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