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Sanyo Denki Sanmotion R manuals available for free PDF download: Instruction Manual, Manual
Sanyo Denki Sanmotion R Instruction Manual (398 pages)
AC servo systems Analog / Pulse Input Type For Rotary Motor
Brand:
Sanyo Denki
| Category:
Servo Drives
| Size: 6.1 MB
Table of Contents
2 2. Specifications
45
Table of Contents
45
Servo Motor
46
Exterior Dimensions/ Specifications/ Mass
46
General Specifications
46
Mechanical Specifications/ Mechanical Strength/ Working Accuracy
46
Specifications
46
Oil Seal Type
47
Holding Brake
48
Degree of Decrease Rating for R2AA Motor, with Oil Seal and Brake
49
Motor Encoder
50
Serial Encoder Specifications
50
Pulse Encoder Specifications
50
Battery Specification
51
Servo Amplifier
52
General Specifications
52
Input Command, Position Signal Output, General Input, General Output
53
Torque Limit Input
54
Power Supply, Calorific Value
55
Main Circuit Power Supply Capacity, Control Power Supply Capacity
55
Incoming Current, Leakage Current
56
Calorific Value
57
Operation Pattern
58
Time of Acceleration and Deceleration, Permitted Repetition, Loading Precaution
58
Position Signal Output
61
Positions Signals by Serial Signals
61
Binary Code Output Format and Transfer Period
62
ASCII Decimal Code Output Format and Transfer Period
63
Position Signal Output from Pulse Signal
64
Specifications for Analog Monitor
65
Monitor Output
65
Monitor for Velocity, Torque, and Position Deviation
66
Specifications for Dynamic Brake
67
Allowable Frequency, Instantaneous Tolerance, Decreasing the Rotation Angle of the Dynamic Brake
67
Regeneration Process
70
Resistance Value of Built-In Regeneration Resistor
70
3 3. Installation
71
Installation
72
Servo Amplifier
73
Unpacking
73
Mounting Direction and Location
74
Control Arrangement Within the Machine
74
Servo Motor
75
Precautions
75
Unpacking
75
Installation
75
Mounting Method
76
Waterproofing and Dust Proofing
76
Protective Cover Installation
77
Gear Installation and Integration with the Target Machinery
77
Allowable Bearing Load
79
4 4. Wiring
81
Wiring
82
Wiring for Main Circuit Power Supply, Control Power, Regenerative Resistance, Servo Motor, and Protective Grounding
82
Part Name and Function
82
Wire
82
Wire Diameter-Allowable Current
83
Wiring of Servo Motor
85
Example of Wiring
88
Crimping of Wires
92
High Voltage Circuit Terminal; Tightening Torque
92
Wiring with Host Unit
93
CN1 Signal and Pin Number (Wiring with Host Unit)
93
CN1 Connector Disposition
95
Signal Name and Its Function
95
Terminal Connection Circuit
96
Wiring
104
EN1 Signal Names and Its Pin Numbers
104
EN1 Connector Layout
105
Connector Model Number for Motor Encoder
106
Recommended Encoder Cable Specification
107
Encoder Cable Length
107
Peripheral Equipments
108
Power Supply Capacity and Peripherals List
108
5 5. Operation
111
Changing Servo Motor Combination
112
Confirmation and Change of the Setup Software
112
Confirmation and Change by the Digital Operator
113
Operation
112
System Parameters
114
Confirmation of Specifications
114
System Parameters List
116
Confirmation and Settings of System Parameters
116
Confirmation and Settings of the System Parameters (Settings for Motor Encoder Specification)
120
Factory Default Setting Values
123
Test Operation
124
Confirmation of Installation and Wiring
124
Confirmation of Movement
124
Confirmation of I/O Signal
125
Confirmation of Device Operation
126
Confirmation of Safe Torque off Function
126
Servo Amplifier Status Display
127
Default Display
127
Alarm Display
127
Operation Sequence
128
Operation Sequence from Power Turn on to Power Shut off at the Standard Shipment Setting
128
Stop Sequence at Alarm
130
Sequence of Alarm Reset
132
Sequence When Power Is Turned off During Operation (During Servo ON)
133
Monitor Function
134
Description of Monitor
135
Analog Monitor and Digital Monitor
139
Setting Parameters
140
Parameters List
140
Parameter Functions
147
6 6. Adjustments
215
Servo Tuning Functions and Basic Adjustment Procedure
216
Servo Tuning Functions
216
Tuning Method Selection Procedure
217
Automatic Tuning
218
Use the Following Parameters for Automatic Tuning
218
Automatically Adjusted Parameters in Auto-Tuning
221
Adjustable Parameters During Auto-Tuning
221
Unstable Functions During Auto-Tuning
222
Auto-Tuning Characteristic Selection Flowchart
223
Adjustment Method for Auto-Tuning
224
Monitoring Servo Gain Adjustment Parameters
225
Manual Tuning Method Using Auto-Tuning Results
225
Automatic Tuning of Notch Filter
226
Operation Method
226
Setting Parameters
226
Automatic Tuning of FF Vibration Suppression Frequency
227
Operation Method
227
Setting Parameters
227
Using Manual Tuning
228
Servo System Configuration and Servo Adjustment Parameters
228
Basic Manual Tuning Method for Velocity Control
230
Basic Manual Tuning Method for Position Control
230
Model Following Control
231
Automatic Tuning Method for Model Following Control
231
Manual Tuning Method for Model Following Control
232
Tuning to Suppress Vibration
233
FF Vibration Suppression Control
233
Model Following Vibration Suppression Control
233
Tuning Methods
235
Using Disturbance Observer Function
236
7 7. Digital Operator
237
Digital Operator
238
Digital Operator Names and Functions
238
Modes
238
Changing Modes
238
Mode Contents
239
Setting and Display Range
240
Status Display Mode
241
Servo Amplifier Status Display
241
Over-Travel Status Display
241
Status Display of Battery Warning, Regenerative Overload Warning, and Overload Warning
241
Alarm Code and Servo Amplifier Status Code When Alarm Occurs
241
Alarm Reset When Alarm Activated
242
How to Check the Software Version of Servo Amplifier
242
How to Check Information 1, Information 2 (Servo Amplifier Information), and Information 3 (Motor Code)
243
How to Set Pass Ward
244
How to Cancel Password
244
Editing Parameters
245
Basic Parameters, Editing System Parameters
245
Editing General Parameters
246
How to Tune Automatic Notch Frequency
248
How to Tune Automatic FF Vibration Suppression Frequency
249
Offset Adjustment of Velocity/ Torque Command
250
Offset Adjustment of Analog Torque Compensation Command
251
Velocity-Controlled JOG Operation
252
Automatic Tuning Result Writing
253
Encoder Clear
253
Alarm History Display
254
Automatic Setting of Motor Parameter
254
How to Clear Alarm History
255
Monitor Display
255
Fixed Monitor Display
256
Motor Code-Setting of Servo Motor Used
256
8 8. Maintenance
257
Maintenance
258
Trouble Shooting
258
List of Warning and Alarm
260
Warning List
260
Alarm List
261
Trouble Shooting When Alarm Activated
264
Alarm Display
264
Corrective Action for Alarm
264
Encoder Clear and Alarm Reset
286
Types of Motor Encoder
286
Occurring Alarm Code
286
Inspection
288
Service Parts
289
Inspection Parts
289
Replacing Battery for Motor Encoder
290
9 9. Fully Closed Control
291
Fully Closed Control
292
Illustration of System Configuration
292
Internal Block Diagram
295
Wiring
297
Signal Names and Pin Numbers of EN1 and EN2
297
Connector Layout of EN1 and EN2
299
Fully Closed Control Related Parameters
300
System Parameters Settings
300
Remarks
303
Input Power Timing for External Pulse Encoder
303
Workings of External Pulse Encoder
303
10 10. Safe-Torque-Off (Sto) Function
305
Illustration of System Configuration
306
Safe-Torque-Off (STO) Function
306
Safe-Torque-Off (STO) Function
309
Outline
309
Standards Conformity
309
Risk Assessment
310
Residual Risk
310
Delay Circuit
310
Wiring
311
CN4 Connector Layout
311
Connection Diagram of CN4-Terminals
311
Example of Wiring
312
Safety Input-Off Shot Pulse for Safety Device Self-Diagnosis
313
Safe-Torque-Off Operation
314
Safe-Torque-Off State
314
Restoration from Safe-Torque-Off State
315
Safe-Torque-Off During Servo Motor Running
316
Safe Torque off During Servo Motor Stoppage
318
Deviation Clear
319
Safety Input Signal Failure Detection
319
Error Detection Monitor (EDM)
320
Specifications
320
Connection Example
320
Error Detection Method
320
Verification Test
321
Preparation
321
Confirmation Procedure
321
Acceptance Criteria
321
Safety Precautions
322
11 11. Selection
323
Selection
324
Servo Motor Sizing
324
Flowchart of Servo Motor Sizing
324
Make an Operation Pattern
325
Calculate Motor Shaft Conversion Load Moment of Inertia (J L )
325
Calculate Motor Shaft Conversion Load Torque (T L )
326
Calculate Acceleration Torque (T a )
328
Calculate Deceleration Torque (T B )
328
Calculate Effective Torque (Trms)
328
Judgment Condition
328
Capacity Selection of Regenerative Resistor
329
How to Find "Regeneration Effective Power (PM)" of the Horizontal Axis Drive by a Formula
329
How to Find "Regeneration Effective Power (PM)" of the Vertical Axis Drive by a Formula
330
Capacity Selection of Regenerative Resistor
330
Capacity Selection of External Regenerative Resistor
331
Capacity of External Regenerative Resistor and Resistor Model Name
332
Connection of Regenerative Resistance
333
Thermostat Connection of External Regenerative Resistor
334
Protection Function of Regenerative Resistance
334
Confirmation Method of Regeneration Power PM in Actual Operation
335
Installation
335
12 12. Appendix
337
12. Appendix Standards Conformity
339
Connection and Installation
340
Over-Voltage Category, Protection Grade, Pollution Level
340
UL File Number
340
Compliance with en Directives
342
EMC Installation Requirements
342
Q4 Motor, Flange Size 180Mm
350
Servo Motor Data Sheet
351
Characteristics Table
351
Velocity-Torque Characteristics
358
Overload Characteristic
365
Servo Amplifier Dimensions
371
Rs2□01A□□L
371
Rs2□03A□□L
371
Rs2□05A□□L
372
Rs2□10A□□A
372
Rs2□15A□□A
373
Rs2□30A□□L
373
Setup Software, Serial Communication Related Items
379
Battery for Battery Backup Absolute Encoder Related Items
379
Analog Monitor Related Item
379
Junction Cable for Servo Motor
380
Optional Parts Dimensions for Setup Software
381
Cable for Personal Computer Communications (Model No.: AL-00689703-01)
381
Cable for Communication between Amplifier (0.2M) (Model No.: AL-00695974-01)
381
Cable for Communication between Amplifier (3.0M) (Model No.: AL-00695974-02)
381
Communication Converter (Model No.: SAU-024-01)
382
Connector with Terminator (Model No.: AL-00695977-01)
382
Battery Peripherals Dimensions
383
Battery Body (Model No.: AL-00697958-01)
383
Battery Trunk Cable (Model No.: AL-00697960-□□)
384
Battery Trunk Cable (Model No.: AL-00731792-01)
385
External Dimension of Regenerative Resistor
387
Sanyo Denki Sanmotion R Instruction Manual (254 pages)
AC servo system
Brand:
Sanyo Denki
| Category:
Controller
| Size: 2.45 MB
Table of Contents
1 1. Preface
15
Installation·································································································································································
4
Installation·······························································································································································
7
Table of Contents
15
Contents··································································································································································
15
Introduction
16
Changes and Additions to AC Servo Amplifier SANMOTION R (Previous Model)
16
Instruction Manual
17
Precautions on this Manual
17
Illustration of System Components
18
Model Number Structure
19
Model Number of Servo Motor
19
Model Numbers of Servo Amplifier (Abbreviated Model Numbers)
20
Part Names
21
Servo Amplifier
21
Servo Motor
22
2 2. Specification
23
Servo Motor
24
Common Specification
24
Mechanical Specification, Strength, and Engineering Precision
24
Servo Motor External Dimension, Specification, and Weight
24
Specification
24
Oil Seal Type
25
Degree of Decrease Rating for R2AA Motor, Depending on with or Without Oil Seal/Brake
26
Holding Brake
26
Motor Encoder
27
Serial Encoder
27
Pulse Encoder
27
Battery Specification
28
Servo Amplifier
29
Common Specification
29
Input Command, Position Output Signal, General-Purpose Input Signal, and General-Purpose Output Signal
30
Power Supply and Amount of Heat Generation
32
Input Current of Main Circuit Power Supply and Control Power Supply
32
Inrush Current and Leakage Current
32
Amount of Heat Generation
32
Cautions on Load
33
Restrictions on Acceleration Time, Deceleration Time,And Effective Torque
33
Negative Load
33
Load Inertia Moment
33
Position Signal Output
34
Positions Signals by Serial Signals
34
Binary Code Output Format and Transfer Period
35
ASCII Decimal Code Output Format and Transfer Period
36
Position Signal Output from Pulse Signal
37
Specifications for Analog Monitor
38
Specifications for Dynamic Brake
39
Allowable Frequency, Instantaneous Tolerance, Decreasing the Rotation Angle of the Dynamic Brake
39
3 3. Installation
41
Installation
42
Servo Amplifier
43
Unpacking
43
Installation Direction and Position
44
Conditions on Layout in Control Cabinet
44
Cooling Conditions
45
Servo Motor
46
Precautions
46
Unpacking
46
Installation
46
Water and Dust Proofing
47
Protective Cover Placement
48
Gear Installation and Co-Assembly with Mating Machine
48
Allowable Load for Bearing
50
Cable Installation and Its Related Cautions
51
4 4. Wiring
53
Wiring of Main Circuit Power Supply, Control Power Supply, Servomotor, and Protective Grounding
54
Electrical Wire
54
Name and Function
54
Wire Diameter - Allowable Current
54
Wiring
54
Terminal Layout of Connector CNA and CNB
55
Recommended Wire Diameter and Cable Length
56
Example of Wiring
57
Wiring Connection Diagram to Host Equipment
58
Name and Pin Number of Signal CN1A and CN1B (Wiring Connection to Host Equipment)
58
Layout of Connector CN1-A
59
Name and Its Function of Signal CN1-A
59
Connection Circuit of Terminal CN1-A
60
Layout of Connector CN1-B
62
Signal Name and Its Function
62
Terminal Connection Circuit
63
Wiring of Motor Encoder
65
Name and Function of Connector CN2
65
Terminal Number on Servo Amplifier Side
66
Recommended Specification of Encoder Cable
67
Encoder Cable Length
67
Layout of Terminal of Connector for Battery
67
5 5. Operation
69
How to Change Servo Motor to be Combined
70
Change and Verify Servo Motor with Use of Setup Software
70
System Parameters
71
Specification Confirmation
71
System Parameters List
73
Confirmation and Settings of System Parameters
73
Change and Verify System Parameters (Settings for Motor Encoder Specification)
75
Default Set Values at Factory
78
Test Operation
79
Confirmation of Installation and Wiring
79
Confirmation of Movement
79
Confirmation of Input-Output Signal
80
Confirmation of Device Operation
81
Servo Amplifier Status Display
82
Default Display
82
Alarm Display
82
Control Power Input Display
82
Operation Sequence
83
Operational Sequence from Power-On through Power-Off in Standard Setting at Factory
83
Stop Sequence When Alarm Activated
85
Sequence When Alarm Reset
88
Sequence When Power Is Turned off During Operation (During Servo ON)
89
Monitor Function
90
Description of Monitor
91
Analog Monitor and Digital Monitor
95
Setting of Parameters
96
Parameters List
96
Parameter Functions
102
6 6. Adjustment
159
Servo Tuning Functions and Basic Adjustment Procedure
160
Servo Tuning Functions
160
Selection of Tuning Method
161
6.2 Automatic Tuning
165
Parameters Automatically Adjusted During Automatic Tuning
165
Adjustable Parameters When Auto-Tuning in Progress
165
Unstable Functions During Auto-Tuning
166
Auto-Tuning Characteristic Selection Flowchart
167
Adjustment Method for Auto-Tuning
168
Monitoring Servo Gain Adjustment Parameters
169
Manual Tuning Method Using Auto-Tuning Results
169
Automatic Tuning of Notch Filter
170
Operation Method
170
Parameters to be Set
170
Automatic Tuning of FF Vibration Suppression Frequency
171
Operation Method
171
Parameters to be Set
171
Use of Manual Tuning
172
Servo System Configuration and Servo Adjustment Parameter
172
Basic Manual Tuning Method for Velocity Control
174
Basic Manual Tuning Method for Position Control
174
6.6 Model-Following Control
176
Manual Tuning Method of Model-Following Control
176
Tuning Method
179
Use of Disturbance Observer Functions
180
7 7. Maintenance
181
Troubleshooting
182
Maintenance
182
Warning and Alarm List
184
Warning List
184
Alarm List
185
Troubleshooting When Alarm Activated
188
Encoder-Clear and Alarm-Reset Procedure
203
Motor Encoder Model
203
Alarm Code Activated
203
Inspection
205
Items to be Checked and Corrective Actions for Operation Error
205
Service Parts
206
Parts to be Inspected
206
Motor Encoder Battery Replacement
206
8 8. Fully-Closed Control
207
Illustration of System Configuration
208
Fully-Closed Control
208
Internal Block Diagram
209
Wiring
211
Connector Name and Its Function
211
Terminal Numbers on Servo Amplifier Side
213
Fully Closed Control-Related Parameters
214
System Parameter Setting
214
Servo Motor Rotation Direction Setting
215
External Encoder Resolution Setting
216
Digital Filter Setting
216
Encoder Output Pulse Signal
216
Remarks
217
Timing to Power-On External Pulse Encoder
217
Operation of External Pulse Encoder
217
9 9 Selection
219
Servo Motor Volume Selection
220
Selection
220
Servo Motor Capacity Selection Flowchart
220
Calculate Motor Axis-Converted Load Inertia Moment (J L )
221
Create Operation Pattern
221
Calculate Motor Axis-Converted Load Torque (T L )
222
Calculate Acceleration Torque (T a )
224
Calculate Deceleration Torque (T B )
224
Calculate Effective Torque (Trms)
224
Judgment Condition (Determination Condition)
224
Remarks on Regeneration
225
Calculation of Regenerative Energy EM
225
Coping Process for Regenerative Energy
227
Specification for Regenerative Unit
229
Specification
229
Internal Block Diagram
229
Regenerative Unit Front View
230
Connection Diagram of Regenerative Unit
231
Calculation of Regenerative Effective Electrical Power
233
10. Appendix
235
Appendix
236
Conformance to Standards
236
Overvoltage Category, Ingress Protection Code, and Degree of Contamination
236
Connection and Installation
237
UL-File Number
237
Conformance to EU Directive
238
Conformity Verification Test
238
EMC Installation Requirements
239
Outline Dimensional Drawing of Servo Motor
240
Servo Motor Data Sheet
241
Characteristics
241
Velocity-Torque Characteristic
242
Rating Decrease Rate of Motor with Oil Seal
242
Overload Characteristics
243
Outline Dimensional Drawing of Servo Amplifier
244
Optional Items
245
Regenerative Unit, RF1BB (A) 00
245
Analog Monitor Box
246
Connecting Cable
247
External Regenerative Resistor
250
Lithium Battery
251
Sanyo Denki Sanmotion R Instruction Manual (60 pages)
Brand:
Sanyo Denki
| Category:
Servo Drives
| Size: 1.1 MB
Table of Contents
Table of Contents
25
Servo Amplifier
26
Mounting Direction and Location
28
Servo Motor
29
Waterproofing and Dust Proofing
30
Protective Cover Installation
30
Gear Installation
31
Integration with the Target Machinery
31
Allowable Bearing Load
33
Cable Installation Considerations
34
Sanyo Denki Sanmotion R Manual (42 pages)
AC SERVO SYSTEMS
Brand:
Sanyo Denki
| Category:
Servo Drives
| Size: 7.7 MB
Table of Contents
Setup Software
6
High Resolution
8
Servo Motor
12
Encoder Specification
12
Interface Type
13
Multi-Axis Servo Amplifier
14
System Configuration
15
Standard Specifications
17
General Specifications
21
External Wiring Diagram
22
Servo Motor Dimensions
26
Optional Equipment
33
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