A5 series (Standard type)

Transcription

1 Specifications A series (Standard type) Basic Specifications Input power 0V Main Single phase, 100 to 120V +10% 0/60Hz % Single phase, 100 to 120V Main Main Withstand voltage Environment method Encoder feedback A to D-frame E to A to D-frame E to D to D to temperature humidity Altitude Vibration Feedback scale feedback /Digital Pulse Communication function Front panel Regeneration Dynamic brake mode Input Output Input Output Input Output USB RS232 RS48 Single/ 200 to 2V 200 to 230V Single phase, 200 to 2V Single phase, 200 to 230V Single phase, 380 to 480V DC 24V ± % +10% % 0/60Hz +10% 0/60Hz % +10% 0/60Hz % +10% 0/60Hz % +10% 0/60Hz % +10% 0/60Hz % Primary to earth: withstand 00 VAC, 1 min,(sensed current: 20 ma) Ambient temperature: 0 C to C (free from freezing) Storage temperature: 20 C to 6 C (Max.temperature guarantee: 80 C for 2 hours) Both operating and storage : 20 to 8%RH or less (free from condensation) Lower than 1000m.88m/s 2 or less, 10 to 60Hz (No continuous use at resonance frequency) IGBT PWM Sinusoidal wave drive 1-bit (13102 resolution) absolute encoder, -wire serial 20-bit (10486 resolution) incremental encoder, -wire serial A/B phase, initialization differential. Manufacturers that support serial scale: Mitsutoyo Corp. Sony Manufacturing Systems Corp. General purpose 10 s The function of general-purpose is selected by parameters. General purpose 6 outputs The function of general-purpose is selected by parameters. 3 s (16Bit A/D : 1, 12Bit A/D : 2 s) 3 outputs ( monitor: 2 output, Digital monitor: 1 output) 2 s (Photo-coupler, Line receiver ) Photocoupler is compatible with both line driver I/F and open collector I/F. Line receiver is compatible with line driver I/F. 4 outputs ( Line driver: 3 output, open collector: 1 output) Feed out the encoder pulse (A, B and Z-phase) or feedback scale pulse (EXA, EXB and EXZ-phase) in line driver. Z-phase and EXZ-phase pulse is also fed out in open collector. Connection with PC etc. 1 : 1 to a host with RS23 interface is enabled. 1 : n up to axes to a host with RS48 interface is enabled. Used for IEC60--2: STO. (1) keys (MODE, SET, UP, DOWN, SHIFT) (2) LED (6-digit) (3) monitor output (2ch) (4) Digital monitor output (1ch) A, B-frame: no built-in ( only) C to : Built-in ( is also enabled.) Built-in Switching among the following mode is enabled, (1) Position control (2) Velocity control (3) Toque control (4) Position/Velocity control () Position/Torque control (6) Velocity/Torque control () Full-closed control Function Position control Velocity control Torque control Full-closed control Common Pulse Max. command pulse frequency Input pulse format Electronic gear (Division/ Multiplication of command pulse) Smoothing filter Torque limit command Instantaneous Speed Observer Damping Velocity command Torque limit command Internal velocity command Soft-start/down function Zero-speed clamp Instantaneous Speed Observer Velocity filter Speed limit function Pulse Torque command Max. command pulse frequency Input pulse format Electronic gear (Division/ Multiplication of command pulse) Smoothing filter Torque limit command Setup range of division/ multiplication of feedback scale Auto tuning Division of encoder feedback pulse Protective function Hard error Soft error Traceability of alarm data (1) Deviation counter clear (2) Command pulse inhibition (3) Command dividing gradual increase switching (4) Damping control switching etc. Positioning complete (In-position) etc. Exclusive interface for Photo-coupler: 00kpps Exclusive interface for line driver : 4Mpps Differential. Selectable with parameter. ((1) Positive and Negative direction, (2) A and B-phase, (3) Command and direction) 1 to 230 Process command pulse frequency electronic gear ratio ( 30 1 to 2 ) as positional command. Use electronic gear ratio in the range 1/1000 to 1000 times. Primary delay filter or FIR type filter is adaptable to the command Individual torque limit for both positive and negative direction is enabled. (3V/rated torque) (1) Selection of internal velocity setup 1 (2) Selection of internal velocity setup 2 (3) Selection of internal velocity setup 3 (4) Speed zero clamp etc. Speed arrival etc. Speed command can be provided by means of analog voltage. Parameters are used for scale setting and command polarity. Individual torque limit for both positive and negative direction is enabled. (3V/rated torque) Switching the internal 8speed is enabled by command. Individual setup of acceleration and deceleration is enabled, with 0 to 10s/1000r/min. Sigmoid acceleration/deceleration is also enabled. 0-clamp of internal velocity command with speed zero clamp is enabled. Speed zero clamp, Torque command sign etc. Speed arrival etc. Speed command can be provided by means of analog voltage. Parameters are used for scale setting and command polarity. Speed limit value with parameter t is enabled. (1) Deviation counter clear (2) Command pulse inhibition (3) Command dividing gradual increase switching (4) Damping control switching etc. Full-closed positioning complete etc. Exclusive interface for Photo-coupler: 00kpps Exclusive interface for line driver : 4Mpps Differential. Selectable with parameter. ((1) Positive and Negative direction, (2) A and B-phase, (3) Command and direction) 1 to 230 Process command pulse frequency electronic gear ratio ( 30 1 to 2 ) as positional command. Use electronic gear ratio in the range 1/1000 to 1000 times. Primary delay filter or FIR type filter is adaptable to the command Individual torque limit for both positive and negative direction is enabled. (3V/rated torque) 1/ to 160 times The ratio of encoder pulse (numerator) to scale pulse (denominator) can be set to 1 to 2 20 (numerator) to 1 to 2 20 (denominator), but should be set to a ratio within the range shown above. The load inertia is identified in real time by the driving state of the motor operating according to the command given by the controlling device and set up support software PANATERM. The gain is set automatically in accordance with the rigidity setting. Set up of any value is enabled (encoder pulses count is the max.). Over-voltage, under-voltage, over-speed, over-load, over-heat, over-current and encoder error etc. Excess position deviation, command pulse division error, EEPROM error etc. The alarm data history can be referred to. Motor Options Information 18 19

2 Overall Wiring [Connector type (A to E-frame)] [Connector type (D, E-frame 0V)] Digital/ue Monitor output Connection to Monitor output Wiring of Main Connector Connection to power Mains Residual current device Circuit Breaker (MCCB) -segment LED display panel Indicates parameters and errors Connection to PC USB mini-b cable (To be supplied by customer) Digital/ue Monitor output Connection to Monitor output Wiring of Main Connector Circuit Breaker (MCCB) Main power supply Mains Residual current device power supply DC power (24V) -segment LED display panel Indicates parameters and errors Connection to PC USB mini-b cable (To be supplied by customer) Noise Filter (NF) Magnetic Contactor (MC) Reactor (L) Charge lamp Lights while the main power is ON. Setup support software PANATERM Please download from our web site. Connection to RS232, RS48 or host controller Communication with host controller ( is not installed on AE series.) Connection to Safety by-pass plug Use this when not configuring a safety. (Standard accessory) ( is not installed on AE series.) Connection to host controller 0-pin for I/O s Noise Filter (NF) Magnetic Contactor (MC) Reactor (L) Setup support software PANATERM Please download from our web site. Connection to RS232, RS48 or host controller Communication with host controller ( is not installed on AE series.) Connection to Safety by-pass plug Use this when not configuring a safety. (Standard accessory) ( is not installed on AE series.) Connection to host controller 0-pin for I/O s Regenerative ler Regenerative ler Connection to scale Connect to device, e.g. feedback scale (X is not installed on AE series.) Connection to scale Connect to device, e.g. feedback scale (X is not installed on AE series.) Use this cable only for a motor with brake. Junction cable for brake Ground (earth) Junction cable for brake DC Power supply for brake DC24V (to be supplied by customer) Junction cable for encoder Connection to encoder Encoder cable dedicated to a specific model is available as option. Junction cable for brake Use this cable only for a motor with brake. Junction cable for brake Ground (earth) Charge lamp Lights while the main power is ON. DC Power supply for brake DC24V (to be supplied by customer) Connection to encoder Encoder cable dedicated to a specific model is available as option. Junction cable for encoder Motor Terminal block type () Motor <Caution> Apply adequate tightening torque to the product mounting screw by taking into consideration strength of the screw and the characteristics of material to which the product is installed. Overtightening can damage the screw and/or material; undertightening can result in loosening. Example) Steel screw (M) into steel section: 2. to 3.3 N m. <Note> Initial setup of rotational direction: positive = CCW and negative = CW. Pay an extra attention. Positive direction (CCW) Negative direction (CW) 12 13

3 and List of Applicable Peripheral Equipments MADH MBDH MCDH MDDH MEDH MFDH Applicable motor MSMD MHMD MSMD MHMD MSMD MHMD Voltage Single phase, Single/ Single phase, Single/ Single phase, Single/ Rated output 0W to 100W 0W to 200W 200W 0W 0W 0W Required Power at the ( rated load) 0.4kVA 0.kVA 0.kVA 0.9kVA 0.9kVA 1.3kVA 900W Single/ 1.0kW 0V 0V 0V 1.0kW 1.kW 1.0kW 0.9kW 1.kW 3.0kW 4.0kW.0kW 3.0kW 4.0kW.0kW 2.3kVA 2.3kVA 3.3kVA 3.3kVA 3.8kVA 4.kVA 6kVA.kVA 3.8kVA 4.kVA 6.8kVA.kVA Circuit breaker rated ( current) 10A A 20A Surge absorber / DV0P1 / DV0P1 / DV0P1 Noise filter for Magnetic contactor 20A 30A 10A DV0PM A 30A DV0P1 DV0P A A DV0PM A 0A DV0P1 60A 100A 30A DV0PM A Cable diameter main ( ) 0.mm 2 / to 2.0mm 2 / AWG14 2.0mm 2 / AWG14 3.mm 2 / AWG12.3mm 2 / AWG10 3.mm 2 / AWG12 Cable diameter control ( ) 0.mm 2 / 0.mm 2 / AWG mm 2 / 0.mm 2 / AWG mm 2 / Connection Connection to exclusive 11mm or smaller φ.3 Terminal block M Select peripheral equipments for single/3phase common specification according to the power source. About breaker and magnetic contactor To comply to EC Directives, install a breaker between the power and the noise filter without fail, and the breaker should conform to IEC Standards and UL recognized (Listed and marked). Suitable for use on a capable of delivering not more than,000 rms symmetrical amperes, below the maximum voltage of the product. If the short- current of the power supply exceeds this value, install a current limit device (current limiting fuse, current limiting breaker, transformer, etc.) to limit the short- current. <Remarks> Select a breaker and noise filter which match to the capacity of power supply (including a load condition). Terminal block and protective earth terminals Use a copper conductor cables with temperature rating of C or higher. The screws of protective earth terminals for Frame A to D are M4 (Fastening torque: 0. to 0.8N m) and M (Fastening torque: 1.4 to 1.6N m) for Frame E, F. Fastening torque of earth screws. Tighten the terminal block screw on frame F with a torque between 1.0 and 2.0 N m. Application of overtorque (more than 2.0 N m) will cause damage to terminal block. Maximum allowable torque to the screw securing terminal block cover is 0.19 to 0.21 N m. The cable diameter of an earth cable. Use an earth cable with the same diameter or larger as that of the main cable. If the diameter of the main cable is 1.6mm 2 or less, use an earth cable with a diameter of 2.0mm 2 (AWG14). Use the attached exclusive for A to E-frame, and maintain the peeled off length of 8 to 9mm. Tighten the screws of the, Connector for the host controller with the torque of 0.3 to 0.3 N m. Larger torque than 0.3N m may damage the at the driver side. <Caution> Do not turn on power without tightening all terminal block screws properly, otherwise, loose contacts may generate heat (smoking, firing). 14

4 Dimensions A-frame C-frame motor USB ø RS232/48 X: for scale for encoder Connector XA S0B-F32SK-GGXR J.S.T. Mfg. Co., Ltd. Connector XB S06B-F32SK-GGXR J.S.T. Mfg. Co., Ltd. Connector UB-MBR-DMP14-4S (or equivalent) J.S.T. Mfg. Co., Ltd. Connector (or equivalent) Tyco Electronics AMP k.k, Connector (or equivalent) Tyco Electronics AMP k.k, Connector (or equivalent) Japan Molex Inc. Connector X MUF-RS10DK-GKXR (or equivalent) J.S.T. Mfg. Co., Ltd. Connector (or equivalent) Japan Molex Inc. Connector X (or equivalent) Japan Molex Inc. Connector XA 0JFAT-SAXGF J.S.T. Mfg. Co., Ltd. Connector XB 06JFAT-SAXGF J.S.T. Mfg. Co., Ltd. 0 (1) (133) ø Mass: 0.8kg motor USB RS232/48 ø X: for scale for encoder * For s used to connect to the driver, power supply and motor, refer to the A-frame table because both frames use the same s. (191) (13) ø 1 0. Mass: 1.6kg Motor Options Information B-frame USB ø 4 (1) (133) ø motor RS232/48 X: for scale for encoder * For s used to connect to the driver, power supply and motor, refer to the A-frame table because both frames use the same s. Mass: 1.0kg 30 31

5 Dimensions D-frame () E-frame () motor X 10 USB RS232/48 X: for scale for encoder 10 (86) ø 60 0 * For s used to connect to the driver, power supply and motor, refer to the A-frame table because both frames use the same s. (191) (13) ø 1 R Mass: 1.8kg XC: motor USB RS232/48 X: for scale for encoder Connector XA S0B-JTSLSK-GSANXR J.S.T. Mfg. Co., Ltd. Connector XB S03B-JTSLSK-GSANXR J.S.T. Mfg. Co., Ltd. Connector XC S04B-JTSLSS-GSANXR J.S.T. Mfg. Co., Ltd. Connector XA 0JFAT-SAXGSA-L J.S.T. Mfg. Co., Ltd. Connector XB 03JFAT-SAXGSA-L J.S.T. Mfg. Co., Ltd. Connector XC 04JFAT-SAXGSA-L J.S.T. Mfg. Co., Ltd. * For s to X for to the driver, refer to those listed in the A-frame table because both frames use the same s (86) 8 0 ø ø (212) (196) Mass: 2.kg Motor Options Information D-frame (0V) E-frame (0V) USB RS232/48 X: for scale for encoder XC XA XD XB X motor XC: XD: (92) ø 0 Connector XA S03B-JTSMSS-GSANYR J.S.T. Mfg. Co., Ltd. Connector XB S03B-JTSMSK-GSANXR J.S.T. Mfg. Co., Ltd. Connector XC S02B-J2SK-GGR J.S.T. Mfg. Co., Ltd. Connector XD S04B-JTSMSK-GSANXR J.S.T. Mfg. Co., Ltd. Connector XA 03JFAT-SAYGSA-M J.S.T. Mfg. Co., Ltd. Connector XB 03JFAT-SAXGSA-M J.S.T. Mfg. Co., Ltd. Connector XC 02MJFAT-SAGF J.S.T. Mfg. Co., Ltd. Connector XD 04JFAT-SAXGSA-M J.S.T. Mfg. Co., Ltd. (191) (13) * For s to X for to the driver, refer to those listed in the A-frame table because both frames use the same s. ø. 0 1 Mass: 1.9kg XC: XD: motor USB RS232/48 X: for scale for encoder Connector XA S03B-JTSLSS-GSANYR J.S.T. Mfg. Co., Ltd. Connector XB S03B-JTSLSK-GSANXR J.S.T. Mfg. Co., Ltd. Connector XC S02B-J2SK-GGR J.S.T. Mfg. Co., Ltd. Connector XD S04B-JTSLSK-GSANXR J.S.T. Mfg. Co., Ltd. Connector XA 03JFAT-SAYGSA-L J.S.T. Mfg. Co., Ltd. Connector XB 03JFAT-SAXGSA-L J.S.T. Mfg. Co., Ltd. Connector XC 02MJFAT-SAGF J.S.T. Mfg. Co., Ltd. Connector XD 04JFAT-SAXGSA-L J.S.T. Mfg. Co., Ltd ø ø * For s to X for to the driver, refer to those listed in the A-frame table because both frames use the same s (212) (196) Mass: 2.kg 32 33

6 Dimensions Motor Specifications Common Specifications of Motor () motor X USB RS232/48 X: for scale for encoder * For s used to connect to the driver, refer to the A-frame table because both frames use the same s. (0V) 6 ø ø Mass: 4.8kg Features Line-up: 0W to.0kw Max speed: 6000r/min ( 0W to 0W) Low inertia () to High inertia (). Low cogging torque: Rated torque ratio 0.% (typical value). 20-bit incremental encoder (1,048,6 pulse) 1-bit absolute encoder (131,02 pulse). Enclosure rating: IP6 (M*ME), IP6 (M*MD) Compact & Light weight Middle capacity type Small capacity type [ (0W to 0W)] Motor (Scheduled to be released.).kw, 11kW, kw.kw 4.kW, 6.0kW Environmental Conditions Item Ambient temperature *1 Ambient humidity [ (1.0kW to.0kw)] MFME 1.kW, 2.kW, 4.kW Motor with Gear Reduce: 100W, 200W, 0W, 0W Conditions 0 C to C (free from freezing) 20% to 8% RH (free from condensation) Motor Contents (/) 0W to 0W... P.36 to 44 () 1.0kW to.0kw... P.4 to 0 () 1.0kW to.0kw... P.1 to 6 () 0.9kW to 3.0kW... P. to 9 () 1.0kW to.0kw... P.60 to 6 MSMD (/) 0W to 0W... P.66 to 4 MHMD (/) 200W to 0W... P.6 to 80 (0V) 1.0kW to.0kw... P.82 to 8 (0V) 1.0kW to.0kw... P.88 to 93 Motor Options Information motor X USB RS232/48 X: for scale for encoder * For s used to connect to the driver, refer to the A-frame table because both frames use the same s ø ø Mass: 4.kg Storage temperature *2 Storage humidity 20 C to 6 C (Max.temperature guarantee: 80 C for 2 hours) 20% to 8% RH (free from condensation) Vibration Motor only Lower than 49m/s 2 (G) at running, 24.m/s 2 (2.G) at stall Impact Motor only Lower than 98m/s 2 (10G) Enclosure rating (Motor only) Leadwire type *3 Connector type *3*4 Altitude IP6 (except rotating portion of output shaft and readwire end.) IP6 (except rotating portion of output shaft and connecting pin part of the motor and the encoder ) Lower than 1000m *1 Ambient temperature to be measured at cm away from the motor. *2 Permissible temperature for short duration such as transportation. *3 These motors conform to the test conditions specified in EN standards (EN6029, EN60034-). Do not use these motors in application where water proof performance is required such as continuous wash-down operation. *4 This condition is applied when the mounting screw in case of motor 0W or less are tightened to the recommended tightening torque (Refer to 1-16, 2-18, 2-00). Be sure to use mounting screw supplied with the. <Note> Initial setup of rotational direction: positive = CCW and negative = CW. Pay an extra attention. Positive direction (CCW) Negative direction (CW) (0V) 0.9kW to 3.0kW... P.94 to 96 (0V) 1.0kW to.0kw... P.98 to