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