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SANMOTION AC SERVO SYSTEMS Instruction Manual

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Text of SANMOTION AC SERVO SYSTEMS Instruction Manual

  • M0005349F

    QSANMOTION

    AC SERVO SYSTEMS

    Instruction Manual

    TYPE S

  • 1

    Preface This product corresponds with the shipping regulations given in the Export Trade Control Ordinance (Table 1, item 16) and the Foreign Exchange Ordinance (Table 1, item 16). When these products are exported by customers, and when exported including the other freight or together with other freight, it is recommended to fulfill the requirements related to Security Export Control with the relevant authorities, including Information Requirements and Objective Requirements.

    This manual outlines the functions, wiring, installation, operations, maintenance, specifications, etc. of the AC servo amplifier Q Series Type S. The Q Series Type S AC servo amplifier system is compatible with a wide variety of various applications requiring low, medium or high capacity, high efficiency, reduced footprint, and excellent cost performance. This product was developed to offer a series of servo motors that are easy to use and offer excellent functionality in an AC servo motor. It fulfills various needs, such as the downsizing of the control panel, and offers compatability for a wide range of applications requiring a servo motor.

    Please note that this instruction manual is applicable for the amplifier revision Dor E (and refer to the details given in the following pages).

    Precautions related to this Instruction ManualIn order to fully understand the functions of AC servo amplifier Q Series Type S, please read this instruction manual thoroughly before using it. After reading this manual thoroughly, please keep it handy for reference. Please contact the dealre or sales representative if there are defects such as nonconsecutive pages, missing pages or if the manual is lost or damaged. Carefully and completely follow the safety instructions outlined in this manual. Please note that safety is not guaranteed for usage methods other than those specified in this manual or usage methods intended for the original product. The contents of this manual may be modified without prior notice, as revisions or additions are made in the usage method of this product. Modifications are performed per the revisions of this manual. Permission is granted to reproduce or omit part of the attached figures (as abstracts) for use. Although the manufacturer has taken all possible measures to ensure the veracity of the contents of this manual, if you should notice any error or ommission, please notify the dealer or sales office of the finding.

    TerminologyWithin this Instruction Manual: AC servo motor is abbreviated as servo motor or motor; AC servo amplifier is abbreviated as servo amplifier or amplifier; Wire-saving increment encoder is abbreviated as incre, wire-saving incre or INC-E; Absolute encoder with incre is abbreviated as Abso with incre or ABS-E; Wire-saving absolute encoder is abbreviated as Wire-saving ABS; Absolute encoder with a request is abbreviated as Abso with a request; Moreover, both wire-saving incremental encoder and absolute encoder are abbreviated as Encoder,

    and for the optical encoder and entire resolver encoder the term Sensor is used generally. Related instructions manual

    Refer to M0005351 for the usage instructions for the setup software.

  • 2

    DDeettaaiillss ooff SSooffttwwaarree MMooddiiffiiccaattiioonnss RReellaatteedd ttoo IInnssttrruuccttiioonn MMaannuuaall RReevviissiioonnEach time the Instruction Manual is upgraded, the modifications are recorded. Since these modifications are functional additions to equipment already in use, modifications such as parameter modification, etc., are not required. Additionally, these additional functions are displayed as new functions in this Instruction Manual. 11..TTaarrggeett mmooddeell nnuummbbeerr

    Model name Common specifications Specifications Revision QS1 01AAQS1 03AAQS1 05AA

    Standard encoder Rotary servo system

    C D

    QS1 10AAQS1 15AA

    Standard encoder Rotary servo system

    B C

    QS1 01LAQS1 03LAQS1 05LA

    Standard encoder Linear servo system

    C D

    QS1 10LAQS1 15LA

    Standard encoder Linear servo system

    B C

    QS1 01AHQS1 03AHQS1 05AH

    Full-duplex communication encoder

    Rotary servo system C D

    QS1 10AHQS1 15AH

    Full-duplex comm. encoder Rotary servo system

    B C

    QS1 01AHQS1 03AHQS1 05AH

    Full-duplex comm. encoder Rotary servo system

    C D

    QS1 10AHQS1 15AH

    Full-duplex comm. encoder Rotary servo system

    B C

    QS1 01AT QS1 03AT QS1 05AT

    Full closed system Rotary servo system

    C D

    QS1 10AT QS1 15AT

    Input power200V or 100V

    Built-in regenerative resistance

    Yes or No DB resistance

    Built-in or No

    Full closed system Rotary servo system

    B C

    22.. MMooddiiffiiccaattiioonn ppeerriiooddAs per production in the last ten days of February 2003

    33.. MMooddiiffiiccaattiioonn ppuurrppoosseeFor the upgrade of the servo amplifier

    44.. MMaaiinn MMooddiiffiiccaattiioonn CCoonntteennttss44..11.. MMooddiiffiiccaattiioonn ooff mmaaiinn nnaammee ppllaattee

    44..22.. MMooddiiffiiccaattiioonn ooff sseerrvvoo aammpplliiffiieerr ssooffttwwaarree

    1. Modification of software version

    2. Addition of operation trace function

    3. Addition of pulse sending JOG function

    4. Extension of function related to brake operation start time

    5. Extension of function related to deviation clear (position control)

    6. Addition of analog monitor output signal

    7. Addition of digital monitor output function

    8. Addition of display function of load torque monitor (estimate) 44..33.. MMooddiiffiiccaattiioonn ooff iinnssttrruuccttiioonn mmaannuuaall ((MM00000055331133))

    44..44.. VVeerrssiioonn uuppggrraaddaattiioonn ooff sseett--uupp ssooffttwwaarree

  • 3

    55.. DDeettaaiillss ooff mmaaiinn mmooddiiffiiccaattiioonn ccoonntteennttss55..11.. MMooddiiffiiccaattiioonn ooff mmaaiinn nnaammee ppllaattee

    Modification in material quality with air permeability. The material color changes to white with the

    modification of material quality.

    55..22.. MMooddiiffccaattiioonn ooff SSeerrvvoo AAmmpplliiffiieerr SSooffttwwaarree

    1. The software has been upgraded to version P0.01.0 (from P0.00.5). Check the software version

    currently in use by the following methods:

    Check by using the digital operator

    In the Status Display Mode (mode immediately after turning control power), press the MODE

    key several times to display the Alarm Trace Mode (ALn.00). If the key is pressed twice,

    the software (CPU) version is displayed.

    Check by using the Q-SETUP set-up software

    When you are online, if Monitor (M) Alarm history display (A) is selected, the following

    screen is displayed. The portion indicated with an arrow is the software version.

    2. Addition of operation trace function

    This function can be used when combined with the Q-SETUP set-up software Version 0.3.1-0.01.4

    onwards.

    3. Addition of pulse sending JOG function

    This function can be used when it is combined with Q-SETUP set-up software Version 0.3.1-0.01.4

    onwards.

  • 4

    4. Extension of function related to brake operation start time

    After a status change from servo ON to servo OFF, the brake (holding brake and dynamic brake)

    operation function is extended, so that the motor does not stop even if the prescribed time is

    elapsed. Parameter setting

    valueG1-19 BONBGN

    P0.00.5 P0.01.0

    0ms Brake operation after 4ms is elapsed Brake operatrion function becomes disabled after the prescribed time is elapsed.

    1ms~4ms Brake operation after 4ms is elapsed Same condition as on the left

    5ms~65535ms

    Brake operation after the time set is elapsed (Internal processing of servo amplifier is performed in 4ms unit. Therefore, when BONBGN = 13ms, brake operation after 16ms is elapsed. 16ms which is the multiple of 4 exceeds the setting time of 13ms.)

    Same condition as on the left

    5. Extension of function related to deviation clear (position control)

    Deviation clear input is extended in 2 types, level input and edge input. Parameter setting G3-00 PA300 P0.00.5 P0.01.0

    Name Deviation clear selection Deviation clear selection

    0HServo OFF/deviation clear: Deviation clear input/level detection

    Same condition as on the left

    1HServo OFF/deviation clear: Deviation clear input/level detection

    Servo OFF/deviation clear: Deviation clear input / edge detection

    2HServo OFF/deviation not cleared: Deviation clear input/level detection

    Same condition as on the left

    Upper

    3HServo OFF/deviation not cleared: Deviation clear input/level detection

    Servo OFF/deviation not cleared: Deviation clear input / edge detection

    Name Position command pulse digital filter Position command pulse digital filter 0H Minimum pulse width=834nsec Same condition as on the left 1H Minimum pulse width=250nsec Same condition as on the left2H Minimum pulse width=500nsec Same condition as on the left3H Minimum pulse width 1.8usec Same condition as on the left4H Minimum pulse width 3.6usec Same condition as on the left5H Minimum pulse width 7.2usec Same condition as on the left6H Minimum pulse width=125nsec Same condition as on the left

    Lower

    7H Minimum pulse width=83.4nsec Same condition as on the left

  • 5

    6. Addition of analog monitor output signal

    Signal that can be selected as analog monitor output is added. Parameter setting

    G5-00 MON1G5-01 MON2

    P0.00.5 P0.01.0

    00H Torque monitor 2V/TR Same condition as on the left 0