Human Electronics Panasonic All Digital Servo AC Servo Driver MSD} Series Operation Manual (Photo shows MSDO23AIXE. ) ‘Thank you for purchasing our Panasonic All Digital AC Servo Driver, HSD Series. Frong handling or use may result in unexpected accident, shorten the service life, or deteriorate the performance, so please read this manval carefully for correct handling. Please keep this manual carefully for later use. Please be sure to deliver this manual to an end user. This sanual is subject to change for improvenent of contents This manual bears both SI unit system (international unit) and conventional unit. (The real product way bear only conventional unit in sone cases. )Contents Datoretonstutiontisersereresmeettcsssoaees I-l After opening the package 1-2 Confirmation of the applicable motor +++ Cosmetics and title of each part +++ Caution - 3-1 Caution for safety + 3-2 In order to use the driver Installation ** 4-1 Notes in transportation and handling 4-2 Installation place ++++esereers Viring 5-1 Caution on wiring +++" S-I-L Viring to Terminal board + 5-1-2 Viring to Connector CN I/F 5-1-3 Wiring to Connector CN SIG §-1-4 ¥iring to Connector CN SER 5-2 Selection of a wiring equipment Function ter++* 6-1 Configuration of input circuit 6-2 Input/Output signal 6-3 Dynamic brake 6-4 Automatic gain tuning 8-5 Protective function Running peaeeree 7-1 Before running +++++ 7-2 Trial run +++ Adjustment + 8-1 Voltage confirmation of the rotary encorder «+++ 8-2 Gain adjustnent seresseereeeeee 8-2-1 Basics of gein adjustment 8-2-2 Caution on the gain adjustment +++ Parameter steeserseseees 9-1 Outline of parameter 9-2 Detail of Operation 10-1 Key operation of the front panel and display +++ Composition of the front panel+display Outline of the operation +++++++++++ Exanple of operation execution 10-i-4 Detail of operation - (1) Detail of monitor mode + (2) Paraneter setting (3) Detail of EEPROM writing on mode (4) Detail of automatic gain tuning 10-2 Operation with computer 10-2-1 Outline ++++++e+* 10-2-2 Computer and software *: 10-2-3 Composition of "PANATERU” 10-2-4 How to load 10-2-5 Operation (1) Parameter setting//change of settings (2) Control state reference mode +++ (@) Error condition reference node (4) Error record reference mode (5) Automatic gain tuning mode + (6) Vaveform graphic mode «+--+ (1 File operation/Return to US-DOS node Specifications Dimensions +++ Option parts srresresere 13-1. Connector kit for connecting external equipm 13-2. Connector kit for connecting motor encoder + 13-3. Communication control software PANATERN = +++++ 13-4, 8S232C Connection Cable * 13-5. Cable for interface +++ PageeG act tom foe After opening the package + Please check the followings: G1) Right model No. ? (2) Any damage during the transportation? If you find any damage, please contact to your dealer/distributor + Following shows how to read the model No. and its symbols: MEIDMMOIGIALE AC Servo driver Succeeding series (A~Z) USD series e.g. B > English version Design sequence (1, 2.3~) Output of the Rotary encoder spec applicable notor e.g. :A—rIncresental 2500P/r eg: 3A SOT 10-lead-vires 5A > 50 C-Absolute — 2048P/r 01 = 1008 Power source specs. i I egilold 1007 08 ‘7508 3-36 2007 1-2 Confirmation of the applicable motor This driver is designed to be used vith Panasonic AC servo motor. Please refer to the following table for the correct combination of the driver and the motor, and nake sure that the number of the encoder pulses matches each other. fetes -dorbor eerie ue [Series] Model No. |i a a ‘tput| Bacoder pul: river S§gies| Model No. | Input $5! tage| Rated, gutput Fpgover Puises) MSD3A1AIXE A MSHSAZA#E 100/200 30 2500P/r USDSAIAIXE 4 ususazase | 100/200 50 2500P/r WSDOT IATKE A WSHOTIARE 100 100 2500P/7 NSDOZIAIXE B WSHOZIASE 100 200 2500P/¢ MSDO41AIXE | c MSHO41 Axx 100 400 2500P/r WSDSASAIXE a _| usu [“uswaazaee [100/200 30 2500P/r NSDBASAIKE A ususazaxx | 100/200 50 2500P/r MSDOISAIXE A MSHO12A%« 200 100 2500P/r HSDO2BAIXE A wSWOZZA+e 200 200 2500/1 NSDO43A IKE c wsioazaas 200 400 2500P/r MSDOBSAIXE, c WSMOB2A% 200 750 2500P/r Note] Please refer to section 12. “Dimensios” for the suffix.Mounting plate (Refer to Section 4, 12) Display LED (6-figure) (Refer to Section 10-1). Switch for data entry (Refer to Section 10-1) : To shift to the upper figure |: To change data/select the paraseter YY]: To change data/select the parameter Switch for selection display or [SET] I execution display (Refer to Section 10- Switch for mode selection [MODE] (Refer to Section 10-1) Terminal board (Refer to Section 5-1-1) R, S, T: Power input P, B : Por additional regenerative resister U, ¥, f : For motor connection E — : Grounding Check pin (Refer to Section 6-1-4) IM : Torque monitor signal P : Speed nonitor signal G : Ground Connector CN SIG (Refer to Section 5-1-8) For rotary encoder connection Connector CN I/F (Refer to Section 5-1-2 For signal connection Connector CN SER (Refer to Section 5-1-4, 10-2) For computer connection@) 3) «) (5) (6) cor @aaict Caution for safety Even after the power is turned off, inside of the circuit is still charged with high voltage for a while. If you want to touch the terainals of the terminal board, or inside of the driver, please turn off the main pover externally and wait for 5 min or wore. Even vhen the servo motor is off, do not touch the output terminals for notor (, V, and ¥) because high voltage is applied to them while pover is on or for sone time after pover is off. Since a high frequency svitching current runs through the servo motor, and a leakage current is relatively high, please ground together the grounding terminal (E) and the motor grounding terminal (E) vithout fail. Also ground the machine as vell. We recommend you to ground vith 1002 or less, $1.6am or more for prevention of an electric shock and nulfunction. Please keep enough distance from the motor and the machine vhen you turn on the power. While you do not use the motor and the machine for a long time, please turn off pover. Please put on the cover to the terminal board for prevention of an electric shock vhile using the driver. Panasonic driver is designed and manufactured through the highest quality control however, unexpectedly higher external noise or application of high static electricity, or vrong vire connection may cause a misoperation. Please pay extra attention for the safety of your machine. D Please use 4 Non-Fuse Breaker as per the wiring exanple of section 5-1-1.3-2 In order to use the driver properly (1) Since a misuse of the driver may leads to a wrong operation, or may damage the Griver in the worst case, please carefully read the following cautions operation. (2) Please keep and refer to this manual anytime you encounter questions. @ Please do not apply a higher voltage than the rating to the porer input terminals $1. Also please do not input the power to other terminals than the power input terminals (RS, T) in any case. Please refer to section §-I-1 for viring. @® Please connect the output terminal for the motor (U, Y, ¥) correctly. If you connect the terminal for ground, driver get dawaged. @ Input power side is capacitor input type. Then you turn on the power, a high charge current runs and you may see the great voltage drop. We recomend you to have an independent power supply for the driver. : @ Refer to section 5-2 for the capacity of the porer supply. © Please install the driver at ambient temperature of 0°C ~ +50°C. If the temperature exceeds this, it may cause malfunction or damage to the driver. @© then you perfora a dielectric strength test. or megger test to an external Circuit, please pull out all terminals of the driver so that no test voltage may be applied to the driver. © Please do not operate the driver under overcapacity conditions (such as continuous overcurrent operation). © then power is turned off, please keep an interval about 5 to 10 seconds before you turn it on again. If this interval is too short, the system may not start up norsally because its internal circuit is not initialized. @ If you use a leakage current breaker, please use that for the “Inverter” withstands high frequency hich Caution USD series Life of the driver is greatly affected by ambient temperature. Please arrange the installing Measuring point Measuring point condition so that the temperature Sem + + Sem may not exceeds the permissible H temperature range, Please check Te + aarked point. Mox. temperature : 450°C + Measuring pointAn: 4 1 Notes ol n staid at. in transportation and handling M Please handle the unit carefully in transportation avoiding damage to the driver. WM Do not apply excessive pover to the resin case of the driver in handling. 4-2 Installation place M Vertical type. Please place the unit vertically, and keep space for ventilation around. traight op : © In installing the unit, secure it tight vith screvs or bolts avoiding stress on the driver itself such as bend or torsion. © Use a mounting screv or bolt sized M4 or M5. M Avoid a place of high temperature or humidity, or atmosphere containing a lot of dirt, dust. ferrous porder. or chip. M Choose a place of ambient temperature OC to 160°C. Ml Please avoid a place exposed to direct sunlight. _ M Choose a place free fron corrosive gas and grinding liquid. Ml The unit is not water-proof. Do not use the unit outside. IM Choose a place free from vibration. Do not use the unit continuously on a resonance point. 4.9a/s* (0.56) “, or below5-1 Caution on wiring 5-1-1 Wiring to [Perminal board (1) Please sake viring per Fig. 1, “Wiring example to the terminal board”. (2) Please refer to the list of recommended wiring-related equipment in section 5-2. (3) Please avoid a reverse connection between the main power input terminals (R, S, T) and the motor output terminals (U, Y, ¥). (4) Please avoid grounding the output terminals (U, Y, ¥) of the notor, or shorting then each other. (5) Please do not connect anything to the terminals, P and B. Also do not touch these terminals since a high voltege is applied. For use where regenerative energy absorbing ability is insufficient provided by simple incorporated regenerative resistor, please consult the store where you purchased the unit. (6) Please match colors of the motor leads to the corresponding motor output terninals (U, ¥. 1). Please note that, unlike the induction motors, you cannot reverse the rotational direction by changing 3-phase. (7) Please use the pre-insulated, solderless, crimp-on terminals vhen you connect to the terminals on the terminal board. (8) Please securely ground the notor’s ground terminal (E) and the driver's ground terminal (E), and ground then together vith the noise filter's ground terainal. Ye also recomend you to ground your machine itself. Please ground with ground resistance of 1002 or less, and ¢1.6n8 or more. (9) After finishing wiring to the terminal board, please put on the terminal cover to avoid an accidental electrical shock. After wiring, “ensure that ‘there’ is ‘no’ wrong wiring again before turning ‘on: power. (10) If you use a magnetic contactor, relay, coil, or motor with a brake, please install ‘a surge absorbing circuit betveen coils or contacts, or brake windings. (1D Please install a Non-Fuse Breaker and shut off the pover externally in case of energency. (12) Please install a noise filter to reduce a RFI and prevent any malfunction. (Example: LP-200 or 300 series made by Tokin Inc. )Single phase 100V S-phase 2007 (depending Fig. 1. Connector | NC¢— Red 4 White or ow } a s72150-4 | (AMP Japan) iL. 172167-4 (AMP Japan) z|<|cjojo{/a}o|ap—4 2 3 4 Wiring example to the terminal board | inside of driver} i; | | Power input | | | | Connection tol motor | lL. | | | Frame ground5-1-2 Wiring to [Connector CN I7F (1) Please ake wiring per Fig. 2 "Wiring example to connector, CN I/F". On the pin arrangement of CN I/F. refer to section 13-1. (2) Please prepare a power supply for a control signal vith DCI2-24Y, used for external contro! connected between COM + and COM -. (3) Please shorten the viring of the driver and other equipment as auch as possible (3 @ or shorter). (4) Please separate this wiring from the porer lines (R, S, 7, U, ¥. ¥, BD as auch as possible (30 cm or more). Please avoid passing both vires into the same duct or binding them together. (5) Please do not apply more than DC 24¥, 50m, to each terminal of the control output (S-RDY, ALK, COIN), or avoid applying reverse polarity. This may cause danage to the drives (6) If you directly drive a relay with the control output terminals, please install a diode in parallel with the relay as Fig. 2 shors. If you do not install 2 diode, or install it in reverse direction, this way cause danage to the driver, (D As per Fig. 2 please use shielded, twisted pair vires for a signal line of GN 1/F Canalog command input, conmand pulse input, feed-back pulse output of the encoder etc. ). Please ground the shield to the signal ground (GND) of the driver. (Though the shield of other equipment normally open, in case affected by extreme noise, connect shield of both driver and other equipment to frame ground. ) reo reer cree hem ete motte 2raRr tin at ES 221 cCm soiion tae 28 Fem sem snr tet SOA WAX 27 SRY 4 sre ane ste 26] 7a Raita ot LQT ment wet ain rosie rep ye aes rr ipas A] « ata! oy {sien Bi CEPT sree He smoraaaes | ol »—fctteritjest Torque comand __ 75 Speed detection Rotary encoder sigoal Ck + BD beaciptiel bra otary encoder signa! (2) Feedback pulse ———ee (OH, 08) Reedback pale «0, 2) Division - 8 -8 aw @ a ay @) (4) 2-1 Basics of gain adjustment In case of the position control node; © Set a speed feed forvard gain to the minimum (0%) through the Paraneter No. [21 (Refer to section 9, “Parameter” and section 10, “Operation”). @® Set a larger value of the speed loop gain (within the range that no oscillation occurs) through the Parameter No. [03]. @ Set the larger value of the position loop gain through the Parameter No. {20}. within the range that no oscillation occurs. Note] If you set the larger position loop gain, the machine stiffness (at Servo-lock) becomes high. Higher stiffness may cause the oscillation. @ Set the smaller value of the speed loop integration time constant through the Parameter No. [04]. Smaller the value you set, faster the speed you can obtain to make the position deviation toward 0. ® hen you vant to obtain an extremely fast response speed, increase the speed feed forward gain gradually through the Paraneter No. [21]. If you set too large. it may cause the overshoot. In case of the speed control mode; @® Adjust the speed loop gain and speed loop integration time constant to the most proper value, by refering to the above mentioned @ and @. @® If you use an oscillioscope, measure the check pins, SP (speed monitor signal) and IM (torque monitor) of the front panel. Then adjust the speed loop gain and the integration time constant so that you can obtain the minimum overshoot of the speed monitor a signal at the accel/deceleration, against the stepped speed connand, or the minimum ripple of the torque monitor signal. -2 Caution on the gain adjustment The most proper value of the gain setting varies depending on the load. Please make re-adjustment when the load is changed. hen you set the maximum value of the speed loop integration time constant (1000{ns}) at the position control mode, the position-finish may not reach within the range set through the Parameter No. [22] and the positioning end signal (COIN) may not be fed out. Please set this value to "100(ms]" or less at normal condition. If you compose a Servo Drive System in coubination with this driver set at the speed control mode and an external positioning unit, the position loop gain of the servo system may vary due to the setting value of the input gain in speed control node (Paraneter No. [13] ). If you set too high value of the gain setting, it may cause the oscillation. In this case, lover the gain setting to stop the oscillation. If you cannot stop the oscillation, turn the Servo-ON command to OFF by turning off the main power then turn on again to reset the gain from the lower value. - oe9. Parameter 9-1 Outline of parameter (1) MSD Series have parameters through which you can set/adjust various features and functions. And you can refer, set or adjust, @ with the operation panel - display in the front of the driver, or ® vith a computer. (2) Parameters are classified as follows; © User parameter vhich you can set and change the data @ System paraneter which you can refer but cannot set nor change the data Bach parameter consists of 4 pages, and each page is divided by max. 16. (8) Folloving is the list of parameters; Please refer to section 9-2 for the detail. Paran- Related| Adjustable [Standard Type |eter Parameter control actory or frode range setting 0 {| 0 |Name of axis T.S.P ons 0 0! 1 [Selection of initial display TSP 0-2 1 0 : 2 |Selection of contro] mode T.S.P ond 1 0} 8 |Speed loop gain TSP [| _25~3500 eth 0! 4 [Speed loop integration time constant TSP 1~1000tms]|_* 0: 5 [Speed detection filter T.S.P O~4 4 User 0; 6 [Torque limit TSP 0~4000%) * paren PUI Bter” [0 7 [Torque linit inhibit SP a1 i 0! 8 |Speed sonitor gain TSP a7 0 0 ; 9 |Inactive drive inhibit input T.S.P o1 1 01 A [Dynamic brake LSP a1 0 o's Nyperator of pulse frequency division TSP 1~10000 10000 OC [Denogipatpy of pulse frequencty division |T.S.P ~i0000 | to000 0! D [Pulse inversion o~3 0 Of E [Coot in use) = — 0! F [Ginternal use) = — L {0 |Acceleration/Deceleration tine period 0~5000 0 Lt 1 [(not in use) — — 1} 2 [Arrival speed TS | 0~10000tr/ain}| 1000 Li 3 [Input gain in speed control node TS 10~2600 225 11 4 [Input reversal in speed control mode TS a1 0 1 | 5 [Offset voltage in speed control mode TS | -12~i27 0 User, [1 F'6 [Internal/external speed selection TS 1 0 eter” | 1} 7 |Zero-speed clamp cancel TS 01 1 1 £8 [First internal speed %8_[_-7000~7000 0 119 [Cnot in use) — — a 1 $A [Input gain in torque contro} mode oe 25~2500 250 1: B {input reversal in torque control mode T ou 0 1! C Offset voltage in torque control mode T 7127~ 127 o 1} D |Cnot in use) = Pee isaareEe ey (not in use) ania Sere _ Peer 1) F |Cinternal use) — — —_— 28[Paran- Related] Adjustable {Standard Type jeter Parameter control factory No. mode Tange setting 210 [Position loop gain iP 10~1000i/si]* 2: 1 |Speed feed forward fe 0~100{8) 0 2! 2 [Positioning end range P 0~32766(P) | 10 2 | 8 [Position error limit setting P 132766 | 30000 2! 4 (Cancel of position error limit ie . o 2: 5 [Numerator of pulse frequency division ir 1~10000 19000 user [2 16 [Denominator of pulse frequency division | P 1~10000 | 10000 Cier” | 2.7 [Multiplier setting P 1~4 4 2; 8 [Logical inversion P 0~3 a 2 1 9 |Pulse input mode ie 0~3 it 21 A |(not in use) = a — 2 1B | (not in use) — — — 2 C [Cot in use) = — — 24D |(not in use) — — — 21 E |Cinternal use) Sasese Perret Peer 2: F [Cinternal use) — — — 3 | 0 |Motor pole 3.) 1 |Bncoder pulse + These parameters are set by 3! 2 |J/T ratio factory corresponding to the 3 1.3 |Current proportional gain applicable motor and driver. 3 : 4 |Current integration gain + You cannot change the value 3: 5 |Overspeed level of these paraneters. systen| 3! 6 (Wax. output torque eter” | 3:7 [Overload time constant 3; 8 |Overload criteria 3: 9 [Ginternal use) 31 A [Cinternal use) 3 | B |Cinternal use) 3: C |Cinternal use) 3.1 D [Cinternal use) 3: E [Cinternal use) 3 | F [Ginternal use) Note] 1. Please note that "Standard factory setting” nay vary fron the above values depending on the applicable motor specifications. Note] 2. Factory setting value differs of parameters with * depending on the driver model. Note] 3. Symbols used in this column stand as follows: T : Torque control mode S : Speed control node P : Position control mode = 29 -9-2 Detail of user parameter (1) Parameter No. (60) Name or axis (adjustable range: 0~9) + When you use a conputer to refer or monitor the parameter setting, you can tonitor which axis the computer is accessing, vhile you control multi-axis. Setting value of this paraucter becones the part of prompt, displayed on the initial sereen at a serial communication. (C) of Prompt AXISCIS). This setting does not affect any servo operation. (2) Parameter 'No..[0i]:.: Selection of. initial display (adjustable range: 0, 1, 2) You can select the type of data displayed at 7 segment LED. anong the followings when you first turn on the pover. +0: “" a9 Note] Displays the reserved pulse amount of position error counter. unit : [PULSE] ® Range of display is -32767~#32767. If the reserved pulse anount exceeds this range, the display saturates at the upper or lover linit of this range. ® Polarity display (4) : generates CC¥ torque - + generates CF torque : Displays the motor speed. unit : Ur/a Polarity display (4) : rotates at CCH ei - : rotates at C¥ : Displays the motor torque. © Range of display is 0~ +1500 Displayed value)x0.2 represents the actual generated torque Gin % against the rated torque). [e.g.] If the displayed value is "41500", the motor generates 300% of the rated torque at CY. ® Polarity display (4) : generates OC¥ torque 1 generates Cf torque This parameter becones inactive when you operate vith computer. When the polarity is 4, + will not be displayed. (3) Paraneter'No. [02]: Selection of! contro! mode (adjustable range: 0~5) + You can select the control mode with which you use this driver among the followings; ‘ "0" : Position (pulse row) control mode "I" : Speed (analog) control mode "2" : Torque (analog) control ode "3" : Position (Ist.) + Speed (2nd.) control mode "4" : Position (Ist.) + Torque (2nd.) control node "5" : Speed (Ist.) + Torque (2nd.) control mode + You can select either a Ist. or a 2nd. mode vith a contro} mode control input (C-HODE), when you choose one of the above "3", "4" or "5" as follows: Notel hen you select "E” of C-MODE, you can select the Ist. mode. ¥hen you select "L” of C-WODE, you can select the 2nd. mode. Please input C-HODE when the command signal to the shifting control mode is "0", or the motor is at complete stop, since this driver has not interlocking function between the receiving of the control node control input and the existence or nonexistence of the command (pulse row command, Speed/torque conmand), or the reserved pulse amount of the deviation counter. - 30 -© (4) Parameter ‘No. [03)-': Speed Joop: gain (adjustable range: 25~3500) + Proportional gain of the speed amplifier. Larger the value you set. larger the gain you can obtain. Most appropriate value of the speed loop gain depends on the load inertia and the notor mode}. Please refer to section 8-2, “Gain adjustment” for detail. (5) Paraiteter No: £ Speed loop. integration time constant (adjustable range: 1~1000ms) + Integration time constant of the speed amplifier. Smaller the value you set, faster the integration is made. Please refer to section 8-2, “Gain adjustnent” for detail. Note] If you set this to the max. (1000), the integration time constant becones infinite (no integration). (8) Paranetr No. [05]:.: Speed. detection filter (adjustable range: 0~4) + You can select the type (time constant) of the digital filter for speed detection signal. Larger the value you set, quieter the noise you can expect from the uotor. Ye recopend you to set this to “4 unless you need excessive speed response. (1) Raraiietér Nev : Torque Limit (adjustable “range: 0~400%) + This driver is designed to accept the max. torque of 300% of the rated torque for a short duration. You can limit this max. torque when you expect any mechanical problen with the motor load or the machine. + You set the value in percentage of the rated torque (100%). Yhen the setting is "200". : Permissible output torque is 200% (2 times) of the rated torque You cannot set_a higher value than the factory setting value of the systen parameter No. [36] (Wax. output torque setting). Even if you set a higher value, the max. output torque will be automatically adjusted to the max. output torque of the factory setting. (8) Pardneter'No-(O7]. y Torque! Halt inhibit (adjustable range: 0, 1) + You can ignore the analog torque limit input (C¥TL, CCWTL) by setting this to "1". Note| No torque vill be generated when you set this to "0", and the torque limit input (CTL, CCRTL) is open. (9) Paraneter:Na. [08]: :: Speed monitor gain (adjustable range: 0. 1) + You can set the full scale value of the speed monitor signal (SP). "0" : 4095 r/ain full scale "1 : 16883 r/ain full scale + It is set to "0" (4095 [r/min] full scale) in normal specifications. If it is insufficient. set the parameter to “I”. + Relation between the motor speed and the monitor voltage is described as below; Speed monitor voltage (V) 8191 (1228716383, Motor speed [r/min} -31-(10) Parameter No. [09]: Inactive’ drive inhibit input (adjustable range: 0, 1) > You can ignore the CW rotation inhibit input (C#L) and CCW rotation inhibition input (CCHL) by setting this to "1", and the driver runs norgally judging this as “non-inhibit”. Note} No torque of C¥ vill be generated if you set this to "0" and the CY rotation inhibit input (C¥L) is open. Same is applied to CC¥. If both C¥L and CCFL is open, the driver trips due to "Drive inhibit input error”. CD Parameter No. [OA]: Dynamic: brake (adjustable range: 0, 1) + You can select anong the belov, vhile the C¥ rotation inhibit input (CRL) or the CCF rotation inhibit input (CC¥L) is vorking, and the sotor is decelerating: "0" : Dynamic brake is activated and the sotor stops. “1° : Dynamic brake is not activated and the motor wakes free run stop. (12) Pataneter'No: [08]: Numerator. of pulse frequency division (feed back) : (adjustable range: 1~106 + You can set the nuerator of the division of the feed back pulse from the encoder. (18) Parameter‘ ‘No: [OC]: Denominator ‘oF pulse frequency division (feed back) (adjustable range: 1~10000) + You can set the denominator of the division of the feed back pulse fron the encoder. Note] 1. Please make a division ratio lover than | after reducing to a connon denominator. Numerator Division ratio = W Denoninator Note] 2. Please do not set a extreme ratio (such as 1/10000). ¥e recommend you to set a ratio between 1/32 and 1. Note] 8. This driver is designed for the motor vith 2500 [P/r] encoder as a Standard. Folloving table gives you example when you need to adjust te the necessary pulse number based on the systen; Necessary feed back pulses at the systea [P/r] 500 | 1000 | 1500 | 2000 2500 Setting value of numerator | 500 | 1000 | 1500 | 2000 | 2500 C1000) Setting value of denominator] 2500 | 2500 | 2500 | 2500 | 2500 (10000) Note] 4. ¥hen you use division function of feedback pulse. Z-phase pulse is synchronized vith A-phase pulse when division ratio is "1", while note that they are unsynchronized if it is not "1" 32 -(14) Parameter No. (05). :. Pulse inversion (adjustable range: 0~3) + Phase relation of the output pulse from the rotary encoder: B-phase pulse is behind of A-phase at C¥ B-phase pulse is shead of A-phase at C¥ + You can inverse the phase relation between the above 4 and B phase through this paraneter by inverse the logic of B-phase. You can do the sane to Z-phase. + The table belov represents each relation (at C¥) Value of paraneter|A-phase logic B-phase| non-inversion 0 2-phase| logic non- inversion logic inversion| B-phase 1 2-phase| logic = non-inversion| logic B-phase| non-inversion 2 2-phase| logic inversion B-phase| logic inversion 3 Z-phase| logic inversion (15) Patainetéi'N6: (10): : Acceferation/peceleration’ time period (adjustable range: 0~5000) + You can set the acceleration and deceleration time through this parameter. + Relation between the setting value and the accel. /decel. time is described as follows: Acceleration time from O[r/min} to 1000[r/min]{s} Setting value = or 500 Deceleration tine from 1000(r/min} to O{r/mini{s} ¥hen you want to start up from O[r/min] to 3000[r/min} in 6s, OLe/winlee L000cr/eie] in 2s Setting value = 2x500 = 1000 1. Acceleration/Deceleration limit function is not valid at the position control mode and torque control mode. Also do not use the accel/decel, limit function at the speed control mode while you compose a position control loop externally. (Set this parameter to "0".) This may cause ee an oscillation, Note] 2. Please note that you cannot set the acceleration and deceleration time individually. (16) Parameter ‘No, : Arrival. speed (adjustable range: 0~10000) + You can directly set the detection level of the speed arrival signal (COIN) at the speed control or torque control mode, in motor speed [r/nin]. ignal vill be turned on hen the motor speed exceeds the setting value. Please use the output COIN differently per the folloving control mode: At the speed, torque control mode +++ Speed arrival signal At the position control node + Positioning end signal Therefore, this parameter is invalid at the position control mode, 33 -