YOKOGAWA DYNASERV DM Series User manual
-~
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Instruction
Manual
.YOKOGAWA+
Yokogawa
MAT
Corporation
DO
Servo-Actuator
Logic Control Interface Driver
Suffix <P> Model
Instruction Manual
IM
A521-E
IM
A521-E
Mar.
:Of,
26oQ-
,
-
-··.=-~=
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INTRODUCTION
FDNo.
1st
Edition:
May
1995
(YG)
Thank you very much for purchasing our DYNASERV DD Servo-Actuator. The
DYNASERV is a highly accurate, high-torque, high-velocity servo-actuator with an
outer rotor.
It
can be used in a wide range
of
field applications related to factory
automation, including industrial robots, indexes, etc.
This instruction manual covers the model that combines the DM/DR series motor and
<P> Model driver.
Be
sure to read this instruction manual prior to operating the
DYNASERV.
NOTICE
+The
copying or reproduction by any means
of
all or any part
of
the contents
of
this
manual without permission is strictly prohibited.
t Yokogawa Precision Corporation reserves the right to change the contents
of
this
manual without prior notification.
t While every effort has been made to ensure accuracy in the preparation
of
this
manual,
if
you should, however, notice any discrepancies, errors or omissions, kindly
contact your dealer or the authorized service personnel
of
Yokogawa Precision
Corporation
or
its authorized agency.
+Yokogawa Precision Corporation shall bear no responsibility for indirect
or
conse-
quential damages such as, but not so
as
limit the foregoing, the loss
of
profit, or the
loss
of
production, caused by the use
of
our products in accordance with this manual.
All
Rights
Reserved,
Copyright©
1995,
Yokogawa
Precision
Corporation
'
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Warning on Installation and Operation
ii
1.
Never install the motor with the rotor fixed and the stator set free for rotation.
2. Ensure that the power is switched
off
when removing the side panel
of
the driver for
jumper
setting, etc. Dangerously high voltage is present inside the unit.
3.
The
motor rotates at high speed with a high torque. Beware
of
the rotating radius
of
the load when operating the motor with the load installed.
4. Ensure adequate grounding at the ground tenninal.
5.
When
installing a load to
the
rotor
of
the motor, allow a space
of
1
mm
or
more
between
the
top surface
of
the motor and the surface
of
the load
in
order to maintain
the proper alignment
of
the
surfaces. Never apply any force
or
press any materials
into the cylindrical hole. (See the figure shown below.) Wilen
iffi
_obi_ect
isto
be introduced
inside the central hole
,-of
the
motor,
ensure a
minimum
gap of lnun
on
either side
- -
---
---·-
---
.
~-
b-etween
the
--ObjeCt
and
_1:h~-
moto(~aTIS:
E
hole
Mounted
part
6. Never adjust the bolts that fix the bottom
of
the rotor
of
the motor (indicated
by
the
arrow
in
the figure shown above). Loosening
or
tightening the bolts may cause the
commutation angle to
be
inaccurate, resulting in incorrect motor rotation (only for
the
OM
series).
7. Because a magnetic resolver is incorporated in the motor part shown in the figure on
the right, avoid mechanical shock, pressure,
or
strong magnetic fields (only for the
DR
series).
Bottom
cover
8. Use only such screws that do not exceed the effective screw depth
of
the motor
in
order to fix the load. The use
of
a screw longer than the effective screw depth may
damage the motor (only for the DR series).
IM
AS21·E
'
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IM
A521-E
9. Because the surface
of
the motor is magnetic, materials easily affected by magnetism
must keep away from or must not
be
close to the motor. InstaJl the motor in an
appropriate location as the motor is not dust-proof, watertight or oil-proof.
10.
If
the motor is used with oscillating rotation movements with a small angle (50° or
less), then carry out a running-in operation with a back-and-forth movement about
10
times, each move exceeding an angle
of
90°. The running-in operation must be
carried out after every 10,000 oscillations
in
order to ensure proper lubrication
of
the
bearings.
11. Compatibility
of
the motor with the driver or vice versa when they are
of
the same
model is possible only when they are
of
the same type. (i.e.,
if
the motor code
is
DMIDDDD
*1, and the driver code is
SDIODDD
02, the
DODD
of
the motor
and the driver must be the same.)
12. Never disassemble or modify the motor or the driver. When such disassembly
or
modification is required, consult Yokogawa Precision Corporation or its authorized
agency. Yokogawa Precision Corporation, or its authorized agency, accepts no
responsibility for a disassembled or modified motor and driver without permission.
13.lf
the motor is placed on the floor or the like as shown below when carrying
or
installing the DYNASERV, the cable is bent by the weight
of
the motor and this
bending may cut the conductor wire. When setting the motor in place, he sure to use
a support base which protects the cable from being bent. The ntinimum bending-
radius shall be 50 mm or more when installing the motor with the cable bent.
Do
not apply repeatediy bend the cable when it is used. The cable specifications do not
include application with a robot.
14. On the motors
of
the DYNASERV DR series, a rust-prevention coating has been
applied to the load-mount part at the top and also to the fixed part at the bottom
of
the motor. Before assembling the motor, completely remove
this
coating using a
cloth or paper dipped in a petroleum or chlorine solvent. The presence
of
the coating
may lead to severe mechanical inaccuracies
of
the assembled system.
Rust-prevention
coating
'
iii
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iv
15.
Appropriate centering and alignment must be carried out when connecting the motor
to
a load. The shaft
of
the motor may become damaged
if
centering is offset
10
Jlm
or
more.
~~
~
Centering
offset:
1
OjJmm
or
less
·-
5
·-
k b
·-
l-'>..
""""""
16. Never carry out a withstanding voltage test. Carrying out this test even accidentally
may damage the circuits. When such withstanding voltage tests are required, consult
Yokogawa Precision Corporation or its authorized agency.
'
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CONTENTS
INTRODUCTION ....................................................................................................... i
Warning on Installation
and
Operation....................................................................
ii
1. PRODUCT OUTLINE
1.1
Overview..................................................................................................
1-1
1.2 Standard Product Configuration...............................................................
1-1
1.3 Model and Suffix Codes.......................................................................... 1-2
2. FUNCTIONAL DESCRIPTION
2.1
Motor Section
(DM
Series)......................................................................
2-1
2.2 Motor Section
(DR
Series)......................................................................
2-1
2.3 Driver Section (Panel Surface) .......................................................:........ 2-2
3. INSTALLATION AND WIRING
IM
A521-E
3.
I Flowchart
of
Preparation for Operation...................................................
3.2 Initial Setting ............................................................................................
(I) Setting
of
the Jumper Switches in the Driver Box ..........................
(2)
Jumper Settings Done Prior
to
Shipment.........................................
(3) Settings of Switches and Variable Resistors Prior
to
Shipment .....
3.3 Jumper and Filter Settings .......................................................................
(!)
Velocity Detection Filter and Jumper Settings <.IP2/100, 200> .....
(2)
First-order Delay Filter and Jumper Settings ...................................
(3)
Mechanical Resonance Notch Filter Adjustment ............................
(4)
fc
Natural Frequency Adjustment Switch ........................................
(5)
POSW Positioning Completion Width Setting ................................
(6) .
1/F
Setting Switch .............................................................................
3.4 External Wiring ........................................................................................
(1) External Connection Diagram ..........................................................
(2)
Connection Between the Motor and the Driver...............................
(3) Signals for Sequencer (CNI
I)
.........................................................
(4)
Example
of
Sequencer (CN11/12) Connection................................
(5)
Signals for Origin Switch(CN12) ........:..........................................
(6)
Electrical Specifications for CNI1/12 .............................................
3.5
(!)
(2)
3.6
Insta!Jation ················································································'···············
Motor Mounting ...............................................................................
Driver Mounting ...............................................................................
Wiring Cables ...........................................................................................
3.7
3.8
(I)
Cable Sizes and Rated Currents .......................................................
(2) Wiring Cautions ................................................................................
Monitoring Output ...................................................................................
Caution
on
Mounting Origin Sensor and Overtravel Sensor ..................
3-1
3-3
3-3
3-4
3-5
3-6
3-6
3-6
3-6
3-7
3-7
3-8
3-9
3-9
3-9
3-10
3-ll
3-12
3-12
3-13
3-13
3-14
3-15
3-15
3-15
3-16
3-17 '
v
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4. CAUTION ON OPERATION
4.1
Power On/off............................................................................................
4-1
4.2 Restrictions on Cyclic Operating Frequency
(DR5000B Series Only) ........................................................................... 4-2
(I)
Restrictions on Motor Operation...................................................... 4-2
(2)
Restrictions on Driver Operation ..................................................... 4-4
5.
OPERATION
5.1
Overview ..................................................................................................
5-1
(I) Positioning Mode..............................................................................
5-1
(2)
Tuning Mode ....................................................................................
5-1
(3) Maintenance Mode ...........................................................................
5-1
5.2 Procedure for Positioning Mode.............................................................. 5-2
(I)
Initialization and Setting of
an
Electrical Origin............................. 5-2
(2)
Special Display
If
the ORG Signal Continuously Holds at L......... 5-3
(3)
Initialization
If
the Overtravel Detection Function
Is
Set ............... 5-4
(4) PTP Positioning Data Setting........................................................... 5-4
(5)
Startup Procedure
of
PTP Positioning Mode................................... 5-6
(6)
Special Display When the START Signal Holds at L .................... 5-7
(7) Reading of the Encoder Data ........................................................... 5-8
(8)
Correspondence Between DI 0 to 7 and
DI
0
to
7 Signals and
BCD Codes ....................................................................................... 5-8
(9)
JOG Mode Operation .......................................................................
5"9
(10) JOG Operation and Overtravel Detection Function........................ 5-10
5.3 Tuning Mode............................................................................................ 5-11
(I)
Control Mode Setting....................................................................... 5-11
(2)
I-PD Position Control....................................................................... 5-12
(3)
P Position Control ......................................
..
.................................... 5-12
(4)
Tuning Mode.................................................................................... 5-13
(5)
.Adjustment Procedure for Manual Tuning
of
Position Control
System............................................................................................... 5-13
(6)
Procedure for Tuning (Adjustment) without Measuring
Instruments ................................................................................
..
.
....
5-15
(7)
Automatic Tuning............................................................................. 5-18
5.4 Maintenance Mode................................................................................... 5-19
(I)
Parameter Cleanng ................................:.......................................... 5-19
(2)
Modification
of
the Maintenance Data............................................ 5-19
(3)
Wiring Check Function ....................................................:............... 5-22
(4)
Display in the Maintenance Mode................................................... 5-23
6.
MAINTENANCE AND INSPECTION
6.1
Motor Section ...........................................................................................
6-1
6.2 Driver Section ..........................................................................................
6-1
'
vi
IM
As21-E
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7. TROUBLESHOOTING AND MEASURES
7.1 Motor Problems and Measures................................................................
7-1
7.2 LED Display.............................................................................................
7-3
(I)
LED Display in Accordance with Operation Signals upon Normal
Operation .......................................................................................... 7-3
(2)
Abnormal Operation and Setup Data .......,....................................... 7-4
(3) Abnormal Main Power Supply for Driver....................................... 7-4
(4)
Detailed Description......................................................................... 7-5
7.3 Procedure for Error Correction ................................................................ 7-6
(I) Shortage
of
Setup Data..................................................................... 7-6
(2)
Non-BCD .......................................................................................... 7-7
(3)
Encoder Error................................................................................... 7-7
(4) Counter Overflow............................................................................. 7-8
(5)
Main Power Supply Voltage Too Low............................................
7-8
(6) Amplifier Error............................
..
................................................... 7-9
(7)
Overload .................................................................................:......... 7-9
8.
REFERENCE
8.1
Specifications ...........................................................................................
8-1
(1)
Standard Specifications
of
Motor Section.......................................
8-1
(2) Standard Specifications
of
Driver Section....................................... 8-4
(3)
Environmental Specifications........................................................... 8-4
8.2 Velocity
vs
Torque Characteristics..........................................................
8"5
8.3 External Dimensions (unit:
mm)
.............................................................. 8-6
8.4 Driver Block Diagram...............................................................:.............. 8-8
IM
A521-E
vii
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I.
PRODUCT OU1LINE
1.
PRODUCT OUTLINE
1.1 Overview
1.2
IM
A521-E
The P driver series, with a highly accurate, built-in positioning controiler, has joined up
with the popular DYNASERV direct drive (DD) servo actuator (with an outer rotor
motor), which features high speed, high torque and high accuracy, in a new series.
Operation
of
this driver is easy. The user has only to connect the sequencer, switches,
etc., to the driver, set up the data for the position, speed, and acceleration in binary-
coded decimal format (BCD), and then
tum
on the start signal. The driver then
performs fine positioning by smoothly controlling the rotation speed. The operator
need not foiiow complicated protocols since data can be set by merely inserting latch
signals on a basis
of
two BCD digits.
Recognized and highly accurate
1-PD
control is applied to positioning control, and there
is a newly incorporated automatic tuning function; therefore, tuning work has become
simplified. This driver can be used in combination with a motor from the conventional
DYNASERV DM and DR series (except for the DM8015 and
DRSOOOA
series).
Standard Product Configuration
The standard product set consists
of
the foilowing components. When unpacked, make
sure that the product is the correct model, and that the types and quantities
of
standard
accessories
are
also
correct.
Part Name
Q'ty
Motor
section
I
Driver
section
I
Connector
(for
CN2
tenninal)/
I
for
DM
series
CoiUiector
(for
CN2
tenninal)/ I
for
DR
series
Connector (for
CNll
tenninal) I
Connector
(for
CN12
tenninal}
I
Remarks
Manufactured
by
Honda
Tsushin
Kogyo:
MR-16LM
Manufactured
by
Honda
Tsushin
Kogyo:
MR-8LM
Manufactured
by
Fuji
Tsushinki
Connector:
FCN-3611040-AU
Cover:
FCN-360C040-B
Motor
CN2 terminal
(for
OM
series)
CN2 terminal
(for DR series)
[Standard products]
'
1-1
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1.3 Model and SufiiX Codes
1-2
The model and suffix codes
of
the DYNASERV, DM/DR Series motor and driver are
as follows:
(!)Motor
DDDDDD[:JOD-
D_*--,---
1
+
Motor
series
name
___
...JI
T
(DM or DR)
+
Design
version
----
.
(1:
standard; 5: high speed)
+ Maximum output torque (N·m with 3 digits)
----'
+
Motor
modeVouter
diameter
-----------_j
(A
series:
dia.
1
0";
B
series:
dia.
6";
E
series:
dia.
8")
+
Destination
(0:
domestic;
5:
overseas)
----------...1
+
Special
motor
part
arrangement
---------------'
(0: standard; B: lightweight; C: with flange;
D:
with mechanical brake)
+
Mechanical
accuracy:
only
for
the
models
requiring
mechanical
accuracy;
-----'
this
is
omitted
if
not
required.
(-1:
mechanical
accuracy
of
51-Jm
or
less;
-2:
mechanical
accuracy
of
10
1-1m
or
less;
-3:
mechanical
accuracy
of
20
1-1m
or
less)
+With
compatibility
function
-----------------------'
(2)Driver
DDDDDDDD2
+
Driver
series
name
___
_J
-T
·-~-~
(SD
or
SR)
+
Design
version
(1: standard; 5: high speed)
+ Maximum output torque (N·m with 3 digits)
---
+
Motor
modeVouter
diameter
------------'
(A
series:
dia.
1
0";
B
series:
dia.
6";
E
series:
dia.
8")
+
Destination
(0:
domestic;
5:
overseas)
__________
_j
+Compatibility function
------------~----__J
+
Power
voltage
{1:
100-115 V
power
requirements;
2:200-230
power
requirements)
+
Built-in
interface
board
type
{P:
P
driver
series)
+
Mechanical
resonance
filter
{I:
with
equalizer
filter;
N:
with
notch
filter;
0:
without
filter)
-----
Note: The motor and the driver are compatible within the same model type. For
compatibility, the first five digits
of
the motor code (DM
00000
02) and the
driver code (SD
00000
02) must be the same. However, the combination
of
'
DM1075B (motor) and SDI075B (driver) may not be able
to
maintain compat-
ibility during use. In this case, consult Yokogawa Precision Corporation or its
authorized agency.
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2. FUNCTIONAL DESCRIPTION
2.
FUNCTIONAL DESCRIPTION
2.1
Motor
Section (DM Series)
Cylindrical
hole
Top View
Stator setscrew
Rotor setscrew
Fixed
section
Bottom cover
Rating nameplate
2.2
Motor
Section (DR Series)
Cylindrical
Fixed section
Bottom
Encoder cable Motor cable
Bottom View
Motorcable
Rating nameplate
IM
A521-E '
2-1
'
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2.3
2-2
Driver Section (Panel Surface)
Rating nameplate
CN11
connector for
sequencer
CN12 connector for origin sensor
1/F
setting switch
(to
set
an
operating
mode)
?-segment
LED
(to
display the drive processing
state
or
alarm state}
ORGLED
@ @
(on
when
origin sensor
signal is
on)
Control section
power supply terminals
Main
power terminals
Power
grounding terminal*
Motor cable phase-A terminal
Motorcable phase-B terminal
Motor cable phase-C terminal
r:::-=-===-
la
YC.:OOJ.'WJ.
t
-·-
Motor cable grounding tenninal•-
@
,
....
ZERO
LED
(on
when
the driver detects
zero
phase
in
the motor)
BUSY
LED
(on
when
the driver is
in
a busy state}
Positioning completion width setting switch
ll'::::~-1-""
Natural frequency adjustment switch
ii--IFvt--r
Integral limiter adjustment switch
AC
gain
adjustmentcontrol
AC
.,.,fli-hj.jt"lf
oc
'"'1[11+\''11-11-+
DC gain adjustment control
Velocity waveform output terminal
Position test
mode
waveform output
termim
...
Grounding terminal
Torque monitoring terminal
*:
Both
GND terminals
are
connected
to
the driver case.
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3.
3.1
IM
A521-E
-----·--'-'----"----'-----'---'-"- _-
__
____:___
___
._--:~::-.:::;=
3.
INSTALLATION
AND
WIRING
INSTALLATION AND WIRING
Flowchart
of
Preparation for Operation
<I> Check motor and driver models.
Items
to
Be
Checked
Page
Numbers
for
Reference
+Motor (rating nameplate)
1-2,2-1,2-2
+Driver(rating nameplate)
<2>
Conduct wiring
of
connection cable and power cable between motor and driver.
Caution:
The
power cable must not
be
connected to a power outlet at this time.
Items
Needed Page
Numbers
,
for
Reference
+ CN2 connector (standard accessory) 3-9, 3-15
+ Encoder cable (f1xed
to
motor section)
+ Motor cable (fixed to motor section)
+ Power cable (optional)
+ Grounding cable (prepared separately)
+ Twojumper wires (prepared separately)
In addition to the above items, crimp terminal
power
filter
or
the like may
be
necessary.
<3> Prepare origin sensor and overtravel sensor.
Items to Be Provided Page Numbers
for Reference
Provide an origin sensor and overtravel sensors (OTU and
OID)
3-9-3-12,3-17,
separately.
5-2-5-4
Example: E2C-XIA, E2C-GE4A (amplifier) from Omron Corp.
<4> Prepare sequencer
or
switch circuit.
Items to
Be
Provided Page Numbers
for Reference
Provide a sequencer orswitch circuit separately. Also, provide the 3-9-3-12,3-15
power supply
and
otherproducts having the same specifications.
<5> Connect sequencer
or
switch circuit and sensors to
the
driver.
Items
to
Be
Connected Page
Num~rs
for
Reference
+Motor-connecting driver
3-9-3-12
+Sequencer or switch circuit (including power supply)
+Origin switch, two overtravel sensors (including power supply)
+CN11/CN12 connectors (standard accessory)
<6> Do settings for jumper, filter, and switches provided on the driver.
Items
to
Be Provided Page
Numbers
for
Reference
o Driver for clocksetling
3-3-
3-8
0 Tweezers
<1>
Operate sequencer
or
switch circuit in accordance with
the
operation patterns.
Item to Be Provided
Tum
on the power.
Page Number
for Reference
' 3-1
'
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<8> Do tuning to confirm actions.
Item to
Be
Prepared
o
Oscilloscope
<9> End
3-2
Page Numbers
for Reference
5-11.5-18
IM A521·E
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-----------·
..
-··-·-·
~·
...
·~~----
3. INSTALLATION AND WIRING
3.2 Initial Setting
(1)
Setting
of
the Jumper Switches in the Driver Box
IM
A521-E
Certain jumpers, switches, and variable resistors within the driver box may need to be
set by the customer. However, prior to shipment, they are set as shown oli the next
page. See the figure above for their locations.
To remove the side plate from the driver box, remove the four screws shown in the
figure above. In order to commence this operation, the power must be turned off
because
of
danger.
Further, never touch the high-voltage generation section. even with
the power turned off. For setting and adjustment procedures, see the following pages.
Never touch the switches and variable resistors other than those specified.
'3-3
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
(2)
Jumper
Settings
Done
Prior
to
Shipment
(Note: k:H%
indicates
a
jumper
setting
upon
shipment)
JPl
jumper
3-4
li\\t;,
..
;,j MODE: See the next page. (Never change the setting.)
~
CALIB:
See
the next page. (Never change the setting.)
v.,,%@
RATE#!:
Position command pulse multiplying factor setting (Never change the
setting.)
i%<~'>21
RA
TE#2: Position command pulse multiplying factor setting (Never change the
setting.)
~
UD/AB: With jumper: AlB-phase; without jumper: up/down pulse (Never
change the setting.)
W;;il\:M
VFFH: Velocity feedforward amount setting (Note
I)
+A VFFM: Velocity feedforward amount setting (Note
I)
~
VFFL: Velocity feedforward amount setting (Note
I)
M®q
GAIN
H:
DC
gain magnification setting (With jumper:
DC
gain x 13; without
jumper:
DC
gain x
I)
JP2jumper
~I:
:¥¥1 P:
~100:
~200:
~PV:
~VEL:
~TORQ:
~ALM:
~TLIM:
Velocity I type control
Velocity P type control
Velocity detection filter (Hz) selection (Normally open)
Velocity detection filter (Hz) selection (Normally open)
Mode selection (Never change
the
setting.)
Velocity input (Never change the setting.)
Torque input (Never change the setting.)
Open (Never change the setting.)
Open (Never change the setting.)
First-order
delay
filter
jumper
~
20/80Hz
~
301120Hz
I!!,.
40/160 Hz
(Note
I)
VFF1I
VFFM
VFFL Velocity Feedfonvard
Amount(%)
Shorted
Shorted
Shorted
100
Shorted
Shorted
Open
95
Shorted
Opeo
Shorted
90
Shorted
Opeo
Open
85
Opeo
Shorted
Shorted
80
Opeo
Shorted
Open
75
Opeo
Opeo
Shorted
70
Opeo Opeo
Open
65
IM A521-E
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
(3) Settings
of
Switches
and
Variable Resistors
Prior
to Shipment
Switch/Variable Resistor SettingStatus
DC GAIN
Minimum
position
ACGAIN
Minimum
position
POSW Setto''8"
fc
Set
to
"0"
I-LIM
Set
to
''0"
IIF
setting switch
2 3 4 5 6 7 8
f""'":::
.
w;;::
w;n;,liii#*L4f:b::'ttl14Thdtrsl
H~::~~
:Factory
setting
ON
OFF
3. INSTALLATION AND WIRING
'
'3-5
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
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13
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