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

172 Pages·2006·4.94 MB·English

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00
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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
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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: [phone] - Fax: [phone] - 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]
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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: [phone] - Fax: [phone] - 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: [phone] - Fax: [phone] - 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: [phone] - Fax: [phone] - 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: [phone] - Fax: [phone] - Web: www.ctiautomation.net - Email: [email protected]
A4-10