YAMAHA SINGLE-AXIS ROBOT DRIVER RDV Series · YAMAHA SINGLE-AXIS ROBOT DRIVER Ver. 1.11 ... Important precautions for each stage of the robot life cycle S-10 ... (C17-10-BK) 6-72

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



4.5 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


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


1.1 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


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


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


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


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


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


1.1 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


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


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



4.4 Moving and installation S-13



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

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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.

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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.

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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.


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.


• 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.


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.


• 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.


• 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.


• 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.


• 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.


• 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.


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


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.


• 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.


Thisindicatestheareaaroundthissymbolmaybecomeveryhot.Motors,heatsinks,andregenerativeunitsbecomehotduringandshortlyafteroperation.Toavoidburnsbecarefulnottotouchthosesections.

93008-X0-00

Caution symbol3.

c CAUTION Always read the manual carefully before using the controller.

!


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.


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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.


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.


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.


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


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

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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.

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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



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

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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.

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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




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

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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



Interface power


Servo ON

Alarm reset

Torque limit

Forward overtravel

Reverse ovetravel

Return-to-origin


Position error counter clear


Origin sensor




Phase Z detection


Monitor output 1

Monitor output 2


Servo ready

Alarm



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

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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



Interface power


Servo ON

Alarm reset

Torque limit

Forward overtravel

Reverse ovetravel

Return-to-origin


Position error counter clearInterface power common

Origin sensor




Phase Z detection


Monitor output 1

Monitor output 2


Servo ready

Alarm



Brake power

Brake release relay

Logic ground

Logic ground


3

Installa

tion a

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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)


Robot driver



Interface power

Servo ON

Alarm reset

Torque limit

Forward overtravel

Reverse ovetravel

Return-to-origin


Position error counter clear


Origin sensor




Phase Z detection


Monitor output 1

Monitor output 2


Servo ready

Alarm



Brake power

Brake release relay

Logic ground

Logic ground

External supply


3

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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


3

Installa

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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


3

Installa

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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

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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


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

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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)


(DC24V)


•Prepareanexternalpowersupplyforoutputsignals.Donotusetheinternalinterfacepowersupply(P24-CM1)ofthe driver. The driver may fail.

•Electricalspecificationsforcontactoutputsignalsareshowninthefollowingtable.


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

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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

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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


(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.


Outputpowersupplyvoltage V 4 30

OutputcurrentatON mA 0 50

LeakagecurrentatoutputOFF mA 0 0.1

OutputsaturationvoltageatON V 0 0.4 Outputcurrent50mA

3

Installa

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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

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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

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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


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


Related parameters


Related parameters


Related parameters


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


Related parameters

Fb-23 : Positioning detection range


Related parameters


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



(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%)


(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


(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



1 A2

76 5

4

3(Fb-12)×0.5

(Fb-12)×0.5

(ORL)Sensor

(Note 3)Reverse run Forward runPosition



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)


5.Stopsatfirst"phaseZ"positionafterreachingthe"Homing

speed2(slow)"(Fb-13).(Machinereferencedisplayedon

d-58.)(Note3)


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)


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.


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)


1024 pulses

Stroke end

768 (=300H) pulses

Reference phase Z

Machine reference (d-58)=(d+768)/4096Machine reference=100%

Sensor (phase ZM)

Forward run


(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


Forward run


(R/D converter)

Phase Z (Dotted line indicates phase ZY.)

256(=100H)

Reverse runPosition

768 (=300H) pulses



5

Functio

ns

5-12


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)



Reverse runPosition

Reference phase Z

768 (=300H) pulses256(=100H)



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




Reverse runPosition

256(=100H)



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


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


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


2.Robotmovestowardsstrokeendat"Homingspeed1

(fast)"(Fb-12).



(Fb-31,Fb-32)whenrobothasreachedthestrokeend,

whichisdeterminedbydetecting(infirstpartofthisstep)

amotorcurrentthatexceededtheratedcurrentandthen

thespecified"Currentforstrikinglimit"(Fb-36).(Note1)



5.Afterdetectingsensor(phaseZM)(Note2),moves1024

pulses.


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.



(Fb-31,Fb-32)whenthemotorcurrentexceedingthe

ratedcurrentandtherobotwasdeterminedtobestroke

end.



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


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


Machine reference (d-58)R 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)


Sensor (phase Z1)

Reverse runPosition

Reference phase Z

Forward run


1024 pulses

768 (=300H) pulses

Machine reference (d-58)R 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


Forward run

1024 pulses


768 (=300H) pulses


1024 pulses



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


S-r


4

523

1

4096

6

7

d

(1.024mm)

(Fb-12)

(Fb-13)

Forward run

Origin sensor (ORL)


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)




256(=100H)


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)



768 (=300H) pulses



1024 pulses



768 (=300H) pulses

256(=100H)


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)



768 (=300H) pulses


1024 pulses

Reverse runPosition


768 (=300H) pulses



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


Op

era

tion

seq

ue

nce


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


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



11.Movesat"Homingspeed2(slow)"(Fb-13).12.Afterdetectingtheoriginsensorsignal,therobottemporarilystopsatfirst"phaseZ"positiondetectedateach4096count.13.FurthermovesadistanceequaltothephasedifferencebetweenphaseZYandphaseZ,andthenstopsthere.



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



13.Movesat"Homingspeed1(fast)"(Fb-13).14.Afterdetectingtheoriginsensorsignal,therobottemporarilystopsatfirst"phaseZ"positiondetectedateach4096count.15.FurthermovesadistanceequaltothephasedifferencebetweenphaseZYandphaseZ,andthenstopsthere.


5

Functio

ns

5-17


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



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.

5

Functio

ns

5-20

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.

5

Functio

ns

5-21

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.

5

Functio

ns

5-22

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)

5

Functio

ns

5-23

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.


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.


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.


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)


°

(formotor)

Note1:Thetravelrangelimitationisonlyaguideline.Insomecases,thetravelrangemaybeexceededinactualoperation.

Parameters in "Load moment of inertia estimation settings" screen – RDV-P


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


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



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



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".


n NOTE The menu in the "Offline auto tuning" screen can be selected only when the servo is on.


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

5

1

2

3

4

76

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.



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.



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.



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).


n NOTE The menu in the "Offline auto tuning" screen can be selected only when the servo is on.

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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)


°(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


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


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


(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


L side R side

Reverserun


L side R side


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 [%]

5

Functio

ns

5-67

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

5

Functio

ns

5-68

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


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.

5

Functio

ns

5-69

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]

5

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ns

5-70

[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.

5

Functio

ns

5-71

< 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.


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


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


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


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


d-09 PositionerrormonitorH’8000000000000000(negativemaximum)to


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.


level


Fb-07Torquelimitvalue1

(firstquadrant)0tomaximumtorque Dependsonmodel % ProF Yes

Fb-08Torquelimitvalue2(secondquadrant)

0tomaximumtorque Dependsonmodel % ProF Yes


(thirdquadrant)0tomaximumtorque Dependsonmodel % ProF Yes


(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


Fb-18Reversepositionlimit

value

H’8000000000000000

to


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


Fb-44

(Note1) –

Positionsensor

wirebreakingdetectioncurrent

20to100 Dependsonmodel % ProF Yes

Note1:DisplayedonRDV-Ponly.

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Parameter No.


level


Fb-45

(Note1) –

Speederror

detectionvalueat

poleposition

estimation

0tomaximumspeed 500 mm/s ProF Yes

Note1:DisplayedonRDV-Ponly.

Input/output terminal parameters3.

Parameter No.


level


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.


level


Fd-00

Loadmomentof

inertiaratio

Loadmassratio

0to12700 Dependsonmodel % EASy Yes


frequency0.1to2500.0 Dependsonmodel Hz EASy Yes

Fd-02Speedcontrol

proportionalgain0.01to300.00 Dependsonmodel % ProF Yes


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


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


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


Fd-24Notchfilter2



Fd-26Notchfilter3


Fd-27Notchfilter3



Fd-30 Gainchangemodenon,GCH,PErr,PrEF,PinP,SFb

Dependsonmodel – ProF Yes

Fd-32Secondpositioncontrolcut-off


Fd-33SecondSpeedcontrol

integralgain0.00to300.00 Dependsonmodel % ProF Yes


cut-offfrequency0.1to2500.0 Dependsonmodel Hz ProF Yes

Fd-35Speedgainchange


Fd-36Positioncommandfiltertimeconstant


Fd-37Positionerrorwidth

forgainchange0to65535 Dependsonmodel pulses ProF Yes

Fd-38Speedlevelforgain

change0tomaximumspeed Dependsonmodel min -1 mm/s ProF Yes

Fd-39Positiongainchange


Fd-40 Fastpositioningmode non,FASt,FoL Dependsonmodel – ProF Yes


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.


level


Fd-65Disturbancetorque

observergain10.00to1.00 Dependsonmodel – ProF Yes


observergain20.00to1.00 Dependsonmodel – ProF Yes


observerfilterfrequencyconstant

0.0to500.0 Dependsonmodel Hz ProF Yes

Extended control constant parameters5.

Parameter No.


level


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


(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


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


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


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


A,b

[b]

Setsthephasedirectionintheforwardrunofthelinearscale.Set

thisparameterto"b".

Setting Phase

b PhaseBleadsphaseA.

FA-90Hallsensorconnection


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


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-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.


*2:Thisparameterlimitstheoperationrangeofreturn-to-origin.

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Parameter

No.Parameter name

Setting range


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


-200to200

(mm/s)

[Dependsonmodel

Setsthespeedcommandvalueduringmagneticpoleposition

estimation.

Fb-41


ACC/DECtime


10to500

(ms)

[Dependsonmodel]

Setstheacceleration/decelerationtimeduringmagneticpole

positionestimation.

Fb-42


waittime


0to500

(ms)

[100]

Setsthetimeintervalduringmagneticpolepositionestimation.

Fb-43


constant-speedtime


0to500

(ms)

[Dependsonmodel]

Setstheconstant-speedtimeduringmagneticpoleposition

estimation.

Fb-44

Positionsensorwire

breakingdetection

current


20to100

(%)

[Dependsonmodel]

Setthecurrenttobeappliedfordetectingthepositionsensorwire

breakage.

Ifthisparameterissetto100(%),thenthemotorratedcurrentwill

beapplied.

Fb-45

Speederrordetection

valueatpoleposition

estimation


0tomaximumspeed

(mm/s)

[500]

Setthespeeddeviationerrordetectionvalueduringmagneticpole

positionestimation.

Ifthespeeddeviation(thedifferencebetweenthespeedcommand

valueandthespeeddetectionvalue)exceedsthissetting,aspeed

deviationerrorcausesanalarm.

Whensetto0,speeddeviationerrorsarenotdetected.


*2:Thisparameterlimitstheoperationrangeofreturn-to-origin.

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Input/output terminal parameters3.

Parameter

No.Parameter name

Setting range


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


Assignednot Assignednot Assignednot CER


PEN ORG ORL ROT


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.






Assignednot Assignednot Assignednot BK


ORG-S INP ALM SRD

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Parameter

No.Parameter name

Setting range


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.


resolutionN

1to8192

RDV-X[4]

RDV-P[1]


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





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


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


Fd-00

Loadmomentofinertiaratio

(RDV-X)

0to12700(%)

[Dependsonmodel]

Setstheload'smomentofinertiaratiorelativetothemotormomentofinertia.[Settingcalculationmethod]Loadmomentofinertia/motormomentofinertiax100Thisparametercanalsobesetautomaticallybyauto-tuning.

Loadmassratio(RDV-P)

Setstheload'smomentofinertiaratiorelativetothemovingportionofthelinearmotor.[Settingcalculationmethod]Massofthemovingpartoftheload/massofthemovingpartofthelinearmotorx100Thisparametercanalsobesetautomaticallybyauto-tuning.


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


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.


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.



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.








[4.00]









[4.00]


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.


integralgain

0.00to300.00(%)

[Dependsonmodel]

SetsthesecondspeedPIcontrolintegralgainadjustmentvaluewhenusinggainswitching.


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.



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.


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.


observergain10.00to1.00

[Dependsonmodel]

Thisreducestheinfluenceofdisturbancetorquebyestimatingthedisturbancetorqueappliedtothemotorshaft,andaddingthereversephaseofthattorquetothetorquecommandvalue.Increasinggain1willreducetheinfluenceofdisturbancetorque,butbeawarethatdependingonthemodelthatisbeingdriven,oscillationmayoccurifthevalueofthissettingisraised.


observergain20.00to1.00

[Dependsonmodel]

Thisreducestheinfluenceofdisturbancetorquebyestimatingthedisturbancetorqueappliedtothemotorshaft,andaddingthereversephaseofthattorquetothetorquecommandvalue.Increasinggain2willreducetheinfluenceofdisturbancetorque,butbeawarethatdependingonthemodelthatisbeingdriven,oscillationmayoccurifthevalueofthissettingisraised.

Note1: Disturbancetorqueobservergain2becomesvalidifdisturbancetorqueobservergain1isotherthan0.


observerfilterfrequencyconstant

0.0to500.0(Hz)

[Dependsonmodel]Setsthedisturbancetorqueobserverfiltercut-offfrequency.


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Extended control constant parameters5.

Parameter

No.Parameter name

Setting range



gain

0.000to1.000

(Hz)

[Dependsonmodel]

SetstheratioforapplyingspeedcontrolFF(feedforward)

compensation.IncreasingthisparameterincreasesthespeedFF

gain,improvingtheresponseofspeedcontrol.However,excessively

highsettingswillmakevibrationmorelikely,ormakeovershootmore

likelywhenthemotorstops.


filtertimeconstant

0.00to500.00

(ms)

[Dependsonmodel]

Setsthetimeconstantforthefirst-orderlagfilterusedforspeedFF

gain(FG-10).Ifthisparameterissetto0.00,nofilteringisapplied.

FG-46

Loadmomentofinertia

ratioforpoleposition

estimation


0to12700

(%)

[Dependsonmodel]

Setsthemassratioofthemovingportionoftheloadrelativetothe

movingportionofthelinearmotorwhenperformingmagneticpole

positionestimation.


Massofmovingportionoftheload/massofmovingportionofthe

linearmotorx100

FG-47

speedcontrolcut-off

frequencyforpole

positionestimation


1.0to500.0

(Hz)

[Dependsonmodel]

Setsthespeedcontrolcut-offfrequencywhenperformingmagnetic

polepositionestimation.

FG-48

Speedgainchange

timeconstantforpole

positionestimation


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.


(Encoderpulse)

FL1toFL14

[FL2]

Setsthedigitalfilterthatisappliedtopositionsensorpulses.The

filterfrequencyforeachsettingitemisthesameasshowninthe

tableforfiltercircuitselection(positioncommandpulse)(FG-61).


(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

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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

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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)



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)



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




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

6

Para

me

ter d

esc

riptio

n

6-27

Model T4H-12 (C4H-12)



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




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

6

Para

me

ter d

esc

riptio

n

6-28

Model T4LH-2 (C4LH-2)



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)



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

6

Para

me

ter d

esc

riptio

n

6-29




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




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

6

Para

me

ter d

esc

riptio

n

6-30




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




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

6

Para

me

ter d

esc

riptio

n

6-31

Model T5H-6 (C5H-6)



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




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)



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




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



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




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




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




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




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




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)



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)



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)



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)



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



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)



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)



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)



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)



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)



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



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



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



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



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



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



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



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



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



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



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



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



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



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



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



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



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)



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)



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)



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




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)



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)



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)



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)



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




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)



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




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



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)



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




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




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)



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




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



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



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)



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




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



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



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)



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




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



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



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



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]


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)



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




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)



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




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)



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




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



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)



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)



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)



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




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)



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




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



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)



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




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)



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




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)



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




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



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

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6-74




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)



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

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6-75




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



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

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6-76

Model F20N-20



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



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

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6-77

Model N15-20



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



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

6

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6-78

Model N18-20



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



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

6

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6-79

Model B14



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



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

6

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Model R5

Momentofinertiaofmaximumallowableload 1.22[kgfcm•sec2]


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



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]



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

6

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6-81

Model R20



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]



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

6

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RDV-P3.3.2

Model MR12


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



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

6

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6-83

Model MF15



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



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

6

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6-84

Model MF30



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



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

6

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6-85

Model MF75



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

6

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6-86

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)

6

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6-87

+

+

+

+

+

+

+

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 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 bandwidth

Notch filter 3frequency

Fd-28

Fd-27

Fd-26Torque

command filtertime constant 3

Fd-08


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

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intena

nce

and

inspe

ctio

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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

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intena

nce

and

inspe

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7-4

Tester polarity (Note 4)

Reading (red) (black)

Co

nve

rter

D1L1 (+)1 Non-conducting

(+)1 L1 Conducting


(+)1 L2 Conducting


(+)1 L3 Conducting

D4L1 (−) Conducting

(−) L1 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

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intena

nce

and

inspe

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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

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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

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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

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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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9-3

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


•Checkifthesettingiscorrect.

•TurnofftheTLterminal.


•Correctthetorquelimitsetting.

FOTandROTterminals

arenotON.(Wrong

polarity)

•CheckiftheFOTandROTterminalsareON,

byviewingtheinputterminalmonitord-05.

•Checkthepolaritysetting.

•TurnontheFOTandROT

terminals.


Nopulsetraincommand

wasinputduringposition

controlmode.

(Incorrectcommandformat

settingorwrongpolarity)

•Checkifthecommandisinput,byviewing

thePositioncommandmonitord-07.


•Istheelectronicgearratiotoolowtoseeany

robotmovement?

•Isthecommandpositioninputpulsetrainrate

istoolow?

•Inputthepulsetraincommand.

•Changethecommandformatto

matchtheinputpulsetrain.

•Settheelectronicgearratio

correctly.

•Increasethepulserate.

PENterminalisnotON

duringpositioncontrol

mode.(Wrongpolarity)

•CheckifthePENterminalisON,byviewing



•TurnonthePENterminal.


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.


•DisconnecttheTLterminal.


•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


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.

9

Troub

lesho

oting

9-6

Alarm


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.


(includingasolenoidcoiland

electromagneticcontactor)nearthe

driver.

•Isolatethenoisesource

awayfromthedriver.

•Installanoisefilterorsurge

absorber.

Turnoffandonthepowersupply

againandcheckthecondition.

IftheCPUisdefective,

replaceorrepairit.

E14Groundfaultat

servo-on

GroundfaultoccurredDisconnectthewiring,andfindthe

locationofthegroundfault.Correctthegroundfaultpoint.

Driverisatfault. Checkthepowermodule(Chapter7,

"MaintenanceandInspection")


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.


(includingasolenoidcoiland

electromagneticcontactor)nearthe

driver.


awayfromthedriver.

•Installanoisefilterorsurge

absorber.

Thedriverhasmalfunctioned Turnthepoweroffandonagain,and

thencheckoperation.

Ifthecircuitisdefective,

replaceorrepairit.

9

Troub

lesho

oting

9-7

Alarm


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.


FOT/ROTterminalswerenot

ON(closed)atservo-on.

CheckiftheFOT/ROTterminalsare

ON,byviewingtheInputterminal

monitord-05.

Supplyaninputtoatleast

oneoftheFOT/ROTterminals

E31PM(power

module)error

•Outputterminalisshorted.

•Agroundfaulthasoccurred.

•Incorrectmotorphase

sequence


Suddenmotorlock Checktheload. Adjustthebraketimingto

avoidalock.

•Powersupplyvoltageislow.

•Powersupplyfluctuates.

Checkthepowersupplyvoltage.

(Checkthepowersupplycapacity.)

Correctthepowersupply

voltage,capacity,andwiring.

Positionsensorfailure Checkifthecountiscorrectby

viewingthepresentpositionmonitor

(d-08).


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)


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


AdjustFb-40toFb-43to

increasethegenerated

torque.

Torqueisbeinglimitedduring

magneticpolepositionestimation.

AdjustFb-40toFb-43sothat

thetorqueisnotlimited.

FOTorROTterminalsare

turnedoffduringmagnetic


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


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.


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.


nearby.



wire.


awayfromthedrive.


grounding.



cable.


heavy.

Checkrelationofloadtoposition

commandrate.

Reducetheload.

E85Overspeed

error

Speedcommandinputsetting

iswrong.

Checkthesetting. Correcttheinputsetting.


Torquelimiteristoolow. Correct(increase)thetorque

limitercorrectly.

Overspeederrordetection

levelsettingistoolow.

Settheoverspeederror

detectionlevelcorrectly

(increase).


nearby.



wire.


awayfromthedrive.


grounding.



cable.


heavy.

Checkifovershootinghasoccurred. Reducetheload.

Wrongmotorcableconnection Checktheconnection. Correcttheconnection.

Positionsensorfailure Checkthecountinthecurrentposition

monitor(d-08).


replaceorrepairit.

9

Troub

lesho

oting

9-9

Alarm


E88Driverange

error

•Pulsetrainposition

commandwasmistakenly

input.

•Originpositioniswrong.

•Operatedoutsidethedrive

range.

Checkthemastercontrolunit. Removethecauseofthe

mistakeninput,clearthe

alarm,andthenoperate

again.

Needslargeroperatingmargin

outsidethedriverange

Checkifaloadmovedtherobotnear

thedriverangelimit.

•Reviewthesettingoutside

thedriverange.

•Adjustorremovetheloadso

thatitwillnotmovethe

robot.


incorrect.

Checkthecontroldevice. Correctthesetting.

Torquelimiteristoolow.


E89

Position

monitoring

timeouterror

Controlgainand"Positioning

detectionrange"(Fb-23)are

notappropriate.

Checkthesetting. Adjusteachsetting.


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]


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


1GBormorememory

32-bitor64-biteditionoftheOS

IfusingWindows8/8.1


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

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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

Documents

YAMAHA SINGLE-AXIS ROBOT DRIVER RDV Series · YAMAHA SINGLE-AXIS ROBOT DRIVER Ver. 1.11 ... Important precautions for each stage of the robot life cycle S-10 ... (C17-10-BK) 6-72