FUJI SERVO SYSTEM MEH549a

Transcription

1 FUJI SERVO SYSTEM FUJI SERVO SYSTEM MEH49a

2 Table of Contents Features 7 Operation and Indication Explanation of Model s Simple & Smart Guide to System Configuration Servomotors Servo system for evolving machines 1 Specifications [Servomotor] 1 External Dimensions [Servomotor] Servo Amplifiers FUJI SERVO SYSTEM Specifications [Servo Amplifier] Connection Diagram (Reference) External Dimensions [Servo Amplifier] Model ist Service Network The FADIC-W a brand new basic model of the FADIC Series inheriting the functions and performance of the FADIC- and FADIC-. The FADIC Series keeps evolving to meet all market requirements. The new FADIC-W has been developed with a built-in 17-bit encoder as a standard feature. In addition to Vibration Suppressing Control as a standard FADIC series servo system feature, you can select the rated motor speed as desired to match your particular application.

3 Wide Range. kw.1 kw. kw.4 kw. kw 1 kw 1. kw kw ow Inertia Series (GYS Motor) : r/min Middle Inertia Series (GYG Motor) : r/min Middle Inertia Series (GYG Motor) : 1 r/min High-resolution encoder: 117 pulses (17-bit) Ensures stable performance even at low speed. Features Vibration Suppressing Control Function equipped as standard Suppresses mechanical vibration to the limit. Two RS-4 ports as standard Realizes the integral control of parameters (Maximum 1-axis connection). Test operation function Monitor output function Control power back-up function Side-by-side installation Easy tuning IP7 (Servomotor) Servo analysis function Global standards

4 FADIC-W Variation ow Inertia Series (GYS Motor) : r/min Input power supply Rated output. kw Motor type (standard type) GYSDC TA Amplifier type RYCD VVT Single-phase to V.1 kw. kw GYS11DC TA GYS1DC TA RYC11D VVT RYC1D VVT Single-phase or -phase to V.4 kw GYS41DC TA GYS71DC TA RYC41D VVT RYC71D VVT r/min type Middle Inertia Series (GYG Motor) : r/min Input power supply Single-phase or -phase to V Rated output Motor type (standard type) GYG1CC TE GYG71CC TE Amplifier type RYC1C VVT RYC71C VVT 1 kw GYG1CC TE RYC1C VVT -phase to V 1. kw GYG1CC TE RYC1C VVT kw GYGCC TE RYCC VVT r/min type Middle Inertia Series (GYG Motor) : 1 r/min Input power supply Rated output Single-phase or -phase to V -phase. kw to V Motor type (standard type) GYG1BC TE GYG1BC TE GYG1BC TE Amplifier type RYC1B VVT RYC1B VVT RYC1B VVT 1 r/min type Other features Control power back-up function Easy tuning Servo analysis function Test operation function 4 Besides the main power input, a control power back-up function is equipped, which is helpful in backing up sensor positions. This system cuts off the main power supply in an emergency, so you do not need to return to the original position each time. The servo amplifier itself automatically performs auto tuning by left and right movements. Optimum tuning between the machine and servomotor is attained before positioning adjustment by the host controller. This is a tool installed in the loader to be equipped with a personal computer, which analyzes the resonance frequencies inherent in each machine to make effective use of the vibration suppressing control function, the Notch Filter, etc. Continuous reciprocation is supported in addition to JOG operation in a single direction. You can easily check the effective torque by rough actual operation before preparing the host controller.

5 Feature 1 Ensures stable performance even at low speed. High-resolution encoder generating 117 pulses installed Higher resolution reduces rotational flactuation, achieving smooth machine motions. 1 r/min 1 r/min High-resolution encoder 1 ms Conventional encoder (equivalent to 19 pulses) 17-bit encoder (117 pulses) 1 ms Suppresses mechanical vibration to the limit. Our original vibration suppressing control function (patent pending) A Vibration Suppressing Control Function is introduced, which is effective in controlling robot arm end vibration. Feature Fuji s original Vibration Suppressing Control Function is installed as a standard feature. It effectively reduces vibration, especially for low-rigidity units such as a robot arm end, and minimizes machine cycle time. Direction of movement Direction of movement Vibration waveform measured by laser displacement gauge Vibration waveform measured by laser displacement gauge Vibration Suppressing Control Function mm/div r/min/div Arm vibration Actual speed mm/div r/min/div Arm vibration Actual speed Without vibration suppressing control function With vibration suppressing control function Feature Realizes the integral control of parameters. Two RS-4 ports as standard RS-4 links the host controller to each servo amplifier, enabling the integral control of the servo amplifier parameters by the host controller. Image of system configuration RS-4 Integral control of parameters Host controller Servo amplifiers (Maximum 1-axis connection) Parameter management screen Monitor output function Side-by-side installation IP7 (Servomotor) Global standards An analog monitor output function is equipped on the front of the servo amplifier. Connect a special connector to it to observe signals. Two signals can be observed from the return speed, torque command, positional deviation, etc. Servo amplifiers can be installed side by side, which saves space required to install them in the machine enclosure. The servomotor complies with IP7* and can, therefore, be used in an environment where it is exposed to water or dust. *Excluding the shaft sealing and connector of the GYS motors and the axis through portion of the GYG motors. The FADIC-W adopts global specifications to support the CE marking and U/cU standards. *Applications for certification by these standards are being filed.

6 Operation and Indication Personal computer loader The loader software for personal computers for the FADIC-W Series can be downloaded from our website. Real-time trace Menu screen You can set the following with the personal computer loader: (1) Real-time trace : Speeds and torque curves can be continuously obtained. () Historical trace : Shorter, more detailed curves than real-time trace can be obtained. () Monitor : I/O can be checked and alarm history and the system configuration can be monitored. (4) Parameter edit : Parameters can be edited, transferred, compared, and initialized. () Communication setting : Set the conditions for communication between the servo amplifier and the personal computer. () Easy tuning : The servomotor is automatically reciprocated with easy settings to adjust it to the auto tuning gain suitable for the machine system. (7) Servo analysis : Inspects the resonance and antiresonance points of the machine system. The effect of the Notch Filter can also be checked. Historical trace Keypad The keypad allows you to use the similar functions as with the personal computer loader. Description of modes Power ON Keypad panel initial display (parameter setting) Sequence monitor Sequence mode Current alarm Alarm history Station number display Each monitor Feedback speed Command speed Average torque Feedback current position Command current position Positional deviation *The keypad does not display trace but displays a value. Feedback integrated pulse Command integrated pulse Peak torque Input voltage I/O signal oad-inertia ratio Mode change key Changes the mode (MODE). Cancels the mode (ESC). O thermal value Regenerative resistance thermal value Pulse train input frequency DC intermediate voltage (maximum) DC intermediate voltage (minimum) Shift/Enter key Shifts the data setting digit to the right (SHIFT + MODE). Determines the mode or the value (ENT). Parameter Sub-mode selection key (UP) Increases the value (+1). Parameter edit Sub-mode selection key (DOWN) Decreases the value (-1). Test operation Manual feed Position reset Integrated pulse clear Alarm reset Alarm history initialization Parameter initialization Automatic offset adjustment Z-phase position adjustment Auto tuning gain Easy tuning Pattern operation

7 Explanation of Model s Servo amplifier RYC D V V T RYC [Basic type] FADIC-W Series [Input voltage] AC V series [Applicable motor output] 1 =. kw =.1 kw 1 1 =. kw =.4 kw 1 1 = = 1 1 =. kw 1 1 = 1 kw 1 1 = 1 1 = 1. kw 1 = kw T V V [Encoder] 17-bit INC [Upper interface] DI/DO (speed) [Major functions] Pulse train/speed control D C B [Series] r/min r/min 1 r/min [Order of development] Servomotor GYS D C T A B GYS GYG D C B C [Basic type] ow inertia type Middle inertia type [Rated output] 1 =. kw =.1 kw 1 1 =. kw =.4 kw 1 1 = = 1 1 =. kw 1 1 = 1 kw 1 1 = 1 1 = 1. kw 1 = kw [] r/min series r/min series 1 r/min series [Installation method] Flange mounting [Order of development] Omitted B A B E F T [Brake] Not provided Provided Oil seal/ [ ] shaft Without an oil seal, straight shaft with a key Without an oil seal, straight shaft without a key With an oil seal, straight shaft with a key With an oil seal, straight shaft without a key [Input voltage] AC V series [Encoder] 17-bit INC Applicable motor GYS GYG : Standard item : Made-to-order item 7

8 Guide to System Configuration Circuit breaker, earth leakage circuit breaker, magnetic contactor 1. Cable for sequence input/output AC reactor (9) RS-C RS-4 conversion adapter (1) PC loader cable (1) PC (). Cable for encoder Power filter. Power cable for power supply wiring () 4. Power cable for motor () (4) (7) Connector for control power supply wiring () External regenerative resistor () Connector for external regenerative resistor

9 Guide to System Configuration Connector-provided cable correspondence table Motor series ow inertia Middle inertia GYS motor GYG motor GYG motor r/min r/min 1 r/min Brake Not provided Provided Not provided Provided Not provided Provided Rated output. to. to. to 1 kw 1. to kw. to 1 kw 1. to kw. to. kw. to. kw Between host and amplifier 1. Cable for sequence input/output WSC-DP ( m) Between power supply and amplifier Between amplifier and motor. Power cable for power supply wiring. Cable for encoder WSC-SP-B ( m) WSC-SP-B ( m) WSC-SP-B ( m) WSC-SP-B ( m) WSC-PP-D ( m) WSC-PP1-D (1 m) WSC-PP-D ( m) WSC-PP-CD ( m) WSC-PP1-CD (1 m) WSC-PP-CD ( m) *1: The customer is requested to make this cable with a specified connector. (Specified connector: WSK-M4P-CA for brakes without a brake; WSK-MP-CA for motors with a brake) *: Use the cable together with the connector for motor power supply wiring WSK-M4P-CA. *: Use the cable together with the connector for motor power supply wiring WSK-MP-CA. (The customer is requested to make a cable for brakes.) 4. Power cable for motor WSC-M4P-B ( m) WSC-M4P1-B (1 m) WSC-M4P-B ( m) WSC-MP-B ( m) WSC-MP1-B (1 m) WSC-MP-B ( m) WSC-M4P-WD ( m) (*) WSC-M4P1-WD (1 m) WSC-M4P-WD ( m) (*1) WSC-M4P-WD ( m) (*) WSC-M4P1-WD (1 m) WSC-M4P-WD ( m) (*1) WSC-M4P-WD ( m) (*) WSC-M4P1-WD (1 m) WSC-M4P-WD ( m) (*1) WSC-M4P-WD ( m) (*) WSC-M4P1-WD (1 m) WSC-M4P-WD ( m) (*1) Connector correspondence table Motor series ow inertia Middle inertia GYS motor GYG motor GYG motor r/min r/min 1 r/min Brake Not provided Provided Not provided Provided Not provided Provided Rated output. to. to. to 1 kw 1. to kw. to 1 kw 1. to kw. to. kw. to. kw *When the customer makes a cable, use any of the connectors shown in this table. Between host and amplifier (1) Connector for sequence input/output wiring WSK-DP Between power supply and amplifier Between amplifier and motor ()Connector for Connector for encoder wiring Connector for motor power supply wiring power supply wiring ()Amplifier side () Amplifier side () Motor side WSK-SP-B WSK-SP-B WSK-SP-B WSK-SP-B WSK-DP WSK-P9P-D WSK-PP-C WSK-MP-B WSK-MP-B WSK-MP-B WSK-MP-B WSK-M4P WSK-MP WSK-M4P-CA WSK-MP-CA WSK-M4P-CA WSK-MP-CA Common options Name Description Remarks (7) Connector for control power supply wiring () Connector for external regenerative resistor For personal computer loader connection (9) Conversion adapter (1)Cable WSK-P-D WSK-RP-B NWH-CNV WSC-PC RS-C RS-4 conversion m *4: The, 1. kw, and kw amplifier do not require this connector because they are connected with a terminal block. (*4) A converter and a cable are required. Peripheral devices [r/min] [r/min] 1 [r/min] Input power supply Single-phase to V -phase to V Single-phase to V -phase to V Single-phase to V -phase to V Servo amplifier type RYCD-VVT RYC11D-VVT RYC1D-VVT RYC41D-VVT RYC71D-VVT RYC71D-VVT RYC1C-VVT RYC71C-VVT RYC1C-VVT RYC71C-VVT RYC1C-VVT RYC1C-VVT RYCC-VVT RYC1B-VVT RYC1B-VVT RYC1B-VVT RYC1B-VVT Applicable motor output [kw] Circuit breaker EAAC/ EAAC/ EAAC/1 EAC/1 EAC/1 EAAC/1 EAC/1 EAC/ EAC/1 EAAC/1 EAC/1 Earth leakage circuit breaker EGC/ EGC/1 EGC/1 EGC/1 EGC/1 EGC/1 EGC/ EGC/1 EGC/1 EGC/1 Magnetic contactor SC--1(19A) Surge absorber [For control relay] S1-B- Specification: Ω(1/W) +.1 µf (Okaya Electric Industries) [For electromagnetic contactor] S-A- Specification: Ω(1/W) +. µf (Okaya Electric Industries) AC reactor ACR-.4A ACR-.7A ACR-1.A ACR-.A ACR-1.A ACR-1.A ACR-.A ACR-.7A ACR-1.A ACR-.A ACR-.7A ACR-1.A ACR-.7A ACR-1.A ACR-.A External regenerative Power filter resistor (*1) FHF-TA// WSR-41 FHF-TA/1/ FHF-TA// FHF-TA// *1: To connect the external regenerative resistor WSR-41 or WSR-1 to the amplifier, a connector for external regenerative resistors [type: WSK-RP-B] is required. WSR-1 FHF-TA// FHF-TA/1/ WSR-1 DB11- FHF-TA// WSR-1 FHF-TA/1/ FHF-TA// DB11-9

10 Specifications [ Servomotor ] ow inertia series (GYS motor) r/min Standard specifications Motor type GYSDC GYS11DC GYS1DC GYS41DC GYS71DC Rated output [kw] Rated torque [N m] Max. torque [N m] [r/min] Max. speed [r/min] Moment of inertia [kg m ] Rated current [A] Max. current [A] Winding insulation class Operation duty type Degree of enclosure protection Terminals (motor) Terminals (encoder) Overheat protection Mounting method Shaft extension Paint color Encoder Vibration level Installation place, altitude Ambient temperature, humidity Vibration resistance [m/s ] Class B Continuous Totally enclosed, self-cooled (IP7, excluding the shaft sealing and connectors) With. m flexible leads and connectors With. m flexible leads and connectors Not provided (The servo amplifier detects temperature.) By securing motor flange IMB (1), IMV1 (), IMV () Straight shaft with a key N1. 17-bit encoder V or below For indoor use, 1 m or below -1 to +4 C, 9 % RH or below (without condensation) Motor with a brake Motor type GYSDC GYS11DC GYS1DC GYS41DC GYS71DC Rated output [kw] Rated torque [N m] Static friction torque [N m] Moment of inertia [kg m ] Rated DC voltage [V] Attraction time [ms] Release time [ms] Brake input [W] V DC Torque characteristic diagrams ( r/min) GYSDC GYS11DC GYS1DC GYS41DC GYS71DC. kw.1 kw. kw.4 kw

11 Specifications [ Servomotor ] Middle inertia series (GYG motor) r/min, 1 r/min Standard specifications Motor type GYG1CC GYG71CC GYG1CC GYG1CC GYGCC GYG1BC GYG1BC GYG1BC Rated output [kw] Rated torque [N m] Max. torque [N m] [r/min] Max. speed [r/min] Moment of inertia [kg m ] Rated current [A] Max. current [A] Winding insulation class Operation duty type Degree of enclosure protection Terminals (motor) Terminals (encoder) Overheat protection Mounting method Shaft extension Paint color Encoder Vibration level Installation place, altitude Ambient temperature, humidity Vibration resistance [m/s ] Class F Continuous Totally enclosed, self-cooled (IP7, excluding the shaft sealing) Cannon connectors Cannon connectors Not provided (The servo amplifier detects temperature.) By securing motor flange IMB (1), IMV1 (), IMV () Straight shaft with a key N1. 17-bit encoder V1 or below For indoor use, 1 m or below -1 to +4 C, 9 % RH or below (without condensation) Motor with a brake Motor type GYG1CC GYG71CC GYG1CC GYG1CC GYGCC GYG1BC GYG1BC GYG1BC Rated output [kw] Rated torque [N m] Static friction torque [N m] Moment of inertia [kg m ] Rated DC voltage [V] Attraction time [ms] Release time [ms] Brake input [W] V DC ± 1 % 1 14 (at C) Torque characteristic diagrams ( r/min) GYG1CC GYG71CC GYG1CC GYG1CC GYGCC 1. kw 1. kw. kw Torque characteristic diagrams (1 r/min) GYG1BC GYG1BC. kw GYG1BC

12 External Dimensions [ Servomotor] ow inertia series (GYS motor) r/min Standard type Motor with a brake [r/min] Rated output. kw.1 kw GYSDCA GYS11DCA Shaft end shape Fig. A Fig. B Overall length 1 11 Dimension (flange) [r/min] Rated output. kw.1 kw GYSDCA-B GYS11DCA-B Shaft end shape Fig. A Fig. B Overall length Dimension (flange) ø ø4. ø4 ø4 14 ø h7 14 øh7 ± Signal line ± Power supply line [Fig. A] [Fig. B] [Fig. A] [Fig. B] Power Signal line supply line øh øh ± ± øh øh [r/min] Rated output. kw.4 kw GYS1DCA GYS41DCA Overall length Dimension (flange) [r/min] Rated output. kw.4 kw GYS1DCA-B GYS41DCA-B Overall length Dimension (flange) ø. 4-ø. øh7 ø7 øh7 ø7 4 ± Signal line ± Power supply line ø14h 4 ± Signal line Power supply line ± ø14h Rated output Rated output [r/min] GYS71DCA [r/min] GYS71DCA-B ø ø7 ø9 ø9 ø7h7 ø7h7 ± Signal line Power supply line ± ø1h ± Signal line Power supply line ± ø1h :.4 : 4. 1

13 External Dimensions [ Servomotor] Middle inertia series (GYG motor) r/min, 1 r/min Standard type Motor with a brake [r/min] Rated output GYG1CCE GYG71CCE Overall Dimension length (flange) Terminal KB [r/min] Rated output GYG1CCE-B GYG71CCE-B Overall length Dimension (flange) Terminal KB ø ø9 47 (11) () Signal line. KB1 Power supply line ø ø11h7. ø19h ø14 (11) () Signal line Power supply line 91. KB1 ø ø11h7. ø19h ø14 [r/min] Rated output 1 kw 1. kw kw GYG1CCE GYG1CCE GYGCCE Overall length Dimension (flange) Terminal KB [r/min] Rated output 1 kw 1. kw kw GYG1CCE-B GYG1CCE-B GYGCCE-B Overall length Dimension (flange) Terminal KB ø ø9 47 (11) () Signal line Power supply line. KB1 ø ø11h7 4 øh ø14 () Signal line (11) Power supply line 91. KB1 ø 1 [r/min] Rated output. kw GYG1BCE GYG1BCE GYG1BCE Shaft end shape Fig. A Fig. A Fig. B Overall length Dimension (flange) Terminal KB [r/min]. kw GYG1BCE-B GYG1BCE-B GYG1BCE-B Fig. A Fig. A Fig. B KB ø ø ø11h7 4-ø9 1 4 ø11h7 ø11h7 4 øh ø14 Rated output Shaft end shape Overall length Dimension (flange) Terminal (11) () () ø Signal line Power supply line. KB1 ø19h ø14 [Fig. A] [Fig. B] Signal line [Fig. A] [Fig. B] Power supply line KB1 4. (11) ø19h ø14 øh øh 1

14 Specifications [ Servo Amplifier ] Basic specifications Applicable motor rated speed Applicable motor output RYC Outer frame number Main power supply Power supply Control power supply Control system Feedback Sequence input (CONT1 to ) Functions, input/output signals Sequence output (OUT1 to 4) Encoder signal dividing output Monitor output Position control Max. command pulse frequency Input pulse signal form Input pulse type Command pulse correction Position control input Speed control range Acceleration/deceleration time setting External speed command input Internal speed setting Speed control input External torque command input Torque control input Regenerative braking Additional functions Protection Working conditions Speed control Torque control Installation place Temperature/humidity Vibration/shock resistance Standards D-VVT C-VVT B-VVT Phase Voltage frequency Phase Voltage frequency Dividing setting Signal form [r/min]. kw Frame 1 1. Single-phase.1 kw 11. kw 1.4 kw [r/min] Frame 1. Single-phase, -phase Frame Frame. Frame 1. -phase Single-phase, -phase 1 Frame. -phase AC to [V] -1 [%] to +1 [%] (-1 [%] to +1 [%] at Single-phase) / [Hz] Single-phase AC to [V] -1 [%] to +1 [%] / [Hz] IGBT PWM sinusoidal PWM drive 17-bit incremental encoder (1) Servo ON, () +over-travel, () -over-travel, (4) emergency stop, () P-action, () free run command, (7) anti-resonant frequency selection 1, () anti-resonant frequency selection, (9) control mode switching, (1) external regenerative resistor overheat, (11) alarm reset These functions can be assigned to sequence inputs CONT1 to CONT and used. (*1) (1) Servo ready, () positioning complete, () servo alarm detection a-contact, (4) servo alarm detection b-contact, () dynamic braking control, () over-travel detection, (7) emergency stop detection, () deviation zero, (9) speed zero, (1) current limit detection, (11) brake timing These functions can be assigned to sequence outputs OUT1 to OUT4 and used. Pulse output setting 1 to 7 (pulses/rev) (1) ine driver output A-phase, B-phase, and Z-phase, () open collector output Z-phase Analog voltage output for signal measurement (alternating, pulsating) (1) Speed command, () speed return, () torque command, (4) positional deviation, () positional deviation expansion, () pulse command frequency These functions can be assigned to monitor outputs MON1 and MON and used, and the output voltage scale and offset can be set by setting parameters. Pulse frequency (max.) command input 1 [MHz] (differential), [khz] (open collector), dividing output [khz] (differential) Compatible with two systems: (1) RS-4 line driver signals and () open collector signals Selectable from (1) command pulse/command sign, () forward operation/reverse operation pulse, and () two 9 phase-different signals Position pulse = command pulse command pulse correction α (1 to 77) command pulse correction β (1 to 77) (1) Command pulse correction α selection 1, () command pulse correction α selection, () deviation clear, (4) command pulse disabled These functions can be assigned to sequence inputs CONT1 to CONT and used. (*1) 1: to 1 [s]/ [r/min], acceleration and deceleration times can be set separately, two acceleration times and deceleration times can be set, S-curve acceleration/deceleration is possible. Speed control by analog voltage commands, ±1 V input, the voltage-speed scale and offset can be set by setting parameters. Three speeds can be set by setting internal parameters. (1) Multi-speed selection 1, () multi-speed selection, () forward operation, (4) reverse operation, () acceleration/deceleration time selection These functions can be assigned to sequence inputs CONT1 to CONT and used. (*1) Speed control by analog voltage commands, ±1 V input, the voltage-torque scale and offset can be set by setting parameters. (1) Forward operation and () reverse operation can be assigned to sequence inputs CONT1 to CONT and used. (*1) Regenerative braking to DC intermediate circuit, the regenerative resistor can be externally installed. Zero clamp function, vibration suppressing control, notch filter, easy tuning, brake timing output, etc. Overcurrent (OC1, OC), overspeed (OS), overvoltage (Hv), encoder error (Et), control power error (Ct), memory error (de), regenerative transistor overheat (rh), encoder communication error (EC), CONT duplication (Cnt), overload (O), insufficient voltage (V), regenerative resistor overheat (rh1), excessive deviation (OF), amplifier overheat (AH) For indoor use at max. altitude of 1, m or below. The installation place shall be free from dust, corrosive gas, or direct sunlight. To meet European standards: Pollution degree =, overvoltage category = -1 [ C] to [ C]/1 to 9 [%RH] (without condensation) 4.9 [m/s ]/19. [m/s ] Conforming to U/cU (Uc) and CE Mark (low voltage directive EN17) 1 kw 1. kw kw 1 [r/min]. kw 1 Four types of command pulse correction α can be set, and constant switching operation is available. *1: Functions you want to keep ON at all times can be used without wiring (up to four functions can be set by setting parameters as normally ON signals). 14 Interface specifications I/O signal specifications Terminal name Specification Pulse train input CA, *CA CB, *CB Pulse train form PPI Frequency dividing output FFA, *FFA FFB, *FFB FFZ, *FFZ FZ, M Analog input Power input for sequence signals Vref P4 M4 Sequence input signal CONT1 to CONT Sequence output signal Monitor output 1, monitor output Item Interface Synchronization system Transmission system Baud rate Max. number of axes OUT1 to OUT4 MON1, MON Communication specifications Specification Two RS-4 ports Start-stop synchronization Four-wire type duplex 9, 19, 4 [bps] 1 axes Selectable from (1) command pulse/command code, () forward operation pulse/reverse operation pulse, and () two 9 phase-different signals. Drive power supply input during open collector input (+4 V DC) Differential output, two 9 phase-different signal output Set output pulses: 1 to 7 [pulse/rev] Differential output 1 [pulse/rev] Open collector output 1 [pulse/rev] Speed control and torque control analog command input ±1 V (input impedance: kω) +4 V DC for sequence signals is input from outside. ma power is required as an external power supply. Each terminal is ON when connected to M4, and OFF when disconnected. +4 V DC/1 ma (per point). The terminals can be assigned to each function by setting parameters. ON while connected to the M4 terminal. V DC/ ma (max.). The terminals can be assigned to each function by setting parameters. Analog voltage output for signal measurement (alternating, pulsating) Selectable from (1) speed command, () speed return, () torque command, (4) positional deviation, () positional deviation expansion, and () pulse command frequency.

15 Connection Diagram (Reference) External regenerative resistor (outside) Single-phase, to V commercial power supply -phase, to V commercial power supply * 1 (.4 kw or less, N.C.) s1 s 1 P (.4 kw or less, N.C.) s1 s P 7 M * TXD RXD 4 * RXD TXD M 1 P CNA DB CN U V W P M 1 +SIG 17 -SIG 1 *1 *1 U V W E 7 P M 4 +SIG -SIG FG M PG Servomotor GYS (without a brake) CNB CN4 PC loader (N.C.) 7 M * TXD RXD 4 * RXD TXD M 1 (N.C.) MON1 1 MON M M 4 *1 Oscilloscope Analog speed command input Power supply input at pulse train open collector input Pulse train input (differential) * *1 Vref 1 M CN1 19 PPI 7 CA *CB CB 1 * CB FFA 9 *FFA 1 FFB 11 * FFB 1 FFZ * FFZ 4 M 1 FZ M OUT1 1 OUT 1 OUT 17 OUT4 1 A-phase pulse output (differential) B-phase pulse output (differential) Z-phase pulse output (differential) Z-phase pulse output (open collector) P4 P4 1 P4 4 V DC CONT1 CONT 4 CONT CONT4 CONT 14 M4 Servo amplifier *1: Connect the shielded lines of CN1 and CN to the connector shell. Ground the connector shell. *: Ground both ends of each shielded line. (Connector amplifier side end to the connector shell, and the pulse generator side end to FG (earth).) *: Connect the control power supplies (s1, s) as necessary. Settings made at manufacturer s plant CONT 1 Servo ON Alarm reset 4 OUT 1 Servo ready Positioning complete Servo alarm detection b-contact 4 CAUTION The diagram shown above is given as a reference for model selection. When actually using the selected servo system, make wiring connections according to the connection diagram and instructions described in the user s manual. 1

16 CHARGE s1 s 1 P N DB U V W N.P. External Dimensions [ Servo Amplifier] Frame 1 Frame Applicable motor output Applicable motor output [r/min] 1±. () Installation hole size 4 M4 (). kw.1 kw. kw.4 kw RYCD-VVT RYC11D-VVT RYC1D-VVT RYC41D-VVT [r/min] [r/min] 1 [r/min] 1±. () Installation hole size 4 M4 1 kw. kw RYC71D-VVT RYC1C-VVT RYC71C-VVT RYC1C-VVT RYC1B-VVT RYC1B-VVT 44±. () [r/min] 1 [r/min] Applicable motor output 1. kw kw RYC1C-VVT RYCC-VVT RYC1B-VVT 19±. () Installation hole size 4 M4 ±. () : 1. : 1. Frame :.

17 Model ist Servomotor Specification r/min r/min 1 r/min Encoder 17-bit INC 17-bit INC 17-bit INC Winding insulation class (*1) IP7 IP7 IP7 Oil seal/shaft Without an oil seal, with a key (*) With an oil seal and a key (*) With an oil seal and a key (*) Brake Without a brake With a brake Without a brake With a brake Without a brake With a brake Rated output. kw.1 kw. kw.4 kw. kw.1 kw. kw.4 kw 1 kw 1. kw kw 1 kw 1. kw kw. kw. kw *1: Excluding the shaft sealing and connectors of the GYS motor, and the shaft sealing of the GYG motor. *: Servomotors (1) without an oil seal and a key, () with an oil seal and without a key, and () with an oil seal and a key are made-to-order. *: Servomotors (1) without an oil seal and a key, () with an oil seal and without a key, and () without an oil seal and with a key are made-to-order. GYSDCA GYS11DCA GYS1DCA GYS41DCA GYS71DCA GYSDCA-B GYS11DCA-B GYS1DCA-B GYS41DCA-B GYS71DCA-B GYG1CCE GYG71CCE GYG1CCE GYG1CCE GYGCCE GYG1CCE-B GYG71CCE-B GYG1CCE-B GYG1CCE-B GYGCCE-B GYG1BCE GYG1BCE GYG1BCE GYG1BCE-B GYG1BCE-B GYG1BCE-B Servo amplifier Specification Input power supply Applicable motor Applicable motor output Single-phase to V Single-phase or -phase to V -phase to V Single-phase or -phase to V -phase to V ow inertia series (GYS motor) r/min Middle inertia series (GYG motor) r/min Middle inertia series (GYG motor) 1 r/min For. kw For.1 kw For. kw For.4 kw For For For For 1 kw For 1. kw For kw For For. kw For RYCD-VVT RYC11D-VVT RYC1D-VVT RYC41D-VVT RYC71D-VVT RYC1C-VVT RYC71C-VVT RYC1C-VVT RYC1C-VVT RYCC-VVT RYC1B-VVT RYC1B-VVT RYC1B-VVT 17

18 Model ist Options Cables with connectors Name Specification Applicable model (*1) (A) (B) (C) (D) (E) (F) Cable for sequence input/output (for connection between host controller and amplifier) Power cable for power supply wiring Cable for encoder (for connection between amplifier and motor) Power cable for motor (for connection between amplifier and motor) m m m 1 m m m 1 m m m 1 m m m 1 m m m 1 m m Single-connector Single-connector Double-connector Double-connector Double-connector Double-connector Single-connector (*) (*) *1: For applicable models, see Table 1: Applicable models below. *: Use the cable together with the connector for motor power supply wiring WSK-M4P-CA. *: Use the cable together with the connector for motor power supply wiring WSK-MP-CA. (The customer is requested to make a cable for brakes.) WSC-DP WSC-SP-B WSC-PP-D WSC-PP1-D WSC-PP-D WSC-PP-CD WSC-PP1-CD WSC-PP-CD WSC-M4P-B WSC-M4P1-B WSC-M4P-B WSC-MP-B WSC-MP1-B WSC-MP-B WSC-M4P-WD WSC-M4P1-WD WSC-M4P-WD Connectors *When the customer makes a cable, use any of the connectors shown in this table. Name Connector for sequence input/output wiring Connector for power supply wiring Connector for encoder wiring Amplifier side Motor side Connector for motor power supply wiring Amplifier side Motor side *1: For applicable models, see Table 1: Applicable models below. Specification Half pitch connector, soldered type, -pin 1 set Dynamic connector, X key, -pin 1 set Half pitch connector, soldered type, -pin 1 set MATE-N-OCK connector, 9-pin 1 set Cannon plug (angle), -pin 1 set Dynamic connector, Y key, -pin 1 set MATE-N-OCK connector, 4-pin 1 set MATE-N-OCK connector, -pin 1 set Cannon plug (angle), 4-pin 1 set Cannon plug (angle), -pin 1 set Applicable model (*1) (A) (B) (C) (D) (E) (F) WSK-DP WSK-SP-B WSK-DP WSK-P9P-D WSK-PP-C WSK-MP-B WSK-M4P WSK-MP WSK-M4P-CA WSK-MP-CA Common options Name Specification Connector for control power supply wiring For personal computer loader connection External regenerative resistor Conversion adapter Cable Connector for external regenerative resistor *1: For applicable models, see Table 1: Applicable models below. Dynamic connector, X key, -pin 1 set RS-C RS-4 conversion Both-end RJ4 connector, straight connection, m.4 kw or less to 1 kw to kw Both a converter and a cable are required. Connector for external regenerative resistor: Use it with WSK-RP-B. Common to applicable models A to D (*1), dynamic connector, -pin, X key (with insertion error preventive key) 1 set WSK-P-D NWH-CNV WSC-PC WSR-41 WSR-1 DB11- WSK-RP-B [Table 1: Applicable models] Motor specification Motor type Brake Rated output r/min r/min Without a brake With a brake Without a brake. kw.1 kw. kw.4 kw. kw.1 kw. kw.4 kw 1 kw 1. kw kw GYSDCA GYS11DCA GYS1DCA GYS41DCA GYS71DCA GYSDCA-B GYS11DCA-B GYS1DCA-B GYS41DCA-B GYS71DCA-B GYG1CCE GYG71CCE GYG1CCE GYG1CCE GYGCCE Applicable amplifier type RYCD-VVT RYC11D-VVT RYC1D-VVT RYC41D-VVT RYC71D-VVT RYCD-VVT RYC11D-VVT RYC1D-VVT RYC41D-VVT RYC71D-VVT RYC1C-VVT RYC71C-VVT RYC1C-VVT RYC1C-VVT RYCC-VVT Applicable model group (A) (B) (C) (E) Motor specification Motor type Brake Rated output r/min 1 r/min With a brake Without a brake With a brake 1 kw 1. kw kw. kw. kw GYG1CCE-B GYG71CCE-B GYG1CCE-B GYG1CCE-B GYGCCE-B GYG1BCE GYG1BCE GYG1BCE GYG1BCE-B GYG1BCE-B GYG1BCE-B Applicable amplifier type RYC1C-VVT RYC71C-VVT RYC1C-VVT RYC1C-VVT RYCC-VVT RYC1B-VVT RYC1B-VVT RYC1B-VVT RYC1B-VVT RYC1B-VVT RYC1B-VVT Applicable model group (D) (F) (C) (E) (D) (F) 1

19 Service Network Fuji Service Centers <Overseas Support> Technical Center A/O Service Center [Service Area: Asia & Oceania] 11-, Osaki 1-Chome, Shinagawa-ku Tokyo, 141-, JAPAN Phone: ()4-9 U.S.A. Service Center [Service Area: North, Central & South America] Cerritos Ave. Suite H Cypress, CA. 9 U.S.A. Phone: (714)-179 CHICAGO Service Station 4 N. Scott St. Suite 1, Schiller Park, I 17 U.S.A. Phone: (47)-944 EC Service Center [Service Area: EC. Middle East & Africa] Senefelder Strasse 1, 11 Rodgau, F.R.GERMANY Phone: (1)-79 South East Asia Service Center [Service Area: South East Asia] Block Ang Mo kio Ave #- Techplace II SINGAPORE 97 Phone: (41)79 Contracted Service Companies North. Central & South America Area U.S.A. OESS CORPORATION(Head Office:NEW JERSEY) q NEW JERSEY Huyler Street Teterboro, NJ 7, U.S.A. Phone: (1)-44 w CHICAGO 4 N Scott Suite 1 Schiller park, I 17, U.S.A. Phone: (47)-941 e OS ANGEES Cerritos Ave. Suite H, Cypress, CA 9 U.S.A. Phone: (714)-179 r SAN JOSE 144, Koll Circle, Suite 17, San Jose, CA 911 U.S.A. Phone: (4)47-1 t PORTAND 791 SW Cirrus Drive, Beaverton, OR 97, U.S.A. Phone: ()-44 Asia & Oceania Area y KOREA DONGHAI CORPORATION Donghai Building 1- Namhyum-Dong Kwanak-Ku Seoul, R.O.KOREA Phone: ()- y KOREA GAIUS INDUSTRIES CO., TD. Cana Bldg., 1-9, Yangjae-Dong, Seocho-Gu, Seoul, 17-7, R.O. KOREA Phone: ()4-7 u TAIWAN TAIWAN OPTICA MEASURING INSTRUMENT CO., TD. F-, No.19. Sec., Chung Hsing Rd Hsin Tien City, Taipei Hsien, TAIWAN R.O.C. Phone: ()9114 i HONG KONG FUJI EECTRIC(ASIA) CO., TD. Room 11, 1/F., Tsimshatsui Center Mody Road, Tsimshatsui East Kowloon, HONG KONG Phone: 11- o CHINA FUJI-EECTRIC TECHNOOGY AND SERVICE (SHENZEN) CO., TD. Room 9 iming Building No.144, Zhongxing Rd. uohu Ku. Shenzhen City, CHINA Phone: (7)-74! AUSTRAIA CNC and ROBOTIC AUTOMATED SERVICES Unit /1 Macquarie Place Boronia Victoria 1, AUSTRAIA Phone: ()94-9!1 INDIA AUTONUM CONTROS PVT TD. 19, Sagar Building, Prabhat Industrial Estate, W.E. Highway, Befor Check Naka, Dahisar-East, Mumbai 4 INDIA Phone: ()97 EC. Middle East & Africa Area! F.R.GERMANY OESS GmbH. Senefelder Strasse 1, 11 Rodgau, F.R.GERMANY Phone: (1)-79 South East Asia Area! SINGAPORE Fuji Technical Center (S pore) Pte td. Block Ang Mo kio Ave #- Techplace II SINGAPORE 97 Phone: (41)79 19

20 SAFETY PRECAUTIONS 1 This catalog is intended for use in selecting required servo systems. Before actually using these products, carefully read their instruction manuals and understand their correct usage.. Products described in this catalog are neither designed nor manufactured for combined use with a system or equipment that will affect human lives. If you are considering using these products for special purposes, such as atomic energy control, aerospace, medical application, or traffic control, please consult our sales office.. If you use our product with equipment that is expected to cause serious injury or damage to your property in case of failure, be sure to take appropriate safety measures for the equipment. Inverter Value Engineering Center/Suzuka Factory has acquired the certification of environment management ISO141 and quality management system ISO91. JQA-4 Gate City Ohsaki, East Tower, 11-, Osaki 1-chome Shinagawa-ku, Tokyo 141-, Japan Phone: Fax: Information in this catalog is subject to change without notice. Printed on 1% recycled paper Printed in Japan 4- (C4a/C4a) CM