RDV Series. Ver RDV-X / RDV-P EUN E197

Transcription

1 RDV Series RDV-X / RDV-P Ver EUN E197

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3 CONTENTS RDV Series User s Manual Safety Instructions 1. Safety Information S-1 2. Signal words used in this manual S-2 3. Warning labels S Warning labels S Warning label messages on robot and controller S Supplied warning labels S Warning symbols S-9 4. Important precautions for each stage of the robot life cycle S Precautions for using robots and controllers S Essential precautions for the linear conveyor module S Design S Precautions for robots S Precautions for robot controllers S Moving and installation S Precautions for robots S Precautions for robot controllers S Safety measures S Safety measures S Installing a safety enclosure S Operation S Trial operation S Automatic operation S Precautions during operation S Inspection and maintenance S Before inspection and maintenance work S Precautions during service work S Disposal S Emergency action when a person is caught by robot S Cautions regarding strong magnetic fields S Using the robot safely S Movement range S Robot protective functions S Residual risk S Special training for industrial robot operation S-28 T-1

4 CONTENTS RDV Series User s Manual Warranty Important information before reading this manual Introduction Available manuals About this manual Before using the driver (Be sure to read the following notes) i i i ii Chapter 1 Using the robot safely 1. Precautions for use Storage Carrying Installation Wiring Control and operation Maintenance and inspection Safety standards Measures for CE marking Cautions regarding compliance with EC Directives CE marking Applicable EC Directives and their related standards Robots subject to CE Marking Cautions regarding the official language of EU countries Usage conditions 1-6 Chapter 2 Introduction 1. Inspection after unpacking Checking the product User's manual Product inquiries and warranty Notes when making an inquiry 2-2 T-2

5 CONTENTS RDV Series User s Manual 3. External view and part names Driver and robot combination 2-4 Chapter 3 Installation and wiring 1. Installation Precautions during installation Wiring Connectors Main circuit wiring Wiring the main circuit connectors Input/output signal wiring Wiring for position sensor signals 3-25 Chapter 4 Operation 1. Control and operation Position control by pulse train input Test run Jogging operation from RDV-Manager Emergency stop 4-6 Chapter 5 Functions 1. Terminal function list Input terminal functions Output terminal functions Return-to-origin function Analog output function Pulse train input function Smoothing function Position sensor monitor function Adjusting the control gain 5-23 T-3

6 CONTENTS RDV Series User s Manual 9.1 Basic rules of gain adjustment Manual gain adjustment procedure Offline auto tuning function Motion profile settings Servo ON and return-to-origin in the "Offline auto tuning" screen Executing servo ON (RDV-X / RDV-P) Estimation of magnetic pole position and turning the servo on (RDV-P) Homing (return-to-origin) in the "Offline auto tuning" screen Load moment of inertia setting Load moment of inertia estimation Conditions of load moment of inertia estimation (detail setting) Load moment of inertia calculation Automatic servo gain tuning Executing auto servo gain tuning Auto servo gain tuning settings Conditions of servo gain tuning (detail setting) Offline auto tuning troubleshooting Machine diagnosis Executing machine diagnosis Resonant peaks in the mechanical system Conditions of machine diagnosis Gain change function Changing the control gain Clearing the alarm history and restoring the factory settings Clearing the alarm history Factory settings Motor rotating direction FLIP-X series phase sequence PHASER series phase sequence Speed limit function Fast positioning function Notch filter function Magnetic pole position estimation action Magnetic pole position estimation and parameters 5-69 T-4

7 CONTENTS RDV Series User s Manual Chapter 6 Parameter description 1. Operator monitor Operator monitor functions Special display Function lists List of monitor functions List of setup parameters Function description Monitor display description Setup parameter description Reference graph for setting the acceleration and position control cut-off frequency RDV-X 6-25 T4H-2 (C4H-2) 6-25 T4H-2-BK (C4H-2-BK) 6-25 T4H-6 (C4H-6) 6-26 T4H-6-BK (C4H-6-BK) 6-26 T4H-12 (C4H-12) 6-27 T4H-12-BK (C4H-12-BK) 6-27 T4LH-2 (C4LH-2) 6-28 T4LH-2-BK (C4LH-2-BK) 6-28 T4LH-6 (C4LH-6) 6-29 T4LH-6-BK (C4LH-6-BK) 6-29 T4LH-12 (C4LH-12) 6-30 T4LH-12-BK (C4LH-12-BK) 6-30 T5H-6 (C5H-6) 6-31 T5H-6-BK (C5H-6-BK) 6-31 T5H-12 (C5H-12) 6-32 T5H-12-BK (C5H-12-BK) 6-32 T5H T5LH-6 (C5LH-6) 6-33 T5LH-6-BK (C5LH-6-BK) 6-34 T5LH-12 (C5LH-12) 6-34 T5LH-12-BK (C5LH-12-BK) 6-35 T5LH-20 (C5LH-20) 6-35 T6-6 (C6-6) 6-36 T6-6-BK (C6-6-BK) 6-36 T6-12 (C6-12) 6-37 T6-12-BK (C6-12-BK) 6-37 T T-5

8 CONTENTS RDV Series User s Manual T6L-6 (C6L-6) 6-38 T6L-6-BK (C6L-6-BK) 6-39 T6L-12 (C6L-12) 6-39 T6L-12-BK (C6L-12-BK) 6-40 T6L-20 (C6L-20) 6-40 T T7-12-BK 6-41 T T9-5-BK 6-42 T T9-10-BK 6-43 T T9-20-BK 6-44 T T9H T9H-5-BK 6-46 T9H T9H-10-BK 6-47 T9H T9H-20-BK 6-48 T9H F8-6 (C8-6) 6-49 F8-6-BK (C8-6-BK) 6-49 F8-12 (C8-12) 6-50 F8-12-BK (C8-12-BK) 6-50 F8-20 (C8-20) 6-51 F8L-5 (C8L-5) 6-51 F8L-5-BK (C8L-5-BK) 6-52 F8L-10 (C8L-10) 6-52 F8L-10-BK (C8L-10-BK) 6-53 F8L-20 (C8L-20) 6-53 F8L-20-BK (C8L-20-BK) 6-54 F8L F8LH-5 (C8LH-5) 6-55 F8LH-10 (C8LH-10) 6-55 F8LH-20 (C8LH-20) 6-56 F10-5 (C10-5) 6-56 F10-5-BK (C10-5-BK) 6-57 F10H F10H-05BK 6-58 F10-10 (C10-10) 6-58 F10-10-BK (C10-10-BK) 6-59 T-6

9 CONTENTS RDV Series User s Manual F10H F10H-10BK 6-60 F10-20 (C10-20) 6-60 F10-20-BK (C10-20-BK) 6-61 F10H F10H-20BK 6-62 F F10H F14-5 (C14-5) 6-63 F14-5-BK (C14-5-BK) 6-64 F14-10 (C14-10) 6-64 F14-10-BK (C14-10-BK) 6-65 F14-20 (C14-20) 6-65 F14-20-BK (C14-20-BK) 6-66 F F14H-5 (C14H-5) 6-67 F14H-5-BK (C14H-5-BK) 6-67 F14H-10 (C14H-10) 6-68 F14H-10-BK (C14H-10-BK) 6-68 F14H-20 (C14H-20) 6-69 F14H-20-BK (C14H-20-BK) 6-69 F14H F17L-50 (C17L-50) 6-70 F17L-50-BK (C17L-50-BK) 6-71 F17-10 (C17-10) 6-71 F17-10-BK (C17-10-BK) 6-72 F17-20 (C17-20) 6-72 F17-20-BK (C17-20-BK) 6-73 F F20-10-BK (C20-10-BK) 6-74 F20-20 (C20-20) 6-74 F20-20-BK (C20-20-BK) 6-75 F F20N N N N N B B B14H 6-79 R T-7

10 CONTENTS RDV Series User s Manual R R RDV-P 6-82 MR MF MF MF MF MF MF Control block diagram and monitors 6-86 Chapter 7 Maintenance and inspection 1. Maintenance and inspection Precautions for maintenance and inspection Daily inspection Cleaning Periodic inspection Daily inspection and periodic inspection Megger test and breakdown voltage test Checking the inverter and converter Capacitor life curve 7-5 Chapter 8 Specifications and dimensions 1. Specification tables RDV-X specification table RDV-P specification table Driver dimensions 8-3 Chapter 9 Troubleshooting 1. Alarm display Protective function list Troubleshooting 9-3 T-8

11 CONTENTS RDV Series User s Manual 3.1 When an alarm has not tripped When an alarm has tripped 9-5 Chapter 10 Appendix 1. Timing chart Options Recommended peripheral devices EMC countermeasure examples Configuration Countermeasure components Internal block diagram of robot driver T-9

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13 Safety Instructions Contents 1. Safety Information S-1 2. Signal words used in this manual S-2 3. Warning labels S Warning labels S Warning label messages on robot and controller S Supplied warning labels S Warning symbols S-9 4. Important precautions for each stage of the robot life cycle S Precautions for using robots and controllers S Essential precautions for the linear conveyor module S Design S Precautions for robots S Precautions for robot controllers S Moving and installation S Precautions for robots S Precautions for robot controllers S Safety measures S Safety measures S Installing a safety enclosure S Operation S Trial operation S Automatic operation S Precautions during operation S Inspection and maintenance S Before inspection and maintenance work S Precautions during service work S Disposal S Emergency action when a person is caught by robot S Cautions regarding strong magnetic fields S Using the robot safely S Movement range S Robot protective functions S Residual risk S Special training for industrial robot operation S-28

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15 1. Safety Information Industrial robots are highly programmable, mechanical devices that provide a large degree of freedom when performing various manipulative tasks. To ensure safe and correct use of YAMAHA industrial robots and controllers*, carefully read and comply with the safety instructions and precautions in this "Safety Instructions" guide. Failure to take necessary safety measures or incorrect handling may result in trouble or damage to the robot and controller, and also may cause personal injury (to installation personnel, robot operator or service personnel) including fatal accidents. * The descriptions about the controller stated in this manual also include the contents of the robot driver. Before using this product, read this manual and related manuals and take safety precautions to ensure correct handling. The precautions listed in this manual relate to this product. To ensure safety of the user s final system that includes YAMAHA robots, please take appropriate safety measures as required by the user s individual system. Safety Instructions To use YAMAHA robots and controllers safely and correctly, always comply with the safety rules and instructions. For specific safety information and standards, refer to the applicable local regulations and comply with the instructions. Warning labels attached to the robots are written in English, Japanese, Chinese and Korean. This manual is available in English or Japanese (or some parts in Chinese). Unless the robot operators or service personnel understand these languages, do not permit them to handle the robot. Cautions regarding the official language of EU countries For equipment that will be installed in EU countries, the language used for the manuals, warning labels, operation screen characters, and CE declarations is English only. Warning labels only have pictograms or else include warning messages in English. In the latter case, messages in Japanese or other languages might be added. It is not possible to list all safety items in detail within the limited space of this manual. So please note that it is essential that the user have a full knowledge of safety and also make correct judgments on safety procedures. Refer to the manual by any of the following methods when installing, operating or adjusting the robot and controller. 1. Install, operate or adjust the robot and controller while referring to the printed version of the manual (available for an additional fee). 2. Install, operate or adjust the robot and controller while viewing the disc version of the manual on your computer screen. 3. Install, operate or adjust the robot and controller while referring to a printout of the necessary pages from the disc version of the manual. S-1

16 2. Signal words used in this manual Safety Instructions This manual uses the following safety alert symbols and signal words to provide safety instructions that must be observed and to describe handling precautions, prohibited actions, and compulsory actions. Make sure you understand the meaning of each symbol and signal word and then read this manual. w DANGER w WARNING c CAUTION This indicates an immediately hazardous situation which, if not avoided, will result in death or serious injury. This indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury. This indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury, or damage to the equipment. n NOTE Explains the key point in the operation in a simple and clear manner. S-2

17 3. Warning labels Warning labels shown below are attached to the robot body and controller to alert the operator to potential hazards. To ensure correct use, read the warning labels and comply with the instructions. 3.1 Warning labels w WARNING If warning labels are removed or difficult to see, then the necessary precautions may not be taken, resulting in an accident. Do not remove, alter or stain the warning labels on the robot body. Do not allow warning labels to be hidden by devices installed on the robot by the user. Provide proper lighting so that the symbols and instructions on the warning labels can be clearly seen from outside the safety enclosure. Safety Instructions Warning label messages on robot and controller Word messages on the danger, warning and caution labels are concise and brief instructions. For more specific instructions, read and follow the "Instructions on this label" described on the right of each label shown below. See 7.1 Movement range in Safety instructions for details on the robot s movement range. Warning label 1 (SCARA robots, Cartesian robots) w DANGER Serious injury may result from contact with a moving robot. Keep outside of the robot safety enclosure during operation. Press the emergency stop button before entering the safety enclosure. Instructions on this label Always install a safety enclosure to keep all persons away from the robot movement range and prevent injury from contacting the moving part of the robot. Install an interlock that triggers emergency stop when the door or gate of the safety enclosure is opened. The safety enclosure should be designed so that no one can enter inside except from the door or gate equipped with an interlock device. Warning label 1 that comes supplied with a robot should be affixed to an easy-to-see location on the door or gate of the safety enclosure. Potential hazard to human body Serious injury may result from contact with a moving robot. Keep outside of the robot safety enclosure during operation. To avoid hazard Press the emergency stop button before entering the safety enclosure. Warning label 2 (SCARA robots, Cartesian robots, single-axis robots*) 90K * Warning label 2 is not attached to some small single-axis robots, but is supplied with the robots. w WARNING Moving parts can pinch or crush hands. Keep hands away from the movable parts of the robot. Instructions on this label Use caution to prevent hands and fingers from being pinched or crushed by the movable parts of the robot when transporting or moving the robot or during teaching. Potential hazard to human body To avoid hazard Moving parts can pinch or crush hands. Keep hands away from the movable parts of the robot. 90K S-3

18 Warning label 3 (SCARA robots, Cartesian robots, controllers*) Safety Instructions * Some models w WARNING Improper installation or operation may cause serious injury. Before installing or operating the robot, read the manual and instructions on the warning labels and understand the contents. Instructions on this label Be sure to read the warning label and this manual carefully to make you completely understand the contents before attempting installation and operation of the robot. Before starting the robot operation, even after you have read through this manual, read again the corresponding procedures and "Safety instructions" in this manual. Never install, adjust, inspect or service the robot in any manner that does not comply with the instructions in this manual. Potential hazard to human body To avoid hazard Improper installation or operation may cause serious injury. Before installing or operating the robot, read the manual and instructions on the warning labels and understand the contents. 90K Warning label 4 (SCARA robots*) * This label is not attached to omnidirectional type SCARA robots. c CAUTION Do not remove the parts on which Warning label 4 is attached. Doing so may damage the ball screw. Instructions on this label The Z-axis ball screw will be damaged if the upper end mechanical stopper on the Z-axis spline is removed or moved. Never attempt to remove or move it. Warning label 5 (Cartesian robots*, single-axis robots*) * Some robot models w WARNING Ground the controller to prevent electrical shock. Ground terminal is located inside this cover. Read the manual for details. 90K Instructions on this label High voltage section inside To prevent electrical shock, be sure to ground the robot using the ground terminal. Potential hazard to human body To avoid hazard Electrical shock Ground the controller. S-4 90K

19 Warming label 6 (Robot drivers RDV-X/RDV-P) w WARNING Before touching the terminals or connectors on the outside of the robot driver, turn off the power and wait for 10 minutes or longer to prevent electrical shock. Otherwise, burn or electrical shock may result. Before using the robot driver, be sure to throughly read this manual. Be sure to ground the ground terminal. Use nonflammable metal plates for the material of the installation wall surface. Instructions on this label This indicates a high voltage is present. Touching the terminal block or connector may cause electrical shock. This indicates important information that you must know is described in the manual. Before using the robot driver, be sure to read the manual thoroughly. Safety Instructions Be sure to ground the ground terminal to avoid electrical shock. Use nonflammable metal plates for the material of the installation wall surface. Otherwise, fire may result. Potential hazard to human body Electrical shock Improper installation or operation may cause serious injury. Electrical shock To avoid hazard Do not touch the terminal section for 10 minutes after power-off. Before installing or operating the robot, read the manual and instructions on the warning labels and understand the contents. Be sure to ground the ground terminal. 3T /NE63012 Warming label 7 (controllers TS-X/TS-P) w WARNING Before touching the terminals or connectors on the outside of the controller, turn off the power and wait at least 10 minutes to avoid burns or electrical shock. Motors and heatsinks become hot during and shortly after operation, so do not touch them. c CAUTION Before using the controller, be sure to read the manual thoroughly. Be sure to ground the ground terminal. Instructions on this label This indicates a high voltage is present. Touching the terminal block or connector may cause electrical shock. This indicates the area around this symbol may become very hot. Motors and heatsinks become hot during and shortly after operation. Do not touch them to avoid burns. This indicates important information that you must know is described in the manual. Before using the controller, be sure to read the manual thoroughly. When adding external safety circuits or connecting a power supply to the controller, read the manual carefully and make checks before beginning the work. Be sure to ground the ground terminal to avoid electrical shock. Potential hazard to human body Electrical shock Do not touch them to avoid burns. Improper installation or operation may cause serious injury. Electrical shock To avoid hazard Do not touch the terminal section for 10 minutes after power-off. Do not touch the motors and heatsinks during power-on. Before installing or operating the robot, read the manual and instructions on the warning labels and understand the contents. Be sure to ground the ground terminal. 90K S-5

20 Safety Instructions Warming label 8 (controllers RCX240, controllers RCX340) w WARNING These are precautions for YAMAHA and distributors' service personnel. Customers must not attempt to open the covers. w WARNING Wait at least 100 seconds after power-off before opening the covers. Instructions on this label Wait at least 100 seconds after power-off before opening the covers (*). Some parts in the controller still retain a high voltage even after power-off, so electrical shock may occur if those parts are touched. Potential hazard to human body Electrical shock To avoid hazard Wait at least 100 seconds after power-off before opening the covers (*). * These are precautions for YAMAHA and distributors' service personnel. Customers must not attempt to open the covers. 90K Warning label 9 (single-axis linear motor robots) c CAUTION A magnetic scale is located inside this cover. Bringing a magnet close to it may cause malfunction. Instructions on this label To prevent the robot from operating improperly due to magnetic scale malfunction, do not bring a strong magnet to the cover. Do not bring tools close to the magnetic scale. Warning label 10 (single-axis linear motor robots) c CAUTION Powerful magnets are installed in the robot. Do not attempt to disassemble the robot to avoid possible injury. Do not bring any device that may malfunction due to magnetic fields close to the robot. 90K Instructions on this label Be sure to read "6. Cautions regarding strong magnetic fields" in "Safety instructions" and make sure you fully understand its contents before handling or operating the robot. Potential hazard to human body To avoid hazard Injury or death may result in some cases. Make you understand the precautions regarding strong magnetic fields. 90K S-6

21 Warning label 11 (Controller)* * This label is attached to the front panel. c CAUTION Refer to the manual. READ INSTRUCTION MANUAL Instructions on this label This indicates important information that you must know and is described in the manual. Before using the controller, be sure to read the manual thoroughly. When adding external safety circuits or connecting a power supply to the controller, read the manual carefully and make checks before beginning the work. Connectors have an orientation. Insert each connector in the correct direction. Safety Instructions X0-00 Warning label 12 (single-axis robots, Cartesian robots*) * Some robot models w WARNING If a load is applied to the motor cover, this may cause breakage. The robot may drop at installation, causing personal injury. Instructions on this label Do not transport the robot by holding the motor cover. Potential hazard to human body To avoid hazard Personal injury may result. Do not hold the motor cover. 90K S-7

22 3.1.2 Supplied warning labels Safety Instructions Some warning labels are not affixed to robots but included in the packing box. These warning labels should be affixed to an easy-to-see location. Warning label is attached to the robot body. Warning label comes supplied with the robot and should be affixed to an easy-to-see location on the door or gate of the safety enclosure. Warning label comes supplied with the robot and should be affixed to an easy-to-see location. Warning label 1 SCARA robots * 1 Cartesian robots Single-axis robots Warning label 2 * 1 * 2 Warning label 3 * 1 *1: See "Part names" in each SCARA robot manual for label positions. *2: This label is not attached to some small single-axis robots, but is supplied with the robots. S-8

23 3.2 Warning symbols Warning symbols shown below are indicated on the robots and controllers to alert the operator to potential hazards. To use the YAMAHA robot safely and correctly always follow the instructions and cautions indicated by the symbols. 111 Electrical shock hazard symbol w WARNING Touching the terminal block or connector may cause electrical shock, so use caution. Instructions by this symbol This indicates a high voltage is present. Touching the terminal block or connector may cause electrical shock. Safety Instructions X High temperature hazard symbol w WARNING Motors, heatsinks, and regenerative units become hot, so do not touch them. Instructions by this symbol This indicates the area around this symbol may become very hot. Motors, heatsinks, and regenerative units become hot during and shortly after operation. To avoid burns be careful not to touch those sections X Caution symbol c CAUTION Always read the manual carefully before using the controller. Instructions by this symbol! This indicates important information that you must know and is described in the manual. Before using the controller, be sure to read the manual thoroughly. When adding external safety circuits or connecting a power supply to the controller, read the manual carefully and make checks before beginning the work. Connectors must be attached while facing a certain direction, so insert each connector in the correct direction X0-00 S-9

24 4. Important precautions for each stage of the robot life cycle Safety Instructions This section describes major precautions that must be observed when using robots and controllers. Be sure to carefully read and comply with all of these precautions even if there is no alert symbol shown. 4.1 Precautions for using robots and controllers General precautions for using robots and controllers are described below. 111 Applications where robots cannot be used YAMAHA robots and robot controllers are designed as general-purpose industrial equipment and cannot be used for the following applications. w DANGER YAMAHA robot controllers and robots are designed as general-purpose industrial equipment and cannot be used for the following applications. In medical equipment systems which are critical to human life In systems that significantly affect society and the general public In equipment intended to carry or transport people In environments which are subject to vibration such as onboard ships and vehicles. 222 Qualification of operators/workers Operators or persons who perform tasks for industrial robots (such as teaching, programming, movement check, inspection, adjustment, and repair) must receive appropriate training and also have the skills needed to perform the tasks correctly and safely. Those tasks must be performed by qualified persons who meet requirements established by local regulations and standards for industrial robots. They must also read the manual carefully and understand its contents before attempting the robot operation or maintenance. w WARNING It is extremely hazardous for persons who do not have the above qualifications to perform tasks for industrial robots. Adjustment and maintenance that require removing a cover must be performed by persons who have the above qualifications. Any attempt to perform such tasks by an unqualified person may cause an accident resulting in serious injury or death. S-10

25 4.2 Essential precautions for the linear conveyor module The linear conveyor module is a YAMAHA robot so safety measures must be followed and safety equipment must be installed just as required for other YAMAHA robots. This section describes essential precautions for handling the linear conveyor module. Precautions for each stage in the robot life cycle are listed from the next section, so be sure to read the whole section of Safety Instruction in this manual. 111 Slider ejection w DANGER The slider and workpieces ejected at high SPEED from the linear conveyor module may strike persons, causing serious and POSSIBLY fatal injuries. Please comply with the following points. Do not enter or allow the face and hands to intrude anywhere along the line where the linear conveyor guide rail may extend (not only ejection side of the conveyor but also the insertion side). If ejecting the slider on the linear conveyor, then install a suitable ejection mechanism (device to catch and stop the ejected slider). Install a structure and a mechanism to catch and retain the slider on the side where the slider is inserted. Install a safety enclosure outside the linear conveyor movement range. Design the safety enclosure so that the slider and workpieces from the linear conveyor are not ejected outside of the enclosure. Safety Instructions 222 Preventing electrical shock w DANGER Always comply with the instructions in this manual when installing, operating and inspecting the linear conveyor module. Failure to do so may lead to electrical shock, serious injury or even death. Please comply with the following items: Read and FOLLOW the instructions in this manual when grounding the linear conveyor module and installing the termination module. Do not touch the motor of the linear conveyor module when it is on. Always comply with the instructions in the manual when performing maintenance and be sure to turn off the power before starting maintenance tasks. If cracked or broken plastic motor parts are found, stop using the linear conveyor module immediately and turn off the power. 333 Strong magnetic field w WARNING The linear conveyor module contains powerful permanent magnets and electromagnets that generate strong magnetic fields. Always comply with the precautions listed in this manual when using the linear conveyor module. Those persons wearing medical electronic devices such as cardiac pacemakers or hearing aids are at particular risk of major injury or even death. Always attach the magnet protective cover (supplied) when handling, shipping or storing the slider when removing it from the linear conveyor module s guide rails. Do not approach the motor of the linear conveyor module while the power is on. (Stay at least 100mm away.) Do not attempt to disassemble the linear conveyor module (including surrounding covers). Do not place any tools near the slider magnets and the linear conveyor motor while the power is on. 444 High temperature hazard w WARNING The motor for the linear conveyor module is mounted on the module, and so it is easy to come into contact with. To allow heat generated during operation to DISSIPATE, install the module on a base made from good heat conducting material such as metal. The motor reaches high temperatures during and IMMEDIATELY after operation, so touching it at those times may cause burns. Before touching the motor, first turn off the controller power, then wait a while and check that the temperature has DROPPED sufficiently. S-11

26 4.3 Design Safety Instructions Precautions for robots 111 Restricting the robot moving speed w WARNING Restriction on the robot moving speed is not a safety-related function. To reduce the risk of collision between the robot and workers, the user must take the necessary protective measures such as enable devices according to risk assessment by the user. 222 Restricting the movement range See 7.1 Movement range in Safety instructions for details on the robot s movement range. w WARNING Soft limit function is not a safety-related function intended to protect the human body. To restrict the robot movement range to protect the human body, use the mechanical stoppers installed in the robot (or available as options). c CAUTION If the robot moving at high speed collides with a mechanical stopper installed in the robot (or available as option), the robot may be damaged. 333 Provide safety measures for end effector (gripper, etc.) w WARNING End effectors must be designed and manufactured so that they cause no hazards (such as a loose workpiece or load) even if power (electricity, air pressure, etc.) is shut off or power fluctuations occur. If the object gripped by the end effector might possibly fly off or drop, then provide appropriate safety protection taking into account the object size, weight, temperature, and chemical properties. 444 Provide adequate lighting Provide enough lighting to ensure safety during work. 555 Install an operation status light w WARNING Install a signal light (signal tower) at an easy-to-see position so that the operator will be aware of the robot stop status (temporarily stopped, emergency stop, error stop, etc.) Precautions for robot controllers 111 Emergency stop input terminal w DANGER Each robot controller has an emergency stop input terminal to trigger emergency stop. Using this terminal, install a safety circuit so that the system including the robot controller will work safely. For the robot driver without emergency stop input terminal, construct a safety circuit including the emergency stop function using an external circuit. 222 Maintain clearance c CAUTION Do not bundle control lines or communication cables together or in close to the main power supply or power lines. Usually separate these by at least 100mm. Failure to follow this instruction may cause malfunction due to noise. S-12

27 4.4 Moving and installation Precautions for robots Installation environment 111 Do not use in strong magnetic fields w WARNING Do not use the robot near equipment or in locations that generate strong magnetic fields. The robot may BREAK DOWN or malfunction if used in such locations. 222 Do not use in locations subject to possible electromagnetic interference, etc. w WARNING Do not use the robot in locations subject to electromagnetic interference, electrostatic discharge or radio frequency interference. The robot may malfunction if used in such locations creating hazardous situations. Safety Instructions 333 Do not use in locations exposed to flammable gases w WARNING YAMAHA robots are not designed to be explosion-proof. Do not use the robots in locations exposed to explosive or inflammable gases, dust particles or liquid. Failure to follow this instruction may cause serious accidents involving injury or death, or lead to fire. Moving 111 Use caution to prevent pinching or crushing of hands or fingers w WARNING Moving parts can pinch or crush hands or fingers. Keep hands away from the movable parts of the robot. As instructed in Warning label 2, use caution to prevent hands or fingers from being pinched or crushed by movable parts when transporting or moving the robot. For details on warning labels, see "3. Warning labels" in "Safety instructions." 222 Take safety measures when moving robots To ensure safety when moving a SCARA robot with an arm length of 500mm or more, use the eyebolts that come supplied with the robot. Always refer to the robot user s manual for details. When moving other robots, please comply with the transport methods described in their respective user s manuals. 333 Take measures to prevent the robot from falling When moving the robot by lifting it with equipment such as a hoist or crane, wear personal protective gear and be careful not to move the robot at higher than the required height. Make sure that there are no persons on paths used for moving the robot. w WARNING A robot falling from a high place and striking a worker may cause death or serious injury. When moving the robot, wear personal protective gear such as helmets and make sure that no one is within the surrounding area. Installation 111 Protect electrical wiring and hydraulic/pneumatic hoses Install a cover or similar item to protect the electrical wiring and hydraulic/pneumatic hoses from possible damage. S-13

28 Wiring Safety Instructions 111 Protective measures against electrical shock w WARNING Always ground the robot to prevent electrical shock. Adjustment 111 Adjustment that requires removing a cover w WARNING Adjustment by removing a cover require specialized technical knowledge and skills, and may also involve hazards if attempted by an unskilled person. This adjustment must be performed only by persons who have the required qualifications described in 2. Qualification of operators/workers in section 4.1 of this Safety instructions Precautions for robot controllers Installation environment 111 Installation environment w WARNING YAMAHA robots are not designed to be explosion-proof. Do not use the robots and controllers in locations exposed to explosive or inflammable gases, dust particles or liquid such as gasoline and solvents. Failure to follow this instruction may cause serious accidents involving injury or death, and lead to fire. w WARNING Use the robot controller in locations that support the environmental conditions specified in this manual. Operation outside the specified environmental range may cause electrical shock, fire, malfunction or product damage or deterioration. The robot controller and programming box must be installed at a location that is outside the robot safety enclosure yet where it is easy to operate and view robot movement. Install the robot controller in locations with enough space to perform work (teaching, inspection, etc.) safely. Limited space not only makes it difficult to perform work but can also cause injury. Install the robot controller in a stable, level location and secure it firmly. Avoid installing the controller upside down or in a tilted position. Provide sufficient clearance around the robot controller for good ventilation. Insufficient clearance may cause malfunction, breakdown or fire. Installation To install the robot controller, observe the installation conditions and method described in the manual. 111 Installation w WARNING Securely tighten the screws to install the robot controller. If not securely tightened, the screws may come loose causing the controller to drop. 222 Connections w WARNING Always shut off all phases of the power supply externally before starting installation or wiring work. Failure to do this may cause electrical shock or product damage. Never directly touch conductive sections and electronic parts other than the connectors, rotary switches, and DIP switches on the outside panel of the robot controller. Touching them may cause electrical shock or breakdown. Securely install each cable connector into the receptacles or sockets. Poor connections may cause the controller or robot to malfunction. S-14

29 Wiring 111 Connection to robot controller The controller parameters are preset at the factory before shipping to match the robot model. Check the specified robot and controller combination, and connect them in the correct combination. Since the software detects abnormal operation such as motor overloads, the controller parameters must be set correctly to match the motor type used in the robot connected to the controller. 222 Wiring safety points w WARNING Always shut off all phases of the power supply externally before starting installation or wiring work. Failure to do this may cause electrical shock or product damage. c CAUTION Make sure that no foreign matter such as cutting chips or wire scraps get into the robot controller. Malfunction, breakdown or fire may result if these penetrate inside. Do not apply excessive impacts or loads to the connectors when making cable connections. This might bend the connector pins or damage the internal PC board. When using ferrite cores for noise elimination, be sure to fit them onto the power cable as close to the robot controller and/or the robot as possible, to prevent malfunction caused by noise. Safety Instructions 333 Wiring method w WARNING c CAUTION Securely install the connectors into the robot controller and, when wiring the connectors, make the crimp, press-contact or solder connections correctly using the tool specified by the connector manufacturer. When disconnecting the cable from the robot controller, detach by gripping the connector itself and not by tugging on the cable. Loosen the screws on the connector (if fastened with the screws), and then disconnect the cable. Trying to detach by pulling on the cable itself may damage the connector or cables, and poor cable contact will cause the controller or robot to malfunction. 444 Precautions for cable routing and installation c CAUTION Always store the cables connected to the robot controller in a conduit or clamp them securely in place. If the cables are not stored in a conduit or properly clamped, excessive play or movement or mistakenly pulling on the cable may damage the connector or cables, and poor cable contact will cause the controller or robot to malfunction. Do not modify the cables and do not place any heavy objects on them. Handle them carefully to avoid damage. Damaged cables may cause malfunction or electrical shock. If the cables connected to the robot controller may possibly become damaged, then protect them with a cover, etc. Check that the control lines and communication cables are routed at a gap sufficiently away from main power supply circuits and power lines, etc. Bundling them together with power lines or close to power lines may cause faulty operation due to noise. 555 Protective measures against electrical shock w WARNING Be sure to ground the ground terminals of the robot and controller. Poor grounding may cause electrical shock. S-15

30 4.5 Safety measures Safety Instructions Safety measures 111 Referring to warning labels and manual w WARNING Before starting installation or operation of the robot, be sure to read the warning labels and this manual, and comply with the instructions. Never attempt any repair, parts replacement and modification unless described in this manual. These tasks require specialized technical knowledge and skills and may also involve hazards. Please contact your distributor for advice. n NOTE For details on warning labels, see "3. Warning labels" in "Safety instructions." 222 Draw up "work instructions" and make the operators/workers understand them w WARNING Decide on "work instructions" in cases where personnel must work within the robot safety enclosure to perform startup or maintenance work. Make sure the workers completely understand these "work instructions". Decide on "work instructions" for the following items in cases where personnel must work within the robot safety enclosure to perform teaching, maintenance or inspection tasks. Make sure the workers completely understand these "work instructions". 1. Robot operating procedures needed for tasks such as startup procedures and handling switches 2. Robot speeds used during tasks such as teaching 3. Methods for workers to signal each other when two or more workers perform tasks 4. Steps that the worker should take when a problem or emergency occurs 5. Steps to take after the robot has come to a stop when the emergency stop device was triggered, including checks for cancelling the problem or error state and safety checks in order to restart the robot. 6. In cases other than above, the following actions should be taken as needed to prevent hazardous situations due to sudden or unexpected robot operation or faulty robot operation as listed below. Place a display sign on the operator panel Ensure the safety of workers performing tasks within the robot safety enclosure Clearly specify position and posture during work Specify a position and posture where worker can constantly check robot movements and immediately move to avoid trouble if an error/problem occurs Take noise prevention measures Use methods for signaling operators of related equipment Use methods to decide that an error has occurred and identify the type of error Implement the "work instructions" according to the type of robot, installation location, and type of work task. When drawing up the "work instructions", make an effort to include opinions from the workers involved, equipment manufacturer technicians, and workplace safety consultants, etc. 333 Take safety measures w DANGER Never enter the robot movement range while the robot is operating or the main power is turned on. Failure to follow this warning may cause serious accidents involving injury or death. Install a safety enclosure or a gate interlock with an area sensor to keep all persons away from the robot movement range. When it is necessary to operate the robot while you are within the robot movement range such as for teaching or maintenance/inspection tasks, always carry the programming box with you so that you can immediately stop the robot operation in case of an abnormal or hazardous condition. Install an enable device in the external safety circuit as needed. Also set the robot moving speed to 3% or less. Failure to follow these instructions may cause serious accidents involving injury or death. See 7.1 Movement range in Safety instructions for details on the robot s movement range. S-16

31 w WARNING During startup or maintenance tasks, display a sign "WORK IN PROGRESS" on the programming box and operation panel in order to prevent anyone other than the person for that task from mistakenly operating the start or selector switch. If needed, take other measures such as locking the cover on the operation panel. Always connect the robot and robot controller in the correct combination. Using them in an incorrect combination may cause fire or breakdown. 444 Install system When configuring an automated system using a robot, hazardous situations are more likely to occur from the automated system than the robot itself. So the system manufacturer should install the necessary safety measures required for the individual system. The system manufacturer should provide a proper manual for safe, correct operation and servicing of the system. w WARNING To check the robot controller operating status, refer to this manual and to related manuals. Design and install the system including the robot controller so that it will always work safely. Safety Instructions 555 Precautions for operation w WARNING Do not touch any electrical terminal. Directly touching these terminals may cause electrical shock, equipment damage, and malfunction. Do not touch or operate the robot controller or programming box with wet hands. Touching or operating them with wet hands may result in electrical shock or breakdown. 666 Do not disassemble and modify w WARNING Never disassemble and modify any part in the robot, controller, and programming box. Do not open any cover. Doing so may cause electrical shock, breakdown, malfunction, injury, or fire Installing a safety enclosure Be sure to install a safety enclosure to keep anyone from entering within the movement range of the robot. The safety enclosure will prevent the operator and other persons from coming in contact with moving parts of the robot and suffering injury. See 7.1 Movement range in Safety instructions for details on the robot s movement range. w DANGER Serious injury may result from contact with a moving robot. Keep outside of the robot safety enclosure during operation. Press the emergency stop button before entering the safety enclosure. w WARNING Install an interlock that triggers emergency stop when the door or gate of the safety enclosure is opened. The safety enclosure should be designed so that no one can enter inside except from the door or gate equipped with an interlock device. Warning label 1 (See "3. Warning labels" in "Safety instructions") that comes supplied with a robot should be affixed to an easy-to-see location on the door or gate of the safety enclosure. S-17

32 4.6 Operation Safety Instructions When operating a robot, ignoring safety measures and checks may lead to serious accidents. Always take the following safety measures and checks to ensure safe operation. w DANGER Check the following points before starting robot operation. No one is within the robot safety enclosure. The programming unit is in the specified location. The robot and peripheral equipment are in good condition Trial operation After installing, adjusting, inspecting, maintaining or repairing the robot, perform trial operation using the following procedures. 111 If a safety enclosure has not yet been provided right after installing the robot: Then rope off or chain off the movement range around the robot in place of the safety enclosure and observe the following points. See 7.1 Movement range in Safety instructions for details on the robot s movement range. w DANGER Place a "Robot is moving - KEEP AWAY!" sign to keep the operator or other personnel from entering within the movement range of the robot. w WARNING Use sturdy, stable posts which will not fall over easily. The rope or chain should be easily visible to everyone around the robot. 222 Check the following points before turning on the controller. Is the robot securely and correctly installed? Are the electrical connections to the robot wired correctly? Are items such as air pressure correctly supplied? Is the robot correctly connected to peripheral equipment? Have safety measures (safety enclosure, etc.) been taken? Does the installation environment meet the specified standards? 333 After the controller is turned on, check the following points from outside the safety enclosure. Does the robot start, stop and enter the selected operation mode as intended? Does each axis move as intended within the soft limits? Does the end effector move as intended? Are the correct signals being sent to the end effector and peripheral equipment? Does emergency stop function? Are teaching and playback functions normal? Are the safety enclosure and interlocks functioning as intended? S-18

33 444 Working inside safety enclosures Before starting work within the safety enclosure, always confirm from outside the enclosure that each protective function is operating correctly (see the previous section 2.3). w DANGER Never enter within the movement range while within the safety enclosure. See 7.1 Movement range in Safety instructions for details on the robot s movement range. w WARNING When work is required within the safety enclosure, place a sign "Work in progress" in order to keep other persons w WARNING from operating the controller switch or operation panel. When work within the safety enclosure is required, always turn off the controller power except for the following cases: Safety Instructions Exception Work with power turned on, but robot in emergency stop Origin position setting Standard coordinate setting Soft limit settings Work with power turned on Teaching SCARA robots SCARA robots SCARA robots Cartesian robots Single-axis robots SCARA robots Cartesian robots Single-axis robots Follow the precautions and procedure described in "Adjusting the origin". Follow the precautions and procedure described in "Setting the standard coordinates". Follow the precautions and procedure described in "Setting the soft limits". Follow the precautions and procedure described in "Soft limit" in each controller manual. Refer to "5. Teaching within safety enclosure" described below. 555 Teaching within the safety enclosure When performing teaching within the safety enclosure, check or perform the following points from outside the safety enclosure. w DANGER Never enter within the movement range while within the safety enclosure. See 7.1 Movement range in Safety instructions for details on the robot s movement range. w WARNING Make a visual check to ensure that no hazards are present within the safety enclosure. Check that the programming box or handy terminal operates correctly. Check that no failures are found in the robot. Check that emergency stop works correctly. Select teaching mode and disable automatic operation. S-19

34 4.6.2 Automatic operation Safety Instructions Check the following points when operating the robot in AUTO mode. Observe the instructions below in cases where an error occurs during automatic operation. Automatic operation described here includes all operations in AUTO mode. 111 Checkpoints before starting automatic operation Check the following points before starting automatic operation w DANGER Check that no one is within the safety enclosure. Check the safety enclosure is securely installed with interlocks functional. w WARNING Check that the programming box / handy terminal and tools are in their specified locations. Check that the signal tower lamps or other alarm displays installed for the system are not lit or flashing, indicating no error is occurring on the robot and peripheral devices. 222 During automatic operation and when errors occur After automatic operation starts, check the operation status and the signal tower to ensure that the robot is in automatic operation. w DANGER Never enter the safety enclosure during automatic operation. w WARNING If an error occurs in the robot or peripheral equipment, observe the following procedure before entering the safety enclosure. 1) Press the emergency stop button to set the robot to emergency stop. 2) Place a sign on the start switch, indicating that the robot is being inspected in order to keep other persons from restarting the robot Precautions during operation 111 When the robot is damaged or an abnormal condition occurs w WARNING If unusual odors, noise or smoke occur during operation, immediately turn off power to prevent possible electrical shock, fire or breakdown. Stop using the robot and contact your distributor. If any of the following damage or abnormal conditions occurs the robot, then continuing to operate the robot is dangerous. Immediately stop using the robot and contact your distributor. Damage or abnormal condition Damage to machine harness or robot cable Damage to robot exterior Abnormal robot operation (position deviation, vibration, etc.) Z-axis (vertical axis) or brake malfunction Type of danger Electrical shock, robot malfunction Damaged parts fly off during robot operation Robot malfunction Z-axis unit falls off 222 High temperature hazard w WARNING Do not touch the robot controller and robot during operation. The robot controller and robot body are very hot during operation, so burns may occur if these sections are touched. The motor and speed reduction gear casing are very hot shortly after operation, so burns may occur if these are touched. Before touching those parts for inspections or servicing, turn off the controller, wait for a while and check that their temperature has cooled. S-20

35 333 Use caution when releasing the Z-axis (vertical axis) brake w WARNING The vertical axis will slide downward when the brake is released, causing a hazardous situation. Take adequate safety measures in consideration by taking the weight and shape into account. Before releasing the brake after pressing the emergency stop button, place a support under the vertical axis so that it will not slide down. Be careful not to let your body get caught between the vertical axis and the installation base when performing tasks (direct teaching, etc.) with the brake released. 444 Be careful of Z-axis movement when the controller is turned off or emergency stop is triggered (air-driven Z-axis) w WARNING The Z-axis starts moving upward when power to the controller or PLC is turned off, the program is reset, emergency stop is triggered, or air is supplied to the solenoid valve for the Z-axis air cylinder. Do not let hands or fingers get caught and squeezed by robot parts moving along the Z-axis. Keep the usual robot position in mind so as to prevent the Z-axis from hanging up or binding on obstacles during raising of the Z-axis except in case of emergency stop. Safety Instructions 555 Take protective measures when the Z-axis interferes with peripheral equipment (air-driven Z-axis) w WARNING When the Z-axis comes to a stop due to obstruction from peripheral equipment, the Z-axis may move suddenly after the obstruction is removed, causing injury such as pinched or crushed hands. Turn off the controller and reduce the air pressure before attempting to remove the obstruction. Before reducing the air pressure, place a support under the Z-axis because the Z-axis will drop under its own weight. 666 Be careful of Z-axis movement when air supply is stopped (air-driven Z-axis) w WARNING The Z-axis will slide downward when the air pressure to the Z-axis air cylinder solenoid valve is reduced, creating a hazardous situation. Turn off the controller and place a support under the Z-axis before cutting off the air supply. 777 Make correct parameter settings c CAUTION The robot must be operated with the correct tolerable moment of inertia and acceleration coefficients that match the manipulator tip mass and moment of inertia. Failure to follow this instruction will lead to a premature end to the drive unit service life, damage to robot parts, or cause residual vibration during positioning. 888 If the X-axis, Y-axis or R-axis rotation angle is small c CAUTION If the X-axis, Y-axis or R-axis rotation angle is set smaller than 5 degrees, then it will always move within the same position. This restricted position makes it difficult for an oil film to form on the joint support bearing, and so may possibly damage the bearing. In this type of operation, add a range of motion so that the joint moves through 90 degrees or more, about 5 times a day. S-21

36 4.7 Inspection and maintenance Safety Instructions Always perform daily and periodic inspections and make a pre-operation check to ensure there are no problems with the robot and related equipment. If a problem or abnormality is found, then promptly repair it or take other measures as necessary. Keep a record of periodic inspections or repairs and store this record for at least 3 years Before inspection and maintenance work 111 Do not attempt any work or operation unless described in this manual. Never attempt any work or operation unless described in this manual. If an abnormal condition occurs, please be sure to contact your distributor. Our service personnel will take appropriate action. w WARNING Never attempt inspection, maintenance, repair, and part replacement unless described in this manual. These tasks require specialized technical knowledge and skills and may also involve hazards. Please be sure to contact your distributor for advice. 222 Precautions during repair and parts replacement w WARNING When it is necessary to repair or replace parts of the robot or controller, please be sure to contact your distributor and follow the instructions they provide. Inspection and maintenance of the robot or controller by an unskilled, untrained person is extremely hazardous. Adjustment, maintenance and parts replacement require specialized technical knowledge and skills, and also may involve hazards. These tasks must be performed only by persons who have enough ability and qualifications required by local laws and regulations. w WARNING Adjustment and maintenance by removing a cover require specialized technical knowledge and skills, and may also involve hazards if attempted by an unskilled person. This adjustment must be performed only by persons who have the required qualifications described in 2. Qualification of operators/workers in section 4.1 of this Safety instructions. 333 Shut off all phases of power supply w WARNING Always shut off all phases of the power supply externally before cleaning the robot and controller or securely tightening the terminal screws etc. Failure to do this may cause electrical shock or product damage or malfunction. 444 Allow a waiting time after power is shut off (Allow time for temperature and voltage to drop) w WARNING When performing maintenance or inspection of the robot controller under your distributor's instructions, wait at least the time (*) specified for each controller after turning the power off. Some components in the robot controller are very hot or still retain a high voltage shortly after operation, so burns or electrical shock may occur if those parts are touched. The motor and speed reduction gear casing are very hot shortly after operation, so burns may occur if they are touched. Before touching those parts for inspections or servicing, turn off the controller, wait for a while and check that the temperature has cooled. * For information on how long you should wait after turning the power off, see the user s manual for each controller. 555 Precautions during inspection of controller w WARNING When you need to touch the terminals or connectors on the outside of the controller during inspection, always first turn off the controller power switch and also the power source in order to prevent possible electrical shock. Do not disassemble the controller. Never touch any internal parts of the controller. Doing so may cause breakdown, malfunction, injury, or fire. S-22

37 4.7.2 Precautions during service work 111 Precautions when removing a motor (Cartesian robots and vertical mount single-axis robots) w WARNING The vertical axis will slide down when the motor is removed, causing a hazardous situation. Turn off the controller and place a support under the vertical axis before removing the motor. Be careful not to let your body get caught by the driving unit of the vertical axis or between the vertical axis and the installation base. 222 Be careful when removing the Z-axis motor (SCARA robots) w WARNING The Z-axis will slide downward when the Z-axis motor is removed, causing a hazardous situation. Turn off the controller and Place a support under the Z-axis before removing the Z-axis motor. Be careful not to let your body get caught by the driving unit of the Z-axis or between the Z-axis drive unit and the installation base. Safety Instructions 333 Do not remove the Z-axis upper limit mechanical stopper c CAUTION Warning label 4 is attached to each SCARA robot. (For details on warning labels, see "3. Warning labels" in "Safety instructions.") Removing the upper limit mechanical stopper installed to the Z-axis spline or shifting its position will damage the Z-axis ball screw. Never attempt to remove it. 444 Use caution when handling a robot that contains powerful magnets w WARNING Powerful magnets are installed inside the robot. Do not disassemble the robot since this may cause injury. Devices that may malfunction due to magnetic fields must be kept away from this robot. See "6. Cautions regarding strong magnetic fields" in "Safety instructions" for detailed information on strong magnetic fields. 555 Use the following caution items when disassembling or replacing the pneumatic equipment. w WARNING Air or parts may fly outward if pneumatic equipment is disassembled or parts replaced while air is still supplied. Do service work after turning off the controller, reducing the air pressure, and exhausting the residual air from the pneumatic equipment. Before reducing the air pressure, place a support stand under the Z-axis (2-axis robots with air driven Z-axis) since it will drop under its own weight. 666 Use caution to avoid contact with the controller cooling fan w WARNING Touching the rotating fan may cause injury. If removing the fan cover, first turn off the controller and make sure the fan has stopped. 777 Precautions for robot controllers c CAUTION Back up the robot controller internal data on an external storage device. The robot controller internal data (programs, point data, etc.) may be lost or deleted for unexpected reasons. Always make a backup of this data. Do not use thinner, benzene, or alcohol to wipe off the surface of the programming box. The surface sheet may be damaged or printed letters or marks erased. Use a soft, dry cloth and gently wipe the surface. Do not use a hard or pointed object to press the keys on the programming box. Malfunction or breakdown may result if the keys are damaged. Use your fingers to operate the keys. S-23

38 4.8 Disposal Safety Instructions When disposing of robots and related items, handle them carefully as industrial wastes. Use the correct disposal method in compliance with your local regulations, or entrust disposal to a licensed industrial waste disposal company. 111 Disposal of lithium batteries When disposing of lithium batteries, use the correct disposal method in compliance with your local regulations, or entrust disposal to a licensed industrial waste disposal company. We do not collect and dispose of the used batteries. 222 Disposal of packing boxes and materials When disposing of packing boxes and materials, use the correct disposal method in compliance with your local regulations. We do not collect and dispose of the used packing boxes and materials. 333 Strong magnet w WARNING Strong magnets are installed in the robot. Be careful when disposing of the robot. See "6. Cautions regarding strong magnetic fields" in "Safety instructions" for detailed information on strong magnetic fields. S-24

39 5. Emergency action when a person is caught by robot If a person should get caught between the robot and a mechanical part such as the installation base, then release the axis. Emergency action n NOTE Release the axis while referring to the following section in the manual for the robot controller. RCX240 RCX340 Controller Refer to: Section 1, "Emergency action when a person is caught by robot" in Chapter 1 Make a printout of the relevant page in the manual and post it a conspicuous location near the controller. Safety Instructions 6. Cautions regarding strong magnetic fields Some YAMAHA robots contain parts generating strong magnetic fields which may cause bodily injury, death, or device malfunction. Always comply with the following instructions. Persons wearing medical electronic devices such as cardiac pacemakers or hearing aids must keep away from the linear single-axis robot and linear conveyor. (Stay at least 100mm away.) Persons wearing ID cards, purses, and/or wristwatches must keep away from the linear single-axis robot and linear conveyor. Do not attempt to disassemble the linear single-axis robot and linear conveyor (including surrounding covers). Do not bring tools close to the internal parts of the robot and the linear conveyor magnets. Always attach the magnet protective cover (supplied) when handling, shipping or storing the linear conveyor s slider when removing it from the module. S-25

40 7. Using the robot safely Safety Instructions 7.1 Movement range When a tool or workpiece is attached to the robot manipulator tip, the actual movement range enlarges from the movement range of the robot itself (Figure A) to include the areas taken up by movement of the tool and workpiece attached to the manipulator tip (Figure B). The actual movement range expands even further if the tool or workpiece is offset from the manipulator tip. The movement range here is defined as the range of robot motion including all areas through which the robot arms, the tool and workpiece attached to the manipulator tip, and the solenoid valves attached to the robot arms move. To make the robot motion easier to understand, the figures below only show the movement ranges of the tool attachment section, tool, and workpiece. Please note that during actual operation, the movement range includes all areas where the robot arms and any other parts move along with the robot. Movement range Figure A: Movement range of robot itself Figure B: Movement range when tool and workpiece are attached to manipulator tip c CAUTION X0-00 To make the robot motion easier to understand, the above figures only show the movement ranges of the tool attachment section, tool, and workpiece. In actual operation, the movement range includes all areas where the robot arms and any other parts move along with the robot. S-26

41 7.2 Robot protective functions Protective functions for YAMAHA robots are described below. 111 Overload detection This function detects an overload applied to the motor and turns off the servo. If an overload error occurs, take the following measures to avoid such errors: 1. Insert a timer in the program. 2. Reduce the acceleration. 222 Overheat detection This function detects an abnormal temperature rise in the driver inside the controller and turns off the servo. If an overheat error occurs, take the following measures to avoid the error: 1. Insert a timer in the program. 2. Reduce the acceleration. 333 Soft limits Soft limits can be set on each axis to limit the working envelope in manual (jog) operation and automatic operation after return-to-origin. The working envelope is the area limited by soft limits. w WARNING Soft limit function is not a safety-related function intended to protect the human body. To restrict the robot movement range to protect the human body, use the mechanical stoppers installed in the robot (or available as options). Safety Instructions 444 Mechanical stoppers If the servo is turned off by emergency stop operation or protective function while the robot is moving, then these mechanical stoppers prevent the axis from exceeding the movement range. The movement range is the area limited by the mechanical stoppers. w WARNING c CAUTION w DANGER SCARA robots Single-axis robots Cartesian robots The X and Y axes have mechanical stoppers that are installed at both ends of the maximum movement range. Some robot models have a standard feature that allows changing the mechanical stopper positions. On some other models, the mechanical stopper positions can also be changed by using option parts. The Z-axis has a mechanical stopper at the upper end and lower end. The stopper positions can be changed by using option parts. No mechanical stopper is provided on the R-axis. YK-TW series robots do not have mechanical stoppers intended to protect the human body, due to the product characteristic of the orbit movement. When it is necessary to restrict the arm rotation angle so as to ensure the safety, install additional stopper separately. The linear movement axis has a mechanical stopper at both ends of the maximum movement range. The positions of these mechanical stoppers cannot be changed. No mechanical stopper is provided on the rotational axis. Axis movement does not stop immediately after the servo is turned off by emergency stop or other protective functions, so use caution. If the robot moving at high speed collides with a mechanical stopper installed in the robot (or available as option), the robot may be damaged. When the linear conveyor module is used to insert or eject the slider, mechanical stoppers cannot be attached to the module body due to the structural limits. So install a device to catch and stop the slider being ejected at high speed from the module, as well as other necessary safety measures. 555 Z-axis (vertical axis) brake An electromagnetic brake is installed on the Z-axis to prevent the Z-axis from sliding downward when the servo is OFF. This brake is working when the controller is OFF or the Z-axis servo power is OFF even when the controller is ON. The Z-axis brake can be released by the programming unit / handy terminal or by a command in the program when the controller is ON. w WARNING The vertical axis will slide downward when the brake is released, causing a hazardous situation. Take adequate safety measures in consideration by taking the weight and shape into account. Before releasing the brake after pressing the emergency stop button, place a support under the vertical axis so that it will not slide down. Be careful not to let your body get caught between the vertical axis and the installation base when performing tasks (direct teaching, etc.) with the brake released. S-27

42 7.3 Residual risk Safety Instructions To ensure safe and correct use of YAMAHA robots and controllers, System integrators and/or end users implement machinery safety design that conforms to ISO Residual risks for YAMAHA robots and controllers are described in the DANGER or WARNING instructions provided in each chapter and section. Read them carefully. 7.4 Special training for industrial robot operation Operators or persons who handle the robot for tasks such as for teaching, programming, movement checks, inspections, adjustments, and repairs must receive appropriate training and also have the skills needed to perform the job correctly and safely. They must also read the manual carefully to understand its contents before attempting the robot operation or maintenance. Tasks related to industrial robots (teaching, programming, movement check, inspection, adjustment, repair, etc.) must be performed by qualified persons who meet requirements established by local regulations and safety standards for industrial robots. Comparison of terms used in this manual with ISO This manual ISO Note Maximum movement range maximum space Area limited by mechanical stoppers. Movement range restricted space Area limited by movable mechanical stoppers. Working envelope operational space Area limited by software limits. Within safety enclosure safeguarded space See 7.1 Movement range in Safety instructions for details on the robot s movement range. S-28

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44 Revision record Manual version Issue date Description Ver May 2012 First edition Ver Jun Description of "Emergency action when a person is caught by robot" was added, the work sequence for working within the safety enclosure changed, typing errors corrected, etc. Ver Sep Description of warning labels was added; descriptions of "soft limits", "mechanical stoppers" and work performed with vertical axis brake released were changed; and residual risk description was added. Ver Dec Warning on restricting the robot moving speed was added and description of warning label language was changed. Ver Jun Description of Movement range was added. Ver Sep Description of linear conveyor module was added. Ver Apr Description of warning labels was added and description of Qualification of operators/workers was changed, etc. Ver Dec Description of warning labels was added, etc. Ver Feb Description of "mechanical stoppers" was added, etc. Feb Ver YAMAHA MOTOR CO., LTD. IM Operations All rights reserved. No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO., LTD. Information furnished by YAMAHA in this manual is believed to be reliable. However, no responsibility is assumed for possible inaccuracies or omissions. If you find any part unclear in this manual, please contact your distributor.

45 Warranty For information on the warranty period and terms, please contact our distributor where you purchased the product. This warranty does not cover any failure caused by: 1. Installation, wiring, connection to other control devices, operating methods, inspection or maintenance that does not comply with industry standards or instructions specified in the YAMAHA manual; 2. Usage that exceeded the specifications or standard performance shown in the YAMAHA manual; 3. Product usage other than intended by YAMAHA; 4. Storage, operating conditions and utilities that are outside the range specified in the manual; 5. Damage due to improper shipping or shipping methods; 6. Accident or collision damage; 7. Installation of other than genuine YAMAHA parts and/or accessories; 8. Modification to original parts or modifications not conforming to standard specifications designated by YAMAHA, including customizing performed by YAMAHA in compliance with distributor or customer requests; 9. Pollution, salt damage, condensation; 10. Fires or natural disasters such as earthquakes, tsunamis, lightning strikes, wind and flood damage, etc; 11. Breakdown due to causes other than the above that are not the fault or responsibility of YAMAHA; Warranty The following cases are not covered under the warranty: 1. Products whose serial number or production date (month & year) cannot be verified. 2. Changes in software or internal data such as programs or points that were created or changed by the customer. 3. Products whose trouble cannot be reproduced or identified by YAMAHA. 4. Products utilized, for example, in radiological equipment, biological test equipment applications or for other purposes whose warranty repairs are judged as hazardous by YAMAHA. THE WARRANTY STATED HEREIN PROVIDED BY YAMAHA ONLY COVERS DEFECTS IN PRODUCTS AND PARTS SOLD BY YAMAHA TO DISTRIBUTORS UNDER THIS AGREEMENT. ANY AND ALL OTHER WARRANTIES OR LIABILITIES, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE ARE HEREBY EXPRESSLY DISCLAIMED BY YAMAHA. MOREOVER, YAMAHA SHALL NOT BE HELD RESPONSIBLE FOR CONSEQUENT OR INDIRECT DAMAGES IN ANY MANNER RELATING TO THE PRODUCT. This manual does not serve as a guarantee of any industrial property rights or any other rights and does not grant a license in any form. Please acknowledge that we bear no liability whatsoever for any problems involving industrial property rights which may arise from the contents of this manual. Ver.1.01_201209

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47 Important information before reading this manual Introduction Available manuals About this manual Before using the driver (Be sure to read the following notes) i i i ii

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49 Introduction Our sincere thanks for your purchase of this YAMAHA single-axis robot driver. Be sure to read this manual carefully as well as related manuals and comply with their instructions for using the YAMAHA single-axis robot driver safely and correctly. Available manuals The following manuals are included in the disc that comes supplied with the YAMAHA robot or driver. Available manuals Controller Robots User s manual (this manual) Describes controller setup, wiring, settings, robot operation, and standard parameters. Installation manual Describes how to install and connect the robot. Maintenance manual Describes the maintenance procedures for the robot. User s manual Describes robot setup and wiring, and robot maintenance. Support software User s manual Describes how to use the support software. Use any of the following approaches to this manual when installing, operating and adjusting the YAMAHA robot and/or driver so that you can quickly refer to this manual when needed. 1. Keep the printed version of this manual (available for an additional fee) handy for ready reference. 2. View the disc version of this manual on your PC screen. 3. Print out the necessary pages of this manual from the disc and keep them handy for ready reference. Important information before reading this manual About this manual Warnings and cautions listed in this manual relate to YAMAHA robot controllers. To ensure safety of the user's final system that includes YAMAHA robots and controllers, please take appropriate safety measures as required by the user's individual system. Industrial robots are highly programmable machines that provide a large degree of freedom in movement. To use YAMAHA robots and drivers safely and correctly, be sure to comply with the safety instructions and precautions described in this manual. Failure to take necessary safety measures or incorrect handling may result not only in trouble or damage to the robot and controller, but also in serious accidents involving injury or death to personnel (robot installer, operator, or service personnel). Observe the precautions given in each Chapter. To use YAMAHA robots and drivers safely and correctly, first read "Safety Instructions" in this manual and always comply with the safety rules and instructions. Please note, however, this manual cannot cover all items regarding safety. Therefore, it is extremely important that the operator or user have knowledge of safety and make correct decisions regarding safety. i

50 Before using the driver (Be sure to read the following notes) Important information before reading this manual Please be sure to perform the following tasks before using the driver. Be aware that if you fail to perform the following tasks, the robot may operate abnormally (vibration or noise may occur). [1]When connecting the power supply to the driver Always make a secure connection to the ground terminal on the driver to ensure safety and prevent malfunctions due to noise. TIP For details, refer to Chapter 3, "2.2 Main circuit wiring". [2]When connecting robot cables to the driver Be sure to keep robot cables separate from the robot controller power connection lines and other equipment power lines. Using in close contact with lines carrying power may cause malfunctions or abnormal operation. [3]Setting the maximum speed When operating a ball screw driven robot, the ball screw s free length will increase as the movement stroke increases, and the resonant frequency will drop. This may cause the ball screw to resonate and vibrate severely depending on the motor rotation speed. (The speed at which resonance occurs is called the critical speed.) To prevent this resonance, the maximum speed must be reduced depending on the robot model when the movement stroke increases. Refer to our robot catalog for the maximum speed settings. c CAUTION Continuous operation while the ball screw is resonating may cause the ball screw to wear out prematurely. [4]Duty To lengthen the service life of robots, the robots must be operated within the allowable duty (50%). The duty is calculated as follows: Duty (%) = Operation time Operation time+ Non-operation time 100 If the robot duty is too high, an error such as "overload" or "overheat" occurs. In this case, increase the non-operation time to reduce the duty. ii

51 Chapter 1 Using the robot safely 1. Precautions for use Storage Carrying Installation Wiring Control and operation Maintenance and inspection Safety standards Measures for CE marking Cautions regarding compliance with EC Directives CE marking Applicable EC Directives and their related standards Robots subject to CE Marking Cautions regarding the official language of EU countries Usage conditions 1-6

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53 111 Precautions for use w DANGER 1. Never touch a moving part of the robot during operation. Doing so may cause injury. 1 w WARNING Improper handling may cause electrical shock or fire. Always observe the following precautions. 1. Never touch any part inside the driver. Touching parts may cause electrical shock or fire. 2. Always ground the ground terminal on the driver and robot. Failure to do so may cause electrical shock. 3. Before making wiring or inspection, wait at least 10 minutes after turning power off and make sure the charge lamp on the front panel is off. Failure to do so may cause electrical shock. 4. Do not damage the cables or apply excessive stress to them. Do not place heavy objects on the cables or crush them. Using a damaged cable may cause electrical shock. c CAUTION 1. Use only the specified robot and driver combination. Using the wrong combination may cause fire or malfunction. 2. Never use this unit in locations subject to water, grinding fluid mist, corrosive gases, explosive gases or salt damage. Do not use near inflammable objects or materials. Doing so may cause fire, malfunction or accidents. 3. The driver, robot and peripheral equipment may become hot during operation. Be careful not to touch them. Touching them may cause burns. 4. The driver's heat-sink fins, regenerative resistor, and robot may become hot when power is being supplied or shortly after power is turned off, so do not touch them. Touching them may cause burns. 5. Allow at least a 5-minute time interval between power on and off. Failure to do so may cause fire. 6. Install a leakage breaker on the power supply side of the driver. Failure to do so may cause fire. 7. Use a power line, leakage breakers and electromagnetic contacts that meet the required specifications (ratings). Failure to do so may cause fire. 8. Do not start/stop operation by turning on or off the electromagnetic contact installed on the power supply side of the driver. Doing so may cause fire. Using the robot safely 222 Storage c CAUTION 1. Do not store the unit in locations exposed to rain, water droplets, grinding fluid mist or harmful gases or liquids. 2. Store the unit in locations not exposed to direct sunlight and within the specified humidity and temperature range ( 10 to +70 C, 20 to 90% RH without condensation). 3. Contact your distributor if you have stored the unit over an extended period of time. 1-1

54 1 Using the robot safely 333 Carrying c CAUTION 1. Do not carry the driver by the cables. Doing so may cause malfunction or injury. 2. Do not carry the driver by its front cover. Doing so may cause the unit to fall resulting in injury. 444 Installation c CAUTION 1. Do not climb on top of the driver, or place a heavy object on it. Doing so may cause injury. 2. Do not block the air intake and exhaust vents. Do not allow foreign matter or debris to penetrate inside. Doing so may cause fire. 3. Always use the correct method to install the unit. The unit may malfunction if not properly installed. 4. Install the driver on a straight, vertical wall not subject to vibration. The unit may fall and injure someone if not properly installed. 5. Install the unit on a surface made of incombustible materials such as metal. Failure to do so may cause fire. 6. Install the unit at a place strong enough to support the weight of the unit. The unit may fall and injure someone if not properly installed. 7. Tighten the screws to the specified torque. Make sure that all screws are securely fastened before operation. The unit may fall and injure someone if not properly installed. 8. Provide the specified clearance between the driver and the inner surface of the control panel or any other unit. Failure to do so may cause malfunction. 9. Do not allow foreign matter such as cut wire fragments, welding debris, iron waste or similar items to penetrate inside. Doing so may cause fire. 10. Avoid applying strong shock to the unit to prevent malfunction. 11. Do not install the unit if any part is damaged or missing. Doing so may cause fire or injury. 1-2

55 555 Wiring w DANGER 1. Wiring work should be carried out by qualified electricians. Improper wiring may cause electrical shock or fire. 2. Always first install the unit before carrying out wiring. Failure to do so may cause electrical shock or injury. 3. Before performing work, cut off the power supply and make sure that the charge lamp is unlit. Failure to do so may cause electrical shock or fire. 4. Be sure to connect the driver's ground terminal to the grounding point (Class D: 100 ohms or less). Failure to do so may cause electrical shock or fire. c CAUTION 1. Make sure that the wiring is correct. Wrong wiring may cause abnormal robot motion resulting in injury. 2. Cables connecting to the driver should be securely fastened near the driver so that no tensile stress is applied to the cables. Stress on the cables may lead to malfunction. 3. Remove main circuit connectors 1 and 2 from the driver before wiring them. Failure to do so will lead to malfunction. 4. When inserting an electrical wire, ensure that no strands of the core touch any conductive portion. Failure to do so will lead to malfunction. 5. If the inserted portion of the electrical wire becomes damaged for any reason, strip the wire again and reconnect it. Failure to do so will lead to malfunction. 6. If using the regenerative braking resistor both inside the driver and an external unit, do not connect wires other than (+) and RB. Doing so will lead to malfunction. 7. Do not short the various signal wires with each other, or connect them to the power supply. Doing so may make the driver or robot malfunction. 1 Using the robot safely 1-3

56 1 666 Control and operation w WARNING Install an external emergency stop circuit so that you can immediately stop operation and shut off power whenever needed. Using the robot safely c CAUTION 1. To prevent unstable or erratic operation never make drastic adjustments to the unit. Doing so may cause injury. 2. Install a safety circuit that actuates an electromagnetic contactor to cut off the main circuit power supply in case of an alarm. If an alarm has occurred, eliminate the cause of the alarm and ensure safety. Then reset the alarm and restart the operation. Failure to do so may cause injury. 3. If a momentary power outage occurs and power is restored, the unit might suddenly restart so do not approach the machine at that time. (Design the machine so that personal safety is ensured even if it suddenly restarts.) Failure to do so may cause injury. 4. Make sure that the AC power specifications match the product power specifications. Using the wrong power specifications may cause injury. 5. While power is being supplied, do not touch any parts inside the driver or its terminals. Also, do not check the signals or attach/detach the cables. Doing so may cause electrical shock or injury. 6. While power is being supplied, do not touch any terminals on the driver even if the robot is stopped. Doing so may cause electrical shock or fire. 7. When using a user program to perform debugging operation of the robot, provide a circuit that allows an emergency stop by shutting off the main power or by turning the servo ON terminal OFF. Failure to do so may cause injury or damage the machine. 777 Maintenance and inspection w DANGER 1. After turning power off, wait at least 10 minutes before starting maintenance and make sure the charge lamp on the digital operator panel is off. Failure to do so may cause electrical shock. 2. Do not attempt to disassemble or repair the unit or replace any parts of the unit. Only qualified service personnel are allowed to do repair work. c CAUTION The capacitance of the capacitor on the power supply line drops due to deterioration. Replacing the capacitor based on its service life curve is recommended in order to prevent secondary damage resulting from capacitor failure. (See Chapter 7 "Maintenance and inspection".) Using a deteriorated or defective capacitor may cause malfunction. 1-4

57 Safety standards Measures for CE marking Cautions regarding compliance with EC Directives 1 The YAMAHA robot is just one component that is incorporated into the customer's system (built-in equipment), and we declare that YAMAHA robots conform to the EC Directives only within the scope of built-in equipment. This does not therefore guarantee that YAMAHA robots conform to EC Directives in cases where the robot is used independently. Customers who incorporate a YAMAHA robot into their final system which will be shipped to, or used, in the EU, should therefore verify that the overall system is compliant with EC Directives CE marking YAMAHA robots are components that are incorporated into the customer's system (built-in equipment). We therefore declare regarding EC Directives that YAMAHA robots are "Partly completed machinery" and so we do not affix a CE mark to the robots EC Directive Applicable EC Directives and their related standards Related Standards Using the robot safely Machinery Directive EN ISO12100 : Safety of machinery General principles for design Risk assessment and risk reduction 2006/42/EC EN : Safety of machinery Electrical equipment of machines Part 1: General requirements EMC Directive EN : Industrial, scientific and medical equipment Radio-frequency disturbance characteristics Limits and methods of measurement 2004/108/EC EN : Electromagnetic compatibility (EMC) Part 6-2: Generic standards Immunity for industrial environments Low-voltage commands *1 EN : Adjustable speed electrical power drive systems - Part 5-1: Safety requirements - Electrical, thermal and energy 2006/95/EC *1: Applicable only to driver Robots subject to CE Marking The following robot series products are subject to CE marking. Driver Related Standards RDV-X Single-axis robots : FLIP-X series RDV-P Single-axis robots : PHASER series Cautions regarding the official language of EU countries For equipment that will be installed in EU countries, the language used for the manuals, warning labels, operation screen characters, and CE declarations is English only. Warning labels only have pictograms or else include warning messages in English. In the latter case, messages in Japanese or other languages might be added. 1-5

58 1 999 Usage conditions Conditions of usage for the RDV series robot drivers are described below. Operation voltage conditions Using the robot safely Voltage variance less than +10%/-15% Voltage imbalance less than ±3% Frequency variance less than ±4% Voltage harmonic distortion less than 10% Operating environment Temperature 0 to +55 C Humidity 20 to 90% RH Vibration 5.9 m/sec 2 (0.6 G) 10 to 55 Hz Elevation 1000 m or lower EMC (Electromagnetic compatibility) YAMAHA robot series products are designed for use in industrial environments. (Applicable definition relating to the EMC Directive: Refer to the EN (IEC ) Standard, Clause 1 "Scope".) In order to conform to the EMC Directive, the customer must evaluate the finished product (entire system) and take necessary countermeasures. For details on EMC conformity of YAMAHA robot units, refer to Chapter 10, "4. EMC countermeasure examples". Installation conditions Protective structure YAMAHA robots are classified as built-in equipment and have a "Class I" protective structure against electrical shock. The robot and driver must therefore be grounded properly to prevent possible electrical shock. Enclosure The driver case is not designed as an enclosure that conforms to the EN (IEC ) Standard. Suitable protection should therefore be provided to prevent the danger of electrical shock due to inadvertent contact and ambient environment problems (dust, water, etc.). The protective structure is designed to the following rating. Protective structure (IP Rating) IP20 Insulation co-ordination Regarding insulation co-ordination, YAMAHA robots and controllers are designed to meet the following conditions: Overvoltage category III Pollution degree 2 Take proper countermeasures as needed if the robot or controller is used in environments more severe than these levels. Explosion-proof YAMAHA robots and drivers are not designed to meet explosion-proof specifications. Do not use them in environments exposed to flammable gases, gasoline, or solvents which could cause explosion or fire. 1-6

59 Chapter 2 Introduction 1. Inspection after unpacking Checking the product User's manual Product inquiries and warranty Notes when making an inquiry External view and part names Driver and robot combination 2-4

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61 Inspection after unpacking Checking the product After unpacking, take out the driver and check the following items. If you find or suspect any damage to the product please contact your distributor. (1) Make sure that there is no damage, missing parts or dents/scratches on the product body. (2) After unpacking, make sure that the package contains the following items. Item Note 2 1. Driver 1 2. Main circuit connector 1 1 For connecting main power and control power 3. Wire inserter tool 1 For wiring the main circuit connector 4. Manual on disc Specification label Introduction 4 Serial number label (3) Check the specification label to find whether the product is the same item as ordered. Driver model name Input rating Output rating Model : RDV-X205 AC SERVO DRIVER Input : 1Ph V 2.1 A 50Hz. 60Hz 3Ph V 1.3 A 50Hz. 60Hz Output : 3Ph 230 Vmax 1.2 A MFG. No. 52AAN12345A50000 Date : 1502 NE YAMAHA MOTOR CO., LTD. MADE IN JAPAN 882 Soude, Naka-ku, Hamamatsu, Shizuoka , Japan Details on specification label X X 0001 X205 X210 X220 P205 P210 P220 P225 Driver model No. RDV-X205 RDV-X210 RDV-X220 RDV-P205 RDV-P210 RDV-P220 RDV-P225 Production number Production month 1 to 9 0 X Y January to September October November December Production year: Last 2 digits of year Details on serial number label 1111 User's manual This user's manual describes how to use the YAMAHA single-axis robot driver RDV series. Before using the RDV series, read this manual thoroughly in order to handle and operate it correctly. Store this manual carefully even after reading it. 2-1

62 Product inquiries and warranty Notes when making an inquiry 2 Introduction If you need to inquire about possible product damage, failures or points that are unclear, then please contact your distributor with the following information. (1) Driver model (2) Production number (3) Date of purchase (4) Details of your inquiry Damaged section and condition, etc. Dubious point and description, etc. 2-2

63 333 External view and part names CP (green) Lights up when the control power is turned on. Do not touch the driver while this lamp is lit. Display panel 5-digit and 7-segment LED. Used to display the operating state and alarm. 2 Main circuit connector 1 Connector for main circuit power and control power. CHARGE (red) Lights up when the main circuit power is turned on. This lamp is lit while electric charges remain in the main circuit capacitor even after the power has been turned off. So, do not touch the driver while this lamp is lit. Computer connector (PC) Connects to the USB connector of the personal computer. Introduction Main circuit connector 2 Connector for motor power cable, DC power input, and external braking resistor. Input/output signal connector (I/O) Connector for command input signals, programmable controller input signals, and origin sensor signals. Specification label Model and rating indication Exhaust air Position sensor connector (ENC1) Connects to the linear motor position sensor or resolver. Ground terminal Always ground the unit through this terminal to prevent electrical shock. Serial number label Indicates the driver model and manufacture number. Intake air Serial number label 2-3

64 444 Driver and robot combination The table below shows applicable combinations of drivers and robots. Driver name Model No. Applicable robots 2 RDV-X (For FLIP-X series) RDV-X205 T4LH, T5LH, T6L, T9, F8, F8L, F8LH, F10, F14, B10, B14, R5, R10, C4LH, C5LH, C6L, C8, C8L, C8LH, C10, C14 RDV-X210 T9H, F10H, F14H, B14H, R20, C14H Introduction RDV-X220 F17, F17L, F20, F20N, N15, N18, C17, C17L, C20, GF14XL, GF17XL RDV-P (For PHASER series) RDV-P205 MR12 RDV-P210 MF7, MF15, MF20 RDV-P220 MF30 RDV-P225 MF75 Note: Parameters are adjusted at the factory prior to shipping so that the driver operates to control the target robot. Please contact your distributor to change the target robot model after shipping. 2-4

65 Chapter 3 Installation and wiring 1. Installation Precautions during installation Wiring Connectors Main circuit wiring Wiring the main circuit connectors Input/output signal wiring Wiring for position sensor signals 3-25

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67 111 Installation c CAUTION 1. Do not climb on top of the driver, or place a heavy object on it. Doing so may cause injury. 2. Do not block the air intake and exhaust vents. Do not allow foreign matter or debris to penetrate inside. Doing so may cause fire. 3. Always use the correct method to install the unit. The unit may malfunction if not properly installed. 4. Install the driver on a perpendicular wall not subject to vibration. The unit may fall and injure someone if not properly installed. 5. Install the unit on a surface made of incombustible materials such as metal. Failure to do so may cause fire. 6. Install the unit at a place strong enough to support the weight of the unit. The unit may fall and injure someone if not properly installed. 7. Tighten the screws to the specified torque. Make sure that all screws are securely fastened before operation. The unit may fall and injure someone if not properly installed. Screw size Tightening torque (Nm) Note M3 0.6 to 0.9 M4 1.5 to 2.1 M5 2.8 to 3.9 M6 4.1 to 5.3 M to 20.0 Mounting screws for driver and peripheral devices 8. Provide the specified clearance between the driver and the inner surface of the control panel or any other unit. Failure to do so may cause malfunction. 9. Do not allow foreign matter such as cut wire fragments, welding debris, iron waste or similar items to penetrate inside. Doing so may cause fire. 10. Avoid applying strong shock to the unit to prevent malfunction. 11. Do not install the unit if any part is damaged or missing. Doing so may cause fire or injury. 3 Installation and wiring 3-1

68 1111 Precautions during installation 111 Precautions when carrying the unit The driver uses plastic parts. Handle it carefully to avoid damage to the plastic parts. In particular, do not carry the driver in a way that places all of the stress on only the front cover or the connectors. Doing so may allow the unit to fall. Do not install and operate the unit if any part is damaged or missing. 222 Install the unit on an incombustible (e.g., metal) surface. 3 The driver becomes hot during operation. To prevent fire always install it on an incombustible, straight vertical metal wall. Also provide enough space around the unit. If there is any heat generating device (braking resistor, electric reactor, etc.), keep the unit a sufficient distance away from it. Installing the driver Installation and wiring Driver Air flow Wall 333 Ambient temperature precautions Provide enough space so that upper/lower wiring ducts will not block cooling air flow. The ambient temperature in the installation place should not exceed the allowable operating temperature range (0 to 55 C) specified in the standard specifications. Measure the ambient temperature at a position about 50mm away from the lower center of the driver body, and make sure that it is within the allowable operating temperature range. Operating the driver at a temperature exceeding the allowable operating range may shorten its service life (especially, capacitor life) or damage the internal components. 444 Do not install the unit in locations subject to high temperatures and high humidity where condensation tends to occur. Always operate the driver within the allowable operating humidity range (20 to 90% RH) specified in the standard specifications. In particular, operate it in locations free from condensation. If water droplets formed inside the driver due to condensation, this might cause short-circuits between electronic components that result in malfunction. Avoid installing the unit in locations exposed to direct sunlight. 555 Installation environment precautions Avoid locations of high temperature, high humidity, or condensation, or locations where there is excessive dust, corrosive gas, explosive gas, flammable gas, mist from grinding fluids, or the possibility of salt damage. Install the unit in a well-ventilated room where it will not be exposed to direct sunlight. If using the unit in a dusty location, take protective measures such as enclosing it in a sealed enclosure. Do not allow fragments of cut electrical wire, welding sputter, metal particles, dirt, or other foreign object to enter the unit. Do not allow liquid foreign matter to enter the unit. 666 Installation method and direction precautions 3-2 Install the driver on a vertical surface capable of supporting the weight. Secure the driver firmly by screws or bolts. If the driver is not installed vertically on a wall, its cooling capacity will be impaired, possibly causing alarms or damage to occur.

69 777 Precautions when housing drivers in a box When housing multiple drivers in a box and using ventilation fans, attach the fans as shown below in order to ensure a uniform temperature around each driver. To ensure the reliability and lifespan of the driver, observe the cautions for housing drivers in a box, and ensure that heat does not accumulate inside. Install the drivers 40mm or more away from the inner side walls of the box and 100mm or more away from the inner top/bottom walls of the box. Allow a clearance of 10mm or more between adjacent drivers. Installation inside a box 100mm or more Fan Fan Wiring space of 75mm or more Robot driver 3 100mm or more 40mm or more 10mm or more 10mm or more 10mm or more 40mm or more Although it is possible to install multiple drivers in a box without a gap between them (side-by-side installation), in this case the ambient temperature must be no more than 45 C or the system must be used at an effective load ratio not exceeding 75%. Side-by-side installation 100mm or more 45 C or less Fan 45 C or less Fan 45 C or less Wiring space of 75mm or more Robot driver Installation and wiring 100mm or more 40mm or more 40mm or more 55 C or less 3-3

70 222 Wiring w DANGER 1. Wiring work should be carried out by qualified electricians. Improper wiring may cause electrical shock or fire. 2. Always first install the unit before carrying out wiring. Failure to do so may cause electrical shock or injury. 3. Before you proceed, disconnect the power and ensure that the charger lamp is unlit. Failure to do so may cause electrical shock or fire. 3 Installation and wiring c CAUTION 1. Make sure that wiring is correct. Wrong wiring may cause abnormal robot motion resulting in injury. 2. Cables connecting to the driver should be securely fastened near the driver so that no tensile stress is applied to the cables. Stress on the cables may lead to malfunction Connectors The connectors on the driver are shown below. Connectors Main circuit connector 1 (TM1) Computer connector (PC) Main circuit connector 2 (TM2) Input/output signal connector (I/O) Position sensor connector (ENC) Ground terminal 3-4

71 2222 Main circuit wiring Connection diagram RDV series (- ) TM2 Power supply (Note1) Single phase AC100 to 115V Single phase / 3-phase AC200 to 230V Regenerative braking resistor (external option) Master controller ELB MC (+) RB L1 L2 L3 L1C L2C I/O TM1 ENC1 TM2 Note 1: If using single-phase main power, connect it to L1 and L2. PC U V W USB PC for parameter setting and operation monitoring 3 Installation and wiring 3-5

72 Terminal assignment Connector Terminal assignment Applicable wire size (mm 2 ) L1C L2C Control power input Main circuit connector 1 (TM1) L1 L2 L3 Main power input 0.8 to 2.0 (Note) Note: If connecting to a single-phase power supply, connect to L1 and L2. 3 Main circuit connector 2 (TM2) (+) RB ( ) U V W External braking resistor connection DC power supply input Motor power lines 0.8 to 2.0 (Note) Installation and wiring Note: If connecting an external regenerative braking resistor, connect it to (+) and RB. Ground terminal Ground terminal 1.25 or more Note: The recommended power line diameter depends on the amp capacity. For details, refer to "n Recommended wire size and wiring accessories" in this Chapter. c CAUTION 1. Remove main circuit connectors 1 and 2 from the driver when wiring them. Failing to do so will lead to malfunction. 2. When inserting the wires into the terminal, be careful not to bring the core wire braid into contact with other conductive parts. Allowing this to happen will lead to malfunction. 3. If the inserted portion of a wire should be damaged for any reason, strip the wire again and reconnect it. Failing to do so will lead to malfunction. 4. If using an external regenerative braking resistor, do not connect it to anything other than (+) and RB. Failing to observe this will lead to malfunction. 3-6

73 Wiring precautions Before starting wiring, make sure that the charge lamp (CHARGE, CP) is completely off. Use caution because the capacitor might still be charged with high voltage creating a hazardous condition. Wait at least 10 minutes after turning the power off, and then use a tester to verify that there is no residual voltage between (+) and (-) of main circuit connector 2 before you proceed with wiring. 1. Main power input terminals (L1, L2, L3) Use an earth leakage breaker (ELB) to protect circuit (wiring) between the power supply and main power input terminals (L1, L2, or L3). Some earth leakage breakers may malfunction due to effects from higher harmonics, so use one having large current sensitivity at high frequencies. Connect an electromagnetic contactor that shuts off the power supply to the driver to prevent a failure or accident from spreading when the driver's protective function is activated. Do not attempt to start or stop the driver by turning on or off each electromagnetic contactor provided on the primary side and secondary side of the driver. Do not use the driver in an open-phase condition. Any of the following conditions may damage the converter module so use caution. The power supply voltage imbalance is 3% or more. The power supply capacity is 10 times larger than the driver capacity or 500kVA or more. A sudden fluctuation occurs in the power supply. (Example) Multiple drivers are connected to each other by a short bus line. In any case, connecting a DC reactor (DCL) is recommended. When turning power on or off allow at least a 5-minute time interval between power on and off in order to avoid damage to the driver. 2. Motor cable connection terminals (U, V, W) To reduce voltage drop, use wire that is as thick as possible within the applicable wire diameter. 3. External braking resistor connection terminals ( (+), RB) ) To enhance braking capacity, you can connect an optional external braking resistor to these terminals. The wiring length should be 5 meters or less. Wire by twisting the two wires together. Install a resistor whose resistance is higher than the R BRmin specified in the following table. If a resistor whose resistance is less than the value shown in the following table is used, the regenerative braking circuit in the driver will be damaged. 3 Installation and wiring Driver model Minimum resistance R BRmin Single phase / 3-phase 200V RDV-*205 RDV-*210 RDV-*220 RDV-P Ω 100Ω 50Ω 40Ω For details on an external braking resistor, refer to Chapter 10, "2. Options". 4. DC power input terminals ( (+), ( ) ) When supplying DC power from an external converter, connect the DC power supply. For the 200V class, use a DC power supply voltage in the range DC280V to DC326V (+10%, -15%) that has sufficient capacity. When supplying DC power, do not connect anything to the main power input terminals (L1, L2, L3). When supplying DC power, set the "DC bus power supply" (FA-07) to "L12Pn". If this is not specified, open phase, momentary power outages, and insufficient main circuit voltage will be wrongly detected. When turning power on or off, allow at least a 5-minute time interval between power on and off. Turning power on or off at shorter time intervals may damage the driver. 3-7

74 5. Control power input terminals (L1C, L2C) In addition to the main circuit power supply, this driver requires a control power supply. Be sure to connect a single-phase AC power supply to these control power input terminals (L1C, L2C). Also use a circuit (wiring) protection breaker or earth leakage breaker along with the control power supply. Some earth leakage breakers may malfunction due to effects from higher harmonics, so use one having large current sensitivity at high frequencies. When turning power on or off, allow at least a 5-minute time interval between power on and off. Turning power on or off at shorter time intervals may damage the driver. 6. Ground terminals ( ) 3 Installation and wiring To prevent electrical shock, the driver and the robot must be connected to a grounding point during use. Connect the ground terminals to a proper grounding point (Class D: 100 ohms or less). The ground wire should be thicker than those generally used and as short as possible. Note 1: Separate the driver's signal input cable and position sensor cable from the main circuit power cable by at least 30 cm; if you cannot avoid having these cables intersect, make sure that they intersect only at a right angle as shown in the illustration below. The driver may result in malfunction if the cables are not separated from each other. 30cm or more Main circuit power cable (L1, L2, L3, U, V, W, (+), RB, (-)) Control power supply cable (L1C, L2C) Cables should intersect at right angles. Signal input and position sensor cables Note 2: A DC reactor (DCL) cannot be connected. Use an AC reactor (ACL). 3-8

75 Peripheral cables and products Name Function Availability 1 "RDV-Manager" computer support software Allows setting parameters, monitoring operation and displaying graphics from a PC connected to the driver. Option 2 Position sensor cable Connects to the robot position sensor, brake and origin sensor. Standard 3 Motor cable Supplies power to the robot. Standard 4 Command cable Connects I/O signals with a host unit. Supplied by customer 5 PC connection cable USB mini-b cable. Supplied by customer 6 Input/output connector set Connector to the driver I/O device, and cover for connector. Standard 7 Input-side reactor Suppresses high-frequency interference, and improves power supply synchronization and power factor. 8 Driver-side noise filter Reduces induced noise from the driver that passes through the wiring. 3 9 External braking resistor Boosts the braking capacity. Option Typical wiring diagram for driver is shown below. 1φ/3φAC200V, (wire 1φ200V to L1 and L2) 7. Input-side reactor Earth leakage breaker (ELB) 8. Driver-side noise filter Robot driver 1. "RDV-Manager" computer support software 5. PC connection cable 6. Connector set for I/O signals PC Host unit Installation and wiring 9. External braking resistor 2. Position sensor cable 3. Motor cable Robot 3-9

76 Recommended wire size and wiring accessories Select optimal breakers by taking their breaking capacity into account. Use an earth leakage breaker (ELB) to ensure safety. For wiring, use 75 C or better copper wire. If the wiring length exceeds 20 meters, the power wiring must be thicker. Select the sensitivity current of the earth leakage breaker (ELB) by taking account of the total wiring length needed to connect between the driver and power supply and also between the driver and robot. When the total wiring length is shorter than 30 meters, use a 15mA sensitivity current (per one driver). Use a ground-fault circuit interrupter of the time-delayed type. If an instantaneous type is used, malfunctions may occur. 3 Refer to the following table when selecting wiring size and wiring accessories for drivers. Main circuit power Control power Earth leakage Electromagnetic Driver model cable cable (Note 1) breaker (ELB) L1, L2, L3, (+), RB, ( ) L1C, L2C contactor (MC) (Note 1) (Note 3) RDV-* mm 2 or more (Note 2) 0.8mm 2 or more EX30(5A) H10C/HK10 Installation and wiring RDV-* mm 2 or more (Note 2) 0.8mm 2 or more EX30(5A) H10C/HK10 RDV-* mm 2 or more (Note 2) 0.8mm 2 or more EX30(5A) H10C/HK10 RDV-* mm 2 or more (Note 2) 0.8mm 2 or more EX30(10A) H10C/HK10 Note 1: ELB and MC models listed in the above table are manufactured by Hitachi Industrial Equipment Systems Co., Ltd. Note 2: The main circuit connectors accept wire of 2.0 mm 2 or smaller diameter. Note 3: H series / HK series models are shown. 3-10

77 2222 Wiring the main circuit connectors c CAUTION 1. Main circuit connectors 1 and 2 must be removed from the driver before wiring them. Failure to do so will lead to malfunction. 2. Insert only a single wire into each wire insertion opening of main circuit connectors 1 and 2. Failure to observe this will lead to malfunction. 3. When inserting the wires into the terminal, be careful not to bring the core wire braid into contact with other conductive parts. Allowing this to happen will lead to malfunction. 4. If for some reason the inserted portion of the wire is frayed, cut off that frayed portion and strip the wire again. Then reconnect the wire securely. Failure to observe this will lead to malfunction. 111 Cable termination 3 Strip the cable sheath as shown in figure 1. The cable can then be used as is. Applicable wire size is as follows: Solid wire... Wire size 0.8 to 2.0mm 2 Stranded wire... Wire size 0.8 to 2.0mm 2 Fig. 1 Cable termination 222 Connection method 8 to 9mm Using the included tool or a flat blade screwdriver of the appropriate size, insert the stripped core of the wire as shown in figures 2 and 3. Installation and wiring Fig. 2 Fig

78 2222 Input/output signal wiring 111 Input/output signal connector Pin No.1 of the input/output signal connector I/O is located at the upper left when viewed from the front of the driver as shown on the right. The table below shows the signal assignment on the input/output signal connector I/O (driver side). 3 Input/output signal connector I/O Installation and wiring Pin No. Pin symbol Signal name Pin No. Pin symbol Signal name 1 P24 Interface power 26 SON Servo ON 2 PLC Intelligent input common 27 RS Alarm reset 3 28 FOT Forward overtravel 4 TL Torque limit 29 ROT Reverse overtravel 5 B24 Brake power input (24V) (Note 1) 30 CM1 Interface power common 6 B0 Brake power input (0V) (Note 1) (Note 1) 31 B0 Brake power input (0V) 7 32 ORG Return-to-origin (homing) 8 ORL Origin sensor 33 PEN Pulse train input enable 9 CER Position deviation clear 34 ALME Alarm (emitter) 10 CM1 Interface power common 35 SRD Servo ready (collector) 11 ALM Alarm (collector) 36 ORG-S Return-to-origin complete 12 INP Positioning complete (collector) 37 ORG-SE Return-to-origin complete (emitter) 13 BK Brake release relay output (Note 1) INPE Positioning complete (emitter) 15 PLSP Position command pulse (P) 40 SIGP Position command sign (P) 16 PLSN Position command pulse (N) 41 SIGN Position command sign (N) SRDE Servo ready (emitter) L Analog input /output common OAP Phase A signal output (P) 46 OBP Phase B signal output (P) 22 OAN Phase A signal output (N) 47 OBN Phase B signal output (N) 23 OZP Phase Z signal output (P) 48 OZ Phase Z detection 24 OZN Phase Z signal output (N) 49 L Phase Z detection common 25 AO1 Analog monitor 1 50 AO2 Analog monitor 2 Note 1: B24, BO and BK are available only with RDV-X, and not with RDV-P. 3-12

79 On the mating input/output signal connector (cable side), pin No.1 is located at the upper left when viewed from the soldered side (inner side) as shown below. Use the following connectors for the input/output signal connector (cable side). Product name Type No. Manufacturer Connector plug PE (soldered) 3M Japan Inc. Connector cover non-shield shell kit A M Japan Inc Soldered side of input/output signal connector P24 26 SON 2 PLC 27 RS 3 28 FOT 4 TL 29 ROT 5 B24 30 CM1 6 BO 31 BO 7 32 ORG 8 ORL 33 PEN 9 CER 34 ALME 10 CM1 35 SRD 11 ALM 36 ORG-S 12 INP 37 ORG-SE 13 BK INPE 15 PLSP 40 SIGP 16 PLSN 41 SIGN SRDE L OAP 46 OBP 22 OAN 47 OBN 23 OZP 48 OZ 24 OZN 49 L 25 AO1 50 AO2 Note 1: For robots using an origin sensor or robots equipped with a mechanical brake, the input/output signal connector is shipped with pin No. 1, 8, 10, 13 and 31 soldered. Note 2: Brake release relay output (BK) is not available from the RDV-P. 3 Installation and wiring 3-13

80 222 Input/output signal connection diagram Standard input/output signal connections are shown below. 1.Example of using an internal interface power supply in a sink type output module. Pulse train position command (pulse) PLSP PLSN 150Ω Robot driver OAP OAN Position sensor Phase A signal output Pulse train position command (sign) SIGP SIGN 150Ω OBP OBN Position sensor Phase B signal output 3 Origin sensor 24V 8 10 ORL 4.7kΩ CM1 OZP OZN Position sensor Phase Z signal output OZ 48 Phase Z detection L 49 Phase Z detection common Installation and wiring Interface power Contact input common Servo ON Alarm reset Torque limit Forward overtravel Reverse ovetravel Return-to-origin Pulse train input enable Position deviation counter clear Interface power common DC24V P24 PLC SON 4.7kΩ RS 4.7kΩ TL 4.7kΩ FOT 4.7kΩ ROT 4.7kΩ ORG 4.7kΩ PEN 4.7kΩ CER 4.7kΩ CM1 Logic ground (L) Logic ground (L) AO1 25 Monitor output 1 AO2 50 Monitor output 2 20 Analog output common L SRD 35 Servo ready SRDE 42 ALM 11 Alarm ALME INP Positioning complete INPE 39 ORG-S 36 Return-to-origin complete ORG-SE 37 Brake output and coil Brake release relay BK 13 (This signal is provided only on the RDV-X and is not provided on the RDV-P.) Br BK 31.6 B0 Brake power 5 DC24V B

81 2.Example of using an external power supply in a sink type output module. Pulse train position command (pulse) Pulse train position command (sign) PLSP PLSN SIGP SIGN 150Ω 150Ω Robot driver OAP OAN OBP OBN Position sensor Phase A signal output Position sensor Phase B signal output Interface power Origin sensor 24V ORL 4.7kΩ CM1 DC24V P24 Logic ground OZP OZN Position sensor Phase Z signal output OZ 48 Phase Z detection L 49 Phase Z detection common 3 Servo ON Contact input common Alarm reset Torque limit Forward overtravel Reverse ovetravel Return-to-origin Pulse train input enable Position error counter clear Interface power common PLC SON 4.7kΩ RS 4.7kΩ TL 4.7kΩ FOT 4.7kΩ ROT 4.7kΩ ORG 4.7kΩ PEN 4.7kΩ CER 4.7kΩ CM1 AO1 25 Monitor output 1 AO2 50 Monitor output 2 20 Analog output common L Logic ground SRD 35 Servo ready SRDE 42 ALM 11 Alarm Brake release relay BRK ALME INP INPE BK Brake output and coil 13 (Note 1) 31.6 Positioning complete Br Installation and wiring External supply DC24V B0 5 Brake power DC24V B24 Note 1: Brake output and coil are available only with RDV-X, and not with RDV-P. 3-15

82 3.Example of using an internal interface power supply in a source type output module. Pulse train position command (pulse) Pulse train position command (sign) PLSP PLSN SIGP SIGN 150Ω 150Ω Robot driver OAP OAN OBP OBN Position sensor Phase A signal output Position sensor Phase B signal output 3 Installation and wiring Interface power Contact input common Servo ON Alarm reset Torque limit Forward overtravel Reverse ovetravel Return-to-origin Pulse train input enable Position error counter clear Interface power common Origin sensor 24V ORL 4.7kΩ CM1 DC24V P24 PLC SON 4.7kΩ RS 4.7kΩ TL 4.7kΩ FOT 4.7kΩ ROT 4.7kΩ ORG 4.7kΩ PEN 4.7kΩ CER 4.7kΩ CM1 OZP OZN OZ 48 Phase Z detection L 49 Phase Z detection common Logic ground AO1 25 Monitor output 1 AO2 50 Monitor output 2 20 Analog output common L Logic ground SRD 35 Servo ready SRDE 42 ALM 11 Alarm Brake release relay BRK ALME INP INPE BK Brake output and coil 13 (Note 1) 31.6 Position sensor Phase Z signal output Positioning complete Br B0 Brake power 5 DC24V B24 Note 1: Brake output and coil are available only with RDV-X, and not with RDV-P. 3-16

83 4.Example of using an external power supply in a source type output module. Pulse train position command (pulse) Pulse train position command (sign) PLSP PLSN SIGP SIGN 150Ω 150Ω Robot driver OAP OAN OBP OBN Position sensor Phase A signal output Position sensor Phase B signal output Interface power Contact input common External supply DC24V Servo ON Alarm reset Torque limit Forward overtravel Reverse ovetravel Return-to-origin Pulse train input enable Position error counter clear Interface power common Origin sensor 24V ORL 4.7kΩ CM1 DC24V P24 PLC SON 4.7kΩ RS 4.7kΩ TL 4.7kΩ FOT 4.7kΩ ROT 4.7kΩ ORG 4.7kΩ PEN 4.7kΩ CER 4.7kΩ CM1 OZP OZN OZ 48 Phase Z detection L 49 Phase Z detection common Logic ground AO1 25 Monitor output 1 AO2 50 Monitor output 2 20 Analog output common L Logic ground SRD 35 Servo ready SRDE 42 ALM 11 Alarm Brake release relay BRK ALME INP INPE BK B0 B Brake output and coil 13 (Note 1) Position sensor Phase Z signal output Positioning complete DC24V Br Brake power 3 Installation and wiring Note 1: Brake output and coil are available only with RDV-X, and not with RDV-P. 3-17

84 333 Input/output signal functions Input/output signal functions are summarized in the following table. Type Terminal symbol Terminal name Description Electrical specifications P24 Interface power Supplies 24V DC for contact inputs. Connecting this signal to the PLC terminal allows using the internal power supply. Use this terminal only for contact input. Do not use for external equipment connected to the driver, such as brakes. CM1 Interface power common This is a ground signal for the power supply connected to P24. If using the internal power supply then input a contact signal between this signal and the contactpoint signal. DC+24V±10% Max 80mA 3 PLC SON Intelligent input common Servo ON Connect this signal to the power supply common contact input. Connect an external supply or internal power supply (P24). Setting this signal to ON turns the servo on (supplies power to motor to control it). Additionally, this signal is also used for magnetic pole position estimation action when FA-90 is set to off4, off5. Installation and wiring Input signal RS Alarm reset After an alarm has tripped, inputting this signal cancels the alarm. But before inputting this reset signal, first set the SON terminal to OFF and eliminate the cause of the trouble. TL Torque limit When this signal is ON, the torque limit is enabled. FOT ROT ORL Forward overtravel Reverse overtravel Origin sensor When this signal is OFF, the robot will not run in forward direction. (Forward direction limit signal) When this signal is OFF, the robot will not run in reverse direction. (Reverse direction limit signal) Input an origin limit switch signal showing the origin area. ORG Return-to-origin Inputting this signal starts return-to-origin operation. PEN CER Pulse train input enable Position deviation counter clear When this signal is turned on, the pulse train position command input is enabled. Inputting this signal clears the position deviation (position error) counter. (Position command value is viewed as current position.) Contact input Close: ON Open: OFF 5mA (at 24V) per input SRD SRDE Servo ready This signal is output when the servo is ready to turn on (with main power supply turned on and no alarms tripped). Output signal ALM ALME INP INPE Alarm Positioning complete This signal is output when an alarm has tripped. (This signal is ON in normal state and OFF when an alarm has tripped.) This signal is output when the deviation between the command position and current position is within the preset positioning range. Open collector and emitter signal output +30V DC or less, Max 50mA per output ORG-S ORG-SE Return-to-origin complete This signal is output when the return-to-origin is completed successfully. output Relay (Note 1) Brake BK(B24) release relay output When the servo is ON, this terminal outputs a signal to allow releasing the brake. (FLIP-X series only) DC24V max375ma Monitor output AO1 Monitor output 1 AO2 Monitor output 2 Outputs speed detection values, torque commands, etc. as analog signal voltages for monitoring. Signals to output are selected by setting parameters. These signals are only for monitoring. Do not use for control. L Monitor output common This is the ground for the monitor signal. 0 to ±5.0V Load impedance: 3kW or more Position command PLSP PLSN SIGP SIGN Position command pulse (pulse signal) Position command pulse (sign signal) Select one of the following signal forms as the pulse-train position command input. 1 Command pulse + direction signal 2 Forward direction pulse train + reverse direction pulse train 3 Phase difference 2-phase pulse Line driver input Note 1: B24, BO and BK are available only with RDV-X, and not with RDV-P. 3-18

85 Type Terminal symbol Terminal name Description Electrical specifications OAP OAN Position sensor Phase A signal Outputs monitor signal obtained by dividing "phase A" signal of position sensor. Position sensor monitor OBP OBN OZP OZN OZ L Position sensor Phase B signal Position sensor Phase Z signal Phase Z detection Phase Z detection common Outputs monitor signal obtained by dividing "phase B" signal of position sensor. Outputs monitor signal for position sensor "phase Z" signal. Outputs monitor signal for position sensor "phase Z" signal. Line driver signal output Open collector output +30V DC or less, Max 50mA 3 Brake power input B24 (Note 1) Brake power input Input 24V DC brake power to this terminal B0 (Note 1) Brake power common Common terminal input for brake power Note 1: B24, BO and BK are available only with RDV-X, and not with RDV-P. 24V DC input Installation and wiring 3-19

86 444 Brake and origin sensor connector Among the input/output signals, the brake and origin sensor signals are connected to a connector that is branched from the input/output signal connector. By connecting this branched connector to the position sensor cable, the brake can be released and return-to-origin performed by sensor method. Use this connector only when using a robot with a mechanical brake or robot's return-to-origin method is sensor method. Robot driver Host unit 3 Installation and wiring Pin No. on connector side Terminal symbol Robot Signal name Robot driver BK B0 P24 ORL CM Pin No. on robot driver side 1 BK Brake release relay output 13 Robot Br 2 B0 Brake power input (0V) 31 3 P24 Power supply for input signal 1 4 ORL Origin sensor 8 5 CM1 Power supply (common) for input signal

87 555 Details of input/output signal wiring 1. Contact input signal Contact signals should be input through switches and relays. Figures (a) and (b) below show wiring diagrams using an external power supply or internal interface power supply. P24 External power supply (DC24V) PLC Switch Input Robot driver 4.7kΩ DC24V Robot driver Short-circuit P24 PLC Switch Input 4.7kΩ DC24V CM1 CM1 (a) When using an external power supply (b) When using an internal power supply Use an external power supply for devices requiring power for controlling a contact output, such as a programmable controller output module. (Do not use the internal interface power supply of the driver.) Figures (c) and (d) below show examples for connecting the transistor output module (sink type or source type) of a programmable controller. Robot driver Programmable P24 controller External power DC24V supply (DC24V) S PLC Output control Output C Input 4.7kΩ CM1 (c) When using a sink type output module and an external power supply Robot driver Programmable P24 controller External power DC24V supply (DC24V) C PLC Output control Output S Input 4.7kΩ CM1 (d) When using a source type output module and an external power supply When using an external power supply, do not connect to the internal interface power of the driver. If connected, current may flow as shown in figure (e) below when the external power supply is shut off, causing the input to turn on. 3 Installation and wiring Programmable controller External power supply (DC24V) S Output control Output C P24 PLC Shorted when power is shut off. Input 4.7kΩ CM1 Robot driver DC24V Example of sink type output module (e) Current flow when external power supply is shut off If using switch or relay contacts as the contact input signal, then use contacts such as crossbar twin contacts that make good contact even at weak currents or voltages. Do not short the internal interface power P24 to CM1. The driver may fail. The electrical specifications for input signals are shown in the following table. (Power supply voltage 24V DC) Item Unit Minimum Maximum Condition Input impedance kω Input current at OFF ma Input current at ON ma Power supply voltage 24V DC 3-21

88 2. Contact output signal Connect a relay coil or the input module of a programmable controller as shown in Figures (a) and (b) below. When using a relay, connect a diode as a surge absorber in parallel with the coil. Connect that diode as shown in Figure (a) so that the current flow direction of the diode is opposite the direction that voltage is applied to the coil. Robot driver Surge-absorbing diode Robot driver Programmable controller C 3 Installation and wiring Output (Collector) Relay coil (Emitter) (a) Relay coil connection External power supply (DC24V) Output Input External power supply (DC24V) (Emitter) (b) Programmable controller connection Prepare an external power supply for output signals. Do not use the internal interface power supply (P24-CM1) of the driver. The driver may fail. Electrical specifications for contact output signals are shown in the following table. Item Unit Minimum Maximum Condition Output power supply voltage V 30 Output current at ON ma 50 Leakage current at output OFF ma 0.1 Output saturation voltage at ON V Output current 50mA 3. Monitor output signal Connect a meter (voltmeter) or recorder for monitoring speed detection values and torque command values as shown in Figure (a) below. Use this signal only for monitoring and not for commands to other control devices. (Output signal accuracy is about ±10%.) Each monitor output signal cable should be a shielded, twisted pair cable with the analog common (L--- connector pin No. 20, 49).Connect the cable shield to ground ( ) on the driver side. (The I/O connector case of the driver is internally connected to the ground.) Robot driver D/A converter AO1, AO2 Shielded cable Voltmeter Logic ground L Connector case (a) Monitor output signal connection The impedance of the load to connect to this monitor signal should be 3kW or more. Do not connect the monitor output signal (AO1, AO2) to the common (L) or another power supply. The driver may fail. Electrical specifications for monitor output signals are shown in the following table. Item Unit Specifications Output voltage V 0 to ±5.0V Load impedance kω 3.0 or more Output voltage accuracy % ±10 or less Output signal delay time ms Approx

89 4. Position command signal Connect the pulse train signal for position command. As shown in the figure below, connect the pulse train signal output from the line driver (AM26LS31 or equivalent) of the host unit to the I/O connector of the robot driver. Each position command signal cable should be a shielded, twisted pair cable. Connect the cable shield to ground ( ) on the driver side. (The I/O connector case of the driver is internally connected to the ground.) Line driver (AM26LS31) Shielded cable PLSP, SIGP PLSN, SIGN Robot driver 150Ω Connector case (a) Line driver signal connection The cable length for this signal should be 3 meters or less. Install this wiring as far apart as possible from the main circuit cable and the relay control cable. A single driver must be connected to a single host unit for position commands. Electrical specifications and timing chart for position pulse signals are shown in the following table. Electrical specifications for position command pulses Item Unit Specifications Condition Input current of logic 1 (Note) ma 8 to 15 Maximum input pulse rate (Frequency) FWD/REV pulse input Command pulse + sign input Position command pulse timing chart Pulse train signal form pulses/s 2M Line driver signal Phase difference 2-phase pulse input pulses/s 500k Line driver signal Pulse train input timing (1) Pulse train command When FA-11 = P-S (Movement direction is reversed if FA-11 = -P-S.) See note below. (Note) 3 Installation and wiring PLS terminal t 1 t 2 "1" "0" t 0 SIG terminal T FWD signal t S1 t S2 t 3 REV signal t S3 t S4 t 4 "1" "0" Logic (2) FWD/REV pulse When FA-11 = F-r (Movement direction is reversed if FA-11 = r-f.) See note below. (Note) PLS terminal t 1 t 2 "1" "0" t 0 SIG terminal T "1" "0" FWD signal t S0 REV signal (3) Phase difference 2-phase pulse When FA-11 = A-b (Movement direction is reversed if FA-11 = b-a.) See note below..(note) * In the case of phase difference 2-phase pulse, the count is multiplied by 4. PLS terminal (Phase A) t 1 t 2 t 0 "1" "0" SIG terminal (Phase B) t 5 T t 6 "1" "0" FWD signal REV signal Note: When at logic 1, the pulse train input current direction is PLSP PLSN, SIGP SIGN. 3-23

90 Position command pulse timing values Pulse train signal form (See above) Line driver signal (1), (2) above (3) above Rise time : t 1, t 3 0.1μs or less 0.1μs or less Fall time : t 2, t 4 0.1μs or less 0.1μs or less Timing values Switching time : t S0, t S1, t S2, t S3, t S4 3μs or more Phase difference : t 5, t 6 1/4T ± 1/8T 3 Pulse width : (t 0 /T) ±10% 50±10% Maximum pulse rate (frequency) 2M (pulses/s) 500k (pulses/s) 5. Position sensor monitor signal Installation and wiring The position sensor signal is output as phase A, B, and Z signals. The line driver output signals (OAP-OAN, OBP-OBN, OZP-OZN) should be connected to the line receiver (input impedance: 220 to 330 W) as shown in Figure (a) below. The open collector output signal (OZ-L) should be connected to the input device as shown in Figure (b). Use a shielded, twisted pair cable for each position sensor monitor signal cable. Connect the cable shield to ground ( ) on the driver side. (The I/O connector case of the driver is internally connected to the ground.) Robot driver Line driver OAP, (AM26LS31 or equivalent) OBP, OZP, OAN, OBN, OZN, L Robot driver Open collector Logic ground L OZ L Connector case Shielded cable Shielded cable R R=220 to330ω (a) Line driver output signal connection Line receiver (AM26LS32 or equivalent) 2.2kΩ High-speed photocoupler SIGN External power supply (DC24V) (b) Open collector output signal connection This signal is output as a high speed signal (1MHz for phase A and B signals) depending on the division ratio setting for the position sensor monitor signal. So use a noise-shielded cable and a receiving circuit designed to handle high-speed signals. When the open collector output of phase Z signal is received by a photocoupler, be sure to use a high-speed photocoupler (1MHz or more). The cable length for this signal should be 3 meters or less. Install this wiring as far apart as possible from the main circuit cable and the relay control cable. Do not short the line driver output signals to each other or connect them to another power supply. The driver may fail. Electrical specifications for the line driver signal output conform to those of general-purpose line drivers (AM26LS31 or equivalent). Electrical specifications for the phase Z detection signal of the open collector are shown in the following table. Item Unit Minimum Maximum Condition Output power supply voltage V 4 30 Output current at ON ma 0 50 Leakage current at output OFF ma Output saturation voltage at ON V Output current 50mA 3-24

91 2222 Wiring for position sensor signals 111 Position sensor signal connector Connector compatible with lead-free solder Type No. Manufacturer Molex Description of terminal symbol RDV-X ENC1 connector terminal symbol Pin No. Terminal Terminal Signal name Pin No. symbol symbol 1 R1 Position sensor excitation 2 R2 3 R1 output terminal 4 R2 Signal name Position sensor excitation output terminal 3 5 S2 S2-S4 coil input terminal 6 S4 S2-S4 coil input terminal 7 S1 S1-S3 coil input terminal 8 S3 S1-S3 coil input terminal 9 10 RDV-P ENC1 connector terminal symbol Pin No. Terminal symbol Signal name Pin No. Terminal symbol Signal name 1 EP 2 EG Position sensor power Position sensor power supply supply 5V 3 EP 4 EG Common 0V 5 SIN+ Sine input (+) 6 SIN Sine input ( ) 7 COS+ Cosine input (+) 8 COS Cosine input ( ) 9 Z+ Phase Z (+) input 10 Z Phase Z ( ) input Installation and wiring EG(R2) EG(R2) SIN-(S4) COS-(S3) Z EP(R1) EP(R1) SIN+(S2) COS+(S1) Z+ Numbers in parentheses indicate position sensors used with the RDV-X. 3-25

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93 Chapter 4 Operation 1. Control and operation Position control by pulse train input Test run Jogging operation from RDV-Manager Emergency stop 4-6

94

95 111 Control and operation w WARNING Install an external emergency stop circuit so that you can immediately stop operation and shut off power whenever needed. c CAUTION 1. To prevent unstable or erratic operation never make drastic adjustments to the unit. Doing so may cause injury. 2. If an alarm has occurred, eliminate the cause of the alarm and ensure safety. Then reset the alarm and restart the operation. Failure to do so may cause injury. 3. If a momentary power outage occurs and power is restored, the unit might suddenly restart so do not approach the machine at that time. (Design the machine so that personal safety is ensured even if it suddenly restarts.) Failure to do so may cause injury. 4. Make sure that the AC power specifications match the product power specifications. Using the wrong power specifications may cause injury. 5. While power is being supplied, do not touch any parts inside the driver or its terminals. Also, do not check the signals or attach/detach the cables. Doing so may cause electrical shock or injury. 6. While power is being supplied, do not touch any terminals on the driver even if the robot is stopped. Doing so may cause electrical shock or fire. 7. When using a user program to perform debugging operation of the robot, provide a circuit that allows an emergency stop by shutting off the main power or by turning the servo ON connector OFF. Failure to do so may cause injury or damage the machine. 4 Operation 4-1

96 1111 Position control by pulse train input 4 This method controls the position with external pulse train signals. 1) Make connections as shown below and check that they are correct. 2) Turn on the ELB (earth leakage breaker) and then turn on the control power to the driver. The display lights up, and the operating status "non" is shown. (This is the factory default setting.) 3) Set the "Pulse train input mode" (FA-11) parameter. 4) Set the "Electronic gear numerator/denominator" (FA-12, FA-13) parameters. (These are set by default so that 1 pulse is equal to a 1μm position command.) 5) Turn on the FOT and ROT terminals. 6) Turn on the electromagnetic contactor MC and then turn on the main circuit power supply. 7) Turn on the SON terminal. (On the RDV-P, magnetic pole position estimation is found right after power is first turned on.) 8) Turn on the PEN terminal and input the position pulse command. (The robot will move to the commanded position.) To stop the robot, turn off the PEN terminal after completing positioning. Check that the robot has stopped and then turn off the SON terminal. Wiring diagram Operation 3-phase power For single-phase models, connect to L1 and L2. Position pulse command ELB MC L1 L2 L3 L1C L2C P24 PLC SON RS FOT ROT CER PEN CM1 PLSPP PLSPN SIGPP SIGPN RDV series Display U S W ENC1 Robot Ground (Class D: 100 ohms or less) The above diagram shows a sink type output module using a power supply for internal input. 4-2

97 222 Test run c CAUTION These operations will cause the robot to move, so check safety before continuing. To stop positioning, click the stop button. n NOTE If using the PHASER series, magnetic pole position estimation must be performed before these operations. For details on magnetic pole position estimation, refer to Chapter 5, "17. Magnetic pole position estimation action" Jogging operation from RDV-Manager Specified speed jogging (jogging operation) and specified movement distance jogging (inching operation) can be performed from RDV-Manager. Perform these operations from the jogging menu of "RDV-Manager support software for computer". In RDV-Manager, click the [Jogging] button to access the jogging operation screen. 4 Jogging menu Operation Click n NOTE Do not turn the servo on from the SON terminal. Also, do not operate the I/O terminals during jogging operation. 4-3

98 Specified speed jogging operation The motor can be operated from the screen by specifying motor speed commands, acceleration time, and deceleration time. Execute specified speed jogging using the procedure described below. Specified speed jogging operation (1) Click Servo ON 4 Servo OFF Operation (3) Click (2) Specify the continuous (5) Click pattern to be executed by specified speed jogging (4) [forward] button...move forward while button is pressed. When button is released, decelerate and stop. [reverse] button...move backward while button is pressed. When button is released, decelerate and stop. 1) Select "Jogging". 2) In the "Jogging" area, specify the operation pattern that will be executed. [Jogging speed]... Specify the speed command value for steady speed. [Acceleration time]... Specify the time until the speed command value reaches maximum speed from the motor stop state. [Deceleration time]... Specify the time until the speed command value reaches zero from the motor maximum speed. 3) Press the [Servo on] button to turn the servo on. 4) Hold down the [forward] or [reverse] button to drive the motor in the specified operation pattern. [forward]... Move forward while the button is pressed. When button is released, the motor decelerates and stops. [reverse]... Move backward while the button is pressed. When button is released, the motor decelerates and stops. 5) Specified speed jogging ends when the [Servo off] button is selected. 4-4

99 Specified movement distance jogging operation The motor can be operated from the screen by specifying the motor movement distance, speed command values, acceleration time, deceleration time, and stop time. Execute specified movement distance jogging using the procedure described below. Specified movement distance jogging operation (1) Click Servo ON Servo OFF 4 1) Select "Pulse feed jogging". (3) Click (2) Specify the operation (5) Click pattern to be executed by specified movement distance jogging. 2) In the "Pulse feed jogging" area, specify the operation pattern that will be executed. [Feed pulse]... Specify the movement distance from the current position. [Jogging speed]... Specify the speed command value for steady speed. (4) [forward] button...move forward [reverse] button...move backward [Continuous action]...repeatedly move forward and backward [Stop] button...stop moving [Acceleration time]... Specify the time until the speed command value reaches the steady speed from the motor stop state. [Deceleration time]... Specify the time until the speed command value reaches zero from the motor steady speed state. [Wait time]... Specify the time between transitioning from forward operation to reverse operation, or from reverse operation to forward operation, during repeated forward and reverse movement. 3) Press the [Servo on] button to turn the servo on. 4) Press the [forward], [reverse], or [Continuous action] button to move the motor in the specified operation pattern. [forward]... The motor moves forward by the specified number of movement pulses. [reverse]... The motor moves backward by the specified number of movement pulses. [Continuous action].. The motor repeatedly moves forward and backward by the specified number of movement pulses. [Stop]... The motor stops (servo off state). 5) Specified movement distance jogging ends when the [Servo off] button is selected. Operation *1) It is not necessary to specify the stop time except for Continuous action. *2) Continuous action always begins with forward movement. *3) Continuous action repeats forward and reverse movement until the [Stop] button is clicked. To stop Continuous action motor movement, click the [Stop] button. 4-5

100 333 Emergency stop To safely stop the robot in case of an emergency, configure an emergency stop circuit while referring to the explanations below. For details on the function of each terminal and parameter, refer to Chapter 5, "2. Input terminal functions" and Chapter 6, "3.2 Setup parameter description". 111 Servo OFF When the SON signal is turned off, the servo is OFF and the braking is applied by the dynamic brake. The "DB Operation selection" (FA-16) must be set to "SoF". The braking is not applied by the dynamic brake unless this selection is set to "SoF". When the "Servo OFF wait time" (FA-24) is set, the servo is OFF and the braking is applied by the dynamic brake after the SON signal has been turned off and the servo OFF wait time has elapsed. 4 Operation 222 How to shorten the braking distance Shorten the breaking distance by producing the deceleration torque through the servo control. Example) Deceleration torque is produced by clamping the speed command at zero. The servo OFF wait time is set, and the SON signal and FOT/ROT signal are turned off at the same time in case of an emergency. The speed command is clamped at zero by the FOT/ROT signal OFF while the servo OFF is delayed. At this time, the deceleration torque is produced to shorten the braking distance. FOT ROT SON Main power Servo Speed command Current speed V 0 V 0 FA-24 Note 1: If the heavy braking is applied as described in the example shown above when the payload of the robot is large or offset, the deceleration torque becomes too large, causing the robot to break. In this case, it is recommended that the FOT/ROT signal is not turned off and the position command is changed so that the speed command changes gradually. Note 2: When the servo is OFF by an alarm occurring, the power to the motor is shut down immediately even when the Servo OFF wait time has been set. 4-6

101 Chapter 5 Functions 1. Terminal function list Input terminal functions Output terminal functions Return-to-origin function Analog output function Pulse train input function Smoothing function Position sensor monitor function Adjusting the control gain Basic rules of gain adjustment Manual gain adjustment procedure Offline auto tuning function Motion profile settings Servo ON and return-to-origin in the "Offline auto tuning" screen Executing servo ON (RDV-X / RDV-P) Estimation of magnetic pole position and turning the servo on (RDV-P) Homing (return-to-origin) in the "Offline auto tuning" screen Load moment of inertia setting Load moment of inertia estimation Conditions of load moment of inertia estimation (detail setting) Load moment of inertia calculation Automatic servo gain tuning Executing auto servo gain tuning Auto servo gain tuning settings Conditions of servo gain tuning (detail setting) Offline auto tuning troubleshooting Machine diagnosis Executing machine diagnosis Resonant peaks in the mechanical system Conditions of machine diagnosis 5-59

102 Chapter 5 Functions 11. Gain change function Changing the control gain Clearing the alarm history and restoring the factory settings Clearing the alarm history Factory settings Motor rotating direction FLIP-X series phase sequence PHASER series phase sequence Speed limit function Fast positioning function Notch filter function Magnetic pole position estimation action Magnetic pole position estimation and parameters 5-69

103 111 Terminal function list Type Terminal symbol Terminal name Function Supplies 24V DC for contact inputs. Connecting this signal to the PLC P24 Interface power terminal allows using the internal power supply. Use this terminal only for contact input. Do not use for external equipment connected to the driver, such as brakes. CM1 Interface power common This is a ground signal for the power supply connected to P24. If using the internal power supply then input a contact signal between this signal and the contact-point signal. PLC Intelligent input common Connect this signal to the power supply common contact input. Connect an external supply or internal power supply (P24). Setting this signal to ON turns the servo on (supplies power to motor to SON Servo ON control it). Additionally, this signal is also used for magnetic pole position estimation when FA-90 is set to off4, off5. After an alarm has tripped, inputting this signal cancels the alarm. But Contact point input signal RS Alarm reset before inputting this reset signal, first set the SON terminal to OFF and eliminate the cause of the trouble. TL Torque limit When this signal is ON, the torque limit is enabled. FOT Forward overtravel When this signal is OFF, the robot will not run in forward direction. (Forward direction limit signal) ROT Reverse overtravel When this signal is OFF, the robot will not run in reverse direction. (Reverse direction limit signal) 5 ORL Origin sensor Input an origin limit switch signal showing the origin area. Contact point output signal Relay output ORG Return-to-origin Inputting this signal starts return-to-origin operation. PEN Pulse train input enable When this signal is turned on, the pulse train position command input is enabled. CER Position deviation Inputting this signal clears the position deviation (position error) counter. counter clear (Position command value is viewed as current position.) SRD This signal is output when the servo is ready to turn on (with main power Servo ready SRDE supply turned on and no alarms tripped). ALM This signal is output when an alarm has tripped. (This signal is ON in normal Alarm ALME state and OFF when an alarm has tripped.) INP This signal is output when the deviation between the command position and Positioning complete INPE current position is within the preset positioning range. ORG-S Return-to-origin ORG-SE complete This signal is output when the return-to-origin is completed successfully. BK (B24) Brake release relay When the servo is ON, this terminal outputs a signal to allow releasing the output brake. (FLIP-X series only) Functions Monitor output AO1 Monitor output 1 AO2 Monitor output 2 Outputs speed detection values, torque commands, etc. as analog signal voltages for monitoring. Signals to output are selected by setting parameters. These signals are only for monitoring. Do not use for control. L Monitor output common This is the ground for the monitor signal. Position command PLSP PLSN SIGP SIGN Position command pulse (pulse signal) Position command pulse (sign signal) Select one of the following signal forms as the pulse-train position command input. (1) Command pulse + direction signal (2) Forward direction pulse train + reverse direction pulse train (3) Phase difference 2-phase pulse 5-1

104 Type Terminal symbol Terminal name Function OAP OAN Position sensor "phase A" signal Outputs monitor signal obtained by dividing "phase A" signal of position sensor. Position sensor monitor OBP OBN OZP OZN Position sensor "phase B" signal Position sensor "phase Z" signal Outputs monitor signal obtained by dividing "phase B" signal of position sensor. Outputs monitor signal for position sensor "phase Z" signal. OZ "Phase Z" detection L "Phase Z" detection common Outputs monitor signal for position sensor "phase Z" signal. Brake power input B24 Brake power input Input 24V DC brake power to this terminal. B0 Brake power common Common terminal input for brake power. 5 Functions 5-2

105 222 Input terminal functions Functions of the driver input terminals are described below. For details on input/output terminal timing chart from the power-on to the position command input, refer to 1. Timing chart in Chapter 10. <<SON terminal>> Setting this signal to ON turns the servo on (supplies power to the servo). The timing chart is shown below. This signal is also used by the magnetic pole position estimation operation of the RDV-P. For details, refer to Chapter 5, "17. Magnetic pole position estimation action". Servo ON signals are received to turn the servo on only if the main circuit power supply is independent and an alarm condition does not exist (when SRD is ON). Unless all these conditions are met, no power is supplied even when this signal is ON. However, magnetic pole position estimation can be performed even if SRD is not ON. When the "DB operation selection" (FA-16) parameter is set to "SoF" (during servo OFF), the dynamic brake engages by turning the servo off. Period from input of a servo-on signal until the operation is ready to start is 20 ms. By changing the "Input terminal polarity" (FC-01) setting, the servo can also be turned on when this input terminal is opened. When the SON signal is switched from OFF to ON, the position command is set to the current position and the deviation (position error) counter is cleared. Power SRD FOT/ROT SON Related parameters FA-16 : DB Operation selection FC-01 : Input terminal polarity setting 10 [ms] or more 1000 [ms] or more 5 Functions Operation Power-off Servo-off Normal servo-on RDV-X Power SRD FOT/ROT SON 10 [ms] or more 1000 [ms] or more Operation Power-off Servo-off Magnetic pole position estimation Normal servo-on RDV-P <<RS terminal>> If while in an alarm state, the SON signal is switched OFF and then ON, the alarm status is cleared, allowing operation to occur again. Related parameters FC-01 : Input terminal polarity setting If this signal is switched ON when not in an alarm state, it is ignored. If this signal changes from OFF to ON in an alarm state, the alarm is cleared when the ON state continues for 20 ms or longer. Even if this signal remains at the ON state, reset operation is performed only once. By changing the "Input terminal polarity" (FC-01) setting, alarms can also be reset when this input terminal is opened. Depending on the cause of the alarm, there may be cases in which the alarm state cannot be cleared by the RS terminal. Refer to Chapter 9, "3. Troubleshooting". 5-3

106 <<TL terminal>> Setting this terminal to ON enables torque limit. Use the parameters (Fb-07 to Fb-10) to determine the torque limit values. Related parameters Fb-07 to 10 : Torque limit value 1 to 4 FC-01 : Input terminal polarity setting By changing the "Input terminal polarity" (FC-01) setting, torque limit can also be enabled when this input terminal is opened. The parameters (Fb-07 to Fb-10) limit the torque in each quadrant as shown in the figure below. (However, use the absolute value as the torque limit value when entering the parameters.) Fb-08 Second quadrant Torque First quadrant Fb-07 Speed Fb-09 Third quadrant Fourth quadrant Fb-10 5 Functions <<FOT/ROT terminals>> These terminals connect to operating range limit switches in order to prevent overtravel. Related parameters FC-01 : Input terminal polarity setting When this signal is turned on, drive is allowed. To prevent overtravel, the internal speed command limit value in that direction is set to 0. By changing the "Input terminal polarity" (FC-01) setting, drive is also allowed when this input terminal is opened. An overtravel error (E25) occurs if the servo is ON for more than 1 second after the FOT and ROT were both set to OFF. The FOT and ROT terminal function does not change even if the FA-14 (Motor revolution direction) setting is changed. The FOT always prohibits drive in the CCW direction and the ROT prohibits drive in the CW direction. When operating the robot with the RDV-P, the magnetic pole position estimation should be performed with the FOT and ROT set to ON. A magnetic pole position estimation error (E95) occurs if either of the FOT or ROT is set to OFF while the magnetic pole position is being estimated. <<PEN terminal>> The position command pulse input is valid (enabled) only when this signal is ON. Related parameters FC-01 : Input terminal polarity setting The position command value can be refreshed by pulse train input while this signal is ON. The "Input terminal polarity" (FC-01) setting allows position pulse train input to be enabled when this input terminal is opened. <<CER terminal>> This signal clears the deviation (position error) counter to "0" by setting the position command value as the current position during position control. Related parameters FC-01 : Input terminal polarity setting This signal is only valid during position control. The position command value is set to the current position value at the instant this signal is switched from OFF to ON. Since this signal turns on at the pulse edge, the counter clearing does not continue even if this signal is kept ON. To clear the counter again, set this signal to OFF and then back ON again. By changing the "Input terminal polarity" (FC-01) setting, the deviation (position error) counter clearing can be enabled when this input terminal is opened. 5-4

107 <<ORG terminal>> When servo is ON, tuning this signal ON performs return-to-origin. For details, refer to Chapter 5, "4. Return-to-origin function". Related parameters FA-23: Homing mode Fb-12: Homing speed 1 (fast) Fb-13: Homing speed 2 (slow) FC-01: Input terminal polarity setting When return-to-origin is complete, INP turns ON. If this signal is turned OFF before return-to-origin is complete, the movement is interrupted and INP stays OFF. Since this signal turns ON at the pulse edge, only one return-to-origin is performed even if this signal is kept ON. <<ORL terminal>> Use this signal when performing return-to-origin by sensor method. For details, refer to Chapter 5, "4. Return-to-origin function". Use this signal only when the connected robot's return-to-origin method is sensor method. No additional wiring is required since the connection to the robot is made via the input/output connector. Related parameters FA-23: Homing mode FC-01: Input terminal polarity setting 5 Functions 5-5

108 333 Output terminal functions Driver output terminal functions are described next. For details on input/output terminal timing chart from the power-on to the position command input, refer to 1. Timing chart in Chapter 10. <<SRD terminal>> This signal is output when the main circuit power is connected and no alarm has tripped. Servo-ON signals can be accepted when this signal is ON, but cannot be accepted if this signal is OFF. Related parameters FC-02 : Output terminal polarity setting On the RDV-P, this signal is not output unless magnetic pole position estimation ended correctly. For details, refer to Chapter 5, "17. Magnetic pole position estimation action". By changing the "Output terminal polarity" (FC-02) setting, this output terminal can also be opened when the servo is ready. 5 Functions <<ALM terminal>> This signal indicates the alarm state. Its setting can be changed between "normally open (a-contact)" and "normally closed (b-contact)" by the output terminal polarity setting (FC-02). (Default setting is "normally closed" contact.) The table below shows the relation between each contact specification and alarm output. If this signal indicates an alarm state, clearing the alarm state by inputting alarm reset (RS) or by cycling the power supply will return to normal operation. Related parameters FC-02 : Output terminal polarity setting Contact specifications Power OFF Normal state Alarm state Normally closed (b-contact) OFF ON OFF Normally open (a-contact) OFF OFF ON <<INP terminal>> This signal indicates that positioning or return-toorigin is complete. Related parameters Fb-23 : Positioning detection range FC-02 : Output terminal polarity setting This signal turns OFF when return-to-origin signal is input, and return-to-origin then starts. After return-to-origin is complete, this signal turns ON when the positioning deviation (position error) is within the range specified by "Positioning detection range" (Fb-23). This signal is OFF when the servo is OFF. By changing the "Output terminal polarity" (FC-02) setting, this output terminal can also be opened when positioning is completed. <<ORG-S terminal>> This signal indicates that return-to-origin is complete. Related parameters FC-02 : Output terminal polarity setting This signal turns ON when the return-to-origin operation ends normally. When this signal turns ON, it remains ON until the return-to-origin signal (ORG) is again turned ON to begin returnto-origin or until the driver's control power supply is turned OFF. 5-6 The output terminal polarity setting (FC-02) can also be used to open the output terminal when return-to-origin is completed.

109 <<BK terminal (relay contact)>> This signal is for controlling an externally installed brake. Use this signal only when the connected robot has a mechanical brake. No additional wiring is required since the connection to the robot is made via the input/output connector. Two methods of brake signal output are available: output while the motor is stopped and output while the motor is operating. As shown in the table below, each setting can be made to exclude the other setting. Their output methods are described below. Related parameters FA-24 : Servo OFF wait time FA-26 : Brake operation start speed FA-27 : Brake operation start time FC-02 : Output terminal polarity setting Note: In the case of the RDV-P, this signal cannot be used as a relay output since no relay is mounted on the PC board in the RDV-P. Parameter (1) Brake signal during stop (2) Brake signal during run Servo OFF wait time FA-24 Wait time setting 0 Brake operation start speed FA-26 Start speed Brake operation start time FA-27 0 Start time This function will not work correctly unless the exclusive setting is made as shown above. 5 Functions 5-7

110 111 Brake signal while robot is stopped In this function, after the brake signal (BK) has turned on, the servo OFF signal can be delayed in order to counteract delays in the brake operation. So use this signal when the robot stops such as when stopped after positioning. Using this signal frequently while the robot is moving will cause abnormal brake wear. This signal turns on simultaneously with servo ON operation when a servo-on signal is input. This signal immediately turns off when the servo ON signal turns off. The servo then turns off after a time preset by the "Servo OFF wait time" (FA-24) parameter has elapsed. (See figure below.) The "Servo OFF wait time" (FA-24) can be set from 0 to 1.00 seconds in 10ms steps, and operation may have a maximum delay of 1ms. If an alarm occurs, the servo turns off simultaneously with this signal. By changing the "Output terminal polarity" (FC-02) setting, this output terminal can also be opened when the brake is released. When using this function, set the "Brake operation start time" (FA-27) to 0. Note: Operation is controlled by pulse train input even during the "Servo OFF wait time". To stop the operation, turn off the PEN input or stop the pulse train input. SON Servo ON state Servo OFF wait time 5 Servo status BK Power being supplied Brake OFF state FA Brake signal while robot is operating Functions This function is used when applying the brake while the robot is operating so use in applications where the robot can slow sufficiently such as when the robot is free-running. Using this function when moving a heavy payload may cause braking delays, resulting in dropping hazards so use caution. This signal turns on simultaneously with servo ON operation when a servo-on signal is input. When a servo OFF signal or an alarm state occurs, the robot speed decreases below the "Break operation start speed" (FA-26) or the servo turns off, and then the brake operates after the "Break operation start time" (FA-27) has elapsed. (See figure below.) The "Brake operation start time" (FA-27) can be set from 0 to seconds in 4ms steps, and operation may have a maximum delay of 1ms. By changing the "Output terminal polarity" (FC-02) setting, this output terminal can also be opened when the brake is released. When using this function, set the "Servo OFF wait time" (FA-24) to 0. SON Servo ON state SON=OFF or alarm Servo status BK Power being supplied Brake OFF status Brake operation start time FA-27 * Robot speed Brake operation start speed FA-26 *Operation condition FA-26 > Speed or FA-27 time has elapsed. 5-8

111 444 Return-to-origin function 111 Return-to-origin using stroke end method (RDV-X) The following table shows the RDV-X return-to-origin operation using the stroke end method. FA-23 Return-to-origin using stroke end method t-f When "Homing back distance" (Fb-35) = 1 Reverse run Position Phase Z (Fb-12) Machine reference (d-58) {L- {[(Fb-35)-1] }}/4096 L First Z Stroke end Forward run (4) 5 (Machine reference=100%) Homing back distance counter t-r Operation sequence (Fb-12) Stroke end 4 Reverse run Position Homing back distance counter [(Fb-35)-1] 4096 (Fb-13) {L- {[(Fb-35)-1] }}/ (Machine reference=100%) 1 Machine reference (d-58) 2 (Fb-12) First Z When "Homing back distance" (Fb-35) = 2 7 L Forward run Phase Z 1. Start return-to-origin. 2. Robot moves towards stroke end at "Homing speed 1 (fast)" (Fb-12). 3. Reverses movement direction while adjusting speed during "Acceleration/Deceleration time for Homing" (Fb-31, Fb-32) (Note 1) when the motor current exceeding the rated current and the robot was determined to be stroke end. 4. Moves in direction opposite the stroke end at "Homing speed 1 (fast)" (Fb-12). Starts counting the Homing back distance from the stroke end. (If the "Homing back distance" (Fb-35) is set to 1, then step 4 is skipped and goes to step 5.) 5. When the Homing back distance count exceeds "[(Fb-35) 1] 4096" pulses, the robot starts slowing down during (Note 1) deceleration time (Fb-32) and moves at "Homing speed 2 (slow)" (Fb-13). 6. Continues moving at "Homing speed 2 (slow)" (Fb-13). 7. Stops at first "phase Z" position after the Homing back distance count has exceeded "[(Fb-35) 1] " pulses. (Machine reference is displayed on d-58, which is calculated as follows: {L (distance from stroke end to stop point) {[(Fb-35) 1] }} / 4096) 5 Functions Note 1: The acceleration/deceleration time parameters specify the time needed to accelerate or decelerate between 0 and maximum speed. 5-9

112 222 Return-to-origin using sensor method (RDV-X) The following table shows the RDV-X return-to-origin operation using the sensor method. FA-23 ORL terminal at start of return-to-origin using sensor method OFF ON 4096 pulses (machine reference=100%) Sensor (ORL) Sensor 4096 pulses (machine reference=100%) (ORL) S-F 1 Reverse run Machine reference (d-58) 2 3 (Fb-12) (Fb-13) 4 5 Forward run (Note 3) Position A First phase Z Phase Z Reverse run Machine reference (d-58) 5 (Fb-12) (Fb-12) A (Note 3) (Fb-13) Forward run 7 1 Position 2First phase Z Phase Z 5 S-r Sensor 4096 pulses (machine reference=100%) (ORL) Machine reference (d-58) Reverse run 5 A (Note 3) (Fb-13) 4 3 (Fb-12) 0.5 First phase Z 2 Forward run Position 1 Phase Z 4096 pulses (machine reference=100%) Machine reference (d-58) (Fb-12) A 3 Reverse run (Note 3) (Fb-12) First phase Z Sensor (ORL) Forward run Position Phase Z Functions Operation sequence 1. Starts return-to-origin. 2. Robot moves towards origin at "Homing speed 1 (fast)" (Fb-12). 3. Slows down during "Detection time for Homing" (Fb-32) (Note 5) when sensor (ORL terminal) turns on. 4. Continues moving at "Homing speed 2 (slow)" (Fb-13). 5. Stops at first "phase Z" position after reaching the "Homing speed 2 (slow)" (Fb-13). (Machine reference displayed on (Note 3) d-58.) 1. Starts return-to-origin. 2. Robot moves away from origin at 50% of "Homing speed 1 (fast)" (Fb-12). 3. Reverses movement direction when sensor (ORL terminal) turns off. (Deceleration/acceleration time is determined by (Note 5) parameters (Fb-32, Fb-31). 4. Moves back towards origin at 50% of "Homing speed 1 (Note 4) (fast)" (Fb-12). 5. Slows down during "Detection time for Homing" (Fb-32) (Note 5) when sensor (ORL terminal) turns on. 6. Continues moving at "Homing speed 2 (slow)" (Fb-13). 7. Stops at first "phase Z" position after reaching the "Homing speed 2 (slow)" (Fb-13). (Machine reference displayed on (Note 3) d-58.) Note 1: If the origin sensor (ORL terminal) does not turn off even when the robot has moved a distance of 50,000 pulses after starting return-to-origin with the origin sensor (ORL terminal) turned on (operation in steps 1 and 2), then a homing sensor alarm (E80) occurs. Note 2: If the origin sensor (ORL terminal) does not turn on and the robot comes into contact with the mechanical end (stroke end), then an overload alarm (E05) occurs. Note 3: Machine reference is displayed after return-to-origin is completed normally. Note 4: If the origin sensor (ORL terminal) turns on during acceleration, then the robot immediately slows down and sets to step 5. (Speed might not always reach 50% of "Homing speed 1 (fast)" (Fb-12) ). Note 5: Acceleration/deceleration time parameters set the time needed to accelerate or decelerate between 0 and maximum speed. 5-10

113 333 Return-to-origin using stroke end method (RDV-P) The following table shows the RDV-P return-to-origin operation using the stroke end method. FA-23 Return-to-origin using stroke end method When phase ZM is between return-to-origin start position and stroke end When "Homing back distance" (Fb-35) = 2 Stroke end Sensor (phase ZM) (Fb-12) Reference phase Z Reverse run Position R side When FA is set to CC Phase Z (Fb-12) (Dotted line indicates phase ZY.) (R/D converter) 256(=100H) 768 (=300H) pulses (Fb-13) 6 5 [(Fb-35)-1] pulses 768 (=300H) pulses (1.024mm) 4 Forward run L side When FA-14 is set to CC t-f d 256(=100H) Machine reference (d-58)=(d+768)/4096 Machine reference=100% Homing back distance counter When return-to-origin start position is between phase ZM is and stroke end Stroke end Sensor (phase ZM) When "Homing back distance" (Fb-35) = 1 5 (Fb-12) 7 R side When FA-14 is set to CC Reverse run Position 6 5 (Fb-12) Phase Z (Dotted line indicates phase ZY.) (R/D converter) 14 (Fb-13) 1024 or more pulses (=300H) pulses (=100H) pulses (1.024mm) 2 Reference phase Z 3 10 (11) 768 (=300H) pulses 4096 d 256(=100H) 9 Forward run L side When FA-14 is set to CC Homing back distance counter Functions Machine reference (d-58)=(d+768)/4096 Machine reference=100% 5-11

114 FA-23 Return-to-origin using stroke end method When phase ZM is between return-to-origin start position and stroke end 5 Functions t-r Stroke end R side When FA-14 is set to CC Reverse run Position Homing back distance counter 4 Reference phase Z 5 When "Homing back distance" (Fb-35) = 2 6 [(Fb-35)-1] (Fb-13) 256(=100H) 768 (=300H) pulses d (=300H) Machine reference (d-58)=(d+256)/4096 Machine reference=100% 6 (Fb-12) pulses (1.024mm) 8 Sensor (phase ZM) 9 L side When FA-14 is set to CC Forward run 1 2 (Fb-12) Phase Z (Dotted line indicates 768(=300H) phase ZY.) (R/D converter) When return-to-origin start position is between phase ZM and stroke end Stroke end R side When FA-14 is set to CC Reverse run Position Homing back distance counter 9 Reference phase Z 10 (11) 3 When "Homing back distance" (Fb-35) = (=100H) 768 (=300H) pulses or more pulses 4 (Fb-13) 14 d (=300H) Machine reference (d-58)=(d+256)/4096 Machine reference=100% pulses 768(=300H) (1.024mm) 7 Sensor (phase ZM) 5 6 (Fb-12) L side When FA-14 is set to CC Forward run (Fb-12) Phase Z (Dotted line indicates phase ZY.) (R/D converter) 5-12

115 FA-23 When phase ZM is between return-to-origin start Return-to-origin using stroke end method When return-to-origin start position is between phase position and stroke end ZM is and stroke end 1. Starts return-to-origin. 1. Starts return-to-origin. 2. Robot moves towards stroke end at "Homing speed 1 2. Robot moves towards stroke end at "Homing speed 1 (fast)" (Fb-12). (fast)" (Fb-12). 3. Continues moving towards the stroke end at "Homing 3. Reverses movement direction while adjusting speed speed 1 (fast)" (Fb-12). during "Acceleration/Deceleration time for Homing" After detecting sensor (phase ZM) (Note 2, Note 5), returns to (Fb-31, Fb-32) when robot has reached the stroke end, origin and starts count. which is determined by detecting (in first part of this step) Among phase Z at each 4096 count, the phase Z detected a motor current that exceeded the rated current and then at a point closest to the stroke end is regarded as (Note 1) the specified "Current for striking limit" (Fb-36). reference phase Z. 4. Moves in direction opposite the stroke end at "Homing 4. Reverses movement direction while adjusting speed speed 1 (fast)" (Fb-12). during "Acceleration/Deceleration time for Homing" 5. After detecting sensor (phase ZM) (Note 2), moves 1024 (Fb-31, Fb-32) when robot has reached the stroke end, pulses. which is determined by detecting (in first part of this step) 6. Reverses movement direction while adjusting speed a motor current that exceeded the rated current and then during "Deceleration time for Homing" (Fb-32) after the specified stroke-end current. (Note 1) checking that at least 1024 pulses have elapsed. 5. Moves in direction opposite the stroke end at "Homing 7. Moves towards the stroke end after changing speed back speed 1 (fast)" (Fb-12). to the "Homing speed 1 (fast)" (Fb-12) during 6. Continues moving in direction opposite the stroke end "Acceleration time for Homing" (Fb-31). until reaching the position "[(Fb-35) 1] 4096]" pulses 8. Continues moving towards the stroke end at "Homing away from the reference phase Z. speed 1 (fast)" (Fb-12). After detecting sensor (phase (If "Homing back distance" (Fb-35) is set to 1, then step 6 ZM) (Note 5), returns to origin and starts count. is skipped and goes to step 7.) Among phase Z at each 4096 count, the phase Z detected 7. Moves at "Homing speed 2 (slow)" (Fb-13) after adjusting at a point closest to the stroke end is (Note 1) speed during "Deceleration time for Homing" (Fb-32). regarded as reference phase Z. 8. Temporarily stops at a position 4096 pulses away from 9. Reverses movement direction while adjusting speed phase Z at the deceleration point. during "Acceleration/Deceleration time for Homing" 9. Further moves a distance equal to the following phase (Fb-31, Fb-32) when the motor current exceeding the difference between phase ZY and phase Z, and then rated current and the robot was determined to be stroke stops there. end. When moving to L: 256=100H pulses 10. Moves in direction opposite the stroke end at "Homing When moving to R: 768=300H pulses speed 1 (fast)" (Fb-12). Machine reference is displayed on d-58, which is 11. Continues moving in direction opposite the stroke end calculated as follows: until reaching the position "[(Fb-35) 1] 4096]" pulses When moving to L: (d-58)=(d+768)/4096 away from the reference phase Z. When moving to R: (d-58)=(d+256)/4096 (If "Homing back distance" (Fb-35) is set to 1, then step 11 is skipped and goes to step 12.) 12. Moves at "Homing speed 2 (slow)" (Fb-13) after adjusting (Note 1) speed during "Deceleration time for Homing" (Fb-32). 13. Temporarily stops at a position 4096 pulses away from phase Z at the deceleration point. 14. Further moves a distance equal to the following phase difference between phase ZY and phase Z, and then stops there. When moving to L: 256=100H pulses When moving to R: 768=300H pulses Machine reference is displayed on d-58, which is calculated as follows: When moving to L: (d-58)=(d+768)/4096 When moving to R: (d-58)=(d+256)/4096 Note 1: The acceleration/deceleration time parameters specify the time needed to accelerate or decelerate between 0 and maximum speed. Note 2: There are two phase Z types as described below. Be careful not to confuse them. Phase ZM : Phase Z signal that is input from the mechanical section via ENC1. (This sensor signal is output from two points at both ends of the mechanical stroke.) Operation sequence Phase ZM PHASER series Phase ZM One each of phase ZM is present near both ends of robot. 5 Functions Phase Z (R/D converter) : Phase Z signal that is output from the resolver or R/D converter. (This is output every 1024 pulses.) Also note that the ORL terminal is left unconnected when performing the RDV-P return-to-origin operation using the stroke end method. Note 3: Phase ZY is a position offset 768(=300H) pulses from the phase Z (R/D converter) signal. Machine reference corresponds to the distance between the stroke end and phase ZY as shown in the operation sequence diagram. Note 4: The magnetic pole position is determined when phase ZM is passed. 5-13

116 444 Return-to-origin using sensor method (RDV-P) The following table shows the RDV-P return-to-origin operation using the sensor method. FA-23 Return-to-origin using sensor method When phase ZM is between return-to-origin start position and origin sensor (Fb-12) Origin sensor (ORL) Sensor (phase Z1) Reference phase Z Reverse run Position R side When FA-14 is set to CC Phase Z (Dotted line indicates phase ZY.) (R/D converter) (=100H) (Fb-13) Machine reference (d-58) d 4096 pulses (machine reference(d-58)=100%) 1024 pulses (1.024mm) Forward run L side When FA-14 is set to CC 256 (=100H) pulses 768 (=300H) pulses When return-to-origin start position is between phase ZM is and origin sensor 5 Functions S-F (Fb-12) 7 Reverse run Position Origin sensor (ORL) Sensor (phase Z1) Reference phase Z 6 (Fb-12) R side When FA-14 is set to CC Phase Z (Dotted line indicates phase ZY.) (R/D converter) pulses 256 (=100H) 2 (Fb-13) Machine reference (d-58) 4096 pulses d (machine reference(d-58)=100%) 1024 pulses (1.024mm) 13 Forward run L side When FA-14 is set to CC 256 (=100H) pulses 768 (=300H) pulses 4096 When origin sensor is ON when starting return-to-origin Origin sensor (ORL) Sensor (phase Z1) Reference phase Z (Fb-12) Reverse run Position (Fb-12) R side When FA-14 is set to CC 1024 pulses Phase Z (Dotted line indicates phase ZY.) (R/D converter) 256(=100H) pulses d (machine reference(d-58)=100%) (Fb-13) Forward run Machine reference (d-58) 1024 pulses (1.024mm) (Fb-12) 0.5 L side When FA-14 is set to CC 256 (=100H) pulses 768 (=300H) pulses 4096 Operating direction (as viewed from cable carrier side of robot) CC FA-14 C Forward run Slider moves to L side Slider moves to R side Reverse run Slider moves to R side Slider moves to L side 5-14

117 FA-23 Return-to-origin using sensor method When phase ZM is between return-to-origin start position and origin sensor Origin sensor (ORL) Sensor (phase Z1) Reference phase Z Reverse run Position (Fb-13) Phase Z (Dotted line indicates phase ZY.) (R/D converter) 7 R side 4 When FA-14 is set to CC Machine reference (d-58) d 768 (=300H) pulses pulses (machine reference(d-58)=100%) 1024 pulses 256(=100H) (1.024mm) Forward run L side When FA-14 is set to CC (Fb-12) 768 (=300H) pulses 4096 When return-to-origin start position is between phase ZM is and origin sensor S-r Reverse run 4 Forward run Position L side (Fb-13) When FA is set to CC R side 8 (Fb-12) When FA-14 Machine reference (d-58) 9 is set to CC d 768 (=300H) pulses Phase Z 4096 pulses (machine reference(d-58)=100%) 1024 pulses (Dotted line indicates phase ZY.) 1024 pulses (R/D converter) 256(=100H) (1.024mm) 768 (=300H) pulses Origin sensor (ORL) Sensor (phase Z1) Reference phase Z 6 5 Functions When origin sensor is ON when starting return-to-origin Origin sensor (ORL) Sensor (phase Z1) Reference phase Z (Fb-12) 0.5 Reverse run Position (Fb-13) R side 12 When FA-14 is set to CC Machine reference (d-58) d Phase Z 768 (=300H) pulses (Dotted line indicates phase ZY.) (R/D converter) pulses (machine reference(d-58)=100%) 1024 pulses 256(=100H) (1.024mm) 10 8 Forward run L side When FA-14 9 is set to CC (Fb-12) 1024 pulses 768 (=300H) pulses 4096 Operating direction (as viewed from cable carrier side of robot) CC FA-14 C Forward run Slider moves to L side Slider moves to R side Reverse run Slider moves to R side Slider moves to L side 5-15

118 FA-23 Return-to-origin using sensor method 5 Functions 5-16 Operation sequence When phase ZM is between return-to-origin start position and origin sensor 1. Starts return-to-origin. 2. Robot moves at "Homing speed 1 (fast)" (Fb-12). 3. Continues moving at "Homing speed 1 (fast)" (Fb-12). Starts detecting phase Z at each 4096 count after detecting the sensor (phase ZM) signal. At this point, phase Z just before detecting the sensor (phase ZM) signal is regarded as reference phase Z which is the start point to detect phase Z at each 4096 count. 4. Slows down during "Deceleration time for Homing" (Fb-32) after detecting that the origin sensor (ORL terminal) has turned (Note 2) on. 5. Moves at "Homing speed 2 (slow)" (Fb-13). 6. After detecting the origin sensor signal, the robot temporarily stops at first "phase Z" position detected at each 4096 count. 7. Further moves a distance equal to the phase difference between phase ZY and phase Z, and then stops there. When moving to L: 256=100H pulses When moving to R: 768=300H pulses Machine reference is displayed on d-58, which is calculated as follows: When moving to L: (d-58)=(d+768)/4096 When moving to R: (d-58)=(d+256)/4096 When return-to-origin start position is between phase ZM is and origin sensor 1. Starts return-to-origin. 2. Robot moves at "Homing speed 1 (fast)" (Fb-12). 3. Slows down during "Deceleration time for Homing" (Fb-32) after detecting that the origin sensor (ORL terminal) has turned (Note 2) on. 4. Reverses movement direction after the motor has stopped, and speeds up during "Acceleration time for Homing" (Fb-31). 5. Moves at "Homing speed 1 (fast)" (Fb-12) until 1024 pulses have elapsed after detecting the sensor (phase ZM) signal. 6. Slows down during "Deceleration time for Homing" (Fb-32). 7. Reverses movement direction after the motor has stopped, and speeds up during "Acceleration time for Homing" (Fb-31). 8. Moves at "Homing speed 1 (fast)" (Fb-12). 9. Continues moving at "Homing speed 1 (fast)" (Fb-12). Starts detecting phase Z at each 4096 count after detecting the sensor (phase ZM) signal. At this point, phase Z just before detecting the sensor (phase ZM) signal is regarded as reference phase Z which is the start point to detect phase Z at each 4096 count. 10. Slows down during "Deceleration time for Homing" (Fb-32) after detecting that the origin sensor (ORL terminal) has turned (Note 2) on. 11. Moves at "Homing speed 2 (slow)" (Fb-13). 12. After detecting the origin sensor signal, the robot temporarily stops at first "phase Z" position detected at each 4096 count. 13. Further moves a distance equal to the phase difference between phase ZY and phase Z, and then stops there. When moving to L: 256=100H pulses When moving to R: 768=300H pulses Machine reference is displayed on d-58, which is calculated as follows: When moving to L: (d-58)=(d+768)/4096 When moving to R: (d-58)=(d+256)/4096 When origin sensor is ON when starting return-to-origin 1. Start return-to-origin. 2. Robot moves at 50% of "Homing speed 1 (fast)" (Fb-12). 3. Slows down during "Deceleration time for Homing" (Fb-32) after detecting that the origin sensor (ORL terminal) has turned (Note 2) off. 4. Reverses movement direction after the motor has stopped, and speeds up during "Acceleration time for Homing" (Fb-31). Then moves at 50% of "Homing speed 1 (fast)" (Fb-12). 5. Slows down during "Deceleration time for Homing" (Fb-32) after detecting that the origin sensor (ORL terminal) has turned (Note 2) on. 6. Reverses movement direction after the motor has stopped, and speeds up during "Acceleration time for Homing" (Fb-31). Then moves at "Homing speed 1 (fast)" (Fb-12). 7. Continue moving at "Homing speed 1 (fast)" (Fb-12) until 1024 pulses have elapsed after detecting the sensor (phase ZM) signal. 8. Slows down during deceleration time (Fb-32). 9. Reverses movement direction after the motor has stopped, and speeds up during "Acceleration time for Homing" (Fb-31). 10. Moves at "Homing speed 1 (fast)" (Fb-12). 11. Continues moving at "Homing speed 1 (fast)" (Fb-12). Starts detecting phase Z at each 4096 count after detecting the sensor (phase ZM) signal. At this point, phase Z just before detecting the sensor (phase ZM) signal is regarded as reference phase Z which is the start point to detect phase Z at each 4096 count. 12. Slows down during "Deceleration time for Homing" (Fb-32) after detecting that the origin sensor (ORL terminal) has turned (Note 2) on. 13. Moves at "Homing speed 1 (fast)" (Fb-13). 14. After detecting the origin sensor signal, the robot temporarily stops at first "phase Z" position detected at each 4096 count. 15. Further moves a distance equal to the phase difference between phase ZY and phase Z, and then stops there. When moving to L: 256=100H pulses When moving to R: 768=300H pulses Machine reference is displayed on d-58, which is calculated as follows: When moving to L: (d-58)=(d+768)/4096 When moving to R: (d-58)=(d+256)/4096

119 Note 1: The acceleration/deceleration time parameters specify the time needed to accelerate or decelerate between 0 and maximum speed. Note 2: If the origin sensor (ORL terminal) does not turn on and the robot comes into contact with the mechanical end (stroke end), then an overload alarm (E05) occurs. Note 3: There are two phase Z types as described below. Be careful not to confuse them. Phase ZM : Phase Z signal that is input from the mechanical section via ENC1. (This sensor signal is output from two points at both ends of the mechanical stroke.) Phase ZM PHASER series Phase ZM One each of phase ZM is present near both ends of robot. Phase Z (R/D converter) : Phase Z signal that is output from the resolver or R/D converter. (This is output every 1024 pulses.) Note 4: Phase ZY is a position offset 768(=300H) pulses from the phase Z (R/D converter) signal. Note 5: Connect the origin sensor to the ORL terminal. Note 6: If the origin sensor (ORL terminal) does not turn off even when the robot has moved a distance of 50,000 pulses after starting return-to-origin with the origin sensor (ORL terminal) turned on, then a homing sensor alarm (E80) occurs. Note 7: The magnetic pole position is determined when phase ZM is passed. 5 Functions 5-17

120 555 Analog output function The driver has 2 channels provided with analog monitor output terminals. The output voltage is from 0 to ±5.0V. The speed detection value (nfb), torque command value (tqr), speed command value (nrf), speed deviation (ner), position deviation (PEr), current value (ifb), command pulse frequency (PFq), and regenerative braking resistor duty ratio (brd) can be selected with parameters (FC-30, FC-33) on the monitor terminals AO1, AO2 (common L terminal) for the 2 channels. The monitor output gain can be set in FC-32 and FC-35. The positive/negative polarity output (0 to ±5.0V) or the absolute value output (0 to ±5.0V) can be selected with FC-31 and FC-34. Analog monitor output function Setting Data name Maximum monitor output value (5.0V output value) (Note 1) Monitor output 1, 2 gain setting range (%) (FC-32)(FC-35) nfb Speed detection value Maximum speed tqr Torque command value Maximum torque 5 nrf Speed command value Maximum speed ner Speed deviation Maximum speed PEr Position deviation 5 rotations of motor ifb Current value Maximum current Functions PFq Command pulse frequency Maximum speed brd Regenerative braking resistor duty ratio Alarm level (FA-08) PE4 Position deviation (expansion 1) pulses PE3 Position deviation (expansion 2) 1000 pulses PE2 Position deviation (expansion 3) 100 pulses 0 to (Default: 100%) Eth Electronic thermal sum 100% Pn Main circuit voltage (PN voltage) 400V tqfb Output torque Maximum torque tlip Positive torque limit Maximum torque tlin Negative torque limit Maximum torque Note 1: Do not use the analog output function as feedback data; use it only for monitoring. Note 2: Monitor output is 5.0V as in the above table when the monitor output gain is 100%. Note 3: Output signal accuracy is within ±10%. Note 4: Set the monitor output data for an output of 0 to ±5.0V, or 0 to 5.0V in FC-31 and FC-34. However, "PFq", "brd", "EtH", "Pn", "tlip" and "tlin" are only positive outputs. Analog output ±10% 200.0% 5.0V % 50.0% (Maximum value) 0 + (Maximum value) V Gain setting of analog outputs 1 and 2 (FC-32), (FC-35) 5-18

121 666 Pulse train input function 111 Position pulse train input The pulse train signals (PLS, SIG) for the position command are valid in position control mode. Position commands from this signal are counted only when the pulse train input enable signal (PEN) is ON. There are 6 position command count modes as shown in the table below and these are set by the parameter (FA-11). FA-11 Signal name Pulse train input mode P-S Pulse train PLS terminal (Pulse train command) 1 0 command SIG terminal ON : Forward run 1 Forward run Reverse run OFF: Reverse run 0 F-r (Default) Forward/ Reverse run pulse PLS terminal (Forward run side command) SIG terminal (Reverse run side command) Forward run Reverse run A-b -P-S r-f Phase difference two-phase pulse PLS terminal (Phase difference two-phase, phase A) SIG terminal (Phase difference two-phase, phase B) Forward run Reverse run [ * Count is multiplied by 4.] Reverse PLS terminal 1 (Pulse train command) 0 pulse train SIG terminal command ON : Forward run 1 OFF: Reverse run Forward run Reverse run 0 Reverse/ Forward run pulse PLS terminal (Reverse run side command) SIG terminal (Forward run side command) Reverse run Forward run 5 Functions b-a Reverse phase difference two-phase pulse PLS terminal (Phase difference two-phase, phase B) SIG terminal (Phase difference two-phase, phase A) Reverse run Forward run [ * Count is multiplied by 4.] The filter circuit selection (position command pulse) FG-61 lets you choose which filter circuit implemented in the pulse train input circuit hardware will be applied to the pulse train input signal. Filter circuit selection (position command pulse) Specifies the digital filter for the position command pulse input. The filter frequencies for each setting item are shown below. Default value: FL8 Display level: ProF FG-61 setting value Filter type [MHz] FG-61 setting value Filter type FL1 A 13.3 FL10 B 2.5 FL2 A 6.6 FL11 B 1.6 FL3 A 3.3 FL12 B 1.25 [MHz] FL4 A 1.6 FL13 B FL5 B 13.3 FL14 B FL6 B 10.0 FL15 B FL7 B 6.6 FL16 B FL8 B 5.0 FL17 B FL9 B 3.3 FL18 B * Normally you should select FL5--FL18 (filter type B) (single phase delay filter) according to the frequency of the position command pulse input. You may select FL1--FL4 (filter type A) depending on the situation. 5-19

122 222 Electronic gear Position commands input by pulse train signals are processed in the electronic gear and become the position command value. This electronic gear multiples the input command value by (FA-12/FA-13) to form the position command value. That relation is shown in the following formula. (Position command value) = (Electronic gear numerator FA-12) (Pulse train input) (Electronic gear denominator FA-13) The pulse train input is summarized in the following figure. PLS SIG Pulse train input circuit Electronic gear Position command Input form FA-12 FA-11 FA-13 5 Note: The FLIP-X series resolution is pulses per revolution of the motor. (GF14XL and FG17XL are excepted.) The resolution of the GF14XL and GF17XL is pulses per revolution of the motor. The PHASER series resolution is 1 pulse per micrometer. [Calculation examples of electronic gear ratio] 1. To move the F14-20 (FLIP-X series) robot a distance of 1 μm per pulse: Functions Here, by setting the resolution [mm/pulse] as a, the lead length [mm/rev] as L, and pulses per motor revolution [pulses/ rev] as n, and the electronic gear ratio as G (=FA-12/FA-13), the resolution a can then be expressed as follows. a = L / n (1) To move the robot 0.001mm per pulse, an electronic gear ratio G that satisfies the following relation is needed = G a (2) On the F14-20 robot, L=20 [mm/rev] and n=16384 [pulses/rev], so by applying formulas (1) and (2) we obtain: G=16384/20000 So setting an electronic gear ratio of FA-12 : FA-13 = : allows robot movement at 1μm per pulse. 2. To move the MF7 (PHASER series) robot at a speed of 2000 millimeters per second [mm/s] with input pulses at a frequency of 500kpps: Here, by setting the resolution [mm/pulse] as a, the input frequency [pps] as P, the movement speed [mm/s] as V, and the electronic gear ratio as G (=FA-12/FA-13), V can then be expressed as follows. V = G (P a) (3) Since the PHASER series resolution is 1μm and since a=0.001 [mm/pulse] then by applying formula (3) we obtain: G=4 So setting an electronic gear ratio of FA-12 : FA-13 = 4 : 1 allows robot movement at a speed of 2000 [mm/s]. Note 1: When the position pulse train signal type is phase difference 2-phase pulse, the electronic gear ratio should be calculated using the input frequency multiplied by 4. Note 2: Do not set a frequency or electronic gear ratio that exceeds the maximum robot speed. Note 3: Operation cannot be guaranteed when the electronic gear is set to an extreme value. Make sure that the setting (FA-12/FA-13) is in a range from 1/20 to

123 777 Smoothing function 111 Position command filter The command pulse rate may cause vibrations when used in combination with a low-rigidity machine. To prevent this vibration, a filter is added to the position command so that commands can be changed smoothly. The filter time constant can be set by parameter (Fd-36). Setting the parameter to 0 disables this function. Parameter Function name Description Default setting Fd-36 Position command filter time constant Inserting a filter makes the position command run smoothly. 0 to 60000ms, 0 = Invalid 0 The control block is shown below. Position command 1 1+Tds + Position control Speed command Current position Inserting a filter makes the position command run smoothly as shown in the figure below and vibration can be prevented. Before filter insertion After filter insertion 5 Note 1: In position control mode, always set Fd-36 to 0 during unlimited feed in one way direction, or during synchronous operation of units such as the conveyor in one way direction. Unless Fd-36 is set to 0, a position error fault (E83) will occur. Functions 5-21

124 888 Position sensor monitor function The position sensor monitor signals OA and OB, which are obtained by dividing the position sensor "phase A" and "phase B" signals, are output as a line driver output. The "phase Z" signal is directly output as OZ as a line driver output and an open collector output. The position sensor monitor signal is processed by a pulse divider whose division ratio M/N can be set by the "Position sensor monitor resolution M, N" (FC-09), (FC-10). The division ratio can be 1/N (N=1 to 64), 2/N (N=3 to 64) or M/8192 (M=1 to 8191). (Note 3) If the division ratio M/N is set in an invalid combination, then no position sensor monitor signal is output and a motor power unmatch (E40) occurs. The OZ signal of phase Z is not divided here. On the FLIP-X series, 1 pulse is output per 1/4 of revolution*. On the PHASER series, an output occurs when the robot passes through phase ZM near both ends of the robot. The "phase Z" signal of the position sensor transits the internal circuits within the driver and is output as is (unchanged). Regarding the phase difference between the OA and OB signals of phase A and phase B and the direction the robot moves, phase B leads phase A (default setting) during forward run. However, this can be changed by setting the parameter (FC-11) so that phase A leads phase B. * On the GF14XL and GF17XL, 1 pulse is output per 1/5 of revolution. 5 Functions Phase Z Phase A Phase B M FC-09 FC-09 FC-10 Pulse divider M N M/N setting range FC-11 Position sensor monitor Phase direction N FC-10 Phase direction decision circuit OZ OA OB Position sensor monitor division ratio Invalid combination 1 (Note 1) 1 to 64 1/N FC-10 = 65 to (Note 1) 3 to 64 2/N FC-10 = 1, 2, 65 to to (Note 1) M/8192 FC-09 = 8192, FC-10 = 1 to 8191 Note 1: The position sensor monitor division ratio is M/8192 in the case of FC-10 = When FC-10 is not 8192 then the position monitor sensor division ratio to set to 1/N or 2/N according to the FC-09 setting. Note 2: If FC-09, FC-10 or FC-11 was changed then turn the control power supply off and then back on again. The correct waveform is not output unless the power is turned off and then back on. Note 3: The position sensor monitor output signals OAP, OAN, OBP, OBN, OZP, OZN and OZ are not available for about 3 seconds after the control power supply is turned on. If monitoring from a master control device then start monitoring from about 3 seconds after turning on the control power supply. The logic output for each signal is as follows. Logic Current path of line driver output (OAP, OAN, OBP, OBN, OZP, OZN) Open collector output Transistor operation (OZ) 1 OAP OAN OBP OBN OZP OZN ON (closed) 0 OAP OAN OBP OBN OZP OZN OFF (open) 5-22

125 999 Adjusting the control gain Although the gain of the robot driver is adjusted so that it can be operated without changing the gain setting, fine adjustments of the gain may improve responsiveness in some cases. If you want to make operation more responsive, set the parameters as described in the control gain adjustment method below. The gain can be adjusted in the following three ways. The explanation here will focus mainly on manual gain adjustment. c CAUTION If the transported mass differs significantly during operation, we recommend that you not use auto tuning to adjust the gain; instead, use the factory settings. [Recommended] 1) Setting the parameters as described in Chapter 6, "3.3 Reference graph for setting the acceleration and position control cut-off frequency" Set Fd-09 (position control response frequency) as shown in the graph. This is the easiest way to improve response. 2) Adjusting the gain manually Set the parameters manually while watching the robot operate. For details, refer to "9.2 Manual gain adjustment procedure" in this Chapter. 3) Adjusting the gain automatically The parameters are set automatically when you specify a robot operation pattern and operate the robot. For details, refer to "10. Offline auto-tuning" in this Chapter. 5 Position command + Position control + Position feedback loop Speed control + Speed feedback loop Current control Power converter Current feedback loop Robot Detector Functions 9999 Basic rules of gain adjustment (1) The servo system is made of 3 loops consisting of a position control loop, a speed control loop, and a current control loop. The internal loop process and the response (cut-off frequency) must be set to a high level. You need to adjust the position control loop gain and the speed control loop gain. The current control gain has sufficient response so no adjustment is needed. (2) The position control loop and the speed control loop require making a setting that yields a balanced response. Basically, set the loop gain in a range that holds the relation: "Position control cut-off frequency" (Fd-09) is lower than "Speed control cut-off frequency" (Fd-01). As a general guide when making this setting, the "Position control cut-off frequency" (Fd-09) should be less than 1/6 of the "Speed control cut-off frequency" (Fd-01). (3) The mechanical system might sometimes oscillate if the response of the position control loop is set to a high value. The gain cannot be set any higher than this so use caution. Usually, the response of the position control loop cannot be set higher than the characteristic oscillation frequency of the mechanical system. Set a loop gain that matches the rigidity and strength of the mechanical system. Setting the response and the rigidity of the mechanical system is described next. 5-23

126 9999 Manual gain adjustment procedure This section describes how to set the most often-used parameter constants when adjusting the control gain. Parameter No. Parameter name Guidelines for adjustment Fd-00 Load moment of inertia ratio (RDV-X) Specifies the ratio of the moment of inertia of the load relative to the moment of inertia of the motor. [Calculating the value] Load moment of inertia / motor moment of inertia x 100 Load mass ratio (RDV-P) Specifies the ratio of the moving mass of the load relative to the moving mass of the linear motor. [Calculating the value] Mass of the moving part of the load / Mass of the moving part of the linear motor x 100 Although increasing this value will increase the responsiveness of speed control, an excessive Fd-01 Speed control cut-off frequency value may cause the mechanical system to oscillate. If the mechanical system oscillates, decrease this value. [Setting guideline] Fd-01 in a range that does not cause the mechanical system to oscillate. Fd-02 Speed control proportional gain The speed PI control proportional gain adjustment value (Fd-02) allows fine adjustment of the PI control proportional gain relative to the speed control cut-off frequency specified by the load moment of inertia ratio (Fd-00) and the speed control cut-off frequency (Fd-01). 5 Fd-03 Fd-09 Speed control integral gain Position control cut-off frequency The speed PI control integral gain value (Fd-03) allows fine adjustment of the PI control integral gain relative to the speed control cut-off frequency determined by the load moment of inertia ratio (Fd-00) and the speed control cut-off frequency (Fd-01). Although increasing this value will increase the responsiveness of position control, if it approaches the value of the speed control cut-off frequency (Fd-01), the mechanical system may oscillate. If the mechanical system oscillates, decrease this value. [Setting guideline] Fd-09 < Fd-01 x (1/5 to 1/6) Functions Fd-10 Fd-41 Position feed forward gain Position feed forward filter time constant Although increasing the position feed forward gain (Fd-10) will increase the responsiveness, overshoot will be more likely to occur. If overshoot occurs, increasing the position feed forward filter time constant (Fd-41) may solve the problem. Increasing the position feed forward filter time constant (Fd-41) will decrease the effect of the position feed forward gain (Fd-10). By appropriately adjusting the position feed forward gain (Fd-10) and the position feed forward filter time constant (Fd-41), the response during motor operation will be appropriately improved and positioning time will be shortened. 5-24

127 Adjustment procedure 1) Set Fd-00 (load moment of inertia ratio / load mass ratio). For details, refer to " Load moment of inertia calculation". * If the load mass is unknown, Fd-00 can also be set as described in " Load moment of inertia estimation". 2) Adjust the speed control cut-off frequency (Fd-01) (within the range that does not cause vibration or abnormal sound). 3) Adjust the position control cut-off frequency (Fd-09) (within the range that does not cause vibration or abnormal sound). 4) If the control response is unsatisfactory, observe the settling characteristics and the operating state while making fine adjustments to the speed control proportional gain (Fd-02), speed control integral gain (Fd-03), position feed forward gain (Fd-10), and position feed forward filter time constant (Fd-41). Adjustment procedure flowchart Fd-00 (load moment of inertia ratio) setting " Load moment of inertia calculation" Set speed control cut-off frequency (Fd-01) to a low value Set position control cut-off frequency (Fd-09) to an even lower value [Setting guideline] (Fd-09) < (Fd-01) x (1/5 to 1/6) Start driving the motor 5 Does the mechanical system oscillate? Yes Decrease the speed control cut-off frequency (Fd-01) until the mechanical system does not oscillate. No Increase the speed cut-off frequency (Fd-01) Functions Increase the position cut-off frequency (Fd-09) Does the mechanical system oscillate? No Yes Decrease the position control cut-off frequency (Fd-09) until the mechanical system does not oscillate Manually make fine adjustments to the following parameters Speed control proportional gain (Fd-02) Speed control integral gain (Fd-03) Position feed forward gain (Fd-10) Position feed forward filter time constant (Fd-41) Are the control characteristics satisfactory? or Has manual fine adjustment been completed? No Yes Stop driving the motor 5-25

128 1111 Offline auto tuning function Although the servo gain is set when the robot driver is shipped so that it can be operated without changing the servo gain setting, there are cases in which making detailed tuning to the servo gain can improve responsiveness. This function moves the robot in the operation pattern specified by the customer, and automatically sets the parameters. The following parameters are set by this function. c CAUTION This function will not necessarily set the parameters optimally. If there are large differences in the payloads, we recommend that you use the factory settings rather than using auto tuning to adjust the gain. Overshoot may occur during positioning actions, requiring fine corrections to the parameters to be made manually. Offline auto tuning function contents Tuning function Tuning operation Automatically tuned parameters 5 Functions Load moment of Torque control operation using a sine wave signal is Load moment of inertia ratio (Fd-00) (Note 2) inertia estimation (Note 1) performed, and the load moment of inertia is estimated. Automatic servo gain tuning Round-trip operation is repeatedly performed with the specified operation pattern, and the position/speed control gain and position feed-forward control gain are tuned. Speed control cut-off frequency (Fd-01) Position control cut-off frequency (Fd-09) Position feed forward gain (Fd-10) Position feed forward filter time constant (Fd-41) Machine diagnosis A sine wave sweep signal is used to perform torque control operation, diagnosing the frequency response of the mechanical system. (This is a guideline for adjusting the notch filter.) Note 1: In the case of RDV-P, this is the load mass estimation function. Note 2: In the case of RDV-P, the load mass ratio (Fd-00) is estimated. When using the auto tuning function to adjust the gain, proceed according to the following flowchart. Offline auto tuning procedure flowchart Horizontal axis Vertical axis Specify the operation pattern "10.1 Motion profile settings" Specify the operation pattern "10.1 Motion profile settings" Estimate the load moment of inertia " Load moment of inertia estimation" Calculate the load moment of inertia " Load moment of inertia calculation" Automatic servo gain tuning "10.4 Automatic servo gain tuning" Automatic servo gain tuning "10.4 Automatic servo gain tuning" 5-26

129 Offline auto tuning screen menu buttons The "Auto tuning" screen menu is shown below. "Auto tuning" screen 5 Click 1 Functions [Auto tuning guidance] button Displays an adjustment guidance screen that explains the auto tuning adjustment procedure. If you do not need to refer to the auto tuning procedure, it is not necessary to view this. 2. [Motion profile settings] button Specifies the operation pattern used for automatic servo gain tuning. For details, refer to "10.1 Motion profile settings". 3. [Offline auto tuning] button Estimates the load moment of inertia, automatic servo gain tuning, and performs machine diagnosis. For details, refer to "10.2 Servo ON and return-to-origin in the 'Offline auto tuning' screen", " Load moment of inertia estimation", "10.4 Automatic servo gain tuning", and "10.6 Machine diagnosis". 5-27

130 11111 Motion profile settings RDV-X Set the operation pattern that is specified when performing automatic servo gain tuning in the motion profile setting screen. Set the operation pattern as described in the following procedure. 1 In the "Auto tuning" screen, click the [Motion profile settings] button. Step 1 [Motion profile settings] button 5 Functions 2 In the "Pre-commissioning initialization" screen, click the [OK] button. Step 2 Click "Pre-commissioning initialization" screen Click 5-28

131 3 Set the operation pattern that will be specified when performing automatic servo gain tuning. Step 3 Motion profile setting Functions 1. Travel distance command value P c CAUTION As the position command value, enter the travel distance from the current position of the motor. The unit for setting the travel distance command value can be "pls", "rotation", or " ". Make settings with care so that the motor does not strike the mechanical stopper (mechanical end). 2. Velocity command value N Specify the velocity command value for motor constant speed. 3. Acceleration/Deceleration time Ta Specify the acceleration time from when the speed command value is 0 until the constant speed is reached, and deceleration time from the constant speed until Positioning detection range Specify the positioning detection range. The positioning detection range parameter (Fb-23) is also set at this time. 5. [Set] button After entering fields 1 through 4 above, click this button. 5-29

132 Setting parameters in the motion profile settings screen Parameter name Setting range [Default value] Setting unit Contents 5 Travel distance command value (Note 1) Velocity command value (Note 1) Acceleration/ Deceleration time (Note 1) Positioning detection range to [0] / (FA-82) to / (FA-82) FA-82: Position sensor resolution (Note 2) / (FA-82) to /(FA-82) FA-82: Position sensor resolution (Note 2) 1 to 5000 [1] (Note 3) 1 to 9999 [1] 0 to [20] pls (Note 2) Rotation (for motor) (Note 2) (for motor) (Note 2) min -1 ms Pls Enter the motor movement distance in the travel distance command value. Specify the velocity command value for constant speed when driving the motor. (Note 3) Specify the acceleration time and deceleration time when driving the motor. Specify the positioning detection range. The positioning detection range parameter (Fb-23) is also set at this time. Note 1: If the travel distance command value, velocity command value, and accleration/deceleration time are extremely small, automatic servo gain tuning might not be possible. Note 2: When entering the travel distance command value, take care that the setting does not cause the motor to strike the mechanical stopper. Note 3: When driving the motor, the velocity command value is limited at the maximum speed of the motor. RDV-P Functions Set the operation pattern that is specified when performing automatic servo gain tuning in the motion profile setting screen. Set the operation pattern as described in the following procedure. 1 In the "Auto tuning" screen, click the [Motion profile settings] button. Step 1 [Motion profile settings] button 2 In the "Pre-commissioning initialization" screen, click the [OK] button. Step 2 Click "Pre-commissioning initialization" screen 5-30 Click

133 3 Set the operation pattern that will be specified when performing automatic servo gain tuning. Step 3 Motion profile setting Functions 1. Travel distance command value P c CAUTION As the position command value, enter the travel distance from the current position of the motor. The unit for setting the travel distance command value can be "pls" or "mm". Make settings with care so that the motor does not strike the mechanical stopper (mechanical end). 2. Velocity command value N Specify the velocity command value for motor constant speed. 3. Acceleration/Deceleration time Ta Specify the acceleration time from a speed command value of 0 until the constant speed is reached, and deceleration time from the constant speed until Positioning detection range Specify the positioning detection range. The positioning detection range parameter (Fb-23) is also set at this time. 5. Acceleration As a guide for settings, the automatically calculated acceleration/deceleration value is shown here. 6. [Set] button After entering fields 1 through 4 above, click this button. 5-31

134 Setting parameters in the motion profile settings screen Parameter name Setting range [Default value] Setting unit Contents Travel distance command value (Note 1) Velocity command value (Note 1) Acceleration/ Deceleration time (Note 1) Positioning detection range to [0] / (FA-85) to / (FA-85) FA-85: Linear scale precision (Note 2) pls (Note 2) mm (Note 2) 1 to 5000 [1] Note 3 mm/s 1 to 9999 [1] ms 0 to [20] pls Enter the motor movement distance as the travel distance command value. Specify the velocity command value for constant speed when driving the motor. (Note 3) Specify the acceleration time and deceleration time when driving the motor. Specify the positioning detection range. The positioning detection range parameter (Fb-23) is also set at this time. Note 1: If the travel distance command value, velocity command value, and acceleration/deceleration time are extremely small, automatic servo gain tuning might not be possible. Note 2: When entering the travel distance command value, take care that the setting does not cause the motor to strike the mechanical stopper. Note 3: When driving the motor, the command value is limited at the maximum speed of the motor. 5 Functions Servo ON and return-to-origin in the "Offline auto tuning" screen In order to execute offline auto tuning (load moment of inertia estimation, automatic gain tuning, machine diagnosis), the Servo must be turned ON in the "Offline auto tuning" screen. Return-to-origin can also be executed from this screen Executing servo ON (RDV-X / RDV-P) In the "Offline auto tuning" screen, click the [Servo ON] button. c CAUTION If you turn the servo ON without clicking [Servo ON] from the "Offline auto tuning" screen, the offline auto tuning function cannot be executed. "Offline auto tuning" screen [Servo ON] button Click In the case of RDV-P, you can execute servo ON and magnetic pole position estimation. For details, refer to " Estimation of magnetic pole position and turning the servo on (RDV-P)". 5-32

135 Estimation of magnetic pole position and turning the servo on (RDV-P) In the case of the RDV-P, the magnetic pole position can be estimated before turning the servo on. 1 Click the [Servo ON+est.Mag.] button to open the "Estimation of magnetic pole position" screen. Step 1 [Servo ON+est.Mag.] button Click 2 In the "Estimation of magnetic pole position" screen, click the [Start] button. Estimation of magnetic pole position begins. During estimation of magnetic pole position, the "Estimation of magnetic pole position" screen appears. Step 2 [Start] button in the "Estimation of magnetic pole position" screen 5 Click 3 When estimation of magnetic pole position ends and the servo turns on, the "Estimation of magnetic pole position" screen is closed. During estimation of magnetic pole position, clicking the [Stop] button will halt estimation of magnetic pole position and turn the servo off. If a magnetic pole position estimation error (E81) is displayed, clear the alarm and then execute each process again. Step 3 [Stop] button in the "Estimation of magnetic pole position" screen Functions [Stop] button Operation when you select "Servo ON" or "Servo ON+est. Mag." Select "Servo ON" Select "Servo ON+est. Mag." Estimation of magnetic pole Estimation of magnetic pole position not yet executed position already executed Execute estimation of magnetic pole Execute estimation of magnetic pole position Execute Servo ON position Execute Servo ON (Note 1) Execute Servo ON Note 1: If estimation of magnetic pole position is necessary and you select the [Servo ON] button in a state in which estimation of magnetic pole position has not yet been executed since turning the power on, estimation of magnetic pole position will be executed automatically and then the servo will turn on. While the motor is being operated by estimation of magnetic pole position, do not select anything other than the [Stop] button or [Servo OFF] button. c CAUTION If you turn the servo on without clicking the [Servo ON] button from the "Offline tuning" screen, the offline tuning function cannot be executed. 5-33

136 Homing (return-to-origin) in the "Offline auto tuning" screen 1 Click the [Start homing] button to open the "Homing" screen. Step 1 [Start homing] button Click 5 Functions 2 Verify that the motor is stopped, the servo is on, and that there is no alarm; then click the [Start] button in the "Homing" screen. Homing (return-to-origin) starts. Homing executes the homing operation specified in "Homing mode" (FA-23). If homing requires ORL terminal operation, use the I/O terminals. 3 Homing is executed. If the [Stop (Servo Lock)] button is clicked during homing, homing is halted and the system enters the position servo lock state. If the [Stop (Servo OFF)] button is clicked, homing is halted and the system enters the servo off state. Step 2 Click Step 3 [Start] button in the Homing screen [Stop] button in the Homing screen When homing ends, the "Homing" screen is closed. [Stop] (Servo Lock) button [Stop] (Servo OFF) button 5-34

137 11111 Load moment of inertia setting In order to set the servo gain appropriately, it is necessary to set Fd-00 (load moment of inertia ratio) according to the load mass. This section explains how to use "Load moment of inertia estimation" and "Load moment of inertia calculation" to set Fd-00. n NOTE In the case of the RDV-P, make the following substitutions in the explanation. Fd-00 (Load moment of inertia ratio) Fd-00 (Load mass ratio) Load moment of inertia estimation Load mass estimation Load moment of inertia calculation Load mass calculation " Load moment of inertia estimation"... For horizontal axis " Load moment of inertia calculation"... For vertical axis Load moment of inertia estimation Load moment of inertia estimation is a function that automatically calculates the load moment of inertia ratio (Fd-00) by estimating the load moment of inertia of the motor driver. Use the following procedure to execute load moment of inertia estimation. c CAUTION Step 2 The robot will move during this operation. Ensure [Servo ON] button safety before proceeding. 1 In the "Parameter settings" screen, set Fd-01 speed control cut-off frequency in the range of 30 Hz to 50 Hz, and set Fd-09 position control cut-off frequency to a fairly low setting such as 5 Hz. c CAUTION The motor may vibrate if load moment of inertia estimation sets the Fd-00 value higher than the factory setting, so set the Fd-01 speed control cut-off frequency in the range 30 Hz to 50 Hz, and set Fd-09 position control cut-off frequency to about 5 Hz. 5 Functions 2 In the "Offline auto tuning" screen, click the [Servo ON] button to turn the servo on. n NOTE The "Offline auto tuning" screen's menu can be selected only when the servo is on. Click Click 5-35

138 3 Click the [Load moment of inertia estimation] button. The message "Is the robot horizontal?" appears; click the [Yes] button. Step 3 [Load moment of inertia estimation] button 5 Functions Click 4 Check the travel range limitation. By default, the travel range limitation and the conditions for load moment of inertia estimation are set to the recommended values. The travel range limitation is only a guideline. In some cases, the travel range limitation may be exceeded in actual operation. c CAUTION If the robot is not in a position where it can operate safely, use the following procedure to move it to a position where it can operate safely. (1) Close the "Confirmation of Load moment of inertia estimation" screen. (2) Turn the robot's servo off, and move it to a position where it can operate safely. (3) In the "Offline auto tuning" screen, click the [Servo ON] button to turn the servo on. Click n NOTE If you want to change the travel range limitation, click the [Change conditions] button. For details, refer to " Conditions of load moment of inertia estimation (detail setting)". 5-36

139 5 Execute load moment of inertia estimation. Click the [Start estimation] button. Load moment of inertia estimation is executed. During execution of load moment of inertia, the "Offline auto tuning Load moment of inertia estimation" screen is shown. If the [Cancel (Servo Lock)] button is clicked during load moment of inertia estimation, estimation stops and the system enters the position servo lock state. If the [Cancel (Servo OFF)] button is clicked, estimation stops and the system enters the servo off state. Step 5 Executing load moment of inertia estimation Step4 Check the travel range limitation 5 Step5 Click [Cancel (Servo Lock)] button [Cancel (Servo OFF)] button Functions 6 Check the load moment of inertia ratio value. The automatically adjusted load moment of inertia ratio value is shown in the "Estimated Result" field; check the value and click the [Close] button. Step 6 Checking the load moment of inertia ratio value Automatically tuned load moment of inertia ratio (Fd-00) Click 5-37

140 Conditions of load moment of inertia estimation (detail setting) Driving range error monitoring during load moment of inertia estimation If an external force is applied during load moment of inertia estimation, causing an excessive amount of movement, "E88 Driving range error" occurs. In the "Load moment of inertia estimation" screen, if the "Driving range check of load moment estimation" check box is not selected, detection of "E88 Driving range error" is not performed during load moment of inertia estimation. "Load moment of inertia estimation execution confirmation" screen "Driving range check of load moment estimation" check box 5 "Driving range check of load moment estimation" check box Functions It is also possible to specify the threshold value (allowable travel range) used to determine whether the travel range is excessive. For details, see "n Travel range limitation" below. 5-38

141 Travel range limitation To specify the travel range limitation, click the [Detail setting] button to open the "Confirmation of Load moment of inertia estimation" screen, and set the "Parameter" field and "Unit" field. Travel range limitation setting Click Specify the travel range limitation. 5 Functions Parameters in the "Load moment of inertia estimation settings" screen RDV-X Click Parameter name Setting range [Default value] Setting unit Content Travel range limitation 5000 to [16384] pls 5000 / (FA-82) to / (FA-82) FA-82: Encoder resolution / (FA-82) to / (FA-82) FA-82: Encoder resolution Rotation (for motor) (for motor) Set this to allow sufficient margin so that motor movement does not strike the mechanical stopper. (Note 1) Note 1: The travel range limitation is only a guideline. In some cases, the travel range may be exceeded in actual operation. Parameters in "Load moment of inertia estimation settings" screen RDV-P Parameter name Setting range [Default value] Setting unit Content Travel range limitation 1000 to [10000] 1000 / (FA-85) to / (FA-85) FA-85: Linear scale accuracy pls mm Set this to allow sufficient margin so that motor movement does not strike the mechanical stopper. (Note 1) Note 1: The travel range limitation is only a guideline. In some cases, the travel range may be exceeded in actual operation. 5-39

142 Torque command value In the "Confirmation of load moment of inertia estimation" screen, click the [Detail setting] button. The "Conditions of load moment of inertia estimation (detail setting)" screen appears. [Detail setting] button Click 5 Enter the Torque command frequency and the Torque limit value, and click the [Set] button. "Conditions of load moment of inertia estimation (detail setting)" screen Functions Enter the torque command value (upper limit value). Enter the torque command frequency. After entering the torque command frequency etc., click this button. Parameters in the "Conditions of Load moment of inertia estimation (detail setting)" screen Parameter name Setting range [Default value] Setting unit Content Torque command frequency 5.0 to 25.0 [10.0] Torque command 30 to 100 value (upper limit) [50] Hz % Specifies the torque command frequency. Decreasing the torque command frequency will decrease the motor travel range when performing load moment of inertia estimation. Specifies the upper limit value when inputting the torque command that is applied to the motor from the driver. 5-40

143 Load moment of inertia calculation RDV-X 1 In the "Parameter settings" screen, set Fd-01 speed control cut-off frequency in the range of 30 Hz to 50 Hz, and set Fd-09 position control cut-off frequency to a fairly low setting such as 5 Hz. c CAUTION The motor may vibrate if load moment of inertia estimation sets the Fd-00 value higher than the factory setting, so set the Fd-01 speed control cut-off frequency in the range 30 Hz to 50 Hz, and set Fd-09 position control cut-off frequency to about 5 Hz. 2 Access the "Offline auto tuning" screen, and click the [Load moment of inertia calculation] button. Step 2 [Load moment of inertia calculation] button 5 Functions Click 3 Calculate the load moment of inertia ratio, and write it as the parameter. Enter or select the robot type, lead (mm), load mass (kg), and click the [Calculation] button. The load moment of inertia ratio (Fd-00) is calculated. n NOTE The load moment of inertia ratio cannot be calculated unless the robot type, lead (mm), and load mass (kg) are all entered. Click 5-41

144 When the [Write] button is clicked, the load moment of inertia ratio is applied to the parameter. Load moment of inertia ratio calculation Check Fd-00 (Load moment of inertia ratio), and click the [Write] button. Enter or select the robot type, lead (mm), and load mass (kg), and click the [Calculation] button. 5 Functions RDV-P 1 In the "Parameter settings" screen, set Fd-01 speed control cut-off frequency in the range of 30 Hz to 50 Hz, and set Fd-09 position control cut-off frequency to a fairly low setting such as 5 Hz. c CAUTION The motor may vibrate if load moment of inertia estimation sets the Fd-00 value higher than the factory setting, so set the Fd-01 speed control cut-off frequency in the range 30 Hz to 50 Hz, and set Fd-09 position control cut-off frequency to about 5 Hz. Step 2 [Load mass calculation] button 2 Access the "Offline auto tuning" screen, and click the [Load mass calculation] button Click Click

145 3 Calculate the load mass ratio, and write it to the parameter. Enter or select the robot type and load mass (kg), and click the [Calculation] button. The load mass ratio (Fd-00) is calculated. n NOTE The load mass ratio cannot be calculated unless the robot type and load mass (kg) are entered. When the [Write] button is clicked, the load moment of inertia ratio is applied to the parameter. Load mass ratio calculation 5 Check Fd-00 (Load mass ratio), and click the [Write] button. Enter or select the robot model and load mass (kg), and click the [Calculation] button. Functions 5-43

146 11111 Automatic servo gain tuning Automatic servo gain tuning is a function that automatically adjusts the following parameters to shorten the positioning time while repeatedly driving the motor in the operation pattern specified by "10.1 Motion profile settings". Speed control cut-off frequency (Fd-01) Position control cut-off frequency (Fd-09) Position feed forward gain (Fd-10) Position feed forward filter time constant (Fd-41) As a result of automatic servo gain tuning, it may be necessary to adjust parameters manually Executing auto servo gain tuning 1 Verify that Fd-00 (load moment of inertia ratio / load mass ratio) has been set. If it has not been set, set Fd-00 (load moment of inertia ratio / load mass ratio) as described in "10.3 Load moment of inertia setting". 5 2 In the "Offline auto tuning" screen, click the [Servo ON] button to turn the servo on. n NOTE The menu in the "Offline auto tuning" screen can be selected only when the servo is on. Step 2 [Servo ON] button Click Functions 3 Click the [Auto servo gain tuning] button. The "Setting" field shows the operation pattern and machine stiffness level for auto servo gain tuning. Step 3 [Auto servo gain tuning] button Click 5-44

147 4 Verify that the operation pattern is specified. The servo gain tuning conditions are initially set to the recommended values. n NOTE If you want to change the operation pattern and servo gain tuning conditions, click the [Change conditions] button. For details, refer to "10.1 Motion profile settings". Step 3,4 "Auto servo gain tuning" screen 5 Functions Set values [Change conditions] button [Start Tuning] button 5-45

148 5 Click the [Start Tuning] button. Auto servo gain tuning starts. The tuning time is in the range of approximately 5 to 10 minutes. While auto servo gain tuning is being executed, the [Stop (Servo Lock)] button and [Stop (Servo Off)] button are shown in the screen. If the [Stop (Servo Lock)] button is clicked, auto servo gain tuning stops, and the system enters the position servo lock state. If the [Stop (Servo OFF)] button is clicked, auto servo gain tuning stops, and the system enters the servo off state. 6 Auto servo gain tuning ends. After auto servo gain tuning, the speed control cut-off frequency (Fd-01), position control cut-off frequency (Fd-09), position feed forward gain (Fd-10), and position feed forward filter time constant (Fd-41) are set automatically. Step 6 "Servo gain tuning history" screen 5 Functions 7 Close the "Auto tuning" screen, and verify operation. Use jogging operation etc. to verify operation. For details on jogging operation, refer to Chapter 4, "2.1 Jogging operation from RDV-Manager". Gain tuning history Values such as speed control response frequency (Fd-01) that were changed during auto servo gain tuning are saved as history. In the "Servo gain tuning history" screen, the desired value from this history can be written to the parameter. To access the "Gain tuning history" screen, click the [HISTORY] button in the "Results of offline auto tuning" screen. 5-46

149 "Servo gain tuning history" screen Click Functions 3 1. Graph The following operations can be performed in the graph. Left-click: Right-click: Displays a blue cursor at the plot point. Displays a red cursor at the plot point. Shift key + left-click: Shift key + right-click: Ctrl key + left-click: Magnifies the graph. Shrinks the graph. Moves the graph left/right. 2. Plot point tuning data Indicates the tuning data of the plot points at which the blue cursor and red cursor are pointing. 3. [Blue cursor parameter writing] button, [Red cursor parameter writing] button The tuning data of the point at which the blue cursor or red cursor are pointing will be written to the parameter. 5-47

150 Auto servo gain tuning settings If auto servo gain tuning fails with the default settings, you can change the auto servo gain tuning settings. In the "Auto servo gain tuning" screen, click the [Change conditions] button. The "Conditions of servo gain tuning" screen appears. "Auto servo gain tuning" screen 5 Functions [Change conditions] button 5-48

151 Servo gain conditions "Conditions of servo gain tuning" screen [Motion profile settings] button Functions Click this to change the operation pattern. 2. Machine stiffness level The recommended setting is "2". 3. Servo gain tuning method The recommended setting is "Fine tuning (Long tuning time)". 4. Servo gain tuning mode The recommended setting is "The shortest position setting time". 5. [Detail setting] button * This is not available if the parameter level setting is Easy. This allows detailed settings to be made for auto servo gain tuning. For details, refer to " Conditions of servo gain tuning (detail setting)". 6. "Detail setting is reflected" check box Select this check box if you want the values specified in "Conditions of servo gain tuning (detail setting)" to be applied. Of the settings in "Conditions of servo gain tuning (detail setting)", "Monitoring time" and "Motor oscillation detection level" are applied to gain tuning even if the "Detail setting is reflected" check box is not selected. 7. [Set] button After entering items 1 through 6 above, click this button. 5-49

152 Parameters in the "Conditions of servo gain tuning" screen Name of object Setting range [default value] Content Machine stiffness level Servo gain tuning method Servo gain tuning mode 1 to 4 [2] Fine tuning (Long tuning time) Rough tuning (Short tuning time) [Fine tuning (Long tuning time)] The shortest position setting time mode The least overshoot pulse mode [The shortest position setting time mode] Automatically tunes the control gain range according to the stiffness of the machine. For a low machine stiffness: 2 (recommended value) Specifies the tuning precision of auto servo gain tuning. Fine tuning (Long tuning time) The control gain is finely tuned. (Approximate tuning time: 5 to 10 minutes) Rough tuning (Short tuning time) The control gain is roughly tuned. Specifies the tuning mode for auto servo gain tuning. The shortest position setting time mode Automatically tunes to minimize the position setting time. The least overshoot pulse mode Automatically tunes so that there is no INP signal break near the positioning point, and that the positioning time is minimized. However, the positioning time after tuning may be longer in comparison to the shortest position setting time mode Conditions of servo gain tuning (detail setting) "Conditions of servo gain tuning (detail setting)" screen Functions 1 (1) (2) 2 (1) (2) 3 (1) (1) (2) (2) (1) (2)

153 1. Step 1: Functionality selection Select the tuning function for performing auto servo gain tuning. Tuning function Position and Speed control cut-off frequency tuning Fast positioning time control tuning Position and Speed control cut-off frequency tuning + Fast positioning time control tuning Position control cutoff frequency (Fd-09) Speed control cut-off frequency (Fd-01) Position feed forward gain (Fd-10) Position feed forward filter time constant (Fd-41) : Auto tuning is performed -: Auto tuning is not performed 2. Step 2: Sweep setting for position and speed control cut-off frequency This specifies the tuning range and sweep interval for "Position control cut-off frequency (Fd-09)" and "Speed control cut-off frequency (Fd-01)". "Vibration level" specifies the allowable vibration level at completion of positioning. * Vibration level = difference between overshoot amount and undershoot amount Parameter name Position control cut-off frequency (1) (Note 1) Position control cut-off frequency (2) (Note 2) Sweep interval (position control cut-off frequency) Speed control cut-off frequency (1) (Note 1) Speed control cut-off frequency (2) (Note 2) Sweep interval (speed control cut-off frequency) Vibration level Setting range [default value] 0.10 to [5.00] 0.10 to [30.00] 0.5 to 25.0 [2.5] 0.5 to [25.0] 0.5 to [160.0] 1 to 50 [14] 0 to [20] Setting unit Hz Hz Hz Hz Hz Hz pls Content Specifies the lower limit of the position control cut-off frequency tuning range. The lower limit is the default value for the position control cut-off frequency tuning. Specifies the upper limit of the position control cut-off frequency tuning range. Specifies the sweep interval for the position control cut-off frequency tuning. Specifies the lower limit of the speed control cut-off frequency tuning range. The lower limit is the default value for the speed control cut-off frequency tuning. Specifies the upper limit of the speed control cut-off frequency tuning range. Specifies the sweep interval for the speed control cut-off frequency tuning. Specifies the allowable level for vibration detection. Note 1: Set the values subject to the following conditions. Position control cut-off frequency (1) < Speed control cut-off frequency (1) [Recommended setting] Position control cut-off frequency (1) < Speed control cut-off frequency (1) x (1/5 to 1/6) Note 2: Set the values subject to the following conditions. Position control cut-off frequency (2) < Speed control cut-off frequency (2) [Recommended setting] Position control cut-off frequency (2) < Speed control cut-off frequency (2) x (1/5 to 1/6) 5 Functions 3. Step 3: Setting for Fast positioning time control The sweep interval for "Position feed forward gain (Fd-10)", and the sweep interval and tuning range for "Position feed forward filter time constant (Fd-41)", are specified here. "Allowed overshoot pulse" specifies the amount of overshoot that is allowed when positioning is completed. Parameter name Setting range [default value] Setting unit Content Sweep interval (position feed forward gain (1)) 0.0 to 1.00 [0.1] Specifies the lower limit of the sweep interval for the position feed forward gain. Sweep interval (position feed forward gain (2)) 0.01 to 1.00 [1.00] Specifies the upper limit of the sweep interval for the position feed forward gain. Position feed forward filter time constant (1) 0.00 to [1.00] ms Specifies the lower limit of the tuning range for the position feed forward filter time constant. Position feed forward filter time constant (2) 0.00 to [20.00] ms Specifies the upper limit of the tuning range for the position feed forward filter time constant. Sweep interval (position feed forward filter time constant (1)) 0.01 to [2.00] ms Specifies the lower limit of the sweep interval for the position feed forward filter time constant. Sweep interval (position feed forward filter time constant (2)) 0.01 to [10.00] ms Specifies the upper limit of the sweep interval for the position feed forward filter time constant. Allowed overshoot pulse 0 to [20] pls Specifies the allowed amount of overshoot. 5-51

154 4. Monitoring time Specifies the time during which the positioning response is monitored when the motor is stopped. Parameter name Setting range [default value] Setting unit Content Monitoring time 0.2 to 10.0 [0.2] Seconds Specifies the tuning monitoring time. 5. Motor oscillation detection level The motor oscillation detection level specifies the amount of vibration that detects motor oscillation during auto servo gain tuning. Parameter name Motor oscillation detection level (Note 3) Setting range [default value] 0 to 4 RDV-X [1] RDV-P [2] Setting unit Content This function automatically detects motor oscillation during auto servo gain tuning. Lower settings of motor oscillation detection level allow slighter vibration to be detected. Note 3: If motor oscillation detection level is set to 0, motor oscillation is not detected. This means that if it is not necessary to detect motor oscillation, the motor oscillation detection level should be set to [Set] button 5 After entering items 1 through 5 above, click this button Offline auto tuning troubleshooting Functions "E88 Driving range error" occurs during load moment of inertia estimation "E88 Driving range error" occurs if the movement during estimation is greater than the specified travel range limitation. Verify that the robot is horizontal and that it is not interfering with other equipment, and then disable "Driving range error monitoring during load moment of inertia estimation". For details on how to change the setting, refer to " Conditions of load moment of inertia estimation (detail setting)". Motor oscillates after load moment of inertia estimation In particular if the load is large, the motor movement during estimation will be smaller, causing an error to occur. By changing the settings as follows, the motor movement can be increased, thus minimizing the estimation error. Increase the travel range limitation and the torque command value (upper limit value) Lower the torque command frequency Widen the travel range limitation For details on how to make these changes, refer to " Conditions of load moment of inertia estimation (detail setting)". After servo gain tuning, overshoot or vibration occurs when positioning Lower the Fd-10 position feed forward gain. Example: Fd-10=0.375 Fd-10=0 5-52

155 After servo gain tuning, settling takes time when positioning Raise the Fd-03 speed control integral gain tuning value. Example: Fd-03=100[%] Fd-03=300[%] After servo gain tuning, the motor oscillates or abnormal sound occurs It may be that Fd-01 speed control cut-off frequency is set too high. Perform one of the following operations. Lower the Fd-01 speed control cut-off frequency until the vibration or abnormal sound disappears. Start servo gain tuning with "Position and Speed control cut-off frequency tuning" as the auto servo gain tuning function selection. When the motor begins to vibrate, stop the servo gain tuning, change the auto servo gain tuning function selection to "Fast positioning time control tuning", and resume servo gain tuning. TIP For details on changing the auto servo gain tuning settings, refer to " Auto servo gain tuning settings" Machine diagnosis A sine-wave sweep signal is used to perform torque control operation, and the frequency response of the machine is analyzed. After executing this function, the frequency response can be displayed as a graph. The graph allows resonant points of the mechanical system to be seen. Parameters for notch filter can also be specified here. n NOTE The notch filter parameters Fd-20 and Fd-21 are set when the unit is shipped from the factory. For this reason, it is not normally necessary to adjust the notch filter settings. Use the machine diagnosis functions when checking the frequency response of the mechanical system, or when stacking notch filters. 5 Functions Executing machine diagnosis Machine diagnosis is performed, and the following parameters for notch filter are set. Notch filter frequency (Fd-20, Fd-23, Fd-26) Notch filter bandwidth (Fd-21, Fd-24, Fd-27) Notch filter Q (Fd-22, Fd-25, Fd-28) c CAUTION Machine diagnosis temporarily changes the setting of Fd-06 (Torque command filter time constant). After executing machine diagnosis, be sure to return Fd-06 to its original setting. The motor may oscillate if it is operated without returning Fd-06 to its original setting. The robot will move during this operation. Ensure safety before performing the operation. 1 Check whether Fd-00 (Load moment of inertia ratio) has been set. If it has not yet been set, set Fd-00 (Load moment of inertia ratio) as described in "10.3 Load moment of inertia setting". 2 Note the value of Fd-06 (Torque command filter time constant), and then change it to (factory-set value x 1/2). 3 In the "Offline auto tuning" screen, click the [Servo ON] button to turn the servo on. n NOTE The menu in the "Offline auto tuning" screen can be selected only when the servo is on. 5-53

156 Step 3 [Servo ON] button Click 4 In the "Offline auto tuning" screen, click the [Machine diagnosis] button to open the "Machine diagnosis confirmation" screen. 5 Functions 5 In the "Machine diagnosis confirmation" screen, check the "Travel range limitation" values. The travel range limitation values are a guideline. Actual operation may exceed the range limitation. If you want to change the default values and execute machine diagnosis, click the [Change conditions] button. For details, refer to " Conditions of machine diagnosis". c CAUTION If the robot is not in a position where it can be operated safely, use the following procedure to move it to a position in which safe operation is possible. (1) Close the "Machine diagnosis confirmation" screen. (2) Turn the robot servo off, and move it to a position in which safe operation is possible. (3) In the "Offline auto tuning" screen, click the [Servo ON] button to turn the servo on. 6 Click the [Start diagnosis] button to start machine diagnosis. Step 4-6 "Machine diagnosis confirmation" screen Check the "Travel range limitation" values. [Change conditions] button [Start diagnosis] button 5-54

157 7 The "Machine diagnosis" screen appears, and progress is displayed. If you click the [Cancel (Servo Lock)] button while machine diagnosis is executing, machine diagnosis is halted, and the system enters the position servo lock state. If you click the [Cancel (Servo OFF)] button, machine diagnosis is halted and the servo turns off. w WARNING If you click the [Cancel (Servo Lock)] button or the [Cancel (Servo OFF)] button while "Sending sine-wave sweep signal (PC robot driver)" or "Receiving motor driver result (robot driver PC)", there may be cases in which motor operation does not stop immediately. When machine diagnosis is completed. The frequency response of the mechanical system are displayed. Step 7 "Machine diagnosis" screen [Cancel (Servo Lock)] button [Cancel (Servo OFF)] button 5 Functions 5-55

158 8 Set the notch filter. Step 8 "Result of machine diagnosis" screen Step8-1 Step8-3 5 Functions Step Click a resonant peak in the graph. For details on identifying a resonant peak, refer to " Resonant peaks in the mechanical system". 8-2 Click the [Filter 1] button. The notch filter frequency (Fd-20) and notch filter bandwidth (Fd-21) are entered for the resonant peak (the red line in the graph). It is recommended that the notch filter Q (Fd-22) be set to 4.0. Decreasing the Q value may cause unstable operation. 8-3 Click the [write] button. The notch filter settings are applied to the parameters. TIP The following operations can be performed in the graph. Left-click: Displays the gain of the blue line at each frequency. Right-click: Displays the gain difference between the gain of the blue line at each frequency and the gain at the point you clicked. Shift key + left-click: Magnifies the graph. Shift key + right-click: Shrinks the graph. Ctrl key + left-click: Moves the graph left/right. 9 Return the value of Fd-06 (Torque command filter time constant) back to the value it had before you changed it in Step 2. c CAUTION After executing machine diagnosis, be sure to return Fd-06 to its original setting. The motor may oscillate if it is operated without returning Fd-06 to its original setting. 5-56

159 Resonant peaks in the mechanical system Reference examples of settings for the filters are provided here. If the following conditions are satisfied by the result of machine diagnosis, it can be said that there is a resonant peak in the mechanical system. The graph exhibits an upward-pointing triangular shape ((1) in the figure) and the apex of the triangle exceeds the 0 line of the vertical axis ((2) in the figure). Characteristics of a resonant peak in the mechanical system (2) (1) 5 Example graph of a resonant peak in the mechanical system Near 950 Hz (1) Functions Near 950 Hz (2) 5-57

160 Example graph of a resonant peak in the mechanical system Near 840 Hz * Although there is also an upward-pointing triangular shape between 500 Hz and 600 Hz, it does not exceed vertical axis 0, and therefore is not a target for setting the notch filter. Example graph with no resonant peak in the mechanical system 5 Functions * There is no upward-pointing triangular shape, and no resonant peak in the mechanical system. Thus, there is no need to set the notch filter. Machine diagnosis When the frequency response of the mechanical system cannot be determined If the mechanical system diagnostic result shown in the above figure displays no characteristics above the region 400 Hz to 500 Hz, motor operation was not detected with the current machine diagnostics. Change the following settings, and then execute machine diagnosis. (For details on the settings, refer to " Conditions of machine diagnosis".) Increase the sweep torque command value (upper limit) of the sine-wave Broaden the travel range limitation Set the Fd-06 torque command filter time constant to (factory set value x 1/4) c CAUTION After executing machine diagnosis, be sure to return Fd-06 to its original setting. The motor may oscillate if it is operated without returning Fd-06 to its original setting. 5-58

161 Conditions of machine diagnosis This section describes how to change the conditions of machine diagnosis. Travel range limitation / Sine-wave sweep frequency range 1 In the "Machine diagnosis confirmation" screen, click the [Change conditions] button. The "Conditions of machine diagnosis" screen appears. 2 Enter the travel range limitation, sine-wave sweep start frequency, and sine-wave sweep end frequency. 3 As necessary, make detailed settings for machine diagnosis. Click the [Detail setting] button. For details, refer to "n Sine-wave sweep duration / Sine-wave amplitude (maximum torque command)". * This function cannot be used if the parameter level setting is set to Easy. 4 Click the [Set] button. Step 1-4 "Conditions of machine diagnosis" screen 5 Functions [Detail setting] button After entering the travel range limitation and other settings, click the [Set] button. Enter the travel range limitation, sine-wave sweep start frequency, and sine-wave sweep end frequency. Machine diagnosis condition parameters: for the RDV-X Parameter name Setting range [default value] Setting unit Content Travel range limitation 5000 to [16384] 5000 / (FA-82) to / (FA-82) FA-82: Encoder resolution / (FA-82) to / (FA-82) FA-82: Encoder resolution Sine-wave sweep start frequency Sine-wave sweep end frequency pls Rotation (for motor) (for motor) 10.0 to [400.0] Hz 10.0 to [1100.0] Hz Provide sufficient margin when setting this to ensure that motor movement does not strike the mechanical stoppers. (Note 1) Specify the start frequency of the sine-wave sweep signal used to identify the frequency response. (Note 2) (Note 3) Specify the end frequency of the sine-wave sweep signal used to identify the frequency response. (Note 2) (Note 3) Note 1: The travel range limitation setting is only a guideline. In some cases, actual operation may exceed the travel range limitation. Note 2: Analysis is performed for the frequency band between "sine-wave sweep start frequency" and "sine-wave sweep end frequency". Note 3: Do not perform machine diagnosis if the sine-wave start frequency setting is the same as the sine-wave end frequency setting. 5-59

162 Machine diagnosis condition parameters: for the RDV-P Parameter name Setting range [default value] Setting unit Content Travel range limitation 1000 to Provide sufficient margin when setting this to ensure pls [10000] that motor movement does not strike the mechanical 1000 / (FA-85) to stoppers. (Note 1) / (FA-85) mm FA-85: Linear scale accuracy Sine-wave sweep start frequency 10.0 to [400.0] Hz Specifies the start frequency of the sine-wave sweep signal used to identify the frequency response. (Note 2) (Note 3) Sine-wave sweep end frequency 10.0 to [1100.0] Hz Specifies the end frequency of the sine-wave sweep signal used to identify the frequency response. (Note 2) (Note 3) Note 1: The travel range limitation setting is only a guideline. In some cases, actual operation may exceed the travel range limitation. Note 2: Analysis is performed for the frequency response between "sine-wave sweep start frequency" and "sine-wave sweep end frequency". Note 3: Do not perform machine diagnosis if the sine-wave start frequency setting is the same as the sine-wave end frequency setting. Sine-wave sweep duration / Sine-wave amplitude (maximum torque command) 5 In the "Conditions of machine diagnosis" screen, clicking the [Detail setting" button displays the "Conditions of machine diagnosis (detail setting)" screen. Enter the sine-wave sweep duration and the sine-wave amplitude (maximum torque command). "Conditions of machine diagnosis (detail setting)" screen Functions Enter the sine-wave sweep duration and the sine-wave amplitude (maximum torque command). Machine diagnosis detailed conditions parameters Parameter name Setting range [default value] Setting unit Content Sine-wave sweep 5 to 60 duration [20] Sine-wave amplitude (maximum torque command) 30 to 100 [50] Seconds % Specifies the duration for which the motor will execute machine diagnosis. Larger settings of this value will improve the accuracy of the frequency response. If the motor movement for machine diagnosis is too small, the characteristics of the mechanical system cannot be determined. In this case, increase the travel range limitation and the sine-wave amplitude (maximum torque command) in order to increase the motor movement. 5-60

163 1111 Gain change function The gain change function is a function for changing the position and speed control gain during operation and is used in the following cases. To raise the control gain during servo-lock but to lower the gain to reduce noise during run. To raise the control gain during settling to shorten the settling time Changing the control gain A block diagram of the gain change function is shown below. Fd-09 Fd-01 Fd-03 Position command + Position control cut-off frequency Fd-32 Second position control cut-off frequency Position deviation Position gain change time constant Position control Fd-39 Speed command + Speed control cut-off frequency Fd-34 Second Speed control cut-off frequency Speed control Speed control integral gain Fd-33 Second Speed control integral gain Torque command Servo motor Fd-35 Speed gain change time constant 5 Gain change Switching signal Speed Position Detector Functions No gain change Position deviation switch Position command OFF INP terminal switch Speed detection switch Fd-30 Gain change mode non PErr PrEF PinP SFb Fd-37 Position error width for gain change Fd-38 Speed level for gain change 5-61

164 Parameters used for the gain switching function The parameters used are explained below. 1 1st and 2nd speed control cut-off frequency (Fd-01, Fd-34) Specify the responsiveness of speed control. 2 1st and 2nd position control cut-off frequency (Fd-09, Fd-32) Specify the responsiveness of position control. 3 1st and 2nd speed control integral gain (Fd-03, Fd-33) Specify the speed control integral gain of speed control. 4 Gain change mode (Fd-30) Specifies conditions for switching 1st gain 2nd gain. The related parameters will change depending on the gain switching mode that is specified. Refer to the following table, and change the related parameters as necessary. Gain change mode (Fd-30) setting Description Related parameter Valid control mode non No gain switching Functions PErr PrEF PinP SFb Gain switches by position deviation. Position deviation > Fd-37 = 1st gain Position deviation Fd-37 = 2nd gain Gain switching by position command. Position command is changing = 1st gain Position command is stopped = 2nd gain Gain switching by INP terminal. INP terminal OFF = 1st gain INP terminal ON = 2nd gain Gain switching by speed detection value. Speed detection value > Fd-38 specified value = 1st gain Speed detection value Fd-38 specified value = 2nd gain Position error width for gain change (position deviation) (Fd-37) Position - Position Positioning detection range (Fb-23) Speed level for gain change (speed) (Fd-38) Position Position Speed 5 Speed gain change time constant (Fd-35)/Position gain change time constant (Fd-39) Since gain switching changes the gain smoothly, the speed gain change time constant (Fd-35) / position gain change time constant (Fd-39) can be set to specify the switching time for position control and for speed control respectively. Gain After rewriting to control system 63% Position control setting value 1 1+sT Before rewriting Control gain switching time (a) Function block diagram (b) Gain change waveform Time Note 1: If the gain difference is large when switching the gain, this may shock the mechanism. In this case, increase the gain switching time for position and speed control (Fd-39, Fd-35). (The default value is set to 1 [ms].) Note 2: If abnormal sound or vibration occurs during servo lock, reduce the 2nd position and 2nd speed control cut-off frequency (Fd-32, Fd-34) until the abnormal sound or vibration disappears. 5-62

165 1111 Clearing the alarm history and restoring the factory settings You can use RDV-Manager to clear the alarm history and to return all parameter data to the factory settings Clearing the alarm history The following procedure lets you use RDV-Manager to clear the alarm history. 1 Start RDV-Manager and connect it to the driver. 2 In the "Device status" screen, select the [Initialization settings] button to access the "Initialization settings" screen. 3 From the pulldown, select "Clear trip history" and click the [Start initialization] button. Alarm history is initialized. For details on the procedure, refer to "Initialization function" in the RDV-Manager manual Factory settings If the parameter data no longer has the expected values, due to incorrect operation or any other reason, you can use RDV-Manager to execute the Generation function using the following procedure, restoring the parameters to their factory-set condition. 5 1 Start RDV-Manager and connect it to the driver. 2 In the "Device status" screen, select the [Generation] button to access the "Generation" screen. 3 From the pulldown, select the model of robot for which you're making settings. 4 Select the check boxes "Confirm capacity", "Write constants", and "Compare constants", and then click the [Write Constants] button. 5 After writing is completed and the display indicates "Completed successfully", click the [OK] button. Close the generation screen, and cycle the control power. Functions Note: Do not shut off the control power of the robot driver during generation. If power is shut off during writing, the data internally saved in the robot driver will be destroyed, possibly rendering it unable to operate normally. For details on the procedure, refer to "Generation" in the RDV-Manager manual. 5-63

166 1111 Motor rotating direction FLIP-X series phase sequence The forward direction when the RDV-X is used in combination with the FLIP-X series robot is shown in the table below. The rotating direction for the robot can be set to the reverse direction by changing the "Motor revolution direction" (FA-14) parameter. Rotation CC FA-14 C Forward run CCW CW Reverse run CW CCW 5 Functions PHASER series phase sequence The forward direction when the RDV-P is used in combination with the PHASER series robot is shown in the table below. The movement direction for the robot can be set to the reverse direction by changing the "Motor revolution direction" (FA-14) parameter. Operating direction Forward run L side CC Motor forward direction Slider movement direction R side FA-14 C Motor forward direction Slider movement direction L side R side Motor forward direction Slider movement direction Motor forward direction Slider movement direction Reverse run L side R side L side R side Note1: The above figures are viewed from the cable carrier side of the robot. 5-64

167 1111 Speed limit function Speed can be limited by the parameters (Fb-20, Fb-21) as shown in the table below. Setting Forward Speed limit value Reverse Fixed value by parameter setting Fb-20 Fb-21 5 Functions 5-65

168 1111 Fast positioning function The fast positioning function shortens the positioning settling time to the minimum time, and drastically reduces the position deviation that occurs during positioning operation. Note 1: The Moment of inertia (Fd-00) parameter must be set correctly to use this function. Note 2: When setting this function to improve the cycle time, the following parameters also need to be adjusted. Speed control cut-off frequency (Fd-01) Speed control proportional gain (Fd-02) Speed control integral gain (Fd-03) Position control cut-off frequency (Fd-09) Note 3: This function may not show its optimal performance depending on the machine conditions. The parameter constants used with this function are described below. (a) Fast positioning mode (Fd-40) 5 Functions This parameter specifies how to control the fast positioning. To perform positioning in the shortest settling time, set this parameter to "FAst" from "non" or "FoL". To perform positioning while drastically reducing position deviations, use the position deviation minimizing control by setting this parameter to "FoL". The control operation for each setting is described below. Minimizing the positioning settling time "FAst" When the fast positioning mode is set to "FAst" from "non" or "FoL", the control constant parameters are automatically optimized to minimize the positioning settling time. If the fast positioning mode is already set to "FAst", then set it to "non" and then back to "FAst" again. Always be sure to first make the other control parameters (Fd-xx) before setting to "FAst". Making this setting automatically sets the "Position feed forward gain" (Fd-10) and the "Position feed forward filter time constant" (Fd-41). Position overshoot might occur depending on the machine being operated. If that happens, adjust the "Position feed forward gain" (Fd-10) that was automatically set, to a new setting where position overshoot does not occur. Minimizing the position deviation "FoL" Setting the fast positioning mode to "FoL" enables the position deviation minimizing control to work. Position deviation or error which may occur can be adjusted by the "Position error filter gain" (Fd-42). (See the figure below.) Position deviation (pulses) Position error filter gain (Fd-42) = 0 [%] (Fd-42) = 20 [%] (Fd-42) = 50 [%] (Fd-42) = 80 [%] (Fd-42) = 100 [%] 0 Time [s] Effects of position deviation minimizing control (Fd-40 = FoL) during positioning operation 5-66

169 1111 Notch filter function The notch filter function reduces the vibration originating from the machine resonance, by lowering the gain at a particular frequency. The parameter constants used in this function are described below. Use these parameters in conjunction with the mechanical system diagnostic function of "RDV-Manager". For more about the mechanical system diagnostic function, refer to the RDV-Manager manual. n NOTE The notch filter parameters Fd-20 and Fd-21 are set when the unit is shipped from the factory. Therefore, it is not normally necessary to make notch filter settings. Use the mechanical system diagnostic function when checking the frequency response of the mechanical system, or when stacking notch filters. The factory-set notch filter parameters Fd-20 and Fd-21 are not set by Generation. Before executing Generation, make a note of the Fd-20 and Fd-21 settings, and restore these settings manually after Generation is completed. If the connected model is changed, the notch filter parameters Fd-20 and Fd-21 will need to be changed. Contact your distributor for the values of these settings. (a) Notch filter frequency (Fd-20,Fd-23,Fd-26) Specifies the frequency by which the gain is lowered in each notch filter. Do not set this to a frequency range below 500 Hz. Doing so may cause unstable operation. (b) Notch filter attenuation ratio (Fd-21,Fd-24,Fd-27) 5 Specifies the gain attenuation ratio applied by each notch filter. If this parameter is set to 0, the corresponding notch filter has no effect. (c) Notch filter Q value (Fd-22,Fd-25,Fd-28) Specifies the Q value for each notch filter. By changing the Q value of the notch filter, the frequency region whose gain is reduced can be adjusted as shown in the figure below. We recommend a Q value of "4". Lowering the Q value may cause unstable operation. Functions db Gain reduction frequency bandwidth 0 Maximum Q value Minimum Q value Attenuation ratio fc f Notch filter resonant frequency Fd-20,23,26 Notch filter attenuation ratio Fd-21,24,27 Notch filter Q Fd-22,25,28 = Gain reduction frequency bandwidth 5-67

170 1111 Magnetic pole position estimation action On the RDV-P, magnetic pole position estimation must be performed after power is turned on when operating a robot in pulse train mode. If FA-90 (Hall sensor connection) is set to off4, magnetic pole position estimation will begin when the servo turns off, the RS terminal is turned ON, and the SON terminal is turned on. During magnetic pole position estimation, the SRD terminal turns "OFF", and when magnetic pole position estimation ends successfully, the SRD terminal turns "ON". When magnetic pole position estimation ends successfully, the normal servo on state is entered, and the servo operates according to the commands that are input. Subsequently, after the power is turned on, magnetic pole position is cleared during the first stroke end method return-to-origin. For details, refer to "4. Return-to-origin function" in this Chapter. 111 Magnetic pole position estimation and terminal states (when FA-90 = OFF4) RS terminal ON OFF 10 [ms] or more 10 [ms] or more SON terminal ON OFF SRD terminal ON OFF 5 Functions Motor operation Servo-off Position sensor disconnect detection Magnetic pole position estimation First magnetic pole position estimation operation following power-on Normal servo-on Servo-off Position sensor disconnect detection Magnetic pole position estimation Normal servo-on Second and subsequent magnetic pole position estimation operations following power-on Note 1: During the magnetic pole position estimation operation, the system moves according to speed command values automatically generated within the driver; this means that if position command pulses are input from outside, the motor may move suddenly immediately after magnetic pole position estimation ends. So do not enter command values such as position command pulses from outside the driver during magnetic pole position estimation. Note 2: If the magnetic pole position estimation ends in an error, then a magnetic pole position estimation error (E95) occurs. If FA-90 (Hall sensor connection) is set to off4, turning the SON terminal ON (servo on) without performing magnetic pole position estimation even once after the power is turned on will cause an E96 (magnetic pole position estimation not executed) alarm. RSt erminal ON OFF With the RS terminal OFF, SON terminal is turned OFF/ON (servo on without performing magnetic pole position estimation) SON terminal ALM terminal Driver control power Driver operating status ON OFF ON OFF ON OFF Servo-off Alarm occurring 222 Magnetic pole position estimation and terminal states (when FA-90 = OFF5) SON terminal SRD terminal ON OFF ON OFF Motor operation Servo-on Position sensor disconnect detection Magnetic pole position estimation Normal servo-on Servo-off Normal servo-on First servo-on following power-on (magnetic pole position estimation) Second and following servo-on following power-on 5-68 Note 1: The magnetic pole position estimation operation relies on speed command values generated internally in the driver so if command values such as position command pulses are input from outside the driver, then the motor might suddenly start to operate immediately after the magnetic pole position estimation ends. So do not enter command values such as position command pulses from outside the driver during magnetic pole position estimation. Note 2: If the magnetic pole position estimation ends in an error, then a magnetic pole position estimation error (E95) occurs.

171 1111 Magnetic pole position estimation and parameters The magnetic pole position estimation is performed by repeatedly generating the speed patterns automatically within the driver, as shown below. The number of repeating cycles automatically generated in one magnetic pole position estimation ranges from 6 to 13 cycles. (The number of repeating cycles may change according to the robot status.) If failed to estimate the magnetic pole position correctly, a maximum of 4 retries are automatically attempted to estimate the magnetic pole position. Speed [mm/s] Fb-40 Fb-41 Fb-43 Twait 0 Fb-40 Fb-43 Fb-41 Fb-42 Time [s] 1 cycle 6 to 13 cycles (to a maximum of 4 retries) [Twait (wait time)] The wait time Twait [s] for 1 operation pattern cycle is shown in the formula below. The wait time Twait [s] under two conditions: (1) Fb-42 [s] Tstop [s], and (2) Fb-42 [s] < Tstop [s], are shown below. = Fb-42 [s] (1) Fb-42 [s] Tstop [s] Twait [s] = Tstop [s] (2) Fb-42 [s] < Tstop [s] 5 Tstop [s]: This is the time in seconds for the speed detection value of 0 [mm/s] in the robot driver, to converge to the range of the "Zero speed detection value" (Fb-22). <Wait time Twait state (relation between speed command value, speed detection value within robot driver and wait time Twait [s]> (1) Fb-42[s] Tstop[s] (Twait = Fb-24) (2) Fb-42[s] < Tstop[s] (Twait = Tstop) Functions Speed [mm/s] Twait(=Fb-42) Speed [mm/s] Twait(=Tstop) Tstop Fb Fb-22 Time [s] 0 -Fb-22 Time [s] Speed command value within robot driver Speed detection value within robot driver Speed command value within robot driver Speed detection value within robot driver The distance the motor or slider moves during magnetic pole position estimation can be derived by the following formula. Movement distance [mm] = Fb-40 (Fb-41 + Fb-43) / 1000 Example: Distance moved with Fb-40=80, Fb-41=10, and Fb-43=10 Movement distance [mm] = 80 ( ) / 1000 = 1.6 [mm] 5-69

172 [Mover mass and speed control cut-off frequency for magnetic pole position estimation] Use FG-46 (Load moment of inertia ratio for pole position estimation) to set the mover mass for magnetic pole position estimation. Likewise, use FG-47 (speed control cut-off frequency for pole position estimation) to set the speed control cut-off frequency. Also use FG-48 (Speed gain change time constant for pole position estimation) to set the time constant of the first-order lag filter for gain switching when shifting to normal control after estimating the magnetic pole position. SON SRD Mover mass FG-46 Fd-00 Speed control cut-off frequency FG-47 Fd-01 (Fd-34) 5 Magnetic pole position estimation operation FG-48 5 or more <To shorten the distance moved during magnetic pole position estimation> Setting the parameters as shown below in (1) through (3) shortens the distance moved during magnetic pole position estimation. Functions (1) Set Fb-42 (Pole position estimation wait time) to approximately 300 [ms]. (2) Set as follows to reduce the movement distance. Fb-41 (Pole position estimation ACC/DEC time) = 10 [ms] Fb-43 (Pole position estimation constant-speed time) = 0 [ms] (3) To decrease the movement distance, adjust Fb-40 (Pole position estimation speed) to a small value. Note 1: Magnetic pole position estimation might sometimes be unable to accurately estimate the magnetic pole position due to how the torque is generated during the magnetic pole position estimation period. Note 2: If an abnormal movement occurs, adjust the FG-46, FG-47 and/or FG-48 parameters. Note 3: Depending on the robot load conditions, magnetic pole position estimation may fail with an error E95 (magnetic pole position estimation error). If this happens, adjust the pole position estimation parameter to an appropriate value. Note 4: The center position of the magnetic pole position estimation operation may shift, depending on the start position. Note 5: After magnetic pole position estimation is complete, the magnetic pole position is determined when phase ZM is passed. 5-70

173 < Speed deviation error level and control gain during magnetic pole position estimation > The speed deviation error level and control gain during magnetic pole position estimation can be specified using the parameters of the following table. If a magnetic pole position estimation error (E81) or overspeed error (E85) occurs and magnetic pole position estimation does not end normally, adjust the following parameters. Parameter No. Parameter name Setting range [Default value] Units Content of setting Specifies the speed deviation error detection value during magnetic pole position estimation. If the speed deviation (the difference between Fb-45 Speed error detection value at pole position estimation 0 to maximum speed [ 500 ] mm/s the speed command value and the detected speed value) is greater than this specified value, a speed deviation error alarm will occur. If Fb-45 is set to 0, speed deviation error detection is not performed during magnetic pole position estimation operation. Specifies the load's moving part mass ratio relative to the mass of the linear motor's FG-46 Load moment of inertia ratio for pole position estimation 0 to [Depends on model] % moving part during magnetic pole position estimation. [Calculating the value to set] Mass of movable part of load / Mass of movable part of linear motor x 100 FG-47 FG-48 speed control cut-off frequency for pole position estimation Speed gain change time constant for pole position estimation 0 to [Depends on model] 0.0 to [Depends on model] Hz ms Specifies the speed cut-off frequency during magnetic pole position estimation. Specifies the gain switching time constant when magnetic pole position estimation has ended and operation switches to normal operation. If FG-48 is set to 0.0, operation changes instantly. 5 Functions 5-71

174

175 Chapter 6 Parameter description 1. Operator monitor Operator monitor functions Special display Function lists List of monitor functions List of setup parameters Function description Monitor display description Setup parameter description Reference graph for setting the acceleration and position control cut-off frequency RDV-X 6-25 T4H-2 (C4H-2) 6-25 T4H-2-BK (C4H-2-BK) 6-25 T4H-6 (C4H-6) 6-26 T4H-6-BK (C4H-6-BK) 6-26 T4H-12 (C4H-12) 6-27 T4H-12-BK (C4H-12-BK) 6-27 T4LH-2 (C4LH-2) 6-28 T4LH-2-BK (C4LH-2-BK) 6-28 T4LH-6 (C4LH-6) 6-29 T4LH-6-BK (C4LH-6-BK) 6-29 T4LH-12 (C4LH-12) 6-30 T4LH-12-BK (C4LH-12-BK) 6-30 T5H-6 (C5H-6) 6-31 T5H-6-BK (C5H-6-BK) 6-31 T5H-12 (C5H-12) 6-32 T5H-12-BK (C5H-12-BK) 6-32 T5H T5LH-6 (C5LH-6) 6-33 T5LH-6-BK (C5LH-6-BK) 6-34 T5LH-12 (C5LH-12) 6-34 T5LH-12-BK (C5LH-12-BK) 6-35 T5LH-20 (C5LH-20) 6-35 T6-6 (C6-6) 6-36 T6-6-BK (C6-6-BK) 6-36

176 Chapter 6 Parameter description T6-12 (C6-12) 6-37 T6-12-BK (C6-12-BK) 6-37 T T6L-6 (C6L-6) 6-38 T6L-6-BK (C6L-6-BK) 6-39 T6L-12 (C6L-12) 6-39 T6L-12-BK (C6L-12-BK) 6-40 T6L-20 (C6L-20) 6-40 T T7-12-BK 6-41 T T9-5-BK 6-42 T T9-10-BK 6-43 T T9-20-BK 6-44 T T9H T9H-5-BK 6-46 T9H T9H-10-BK 6-47 T9H T9H-20-BK 6-48 T9H F8-6 (C8-6) 6-49 F8-6-BK (C8-6-BK) 6-49 F8-12 (C8-12) 6-50 F8-12-BK (C8-12-BK) 6-50 F8-20 (C8-20) 6-51 F8L-5 (C8L-5) 6-51 F8L-5-BK (C8L-5-BK) 6-52 F8L-10 (C8L-10) 6-52 F8L-10-BK (C8L-10-BK) 6-53 F8L-20 (C8L-20) 6-53 F8L-20-BK (C8L-20-BK) 6-54 F8L F8LH-5 (C8LH-5) 6-55

177 Chapter 6 Parameter description F8LH-10 (C8LH-10) 6-55 F8LH-20 (C8LH-20) 6-56 F10-5 (C10-5) 6-56 F10-5-BK (C10-5-BK) 6-57 F10H F10H-05BK 6-58 F10-10 (C10-10) 6-58 F10-10-BK (C10-10-BK) 6-59 F10H F10H-10BK 6-60 F10-20 (C10-20) 6-60 F10-20-BK (C10-20-BK) 6-61 F10H F10H-20BK 6-62 F F10H F14-5 (C14-5) 6-63 F14-5-BK (C14-5-BK) 6-64 F14-10 (C14-10) 6-64 F14-10-BK (C14-10-BK) 6-65 F14-20 (C14-20) 6-65 F14-20-BK (C14-20-BK) 6-66 F F14H-5 (C14H-5) 6-67 F14H-5-BK (C14H-5-BK) 6-67 F14H-10 (C14H-10) 6-68 F14H-10-BK (C14H-10-BK) 6-68 F14H-20 (C14H-20) 6-69 F14H-20-BK (C14H-20-BK) 6-69 F14H F17L-50 (C17L-50) 6-70 F17L-50-BK (C17L-50-BK) 6-71 F17-10 (C17-10) 6-71 F17-10-BK (C17-10-BK) 6-72 F17-20 (C17-20) 6-72 F17-20-BK (C17-20-BK) 6-73 F

178 Chapter 6 Parameter description F20-10-BK (C20-10-BK) 6-74 F20-20 (C20-20) 6-74 F20-20-BK (C20-20-BK) 6-75 F F20N N N N N B B B14H 6-79 R R R RDV-P 6-82 MR MF MF MF MF MF MF Control block diagram and monitors 6-86

179 Operator monitor Operator monitor functions The RDV series uses the built-in operator monitor to display the operating status and to show alarms. The content to be displayed can be selected by the parameter FC-67 "Digital operator display data selection". For details on the displayed content, refer to "2.1 List of monitor functions" in this Chapter. Operator monitor functions CP (green) Lights up when the control power is turned on. Do not touch the driver while this lamp is lit. Display panel 5-digit and 7-segment LED. Used to display the operating state and alarm Special display If the control power supply is insufficient when the servo is off, the display indicates the following. However, the alarm (ALM) signal is not output. Display when the servo is off and the control power supply is insufficient 6 Parameter description 6-1

180 222 Function lists This section describes monitor functions and parameters that can be set for the driver. Parameters are divided into several groups as shown in the following table. Group d-xx FA-xx Fb-xx FC-xx Fd-xx FG-xx Description Allows checking monitor parameters such as speed and position. Operation mode or protection level parameters Operation constant parameters Input/output terminal parameters Control constant parameters such as mover mass and response speed. Extended parameters for performing finer adjustments such as response speed. NOTE: "xx" means a parameter number. Parameter lists are provided on the following pages. 6 Parameter description 6-2

181 2222 Parameter No. List of monitor functions Parameter name Units Display range RDV-X RDV-P RDV-X RDV-P d-00 Speed command monitor to 9999 min -1 mm/s d-01 Speed detection value monitor to 9999 min -1 mm/s d-02 Output current monitor 0 to maximum current % d-03 Torque command monitor Propulsion command monitor -Maximum torque to maximum torque % d-04 Output torque monitor Output propulsion monitor -Maximum torque to maximum torque % ON d-05 Input terminal monitor OFF CER PEN ORG ORL ROT FOT TL RS SON ON d-06 Output terminal monitor OFF BK INP ALM SRD d-07 Position command monitor H (negative maximum) to H 7FFFFFFFFFFFFFFF (positive maximum) pulses d-08 Present position monitor H (negative maximum) to H 7FFFFFFFFFFFFFFF (positive maximum) pulses d-09 Position error monitor H (negative maximum) to H 7FFFFFFFFFFFFFFF (positive maximum) pulses d-13 Operation control monitor trq, SPd, PoS d-14 Operation status non, run, trp, Fot, rot, ot d-15 Estimated load Estimated load moment of mass ratio inertia ratio 0 to % d-16 Pole position Encoder phase RDV-X: 0 to (FA-82-1) counter Z monitor RDV-P: 0 to monitor pulses d-17 Do not use. Do not use. d-31 PN volt monitor 0 to 999 V d-32 Regenerative braking use rate 0 to 100 % d-33 E-thermal sum 0.0 to100.0 % d-58 Machine reference 0 to100 % 6 Parameter description 6-3

182 2222 List of setup parameters Parameter setting ranges and default values are shown in the following tables. 111 Operation mode parameters 6 Parameter description Parameter No. FA-01 FA-03 FA-04 FA-05 Parameter name Setting range Default setting Units Parameter display RDV-X RDV-P RDV-X RDV-P RDV-X RDV-P RDV-X RDV-P level Position sensor wire breaking detection Overspeed error detection level Speed error detection value Position error detection value(moving) Applied immediately off, on on ProF Yes 0 to % ProF Yes 0 to maximum speed Depends on model min -1 mm/s ProF Yes 0.0 to rotation Magnetic pole pitch *1 ProF Yes FA-07 DC bus power supply L123, L12Pn L12Pn EASy No FA-08 Regenerative braking operating ratio 0.0 to Depends on model % EASy Yes FA-09 Overload notice level 20 to % EASy Yes FA-11 FA-12 FA-13 FA-14 Pulse train input mode Electronic gear numerator Electronic gear denominator Motor revolution direction F-r, P-S, A-b r-f, -P-S, b-a F-r EASy Yes to EASy Yes Depends 1 on model 1 to EASy Yes CC, C Depends on model EASy No FA-16 DB Operation selection non, trp, SoF SoF ProF Yes FA-18 Torque bias mode non, CnS Non ProF Yes FA-23 Homing mode L-F, L-r, H1-F, H1-r, H2-F, H2-r, CP, t-f, t-r, S-F,S-r Depends on model EASy Yes FA-24 Servo OFF wait time 0.00 to s ProF Yes FA-26 (Note 2) FA-27 (Note 2) Brake operation start speed Brake operation start time 0 to maximum speed 30 min -1 mm/s ProF Yes 0.000, to s ProF Yes FA-28 (Note 4) Electronic thermal level 20 to (N0te 5) % ProF Yes FA-82 (Note 4) Encoder resolution 500 to FA-85 (Note 1) (Note 3) FA-87 (Note 1) FA-90 (Note 1) Linear scale accuracy Linear scale polarity Hall sensor connection 4096 (Note 5) Depends on model (Note 5) pulses EASy No 0.01 to (Note 5) μm EASy No A, b Depends on model (Note 5) EASy No CnCt3, off4, off5 off5 (Note 5) EASy No Note 1: Displayed on RDV-P only. Note 2: Invalid on RDV-P. Note 3: Do not change the setting. Note 4: Set this parameter to the default value for each model. Note 5: Even if data is initialized, this parameter does not return to the initial value. *1 Magnetic pole pitch=fa-82 4[pls] 6-4

183 222 Operation constant parameters Parameter No. Fb-07 Fb-08 Fb-09 Fb-10 Fb-11 Fb-12 Fb-13 Fb-14 Fb-16 Fb-18 Fb-20 Fb-21 Fb-22 Fb-23 Fb-25 Fb-31 Fb-32 Parameter name Setting range Default setting Units Parameter display RDV-X RDV-P RDV-X RDV-P RDV-X RDV-P RDV-X RDV-P level Torque limit value 1 (first quadrant) Torque limit value 2 (second quadrant) Torque limit value 3 (third quadrant) Torque limit value 4 (fourth quadrant) Torque bias value Homing speed 1 (fast) Homing speed 2 (slow) Homing position offset value Forward position limit value Reverse position limit value Forward speed limit value Reverse speed limit value Zero speed detection value Positioning defection range Up to speed detection range Acceleration time for Homing Deceleration time for Homing Applied immediately 0 to maximum torque Depends on model % ProF Yes 0 to maximum torque Depends on model % ProF Yes 0 to maximum torque Depends on model % ProF Yes 0 to maximum torque Depends on model % ProF Yes 0 to ±maximum torque 1 to maximum speed 0 % ProF Yes 1 to min -1 mm/s ProF Yes 1 to to min -1 mm/s ProF Yes H to H 7FFFFFFFFFFFFFFF H to H 7FFFFFFFFFFFFFFF H to H 7FFFFFFFFFFFFFFF 0 pulses ProF Yes 0 pulses ProF Yes 0 pulses ProF Yes 0 to maximum speed Depends on model min -1 mm/s ProF Yes maximum speed to 0 Depends on model min -1 mm/s ProF Yes 0.0 to min -1 mm/s ProF Yes 1 to pulses ProF Yes 0 to min -1 mm/s ProF Yes 0.00 to s ProF Yes 0.00 to s ProF Yes Fb-35 Homing back distance 1 to 255 Depends on model ProF Yes Fb-36 Current for striking limit 40 to 100 Depends on model % ProF Yes Fb-37 Time for striking limit 0.1 to s ProF Yes Fb-40 (Note 1) Fb-41 (Note 1) Fb-42 (Note 1) Fb-43 (Note 1) Fb-44 (Note 1) Pole position estimation speed Pole position estimation ACC/ DEC time Pole position estimation wait time Pole position estimation constantspeed time Position sensor wire breaking detection current -200 to 200 Depends on model mm/s ProF Yes 10 to 500 Depends on model ms ProF Yes 0 to ms ProF Yes 0 to 500 Depends on model ms ProF Yes 20 to 100 Depends on model % ProF Yes 6 Parameter description Note 1: Displayed on RDV-P only. 6-5

184 Parameter No. Fb-45 (Note 1) Parameter name Setting range Default setting Units Parameter display RDV-X RDV-P RDV-X RDV-P RDV-X RDV-P RDV-X RDV-P level Speed error detection value at pole position estimation Note 1: Displayed on RDV-P only. Applied immediately 0 to maximum speed 500 mm/s ProF Yes 333 Input/output terminal parameters 6 Parameter description Parameter No. FC-01 FC-02 FC-09 FC-10 FC-11 (Note 1) FC-30 FC-31 Parameter name Setting range Default setting Units Parameter display RDV-X RDV-P RDV-X RDV-P RDV-X RDV-P RDV-X RDV-P level Input terminal polarity setting Output terminal polarity setting Position sensor monitor resolution M Position sensor monitor resolution N Position sensor monitor polarity Monitor output 1 function Monitor output 1 polarity Applied immediately 0000 to 03FF 0000 EASy Yes 0000 to 003F 0002 EASy Yes 1 to EASy No 1 to EASy No A, b b EASy No nfb, tqr, nrf, ner, Per, ifb, PFq, brd, PE4, PE3, PE2, Eth, Pn, tqfb, tlip, tlin nfb EASy Yes SiGn, AbS SiGn EASy Yes FC-32 Monitor output 1 gain 0.0 to EASy Yes FC-33 FC-34 Monitor output 2 function Monitor output 2 polarity nfb, tqr, nrf, ner, Per, ifb, PFq, brd, PE4, PE3, PE2, Eth, Pn, tqfb, tlip, tlin Tqr EASy Yes SiGn, AbS SiGn EASy Yes FC-35 Monitor output 2 gain 0.0 to EASy Yes FC-40 FC-41 FC-67 Monitor output 1 offset Monitor output 2 offset Digital operator display data selection Note 1: Do not change the setting to ± V ProF Yes 0.00 to ± V ProF Yes 0 to ProF Yes 6-6

185 444 Control constant parameters Parameter No. Fd-00 Fd-01 Fd-02 Fd-03 Parameter name Setting range Default setting Units Parameter display RDV-X RDV-P RDV-X RDV-P RDV-X RDV-P RDV-X RDV-P level Load moment of inertia ratio Load mass ratio Speed control cut-off frequency Speed control proportional gain Speed control integral gain Applied immediately 0 to Depends on model % EASy Yes 0.1 to Depends on model Hz EASy Yes 0.01 to Depends on model % ProF Yes 0.01 to Depends on model % ProF Yes Fd-04 P-control gain 0.1 to 99.9 Depends on model % ProF Yes Fd-06 Fd-07 Fd-08 Fd-09 Fd-10 Fd-11 Fd-15 Fd-17 Fd-20 Fd-21 Torque command filter time constant Torque command filter 2 time constant Torque command filter 3 time constant Position control cut-off frequency Position feed forward gain Position command filter(sma) time constant Speed command filter time constant Speed detection filter time constant Notch filter 1 frequency Notch filter 1 bandwidth 0.00 to Depends on model ms ProF Yes 0.00 to Depends on model ms ProF Yes 0.00 to Depends on model ms ProF Yes 0.01 to Depends on model Hz EASy Yes to Depends on model ProF Yes 0.0 to 10.0 Depends on model ms ProF No 0.00 to Depends on model ms ProF Yes 0.00 to Depends on model ms ProF Yes 3.0 to Depends on model Hz ProF Yes 0 to 40 Depends on model db ProF Yes Fd-22 Notch filter 1 Q value 0.50 to ProF Yes Fd-23 Fd-24 Notch filter 2 frequency Notch filter 2 bandwidth 3.0 to Depends on model Hz ProF Yes 0 to 40 Depends on model db ProF Yes Fd-25 Notch filter 2 Q value 0.50 to ProF Yes Fd-26 Fd-27 Notch filter 3 frequency Notch filter 3 bandwidth 3.0 to Depends on model Hz ProF Yes 0 to 40 Depends on model db ProF Yes Fd-28 Notch filter 3 Q value 0.50 to ProF Yes Fd-30 Fd-32 Fd-33 Fd-34 Fd-35 Fd-36 Fd-37 Fd-38 Fd-39 Gain change mode Second position control cut-off frequency Second Speed control integral gain Second Speed control cut-off frequency Speed gain change time constant Position command filter time constant Position error width for gain change Speed level for gain change Position gain change time constant non, GCH, PErr, PrEF, PinP, SFb Depends on model ProF Yes 0.01 to Depends on model Hz ProF Yes 0.00 to Depends on model % ProF Yes 0.1 to Depends on model Hz ProF Yes 0.0 to Depends on model ms ProF Yes 0 to Depends on model ms ProF Yes 0 to Depends on model pulses ProF Yes 0 to maximum speed Depends on model min -1 mm/s ProF Yes 0.0 to Depends on model ms ProF Yes Fd-40 Fast positioning mode non, FASt, FoL Depends on model ProF Yes Fd-41 Fd-42 Fd-50 Fd-51 Position feed forward filter time constant Position error filter gain Compensating torque for friction of forward rotation Compensating torque for friction of reverse rotation 0.00 to Depends on model ms ProF Yes 0 to 100 Depends on model % ProF Yes -100 to 100 Depends on model % ProF Yes -100 to 100 Depends on model % ProF Yes Parameter description

186 Parameter No. Fd-65 Fd-66 Fd-67 Parameter name Setting range Default setting Units Parameter display RDV-X RDV-P RDV-X RDV-P RDV-X RDV-P RDV-X RDV-P level Disturbance torque observer gain 1 Disturbance torque observer gain 2 Disturbance torque observer filter frequency constant Applied immediately 0.00 to 1.00 Depends on model ProF Yes 0.00 to 1.00 Depends on model ProF Yes 0.0 to Depends on model Hz ProF Yes 555 Extended control constant parameters 6 Parameter description Parameter No. FG-10 FG-11 FG-46 (Note 1) FG-47 (Note 1) FG-48 (Note 1) FG-61 FG-62 FG-63 Parameter name Setting range Default setting Units Parameter display RDV-X RDV-P RDV-X RDV-P RDV-X RDV-P RDV-X RDV-P level Speed feed forward gain Speed feed forward filter time constant Load moment of inertia ratio for pole position estimation speed control cut-off frequency for pole position estimation Speed gain change time constant for pole position estimation Filter circuit selection (Position command pulse) Filter circuit selection (Encoder pulse) Filter circuit selection (Current detection) Note 1: Displayed on RDV-P only. Note 2: Do not change the setting. Applied immediately to Depends on model Hz ProF Yes 0.00 to Depends on model ms ProF Yes 0 to Depends on model % ProF Yes 1.0 to Depends on model Hz ProF Yes 0.0 to Depends on model ms ProF Yes FL1 to FL18 FL8 ProF Yes FL1 to FL14 FL2 ProF Yes FL1,FL2,FL3 FL2 ProF Yes 6-8

187 Function description Monitor display description When the power is turned on, the content specified by parameter FC-67 "OPE monitor display selection" is shown in the monitor. Monitor No. Monitor name Display range Description d-00 Speed command monitor d-01 Speed detection value monitor d-02 Output current monitor d-03 d-04 Torque command monitor/ Propulsion command monitor Output torque monitor/ Output propulsion monitor to 9999 RDV-X(min -1 ) RDV-P(mm/s) to 9999 RDV-X(min -1 ) RDV-P(mm/s) 0 to maximum current (%) maximum torque to maximum torque (%) maximum torque to maximum torque (%) Displays the signed speed command value in 1 (mm/s) min -1 units. Speed detection value is displayed in 1min -1 (mm/s) units. Displays the output current in 1% units. Displays the torque (propulsion) command in 1% units. Displays the output torque (propulsion) in 1% units. d-05 Input terminal monitor Displays the input terminal status. (See below.) In this example, SON, ROT and PEN are ORL and the others are OFF. ON OFF Black: ON White: OFF 6 CER PEN ORG ORL ROT FOT TL RS SON d-06 Output terminal monitor Displays the output terminal status. (See below.) In this example, SDR, ALM and INP are ON, and the others are OFF. ON OFF Black: ON White: OFF BK ORG- INP ALM SRD d-07 Position command monitor H 0000 to H FFFF Displays the position command as a hexadecimal number. Only (pulses) the lowest four digits are displayed. d-08 Present position monitor H 0000 to H FFFF Displays the current position as a hexadecimal number. Only the (pulses) lowest four digits are displayed. d-09 Position error monitor H 0000 to H FFFF Displays the position deviation as a hexadecimal number. Only (pulses) the lowest four digits are displayed. d-11 Alarm monitor Displays the cause of the last-occurring alarm. E.g., d-13 Operation control monitor trq (torque control) SPd (speed control) PoS (position control) Displays the current operation control mode. Parameter description 6-9

188 Monitor No. Monitor name Display range Description Displays the driver operation status as shown below. d-14 Operation status non (normal stop) run (run) trp (error) Fot (forward overtravel) rot (reverse overtravel) ot (run inhibit stop) d-14 display non Terminal status SON Fot rot OFF ON OFF ON ON ON OFF Remarks Stop status run ON ON ON Servo ON status trp Alarm status Fot ON OFF ON rot ON ON OFF ot OFF OFF Forward run inhibit and servo ON status Reverse run inhibit and servo ON status Forward/reverse run inhibit d-15 d-16 Estimated load moment of inertia ratio/ Estimated load mass ratio Encoder phase Z monitor (Pole position counter monitor) 0 to 12700(%) Displays the currently-used load moment of inertia ratio. RDV-X: 0 to Displays the position monitor showing the phase Z position. The (FA-82-1) (pulses) position of phase Z is set to "monitor display = 0". Count increases in the forward run direction according to the RDV-P: direction set by FA-14. The maximum on this monitor is equal to 0 to (pulses) FC-09. d-17 Do not use. Do not use. 6 Parameter description d-31 PN volt monitor 0 to 999(V) Displays the current PN voltage value. Displays the regenerative braking operating ratio (FA-08) over 5 seconds as 100%. d-32 Regenerative braking use 0 to 100 Example : When FA-08 is set to 0.5 (%), rate (%) If the regenerative brake operates for 25 ms during five seconds (5 x = 0.025), the braking resistor overload (E06) alarm occurs. At this time, this monitor will be 100%. d-33 E-thermal sum 0.0 to 100.0(%) Displays the electronic thermal sum value. If this reaches 100%, an overload (E05) alarm occurs. d-58 Machine reference 0 to 100(%) Displays the machine reference at the time of sensor method or stroke end method return-to-origin. 6-10

189 3333 Setup parameter description 111 Operation mode parameters, etc. Parameter No. Parameter name Setting range [Default value] Description This parameter specifies whether error detection occurs when there is a position sensor abnormality (or when wire breakage is detected; this case is included in the following discussion). If this is ON, a position sensor wire breaking (E39) alarm occurs when there is a FA-01 Position sensor wire breaking detection off, on [on] position sensor abnormality. If this is OFF, E39 is not detected. However even if this is OFF, E39 will be detected if an abnormality is detected in the counter within the position sensor. Also, if the power is turned on without the position sensor being connected, E39 occurs when the servo turns on, regardless of this parameter. Set this parameter to "on" in normal operation, and do not set to "OFF" except in case of emergency. An overspeed error is detected if the detected speed value is FA-03 Overspeed error detection level 0 to 150 (%) [110] abnormally high in comparison to the maximum speed. This parameter specifies the threshold level for detecting the overspeed error as a percentage of the maximum rotational speed of the robot. When set to 0, overspeed errors are not detected. FA-04 Speed error detection value 0 to maximum speed *1 RDV-X (min -1 ) RDV-P (mm/s) [Depends on model] A speed deviation error is detected if the speed deviation (the difference between the speed command value and the speed detection value) is abnormally high. This parameter specifies the threshold value for detecting the speed error. When set to 0, speed deviation errors are not detected. FA-05 Position error detection value(moving) 0.0 to RDV-X (rotations) RDV-P (Magnetic pole pitch) [20.0] A position deviation error is detected if the position error (the difference between the position command value and the position detection value) is abnormally high. This parameter specifies the threshold value for detecting the position deviation in rotation units. When set to 0.0, position deviation errors are not detected. 6 This parameter sets the method for supplying the main power. FA-07 FA-08 DC bus power supply Regenerative braking operating ratio L123, L12Pn [L12Pn] 0.0 to (%) [Depends on model] Setting L123 L12Pn Method for supplying main power Use the L123 setting if supplying three-phase AC power to the main power supply via the L1, L2, and L3 terminals. Use the L12Pn setting if supplying single-phase AC power via the L1 and L2 terminals. Use this parameter to set the duty ratio of the regenerative braking resistor for 5 seconds.if the regenerative braking time exceeds the value of this setting, an alarm occurs (see table below). If this is set to 0.0, the operating ratio will not cause an alarm to occur. Set this parameter value when using an external braking resistor with overheat protection, which is different from the external braking resistors available from YAMAHA as options. When using an optional external braking resistor, set the allowable braking frequency value by referring to Chapter 10 "2. Options". Note: The FA-08 setting must be set to a value that is appropriate for the braking resistor. If an incorrect value is set, the braking resistor may be damaged. Parameter description *1: This is the maximum speed of the robot. Check the robot specifications. 6-11

190 Parameter No. Parameter name Setting range [Default value] Description Use this parameter to select the pulse train position command signal mode from among the following 6 modes. Setting Pulse train position command signal mode F-r PLS : Gives the motion amount in the forward direction in pulse trains. SIG : Gives the motion amount in thereverse direction in pulse trains. FA-11 Pulse train input mode F-r P-S A-b r-f -P-S b-a [F-r] P-S A-b r-f PLS : Gives the motion amount in pulse trains. SIG : Set to OFF when moving in the forward direction or set to ON when in the reverse direction. PLS : Input phase A of phase difference 2-phase signal. SIG : Input phase B of phase difference 2-phase signal. PLS : Gives the motion amount in the reverse direction in pulse trains. SIG : Gives the motion amount in the forward direction in pulse trains. -P-S PLS : Give the motion amount in pulse trains. SIG : Set to ON when moving in the forward direction or set to OFF when in the reverse direction. b-a PLS : Input phase B of phase difference 2-phase signal. SIG : Input phase A of phase difference 2-phase signal. 6 Parameter description FA-12 FA-13 FA-14 Electronic gear numerator Electronic gear denominator Motor revolution direction to RDV-X [Depends on model] RDV-P [1] 1 to RDV-X [Depends on model] RDV-P [1] CC, C [Depends on model] To input a pulse train position command, set the electronic gear ratio applied to the command value. The gear ratio is given by (FA-12) / (FA-13). The numerator and denominator can be set separately. The settings must meet the following condition: 1/20 (FA-12) / (FA-13) 50 The FLIP-X series resolution is pulses per revolution of the motor.(gf14xl and FG17XL are excepted.) The resolution of the GF14XL and GF17XL is pulses per revolution of the motor. The PHASER series resolution is 1 pulse per micrometer. The default values are set so as to issue a command of 1μm per pulse. Use this parameter to change the forward direction of the motor. Setting CC C Forward direction of motor The counterclockwise direction as viewed from the motor output shaft end is specified as the forward direction. The clockwise direction as viewed from the motor output shaft end is specified as the forward direction. Set the condition for applying the dynamic brake. Setting non Condition for applying dynamic brake Does not use the dynamic brake. FA-16 DB Operation selection non trp SoF [SoF] trp SoF Applies the dynamic brake only when an alarm occurs. Applies the dynamic brake when the servo ON (Note 1) terminal is turned off (including an alarm). Note 1: The dynamic brake is for emergency stop. Do not perform brake stop by turning the servo ON terminal OFF. Always turn the servo off after the robot has stopped. Note 2: Regardless of this parameter setting, the dynamic brake is applied when the voltage of the main circuit power supply becomes too low while the control power supply is ON. Sets the input source of torque bias value. FA-18 Torque bias mode non, CnS [non] Setting non CnS Torque bias mode Does not use a torque bias. Applies a bias using the set torque bias value (Fb-11). 6-12

191 Parameter No. Parameter name Setting range [Default value] Description This parameter specifies the homing mode and return-to-origin direction. Setting Return-to-origin direction Return-to-origin operation L-F L-r H1-F H1-r Do not change. H2-F H2-r CP FA-23 Homing mode L-F L-r H1-F H1-r H2-F H2-r CP t-f t-r S-F S-r [Depends on model] t-f t-r S-F S-r Forward run Reverse run Forward run Reverse run Stroke end method Sensor method When the return-to-origin mode (FA-23) is set to "stroke end method" (t-f, t-r), the driver determines whether the robot has reached its stroke end (mechanical end) as follows: When the robot comes into contact with its stroke end during returnto-origin operation, the current increases. When the current exceeds the rated current Ir and the integrated current reaches the current Ia specified by the stroke-end current parameter (Fb-36) as shown below, the driver determines that the robot has reached its stroke end. Current 2 2 (Fb-36) 2 2 ( Ia -Ir ) > ( ( Imax ) lr ) (Fb-37) 100 Ia: Stroke end current (Fb-36) 6 Ir: Rated current FA-24 FA-26 Servo OFF wait time Brake operation start speed * Valid only for robot with mechanical brake to 1.00 (s) [0.05] 0 to maximum speed RDV-X (min -1 ) [30] Time Note: Return-to-origin operation stops and the servo locks when the ORG terminal is switched from ON to OFF. Sets the time from when Servo ON command is turned off until servo ON status is actually cleared. Note: This parameter allows the servo to delay turning off until the specified wait time elapses after activating the brake. Set this wait time to counteract delays in the brake operation. Use this parameter as needed when stopping the robot such as after positioning is complete. If the speed becomes lower than the specified speed after the servo ON command ends or an alarm state occurs, the brake signal (BK) becomes the brake state. If the time set in FA-27 elapses before the speed becomes lower than the set speed, the BK signal also works to activate the brake. Parameter description FA-27 Brake operation start time 0.000, to (s) [0.000] Specifies the maximum time from when the servo ON command ends or an alarm status occurs until the brake signal (BK) operates the brake. The time can be set in 4ms steps. If the speed becomes lower than the setting in FA-26 after turning off the Servo ON command, then the BK signal activates the brake, regardless of this setting (FA-27). 6-13

192 Parameter No. Parameter name Setting range [Default value] Description Sets the electronic thermal level. Change the thermal level so that it matches the ambient temperature and robot operating conditions. When this parameter is changed, the asymptotic line can be moved in parallel with the operation time as shown below. Set this parameter to the default value for each model. 20 to 100 Asymptotic line FA-28 Electronic thermal level (%) [90%] Operation time (s) 1000 Rotating Servo lock Torque 500 to FA-82 Encoder resolution (pulses) RDV-X [4096] RDV-P Sets the number of pulses per rotation of the position sensor. Set this parameter to the default value for each model. [Depends on model] FA-85 Linear scale accuracy * Valid only for RDV-P to (μm) 1 Sets the machine length equivalent to 1 pulse of 4 signal on the linear scale. Set this parameter to "1". Sets the phase direction in the forward run of the linear scale. Set 6 FA-87 Linear scale polarity * Valid only for RDV-P. A, b [b] this parameter to "b". Setting Phase b Phase B leads phase A. Sets the sequence of magnetic pole position estimation operation. Use this parameter by setting to "off5". Setting Description Parameter description FA-90 Hall sensor connection * Valid only for RDV-P. CnCt3, off4, off5 [off5] CnCt3 off4 off5 Obtains magnetic pole position via the Hall sensor While the RS terminal is ON, turn the SON terminal from OFF ON to start magnetic pole position estimation operation Starts magnetic pole position estimation only when the SON terminal is first switched from OFF to ON after power-on. Note 1: If this is set to "CnCt3" and a Hall sensor is not connected, an E39 (position sensor error) alarm occurs. Note 2: If this is set to "off5" or "CnCt3", the RS connector is valid only when cleared by an alarm. 6-14

193 222 Operation constant parameters Parameter No. Parameter name Fb-07 Torque limit value 1 Setting range [Default value] Description Sets the torque limit value for each quadrant. Torque limit values 1, 2, 3, and 4 correspond to the first quadrant through fourth quadrant. Set an absolute value for all quadrants. Movement direction is same for Fb-07 to Fb10. Fb-08 Torque limit value 2 Fb-09 Torque limit value 3 0 to maximum torque (%) [Depends on model] Fb-08 Second quadrant Torque First quadrant Fb-07 Speed (CCW) Fb-10 Torque limit value 4 Fb-09 Third quadrant Fourth quadrant Fb-10 Fb-11 Torque bias value 0 to ±maximum torque (%) [0] When setting the torque bias to a fixed value, specify it with this parameter. In this case, FA-18 must be set to "CnS". Set the bias value in the ratio to the rated torque defined as 100%. Fb-12 Fb-13 Homing speed 1 (Fast) Homing speed 2 (Slow) RDV-X 1 to maximum speed *1 (min -1 ) [60] RDV-P 1 to 100 (mm/s) [20] RDV-X 1 to 999 (min -1 ) [6] RDV-P 1 to 20 (mm/s) [5] Sets the fast speed to perform return-to-origin. Sets the slow speed to perform return-to-origin. 6 Fb-14 Fb-16 Fb-18 Fb-20 Fb-21 Homing position offset value Forward position limit value * 2 Reverse position limit value * 2 Forward speed limit value Reverse speed limit value H to H 7FFFFFFFFFFFFFFF (pulses) [0] 0 to maximum speed* 1 RDV-X(min -1 ) RDV-P(mm/s) [Depends on model] -maximum speed to 0* 1 RDV-X(min -1 ) RDV-P(mm/s) [Depends on model] Sets the offset position to perform return-to-origin. Specify this as a 64-bit pulse amount. Sets the movement range (upper limit) as 64-bit signed data (pulse amount). Note: In the following case, the setting is invalid and the motor operates with no limit. Position limit value (+) (Fb-16) Position limit value (-) (Fb-18) Sets the movement range (lower limit) as 64-bit signed data (pulse amount). Note: In the following case, the setting is invalid and the motor operates with no limit. Position limit value (+) (Fb-16) Position limit value (-) (Fb-18) Sets the upper speed limit. Parameter description Fb-22 Zero speed detection value 0.0 to RDV-X(min -1 ) RDV-P(mm/s) [5.0] If the speed detection absolute value is within the value of this setting, a zero speed detection signal is output, and the speed is considered to be zero. Fb-23 Positioning detection range 1 to (pulses) [20] Sets the threshold value for position deviation (difference between position command value and position detection value) used to determine whether positioning is complete. Fb-25 Up to speed detection range 0 to 100 RDV-X(min -1 ) RDV-P(mm/s) [10] Sets the threshold value for the speed deviation (difference between speed command value and speed detection value) used to determine whether the specified speed is reached. *1: This is the maximum speed of the robot. Check the robot specifications. *2: This parameter limits the operation range of return-to-origin. 6-15

194 6 Parameter description Parameter Setting range Parameter name No. [Default value] Description Fb-31 Acceleration time for 0.00 to 99.99(s) Sets the acceleration/deceleration time for return-to-origin. Homing [10.00] The acceleration/deceleration time is the time during which the speed changes from speed zero to the maximum motor speed (or Fb-32 Deceleration time for 0.00 to 99.99(s) the time during which the speed changes from the maximum to Homing [10.00] zero). Fb-35 Homing back distance Sets the distance the robot moves back from the mechanical end 1 to 255 after detecting it during return-to-origin operation using the stroke [Depends on model] end method. Fb-36 Current for striking limit 40 to 100 (%) [Depends on model] Sets the stroke-end current that is detected when the robot comes into contact with its mechanical end during return-to-origin operation using the stroke end method. Fb-37 Time for striking limit 0.1 to 2.0 Sets the time during which the mechanical end is detected during (s) return-to-origin operation using the stroke end method. [0.2] Fb-40 Pole position estimation -200 to 200 speed Sets the speed command value during magnetic pole position (mm/s) estimation. * Valid only for RDV-P. [Depends on model Fb-41 Pole position estimation 10 to 500 ACC/DEC time Sets the acceleration/deceleration time during magnetic pole (ms) position estimation. * Valid only for RDV-P. [Depends on model] Fb-42 Pole position estimation wait time * Valid only for RDV-P. 0 to 500 (ms) [100] Sets the time interval during magnetic pole position estimation. Fb-43 Pole position estimation 0 to 500 constant-speed time Sets the constant-speed time during magnetic pole position (ms) estimation. * Valid only for RDV-P. [Depends on model] Fb-44 Position sensor wire Set the current to be applied for detecting the position sensor wire breaking detection 20 to 100 breakage. current (%) If this parameter is set to 100 (%), then the motor rated current will [Depends on model] * Valid only for RDV-P. be applied. Set the speed deviation error detection value during magnetic pole Fb-45 Speed error detection position estimation. value at pole position 0 to maximum speed If the speed deviation (the difference between the speed command estimation (mm/s) value and the speed detection value) exceeds this setting, a speed [500] * Valid only for RDV-P. deviation error causes an alarm. When set to 0, speed deviation errors are not detected. *1: This is the maximum speed of the robot. Check the robot specifications. *2: This parameter limits the operation range of return-to-origin. 6-16

195 333 Input/output terminal parameters Parameter No. Parameter name Setting range [Default value] Description Sets the ON/OFF logic for the input terminals. (Usually the logic is positive so the function turns on when the external contact is closed.) The logic setting for each terminal is assigned to each bit of the parameter to set the logic as follows. Bit setting 0 1 Input terminal logic Positive logic: Function turns on when the external contact is closed. Negative logic: Function turns on when the external contact is opened. FC-01 Input terminal polarity setting 0000 to 03FF [0020] The following tables show input terminals and bit assignment by this parameter. bit 15 bit 14 bit 13 bit 12 Assigned not Assigned not Assigned not Assigned not bit 11 bit 10 bit 9 bit 8 Assigned not Assigned not Assigned not CER bit 7 bit 6 bit 5 bit 4 PEN ORG ORL ROT bit 3 bit 2 bit 1 bit 0 FOT TL RS SON Sets the ON/OFF logic for the output terminals. (Usually the logic is positive so the contact output turns on when the output function is ON.) The logic setting for each terminal is assigned to each bit of the parameter to set the logic as follows. 6 FC-02 Output terminal polarity setting 0000 to 003F [0002] The following tables show output terminals and bit assignment by this parameter. Bit setting 0 1 Output terminal logic Positive logic: The contact output turns on when the output function is ON. Negative logic: The contact output turns off when the output function is ON. bit 15 bit 14 bit 13 bit 12 Assigned not Assigned not Assigned not Assigned not bit 11 bit 10 bit 9 bit 8 Assigned not Assigned not Assigned not Assigned not bit 7 bit 6 bit 5 bit 4 Assigned not Assigned not Assigned not BK Parameter description bit 3 bit 2 bit 1 bit 0 ORG-S INP ALM SRD 6-17

196 Parameter No. Parameter name Setting range [Default value] Description Sets the division ratio M/N of the position sensor monitor output signal. This setting's description changes in relation to the type of position sensor. A "Mismatch error (E40)" occurs without outputting position sensor monitor signals if invalid combinations are set as listed in the following table. This parameter is enabled by turning FC-09 Position sensor monitor resolution M 1 to 8192 [1] power off and then back on. Effective range M FC-09 N FC-10 Position sensor monitor division radio Invalid combination 1 (Note 2) 1 to 64 1/N FC-10=65 to (Note 2) 3 to 64 2/N FC-10=1, 2, 65 to to (Note 1) M/8192 FC-09=8192 FC-10=1 to 8191 Note 1: The position sensor monitor division ratio is set to "M/8192" when FC-10 is not equal to In all other FC-10 Position sensor monitor resolution N 1 to 8192 RDV-X[4] RDV-P[1] cases, the position sensor monitor division ratio is set to "1/N" or "2/N" according to FC-09. Note 2: The FLIP-X series resolution is pulses per revolution of the motor. (GF14XL and FG17XL are excepted.) The resolution of the GF14XL and GF17XL is pulses per revolution of the motor. The PHASER series resolution is 1 pulse per micrometer. This parameter specifies which phase of the position sensor signal, phase A or phase B, leads the other phase when the motor runs 6 FC-11 Position sensor monitor polarity A, b [b] forward. Set this parameter to "b". Setting Phase relation b Phase B leads phase A. This parameter is enabled by turning power off and then back on. Parameter description FC-30 FC-33 Monitor output 1 function Monitor output 2 function nfb tqr nrf, ner PEr ifb PFq brd PE4 PE3 PE2 Eth Pn tqfb tlip tlin FC-30[nFb] FC-33[tqr] Specify what is output from analog outputs 1 and 2, as shown in the table below. The 5.0V output value in the table below is the value when the analog output gain 1 or 2 is Setting Data item 3.0V output value nfb Speed detection value Maximum speed tqr Torque command value Maximum torque nrf Speed command value Maximum speed ner Speed deviation Maximum speed PEr Position deviation Five motor rotations ifb Current value Maximum current PFq Command pulse frequency Maximum speed brd PE4 PE3 PE2 Regenerative braking resistor duty ratio Position deviation (expansion 1) Position deviation (expansion 2) Position deviation (expansion 3) Alarm level (FA-08) pulses 1000 pulses 100 pulses Eth Electronic thermal sum Alarm level Pn Main circuit voltage (PN voltage) 400V tqfb Output torque Maximum torque tlip Positive torque limit Maximum torque tlin Negative torque limit Maximum torque Note: Settings other than nfb, brd, Eth, Pn, tlip, and tlin will output 0(V) during an alarm state. However, nfb will have an unpredictable value if position sensor error (E39) occurs. 6-18

197 Parameter No. Parameter name Setting range [Default value] Description FC-31 FC-34 Monitor output 1 polarity Monitor output 2 polarity SiGn, AbS [SiGn] This parameter specifies whether to output data from monitor outputs 1 and 2 in a range of 0 to ±5.0V or 0 to 5.0V. Setting Description SiGn 0 to ±5.0V (Note) AbS 0 to 5.0V Note: If PFq, brd, Eth, or Pn are set for FC-30 and 33, output will be only positive. Use these parameters to set the gain of monitor outputs 1 and 2. When set to 100.0, the voltage shown in the table for FC-30 and FC-33 is output. The following graph shows the relation between gain and output voltage (when FC-30 and FC-33 are set to "tqr"). FC-32 Monitor output 1 gain Torque command value 200.0% 5.0V 100.0% 0.0 to (%) [100.0] Minimum value % % 0 Maximum value % FC-35 Monitor output 2 gain -5.0V The default value is set to 100% for 5.0V output. These parameters specify the offset for analog outputs 1 and 2. If set to 0, no offset is applied. The offset and the output voltage are related as shown in the figure below (with the tqr setting). 6 FC-40 Monitor output 1 offset Example) With the settings analog output 1 function selection (FC-30)=tqr, and analog output 1 offset = 2.5[V] FC-41 FC-67 Monitor output 2 offset Digital operator display data selection 0.00 to ±5.00 (V) [0.00] 0 to 100 [14] Analog output 1 5.0V 2.5V Minimum torque % Maximum torque % 0 Torque command value 0 Maximum torque/2 % -2.5V -5.0V The d-** monitor of the specified value is shown when the power is turned on. Parameter description 6-19

198 444 Control constant parameter Parameter No. Parameter name Setting range [Default value] Description Fd-00 Load moment of inertia ratio (RDV-X) Load mass ratio (RDV-P) 0 to (%) [Depends on model] Sets the load's moment of inertia ratio relative to the motor moment of inertia. [Setting calculation method] Load moment of inertia / motor moment of inertia x 100 This parameter can also be set automatically by auto-tuning. Sets the load's moment of inertia ratio relative to the moving portion of the linear motor. [Setting calculation method] Mass of the moving part of the load / mass of the moving part of the linear motor x 100 This parameter can also be set automatically by auto-tuning. Sets the responsiveness of speed PI control. Increasing this parameter will increase the responsiveness of speed control, but excessively high settings will make vibration more likely. If the load moment of inertia ratio (Fd-00) is not set correctly, the setting unit of this parameter will be [Hz]. Set this parameter to adjust the proportional gain used for speed PI control. When set to 100%, the proportional gain is set to the constant specified in Fd-00 and Fd-01. (Proportional gain) (Fd-00) (Fd-01) Fd-02 / 100 Set this parameter to adjust the integral gain used for speed PI control. When set to 100%, the integral gain is set to the constant specified in Fd-00 and Fd-01. (Integral gain) (Fd-00) (Fd-01) 2 Fd-03 / 100 Fd-01 Speed control cut-off frequency 0.1 to (Hz) [Depends on model] Fd-02 Speed control proportional gain 0.01 to (%) [Depends on model] Fd-03 Speed control integral gain 0.01 to (%) [Depends on model] Fd-04 P-control gain 0.1 to 99.9 (%) [Depends on model] Set the gain used for speed P control. Set it by the torque (rated torque) to be output when a 1% speed deviation is provided. 6 Fd-06 Fd-07 Fd-08 Torque command filter time constant Torque command filter 2 time constant Torque command filter 3 time constant 0.00 to (ms) [Depends on model] This parameter sets the time constant for the first-order lag filter to be applied to the torque command value. When this parameter is set to 0.00, no filtering is performed. These parameters are useful for preventing vibration or oscillation. Parameter description Fd-09 Fd-10 Fd-11 Position control cut-off frequency Position feed forward gain Position command filter(sma) time constant 0.01 to (Hz) [Depends on model] to [Depends on model] 0.0 to 10.0 (ms) [Depends on model] Specifies the cut-off frequency for the position control loop. Increasing this parameter will increase the responsiveness of position control, but excessively high settings will make vibration more likely. As a general guideline when setting this parameter, it should be approximately 1/6 of the speed control cut-off frequency (Fd-01) when the load moment of inertia ratio (Fd-00) is set correctly. Sets the ratio used to perform feed-forward compensation for the position control. ncreasing this parameter will increase the position feed forward gain, increasing the responsiveness of position control; however excessively high settings will make vibration more likely, or make overshoot more likely when the linear motor stops. When the position control input value is step input, the position commands that follow the position command smoothing filter will be smoothed as shown in the following figure. Position command input value Position command [pulse] Before the position command smoothing filter After the position command smoothing filter Time [s] Fd-11 Note: If this parameter is changed while inputting position commands, the position command output may drift. You should change this parameter while position command input is stopped. Sets the time constant for the first-order lag filter to apply to the speed command value. When this parameter is set to 0, no filtering is performed. This parameter is useful for preventing vibration or oscillation. Sets the time constant of the first-order lag filter that is applied to the speed detection value. If this is set to 0.00, no filtering is performed. This parameter is useful for preventing vibration or oscillation. Fd-15 Speed command filter time constant 0.00 to (ms) [Depends on model] Fd-17 Speed detection filter time constant 0.00 to (ms) [Depends on model] 6-20

199 Parameter No. Parameter name Setting range [Default value] Description Fd-20 Notch filter 1 frequency 3.0 to (Hz) [Depends on model] Sets the resonance frequency of notch filter 1. Fd-21 Notch filter 1 bandwidth 0 to 40 (db) [Depends on model] Sets the attenuation ratio (depth) of notch filter 1. If this is set to 0, notch filter 1 is not applied. Fd-22 Notch filter 1 Q value 0.50 to 4.00 [4.00] Sets the Q value of notch filter 1. By changing the Q value of the notch filter you can adjust the width of the frequency band in which the gain is lowered. Fd-23 Notch filter 2 frequency 3.0 to (Hz) [Depends on model] Sets the resonance frequency of notch filter 2. Fd-24 Notch filter 2 bandwidth 0 to 40 (db) [Depends on model] Sets the attenuation ratio (depth) of notch filter 2. If this is set to 0, notch filter 2 is not applied. Fd-25 Notch filter 2 Q value 0.50 to 4.00 [4.00] Sets the Q value of notch filter 2. By changing the Q value of the notch filter you can adjust the width of the frequency band in which the gain is lowered. Fd-26 Notch filter 3 frequency 3.0 to (Hz) [Depends on model] Sets the resonance frequency of notch filter 3. Fd-27 Notch filter 3 bandwidth 0 to 40 (db) [Depends on model] Sets the attenuation ratio (depth) of notch filter 3. If this is set to 0, notch filter 3 is not applied. Fd-28 Notch filter 3 Q value 0.50 to 4.00 [4.00] Sets the Q value of notch filter 3. By changing the Q value of the notch filter you can adjust the width of the frequency band in which the gain is lowered. non GCH PErr PrEF PinP SFb [Depends on model] The control gain is switched when the condition of this setting is fulfilled. The gain that is switched is as follows. Parameter name 1st gain 2nd gain Speed cut-off frequency (Fd-01 Fd-34) Position cut-off frequency (Fd-09 Fd-32) Speed P control integral gain adjustment value (Fd-03 Fd-33) 6 Setting Description Gain switching conditions Gain Fd-30 Gain change mode non No gain switching 1st gain GCH PErr PrEF PinP SFb Gain switching by position deviation Gain switching when position command input is OFF and position command deviation = 0 Gain switched by INP terminal Gain switched by speed detected value Note: Do not set this parameter to "GCH". Position deviation > Fd-37 Position deviation Fd-37 Position command deviation 0 or position command is being input Position command deviation = 0 and position command input is stopped INP terminal = OFF INP terminal = ON Speed detected value > Fd-38 Speed detected value Fd-38 Fd-38 = 0 1st gain 2nd gain 1st gain 2nd gain 1st gain 2nd gain 1st gain 2nd gain 2nd gain Parameter description Fd-32 Second position control cut-off frequency 0.01 to (Hz) [Depends on model] Sets the second position control cut-off frequency when using gain switching. Fd-33 Second Speed control integral gain 0.00 to (%) [Depends on model] Sets the second speed PI control integral gain adjustment value when using gain switching. Fd-34 Second Speed control cut-off frequency 0.1 to (Hz) [Depends on model] Sets the second speed control cut-off frequency when using gain switching. Fd-35 Speed gain change time constant 0.0 to (ms) [Depends on model] Sets the gain switching time when switching the gain in speed control mode. If this is set to 0.0, the gain switches instantly. 6-21

200 Parameter No. Parameter name Setting range [Default value] Description Sets the time constant for the first-order lag filter to apply to a position command value. When this parameter is set to 0, no filtering is performed. If the position command input value is step input, the position commands following position command filtering are smoothed as shown in the figure below. Fd-36 Position command filter time constant 0.00 to (ms) [Depends on model] Position command [pulse] Position command input value 63.2% Before position command filter After position command filter Fd-36 Time [s] Always set to 0 when performing -one-way continuous operation or one-way synchronous conveyor operation in position control mode. If not set to 0, a position error fault (E83) will occur. When gain change mode (Fd-30) = PE r r, and the position deviation becomes larger than the value specified here, the gain is changed to 1st gain. If gain change mode (Fd-30) = PE r r, and this parameter is set to 0, the gain is fixed at 2nd gain. When gain change mode (Fd-30) = SFb, and the detected speed absolute value becomes larger than the value specified here, the gain is changed to 1st gain. If this parameter is set to 0, the gain is fixed at 2nd gain. Fd-37 Position error width for gain change 0 to (pulses) [Depends on model] Fd-38 Speed level for gain change 0 to maximum speed *1 RDV-X(min -1 ) RDV-P(mm/s) [Depends on model] 0.0 to (ms) [Depends on model] 6 Parameter description Fd-39 Fd-40 Fd-41 Fd-42 Fd-50 Fd-51 Fd-65 Position gain change time constant Fast positioning mode Position feed forward filter time constant Position error filter gain Compensating torque for friction of forward rotation Compensating torque for friction of reverse rotation Disturbance torque observer gain 1 non FASt FoL [Depends on model] 0.00 to (ms) [Depends on model] 0 to 100 (%) [Depends on model] -100 to 100 (%) [Depends on model] -100 to 100 (%) [Depends on model] 0.00 to 1.00 [Depends on model] Sets the gain switching time constant for switching gain in position control mode. If this is set to 0.0, switching occurs instantly. Sets the fast positioning mode to perform fast positioning in position control mode. When setting this parameter to "FASt" or "FoL", set the Moment of inertia (Fd-00) correctly. Setting non FASt FoL Description Performs normal position control Shortens the positioning settling time. Performs minimum position deviation control. Sets the time constant for the first-order lag filter used for position feed forward compensation in position control. When this parameter is set to 0, no filtering is performed. Use this parameter to adjust the amount of position deviation which may occur during "minimum position deviation control" in position control mode. For details, refer to Chapter 5, "15. Fast positioning function". Sets the friction compensation torque that compensates for friction when the speed detection value is in the positive rotation direction and is greater than the "Up to speed detection" range (Fb-25). If this is set to 0, compensating torque is not applied. Sets the friction compensation torque that compensates for friction when the speed detection value is in the negative rotation direction and is greater than the "Up to speed detection" range (Fb-25). If this is set to 0, compensating torque is not applied. This reduces the influence of disturbance torque by estimating the disturbance torque applied to the motor shaft, and adding the reverse phase of that torque to the torque command value. Increasing gain 1 will reduce the influence of disturbance torque, but be aware that depending on the model that is being driven, oscillation may occur if the value of this setting is raised. This reduces the influence of disturbance torque by estimating the disturbance torque applied to the motor shaft, and adding the reverse phase of that torque to the torque command value. Increasing gain 2 will reduce the influence of disturbance torque, but be aware that depending on the model that is being driven, oscillation may occur if the value of this setting is raised. Fd-66 Disturbance torque observer gain to 1.00 [Depends on model] Note 1: Disturbance torque observer gain 2 becomes valid if disturbance torque observer gain 1 is other than 0. Fd-67 Disturbance torque observer filter frequency constant 0.0 to (Hz) [Depends on model] Sets the disturbance torque observer filter cut-off frequency. *1: This is the maximum speed of the robot. Check the robot specifications. 6-22

201 555 Extended control constant parameters Parameter No. Parameter name Setting range [Default value] Description Sets the ratio for applying speed control FF (feed forward) FG-10 Speed feed forward gain to (Hz) [Depends on model] compensation. Increasing this parameter increases the speed FF gain, improving the response of speed control. However, excessively high settings will make vibration more likely, or make overshoot more likely when the motor stops. FG-11 Speed feed forward filter time constant 0.00 to (ms) [Depends on model] Sets the time constant for the first-order lag filter used for speed FF gain (FG-10). If this parameter is set to 0.00, no filtering is applied. FG-46 Load moment of inertia ratio for pole position estimation * Valid only for RDV-P. 0 to (%) [Depends on model] Sets the mass ratio of the moving portion of the load relative to the moving portion of the linear motor when performing magnetic pole position estimation. [Calculating the value] Mass of moving portion of the load / mass of moving portion of the linear motor x 100 FG-47 speed control cut-off frequency for pole position estimation * Valid only for RDV-P. 1.0 to (Hz) [Depends on model] Sets the speed control cut-off frequency when performing magnetic pole position estimation. FG-48 Speed gain change time constant for pole position estimation * Valid only for RDV-P. 0.0 to (ms) [Depends on model] Sets the time constant of the first-order lag filter to reduce switching shock during control gain switching after the magnetic pole position estimation is completed. If this is set to 0.0, switching occurs instantly. Sets the digital filter that is applied to position command pulse input. The following table shows the filter frequency for each setting item. (Note 1) Setting TYPE Frequency [MHz] Setting TYPE Frequency [MHz] 6 FL1 A 13.3 FL10 B 2.5 FL2 A 6.6 FL11 B 1.6 FG-61 FG-62 FG-63 Filter circuit selection (Position command pulse) Filter circuit selection (Encoder pulse) Filter circuit selection (Current detection) FL1 to FL18 [LF8] FL1 to FL14 [FL2] FL1 FL2 FL3 [FL2] FL3 A 3.3 FL12 B 1.25 FL4 A 1.6 FL13 B FL5 B 13.3 FL14 B FL6 B 10.0 FL15 B FL7 B 5.0 FL16 B FL8 B 6.6 FL17 B FL9 B 3.3 FL18 B Note 1: Normally you will select FL5 to FL18 (first-order lag filter) according to the frequency of the position command pulse input. Depending on the situation, you may select FL1 to FL4. Sets the digital filter that is applied to position sensor pulses. The filter frequency for each setting item is the same as shown in the table for filter circuit selection (position command pulse) (FG-61). Sets the digital filter that is applied to current detection. The filter frequency for each setting item is shown below. Setting Frequency [MHz] FL1 40 FL2 20 Parameter description FL

202 3333 Reference graph for setting the acceleration and position control cut-off frequency For your reference, the following graphs show payload, acceleration, and position control cut-off frequency (Fd-09), plotted when the load moment of inertia ratio or load mass ratio (Fd-00), speed control cut-off frequency (Fd-01), speed control integral gain (Fd-03), and motor moving part mass (Fr-15) parameters are set to the specified values for each robot model. By referring to these graphs, set the position control cut-off frequency (Fd-09) and acceleration that match the required payload. How to read graph Example: T9-20 Model T9-20 Maximum payload [kg] 30.0 [kg] Fd-00 Load moment of inertia ratio 149 [%] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain 60.0 [%] Fr-15 Motor moving part mass 0.16 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] [Hz] [G] 0.44[G] Parameter description The above table shows examples for setting accelerations and position control cut-off frequencies (Fd-09) that match different payloads. If the required payload is not listed in this table, refer to the graph on the right Payload[kg] Example: If a payload of 13kg is required, then the acceleration is 0.44 [G] and the position control cut-off frequency (Fd-09) is 5.5 [Hz]

203 Model RDV-X T4H-2 (C4H-2) Maximum payload [kg] 6.0 [kg] Fd-00 Load moment of inertia ratio 21 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload Acceleration Fd-09 [kg] [G] [Hz] Model T4H-2-BK (C4H-2-BK) Payload[kg] 6 Maximum payload [kg] 7.2 [kg] Fd-00 Load moment of inertia ratio 104 [%] Fd-01 Speed control cut-off frequency 70.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Parameter description Payload[kg]

204 Model T4H-6 (C4H-6) Maximum payload [kg] 6.0 [kg] Fd-00 Load moment of inertia ratio 83 [%] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload Acceleration Fd-09 [kg] [G] [Hz] Model Maximum payload [kg] T4H-6-BK (C4H-6-BK) [kg] Payload[kg] 2.0 Parameter description Fd-00 Load moment of inertia ratio 83 [%] Fd-01 Speed control cut-off frequency 55.0 [Hz] Fd-03 Speed control integral gain 60.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg]

205 Model T4H-12 (C4H-12) Maximum payload [kg] 4.5 [kg] Fd-00 Load moment of inertia ratio 58 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 65.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload Acceleration Fd-09 [kg] [G] [Hz] Payload[kg] 0.0 Model T4H-12-BK (C4H-12-BK) Maximum payload [kg] 1.2 [kg] 6 Fd-00 Load moment of inertia ratio 83 [%] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] Parameter description 6-27

206 Model T4LH-2 (C4LH-2) Maximum payload [kg] 6.0 [kg] Fd-00 Load moment of inertia ratio 21 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] 6 Model T4LH-2-BK (C4LH-2-BK) Maximum payload [kg] 7.2 [kg] Parameter description Fd-00 Load moment of inertia ratio 104 [%] Fd-01 Speed control cut-off frequency 70.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] 6-28

207 Model T4LH-6 (C4LH-6) Maximum payload [kg] 6.0 [kg] Fd-00 Load moment of inertia ratio 83 [%] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload Acceleration Fd-09 [kg] [G] [Hz] Payload[kg] Model T4LH-6-BK (C4LH-6-BK) Maximum payload [kg] 2.4 [kg] 6 Fd-00 Load moment of inertia ratio 83 [%] Fd-01 Speed control cut-off frequency 55.0 [Hz] Fd-03 Speed control integral gain 60.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] Parameter description 6-29

208 Model T4LH-12 (C4LH-12) Maximum payload [kg] 4.0 [kg] Fd-00 Load moment of inertia ratio 58 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 65.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload Acceleration Fd-09 [kg] [G] [Hz] Payload[kg] 6 Model T4LH-12-BK (C4LH-12-BK) Maximum payload [kg] 1.0 [kg] Parameter description Fd-00 Load moment of inertia ratio 83 [%] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] 6-30

209 Model T5H-6 (C5H-6) Maximum payload [kg] 9.0 [kg] Fd-00 Load moment of inertia ratio 174 [%] Fd-01 Speed control cut-off frequency 85.0 [Hz] Fd-03 Speed control integral gain 70.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] 0.0 Model Maximum payload [kg] T5H-6-BK (C5H-6-BK) 2.4 [kg] 6 Fd-00 Load moment of inertia ratio 222 [%] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Parameter description Payload[kg]

210 Model T5H-12 (C5H-12) Maximum payload [kg] 5.0 [kg] Fd-00 Load moment of inertia ratio 191 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] 6 Model T5H-12-BK (C5H-12-BK) Maximum payload [kg] 1.2 [kg] Parameter description Fd-00 Load moment of inertia ratio 278 [%] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg]

211 Model T5H-20 Maximum payload [kg] 3.0 [kg] Fd-00 Load moment of inertia ratio 335 [%] Fd-01 Speed control cut-off frequency 70.0 [Hz] Fd-03 Speed control integral gain 60.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload Acceleration Fd-09 [kg] [G] [Hz] Model Maximum payload [kg] T5LH-6 (C5LH-6) [kg] Payload[kg] Fd-00 Load moment of inertia ratio 174 [%] Fd-01 Speed control cut-off frequency 85.0 [Hz] Fd-03 Speed control integral gain 70.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Parameter description Payload[kg] 6-33

212 Model T5LH-6-BK (C5LH-6-BK) Maximum payload [kg] 2.4 [kg] Fd-00 Load moment of inertia ratio 222 [%] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Model Maximum payload [kg] T5LH-12 (C5LH-12) [kg] Payload[kg] Parameter description Fd-00 Load moment of inertia ratio 191 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] , Payload[kg]

213 Model T5LH-12-BK (C5LH-12-BK) Maximum payload [kg] 1.0 [kg] Fd-00 Load moment of inertia ratio 278 [%] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] Model Maximum payload [kg] T5LH-20 (C5LH-20) 3.0 [kg] 6 Fd-00 Load moment of inertia ratio 335 [%] Fd-01 Speed control cut-off frequency 70.0 [Hz] Fd-03 Speed control integral gain 60.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Parameter description Payload[kg] 6-35

214 Model T6-6 (C6-6) Maximum payload [kg] 30.0 [kg] Fd-00 Load moment of inertia ratio 67 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 65.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload Acceleration Fd-09 [kg] [G] [Hz] Model Maximum payload [kg] T6-6-BK (C6-6-BK) [kg] Payload[kg] 2.0 Parameter description Fd-00 Load moment of inertia ratio 67 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 65.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg]

215 Model T6-12 (C6-12) Maximum payload [kg] 12.0 [kg] Fd-00 Load moment of inertia ratio 100 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 65.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] Model Maximum payload [kg] T6-12-BK (C6-12-BK) 4.0 [kg] 6 Fd-00 Load moment of inertia ratio 100 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 65.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] Parameter description 6-37

216 Model T6-20 Maximum payload [kg] 10.0 [kg] Fd-00 Load moment of inertia ratio 100 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 45.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Model Maximum payload [kg] T6L-6 (C6L-6) [kg] Payload[kg] Parameter description Fd-00 Load moment of inertia ratio 67 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 65.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg]

217 Model T6L-6-BK (C6L-6-BK) Maximum payload [kg] 8.0 [kg] Fd-00 Load moment of inertia ratio 67 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 65.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Model Maximum payload [kg] T6L-12 (C6L-12) [kg] Payload[kg] Fd-00 Load moment of inertia ratio 100 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 65.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] Parameter description 6-39

218 Model T6L-12-BK (C6L-12-BK) Maximum payload [kg] 4.0 [kg] Fd-00 Load moment of inertia ratio 100 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 65.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Model Maximum payload [kg] T6L-20 (C6L-20) [kg] Payload[kg] 1.0 Parameter description Fd-00 Load moment of inertia ratio 100 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 45.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg]

219 Model T7-12 Maximum payload [kg] 8.0 [kg] Fd-00 Load moment of inertia ratio 127 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 65.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload Acceleration Fd-09 [kg] [G] [Hz] Model T7-12-BK Maximum payload [kg] [kg] Payload[kg] 6 Fd-00 Load moment of inertia ratio 144 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 65.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Parameter description Payload[kg] 6-41

220 Model T9-5 Maximum payload [kg] 80.0 [kg] Fd-00 Load moment of inertia ratio 76 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 60.0 [%] Fr-15 Motor moving part mass 0.16 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Model T9-5-BK Maximum payload [kg] [kg] Payload[kg] Parameter description Fd-00 Load moment of inertia ratio 76 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 60.0 [%] Fr-15 Motor moving part mass 0.16 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] 6-42

221 Model T9-10 Maximum payload [kg] 55.0 [kg] Fd-00 Load moment of inertia ratio 90 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 60.0 [%] Fr-15 Motor moving part mass 0.16 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] 0.0 Model T9-10-BK Maximum payload [kg] 10.0 [kg] 6 Fd-00 Load moment of inertia ratio 90 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 60.0 [%] Fr-15 Motor moving part mass 0.16 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] Parameter description 6-43

222 Model T9-20 Maximum payload [kg] 30.0 [kg] Fd-00 Load moment of inertia ratio 149 [%] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain 60.0 [%] Fr-15 Motor moving part mass 0.16 [ 10-4 kg m 2 ] Payload Acceleration Fd-09 [kg] [G] [Hz] Model T9-20-BK Maximum payload [kg] [kg] Payload[kg] Parameter description Fd-00 Load moment of inertia ratio 149 [%] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain 70.0 [%] Fr-15 Motor moving part mass 0.16 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg]

223 Model T9-30 Maximum payload [kg] 15.0 [kg] Fd-00 Load moment of inertia ratio 213 [%] Fd-01 Speed control cut-off frequency 90.0 [Hz] Fd-03 Speed control integral gain 90.0 [%] Fr-15 Motor moving part mass 0.16 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] 0.0 Model T9H-5 Maximum payload [kg] [kg] 6 Fd-00 Load moment of inertia ratio 150 [%] Fd-01 Speed control cut-off frequency 50.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass 0.24 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] Parameter description 6-45

224 Model T9H-5-BK Maximum payload [kg] 30.0 [kg] Fd-00 Load moment of inertia ratio 73 [%] Fd-01 Speed control cut-off frequency 70.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass 0.24 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] 6 Model T9H-10 Maximum payload [kg] 80.0 [kg] Parameter description Fd-00 Load moment of inertia ratio 77 [%] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass 0.24 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] 6-46

225 Model T9H-10-BK Maximum payload [kg] 20.0 [kg] Fd-00 Load moment of inertia ratio 77 [%] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass 0.24 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Model T9H-20 Maximum payload [kg] [kg] Payload[kg] 6 Fd-00 Load moment of inertia ratio 286 [%] Fd-01 Speed control cut-off frequency 40.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass 0.24 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] Parameter description 6-47

226 Model T9H-20-BK Maximum payload [kg] 8.0 [kg] Fd-00 Load moment of inertia ratio 135 [%] Fd-01 Speed control cut-off frequency 60.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass 0.24 [ 10-4 kg m 2 ] Payload Acceleration Fd-09 [kg] [G] [Hz] Model T9H-30 Maximum payload [kg] [kg] Payload[kg] Parameter description Fd-00 Load moment of inertia ratio 198 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 90.0 [%] Fr-15 Motor moving part mass 0.24 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] 6-48

227 Model F8-6 (C8-6) Maximum payload [kg] 40.0 [kg] Fd-00 Load moment of inertia ratio 70 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 80.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload Acceleration Fd-09 [kg] [G] [Hz] Model Maximum payload [kg] F8-6-BK (C8-6-BK) [kg] Payload[kg] 6 Fd-00 Load moment of inertia ratio 141 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 65.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Parameter description Payload[kg] 6-49

228 Model F8-12 (C8-12) Maximum payload [kg] 20.0 [kg] Fd-00 Load moment of inertia ratio 94 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 80.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload Acceleration Fd-09 [kg] [G] [Hz] Model Maximum payload [kg] F8-12-BK (C8-12-BK) [kg] Payload[kg] Parameter description Fd-00 Load moment of inertia ratio 164 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 70.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] 6-50

229 Model F8-20 (C8-20) Maximum payload [kg] 12.0 [kg] Fd-00 Load moment of inertia ratio 150 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 90.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Model Maximum payload [kg] F8L-5 (C8L-5) [kg] Payload[kg] 6 Fd-00 Load moment of inertia ratio 163 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 80.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Parameter description Payload[kg] 6-51

230 Model F8L-5-BK (C8L-5-BK) Maximum payload [kg] 16.0 [kg] Fd-00 Load moment of inertia ratio 233 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 65.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Model Maximum payload [kg] F8L-10 (C8L-10) Payload[kg] 40.0 [kg] Parameter description Fd-00 Load moment of inertia ratio 188 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 90.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] 6-52

231 Model F8L-10-BK (C8L-10-BK) Maximum payload [kg] 8.0 [kg] Fd-00 Load moment of inertia ratio 258 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 60.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload Acceleration Fd-09 [kg] [G] [Hz] Model Maximum payload [kg] F8L-20 (C8L-20) Payload[kg] 20.0 [kg] 6 Fd-00 Load moment of inertia ratio 297 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 80.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Parameter description Payload[kg] 6-53

232 Model F8L-20-BK (C8L-20-BK) Maximum payload [kg] 4.0 [kg] Fd-00 Load moment of inertia ratio 367 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 65.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload Acceleration Fd-09 [kg] [G] [Hz] Model F8L-30 Maximum payload [kg] Payload[kg] 10.0 [kg] Parameter description Fd-00 Load moment of inertia ratio 475 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 80.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] 6-54

233 Model F8LH-5 (C8LH-5) Maximum payload [kg] 80.0 [kg] Fd-00 Load moment of inertia ratio 167 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 70.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload Acceleration Fd-09 [kg] [G] [Hz] Model Maximum payload [kg] F8LH-10 (C8LH-10) Payload[kg] 60.0 [kg] 6 Fd-00 Load moment of inertia ratio 202 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 60.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Parameter description Payload[kg] 6-55

234 Model F8LH-20 (C8LH-20) Maximum payload [kg] 30.0 [kg] Fd-00 Load moment of inertia ratio 356 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 60.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Model Maximum payload [kg] F10-5 (C10-5) Payload[kg] 60.0 [kg] Parameter description Fd-00 Load moment of inertia ratio 81 [%] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass 0.16 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg]

235 Model F10-5-BK (C10-5-BK) Maximum payload [kg] 20.0 [kg] Fd-00 Load moment of inertia ratio 81 [%] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass 0.16 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Model F10H-05 Maximum payload [kg] [kg] Payload[kg] Fd-00 Load moment of inertia ratio 150 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 70.0 [%] Fr-15 Motor moving part mass 0.24 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Parameter description Payload[kg] 6-57

236 Model F10H-05BK Maximum payload [kg] 30.0 [kg] Fd-00 Load moment of inertia ratio 73 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 70.0 [%] Fr-15 Motor moving part mass 0.24 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] 6 Model F10-10 (C10-10) Maximum payload [kg] 40.0 [kg] Parameter description Fd-00 Load moment of inertia ratio 90 [%] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass 0.16 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] 6-58

237 Model F10-10-BK (C10-10-BK) Maximum payload [kg] 10.0 [kg] Fd-00 Load moment of inertia ratio 90 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 60.0 [%] Fr-15 Motor moving part mass 0.16 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] Model F10H-10 6 Maximum payload [kg] 80.0 [kg] Fd-00 Load moment of inertia ratio 77 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 70.0 [%] Fr-15 Motor moving part mass 0.24 [ 10-4kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Parameter description Payload[kg] 6-59

238 Model F10H-10BK Maximum payload [kg] 20.0 [kg] Fd-00 Load moment of inertia ratio 77 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 70.0 [%] Fr-15 Motor moving part mass 0.24 [ 10-4 kg m 2 ] Payload Acceleration Fd-09 [kg] [G] [Hz] Payload[kg] 6 Model F10-20 (C10-20) Maximum payload [kg] 20.0 [kg] Parameter description Fd-00 Load moment of inertia ratio 149 [%] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain 60.0 [%] Fr-15 Motor moving part mass 0.16 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] 6-60

239 Model F10-20-BK (C10-20-BK) Maximum payload [kg] 4.0 [kg] Fd-00 Load moment of inertia ratio 149 [%] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain 60.0 [%] Fr-15 Motor moving part mass 0.16 [ 10-4 kg m 2 ] Payload Acceleration Fd-09 [kg] [G] [Hz] Payload[kg] Model F10H-20 6 Maximum payload [kg] 40.0 [kg] Fd-00 Load moment of inertia ratio 286 [%] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain 70.0 [%] Fr-15 Motor moving part mass 0.24 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Parameter description Payload[kg] 6-61

240 Model F10H-20BK Maximum payload [kg] 8.0 [kg] Fd-00 Load moment of inertia ratio 135 [%] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain 70.0 [%] Fr-15 Motor moving part mass 0.24 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Model F Payload[kg] Maximum payload [kg] 15.0 [kg] Parameter description Fd-00 Load moment of inertia ratio 246 [%] Fd-01 Speed control cut-off frequency 90.0 [Hz] Fd-03 Speed control integral gain 60.0 [%] Fr-15 Motor moving part mass 0.16 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg]

241 Model F10H-30 Maximum payload 25.0 [kg] Fd-00 Load moment of inertia ratio 198 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 80.0 [%] Fr-15 Motor moving part mass 0.24 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] Model F14-5 (C14-5) 6 Maximum payload [kg] 80.0 [kg] Fd-00 Load moment of inertia ratio 76 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 60.0 [%] Fr-15 Motor moving part mass 0.16 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Parameter description Payload[kg] 6-63

242 Model F14-5-BK (C14-5-BK) Maximum payload [kg] 20.0 [kg] Fd-00 Load moment of inertia ratio 76 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 60.0 [%] Fr-15 Motor moving part mass 0.16 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] 6 Model F14-10 (C14-10) Maximum payload [kg] 55.0 [kg] Parameter description Fd-00 Load moment of inertia ratio 90 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 60.0 [%] Fr-15 Motor moving part mass 0.16 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg]

243 Model F14-10-BK (C14-10-BK) Maximum payload [kg] 10.0 [kg] Fd-00 Load moment of inertia ratio 90 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 60.0 [%] Fr-15 Motor moving part mass 0.16 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] Model F14-20 (C14-20) 6 Maximum payload [kg] 30.0 [kg] Fd-00 Load moment of inertia ratio 149 [%] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain 60.0 [%] Fr-15 Motor moving part mass 0.16 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Parameter description Payload[kg] 6-65

244 Model F14-20-BK (C14-20-BK) Maximum payload [kg] 4.0 [kg] Fd-00 Load moment of inertia ratio 149 [%] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain 70.0 [%] Fr-15 Motor moving part mass 0.16 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] Model F14-30 Maximum payload [kg] 15.0 [kg] Parameter description Fd-00 Load moment of inertia ratio 213 [%] Fd-01 Speed control cut-off frequency 90.0 [Hz] Fd-03 Speed control integral gain 90.0 [%] Fr-15 Motor moving part mass 0.16 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg]

245 Model F14H-5 (C14H-5) Maximum payload [kg] [kg] Fd-00 Load moment of inertia ratio 150 [%] Fd-01 Speed control cut-off frequency 50.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass 0.24 [ 10-4 kg m 2 ] Payload Acceleration Fd-09 [kg] [G] [Hz] Payload[kg] Model F14H-5-BK (C14H-5-BK) Maximum payload [kg] 30.0 [kg] 6 Fd-00 Load moment of inertia ratio 62 [%] Fd-01 Speed control cut-off frequency 70.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass 0.24 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] Parameter description 6-67

246 Model F14H-10 (C14H-10) Maximum payload [kg] 80.0 [kg] Fd-00 Load moment of inertia ratio 77 [%] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass 0.24 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] 6 Model F14H-10-BK (C14H-10-BK) Maximum payload [kg] 20.0 [kg] Parameter description Fd-00 Load moment of inertia ratio 77 [%] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass 0.24 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] 6-68

247 Model F14H-20 (C14H-20) Maximum payload [kg] 40.0 [kg] Fd-00 Load moment of inertia ratio 132 [%] Fd-01 Speed control cut-off frequency 40.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass 0.24 [ 10-4 kg m 2 ] Payload Acceleration Fd-09 [kg] [G] [Hz] Payload[kg] Model F14H-20-BK (C14H-20-BK) Maximum payload [kg] 8.0 [kg] 6 Fd-00 Load moment of inertia ratio 158 [%] Fd-01 Speed control cut-off frequency 60.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass 0.24 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] Parameter description 6-69

248 Model F14H-30 Maximum payload [kg] 25.0 [kg] Fd-00 Load moment of inertia ratio 243 [%] Fd-01 Speed control cut-off frequency 90.0 [Hz] Fd-03 Speed control integral gain 60.0 [%] Fr-15 Motor moving part mass 0.24 [ 10-4 kg m 2 ] Payload Acceleration Fd-09 [kg] [G] [Hz] Model Maximum payload [kg] F17L-50 (C17L-50) [kg] Payload[kg] Parameter description Fd-00 Load moment of inertia ratio 443 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 60.0 [%] Fr-15 Motor moving part mass 1.12 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] 6-70

249 Model F17L-50-BK (C17L-50-BK) Maximum payload [kg] 10.0 [kg] Fd-00 Load moment of inertia ratio 473 [%] Fd-01 Speed control cut-off frequency 50.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass 1.12 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Model Maximum payload [kg] F17-10 (C17-10) [kg] Payload[kg] 6 Fd-00 Load moment of inertia ratio 83 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 90.0 [%] Fr-15 Motor moving part mass 0.81 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Parameter description Payload[kg] 6-71

250 Model F17-10-BK (C17-10-BK) Maximum payload [kg] 35.0 [kg] Fd-00 Load moment of inertia ratio 83 [%] Fd-01 Speed control cut-off frequency 90.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass 0.81 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] Model Maximum payload [kg] F17-20 (C17-20) 80.0 [kg] Parameter description Fd-00 Load moment of inertia ratio 112 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass 0.81 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] 6-72

251 Model F17-20-BK (C17-20-BK) Maximum payload [kg] 15.0 [kg] Fd-00 Load moment of inertia ratio 154 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 85.0 [%] Fr-15 Motor moving part mass 0.81 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] 0.0 Model F17-40 Maximum payload [kg] 40.0 [kg] 6 Fd-00 Load moment of inertia ratio 138 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass 0.81 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] Parameter description 6-73

252 Model F20-10-BK (C20-10-BK) Maximum payload [kg] 45.0 [kg] Fd-00 Load moment of inertia ratio 97 [%] Fd-01 Speed control cut-off frequency 70.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass 1.12 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] Model Maximum payload [kg] F20-20 (C20-20) [kg] Parameter description Fd-00 Load moment of inertia ratio 101 [%] Fd-01 Speed control cut-off frequency 70.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass 1.12 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] 6-74

253 Model F20-20-BK (C20-20-BK) Maximum payload [kg] 25.0 [kg] Fd-00 Load moment of inertia ratio 120 [%] Fd-01 Speed control cut-off frequency 70.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass 1.12 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Model F20-40 Maximum payload [kg] [kg] Payload[kg] Fd-00 Load moment of inertia ratio 321 [%] Fd-01 Speed control cut-off frequency 65.0 [Hz] Fd-03 Speed control integral gain 55.0 [%] Fr-15 Motor moving part mass 1.12 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Parameter description Payload[kg] 6-75

254 Model F20N-20 Maximum payload [kg] 80.0 [kg] Fd-00 Load moment of inertia ratio 112 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass 0.81 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Model N15-10 Maximum payload [kg] [kg] Payload[kg] Parameter description Fd-00 Load moment of inertia ratio 407 [%] Fd-01 Speed control cut-off frequency 70.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass 0.58 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Acceleration [G] Fd-09 [Hz] Payload[kg] 6-76

255 Model N15-20 Maximum payload [kg] 50.0 [kg] Fd-00 Load moment of inertia ratio 455 [%] Fd-01 Speed control cut-off frequency 70.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass 0.58 [ 10-4 kg m 2 ] Payload Acceleration Fd-09 [kg] [G] [Hz] Model N15-30 Maximum payload [kg] [kg] Payload[kg] 6 Fd-00 Load moment of inertia ratio 541 [%] Fd-01 Speed control cut-off frequency 45.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass 0.58 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Acceleration [G] Fd-09 [Hz] Parameter description Payload[kg] 6-77

256 Model N18-20 Maximum payload [kg] 80.0 [kg] Fd-00 Load moment of inertia ratio 180 [%] Fd-01 Speed control cut-off frequency 70.0 [Hz] Fd-03 Speed control integral gain 70.0 [%] Fr-15 Motor moving part mass 1.87 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Model B10 Maximum payload [kg] [kg] Payload[kg] Parameter description Fd-00 Load moment of inertia ratio 182 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 75.0 [%] Fr-15 Motor moving part mass 0.16 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] 6-78

257 Model B14 Maximum payload [kg] 20.0 [kg] Fd-00 Load moment of inertia ratio 302 [%] Fd-01 Speed control cut-off frequency 70.0 [Hz] Fd-03 Speed control integral gain 70.0 [%] Fr-15 Motor moving part mass 0.16 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] Model B14H 6 Maximum payload [kg] 30.0 [kg] Fd-00 Load moment of inertia ratio 233 [%] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain 40.0 [%] Fr-15 Motor moving part mass 0.24 [ 10-4 kg m 2 ] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] Parameter description 6-79

258 Model R5 Moment of inertia of maximum allowable load 1.22 [kgfcm sec 2 ] Fd-00 Load moment of inertia ratio 803 [%] Fd-01 Speed control cut-off frequency 60.0 [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Moment of inertia of load [kgfcm sec 2 ] Acceleration [deg/sec 2 ] Fd-09 [Hz] Acceleration[deg/sec 2 ] Acceleration[deg/sec 2 ] Model R10 Moment of Inertia[kgfcm sec 2 ] Parameter description Moment of inertia of maximum allowable load 3.71 [kgfcm sec 2 ] Fd-00 Load moment of inertia ratio 420 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 60.0 [%] Fr-15 Motor moving part mass [ 10-4 kg m 2 ] Moment of inertia of load [kgfcm sec 2 ] Acceleration [deg/sec 2 ] Fd-09 [Hz] Acceleration[deg/sec 2 ] Acceleration[deg/sec 2 ] Moment of Inertia[kgfcm sec 2 ]

259 Model R20 Moment of inertia of maximum allowable load [kgfcm sec 2 ] Fd-00 Load moment of inertia ratio 180 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 30.0 [%] Fr-15 Motor moving part mass 0.23 [ 10-4 kg m 2 ] Moment of Acceleration Fd-09 inertia of load [deg/sec 2 ] [Hz] [kgfcm sec 2 ] ] Acceleration[deg/sec 2 ] Acceleration[deg/sec Moment of Inertia[kgfcm sec 2 ] Parameter description 6-81

260 Model RDV-P MR12 Maximum payload [kg] 5.0 [kg] Fd-00 Load mass ratio 0 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain [%] Fr-15 Motor moving part mass 1.08 [kg] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] 0.0 Model MF7 Parameter description Maximum payload [kg] 7.0 [kg] Fd-00 Load mass ratio 0 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 90.0 [%] Fr-15 Motor moving part mass 1.5 [kg] Payload [kg] Acceleration [G] Fd-09 [Hz] Acceleration [G] Fd-09 [Hz] Payload[kg]

261 Model MF15 Maximum payload [kg] 15.0 [kg] Fd-00 Load mass ratio 0 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 80.0 [%] Fr-15 Motor moving part mass 1.8 [kg] Payload [kg] Acceleration [G] Fd-09 [Hz] Acceleration [G] Fd-09 [Hz] Payload[kg] 0.0 Model MF20 Maximum payload [kg] 20.0 [kg] 6 Fd-00 Load mass ratio 0 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 75.0 [%] Fr-15 Motor moving part mass 2.9 [kg] Payload [kg] Acceleration [G] Fd-09 [Hz] Parameter description Payload[kg] 6-83

262 Model MF30 Maximum payload [kg] 30.0 [kg] Fd-00 Load mass ratio 0 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 90.0 [%] Fr-15 Motor moving part mass 3.1 [kg] Payload [kg] Acceleration [G] Fd-09 [Hz] Model MF50 Maximum payload [kg] Payload[kg] 50.0 [kg] Parameter description Fd-00 Load mass ratio 0 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 80.0 [%] Fr-15 Motor moving part mass 7.9 [kg] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] 6-84

263 Model MF75 Maximum payload [kg] 75.0 [kg] Fd-00 Load mass ratio 0 [%] Fd-01 Speed control cut-off frequency [Hz] Fd-03 Speed control integral gain 90.0 [%] Fr-15 Motor moving part mass 8.4 [kg] Payload [kg] Acceleration [G] Fd-09 [Hz] Payload[kg] Parameter description 6-85

264 444 Control block diagram and monitors The following is the control block diagram for the robot driver, showing the relation among parameters, input terminals, and monitors. 6 Parameter description Position control Pulse train input mode FA-11 F-r P-S A-b r -F -P-S b-a FA-12 Electronic gear numerator Electronic gear numerator/ denominator FA-13 Position detection FA-82 PEN Pulse train input enable Electronic gear denominator Encoder resolution Position command smoothing filter Filter Fd-11 Position command filter (SMA) time constant Position command selection Position command monitor Position command filter Firstorder lag d-08 d-07 Fd-36 Position command filter time constant Present position monitor Differential Position error monitor d-09 Kpf Fd-10 Position feed forward gain + + Differential Kpp Fd-09 Position control cut-off frequency Fd-32 Second position control cut-off frequency Firstorder lag Fd-41 Position feed forward filter time constant Speed detection + Fb-20 Position speed control switching Forward speed limit value Fb-21 Reverse speed limit value Speed detection filter Firstorder lag Parameter No. Monitor No. Input terminal Speed command filter Firstorder lag Fd-15 Speed command filter time constant Speed Speed command command monitor limiter d-00 Speed detection value monitor d-01 Fd-17 Speed detection filter time constant (continues on following page) 6-86

265 Speed control Differential Kpf Firstorder lag + Fd-03 Speed control integral gain Fd-33 Second Speed control integral gain Ksi Speed command limiter ±N * lmt + N Limit switching Kspp Fd-04 P-control gain Integral Ksp Fd-02 Speed control proportional gain Fd-00 Load moment of inertia ratio Fd-01 Speed control cut-off frequency Speed limiter calculation Firstorder lag FG-10 Speed feed forward gain + Fd-35 Speed gain change time constant Fd-34 Second Speed control cut-off frequency Torque control Kspp Fd-04 P-control gain Notch filter FG-11 Speed feed forward filter time constant Firstorder lag Proportional control switching Torque bias mode FA-18 non CnS + + Notch filter 3 + Speed torque control switching + + Disturbance torque observer Observer Torque command filter Firstorder lag Fd-06 Torque command filter time constant Friction compensating torque Fd-50 Compensating torque for friction of forward rotation Fd-51 Compensating torque for friction of reverse rotation Notch filter 1 Fd-20 Notch filter 1 frequency Fd-21 Notch filter 1 bandwidth Fd-22 Notch filter 1 Q value TL Torque command Torque command monitor limiter d-03 6 Parameter description Fd-07 Torque command filter time constant 2 Fd-23 Notch filter 2 frequency Fd-24 Notch filter 2 bandwidth Fd-25 Notch filter 2 Q value Fd-08 Torque command filter time constant 3 Fd-26 Notch filter 3 frequency Fd-27 Notch filter 3 bandwidth Fd-28 Notch filter 3 Q value Fd-65 Disturbance torque observer gain 1 Fd-66 Disturbance torque observer gain 2 Fd-67 Disturbance torque observer filter frequency constant Fb-07 Torque limit value 1 Fb-08 Torque limit value 2 Fb-09 Torque limit value 3 Fb-10 Torque limit value

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267 Chapter 7 Maintenance and inspection 1. Maintenance and inspection Precautions for maintenance and inspection Daily inspection Cleaning Periodic inspection Daily inspection and periodic inspection Megger test and breakdown voltage test Checking the inverter and converter Capacitor life curve 7-5

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269 111 Maintenance and inspection w WARNING 1. Before performing inspection, shut off the power and wait 10 minutes, and then verify that the charge lamp is unlit. Failure to do so may cause electrical shock. 2. Do not attempt to disassemble or repair the unit or replace any parts of the unit. Only qualified service personnel are allowed to do repair work. c CAUTION The capacitance of the capacitor on the power supply line drops due to deterioration. To prevent secondary damage caused by malfunction, we recommend that you replace the capacitor according to its lifespan curve (see "5. Capacitor life curve" in this Chapter). Using a deteriorated or defective capacitor may cause malfunction Precautions for maintenance and inspection (1) Before performing maintenance or inspection, shut off the power and wait 10 minutes, and then verify that the charge lamp is unlit. (2) Do not attempt to disassemble or repair the unit. (3) Do not perform a megger test or voltage breakdown test on the driver Daily inspection Check for any abnormal conditions or operation such as listed below: 1. Check if the robot operates correctly according to the settings. 2. Check if the environment where the unit is installed conforms to the specifications. 3. Check the cooling system for abnormal conditions. (Control box, air filters, cooling fans, etc.) 4. Check for abnormal vibration or noise. 5. Check for overheating or discoloration. 6. Check for unusual odors. Check the input voltage to the driver with a voltmeter during operation. 1. Check if power supply voltage fluctuates frequently. 2. Check if the line voltage is balanced Cleaning Always operate the driver in a clean condition. To clean the unit, wipe it gently with a soft cloth moistened with neutral detergent Note: Solvents such as acetone, benzene, toluene and alcohol can dissolve the driver surface or peel the paint. Do not use such solvents. Using detergent or alcohol might damage the display panel on the digital operator. Do not use them to clean the display panel. Periodic inspection Check the following points or sections that cannot be inspected during operation or that require periodic inspection. 1. Check the cooling system for abnormal conditions.... Check the fan for operation. 2. Check the screws for tightness and retighten if necessary.... The screws and bolts might loosen due to vibration or temperature changes. Carefully check that they are securely tightened. 3. Check the conductors and insulators for corrosion or damage. 4. Measure the insulation resistance. 7 Maintenance and inspection 7-1

270 222 Daily inspection and periodic inspection 7 Maintenance and inspection Check point General Main circuit Indicator Check item Ambient environment Overall equipment Power supply voltage General Connection conductors and cables Terminal block Inverter, converter Smoothing capacitor Relay Indicator Check item Check ambient temperature, humidity, dust. Check for abnormal vibration or noise. Check the main and control power circuit voltage. (1) Check connections for tightness. (2) Check for evidence of overheating in various components. (3) Cleaning (1) Check the conductors for deformation. (2) Check the cable sheath for wear or damage. Check the terminal block for damage. Check resistance between terminals. (1) Check for liquid leakage. (2) Check for bulging. Check for chattering noise at on/off. (1) Check if the 7-segment LED and charge lamp light up correctly. (2) Cleaning Check interval Daily O O O O O O O Regular 1 year O O O O O 2 years Check method Criteria Instrument Refer to Chapter 3, "Installation and Wiring". Visual and aural inspection Measure the voltage between terminals of main circuits L1, L2, L3 and control circuits L1C and L2C. (1) Retightening (2) Visual inspection (1)(2) Visual inspection Ambient temperature should be 0 C or more without freezing. Ambient humidity should be 90% or less without condensation. No abnormalities. Voltage should be within the specified AC voltage. (1)(2) No abnormalities. (1)(2) No abnormalities. O Visual inspection No abnormalities. O Disconnect the cables from the driver and measure the resistance between terminals L1, L2 or L3 and (+) or ( ), and between U, V or W and (+) or ( ) with a tester or multimeter of 1 W range. (1)(2) Visual inspection (Check for evidence of liquid leakage and deformation of the case.) Refer to Chapter 7, "4. Checking the inverter and converter". Typical inverter replacement interval: 10 6 start/stop cycles. (1)(2) No abnormalities. Typical replacement intervals: 5 years (See capacitor life curve.) (Note) O Aural inspection No abnormalities. (1) Visual inspection (2) Clean with wiping cloth. (1) Check if the LED and lamp light up correctly. Thermometer Hygrometer Recorder Tester Digital multimeter Analog tester Note: The capacitor life is affected by ambient temperature. Refer to Chapter 7, "5. Capacitor life curve" for guidelines on replacement. * Refer to the robot user's manual for information regarding the robot. 7-2

271 333 Megger test and breakdown voltage test Do not perform a megger test or voltage breakdown test. Semiconductor devices used in the inverter main circuit may deteriorate if subjected to such a test. 444 Checking the inverter and converter Use a tester or multimeter to check whether the module will operate correctly. Preparation 1. Disconnect the externally connected power cables (L1, L2, L3, L1C, L2C), motor connection cables (U, V, W), (+), (-), and RB. 2. Prepare an analog tester or multimeter. (Use the 1-ohm resistance measurement range.) Check method To determine whether the unit is satisfactory, measure the continuity at the driver's connector terminals L1, L2, L3, U, V, W, RB, (+), and (-), alternately switching the polarity of the tester. The result is OK if each measured value is approximately the same. In the non-conducting state, the reading will be nearly infinite. In a conducting state, the reading is usually several ohms to several dozen ohms. Note 1: First, measure the voltage across the (+) and ( ) terminals on the terminal block of the driver by using the DC voltage range. Make sure the smoothing capacitor is fully discharged and then start making checks. Note 2: In some cases, the smoothing capacitor will momentarily allow conduction, causing the reading to not be infinite. Depending on the type of components and model of tester, the values might not match in some cases. Note 3: Note that on models that contain a DB circuit between U and W, the values measured at the main circuit terminals will differ from the values shown in the table. Note 4: Depending on the tester that you use, the tester polarity might be reversed. 7 Maintenance and inspection 7-3

272 Converter (+) RB Inverter D1 D2 Tester polarity (Note 4) Reading (red) (black) L1 (+)1 Non-conducting (+)1 L1 Conducting L2 (+)1 Non-conducting (+)1 L2 Conducting D1 D2 D3 L1 L2 L3 D4 D5 D6 C + TR7 + (-) TR1 TR2 TR3 TR4 TR5 TR6 U V W Converter D3 D4 L3 (+)1 Non-conducting (+)1 L3 Conducting L1 ( ) Conducting ( ) L1 Non-conducting Note 4: Tester polarity may have to be reversed depending on the tester or multimeter type. D5 L2 ( ) Conducting ( ) L2 Non-conducting D6 L3 ( ) Conducting ( ) L3 Non-conducting TR1 U (+) Non-conducting (+) U Conducting TR2 V (+) Non-conducting (+) V Conducting 7 Inverter TR3 TR4 TR5 W (+) Non-conducting (+) W Conducting U ( ) Conducting ( ) U Non-conducting V ( ) Conducting ( ) V Non-conducting Maintenance and inspection Regenerative brake TR6 TR7 W ( ) Conducting ( ) W Non-conducting RB (+) Non-conducting (+) RB Conducting RB ( ) Conducting ( ) RB Non-conducting 7-4

273 555 Capacitor life curve Ambient temperature ( C) hour daily operation Capacitor life (year) Note 1: Ambient temperature is the temperature around the driver. When the driver is housed in a box, it is the temperature in the box. Note 2: The smoothing capacitor wears out due to internal chemical reaction and should usually be replaced at 5 year intervals. Note, however, that the capacitor life will shorten drastically if the ambient temperature of the driver is high. Note 3: Replacing the smoothing capacitor is not easy due to the driver structure. If servicing is needed, please contact your distributor. 7 Maintenance and inspection 7-5

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275 Chapter 8 Specifications and dimensions 1. Specification tables RDV-X specification table RDV-P specification table Driver dimensions 8-3

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277 Specification tables RDV-X specification table Item RDV-X205 RDV-X210 RDV-X220 Applicable motor specifications 200V, 100W or less 200V, 200W or less 200V, 600W or less Power supply capacity (KVA) Basic specifications Input power supply (main circuit) Single-phase / 3-phase 200 to 230V AC +10%, 15%, 50/60Hz ± 5% Input power supply (control circuit) Single-phase 200 to 230V AC +10%, 15%, 50/60Hz ± 5% Brake power input DC24V ± 10% Maximum speed (min -1 ) 5000 (Note 3) Protective structure Semi-enclosure Control system type (IP20) Sine-wave PWM (pulse width modulation) Control mode Position control Input/output functions Position detection method Resolver Position command input Line driver (less than 2M pulses/second after being multiplied by 4) (1) Forward pulse + reverse pulse (2) Sign pulse + Command pulse (3) 90-degree phase difference 2-phase pulse command One of (1) to (3) is selectable. Contact input signal 24V DC contact point signal input (usable for sink/source) (24V DC power supply incorporated) (1) Servo ON (2) Alarm reset (3) Torque limit (4) Forward overtravel (5) Reverse overtravel (6) Origin sensor (Note 5) (7) Return-to-origin (8)Pulse train input enable (9) Deviation counter clear Output signal (1) Servo ready (2) Alarm (3) Positioning complete (4) Return-to-origin complete, (usable for sink/source) Open collector signal output Relay output signal Braking cancel signal (24V 375mA) Position sensor monitor output signal Monitor output Phase A, B signal output: Line driver signal output Phase Z signal output: Line driver signal output / open collector signal output N/8192 (N=1 to 8191), 1/N (N=1 to 64) or 2/N (N=3 to 64) Selectable items: 2 ch, 0 to ±5V voltage output, speed detection value, torque command, etc. Internal functions Environment Driver unit display device External operator Regenerative braking circuit (Note 4) Dynamic brake Built-in Protective function Ambient temperature/ (Note 1) 0 storage temperature Humidity Vibration (Note 2) 5.9m/s Installation location 5-digit number indicator Connectable to PC running on Windows Vista/7/8/8.1 (USB2.0 is used) Built-in (without a braking resistor) (operating condition settable) (without DB resistor, wiring: 2-phase short circuit) Overcurrent, overload, braking resistor overload, main circuit overvoltage, memory error, main circuit undervoltage, CT error, CPU error 1, ground fault detection at servo ON, control circuit undervoltage, driver temperature error, CPU error 2, overtravel error, PM error, position sensor signal error, mismatch error, position deviation error, speed deviation error, overspeed error, drive range error, position monitor timeout error, origin sensor error to +55 C / 10 to +70 C 20 to 90% RH or less (no condensation) 2 (0.6G) 10 to 55Hz 1000 meters or less above sea level, indoor place (free from corrosive gas and dust) Support software for PC RDV-Manager Provided functions: parameter editing, tuning functions, operation monitoring, etc. Supported OS: Windows Vista 32-bit SP1 or later, Windows 7 32-bit/64-bit, Windows 8/ bit/64-bit PC connection: USB 2.0 Full Speed * Windows Vista, Windows 7, and Windows 8 are registered trademarks of Microsoft Corporation in the United States and in other countries. Export specifications CE LVD : IEC/EN EMC : EN , EN MD : IEC/EN Approximate mass (kg) Note 1: The storage temperature is the temperature in the non-energized state including transportation. Note 2: Test methods confirm to JIS C :2010 (IEC :2007). Note 3: Protective system conforms to JIS C 0920(IEC60529). Note 4: Use the dynamic brake only for emergency stop. Note 5: As the origin sensor, GX-F8B (made by SUNX) or FL7M-1P5B6-Z (made by YAMATAKE) is used. Origin sensor current consumption is 15mA or less (at open output) and only 1 origin sensor is connected to 1 driver Specifications and dimensions

278 1111 RDV-P specification table Item RDV-P210 RDV-P210 RDV-X220 RDV-X225 Applicable motor specifications 200V, 100W or less 200V, 200W or less 200V, 400W or less 200V, 600W or less Power supply capacity (KVA) Basic specifications Input power supply (main circuit) Single-phase / 3-phase 200 to 230V AC +10%, 15%, 50/60Hz ± 5% Input power supply (control circuit) Single-phase 200 to 230V AC +10%, 15%, 50/60Hz ± 5% Maximum speed (m/s) (Note 6) 2.5 (Note 3) Protective structure Semi-enclosure Control system type (IP20) Sine-wave PWM (pulse width modulation) Control mode Position control Input/output functions Position detection method Magnetic linear scale Position command input Line driver (less than 2M pulses/second after being multiplied by 4) (1) Forward pulse + reverse pulse (2) Sign pulse + Command pulse (3) 90-degree phase difference 2-phase pulse command One of (1) to (3) is selectable. Contact input signal 24V DC contact point signal input (usable for sink/source) (24V DC power supply incorporated) (1) Servo ON (2) Alarm reset (3) Torque limit (4) Forward overtravel (5) Reverse overtravel (6) Origin sensor (Note 5) (7) Return-to-origin (8)Pulse train input enable (9) Deviation counter clear Output signal (1) Servo ready (2) Alarm (3) Positioning complete (4) Return-to-origin complete, (usable for sink/source) Open collector signal output Position sensor monitor output signal Monitor output Phase A, B signal output: Line driver signal output Phase Z signal output: Line driver signal output / open collector signal output N/8192 (N=1 to 8191), 1/N (N=1 to 64) or 2/N (N=3 to 64) Selectable items: 2 ch, 0 to ±5V voltage output, speed detection value, torque command, etc. Driver unit display device External operator 5-digit number indicator Connectable to PC running on Windows Vista/7/8/8.1 (USB2.0 is used) 8 Specifications and dimensions 8-2 Internal functions Environment Regenerative braking circuit (Note 4) Dynamic brake Built-in Protective function Ambient temperature/ (Note 1) 0 storage temperature Humidity Vibration (Note 2) 5.9m/s Installation location Built-in (without a braking resistor) (operating condition settable) (without DB resistor, wiring: 2-phase short circuit) Built-in (operating condition settable) (with DB resistor, wiring: 2-phase short circuit) Overcurrent, overload, braking resistor overload, main circuit overvoltage, memory error, main circuit undervoltage, CT error, CPU error 1, ground fault detection at servo ON, control circuit undervoltage, driver temperature error, CPU error 2, overtravel error, PM error, position sensor signal error, mismatch error, position deviation error, speed deviation error, overspeed error, drive range error, position monitor timeout error, origin sensor error to +55 C / 10 to +70 C 20 to 90% RH or less (no condensation) 2 (0.6G) 10 to 55Hz 1000 meters or less above sea level, indoor place (free from corrosive gas and dust) Support software for PC RDV-Manager Provided functions: parameter editing, tuning functions, operation monitoring, etc. Supported OS: Windows Vista 32-bit SP1 or later, Windows 7 32-bit/64-bit, Windows 8/ bit/64-bit PC connection: USB 2.0 Full Speed * Windows Vista, Windows 7, and Windows 8 are registered trademarks of Microsoft Corporation in the United States and in other countries. Export specifications CE LVD : IEC/EN EMC : EN , EN MD : IEC/EN Approximate mass (kg) Note 1: The storage temperature is the temperature in the non-energized state including transportation. Note 2: Test methods confirm to JIS C :2010 (IEC :2007). Note 3: Protective system conforms to JIS C 0920(IEC60529). Note 4: Use the dynamic brake only for emergency stop. Note 5: As the origin sensor, GX-F8B (made by SUNX) or FL7M-1P5B6-Z (made by YAMATAKE) is used. Origin sensor current consumption is 15mA or less (at open output) and only 1 origin sensor is connected to 1 driver. Note 6: Calculated from parameters for controlling driver. This is not the maximum speed that the robot will move.

279 222 Driver dimensions Model name Model No. Drawing RDV-X (For FLIP-X series) RDV-X205 RDV-X210 Fig. 1 RDV-X220 Fig. 2 RDV-P (For PHASER series) RDV-P205 Fig. 1 RDV-P210 RDV-P220 Fig. 2 RDV-P225 Fig. 3 Fig. 1 Installation hole modification diagram 2-M5 screw hole 140 (75) 40 (4) (4.5) 6 5 φ ± 0.5 (*) (Installation pitch) 8 (15.5) (26.5) 6 (5) (5) 40 6 Specifications and dimensions 8-3

280 Fig. 2 Installation hole modification diagram 2-M5 screw hole 170 (4) (4.5) (75) φ ± 0.5 (*) (Installation pitch) (15.5) (26.5) 6 (5) (5) 6 40 Fig. 3 2-M5 screw hole 170 (75) 55 φ 6 5 (4) (4.5) Specifications and dimensions (15.5) (26.5) (5) ± 0.5 (*) (5) (Installation pitch)

281 Chapter 9 Troubleshooting 1. Alarm display Protective function list Troubleshooting When an alarm has not tripped When an alarm has tripped 9-5

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283 111 Alarm display If an alarm has tripped, a display like that shown below appears. 9 Alarm code Factory check code The example shown above indicates that an overcurrent alarm has occurred. For details on the alarm codes, refer to "2. Protective function list" in this Chapter. Troubleshooting 9-1

284 9 222 Protective function list The table below shows alarms and errors that might occur to protect the driver and robot. Alarm name Alarm code Description (cause of error) Overcurrent E01 Motor current higher than the specified value Troubleshooting Overload E05 Overload current for longer than the specified time Braking resistor overload E06 The duty ratio of internal regenerative braking resistor exceeded the "Regenerative braking operation ratio" (FA-08). Main power overvoltage E07 Main circuit DC bus voltage exceeded the specified value. Memory error E08 A check sum error occurred in the internal EEPROM of the driver due to external noise or abnormal temperature rise. Main power undervoltage E09 Main circuit DC bus voltage dropped below the specified value during servo-on. CT error E10 CPU error 1 E11 A CPU watchdog error occurred. An abnormal offset value or out-of-range output value appeared in current detection CT output during servo-off. Ground fault E14 A motor output ground fault occurred when the servo was switched from OFF to ON. Control power undervoltage E20 This error occurs when the control power voltage dropped below the specified value during servo-on, but the power supply recovered before the servo turned off and internal reset occurred. Abnormal temperature E21 Power module temperature in the driver increased to abnormal levels. CPU error 2 E22 A communication error with the CPU. Main power error E24 If the "DC bus power supply" (FA-07) is set to L123, this error occurs when one of the three phases of the main circuit power supply input is cut off in the servo-on state. Overtravel error E25 Both FOT and ROT were simultaneously enabled for 1 second or more during servo-on. (Note 1) Power module E31 Position sensor signal error Motor power mismatch Control power re-switched on Homing sensor error E39 E40 E41 E80 Overcurrent was detected by the power module, or power supply voltage for the base circuit dropped. This error occurs when the position sensor has malfunctioned or the position sensor has broken. On the RDV-P, this error occurs if position sensor wire breakage is detected by the "position sensor wire breakage detection" that is performed when FA-90 (Hall sensor connection) is set to off4 or off5. Motor output or supply voltage does not match the driver. This error cannot be cleared from the RS (alarm reset) terminal. This error occurs if you have changed a parameter that requires the power supply to be turned off and on again. In order to apply the data, turn the driver's power supply off and on again. When using sensor method return-to-origin (FA-23=S-F, S-r), this error occurs if the ORL terminal does not turn OFF even after moving pulses or more when starting return-to-origin from the sensor (ORL terminal) 0=ON state. Pole position estimation error (Note 2) E81 This error occurs if the magnetic pole position estimation operation ended abnormally. Pole position estimation (Note 2) E82 un-performing Position error fault Speed error fault Overspeed error Offline tuning oscillation error E83 E84 E85 E87 When FA-90=non, this error occurs if the servo is turned on before magnetic pole position estimation has been executed even once since the power was turned on. When FA-90=non, this error occurs if the SON terminal is turned ON while the RS terminal is ON when mechanical system diagnostics or offline auto tuning begins. The difference between the position command value and the position detection value is larger than the "Position error detection value" (FA-05). The difference between the speed command value and the speed detection value is larger than the "Speed error detection value" (FA-04). This error occurs if the detected speed from the linear motor exceeds the specified speed (maximum speed x FA-03). This error occurs if oscillation was detected 10 times in succession during one operation pattern interval (during a single round trip operation) when performing automatic servo gain adjustment for auto tuning. Driving range error E88 Position detection value was outside the specified range (Fb-16 to Fb-19). Note 1: To clear the tripped alarm, shut off the power. Note 2: Displayed on RDV-P only. If the control power supply becomes insufficient in the servo OFF state, the following display appears. (An alarm (ALM) signal is not output.) 9-2

285 333 Troubleshooting The corrective action differs depending on whether an alarm has tripped When an alarm has not tripped 9 Symptom Possible cause Checkpoint Action Rated voltage was not applied to power supply terminals L1, L2, and L3, or L1C and L2C. Check the voltage with a tester. Check the earth leakage breaker winding, electromagnetic contactor, etc. Also check if any alarm has tripped. Correct failure or miswiring of the earth leakage breaker, electromagnetic contactor, etc., or clear the tripped alarm. Driver power input section is defective. After checking the above, check if the charge lamp lights up. If the charge lamp does not light up, the driver is defective. Replace or repair the driver. Miswiring or poor connection to robot Check the phase sequence or contact failure. Correct the phase sequence or misconnection. SON terminal is not ON. (Wrong polarity) Check if the SON terminal is ON, by viewing the input terminal monitor d-05. Check the polarity setting. Turn on the SON terminal. Correct the polarity setting. Torque limit is in effect. (Wrong polarity) Check if the TL terminal is ON, by viewing the input terminal monitor d-05. Check if the setting is correct. Turn off the TL terminal. Correct the polarity setting. Correct the torque limit setting. FOT and ROT terminals Check if the FOT and ROT terminals are ON, Turn on the FOT and ROT Robot does are not ON. (Wrong by viewing the input terminal monitor d-05. terminals. not move. polarity) Check the polarity setting. Correct the polarity setting. No pulse train command was input during position control mode. (Incorrect command format setting or wrong polarity) Check if the command is input, by viewing the Position command monitor d-07. Check if the setting is correct. Is the electronic gear ratio too low to see any robot movement? Is the command position input pulse train rate Input the pulse train command. Change the command format to match the input pulse train. Set the electronic gear ratio correctly. Increase the pulse rate. is too low? PEN terminal is not ON during position control mode. (Wrong polarity) Check if the PEN terminal is ON, by viewing the input terminal monitor d-05. Check if the setting is correct. Turn on the PEN terminal. Correct the polarity setting. Robot is locked. (Brake is Check the lock. Free the moving part of the robot. activated.) Driver failure (Position sensor failure) Make sure this is not due to the above causes. Check the power module. (Refer to "Maintenance and inspection".) If the driver is defective, replace or repair it. Large load variation Check the load variation. Reduce the load variation. Check whether the appropriate robot was Change the robot. selected. Large backlash of the Check the backlash. Reduce the backlash. mechanical system Troubleshooting Improper control gain Check the parameter settings. Readjust the control gain. Robot motion is unstable. Signal cable or position sensor cable intersects the main circuit cable. (These are in the same cable duct.) Check the routing of the signal cable and position sensor cable. Separate the signal cable and position sensor cable from the main circuit cable. Shield wire of the position sensor cable is not connected. Check the shield wire connection on position sensor cable. Repair or replace the position sensor. Driver failure (Position sensor failure) Check the power module. (Refer to "Maintenance and inspection".) Check the position count function, by viewing the present position monitor d-08. If the driver is defective, replace or repair it. 9-3

286 Symptom Possible cause Checkpoint Action 9 Troubleshooting Robot speed does not increase. Speed limit is applied. Check the parameter settings (Fb-20 and Set the speed limit value correctly. Fb-21). Torque limit is in effect. (Wrong polarity) Check if the TL terminal is ON, by viewing the Input terminal monitor d-05. Check if the setting is correct. Disconnect the TL terminal. Correct the polarity setting. Correct the torque limit setting. Incorrect command speed Check the speed command input by viewing Correct the command setting. setting the Monitor d-00. Improper control gain Check if hunting occurs. Readjust the control gain. Load is heavy. Check the load. Check whether the appropriate robot was Reduce the load. Change the robot. selected. Brake is applied to the robot. Check the brake. Release the brake. 9-4

287 3333 When an alarm has tripped When an alarm has tripped, clear the alarm by inputting an alarm reset signal at the RS input, take the corrective action shown in the following table, and then turn the servo on. (Refer to the page for the RS terminal in Chapter 5, "2. Input terminal functions".) Alarm No. E01 Alarm name Possible cause Checkpoint Action Overcurrent Output terminal is shorted. Check the cable connection. Correct the cable connection. Ground fault Incorrect motor phase sequence Sudden motor lock Check the load. Adjust the brake timing to avoid a lock. Power supply voltage is low. Power supply fluctuates. Check the power supply voltage. (Check the power supply capacity.) Correct the power supply voltage, capacity, and wiring. Position sensor failure Check the count by viewing the present position monitor (d-08). If defective, replace or repair it. Power module is damaged. Check the power module. (Refer to Chapter 7, "Maintenance and inspection".) DB relay failure Disconnect the motor cables from the driver and check the resistance between U, V and W, using an ohmmeter or multimeter. 9 Troubleshooting E05 E06 E07 E08 Overload Braking resistor overload Main power overvoltage Memory error Load is too heavy. Check the load. Reduce the load. Motor is locked. Adjust the brake timing to avoid a lock. Incorrect robot phase Check the cable connection. Correct the cable connection. sequence Robot's position sensor failure Check if the counter correctly works, by viewing the present position monitor d-08. If the sensor is defective, replace or repair it. The regenerative load is too Check the regenerative load. Reduce the load. great, or regeneration is Shorten the deceleration occurring too frequently. time. Insufficient regenerative Review the regenerative capacity resistance. Deceleration time is too short. Check whether the alarm is occurring Increase the deceleration during deceleration. time. Power supply voltage is high. Check the power supply voltage. Adjust the power supply voltage correctly. Regenerative braking operating ratio is set to a small value. Check if the duty ratio matches the regenerative resistance. Set a correct duty ratio. Regenerative resistance is Check the regenerative resistance. Reduce the regenerative large. resistance to the minimum (R BR min). (Refer to Chapter 3, "2.2 Main circuit wiring") Deceleration time is too short. Check the deceleration time. Increase the deceleration time. Control gain is not Check if the robot was placed in Adjust the position/speed appropriate. hunting (abnormal noise). control gain correctly. Regenerative resistor is not Check the regenerative resistor Connect the regenerative connected, or is open or connection or the regenerative resistor correctly. damaged. resistance. Replace the regenerative resistor. Incoming voltage is too high. Check the power supply voltage. Reduce the voltage. Check the connection. Correct the connection. Sum error in the internal Check if all settings for the driver are Initialize to factory settings, EEPROM of driver correct. and operate again. If defective, replace or repair it. An EEPROM write or read Check if any noise source exists Remove the noise source. error was caused by noise. near the driver. Check that the ground wire is Connect the ground wire connected. securely. 9-5

288 9 Troubleshooting Alarm Alarm name Possible cause Checkpoint Action No. E09 Main power undervoltage E10 CT error E11 CPU error 1 E14 Ground fault at servo-on E20 Control power undervoltage E21 Driver overheat Main circuit power supply voltage is low. Check the power supply system. Increase the power supply voltage. A unit in the power supply system is drawing a heavy current that lowers the voltage Isolate the power supply system into separate units and the driver. while that unit is operating. Chattering occurs in the electromagnetic contactor on Replace the electromagnetic contactor. power supply side. Poor connection in power Repair the poor connection. supply system Insufficient power supply capacity Provide larger power supply capacity. Only control power supply is provided. Connect wiring to the main circuit. SON terminal turns on before the power voltage of the main circuit becomes stable. Check the SON terminal input timing. Turn on the SON terminal 1 second or longer after the main power has turned on. Power supply voltage dropped A momentary power failure occurred. Check if the symptom shown at left has occurred. After clearing the alarm, operate again. Current detector failure Turn off and on the power supply If the CT is defective, replace Current detector malfunction again. or repair it. caused by noise Check if there is any noise source Isolate the noise source away near the driver. from the driver. Microcomputer in driver is out Check if there is any noise source Isolate the noise source of control due to noise. (including a solenoid coil and away from the driver. electromagnetic contactor) near the Install a noise filter or surge driver. absorber. Turn off and on the power supply If the CPU is defective, again and check the condition. replace or repair it. Ground fault occurred Disconnect the wiring, and find the location of the ground fault. Correct the ground fault point. Driver is at fault. Check the power module (Chapter 7, If defective, replace or repair "Maintenance and Inspection") it. Control circuit power supply voltage is low. Check the power supply system. Increase the power supply voltage. A unit in the power supply system is drawing a heavy current that lowers the voltage Isolate the power supply system into separate units and the driver. while that unit is operating. Chattering in electromagnetic contactor on power supply Replace the electromagnetic contactor. side Poor connection in power Repair the poor connection. supply system Insufficient power supply capacity Provide larger power supply capacity. Power supply voltage dropped A momentary power failure occurred. Check if the symptom shown at left has occurred. After clearing the alarm, operate again. The load is too heavy. Check the load. Lighten the load Reconsider the motion pattern Ambient temperature of driver Check the ambient temperature. Lower the ambient is higher than 55 C. temperature. Motor shaft is locked. Visual check. Unlock the motor. E22 CPU error 2 Microcomputer in driver cannot communicate due to noise. Check if there is any noise source (including a solenoid coil and electromagnetic contactor) near the driver. Isolate the noise source away from the driver. Install a noise filter or surge absorber. 9-6 The driver has malfunctioned Turn the power off and on again, and then check operation. If the circuit is defective, replace or repair it.

289 Alarm No. E24 E25 E31 E39 E40 E80 E81 Alarm name Possible cause Checkpoint Action Single-phase is being used Check the FA-07 value Correct the FA-07 value to and the "DC bus power LP12Pn supply" (FA-07) is set to L123 One of the main circuit input Check for problems in the R, S, and T Correct the connections power supplies is wiring Main circuit unconnected power error The phases of the main circuit Check whether the voltages between Match the power to the main power supply are unbalanced R, S, and T are unbalanced circuit power supply The main circuit input power Check if the main circuit voltage is low supply voltage is below the rated value The overtravel signal Check the cable connection. Correct the cable connection. connection is wrong. Overtravel FOT/ROT terminals were not Check if the FOT/ROT terminals are Supply an input to at least ON (closed) at servo-on. ON, by viewing the Input terminal one of the FOT/ROT terminals monitor d-05. Output terminal is shorted. Check the cable connection. Correct the cable connection. A ground fault has occurred. Incorrect motor phase sequence Sudden motor lock Check the load. Adjust the brake timing to avoid a lock. PM (power Power supply voltage is low. Check the power supply voltage. Correct the power supply module) error Power supply fluctuates. (Check the power supply capacity.) voltage, capacity, and wiring. Position sensor failure Check if the count is correct by If defective, replace or repair viewing the present position monitor it. (d-08). Power module is damaged. Check the power module. (Refer to Chapter 7, "Maintenance and inspection".) Position sensor cable is Check the cable, connector, shield Correct the wire breakage or broken. wire, and ground wire. connector mating. Inadequate cable shielding or Strengthen the shielding and Position sensor ground wire. grounding. error Malfunction caused by noise Check if there is any noise source Isolate the noise source away nearby. from the driver. Position sensor failure Check the count in the current position If the sensor is defective, monitor (d-08) replace or repair it. Incorrect generation file was Check the generation file Correct the inconsistency specified Mismatch error Incorrect combination of driver Check the combination of driver and and robot robot Origin sensor is not operating Check if the ORL terminal is ON by Turn on the ORL terminal. Origin sensor correctly. viewing the Input terminal monitor Replace the origin sensor. error d-05. Related parameters are not Check the settings of FA-82, FA-85, Set the values correctly. set correctly. FA-87, and Fd-00. The magnetic pole position Insufficient torque during magnetic Adjust Fb-40 to Fb-43 to estimation parameters (Fb-40 pole position estimation. increase the generated to Fb-43) are not set torque. appropriately. Torque is being limited during Adjust Fb-40 to Fb-43 so that magnetic pole position estimation. the torque is not limited. FOT or ROT terminals are Check the state of the FOT and ROT Input the FOT and ROT Magnetic pole turned off during magnetic terminals terminals. position pole position estimation. Change the FC-01 setting. estimation error External force is moving the Check if external force is applied. Remove the external force. rotor during magnetic pole position estimation. Position sensor has failed. Check the count in the current position If the sensor has failed, monitor (d-08). replace or repair. SON terminal is turning on Check the input timing of the FOT, After the FOT and ROT simultaneously with the FOT ROT, and SON terminals. terminals turn on, wait at least and ROT terminals. 10 [ms] before turning the SON terminal on Troubleshooting

290 9 Troubleshooting Alarm No. E82 E83 Alarm name Possible cause Checkpoint Action Magnetic pole Magnetic pole position Check that the SRD terminal is on. Execute magnetic pole position estimation has not been position estimation. estimation not executed even once since the executed power was turned on. Pulse position command rate Check the position command input Lower the pulse position is too fast. rate. command rate. Electronic gear setting is Set the electronic gear incorrect. correctly (reduce the ratio). Control gain does not match. Check the setting. Adjust the control gain. Speed or torque limiter is too Set (increase) the speed or low. torque limiter correctly. Position deviation error level Correct (increase) the position Position error setting is too small. deviation error level. fault Malfunction caused by noise Check if there is any noise source Isolate the noise source nearby. away from the drive. Check the routing of the cable, Strengthen the shielding and connectors, shield wire, and ground grounding. wire. Isolate the position sensor cable away from the power cable. Moment of load inertia is too Check relation of load to position Reduce the load. heavy. command rate. Speed command input setting Check the setting. Correct the input setting. is incorrect. Control gain does not match. Adjust the control gain. Torque limiter is too low. Correct (increase) the torque limiter. E84 Speed error fault Speed deviation error level setting is too small. Malfunction caused by noise Check if there is any noise source nearby. Check the routing of the cable, connectors, shield wire, and ground wire. Correct (increase) the speed deviation error level. Isolate the noise source away from the drive. Strengthen the shielding and grounding. Isolate the position sensor cable away from the power cable. Moment of load inertia is too heavy. Check relation of load to position command rate. Reduce the load. Speed command input setting is wrong. Check the setting. Correct the input setting. Control gain does not match. Adjust the control gain. E85 Overspeed error Torque limiter is too low. Correct (increase) the torque limiter correctly. Overspeed error detection level setting is too low. Set the overspeed error detection level correctly (increase). Malfunction caused by noise Check if there is any noise source nearby. Check the routing of the cable, connectors, shield wire, and ground wire. Isolate the noise source away from the drive. Strengthen the shielding and grounding. Isolate the position sensor cable away from the power cable. Moment of load inertia is too Check if overshooting has occurred. Reduce the load. heavy. Wrong motor cable connection Check the connection. Correct the connection. Position sensor failure Check the count in the current position monitor (d-08). If the sensor is defective, replace or repair it. 9-8

291 Alarm No. E88 E89 Alarm name Possible cause Checkpoint Action Pulse train position Check the master control unit. Remove the cause of the command was mistakenly mistaken input, clear the input. alarm, and then operate Origin position is wrong. again. Operated outside the drive range. Needs larger operating margin Check if a load moved the robot near Review the setting outside Drive range outside the drive range the drive range limit. the drive range. error Adjust or remove the load so that it will not move the robot. Electronic gear setting is Check the control device. Correct the setting. incorrect. Torque limiter is too low. Control gain does not match. Adjust the control gain. Control gain and "Positioning Check the setting. Adjust each setting. detection range" (Fb-23) are not appropriate. Electronic gear setting is Correct the setting. wrong. Position Robot is locked. Check the load. Unlock the robot. monitoring Adjust the brake release timeout error timing. Load is larger than the Reduce the load. estimated level. Reconsider the choice of robot. Torque limiter is in effect. Check the TL terminal and setting. Disconnect the TL terminal. Change the setting. 9 Troubleshooting 9-9

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293 Chapter 10 Appendix 1. Timing chart Options Recommended peripheral devices EMC countermeasure examples Configuration Countermeasure components Internal block diagram of robot driver 10-12

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295 111 Timing chart The following shows the timing chart from the power-on to the position command input (when the return-toorigin is performed). RDV-X Control power Main circuit power SON (Note 1) 1000 [ms] or more 10 [ms] or more 10 Input signal Output signal FOT ROT ORG PEN SRD INP (Note 2) (Note 2) approx.10[ms] 50 [ms] or more (Note 3) (Note 4) approx.10[ms] Appendix ORG-S approx.50[ms] position command input Position command RDV-X operation Power-off Servo-off Servo-on Return-to-origin Servo-on Operation Note 1: Turn on the main circuit power after the control power has been turned on or at the same time when the control power is turned on. Note 2: Turn on the FOT and ROT signals 10 [ms] or more before the SON signal is turned on. Note 3: When return-to-origin is completed, the INPUT signal and ORG-S signal turn ON. After the INP signal or ORG-S signal turn ON, turn the ORG signal OFF. Note 4: Turn on the PEN signal 10 [ms] or more before the position command is input. RDV-P Control power Main circuit power SON (Note 1) 1000 [ms] or more 10 [ms] or more Input signal FOT ROT ORG (Note 2) (Note 2) (Note 3) PEN (Note 4) SRD Output signal INP ORG-S Position command approx.10[ms] position command input RDV-P operation Power-off Servo-off Magnetic pole position estimation Servo-on Return-to-origin Servo-on Operation Note 1: Turn on the main circuit power after the control power has been turned on or at the same time when the control power is turned on. Note 2: Turn on the FOT and ROT signals 10 [ms] or more before the SON signal is turned on. Note 3: When return-to-origin is completed, the INPUT signal and ORG-S signal turn ON. After the INP signal or ORG-S signal turn ON, turn the ORG signal OFF. Note 4: Turn on the PEN signal 10 [ms] or more before the position command is input. 10-1

296 222 Options 10 (1) "RDV-Manager" support software for PC This allows you to connect a computer and use it to set parameters, execute trial operation, adjust the servos, and monitor the position, speed, and torque from a graphical user interface. It works well in the Windows operating environment. For details, refer to the RDV-Manager manual. System requirements Appendix Item Hard disk Display resolution Operating system Specifications 1GB or more free space is required in the RDV-Manager installation destination 1024 x 768 pixels or higher resolution is recommended If using Windows Vista SP1 (Service Pack 1) or later Internet Explorer 7 or later 1 GB or more memory 32-bit edition of the OS If using Windows 7 Internet Explorer 8 or later 1 GB or more memory 32-bit or 64-bit edition of the OS Communication standard If using Windows 8/8.1 Internet Explorer 10 or later 1 GB or more memory 32-bit or 64-bit edition of the OS (However, there may be cases in which the software will not run due to the installation conditions.) USB 2.0 Full Speed 10-2

297 The following illustrations are examples of function and operation screens. For details, refer to the RDV- Manager manual. Monitoring function Monitors operation information and terminal status in real time. 10 Appendix Parameter setting Allows setting, saving and loading parameters from the PC. 10-3

298 Trial operation, adjustment, and operation trace functions Jogging operation, return-to-origin, and offline auto tuning functions are supported. 10 Appendix (2) PC cable Model Length Connector at computer Connector at robot driver KEF-M538F-00 3m Type A connector (male) Type Mini-B connector (male 5-pin) Dimensions P1 P2 PC side Robot driver side 28AWG 1 1 RED φ4.8 CN1 CN2 28AWG 2 2 WHITE USB-A 4-wire male USB-Mini-B 4-wire male 28AWG 3 3 GREEN 28AWG 4 5 BLACK 3m SHELL SHELL (BRAID) Other recommended cables ELECOM manufactured USB cable U2C-MF30BK MISUMI manufactured USB cable USB-AM-MBM 10-4

299 (3) Braking resistor RBR1 (small type) Dimensions (mm) ± ± ±0.8 t ±1 160 ±1 170 ± P 2 1 RB Appendix Circuit diagram Connection diagram P Robot driver Braking resistor 2 1 (+) P 1 Alarm contact (Normally closed (b-contact)) RB RB RB 2 Normally ON Model No. Rated wattage Resistance Allowable braking ratio (%ED) Allowable continuous braking time Mass (kg) KBH-M W 100W 2.5% 12 sec Error detection function Internal thermal relay (contact capacity, AC 240V, 2A max, Normally ON (b-contact), internal thermal fuse (unrecoverable) Note 1: Thermal relay and fuse are built into the braking resistor. Note 2: Internal thermal fuse prevents excessive heat generation which may occur due to misoperation (unrecoverable). Note 3: An appropriate safety circuit is configured so that the main power of the robot driver is turned off if the thermal relay is tripped (an alarm occurs). 10-5

300 (4) Braking resistor RBR2 (standard type) 10 Dimensions (mm) 55 L1± H1 H2 Appendix R3.5 φ15 10 Label showing ratings 7.5 L2 +0 R L3±1 T 7 W ±1 Circuit diagram Connection diagram 2 1 RB P Robot driver (+) Braking resistor P 1 Alarm contact (Normally closed (b-contact)) RB RB 2 Normally ON Model No. Dimensions (mm) L1 L2 L3 H1 H2 W T Mass (kg) KBH-M Model No. Rated wattage Resistance Allowable braking ratio (%ED) Allowable continuous braking time KBH-M W 100W 7.5% 30 sec. Error detection function Internal thermal relay (contact capacity, AC 240V, 2A max, Normally ON (b-contact), internal thermal fuse (unrecoverable) Note 1: Thermal relay and fuse are built into the braking resistor. Note 2: Internal thermal fuse prevents abnormal heat generation which may occur due to misoperation (unrecoverable). Note 3: An appropriate safety circuit is configured so that the main power of the robot driver is turned off if the thermal relay is tripped (an alarm occurs). 10-6

301 333 Recommended peripheral devices This section describes the recommended optional devices for the RDV series robot drivers. All optional devices introduced here are manufactured by Hitachi Industrial Equipment Systems Co., Ltd. (1) Input side AC reactor (for harmonic suppression, power coordination, power factor improvement) 10 Model No. ALI 2.5L Capacity (See the table below for interrelation with robot driver.) Input side AC reactor Connection diagram Dimension drawing Appendix Power supply R 0 S 0 T 0 Reactor R S T Robot driver L1 U L2 V L3 W Robot M Amax. 6-M K Hmax. Dmax. Emax. X 4- J Y Cmax. Robot driver model No. Input side AC reactor model No. Dimensions (mm) A C D E H X Y J K Mass (kg) RDV-*205 RDV-*210 RDV-*220 ALI-2.5L RDV-P

302 (2) Radio noise filter (zero-phase reactor) Connection diagram 10 R Power S supply T Radio noise filter L1 L2 L3 Robot driver U V W Robot M Appendix Dimensions (mm) Should be as close as possible to robot driver. ZCL A Note 1: Wind L1, L2 and L3 in the same direction. Note 2: This filter can be used on both input and output sides of robot driver. ZCL B Cable through-hole φ7 mounting hole 78max. 72± min Cable through-hole 3-M ± max 80±0.5 2-φ5.5 (M5) 26 max ±0.3 (3) Input-side radio noise filter (capacitor filter) Connect this filter directly to the power terminals on the robot driver to reduce radiation noise emitted from the cable. Dimensions (mm) Connection diagram Robot driver Power supply L1 L2 L3 U V W Robot M Capacitor filter Model No. W H T CFI-L (250V rating)

303 444 EMC countermeasure examples Regarding EMC Directive, the customer's final product (entire system) including the YAMAHA robot must provide the necessary countermeasures. We at YAMAHA determine a model for single units of YAMAHA robots (driver, robot, and peripheral device) and verify that it complies with the relevant standards of EMC Directive. In order to ensure the customer's final product (entire system) complies with EMC Directive, the customer should take appropriate EMC countermeasures. Typical EMC countermeasures for a single unit of YAMAHA robot are shown for reference. c CAUTION 4444 c CAUTION The following description and circuits are typical countermeasures used when the robot and controller are tested under YAMAHA installation conditions. When the robot and controller are used while installed in the customer's system, the actual test results may differ depending on installation conditions. Configuration As shown in the following figure, the ferrite cores and noise filter on the driver side should be placed as close to the driver body as possible. The ferrite cores on the robot side should be placed as close to the robot body as possible. 10 Appendix Typical component layout for EMC countermeasures RDV-X Power supply (200 to 230V) Ground L1 L2 L3 L1C L2C RDV-X ENC1 U/V/W Single-axis robot I/O PLC RDV-P Power supply (200 to 230V) Ground L1 L2 L3 L1C L2C RDV-P ENC1 U/V/W Linear motor Single-axis robot I/O PLC Meaning of symbols : Noise filter JAC : COSEL : Ferrite core ZCAT : TDK : Ferrite core ZCAT : TDK : Ferrite core 1 turn : Ferrite core 2 turns 10-9

304 4444 Countermeasure components Noise filter Always install an external noise filter on the AC power line. A recommended noise filter is shown below. 10 Recommended noise filter Manufacturer : COSEL Corporation Type No. : JAC series Dimensional outline Appendix 2-φ5.5 Mounting Hole M4 Name Plate 119 (Terminal block screw pitch) 3-M4 Output Terminal cover Input Terminal Mounting Plate 118 (Mounting plate hole pitch) M4 Protection Earth (PE) Terminal cover * With terminal cover closed * Tolerance: ±1 * Mass: 440g max * Mounting plate material: Steel (surface treatment: nickel plated) t=1.0 * Case material: PBT * Units: mm * Terminal block tightening torque M4 : 1.6Nm (16.9kgfcm) max Specifications and applicability Robot driver model No. Noise filter model No. Rated voltage Rated current Mass (kg) RDV-*205 RDV-*210 JAC V 6A 0.44 RDV-*220 RDV-P225 JAC V 10A

305 Ferrite core Install ferrite cores according to the customer's final product (entire system). Recommended ferrite cores are shown below. Recommended ferrite core 1 Manufacturer : TDK Type No. :ZCAT Dimensional outline ±1 30.0±1 34.0±1 13.0±1 Appendix unit: mm Recommended ferrite core 2 Manufacturer : TDK Type No. :ZCAT Dimensional outline 36.0±1 32.0±1 20.5±1 11.0±1 unit: mm 10-11

306 555 Internal block diagram of robot driver 10 Appendix Power amplifier (inverter) Regenerative braking resistor (option) DB circuit Protective circuit Control power supply Current control Speed control Pulse train Servo motor Note: If using single-phase 200V as the main circuit power supply, wire it to L1 and L2. Single-phase/ 3-phase 200 V Power rectifier (rectifier circuit) Regenerate braking circuit Gate driver Position control Position command Sensor output Origin sensor Current signal processing Monitor Monitor output Position sensor signal processing Operator Sensor R/D converter Servo sequence control Auto tuning, etc. Data processing, etc. I/O interface (bit input/output) Servo ON etc. (serial communication) Robot driver RDV-Manager 10-12

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308 Revision record Manual version Issue date Description Ver Aug First edition Robot Driver User's Manual RDV Series Aug Ver YAMAHA MOTOR CO., LTD. IM Operations All rights reserved. No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO., LTD. Information furnished by YAMAHA in this manual is believed to be reliable. However, no responsibility is assumed for possible inaccuracies or omissions. If you find any part unclear in this manual, please contact your distributor.

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310 IM Operations 882 Soude, Nakaku, Hamamatsu, Shizuoka, , Japan Tel Fax Robot manuals can be downloaded from our company website. Please use the following for more detailed information. YAMAHA MOTOR CO., LTD.