YAMAHA SINGLE-AXIS ROBOT DRIVER RD series User’s Manual ENGLISH E YAMAHA MOTOR CO., LTD. IM Operations 882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.Japan URL http://www.yamaha-motor.jp/robot/index.html E97-Ver. 2.
Note to the user Our sincere thanks for purchasing this "YAMAHA single-axis robot driver RD series". This user's manual describes handling and maintenance of the RD series. Read this manual thoroughly before using the RD series. Keep this manual handy so that the operator or maintenance personnel can easily refer to it when needed.
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General Contents Chapter 1 Safety precautions 1.1 Precautions for use 1-1 1.2 Storage 1-2 1.3 Carrying 1-3 1.4 Installation 1-3 1.5 Wiring 1-4 1.6 Control and operation 1-5 1.7 Maintenance and inspection 1-6 Chapter 2 2.1 Before using the unit Inspection after unpacking 2.1.1 Checking the product 2.1.2 User's manual 2.2 Product inquiries and warranty 2.2.1 Notes when making an inquiry 2.2.2 Warranty 2-1 2-1 2-2 2-3 2-3 2-3 2.3 External view and part names 2-4 2.
5.3 Output terminal functions 5.4 Return-to-origin function 5-10 5.5 Analog output function 5-21 5.6 Pulse train input function 5-22 5.7 Smoothing function 5-25 5.8 Position sensor monitor function 5-26 5.9 Adjusting the control gain 5-27 5.9.1 Basic rules of gain adjustment 5.9.2 Setting the mechanical rigidity and response 5.9.3 Adjusting the position control loop 5.10 Offline auto-tuning function 5.10.1 Offline auto-tuning method 5.10.
T4H-6 (C4H-6) ……………………………………………………………………… T4H-6-BK (C4H-6-BK) ……………………………………………………………… T4H-12 (C4H-12)…………………………………………………………………… T4H-12-BK (C4H-12-BK)…………………………………………………………… T5H-6 (C5H-6) ……………………………………………………………………… T5H-6-BK (C5H-6-BK) ……………………………………………………………… T5H-12 (C5H-12)…………………………………………………………………… T5H-12-BK (C5H-12-BK)…………………………………………………………… T5H-20 ……………………………………………………………………………… T6-6 (C6-6) ………………………………………………………………………… T6-6-BK (C6-6-BK) ………………………………………………………………… T6-12 (C6-12) ………………………………………………………………………
F14-20 (C14-20) …………………………………………………………………… F14-20-BK (C14-20-BK) …………………………………………………………… F14-30 ……………………………………………………………………………… F14H-5 (C14H-5) ………………………………………………………………… F14H-5-BK (C14H-5-BK) ………………………………………………………… F14H-10 (C14H-10) ……………………………………………………………… F14H-10-BK (C14H-10-BK) ……………………………………………………… F14H-20 (C14H-20) ……………………………………………………………… F14H-20-BK (C14H-20-BK) ……………………………………………………… F14H-30 …………………………………………………………………………… F17L-50 (C17L-50) ………………………………………………………………… F17L-50-BK (C17L-50-BK) ……………………………………
7.3 Megger test and breakdown voltage test 7-4 7.4 Checking the inverter and converter 7-4 7.5 Capacitor life curve 7-6 Chapter 8 8.1 Specifications and Dimensions Specification tables 8.1.1 RDP specification table 8.1.2 RDX specification table 8.2 Robot driver dimensions and mounting holes Chapter 9 8-1 8-1 8-2 8-3 Troubleshooting 9.1 Alarm display (alarm log) 9-1 9.2 Protective function list 9-2 9.3 Troubleshooting 9-3 9.3.1 When an alarm or error has not tripped 9.3.
Chapter 1 Safety precautions To use this unit correctly and safely, always read this manual and all other attached documents carefully before use. Use this unit only after you are thoroughly familiar with its features and functions, safety information and precautions. Contents 1.1 Precautions for use 1-1 1.2 Storage 1-2 1.3 Carrying 1-3 1.4 Installation 1-3 1.5 Wiring 1-4 1.6 Control and operation 1-5 1.
1. Safety precautions To use this unit correctly and safely, always read this manual and all other attached documents carefully before use. Use this unit only after you are thoroughly familiar with its features and functions, safety information and precautions. w c DANGER INDICATES AN IMMINENTLY HAZARDOUS SITUATION WHICH, IF NOT AVOIDED, WILL RESULT IN DEATH OR SERIOUS INJURY.
1. Safety precautions c 1 Safety precautions CAUTION 1. Use only the specified robot and controller combination. Using the wrong combination may cause fire or malfunction. 2. Never use this unit in locations subject to water, grinding fluid mist, corrosive gases, explosive gases or salt damage. Do not use near inflammable objects or materials. Doing so may cause fire, malfunction or accidents. 3. The robot driver, robot and peripheral equipment may become hot during operation.
1. Safety precautions 1.3 Carr ying c 1 Safety precautions CAUTION 1. Do not carry the robot driver by the cables. Doing so may cause malfunction or injury. 2. Do not carry the unit by the top cover or by the main circuit terminal block cover. Doing so may cause the unit to fall resulting in injury. MANDATORY LOAD THE UNITS CORRECTLY AS INDICATED. STACKING TOO MANY UNITS MAY CAUSE THEM TO FALL OVER. 1.4 Installation c CAUTION 1. Do not step or stand on the unit.
1. Safety precautions 1.5 Wiring 1 w Safety precautions c 1-4 DANGER 1. 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. MAKE SURE THE POWER IS OFF BEFORE CARRYING OUT WIRING. FAILURE TO DO SO MAY CAUSE ELECTRICAL SHOCK OR FIRE. 4.
1. Safety precautions 1.6 Control and operation c MANDATORY INSTALL AN EXTERNAL EMERGENCY STOP CIRCUIT SO THAT YOU CAN IMMEDIATELY STOP OPERATION AND SHUT OFF POWER WHENEVER NEEDED. 1-5 1 Safety precautions CAUTION 1. 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.
1. Safety precautions 1.7 Maintenance and inspection 1 w Safety precautions c DANGER 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. CAUTION The capacitance of the capacitor on the power supply line drops due to deterioration.
Chapter 2 Before using the unit This chapter explains what you need to check after receiving the product you purchased as well as the warranty and the product part names. Contents 2.1 Inspection after unpacking 2-1 2.1.1 2.1.2 Checking the product User's manual 2.2 Product inquiries and warranty 2.2.1 2.2.2 Notes when making an inquiry Warranty 2.3 External view and part names 2.
2. Before using the unit 2.1 Inspection after unpacking 2.1.1 Checking the product After unpacking, take out the robot driver and check the following items. If you find or suspect any damage to the product please contact our sales office or sales representative. 2 (1) Make sure that there is no damage, missing parts or dents/scratches on the product body. Before using the unit (2) After unpacking, make sure that the package contains the following items.
2. Before using the unit X05 – 05 X 0001 Production number Production month 2 Robot driver model No. Before using the unit X05 X10 X20 P05 P10 P20 P25 RDX-05 RDX-10 RDX-20 RDP-05 RDP-10 RDP-20 RDP-25 1 to 9 January to September O October X November Y December Production year: Last 2 digits of year Details on serial number label 2.1.2 User's manual This user's manual describes how to use the YAMAHA single-axis robot driver RD series.
2. Before using the unit 2.2 Product inquiries and warranty 2.2.1 Notes when making an inquir y If you need to inquire about possible product damage, failures or points that are unclear, then please contact us with the following information. 2 (1) Robot driver model Before using the unit (2) Production number (3) Date of purchase (4) Details of your inquiry • Damaged section and condition, etc. • Dubious point and description, etc. 2.2.
2. Before using the unit 2.3 External view and part names Battery housing cover Battery holder Not used. 2 Before using the unit Charge lamp Lights up when the main power supply is turned on. This lamp remains lit as long as the main circuit capacitor retains a charge after the power supply is turned off. Do not touch the robot driver while the lamp is lit. Main circuit terminal block (TM1) Terminals for connecting to the main circuit power supply, external regenerative resistor, and motor power cable.
2. Before using the unit 2.4 Robot driver and robot combination The table below shows applicable combinations of robot drivers and robots.
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Chapter 3 Installation and wiring This chapter explains how to install the robot driver, as well as how to connect wiring to the main circuit and input/output signals. Typical connection examples are shown. Contents 3.1 Installation 3-1 3.1.1 Precautions during installation 3.2 Wiring 3-4 3.2.1 3.2.2 3.2.3 3.2.4 3.2.
3. Installation and wiring 3.1 Installation c Screw size Tightening torque (N•m) M3 0.6 to 0.9 M4 1.5 to 2.1 M5 2.8 to 3.9 M6 4.1 to 5.3 M8 13.9 to 20.0 Note Mounting screws for robot driver and peripheral devices 8. Provide the specified clearance between the robot driver and the inner surface of the control panel or any other unit. Failure to do so may cause malfunction. 9.
3. Installation and wiring 3.1.1 Precautions during installation 3 (1) Precautions when carr ying the unit The robot driver uses plastic parts. Handle it carefully to avoid damage to the plastic parts. Take special care not to carry the unit in such a way that force is applied only to the front cover or terminal block cover. Otherwise you might drop the unit. Do not install and operate the unit if any part is damaged or missing.
3. Installation and wiring (6) Installation method and direction precautions Install the robot driver on a vertical surface capable of supporting the weight. Secure the robot driver firmly by screws or bolts. If the robot driver is not installed vertically on the wall surface, the cooling capacity may degrade causing a trip or alarm and/or damaging the internal components. For mounting hole locations, refer to 8.2, "Robot driver dimensions and mounting holes".
3. Installation and wiring 3.2 Wiring w 3 Installation and wiring c DANGER 1. 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. MAKE SURE THE POWER IS OFF BEFORE CARRYING OUT WIRING. FAILURE TO DO SO MAY CAUSE ELECTRICAL SHOCK OR FIRE. CAUTION 1. Make sure that wiring connections are correct.
3. Installation and wiring 3.2.2 Main circuit wiring (1) Terminal connection diagram Shorting bar (DC reactor connecting terminal) Regenerative braking resistor (option) TM1 TM1 (+)1 U (+) V Robot driver W 3 RB (-) Installation and wiring Power supply 3-phase 200 to 230 V AC L1 Note 1) L2 L3 ELB MG ENC TM2 L1C L2C When using external regenerative braking resistor, disconnect B1-B2 shorting bar.
3. Installation and wiring (2) Terminal assignment Terminal block connector Terminal assignment Shorting bar Main circuit terminal block (TM1) 3 Installation and wiring (+)1 (+) RB (–) L1 L2 L3 U V W Ground terminal Control power connector (TM2) c 3-6 B1 B2 L1C L2C Terminal width (mm) M4 8.1 M4 – DC reactor connection terminal (Short these terminals when not used.
3. Installation and wiring (3) Wiring precautions Before starting wiring, make sure that the charge lamp is completely off. Use caution because the capacitor might still be charged with high voltage creating a hazardous condition. About 10 minutes or more after power-off use a voltmeter or similar instrument to check that no voltage remains across the (+) and (–) terminals on the main circuit terminal block, and then start wiring.
3. Installation and wiring 4) External braking resistor connection terminals ( (+), RB) ) • A regenerative braking circuit and braking resistor are built into the robot drivers (RD*-20 and RDP-25). To enhance braking capacity, you can connect an optional external braking resistor to these terminals. In this case, disconnect the shorting bar from the internal braking resistor terminals (B1, B2). The wiring length should be 5 meters or less. Wire by twisting the two wires together.
3. Installation and wiring 8) Ground terminals ( ) • To prevent electrical shock, be sure to ground the robot driver and the robot body. • Connect the ground terminals to a proper grounding point (Class D: 100 ohms or less). • The ground wire should be thicker than those generally used and as short as possible. 3 Note 2: Separate the robot driver signal input cable and position sensor cable at least 30cm from the main circuit power cable and control power cable.
3. Installation and wiring (4) Peripheral cables and products Name 3 Function Availability Installation and wiring 1 TOP (software for YAMAHA RD series) Allows setting parameters, monitoring operation and displaying graphics from a PC connected to the robot driver. Option 2 Position sensor cable Connects to the robot position sensor, brake and origin sensor. Standard 3 Power cable Supplies power to the robot. Standard 4 PC connection cable Connects to a PC.
3. Installation and wiring (5) Recommended wire size and wiring accessories • Select optimal breakers by taking their breaking capacity into account. • Use an earth leakage breaker (ELB) to ensure safety. • Use an appropriate copper wire with a heat resistant temperature of 75˚C or more. • Tighten the terminal screws to the specified torque. Insufficient tightening may result in a short circuit or fire. • Refer to the following table when selecting wiring size and wiring accessories for robot drivers.
3. Installation and wiring (6) Attaching the cover to the main circuit terminal block (TM1) 1. Insert the bottom hook of the main circuit terminal block cover into the slot in the robot driver front panel as shown below. 2. Attach the main circuit terminal block cover into place by gently pressing on it from the front. 3 3. Tighten the screw to fasten the main circuit terminal block cover to the robot driver.
3. Installation and wiring 3.2.3 Wiring to the control terminal block (TM2) c (1) Cable termination Strip the cable sheath as shown in Fig. 1. The cable can then be used as is. Applicable wire size is as follows: Solid wire ....... Wire size 1.25 to 2.0mm 2 Stranded wire ... Wire size 1.25 to 2.0mm 2 8 to 9mm Fig. 1 Control power cable termination (2) Connection method Insert the core wire of the cable into the terminal hole of the control power connector (TM2) shown in Fig.
3. Installation and wiring 3.2.4 Input/output signal wiring (1) Input/output signal connector 3 Installation and wiring Pin No.1 of the input/output signal connector I/O is located at the upper left when viewed from the front of the robot driver as shown on the right. The table below shows the signal assignment on the input/output signal connector I/O (robot driver side). FUNC SET CHARE 1 26 Input/output signal connector I/O 25 50 Robot driver front view Pin No. Pin symbol Signal name Pin No.
3. Installation and wiring 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. The following connector is supplied with the controller as the input/output signal connector (cable side). Product name Type No.
3. Installation and wiring (2) Input/output signal connection diagram Standard input/output signal connections are shown below. Robot driver Pulse train position command (pulse) Pulse train position command (sign) 3 15 PLSP 1507 OAP 21 16 PLSN OAN 22 40 SIGP 1507 OBP 46 41 SIGN OBN 47 OZP 23 Installation and wiring OZN 24 Origin sensor 8 ORL 4.
3. Installation and wiring (3) Input/output signal functions Input/output signal functions are summarized in the following table. Type Terminal symbol P24 Supplies 24V DC for contact inputs. Connecting this signal to the PLC terminal allows using the internal power supply. Use this terminal only for contact input. Do not use for controlling external equipment connected to the robot driver, such as brakes.
3. Installation and wiring Type Terminal symbol SRD SRDE 3 Output signal Installation and wiring Relay output INP INPE Positioning complete This signal is output when the deviation between the command position and current position is within the preset positioning range. BK (B24) Brake release relay output When the servo is ON, this terminal outputs a signal to allow releasing the brake. (FLIP-X series only) (Note 1) Outputs speed detection values, torque commands, etc.
3. Installation and wiring (4) Brake and origin sensor connector 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. Use this connector only when using a robot with a mechanical brake or robot's returnto-origin method is sensor method.
3. Installation and wiring (5) Details of input/output signal wiring 1) Contact input signal • Contact signals should be input through switches and relays. Figures (a) and (b) below show wiring diagrams using an external power supply or internal interface power supply. Robot driver P24 External power supply (DC24V) PLC 3 Installation and wiring Switch Robot driver Short-circuit P24 DC24V DC24V PLC Switch Input 4.7k7 CM1 Input 4.
3. Installation and wiring • When using an external power supply, do not connect to the internal interface power of the robot driver. If connected, current may flow as shown in figure (e) below when the external power supply is shut off, causing the input to turn on. Robot driver Programmable controller External power supply P24 DC24V (DC24V) PLC S Shorted when Example of sink power is shut off. type output module Input 4.
3. Installation and wiring 2) Open collector output signal • Connect a relay coil or the input module of a programmable controller as shown in Figures (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.
3. Installation and wiring 3) Monitor output signal • Connect a meter (voltmeter) or recorder for monitoring speed detection values and torque command values as shown in Figure (a) below. Use this signal only for monitoring and not for commands to other control devices. (Output signal accuracy is about ±10%.) Each monitor output signal cable should be a shielded, twisted pair cable with the analog common (L--- connector pin No. 20, 49). ) on the robot driver side.
3. Installation and wiring 4) Position command signal • Connect the pulse train signal for position command. As shown in the figure below, the line receiver receives a pulse train signal output from the line driver (AM26LS31 or equivalent) of the master controller. Each position command signal cable should be a shielded, twisted pair cable. ) on the robot driver side. (The I/O Connect the cable shield to ground ( connector case of the robot driver is internally connected to the ground.
3. Installation and wiring Position command pulse timing chart Pulse train signal form (1) Pulse train command Pulse train input timing When FA-11 = P-S (Movement direction is reversed if FA-11 = -P-S.) See note below. "1" PLS signal t1 t0 "0" t2 t S4 t S2 "1" T SIG signal t S1 t S3 t3 (2) FWD/REV pulse "0" Logic REV signal When FA-11 = F-r (Movement direction is reversed if FA-11 = r-F.) See note below.
3. Installation and wiring 3 5) Position sensor monitor signal • The position sensor signal is output as phase A, B, and Z signals. The line driver output signals (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). Use a shielded, twisted pair cable for each position sensor monitor ) on the robot driver side.
3. Installation and wiring 3.2.5 Wiring for position sensor signals (1) Position sensor signal connector Connector compatible with lead-free solder Type No. Manufacturer 54599-1015 Molex 3 • Description of terminal code Pin No. Terminal symbol Pin No.
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Chapter 4 Operation This chapter explains typical product operation and shows simple trial runs. Contents 4.1 Control and operation 4.1.1 Position control by pulse train input 4.2 Test Run 4.2.1 4.2.2 Jog from the digital operator Making a test run using "TOP" software for RD series 4.
4. Operation 4.1 Control and operation c MANDATORY INSTALL AN EXTERNAL EMERGENCY STOP CIRCUIT SO THAT YOU CAN IMMEDIATELY STOP OPERATION AND SHUT OFF POWER WHENEVER NEEDED. 4-1 4 Operation CAUTION 1. 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. 3.
4. Operation 4.1.1 Position control by pulse train input This method controls the position with external pulse train signals. 1) Make connections as shown below and check that they are correct. 2) Turn on the ELB (earth leakage breaker) and then turn on the control power to the robot driver. The digital operator comes on and "d-00" is displayed. (This is the factory default setting.) 4 3) Set the "Pulse train input mode" (FA-11) parameter.
4. Operation 4.2 Test Run This section explains how to make a test run. 4.2.1 Jog from the digital operator Jog can be performed from the digital operator just by wiring the robot driver to the robot and power supply. This test run method allows checking the wiring between the robot driver, robot and power supply. (1) Jog operation Blinking FUNC Blinking Blinking Operation Perform the following steps with the SON terminal turned off.
4. Operation 4.2.2 Making a test run using "TOP" software for RD series Jog can be run from a PC. During this jog operation, wiring checks can be made for the robot driver, robot and power supply because no outside connections to the I/O connector are needed. For details, refer to the TOP (software for RD series) user's manual. There are two types of jog operation: (1) normal jog performed at a specified speed and (2) pulse feed jog that moves a distance equal to a specified number of pulses.
4. Operation (2) Pulse feed jog operation In this jog operation, the robot moves in position control mode up to the position specified by the position command. After starting the TOP software for RD series, run jog operation as explained below. Refer to the TOP software user's manual for details. 1) Click the [Test Run and Adjustment] button on the opening screen. (Click the [Jogging] tab.) 2) Enter the number of feed pulses. 3) Check safety and then click the [Forward] or [Reverse] button.
4. Operation 4.3 Emergency stop To safely stop the robot in case of an emergency, configure an emergency stop circuit while referring to the explanations below. For details on input terminal functions and parameters, refer to 5.2, "Input terminal functions" and 6.3.2, "Setup parameter description". (1) Ser vo OFF 4 When the SON signal is turned off, the servo is OFF and the braking is applied by the dynamic brake. Operation • The DB Operation selection (FA-16) must be set to "SoF".
Chapter 5 Functions This chapter explains the input/output signal functions of this product and its major control functions. Contents 5.1 Terminal function list 5-1 5.2 Input terminal functions 5-3 5.3 Output terminal functions 5-7 5.4 Return-to-origin function 5-10 5.5 Analog output function 5-21 5.6 Pulse train input function 5-22 5.7 Smoothing function 5-25 5.8 Position sensor monitor function 5-26 5.9 Adjusting the control gain 5-27 5.9.1 5.9.2 5.9.
5. Functions 5.1 Terminal function list Type Terminal symbol P24 Interface power CM1 Interface power common This is a ground signal for the power supply connected to P24. If using the internal power supply then input a contact signal between this signal and the contact-point signal. PLC Intelligent input common Connect this signal to the power supply common contact input. Connect an external supply or internal power supply (P24).
5. Functions Type Relay output Monitor output Terminal symbol Terminal name BK (B24) Brake release relay output AO1 Monitor output 1 AO2 Monitor output 2 L Monitor output common PLSP 5 Position command PLSN SIGP Functions SIGN OAP OAN OBP OBN Position sensor monitor Brake power input 5-2 OZP OZN Position command pulse (pulse signal) Function When the servo is ON, this terminal outputs a signal to allow releasing the brake.
5. Functions 5.2 Input terminal functions Functions of the robot 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 10.1, “Timing chart”, in Chapter 10. 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 RDP. See 5.
5. Functions RS terminal When an alarm has tripped, setting the SON signal to OFF and this RS signal to ON clears the tripped alarm state, and operation can resume. Related parameters FC-01 : Input terminal polarity setting • If no alarm has tripped, this signal is ignored even if set to ON. • When an alarm has tripped and then this signal is switched from OFF to ON, the alarm trip state is canceled if the ON state lasts more than 20ms.
5. Functions FOT/ROT terminals These terminals connect to operating range limit switches in order to prevent overtravel. Related parameters FC-01 : Input terminal polarity setting • When this signal is turned on, drive is allowed. • To prevent overtravel, the internal speed command limit value in that direction is set to 0. • By changing the "Input terminal polarity" (FC-01) setting, drive is also allowed when this input terminal is opened.
5. Functions ORG terminal When servo is ON, tuning this signal ON performs return-to-origin. See 5.4, "Return-toorigin function" for more information. Related parameters FA-23: Homing mode Fb-12: Homing speed 1 (fast) Fb-13: Homing speed 2 (slow) FC-01: Input terminal polarity setting • When return-to-origin is complete, INP turns ON. If this signal is turned OFF before return-to-origin is complete, the movement is interrupted and INP stays OFF.
5. Functions 5.3 Output terminal functions Robot driver output terminal functions are described next. For details on input/output terminal timing chart from the power-on to the position command input, refer to 10.1, “Timing chart”, in Chapter 10. 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.
5. Functions BRK terminal (relay contact) This signal is for controlling an externally installed brake. Use this signal only when the connected robot has a mechanical 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.
5. Functions (2) Brake signal while robot is operating This function is used when applying the brake while the robot is operating so use in applications where the robot can slow sufficiently such as when the robot is freerunning. Using this function when moving a heavy payload may cause braking delays, resulting in dropping hazards so use caution. • This signal turns on simultaneously with servo ON operation when a servo-ON signal is input.
5. Functions 5.4 Return-to-origin function (1) Return-to-origin using stroke end method (RDX) The following table shows the RDX return-to-origin operation using the stroke end method.
5. Functions (2) Return-to-origin using sensor method (RDX) The following table shows the RDX return-to-origin operation using the sensor method. ORL terminal at start of return-to-origin using sensor method FA-23 OFF ON Sensor 4096 pulses (machine reference=100%) (ORL) Sensor (ORL) 4096 pulses (machine reference=100%) Machine reference (d-18) Machine reference (d-18) 2 S-F 3 (Fb-12) 4 (Fb-13) 1 (Fb-12)×0.
5. Functions (3) Return-to-origin using stroke end method (RDP) The following table shows the RDP return-to-origin operation using the stroke end method. FA-23 Return-to-origin using stroke end method When phase ZM is between return-to-origin start position and stroke end When "Homing back distance" (Fb-35) = 2 2 (Fb-12) 3 Reference phase Z 1 Reverse run Position 7 9 R side 4096 8 When FA-14 is set to CC (Fb-12) Phase Z (Dotted line indicates phase ZY.
5. Functions FA-23 Return-to-origin using stroke end method When phase ZM is between return-to-origin start position and stroke end Stroke end When "Homing back distance" (Fb-35) = 2 Phase ZM Reference phase Z 5 R side When FA-14 is set to CC 6 (Fb-12) [(Fb-35)-1]×4096 7 4096 (Fb-13) 4 Reverse run Position L side When FA-14 is set to CC 6 9 Forward run 8 1 3 2 d Homing back distance counter 1024 pulses (1.
5. Functions Return-to-origin using stroke end method FA-23 Functions Operation sequence 5 When phase ZM is between return-to-origin start position and stroke end 1. Start return-to-origin. 2. Robot moves towards stroke end at return-to-origin speed (Fb-12). 3. Continues moving towards the stroke end at returnto-origin speed (Fb-12). Starts counting "Homing back distance" after detecting the sensor signal (phase ZM).
5. Functions (4) Return-to-origin using sensor method (RDP) The following table shows the RDP return-to-origin operation using the sensor method.
5. Functions FA-23 Return-to-origin using sensor method When origin sensor is ON when starting return-to-origin Origin sensor (ORL) Phase ZM Reference phase Z 10 (Fb-12) 11 12 13 9 4 Reverse run Position 5 5 15 (Fb-13) Forward run 1 3 S-F 14 (Fb-12)×0.5 8 Functions L side When FA-14 is set to CC 7 (Fb-12) R side When FA-14 is set to CC 2 6 Machine reference (d-18) d 1024 pulses 4096 pulses (machine reference=100%) Phase Z (Dotted line indicates phase ZY.
5.
5. Functions FA-23 Return-to-origin using sensor method When origin sensor is ON when starting return-to-origin Origin sensor (ORL) Phase ZM Reference phase Z 2 (Fb-12)×0.5 S-r 5 15 Reverse run Position (Fb-13) R side When FA-14 is set to CC 8 3 1 14 7 6 5 13 Forward run 4 12 11 10 Machine reference (d-18) Functions d 768 (=300H) pulses 4096 pulses (machine reference=100%) Phase Z 1024 pulses (Dotted line indicates phase ZY.) 256(=100H) (1.
5. Functions FA-23 Return-to-origin using sensor method When phase ZM is between return-to-origin start position and origin sensor 1. Start return-to-origin. 2. Robot moves at return-to-origin speed (Fb-12). 3. Continues moving at return-to-origin speed (Fb-12). Starts detecting phase Z at each 4096 count after detecting the sensor (phase ZM) signal.
5. Functions FA-23 Return-to-origin using sensor method 5 Functions Operation sequence When origin sensor is ON when starting return-to-origin 1. Start return-to-origin. 2. Robot moves at 50% of return-to-origin speed (Fb-12). 3. Slows down during deceleration time (Fb-05) after detecting that the origin sensor (ORL terminal) has turned off. (Note 2) 4. Reverses movement direction after the motor has stopped, and speeds up during acceleration time (Fb-04).
5. Functions 5.5 Analog output function The robot driver has 2 channels provided with analog monitor output terminals. The output voltage is from 0 to ±3.0V.
5. Functions 5.6 Pulse train input function (1) Position pulse train input The pulse train signals (PLS, SIG) for the position command are valid in position control mode. Position commands from this signal are counted only when the pulse train input enable signal (PEN) is ON. There are 6 position command count modes as shown in the table below and these are set by the parameter (FA-11).
5. Functions The "Command pulse filter time constant" (FC-19) parameter for the pulse train input circuit hardware can be selected by the command pulse frequency. Command pulse filter time constant FC-19 Filter time constant (μs) Recommended command pulse frequency Lo 1 Less than 200k pulses/s Hi (default setting) 0.2 More than 200k pulses/s Note: When using phase difference two-phase pulse (A, B phase input), the recommended input frequency is 1/4 of the frequency value in the above table.
5. Functions [Calculation examples of electronic gear ratio] 1. To move the MR16 (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) (1) Since the PHASER series resolution is 1µm and since a=0.
5. Functions 5.7 Smoothing function (1) Position command filter 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.
5. Functions 5.8 Position sensor monitor function 5 Functions The position sensor monitor signals OA and OB, which are obtained by dividing the position sensor "phase A" and "phase B" signals, are output as a line driver output. The "phase Z" signal is directly output as OZ as a line driver output and an open collector output. The position sensor monitor signal is processed by a pulse divider whose division ratio M/N can be set by the "Position sensor monitor resolution M, N" (FC-09), (FC-10).
5. Functions 5.9 Adjusting the control gain This section describes the method for adjusting the control gain required when adjusting the servo system. Adjusting the control gain is not required when setting the parameters by following the description in 6.3.3, "Reference graph for setting the acceleration and position control cut-off frequency". If a higher motion response is needed, set the parameters according to the methods for adjusting the control gain explained below.
5. Functions 5.9.2 Setting the mechanical rigidity and response Set the response of the servo system according to the rigidity and strength of the machine connected to the robot. Setting the speed/position control cut-off frequency (Fd-09, Fd-01) to a high value shortens the response and settling time to a command, but if set too high, vibration may occur if the rigidity of the mechanical system is low. So set the speed/position control cut-off frequency (Fd-09, Fd-01) to operate within a stable range.
5. Functions 5.9.3 Adjusting the position control loop (1) Parameter constants used for position control Parameter constants used for position control are described below. (a) Position control cut-off frequency (Fd-09) This parameter constant determines the response of the position control loop. Setting Fd-09 to a high value improves the response and shortens the positioning time. Note 1: Robot might oscillate if the Fd-09 setting is too large.
5. Functions 5.10 Offline auto-tuning function The auto-tuning function is described here. Offline auto-tuning is a function for automatically adjusting the servo system gain according to the speed control cutoff frequency. Offline auto-tuning operates the robot at a pre-determined operating pattern, estimates the mover mass, and correctly sets the "Mover mass" (Fd-00) parameter.
5. Functions (2) Offline auto-tuning operation 1. Turning on the FOT and ROT terminals, and then turning on the SON terminal starts the auto-tuning. The LED indicator on the robot driver shows "Auto". 2. The robot accelerates and decelerates while moving in both the forward and reverse directions at tuning run speed, centering around the point where auto-tuning started. This movement is 1 cycle and is repeated to a maximum of 10 cycles. (See figure below.
5. Functions Calculating the robot axis rotation during offline auto-tuning If the tuning speed is Va [min -1] and the accel/decel time is Δt [s], then the robot axis rotation, S, can be calculated by the following formula. Calculated example of robot axis rotation during offline auto-tuning S= 3·Va ×$t 60 Calculated examples are shown in the following table. Set an ample drive range for the values in the table.
5. Functions 2. When tuning ends, turn the SON terminal off, and turn the RS terminal on and then off, to exit the auto-tuning mode. Note 1: The tuning might not end normally if the accel/decel torque is less than 10 [%] of the rated torque. If that happens, use the TOP software for RD series to set the default value 0.05[s] for the accel/decel time to a smaller value. Also, if a tuning error occurred, then each gain value returns to the value prior to tuning.
5. Functions 3. Click the [Continuous pattern tuning start] button. 4. Check safety conditions and then turn on the FOT and ROT terminals, and turn on the SON terminal. This starts continuous pattern operation and estimates the mover mass. 5. After estimating the mover mass, the pattern operation waveforms are downloaded from the robot driver and displayed. 6. After tuning ends, turn the SON terminal off, and turn the RS terminal on and then off, to exit the auto-tuning mode.
5. Functions 5.11 Gain change function The gain change function is a function for changing the position and speed control gain during operation and is used in the following cases. • To raise the control gain during servo-lock but to lower the gain to reduce noise during run. • To raise the control gain during settling to shorten the settling time. 5.11.1 Changing the control gain A block diagram of the gain change function is shown below.
5. Functions (1) Parameter constants used for the gain change function The parameter constants used for changing the gain are explained below. (a) Speed control cut-off frequency (Fd-01) Set the response (cutoff frequency) of the speed control system. This is always enabled. (b) Position control cut-off frequency (Fd-09) Set the response (cut-off frequency) of the position control system. This is always enabled. 5 (c) Gain change mode (Fd-30) Set whether or not to use the gain change mode.
5. Functions (2) Procedure for setting the gain change function 1. Set the "Gain change mode" (Fd-30) to "AUto". • Set the "Position error width for gain change" (Fd-31). • The position control gain is changed based on the interrelation of "Position error monitor" (d-09) and "Position error width for gain change" (Fd-31). 2. Set the "Second position control cut-off frequency" (Fd-32) and the "Second speed control cut-off frequency" (Fd-34).
5. Functions 5.12 Clearing the alarm log and setting the default values The tripped alarm log can be cleared and all parameter data can be initialized. Note: Data initialization alone does not reset the robot parameters to their default values. To reset the robot parameters to their default values, generation is required after data initialization. For details on generation, refer to the TOP software user's manual. 5 The procedure for this resetting is shown below.
5. Functions (2) When initializing with the TOP software on the PC All parameters can be reset to their default values (default values in the robot driver) by using the tool bar or the pull-down menu on the TOP software screen. Start up the TOP software to make connection with the robot driver. on the toolbar on the parameter setup screen. 1. Click (You can also use the pull-down menu.) 2. The "Initialization setup" screen then appears as shown below.
5. Functions 5.13 Motor rotating direction 5.13.1 FLIP-X series phase sequence The forward direction when the RDX 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. FA-14 Rotation CC 5 C Functions Forward run CCW CW Reverse run CW CCW 5.13.
5. Functions 5.14 Speed limit function Speed can be limited by the parameters (Fb-20, Fb-21) as shown in the table below.
5. Functions 5.15 Fast positioning function The fast positioning function shortens the positioning settling time to the minimum time, and drastically reduces the positioning deviation that occurs during positioning operation. Note 1: The Moment of inertia (Fd-00) parameter must be set correctly to use this function. 5 Note 2: When setting this function to improve the tact time, the following parameters also need to be adjusted.
5.
5. Functions 5.16 Notch filter function The notch filter function reduces the vibration originating from the machine resonance, by lowering the gain at a particular frequency. The parameter constants used in this function are described below. Set these parameters using the TOP software's machine system diagnosis function. See the TOP software user's manual for more information on the machine system diagnosis function. (a) Notch filter 1 frequency (Fd-12) This is the first notch filter.
5. Functions 5.17 Magnetic pole position estimation action On the RDP, magnetic pole position estimation must be performed after power is turned on when operating a robot in pulse train mode. To perform magnetic pole position estimation, set FA90 (Hall sensor connection) to oFF2, and follow the sequence shown below in "Magnetic pole position estimation and terminal states". The SRD terminal turns "OFF" during magnetic pole estimation, but turns "ON" when the magnetic pole estimation ends correctly.
5. Functions 5.18 Magnetic pole position estimation and parameters The magnetic pole position estimation is performed by repeatedly generating the speed patterns automatically within the robot driver, as shown below. The number of repeating cycles automatically generated in one magnetic pole position estimation ranges from 6 to 13 cycles. (The number of repeating cycles may change according to the robot status.
5. Functions The distance the motor or slider moves during magnetic pole position estimation can be derived by the following formula. Movement distance [mm] = Fb-40 ×(Fb-41 + Fb-43) / 1000 Example: Distance moved with Fb-40=80, Fb-41=10, and Fb-43=10 Movement distance [mm] = 80 ×(10 + 10) / 1000 = 1.6 [mm] [Mover mass and speed control cut-off frequency for magnetic pole position estimation] Use Fd-46 (Mover mass for pole position estimation) to set the mover mass for magnetic pole position estimation.
5. Functions 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 Fd-46, Fd-47 and/or Fd-48 parameters. Note 3: Depending on the robot load conditions, magnetic pole position estimation may fail with an error E95 (magnetic pole position estimation error).
Chapter 6 Parameter description This chapter describes part names of the digital operator integrated into this product and how to operate it. This chapter also describes monitor mode and setup parameters. Contents 6.1 Digital operator part names and operation 6-1 6.1.1 6.1.2 Part names of digital operator Operating the digital operator 6.2 Function lists 6.2.1 6.2.2 List of monitor functions List of setup parameters 6-6 6-7 6.3 Function description 6-12 6.3.1 6.3.2 6.3.
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 ....................................................................
F17L-50-BK (C17L-50-BK) .............................................6-67 F17-10 (C17-10) ...........................................................6-68 F17-10-BK (C17-10-BK) ................................................6-68 F17-20 (C17-20) ...........................................................6-69 F17-20-BK (C17-20-BK) ................................................6-69 F17-40 .........................................................................6-70 F20-10-BK (C20-10-BK) .....................
6. Parameter description 6.1 Digital operator part names and operation 6.1.1 Part names of digital operator The RD series is operated from the built-in digital operator. Monitor indicator (5-digit LED) Down key FUNC Function key SET CHARGE 6 Shift key Parameter description Charge lamp Up key Name Save key Description Monitor indicator Displays a monitor value or set value. Charge lamp Lights up when charge in DC bus capacitor exceeds 30V.
6. Parameter description 6.1.2 Operating the digital operator (1) Changing the monitor mode display and parameter setting ) or at the side of the up/down The button marks over/under the right/left arrows ( arrows ( ) show that those buttons were pressed. To save data you have entered always be sure to press the SET key. Pressing the FUNC key will not save the data but retains the previous value.
6. Parameter description (2) Operating the trip monitor and the trip log monitor The button marks over/under the right/left arrows ( arrows ( ) show that those buttons were pressed. ) or at the side of the up/down FUNC Note 2) Speed command Note 2) Speed detection value FUNC Current DC bus voltage Input terminal 6 Output terminal FUNC …… Shows the same information as above "d-11". This indicates no alarm log is stored. Note 1: The number at the right of the alarm code shows the alarm log number.
6. Parameter description (3) Special display A special display appears to indicate the robot driver status as shown in the following table. Display Description Voltage is too low during servo-off. (Control power supply) No alarm log is stored. User initialization in-progress. (LED segments within the leftmost digit light in sequence.) Log initialization in-progress. (LED segments within the leftmost digit light in sequence.
6. Parameter description 6.2 Function lists This section describes monitor functions and parameters that can be set for the robot driver. Parameters are divided into several groups as shown in the following table. Group d-xx Description Allows checking monitor parameters such as speed and position. FA-xx Operation mode or protection level parameters Fb-xx Operation constant parameters FC-xx Input/output terminal parameters Fd-xx Control constant parameters such as mover mass and response speed.
6. Parameter description 6.2.1 List of monitor functions Parameter No.
6. Parameter description 6.2.2 List of setup parameters Parameter setting ranges and default values are shown in the following tables. (1) Operation mode parameters Parameter No. FA-00 (Note 3) Default setting Parameter name Units Setting range RDX Control mode RDP RDX RDP Change during operation S-P, S-t, P-t, P-S, t-S, t-P P-S – No OFF, on on – No FA-01 Position sensor wire breaking detection FA-02 Allowable time of power failure 0.00, 0.05 to 1.00 0.
6. Parameter description Parameter No. FA-23 Default setting Parameter name Homing mode Units Setting range RDX L-F, L-r, H1-F, H1-r, H2-F, H2-r, CP (Note 3) RDP RDX RDP Change during operation Depends on model – – t-F, t-r, S-F, S-r FA-24 Servo OFF wait time 0.00 to 1.00 0.05 s No FA-25 Operation range at machine diagnosis 1 to 255 10 rotation No FA-26 Brake operation start speed 0 to maximum speed 30 Brake operation start time 0, 0.004 to 1.000 0.
6. Parameter description (2) Operation constant parameters Parameter No. Setting range Default setting RDX RDX Units Parameter name RDP RDP RDX RDP Change during operation Fb-04 Acceleration time 0.00 to 99.99 10.00 s Yes Fb-05 Deceleration time 0.00 to 99.99 10.
6. Parameter description (3) Input/output terminal parameters Parameter No.
6. Parameter description (4) Control constant parameters Parameter No. Parameter name Fd-00 Moment of inertia (RDX) Mover mass (RDP) Fd-01 Fd-02 Speed control cut-off frequency Speed control proportional gain Default setting RDX RDP Change during operation "Motor rotor inertia" to "motor rotor inertia × 128" Depends on model ×10 -4kg·m 2 ×10kg Yes 0.1 to 500.0 Depends on model Hz Yes 0.01 to 300.00 Depends on model % Yes 0.01 to 300.
6. Parameter description 6.3 Function description 6.3.1 Monitor display description To automatically display a parameter setting when power is on, display the monitor for that parameter and press the SET key. This allows setting that parameter to appear when power is turned on next time. This setting is cancelled when you clear the alarm log. Display range d-00 Speed command monitor –7000 to 7000 RDX [min -1] RDP [mm/s] Displays the signed speed command value in 1 min -1 units.
6. Parameter description Monitor No. Description 80000000 (negative maximum) to 7FFFFFFF (positive maximum) [pulses] Displays the position command in a hexadecimal 32-bit signed (two's complement) value. Displays the 5 low-order digits immediately after d-07 is opened. The display shifts to high-order digits by pressing to allow checking high-order digits. (A decimal point is placed between highorder word and low-order word.
6. Parameter description Monitor No. d-13 Monitor name Operation control mode monitor Display range trq (torque control) SPd (speed control) PoS (position control) Description Displays the current operation mode. Displays the robot driver operation status as shown below.
6. Parameter description 6.3.2 Setup parameter description (1) Operation mode parameters, etc. Parameter No. FA-00 FA-01 FA-03 FA-04 Control mode Position sensor wire breaking detection Allowable time of power failure Overspeed error detection level Speed error detection value Setting range [Default value] S-P, P-S,S-t, t-S,t-P, P-t [P-S] on, OFF [on] 0.00, 0.05 to 1.00 (s) [0.
6. Parameter description Parameter No. FA-08 Parameter name Regenerative braking operating ratio Setting range [Default value] 0.0 to 100.0 (%) [Depends on model] Description Use this parameter to set the duty ratio of the regenerative braking resistor for 5 seconds. An alarm trips if the regenerative braking time exceeds this setting. (See table below.) When set to 0.0, no alarm due to the duty ratio will trip.
6. Parameter description Parameter No. Parameter name Setting range [Default value] Description Use this parameter to select the pulse train position command signal mode from among the following 6 modes. FA-11 FA-13 Electronic gear numerator Electronic gear denominator 1 to 65535 RDX [Depends on model] RDP [1] Pulse train position command signal mode F-r PLS : Gives the motion amount in the forward direction in pulse trains. SIG : Gives the motion amount in the reverse direction in pulse trains.
6. Parameter description Parameter No. Parameter name Setting range [Default value] Description Set the condition for applying the dynamic brake. Setting FA-16 DB Operation selection non trP SoF [SoF] 6 Parameter description FA-17 FA-18 Torque limit mode Torque bias mode non A2 oP [non] non CnS A2 oP [non] Condition for applying dynamic brake non Does not use the dynamic brake. trP Applies the dynamic brake only when an alarm has tripped.
6. Parameter description Parameter No. Parameter name Setting range [Default value] Description This parameter specifies the homing mode and return-to-origin direction. Setting Return-to-origin direction Return-to-origin operation L-F L-r H1-F H1-r Do not change.
6. Parameter description Parameter No. Parameter name Brake operation start speed FA-26 * Valid only for robot with mechanical brake. Brake operation start time FA-27 * Valid only for robot with mechanical brake. Setting range [Default value] Description 0 to maximum speed RDX (min -1) RDP (mm/s) [30] If the speed becomes lower than the set speed after the Servo ON command is turned off or an alarm has tripped, the brake signal (BRK) activates the brake.
6. Parameter description Parameter No. FA-86 FA-87 FA-88 Parameter name Pole position offset * Valid only for RDP. Linear scale polarity * Valid only for RDP. Phase angle of pole position Description 8000 to 7FFF [0] Specifies the phase Z distance used as the reference and zero crossing (rising) for the induced voltage of phase U or across U and V. Set this parameter in signed hexadecimal of 16-bit length.
6. Parameter description (2) Operation constant parameters Parameter No. Parameter name Fb-04 Speed acceleration time Fb-05 Speed deceleration time Fb-07 Torque limit value 1 Fb-08 Torque limit value 2 Setting range [Default value] 0.00 to 99.99 (s) [10.00] Description Sets the acceleration/deceleration time to perform return-to-origin. Set the time needed to accelerate from 0 to the maximum motor speed (or time needed to decelerate from maximum motor speed to 0).
6. Parameter description Parameter No. Parameter name Fb-16 Forward position limit value (H/L) Setting range [Default value] ±0 to ±19999 *2 (pulses) [0] Fb-17 0 to 99999 (pulses) [0] Fb-18 ±0 to ±19999 *2 (pulses) [0] Fb-19 Fb-20 Reverse position limit value (H/L) Forward speed limit value 0 to 99999 (pulses) [0] 0 to maximum speed *1 RDX (min -1) RDP (mm/s) [Depends on model] Description Sets the drive range in the forward (+) direction.
6. Parameter description Parameter No. Fb-36 Current for striking limit Fb-37 Time for striking limit Fb-40 (Note 1) Fb-41 (Note 1) 6 Parameter name Pole position estimation speed * Valid only for RDP. Pole position estimation ACC/ DEC time * Valid only for RDP.
6. Parameter description (3) Input/output terminal parameters Parameter No. Parameter name Setting range [Default value] Description Sets the ON/OFF logic for the input terminals. (Usually the logic is positive so the function turns on when the external contact is closed.) The logic setting for each terminal is assigned to each bit of the parameter to set the logic as follows.
6. Parameter description Parameter No. FC-09 Parameter name Position sensor monitor resolution M Setting range [Default value] 16 to 8192 [1] Description Sets the division ratio M/N of the position sensor monitor signal. This setting's description changes in relation to the type of position sensor. A "Mismatch error (E40)" occurs without outputting position sensor monitor signals if invalid combinations are set as listed in the following table.
6. Parameter description Parameter No. Parameter name Setting range [Default value] Description Sets the parity f used to communicate with the PC (TOP software for RD series). FC-23 Communication parity non, odd, EvEn [non] Setting Description non Communication parity: none odd Communication parity: odd EvEn Communication parity: even After this parameter is changed, turn power off and then back on to enable the change. Otherwise, a malfunction will occur.
6. Parameter description Parameter No. FC-32 Parameter name Setting range [Default value] Description Use these parameters to set the gain of monitor outputs 1 and 2. When set to 100.0, the voltage shown in the table for FC-30 and FC-33 is output. The following graph shows the relation between gain and output voltage (when FC-30 and FC-33 are set to "tqr"). Monitor output 1 gain Torque command value 200.0% 3.0V 100.0% 0.0 to 3000.0 (%) [100.0] 50.
6. Parameter description (4) Control constant parameter Parameter No. Parameter name Moment of inertia (RDX) Fd-00 Mover mass (RDP) Setting range [Default value] "Motor rotor inertia" to "motor rotor inertia × 128" RDX (×10 -4kg·m 2) RDP (×10kg) [Depends on model] Description Use this parameter to set the entire mover mass including both rotary motor and load. This parameter can also be set automatically by auto-tuning.
6. Parameter description Parameter No. Setting range [Default value] Description Fd-14 Notch filter 2 frequency 3.0 to 1000.0 (Hz) [Depends on model] Sets the resonance frequency of notch filter 1. (Use TOP software to set this parameter.) Fd-15 Notch filter 2 bandwidth 0 to 40 (dB) [Depends on model] Set the bandwidth of notch filter 2 at the resonance frequency. (Use TOP software to set this parameter.
6. Parameter description Parameter No. Fd-46 (Note 1) Fd-47 (Note 1) Fd-48 (Note 1) Parameter name Setting range [Default value] Description Mover mass for pole position estimation "Robot mass" to "robot mass × 128" (× 10kg) [Depends on model] Sets the mover mass during for pole position estimation. Speed control cut-off frequency for pole position estimation 0.1 to 500.0 (Hz) [Depends on model] Sets the speed control cut-off frequency for magnetic pole position estimation.
6. Parameter description 6.3.3 Reference graph for setting the acceleration and position control cut-off frequency For your reference, the following graphs show payload, acceleration, and position control cut-off frequency (Fd-09), plotted when the moment of inertia or mover mass (Fd-00), speed control cut-off frequency (Fd-01), and speed control integral gain (Fd-03) parameters are set to the specified values for each robot model.
6. Parameter description ■ RDX T4H-2 (C4H-2) Maximum payload [kg] 6.0 [kg] 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 Acceleration[G] Fd-00 Moment of inertia Fd-01 Speed control cut-off frequency Fd-03 Speed control integral gain 0.029 [×10 -4kg•m 2] 100.0 [Hz] 100.0 [%] 0.12 14.0 0.10 12.0 10.0 0.08 8.0 0.06 6.0 Fd-09[Hz] Model 0.04 6 4.0 0.02 Acceleration[G] 2.0 Parameter description Fd-09[Hz] 0.0 0.00 0.0 1.0 2.
6. Parameter description Model T4H-6 (C4H-6) Maximum payload [kg] 6.0 [kg] Fd-00 Moment of inertia 0.044 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain 100.0 [%] 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 12.0 0.35 0.30 10.0 0.25 8.0 0.20 6.0 0.15 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 4.0 0.10 6 2.0 Acceleration[G] 0.05 Fd-09[Hz] 0.0 0.0 1.0 2.0 3.0 4.0 5.0 6.
6. Parameter description Model T4H-12 (C4H-12) Maximum payload [kg] 4.5 [kg] Fd-00 Moment of inertia 0.038 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 100.0 [Hz] Fd-03 Speed control integral gain 65.0 [%] 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 0.70 10.0 9.0 0.60 8.0 0.50 7.0 6.0 0.40 5.0 0.30 4.0 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 3.0 0.20 Acceleration[G] 0.10 Fd-09[Hz] 6 2.0 1.0 0.0 1.0 2.0 3.
6. Parameter description Model T5H-6 (C5H-6) Maximum payload [kg] 9.0 [kg] Fd-00 Moment of inertia 0.063 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 85.0 [Hz] Fd-03 Speed control integral gain 70.0 [%] 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 0.25 9.0 8.0 0.20 7.0 6.0 0.15 5.0 4.0 0.10 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 3.0 6 2.0 0.05 Acceleration[G] 1.0 Fd-09[Hz] 0.0 0.0 2.0 4.0 6.0 8.
6. Parameter description Model T5H-12 (C5H-12) Maximum payload [kg] 5.0 [kg] Fd-00 Moment of inertia 0.067 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 100.0 [Hz] Fd-03 Speed control integral gain 100.0 [%] 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 7.0 0.50 0.45 6.0 0.40 5.0 0.35 0.30 4.0 0.25 3.0 0.20 0.15 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 2.0 0.10 Acceleration[G] 0.05 Fd-09[Hz] 6 1.0 0.0 1.0 2.0 3.0 4.
6. Parameter description Model T5H-20 Maximum payload [kg] 3.0 [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 6 0.35 7.0 0.30 6.0 0.25 5.0 0.20 4.0 0.15 3.0 0.10 2.0 Acceleration[G] 0.05 Fd-09[Hz] Payload [kg] Acceleration[G] Fd-00 Moment of inertia 0.100 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 70.0 [Hz] Fd-03 Speed control integral gain 60.0 [%] 1.0 Fd-09[Hz] 0.0 0.5 1.0 1.5 2.0 2.5 3.
6. Parameter description Model T6-6-BK (C6-6-BK) Maximum payload [kg] 8.0 [kg] Fd-00 Moment of inertia 0.092 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 120.0 [Hz] Fd-03 Speed control integral gain 65.0 [%] 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 8.0 0.25 7.0 0.20 6.0 5.0 0.15 4.0 0.10 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 3.0 2.0 0.05 Acceleration[G] 6 1.0 Fd-09[Hz] Parameter description 0.0 0.00 0.0 1.
6. Parameter description Model T6-12-BK (C6-12-BK) Maximum payload [kg] 4.0 [kg] Fd-00 Moment of inertia 0.110 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 100.0 [Hz] Fd-03 Speed control integral gain 65.0 [%] 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 7.0 0.45 0.40 6.0 0.35 5.0 0.30 0.25 4.0 0.20 3.0 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 0.15 2.0 6 0.10 Parameter description 0.00 Acceleration[G] 0.05 1.
6. Parameter description Model T7-12 Maximum payload [kg] 8.0 [kg] Fd-00 Moment of inertia 0.125 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 100.0 [Hz] Fd-03 Speed control integral gain 65.0 [%] 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 14.0 0.60 Acceleration[G] 12.0 Fd-09[Hz] 0.50 10.0 0.40 8.0 0.30 6.0 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 0.20 4.0 0.10 6 2.0 Parameter description 0.0 0.00 0.0 1.0 2.0 3.
6. Parameter description Model T9-5 Maximum payload [kg] 80.0 [kg] Fd-00 Moment of inertia 0.282 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 100.0 [Hz] Fd-03 Speed control integral gain 60.0 [%] 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 0.18 9.0 Acceleration[G] 0.16 Fd-09[Hz] 8.0 7.0 0.12 6.0 0.10 5.0 0.08 4.0 0.06 3.0 6 0.04 2.0 0.02 1.0 0.00 Acceleration[G] 0.14 0.0 10.0 20.0 30.0 40.0 50.0 60.0 70.
6. Parameter description Model T9-10 Maximum payload [kg] 55.0 [kg] Fd-00 Moment of inertia 0.304 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 100.0 [Hz] Fd-03 Speed control integral gain 60.0 [%] 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 0.50 9.0 Acceleration[G] 0.45 Fd-09[Hz] 0.40 8.0 7.0 0.35 6.0 0.30 5.0 0.25 4.0 0.20 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 3.0 0.15 6 2.0 0.10 1.0 0.
6. Parameter description Model T9-20 Maximum payload [kg] 30.0 [kg] Fd-00 Moment of inertia 0.399 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain 60.0 [%] 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 1.00 7.0 0.90 6.0 0.80 5.0 0.70 0.60 4.0 0.50 3.0 0.40 0.30 6 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 2.0 0.20 Acceleration[G] 0.
6. Parameter description Model T9-30 Maximum payload [kg] 15.0 [kg] Fd-00 Moment of inertia 0.501 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 90.0 [Hz] Fd-03 Speed control integral gain 90.0 [%] 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 7.0 0.90 0.80 6.0 0.70 5.0 0.60 0.50 4.0 0.40 3.0 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 0.30 2.0 6 0.20 Acceleration[G] 0.10 1.
6. Parameter description Model T9H-5-BK Maximum payload [kg] 30.0 [kg] Fd-00 Moment of inertia 0.416 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 70.0 [Hz] Fd-03 Speed control integral gain 100.0 [%] 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 8.0 0.20 0.18 7.0 0.16 6.0 0.14 5.0 0.12 0.10 4.0 0.08 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 3.0 0.06 2.0 6 0.04 Acceleration[G] 0.02 Fd-09[Hz] 0.0 5.0 10.0 15.0 20.0 25.0 0.0 30.
6. Parameter description Model T9H-10-BK Maximum payload [kg] 20.0 [kg] Fd-00 Moment of inertia 0.424 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain 100.0 [%] 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 0.34 9.0 Acceleration[G] 0.33 Fd-09[Hz] 8.0 7.0 0.32 6.0 0.31 5.0 0.30 4.0 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 3.0 0.29 6 2.0 0.28 1.0 0.0 5.0 10.
6. Parameter description Model T9H-20-BK Maximum payload [kg] 8.0 [kg] Fd-00 Moment of inertia 0.564 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 60.0 [Hz] Fd-03 Speed control integral gain 100.0 [%] 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 7.0 1.00 0.90 6.0 0.80 5.0 0.70 0.60 4.0 0.50 3.0 0.40 0.30 6 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 2.0 0.20 Acceleration[G] 0.10 1.0 Fd-09[Hz] 0.0 1.0 2.0 3.0 4.0 5.
6. Parameter description Model F8-6 (C8-6) Maximum payload [kg] 40.0 [kg] Fd-00 Moment of inertia 0.109 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 110.0 [Hz] Fd-03 Speed control integral gain 80.0 [%] 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 10.0 0.35 Acceleration[G] 9.0 Fd-09[Hz] 0.30 8.0 0.25 7.0 6.0 0.20 5.0 0.15 4.0 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 3.0 0.10 6 2.0 0.05 1.0 0.0 5.0 10.0 15.
6. Parameter description Model F8-12 (C8-12) Maximum payload [kg] 20.0 [kg] Fd-00 Moment of inertia 0.124 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 120.0 [Hz] Fd-03 Speed control integral gain 80.0 [%] 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 0.50 10.0 Acceleration[G] 0.45 6 9.0 Fd-09[Hz] 0.40 8.0 0.35 7.0 0.30 6.0 0.25 5.0 0.20 4.0 0.15 3.0 0.10 2.0 0.05 1.0 0.0 5.0 10.0 0.0 20.0 15.
6. Parameter description Model F8-20 (C8-20) Maximum payload [kg] 12.0 [kg] Fd-00 Moment of inertia 0.160 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 130.0 [Hz] Fd-03 Speed control integral gain 90.0 [%] 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 0.60 8.0 Acceleration[G] Fd-09[Hz] 0.50 7.0 6.0 0.40 5.0 0.30 4.0 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 3.0 0.20 2.0 0.10 6 1.0 0.0 2.0 4.0 6.0 8.0 10.
6. Parameter description Model F8L-5-BK (C8L-5-BK) Maximum payload [kg] 16.0 [kg] Fd-00 Moment of inertia 0.213 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 100.0 [Hz] Fd-03 Speed control integral gain 65.0 [%] 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 10.0 0.30 9.0 0.25 8.0 7.0 0.20 6.0 5.0 0.15 4.0 0.10 6 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 3.0 Acceleration[G] 0.05 Fd-09[Hz] 2.0 1.0 0.0 2.0 4.0 6.
6. Parameter description Model F8L-10-BK (C8L-10-BK) Maximum payload [kg] 8.0 [kg] Fd-00 Moment of inertia 0.229 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 100.0 [Hz] Fd-03 Speed control integral gain 60.0 [%] 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 10.0 0.60 Acceleration[G] 9.0 Fd-09[Hz] 0.50 8.0 7.0 0.40 6.0 5.0 0.30 4.0 0.20 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 3.0 6 2.0 0.10 1.
6. Parameter description Model F8L-20-BK (C8L-20-BK) Maximum payload [kg] 4.0 [kg] Fd-00 Moment of inertia 0.299 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 100.0 [Hz] Fd-03 Speed control integral gain 65.0 [%] 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 0.70 10.0 Acceleration[G] 9.0 Fd-09[Hz] 0.60 8.0 0.50 7.0 6.0 0.40 5.0 0.30 4.0 3.0 0.20 6 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 2.0 0.10 1.0 0.0 0.0 0.5 1.
6. Parameter description Model F8LH-5 (C8LH-5) Maximum payload [kg] 80.0 [kg] Fd-00 Moment of inertia 0.171 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 120.0 [Hz] Fd-03 Speed control integral gain 70.0 [%] 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 12.0 0.35 Acceleration[G] Fd-09[Hz] 0.30 10.0 0.25 8.0 0.20 6.0 0.15 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 4.0 0.10 6 2.0 0.05 0.0 10.0 20.0 30.0 40.0 50.0 60.
6. Parameter description Model F8LH-20 (C8LH-20) Maximum payload [kg] 30.0 [kg] Fd-00 Moment of inertia 0.292 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 120.0 [Hz] Fd-03 Speed control integral gain 60.0 [%] 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 10.0 0.80 Acceleration[G] 0.70 9.0 Fd-09[Hz] 8.0 0.60 7.0 0.50 6.0 5.0 0.40 4.0 0.30 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 3.0 6 0.20 Parameter description 0.00 2.0 0.10 1.
6. Parameter description Model F10-5-BK (C10-5-BK) Maximum payload [kg] 20.0 [kg] Fd-00 Moment of inertia 0.289 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain 100.0 [%] 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 7.0 0.18 0.16 6.0 0.14 5.0 0.12 0.10 4.0 0.08 3.0 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 0.06 2.0 6 0.04 Acceleration[G] 0.02 1.0 Fd-09[Hz] 0.0 5.0 10.
6. Parameter description Model F10-10-BK (C10-10-BK) Maximum payload [kg] 10.0 [kg] Fd-00 Moment of inertia 0.304 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 100.0 [Hz] Fd-03 Speed control integral gain 60.0 [%] 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 7.2 0.40 Acceleration[G] 0.35 Fd-09[Hz] 0.30 7.0 6.8 0.25 6.6 0.20 6.4 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 0.15 6 0.10 Parameter description 0.
6. Parameter description Model F10-20-BK (C10-20-BK) Maximum payload [kg] 4.0 [kg] Fd-00 Moment of inertia 0.399 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain 60.0 [%] 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 7.0 1.00 Acceleration[G] 0.90 6.0 Fd-09[Hz] 0.80 5.0 0.70 0.60 4.0 0.50 3.0 0.40 0.30 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 2.0 6 0.20 1.0 0.
6. Parameter description Model F14-5 (C14-5) Maximum payload [kg] 80.0 [kg] Fd-00 Moment of inertia 0.282 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 100.0 [Hz] Fd-03 Speed control integral gain 60.0 [%] 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 0.18 10.0 Acceleration[G] 0.16 9.0 Fd-09[Hz] 8.0 0.14 7.0 0.12 6.0 0.10 5.0 0.08 4.0 0.06 6 0.04 Parameter description 0.
6. Parameter description Model F14-10 (C14-10) Maximum payload [kg] 55.0 [kg] Fd-00 Moment of inertia 0.304 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 100.0 [Hz] Fd-03 Speed control integral gain 60.0 [%] 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 0.50 10.0 Acceleration[G] 0.45 9.0 Fd-09[Hz] 0.40 8.0 0.35 7.0 0.30 6.0 0.25 5.0 0.20 4.0 0.15 3.0 0.10 2.0 0.05 1.0 6 Parameter description 0.
6. Parameter description Model F14-20 (C14-20) Maximum payload [kg] 30.0 [kg] Fd-00 Moment of inertia 0.399 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain 60.0 [%] 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 8.0 1.00 Acceleration[G] 0.90 7.0 Fd-09[Hz] 0.80 6.0 0.70 5.0 0.60 4.0 0.50 0.40 Fd-09[Hz] Fd-09 [Hz] Acceleration[G] Acceleration [G] 3.0 0.
6. Parameter description Model F14-30 Maximum payload [kg] 15.0 [kg] Fd-00 Moment of inertia 0.501 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 90.0 [Hz] Fd-03 Speed control integral gain 90.0 [%] 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 8.0 1.20 Acceleration[G] 7.0 Fd-09[Hz] 1.00 6.0 0.80 5.0 4.0 0.60 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 3.0 0.40 2.0 0.20 6 1.0 Parameter description 0.
6. Parameter description Model F14H-5-BK (C14H-5-BK) Maximum payload [kg] 30.0 [kg] Fd-00 Moment of inertia 0.388 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 70.0 [Hz] Fd-03 Speed control integral gain 100.0 [%] 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 7.0 0.20 0.18 6.0 0.16 5.0 0.14 0.12 4.0 0.10 3.0 0.08 0.06 6 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 2.0 0.04 Acceleration[G] 0.02 1.0 Fd-09[Hz] 0.0 5.0 10.0 15.0 20.
6. Parameter description Model F14H-10-BK (C14H-10-BK) Maximum payload [kg] 20.0 [kg] Fd-00 Moment of inertia 0.424 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain 100.0 [%] 8.0 0.34 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 Acceleration[G] 0.33 Fd-09[Hz] 7.0 6.0 0.32 5.0 0.31 4.0 0.30 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 3.0 0.29 2.0 0.28 6 1.0 0.0 5.0 10.0 15.
6. Parameter description Model F14H-20-BK (C14H-20-BK) Maximum payload [kg] 8.0 [kg] Fd-00 Moment of inertia 0.620 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 60.0 [Hz] Fd-03 Speed control integral gain 100.0 [%] 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 8.0 1.00 0.90 7.0 0.80 6.0 0.70 5.0 0.60 0.50 4.0 0.40 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 3.0 0.30 6 2.0 0.20 Acceleration[G] 0.10 1.0 Fd-09[Hz] 0.0 0.
6. Parameter description Model F17L-50 (C17L-50) Maximum payload [kg] 50.0 [kg] Fd-00 Moment of inertia 6.080 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 100.0 [Hz] Fd-03 Speed control integral gain 60.0 [%] 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 7.0 0.90 Acceleration[G] 0.80 6.0 Fd-09[Hz] 0.70 5.0 0.60 0.50 4.0 0.40 3.0 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 0.30 2.0 6 0.20 1.0 0.
6. Parameter description Model F17-10 (C17-10) Maximum payload [kg] 120.0 [kg] Fd-00 Moment of inertia 1.480 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 110.0 [Hz] Fd-03 Speed control integral gain 90.0 [%] 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 0.50 12.0 Acceleration[G] 0.45 Fd-09[Hz] 0.40 0.35 8.0 0.30 0.25 6.0 0.20 4.0 0.15 6 10.0 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 0.10 2.0 0.05 0.0 20.0 40.
6. Parameter description Model F17-20 (C17-20) Maximum payload [kg] 80.0 [kg] Fd-00 Moment of inertia 1.720 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 110.0 [Hz] Fd-03 Speed control integral gain 100.0 [%] 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 14.0 0.80 Acceleration[G] 0.70 12.0 Fd-09[Hz] 0.60 10.0 0.50 8.0 0.40 6.0 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 0.30 3.5 4.0 0.
6. Parameter description Model F17-40 Maximum payload [kg] 40.0 [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 0.80 7.0 0.70 6.0 0.60 5.0 0.50 4.0 0.40 3.0 Fd-09[Hz] Payload [kg] Acceleration[G] Fd-00 Moment of inertia 1.930 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 100.0 [Hz] Fd-03 Speed control integral gain 100.0 [%] 0.30 6 0.20 Parameter description 0.00 2.0 Acceleration[G] 0.10 1.0 Fd-09[Hz] 0.
6. Parameter description Model F20-20 (C20-20) Maximum payload [kg] 120.0 [kg] Fd-00 Moment of inertia 2.250 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 70.0 [Hz] Fd-03 Speed control integral gain 100.0 [%] 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 0.90 9.0 Acceleration[G] 0.80 Fd-09[Hz] 8.0 0.70 7.0 0.60 6.0 0.50 5.0 0.40 4.0 0.30 3.0 0.20 2.0 0.10 1.0 0.0 20.0 40.0 60.0 80.0 100.
6. Parameter description Model F20-40 Maximum payload [kg] 60.0 [kg] Fd-00 Moment of inertia 4.710 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 65.0 [Hz] Fd-03 Speed control integral gain 55.0 [%] 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 14.0 1.20 Acceleration[G] 1.00 Fd-09[Hz] 12.0 10.0 0.80 8.0 0.60 6.0 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 0.40 4.0 6 0.20 2.0 0.0 10.0 20.0 30.0 40.0 50.0 0.0 60.
6. Parameter description Model N15-10 Maximum payload [kg] 80.0 [kg] Fd-00 Moment of inertia 2.940 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 70.0 [Hz] Fd-03 Speed control integral gain 100.0 [%] 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 0.60 14.0 Acceleration [G] Fd-09 [Hz] 0.50 12.0 10.0 0.40 8.0 0.30 6.0 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 0.20 4.0 0.10 6 2.0 0.0 10.0 20.0 30.0 40.0 50.0 60.0 70.
6. Parameter description Model N15-30 Maximum payload [kg] 30.0 [kg] Fd-00 Moment of inertia 3.720 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 45.0 [Hz] Fd-03 Speed control integral gain 100.0 [%] 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 9.0 1.20 Acceleration [G] 8.0 Fd-09 [Hz] 1.00 7.0 0.80 6.0 5.0 0.60 4.0 0.40 6 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 3.0 2.0 0.20 1.0 0.0 5.0 10.0 15.0 20.0 25.0 0.0 30.
6. Parameter description Model B10 Maximum payload [kg] 10.0 [kg] Fd-00 Moment of inertia 0.451 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 100.0 [Hz] Fd-03 Speed control integral gain 75.0 [%] Payload [kg] Acceleration [G] Fd-09 [Hz] 1.20 0.0 0.97 8.5 1.00 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 9.0 8.0 0.80 6.0 5.0 0.60 4.0 Fd-09[Hz] Acceleration[G] 7.0 3.0 0.40 Acceleration[G] 0.20 Fd-09[Hz] 0.0 2.0 4.0 6.0 8.0 1.
6. Parameter description Model B14H Maximum payload [kg] 30.0 [kg] Fd-00 Moment of inertia 0.800 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 80.0 [Hz] Fd-03 Speed control integral gain 40.0 [%] Payload [kg] Acceleration [G] Fd-09 [Hz] 1.20 0.0 1.07 12.0 1.00 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 14.0 12.0 8.0 0.60 6.0 Fd-09[Hz] Acceleration[G] 10.0 0.80 0.40 4.0 6 0.20 Acceleration[G] 2.0 Fd-09[Hz] 0.0 5.0 10.
6. Parameter description Model R10 Moment of inertia of maximum allowable load 3.71 [kgf•cm•sec 2] Fd-00 Moment of inertia 0.239 [×10 -4kg•m 2] Fd-01 Speed control cut-off frequency 110.0 [Hz] Fd-03 Speed control integral gain 60.0 [%] 3600 12.0 0.25 3429 10.8 1.24 2707 4.0 2.47 1800 4.0 3.71 898 4.0 14.0 3500 12.0 3000 Acceleration[deg/sec 2 ] 0.00 4000 10.0 2500 8.0 2000 6.0 Fd-09[Hz] Moment of Acceleration Fd-09 inertia of load [Hz] [deg/sec2] 2 [kgf•cm•sec ] 1500 4.
6. Parameter description ■ RDP Model MR12 Maximum payload [kg] 5.0 [kg] Fd-00 Mover mass 0.108 [×10kg] Fd-01 Speed control cut-off frequency 120.0 [Hz] Fd-03 Speed control integral gain 100.0 [%] 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 0.90 14.0 Acceleration[G] 0.80 12.0 Fd-09[Hz] 0.70 10.0 0.60 0.50 8.0 0.40 6.0 6 0.30 Parameter description 0.10 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 4.0 0.20 2.0 0.00 0.
6. Parameter description Model MR16H Maximum payload [kg] 9.0 [kg] Fd-00 Mover mass 0.182 [×10kg] Fd-01 Speed control cut-off frequency 130.0 [Hz] Fd-03 Speed control integral gain 65.0 [%] Fd-09 [Hz] 0 1.92 12.0 1 1.36 12.0 3 0.82 8.1 5 0.55 6.1 7 0.43 6.0 9 0.35 6.0 2.50 14.0 Acceleration[G] 12.0 Fd-09[Hz] 2.00 10.0 1.50 8.0 6.0 1.00 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 4.0 6 0.50 2.0 Parameter description 0.00 0.
6. Parameter description Model MR25 Maximum payload [kg] 23.0 [kg] Fd-00 Mover mass 0.386 [×10kg] Fd-01 Speed control cut-off frequency 120.0 [Hz] Fd-03 Speed control integral gain 100.0 [%] Fd-09 [Hz] 0 1.82 12.0 5 0.88 9.4 10 0.59 6.2 15 0.36 5.5 20 0.29 5.5 23 0.28 5.5 14.0 2.00 Acceleration[G] 1.80 12.0 Fd-09[Hz] 1.60 10.0 1.40 1.20 8.0 1.00 6.0 0.80 0.60 6 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 4.0 0.40 2.0 0.20 0.
6. Parameter description Model MF15 Maximum payload [kg] 15.0 [kg] Fd-00 Mover mass 0.180 [×10kg] Fd-01 Speed control cut-off frequency 140.0 [Hz] Fd-03 Speed control integral gain 80.0 [%] Fd-09 [Hz] 0 1.95 12.0 5 0.77 7.1 10 0.47 4.5 15 0.30 4.5 2.50 14.0 Acceleration [G] 12.0 Fd-09 [Hz] 2.00 10.0 1.50 8.0 6.0 1.00 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 4.0 6 0.50 2.0 Parameter description 0.00 0.
6. Parameter description Model MF30 Maximum payload [kg] 30.0 [kg] Fd-00 Mover mass 0.310 [×10kg] Fd-01 Speed control cut-off frequency 150.0 [Hz] Fd-03 Speed control integral gain 90.0 [%] Fd-09 [Hz] 0 2.33 12.0 10 1.06 7 20 0.68 4.5 30 0.51 4.5 2.50 14 Acceleration[G] 12 Fd-09[Hz] 2.00 10 1.50 8 6 1.00 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 4 6 0.50 2 0 0 5 10 15 20 25 30 Payload[kg] Model MF50 Maximum payload [kg] 50.0 [kg] Fd-00 Mover mass 0.
6. Parameter description Model MF75 Maximum payload [kg] 75.0 [kg] Fd-00 Mover mass 0.840 [×10kg] Fd-01 Speed control cut-off frequency 135.0 [Hz] Fd-03 Speed control integral gain 90.0 [%] 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 2.00 14.0 1.80 Acceleration[G] 1.60 Fd-09[Hz] 12.0 10.0 1.40 1.20 8.0 1.00 6.0 0.80 0.60 Fd-09[Hz] Acceleration [G] Acceleration[G] Payload [kg] 4.0 0.40 2.0 0.20 0.
6. Parameter description 6.4 Control block diagram and monitors The following is the control block diagram for the robot driver, showing the relation among parameters, input terminals, and monitors. 0OSITION COMMAND monitor 0OSITION CONTROL 0ARAMETER .
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MEMO 6-86
Chapter 7 Maintenance and Inspection This chapter explains precautions and procedures for maintaining and inspecting this product. Contents 7.1 Maintenance and inspection 7-1 7.1.1 7.1.2 7.1.3 7.1.4 Precautions for maintenance and inspection 7-2 Daily inspection 7-2 Cleaning 7-2 Periodic inspection 7-2 7.2 Daily inspection and periodic inspection 7-3 7.3 Megger test and breakdown voltage test 7-4 7.4 Checking the inverter and converter 7-4 7.
7. Maintenance and Inspection 7.1 Maintenance and inspection w c DANGER 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. 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.
7. Maintenance and Inspection 7.1.1 Precautions for maintenance and inspection (1) 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. (2) Do not attempt to disassemble or repair the unit. (3) Do not perform a megger test or voltage breakdown test on the robot driver. 7.1.2 Daily inspection • Check for any abnormal conditions or operation such as listed below: 1.
7. Maintenance and Inspection 7.2 Daily inspection and periodic inspection General Check point Check item Ambient environment Check ambient temperature, humidity, dust. O Overall equipment Check for abnormal vibration or noise. O Check the main and Power supply control power circuit voltage voltage. O General Main circuit Terminal block (1) Check connections for tightness. (2) Check for evidence of overheating in various components. (3) Cleaning Note: Do not perform a megger test.
7. Maintenance and Inspection 7.3 Megger test and breakdown voltage test Do not perform a megger test or voltage breakdown test. Semiconductor devices used in the inverter main circuit may deteriorate if subjected to such a test. 7.4 Checking the inverter and converter • Use a tester or multimeter to check whether the module will operate correctly. [Preparation] 1.
7.
7. Maintenance and Inspection 7.5 Capacitor life cur ve Ambient temperature (°C) 50 12-hour daily operation 40 30 20 10 24-hour daily operation 0 -10 1 7 2 3 4 5 6 7 8 9 10 Capacitor life (year) Note 1: Ambient temperature is the temperature around the robot driver. When the robot driver is housed in a box, it is the temperature in the box.
Chapter 8 Specifications and Dimensions This chapter explains the specifications and dimensions of this product. Contents 8.1 Specification tables 8-1 8.1.1 8.1.2 RDP specification table RDX specification table 8-1 8-2 8.
8. Specifications and Dimensions 8.1 Specification tables 8.1.1 RDP specification table Robot driver Item RDP-05 RDP-10 RDP-20 RDP-25 Basic specifications Applicable motor specifications 200V, 100W or less 200V, 200W or less 200V, 400W or less 200V, 750W or less Power supply capacity (KVA) Input power supply (main circuit) Input power supply (control circuit) Maximum speed (min/s) 0.3 0.5 Single-phase 200 to 230V AC +10%, –15%, 50/60Hz ± 5% (Note 3.
8. Specifications and Dimensions 8.1.2 RDX specification table Robot driver Item Applicable motor specifications Basic specifications Power supply capacity (KVA) Input power supply (main circuit) Input power supply (control circuit) RDX-05 RDX-10 RDX-20 200V, 100W or less 200V, 200W or less 200V, 400W or less 0.3 0.5 0.
8. Specifications and Dimensions 8.2 Robot driver dimensions and mounting holes Model name RDP (For PHASER series) RDX (For FLIP-X series) Model No. Drawing RDP-05 Fig. 1 RDP-10 Fig. 1 RDP-20 Fig. 2 RDP-25 Fig. 3 RDX-05 Fig. 1 RDX-10 Fig. 1 RDX-20 Fig. 2 Fig.
8. Specifications and Dimensions Fig. 2 8 70 (14) 170 φ6 5 160 (75) 56 150±0.5(*) FUNC SET CHARGE (+)1 PC (+) RB I/O (−) L1 L2 L3 (16) U V W (5) Specifications and Dimensions Fig.
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MEMO 8-6
Chapter 9 Troubleshooting This chapter explains the protective functions, alarm display, and troubleshooting of this product. Contents 9.1 Alarm display (alarm log) 9-1 9.2 Protective function list 9-2 9.3 Troubleshooting 9-3 9.3.1 9.3.
9. Troubleshooting 9.1 Alarm display (alarm log) If an alarm has tripped, a display like that shown below appears. The trip log monitor d-12 also shows the same information. Alarm code Alarm number Display Description Alarm code (error number) See section 9.2 in this chapter. Alarm number 1 to 4: Number "1" is the latest alarm. A total of four alarms are saved in the memory. The following information is displayed by pressing the Information key.
9. Troubleshooting 9.2 Protective function list The table below shows alarms and errors that might occur to protect the robot driver and robot. No. 9 Alarm name Alarm code Description (cause of error) 1 Overcurrent E01 Motor current higher than the specified value 2 Overload E05 Overload current for longer than the specified time 3 Braking resistor overload E06 The duty ratio of internal regenerative braking resistor exceeded the specified duty ratio (FA-08).
9. Troubleshooting 9.3 Troubleshooting Corrective action for an alarm or error differs depending on whether the alarm or error has tripped or not. Each case is explained below. 9.3.1 When an alarm or error has not tripped Symptom Possible cause Checkpoint Rated voltage was not applied to power supply terminals L1, L2, and L3, or L1C and L2C. • Check the voltage with a tester. • Check the earth leakage breaker winding, electromagnetic contactor, etc. Also check if any alarm has tripped.
9. Troubleshooting Symptom Robot motion is unstable. 9 Robot speed does not increase. Troubleshooting 9-4 Possible cause Checkpoint Action Large load variation • Check the load variation. • Check the capacity calculation. • Reduce the load variation. • Increase the capacity. Large backlash of the mechanical system Check the backlash. Reduce the backlash. Improper control gain Check the parameter settings. Readjust the control gain.
9. Troubleshooting 9.3.2 When an alarm or error has tripped When an alarm or error has tripped, clear the alarm or error by inputting a reset signal through the RS terminal and take corrective action as shown in the following table. Then turn the servo on. (For clearing the tripped alarm, refer to the RS terminal description in section 5.2, "Input terminal functions".) Alarm No. E01 Alarm name Overcurrent Possible cause Checkpoint • Output terminal is shorted.
9. Troubleshooting Alarm No. Alarm name Possible cause Regenerative resistance is large. E07 E08 Main power overvoltage Memory error Checkpoint Check the regenerative resistance. Action Reset Reduce the regenerative resistance to the minimum (R BRmin). (Refer to (3) of section 3.2.2, "Main circuit wiring". A Deceleration time is too short. Check the deceleration time. Increase the deceleration time. Robot was put into hunting and momentary regeneration occurred.
9. Troubleshooting Alarm No. Alarm name Possible cause Main circuit power supply voltage is low. E09 E10 E14 CT error Increase the power supply voltage. A unit in the power supply system is drawing a heavy current that lowers the voltage while that unit is operating. Isolate the power supply system into separate units and the robot driver. Chattering occurs in the electromagnetic contactor on power supply side. Replace the electromagnetic contactor.
9. Troubleshooting Alarm No. Alarm name Possible cause Control circuit power supply voltage is low. E20 E21 Control power undervoltage Robot driver overheat 9 Troubleshooting E22 E25 CPU error 2 Overtravel Checkpoint Check the power supply system. Action Increase the power supply voltage. A unit in the power supply system is drawing a heavy current that lowers the voltage while that unit is operating. Isolate the power supply system into separate units and the robot driver.
9. Troubleshooting Alarm No. E31 E39 E80 PM (power module) error Position sensor error Mismatch error Origin sensor error Possible cause Checkpoint Action Output terminal is shorted. A ground fault has occurred. Robot phase sequence is incorrect. Check the cable connection. Correct the cable connection. Sudden motor lock Check the load. Adjust the brake timing to avoid a lock. Power supply voltage is low. Power supply fluctuates. Check the power supply voltage.
9. Troubleshooting Alarm No. Alarm name Possible cause Checkpoint Pulse position command rate is too fast. Check the position command input rate. Electronic gear setting is incorrect. Control gain does not match. E83 Position deviation error Troubleshooting E84 Speed deviation error Set the electronic gear correctly (reduce the ratio). Check the setting. Adjust the control gain. Set (increase) the speed or torque limiter correctly. Position error detection level setting is too small.
9. Troubleshooting Alarm No. Alarm name Possible cause Speed command input setting is wrong. Torque limiter is too low. Correct (increase) the torque limiter correctly. Overspeed error detection level setting is too low. Set the overspeed error detection level correctly (increase). • Isolate the noise source away from the drive. • Strengthen the shielding and grounding. • Isolate the position sensor cable away from the power cable. Moment of load inertia is too heavy.
9. Troubleshooting Alarm No. Alarm name Possible cause Control gain, Positioning detection range (Fb-23), or wrong positioning interval time-limit setting (Fb-24). E89 Position monitoring timeout error Checkpoint Check the setting. E95 Troubleshooting E96 _ _Err Magnetic pole position estimation error Magnetic pole position estimation incomplete Auto-tuning error Adjust each setting. Correct the setting. Check the load. Load is larger than the estimated level. 9 • Unlock the robot.
Chapter 10 Appendix This chapter explains the options for this product. Contents 10.1 Timing chart 10-1 10.2 Options 10-2 10.3 Recommended peripheral devices 10-7 10.
10. Appendix 10.1 Timing chart The following shows the timing chart from the power-on to the position command input (when the return-to-origin is performed). ■ RDX Control power Main circuit power (Note 1) 1000 [ms] or more 10 [ms] or more SON (Note 2) FOT Input signal ROT (Note 2) 50 [ms] or more (Note 3) ORG (Note 4) PEN Output SRD signal INP approx.10[ms] approx.50[ms] approx.
10. Appendix 10.2 Options (1) Dedicated software for YAMAHA RD series (TOP for Windows) When the RD series robot driver is connected to a PC, the TOP software allows you to set parameters, monitor the position/speed/torque settings, and display graphics. The TOP software runs on Windows and offers user-friendly operation. ■ System requirements Item Condition PC IBM PC compatible computer Memory: 32MB or more Free hard disc space : 30MB or more Monitor resolution: 800 × 600 or higher recommended.
10. Appendix (2) Cables ■ PC cable Length L Description Robot driver side PC side Wiring and pin assignment are shown below.
10. Appendix (3) Precautions for braking resistor c 10 Appendix 10-4 CAUTION • Install the braking resistor on a noncombustible object, such as metal. Failure to do so may cause fire. • Do not place the braking resistor close to a combustible object. Doing so may cause fire.
10. Appendix (4) Braking resistor RBR1 (small type) ■ Dimensions (mm) ■ Connection diagram ■ Circuit diagram 1 2 P RB Robot driver Braking resistor (+) P 1 Alarm contact (Normally closed) RB RB 2 Normally ON Model No. Rated wattage Resistance Allowable braking ratio (%ED) Allowable continuous braking time Mass (kg) KBH-M5850-00 120W 100Ω 2.5% (1.5%)* 12 sec. 0.27 * : Value in ( ) indicates the allowable braking ratio for 400V class.
10. Appendix (5) Braking resistor RBR2 (standard type) ■ Dimensions (mm) ■ Connection diagram ■ Circuit diagram Robot driver 1 2 P RB Braking resistor (+) P 1 Alarm contact (Normally closed) RB RB 2 Normally ON Dimensions (mm) Model No. 10 Mass (kg) L1 L2 L3 H1 H2 W T KBH-M5850-10 310 295 160 67 12 64 1.6 0.97 Appendix Model No. Rated wattage Resistance Allowable braking ratio (%ED) Allowable continuous braking time KBH-M5850-10 200W 100Ω 7.5% (3%)* 30 sec.
10. Appendix 10.3 Recommended peripheral devices This section describes the recommended optional devices for the RD series robot drivers. All optional devices introduced here are manufactured by Hitachi Industrial Equipment Systems Co., 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.
10. Appendix (2) DC reactor (for harmonic suppression, power coordination, power factor improvement) ■ Connection diagram ■ Model No. DCL-L-0.2 P DC reactor PD Capacity (See the table below for interrelation with robot driver.) (+)1 Power supply (+) L1 U Robot L2 V M L3 W Robot driver D Y±1 ■ Dimensions (mm) X±1 W 4-C Bmax. 2-K Appendix Hmax. 10 Caution label Dimensions (mm) Robot driver model No. DC reactor model No. W D H B X Y C K Mass (kg) RD*-05 DCL-L-0.
10. Appendix (3) Input side noise filter ■ Model No. ■ Connection diagram (3-phase product) NF-L 6 Rated current of noise filter Series name (NF series) Power supply Noise filter L1 L1’ L2 L2’ L3 L3’ Robot driver L1 U L2 V L3 W Robot M ■ Dimensions (mm) 66±3 52±1 (10) Robot drive side Product label Power supply side L3 L2 L1 10 M4 (15) 67MAX 2-φ5.0 (84) 100±1 117±2 L3’L2’L1’ 10 Robot driver model No. Noise filter model No. Rated voltage Rated current Mass (kg) NF-L6 250V AC 6A 0.
10. Appendix (4) Input side noise filter (EMC compliance) ■ Connection diagram (3-phase filter) ■ Model No NF – CEH 7 Rated current of noise filter EMC compliance Series name (NF series) Power supply Noise filter Robot driver L1 U L1 L1’ L2 L2’ L2 V L3 L3’ L3 W ■ Dimensions (mm) 74±3 56±2 5 Robot drive side Product label (95) 130±2 144±2 L3’L2’L1’ L3 L2 L1 Power supply side 11 M4 (15) 73±3 φ5 10 Appendix ■ Specifications Robot driver model No. Noise filter model No.
10. Appendix (5) Radio noise filter (zero-phase reactor) ■ Connection diagram Radio noise filter Robot R L1 Power S supply T L2 U Robot V driver W L3 M Note 1: Wind 3-phase wires 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) ZCL–A ZCL–B40 3 83 35 85 160 180 3-M4 95 max 80±0.5 26 max 2-F5.5 (M5) 10 Appendix 12.5±0.
10. Appendix (6) 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 Robot driver L1 L2 L3 Power supply U V W Robot M Capacitor filter 10 Appendix 10-12 Model No. W H T CFI-L (250V rating) 48.0 35.0 26.
PC (TOP for Windows) TM2 I/O L2C L1C (serial communication) RS232C I/O interface (bit input/output) A/D Pulse train Robot driver Data processing, etc. Auto tuning, etc. Servo sequence control Speed control R/D converter DB circuit U ENC W V Sensor M Note 1: For 750W to 1.5kW type At 750W or more, a thyristor is used as relay 84.
Revision record Manual version Issue date Description Ver. 2.00 Dec. 2009 Addition of RDP-25 and applicable robot type. Addition and correction of reference graph for setting the position control cut-off frequency. Modification in "5.17 Magnetic pole position estimation action". The address and other information were added to the front cover. Ver. 2.01 Mar. 2010 Addition of parameter (Fd-44) and modification in other parameters in accordance with the addition. Ver. 2.02 Aug.