Parker-hannifin Dynaserv G2 Bedienungsanleitung

Effective: March 1, 2002p/n 88-020389-01 AAutomationDynaserv G2 Drive User Guide

-iii-6.5 Other Inputs ... 6-96.5.1 Pulse We

8-8DrvGII PC Utility88.3.4 Main MenuWhen you start the PC utility, the “MainMenu” dialog box appears (see Figure 8.8). See the following chaptersfor h

8-98.4 Operation Menu8.4.1 TerminalUsing this menu, you can send and receive character strings to/from the driver, monitor parameters/monitors aswell

8-10DrvGII PC Utility8(1) Parameter/monitorIn the “Terminal” menu, click “Parameter/Monitor (M)” under “Monitor” to display the “Parameter/Monitor”dia

8-11(2) I/O monitorIn the “Terminal” menu, click “I/O Monitor (I)” under “Monitor” to display the “I/O Monitor” dialog box (seeFigure 8.11).With the “

8-12DrvGII PC Utility8(3) Axis signal status displayIn the “Terminal” menu, click “Axis signal status (A)” under “Monitor” to display the “Axis signal

8-13(5) Parameter/monitor helpIn the “Terminal” menu, click “Parameter/Monitor help (H)” under “List” to display the “Parameter/Monitorhelp” dialog bo

8-14DrvGII PC Utility88.4.2 Servo TuningThis menu allows you to adjust the servo parameters of the motor through auto-tuning and manual tuning inaddit

8-15[Other parameters]* The three parameters – position feed forward, velocity feed forward, and acceleration feed forward – have norelation with serv

8-16DrvGII PC Utility88.4.3 OscilloscopeThe oscilloscope displays time-series of parameter/monitor values.Click “Oscilloscope (O)” under “MainMenu” to

8-17[How to use the oscilloscope](1) Click “Log Start” on the “Oscilloscope” dialog box to display the “SetCondition/ELogStart” dialog box(see Figure

-iv-Chapter 9 Operation Display Pendant ... 9-19.1 Overview...

8-18DrvGII PC Utility8(12) The displayed waveform can be reshaped using “Display position selection” and “Vertical axis rangeselection” in the "O

8-198.5 Action MenuIn the operation menu, you can set and display parameters, display monitors, and start or stop actions related tothe operations lis

8-20DrvGII PC Utility88.5.1 HomingClick “Homing (O)” in the “DriveMenu” dialog box to display the “Homing” dialog box (see Figure 8.21). If theconnect

8-21(2) OperationThe motor can be operated when the operation mode is set to the RS232C operation enable mode (see Chapter 5).(When the RS232C operati

8-22DrvGII PC Utility88.5.2 Jog MoveClick “Jog (J)” in the “DriveMenu” dialog box to display the “JogMove” dialog box (see Figure 8.22). If theconnect

8-23(2) OperationThe following operation can be performed when jog move is selected via the RS232C interface (see Chapter 5).(When the main operation

8-24DrvGII PC Utility88.6 Data Management Menus8.6.1 Parameter ManagerThis menu allows you to save all the parameters to files and register them from

8-25(1) Editing machine parametersClick “Machine Parameter Edit (M)” in the “Parameter Manager” dialog box to display the“MachineParameterEdit” dialog

8-26DrvGII PC Utility8(3) Downloading (from a file to the driver)1) Click “Download (D)” in the “Parameter Manager” dialog box.2) Enter the name of th

8-278.6.2 I/O SetIn this menu, you can set the logical setting of DI/DO points (For reference of DI and DO numbers and signalnames, see Chapter 6.).Cl

1-1Chapter 1Overview of the Product1.1 About the DYNASERV DM/DR Series1.2 About the DrvGII Type Driver1.3 Product Configuration1.4 Model Names and Cod

8-28DrvGII PC Utility8(1) Logical setting1) Click “I/O config (L)” in the “I/O configuration” dialog box.2) The “Discrete configuration” dialog box is

8-29(3) Downloading (from a file to the driver)1) Click “Download (D)” in the “I/O configuration” dialog box.2) Enter the name of the file to be downl

8-30DrvGII PC Utility88.6.3 Pulse Set(1) Pulse setting1) Click “Puls Config (P)” in the “Main Menu” dialog box.2) The “Puls configuration” dialog box

9-1Chapter 9Operation Display Pendant9.1 Overview9.2 Features and Part Names9.3 Switching Displays9.4 Terminal Mode Display9.5 Parameter Monitor Displ

9-2Operation Display Pendant99.1 OverviewThe operation display pendant (abbreviated as TBX, optional device) should be connected to the CN1 RS232Ccomm

9-39.3 Switching DisplaysEach display shifts in the order shown in the figure below. When the power is turned on and the operationdisplay pendant is c

9-4Operation Display Pendant99.4 Terminal Mode DisplayThe terminal mode display allows you to send a character string entered from the keypad to the d

9-59.5 Parameter Monitor DisplayThe current values of parameters/monitors with the numbers input from the keypad are displayed periodically. Itis not

9-6Operation Display Pendant99.6 Parameter Settings DisplayThis display is for changing the values of parameters.When you input a parameter number fro

9-79.7 I/O Monitor DisplayThe I/O signal status of the blocks with numbers input from the keypad for the selected I/O type is displayedperiodically. I

1-2Overveiw of the Product11.1 About the DYNASERV DM/DR SeriesThe DYNASERV servo motor, is a high speed, high torque, and high precision outer rotor t

9-8Operation Display Pendant99.8 Special Command DisplayIn this display, you can transmit selected commands to the controller.The selection of the com

10-1Chapter 10Maintenance and Inspection10.1 Maintenance and Inspection of the Motor Part10.2 Maintenance and Inspection of the Driver Part10.3 Replac

10-2Maintenance and Inspection1010.1 Maintenance and Inspection of the Motor PartSimple daily checks need to be performed on the motor part. Check th

10-310.4 Backup and Restore Operations of Driver MemoryContentsBe sure to back up the driver memory contents in case of the occurrence of problems. If

10-4Maintenance and Inspection1010.4.2 Restore OperationThe restore operation uses either of the backup data that was copied to a file via the PC util

10-510.5 Motor Problems and Corrective ActionsWhen an abnormality occurs during motor operation, first check the LED display as well as the error disp

11-1Chapter 11Specifications11.1 Standard Specifications11.2 Torque - Speed Characteristics11.3 External Dimensions (Unit: mm)11.4 Restrictive Conditi

11-2Specifications1111.1 Standard Specifications(1) DM Series MotorA SeriesItem UnitDM1200A00*1DM1150A00*1DM1100A00*1DM1050A00*1Maximum output torqueN

11-3Motor model name DM1004B0F-2!*1 DM1004C0F-2!*1Maximum torque (N⋅m)4Maximum number of revolutions (rps) 2.5Encoder resolution (p/rev) 2,621,440Abso

11-4Specifications11(2) DR Series MotorA SeriesItem UnitDR1400A00*1DR1300A00*1DR1200A00*1DR1150A00*1DR1100A00*1DR1050A00*1Maximum output torqueN⋅m (kg

1-31.2 About the DrvGII Type DriverThe DrvGII type driver is a digital servo driver with a RS232 communication, developed as the successor to theconve

11-5E SeriesItem UnitDR1250E00*1DR1220E00*1DR1160E00*1DR1130E00*1DR1100E00*1Maximum output torqueN⋅m (kgf⋅m)250 (25) 220 (22) 160 (16) 130 (13) 100 (1

11-6Specifications11(3) DR/5000 Series Motor5000 E Series 5000 B SeriesItem UnitDR5100E00*1DR5070E00*1DR5070B00*1DR5050B00*1DR5030B00*1Maximum output

11-7(6) Driver Function SpecificationsItem SpecificationsHigher interfaceRS232C interface (single channel communication, multi-channel communication)C

11-8Specifications1111.2 Torque - Speed Characteristics(1) DM Series2) Type BNo. of revolutions (rps)Output torque (N-m)1) Type AOutput torque (N-m)No

11-911.3 External Dimensions (Unit: mm)(1) DM Series Motor1) Type A6-M8 screw depth 10(Equal circular division)(Through hole)L (Refer to standard spec

11-10Specifications116-M8 screw depth 12 (Equal circular division)L (Refer to standard specification)RotorStatorMotor cable (φ 3.2 x 4)6-M8 screw dept

11-11(3) Driver Section1) U!!!!!!!A/B(500W, Type B is shown in the figure.)2) U!!!!!!!L(2kW level without regenerative unit)11

11-12Specifications113) U!!!!!!!K(2kW level with regenerative unit)

11-1311.4 Restrictive Conditions for the Frequency of RepeatedOperations (DR5000B Series Only)When running and stop operations are performed repeatedl

11-14Specifications11<Example>NR = 4 (rps)I1 = I3 = 9 (A)I2 = 3 (A)t1 = t2 = t3 = 1/4tCYWhen calculating from the above setting example,4121 1η

1-4Overveiw of the Product11.3 Product ConfigurationThe following shows the configuration of this product. Upon unpacking, please check the model name

Parameter ListSTD1Parameter No. Parameter name Minimum value Maximum value Initial value Unit Possible to change1 Enables the over-travel error functi

Parameter No. Parameter name Minimum value Maximum value Initial value Unit Possible to change50 Position control bandwidth 1 1 32 1 Hz Always51 Veloc

Parameter No. Parameter name Minimum value Maximum value Initial value Unit Possible to change152 First order delay compensator setting 0 3 0 None Alw

Parameter detailsSTD11 Enables the over-travel error function in the + direction AlwaysMinimum value: 0Maximum value: 1Initial value: 0Unit: NoneLong:

9 Feeding Velocity AlwaysMinimum value: 0Maximum value: 16000000Initial value: Motor dependentUnit: Axis command unit/secLong:Short:FeedVelocityFeedVe

16 Velocity override percentage 1 AlwaysMinimum value: 0Maximum value: 20000Initial value: 10000Unit: 1/100 %Long:Short:VelOverride1VelOvrrid1Specify

31 Operation width under testing mode AlwaysMinimum value: 0Maximum value: 9999999Initial value: Motor dependentUnit: Axis command unitLong:Short:Test

46 Position settling pulse width 3 AlwaysMinimum value: 0Maximum value: 32767Initial value: Motor dependentUnit: pulseLong:Short:CoinWidth Pls3CoinWid

53 Position integral limiting value AlwaysMinimum value: 0Maximum value: 4999999Initial value: 10000Unit: NoneLong:Short:PosIntegralLimitPosIntLimSpec

61 Position settling signal chattering processing count AlwaysMinimum value: 1Maximum value: 100Initial value: 1Unit: NoneLong:Short:COIN_ChatterVolum

1-51.4 Model Names and CodesThere are restrictions on the combination of specifications. Please check with our sales staff before determiningthe speci

70 Analog monitor selection AlwaysMinimum value: 0Maximum value: 5Initial value: 4Unit: NoneLong:Short:AnalogMonitorSelectA_MonSelSelect the content t

73 Position monitoring gain (analog monitor) AlwaysMinimum value: 0Maximum value: 14Initial value: 0Unit: NoneLong:Short:PosMonitorGainPosMon_GSpecify

91 TBX_EMG Servo status AlwaysMinimum value: 0Maximum value: 5Initial value: 0Unit: NoneLong:Short:TbxEmgServoConditionTbxEmgServSpecify the servo sta

94 Position command differential value excessive errorprocessing typeAlwaysMinimum value: 0Maximum value: 5Initial value: 1Unit: NoneLong:Short:Over_d

96 Over-travel error function in the - direction processingtypeAlwaysMinimum value: 0Maximum value: 5Initial value: 1Unit: NoneLong:Short:-Hot_ErrorTy

153 Notch filter: Frequency 1 selection AlwaysMinimum value: 50Maximum value: 1500Initial value: 1500Unit: HzLong:Short:NotchFilterFreq1NotchFreq1Spec

204 Command pulse type While in machine setting modeMinimum value: 0Maximum value: 2Initial value: 2Unit: NoneLong:Short:CmdPlsTypeCmdPlsTypeSpecify t

219 Velocity feedback filter use While in machine setting modeMinimum value: 0Maximum value: 1Initial value: 0Unit: NoneLong:Short:UseVfbFilterUseVfbF

227 Over-speed error processing type While in machine setting modeMinimum value: 0Maximum value: 5Initial value: 1Unit: NoneLong:Short:OverSpeedErrorT

229 Excessive position deviation error processing type While in machine setting modeMinimum value: 0Maximum value: 5Initial value: 1Unit: NoneLong:Sho

1-6Overveiw of the Product11.5 Name and Function of Each Part(1) Motor PartDMseriesRotor Shaft hole Load installation screw Stator installationscrewS

Monitor ListSTD1Monitor No. Monitor name Unit300 Currently under operation None301 Axis is under operation None302 Error status None303 Alarm status N

Monitor No. Monitor name Unit355 Monitor resolution pulse/rev, pulse/m356 Digital velocity sensitivity digit/rps, digit/mps357 Maximum velocity Axis c

Monitor detailSTD1300 Currently under operationUnit: NoneIndicates that an operation is being performed.301 Axis is under operationUnit: NoneIndicates

320 Pulse position command valueUnit: pulseDisplays the pulse position command value.321 Pulse position current valueUnit: pulseDisplays the current p

338 Zero signal statusUnit: NoneDisplays the zero signal status.339 Sensor group signal statusUnit: NoneDisplays the sensor group signal status. Each

347 Operation mode numberUnit: NoneIndicates the operation mode number during or after operation.348 Multi-channel communication statusUnit: NoneIndic

361 Velocity ratio gainUnit: x 1/100Displays the velocity loop ratio gain.363 Velocity command value (digital)Unit: 1/16 digitDisplays the velocity co

370 Present command unit valueUnit: Axis command unitDisplays the present command unit value.371 Command unit deviationUnit: Axis command unitDisplays

390 Motor linear coordinate command differential valueUnit: pulse/∆TDisplays the differential value of the motor linear coordinate command value. (2ms

Error/Alarm ListSTD1Error No. Name Type Measures1 Memory error [KIND_POR] Start-up error [TYPE_POR] Do not start up.2 Interface board error [KIND_POR]

1-7(2) Driver part! 500W level(A model with regenerative terminal is shown)Setting switchand status LEDdisplay part<TB1>Connection of powersuppl

Error/Alarm DetailsError number 1 Memory errorError type: [KIND_POR] Start-up errorMeasures: [TYPE_POR] Do not start up.Long:Short:MemoryErrorMemoryEr

Error number 5 Kernel errorError type: [KIND_SYS] System errorMeasures: [TYPE_ELS] OthersLong:Short:KernelErrorKernelErrMain cause: An error that shou

Error number 16 Coordinate error AError type: [KIND_SYS] System errorMeasures: [TYPE_SRV] Servo OFFLong:Short:CoordinateErrorACoordiErrAMain cause: An

Error number 20 Power module errorError type: [KIND_RGR] Always errorMeasures: [TYPE_SRV] Servo OFFLong:Short:PowerModuleErrorPwrMdlErrMain cause: A p

Error number 30 Servo not readyError type: [KIND_ERR] errorMeasures: [TYPE_E2] Stop deceleration.Long:Short:ServoNotReadySrvNotRdyMain cause: The serv

Error number 45 - direction software over-travelError type: [KIND_ERR] errorMeasures: [TYPE_E2] Stop deceleration.Long:Short:Soft_OT_-_direction-_Soft

Error number 51 Data not readyError type: [KIND_ERRALM2] Error/operation alarmMeasures: [TYPE_E2] Stop deceleration.Long:Short:DataNotReadyDataNotRdyM

Error number 60 Cannot interpretError type: [KIND_ERRALM2] Error/operation alarmMeasures: [TYPE_E2] Stop deceleration.Long:Short:CantInterpretCantIntp

Error number 66 Illegal deviceError type: [KIND_ALM] Operation alarmMeasures: [TYPE_E2] Stop deceleration.Long:Short:IllegalDeviceIlgDeviceMain cause:

Error number85Device conflictError type:[KIND_ALM] Operation alarmMeasures:[TYPE_E2] Stop deceleration.Long:Short:DeviceConflictDevConflicMain cause:

1-8Overveiw of the Product1(3) Details of the Front Panel of the DriverZERO signalterminal!500W level(with regenerative terminal)!500W level(without r

-1-IntroductionThank you very much for your purchase of the DD servo actuator DYNASERV. The DYNASERV is an outer rotor typeservo actuator that has ach

1-9[Details of Setting Switches and Status Display LEDs]SRV-DS Servo disable switchThe servo is turned off for as long as this switch is pressed, reg

1-10Overveiw of the Product11.6 System Configuration DiagramPC utility floppy disk<Utility>I/O monitorboard(PC)Operation display pendantLINEARSE

2-1Chapter 2Installation2.1 Installation of the Motor2.2 Installation of the Driver

2-2Installation2When you receive the product, verify the model name and code of the product’s main unit, whether all thestandard accessories are inclu

2-32.2 Installation of the DriverThe standard installation method for the driver is either to mount it on a rack or a wall.(1) Installation Position!

3-1Chapter 3Connection and Wiring3.1 Diagram of Overall Connection3.2 Cable Specification List3.3 Connection between Motor and Driver3.4 Wiring of Mot

3-2Connection and Wiring33.1 Diagram of Overall Connection1) * ACpower supplycablePC* PC Utility* Regenerative resistance(with lead wire)<DrvGII>

3-33.2 Cable Specification ListCable name Electric cable size Driver Current (A)1)AC power supplycable2.0 mm2 or more, 30 m or less in length TB1*2)Gr

3-4Connection and Wiring33.3 Connection between Motor and DriverNote: Shielding should be applied to each wire.(1) DM Series (DM1004B/1004C) motorsGND

3-5(3) DR Series motors＜TB1＞＜CN2＞VAVBVCGND+S0/ 2+S180/11-S0/6-S180/15+C0/10+C180/20-C0/ 8-C180/17Motor partDriver partMotor cableEncoder cableBrown an

-2-Regarding the safe usage of this device! This product has been marked with and signs so that it can be used safely. Ignor

3-6Connection and Wiring33.4 Wiring of Motor, AC Power Supply, and Ground Cable(1) For the DM1004B/1004C motors (in connection with a 500W level drive

3-7SpecificationCableDM1004B/1004C Other DM/DR series! 0.5 mm2 or more, 30 m or less in length! 2.0 mm2 or more, 30 m or less in lengthAC powersupply

3-8Connection and Wiring33.5 Wiring of Encoder Cable(1) DM1004B/C motor(2) DM series motor(other than the one described to the left)(3) DR series moto

3-93.6 Wiring of Controller Cable<CN4> terminalPin # Signal name Pin # Signal name Pin # Signal name Pin # Signal name1 COMP1 10 UA_OUT- 19 IN_E

3-10Connection and Wiring33.7 Wiring of Sensor Brake TerminalPin # Signal name1COMP02XORG3XOTD4XOTU5(NC)6 XBRKP7 XBRKN10mm1) Push down the lever witha

3-113.8 Wiring of Regenerative Alarm Contact <CNA>(For 500W Level Drive Only)This driver (with regenerative terminal) is equipped with a regener

4-1Chapter 4 Basic Settings for Operatingthe MotorThis chapter describes "Basic Settings," which should be used as thefirst step in understa

4-2Basic Settings for Operating the Motor44.1 Procedure (Flowchart)In this section, we will operate the motor according to the procedure below.STARTPr

4-34.2 Preoperation check(1) Items to prepare• Motor unit/driver/sensor/DC power supply• PC utility (floppy disk)• Level block for fixing the motor• P

4-4Basic Settings for Operating the Motor4DrvGII (CN4) I/O 24V SpecificationCRNT_LMT_IN+CRNT_LMT_IN-200KΩ3334200KΩZ_OUT-Z_OUT+DB_OUT+DB_OUT-UA_OUT+UA_

-3-! This product has been marked with and signs so that it can be used safely. Ignoring precautions andprohibitions related

4-5CRNT_LMT_IN+CRNT_LMT_IN-3334Z_OUT-Z_OUT+DB_OUT+DB_OUT-UA_OUT+UA_OUT-PUA_IN+PUA_IN-SDB_IN+SDB_IN-OUT_DRDYOUT_SRDYOUT_BUSYOUT_XOVLOUT_OVEROUT_COINCOM

4-6Basic Settings for Operating the Motor44.3 Installing the PC Utility on the PC4.3.1 ProcedureInstallation under Windows 95/98/98SE/Me/NT4.0/2000The

4-7Figure 4.3.2 “Select Program Folder” dialog boxSelect a program folder and click “Next.” The installation begins. Follow the instructions on the sc

4-8Basic Settings for Operating the Motor44.3.2 Startup1)To start the PC utility, click “Start,” “Program (P),” “YOKOGAWA_E” and then “DrvGII.”Figure

4-94.4 PreparationConnect the serial port of the PC with the serial port of the driver with a dedicated cable.(Do not use any of commercially availabl

4-10Basic Settings for Operating the Motor44.4.3 Displaying Communication StringsWhen you start the PC utility, the “Communication string” dialog box

4-114.4.4 Main MenuWhen you start the PC utility, the “MainMenu” dialog box appears (see Figure 4.4.4). See the following chaptersfor how to start the

4-12Basic Settings for Operating the Motor44.5 Setting the Status to Servo ONThe driver can be put into Servo On status through the following operatio

4-13(3) Reset the driver according to the message in the dialog box.(4) Verify that the driver is reset and the “SRDY” LED on the front panel is turne

4-14Basic Settings for Operating the Motor44.6 Auto-tuningThe auto-tuning can be performed according to the following procedure.(1) Checking the rotat

-4-Handling Precautions1. Do not install the motor in reverse direction in such a way that the rotor of the motor is fixed and the stator rotates.2. M

4-15(3) Click Auto Tuning Start (tuning starts).(4) Follow the message on the dialog box and click “OK” to start the auto-tuning operation.CautionThe

4-16Basic Settings for Operating the Motor44.7 Performing Homing OperationA homing operation can be performed according to the following procedure.(1)

4-17(3) Set the “homing direction” in the “Homing” dialog box.CautionThe initial value that should be set depends on the homing direction. Enter “#20

4-18Basic Settings for Operating the Motor44.8 Performing the Basic Settings of Pulse Commands4.8.1 About Position Command Pulse InputPerform input (

4-194.8.2 Example of OperationThe following shows an example of operation. Input pulses from the positioning controller according to thevelocity patt

5-1Chapter 5Functions5.1 Parameters and Monitors5.1.1 General Parameters5.1.2 Mechanical Setting Parameters5.1.3 Monitors5.2 Operation Functions5.2.1

5-2Functions55.1 Parameters and MonitorsThe group of variables expressed by #*** is called parameters and monitors. Parameters/monitors areclassified

5-35.2 Operation FunctionsIdle status Controller interface position command follow-upJog moveTest operationOperating statusAuto-tuning operationHoming

5-4Functions55.2.2 Test OperationThis operation generates a 2.5Hz square wave and uses it as position command signal for adjustment of thecontrol part

5-55.2.4 Homing MoveIn this operation the rotor is moved according to a preset home position search method in order to establish acoordinate system. A

-5-13. Never attempt to disassemble or remodel the motor and driver. If such service is necessary, please contact us. Weassume no responsibility for p

5-6Functions5(4) First home sensing moveWith the #25 Homing operation: Origin inside selection parameter, it is possible to select and set either thei

5-7[Hardware zero signal type]＃318 value＜0.05*＃358 value error0.05*＃358 value≦＃318 value＜0.1 *＃358 value warning0.1 *＃358 value≦＃318 value≦0.7 *＃358 v

5-8Functions5- Operation example 1 -(2)(4)(3)(3)(4)(6)(5)-1(5)-2(5)-1(5)-2(6)← (+) directionHoming fromoutside of theproximity areaHome positionproxim

5-95.2.5 Mechanical Setting ModeThis is a special mode for changing parameters related to the mechanical settings. Parameters #200 to #299 canbe chang

5-10Functions55.4 Control SystemIn this section, the position control part, velocity control part, and feed forward of the driver are explained.The bl

5-115.4.1 Velocity Control PartFor the velocity control bandwidth, either the value set with the #51 Velocity control bandwidth 1 parameter orthe #49

5-12Functions55.4.2 Position Control PartFor the position control bandwidth, either the value set with the #50 Position control bandwidth 1 parameter

5-135.4.4 Servo Stiffness ParameterThe #38 Servo stiffness settings parameter is for general settings for the control system. The controlparameters ar

5-14Functions55.5 Acceleration/Deceleration FunctionThis driver performs trapezoidal moves during jog moves and homing moves, and uses theacceleration

5-155.5.2 Velocity ProfileIn a trapezoidal motion, the acceleration of the moving part follows the acceleration type set by the #4 Selectingaccelerati

-6-16. Do not perform a withstanding voltage test on this device. If such a test is performed without discretion, thecircuits may be damaged. If such

5-16Functions5The feed velocity during a move becomes the commanded velocity multiplied by the velocity override value.If the velocity override value

5-175.6 Other Functions5.6.1 Settling Wait, Position Settling Status, and Positioning StatusPosition settling status refers to the status where the po

5-18Functions55.6.2 Velocity Monitor and Analog MonitorThe current velocity value of the motor is output to “VEL” of the CN3 analog monitor interface

5-195.7 Special Parameter ProcessingThe setting values of the parameters listed below are automatically changed inside the driver by the operation oft

5-20Functions55.7.3 Auto Conversion and Clear Functions When Changing Simplified ScalingWeighted DataWhen simplified scaling weighted data is changed,

6-1Chapter 6Control Interfaces6.1 Terminal Function6.1.1 Connection, Setting, and I/O Mapping6.1.2 Explanation of Terminals6.1.3 Electrical specificat

6-2Control Interfaces66.1 Terminal Function6.1.1 Connection, Setting, and I/O MappingCN4Made by Honda Tsushin KogyoConnector PCR-S36FSCover PCR-LS36LA

6-36.1.2 Explanation of TerminalsSignal name DescriptionContact input signals Total 12 pointsIN_MODE_START 1 Operation start commandStarts operatio

6-4Control Interfaces66.1.3 Electrical specifications[Interface power supply inputs] COMP1, COMN1Input the interface power supply for contact inputs a

6-5[Current limit analog input] CRNT_LMT_IN ±Current 100% at 10 VDCCurrent 0% at 0 VDCController+-0 to 10VDCCRNT_LMT_IN+200kΩ200kΩCRNT_LMT_IN-6.1.4 I/

-i-Table of ContentsIntroduction...

6-6Control Interfaces66.2 Position Command Pulse InputThe position command value instructed from the controller interface is given to the driver by an

6-76.4 Operations6.4.1 Starting an OperationThe operation start command via MODE_START instructs the start of operations other than jog moves.The oper

6-8Control Interfaces66.4.3 Timing Charts[Self-end type] In case of self-endSTATUS1MODE_STARTMODE[1..0]STATUS0BUSYNot necessaryto consider0 or moreAt

6-96.5 Other Inputs6.5.1 Pulse Weight Selection PLS_DIRECTWhen the status of the PLS_DIRECT pulse weight selection input signal is 1, it is independen

6-10Control Interfaces66.5.7 Servo ON SERVOThe SERVO servo ON input signal is set to servo ON when the status is 1. In addition to this instruction, t

7-1Chapter 7RS232C Interfaces7.1 Overview7.2 Connection and Setting7.3 Communication Specifications7.4 @ Commands7.4.1 Start @3: Field 07.4.2 Stop @

7-2RS232C Interfaces77.1 OverviewThe CN1 RS232C communication connector is provided in order to make connection with host devices such asPCs and PLCs

7-3[Multi-channel]When preparing for multi-channel communication, connect the host device and a maximum of nine drives in aloop shape as shown in the

7-4RS232C Interfaces77.3 Communication Specifications[Communication parameters]Communication method Start-stop system, text communicationCommunication

7-5[Transmission character string]Transmission character strings are classified as follows. The details about the @ commands and parametercommands wil

-ii-4.8 Performing the Basic Settings of Pulse Commands ... 4-184.8.1 About Position Command Pulse Input..

7-6RS232C Interfaces77.4 @ Commands＠: Field 0Command formatCommandnumber: Field 1．．．: Field 2Command name Command No. No. of fieldsResponse atnormal o

7-77.4.5 Homing offset position setting @10The homing offset position setting command instructs the #29 Offset distance from the home positionparam

7-8RS232C Interfaces77.5 Parameter CommandsThrough the use of parameter commands, it is possible to refer to values of parameters and monitor (referen

8-1Chapter 8DrvGII PC Utility8.1 Overview8.1.1 Overview of the Operation Menu8.1.2 Overview of the Action Menu8.1.3 Overview of the Data Management Me

8-2DrvGII PC Utility88.1 OverviewThe DrvGII PC Utility consists of three components that are accessed from the following menus: “operationmenu,” “acti

8-38.2 Installation8.2.1 Installation under Windows 95/98/98SE/Me/NT4.0/2000The DrvGII utility (hereinafter referred to as the “PC utility”) runs on W

8-4DrvGII PC Utility8Figure 8.2 “Select Program Folder” dialog boxSelect a program folder and click “Next.” The installation begins. Follow the instru

8-58.2.2 Starting the PC UtilityIn order to start the PC utility under Windows, click the “Start” button, “Program,” “Specified program folder,”and th

8-6DrvGII PC Utility88.3 PreparationConnect the serial port of the PC with the serial port of the driver with a dedicated cable.(Do not use any of com

8-78.3.3 Displaying Communication StringsWhen you start the PC utility, the “Communication string” dialog box appears in the upper right corner of the