YASKAWA HR Series User manual

AC SERVO DRIVES HR SERIES
DESCRIPTIVE MANUAL
FOR MULTI-FUNCTIONS/POSITIONING CONTROL
SERVOMOTOR M,F,G,D,S,R,P SERIES
SERVOPACK CACR-H Ri_ii_i BAD(RACK-MOUNTED TYPE)
CACR-HRI_ji_iBB (BASE-MOUNTED TYPE)
V
YASKAWA TSE-S800-6H

Yaskawa AC Servos have been developed for the most advanced FA and FMS. The extensive
servo manufacturing technology accumulated through half a century of servo drive
applications has created this series.
AC Servopack CACR-HRis a general-purpose multi-function position controller which
applies YASKAWA'slong-term positioning control technologies to software.
In addition to realization of high-accuracy and quick response control even under
adverse conditions, easy and flexible operation is available with excellent
maintainability due to various display functions and protective functions.
CAUTION l-_'-=_
Neveruse voltage resistanceor
ITleggertester.
ServopackS(Rack.mountedType) _111
[ 1__ 589-264
• _ ,d 589 266
_8995
|
AC Servomotors Servopacks Mli
(Base-mounted Type)
I
390-37
General Precautions
•Some drawings in this manual are shown with the protective coveror shields I
'qg
removed, in order to describe the detail with more clarity. Make sure all covers
and shields are replaced before operating this product.
•Some drawings in this manual are shown as typical example and may differ from
the shipped product.
• This manual may be modified when necessary because of improvement of the
product, modification,or changes in specifications.
Such modification is made as a revision by renewing the manual No.
• To order a copy of this manual, if your copy has been damaged or lost, contact
your YASKAWA representative listed on the last page stating the manual No. on
the front cover.
• YASKAWA is not responsible for accidents or damages due toany modification
of the product made bythe user since that will void our guarantee. •
1

NOTES FOR SAFE OPERATION
Read this manual thoroughly before installation, operation,mainte-
nance or inspection of the AC Servo Drives. In this manual,the
NOTES FOR SAFE OPERATION are classified as "WARNING"
or "CAUTION."
WARNING[
Indicates a potentially hazardous situation which,if not avoided,
could result in death or serious personal injury.
P
CAUTION
Indicates a potentially hazardous situation which, if not avoided,
may result in minor or moderate personal injury and/or damage to
the equipment.
In some instances,items described in ]_ CAUTION]may also result in
a serious accident. In either case,follow these important items.
/WARNING
(WIRING)
• Grounding must be in accordance with the national code and consistent with
sound local practices.
Failure to observe this warning may lead to electric shock or fire.
(OPERATION)
• Never touch any rotating motor parts during operation.
Failure to observe this warning may result in personal injury.
(INSPECTION AND MAINTENANCE)
• Never open the panel cover while power is ON, and never turn ON power
when the panel cover is open.
Otherwise, electric shock may result.
• After turning OFF power,wait at least five minutes before servicing the
product.
Otherwise, residual electric charges may result in electric shock.
- 1 -

CAUTION
(RECEIVING)
• Use the specified combination of SERVOMOTOR and SERVOPACK.
Failure to observe this caution may lead to fire or failure.
(INSTALLATION)
•Never use the equipment where it may be exposed to splashes of water,
corrosive or flammable gases, or near flammable materials.
Failure to observe this caution may lead toelectric shock or fire.
(WIRING) 1
• Do not connect three-phase power supply to output terminals @ @ and @.
Failure to observe this caution may lead to personal injury or fire.
• Securely tighten screws on the power supply and motor output terminals.
Failure to observe this caution can result in a fire.
(OPERATION)
,d
• To avoid inadvertent accidents, run the SERVOMOTOR only in test run ql
(without load).
Failure to observe this caution may result in personal injury.
• Before starting operation with a load connected, make sure emergency-stop
procedures are in place.
Failure toobserve this caution may result in personal injury.
•During operation, donot touch the heat sink, regenerative resistance,
SERVOMOTOR and other peripheral devices, il
Failure to observe this caution may result in burns.
• When Serve Alarm goes off, determine cause and confirm safety before
resetting alarm and resuming operation.
Failure to observe this caution may result in personal injury.
(INSPECTION AND MAINTENANCE)
• Do not disassemble the SERVOMOTOR.
Failure toobserve this caution may result in electric shock or personal
injury.
• Never change wiring while power is ON.
Failure to observe this caution may result in electric shock or personal
injury. 1
- 2 -

OUTLINE 9
TYPE DESIGNATION AND CONFIGURATION 12
RATINGS AND SPECIFICATIONS OF AC SERVOMOTOR 18
_4 RATINGSANDSPECIFICATIONSOFAC SERVOPACK 44
_C_ONNECTION 55
_6 I/0 SIGNAL OPERATION AND FUNCTIONS 95
SERIALCOMMUNICATION 121
_8 PARAMETERS 145
DISPLAY/SETTING/MONITOR FUNCTIONS 182
_0 INSTAL_TION AND WIRING 197
1 TEST RUN,MAINTENANCE, AND INSPECTION 201
_2 PERIPHERALDEVICES 223
3 DIMENSIONS 250
D
_4 APPENDIX PARAMETERSETTING 278
m3D

CONTENTS
Page Page
1. OUTLINE .................................................................. 9 5.1.1 Basic Connection ................................................... 55
2.TYPE DESIGNATION AND CONFIGURATION .................. 12 5.1.2 Typical Connection at Positioning
by Station No. -..................................................... 56
2.] TYPE DESIGNATION ............................................. 12 5.1.3 Typical Connection at Positioning
2.2 COMBINATION OF ACSERVOPACK by DG-SW Data ................................................... 5?
AND SERVOMOTOR ............................................. 14
2.3 CONFIGURATION WITH 5.1.4 Typical Connection at Positioning
by Serial Communication ....................................... 59
PERIPHERAL DEVICES .......................................... 17
3. RATINGSAND SPECIFICATIONS 5.1.5 Typical Connection at Positioning
by Command Table ................................................ 60
OF AC SERVOMOTOR ................................................ 18
5.2 MAIN CIRCUIT TERMINAL NAMES
3.1 RATINGS AND SPECIFICATIONS ........................... 18 AND OUTLINE ...................................................... 61
3.1.1 M Series ............................................................... 18 5.3 CONNECTOR TERMINAL (2CN)
3.1.2 F Series ............................................................... 20 FOR I/O SIGNAL ................................................... 61
3.1.3 G Series ............................................................... 22 5.3.1 Applicable Receptacle Specifications ........................ 61
3.1.4 D Series ............................................................... 24 5.3.2 Connector 2CN Layout and Connection ..................... 62
3.1.5 S Series ............................................................... 26 5.3.3 Description and Usage of I/O Signals
of Connector 2CN ................................................... 64
3.1.6 R Series (For 200V) ............................................. 28
5.4 CONNECTOR TERMINAL (3CN)
3.1.7 R Series (For 100V) ............................................. 30 FOR ENCODER .......................................... "........... 65
3.1.8 P Series ............................................................... 32 5.4.1 Applicable Receptacle and Cable Specifications ......... 65
3.2 MECHANICAL CHARACTERISTICS ........................ 34 5.4.2 Connector 3CN Layout and Connection ..................... 67 •
1
3.2.1 Mechanical Strength ............................................. 34 5.5 CONNECTOR TERMINAL (4CN)
3.2.2 Allowable Radial Load and Thrust Load .................. 34 FOR I/O SIGNAL ................................................... 70
3.2.3 Mechanical Specifications ....................................... 35 5.5.1 Applicable Receptacle ............................................. 70
3.2.4 Rotating Direction ................................................ 35 5.5.2 Connector 4CN Layout and Connection ..................... 70
3.2.5 Shock Resistance ................................................... 35 5.5.3 Description and Usage of I/O Signals
of Connector 4CN ................................................ 72
3.2.6 Vibration Resistance ............................................. 35
5.6 CONNECTOR TERMINAL (5CN)
3.2.7 Vibration Class ...................................................... 35 FOR I/O SIGNAL ................................................... 73
Jml
3.3 RECEPTACLES ...................................................... 36 5.6.1 Applicable Receptacle Specifications ........................ 73 I
3.3.1 Connector Specifications ....................................... 36 5.6.2 Connector 5CN Layout and Connection ..................... 73
3.3.2 List of Standard Combination ................................. 40 5.6.3 Description and Usage of I/O Signals
4. RATINGSANDSPECIFICATIONS OFof Connector 5CN ................................................ 80
AC SERVOPACK ......................................................... 44 5.7 POWER SUPPLY CONNECTION .............................. 86
4.1 RATINGS AND SPECIFICATIONS ........................... 44 5.7.1 Power Supply ON/OFF ........................................ :'86
4.2 INTERNAL BLOCK DIAGRAM .............................. 46 5.7.2 Power Supply Line Protection ................................. 88
4.3 PROTECTIVE CIRCUIT .......................................... 495.8 RATED CURRENT AND TYPICAL
APPLICABLE CABLE SIZE .............. ....................... 89
4.4 PRECAUTIONS FOR APPLICATION ........................ 52
5.9 NOISE CONTROL .................................................... 91
4.4.1 Overhanging Load .................................................. 52
4.4.2 Load Inertia (JL) ................................................ 52 6. I/OSIGNALOPERATIONAND FUNCTIONS ..................... 95
4.4.3 Allowable Cyclic Operating Frequency ..................... 52 6.1 OPERATION AND FUNCTIONS OF 2CN
4.4.4 High Voltage Line ................................................ 53 INPUT SIGNAL ...................................................... 95 •
I
4.5 POWERLOSS ......................................................... 54 6.1.1 Signal Timing ...................................................... 95
5. CONNECTION ............................................................ 55 6.1.2 Input Circuit (Refer toFig. 5.7for Connection.) ......... 95
5. I TYPICAL CONNECTION ....................................... 55 6.1.3 Signal Operation and Functions .............................. 96
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CONTENTS
DPage Page
6.2 OPERATION AND FUNCTIONS OF 5CN 10.2INSTALLATION .................................... "........... 197
INPUT SIGNAL .... ............................................... 101
10.2.1 Servomotor ...................................................... 197
6.2.1 Signal Timing ...................................................... 101 10.2.2 Servopack ......................................................... 199
6.2.2 Input Circuit (Refer to Figs. 5.14, 5.15 and
10.3 WIRING PRECAUTIONS ....................................... 200
5.16 for Typical Connection.) ................................. 101
11. TEST RUN,MAINTENANCE,ANDINSPECTION............ 201
6.2.3 Signal Operation and Functions .............................. 102 11.1CHECK ITEMS BEFORE TEST RUN ....... .............. 201
6.3 OPERATION AND FUNCTIONS OF
2CN/5CN OUTPUT SIGNAL ................................. 114 11.1.1 Servomotor ...................................................... 201
6.3.1 OutputCircuit 11.1.2 Servopack ......................................................... 201
(Referto Figs. 5.7, 5.14and 5.15.)........................... 114 11.2 TEST RUN PROCEDUREs .................................... 202
6.3.2 Signal Operation and Functions .............................. 114 11.2.1 Test-run Preparations .......................................... 202
7.SERIALCOMMUNICATION.......................................... 121 11.2.2 OPeration Check ................................................ 209
7.1 SPECIFICATIONS ................................................ 121 11.3 SERVO PERFORMANCEADJUSTMENT ............... 213
7.2 CONTROL CONFIGURATION .............................. 121
11.3.1. Parameter Setting ............................................. 213
7.3 COMMAND TRANSMISSION
(MASTER CONTROLLER --,SERVOPACK) ............ 122 11.3.2 Adjusting Method-Kp, Kv' Optimum Setting ............ 214
7.3.1 Transmission Method .......................................... 122 11.4INSPECTION AND MAINTENANCE ..................... 215
7.3.2 How to Use Axis Address .................................... 123 11.4.1 AC Servomotor ................................................... 215
7.4 TRANSMISSION DATA 11.4.2 Servopack ......................................................... 215
(SERVOPACK --* HOST CONTROLLER) .................. 124 11.4.3 Battery Replacement .......................................... 216
7.5 SERIAL COMMUNICATION AND TYPICAL 11.5 TROUBLESHOOTING GUIDE .............................. 217
SERVOPACK RESPONSE ..................................... -'125
11.5.1 AC Servomotor ................................................... 217
7.6 SERIAL COMMUNICATION CONTROL CODE ......... 125
11.5.2 Servopack ......................................................... 218
7.7 AUTOMATIC TRANSMISSION DATA
FROM SERVOPACK ............................................. 126 12. PERIPHERALDEVICES............................................. 223
7.8 SERIAL COMMAND ............................................. 129 12.1 COMBINATION OF PERIPHERAL DEVICES ......... 223
7.8.1 Serial Command List ............................................. 129 12.2 BRAKE POWER SUPPLY .................................... 227
7.8.2 Command Functions ................................... ;......... 130 12.3 BRAKING RESISTOR UNIT
(TYPE JUSP-RA03) ............ ................................. 229
8. PARAMETERS......................................................... 145
12.4 EXTERNAL POSITION INDICATOR
8.1 GENERAL PROCEDURE F0R DEFINING PARAMETERS ......... 145 (TYPE MCIF-L8[_]) ............................................. 230
8.2 PARAMETER LIST ................................................ 149 12.5 DIGITAL SWITCH UNIT (TYPE MCIF-D[_][_]) ...... 232
8.3 PARAMETER FUNCTION DETAILS ..................... 157 12.6 CONTACT INPUT UNIT (TYPE MCIF-R86) ......... 234
9. DISPLAY/SE'I-FING/MONITORFUNCTIONS.................. 182 12.7 MANUAL PULSE GENERATOR
9.1 DISPLAY AND SETTING FUNCTIONS .................. 182 (TYPE PREH-2C3T/100-M1) ................................. 236
9_1.1 Display ............................................................... 182 12.8 CONNECTING CABLE .......................................... 238
12.9 PARAMETER SETTER (PF803) ........................... 239
9.1.2 Display and Setting Functions for Servopack
Type CACR-HR[-_]BAB[-__] .............................. 184 12.9.1 Specifications ................................ :.................. 239
9.1.3 Display and Setting Functions for Servopack 12.9.2 External View ................................................... 242
Type CACR-HR[_I_]BB ....................................... 190
12.9.3 How to Use ................................ _..................... 243
9.2 MONITOR FUNCTION .......................................... 195
9.2.1 Servopack Type CACR-HR[_I_]BAB[_] ............... 195 13.DIMENSIONS ......................................................... 250
9.2.2 Servopack Type CACR-HR[_:_]BB ........................ 196 13.1 ACSERVOMOTORWITHABSOLUTEENCODER............... 250
10. INSTALLATIONAND WIRING ............................. "....... 197 13.2 ACSERVOMOTORWITHINCREMENTALENCODER-"........ 266
10_1 RECEIVING ......................................................... 197 13.3 SERVOP.ACK ...................................................... 276
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CONTENTS (cont'd)
Page Page
13.3.1 Rack-mounted Type CACR-HR[_I_]BAB[_I_] ......... 276 14.7 PARAMETER CHECK LIST ................................. 284
13.3.2 Base-mounted Type CACR-HR[_Z=_]BB .................. 277 14.7.1 Parameters Related to Motor Used ........................ 284
14. APPENDIX PARAMETER SETTING ........................... 278 14.7.2 Parameters Related to Machine
Specifications ................................................... 285
14.1 APPLICATIONS ................................................... 278
14.7.3 Parameters Related to Position
14.2ORDER ELECTRICAL DEVICES ........................... 278
Reference Method ............................................. 287
14.3 MACHINE CONFIGURATION .............................. 279
14.7.4 Speed Reference Method .................................... 287
14.4 SPECIFICATIONS ................................................ 279
14.7.5 Parameters Related to Position Control .................. 288
14.5 SPEED DIAGRAM ................................................ 280 14.7.6 Selection Function ............................................. 288
14.6PARAMETER SETTING TABLE ........................... 281
INDEX
_ section No. Page Section No. Page
AC Servomotor .......................................... 11.4.1 ............ 215 COMBINATION OF PERIPHERAL
DEVICES ................................................... 12.1 ............ 223
AC Servomotor .......................................... 11.5.1 ............ 217
Command Functions .................................... 7.8.2 ............ 130
AC SERVOMOTORWITH ABSOLUTE ENCODER ...... 13.1 ............ 250
COMMAND TRANSMISSION
AC SERVOMOTORWITH INCREMENTAL ENCODER 13.2 ............ 266 (MASTER CONTROLLER --*SERVOPACK)7.3............... 122
Adjusting Method-Kp, Kv' CONFIGURATION WITH
Optimum Setting .......................................... 11.3.2 ............ 214 PERIPHERAL DEVICES ........................... 2.3 ............... 17
Allowable Cyclic Operating Frequency ......... 4.4.3 ............... 52 CONNECTING CABLE ............................. 12.8 ............ 238
• Allowable Radial Load and Thrust Load ......... 3.2.2 ............... 34 CONNECTION .......................................... 5 .................. 55
APPENDIX PARAMETER SETTING ......... 14 ............... 278 Connector 2CN Layout and Connection ......... t5.3.2 ............... 62
Applicable Receptacle Specifications ............ 5.3.1 ............... 61 Connector 3CN Layout and Connection ......... 5.4.2 ............... 67
Applicable Receptacle and Connector 4CN Layout and Connection ......... 5.5.2 ............... 70
Cable Specifications .................................... 5.4.1 ............... 65 Connector 5CN Layout and Connection ......... 5.6.2 ............... 73
Applicable Receptacle ................................. 5.5.1 ............... 70 Connector Specifications .............................. 3.3.1 ............... 36
Applicable Receptacle Specifications ............ 5.6.1 ............... 73
CONNECTOR TERMINAL
APPLICATIONS ....................................... 14.1 ............ 278 (2CN) FOR I/O SIGNAL .............................. 5.3 ............... 61
AUTOMATIC TRANSMISSION CONNECTOR TERMINAL
DATA FROM SERVOPACK ........................ 7.7 ............... 126 (3CN) FOR ENCODER ................................. 5.4 ............... 65
_] CONNECTOR TERMINAL
(4CN) FOR I/O SIGNAL .............................. 5.5 ............... 70
CONNECTOR TERMINAL
Base-mounted Type CACR-HR[_]BB......... 13.3.2 ............ 277 (5CN) FOR I/O SIGNAL .............................. 5.6 ............... 73
Basic Connection ....................................... 5.1.1 ............... 55 CONTACT INPUT UNIT
Battery Replacement .................................... 11.4.3 ............ 216 (TYPE MCIF-R86) ................................... 12.6 ............ 234
BRAKE POWER SUPPLY ........................... 12.2............ 227 CONTROL CONFIGURATION .................. 7.2 ............... 121
BRAKINGRESISTORuNIT
(TYPE JUSP-RA03) .................................... 12.3 ............ 229
lu/
-_ Descriptionand Usage of I/0 Signals of Connector 2CN "'5.3.3 ............... 64
Description andUsage of I/0 Signals ofConnector 4CN --.5.5.3 ............... 72
CHECK ITEMS BEFORE TEST RUN ......... 11.1 ............ 201 Description and Usage of I/0 Signalsof Connector 5CN ...5.6.3 ............... 80
COMBINATION OF AC SERVOPACK DIGITAL SWITCH UNIT
AND SERVOMOTOR ................................. 2.2 ............... 14 (TYPE MCIF-D[_I_i) ................................. 12.5 ............ 232
-- 6--
I
__ i

INDEX
SectionNO. Page SectionNo. Page
DIMENSIONS .......................................... 13 ............... 250
i,v,i
Display ...................................................... 9.1.1 ............ 182
DISPLAY ANDSETTING FUNCTIONS...... 9.1 ............... 182 MACHINE CONFIGURATION..................... 14.3 ............ 279
Display and SettingFunctionsforServopack MAIN CIRCUIT TERMINAL NAMES
TypeCACR-HR[_!BAB'[_i_i ..................... 9.1.2 ............ 184AND OUTLINE .......................................... 5.2 ............... 61
Display and SettingFunctions forServopack
Type CACR-HR[_[:_BB.............................. 9.1.3 ............ 190 MANUAL PULSE GENERATOR
(TYPE PREH-2C3T/100-M1)..................... 12.7 ............ 236
DISPLAY/SETTING/MONITOR
FUNCTIONS ............................................. 9 ............... 182MECHANICAL CHARACTERISTICS......... 3.2.-............. 34
D Series ................................................... 3.1.4............... 24 Mechanical Specifications ........................... 3.2.3............... 35
-]Mechanical Strength ................ :................... 3.2.1............... 34
MONITOR FUNCTION .............................. 9.2 ............... 195
External View ............................................. 12.9.2.. .......... 242 M Series ................................................... 3.1.1 ............... 18
EXTERNAL POSITIONINDICATOR
(TYPE MCIF-L8[_!).................................... 12.4 ............ 230
-_ NOISE CONTROL ...................................... 5.9 ............... 91
F Series ...................................................... 3.1.2............... 20 tO I
t-------J
OPERATION ANDFUNCTIONS
OF2CN INPUT SIGNAL ........................... 6.1 ............... 95
GENERALPROCEDUREFORDEFININGPARAMETERS...... 8.1 ............... 145 OPERATION ANDFUNCTIONS
G Series ................................................... 3.1.3 ............... 22 OF 5CN INPUT SIGNAL ........................... 6.2 ............... 101
OPERATION AND FUNCTIONS
-_ OF2CN/5CNOUTPUT SIGNAL .................. 6.3 ............... 114
Operation Check .......................................... 11.2.2 ............ 209
High Voltage Line ................................ :...... 4.4.4............... 53 ORDER ELECTRICAL DEVICES .................. 14.2 ............ 278
How to Use ................................................ 12.9.3 ............ 243
OUTLINE ................................................ 1 ..................... 9
How to Use Axis Address ........................... 7.3.2 ............ 123
Output Circuit
(Refer to Figs. 5.7, 5.14 and 5.15.).................. 6.3.1 ............ 114Overhanging Load....................................... 4.4.1............... 52
I/O SIGNAL OPERATION
AND FUNCTIONS .................................... 6.................. 95
irl
Input CircuitPARAMETER CHECK LIST ........................ 14.7 ............ 284
(Refer to Fig.5.7 for Connection.) .................. 6.1.2............... 95PARAMETER FUNCTION DETAILS ......... 8.3 ............... 157
Input Circuit (Refer to Figs. 5.14,5.15 and
5.16 for Typical Connection.) ........................ 6.2.2 ............ 101 PARAMETER LIST .................................... 8.2 ............... 149
INSPECTION AND MAINTENANCE ......... 11.4 ............ 215 Parameters Related to Motor Used ............... 14.7.1 ............ 284
INSTALLATION ....................................... 10.2 .......... :.197 Parameters Related to Position
Reference Method .-:.................................... 14.7.3............ 287
INSTALLATION AND WIRING .................. 10 ............... 197
Parameters Related to Position Control ......... 14.7.5 ............ 288
INTERNAL BLOCK DIAGRAM .................. 4.2 ............... 46 PARAMETERS .................... :..................... 8.................. 145
ParametersRelatedtoMachine
Specifications ............................................. 14.7.2............ 285
List of StandardCombination ........................ 3.3.2............... 40PARAMETER SETTER (PF803) .................. 12.9 .......... _"239
Load Inertia(JL).......................................... 4.4.2............... 52 Parameter Setting ....................................... 11.3.1............ 213
-- 7 --

INDEX (cont'd)
Section NO. PageSection No. Page
PARAMETER SETTING TABLE ............... 14.6 ............ 281 SERVOPACK ............................................. 13.3 ............ 276
PERIPHERAL DEVICES ........................... 12 ............... 223 Servopack Type CACR-HR[_I_!BAB[_I_] ...... 9.2.1 ............ 195
POWER LOSS .......................................... 4.5 ............... 54 Servopack Type CACR-HR[_]BB ............... 9.2.2 ............ 196
POWER SUPPLY CONNECTION ............... 5.7 ............... 86 SERVO PERFORMANCE ADJUSTMENT ...11.3 ............ 213
Power Supply Line Protection ..................... 5.7.2 ............... 88 Shock Resistance ....................................... 3.2.5 ............... 35
Power Supply ON/OFF .............................. 5.7.1 ............... 86 Signal Operation and Functions ..................... 6.1.3 ............... 96
PRECAUTIONS FOR APPLICATION ......... 4.4 ............... 52 Signal Operation and Functions ..................... 6.2.3 ............ 102
PROTECTIVE CIRCUIT .............................. 4.3 ............... 49 Signal Operation and Functions ..................... 6.3.2 ............ 114
Signal Timing ............................................. 6.1.1 ............... 95
P Series ...................................................... 3.1.8 ............... 32 Signal Timing ............................................. 6.2.1 ............ 101
-_ SPECIFICATIONS .................................... 7.1 ...............
121
SPECIFICATIONS .................................... 14.4 ............ 279
Rack-mounted Type
CACR-HR[_I_]BAB[_I_] .............................. 13.3.1 ............ 276 Specifications ............................................. 12.9.1 ............ 239
RATED CURRENT AND TYPICAL SPEED DIAGRAM .................................... 14.5 ............ 280
APPLICABLE CABLE SIZE ........................ 5.8 ............... 89 Speed Reference Method .............................. 14.7.4 ............ 287
RATINGS AND SPECIFICATIONS OF S Series ...................................................... 3.1.5 ............... 26
AC SERVOMOTOR .................................... 3 .................. 18
RATINGS AND SPECIFICATIONS ............ 3.1 ............... 18 IT]
RATINGS AND SPECIFICATIONS OF TEST RUN, MAINTENANCE,
AC SERVOPACK ....................................... 4 .................. 44 AND INSPECTION .................................... 11 ............... 201
RATINGS AND SPECIFICATIONS ............ 4.1 ............... 44 Test-run Preparations ................................. 11.2.1 ............ 203
RECEIVING ............................................. 10.1 ............ 197 TEST RUN PROCEDURES ........................ 11.2 ............ 202
RECEPTACLES .......................................... 3.3 ............... 36 TRANSMISSION DATA
(SERVOPACK _ HOST CONTROLLE R) ...... 7.4 ............... 124
Rotating Direction ....................................... 3.2.4 ............... 35
Transmission Method ................................. 7.3.1 ............ 122
R Series (For 100V) ................................. 3.1.7 ............... 30
TROUBLESHOOTINGGUIDE ..................... 11.5 ............ 217
R Series (For 200V) ................................. 3.1.6 ............... 28
TYPICAL CONNECTION ........................... 5.1 ............... 55
Typical Positioning
Connection at
by Station No.' ............................................ 5.1.2 ............... 56
Selection Function ....................................... 14.7.6 ............ 288 TYPE DESIGNATION AND CONFIGURATION ......... 2 .................. 12
SERIAL COMMAND ................................. 7.8 ............... 129 TYPE DESIGNATION .............................. 2.1 ............... 12
Serial Command List .................................... 7.8.1 ............ 129 Typical Connection at Positioning
SERIAL COMMUNICATION ..................... 7.................. 121 by DG-SW Data .......................................... 5.1.3 ............... 57
SERIAL COMMUNICATION AND Typical Connection at Positioning
TYPICAL SERVOPACK RESPONSE ............ 7.5 ............... 125 by Serial Communication .............................. 5.1.4 ............... 59
SERIAL COMMUNICATION Typical Connectionat Positioningby CommandTable ...... 5.1.5 ............... 60
CONTROL CODE ............... •....................... 7.6 ............... 125
IvJ
Servomotor ................................................ 10.2.1 ............ 197
Servomotor ................................................ 11.1.1 ............ 201 Vibration Class .......................................... 3.2.7 ............... 35
Servopack ................................................ 10.2.2 ............ 199 Vibration Resistance .................................... 3.2.6 ............... 35
Servopack ................................................ 11.1.2 ............ 201
Servopack ................................................ 11.4.2 ............ 215
Servopack ................................................ 11.5.2 ............ 218 WIRING PRECAUTIONS ........................... 10.3 ............ 200
-8-