZSV00039 － 69 － Category 2: Damping filter Category 2 No. 00 01 Parameter Adaptive filter mode setup 1stnotchfrequency Unit Setup range - 04 Hz 505000 - 020 st 02 03 04 1 notch width selection 1st notch depth selection 2ndnotchfrequency 06 2 notch width selection 2nd notch depth selection Set the adaptive filter mode. Always valid To set the notch frequency for the 1st resonance suppressing notch filter. Match it to the machine’s resonance frequency.
№SR-ZSV00039 － 70 － Category 3:（none） Category 4: I/O & Monitor Category 4 No.
№SR-ZSV00039 － 71 － Category 5: Extended configuration Category No. 5 02 Parameter 2nd numerator of electronic gear 3rd numerator of electronic gear 4th numerator of electronic gear 03 Denominator of pulse output division 00 01 Unit Setup range 30 Function/description - 02 Sets the numerator of the second command division. - 0230 Sets the numerator of the third command division. - 0230 Sets the numerator of the the fourth command division.
№SR-ZSV00039 － 72 － Category 6: Specific Configuration Category 6 No. 02 05 06 07 08 09 Parameter Velocity deviation excess setup Position 3rd gain valid time Position 3rd gain scale factor Torque command additional value Positive direction torque compensation value Negative direction torque compensation value Unit Setup range Function/description Set up the threshold in Err24.1 “Velocity deviation excess protection”.
№SR-ZSV00039 － 73 － 8－2 Timing Chart 8－2－1 Timing Chart of Operations After Turning Power On Control pow er OFF (L1C, L2 C) ON Approx 10 0-300 ms Internal contr ol OFF pow er Established App rox 1.
№SR-ZSV00039 － 74 － 8－2－2 Timing Chart of Servo On/Off When Monitor is Turned Off （For normal operations, stop the motor before turning the servo control on and off） Dyna mic brake Input coupler OFF Input c oupler OFF Input coupler ON Approx 2ms (SRV-ON) *3 Dynamic brake 1～6ms Released Applied *2 Applied t1 *1 Power to the motor No power Approx 60ms Brake r elease output (BRK-OFF) Output Tr OFF (brake applied) Power to the mot or No power Ap pro x 4 ms O utput Tr OFF (brake applied) Outpu
№SR-ZSV00039 － 75 － 8－2－4 Timing Chart of Operations When Alarm is Issued (Servo-On Command Status) Whether there is a fault Normal Abnormal 0.
№SR-ZSV00039 － 76 － 8－2－5 Timing Chart of Operations When Alarm is Cleared (Servo-On Command Status) 120 ms or great er *1 Alarm clear input (A-CLR) I nput coupler O FF Input c oupler ON Approx Dynamic brake 2ms App lied Rel eased Appr ox Power to the motor Brake release ou tput (BRK-OFF) Servo ready ou tput (S-RDY) Servo alarm output (ALM) No power Output Tr OFF (Break Applied) Output Tr OFF (Not ready) Output Tr OFF (Alarm) 60ms Power to the motor Ou tput Tr ON (Break Released) Approx 4
