AC Servo Motor and Driver
DV0P4490
Content
Driver Motor Console
Example of Incremental Operation Setting
Example of Absolute Operation Setting
Example of Rotary Axis Operation Setting
Example of Dwell Timer Operation Setting
Operation Timing after Power-ON
When an Error Alarm Has Occurred at Servo-ON Command
When an Alarm Has Been Cleared at Servo-ON Command
Configuration of Absolute System
Supplement
Page
Before Using the Products
Driver Motor Console
Do not put your hands in the ser- vo driver
Before Using the Products
Do not give strong impact shock to the Product
Observe the specified voltage
Type Cycles Items to be inspected
Maintenance and Inspection
Inspection Items and Cycles
Smoothing capacitor Approx years Cooling fan To 3 years
Guideline for Parts Replacement
Product Component Standard replacement Cycles hour
Introduction
Outline
On Opening the Product Package
Check of the Driver Model
Specifications
Check of the Motor Model
Pulse count
Round
Incremental Specifications, 2500P/r
Check of the Combination of the Driver and the Motor
Absolute/Incremental Specifications, 17-bit
MADDT1207P Single phase, 200V, 200W A-frame
Parts Description
Driver
B-frame
MEDDT7364P 3-phase, 200V, 2.0kW E-frame
F-frame
Motor
Low inertia type Msmd series, 50W
Display/Touch panel
Console
Main Body
How to Install
Installation Place
How to Install
Environmental Conditions
Mounting Direction and Spacing
Fan
Or more
40mm or more 100mm or more
Oil/Water Protection
Stress to Cables
Permissible Load to Output Shaft
Remarks
How to Connect
Connect to CN
Wiring to the Connector, CN X3
Preparation
Pin RB1 6-pin, RB2 4-pin, RB3 5-pin
System Configuration and Wiring
Overall Wiring Connecting Example of C-frame, 3-phase
Connection to encoder
Wiring to Connector, CN
Connection to host controller
Overall Wiring Connecting Example of E-frame
Connection with input power supply Remarks
Pin P, B1 and B2
Connection to external components
Connection to motor driving phase and ground
Filter Absorber For signal Contactor
Driver and List of Applicable Peripheral Equipments
Noise Surge
Cable Driver
For signal contactor
Noise
Filter
Cable
Wiring of the Main Circuit a to D-frame
Tips on Wiring
Connect L1 and L1C, and L3 and L2C at single phase
Connect pin 3 of the connector on the driver side with pin
Wiring Diagram
Case of Single Phase, 100V a and B-frame
Case of Single Phase, 200V a and B-frame
Case of Single Phase, 200V C and D-frame
Wiring of the Main Circuit E and F-frame
24V DC power supply for brake Surge absorber Fuse 5A
Case of 3-Phase, 200V E and F-frame
Wiring method to connector a to D-frame
Using Handle Lever
Using Screw Driver
Wiring to the Connector, CN X6 Connection to Encoder
Msmd 50W to 750W MAMA100W to 750W MQMA100W to 400W
Msmd 50W to 750W Mama 100W to 750W MQMA100W to 400W
Wiring to the Connector, CN X7 Connection to External Scale
Wiring to the External Scale, Connector, CN
Application Connector Content PinNo
Remark
Specifications of the Connector, CN
For detailed information, refer to P.42 to
Manufacturer
Part name
Wiring for Connector CN
12 to
Output Circuit
Interface Circuit
Input Circuit
List of Signal for Connector CN
Common input signals
Application Code
Function
Emergency stop input must be installed before using
Ex When SV.Pr57 = 3 6 bits is set
Point No P32INP16INP8IN
Description
Common output signals and their functions
Output signal pulse train and function
Not-synchronized
Others
Synchronized
Initial Status of the Front Panel Display 7-Segment LED
Setup with the Front Panel
Composition of Touch Panel and Display
SV.Pr08
Output Signals Analog and Their Functions
Application Code Function
Connecting Example
Output Timing of BRK-OFF Signal
12 to 24V V DC COM Power supply Fuse For brake
Built-in Holding Brake
Specifications of Built-in Holding Brake
Engaging Releasing
Series Output Torque X10-4 Time
Voltage
Sequence at main Driving condition Power-off SV.Pr67
After stalling Setup value of SV.Pr67
Contents of deviation counter Clear Hold
Dynamic Brake
Contents of deviation counter Hold
After stalling
Memo
Setting
Outline of Setup Support Software, Panaterm
Auto-Gain Tuning Mode
Outline of Panaterm 103 How to Connect
Parameter Setup
How to Set
How to Connect
Outline of Parameter
This document, following symbols represent each mode
Composition of Parameters
Servo parameter
Bit positioning parameter
Power -ON
Function/Content PrNo Range
List of Servo Parameter
Parameters for Functional Selection
Function/Content PrNo
Unit Function/Content PrNo
Setup value Signal of IM
Baud rate Setup value
Title Setup Unit Function/Content PrNo
Setup value Instantaneous speed observer setup
Caused by distortion resonance Velocity feed
Set the second loop gain for position control
Parameters for Auto-Gain Tuning
Servo Title Setup Unit Function/Content PrNo Range
Unit Function/Content PrNo Range
Inertia ratio
Title Setup Unit Function/Content PrNo Range
Varying degree Auto-gain tuning Load inertia in motion
Setup value Content
Rotational direction
Parameters for Adjustment 2nd Gain Switching Function
Filter mode Setup value
Gain selection/switching
Gain switching condition
Servo Title Setup Function/Content PrNo
Parameters for Position Control
Pulse output resolution=
SV.Pr46 Phase logic Output source
Servo Title
Numerator SV.Pr44 Output pulse ratio 10000
Parameters for Input Signals
Title Setup Function/Content PrNo Range
Smoothing filter You can set the time constant
Time constant
Input logic setting
Point specifying
Parameters for Velocity and Torque Limit
Parameters for Sequence
After stalling Content
Action of main power low voltage protection
Setup Action Deviation counter Value
Sequence at You can set up Servo-OFF
Action delay time tb of the brake
After setting up SV.Pr6a = tb
Setup time, or time lapse till
Remarks
Parameters for Protective function
External resistor but no
Parameters for Full-Closed Control
Unit Function/Content
List of 16-bit Positioning Parameters
Parameters for Motor speed
Parameters for Acceleration and Deceleration
Title Setup Unit Function/Content
Parameters for Homing
Parameters for Jog operation
CCW is a positive direction and CW is a negative direction
Other Parameters
Deceleration in jog
Step Title Setup range Unit Function/Content PrNo
List of 32-bit Positioning Parameters
List of Step Parameters
Console display
Setup of Torque Limit
Model No
SV.Pr5E,5F
Applicable motor Max. value
When the motor torque is limited
When you want to obtain the max. motor torque
How to Use the Console
Setup with the Console
Initial Status of the Console Display 7 Segment LED
Composition of Display/Touch panel
Mode Change
Monitor Mode
Mode switch button
Selection display
Execution display
Position control mode Full-closed control mode
Display of Control Mode
Display of I/O Signal Status
Signal No. and its title
Point Number Conversion Table
Reference of Error Factor and History
Alarm Display
Over-load alarm
Over-regeneration alarm
Display of Feedback Pulse Sum, Command Pulse Sum
Switching of the Driver to be Communicated
Display of Regenerative Load Factor
Display of Over-load Factor
Teaching Mode
Overview of Teaching Mode
Teaching Mode Setup
Operation at Selection display
Target position setting
Step parameter setting
Test Mode Step operation
Jog operation
Homing
Parameter setup mode
Structure of Parameter Setup Mode
Step Parameter
Bit Positioning Parameter
How to Use the Console
Digit next to the blinking decimal point can be modified
Servo Parameter
Movement to a high order position is limited per parameter
Eeprom Write Mode
Eeprom Writing Operation at Selection display
Remarks Dont disconnect the console from the driver between
Auto-Gain Tuning Mode
Normal Mode Auto-Gain Tuning Screen
Auxiliary Function Mode
Alarm Clear
Alarm Clear Screen
Absolute encoder clear
Alarm Clear Screen
Then press to make a display to
Clearing of Absolute Encoder
Copying Function Console Only
101
102
Install the Panaterm to Hard Disc
Procedure of install
Connecting cable DV0P1960
103
104
Procedure of log on
Log on of the Panaterm
Operation Settin g
Overview of Operation Setting
Procedure Description
Step Operation
Step Operation
107
Operation mode Description
Example of Incremental Operation Setting
Step Operation Mode
Example of Absolute Operation Setting
Setting of 16-bit positioning parameter
Setting of step parameter
Wrap around
Example of Rotary Axis Operation Setting
Setting of 32-bit positioning parameter
Control mode
Coordinate is set to
Servo off
Example of Dwell Timer Operation Setting
Setting of step data
Jog Operation
Jog Operation
16.Pr Description
Set the parameters below when performing the jog operation
Parameters related to jog operation
Homing Mode List
Homing is completed when the power supply turns on
Homing Operation
Homing Operation
115
Home Sensor + Z Phase based on the front end
Parameters related to this operation
Positive direction Home sensor
116
117
Home Sensor based on the front end
Positive direction
118
Home sensor + Z phase based on the rear end
Direction of homing
119
Limit Sensor + Z phase
120
Limit Sensor
Example An operation in a positive direction
Direction of homing Positive direction
121
Phase Homing
Bumping Homing
Stopper etc
122
Data Set
Example
Direction of homing Home position = current position
123
Timing chart
Homing Offset Operation
Example of homing offset Homing offset is set to +5000
124
Emergency Stop Operation/Deceleration-and-Stop Operation
Positioning completion output
And-stop
An operation stop in the deceleration time
Restart of operation Same procedure as a step operation
Temporary Stop Operation
Temporary Stop Operation
126
Continuous block operation procedure example
16.Pr54 Description Block operation type setting
Block Operation
Overview of Block Operation
ST.Pr Operation mode
Combined Block Operation
Combined block operation procedure example
Sequential Operation
Sequential Operation
Example of Operation
Homing operation at sequential operation
Shaped Acceleration/Deceleration Function
Example of calculation 2500 p/r encoder
Example Linear acceleration t2 =
Shaped % t2 =
Strobe signal STB
Timing Chart
Operation Timing after Power-ON
T1 *1
When an Error Alarm Has Occurred at Servo-ON Command
To 5 ms
When an Alarm Has Been Cleared at Servo-ON Command
Alarm Clear can be input in the two ways below
Point input P1IN to P32IN CN X5 Pin 3, 4, 5, 6, 7
Multi function input EX-IN1/EX-IN2 CN X5 Pin 22/25
Servo-ON/OFF Action While the Motor Is at Stall Servo-Lock
Servo-ON/OFF Action While the Motor Is in Motion
Servo-ON input
Brake release output
Configuration of Absolute System
Battery for Backup Installation
Absolute System
Overview of Absolute System
Close the cover of the battery box
Reference
Cycles/day
Cycle/day
Setup Initialization of Absolute Encoder
When you make your own cable for 17-bit absolute encoder
Installation Place
Normal homing
139
Clearing Absolute Encoder Using a console
Using the setup support software Panaterm
What Is Full-Closed Control ?
Outline of Full-Closed Control
Preparation for full-closed control
140
Adjustment
Adaptive Filter 147
Instantaneous Speed Observer 160 Damping Control 161
141
Gain Adjustment
Procedures
Purpose
Ball screw
Type
Explanation
Real-Time Auto-Gain Tuning Mode
How to Operate
Outline
Applicable Range
Writing to Eeprom
Setup of parameter, Pr21
Setup of parameter, Pr22
Parameters Which Are Automatically Set
SV.PrNo Title
1st position loop gain Velocity feed forward
1st velocity loop gain Feed forward filter time constant
Adaptive Filter
Invalidation of Adaptive Filter
Normal Mode Auto-Gain Tuning
Conditions which obstruct normal auto-gain tuning
This function works under the following condition
Too small or too big compared to the rotor inertia
Auto-Gain Tuning Action
Table of auto-gain tuning
Title Stiffness value
90108135162 206251305377449
How to Operate from the Console
An arrow shows by pressing
Changes toward the reversed direction
By pressing
Invalidation of Real-Time Auto-Gain Tuning
SV.Pr2F 1st notch frequency Hz
Manual Gain Tuning Basic
Before Making a Manual Adjustment
Analog monitor output
Waveform graphic function of the Panaterm
Adjustment in Position Control Mode
Title of parameter Value How to adjust SV.Pr
Title of parameter
SV.Pr
Adjustment in Full-Closed Control Mode
Setup of external scale ratio
Setup of hybrid deviation excess
154
Gain Switching Function
You want to increase the response by increas
Ing the gain in motion
Example
Setup of Gain Switching Condition
156
Fig.A
Fig. C
Suppression of Machine Resonance
Adaptive filter SV.Pr23, SV.Pr2F
1st and 2nd notch filter SV.Pr1D, 2E, 28, 29 and 2A
Adaptive filter
159
How to Check the Resonance Frequency of the Machine
Relation of Gain Adjustment and Machine Stiffness
Manual Gain Tuning Application
How to Use
Adjustment at normal position control
Setup of instantaneous velocity observer SV.Pr27
Setup of damping filter 1st SV.Pr2C, 2nd SV.Pr2E
Setup of damping filter switching selection
Damping Control
SV.Pr24
162
When in Trouble
163
Protective Function What is Error Code ?
What to Check ?
Host controller
Machine Motor
Protective Function Detail of Error Code
Protective Error Causes Measures Function
Over-heat
Over-load
166
Cation error
Data error
Communi
Cation
Error Causes Measures Function
Down error
Over error
Status error
Limit error
ID setting
Scale auto Recognition Error pro Tection Motor auto
Recognition Error Protection Other error
Time characteristics of Err16 Overload protection
Software Limit Function
This function works under the following conditions
Conditions under which the software limit works
When the load moves to the left at Servo-ON
When no position command is entered Servo-ON status
When the load moves to the right at Servo-ON
Troubleshooting
Wiring
Motor Does Not Run Motor Stops During an Operation
Causes Countermeasures
Installation
Point Deviates Positioning Accuracy is Poor
Home Position Slips
Abnormal Motor Noise or Vibration
174
Parameter Returns to Previous Setup
Causes Countermeasures Wiring
Supplement
Conformity to EC Directives and UL Standards
Permissible Load at Output Shaft/Motor with Gear Reducer
175
Conformity to EC Directives and UL Standards
Composition of Peripheral Equipments
Power Supply
Circuit Breaker
Noise Filter
Option part No
Surge Absorber
Noise Filter for Signal Lines
Ground-Fault Breaker
Grounding
Conformity to UL Standards
Specifications of for Motor Connector
Pin disposition for encoder connector
Pin disposition for motor/brake connector with brake
Pin disposition for motor/brake connector without brake
Table for junction cable by model of Minas A4P series
Motor type Type of junction cable
Junction Cable for Encoder
Title Manufacturer
Junction Cable for Motor ROBO-TOP105˚C 600V DP
Junction Cable for Motor with Brake ROBO-TOP105˚C 600V DP
Junction Cable for Brake ROBO-TOP105˚C 600V DP
Connector Kit for External Peripheral Equipments
Setup Support Software Panaterm
Interface Cable
Communication Cable for connection to PC
Connector Kit for Motor/Encoder Connection
For DVOP2490, DV0P3480 Recommended manual crimp tool
Mgma 2.0kW to 4.5kW
500W to 1.5kW
Mhma 2.0kW to 5.0kW
Mounting Dimensions
Mounting Bracket
Part No. DV0P4420
Upper side Bottom side
Harmonic restraint
Motor Power Rated Series Supply Output
Reactor
Options
Recommended components
Surge Absorber for Motor Brake
List of Peripheral Equipments Reference only
Motor Surge absorber for motor brake
192
Dimensions Driver
Mass 0.8kg
193
Mass 1.5kg
Mass 1.7kg
Mass 3.2kg
194
Dimensions Motor
Mama 100W to 750W
3h9
Motor output Motor model
100W 5A * P1 5A * S1 01 * P1 01 * S1
Msmd 200W to 750W
Mqma 100W to 400W
01 * P1 01 * S1 02 * P1 02 * S1
04 * S1
126.5
Msma 1.0kW to 2.0kW
Msma 3.0kW to 5.0kW
Mdma 1.0kW to 1.5kW
0kW 20 * P1 20 * S1 30 * P1 30 * S1 2500P/r Incremental
Rotary encoder Specifications Without brake With brake
Mdma 2.0kW to 3.0kW
Mdma 4.0kW to 5.0kW
Mgma 900W to 2.0kW
2500P/r Incremental 17-bit Absolute/Incremental
207
13.5
Mgma 3.0kW to 4.5kW
Mfma 400W to 1.5kW
04 * P1 04 * S1 15 * P1 15 * S1 2500P/r Incremental
Mfma 2.5kW to 4.5kW
Motor output 5kW Motor model
25 * P1
Without brake 139
Mhma 500W to 1.5kW
500W 0kW 5kW 05 * P1 05 * S1 10 * P1 10 * S1 15 * P1 15 * S1
Mhma 2.0kW to 5.0kW
Motor At assembly During running Motor output Thrust load
Permissible Load at Output Shaft
Radial load P direction Thrust load a and B direction
Series Radial thrust Direction
With and without oil seal MQMA011 MQMA012
MQMA021 MQMA022
MQMA041 MQMA042
Without oil seal MAMA012 MAMA022
Motor Characteristics S-T Characteristics
Without oil seal With oil seal MSMD5AZ
MSMD011
MSMD012
Without oil seal With oil seal MSMD021
MSMD022
MSMD041
MSMD042
MSMA102 MSMA152
MSMA202
MSMA302
MSMA402
With oil seal MDMA302 MDMA402
MDMA502
With oil seal MFMA042 MFMA152
MFMA252 MFMA452
MHMA052 MHMA102
MHMA152 MHMA202
MHMA302 MHMA402
MHMA502
Absolute/Incremental specifications, 17bit
Motor with Gear Reducer
Model No. of Motor with Gear Reduce
Combination of Driver and Motor with Gear Reducer
Without brake With brake
Dimensions/Motor with Gear Reducer
Motor with Gear Reducer
Brake
Remarks on installation
Permissible load at shaft Motor output Radial thrust
LR/2
220
Supply Reduction Ratio
To driver Output MSMD011 * * 1N MSMD011 * * 2N
100W
MSMD021 * * 1N MSMD021 * * 2N
Block Diagram of Driver
Gate drive
Internal Block Diagram of MINAS-A4P Driver E and F-frame
223
Block Diagram by Control Mode
Position Control Mode
When Pr02 Setup of control mode is
+ +
Full-closed Control Mode
225
Specifications Driver
Setting range Number of points
Unnecessary wiring
Encoder feedback pulse Protection Hardware error
Function Software error
Default Parameters for all the models of A4P Series
Servo parameter SV.Pr
229
Bit positioning parameter 16.Pr
Bit positioning parameter 32.Pr
230
231
After-Sale Service Repair
Repair
Technical information
Date Model No Purchase Dealer Tel