p/n 88-020389-01 A Automation Dynaserv G2 Drive User Guide Effective: March 1, 2002
Introduction Thank you very much for your purchase of the DD servo actuator DYNASERV. The DYNASERV is an outer rotor type servo actuator that has achieved high torque, high speed, and high precision. It can be used in a wide range of applications in the FA device-related fields, such as industrial robotics and indexing. This technical manual explains the DYNASERV DM/SR series motors as well as its combinations with the DrvGII drivers.
Regarding the safe usage of this device ! This product has been marked with ! and ! Warnings signs so that it can be used safely. Ignoring precautions and prohibitions related to these signs and using this product in an incorrect way may cause danger to the life and body of the operator. Always follow the precautions and observe the prohibitions explained below. ! Please make sure to understand the information given below completely before you start reading the technical manual.
! This product has been marked with ! and ! Precautions signs so that it can be used safely. Ignoring precautions and prohibitions related to these signs and using this product in an incorrect way may cause danger to the life and body of the operator. Always follow the precautions and observe the prohibitions explained below. ! Please make sure to understand the information given below completely before you start reading the technical manual.
Handling Precautions 1. Do not install the motor in reverse direction in such a way that the rotor of the motor is fixed and the stator rotates. 2. Make sure to turn the power off before removing the side panel of the driver to set jumpers, etc. Touching the high voltage part inside the driver is dangerous. 3. This motor rotates at a high speed and with a high torque.
13. Never attempt to disassemble or remodel the motor and driver. If such service is necessary, please contact us. We assume no responsibility for products that have been disassembled or remodeled without permission. 14. For the DYNASERV DR series motors, a coating has been applied on the load attachment surface of the upper surface of the motor and the stator on the lower surface in order to prevent rust.
16. Do not perform a withstanding voltage test on this device. If such a test is performed without discretion, the circuits may be damaged. If such test must be conducted, make sure to contact us. 17. When connecting the motor with a load, the centerlines of both cores should be aligned to a sufficient degree. Please note that if the deviation between the two cores becomes 10 µm or more, the bearings inside the motor may be damaged. The core deviation should be 10 µmm or less.
Table of Contents Introduction ..........................................................................................................................1 Chapter 1 Overview of the Product 1.1 1.2 1.3 1.4 1.5 1.6 1-1 About the DYNASERV DM/DR Series ................................................................... 1-2 About the DrvGII Type Driver ................................................................................. 1-3 Product Configuration ....................................................
4.8 Performing the Basic Settings of Pulse Commands ............................................... 4-18 4.8.1 About Position Command Pulse Input.........................................................................................4-18 4.8.2 Example of Operation ..................................................................................................................4-19 Chapter 5 Functions 5.1 5-1 Parameters and Monitors .......................................................................
6.5 Other Inputs .............................................................................................................. 6-9 6.5.1 6.5.2 6.5.3 6.5.4 6.5.5 6.5.6 6.5.7 6.5.8 Pulse Weight Selection PLS_DIRECT ..........................................................................................6-9 Position Control Bandwidth Selection FN .....................................................................................6-9 Velocity Control Bandwidth Selection GAIN................................
Chapter 9 Operation Display Pendant ........................................................................... 9-1 9.1 9.2 9.3 9.4 9.5 9.6 9.7 9.8 Overview................................................................................................................... 9-2 Features and Part Names .......................................................................................... 9-2 Switching Displays .................................................................................................
Chapter 1 Overview of the Product 1.1 About the DYNASERV DM/DR Series 1.2 About the DrvGII Type Driver 1.3 Product Configuration 1.4 Model Names and Codes 1.5 Name and Function of Each Part 1.
1 Overveiw of the Product 1.1 About the DYNASERV DM/DR Series The DYNASERV servo motor, is a high speed, high torque, and high precision outer rotor type direct drive motor. The DM series motors are contained in an aluminum chassis and have a built-in optical encoder. There are four models in the A series with output torques of 50 to 200N⋅m and five models in the B series with torques of 15 to 75N⋅m. The outside diameters are 264 mm for the A series and 160 mm for the B series.
1.2 About the DrvGII Type Driver The DrvGII type driver is a digital servo driver with a RS232 communication, developed as the successor to the conventional SD/SR/TM type driver. Not only have the functions been improved, but also the driver box volume has been made smaller, and it can support the DYNASERV rotation type motors, as well as the LINEARSERV series motors that are of the direct drive type.
1 Overveiw of the Product 1.3 Product Configuration The following shows the configuration of this product. Upon unpacking, please check the model name and code of the product’s main unit, whether or not all the standard accessories are included, and also the quantity supplied.
1.4 Model Names and Codes There are restrictions on the combination of specifications. Please check with our sales staff before determining the specification.
1 Overveiw of the Product 1.
(2) Driver part ! 500W level (A model with regenerative terminal is shown) Mounting bracket RS232C connnector Setting switch and status LED display part Sensor brake terminal Connection of power supply and motor cable Contact I/O connector 1 Analog monitor connector Mounting bracket Encoder resolver connector 1 ! 2kW level (A model with a regenerative terminal is shown) Heat sink Regenerative unit 1-7
1 Overveiw of the Product (3) Details of the Front Panel of the Driver !500W level !500W level (with regenerative terminal) (without regenerative terminal) Regenerative terminal Power supply terminal Power supply ground terminal Motor cable phase A terminal Motor cable phase B terminal Motor cable phase C terminal Motor cable ground terminal Regenerative error connector !2kW level Signal ground terminal ZERO signal terminal Settling signal terminal Note: (1) (2) All the items shown are of the co
[Details of Setting Switches and Status Display LEDs] Status display LEDs CRDY CPU ready SRDY ERR BUSY Servo ready Error status Busy 2 3 7 8 RS ID CRDY RS232C 9 0 1 - CN1 - AXIS SRDY 4 5 6 ERR SRV DS BUSY 1 COIN SW1 4 ON RS-ID Rotary switch The communication method of the RS232C interface is set according to the status of this switch when the power is turned on. 0 Single channel communication 1 to 9 Multi-channel communication. The value corresponds to the ID of the slave station.
1 Overveiw of the Product 1.6 System Configuration Diagram PC utility floppy disk (PLC) Operation display pendant (PC) I/O monitor board LINEARSERV motor part DYNASERV motor part DrvGII type driver (Home position sensor) (Over travel sensor) (Over travel sensor) Note: The allowable combinations between the DYNASERV motors and the DrvGII drivers are as follows. (1) The 500W level driver can only be used with the DM1004B/1004C.
Chapter 2 Installation 2.1 Installation of the Motor 2.
Installation When you receive the product, verify the model name and code of the product’s main unit, whether all the standard accessories are included, and that the combination of a motor and a driver is correct before you begin installation and wiring. 2.1 Installation of the Motor The motor part can be installed and used in either a horizontal or a vertical position. However, if installed in a wrong way or position, the life of the motor may be shortened or the motor may fail.
Installation of the Driver The standard installation method for the driver is either to mount it on a rack or a wall. (1) Installation Position ! If there is a heating source near by, the temperature should be prevented from increasing by installing a shielding cover, etc.; the temperature around the driver should not exceed 50 °C (Note 1). ! If there is a source of vibration near by, the rack should be installed via a vibration absorption material.
Chapter 3 Connection and Wiring 3.1 Diagram of Overall Connection 3.2 Cable Specification List 3.3 Connection between Motor and Driver 3.4 Wiring of Motor, AC Power Supply, and Ground Cable 3.5 Wiring of Encoder Cable 3.6 Wiring of Controller Cable 3.7 Wiring of Sensor Brake Terminal 3.
3 Connection and Wiring 3.1 Diagram of Overall Connection * Operation display pendant (including 1.5 m cable) [PM000AT] PC * PC Utility 1) * AC power supply cable type drive The figure shows a 2kW level.
3.2 Cable Specification List 1) 2) 3) 4) 5) 6) 7) Cable name AC power supply cable Ground cable (power supply) Motor cable Driver 2.0 mm2 or more, 30 m or less in length TB1 2.0 mm2 or more TB1 2.0 mm2 or more, 30 m or less in length TB1 2 Sensor brake cable RS232C communication cable Encoder resolver cable 0.3 to 0.75 mm 0.2mm twisted pair, batch shielded cable, outer diameter φ 14 mm or less, 10 m or less in length CN2 Jumper cable 2.
3 Connection and Wiring 3.3 Connection between Motor and Driver Note: Shielding should be applied to each wire.
(3) DR Series motors Driver part ＜TB1＞ Motor part Motor cable VA Red VB White VC Black Green GND ＜CN2＞ Encoder cable +S0/ 2 Brown and white +S180/11 Green and white -S0/6 Brown -S180/15 Green +C0/10 +C180/20 -C0/ 8 -C180/17 Chassis ground Orange and white Blue and white Orange Blue Black 3 3-5
3 Connection and Wiring 3.4 Wiring of Motor, AC Power Supply, and Ground Cable (1) For the DM1004B/1004C motors (in connection with a 500W level driver) * In the case shown, a regenerative resistance is required. P Regenerative resistance* AC N 100115VAC LINE AC power supply cable AC GND GND MOTOR VA (Red) Ground cable VB (White) VC (Black) VA VB VC GND GND Motor cable (Green) Japan Solderless Terminal type (N1.
Cable AC power supply cable Specification DM1004B/1004C Other DM/DR series ! 0.5 mm2 or more, 30 m or less in length ! 2.0 mm2 or more, 30 m or less in length ! Clamping torque of terminal: 12[kgf-cm2](1.18[N⋅m]) (terminal screw: M4x0.7) ! Power supply filter, recommended part: Tokin Corporation #LF-200 series ! 0.5 mm2 or more, 15 m or less in length ! 2.
3 Connection and Wiring 3.
3.6 Wiring of Controller Cable terminal Pin # Signal name Pin # Signal name Pin # Signal name Pin # Signal name 1 COMP1 10 UA_OUT- 19 IN_ERR_RESET 28 IN_FN 2 COMN1 11 DB_OUT+ 20 IN_SERVO 29 IN_PLS_DIRECT 3 OUT_DRDY 12 DB_OUT- 21 IN_MODE_START 30 IN_PACT 4 OUT_SRDY 13 Z_OUT+ 22 IN_ABORT 31 (NC) 5 OUT_BUSY 14 Z_OUT- 23 IN_MODE.0 32 (NC) 6 OUT_XOVL 15 PUA_IN+ 24 IN_MODE.1 33 CRNT_LMT_IN+ 7 OUT_OVER 16 PUA_IN- 25 IN_POSW.
3 Connection and Wiring 3.7 Wiring of Sensor Brake Terminal Pin # Signal name 1 COMP0 2 XORG Electric wire specification ! ! 3 XOTD 0.3 to 0.75 mm2, electric wire coating with 10 mm of the core exposed at the tip If a twisted wire is used, the diameter of the strand should be φ 0.18 or larger. 4 XOTU See the panel surface of the driver for the pin numbers. 5 (NC) Made by Sato Parts (ML1900H) 6 XBRKP 7 XBRKN 1) Push down the lever with a screwdriver.
3.8 Wiring of Regenerative Alarm Contact (For 500W Level Drive Only) This driver (with regenerative terminal) is equipped with a regenerative circuit failure detection circuit. When connecting the regenerative circuit, build a sequence circuit as shown in the figure below in order to prevent burnout incidents. Note: Build a sequence circuit so that it will turn off the power supply at alarm operation. Driver MC LINE L MC N OFF ON MC MC Regenerative alarm 250 V AC 0.
Chapter 4 Basic Settings for Operating the Motor This chapter describes "Basic Settings," which should be used as the first step in understanding the "motor/driver/PC utility." The information is provided progressively, focusing on motor tuning, homing operation, and its setting method. Make sure to perform the operations described in this chapter as a preliminary step before commencing device production. 4.1 Procedure (Flowchart) 4.2 Preoperation check 4.3 Installing the PC Utility on the PC 4.3.
4 Basic Settings for Operating the Motor 4.1 Procedure (Flowchart) In this section, we will operate the motor according to the procedure below. START Preoperation check Check the installation of the motor, wiring etc. Install the PC utility. Install the software PC utility on your PC. Set the status to "Servo ON." Set the status of the motor to "Servo ON." ! Operation using the PC utility (RS-232C). Auto-tuning Adjust the servo (gain adjustment). ! Operation using the PC utility (RS-232C).
4.2 Preoperation check (1) Items to prepare • Motor unit/driver/sensor/DC power supply • PC utility (floppy disk) • Level block for fixing the motor • PC (with Windows 95/98/98SE/Me/NT4.
4 Basic Settings for Operating the Motor DrvGII (CN4) I/O 24V Specification Controller 12 to 24 VDC Photocoupler, contact, etc. 01 COMP1 19 IN_ERR_RESET 20 IN_SERVO 21 IN_MODE_START 22 IN_ABORT 23 IN_MODE.0 24 IN_MODE.1 25 IN_POSW.0 26 IN_POSW.1 27 IN_GAIN 28 IN_FN 29 IN_PLS_DIRECT 30 IN_PACT PS2805 or equivalent 470Ω 2.7KΩ MA8330 or equivalent Photocoupler, contact, etc.
DrvGII (CN4) I/O 5V Specification Controller 5VDC 01 COMP1 19 IN_ERR_RESET 20 IN_SERVO 21 IN_MODE_START 22 IN_ABORT 23 IN_MODE.0 24 IN_MODE.1 25 IN_POSW.0 26 IN_POSW.
4 Basic Settings for Operating the Motor 4.3 Installing the PC Utility on the PC 4.3.1 Procedure Installation under Windows 95/98/98SE/Me/NT4.0/2000 The G2 PC utility (hereinafter referred to as the “PC utility”) runs on Windows 95, 98, 98SE, Me, WindowsNT4.0 and 2000. It can be installed via “Add/Remove Programs” under the “Control Panel” in Windows. If an older version of the PC utility is present, delete it first and then install the new version.
Figure 4.3.2 “Select Program Folder” dialog box Select a program folder and click “Next.” The installation begins. Follow the instructions on the screen and change disks. When the setup is completed, the “Setup Complete” dialog box appear (see Figure 4.3.3). 4 Figure 4.3.3 “Setup Complete” dialog box To start the program, select “Launch the program file” and click “Finish.” If you do not want to start the program, just click “Finish.
4 Basic Settings for Operating the Motor 4.3.2 Startup 1) To start the PC utility, click “Start,” “Program (P),” “YOKOGAWA_E” and then “DrvGII.” Figure 4.3.4 2) “Startup” An “Version Information” dialog box is displayed for several seconds and then the PC utility starts up. Version of PC utility Figure 4.3.5 “Version Information” dialog box Figure 4.3.
4.4 Preparation Connect the serial port of the PC with the serial port of the driver with a dedicated cable. (Do not use any of commercially available cables. Since 5V power is being output from the driver as the power supply for the operation display pendant, a breakdown may occur in the PC if such cable is used.) 4.4.1 Selecting Communication Port When you start the PC utility, the “ComPortSelect” dialog box appears in the left side of the screen (see Figure 4.4.1).
4 Basic Settings for Operating the Motor 4.4.3 Displaying Communication Strings When you start the PC utility, the “Communication string” dialog box appears in the upper right corner of the screen. (See Figure 4.4.3.) Any strings that the PC utility sends to the driver as well as any strings received from the driver are displayed regardless of the menu. -> <- Figure 4.4.
4.4.4 Main Menu When you start the PC utility, the “MainMenu” dialog box appears (see Figure 4.4.4). See the following chapters for how to start the actual operation. Figure 4.4.
4 Basic Settings for Operating the Motor 4.5 Setting the Status to Servo ON The driver can be put into Servo On status through the following operation. (1) Click the “I/O Config (I)” button in the “MainMenu” and then the “I/O config (L)” button. Click the I/O Config (I) button. Click the I/O Config (L) button. (2) Enable Servo ON. Click the checkmark of “1” under DI and then click the Set (S) button. Set Servo ON (DI-1) to “no check.
(3) Reset the driver according to the message in the dialog box. Click OK. (4) Verify that the driver is reset and the “SRDY” LED on the front panel is turned on.
4 Basic Settings for Operating the Motor 4.6 Auto-tuning The auto-tuning can be performed according to the following procedure. (1) Checking the rotation direction Check the rotation direction (CW/CCW) of the motor. Load installation surface CW ! Caution CCW Look carefully from both sides of the load installation surface to check the CW/CCW movement. When started, the motor operates in the CCW direction.
(3) Click Auto Tuning Start (tuning starts). (4) Follow the message on the dialog box and click “OK” to start the auto-tuning operation. Click the Auto Tuning Start button After the auto-tuning is performed, the set values are displayed. ! Caution The rotor rotates a maximum of 30º (seven times of reciprocating operation) in the CW direction. The operation width varies depending on the velocity rating of the motor. Take extra care not to cause any mechanical interference around the rotor.
4 Basic Settings for Operating the Motor 4.7 Performing Homing Operation A homing operation can be performed according to the following procedure. (1) Checking the rotation direction Check the rotation direction (CW/CCW) of the motor. Load installation surface CW ! Caution CCW Look carefully from both sides of the load installation surface to check the CW/CCW movement. When started, the motor operates in the CCW direction.
(3) Set the “homing direction” in the “Homing” dialog box. 1) The current setting values are displayed in the Setting value box by clicking grid “#20.” 2) Enter 1 in the Setting Value box. Make sure to press the return key; otherwise the entry is not made valid. The current setting values for the “homing related” parameters are displayed. 3) Click the “Set” button. Caution ! The initial value that should be set depends on the homing direction.
4 Basic Settings for Operating the Motor 4.8 Performing the Basic Settings of Pulse Commands 4.8.1 About Position Command Pulse Input Perform input (pulses) required for operation according to the explanation in Section 6.2, “Position Command Pulse Input” in Chapter 6, “Controller Interface.” Prior to performing pulse input, be sure to perform required settings according to the explanation in Section 6.1, “Terminal Function.
4.8.2 Example of Operation The following shows an example of operation. Input pulses from the positioning controller according to the velocity pattern shown below. Upper surface of the motor (load installation surface side) Home position sensor Homing position The rotor moves 50 degrees away from the homing position, then back again.
Chapter 5 Functions 5.1 Parameters and Monitors 5.1.1 5.1.2 5.1.3 5.2 Operation Functions 5.2.1 5.2.2 5.2.3 5.2.4 5.2.5 5.3 Velocity Override Function Velocity Profile Other Functions 5.6.1 5.6.2 5.6.3 5.7 Velocity Control Part Position Control Part Feed Forward Servo Stiffness Parameter Acceleration/Deceleration Function 5.5.1 5.5.2 5.6 Coordinate System Switching Position Command Pulse Weights Control System 5.4.1 5.4.2 5.4.3 5.4.4 5.
5 Functions 5.1 Parameters and Monitors The group of variables expressed by #*** is called parameters and monitors. Parameters/monitors are classified according to their numbers as follows. Parameter No. 0 to 199 200 to 299 300 to 399 Parameter type General parameters Mechanical setting parameters Backup Stored Monitors - Stored Comments Always possible to read and write. Reading is always possible, but writing is possible only when operating in mechanical setting mode. Read only.
5.2 Operation Functions Idle status Controller interface position command follow-up Jog move Operating status Test operation Auto-tuning operation Homing move Mechanical setting mode The status in which no operation is performed is called the idle status; jog moves can be performed in this status. If no jog move is being performed in the idle status, the driver follows the position command from the controller interface. This driver is equipped with the operation functions listed below.
5 Functions 5.2.2 Test Operation This operation generates a 2.5Hz square wave and uses it as position command signal for adjustment of the control part. Set the analog monitor to test operation response to measure the response waveform on the oscilloscope. The position feed forward, velocity feed forward, and acceleration feed forward are set to 0 internally during the test operation. The settling wait function is not performed at the end of the test operation.
5.2.4 Homing Move In this operation the rotor is moved according to a preset home position search method in order to establish a coordinate system. After first moving to the home position determined by the proximity signal and motor Zero signal, it continues to move an amount further given in the #29 Offset distance from the Home position parameter's setting value. It then sets the drive coordinate command value to the value set in the #30 Homing complete operation command value parameter.
5 Functions (4) First home sensing move With the #25 Homing operation: Origin inside selection parameter, it is possible to select and set either the inside Zero signal or outside Zero signal of the home position proximity signal as the home position. If #25 = 1, the inside Zero signal is set as the home position; if #25 = 0, the outside Zero signal is set as the home position. If #202 = 1, the rotor moves to search the home position proximity signal in (-) direction.
[Hardware zero signal type] 0.05*＃358 value 0.1 *＃358 value 0.7 *＃358 value 0.75*＃358 value ≦ ≦ ＜ ＜ ＃318 value ＃318 value ＃318 value ＃318 value ＃318 value ＜ ＜ ≦ ≦ 0.05*＃358 value 0.1 *＃358 value 0.7 *＃358 value 0.75*＃358 value error warning normal warning error ＃318 value ＃318 value ＃318 value ＃318 value ＃318 value ＜ ＜ ≦ ≦ 0.05*＃358 value 0.1 *＃358 value 0.4 *＃358 value 0.45*＃358 value error warning normal warning error [Software zero signal type] 0.05*＃358 value 0.1 *＃358 value 0.4 *＃358 value 0.
5 Functions #20 = 0 #21 = 0 - Operation example 1 - #25 = 1 (2) (4) (3) Homing from outside of the proximity area #26 = 0 (5)-1 (5)-2 (6) #29 = 0 #202 = 1 Homing direction Enable/disable the over-travel signal under the homing mode Homing operation: Origin inside selection Enabling the proximity signal during OT search under the homing mode Offset distance from the Home position Coordinate (+) direction setting Home position proximity signal ← (+) direction (5)-2 - Operation example 2 - Inside
5.2.5 Mechanical Setting Mode This is a special mode for changing parameters related to the mechanical settings. Parameters #200 to #299 can be changed only when this operation is being executed. In addition, once started, this operation cannot be stopped. After you finish changing the necessary parameters, turn the power to the driver off and on again. Note that if you change these parameters, the changed values are not reflected until after the power is turned on again.
5 Functions 5.4 Control System In this section, the position control part, velocity control part, and feed forward of the driver are explained. The block diagram of the control system is shown below.
5.4.1 Velocity Control Part For the velocity control bandwidth, either the value set with the #51 Velocity control bandwidth 1 parameter or the #49 Velocity control bandwidth 2 parameter is selected, according to the status of the controller interface input signal IN_GAIN. The selected value is displayed in the #376 Velocity control bandwidth monitor.
5 Functions 5.4.2 Position Control Part For the position control bandwidth, either the value set with the #50 Position control bandwidth 1 parameter or the #48 Position control bandwidth 2 parameter is selected, according to the status of the controller interface input signal IN_FN. The selected value is displayed in the #375 Position control bandwidth monitor.
5.4.4 Servo Stiffness Parameter The #38 Servo stiffness settings parameter is for general settings for the control system. The control parameters are set based on this parameter after measuring the load inertia/load mass in the auto-tuning operation. If #38 is changed, either one of the position control bandwidth parameters (#50, #48) selected by IN_FN and either one of the velocity control bandwidth parameters (#51, #49) selected by IN_GAIN are set.
5 Functions 5.5 Acceleration/Deceleration Function This driver performs trapezoidal moves during jog moves and homing moves, and uses the acceleration/deceleration function described in this section. In addition, it has a velocity override function for switching velocity during a move, which works in real time even during the move (real time velocity override function). The maximum velocity of the motor is defined in #213 Maximum velocity, but is limited by the maximum velocity defined within the driver.
5.5.2 Velocity Profile In a trapezoidal motion, the acceleration of the moving part follows the acceleration type set by the #4 Selecting acceleration type parameter until it reaches the feed velocity. Hereafter, the move is continued with the feed velocity, then decelerates and stops according to the deceleration type set by the #5 Selecting deceleration type parameter. The feed velocity varies depending on the operation. The acceleration and deceleration types can be selected separately.
5 Functions The feed velocity during a move becomes the commanded velocity multiplied by the velocity override value. If the velocity override value is changed during a move, the moving part is accelerated at the same acceleration profile and acceleration as the normal acceleration time when the velocity override value is increased. In the same way, the moving part is decelerated at the same deceleration profile and deceleration as the normal deceleration time when the velocity override value is decreased.
5.6 Other Functions 5.6.1 Settling Wait, Position Settling Status, and Positioning Status Position settling status refers to the status where the position deviation (pulse coordinates) is within the specified range in the pulse coordinate system.
5 Functions 5.6.2 Velocity Monitor and Analog Monitor The current velocity value of the motor is output to “VEL” of the CN3 analog monitor interface as the velocity monitor signal. The signal sensitivity of the velocity monitor ([V/rps] in case of a rotating DYNASERV motor and [V/mps] in case of a linear LINEARSERV motor) can be obtained by multiplying the #69 Velocity monitor gain parameter setting by the #356 Digital velocity sensitivity monitor value. For example, if the setting of #69 is 6.
5.7 Special Parameter Processing The setting values of the parameters listed below are automatically changed inside the driver by the operation of the driver. 5.7.
5 Functions 5.7.3 Auto Conversion and Clear Functions When Changing Simplified Scaling Weighted Data When simplified scaling weighted data is changed, the following parameters are automatically converted: [Related parameters] #9 #10 #11 #12 #13 #15 #29 #31 #32 #58 #45 #46 #47 #213 5.7.
Chapter 6 Control Interfaces 6.1 Terminal Function 6.1.1 6.1.2 6.1.3 6.1.4 Connection, Setting, and I/O Mapping Explanation of Terminals Electrical specifications I/O logic setting 6.2 Position Command Pulse Input 6.3 Encoder Pulse Output 6.4 Operations 6.4.1 6.4.2 6.4.3 6.5 Starting an Operation Aborting an Operation Timing Charts Other Inputs 6.5.1 6.5.2 6.5.3 6.5.4 6.5.5 6.5.6 6.5.7 6.5.
6 Control Interfaces 6.1 Terminal Function 6.1.1 Connection, Setting, and I/O Mapping CN4 Made by Honda Tsushin Kogyo Connector PCR-S36FS Cover PCR-LS36LA 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 IN_ERR_RESET IN_SERVO IN_MODE_START IN_ABORT IN_MODE. 0 IN_MODE. 1 IN_POSW. 0 IN_POSW.
6.1.2 Explanation of Terminals Signal name Description Contact input signals Total 12 points Starts operation when setting from OFF to ON. Stops operation when setting from OFF to ON.
6 Control Interfaces 6.1.3 Electrical specifications [Interface power supply inputs] COMP1, COMN1 Input the interface power supply for contact inputs and contact outputs. [Contact inputs] Interface type name SA SB Rated voltage 12 to 24 VDC (±10%) 50VCD (±10%) IN_ERR_RESET, IN_SERVO, IN_MODE_START, IN_ABORT, IN_MODE.0, IN_MODE.1, IN_POSW.0, IN_POSR.1, IN_GAIN, IN_FN, IN_PLS_DIRECT, IN_PACT Vcc Interface type name 100kΩ COMP1 1kΩ 470Ω 0.1µF IN_* SA:2.
[Current limit analog input] CRNT_LMT_IN ± Current 100% at 10 VDC Current 0% at 0 VDC CRNT_LMT_IN+ 200kΩ - 0 to 10VDC 200kΩ + CRNT_LMT_IN- Controller 6.1.4 I/O logic setting For the contact input and contact output signals, it is possible to set the physical I/O status and the logical relationship of the driver’s internal signal status in both contact and bit units. The input signals IN*** are processed via the I/O logical conversion and are then expressed as a logical input signal ***.
6 Control Interfaces 6.2 Position Command Pulse Input The position command value instructed from the controller interface is given to the driver by any pair of the (PLS, SIGN), (UP, DOWN) and (A, B) signals, which is then reflected in the command unit command value. Which pair of the signals will be used to give a command is set with the #204 Command pulse type parameter.
6.4 Operations 6.4.1 Starting an Operation The operation start command via MODE_START instructs the start of operations other than jog moves. The operation start command is issued when the status is 1. MODE[1..0] must set the number of the operation to be performed when the operation start command is issued via MODE_START. See the table below. In addition, the value set by MODE[1..1] is read and processed 10ms after the operation start command is issued.
6 Control Interfaces 6.4.3 Timing Charts [Self-end type] In case of self-end MODE_START MODE[1..0] BUSY STATUS1 STATUS0 Not necessary to consider Not necessary to consider Not necessary to consider STATUS1 STATUS0 0 or more At the end of processing [Self-end type] In case of end by the operation abort command [Non-self-end type] MODE_START MODE[1..
6.5 Other Inputs 6.5.1 Pulse Weight Selection PLS_DIRECT When the status of the PLS_DIRECT pulse weight selection input signal is 1, it is independent of the #207 Simplified scaling weighted data parameter; the position command pulse that is input is directly used as the internal position command pulse. For more details, see Section 5.3.2, “Switching Position Command Pulse Weights” and Section 6.2, “Position Command Pulse Input.” 6.5.
6 Control Interfaces 6.5.7 Servo ON SERVO The SERVO servo ON input signal is set to servo ON when the status is 1. In addition to this instruction, the actual Servo ON/OFF status is affected by the setting of the SRV DS Servo ON disable switch on the front panel. See the table below. Servo ON/OFF SERVO Status 0 Status 1 6.5.
Chapter 7 RS232C Interfaces 7.1 Overview 7.2 Connection and Setting 7.3 Communication Specifications 7.4 @ Commands 7.4.1 7.4.2 7.4.3 7.4.4 7.4.5 7.4.6 7.4.7 7.
7 RS232C Interfaces 7.1 Overview The CN1 RS232C communication connector is provided in order to make connection with host devices such as PCs and PLCs via the RS232C. The operation display pendant (abbreviated as TBX, optional device) can also be connected to this connector. Refer to Chapter 9, “Operation Display Pendant” for a description of how to use the operation display pendant.
[Multi-channel] When preparing for multi-channel communication, connect the host device and a maximum of nine drives in a loop shape as shown in the figure below.
7 RS232C Interfaces 7.
[Transmission character string] Transmission character strings are classified as follows. The details about the @ commands and parameter commands will be explained separately in Section 7.4, “@ Commands” and Section 7.5, “Parameter Commands.” Explanation @ commands Commands for operating the driver Parameter commands Commands for setting parameters and reading parameter/monitor values. Receivable status Receivable status changes depending on the command.
7 RS232C Interfaces 7.4 @ Commands Command format Command number ＠ Command name 7.4.1 : Field 0 : Field 1 Command No. No. of fields Abort 1 0 Stop 2 0 Start 3 1 Error reset 4 0 Homing offset position setting 10 0 Jog move command 11 1 : Field 2 ．．． Response at normal operation R00 Start @3: Field 0 Start commands begin operating actions other than jog moves. For argument 0, set a numeric value corresponding to the content of the operation to be performed.
7.4.5 Homing offset position setting @10 The homing offset position setting command instructs the #29 Offset distance from the home position parameter to auto-set so that the current motor position will become the position after homing is completed from the next time. It functions irrespectively of the operation mode. It can only be run while in the idle status. When the command is issued, the current command unit command value and the value of the #29 parameter at that point are added.
7 RS232C Interfaces 7.5 Parameter Commands Through the use of parameter commands, it is possible to refer to values of parameters and monitor (reference commands), assign numerical values and variables to parameters (simple setting commands), and assigning results of arithmetic operations on numerical values and variables to parameters (calculation result setting commands). The response is issued immediately.
Chapter 8 DrvGII PC Utility 8.1 Overview 8.1.1 8.1.2 8.1.3 8.2 Installation 8.2.1 8.2.2 8.3 Terminal Servo Tuning Oscilloscope Action Menu 8.5.1 8.5.2 8.5.3 8.6 Selecting a Communication Port Selecting Channels Displaying Communication Strings Main Menu Operation Menu 8.4.1 8.4.2 8.4.3 8.5 Installation under Windows 95/98/98SE/Me/NT4.0/2000 Starting the PC Utility Preparation 8.3.1 8.3.2 8.3.3 8.3.4 8.
8 DrvGII PC Utility 8.1 Overview The DrvGII PC Utility consists of three components that are accessed from the following menus: “operation menu,” “action menu,” and “data management menu.” 8.1.1 Overview of the Operation Menu The operation menu contains the following three functions： • Terminal: This menu allows you to send and receive character strings to/from the G2 driver (hereinafter referred to as the “driver”), monitor parameters/monitors as well as errors/alarms, and use parameter/command help.
8.2 Installation 8.2.1 Installation under Windows 95/98/98SE/Me/NT4.0/2000 The DrvGII utility (hereinafter referred to as the “PC utility”) runs on Windows 95, 98, 98SE, Me, NT4.0 and 2000. It can be installed via “Add/Remove Programs” under the “Control Panel” in Windows. If an older version of the PC utility is present, delete it first and then install the new version. Display the “Properties of Adding/Removing Programs” dialog box and click “Set Up (1).
8 DrvGII PC Utility Figure 8.2 “Select Program Folder” dialog box Select a program folder and click “Next.” The installation begins. Follow the instructions on the screen and change disks. When the setup is completed, the “Setup Complete” dialog box appear (see Figure 8.3). Figure 8.3 “Setup Complete” dialog box To start the program, select “Launch program file” and click “Finish.” If you do not want to start the program, just click “Finish.
8.2.2 Starting the PC Utility In order to start the PC utility under Windows, click the “Start” button, “Program,” “Specified program folder,” and then “YOKOGAWA_E” The “Version Information” dialog box (see Figure 8.4) is displayed for several seconds, and the PC utility starts up. (By default, the specified program folder is “YOKOGAWA_E”) Version of the PC utility Figure 8.
8 DrvGII PC Utility 8.3 Preparation Connect the serial port of the PC with the serial port of the driver with a dedicated cable. (Do not use any of commercially available cables. Since 5V power is being output from the driver as the power supply for the operation display pendant, a breakdown may occur in the PC if such cable is used.) 8.3.1 Selecting a Communication Port When you start the PC utility, the “ComPortSelect” dialog box appears in the left side of the screen (see Figure 8.5).
8.3.3 Displaying Communication Strings When you start the PC utility, the “Communication string” dialog box appears in the upper right corner of the screen. (See Figure 8.7.) Any strings that the PC utility sends to the driver as well as any strings received from the driver are displayed regardless of the menu. -> <- Figure 8.
8 DrvGII PC Utility 8.3.4 Main Menu When you start the PC utility, the “MainMenu” dialog box appears (see Figure 8.8). See the following chapters for how to start the actual operation. Figure 8.
8.4 Operation Menu 8.4.1 Terminal Using this menu, you can send and receive character strings to/from the driver, monitor parameters/monitors as well as errors/alarms, and use parameter/command help. Click “Terminal (T)” under “MainMenu” to display the “Terminal” dialog box (see Figure 8.9). Input text field Display text area Figure 8.9 “Terminal” dialog box [Sending/receiving character strings] 1) Enter a character string in the input text field and press the Enter (Return) key.
8 DrvGII PC Utility (1) Parameter/monitor In the “Terminal” menu, click “Parameter/Monitor (M)” under “Monitor” to display the “Parameter/Monitor” dialog box (see Figure 8.10). If the number of a parameter/monitor you want to monitor is entered in the parameter/monitor number text field, the contents and values of the corresponding parameters are displayed.
(2) I/O monitor In the “Terminal” menu, click “I/O Monitor (I)” under “Monitor” to display the “I/O Monitor” dialog box (see Figure 8.11). With the “I/O Monitor” dialog box, it is possible to monitor the on/off status of DI and DO points. It displays the status of electrical I/O signals regardless of the I/O logic setting. For reference of DI and DO numbers and signal names, see Chapter 6.
8 DrvGII PC Utility (3) Axis signal status display In the “Terminal” menu, click “Axis signal status (A)” under “Monitor” to display the “Axis signal status” dialog box (see Figure 8.12). Via the “Axis signal status” dialog box, it is possible to monitor the axis status, etc. of the driver. Green: Red: Gray: Figure 8.
(5) Parameter/monitor help In the “Terminal” menu, click “Parameter/Monitor help (H)” under “List” to display the “Parameter/Monitor help” dialog box (see Figure 8.14). The Parameter/Monitor help can display the contents of a maximum of ten parameters/monitors. If you click “Prev (P),” parameters/monitors with smaller numbers than the currently displayed parameters/monitors are displayed.
8 DrvGII PC Utility 8.4.2 Servo Tuning This menu allows you to adjust the servo parameters of the motor through auto-tuning and manual tuning in addition to adjust various compensation filters Click “Servo Cntl (S)” on “MainMenu” to display the “Servo Tuning” dialog box. Figure 8.16 “Servo Tuning” dialog box (1) Auto-tuning 1) Set the operation mode to the RS232C operation enable mode, and then turn on the power (see Chapter 5).
[Other parameters] * The three parameters – position feed forward, velocity feed forward, and acceleration feed forward – have no relation with servo stiffness. They are parameters for adjusting the settling time decrease. * The torque limiter parameter should be changed when limiting the motor torque. (3) Filter setting Click “Filter (F)” under “Servo Tuning” to display the “Filter” dialog box (see Figure 8.17).
8 DrvGII PC Utility 8.4.3 Oscilloscope The oscilloscope displays time-series of parameter/monitor values. Click “Oscilloscope (O)” under “MainMenu” to display the “Oscilloscope” dialog box. Note: The parameter/monitor information is obtained automatically from the driver when the “Oscilloscope” dialog is started. Please wait for a while until it becomes ready for use. (This operation is required only once for the initial use.
[How to use the oscilloscope] (1) Click “Log Start” on the “Oscilloscope” dialog box to display the “SetCondition/ELogStart” dialog box (see Figure 8.19). 2) Source selection choice box 5) Trigger source 3) Trigger mode 6) Trigger level 7) Trigger position 8) Time 4) Trigger edge 9) Set/Start Figure 8.19 “SetCondition/ELogStart” dialog box (2) Click the ↓ to select the parameters/monitors you want to display in the “source selection choice box.” (CH1 to CH4) (3) Select a trigger mode.
8 DrvGII PC Utility (12) The displayed waveform can be reshaped using “Display position selection” and “Vertical axis range selection” in the "Oscilloscope" dialog box. When "Auto" is clicked at this time, the "Display position selection" value is changed to "5," and the "Vertical axis range selection" value is changed automatically to a value that enables to display the entire waveform as much as possible without cutting any part of the waveform.
8.5 Action Menu In the operation menu, you can set and display parameters, display monitors, and start or stop actions related to the operations listed below. “Homing move,” “jog move,” and “Test operation.” Click “Drive (D)” under “MainMenu” to display the “DriveMenu” dialog box (see Figure 8.20). Figure 8.
8 DrvGII PC Utility 8.5.1 Homing Click “Homing (O)” in the “DriveMenu” dialog box to display the “Homing” dialog box (see Figure 8.21). If the connection with the driver is established, the current values of the related parameters are read and can be edited. Parameter number cell 2) Changed value text field 1) Parameter content cell Parameter value cell Figure 8.21 “Homing” dialog box (1) Editing parameters 1) Click the parameter content cell of the parameter to be changed.
(2) Operation The motor can be operated when the operation mode is set to the RS232C operation enable mode (see Chapter 5). (When the RS232C operation disable mode is set, some buttons are disabled.) [Start] 1) Set the motor to Servo ON (see Chapter 5). 2) Click “Start (D).” → The measured value of the homing is displayed after the homing operation is finished. [Abort] 1) Click “Abort (A).” → The motor decelerates and stops. [Error Reset] 1) Click “ErrReset (R).” → Errors that can be recovered are canceled.
8 DrvGII PC Utility 8.5.2 Jog Move Click “Jog (J)” in the “DriveMenu” dialog box to display the “JogMove” dialog box (see Figure 8.22). If the connection with the driver is established, the current values of the related parameters are read and can be edited. Parameter number cell Changed value text field Parameter content cell Parameter value cell Figure 8.22 “JogMove” dialog box (1) Editing parameters 1) Click the parameter value cell of the parameter to be changed.
(2) Operation The following operation can be performed when jog move is selected via the RS232C interface (see Chapter 5). (When the main operation mode is set to the PLC main operation mode, some buttons are disabled.) [Jog move in positive direction] 1) Set the motor to Servo ON (see Chapter 5). 2) Click “Start + (P).” [Jog move in negative direction] 1) Set the motor to Servo ON (see Chapter 5). 2) Click “Start – (M).” [Jog stop] 1) Click “Stop (S).” [Error Reset] 1) Click “ErrReset (R).
8 DrvGII PC Utility 8.6 Data Management Menus 8.6.1 Parameter Manager This menu allows you to save all the parameters to files and register them from files in addition to edit the machine setting parameters. Click “Parameter (M)” under “MainMenu” to display the “Parameter Manager” dialog box (see Figure 8.23). Figure 8.
(1) Editing machine parameters Click “Machine Parameter Edit (M)” in the “Parameter Manager” dialog box to display the “MachineParameterEdit” dialog box (see Figure 8.24). If the connection with the driver is established, the current values of the machine parameters are read and can be edited. Changed value text field Parameter content cell Parameter number cell Figure 8.
8 DrvGII PC Utility (3) Downloading (from a file to the driver) 1) Click “Download (D)” in the “Parameter Manager” dialog box. 2) Enter the name of the file to be downloaded to the driver. Do not enter a file extension (*.prm); it is added automatically. 3) Click “Open (O)” to start downloading. If you wish to stop the downloading, click “Cancel.” 4) When the downloading is finished, follow the message and reset the driver.
8.6.2 I/O Set In this menu, you can set the logical setting of DI/DO points (For reference of DI and DO numbers and signal names, see Chapter 6.). Click “I/O set (I)” under “MainMenu” to display the “I/O configuration” dialog box (see Figure 8.26). Figure 8.
8 DrvGII PC Utility (1) Logical setting 1) Click “I/O config (L)” in the “I/O configuration” dialog box. 2) The “Discrete configuration” dialog box is displayed and the current setting status is read. (The maximum number of setting statuses that can be displayed at once is 32 points for both DI and DO.) Selection text field Figure 8.27 “Discrete configuration” dialog box 3) Click a number you want to display from the selection text field in order to display the logical setting of that number.
(3) Downloading (from a file to the driver) 1) Click “Download (D)” in the “I/O configuration” dialog box. 2) Enter the name of the file to be downloaded to the driver. Do not enter a file extension (*.ioc); it is added automatically. 3) Click “Open (O)” to start downloading. If you wish to stop the downloading, click “Cancel.” 4) When the downloading is finished, follow the message and reset the driver.
8 DrvGII PC Utility 8.6.3 Pulse Set (1) Pulse setting 1) Click “Puls Config (P)” in the “Main Menu” dialog box. 2) The “Puls configuration” dialog box is displayed and the current setting status is read. Figure 8.28 “Puls configuration” dialog box 3) Select the parameter from the combobox. 4) Click “Set (S)” to start downloading the selected parameter to the driver. 5) When the downloading is finished, follow the message and reset the driver.
Chapter 9 Operation Display Pendant 9.1 Overview 9.2 Features and Part Names 9.3 Switching Displays 9.4 Terminal Mode Display 9.5 Parameter Monitor Display 9.6 Parameter Settings Display 9.7 I/O Monitor Display 9.
9 Operation Display Pendant 9.1 Overview The operation display pendant (abbreviated as TBX, optional device) should be connected to the CN1 RS232C communication connector. It is set to the same status as the single channel communication in the RS232C interface, regardless of the setting status of the rotary switch RS-ID on the front panel. The following functions are provided for the operation display pendant.
9.3 Switching Displays Each display shifts in the order shown in the figure below. When the power is turned on and the operation display pendant is connected, the initial screen shows the terminal mode display. Each display of the program menu display can be accessed by selecting edit (EDT), copy (CPY), or delete (DEL). N P Terminal mode display N/P (Next/Prev) functions are assigned to the f3/f7 keys in each display.
Operation Display Pendant 9.4 Terminal Mode Display The terminal mode display allows you to send a character string entered from the keypad to the driver and display the response character string in the display. In the example below, “#50” is input in display 2) and the response character string “R1D position bandwidth:12” is shown in display 3). In the response character string display, the header part of a response character string (e.g., R00, ALM**, *) is not displayed.
9.5 Parameter Monitor Display The current values of parameters/monitors with the numbers input from the keypad are displayed periodically. It is not necessary to press the Return in order to set a number. In the previous example of display 2), parameter number “50” is entered to display the prompt character string of that parameter/monitor. When the f2 DATA key is pressed here, display 3) appears and displays the current value of the parameter/monitor.
9 Operation Display Pendant 9.6 Parameter Settings Display This display is for changing the values of parameters. When you input a parameter number from the keypad, the display shows a prompt for the parameter when comments are being displayed, and the current value of the parameter when data is being displayed. When data is being displayed, it is possible to move the cursor to the data setting area using the ← and → keys.
9.7 I/O Monitor Display The I/O signal status of the blocks with numbers input from the keypad for the selected I/O type is displayed periodically. It is not necessary to press the Return key in order to set a number. There are three types of I/O that can be selected: “Ctl I,” “Ctl 0,” and “Drv I.” You can switch among them by pressing the f2/f6 SEL key. In the previous example of display 2), block number “1” is entered to display the signal status of Ctl DI block 1.
9 Operation Display Pendant 9.8 Special Command Display In this display, you can transmit selected commands to the controller. The selection of the commands you can choose from depends on the main operation mode. They can be switched by pressing the f2/f6 SEL key. When you select a command from the list and press the Return key, it is transmitted to the controller and the result of the command is shown in the display. By pressing the f2/f6 SEL key, it is switched to the command content display.
Chapter 10 Maintenance and Inspection 10.1 Maintenance and Inspection of the Motor Part 10.2 Maintenance and Inspection of the Driver Part 10.3 Replacing the Battery for Memory Backup 10.4 Backup and Restore Operations of Driver Memory Contents 10.4.1 10.4.2 10.
10 Maintenance and Inspection 10.1 Maintenance and Inspection of the Motor Part Simple daily checks need to be performed on the motor part. Check the motor for excessive noise or abnormal vibration. Do not dismount the motor. If the motor operates abnormally after 20,000 hours of operation or five years since installation, depending on the environment and conditions used, replace the motor, and the servo driver if necessary. 10.
10.4 Backup and Restore Operations of Driver Memory Contents Be sure to back up the driver memory contents in case of the occurrence of problems. If a problem occurs in the driver memory contents, it may become necessary to initialize (all reset) the driver to the same settings at the time of shipment from the factory. If the driver memory contents have been backed up in such a case, the driver memory contents can easily be restored to the factory settings. 10.4.
10 Maintenance and Inspection 10.4.2 Restore Operation The restore operation uses either of the backup data that was copied to a file via the PC utility or that was copied to the driver’s built-in flash ROM. Perform either of the following restore operations: [Restore using the PC utility] Using the PC utility, restore the backed up driver memory contents to an electronic file in the personal computer to the driver.
10.5 Motor Problems and Corrective Actions When an abnormality occurs during motor operation, first check the LED display as well as the error display LED (7 segments) on the front panel of the driver. If the cause of the problem cannot be determined by the indication of the LED display, take an appropriate corrective action as provided below. If the driver is still not be able to return to a normal operating condition despite corrective actions taken, stop operating the drive and contact us.
Chapter 11 Specifications 11.1 Standard Specifications 11.2 Torque - Speed Characteristics 11.3 External Dimensions (Unit: mm) 11.
11 Specifications 11.
Motor model name Maximum torque (N⋅m) Maximum number of revolutions (rps) Encoder resolution (p/rev) Absolute accuracy (sec) Repeatability accuracy (sec) Axial rotational deflection (µm)p-p Radial rotational deflection (µm)p-p Rotor inertia (kg⋅m2) Withstand load (N) Mass (kg) DM1004B0F-2!*1 5.5 x 10-3 3 DM1004C0F-2!*1 4 2.5 2,621,440 Note ±3 10 10 2.
11 Specifications (2) DR Series Motor Item Motor + driver Motor Maximum output torque Rated number of revolutions (100/200V) Encoder resolution Rotational Repeatability positioning accuracy Absolute accuracy Rotor inertia Positive Allowable axial load Negative Allowable moment load Axial Positive displacement Negative rigidity Moment displacement rigidity Mass Height (refer to dimension diagram) Item Motor + driver Motor Maximum output torque Rated number of revolutions (100/200V) Encoder resolution
Item Maximum output torque Rated number of revolutions Motor (100/200V) Encoder resolution + driver Rotational Repeatability accuracy positioning Absolute accuracy Rotor inertia Positive Allowable axial load Negative Allowable moment load Positive Motor Axial displacement rigidity Negative Unit DR1250E 00*1 N⋅m (kgf⋅m) 250 (25) rps E Series DR1160E 00*1 160 (16) DR1130E 00*1 130 (13) 0.5/1.
Specifications (3) DR/5000 Series Motor 5000 E Series DR5100E DR5070E 00*1 00*1 70 (7.0) N⋅m (kgf⋅m) 100 (10) Item Unit Maximum output torque Rated number of revolutions Motor (100/200V) + Encoder resolution driver Rotational Repeatability positioning accuracy Absolute accuracy Rotor inertia Positive Allowable axial load Negative Allowable moment load Positive Motor Axial displacement rigidity Negative Mass Height (refer to dimension diagram) 5000 B Series DR5050B DR5030B 00*1 00*1 50 (5.0) 30 (3.
(6) Driver Function Specifications Item Higher interface Mechanical input signal Mechanical input signal Encoder resolution (position command resolution when shipped) Method Control part Adjustment Acceleration/decelerat ion control Specifications RS232C interface (single channel communication, multi-channel communication) Controller interface (pulse train position command) Homing signal, (+) direction hardware over-travel signal, (-) direction hardware over-travel signal, emergency stop input signal B
11 Specifications 11.2 Torque - Speed Characteristics (1) DM Series 2) Type B 1) Type A Output torque (N-m) Output torque (N-m) 200-230 VAC power supply 100-115 VAC power supply No. of revolutions (rps) 3) DM1004B/C No. of revolutions (rps) Output torque (N-m) DM1004B/C No. of revolutions (rps) (2) DR Series 1) Type B 2) Type A Output torque (N-m) Output torque (N-m) 200-230 VAC power supply 100-115 VAC power supply No. of revolutions (rps) No.
11.3 External Dimensions (Unit: mm) (1) DM Series Motor 1) Type A 6-M8 screw depth 10 (Equal circular division) L (Refer to standard specification) 6-M6 screw depth 15 Stator (Through hole) Encoder cable Rotor Motor cable 2) Type B 6-M8 screw depth 8 (Equal circular division) L (Refer to standard specification) Stator (Through hole) 6-M6 screw depth 8 (Equal circular division) Encoder cable Rotor Motor cable 3) DM1004B/C 4-φ 7 hole ƒDM1004C „ 6-φ 4.
Specifications (2) DR Series Motor 1) Type A Stator Rotor Motor cable (φ 3.
(3) Driver Section 1) U!!!!!!!A/B (500W, Type B is shown in the figure.
11 Specifications 3) U!!!!!!!K (2kW level with regenerative unit) 11-12
11.4 Restrictive Conditions for the Frequency of Repeated Operations (DR5000B Series Only) When running and stop operations are performed repeatedly on DYNASERV DR5000B series (DR5030B, 5050B, 5070B) because of a high number of rated revolution, some restrictions may apply based on the characteristic of the motor and the driver with respect to the frequency of repeated running and stop operations. Consider those restrictions carefully when using the motor.
Specifications NR = 4 (rps) I1 = I3 = 9 (A) I2 = 3 (A) t1 = t2 = t3 = 1/4tCY When calculating from the above setting example, 4 1 2 1 1 η B = 2 ( 4 tCY + 4 tCY + 4 tCY) × 5tCY × 100 2 = 5 × 100 = 40 81 9 81 1 η C = ( 4 tCY + 4 tCY + 4 tCY) × 225tCY × 100 17100 = = 19 900 When substituting the above into equation (3), 40 + 2.6 ×19 = 98 < 103 Therefore, the result satisfies the equation, and the setting is deemed to be correct.
Parameter List Parameter No.
Parameter No.
Parameter No.
Parameter details STD1 1 Enables the over-travel error function in the + direction Always Long: Minimum value: 0 Maximum value: 1 +HOT_ErrorEnable Initial value: 0 Short: Unit: None +HOT_ErrEn Specify whether or not to enable an error when the over-travel signal in the + direction is detected while commanding to move the axis in the + direction. 0: Does not enable an error. 1: Enables an error.
9 Feeding Velocity Minimum value: 0 Maximum value: 16000000 Initial value: Motor dependent Unit: Axis command unit/sec Specify the feeding velocity. For trapezoidal move: Specify the feeding velocity. For cam move: Specify the feeding velocity (peak velocity). Jog Velocity Minimum value: 0 Maximum value: 16000000 Initial value: Motor dependent Unit: Axis command unit/sec Specify the feeding velocity in jog mode.
16 Velocity override percentage 1 Minimum value: 0 Maximum value: 20000 Initial value: 10000 Unit: 1/100 % Specify override 1 for feeding velocity. Always Long: VelOverride1 Short: VelOvrrid1 20 Homing direction Always Long: Minimum value: 0 Maximum value: 1 ORG-Direction Short: Initial value: 0 Unit: None O-OrgDir Specify the homing direction (origin proximity signal search direction) in homing mode.
31 Operation width under testing mode Minimum value: 0 Maximum value: 9999999 Initial value: Motor dependent Unit: Axis command unit Specify the operation width in test mode. Operation width under Auto-tuning Minimum value: 1 Maximum value: 9999999 Initial value: Motor dependent Unit: Axis command unit Specify the operating range in auto-tuning mode.
46 Position settling pulse width 3 Always Long: Minimum value: 0 CoinWidth Pls3 Maximum value: 32767 Initial value: Motor dependent Short: CoinWidth P3 Unit: pulse Specify the setting width to be used for position settling check and position settling wait in the axis position control section. This parameter is used when the position settling width 3 has been selected.
53 Position integral limiting value Always Long: Minimum value: 0 Maximum value: 4999999 PosIntegralLimit Initial value: 10000 Short: Unit: None PosIntLim Specify the limiter value of the position error integrator in the axis position control section. Specify a smaller value when a wind-up condition occurs during axis operation. This parameter is set automatically by either executing autotuning operation or changing the "servo stiffness settings" parameter.
61 Position settling signal chattering processing count Always Long: Minimum value: 1 Maximum value: 100 COIN_ChatterVolume Initial value: 1 Short: Unit: None COIN_Vol Specify the chattering count when a position settling signal is generated. If the absolute values of position deviations (values after being filtered in case a position deviation filter is used) continue to be shorter than the position settling width for the specified number of times, a position settling signal will be formed.
70 Analog monitor selection Minimum value: 0 Maximum value: 5 Initial value: 4 Unit: None Select the content to be output to the analog monitor.
73 Position monitoring gain (analog monitor) Always Minimum value: 0 Long: Maximum value: 14 PosMonitorGain Initial value: 0 Short: Unit: None PosMon_G Specify the position monitoring (position command value and current position value) gain of the analog monitor. 0: 6.55V / 4194304 pulses 1: 6.55V / 2097152 pulses 2: 6.55V / 1048576 pulses 3: 6.55V / 524288 pulses 4: 6.55V / 262144 pulses 5: 6.55V / 131072 pulses 6: 6.55V / 65536 pulses 7: 6.55V / 32768 pulses 8: 6.55V / 16384 pulses 9: 6.
91 TBX_EMG Servo status Always Long: Minimum value: 0 Maximum value: 5 TbxEmgServoCondition Initial value: 0 Short: Unit: None TbxEmgServ Specify the servo status of the motor when EMG from TBX is executed. When operating the built-in controller axis: 0: Maintains the servo status after the axis operation stops (low level). 1: Turns the servo OFF after the axis operation stops (low level). 2: Stops the axis operation (low level) and turns the servo OFF immediately.
94 Position command differential value excessive error Always processing type Long: Minimum value: 0 Maximum value: 5 Over_dScmdErrorType Initial value: 1 Short: Unit: None OVP_ErrTyp Specify the processing type when a position command differential value excessive error occurs. When operating the built-in controller axis: 0: Maintains the servo status after the axis operation stops (low level). 1: Turns the servo OFF after the axis operation stops (low level).
96 Over-travel error function in the - direction processing Always type Long: Minimum value: 0 Maximum value: 5 -Hot_ErrorType Initial value: 1 Short: Unit: None -Hot_ErrTyp Specify the processing type when an over-travel error in the - direction occurs. When operating the built-in controller axis: 0: Maintains the servo status after the axis operation stops (low level). 1: Turns the servo OFF after the axis operation stops (low level).
153 Notch filter: Frequency 1 selection Always Long: Minimum value: 50 NotchFilterFreq1 Maximum value: 1500 Initial value: 1500 Short: NotchFreq1 Unit: Hz Specify the frequency of notch filter channel 1 for the driver equipped with the notch filter option. This parameter is no valid for the driver without the notch filter option.
204 Command pulse type Minimum value: 0 Maximum value: 2 Initial value: 2 Unit: None Specify the position command pulse type. 0: PUA_IN:UP, SDB_IN:DOWN 1: PUA_IN:A, SDB_IN:B 2: PUA_IN:PLS, SDB_IN:SIGN While in machine setting mode Long: CmdPlsType Short: CmdPlsType 205 Monitor pulse type Minimum value: 0 Maximum value: 1 Initial value: 1 Unit: None Specify the position monitor command pulse type.
219 Velocity feedback filter use While in machine setting mode Long: Minimum value: 0 Maximum value: 1 UseVfbFilter Initial value: 0 Short: Unit: None UseVfbFil Specify whether or not to use a filter for the velocity information that is fed back to the velocity control part. 0: Do not use. 1: Use.
227 Over-speed error processing type While in machine setting mode Long: Minimum value: 0 Maximum value: 5 OverSpeedErrorType Initial value: 1 Short: Unit: None OVS_ErrTyp Specify the processing type when an over-speed error occurs. When operating the built-in controller axis: 0: Maintains the servo status after the axis operation stops (low level). 1: Turns the servo OFF after the axis operation stops (low level). 2: Stops the axis operation (low level) and turns the servo OFF immediately.
229 Excessive position deviation error processing type While in machine setting mode Long: Minimum value: 0 Maximum value: 5 OverSpeedErrorType Initial value: 1 Short: Unit: None OVPeErrTyp Specify the processing type when an excessive position deviation error occurs. When operating the built-in controller axis: 0: Maintains the servo status after the axis operation stops (low level). 1: Turns the servo OFF after the axis operation stops (low level).
Monitor List Monitor No.
Monitor No.
Monitor detail STD1 300 Currently under operation Unit: None Indicates that an operation is being performed. 301 Axis is under operation Unit: None Indicates that an axis operation is being performed. 302 Error status Unit: None Indicates the error status. 303 Alarm status Unit: None Indicates the alarm status. 304 Driver ready Unit: None Indicates that the driver is ready. 305 Servo ready Unit: None Indicates that the servo is ready.
320 Pulse position command value Unit: pulse Displays the pulse position command value. 321 Pulse position current value Unit: pulse Displays the current pulse position value. 322 Pulse position deviation Unit: pulse Displays the pulse position deviation. 323 Command unit command value Unit: Axis command unit Displays the command unit command value. 324 Scaling data (command unit side) Unit: Axis command unit Displays the axis scaling data (command unit side) that is actually used.
338 Zero signal status Unit: None Displays the zero signal status. 339 Sensor group signal status Unit: None Displays the sensor group signal status.
347 Operation mode number Unit: None Indicates the operation mode number during or after operation. 348 Multi-channel communication status Unit: None Indicates that the multi-channel communication status has been set. 0: Single channel communication status 1: multi-channel communication status 349 Multi-channel communication slave code Unit: None Indicates the slave station (self-station) code in multi-channel communication.
361 Velocity ratio gain Unit: x 1/100 Displays the velocity loop ratio gain. 363 Velocity command value (digital) Unit: 1/16 digit Displays the velocity command value when controlling the digital velocity. (1msec sample) 364 Post-filter velocity command value (digital) Unit: 1/16 digit Displays the post-filter velocity command value when controlling the digital velocity. (1msec sample) 365 Present velocity current value Unit: 1/16 digit Displays the present velocity value.
370 Present command unit value Unit: Axis command unit Displays the present command unit value. 371 Command unit deviation Unit: Axis command unit Displays the command unit deviation. 372 Present velocity value DC Unit: 1/16 digit Displays the present velocity value DC. (10msec sample) 373 Motor linear coordinate command second-order differential value Unit: pulse/ΔT2 Displays the second-order differential value of the motor linear coordinate command value (example: 2 msec).
390 Motor linear coordinate command differential value Unit: pulse/∆T Displays the differential value of the motor linear coordinate command value. (2msec sample) 391 Present motor linear coordinate differential value Unit: pulse/∆T Displays the differential value of the present motor linear coordinate value. (2msec sample) 392 Pre-filter current square duty Unit: digit Displays the pre-filter current square duty (decimal point 15 bits).
Error/Alarm List Error No.
Error/Alarm Details Error number 1 Memory error Long: Error type: Measures: Main cause: Action to take: Error number MemoryError Short: [KIND_POR] Start-up error [TYPE_POR] Do not start up. MemoryErr An error is detected during memory check when the power is turned on. [Subcode] 1: CPU built-in ROM sum error 2: RAM error 3: Flash ROM sum error Contact us.
Error number 5 Kernel error Long: Error type: Measures: Main cause: Action to take: Error number KernelError Short: [KIND_SYS] System error [TYPE_ELS] Others KernelErr An error that should have not occurred in driver software has occurred. [Subcode] 1: Axis operation handshake error 2: System program error Contact us. 10 Data sum error Long: Error type: Measures: Main cause: Action to take: Error number DataSumError [KIND_POR] Start-up error Short: [TYPE_POR] Do not start up.
Error number 16 Coordinate error A Long: CoordinateErrorA Error type: Measures: Main cause: Short: [KIND_SYS] System error [TYPE_SRV] Servo OFF An error occurred during coordinate processing.
Error number 20 Power module error Long: PowerModuleError Error type: Measures: Main cause: Short: [KIND_RGR] Always error [TYPE_SRV] Servo OFF A power module error in the driver was detected.
Error number 30 Servo not ready Long: Error type: Measures: Main cause: Action to take: Error number Error type: Measures: Main cause: Action to take: Error number ServoNotReady Short: [KIND_ERR] error [TYPE_E2] Stop deceleration. SrvNotRdy The servo was not ready for the process that requires the servo to be ON. Perform an error reset operation, turn ON the servo, and execute again.
Error number 45 - direction software over-travel Long: Error type: Measures: Main cause: Action to take: Error number Soft_OT_-_direction Short: [KIND_ERR] error -_Soft_OT [TYPE_E2] Stop deceleration. Attempted to move to outside of the - direction area via positioning move, but the command unit command value was outside of the - direction area. Perform an error reset operation. If the command unit command value is outside of the area, move to the + direction.
Error number 51 Data not ready Long: DataNotReady Error type: Measures: Main cause: [KIND_ERRALM2] Error/operation alarm [TYPE_E2] Stop deceleration. Data is not ready. [Subcode] 2: Part data 3: Program file 4: Index A correction file 6: Index B file Short: DataNotRdy Action to take: Error number 52 Timeout Long: TimeOut Error type: Measures: Main cause: Action to take: Error number [KIND_ERRALM1] Error/operation alarm [TYPE_E2] Stop deceleration. A timeout occurred during internal processing.
Error number 60 Cannot interpret Long: CantInterpret Error type: Measures: Main cause: Action to take: Error number [KIND_ERRALM2] Error/operation alarm [TYPE_E2] Stop deceleration. The command cannot be interpreted. 61 Short: CantIntp Command format error Long: FormatError Error type: Measures: Main cause: Action to take: Error number [KIND_ERRALM2] Error/operation alarm [TYPE_E2] Stop deceleration. A command format error occurred.
Error number 66 Illegal device Long: Error type: Measures: Main cause: Action to take: Error number IllegalDevice Short: [KIND_ALM] Operation alarm [TYPE_E2] Stop deceleration. IlgDevice An operation was attempted using a device whose operation was prohibited. 67 Write protected Long: Error type: Measures: Main cause: Action to take: Error number WriteProtected Short: [KIND_ERRALM2] Error/operation alarm [TYPE_E2] Stop deceleration.
Error number 85 Device conflict Long: Error type: Measures: Main cause: Action to take: DeviceConflict Short: [KIND_ALM] Operation alarm [TYPE_E2] Stop deceleration. DevConflic An operation was attempted by another device while other device was being operated.
