YASKAWA HR Series, Manual

Page 1: ...RIVES HR SERIES DESCRIPTIVE MANUAL FOR MULTI FUNCTIONS POSITIONING CONTROL SERVOMOTOR M F G D S R P SERIES SERVOPACK CACR H Ri_ii_i BAD RACK MOUNTED TYPE CACR HRI_ji_iBB BASE MOUNTED TYPE V YASKAWA TS...

Page 2: ...266 _8995 AC Servomotors Servopacks Mli Base mounted Type I 390 37 General Precautions Some drawings in this manual are shown with the protective cover or shields I qg removed in order to describe th...

Page 3: ...scribed in _ CAUTION may also result in a serious accident In either case follow these important items WARNING WIRING Grounding must be in accordance with the national code and consistent with sound l...

Page 4: ...ERVOMOTOR only in test run ql without load Failure to observe this caution may result in personal injury Before starting operation with a load connected make sure emergency stop procedures are in plac...

Page 5: ...ATIONS OFAC SERVOPACK 44 _C_ONNECTION 55 _6 I 0 SIGNAL OPERATION AND FUNCTIONS 95 SERIALCOMMUNICATION 121 _8 PARAMETERS 145 DISPLAY SETTING MONITOR FUNCTIONS 182 _0 INSTAL_TION AND WIRING 197 1 TEST R...

Page 6: ...Allowable Radial Load and Thrust Load 34 FOR I O SIGNAL 70 3 2 3 Mechanical Specifications 35 5 5 1 Applicable Receptacle 70 3 2 4 Rotating Direction 35 5 5 2 Connector 4CN Layout and Connection 70 3...

Page 7: ...5 TROUBLESHOOTING GUIDE 217 SERVOPACK RESPONSE 125 11 5 1 AC Servomotor 217 7 6 SERIAL COMMUNICATION CONTROL CODE 125 11 5 2 Servopack 218 7 7 AUTOMATIC TRANSMISSION DATA FROM SERVOPACK 126 12 PERIPHE...

Page 8: ...Radial Load and Thrust Load 3 2 2 34 CONNECTION 5 55 APPENDIX PARAMETER SETTING 14 278 Connector 2CN Layout and Connection t5 3 2 62 Applicable Receptacle Specifications 5 3 1 61 Connector 3CN Layout...

Page 9: ...2 OF 5CN INPUT SIGNAL 6 2 101 OPERATION AND FUNCTIONS _ OF 2CN 5CN OUTPUT SIGNAL 6 3 114 Operation Check 11 2 2 209 High Voltage Line 4 4 4 53 ORDER ELECTRICAL DEVICES 14 2 278 How to Use 12 9 3 243 O...

Page 10: ...INGS AND SPECIFICATIONS OF TEST RUN MAINTENANCE AC SERVOPACK 4 44 AND INSPECTION 11 201 RATINGS AND SPECIFICATIONS 4 1 44 Test run Preparations 11 2 1 203 RECEIVING 10 1 197 TEST RUN PROCEDURES 11 2 2...

Page 11: ...dexing points station numbers are input as I position data Speed data are selected from four types of speed set in the Servopack by parameters by speed selection signals Both one way rotation and shor...

Page 12: ...ero point Used for zero point return homing when incremental encoder is used Return Homing Mode Two types of methods can be selected 1 Decel limit switch and encoder C pulse signal are used 2 Only sto...

Page 13: ...ition Figs 1 and 1 2 show the software yersion indications sorrwA_ VEaSIO N SERVOPACK CACR HR f_J i CN 0 I Fig 1 1 Software Version Indication of HR _ _ BAB IC42 _ SOFTWARE i LED3 Fig 1 2 Software Ver...

Page 14: ...NCODER M Rare Earth S 8192 pulses rev Absolute MOTOR OOTPUT W 1024 pulses rev Absolute Refer to Par 2 2 2 8192 pulses rev Incremental DESIGN REVISION OR _ _ 1 3 2048 pulses rev Incremental A B C 4 250...

Page 15: ...37ES to 0903 USASEM O2AS G t3A3 S to to 30AS 44A3 USAREM A5CS 2OOV USADED OSE3 R to D to 07CS 37E3 USAREM A5DS IOOV to USASEM O2A3 05DS S to 30A3 Absolute USAMED O3BW M to Incremental USAMED O3B2 1024...

Page 16: ...7 5 121 5 183 5 I GD2d4 lb in S 2x 10 a 5 75 9 60 107 5 162 5 Type USAGED 02 _ _ I 03 _ I 05 _ i 09 _ _ i 13A _ 2 Applicable kW 0 15 0 3 0 45 0 85 1 3 Servomotor Output 8P 0 2 0 4 O 6 I I 1 7 1_ I Spe...

Page 17: ...g 3000 Max 4500 Continuous Output Current Arms l O 2 0 2 7 3 6 5 7 Max Output Current Arms 2 8 5 7 7 8 10 6 16 3 Allowable Load Inertia kR cm 2 _ 1 95 3 2 4 9 23 9 32 85 JL GD L 4 OZ in S x 10 _ 27 75...

Page 18: ...5 75 9 60 107 5 162 5 256 486 633 5 m Type USAGED 02 _ _ 1 03 _ _ 1 05 _ _ 1 00 _ _ 1 13A _ 2 20A _ 2 30A _ 2 44A _ 2 Applicable kW 0 15 0 3 0 45 0 85 1 3 1 8 2 9 4 4 Servomotor Output HP 0 2 0 4 0 6...

Page 19: ...hment ISERVOMOTOR _ RECEPTACLES CON NECTORS b ii 6 589 589 n5 7 I See Par 3 3 AC SERVOMOTOR SERVOPACK See Pars 5 3 to 5 6 HR SERIES Option Option PARAMETER I I EXTERNAL POSITION INDICATOR DIGITAL SWIT...

Page 20: ...f M Series AC Servomotors _otor Type USAMED OSAMKD Item _ _ 03_ _ lI06E E llOOB 2 12BIll 2 20B 21308 _ 2 44B _ 2 60B 2 kW 0 3 I 0 6 0 9 1 2 2 0 3 0 4 4 6 0 Rated Output RP 0 4 I 0 8 1 2 1 6 2 7 4 0 5...

Page 21: ...50c i 1500 _ SPEED A _ B SPEED r min 100C J r rain A_ B 1000 500 500 _ I _ 12 16 N m 0 10 20 I 30 N m _ 50 100 150 2 0 Ib in _ 1001 200 3 _0 Ib in RMS TORQUE RMS TORQUE USAMED 20B USAMED 30B 2 _ m _ _...

Page 22: ...AC Servomotors Item 02 1 03_2 2 1 05 Jill 1 09 _i 1 1 113C _52 20C 2 30C 5_ 2 44C _ 2 kW 0 15 0 3 0 45 0 85 1 3 1 8 2 9 4 4 Rated Output HP 0 2 0 4 0 6 I 1 1 I 1 7 2 4 3 9 5 9 N m 0 98 1 96 2 84 I 5...

Page 23: ...2000 _ t _ t _ i _b _ SPEED 1500 _ I SPEED _5 i l r min 1 A B 1000 000 500 I1i li IiIJ L L I _ _U 6 8 10 N m O I 51 101 15 l N m i _ 2_ 4 i i _0 50 100 150 b in 0 20 40 60 _ 87 Ib in i I I RI IS TORQ...

Page 24: ...ulses rev USAGED X1 A 2 X1 With incremental encoder 8192 pulses rev 05 to 44 USACED X 1 C 2 1 With incremental encoder 8192 pulses rev 02 03 l Semi Standard USAGED X1 AW 1 With absolute encoder 1024 p...

Page 25: ...GED 09 j r I I I I I I 1 SPEED rlmin I I I I 0 30 60 s o Ib4n RMS TORQUE SPEED rlmin l fl 3000 2000 1000 0 5 10 15 N 1 rli I I I 0 50 100 1 5 0 Ib4n RMS TOROUE USAGED 13A USAGED POA SPEED O 2000 SPEED...

Page 26: ...motors __ueu 05E _ 10E_i 15_ _i 22E 7_ 37E _ Item kW 0 5 1 0 1 5 2 2 3 7 9 Rated Output BP 0 67 1 3 2 0 2 9 5 0 N m 2 35 4 81 7 16 10 5 17 7 Rated Torque lb in 21 43 63 93 156 N m 3 43 6 37 8 83 13 7...

Page 27: ...n A B 1ooo 1ooo 500 50 0 2 5 5 7 5 iN m 0 IN m 2 s _o _ Ib i 6 _o i_o i_o Ib in RMS TORQUE RMS TORQUE USADED 15E USADED 22E DO3 oo 2ooo 2ooo I SPEED 150G SPEED 150GI rlmin A i B rlmin 1000 A I B 1ooo...

Page 28: ...ations orS Series AC Servomotors _otor Type USASEM 02A 2 03A 2 05A _ 2 i OSA i 1 15A 1 30A i Item _ _ I W 154 I 308 462 771 1540 3080 Rated Output HP 0 2 I 0 4 0 6 1 0 2 1 4 1 i N m 0 49 I 0 98 1 47 2...

Page 29: ...5 2b Ib in 0 1 0 2Jo 30 410 Ib in RMS TORQUE RMS TORQUE USASEM 05A USASEM 08A ooo r 3000 3000 SPEED SPEED r Tin 200C A B r Tin 2000 B ooo _ _ _oo _ 0 1 2 3 4 5 N m 2 4 6 8 N m 4 o 2 o _o o 5 0 Ib in...

Page 30: ...2 Item _ W 50 I00 200 300 500 700 Rated Output HP 0 07 i 0 13 0 27 0 40 0 67 0 93 I N m 0 159 0 318 0 637 0 955 1 59 2 22 Rated Torque oz in 22 5 i 45 90 135 225 316 all N m 0 19 0 382 0 765 1 15 1 9...

Page 31: ...AREM _01C 3000 3000 _ SPEED e SPEED A B r min 2000 r min 2000 0 2 o 4 o 6 N m 0 0 2 0 4 0 6 0 8 1 0 IN m I i i 25 _o 7 5 oo ioz _ l _ _ _o 1_o oz _o RMS TORQUE RMS TORQUE USAREM 02C USAREM 03C 3000 30...

Page 32: ...I Item _ A5Dr 2 OlD _ 2 02D 2 03D 2 05D _ 2 W 50 100 200 300 500 Rated Output HP 0 07 0 13 0 27 0 40 0 67 N m 0 159 0 318 0 637 0 955 1 59 Rated Torque oz in 22 5 45 90 135 225 41 Continuous Max N m...

Page 33: ...e variation range USAREM A5D USAREM OID At B SPEED SPEED 2OOG A B i r rain t r min pop 1 ooo 0 0 2 0 4 0 6 N m 0 0 2 0 4 06 0 8 1 0 N m I I 0 25 50 75 100 oz in _ 5_ 1_0 150 oz in RMS TORQUE RMS TORQU...

Page 34: ...2 02C _ 2 03C _ 2 05C _ 2 07C _ 2 Item W 100 200 300 500 750 Rated Output HP 0 13 0 27 0 40 0 67 1 0 N m 0 32 0 64 0 95 1 59 2 39 Rated Torque oz in 45 90 135 225 339 Continuous Max N m 0 32 0 64 0 95...

Page 35: ...istics may be reduced even f the values are with in the allowable variation range Type USAPEM 01C Type USAPEM 02C 4000 _ 3 _ _ _ 4OOO _ _ _ 3O0O sPEEDs i S EED A B rlmin 20 X_ i r min 2000 0 0 25 0 5...

Page 36: ...Ilowable kl Iowable 03A _ Motor Type Ra dial Load Thrust Load 245 55 98 22 USAFED N lb N lb 05A 02 _ I 08A 392 88 147 33 49 11 t 147 33 03E_ _iI 15A _ 490 110 05_ 1 490 110 98 22 t 30A 686 154 196 44...

Page 37: ...g 0 Fig 3 11 3 2 5 Shock Resistance Whenmounted horizontally and exposed to vertical shock impulses the motor can withstand up to two incidents with shock acceleration of 490 m s2 5OG Fig 3 12 Note A...

Page 38: ...USAMKD 6OBETi2 Type USASEM O3A to 30A D E Alarm terminal F PhaseW Frame Ground Fan motor connection I 1 Power supply single phase I___f__q__j s Alarm contact HADING OFF at fan rotation normal COIL ON...

Page 39: ...or side 4 PIN TYPE PC2005 M iUSER PIN TYPE PC2005 F 350 50 13 78 1 97 _ 25 L _ Phase 1J Red Phase V White PhaseW Blue FrameGround Green AWG 20 4C b Detector side absolute encoder 350 50 13 78 1 97 __...

Page 40: ...REM 02C 02D 03C 03D q Color of Lead Applicable Red Phase U _ A Phase U White Phase V _ B Phase V Blue Phase W C Phase W Black Brake D E Braketerminal Black Brake F Frame Ground Green Frame Ground USAR...

Page 41: ...39...

Page 42: ...le L type Straight Cable Receptacle L type Straight Cable USAFED Plug Plug Clamp Plug Plug Clamp 02 _ _ 1 MS3102A MS3108B MS3IO6B MS3057 MS3102A 14S 2P 14S 2S 14S 2S 6A 14S 29P 03 l MS3IO2A MS3108B MS...

Page 43: ...S 14S 6S 6A MS3102A MS3108B MS3106B MS3057 20 15P 20 t5S 20 15S 12A MS3102A MS3108B MS3106B MS3057 Note Theseconnectors 24 IOP 24 IOS 24 t0S t6A aremade by DAI ICHI DENSHI KOGYO Co Ltd Holding Brake R...

Page 44: ...20 4S 12A 30A _ Note There connectors madeby DAI ICHI DENSHI KOGYO CO LTD Table 3 16 R Series Characteristics of AC Servomotor Detector and Holding Brake Option for Standard Combination AC AC Servomot...

Page 45: ...ke for StandardCombination AC Servomotor Detector HoldingBrake AC Servomotor Type Connector MATE N LOCK USAPEM Pin Terminal Conversal Pin Terminal Plug Pin O1C 2 PC2OO5 M 172171 I 170363 I PC2OO5 M 02...

Page 46: ...o and speed No command coo act data Method Command Input Position command Sign t up 1o 8 digits 99999999 to 190999999 Speedcommand Up to 6 digits OOO000 to 240000 to be less than motor max speed Posit...

Page 47: ...to 64 Only absolute value command available Positioning by pulse train line PGor pulse train input Position command Numberof pulses A t B or UP DNor P t SIGN Speedcommand Up to 400 kpps A B 1 6 Mpps O...

Page 48: ...4 2 INTERNAL BLOCK DIAGRAM Servopack Type CACR HRA5BAB 2 to 05BABE L 46...

Page 49: ...Servopack Type CACR HRIOBAB 15BAB 47...

Page 50: ...48...

Page 51: ...rvoltage OV Excessively high DCvoltage in the main circuit approx 420V Overspeed OS Excessively large speed feedback detected Under Voltage or LowDCvoltage in the main circuit after power ON 150V or l...

Page 52: ...t the maximum operating time at higher rotating speed is shorter for the same overload NOTE Overload detection level is determined with hot start conditions of ambient temperature 55 C The set value c...

Page 53: ...signal turns off only themain circuit _ _ _ as shown in Figs 5 17 and 5 18 This allows rapid reaction ill the event of a malfunction If the power to the control circuit _ _ is simultaneously turned of...

Page 54: ...tails contact your Yaskawa representative 9 4 4 3 Allowable Cyclic Operating Frequency Start Stop cyclic operating frequency is limited separately by Servopackand Servomotor it is necessary to satisfy...

Page 55: ...voltage must be dropped from 400 440Vto 200 V by using a power transformer Table 5 13 shows the transformer selection Connection should be made so that the power is supplied and cut at the primary sid...

Page 56: ...BAB 11 7 80 20 130 BRO3BB 3 0 20 I0 90 din HRO5BB 4 2 40 10 110 I HRIOBB 7 6 70 20 150 HR15BB 11 7 80 20 160 60 HR2OBB 18 8 100 40 200 BR3OBB 26 0 160 80 300 HR44BB 33 0 210 100 370 HR6OBB 45 0 300 12...

Page 57: ...RVOTROUBLE INDICATION I POWER ON _ L _ _ _ _ POWER SUPPLY ON OFF o FRO ESUR ESUPR R I 1 MC SUP TO MAGNETIC CONTACTOR OR RELAY I FI 1 I 2 I MOTOR I tMC LJ MC_ZZ R S SERVOPACK PROVIDED YUSER If _ l Ry _...

Page 58: ...OPERATION _ w _ MCCW 12 LII_ CA IP _ DC AVR ALARM RESET o _ RST 5 FEEDSPF_SEt ECr _ _ SP3RD 46 1 c FA _ _ _ DR Oov 132 3 _ 1_ FA _ P _ 9 I_rATING DIItECn0NSELECT _ DR T 14 11 FB _ PG PULSE OUTPUT ov F...

Page 59: ...R LINEPGSWITCHING o _ MPG LPq _ _ 8 L_ 13 FA P 0V _ 0V 2 18 FB J PG PULSEOUTPUT i8 2t 0V __ t DSO_ _ _4 _ _I _ _ EXTERNALPOSITIONINDICATOR TYPEMCIF LS 3 0v _ _ I I I I_I I_VI IN 1 I DSO0 _ 20 J_f I _...

Page 60: ...nection at Positioning by DG SW Data Cont d 1 21 20 19 Ill 1 II I IlL Illl Ill I iJJl 1 IJll I I IPOSITION REF 1 8 IIII I1 IIII I1 _o III1 i IIII II n II FEED SPEED REFERENCE DATA I Fig 5 4 Details in...

Page 61: ...OPERATION FWD ON EXT PULSE GENERATOR SKIP MANUAL OPERATION STOP ZRN ZER0 POINT RETURN START 20P 5VDIFFERENTIAL OUTPUT TYPEI PON EXT PULSE TRAIN 1_ CA _ t _ PA OPERATION MODE _ i CA tP _ __ DC AVR 1 _...

Page 62: ...AL OUTPUTTYPE CW O O MCW l _ 7 CA ts_ _ PA MANUAL OPERATION Iccw _ MCCW 12 _ I CA PI I _PA _ XN _ De AVR CURRENT LIMIT COMMAND O _ CU R _ 0 CB l PRpFBn_ _ __ _ _ _ v ALARM RESET oo RST _ CB P _ SP2ND...

Page 63: ...or cooling fan Conection needed only when Type USAMKD 60B is rE3 r_ 6 qL_J connecting terminal used 1 _ _ for Type HR r _ BABI_ 2 Single phase 100 to ll5VAC 1096 50 60Hz for Type HR 7 BABll 15 10 6o z...

Page 64: ...rn STP 24V Battery Input for Absolute Zero Point Encoder Stop LS Input 8 10 11 12 13 SVON N OT P OT ALM BK OV Overtravel LS Input Servo ON Input Servo Alarm Brake Release OVfor ALM Reverse Side Forwar...

Page 65: ..._ TEMPORARY I STOP I O _ SIDE _ P OT _ FORWARD m_ 7 ZERO_POINT RETURt DEC _ _ HOMING _ __ j DrCEL CS _ O O PEON l _ PROPORTIONAL OPERATION 2 2 4 TkQ _IHOMINGI STP _ 1 _ _ I DECEL LS t _j 1 RY ALM 2 11...

Page 66: ...side Com ects overtravel limit switch signal overtravel LS r according to forward or reverse side This signal is turned on at normal P OT i0 Reverse side operation and off when limit switch overtrave...

Page 67: ...ns D Table 5 4 Applicable Receptacle and Cable Specifications Specifications Applicable Receptacle Type Connecting Cable of Connector Used Specifications in Servopack SolderedType CaulkingType Case Ma...

Page 68: ...e Internal blue blue Configuration and I 5lPurple white Twisted Lead Colors B2 Yellow white _ Yellow white cable DP8409123 yellow yellow Twisted 6lBlue brown and cable B9400064 Bs Green white F_lPale...

Page 69: ...yout I I Pc v PGOV PCOV PG_V Pc_v P_V BAT _ BAT0t Required only whenabsolute encoder is used 0 2nun ABSOLUTE ENCODER 3 CN SERVOPACK BLUE PA D PA 3 17 PB PB 3 19 PC PC 15 5VP VP I1 3 3 10 t 12 13 20 CA...

Page 70: ...ute Encoder When caulking type cable DE8400093 is used INCREMENTAL 0 2ram ENCODER 3 CN SERVOPACK BLUE z _ l_ I I WHITE BLUE _ 3 16 ea PA YELLOW 1 3 17 wam mmw l 3 18 PB PB i 3 19 GREEN I P I WHIrE C_...

Page 71: ...P J i _ _ k i _ 20 CABLE _ _ _ DE8400093 Incrementalencoder sp _ l catlons Note _ shows twistedpair shieldedcable Connector Type MS3102A20 29P Receptacle Accessory not attached Type MS3108B20 29S Angl...

Page 72: ...V 0V for Serial communication 5V output Pulse train command Pull up P6 division output signal resistor connection 8 9 10 II 12 13 TXD RXD CB CA FB FA For serial communication Line receiver negative PG...

Page 73: ...I _ _ I L L l I G SHIELD END SERVOMOTOR When external position indicator Type MCIF LS is used connect to TXD ENCODER TXD signal t2o nat mo the external position ind mt0r at the mine time as serial cc...

Page 74: ...16 Be Line 6 2 5 5 feedback pulse is receiver input CB 10 B _ _ CB CB 9 OV 2 OV for signal CA CA CB tCB OV for signal FA 19 PG A_ Line driver PG encoder division output can be divi obtained Dividing...

Page 75: ...MR 5OF MRP 5OF01 MR 5OL Co Ltd Standard attachment of Servopack 5 6 2 Connector 5CN Layout and Connection The layout for the Servopack connector 5CN differs partially depending on position reference m...

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Page 78: ...76...

Page 79: ...INATION J I I I O _ CDO 2 2 0 0 CD 4 4 O _ CD2 _ 8 8 O _ CD3 Z 16 10 o O CD4 32 20 0 _ CD5 64 40 O o i _ D6 128 80 o _ CD7 O 256 I00 _ CD8 5 30 _ 512 200 _ CD9 5 31 _n 1024 400 _ 0 CDIO S 32 d COM 02...

Page 80: ...ATION LPG L PGSELECT _ o o DG SW UNIT MCIF D86__ POSITION I Nora The wiringlength of theDG SW unitmustbe 5m or less REFERENCE 2 REF UNIT 7 q 8_ SPEED 10 _ _ _RENCE _ _ i_ 3 II _ 32 i_ l I __ _ _ o 6 D...

Page 81: ..._ fiST SPEED TO 4TH SPEED IS SELECTED BY SIGNAL COMBINATION 3 16 __ __o col POSTION NO 4 CD_ 15 24 SPEED NO _ 8 REFERENCE DATA 16 __ 15 25 _32 COM Oz 5 18 t5 23 f ZONE SIGNAL 5 36 15 37 BATTERY VOLTAG...

Page 82: ...ER R signal is operating L level POS1 5 Positioning Outputs with current position aimed position J Complete Output I _ parameter 6 set value COIN Refer to Par 8 2 Parameter 6 POS2 6 Positioning Outpu...

Page 83: ...and Command while this signal is turned on MCCW Motor Motor forward Forward direction Direction command RST Alarm Reset Resets alarm status Check the alarm contents 1 before turning on this signal SP2...

Page 84: ...r 14 b3 CDO 16 Station No i i Reference CDI 17 Data 2 2 CO2 24 4 4 CD3 25 8 8 CO4 26 i0 16 BCD Binary BCD binary are setting 20 setting 32 selected by CD5 27 _ 0 to 999 0 to 4095 parameter CD6 28 40 6...

Page 85: ...1 PO I I I I I l I I i I i i j I t I I i I I I I I I I I I I I i i l i I I P I I i I I I I I I I I I I I I i I l I i P2 I I I I I I I I I I i I I P3 I I i I I I I I I I P4 I i I I I I i i I l I I l I...

Page 86: ...101 103 105 107 DSI16 28 4 digit digit digit digit DSII7 29 8 DSI20 30 Speed 1 Ref Data DSI21 31 Input 2 10 102 104 DSI22 32 4 digit digit digit DS12340 1 8 t DSI24 41 1 q DSI25 42 2 10 L 103 105 DSI...

Page 87: ...ter20 b5 l and parameter65 p Signal bO l are set P1 34 Output 2 P 2 35 L 4 P3 36 8 i P4 37 16 Notes 1 Zone signals are coded output as shownbelow It is safe to read in the data during stop because of...

Page 88: ...OPACKW I II __ 2 11 24VDC__ _D _ 2 13 Fig 5 17 Typical Connection when Both Control Power Supply and Main Power Supply are Turned ON OFF Simultaneously 9 POWER POWER 1 r_ OFF ONI I I__ r EF 1MCCB i l...

Page 89: ...e Servopack SERVOALARMsignal is output for approx 1 second at maximum typical 200 to 300ms when the control power supply is turned on Therefore hold POWERON signal for more than 1 second D in the in i...

Page 90: ...ly Capacity and MCCBor Fuse Capacity Servopack Type Power Supply Power Supply _ Capacity per Capacity per CACR Servopack kVA MCCBor Fuse A HRA5BAB12 O 3 5 HRO1BAB12 O 5 5 HRO2BAB12 O 75 5 HRO3BAB12 1...

Page 91: ...Av DC Max connectors 5CN orf PG signalconnector 3CN lOOmhDC Max 500mAforpowersupplyline line Grounding terminal FG R S T rot Servopack tlRIOBAB and HRI5BAB Terminal Type CACR i External Terminal Name...

Page 92: ...pply r t 1 25 input terminal Control I 0 signal 2CN 4CN Twisted pair cable or twisted pair totally shielded cable connectors 5CN Core cable 0 2mmor more plated sort steel twisted cable Off Finished di...

Page 93: ...noise interference The recommended wiring and grounding are for reducing switching noise shown in Fig 5 19 1 Grounding method SERVOMOTOR Note 2 t SERVOPACK 200VAC _ 1 CACR HR V i I 41 w r CASE t I 2 4...

Page 94: ...ng the precautions carefully connect them as shown in Pigs 5 20 to 5 23 Table 5 17 Recommended Noise Filter Recommended Noise Filter Recommended Noise Filter Servopack Type Applicable Servopack Type A...

Page 95: ...in the same duct or run them in the same duct t Box Box I _ POOR GOOD X_ Fig 5 _ SEPARATE CIRCUITS POOR GOOD I Fig 5 20 c Connect the ground lead singly to the d The filter on the control panel is box...

Page 96: ...re used as master controllers insert troidal core ESD RB series by Tokin Corp or equivalent in the input section as a noise preventive action Take some noise preventive action such as insertion of a l...

Page 97: ...ver the same levels are continued more than two times 2 to 4ms filter It is necessary to hold more than 5ms to be effective Example of AST Signal 2ms _ SAMPLING l _ I i I t i i J I AST I I I I I II I...

Page 98: ...ignal becomes effective when the following conditions are satisfied and operation is started by signal rising edge AST _ OPERATION START I TURNEDON CURRENT CONDUCTION _ AUTO OPERATION ZER0_P01NT RETUR...

Page 99: ...t conduction Automatic operation mode or zero point return homing mode is not selected 4Q Timing chart svoN OPERATIONMODE SETTING _ AUTO POSITIONREF DATASETTING S SPEEDREF DATASETTING X v STOP L LEVEL...

Page 100: ...and deceleration to a stop is performed at parameter set speed 5ms OR MORE STOP _ I SPEED i 0 L t Q STOP signal contains feed hold function That is when position reference data are not discharged com...

Page 101: ...ATA POSITION SPEED x X Y AST I I _ I I I STOP i _ J l i I I I I I I I 0 _ _ REMAINING_ k FEEIyHOLD AMOUNTj POSITIONING POSITIONING BYDATA x BYDATA y D Feed hold release After AST signal is turned on w...

Page 102: ...OT Reverse Connection Forward CCW N OT When P ON and N OT signal are not used set parameter 19 bO 1 Q After P OT or N OT signal is detected there is a 4ms lag time at maximum until braking is actually...

Page 103: ...tinues three times or more each signal is read in 24 to 32ms filter Signal must be hold more than 30ms to be effecti_ie GROUP 3 J 0 1 I 2 I 3 J 0 J 1 J 2 J 3 J 0 J 1 2 NUMBER 8ms D _11 I I I I SAMPLIN...

Page 104: ...H Performs constant speed operation by manual signal g_ M _ External pulse H L 1t Performs positioning by pulse train reference train Zero point H H L Zero point return method is selected by return ho...

Page 105: ...l eference data polarity Absolute or incremental reference DSIIO to DSI17 DSO0 to DS04 Command 4 Position No speed No By turning ONthe AST signal Table selection signals positioning is performed at th...

Page 106: ...ETER SETTING Bondi t ions MOTOR CURRENT SERVO ON CONDUCTION I I MANUAL OPERATION MODE MOTOR FORWARD RUNNING MCCW ON MCW ON i MOTOR REVERSE RUNNING Station No Performs positioning at the nearest statio...

Page 107: ...rameter speed is set SEP EDT 1 ST SPEED _ i2NDSPEED _ 3RDSPEED _ 4THSPEED MCCW MCW 7 l _ l 3RI_ SPEED i 4THSPEED _ SPEED 2ND SPEED Ot _ t 3 In DG SWspeed reference speed varies if the setting is chang...

Page 108: ...SETTING Notes 1 One pulse input moves one reference unit 2 Frequency reference speed f pps _ f 60 reference unit min 3 Number of pulses Positioning value P pulse _ P reference unit 3 3 For pulse train...

Page 109: ...pulse signal ZRN _ I FEED 4 ACCELERATION RATE SPEED 51 PARAMETER SETTING _ FOWARD _ CREEP SPEED 53 a _ APPROACH SPEED 5 l i l I FINAL TRAVELING t DISTANCE M l I DEC o PC _lLJ _ __ fl 1 I FIRST C PULS...

Page 110: ...Zero point return creep speed 0 to 240000 54 Zero point return final FWD 0 to 99999999 Reference travelingdistance unit REV 99999999 to 0 Note 2 When DEC signal is at H level in mode I and AST signal...

Page 111: ...1st feed speed L H 31 2nd feed speed 1 to 240000 H L 32 3rd feed speed 1000 reference unit min I L L 33 4th feed speed I D In pulse operation mode SP2NDand SP3RDare used to select input pulse multipl...

Page 112: ...L Name No Current Limit Value Plus limit Minus limit value value Motor special currentlimit 7 0 0 0 value Current limit 34 0 0 0 value Pluslimit 35 x 0 x value Minus limit 36 x 0 value Notes 1 Paramet...

Page 113: ...PG is used zero point return homing cannot be performed Entering zero point return mode causes an error 6 Input signal used in station No reference method a Rotating direction selection I DRO DR1 By...

Page 114: ...ce data codes Parameter DataCode CDO CDI CD2 CD3 CD4 CD5 CD6 CD7 CD8 CD9 CDIO CDII 14 b4 1 BCD 0 to 999 1 2 4 8 10 20 40 80 100 200 400 800 0 Binary 0 to 4095 1 2 4 8 16 32 64 128 256 512 1024 2048 c...

Page 115: ...s an odd number 3 completely at low level with PO L P1 L P2 L and P3 1t PS0 ___ PSl P O l 1 P1 ____ 2 P2 i 4 LOW LEVEL NUMBER BECOMES AN ODD NUMBER 3 PS ___ p _ _ j 2 Timing with _vhich current value...

Page 116: ...diode Use diode having repetitive peak reverse voltage 5 times more than the voltage 6 3 2 Signal Operation and Functions 1 Alarm ALM When fault detection function see Table 4 1 operates the power dri...

Page 117: ...N TO MOTOR CURRENT tB CURRENT CURRENT NON CURRENT CONDUCTION _ CONDUCTION CONDUCTION CONDUCTION TO MOTOR tB Brake time set by parameter 43 8 to lOOms TIMING ATSERV0 OFF MAIN CIRCUIT POWER SUPPLY OFFOR...

Page 118: ...ernce mode At DG SW Commands position reference data exceeding software over SPEED travel set value I Commands data exceeding speed limit value o Operation At station Operation mode ERRsignal is outpu...

Page 119: ...LT MANUAL OPERATION MODE 6 Battery voltage low level detection BATALM If Servopack built in batters nominal voltage 3 6V voltage becomes less than 3 3V detected range 3 0 to 3 3V it is detected when t...

Page 120: ...n COl N ERROR OCCURING NORMAL Conditions where COIN NEAR signal is output during automatic operation REF DATAOUTPUT COMPLETED _ COIN CURRENT TARGET _ t ARAMETER_ _ _ NEAR POSITION POSITION SET VALUE A...

Page 121: ...omes high MCCW MCW_ I 1 COIN I I MOTOR SPEED r rain t 0 _ _ _ t SETTING WIDTH REACH r 8 Station No Output P0 to P4 a Station No reference method parameter 15 set value 0 Positioning station No is indi...

Page 122: ...Battery Voltage Low u Abso Error 1 1 0 1 1 1 I Overcurrent 1 1 1 1 1 0 I 2 MCB Trip 1 1 1 1 0 1 3 Regenerative Error 1 1 1 1 0 0 g Overvoltage 1 1 1 0 1 1 S Overspeed 1 1 1 0 1 0 _ Main Circuit PowerS...

Page 123: ...1 former C6220 Parity 1 bit even Stop bit 1 bit Start stop XON XOFF control 1 CHARACTER CONFIGURATION DATATRAIN 11111111 I _ _ 0 0 1 0 1 0 1 1 O1 _ STOP BIT START BIT _ DATA _ EVEN PARITY 7 2 CONTROL...

Page 124: ...ol Multi axis Control ICOMMANDCHAR_ i _ Whenaxis is specified ACTERLINE AXISNO ACTER LINE Command When all axes are specified ICOMMAND CHAR ACTER LINE I _ I Commandbecomes effective for all axes svoN...

Page 125: ...ntrol lO N M Possible hibited Possible Possible Possible to 16 axes Note _ N mor n is a numberfrom 1 to 9 2 Axis designation function M NI m or n is a number from 1 to 9 a One axis control Axis Design...

Page 126: ...Not provided group Axis No nm Axeswith N n Possible provided and M m group Response OK to command is given only when parameter 72 b4 1 is set 3 Precautions on multi axis control If no axis is designat...

Page 127: ...ansmission X ON ETX Ctrl C 03H Monitor data transmission from Servopack is canceled For restart send monitor commandto Servopack again ENQ CtrI E 05H Switches echo back provided not provided from Serv...

Page 128: ...Positioning Near NEAR At AlarmOccurrence ALM n_ _ nnnnn t t Alarm Alarm code abbreviation AtParityError ERR PE At Command Error Undefined commandis sent ERRSN Command Error No p pp Error ALMp MONp P_p...

Page 129: ...nnnnnnn x O SPD nnnnnn speed limit exceeded g ST x x o _ JOGP speed limit exceeded JOGN x speed limit exceeded O ZRN x speed l_imit exceeded I D PCON x PCOFF x x SKIP x HOLD x x PON x x Motor not unde...

Page 130: ...Move_ current software commanded OFF STOP is Command_ conduction overtravel direction OFF Pos 0 O x 0 x 0 POSI 0 0 0 x 0 JOG 0 0 0 0 ST 0 0 0 0 0 0 JOGP 0 0 0 0 x JOGN 0 O 0 O x x ZRN 0 O 0 O 0 x O An...

Page 131: ...peration minus direction ZRN Starts zero point return homing PCON Performs P proportional operation in speed loop PCOFF Releases P operation of speed loop SKIP Decelerates and stops HOLD Feed hold rem...

Page 132: ...M1 COMMAND PRM2 Sent from Servopack PRM49 x x x _ PRffpp Contentsof parameterswith pp are sent fromServopack Usedfor pp parameter number specified parameter contents check Example COMMAND _ _ PRM30 x...

Page 133: ...ation commafid D Command Function Contents RES Provides initial reset the same conditions as when control power supply is switched from OFF to ON or to the Servopack control section I ZEROSET n n I co...

Page 134: ...ence n n unit is reference unit Max 8 digit n n Motor FWD run n n Motor REV run can be omitted Position reference value becomes0 when the power supply is turned ON and Rffg command is executed Operati...

Page 135: ...n Operates at speed which was II _l set before _ In this case returns to zero point home _ position at speed set in parameter 4 Notes 1 When _ commandis sent for special axis operation check after par...

Page 136: ...SPD_ MOVl_ JOGP SKIP ST SKIP SPEED _ _ Feed hold functionl I I tnot provided 1tt I i I I I 0 _ _t Example2 When_ command is input during positioning by MOV_command in absolute mode the remaining posit...

Page 137: ...OS1 r I COIN Mode 11 2 step deceleration method Parameter using STP signal decel 49 1 LS PARAMETER 50 0 APPROACH FWD RUN SPEED 52 CREEP I L FIN L TRAVEL i DISTANCE S4 STp I I pos_ l COIN Note 1 Relate...

Page 138: ...eration by _ _ command the sameoperation is performed as _ cor_and POS n n Command to perform positioning by linear accel decel Data n n moves to position n n in absolute value for Max 8 digit POS mov...

Page 139: ...rtion integer operation to P proportion operation enters P operation and _ returns to PI operation SET n n Command to re write the current position to n n After execution of this command a newcoordina...

Page 140: ...ged frequently because of characteristics of E2PROM VT All speed tables are sent from Servopack by this command Example VTO1 n n Command _ VTO2 n n iii Sent from Servopack VTpp Speed No pp reference s...

Page 141: ...Tpp n n A command to changeboundary No pp boundary position to n n Max 8 digits can be omitted n fPP Boundary No Boundaryposition Becomes effective by execution of R_ commandor ON OFFof contrOlpower E...

Page 142: ...from Servopack Unit Comraand Others Name Display Reference unit MON1 Current Position PUN 8 digits p MON2 Position following PER i m n i x4 multiplier of error _ 8 digits encoder pulse MON3 Current sp...

Page 143: ...1N8 Speedreference DS2 nnnnnnnn Note I INp m n6 ns n4 n3 n2 n no l Monitor data indicate input signal status Contact closed O open 1 Pulse H level 1 L level O The following table shows each data digit...

Page 144: ...UT3 OUT3 n7 no ns n4 na nz n no Note OUTp n_ no ns n n3 n2 n no Monitor data indicate output signal status 0 when output relay is ON 1 when OFF The following table shows each data digit and correspond...

Page 145: ...sitioning near ALM_ NEAR At alarm occurrence ALM n nnnnn l Alarm abbreviation Alarm Code For alarm code and abbreviation refer to e Status and automatic transmission data AL_Ip Alarm which occurred p...

Page 146: ...n Circuit Power Supply Error ALM6 UV q Overload ALM 7 OL E B Position Error ALM 8 POS R Heat Sink Overheat ALMA OH r PG Disconnection ALM C PG F Open Phase ALM F O PH H Hardware Error ALM H HARD d Ove...

Page 147: ...E FOR DEFINING PARAMETERS Start i D Detemine the motor and enco_er type and encoder resolution PRM7 PRM8and P_9 Page 160 2 Determine the gear ratio in PRM12and P_13 D Page 162 3 Determine the desired...

Page 148: ...eference Unit Typical values are 0 001 O O01mm 0 01 degrees This is minimum position increment that can be programmed and is different from the encoder resolution The programming resolution is determi...

Page 149: ...5 is outside the limits revise the selected D programming resolution Reference Unit and back to 4 go step Step 7 Determine the feed speed expressed in terms of Reference Units per minute Set parameter...

Page 150: ...lution of the gearbox output shaft Feed Constant FC A FC z D 3 14159 7 5 inches 23 562 inches B PRMll FC Reference Unit 23 562 0 01 2356 Step 5 Programming resolution Reference Unit within limits A PR...

Page 151: ...esults PRM4 1 750 PRM7 54 PRM8 32 768 PRM9 1 PRM11 23 562 D PRM12 203 PRM13 10 8 2 PARAMETER LIST D Changing process ON on line parameters OFF off line parameters effective with command RES or by turn...

Page 152: ...2768 10 Absolute encoder allow 0 to 99999999 Pulse able error amount i1 Reference unit machine 1 to 1500000 Reference unit C 32768 one rotation 12 Gear ratio setting 1 to lO00OO00 Rotation 1 _motor si...

Page 153: ...l i 2 step 38 39 0 0 0 1 step 68 to 18 Function selection 2 0 to 11111 Bit 5 bit 00000 bO Software overtravel 1 Set 40 41 0 Posit ion reference fault detection bl Backlash compensa I Provided 42 0 1 t...

Page 154: ...e unit min 32 3rd feed speed 1 to 240000 1000 0 1 reference unit min 33 4th feedspeed I to 240000 10003 0 1 reference unit min 34 Current limit value 0 to 400 400 35 Plus side current limit 0 to 400 g...

Page 155: ...O O_C C _ SrP O 1 i h6mi ng merle_ i 50 Zero_Poini return direc 0 eihs direction 0 _ ion i _ _ l Mi_direction _I _ 51 Zero_Pointretnrnfee_ i 0t 240000 1000 _ _ peed _ _ _ _iJ_ unit minreference 1 I i...

Page 156: ...e 477 0 change O Not change b3 DG _ digit number 1 Used 67 0 shift O Notused b4 0 0 b5 0 0 b6 Positioning comple 1 Changed 0 tion signal O Net changed 66 Function selection 6 0 to 11111111 Bit 8 bit 0...

Page 157: ...lizat on _ 1 Provided t _ _ _ t b4 OK r_es_o_ e f o l0 No re oo e t O o rtm imi i _ y e l I l I i Specif icatioa Change t l t t t 73 t _ _ to FO r fut _ure use _ O _ _ 76 Simplified S curve accel 0 to...

Page 158: ..._ 3 i 50 USADED O5E 42 HRO3BAB12 1 OSAGED 03 _ _ 1 51 USASEM OSA 22 USASEM O3A 21 USAMED 06 _ I 2 USAREM 03C 2 35 USAMED O9B 2 3 USAPEM 03C 2 75 ItRIOBB 13 USAFED 09i i 1 13 USAFED 05 i 1 12 USA6ED 09...

Page 159: ...viation Ti Unit x2ms _ setting range l to 255 Notes 1 Relation between speed loop gain Kv and integral time constant Ti is defined by the following value in proportion to current reference assuming sp...

Page 160: ...eter set value is selected when speed select signals 5CN both SP2ND and SP3RD are at N level Speed selected by this parameter at contact Parameter Speed Select Signanl Setting SP2ND SP3RD No Name Rang...

Page 161: ...ER 41 s _ 7 _a a _ SET VALUE TI _ _ PARAMETER SET VALUE al lst step accel decel speed by V1 T1 a2 2nd step accel decel speed Refer to the description of parameter 17 6 Positioning Complete If distance...

Page 162: ...3 OIC _ 2 33 OlDK 2 I 63 OIC _ 2 73 12B Zi2 4 13C 2 I 14 13A_ 2 I 54 15 i I 44 15A i i 24 02C K_ 2 I 34 02D K 2 I 64 02C 2 2 20A 12 I 55 228 i 45 25 038 i2 35 030 i2 I 65 03C i2 75 208 12 I 5 20C 22 1...

Page 163: ...tion etc is the reference unit Speed data unit in DG SW serial communication or parameter setting is XlO00 reference unit min i 2 Parameter 11 set value Moving amount per load side rotation Reference...

Page 164: ...8 PARAMETER 12 A PARAMETER 11 PARAMETER 13 However the above indicates the number of encoder pulses per reference unit having limiting conditions as follows 0 01 _ T _ 100 You must reconsider the mach...

Page 165: ...eis as shown below by mode Linear 99999999 _ 99999999 b2 O Rotation Positioning range is 0 to parameter 11 set value b2 1 13 regardless of rotating amount Range for one rotation i Position Reference D...

Page 166: ...0 Station No I DG SW 2 Serial Communication 4 Command Table II Reference Method and Outline Reference Input Remarks Station Positioning to a station No STAT_O_NO STATJO_O No provided by parallel cont...

Page 167: ...marked with C when b0 1 J Parameter CURSignal CUR Signal ON CUR L NotTurned No Name ON Side Limit Side Limit CUR H Value CLP Value CLN 34 Current Limit 0 0 0 Value 35 PlusSide Cur Q rent Limit Value 3...

Page 168: ...1 T1 or VI V2 T2 It is constant even if feeding speed changes b3 Speed Limit By setting b3 1 parameter 46 speed limit value becomes effective b3 Set Speed Limit Value Value 0 Max r min in motor specif...

Page 169: ...accel decel Always linear type regardless of operation mode 1 Set the following parameters accordh_g to the accel decel type in each operation mode D Linear Accel Oecel or Parame Operation Mode Simpl...

Page 170: ...nal _ is output rERR or is automatically sent from Servopack in serial commmication For only one axis Detecting operation differs as follows depending on operation mode Operation Mode Detecting Operat...

Page 171: ...eference Method b2 Set Value 0 1 2 4 Station No DG SW Serial Communication Command table 0 Selected by DG SW Serial command Speed parameter at SPD x tab e contact D 1 Speed reference setter can be sel...

Page 172: ...ted by parameter at contact meansto select parameter setting ist speed to 4th speed by speed select signals SP2ND and SP3RD Refer to the description of parameter 4 Zero point Return Set b4 i so that p...

Page 173: ...alue Not used Parameters 43 and 44 setting are 0 ineffective Used Parameters 43 and 44 setting are effective b3 Pulse Reference Set togetherwith parameter 63 according to input pulse signal Input form...

Page 174: ...e difference reference unit bet ween current position and aimed position is less than the value set by parameter 45 NEARsignal is output In serial communication _ is automatically sent b60T Signal Swi...

Page 175: ...Simplified S curve Accel Decel 0 Not used Parameter 76 setting ineffective 1 Used Parameter 76 setting effective Function Selection Set to 1 when parameter 72 function is to be effective Normally set...

Page 176: ...er parameter Effective motor FWD run value between 17 bO 1 by parameter set turning ON value and motor CURsignal Limit minus side current maximumcurrent 36 Minus Side Current Limit activation current...

Page 177: ...eter 14 bl 1 ceeding the set value results in infinite positioning mode a position reference fault error Effective by parameter 18 bO i setting When the position ref erence value is out of the fol low...

Page 178: ...8 TO 1000 UNIT ms EXPONENTIAL ACCEL DECEL BIAS SPEED RANGE 0 TO 240000 UNIT 1000 REFERENCE UNIT MIN 49 Zero point Return 0 Zero point return mode I Homing Mode Decel LS and C pulse used 1 Zero point r...

Page 179: ...e Signal Set bO 1 when outputs of PO to P4 are used as zone signals bOSet Value Zone Signal 0 NotUsed D 1 Used bl Station Near Set to bl 1 so that NEAR signal can function as station Signal near signa...

Page 180: ...to 0 b5 Normally set to 0 b6 Position Set to b6 1 to change the specifications of positioning completion Completion signal COIN 5CN 5 Signal Change b6 Set Specifications of Positioning Completion Sign...

Page 181: ...r is used set to parameter 20 hi l Indicator Decimal bl decimal point which is indicated by value set by parameter 67 lights Point Position and 7 6 5 4 3 2 1 0 DG SWShift Digit _ _ Number External pos...

Page 182: ...data are sent Monitor data are Change repeatedly from Servo sent only once from pack Servopack 76 Simplified 20 b3 1 Set accel decel speed in simplified S curve accel decel S curve Accel control toget...

Page 183: ...idth is set Setting range 24 to 2000 ms More than 24ms is needed for Servopack to read the data Therefore set a value added with 24ms to a time required to send the data at reference setter _sequencer...

Page 184: ...displayed in the data display section Table 9 1 LED Indicators Display HR i _ BAB IJR _ _ BB Conditions at Lighting Specifications Power Supply MAIN red Voltage remaining in Servopack DC Display main...

Page 185: ...0 _ t Overcurrent d tCb 2 Circuit protector trip 3 _ 3 Regenerative error D _ n q Overvo1tage g g 5 OS 5 Overspeed S uu I_ l_lain circuit power supply error Servopack power circuit is base t_ q DL q O...

Page 186: ...ked by LED block on the panel Table 9 3 shows the signals indicated by LED blocks according to SWsetting The table below shows 0 signal status At LEDLighting At LEDExtinguishing Contact input Open Clo...

Page 187: ...9 8 1 and 5CN Pin No RST DR1 DRO MCCW MCW MAN ZRN CUR 29 28 27 26 25 24 17 16 2 1 44 43 42 41 40 32 31 30 3 1 49 48 47 46 45 LPG PULS SP3RD SP2ND Signal Name PGPulse Reference Pulse 5 and Input Pu I s...

Page 188: ...te and axis address do not have to be set for any reason other than setting change once set at test run Operation section Servopack panel face SW1 to SW3 are digital switches rotated by a small size s...

Page 189: ...ress Configuration lO digit set l digit set ring ring 1 axis control Setting not 0 D needed Multi axis control Setting not Any number of 2 to 9 axes needed i to 9 group designation not performed Multi...

Page 190: ...machine zero point can be set by switches on the panel in addition to serial communication Operation section Servopack panel face SW1to SW3are digital switches rotated by a small size screwdriver _ _...

Page 191: ...SW2 SW3 7 0 0 Lower toggle switch to WRside Return to neutral _ blinks Set SW1to SW3as shown below SWl SW2 SW3 7 7 7 Q Lower toggle switch to WRside Return to neutral _ blinks Set SW1to SW3as follows...

Page 192: ...Table 9 6 3 MODE _ OS uu Machine zero point setting See Table 9 7 4 MODE _ SS n n uu Serial communication Setting See Table 9 8 5 MODE _ b q Monitor data display SeeTable 9 9 6 MODE D _ 0 Input signa...

Page 193: ...isplay Exchange parameter Whenparameter No Whenparameter No with parameter is displayed No is dis C_ 0 t PARAMETER No l data display played Machine zero point Alarm status setting mode is enter initia...

Page 194: ...TS after the setting I Isl lSlSl UPPER 4 DIGITS In the above figure the blinking digit changes as shown below 7 Same as serial command ZEROSET nnnnnnnn Table 9 8 Serial Communication Se_ingMode NO DAT...

Page 195: ...ormands MONI to NON6 I s 6 _ lB I LOWER 4 DIGITS I Table 9 10 Input Signal Status Display Mode I NO DATA L MODE _ I HOME SE_I signal display Exchaugeinput input signal Wheninput Input No When No signa...

Page 196: ...UT Alarm record display _ J SIGNAL1 mode is entered Alarm status intial status OUTPUT When output signal is displayed SIGNAL2 data is displayed gn gj t OUTPUT Bxchangeoutput signal _ SIGNAL 3 data upp...

Page 197: ...er phase g signal A2 PC Phase C for lucre Phase C signal of incremental encoder mental encoder Phase Z signal of absolute encoder Phase Z for abso lute eneoder Notes 1 Check terminals can be observed...

Page 198: ...ue reference is selected when power Supplyis turned on MU i Torquereference MU 2 Speed reference 2 Accuracy lO_ 3 S bit 9 A converter is used Output may have 1 bit ripple Pin Signal Name OutputVoltage...

Page 199: ...ils and nameplate data 10 2 INSTALLATION 10 2 1 Servomotor AC Servomotor can be installed either horizontally or vertically 1 Before mounting Wash out anticorrosive paint on shaft extension and flange...

Page 200: ...easure the gap between the straightedge and coupling halves at four equidistant points of the coupling The each reading should not exceed 0 03 mm 0 0012 in Align the shafts _ Measure the gap between t...

Page 201: ...orable atmospheric conditions Select a location with minimum exposure to oil water hot air high humidity excessive dust or metallic particles 3 Mounting Direction Type HR BAB r L JL J L JLoJ D Mount t...

Page 202: ...following precautions Place the noise filter Servopack and I 0 reference as near as possible to each other Make sure to mount a surge absorbing circuit with relays electromagnetic contacts and solenoi...

Page 203: ...ance work This unit should never be used in a place which is exposed to corrosive liquids or gases such as acids and alkalis as well as inflammable and explosive gases Check to be sure that the SEffVO...

Page 204: ...ency stop at any time 11 2 1 Test run Preparations 1 Servopack Initial Setting Baud Rate Axis Address Setting a Servopack Type HR 71 _ BAB _ Baud rate or axis address does not have to be set for any r...

Page 205: ...ress Axis address Configuration lO digit set 1 digit set ting ring 1 axis control Setting not 0 needed Multi axis control Setting not Any number of 2 to 9 axes needed 1 to 9 group designation not perf...

Page 206: ...vopack Type HR BB Baud rate or axis address does not have to be set for any reason other than setting change once set at test run Operation section Setting and display parts o _ e _ o_ _oo _o_ _ r CZ...

Page 207: ...0 1200_9600 cyc 1ic Depress SW4 _ until desired value is displayed Depress SW6 HOME SET Baud rate setting completed DepressSW3 NO DATA I 55 uunr_ DepressSW4_ _ S_ _ u DepressSW3I NO DATA r_ e_P Axis a...

Page 208: ...By serial communication parameter operation commandsare sent from the master controller For Servopack Type HR _ _2BB setting can be performed by using Servopack setting display section Refer to Par 9...

Page 209: ...56 37E _ 46 30A 26 05C _i 2 36 05D 2 66 05C _i 2 76 44B 2 7 44C 2_ 17 44A 2 57 47 27 07C _ 2 I 37 67 07C _ 2 77 USk_D s 18 58 48 2s 38 68 _8 60B _ 2 9 19 59 49 29 39 69 79 Eucoder Purse Bacoder Select...

Page 210: ...t connectors in their original position Turn on the Servopack control power supply with absolute encoder connected to the Servopack At this time when 7 SEfi LEDdisplay is _ setup is completed If ABSO...

Page 211: ...LED green lights D 2 Motor Operation Check 9 power circuit operates by sending serial command _ to enable the Servopack Servopack 7 SE6 LgDIALARM indicatorchanges from to _ _ for TypeHR i _ BB _ Rotat...

Page 212: ...l traveling distance to 0 for zero point _l return _ Set the distance between zero point return complete position and machine zero point or reference station number at parameter 54 Q Move the machine...

Page 213: ...eration Method ALARM Lighting J Set toggle switch M0 neutral WR in neutral status blinkS Set SWIto SW3 as shownbelow SW_ SW2 SW3 7 0 0 Lower toggle switch to WRside Return to neutral D _ blinks Set SW...

Page 214: ...on mode Proce dures Operation Method Display Q DepressSW3 NODATA 1 qL nn UU Depress SW5 MODE D twice until the display shown _S nn UU on the right is obtained Depress SW3 NO DATA uou _ r_ n n n Depres...

Page 215: ...anges the cutoff frequency fc GAIN LARGE _ INERTIA SMALL I FREQUENCY f _z 0 fe J_ Motor inertia J Reflected load inertia f J J_ x J 5 Cutoff frequency fc parameter 2 Hz O Parameter x 1 Set value is 20...

Page 216: ...When considerable Kp value is occurs required and overshooting must F V be avoided increase accel STARTREF Decrease Kp set value gradu decel time parameter 5 t ally value oi or Increase Kv set value...

Page 217: ...tor from Servopack Oil Seal Every 5000 hours Replace oil seal Overhaul Every 20 000 hours If worn or damaged replace after disconnecting or every 5 year the motor from the driven machine 11 4 2 Servop...

Page 218: ...acitors on PC board inspection Note Optimum operating environment is as follows Ambient temperature 30 C on average Load factor 80_ or less Operating rate 20 hours or less per day 11 4 3 Battery Repla...

Page 219: ...start _Wtng _V_ifl n q D Motor overheats Excessive ambient Reduce below 40 oC temperature Motor dirty Clean motor surface Overload Reduce load or use a larger motor Unusual noise Motor loosely mounted...

Page 220: ...o point When Absolute encoder improper Correct wiring occurs wiring fre Connector contact fault quent ly Absolute encoder fault Replace motor SERVOPACK fault Replace SERVOPACK _ Occurs when control po...

Page 221: ...supply is applied REGENERA Whenoccurs again replace D TIVE SERVOPACK ERROR Occurs in apporox 0 5 to SERVOPACK fault Replace SERVOPACK 1 second after main power is applied I 71 Occurs when control powe...

Page 222: ...8 to suitable setting value for the encoder _ Occurs whencontrol power Using an incremental encoder Changeparameter 9 to 1 is turned on POSITION Improper encoder pulse rev Changeparameter 8 to suitabl...

Page 223: ...rol power supply When occurs again replace SERVOPACK Occurs when control power SERVOPACK mulfunction or fault Cycle the control power supply is applied HARD ERROR When occursagain replace Occurs when...

Page 224: ...ing value for the encoder Improper motor wiring Correct wiring Improper encoder wiring Correct wiring _ Occurs when control power Parameter data fault Verify parameter value and is applied Whenerror p...

Page 225: ...Type Class Contactor HRO3BAB12 03 _ 1 1 0 7 LF 215 15A YASKAWA Type HI 15E2 30A HRIOBAB 06_ 1 2 1 8 or equivalent 09B 2 LF 315 15A HR15BAB 12B _ 2 3 1 10 HRO3BB 03_ _2 1 0 65 5 LF 305 5A 06 1 1 5 8 G...

Page 226: ...0 HR2OBB 20C 2 4 1 12 LF 320 20A HR3OBB 30C _ 2 6 0 18 LF 330 30A HR44BB 44C _ 2 8 0 24 LF 340 40A Table 12 3 Combination of Servopack Servomotor G Seriesand Peripheral Devices Current Recommended Pow...

Page 227: ...330 30A or equivalent HR44BB 37E _1 8 0 24 LF 340 40A Table 12 5 Combination of Sewopack Se_omotorS Seriesand PeripheralDevices AC Current Recommended Power Servopack Servomotor Power Capacity Applic...

Page 228: ...IOA HRA5BAB11 A5D7 _ 2 0 3 _ 5 LF 205A 5A HROIBABII OlDE_ 2 0 5 HRO2BABII 02D_ 2 0 75 8 LF 210 IOA HRO3BABII 03D_ 2 1 0 ii LF 215 15A HRO5BAB11 05D_ 2 1 4 15 LF 220 20A Table 12 7 CombinationofServop...

Page 229: ...4 0 157 DEEP White White Black 2 10 9841 Max Ambient Temperature 60 C 100VAC Internal Circuit 200VAC Internal Circuit DmODE I BRIDGE DIODE BLUE_ SURGE _ _T _ RED YELLOW SUPPRESOR lIP 4x I I RED ACSIDE...

Page 230: ...YO FUSE CO LTD CircuitDiagram POWER _ Notes l Do not short circuit between output terminal Nos 3 and 4 2 The rated current of the contact used for Nos 5 and 6 is 5 to 10 times the rated current of the...

Page 231: ...PE JUSP RA03 For Sarvopack Type CACR HR60BB 220 8 661 37 1 457 t I o _ 10 I 200 7 874 I _11 _ _ I1 o_ ROTEOTIVEI I _1 N COVER t r4 I F CEMENT RESISTOR o _ 140WX 3Q TY 25_ TERMINAL 6P 4 7 0 28 DIA WITH...

Page 232: ...sX 0 5G 10 to 55Hz resistance Shock resistance 19 6m sZ 2G Number of display digits sign indication and 8 digit number Connecting method Serial communication connected to connector 4CNof CACR HR Note...

Page 233: ...4 5 0 177 DIA MTG HOLES t P_ _ 127 51 142 5 591 Mounting Dimensions A I _ i I I t I L _ _ 3 4 1 57 6 181 125 4 921 _1 138 5 433 Surface processing Electrodeposition coating N1 5 in Munsell notation bl...

Page 234: ...t digit digit digit digit digit Speed reference data BCD6 BCD6 BCD4 None digit digit digit Operating temperature 0 to 55 Storage temperature 20 to 80 C Vibration or shock Vibration resistance 4 9m s_...

Page 235: ...position N1 5 in Munsell notation black Approx Mass 0 3kg 0 71b Type MCIF D40 D60 D80 CONNECTOR FOR CONTROLLER MR 25RMD2 I F 4 3 6 0 14 DIA _ MTG HOLES 98 3 86 F u u u LI LJ I I U L IU Mounting Dimens...

Page 236: ...N Dry contact and transistor open collector input Position data 1CNconnector 24 V _ 3k_ 3 3k 3 Speeddata 2CNconnector INPUT TERMINAL___ C_ __ Connecting method Connect 3CN to CACR HR 5CN 2 Dimensions...

Page 237: ...o _ ol28 1 POSITION o _ 1 21 8 o Ol 29 I DATA ____ 122 104 ____ 123 90 _ Ooii3031 Ii 124 10 O DS122 OI32 I 125 11 0 126 12 o _ OI40 1 127 13 O D D _25 o 41 I 0142 10s 128 14 O DSI26 OI43 I 129 15 o D...

Page 238: ...C Storage temperature 30 to 70 C 0perating storage 20 to 80 RH humidity Vibration or shock Vibration resistance 4 9m s2 O 5G lO to 55Hz resistance Shock resistance 19 6m s2 2G Connecting method Connec...

Page 239: ...3 Dimensions in mm inches 30 57 2 24 TERMINAL NP _ PACKING _ 0 2 3 M MTC _ REWS 0 0 03 LONe Drilling Plan for anel cut 62 2 44 Note Receiver IC is AM26LS32C HOLES _ __ L_ 3 _5 0 20 237...

Page 240: ...METHOD _ JZSP CC012 j _ _ I 5CN _ _I _ _ O OPERATION SIGN _I POSITION REFERENCE _ _ SPEED REFERENC _ ETCJ JZSP CC009 _ L _ _ FOR DG SW METHOD _ r_ OPERATION SIGNAL _ _ _J CL NTACr INPUTUNIT I I JZSP...

Page 241: ...ic symbols Total 195 types Cursor display method Blinked block Status display 4 LED lamps Alphabet small let ters mode red On line mode orange Edit mode green Transmission mode yellow Backup battery c...

Page 242: ...or buffermemorybackup Reset key I key Key inputcode type JIScodemode 192 types ASCII code mode 128 types Function keys For 5 keys Max 64 code train registration possible per key 4 Interface Using code...

Page 243: ...stem side connector D sub 25pins Removablefrom the main body Standard 2m 78 74in long type PEC893 02 7 Operational Environment Environment Shockproof dustproof and noise resistant specifications in st...

Page 244: ...INEDISPLAYLED DISPLAY SECTION MALLLETTERMODEDISPLAYLED RUBBER SUPPORT _ _ BATTERY CHECK RESETKEY DISPLAY LED BATTERY CHECK KEY _ QDN N mD DD s s _ I ND NAMEPLATE 9 r 3 r nj SHIFT KEY MAIN BODY SIDE CO...

Page 245: ...for at times setup information or files may disappear Key Operation Do not depress _ simultaneously with other keys Depress _ key and release it before depressing another key Depressing _ key changes...

Page 246: ...data See next 4 Set the setup data as the following I__ page procedure _ ends the setting 0 _ _ COM is selected Data to be set COMMUNICATION SPEED 9600 bps COMMUNICATION 9600 bps SPEED CODE PARITY ST...

Page 247: ...T F3 SET UP F4 TEST Display 1 Using method when connecting with Servopack Turn on the Servopack control power supply Operation Description MENU FI TELCOM F2 TEXT F3 SET UP F4 TEST Display 1 1 _ _ Sele...

Page 248: ...y all parameter display I_ 1 Unused parameters No 21 and D _ o above arenot displayed Check by all position table display 2 The amount of over operation _ _ _ can be checkedby using Check by all speed...

Page 249: ...file Display 6 _ sends the data Completes when the cursor comes under File Name after buzzer rings _ _ Returns to Display 4 Personal Computer File exchanging method with IBM PC AT or 100 compatible PC...

Page 250: ...UP 3 Displayed setup mode SETUP MODE Set by using the following keys FI COM F2 DISPLAY F3 KEY F4 RS232C _ selects an item to be set F5 MENU _ sets data See below 1_ ends the setting 4 Set the setup d...

Page 251: ...D No _ _ Returns toMENU MENU FI TELCOM F2 TEXT D F3 SETUP F4 TEST Display 1 PFS03 _ Personal computer 0 Personal computer side COPY A COMl personal computer side filename 0 PF803 side Sameas sending t...

Page 252: ...Semi standard W 1024 P RJ Drawing 2 USAMED 12Bf j2 to 44Bf j2 Straight Shaft LT I M 2 M8 SCREWS FOR EYEBOLT LG LE LR OPTICALENCODER MOTOR LC _ _ S 81 _ 4 LZ Detail of Shaft Extension Notes I Plug and...

Page 253: ...8 230 13 5 42 _0_s 110 I 6OB _2 3 31 50 27 17 4 33 18 74 22 95 4 84 5 87 3 62 7 87 r4 5 0001 7 08 0 13 0 71 9 1 0 53 1 6535_8_ 4 33 71 156 5 _ For servomotor of 6kW K is used instead of E because of e...

Page 254: ...I I 153 0406 I 6 lo_ _ oz_l OPTICAL ENCODER MOTO E LC I_ 0 P1 25 _ _ SECTX X Notes For 05CSl 09CSl For 13CS2 1 Plug and clamp are not attached for receptacle connection Detail of Shaft Extension 2 Key...

Page 255: ...13 5 35 _01 76 30C 2 3 15 79 12 68 10 55 3 11 2 13 902 11 57 4 85 5 47 3 62 7 88 4 5 _0 7 09 0 13 0 71 9 06 0 53 1 3379 8_ 2 99 29 63 9 486 407 353 79 54 314 379 123 139 92 200 114 3 _ 180 3 2 18 230...

Page 256: ...12 0472 OP FiCAL ENC MOTOR t C LE LC u__ 01968 _ o _ _ m _ SECT X X KB1 TAPER1 10 KB2 For 05AS1 09AS1 For 13AS2 Detail of Shaft Extension Notes 1 Plug and clamp are not attached for receptacle connect...

Page 257: ...0 13 5 35 _m 76 3OA 2 3 15 79 12 68 10 55 3 11 2 13 9 02 11 57 4 85 5 47 3 62 7 88 4 5 __ 7 09 0 13 0 71 9 06 0 53 13379 _ _ 2 99 29 63 9 44A _ _2 486 4 7 353 79 54 j 314 379 123 139 92 200 114 3 4m 1...

Page 258: ...ight Shaft With Key AC Servomotor Shaft Extension _ _ Type USADED S Q QK T U W 22 o c 3 50 45 6 3 5 6 _ _ _ O5E 2K _ _ 0 8661_o cx_s 1 97 1 77 0 236 0 138 0 2362 10Ef 2Kf_ 22 3 50 45 6 3 5 6 __ 0 8661...

Page 259: ...8 66 0 157 0 63 1063 053 M8 1 25 ___0006 2 36 86 79 4 Not provided with an eyebolt Note Dimensions above are applied for servomotor w wo holding brake as well Approx mass in is for servomotor without...

Page 260: ...not attached for receptacle connection 2 Motor should be mounted with connectors down 3 t in the models are as follows according to types of the encoder P R Standard S 8192 P R Semi standard W 1024 P...

Page 261: ...0 41 0 63 0 83 P125 0 169_ o 0 1968 0 1968 19 21 M10 5 8 1 5 5 15A _ _1 3 01 78 2 18 0 25 01 42 1 041_ 0 75 0 63 P125 0 228_0004 0 968 0 1968 30A _ 1 3 20 36 32 14 12 5 22 24 M12 6 6 o _ 6 6 0 79 1 4...

Page 262: ...2 52 LM 0 12 3 4 _6 4 _0 24 ENC DER _ i 0 3 _ _ _ _ 1 _ 4 o 5sl L JI Drawing Servomotor L LL LM S LB Approx Mass No Type USAREM kg tb A5 C S2K 169 139 54 8 _o oo9 50 o o25 1 5 3 3 6 66 5 48 2 13 1 186...

Page 263: ...0V USAREM O5DS2K 500W 100V 223 8 78 183 7 20 40 1 57 1 q 64 2 52 119 4 69 _ 3 0 1_ g _ __ NAME_ 202_ 0 20 4 4_o 35 c_ D USAREM 07CS2K 700W 200V 246 9 69 206 8 11 _ 40 1 5__1 2 52 _42 5_9 _ 3_1 2 __ 10...

Page 264: ...Sunk keys andtheircorresponding keyways close 03 _j S2K MS3102A20 MS3108B20 12A 18 10P 18 10S 10A keys Parallel key hasbeenattached Tolerance 05 _ S2K 29P 29S MS3102A MS3108B MS3057 of keywayisprecis...

Page 265: ...s the samedimensions as standard servomotor Details of shaft extension are shown below Dimensionsin mm i_hes i LR Without With Brake Type Brake Type LR LE LJ LK S LB Oilseal 3 0 1 18 USkREM USAREM _ 1...

Page 266: ...Io _ __ I M TAPPED HOLE _ _ ENCODER _ a LEAD 1 _ 350 5o 13 78 _1 97 0 51 MOTOR LEAD 350 5o 13 78 197 9 Drawing 2 USAPEM 05CW2K 07CW2K Straight Shaft With Key L m LL _ o _ o1157 i _3 I _ 9 L M 11 57 D1...

Page 267: ...gram Flange surface 0 04 perpendicular to shaft _ 0 0016 ___FW_ Flange diameter 0 04 IIL _ concentric to shaft _ 0 0016 0 02 Shaft run out 0 0008 I T I R Total Indicator Reading CONNECTOR SPECIFICATIO...

Page 268: ...SAMED 1 2Bi j2 to 44B_ _j2 Straight Shaft 1 u_ LR I LT I M OPTICALENCODER L_ __ _ 4 I KB2 i Detail of Shaft Extension Notes 1 Plug and clamp are not attached for receptacle connection 2 Motor should b...

Page 269: ...8 74 21 65 4 84 5 87 3 94 7 87 4 5 __ 7 68 0 13 0 71 9 1 0 53 1 65 35__0_ 4 33 71 156 9 _ For servomotor of 6kW K is used instead of E because of externally fan cooled type f Not provided with an eyeb...

Page 270: ...18 07_ 1210472 6 0236 1410551 103 0406 LT 6 0236 4 01 ER1 10 Notes For 05C21 09C21 For 13C22 1 Plug and clamp are not attached for receptacle connection Detail of Shaft Extension 2 Key and keyway com...

Page 271: ...3 15 79 12 68 10 55 3 11 2 13 9 02 11 57 4 85 5 47 3 62 7 87 4 5 __1 7 09 0 13 0 71 9 06 0 53 t3779 _ _ 2 99 29 63 9 486 407 353 79 54 314 379 123 139 92 200 114 3 __ 180 3 2 18 230 13 5135 _0_ 76 44C...

Page 272: ...per Shaft 1 3Ai j2 Straight Shaft OPTICALENCODER MOTO_ I ZDIA_ _i _ For 05A21 09A21 For 13A22 Notes Detail of Shaft Extension 1 Plug and clamp are not attached for receptacle connection 2 Key and keyw...

Page 273: ...3 15 79 12 6_ 10 55 3 11 2 13 9 02 11 57 4 85 5 47 3 62 7 87 4 5 o 7 09 0 13 0 71 9 06 0 53 1 3779 _ 76 299 29 63 9 44A r _ 2 486 407 353 79 54 314 379 123 139 92 200 114 3 o 180 3 2 18 230 13 5 35 o...

Page 274: ...ght Shaft With Key AC Servomotor Shaft Extension _ Type USADED S Q QK T U W 22 o 3 50 46 6 3 5 6 05E _ 2K 0 8661 _o o_ 1 97 1 77 0 236 0 138 0 2362 22 o oo_3 50 45 6 3 5 6 __ l_ p l _sl IOE 2K j 0 866...

Page 275: ...7 87_ roT IB66 0 157 0 63 1063 053 1 2 6 m3r_ 2 28 86 79 4 Not provided with an eyebolt Note Dimensions above are applied for servomotor w wo holding brake as well Approx massin is for servomotorwith...

Page 276: ...f_ _ in the models are as follows according to types of the encoder P R Standard 3 2048 P R Semi standard 4 2500 P R Drawing 2 USASEM 08A I1 15A _ i1 30A 11 Taper Shaft L KB1 _ _ _ x _ SECT a a _ 10...

Page 277: ...0_4 5 12 0 24 0 47 6 5 0 35 071 1 1 066 047 041 0 75 0 86 P125 0228 _ 0 i9_ 0 1968 3OA_ 1 374 304 240 5G 70 2_6 276 135 87 2 i0 114 3 0_ 180 6 18 230 13 5 I 20 66 32 t4 12 5 22 24 M126 6 o 6 6 14 T2 1...

Page 278: ...ll 12 5 I 75 2 95 1 77 0 49 l 100 3 94 CACR HRO5BAB11 CACR HRIOBAB to HR15BAB CIRCUIT PROTECTOR BATTERY 4d_o2 _ A Approx __ Type Mass ALARM CACR HR kg Ib DISPLAY_ 0000000 0000000 0000000 10BAB 5 7 12...

Page 279: ...60 6 30 MA_ z _ 1 _ _ Approx Mass 9kg 19 91b _ _ _ _ 41 _ f _ _E i CACR HR44BB CACR HR60BB 2 _7 0 28 DIA MTG HOLES _ _ r il 0000 III _g_ATIVE _ I_E_IR I CIRCUIT B B BREAKER_ i _ 10 M4 SCREW _ _ II_ TE...

Page 280: ...hecking method When it is required for YASKAWA to set parameters before delivery fill out your machine configuration and specifications sections D and the required items in Par 14 7 and contact your Y...

Page 281: ...er kW Supply Max RatedSpeed Cont inuous Speed of Output Current Movab1e Sect i on r m in i 7i Total Max Speed Max Ou tput Deceleration Rate i r rain Current Load Moving Amount per Load Used Speed Shaf...

Page 282: ...e e e e o e i e o e e e e o o e e e e 6 e e e o o o e 6 e_i o e e e e_e e e e e e e e e t e e e e i i 6 _ u _ 1 i i j e j i e t o e i eLl e e e e e Q e e e e e e_O e e e I e_e e e e_e e re o u u e e...

Page 283: ...CW bl Finite infinite O finite 1 infinite positioning mode b2 L inear rotatingmotion O linear 1 rotation b3 Position reference mode O absolute 1 incremental I b4 Position data code O binary 1 BCD 15 P...

Page 284: ...used 1 used Accel Decet b4 Pr72 function setting O not provided 1 provided b5 Pr65 function setting O not provided I provided b6 Pr66 function setting O not provided 1 provided 31 FeedingSpeed 2ndspee...

Page 285: ...Selection 6 0 to llllllll bO O I0 bl O b2 O b3 0 b4 St_tioo No output O not extend l extend extension b5 0 b6 O __ bT Servopack axis address O not provided l provided 67 External Position Indicator D...

Page 286: ...56 37E _ 46 44B 2 7 44C _ 2 17 44A _ 2 57 47 t J L J L J USAMKD 60B _ 2 8 18 58 48 S Series R Series For 200V R Series For IOOV P Series Motor Type Code Motor Type Code Motor Type Code Motor Type Code...

Page 287: ...nite positioning Pr14bl O Total reduction ratio Prl3 Prl 2 Motor rotating direction when load moves in plus direction viewed from load side CCW Pr14bO O CW Pr14bO l Reference unit minimum h mm positio...

Page 288: ...l Manual Prl7b2 O Prl7b2 l Prl7b4 O Prl7b2 O Prl7h2 l Pr2Oh3 l fPrl7b2 Pr2Ob3 Mode Setting are J Prl7b4 O Prl7b4 O Pr2Ob3 l Pr69 O Pr69 O Pr69 O _not required Pr70 l Pulse Pr68 Pr68 Pr68 Prl7b2 O Prl7...

Page 289: ...ing not required Position Station No DG SW Input Serial Communi Co and Table Speed _ Input cationInput No Input p Reference Prl8 P_61 Pr62 Prl8 Pr61 Pr62 Prl8 Pr61 Pr62 Prl8 Pr61 r62 Contact b2 0 i _...

Page 290: ...used Pr18b4 O Pr49 to 54 setting not required Used Pr18b4 1 __ Pr F3 _o_II Mode I LS C_ pulse STPsignal Pr49 0 Pr49 1 ZERO POINT RETURN FEEDING SPEED i ZERO POINT RETURN APPROACH SPEED ZERO POINT RET...

Page 291: ...Speed limit Not used Prl7b3 0 Pr46 setting notrequired Used Prl7b3 l mm min Speed limit value inch min Pr46 Speed lO00 A Software overtravel Fixed Pr18bO O Pr40 41 setting not required Parameter sett...

Page 292: ...used Prl8bl O Pr42 setting not required Used Prl8bl l Compensation value 6 mm inch Pr42 Pr42 6x32768x Prl2i AxPrll Prl3 _ Pulse output Not used Pr19b4 O Pr64 setting not required Used Pr19b4 l _ Divid...

Page 293: ...entunon Court Brick Close Kiln Farm Milton KeynesMK11 3JA United Kingdom Phone 44 1908 565874 Fax 44 1908 865891 YASKAWA ELECTRIC KOREA CORPORATION PaikNam Bidg 901 188 3 1 Ga Euljiro Joong Gu Seoul K...