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MINAS A4 Series A (ACE) AC Servo Motors & Drivers PDF

172 Pages·2006·4.94 MB·English
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Preview MINAS A4 Series A (ACE) AC Servo Motors & Drivers

1110011 M00 0M0011 11"00 0"0 00 1 10000 A0A0 1100 01100 0000 11100 0 0 0011001100(00(00000110000A00A0 110 01100 0000 1 11 0 c 0 c0011 11100 00000 1 1e00e00000 110 011 00 00000 )01)100 0 00011"000"11100I00I00001 1 10000000 11S0 0S110010 0100 1000100 10 0100 1000100 10 0100 1000100 10 010010 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100  0 0 0000 11 0 000011100 1000100 10 0100 1000100 10 0100 1000100 10 010 e e 1100 0 000 1 110000N00N r110r 0111000 0000 v11v00 00 10100 1000100 10 0100 1000100 10 0100 1000100 10 010000110001100o0 o0 0000 101010000 0010 11 00 00 11100 0 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 010010 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 0 0000 11f 1f1 1000 1000111o0010 0100 1000100 10 0100 1000100 10 0100 1000100 10 010010 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100  o0 11000 000 0 000 011 0100000100r100r  11100 00000000  0  110 00A 1 A001    1101t 1 t1000 000011100 h 0 h 1100 0 0010000 0110 01100 00100 00e 110 e000 00110000 10 0000 1101 100 100 0 00 0001110 0 00 1100N 001N0 00000101100110000100000 110000 000110000 1 e 0000e 1101 1 01000 00001100 S 11x00 0S 00x1 010001 0110 11 0000100 00 1110t0000 0t0011000 1 0000 11001 1000 1000 0G0 00G110 0 00 1100 0 00100 00000011 011000010000010 1110000 e0011e000 1 00001 0 11001 1 1000 1 000011n00 n0 0 11000 0 001 00000 0110 1100000 100 e00 e110000 0 011000 1 1   00100 1101 A 000 r100A0r 100011100 0 000 1100a 001a 0 0000 0111001000 00100010 0110 00 00t 11t000000  00 0000  11i0 1i 100 0101o0011110o0 0 110 00 00 0 00 1001 1 0 010000010n0110n111000000000000000000 1 0 1 0 1100 00 00 1 01 010 0010114100 1040 0000100 1 0 0 100 1 1000100 0 000 01 0 00010 011 1100100 000001 01 00 100 111001000000 0 00 0100001 0 1 10 1 0 0000S01 01 S1 0 100 110001000 010 010 000 10 1e 1000 e1000000000 100 100 11110010r0 0 0r 0 001 000010 11 10 1i00 i00000000 1 e 0 e1 00100 s01s010 0 010000 1 1 00 0110000   11 00 00110000 1000010 100 01 0100 0 011000 0 110 00 10 0100 100010 00 0 10 010 1 01000 0 10 0 011000 100 001001 10000010 0 110 0010 0 0100101000 0 10 011000 100 001010 0100001 00 1 100 01 0 00 1010001000 10 0100 1000100 11 A dvanced Gain Tuning ・ Further Evolution in Real-Time Auto-Gain Tuning A gile and Intelligent ・ Improved Damping Control handles all types of machines,  from low to high stiffness machines with simple but solid  operation A lmighty ・ Position Control, Velocity Control and Torque Control in one  Driver supports multiplicity of application. A mazingly slim size ・ Another Evolution in down-sizing, by 25% in size  (compared to A-series) A4-1 0 1 Features/Contents 0 MINAS A4 000100 10 0100 1000110 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 00 10 010100 10 0100 1000100 1000  ●● FD eeatatu il rse M os f F e a t u Ir esN  A S Co nAtents4 SerieAAs44--13 1 0001 0 10 0110 0100 1000100 10 0100 1000100 10 0100 1000100 10 01000 00 1000100 10 0100 100 ●●●●● <<<<< LMWTDCSESTaiarsotntoibiaarbtvdcmi lnnneleooeeddgmr fdl o aao SDeEof rrf rp nddeP x A We sa aWWS pcimrgippitrfiin rrpiileNnciiiaclnncaegutaggiit fmobiDi ocEEnlbeianaxxe tsgaaMirormmsnoa ppastmo>llneer> ds oo > O ff MCp t oai oninntr sColi rCcuirict>ui t S tandard> AAAAAAAAA444444444------111122---789357901 1 0 <Dimensions> A4-22 0 M 1 ● Motor IN <Ratings/Specifications/Torque Characteristics> A4-49 AS A MAMA A4-49 4 F (cid:0) MSMD A4-51 e a MQMA A4-59 tu r e MSMA A4-63 s /C MDMA A4-67 o n MGMA A4-73 te n MFMA A4-77 ts ・ MHMA A4-81 <Dimensions> A4-87 MAMA A4-87 MSMD A4-88 MQMA A4-90 MSMA A4-91 ・ MDMA A4-93 MGMA A4-96 MFMA A4-99 MHMA A4-101 ● Motor with Gear Reducer/MSMD <General Specifications> A4-105 <Ratings/Specifications> A4-106 <Torque Characteristics> A4-107 ・ <Dimensions> A4-108 ● Conformity to CE and UL A4-109 ● IP65 Rating A4-112 ● Options A4-113 ● Recommended components A4-127 Remarks :Instruction manual is available as an option as ・ Japanese version : DV0P4200 and English version : DV0P4210 A4-2 Details of Features Further Adjustment-Free Operation Speed Suppress ■High-functionality Real-Time Auto-Gain Tuning vibration quickly Waveform adjusted via auto-tuning driven by a ball screw ●Corresponds to even variation of load inertia. Offers real Stabilization time of 4 ms or less automatic gain tuning to low and high stiffness machines with a actual speed (r/min) torque (N) combination of an adaptive filter. ●Supports the vertical axis application where the load torque is Filter is invalid different in rotational direction. Completion of filter frequency setup ●Prevents the machine from over-traveling during automatic gain tuning with over-travel detecting function. ●Enables you to set and check while monitoring real-time automatic gain tuning conditions on the front panel. comand speed (r/min) positional deviation (pulse) Further High-Speed and High-Response   ■Velocity response (bandwidth) of 1kHz ●Implementation of Instantaneous Velocity Observer realizes a detection of motor speed with higher speed and higher resolution.(cid:0) *) In case of high stiffness machine n] Variation of detected speed at stopping mi  10 d [r/ 100 e e p s magnitude dB() −−1300 Present MINAS A-Series on of detected 101 MINAS A-SeriesVdAoe-Suloebclrieiteyds gcaoimn pisa red to MINAS-A4Series ati MINAS A4-Series vi −50 de 10       f re1q0u0e nc y ( Hz )    1000 ard 0.1 nd 100              1000 sta velocity gain [Hz]   ■High-functionality Real-Time Auto-Gain Tuning ●Supports the low stiffness machine of belt-driven and the high stiffness machine of short stroke ball screw driven, and enables to realize high-speed positioning with high-functionality real-time auto-gain tuning. Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-3 Details of Features MINAS A4 Further Reduction of Vibration ■Adaptive filter actual speed (r/min) Torque [%] ●Makes the notch filter frequency automatically follow the machine resonance frequency. SSppeeeedd SSuupppprreessss vviibbrraattiioonn ●Suppression of "Judder" noise of the machine can be qquuiicckkllyy expected which is caused by variation of the machines or resonance frequency due to aging. ■2-channel notch filters FFiilltteerr iiss ●2-channel notch filters are equipped in the driver independent iinnvvaalliidd from adaptive filter. CCoommpplleettiioonn ooff ffiilltteerr ffrreeqquueennccyy sseettuupp ●You can set up both frequency and width for each of 2 filters, and set up frequency in unit of 1Hz. Corresponds to wider frequency range (-1500Hz) ●Suppression of "Judder" noise of the machine which has Suppresses vibration quickly multiple resonance points can be expected Effect of notch filter without notch filter with notch filter speed (1000r/min/div) M IN A S torque A (33.3%/div) 4 D e t a 50ms/div 50ms/div ils o f F e ■Damping control at u r e ●2-channel damping filters are equipped in this driver. You can suppress vibration occurring at both starting and stopping s in low stiffness machine, by manually setting up vibration frequency in 0.1Hz unit. ●You can also switch the vibration frequency set by 2-channel with rotating direction or with an external input to correspond to the variation of vibration frequency caused by the machine position. ●Easy setup with entry of only frequency and filter value. Improper setup values do not result in unstable operation motor movement machine movement actual speed (r/min) Torque [%] 500 500 400 400 400 320 300 300 240 200 200 160 without damping control 100 100 80 0 0 0 −100 −100 −80 −200 −200 −160 −300 −300 −240 −400 −400 −320 −500 0.1 0.2 0.3 0.4 0.5 0.6 0.7 [s]−(cid:0)500 −400 Position deviation [pulse] actual speed (r/min) Torque [%] 500 20400(cid:0) 400 16320(cid:0) 300 12240(cid:0) 200 8160(cid:0) 100 480(cid:0) with damping control 0 00(cid:0) −100 −4−80(cid:0) least vibration −200 no vibration at motor shaft −8−160(cid:0) and fast response −300 −12−240(cid:0) −400 −16−320(cid:0) −500 0.1 0.2 0.3 0.4 0.5 0.6 0.7 [s](cid:0)−20−400 Command speed (r/min) Position deviation [pulse] Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-4 Further Flexibility and Multiplicity Setup support with substantial monitoring function Regeneration discharging function ●Faster communication speed of RS232/RS485 (Max.57600bps) ●Discharges the regenerative energy with resistor, which energy is establishes an easy and comfortable operating condition for generated while stopping the load with large moment of inertia, or setup support software, "PANATERM ® ". use in up-down operation, and is returned to the driver from the ●Displays the factors of no-motor run and helps you to analyze the motor. causes of troubles. ●No regeneration discharge resistor is built-in to Frame A driver ●You can set up the panel operation lock to inhibit the operation (MADDT1105 type.) and Frame B driver (MBDDT2210 type.), and from the front panel, thus enables you to prevent miss-operation we recommend you to connect optional regenerative resistor. such as unintentional change of parameters. ●Regenerative resistor is built-in to Frame C to F drivers, however, connection of the optional regenerative resistor bring you further *Note) Refer to page "F4" for setup support software. regenerative capability. Command control modes Built-in dynamic brake ●Offers you "Position" , "Velocity (including internal 8-speed)" and "Torque" command control modes ●You can set up any one of the command control modes, or ●You can select the dynamic brake action which short the servo motor windings of U, V and W, at Servo-OFF, CW/CCW over- selectable two command control mode with parameter. travel inhibition, power shutdown and trip. ●You can set up any command control mode depending on your application. ●You can select the action sequence setup depending on the machine requirement. Monitoring function with front panel Positioning pulse ●LED display and analog monitor terminals are installed in the front panel. ●Displays "Motor speed" , "Motor torque" Position deviation" , "Motor ●Corresponds up to 2Mpps of pulse input at positioning control. load factor" and "Regeneration load factor" on LED. ●You can monitor "Motor speed" ,"Motor torque" and "Position Setup support software deviation" through analog monitor terminals. ●With the setup support software, "PANATERM ® " via Trial run (JOG) RS232/RS485 communication port, you can monitor the running status of the driver and set up parameters. ●Features the function for trial (JOG) run through the front panel or ●You can read out the absolute position data of the motor with console (option) without connecting to a host controller. absolute encoder. ●You can shorten the machine setup time. Full-closed control (High precision positioning) Wave-form graphic function ●Features the full-closed control of position and velocity, using the ●With the setup support software, "PANATERM ® " , you can signals from linear scale installed on the load side and high monitor the "Command speed" , "Actual speed" ,"Torque" , resolution encoder. "Position deviation " and "Positioning complete signal" . Note) Applicable external linear scales are as follows, ●Helps you to analyze the machine and shorten the setup time AT500 series by Mitutoyo (Resolution 0.05[μm], max, speed 2[m/s]) *Note) Refer to page "F4" for setup support software. ST771 series by Mitutoyo (Resolution 0.5[μm], max, speed 2[m/s]) ●Best suits to high precision machines. Torque limit value switching Inrush current suppressing function ●You can setup 2 torque limits and use them for tension control or (cid:0) press & hold control ●Inrush current suppressing resistor is equipped in this driver, which ●It is possible to apply it to bumping homing prevents the circuit breaker shutdown of the power supply caused by inrush current at power-on. ●Prevents unintentional shutdown of the power supply circuit breaker in multi-axes application and does not give load to the power line. A4-5 Details of Features MINAS A4 SEMI F47 voltage sag immunity Frequency analyzing function (cid:0) ●Features the function which complies to voltage sag immunity ●You can confirm the response frequency characteristics of total standard of SEMI F47 at no load or light load. machine mechanism including the servo motor with the setup ●Useful for semiconductor industry. support software, "PANATERM ® " Notes) ●Helps you to analyze the machine and shorten the setup time 1)Not applicable to single phase, 100V type. *Note) Refer to page "F4" for setup support software. 2)Verify with the actual machine condition to F47, voltage sag immunity standard. ■Applicable overseas safety standards Subject Standard conformed Motor IEC60034-1 IEC60034-5 UL1004 CSA22.2 NO.100 Conforms to Low- EN50178 UL508C Voltage Directives M EN55011 Radio Disturbance Characteristics of Industrial, Scientific and Medical (ISM) IN Radio-Frequency Equipment A EN61000-6-2 Immunity for Industrial Environments S IEC61000-4-2 Electrostatic Discharge Immunity Test A Motor Conforms to 4 IEC61000-4-3 Radio Frequency Electromagnetic Field and references by D Immunity Test driver EMC Directives e IEC61000-4-4 Electric High-Speed Transition t a IEC61000-4-5 PLihgehnteonminegn oSnu/rBguer sImt Immumnuitnyi tTye Tsetst ils IEC61000-4-6 High Frequency Conduction Immunity Test o f IEC61000-4-11 Instantaneous Outage Immunity Test F e IEC : International Electrotechnical Commission a E N : Europaischen Normen tu EMC : Electromagnetic Compatibility r e U L : Underwriters Laboratories s CSA : Canadian Standards Association Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-6 List of Specifications Rated Rotary encoder Brake Gear rotational Rated output Motor series (kW) (Masxp. esepdeed) in25c0re0mP/ern ab1s7obliut te/ Holding prHecigishi on CE/UL Enclosure Features Applications tal incremental (r/min) ra low inertia MAMA 00.404. . 1m1a,n-o 0d d0. e0.72l.s57,5 (56000000) (tEhcrxoocnuIeaPngpne6htdc5 sthohoral)eft .. SSmcsaaopnnmuaueddictape ahhhlldlbei iin ggcldbeeahh a swp flsro laeid trtsichp iftrcfi ehtenhryteeceii gt wtsilvhyse ... SIHpanopMisgspeThiltri ictromeaenrtapsiinocegnhti itnivees t Ul application MSMD 3000 0.05-0.75 (5000) *For (ExcIePp6t5 shaft .Small capacity .Inserters 5 models 400W/100V through hole .Suitable for all .Belt driven 0.05, and 750W and applications machines connector) 0.1, 0.2, 3000 .Unloading robot 0.4 and 0.75 (4500) MQMA rtia 0.1-0.4 (35000000) IP65 ..SSmuitaallb clea pfoarc filtayt ..SInMseTr tmeraschines ne 3 models *For (tEhrxocuegpht shhoaleft type and low .Belt driven ow i 0.1, 0.2, 4003W0/01000V conannedctor) swtiitfhfn beesslt mdraivcehnines .mUnalcohaidniensg robot (4500) L and 0.4 MSMA .Middle capacity 1.0-5.0 3000 .Suitable for the (5000) IP65 machines directly *For (Except .SMT machines 6 models 4kW and cannon plug/ coupled with ball .Inserter 1.0,1.5,2.0, 5kW connector screw and high .Food machines 3.0,4.0 stiffness and high 3000 pins) and 5.0 repetitive (4500) application MDMA 1.0-7.5 2000 (3000) IP65 .Middle capacity .Belt driven 6 models *For (Except .Suitable for low machines 1.0,1.5,2.0, 7.5kW cannon plug/ stiffness machines .Conveyers 3.0,4.0,5.0 1500 connector with belt driven .Robots and 7.5 (3000) pins) a MGMA ti er 0.9-6.0 IP65 .Middle capacity n (Except .Suitable for .Belt driven e i 4 models 1000 cannon plug/ machines requiring machines dl 0.9,2.0, (2000) connector low speed with .Conveyers d 3.0,4.5 pins) high torque .Robots Mi and 6.0 MFMA 0.4-4.5 IP65 .Middle capacity 2000 (Except .Flat type and .Robots 4 models (3000) cannon plug/ suitable for .Food machines 0.4,1.5, connector machines with 2.5 and 4.5 pins) space limitation MHMA a 2000 nerti 0.5-7.5 *Fo(3r 0 0 0 ) (EIPxc6e5pt .. MSstuiifdiftndaelbesl esc afmopraa cclohitwyines . Bmealct hdirniveesn h i 7 models 7.5kW cannon plug/ with belt driven, .Conveyors g 0.5,1.0,1.5, 1500 connector and large load .Robots Hi 2.0,3.0,4.0, (3000) pins) moment of inertia 5.0 and 7.5 Motor is sharing with A4P series A4-7 List of Specifications/ MINAS A4 Model Designation Model Designation ■ Servo Motor M S M D 5 A Z S 1  S  * *(cid:0) Special specifications Symbol Type Motor structure Ultra low inertia MSMD(standard stock), MQMA(build to order) MAMA (100W-750W) Design order Shaft Holding brake Oil seal Low inertia 1 : Standard MSMD (50W-750W) Symbol Round Key-way, without with without with center tap Low inertia MQMA (100W-400W) Rotary encoder specifications A MSMA Low inertia Symbol Format Pulse counts Resolution Wires B (1.0kW-5.0W) P Incremental 2500P/r 10000 5 S Middle inertia MDMA (1.0kW-7.5kW) Absolute/ T MGMA M(9i0d0dWle -i6n.e0rktiWa) S Inccoremmmeonntal 17bit 131072 7 MSMMAot o, rM wDitMh Ao i,l MseGaMl isA m, ManFuMfaAc t,u MreHd MbyA order. Middle inertia MFMA (400W-4.5kW) Shaft Holding brake Oil seal MHMA High inertia Voltage specifications Symbol Round Key-way without with without with (500W-7.5kW) Symbol Specifications C 1 100V Motor rated output D 2 200V Symbol Rated output Symbol Rated output 100V/200V G Z 5A 50W 15 1.5kW common(50W only) H 01 100W 20 2.0kW Products are standard stock items or build to order items. See index (page F31). MAMA 02 200W 25 2.5kW Shaft Holding brake Oil seal 04 400W 30 3.0kW Symbol Round Key-way without with without with 05 500W 40 4.0kW 08 750W 45 4.5kW A B 09 900W 50 5.0kW E 10 1.0kW 60 6.0kW F M 75 7.5kW Products are standard stock items or build to order items. See index (page F31). IN See page, A4-49 for motor specifications A S ■ Motor with reduction gear A 4 L M S M D 0 1  1  P 3 1 N(cid:0) is t o f S Symbol Type Gear reduction ration, gear type p MSMD(cid:0) (1L0o0wW in-7e5rt0iaW) Symbol Graetiaor reduction 100Mot2o0r0 outp4u0t0 (W)750 Gear type ecif Motor rated output 1N 1 / 5 ic a Symbol Rated output Voltage specifications 2N 1 / 9 t 01 100W Symbol Specifications 3N 1 / 15 For high accuracy ion 02 200W 1(cid:0) 100V(cid:0) 4N 1 / 25 s 04 400W 2(cid:0) 200V(cid:0) /M 08 750W Motor structure o Shaft Holding brake d Symbol e Rotary encoder specifications Key-way without with l D Symbol Format Pulse counts Resolution Wires 3 e P Incremental 2500P/r 10000 5 4 s ig Absolute/ n S Incremental 17bit 131072 7 a common t See page, A4-105 for motor with gear reducer specifications io n ■ Servo Driver M A D D  T 1  2  0 5 * * *(cid:0) Special specifications Frame symbol Power device Max. current rating Supply voltage specifications Current detector current rating Symbol Frame Symbol Power device Max. current rating Symbol Specifications Symbol Current detector, current rating MADD A4 series, Frame A T1 1 0A 1 Single phase, 100V 05 5A MBDD A4 series, Frame B T2 1 5A 2 Single phase, 200V 07 7.5A MCDD A4 series, Frame C T3 3 0A 3 3-phase, 200V 10 1 0A MDDD A4 series, Frame D T5 5 0A 5 Single/3-phase,200V 20 2 0A MEDD A4 series, Frame E T7 7 5A 30 3 0A MFDD A4 series, Frame F TA 1 0 0A 40 4 0A MGDD A4 series, Frame G TB 1 5 0A 64 6 4A TC 3 0 0A 90 9 0A A2 1 2 0A B4 2 4 0A See page, A4-15 for driver specifications Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-8 Wiring example Driver Frame Type Symbol (Frame A, B, C, D) For details, refer to the Instruction Manual. ●Wiring of main circuit Circuit Breaker (NFB)(cid:0) Protects the power lines. Shuts off the circuit when overcurrent passes. (cid:0) (cid:0) Noise Filter (NF) Prevents external noise from the power lines. And reduces an effect of the noise generated by the servo driver. (cid:0) Magnetic Contactor (MC) Turns on/off the main power of the servo driver. Surge absorber to be used together with this. (cid:0) M S Reactor (L) Reduces harmonic current of the main power.(cid:0) Console (DV0P4420) (cid:0) Personal Computer Pin RB1, RB2 and RB3… Setup support software ・RB2 and RB3 to be kept shorted for normal "PANATERM ® " operation. (DV0P4460) ・When the internal regenerative resistor capacity has shortage, disconnect between RB2 and RB3, then connect an external PC communication cable regenerative resistor between RB1 and RB2. L1 (DV0P1960) L2 L3 L1C L2C Connector for external equipment (DV0P4350) or interface connector cable (DV0P4360) Controller Encoder cable Regenerative resistor (option) Motor cable Brake cable Ground (Earth) Power supply for Motor to page A4-49 brake DC24V Driver to page A4-15 Option to page A4-113 Recommended equipments to page A4-12 Parts customer to prepare Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-9 Wiring example MINAS A4 Driver Frame Type Symbol (Frame E, F) For details, refer to the Instruction Manual. ●Wiring of main circuit Circuit Breaker (NFB)(cid:0) Protects the power lines. Shuts off the circuit when overcurrent passes. (cid:0) (cid:0) Noise Filter (NF) Prevents external noise from the power lines. And reduces an effect of the noise generated by the servo driver. M S (cid:0) Magnetic Contactor (MC) Console (DV0P4420) Turns on/off the main power of the servo driver. Surge absorber to be used together with this. (cid:0) Personal Computer Reactor (L) Setup support software Reduces harmonic current of the main power.(cid:0) "PANATERM ® " (cid:0) (cid:0)(cid:0) (DV0P4460) P, B1 and B2… ・B1 and B2 to be kept shorted for normal operation. PC communication cable (DV0P1960) M ・When the internal regenerative resistor IN capacity has shortage, disconnect between B1 A and B2, then connect an external S regenerative resistor between P and B2. A Connector for external equipment (DV0P4350) 4 or interface connector cable (DV0P4360) W ir in g e x Controller a m Encoder cable p le Regenerative resistor Ground (Earth) (option) Motor cable Brake cable Power supply for brake DC24V Motor to page A4-49 Driver to page A4-15 Option to page A4-113 Recommended equipments to page A4-12 Parts customer to prepare Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-10

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"A (Ace)" Servo for the Next Generation. MINAS A4 .. machine mechanism including the servo motor with the setup . MCDD A4 series, Frame C.
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