Instruction Manual - nikkidenso.co.jp · VPS Series AC Servo Driver NCR - DCC0/DCD0 Instruction Manual Ver. 1.9 NIKKI DENSO CO., LTD. Manual No. TI-13940

VPS Series

AC Servo Driver

NCR - DCC0/DCD0

Instruction Manual

Ver. 1.9

NIKKI DENSO CO., LTD.

Manual No. TI-13940

Preface

Thank you for adopting our 1 axis synchronous type AC servo driver (hereinafter, referred to as "Device" or "This Device"). This device is the AC servo driver that executes high speed / high precision servo control in combination with synchronous AC servo motor having features like compactness / highresponse / high power rate. The system comprising this device and AC servo motor, is used as a driving power source for various machines. This instruction manual (hereafter, referred to as This manual) explains installation, wiring, operation, trouble diagnosis and trouble shooting etc. of this device. In order to use this unit properly, please deeply understand the contents of this manual. At the time of installation, wiring, operation, maintenance, etc, please comply with the conditions and procedures of this manual. Further, if special version unit is applied, please use both of this manual and materials of the special version specification. (Specifications are prior to this manual regarding the described details.) This instruction manual corresponds to the machine for which following items are displayed in status display mode of data display LED.

Device number Device specification

Corresponding motor class

Software version

. IO model VPS series: NA80/800 series motor serial encoder A

.

. IO model VPS series: NA80/800 series motor 90phase difference pulse encoder B

.

. IO model VPS series: linear motor high-resolution encoder C

.

. IO model VPS series: linear motor 90phase difference pulse encoder D

.

. IO model VPS series: DISC motor high-resolution encoder E

.

. IO model VPS series: DISC motor 90phase difference pulse encoder F

.

. CC-Link model VPS series: NA80/800 series motor serial encoder A .

. CC-Link model VPS series: NA80/800 series motor 90phase difference pulse encoder

B .

. CC-Link model VPS series: linear motor serial encoder C

.

. CC-Link model VPS series: linear motor 90phase difference pulse encoder D

.

. CC-Link model VPS series: DISC motor high-resolution encoder E

.

. CC-Link model VPS series: DISC motor 90phase difference pulse encoder F

.

. IO model VPS series: linear motor ABS linear scale G

.

. CC-Link model VPS series: linear motor ABS linear scale G

.

* The high-resolution encoder is one of our products, named [IPU series] * Software version is applied to any newer version than the above ones.

When using the linear motor, apply the description of "Torque" to "Thrust". In the linear motor/DISC motor, and if the machine can not perform "Automatic

magnetic pole detection operation (Motor amplitude operation)" due to such reasons as work-interferences, use "Magnetic pole sensor".

[Other manuals]

The instruction manuals other than this manual related to this device are as following. Option volume (Option list of cables, terminal block, regenerative resistor, etc.) Communication volume (Description of communication connection, procedure, data) Absolute position conpensation edition.

[Warranty period]

Warranty period of our products is 1 year after shipment from our factory. However, please note that any failure or abnormality resulting from the following causes is not covered by the warranty. Modification by parties other than NIKKI DENSO. Non standard operation different from rules and regulations stipulated in this manual. Natural disaster or act of gods. Connection with an other makers unit which is not approved by us.

Range of our warranty only covers repair of our products. Damages induced by the failure in the delivered products, opportunity loss at the side of the client, secondary damages, and accident compensation are excluded. Regardless the warranty period, please inform our sales person whenever you find any failure or abnormality.

Caution Our products have been designed and manufactured for the aim of the general purpose

applications in the general industry and the products are not intended to be used in any equipment and system that may involve human life. For this reason, we are free from any responsibility if the products are used in any other applications than we intended. (Examples: Applications in the equipment and system for the purpose of atomic, aerospace, medical, and passenger vehicles that may greatly involve the human-life and assets.

When installing the product to the facility that may involve serious accidents and loss by excessive exterior noises or failure on the motor, install the back-up and fail-safe functions systematically.

If used under the conditions where sulfur or sulfide gas is produced, splitting due to corrosion on the tip resistors or poor connection on the contacts can occur.

[Check items] 1. Receiving check of our products

Please check the following points when you receive our products.

(1) If the products are exactly the ones you ordered. (Type, Rated output, Accessories, etc. (2) If baggage are not damaged during transporting.(Package damage, Abnormal out look) (3) If accessories are packed together with the main products.

* If packages as carton boxes are broken, please do not unpack them and inform our sales man. And if above points are unclear or damage, etc. is found, please immediately contact our sales man.

2. Precautions before installations (in handling) When transporting a controller and a motor, please handle with care so as not to damage them.

*Cautions

Be careful not only to pile controllers but also putting anything on the controller cover. Be careful not to add shock to a motor shaft It may damage an encoder on the motor shaft. Do not move a motor with having a motor cable It may cut the cable.

3. Cautions of storage

If our products are not used immediately after receiving, store them under the following conditions in order to prevent deterioration of insulation and rust formation. However, unpack the packages, soon after receiving and check any damage and other non-conformances incurred during transportation.

Item Description

Temp. -20+60 Humidity 85 or less (non-condensing)

Ambient Condition

Storage Location

Store in a clean place free from dust and dirt. Do not store in harmful atmosphere such as corrosive gas, grinding powder, metal powder, oil, etc.

Vibration Store in a place free from vibration.

Others

If storage period is planned for long time, please make rust prevention to screws of terminal blocks and then inspect them periodically. Rust prevention effective period is within 3 months after the shipment from our factory under the above described environmental conditions.If storage period is planned for long time, please make rust prevention to a motor shaft and flange face and then inspect them periodically. Storage conditions of a device and a motor

4. Precaution of transportation

If you transport our product after receiving, please satisfy following conditions.

Item Description Temp. -20+60

Humidity 85or less (non-condensing)

Am

bien

t co

nditi

on

Storage Location

Do not transport in a harmful atmosphere such as corrosive gas, grinding powder, metal powder, oil, etc.

Vibration 0.5G or less(Controller, motor) Transporting conditions of a device and a motor

* NIKKI DENSO retains the right to revise this document on matter how it is altered.

Although the information from NIKKI DENSO is reliable, NIKKI DENSO will not assume responsibility whatever results may arise from the use of this information unless specially guaranteed by NIKKI DENDO.

Cautions for Safety

Before executing the installation / operations / maintenance / inspection, always read this manual and attached document carefully. Use this device only after getting the proper knowledge of this device and understanding the safety information and precautions. In this manual cautions for safety are ranked as Danger and Caution. And cautions for handling are divided into Prohibition, Compulsion witch are defined (action not to be done) and (action to be done).

Danger

If mishandling is made, dangerous situation as death or serious injury of a worker could occur.

Caution

If mishandling is made, dangerous situation as medium or light injury and only damage of goods could occur.

However, since a marked item could also cause serious results depending on the actual condition, please comply with the important instruction.

Caution

Prohibition

Action not to be done If this caution is ignored, the unit does not perform, properly.

Compulsion

Action to be done If this caution is ignored, the unit does not perform, properly.

[Cautions when using unit]

Danger Since electric shock and injury may occur, please be sure to comply with the following suggestions. Never touch inside of this unit (AC Servo driver)and terminal blocks. Electric shock may occur. Be sure to make grounding of an earth terminal or earth cable of this unit (AC Servo driver) and a

motor. Use larger earth cables as much as possible for Class D grounding (Old name: Class 3 grounding) or better grounding.

Electric shock may occur. Execute shifting, wiring, maintenance, and inspection of the device after 3 minutes of switching the

power off. Since the voltage remains in power section for about 2 to 3 minutes even after switching the power off, do not touch the unit carelessly.

Electric shock may occur. Do not damage, force cables excessively, put any heavy thing on cables and nip cables.

Electric shock may occur.

Never touch the rotating section of running motor. Injury may occur.

Caution Use a specified motor and this unit (AC Servo driver).

Fire or failure may occur.

Never use in the atmosphere such as water splash, corrosive or low plashing point gas nor place close to flammable goods.

Fire or failure may occur. Since temperature of a motor, this unit (AC Servo driver) and peripherals raises quite high, do not

touch them. Burn may occur. In supplying power or for a while after shutting power off, since a radiator,

Regenerative resistor, a motor, etc. could be very hot, do not touch them. Burn may occur. Never conduct voltage withstanding test and mega test of this unit.

Fire or failure may occur.

[Receiving and checking of packages]

Caution When you receive ordered units, please check the contents (model, output rating etc.) If wrong thing

is found or quantity is wrong, please do not use them and inform the status to our sales man. Electric shock, injury, damage, fire or failure may occur.

If packages of our products are broken, do not unpack them and inform the fact to our sales man. Electric shock, injury, damage, fire or failure may occur.

[Storage]

Prohibition Do not store units in a place of raining, water dripping, and harmful gas/ liquid.

Compulsion Store units in a place of no sun-shine or under controlled temperature / humidity within the specified

range. If the device is stored for longer period, contact our Purchase branch office or Contact counter

mentioned in this manual. [Transportation]

Caution Do not hold a cable and a motor shaft during transporting units. [Injury or failure may occur.] During transportation, handle the device or motor etc. carefully, such that it will not fall down causing

damage to the device. [Injury or failure may occur.]

Compulsion Complying with the suggestion, do not transport excessive amount break whole packages.

[Installation]

Caution Do not climb or put any heavy thing on this unit. [Injury or failure may occur.]

Prevent foreign particles entering the device. [Fire may occur.] Be sure to install this unit to the specified direction. [Fire or failure may occur.] Internal side of the control panel or other equipments should be kept at a specific distance from this

unit. [Fire or failure may occur.] Never apply heavy shock to this unit. [This unit may be damaged.] Conduct proper attachment suitable for output or weight of this unit. [This unit may be damaged.] Attach this unit to a non-flammable thing as metal. [Fire may occur.]

[Wiring]

Caution Be sure to conduct correct wiring. [Running away, burning of a motor, injury or firefailure may occur.] Never connect the power to the terminal block (U, V, W) of motor connection of the unit [Running away, burning of a motor, injury or firefailure may occur.] To avoid the impact of noise on this device, use cables having specified length and specified

features (shielded, twisted, etc.). [Running away of a motor, injury or machine damage may occur.] To prevent this unit from noise influence, use separate control I/O cables of this unit (AC Servo

driver) from other power supply cables, and power line. [Running away of a motor, injury or machine damage may occur.] To avoid electric shock and noise influence, be sure to make proper grounding

(earth). [Running away of a motor, injury or machine damage may occur.]

[Power]

Compulsion Power supply should be within the specified range. [Injury, fire or failure may occur.] [Operation and Run]

Caution Motor does not have protector. Protect using the over current protector / earth leakage circuit

breaker / over temperature protector / emergency stop device [Injury or fire may occur.] Power supply should be within the specified range. [Injury , fire or machine damage may occur.] Before conduct test run, separate a motor from its machine system and fix it to a adequate place

and confirm the motion, then connect the motor to the machine. [Injury or machine damage may occur.]

Since the holding brake of the machine is only for holding, do not use it as an actual braking device.[Injury or machine damage may occur.]

Since excess adjustment may cause this unit unstable, avoid this situation. [Injury or machine damage may occur.] When an alarm occurs, be sure to eliminate the cause, reset the alarm and resume this unit. [Injury or machine damage may occur.] When power recovers from black out status, since sudden re-start may occur, do not approach the

machine. (Machine system design shall be considered to maintain safety of workers against re-start.)[Injury may occur.]

Do not apply static electricity while operating the operation key on the panel. (The operator should set the earthing and should operate the operation key when there is no static charge.)

[Failure may occur.] DISC motor can be unstable depending on the interval of OFF/ON operation of the driver power

supply, and hunting phenomena can occur when the external force is applied to the motor rotating surface. This is induced by characteristics of an installed encoder and is not a defect. However, in the use of this unit, particularly when you switch OFF/ON the driver power supply (for example, switching the power OFF/ON to reset the machine), we recommend you to allow for more than 15 seconds before you switch ON again after shut-off at the motor stop. If this phenomenon occurred at the power-on, carry out OFF/ON operation of the driver power supply observing the above precautions. As for the OFF/ON of the power supply, carry out necessary process referring to the [3-1 Connecting Power Supply], [3. Power-ON Sequence] on this manual from the point of view in protecting power circuit components. [Injury or machine damage may occur.]

[Operation and Run]

Prohibition Do not supply power in motor turning or vibrating status. [Running away of a motor, injury or machine damage may occur.] Since the brake on a motor are for maintenance purpose, do not use it as normal brake. [Injury or machine damage may occur.]

Compulsion Stop the operations immediately and set emergency stop circuit outside in order to stop the power

supply.

[Maintenance and inspection]

Caution Capacity of capacitors in the power supply line, will deteriorate.

To prevent secondary damage caused by the capacitors, we recommend to replace them about every 5 years.

[Failure may occur.] Capacity of aluminum electrolytic capacitors on the printed circuit board, will deteriorate.

To prevent secondary damage caused by the capacitors, we recommend to replace them about every 5 years.

[Failure may occur.] Cooling efficiency of an internal cooling fan motor of this unit will deteriorate as time going. To prevent secondary damage caused by the capacitors, we recommend to replace them about

every 2 to 3 years. [Failure may occur.]

Prohibition Overhaul/ repair shall be conducted only by us or suggested shop by us.

Contents page Chapter 1 Outline

1-1 Configuration 1-1-1 Servo motor drive system configuration...................................................................... 1-1 1-1-2 Names and functions of each part of device............................................................... 1-3 1-1-3 Mode Configuration .................................................................................................... 1-5

Chapter 2 Installation

2-1 Receiving Check of Our Products....................................................................................... 2-1 2-2 Installation Conditions......................................................................................................... 2-2 2-3 Installation Method.............................................................................................................. 2-3

Chapter 3 Wiring

3-1 Power Source Wiring .......................................................................................................... 3-1 3-2 Motor Connection ............................................................................................................... 3-4 3-3 Grounding........................................................................................................................... 3-8 3-4 Regenerative Resistor Wiring ............................................................................................. 3-9 3-5 Control Circuit Wiring.......................................................................................................... 3-10 3-6 Noise Protection ................................................................................................................. 3-11 3-7 Applicable Cable................................................................................................................. 3-12

Chapter 4 Connection

4-1 External wiring diagram ...................................................................................................... 4-1 4-1-1 VPS-IO type motor pulse encoder External wiring diagram ................................... 4-1 4-1-2 VPS-IO type NA80/800 series Serial encoder External wiring diagram...................... 4-3 4-1-3 VPS-IO type motor High-resolution encoder External wiring diagram.................... 4-5 4-1-4 VPS-IO type linear motor ABS linear scale External wiring diagram................ 4-7 4-1-5 VPS-CC-Link type NA80/800 series motor Serial encoder External wiring diagram... 4-9 4-1-6 VPS-CC-Link type motor High-resolution encoder External wiring diagram........... 4-10 4-1-7 VPS-CC-Link type motor High-resolution encoder External wiring diagram ...... 4-11 4-1-8 VPS-CC-Link type linear motor ABS linear scale External wiring diagram ...... 4-12

4-2 Input and output signals 4-2-1 Input and output signal list .......................................................................................... 4-13 4-2-2 Serial remote signal list............................................................................................... 4-32 4-2-3 Input and output Interface........................................................................................... 4-33

4-3 Connector Pin Layout 4-3-1 Control I/O Connector (CN1) .................................................................................... 4-37 4-3-2 Encoder Feedback Pulse Input Connector (CN2)....................................................... 4-39 4-3-3 Serial Communication Connector (J1A/DSW) ............................................................ 4-40 4-3-4 USB Connector (J2).................................................................................................... 4-40 4-3-5 Main Power Input/ Transmission Line Output Terminal .............................................. 4-41 4-3-6 CC-Link communication connector (TB3) ................................................................... 4-42

Contents page Chapter 5 Setting and Display

5-1 Function of each part of the operational Panel ................................................................... 5-1 5-2 Construction and transition of the operation mode ............................................................. 5-4 5-3 Status display main mode................................................................................................... 5-6

5-3-1 Display items of status display 0 mode....................................................................... 5-7 5-3-2 Display Item of status display 1 mode ........................................................................ 5-10 5-3-3 Display items of the alarm display mode .................................................................... 5-13 5-3-4 Display item of device information display .................................................................. 5-14

5-4 Parameter editing main mode............................................................................................. 5-15 5-5 Operation items .................................................................................................................. 5-16 5-6 Self-diagnosis mode ........................................................................................................... 5-23

Chapter 6 Parameter

6-1 Parameter group list ........................................................................................................... 6-1 6-2 Parameter list ..................................................................................................................... 6-2 6-3 Parameter description......................................................................................................... 6-13

Chapter 7 Self-diagnosis

7-1 Self diagnosis mode ........................................................................................................... 7-1 7-2 Execution procedure of Self-diagnosis mode ..................................................................... 7-2 7-3 Self-diagnosis Item ............................................................................................................. 7-3 7-4 Auto tuning ......................................................................................................................... 7-8

7-4-1 Automatic tuning execution procedure........................................................................ 7-9 7-4-2 Automatic tuning function ........................................................................................... 7-10 7-4-3 Tuning level adjustment function ................................................................................ 7-14

Chapter 8 Run

8-1 Inspection Before Start ....................................................................................................... 8-1 8-2 Run operation ..................................................................................................................... 8-2 8-3 Speed control run ............................................................................................................... 8-4 8-4 Pulse train run mode........................................................................................................... 8-6

8-4-1 Position control run as per the pulse train command.................................................. 8-6 8-4-2 Zero return run............................................................................................................ 8-8 8-4-3 Positioning run............................................................................................................ 8-29 8-4-4 Jog run........................................................................................................................ 8-31

8-5 Oscillo-monitor.................................................................................................................... 8-34 8-6 Run procedure.................................................................................................................... 8-35

8-6-1 Confirmation of power source voltage ........................................................................ 8-35 8-6-2 Trial run ...................................................................................................................... 8-35

8-7 Adjustment.......................................................................................................................... 8-39 8-7-1 Adjustment at shipment .............................................................................................. 8-39 8-7-2 Adjustment point of individual phenomenon (parameter)............................................ 8-40 8-7-3 Adjustment method..................................................................................................... 8-41 8-7-4 Automatic magnetic pole detection operation ............................................................. 8-43

Contents page Chapter 9 Error Diagnosis and Corrective Measures

9-1 Inspection and confirmation Items ...................................................................................... 9-1 9-2 Protective function .............................................................................................................. 9-2

9-2-1 Protective function list................................................................................................. 9-3 9-2-2 Inspection method and corrective measures when alarm occurs ............................... 9-9

Chapter10 CC-Link Communication Chapter11 Type, Specifications, Shape

11-1 Device............................................................................................................................... 11-1 11-1-1 Device type............................................................................................................... 11-1 11-1-2 General device specification..................................................................................... 11-2 11-1-3 Function device specification.................................................................................... 11-3 11-1-4 Electrical device specification ................................................................................... 11-7 11-1-5 Device outline diagram ............................................................................................. 11-11

11-2 Regenerative resistor........................................................................................................ 11-17 11-2-1 Regenerative resistor combination ........................................................................... 11-17 11-2-2 Regenerative resistor Outline ................................................................................... 11-17

Chapter12 Maintenance

12-1 Daily inspection............................................................................................................... 12-1 12-2 Periodic inspection.......................................................................................................... 12-1 12-3 Other inspections............................................................................................................ 12-2

- 1-1 -

Chapter 1 Outline

1-1Configuration

1-1-1 Servo motor drive system configuration 1) IO model VPS series, Servo motor drive system configuration Servo motor drive system configuration in the IO model VPS series is as shown in [Figure 1-1]. This device consists of a servo motor (NA80/NA800/linear motor/DISC motor), an encoder incorporated in the servo motor to detect the speed and position, and the optional cable, encoder cable, and regenerative resistor.

[Figure1-1] IO model VPS series, Servo motor drive system configuration

Change of speed control, plus train control by external control signal is possible in this unit. Furthermore, correspondence to several varieties of AC servo-motor according to the parameter is possible.

2) CC-Link model VPS series, Servo motor drive system configuration

Servo motor drive system configuration in the CC -Link model VPS series is as shown in

NA80/NA800/linear/DISC motor

Term

inal

Encoder cable (Option)

IO model VPS series

AC100/200V Device power () (S is applicable to a 0.8/1.6KW device only)

General-purpose communicationRS-422A

Speed command input -10V to +10V/Plus train command input

Motor cable (Option)

Control output signal/encoder pulse output

Control input signal

Control input/output signal power supply +12V to +24V

Regenerative Resistor (Option)

B1

B2

J2

CN2

Ground

J1A

Data editor (Option)

Dynamic brake unit (option)

DBK,DBC Battery for absolute encoder (Option)

MD/ ENT

- 1-2 -

[Figure1-2]. This device consists of a servo motor (NA80/NA800/linear/DISC motor), an encoder incorporated in the servo motor to detect the speed and position, and the optional motor cable, encoder cable, regenerative resistor, CC-Link master unit to control this device, and others.

[Figure 1-2] CC-Link model VPS series, Servo motor drive system configuration

Change of speed control, plus train control by external control signal is possible in this unit. Furthermore, correspondence to several varieties of AC servo-motor according to the parameter is possible.

NA80/NA800/linear/DISC motor

Term

inal

Encoder cable (Option)

CC-Link model VPS

series

AC100/200V Device power () (S is applicable to a 0.8/1.6KW device only)

Motor cable (Option)

Plus train command input

Control output signal

Control input signal

Control input/output signal power supply +12V to +24V

Regenerative Resistor (Option)

B1

B2

J2

MD/ ENT

CN2

Ground

Data editor (Option)

Dynamic brake unit (option)

DBK,DBC

Battery for absolute encoder (Option)

CC-Link master, etc. CC-Link exclusive cable

- 1-3 -

1-1-2 Names and functions of each part of the device 1) IO model VPS series, Name and function of each part of the device

J1A

CN2

CN1

MD/

ENT

J2

R

(S)

T

U

V

W

B1

B2

DBK

DBC

DSW

No Name Symbol Function

Data display LED It shows the status display, alarm code display, parameter value display, self-diagnosis status display.

Operation key ,

ENT

It executes the selection of status display, parameter editing and the operations of self-diagnosis.

USB connector J2 It is the connector which connects the USB signal.

Communication end switch DSW It is the termination connection switch of the serial communication signal.

Communication connector J1A It is the connector which connects serial communication signal. Encoder connector CN2 It connects the cable from the motor encoder.

Control input/output signal connector CN1 It is the connector which connects each command input

and control input/output.

Ground It is the ground terminal which connects the power

grounding and motor power grounding. M4 screw is used.

For power It connects the power line and regenerative resistor to

the power supply and the motor. S-phase is valid only for the 800W/1.6KW device.

Battery installation guide This guide is not used.

Communication connector

For power

Operation panel Data display LED

Operation key

Communication end switch

Ground

Encoder connector

MOD/

Battery installation guide

USB connector

Control input/output signal connector

- 1-4 -

2) CC-Link model VPS series, Name and function of each part of the device

CN2

CN1

MD/

ENT

J2

R

(S)

T

U

V

W

B1

B2

DBK

DBC

TB3

ER/RN/SD/RD

SL

DG

DB

DA

TB3

SL

No Name Symbol Function

Data display LED It shows the status display, alarm code display, parameter value display, self-diagnosis status display.

Operation key ,

ENT

It executes the selection of status display, parameter editing and the operations of self-diagnosis.

USB connector J2 It is the connector which connects the USB signal. Encoder connector CN2 It connects the cable from the motor encoder.

Control input/output signal connector CN1 It is the connector which connects each command input

and control input/output.

CC-Link data link status indication LED It is the LED which indicates the status of the CC-Link

communication.

CC-Link communication connector TB3 It is the connector which connects the CC-Link

communication cable.

Ground It is the ground terminal which connects the power

grounding and motor power grounding. M4 screw is used.

For power It connects the power line and regenerative resistor to

the power supply and the motor. S-phase is valid only for the 800W/1.6KW device.

Battery installation guide This guide is not used.

Control input/output signal connector

Data display LED

Operation key

USB connector

Encoder connector

Ground

For power

Battery installation guide

CC-Link data link status indication LED

CC-Link communication connector

MOD/

Operation panel

- 1-5 -

1-1-3 Mode Configuration Each run mode configuration is shown in [Figure 1-3].

[Figure1-3] Mode configuration

Description of each mode Mode Function / Contents

Normal operation mode

Speed control run Speed control is executed by speed command input signal. Furthermore, operations of the speed set in the parameter are also possible depending on the speed selection signal.

Plus train run Zero return, positioning and inching control are carried out by creating

position control by pulse train command input and pulse command inside this device.

The output torque of the motor axis can be restricted to less than the fixed value depending on both modes and torque control command change signal.

Speed control run mode and pulse train run mode can change over by the control input signal.

Self-diagnosis mode Each type of diagnosis is carried out for this unit. Self diagnosis mode is changed over from normal operation mode by the

operation key. Each type of self-diagnosis is carried out by the operation key.

[Table11] Operation mode outline

Self-diagnosis mode

Speed control run

Memory check

I/O check

Analog circuit check

Analog circuit adjustment

Parameter initialization

Pulse train run (Position control by pulse train command input/zero return by internal plus generation, positioning, inching control.)

Auto tuning

Test run, forced inching, forced zero return

Normal run mode

- 2-1 -

Chapter 2 Installation 2-1 Receiving Check of Our Products

Please confirm following points when you receive our products.

If products are exactly ones what you ordered. (type, rated output, etc.)

If any damage was made during transportation. (package damage, abnormal outlook of

devices) If accessories are packed, together.

If above points are unclear or damage is found, please immediately inform our sales man.

Caution

If packages as cartons are broken, please do not unpack the package and inform our salesman.

- 2-2 -

2-2 Installation Conditions

The allowed ambient temperature and the humidity range for device are as follows.

Ambient temperature : 0~55C Ambient humidity : Less than 85 %( No condensation)

Temperature rise inside the control cabinet should be less than 10C for outside temperature.

Considering the generation loss of equipment and the device in the control cabinet, and the convection and radiation effect in cabinet, keep the temperature around the controller lower than specified allowable range.

The heating value of the device is approximately 10%+30W of the motor capacity. While selecting the cooling fan or heat exchanger, calculate above mentioned generation loss

and select the same having greater capacity. Particularly when multiple devices are to be placed in a single storage control board, see to it

that the cooling is taking place properly. Note that if the device and cooling fan are not properly positioned, the ambient temperature of the device can raise affecting the radiation result. Refer [Fig. 2-1]

[Fig. 2-1] Fan position when multiple devices are installed

Caution If the allowed ambient temperature exceeds, there may be failure or damage of parts in the device

due to overeating etc, and this may lead to defective operations of the device. Therefore, strictly control the specified ambient temperature.

If there is a heat source, vibration source, etc., please design the structure to avoid the

influence. Please avoid installing a controller in a place of high temperature, high humidity, large amount

of dirt/ dust, metal powder, lamp soot, etc. and corrosive gas. Reinforce the grounding process, since the induction noise may also generate at the place

where electric welding machines are making noise. Moreover, the noise filter is necessary depending on the environment. Refer to [3-6 Measures against Noise] to execute the countermeasures against noise.

Air Flow

Cooling FanCooling Fan

Coo

ling

Fan D

evic

e

Dev

ice

Dev

ice

Dev

ice

Dev

ice

Dev

ice

Good Example Good ExampleBad Example Bad Example

Air Flow

- 2-3 -

2-3 Installation Method

In order to get sufficient radiation, be sure to install a device, vertically. Install the device on a metallic board. Considering the radiation and maintenance, the space from other devices, parts and the

control board surface should be more than 50 mm vertically and 20mm horizontally. Refer to [Fig. 2-2]

The device is designed to be used as panel installation type. Refer [Fig. 2-2]

[Fig. 2-2] Installation and Ventilation of the device

20mm

50mm

50mm

20mm

C

N2

C

N

1

M D /

EN T

J

2

R

(S)

T

U

V

W

B1

B2

DBK

DBC

T

B

3

ER/ RN/SD /RD

C

N2

C

N

1

M D /

EN T

J

2

R

(S)

T

U

V

W

B1

B2

DBK

DBC

T

B

3

ER/R N/SD/ RD

C

N2

C

N

1

M D /

E NT

J

2

R

(S)

T

U

V

W

B1

B2

DBK

DBC

T

B

3

ER /RN/ SD/RD

Metallic board

More than 20mm

More than20mm

Mor

e th

an

50m

m

Mor

e th

an

50m

m

M5 screw

M5 screw

-3-1 -

Chapter 3 Wiring 3-1 Power Source Wiring

1. AC input power source wiring

(1) AC input power source is as follows.

NCR-DCC/D*A1* Power AC100 -115V, (50/60Hz) Single-phase NCR-DCC/D*A2* Power AC200 -230V, (50/60Hz) Single-Phase(Products greater than 400W) NCR-DCC/D*A2* Power AC200 -230V, (50/60Hz) 3-phase power(Products greater than 800W)

Please keep this range regardless to power source fluctuation due to factory load change.

(2) In order to protect accident and fire, be sure to install a no-fuse breaker or a fuse suitable for breaking capacity of the line. In case of using an earth leakage breaker, select an anti-high frequency noise type for an inverter.

(3) Since main circuits are a capacitor input type, rush current will flow when power is turned on. Depending on power source capacity or impedance, large voltage drop may occur, therefore, apply a sufficiently large capacity power source, and cables.

(4) Do not make wrong connection of AC power source (R, T) to motor connection terminals (U, V, W) of the unit.

Caution

If incorrect AC power source (R, T) is supplied to motor connection terminals (U,V,W) of the device, it will be damaged.

-3-2 -

2. Power circuit Typical power circuit is described in [Figure 3-1]

[Figure 3-1 (a)] Representative power circuit in the 3-phase power supply

[Figure 3-1 (b)] Representative power circuit in the single-phase power supply

Caution Be sure to keep specified range of power source. If not, the device could be damaged. In order to protect power source line, and avoid accident as fire, be sure to install a no-fuse breaker.

Capacity of a breaker can be referred to 11-1-4 Electric Specification of unit When a magnet contact is used, be sure to install a surge killer. If possible, separate the device power source from other large power consumption units.

Single phase 50/60 Hz

Power ON

Power

Surge killer

ThermostatMotor Regenerative resistor

Magnet contactor

R

T

50/60Hz

S

r

s

E

3-phase (50/60 H )

Power ON

Power OFF

ThermostatMotor Regenerative

Surge

Magnet contactor

R

50/60Hz

T

E

Dev

ice

Power ON Power OFF

Surge

Motor Regenerative

Magnet contactor

Thermostat

Single phase AC100-115V AC200-230V Single-phase (50/60Hz)

AC200-230V 3-phase power (50/60Hz)

Dev

ice

-3-3 -

3. Power supply sequence (1) Since the main circuit of the device is a capacitor input type, if frequent switching (ON/OFF)

of the power source is conducted, the main power circuit elements will deteriorate. Though, power re-input after shutting off the power can be made within one minute, please keep the switching frequency twice / 3 minutes or less.

(2) The control power shall be turned on before or same timing when the main power is turned on, and shall be turned off after or same timing when the main power is turned off. (When control power and main power are separate)

[Figure 3-2] Timing chart when power is turned ON

[Figure 3-3] Timing chart when a trouble occurs

Caution If power is turned ON again within 1 minute after it is turned OFF, the abnormalities may occur in AC power supply or in device operations. If IPM failure or over load protection works, remove the cause, cool this unit about 30 minutes and resume it. If reset is repeatedly conducted in a short period, the device temperature will be extremely increased and it could be damaged. Please design sequence, externally to turn off Start signal and stop the command when a protective function works and the alarm occurs (outputted). If Start signal and its command (Speed command voltage, Pulse train, etc.) are inputted when power source recovers after shut down occurred (includes black out), a motor will start and the situation is quite dangerous.

(RDY)

(

(BRK))

(SON)

()

max 3sec

max 3msec

max 0.1secmax 1sec

(ALM)

(RDY)

(

(BRK))

(RST)

()

(Brake release signal (BRK) for with brake type))

Alarm signal (ALM) Time is set by a parameter

Servo ready signal (RDY)

Protective circuit motion

Removal of abnormal cause

Brake power(With electro-magnet brake type)

Control power

Main power

Servo ready signal (RDY)

Servo On signal (SON)

Brake power (With magnetic brake type)

(Brake line is Brake release signal (BRK))

Max 3sec

Max 15sec

Max 0.1sec Max 1sec

Reset signal (RST)

-3-4 -

4. Selection of no-fuse breaker and earth leakage breaker In order to prevent this unit from short-circuit; select a suitable break down capacity breaker to meet the power source capacity. As for breaker capacity of one unit, please refer to (11-1-4) Electric Specification of the device) When line capacity (power source capacity) is quite large to a unit capacity, insert a reactor and conduct electric coordination. (As for reactor specification, please ask our sales man.) And in case of using an earth leakage breaker, since the device inverter section is PWM control, output contains high harmonic. And leakage current is generated by earth electrostatic capacity of cable route from the device to a motor and floating capacity between a motor coil and an iron core. Since leakage current of this high harmonic components could activate an earth leakage breaker, select an inverter type earth leakage breaker for the device power supply circuit.

3-2 Motor Connection

1. Wiring for motor power supply

(1) Connect motor terminals (U,V,W)and the device terminals (U,V,W)in the correct sequence. (Connect U-U, V-V, and W-W, respectively) If the phase sequence is wrong, normal control can not be conducted and a motor could vibrate or start without a command input which is very dangerous.

(2) For connection terminals of motor, refer to the motor specifications. In case of wiring between motor devices, do not connect the magnet switch and no-fuse breaker

(3) When a motor equipped with a brake is used, be sure to release it before starting a motor. (4) If Start signal is turned ON without releasing the brake, the motor may be burn out. Referring

to [Figure 3-2], timing shall be considered. (5) Though an electric thermal is installed on the device, if a thermal relay will be added,

externally, set the motor rated current to the relay current value. Make a sequence to turn off Servo ON (SON) signal and then stop a motor by an auxiliary contact of the thermal relay when a thermal relay is activated. (Refer to [Figure 3-5])

[Figure 3-4] Thermal Relay Wiring example

Caution

Be sure to connect a motor earth terminal (E) to a controller earth terminal (E).

SON COM

(N.C)

U

V

W

E

AC servomotor Aux. contact (N.C)

Uni

t

Thermal relay

-3-5 -

2. Motor rotating direction set Relation of each command and motor rotating direction in case of connecting a standard motor to a standard encoder is as follows.

Motor running direction

[Figure 3-5(a)]Running motor direction Command input type Polarity Motor direction

Positive voltage Shaft rotates CCW, viewing to motor load shaft :Forward Speed command

Negative voltage Shaft rotates CW, viewing to motor load shaft :Reverse

Forward Shaft rotates CCW, viewing to motor load shaft :Forward Positioning operation command Reverse Shaft rotates CW, viewing to motor load shaft :Reverse

Forward Shaft rotates CCW, viewing to motor load shaft :Forward Directional pulse command Reverse Shaft rotates CW, viewing to motor load shaft :Reverse

B Phase ahead Shaft rotates CCW, viewing to motor load shaft :Forward 90different phase

pulse train command A Phase ahead Shaft rotates CW, viewing to motor load shaft :Reverse

[Tab. 3-1(a)] Each command input and motor rotating direction (In the rotating motor)

Motor load shaft

Forward (CCW) Reverse (CW)

-3-6 -

DISC motor running direction

[ Figure 3-5 (b)] DISC motor running direction

.

[Tab 3-1(b)] Each command input and motor rotating direction (In the DISC motor)

Command input type Polarity Motor direction Positive voltage Shaft rotates CCW, viewing the rotation shaft as the front :Forward Speed command

Negative voltage Shaft rotates CW, viewing the rotation shaft as the front :Reverse

Forward Shaft rotates CCW, viewing the rotation shaft as the front :Forward Positioning operation command Reverse Shaft rotates CW, viewing the rotation shaft as the front :Reverse

Forward Shaft rotates CCW, viewing the rotation shaft as the front :Forward Directional pulse command Reverse Shaft rotates CW, viewing the rotation shaft as the front :Reverse

B Phase ahead Shaft rotates CCW, viewing the rotation shaft as the front :Forward 90different phase

pulse train command A Phase ahead Shaft rotates CW, viewing the rotation shaft as the front :Reverse

Forward (CCW) Reverse (CW)

Rotation shaft

-3-7 -

linear motor moving direction

[Figure 3-5 (c)] linear motor moving direction Coil unit: Forward movement : Direction to where the lead wire comes out from the coil unit head. Reverse movement : Opposite direction to where the lead wire comes out from the coil unit head.

Linear sensor: Forward movement (B-phase advance) : Direction to where the lead wire comes out from the

linear sensor, during operation. Reverse movement (B-phase delay) : Opposite direction to where the lead wire comes out

from the linear sensor, during operation. Note) Install the coil unit and the linear sensor, enabling them to keep the same direction.

[Tab. 3-1 (c) Each command input and motor moving direction (With linear motor)

* Moving direction for each command can be changed with the below items. P003 [Rotating direction selection], P600 [Pulse train command selection], RVS [Command direction reverse] signal.

In and from the next text, [Motor forward direction] and [Motor reverse direction] refer to the motor moving direction, provided [Motor forward direction] indicates the time where the command signal is in the forward direction and [Motor reverse direction] indicates the time where the command signal is in the reverse direction.

Command input type Polarity Motor direction Positive voltage Forward movement (FD) Speed command Negative voltage Reverse movement (RD) Forward Forward movement (FD) Positioning operation

command Reverse Reverse movement (RD) Forward Forward movement (FD) Directional pulse

command Reverse Reverse movement (RD) B Phase ahead Forward movement (FD) 90different phase

pulse train command A Phase ahead Reverse movement (RD)

Lead

Coil unit head

Linear sensor head

Reverse Direction (RD) Forward Direction (FD)

-3-8 -

3. Wiring of electro magnetic brake

(1) Brakes of our motors are for holding purpose, only. And brakes are de-energized type. (2) Brakes are released when voltage is supplied and when it is not supplied, brakes are

applied. (3) The brake is activated about 0.5 sec. after voltage is supplied. (4) Power supply specifications for brake to be provided by the customer by referring the motor

specifications.

Caution Since an electro-magnetic brake is released about 0.5 sec. After voltage is supplied, turn ON the

Start signal (DR) within the timing where this time delay is considered. Be sure to turn the Start signal (DR) OFF before activating the electro-magnetic brake.

Since the electro-magnetic brake is holding purpose, only, never activate the brake in running condition of a motor.

3-3 Grounding

(1) Be sure to conduct grounding to prevent electric shock and noise influence. (2) Use a suitable electric wire for grounding which is bigger than conductor cross-sectional

area described in the later Table 3-2 Applicable electric wire, and the grounding must be better than Class D grounding (Old name: Class 3 grounding) (grounding resistance 100-ohm or less). Connect the ground cable to the ground terminal (E) of the device.

(3) Exclusive grounding is recommended; however, even in the case of common grounding, be sure to secure one-point grounding.

(4) Be sure to connect a motor ground terminal (E) to a controller ground terminal (E).

Caution To decrease common mode noises and to prevent erroneous run of the device, grounding should

be the exclusive grounding and better than Class D grounding (Old name: Class 3 grounding) (grounding resistance 100-ohm or less).

When dedicated ground can not be used, connect cables to other units only at 1 common point. Never use common ground with large power line nor connect ground to iron structures, etc.

-3-9 -

3-4 Regenerative Resistor Wiring

(1) Use an attached accessory, or optional regenerative resistor. (2) Since heat is generated by regenerative energy, locate a Regenerative resistor not to

influence other units. The Regenerative resistor is used to consume excessive energy that the regenerative capacitor can not absorb regenerative energy generated by motor braking when load inertia (GD2) is large.

(3) A thermostat is attached to a Regenerative resistor. Since the thermostat contact opens when a Regenerative resistor is over-heated, make wiring to shut main power down at the time. (Refer to[Figure 3-1]) Thermostat contact specification is as follows.

Contact voltage

Contact current

AC200V 1A And refer [11-2 Regenerative resistor] for thermostat attachment.

(4) In case of using plural Regenerative resistors, comply with description of [11-2 Regenerative

resistor]. (5) Cable length between a Regenerative resistor and the device shall be 3m or as short as

possible. As the cable is longer, surge voltage generated by switching of power elements becomes larger, and in the results motor and the device could be damaged.

Caution

When abnormally high current flows in a Regenerative resistor in a short time, it becomes hot and quite dangerous. Be sure to construct a circuit to shut main power down by a thermostat contact.

-3-10 -

3-5 Control Circuit Wiring

1. Analog command (speed) (1) Since each analog signal is micro-current, use twist pair shield cables and be sure to

connect those shields to the shield earth FG terminal of connector CN1. (2) Cable length shall be 3m or shorter.

2. Pulse train input and output

(1) Since Pulse train input and encoder Pulse train output are high speed Pulse train signals, use twist pair shield cables, and be sure to connect those shields to the shield earth FG terminal of connector CN1.

(2) Cable length shall be 3m or shorter. (In case of Open collector output, 1.5m or shorter)

3. Encoder feedback pulse signal (1) Use twist pair shield cables, and be sure to connect those shields to the shield earth FG

terminal of connector CN2. (2) If a mobile motor is required, make the cable bending radius as large as possible to avoid

excessive load. (3) Maximum cable length is 50m. Dedicated encoder cable sets are optionally available. Ask

our sales man the details. (4) Refer to the motor specifications for connection terminals of the motor side.

4. Control I/O signals

(1) When relays and switches are used for control input and output signals, please use micro-current types.

(2) To prevent mal-function by noise, be sure to install surge killers, diodes, etc. to relays, magnet switches, electro-magnet brakes, solenoids, etc. used around the device and depress the noise generation.

(3) Please prepare the power supply +V (from +12 V, 2.5 mA to +24 V, 5 mA / one item), for the control input signal.

(4) Cable length shall be 3m or shorter.

-3-11 -

3-6 Noise Protection

1. External noise intrudes through 2 routes, power lines and signal lines. External noise causes malfunction and a trouble. In order to protect a trouble caused by noise, it is important to depress noise generation or not to induce generated noise to units.

Therefore, be sure to conduct the next counter measures and protection treatment.

Caution

Control I/O signal cables shall be specified type and area, and comply with wiring precaution without fail. If this counter measure is not conducted, un-expected malfunction could occur by noise, etc. which is quite dangerous.

Be sure to separate control I/O signal cables from the power line (power source, motor, etc.) and never place them in a same duct and a bundle.

2. Installation of surge killer and noise filter

(1) To depress noise generation, be sure to install a surge killer (for AC power) or a diode (for

DC power) on each relay, magnet switch, electro-magnetic brake, solenoid, etc. used near the device.

(2) If noise generation source is near a power line such as welders and electric discharge machine, etc., install a noise filter or noise cut transformer, etc. on the man power source and device power source of the controller for noise protection. When a noise filter is used, be sure to separate input cables from output cables of the filter, and never bind them to a same bundle. Also, do not bind the filter ground cable to the same bundle of filter output cables but ground (earth) it in the shortest distance.

(3) Since high speed switching power supply is used in the device, switching noise is generated. If it is supposed that this noise influences other equipment, insert a noise filter or common mode choke coil in the main power line of the device and protect the unit from inducing the noise into the power line. And conduct radiation noise measures such as passing the power and motor lines through a metal tube.

-3-12 -

3-7 Applicable Cable Please use cables described in [Tab. 3-10]. *Please use our optional cable for control circuits.

Caution

A cable type and size can be changed depending on actual conditions and environment. Please consult our sales man for further information.

If a control signal cable is long, this unit likely to be influenced by noise. Please keep specified length for wiring. And be sure to use specified cable type.

Item Terminal Used Wiring Contents

Analog voltage command input

INH,GND AWG28(0.08mm2) or larger twist pair shield cable, 3 m or less

Pulse train command

FC/FC*, RC/RC*

Line driver method AWG28(0.08mm2) or larger twist pair shield cable, 3

m or less Encoder pulse output

EA/EA*,EB/EB* EM/EM*,GND

AWG28(0.08mm2) or larger twist pair shield cable, 3 m or less (AWG20(0.5mm2) or larger for GND)

SD/SD*,BAT+/BAT- +5V,GND (In a serial encoder) A/A*,B/B*,Z/Z* PS/PS*,PC/PC* +5V,GND (In a 90phase difference pulse encoder)

Encoder feedback input

SD/SD*

External wiring diagram

VPS-IO type motor pulse encoder External wiring diagram

[Fig.4-2(a)] VPS-IO type NA80/800 series Serial encoder External wiring diagram 1/2

-4-1-

AC100/110V or

50/60Hz

Surge killer

Line driver

Motor

AC200/220V

()

Encoder Pulse Output

Driver

Motor Rgenerative registerThermostat

D grouding (Old name:Class 3 grounding)

Pulse train command

Control input

,

Regenerative register(Option)

Control output

,

Connector metalConnector metal

Connector metal

Output signal for dynamic break

Frame grounding

Frame grounding

Note 1: Provide apower supply forcontrol input/outputsignalby your side.Fig.(a)

Note 2: ( ) in controlI/O signal name isthe signal assignedininitial setting valueof parameter.

Note 3: COM of CN1 iscommon to control I/Osignals. And GND iscommon to internalcontrol power of thecontroller

Note 4: Since COM ofCN1 and GND areisolated, do not makecommon wiring butalso bind them is asame bundle.

Analog Speed command

Encoder

Connector FG metal

Magnetic pole sensor

*Connection when usinga magnetic pole sensor

In single-phase,S-phase noconnection

Connector metal

()

()

()

()

General-purpose communication signal

[Fig.4-1(b)] VPS-IO type motor pulse encoder External wiring diagram 2/2

-4-2-

VPS-IO type NA80/800 series serial encoder External wiring diagram

[Fig.4-2(a)] VPS-IO type NA80/800 series serial encoder External wiring diagram 1/2

-4-3-

50/60Hz

Surge killer

Motor

()


Driver



Pulse train command

Control input

,


Control output

,


Connector metal


Frame grounding

Frame grounding






Connector FG metal

Serial encoder

*When used as anabsolute encoder


(Option)

AC100/110V orAC200/220V

Battery for data backup

Connector metal

()

()

()

()


[Fig.4-2(b)] VPS-IO type NA80/800 series serial encoder External wiring diagram 2/2

-4-4-

VPS-IO type motor High-resolution encoder External wiring diagram

[Fig.4-3(a)] VPS-IO type motor High-resolution encoder External wiring diagram 1/2

-4-5-

AC100/110V or

50/60Hz

Surge killer

Line driver

AC200/220V

()


Driver



Pulse train command

Control input

,


Control output

,


Connector metal


Frame grounding





Note 5:If the encoder onthe motor to use is anabsolute encoder forDISC, use it in thecorrect combinationreferring to precautionsattached to the motorand IPU.


Motor

Encoder


Connector FG metal



Frame grounding

Connector metal

()

()

()

()


[Fig.4-3(b)] VPS-IO type motor High-resolution encoder External wiring diagram 2/2

-4-6-

VPS-IO type linear motor ABS linear scale External wiring diagram

50/60Hz

Surge killer

Line driver

Motor

()


Driver



Pulse train command

Control input

,


Control output

,


Connector metal


Frame grounding

Frame grounding





Note 5:Attach a ferritecore (TDK ZCAT3035-1330: recommendable)to the CN2 connectorside on the encodercable.


Connector FG metal

Absolute encoder


AC100/110V orAC200/220V

[Fig.4-4(a)] VPS-IO type linear motor ABS linear scale External wiring diagram 1/2

-4-7-

Connector metal

()

()

()

()


[Fig.4-4(b)] VPS-IO type linear motor ABS linear scale External wiring diagram 2/2

-4-8-

VPS-CC-Link type motor pulse encoder External wiring diagram

[Fig.4-5] VPS-CC-Link type motor pulse encoder External wiring diagram

-4-9-

AC100/110V or

50/60Hz

Surge killer

Motor

AC200/220V

Driver




Connector metal

Connector metal


Frame grounding

Frame grounding





Encoder

Connector FG metal

Line driverPulse train command

()

Control input




Control output

VPS-CC-Link type NA80/800 series motor Serial encoder External wiring diagram

[Fig.4-6] VPS-CC-Link type NA80/800 series motor Serial encoder External wiring diagram

-4-10-

AC100/110V or

50/60Hz

Surge killer

Motor

AC200/220V

Driver

MotorRgenerative registerThermostat



Connector metal

Connector metal


Frame grounding

Frame grounding






()

Control input


Connector FG metal

Serial encoder

*When used as anabsolute encoder

(Option)

Battery for data backup

Control output

VPS-CC-Link type motor High-resolution encoder External wiring diagram

[Fig.4-7] VPS-CC-Link type motor High-resolution encoder External wiring diagram

-4-11-

AC100/110V or

50/60Hz

Surge killer

AC200/220V

Driver




Connector metal

Connector metal


Frame grounding





Note 5:If the encoder onthe motor to use is an

absolute encoder forDISC, use it in thecorrect combinationreferring to precautionsattached to the motor

Line driver

Pulse train command

()

Control input


Motor

Encoder

Connector FG metal



Frame grounding

Control output

VPS-CC-Link type linear motor ABS linear scale External wiring diagram

AC100/110V or

50/60Hz

Surge killer

Motor

AC200/220V

Driver




Control output

Connector metal

Connector metal


Frame grounding

Frame grounding





Note 5: Attach a ferritecore (TDK ZCAT3035-1330: recommendable)tothe CN2 connectorside on the encodercable.


()

Control input


Connector FG metal

Absolute encoder

[Fig.4-8] VPS-CC-Link type linear motor ABS linear scale External wiring

-4-12-

- 4-13-

4-2 Input and output signals

4-2-1 Input and output signal list

Caution Since COM (common power supply for control I/O signal) and GND (common internal control power supply +5V) are isolated, do not install common wiring and do not put them in the same bundle.

*The power supply should be +V (+24V,0.5A) for control I/O signals.

1) Control output signal Terminal

name Circuit no.Signal name Applicable

model

Functions

EA EA* 0-2

A phase output pulse

IO model

A-phase pulse corresponding to the motor encoder signal is output. Setting of output division is possible with the parameters for this

signal. This signal has a 250 s delay in the output against the encoder

feedback, in a serial encoder or a high-resolution encoder. This signal has a 200 s delay in the output against the feedback

encoder, when making the output frequency division function effective, in a 90phase difference pulse encoder.

Related parameters: P010, P011 EB EB* O-2

B phase output pulse

IO model

B-phase pulse corresponding to the motor encoder signal is output. Setting of output division is possible with the parameters for this

signal. This signal has a 250 s delay in the output against the encoder

feedback, in a serial encoder or a high-resolution encoder. This signal has a 200 s delay in the output against the feedback

encoder, when making the output frequency division function effective, in a 90phase difference pulse encoder.

Related parameters: P010,P011 EM EM* O-2

Marker output signal

IO model

Marker pulse corresponding to the motor encoder marker signal is output. (In a 90phase difference pulse encoder or a high-resolution encoder)

Marker pulse corresponding to the motor encoder position is output. Output position is set by the parameter. (In a serial encoder)

Related parameters: P012,P013 DO 1-4 O-1

Control output signal 1~4

All models

DO1-4 is effective in the IO model and DO1-2 is effective in the CC-Link model. Below becomes invalid in the CC-Link model.

Signal that is allocated in output allocation (Parameter P702) is output. Output signal logic can also be set in output allocation (Parameter

P702). However, logic of marker output signal (OCEM) is positive logic.

When ABS data request (ABRQ), Present position data request (APRQ), or Alarm code request (ALRQ) is ON, the output allocation is cancelled and the D03-04 signals become as follows.

Singal output status (C100) is displayed as status display. However, signal output status is not displayed for control output signal where the marker output signal (OCEM) is allocated.

Related parameters: P702

- 4-14-

Terminal


model

Functions

OCEM

O-1

Marker output signal

All models

Marker pulse corresponding to the motor encoder marker signal is output. (In a 90phase difference pulse encoder or a high-resolution encoder)

Marker pulse corresponding to the motor encoder position is output. The output position is set by the parameter. (In a serial encoder)

When this signal is used as an external output signal, it is allocated to DO1-4 signals by the P702 in the IO model or to DO1-2 signals by the P702 in the CC-Link model. However, this signal is a fixed positive logic.

Related parameter: P702 RDY O-1

Servo Ready

All models

When the internal device is ready to operate, this signal turns ON. This signal turns OFF in the following cases.

Alarm sounds. However, OT is excluded. Motor power supply is OFF Maximum 15 msec. after switching the motor power supply

OFF to ON. Maximum 3 sec. after the device is powered ON. When the automatic magnetic pole detection is in operation.

When this signal is used as an external output signal, it is allocated to DO1-4 signals by the P702 in the IO model or to DO1-2 signals by the P702 in the CC-Link model.

Signal output status (C102) is displayed as status display. Related parameter:P702

ALM

O-1

Alarm

All models

This signal turns ON when alarm sounds. This signal turns OFF when

The alarm is cancelled When this signal is used as an external output signal, it is allocated to

DO1-4 signals by the P702 in the IO model or to DO1-2 signals by the P702 in the CC-Link model.


- 4-15-

Terminal


model

Functions

PNA O-1

Deviation range A

All models

When the position deviation is within the deviation range A (P202) in pulse train run, this signal turns ON.

This signal turns OFF in the following cases. Position deviation exceeded the positioning range A. Operation status as per ZST signal In case of other than pulse train run DR signal OFF Motor power supply OFF Select Deviation clear ineffective by SON signal OFF at P710. If it is Servo power souce OFF by SON signal OFF, it is output accoding to the deviation range A. ZST Signal ON If the ZST signal OFF complete is selected in P710, this signal is kept OFF while the ZST signal is ON even when the internal run by the ZST signal is completed.

When it is in this deviation range, it is operated by servo lock gain (P201).


Signal output status (C102) is displayed as status display. Related parameters:P702,P710,P201,P202

PNB O-1

Deviation range B

All models

When position deviation is within the deviation range B (P203) in pulse train run, this signal turns ON.

A deviation range which deviates from the Deviation range B equals to the Deviation range A; however, in this deviation range, a change to the servo lock gain is not performed.

Related parameters:P702,P710,P203 SZ O-1

Speed Zero

All models

This signal turns ON when the range is less than the speed zero range (P717).

This signal turns OFF when the range exceeds the speed zero range. When this signal is used as an external output signal, it is allocated to


Signal output status (C102) is displayed as status display. Related parameters:P702,P717

BRK O-1

Brake release

All models

This signal turns ON when brakes are released. In other words, this signal turns ON when the motor power supply is ON.

This signal turns OFF when brakes are applied. In other words, this signal turns OFF when the motor power supply is OFF. Again, when the motor power supply is turned ON, the time when this signal turns OFF, is set in brake output delay time (P718).


Signal output status (C102) is displayed as status display. Related parameters:P702,P718

- 4-16-

Terminal


model

Functions

EMGO

O-1

Under emergency stop

All models

This signal turns ON when the emergency stop signal turns ON. This signal turns OFF when the reset signal turns OFF. The motor power supply is not started when this signal is ON. When this signal is used as an external output signal, it is allocated to



HCP

O-1

Zero return completion

All models

This signal turns ON when the zero return is completed at least for once by turning on the power supply and when the device can identify the absolutelute position.

This signal turns OFF in following cases. Alarm sound When the power is turned ON When zero return starts ZST signal ON If the ZST signal OFF complete is selected in P710, this signal is kept OFF while the ZST signal is ON even when the zero return run is completed.


Signal output status (C102) is displayed as status display. Related parameter:P702,P710

DRSP O-1

Response Data

IO model

This signal is a bit data output in case of ABS data request (ABRQ), Current position data request (APRQ) or Alarm code request (ALRQ).

Bit data is output for this signal serially from the topmost bit depending on the ON or OFF edge of the request clock (CRQ).

This signal is allocated automatically to the control output signal DO3 when ABS data request (ABRQ), Current position data request (APRQ), or Alarm code request (ALRQ) is ON.

The bit data of this signal is 1 in case of short circuit and 0 when the current is released.

For data output method, refer to the Data output time chart of alarm code request, ABS data request, and current position data request.

Signal output status (C102) is displayed as status display. CRSP

O-1

Response clock

IO model

This signal is the response clock (CRSP) for the request clock (CRQ) for ABS data request (ABRQ), Current position data request (APRQ) or Alarm code request(ALRQ).

If the response data (DRSP) is output corresponding to ON and OFF edge of the request clock (CRQ), then the output for this signal will also correspond to the same.

This signal is allocated automatically to the control output signal DO4 when ABS data request (ABRQ) or Alarm code request(ALRQ) is ON.

For data output method, refer to the Data output time chart of Alarm code request, ABS data request, and Current position data request.

Signal output status (C102) is displayed as status display.

- 4-17-

2) Control input signal Terminal


model

Functions

INH I-3

Speed command input

IO model

At the time of speed control run, the motor operates at a speed which is in proportion with the voltage added between this terminal and GND.

Motor operates at the rated speed when input is 10 V. The motor operates in forward direction in case of positive voltage

input considering GND as a standard and it operates in reverse direction in case of negative voltage input.

The motor can operate in reverse diretion by the positive voltage command by the command direction reverse signal (RVS).

The acceleration time of the motor can be set by P309, P310 parameters.

Speed command status (C001) is displayed in status display. Related parameters:P300,301,P309,P310

DI 1~8 I-1

Control input signal 1~8

All models

In the IO model, DI1-8 are effective and in the CC-Link model, DI1-2 are effective. In the CC-Link model, below becomes invalid.

This signal is given as a signal allocated in Input allocation (Paramter P700~P701.

Input signal logic can be set in input allocation. When ABS data request (ABRQ), Present position data request, or

Alarm code request (ALRQ) is ON, the input allocation is cancelled and the DI8 signal will become as follows. DI8: Request clock (CRQ).

Signal input status (C100) is displayed as status display. Related parameters:P700,P701

- 4-18-

Signal

Circuit No.Signal name Applicable

model

Function

DR I-1

Start

All models

If switch ON this signal in the speed control mode, the motor runs against the speed command. If switch OFF this signal, the speed command becomes invalid and it stops with the deceleration time of parameter.

If switch ON this signal in the pulse train run mode, position control becomes valid, and the motor runs against pulse train command. If no pulse train commands exist, it executes the control to keep the current position by the position control. If this signal is switched OFF, the pulse train command becomes invalid and the motor stops instantly. In this case, position control becomes invalid and the control to maintain the current position is not executed.

Motor does not run in the following cases, even when this signal is ON.

When motor power supply is OFF Under emergency stop When alarm sounds

However, the command is effective when OT is released. When this signal is used as an external input signal, it is allocated to

DI1-8 signals by the P700-1 in the IO model or to DI1-2 signals by the P700 in the CC-Link model.

Signal status can be set to ON or OFF by P705. Signal input status (C101) is displayed as status display. Related parameters:P700,P701,P705

- 4-19-

Signal


model

Functions

SON I-1

Servo ON

All models

When this signal is turned ON, motor power supply is turned ON. However, the motor power supply is not turned ON in the following cases.

When RST signal is ON Under emergency stop When alarm sounds (Excluding OT)

When this signal turns OFF, motor power supply turns OFF. When this signal is used as an external input signal, it is allocated to


Signal status can be set to ON or OFF by P705. Signal input status (C101) is displayed as status display. Related parameters:P700,P701,P705,P710

TL I-1

Torque limit

All models

When this signal is turned ON, the torque limit 2 becomes valid. When this signal is turned OFF, the torque limit 1 becomes valid. When this signal is used as an external input signal, it is allocated to


Signal status can be set to ON or OFF by P705. Signal input status (C101) is displayed as status display. Related parameters : P700,P701,P705,P007,P008

RST I-1

Reset

All models

When this signal is ON, it becomes as per the following. An alarm is cancelled when this signal is generated.

However, theAlarm cancellation disallowed alarm cannot be cancelled as this signal isON. Refer the alarm list for alarm cancellation allowed / not allowed.

Motor power is OFF Reset signal reflection parameters are reflected in the control.

When this signal is OFF, motor power becomes ON. However, the motor power does not turn ON in the following cases.

When SON signal is OFF When alarm sounds (Excluding OT)

When this signal is used as an external input signal, it is allocated to DI1-8 signals by the P700-1 in the IO model or to DI1-2 signals by the P700 in the CC-Link model.

Signal input status (C101) is displayed as status display. [Note]Reset the alarm after that cause is removed. Related parameters : P700,P701,P705

- 4-20-

Signal


model

Functions

GSEL I-1

Speed gain selection

All models

When this signal is turned ON, it is operated by the speed gain when the GSEL signal is ON.

When this signal is turned OFF, it is operated by the normal speed gain or low speed gain.

When this signal is used as an external input signal, it is allocated to DI1-8 signals by the P700-1 in the IO model or to DI1-2 signals by the P700 in the CC-Link model.

Signal input status (C101) is displayed as status display. Related parameters:P700,P701,P705,P111,P112,P153,P154,PP01

MD I-1

Mode selection

All models

When this signal is turned ON, it changes to pulse train run mode. When the motor is operated by the pulse train command, the following signal conditions are necessary.

This signal ON, SON signal ON, DR signal ON RST signal OFF, CIH signal, EMG signal OFF Alarm is not generated

When this signal is turned OFF, it changes to the speed control mode. When the motor is operated by the speed command, the following signal conditions are necessary.

SON signal O

Documents

Instruction Manual - nikkidenso.co.jp · VPS Series AC Servo Driver NCR - DCC0/DCD0 Instruction Manual Ver. 1.9 NIKKI DENSO CO., LTD. Manual No. TI-13940