Iai-america PDR-101-MW User Manual

PULSE DRIVE Operation Manual First Edition

(2) View Menu (V) ... 82 (3)

90 Print Click this button to print the error list. Data Acquisition Click this button to update the error list with the latest error information.

91 (2) Jog Operation Panel Operate the axis using the Fw (+) and Bw (-) buttons. Select the velocity from 1, 10, 30, 50 or 100 [mm/se

92 (4) Processing when Closing the Jog Movement Window If you try closing the Jog Movement window in the SIO mode, the confirmation dialog box sho

93 9.6.3 Memory Initialization a. Select Driver (D) and then Initialize Memory (I) from the menu. b. The warning dialog box shown in Figure 9.6.6

94 9.7 Tool 9.7.1 Environment Setting a. Select Tool (T) and then Environment Setting (S) from the menu. b. Click the Communication tab to

95 c. Click the Display tab to display the window shown in Figure 9.7.2. In this tab, you can set the display unit and coordinate revised d

96 d. Click the Timer tab to display the window shown in Figure 9.7.3. In this tab, you can set the timing at which the PC software reads v

97 9.8 Help 9.8.1 Version Information a. Select Help (H) and then About (A) from the menu. b. The window shown in the Figure 9.8.1 appears. Th

Manual No.: ME0131-1A (December 2011)The information contained in this document is subject to change without notice for purposes of product improvemen

1 1. Overview This product is a pulse-train input type controller for actuators manufactured by IAI. It allows controls according to the command si

2 1.2 Name and Function of Each Part of the Controller (1) Input connector for main power supply Connects the

3 (9) System setting switches Used to change the encoder voltage and boot mode (for remote start). (The rotary switch is used for adjustment by t

4 1.3 How to Read the Model Specification PDR  I  100 B  1  P 1.4 Applicable Actuators It is possi

5 1.5 Options (1) PC Software (Model PDR-101-MW) Content: Floppy disks, PC link cable 1.5 m (Unit model CB-ST-SIO015) Used to set P-Driver paramet

6 (3) Regenerative Resistance Unit (Model REU-1) When the actuator is operating, the motor (drive unit) uses supplied electric energy to rotate. On

7 2. Specification 2.1 Specification List Actuator motor capacity (W) 20 30 60 100 150 200 400 600 750 (W) 34 42 100 150 210 270 520 7

8 2.2 External Dimensions 129.1 88.2 44.1 φ 5 5 184 194 5 5

9 3. Installation and Noise Prevention Please pay attention to the controller’s installation environment. 3.1 Installation Environment a. Avo

Directions for Safe Use Please read these “Directions for Safe Use” thoroughly before selecting a model and using the product. The following prec

10 (2) Grounding for Noise Prevention a. It is necessary to ground the controller to prevent noise, regardless of whether it is configured as a 10

11 (3) Protecting Against Noise Emitting Sources There are many types of noise emitting sources, but the most familiar ones when building a system

12 3.4 Heat Dissipation and Installation Design the size of the control panel, layout of the controller installation and cooling method so that th

13 4. Wiring 4.1 Configuration 100~115 V 50/60 Hz 200~230 V 50/60 Hz Power supply for I/O sig

14 4.2 Connection Diagram The following figure shows a connection diagram of the P-Driver unit. (1) Standard

15 (2) Option RB+ RB- PE 24VNLSCREEPOTRSVRegenerative resistance unit Actuator

16 4.3 Power-Supply Input Interface Connect the power supply specified in 2.1, “Specification List,” to P-Driver. It must be possible to cut off t

17 (2) Emergency Stop It must be possible to cut off the AC power supply via an electromagnetic contact in case of an emergency stop. The following

18 (3) Electromagnetic Brake Power-Supply Input This input is required when the actuator has an electromagnetic brake. Connect a dedicated external

19 Signal classification Pin No. Symbol Signal name Function 9 SON Servo ON Operation of the servo motor is enabled when this signal is turned on.

z Do not use this product in a place where hazardous substances such as combustible, flammable or explosive substances exist. There is a possibi

20 Signal classification Pin No. Symbol Signal name Function 19 AFB +A 20 /AFB -A 21 BFB +B 22 /BFB -B 23 ZFB +Z 24 /ZFB -Z Outputs position

21 4.5 I/O Signal Interface Circuit (1) Sequence Input Part Item Specification Input voltage 24 VDC ± 20% Input current 7 mA/circuit Operating

22 (2) Sequence Output Part Item Description Rated load voltage 24 VDC/60 V (peak; without flywheel diode) Maximum load current 100 mA/circuit I

23 (3) Command Pulse-Train Input Part Differential line-driver input Applicable line driver: 26C31 or equivalent Open-coll

24 (4) Feedback Pulse Output Part Applicable line receiver: 26C32 or equivalent P-Driver 18/(21)/(23)20/(22)/(24)Pin N

25 4.6 Motor Cable Connector List of motor connector terminals (Phoenix GIC2.5/4-GF-7.62 DIP) Symbol Function U V W PE Motor power cable connectio

26 4.8 Sensor (Optional) Input Connector This is an input connector for LS (limit sensor), OT (over-travel sensor) and CREEP (creep sensor), which

27 4.10 RS232C Interface This is a communication interface for the PC software supporting this product. Use the cable supplied with the PC software

28 5. Control and Function of I/O Signals 5.1 Input Signals Input signals to the controller are filtered using a time constant set in order to pr

29 + Servo OFF status 1. There is no holding torque after stopping. 2. Pulse-train inputs, ORGC (homing command signal), TL (torque limit selecti

z Turn off the power in case of electric power failure. Failure to do so may cause injury and product damage, since the product may start moving s

30 5.1.3 Homing Command Signal (ORGC) This signal commands the actuator to perform automatic homing.  Function When the ORGC signal is turned o

31 z Do not turn the TL signal off while the TLR signal is turned on. z While the torque is being limited (the TL signal is turned on), excess

32 z Note that the actuator moves in the negative direction with a forward pulse (forward for the motor) and in the positive direction with a r

33 5.2 Output Signals 5.2.1 System Ready Signal (SRDY) This signal turns on when control of P-Driver is enabled after the main power supply is tu

34 z This signal turns on when the servo is turned on (because the actuator is positioned at that location). z Since this signal is turned on

35 5.2.6 Alarm/Fault Signal (ALM) This signal turns off when the protection circuit (function) of P-Driver detects an error.  Function This sig

36 6. Parameters 6.1 Parameter Configuration The parameters are classified into the following five types depending on the content: a. Driver info

37 Type No. Name Symbol Default value (reference) Unit Input range Description 2 Software stroke limit, positive side (actual stroke) LIMM [A]

38 Type No. Name Symbol Default value (reference) Unit Input range Description 7 Instantaneous maximum current limit value CMLM [A] (multiplier)R

39 Type No. Name Symbol Default value (reference) Unit Input range Description 8 Speed command value at homing OVCM [A] pulse/sec 1~819200 Mo

z Be sure to use genuine parts supplied by IAI for the cable between the actuator and controller. Moreover, be sure to use genuine parts supplied

40 6.3 Parameter Setting Parameters can be set and changed with the PC software. Parameter settings and changes become valid by performing a “soft

41 The number of pulses of the encoder varies depending on the type of actuator. Actuator type Number of encoder pulses (pulse/rev) RCS-SS(R)/RCS-S

42 b. Do not enter a value less than the encoder’s resolution for the minimum movement unit. )(pulse/rev pulses encoder of Number(mm/rev) length

43 6.3.2 Application Settings Set the parameters explained in this section as necessary according to the system and load. Default values indicated

44 (2) Communication Speed Name Symbol Unit Input range Default value (reference) Communication speed BRSL bps 9600~115200 38400 This parame

45  Calculation formula for stroke pulse value In the case of linear axis: (mm/rev) length leadscrew Ball)(pulse/rev pulses encoder of Number

46 (5) Ball Screw Lead Length Name Symbol Unit Input range Default value (reference) Ball screw lead length LEAD mm 0.1~102.4 [A] Set the b

47 (7) Encoder Type Name Symbol Unit Input range Default value (reference) Encoder type ETYP (HEX input) 00~20h [A] Set the type of encoder a

48 (9) Axis Operation Type Name Symbol Unit Input range Default value (reference) Axis operation type ATYP - 0~1 [A] Set the operation type,

49 (11) Deviation Error Output Range Name Symbol Unit Input range Default value (reference) Deviation error output range ECNT pulse 1~ 99999 [A]

Before Using the Product Q Precautions (1) Be sure to read this operation manual to ensure the proper use of the product. (2) It is prohibite

50 (13) Speed Command Value at Homing Name Symbol Unit Input range Default value (reference) Speed command value at homing OVCM pulse/sec 1~81920

51 (14) Acceleration Command Value at Homing Name Symbol Unit Input range Default value (reference) Acceleration command value at homing OACC puls

52 (16) Homing Deviation Pulse Name Symbol Unit Input range Default value (reference) Homing deviation pulse OPLS pulse 1~134217727 [A] Half of

53 (18) Position Command Primary Filter Time Constant Name Symbol Unit Input range Default value (reference) Position command primary filter time

54 (20) Jog Acceleration Default Value Name Symbol Unit Input range Default value (reference) Jog acceleration default value ACC pulse/sec2 1000~1

55 (21) Jog Deceleration Default Value Name Symbol Unit Input range Default value (reference) Jog deceleration default value DEC pulse/sec2 1000~1

56 (22) Jog Speed Default Value Name Symbol Unit Input range Default value (reference) Jog speed default value VEL pulse/sec 1~1092266 [A] Se

57 (23) Maximum Speed at Incomplete Homing Name Symbol Unit Input range Default value (reference) Maximum speed at incomplete homing SVEL pulse/se

58 (24) Maximum Acceleration Value Name Symbol Unit Input range Default value (reference) Maximum acceleration value ACMX pulse/sec2 1000~19267584

59 (25) Maximum Deceleration Value Name Symbol Unit Input range Default value (reference) Maximum deceleration value ACMX pulse/sec2 1000~19267584

Table of Contents 1. Overview... 1 1.1 Features .

60 (27) FBP Mode (Feedback Pulse Output Mode Selection) Name Symbol Unit Input range Default value (reference) FBP mode FBPT (HEX input) 00~12h

61 The resolution of the output pulse trains is determined by the electric gear ratio of the command pulse input set in the position control paramet

62 (29) Speed Loop Integration Time Constant Name Symbol Unit Input range Default value (reference) Speed loop integration time constant VLPT msec

63 (31) Current Control Bandwidth Name Symbol Unit Input range Default value (reference) Current control bandwidth CLPF msec 500~32767 [A] This p

64Electronic gear CNUM CDEN 6.4 Servo Adjustment When P-Driver is shipped from the factory, the parameters are set in such a way that the closed-l

65 6.4.2 Adjustment 1 (1) The Host Controller is not Equipped with Acceleration/Deceleration Function or the Input Pulse Frequency Changes Sharply

66 (2) The Actual Speed does not Follow Commands Well The actual speed is abnormally slow compared to the commanded speed, vibrations occur during

67 6.4.3 Adjustment 2 (1) Shocks at Start/Stop It is desired to move smoothly without sudden acceleration/deceleration or accelerate/decelerate s

68 7. Troubleshooting 7.1 Handling Problems If problems occur, handle them according to the following procedure for prompt recovery and prevention

69 7.2.1 Errors Occurring when Turning the Power Supply on When the prescribed power is supplied to the main power supply of P-Driver, the RDY LED

5. Control and Function of I/O Signals... 28 5.1 Input Signals ...

70 (2) Positioning is not Accurate (3) Abnormal Noise and Vibration are Generated YES YES YE

71 7.2.3 Alarms (1) Alarm Levels Alarms are classified into the following three levels according to the error description: Alarm level Alarm code

72 (2) List of Alarms a. Message Level Alarm code (HEX) Name Cause 801 SCIF over-run status (at protocol reception) Error in communication with th

73 b. Operation Cancellation Level (Forced Stop) Alarm code (HEX) Name Cause B05 Estimated stroke over error at homing Error in home sensor, creep

74 c. Cold Start Level Alarm code (HEX) Name Cause D03 Count error Error status of a serial encoder D08 Encoder communication CRC error CRC error

75 8. Operation Procedure Operate P-Driver according to the four-step procedure as specified below: Step 1 Checking unit operation of the deliver

76 [Test Run Procedure] 1. Temporarily fix the actuator at a safe location. 2. Connect P-Driver and the actuator. (Connect the brake power supply

77 [Test Run Procedure] 1. Temporarily fix the actuator at a safe location. 2. Connect I/O signals to the host controller. (Connect the brake powe

78 8.4 Step 4 Operate the entire system from the host controller under the actual usage conditions and check that P-Driver operates normally. [It

79 9. PC Software (PDR-101-MW) 9.1 Before Using the PC Software (1) Checking Accessories Before using the software, check that each of the foll

(23) Maximum Speed at Incomplete Homing... 57 (24) Maximum Accelerat

80 8) Hard disk space A hard disk with 2 MB or more of free space (This software is installed on the hard disk.) 9) Serial port An RS-232C seri

81 9.2 Checking Connection When you start the application, the connection check dialog box (Figure 9.2.1) appears first. The PC communicates with t

82 Figure 9.3.2 Offline Startup Window 9.3.1 Operations from the Main Menu (1) File Menu (F) 1. New (N) Create new parameter data. 2

83 (4) Monitor Menu (M) This menu is used to monitor various statuses, port conditions, etc. and reference error histories. 1. Status (S) Open

84 (8) Help Menu (H) 1. About (A) Display the version information of this application. *1. Valid only in the online mode. 9.3.2 Operations

85 9.4 Edit Parameter Window 9.4.1 Explanation About the Edit Parameter Window a. Select Parameter (P) and then Edit (E) from the menu. b. The

86 * When you open the Edit Parameter window for the first time after starting the application, the parameter input ranges are acquired from the dr

87 Figure 9.4.3 Confirmation Yes (Y) Transfer the edited data to the driver; then proceed to (3) Restarting the Driver. No (N) Discard

88 Figure 9.5.1 Status Monitor Axis Information Click this button to display axis information, such as current position. Axis Status Click th

89 Encoder Status Click this button to display the status of the encoder. * At the point when you open this window, the axis sensor input status