Manual Do Utilizadoríndice analíticoSafety Instructions2COMPLIANCE WITH EC DIRECTIVES8CONFORMANCE WITH UL/C-UL STANDARD10CONTENTS11Optional Servo Motor Instruction Manual CONTENTS15About the Manuals16Relevant manuals161. FUNCTIONS AND CONFIGURATION171.1 Introduction171.2 Function List181.3 Model Code Definition191.4 Combination with Servo Motor191.5 Parts Identification201.6 Servo System with Auxiliary Equipment212. INSTALLATION222.1 Environmental conditions222.2 Installation direction and clearances232.3 Keep out foreign materials242.4 Cable stress242.5 Using the DIN rail for installation253. SIGNALS AND WIRING263.1 Standard connection example273.1.1 Position control mode AD75P[] (A1SD75P[])273.1.2 Speed control mode293.1.3 Torque control mode303.2 Internal Connection Diagram of Servo Amplifier313.3 I/O Signals323.3.1 Connectors and signal arrangements323.3.2 Signal explanations353.4 Detailed Description of the Signals443.4.1 Position control mode443.4.2 Speed control mode493.4.3 Torque control mode513.4.4 Position/speed control change mode543.4.5 Speed/torque control change mode563.4.6 Torque/position control change mode583.5 Alarm Occurrence Timing Chart593.6 Interfaces603.6.1 Common line603.6.2 Detailed description of the interfaces613.7 Input Power Supply Circuit653.7.1 Connection example653.7.2 Explanation of signals663.7.3 Power-on sequence663.8 Servo Motor with Electromagnetic Brake683.9 Grounding703.10 Instructions for the 3M Connector714. OPERATION724.1 When Switching Power On for the First Time724.2 Startup734.2.1 Selection of control mode734.2.2 Position control mode734.2.3 Speed control mode754.2.4 Torque control mode764.3 Multidrop Communication775. PARAMETERS785.1 Parameter List785.1.1 Parameter write inhibit785.1.2 Lists795.2 Detailed Description955.2.1 Electronic gear955.2.2 Changing the status display screen975.2.3 Using forward/reverse rotation stroke end to change the stopping pattern985.2.4 Alarm history clear986. DISPLAY AND OPERATION996.1 Display Flowchart996.2 Status Display1006.3 Diagnostic mode1026.4 Alarm mode1036.5 Parameter mode1046.6 External I/O signal display1066.7 Output signal forced output (DO forced output)1096.8 Test operation mode1106.8.1 Mode change1106.8.2 Jog operation1116.8.3 Positioning operation1126.8.4 Motor-less operation1137. ADJUSTMENT1147.1 What Is Gain Adjustment?1147.1.1 Difference between servo amplifier and other drives1147.1.2 Basics of the servo system1157.2 Gain Adjustment1167.2.1 Parameters required for gain adjustment1167.2.2 Block diagram1167.2.3 What is auto tuning?1177.3 Gain Adjustment by Auto Tuning1187.3.1 Adjustment method1187.3.2 Valid conditions1187.4 Manual Gain Adjustment1197.4.1 When machine rigidity is low1197.4.2 When the machine vibrates due to machine resonance frequency1207.4.3 Load inertia moment is 20 or more times1217.4.4 When shortening the settling time1227.4.5 When the same gain is used for two or more axes1237.5 Slight Vibration Suppression Control1238. INSPECTION1249. TROUBLESHOOTING1259.1 Trouble at Start-Up1259.1.1 Position control mode1259.1.2 Speed control mode1289.1.3 Torque control mode1299.2 When Alarm or Warning Has Occurred1309.2.1 Alarms and Warning list1309.2.2 Remedies for alarms1319.2.3 Remedies for Warnings13510. SPECIFICATIONS13610.1 Servo Amplifier Standard Specifications13610.2 Outline Dimension Drawings13710.2.1 Servo amplifiers13710.2.2 Connectors13811. CHARACTERISTICS14011.1 Overload Protection Characteristics14011.2 Dynamic Brake Characteristics14111.3 Encoder Cable Flexing Life14212. OPTIONS AND AUXILIARY EQUIPMENT14312.1 Options14312.1.1 Cables and connectors14312.1.2 Junction terminal block (MR-TB20)14812.1.3 Servo configurations software15012.2 Auxiliary Equipment15212.2.1 Recommended wires15212.2.2 Circuit protector15212.2.3 Relays15312.2.4 Noise reduction techniques15313. COMMUNICATION FUNCTIONS15713.1 Configuration15713.1.1 RS-422 configuration15713.1.2 RS-232C configuration15813.2 Communication Specifications15913.2.1 Communication overview15913.2.2 Parameter setting16013.3 Protocol16113.4 Character Codes16213.5 Error Codes16313.6 Checksum16313.7 Time-Out Operation16413.8 Retry Operation16413.9 Initialization16513.10 Communication Procedure Example16513.11 Command and Data No. List16613.11.1 Read commands16613.11.2 Write commands16713.12 Detailed Explanations of Commands16913.12.1 Data processing16913.12.2 Status display17113.12.3 Parameter17213.12.4 External I/O pin statuses (DIO diagnosis)17413.12.5 Disable/enable of external I/O signals (DIO)17513.12.6 External input signal ON/OFF (Test operation)17613.12.7 Test operation mode17713.12.8 Output signal pin ON/OFF (DO forced output)17913.12.9 Alarm history18013.12.10 Current alarm18113.12.11 Other commands182REVISIONS183Tamanho: 2 MBPáginas: 185Language: EnglishAbrir o manual