Yokogawa Drvpiii ur5ap3 Manual

TI 71M01D06-01EN

Yokogawa Electric Corporation 3rd Edition:2012.12.01

Technical

Information

Direct Drive Motor <DYNASERV> DR5A Type

Intelligent Drive <DrvPIII> UR5AP3 Type

Technical Information

TI 71M01D06-01EN

TI 71M01D06-01EN 3rd Edition: 2012.12.01

Introduction

Overview of This Manual

This manual provides information about DYNASERV, a direct drive servo motor (DR5A motor

and UR5AP3 4kW class drive). Make sure to refer to this manual when you use the motor.

Trademark

•Windows and Windows NT are registered trademarks of Microsoft Corporation in the

United States and/or other countries.

•Adobe and Acrobat are trademarks of Adobe Systems Incorporated.

•Pentium is a registered trademark of Intel Corporation in the United States.

•Other company and product names mentioned herein may be the trademarks or

registered trademarks of their respective owners.

Copyright

The copyright of this manual belongs to Yokogawa Electric Corporation.

No part of this document may be reproduced, or transferred, sold or distributed to the third

party.

Strategic Goods Advisory

It is required to obtain approval from the Japanese government to export goods regulated by

the Foreign Exchange and Foreign Trade Control Law from Japan.

Conventions

Symbols used in this manual

Throughout this manual, the following symbol marks are used to distinguish explained

information.

: Describes cautions for avoiding danger in potentially hazardous

situations that may put operators' lives and bodies in danger such as

electric shock accident.

: Describes points to be noted in situations that may cause damages

to software and/or hardware or system troubles.

: Describes important points when understanding operations and

functions.

: Describes supplementary information about descriptions.

: Describes items and pages that should be referenced.

!DANGER

WARNING

CAUTION

TIP

SEE ALSO

TI 71M01D06-01EN 3rd Edition: 2012.12.01

Precautions

Precautions Regarding this Manual

•Please make sure this manual is made available to all end users.

•Do not operate the product before reading this manual and thoroughly understanding

its contents.

•This manual was created to provide detailed explanations of the functions offered by

the product. It is not guaranteed that it will suit any particular purpose a customer

might have.

•The reproduction or copying of any portion of this manual is strictly prohibited without

prior permission from Yokogawa Electric.

•The information provided in this manual is subject to change without notice.

•If you have any questions or find any errors and/or omissions in the information

provided in this manual, please contact our Sales Department or the dealer from

whom the product was purchased.

Precautions Regarding Protection, Safety and Product Modification

•To ensure your protection and that of the product, as well as the systems that use the

product, please observe all safety instructions and other precautions listed in this

manual.

•If you operate the product in a manner contrary to the instructions provided in this

manual, the safety protection may be lost. In such an event, we make no warranties for

the quality, performance, functions and safety of the product.

•If you install protection/safety circuits for the product or systems that use this product,

make sure to install them on the product separately and externally. Do not install them

inside the product, nor should any internal parts of the product be modified in order to

do so.

•Be sure to replace any parts and consumables of the product with parts specified by

us.

•This product is neither designed nor manufactured to be used under conditions that

may directly affect the safety of humans including in nuclear or radiation-related

devices, railway facilities, aircraft instruments, marine instruments, air-navigation

facilities or medical devices. If it is necessary to apply the product in systems that

directly affect the safety of humans, it is the user's own responsibility to construct a

system for securing the safety of humans with devices and equipment other than the

applicable product.

•Modification of the product is strictly prohibited.

Product Disclaimer

•We make no warranty for the product except as prescribed by the guarantees.

•We assume no responsibility for damages any user or third party may incur through

use of the product, nor for any direct or indirect damages that the user or a third party

may incur due to product defects that cannot be predicted by us, etc.

iii

TI 71M01D06-01EN 3rd Edition: 2012.12.01

Software

•We make no warranties for the software except as prescribed by the guarantees.

•Copying and use of the software for any purpose other than as intended by us, such

as for use as a backup, is strictly prohibited.

•Keep the original storage media of this software in a safe place. If you do not have the

original media, we may decline to offer our prescribed quality warranty and

maintenance services.

•Reverse engineering of the software, including reverse compilation and reverse

assembly, is strictly prohibited.

•The transfer, exchange or subleasing of any part of the software for unwarranted use

by a third party is prohibited without prior permission from Yokogawa Electric.

TI 71M01D06-01EN 3rd Edition: 2012.12.01

General Precautions Regarding DYNASERV

•Never install the DYNASERV motor in reverse, i.e. fixing the rotor of the motor and

making the stator rotate.

•When removing the drive-side panel to replace consumables, etc., be sure to turn the

power OFF before doing so. It is dangerous to touch the high-voltage parts inside the

unit.

•The motor rotates at a high velocity and torque. Take the rotation radius into

consideration during operations with load attached, and be sure to take precautions to

avoid the risk of bodily injury or equipment damage.

•Be sure to ground the ground terminal to the earth.

•When mounting a load on the motor rotor, be sure to leave a clearance between the

load and the upper surface of the motor of 1mm or more in order to maintain the

intended precision.

•Never press an object into the hollow hole or apply force to it. When you lead an object

through the hollow hole, be sure to secure a clearance of 1 mm or more on both sides.

If force is applied to the hollow hole in the DM motor, the internal encoder may be

damaged. The DR motor has a hollow hole in its casting, so take the dimensional

allowance into consideration and use it with sufficient margins for both sizes and

shapes.

•Do not subject the motor to strong force, impact or magnetic field. Please be aware

that the DR motor is equipped with a built-in magnetic resolver.

•Be sure the mounting screws of a load never reach or exceed the effective screw

depth of the motor unit. Depending on the model used, the functions may be impaired

and failure may occur if screws reach or exceed the effective screw depth.

•If you use the screw holes located above and below the box of the DrvPIII drive, be

certain the tips of the screws penetrate no more than 8 mm for the 500 mV and 2 kW

classes, or 6 mm for the 4 kW class, below the drive's surface. If this precaution is not

observed, it may cause an electric shock, short circuit and/or damage to the motor.

Bottom cove

Magnetic resolve

Stato

Rotor

Motor roto

ttached part

Motor's hollow hole

1 mm or more

Object to be led through hollow hole

TI 71M01D06-01EN 3rd Edition: 2012.12.01

•If you intend to use the motor in applications where the move is sliding/rotating at a

small angle (50°or less), it is necessary to perform a reciprocating move (rotate the

motor 180°from the operational range of motion) of 90°or more approximately 10 times

for every 10,000 cycles of the small-angle move in order to prevent the bearing

lubrication from becoming insufficient.

•The motor's surface is magnetized. Keep objects that are affected by magnetism away

from the motor.

•The motor and drive structures are not resistant to dust, splash or water (oil).

Therefore, choose the installation environment carefully.

•The drive should be installed on an appropriate metal cabinet, observing the safety

measures prescribed by the Low Voltage Directive and EMC Directives.

•Interchangeability between motors and drives is only possible if the drive and motor

are compatible (not every motor can be connected to every drive). To determine

compatibility, the DYNASERV motor's five digit model and suffix code must match the

drive's five digit model and suffix code. For example, using to represent the model

and suffix code values, the motor's five digit model and suffix code (DM- or

DR-) must match the drive's model and suffix code (UDG3- or

URG3), respectively. In addition, the current of the drive must also match the

motor requirements.

•The load mounting surface on the motor's upper surface and the stator's mounting

surface at the bottom surface are coated to prevent rust. Before assembling and using

the product, wipe the coating off completely. If any coating remains, the mechanical

precision may be impaired. Be careful so that the coating material and cleaning

solution do not penetrate the motor. If so, the product's internal parts may be

damaged.

•Do not place the motor in the manner shown below. Cables may be flattened and

ultimately disconnected due to the weight of the motor. If you install the motor with the

cable connections below the motor, be sure to include a structure that supports the

cables to avoid any potential damage.

•If the product is installed in such a way that cables are bent in the machine, etc., be

sure the minimum bend radius of the cable is 50mm or more. Moreover, do not install

cables such that they are bent repeatedly. It may cause disconnection and failure.

Standard and optional cables provided by us are limited life-time article and

consumption goods.

Surfaces where an anti-rust coating is applied

The minimum bending radius

must be 50 mm or more.

TI 71M01D06-01EN 3rd Edition: 2012.12.01

•Do not conduct over-voltage tests. Circuitry in the drive or motor may become

damaged as a result of these types of destructive tests.

•When connecting the motor and load, be sure to align the centers of the rotating parts

sufficiently. If there is a misalignment of 10 μm or more, the bearing inside the motor

may be damaged.

•Never attempt to disassemble or modify the motor or drive. We assume no

responsibility if you disassemble or modify them.

•Disconnect all power and wait 7 minutes, before servicing. May cause electric shock.

The high voltage is applied to the regenerative resistor terminal. In general, it is

necessary to wait 7 minutes for 2 kW and 4 kW classes or 4 minutes for 500 W class

until the voltage lowers to the safe level after powering off.

•Do not remove the separator attached in the regeneration resistor terminal of a drive.

The separator is attached to the model with which the regeneration resistor is not

supplied so that regeneration resistor may not be connected accidentally, and so that it

cannot touch carelessly.

•In the case of UD1B□3-075□- drive ; Notch filter frequency (***Hz) peculiar to a

motor is stuck and displayed on the motor. First of all please set this value as a

parameter 20 (frequency notch filter #1) and a parameter 22 (frequency notch filter #2).

Then, please tune the servo.

•Prepare a fixture in the control panel or on the machine, fix the cables to the fixture

near the connectors, so that external force is not applied to the connectors.

•A part of machine parameters overwrites the related parameters when the power is

recycled, if those parameters are changed. “10.0x (Data Sum Error)” may rarely

occur in case that the control power supply is terminated before LED for RDY signal is

lighted when the power is recycled. If this error occurs, restore user data, which was

backed up beforehand, after initialization of user parameters (Backed up parameter

values are set).

•Make sure not to terminate control power supply while All-Reset function is in

execution. All-Reset needs more 5 (five) seconds for the completion. “10.0x (Data

Sum Error)” may occur in case that the control power supply is terminated in this while.

Execute All-Reset again if the error occurs.

•Utility software includes several functions, which recycle AC main power automatically.

“10.0x (Data Sum Error)” may rarely occur in case that the control power supply is

terminated before LED for RDY signal is lighted when the power is recycled. If this

error occurs, restore user data, which was backed up beforehand, after initialization of

user parameters (Backed up parameter values are set).

•If you turn off the power after the occurrence of overload error, please turn on the

power after more than 10min. If this error occurs again, please review the operating

conditions.

Center misalignment of 10

mor less

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TI 71M01D06-01EN 3rd Edition: 2012.12.01

Table of Contents

Introduction ............................................................................................................................................... i

Conventions .............................................................................................................................................. i

Precautions............................................................................................................................................... ii

1. Overview of the Product....................................................................................................................... 1-1

1.1 DR Series Motor DR5A Type ....................................................................................................... 1-1

1.2 DrvPIII Drive UR5AP3 Type ......................................................................................................... 1-1

1.3 Checking the Product ................................................................................................................... 1-2

2. Specifications........................................................................................................................................ 2-1

2.1 Standard Specifications................................................................................................................ 2-1

2.2 Torque/Velocity Characteristics.................................................................................................... 2-4

2.3 Model and Suffix Codes ............................................................................................................... 2-5

2.4 Option Cables............................................................................................................................... 2-7

2.4.1 Option Cable Model and Suffix Code ................................................................................. 2-7

2.4.2 Recommended Cables..................................................................................................... 2-10

2.4.3 Cable Specifications ..........................................................................................................2-11

2.5 Outline Drawings ........................................................................................................................ 2-13

2.5.1 Motor ................................................................................................................................ 2-13

2.5.2 Drive ................................................................................................................................. 2-13

2.5.3 Connector ......................................................................................................................... 2-14

2.5.4 Terminals .......................................................................................................................... 2-14

2.6 Precautions at Installation, Moving and Storage........................................................................ 2-15

2.6.1 Installation of the Motor .................................................................................................... 2-15

2.6.2 Installation of the Drive ..................................................................................................... 2-17

2.7 Stop Function in Error State ....................................................................................................... 2-19

2.7.1 Servo-Deceleration........................................................................................................... 2-19

2.8 Restrictions on the Number of EEPROM Registrations ............................................................. 2-21

2.9 Conformed Standards ................................................................................................................ 2-22

2.10 Restrictions due to Regeneration ............................................................................................... 2-23

2.10.1 Restrictions on Regenerative Resistor Power Consumption ........................................... 2-23

2.10.2 How to Calculate Current Squared Duty .......................................................................... 2-23

2.10.3 How to Calculate Regenerative Resistor Power Consumption........................................ 2-24

3. System Configuration........................................................................................................................... 3-1

3.1 System Configuration ................................................................................................................... 3-1

3.2 Contact I/O Interface .................................................................................................................... 3-2

3.2.1 Contact I/O ......................................................................................................................... 3-2

3.3 CC-Link Interface.......................................................................................................................... 3-3

3.3.1 What is CC-Link?................................................................................................................ 3-3

3.3.2 Network Configuration........................................................................................................ 3-4

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3.3.3 Communication................................................................................................................... 3-5

4. Name and Function of Each Part ........................................................................................................ 4-1

4.1 Motor Unit ..................................................................................................................................... 4-1

4.1.1 DR5A Type ......................................................................................................................... 4-1

4.2 Drive Unit ...................................................................................................................................... 4-2

4.2.1 4 kW Class ......................................................................................................................... 4-2

4.2.2 Explanation of the Front Panel (Contact I/O) ..................................................................... 4-3

4.2.3 Explanation of the Front Panel (CC-Link) .......................................................................... 4-5

5. Wiring ..................................................................................................................................................... 5-1

5.1 Overall Connection ....................................................................................................................... 5-1

5.1.1 Connection Diagram........................................................................................................... 5-1

5.1.2 Circuit Protector.................................................................................................................. 5-2

5.1.3 List of Recommended Parts ............................................................................................... 5-2

5.1.4 List of Cable Specifications ................................................................................................ 5-3

5.2 Main Power Supply/Control Power Supply Terminal <TB1>........................................................ 5-4

5.3 Motor Terminal/Ground <TB2>..................................................................................................... 5-5

5.4 Regeneration Resistor Terminal <TB3>....................................................................................... 5-6

5.5 Sensor Terminal <TB4> ............................................................................................................... 5-7

5.6 Serial Interface Connector <CN1> ............................................................................................... 5-9

5.7 Encoder/Resolver Connector <CN2>......................................................................................... 5-11

5.8 Analog Monitor Connector <CN3> ............................................................................................. 5-13

5.9 Controller Interface Connector <CN4>....................................................................................... 5-14

5.9.1 Contact I/O Interface ........................................................................................................ 5-14

5.9.2 CC-Link Interface.............................................................................................................. 5-18

5.10 Noise Prevention and Installation Conditions............................................................................. 5-19

5.10.1 Line Filter ........................................................................................................................ 5-21

5.10.2 Ferrite Core 1.................................................................................................................. 5-22

5.10.3 Ferrite Core 2.................................................................................................................. 5-22

5.10.4 Motor Filter...................................................................................................................... 5-22

5.10.5 Shielding of Cables......................................................................................................... 5-22

5.11 Drive Input Current ................................................................................................................... 5-23

5.11.1 How to Obtain Input Current........................................................................................... 5-23

5.11.2 How to Obtain Input Current When Operating Multiple Drives....................................... 5-25

5.12 Drive Inrush Current ................................................................................................................. 5-26

5.12.1 Inrush Current Waveforms (representative examples)................................................... 5-26

5.12.2 Selecting Circuit Breaker ................................................................................................ 5-26

5.12.3 Selecting Fuse................................................................................................................ 5-27

6. Operation ............................................................................................................................................... 6-1

6.1 Common Basic Functions............................................................................................................. 6-1

6.1.1 I/O Signals .......................................................................................................................... 6-1

6.1.2 I/O Registers..................................................................................................................... 6-15

6.1.3 #parameters/#monitors .................................................................................................... 6-17