MODEL
Servo Motor
INSTRUCTION MANUAL (Vol.2)
C
A - 1
Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, MELSERVO Servo Amplifier Installation Guide/Instruction Manual and appended documents carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until you have a full knowledge of the equipment, safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
WARNING Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.
CAUTION Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury to personnel or may cause physical damage.
Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols:
: Indicates what must not be done. For example, "No Fire" is indicated by . : Indicates what must be done. For example, grounding is indicated by .
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT".
After reading this installation guide, always keep it accessible to the operator.
WARNING
Before wiring or inspection, switch power off and wait for more than 15 minutes. Then, confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock.
Connect the servo amplifier and servo motor to ground.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you may get an electric shock.
Operate the switches with dry hand to prevent an electric shock.
The cables should not be damaged, stressed loaded, or pinched. Otherwise, you may get an electric shock.
During power-on or operation, do not open the front cover of the servo amplifier. You may get an electric shock.
Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area are exposed and you may get an electric shock.
Except for wiring or periodic inspection, do not remove the front cover of the servo amplifier even if the power is off. The servo amplifier is charged and you may get an electric shock.
2. To prevent fire, note the following:
CAUTION
Do not install the servo amplifier, servo motor and regenerative brake resistor on or near combustibles.
Otherwise a fire may cause.
When the servo amplifier has become faulty, switch off the main servo amplifier power side. Continuous flow of a large current may cause a fire.
When a regenerative brake resistor is used, use an alarm signal to switch main power off. Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.
3. To prevent injury, note the follow
CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a burst, damage, etc. may occur.
Connect the terminals correctly to prevent a burst, damage, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the servo amplifier heat sink, regenerative brake resistor, servo motor, etc. since they may be hot while power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a parts may damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.
A - 3 (1) Transportation and installation
CAUTION
Transport the products correctly according to their weights.
Use the eye-bolt of the servo motor to only transport the servo motor and do not use it to transport in the condition to have installed a servo motor on the machine.
Stacking in excess of the specified number of products is not allowed.
Do not carry the servo motor by the cables, shaft or encoder.
Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop.
Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual.
Do not climb or stand on servo equipment. Do not put heavy objects on equipment.
The servo motor must be installed in the specified direction.
Leave specified clearances between the servo amplifier and control enclosure walls or other equipment.
Do not install or operate the servo motor which has been damaged or has any parts missing.
Do not block the intake/exhaust port of the servo motor which has a cooling fan.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier.
Do not drop or strike servo motor. Isolate from all impact loads.
When you keep or use it, please fulfill the following environmental conditions.
Environment Conditions
[ ] 0 to 40 (non-freezing) During
operation [ ] 32 to 104 (non-freezing) [ ] 15 to 70 (non-freezing) Ambient
temperature
In storage
[ ] 5 to 158 (non-freezing) During operation 80%RH or less (non-condensing) Ambient
humidity In storage 90%RH or less (non-condensing)
Ambience Indoors (no direct sunlight)
Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000m (3280 ft) above sea level
HF-MP series HF-KP series X,Y: 49 m/s2 (161 ft/s2) HF-SP 51 81 HF-SP 52 to 152 X,Y: 24.5 m/s2 (80 ft/s2) HF-SP 121 201 HF-SP 202 352 X: 24.5 m/s2 (80 ft/s2) Y: 49 m/s2 (161 ft/s2) Vibration
HF-SP 502 702 X: 24.5 m/s2 (80 ft/s2) Y: 29.4 m/s2 (96 ft/s2)
Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during operation.
The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage.
Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo motor during operation.
Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty.
Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate.
Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo motor and servo amplifier.
Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly.
Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.
The surge absorbing diode installed on the DC output signal of the servo amplifier relay must be wired in the specified direction. Otherwise, the forced stop and other protective circuits may not operate.
(The following figure shows the case of the MR-J3- A servo amplifier.) Servo amplifier DOCOM
Servo amplifier
RA Control output signal
DICOM
DC24V
DOCOM
RA Control output signal
DICOM
DC24V
(3) Test run adjustment
CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to perform unexpected operation.
The parameter settings must not be changed excessively. Operation will be instable.
(4) Usage
CAUTION
Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately.
Any person who is involved in disassembly and repair should be fully competent to do the work.
Before resetting an alarm, make sure that the run signal into the servo amplifier is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on.
Do not modify the equipment.
Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by electronic equipment used near the servo amplifier.
Use the servo amplifier with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the servo motor shaft and should not be used for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ballscrew and the servo motor
are coupled via a timing belt), the electromagnetic brake may not hold the servo motor shaft. To ensure
safety, install a stopper on the machine side.
A - 5
CAUTION
When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the purpose of prevention.
Configure the electromagnetic brake circuit so that it is activated not only by the servo amplifier signals but also by an external emergency (forced) stop signal.
EMG RA
24VDC Contacts must be open when
servo-on signal is off, when an alarm (trouble) is present and when an electromagnetic brake signal.
Electromagnetic brake Servo motor
Circuit must be opened during emergency (force) stop.
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation.
When power is restored after an instantaneous power failure, keep away from the machine because the machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).
(6) Maintenance, inspection and parts replacement
CAUTION
With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment.
Please consult our sales representative.
CAUTION
Note the following points when storing the servo motor for an extended period of time (guideline: three or more months).
Always store the servo motor indoors in a clean and dry place.
If it is stored in a dusty or damp place, make adequate provision, e.g. cover the whole product.
If the insulation resistance of the winding decreases, reexamine the storage method.
Though the servo motor is rust-proofed before shipment using paint or rust prevention oil, rust may be produced depending on the storage conditions or storage period.
If the servo motor is to be stored for longer than six months, apply rust prevention oil again especially to the machined surfaces of the shaft, etc.
Before using the product after storage for an extended period of time, hand-turn the motor output shaft to confirm that nothing is wrong with the servo motor. (When the servo motor is equipped with a brake, make the above check after releasing the brake with the brake power supply.)
When the equipment has been stored for an extended period of time, consult Mitsubishi.
(8) General instruction
CAUTION
To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Instruction Manual.
About processing of waste
When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of each country (area).
FOR MAXIMUM SAFETY
These products have been manufactured as a general-purpose part for general industries, and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life.
Before using the products for special purposes such as nuclear power, electric power, aerospace, medicine, passenger movement vehicles or underwater relays, contact Mitsubishi.
These products have been manufactured under strict quality control. However, when installing the product where major accidents or losses could occur if the product fails, install appropriate backup or failsafe functions in the system.
PRECAUTIONS FOR CHOOSING THE PRODUCTS
Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi;
machine damage or lost profits caused by faults in the Mitsubishi products; damage, secondary damage,
accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other
than Mitsubishi products; and to other duties.
A - 7 1. WHAT ARE EC DIRECTIVES?
The EC Directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the Machinery Directive (effective in January, 1995), EMC Directive (effective in January, 1996) and Low Voltage Directive (effective in January, 1997) of the EC Directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks (CE marking). CE marking applies to machines and equipment into which servo amplifiers have been installed.
The servo amplifiers do not function independently but are designed for use with machines and equipment.
Therefore, the CE marking does not apply to the servo amplifiers but applies to the machines and equipment into which the servo amplifiers are installed.
This servo amplifier conforms to the standards related to the Low Voltage Directive to facilitate CE marking on machines and equipment into which the servo amplifiers will be installed. To ensure ease of compliance with the EMC Directive, Mitsubishi Electric prepared the "EMC INSTALLATION GUIDELINES" (IB(NA)67310) which provides servo amplifier installation, control box making and other procedures. Please contact your sales representative.
2. PRECAUTIONS FOR COMPLIANCE
Use the servo motor compatible with the EN Standard.
Unless otherwise specified, the handling, performance, specifications and others of the EN Standard- compatible models are the same as those of the standard models.
Use the servo motor side power connector which complies with the EN Standard.
The EN Standard-compliant power connector sets are available from us as options.
(Under application)
Use the UL/C-UL Standard-compliant model of servo motor.
Unless otherwise specified, the handling, performance, specifications, etc. of the UL/C-UL Standard-compliant models are the same as those of the standard models.
Strictly observe the following items to conform to the UL/C-UL Standard.
The flange sizes in this table assume that the flanges are made of aluminum.
The rated torque of the servo motor indicates the continuous permissible torque value that can be generated when it is mounted on the flange specified in the following table and used in the environment of 40 (104 ) ambient temperature.
Servo Motor
HF-SP Flange Size
[mm] HF-MP HF-KP
1000r/min 2000r/min
250 250 6 053 13 23 053 13 23
250 250 12 43 43 51 81 52 to 152
300 300 12 73 73
300 300 20 121 201 202 352
650 650 35 502 702
1
1. INTRODUCTION 1 - 1 to 1 - 4
1.1 Features of Servo Motor ... 1 - 1 1.2 Name plate ... 1 - 1 1.3 Parts identification... 1 - 2 1.4 Electromagnetic brake characteristics... 1 - 3 1.5 Servo Motor Shaft Shapes... 1 - 4
2. INSTALLATION 2 - 1 to 2 - 4
2.1 Installation orientation ... 2 - 2 2.2 Load remove precautions ... 2 - 2 2.3 Permissible load for the shaft ... 2 - 3 2.4 Protection from oil and water ... 2 - 3 2.5 Cable ... 2 - 4 2.6 Inspection ... 2 - 4 2.7 Life ... 2 - 4 2.8 Machine Accuracies... 2 - 4
3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 1 to 3 - 4
3.1 Selection of Connectors... 3 - 1 3.2 Wiring connectors (Connector configurations A B C) ... 3 - 2 3.3 Wiring Connectors (Connector Configurations D, E, F, G, H)... 3 - 3
4. CONNECTOR OUTLINE DRAWINGS 4 - 1 to 4 - 6
5. CALCULATION METHODS FOR DESIGNING 5 - 1 to 5 -16
5.1 Specification symbol list... 5 - 1 5.2 Position resolution and electronic gear setting ... 5 - 2 5.3 Speed and command pulse frequency... 5 - 3 5.4 Stopping characteristics... 5 - 4 5.5 Capacity selection ... 5 - 5 5.6 Load torque equations ... 5 - 8 5.7 Load inertia moment equations ... 5 - 9 5.8 Precautions for zeroing ... 5 -10 5.9 Selection example... 5 -11 5.10 Coasting Distance of Electromagnetic Brake... 5 -15 5.11 Expression for Calculating the Electromagnetic Brake Workload... 5 -15
6. HF-MP SERIES HF-KP SERIES 6 - 1 to 6 126
6.1 Model name make up ... 6 - 1
6.2 Standard specifications... 6 - 2
6.2.1 Standard specifications ... 6 - 2
6.2.2 Torque characteristics... 6 - 4
6.4.1 Keyway shaft (with key) ... 6 - 6 6.4.2 D cut shaft... 6 - 6 6.5 Servo motors with reduction gears... 6 - 7 6.5.1 For general industrial machines compliant (G1) ... 6 - 7 6.5.2 For precision applications compliant (G5/G7)... 6 - 9 6.6 Connector Installation ... 6 -12 6.7 Outline dimension drawings... 6 -13 6.7.1 Standard (without electromagnetic brake, without reduction gear) ... 6 -13 6.7.2 With electromagnetic brake ... 6 -16 6.7.3 For general industrial machine with reduction gear (without electromagnetic brake) ... 6 -21 6.7.4 For general industrial machine with reduction gear (with electromagnetic brake)... 6 -27 6.7.5 For precision application with flange mounting, flange output type reduction gear
(without electromagnetic brake) ... 6 -34 6.7.6 For precision application with flange mounting, flange output type reduction gear
(with electromagnetic brake)... 6 -43 6.7.7 For precision application with flange mounting, shaft output type reduction gear
(without electromagnetic brake) ... 6 -53 6.7.8 For precision application with flange mounting, shaft output type reduction gear
(with electromagnetic brake)... 6 -61 6.8 Outline dimension drawings (in inches) ... 6 -70 6.8.1 Standard (without electromagnetic brake, without reduction gear) ... 6 -70 6.8.2 With electromagnetic brake ... 6 -73 6.8.3 For general industrial machine with reduction gear (without electromagnetic brake) ... 6 -78 6.8.4 For general industrial machine with reduction gear (with electromagnetic brake)... 6 -84 6.8.5 For precision application with flange mounting, flange output type reduction gear
(without electromagnetic brake) ... 6 -91 6.8.6 For precision application with flange mounting, flange output type reduction gear
(with electromagnetic brake)... 6 -100 6.8.7 For precision application with flange mounting, shaft output type reduction gear
(without electromagnetic brake) ... 6 -110 6.8.8 For precision application with flange mounting, shaft output type reduction gear
(with electromagnetic brake)... 6 -118
7. HF-SP SERIES 7 - 1 to 7 -20
7.1 Model name make up ... 7 - 1
7.2 Standard specifications... 7 - 2
7.2.1 Standard specifications ... 7 - 2
7.2.2 Torque characteristics... 7 - 4
7.3 Electromagnetic brake characteristics... 7 - 5
7.4 Servo motors with special shafts ... 7 - 6
7.5 Wiring option ... 7 - 6
7.6 Outline dimension drawings... 7 - 7
7.6.1 Standard (without electromagnetic brake, without reduction gear) ... 7 - 7
7.6.2 With electromagnetic brake ... 7 - 10
3
7.7.2 With electromagnetic brake ... 7 -17
APPENDIX App - 1 to App - 2
Appendix.1 Servo motor ID codes...App - 1
1 - 1
1. INTRODUCTION
1.1 Features of Servo Motor
The following table indicates the main features of the servo motor. The items marked are supported as standard. For detailed specifications, refer to the chapter of the servo motor series.
Servo motor series
Item HF-MP HF-KP HF-SP
Feature
Ultra-Low inertia Small
capacity
Low inertia Small capacity
Medium inertia/medium
capacity 1000r/min
2000r/min Rated Speed
3000r/min
Encoder Resolution [pulse/rev] 262144 262144 262144
Rated Output [kW] 0.05 to 0.75 0.05 to 0.75 0. 5 to 7.0
One-phase 230VAC (Note5)
Three-phase 200VAC to 230VAC
Power supply voltage of compatible servo amplifier (Note1)
One-phase 100VAC
to 120VAC (Note2) (Note2)
Electromagnetic Brake (Note2) (Note2) (Note2)
Special shaft (Note2) (Note2) (Note2)
Reduction Gear (Note2) (Note2)
Absolute Encoder
EN Standard Compliance with Overseas
Standards UL/cUL Standard
Protection Type IP65 (Note3 4) IP65 (Note3 4) IP67 (Note3)
Interchangeable servo motor
HC-KFS HC-MFS HC-KF HC-MF
HC-KFS HC-MFS HC-KF HC-MF
HC-SFS HC-SF HA-SH HA-SE Note 1. Some power supply voltages may not be usable depending on the servo amplifier capacity.
For the power supply voltage range, refer to the Servo Amplifier Instruction Manual.
2. Compatible products are available. For details, refer to the chapter of the servo motor series.
3. Except for the shaft-throgh portion.
4. Except for the connector.
5. Only HF-SP51, 52 corresponds.
1.2 Name plate
Model Input power Rated output
Rated speed, Protection structure, Insulation class, Mass
Serial number AC SERVO MOTOR
HF-KP13 INPUT 3AC 96V 0.8A
MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN
3000r/min IP65CI.B 0.5kg
SER.No. H14425001 034
OUTPUT 100W IEC60034-1 '03
1.3 Parts identification
Encoder cable (Note1) Encoder
Power cable (Note1 2) Power lead (U V W) Earth lead
Servo motor shaft
Note1. The encoder cable and power supply cable are options.
2. An electromagnetic brake cable is separately required for the servo motor with electromagnetic brake.
Power supply connector (Note) Power supply (U, V, W) Earth
Servo motor shaft
Encoder
Encoder connector
Note. The servo motor with electromagnetic brake has the electromagnetic brake connector separately.
1 - 3 1.4 Electromagnetic brake characteristics
CAUTION
The electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical drive or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo lock).
The brake has a time lag. Use the brake so that servo motor control is started after the brake has completely opened.
Configure the electromagnetic brake operating circuit as a double circuit so that it will also be operated by an external emergency stop (EMG).
For details of the circuit configuration and timing chart, refer to the Servo Amplifier Instruction Manual.
The servo motor with electromagnetic brake can be used to prevent a drop in vertical lift applications or to ensure double safety at an emergency stop, for example. When performing servo motor operation, supply power to the electromagnetic brake to release the brake. Switching power off makes the brake effective.
(1) Electromagnetic brake power supply
Prepare the following power supply for use with the electromagnetic brake only. The electromagnetic brake terminals (B1, B2) have no polarity.
VAR B1
B2 24VDC power
supply for electromagnetic brake
Switch
or
B1
B2 Switch
Electromagnetic
VAR 24VDC power
supply for
electromagnetic brake
ElectromagneticThe surge absorber(VAR) must be installed across B1-B2. For the selection of the surge absorber, refer to OPTIONS AND AUXILIARY EQUIPMENT of the Servo Amplifier Instruction Manual.
(2) Sound generation
Though the brake lining may rattle during operation, it poses no functional problem.
If braking sound occurs, it may be improved by setting the machine resonance suppression filter or adaptive vibration suppression control in the servo amplifier parameters. For details, refer to the servo amplifier instruction manual.
(3) Others
A leakage magnetic flux will occur at the shaft end of the servo motor equipped with electromagnetic brake.
Note that chips, screws and other magnetic substances are attracted.
1.5 Servo Motor Shaft Shapes
In addition to the straight shaft, the keyway shaft and D cut shaft are available as the servo motor shafts.
The keyway shaft and D cut shaft cannot be used in frequent start/stop applications. Since we cannot warrant the servo motor against fracture and similar accidents attributable to a loose key, use a friction coupling, etc.
when coupling the shaft with a machine.
The shaft shape of the standard servo motor changes depending on the series and capacity. Refer to the chapter of the servo motor series.
The keyway shaft (with single pointed key) applies to only the servo motor with reduction gear for precision application.
Shaft section view
Shaft section view
Keyway shaft (with key) Keyway shaft (without key)
Shaft section view
Shaft section view
D cut shaft Straight shaft
Shaft section view
Keyway shaft (with single pointed key)
2 - 1
2. INSTALLATION
CAUTION
Stacking in excess of the limited number of products is not allowed.
Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire.
Install the equipment in a load-bearing place in accordance with this Instruction Manual.
Do not get on or put heavy load on the equipment to prevent injury.
Use the equipment within the specified environmental condition range.
Refer to the specifications of the servo motor series.
Do not subject the servo motor to drop impact or shock loads as they are precision equipment.
Do not install or operate a faulty servo amplifier.
Do not hold the cable, shaft or encoder to carry the servo motor. Otherwise, a fault or injury may occur.
The lifting eyebolts of the servo motor may only be used to transport the servo motor. They must not be used to transport the servo motor when it is mounted on a machine.
The servo motor with reduction gear must be installed in the specified direction.
Otherwise, it can leak oil, leading to a fire or fault.
Securely fix the servo motor to the machine. If fixed insecurely, the servo motor will come off during operation, leading to injury.
When coupling the shaft end of the servo motor, do not subject the shaft end to impact, such as hammering. The encoder may become faulty.
When coupling a load to the servo motor, do not use a rigid coupling. Doing so can cause the shaft to break.
Balance the load to the extent possible. Failure to do so can cause vibration during servo motor operation or damage the bearings and encoder.
Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo motor during operation.
Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break, leading to injury.
When the product has been stored for an extended period of time, consult
Mitsubishi.
2.1 Installation orientation (1) Standard servo motor
The following table indicates the installation orientation of the standard servo motor.
Servo Motor Series Direction of Installation Remarks
HF-MP HF-KP HF-SP
May be installed in any direction.
For installation in the horizontal direction, it is recommended to set the connector section downward.
For installation in the horizontal direction, it is recommended to set the connector section downward.
When installing the servo motor vertically or obliquely, provide a connection and trap for the cable.
Cable trap
(2) Servo motor with electromagnetic brake
The servo motor with electromagnetic brake can also be installed in the same orientation as the standard servo motor.
When the servo motor with electromagnetic brake is installed with the shaft end at top, the brake plate may generate sliding sound but it is not a fault.
(3) Servo motor with reduction gear
The orientation of installing the servo motor with reduction gear changes depending on the reduction gear type.
Be sure to install it in the specified orientation. Refer to the chapter of the servo motor series for details.
2.2 Load remove precautions POINT
During assembling, the shaft end must not be hammered. Doing so can cause the encoder to fail.
(1) When mounting a pulley to the servo motor shaft provided with a keyway, use the screw hole in the shaft end. To fit the pulley, first insert a double-end stud into the screw hole of the shaft, put a washer against the end face of the coupling, and insert and tighten a nut to force the pulley in.
Servo motor
Double-end stud
Nut
Washer
Pulley
2 - 3
(2) For the servo motor shaft with a keyway, use the screw hole in the shaft end. For the shaft without a keyway, use a friction coupling or the like.
(3) When removing the pulley, use a pulley remover to protect the shaft from hard load and or impact.
(4) To ensure safety, fit a protective cover or the like on the rotary area, such as the pulley, mounted to the shaft.
(5) When a threaded shaft end part is needed to mount a pulley on the shaft, please contact us.
(6) The orientation of the encoder on the servo motor cannot be changed.
(7) For installation of the servo motor, use spring washers, etc. and fully tighten the bolts so that they do not become loose due to vibration.
2.3 Permissible load for the shaft POINT
Do not use a rigid coupling as it may apply excessive bending load to the shaft, leading to shaft breakage.
For the permissible shaft load specific to the servo motor, refer to the chapter of the servo motor series.
(1) Use a flexible coupling and make sure that the misalignment of the shaft is less than the permissible radial load.
(2) When using a pulley, sprocket or timing belt, select a diameter that will fit into the permissible radial load.
(3) Excess of the permissible load can cause the bearing life to reduce and the shaft to break.
(4) The load indicated in this section is static load in a single direction and does not include eccentric load.
Make eccentric load as small as possible. Not doing so can cause the servo motor to be damaged.
2.4 Protection from oil and water
Provide adequate protection to prevent foreign matter, such as oil from entering the servo motor shaft. When installing the servo motor, consider the items in this section.
(1) Do not use the servo motor with its cable soaked in oil or water. (Figure on the right)
Cover
<Incorrect> Capillary phenomenon Oil/water pool
Servo motor
(2) When the servo motor is to be installed with the shaft end at top, provide measures so that it is not exposed to oil and water entering from the machine side, gear box, etc.
Gear
Lubricating oil
Servo motor
(3) If the servo motor is exposed to oil such as coolant, the sealant, packing, cable and others may be affected depending on the oil type.
(4) In the environment where the servo motor is exposed to oil mist, oil, water, grease and/or like, the servo
motor of the standard specifications may not be usable. Contact us.
2.5 Cable
The power supply and encoder cables routed from the servo motor should be fixed to the servo motor to keep them unmovable. Otherwise, cable breaks may occur. In addition, do not modify the connectors, terminals and others at the ends of the cables.
2.6 Inspection
WARNING
Before starting maintenance and/or inspection, make sure that the charge lamp is off more than 15 minutes after power-off. Then, confirm that the voltage is safe in the tester or the like. Otherwise, you may get an electric shock.
Any person who is involved in inspection should be fully competent to do the work.
Otherwise, you may get an electric shock. For repair and parts replacement, contact your safes representative.
POINT
Do not disassemble and/or repair the equipment on customer side.
It is recommended to make the following checks periodically:
(a) Check the servo motor bearings, brake section, etc. for unusual noise.
(b) Check the cables and the like for scratches and cracks. Especially when the junction cable is movable, perform periodic inspection according to operating conditions.
(c) Check the servo motor shaft and coupling for misalignment.
(d) Check the power supply connector and encoder connector tightening screws for looseness.
2.7 Life
The following parts must be changed periodically as listed below. If any part is found faulty, it must be changed immediately even when it has not yet reached the end of its life, which depends on the operating method and environmental conditions. For parts replacement, please contact your sales representative.
Part Name Guideline of Life Remarks
Bearings 20,000 to 30,000 hours
Encoder 20,000 to 30,000 hours
The Guideline of Life field gives the reference time. If any fault is found before this time is reached, the part must be changed.
When the servo motor is run at rated speed under rated load, bearings change the bearings in 20,000 to 30,000 hours as a guideline. This differs on the operating conditions. The bearings must also be changed if unusual noise or vibration is found during inspection.
2.8 Machine Accuracies
The following table indicates the machine accuracies of the servo motor around the output shaft and mounting.
(except the optional products)
Flange Size
Accuracy [mm] Measuring
Position Less than 100 130 176
Runout of flange surface to output shaft a) 0.05 0.06 0.08
Runout of fitting OD of flange surface b) 0.04 0.04 0.06
Runout of output shaft end c) 0.02 0.02 0.03
Reference diagram
a)
b) c)
3 - 1
3. CONNECTORS USED FOR SERVO MOTOR WIRING
3.1 Selection of Connectors
Use the connector configuration products given in the table as the connectors for connection with the servo motor. Refer to Section 3.2 for the compatible connector configuration products.
(1) HF-MP Series HF-KP Series
Encoder connector Brake connector Power supply connector
Wiring Connector Servo motor
For encoder For power supply For brake
HF-KP (B) Connector configuration A Connector configuration B Connector configuration C (2) HF-SP Series
Encoder connector
Brake connector Power supply connector
Wiring Connector Servo motor
For encoder For power supply For brake
HF-SP51 81
HF-SP52 to 152 Connector configuration E
HF-SP121 201
HF-SP202 to 502 Connector configuration G
HF-SP702
Connector configuration D
Connector configuration H
Connector configuration F
3.2 Wiring connectors (Connector configurations A B C)
These connectors can be used for the EN Standard and UL/C-UL Standard.
Configuration product Connector configuration
Connector (IP65) Crimping tool
Servo motor encoder connector
A Connector: 1674320-1
(Tyco Electronics)
For Ground clip: 1596970-1 For REC. contact: 1596847 (Tyco Electronics)
1674339-1 (Tyco Electronics)
Configuration product Connector configuration
Connector (IP55) Crimping tool
Servo motor power supply connector
B
Connector: JN4FT04SJ1 HOOD SOKET INSULATOR BUSHING GRUND NUT Contact: ST-TMH-S-C1B-100
(A534G) (JAE)
CT160-3TMH5B (JAE)
JN4AT04NJ1 (JAE)
Configuration product Connector configuration
Connector (IP55) Crimping tool Servo motor brake connector
C
Connector: JN4FT02SJ1 HOOD SOKET INSULATOR BUSHING GRUND NUT Contact: ST-TMH-S-C1B-100
(A534G) (JAE)
CT160-3TMH5B (JAE)
JN4AT02PJ1
(JAE)
3 - 3 3.3 Wiring Connectors (Connector Configurations D, E, F, G, H)
Straight type
Plug (DDK) Connector
Configuration Application
Type Straight plug Socket contact Contact shape
Cable OD [mm]
(Reference)
Servo Motor Encoder Connector
CM10-SP10S-M CM10-#22SC (S1)-100
Soldering type Applicable wire size:
AWG20 or less
CM10-SP10S-M CM10-#22SC (C1)-100
Crimping type Applicable wire size:
AWG20 to 22 Connection tool (357J- 50446) is necessary.
D IP67 Straight
CM10-SP10S-M CM10-#22SC(C2)-100
Crimping type Applicable wire size:
AWG24 to 28 Connection tool (357J- 50447) is necessary.
6.0 to 9.0
CN10- R10P
Plug Cable clamp Cable Plug Cable clamp Cable
Plug (DDK) Cable Clamp (DDK)
Connector
Configuration Application
Type Model name
Cable OD [mm]
(Reference)
Model name
Servo Motor Power Supply
Connector 8.5 to 11 CE3057-10A-2 (D265)
Straight CE05-6A18-10SD-B-BSS
Applicable wire size: AWG14 to 12 10.5 to 14.1 CE3057-10A-1 (D265) 8.5 to 11 CE3057-10A-2 (D265) IP67
EN Standard
compliant Angle CE05-8A18-10SD-B-BAS
Applicable wire size: AWG14 to 12 10.5 to 14.1 CE3057-10A-1 (D265) Straight MS3106B18-10S
Applicable wire size: AWG14 to 12 14.3
(Bushing ID) MS3057-10A E
(Note) General
environment Angle MS3108B18-10S
Applicable wire size: AWG14 to 12 14.3
(Bushing ID) MS3057-10A
MS3102A18-10P
Note. Not compliant with the EN Standard.
Straight type
Plug (DDK) Connector
Configuration Application
Type Straight plug Socket contact Contact shape
Cable OD [mm]
(Reference)
Servo Motor Brake Connector
CM10-SP2S-S CM10-#22SC(S2)-100 4.0 to 6.0
CM10-SP2S-M CM10-#22SC(S2)-100 6.0 to 9.0
CM10-SP2S-L CM10-#22SC(S2)-100
Soldering type Applicable wire size:
AWG16 or less 9.0 to 11.6
CM10-SP2S-S CM10-#22SC(C3)-100 4.0 to 6.0
CM10-SP2S-M CM10-#22SC(C3)-100 6.0 to 9.0
F IP67 Straight
CM10-SP2S-L CM10-#22SC(C3)-100
Crimping type Applicable wire size:
AWG20 to 16 Connection tool (357J- 50448) is necessary.
9.0 to 11.6
CM10-R2P
Plug Cable clamp Cable Plug Cable clamp Cable
Plug (DDK) Cable Clamp (DDK)
Connector
Configuration Application
Type Model name
Cable OD [mm]
(Reference)
Model name
Servo Motor Power Supply
Connector 9.5 to 13 CD3057-12A-2 (D265)
Straight CE05-6A22-22SD-B-BSS
Applicable wire size: AWG12 to 8 12.5 to 16 CD3057-12A-1 (D265) 9.5 to 13 CD3057-12A-2 (D265) IP67
EN Standard
compliant Angle CE05-8A22-22SD-B-BAS
Applicable wire size: AWG12 to 8 12.5 to 16 CD3057-12A-1 (D265) Straight MS3106B22-22S
Applicable wire size: AWG12 to 8 15.9
(Bushing ID) MS3057-12A G
(Note) General
environment Angle MS3108B22-22S
Applicable wire size: AWG12 to 8 15.9
(Bushing ID) MS3057-12A
MS3102A22-22P
Note. Not compliant with the EN Standard.
Plug Cable clamp Cable Plug Cable clamp Cable
Plug (DDK) Cable Clamp (DDK)
Connector
Configuration Application
Type Model name
Cable OD [mm]
(Reference)
Model name
Servo Motor Power Supply
Connector
Straight CE05-6A32-17SD-B-BSS Applicable wire size: AWG12 to 8 IP67
EN Standard
compliant Angle CE05-8A32-17SD-B-BAS Applicable wire size: AWG12 to 8
22 to 23.8 CD3057-20A-1 (D265)
Straight MS3106B32-17S
Applicable wire size: AWG6 to 4 H
(Note) General
environment Angle MS3108B32-17S
Applicable wire size: AWG12 to 8 23.8
(Bushing ID) MS3057-20A
CE05-2A32- 17PD-B
Note. Not compliant with the EN Standard.
4 - 1
4. CONNECTOR OUTLINE DRAWINGS
The connector outline drawings for wiring the servo motor are shown below.
(1) Tyco Electronics 1674320-1
[Unit: mm]
([Unit: in])
15 (0.59)
10 (0.39) 18 (0.71)
23 (0.91)
6.2 (0.24) 6 (0.24)
14.2 (0.56)
13 (0.51)
13.6 ( 0.54)
30 (1.18)
Crimping tool: 1596970-1 (For ground crip) 1596847 (For REC. contact) (2) JAE
JN4FT02SJ1
[Unit: mm]
([Unit: in]) 26.6 (1.05)
17(0.67) 12.3 (0.48)
19 (0.75) 14.3 (0.56) 12.5 (0.49)
12.7 (0.5)
11.8 (0.47)2.5 (0.1)
R6
11.6 ( 0.46)
Note
R4
Note. The recommended screw tightening torque is 0.2N m (1.77 lb in).
Crimping tool: CT160-3TMH5B
JN4FT04SJ1
[Unit: mm]
([Unit: in])
11.7 (0.46) 16 (0.63)
27 (1.06)
24.5 (0.97) 20.1 (0.79) 18.9 (0.74)
4-R2
12.7 (0.5)
Note 7
12.7 (0.5)
13.7 (0.54) 2.5 (0.1)
R0.5 R6
13.1 ( 0.52)
Note. The recommended screw tightening torque is 0.2N m (1.77 lb in).
Crimping tool: CT160-3TMH5B (3) DDK
CM10-SP2S-S/M/L CM10-SP10S-M
[Unit: mm]
([Unit: in])
21(0 .827)
19(0.748)
51.4(2.02) For CM10-SP2S-S/M/L For CM10-SP10S-M
19(0.748) 3
7 10 41
8
18.9(0.744)o
r le ss
4 - 3
[Unit: mm]
([Unit: in])
W A
7.85
C 0.8
(0.309) or more
B
0 0.38
D or less
Model name A B C D W
CE05-6A18-10SD-B-BSS 1 1/8-18UNEF-2B 34.13 (1.34) 32.1 (1.26) 57 (2.24) 1-20UNEF-2A CE05-6A22-22SD-B-BSS 1 3/8-18UNEF-2B 40.48 (1.59) 38.3 (1.51) 61 (2.40) 1 3/16-18UNEF-2A CE05-6A32-17SD-B-BSS 2-18UNS-2B 56.33 (2.22) 54.20 (2.13) 79 1 3/4-18UNS-2A
[Unit: mm]
([Unit: in])
W
D or less A
R 0.7U 0.7 Y or more
(S) 1 B
0 0.38
Model name A B D W R U (S) Y
CE05-8A18-10SD-B-BAS 1 1/8-18UNEF-2B 34.13 (1.34)
69.5
(2.74) 1-20UNEF-2A 13.2 (0.52)
30.2 (1.19)
43.4 (1.71)
7.5 (0.295) CE05-8A22-22SD-B-BAS 1 3/8-18UNEF-2B 40.48
(1.594) 75.5 (2.972)
1 3/16-18UNEF- 2A
16.3 (0.642)
33.3 (1.31)
49.6 (1.95)
7.5 (0.295) CE05-8A32-17SD-B-BAS 2-18UNS-2B 56.33
(2.22)
93.5
(3.68) 1 3/4-18UNS-2A 24.6 (0.97)
44.5 (1.75)
61.9 (2.44)
8.5
(0.34)
[Unit: mm]
([Unit: in])
Effective thread length C A
0.71.6 (0.063) V Thread
B 0.7 G 0.7
E
(Cable clamp ID) H
(Movable range on one side) (D)
(Bushing ID) F
Model name
Shell
Size A B C D E F G H V Bushing Cable
Range CE3057-
10A-1 (D265)
14.1 (0.555)
CE3420 -10-1
10.5 to 14.1 ( 0.413 to
0.555) CE3057-
10A-2 (D265)
18 23.8
(0.937) 30.1 (1.19)
10.3 (0.406)
41.3 (1.63)
15.9 (0.626)
11.0 (0.433)
31.7 (1.248)
3.2 (0.126)
1- 20UN
EF-2B CE3420 -10-2
8.5 to 11 ( 0.335 to
0.433) CE3057-
12A-1 (D265)
16.0 (0.630)
CE3420 12-1
12.5 to 16 ( 0.492 to
0.630) CE3057-
12A-2 (D265)
22 23.8
(0.937) 35 (1.38)
10.3 (0.406)
41.3 (1.63)
19 (0.748)
13.0 (0.512)
37.3 (1.47)
4.0 (0.157)
1 3/16- 18UN
EF-2B CE3420 12-2
9.5 to 13 ( 0.374 to
0.512) CE3057-
16A-1 (D265)
32 27.8
(1.09) 51.6 (2.03)
11.9 (0.469)
43 (1.69)
31.7 (1.25)
23.8 (0.937)
51.6 (2.03)
6.3 (0.248)
1 3/4- 18UNS
-2B
CE3420 -20-1
22 to 23.8 ( 0.866 to
0.937)
[Unit: mm]
([Unit: in])
W or more
L or less
Y or less
A
V
Q0.380
J
0.12Model name A J L Q V W Y
MS3106B18-10S 1 1/8- 18UNEF
18.26 (0.719)
52.37 (2.06)
34.31
(1.35) 1-20UNEF 9.53 (0.375)
42 (1.65) MS3106B22-22S 1 3/8-
18UNEF
18.26 (0.719)
56.57 (2.23)
40.48 (1.59)
1 3/16- 18UNEF
9.53 (0.375)
50 (1.97) MS3106B32-17S 2-18UNS 18.26
(0.719)
61.92 (2.44)
56.33 (2.22)
1 3/4- 18UNS
11.13 (0.438)
66
(2.60)
4 - 5
[Unit: mm]
([Unit: in])
W or more
L or less J
0.12A
V
U 0.5R 0.5 Q0.380
Model name A J L Q R U V W
MS3108B18-10S 1 1/8-18UNEF 18.26 (0.719)
68.27 (2.69)
34.13 (1.34)
20.5 (0.807)
30.2
(1.19) 1-20UNEF 9.53 (0.375) MS3108B22-22S 1 3/8-18UNEF 18.26
(0.719)
76.98 (3.03)
40.48 (1.59)
24.1 (0.949)
33.3 (1.31)
1 3/16- 18UNEF-2A
9.53 (0.375)
MS3108B32-17S 2-18UNS 18.26
(0.719)
95.25 (3.75)
56.33 (2.22)
32.8 (1.29)
44.4 (1.75)
1 3/4- 18UNS
11.13 (0.44)
[Unit: mm]
([Unit: in])
1.6 V
E (Bushing ID)
D (Cable clamp ID)
F (Movable range)
B 0.7A
0.7G 0.7
Effective thread length C
Model name Shell
Size A B C D E F G V Bushing
MS3057-10A 18 23.8
(0.937) 30.1 (1.19)
10.3 (0.406)
15.9 (0.626)
14.3 (0.563)
3.2 (0.126)
31.7
(1.25) 1-20UNEF AN3420-10
MS3057-12A 22 23.8
(0.937) 35.0 (1.38)
10.3 (0.406)
19.0 (0.75)
15.9 (0.626)
4.0 (0.157)
37.3 (1.47)
1 3/16-
18UNEF-2A AN3420-12
MS3057-20A 32 27.8
(1.09) 51.6 (2.03)
11.9 (0.47)
31.7 (1.25)
19.1 (0.75)
23.8 (0.94)
6.3 (0.25)
51.6
(2.03) 1 3/4-18UNS AN3420-16
AN3420-20
MEMO
5 - 1
5. CALCULATION METHODS FOR DESIGNING
5.1 Specification symbol list
The following symbols are required for selecting the proper servo:
T
a: Acceleration torque [N m]
T
d: Deceleration torque [N m]
T
Ma: Servo motor torque necessary for [N m]
acceleration
T
Md: Servo motor torque necessary for [N m]
deceleration
T
L: Load torque converted into equivalent [N m]
value on servo motor shaft
T
LM: Load torque converted into [N m]
equivalent value on servo motor shaft during stop
T
U: Unbalance torque [N m]
T
F: Load friction torque [N m]
T
B: Brake static friction torque
T
L0: Load torque on load shaft [N m]
T
rms: Continuous effective load torque [N m]
converted into equivalent value on servo motor shaft
J
L: Load inertia moment converted [kg cm
2] into equivalent value on servo
motor shaft
J
L0: Load inertia moment on load shaft [kg cm
2] J
M: Servo motor's rotor inertia moment [kg cm
2]
N : Servo motor speed [r/min]
N
0: Servo motor speed during fast feed [r/min]
N
L0: Load shaft speed during fast feed [r/min]
V : Moving part speed [mm/min]
V
0: Moving part speed during fast feed [mm/min]
P
b: Ball screw lead [mm]
Z
1: Number of gear teeth on servo motor shaft Z
2: Number of gear teeth on load gear n : Gear ratio
n Z
1Z
2Speed reduced when n 1, Speed increased when n 1 : Drive system efficiency
g : Gravitational acceleration (9.8[m/s
2])
: Friction coefficient : Circle ratio (3.14)
P
t: Number of feedback pulses in [pulse/rev]
position control mode
f : Input pulse frequency in [pps]
position control mode
f
0: Input pulse frequency during fast [pps]
feed in position control mode
t
psa: Acceleration time constant of [s]
pulse frequency command in position control mode
t
psd: Deceleration time constant of [s]
pulse frequency command in position control mode
K
p: Position control gain 1 [rad/s]
T
p: Position control time constant (Tp 1/Kp) [s]
: Feed per feedback pulse
in position control mode [mm/pulse]
0
: Feed per command pulse
in position control mode [mm/pulse]
: Feed [mm]
P : Number of internal command pulses [pulse]
t
s: Internal settling time [s]
t
0: Positioning time [s]
t
c: Time at constant speed of servo [s]
motor in 1 cycle
t : Stopping time in 1 cycle [s]
: Positioning accuracy [mm]
: Number of droop pulses [pulse]
S : Feed per servo motor revolution [mm/rev]
W : Mass [Kg]
Lmax : Maximum coasting distance [mm]
5.2 Position resolution and electronic gear setting
Position resolution (travel per pulse ) is determined by travel per servo motor revolution S and the number of encoder feedback pulses Pt, and is represented by Equation 5.1. As the number of feedback pulses depends on the servo motor series, refer to Section 6.1.
P
tS ...(5.1)
: Travel per pulse [mm/pulse]
S : Travel per servo motor revolution [mm/rev]
P
t: Number of feedback pulses [pulse/rev]
Since has the relationship represented by Equation 5.1, its value is fixed in the control system after the drive system and encoder have been determined. However, travel per command pulse can be set as desired using the parameters.
CMX
CDV SM
P
t262144pulse/rev Command pulse
frequency f
0Electronic gear CMX CDV
Deviation counter
Encoder
As shown above, command pulses are multiplied by CMX/CDV set in the parameters to be position control pulses. Travel per command pulse is expressed by Equation 5.2:
0
P
tS CMX
CDV CMX
CDV ...(5.2) CMX: Electronic gear (Command pulse multiplication numerator)
CDV: Electronic gear (Command pulse multiplication denominator)
Using the above relationship, travel per command pulse can be set to a value without fraction.
[Setting example]
Find a parameter value for
00.01 [mm] in a drive system where ball screw lead PB 10 [mm/pulse] and reduction ratio 1/n 1.
The encoder feedback pulses Pt of the HF-KP 262144 [pulses/rev].
Since s 10 [mm/rev], the following is obtained according to Equation 5.2:
CMX
CDV
0P
tS 0.01 262144
10 32768 125
<Relationship between position resolution and overall accuracy>
Positioning accuracy of machine is the sum of electrical errors and mechanical errors. Normally, provisions should be made so that positioning accuracy are not affected by electrical system errors. As a guideline, Equation 8.3 should be satisfied:
1
5 1
to 10 D ...(5.3) where, : Travel per feedback pulse [mm/pulse]
: Positioning accuracy [mm]
5 - 3 5.3 Speed and command pulse frequency
The servo motor is run at a speed where the command pulses and feedback pulses are equivalent. Therefore, the command pulse frequency and feedback pulse frequency are equivalent. The relation including the parameter settings (CMX, CDV) is as indicated below (refer to the following diagram):
f
0CMX
CDV P
tN
060 ... (5.4)
CMX CDV f
0Electronic gear
Feedback pulse
frequency Servo motor
f
0:Command pulse frequency (Differential line driver) [pps]
CMX :Electronic gear
(Commanded pulse multiplication numerator) CDV :Electronic gear
(Commanded pulse multiplication denominator) N
0:Servo motor speed [r/min]
P
t:Number of feedback pulses [pulses/rev]
(P
t262144 for HF-KP)
According to Equation 5.4, the following equations may be used to obtain the electronic gear and command pulse frequency to rotate the servo motor at No.
Electronic gear CMX
CDV P
tNo 60
1
f
0...(5.5) Command pulse frequency
f
0Pt N
060 CDV
CMX ...(5.6) [Setting example]
Obtain the command pulse frequency required to run the HF-KP at 3000r/min.
When the electronic gear ratio 1 (initial parameter value) is used, the following result is found according to Equation 5.6:
f
0262144 N
060 CDV CMX (Command pulse frequency)
262144 3000 60 1 13107200[pps]
However, as the maximum input command pulse frequency in the differential line driver system is 1Mpps, for general-purpose servo 13107200pps cannot be entered.
To run the servo motor at the speed of 3000r/min at not more than 1Mpps, the electronic gear setting must be changed. This electronic gear is found by Equation 5.5:
CMX
CDV 262144 3000 60
1 1 10
6(Electronic gear)
8192 625
Therefore, the parameters are set to CMX 8192 and CDV 625.
5.4 Stopping characteristics (1) Droop pulses ( )
When a pulse train command is used to run the servo motor, there is a relationship between the command pulse frequency and servo motor speed as shown in the figure. The difference between the command pulses and feedback pulses during acceleration are called droop pulses, which are accumulated in the servo amplifier's deviation counter. Equation 5.7 defines a relationship between the command pulse frequency (f) and position control gain 1(Kp).
f
0Kp [pulse] ...(5.7) Supposing that the value of position control gain 1 is 70 [rad/s], the droop pulses during operation will be as follows at the command pulse frequency of 200 [kpps] according to Equation 5.7:
1
200 10
32858[pulse]
Command pulse frequency f
Servo motor speed
[pps]
[r/min]
0 Time
Command Droop pulses
Servo motor speed
t
psat
st
s3 1 70 0.04 T
pt
psd(2) Settling time (ts) during linear acceleration/deceleration
Since droop pulses still exist when there are no command pulses, settling time (ts) is required until the servo motor stops. Set the operation pattern in consideration for the settling time.
The settling time (ts) value is obtained according to Equation 5.8:
ts 3 Tp
3 1
Kp [s]...(5.8)
*When Kp 70 [rad/s], ts 0.04 [s]. (Refer to the above diagram.)
The settling time (ts) indicates the time required for the servo motor to stop in the necessary positioning accuracy range. This does not always mean that the servo motor has stopped completely. Thus, especially when the servo motor is used in high-duty operation and positioning accuracy has no margin for travel per pulse ( ), the value obtained by Equation 5.8 must be increased.
The settling time (ts) will vary with the moving part conditions. Especially when the load friction torque is
large, movement may be unstable near the stopping position.
5 - 5 5.5 Capacity selection
As a first step, confirm the load conditions and temporarily select the servo motor capacity. Then, determine the operation pattern, calculate required torques according to the following equations, and check that the servo motor of the initially selected capacity may be used for operation .
(1) Initial selection of servo motor capacity
After calculating the load torque (T L ) and load inertia moment (J L ), select a servo motor which will satisfy the following two relationships:
Servo motor's rated torque T L Servo motor J M J L /m
m 3 : High duty (more than 100 times/min.)
Settling time 40ms or less
m 5 : Middle duty (60 to 100 times/min.)
Settling time 100ms or less m permissible load inertia moment : Low duty (less than 60 times/min.)
Settling time more than 100ms
Find the acceleration and deceleration torques and continuous effective load torque as described in (2) to make a final selection. For high-duty positioning, the load inertia moment (J L ) value should be as small as possible. If positioning is infrequent as in line control, the load inertia moment (J L ) value may be slightly larger than in the above conditions.
(2) Acceleration and deceleration torques
The following equations are used to calculate the acceleration and deceleration torques in the following operation pattern:
Command pulse
Servo motor speed [r/min]
0
0 Nofo
Time
Time Command
Servo motor speed
t
psaT
aT
dDeceleration torque Acceleration torque
frequency f [pps]
t
psdAcceleration torque T a (J
LJ
M) No t
psa1
9.55 10
4...(5.9)
Deceleration torque T b (J
LJ
M) No t
psd1
9.55 10
4...(5.10)
(3) Torques required for operation
Torques required for the servo motor are the highest during acceleration. If any of the torques obtained with Equations 5.11 to 5.13 exceeds the maximum servo motor torque, the servo motor speed cannot be increased as commanded. Confirm that the calculated value is lower than the servo motor's maximum torque. Since a friction load is normally applied during deceleration, only the acceleration torque needs to be considered. In the regenerative mode, the value found by Equation 5.13 is negative.
Servo motor torque
0
Time T
MaT
MdT
1T
2T
LT
aT
dfrequency f [pps]
Servo motor speed [r/min]
0 Nofo
Time Command
Servo motor speed
t
psaCommand pulse
t
psdT 1 T Ma Ta T L ... (5.11)
T 2 T L ... (5.12)
T 3 T Md T d T L ... (5.13)
5 - 7 (4) Continuous effective load torque
If the torque required for the servo motor changes with time, the continuous effective load torque should be lower than the rated torque of the servo motor. There may be a servo motor torque delay at the start of acceleration or deceleration due to a delay in the control system. To simplify the calculation, however, it is assumed that constant acceleration and deceleration torques are applied during t
psaand t
psd. The following equation is used to calculate the continuous effective load torque in the following operation pattern. T LH indicates the torque applied during a servo motor stop. A large torque may be applied especially during a stop in vertical motion applications, and this must be fully taken into consideration. During vertical drive, the unbalanced torque TU will become T LH .
Servo motor speedTimeServo motor torque
