Automation
Dynaserv G2 Drive
User Guide
p/n 88-020389-01 A
Precautions for Using this Technical Manual
Introduction
Warning about rotation
Regarding the safe usage of this device
Warnings
Warning about electric shock
Precautions
Handling Precautions
13. Never attempt to disassemble or remodel the motor and driver. If such service is necessary, please contact us. We assume no responsibility for products that have been disassembled or remodeled without permission
The core deviation should be 10 ∝mm or less
Table of Contents
Chapter
Functions
Control Interfaces
Chapter
@ Commands
RS232C Interfaces
Chapter 8 DrvGII PC Utility
Chapter
Chapter 9 Operation Display Pendant
Chapter 10 Maintenance and Inspection
Chapter 11 Specifications
10-1
Chapter Overview of the Product
1.3 Product Configuration 1.4 Model Names and Codes
1.5 Name and Function of Each Part 1.6 System Configuration Diagram
1.1 About the DYNASERV DM/DR Series 1.2 About the DrvGII Type Driver
1 Overveiw of the Product
1.1 About the DYNASERV DM/DR Series
1.2 About the DrvGII Type Driver
Regenerative terminal Connecto for CN2 Connector for CNA
1.3 Product Configuration
Driver part 2kW level With regenerative unit Connector for CN4
1 Overveiw of the Product
1 Motor
1.4 Model Names and Codes
2 Driver
1 Motor Part
1.5 Name and Function of Each Part
1 Overveiw of the Product
series
500W level A model with regenerative terminal is shown
2 Driver part
2kW level A model with a regenerative terminal is shown
3 Details of the Front Panel of the Driver
1 Overveiw of the Product
Note 1 All the items shown are of the contact I/O type
Details of Setting Switches and Status Display LEDs
CN2 - - CN3
1 Overveiw of the Product
1.6 System Configuration Diagram
1-10
Chapter Installation
2.1 Installation of the Motor 2.2 Installation of the Driver
2 Installation
2.1 Installation of the Motor
Should not be installed upside down
2.2 Installation of the Driver
Should not be installed in a sideways position
Ambient air temperature during operation
3.4 Wiring of Motor, AC Power Supply, and Ground Cable
Chapter Connection and Wiring
3.1 Diagram of Overall Connection 3.2 Cable Specification List
3.5 Wiring of Encoder Cable 3.6 Wiring of Controller Cable
3 Connection and Wiring
3.1 Diagram of Overall Connection
3.2 Cable Specification List
diameter φ 14 mm or less, 10 m or less in length
1 DM Series DM1004B/1004C motors
3.3 Connection between Motor and Driver
3 Connection and Wiring
2 DM Series motors models other than the above
Motor part
3 DR Series motors
Driver part
Motor cable
3.4 Wiring of Motor, AC Power Supply, and Ground Cable
3 Connection and Wiring
Cable
3 Connection and Wiring
3.5 Wiring of Encoder Cable
Terminal for CN2
Made by Honda Tsushin Kogyo Connector PCR-S36FS Housing PCR-LS36LA
3.6 Wiring of Controller Cable
Terminal for CN4
Electrical specifications
3.7 Wiring of Sensor Brake Terminal
3 Connection and Wiring
Example of sensor connection sensor EE-SX670 manufactured by Omron
Made by Phoenix Contact plug MC1, 5/2-ST-5
Chapter 4 Basic Settings for Operating the Motor
4 Basic Settings for Operating the Motor
4.1 Procedure Flowchart
4.2 Preoperation check
INMODE.0
DrvGII CN4 I/O 24V Specification
4 Basic Settings for Operating the Motor
INMODE.1
DrvGII CN4 I/O 5V Specification
4.3.1 Procedure
4.3 Installing the PC Utility on the PC
4 Basic Settings for Operating the Motor
Figure 4.3.2 “Select Program Folder” dialog box
Figure 4.3.3 “Setup Complete” dialog box
Note Remove the floppy disk before restarting the computer
“Startup”
4.3.2 Startup
4 Basic Settings for Operating the Motor
Figure 4.3.5 “Version Information” dialog box
4.4.1 Selecting Communication Port
4.4 Preparation
4.4.2 Selecting Channels
Figure 4.4.3 “Communication string” dialog box
4.4.3 Displaying Communication Strings
4 Basic Settings for Operating the Motor
4-10
Figure 4.4.4 “MainMenu” dialog box
4.4.4 Main Menu
4-11
4.5 Setting the Status to Servo ON
4 Basic Settings for Operating the Motor
Click OK
3 Reset the driver according to the message in the dialog box
4-13
4.6 Auto-tuning
4 Basic Settings for Operating the Motor
3 Click Auto Tuning Start tuning starts
Click “Drive.” Click “Homing.”
4.7 Performing Homing Operation
4 Basic Settings for Operating the Motor
MainMenu
3 Set the “homing direction” in the “Homing” dialog box
4 Click the “Start” button to start the homing operation
4.8.1 About Position Command Pulse Input
4.8 Performing the Basic Settings of Pulse Commands
4 Basic Settings for Operating the Motor
Velocity pattern Example of operation
4.8.2 Example of Operation
4-19
5.2 Operation Functions
Chapter Functions
5.1 Parameters and Monitors
5.3 Coordinate System
5.1 Parameters and Monitors
5.1.2 Mechanical Setting Parameters
5 Functions
5.1.1 General Parameters
5.2 Operation Functions
5.2.1 Jog Move
5 Functions
5.2.3 Auto-Tuning Operation
5.2.2 Test Operation
will oscillate
5.2.4 Homing Move
5 Second home sensing move
5 Functions
4 First home sensing move
6 Home position move
Hardware zero signal type
Operation example
Home position proximity signal
5 Functions
Operation example
Coordinate System
5.2.5 Mechanical Setting Mode
Switching Position Command Pulse Weights
5.3.1
5 Functions
5.4 Control System
5-10
delay compensation device
5.4.1 Velocity Control Part
Frequency characteristics of the first order
Related parameters #51 Velocity control bandwidth
5.4.3 Feed Forward
5.4.2 Position Control Part
5 Functions
5.4.4 Servo Stiffness Parameter
Related parameters #38 Servo stiffness settings
5.5.1 Velocity Override Function
5.5 Acceleration/Deceleration Function
5 Functions
5.5.2 Velocity Profile
Deceleration
5 Functions
Acceleration s-shaped, deceleration constant acceleration
5.6 Other Functions
5.6.1 Settling Wait, Position Settling Status, and Positioning Status
5.6.2 Velocity Monitor and Analog Monitor
5.6.3 Brake Signal
5 Functions
5.7 Special Parameter Processing
5.7.1 Internal Generation of Parameter Initial Values
5.7.4 Limiting the Maximum Parameter Values
5 Functions
6.1 Terminal Function
6.2 Position Command Pulse Input 6.3 Encoder Pulse Output
Chapter Control Interfaces
6.4 Operations
6 Control Interfaces
6.1.1 Connection, Setting, and I/O Mapping
6.1 Terminal Function
6.1.2 Explanation of Terminals
Position command pulse inputs PUAIN ±, SDBIN ±
6.1.3 Electrical specifications
Interface power supply inputs COMP1, COMN1
6 Control Interfaces
6.1.4 I/O logic setting
Current limit analog input CRNTLMTIN ±
6.3 Encoder Pulse Output
6.2 Position Command Pulse Input
6 Control Interfaces
6.4.1 Starting an Operation
6.4 Operations
6.4.2 Aborting an Operation
Self-end type In case of self-end
6.4.3 Timing Charts
6 Control Interfaces
Non-end type
6.5.6 Error reset ERRRESET
6.5.1 Pulse Weight Selection PLSDIRECT
6.5.5 Disable Position Control Integral Operation PACT
6.5 Other Inputs
6.5.8 Current Limit Input
6.5.7 Servo ON SERVO
6 Control Interfaces
7.5 Parameter Commands
7.1 Overview 7.2 Connection and Setting
7.3 Communication Specifications 7.4 @ Commands
Chapter RS232C Interfaces
7 RS232C Interfaces
7.2 Connection and Setting
7.1 Overview
Multi-channel
Communication parameters
7.3 Communication Specifications
7 RS232C Interfaces
Single channel and multi-channel
A response character string is structured as follows
Transmission character string
Response character string
Response character strings are classified as follows
7.4.1 Start @3 Field
7.4 @ Commands
7.4.4 Error reset @4
7.4.2 Stop @2
7.4.7 Other convenient commands
7.4.5 Homing offset position setting @10
7.4.6 Jog move command @11 Field
Software driver reset @96
7.5 Parameter Commands
7 RS232C Interfaces
8.1 Overview
8.2 Installation
Chapter DrvGII PC Utility
8.3 Preparation
8.1.1 Overview of the Operation Menu
8 DrvGII PC Utility
8.1 Overview
8.1.2 Overview of the Action Menu
8.2 Installation
8.2.1 Installation under Windows 95/98/98SE/Me/NT4.0/2000
8 DrvGII PC Utility
Figure 8.3 “Setup Complete” dialog box
Figure 8.2 “Select Program Folder” dialog box
8.2.2 Starting the PC Utility
Figure 8.4 “Version Information” dialog box
8.3.2 Selecting Channels
8.3 Preparation
8.3.1 Selecting a Communication Port
8 DrvGII PC Utility
8.3.3 Displaying Communication Strings
Figure 8.7 “Communication string” dialog box
8 DrvGII PC Utility
8.3.4 Main Menu
Figure 8.8 “MainMenu” dialog box
8.4 Operation Menu
8.4.1 Terminal
Figure 8.10 “Parameter Monitor” dialog box
8 DrvGII PC Utility
1 Parameter/monitor
8-10
8-11
2 I/O monitor
Figure 8.11 “I/O Monitor” dialog box
DI status Red on Black off Gray nonexistent I/O point DO status
Figure 8.13 “Error or Alarm” dialog box
3 Axis signal status display
Figure 8.12 “Axis signal status” dialog box 4 Error or alarm monitor
8 DrvGII PC Utility
5 Parameter/monitor help
Figure 8.14 “Parameter/Monitor help” dialog box 6 Command help
Figure 8.15 “Command Help” dialog box
8-13
2 Manual tuning
8.4.2 Servo Tuning
Figure 8.16 “Servo Tuning” dialog box 1 Auto-tuning
8 DrvGII PC Utility
Clicking the arrows at either end
The oscilloscope displays time-series of parameter/monitor values
8.4.3 Oscilloscope
8 DrvGII PC Utility
Figure 8.18 “Oscilloscope” dialog box
3 Select a trigger mode
12 The displayed waveform can be reshaped using “Display position selection” and “Vertical axis range selection” in the Oscilloscope dialog box
8 DrvGII PC Utility
Figure 8.20 “DriveMenu” dialog box
8.5 Action Menu
8-19
Figure 8.21 “Homing” dialog box 1 Editing parameters
8.5.1 Homing
8 DrvGII PC Utility
8-20
1 Set the motor to Servo ON see Chapter
Figure 8.22 “JogMove” dialog box 1 Editing parameters
8.5.2 Jog Move
8 DrvGII PC Utility
8-22
8.5.3 Test Operation
8.6.1 Parameter Manager
8.6 Data Management Menus
8 DrvGII PC Utility
2 Uploading from the driver to a file
1 Editing machine parameters
Figure 8.24 “MachineParameterEdit” dialog box Editing
8-25
8 DrvGII PC Utility
4 Displaying the file contents
5 Resetting the communication
3 Downloading from a file to the driver
Figure 8.26 “I/O configuration” dialog box
8.6.2 I/O Set
8-27
5 Click “Set S.”
8 DrvGII PC Utility
Selection text field
1 Click “Download D” in the “I/O configuration” dialog box
8.6.3 Pulse Set
8 DrvGII PC Utility
9.6 Parameter Settings Display 9.7 I/O Monitor Display
9.1 Overview 9.2 Features and Part Names 9.3 Switching Displays
9.4 Terminal Mode Display 9.5 Parameter Monitor Display
9.8 Special Command Display
9.1 Overview
9.2 Features and Part Names
9 Operation Display Pendant
Terminal mode display
#001+HOTErrEn -Mon- DATA N/P
9.3 Switching Displays
# S/+ =/ N/P
#001+HOTErrEn -Set- DATA N/P
9 Operation Display Pendant
9.4 Terminal Mode Display
S / +
M o n
9.5 Parameter Monitor Display
# 0 0 1 + H O T E r r E n
D A T A
9 Operation Display Pendant
9.6 Parameter Settings Display
+ H O T E r r E n
I / O
9.7 I/O Monitor Display
P L C
S E L
C M D R e f E r r S t s
9.8 Special Command Display
9 Operation Display Pendant
S p c
10.2 Maintenance and Inspection of the Driver Part
Chapter Maintenance and Inspection
10.1 Maintenance and Inspection of the Motor Part
10.3 Replacing the Battery for Memory Backup
10.2 Maintenance and Inspection of the Driver Part
10 Maintenance and Inspection
10.1 Maintenance and Inspection of the Motor Part
10.3 Replacing the Battery for Memory Backup
10.4 Backup and Restore Operations of Driver Memory Contents
10.4.1 Backup Operation
10.4.2 Restore Operation
10 Maintenance and Inspection
10.5 Motor Problems and Corrective Actions
11.3 External Dimensions Unit mm
Chapter Specifications
11.1 Standard Specifications 11.2 Torque - Speed Characteristics
11-1
1 DM Series Motor
11 Specifications
11.1 Standard Specifications
11-2
11-3
Note A/Absolute accuracy ±20 sec, B/Absolute accuracy ±60 sec
2 DR Series Motor
11 Specifications
11-4
11-5
Unit
5 Driver Part General Specifications
11 Specifications
4 Motor Environment Specification
3 DR/5000 Series Motor
6 Driver Function Specifications
11-7
1 DM Series
11.2 Torque - Speed Characteristics
11 Specifications
2 DR Series
1 Type A
11.3 External Dimensions Unit mm
1 DM Series Motor
2 Type B
1 Type A
11 Specifications
2 DR Series Motor
2 Type E 3 Type B
500W, Type B is shown in the figure
3 Driver Section
1 U!!!!!!!A/B
2 U!!!!!!!L
2kW level with regenerative unit
11 Specifications
3 U!!!!!!!K
11-12
Motor current No. of motor revolutions
1 Restrictions on the motor
11-13
Average velocity/current duty
11-14
11 Specifications
2 Restrictions on the driver
Maximum velocity Velocity Time
Parameter name
Parameter List
Parameter No
Minimum value
Over-travel error function in the + direction
Value causing an error detection in the +
Brake turn OFF delay time upon Servo ON
Parameter No
Initial value
Parameter name
Maximum value
Unit
Parameter details
Specify the velocity when executing over-travel signal search move in homing mode. This parameter is invalid if the over-travel signal search is not executed
0 - direction 1 + direction
Velocity control width 30Hz
46 Position settling pulse width
Specify the limiter value of the position error integrator in the axis position control section. Specify a smaller value when a wind-up condition occurs during axis operation. This parameter is set automatically by either executing auto- tuning operation or changing the servo stiffness settings parameter
The check cycle is 2 msec
Analog monitor selection
0 6.55V / 4194304 pulses 1 6.55V / 2097152 pulses
91 TBXEMG Servo status
94 Position command differential value excessive error
Over-travel error function in the - direction processing
0 Do not use 1 Use
0 Do not perform 1 Perform
219 Velocity feedback filter use
227 Over-speed error processing type
229 Excessive position deviation error processing type
Monitor name
Monitor List
Monitor No
Unit
355 Monitor resolution 356 Digital velocity sensitivity
Monitor detail
320 Pulse position command value Unit pulse
338 Zero signal status Unit None
348 Multi-channel communication status Unit None
347 Operation mode number Unit None
355 Monitor resolution
349 Multi-channel communication slave code Unit None
361 Velocity ratio gain Unit x 1/100
363 Velocity command value digital Unit 1/16 digit
368 Current command value D/A Unit digit
367 Velocity deviation digital Unit 1/16 digit
374 Acceleration feed forward command value Unit digit
390 Motor linear coordinate command differential value Unit pulse/∆T
STD1
Error/Alarm List
Error No
Name
InterfaceBoardError
Error/Alarm Details
MemoryError
BatteryAlarm
Error number
MonitorPulseError
CoordinateErrorA
CoordinateErrorB
SlaveDriveError
Error number
ServoNotReady
Error number
Error number
Error number
IllegalDevice
Long
Error number
Device conflict
DeviceConflict