FujiFilm RYB500S3-VBC User manual

FUJI AC SERVO SYSTEM
USER’S MANUAL
MEH395

In all stages of the installation, operation, maintenance and check of this equipment, reference
must be made to this manual and other related documents.
The correct understanding of the equipment, information about safety and other related
instructions are essential for this system.
Cautionary indications DANGER and CAUTION are used in this manual to point out particular
hazards and to highlight some unusual information which must be specially noted.
nDANGER
Cautionary indication
Description of
cautionary indication
Indicates that death or severe personal injury will result if proper
precautions are not taken.
nCAUTION
Cautionary indication
Description of
cautionary indication
Indicates that personal injury or property damage alone will result if
proper precautions are not taken.
Alert symbols are used as necessary.
Alert symbol Description
Unspecified precaution
Electrical shock hazard
warning
Do not disassemble
SAFETY INSTRUCTIONS
DANGER
CAUTION
Alert symbol Description
Hot
Ground

The warning label in Fig. B is located at the arrow in Fig. A.
Fig. A
Fig. B
Fig. B shows the following contents:
nThere is a risk of electric shock.
Do not touch the amplifier when a commercial power is applied and for at least five
minutes after de-energization.
Be sure to ground (3rd class grounding) the terminal marked “ ”
Warning display
Warning label

nPrior to inspection, turn off power and wait for at least five minutes.
Otherwise, there is a risk of electric shock.
nDo not touch the amplifier when the commercial power is supplied.
Otherwise, there is a risk of electric shock.
nDo not disassemble the motor.
Otherwise, the operation may be abnormal, thereby damaging the coupled machine.
nDo not hit the motor with hammer or any other instruments.
The integrated (built-in) encoder may break, causing the motor to run at an excessive
speed.
nDo not connect a commercial power supply directly to the motor. Otherwise, it may break.
nSupplying power other than 200 [V] to the amplifier may break it.
nDo not turn on and off the commercial power repeatedly.
Otherwise, the amplifier rectifier may break.
nThe motor must be firmly tightened to the mounting base or the driven machine.
If rapid acceleration or deceleration is attempted without this firm tightening, the motor may
become dislocated, causing injury.
nWithstand voltage and insulation test with megger must not be conducted.
Otherwise the amplifier and encoder will break.
DANGER
CAUTION

Descriptions given in this manual may be different from those of the product as a result of
improvements of the product. Descriptions in this manual are subject to change without
notice.
Values are indicated in SI units (third stage) in this manual. The units may be different from
those indicated on the product (nameplate).
Illustration given in this manual may show the servo amplifier or servomotor of a specific
capacity. Accordingly they may be different from the appearance of the product you have
purchased.
Products introduced in this manual have not been designed or manufactured for such
applications in a system or equipment that will affect human bodies or lives. Customers, who
want to use the products introduced in this manual for special systems or devices such as for
atomic-energy control, aerospace use, medical use, and traffic control, are requested to
consult Fuji.
Customers are requested to prepare safety measures when they apply the products
introduced in this manual to such systems or facilities that will affect human lives or cause
severe damage to property if the products become faulty.

Introduction
This manual is the User’s Manual for Fuji’s FALDIC-βSeries AC Servo System. The User’s
Manual comes in one volume and covers all handling procedures of the product.
The following document is included in the package of each device.
Device Name of document Document No.
Servo amplifier
User’s Manual
Fuji FALDIC-βSeries AC
Servo Amplifier (RYBoooSo-VBC)
INR SI470714
Servomotor User’s Manual
Fuji GY Series AC Servomotor ING-YH347
The type designation of the product covered in this manual is shown below.
Device Applicable type
Servo amplifier RYBoooS3-VBC
Servomotor GYCoooDC1-C*-****
GYSoooDC1-C*-****
Gear head GYNoooSAG-Goo
GYNoooCAG-Goo
* “o” in the type designation indicates a decimal point or number.
* “*” in the type designation indicates an alphabetic character or no
mark.
For any uncertainties in the description of this manual or in the product itself, contact your
dealer or Fuji’s sales outlet shown at the end of the manual.

1 OUTLINE
1-1) Outline ････････････････････････ 1- 2
1-2) Items to be confirmed ･･･････････ 1- 6
1-3) Servomotor ････････････････････ 1- 7
1-4) Servo amplifier ･････････････････ 1- 8
1-5) Type designation ･･･････････････ 1- 9
2 INSTALLATION
2-1) Servomotor ････････････････････ 2- 2
2-2) Servo amplifier ･････････････････ 2- 8
3WIRING
3-1) Construction ････････････････････ 3- 2
3-2) Servo amplifier ･･････････････････ 3- 4
3-3) Servomotor ･････････････････････ 3-10
3-4) Encoder ････････････････････････ 3-12
3-5) Standard connection diagrams･････ 3-15
3-6) Connection examples ････････････ 3-21
4 TEST OPERATION
4-1) Test operation in two stages･･･････ 4- 2
4-2) First stage ･･････････････････････ 4- 3
4-3) Second stage ･･･････････････････ 4- 5
5 PARAMETERS
5-1) Parameter configuration ･･･････････5- 2
5-2) List of parameters ････････････････5- 4
5-3) Basic settings ････････････････････5- 6
5-4) System settings ･････････････････ 5-16
5-5) Control system settings･･･････････ 5-44
5-6) For adjustment by manufacturer ･･･ 5-54
6 ADJUSTMENT OF SERVO
6-1) Basic adjustment ･････････････････6- 2
6-2) Application adjustment ････････････6- 4
6-3) Adjustment requiring high
speed response ･･････････････････6- 7
7 SPECIAL ADJUSTMENT
7-1) Vibration control ･･････････････････7- 2
7-1-1) What is vibration control?･･･････7- 2
7-1-2) Parameter setting method ･･････7- 4
7-2) Command follow-up control ･･･････ 7-12
7-2-1) What is command
follow-up control? ････････････ 7-12
7-2-2) Parameter setting method ･････ 7-13
7-3) Position gain and limit added
when setting ････････････････････ 7-14
CONTENTS

8 KEYPAD PANEL
8-1) Display ･･･････････････････････ 8- 2
8-2) Function list ･･･････････････････ 8- 4
8-3) State display mode･････････････ 8- 5
8-4) Monitor mode ･････････････････ 8- 8
8-5) Parameter setting mode ････････8-12
8-6) Test running mode ･････････････8-15
9 INSPECTION AND MAINTENANCE
9-1) Inspection ････････････････････ 9- 2
9-2) Memory back-up･･･････････････ 9- 3
9-3) Fault display ･･････････････････ 9- 4
9-4) Maintenance and discharge ･････ 9-20
10 PERIPHERAL DEVICE
10-1) Cable size ･･･････････････････ 10- 4
10-2) FAB/ELB ････････････････････ 10- 6
10-3) Electromagnetic contactor ･････ 10- 7
10-4) Surge absorber･･･････････････ 10- 8
10-5) Power filter ･･････････････････10-10
10-6) AC reactor ･･･････････････････10-12
10-7) External regenerative resistor ･･･10-14
10-8) Option･･･････････････････････10-16
11 SPECIFICATIONS
11-1) List of servomotor
specifications ････････････････ 11- 2
11-2) List of servo amplifier
specifications ････････････････ 11- 6
11-3) Speed-torque characteristics ･･･ 11- 8
11-4) Dimensional drawing ･･････････ 11-15
APPENDIXES
nInertia moment calculation ････････････ 2
nLoad torque ･････････････････････････ 4
nTiming chart･････････････････････････ 5
nOption list ･････････････････････････ 10
nParameter list ･････････････････････11

1-1) Outline
1-2) Items to be confirmed
1-3) Servomotor
1-4) Servo amplifier
1-5) Type designation
OUTLINE

1
Outline
1-2
1-1) Outline
Requirements for functions and performance are sophisticated
Fuji’s original vibration control function and notch filter are adopted for substantial suppression of mechanical
vibration and a positioning setting time shorter than 1 ms is achieved in FALDIC-βSeries in the pursuit of high
performance and high precision. The compact main body in which functions are integrated allows flexible
installation. Requirements for functions and performance are sophisticated to meet various needs at higher levels.
They are best for machines requiring short cycle time and high-speed positioning.
nMechanical vibration suppressed to an ultimate level
nPursuit of high performance and high precision
nEpoch-making compact size
nSimple operation for reduced set-up time
nStandard compliance with overseas standards
(UL/cUL, CE mark)
Semiconductor
production and
inspection equipment
Electronic parts
processing equipment
Unloading
robots
Wire harness
fabricator
Best for machines requiring short cycle time and high-speed positioning

Outline
1
1-3
Advanced functions and performance of Fuji’s AC servo system
Performance
n50 to 750 W (rated speed: 3000 r/min)
nSlim or cubic motor
n16-bit incremental encoder
nExclusively used for pulse string input
nSimple operation
nNew function: PC loader (option)
n50 W to 5 kW (rated speed: 3000 r/min)
nSlim or cubic motor
n16-bit absolute/incremental encoder
nPulse string/analog input, DI/DO, SX bus,
T-link, RS 485, and various interface
nBuilt-in positioning controller (L/R type)
nPC loader (option)
(Catalog No.: MH544)
n50 W to 3.7 kW (rated speed: 2000 r/min)
nCompatible with general-purpose motor
n1000 P/R encoder
nPulse string/analog input
nSpecial loader (option)
(Catalog No.: MH541)
Function
Application examples
Semiconductor
production and
inspection equipment
Electronic parts
processing equipment
Unloading robots
Packing
machines
Printing
machines
Conveyance
Food
processing
Wood
processing
Injection
molding
Wire harness
fabricator Fibers
Metal
cutting and
machine
tools
* Contact us for FALDIC-αSeries and ES Series.

1
Outline
1-4
Suppresses mechanical vibrations to the maximum extent.
n
nn
nEquipped with a “Damping Control Function” which is an effective
countermeasure for vibration of the tips of robot arms, etc.
Fuji’s original damping control function (Patent pending)
In high tact operation of mechanisms with low rigidity, such as the tips of robot arms, suppression of arm tip
vibration is a major factor in shortening tact time. In the FALDIC-βseries, Fuji’s original “Damping Control
Function” is standard equipment. It reduces vibration in machines with low rigidity and realizes high machine tact.
Without the damping control function With the damping control function
Direction of
movement
Vibration waveform measured
by laser displacement gauge
2mm/div 2mm/div
500r/min/div 500r/min/div
Arm
vibration
Actual
speed
n
nn
nEquipped with a notch filter and servo analysis function.
Notch Filter
This function is for the purpose of reducing machine resonance. By setting the
data on the resonance point, which differs in each machine, as a parameter in the
servo amplifier, the machine resonance occurring in that point can be reduced.
Servo Analysis Function (Option)
In order to utilize the “Damping Control Function” and “Notch Filter,” etc.
effectively, it is necessary to analyze the “resonance frequencies” that are inherent
in each machine. If the “Servo Analysis Function” offered in the optional personal
computer loader is used, it can analyze the data for the machine system simply,
eliminating the needs for complicated calculations and adjustments which are
dependent on intuition.
Designed for high performance and high precision.
n
nn
nInstruction following servo
(positional deviation ≈
≈≈
≈zero).
Position time is 1 ms or less.
Through the newly developed feed forward control which compensates for servo
delay, operation even during acceleration and deceleration can be done with
positional deviation almost zero. A positioning completed signal can be output
virtually simultaneously with the end of the instruction pulse (within 1 ms) .
n
nn
n16-bit High Resolution Encoder
A 65536 pulse/revolution serial encoder (exclusive INC) is standard equipment.
It can also be used for machines where high performance and highly accurate
positioning is required.
Feature. 2
Feature. 1
Direction of
movement
Vibration waveform measured
by laser displacement gauge
Arm
vibration
Actual
speed
Positional deviation
Instruction seed
ON
Positioning completed signal
1 ms o
r
less
ON
OFF

Outline
1
1-5
Feature. 3
Servo amplifiers which are the
smallest in the industry, and can
be installed side by side without
clearance.
n
nn
nInnovative compact bod
y
200V type, 200W: 35 (W) x 130 (H) x 130 (D)
n
nn
nSide by side installation supports miniaturization
of the control panel.
These units can be installed side by side horizontally, and through standardization of
the height and depth dimensions, even if multiple units are used, they can be housed
in an extremely compact cabinet, enabling miniaturization of control panels.
Capacity (W) W (mm) H (mm) D (mm)
50 35 130 130
100 35 130 130
200 35 130 130
400 50 130 130
750 70 130 130
n
nn
nPanel space is reduced by side by side
installation.
(Example: 200W x 3 axes + 400 W x 2 axes.
130mm
35mm 35mm 35mm 50mm 50mm
205mm
※密着取り付け時は動作環境が異なります。
130mm
35mm
200V type, 200W actual size
Feature. 4
Simple Operation and Short setup time
n
nn
nUses a new type auto tuning function.
The previous auto tuning function has been further refined so
that adjustments of even “heavy perpetual loads,” which are
considered to be difficult in ordinary tuning, can be done
easily.
n
nn
nSetup parameters are designed to
facility operability
By setting only 7 different parameters in the basic settings,
operation with the industry’s top level performance can be
accomplished. In addition, by using the “personal computer
loader” (option) for setting each type of system, setup can
be accom
p
lished in a short time.
Feature. 5
The standard configuration conforms to
international standards. (UL/cUL, CE Marks)
Feature. 4
Feature. 3
The standard specifications of the FALDIC-βSeries support the “UL/cUL”
and “CE Mark,” so it can be used not only within Japan but anywhere
overseas. This makes it a global servo with leading edge performance,
dimensions and operability that can be utilized anywhere.
* Application filed for acquisition of UL/cUL, CE marking.
* The operating environment varies if the unit is installed close to another.

1
Outline
1-6
1-2) Items to be confirmed
When the product (FALDIC-βSeries) is delivered to you, unpack and check the following.
Items to be confirmed Checking method Check mark
Is the delivered FALDIC-β
Series what you have
ordered?
Check the “type” field in the motor and amplifier
nameplates shown in the following pages.
Is there any damage around
the product?
Observe the appearance to check for broken
parts.
Check if the servomotor shaft
rotates smoothly.
Turn by hand. If the shaft rotates smoothly,
there is no problem. However, the shaft does
not turn with servomotors equipped with a
brake.
Are any screws dislocated or
loose? Use a screwdriver to check screws.
If any defects are found, contact your dealer or Fuji’s sales outlet (shown on the back cover of
this manual) immediately.

Outline
1
1-7
1-3) Servomotor
nAppearance of product
nHow the nameplate looks
Flange
The servomotor is installed to the
machine on this side.
* The figure shows type GYC751DC1-C. The appearance
varies according to the motor capacity.
MODEL : GYC751DC1-CA
SER
No.
:
************************ Made in Japan
Type designation
Serial No.
Output shaft
The output shaft of the
servomotor rotates.
Encoder cable
Connect to CN2 of the servo
amplifier using the optional
cable or connector kit.
The wiring from the encoder
cable up to the servo
amplifier is called “encoder
wiring.”
Encoder
A 16-bit serial encoder is
housed on the side of the
servomotor opposite to the
load.
Frame
The frame supports the
output shaft of the
servomotor. The frame is
molded of resin.
Power cable
Connect to the servo amplifier using
the optional cable or connector kit.
The wiring from the power cable up to
the servo amplifier is called “power
wiring.”

1
Outline
1-8
1-4) Servo amplifier
nAppearance of product
nHow the nameplate looks
Rated input Rated output
Type designation
of amplifier →TYPE : RYB201S3-VBC
INPUT OUTPUT
Voltage →Voltage 200 to 230V 91V
Number of phases →Phase 1∅/ 3∅3∅
Max. current →F.L.C 2.5A / 1.2A 1.5A
Frequency →Freq. 50 or 60Hz 0 to 333.3Hz
Capacity →Power 200W
Fuji Electric Co.,Ltd. Made in JAPAN
Grounding terminals
Connect the grounding cable of the
servomotor and grounding terminal.
Type designation display
Keypad panel
The keypad panel is provided
with a two-digit seven-
segment LED display and
four operation keys.
CN1
Connect the sequence
input/output signal.
Connector for connection
of loader
Connect the PC loader.
CN2
Connect the encoder cable of
the servomotor.
Charge LED
The LED is lit when power is
supplied to the servo amplifier.
Main circuit terminals
Connect the power supply,
external regenerative
resistance (option) and power
cable of the servomotor.

Outline
1
1-9
1-5) Type designation
<Gear head>
[Basic type designation]
GYN:Standard type
GYN 201S A G
[Capacity]
201: 20
201: 20201: 20
201: 20 X 10
１
１１
１
=
==
= 200W
500 : 50
500 : 50500 : 50
500 : 50 X 10
０
００
０
=
==
= 50W
[Motor type]
S : Slim
C : Cubic [Development generation]
[Installation method]
G : Flange
[Gear ratio]
G09 : 1/9
G25 : 1/25
G09
<Servo amplifier>
[Basic type designation]
RYB: Standard type
RYB 201S C3 V B
[Capacity]
201: 20
201: 20201: 20
201: 20 X 10
１
１１
１
= 200W
500 : 50
500 : 50500 : 50
500 : 50 X 10
０
００
０
= 50W
[Series]
S: Standard
[Development generation]
[Major function]
V: Pulse string/speed control
[Host I/F]
B: DI/DO
(Exclusively used for pulse string)
[Encoder]
C: Standard
16-bit, exclusively used for
incremental operation
6
: 3-phase 200V
: Single-phase 100V
[Voltage]
No indication
6
<Servomotor>
[Basic type designation]
GYS : Slim
GYC : Cubic
[Capacity]
201: 20
201: 20201: 20
201: 20 X 10
１
１１
１
= 200W
500 : 50
500 : 50500 : 50
500 : 50 X 10
０
００
０
= 50W
[Rated speed]
D : 3000 [r/min]
[Installation method]
C: Flange
[Development generation] [Encoder]
H : 20-bit absolute/incremental
C : 16-bit, exclusively for incremental
[Voltage]
No indication
6
8
[Oil seal/shaft]
A : No oil seal with straight key
B : No oil seal without straight key
[Brake]
No indication
B
GYS 201D CC 16 B B
: None
: Installed
: 3-phase 200V
: Single-phase 100V
: Common between single-phase
100V and 3-phase 200V

1
Outline
1-10
- MEMO -