TS AR Series User manual

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TMF00007E 01/Oct.'03
Before attempting to operate this product, you should thoroughly
read and fully understand all the contents of this manual.
Specifications are subject to change without notice.
Vigo Servo
AR Series
Instruction Manual
Carefully note the precautions on pages 1-4,5,6,7
before turning on the power supply.
Software version (See page7-5 for details) : From 01.10
Servo amplifier : ARN15-A/30-A/60-A/135-A
Servo actuator : AR15/30/60/135/H7/H17/H24/10H
- Applied models -

For your safety
•To prevent accidents, strictly follow the procedures and cautions noted in this manual.
Safety information for the prevention of danger is given in "1. ON SAFETY" in this manual.
•A warning label marked (electrical shock) is affixed to the servo amplifier front panel.
•
•
•
•
Very serious accidents may occur if this instruction is not observed.
Do not turn on the machine's power supply until all the noted precautions have
been studied and understood.
This manual provides general guidelines, precautions and warnings for the safe operation of this machine.
Please be sure to deliver this instruction manual to all administrators and operators charged with the
operation of this machine.
They must carefully read this manual and fully understand its contents, and should not let anyone who is
not familiar with the contents of this manual operate or inspect this machine.
Keep this manual available near the equipment at all times so that it can be immediately referred to
whenever necessary.
Look up the name, address and phone number of our nearest dealer or branch office listed on the back
page of this manual, and post the information prominently for quick reference.
All machine operators must read "1. ON SAFETY" in this manual carefully
and thoroughly.
WARNING
From Chapter 2, safety information is given for any task or operation that is potentially dangerous and each
of these messages is prefaced with the appropriate signal word.
Be careful to avoid injury from shock, as electrical circuits are incorporated in the area near this label. (See
pages 5-1,3)
If this machine is used in ways other than those described in this manual, unforeseen problems or accidents
may occur, and we shall bear no liability or responsibility for the consequences.
This manual contains important information you must know about the AR series servo system, which
consists of a servo actuator and a servo amplifier, its safety features, and necessary operating precautions.
Be sure to read it thoroughly before attempting to transport, install, wire, operate, service or inspect the
servo system.
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Page
To comply UL and/or CUL standard
Preface
Servo Amplifier
Specifications
Communication Contents
Transmission Format
Detailed Description of Transmission Contents
Initialization
Contents
Details of Selection Methods
Servo Actuator
Parameter Setting Methods
Detailed Description of Parameters
List of Parameters
Positioning Data Setting Method
Control Functions
Overview of Setting Methods
Detailed Description of Display Modes
Display Mode Operation Methods
Run Sequence
Power ON
Trial Run
Origin Setting
Connector Pin Layout and Connections
Battery
Wiring Diagram
Servo Actuator
Servo Amplifier
5-19
5-20
4-1
4-4
Alert Symbol
WARNING
11-18
1. ON SAFETY
Precautions for Initial Turning-on of the
Power Supply
Definitions of Model Codes
Table of Specifications
Ambient Conditions for Use
Equipment Features
Basic Command Methods
CAUTION
1-4
7-7
7-9
7-28
7-33
10-2
11-1
7-35
8-1
8-1
8-1
9-1
8-3
10-1
7-3
7-6
6-1
6-3
6-5
6-7
6-9
7-1
5-1
5-4
11-2
1-1
1-1
1-3
2-1
2-2
2-6
Names of Parts
3-1
3-3
8-4
10-1
7-6
7-7
7-8
8-1
6-3
6-4
10-2
11-1
General Selection Method
9. ALARMS
8-2
8-3
7-2
7-3
7-4
7-5
6-5
7-1
5-3
5-4
6-1
6-2
4-1
4-2
5-1
5-2
1-1
1-2
1-3
2-1
1-4
2-2
2-3
3-1
3-2
2. SPECIFICATIONS
3. OVERVIEW
11. EXTERNAL DIMENSIONS
6. RUN
5. WIRING
4. INSTALLATION
10. SELECTION
8. COMMUNICATIONS
7. SETTING METHODS
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To comply UL and/or CUL standard,
please keep in mind the following points.
This equipment is to be installed in an enclosure that provides a pollution degree 2
(controlled) environment (Normally, only nonconductive pollution.
However, temporary conductivity caused by condensation may be expected.
These devices are suitable for factory wiring using Nos.2 1AWG copper wire.
Use 60 75 wire or the equivalent for ARN15 and ARN30.
Use 75 wire or the equivalent for ARN60 and ARN135.
Tighten field wiring terminal (TB1 TB3) to 4.4 lb-in for ARN15 and ARN30.
Tighten field wiring terminal (TB1) to 11.0 lb-in for ARN60 and ARN135.
Tighten field wiring terminal (TB3) to 4.4 lb-in for ARN60 and ARN135.
Suitable for use on a circuit capable of delivering not more than
5000 rms symmetrical amperes, 240 volts maximum,
when protected by circuit breaker having an interrupting rating
not less than 15 rms symmetrical amperes, 240 volts maximum.
Suitable for use on a circuit capable of delivering not more than
5000 rms symmetrical amperes, 240 volts maximum,
when protected by circuit breaker having an interrupting rating
not less than 20 rms symmetrical amperes, 240 volts maximum.
Suitable for use on a circuit capable of delivering not more than
5000 rms symmetrical amperes, 240 volts maximum,
when protected by circuit breaker having an interrupting rating
not less than 30 rms symmetrical amperes, 240 volts maximum.
CAUTION
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- Preface -
Preface
1. Purpose
This program should be designated by the industrial equipment engineer.
The end user can operate the servo system by executing the program.
Operation of the servo actuator is controlled by the parameters set for the servo amplifier.
Therefore, please keep in mind the following points.
(1)
(2)
(3)
(4)
(5) You must not modify the servo amplifier or the servo actuator.
2. Intended readers
This manual is intended for use by engineers in the development of industrial equipment.
3. Requests to industrial equipment manufacturers
If this servo system is to be used for any purpose or in any environment mentioned in (1) to (4) above, please
consult with us before proceeding any further.
We therefore hereby authorize each manufacturer to copy, reprint, or reproduce the contents of this manual for
these purposes only.
It describes information and procedures for choosing suitable specifications for the incorporation of the servo
system into the industrial equipment, its installation, settings and equipment operation.
To prevent injuries or harm to any person using machines, which incorporate our servo system (hereafter
referred to as "end user"), each industrial equipment manufacturer should reprint the instructions and
precautions noted in "1. ON SAFETY" in their own machine instruction manuals for the end user.
The servo system cannot be used with any devices that affect people's bodies or health, such as medical
appliances.
The servo system must not be used with any devices that could adversely affect the environment or public
safety, such as railway vehicles, aircraft, toys and passenger elevators.
The servo system cannot be used in environments, which are subject to strong vibrations, such as in
automotive vehicles, marine vessels, etc.
The servo system cannot be used in certain special environments, i.e., nuclear environments with ambient
radiation, high vacuum space environments, etc.
Teijin Seiki's "AR servo actuator and ARN servo amplifier" (hereafter simply termed "servo system") has been
developed for use with servo systems for general industrial equipment.
When the power supply to the industrial equipment is turned on, the servo system operates in accordance with the
program set in the machine sequencer.
The servo amplifier is activated by the signals input to and output from the industrial equipment sequencer.
For example, the servo system is used for driving a machine tool ATC magazine, transfer unit arm, index table,
conveyor, press or other device into position.
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- Preface -
4. Exporting the servo system
5. Product warranty
6. Usage liability
7. Copyright
© 2000: TS
The copyright for this entire manual belongs to Teijin Seiki Co., Ltd. Copying, reprinting or reproduction of this
manual in whole or in part in any media without our express consent infringes upon the copyright and the rights
of the publisher.
The data noted in this manual is only offered as sample reference data for normal usage of this machine.
We shall bear absolutely no liability or responsibility for the consequences if this machine is utilized for
purposes other than those described in this manual.
We assume no responsibility or liability for any damage or consequential and/or indirect losses resulting from
any accident or malfunction that might occur during the operation of this machine.
We shall not be held responsible for any damage caused by conditions beyond our control such as customer
modifications, disassembly or misuse of our products, or their use in a defective or deficient environment.
We shall not bear any legal responsibility for its suitability for each customer's particular uses nor shall we be
held liable for any incidental or indirect damages caused by usage of the machine itself.
However, we will not bear incidental costs, such as man-hours required to remove from and/or install to the
equipment, transportation costs, taxes, warehouse charges, etc.
We shall also not compensate losses resulting from the stoppage of any equipment that incorporates the servo
system due to problems caused by the servo system.
If we make financial compensation for the product, the maximum amount of the compensation shall not exceed
the sales price of the applicable product.
Please note that machine specifications are subject to change without notice for updates and improvements. This
may cause inconsistencies between the contents of this manual and the machine you currently possess.
When incorporating the servo system into its machines, each industrial equipment manufacturer must carefully
observe all the procedures and cautionary notes included in this manual to prevent injuries or accidents caused
by its improper installation or operation.
International transfer of this machine, any of its parts, components and/or software must be carried out in
compliance with the relevant laws and ordinances of the country of export and the country of equipment end-
use.
We do not assume any responsibility or liability for equipment transferred without regard to proper
export/import regulations or procedures.
The term of warranty on the servo system is either one year from installation or 2000 running hours after
incorporation into the equipment, whichever is shorter, under condition that proper setup and wiring have been
carried out in accordance with the ratings we stipulate.
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- External Dimensions -
11-1 Servo Actuator
11. EXTERNAL DIMENSIONS
11-1

- External Dimensions -
11-2

- External Dimensions -
11-3

- External Dimensions -
11-4

- External Dimensions -
11-5

- External Dimensions -
11-6

- External Dimensions -
11-7

- External Dimensions -
11-8

- External Dimensions -
11-9

- External Dimensions -
11-10

- External Dimensions -
11-11

- External Dimensions -
11-12

- External Dimensions -
11-13