yamaha single-axis robot driver rdv series · yamaha single-axis robot driver ver. 1.11 ......
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RDV Series User’s Manual
RDV-X / RDV-P
YAMAHA SINGLE-AXIS ROBOT DRIVER
Ver. 1.11EUN3158111
E197
Safety Instructions
1. Safety Information S-1
2. Signal words used in this manual S-2
3. Warning labels S-3
3.1 Warning labels S-3
3.1.1 Warning label messages on robot and controller S-3
3.1.2 Supplied warning labels S-8
3.2 Warning symbols S-9
4. Important precautions for each stage of the robot life cycle S-10
4.1 Precautions for using robots and controllers S-10
4.2 Essential precautions for the linear conveyor module S-11
4.3 Design S-12
4.3.1 Precautions for robots S-12
4.3.2 Precautions for robot controllers S-12
4.4 Moving and installation S-13
4.4.1 Precautions for robots S-13
4.4.2 Precautions for robot controllers S-14
4.5 Safety measures S-16
4.5.1 Safety measures S-16
4.5.2 Installing a safety enclosure S-17
4.6 Operation S-18
4.6.1 Trial operation S-18
4.6.2 Automatic operation S-20
4.6.3 Precautions during operation S-20
4.7 Inspection and maintenance S-22
4.7.1 Before inspection and maintenance work S-22
4.7.2 Precautions during service work S-23
4.8 Disposal S-24
5. Emergency action when a person is caught by robot S-25
6.Cautionsregardingstrongmagneticfields S-25
7. Using the robot safely S-26
7.1 Movement range S-26
7.2 Robot protective functions S-27
7.3 Residual risk S-28
7.4 Special training for industrial robot operation S-28
CONTENTS RDV SeriesUser’s Manual
T-1
Warranty
Important information before reading this manual
Introduction i
Available manuals i
About this manual i
Before using the driver (Be sure to read the following notes) ii
Chapter 1 Using the robot safely
1. Precautions for use 1-1
2. Storage 1-1
3. Carrying 1-2
4. Installation 1-2
5. Wiring 1-3
6. Control and operation 1-4
7. Maintenance and inspection 1-4
8. Safety standards 1-5
8.1 Measures for CE marking 1-5
8.1.1 Cautions regarding compliance with EC Directives 1-5
8.1.2 CE marking 1-5
8.1.3 Applicable EC Directives and their related standards 1-5
8.1.4 Robots subject to CE Marking 1-5
8.1.5 Cautions regarding the official language of EU countries 1-5
9. Usage conditions 1-6
Chapter 2 Introduction
1. Inspection after unpacking 2-1
1.1 Checking the product 2-1
1.2 User's manual 2-1
2. Product inquiries and warranty 2-2
2.1 Notes when making an inquiry 2-2
CONTENTS RDV SeriesUser’s Manual
T-2 T-3
3. External view and part names 2-3
4. Driver and robot combination 2-4
Chapter 3 Installation and wiring
1. Installation 3-1
1.1 Precautions during installation 3-2
2. Wiring 3-4
2.1 Connectors 3-4
2.2 Main circuit wiring 3-5
2.3 Wiring the main circuit connectors 3-11
2.4 Input/output signal wiring 3-12
2.5 Wiring for position sensor signals 3-25
Chapter 4 Operation
1. Control and operation 4-1
1.1 Position control by pulse train input 4-2
2. Test run 4-3
2.1 Jogging operation from RDV-Manager 4-3
3. Emergency stop 4-6
Chapter 5 Functions
1. Terminal function list 5-1
2. Input terminal functions 5-3
3. Output terminal functions 5-6
4. Return-to-origin function 5-9
5. Analog output function 5-18
6. Pulse train input function 5-19
7. Smoothing function 5-21
8. Position sensor monitor function 5-22
9. Adjusting the control gain 5-23
T-2
CONTENTS RDV SeriesUser’s Manual
T-3
9.1 Basic rules of gain adjustment 5-23
9.2 Manual gain adjustment procedure 5-24
10.Offlineautotuningfunction 5-26
10.1Motionprofilesettings 5-28
10.2ServoONandreturn-to-origininthe"Offlineautotuning"screen 5-32
10.2.1 Executing servo ON (RDV-X / RDV-P) 5-32
10.2.2 Estimation of magnetic pole position and turning the servo on (RDV-P) 5-33
10.2.3 Homing (return-to-origin) in the "Offline auto tuning" screen 5-34
10.3 Load moment of inertia setting 5-35
10.3.1 Load moment of inertia estimation 5-35
10.3.2 Conditions of load moment of inertia estimation (detail setting) 5-38
10.3.3 Load moment of inertia calculation 5-41
10.4 Automatic servo gain tuning 5-44
10.4.1 Executing auto servo gain tuning 5-44
10.4.2 Auto servo gain tuning settings 5-48
10.4.3 Conditions of servo gain tuning (detail setting) 5-50
10.5Offlineautotuningtroubleshooting 5-52
10.6 Machine diagnosis 5-53
10.6.1 Executing machine diagnosis 5-53
10.6.2 Resonant peaks in the mechanical system 5-57
10.6.3 Conditions of machine diagnosis 5-59
11. Gain change function 5-61
11.1 Changing the control gain 5-61
12. Clearing the alarm history and restoring the factory settings 5-63
12.1 Clearing the alarm history 5-63
12.2 Factory settings 5-63
13. Motor rotating direction 5-64
13.1 FLIP-X series phase sequence 5-64
13.2 PHASER series phase sequence 5-64
14. Speed limit function 5-65
15. Fast positioning function 5-66
16.Notchfilterfunction 5-67
17. Magnetic pole position estimation action 5-68
18. Magnetic pole position estimation and parameters 5-69
CONTENTS RDV SeriesUser’s Manual
T-4 T-5
Chapter 6 Parameter description
1. Operator monitor 6-1
1.1 Operator monitor functions 6-1
1.2 Special display 6-1
2. Function lists 6-2
2.1 List of monitor functions 6-3
2.2 List of setup parameters 6-4
3. Function description 6-9
3.1 Monitor display description 6-9
3.2 Setup parameter description 6-11
3.3 Reference graph for setting the acceleration and position control cut-off frequency 6-24
3.3.1 RDV-X 6-25
T4H-2 (C4H-2) 6-25
T4H-2-BK (C4H-2-BK) 6-25
T4H-6 (C4H-6) 6-26
T4H-6-BK (C4H-6-BK) 6-26
T4H-12 (C4H-12) 6-27
T4H-12-BK (C4H-12-BK) 6-27
T4LH-2 (C4LH-2) 6-28
T4LH-2-BK (C4LH-2-BK) 6-28
T4LH-6 (C4LH-6) 6-29
T4LH-6-BK (C4LH-6-BK) 6-29
T4LH-12 (C4LH-12) 6-30
T4LH-12-BK (C4LH-12-BK) 6-30
T5H-6 (C5H-6) 6-31
T5H-6-BK (C5H-6-BK) 6-31
T5H-12 (C5H-12) 6-32
T5H-12-BK (C5H-12-BK) 6-32
T5H-20 6-33
T5LH-6 (C5LH-6) 6-33
T5LH-6-BK (C5LH-6-BK) 6-34
T5LH-12 (C5LH-12) 6-34
T5LH-12-BK (C5LH-12-BK) 6-35
T5LH-20 (C5LH-20) 6-35
T6-6 (C6-6) 6-36
T6-6-BK (C6-6-BK) 6-36
T6-12 (C6-12) 6-37
T6-12-BK (C6-12-BK) 6-37
T6-20 6-38
T-4
CONTENTS RDV SeriesUser’s Manual
T-5
T6L-6 (C6L-6) 6-38
T6L-6-BK (C6L-6-BK) 6-39
T6L-12 (C6L-12) 6-39
T6L-12-BK (C6L-12-BK) 6-40
T6L-20 (C6L-20) 6-40
T7-12 6-41
T7-12-BK 6-41
T9-5 6-42
T9-5-BK 6-42
T9-10 6-43
T9-10-BK 6-43
T9-20 6-44
T9-20-BK 6-44
T9-30 6-45
T9H-5 6-45
T9H-5-BK 6-46
T9H-10 6-46
T9H-10-BK 6-47
T9H-20 6-47
T9H-20-BK 6-48
T9H-30 6-48
F8-6 (C8-6) 6-49
F8-6-BK (C8-6-BK) 6-49
F8-12 (C8-12) 6-50
F8-12-BK (C8-12-BK) 6-50
F8-20 (C8-20) 6-51
F8L-5 (C8L-5) 6-51
F8L-5-BK (C8L-5-BK) 6-52
F8L-10 (C8L-10) 6-52
F8L-10-BK (C8L-10-BK) 6-53
F8L-20 (C8L-20) 6-53
F8L-20-BK (C8L-20-BK) 6-54
F8L-30 6-54
F8LH-5 (C8LH-5) 6-55
F8LH-10 (C8LH-10) 6-55
F8LH-20 (C8LH-20) 6-56
F10-5 (C10-5) 6-56
F10-5-BK (C10-5-BK) 6-57
F10H-05 6-57
F10H-05BK 6-58
F10-10 (C10-10) 6-58
F10-10-BK (C10-10-BK) 6-59
CONTENTS RDV SeriesUser’s Manual
T-6 T-7
F10H-10 6-59
F10H-10BK 6-60
F10-20 (C10-20) 6-60
F10-20-BK (C10-20-BK) 6-61
F10H-20 6-61
F10H-20BK 6-62
F10-30 6-62
F10H-30 6-63
F14-5 (C14-5) 6-63
F14-5-BK (C14-5-BK) 6-64
F14-10 (C14-10) 6-64
F14-10-BK (C14-10-BK) 6-65
F14-20 (C14-20) 6-65
F14-20-BK (C14-20-BK) 6-66
F14-30 6-66
F14H-5 (C14H-5) 6-67
F14H-5-BK (C14H-5-BK) 6-67
F14H-10 (C14H-10) 6-68
F14H-10-BK (C14H-10-BK) 6-68
F14H-20 (C14H-20) 6-69
F14H-20-BK (C14H-20-BK) 6-69
F14H-30 6-70
F17L-50 (C17L-50) 6-70
F17L-50-BK (C17L-50-BK) 6-71
F17-10 (C17-10) 6-71
F17-10-BK (C17-10-BK) 6-72
F17-20 (C17-20) 6-72
F17-20-BK (C17-20-BK) 6-73
F17-40 6-73
F20-10-BK (C20-10-BK) 6-74
F20-20 (C20-20) 6-74
F20-20-BK (C20-20-BK) 6-75
F20-40 6-75
F20N-20 6-76
N15-10 6-76
N15-20 6-77
N15-30 6-77
N18-20 6-78
B10 6-78
B14 6-79
B14H 6-79
R5 6-80
T-6
CONTENTS RDV SeriesUser’s Manual
T-7
R10 6-80
R20 6-81
3.3.2 RDV-P 6-82
MR12 6-82
MF7 6-82
MF15 6-83
MF20 6-83
MF30 6-84
MF50 6-84
MF75 6-85
4. Control block diagram and monitors 6-86
Chapter 7 Maintenance and inspection
1. Maintenance and inspection 7-1
1.1 Precautions for maintenance and inspection 7-1
1.2 Daily inspection 7-1
1.3 Cleaning 7-1
1.4 Periodic inspection 7-1
2. Daily inspection and periodic inspection 7-2
3. Megger test and breakdown voltage test 7-3
4. Checking the inverter and converter 7-3
5. Capacitor life curve 7-5
Chapter 8 Specificationsanddimensions
1. Specificationtables 8-1
1.1 RDV-Xspecificationtable 8-1
1.2 RDV-Pspecificationtable 8-2
2. Driver dimensions 8-3
Chapter 9 Troubleshooting
1. Alarm display 9-1
2. Protective function list 9-2
3. Troubleshooting 9-3
CONTENTS RDV SeriesUser’s Manual
T-8 T-9
3.1 When an alarm has not tripped 9-3
3.2 When an alarm has tripped 9-5
Chapter 10 Appendix
1. Timing chart 10-1
2. Options 10-2
3. Recommended peripheral devices 10-7
4. EMC countermeasure examples 10-9
4.1 Configuration 10-9
4.2 Countermeasure components 10-10
5. Internal block diagram of robot driver 10-12
T-8
CONTENTS RDV SeriesUser’s Manual
T-9
Contents
1. Safety Information S-1
2. Signal words used in this manual S-2
3. Warning labels S-3
3.1 Warning labels S-3
3.1.1 Warning label messages on robot and controller S-3
3.1.2 Supplied warning labels S-8
3.2 Warning symbols S-9
4. Important precautions for each stage of the robot life cycle S-10
4.1 Precautions for using robots and controllers S-10
4.2 Essential precautions for the linear conveyor module S-11
4.3 Design S-12
4.3.1 Precautions for robots S-12
4.3.2 Precautions for robot controllers S-12
4.4 Moving and installation S-13
4.4.1 Precautions for robots S-13
4.4.2 Precautions for robot controllers S-14
4.5 Safety measures S-16
4.5.1 Safety measures S-16
4.5.2 Installing a safety enclosure S-17
4.6 Operation S-18
4.6.1 Trial operation S-18
4.6.2 Automatic operation S-20
4.6.3 Precautions during operation S-20
4.7 Inspection and maintenance S-22
4.7.1 Before inspection and maintenance work S-22
4.7.2 Precautions during service work S-23
4.8 Disposal S-24
5. Emergency action when a person is caught by robot S-25
6. Cautions regarding strong magnetic fields S-25
7. Using the robot safely S-26
7.1 Movement range S-26
7.2 Robot protective functions S-27
7.3 Residual risk S-28
7.4 Special training for industrial robot operation S-28
Safety Instructions
Safe
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S-1
1. Safety InformationIndustrial robots are highly programmable, mechanical devices that provide a large degree of freedom when performing various manipulative tasks. To ensure safe and correct use of YAMAHA industrial robots and con-trollers*, carefully read and comply with the safety instructions and precautions in this "Safety Instructions" guide. Failure to take necessary safety measures or incorrect handling may result in trouble or damage to the robot and controller, and also may cause personal injury (to installation personnel, robot operator or service personnel) including fatal accidents. * The descriptions about the controller stated in this manual also include the contents of the robot driver.
Before using this product, read this manual and related manuals and take safety precautions to ensure cor-rect handling. The precautions listed in this manual relate to this product. To ensure safety of the user’s final system that in-cludes YAMAHA robots, please take appropriate safety measures as required by the user’s individual system.
To use YAMAHA robots and controllers safely and correctly, always comply with the safety rules and instruc-tions.
• Forspecificsafetyinformationandstandards,refertotheapplicablelocalregulationsandcomplywith the instructions.
• WarninglabelsattachedtotherobotsarewritteninEnglish,Japanese,ChineseandKorean.Thismanual isavailableinEnglishorJapanese(orsomepartsinChinese).Unlesstherobotoperatorsorservice personnel understand these languages, do not permit them to handle the robot.
• CautionsregardingtheofficiallanguageofEUcountries ForequipmentthatwillbeinstalledinEUcountries,thelanguageusedforthemanuals,warninglabels, operationscreencharacters,andCEdeclarationsisEnglishonly. WarninglabelsonlyhavepictogramsorelseincludewarningmessagesinEnglish.Inthelattercase, messagesinJapaneseorotherlanguagesmightbeadded.
It is not possible to list all safety items in detail within the limited space of this manual. So please note that it is essential that the user have a full knowledge of safety and also make correct judgments on safety proce-dures.
Refer to the manual by any of the following methods when installing, operating or adjusting the robot and controller.
1. Install, operate or adjust the robot and controller while referring to the printed version of the manual (available for an additional fee).
2. Install, operate or adjust the robot and controller while viewing the disc version of the manual on your computer screen.
3. Install, operate or adjust the robot and controller while referring to a printout of the necessary pages from the disc version of the manual.
Safe
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2. Signal words used in this manualThis manual uses the following safety alert symbols and signal words to provide safety instructions that must be observed and to describe handling precautions, prohibited actions, and compulsory actions. Make sure you understand the meaning of each symbol and signal word and then read this manual.
w DANGER This indicates an immediately hazardous situation which, if not avoided, will result in death or serious injury.
w WARNING This indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury.
c CAUTION This indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury, or damage to the equipment.
n NOTE Explains the key point in the operation in a simple and clear manner.
Safe
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S-3
3. Warning labelsWarninglabelsshownbelowareattachedtotherobotbodyandcontrollertoalerttheoperatortopotentialhazards. To ensure correct use, read the warning labels and comply with the instructions.
3.1 Warning labels
w WARNING If warning labels are removed or difficult to see, then the necessary precautions may not be taken, resulting in an accident. • Donotremove,alterorstainthewarninglabelsontherobotbody. • Donotallowwarninglabelstobehiddenbydevicesinstalledontherobotbytheuser. • Provideproperlightingsothatthesymbolsandinstructionsonthewarninglabelscanbeclearlyseenfrom outside the safety enclosure.
3.1.1 Warning label messages on robot and controllerWord messages on the danger, warning and caution labels are concise and brief instructions. For more specific instructions, read and follow the "Instructions on this label" described on the right of each label shown below. See “7.1 Movement range” in “Safety instructions” for details on the robot’s movement range.
Warning label 1 (SCARA robots, Cartesian robots)
w DANGER Serious injury may result from contact with a moving robot. • Keepoutsideoftherobotsafetyenclosureduringoperation. • Presstheemergencystopbuttonbeforeenteringthesafetyenclosure.
Instructions on this label
• Alwaysinstallasafetyenclosuretokeepallpersonsawayfromtherobotmovementrangeandpreventinjuryfromcontactingthemovingpartoftherobot.
• Installaninterlockthattriggersemergencystopwhenthedoororgateofthesafetyenclosureisopened.
• Thesafetyenclosureshouldbedesignedsothatnoonecanenterinsideexceptfromthedoororgateequippedwithaninterlockdevice.
• Warninglabel1thatcomessuppliedwitharobotshouldbeaffixedtoaneasy-to-seelocationonthedoororgateofthesafetyenclosure.
Potential hazard to human body Seriousinjurymayresultfromcontactwithamovingrobot.
To avoid hazard•Keepoutsideoftherobotsafetyenclosureduringoperation.
•Presstheemergencystopbuttonbeforeenteringthesafetyenclosure.
90K41-001470
Warning label 2 (SCARA robots, Cartesian robots, single-axis robots*)
* Warning label 2 is not attached to some small single-axis robots, but is supplied with the robots.
w WARNING Moving parts can pinch or crush hands. Keephandsawayfromthemovablepartsoftherobot.
Instructions on this label
Usecautiontopreventhandsandfingersfrombeing
pinchedorcrushedbythemovablepartsoftherobot
whentransportingormovingtherobotorduring
teaching.
Potential hazard to human body Movingpartscanpinchorcrushhands.
To avoid hazard Keephandsawayfromthemovablepartsoftherobot.
90K41-001460
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Warning label 3 (SCARA robots, Cartesian robots, controllers*)
* Some models
w WARNING Improper installation or operation may cause serious injury. Before installing or operating the robot, read the manual and instructions on the warning labels and understand the contents.
Instructions on this label
• Besuretoreadthewarninglabelandthismanualcarefullytomakeyoucompletelyunderstandthecontentsbeforeattemptinginstallationandoperationoftherobot.
• Beforestartingtherobotoperation,evenafteryouhavereadthroughthismanual,readagainthecorrespondingproceduresand"Safetyinstructions"inthismanual.
• Neverinstall,adjust,inspectorservicetherobotinanymannerthatdoesnotcomplywiththeinstructionsinthismanual.
Potential hazard to human body Improperinstallationoroperationmaycauseseriousinjury.
To avoid hazardBeforeinstallingoroperatingtherobot,readthemanualandinstructionsonthe
warninglabelsandunderstandthecontents.
90K41-001290
Warning label 4 (SCARA robots*)
* This label is not attached to omnidirectional type SCARA robots.
c CAUTION Do not remove the parts on which Warning label 4 is attached. Doing so may damage the ball screw.
Instructions on this label
TheZ-axisballscrewwillbedamagediftheupperend
mechanicalstopperontheZ-axissplineisremovedor
moved.Neverattempttoremoveormoveit.
90K41-001520
Warning label 5 (Cartesian robots*, single-axis robots*)
* Some robot models
w WARNING Ground the controller to prevent electrical shock. Ground terminal is located inside this cover. Read the manual for details.
Instructions on this label
• Highvoltagesectioninside
• Topreventelectricalshock,besuretogroundtherobotusingthegroundterminal.
Potential hazard to human body Electricalshock
To avoid hazard Groundthecontroller.
90K41-001480
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Warming label 6 (Robot drivers RDV-X/RDV-P)
w WARNING • Beforetouchingtheterminalsorconnectorsontheoutsideoftherobotdriver,turnoffthepowerandwaitfor 10 minutes or longer to prevent electrical shock. Otherwise, burn or electrical shock may result. • Beforeusingtherobotdriver,besuretothroughlyreadthismanual. • Besuretogroundthegroundterminal. • Usenonflammablemetalplatesforthematerialoftheinstallationwallsurface.
Instructions on this label
• Thisindicatesahighvoltageispresent.Touchingtheterminalblockorconnectormaycauseelectricalshock.
• Thisindicatesimportantinformationthatyoumustknowisdescribedinthemanual.Beforeusingtherobotdriver,besuretoreadthemanualthoroughly.
• Besuretogroundthegroundterminaltoavoidelectricalshock.
• Usenonflammablemetalplatesforthematerialoftheinstallationwallsurface.Otherwise,firemayresult.
Potential hazard to human body To avoid hazard
Electricalshock Donottouchtheterminalsectionfor10minutesafterpower-off.
Improperinstallationoroperationmaycause
seriousinjury.
Beforeinstallingoroperatingtherobot,readthemanualandinstructions
onthewarninglabelsandunderstandthecontents.
Electricalshock Besuretogroundthegroundterminal.
3T034156-1/NE63012
Warming label 7 (controllers TS-X/TS-P)
w WARNING • Beforetouchingtheterminalsorconnectorsontheoutsideofthecontroller,turnoffthepowerandwaitatleast 10 minutes to avoid burns or electrical shock. • Motorsandheatsinksbecomehotduringandshortlyafteroperation,sodonottouchthem.
c CAUTION • Beforeusingthecontroller,besuretoreadthemanualthoroughly. • Besuretogroundthegroundterminal.
Instructions on this label
• Thisindicatesahighvoltageispresent.Touchingtheterminalblockorconnectormaycauseelectricalshock.
• Thisindicatestheareaaroundthissymbolmaybecomeveryhot.Motorsandheatsinksbecomehotduringandshortlyafteroperation.Donottouchthemtoavoidburns.
• Thisindicatesimportantinformationthatyoumustknowisdescribedinthemanual.Beforeusingthecontroller,besuretoreadthemanualthoroughly.Whenaddingexternalsafetycircuitsorconnectingapowersupplytothecontroller,readthemanualcarefullyandmakechecksbeforebeginningthework.
• Besuretogroundthegroundterminaltoavoidelectricalshock.
Potential hazard to human body To avoid hazard
Electricalshock Donottouchtheterminalsectionfor10minutesafterpower-off.
Donottouchthemtoavoidburns. Donottouchthemotorsandheatsinksduringpower-on.
Improperinstallationoroperationmaycause
seriousinjury.
Beforeinstallingoroperatingtherobot,readthemanualandinstructions
onthewarninglabelsandunderstandthecontents.
Electricalshock Besuretogroundthegroundterminal.
90K41-000950
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Warming label 8 (controllers RCX240, controllers RCX340)
w WARNING These are precautions for YAMAHA and distributors' service personnel. Customers must not attempt to open the covers.
w WARNING Wait at least 100 seconds after power-off before opening the covers.
Instructions on this label
• Waitatleast100secondsafterpower-off
beforeopeningthecovers(*).
• Somepartsinthecontrollerstillretainahigh
voltageevenafterpower-off,soelectrical
shockmayoccurifthosepartsaretouched.
Potential hazard to human body Electricalshock
To avoid hazard Waitatleast100secondsafterpower-offbeforeopeningthecovers(*).
* These are precautions for YAMAHA and distributors' service personnel. Customers must not attempt to open the covers.
90K41-001390
Warning label 9 (single-axis linear motor robots)
c CAUTION A magnetic scale is located inside this cover. Bringing a magnet close to it may cause malfunction.
Instructions on this label
• Topreventtherobotfromoperatingimproperlyduetomagneticscalemalfunction,donotbringastrongmagnettothecover.
• Donotbringtoolsclosetothemagneticscale.
90K41-001510
Warning label 10 (single-axis linear motor robots)
c CAUTION Powerful magnets are installed in the robot. Do not attempt to disassemble the robot to avoid possible injury. Do not bring any device that may malfunction due to magnetic fields close to the robot.
Instructions on this label
Besuretoread"6.Cautionsregardingstrongmagnetic
fields"in"Safetyinstructions"andmakesureyoufully
understanditscontentsbeforehandlingoroperating
therobot.
Potential hazard to human body Injuryordeathmayresultinsomecases.
To avoid hazard Makeyouunderstandtheprecautionsregardingstrongmagneticfields.
90K41-001500
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Warning label 11 (Controller)*
* This label is attached to the front panel.
c CAUTION Refer to the manual.
取扱説明書参照
READ INSTRUCTIONMANUAL
Instructions on this label
Thisindicatesimportantinformationthatyoumust
knowandisdescribedinthemanual.
Beforeusingthecontroller,besuretoreadthemanual
thoroughly.
Whenaddingexternalsafetycircuitsorconnectinga
powersupplytothecontroller,readthemanual
carefullyandmakechecksbeforebeginningthework.
Connectorshaveanorientation.Inserteachconnector
inthecorrectdirection.
93005-X0-00
Warning label 12 (single-axis robots, Cartesian robots*)
* Some robot models
w WARNING If a load is applied to the motor cover, this may cause breakage. The robot may drop at installation, causing personal injury.
Instructions on this label
• Donottransporttherobotbyholdingthemotorcover.
Potential hazard to human body Personalinjurymayresult.
To avoid hazard Donotholdthemotorcover.
90K41-001850
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3.1.2 Supplied warning labelsSome warning labels are not affixed to robots but included in the packing box. These warning labels should be affixed to an easy-to-see location.
Warning label is attached to the robot body.
Warning label comes supplied with the robot and should be affixed to an easy-to-see location on the door or gate of the
safety enclosure.
Warning label comes supplied with the robot and should be affixed to an easy-to-see location.
SCARA robots
Cartesian robots
Single-axis robots
Warning label 1
*1
Warning label 2 *1 *2
Warning label 3 *1
*1: See "Part names" in each SCARA robot manual for label positions.
*2: This label is not attached to some small single-axis robots, but is supplied with the robots.
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3.2 Warning symbols
Warningsymbolsshownbelowareindicatedontherobotsandcontrollerstoalerttheoperatortopotentialhazards. To use the YAMAHA robot safely and correctly always follow the instructions and cautions indicated by the symbols.
Electrical shock hazard symbol1.
w WARNING Touching the terminal block or connector may cause electrical shock, so use caution.
Instructions by this symbol
Thisindicatesahighvoltageispresent.Touchingtheterminalblockorconnectormaycauseelectricalshock.
93006-X0-00
High temperature hazard symbol2.
w WARNING Motors, heatsinks, and regenerative units become hot, so do not touch them.
Instructions by this symbol
Thisindicatestheareaaroundthissymbolmaybecomeveryhot.Motors,heatsinks,andregenerativeunitsbecomehotduringandshortlyafteroperation.Toavoidburnsbecarefulnottotouchthosesections.
93008-X0-00
Caution symbol3.
c CAUTION Always read the manual carefully before using the controller.
!
Instructions by this symbol
Thisindicatesimportantinformationthatyoumustknowandisdescribedinthemanual.Beforeusingthecontroller,besuretoreadthemanualthoroughly.Whenaddingexternalsafetycircuitsorconnectingapowersupplytothecontroller,readthemanualcarefullyandmakechecksbeforebeginningthework.Connectorsmustbeattachedwhilefacingacertaindirection,soinserteachconnectorinthecorrectdirection.
93007-X0-00
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4. Important precautions for each stage of the robot life cycleThis section describes major precautions that must be observed when using robots and controllers. Be sure to carefully read and comply with all of these precautions even if there is no alert symbol shown.
4.1 Precautions for using robots and controllers
General precautions for using robots and controllers are described below.
Applications where robots cannot be used1.
YAMAHA robots and robot controllers are designed as general-purpose industrial equipment and cannot be used for the
following applications.
w DANGER YAMAHA robot controllers and robots are designed as general-purpose industrial equipment and cannot be used for the following applications. • Inmedicalequipmentsystemswhicharecriticaltohumanlife • Insystemsthatsignificantlyaffectsocietyandthegeneralpublic • Inequipmentintendedtocarryortransportpeople • Inenvironmentswhicharesubjecttovibrationsuchasonboardshipsandvehicles.
Qualification of operators/workers2.
Operators or persons who perform tasks for industrial robots (such as teaching, programming, movement check, inspec-
tion, adjustment, and repair) must receive appropriate training and also have the skills needed to perform the tasks
correctly and safely.
Those tasks must be performed by qualified persons who meet requirements established by local regulations and
standards for industrial robots. They must also read the manual carefully and understand its contents before attempting
the robot operation or maintenance.
w WARNING • Itisextremelyhazardousforpersonswhodonothavetheabovequalificationstoperformtasksforindustrial robots. • Adjustmentandmaintenancethatrequireremovingacovermustbeperformedbypersonswhohavethe above qualifications. Any attempt to perform such tasks by an unqualified person may cause an accident resulting in serious injury or death.
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4.2 Essential precautions for the linear conveyor moduleThe linear conveyor module is a YAMAHA robot so safety measures must be followed and safety equipment must be installed just as required for other YAMAHA robots.This section describes essential precautions for handling the linear conveyor module. Precautions for each stage in the robot life cycle are listed from the next section, so be sure to read the whole section of “Safety Instruction” in this manual.
Slider ejection1.
w DANGER The slider and workpieces ejected at high SPEED from the linear conveyor module may strike persons, causing serious and POSSIBLY fatal injuries. Please comply with the following points. • Donotenterorallowthefaceandhandstointrudeanywherealongthelinewherethelinearconveyor guide railmayextend(notonlyejectionsideoftheconveyorbutalsotheinsertionside). • Ifejectingtheslideronthelinearconveyor,theninstallasuitableejectionmechanism(devicetocatchand stoptheejectedslider). • Installastructureandamechanismtocatchandretaintheslideronthesidewherethesliderisinserted. • Installasafetyenclosureoutsidethelinearconveyormovementrange.Designthesafetyenclosuresothatthe slider and workpieces from the linear conveyor are not ejected outside of the enclosure.
Preventing electrical shock2.
w DANGER Always comply with the instructions in this manual when installing, operating and inspecting the linear conveyor module. Failure to do so may lead to electrical shock, serious injury or even death. Please comply with the following items: • ReadandFOLLOWtheinstructionsinthismanualwhengroundingthelinearconveyormoduleandinstalling the termination module. • Donottouchthemotorofthelinearconveyormodulewhenitison. • Alwayscomplywiththeinstructionsinthemanualwhenperformingmaintenanceandbesuretoturnoffthe power before starting maintenance tasks. • Ifcrackedorbrokenplasticmotorpartsarefound,stopusingthelinearconveyormoduleimmediatelyand turn off the power.
Strong magnetic field3.
w WARNING The linear conveyor module contains powerful permanent magnets and electromagnets that generate strong magnetic fields. Always comply with the precautions listed in this manual when using the linear conveyor module. Those persons wearing medical electronic devices such as cardiac pacemakers or hearing aids are at particular risk of major injury or even death. • Alwaysattachthemagnetprotectivecover(supplied)whenhandling,shippingorstoringthesliderwhen removing it from the linear conveyor module’s guide rails. • Donotapproachthemotorofthelinearconveyormodulewhilethepowerison.(Stayatleast100mmaway.) • Donotattempttodisassemblethelinearconveyormodule(includingsurroundingcovers). • Do not place any tools near the slider magnets and the linear conveyor motor while the power is on.
High temperature hazard4.
w WARNING The motor for the linear conveyor module is mounted on the module, and so it is easy to come into contact with. To allow heat generated during operation to DISSIPATE, install the module on a base made from good heat conducting material such as metal. The motor reaches high temperatures during and IMMEDIATELY after operation, so touching it at those times may cause burns. Before touching the motor, first turn off the controller power, then wait a while and check that the temperature has DROPPED sufficiently.
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4.3 Design
4.3.1 Precautions for robots
Restricting the robot moving speed1.
w WARNING Restriction on the robot moving speed is not a safety-related function. To reduce the risk of collision between the robot and workers, the user must take the necessary protective measures such as enable devices according to risk assessment by the user.
Restricting the movement range2.
See “7.1 Movement range” in “Safety instructions” for details on the robot’s movement range.
w WARNING Soft limit function is not a safety-related function intended to protect the human body. To restrict the robot movement range to protect the human body, use the mechanical stoppers installed in the robot(oravailableasoptions).
c CAUTION Iftherobotmovingathighspeedcollideswithamechanicalstopperinstalledintherobot(oravailableasoption),therobotmaybedamaged.
Provide safety measures for end effector (gripper, etc.)3.
w WARNING • Endeffectorsmustbedesignedandmanufacturedsothattheycausenohazards(suchasalooseworkpiece orload)evenifpower(electricity,airpressure,etc.)isshutofforpowerfluctuationsoccur. • Iftheobjectgrippedbytheendeffectormightpossiblyflyoffordrop,thenprovideappropriatesafety protection taking into account the object size, weight, temperature, and chemical properties.
Provide adequate lighting4.
Provide enough lighting to ensure safety during work.
Install an operation status light5.
w WARNING Installasignallight(signaltower)ataneasy-to-seepositionsothattheoperatorwillbeawareoftherobotstopstatus(temporarilystopped,emergencystop,errorstop,etc.).
4.3.2 Precautions for robot controllers
Emergency stop input terminal1.
w DANGER Each robot controller has an emergency stop input terminal to trigger emergency stop. Using this terminal, install a safety circuit so that the system including the robot controller will work safely. For the robot driver without emergency stop input terminal, construct a safety circuit including the emergency stopfunctionusinganexternalcircuit.
Maintain clearance2.
c CAUTION Do not bundle control lines or communication cables together or in close to the main power supply or power lines. Usually separate these by at least 100mm. Failure to follow this instruction may cause malfunction due to noise.
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4.4 Moving and installation
4.4.1 Precautions for robots
Installation environment
Do not use in strong magnetic fields1.
w WARNING Donotusetherobotnearequipmentorinlocationsthatgeneratestrongmagneticfields.TherobotmayBREAKDOWN or malfunction if used in such locations.
Do not use in locations subject to possible electromagnetic interference, etc.2.
w WARNING Do not use the robot in locations subject to electromagnetic interference, electrostatic discharge or radio frequency interference. The robot may malfunction if used in such locations creating hazardous situations.
Do not use in locations exposed to flammable gases3.
w WARNING • YAMAHArobotsarenotdesignedtobeexplosion-proof. • Donotusetherobotsinlocationsexposedtoexplosiveorinflammablegases,dustparticlesorliquid.Failureto follow this instruction may cause serious accidents involving injury or death, or lead to fire.
Moving
Use caution to prevent pinching or crushing of hands or fingers1.
w WARNING Moving parts can pinch or crush hands or fingers. Keephandsawayfromthemovablepartsoftherobot.
As instructed in Warning label 2, use caution to prevent hands or fingers from being pinched or crushed by movable
parts when transporting or moving the robot. For details on warning labels, see "3. Warning labels" in "Safety instruc-
tions."
Take safety measures when moving robots2.
To ensure safety when moving a SCARA robot with an arm length of 500mm or more, use the eyebolts that come
supplied with the robot. Always refer to the robot user’s manual for details.
When moving other robots, please comply with the transport methods described in their respective user’s manuals.
Take measures to prevent the robot from falling3.
When moving the robot by lifting it with equipment such as a hoist or crane, wear personal protective gear and be
careful not to move the robot at higher than the required height.
Make sure that there are no persons on paths used for moving the robot.
w WARNING A robot falling from a high place and striking a worker may cause death or serious injury. When moving the robot, wear personal protective gear such as helmets and make sure that no one is within the surrounding area.
Installation
Protect electrical wiring and hydraulic/pneumatic hoses1.
Install a cover or similar item to protect the electrical wiring and hydraulic/pneumatic hoses from possible damage.
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Wiring
Protective measures against electrical shock1.
w WARNING Always ground the robot to prevent electrical shock.
Adjustment
Adjustment that requires removing a cover1.
w WARNING Adjustment by removing a cover require specialized technical knowledge and skills, and may also involve hazards if attempted by an unskilled person. This adjustment must be performed only by persons who have the required qualifications described in “2. Qualification of operators/workers” in section 4.1 of this “Safety instruc-tions”.
4.4.2 Precautions for robot controllers
Installation environment
Installation environment1.
w WARNING YAMAHArobotsarenotdesignedtobeexplosion-proof.Donotusetherobotsandcontrollersinlocationsexposedtoexplosiveorinflammablegases,dustparticlesorliquidsuchasgasolineandsolvents.Failuretofollow this instruction may cause serious accidents involving injury or death, and lead to fire.
w WARNING • Usetherobotcontrollerinlocationsthatsupporttheenvironmentalconditionsspecifiedinthismanual. Operation outside the specified environmental range may cause electrical shock, fire, malfunction or product damage or deterioration. • Therobotcontrollerandprogrammingboxmustbeinstalledatalocationthatisoutsidetherobotsafety enclosure yet where it is easy to operate and view robot movement. • Installtherobotcontrollerinlocationswithenoughspacetoperformwork(teaching,inspection,etc.)safely. Limited space not only makes it difficult to perform work but can also cause injury. • Installtherobotcontrollerinastable,levellocationandsecureitfirmly.Avoidinstallingthecontrollerupside down or in a tilted position. • Providesufficientclearancearoundtherobotcontrollerforgoodventilation.Insufficientclearancemaycause malfunction, breakdown or fire.
Installation
To install the robot controller, observe the installation conditions and method described in the manual.
Installation1.
w WARNING Securely tighten the screws to install the robot controller. If not securely tightened, the screws may come loose causing the controller to drop.
Connections2.
w WARNING • Alwaysshutoffallphasesofthepowersupplyexternallybeforestartinginstallationorwiringwork.Failuretodo this may cause electrical shock or product damage. • Neverdirectlytouchconductivesectionsandelectronicpartsotherthantheconnectors,rotaryswitches,and DIP switches on the outside panel of the robot controller. Touching them may cause electrical shock or breakdown. • Securelyinstalleachcableconnectorintothereceptaclesorsockets.Poorconnectionsmaycausethe controller or robot to malfunction.
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Wiring
Connection to robot controller1.
The controller parameters are preset at the factory before shipping to match the robot model. Check the specified robot
and controller combination, and connect them in the correct combination.
Since the software detects abnormal operation such as motor overloads, the controller parameters must be set correctly
to match the motor type used in the robot connected to the controller.
Wiring safety points2.
w WARNING Alwaysshutoffallphasesofthepowersupplyexternallybeforestartinginstallationorwiringwork.Failuretodothis may cause electrical shock or product damage.
c CAUTION • Makesurethatnoforeignmattersuchascuttingchipsorwirescrapsgetintotherobotcontroller.Malfunction, breakdown or fire may result if these penetrate inside. • Donotapplyexcessiveimpactsorloadstotheconnectorswhenmakingcableconnections.Thismightbend the connector pins or damage the internal PC board. • Whenusingferritecoresfornoiseelimination,besuretofitthemontothepowercableasclosetotherobot controller and/or the robot as possible, to prevent malfunction caused by noise.
Wiring method3.
w WARNING Securely install the connectors into the robot controller and, when wiring the connectors, make the crimp, press-contact or solder connections correctly using the tool specified by the connector manufacturer.
c CAUTION When disconnecting the cable from the robot controller, detach by gripping the connector itself and not by tuggingonthecable.Loosenthescrewsontheconnector(iffastenedwiththescrews),andthendisconnectthecable. Trying to detach by pulling on the cable itself may damage the connector or cables, and poor cable contact will cause the controller or robot to malfunction.
Precautions for cable routing and installation4.
c CAUTION • Alwaysstorethecablesconnectedtotherobotcontrollerinaconduitorclampthemsecurelyinplace.Ifthe cablesarenotstoredinaconduitorproperlyclamped,excessiveplayormovementormistakenlypullingon the cable may damage the connector or cables, and poor cable contact will cause the controller or robot to malfunction. • Donotmodifythecablesanddonotplaceanyheavyobjectsonthem.Handlethemcarefullytoavoid damage. Damaged cables may cause malfunction or electrical shock. • Ifthecablesconnectedtotherobotcontrollermaypossiblybecomedamaged,thenprotectthemwitha cover, etc. • Checkthatthecontrollinesandcommunicationcablesareroutedatagapsufficientlyawayfrommainpower supply circuits and power lines, etc. Bundling them together with power lines or close to power lines may cause faulty operation due to noise.
Protective measures against electrical shock5.
w WARNING Be sure to ground the ground terminals of the robot and controller. Poor grounding may cause electrical shock.
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4.5 Safety measures
4.5.1 Safety measures
Referring to warning labels and manual1.
w WARNING • Beforestartinginstallationoroperationoftherobot,besuretoreadthewarninglabelsandthismanual,and comply with the instructions. • Neverattemptanyrepair,partsreplacementandmodificationunlessdescribedinthismanual.These tasks require specialized technical knowledge and skills and may also involve hazards. Please contact your distributor for advice.
n NOTE For details on warning labels, see "3. Warning labels" in "Safety instructions."
Draw up "work instructions" and make the operators/workers understand them2.
w WARNING Decide on "work instructions" in cases where personnel must work within the robot safety enclosure to perform startup or maintenance work. Make sure the workers completely understand these "work instructions".
Decide on "work instructions" for the following items in cases where personnel must work within the robot safety
enclosure to perform teaching, maintenance or inspection tasks. Make sure the workers completely understand these
"work instructions".
1. Robot operating procedures needed for tasks such as startup procedures and handling switches
2. Robot speeds used during tasks such as teaching
3. Methods for workers to signal each other when two or more workers perform tasks
4. Steps that the worker should take when a problem or emergency occurs
5. Steps to take after the robot has come to a stop when the emergency stop device was triggered, including checks for cancelling the problem or error state and safety checks in order to restart the robot.
6. In cases other than above, the following actions should be taken as needed to prevent hazardous situations due to sudden or unexpected robot operation or faulty robot operation as listed below.
•Placeadisplaysignontheoperatorpanel
• Ensurethesafetyofworkersperformingtaskswithintherobotsafetyenclosure
•Clearlyspecifypositionandpostureduringwork Specify a position and posture where worker can constantly check robot movements and immediately move to avoid trouble if an error/problem occurs
•Takenoisepreventionmeasures
•Usemethodsforsignalingoperatorsofrelatedequipment
•Usemethodstodecidethatanerrorhasoccurredandidentifythetypeoferror
Implement the "work instructions" according to the type of robot, installation location, and type of work task.
When drawing up the "work instructions", make an effort to include opinions from the workers involved, equipment
manufacturer technicians, and workplace safety consultants, etc.
Take safety measures3.
w DANGER • Neverentertherobotmovementrangewhiletherobotisoperatingorthemainpoweristurnedon.Failureto follow this warning may cause serious accidents involving injury or death. Install a safety enclosure or a gate interlock with an area sensor to keep all persons away from the robot movement range. • Whenitisnecessarytooperatetherobotwhileyouarewithintherobotmovementrangesuchasforteaching ormaintenance/inspectiontasks,alwayscarrytheprogrammingboxwithyousothatyoucanimmediately stop the robot operation in case of an abnormal or hazardous condition. Install an enable device in the externalsafetycircuitasneeded.Alsosettherobotmovingspeedto3%orless.Failuretofollowthese instructions may cause serious accidents involving injury or death.
See “7.1 Movement range” in “Safety instructions” for details on the robot’s movement range.
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w WARNING • Duringstartupormaintenancetasks,displayasign"WORKINPROGRESS"ontheprogrammingboxand operation panel in order to prevent anyone other than the person for that task from mistakenly operating the start or selector switch. If needed, take other measures such as locking the cover on the operation panel. • Alwaysconnecttherobotandrobotcontrollerinthecorrectcombination.Usingtheminanincorrect combination may cause fire or breakdown.
Install system4.
When configuring an automated system using a robot, hazardous situations are more likely to occur from the automated
system than the robot itself. So the system manufacturer should install the necessary safety measures required for the
individual system. The system manufacturer should provide a proper manual for safe, correct operation and servicing of
the system.
w WARNING To check the robot controller operating status, refer to this manual and to related manuals. Design and install the system including the robot controller so that it will always work safely.
Precautions for operation5.
w WARNING • Donottouchanyelectricalterminal.Directlytouchingtheseterminalsmaycauseelectricalshock,equipment damage, and malfunction. • Donottouchoroperatetherobotcontrollerorprogrammingboxwithwethands.Touchingoroperatingthem with wet hands may result in electrical shock or breakdown.
Do not disassemble and modify6.
w WARNING Neverdisassembleandmodifyanypartintherobot,controller,andprogrammingbox.Donotopenanycover.Doing so may cause electrical shock, breakdown, malfunction, injury, or fire.
4.5.2 Installing a safety enclosureBe sure to install a safety enclosure to keep anyone from entering within the movement range of the robot. The safety enclosure will prevent the operator and other persons from coming in contact with moving parts of the robot and suffering injury. See “7.1 Movement range” in “Safety instructions” for details on the robot’s movement range.
w DANGER Serious injury may result from contact with a moving robot. •Keepoutsideoftherobotsafetyenclosureduringoperation. •Presstheemergencystopbuttonbeforeenteringthesafetyenclosure.
w WARNING • Installaninterlockthattriggersemergencystopwhenthedoororgateofthesafetyenclosureisopened. • Thesafetyenclosureshouldbedesignedsothatnoonecanenterinsideexceptfromthedoororgate equipped with an interlock device. • Warninglabel1(See"3.Warninglabels"in"Safetyinstructions")thatcomessuppliedwitharobotshouldbe affixedtoaneasy-to-seelocationonthedoororgateofthesafetyenclosure.
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4.6 OperationWhen operating a robot, ignoring safety measures and checks may lead to serious accidents. Always take the following safety measures and checks to ensure safe operation.
w DANGER Check the following points before starting robot operation. •Nooneiswithintherobotsafetyenclosure. •Theprogrammingunitisinthespecifiedlocation. •Therobotandperipheralequipmentareingoodcondition.
4.6.1 Trial operationAfter installing, adjusting, inspecting, maintaining or repairing the robot, perform trial operation using the following procedures.
If a safety enclosure has not yet been provided right after installing the robot:1.
Then rope off or chain off the movement range around the robot in place of the safety enclosure and observe the
following points.
See “7.1 Movement range” in “Safety instructions” for details on the robot’s movement range.
w DANGER Placea"Robotismoving-KEEPAWAY!"signtokeeptheoperatororotherpersonnelfromenteringwithinthemovement range of the robot.
w WARNING • Usesturdy,stablepostswhichwillnotfallovereasily. • Theropeorchainshouldbeeasilyvisibletoeveryonearoundtherobot.
Check the following points before turning on the controller.2.
• Istherobotsecurelyandcorrectlyinstalled?
•Aretheelectricalconnectionstotherobotwiredcorrectly?
•Areitemssuchasairpressurecorrectlysupplied?
• Istherobotcorrectlyconnectedtoperipheralequipment?
•Havesafetymeasures(safetyenclosure,etc.)beentaken?
•Doestheinstallationenvironmentmeetthespecifiedstandards?
After the controller is turned on, check the following points from outside the safety enclosure.3.
•Doestherobotstart,stopandentertheselectedoperationmodeasintended?
•Doeseachaxismoveasintendedwithinthesoftlimits?
•Doestheendeffectormoveasintended?
•Arethecorrectsignalsbeingsenttotheendeffectorandperipheralequipment?
•Doesemergencystopfunction?
•Areteachingandplaybackfunctionsnormal?
•Arethesafetyenclosureandinterlocksfunctioningasintended?
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Working inside safety enclosures4.
Before starting work within the safety enclosure, always confirm from outside the enclosure that each protective
function is operating correctly (see the previous section 2.3).
w DANGER Never enter within the movement range while within the safety enclosure.
See “7.1 Movement range” in “Safety instructions” for details on the robot’s movement range.
w WARNING When work is required within the safety enclosure, place a sign "Work in progress" in order to keep other persons from operating the controller switch or operation panel.
w WARNING Whenworkwithinthesafetyenclosureisrequired,alwaysturnoffthecontrollerpowerexceptforthefollowingcases:
Exception Work with power turned on, but robot in emergency stop
Origin position setting SCARA robotsFollowtheprecautionsandproceduredescribedin"Adjustingthe
origin".
Standard coordinate setting SCARA robotsFollowtheprecautionsandproceduredescribedin"Settingthe
standardcoordinates".
Soft limit settings
SCARA robotsFollowtheprecautionsandproceduredescribedin"Settingthesoft
limits".
Cartesian robots
Single-axis robots
Followtheprecautionsandproceduredescribedin"Softlimit"in
eachcontrollermanual.
Work with power turned on
Teaching
SCARA robots
Cartesian robots
Single-axis robots
Referto"5.Teachingwithinsafetyenclosure"describedbelow.
Teaching within the safety enclosure5.
When performing teaching within the safety enclosure, check or perform the following points from outside the safety
enclosure.
w DANGER Never enter within the movement range while within the safety enclosure.
See “7.1 Movement range” in “Safety instructions” for details on the robot’s movement range.
w WARNING • Makeavisualchecktoensurethatnohazardsarepresentwithinthesafetyenclosure. • Checkthattheprogrammingboxorhandyterminaloperatescorrectly. • Checkthatnofailuresarefoundintherobot. • Checkthatemergencystopworkscorrectly. • Selectteachingmodeanddisableautomaticoperation.
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4.6.2 Automatic operationCheckthefollowingpointswhenoperatingtherobotinAUTOmode.Observetheinstructionsbelowincaseswhere an error occurs during automatic operation. Automatic operation described here includes all operations inAUTOmode.
Checkpoints before starting automatic operation1.
Check the following points before starting automatic operation
w DANGER • Checkthatnooneiswithinthesafetyenclosure. • Checkthesafetyenclosureissecurelyinstalledwithinterlocksfunctional.
w WARNING • Checkthattheprogrammingbox/handyterminalandtoolsareintheirspecifiedlocations. • Checkthatthesignaltowerlampsorotheralarmdisplaysinstalledforthesystemarenotlitorflashing, indicating no error is occurring on the robot and peripheral devices.
During automatic operation and when errors occur2.
After automatic operation starts, check the operation status and the signal tower to ensure that the robot is in automatic
operation.
w DANGER Never enter the safety enclosure during automatic operation.
w WARNING If an error occurs in the robot or peripheral equipment, observe the following procedure before entering the safety enclosure. 1)Presstheemergencystopbuttontosettherobottoemergencystop. 2)Placeasignonthestartswitch,indicatingthattherobotisbeinginspectedinordertokeepotherpersonsfrom restarting the robot.
4.6.3 Precautions during operation
When the robot is damaged or an abnormal condition occurs1.
w WARNING • Ifunusualodors,noiseorsmokeoccurduringoperation,immediatelyturnoffpowertopreventpossible electrical shock, fire or breakdown. Stop using the robot and contact your distributor. • Ifanyofthefollowingdamageorabnormalconditionsoccurstherobot,thencontinuingtooperatetherobot is dangerous. Immediately stop using the robot and contact your distributor.
Damage or abnormal condition Type of danger
Damagetomachineharnessorrobotcable Electricalshock,robotmalfunction
Damagetorobotexterior Damagedpartsflyoffduringrobotoperation
Abnormalrobotoperation(positiondeviation,vibration,etc.) Robotmalfunction
Z-axis(verticalaxis)orbrakemalfunction Z-axisunitfallsoff
High temperature hazard2.
w WARNING • Donottouchtherobotcontrollerandrobotduringoperation.Therobotcontrollerandrobotbodyareveryhot during operation, so burns may occur if these sections are touched. • Themotorandspeedreductiongearcasingareveryhotshortlyafteroperation,soburnsmayoccurifthese are touched. Before touching those parts for inspections or servicing, turn off the controller, wait for a while and check that their temperature has cooled.
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Use caution when releasing the Z-axis (vertical axis) brake3.
w WARNING Theverticalaxiswillslidedownwardwhenthebrakeisreleased,causingahazardoussituation.Takeadequatesafety measures in consideration by taking the weight and shape into account. • Beforereleasingthebrakeafterpressingtheemergencystopbutton,placeasupportundertheverticalaxisso that it will not slide down. • Becarefulnottoletyourbodygetcaughtbetweentheverticalaxisandtheinstallationbasewhenperforming tasks(directteaching,etc.)withthebrakereleased.
Be careful of Z-axis movement when the controller is turned off or emergency stop is triggered 4. (air-driven Z-axis)
w WARNING TheZ-axisstartsmovingupwardwhenpowertothecontrollerorPLCisturnedoff,theprogramisreset,emergen-cystopistriggered,orairissuppliedtothesolenoidvalvefortheZ-axisaircylinder. • DonotlethandsorfingersgetcaughtandsqueezedbyrobotpartsmovingalongtheZ-axis. • KeeptheusualrobotpositioninmindsoastopreventtheZ-axisfromhanginguporbindingonobstacles duringraisingoftheZ-axisexceptincaseofemergencystop.
Take protective measures when the Z-axis interferes with peripheral equipment (air-driven Z-axis)5.
w WARNING WhentheZ-axiscomestoastopduetoobstructionfromperipheralequipment,theZ-axismaymovesuddenlyafter the obstruction is removed, causing injury such as pinched or crushed hands. • Turnoffthecontrollerandreducetheairpressurebeforeattemptingtoremovetheobstruction. • Beforereducingtheairpressure,placeasupportundertheZ-axisbecausetheZ-axiswilldropunderitsown weight.
Be careful of Z-axis movement when air supply is stopped (air-driven Z-axis)6.
w WARNING TheZ-axiswillslidedownwardwhentheairpressuretotheZ-axisaircylindersolenoidvalveisreduced,creatinga hazardous situation. TurnoffthecontrollerandplaceasupportundertheZ-axisbeforecuttingofftheairsupply.
Make correct parameter settings7.
c CAUTION The robot must be operated with the correct tolerable moment of inertia and acceleration coefficients that match the manipulator tip mass and moment of inertia. Failure to follow this instruction will lead to a premature end to the drive unit service life, damage to robot parts, or cause residual vibration during positioning.
If the X-axis, Y-axis or R-axis rotation angle is small8.
c CAUTION IftheX-axis,Y-axisorR-axisrotationangleissetsmallerthan5degrees,thenitwillalwaysmovewithinthesameposition. This restricted position makes it difficult for an oil film to form on the joint support bearing, and so may possibly damage the bearing. In this type of operation, add a range of motion so that the joint moves through 90 degrees or more, about 5 times a day.
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4.7 Inspection and maintenanceAlways perform daily and periodic inspections and make a pre-operation check to ensure there are no prob-lems with the robot and related equipment. If a problem or abnormality is found, then promptly repair it or take other measures as necessary.Keep a record of periodic inspections or repairs and store this record for at least 3 years.
4.7.1 Before inspection and maintenance work
Do not attempt any work or operation unless described in this manual.1.
Never attempt any work or operation unless described in this manual.
If an abnormal condition occurs, please be sure to contact your distributor. Our service personnel will take appropriate
action.
w WARNING Never attempt inspection, maintenance, repair, and part replacement unless described in this manual. These tasks require specialized technical knowledge and skills and may also involve hazards. Please be sure to contact your distributor for advice.
Precautions during repair and parts replacement2.
w WARNING When it is necessary to repair or replace parts of the robot or controller, please be sure to contact your distributor and follow the instructions they provide. Inspection and maintenance of the robot or controller by an unskilled, untrainedpersonisextremelyhazardous.
Adjustment, maintenance and parts replacement require specialized technical knowledge and skills, and also may
involve hazards. These tasks must be performed only by persons who have enough ability and qualifications required by
local laws and regulations.
w WARNING Adjustment and maintenance by removing a cover require specialized technical knowledge and skills, and may also involve hazards if attempted by an unskilled person. This adjustment must be performed only by persons who have the required qualifications described in “2. Qualification of operators/workers” in section 4.1 of this “Safety instructions”.
Shut off all phases of power supply3.
w WARNING Alwaysshutoffallphasesofthepowersupplyexternallybeforecleaningtherobotandcontrollerorsecurelytightening the terminal screws etc. Failure to do this may cause electrical shock or product damage or malfunc-tion.
Allow a waiting time after power is shut off (Allow time for temperature and voltage to drop)4.
w WARNING • Whenperformingmaintenanceorinspectionoftherobotcontrollerunderyourdistributor'sinstructions,waitat leastthetime(*)specifiedforeachcontrollerafterturningthepoweroff.Somecomponentsintherobot controller are very hot or still retain a high voltage shortly after operation, so burns or electrical shock may occur if those parts are touched. • Themotorandspeedreductiongearcasingareveryhotshortlyafteroperation,soburnsmayoccuriftheyare touched. Before touching those parts for inspections or servicing, turn off the controller, wait for a while and check that the temperature has cooled.
* For information on how long you should wait after turning the power off, see the user’s manual for each controller.
Precautions during inspection of controller5.
w WARNING • Whenyouneedtotouchtheterminalsorconnectorsontheoutsideofthecontrollerduringinspection,always first turn off the controller power switch and also the power source in order to prevent possible electrical shock. • Donotdisassemblethecontroller.Nevertouchanyinternalpartsofthecontroller.Doingsomaycause breakdown, malfunction, injury, or fire.
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4.7.2 Precautions during service work
Precautions when removing a motor (Cartesian robots and vertical mount single-axis robots)1.
w WARNING Theverticalaxiswillslidedownwhenthemotorisremoved,causingahazardoussituation. • Turnoffthecontrollerandplaceasupportundertheverticalaxisbeforeremovingthemotor. • Becarefulnottoletyourbodygetcaughtbythedrivingunitoftheverticalaxisorbetweentheverticalaxis and the installation base.
Be careful when removing the Z-axis motor (SCARA robots)2.
w WARNING TheZ-axiswillslidedownwardwhentheZ-axismotorisremoved,causingahazardoussituation. • TurnoffthecontrollerandPlaceasupportundertheZ-axisbeforeremovingtheZ-axismotor. • BecarefulnottoletyourbodygetcaughtbythedrivingunitoftheZ-axisorbetweentheZ-axisdriveunitand the installation base.
Do not remove the Z-axis upper limit mechanical stopper3.
c CAUTION Warninglabel4isattachedtoeachSCARArobot.(Fordetailsonwarninglabels,see"3.Warninglabels"in"Safetyinstructions.") RemovingtheupperlimitmechanicalstopperinstalledtotheZ-axissplineorshiftingitspositionwilldamagetheZ-axisballscrew.Neverattempttoremoveit.
Use caution when handling a robot that contains powerful magnets4.
w WARNING Powerful magnets are installed inside the robot. Do not disassemble the robot since this may cause injury. Devices that may malfunction due to magnetic fields must be kept away from this robot.
See "6. Cautions regarding strong magnetic fields" in "Safety instructions" for detailed information on strong magnetic fields.
Use the following caution items when disassembling or replacing the pneumatic equipment.5.
w WARNING Airorpartsmayflyoutwardifpneumaticequipmentisdisassembledorpartsreplacedwhileairisstillsupplied. • Doserviceworkafterturningoffthecontroller,reducingtheairpressure,andexhaustingtheresidualairfrom the pneumatic equipment. • Beforereducingtheairpressure,placeasupportstandundertheZ-axis(2-axisrobotswithairdrivenZ-axis) since it will drop under its own weight.
Use caution to avoid contact with the controller cooling fan6.
w WARNING • Touchingtherotatingfanmaycauseinjury. • Ifremovingthefancover,firstturnoffthecontrollerandmakesurethefanhasstopped.
Precautions for robot controllers7.
c CAUTION • Backuptherobotcontrollerinternaldataonanexternalstoragedevice.Therobotcontrollerinternaldata (programs,pointdata,etc.)maybelostordeletedforunexpectedreasons.Alwaysmakeabackupofthisdata. • Donotusethinner,benzene,oralcoholtowipeoffthesurfaceoftheprogrammingbox.Thesurfacesheetmay be damaged or printed letters or marks erased. Use a soft, dry cloth and gently wipe the surface. • Donotuseahardorpointedobjecttopressthekeysontheprogrammingbox.Malfunctionorbreakdown may result if the keys are damaged. Use your fingers to operate the keys.
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4.8 DisposalWhendisposingofrobotsandrelateditems,handlethemcarefullyasindustrialwastes.Usethecorrectdisposal method in compliance with your local regulations, or entrust disposal to a licensed industrial waste disposal company.
Disposal of lithium batteries1.
When disposing of lithium batteries, use the correct disposal method in compliance with your local regulations, or
entrust disposal to a licensed industrial waste disposal company. We do not collect and dispose of the used batteries.
Disposal of packing boxes and materials2.
When disposing of packing boxes and materials, use the correct disposal method in compliance with your local regula-
tions. We do not collect and dispose of the used packing boxes and materials.
Strong magnet3.
w WARNING Strong magnets are installed in the robot. Be careful when disposing of the robot.
See "6. Cautions regarding strong magnetic fields" in "Safety instructions" for detailed information on strong magnetic
fields.
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5. Emergency action when a person is caught by robotIf a person should get caught between the robot and a mechanical part such as the installation base, then release the axis.
Emergency action
Release the axis while referring to the following section in the manual for the robot controller.
Controller Refer to:
RCX240Section1,"Emergencyactionwhenapersoniscaughtbyrobot"inChapter1
RCX340
n NOTE Make a printout of the relevant page in the manual and post it a conspicuous location near the controller.
6. Cautions regarding strong magnetic fieldsSome YAMAHA robots contain parts generating strong magnetic fields which may cause bodily injury, death, or device malfunction. Always comply with the following instructions.
•Personswearingmedicalelectronicdevicessuchascardiacpacemakersorhearingaidsmustkeepawayfrom the linear single-axis robot and linear conveyor. (Stay at least 100mm away.)
•PersonswearingIDcards,purses,and/orwristwatchesmustkeepawayfromthelinearsingle-axisrobotandlinear conveyor.
•Donotattempttodisassemblethelinearsingle-axisrobotandlinearconveyor(includingsurroundingcovers).
•Donotbringtoolsclosetotheinternalpartsoftherobotandthelinearconveyormagnets.•Alwaysattachthemagnetprotectivecover(supplied)whenhandling,shippingorstoringthelinearconvey-
or’s slider when removing it from the module.
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7. Using the robot safely7.1 Movement rangeWhen a tool or workpiece is attached to the robot manipulator tip, the actual movement range enlarges from the movement range of the robot itself (Figure A) to include the areas taken up by movement of the tool and workpiece attached to the manipulator tip (Figure B). The actual movement range expands even further if the tool or workpiece is offset from the manipulator tip. The movement range here is defined as the range of robot motion including all areas through which the robot arms, the tool and workpiece attached to the manipulator tip, and the solenoid valves attached to the robot arms move. To make the robot motion easier to understand, the figures below only show the movement ranges of the tool attachment section, tool, and workpiece. Please note that during actual operation, the movement range includes all areas where the robot arms and any other parts move along with the robot.
Movement range
Figure A: Movement range of robot itself Figure B: Movement range when tool and workpiece are attached to manipulator tip
93009-X0-00
c CAUTION To make the robot motion easier to understand, the above figures only show the movement ranges of the tool attachment section, tool, and workpiece. In actual operation, the movement range includes all areas where the robot arms and any other parts move along with the robot.
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7.2 Robot protective functionsProtective functions for YAMAHA robots are described below.
Overload detection1. This function detects an overload applied to the motor and turns off the servo.
If an overload error occurs, take the following measures to avoid such errors:
1. Insert a timer in the program.
2. Reduce the acceleration.
Overheat detection2. This function detects an abnormal temperature rise in the driver inside the controller and turns off the servo.
If an overheat error occurs, take the following measures to avoid the error:
1. Insert a timer in the program.
2. Reduce the acceleration.
Soft limits3. Soft limits can be set on each axis to limit the working envelope in manual (jog) operation and automatic operation after
return-to-origin. The working envelope is the area limited by soft limits.
w WARNING Soft limit function is not a safety-related function intended to protect the human body. To restrict the robot movement range to protect the human body, use the mechanical stoppers installed in the robot(oravailableasoptions).
Mechanical stoppers4. If the servo is turned off by emergency stop operation or protective function while the robot is moving, then these
mechanical stoppers prevent the axis from exceeding the movement range. The movement range is the area limited by
the mechanical stoppers.
SCARA robots
• TheXandYaxeshavemechanicalstoppersthatareinstalledatbothendsofthemaximummovementrange.Somerobotmodelshaveastandardfeaturethatallowschangingthemechanicalstopperpositions.Onsomeothermodels,themechanicalstopperpositionscanalsobechangedbyusingoptionparts.
• TheZ-axishasamechanicalstopperattheupperendandlowerend.Thestopperpositionscanbechangedbyusingoptionparts.
• NomechanicalstopperisprovidedontheR-axis.
YK-TWseriesrobotsdonothavemechanicalstoppersintendedtoprotectthehumanbody,duetotheproductcharacteristicoftheorbitmovement.Whenitisnecessarytorestrictthearmrotationanglesoastoensurethesafety,installadditionalstopperseparately.
Single-axis robots
Cartesian robots
• Thelinearmovementaxishasamechanicalstopperatbothendsofthemaximummovementrange.Thepositionsofthesemechanicalstopperscannotbechanged.
• Nomechanicalstopperisprovidedontherotationalaxis.
w WARNING Axismovementdoesnotstopimmediatelyaftertheservoisturnedoffbyemergencystoporotherprotectivefunctions, so use caution.
c CAUTION Iftherobotmovingathighspeedcollideswithamechanicalstopperinstalledintherobot(oravailableasoption),therobotmaybedamaged.
w DANGER When the linear conveyor module is used to insert or eject the slider, mechanical stoppers cannot be attached to the module body due to the structural limits. So install a device to catch and stop the slider being ejected at high speed from the module, as well as other necessary safety measures.
Z-axis (vertical axis) brake5. An electromagnetic brake is installed on the Z-axis to prevent the Z-axis from sliding downward when the servo is OFF.
This brake is working when the controller is OFF or the Z-axis servo power is OFF even when the controller is ON. The
Z-axis brake can be released by the programming unit / handy terminal or by a command in the program when the
controller is ON.
w WARNING Theverticalaxiswillslidedownwardwhenthebrakeisreleased,causingahazardoussituation.Takeadequatesafety measures in consideration by taking the weight and shape into account. • Beforereleasingthebrakeafterpressingtheemergencystopbutton,placeasupportundertheverticalaxisso that it will not slide down. • Becarefulnottoletyourbodygetcaughtbetweentheverticalaxisandtheinstallationbasewhenperforming tasks(directteaching,etc.)withthebrakereleased.
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7.3 Residual riskTo ensure safe and correct use of YAMAHA robots and controllers, System integrators and/or end users imple-ment machinery safety design that conforms to ISO12100.ResidualrisksforYAMAHArobotsandcontrollersaredescribedintheDANGERorWARNINGinstructionsprovided in each chapter and section. Read them carefully.
7.4 Special training for industrial robot operationOperators or persons who handle the robot for tasks such as for teaching, programming, movement checks, inspections, adjustments, and repairs must receive appropriate training and also have the skills needed to perform the job correctly and safely. They must also read the manual carefully to understand its contents before attempting the robot operation or maintenance.
Tasks related to industrial robots (teaching, programming, movement check, inspection, adjustment, repair, etc.) must be performed by qualified persons who meet requirements established by local regulations and safety standards for industrial robots.
Comparison of terms used in this manual with ISO
This manual ISO 10218-1 Note
Maximum movement range maximumspace Arealimitedbymechanicalstoppers.
Movement range restrictedspace Arealimitedbymovablemechanicalstoppers.
Working envelope operationalspace Arealimitedbysoftwarelimits.
Within safety enclosure safeguardedspace
See “7.1 Movement range” in “Safety instructions” for details on the robot’s movement range.
YAMAHA MOTOR CO., LTD. IM Operations
All rights reserved. No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO., LTD.Information furnished by YAMAHA in this manual is believed to be reliable. However, no responsibility is assumed for possible inaccuracies or omissions. If you find any part unclear in this manual, please contact your distributor.
Safety InstructionsFeb.2015Ver.1.20
Revision record
Manual version Issue date Description
Ver.1.00 May2012 Firstedition
Ver.1.01 Jun.2012 Descriptionof"Emergencyactionwhenapersoniscaughtbyrobot"wasadded,theworksequenceforworkingwithinthesafetyenclosurechanged,typingerrorscorrected,etc.
Ver.1.02 Sep.2012 Descriptionofwarninglabelswasadded;descriptionsof"softlimits","mechanicalstoppers"andworkperformedwithverticalaxisbrakereleasedwerechanged;andresidualriskdescriptionwasadded.
Ver.1.03 Dec.2012 Warningonrestrictingtherobotmovingspeedwasaddedanddescriptionofwarninglabellanguagewaschanged.
Ver.1.04 Jun.2013 Descriptionof“Movementrange”wasadded.
Ver.1.05 Sep.2013 Descriptionoflinearconveyormodulewasadded.
Ver.1.06 Apr.2014 Descriptionofwarninglabelswasaddedanddescriptionof
“Qualificationofoperators/workers”waschanged,etc.
Ver.1.10 Dec.2014 Descriptionofwarninglabelswasadded,etc.
Ver.1.20 Feb.2015 Descriptionof"mechanicalstoppers"wasadded,etc.
Wa
rranty
Ver.1.01_201209
WarrantyFor information on the warranty period and terms, please contact our distributor where you purchased the product.
This warranty does not cover any failure caused by:
1. Installation, wiring, connection to other control devices, operating methods, inspection or maintenance that does not comply with industry standards or instructions specified in the YAMAHA manual;
2.UsagethatexceededthespecificationsorstandardperformanceshownintheYAMAHAmanual;
3. Product usage other than intended by YAMAHA;
4. Storage, operating conditions and utilities that are outside the range specified in the manual;
5. Damage due to improper shipping or shipping methods;
6. Accident or collision damage;
7. Installation of other than genuine YAMAHA parts and/or accessories;
8. Modification to original parts or modifications not conforming to standard specifications designated by YAMAHA, including customizing performed by YAMAHA in compliance with distributor or customer requests;
9. Pollution, salt damage, condensation;
10. Fires or natural disasters such as earthquakes, tsunamis, lightning strikes, wind and flood damage, etc;
11. Breakdown due to causes other than the above that are not the fault or responsibility of YAMAHA;
The following cases are not covered under the warranty:
1. Products whose serial number or production date (month & year) cannot be verified.
2. Changes in software or internal data such as programs or points that were created or changed by the customer.
3. Products whose trouble cannot be reproduced or identified by YAMAHA.
4. Products utilized, for example, in radiological equipment, biological test equipment applications or for other purposes whose warranty repairs are judged as hazardous by YAMAHA.
THEWARRANTYSTATEDHEREINPROVIDEDBYYAMAHAONLYCOVERSDEFECTSINPRODUCTSANDPARTSSOLDBYYAMAHATODISTRIBUTORSUNDERTHISAGREEMENT.ANYANDALLOTHERWARRANTIESORLIABILITIES,EXPRESSORIMPLIED,INCLUDINGBUTNOTLIMITEDTOANYIMPLIEDWARRANTIESOFMERCHANTABILITYORFITNESSFORAPARTICULARPURPOSEAREHEREBYEXPRESSLYDISCLAIMEDBYYAMAHA.MOREOVER,YAMAHASHALLNOTBEHELDRESPONSIBLEFORCONSEQUENTORINDIRECTDAMAGESINANYMANNERRELATINGTOTHEPRODUCT.
This manual does not serve as a guarantee of any industrial property rights or any other rights and does not grant a license in any form. Please acknowledge that we bear no liability whatsoever for any problems involving industrial property rights which may arise from the contents of this manual.
Warranty
Important information before reading this manual
Introduction iAvailablemanuals i
Aboutthismanual i
Before using the driver (Be sure to read the following notes) ii
Imp
ortant inform
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IntroductionOursincerethanksforyourpurchaseofthisYAMAHAsingle-axisrobotdriver. Be sure to read this manual carefully as well as related manuals and comply with their instructions for using the YAMAHA single-axis robot driver safely and correctly.
Available manualsThe following manuals are included in the disc that comes supplied with the YAMAHA robot or driver.
Available manuals
Controller
User’s manual (this manual)
Describescontrollersetup,wiring,settings,robotoperation,andstandardparameters.
Robots
Installation manual
Describeshowtoinstallandconnecttherobot.
Maintenance manual
Describesthemaintenanceproceduresfortherobot.
User’s manual
Describesrobotsetupandwiring,androbotmaintenance.
Support software
User’s manual
Describeshowtousethesupportsoftware.
Useanyofthefollowingapproachestothismanualwheninstalling,operatingandadjustingtheYAMAHArobot and/or driver so that you can quickly refer to this manual when needed. 1. Keep the printed version of this manual (available for an additional fee) handy for ready reference. 2. View the disc version of this manual on your PC screen. 3. Print out the necessary pages of this manual from the disc and keep them handy for ready reference.
About this manualWarnings and cautions listed in this manual relate to YAMAHA robot controllers. To ensure safety of the user's final system that includes YAMAHA robots and controllers, please take appropriate safety measures as required by the user's individual system.
Industrial robots are highly programmable machines that provide a large degree of freedom in movement.To use YAMAHA robots and drivers safely and correctly, be sure to comply with the safety instructions and precautions described in this manual.Failure to take necessary safety measures or incorrect handling may result not only in trouble or damage to the robot and controller, but also in serious accidents involving injury or death to personnel (robot installer, operator, or service personnel). Observe the precautions given in each Chapter.
To use YAMAHA robots and drivers safely and correctly, first read "Safety Instructions" in this manual and always comply with the safety rules and instructions.Please note, however, this manual cannot cover all items regarding safety. Therefore, it is extremely important that the operator or user have knowledge of safety and make correct decisions regarding safety.
Imp
ortant inform
ation b
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Before using the driver (Be sure to read the following notes)Pleasebesuretoperformthefollowingtasksbeforeusingthedriver. Be aware that if you fail to perform the following tasks, the robot may operate abnormally (vibration or noise may occur).
[1]When connecting the power supply to the driver
Always make a secure connection to the ground terminal on the driver to ensure safety and prevent malfunctions due to
noise.
TIP For details, refer to Chapter 3, "2.2 Main circuit wiring".
[2]When connecting robot cables to the driver
Be sure to keep robot cables separate from the robot controller power connection lines and other equipment power
lines.Usinginclosecontactwithlinescarryingpowermaycausemalfunctionsorabnormaloperation.
[3]Setting the maximum speed
When operating a ball screw driven robot, the ball screw’s free length will increase as the movement stroke increases,
and the resonant frequency will drop. This may cause the ball screw to resonate and vibrate severely depending on the
motor rotation speed. (The speed at which resonance occurs is called the critical speed.)
To prevent this resonance, the maximum speed must be reduced depending on the robot model when the movement
stroke increases. Refer to our robot catalog for the maximum speed settings.
c CAUTION Continuous operation while the ball screw is resonating may cause the ball screw to wear out prematurely.
[4]Duty
To lengthen the service life of robots, the robots must be operated within the allowable duty (50%).
The duty is calculated as follows:
Duty (%) =Operation time
Operation time+ Non-operation time×100
If the robot duty is too high, an error such as "overload" or "overheat" occurs. In this case, increase the non-operation
time to reduce the duty.
Chapter 1 Using the robot safely
1. Precautions for use 1-1
2. Storage 1-1
3. Carrying 1-2
4. Installation 1-2
5. Wiring 1-3
6. Control and operation 1-4
7. Maintenance and inspection 1-4
8. Safety standards 1-58.1 MeasuresforCEmarking 1-5
8.1.1 Cautions regarding compliance with EC Directives 1-5
8.1.2 CE marking 1-5
8.1.3 Applicable EC Directives and their related standards 1-5
8.1.4 Robots subject to CE Marking 1-5
8.1.5 Cautions regarding the official language of EU countries 1-5
9. Usage conditions 1-6
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Precautions for use1.
w DANGER1. Never touch a moving part of the robot during operation. Doing so may cause injury.
w WARNING Improper handling may cause electrical shock or fire. Always observe the following precautions.1. Never touch any part inside the driver.
Touching parts may cause electrical shock or fire.2. Always ground the ground terminal on the driver and robot.
Failure to do so may cause electrical shock.3. Before making wiring or inspection, wait at least 10 minutes after turning power off and make sure the charge
lamp on the front panel is off. Failure to do so may cause electrical shock.
4.Donotdamagethecablesorapplyexcessivestresstothem.Donotplaceheavyobjectsonthecablesorcrush them. Using a damaged cable may cause electrical shock.
c CAUTION1. Use only the specified robot and driver combination.
Using the wrong combination may cause fire or malfunction.2.Neverusethisunitinlocationssubjecttowater,grindingfluidmist,corrosivegases,explosivegasesorsalt
damage.Donotusenearinflammableobjectsormaterials. Doing so may cause fire, malfunction or accidents.
3. The driver, robot and peripheral equipment may become hot during operation. Be careful not to touch them. Touching them may cause burns.
4. The driver's heat-sink fins, regenerative resistor, and robot may become hot when power is being supplied or shortly after power is turned off, so do not touch them. Touching them may cause burns.
5. Allow at least a 5-minute time interval between power on and off. Failure to do so may cause fire.
6. Install a leakage breaker on the power supply side of the driver. Failure to do so may cause fire.
7. Use a power line, leakage breakers and electromagnetic contacts that meet the required specifications (ratings). Failure to do so may cause fire.
8. Do not start/stop operation by turning on or off the electromagnetic contact installed on the power supply side of the driver. Doing so may cause fire.
Storage2.
c CAUTION1.Donotstoretheunitinlocationsexposedtorain,waterdroplets,grindingfluidmistorharmfulgasesorliquids.2.Storetheunitinlocationsnotexposedtodirectsunlightandwithinthespecifiedhumidityandtemperature
range(–10to+70°C,20to90%RHwithoutcondensation).3.Contactyourdistributorifyouhavestoredtheunitoveranextendedperiodoftime.
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Carrying3.
c CAUTION1. Do not carry the driver by the cables.
Doing so may cause malfunction or injury.2. Do not carry the driver by its front cover.
Doing so may cause the unit to fall resulting in injury.
Installation4.
c CAUTION1. Do not climb on top of the driver, or place a heavy object on it.
Doing so may cause injury.2. Donotblocktheairintakeandexhaustvents.Donotallowforeignmatterordebristopenetrateinside.
Doing so may cause fire.3. Always use the correct method to install the unit.
The unit may malfunction if not properly installed.4. Install the driver on a straight, vertical wall not subject to vibration.
The unit may fall and injure someone if not properly installed.5. Install the unit on a surface made of incombustible materials such as metal.
Failure to do so may cause fire.6. Install the unit at a place strong enough to support the weight of the unit.
The unit may fall and injure someone if not properly installed.7. Tighten the screws to the specified torque. Make sure that all screws are securely fastened before operation.
The unit may fall and injure someone if not properly installed.8. Provide the specified clearance between the driver and the inner surface of the control panel or any other
unit. Failure to do so may cause malfunction.
9. Do not allow foreign matter such as cut wire fragments, welding debris, iron waste or similar items to penetrate inside. Doing so may cause fire.
10. Avoid applying strong shock to the unit to prevent malfunction.11. Do not install the unit if any part is damaged or missing.
Doing so may cause fire or injury.
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Wiring5.
w DANGER1. Wiring work should be carried out by qualified electricians.
Improper wiring may cause electrical shock or fire.2. Always first install the unit before carrying out wiring.
Failure to do so may cause electrical shock or injury.3. Before performing work, cut off the power supply and make sure that the charge lamp is unlit.
Failure to do so may cause electrical shock or fire.4.Besuretoconnectthedriver'sgroundterminaltothegroundingpoint(ClassD:100ohmsorless).
Failure to do so may cause electrical shock or fire.
c CAUTION1. Make sure that the wiring is correct.
Wrong wiring may cause abnormal robot motion resulting in injury.2. Cables connecting to the driver should be securely fastened near the driver so that no tensile stress is applied
to the cables. Stress on the cables may lead to malfunction.
3. Remove main circuit connectors 1 and 2 from the driver before wiring them. Failure to do so will lead to malfunction.
4. When inserting an electrical wire, ensure that no strands of the core touch any conductive portion. Failure to do so will lead to malfunction.
5. If the inserted portion of the electrical wire becomes damaged for any reason, strip the wire again and reconnect it. Failure to do so will lead to malfunction.
6.Ifusingtheregenerativebrakingresistorbothinsidethedriverandanexternalunit,donotconnectwiresotherthan(+)andRB. Doing so will lead to malfunction.
7. Do not short the various signal wires with each other, or connect them to the power supply. Doing so may make the driver or robot malfunction.
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Control and operation6.
w WARNING Installanexternalemergencystopcircuitsothatyoucanimmediatelystopoperationandshutoffpowerwhenever needed.
c CAUTION1. To prevent unstable or erratic operation never make drastic adjustments to the unit.
Doing so may cause injury.2. Install a safety circuit that actuates an electromagnetic contactor to cut off the main circuit power supply in
case of an alarm. If an alarm has occurred, eliminate the cause of the alarm and ensure safety. Then reset the alarm and restart the operation. Failure to do so may cause injury.
3. If a momentary power outage occurs and power is restored, the unit might suddenly restart so do not approachthemachineatthattime.(Designthemachinesothatpersonalsafetyisensuredevenifitsuddenlyrestarts.) Failure to do so may cause injury.
4. Make sure that the AC power specifications match the product power specifications. Using the wrong power specifications may cause injury.
5. While power is being supplied, do not touch any parts inside the driver or its terminals. Also, do not check the signals or attach/detach the cables. Doing so may cause electrical shock or injury.
6. While power is being supplied, do not touch any terminals on the driver even if the robot is stopped. Doing so may cause electrical shock or fire.
7. When using a user program to perform debugging operation of the robot, provide a circuit that allows an emergency stop by shutting off the main power or by turning the servo ON terminal OFF. Failure to do so may cause injury or damage the machine.
Maintenance and inspection7.
w DANGER1. After turning power off, wait at least 10 minutes before starting maintenance and make sure the charge lamp
on the digital operator panel is off. Failure to do so may cause electrical shock.
2. Do not attempt to disassemble or repair the unit or replace any parts of the unit. Only qualified service personnel are allowed to do repair work.
c CAUTION The capacitance of the capacitor on the power supply line drops due to deterioration. Replacing the capacitor based on its service life curve is recommended in order to prevent secondary damage resulting from capacitor failure.(SeeChapter7"Maintenanceandinspection".) Using a deteriorated or defective capacitor may cause malfunction.
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Safety standards8. Measures for CE marking8.1
Cautions regarding compliance with EC Directives8.1.1 The YAMAHA robot is just one component that is incorporated into the customer's system (built-in equipment), andwedeclarethatYAMAHArobotsconformtotheECDirectivesonlywithinthescopeofbuilt-inequipment.ThisdoesnotthereforeguaranteethatYAMAHArobotsconformtoECDirectivesincaseswheretherobotisused independently. Customers who incorporate a YAMAHA robot into their final system which will be shippedto,orused,intheEU,shouldthereforeverifythattheoverallsystemiscompliantwithECDirectives.
CE marking8.1.2 YAMAHA robots are components that are incorporated into the customer's system (built-in equipment). We thereforedeclareregardingECDirectivesthatYAMAHArobotsare"Partlycompletedmachinery"andsowedonotaffixaCEmarktotherobots.
Applicable EC Directives and their related standards8.1.3
EC Directive Related Standards
MachineryDirective ENISO12100: Safetyofmachinery–Generalprinciplesfordesign–
Riskassessmentandriskreduction
2006/42/EC EN60204-1 : Safetyofmachinery–Electricalequipmentofmachines–
Part1:Generalrequirements
EMCDirective EN55011 : Industrial,scientificandmedicalequipment–
Radio-frequencydisturbancecharacteristics–Limitsandmethodsofmeasurement
2004/108/EC EN61000-6-2: Electromagneticcompatibility(EMC)–
Part6-2:Genericstandards–Immunityforindustrialenvironments
Low-voltage
commands*1
2006/95/EC
EN61800-5-1: Adjustablespeedelectricalpowerdrivesystems-
Part5-1:Safetyrequirements-Electrical,thermalandenergy
*1:Applicableonlytodriver.
Robots subject to CE Marking8.1.4 ThefollowingrobotseriesproductsaresubjecttoCEmarking.
Driver Related Standards
RDV-X Single-axisrobots :FLIP-Xseries
RDV-P Single-axisrobots :PHASERseries
Cautions regarding the official language of EU countries8.1.5 ForequipmentthatwillbeinstalledinEUcountries,thelanguageusedforthemanuals,warninglabels,operationscreencharacters,andCEdeclarationsisEnglishonly. WarninglabelsonlyhavepictogramsorelseincludewarningmessagesinEnglish.Inthelattercase,messagesin Japanese or other languages might be added.
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Usage conditions9. ConditionsofusagefortheRDVseriesrobotdriversaredescribedbelow.
Operation voltage conditions
•Voltagevariance lessthan+10%/-15%
•Voltageimbalance lessthan±3%
•Frequencyvariance lessthan±4%
•Voltageharmonicdistortionlessthan10%
Operating environment
•Temperature0to+55°C
•Humidity 20to90%RH
•Vibration 5.9m/sec2 (0.6 G) 10 to 55 Hz
•Elevation 1000morlower
EMC (Electromagnetic compatibility)
YAMAHA robot series products are designed for use in industrial environments.
(ApplicabledefinitionrelatingtotheEMCDirective:RefertotheEN61000-6-2(IEC61000-6-2)Standard,Clause1
"Scope".)
InordertoconformtotheEMCDirective,thecustomermustevaluatethefinishedproduct(entiresystem)andtake
necessarycountermeasures.FordetailsonEMCconformityofYAMAHArobotunits,refertoChapter10,"4.EMC
countermeasure examples".
Installation conditions
• Protective structure
YAMAHA robots are classified as built-in equipment and have a "Class I" protective structure against electrical shock. The robot and driver must therefore be grounded properly to prevent possible electrical shock.
• Enclosure
ThedrivercaseisnotdesignedasanenclosurethatconformstotheEN60204-1(IEC60204-1)Standard.Suitableprotection should therefore be provided to prevent the danger of electrical shock due to inadvertent contact and ambient environment problems (dust, water, etc.). The protective structure is designed to the following rating.
Protectivestructure(IPRating)IP20
• Insulation co-ordination
Regarding insulation co-ordination, YAMAHA robots and controllers are designed to meet the following conditions:
OvervoltagecategoryIII
Pollutiondegree2
Take proper countermeasures as needed if the robot or controller is used in environments more severe than these levels.
Explosion-proof
•YAMAHArobotsanddriversarenotdesignedtomeetexplosion-proofspecifications.
Do not use them in environments exposed to flammable gases, gasoline, or solvents which could cause explosion or fire.
Chapter 2 Introduction
1. Inspection after unpacking 2-11.1 Checkingtheproduct 2-1
1.2 User'smanual 2-1
2. Product inquiries and warranty 2-22.1 Noteswhenmakinganinquiry 2-2
3. External view and part names 2-3
4. Driver and robot combination 2-4
2
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Inspection after unpacking1. Checking the product1.1
After unpacking, take out the driver and check the following items. If you find or suspect any damage to the product please contact your distributor.(1) Make sure that there is no damage, missing parts or dents/scratches on the product body.(2) After unpacking, make sure that the package contains the following items.
Item Note
1.Driver 1
2.Maincircuitconnector1 1 Forconnectingmainpowerandcontrolpower
3.Wireinsertertool 1 Forwiringthemaincircuitconnector
4.Manualondisc 1
Specification label
12
Serial number label
3
4
(3) Check the specification label to find whether the product is the same item as ordered.
Driver model nameInput rating
Output rating
Details on specification label
882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054, JapanYAMAHA MOTOR CO., LTD. MADE IN JAPANDate : 1502 NE18275- 1MFG. No. 52AAN12345A50000Output : 3Ph 230 Vmax 1.2 A 3Ph 200-230 V 1.3 A 50Hz. 60HzInput : 1Ph 200-230 V 2.1 A 50Hz. 60HzModel : RDV-X205 AC SERVO DRIVER
X205 X15 0001
–
X205X210X220P205P210P220P225
RDV-X205RDV-X210RDV-X220RDV-P205RDV-P210RDV-P220RDV-P225
1 to 90XY
January to SeptemberOctober
NovemberDecember
Production number
Production month
Production year: Last 2 digits of year
Details on serial number label
Driver model No.
User's manual1.2 This user's manual describes how to use the YAMAHA single-axis robot driver RDV series. Before using the RDV series, read this manual thoroughly in order to handle and operate it correctly. Store this manual carefully even after reading it.
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Product inquiries and warranty2. Notes when making an inquiry2.1
If you need to inquire about possible product damage, failures or points that are unclear, then please contact your distributor with the following information.
(1) Driver model(2) Production number(3) Date of purchase(4) Details of your inquiry
•Damagedsectionandcondition,etc.
•Dubiouspointanddescription,etc.
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External view and part names3.
Specification label
Model and rating indication
Intake air
Exhaust air
5-digit and 7-segment LED.Used to display the operating state and alarm.Lights up when the control power is turned on.
Do not touch the driver while this lamp is lit.
CP (green)
Main circuit connector 1
Main circuit connector 2
Connector for main circuit power and control power.
Computer connector (PC)Connects to the USB connector of thepersonal computer.
CHARGE (red)Lights up when the main circuit power is turned on.This lamp is lit while electric charges remain in the maincircuit capacitor even after the power has been turned off.So, do not touch the driver while this lamp is lit.
Display panel
Serial number labelIndicates the driver model and manufacture number.Ground terminal
Always ground the unit through this terminal to prevent electrical shock.
Connector for motor power cable, DC power input, and external braking resistor.
Serial numberlabel
Input/output signal connector (I/O)Connector for command input signals, programmable controller input signals, and origin sensor signals.
Position sensor connector (ENC1)Connects to the linear motor position sensor or resolver.
2
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Driver and robot combination4. The table below shows applicable combinations of drivers and robots.
Driver name Model No. Applicable robots
RDV-X(ForFLIP-Xseries)
RDV-X205
T4LH,T5LH,T6L,T9,
F8,F8L,F8LH,F10,F14,
B10,B14,R5,R10,
C4LH,C5LH,C6L,C8,C8L,C8LH,C10,C14
RDV-X210 T9H,F10H,F14H,B14H,R20,C14H
RDV-X220F17,F17L,F20,F20N,
N15,N18,C17,C17L,C20,GF14XL,GF17XL
RDV-P(ForPHASERseries) RDV-P205 MR12
RDV-P210 MF7,MF15,MF20
RDV-P220 MF30
RDV-P225 MF75
Note:Parametersareadjustedatthefactorypriortoshippingsothatthedriveroperatestocontrolthetargetrobot.
Pleasecontactyourdistributortochangethetargetrobotmodelaftershipping.
Chapter 3 Installation and wiring
1. Installation 3-11.1 Precautionsduringinstallation 3-2
2. Wiring 3-42.1 Connectors 3-4
2.2 Maincircuitwiring 3-5
2.3 Wiringthemaincircuitconnectors 3-11
2.4 Input/outputsignalwiring 3-12
2.5 Wiringforpositionsensorsignals 3-25
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Installation1.
c CAUTION1. Do not climb on top of the driver, or place a heavy object on it.
Doing so may cause injury.2. Donotblocktheairintakeandexhaustvents.Donotallowforeignmatterordebristopenetrateinside.
Doing so may cause fire.3. Always use the correct method to install the unit.
The unit may malfunction if not properly installed.4. Install the driver on a perpendicular wall not subject to vibration.
The unit may fall and injure someone if not properly installed.5. Install the unit on a surface made of incombustible materials such as metal.
Failure to do so may cause fire.6. Install the unit at a place strong enough to support the weight of the unit.
The unit may fall and injure someone if not properly installed.7. Tighten the screws to the specified torque. Make sure that all screws are securely fastened before operation.
The unit may fall and injure someone if not properly installed.
Screw size Tightening torque (Nm) Note
M3 0.6to0.9
Mountingscrewsfordriverandperipheraldevices
M4 1.5to2.1
M5 2.8to3.9
M6 4.1to5.3
M8 13.9to20.0
8. Provide the specified clearance between the driver and the inner surface of the control panel or any other unit. Failure to do so may cause malfunction.
9. Do not allow foreign matter such as cut wire fragments, welding debris, iron waste or similar items to penetrate inside. Doing so may cause fire.
10. Avoid applying strong shock to the unit to prevent malfunction.11. Do not install the unit if any part is damaged or missing.
Doing so may cause fire or injury.
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Precautions during installation1.1
Precautions when carrying the unit1.
The driver uses plastic parts. Handle it carefully to avoid damage to the plastic parts.
In particular, do not carry the driver in a way that places all of the stress on only the front cover or the connectors. Doing
so may allow the unit to fall.
Do not install and operate the unit if any part is damaged or missing.
Install the unit on an incombustible (e.g., metal) surface.2.
The driver becomes hot during operation. To prevent fire always install it on an incombustible, straight vertical metal
wall.
Also provide enough space around the unit. If there is any heat generating device (braking resistor, electric reactor, etc.),
keep the unit a sufficient distance away from it.
Installing the driver
Air flow
Driver
Provide enough space so that upper/lower wiring ducts will not block cooling air flow.
Wall
Ambient temperature precautions3.
The ambient temperature in the installation place should not exceed the allowable operating temperature range (0 to
55˚C) specified in the standard specifications.
Measure the ambient temperature at a position about 50mm away from the lower center of the driver body, and make
sure that it is within the allowable operating temperature range.
Operating the driver at a temperature exceeding the allowable operating range may shorten its service life (especially,
capacitor life) or damage the internal components.
Do not install the unit in locations subject to high temperatures and high humidity 4. where condensation tends to occur.
Always operate the driver within the allowable operating humidity range (20 to 90% RH) specified in the standard
specifications. In particular, operate it in locations free from condensation.
If water droplets formed inside the driver due to condensation, this might cause short-circuits between electronic
components that result in malfunction.
Avoid installing the unit in locations exposed to direct sunlight.
Installation environment precautions5.
Avoid locations of high temperature, high humidity, or condensation, or locations where there is excessive dust,
corrosive gas, explosive gas, flammable gas, mist from grinding fluids, or the possibility of salt damage. Install the unit in
a well-ventilated room where it will not be exposed to direct sunlight.
If using the unit in a dusty location, take protective measures such as enclosing it in a sealed enclosure.
Do not allow fragments of cut electrical wire, welding sputter, metal particles, dirt, or other foreign object to enter the
unit.
Do not allow liquid foreign matter to enter the unit.
Installation method and direction precautions6.
Install the driver on a vertical surface capable of supporting the weight. Secure the driver firmly by screws or bolts.
If the driver is not installed vertically on a wall, its cooling capacity will be impaired, possibly causing alarms or damage
to occur.
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Precautions when housing drivers in a box7.
When housing multiple drivers in a box and using ventilation fans, attach the fans as shown below in order to ensure a
uniform temperature around each driver.
To ensure the reliability and lifespan of the driver, observe the cautions for housing drivers in a box, and ensure that heat
does not accumulate inside. Install the drivers 40mm or more away from the inner side walls of the box and 100mm or
more away from the inner top/bottom walls of the box. Allow a clearance of 10mm or more between adjacent drivers.
Installation inside a box
100mm or more
100mm or more40mm or more
40mm or more
10mm or more
10mm or more
10mm or more
Fan Fan
Wiring space of 75mm or more
Robotdriver
Although it is possible to install multiple drivers in a box without a gap between them (side-by-side installation), in this
casetheambienttemperaturemustbenomorethan45°Corthesystemmustbeusedataneffectiveloadrationot
exceeding 75%.
Side-by-side installation
100mm or more
100mm or more40mm or more
45°Cor less
45°Cor less
55°C or less
45°Cor less
40mm or more
Fan Fan
Wiring space of 75mm or more
Robotdriver
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Wiring2.
w DANGER1. Wiring work should be carried out by qualified electricians.
Improper wiring may cause electrical shock or fire.2. Always first install the unit before carrying out wiring.
Failure to do so may cause electrical shock or injury.3. Before you proceed, disconnect the power and ensure that the charger lamp is unlit.
Failure to do so may cause electrical shock or fire.
c CAUTION1. Make sure that wiring is correct.
Wrong wiring may cause abnormal robot motion resulting in injury.2. Cables connecting to the driver should be securely fastened near the driver so that no tensile stress is applied
to the cables. Stress on the cables may lead to malfunction.
Connectors2.1 The connectors on the driver are shown below.
Connectors
Main circuit connector 1 (TM1)
Main circuit connector 2 (TM2)
Computer connector (PC)
Ground terminal
Position sensor connector (ENC)
Input/output signal connector (I/O)
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Main circuit wiring2.2
Connection diagram
RDV series
(+)
RB
(- )
L2
L1
L3MC
L1C
L2C
Regenerative braking resistor (external option)
I/O
U
V
W
PC
PC for parameter setting and operation monitoring
ELB
USB
ENC1
Master controller
TM2
TM1
TM2Power supply (Note1)
Single phase AC100 to 115V Single phase / 3-phase AC200 to 230V
Note 1: If using single-phase main power, connect it to L1 and L2.
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Terminal assignment
Connector Terminal assignmentApplicablewiresize
(mm2)
Maincircuitconnector1
(TM1)
L1CL2C
L1
L2
L3
Control power input
Main power input
Note:Ifconnectingtoasingle-phasepowersupply,connecttoL1andL2.
0.8to2.0
(Note)
Maincircuitconnector2
(TM2)
(+)
RB (–)
U
V
W
External braking resistor connection
DC power supply input
Motor power lines
Note:Ifconnectinganexternalregenerativebrakingresistor,connectitto(+)
andRB.
0.8to2.0
(Note)
Groundterminal Ground terminal 1.25ormore
Note:Therecommendedpowerlinediameterdependsontheampcapacity.Fordetails,referto" Recommendedwiresizeand
wiringaccessories"inthisChapter.
c CAUTION1. Remove main circuit connectors 1 and 2 from the driver when wiring them.
Failing to do so will lead to malfunction.2. When inserting the wires into the terminal, be careful not to bring the core wire braid into contact with other
conductive parts. Allowing this to happen will lead to malfunction.
3. If the inserted portion of a wire should be damaged for any reason, strip the wire again and reconnect it. Failing to do so will lead to malfunction.
4.Ifusinganexternalregenerativebrakingresistor,donotconnectittoanythingotherthan(+)andRB. Failing to observe this will lead to malfunction.
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Wiring precautions
Beforestartingwiring,makesurethatthechargelamp(CHARGE,CP)iscompletelyoff.Usecautionbecausethe
capacitor might still be charged with high voltage creating a hazardous condition. Wait at least 10 minutes after turning
thepoweroff,andthenuseatestertoverifythatthereisnoresidualvoltagebetween(+)and(-)ofmaincircuit
connector 2 before you proceed with wiring.
1. Main power input terminals (L1, L2, L3)
•Useanearthleakagebreaker(ELB)toprotectcircuit(wiring)betweenthepowersupplyandmainpowerinputterminals (L1, L2, or L3).
•Someearthleakagebreakersmaymalfunctionduetoeffectsfromhigherharmonics,souseonehavinglargecurrent sensitivity at high frequencies.
•Connectanelectromagneticcontactorthatshutsoffthepowersupplytothedrivertopreventafailureoraccidentfrom spreading when the driver's protective function is activated.
•Donotattempttostartorstopthedriverbyturningonoroffeachelectromagneticcontactorprovidedontheprimary side and secondary side of the driver.
•Donotusethedriverinanopen-phasecondition.
•Anyofthefollowingconditionsmaydamagetheconvertermodulesousecaution.
The power supply voltage imbalance is 3% or more. The power supply capacity is 10 times larger than the driver capacity or 500kVA or more. A sudden fluctuation occurs in the power supply. (Example)Multipledriversareconnectedtoeachotherbyashortbusline.
In any case, connecting a DC reactor (DCL) is recommended.
•Whenturningpoweronoroffallowatleasta5-minutetimeintervalbetweenpoweronandoffinordertoavoiddamage to the driver.
2. Motor cable connection terminals (U, V, W)
•Toreducevoltagedrop,usewirethatisasthickaspossiblewithintheapplicablewirediameter.
3. External braking resistor connection terminals ( (+), RB) )
•Toenhancebrakingcapacity,youcanconnectanoptionalexternalbrakingresistortotheseterminals.Thewiringlength should be 5 meters or less. Wire by twisting the two wires together.
• InstallaresistorwhoseresistanceishigherthantheRBRmin specified in the following table. If a resistor whose resistance is less than the value shown in the following table is used, the regenerative braking circuit in the driver will be damaged.
Driver model Minimum resistance RBRmin
Singlephase
/3-phase
200V
RDV-*205 100Ω
RDV-*210 100Ω
RDV-*220 50Ω
RDV-P225 40Ω
For details on an external braking resistor, refer to Chapter 10, "2. Options".
4. DC power input terminals ( (+), (–) )
•WhensupplyingDCpowerfromanexternalconverter,connecttheDCpowersupply.Forthe200Vclass,useaDCpowersupplyvoltageintherangeDC280VtoDC326V(+10%,-15%)thathassufficientcapacity.
•WhensupplyingDCpower,donotconnectanythingtothemainpowerinputterminals(L1,L2,L3).
•WhensupplyingDCpower,setthe"DCbuspowersupply"(FA-07)to"L12Pn".Ifthisisnotspecified,openphase,momentary power outages, and insufficient main circuit voltage will be wrongly detected.
•Whenturningpoweronoroff,allowatleasta5-minutetimeintervalbetweenpoweronandoff.Turningpoweron or off at shorter time intervals may damage the driver.
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5. Control power input terminals (L1C, L2C)
• Inadditiontothemaincircuitpowersupply,thisdriverrequiresacontrolpowersupply.Besuretoconnectasingle-phase AC power supply to these control power input terminals (L1C, L2C). Also use a circuit (wiring) protection breaker or earth leakage breaker along with the control power supply. Some earth leakage breakers may malfunction due to effects from higher harmonics, so use one having large current sensitivity at high frequencies.
•Whenturningpoweronoroff,allowatleasta5-minutetimeintervalbetweenpoweronandoff.Turningpoweron or off at shorter time intervals may damage the driver.
6. Ground terminals ( )
•Topreventelectricalshock,thedriverandtherobotmustbeconnectedtoagroundingpointduringuse.
•Connectthegroundterminalstoapropergroundingpoint(ClassD:100ohmsorless).
•Thegroundwireshouldbethickerthanthosegenerallyusedandasshortaspossible.
Note 1: Separate the driver's signal input cable and position sensor cable from the main circuit power cable by at least 30 cm; if you cannot avoid having these cables intersect, make sure that they intersect only at a right angle as shown in the illustration below. The driver may result in malfunction if the cables are not separated from each other.
Main circuit power cable(L1, L2, L3, U, V, W, (+), RB, (-))Control power supply cable(L1C, L2C)
Cables should intersect at right angles.
Signal input and position sensor cables30cm or more
Note2:ADCreactor(DCL)cannotbeconnected.UseanACreactor(ACL).
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Peripheral cables and products
Name Function Availability
1"RDV-Manager"computer
supportsoftware
Allowssettingparameters,monitoringoperationanddisplaying
graphicsfromaPCconnectedtothedriver.Option
2 Positionsensorcable Connectstotherobotpositionsensor,brakeandoriginsensor. Standard
3 Motorcable Suppliespowertotherobot. Standard
4 Commandcable ConnectsI/Osignalswithahostunit. Suppliedbycustomer
5 PCconnectioncable USBmini-Bcable. Suppliedbycustomer
6 Input/outputconnectorset ConnectortothedriverI/Odevice,andcoverforconnector. Standard
7 Input-sidereactorSuppresseshigh-frequencyinterference,andimprovespower
supplysynchronizationandpowerfactor.
8 Driver-sidenoisefilterReducesinducednoisefromthedriverthatpassesthroughthe
wiring.
9 Externalbrakingresistor Booststhebrakingcapacity. Option
Typical wiring diagram for driver is shown below.
5. PC connection cable
1. "RDV-Manager" computer support software
2. Position sensor cable
6. Connector set for I/O signals
Robot
Robot driver
PC
Host unit
3. Motor cable
1φ/3φAC200V,
(wire 1φ200V to L1 and L2)
7. Input-side reactor
8. Driver-side noise filter
9. External braking resistor
Earth leakage breaker (ELB)
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Recommended wire size and wiring accessories
•Selectoptimalbreakersbytakingtheirbreakingcapacityintoaccount.
•Useanearthleakagebreaker(ELB)toensuresafety.
• Forwiring,use75°Corbettercopperwire.
• Ifthewiringlengthexceeds20meters,thepowerwiringmustbethicker.
• Selectthesensitivitycurrentoftheearthleakagebreaker(ELB)bytakingaccountofthetotalwiringlengthneededtoconnect between the driver and power supply and also between the driver and robot. When the total wiring length is shorter than 30 meters, use a 15mA sensitivity current (per one driver). Useaground-faultcircuitinterrupterofthetime-delayedtype.Ifaninstantaneoustypeisused,malfunctionsmayoccur.
•Refertothefollowingtablewhenselectingwiringsizeandwiringaccessoriesfordrivers.
Driver model
Main circuit power
cable
L1, L2, L3, (+), RB, (–)
Control power
cable
L1C, L2C
Earth leakage
breaker (ELB) (Note 1)
Electromagnetic
contactor (MC) (Note 1) (Note 3)
RDV-*205 0.8mm2ormore(Note2) 0.8mm2ormore EX30(5A) H10C/HK10
RDV-*210 0.8mm2ormore(Note2) 0.8mm2ormore EX30(5A) H10C/HK10
RDV-*220 1.25mm2ormore(Note2) 0.8mm2ormore EX30(5A) H10C/HK10
RDV-*225 1.25mm2ormore(Note2) 0.8mm2ormore EX30(10A) H10C/HK10
Note1: ELBandMCmodelslistedintheabovetablearemanufacturedbyHitachiIndustrialEquipmentSystemsCo.,Ltd.
Note2: Themaincircuitconnectorsacceptwireof2.0mm2orsmallerdiameter.
Note3: Hseries/HKseriesmodelsareshown.
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Wiring the main circuit connectors2.3
c CAUTION1. Main circuit connectors 1 and 2 must be removed from the driver before wiring them.
Failure to do so will lead to malfunction.2. Insert only a single wire into each wire insertion opening of main circuit connectors 1 and 2.
Failure to observe this will lead to malfunction.3. When inserting the wires into the terminal, be careful not to bring the core wire braid into contact with other
conductive parts. Allowing this to happen will lead to malfunction.
4. If for some reason the inserted portion of the wire is frayed, cut off that frayed portion and strip the wire again. Then reconnect the wire securely. Failure to observe this will lead to malfunction.
Cable termination1.
Strip the cable sheath as shown in figure 1. The cable can then be used as is. Applicable wire size is as follows:
Solid wire .............. Wire size 0.8 to 2.0mm2
Stranded wire ......... Wire size 0.8 to 2.0mm2
8 to 9mm
Fig. 1 Cable termination
Connection method2.
Usingtheincludedtooloraflatbladescrewdriveroftheappropriatesize,insertthestrippedcoreofthewireasshown
in figures 2 and 3.
Fig. 3Fig. 2
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Input/output signal wiring2.4
Input/output signal connector1.
Pin No.1 of the input/output signal connector I/O is
located at the upper left when viewed from the front of
the driver as shown on the right.
The table below shows the signal assignment on the
input/output signal connector I/O (driver side).
Pin No. Pin symbol Signal name Pin No. Pin symbol Signal name
1 P24 Interfacepower 26 SON ServoON
2 PLC Intelligentinputcommon 27 RS Alarmreset
3 – – 28 FOT Forwardovertravel
4 TL Torquelimit 29 ROT Reverseovertravel
5 B24 Brakepowerinput(24V)(Note1) 30 CM1 Interfacepowercommon
6 B0 Brakepowerinput(0V)(Note1) 31 B0 Brakepowerinput(0V)(Note1)
7 – – 32 ORG Return-to-origin(homing)
8 ORL Originsensor 33 PEN Pulsetraininputenable
9 CER Positiondeviationclear 34 ALME Alarm(emitter)
10 CM1 Interfacepowercommon 35 SRD Servoready(collector)
11 ALM Alarm(collector) 36 ORG-S Return-to-origincomplete
12 INP Positioningcomplete(collector) 37 ORG-SE Return-to-origincomplete(emitter)
13 BK Brakereleaserelayoutput(Note1) 38 – –
14 – – 39 INPE Positioningcomplete(emitter)
15 PLSP Positioncommandpulse(P) 40 SIGP Positioncommandsign(P)
16 PLSN Positioncommandpulse(N) 41 SIGN Positioncommandsign(N)
17 – – 42 SRDE Servoready(emitter)
18 – – 43 – –
19 – – 44 – –
20 L Analoginput/outputcommon 45 – –
21 OAP PhaseAsignaloutput(P) 46 OBP PhaseBsignaloutput(P)
22 OAN PhaseAsignaloutput(N) 47 OBN PhaseBsignaloutput(N)
23 OZP PhaseZsignaloutput(P) 48 OZ PhaseZdetection
24 OZN PhaseZsignaloutput(N) 49 L PhaseZdetectioncommon
25 AO1 Analogmonitor1 50 AO2 Analogmonitor2
Note1:B24,BOandBKareavailableonlywithRDV-X,andnotwithRDV-P.
Input/output signal connector I/O
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On the mating input/output signal connector (cable side), pin No.1 is located at the upper left when viewed from the
soldered side (inner side) as shown below.
Usethefollowingconnectorsfortheinput/outputsignalconnector(cableside).
Product name Type No. Manufacturer
Connectorplug 10150-3000PE(soldered) 3MJapanInc.
Connectorcovernon-shieldshellkit 10350-52A0-008 3MJapanInc.
26
28
30
48
27
29 31
50
47
49
1
3 5
23
25
2
4
6
22
24
Soldered side of input/output signal connector
Note 1: For robots using an origin sensor or robots equipped with a mechanical brake, the input/output signal connector is shipped with pin No. 1, 8, 10, 13 and 31 soldered.
Note 2: Brake release relay output (BK) is not available from the RDV-P.
1 P24 26 SON2 PLC 27 RS
3 − 28 FOT4 TL 29 ROT
5 B24 30 CM16 BO 31 BO
7 − 32 ORG8 ORL 33 PEN
9 CER 34 ALME10 CM1 35 SRD
11 ALM 36 ORG-S12 INP 37 ORG-SE
13 BK 38 −14 − 39 INPE
15 PLSP 40 SIGP16 PLSN 41 SIGN
17 − 42 SRDE18 − 43 −
19 − 44 −20 L 45 −
21 OAP 46 OBP22 OAN 47 OBN
23 OZP 48 OZ24 OZN 49 L
25 AO1 50 AO2
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Input/output signal connection diagram2.
Standard input/output signal connections are shown below.
1.Exampleofusinganinternalinterfacepowersupplyinasinktypeoutputmodule.
PLSP
PLSN
150Ω
150ΩSIGP
SIGN
15
16
40
41
P24
PLC
RS
1
2
26
27
SON 4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
TL 4
FOT28
ROT29
ORG32
PEN33
CER 9
CM130
DC24V
OAP
OAN
21
22
OBP
OBN
46
47
OZP
OZN
23
24
SRD
ALM
SRDE
INPALME
BK
B24
OZ 48
L 49
AO1 25
AO2 50
INPE
BK
35
42 11
34 12
39
13
5
4.7kΩORL
CM1
8
10
B0
Br
DC24V
31.6
24V
20
L
(This signal is provided only on the RDV-Xand is not provided on the RDV-P.)
ORG-S
ORG-SE
36
37
Robot driver
Pulse train position command (pulse)
Pulse train position command (sign)
Interface power
Contact input common
Servo ON
Alarm reset
Torque limit
Forward overtravel
Reverse ovetravel
Return-to-origin
Pulse train input enable
Position deviation counter clear
Interface power common
Origin sensor
Position sensor Phase A signal output
Position sensor Phase B signal output
Position sensor Phase Z signal output
Phase Z detection
Phase Z detection common
Monitor output 1
Monitor output 2
Analog output common
Servo ready
Alarm
Positioning complete
Brake power
Brake release relay
Logic ground (L)
Logic ground (L)
Return-to-origin complete
Brake output and coil
3
Installa
tion a
nd w
iring
3-15
2.Exampleofusinganexternalpowersupplyinasinktypeoutputmodule.
DC24V
External supply
PLSP
PLSN
150Ω
150ΩSIGP
SIGN
15
16
40
41
P24
PLC
RS
1
2
26
27
SON 4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
TL 4
FOT28
ROT29
ORG32
PEN33
CER 9
CM130
DC24V
OAP
OAN
21
22
OBP
OBN
46
47
OZP
OZN
23
24
SRD
ALM
SRDE
INPALME
BK
B24
OZ 48
L 49
AO1 25
AO2 50
INPE
BRK
35
42 11
34 12
39
13
5
4.7kΩORL
CM1
8
10
B0
Br
DC24V
31.6
24V
20
L
(Note 1)
Robot driver
Pulse train position command (pulse)
Pulse train position command (sign)
Interface power
Contact input common
Servo ON
Alarm reset
Torque limit
Forward overtravel
Reverse ovetravel
Return-to-origin
Pulse train input enable
Position error counter clear
Interface power common
Origin sensor
Position sensor Phase A signal output
Position sensor Phase B signal output
Position sensor Phase Z signal output
Phase Z detection
Phase Z detection common
Monitor output 1
Monitor output 2
Analog output common
Servo ready
Alarm
Positioning complete
Brake output and coil
Brake power
Brake release relay
Logic ground
Logic ground
Note 1: Brake output and coil are available only with RDV-X, and not with RDV-P.
3
Installa
tion a
nd w
iring
3-16
3.Exampleofusinganinternalinterfacepowersupplyinasourcetypeoutputmodule.
PLSP
PLSN
150Ω
150ΩSIGP
SIGN
15
16
40
41
P24
PLC
RS
1
2
26
27
SON 4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
TL 4
FOT28
ROT29
ORG32
PEN33
CER 9
CM130
DC24V
OAP
OAN
21
22
OBP
OBN
46
47
OZP
OZN
23
24
SRD
ALM
SRDE
INPALME
BK
B24
OZ 48
L 49
AO1 25
AO2 50
INPE
BRK
35
42 11
34 12
39
13
5
4.7kΩORL
CM1
8
10
B0
Br
DC24V
31.6
24V
20
L
(Note 1)
Robot driver
Pulse train position command (pulse)
Pulse train position command (sign)
Interface power
Contact input common
Servo ON
Alarm reset
Torque limit
Forward overtravel
Reverse ovetravel
Return-to-origin
Pulse train input enable
Position error counter clearInterface power common
Origin sensor
Position sensor Phase A signal output
Position sensor Phase B signal output
Position sensor Phase Z signal output
Phase Z detection
Phase Z detection common
Monitor output 1
Monitor output 2
Analog output common
Servo ready
Alarm
Positioning complete
Brake output and coil
Brake power
Brake release relay
Logic ground
Logic ground
Note 1: Brake output and coil are available only with RDV-X, and not with RDV-P.
3
Installa
tion a
nd w
iring
3-17
4.Exampleofusinganexternalpowersupplyinasourcetypeoutputmodule.
DC24V
PLSP
PLSN
150Ω
150ΩSIGP
SIGN
15
16
40
41
P24
PLC
RS
1
2
26
27
SON 4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
TL 4
FOT28
ROT29
ORG32
PEN33
CER 9
CM130
DC24V
OAP
OAN
21
22
OBP
OBN
46
47
OZP
OZN
23
24
SRD
ALM
SRDE
INPALME
BK
B24
OZ 48
L 49
AO1 25
AO2 50
INPE
BRK
35
42 11
34 12
39
13
5
4.7kΩORL
CM1
8
10
B0
Br
DC24V
31.6
24V
20
L
(Note 1)
Contact input common
Robot driver
Pulse train position command (pulse)
Pulse train position command (sign)
Interface power
Servo ON
Alarm reset
Torque limit
Forward overtravel
Reverse ovetravel
Return-to-origin
Pulse train input enable
Position error counter clear
Interface power common
Origin sensor
Position sensor Phase A signal output
Position sensor Phase B signal output
Position sensor Phase Z signal output
Phase Z detection
Phase Z detection common
Monitor output 1
Monitor output 2
Analog output common
Servo ready
Alarm
Positioning complete
Brake output and coil
Brake power
Brake release relay
Logic ground
Logic ground
External supply
Note 1: Brake output and coil are available only with RDV-X, and not with RDV-P.
3
Installa
tion a
nd w
iring
3-18
Input/output signal functions3.
Input/output signal functions are summarized in the following table.
TypeTerminal symbol
Terminal name DescriptionElectrical
specifications
Inp
utsig
na
l
P24 Interfacepower
Supplies24VDCforcontactinputs.ConnectingthissignaltothePLCterminalallowsusingtheinternalpowersupply.Usethisterminalonlyforcontactinput.Donotuseforexternalequipmentconnectedtothedriver,suchasbrakes.
DC+24V±10%Max80mA
CM1 Interfacepowercommon
ThisisagroundsignalforthepowersupplyconnectedtoP24.Ifusingtheinternalpowersupplytheninputacontactsignalbetweenthissignalandthecontact-pointsignal.
PLC IntelligentinputcommonConnectthissignaltothepowersupplycommoncontactinput.Connectanexternalsupplyorinternalpowersupply(P24).
SON ServoON
SettingthissignaltoONturnstheservoon(suppliespowertomotortocontrolit).Additionally,thissignalisalsousedformagneticpolepositionestimationactionwhenFA-90issettooFF4,oFF5.
ContactinputClose:ONOpen:OFF
5mA(at24V)perinput
RS Alarmreset
Afteranalarmhastripped,inputtingthissignalcancelsthealarm.Butbeforeinputtingthisresetsignal,firstsettheSONterminaltoOFFandeliminatethecauseofthetrouble.
TL Torquelimit WhenthissignalisON,thetorquelimitisenabled.
FOT ForwardovertravelWhenthissignalisOFF,therobotwillnotruninforwarddirection.(Forwarddirectionlimitsignal)
ROT ReverseovertravelWhenthissignalisOFF,therobotwillnotruninreversedirection.(Reversedirectionlimitsignal)
ORL OriginsensorInputanoriginlimitswitchsignalshowingtheoriginarea.
ORG Return-to-origin Inputtingthissignalstartsreturn-to-originoperation.
PEN PulsetraininputenableWhenthissignalisturnedon,thepulsetrainpositioncommandinputisenabled.
CERPositiondeviation
counterclear
Inputtingthissignalclearsthepositiondeviation(positionerror)counter.(Positioncommandvalueisviewedascurrentposition.)
Ou
tpu
tsign
al
SRDSRDE
ServoreadyThissignalisoutputwhentheservoisreadytoturnon(withmainpowersupplyturnedonandnoalarmstripped).
Opencollectorandemittersignaloutput
+30VDCorless,Max50mAperoutput
ALMALME
AlarmThissignalisoutputwhenanalarmhastripped.(ThissignalisONinnormalstateandOFFwhenanalarmhastripped.)
INPINPE
PositioningcompleteThissignalisoutputwhenthedeviationbetweenthecommandpositionandcurrentpositioniswithinthepresetpositioningrange.
ORG-SORG-SE
Return-to-origincomplete
Thissignalisoutputwhenthereturn-to-originiscompletedsuccessfully.
Re
lay
ou
tpu
t
BK(B24)(Note1) Brakereleaserelayoutput
WhentheservoisON,thisterminaloutputsasignaltoallowreleasingthebrake.(FLIP-Xseriesonly)
DC24Vmax375mA
Mo
nito
rou
tpu
t
AO1 Monitoroutput1 Outputsspeeddetectionvalues,torquecommands,etc.asanalogsignalvoltagesformonitoring.Signalstooutputareselectedbysettingparameters.Thesesignalsareonlyformonitoring.Donotuseforcontrol.
0to±5.0VLoadimpedance:
3kΩormoreAO2 Monitoroutput2
L Monitoroutputcommon Thisisthegroundforthemonitorsignal.
Po
sition
com
ma
nd
PLSPPositioncommandpulse
(pulsesignal)Selectoneofthefollowingsignalformsasthepulse-trainpositioncommandinput.1 Commandpulse+directionsignal2 Forwarddirectionpulsetrain+reversedirection
pulsetrain3 Phasedifference2-phasepulse
LinedriverinputPLSN
SIGPPositioncommandpulse
(signsignal)SIGN
Note1:B24,BOandBKareavailableonlywithRDV-X,andnotwithRDV-P.
3
Installa
tion a
nd w
iring
3-19
TypeTerminal symbol
Terminal name DescriptionElectrical
specifications
Po
sition
sen
sorm
on
itor
OAPPositionsensorPhaseAsignal
Outputsmonitorsignalobtainedbydividing"phaseA"signalofpositionsensor.
Linedriversignaloutput
OAN
OBPPositionsensorPhaseBsignal
Outputsmonitorsignalobtainedbydividing"phaseB"signalofpositionsensor.
OBN
OZPPositionsensorPhaseZsignal
Outputsmonitorsignalforpositionsensor"phaseZ"signal.
OZN
OZ PhaseZdetectionOutputsmonitorsignalforpositionsensor"phaseZ"signal.
Opencollectoroutput+30VDCorless,
Max50mALPhaseZdetection
common
Bra
kep
ow
er
inp
ut
B24(Note1) Brakepowerinput Input24VDCbrakepowertothisterminal
24VDCinput
B0(Note1) Brakepowercommon Commonterminalinputforbrakepower
Note1:B24,BOandBKareavailableonlywithRDV-X,andnotwithRDV-P.
3
Installa
tion a
nd w
iring
3-20
Brake and origin sensor connector4.
Among the input/output signals, the brake and origin sensor signals are connected to a connector that is branched from
the input/output signal connector. By connecting this branched connector to the position sensor cable, the brake can be
released and return-to-origin performed by sensor method.
Usethisconnectoronlywhenusingarobotwithamechanicalbrakeorrobot'sreturn-to-originmethodissensormethod.
BK13 1
B0 31 2
P24 1 3
ORL8 4
CM110 5
Br
Robot driver Robot
Robot
Robot driverHost unit
Pin No. on connector side
Terminal symbol
Signal namePin No. on
robot driver side
1 BK Brakereleaserelayoutput 13
2 B0 Brakepowerinput(0V) 31
3 P24 Powersupplyforinputsignal 1
4 ORL Originsensor 8
5 CM1 Powersupply(common)forinputsignal 10
3
Installa
tion a
nd w
iring
3-21
Details of input/output signal wiring5.
1. Contact input signal
•Contactsignalsshouldbeinputthroughswitchesandrelays.Figures(a)and(b)belowshowwiringdiagramsusingan external power supply or internal interface power supply.
P24
PLC
4.7kΩ
DC24V
CM1
P24
PLC
4.7kΩ
DC24V
CM1
InputSwitch
Robot driver Robot driver
InputSwitch
External power supply(DC24V)
Short-circuit
(a) When using an external power supply (b) When using an internal power supply
•Useanexternalpowersupplyfordevicesrequiringpowerforcontrollingacontactoutput,suchasaprogrammable controller output module. (Do not use the internal interface power supply of the driver.) Figures (c) and (d) below show examples for connecting the transistor output module (sink type or source type) of a programmable controller.
P24
PLC
4.7kΩ
DC24V
CM1
S
C
P24
PLC
4.7kΩ
DC24V
CM1
C
S
Robot driver Robot driver
Input
External powersupply (DC24V)
External powersupply (DC24V)
OutputOutputcontrol
Programmablecontroller
Output
Programmablecontroller
Outputcontrol Input
(c) When using a sink type output module and an external power supply
(d) When using a source type output module and an external power supply
•Whenusinganexternalpowersupply,donotconnecttotheinternalinterfacepowerofthedriver.Ifconnected,current may flow as shown in figure (e) below when the external power supply is shut off, causing the input to turn on.
P24
PLC
4.7kΩ
DC24V
CM1
S
C
Input
(e) Current flow when external power supply is shut off
Output
Shorted whenpower is shut off. Example of sink
type output module
Robot driverProgrammable controller External power supply
(DC24V)
Outputcontrol
• Ifusingswitchorrelaycontactsasthecontactinputsignal,thenusecontactssuchascrossbartwincontactsthatmake good contact even at weak currents or voltages.
•DonotshorttheinternalinterfacepowerP24toCM1.Thedrivermayfail.
•Theelectricalspecificationsforinputsignalsareshowninthefollowingtable. (Power supply voltage 24V DC)
Item Unit Minimum Maximum Condition
Inputimpedance kΩ 4.5 5.7
InputcurrentatOFF mA 0 0.3
InputcurrentatON mA 3.0 5.2 Powersupplyvoltage24VDC
3
Installa
tion a
nd w
iring
3-22
2. Contact output signal
•ConnectarelaycoilortheinputmoduleofaprogrammablecontrollerasshowninFigures(a)and(b)below.When using a relay, connect a diode as a surge absorber in parallel with the coil. Connect that diode as shown in Figure (a) so that the current flow direction of the diode is opposite the direction that voltage is applied to the coil.
C
(a) Relay coil connection (b) Programmable controller connection
(Emitter)
Output Input
Relay coil
Surge-absorbing diode
Output(Collector)
(Emitter)
Robot driverRobot driver
External powersupply
(DC24V)
External powersupply
(DC24V)
Programmablecontroller
•Prepareanexternalpowersupplyforoutputsignals.Donotusetheinternalinterfacepowersupply(P24-CM1)ofthe driver. The driver may fail.
•Electricalspecificationsforcontactoutputsignalsareshowninthefollowingtable.
Item Unit Minimum Maximum Condition
Outputpowersupplyvoltage V – 30
OutputcurrentatON mA – 50
LeakagecurrentatoutputOFF mA – 0.1
OutputsaturationvoltageatON V 0.5 1.5 Outputcurrent50mA
3. Monitor output signal
•Connectameter(voltmeter)orrecorderformonitoringspeeddetectionvaluesandtorquecommandvaluesasshowninFigure(a)below.Usethissignalonlyformonitoringandnotforcommandstoothercontroldevices.(Outputsignalaccuracyisabout±10%.)Eachmonitoroutputsignalcableshouldbeashielded,twistedpaircable
with the analog common (L--- connector pin No. 20, 49).Connect the cable shield to ground ( ) on the driver
side. (The I/O connector case of the driver is internally connected to the ground.)
AO1,AO2
L
(a) Monitor output signal connection
D/A converterShielded cable
Logic ground
Voltmeter
Connectorcase
Robot driver
•Theimpedanceoftheloadtoconnecttothismonitorsignalshouldbe3kΩ or more. Do not connect the monitor output signal (AO1, AO2) to the common (L) or another power supply. The driver may fail.
•Electricalspecificationsformonitoroutputsignalsareshowninthefollowingtable.
Item Unit Specifications
Outputvoltage V 0to±5.0V
Loadimpedance kΩ 3.0ormore
Outputvoltageaccuracy % ±10orless
Outputsignaldelaytime ms Approx.2.5
3
Installa
tion a
nd w
iring
3-23
4. Position command signal
•Connectthepulsetrainsignalforpositioncommand.Asshowninthefigurebelow,connectthepulsetrainsignaloutput from the line driver (AM26LS31 or equivalent) of the host unit to the I/O connector of the robot driver. Eachpositioncommandsignalcableshouldbeashielded,twistedpaircable.Connectthecableshieldtoground
( ) on the driver side. (The I/O connector case of the driver is internally connected to the ground.)
150ΩPLSP,SIGP PLSN,SIGN
Line driver(AM26LS31) Shielded cable
(a) Line driver signal connection
Connectorcase
Robot driver
•Thecablelengthforthissignalshouldbe3metersorless.Installthiswiringasfarapartaspossiblefromthemaincircuit cable and the relay control cable.
•Asingledrivermustbeconnectedtoasinglehostunitforpositioncommands.
• Electricalspecificationsandtimingchartforpositionpulsesignalsareshowninthefollowingtable.
Electrical specifications for position command pulses
Item Unit Specifications Condition
Inputcurrentoflogic1(Note) mA 8to15
Maximuminputpulse
rate
(Frequency)
•FWD/REVpulseinput
•Commandpulse+signinputpulses/s 2M Linedriversignal
•Phasedifference2-phasepulseinput pulses/s 500k Linedriversignal
Position command pulse timing chart
Pulse train signal form Pulse train input timing
(1)Pulsetraincommand WhenFA-11=P-S(MovementdirectionisreversedifFA-11=-P-S.)
Seenotebelow.(Note)
t1 t2
T
t0 tS4tS2
t4tS3t3
tS1
"1"
"0"
"1"
"0"
FWD signalLogic
REV signal
PLS terminal
SIG terminal
(2)FWD/REVpulse WhenFA-11=F-r(MovementdirectionisreversedifFA-11=r-F.)
Seenotebelow.(Note)
t1 t2
T
t0
tS0
"1"
"0"
"1"
"0"
FWD signal REV signal
PLS terminal
SIG terminal
(3)Phasedifference2-phase
pulse
* Inthecaseofphase
difference2-phasepulse,
thecountismultipliedby4.
WhenFA-11=A-b(MovementdirectionisreversedifFA-11=b-A.)
Seenotebelow..(Note)
t1 t2
T
t0
t6t5
"1"
"0"
"1"
"0"
FWD signal REV signal
PLS terminal(Phase A)
SIG terminal(Phase B)
Note:Whenatlogic1,thepulsetraininputcurrentdirectionisPLSP→PLSN,SIGP→SIGN.
3
Installa
tion a
nd w
iring
3-24
Position command pulse timing values
Pulse train signal form
(See above)
Line driver signal
(1), (2) above (3) above
Timingvalues
Risetime :t1,t3 0.1μsorless 0.1μsorless
Falltime :t2,t4 0.1μsorless 0.1μsorless
Switchingtime :tS0,tS1,tS2,tS3,tS4 3μsormore –
Phasedifference:t5,t6 – 1/4T±1/8T
Pulsewidth :(t0/T)×100 50±10% 50±10%
Maximumpulserate(frequency) 2M(pulses/s) 500k(pulses/s)
5. Position sensor monitor signal
•ThepositionsensorsignalisoutputasphaseA,B,andZsignals.Thelinedriveroutputsignals(OAP-OAN,OBP-OBN, OZP-OZN) should be connected to the line receiver (input impedance: 220 to 330 Ω) as shown in Figure (a) below. The open collector output signal (OZ-L) should be connected to the input device as shown in Figure(b).Useashielded,twistedpaircableforeachpositionsensormonitorsignalcable.Connectthecable
shield to ground ( ) on the driver side. (The I/O connector case of the driver is internally connected to the
ground.)
2.2kΩ
OAP,OBP,OZP,OAN,OBN,OZN,
OZ
L
R
R=220to330Ω
LL
Open collector
High-speedphotocoupler
SIGN
Logic ground
(b) Open collector output signal connection
External powersupply
(DC24V)
Robot driver
Shielded cable
Connectorcase
(a) Line driver output signal connection
Robot driver
Shielded cableLine driver(AM26LS31 or equivalent)
Line receiver(AM26LS32 or equivalent)
•Thissignalisoutputasahighspeedsignal(1MHzforphaseAandBsignals)dependingonthedivisionratiosetting for the position sensor monitor signal. So use a noise-shielded cable and a receiving circuit designed to handle high-speed signals. When the open collector output of phase Z signal is received by a photocoupler, be sure to use a high-speed photocoupler (1MHz or more).
•Thecablelengthforthissignalshouldbe3metersorless.Installthiswiringasfarapartaspossiblefromthemaincircuit cable and the relay control cable.
•Donotshortthelinedriveroutputsignalstoeachotherorconnectthemtoanotherpowersupply.Thedrivermayfail.
•Electricalspecificationsforthelinedriversignaloutputconformtothoseofgeneral-purposelinedrivers(AM26LS31orequivalent).ElectricalspecificationsforthephaseZdetectionsignaloftheopencollectorareshowninthefollowing table.
Item Unit Minimum Maximum Condition
Outputpowersupplyvoltage V 4 30
OutputcurrentatON mA 0 50
LeakagecurrentatoutputOFF mA 0 0.1
OutputsaturationvoltageatON V 0 0.4 Outputcurrent50mA
3
Installa
tion a
nd w
iring
3-25
Wiring for position sensor signals2.5
Position sensor signal connector1.
Connector compatible with lead-free solder
Type No. Manufacturer
54599-1019 Molex
• Description of terminal symbol
RDV-X ENC1 connector terminal symbol
Pin No.Terminal
symbolSignal name Pin No.
Terminal
symbolSignal name
1 R1Positionsensorexcitation
outputterminal
2 R2Positionsensorexcitation
outputterminal3 R1 4 R2
5 S2 S2-S4coilinputterminal 6 S4 S2-S4coilinputterminal
7 S1 S1-S3coilinputterminal 8 S3 S1-S3coilinputterminal
9 – – 10 – –
RDV-P ENC1 connector terminal symbol
Pin No.Terminal
symbolSignal name Pin No.
Terminal
symbolSignal name
1 EPPositionsensorpower
supply5V
2 EG Positionsensorpower
supply
Common0V3 EP 4 EG
5 SIN+ Sineinput(+) 6 SIN– Sineinput(–)
7 COS+ Cosineinput(+) 8 COS– Cosineinput(–)
9 Z+ PhaseZ(+)input 10 Z– PhaseZ(–)input
2 4 6 8 10
EG(R2) EG(R2) SIN-(S4) COS-(S3) Z−
1 3 5 7 9
EP(R1) EP(R1) SIN+(S2) COS+(S1) Z+
Numbers in parentheses indicate position sensors used with the RDV-X.
Chapter 4 Operation
1. Control and operation 4-11.1 Positioncontrolbypulsetraininput 4-2
2. Test run 4-32.1 JoggingoperationfromRDV-Manager 4-3
3. Emergency stop 4-6
4
Op
era
tion
4-1
Control and operation1.
w WARNING Installanexternalemergencystopcircuitsothatyoucanimmediatelystopoperationandshutoffpowerwhenever needed.
c CAUTION1. To prevent unstable or erratic operation never make drastic adjustments to the unit.
Doing so may cause injury.2. If an alarm has occurred, eliminate the cause of the alarm and ensure safety. Then reset the alarm and restart
the operation. Failure to do so may cause injury.
3. If a momentary power outage occurs and power is restored, the unit might suddenly restart so do not approachthemachineatthattime.(Designthemachinesothatpersonalsafetyisensuredevenifitsuddenlyrestarts.) Failure to do so may cause injury.
4. Make sure that the AC power specifications match the product power specifications. Using the wrong power specifications may cause injury.
5. While power is being supplied, do not touch any parts inside the driver or its terminals. Also, do not check the signals or attach/detach the cables. Doing so may cause electrical shock or injury.
6. While power is being supplied, do not touch any terminals on the driver even if the robot is stopped. Doing so may cause electrical shock or fire.
7. When using a user program to perform debugging operation of the robot, provide a circuit that allows an emergency stop by shutting off the main power or by turning the servo ON connector OFF. Failure to do so may cause injury or damage the machine.
4
Op
era
tion
4-2
Position control by pulse train input1.1 This method controls the position with external pulse train signals.
1) Make connections as shown below and check that they are correct.
2)TurnontheELB(earthleakagebreaker)andthenturnonthecontrolpowertothedriver. The display lights up, and the operating status "non" is shown. (This is the factory default setting.)
3) Set the "Pulse train input mode" (FA-11) parameter.
4)Setthe"Electronicgearnumerator/denominator"(FA-12,FA-13)parameters. (These are set by default so that 1 pulse is equal to a 1μm position command.)
5) Turn on the FOT and ROT terminals.
6) Turn on the electromagnetic contactor MC and then turn on the main circuit power supply.
7) Turn on the SON terminal. (On the RDV-P, magnetic pole position estimation is found right after power is first turned on.)
8)TurnonthePENterminalandinputthepositionpulsecommand.(Therobotwillmovetothecommandedposition.) Tostoptherobot,turnoffthePENterminalaftercompletingpositioning.Checkthattherobothasstoppedandthenturn off the SON terminal.
Wiring diagram
ELB
3-phase power
MCRDV series Robot
Positionpulse command
For single-phase models, connect to L1 and L2.
L1 L2
L3
L1C L2C
Display U S
W
ENC1
P24 PLC
ROT
CER
RS FOT
PEN CM1
Ground (Class D: 100 ohms or less)
PLSPP PLSPN
SIGPP SIGPN
SON
The above diagram shows a sink type output module using a power supply for internal input.
4
Op
era
tion
4-3
Test run2.
c CAUTION These operations will cause the robot to move, so check safety before continuing. To stop positioning, click the stop button.
n NOTE If using the PHASER series, magnetic pole position estimation must be performed before these operations. For details on magnetic pole position estimation, refer to Chapter 5, "17. Magnetic pole position estimation action".
Jogging operation from RDV-Manager2.1 Specified speed jogging (jogging operation) and specified movement distance jogging (inching operation) can be performed from RDV-Manager. Perform these operations from the jogging menu of "RDV-Manager support software for computer".
In RDV-Manager, click the [Jogging] button to access the jogging operation screen.
Jogging menu
Click
n NOTE Do not turn the servo on from the SON terminal. Also, do not operate the I/O terminals during jogging operation.
4
Op
era
tion
4-4
Specified speed jogging operation
The motor can be operated from the screen by specifying motor speed commands, acceleration time, and deceleration
time.Executespecifiedspeedjoggingusingtheproceduredescribedbelow.
Specified speed jogging operation
(1) Click
(3) Click (5) Click
Servo ON
Servo OFF
(2) Specify the continuous pattern to be executed by specified speed jogging (4) [forward] button.....Move forward while button is
pressed. When button is released, decelerate and stop.
[reverse] button.....Move backward while button is pressed. When button is released, decelerate and stop.
1) Select "Jogging".
2) In the "Jogging" area, specify the operation pattern that will be executed.
•[Joggingspeed] ........ Specify the speed command value for steady speed.
•[Accelerationtime] ... Specify the time until the speed command value reaches maximum speed from the motor stop state.
•[Decelerationtime] .. Specify the time until the speed command value reaches zero from the motor maximum speed.
3) Press the [Servo on] button to turn the servo on.
4) Hold down the [forward] or [reverse] button to drive the motor in the specified operation pattern.
•[forward] ...... Move forward while the button is pressed. When button is released, the motor decelerates and stops.
•[reverse] ....... Move backward while the button is pressed. When button is released, the motor decelerates and stops.
5) Specified speed jogging ends when the [Servo off] button is selected.
4
Op
era
tion
4-5
Specified movement distance jogging operation
The motor can be operated from the screen by specifying the motor movement distance, speed command values,
accelerationtime,decelerationtime,andstoptime.Executespecifiedmovementdistancejoggingusingtheprocedure
described below.
Specified movement distance jogging operation
(1) Click
(3) Click (5) Click(2) Specify the operation pattern to be executed by specified movement distance jogging.
(4) [forward] button ........Move forward [reverse] button ........Move backward [Continuous action]...Repeatedly move
forward and backward [Stop] button .............Stop moving
Servo ON
Servo OFF
1) Select "Pulse feed jogging".
2) In the "Pulse feed jogging" area, specify the operation pattern that will be executed.
•[Feedpulse] ............. Specify the movement distance from the current position.
•[Joggingspeed] ........ Specify the speed command value for steady speed.
•[Accelerationtime] ... Specify the time until the speed command value reaches the steady speed from the motor stop state.
•[Decelerationtime] .. Specify the time until the speed command value reaches zero from the motor steady speed state.
•[Waittime] .............. Specify the time between transitioning from forward operation to reverse operation, or from reverse operation to forward operation, during repeated forward and reverse movement.
3) Press the [Servo on] button to turn the servo on.
4) Press the [forward], [reverse], or [Continuous action] button to move the motor in the specified operation pattern.
•[forward] ................. The motor moves forward by the specified number of movement pulses.
•[reverse] .................. The motor moves backward by the specified number of movement pulses.
•[Continuousaction] .. The motor repeatedly moves forward and backward by the specified number of movement pulses.
•[Stop] ...................... The motor stops (servo off state).
5) Specified movement distance jogging ends when the [Servo off] button is selected.
*1) It is not necessary to specify the stop time except for Continuous action.
*2) Continuous action always begins with forward movement.
*3) Continuous action repeats forward and reverse movement until the [Stop] button is clicked. To stop Continuous action motor movement, click the [Stop] button.
4
Op
era
tion
4-6
Emergency stop3. To safely stop the robot in case of an emergency, configure an emergency stop circuit while referring to the explanations below. Fordetailsonthefunctionofeachterminalandparameter,refertoChapter5,"2.Inputterminalfunctions"andChapter6,"3.2Setupparameterdescription".
Servo OFF1.
When the SON signal is turned off, the servo is OFF and the braking is applied by the dynamic brake.
•The"DBOperationselection"(FA-16)mustbesetto"SoF".Thebrakingisnotappliedbythedynamicbrakeunlessthisselection is set to "SoF".
•Whenthe"ServoOFFwaittime"(FA-24)isset,theservoisOFFandthebrakingisappliedbythedynamicbrakeafterthe SON signal has been turned off and the servo OFF wait time has elapsed.
How to shorten the braking distance2.
Shorten the breaking distance by producing the deceleration torque through the servo control.
Example) Decelerationtorqueisproducedbyclampingthespeedcommandatzero.
•TheservoOFFwaittimeisset,andtheSONsignalandFOT/ROTsignalareturnedoffatthesametimeincase of an emergency.
•ThespeedcommandisclampedatzerobytheFOT/ROTsignalOFFwhiletheservoOFFisdelayed.Atthistime, the deceleration torque is produced to shorten the braking distance.
FOT
ROT
Current speed
Speed command
Servo
Main power
SON
0
V
0
V
FA-24
Note 1: If the heavy braking is applied as described in the example shown above when the payload of the robot is large or offset, the deceleration torque becomes too large, causing the robot to break. In this case, it is recommended that the FOT/ROT signal is not turned off and the position command is changed so that the speed command changes gradually.
Note 2: When the servo is OFF by an alarm occurring, the power to the motor is shut down immediately even when the Servo OFF wait time has been set.
Chapter 5 Functions
1. Terminal function list 5-1
2. Input terminal functions 5-3
3. Output terminal functions 5-6
4. Return-to-origin function 5-9
5. Analog output function 5-18
6. Pulse train input function 5-19
7. Smoothing function 5-21
8. Position sensor monitor function 5-22
9. Adjusting the control gain 5-239.1 Basicrulesofgainadjustment 5-23
9.2 Manualgainadjustmentprocedure 5-24
10. Offline auto tuning function 5-2610.1 Motionprofilesettings 5-28
10.2 ServoONandreturn-to-origininthe"Offlineautotuning"screen 5-32
10.2.1 Executing servo ON (RDV-X / RDV-P) 5-32
10.2.2 Estimation of magnetic pole position and turning the servo on (RDV-P) 5-33
10.2.3 Homing (return-to-origin) in the "Offline auto tuning" screen 5-34
10.3 Loadmomentofinertiasetting 5-35
10.3.1 Load moment of inertia estimation 5-35
10.3.2 Conditions of load moment of inertia estimation (detail setting) 5-38
10.3.3 Load moment of inertia calculation 5-41
10.4 Automaticservogaintuning 5-44
10.4.1 Executing auto servo gain tuning 5-44
10.4.2 Auto servo gain tuning settings 5-48
10.4.3 Conditions of servo gain tuning (detail setting) 5-50
10.5 Offlineautotuningtroubleshooting 5-52
10.6 Machinediagnosis 5-53
10.6.1 Executing machine diagnosis 5-53
10.6.2 Resonant peaks in the mechanical system 5-57
10.6.3 Conditions of machine diagnosis 5-59
Chapter 5 Functions
11. Gain change function 5-6111.1 Changingthecontrolgain 5-61
12. Clearing the alarm history and restoring the factory settings 5-6312.1 Clearingthealarmhistory 5-63
12.2 Factorysettings 5-63
13. Motor rotating direction 5-6413.1 FLIP-Xseriesphasesequence 5-64
13.2 PHASERseriesphasesequence 5-64
14. Speed limit function 5-65
15. Fast positioning function 5-66
16. Notch filter function 5-67
17. Magnetic pole position estimation action 5-68
18. Magnetic pole position estimation and parameters 5-69
5
Functio
ns
5-1
Terminal function list1.
TypeTerminal
symbolTerminal name Function
Contactpoint
inputsignal
P24 Interfacepower
Supplies24VDCforcontactinputs.ConnectingthissignaltothePLC
terminalallowsusingtheinternalpowersupply.Usethisterminalonlyfor
contactinput.Donotuseforexternalequipmentconnectedtothedriver,
suchasbrakes.
CM1Interfacepower
common
ThisisagroundsignalforthepowersupplyconnectedtoP24.Ifusingthe
internalpowersupplytheninputacontactsignalbetweenthissignalandthe
contact-pointsignal.
PLCIntelligentinput
common
Connectthissignaltothepowersupplycommoncontactinput.Connectan
externalsupplyorinternalpowersupply(P24).
SON ServoON
SettingthissignaltoONturnstheservoon(suppliespowertomotorto
controlit).Additionally,thissignalisalsousedformagneticpoleposition
estimationwhenFA-90issettooFF4,oFF5.
RS Alarmreset
Afteranalarmhastripped,inputtingthissignalcancelsthealarm.But
beforeinputtingthisresetsignal,firstsettheSONterminaltoOFFand
eliminatethecauseofthetrouble.
TL Torquelimit WhenthissignalisON,thetorquelimitisenabled.
FOT ForwardovertravelWhenthissignalisOFF,therobotwillnotruninforwarddirection.
(Forwarddirectionlimitsignal)
ROT ReverseovertravelWhenthissignalisOFF,therobotwillnotruninreversedirection.
(Reversedirectionlimitsignal)
ORL Originsensor Inputanoriginlimitswitchsignalshowingtheoriginarea.
ORG Return-to-origin Inputtingthissignalstartsreturn-to-originoperation.
PEN PulsetraininputenableWhenthissignalisturnedon,thepulsetrainpositioncommandinputis
enabled.
CERPositiondeviation
counterclear
Inputtingthissignalclearsthepositiondeviation(positionerror)counter.
(Positioncommandvalueisviewedascurrentposition.)
Contactpoint
outputsignal
SRD
SRDEServoready
Thissignalisoutputwhentheservoisreadytoturnon(withmainpower
supplyturnedonandnoalarmstripped).
ALM
ALMEAlarm
Thissignalisoutputwhenanalarmhastripped.(ThissignalisONinnormal
stateandOFFwhenanalarmhastripped.)
INP
INPEPositioningcomplete
Thissignalisoutputwhenthedeviationbetweenthecommandpositionand
currentpositioniswithinthepresetpositioningrange.
ORG-S
ORG-SE
Return-to-origin
completeThissignalisoutputwhenthereturn-to-originiscompletedsuccessfully.
Relayoutput BK(B24)Brakereleaserelay
output
WhentheservoisON,thisterminaloutputsasignaltoallowreleasingthe
brake.(FLIP-Xseriesonly)
Monitor
output
AO1 Monitoroutput1Outputsspeeddetectionvalues,torquecommands,etc.asanalogsignal
voltagesformonitoring.
Signalstooutputareselectedbysettingparameters.
Thesesignalsareonlyformonitoring.Donotuseforcontrol.AO2 Monitoroutput2
L Monitoroutputcommon Thisisthegroundforthemonitorsignal.
Position
command
PLSP Positioncommand
pulse(pulsesignal)Selectoneofthefollowingsignalformsasthepulse-trainpositioncommand
input.
(1)Commandpulse+directionsignal
(2)Forwarddirectionpulsetrain+reversedirectionpulsetrain
(3)Phasedifference2-phasepulse
PLSN
SIGP Positioncommand
pulse(signsignal)SIGN
5
Functio
ns
5-2
TypeTerminal
symbolTerminal name Function
Position
sensor
monitor
OAP Positionsensor
"phaseA"signal
Outputsmonitorsignalobtainedbydividing"phaseA"signalofposition
sensor.OAN
OBP Positionsensor
"phaseB"signal
Outputsmonitorsignalobtainedbydividing"phaseB"signalofposition
sensor.OBN
OZP Positionsensor
"phaseZ"signalOutputsmonitorsignalforpositionsensor"phaseZ"signal.
OZN
OZ "PhaseZ"detection
Outputsmonitorsignalforpositionsensor"phaseZ"signal.L
"PhaseZ"detection
common
Brakepower
input
B24 Brakepowerinput Input24VDCbrakepowertothisterminal.
B0 Brakepowercommon Commonterminalinputforbrakepower.
5
Functio
ns
5-3
Input terminal functions2. Functions of the driver input terminals are described below. For details on input/output terminal timing chart from the power-on to the position command input, refer to “1.Timingchart”inChapter10.
<<SON terminal>>
Setting this signal to ON turns the servo on (supplies power to the servo). The timing chart is shown below. This signal is also used by the magnetic pole position estimation operation of the RDV-P. For details, refer to Chapter 5, "17. Magnetic pole position estimation action".
•ServoONsignalsarereceivedtoturntheservoononlyifthemaincircuitpowersupplyisindependentandanalarmconditiondoesnotexist(whenSRDisON).Unlessalltheseconditionsaremet,nopowerissuppliedevenwhenthissignal is ON. However, magnetic pole position estimation can be performed even if SRD is not ON.
•Whenthe"DBoperationselection"(FA-16)parameterissetto"SoF"(duringservoOFF),thedynamicbrakeengagesbyturning the servo off.
•Periodfrominputofaservo-ONsignaluntiltheoperationisreadytostartis20ms.
•Bychangingthe"Inputterminalpolarity"(FC-01)setting,theservocanalsobeturnedonwhenthisinputterminalisopened.
•WhentheSONsignalisswitchedfromOFFtoON,thepositioncommandissettothecurrentpositionandthedeviation (position error) counter is cleared.
SRD
FOT/ROT
SON
Operation Power-off Servo-off Normal servo-on
10 [ms] or more1000 [ms] or more
Power
RDV-X
10 [ms] or more1000 [ms] or more
SRD
FOT/ROT
SON
Operation
Power
Power-off Servo-off Magnetic pole position estimation Normal servo-on
RDV-P
<<RS terminal>>
If while in an alarm state, the SON signal is switched OFF and then ON, the alarm status is cleared, allowing operation to occur again.
• IfthissignalisswitchedONwhennotinanalarmstate,itisignored.
• IfthissignalchangesfromOFFtoONinanalarmstate,thealarmisclearedwhentheONstatecontinuesfor20msorlonger.
•EvenifthissignalremainsattheONstate,resetoperationisperformedonlyonce.
•Bychangingthe"Inputterminalpolarity"(FC-01)setting,alarmscanalsoberesetwhenthisinputterminalisopened.
•Dependingonthecauseofthealarm,theremaybecasesinwhichthealarmstatecannotbeclearedbytheRSterminal. Refer to Chapter 9, "3. Troubleshooting".
FA-16 : DB Operation selectionFC-01 : Input terminal polarity setting
Related parameters
FC-01 : Input terminal polarity setting
Related parameters
5
Functio
ns
5-4
<<TL terminal>>
Setting this terminal to ON enables torque limit. Usetheparameters(Fb-07toFb-10)todeterminethe torque limit values.
•Bychangingthe"Inputterminalpolarity"(FC-01)setting,torquelimitcanalsobeenabledwhenthisinputterminalisopened.
•Theparameters(Fb-07toFb-10)limitthetorqueineachquadrantasshowninthefigurebelow.(However,usetheabsolute value as the torque limit value when entering the parameters.)
Fb-08
Fb-09
Fb-07
Fb-10
Torque
Speed
Secondquadrant First
quadrant
Thirdquadrant Fourth
quadrant
<<FOT/ROT terminals>>
These terminals connect to operating range limit switches in order to prevent overtravel.
•Whenthissignalisturnedon,driveisallowed.
•Topreventovertravel,theinternalspeedcommandlimitvalueinthatdirectionissetto0.
•Bychangingthe"Inputterminalpolarity"(FC-01)setting,driveisalsoallowedwhenthisinputterminalisopened.
•Anovertravelerror(E25)occursiftheservoisONformorethan1secondaftertheFOTandROTwerebothsettoOFF.
•TheFOTandROTterminalfunctiondoesnotchangeeveniftheFA-14(Motorrevolutiondirection)settingischanged.The FOT always prohibits drive in the CCW direction and the ROT prohibits drive in the CW direction.
•WhenoperatingtherobotwiththeRDV-P,themagneticpolepositionestimationshouldbeperformedwiththeFOTand ROT set to ON.
•Amagneticpolepositionestimationerror(E95)occursifeitheroftheFOTorROTissettoOFFwhilethemagneticpole position is being estimated.
<<PEN terminal>>
The position command pulse input is valid (enabled) only when this signal is ON.
•ThepositioncommandvaluecanberefreshedbypulsetraininputwhilethissignalisON.
•The"Inputterminalpolarity"(FC-01)settingallowspositionpulsetraininputtobeenabledwhenthisinputterminalisopened.
<<CER terminal>>
This signal clears the deviation (position error) counter to "0" by setting the position command value as the current position during position control.
•Thissignalisonlyvalidduringpositioncontrol.Thepositioncommandvalueissettothecurrentpositionvalueattheinstant this signal is switched from OFF to ON. Since this signal turns on at the pulse edge, the counter clearing does not continue even if this signal is kept ON. To clear the counter again, set this signal to OFF and then back ON again.
•Bychangingthe"Inputterminalpolarity"(FC-01)setting,thedeviation(positionerror)counterclearingcanbeenabledwhen this input terminal is opened.
Fb-07 to 10 : Torque limit value 1 to 4
FC-01 : Input terminal polarity setting
Related parameters
FC-01 : Input terminal polarity setting
Related parameters
FC-01 : Input terminal polarity setting
Related parameters
FC-01 : Input terminal polarity setting
Related parameters
5
Functio
ns
5-5
<<ORG terminal>>
When servo is ON, tuning this signal ON performs return-to-origin. For details, refer to Chapter 5, "4. Return-to-origin function".
•Whenreturn-to-originiscomplete,INPturnsON.IfthissignalisturnedOFFbeforereturn-to-originiscomplete,themovement is interrupted and INP stays OFF.
•SincethissignalturnsONatthepulseedge,onlyonereturn-to-originisperformedevenifthissignaliskeptON.
<<ORL terminal>>
Usethissignalwhenperformingreturn-to-originbysensor method. For details, refer to Chapter 5, "4. Return-to-origin function". Usethissignalonlywhentheconnectedrobot'sreturn-to-origin method is sensor method. No additional wiring is required since the connection to the robot is made via the input/output connector.
Related parameters
FA-23: Homing modeFb-12: Homing speed 1 (fast)Fb-13: Homing speed 2 (slow)FC-01: Input terminal polarity setting
Related parameters
FA-23: Homing modeFC-01: Input terminal polarity setting
5
Functio
ns
5-6
Output terminal functions3. Driveroutputterminalfunctionsaredescribednext. For details on input/output terminal timing chart from the power-on to the position command input, refer to “1.Timingchart”inChapter10.
<<SRD terminal>>
This signal is output when the main circuit power is connected and no alarm has tripped. Servo-ON signals can be accepted when this signal is ON, but cannot be accepted if this signal is OFF.
•On the RDV-P, this signal is not output unless magnetic pole position estimation ended correctly. For details, refer to Chapter 5, "17. Magnetic pole position estimation action".
•Bychangingthe"Outputterminalpolarity"(FC-02)setting,thisoutputterminalcanalsobeopenedwhentheservoisready.
<<ALM terminal>>
This signal indicates the alarm state. Its setting can be changed between "normally open (a-contact)" and "normally closed (b-contact)" by the output terminal polarity setting (FC-02). (Default setting is "normally closed" contact.) The table below shows the relation between each contact specification and alarm output. If this signal indicates an alarm state, clearing the alarm state by inputting alarm reset (RS) or by cycling the power supply will return to normal operation.
Contact specifications Power OFF Normal state Alarm state
Normallyclosed(b-contact) OFF ON OFF
Normallyopen(a-contact) OFF OFF ON
<<INP terminal>>
This signal indicates that positioning or return-to-origin is complete.
•ThissignalturnsOFFwhenreturn-to-originsignalisinput,andreturn-to-originthenstarts.Afterreturn-to-originiscomplete, this signal turns ON when the positioning deviation (position error) is within the range specified by "Positioning detection range" (Fb-23).
•ThissignalisOFFwhentheservoisOFF.
•Bychangingthe"Outputterminalpolarity"(FC-02)setting,thisoutputterminalcanalsobeopenedwhenpositioningis completed.
<<ORG-S terminal>>
This signal indicates that return-to-origin is complete.
•ThissignalturnsONwhenthereturn-to-originoperationendsnormally.
•WhenthissignalturnsON,itremainsONuntilthereturn-to-originsignal(ORG)isagainturnedONtobeginreturn-to-origin or until the driver's control power supply is turned OFF.
•Theoutputterminalpolaritysetting(FC-02)canalsobeusedtoopentheoutputterminalwhenreturn-to-originiscompleted.
FC-02 : Output terminal polarity setting
Related parameters
FC-02 : Output terminal polarity setting
Related parameters
Fb-23 : Positioning detection range
FC-02 : Output terminal polarity setting
Related parameters
FC-02 : Output terminal polarity setting
Related parameters
5
Functio
ns
5-7
<<BK terminal (relay contact)>>
This signal is for controlling an externally installed brake. Usethissignalonlywhentheconnectedrobothasamechanical brake. No additional wiring is required since the connection to the robot is made via the input/output connector.Two methods of brake signal output are available: output while the motor is stopped and output while the motor is operating. As shown in the table below, each setting can be made to exclude the other setting. Their output methods are described below.
Note: In the case of the RDV-P, this signal cannot be used as a relay output since no relay is mounted on the PC board in the RDV-P.
Parameter (1) Brake signal during stop (2) Brake signal during run
ServoOFFwaittime FA-24 Waittimesetting 0
Brakeoperationstartspeed FA-26 – Startspeed
Brakeoperationstarttime FA-27 0 Starttime
This function will not work correctly unless the exclusive setting is made as shown above.
FA-24 : Servo OFF wait time
FA-26 : Brake operation start speedFA-27 : Brake operation start timeFC-02 : Output terminal polarity setting
Related parameters
5
Functio
ns
5-8
Brake signal while robot is stopped1.
In this function, after the brake signal (BK) has turned on, the servo OFF signal can be delayed in order to counteract
delaysinthebrakeoperation.Sousethissignalwhentherobotstopssuchaswhenstoppedafterpositioning.Usingthis
signal frequently while the robot is moving will cause abnormal brake wear.
•ThissignalturnsonsimultaneouslywithservoONoperationwhenaservo-ONsignalisinput.Thissignalimmediately
turns off when the servo ON signal turns off. The servo then turns off after a time preset by the "Servo OFF wait time"
(FA-24) parameter has elapsed. (See figure below.)
•The"ServoOFFwaittime"(FA-24)canbesetfrom0to1.00secondsin10mssteps,andoperationmayhavea
maximum delay of 1ms.
• Ifanalarmoccurs,theservoturnsoffsimultaneouslywiththissignal.
•Bychangingthe"Outputterminalpolarity"(FC-02)setting,thisoutputterminalcanalsobeopenedwhenthebrakeis
released.
•Whenusingthis function, set the "Brake operation start time" (FA-27) to 0.
Note: Operation is controlled by pulse train input even during the "Servo OFF wait time". Tostoptheoperation,turnoffthePENinputorstopthepulsetraininput.
FA-24
SON
Servo status
BK Brake OFF state
Power being supplied
Servo ON state Servo OFF wait time
Brake signal while robot is operating2.
This function is used when applying the brake while the robot is operating so use in applications where the robot can
slowsufficientlysuchaswhentherobotisfree-running.Usingthisfunctionwhenmovingaheavypayloadmaycause
braking delays, resulting in dropping hazards so use caution.
•ThissignalturnsonsimultaneouslywithservoONoperationwhenaservo-ONsignalisinput.WhenaservoOFFsignal or an alarm state occurs, the robot speed decreases below the "Break operation start speed" (FA-26) or the servo turns off, and then the brake operates after the "Break operation start time" (FA-27) has elapsed. (See figure below.)
•The"Brakeoperationstarttime"(FA-27)canbesetfrom0to1.000secondsin4mssteps,andoperationmayhaveamaximum delay of 1ms.
•Bychangingthe"Outputterminalpolarity"(FC-02)setting,thisoutputterminalcanalsobeopenedwhenthebrakeisreleased.
•Whenusingthisfunction,setthe"ServoOFFwaittime"(FA-24)to0.
FA-27
FA-26
*
SON
Servo status
BK
Robot speed
Power being supplied
Servo ON state
Brake OFF status
*Operation conditionFA-26 > | Speed | or FA-27 time has elapsed.
Brake operation start time
Brake operation start speed
SON=OFF or alarm
5
Functio
ns
5-9
Return-to-origin function4. Return-to-origin using stroke end method (RDV-X)1.
The following table shows the RDV-X return-to-origin operation using the stroke end method.
FA-23 Return-to-origin using stroke end method
t-F(4) 57 6
2
31
(Fb-12)
4096
2048
L
2048
L- [(Fb-35)-1]×4096+2048/4096
Forward run
First Z
Reverse runPosition
(Machine reference=100%)
Phase Z
Stroke end
Homing back distance counter
When "Homing back distance" (Fb-35) = 1
Machine reference (d-58)
t-r2
1
7
65
4
3
Forward run
(Fb-12)
(Fb-12)
(Fb-13)
4096
4096 2048
L[(Fb-35)-1]×4096
2048
L- [(Fb-35)-1]×4096+2048/4096
Stroke end
First Z
Reverse runPosition
Homing back distance counter
When "Homing back distance" (Fb-35) = 2
(Machine reference=100%)Machine reference (d-58)
Phase Z
Op
era
tion
seq
ue
nce
1.Startreturn-to-origin.
2.Robotmovestowardsstrokeendat"Homingspeed1(fast)"(Fb-12).
3.Reversesmovementdirectionwhileadjustingspeedduring"Acceleration/DecelerationtimeforHoming"(Fb-31,Fb-32)
whenthemotorcurrentexceedingtheratedcurrentandtherobotwasdeterminedtobestrokeend.(Note1)
4.Movesindirectionoppositethestrokeendat"Homingspeed1(fast)"(Fb-12).StartscountingtheHomingbackdistance
fromthestrokeend.(Ifthe"Homingbackdistance"(Fb-35)issetto1,thenstep4isskippedandgoestostep5.)
5.WhentheHomingbackdistancecountexceeds"[(Fb-35)–1]×4096"pulses,therobotstartsslowingdownduring
decelerationtime(Fb-32)andmovesat"Homingspeed2(slow)"(Fb-13).(Note1)
6.Continuesmovingat"Homingspeed2(slow)"(Fb-13).
7.Stopsatfirst"phaseZ"positionaftertheHomingbackdistancecounthasexceeded"[(Fb-35)–1]×4096+2048"pulses.
(Machinereferenceisdisplayedond-58,whichiscalculatedasfollows:
L(distancefromstrokeendtostoppoint)–[(Fb-35)–1]×4096+2048/4096)
Note1:Theacceleration/decelerationtimeparametersspecifythetimeneededtoaccelerateordeceleratebetween0andmaximum
speed.
5
Functio
ns
5-10
Return-to-origin using sensor method (RDV-X)2.
The following table shows the RDV-X return-to-origin operation using the sensor method.
FA-23ORL terminal at start of return-to-origin using sensor method
OFF ON
S-F
(ORL)
2
1
3
45
(Fb-12)(Fb-13)
A
Sensor4096 pulses (machine reference=100%)
Machine reference (d-58)
(Note 3) PositionReverse run Forward run
First phase ZPhase Z
5
6
A
2
3
4
1
(Fb-12)×0.5
(Fb-12)×0.5
7
(Fb-13)
Sensor(ORL)
First phase Z
Reverse run
Phase Z
PositionForward run
Machine reference (d-58)
(Note 3)
4096 pulses (machine reference=100%)
S-r
1(Fb-13)(Note 3)
32
4
5 A
(Fb-12)×0.5
Sensor(ORL)
First phase ZPhase Z
Forward runPosition
Reverse run
4096 pulses (machine reference=100%)
Machine reference (d-58)
1 A2
76 5
4
3(Fb-12)×0.5
(Fb-12)×0.5
(ORL)Sensor
(Note 3)Reverse run Forward runPosition
4096 pulses (machine reference=100%)
Machine reference (d-58)
Phase ZFirst phase Z
Op
era
tion
seq
ue
nce
1.Startsreturn-to-origin.
2.Robotmovestowardsoriginat"Homingspeed1(fast)"
(Fb-12).
3.Slowsdownduring"DetectiontimeforHoming"(Fb-32)
whensensor(ORLterminal)turnson.(Note5)
4.Continuesmovingat"Homingspeed2(slow)"(Fb-13).
5.Stopsatfirst"phaseZ"positionafterreachingthe"Homing
speed2(slow)"(Fb-13).(Machinereferencedisplayedon
d-58.)(Note3)
1.Startsreturn-to-origin.
2.Robotmovesawayfromoriginat50%of"Homingspeed1
(fast)"(Fb-12).
3.Reversesmovementdirectionwhensensor(ORLterminal)
turnsoff.(Deceleration/accelerationtimeisdeterminedby
parameters(Fb-32,Fb-31).(Note5)
4.Movesbacktowardsoriginat50%of"Homingspeed1
(fast)"(Fb-12).(Note4)
5.Slowsdownduring"DetectiontimeforHoming"(Fb-32)
whensensor(ORLterminal)turnson.(Note5)
6.Continuesmovingat"Homingspeed2(slow)"(Fb-13).
7.Stopsatfirst"phaseZ"positionafterreachingthe"Homing
speed2(slow)"(Fb-13).(Machinereferencedisplayedon
d-58.)(Note3)
Note1:Iftheoriginsensor(ORLterminal)doesnotturnoffevenwhentherobothasmovedadistanceof50,000pulsesafterstarting
return-to-originwiththeoriginsensor(ORLterminal)turnedon(operationinsteps1and2),thenahomingsensoralarm(E80)
occurs.
Note2:Iftheoriginsensor(ORLterminal)doesnotturnonandtherobotcomesintocontactwiththemechanicalend(strokeend),then
anoverloadalarm(E05)occurs.
Note3:Machinereferenceisdisplayedafterreturn-to-originiscompletednormally.
Note4:Iftheoriginsensor(ORLterminal)turnsonduringacceleration,thentherobotimmediatelyslowsdownandsetstostep5.(Speed
mightnotalwaysreach50%of"Homingspeed1(fast)"(Fb-12)).
Note5:Acceleration/decelerationtimeparameterssetthetimeneededtoaccelerateordeceleratebetween0andmaximumspeed.
5
Functio
ns
5-11
Return-to-origin using stroke end method (RDV-P)3.
The following table shows the RDV-P return-to-origin operation using the stroke end method.
FA-23 Return-to-origin using stroke end method
t-F
When phase ZM is between return-to-origin start position and stroke end
4
5
74096
6
[(Fb-35)-1]×4096
2 3
1
8
(Fb-12)
(1.024mm)
9
4096 4096 d
(Fb-12)
(Fb-13)
256(=100H)
256(=100H)
When "Homing back distance" (Fb-35) = 2
1024 pulses
Stroke end
768 (=300H) pulses
Reference phase Z
Machine reference (d-58)=(d+768)/4096Machine reference=100%
Sensor (phase ZM)
Forward run
Homing back distance counter
(R/D converter)
Phase Z (Dotted line indicates phase ZY.)
Reverse runPosition
768 (=300H) pulses
L sideWhen FA-14 is set to CC
R sideWhen FA-14 is set to CC
When return-to-origin start position is between phase ZM is and stroke end
13
4096
45
7
6
2
3
1
12
10 (11)
9
8
14
4096 d
4096(Fb-13)
(Fb-12)
(Fb-12)
256(=100H)
Stroke end
Reference phase Z
When "Homing back distance" (Fb-35) = 1Sensor (phase ZM)
1024 pulses(1.024mm)
1024 or more pulses
768 (=300H) pulses
Machine reference (d-58)=(d+768)/4096Machine reference=100%
Forward run
Homing back distance counter
(R/D converter)
Phase Z (Dotted line indicates phase ZY.)
256(=100H)
Reverse runPosition
768 (=300H) pulses
L sideWhen FA-14 is set to CC
R sideWhen FA-14 is set to CC
5
Functio
ns
5-12
FA-23 Return-to-origin using stroke end method
t-r
When phase ZM is between return-to-origin start position and stroke end
4
5
6
23
18
9
d 4096 4096768(=300H)
6
74096
(Fb-12)
(Fb-12)
(Fb-13)
768(=300H)
[(Fb-35)-1]×4096
Stroke endWhen "Homing back distance" (Fb-35) = 2
Forward run
Sensor (phase ZM)
Phase Z (Dotted line indicates phase ZY.)(R/D converter)
1024 pulses(1.024mm)
Machine reference (d-58)=(d+256)/4096Machine reference=100%
Homing back distance counter
Reverse runPosition
Reference phase Z
768 (=300H) pulses256(=100H)
R sideWhen FA-14 is set to CC
L sideWhen FA-14 is set to CC
When return-to-origin start position is between phase ZM and stroke end
913
4
62
3
8
4096
1
10 (11)
5
14
768(=300H)4096d
124096
(Fb-12)
(Fb-12)
(1.024mm)
(Fb-13)
768(=300H)
7
Forward run
Stroke endWhen "Homing back distance" (Fb-35) = 1
Reference phase Z
Sensor (phase ZM)
1024 or more pulses
1024 pulses768 (=300H) pulses
Phase Z (Dotted line indicates phase ZY.)(R/D converter)
Machine reference (d-58)=(d+256)/4096Machine reference=100%
Homing back distance counter
Reverse runPosition
256(=100H)
L sideWhen FA-14 is set to CC
R sideWhen FA-14 is set to CC
5
Functio
ns
5-13
FA-23
Return-to-origin using stroke end method
When phase ZM is between return-to-origin start
position and stroke end
When return-to-origin start position is between phase
ZM is and stroke end
Op
era
tion
seq
ue
nce
1.Startsreturn-to-origin.
2.Robotmovestowardsstrokeendat"Homingspeed1
(fast)"(Fb-12).
3.Continuesmovingtowardsthestrokeendat"Homing
speed1(fast)"(Fb-12).
Afterdetectingsensor(phaseZM)(Note2,Note5),returnsto
originandstartscount.
AmongphaseZateach4096count,thephaseZdetected
atapointclosesttothestrokeendisregardedas
referencephaseZ.
4.Reversesmovementdirectionwhileadjustingspeed
during"Acceleration/DecelerationtimeforHoming"
(Fb-31,Fb-32)whenrobothasreachedthestrokeend,
whichisdeterminedbydetecting(infirstpartofthisstep)
amotorcurrentthatexceededtheratedcurrentandthen
thespecifiedstroke-endcurrent.
5.Movesindirectionoppositethestrokeendat"Homing
speed1(fast)"(Fb-12).
6.Continuesmovingindirectionoppositethestrokeend
untilreachingtheposition"[(Fb-35)–1]×4096]"pulses
awayfromthereferencephaseZ.
(If"Homingbackdistance"(Fb-35)issetto1,thenstep6
isskippedandgoestostep7.)
7.Movesat"Homingspeed2(slow)"(Fb-13)afteradjusting
speedduring"DecelerationtimeforHoming"(Fb-32).(Note1)
8.Temporarilystopsataposition4096pulsesawayfrom
phaseZatthedecelerationpoint.
9.Furthermovesadistanceequaltothefollowingphase
differencebetweenphaseZYandphaseZ,andthen
stopsthere.
WhenmovingtoL:256=100Hpulses
WhenmovingtoR:768=300Hpulses
Machinereferenceisdisplayedond-58,whichis
calculatedasfollows:
WhenmovingtoL:(d-58)=(d+768)/4096
WhenmovingtoR:(d-58)=(d+256)/4096
1.Startsreturn-to-origin.
2.Robotmovestowardsstrokeendat"Homingspeed1
(fast)"(Fb-12).
3.Reversesmovementdirectionwhileadjustingspeed
during"Acceleration/DecelerationtimeforHoming"
(Fb-31,Fb-32)whenrobothasreachedthestrokeend,
whichisdeterminedbydetecting(infirstpartofthisstep)
amotorcurrentthatexceededtheratedcurrentandthen
thespecified"Currentforstrikinglimit"(Fb-36).(Note1)
4.Movesindirectionoppositethestrokeendat"Homing
speed1(fast)"(Fb-12).
5.Afterdetectingsensor(phaseZM)(Note2),moves1024
pulses.
6.Reversesmovementdirectionwhileadjustingspeed
during"DecelerationtimeforHoming"(Fb-32)after
checkingthatatleast1024pulseshaveelapsed.(Note1)
7.Movestowardsthestrokeendafterchangingspeedback
tothe"Homingspeed1(fast)"(Fb-12)during
"AccelerationtimeforHoming"(Fb-31).
8.Continuesmovingtowardsthestrokeendat"Homing
speed1(fast)"(Fb-12).Afterdetectingsensor(phase
ZM)(Note5),returnstooriginandstartscount.
AmongphaseZateach4096count,thephaseZdetected
atapointclosesttothestrokeendis
regardedasreferencephaseZ.
9.Reversesmovementdirectionwhileadjustingspeed
during"Acceleration/DecelerationtimeforHoming"
(Fb-31,Fb-32)whenthemotorcurrentexceedingthe
ratedcurrentandtherobotwasdeterminedtobestroke
end.
10.Movesindirectionoppositethestrokeendat"Homing
speed1(fast)"(Fb-12).
11.Continuesmovingindirectionoppositethestrokeend
untilreachingtheposition"[(Fb-35)–1]×4096]"pulses
awayfromthereferencephaseZ.
(If"Homingbackdistance"(Fb-35)issetto1,thenstep
11isskippedandgoestostep12.)
12.Movesat"Homingspeed2(slow)"(Fb-13)afteradjusting
speedduring"DecelerationtimeforHoming"(Fb-32).(Note1)
13.Temporarilystopsataposition4096pulsesawayfrom
phaseZatthedecelerationpoint.
14.Furthermovesadistanceequaltothefollowingphase
differencebetweenphaseZYandphaseZ,andthen
stopsthere.
WhenmovingtoL:256=100Hpulses
WhenmovingtoR:768=300Hpulses
Machinereferenceisdisplayedond-58,whichis
calculatedasfollows:
WhenmovingtoL:(d-58)=(d+768)/4096
WhenmovingtoR:(d-58)=(d+256)/4096
Note1:Theacceleration/decelerationtimeparametersspecifythetimeneededtoaccelerateordeceleratebetween0andmaximum
speed.
Note2:TherearetwophaseZtypesasdescribedbelow.Becarefulnottoconfusethem.
PhaseZM : PhaseZsignalthatisinputfromthemechanicalsectionviaENC1.(Thissensorsignalisoutput
fromtwopointsatbothendsofthemechanicalstroke.)
PHASER series
Phase ZM Phase ZM
One each of phase ZM is present near both ends of robot.
PhaseZ(R/Dconverter) : PhaseZsignalthatisoutputfromtheresolverorR/Dconverter.(Thisisoutputevery1024pulses.)
AlsonotethattheORLterminalisleftunconnectedwhenperformingtheRDV-Preturn-to-origin
operationusingthestrokeendmethod.
Note3:PhaseZYisapositionoffset768(=300H)pulsesfromthephaseZ(R/Dconverter)signal.
MachinereferencecorrespondstothedistancebetweenthestrokeendandphaseZYasshownintheoperationsequence
diagram.
Note4:ThemagneticpolepositionisdeterminedwhenphaseZMispassed.
5
Functio
ns
5-14
Return-to-origin using sensor method (RDV-P)4.
The following table shows the RDV-P return-to-origin operation using the sensor method.
FA-23 Return-to-origin using sensor method
S-F
When phase ZM is between return-to-origin start position and origin sensor
4
5
2 3
1
(1.024mm)
4096
6
7
d
(Fb-12)
(Fb-13)
256(=100H)
Forward run
1024 pulses
Origin sensor (ORL)
4096 pulses (machine reference(d-58)=100%)
Sensor (phase Z1)
Reverse runPosition
Reference phase Z
768 (=300H) pulses
Phase Z (Dotted line indicates phase ZY.)(R/D converter)
Machine reference (d-58)R sideWhen FA-14 is set to CC
L sideWhen FA-14 is set to CC
256 (=100H) pulses
When return-to-origin start position is between phase ZM is and origin sensor
(1.024mm)
(Fb-13)
(Fb-12)
(Fb-12)
1011
37
4096
12
1312
456
8 9
d
256 (=100H)1024 pulses
Origin sensor (ORL)
4096 pulses (machine reference(d-58)=100%)
Sensor (phase Z1)
Reverse runPosition
Reference phase Z
Forward run
Phase Z (Dotted line indicates phase ZY.)(R/D converter)
1024 pulses
768 (=300H) pulses
Machine reference (d-58)R sideWhen FA-14 is set to CC
L sideWhen FA-14 is set to CC
256 (=100H) pulses
When origin sensor is ON when starting return-to-origin
12139
11
4096
14 15
8
10
1
2
3
4 5
67
d
(1.024mm)
Origin sensor (ORL)
(Fb-12)×0.5
(Fb-12)
(Fb-12)
(Fb-13)
256(=100H)
Reverse runPosition
Sensor (phase Z1)Reference phase Z
Phase Z (Dotted line indicates phase ZY.)(R/D converter)
Forward run
1024 pulses
4096 pulses (machine reference(d-58)=100%)
768 (=300H) pulses
Machine reference (d-58)
1024 pulses
R sideWhen FA-14 is set to CC
L sideWhen FA-14 is set to CC
256 (=100H) pulses
Operating direction
(as viewed from cable carrier side of robot)
FA-14
CC C
Forwardrun SlidermovestoLside SlidermovestoRside
Reverserun SlidermovestoRside SlidermovestoLside
5
Functio
ns
5-15
FA-23 Return-to-origin using sensor method
S-r
When phase ZM is between return-to-origin start position and origin sensor
4
523
1
4096
6
7
d
(1.024mm)
(Fb-12)
(Fb-13)
Forward run
Origin sensor (ORL)
Sensor (phase Z1)Reference phase Z
Reverse runPosition
1024 pulses4096 pulses (machine reference(d-58)=100%)
768 (=300H) pulses
768 (=300H) pulsesPhase Z (Dotted line indicates phase ZY.)(R/D converter)
Machine reference (d-58)
R sideWhen FA-14 is set to CC
L sideWhen FA-14 is set to CC
256(=100H)
When return-to-origin start position is between phase ZM is and origin sensor
1011
2
31
4096
1213
8
4
56
7
9
d
(1.024mm)
(Fb-12)
(Fb-13)
Forward runReverse runPosition
1024 pulses
Origin sensor (ORL)
4096 pulses (machine reference(d-58)=100%)
Sensor (phase Z1)Reference phase Z
768 (=300H) pulses
Phase Z (Dotted line indicates phase ZY.)(R/D converter)
Machine reference (d-58)
1024 pulses
R sideWhen FA-14 is set to CC
L sideWhen FA-14 is set to CC
768 (=300H) pulses
256(=100H)
When origin sensor is ON when starting return-to-origin
12
13
4096
14
15
10
6 7 8
911
1
2
3
45
(Fb-12)×0.5
d
(1.024mm)
(Fb-12)
(Fb-13)
Forward run
1024 pulses
Origin sensor (ORL)
4096 pulses (machine reference(d-58)=100%)
Sensor (phase Z1)Reference phase Z
768 (=300H) pulses
Machine reference (d-58)
1024 pulses
Reverse runPosition
Phase Z (Dotted line indicates phase ZY.)(R/D converter)
768 (=300H) pulses
R sideWhen FA-14 is set to CC
L sideWhen FA-14 is set to CC
256(=100H)
Operating direction
(as viewed from cable carrier side of robot)
FA-14
CC C
Forwardrun SlidermovestoLside SlidermovestoRside
Reverserun SlidermovestoRside SlidermovestoLside
5
Functio
ns
5-16
FA-23 Return-to-origin using sensor method
Op
era
tion
seq
ue
nce
When phase ZM is between return-to-origin start position and origin sensor
1.Startsreturn-to-origin.2.Robotmovesat"Homingspeed1(fast)"(Fb-12).3.Continuesmovingat"Homingspeed1(fast)"(Fb-12).StartsdetectingphaseZateach4096countafterdetectingthe
sensor(phaseZM)signal.Atthispoint,phaseZjustbeforedetectingthesensor(phaseZM)signalisregardedasreferencephaseZwhichisthestartpointtodetectphaseZateach4096count.
4.Slowsdownduring"DecelerationtimeforHoming"(Fb-32)afterdetectingthattheoriginsensor(ORLterminal)hasturnedon.(Note2)
5.Movesat"Homingspeed2(slow)"(Fb-13).6.Afterdetectingtheoriginsensorsignal,therobottemporarilystopsatfirst"phaseZ"positiondetectedateach4096count.7.FurthermovesadistanceequaltothephasedifferencebetweenphaseZYandphaseZ,andthenstopsthere.
WhenmovingtoL:256=100HpulsesWhenmovingtoR:768=300HpulsesMachinereferenceisdisplayedond-58,whichiscalculatedasfollows:WhenmovingtoL:(d-58)=(d+768)/4096WhenmovingtoR:(d-58)=(d+256)/4096
When return-to-origin start position is between phase ZM is and origin sensor
1.Startsreturn-to-origin.2.Robotmovesat"Homingspeed1(fast)"(Fb-12).3.Slowsdownduring"DecelerationtimeforHoming"(Fb-32)afterdetectingthattheoriginsensor(ORLterminal)hasturned
on.(Note2)
4.Reversesmovementdirectionafterthemotorhasstopped,andspeedsupduring"AccelerationtimeforHoming"(Fb-31).5.Movesat"Homingspeed1(fast)"(Fb-12)until1024pulseshaveelapsedafterdetectingthesensor(phaseZM)signal.6.Slowsdownduring"DecelerationtimeforHoming"(Fb-32).7.Reversesmovementdirectionafterthemotorhasstopped,andspeedsupduring"AccelerationtimeforHoming"(Fb-31).8.Movesat"Homingspeed1(fast)"(Fb-12).9.Continuesmovingat"Homingspeed1(fast)"(Fb-12).StartsdetectingphaseZateach4096countafterdetectingthe
sensor(phaseZM)signal.Atthispoint,phaseZjustbeforedetectingthesensor(phaseZM)signalisregardedasreferencephaseZwhichisthestartpointtodetectphaseZateach4096count.
10.Slowsdownduring"DecelerationtimeforHoming"(Fb-32)afterdetectingthattheoriginsensor(ORLterminal)hasturnedon.(Note2)
11.Movesat"Homingspeed2(slow)"(Fb-13).12.Afterdetectingtheoriginsensorsignal,therobottemporarilystopsatfirst"phaseZ"positiondetectedateach4096count.13.FurthermovesadistanceequaltothephasedifferencebetweenphaseZYandphaseZ,andthenstopsthere.
WhenmovingtoL:256=100HpulsesWhenmovingtoR:768=300HpulsesMachinereferenceisdisplayedond-58,whichiscalculatedasfollows:WhenmovingtoL:(d-58)=(d+768)/4096WhenmovingtoR:(d-58)=(d+256)/4096
When origin sensor is ON when starting return-to-origin
1. Startreturn-to-origin.2. Robotmovesat50%of"Homingspeed1(fast)"(Fb-12).3. Slowsdownduring"DecelerationtimeforHoming"(Fb-32)afterdetectingthattheoriginsensor(ORLterminal)hasturned
off.(Note2)
4. Reversesmovementdirectionafterthemotorhasstopped,andspeedsupduring"AccelerationtimeforHoming"(Fb-31).Thenmovesat50%of"Homingspeed1(fast)"(Fb-12).
5. Slowsdownduring"DecelerationtimeforHoming"(Fb-32)afterdetectingthattheoriginsensor(ORLterminal)hasturnedon.(Note2)
6. Reversesmovementdirectionafterthemotorhasstopped,andspeedsupduring"AccelerationtimeforHoming"(Fb-31).Thenmovesat"Homingspeed1(fast)"(Fb-12).
7. Continuemovingat"Homingspeed1(fast)"(Fb-12)until1024pulseshaveelapsedafterdetectingthesensor(phaseZM)signal.
8. Slowsdownduringdecelerationtime(Fb-32).9. Reversesmovementdirectionafterthemotorhasstopped,andspeedsupduring"AccelerationtimeforHoming"(Fb-31).10.Movesat"Homingspeed1(fast)"(Fb-12).11.Continuesmovingat"Homingspeed1(fast)"(Fb-12).StartsdetectingphaseZateach4096countafterdetectingthe
sensor(phaseZM)signal.Atthispoint,phaseZjustbeforedetectingthesensor(phaseZM)signalisregardedasreferencephaseZwhichisthestartpointtodetectphaseZateach4096count.
12.Slowsdownduring"DecelerationtimeforHoming"(Fb-32)afterdetectingthattheoriginsensor(ORLterminal)hasturnedon.(Note2)
13.Movesat"Homingspeed1(fast)"(Fb-13).14.Afterdetectingtheoriginsensorsignal,therobottemporarilystopsatfirst"phaseZ"positiondetectedateach4096count.15.FurthermovesadistanceequaltothephasedifferencebetweenphaseZYandphaseZ,andthenstopsthere.
WhenmovingtoL:256=100HpulsesWhenmovingtoR:768=300HpulsesMachinereferenceisdisplayedond-58,whichiscalculatedasfollows:WhenmovingtoL:(d-58)=(d+768)/4096WhenmovingtoR:(d-58)=(d+256)/4096
5
Functio
ns
5-17
Note1:Theacceleration/decelerationtimeparametersspecifythetimeneededtoaccelerateordeceleratebetween0andmaximum
speed.
Note2:Iftheoriginsensor(ORLterminal)doesnotturnonandtherobotcomesintocontactwiththemechanicalend(strokeend),
thenanoverloadalarm(E05)occurs.
Note3:TherearetwophaseZtypesasdescribedbelow.Becarefulnottoconfusethem.
PhaseZM : PhaseZsignalthatisinputfromthemechanicalsectionviaENC1.(Thissensorsignalisoutput
fromtwopointsatbothendsofthemechanicalstroke.)
PHASER series
Phase ZM Phase ZMOne each of phase ZM is present near both ends of robot.
PhaseZ(R/Dconverter) : PhaseZsignalthatisoutputfromtheresolverorR/Dconverter.(Thisisoutputevery1024pulses.)
Note4:PhaseZYisapositionoffset768(=300H)pulsesfromthephaseZ(R/Dconverter)signal.
Note5:ConnecttheoriginsensortotheORLterminal.
Note6:Iftheoriginsensor(ORLterminal)doesnotturnoffevenwhentherobothasmovedadistanceof50,000pulsesafterstarting
return-to-originwiththeoriginsensor(ORLterminal)turnedon,thenahomingsensoralarm(E80)occurs.
Note7:ThemagneticpolepositionisdeterminedwhenphaseZMispassed.
5
Functio
ns
5-18
Analog output function5. Thedriverhas2channelsprovidedwithanalogmonitoroutputterminals.Theoutputvoltageisfrom0to±5.0V.Thespeeddetectionvalue(nFb),torquecommandvalue(tqr),speedcommandvalue(nrF),speeddeviation(nEr),positiondeviation(PEr),currentvalue(iFb),commandpulsefrequency(PFq),andregenerativebrakingresistordutyratio(brd)canbeselectedwithparameters(FC-30,FC-33)onthemonitorterminalsAO1,AO2(commonLterminal)forthe2channels.ThemonitoroutputgaincanbesetinFC-32andFC-35.Thepositive/negativepolarityoutput(0to±5.0V)ortheabsolutevalueoutput(0to±5.0V)canbeselectedwithFC-31andFC-34.
Analog monitor output function
Setting Data nameMaximum monitor output value
(5.0V output value) (Note 1)
Monitor output 1, 2
gain setting range (%)
(FC-32)(FC-35)
nFb Speeddetectionvalue Maximumspeed
0to3000.0
(Default:100%)
tqr Torquecommandvalue Maximumtorque
nrF Speedcommandvalue Maximumspeed
nEr Speeddeviation Maximumspeed
PEr Positiondeviation 5rotationsofmotor
iFb Currentvalue Maximumcurrent
PFq Commandpulsefrequency Maximumspeed
brd Regenerativebrakingresistordutyratio Alarmlevel(FA-08)
PE4 Positiondeviation(expansion1) 10000pulses
PE3 Positiondeviation(expansion2) 1000pulses
PE2 Positiondeviation(expansion3) 100pulses
Eth Electronicthermalsum 100%
Pn Maincircuitvoltage(PNvoltage) 400V
tqFb Outputtorque Maximumtorque
tLip Positivetorquelimit Maximumtorque
tLin Negativetorquelimit Maximumtorque
Note1:Donotusetheanalogoutputfunctionasfeedbackdata;useitonlyformonitoring.
Note2:Monitoroutputis5.0Vasintheabovetablewhenthemonitoroutputgainis100%.
Note3:Outputsignalaccuracyiswithin±10%.
Note4:Setthemonitoroutputdataforanoutputof0to±5.0V,or0to5.0VinFC-31andFC-34.
However,"PFq","brd","EtH","Pn","tLiP"and"tLin"areonlypositiveoutputs.
100.0%
0
5.0V200.0%
Analog output±10%
2.5
-2.5
-5.0V
50.0%
−(Maximum value)
+ (Maximum value)
Gain setting of analog outputs 1 and 2(FC-32), (FC-35)
5
Functio
ns
5-19
Pulse train input function6. Position pulse train input 1.
The pulse train signals (PLS, SIG) for the position command are valid in position control mode. Position commands from
thissignalarecountedonlywhenthepulsetraininputenablesignal(PEN)isON.Thereare6positioncommandcount
modes as shown in the table below and these are set by the parameter (FA-11).
FA-11 Signal name Pulse train input mode
P-SPulsetrain
command 1
01
0
PLS terminal(Pulse train command)
SIG terminalON : Forward runOFF: Reverse run
Forward run Reverse run
F-r
(Default)
Forward/
ReverserunpulseForward run
0
01
1
PLS terminal(Forward runside command)
SIG terminal(Reverse runside command) Reverse run
A-b
Phase
difference
two-phase
pulse
1
01
0
PLS terminal(Phase differencetwo-phase, phase A)
SIG terminal(Phase differencetwo-phase, phase B) Reverse runForward run
[ * Count is multiplied by 4.]
-P-S
Reverse
pulsetrain
command 1
01
0Forward run Reverse run
PLS terminal(Pulse train command)
SIG terminalON : Forward runOFF: Reverse run
r-FReverse/
Forwardrunpulse 1
01
0
PLS terminal(Reverse runside command)
SIG terminal(Forward runside command)
Reverse run
Forward run
b-A
Reverse
phase
difference
two-phase
pulse
1
01
0
PLS terminal(Phase differencetwo-phase, phase B)
SIG terminal(Phase differencetwo-phase, phase A) Forward runReverse run
[ * Count is multiplied by 4.]
The filter circuit selection (position command pulse) FG-61 lets you choose which filter circuit implemented in the pulse
train input circuit hardware will be applied to the pulse train input signal.
Filter circuit selection (position command pulse)
Specifies the digital filter for the position command pulse input.
The filter frequencies for each setting item are shown below.
Default value: FL8
Display level: ProF
FG-61 setting value
Filter type [MHz]FG-61
setting valueFilter type [MHz]
FL1 A 13.3 FL10 B 2.5
FL2 A 6.6 FL11 B 1.6
FL3 A 3.3 FL12 B 1.25
FL4 A 1.6 FL13 B 0.833
FL5 B 13.3 FL14 B 0.625
FL6 B 10.0 FL15 B 0.416
FL7 B 6.6 FL16 B 0.312
FL8 B 5.0 FL17 B 0.208
FL9 B 3.3 FL18 B 0.156
* NormallyyoushouldselectFL5--FL18(filtertypeB)(singlephasedelayfilter)accordingtothefrequencyoftheposition
commandpulseinput.YoumayselectFL1--FL4(filtertypeA)dependingonthesituation.
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Electronic gear2.
Position commands input by pulse train signals are processed in the electronic gear and become the position command
value. This electronic gear multiples the input command value by (FA-12/FA-13) to form the position command value.
That relation is shown in the following formula.
× (Pulse train input)(Electronic gear denominator FA-13)
(Electronic gear numerator FA-12)(Position command value) =
The pulse train input is summarized in the following figure.
PLS
SIG
FA-12
FA-13
FA-11
Input form
Pulse train input circuit
Electronicgear
Positioncommand
Note: The FLIP-X series resolution is 16384 pulses per revolution of the motor. (GF14XL and FG17XL are excepted.) The resolution of the GF14XL and GF17XL is 20480 pulses per revolution of the motor. ThePHASERseriesresolutionis1pulsepermicrometer.
[Calculation examples of electronic gear ratio]
1. To move the F14-20 (FLIP-X series) robot a distance of 1 μm per pulse:
Here, by setting the resolution [mm/pulse] as a, the lead length [mm/rev] as L, and pulses per motor revolution [pulses/
rev] as n, and the electronic gear ratio as G (=FA-12/FA-13), the resolution a can then be expressed as follows.
a=L/n (1)
To move the robot 0.001mm per pulse, an electronic gear ratio G that satisfies the following relation is needed.
0.001=G×a (2)
On the F14-20 robot, L=20 [mm/rev] and n=16384 [pulses/rev], so by applying formulas (1) and (2) we obtain:
G=16384/20000
So setting an electronic gear ratio of FA-12 : FA-13 = 16384 : 20000 allows robot movement at 1μm per pulse.
2. To move the MF7 (PHASER series) robot at a speed of 2000 millimeters per second [mm/s] with input pulses at a frequency of 500kpps:
Here, by setting the resolution [mm/pulse] as a, the input frequency [pps] as P, the movement speed [mm/s] as V, and the
electronic gear ratio as G (=FA-12/FA-13), V can then be expressed as follows.
V=G×(P×a) (3)
SincethePHASERseriesresolutionis1μmandsincea=0.001[mm/pulse]thenbyapplyingformula(3)weobtain:
G=4
So setting an electronic gear ratio of FA-12 : FA-13 = 4 : 1 allows robot movement at a speed of 2000 [mm/s].
Note 1: When the position pulse train signal type is phase difference 2-phase pulse, the electronic gear ratio should be calculated using the input frequency multiplied by 4.
Note 2: Do not set a frequency or electronic gear ratio that exceeds the maximum robot speed.
Note 3: Operation cannot be guaranteed when the electronic gear is set to an extreme value. Make sure that the setting (FA-12/FA-13) is in a range from 1/20 to 50.
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Smoothing function7. Position command filter1.
The command pulse rate may cause vibrations when used in combination with a low-rigidity machine. To prevent this
vibration, a filter is added to the position command so that commands can be changed smoothly.
The filter time constant can be set by parameter (Fd-36). Setting the parameter to 0 disables this function.
Parameter Function name Description Default setting
Fd-36Positioncommandfilter
timeconstant
Insertingafiltermakesthepositioncommand
runsmoothly.
0to60000ms,0=Invalid
0
The control block is shown below.
+Positioncommand
Positioncontrol
Speedcommand
Current position
1+Tds 1
Inserting a filter makes the position command run smoothly as shown in the figure below and vibration can be prevented.
Before filterinsertion
After filterinsertion
Note 1: In position control mode, always set Fd-36 to 0 during unlimited feed in one way direction, or during synchronousoperationofunitssuchastheconveyorinonewaydirection.UnlessFd-36issetto0,apositionerrorfault(E83)willoccur.
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Position sensor monitor function8. ThepositionsensormonitorsignalsOAandOB,whichareobtainedbydividingthepositionsensor"phaseA" and "phase B" signals, are output as a line driver output. The"phaseZ"signalisdirectlyoutputasOZasalinedriveroutputandanopencollectoroutput. ThepositionsensormonitorsignalisprocessedbyapulsedividerwhosedivisionratioM/Ncanbesetbythe"PositionsensormonitorresolutionM,N"(FC-09),(FC-10).Thedivisionratiocanbe1/N(N=1to64),2/N(N=3to64)orM/8192(M=1to8191).(Note3)IfthedivisionratioM/Nissetinaninvalidcombination,thennopositionsensormonitorsignalisoutputandamotorpowerunmatch(E40)occurs.TheOZsignalofphaseZisnotdividedhere.OntheFLIP-Xseries,1pulseisoutputper1/4ofrevolution*.OnthePHASERseries,anoutputoccurswhentherobotpassesthroughphaseZMnearbothendsoftherobot. The "phase Z" signal of the position sensor transits the internal circuits within the driver and is output as is (unchanged).RegardingthephasedifferencebetweentheOAandOBsignalsofphaseAandphaseBandthe direction the robot moves, phase B leads phase A (default setting) during forward run. However, this can bechangedbysettingtheparameter(FC-11)sothatphaseAleadsphaseB.
*OntheGF14XLandGF17XL,1pulseisoutputper1/5ofrevolution.
FC-11
M
FC-10
OA
OB
OZ
FC-09N
Pulsedivider
Phasedirectiondecisioncircuit
Phase A
Phase B
Phase ZPosition sensor
monitor
Phasedirection
M/N setting range
Position sensor monitor division ratio Invalid combinationM N
FC-09 FC-10
1(Note1) 1to64 1/N FC-10=65to8192
2(Note1) 3to64 2/N FC-10=1,2,65to8192
1to8191 8192(Note1) M/8192 FC-09=8192,FC-10=1to8191
Note1:ThepositionsensormonitordivisionratioisM/8192inthecaseofFC-10=8192.
WhenFC-10isnot8192thenthepositionmonitorsensordivisionratiotosetto1/Nor2/NaccordingtotheFC-09setting.
Note2:IfFC-09,FC-10orFC-11waschangedthenturnthecontrolpowersupplyoffandthenbackonagain.Thecorrectwaveformis
notoutputunlessthepoweristurnedoffandthenbackon.
Note3:ThepositionsensormonitoroutputsignalsOAP,OAN,OBP,OBN,OZP,OZNandOZarenotavailableforabout3seconds
afterthecontrolpowersupplyisturnedon.Ifmonitoringfromamastercontroldevicethenstartmonitoringfromabout3
secondsafterturningonthecontrolpowersupply.
The logic output for each signal is as follows.
LogicCurrent path of line driver output
(OAP, OAN, OBP, OBN, OZP, OZN)
Open collector output
Transistor operation (OZ)
1 OAP→OANOBP→OBNOZP→OZN ON(closed)
0 OAP←OANOBP←OBNOZP←OZN OFF(open)
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Adjusting the control gain9. Although the gain of the robot driver is adjusted so that it can be operated without changing the gain setting, fine adjustments of the gain may improve responsiveness in some cases. If you want to make operation more responsive, set the parameters as described in the control gain adjustment method below. The gain can be adjusted in the following three ways. The explanation here will focus mainly on manual gain adjustment.
c CAUTION If the transported mass differs significantly during operation, we recommend that you not use auto tuning to adjust the gain; instead, use the factory settings.
[Recommended] 1) Setting the parameters as described in Chapter 6, "3.3 Reference graph for setting the acceleration and position control cut-off frequency" Set Fd-09 (position control response frequency) as shown in the graph. This is the easiest way to improve response.
2) Adjusting the gain manually Set the parameters manually while watching the robot operate. For details, refer to "9.2 Manual gain adjustment procedure" in this Chapter.
3) Adjusting the gain automatically The parameters are set automatically when you specify a robot operation pattern and operate the robot. For details, refer to "10. Offline auto-tuning" in this Chapter.
+++
Detector
RobotPositioncontrol
Speedcontrol
Current feedback loop
Speed feedback loopPosition feedback loop
Positioncommand
Currentcontrol
Powerconverter
Basic rules of gain adjustment9.1
(1) The servo system is made of 3 loops consisting of a position control loop, a speed control loop, and a current control loop. The internal loop process and the response (cut-off frequency) must be set to a high level. You need to adjust the position control loop gain and the speed control loop gain. The current control gain has sufficient response so no adjustment is needed.
(2) The position control loop and the speed control loop require making a setting that yields a balanced response. Basically, set the loop gain in a range that holds the relation: "Position control cut-off frequency" (Fd-09) is lower than "Speed control cut-off frequency" (Fd-01). As a general guide when making this setting, the "Position control cut-off frequency" (Fd-09) should be less than 1/6 of the "Speed control cut-off frequency" (Fd-01).
(3) The mechanical system might sometimes oscillate if the response of the position control loop is set to a high value.
Thegaincannotbesetanyhigherthanthissousecaution.Usually,theresponseofthepositioncontrolloopcannot
be set higher than the characteristic oscillation frequency of the mechanical system. Set a loop gain that matches the
rigidity and strength of the mechanical system. Setting the response and the rigidity of the mechanical system is
described next.
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Manual gain adjustment procedure9.2 This section describes how to set the most often-used parameter constants when adjusting the control gain.
Parameter
No.Parameter name Guidelines for adjustment
Fd-00
Loadmomentofinertia
ratio
(RDV-X)
Specifiestheratioofthemomentofinertiaoftheloadrelativetothemomentofinertiaofthe
motor.
[Calculatingthevalue]
Loadmomentofinertia/motormomentofinertiax100
Loadmassratio
(RDV-P)
Specifiestheratioofthemovingmassoftheloadrelativetothemovingmassofthelinearmotor.
[Calculatingthevalue]
Massofthemovingpartoftheload/Massofthemovingpartofthelinearmotorx100
Fd-01Speedcontrolcut-off
frequency
Althoughincreasingthisvaluewillincreasetheresponsivenessofspeedcontrol,anexcessive
valuemaycausethemechanicalsystemtooscillate.Ifthemechanicalsystemoscillates,
decreasethisvalue.
[Settingguideline]
Fd-01inarangethatdoesnotcausethemechanicalsystemtooscillate.
Fd-02Speedcontrol
proportionalgain
ThespeedPIcontrolproportionalgainadjustmentvalue(Fd-02)allowsfineadjustmentofthePI
controlproportionalgainrelativetothespeedcontrolcut-offfrequencyspecifiedbytheload
momentofinertiaratio(Fd-00)andthespeedcontrolcut-offfrequency(Fd-01).
Fd-03Speedcontrolintegral
gain
ThespeedPIcontrolintegralgainvalue(Fd-03)allowsfineadjustmentofthePIcontrolintegral
gainrelativetothespeedcontrolcut-offfrequencydeterminedbytheloadmomentofinertiaratio
(Fd-00)andthespeedcontrolcut-offfrequency(Fd-01).
Fd-09Positioncontrolcut-off
frequency
Althoughincreasingthisvaluewillincreasetheresponsivenessofpositioncontrol,ifit
approachesthevalueofthespeedcontrolcut-offfrequency(Fd-01),themechanicalsystemmay
oscillate.Ifthemechanicalsystemoscillates,decreasethisvalue.
[Settingguideline]
Fd-09<Fd-01x(1/5to1/6)
Fd-10Positionfeedforward
gain
Althoughincreasingthepositionfeedforwardgain(Fd-10)willincreasetheresponsiveness,
overshootwillbemorelikelytooccur.
Ifovershootoccurs,increasingthepositionfeedforwardfiltertimeconstant(Fd-41)maysolve
theproblem.
Fd-41Positionfeedforward
filtertimeconstant
Increasingthepositionfeedforwardfiltertimeconstant(Fd-41)willdecreasetheeffectofthe
positionfeedforwardgain(Fd-10).
Byappropriatelyadjustingthepositionfeedforwardgain(Fd-10)andthepositionfeedforward
filtertimeconstant(Fd-41),theresponseduringmotoroperationwillbeappropriatelyimproved
andpositioningtimewillbeshortened.
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Adjustment procedure
1) Set Fd-00 (load moment of inertia ratio / load mass ratio). For details, refer to "10.4.3 Load moment of inertia calculation". * If the load mass is unknown, Fd-00 can also be set as described in "10.4.1 Load moment of inertia estimation".
2) Adjust the speed control cut-off frequency (Fd-01) (within the range that does not cause vibration or abnormal sound).
3) Adjust the position control cut-off frequency (Fd-09) (within the range that does not cause vibration or abnormal sound).
4) If the control response is unsatisfactory, observe the settling characteristics and the operating state while making fine adjustments to the speed control proportional gain (Fd-02), speed control integral gain (Fd-03), position feed forward gain (Fd-10), and position feed forward filter time constant (Fd-41).
Adjustment procedure flowchart
Fd-00 (load moment of inertia ratio) setting "10.4.3 Load moment of inertia calculation"
Set speed control cut-off frequency (Fd-01) to a low valueSet position control cut-off frequency (Fd-09) to an even lower value[Setting guideline] (Fd-09) < (Fd-01) x (1/5 to 1/6)
Start driving the motor
Increase the speed cut-off frequency (Fd-01)
Does the mechanical system oscillate?
Decrease the speed control cut-off frequency (Fd-01) until the mechanical system does not oscillate.
Does the mechanical system oscillate?
Decrease the position control cut-off frequency (Fd-09) until the mechanical system does not oscillate
Increase the position cut-off frequency (Fd-09)
Are the control characteristics satisfactory? or
Has manual fine adjustment been completed?
Manually make fine adjustments to the following parameters• Speed control proportional gain (Fd-02)• Speed control integral gain (Fd-03)• Position feed forward gain (Fd-10)• Position feed forward filter time constant (Fd-41)
Stop driving the motor
No
Yes
Yes
No
Yes
No
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Offline auto tuning function10. Although the servo gain is set when the robot driver is shipped so that it can be operated without changing the servo gain setting, there are cases in which making detailed tuning to the servo gain can improve responsiveness. This function moves the robot in the operation pattern specified by the customer, and automatically sets the parameters. The following parameters are set by this function.
c CAUTION•Thisfunctionwillnotnecessarilysettheparametersoptimally.•Iftherearelargedifferencesinthepayloads,werecommendthatyouusethefactorysettingsratherthanusing
auto tuning to adjust the gain.•Overshootmayoccurduringpositioningactions,requiringfinecorrectionstotheparameterstobemade
manually.
Offline auto tuning function contents
Tuning function Tuning operation Automatically tuned parameters
Loadmomentof
inertiaestimation
(Note1)
Torquecontroloperationusingasinewavesignalis
performed,andtheloadmomentofinertiais
estimated.
•Loadmomentofinertiaratio(Fd-00)(Note2)
Automaticservogain
tuning
Round-tripoperationisrepeatedlyperformedwiththe
specifiedoperationpattern,andtheposition/speed
controlgainandpositionfeed-forwardcontrolgain
aretuned.
•Speedcontrolcut-offfrequency(Fd-01)
•Positioncontrolcut-offfrequency(Fd-09)
•Positionfeedforwardgain(Fd-10)
•Positionfeedforwardfiltertimeconstant(Fd-41)
Machinediagnosis Asinewavesweepsignalisusedtoperformtorque
controloperation,diagnosingthefrequencyresponse
ofthemechanicalsystem.
–
(Thisisaguidelineforadjustingthenotchfilter.)
Note1: InthecaseofRDV-P,thisistheloadmassestimationfunction.
Note2: InthecaseofRDV-P,theloadmassratio(Fd-00)isestimated.
When using the auto tuning function to adjust the gain, proceed according to the following flowchart.
Offline auto tuning procedure flowchart
Automatic servo gain tuning
"10.4 Automatic servo gain tuning"
Specify the operation pattern
"10.1 Motion profile settings"
Estimate the load moment of inertia
"10.3.1 Load moment of inertia estimation"
Automatic servo gain tuning
"10.4 Automatic servo gain tuning"
Specify the operation pattern
"10.1 Motion profile settings"
Calculate the load moment of inertia
"10.3.3 Load moment of inertia calculation"
Vertical axisHorizontal axis
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Offline auto tuning screen menu buttons
The "Auto tuning" screen menu is shown below.
"Auto tuning" screen
Click
1
2
3
1. [Auto tuning guidance] button
Displays an adjustment guidance screen that explains the auto tuning adjustment procedure.
If you do not need to refer to the auto tuning procedure, it is not necessary to view this.
2. [Motion profile settings] button
Specifies the operation pattern used for automatic servo gain tuning.
For details, refer to "10.1 Motion profile settings".
3. [Offline auto tuning] button
Estimatestheloadmomentofinertia,automaticservogaintuning,andperformsmachinediagnosis.
For details, refer to "10.2 Servo ON and return-to-origin in the 'Offline auto tuning' screen", "10.3.1 Load moment of
inertia estimation", "10.4 Automatic servo gain tuning", and "10.6 Machine diagnosis".
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Motion profile settings10.1
RDV-X
Set the operation pattern that is specified when performing automatic servo gain tuning in the motion profile setting
screen. Set the operation pattern as described in the following procedure.
1 In the "Auto tuning" screen, click the [Motion profile settings] button.
[Motion profile settings] buttonStep 1
Click
2 In the "Pre-commissioning initialization" screen, click the [OK] button.
"Pre-commissioning initialization" screenStep 2
Click
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3 Set the operation pattern that will be specified when performing automatic servo gain tuning.
Motion profile settingStep 3
5
1
2
3
4
1. Travel distance command value P
As the position command value, enter the travel distance from the current position of the motor.
The unit for setting the travel distance command value can be "pls", "rotation", or "°".
c CAUTION Makesettingswithcaresothatthemotordoesnotstrikethemechanicalstopper(mechanicalend).
2. Velocity command value N
Specify the velocity command value for motor constant speed.
3. Acceleration/Deceleration time Ta
Specify the acceleration time from when the speed command value is 0 until the constant speed is
reached, and deceleration time from the constant speed until 0.
4. Positioning detection range
Specify the positioning detection range. The positioning detection range parameter (Fb-23) is also
set at this time.
5. [Set] button
After entering fields 1 through 4 above, click this button.
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Setting parameters in the motion profile settings screen
Parameter name Setting range [Default value] Setting unit Contents
Traveldistancecommandvalue
(Note1)
-268435456to268435455[0]
pls(Note2)
Enterthemotormovementdistanceinthetraveldistancecommandvalue.
-268435456/(FA-82)to268435455/(FA-82)
FA-82:Positionsensorresolution(Note2)
Rotation(formotor)(Note2)
-268435456×360°/(FA-82)to268435455×360°/(FA-82)
FA-82:Positionsensorresolution(Note2)
°(formotor)(Note2)
Velocitycommandvalue
(Note1)
1to5000[1](Note3)
min-1Specifythevelocitycommandvalueforconstantspeedwhendrivingthemotor.(Note3)
Acceleration/Decelerationtime
(Note1)
1to9999[1]
msSpecifytheaccelerationtimeanddecelerationtimewhendrivingthemotor.
Positioningdetectionrange
0to65535[20]
PlsSpecifythepositioningdetectionrange.Thepositioningdetectionrangeparameter(Fb-23)isalsosetatthistime.
Note1: Ifthetraveldistancecommandvalue,velocitycommandvalue,andaccleration/decelerationtimeareextremelysmall,automaticservogaintuningmightnotbepossible.
Note2: Whenenteringthetraveldistancecommandvalue,takecarethatthesettingdoesnotcausethemotortostrikethemechanicalstopper.
Note3: Whendrivingthemotor,thevelocitycommandvalueislimitedatthemaximumspeedofthemotor.
RDV-P
Set the operation pattern that is specified when performing automatic servo gain tuning in the motion profile setting
screen. Set the operation pattern as described in the following procedure.
1 In the "Auto tuning" screen, click the [Motion profile settings] button.
[Motion profile settings] buttonStep 1
Click2 In the "Pre-commissioning
initialization" screen, click the [OK] button.
"Pre-commissioning initialization" screenStep 2
Click
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3 Set the operation pattern that will be specified when performing automatic servo gain tuning.
Motion profile settingStep 3
6
1
2
3
4
5
1. Travel distance command value P
As the position command value, enter the travel distance from the current position of the motor.
The unit for setting the travel distance command value can be "pls" or "mm".
c CAUTION Makesettingswithcaresothatthemotordoesnotstrikethemechanicalstopper(mechanicalend).
2. Velocity command value N
Specify the velocity command value for motor constant speed.
3. Acceleration/Deceleration time Ta
Specify the acceleration time from a speed command value of 0 until the constant speed is
reached, and deceleration time from the constant speed until 0.
4. Positioning detection range
Specify the positioning detection range. The positioning detection range parameter (Fb-23) is also
set at this time.
5. Acceleration
As a guide for settings, the automatically calculated acceleration/deceleration value is shown here.
6. [Set] button
After entering fields 1 through 4 above, click this button.
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Setting parameters in the motion profile settings screen
Parameter name Setting range [Default value] Setting unit Contents
Traveldistancecommandvalue
(Note1)
-268435456to268435455[0]
pls(Note2)
Enterthemotormovementdistanceasthetraveldistancecommandvalue.
-268435456/(FA-85)to268435455/(FA-85)
FA-85:Linearscaleprecision(Note2)
mm(Note2)
Velocitycommandvalue
(Note1)
1to5000[1]Note3 mm/s
Specifythevelocitycommandvalueforconstantspeedwhendrivingthemotor.(Note3)
Acceleration/Decelerationtime
(Note1)
1to9999[1] ms
Specifytheaccelerationtimeanddecelerationtimewhendrivingthemotor.
Positioningdetectionrange
0to65535[20]
plsSpecifythepositioningdetectionrange.Thepositioningdetectionrangeparameter(Fb-23)isalsosetatthistime.
Note1:Ifthetraveldistancecommandvalue,velocitycommandvalue,andacceleration/decelerationtimeareextremelysmall,automaticservogaintuningmightnotbepossible.
Note2: Whenenteringthetraveldistancecommandvalue,takecarethatthesettingdoesnotcausethemotortostrikethemechanicalstopper.
Note3: Whendrivingthemotor,thecommandvalueislimitedatthemaximumspeedofthemotor.
Servo ON and return-to-origin in the "Offline auto tuning" screen10.2 In order to execute offline auto tuning (load moment of inertia estimation, automatic gain tuning, machine diagnosis), the Servo must be turned ON in the "Offline auto tuning" screen.Return-to-origin can also be executed from this screen.
Executing servo ON (RDV-X / RDV-P)10.2.1 In the "Offline auto tuning" screen, click the [Servo ON] button.
c CAUTION IfyouturntheservoONwithoutclicking[ServoON]fromthe"Offlineautotuning"screen,theofflineautotuningfunctioncannotbeexecuted.
"Offline auto tuning" screen
[Servo ON] button
Click
In the case of RDV-P, you can execute servo ON and magnetic pole position estimation. For details, refer to "10.2.2Estimationofmagneticpolepositionandturningtheservoon(RDV-P)".
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Estimation of magnetic pole position and turning the servo on (RDV-P)10.2.2 In the case of the RDV-P, the magnetic pole position can be estimated before turning the servo on.
1 Click the [Servo ON+est.Mag.] button to open the "Estimation of magnetic pole position" screen.
[Servo ON+est.Mag.] buttonStep 1
Click
2 In the "Estimation of magnetic pole position" screen, click the [Start] button.Estimation of magnetic pole position begins. During estimation of magnetic pole position, the "Estimation of magnetic pole position" screen appears.
[Start] button in the "Estimation of magnetic pole position" screenStep 2
Click
3 When estimation of magnetic pole position ends and the servo turns on, the "Estimation of magnetic pole position" screen is closed.During estimation of magnetic pole position, clicking the [Stop] button will halt estimation of magnetic pole position and turn the servo off. If a magnetic pole position estimation error (E81) is displayed, clear the alarm and then execute each process again.
[Stop] button in the "Estimation of magnetic pole position" screenStep 3
[Stop] button
Operation when you select "Servo ON" or "Servo ON+est. Mag."
Select "Servo ON"
Select "Servo ON+est. Mag."Estimation of magnetic pole
position not yet executed
Estimation of magnetic pole
position already executed
Executeestimationofmagneticpole
position→ExecuteServoON(Note1)ExecuteServoON
Executeestimationofmagneticpoleposition
→ExecuteServoON
Note1:Ifestimationofmagneticpolepositionisnecessaryandyouselectthe[ServoON]buttoninastateinwhichestimationof
magneticpolepositionhasnotyetbeenexecutedsinceturningthepoweron,estimationofmagneticpolepositionwillbe
executedautomaticallyandthentheservowillturnon.Whilethemotorisbeingoperatedbyestimationofmagneticpole
position,donotselectanythingotherthanthe[Stop]buttonor[ServoOFF]button.
c CAUTION Ifyouturntheservoonwithoutclickingthe[ServoON]buttonfromthe"Offlinetuning"screen,theofflinetuningfunctioncannotbeexecuted.
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Homing (return-to-origin) in the "Offline auto tuning" screen10.2.3
1 Click the [Start homing] button to open the "Homing" screen.
[Start homing] buttonStep 1
Click
2 Verify that the motor is stopped, the servo is on, and that there is no alarm; then click the [Start] button in the "Homing" screen.Homing (return-to-origin) starts. Homing executes the homing operation specified in "Homing mode" (FA-23). If homing requires ORL terminal operation, use the I/O terminals.
[Start] button in the Homing screenStep 2
Click
3 Homing is executed.If the [Stop (Servo Lock)] button is clicked during homing, homing is halted and the system enters the position servo lock state. If the [Stop (Servo OFF)] button is clicked, homing is halted and the system enters the servo off state.
When homing ends, the "Homing" screen is closed.
[Stop] button in the Homing screenStep 3
[Stop]
(Servo OFF) button
[Stop]
(Servo Lock) button
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Load moment of inertia setting10.3 In order to set the servo gain appropriately, it is necessary to set Fd-00 (load moment of inertia ratio) according to the load mass. This section explains how to use "Load moment of inertia estimation" and "Load moment of inertia calculation" to set Fd-00.
n NOTE In the case of the RDV-P, make the following substitutions in the explanation. Fd-00 (Load moment of inertia ratio) → Fd-00 (Load mass ratio) Load moment of inertia estimation → Load mass estimation Load moment of inertia calculation → Load mass calculation
"10.3.1 Load moment of inertia estimation" ........ For horizontal axis"10.3.3 Load moment of inertia calculation" ....... For vertical axis
Load moment of inertia estimation10.3.1 Load moment of inertia estimation is a function that automatically calculates the load moment of inertia ratio (Fd-00)byestimatingtheloadmomentofinertiaofthemotordriver.Usethefollowingproceduretoexecuteload moment of inertia estimation.
c CAUTION The robot will move during this operation. Ensure safety before proceeding.
1 In the "Parameter settings" screen, set Fd-01 speed control cut-off frequency in the range of 30 Hz to 50 Hz, and set Fd-09 position control cut-off frequency to a fairly low setting such as 5 Hz.
c CAUTION The motor may vibrate if load moment of inertia estimation sets the Fd-00 value higher than the factory setting, so set the Fd-01 speed control cut-off frequency in the range 30 Hz to 50 Hz, and set Fd-09 position control cut-off frequency to about 5 Hz.
2 In the "Offline auto tuning" screen, click the [Servo ON] button to turn the servo on.
n NOTE The "Offline auto tuning" screen's menu can be selected only when the servo is on.
[Servo ON] buttonStep 2
Click
Click
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3 Click the [Load moment of inertia estimation] button.The message "Is the robot horizontal?" appears; click the [Yes] button.
[Load moment of inertia estimation] buttonStep 3
Click
Click
4 Check the travel range limitation.By default, the travel range limitation and the conditions for load moment of inertia estimation are set to the recommended values. The travel range limitation is only a guideline. In some cases, the travel range limitation may be exceeded in actual operation.
c CAUTION If the robot is not in a position where it can operate safely, use the following procedure to move it to a position where it can operate safely. (1)Closethe"ConfirmationofLoadmomentofinertiaestimation"screen. (2)Turntherobot'sservooff,andmoveittoapositionwhereitcanoperatesafely. (3)Inthe"Offlineautotuning"screen,clickthe[ServoON]buttontoturntheservoon.
n NOTE If you want to change the travel range limitation, click the [Change conditions] button. For details, refer to "10.3.2 Conditions of load moment of inertia estimation (detail setting)".
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5 Execute load moment of inertia estimation.Click the [Start estimation] button. Load moment of inertia estimation is executed. During execution of load moment of inertia, the "Offline auto tuning Load moment of inertia estimation" screen is shown. If the [Cancel (Servo Lock)] button is clicked during load moment of inertia estimation, estimation stops and the system enters the position servo lock state. If the [Cancel (Servo OFF)] button is clicked, estimation stops and the system enters the servo off state.
Executing load moment of inertia estimationStep 5
Step4
Check the travel
range limitation
Step5 Click
[Cancel (Servo OFF)]
button
[Cancel (Servo Lock)]
button
6 Check the load moment of inertia ratio value.The automatically adjusted load moment of inertia ratio value is shown in the "Estimated Result" field; check the value and click the [Close] button.
Checking the load moment of inertia ratio valueStep 6
Automatically tuned load moment
of inertia ratio (Fd-00)
Click
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Conditions of load moment of inertia estimation (detail setting)10.3.2
Driving range error monitoring during load moment of inertia estimation
Ifanexternalforceisappliedduringloadmomentofinertiaestimation,causinganexcessiveamountofmovement,"E88
Driving range error" occurs. In the "Load moment of inertia estimation" screen, if the "Driving range check of load
momentestimation"checkboxisnotselected,detectionof"E88Drivingrangeerror"isnotperformedduringload
moment of inertia estimation.
"Load moment of inertia estimation execution confirmation" screen
"Driving range check of load moment estimation" check box
"Driving range check
of load moment
estimation" check box
It is also possible to specify the threshold value (allowable travel range) used to determine whether the travel range is
excessive. For details, see " Travel range limitation" below.
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Travel range limitation
To specify the travel range limitation, click the [Detail setting] button to open the "Confirmation of Load moment of
inertiaestimation"screen,andsetthe"Parameter"fieldand"Unit"field.
Travel range limitation setting
Click
Click
Specify the travel range limitation.
Parameters in the "Load moment of inertia estimation settings" screen – RDV-X
Parameter name Setting range [Default value] Setting unit Content
Travelrange
limitation
5000to8500000
[16384]pls
Setthistoallowsufficientmarginsothatmotor
movementdoesnotstrikethemechanical
stopper.(Note1)
5000/(FA-82)to
8500000/(FA-82)
FA-82:Encoderresolution
Rotation
(formotor)
5000×360°/(FA-82)to
8500000×360°/(FA-82)
FA-82:Encoderresolution
°
(formotor)
Note1:Thetravelrangelimitationisonlyaguideline.Insomecases,thetravelrangemaybeexceededinactualoperation.
Parameters in "Load moment of inertia estimation settings" screen – RDV-P
Parameter name Setting range [Default value] Setting unit Content
Travelrange
limitation
1000to100000
[10000]pls
Setthistoallowsufficientmarginsothatmotor
movementdoesnotstrikethemechanical
stopper.(Note1)1000/(FA-85)to
100000/(FA-85)
FA-85:Linearscaleaccuracy
mm
Note1:Thetravelrangelimitationisonlyaguideline.Insomecases,thetravelrangemaybeexceededinactualoperation.
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Torque command value
In the "Confirmation of load moment of inertia estimation" screen, click the [Detail setting] button. The "Conditions of
load moment of inertia estimation (detail setting)" screen appears.
[Detail setting] button
Click
EntertheTorquecommandfrequencyandtheTorquelimitvalue,andclickthe[Set]button.
"Conditions of load moment of inertia estimation (detail setting)" screen
Enter the torque command value (upper limit value).
Enter the torque command frequency.
After entering the torque command frequency etc., click this button.
Parameters in the "Conditions of Load moment of inertia estimation (detail setting)" screen
Parameter name Setting range [Default value] Setting unit Content
Torquecommand
frequency 5.0to25.0
[10.0]Hz
Specifiesthetorquecommandfrequency.
Decreasingthetorquecommandfrequencywill
decreasethemotortravelrangewhen
performingloadmomentofinertiaestimation.
Torquecommand
value(upperlimit)
30to100
[50]%
Specifiestheupperlimitvaluewheninputting
thetorquecommandthatisappliedtothe
motorfromthedriver.
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Load moment of inertia calculation10.3.3
RDV-X
1 In the "Parameter settings" screen, set Fd-01 speed control cut-off frequency in the range of 30 Hz to 50 Hz, and set Fd-09 position control cut-off frequency to a fairly low setting such as 5 Hz.
c CAUTION The motor may vibrate if load moment of inertia estimation sets the Fd-00 value higher than the factory setting, so set the Fd-01 speed control cut-off frequency in the range 30 Hz to 50 Hz, and set Fd-09 position control cut-off frequency to about 5 Hz.
2 Access the "Offline auto tuning" screen, and click the [Load moment of inertia calculation] button.
[Load moment of inertia calculation] buttonStep 2
Click
Click
3 Calculate the load moment of inertia ratio, and write it as the parameter.Enter or select the robot type, lead (mm), load mass (kg), and click the [Calculation] button. The load moment of inertia ratio (Fd-00) is calculated.
n NOTE The load moment of inertia ratio cannot be calculated unless the robot type, lead (mm), and load mass (kg) are all entered.
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When the [Write] button is clicked, the load moment of inertia ratio is applied to the parameter.
Load moment of inertia ratio calculation
Enter or select the robot type, lead (mm), and load mass (kg), and click the [Calculation] button.
Check Fd-00 (Load moment of inertia ratio), and click the [Write] button.
RDV-P
1 In the "Parameter settings" screen, set Fd-01 speed control cut-off frequency in the range of 30 Hz to 50 Hz, and set Fd-09 position control cut-off frequency to a fairly low setting such as 5 Hz.
c CAUTION The motor may vibrate if load moment of inertia estimation sets the Fd-00 value higher than the factory setting, so set the Fd-01 speed control cut-off frequency in the range 30 Hz to 50 Hz, and set Fd-09 position control cut-off frequency to about 5 Hz.
2 Access the "Offline auto tuning" screen, and click the [Load mass calculation] button.
[Load mass calculation] buttonStep 2
ClickClick
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3 Calculate the load mass ratio, and write it to the parameter.Enter or select the robot type and load mass (kg), and click the [Calculation] button. The load mass ratio (Fd-00) is calculated.
n NOTE The load mass ratio cannot be calculated unless the robot type and load mass (kg) are entered.
When the [Write] button is clicked, the load moment of inertia ratio is applied to the parameter.
Load mass ratio calculation
Enter or select the robot model and load mass (kg), and click the [Calculation] button.
Check Fd-00 (Load mass ratio), and click the [Write] button.
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Automatic servo gain tuning10.4 Automatic servo gain tuning is a function that automatically adjusts the following parameters to shorten the positioning time while repeatedly driving the motor in the operation pattern specified by "10.1 Motion profile settings".
•Speedcontrolcut-offfrequency(Fd-01)•Positioncontrolcut-offfrequency(Fd-09)•Positionfeedforwardgain(Fd-10)•Positionfeedforwardfiltertimeconstant(Fd-41)
As a result of automatic servo gain tuning, it may be necessary to adjust parameters manually.
Executing auto servo gain tuning10.4.1
1 Verify that Fd-00 (load moment of inertia ratio / load mass ratio) has been set.If it has not been set, set Fd-00 (load moment of inertia ratio / load mass ratio) as described in "10.3 Load moment of inertia setting".
2 In the "Offline auto tuning" screen, click the [Servo ON] button to turn the servo on.
n NOTE The menu in the "Offline auto tuning" screen can be selected only when the servo is on.
[Servo ON] buttonStep 2
Click
3 Click the [Auto servo gain tuning] button.The "Setting" field shows the operation pattern and machine stiffness level for auto servo gain tuning.
[Auto servo gain tuning] buttonStep 3
Click
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4 Verify that the operation pattern is specified.The servo gain tuning conditions are initially set to the recommended values.
n NOTE If you want to change the operation pattern and servo gain tuning conditions, click the [Change conditions] button. For details, refer to "10.1 Motion profile settings".
"Auto servo gain tuning" screenStep 3,4
Set values
[Change conditions] button [Start Tuning] button
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5 Click the [Start Tuning] button.Auto servo gain tuning starts. The tuning time is in the range of approximately 5 to 10 minutes. While auto servo gain tuning is being executed, the [Stop (Servo Lock)] button and [Stop (Servo Off)] button are shown in the screen. If the [Stop (Servo Lock)] button is clicked, auto servo gain tuning stops, and the system enters the position servo lock state. If the [Stop (Servo OFF)] button is clicked, auto servo gain tuning stops, and the system enters the servo off state.
6 Auto servo gain tuning ends.After auto servo gain tuning, the speed control cut-off frequency (Fd-01), position control cut-off frequency (Fd-09), position feed forward gain (Fd-10), and position feed forward filter time constant (Fd-41) are set automatically.
"Servo gain tuning history" screenStep 6
7 Close the "Auto tuning" screen, and verify operation.Use jogging operation etc. to verify operation. For details on jogging operation, refer to Chapter 4, "2.1 Jogging operation from RDV-Manager".
Gain tuning history
Values such as speed control response frequency (Fd-01) that were changed during auto servo gain tuning are saved as
history. In the "Servo gain tuning history" screen, the desired value from this history can be written to the parameter.
To access the "Gain tuning history" screen, click the [HISTORY] button in the "Results of offline auto tuning" screen.
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"Servo gain tuning history" screen
3
2
Click
1
1. Graph
The following operations can be performed in the graph.
Left-click: Displays a blue cursor at the plot point.
Right-click: Displays a red cursor at the plot point.
Shift key + left-click: Magnifies the graph.
Shift key + right-click: Shrinks the graph.
Ctrl key + left-click: Moves the graph left/right.
2. Plot point tuning data
Indicates the tuning data of the plot points at which the blue cursor and red cursor are pointing.
3. [Blue cursor parameter writing] button, [Red cursor parameter writing] button
The tuning data of the point at which the blue cursor or red cursor are pointing will be written to the
parameter.
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Auto servo gain tuning settings10.4.2 If auto servo gain tuning fails with the default settings, you can change the auto servo gain tuning settings. In the "Auto servo gain tuning" screen, click the [Change conditions] button. The "Conditions of servo gain tuning" screen appears.
"Auto servo gain tuning" screen
[Change conditions] button
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Servo gain conditions
"Conditions of servo gain tuning" screen
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1. [Motion profile settings] button
Click this to change the operation pattern.
2. Machine stiffness level
The recommended setting is "2".
3. Servo gain tuning method
The recommended setting is "Fine tuning (Long tuning time)".
4. Servo gain tuning mode
The recommended setting is "The shortest position setting time".
5. [Detail setting] button
*ThisisnotavailableiftheparameterlevelsettingisEasy. This allows detailed settings to be made for auto servo gain tuning. For details, refer to "10.4.3 Conditions of servo gain tuning (detail setting)".
6. "Detail setting is reflected" check box
Select this check box if you want the values specified in "Conditions of servo gain tuning (detail setting)" to be applied.
Of the settings in "Conditions of servo gain tuning (detail setting)", "Monitoring time" and "Motor oscillation detection
level" are applied to gain tuning even if the "Detail setting is reflected" check box is not selected.
7. [Set] button
After entering items 1 through 6 above, click this button.
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Parameters in the "Conditions of servo gain tuning" screen
Name of object Setting range [default value] Content
Machinestiffness
level
1to4
[2]
Automaticallytunesthecontrolgainrangeaccordingtothe
stiffnessofthemachine.
•Foralowmachinestiffness:2(recommendedvalue)
Servogaintuning
method
Finetuning(Longtuningtime)
Roughtuning(Shorttuningtime)
[Finetuning(Longtuningtime)]
Specifiesthetuningprecisionofautoservogaintuning.
•Finetuning(Longtuningtime)
Thecontrolgainisfinelytuned.
(Approximatetuningtime:5to10minutes)
•Roughtuning(Shorttuningtime)
Thecontrolgainisroughlytuned.
Servogaintuning
mode
Theshortestpositionsettingtimemode
Theleastovershootpulsemode
[Theshortestpositionsettingtimemode]
Specifiesthetuningmodeforautoservogaintuning.
•Theshortestpositionsettingtimemode
Automaticallytunestominimizethepositionsettingtime.
•Theleastovershootpulsemode
AutomaticallytunessothatthereisnoINPsignalbreaknear
thepositioningpoint,andthatthepositioningtimeisminimized.
However,thepositioningtimeaftertuningmaybelongerin
comparisontotheshortestpositionsettingtimemode.
Conditions of servo gain tuning (detail setting)10.4.3
"Conditions of servo gain tuning (detail setting)" screen
1
(1) (2)
(2)
(2)
(2)
(2)
(1)
(1)
(1)
(1)
3
2
5
4
6
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1. Step 1: Functionality selection
Select the tuning function for performing auto servo gain tuning.
Tuning functionPosition control cut-
off frequency (Fd-09)
Speed control cut-off frequency
(Fd-01)
Position feed forward gain
(Fd-10)
Position feed forward filter time constant
(Fd-41)
PositionandSpeedcontrolcut-offfrequencytuning
- -
Fastpositioningtimecontroltuning
- -
PositionandSpeedcontrolcut-offfrequencytuning+Fastpositioningtimecontroltuning
:Autotuningisperformed-:Autotuningisnotperformed
2. Step 2: Sweep setting for position and speed control cut-off frequency
This specifies the tuning range and sweep interval for "Position control cut-off frequency (Fd-09)" and "Speed control
cut-off frequency (Fd-01)". "Vibration level" specifies the allowable vibration level at completion of positioning.
* Vibration level = difference between overshoot amount and undershoot amount
Parameter nameSetting range [default value]
Setting unit Content
Positioncontrolcut-offfrequency(1)(Note1)
0.10to500.00[5.00]
HzSpecifiesthelowerlimitofthepositioncontrolcut-offfrequencytuningrange.Thelowerlimitisthedefaultvalueforthepositioncontrolcut-offfrequencytuning.
Positioncontrolcut-offfrequency(2)(Note2)
0.10to500.00[30.00]
HzSpecifiestheupperlimitofthepositioncontrolcut-offfrequencytuningrange.
Sweepinterval(positioncontrolcut-offfrequency)
0.5to25.0[2.5]
HzSpecifiesthesweepintervalforthepositioncontrolcut-offfrequencytuning.
Speedcontrolcut-offfrequency(1)(Note1)
0.5to2500.0[25.0]
HzSpecifiesthelowerlimitofthespeedcontrolcut-offfrequencytuningrange.Thelowerlimitisthedefaultvalueforthespeedcontrolcut-offfrequencytuning.
Speedcontrolcut-offfrequency(2)(Note2)
0.5to2500.0[160.0]
HzSpecifiestheupperlimitofthespeedcontrolcut-offfrequencytuningrange.
Sweepinterval(speedcontrolcut-offfrequency)
1to50[14]
HzSpecifiesthesweepintervalforthespeedcontrolcut-offfrequencytuning.
Vibrationlevel0to65535
[20]pls Specifiestheallowablelevelforvibrationdetection.
Note1:Setthevaluessubjecttothefollowingconditions.Positioncontrolcut-offfrequency(1)<Speedcontrolcut-offfrequency(1)[Recommendedsetting]Positioncontrolcut-offfrequency(1)<Speedcontrolcut-offfrequency(1)x(1/5to1/6)
Note2:Setthevaluessubjecttothefollowingconditions.Positioncontrolcut-offfrequency(2)<Speedcontrolcut-offfrequency(2)[Recommendedsetting]Positioncontrolcut-offfrequency(2)<Speedcontrolcut-offfrequency(2)x(1/5to1/6)
3. Step 3: Setting for Fast positioning time control
The sweep interval for "Position feed forward gain (Fd-10)", and the sweep interval and tuning range for "Position feed
forward filter time constant (Fd-41)", are specified here. "Allowed overshoot pulse" specifies the amount of overshoot that
is allowed when positioning is completed.
Parameter nameSetting range [default value]
Setting unit Content
Sweepinterval(positionfeedforwardgain(1))
0.0to1.00[0.1]
Specifiesthelowerlimitofthesweepintervalforthepositionfeedforwardgain.
Sweepinterval(positionfeedforwardgain(2))
0.01to1.00[1.00]
Specifiestheupperlimitofthesweepintervalforthepositionfeedforwardgain.
Positionfeedforwardfiltertimeconstant(1)
0.00to500.00[1.00]
msSpecifiesthelowerlimitofthetuningrangeforthepositionfeedforwardfiltertimeconstant.
Positionfeedforwardfiltertimeconstant(2)
0.00to500.00[20.00]
msSpecifiestheupperlimitofthetuningrangeforthepositionfeedforwardfiltertimeconstant.
Sweepinterval(positionfeedforwardfiltertimeconstant(1))
0.01to100.00[2.00]
msSpecifiesthelowerlimitofthesweepintervalforthepositionfeedforwardfiltertimeconstant.
Sweepinterval(positionfeedforwardfiltertimeconstant(2))
0.01to100.00[10.00]
msSpecifiestheupperlimitofthesweepintervalforthepositionfeedforwardfiltertimeconstant.
Allowedovershootpulse0to65535
[20]pls Specifiestheallowedamountofovershoot.
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4. Monitoring time
Specifies the time during which the positioning response is monitored when the motor is stopped.
Parameter nameSetting range [default value]
Setting unit Content
Monitoringtime0.2to10.0
[0.2]Seconds Specifiesthetuningmonitoringtime.
5. Motor oscillation detection level
The motor oscillation detection level specifies the amount of vibration that detects motor oscillation during auto servo
gain tuning.
Parameter nameSetting range [default value]
Setting unit Content
Motoroscillationdetectionlevel
(Note3)
0to4RDV-X[1]RDV-P[2]
Thisfunctionautomaticallydetectsmotoroscillationduringautoservogaintuning.Lowersettingsofmotoroscillationdetectionlevelallowslightervibrationtobedetected.
Note3: Ifmotoroscillationdetectionlevelissetto0,motoroscillationisnotdetected.Thismeansthatifitisnotnecessarytodetectmotoroscillation,themotoroscillationdetectionlevelshouldbesetto0.
6. [Set] button
After entering items 1 through 5 above, click this button.
Offline auto tuning troubleshooting10.5
"E88 Driving range error" occurs during load moment of inertia estimation
"E88Drivingrangeerror"occursifthemovementduringestimationisgreaterthanthespecifiedtravelrangelimitation.
Verify that the robot is horizontal and that it is not interfering with other equipment, and then disable "Driving range
error monitoring during load moment of inertia estimation".
For details on how to change the setting, refer to "10.3.2 Conditions of load moment of inertia estimation (detail setting)".
Motor oscillates after load moment of inertia estimation
In particular if the load is large, the motor movement during estimation will be smaller, causing an error to occur. By
changing the settings as follows, the motor movement can be increased, thus minimizing the estimation error.
•Increasethetravelrangelimitationandthetorquecommandvalue(upperlimitvalue)
•Lowerthetorquecommandfrequency
•Widenthetravelrangelimitation
For details on how to make these changes, refer to "10.3.2 Conditions of load moment of inertia estimation (detail
setting)".
After servo gain tuning, overshoot or vibration occurs when positioning
Lower the Fd-10 position feed forward gain.
Example:Fd-10=0.375→ Fd-10=0
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After servo gain tuning, settling takes time when positioning
Raise the Fd-03 speed control integral gain tuning value.
Example:Fd-03=100[%]→ Fd-03=300[%]
After servo gain tuning, the motor oscillates or abnormal sound occurs
It may be that Fd-01 speed control cut-off frequency is set too high. Perform one of the following operations.
•LowertheFd-01speedcontrolcut-offfrequencyuntilthevibrationorabnormalsounddisappears.
• Startservogaintuningwith"PositionandSpeedcontrolcut-offfrequencytuning"astheautoservogaintuningfunction selection. When the motor begins to vibrate, stop the servo gain tuning, change the auto servo gain tuning function selection to "Fast positioning time control tuning", and resume servo gain tuning.
TIP For details on changing the auto servo gain tuning settings, refer to "10.4.2 Auto servo gain tuning settings".
Machine diagnosis10.6 A sine-wave sweep signal is used to perform torque control operation, and the frequency response of the machine is analyzed. After executing this function, the frequency response can be displayed as a graph. The graph allows resonant points of the mechanical system to be seen. Parameters for notch filter can also be specified here.
n NOTE•ThenotchfilterparametersFd-20andFd-21aresetwhentheunitisshippedfromthefactory.Forthisreason,it
is not normally necessary to adjust the notch filter settings.•Usethemachinediagnosisfunctionswhencheckingthefrequencyresponseofthemechanicalsystem,or
when stacking notch filters.
Executing machine diagnosis10.6.1 Machine diagnosis is performed, and the following parameters for notch filter are set.
Notch filter frequency (Fd-20, Fd-23, Fd-26)Notch filter bandwidth (Fd-21, Fd-24, Fd-27)Notch filter Q (Fd-22, Fd-25, Fd-28)
c CAUTION•MachinediagnosistemporarilychangesthesettingofFd-06(Torquecommandfiltertimeconstant).After
executingmachinediagnosis,besuretoreturnFd-06toitsoriginalsetting.Themotormayoscillateifitisoperated without returning Fd-06 to its original setting.
•Therobotwillmoveduringthisoperation.Ensuresafetybeforeperformingtheoperation.
1 Check whether Fd-00 (Load moment of inertia ratio) has been set.If it has not yet been set, set Fd-00 (Load moment of inertia ratio) as described in "10.3 Load moment of inertia setting".
2 Note the value of Fd-06 (Torque command filter time constant), and then change it to (factory-set value x 1/2).
3 In the "Offline auto tuning" screen, click the [Servo ON] button to turn the servo on.
n NOTE The menu in the "Offline auto tuning" screen can be selected only when the servo is on.
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[Servo ON] buttonStep 3
Click
4 In the "Offline auto tuning" screen, click the [Machine diagnosis] button to open the "Machine diagnosis confirmation" screen.
5 In the "Machine diagnosis confirmation" screen, check the "Travel range limitation" values.The travel range limitation values are a guideline. Actual operation may exceed the range limitation. If you want to change the default values and execute machine diagnosis, click the [Change conditions] button. For details, refer to "10.6.3 Conditions of machine diagnosis".
c CAUTION If the robot is not in a position where it can be operated safely, use the following procedure to move it to a position in which safe operation is possible.(1)Closethe"Machinediagnosisconfirmation"screen.(2)Turntherobotservooff,andmoveittoapositioninwhichsafeoperationispossible.(3)Inthe"Offlineautotuning"screen,clickthe[ServoON]buttontoturntheservoon.
6 Click the [Start diagnosis] button to start machine diagnosis.
"Machine diagnosis confirmation" screenStep 4-6
Check the
"Travel range limitation"
values.
[Change conditions] button [Start diagnosis] button
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7 The "Machine diagnosis" screen appears, and progress is displayed.If you click the [Cancel (Servo Lock)] button while machine diagnosis is executing, machine diagnosis is halted, and the system enters the position servo lock state. If you click the [Cancel (Servo OFF)] button, machine diagnosis is halted and the servo turns off.
w WARNING Ifyouclickthe[Cancel(ServoLock)]buttonorthe[Cancel(ServoOFF)]buttonwhile"Sendingsine-wavesweepsignal(PC→robotdriver)"or"Receivingmotordriverresult(robotdriver→PC)",theremaybecasesinwhichmotoroperation does not stop immediately.
When machine diagnosis is completed. The frequency response of the mechanical system are displayed.
"Machine diagnosis" screenStep 7
[Cancel (Servo Lock)] button [Cancel (Servo OFF)] button
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8 Set the notch filter.
"Result of machine diagnosis" screenStep 8
Step8-1
Step8-3
Step8-2
8-1 Click a resonant peak in the graph.For details on identifying a resonant peak, refer to "10.6.2 Resonant peaks in the mechanical system".
8-2 Click the [Filter 1] button.The notch filter frequency (Fd-20) and notch filter bandwidth (Fd-21) are entered for the resonant peak (the red line in the graph). It is recommended that the notch filter Q (Fd-22) be set to 4.0. Decreasing the Q value may cause unstable operation.
8-3 Click the [write] button.The notch filter settings are applied to the parameters.
TIP The following operations can be performed in the graph. Left-click:Displaysthegainofthebluelineateachfrequency. Right-click:Displaysthegaindifferencebetweenthegainofthebluelineateachfrequencyandthegainatthepoint you clicked. Shift key + left-click: Magnifies the graph. Shift key + right-click: Shrinks the graph. Ctrl key + left-click: Moves the graph left/right.
9 Return the value of Fd-06 (Torque command filter time constant) back to the value it had before you changed it in Step 2.
c CAUTION Afterexecutingmachinediagnosis,besuretoreturnFd-06toitsoriginalsetting.Themotormayoscillateifitisoperated without returning Fd-06 to its original setting.
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Resonant peaks in the mechanical system10.6.2 Reference examples of settings for the filters are provided here.If the following conditions are satisfied by the result of machine diagnosis, it can be said that there is a resonant peak in the mechanical system.The graph exhibits an upward-pointing triangular shape ((1) in the figure) and the apex of the triangle exceeds the 0 line of the vertical axis ((2) in the figure).
Characteristics of a resonant peak in the mechanical system
(1)
(2)
Example graph of a resonant peak in the mechanical system
Near 950 Hz (1)
Near 950 Hz (2)
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Example graph of a resonant peak in the mechanical system
Near 840 Hz
※
* Although there is also an upward-pointing triangular shape between 500 Hz and 600 Hz, it does not exceed vertical axis 0, and therefore is not a target for setting the notch filter.
Example graph with no resonant peak in the mechanical system
* There is no upward-pointing triangular shape, and no resonant peak in the mechanical system. Thus, there is no need to set the notch filter.
Machine diagnosis
When the frequency response of the mechanical system cannot be determined
If the mechanical system diagnostic result shown in the above figure displays no characteristics above the region 400 Hz to 500 Hz, motor operation was not detected with the current machine diagnostics. Change the following settings, and then execute machine diagnosis. (For details on the settings, refer to "10.6.3 Conditions of machine diagnosis".)
•Increasethesweeptorquecommandvalue(upperlimit)ofthesine-wave•Broadenthetravelrangelimitation•SettheFd-06torquecommandfiltertimeconstantto(factorysetvaluex1/4)
c CAUTION Afterexecutingmachinediagnosis,besuretoreturnFd-06toitsoriginalsetting.Themotormayoscillateifitisoperated without returning Fd-06 to its original setting.
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Conditions of machine diagnosis10.6.3 This section describes how to change the conditions of machine diagnosis.
Travel range limitation / Sine-wave sweep frequency range
1 In the "Machine diagnosis confirmation" screen, click the [Change conditions] button.The "Conditions of machine diagnosis" screen appears.
2 Enter the travel range limitation, sine-wave sweep start frequency, and sine-wave sweep end frequency.
3 As necessary, make detailed settings for machine diagnosis.Click the [Detail setting] button. For details, refer to " Sine-wave sweep duration / Sine-wave amplitude (maximum torque command)".
* This function cannot be used if the parameter level setting is set to Easy.
4 Click the [Set] button.
"Conditions of machine diagnosis" screenStep 1-4
[Detail setting] button
Enter the travel range limitation, sine-wave sweep start frequency, and sine-wave sweep end frequency.
After entering the travel range limitation and other settings, click the [Set] button.
Machine diagnosis condition parameters: for the RDV-X
Parameter name Setting range [default value] Setting unit Content
Travelrangelimitation 5000to8500000[16384]
plsProvidesufficientmarginwhensettingthistoensurethatmotormovementdoesnotstrikethemechanicalstoppers.(Note1)5000/(FA-82)to
8500000/(FA-82)FA-82:Encoderresolution
Rotation(formotor)
5000×360°/(FA-82)to8500000×360°/(FA-82)
FA-82:Encoderresolution
°(formotor)
Sine-wavesweepstartfrequency
10.0to3000.0[400.0] Hz
Specifythestartfrequencyofthesine-wavesweepsignalusedtoidentifythefrequencyresponse.(Note2)(Note3)
Sine-wavesweependfrequency
10.0to3000.0[1100.0] Hz
Specifytheendfrequencyofthesine-wavesweepsignalusedtoidentifythefrequencyresponse.(Note2)(Note3)
Note1: Thetravelrangelimitationsettingisonlyaguideline.Insomecases,actualoperationmayexceedthetravelrangelimitation.Note2: Analysisisperformedforthefrequencybandbetween"sine-wavesweepstartfrequency"and"sine-wavesweepend
frequency".Note3: Donotperformmachinediagnosisifthesine-wavestartfrequencysettingisthesameasthesine-waveendfrequency
setting.
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Machine diagnosis condition parameters: for the RDV-P
Parameter name Setting range [default value] Setting unit Content
Travelrangelimitation 1000to100000
[10000]pls
Providesufficientmarginwhensettingthistoensure
thatmotormovementdoesnotstrikethemechanical
stoppers.(Note1)1000/(FA-85)to
100000/(FA-85)
FA-85:Linearscaleaccuracy
mm
Sine-wavesweepstart
frequency
10.0to3000.0
[400.0] Hz
Specifiesthestartfrequencyofthesine-wavesweep
signalusedtoidentifythefrequencyresponse.(Note2)
(Note3)
Sine-wavesweepend
frequency
10.0to3000.0
[1100.0] Hz
Specifiestheendfrequencyofthesine-wavesweep
signalusedtoidentifythefrequencyresponse.(Note2)
(Note3)
Note1: Thetravelrangelimitationsettingisonlyaguideline.Insomecases,actualoperationmayexceedthetravelrangelimitation.
Note2: Analysisisperformedforthefrequencyresponsebetween"sine-wavesweepstartfrequency"and"sine-wavesweepend
frequency".
Note3: Donotperformmachinediagnosisifthesine-wavestartfrequencysettingisthesameasthesine-waveendfrequency
setting.
Sine-wave sweep duration / Sine-wave amplitude (maximum torque command)
In the "Conditions of machine diagnosis" screen, clicking the [Detail setting" button displays the "Conditions of machine
diagnosis (detail setting)" screen.
Enterthesine-wavesweepdurationandthesine-waveamplitude(maximumtorquecommand).
"Conditions of machine diagnosis (detail setting)" screen
Enter the sine-wave sweep duration and the sine-wave amplitude (maximum torque command).
Machine diagnosis detailed conditions parameters
Parameter name Setting range [default value] Setting unit Content
Sine-wavesweep
duration5to60
[20]Seconds
Specifiesthedurationforwhichthemotorwillexecute
machinediagnosis.Largersettingsofthisvaluewill
improvetheaccuracyofthefrequencyresponse.
Sine-waveamplitude
(maximumtorque
command) 30to100
[50]%
Ifthemotormovementformachinediagnosisistoo
small,thecharacteristicsofthemechanicalsystem
cannotbedetermined.
Inthiscase,increasethetravelrangelimitationand
thesine-waveamplitude(maximumtorquecommand)
inordertoincreasethemotormovement.
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Gain change function11. The gain change function is a function for changing the position and speed control gain during operation and is used in the following cases.
•Toraisethecontrolgainduringservo-lockbuttolowerthegaintoreducenoiseduringrun. •Toraisethecontrolgainduringsettlingtoshortenthesettlingtime.
Changing the control gain11.1 A block diagram of the gain change function is shown below.
+ +
Position controlcut-off
frequency
Fd-09
Second positioncontrol cut-off
frequency
Fd-32
Position gainchange time
constant
Speed controlcut-off
frequency
Fd-01
Second Speed control cut-off
frequency
Fd-34
Fd-03
Speed control integral gain
Fd-33
Second Speed control integral
gain
Positioncommand
Positiondeviation
Speedcommand
Positioncontrol
Torquecommand
Speed
Position Detector
Servo motor
Speedcontrol
Position error width for gain
change
Gain changemode
Fd-30 Fd-37
Speed level for gain change
Fd-38
nonPErrPrEFPinPSFb
No gain changePosition deviation switchPosition command OFF
INP terminal switchSpeed detection switch
Gainchange
Switching signal
Fd-39 Fd-35
Speed gain change time
constant
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Parameters used for the gain switching function
The parameters used are explained below.
1 1st and 2nd speed control cut-off frequency (Fd-01, Fd-34) Specify the responsiveness of speed control.
2 1st and 2nd position control cut-off frequency (Fd-09, Fd-32) Specify the responsiveness of position control.
3 1st and 2nd speed control integral gain (Fd-03, Fd-33) Specify the speed control integral gain of speed control.
4 Gain change mode (Fd-30) Specifies conditions for switching 1st gain ⇔ 2nd gain.
The related parameters will change depending on the gain switching mode that is specified. Refer to the following table,
and change the related parameters as necessary.
Gain change mode
(Fd-30) settingDescription Related parameter
Valid control
mode
non Nogainswitching. - -
PErr
Gainswitchesbypositiondeviation.
Positiondeviation>Fd-37=1stgain
Positiondeviation≤Fd-37=2ndgain
Positionerrorwidthforgain
change(positiondeviation)
(Fd-37)
Position
PrEF
Gainswitchingbypositioncommand.
Positioncommandischanging=1stgain
Positioncommandisstopped=2ndgain
- Position
PinP
GainswitchingbyINPterminal.
INPterminalOFF=1stgain
INPterminalON=2ndgain
Positioningdetectionrange
(Fb-23)Position
SFb
Gainswitchingbyspeeddetectionvalue.
Speeddetectionvalue>Fd-38specifiedvalue
=1stgain
Speeddetectionvalue≤Fd-38specifiedvalue
=2ndgain
Speedlevelforgainchange
(speed)
(Fd-38)
Position
Speed
5 Speed gain change time constant (Fd-35)/Position gain change time constant (Fd-39) Since gain switching changes the gain smoothly, the speed gain change time constant (Fd-35) / position gain change time constant (Fd-39) can be set to specify the switching time for position control and for speed control respectively.
After rewritingGain
Time
Control gain switching time
63%
Before rewriting
(b) Gain change waveform
to control system
(a) Function block diagram
Position control setting value
1
1+sT
Note 1: If the gain difference is large when switching the gain, this may shock the mechanism. In this case, increase the gain switching time for position and speed control (Fd-39, Fd-35). (The default value is set to 1 [ms].)
Note 2: If abnormal sound or vibration occurs during servo lock, reduce the 2nd position and 2nd speed control cut-off frequency (Fd-32, Fd-34) until the abnormal sound or vibration disappears.
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Clearing the alarm history and restoring 12. the factory settings
YoucanuseRDV-Managertoclearthealarmhistoryandtoreturnallparameterdatatothefactorysettings.
Clearing the alarm history12.1 The following procedure lets you use RDV-Manager to clear the alarm history.
1 Start RDV-Manager and connect it to the driver.2 In the "Device status" screen, select the [Initialization settings] button to access the "Initialization settings"
screen.3 From the pulldown, select "Clear trip history" and click the [Start initialization] button.
Alarm history is initialized.
For details on the procedure, refer to "Initialization function" in the RDV-Manager manual.
Factory settings12.2 If the parameter data no longer has the expected values, due to incorrect operation or any other reason, you can use RDV-Manager to execute the Generation function using the following procedure, restoring the parameters to their factory-set condition.
1 Start RDV-Manager and connect it to the driver.2 In the "Device status" screen, select the [Generation] button to access the "Generation" screen.3 From the pulldown, select the model of robot for which you're making settings.4 Select the check boxes "Confirm capacity", "Write constants", and "Compare constants", and then click the
[Write Constants] button.5 After writing is completed and the display indicates "Completed successfully", click the [OK] button.
Close the generation screen, and cycle the control power.
Note: Do not shut off the control power of the robot driver during generation. If power is shut off during writing, the data internally saved in the robot driver will be destroyed, possibly rendering it unable to operate normally.
For details on the procedure, refer to "Generation" in the RDV-Manager manual.
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Motor rotating direction13. FLIP-X series phase sequence13.1
The forward direction when the RDV-X is used in combination with the FLIP-X series robot is shown in the table below. The rotating direction for the robot can be set to the reverse direction by changing the "Motor revolution direction" (FA-14) parameter.
RotationFA-14
CC C
Forwardrun CCW CW
Reverserun CW CCW
PHASER series phase sequence13.2 TheforwarddirectionwhentheRDV-PisusedincombinationwiththePHASERseriesrobotisshowninthetable below. The movement direction for the robot can be set to the reverse direction by changing the "Motor revolution direction" (FA-14) parameter.
Operating directionFA-14
CC C
Forwardrun
Motor forward directionSlider movement direction
L side R side
Motor forward directionSlider movement direction
L side R side
Reverserun
Motor forward directionSlider movement direction
L side R side
Motor forward directionSlider movement direction
L side R side
Note1:Theabovefiguresareviewedfromthecablecarriersideoftherobot.
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Speed limit function14. Speedcanbelimitedbytheparameters(Fb-20,Fb-21)asshowninthetablebelow.
SettingSpeed limit value
Forward Reverse
Fixedvaluebyparametersetting Fb-20 Fb-21
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Fast positioning function15. The fast positioning function shortens the positioning settling time to the minimum time, and drastically reduces the position deviation that occurs during positioning operation.
Note 1: The Moment of inertia (Fd-00) parameter must be set correctly to use this function.Note 2: When setting this function to improve the cycle time, the following parameters also need to be
adjusted. • Speedcontrolcut-offfrequency(Fd-01) • Speedcontrolproportionalgain(Fd-02) • Speedcontrolintegralgain(Fd-03) • Positioncontrolcut-offfrequency(Fd-09)
Note 3: This function may not show its optimal performance depending on the machine conditions.
The parameter constants used with this function are described below.
(a) Fast positioning mode (Fd-40)
This parameter specifies how to control the fast positioning. To perform positioning in the shortest settling time, set this
parameter to "FAst" from "non" or "FoL". To perform positioning while drastically reducing position deviations, use the
position deviation minimizing control by setting this parameter to "FoL". The control operation for each setting is
described below.
•Minimizingthepositioningsettlingtime"FAst"
When the fast positioning mode is set to "FAst" from "non" or "FoL", the control constant parameters are automatically optimized to minimize the positioning settling time. If the fast positioning mode is already set to "FAst", then set it to "non" and then back to "FAst" again. Always be sure to first make the other control parameters (Fd-xx) before setting to "FAst". Making this setting automatically sets the "Position feed forward gain" (Fd-10) and the "Position feed forward filter time constant" (Fd-41). Position overshoot might occur depending on the machine being operated. If that happens, adjust the "Position feed
forward gain" (Fd-10) that was automatically set, to a new setting where position overshoot does not occur.
•Minimizingthepositiondeviation"FoL"
Setting the fast positioning mode to "FoL" enables the position deviation minimizing control to work. Position deviation or error which may occur can be adjusted by the "Position error filter gain" (Fd-42). (See the figure below.)
0
Effects of position deviation minimizing control (Fd-40 = FoL) during positioning operation
Position deviation (pulses)
Time [s]
Position error filter gain (Fd-42) = 0 [%]
(Fd-42) = 20 [%]
(Fd-42) = 50 [%]
(Fd-42) = 80 [%]
(Fd-42) = 100 [%]
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Notch filter function16. The notch filter function reduces the vibration originating from the machine resonance, by lowering the gain ataparticularfrequency.Theparameterconstantsusedinthisfunctionaredescribedbelow.Usetheseparametersinconjunctionwiththemechanicalsystemdiagnosticfunctionof"RDV-Manager".Formoreaboutthemechanicalsystemdiagnosticfunction,refertotheRDV-Managermanual.
n NOTE•ThenotchfilterparametersFd-20andFd-21aresetwhentheunitisshippedfromthefactory.Therefore,itisnot
normally necessary to make notch filter settings.•Usethemechanicalsystemdiagnosticfunctionwhencheckingthefrequencyresponseofthemechanical
system, or when stacking notch filters. The factory-set notch filter parameters Fd-20 and Fd-21 are not set by Generation. Before executing Generation, make a note of the Fd-20 and Fd-21 settings, and restore these settings manually after Generation is completed.
•Iftheconnectedmodelischanged,thenotchfilterparametersFd-20andFd-21willneedtobechanged.Contact your distributor for the values of these settings.
(a) Notch filter frequency (Fd-20,Fd-23,Fd-26)
Specifies the frequency by which the gain is lowered in each notch filter.
Do not set this to a frequency range below 500 Hz. Doing so may cause unstable operation.
(b) Notch filter attenuation ratio (Fd-21,Fd-24,Fd-27)
Specifies the gain attenuation ratio applied by each notch filter. If this parameter is set to 0, the corresponding notch
filter has no effect.
(c) Notch filter Q value (Fd-22,Fd-25,Fd-28)
Specifies the Q value for each notch filter. By changing the Q value of the notch filter, the frequency region whose gain
is reduced can be adjusted as shown in the figure below.
We recommend a Q value of "4". Lowering the Q value may cause unstable operation.
Notch filter resonant frequency(Fd-20,23,26)
Gain reduction frequency bandwidth
Notch filter Q(Fd-22,25,28)
= × 4 - 5 × 10-10
Notch filter attenuation ratio(Fd-21,24,27)
fc f
dB
0
Attenuation ratio
Minimum Q value
Maximum Q value
Gain reduction frequency bandwidth
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Magnetic pole position estimation action17. OntheRDV-P,magneticpolepositionestimationmustbeperformedafterpoweristurnedonwhenoperatinga robot in pulse train mode.
If FA-90 (Hall sensor connection) is set to oFF4, magnetic pole position estimation will begin when the servo turns off, the RS terminal is turned ON, and the SON terminal is turned on. During magnetic pole position estimation, the SRD terminal turns "OFF", and when magnetic pole position estimation ends successfully, the SRD terminal turns "ON". When magnetic pole position estimation ends successfully, the normal servo on state is entered, and the servo operates according to the commands that are input. Subsequently, after the power is turned on, magnetic pole position is cleared during the first stroke end method return-to-origin. For details, refer to "4. Return-to-origin function" in this Chapter.
Magnetic pole position estimation and terminal states (when FA-90 = OFF4)1.
Servo-off Position sensor disconnect detection Normal servo-onServo-off Position sensor
disconnect detectionMagnetic poleposition estimation
Magnetic poleposition estimation
RS terminal
SON terminal
Motor operation Normal servo-on
SRD terminal
10 [ms] or more10 [ms] or more
First magnetic pole position estimation operation following power-on
Second and subsequent magnetic pole position estimation operations following power-on
ON
OFF
ON
OFF
ON
OFF
Note 1: During the magnetic pole position estimation operation, the system moves according to speed command values automatically generated within the driver; this means that if position command pulses are input from outside, the motor may move suddenly immediately after magnetic pole position estimation ends. So do not enter command values such as position command pulses from outside the driver during magnetic pole position estimation.
Note2:Ifthemagneticpolepositionestimationendsinanerror,thenamagneticpolepositionestimationerror(E95)occurs.
If FA-90 (Hall sensor connection) is set to oFF4, turning the SON terminal ON (servo on) without performing magnetic
polepositionestimationevenonceafterthepoweristurnedonwillcauseanE96(magneticpolepositionestimationnot
executed) alarm.
Servo-off
RSt erminal
SON terminal
Driver operating status Alarm occurring
ALM terminal
Drivercontrol power
With the RS terminal OFF, SON terminal is turned OFF/ON (servo on without performing magnetic pole position estimation)ON
OFF
ON
OFF
ON
OFF
ON
OFF
Magnetic pole position estimation and terminal states (when FA-90 = OFF5)2.
Servo-off Normal servo-onServo-on Position sensor disconnect detection
Magnetic poleposition estimation
SON terminal
Motor operation Normal servo-on
SRD terminal
First servo-on following power-on (magnetic pole position estimation)
Second and following servo-on following power-on
ON
OFF
ON
OFF
Note 1: The magnetic pole position estimation operation relies on speed command values generated internally in the driver so if command values such as position command pulses are input from outside the driver, then the motor might suddenly start to operate immediately after the magnetic pole position estimation ends. So do not enter command values such as position command pulses from outside the driver during magnetic pole position estimation.
Note2:Ifthemagneticpolepositionestimationendsinanerror,thenamagneticpolepositionestimationerror(E95)occurs.
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Magnetic pole position estimation and parameters18. The magnetic pole position estimation is performed by repeatedly generating the speed patterns automatically within the driver, as shown below. The number of repeating cycles automatically generated in one magnetic polepositionestimationrangesfrom6to13cycles.(Thenumberofrepeatingcyclesmaychangeaccordingto the robot status.) Iffailedtoestimatethemagneticpolepositioncorrectly,amaximumof4retriesareautomaticallyattemptedto estimate the magnetic pole position.
0
Fb-41
Fb-40
Speed [mm/s]
Time [s]
–Fb-40
Fb-42Fb-43
Fb-43Fb-41
Twait
1 cycle
6 to 13 cycles (to a maximum of 4 retries)
[Twait (wait time)]
The wait time Twait [s] for 1 operation pattern cycle is shown in the formula below.
The wait time Twait [s] under two conditions: (1) Fb-42 [s] ≥ Tstop [s], and (2) Fb-42 [s] < Tstop [s], are shown below.
= Fb-42 [s] (1) Fb-42 [s] ≥ Tstop [s]Twait [s]
= Tstop [s] (2) Fb-42 [s] < Tstop [s]
Tstop [s]: This is the time in seconds for the speed detection value of 0 [mm/s] in the robot driver, to converge to the range of the "Zero speed detection value" (Fb-22) .
<Wait time Twait state (relation between speed command value, speed detection value within robot driver and wait time Twait [s]>
00
Speed [mm/s]
-Fb-22
Speed command value within robot driver
Speed detection value within robot driver
Twait(=Fb-42)
Tstop
Time [s]
Speed [mm/s]Twait(=Tstop)
Fb-42
-Fb-22
Speed detection value within robot driver
Time [s]
Speed command value within robot driver
(1) Fb-42[s] ≥ Tstop[s] (Twait = Fb-24)
(2) Fb-42[s] < Tstop[s] (Twait = Tstop)
The distance the motor or slider moves during magnetic pole position estimation can be derived by the following
formula.
Movementdistance[mm]=Fb-40×(Fb-41+Fb-43)/1000
Example:DistancemovedwithFb-40=80,Fb-41=10,andFb-43=10
Movementdistance[mm]=80×(10+10)/1000=1.6[mm]
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[Mover mass and speed control cut-off frequency for magnetic pole position estimation]
UseFG-46(Loadmomentofinertiaratioforpolepositionestimation)tosetthemovermassformagneticpoleposition
estimation. Likewise, use FG-47 (speed control cut-off frequency for pole position estimation) to set the speed control
cut-off frequency.
Also use FG-48 (Speed gain change time constant for pole position estimation) to set the time constant of the first-order
lag filter for gain switching when shifting to normal control after estimating the magnetic pole position.
SRD
SON
Mover mass
Speed control cut-off frequency
Magnetic pole position estimation operation
FG-48 × 5 or more
Fd-00
Fd-01 (Fd-34)
FG-46
FG-47
<To shorten the distance moved during magnetic pole position estimation>
Setting the parameters as shown below in (1) through (3) shortens the distance moved during magnetic pole position
estimation.
(1) Set Fb-42 (Pole position estimation wait time) to approximately 300 [ms].
(2) Set as follows to reduce the movement distance.
•Fb-41(PolepositionestimationACC/DECtime)=10[ms]
•Fb-43(Polepositionestimationconstant-speedtime)=0[ms]
(3) To decrease the movement distance, adjust Fb-40 (Pole position estimation speed) to a small value.
Note 1: Magnetic pole position estimation might sometimes be unable to accurately estimate the magnetic pole position due to how the torque is generated during the magnetic pole position estimation period.
Note 2: If an abnormal movement occurs, adjust the FG-46, FG-47 and/or FG-48 parameters.
Note3:Dependingontherobotloadconditions,magneticpolepositionestimationmayfailwithanerrorE95(magneticpole position estimation error). If this happens, adjust the pole position estimation parameter to an appropriate value.
Note 4: The center position of the magnetic pole position estimation operation may shift, depending on the start position.
Note 5: After magnetic pole position estimation is complete, the magnetic pole position is determined when phase ZM is passed.
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< Speed deviation error level and control gain during magnetic pole position estimation >
The speed deviation error level and control gain during magnetic pole position estimation can be specified using the
parametersofthefollowingtable.Ifamagneticpolepositionestimationerror(E81)oroverspeederror(E85)occursand
magnetic pole position estimation does not end normally, adjust the following parameters.
Parameter
No.Parameter name
Setting range
[Default value]Units Content of setting
Fb-45
Speederrordetection
valueatpoleposition
estimation
0tomaximumspeed
[500]mm/s
Specifiesthespeeddeviationerrordetection
valueduringmagneticpolepositionestimation.
Ifthespeeddeviation(thedifferencebetween
thespeedcommandvalueandthedetected
speedvalue)isgreaterthanthisspecified
value,aspeeddeviationerroralarmwilloccur.
IfFb-45issetto0,speeddeviationerror
detectionisnotperformedduringmagnetic
polepositionestimationoperation.
FG-46
Loadmomentof
inertiaratioforpole
positionestimation
0to12700
[Dependsonmodel]%
Specifiestheload'smovingpartmassratio
relativetothemassofthelinearmotor's
movingpartduringmagneticpoleposition
estimation.
[Calculatingthevaluetoset]
Massofmovablepartofload/Massof
movablepartoflinearmotorx100
FG-47
speedcontrolcut-off
frequencyforpole
positionestimation
0to12700
[Dependsonmodel]Hz
Specifiesthespeedcut-offfrequencyduring
magneticpolepositionestimation.
FG-48
Speedgainchange
timeconstantforpole
positionestimation
0.0to500.0
[Dependsonmodel]ms
Specifiesthegainswitchingtimeconstant
whenmagneticpolepositionestimationhas
endedandoperationswitchestonormal
operation.
IfFG-48issetto0.0,operationchanges
instantly.
Chapter 6 Parameter description
1. Operator monitor 6-11.1 Operatormonitorfunctions 6-1
1.2 Specialdisplay 6-1
2. Function lists 6-22.1 Listofmonitorfunctions 6-3
2.2 Listofsetupparameters 6-4
3. Function description 6-93.1 Monitordisplaydescription 6-9
3.2 Setupparameterdescription 6-11
3.3 Referencegraphforsettingtheaccelerationandpositioncontrolcut-offfrequency 6-24
3.3.1 RDV-X 6-25
T4H-2 (C4H-2) 6-25
T4H-2-BK (C4H-2-BK) 6-25
T4H-6 (C4H-6) 6-26
T4H-6-BK (C4H-6-BK) 6-26
T4H-12 (C4H-12) 6-27
T4H-12-BK (C4H-12-BK) 6-27
T4LH-2 (C4LH-2) 6-28
T4LH-2-BK (C4LH-2-BK) 6-28
T4LH-6 (C4LH-6) 6-29
T4LH-6-BK (C4LH-6-BK) 6-29
T4LH-12 (C4LH-12) 6-30
T4LH-12-BK (C4LH-12-BK) 6-30
T5H-6 (C5H-6) 6-31
T5H-6-BK (C5H-6-BK) 6-31
T5H-12 (C5H-12) 6-32
T5H-12-BK (C5H-12-BK) 6-32
T5H-20 6-33
T5LH-6 (C5LH-6) 6-33
T5LH-6-BK (C5LH-6-BK) 6-34
T5LH-12 (C5LH-12) 6-34
T5LH-12-BK (C5LH-12-BK) 6-35
T5LH-20 (C5LH-20) 6-35
T6-6 (C6-6) 6-36
T6-6-BK (C6-6-BK) 6-36
Chapter 6 Parameter description
T6-12 (C6-12) 6-37
T6-12-BK (C6-12-BK) 6-37
T6-20 6-38
T6L-6 (C6L-6) 6-38
T6L-6-BK (C6L-6-BK) 6-39
T6L-12 (C6L-12) 6-39
T6L-12-BK (C6L-12-BK) 6-40
T6L-20 (C6L-20) 6-40
T7-12 6-41
T7-12-BK 6-41
T9-5 6-42
T9-5-BK 6-42
T9-10 6-43
T9-10-BK 6-43
T9-20 6-44
T9-20-BK 6-44
T9-30 6-45
T9H-5 6-45
T9H-5-BK 6-46
T9H-10 6-46
T9H-10-BK 6-47
T9H-20 6-47
T9H-20-BK 6-48
T9H-30 6-48
F8-6 (C8-6) 6-49
F8-6-BK (C8-6-BK) 6-49
F8-12 (C8-12) 6-50
F8-12-BK (C8-12-BK) 6-50
F8-20 (C8-20) 6-51
F8L-5 (C8L-5) 6-51
F8L-5-BK (C8L-5-BK) 6-52
F8L-10 (C8L-10) 6-52
F8L-10-BK (C8L-10-BK) 6-53
F8L-20 (C8L-20) 6-53
F8L-20-BK (C8L-20-BK) 6-54
F8L-30 6-54
F8LH-5 (C8LH-5) 6-55
Chapter 6 Parameter description
F8LH-10 (C8LH-10) 6-55
F8LH-20 (C8LH-20) 6-56
F10-5 (C10-5) 6-56
F10-5-BK (C10-5-BK) 6-57
F10H-05 6-57
F10H-05BK 6-58
F10-10 (C10-10) 6-58
F10-10-BK (C10-10-BK) 6-59
F10H-10 6-59
F10H-10BK 6-60
F10-20 (C10-20) 6-60
F10-20-BK (C10-20-BK) 6-61
F10H-20 6-61
F10H-20BK 6-62
F10-30 6-62
F10H-30 6-63
F14-5 (C14-5) 6-63
F14-5-BK (C14-5-BK) 6-64
F14-10 (C14-10) 6-64
F14-10-BK (C14-10-BK) 6-65
F14-20 (C14-20) 6-65
F14-20-BK (C14-20-BK) 6-66
F14-30 6-66
F14H-5 (C14H-5) 6-67
F14H-5-BK (C14H-5-BK) 6-67
F14H-10 (C14H-10) 6-68
F14H-10-BK (C14H-10-BK) 6-68
F14H-20 (C14H-20) 6-69
F14H-20-BK (C14H-20-BK) 6-69
F14H-30 6-70
F17L-50 (C17L-50) 6-70
F17L-50-BK (C17L-50-BK) 6-71
F17-10 (C17-10) 6-71
F17-10-BK (C17-10-BK) 6-72
F17-20 (C17-20) 6-72
F17-20-BK (C17-20-BK) 6-73
F17-40 6-73
Chapter 6 Parameter description
F20-10-BK (C20-10-BK) 6-74
F20-20 (C20-20) 6-74
F20-20-BK (C20-20-BK) 6-75
F20-40 6-75
F20N-20 6-76
N15-10 6-76
N15-20 6-77
N15-30 6-77
N18-20 6-78
B10 6-78
B14 6-79
B14H 6-79
R5 6-80
R10 6-80
R20 6-81
3.3.2 RDV-P 6-82
MR12 6-82
MF7 6-82
MF15 6-83
MF20 6-83
MF30 6-84
MF50 6-84
MF75 6-85
4. Control block diagram and monitors 6-86
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Operator monitor1. Operator monitor functions1.1
The RDV series uses the built-in operator monitor to display the operating status and to show alarms.The content to be displayed can be selected by the parameter FC-67 "Digital operator display data selection".For details on the displayed content, refer to "2.1 List of monitor functions" in this Chapter.
Operator monitor functions
5-digit and 7-segment LED.Used to display the operating state and alarm.Lights up when the control power is turned on.
Do not touch the driver while this lamp is lit.
CP (green)Display panel
Special display1.2 If the control power supply is insufficient when the servo is off, the display indicates the following. However, the alarm (ALM) signal is not output.
Display when the servo is off and the control power supply is insufficient
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Function lists2. Thissectiondescribesmonitorfunctionsandparametersthatcanbesetforthedriver.Parametersaredividedinto several groups as shown in the following table.
Group Description
d-xx Allowscheckingmonitorparameterssuchasspeedandposition.
FA-xx Operationmodeorprotectionlevelparameters
Fb-xx Operationconstantparameters
FC-xx Input/outputterminalparameters
Fd-xx Controlconstantparameterssuchasmovermassandresponsespeed.
FG-xx Extendedparametersforperformingfineradjustmentssuchasresponsespeed.
NOTE:"xx"meansaparameternumber.
Parameter lists are provided on the following pages.
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List of monitor functions2.1
Parameter
No.
Parameter nameDisplay range
Units
RDV-X RDV-P RDV-X RDV-P
d-00 Speedcommandmonitor -9999to9999 min-1 mm/s
d-01 Speeddetectionvaluemonitor -9999to9999 min-1 mm/s
d-02 Outputcurrentmonitor 0tomaximumcurrent %
d-03
Torque
command
monitor
Propulsion
command
monitor
-Maximumtorquetomaximumtorque %
d-04Outputtorque
monitor
Output
propulsion
monitor
-Maximumtorquetomaximumtorque %
d-05 Inputterminalmonitor
CE
R
OR
L
SO
N
TL
RS
OR
G
ON
OFF
RO
T
PE
N
FO
T
d-06 Outputterminalmonitor
ALM
SR
D
INP
BK
ON
OFF
d-07 PositioncommandmonitorH’8000000000000000(negativemaximum)to
H’7FFFFFFFFFFFFFFF(positivemaximum)pulses
d-08 PresentpositionmonitorH’8000000000000000(negativemaximum)to
H’7FFFFFFFFFFFFFFF(positivemaximum)pulses
d-09 PositionerrormonitorH’8000000000000000(negativemaximum)to
H’7FFFFFFFFFFFFFFF(positivemaximum)pulses
d-13 Operationcontrolmonitor trq,SPd,PoS –
d-14 Operationstatus non,run,trP,Fot,rot,ot –
d-15
Estimatedload
momentof
inertiaratio
Estimatedload
massratio0to12700 %
d-16Encoderphase
Zmonitor
Poleposition
counter
monitor
RDV-X:0to(FA-82-1)
RDV-P:0to65535pulses
d-17 Donotuse. Donotuse. –
d-31 PNvoltmonitor 0to999 V
d-32 Regenerativebrakinguserate 0to100 %
d-33 E-thermalsum 0.0to100.0 %
d-58 Machinereference 0to100 %
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List of setup parameters2.2 Parameter setting ranges and default values are shown in the following tables.
Operation mode parameters1.
Parameter No.
Parameter name Setting range Default setting Units Parameter display
level
Applied immediatelyRDV-X RDV-P RDV-X RDV-P RDV-X RDV-P RDV-X RDV-P
FA-01Positionsensorwirebreakingdetection
oFF,on on – ProF Yes
FA-03Overspeederrordetectionlevel
0to150 110 % ProF Yes
FA-04Speederrordetection
value0tomaximumspeed Dependsonmodel min-1 mm/s ProF Yes
FA-05Positionerrordetection
value(moving)0.0to100.0 20.0 rotation
Magneticpolepitch*1 ProF Yes
FA-07 DCbuspowersupply L123,L12Pn L12Pn – EASy No
FA-08Regenerativebraking
operatingratio0.0to100.0 Dependsonmodel % EASy Yes
FA-09 Overloadnoticelevel 20to100 80 % EASy Yes
FA-11 PulsetraininputmodeF-r,P-S,A-br-F,-P-S,b-A
F-r – EASy Yes
FA-12Electronicgear
numerator-32768to32768
Dependsonmodel
1
– EASy Yes
FA-13Electronicgear
denominator1to65535 – EASy Yes
FA-14Motorrevolution
directionCC,C Dependsonmodel – EASy No
FA-16 DBOperationselection non,trP,SoF SoF – ProF Yes
FA-18 Torquebiasmode non,CnS Non – ProF Yes
FA-23 HomingmodeL-F,L-r,H1-F,H1-r,H2-F,H2-r,CP,t-F,
t-r,S-F,S-rDependsonmodel – EASy Yes
FA-24 ServoOFFwaittime 0.00to1.00 0.05 s ProF Yes
FA-26(Note2)
Brakeoperation
startspeed
– 0tomaximumspeed 30 min-1 mm/s ProF Yes
FA-27(Note2)
Brakeoperationstarttime
–0.000,
0.004to1.0000.000 s ProF Yes
FA-28(Note4) Electronicthermallevel 20to100 100(N0te5) % ProF Yes
FA-82(Note4) Encoderresolution 500to9999999
4096
(Note5)
Dependsonmodel
(Note5)pulses EASy No
FA-85(Note1)(Note3) –
Linearscale
accuracy0.01to655.35 1.00(Note5) μm EASy No
FA-87(Note1) –
Linearscale
polarityA,b
Dependsonmodel(Note5) – EASy No
FA-90(Note1) –
Hallsensorconnection
CnCt3,oFF4,oFF5 oFF5(Note5) – EASy No
Note1:DisplayedonRDV-Ponly.Note2:InvalidonRDV-P.Note3:Donotchangethesetting.Note4:Setthisparametertothedefaultvalueforeachmodel.Note5:Evenifdataisinitialized,thisparameterdoesnotreturntotheinitialvalue.*1Magneticpolepitch=FA-82×4[pls]
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Operation constant parameters2.
Parameter No.
Parameter name Setting range Default setting Units Parameter display
level
Applied immediatelyRDV-X RDV-P RDV-X RDV-P RDV-X RDV-P RDV-X RDV-P
Fb-07Torquelimitvalue1
(firstquadrant)0tomaximumtorque Dependsonmodel % ProF Yes
Fb-08Torquelimitvalue2(secondquadrant)
0tomaximumtorque Dependsonmodel % ProF Yes
Fb-09Torquelimitvalue3
(thirdquadrant)0tomaximumtorque Dependsonmodel % ProF Yes
Fb-10Torquelimitvalue4
(fourthquadrant)0tomaximumtorque Dependsonmodel % ProF Yes
Fb-11 Torquebiasvalue0to±maximum
torque0 % ProF Yes
Fb-12 Homingspeed1(fast)1to
maximum
speed1to100 60 20 min-1 mm/s ProF Yes
Fb-13Homingspeed2
(slow)1to999 1to20 6 2 min-1 mm/s ProF Yes
Fb-14Homingposition
offsetvalue
H’8000000000000000
to
H’7FFFFFFFFFFFFFFF0 pulses ProF Yes
Fb-16Forwardpositionlimit
value
H’8000000000000000
to
H’7FFFFFFFFFFFFFFF0 pulses ProF Yes
Fb-18Reversepositionlimit
value
H’8000000000000000
to
H’7FFFFFFFFFFFFFFF0 pulses ProF Yes
Fb-20Forwardspeedlimit
value0tomaximumspeed Dependsonmodel min-1 mm/s ProF Yes
Fb-21Reversespeedlimit
value−maximumspeedto0 Dependsonmodel min-1 mm/s ProF Yes
Fb-22Zerospeeddetection
value0.0to999.9 5.0 min-1 mm/s ProF Yes
Fb-23Positioningdefection
range1to65535 100 pulses ProF Yes
Fb-25Uptospeeddetection
range0to100 10 min-1 mm/s ProF Yes
Fb-31Accelerationtimefor
Homing0.00to99.99 10.00 s ProF Yes
Fb-32Decelerationtimefor
Homing0.00to99.99 10.00 s ProF Yes
Fb-35 Homingbackdistance 1to255 Dependsonmodel – ProF Yes
Fb-36Currentforstriking
limit40to100 Dependsonmodel % ProF Yes
Fb-37 Timeforstrikinglimit 0.1to2.0 0.2 s ProF Yes
Fb-40
(Note1) –
Poleposition
estimationspeed
-200to200 Dependsonmodel mm/s ProF Yes
Fb-41
(Note1) –
Poleposition
estimationACC/DEC
time
10to500 Dependsonmodel ms ProF Yes
Fb-42(Note1) –
Poleposition
estimationwaittime
0to500 100 ms ProF Yes
Fb-43
(Note1) –
Poleposition
estimationconstant-
speedtime
0to500 Dependsonmodel ms ProF Yes
Fb-44
(Note1) –
Positionsensor
wirebreakingdetectioncurrent
20to100 Dependsonmodel % ProF Yes
Note1:DisplayedonRDV-Ponly.
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Parameter No.
Parameter name Setting range Default setting Units Parameter display
level
Applied immediatelyRDV-X RDV-P RDV-X RDV-P RDV-X RDV-P RDV-X RDV-P
Fb-45
(Note1) –
Speederror
detectionvalueat
poleposition
estimation
0tomaximumspeed 500 mm/s ProF Yes
Note1:DisplayedonRDV-Ponly.
Input/output terminal parameters3.
Parameter No.
Parameter name Setting range Default setting Units Parameter display
level
Applied immediatelyRDV-X RDV-P RDV-X RDV-P RDV-X RDV-P RDV-X RDV-P
FC-01Inputterminalpolarity
setting0000to03FF 0000 – EASy Yes
FC-02Outputterminalpolaritysetting
0000to003F 0002 – EASy Yes
FC-09Positionsensor
monitorresolutionM1to8192 4096 – EASy No
FC-10Positionsensor
monitorresolutionN1to8192 8192 – EASy No
FC-11(Note1)
Positionsensormonitorpolarity
A,b b – EASy No
FC-30Monitoroutput1
function
nFb,tqr,nrF,nEr,Per,iFb,PFq,brd,
PE4,PE3,PE2,Eth,Pn,tqFb,tLip,tLin
nFb – EASy Yes
FC-31Monitoroutput1
polaritySiGn,AbS SiGn – EASy Yes
FC-32 Monitoroutput1gain 0.0to3000.0 100.0 – EASy Yes
FC-33Monitoroutput2
function
nFb,tqr,nrF,nEr,Per,iFb,PFq,brd,
PE4,PE3,PE2,Eth,Pn,tqFb,tLip,tLin
Tqr – EASy Yes
FC-34Monitoroutput2
polaritySiGn,AbS SiGn – EASy Yes
FC-35 Monitoroutput2gain 0.0to3000.0 100.0 – EASy Yes
FC-40Monitoroutput1
offset0.00to±5.00 0.00 V ProF Yes
FC-41Monitoroutput2
offset0.00to±5.00 0.00 V ProF Yes
FC-67Digitaloperator
displaydataselection0to100 14 – ProF Yes
Note1:Donotchangethesetting.
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Control constant parameters4.
Parameter No.
Parameter name Setting range Default setting Units Parameter display
level
Applied immediatelyRDV-X RDV-P RDV-X RDV-P RDV-X RDV-P RDV-X RDV-P
Fd-00
Loadmomentof
inertiaratio
Loadmassratio
0to12700 Dependsonmodel % EASy Yes
Fd-01Speedcontrolcut-off
frequency0.1to2500.0 Dependsonmodel Hz EASy Yes
Fd-02Speedcontrol
proportionalgain0.01to300.00 Dependsonmodel % ProF Yes
Fd-03Speedcontrolintegral
gain0.01to300.00 Dependsonmodel % ProF Yes
Fd-04 P-controlgain 0.1to99.9 Dependsonmodel % ProF Yes
Fd-06Torquecommandfiltertimeconstant
0.00to500.00 Dependsonmodel ms ProF Yes
Fd-07Torquecommand
filter2timeconstant0.00to500.00 Dependsonmodel ms ProF Yes
Fd-08Torquecommand
filter3timeconstant0.00to500.00 Dependsonmodel ms ProF Yes
Fd-09Positioncontrol
cut-offfrequency0.01to500.00 Dependsonmodel Hz EASy Yes
Fd-10Positionfeedforward
gain0.000to1.000 Dependsonmodel – ProF Yes
Fd-11Positioncommand
filter(SMA)timeconstant
0.0to10.0 Dependsonmodel ms ProF No
Fd-15Speedcommandfilter
timeconstant0.00to500.00 Dependsonmodel ms ProF Yes
Fd-17Speeddetectionfilter
timeconstant0.00to500.00 Dependsonmodel ms ProF Yes
Fd-20Notchfilter1
frequency3.0to1000.0 Dependsonmodel Hz ProF Yes
Fd-21Notchfilter1
bandwidth0to40 Dependsonmodel dB ProF Yes
Fd-22 Notchfilter1Qvalue 0.50to4.00 4.00 – ProF Yes
Fd-23Notchfilter2
frequency3.0to1000.0 Dependsonmodel Hz ProF Yes
Fd-24Notchfilter2
bandwidth0to40 Dependsonmodel dB ProF Yes
Fd-25 Notchfilter2Qvalue 0.50to4.00 4.00 – ProF Yes
Fd-26Notchfilter3
frequency3.0to1000.0 Dependsonmodel Hz ProF Yes
Fd-27Notchfilter3
bandwidth0to40 Dependsonmodel dB ProF Yes
Fd-28 Notchfilter3Qvalue 0.50to4.00 4.00 – ProF Yes
Fd-30 Gainchangemodenon,GCH,PErr,PrEF,PinP,SFb
Dependsonmodel – ProF Yes
Fd-32Secondpositioncontrolcut-off
frequency0.01to500.00 Dependsonmodel Hz ProF Yes
Fd-33SecondSpeedcontrol
integralgain0.00to300.00 Dependsonmodel % ProF Yes
Fd-34SecondSpeedcontrol
cut-offfrequency0.1to2500.0 Dependsonmodel Hz ProF Yes
Fd-35Speedgainchange
timeconstant0.0to500.0 Dependsonmodel ms ProF Yes
Fd-36Positioncommandfiltertimeconstant
0to60000 Dependsonmodel ms ProF Yes
Fd-37Positionerrorwidth
forgainchange0to65535 Dependsonmodel pulses ProF Yes
Fd-38Speedlevelforgain
change0tomaximumspeed Dependsonmodel min -1 mm/s ProF Yes
Fd-39Positiongainchange
timeconstant0.0to500.0 Dependsonmodel ms ProF Yes
Fd-40 Fastpositioningmode non,FASt,FoL Dependsonmodel – ProF Yes
Fd-41Positionfeedforward
filtertimeconstant0.00to500.0 Dependsonmodel ms ProF Yes
Fd-42Positionerrorfilter
gain0to100 Dependsonmodel % ProF Yes
Fd-50Compensatingtorqueforfrictionofforward
rotation-100to100 Dependsonmodel % ProF Yes
Fd-51Compensatingtorqueforfrictionofreverse
rotation-100to100 Dependsonmodel % ProF Yes
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Parameter No.
Parameter name Setting range Default setting Units Parameter display
level
Applied immediatelyRDV-X RDV-P RDV-X RDV-P RDV-X RDV-P RDV-X RDV-P
Fd-65Disturbancetorque
observergain10.00to1.00 Dependsonmodel – ProF Yes
Fd-66Disturbancetorque
observergain20.00to1.00 Dependsonmodel – ProF Yes
Fd-67Disturbancetorque
observerfilterfrequencyconstant
0.0to500.0 Dependsonmodel Hz ProF Yes
Extended control constant parameters5.
Parameter No.
Parameter name Setting range Default setting Units Parameter display
level
Applied immediatelyRDV-X RDV-P RDV-X RDV-P RDV-X RDV-P RDV-X RDV-P
FG-10Speedfeedforward
gain0.000to1.000 Dependsonmodel Hz ProF Yes
FG-11Speedfeedforwardfiltertimeconstant
0.00to500.00 Dependsonmodel ms ProF Yes
FG-46(Note1) –
Loadmomentof
inertiaratiofor
poleposition
estimation
0to12700 Dependsonmodel – % ProF Yes
FG-47(Note1) –
speedcontrolcut-off
frequencyforpoleposition
estimation
1.0to500.0 Dependsonmodel – Hz ProF Yes
FG-48(Note1) –
Speedgain
changetime
constantforpoleposition
estimation
0.0to500.0 Dependsonmodel – ms ProF Yes
FG-61Filtercircuitselection(Positioncommand
pulse)FL1toFL18 FL8 – ProF Yes
FG-62Filtercircuitselection
(Encoderpulse)FL1toFL14 FL2 – ProF Yes
FG-63Filtercircuitselection
(Currentdetection)FL1,FL2,FL3 FL2 – ProF Yes
Note1:DisplayedonRDV-Ponly.Note2:Donotchangethesetting.
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Function description3. Monitor display description3.1
Whenthepoweristurnedon,thecontentspecifiedbyparameterFC-67"OPEmonitordisplayselection"isshown in the monitor.
Monitor
No.Monitor name Display range Description
d-00 Speedcommandmonitor
-9999to9999
RDV-X(min-1)
RDV-P(mm/s)
Displaysthesignedspeedcommandvaluein1(mm/s)min-1units.
d-01Speeddetectionvalue
monitor
-9999to9999
RDV-X(min-1)
RDV-P(mm/s)
Speeddetectionvalueisdisplayedin1min-1(mm/s)units.
d-02 Outputcurrentmonitor0tomaximumcurrent
(%)Displaystheoutputcurrentin1%units.
d-03Torquecommandmonitor/
Propulsioncommandmonitor
–maximumtorqueto
maximumtorque(%)Displaysthetorque(propulsion)commandin1%units.
d-04Outputtorquemonitor/
Outputpropulsionmonitor
–maximumtorqueto
maximumtorque(%)Displaystheoutputtorque(propulsion)in1%units.
d-05 Inputterminalmonitor Displaystheinputterminalstatus.(Seebelow.)
Inthisexample,SON,ROTandPENareORLandtheothersareOFF.
ON
OFF
SO
N
RS
TL
FO
T
RO
T
OR
L
OR
G
PE
N
CE
R
Black: ON
White: OFF
d-06 Outputterminalmonitor Displaystheoutputterminalstatus.(Seebelow.)
Inthisexample,SDR,ALMandINPareON,andtheothersareOFF.
ON
OFF
SR
D
ALM
INP
OR
G-
BK
Black: ON
White: OFF
d-07 PositioncommandmonitorH’0000toH’FFFF
(pulses)
Displaysthepositioncommandasahexadecimalnumber.Only
thelowestfourdigitsaredisplayed.
d-08 PresentpositionmonitorH’0000toH’FFFF
(pulses)
Displaysthecurrentpositionasahexadecimalnumber.Onlythe
lowestfourdigitsaredisplayed.
d-09 PositionerrormonitorH’0000toH’FFFF
(pulses)
Displaysthepositiondeviationasahexadecimalnumber.Only
thelowestfourdigitsaredisplayed.
d-11 Alarmmonitor –Displaysthecauseofthelast-occurringalarm.
E.g.,39.0.0
d-13 Operationcontrolmonitor
trq(torquecontrol)
SPd(speedcontrol)
PoS(positioncontrol)
Displaysthecurrentoperationcontrolmode.
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Monitor
No.Monitor name Display range Description
d-14 Operationstatus
non(normalstop)
run(run)
trP(error)
Fot(forwardovertravel)
rot(reverseovertravel)
ot(runinhibitstop)
Displaysthedriveroperationstatusasshownbelow.
d-14 display
Terminal statusRemarks
SON Fot rot
non OFF
ON ON
StopstatusOFF ON
ON OFF
run ON ON ON ServoONstatus
trP − − − Alarmstatus
Fot ON OFF ONForwardruninhibitandservoONstatus
rot ON ON OFFReverseruninhibitandservoONstatus
ot − OFF OFFForward/reverseruninhibit
d-15
Estimatedloadmomentof
inertiaratio/
Estimatedloadmassratio
0to12700(%) Displaysthecurrently-usedloadmomentofinertiaratio.
d-16
EncoderphaseZmonitor
(Polepositioncounter
monitor)
RDV-X:0to
(FA-82-1)(pulses)
RDV-P:
0to65535(pulses)
DisplaysthepositionmonitorshowingthephaseZposition.The
positionofphaseZissetto"monitordisplay=0".
Countincreasesintheforwardrundirectionaccordingtothe
directionsetbyFA-14.Themaximumonthismonitorisequalto
FC-09.
d-17 Donotuse. — Donotuse.
d-31 PNvoltmonitor 0to999(V) DisplaysthecurrentPNvoltagevalue.
d-32Regenerativebrakinguse
rate
0to100
(%)
Displaystheregenerativebrakingoperatingratio(FA-08)over5
secondsas100%.
Example:WhenFA-08issetto0.5(%),
Iftheregenerativebrakeoperatesfor25msduringfiveseconds
(5x0.005=0.025),thebrakingresistoroverload(E06)alarm
occurs.Atthistime,thismonitorwillbe100%.
d-33 E-thermalsum 0.0to100.0(%)Displaystheelectronicthermalsumvalue.
Ifthisreaches100%,anoverload(E05)alarmoccurs.
d-58 Machinereference 0to100(%)Displaysthemachinereferenceatthetimeofsensormethodor
strokeendmethodreturn-to-origin.
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Setup parameter description3.2
Operation mode parameters, etc.1.
Parameter
No.Parameter name
Setting range
[Default value]Description
FA-01Positionsensorwire
breakingdetection
oFF,on
[on]
Thisparameterspecifieswhethererrordetectionoccurswhenthere
isapositionsensorabnormality(orwhenwirebreakageisdetected;
thiscaseisincludedinthefollowingdiscussion).IfthisisON,a
positionsensorwirebreaking(E39)alarmoccurswhenthereisa
positionsensorabnormality.IfthisisOFF,E39isnotdetected.
HoweverevenifthisisOFF,E39willbedetectedifanabnormality
isdetectedinthecounterwithinthepositionsensor.Also,ifthe
poweristurnedonwithoutthepositionsensorbeingconnected,
E39occurswhentheservoturnson,regardlessofthisparameter.
Setthisparameterto"on"innormaloperation,anddonotsetto
"OFF"exceptincaseofemergency.
FA-03Overspeederror
detectionlevel
0to150
(%)
[110]
Anoverspeederrorisdetectedifthedetectedspeedvalueis
abnormallyhighincomparisontothemaximumspeed.This
parameterspecifiesthethresholdlevelfordetectingtheoverspeed
errorasapercentageofthemaximumrotationalspeedoftherobot.
Whensetto0,overspeederrorsarenotdetected.
FA-04Speederrordetection
value
0tomaximumspeed*1
RDV-X(min-1)
RDV-P(mm/s)
[Dependsonmodel]
Aspeeddeviationerrorisdetectedifthespeeddeviation(the
differencebetweenthespeedcommandvalueandthespeed
detectionvalue)isabnormallyhigh.
Thisparameterspecifiesthethresholdvaluefordetectingthespeed
error.Whensetto0,speeddeviationerrorsarenotdetected.
FA-05Positionerrordetection
value(moving)
0.0to100.0
RDV-X(rotations)
RDV-P(Magneticpole
pitch)
[20.0]
Apositiondeviationerrorisdetectedifthepositionerror(the
differencebetweenthepositioncommandvalueandtheposition
detectionvalue)isabnormallyhigh.
Thisparameterspecifiesthethresholdvaluefordetectingthe
positiondeviationinrotationunits.Whensetto0.0,position
deviationerrorsarenotdetected.
FA-07 DCbuspowersupplyL123,L12Pn
[L12Pn]
Thisparametersetsthemethodforsupplyingthemainpower.
Setting Method for supplying main power
L123UsetheL123settingifsupplyingthree-phaseACpowertothemainpowersupplyviatheL1,L2,andL3terminals.
L12PnUsetheL12Pnsettingifsupplyingsingle-phaseACpowerviatheL1andL2terminals.
FA-08Regenerativebraking
operatingratio
0.0to100.0
(%)
[Dependsonmodel]
Usethisparametertosetthedutyratiooftheregenerativebraking
resistorfor5seconds.Iftheregenerativebrakingtimeexceedsthe
valueofthissetting,analarmoccurs(seetablebelow).
Ifthisissetto0.0,theoperatingratiowillnotcauseanalarmto
occur.
Setthisparametervaluewhenusinganexternalbrakingresistor
withoverheatprotection,whichisdifferentfromtheexternalbraking
resistorsavailablefromYAMAHAasoptions.
Whenusinganoptionalexternalbrakingresistor,settheallowable
brakingfrequencyvaluebyreferringtoChapter10"2.Options".
Note: TheFA-08settingmustbesettoavaluethatisappropriate
forthebrakingresistor.Ifanincorrectvalueisset,the
brakingresistormaybedamaged.
*1:Thisisthemaximumspeedoftherobot.Checktherobotspecifications.
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Parameter
No.Parameter name
Setting range
[Default value]Description
FA-11 Pulsetraininputmode
F-r
P-S
A-b
r-F
-P-S
b-A
[F-r]
Usethisparametertoselectthepulsetrainpositioncommand
signalmodefromamongthefollowing6modes.
Setting Pulse train position command signal mode
F-r
PLS : Givesthemotionamountintheforwarddirectioninpulsetrains.
SIG : Givesthemotionamountinthereversedirectioninpulsetrains.
P-S
PLS : Givesthemotionamountinpulsetrains.SIG : SettoOFFwhenmovingintheforward
directionorsettoONwheninthereversedirection.
A-b
PLS : InputphaseAofphasedifference2-phasesignal.
SIG : InputphaseBofphasedifference2-phasesignal.
r-F
PLS : Givesthemotionamountinthereversedirectioninpulsetrains.
SIG : Givesthemotionamountintheforwarddirectioninpulsetrains.
-P-S
PLS : Givethemotionamountinpulsetrains.SIG : SettoONwhenmovingintheforward
directionorsettoOFFwheninthereversedirection.
b-A
PLS : InputphaseBofphasedifference2-phasesignal.
SIG : InputphaseAofphasedifference2-phasesignal.
FA-12Electronicgear
numerator
-32768to32768
RDV-X
[Dependsonmodel]
RDV-P
[1]
Toinputapulsetrainpositioncommand,settheelectronicgear
ratioappliedtothecommandvalue.Thegearratioisgivenby
(FA-12)/(FA-13).Thenumeratoranddenominatorcanbeset
separately.
Thesettingsmustmeetthefollowingcondition:
1/20≤(FA-12)/(FA-13)≤50
TheFLIP-Xseriesresolutionis16384pulsesperrevolutionofthe
motor.(GF14XLandFG17XLareexcepted.)
TheresolutionoftheGF14XLandGF17XLis20480pulsesper
revolutionofthemotor.
ThePHASERseriesresolutionis1pulsepermicrometer.The
defaultvaluesaresetsoastoissueacommandof1μmperpulse.
FA-13Electronicgear
denominator
1to65535
RDV-X
[Dependsonmodel]
RDV-P
[1]
FA-14Motorrevolution
direction
CC,C
[Dependsonmodel]
Usethisparametertochangetheforwarddirectionofthemotor.
Setting Forward direction of motor
CCThecounterclockwisedirectionasviewedfromthemotoroutputshaftendisspecifiedastheforwarddirection.
CTheclockwisedirectionasviewedfromthemotoroutputshaftendisspecifiedastheforwarddirection.
FA-16 DBOperationselection
non
trP
SoF
[SoF]
Settheconditionforapplyingthedynamicbrake.
Setting Condition for applying dynamic brake
non Doesnotusethedynamicbrake.
trPAppliesthedynamicbrakeonlywhenanalarmoccurs.
SoFAppliesthedynamicbrakewhentheservoONterminalisturnedoff(includinganalarm).(Note1)
Note1: Thedynamicbrakeisforemergencystop.
DonotperformbrakestopbyturningtheservoONterminal
OFF.Alwaysturntheservooffaftertherobothasstopped.
Note2: Regardlessofthisparametersetting,thedynamicbrakeis
appliedwhenthevoltageofthemaincircuitpowersupply
becomestoolowwhilethecontrolpowersupplyisON.
FA-18 Torquebiasmodenon,CnS
[non]
Setstheinputsourceoftorquebiasvalue.
Setting Torque bias mode
non Doesnotuseatorquebias.
CnSAppliesabiasusingthesettorquebiasvalue(Fb-11).
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Parameter
No.Parameter name
Setting range
[Default value]Description
FA-23 Homingmode
L-F
L-r
H1-F
H1-r
H2-F
H2-r
CP
t-F
t-r
S-F
S-r
[Dependsonmodel]
Thisparameterspecifiesthehomingmodeandreturn-to-origin
direction.
SettingReturn-to-origin
direction Return-to-origin
operation
L-F
Donotchange.
L-r
H1-F
H1-r
H2-F
H2-r
CP
t-F ForwardrunStrokeendmethod
t-r Reverserun
S-F ForwardrunSensormethod
S-r Reverserun
Whenthereturn-to-originmode(FA-23)issetto"strokeend
method"(t-F,t-r),thedriverdetermineswhethertherobothas
reacheditsstrokeend(mechanicalend)asfollows:
Whentherobotcomesintocontactwithitsstrokeendduringreturn-
to-originoperation,thecurrentincreases.Whenthecurrentexceeds
theratedcurrentIrandtheintegratedcurrentreachesthecurrentIa
specifiedbythestroke-endcurrentparameter(Fb-36)asshown
below,thedriverdeterminesthattherobothasreacheditsstroke
end.
Current
( ) ) × (Fb-37)lr–100
(Fb-36)×Imax>Ir-Ia 2222∑
Ir: Rated current
Ia: Stroke end current (Fb-36)
Time
( ( )
Note: Return-to-originoperationstopsandtheservolockswhen
theORGterminalisswitchedfromONtoOFF.
FA-24 ServoOFFwaittime
0.00to1.00
(s)
[0.05]
SetsthetimefromwhenServoONcommandisturnedoffuntil
servoONstatusisactuallycleared.
Note: Thisparameterallowstheservotodelayturningoffuntilthe
specifiedwaittimeelapsesafteractivatingthebrake.Setthis
waittimetocounteractdelaysinthebrakeoperation.Use
thisparameterasneededwhenstoppingtherobotsuchas
afterpositioningiscomplete.
FA-26
Brakeoperationstart
speed
*Validonlyforrobot
withmechanical
brake.
0tomaximumspeed
RDV-X(min-1)
[30]
Ifthespeedbecomeslowerthanthespecifiedspeedaftertheservo
ONcommandendsoranalarmstateoccurs,thebrakesignal(BK)
becomesthebrakestate.IfthetimesetinFA-27elapsesbeforethe
speedbecomeslowerthanthesetspeed,theBKsignalalsoworks
toactivatethebrake.
FA-27Brakeoperationstart
time
0.000,0.004to1.000
(s)
[0.000]
SpecifiesthemaximumtimefromwhentheservoONcommand
endsoranalarmstatusoccursuntilthebrakesignal(BK)operates
thebrake.Thetimecanbesetin4mssteps.Ifthespeedbecomes
lowerthanthesettinginFA-26afterturningofftheServoON
command,thentheBKsignalactivatesthebrake,regardlessofthis
setting(FA-27).
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Parameter
No.Parameter name
Setting range
[Default value]Description
FA-28 Electronicthermallevel
20to100
(%)
[90%]
Setstheelectronicthermallevel.Changethethermallevelsothatit
matchestheambienttemperatureandrobotoperatingconditions.
Whenthisparameterischanged,theasymptoticlinecanbemoved
inparallelwiththeoperationtimeasshownbelow.
Setthisparametertothedefaultvalueforeachmodel.
Servo lock
Ope
ratio
n tim
e (s
)
1000
20 100
Asymptotic line
Rotating
Torque
FA-82 Encoderresolution
500to9999999
(pulses)
RDV-X[4096]
RDV-P
[Dependsonmodel]
Setsthenumberofpulsesperrotationofthepositionsensor.
Setthisparametertothedefaultvalueforeachmodel.
FA-85Linearscaleaccuracy
* ValidonlyforRDV-P.
0.01to655.35
(μm)
1
Setsthemachinelengthequivalentto1pulseof×4signalonthe
linearscale.Setthisparameterto"1".
FA-87Linearscalepolarity
* ValidonlyforRDV-P.
A,b
[b]
Setsthephasedirectionintheforwardrunofthelinearscale.Set
thisparameterto"b".
Setting Phase
b PhaseBleadsphaseA.
FA-90Hallsensorconnection
* ValidonlyforRDV-P.
CnCt3,oFF4,oFF5
[oFF5]
Setsthesequenceofmagneticpolepositionestimationoperation.
Usethisparameterbysettingto"oFF5".
Setting Description
CnCt3 ObtainsmagneticpolepositionviatheHallsensor
oFF4WhiletheRSterminalisON,turntheSONterminalfromOFF→ONtostartmagneticpolepositionestimationoperation
oFF5StartsmagneticpolepositionestimationonlywhentheSONterminalisfirstswitchedfromOFFtoONafterpower-on.
Note1: Ifthisissetto"CnCt3"andaHallsensorisnotconnected,
anE39(positionsensorerror)alarmoccurs.
Note2: Ifthisissetto"oFF5"or"CnCt3",theRSconnectorisvalid
onlywhenclearedbyanalarm.
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Operation constant parameters2.
Parameter
No.Parameter name
Setting range
[Default value]Description
Fb-07 Torquelimitvalue1
0to
maximumtorque
(%)
[Dependsonmodel]
Setsthetorquelimitvalueforeachquadrant.Torquelimitvalues1,
2,3,and4correspondtothefirstquadrantthroughfourth
quadrant.Setanabsolutevalueforallquadrants.Movement
directionissameforFb-07toFb10.
Fb-08
Fb-09
Fb-07
Fb-10
Torque
Speed (CCW)
Secondquadrant First
quadrant
Thirdquadrant Fourth
quadrant
Fb-08 Torquelimitvalue2
Fb-09 Torquelimitvalue3
Fb-10 Torquelimitvalue4
Fb-11 Torquebiasvalue
0to±maximum
torque
(%)
[0]
Whensettingthetorquebiastoafixedvalue,specifyitwiththis
parameter.Inthiscase,FA-18mustbesetto"CnS".
Setthebiasvalueintheratiototheratedtorquedefinedas100%.
Fb-12Homingspeed1
(Fast)
RDV-X
1tomaximumspeed*1
(min-1)[60]
RDV-P
1to100
(mm/s)[20]
Setsthefastspeedtoperformreturn-to-origin.
Fb-13Homingspeed2
(Slow)
RDV-X1to999
(min-1)[6]
RDV-P1to20
(mm/s)[5]
Setstheslowspeedtoperformreturn-to-origin.
Fb-14Homingpositionoffset
value
H’8000000000000000
to
H’7FFFFFFFFFFFFFFF
(pulses)
[0]
Setstheoffsetpositiontoperformreturn-to-origin.Specifythisas
a64-bitpulseamount.
Fb-16Forwardpositionlimit
value*2
Setsthemovementrange(upperlimit)as64-bitsigneddata(pulse
amount).
Note: Inthefollowingcase,thesettingisinvalidandthemotor
operateswithnolimit.
Positionlimitvalue(+)(Fb-16)≤Positionlimitvalue(-)
(Fb-18)
Fb-18Reversepositionlimit
value*2
Setsthemovementrange(lowerlimit)as64-bitsigneddata(pulse
amount).
Note: Inthefollowingcase,thesettingisinvalidandthemotor
operateswithnolimit.
Positionlimitvalue(+)(Fb-16)≤Positionlimitvalue(-)(Fb-18)
Fb-20Forwardspeedlimit
value
0tomaximumspeed*1
RDV-X(min-1)
RDV-P(mm/s)
[Dependsonmodel]Setstheupperspeedlimit.
Fb-21Reversespeedlimit
value
-maximumspeedto0*1
RDV-X(min-1)
RDV-P(mm/s)
[Dependsonmodel]
Fb-22Zerospeeddetection
value
0.0to999.9
RDV-X(min-1)
RDV-P(mm/s)
[5.0]
Ifthespeeddetectionabsolutevalueiswithinthevalueofthis
setting,azerospeeddetectionsignalisoutput,andthespeedis
consideredtobezero.
Fb-23Positioningdetection
range
1to65535
(pulses)
[20]
Setsthethresholdvalueforpositiondeviation(differencebetween
positioncommandvalueandpositiondetectionvalue)usedto
determinewhetherpositioningiscomplete.
Fb-25Uptospeeddetection
range
0to100
RDV-X(min-1)
RDV-P(mm/s)
[10]
Setsthethresholdvalueforthespeeddeviation(difference
betweenspeedcommandvalueandspeeddetectionvalue)used
todeterminewhetherthespecifiedspeedisreached.
*1:Thisisthemaximumspeedoftherobot.Checktherobotspecifications.
*2:Thisparameterlimitstheoperationrangeofreturn-to-origin.
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Parameter
No.Parameter name
Setting range
[Default value]Description
Fb-31Accelerationtimefor
Homing
0.00to99.99(s)
[10.00]
Setstheacceleration/decelerationtimeforreturn-to-origin.
Theacceleration/decelerationtimeisthetimeduringwhichthe
speedchangesfromspeedzerotothemaximummotorspeed(or
thetimeduringwhichthespeedchangesfromthemaximumto
zero).Fb-32
Decelerationtimefor
Homing
0.00to99.99(s)
[10.00]
Fb-35 Homingbackdistance1to255
[Dependsonmodel]
Setsthedistancetherobotmovesbackfromthemechanicalend
afterdetectingitduringreturn-to-originoperationusingthestroke
endmethod.
Fb-36 Currentforstrikinglimit
40to100
(%)
[Dependsonmodel]
Setsthestroke-endcurrentthatisdetectedwhentherobotcomes
intocontactwithitsmechanicalendduringreturn-to-origin
operationusingthestrokeendmethod.
Fb-37 Timeforstrikinglimit
0.1to2.0
(s)
[0.2]
Setsthetimeduringwhichthemechanicalendisdetectedduring
return-to-originoperationusingthestrokeendmethod.
Fb-40
Polepositionestimation
speed
* ValidonlyforRDV-P.
-200to200
(mm/s)
[Dependsonmodel
Setsthespeedcommandvalueduringmagneticpoleposition
estimation.
Fb-41
Polepositionestimation
ACC/DECtime
* ValidonlyforRDV-P.
10to500
(ms)
[Dependsonmodel]
Setstheacceleration/decelerationtimeduringmagneticpole
positionestimation.
Fb-42
Polepositionestimation
waittime
* ValidonlyforRDV-P.
0to500
(ms)
[100]
Setsthetimeintervalduringmagneticpolepositionestimation.
Fb-43
Polepositionestimation
constant-speedtime
* ValidonlyforRDV-P.
0to500
(ms)
[Dependsonmodel]
Setstheconstant-speedtimeduringmagneticpoleposition
estimation.
Fb-44
Positionsensorwire
breakingdetection
current
* ValidonlyforRDV-P.
20to100
(%)
[Dependsonmodel]
Setthecurrenttobeappliedfordetectingthepositionsensorwire
breakage.
Ifthisparameterissetto100(%),thenthemotorratedcurrentwill
beapplied.
Fb-45
Speederrordetection
valueatpoleposition
estimation
* ValidonlyforRDV-P.
0tomaximumspeed
(mm/s)
[500]
Setthespeeddeviationerrordetectionvalueduringmagneticpole
positionestimation.
Ifthespeeddeviation(thedifferencebetweenthespeedcommand
valueandthespeeddetectionvalue)exceedsthissetting,aspeed
deviationerrorcausesanalarm.
Whensetto0,speeddeviationerrorsarenotdetected.
*1:Thisisthemaximumspeedoftherobot.Checktherobotspecifications.
*2:Thisparameterlimitstheoperationrangeofreturn-to-origin.
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Input/output terminal parameters3.
Parameter
No.Parameter name
Setting range
[Default value]Description
FC-01Inputterminalpolarity
setting
0000to03FF
[0020]
SetstheON/OFFlogicfortheinputterminals.(Usuallythelogicis
positivesothefunctionturnsonwhentheexternalcontactis
closed.)
Thelogicsettingforeachterminalisassignedtoeachbitofthe
parametertosetthelogicasfollows.
Bit setting Input terminal logic
0Positivelogic:Functionturnsonwhentheexternalcontactisclosed.
1Negativelogic:Functionturnsonwhentheexternalcontactisopened.
Thefollowingtablesshowinputterminalsandbitassignmentby
thisparameter.
bit 15 bit 14 bit 13 bit 12
Assignednot Assignednot Assignednot Assignednot
bit 11 bit 10 bit 9 bit 8
Assignednot Assignednot Assignednot CER
bit 7 bit 6 bit 5 bit 4
PEN ORG ORL ROT
bit 3 bit 2 bit 1 bit 0
FOT TL RS SON
FC-02Outputterminalpolarity
setting
0000to003F
[0002]
SetstheON/OFFlogicfortheoutputterminals.(Usuallythelogic
ispositivesothecontactoutputturnsonwhentheoutputfunction
isON.)
Thelogicsettingforeachterminalisassignedtoeachbitofthe
parametertosetthelogicasfollows.
Thefollowingtablesshowoutputterminalsandbitassignmentby
thisparameter.
Bit setting Output terminal logic
0Positivelogic:ThecontactoutputturnsonwhentheoutputfunctionisON.
1Negativelogic:ThecontactoutputturnsoffwhentheoutputfunctionisON.
bit 15 bit 14 bit 13 bit 12
Assignednot Assignednot Assignednot Assignednot
bit 11 bit 10 bit 9 bit 8
Assignednot Assignednot Assignednot Assignednot
bit 7 bit 6 bit 5 bit 4
Assignednot Assignednot Assignednot BK
bit 3 bit 2 bit 1 bit 0
ORG-S INP ALM SRD
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Parameter
No.Parameter name
Setting range
[Default value]Description
FC-09Positionsensormonitor
resolutionM
1to8192
[1]
SetsthedivisionratioM/Nofthepositionsensormonitoroutput
signal.Thissetting'sdescriptionchangesinrelationtothetypeof
positionsensor.A"Mismatcherror(E40)"occurswithoutoutputting
positionsensormonitorsignalsifinvalidcombinationsaresetas
listedinthefollowingtable.Thisparameterisenabledbyturning
poweroffandthenbackon.
Effective range Position sensor monitor division
radioInvalid combinationM N
FC-09 FC-10
1(Note2) 1to64 1/N FC-10=65to8192
2(Note2) 3to64 2/N FC-10=1,2,65to8192
1to8191 8192(Note1) M/8192FC-09=8192FC-10=1to8191
Note1: Thepositionsensormonitordivisionratioissetto
"M/8192"whenFC-10isnotequalto8192.Inallother
cases,thepositionsensormonitordivisionratioissetto
"1/N"or"2/N"accordingtoFC-09.
Note2: TheFLIP-Xseriesresolutionis16384pulsesper
revolutionofthemotor.(GF14XLandFG17XLare
excepted.)
TheresolutionoftheGF14XLandGF17XLis20480
pulsesperrevolutionofthemotor.
ThePHASERseriesresolutionis1pulsepermicrometer.
FC-10Positionsensormonitor
resolutionN
1to8192
RDV-X[4]
RDV-P[1]
FC-11Positionsensormonitor
polarity
A,b
[b]
Thisparameterspecifieswhichphaseofthepositionsensorsignal,
phaseAorphaseB,leadstheotherphasewhenthemotorruns
forward.Setthisparameterto"b".
Setting Phase relation
b PhaseBleadsphaseA.
Thisparameterisenabledbyturningpoweroffandthenbackon.
FC-30Monitoroutput1
functionnFb
tqr
nrF,
nEr
PEr
iFb
PFq
brd
PE4
PE3
PE2
Eth
Pn
tqFb
tLip
tLin
FC-30[nFb]
FC-33[tqr]
Specifywhatisoutputfromanalogoutputs1and2,asshownin
thetablebelow.The5.0Voutputvalueinthetablebelowisthe
valuewhentheanalogoutputgain1or2is100.0.
Setting Data item 3.0V output value
nFb Speeddetectionvalue Maximumspeed
tqr Torquecommandvalue Maximumtorque
nrF Speedcommandvalue Maximumspeed
nEr Speeddeviation Maximumspeed
PEr Positiondeviation Fivemotorrotations
iFb Currentvalue Maximumcurrent
PFq Commandpulsefrequency Maximumspeed
brdRegenerativebraking
resistordutyratioAlarmlevel
(FA-08)
PE4Positiondeviation
(expansion1)10000pulses
PE3Positiondeviation
(expansion2)1000pulses
PE2Positiondeviation
(expansion3)100pulses
Eth Electronicthermalsum Alarmlevel
PnMaincircuitvoltage
(PNvoltage)400V
tqFb Outputtorque Maximumtorque
tLip Positivetorquelimit Maximumtorque
tLin Negativetorquelimit Maximumtorque
Note: SettingsotherthannFb,brd,Eth,Pn,tLip,andtLinwill
output0(V)duringanalarmstate.However,nFbwillhave
anunpredictablevalueifpositionsensorerror(E39)occurs.
FC-33Monitoroutput2
function
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Parameter
No.Parameter name
Setting range
[Default value]Description
FC-31Monitoroutput1
polarity
SiGn,AbS
[SiGn]
Thisparameterspecifieswhethertooutputdatafrommonitor
outputs1and2inarangeof0to±5.0Vor0to5.0V.
Setting Description
SiGn 0to±5.0V(Note)
AbS 0to5.0V
Note: IfPFq,brd,Eth,orPnaresetforFC-30and33,outputwill
beonlypositive.
FC-34Monitoroutput2
polarity
FC-32 Monitoroutput1gain
0.0to3000.0
(%)
[100.0]
Usetheseparameterstosetthegainofmonitoroutputs1and2.
Whensetto100.0,thevoltageshowninthetableforFC-30and
FC-33isoutput.Thefollowinggraphshowstherelationbetween
gainandoutputvoltage(whenFC-30andFC-33aresetto"tqr").
100.0%
-5.0V
5.0V
0
0
50.0%
200.0%
Maximum value %
Minimumvalue %
Torque command value
Thedefaultvalueissetto100%for5.0Voutput.
FC-35 Monitoroutput2gain
FC-40 Monitoroutput1offset
0.00to±5.00
(V)
[0.00]
Theseparametersspecifytheoffsetforanalogoutputs1and2.If
setto0,nooffsetisapplied.Theoffsetandtheoutputvoltageare
relatedasshowninthefigurebelow(withthetqrsetting).
Example)Withthesettingsanalogoutput1functionselection
(FC-30)=tqr,andanalogoutput1offset=2.5[V]
-2.5V
-5.0V
2.5V
5.0V
0
0
Maximum torque/2 %
Maximum torque %Torque command value
Minimum torque %
Analog output 1
FC-41 Monitoroutput2offset
FC-67Digitaloperatordisplay
dataselection
0to100
[14]
Thed-**monitorofthespecifiedvalueisshownwhenthepoweris
turnedon.
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Control constant parameter4.
Parameter No.
Parameter nameSetting range
[Default value]Description
Fd-00
Loadmomentofinertiaratio
(RDV-X)
0to12700(%)
[Dependsonmodel]
Setstheload'smomentofinertiaratiorelativetothemotormomentofinertia.[Settingcalculationmethod]Loadmomentofinertia/motormomentofinertiax100Thisparametercanalsobesetautomaticallybyauto-tuning.
Loadmassratio(RDV-P)
Setstheload'smomentofinertiaratiorelativetothemovingportionofthelinearmotor.[Settingcalculationmethod]Massofthemovingpartoftheload/massofthemovingpartofthelinearmotorx100Thisparametercanalsobesetautomaticallybyauto-tuning.
Fd-01Speedcontrolcut-off
frequency
0.1to2500.0(Hz)
[Dependsonmodel]
SetstheresponsivenessofspeedPIcontrol.Increasingthisparameterwillincreasetheresponsivenessofspeedcontrol,butexcessivelyhighsettingswillmakevibrationmorelikely.Iftheloadmomentofinertiaratio(Fd-00)isnotsetcorrectly,thesettingunitofthisparameterwillbe[Hz].
Fd-02Speedcontrol
proportionalgain
0.01to300.00(%)
[Dependsonmodel]
SetthisparametertoadjusttheproportionalgainusedforspeedPIcontrol.Whensetto100%,theproportionalgainissettotheconstantspecifiedinFd-00andFd-01.(Proportionalgain)∝(Fd-00)×(Fd-01)×Fd-02/100
Fd-03Speedcontrolintegral
gain
0.01to300.00(%)
[Dependsonmodel]
SetthisparametertoadjusttheintegralgainusedforspeedPIcontrol.Whensetto100%,theintegralgainissettotheconstantspecifiedinFd-00andFd-01.(Integralgain)∝(Fd-00)×(Fd-01)2×Fd-03/100
Fd-04 P-controlgain0.1to99.9
(%)[Dependsonmodel]
SetthegainusedforspeedPcontrol.Setitbythetorque(ratedtorque)tobeoutputwhena1%speeddeviationisprovided.
Fd-06Torquecommandfiltertimeconstant
0.00to500.00(ms)
[Dependsonmodel]
Thisparametersetsthetimeconstantforthefirst-orderlagfiltertobeappliedtothetorquecommandvalue.Whenthisparameterissetto0.00,nofilteringisperformed.Theseparametersareusefulforpreventingvibrationoroscillation.
Fd-07Torquecommand
filter2timeconstant
Fd-08Torquecommand
filter3timeconstant
Fd-09Positioncontrolcut-off
frequency
0.01to500.00(Hz)
[Dependsonmodel]
Specifiesthecut-offfrequencyforthepositioncontrolloop.Increasingthisparameterwillincreasetheresponsivenessofpositioncontrol,butexcessivelyhighsettingswillmakevibrationmorelikely.Asageneralguidelinewhensettingthisparameter,itshouldbeapproximately1/6ofthespeedcontrolcut-offfrequency(Fd-01)whentheloadmomentofinertiaratio(Fd-00)issetcorrectly.
Fd-10Positionfeedforward
gain0.000to1.000
[Dependsonmodel]
Setstheratiousedtoperformfeed-forwardcompensationforthepositioncontrol.ncreasingthisparameterwillincreasethepositionfeedforwardgain,increasingtheresponsivenessofpositioncontrol;howeverexcessivelyhighsettingswillmakevibrationmorelikely,ormakeovershootmorelikelywhenthelinearmotorstops.
Fd-11Positioncommand
filter(SMA)timeconstant
0.0to10.0(ms)
[Dependsonmodel]
Whenthepositioncontrolinputvalueisstepinput,thepositioncommandsthatfollowthepositioncommandsmoothingfilterwillbesmoothedasshowninthefollowingfigure.
Before the position command smoothing filter
After the position command smoothing filter
Time [s]
Fd-11
Position command [pulse]
Position command input value
Note: Ifthisparameterischangedwhileinputtingpositioncommands,thepositioncommandoutputmaydrift.Youshouldchangethisparameterwhilepositioncommandinputisstopped.
Fd-15Speedcommandfilter
timeconstant
0.00to500.00(ms)
[Dependsonmodel]
Setsthetimeconstantforthefirst-orderlagfiltertoapplytothespeedcommandvalue.Whenthisparameterissetto0,nofilteringisperformed.Thisparameterisusefulforpreventingvibrationoroscillation.
Fd-17Speeddetectionfilter
timeconstant
0.00to500.00(ms)
[Dependsonmodel]
Setsthetimeconstantofthefirst-orderlagfilterthatisappliedtothespeeddetectionvalue.Ifthisissetto0.00,nofilteringisperformed.Thisparameterisusefulforpreventingvibrationoroscillation.
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Parameter No.
Parameter nameSetting range
[Default value]Description
Fd-20 Notchfilter1frequency3.0to1000.0
(Hz)[Dependsonmodel]
Setstheresonancefrequencyofnotchfilter1.
Fd-21 Notchfilter1bandwidth0to40
(dB)[Dependsonmodel]
Setstheattenuationratio(depth)ofnotchfilter1.Ifthisissetto0,notchfilter1isnotapplied.
Fd-22 Notchfilter1Qvalue0.50to4.00
[4.00]
SetstheQvalueofnotchfilter1.BychangingtheQvalueofthenotchfilteryoucanadjustthewidthofthefrequencybandinwhichthegainislowered.
Fd-23 Notchfilter2frequency3.0to1000.0
(Hz)[Dependsonmodel]
Setstheresonancefrequencyofnotchfilter2.
Fd-24 Notchfilter2bandwidth0to40
(dB)[Dependsonmodel]
Setstheattenuationratio(depth)ofnotchfilter2.Ifthisissetto0,notchfilter2isnotapplied.
Fd-25 Notchfilter2Qvalue0.50to4.00
[4.00]
SetstheQvalueofnotchfilter2.BychangingtheQvalueofthenotchfilteryoucanadjustthewidthofthefrequencybandinwhichthegainislowered.
Fd-26 Notchfilter3frequency3.0to1000.0
(Hz)[Dependsonmodel]
Setstheresonancefrequencyofnotchfilter3.
Fd-27 Notchfilter3bandwidth0to40
(dB)[Dependsonmodel]
Setstheattenuationratio(depth)ofnotchfilter3.Ifthisissetto0,notchfilter3isnotapplied.
Fd-28 Notchfilter3Qvalue0.50to4.00
[4.00]
SetstheQvalueofnotchfilter3.BychangingtheQvalueofthenotchfilteryoucanadjustthewidthofthefrequencybandinwhichthegainislowered.
Fd-30 Gainchangemode
nonGCHPErrPrEFPinPSFb
[Dependsonmodel]
Thecontrolgainisswitchedwhentheconditionofthissettingisfulfilled.Thegainthatisswitchedisasfollows.
Parametername 1stgain 2ndgain•Speedcut-offfrequency (Fd-01⇔Fd-34)•Positioncut-offfrequency (Fd-09⇔Fd-32)•SpeedPcontrolintegralgainadjustmentvalue (Fd-03⇔Fd-33)
Setting Description Gain switching conditions Gain
non Nogainswitching – 1stgain
GCH – – –
PErrGainswitchingbyposition
deviation
Positiondeviation>Fd-37 1stgain
Positiondeviation≤Fd-37 2ndgain
PrEF
Gainswitchingwhenpositioncommandinputis
OFFandpositioncommanddeviation=0
Positioncommanddeviation≠0orpositioncommandisbeinginput
1stgain
Positioncommanddeviation=0andpositioncommandinputisstopped
2ndgain
PinPGainswitchedbyINP
terminal
INPterminal=OFF 1stgain
INPterminal=ON 2ndgain
SFbGainswitchedbyspeed
detectedvalue
Speeddetectedvalue>Fd-38 1stgain
Speeddetectedvalue≤Fd-38 2ndgain
Fd-38=0 2ndgain
Note:Donotsetthisparameterto"GCH".
Fd-32Secondpositioncontrol
cut-offfrequency
0.01to500.00(Hz)
[Dependsonmodel]
Setsthesecondpositioncontrolcut-offfrequencywhenusinggainswitching.
Fd-33SecondSpeedcontrol
integralgain
0.00to300.00(%)
[Dependsonmodel]
SetsthesecondspeedPIcontrolintegralgainadjustmentvaluewhenusinggainswitching.
Fd-34SecondSpeedcontrol
cut-offfrequency
0.1to2500.0(Hz)
[Dependsonmodel]
Setsthesecondspeedcontrolcut-offfrequencywhenusinggainswitching.
Fd-35Speedgainchange
timeconstant
0.0to500.0(ms)
[Dependsonmodel]
Setsthegainswitchingtimewhenswitchingthegaininspeedcontrolmode.Ifthisissetto0.0,thegainswitchesinstantly.
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Parameter No.
Parameter nameSetting range
[Default value]Description
Fd-36Positioncommandfilter
timeconstant
0.00to500.00(ms)
[Dependsonmodel]
Setsthetimeconstantforthefirst-orderlagfiltertoapplytoapositioncommandvalue.Whenthisparameterissetto0,nofilteringisperformed.Ifthepositioncommandinputvalueisstepinput,thepositioncommandsfollowingpositioncommandfilteringaresmoothedasshowninthefigurebelow.
Before position command filter
After position command filter
Time [s]
Fd-36
63.2%
Position command [pulse]
Position command input value
Alwayssetto0whenperforming-one-waycontinuousoperationorone-waysynchronousconveyoroperationinpositioncontrolmode.Ifnotsetto0,apositionerrorfault(E83)willoccur.
Fd-37Positionerrorwidthfor
gainchange
0to65535(pulses)
[Dependsonmodel]
Whengainchangemode(Fd-30)=PErr,andthepositiondeviationbecomeslargerthanthevaluespecifiedhere,thegainischangedto1stgain.Ifgainchangemode(Fd-30)=PErr,andthisparameterissetto0,thegainisfixedat2ndgain.
Fd-38Speedlevelforgain
change
0tomaximumspeed*1RDV-X(min-1)RDV-P(mm/s)
[Dependsonmodel]
Whengainchangemode(Fd-30)=SFb,andthedetectedspeedabsolutevaluebecomeslargerthanthevaluespecifiedhere,thegainischangedto1stgain.Ifthisparameterissetto0,thegainisfixedat2ndgain.
Fd-39Positiongainchange
timeconstant
0.0to500.0(ms)
[Dependsonmodel]
Setsthegainswitchingtimeconstantforswitchinggaininpositioncontrolmode.Ifthisissetto0.0,switchingoccursinstantly.
Fd-40 Fastpositioningmode
nonFAStFoL
[Dependsonmodel]
Setsthefastpositioningmodetoperformfastpositioninginpositioncontrolmode.Whensettingthisparameterto"FASt"or"FoL",settheMomentofinertia(Fd-00)correctly.
Setting Description
non Performsnormalpositioncontrol
FASt Shortensthepositioningsettlingtime.
FoL Performsminimumpositiondeviationcontrol.
Fd-41Positionfeedforward
filtertimeconstant
0.00to500.00(ms)
[Dependsonmodel]
Setsthetimeconstantforthefirst-orderlagfilterusedforpositionfeedforwardcompensationinpositioncontrol.Whenthisparameterissetto0,nofilteringisperformed.
Fd-42 Positionerrorfiltergain0to100
(%)[Dependsonmodel]
Usethisparametertoadjusttheamountofpositiondeviationwhichmayoccurduring"minimumpositiondeviationcontrol"inpositioncontrolmode.Fordetails,refertoChapter5,"15.Fastpositioningfunction".
Fd-50Compensatingtorqueforfrictionofforward
rotation
-100to100(%)
[Dependsonmodel]
Setsthefrictioncompensationtorquethatcompensatesforfrictionwhenthespeeddetectionvalueisinthepositiverotationdirectionandisgreaterthanthe"Uptospeeddetection"range(Fb-25).Ifthisissetto0,compensatingtorqueisnotapplied.
Fd-51Compensatingtorqueforfrictionofreverse
rotation
-100to100(%)
[Dependsonmodel]
Setsthefrictioncompensationtorquethatcompensatesforfrictionwhenthespeeddetectionvalueisinthenegativerotationdirectionandisgreaterthanthe"Uptospeeddetection"range(Fb-25).Ifthisissetto0,compensatingtorqueisnotapplied.
Fd-65Disturbancetorque
observergain10.00to1.00
[Dependsonmodel]
Thisreducestheinfluenceofdisturbancetorquebyestimatingthedisturbancetorqueappliedtothemotorshaft,andaddingthereversephaseofthattorquetothetorquecommandvalue.Increasinggain1willreducetheinfluenceofdisturbancetorque,butbeawarethatdependingonthemodelthatisbeingdriven,oscillationmayoccurifthevalueofthissettingisraised.
Fd-66Disturbancetorque
observergain20.00to1.00
[Dependsonmodel]
Thisreducestheinfluenceofdisturbancetorquebyestimatingthedisturbancetorqueappliedtothemotorshaft,andaddingthereversephaseofthattorquetothetorquecommandvalue.Increasinggain2willreducetheinfluenceofdisturbancetorque,butbeawarethatdependingonthemodelthatisbeingdriven,oscillationmayoccurifthevalueofthissettingisraised.
Note1: Disturbancetorqueobservergain2becomesvalidifdisturbancetorqueobservergain1isotherthan0.
Fd-67Disturbancetorque
observerfilterfrequencyconstant
0.0to500.0(Hz)
[Dependsonmodel]Setsthedisturbancetorqueobserverfiltercut-offfrequency.
*1:Thisisthemaximumspeedoftherobot.Checktherobotspecifications.
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Extended control constant parameters5.
Parameter
No.Parameter name
Setting range
[Default value]Description
FG-10Speedfeedforward
gain
0.000to1.000
(Hz)
[Dependsonmodel]
SetstheratioforapplyingspeedcontrolFF(feedforward)
compensation.IncreasingthisparameterincreasesthespeedFF
gain,improvingtheresponseofspeedcontrol.However,excessively
highsettingswillmakevibrationmorelikely,ormakeovershootmore
likelywhenthemotorstops.
FG-11Speedfeedforward
filtertimeconstant
0.00to500.00
(ms)
[Dependsonmodel]
Setsthetimeconstantforthefirst-orderlagfilterusedforspeedFF
gain(FG-10).Ifthisparameterissetto0.00,nofilteringisapplied.
FG-46
Loadmomentofinertia
ratioforpoleposition
estimation
* ValidonlyforRDV-P.
0to12700
(%)
[Dependsonmodel]
Setsthemassratioofthemovingportionoftheloadrelativetothe
movingportionofthelinearmotorwhenperformingmagneticpole
positionestimation.
[Calculatingthevalue]
Massofmovingportionoftheload/massofmovingportionofthe
linearmotorx100
FG-47
speedcontrolcut-off
frequencyforpole
positionestimation
* ValidonlyforRDV-P.
1.0to500.0
(Hz)
[Dependsonmodel]
Setsthespeedcontrolcut-offfrequencywhenperformingmagnetic
polepositionestimation.
FG-48
Speedgainchange
timeconstantforpole
positionestimation
* ValidonlyforRDV-P.
0.0to500.0
(ms)
[Dependsonmodel]
Setsthetimeconstantofthefirst-orderlagfiltertoreduceswitching
shockduringcontrolgainswitchingafterthemagneticpoleposition
estimationiscompleted.Ifthisissetto0.0,switchingoccurs
instantly.
FG-61
Filtercircuitselection
(Positioncommand
pulse)
FL1toFL18
[LF8]
Setsthedigitalfilterthatisappliedtopositioncommandpulseinput.
Thefollowingtableshowsthefilterfrequencyforeachsettingitem.(Note1)
Setting TYPEFrequency
[MHz]Setting TYPE
Frequency [MHz]
FL1 A 13.3 FL10 B 2.5
FL2 A 6.6 FL11 B 1.6
FL3 A 3.3 FL12 B 1.25
FL4 A 1.6 FL13 B 0.833
FL5 B 13.3 FL14 B 0.625
FL6 B 10.0 FL15 B 0.416
FL7 B 5.0 FL16 B 0.312
FL8 B 6.6 FL17 B 0.208
FL9 B 3.3 FL18 B 0.156
Note1: NormallyyouwillselectFL5toFL18(first-orderlagfilter)
accordingtothefrequencyofthepositioncommandpulse
input.Dependingonthesituation,youmayselectFL1to
FL4.
FG-62Filtercircuitselection
(Encoderpulse)
FL1toFL14
[FL2]
Setsthedigitalfilterthatisappliedtopositionsensorpulses.The
filterfrequencyforeachsettingitemisthesameasshowninthe
tableforfiltercircuitselection(positioncommandpulse)(FG-61).
FG-63Filtercircuitselection
(Currentdetection)
FL1
FL2
FL3
[FL2]
Setsthedigitalfilterthatisappliedtocurrentdetection.Thefilter
frequencyforeachsettingitemisshownbelow.
Setting Frequency [MHz]
FL1 40
FL2 20
FL3 13.3
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Reference graph for setting the acceleration and position control 3.3 cut-off frequency
For your reference, the following graphs show payload, acceleration, and position control cut-off frequency (Fd-09), plotted when the load moment of inertia ratio or load mass ratio (Fd-00), speed control cut-off frequency (Fd-01), speed control integral gain (Fd-03), and motor moving part mass (Fr-15) parameters are set to the specified values for each robot model. By referring to these graphs, set the position control cut-off frequency (Fd-09) and acceleration that match the required payload.
How to read graph
Example: T9-20
Model T9-20
Maximum payload [kg] 30.0 [kg]
Fd-00 Load moment of inertia ratio 149 [%]Fd-01 Speed control cut-off frequency 80.0 [Hz]Fd-03 Speed control integral gain 60.0 [%]Fr-15 Motor moving part mass 0.16 [×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.90
1.00
0.0 5.0 10.0 15.0 20.0 25.0 30.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.87 6.5
5.0 0.67 5.5
10.0 0.51 5.5
15.0 0.41 5.5
20.0 0.36 5.5
25.0 0.25 5.5
30.0 0.20 5.5
0.46[G]0.44[G]
5.5[Hz]5.5[Hz]
The above table showsexamples for setting accel-erations and position controlcut-off frequencies (Fd-09)that match different payloads. If the requiredpayload is not listed in thistable, refer to the graph onthe right.
Example: If a payload of 13kg is required, then the acceleration is 0.44 [G] and the position control cut-off frequency (Fd-09) is 5.5 [Hz].
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RDV-X3.3.1
Model T4H-2 (C4H-2)
Maximumpayload[kg] 6.0[kg]
Fd-00Loadmomentofinertiaratio 21[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.024[×10-4kg•m2]
0.00
0.02
0.04
0.06
0.08
0.10
0.12
0.0 1.0 2.0 3.0 4.0 5.0 6.00.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.10 12.0
2.0 0.10 8.5
4.0 0.10 6.5
6.0 0.10 4.5
Model T4H-2-BK (C4H-2-BK)
Maximumpayload[kg] 7.2[kg]
Fd-00Loadmomentofinertiaratio 104[%]Fd-01Speedcontrolcut-offfrequency 70.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.024[×10-4kg•m2]
0.00
0.01
0.02
0.03
0.04
0.05
0.06
0.07
0.08
0.0 1.0 2.0 3.0 4.0 5.0 6.0 7.00.0
2.0
4.0
6.0
8.0
10.0
12.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.07 10.0
2.0 0.07 8.5
4.0 0.07 7.0
6.0 0.07 6.0
7.2 0.05 5.0
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Model T4H-6 (C4H-6)
Maximumpayload[kg] 6.0[kg]
Fd-00Loadmomentofinertiaratio 83[%]Fd-01Speedcontrolcut-offfrequency 80.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.024[×10-4kg•m2]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.0 1.0 2.0 3.0 4.0 5.0 6.00.0
2.0
4.0
6.0
8.0
10.0
12.0
Payload[kg]
Acc
eler
atio
n[G
]
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.31 10.5
2.0 0.31 8.5
4.0 0.21 6.0
6.0 0.21 5.0
Model T4H-6-BK (C4H-6-BK)
Maximumpayload[kg] 2.4[kg]
Fd-00Loadmomentofinertiaratio 83[%]Fd-01Speedcontrolcut-offfrequency 55.0[Hz]Fd-03Speedcontrolintegralgain 60.0[%]Fr-15Motormovingpartmass 0.024[×10-4kg•m2]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.0 0.5 1.0 1.5 2.0
Payload[kg]
Acc
eler
atio
n[G
]
0.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.31 6.1
1.0 0.31 5.4
2.0 0.31 4.8
2.4 0.31 4.4
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Model T4H-12 (C4H-12)
Maximumpayload[kg] 4.5[kg]
Fd-00Loadmomentofinertiaratio 58[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 65.0[%]Fr-15Motormovingpartmass 0.024[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.0 1.0 2.0 3.0 4.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.61 9.2
1.0 0.61 6.4
2.0 0.43 5.0
3.0 0.43 5.0
4.5 0.31 5.0
Model T4H-12-BK (C4H-12-BK)
Maximumpayload[kg] 1.2[kg]
Fd-00Loadmomentofinertiaratio 83[%]Fd-01Speedcontrolcut-offfrequency 80.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.024[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.0 0.2 0.4 0.6 0.8 1.0 1.20.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.61 6.0
1.2 0.61 6.0
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Model T4LH-2 (C4LH-2)
Maximumpayload[kg] 6.0[kg]
Fd-00Loadmomentofinertiaratio 21[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.024[×10-4kg•m2]
Payload[kg]
Acc
eler
atio
n[G
]
Fd-
09[H
z]
0.00
0.02
0.04
0.06
0.08
0.10
0.12
0 1 2 3 4 5 60.0
2.0
4.0
6.0
8.0
10.0
12.0
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.10 10.0
2.0 0.10 8.0
4.0 0.10 5.0
6.0 0.10 4.5
Model T4LH-2-BK (C4LH-2-BK)
Maximumpayload[kg] 7.2[kg]
Fd-00Loadmomentofinertiaratio 104[%]Fd-01Speedcontrolcut-offfrequency 70.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.024[×10-4kg•m2]
Payload[kg]
Acc
eler
atio
n[G
]
Fd-
09[H
z]
0.00
0.01
0.02
0.03
0.04
0.05
0.06
0.07
0.08
0 1 2 3 4 5 6 7 80.0
1.0
2.0
3.0
4.0
5.0
6.0
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.07 5.0
2.0 0.07 5.0
4.0 0.07 5.0
6.0 0.07 5.0
7.2 0.05 5.0
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Model T4LH-6 (C4LH-6)
Maximumpayload[kg] 6.0[kg]
Fd-00Loadmomentofinertiaratio 83[%]Fd-01Speedcontrolcut-offfrequency 80.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.024[×10-4kg•m2]
Payload[kg]
Acc
eler
atio
n[G
]
Fd-
09[H
z]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0 1 2 3 4 5 60.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.31 7.5
2.0 0.31 7.5
4.0 0.21 5.0
6.0 0.21 5.0
Model T4LH-6-BK (C4LH-6-BK)
Maximumpayload[kg] 2.4[kg]
Fd-00Loadmomentofinertiaratio 83[%]Fd-01Speedcontrolcut-offfrequency 55.0[Hz]Fd-03Speedcontrolintegralgain 60.0[%]Fr-15Motormovingpartmass 0.024[×10-4kg•m2]
Payload[kg]
Acc
eler
atio
n[G
]
Fd-
09[H
z]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0 0.5 1 1.5 2 2.5 30.0
2.0
4.0
6.0
8.0
10.0
12.0
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.31 10.0
1.0 0.31 10.0
2.0 0.31 10.0
2.4 0.31 10.0
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Model T4LH-12 (C4LH-12)
Maximumpayload[kg] 4.0[kg]
Fd-00Loadmomentofinertiaratio 58[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 65.0[%]Fr-15Motormovingpartmass 0.024[×10-4kg•m2]
Payload[kg]
Acc
eler
atio
n[G
]
Fd-
09[H
z]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0 0.5 1 1.5 2 2.5 3 3.5 40.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.61 12.0
1.0 0.61 7.5
2.0 0.43 5.8
3.0 0.43 5.0
4.5 0.31 5.0
Model T4LH-12-BK (C4LH-12-BK)
Maximumpayload[kg] 1.0[kg]
Fd-00Loadmomentofinertiaratio 83[%]Fd-01Speedcontrolcut-offfrequency 80.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.024[×10-4kg•m2]
Payload[kg]
Acc
eler
atio
n[G
]
Fd-
09[H
z]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0 0.2 0.4 0.6 0.8 10.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.61 6.0
1.2 0.61 6.0
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Model T5H-6 (C5H-6)
Maximumpayload[kg] 9.0[kg]
Fd-00Loadmomentofinertiaratio 174[%]Fd-01Speedcontrolcut-offfrequency 85.0[Hz]Fd-03Speedcontrolintegralgain 70.0[%]Fr-15Motormovingpartmass 0.023[×10-4kg•m2]
0.00
0.05
0.10
0.15
0.20
0.25
0.0 2.0 4.0 6.0 8.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.21 8.0
1.0 0.20 8.0
3.0 0.17 8.0
5.0 0.14 8.0
7.0 0.12 8.0
9.0 0.10 8.0
Model T5H-6-BK (C5H-6-BK)
Maximumpayload[kg] 2.4[kg]
Fd-00Loadmomentofinertiaratio 222[%]Fd-01Speedcontrolcut-offfrequency 80.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.023[×10-4kg•m2]
0.00
0.05
0.10
0.15
0.20
0.25
0.0 0.5 1.0 1.5 2.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.21 8.0
1.0 0.21 8.0
2.0 0.18 8.0
2.4 0.14 8.0
6
Para
me
ter d
esc
riptio
n
6-32
Model T5H-12 (C5H-12)
Maximumpayload[kg] 5.0[kg]
Fd-00Loadmomentofinertiaratio 191[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.023[×10-4kg•m2]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.40
0.45
0.50
0.0 1.0 2.0 3.0 4.0 5.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.43 6.0
1.0 0.40 5.1
3.0 0.26 4.5
5.0 0.21 4.5
Model T5H-12-BK (C5H-12-BK)
Maximumpayload[kg] 1.2[kg]
Fd-00Loadmomentofinertiaratio 278[%]Fd-01Speedcontrolcut-offfrequency 80.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.023[×10-4kg•m2]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.40
0.0 0.2 0.4 0.6 0.8 1.0 1.20.0
2.0
4.0
6.0
8.0
10.0
12.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.37 10.0
1.2 0.24 10.0
6
Para
me
ter d
esc
riptio
n
6-33
Model T5H-20
Maximumpayload[kg] 3.0[kg]
Fd-00Loadmomentofinertiaratio 335[%]Fd-01Speedcontrolcut-offfrequency 70.0[Hz]Fd-03Speedcontrolintegralgain 60.0[%]Fr-15Motormovingpartmass 0.023[×10-4kg•m2]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.0 0.5 1.0 1.5 2.0 2.5 3.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.32 6.0
1.0 0.32 6.0
2.0 0.24 6.0
3.0 0.19 6.0
Model T5LH-6 (C5LH-6)
Maximumpayload[kg] 9.0[kg]
Fd-00Loadmomentofinertiaratio 174[%]Fd-01Speedcontrolcut-offfrequency 85.0[Hz]Fd-03Speedcontrolintegralgain 70.0[%]Fr-15Motormovingpartmass 0.023[×10-4kg•m2]
Payload[kg]
Acc
eler
atio
n[G
]
Fd-
09[H
z]
0.00
0.05
0.10
0.15
0.20
0.25
0 1 2 3 4 5 6 7 8 90.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.21 8.0
1.0 0.20 8.0
3.0 0.17 8.0
5.0 0.14 8.0
7.0 0.12 8.0
9.0 0.10 8.0
6
Para
me
ter d
esc
riptio
n
6-34
Model T5LH-6-BK (C5LH-6-BK)
Maximumpayload[kg] 2.4[kg]
Fd-00Loadmomentofinertiaratio 222[%]Fd-01Speedcontrolcut-offfrequency 80.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.023[×10-4kg•m2]
Payload[kg]
Acc
eler
atio
n[G
]
Fd-
09[H
z]
0.00
0.05
0.10
0.15
0.20
0.25
0 0.5 1 1.5 2 2.58.2
8.4
8.6
8.8
9.0
9.2
9.4
9.6Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.21 9.5
1.0 0.21 9.0
2.0 0.18 8.3
2.4 0.14 8.3
Model T5LH-12 (C5LH-12)
Maximumpayload[kg] 5.0[kg]
Fd-00Loadmomentofinertiaratio 191[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.023[×10-4kg•m2]
Payload[kg]
Acc
eler
atio
n[G
]
Fd-
09[H
z]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.40
0.45
0.50
0 1 2 3 4 50.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.43 7,5
1.0 0.40 7.2
3.0 0.26 6.0
5.0 0.21 6.0
6
Para
me
ter d
esc
riptio
n
6-35
Model T5LH-12-BK (C5LH-12-BK)
Maximumpayload[kg] 1.0[kg]
Fd-00Loadmomentofinertiaratio 278[%]Fd-01Speedcontrolcut-offfrequency 80.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.023[×10-4kg•m2]
Payload[kg]
Acc
eler
atio
n[G
]
Fd-
09[H
z]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.40
0 0.2 0.4 0.6 0.8 1 1.20.0
2.0
4.0
6.0
8.0
10.0
12.0
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.37 10.0
1.2 0.24 10.0
Model T5LH-20 (C5LH-20)
Maximumpayload[kg] 3.0[kg]
Fd-00Loadmomentofinertiaratio 335[%]Fd-01Speedcontrolcut-offfrequency 70.0[Hz]Fd-03Speedcontrolintegralgain 60.0[%]Fr-15Motormovingpartmass 0.023[×10-4kg•m2]
Payload[kg]
Acc
eler
atio
n[G
]
Fd-
09[H
z]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0 0.5 1 1.5 2 2.5 30.0
2.0
4.0
6.0
8.0
10.0
12.0
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.32 10.0
1.0 0.32 6.0
2.0 0.24 5.0
3.0 0.19 5.0
6
Para
me
ter d
esc
riptio
n
6-36
Model T6-6 (C6-6)
Maximumpayload[kg] 30.0[kg]
Fd-00Loadmomentofinertiaratio 67[%]Fd-01Speedcontrolcut-offfrequency 120.0[Hz]Fd-03Speedcontrolintegralgain 65.0[%]Fr-15Motormovingpartmass 0.055[×10-4kg•m2]
0.00
0.05
0.10
0.15
0.20
0.25
0.0 5.0 10.0 15.0 20.0 25.0 30.00.0
2.0
4.0
6.0
8.0
10.0
12.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.23 10.0
5.0 0.20 8.3
10.0 0.17 7.1
15.0 0.14 6.2
20.0 0.13 6.0
25.0 0.11 6.0
30.0 0.10 6.0
Model T6-6-BK (C6-6-BK)
Maximumpayload[kg] 8.0[kg]
Fd-00Loadmomentofinertiaratio 67[%]Fd-01Speedcontrolcut-offfrequency 120.0[Hz]Fd-03Speedcontrolintegralgain 65.0[%]Fr-15Motormovingpartmass 0.055[×10-4kg•m2]
0.00
0.05
0.10
0.15
0.20
0.25
0.0 1.0 2.0 3.0 4.0 5.0 6.0 7.0 8.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.20 7.5
2.0 0.19 7.0
4.0 0.18 6.6
6.0 0.16 6.1
8.0 0.14 6.0
6
Para
me
ter d
esc
riptio
n
6-37
Model T6-12 (C6-12)
Maximumpayload[kg] 12.0[kg]
Fd-00Loadmomentofinertiaratio 100[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 65.0[%]Fr-15Motormovingpartmass 0.055[×10-4kg•m2]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.40
0.45
0.50
0.0 2.0 4.0 6.0 8.0 10.0 12.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.46 8.3
2.0 0.40 6.5
4.0 0.34 5.4
6.0 0.30 5.0
8.0 0.26 5.0
10.0 0.23 5.0
12.0 0.18 5.0
Model T6-12-BK (C6-12-BK)
Maximumpayload[kg] 4.0[kg]
Fd-00Loadmomentofinertiaratio 100[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 65.0[%]Fr-15Motormovingpartmass 0.055[×10-4kg•m2]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.40
0.45
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.40 6.6
1.0 0.40 5.8
2.0 0.37 5.2
3.0 0.34 5.0
4.0 0.31 5.0
6
Para
me
ter d
esc
riptio
n
6-38
Model T6-20
Maximumpayload[kg] 10.0[kg]
Fd-00Loadmomentofinertiaratio 100[%]Fd-01Speedcontrolcut-offfrequency 120.0[Hz]Fd-03Speedcontrolintegralgain 45.0[%]Fr-15Motormovingpartmass 0.055[×10-4kg•m2]
0.00
0.20
0.40
0.60
0.80
1.00
1.20
0.0 2.0 4.0 6.0 8.0 10.04.4
4.5
4.6
4.7
4.8
4.9
5.0
5.1
5.2
5.3
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 1.05 5.2
3.0 0.94 4.5
5.0 0.84 4.5
7.0 0.79 4.5
10.0 0.68 4.5
Model T6L-6 (C6L-6)
Maximumpayload[kg] 30.0[kg]
Fd-00Loadmomentofinertiaratio 67[%]Fd-01Speedcontrolcut-offfrequency 120.0[Hz]Fd-03Speedcontrolintegralgain 65.0[%]Fr-15Motormovingpartmass 0.055[×10-4kg•m2]
Payload[kg]
Acc
eler
atio
n[G
]
Fd-
09[H
z]
0.00
0.05
0.10
0.15
0.20
0.25
0 5 10 15 20 25 300.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.23 6.0
5.0 0.20 6.0
10.0 0.17 6.0
15.0 0.14 6.0
20.0 0.13 6.0
25.0 0.11 6.0
30.0 0.10 6.0
6
Para
me
ter d
esc
riptio
n
6-39
Model T6L-6-BK (C6L-6-BK)
Maximumpayload[kg] 8.0[kg]
Fd-00Loadmomentofinertiaratio 67[%]Fd-01Speedcontrolcut-offfrequency 120.0[Hz]Fd-03Speedcontrolintegralgain 65.0[%]Fr-15Motormovingpartmass 0.055[×10-4kg•m2]
Payload[kg]
Acc
eler
atio
n[G
]
Fd-
09[H
z]
0.00
0.05
0.10
0.15
0.20
0.25
0 1 2 3 4 5 6 7 80.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.20 6.0
2.0 0.19 6.0
4.0 0.18 6.0
6.0 0.16 6.0
8.0 0.14 6.0
Model T6L-12 (C6L-12)
Maximumpayload[kg] 12.0[kg]
Fd-00Loadmomentofinertiaratio 100[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 65.0[%]Fr-15Motormovingpartmass 0.055[×10-4kg•m2]
Payload[kg]
Acc
eler
atio
n[G
]
Fd-
09[H
z]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.40
0.45
0.50
0 2 4 6 8 10 120.0
1.0
2.0
3.0
4.0
5.0
6.0
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.46 5.0
2.0 0.40 5.0
4.0 0.34 5.0
6.0 0.30 5.0
8.0 0.26 5.0
10.0 0.23 5.0
12.0 0.18 5.0
6
Para
me
ter d
esc
riptio
n
6-40
Model T6L-12-BK (C6L-12-BK)
Maximumpayload[kg] 4.0[kg]
Fd-00Loadmomentofinertiaratio 100[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 65.0[%]Fr-15Motormovingpartmass 0.055[×10-4kg•m2]
Payload[kg]
Acc
eler
atio
n[G
]
Fd-
09[H
z]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.40
0.45
0 0.5 1 1.5 2 2.5 3 3.5 40.0
1.0
2.0
3.0
4.0
5.0
6.0
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.40 5.0
1.0 0.40 5.0
2.0 0.37 5.0
3.0 0.34 5.0
4.0 0.31 5.0
Model T6L-20 (C6L-20)
Maximumpayload[kg] 10.0[kg]
Fd-00Loadmomentofinertiaratio 100[%]Fd-01Speedcontrolcut-offfrequency 120.0[Hz]Fd-03Speedcontrolintegralgain 45.0[%]Fr-15Motormovingpartmass 0.055[×10-4kg•m2]
Payload[kg]
Acc
eler
atio
n[G
]
Fd-
09[H
z]
0.00
0.20
0.40
0.60
0.80
1.00
1.20
0 2 4 6 8 100.0
1.0
2.0
3.0
4.0
5.0
6.0
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 1.05 5.0
3.0 0.94 5.0
5.0 0.84 5.0
7.0 0.79 5.0
10.0 0.68 5.0
6
Para
me
ter d
esc
riptio
n
6-41
Model T7-12
Maximumpayload[kg] 8.0[kg]
Fd-00Loadmomentofinertiaratio 127[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 65.0[%]Fr-15Motormovingpartmass 0.055[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.0 1.0 2.0 3.0 4.0 5.0 6.0 7.0 8.00.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.55 11.6
2.0 0.49 8.8
4.0 0.43 7.0
6.0 0.37 5.9
8.0 0.31 5.0
Model T7-12-BK
Maximumpayload[kg] 3.0[kg]
Fd-00Loadmomentofinertiaratio 144[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 65.0[%]Fr-15Motormovingpartmass 0.055[×10-4kg•m2]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.40
0.45
0.50
0.0 0.5 1.0 1.5 2.0 2.5 3.00.0
2.0
4.0
6.0
8.0
10.0
12.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.43 10.4
1.0 0.40 8.9
2.0 0.37 7.7
3.0 0.34 6.9
6
Para
me
ter d
esc
riptio
n
6-42
Model T9-5
Maximumpayload[kg] 80.0[kg]
Fd-00Loadmomentofinertiaratio 76[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 60.0[%]Fr-15Motormovingpartmass 0.16[×10-4kg•m2]
0.00
0.02
0.04
0.06
0.08
0.10
0.12
0.14
0.16
0.18
0.0 10.0 20.0 30.0 40.0 50.0 60.0 70.0 80.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.17 8.4
20.0 0.14 7.1
40.0 0.12 6.1
60.0 0.09 6.0
80.0 0.08 6.0
Model T9-5-BK
Maximumpayload[kg] 20.0[kg]
Fd-00Loadmomentofinertiaratio 76[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 60.0[%]Fr-15Motormovingpartmass 0.16[×10-4kg•m2]
0.00
0.02
0.04
0.06
0.08
0.10
0.12
0.14
0.16
0.18
0.0 5.0 10.0 15.0 20.05.9
6.0
6.1
6.2
6.3
6.4
6.5
6.6
6.7
6.8
6.9
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.17 6.8
5.0 0.15 6.5
10.0 0.14 6.3
15.0 0.13 6.0
20.0 0.11 6.0
6
Para
me
ter d
esc
riptio
n
6-43
Model T9-10
Maximumpayload[kg] 55.0[kg]
Fd-00Loadmomentofinertiaratio 90[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 60.0[%]Fr-15Motormovingpartmass 0.16[×10-4kg•m2]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.40
0.45
0.50
0.0 10.0 20.0 30.0 40.0 50.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.46 8.3
10.0 0.39 6.1
20.0 0.33 6.0
30.0 0.28 6.0
40.0 0.22 6.0
55.0 0.16 6.0
Model T9-10-BK
Maximumpayload[kg] 10.0[kg]
Fd-00Loadmomentofinertiaratio 90[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 60.0[%]Fr-15Motormovingpartmass 0.16[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.0 2.0 4.0 6.0 8.0 10.05.9
6.0
6.1
6.2
6.3
6.4
6.5
6.6
6.7
6.8
6.9
7.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.49 6.9
2.0 0.45 6.4
4.0 0.41 6.0
6.0 0.37 6.0
8.0 0.33 6.0
10.0 0.29 6.0
6
Para
me
ter d
esc
riptio
n
6-44
Model T9-20
Maximumpayload[kg] 30.0[kg]
Fd-00Loadmomentofinertiaratio 149[%]Fd-01Speedcontrolcut-offfrequency 80.0[Hz]Fd-03Speedcontrolintegralgain 60.0[%]Fr-15Motormovingpartmass 0.16[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.90
1.00
0.0 5.0 10.0 15.0 20.0 25.0 30.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.87 6.5
5.0 0.67 5.5
10.0 0.51 5.5
15.0 0.41 5.5
20.0 0.36 5.5
25.0 0.25 5.5
30.0 0.20 5.5
Model T9-20-BK
Maximumpayload[kg] 4.0[kg]
Fd-00Loadmomentofinertiaratio 149[%]Fd-01Speedcontrolcut-offfrequency 80.0[Hz]Fd-03Speedcontrolintegralgain 70.0[%]Fr-15Motormovingpartmass 0.16[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.90
1.00
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.87 7.0
1.0 0.75 7.0
2.0 0.65 7.0
3.0 0.56 7.0
4.0 0.50 7.0
6
Para
me
ter d
esc
riptio
n
6-45
Model T9-30
Maximumpayload[kg] 15.0[kg]
Fd-00Loadmomentofinertiaratio 213[%]Fd-01Speedcontrolcut-offfrequency 90.0[Hz]Fd-03Speedcontrolintegralgain 90.0[%]Fr-15Motormovingpartmass 0.16[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.90
0.0 2.0 4.0 6.0 8.0 10.0 12.0 14.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.81 5.9
3.0 0.81 4.0
6.0 0.68 4.0
9.0 0.50 4.0
12.0 0.40 4.0
15.0 0.34 4.0
Model T9H-5
Maximumpayload[kg] 100.0[kg]
Fd-00Loadmomentofinertiaratio 150[%]Fd-01Speedcontrolcut-offfrequency 50.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.24[×10-4kg•m2]
0.00
0.05
0.10
0.15
0.20
0.25
0.0 20.0 40.0 60.0 80.0 100.00.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.23 12.0
20.0 0.19 11.4
40.0 0.16 9.9
60.0 0.13 8.8
80.0 0.10 7.9
100.0 0.09 7.1
6
Para
me
ter d
esc
riptio
n
6-46
Model T9H-5-BK
Maximumpayload[kg] 30.0[kg]
Fd-00Loadmomentofinertiaratio 73[%]Fd-01Speedcontrolcut-offfrequency 70.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.24[×10-4kg•m2]
0.00
0.02
0.04
0.06
0.08
0.10
0.12
0.14
0.16
0.18
0.20
0.0 5.0 10.0 15.0 20.0 25.0 30.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.19 7.5
10.0 0.17 7.0
20.0 0.14 6.5
30.0 0.11 6.1
Model T9H-10
Maximumpayload[kg] 80.0[kg]
Fd-00Loadmomentofinertiaratio 77[%]Fd-01Speedcontrolcut-offfrequency 80.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.24[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.0 10.0 20.0 30.0 40.0 50.0 60.0 70.0 80.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.51 9.3
20.0 0.38 5.6
40.0 0.28 4.5
60.0 0.20 4.5
80.0 0.15 4.5
6
Para
me
ter d
esc
riptio
n
6-47
Model T9H-10-BK
Maximumpayload[kg] 20.0[kg]
Fd-00Loadmomentofinertiaratio 77[%]Fd-01Speedcontrolcut-offfrequency 80.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.24[×10-4kg•m2]
0.27
0.28
0.29
0.30
0.31
0.32
0.33
0.34
0.0 5.0 10.0 15.0 20.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.33 7.9
5.0 0.32 6.8
10.0 0.31 6.0
15.0 0.30 5.4
20.0 0.28 4.9
Model T9H-20
Maximumpayload[kg] 40.0[kg]
Fd-00Loadmomentofinertiaratio 286[%]Fd-01Speedcontrolcut-offfrequency 40.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.24[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.0 5.0 10.0 15.0 20.0 25.0 30.0 35.0 40.00.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.67 12.0
10.0 0.61 6.7
20.0 0.56 4.5
30.0 0.51 4.5
40.0 0.46 4.5
6
Para
me
ter d
esc
riptio
n
6-48
Model T9H-20-BK
Maximumpayload[kg] 8.0[kg]
Fd-00Loadmomentofinertiaratio 135[%]Fd-01Speedcontrolcut-offfrequency 60.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.24[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.90
1.00
0.0 1.0 2.0 3.0 4.0 5.0 6.0 7.0 8.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.91 6.7
2.0 0.86 5.6
4.0 0.81 5.5
6.0 0.76 5.5
8.0 0.71 5.5
Model T9H-30
Maximumpayload[kg] 25.0[kg]
Fd-00Loadmomentofinertiaratio 198[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 90.0[%]Fr-15Motormovingpartmass 0.24[×10-4kg•m2]
0.00
0.20
0.40
0.60
0.80
1.00
1.20
0.0 5.0 10.0 15.0 20.0 25.00.0
2.0
4.0
6.0
8.0
10.0
12.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 1.00 11.1
5.0 1.00 5.9
10.0 0.86 4.0
15.0 0.64 3.0
20.0 0.48 2.5
25.0 0.28 2.5
6
Para
me
ter d
esc
riptio
n
6-49
Model F8-6 (C8-6)
Maximumpayload[kg] 40.0[kg]
Fd-00Loadmomentofinertiaratio 70[%]Fd-01Speedcontrolcut-offfrequency 110.0[Hz]Fd-03Speedcontrolintegralgain 80.0[%]Fr-15Motormovingpartmass 0.064[×10-4kg•m2]
Payload[kg]
Acc
eler
atio
n[G
]
Fd-
09[H
z]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.0 5.0 10.0 15.0 20.0 25.0 30.0 35.0 40.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.31 9.0
10.0 0.25 7.5
20.0 0.19 6.4
30.0 0.14 5.2
40.0 0.07 5.0
Model F8-6-BK (C8-6-BK)
Maximumpayload[kg] 8.0[kg]
Fd-00Loadmomentofinertiaratio 141[%]Fd-01Speedcontrolcut-offfrequency 110.0[Hz]Fd-03Speedcontrolintegralgain 65.0[%]Fr-15Motormovingpartmass 0.064[×10-4kg•m2]
Payload[kg]
Acc
eler
atio
n[G
]
Fd-
09[H
z]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.40
0.0 1.0 2.0 3.0 4.0 5.0 6.0 7.0 8.00.0
2.0
4.0
6.0
8.0
10.0
12.0
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.34 11.0
2.0 0.31 10.5
4.0 0.28 10.5
6.0 0.25 10.0
8.0 0.22 9.0
6
Para
me
ter d
esc
riptio
n
6-50
Model F8-12 (C8-12)
Maximumpayload[kg] 20.0[kg]
Fd-00Loadmomentofinertiaratio 94[%]Fd-01Speedcontrolcut-offfrequency 120.0[Hz]Fd-03Speedcontrolintegralgain 80.0[%]Fr-15Motormovingpartmass 0.064[×10-4kg•m2]
Payload[kg]
Acc
eler
atio
n[G
]
Fd-
09[H
z]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.40
0.45
0.50
0.0 5.0 10.0 15.0 20.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.43 9.0
5.0 0.37 7.2
10.0 0.27 5.0
15.0 0.22 4.5
20.0 0.19 4.5
Model F8-12-BK (C8-12-BK)
Maximumpayload[kg] 4.0[kg]
Fd-00Loadmomentofinertiaratio 164[%]Fd-01Speedcontrolcut-offfrequency 110.0[Hz]Fd-03Speedcontrolintegralgain 70.0[%]Fr-15Motormovingpartmass 0.064[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0
Payload[kg]
Acc
eler
atio
n[G
]
0.0
2.0
4.0
6.0
8.0
10.0
12.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.49 11.0
1.0 0.47 11.0
2.0 0.45 10.0
3.0 0.42 9.5
4.0 0.40 8.8
6
Para
me
ter d
esc
riptio
n
6-51
Model F8-20 (C8-20)
Maximumpayload[kg] 12.0[kg]
Fd-00Loadmomentofinertiaratio 150[%]Fd-01Speedcontrolcut-offfrequency 130.0[Hz]Fd-03Speedcontrolintegralgain 90.0[%]Fr-15Motormovingpartmass 0.064[×10-4kg•m2]
Payload[kg]
Acc
eler
atio
n[G
]
Fd-
09[H
z]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.0 2.0 4.0 6.0 8.0 10.0 12.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.52 7.0
5.0 0.41 5.0
10.0 0.31 4.5
12.0 0.27 4.5
Model F8L-5 (C8L-5)
Maximumpayload[kg] 50.0[kg]
Fd-00Loadmomentofinertiaratio 163[%]Fd-01Speedcontrolcut-offfrequency 110.0[Hz]Fd-03Speedcontrolintegralgain 80.0[%]Fr-15Motormovingpartmass 0.064[×10-4kg•m2]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.0 10.0 20.0 30.0 40.0 50.0
Payload[kg]
Acc
eler
atio
n[G
]
0.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.31 8.7
10.0 0.31 7.6
20.0 0.31 6.7
30.0 0.23 6.0
40.0 0.13 5.5
50.0 0.09 5.0
6
Para
me
ter d
esc
riptio
n
6-52
Model F8L-5-BK (C8L-5-BK)
Maximumpayload[kg] 16.0[kg]
Fd-00Loadmomentofinertiaratio 233[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 65.0[%]Fr-15Motormovingpartmass 0.064[×10-4kg•m2]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.0 2.0 4.0 6.0 8.0 10.0 12.0 14.0 16.0
Payload[kg]
Acc
eler
atio
n[G
]
0.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.26 9.1
5.0 0.23 8.5
10.0 0.21 8.0
15.0 0.18 7.6
16.0 0.18 7.5
Model F8L-10 (C8L-10)
Maximumpayload[kg] 40.0[kg]
Fd-00Loadmomentofinertiaratio 188[%]Fd-01Speedcontrolcut-offfrequency 110.0[Hz]Fd-03Speedcontrolintegralgain 90.0[%]Fr-15Motormovingpartmass 0.064[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.0 5.0 10.0 15.0 20.0 25.0 30.0 35.0 40.0
Payload[kg]
Acc
eler
atio
n[G
]
0.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.62 8.9
10.0 0.41 5.7
20.0 0.31 4.2
30.0 0.22 4.0
40.0 0.16 4.0
6
Para
me
ter d
esc
riptio
n
6-53
Model F8L-10-BK (C8L-10-BK)
Maximumpayload[kg] 8.0[kg]
Fd-00Loadmomentofinertiaratio 258[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 60.0[%]Fr-15Motormovingpartmass 0.064[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.0 1.0 2.0 3.0 4.0 5.0 6.0 7.0 8.0
Payload[kg]
Acc
eler
atio
n[G
]
0.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.57 9.1
2.0 0.52 8.3
4.0 0.46 7.6
6.0 0.41 7.0
8.0 0.36 6.5
Model F8L-20 (C8L-20)
Maximumpayload[kg] 20.0[kg]
Fd-00Loadmomentofinertiaratio 297[%]Fd-01Speedcontrolcut-offfrequency 110.0[Hz]Fd-03Speedcontrolintegralgain 80.0[%]Fr-15Motormovingpartmass 0.064[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.0 5.0 10.0 15.0 20.0
Payload[kg]
Acc
eler
atio
n[G
]
0.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.72 9.2
5.0 0.62 5.0
10.0 0.41 3.5
15.0 0.31 3.0
20.0 0.21 3.0
6
Para
me
ter d
esc
riptio
n
6-54
Model F8L-20-BK (C8L-20-BK)
Maximumpayload[kg] 4.0[kg]
Fd-00Loadmomentofinertiaratio 367[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 65.0[%]Fr-15Motormovingpartmass 0.064[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0
Payload[kg]
Acc
eler
atio
n[G
]
0.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.62 9.2
1.0 0.58 8.0
2.0 0.54 7.0
3.0 0.50 7.0
4.0 0.46 7.0
Model F8L-30
Maximumpayload[kg] 10.0[kg]
Fd-00Loadmomentofinertiaratio 475[%]Fd-01Speedcontrolcut-offfrequency 110.0[Hz]Fd-03Speedcontrolintegralgain 80.0[%]Fr-15Motormovingpartmass 0.064[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.0 2.0 4.0 6.0 8.0 10.0
Payload[kg]
Acc
eler
atio
n[G
]
0.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
Fd-
09[H
z]
Fd-09[Hz]
Acceleration[G]Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.71 7.0
2.0 0.65 6.0
4.0 0.59 4.6
6.0 0.53 4.0
8.0 0.47 4.0
10.0 0.40 4.0
6
Para
me
ter d
esc
riptio
n
6-55
Model F8LH-5 (C8LH-5)
Maximumpayload[kg] 80.0[kg]
Fd-00Loadmomentofinertiaratio 167[%]Fd-01Speedcontrolcut-offfrequency 120.0[Hz]Fd-03Speedcontrolintegralgain 70.0[%]Fr-15Motormovingpartmass 0.064[×10-4kg•m2]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.0 10.0 20.0 30.0 40.0 50.0 60.0 70.0 80.0
Payload[kg]
Acc
eler
atio
n[G
]
0.0
2.0
4.0
6.0
8.0
10.0
12.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.31 9.7
20.0 0.31 7.4
40.0 0.13 6.0
60.0 0.08 5.0
80.0 0.08 5.0
Model F8LH-10 (C8LH-10)
Maximumpayload[kg] 60.0[kg]
Fd-00Loadmomentofinertiaratio 202[%]Fd-01Speedcontrolcut-offfrequency 120.0[Hz]Fd-03Speedcontrolintegralgain 60.0[%]Fr-15Motormovingpartmass 0.064[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.0 10.0 20.0 30.0 40.0 50.0 60.0
Payload[kg]
Acc
eler
atio
n[G
]
0.0
2.0
4.0
6.0
8.0
10.0
12.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.62 9.8
20.0 0.31 4.7
40.0 0.16 3.1
60.0 0.10 3.0
6
Para
me
ter d
esc
riptio
n
6-56
Model F8LH-20 (C8LH-20)
Maximumpayload[kg] 30.0[kg]
Fd-00Loadmomentofinertiaratio 356[%]Fd-01Speedcontrolcut-offfrequency 120.0[Hz]Fd-03Speedcontrolintegralgain 60.0[%]Fr-15Motormovingpartmass 0.064[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.0 5.0 10.0 15.0 20.0 25.0 30.0
Payload[kg]
Acc
eler
atio
n[G
]
0.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.72 9.0
10.0 0.41 4.1
20.0 0.21 3.0
30.0 0.15 3.0
Model F10-5 (C10-5)
Maximumpayload[kg] 60.0[kg]
Fd-00Loadmomentofinertiaratio 81[%]Fd-01Speedcontrolcut-offfrequency 80.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.16[×10-4kg•m2]
0.00
0.02
0.04
0.06
0.08
0.10
0.12
0.14
0.16
0.18
0.0 10.0 20.0 30.0 40.0 50.0 60.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.17 7.2
10.0 0.15 6.5
20.0 0.14 6.0
30.0 0.13 6.0
40.0 0.12 6.0
50.0 0.11 6.0
60.0 0.10 6.0
6
Para
me
ter d
esc
riptio
n
6-57
Model F10-5-BK (C10-5-BK)
Maximumpayload[kg] 20.0[kg]
Fd-00Loadmomentofinertiaratio 81[%]Fd-01Speedcontrolcut-offfrequency 80.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.16[×10-4kg•m2]
0.00
0.02
0.04
0.06
0.08
0.10
0.12
0.14
0.16
0.18
0.0 5.0 10.0 15.0 20.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.17 6.0
5.0 0.15 6.0
10.0 0.14 6.0
15.0 0.13 6.0
20.0 0.11 6.0
Model F10H-05
Maximumpayload[kg] 100.0[kg]
Fd-00Loadmomentofinertiaratio 150[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 70.0[%]Fr-15Motormovingpartmass 0.24[×10-4kg•m2]
0.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0
0.00
0.05
0.10
0.15
0.20
0.25
0 20 40 60 80 100 120
Fd-
09[H
z]
Acc
eler
atio
n[G
]
Payload[kg]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0 0.23 8.5
20 0.21 8.5
40 0.18 8.5
60 0.14 8.5
80 0.11 7.5
100 0.09 6.5
6
Para
me
ter d
esc
riptio
n
6-58
Model F10H-05BK
Maximumpayload[kg] 30.0[kg]
Fd-00Loadmomentofinertiaratio 73[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 70.0[%]Fr-15Motormovingpartmass 0.24[×10-4kg•m2]
0.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
0.00
0.02
0.04
0.06
0.08
0.10
0.12
0.14
0.16
0.18
0.20
0 5 10 15 20 25 30 35
Fd-
09[H
z]
Acc
eler
atio
n[G
]
Payload[kg]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0 0.19 8.0
10 0.17 7.0
20 0.14 6.0
30 0.12 5.0
Model F10-10 (C10-10)
Maximumpayload[kg] 40.0[kg]
Fd-00Loadmomentofinertiaratio 90[%]Fd-01Speedcontrolcut-offfrequency 80.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.16[×10-4kg•m2]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.40
0.45
0.50
0.0 5.0 10.0 15.0 20.0 25.0 30.0 35.0 40.05.8
6.0
6.2
6.4
6.6
6.8
7.0
7.2
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.46 7.0
10.0 0.39 6.0
20.0 0.33 6.0
30.0 0.28 6.0
40.0 0.22 6.0
6
Para
me
ter d
esc
riptio
n
6-59
Model F10-10-BK (C10-10-BK)
Maximumpayload[kg] 10.0[kg]
Fd-00Loadmomentofinertiaratio 90[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 60.0[%]Fr-15Motormovingpartmass 0.16[×10-4kg•m2]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.40
0.0 2.0 4.0 6.0 8.0 10.05.8
6.0
6.2
6.4
6.6
6.8
7.0
7.2
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.38 7.1
2.0 0.35 6.7
4.0 0.32 6.3
6.0 0.29 6.0
8.0 0.27 6.0
10.0 0.24 6.0
Model F10H-10
Maximumpayload[kg] 80.0[kg]
Fd-00Loadmomentofinertiaratio 77[%]Fd-01Speedcontrolcut-offfrequency 120.0[Hz]Fd-03Speedcontrolintegralgain 70.0[%]Fr-15Motormovingpartmass 0.24[×10-4kg•m2]
0.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0 20 40 60 80 100
Fd-
09[H
z]
Acc
eler
atio
n[G
]
Payload[kg]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0 0.51 9.0
20 0.38 7.0
40 0.28 5.0
60 0.20 4.0
80 0.15 3.0
6
Para
me
ter d
esc
riptio
n
6-60
Model F10H-10BK
Maximumpayload[kg] 20.0[kg]
Fd-00Loadmomentofinertiaratio 77[%]Fd-01Speedcontrolcut-offfrequency 120.0[Hz]Fd-03Speedcontrolintegralgain 70.0[%]Fr-15Motormovingpartmass 0.24[×10-4kg•m2]
0.0
2.0
4.0
6.0
8.0
10.0
12.0
0.27
0.28
0.29
0.30
0.31
0.32
0.33
0.34
0 5 10 15 20 25
Fd-
09[H
z]
Acc
eler
atio
n[G
]
Payload[kg]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0 0.33 10.0
5 0.32 10.0
10 0.31 8.0
15 0.30 6.0
20 0.28 4.5
Model F10-20 (C10-20)
Maximumpayload[kg] 20.0[kg]
Fd-00Loadmomentofinertiaratio 149[%]Fd-01Speedcontrolcut-offfrequency 80.0[Hz]Fd-03Speedcontrolintegralgain 60.0[%]Fr-15Motormovingpartmass 0.16[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.0 5.0 10.0 15.0 20.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.61 7.4
5.0 0.49 5.5
10.0 0.39 5.5
15.0 0.31 5.5
20.0 0.26 5.5
6
Para
me
ter d
esc
riptio
n
6-61
Model F10-20-BK (C10-20-BK)
Maximumpayload[kg] 4.0[kg]
Fd-00Loadmomentofinertiaratio 149[%]Fd-01Speedcontrolcut-offfrequency 80.0[Hz]Fd-03Speedcontrolintegralgain 60.0[%]Fr-15Motormovingpartmass 0.16[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.90
1.00
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.87 6.3
1.0 0.75 5.7
2.0 0.64 5.2
3.0 0.56 5.0
4.0 0.50 5.0
Model F10H-20
Maximumpayload[kg] 40.0[kg]
Fd-00Loadmomentofinertiaratio 286[%]Fd-01Speedcontrolcut-offfrequency 80.0[Hz]Fd-03Speedcontrolintegralgain 70.0[%]Fr-15Motormovingpartmass 0.24[×10-4kg•m2]
0.0
2.0
4.0
6.0
8.0
10.0
12.0
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0 10 20 30 40 50
Fd-
09[H
z]
Acc
eler
atio
n[G
]
Payload[kg]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0 0.67 10.5
10 0.61 10.5
20 0.56 8.0
30 0.51 5.5
40 0.46 3.5
6
Para
me
ter d
esc
riptio
n
6-62
Model F10H-20BK
Maximumpayload[kg] 8.0[kg]
Fd-00Loadmomentofinertiaratio 135[%]Fd-01Speedcontrolcut-offfrequency 80.0[Hz]Fd-03Speedcontrolintegralgain 70.0[%]Fr-15Motormovingpartmass 0.24[×10-4kg•m2]
0.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
16.0
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
0 2 4 6 8 10
Fd-
09[H
z]
Acc
eler
atio
n[G
]
Payload[kg]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0 0.92 14.0
2 0.87 10.0
4 0.82 10.0
6 0.77 10.0
8 0.72 7.0
Model F10-30
Maximumpayload[kg] 15.0[kg]
Fd-00Loadmomentofinertiaratio 246[%]Fd-01Speedcontrolcut-offfrequency 90.0[Hz]Fd-03Speedcontrolintegralgain 60.0[%]Fr-15Motormovingpartmass 0.16[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.90
0.0 2.0 4.0 6.0 8.0 10.0 12.0 14.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.77 8.8
5.0 0.77 5.0
10.0 0.37 5.0
15.0 0.24 5.0
6
Para
me
ter d
esc
riptio
n
6-63
Model F10H-30
Maximumpayload 25.0[kg]
Fd-00Loadmomentofinertiaratio 198[%]Fd-01Speedcontrolcut-offfrequency 120.0[Hz]Fd-03Speedcontrolintegralgain 80.0[%]Fr-15Motormovingpartmass 0.24[×10-4kg•m2]
0.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
16.0
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
0 5 10 15 20 25 30
Fd-
09[H
z]
Acc
eler
atio
n[G
]
Payload[kg]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0 0.8 14.0
5 0.8 11.5
10 0.8 9.5
15 0.65 8.0
20 0.51 6.0
25 0.41 5.5
Model F14-5 (C14-5)
Maximumpayload[kg] 80.0[kg]
Fd-00Loadmomentofinertiaratio 76[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 60.0[%]Fr-15Motormovingpartmass 0.16[×10-4kg•m2]
0.00
0.02
0.04
0.06
0.08
0.10
0.12
0.14
0.16
0.18
0.0 10.0 20.0 30.0 40.0 50.0 60.0 70.0 80.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.17 8.8
20.0 0.14 7.4
40.0 0.12 6.3
60.0 0.09 6.0
80.0 0.08 6.0
6
Para
me
ter d
esc
riptio
n
6-64
Model F14-5-BK (C14-5-BK)
Maximumpayload[kg] 20.0[kg]
Fd-00Loadmomentofinertiaratio 76[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 60.0[%]Fr-15Motormovingpartmass 0.16[×10-4kg•m2]
0.00
0.02
0.04
0.06
0.08
0.10
0.12
0.14
0.16
0.18
0.0 5.0 10.0 15.0 20.05.8
6.0
6.2
6.4
6.6
6.8
7.0
7.2
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.17 7.1
5.0 0.15 6.8
10.0 0.14 6.5
15.0 0.13 6.3
20.0 0.11 6.0
Model F14-10 (C14-10)
Maximumpayload[kg] 55.0[kg]
Fd-00Loadmomentofinertiaratio 90[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 60.0[%]Fr-15Motormovingpartmass 0.16[×10-4kg•m2]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.40
0.45
0.50
0.0 10.0 20.0 30.0 40.0 50.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.46 9.0
10.0 0.39 6.5
20.0 0.33 6.0
30.0 0.28 6.0
40.0 0.22 6.0
55.0 0.16 6.0
6
Para
me
ter d
esc
riptio
n
6-65
Model F14-10-BK (C14-10-BK)
Maximumpayload[kg] 10.0[kg]
Fd-00Loadmomentofinertiaratio 90[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 60.0[%]Fr-15Motormovingpartmass 0.16[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.0 2.0 4.0 6.0 8.0 10.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.49 7.3
3.0 0.43 6.6
5.0 0.39 6.2
8.0 0.33 6.0
10.0 0.29 6.0
Model F14-20 (C14-20)
Maximumpayload[kg] 30.0[kg]
Fd-00Loadmomentofinertiaratio 149[%]Fd-01Speedcontrolcut-offfrequency 80.0[Hz]Fd-03Speedcontrolintegralgain 60.0[%]Fr-15Motormovingpartmass 0.16[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.90
1.00
0.0 5.0 10.0 15.0 20.0 25.0 30.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.87 7.5
1.0 0.83 6.7
5.0 0.67 5.5
10.0 0.51 5.5
15.0 0.41 5.5
20.0 0.36 5.5
25.0 0.25 5.5
30.0 0.20 5.5
6
Para
me
ter d
esc
riptio
n
6-66
Model F14-20-BK (C14-20-BK)
Maximumpayload[kg] 4.0[kg]
Fd-00Loadmomentofinertiaratio 149[%]Fd-01Speedcontrolcut-offfrequency 80.0[Hz]Fd-03Speedcontrolintegralgain 70.0[%]Fr-15Motormovingpartmass 0.16[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.90
1.00
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.87 7.0
1.0 0.75 7.0
2.0 0.64 7.0
3.0 0.56 7.0
4.0 0.50 7.0
Model F14-30
Maximumpayload[kg] 15.0[kg]
Fd-00Loadmomentofinertiaratio 213[%]Fd-01Speedcontrolcut-offfrequency 90.0[Hz]Fd-03Speedcontrolintegralgain 90.0[%]Fr-15Motormovingpartmass 0.16[×10-4kg•m2]
0.00
0.20
0.40
0.60
0.80
1.00
1.20
0.0 2.0 4.0 6.0 8.0 10.0 12.0 14.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 1.03 7.2
3.0 1.03 4.5
6.0 0.68 4.0
9.0 0.50 4.0
12.0 0.40 4.0
15.0 0.34 4.0
6
Para
me
ter d
esc
riptio
n
6-67
Model F14H-5 (C14H-5)
Maximumpayload[kg] 100.0[kg]
Fd-00Loadmomentofinertiaratio 150[%]Fd-01Speedcontrolcut-offfrequency 50.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.24[×10-4kg•m2]
0.00
0.05
0.10
0.15
0.20
0.25
0.0 20.0 40.0 60.0 80.0 100.00.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.23 12.0
20.0 0.19 10.7
40.0 0.16 9.3
60.0 0.13 8.3
80.0 0.10 7.4
100.0 0.09 6.7
Model F14H-5-BK (C14H-5-BK)
Maximumpayload[kg] 30.0[kg]
Fd-00Loadmomentofinertiaratio 62[%]Fd-01Speedcontrolcut-offfrequency 70.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.24[×10-4kg•m2]
0.00
0.02
0.04
0.06
0.08
0.10
0.12
0.14
0.16
0.18
0.20
0.0 5.0 10.0 15.0 20.0 25.0 30.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.19 6.2
10.0 0.17 5.7
20.0 0.14 5.3
30.0 0.11 5.0
6
Para
me
ter d
esc
riptio
n
6-68
Model F14H-10 (C14H-10)
Maximumpayload[kg] 80.0[kg]
Fd-00Loadmomentofinertiaratio 77[%]Fd-01Speedcontrolcut-offfrequency 80.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.24[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.0 10.0 20.0 30.0 40.0 50.0 60.0 70.0 80.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.51 8.5
20.0 0.38 5.2
40.0 0.28 4.5
60.0 0.20 4.5
80.0 0.15 4.5
Model F14H-10-BK (C14H-10-BK)
Maximumpayload[kg] 20.0[kg]
Fd-00Loadmomentofinertiaratio 77[%]Fd-01Speedcontrolcut-offfrequency 80.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.24[×10-4kg•m2]
0.27
0.28
0.29
0.30
0.31
0.32
0.33
0.34
0.0 5.0 10.0 15.0 20.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.33 7.3
5.0 0.32 6.3
10.0 0.31 5.6
15.0 0.30 5.0
20.0 0.28 4.5
6
Para
me
ter d
esc
riptio
n
6-69
Model F14H-20 (C14H-20)
Maximumpayload[kg] 40.0[kg]
Fd-00Loadmomentofinertiaratio 132[%]Fd-01Speedcontrolcut-offfrequency 40.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.24[×10-4kg•m2]
Fd-
09[H
z]
0.00
0.20
0.40
0.60
0.80
1.00
1.20
0 5 10 15 20 25 30 35 400.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 1.02 7.0
10.0 0.82 6.5
20.0 0.67 6.0
30.0 0.56 5.0
40.0 0.46 5.0
Model F14H-20-BK (C14H-20-BK)
Maximumpayload[kg] 8.0[kg]
Fd-00Loadmomentofinertiaratio 158[%]Fd-01Speedcontrolcut-offfrequency 60.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.24[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.90
1.00
0.0 1.0 2.0 3.0 4.0 5.0 6.0 7.0 8.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.91 7.0
2.0 0.86 5.8
4.0 0.81 5.5
6.0 0.76 5.5
8.0 0.71 5.5
6
Para
me
ter d
esc
riptio
n
6-70
Model F14H-30
Maximumpayload[kg] 25.0[kg]
Fd-00Loadmomentofinertiaratio 243[%]Fd-01Speedcontrolcut-offfrequency 90.0[Hz]Fd-03Speedcontrolintegralgain 60.0[%]Fr-15Motormovingpartmass 0.24[×10-4kg•m2]
0.00
0.20
0.40
0.60
0.80
1.00
1.20
0.0 5.0 10.0 15.0 20.0 25.00.0
2.0
4.0
6.0
8.0
10.0
12.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 1.00 10.6
5.0 1.00 5.8
10.0 0.86 4.0
15.0 0.64 3.1
20.0 0.50 3.0
25.0 0.31 3.0
Model F17L-50 (C17L-50)
Maximumpayload[kg] 50.0[kg]
Fd-00Loadmomentofinertiaratio 443[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 60.0[%]Fr-15Motormovingpartmass 1.12[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.90
0 10 20 30 40 500.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Acc
eler
atio
n[G
]
Payload[kg]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.77 6.5
10.0 0.55 6.5
20.0 0.37 5.9
30.0 0.24 4.5
40.0 0.16 3.6
50.0 0.16 3.5
6
Para
me
ter d
esc
riptio
n
6-71
Model F17L-50-BK (C17L-50-BK)
Maximumpayload[kg] 10.0[kg]
Fd-00Loadmomentofinertiaratio 473[%]Fd-01Speedcontrolcut-offfrequency 50.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 1.12[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.90
1.00
0.0 2.0 4.0 6.0 8.0 10.05.0
5.2
5.4
5.6
5.8
6.0
6.2
6.4
6.6
6.8
7.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.94 6.4
5.0 0.57 6.0
10.0 0.28 6.0
Model F17-10 (C17-10)
Maximumpayload[kg] 120.0[kg]
Fd-00Loadmomentofinertiaratio 83[%]Fd-01Speedcontrolcut-offfrequency 110.0[Hz]Fd-03Speedcontrolintegralgain 90.0[%]Fr-15Motormovingpartmass 0.81[×10-4kg•m2]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.40
0.45
0.50
0.0 20.0 40.0 60.0 80.0 100.0 120.00.0
2.0
4.0
6.0
8.0
10.0
12.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.47 11.4
30.0 0.36 9.1
60.0 0.26 7.6
90.0 0.20 6.5
120.0 0.15 5.7
6
Para
me
ter d
esc
riptio
n
6-72
Model F17-10-BK (C17-10-BK)
Maximumpayload[kg] 35.0[kg]
Fd-00Loadmomentofinertiaratio 83[%]Fd-01Speedcontrolcut-offfrequency 90.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.81[×10-4kg•m2]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.40
0.0 5.0 10.0 15.0 20.0 25.0 30.0 35.00.0
2.0
4.0
6.0
8.0
10.0
12.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.38 10.0
5.0 0.36 10.0
10.0 0.33 10.0
15.0 0.31 10.0
20.0 0.28 10.0
25.0 0.26 10.0
30.0 0.23 10.0
35.0 0.20 10.0
Model F17-20 (C17-20)
Maximumpayload[kg] 80.0[kg]
Fd-00Loadmomentofinertiaratio 112[%]Fd-01Speedcontrolcut-offfrequency 110.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.81[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.0 10.0 20.0 30.0 40.0 50.0 60.0 70.0 80.00.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.72 11.8
1.0 0.72 11.5
10.0 0.67 9.1
20.0 0.61 7.3
40.0 0.51 5.3
60.0 0.41 4.2
80.0 0.31 3.5
6
Para
me
ter d
esc
riptio
n
6-73
Model F17-20-BK (C17-20-BK)
Maximumpayload[kg] 15.0[kg]
Fd-00Loadmomentofinertiaratio 154[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 85.0[%]Fr-15Motormovingpartmass 0.81[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.90
0.0 2.0 4.0 6.0 8.0 10.0 12.0 14.00.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.81 11.6
5.0 0.68 10.2
10.0 0.55 9.1
15.0 0.44 8.2
Model F17-40
Maximumpayload[kg] 40.0[kg]
Fd-00Loadmomentofinertiaratio 138[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.81[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.0 5.0 10.0 15.0 20.0 25.0 30.0 35.0 40.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.74 6.1
10.0 0.74 5.0
20.0 0.49 5.0
30.0 0.37 5.0
40.0 0.29 5.0
6
Para
me
ter d
esc
riptio
n
6-74
Model F20-10-BK (C20-10-BK)
Maximumpayload[kg] 45.0[kg]
Fd-00Loadmomentofinertiaratio 97[%]Fd-01Speedcontrolcut-offfrequency 70.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 1.12[×10-4kg•m2]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.40
0.0 10.0 20.0 30.0 40.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.38 8.5
10.0 0.33 8.0
20.0 0.28 7.5
30.0 0.23 7.1
40.0 0.18 6.7
45.0 0.15 6.5
Model F20-20 (C20-20)
Maximumpayload[kg] 120.0[kg]
Fd-00Loadmomentofinertiaratio 101[%]Fd-01Speedcontrolcut-offfrequency 70.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 1.12[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.90
0.0 20.0 40.0 60.0 80.0 100.0 120.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.82 8.3
20.0 0.62 5.5
40.0 0.46 4.1
60.0 0.33 3.5
80.0 0.22 3.5
100.0 0.14 3.5
120.0 0.10 3.5
6
Para
me
ter d
esc
riptio
n
6-75
Model F20-20-BK (C20-20-BK)
Maximumpayload[kg] 25.0[kg]
Fd-00Loadmomentofinertiaratio 120[%]Fd-01Speedcontrolcut-offfrequency 70.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 1.12[×10-4kg•m2]
0.00
0.20
0.40
0.60
0.80
1.00
1.20
0.0 5.0 10.0 15.0 20.0 25.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 1.01 9.4
10.0 0.74 7.5
20.0 0.50 7.5
25.0 0.40 7.5
Model F20-40
Maximumpayload[kg] 60.0[kg]
Fd-00Loadmomentofinertiaratio 321[%]Fd-01Speedcontrolcut-offfrequency 65.0[Hz]Fd-03Speedcontrolintegralgain 55.0[%]Fr-15Motormovingpartmass 1.12[×10-4kg•m2]
0.00
0.20
0.40
0.60
0.80
1.00
1.20
0.0 10.0 20.0 30.0 40.0 50.0 60.00.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.98 12.0
20.0 0.67 5.8
40.0 0.36 4.0
60.0 0.21 4.0
6
Para
me
ter d
esc
riptio
n
6-76
Model F20N-20
Maximumpayload[kg] 80.0[kg]
Fd-00Loadmomentofinertiaratio 112[%]Fd-01Speedcontrolcut-offfrequency 110.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.81[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.90
0.0 10.0 20.0 30.0 40.0 50.0 60.0 70.0 80.00.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.82 12.0
20.0 0.63 9.9
40.0 0.46 6.5
60.0 0.33 5.0
80.0 0.22 5.0
Model N15-10
Maximumpayload[kg] 80.0[kg]
Fd-00Loadmomentofinertiaratio 407[%]Fd-01Speedcontrolcut-offfrequency 70.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.58[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.0 10.0 20.0 30.0 40.0 50.0 60.0 70.0 80.0
Payload[kg]
Acc
eler
atio
n[G
]
0.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
Fd-
09[H
z]
Acceleration [G]
Fd-09 [Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.51 11.7
20.0 0.38 10.0
40.0 0.28 8.7
60.0 0.20 7.7
80.0 0.14 6.9
6
Para
me
ter d
esc
riptio
n
6-77
Model N15-20
Maximumpayload[kg] 50.0[kg]
Fd-00Loadmomentofinertiaratio 455[%]Fd-01Speedcontrolcut-offfrequency 70.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.58[×10-4kg•m2]
0.00
0.20
0.40
0.60
0.80
1.00
1.20
0.0 10.0 20.0 30.0 40.0 50.00.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 1.02 12.0
10.0 0.82 10.4
20.0 0.67 8.4
30.0 0.56 7.1
40.0 0.46 6.1
50.0 0.40 6.0
Model N15-30
Maximumpayload[kg] 30.0[kg]
Fd-00Loadmomentofinertiaratio 541[%]Fd-01Speedcontrolcut-offfrequency 45.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.58[×10-4kg•m2]
0.00
0.20
0.40
0.60
0.80
1.00
1.20
0.0 5.0 10.0 15.0 20.0 25.0 30.0
Payload[kg]
Acc
eler
atio
n[G
]
0.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
Fd-
09[H
z]
Acceleration [G]
Fd-09 [Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.99 8.5
10.0 0.86 5.4
20.0 0.50 5.0
30.0 0.36 5.0
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Model N18-20
Maximumpayload[kg] 80.0[kg]
Fd-00Loadmomentofinertiaratio 180[%]Fd-01Speedcontrolcut-offfrequency 70.0[Hz]Fd-03Speedcontrolintegralgain 70.0[%]Fr-15Motormovingpartmass 1.87[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.90
0.0 10.0 20.0 30.0 40.0 50.0 60.0 70.0 80.00.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.82 12.0
20.0 0.56 9.4
40.0 0.43 7.4
60.0 0.35 6.1
80.0 0.29 5.2
Model B10
Maximumpayload[kg] 10.0[kg]
Fd-00Loadmomentofinertiaratio 182[%]Fd-01Speedcontrolcut-offfrequency 100.0[Hz]Fd-03Speedcontrolintegralgain 75.0[%]Fr-15Motormovingpartmass 0.16[×10-4kg•m2]
0.00
0.20
0.40
0.60
0.80
1.00
1.20
0.0 2.0 4.0 6.0 8.0 10.00.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.97 8.5
2.0 0.87 6.0
4.0 0.74 6.0
6.0 0.63 6.0
8.0 0.52 6.0
10.0 0.43 6.0
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Model B14
Maximumpayload[kg] 20.0[kg]
Fd-00Loadmomentofinertiaratio 302[%]Fd-01Speedcontrolcut-offfrequency 70.0[Hz]Fd-03Speedcontrolintegralgain 70.0[%]Fr-15Motormovingpartmass 0.16[×10-4kg•m2]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.90
0.0 5.0 10.0 15.0 20.00.0
2.0
4.0
6.0
8.0
10.0
12.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.77 11.2
5.0 0.60 5.7
10.0 0.47 3.8
15.0 0.36 3.5
20.0 0.29 3.5
Model B14H
Maximumpayload[kg] 30.0[kg]
Fd-00Loadmomentofinertiaratio 233[%]Fd-01Speedcontrolcut-offfrequency 80.0[Hz]Fd-03Speedcontrolintegralgain 40.0[%]Fr-15Motormovingpartmass 0.24[×10-4kg•m2]
0.00
0.20
0.40
0.60
0.80
1.00
1.20
0.0 5.0 10.0 15.0 20.0 25.0 30.00.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
Fd-
09[H
z]
Payload[kg]
Acc
eler
atio
n[G
]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 1.07 12.0
5.0 0.82 7.3
10.0 0.69 5.0
15.0 0.56 3.8
20.0 0.45 3.1
25.0 0.41 3.0
30.0 0.38 3.0
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Model R5
Momentofinertiaofmaximumallowableload 1.22[kgfcm•sec2]
Fd-00Loadmomentofinertiaratio 803[%]Fd-01Speedcontrolcut-offfrequency 60.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 0.026[×10-4kg•m2]
0
500
1000
1500
2000
2500
3000
3500
0.00 0.20 0.40 0.60 0.80 1.00 1.20 1.40
Moment of Inertia[kgfcm•sec 2 ]
Acc
eler
atio
n[de
g/se
c2]
0.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
Fd-
09[H
z]
Acceleration[deg/sec 2 ]
Fd-09[Hz]
Moment of
inertia of load
[kgfcm•sec2]
Acceleration
[deg/sec2]
Fd-09
[Hz]
0.00 3243 12.0
0.24 2880 6.6
0.49 2535 6.0
0.73 2169 6.0
0.98 1800 6.0
1.22 1440 6.0
Model R10
Momentofinertiaofmaximumallowableload 3.71[kgfcm•sec2]
Fd-00Loadmomentofinertiaratio 420[%]Fd-01Speedcontrolcut-offfrequency 110.0[Hz]Fd-03Speedcontrolintegralgain 60.0[%]Fr-15Motormovingpartmass 0.046[×10-4kg•m2]
0
500
1000
1500
2000
2500
3000
3500
4000
0.00 0.50 1.00 1.50 2.00 2.50 3.00 3.50 4.000.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
Fd-
09[H
z]
Fd-09[Hz]
Acceleration[deg/sec 2 ]
Moment of Inertia[kgfcm•sec 2 ]
Acc
eler
atio
n[de
g/se
c2]
Moment of
inertia of load
[kgfcm•sec2]
Acceleration
[deg/sec2]
Fd-09
[Hz]
0.00 3600 12.0
0.25 3429 10.8
1.24 2707 4.0
2.47 1800 4.0
3.71 898 4.0
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Model R20
Momentofinertiaofmaximumallowableload 18.70[kgfcm•sec2]
Fd-00Loadmomentofinertiaratio 180[%]Fd-01Speedcontrolcut-offfrequency 150.0[Hz]Fd-03Speedcontrolintegralgain 30.0[%]Fr-15Motormovingpartmass 0.23[×10-4kg•m2]
0
500
1000
1500
2000
2500
0.00 5.00 10.00 15.000.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
Fd-
09[H
z]
Fd-09[Hz]
2]
Acceleration[deg/sec 2 ]
Moment of Inertia[kgfcm•sec 2 ]
Acc
eler
atio
n[de
g/se
c
Moment of
inertia of load
[kgfcm•sec2]
Acceleration
[deg/sec2]
Fd-09
[Hz]
0.00 2093 12.0
0.93 2022 12.0
6.50 1622 3.0
12.10 1259 3.0
18.70 791 3.0
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RDV-P3.3.2
Model MR12
Maximumpayload[kg] 5.0[kg]
Fd-00Loadmassratio 0[%]Fd-01Speedcontrolcut-offfrequency 120.0[Hz]Fd-03Speedcontrolintegralgain 100.0[%]Fr-15Motormovingpartmass 1.08[kg]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.90
0 1 2 3 4 50.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0 0.82 12.0
1 0.48 8.4
2 0.36 7.0
3 0.29 7.0
4 0.23 7.0
5 0.20 7.0
Model MF7
Maximumpayload[kg] 7.0[kg]
Fd-00Loadmassratio 0[%]Fd-01Speedcontrolcut-offfrequency 130.0[Hz]Fd-03Speedcontrolintegralgain 90.0[%]Fr-15Motormovingpartmass 1.5[kg]
Fd-
09[H
z]
0.0
2.0
4.0
6.0
8.0
10.0
12.0
0.00
0.20
0.40
0.60
0.80
1.00
1.20
0 1 2 3 4 5 6 7
Acc
eler
atio
n[G
]
Payload[kg]
Acceleration [G]
Fd-09 [Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0 1.00 11.0
2 0.67 8.5
4 0.46 7.0
6 0.37 6.0
7 0.34 6.0
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Model MF15
Maximumpayload[kg] 15.0[kg]
Fd-00Loadmassratio 0[%]Fd-01Speedcontrolcut-offfrequency 140.0[Hz]Fd-03Speedcontrolintegralgain 80.0[%]Fr-15Motormovingpartmass 1.8[kg]
0.00
0.50
1.00
1.50
2.00
2.50
0 2 4 6 8 10 12 14
Payload[kg]
Acc
eler
atio
n[G
]
0.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
Acceleration [G]
Fd-09 [Hz]
Fd-
09[H
z]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0 1.95 12.0
5 0.77 7.1
10 0.47 4.5
15 0.30 4.5
Model MF20
Maximumpayload[kg] 20.0[kg]
Fd-00Loadmassratio 0[%]Fd-01Speedcontrolcut-offfrequency 150.0[Hz]Fd-03Speedcontrolintegralgain 75.0[%]Fr-15Motormovingpartmass 2.9[kg]
0.00
0.50
1.00
1.50
2.00
2.50
0 5 10 15 20
Payload[kg]
Acc
eler
atio
n[G
]
0.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0 1.95 12.0
5 1.02 9.8
10 0.62 6.3
15 0.45 5.5
20 0.36 5.5
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Model MF30
Maximumpayload[kg] 30.0[kg]
Fd-00Loadmassratio 0[%]Fd-01Speedcontrolcut-offfrequency 150.0[Hz]Fd-03Speedcontrolintegralgain 90.0[%]Fr-15Motormovingpartmass 3.1[kg]
0.00
0.50
1.00
1.50
2.00
2.50
0 5 10 15 20 25 30
Payload[kg]
Acc
eler
atio
n[G
]
0
2
4
6
8
10
12
14
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0 2.33 12.0
10 1.06 7
20 0.68 4.5
30 0.51 4.5
Model MF50
Maximumpayload[kg] 50.0[kg]
Fd-00Loadmassratio 0[%]Fd-01Speedcontrolcut-offfrequency 130.0[Hz]Fd-03Speedcontrolintegralgain 80.0[%]Fr-15Motormovingpartmass 7.9[kg]
0.00
0.20
0.40
0.60
0.80
1.00
1.20
1.40
1.60
1.80
2.00
0 10 20 30 40 500.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
Fd-
09[H
z]
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0 1.89 12.0
10 0.85 10.9
20 0.51 7.1
30 0.39 6.0
40 0.30 6.0
50 0.26 6.0
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Model MF75
Maximumpayload[kg] 75.0[kg]
Fd-00Loadmassratio 0[%]Fd-01Speedcontrolcut-offfrequency 135.0[Hz]Fd-03Speedcontrolintegralgain 90.0[%]Fr-15Motormovingpartmass 8.4[kg]
Fd-
09[H
z]
0.00
0.20
0.40
0.60
0.80
1.00
1.20
1.40
1.60
1.80
2.00
0 10 20 30 40 50 60 700.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
Acceleration[G]
Fd-09[Hz]
Payload[kg]
Acc
eler
atio
n[G
]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 1.88 12.0
25.0 0.82 6.6
50.0 0.47 4.5
75.0 0.33 4.5
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Control block diagram and monitors4. The following is the control block diagram for the robot driver, showing the relation among parameters, input terminals, and monitors.
++
+
Parameter No.
Input terminal
Monitor No.
FA-11
d-07
Kpf
d-00
d-09
Fb-21
Fb-20
d-08
d-01
Fd-10
FA-12 FA-13
Kpp
Fd-15Fd-09
Fd-32
Fd-36
FA-82
Fd-41
Fd-11
Fd-17
PEN
Electronicgear
numerator/denominator
Differential
Position speed control switching
Positiondetection
Speeddetection
Firstorderlag
Differential
Firstorderlag
Firstorderlag
Firstorderlag
Positioncommandselection
Speedcommandmonitor
Speedcommand
limiter
Position commandmonitor
Presentpositionmonitor
Positionerror
monitor
Speeddetection
valuemonitor
Speedcommand
filter
Positioncommand
filter
Position command smoothing
filter
Speed detection filter
• F-r • P-S• A-b • r -F• -P-S • b-A
Pulse traininput mode
Position command filter(SMA) time constant
FilterPulse train input enable
Positioncommand filtertime constant
Position feedforward gain
Electronic gearnumerator
Electronic geardenominator
Speedcommand filtertime constant
Position controlcut-offfrequency
Second positioncontrol cut-offfrequency
Position feed forwardfilter time constant
Reverse speed limit value
Forward speed limit value
Encoder resolution
Speed detection filter time constant
Position control
(continues on following page)
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+
+
+
+
+
+
+
N
+
+
+
Speed control
Kspp
Differential Kpf Firstorderlag
FG-10 FG-11Speed feed forward gain
Speed feed forward filter time constant
P-control gainSpeed controlintegral gain
Second Speed control integral gain
Fd-04Fd-03
Fd-33
Ksi
Ksp
Integral
Proportional
control
switching
Speed
torque
control
switching
Torquecommand
filterNotch filter 1
Firstorderlag
Fd-20Notch filter 1
frequency
Torquecommand filtertime constant
Fd-06
Fd-21Notch filter 1
bandwidth
Notch filter 1 Q value
Friction compensating
torque
Fd-50Compensating
torque for friction of forward rotation
Fd-51Compensating
torque for friction of reverse rotation
FA-18
• non
• CnS
Torquebias
modeFd-35Fd-00Fd-02
Speed gain change time
constant
Load moment of inertia ratio
Speed controlproportional
gain
Second Speed control cut-off
frequency
Speed controlcut-off
frequency
Fd-34Fd-01
Torque control
KsppSpeed limiter
calculation
Fd-04
P-control gain
Speed command
limiter
Limit switching
±N*lmt
TLTorque command
monitorNotch filter 2
Notch filter 3
Disturbance torque
observer
Torquecommand
limiter
Firstorderlag
Firstorderlag Observer
d-03
Torque limit value 4
Torque limit value 3
Torque limit value 2
Torque limit value 1Fb-07
Fb-08
Fb-09
Fb-10Disturbance torque observer filter frequency
constant
Disturbance torque observer gain 2
Disturbance torque observer gain 1
Fd-67
Fd-66
Fd-65
Notch filter 3 Q value
Notch filter 3 bandwidth
Notch filter 3frequency
Fd-28
Fd-27
Fd-26Torque
command filtertime constant 3
Fd-08
Notch filter 2 Q value
Fd-25
Notch filter 2 bandwidth
Notch filter 2frequency
Torquecommand filtertime constant 2
Fd-23
Fd-24
Fd-07
Fd-22
Chapter 7 Maintenance and inspection
1. Maintenance and inspection 7-11.1 Precautionsformaintenanceandinspection 7-1
1.2 Dailyinspection 7-1
1.3 Cleaning 7-1
1.4 Periodicinspection 7-1
2. Daily inspection and periodic inspection 7-2
3. Megger test and breakdown voltage test 7-3
4. Checking the inverter and converter 7-3
5. Capacitor life curve 7-5
7
Ma
intena
nce
and
inspe
ctio
n
7-1
Maintenance and inspection1.
w WARNING1. Before performing inspection, shut off the power and wait 10 minutes, and then verify that the charge lamp is
unlit. Failure to do so may cause electrical shock.
2. Do not attempt to disassemble or repair the unit or replace any parts of the unit. Only qualified service personnel are allowed to do repair work.
c CAUTION The capacitance of the capacitor on the power supply line drops due to deterioration. To prevent secondary damage caused by malfunction, we recommend that you replace the capacitor according to its lifespan curve (see"5.Capacitorlifecurve"inthisChapter). Using a deteriorated or defective capacitor may cause malfunction.
Precautions for maintenance and inspection1.1
(1) Before performing maintenance or inspection, shut off the power and wait 10 minutes, and then verify that the charge lamp is unlit.
(2) Do not attempt to disassemble or repair the unit.
(3) Do not perform a megger test or voltage breakdown test on the driver.
Daily inspection1.2 Check for any abnormal conditions or operation such as listed below:
1. Check if the robot operates correctly according to the settings.
2. Check if the environment where the unit is installed conforms to the specifications.
3. Check the cooling system for abnormal conditions. (Control box, air filters, cooling fans, etc.)
4. Check for abnormal vibration or noise.
5. Check for overheating or discoloration.
6. Check for unusual odors.
Check the input voltage to the driver with a voltmeter during operation.
1. Check if power supply voltage fluctuates frequently.
2. Check if the line voltage is balanced.
Cleaning1.3 •Alwaysoperatethedriverinacleancondition.•Tocleantheunit,wipeitgentlywithasoftclothmoistenedwithneutraldetergent.
Note: Solvents such as acetone, benzene, toluene and alcohol can dissolve the driver surface or peel the paint. Do not usesuchsolvents.Usingdetergentoralcoholmightdamagethedisplaypanelonthedigitaloperator.Donotusethem to clean the display panel.
Periodic inspection1.4 Check the following points or sections that cannot be inspected during operation or that require periodic inspection.
1. Check the cooling system for abnormal conditions. ... Check the fan for operation.
2. Check the screws for tightness and retighten if necessary. ... The screws and bolts might loosen due to vibration or temperature changes. Carefully check that they are securely tightened.
3. Check the conductors and insulators for corrosion or damage.
4. Measure the insulation resistance.
7
Ma
intena
nce
and
inspe
ctio
n
7-2
Daily inspection and periodic inspection2.
Check point
Check item Check item
Check interval
Check method Criteria InstrumentDaily
Regular
1 year
2 years
Ge
ne
ral
Ambientenvironment
Checkambienttemperature,humidity,dust.
ORefertoChapter3,"InstallationandWiring".
Ambienttemperatureshouldbe0°Cormorewithoutfreezing.Ambienthumidityshouldbe90%orlesswithoutcondensation.
·Thermometer·Hygrometer·Recorder
Overallequipment
Checkforabnormalvibrationornoise.
OVisualandauralinspection
Noabnormalities.
Powersupplyvoltage
Checkthemainandcontrolpowercircuitvoltage.
O
MeasurethevoltagebetweenterminalsofmaincircuitsL1,L2,L3andcontrolcircuitsL1CandL2C.
VoltageshouldbewithinthespecifiedACvoltage.
·Tester·Digitalmultimeter
Ma
incircu
it
General
(1)Checkconnectionsfortightness.
(2)Checkforevidenceofoverheatinginvariouscomponents.
(3)Cleaning
OOO
(1)Retightening(2)Visual
inspection(1)(2)Noabnormalities.
Connectionconductorsandcables
(1)Checktheconductorsfordeformation.
(2)Checkthecablesheathforwearordamage.
OO
(1)(2)Visualinspection
(1)(2)Noabnormalities.
Terminalblock
Checktheterminalblockfordamage.
O Visualinspection Noabnormalities.
Inverter,converter
Checkresistancebetweenterminals.
O
DisconnectthecablesfromthedriverandmeasuretheresistancebetweenterminalsL1,L2orL3and(+)or(–),andbetweenU,VorWand(+)or(–)withatesterormultimeterof×1Ωrange.
RefertoChapter7,"4.Checkingtheinverterandconverter".Typicalinverterreplacementinterval:106start/stopcycles.
Analogtester
Smoothingcapacitor
(1)Checkforliquidleakage.
(2)Checkforbulging.
OO
(1)(2)Visualinspection(Checkforevidenceofliquidleakageanddeformationofthecase.)
(1)(2)Noabnormalities.Typicalreplacementintervals:5years(Seecapacitorlifecurve.)(Note)
RelayCheckforchatteringnoiseaton/off.
O Auralinspection Noabnormalities.
Ind
icato
r
Indicator
(1)Checkifthe7-segmentLEDandchargelamplightupcorrectly.
(2)Cleaning
OO
(1)Visualinspection
(2)Cleanwithwipingcloth.
(1)CheckiftheLEDandlamplightupcorrectly.
Note:Thecapacitorlifeisaffectedbyambienttemperature.RefertoChapter7,"5.Capacitorlifecurve"forguidelinesonreplacement.*Refertotherobotuser'smanualforinformationregardingtherobot.
7
Ma
intena
nce
and
inspe
ctio
n
7-3
Megger test and breakdown voltage test3. Donotperformameggertestorvoltagebreakdowntest.Semiconductordevicesusedintheinvertermaincircuit may deteriorate if subjected to such a test.
Checking the inver ter and conver ter4. Useatesterormultimetertocheckwhetherthemodulewilloperatecorrectly.
Preparation
1.Disconnecttheexternallyconnectedpowercables(L1,L2,L3,L1C,L2C),motorconnectioncables(U,V,W),(+),(-),and RB.
2.Prepareananalogtesterormultimeter.(Usethe1-ohmresistancemeasurementrange.)
Check method
Todeterminewhethertheunitissatisfactory,measurethecontinuityatthedriver'sconnectorterminalsL1,L2,L3,U,V,
W,RB,(+),and(-),alternatelyswitchingthepolarityofthetester.TheresultisOKifeachmeasuredvalueis
approximately the same. In the non-conducting state, the reading will be nearly infinite. In a conducting state, the
reading is usually several ohms to several dozen ohms.
Note1:First,measurethevoltageacrossthe(+)and(–)terminalsontheterminalblockofthedriverbyusingtheDCvoltage range. Make sure the smoothing capacitor is fully discharged and then start making checks.
Note 2: In some cases, the smoothing capacitor will momentarily allow conduction, causing the reading to not be infinite. Depending on the type of components and model of tester, the values might not match in some cases.
Note3:NotethatonmodelsthatcontainaDBcircuitbetweenUandW,thevaluesmeasuredatthemaincircuitterminals will differ from the values shown in the table.
Note 4: Depending on the tester that you use, the tester polarity might be reversed.
7
Ma
intena
nce
and
inspe
ctio
n
7-4
Tester polarity (Note 4)
Reading (red) (black)
Co
nve
rter
D1L1 (+)1 Non-conducting
(+)1 L1 Conducting
D2L2 (+)1 Non-conducting
(+)1 L2 Conducting
D3L3 (+)1 Non-conducting
(+)1 L3 Conducting
D4L1 (−) Conducting
(−) L1 Non-conducting
D5L2 (−) Conducting
(−) L2 Non-conducting
D6L3 (−) Conducting
(−) L3 Non-conducting
Inve
rter
TR1U (+) Non-conducting
(+) U Conducting
TR2V (+) Non-conducting
(+) V Conducting
TR3W (+) Non-conducting
(+) W Conducting
TR4U (−) Conducting
(−) U Non-conducting
TR5V (−) Conducting
(−) V Non-conducting
TR6W (−) Conducting
(−) W Non-conducting
Regenerativebrake
TR7
RB (+) Non-conducting
(+) RB Conducting
RB (−) Conducting
(−) RB Non-conducting
Note 4: Tester polarity may have to be reversed depending on the tester or multimeter type.
Converter Inverter(+) RB
U
V
W
D1 D2 D3
L1
L2
L3
TR7+
C
D4 D5 D6TR4 TR5 TR6
(-)
TR1 TR2 TR3
+
7
Ma
intena
nce
and
inspe
ctio
n
7-5
Capacitor life curve5. Ambient temperature(°C)
Capacitor life (year)
20
30
40
50
1
10
0 2 3 4 5 6 7 8 9 10
24-hour daily operation
Note 1: Ambient temperature is the temperature around the driver. When the driver is housed in a box, it is the temperature in the box.
Note 2: The smoothing capacitor wears out due to internal chemical reaction and should usually be replaced at 5 year intervals. Note, however, that the capacitor life will shorten drastically if the ambient temperature of the driver is high.
Note 3: Replacing the smoothing capacitor is not easy due to the driver structure. If servicing is needed, please contact your distributor.
Chapter 8 Specifications and dimensions
1. Specification tables 8-11.1 RDV-Xspecificationtable 8-1
1.2 RDV-Pspecificationtable 8-2
2. Driver dimensions 8-3
8
Spe
cific
atio
ns and
dim
ensio
ns
8-1
Specification tables1. RDV-X specification table1.1
Item RDV-X205 RDV-X210 RDV-X220
Ba
sicspe
cificatio
ns
Applicablemotorspecifications 200V,100Worless 200V,200Worless 200V,600Worless
Powersupplycapacity(KVA) 0.3 0.5 0.9
Inputpowersupply(maincircuit) Single-phase/3-phase200to230VAC+10%,–15%,50/60Hz±5%
Inputpowersupply(controlcircuit) Single-phase200to230VAC+10%,–15%,50/60Hz±5%
Brakepowerinput DC24V±10%
Maximumspeed(min-1) 5000
Protectivestructure(Note3) Semi-enclosuretype(IP20)
Controlsystem Sine-wavePWM(pulsewidthmodulation)
Controlmode Positioncontrol
Positiondetectionmethod Resolver
Inp
ut/o
utp
utfu
nctio
ns
Positioncommandinput Linedriver(lessthan2Mpulses/secondafterbeingmultipliedby4)(1)Forwardpulse+reversepulse(2)Signpulse+Commandpulse(3)90-degreephasedifference2-phasepulsecommandOneof(1)to(3)isselectable.
Contactinputsignal 24VDCcontactpointsignalinput(usableforsink/source)(24VDCpowersupplyincorporated)(1)ServoON(2)Alarmreset(3)Torquelimit(4)Forwardovertravel(5)Reverseovertravel(6)Originsensor(Note5)(7)Return-to-origin(8)Pulsetraininputenable(9)Deviationcounterclear
Outputsignal (1)Servoready(2)Alarm(3)Positioningcomplete(4)Return-to-origincomplete,(usableforsink/source)Opencollectorsignaloutput
Relayoutputsignal Brakingcancelsignal(24V375mA)
Positionsensormonitoroutputsignal
PhaseA,Bsignaloutput:LinedriversignaloutputPhaseZsignaloutput:Linedriversignaloutput/opencollectorsignaloutputN/8192(N=1to8191),1/N(N=1to64)or2/N(N=3to64)
Monitoroutput Selectableitems:2ch,0to±5Vvoltageoutput,speeddetectionvalue,torquecommand,etc.
Inte
rna
lfun
ction
s
Driverunitdisplaydevice 5-digitnumberindicator
Externaloperator ConnectabletoPCrunningonWindowsVista/7/8/8.1(USB2.0isused)
Regenerativebrakingcircuit Built-in(withoutabrakingresistor)
Dynamicbrake(Note4)Built-in(operatingconditionsettable)(withoutDBresistor,wiring:2-phaseshortcircuit)
Protectivefunction Overcurrent,overload,brakingresistoroverload,maincircuitovervoltage,memoryerror,maincircuitundervoltage,CTerror,CPUerror1,groundfaultdetectionatservoON,controlcircuitundervoltage,drivertemperatureerror,CPUerror2,overtravelerror,PMerror,positionsensorsignalerror,mismatcherror,positiondeviationerror,speeddeviationerror,overspeederror,driverangeerror,positionmonitortimeouterror,originsensorerror
En
viron
me
nt
Ambienttemperature/storagetemperature(Note1) 0to+55°C/–10to+70°C
Humidity 20to90%RHorless(nocondensation)
Vibration(Note2) 5.9m/s2(0.6G)10to55Hz
Installationlocation 1000metersorlessabovesealevel,indoorplace(freefromcorrosivegasanddust)
SupportsoftwareforPC RDV-ManagerProvidedfunctions:parameterediting,tuningfunctions,operationmonitoring,etc.SupportedOS:WindowsVista®32-bitSP1orlater,Windows®732-bit/64-bit,Windows®8/8.132-bit/64-bitPCconnection:USB2.0FullSpeed
*WindowsVista®,Windows®7,andWindows®8areregisteredtrademarksofMicrosoftCorporationintheUnitedStatesandinothercountries.
Exportspecifications CE LVD: IEC/EN61800-5-1EMC:EN61000-6-2,EN55011MD: IEC/EN60204-1
Approximatemass(kg) 0.7 1.1
Note1:Thestoragetemperatureisthetemperatureinthenon-energizedstateincludingtransportation.Note2:TestmethodsconfirmtoJISC60068-2-6:2010(IEC60068-2-6:2007).Note3:ProtectivesystemconformstoJISC0920(IEC60529).Note4:Usethedynamicbrakeonlyforemergencystop.Note5:Astheoriginsensor,GX-F8B(madebySUNX)orFL7M-1P5B6-Z(madebyYAMATAKE)isused.Originsensorcurrent
consumptionis15mAorless(atopenoutput)andonly1originsensorisconnectedto1driver.
8
Spe
cific
atio
ns and
dim
ensio
ns
8-2
RDV-P specification table1.2 Item RDV-P210 RDV-P210 RDV-X220 RDV-X225
Ba
sicspe
cificatio
ns
Applicablemotorspecifications 200V,100Worless 200V,200Worless 200V,400Worless 200V,600Worless
Powersupplycapacity(KVA) 0.3 0.5 0.9 1.3
Inputpowersupply(maincircuit) Single-phase/3-phase200to230VAC+10%,–15%,50/60Hz±5%
Inputpowersupply(controlcircuit) Single-phase200to230VAC+10%,–15%,50/60Hz±5%
Maximumspeed(m/s)(Note6) 2.5
Protectivestructure(Note3) Semi-enclosuretype(IP20)
Controlsystem Sine-wavePWM(pulsewidthmodulation)
Controlmode Positioncontrol
Positiondetectionmethod Magneticlinearscale
Inp
ut/o
utp
utfu
nctio
ns
Positioncommandinput Linedriver(lessthan2Mpulses/secondafterbeingmultipliedby4)(1)Forwardpulse+reversepulse(2)Signpulse+Commandpulse(3)90-degreephasedifference2-phasepulsecommandOneof(1)to(3)isselectable.
Contactinputsignal 24VDCcontactpointsignalinput(usableforsink/source)(24VDCpowersupplyincorporated)(1)ServoON(2)Alarmreset(3)Torquelimit(4)Forwardovertravel(5)Reverseovertravel(6)Originsensor(Note5)(7)Return-to-origin(8)Pulsetraininputenable(9)Deviationcounterclear
Outputsignal (1)Servoready(2)Alarm(3)Positioningcomplete(4)Return-to-origincomplete,(usableforsink/source)Opencollectorsignaloutput
Positionsensormonitoroutputsignal
PhaseA,Bsignaloutput:LinedriversignaloutputPhaseZsignaloutput:Linedriversignaloutput/opencollectorsignaloutputN/8192(N=1to8191),1/N(N=1to64)or2/N(N=3to64)
Monitoroutput Selectableitems:2ch,0to±5Vvoltageoutput,speeddetectionvalue,torquecommand,etc.
Inte
rna
lfun
ction
s
Driverunitdisplaydevice 5-digitnumberindicator
Externaloperator ConnectabletoPCrunningonWindowsVista/7/8/8.1(USB2.0isused)
Regenerativebrakingcircuit Built-in(withoutabrakingresistor)
Dynamicbrake(Note4) Built-in(operatingconditionsettable)(withoutDBresistor,wiring:2-phaseshortcircuit)
Built-in(operatingconditionsettable)(withDBresistor,wiring:2-phase
shortcircuit)
Protectivefunction Overcurrent,overload,brakingresistoroverload,maincircuitovervoltage,memoryerror,maincircuitundervoltage,CTerror,CPUerror1,groundfaultdetectionatservoON,controlcircuitundervoltage,drivertemperatureerror,CPUerror2,overtravelerror,PMerror,positionsensorsignalerror,mismatcherror,positiondeviationerror,speeddeviationerror,overspeederror,driverangeerror,positionmonitortimeouterror,originsensorerror
En
viron
me
nt
Ambienttemperature/storagetemperature(Note1) 0to+55°C/–10to+70°C
Humidity 20to90%RHorless(nocondensation)
Vibration(Note2) 5.9m/s2(0.6G)10to55Hz
Installationlocation 1000metersorlessabovesealevel,indoorplace(freefromcorrosivegasanddust)
SupportsoftwareforPC RDV-ManagerProvidedfunctions:parameterediting,tuningfunctions,operationmonitoring,etc.SupportedOS:WindowsVista®32-bitSP1orlater,Windows®732-bit/64-bit,Windows®8/8.132-bit/64-bitPCconnection:USB2.0FullSpeed
*WindowsVista®,Windows®7,andWindows®8areregisteredtrademarksofMicrosoftCorporationintheUnitedStatesandinothercountries.
Exportspecifications CE LVD: IEC/EN61800-5-1EMC:EN61000-6-2,EN55011MD: IEC/EN60204-1
Approximatemass(kg) 0.7 1.1 1.2
Note1:Thestoragetemperatureisthetemperatureinthenon-energizedstateincludingtransportation.Note2:TestmethodsconfirmtoJISC60068-2-6:2010(IEC60068-2-6:2007).Note3:ProtectivesystemconformstoJISC0920(IEC60529).Note4:Usethedynamicbrakeonlyforemergencystop.Note5:Astheoriginsensor,GX-F8B(madebySUNX)orFL7M-1P5B6-Z(madebyYAMATAKE)isused.Originsensorcurrent
consumptionis15mAorless(atopenoutput)andonly1originsensorisconnectedto1driver.Note6:Calculatedfromparametersforcontrollingdriver.Thisisnotthemaximumspeedthattherobotwillmove.
8
Spe
cific
atio
ns and
dim
ensio
ns
8-3
Driver dimensions2.
Model name Model No. Drawing
RDV-X
(ForFLIP-Xseries)
RDV-X205Fig.1
RDV-X210
RDV-X220 Fig.2
RDV-P
(ForPHASERseries)
RDV-P205Fig.1
RDV-P210
RDV-P220 Fig.2
RDV-P225 Fig.3
Fig. 1
Installation hole modification diagram
2-M5 screw hole
5
140
(4) (4.5)
(75) 40
6
φ 6
5
160
150
±0.
5 (*
) (5
)
(Inst
alla
tion
pitc
h)
150
160
(5)
40
6
6 (15.5)
(26.5)
8
Spe
cific
atio
ns and
dim
ensio
ns
8-4
Fig. 2
Installation hole modification diagram
2-M5 screw hole
5
40
6
φ 6
5
150
160
(5)
160
(Inst
alla
tion
pitc
h)
150
±0.
5 (*
) (5
)
40
6
(15.5)
(26.5)
6
170
(4) (4.5)
(75)
Fig. 3
170
(4) (4.5)
(75) 55
6
φ 6
2-M5 screw hole
5
150
160 160
(Inst
alla
tion
pitc
h)
150
±0.
5 (*
)
5
6
(5)
55
6
(5)
(15.5)
(26.5)
Chapter 9 Troubleshooting
1. Alarm display 9-1
2. Protective function list 9-2
3. Troubleshooting 9-33.1 Whenanalarmhasnottripped 9-3
3.2 Whenanalarmhastripped 9-5
9
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Alarm display1. If an alarm has tripped, a display like that shown below appears.
Alarm code Factory check code
The example shown above indicates that an overcurrent alarm has occurred.For details on the alarm codes, refer to "2. Protective function list" in this Chapter.
9
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Protective function list2. The table below shows alarms and errors that might occur to protect the driver and robot.
Alarm name Alarm code Description (cause of error)
Overcurrent E01 Motorcurrenthigherthanthespecifiedvalue
Overload E05 Overloadcurrentforlongerthanthespecifiedtime
Brakingresistoroverload E06Thedutyratioofinternalregenerativebrakingresistorexceededthe"Regenerativebrakingoperationratio"(FA-08).
Mainpowerovervoltage E07 MaincircuitDCbusvoltageexceededthespecifiedvalue.
Memoryerror E08AchecksumerroroccurredintheinternalEEPROMofthedriverduetoexternalnoiseorabnormaltemperaturerise.
Mainpowerundervoltage E09 MaincircuitDCbusvoltagedroppedbelowthespecifiedvalueduringservo-on.
CTerror E10Anabnormaloffsetvalueorout-of-rangeoutputvalueappearedincurrentdetectionCToutputduringservo-off.
CPUerror1 E11 ACPUwatchdogerroroccurred.
Groundfault E14 AmotoroutputgroundfaultoccurredwhentheservowasswitchedfromOFFtoON.
Controlpowerundervoltage
E20Thiserroroccurswhenthecontrolpowervoltagedroppedbelowthespecifiedvalueduringservo-on,butthepowersupplyrecoveredbeforetheservoturnedoffandinternalresetoccurred.
Abnormaltemperature E21 Powermoduletemperatureinthedriverincreasedtoabnormallevels.
CPUerror2 E22 AcommunicationerrorwiththeCPU.
Mainpowererror E24Ifthe"DCbuspowersupply"(FA-07)issettoL123,thiserroroccurswhenoneofthethreephasesofthemaincircuitpowersupplyinputiscutoffintheservo-onstate.
Overtravelerror E25 BothFOTandROTweresimultaneouslyenabledfor1secondormoreduringservo-on.
Powermodule(Note1) E31Overcurrentwasdetectedbythepowermodule,orpowersupplyvoltageforthebasecircuitdropped.
Positionsensorsignalerror
E39
Thiserroroccurswhenthepositionsensorhasmalfunctionedorthepositionsensorhasbroken.OntheRDV-P,thiserroroccursifpositionsensorwirebreakageisdetectedbythe"positionsensorwirebreakagedetection"thatisperformedwhenFA-90(Hallsensorconnection)issettooFF4oroFF5.
Motorpowermismatch E40Motoroutputorsupplyvoltagedoesnotmatchthedriver.ThiserrorcannotbeclearedfromtheRS(alarmreset)terminal.
Controlpowerre-switchedon
E41Thiserroroccursifyouhavechangedaparameterthatrequiresthepowersupplytobeturnedoffandonagain.Inordertoapplythedata,turnthedriver'spowersupplyoffandonagain.
Homingsensorerror E80Whenusingsensormethodreturn-to-origin(FA-23=S-F,S-r),thiserroroccursiftheORLterminaldoesnotturnOFFevenaftermoving50000pulsesormorewhenstartingreturn-to-originfromthesensor(ORLterminal)0=ONstate.
Polepositionestimationerror(Note2) E81 Thiserroroccursifthemagneticpolepositionestimationoperationendedabnormally.
Polepositionestimationun-performing(Note2) E82
WhenFA-90=non,thiserroroccursiftheservoisturnedonbeforemagneticpolepositionestimationhasbeenexecutedevenoncesincethepowerwasturnedon.WhenFA-90=non,thiserroroccursiftheSONterminalisturnedONwhiletheRSterminalisONwhenmechanicalsystemdiagnosticsorofflineautotuningbegins.
Positionerrorfault E83Thedifferencebetweenthepositioncommandvalueandthepositiondetectionvalueislargerthanthe"Positionerrordetectionvalue"(FA-05).
Speederrorfault E84Thedifferencebetweenthespeedcommandvalueandthespeeddetectionvalueislargerthanthe"Speederrordetectionvalue"(FA-04).
Overspeederror E85Thiserroroccursifthedetectedspeedfromthelinearmotorexceedsthespecifiedspeed(maximumspeedxFA-03).
Offlinetuningoscillationerror
E87Thiserroroccursifoscillationwasdetected10timesinsuccessionduringoneoperationpatterninterval(duringasingleroundtripoperation)whenperformingautomaticservogainadjustmentforautotuning.
Drivingrangeerror E88 Positiondetectionvaluewasoutsidethespecifiedrange(Fb-16toFb-19).
Note1:Toclearthetrippedalarm,shutoffthepower.Note2:DisplayedonRDV-Ponly.
If the control power supply becomes insufficient in the servo OFF state, the following display appears. (An alarm (ALM) signal is not output.)
9
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Troubleshooting3. The corrective action differs depending on whether an alarm has tripped.
When an alarm has not tripped3.1
Symptom Possible cause Checkpoint Action
Robotdoes
notmove.
Ratedvoltagewasnot
appliedtopowersupply
terminalsL1,L2,andL3,
orL1CandL2C.
•Checkthevoltagewithatester.
•Checktheearthleakagebreakerwinding,
electromagneticcontactor,etc.Alsocheckif
anyalarmhastripped.
Correctfailureormiswiringofthe
earthleakagebreaker,
electromagneticcontactor,etc.,or
clearthetrippedalarm.
Driverpowerinputsection
isdefective.
Aftercheckingtheabove,checkifthecharge
lamplightsup.
Ifthechargelampdoesnotlightup,
thedriverisdefective.Replaceor
repairthedriver.
Miswiringorpoor
connectiontorobot
Checkthephasesequenceorcontactfailure. Correctthephasesequenceor
misconnection.
SONterminalisnotON.
(Wrongpolarity)
•CheckiftheSONterminalisON,byviewing
theinputterminalmonitord-05.
•Checkthepolaritysetting.
•TurnontheSONterminal.
•Correctthepolaritysetting.
Torquelimitisineffect.
(Wrongpolarity)
•CheckiftheTLterminalisON,byviewing
theinputterminalmonitord-05.
•Checkifthesettingiscorrect.
•TurnofftheTLterminal.
•Correctthepolaritysetting.
•Correctthetorquelimitsetting.
FOTandROTterminals
arenotON.(Wrong
polarity)
•CheckiftheFOTandROTterminalsareON,
byviewingtheinputterminalmonitord-05.
•Checkthepolaritysetting.
•TurnontheFOTandROT
terminals.
•Correctthepolaritysetting.
Nopulsetraincommand
wasinputduringposition
controlmode.
(Incorrectcommandformat
settingorwrongpolarity)
•Checkifthecommandisinput,byviewing
thePositioncommandmonitord-07.
•Checkifthesettingiscorrect.
•Istheelectronicgearratiotoolowtoseeany
robotmovement?
•Isthecommandpositioninputpulsetrainrate
istoolow?
•Inputthepulsetraincommand.
•Changethecommandformatto
matchtheinputpulsetrain.
•Settheelectronicgearratio
correctly.
•Increasethepulserate.
PENterminalisnotON
duringpositioncontrol
mode.(Wrongpolarity)
•CheckifthePENterminalisON,byviewing
theinputterminalmonitord-05.
•Checkifthesettingiscorrect.
•TurnonthePENterminal.
•Correctthepolaritysetting.
Robotislocked.(Brakeis
activated.)
Checkthelock. Freethemovingpartoftherobot.
Driverfailure(Position
sensorfailure)
•Makesurethisisnotduetotheabove
causes.
•Checkthepowermodule.(Referto
"Maintenanceandinspection".)
Ifthedriverisdefective,replaceor
repairit.
Robotmotion
isunstable.
Largeloadvariation •Checktheloadvariation.
•Checkwhethertheappropriaterobotwas
selected.
•Reducetheloadvariation.
•Changetherobot.
Largebacklashofthe
mechanicalsystem
Checkthebacklash. Reducethebacklash.
Impropercontrolgain Checktheparametersettings. Readjustthecontrolgain.
Signalcableorposition
sensorcableintersectsthe
maincircuitcable.(These
areinthesamecable
duct.)
Checktheroutingofthesignalcableand
positionsensorcable.
Separatethesignalcableand
positionsensorcablefromthemain
circuitcable.
Shieldwireoftheposition
sensorcableisnot
connected.
Checktheshieldwireconnectiononposition
sensorcable.
Repairorreplacethepositionsensor.
Driverfailure(Position
sensorfailure)
•Checkthepowermodule.(Referto
"Maintenanceandinspection".)
•Checkthepositioncountfunction,byviewing
thepresentpositionmonitord-08.
Ifthedriverisdefective,replaceor
repairit.
9
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9-4
Symptom Possible cause Checkpoint Action
Robotspeed
doesnot
increase.
Speedlimitisapplied. •Checktheparametersettings(Fb-20and
Fb-21).
Setthespeedlimitvaluecorrectly.
Torquelimitisineffect.
(Wrongpolarity)
•CheckiftheTLterminalisON,byviewing
theInputterminalmonitord-05.
•Checkifthesettingiscorrect.
•DisconnecttheTLterminal.
•Correctthepolaritysetting.
•Correctthetorquelimitsetting.
Incorrectcommandspeed
setting
Checkthespeedcommandinputbyviewing
theMonitord-00.
Correctthecommandsetting.
Impropercontrolgain Checkifhuntingoccurs. Readjustthecontrolgain.
Loadisheavy. •Checktheload.
•Checkwhethertheappropriaterobotwas
selected.
•Reducetheload.
•Changetherobot.
Brakeisappliedtothe
robot.
Checkthebrake. Releasethebrake.
9
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9-5
When an alarm has tripped3.2 When an alarm has tripped, clear the alarm by inputting an alarm reset signal at the RS input, take the corrective action shown in the following table, and then turn the servo on. (Refer to the page for the RS terminal in Chapter 5, "2. Input terminal functions".)
Alarm
No.Alarm name Possible cause Checkpoint Action
E01 Overcurrent
•Outputterminalisshorted.
•Groundfault
•Incorrectmotorphase
sequence
Checkthecableconnection. Correctthecableconnection.
Suddenmotorlock Checktheload. Adjustthebraketimingto
avoidalock.
•Powersupplyvoltageislow.
•Powersupplyfluctuates.
Checkthepowersupplyvoltage.
(Checkthepowersupplycapacity.)
Correctthepowersupply
voltage,capacity,andwiring.
Positionsensorfailure Checkthecountbyviewingthe
presentpositionmonitor(d-08).
Ifdefective,replaceorrepair
it.
Powermoduleisdamaged. Checkthepowermodule.(Referto
Chapter7,"Maintenanceand
inspection".)
DBrelayfailure Disconnectthemotorcablesfromthe
driverandchecktheresistance
betweenU,VandW,usingan
ohmmeterormultimeter.
E05 Overload
Loadistooheavy. Checktheload. Reducetheload.
Motorislocked. Adjustthebraketimingto
avoidalock.
Incorrectrobotphase
sequence
Checkthecableconnection. Correctthecableconnection.
Robot'spositionsensorfailure Checkifthecountercorrectlyworks,
byviewingthepresentposition
monitord-08.
Ifthesensorisdefective,
replaceorrepairit.
E06
Braking
resistor
overload
Theregenerativeloadistoo
great,orregenerationis
occurringtoofrequently.
Checktheregenerativeload. •Reducetheload.
•Shortenthedeceleration
time.
Insufficientregenerative
capacity
Reviewtheregenerative
resistance.
Decelerationtimeistooshort. Checkwhetherthealarmisoccurring
duringdeceleration.
Increasethedeceleration
time.
Powersupplyvoltageishigh. Checkthepowersupplyvoltage. Adjustthepowersupply
voltagecorrectly.
Regenerativebraking
operatingratioissettoa
smallvalue.
Checkifthedutyratiomatchesthe
regenerativeresistance.
Setacorrectdutyratio.
E07Mainpower
overvoltage
Regenerativeresistanceis
large.
Checktheregenerativeresistance. Reducetheregenerative
resistancetotheminimum
(RBRmin).(RefertoChapter3,
"2.2Maincircuitwiring")
Decelerationtimeistooshort. Checkthedecelerationtime. Increasethedeceleration
time.
Controlgainisnot
appropriate.
Checkiftherobotwasplacedin
hunting(abnormalnoise).
Adjusttheposition/speed
controlgaincorrectly.
Regenerativeresistorisnot
connected,orisopenor
damaged.
Checktheregenerativeresistor
connectionortheregenerative
resistance.
•Connecttheregenerative
resistorcorrectly.
•Replacetheregenerative
resistor.
Incomingvoltageistoohigh. •Checkthepowersupplyvoltage.
•Checktheconnection.
•Reducethevoltage.
•Correcttheconnection.
E08 Memoryerror
Sumerrorintheinternal
EEPROMofdriver
Checkifallsettingsforthedriverare
correct.
•Initializetofactorysettings,
andoperateagain.
•Ifdefective,replaceorrepair
it.
AnEEPROMwriteorread
errorwascausedbynoise.
•Checkifanynoisesourceexists
nearthedriver.
•Checkthatthegroundwireis
connected.
•Removethenoisesource.
•Connectthegroundwire
securely.
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Alarm
No.Alarm name Possible cause Checkpoint Action
E09Mainpower
undervoltage
Maincircuitpowersupply
voltageislow.
Checkthepowersupplysystem. Increasethepowersupply
voltage.
Aunitinthepowersupply
systemisdrawingaheavy
currentthatlowersthevoltage
whilethatunitisoperating.
Isolatethepowersupply
systemintoseparateunits
andthedriver.
Chatteringoccursinthe
electromagneticcontactoron
powersupplyside.
Replacetheelectromagnetic
contactor.
Poorconnectioninpower
supplysystem
Repairthepoorconnection.
Insufficientpowersupply
capacity
Providelargerpowersupply
capacity.
Onlycontrolpowersupplyis
provided.
Connectwiringtothemain
circuit.
SONterminalturnsonbefore
thepowervoltageofthemain
circuitbecomesstable.
ChecktheSONterminalinputtiming. TurnontheSONterminal1
secondorlongerafterthe
mainpowerhasturnedon.
•Powersupplyvoltage
dropped
•Amomentarypowerfailure
occurred.
Checkifthesymptomshownatleft
hasoccurred.
Afterclearingthealarm,
operateagain.
E10 CTerror
•Currentdetectorfailure
•Currentdetectormalfunction
causedbynoise
Turnoffandonthepowersupply
again.
IftheCTisdefective,replace
orrepairit.
Checkifthereisanynoisesource
nearthedriver.
Isolatethenoisesourceaway
fromthedriver.
E11 CPUerror1
Microcomputerindriverisout
ofcontrolduetonoise.
Checkifthereisanynoisesource
(includingasolenoidcoiland
electromagneticcontactor)nearthe
driver.
•Isolatethenoisesource
awayfromthedriver.
•Installanoisefilterorsurge
absorber.
Turnoffandonthepowersupply
againandcheckthecondition.
IftheCPUisdefective,
replaceorrepairit.
E14Groundfaultat
servo-on
GroundfaultoccurredDisconnectthewiring,andfindthe
locationofthegroundfault.Correctthegroundfaultpoint.
Driverisatfault. Checkthepowermodule(Chapter7,
"MaintenanceandInspection")
Ifdefective,replaceorrepair
it.
E20Controlpower
undervoltage
Controlcircuitpowersupply
voltageislow.
Checkthepowersupplysystem. Increasethepowersupply
voltage.
Aunitinthepowersupply
systemisdrawingaheavy
currentthatlowersthevoltage
whilethatunitisoperating.
Isolatethepowersupply
systemintoseparateunits
andthedriver.
Chatteringinelectromagnetic
contactoronpowersupply
side
Replacetheelectromagnetic
contactor.
Poorconnectioninpower
supplysystem
Repairthepoorconnection.
Insufficientpowersupply
capacity
Providelargerpowersupply
capacity.
•Powersupplyvoltage
dropped
•Amomentarypowerfailure
occurred.
Checkifthesymptomshownatleft
hasoccurred.
Afterclearingthealarm,
operateagain.
E21Driver
overheat
Theloadistooheavy. Checktheload. •Lightentheload
•Reconsiderthemotion
pattern
Ambienttemperatureofdriver
ishigherthan55°C.
Checktheambienttemperature. Lowertheambient
temperature.
Motorshaftislocked. Visualcheck. Unlockthemotor.
E22 CPUerror2
Microcomputerindriver
cannotcommunicatedueto
noise.
Checkifthereisanynoisesource
(includingasolenoidcoiland
electromagneticcontactor)nearthe
driver.
•Isolatethenoisesource
awayfromthedriver.
•Installanoisefilterorsurge
absorber.
Thedriverhasmalfunctioned Turnthepoweroffandonagain,and
thencheckoperation.
Ifthecircuitisdefective,
replaceorrepairit.
9
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oting
9-7
Alarm
No.Alarm name Possible cause Checkpoint Action
E24Maincircuit
powererror
Single-phaseisbeingused
andthe"DCbuspower
supply"(FA-07)issettoL123
ChecktheFA-07value CorrecttheFA-07valueto
LP12Pn
Oneofthemaincircuitinput
powersuppliesis
unconnected
CheckforproblemsintheR,S,andT
wiring
Correcttheconnections
Thephasesofthemaincircuit
powersupplyareunbalanced
Checkwhetherthevoltagesbetween
R,S,andTareunbalanced
Matchthepowertothemain
circuitpowersupply
Themaincircuitinputpower
supplyvoltageisbelowthe
ratedvalue
Checkifthemaincircuitvoltageislow
E25 Overtravel
Theovertravelsignal
connectioniswrong.
Checkthecableconnection. Correctthecableconnection.
FOT/ROTterminalswerenot
ON(closed)atservo-on.
CheckiftheFOT/ROTterminalsare
ON,byviewingtheInputterminal
monitord-05.
Supplyaninputtoatleast
oneoftheFOT/ROTterminals
E31PM(power
module)error
•Outputterminalisshorted.
•Agroundfaulthasoccurred.
•Incorrectmotorphase
sequence
Checkthecableconnection. Correctthecableconnection.
Suddenmotorlock Checktheload. Adjustthebraketimingto
avoidalock.
•Powersupplyvoltageislow.
•Powersupplyfluctuates.
Checkthepowersupplyvoltage.
(Checkthepowersupplycapacity.)
Correctthepowersupply
voltage,capacity,andwiring.
Positionsensorfailure Checkifthecountiscorrectby
viewingthepresentpositionmonitor
(d-08).
Ifdefective,replaceorrepair
it.
Powermoduleisdamaged. Checkthepowermodule.(Referto
Chapter7,"Maintenanceand
inspection".)
E39Positionsensor
error
Positionsensorcableis
broken.
Checkthecable,connector,shield
wire,andgroundwire.
Correctthewirebreakageor
connectormating.
Inadequatecableshieldingor
groundwire.
Strengthentheshieldingand
grounding.
Malfunctioncausedbynoise Checkifthereisanynoisesource
nearby.
Isolatethenoisesourceaway
fromthedriver.
Positionsensorfailure Checkthecountinthecurrentposition
monitor(d-08)
Ifthesensorisdefective,
replaceorrepairit.
E40 Mismatcherror
Incorrectgenerationfilewas
specified
Checkthegenerationfile Correcttheinconsistency
Incorrectcombinationofdriver
androbot
Checkthecombinationofdriverand
robot
E80Originsensor
error
Originsensorisnotoperating
correctly.
CheckiftheORLterminalisONby
viewingtheInputterminalmonitor
d-05.
•TurnontheORLterminal.
•Replacetheoriginsensor.
E81
Magneticpole
position
estimation
error
Relatedparametersarenot
setcorrectly.
CheckthesettingsofFA-82,FA-85,
FA-87,andFd-00.
Setthevaluescorrectly.
Themagneticpoleposition
estimationparameters(Fb-40
toFb-43)arenotset
appropriately.
Insufficienttorqueduringmagnetic
polepositionestimation.
AdjustFb-40toFb-43to
increasethegenerated
torque.
Torqueisbeinglimitedduring
magneticpolepositionestimation.
AdjustFb-40toFb-43sothat
thetorqueisnotlimited.
FOTorROTterminalsare
turnedoffduringmagnetic
polepositionestimation.
CheckthestateoftheFOTandROT
terminals
•InputtheFOTandROT
terminals.
•ChangetheFC-01setting.
Externalforceismovingthe
rotorduringmagneticpole
positionestimation.
Checkifexternalforceisapplied. •Removetheexternalforce.
Positionsensorhasfailed. Checkthecountinthecurrentposition
monitor(d-08).
Ifthesensorhasfailed,
replaceorrepair.
SONterminalisturningon
simultaneouslywiththeFOT
andROTterminals.
ChecktheinputtimingoftheFOT,
ROT,andSONterminals.
AftertheFOTandROT
terminalsturnon,waitatleast
10[ms]beforeturningthe
SONterminalon.
9
Troub
lesho
oting
9-8
Alarm
No.Alarm name Possible cause Checkpoint Action
E82
Magneticpole
position
estimationnot
executed
Magneticpoleposition
estimationhasnotbeen
executedevenoncesincethe
powerwasturnedon.
CheckthattheSRDterminalison. Executemagneticpole
positionestimation.
E83Positionerror
fault
Pulsepositioncommandrate
istoofast.
Checkthepositioncommandinput
rate.
Lowerthepulseposition
commandrate.
Electronicgearsettingis
incorrect.
Settheelectronicgear
correctly(reducetheratio).
Controlgaindoesnotmatch. Checkthesetting. Adjustthecontrolgain.
Speedortorquelimiteristoo
low.
Set(increase)thespeedor
torquelimitercorrectly.
Positiondeviationerrorlevel
settingistoosmall.
Correct(increase)theposition
deviationerrorlevel.
Malfunctioncausedbynoise •Checkifthereisanynoisesource
nearby.
•Checktheroutingofthecable,
connectors,shieldwire,andground
wire.
•Isolatethenoisesource
awayfromthedrive.
•Strengthentheshieldingand
grounding.
•Isolatethepositionsensor
cableawayfromthepower
cable.
Momentofloadinertiaistoo
heavy.
Checkrelationofloadtoposition
commandrate.
Reducetheload.
E84Speederror
fault
Speedcommandinputsetting
isincorrect.
Checkthesetting. Correcttheinputsetting.
Controlgaindoesnotmatch. Adjustthecontrolgain.
Torquelimiteristoolow. Correct(increase)thetorque
limiter.
Speeddeviationerrorlevel
settingistoosmall.
Correct(increase)thespeed
deviationerrorlevel.
Malfunctioncausedbynoise •Checkifthereisanynoisesource
nearby.
•Checktheroutingofthecable,
connectors,shieldwire,andground
wire.
•Isolatethenoisesource
awayfromthedrive.
•Strengthentheshieldingand
grounding.
•Isolatethepositionsensor
cableawayfromthepower
cable.
Momentofloadinertiaistoo
heavy.
Checkrelationofloadtoposition
commandrate.
Reducetheload.
E85Overspeed
error
Speedcommandinputsetting
iswrong.
Checkthesetting. Correcttheinputsetting.
Controlgaindoesnotmatch. Adjustthecontrolgain.
Torquelimiteristoolow. Correct(increase)thetorque
limitercorrectly.
Overspeederrordetection
levelsettingistoolow.
Settheoverspeederror
detectionlevelcorrectly
(increase).
Malfunctioncausedbynoise •Checkifthereisanynoisesource
nearby.
•Checktheroutingofthecable,
connectors,shieldwire,andground
wire.
•Isolatethenoisesource
awayfromthedrive.
•Strengthentheshieldingand
grounding.
•Isolatethepositionsensor
cableawayfromthepower
cable.
Momentofloadinertiaistoo
heavy.
Checkifovershootinghasoccurred. Reducetheload.
Wrongmotorcableconnection Checktheconnection. Correcttheconnection.
Positionsensorfailure Checkthecountinthecurrentposition
monitor(d-08).
Ifthesensorisdefective,
replaceorrepairit.
9
Troub
lesho
oting
9-9
Alarm
No.Alarm name Possible cause Checkpoint Action
E88Driverange
error
•Pulsetrainposition
commandwasmistakenly
input.
•Originpositioniswrong.
•Operatedoutsidethedrive
range.
Checkthemastercontrolunit. Removethecauseofthe
mistakeninput,clearthe
alarm,andthenoperate
again.
Needslargeroperatingmargin
outsidethedriverange
Checkifaloadmovedtherobotnear
thedriverangelimit.
•Reviewthesettingoutside
thedriverange.
•Adjustorremovetheloadso
thatitwillnotmovethe
robot.
Electronicgearsettingis
incorrect.
Checkthecontroldevice. Correctthesetting.
Torquelimiteristoolow.
Controlgaindoesnotmatch. Adjustthecontrolgain.
E89
Position
monitoring
timeouterror
Controlgainand"Positioning
detectionrange"(Fb-23)are
notappropriate.
Checkthesetting. Adjusteachsetting.
Electronicgearsettingis
wrong.
Correctthesetting.
Robotislocked. Checktheload. •Unlocktherobot.
•Adjustthebrakerelease
timing.
Loadislargerthanthe
estimatedlevel.
•Reducetheload.
•Reconsiderthechoiceof
robot.
Torquelimiterisineffect. ChecktheTLterminalandsetting. •DisconnecttheTLterminal.
•Changethesetting.
Chapter 10 Appendix
1. Timing chart 10-1
2. Options 10-2
3. Recommended peripheral devices 10-7
4. EMC countermeasure examples 10-94.1 Configuration 10-9
4.2 Countermeasurecomponents 10-10
5. Internal block diagram of robot driver 10-12
10
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10-1
Timing char t1. The following shows the timing chart from the power-on to the position command input (when the return-to-origin is performed).
RDV-X
(Note 1)
(Note 2)
(Note 2)50 [ms] or more (Note 3)
(Note 4)
approx.10[ms]
Servo-offPower-off Servo-on Return-to-origin Servo-on Operation
Control power
Main circuit power
Inputsignal
SON
FOT
ROT
ORG
PEN
Outputsignal
SRD
ORG-S
INP
Position command
RDV-X operation
Note 1: Turn on the main circuit power after the control power has been turned on or at the same time when
the control power is turned on.
Note 2: Turn on the FOT and ROT signals 10 [ms] or more before the SON signal is turned on.
Note 3: When return-to-origin is completed, the INPUT signal and ORG-S signal turn ON. After the INP
signal or ORG-S signal turn ON, turn the ORG signal OFF.
Note 4: Turn on the PEN signal 10 [ms] or more before the position command is input.
position command input
approx.10[ms]
approx.50[ms]
1000 [ms] or more10 [ms] or more
RDV-P
position command input
Control power
Main circuit power
Inputsignal
SON
FOT
ROT(Note 3)
ORG
PEN (Note 4)
Outputsignal
SRD
ORG-S
INP
Position command
RDV-P operation Power-off Servo-offMagnetic pole
position estimation Servo-on Return-to-origin Servo-on Operation
(Note 1) 1000 [ms] or more10 [ms] or more
(Note 2)
(Note 2)
Note 1: Turn on the main circuit power after the control power has been turned on or at the same time when
the control power is turned on.
Note 2: Turn on the FOT and ROT signals 10 [ms] or more before the SON signal is turned on.
Note 3: When return-to-origin is completed, the INPUT signal and ORG-S signal turn ON. After the INP
signal or ORG-S signal turn ON, turn the ORG signal OFF.
Note 4: Turn on the PEN signal 10 [ms] or more before the position command is input.
approx.10[ms]
10
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10-2
Options2. (1) "RDV-Manager" support software for PC
This allows you to connect a computer and use it to set parameters, execute trial operation, adjust the servos, and monitor the position, speed, and torque from a graphical user interface. It works well in the Windows operating environment.For details, refer to the RDV-Manager manual.
System requirements
Item Specifications
Harddisk 1GBormorefreespaceisrequiredintheRDV-Managerinstallationdestination
Displayresolution 1024x768pixelsorhigherresolutionisrecommended
Operatingsystem IfusingWindowsVista
SP1(ServicePack1)orlater
InternetExplorer7orlater
1GBormorememory
32-biteditionoftheOS
IfusingWindows7
InternetExplorer8orlater
1GBormorememory
32-bitor64-biteditionoftheOS
IfusingWindows8/8.1
InternetExplorer10orlater
1GBormorememory
32-bitor64-biteditionoftheOS
(However,theremaybecasesinwhichthesoftwarewillnotrunduetotheinstallationconditions.)
Communicationstandard USB2.0FullSpeed
10
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10-3
The following illustrations are examples of function and operation screens. For details, refer to the RDV-Manager manual.
Monitoring function
Monitors operation information and terminal status in real time.
Parameter setting
Allows setting, saving and loading parameters from the PC.
10
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10-4
Trial operation, adjustment, and operation trace functions
Jogging operation, return-to-origin, and offline auto tuning functions are supported.
(2) PC cable
Model KEF-M538F-00
Length 3m
Connector at computer TypeAconnector(male)
Connector at robot driver TypeMini-Bconnector(male5-pin)
Dimensions
28AWG
28AWG
28AWG
28AWG
SHELL
RED
WHITE
GREEN
BLACK
SHELL (BRAID)
4 5
3 3
2 2
P1 P2
1 1CN1
φ4.8
3m
CN2USB-A 4-wire male USB-Mini-B 4-wire male
PC side Robot driver side
Other recommended cables
•ELECOMmanufactured USBcable U2C-MF30BK
•MISUMImanufactured USBcable USB-AM-MBM
10
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10-5
(3) Braking resistor RBR1 (small type)
Dimensions (mm)
P
RB
2
1
2-4.
2+
0.3
–0
150 ±1
160 ±1
170 ±1.5
t1.2
20±
0.8
39±
0.8
42.5
±1
500+20−10
Circuit diagram
P
2
1
RB
Model No.Rated
wattageResistance
Allowable braking ratio
(%ED)
Allowable continuous
braking time
Mass
(kg)
KBH-M5850-00 120W 100Ω 2.5% 12sec. 0.27
Errordetection
function
Internalthermalrelay(contactcapacity,AC240V,2Amax,NormallyON(b-contact),internalthermalfuse
(unrecoverable)
Note 1: Thermal relay and fuse are built into the braking resistor.
Note 2: Internal thermal fuse prevents excessive heat generation which may occur due to misoperation (unrecoverable).
Note 3: An appropriate safety circuit is configured so that the main power of the robot driver is turned off if the thermal relay is tripped (an alarm occurs).
Connection diagram
(+)
RB
P 1
RB 2
Robot driver
Alarm contact(Normally closed (b-contact))
Normally ON
Braking resistor
10
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10-6
(4) Braking resistor RBR2 (standard type)
Dimensions (mm)
55L1±1.5
70 25
7.5 L2+0–1 7.5
W±
1
R3.5
7
φ15R3.5
10
L3±1
T
H2H1
Labe
l sho
win
g ra
tings
Circuit diagram
PRB
12
Model No.Dimensions (mm)
Mass (kg)L1 L2 L3 H1 H2 W T
KBH-M5850-10 310 295 160 67 12 64 1.6 0.97
Model No. Rated wattage Resistance Allowable braking ratio
(%ED)
Allowable continuous
braking time
KBH-M5850-10 200W 100Ω 7.5% 30sec.
Errordetection
function
Internalthermalrelay(contactcapacity,AC240V,2Amax,NormallyON(b-contact),internalthermal
fuse(unrecoverable)
Note 1: Thermal relay and fuse are built into the braking resistor.
Note 2: Internal thermal fuse prevents abnormal heat generation which may occur due to misoperation (unrecoverable).
Note 3: An appropriate safety circuit is configured so that the main power of the robot driver is turned off if the thermal relay is tripped (an alarm occurs).
Connection diagram
(+)
RB
P 1
RB 2
Robot driver
Alarm contact(Normally closed (b-contact))
Normally ON
Braking resistor
10
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10-7
Recommended peripheral devices3. ThissectiondescribestherecommendedoptionaldevicesfortheRDVseriesrobotdrivers.AlloptionaldevicesintroducedherearemanufacturedbyHitachiIndustrialEquipmentSystemsCo.,Ltd.
(1) Input side AC reactor (for harmonic suppression, power coordination, power factor
improvement)
Model No.
A L I– 2 . 5 L
Capacity (See the table below for interrelation with robot driver.)
Input side AC reactor
Connection diagram
Reactor Robot driver
M
R0
S0
T0
R
S
TV
W
U
L3
L2
L1Robot
Powersupply
Robot driver
model No.
Input side AC
reactor model
No.
Dimensions (mm)J K
Mass
(kg)A C D E H X Y
RDV-*205
ALI-2.5L 130 82 60 40 150 50 67 6 4 2.4RDV-*210
RDV-*220
RDV-P225
Dimension drawing
Cmax.
Dmax. Emax.Amax.6-M K
Hm
ax.
X Y
4-φJ
10
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10-8
(2) Radio noise filter (zero-phase reactor)
Connection diagram
R
S
T
M
L1
L2
L3
U
V
W
Powersupply
Robotdriver
Radio noisefilter
Robot
Note 1: Wind L1, L2 and L3 in the same direction.
Note 2: This filter can be used on both input and output sides of robot driver.
Should be as close as possible to robot driver.
Dimensions (mm)
7±0.
5
Cable through-hole
ZCL–A ZCL–B40
Cablethrough-hole
85
35
83
129
3-M4
φ7 mounting hole
32
7×14
160
180
2-φ5.5 (M5)
12.5
±0.
3
95 max
80±0.5
26
max
3
78m
ax.
72±
0.5
39.5
min
(3) Input-side radio noise filter (capacitor filter)
Connect this filter directly to the power terminals on the robot driver to reduce radiation noise emitted from the cable.
Dimensions (mm) Connection diagram
Powersupply
Robot driver
Robot
M
L1
L2
L3
U
V
W
Capacitor filter
Model No. W H T
CFI-L(250Vrating) 48.0 35.0 26.0
10
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10-9
EMC countermeasure examples4. RegardingEMCDirective,thecustomer'sfinalproduct(entiresystem)includingtheYAMAHArobotmustprovidethenecessarycountermeasures.WeatYAMAHAdetermineamodelforsingleunitsofYAMAHArobots(driver,robot,andperipheraldevice)andverifythatitcomplieswiththerelevantstandardsofEMCDirective. Inordertoensurethecustomer'sfinalproduct(entiresystem)complieswithEMCDirective,thecustomershouldtakeappropriateEMCcountermeasures.TypicalEMCcountermeasuresforasingleunitofYAMAHArobot are shown for reference.
c CAUTION The following description and circuits are typical countermeasures used when the robot and controller are tested under YAMAHA installation conditions. When the robot and controller are used while installed in the customer's system, the actual test results may differ depending on installation conditions.
Configuration4.1
c CAUTION As shown in the following figure, the ferrite cores and noise filter on the driver side should be placed as close to the driver body as possible. The ferrite cores on the robot side should be placed as close to the robot body as possible.
Typical component layout for EMC countermeasures
L2L3L1CL2C
ENC1
U/V/W
I/O
Single-axis robot
PLC
RDV-X
: Noise filter JAC-10-683 : COSEL
: Ferrite core ZCAT3035-1330 : TDK
: Ferrite core ZCAT2132-1130 : TDK
: Ferrite core 1 turn
: Ferrite core 2 turns
Meaning of symbols
Power supply(200 to 230V)
Ground
RDV-X
RDV-P
L1
L2L3L1CL2C
ENC1
U/V/W
I/O
Linear motorSingle-axis robot
PLC
RDV-P
Power supply(200 to 230V)
Ground
L1
10
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10-10
Countermeasure components4.2
Noise filter
Always install an external noise filter on the AC power line.
A recommended noise filter is shown below.
Recommended noise filter
Manufacturer :COSELCorporation
Type No. : JAC series
3-M4Output
Protection Earth (PE)M4Mounting Plate
Mounting Hole
2-φ5.5
Terminal cover
* With terminal cover closed
(Terminal block screw pitch)
(Mounting plate hole pitch)
132
119
118
9.7 50 63
Terminal cover
322.5
* Tolerance: ±1* Mass: 440g max* Mounting plate material: Steel (surface treatment: nickel plated) t=1.0
* Case material: PBT* Units: mm* Terminal block tightening torque M4 : 1.6Nm (16.9kgfcm) max
8
442
4.5 4.5
InputTerminal
3-M4 Name Plate
13.3
Dimensional outline
Specifications and applicability
Robot driver model No. Noise filter model No. Rated voltage Rated current Mass (kg)
RDV-*205JAC-6-683 500V 6A 0.44
RDV-*210
RDV-*220JAC-10-683 500V 10A 0.44
RDV-P225
10
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10-11
Ferrite core
Install ferrite cores according to the customer's final product (entire system).
Recommended ferrite cores are shown below.
Recommended ferrite core 1
Manufacturer : TDK Type No. :ZCAT3035-1330
unit: mm
Dimensional outline
39.0±1
34.0±1
30.0±1
13.0±1
Recommended ferrite core 2
Manufacturer : TDK Type No. :ZCAT2132-1130
Dimensional outline
unit: mm
20.5±1
11.0±1
36.0±1
32.0±1
10
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10-12
Internal block diagram of robot driver5.
Reg
ener
ativ
ebr
akin
g re
sist
or(o
ptio
n)
Control power supply
DB
circ
uit
Pos
ition
com
man
d
Sen
sor
outp
ut
Orig
in s
enso
r
Ser
vo O
N e
tc.
Spe
edco
ntro
l C
urre
ntco
ntro
l
Ser
vo s
eque
nce
cont
rol
A
uto
tuni
ng, e
tc.
Dat
a pr
oces
sing
, etc
.
I/O in
terf
ace
(bit
inpu
t/out
put)
Pul
se tr
ain
Rob
ot d
river
Pow
er a
mpl
ifier
(in
vert
er)
Pro
tect
ive
circ
uit
Ser
vo
mot
or
Cur
rent
sign
alpr
oces
sing
Reg
ener
ate
brak
ing
circ
uit
–
Sin
gle-
phas
e/3-
phas
e 20
0 V
Ope
rato
r
R/D
con
vert
er
Pos
ition
cont
rol
Pos
ition
se
nsor
sig
nal
proc
essi
ng
Pow
er r
ectif
ier
(rec
tifie
r ci
rcui
t)
Mon
itor
G
ate
driv
er
(ser
ial c
omm
unic
atio
n)
Not
e: If
usi
ng s
ingl
e-ph
ase
200V
as
the
mai
n ci
rcui
t pow
er s
uppl
y, w
ire it
to L
1 an
d L2
.
Mon
itor
outp
ut
RD
V-M
anag
er
Sen
sor
Revision record
Manual version Issue date Description
Ver.1.11 Aug.2015 Firstedition
All rights reserved. No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO., LTD. Information furnished by YAMAHA in this manual is believed to be reliable. However, no responsibility is assumed for possible inaccuracies or omissions. If you find any part unclear in this manual, please contact your distributor.
Robot Driver
User's Manual
YAMAHA MOTOR CO., LTD. IM Operations
RDV SeriesAug.2015Ver.1.11
http://global.yamaha-motor.com/business/robot/
Robot manuals can be downloaded from our company website. Please use the following for more detailed information.
YAMAHA MOTOR CO., LTD.
IM Operations
882 Soude, Nakaku, Hamamatsu, Shizuoka, 435-0054, JapanTel. 81-53-460-6103 Fax. 81-53-460-6811