TECHNICAL REFERENCE. (Limited Model for Pulse Input Use) Issued on October 7, 2005 (Revised on )

Transcription

1 No. SR-DSV09521 MESSRS. TECHNICAL REFERENCE MODEL Product name: Product number: AC Servo Driver MINAS A4 (Limited Model for Pulse Input Use) Issued on October 7, 2005 (Revised on ) Received by: Date: Motor Company., Matsushita Electric Industrial Co., Ltd , Morofuku, Daito, Osaka, Japan Dept. manager Checked Checked Designed

2 REVISIONS No. SR-DSV09521 Date Page Sym REVISION Signed

3 No. SR-DSV09521 Contents 1. Model Designation Code Outer dimensions Appearance and Part Names Configuration of Connectors and Terminal Block 4-1 Power Connectors X1, X2, and Terminal Block Encoder Connector X Interface Connector X RS232C Communication Connector X RS485 Communication Connector X External Code Connector X Wiring 5-1 Cable Specifications and Maximum Cable Length I/O Connector, Encoder Connector and External Scale Connector Precautions for Wiring Parameters Operation Timing 7-1 Operation Timing after Power-ON Servo-ON/OFF Operation Timing during Motor Stop (Servo Lock) Servo-ON/OFF Operation Timing during Motor Run Operation timing chart at the time of errors (alarm) (with the Servo-ON command activated) Operation timing chart at the time of the clearance of an alarm (with the Servo-ON command activated) Functions 8-1 Protective Functions Trial Run Automatic Offset Adjustment Warning function Software limit function Operations 9-1 Front Panel Key Operations and Display Absolute Encoder and External Scale 10-1 Absolute Encoder External Scale Mounting the Absolute Data Battery Absolute Encoder Clear Absolute Data Transmission... 81

4 No. SR-DSV Tuning 11-1 Real time Auto Gain Tuning Normal Mode Auto Gain Tuning Fit Gain Function Disabling of Auto Tuning Function Gain Auto Setting Function Manual Gain Tuning Control Block Diagrams Conformity with EC Directive / UL Standard 13-1 EC Directive Configuration of Peripheral Equipment List of Servo Drivers and Compatible Peripheral Equipment Conformity with the UL Standard SEMI Compliance with F47 momentary power failure standard

5 No. SR-DSV09521 (117-1) 1. Model Designation Code Notation of the machine designation code is as follows: M A D D T Type A: A4 Series Type A B: A4 Series Type B C: A4 Series Type C D: A4 Series Type D E: A4 Series Type E F: A4 Series Type F AC servo driver D: A4 Series Maximum instantaneous output current T1: 10A T2: 15A T3: 30A T5: 50A T7: 75A TA: 100A TB: 150A Custom specification Pulse Input Use Maximum continuous output current 05: 5A 07: 7.5A 10: 10A 20: 20A 30: 30A 40: 40A 64: 64A 90: 90A A2: 120A Power supply voltage 1: Single-phase 100 V 2: Single-phase 200 V 3: 3-phase 200 V 5: Single-phase/3-phase 200 V 2. Outer dimensions Refer to "Delivery Specifications" (SR-DSV09520). Attention For the purpose of this specification, the direction of motor revolution is defined as CW for clockwise motion and CCW for anti-clockwise motion in relation to the end of the load-side axis.

6 No. SR-DSV Appearance and Part Names A4 Series Type A, B ID: Rotary Switch Name Label IM: Torque Monitor SP: Velocity Monitor G: signal ground X1: Power Input Connection X3: RS485 Interface Connection X4: RS232 Interface Connection X2: Motor Connection Earth Terminal X5: Parallel I/O Connection (MOLEX) X6: Rotary Encoder Connection (MOLEX) X7: External scale connector You cannot use. (MOLEX) Front panel Main power supply input terminal X1 Power supply input Control power supply input terminal Regenerative discharge resistor connection terminal (RB3 is unused.) X2 Motor output Motor connection terminal

7 No. SR-DSV A4 Series Type C, D ID: Rotary Switch Name Label IM: Torque Monitor SP: Velocity Monitor G: signal ground X1: Power Input Connection X3: RS485 Interface Connection X2: Motor Connection Earth Terminal X4: RS232 Interface Connection X5: Parallel I/O Connection (MOLEX) X6: Rotary Encoder Connection (MOLEX) (MOLEX) X7: External scale connector You cannot use. (MOLEX) Front panel Main power supply input terminal Control power supply input terminal X1 Power supply input Regenerative discharge resistor connection terminal (RB3 is unused.) Motor connection terminal X2 Motor output

8 No. SR-DSV A4 Series Type E, F ID: Rotary Switch IM: Torque Monitor SP: Velocity Monitor G: signal ground Main power supply input terminal Name Label X5: Parallel I/O Connection [MOLEX] X6: Rotary Encoder Connection [MOLEX] X7: External scale connection You cannot use. [MOLEX] X3: RS485 Interface Connection X4: RS232 Interface Connection Front panel Control power supply input terminal Regenerative discharge resistor connection terminal (Normally, B1 and B2 are short-circuited.) Motor connection terminal Earth Terminal

9 No. SR-DSV Configuration of Connectors and Terminal Block 4-1 Power Connectors X1, X2, and Terminal Block Type A & B of 100V and 200V X1 X2 Connectors Terminal Block Name 4 L1 Main power 100 V Single-phase 100 to 115 V supply input 3 L3 terminal 200 V Single-phase 200 to 240 V 2 L1C Control power 100 V Single-phase 100 to 115 V supply input 1 L2C terminal 200 V Single-phase 200 to 240 V 6 RB1 5 RB3 4 RB2 3 U 2 V 1 W Regenerative discharge resistor connection terminal Motor connection terminal Ground terminal Description +10%, 50/60 Hz input -15% +10%, 50/60 Hz input -15% +10%, 50/60 Hz input -15% +10%, 50/60 Hz input -15% Normally,RB3 and RB2 need not to be short-circuited, since Type A & B are only intended to connect an external regenerative discharge resistor. If the circuit trips due to the regenerative discharge resistor overload protection error (No.18), connect an external regenerative discharge resistor between RB1 and RB2. When an external regenerative discharge resister is used, parameter No.6C (External regenerative resistor set up) (the parameter number shall be hereinafter referred to as Pr.) to other than 0. Connect each phase of the motor winding. U: U phase V: V phase W: W phase Connected to the motor's earth terminal for grounding. Type C of 100V and 200V,& Type D of 200V X1 X2 Connectors Terminal Block Name Description 5 L1 100 V Single-phase 100 to 115 V Main power 4 L2 supply input terminal 200 V Single-phase/3-phase 240 to 300 V 3 L3 2 L1C Control power 100 V Single-phase 100 to 115 V supply input 1 L2C terminal 200 V Single-phase 200 to 240 V 6 RB1 5 RB3 4 RB2 Regenerative discharge resistor connection terminal +10%, 50/60 Hz input -15% +10% -15% Single-phase input should be connected to the L1 and L3 terminals., 50/60 Hz input +10%, 50/60 Hz input -15% +10% -15%, 50/60 Hz input Normally, short-circuit RB3 and RB2. If the circuit trips due to the regenerative discharge resistor overload protection error (No. 18), open RB3 and RB2, and connect an external regenerative discharge resistor (prepared by the user) between RB1 and RB2. When an external regenerative discharge resister is used, parameter No.6C (External regenerative resistor set up) ( the parameter number shall be hereinafter referred to as Pr.) to other than 0. 3 U 2 V 1 W Motor connection terminal Ground terminal Connect each phase of the motor winding. U: U phase V: V phase W: W phase Connected to the motor's earth terminal for grounding.

10 No. SR-DSV Type E & F of 200V Terminal Block Terminal Connectors Block 1 L1 2 L2 3 L3 4 r 5 t 6 P 7 B1 8 B2 9 U 10 V 11 W Name Main power supply input terminal Control power supply input terminal Regenerative discharge resistor connection terminal Motor connection terminal Ground terminal Single-phase 200 to 230 V Description +10% -15% +10% -15%, 50/60 Hz input, 50/60 Hz input Normally, short-circuit B2 and B1. If the circuit trips due to the regenerative discharge resistor overload protection error (No. 18), open B2 and B1, and connect an external regenerative discharge resistor (prepared by the user) between P and B2. When an external regenerative discharge resister is used, parameter No.6C (External regenerative resistor set up) ( the parameter number shall be hereinafter referred to as Pr.) to other than 0. Connect each phase of the motor winding. U: U phase V: V phase W: W phase Connected to the motor's earth terminal for grounding. 4-2 Encoder Connector X6 (Molex ) Connector Application Function pin No. 1 E5V Encoder power supply output 2 E0V (NOTE 1) Not yet determined 3 Do not connect Not yet determined 4 Do not connect Encoder signal I/O 5 PS (Serial signal) 6 PS Frame ground Shell FG NOTE 1) The EV0 of the encoder power supply output is connected with the control circuit ground linked to the connector X5.

11 No. SR-DSV Interface Connector X5 (Molex ) Common input signals and their functions Application Control signal power supply Servo-ON input SRV-ON 29 CW overtravel inhibit input Code Connector pin No. Function - Connected to the [+] terminal of an external DC power supply (12 COM+ 7 to 24 V) - Use a 12 V (±5%) to 24 V (±5%) power supply. - Connected to the [-] terminal of an external DC power supply COM 41 (12 to 24 V). - The power supply capacity varies depending on the configuration of the I/O circuits. 0.5 A or higher capacity is recommended. - Connecting this signal to COM- provides the Servo-ON status (motor is energized). - After transition to the Servo-ON status, wait for at least 100 ms until pulse command input. - If the connection to COM- is opened, the system goes to the Servo-OFF status. (Power to the motor is interrupted.) - The dynamic brake action and the clearance operation of the deviation counter in the Servo-OFF status can be selected by Pr. 69 (sequence at Servo-OFF). <CAUTION> 1. The Servo-ON input becomes valid approx. 2 seconds after power-on. (See the timing chart.) 2. Do not start or stop the motor by using the Servo-ON/OFF signal. 3. Do not input the pulse command for at least 100ms after Servo-ON. - CW overtravel inhibit input (CWL). - Connect so as to open COM-connection when movable part of the equipment exceeds the movable range in CW direction. - When this input is open, torque in CW direction is not generated. CWL 8 - When Pr.04 (overtravel input inhibit) is set to 1, CWL input is disabled. Setting value before shipment: Disabled (1) - Pr.66 (error response at overtravel limit) can be used to select the operation when CWL input is enabled. The default value at the time of delivery is set to the quick stop by means of the dynamic brake (Pr.66 is 0). I/O signal interface - - i-1 i-1

12 No. SR-DSV Application CCW overtravel inhibit input Deviation counter clear or Internal command speed selection 2 input Code Connector pin No. CCWL 9 CL INTSPD2 30 Function - CCW overtravel inhibit input (CCWL). - Connect so as to open COM-connection when movable part of the equipment exceeds the movable range in CCW direction. - When this input is open, torque in CCW direction is not generated. - When Pr.04 (overtravel input inhibit) is set to 1, CCWL is disabled. Setting value before shipment: Disabled (1) - Pr.66 (error response at overtravel limit) can be used to select the operation when CCWL input is enabled. The standard value before shipment is set to the quick stop by means of the dynamic brake (Pr.66 is 0). - Function varies depending on the control mode. Position control Speed control Torque control - Deviation counter and full-closed deviation counter are cleared (CL). - By connecting with "COM-", the deviation counter and full-closed deviation counter are cleared - Clear mode can be selected via Pr.4E (counter clear input). Pr.4E Function While CL is connected to COM-, the deviation 0 counter and full-closed deviation counter are cleared. When the connection of CL is changed from 1[standard value Open to COM-, the before shipment] deviation counter and full-closed deviation counter are cleared only once. 2 CL is disabled. - Internal command speed selection 2 input (INTSPD2). - Internal 8-step speed can be set in combination with INH/INTSPD1 input and DIV/INTSPD3 input. Refer to Internal speed selection for setting procedure. - Disabled I/O signal interface i-1 i-1 Command pulse input inhibit input or INH 33 - Function varies depending on the control mode. - Command pulse input inhibit (INH). - By disconnecting from "COM-", position command pulse is ignored. - By setting to "Pr.43" (command pulse inhibit Position control input invalidation), it is disabled. Pr.43 Function 0 INH is enabled 1 [standard value before INH is disabled shipment] i-1 Internal command speed selection 1 input INTSPD1 Speed control Torque control - Internal command speed selection 1 input (INTSPD1). - Internal 8-step speed can be set in combination with CL/INTSPD2 input and DIV/INTSPD3 input. Refer to Internal speed selection for setting procedure. - Disabled

13 No. SR-DSV Application Speed zero clamp input or Vibration suppression switching control input Code ZEROSPD VS-SEL Connector pin No. 26 Function - Function varies depending on the control mode. - The zero speed clamp input (ZEROSPD) is on. Pr.06 Connection with COM- Function 0 X ZEROSPD input does not operate. Open Speed command is 0. 1 Connected Normal operation Speed control Speed command Open direction is CCW. 2 Speed command Connected direction is CW. Position control - In the case of torque control, ZEROSPD does not operate when Pr.06 is 2. - The vibration suppression control switching input (VS-SEL) is on. - In case Pr.24 (vibration suppression filter switching selection) is 1, the 1st vibration suppression filters (Pr.2B, Pr.2C) become enabled when this input is open, and the second vibration suppression filters (Pr.2D, Pr.2E) become enabled when this input is connected to COM-. I/O signal interface i-1 Gain switching input or Torque limit switching input GAIN TL-SEL 27 Alarm clear input A-CLR 31 Command scaling switching input or Input of internal command speed selection 3 DIV INTSPD Pr.03 (torque limit selection) and Pr.30 (2nd gain action set up) are used to change the function. Connection Pr. 03 Pr. 30 Function to COM- Speed loop: PI (proportional/integral) Opened 0 action Connected Speed loop: P (proportional) action When Pr. 31, Pr. 36 is set to "2": 1st gain selection 0-2 Opened (Pr. 10, 11, 12, 13, 14) 1 2nd gain selection Connected (Pr. 18, 19, 1A, 1B, 1C) When Pr. 31, Pr. 36 is not set to "2": Disabled - Torque limit switching input is on. - Pr.5E (1st torque limit) becomes enabled when this 3 input is open, and Pr.5F (2nd torque limit) becomes enabled when the input is connected to COM-. - For details of the 2nd gain switching function, refer to Section Connecting this signal to COM - at 120 ms or longer intervals cancels the alarm condition. - The deviation counter is cleared when the alarm is cleared. - Some alarms cannot be cancelled with this input. For details, refer to Section 8. Function varies depending on the control mode. - The input of internal command speed selection 3 (INTSPD3) is on. - The internal speed can be set at 8 different speeds in Speed control combination with INH/INTSPD1 input and CL/INTSPD2 input. For details, refer to the internal speed selection. Torque control - Disabled - Numerator of the command pulse ratio can be switched. - By connecting with "COM-", the command division gradual increase numerator is switched from Pr.48 (1st Position control numerator of command pulse ratio) to Pr.49 (2nd numerator of command pulse ratio). As for selecting the command division - Gradual increase 2, refer to Selecting numerator of command pulse ratio. i-1 i-1 i-1 <Caution> Do not input any command pulse for 10 ms before/after switching.

14 No. SR-DSV Selecting numerator of command pulse ratio - Position control X5 Pin 28: DIV Opened Command pulse ratio setup Multiplier of numerator of command pulse ratio (Pr. 4A) Numerator of 1st command pulse ratio (Pr. 48) 2 or Denominator of command pulse ratio (Pr. 4B) Encoder resolution* Number of commandpulses per revolution (Pr.4B) *Automatically set by setting Pr.48 to 0. Multiplier of numerator of commandpulse ratio (Pr. 4A) Short- Numerator of 2nd command pulse ratio (Pr. 49) 2 or Encoder resolution * circuited Denominator of command pulse ratio (Pr. 4B) Number of commandpulses per revolution (Pr.4B) *Automatically set by setting Pr.49 to 0. Internal speed selection Pin 33 INTSPD1 (INH) X5 connector pin No. Pin 30 INTSPD2 (CL) Pin 28 INTSPD3 (DIV) Opened Opened Opened Short-circuited Opened Opened Opened Short-circuited Opened Short-circuited Short-circuited Opened Opened Short-circuited Short-circuited Opened Short-circuited Opened Short-circuited Short-circuited Short-circuited Short-circuited Short-circuited Pr. 05 (Internal/speed switching) Do not set Pr.05 to 0. 1st internal speed (Pr. 53) 2nd internal speed (Pr. 54) 3rd internal speed (Pr. 55) 4th internal speed (Pr. 56) 1st internal speed (Pr.53) 2nd internal speed (Pr.54) 3rd internal speed (Pr.55) 4th internal speed (Pr.56) Do not set Pr.05 to 2. 1st internal speed (Pr. 53) 2nd internal speed (Pr.54) 3rd internal speed (Pr.55) 4th internal speed (Pr.56) 5th internal speed (Pr.74) 6th internal speed (Pr.75) 7th internal speed (Pr.76) 8th internal speed (Pr.77)

15 No. SR-DSV Input signals (pulse train commands) and their functions The most suitable interface can be chosen from 2 different interfaces in the specification of a command pulse. A. Pulse train interface dedicated to line driver Connector Application Code pin No. Command pulse input 1 Command sign input 1 PULSH1 44 PULSH2 45 SIGNH1 46 SIGNH2 47 Function - Means an input terminal for the position command pulse. It can be selected by setting Pr.40 (command pulse input selection) to 1. - Becomes disabled in the control modes, for which no position command is required, such as the speed control. - The maximum allowable input frequency is 2 Mpps. - Pr.41 (command pulse direction of rotation set up) and Pr.42 (command pulse input mode) can be used to select 6 different input modes for a command pulse. For details, refer to the command pulse input mode stated below. 1) 2-phase (A-phase/B-phase) input 2) CW (PULS)/CCW (SIGN) pulse input 3) Command pulse (PULS)/Sign (SIGN) input I/O signal interface Di-2 B. Pulse train interface Application Command pulse input 2 Command sign input 2 Code Connector I/O signal Function pin No. interface - Means an input terminal for the position command pulse. It can be OPC1 1 selected by setting Pr.40 (command pulse input selection) to 1. - Becomes disabled in the control modes, for which no position PULS1 3 command is required, such as the speed control. - The maximum allowable input frequency is 500kpps at the time of the line driver input, and 200kpps at the time of the open collector PULS2 4 input. - Pr.41 (command pulse direction of rotation set up) and Pr.42 Di-1 (command pulse input mode) can be used to select 6 different OPC2 2 input modes for a command pulse. For details, refer to the command pulse input mode stated below. SIGN1 5 1) 2-phase (A-phase/B-phase) input 2) CW (PULS)/CCW (SIGN) pulse input 3) Command pulse (PULS)/Sign (SIGN) input SIGN2 6

16 No. SR-DSV Command pulse input mode Pr.41 (command pulse direction setup) set value Pr.42 (Comman d pulse input mode ) set value Command pulse mode Signal name CCW command CW command t1 t1 t1 t1 0 or 2 2-phase pulse with 90 phase difference (Phase A + Phase B) PULS SIGN Phase A Phase B t1 t1 Phase B precedes Phase A by 90. t1 t1 Phase B delays from Phase A by CW pulse train + CCW pulse train PULS SIGN t2 t2 t3 t2 t2 3 Pulse train + Sign PULS SIGN t6 t4 t5 H t6 t6 t4 t5 L t6 t1 t1 t1 t1 0 or 2 2-phase pulse with 90 phase difference (Phase A + Phase B) PULS SIGN Phase A Phase B t1 t1 Phase B delays from Phase A by 90. t1 t1 Phase B precedes Phase A by CW pulse train + CCW pulse train PULS SIGN t2 t2 t3 t2 t2 3 Pulse train + Sign PULS SIGN t6 t4 t5 L t6 t6 t4 t5 H t6 Pulse train is taken in by the rising edge when Pr.42 is 1 or 3. Pulse train is taken in by the every edge when Pr.42 is 0 or 2. * As for the polarity of PULS and SIGN, also refer to the Pulse Train Command in item 5-3, Precautions for Wiring. A. Pulse train interface B. Pulse train interface dedicated to line driver Line driver interface Open-collector interface t ns or more 2 µs or more 5 µs or more t ns or more 1 µs or more 2.5 µs or more t ns or more 1 µs or more 2.5 µs or more t ns or more 1 µs or more 2.5 µs or more t ns or more 1 µs or more 2.5 µs or more t ns or more 1 µs or more 2.5 µs or more

17 No. SR-DSV Common output signals and their functions Application Servo alarm output Servo ready output Brake release signal Zero speed detected signal Torque limited signal output Code ALM+ ALM- S-RDY+ S-RDY- BRK-OFF + BRK-OFF- ZSP (COM-) TLC (COM-) Connector pin No (41) 40 (41) Function I/O signal interface The output transistor turns OFF at occurrence of an alarm. o-1 This output turns ON when the control/main power supply is activated and no alarm occurs. - Defines the timing to activate the electromagnetic brake for the motor. - When the electromagnetic brake is released, the output transistor turns ON. - Output timing of this signal can be set by Pr.6A (mechanical break delay at motor standstill) and pr.6b (Mechanical break delay at motor in motion). For details, see the timing chart. - Select the output signal by setting Pr. 0A (ZSP output selection). - The standard default setting is "1". (The zero speed detection signal is output.) - See TLC, ZSP output selection. - Select the output signal by setting Pr. 09 (TLC output selection). - The standard default setting is "0". (The torque limit control signal is output.) - See TLC, ZSP output selection. Function varies depending on the control mode. o-1 o-1 o-2 o-2 In-position or At-speed output COIN+ COIN- AT-SPEED+ AT-SPEED Position control Internal speed control - Positioning completion output (COIN). - When the absolute value of the position deviation pulse is less than a set value of Pr.60 (in-position range), output transistor turns ON. - Pr.63 (in-position output set up) can be used to select an input method. - Achieved speed output (AT-SPEED). - When actual speed of motor exceeds a set value of Pr.62 (at-speed), output transistor turns ON. o-1

18 No. SR-DSV TLC, ZSP output selection Value of Pr.09,Pr.0A X5 TLC: output of 40-pin X5 ZSP: output of 12-pin 0 Torque limited output (Standard value before shipment: X5 TLC Pr.09) The output transistor is turned on when the torque limit restricts a torque command at servo-on. 1 Zero speed detection output (Standard value before shipment: X5 ZSP Pr. 0A) The output transistor is turned on when a motor speed is lowered to a value less than that set by Pr.61. Alarm signal output 2 When any over regeneration alarm, overload alarm, battery alarm, fan lock alarm or external scale alarm is raised, the output transistor is turned on. Over regeneration alarm 3 The output transistor is turned on when an over regeneration load reaches 85% or more of the protective alarm level. 4 Overload alarm The output transistor is turned on when an overload reaches 85% or more of the alarm level. Battery alarm 5 The output transistor is turned on when the voltage of an absolute encoder battery reaches about 3.2V or less. 6 Fan lock alarm The output transistor is turned on when the fan stops for 1 second or more. 7 Do not set Pr.09 and Pr.0A to 7. 8 Speed conformance output (V-COIN) The output transistor is turned on when the difference between a speed command before acceleration or slowdown and the speed of a motor falls within the set value of Pr.61. It is enabled at the time of the speed control only. Output signal (pulse train) and function Application A-phase output B-phase output Code Connector pin No. OA+ 21 OA- 22 OB+ 48 OB- 49 Function - Division-processed encoder signal or external scale signal (A/B/Z-phase) is output in differential mode. (RS422) - Pr.44 (numerator of output pulse ratio) and Pr.45 (denominator of output pulse ratio) can be used to set the division ratio. - Pr.46 (pulse output logic inversion) can be used to select the logic relation of phase B with regard to the pulse of phase A, and its output source. - When using an external scale signal as its output source, Pr.47 (Z-phase of external scale setup) can be used to set the interval periods of outputs for phase Z pulse. I/O signal interface Do-1 Z-phase output OZ+ 23 OZ- 24 Z-phase output CZ 19 - Ground of line driver of the output circuit is connected to signal ground (GND); not insulated. - The maximum output frequency is 4 Mpps (after being multiplied by 4). - Open collector output of Z-phase signal. - Emitter side of the transistor of the output circuit is connected to signal ground (GND); not insulated. Pr.44 - Phase Z is output in synchronization with phase A when encoder resolution multiplied by Pr.45 is in multiples of 4, but otherwise, the width of phase Z is narrower than that of phase A as it is output based on encoder resolution, and does not synchronize with phase A. When encoder resolution multiplied by Pr.44 4 is in multiples of 4 Pr.45 When encoder resolution multiplied by Pr.44 4 is not in multiples of 4 Pr.45 Do-2 A B A B Z Synchronized Z Out of synchronization Note) In the case of 5-core 2500P/r incremental encoder, the pulse position may be displaced until the first phase Z is output. When using phase Z as a control signal, use the second signal or others available thereafter.

19 No. SR-DSV Output signal (analogue) and function Application Code Connector pin No. Function Meaning of the output signal varies depending on Pr.07 (speed monitor (SPselection). I/O signal interface Pr.07 Meaning of signal Function Voltage proportional to the rotation speed Speed monitor Signal output SP Motor rotation speed 5-9 Command speed of the motor is output with polarity. +: rotate in CCW direction -: rotate in CW direction - Scaling can be set via a value of Pr Voltage proportional to the rotation speed of the motor is output with polarity. +: rotate in CCW direction -: rotate in CW direction - Scaling can be set via a value of Pr.07. Ao-1 Meaning of the output signal varies depending on Pr.08 (torque monitor (IM) selection). Torque monitor Signal output IM 42 Pr.08 0, 11, Meaning of signal Torque command Position deviation Function - Voltage proportional to the torque generated by the motor or position deviation is output with polarity. +: torque is generated in CCW direction. -: torque is generated in CW direction. - The value of Pr.08 can be used to set the scaling. - Voltage proportional to the number of position deviation pulses is output with polarity. +: position command is in CCW direction of the motor position. -: position command is in CW direction of the motor position. - Scaling can be set via a value of Pr.08. Ao Full-closed deviation Do not set Pr.08 to Others Application Code Connector pin No. Function I/O signal interface Frame ground FG 50 - Internally connected to the ground terminal , 15, - Signal ground Signal ground GND , 25 - Internally insulated from the control signal power supply (COM-).

20 No. SR-DSV I/O signal interface i 1 o 1 VDC 12-24V 7 4.7K VDC 12-24V 50 ma or less - Or +: Pins 37, 35, 39 and 11 : Pins 36, 34, 38 and 10 VDC 12-24V 7 4.7K NOTE) To activate the relay directly, connect a diode in parallel with the relay, in the direction shown above. o 2 Ai 1 10V MAX VDC 50 ma or less SPR/TRQR 14 20K V 41 GND 15 NOTE) +: Pins 40 and 12 To activate the relay directly, connect a diode in parallel with the relay, in the direction shown above. Ai 2 Ao 1 ±10V MAX - 10K K 1K - + GND 17 GND 25 The maximum of output signal amplitude is 10V. Di 1 Do 1 Line driver AM26LS31or equivalent Open-collector 12V to 24v power supply with external resistors Vp-1.5 R+220 Vp 12-24V 24V 10mA ON/OFF ON/OFF R k GND k 220 GND 10mA 24v power supply without an external resistors L/H PULS SIGN L/H PULS SIGN +: Pins 21, 48 and 23 : Pins 22, 49 and 24 Do 2 CZ 50mA MAX GND VDD 30V MAX 19 17

21 No. SR-DSV Di 2 Twisted pair cable AN26C32 or equivalent

22 4-4 RS232C Communication Connector X4 (JST MD-S or equivalent) No. SR-DSV RS485 Communication Connector X3 (JST MD-S or equivalent) Parameter setting/alteration, control status monitoring, error status/record reference and parameter saving/loading etc. are available by means of a serial communication with a PC or upper NC via RS232C /RS485 or equivalent. Also, setup support software PANATERM and communication cable are available. As for information on operation of the setup support software PANATERM, refer to the user's manual of the PANATERM. - PANATERM (WIN98/NT/2000/XP) DVOP4230 (Japanese) DVOP4240 (English) - PC connection cable (for DOS/V) DVOP PC connection cable (for PC98) DVOP External scale connector X7 You cannot use the connector X7.

23 No. SR-DSV Wiring 5-1 Cables Specifications and Maximum Cable Length Name Code Maximum cable length Main power supply L1, L2, L Specifications Conforms to "Specifications by Model" on separate sheets. Control power supply L1C, L2C/r, t HVSF 0.75mm 2 Motor connection cable U, V, W 20 m Ground cable 1 m Encoder connection cable X6 20 m I/O cable X5 3 m Conforms to "Specifications by Model" on separate sheets. (NOTE) Conforms to "Specifications by Model" on separate sheets. Shielded twisted pair cable Core wire: 0.18 mm 2 or more NOTE) To use the connector ( or ) manufactured by Tyco Electronics AMP as a motor intermediate connector, the maximum cable size is 1.3 mm I/O Connector, Encoder Connector and External scale connector Connector code Part name Part No. Manufacturer X6 Connector or X5 Solder plug (Solder-mounting type) or Shell kit Use the above or equivalent parts. Molex

24 No. SR-DSV Precautions for Wiring (1) Connecting cables to the power connectors and the terminal block Type A to Type B Surge absorber Single-phase Noise filter Main power supply Control power supply External regenerative discharge resistor Motor connections Manufactured by Tyco Electronics AMP Manufactured by Tyco Electronics AMP ALM 37 36

25 No. SR-DSV Type C to Type D Single-phase - To use a single-phase power supply, be sure to connect the power supply between the L1 and L3 terminals. 3-phase Noise filter Surge absorber Main power supply Control power supply External regenerative discharge resistor Normally connected Motor connections Manufactured by Tyco Electronics AMP Manufactured by Tyco Electronics AMP ALM * To use with servo motor other than MSMD, MAMA and MQMA refer to the table below. Motor connectors JL04V-2E20-4PE-B JL04HV-2E22-22PE-B JL04V-2E20-18PE-B JL04V-2E24-11PE-B PIN PIN PIN Usage PIN Usage PIN Usage A U-phase G Brake A Brake B V-phase H Brake B Brake C D W-phase Ground A F I B E NC U-phase V-phase W-phase Ground C D E F G NC U-phase V-phase W-phase Ground D Ground H Ground C NC I NC

26 No. SR-DSV Type E to Type F Surge absorber 3-phase Noise filter Main power supply Normally connected Control power supply External regenerative discharge resistor Motor connections Motor connectors JL04V-2E20-4PE-B JL04HV-2E22-22PE-B JL04V-2E20-18PE-B JL04V-2E24-11PE-B PIN Usage PIN Usage PIN Usage A B C D U-phase V-phase W-phase Ground G H A F I B E D C Brake Brake NC U-phase V-phase W-phase Ground Ground NC A B C D E F G H I Brake Brake NC U-phase V-phase W-phase Ground Ground NC

27 No. SR-DSV ) When using the servo driver in type C and D by using a single phase power input, connect it with L1 and L3 of the main power input terminal. Do not make any connection with L2 terminal. 2) To connect a cable to each terminal on the terminal block, be sure to use crimp terminals with insulation shield. 3) The terminal block cover is screw-mounted. To connect cables to the terminal block, remove the screws, and open the cover. 4) If an external regenerative discharge resistor is not used, short-circuit the RB2 (B1) and RB3 (B2) terminals. If the circuit trips due to the regenerative discharge resistor overload protection error (Err. 18), an external regenerative discharge resistor must be connected. To connect an external regenerative discharge resistor, remove the cable between the RB2 (B1) and RB3 (B2) terminals, and connect an external regenerative discharge resistor between the RB1 (P) and RB2 (B2) terminals. Normally with A4 Series Type A and Type B, RB3 and RB2 need not to be short-circuited, since Type A and Type B are only intended to connect an external regenerative discharge resistor. However, if the circuit trips due to the above error, connect an external regenerative discharge resistor between RB1 and RB2. To use an external regenerative discharge resistor, set the Pr.6C(External regenerative resistor set up) to other than 0. 5) A voltage indicated on the identification plate should be applied to the power supply. 6) Do not connect the power supply input terminals (L1, L2 and L3) and the motor output terminals (U, V and W) in reverse. 7) Do not ground or short-circuit the motor output terminals (U, V and W). 8) Never touch the power connectors X1, X2 and terminal block, because a high voltage is applied to these connectors. Otherwise, you may get an electric shock. 9) Suitable for use on a circuit capable delivering no more than 5000A rms symmetrical amperes, 240 volts maximum for models of 750W or more, when protected by a circuit breaker with a maximum rating of 20A. 10) The AC servo motor's rotating direction cannot be changed by exchanging its three phases like induction motors. Be sure to match the servo driver's motor output terminals (U, V and W) with its cable colors (or pin numbers, if cannon plugs are provided). 11) Connect the motor's ground terminal with the servo driver's ground terminal securely to provide one-point grounding together with the noise filer's ground terminal. Also, the machine body must be grounded. Ensure Class 3 grounding (ground resistance: 100Ω or less). (To avoid electrolytic corrosion, make sure that aluminum and copper are not in contact with each other.) 12) To prevent noise interference, insert a surge absorber circuit into the electromagnetic contactor, relay contacts, coils and brake wiring of the motor with brake located around the servo driver. 13) Be sure to provide a non-fuse breaker to interrupt the power outside the servo driver in emergency. If an earth leakage breaker is used, select a breaker that withstands microwave noise. 14) To reduce a noise voltage on each terminal, provide a noise filter. 15) The brake power supply for the motor with brake should be prepared by the user. 16) After completion of the wiring, apply a voltage to the power supply. (*) As for external regenerative resist, it is recommended to use the following resist. Input power voltage type Single-phase 100V Single-phase 200 V /three-phase 200 V A DV0P4280 DV0P4281 B DV0P4283 DV0P4281 C DV0P4282 DV0P4283 D DV0P424 DV0P4284:2(parallel) E or DV0P4285 F DV0P4285:2(parallel) Manufacturer: Iwaki Radio Laboratory Co., Ltd.

28 No. SR-DSV Specifications Built-in Built-in Option Manufacturer Rated power(reference) Thermal protector temperature part code model Resist Free Temperature of operation fuse Fan use[w] value air Temperature of operation W 1m/s 2m/s 3m/s DV0P4280 RF70M DV0P4281 RF70M B-contact DV0P4282 RF180B Open/close capacity 2193 DV0P4283 RF180B (Resistive load) DV0P4284 RF A 125VAC 10,000times DV0P4285 RH450F A 250VAC 10,000times For safety reasons, the external regenerative resistor has a built-in temperature fuse and a thermal protector. The built-in temperature fuse may be disconnected depending on heat dissipation conditions, range of use temperatures, supply voltage, and load variations. Please set the driver on the machine and be sure to check the operations in the bad conditions (high power supply voltage, high load inertia, or short slowdown time) that it is easy to regenerate so that the surface temperature of the regenrative resistor becomes 100 or less. Compose such a power supply as to turn the power off when the thermal protector is off.

29 No. SR-DSV <Connecting cables to the terminal block> Connect cables to the power connectors X1 and X2 according to the following the procedure. Wiring procedure 1. Unsheathe the cable to be used. 8-9 mm 2. Plug the cable in the connector. To plug the cable, the following two methods are available: (a) Insert the cable by using the supplied operation lever. (b) Insert the cable by using either a flat-blade screwdriver (blade tip width: mm) or the dedicated screwdriver ( J, /01, J, manufactured by WAGO JAPAN). (a) When using the operation lever (b) 1) Push the operation lever located in the upper operation slot with your finger to lower the spring. When using a screwdriver (II) 2) While pressing the operation lever, insert the cable into the cable insertion hole (round hole) until it reaches the innermost of the hole. 3) Releasing the lever completes the cable connection. 1) Put the dedicated screwdriver in the upper operation slot, and push it to lower the spring. 2) Insert the properly-unsheathed cable into the cable insertion hole (round hole) until it reaches the innermost of the hole. 3) Releasing the lever completes the cable connection. * The cable can be disconnected from the connector in the same manner as the above procedure. CAUTION - Unsheathe the cable exactly by the specified length. - Before connecting a cable into the connector, remove the connector from the servo driver. - Only one cable can be inserted into one insertion hole of the connector. - Be careful of injury when using a screw driver.

30 No. SR-DSV (2) Connecting cables to connector X5 1) The 12 to 24 V DC control signal power supply connected between the COM+ and COM- terminals should be prepared by the user. 2) Place the servo driver and peripheral equipment at the shortest distance as possible (3 m or less), to minimize the connection cable length. 3) Place the control signal cables away from the power cables (L1, L2, L3, L1C(r), L2C(t), U, V, W and Ground) as far as possible (at 30 cm or longer distance). Do not place the control signal cables in the same conduit as the power cables, or bundle these cables together. Control input COM k INH k CL k SRV-ON k GAIN k DIV k VDC 12-24V ZEROSPD k C-MODE k A-CLR k CCWL 9 4.7k CWL 8 Servo driver side CN X5

31 Control output No. SR-DSV ) Be careful of the polarity of the control signal power supply. Connecting the power supply with reverse polarities will damage the servo driver. (See the figure above). 5) To activate the relay directly with each output signal, be sure to connect a diode in parallel with the relay, in the direction shown below. If the diode is not connected or connected in the reverse direction, the servo driver will be damaged. 6) If each output signal is received by a logic circuit such as a gate, pay attention to prevent noise interference. 7) Make sure that the current of each output signal does not exceed 50 ma. MAX 50mA S-RDY+ S-RDY S-RDY MAX 50mA ALM+ ALM ALM MAX 50mA COIN+ COIN COIN MAX 50mA BRK-OFF+ BRK-OFF BRK-OFF MAX 50mA TLC 40 TLC (Standard default setting) VDC 1224V - 24 V MAX 50mA ZSP COM ZSP (Standard default setting) Servo driver side CN X5

32 No. SR-DSV Pulse train command A. Pulse train interface dedicated to line driver 43K 43K Twisted pair cable 43K 43K B. Pulse train interface Servo driver side The pulse train command input is applicable to both the line driver interface and the open-collector interface. However, we recommend that the input signal should be connected to the line driver interface, to increase the signal transmission reliability. Note that the cable connections to the servo driver are different depending on whether the line driver or open-collector interface is used. Line driver interface Twisted pair cable Servo driver side

33 No. SR-DSV Open-collector interface Vp-1.5 R mA Servo driver side Servo driver side NOTE) Precautions for connecting command pulse input to the open-collector interface - Set the cable length as short as possible (1 m or less). - With the open-collector interface, the maximum input pulse frequency is 200 kpps, which is smaller than the pulse frequency for the line driver interface (500 kpps).

34 No. SR-DSV Rotary encoder feedback pulse AM26C32 or equivalent OA+ OA OA AM26C31 or equivalent A OB OB+ OB B Scaling circuit OZ OZ+ OZ Z 46 GND Twisted pair cable CZ CN X5 Servo driver side NOTE) 1) Only the Z-phase signal will be output through the line driver interface, and also output from Pin 19 (CZ) of the open-collector interface. To use the CZ signal, pay attention to prevent noise interference. 2) To receive output pulses, use the line receiver (AM26C32 or equivalent). To do so, provide a proper termination resistor (approx. 330Ω) between the line receiver's input terminals. 3) Note that the logic of the Z-phase signal of the line driver output (OZ) is reverse to that of the open-collector output (CZ). 4) Set the maximum output frequency to 4Mpps or less (after being multiplied by 4).

35 No. SR-DSV (3) Connecting cables to connector X6 1) For the encoder cable, use a shielded twisted pair cable with strand core size of 0.18 mm 2 or more. 2) The allowable cable length is 20 m max. To use a long cable for the 5 V power supply, double-wiring is recommended to reduce the influence of a voltage drop. 3) Connect the sheath of the shielded cable in the motor side to the shield terminal for the shielded cable from the encoder. Be sure to connect the sheath of the shielded cable in the servo driver side to the shell of X6 (FG). 4) If the cannon plug is provided, connect the encoder's shielded cable in the motor side to the J terminal. 5) Place the encoder cables away from the power cables (L1, L2, L3, L1C(r), L2C(t), U, V, W and Ground) as far as possible (at 30 cm or longer distance). Do not place the encoder cables in the same conduit as the power cables, or bundle these cables together. 6) Do not connect a cable to the unused pins of X6. 7-core absolute encoder White Black Red Pink Light blue Purple Yellow/Green Battery Regulator Servo motor Manufactured by Tyco Electronics AMP Motor side Manufactured by Tyco Electronics AMP Intermediate cable Twisted pair cable Servo driver side Connect the absolute encoder battery (Recommended item: 3.6V ER6V made by Toshiba Battery) between 1P and 2P of the relay connector. Users shall prepare the battery holder and the cables shown in the connection chart. Cannon plug Pin No. Battery Regulator Straight plug MS3106B20 29S Cable clamp MS A Twisted pair Manufactured by Nihon AMP cable Servo motor Motor side Intermediate cable Servo driver side Connect the absolute encoder battery (recommended item: 3.6V ER6V made by Toshiba Battery) between T and S of Cannon plug. Users shall prepare the battery holder and connection cables.

36 No. SR-DSV core incremental encoder White Black Light blue Purple Regulator Shielded cable Manufactured by Tyco Electronics AMP Manufactured by Tyco Electronics AMP Twisted pair cable Servo motor Motor side Intermediate cable Servo driver side Cannon plug Pin No. Regulator Straight plug MS3106B20-29S Cable clamp MS A Manufactured by Nihon AMP Twisted pair cable Servo motor Motor side Intermediate cable Servo driver side

37 <Battery replacement procedure> No. SR-DSV The data read by the absolute encoder include the single-revolution data that indicate the motor position per revolution, and the multi-revolution data that indicate a pulse count per revolution. Since the multi-revolution data are electrically counted, they will be backed up with a battery. Leave the control power supply on during battery replacement. [Precautions for using the absolute encoder backup battery] A battery voltage drop results in the absolute encoder error. Battery voltage drop is caused by exhausted service life of the battery, and voltage delay. 1) The battery's service life will be reduced depending on the ambient condition. We recommend that the battery should be replaced annually. 2) Since the voltage delay phenomenon occurs with the lithium battery due to the minimum transient voltage, a temporary voltage drop may occur when the battery starts discharging. Therefore, the battery must be refreshed before use. Before using the battery unit for the first time Connect the upper lead wire of the battery unit to its connector. After leaving it for 30 minutes, mount the battery unit to the servo driver. After mounting the battery unit We recommend that the control power supply should be turned ON/OFF about once a day. (*) We recommended that the battery is refreshed if an external battery is used. Consult the battery maker regarding the method of refreshing the battery. <Caution> [1] Air transportation It is necessary to file an application for air transportation of dangerous items. (UN package is required in both passenger planes and cargo planes). Transport companies are requested to submit necessary documents (parameter sheet, MSDS, etc.) for air transportation of dangerous materials. These documents should be requested from the dealer. [2] UN package Inquire at a transport company for detailed information. [3] When disposing of a removed battery unit, make sure to insulate its terminal with a tape, etc. and follow the ordinance by local governments.

38 No. SR-DSV Parameters Parameter No. 00 * 01 * Parameter Name Related control mode Setting range Axis address All 0-15 LED display at power up All ,17 Function/Description Defines the RSW (ID) value on the front panel at power-on of the control power supply. This value is used as the axis address for serial communication. The set value of this parameter has no influence on the servo operation. In the initial condition after turning ON the control power, the following data displayed on the 7-segment LED can be selected. 0: Positional deviation 1: Motor revolving speed 2: Torque output 3: Control mode 4: I/O signal status 5: Error cause/record 6: Software version 7: Warning 8: Regenerative load ratio 9: Overload load ratio 10: Inertia ratio 11: Feedback pulse total 12: Command pulse total 13: You cannot set. 14: You cannot set. 15: Motor auto recognition 16: You cannot set. 17: Causes of no revolution Refer to sect.9-12 for detailed information of the display. Select the control mode of the servo driver. Altered data is enabled when the control power is turned ON. 02 * Control mode All 0-1 Pr.02 setting Control mode Code value 0 Position control P 1 Speed control S 2-6 You cannot set. - Note 1) As for item having parameter No. marked with (*), altered data is enabled after resetting of the control power. Note 2) As for item having parameter No. marked with (RT), data is altered automatically during executing real time auto gain tuning. When altering data manually, set Pr.21 (real time auto tuning set up) to 0 to disable the real time auto gain tuning, and then enter new data.

39 No. SR-DSV Parameter No. 03 Parameter Name Torque limit Selection Related control mode Setting range P, S 1-3 Function/Description Defines whether to enable or disable the CW/CCW torque limit input (X5 CWTL: Pin 18, CCWTL: Pin 16). Set value CCW CW 0 You cannot set. 1 Pr.5E is se to the limit value in CCW and CW directions. 2 Set by Pr.5E. Set by Pr.5F. 3 When GAIN/TL-SEL input is open: set by Pr.5E. When GAIN/TL-SEL input is short-circuited, set by Pr.5F. 04 * A 0B * 0C * 0D * 0E * 0F Overtravel input nhibit Internal/ external speed switching ZEROSPD input selection Speed monitor (SP) selection Torque monitor (IM) selection TLC output selection ZSP output selection Absolute encoder set up Baud rate of RS232C Baud rate of RS485 Front panel lock set up For manufacturer use All 0-2 S 1,3 S 0-2 All 0-9 All 0 5,11, 12 All 0 6,8 All 0 6,8 All 0-2 All 0-5 All 0-5 All 0-1 Defines whether to enable or disable the CW/CCW overtravel input inhibit (X5 CWL: Pin 8, CCWL: Pin 9). 0: In the case of the overtravel input inhibit, will become the sequence set by Pr.66 (Error response at overtravel limit). 1: The overtravel input inhibit is disabled. 2: When the connection of either CW or CCW input inhibit with COM- becomes open, Err38 (overtravel input inhibit protection) occurs. The changes become enabled when the control power is turned on. Select the speed command for the speed control mode. 0: You cannot set. 1: Speed setting (1st to 4th speed) (Pr. 53 to Pr. 56) 2: You cannot set. 3: Setting of 1st through eighth speed (Pr.53 to 56 and Pr.74 to 77) To use this parameter, refer to Section 4. Select the function of the speed zero clamp input (X5 ZEROSPD: Pin 26). 0: Inactivated 1: Speed zero clamp 2: Speed command code Refer to the item 4 before use. In torque control, the set value 2 means no activation. Select the output of the analog speed monitor (X5 SP: Pin 43, Front panel). The value given in ( ) indicates the monitor value at approx. 6 V. 0 to 4: Actual motor speed (0:47, 1:188, 2:750, 3:3000, 4:12000[r/min]) 5 to 9: Command speed (5:47, 6:188, 7:750, 8:3000, 9:12000[r/min]) Select the output of the analog torque monitor (X5 IM: Pin 42, Front panel). The value given in ( ) indicates the monitor value at approx. 3 V. 0: Torque command (100[%]) 1 to 5: Position deviation (1:31, 2:125, 3:500, 4:2000, 5:8000[pulse]) 6 to 10: You cannot set. 11: Torque command (200[%]) 12: Torque command (400%) Select the output of the torque limit control signal (X5 TLC: Pin 40). 0: Torque limit control 1: Zero speed detection 2: Any warning 3: Regenerative discharge overload warning 4: Overload warning 5: Battery warning 6: Fan lock warning 7: You cannot set. 8: Speed conformance output Select the output of the zero speed detection signal (X5 ZSP: Pin 12). 0: Torque limit control 1: Zero speed detection 2: Any warning 3: Over regenerative discharge warning 4: Overload warning 5: Battery warning 6: Fan lock warning 7: You cannot set. 8: Speed conformance output Select how to use the absolute encoder. 0: Used as absolute encoder 1: Used as incremental encoder 2: Used as absolute encoder regardless of overcount error A change of this parameter becomes enabled at power-on of the control power supply. Defines the RS232C communication speed. 0: 2400[bps] 1: 4800[bps] 2: 9600[bps] 3: 19200[bps] 4: 38400[bps] 5: 57600[bps] The baud rate error is ±0.5%. A change of this parameter becomes enabled at power-on of the control power supply. Defines the RS485 communication speed. 0: 2400[bps] 1: 4800[bps] 2: 9600[bps] 3: 19200[bps] 4: 38400[bps] 5: 57600[bps] The baud rate error is ±0.5%. A change of this parameter becomes enabled at power-on of the control power supply. Limiting the front panel operation to the monitor mode may prevent an operation error such as the unexpected change of parameters, etc. 0: All enabled. 1: Limited to monitor mode Even if this parameter is 1, parameter changes made by the communication function is enabled. To reset this parameter to 0, use PANATERM or the console. The changes become enabled when the control power is turned on.