Ratoc Systems USB-Serial Converter REX-USB60F Uživatelský manuál Strana 1

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Strany 1 - RD series

User’s ManualENGLISHERD seriesYAMAHA SINGLE-AXIS ROBOT DRIVERIM Operations882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.JapanURL http://www.yamaha-

Strany 3

Functions55-345. Functions3. Click the [Continuous pattern tuning start] button.4. Check safety conditions and then turn on the FOT and ROT terminals,

Strany 4

5-355Functions5. Functions5.11 Gain change functionThe gain change function is a function for changing the position and speed control gain during oper

Strany 5 - General Contents

Functions55-365. Functions(1) Parameter constants used for the gain change functionThe parameter constants used for changing the gain are explained be

Strany 6

5-375Functions5. Functions(2) Procedure for setting the gain change function1. Set the "Gain change mode" (Fd-30) to "AUto". • Se

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Functions55-385. Functions5.12 Clearing the alarm log and setting the default valuesThe tripped alarm log can be cleared and all parameter data can be

Strany 8 - 7.1.3 Cleaning 7-2

5-395Functions5. Functions(2) When initializing with the TOP software on the PC All parameters can be reset to their default values (default values in

Strany 9

Functions55-405. Functions5.13 Motor rotating direction5.13.1 FLIP-X series phase sequenceThe forward direction when the RDX is used in combination wi

Strany 10

5-415Functions5. Functions5.14 Speed limit functionSpeed can be limited by the parameters (Fb-20, Fb-21) as shown in the table below.SettingSpeed limi

Strany 11 - Chapter 1 Safety precautions

Functions55-425. Functions5.15 Fast positioning functionThe fast positioning function shortens the positioning settling time to the minimum time, and

Strany 12

5-435Functions5. Functions0Effects of position deviation minimizing control (Fd-40 = FoL) during positioning operationPosition error (pulses)Time [s]P

Strany 13 - 1.1 Precautions for use

Chapter 1 Safety precautionsTo use this unit correctly and safely, always read this manual and all other attached documents carefully before use. Use

Strany 14 - 1.2 Storage

Functions55-445. Functions5.16 Notch filter functionThe notch filter function reduces the vibration originating from the machine resonance, by lowerin

Strany 15 - 1.4 Installation

5-455Functions5. Functions5.17 Magnetic pole position estimation actionOn the RDP, magnetic pole position estimation must be performed after power is

Strany 16 - 1.5 Wiring

Functions55-465. Functions5.18 Magnetic pole position estimation and parametersThe magnetic pole position estimation is performed by repeatedly genera

Strany 17 - 1.6 Control and operation

5-475Functions5. FunctionsThe distance the motor or slider moves during magnetic pole position estimation can be derived by the following formula.Move

Strany 18 - Safety precautions

Functions55-485. FunctionsNote 1: Magnetic pole position estimation might sometimes be unable to accurately estimate the magnetic pole position due to

Strany 19

Chapter 6 Parameter descriptionThis chapter describes part names of the digital operator integrated into this product and how to operate it. This cha

Strany 20

T9H-5 ...6-45T9H-5-BK ...

Strany 21 - 2.1.1 Checking the product

F17L-50-BK (C17L-50-BK) ...6-67F17-10 (C17-10) ...6-

Strany 23 - 2.2.2 Warranty

6-16Parameter description6. Parameter description6.1 Digital operator part names and operation6.1.1 Part names of digital operatorThe RD series is o

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Parameter description66-26. Parameter description6.1.2 Operating the digital operator(1) Changing the monitor mode display and parameter settingThe b

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6-36Parameter description6. Parameter description(2) Operating the trip monitor and the trip log monitorThe button marks over/under the right/left arr

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Parameter description66-46. Parameter description(3) Special displayA special display appears to indicate the robot driver status as shown in the foll

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6-56Parameter description6. Parameter description6.2 Function listsThis section describes monitor functions and parameters that can be set for the rob

Strany 29 - 3.1 Installation

Parameter description66-66. Parameter description6.2.1 List of monitor functionsParameter No.Parameter name Display rangeUnitsRDX RDPd-00 Speed comma

Strany 30 - Installation and wiring

6-76Parameter description6. Parameter description6.2.2 List of setup parametersParameter setting ranges and default values are shown in the following

Strany 31

Parameter description66-86. Parameter descriptionParameter No.Parameter nameSetting rangeDefault setting UnitsChange during operationRDX RDP RDX RDPFA

Strany 32 - 3.2 Wiring

6-96Parameter description6. Parameter description(2) Operation constant parametersParameter No.Parameter nameSetting range Default setting UnitsChange

Strany 33 - 3.2.2 Main circuit wiring

Parameter description66-106. Parameter description(3) Input/output terminal parametersParameter No.Parameter name Setting rangeDefault setting UnitsCh

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6-116Parameter description6. Parameter description(4) Control constant parametersParameter No.Parameter name Setting rangeDefault settingUnitsChange d

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1-11Safety precautions1. Safety precautionsTo use this unit correctly and safely, always read this manual and all other attached documents carefully b

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Parameter description66-126. Parameter description6.3 Function description6.3.1 Monitor display descriptionTo automatically display a parameter setti

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6-136Parameter description6. Parameter descriptionMonitor No.Monitor name Display range Descriptiond-07Position command monitor80000000 (negative maxi

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Parameter description66-146. Parameter descriptionMonitor No.Monitor name Display range Descriptiond-13Operation control mode monitortrq (torque contr

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6-156Parameter description6. Parameter description6.3.2 Setup parameter description(1) Operation mode parameters, etc.Parameter No.Parameter nameSett

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Parameter description66-166. Parameter descriptionParameter No.Parameter nameSetting range[Default value]DescriptionFA-08Regenerative braking operatin

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6-176Parameter description6. Parameter descriptionParameter No.Parameter nameSetting range[Default value]DescriptionFA-11Pulse train input modeF-rP-SA

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Parameter description66-186. Parameter descriptionParameter No.Parameter nameSetting range[Default value]DescriptionFA-16DB Operation selectionnontrPS

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6-196Parameter description6. Parameter descriptionParameter No.Parameter nameSetting range[Default value]DescriptionFA-23 Homing modeL-FL-rH1-FH1-rH2-

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Parameter description66-206. Parameter descriptionParameter No.Parameter nameSetting range[Default value]DescriptionFA-26Brake operation start speed*

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6-216Parameter description6. Parameter descriptionParameter No.Parameter nameSetting range[Default value]DescriptionFA-86Pole position offset* Valid o

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Safety precautions11-21. Safety precautionscCAUTION1. Use only the specifi ed robot and controller combination. Using the wrong combination may cause

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Parameter description66-226. Parameter description(2) Operation constant parametersParameter No.Parameter nameSetting range[Default value]DescriptionF

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6-236Parameter description6. Parameter descriptionParameter No.Parameter nameSetting range[Default value]DescriptionFb-16Forward position limit value(

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Parameter description66-246. Parameter descriptionParameter No.Parameter nameSetting range[Default value]DescriptionFb-36Current for striking limit40

Strany 50 - (Collector)

6-256Parameter description6. Parameter description(3) Input/output terminal parametersParameter No.Parameter nameSetting range[Default value]Descripti

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Parameter description66-266. Parameter descriptionParameter No.Parameter nameSetting range[Default value]DescriptionFC-09Position sensor monitor resol

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6-276Parameter description6. Parameter descriptionParameter No.Parameter nameSetting range[Default value]DescriptionFC-23Communication paritynon, odd,

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Parameter description66-286. Parameter descriptionParameter No.Parameter nameSetting range[Default value]DescriptionFC-32Monitor output 1 gain0.0 to 3

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6-296Parameter description6. Parameter description(4) Control constant parameterParameter No.Parameter nameSetting range[Default value]DescriptionFd-0

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Parameter description66-306. Parameter descriptionParameter No.Parameter nameSetting range[Default value]DescriptionFd-14Notch filter 2 frequency3.0 t

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6-316Parameter description6. Parameter descriptionParameter No.Parameter nameSetting range[Default value]DescriptionFd-46(Note 1)Mover mass for pole p

Strany 57 - Chapter 4 Operation

1-31Safety precautions1. Safety precautions1.3 CarryingcCAUTION1. Do not carry the robot driver by the cables. Doing so may cause malfunction or inj

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Parameter description66-326. Parameter description6.3.3 Reference graph for setting the acceleration and position control cut-off frequencyFor your re

Strany 59 - 4.1 Control and operation

6-336Parameter description6. Parameter description RDXModel T4H-2 (C4H-2)Maximum payload [kg] 6.0 [kg]Fd-00 Moment of inertia 0.029 [×10-4kg•m2]Fd-

Strany 60 - Operation

Parameter description66-346. Parameter descriptionModel T4H-6 (C4H-6)Maximum payload [kg] 6.0 [kg]Fd-00 Moment of inertia 0.044 [×10-4kg•m2]Fd-01 Sp

Strany 61 - 4.2 Test Run

6-356Parameter description6. Parameter descriptionModel T4H-12 (C4H-12)Maximum payload [kg] 4.5 [kg]Fd-00 Moment of inertia 0.038 [×10-4kg•m2]Fd-01

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Parameter description66-366. Parameter descriptionModel T5H-6 (C5H-6)Maximum payload [kg] 9.0 [kg]Fd-00 Moment of inertia 0.063 [×10-4kg•m2]Fd-01 Sp

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6-376Parameter description6. Parameter descriptionModel T5H-12 (C5H-12)Maximum payload [kg] 5.0 [kg]Fd-00 Moment of inertia 0.067 [×10-4kg•m2]Fd-01

Strany 64 - 4.3 Emergency stop

Parameter description66-386. Parameter descriptionModel T5H-20Maximum payload [kg] 3.0 [kg]Fd-00 Moment of inertia 0.100 [×10-4kg•m2]Fd-01 Speed con

Strany 65 - Chapter 5 Functions

6-396Parameter description6. Parameter descriptionModel T6-6-BK (C6-6-BK)Maximum payload [kg] 8.0 [kg]Fd-00 Moment of inertia 0.092 [×10-4kg•m2]Fd-0

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Parameter description66-406. Parameter descriptionModel T6-12-BK (C6-12-BK)Maximum payload [kg] 4.0 [kg]Fd-00 Moment of inertia 0.110 [×10-4kg•m2]Fd

Strany 67 - 5.1 Terminal function list

6-416Parameter description6. Parameter descriptionModel T7-12Maximum payload [kg] 8.0 [kg]Fd-00 Moment of inertia 0.125 [×10-4kg•m2]Fd-01 Speed cont

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Safety precautions11-41. Safety precautions1.5 WiringwDANGER1. WIRING WORK SHOULD BE CARRIED OUT BY QUALIFIED ELECTRICIANS. IMPROPER WIRING MAY CAUS

Strany 69 - 5.2 Input terminal functions

Parameter description66-426. Parameter descriptionModel T9-5Maximum payload [kg] 80.0 [kg]Fd-00 Moment of inertia 0.282 [×10-4kg•m2]Fd-01 Speed cont

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6-436Parameter description6. Parameter descriptionModel T9-10Maximum payload [kg] 55.0 [kg]Fd-00 Moment of inertia 0.304 [×10-4kg•m2]Fd-01 Speed con

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Parameter description66-446. Parameter descriptionModel T9-20Maximum payload [kg] 30.0 [kg]Fd-00 Moment of inertia 0.399 [×10-4kg•m2]Fd-01 Speed con

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6-456Parameter description6. Parameter descriptionModel T9-30Maximum payload [kg] 15.0 [kg]Fd-00 Moment of inertia 0.501 [×10-4kg•m2]Fd-01 Speed con

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Parameter description66-466. Parameter descriptionModel T9H-5-BKMaximum payload [kg] 30.0 [kg]Fd-00 Moment of inertia 0.416 [×10-4kg•m2]Fd-01 Speed

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6-476Parameter description6. Parameter descriptionModel T9H-10-BKMaximum payload [kg] 20.0 [kg]Fd-00 Moment of inertia 0.424 [×10-4kg•m2]Fd-01 Speed

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Parameter description66-486. Parameter descriptionModel T9H-20-BKMaximum payload [kg] 8.0 [kg]Fd-00 Moment of inertia 0.564 [×10-4kg•m2]Fd-01 Speed

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6-496Parameter description6. Parameter descriptionModel F8-6 (C8-6)Maximum payload [kg] 40.0 [kg]Fd-00 Moment of inertia 0.109 [×10-4kg•m2]Fd-01 Spe

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Parameter description66-506. Parameter descriptionModel F8-12 (C8-12)Maximum payload [kg] 20.0 [kg]Fd-00 Moment of inertia 0.124 [×10-4kg•m2]Fd-01 S

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6-516Parameter description6. Parameter descriptionModel F8-20 (C8-20)Maximum payload [kg] 12.0 [kg]Fd-00 Moment of inertia 0.160 [×10-4kg•m2]Fd-01 S

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1-51Safety precautions1. Safety precautions1.6 Control and operationcCAUTION1. To prevent unstable or erratic operation never make drastic adjustmen

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Parameter description66-526. Parameter descriptionModel F8L-5-BK (C8L-5-BK)Maximum payload [kg] 16.0 [kg]Fd-00 Moment of inertia 0.213 [×10-4kg•m2]F

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6-536Parameter description6. Parameter descriptionModel F8L-10-BK (C8L-10-BK)Maximum payload [kg] 8.0 [kg]Fd-00 Moment of inertia 0.229 [×10-4kg•m2]

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Parameter description66-546. Parameter descriptionModel F8L-20-BK (C8L-20-BK)Maximum payload [kg] 4.0 [kg]Fd-00 Moment of inertia 0.299 [×10-4kg•m2]

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6-556Parameter description6. Parameter descriptionModel F8LH-5 (C8LH-5)Maximum payload [kg] 80.0 [kg]Fd-00 Moment of inertia 0.171 [×10-4kg•m2]Fd-01

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Parameter description66-566. Parameter descriptionModel F8LH-20 (C8LH-20)Maximum payload [kg] 30.0 [kg]Fd-00 Moment of inertia 0.292 [×10-4kg•m2]Fd-

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6-576Parameter description6. Parameter descriptionModel F10-5-BK (C10-5-BK)Maximum payload [kg] 20.0 [kg]Fd-00 Moment of inertia 0.289 [×10-4kg•m2]F

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Parameter description66-586. Parameter descriptionModel F10-10-BK (C10-10-BK)Maximum payload [kg] 10.0 [kg]Fd-00 Moment of inertia 0.304 [×10-4kg•m2

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6-596Parameter description6. Parameter descriptionModel F10-20-BK (C10-20-BK)Maximum payload [kg] 4.0 [kg]Fd-00 Moment of inertia 0.399 [×10-4kg•m2]

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Parameter description66-606. Parameter descriptionModel F14-5 (C14-5)Maximum payload [kg] 80.0 [kg]Fd-00 Moment of inertia 0.282 [×10-4kg•m2]Fd-01 S

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6-616Parameter description6. Parameter descriptionModel F14-10 (C14-10)Maximum payload [kg] 55.0 [kg]Fd-00 Moment of inertia 0.304 [×10-4kg•m2]Fd-01

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Safety precautions11-61. Safety precautions1.7 Maintenance and inspectionwDANGERAFTER TURNING POWER OFF, WAIT AT LEAST 10 MINUTES BEFORE STARTING MAI

Strany 91 - 5.7 Smoothing function

Parameter description66-626. Parameter descriptionModel F14-20 (C14-20)Maximum payload [kg] 30.0 [kg]Fd-00 Moment of inertia 0.399 [×10-4kg•m2]Fd-01

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6-636Parameter description6. Parameter descriptionModel F14-30Maximum payload [kg] 15.0 [kg]Fd-00 Moment of inertia 0.501 [×10-4kg•m2]Fd-01 Speed co

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Parameter description66-646. Parameter descriptionModel F14H-5-BK (C14H-5-BK)Maximum payload [kg] 30.0 [kg]Fd-00 Moment of inertia 0.388 [×10-4kg•m2

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6-656Parameter description6. Parameter descriptionModel F14H-10-BK (C14H-10-BK)Maximum payload [kg] 20.0 [kg]Fd-00 Moment of inertia 0.424 [×10-4kg•

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Parameter description66-666. Parameter descriptionModel F14H-20-BK (C14H-20-BK)Maximum payload [kg] 8.0 [kg]Fd-00 Moment of inertia 0.620 [×10-4kg•m

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6-676Parameter description6. Parameter descriptionModel F17L-50 (C17L-50)Maximum payload [kg] 50.0 [kg]Fd-00 Moment of inertia 6.080 [×10-4kg•m2]Fd-

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Parameter description66-686. Parameter descriptionModel F17-10 (C17-10)Maximum payload [kg] 120.0 [kg]Fd-00 Moment of inertia 1.480 [×10-4kg•m2]Fd-0

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6-696Parameter description6. Parameter descriptionModel F17-20 (C17-20)Maximum payload [kg] 80.0 [kg]Fd-00 Moment of inertia 1.720 [×10-4kg•m2]Fd-01

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Parameter description66-706. Parameter descriptionModel F17-40Maximum payload [kg] 40.0 [kg]Fd-00 Moment of inertia 1.930 [×10-4kg•m2]Fd-01 Speed co

Strany 100 - Functions

6-716Parameter description6. Parameter descriptionModel F20-20 (C20-20)Maximum payload [kg] 120.0 [kg]Fd-00 Moment of inertia 2.250 [×10-4kg•m2]Fd-0

Strany 101 - 5.11 Gain change function

Chapter 2 Before using the unitThis chapter explains what you need to check after receiving the product you purchased as well as the warranty and the

Strany 102

Parameter description66-726. Parameter descriptionModel F20-40Maximum payload [kg] 60.0 [kg]Fd-00 Moment of inertia 4.710 [×10-4kg•m2]Fd-01 Speed co

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6-736Parameter description6. Parameter descriptionModel N15-10Maximum payload [kg] 80.0 [kg]Fd-00 Moment of inertia 2.940 [×10-4kg•m2]Fd-01 Speed co

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Parameter description66-746. Parameter descriptionModel N15-30Maximum payload [kg] 30.0 [kg]Fd-00 Moment of inertia 3.720 [×10-4kg•m2]Fd-01 Speed co

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6-756Parameter description6. Parameter descriptionModel B10Maximum payload [kg] 10.0 [kg]Fd-00 Moment of inertia 0.451 [×10-4kg•m2]Fd-01 Speed contr

Strany 106 - 5.13 Motor rotating direction

Parameter description66-766. Parameter descriptionModel B14HMaximum payload [kg] 30.0 [kg]Fd-00 Moment of inertia 0.800 [×10-4kg•m2]Fd-01 Speed cont

Strany 107 - 5.14 Speed limit function

6-776Parameter description6. Parameter descriptionModel R10Moment of inertia of maximum allowable load 3.71 [kgf•cm•sec2]Fd-00 Moment of inertia 0.23

Strany 108

Parameter description66-786. Parameter description RDPModel MR12Maximum payload [kg] 5.0 [kg]Fd-00 Mover mass 0.108 [×10kg]Fd-01 Speed control cut-

Strany 109

6-796Parameter description6. Parameter descriptionModel MR16HMaximum payload [kg] 9.0 [kg]Fd-00 Mover mass 0.182 [×10kg]Fd-01 Speed control cut-off

Strany 110 - 5.16 Notch filter function

Parameter description66-806. Parameter descriptionModel MR25Maximum payload [kg] 23.0 [kg]Fd-00 Mover mass 0.386 [×10kg]Fd-01 Speed control cut-off

Strany 111 - No particular instructions

6-816Parameter description6. Parameter descriptionModel MF15Maximum payload [kg] 15.0 [kg]Fd-00 Mover mass 0.180 [×10kg]Fd-01 Speed control cut-off

Strany 114

Parameter description66-826. Parameter descriptionModel MF30Maximum payload [kg] 30.0 [kg]Fd-00 Mover mass 0.310 [×10kg]Fd-01 Speed control cut-off

Strany 115 - Contents

6-836Parameter description6. Parameter descriptionModel MF75Maximum payload [kg] 75.0 [kg]Fd-00 Mover mass 0.840 [×10kg]Fd-01 Speed control cut-off

Strany 116

Parameter description66-846. Parameter description6.4 Control block diagram and monitorsThe following is the control block diagram for the robot driv

Strany 117

6-856Parameter description6. Parameter descriptionTorquecommand filtertime constantSpeed controlTorquecommandlimiterPropor-tionalcontrolswitchingPPIFA

Strany 118

6-86MEMO

Strany 119 - Parameter description

Chapter 7 Maintenance and InspectionThis chapter explains precautions and procedures for maintaining and inspecting this product.Contents7.1 Mainten

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7-17Maintenance and Inspection7. Maintenance and Inspection7.1 Maintenance and inspectionwDANGERAFTER TURNING POWER OFF, WAIT AT LEAST 10 MINUTES BEF

Strany 122

Maintenance and Inspection77-27. Maintenance and Inspection7.1.1 Precautions for maintenance and inspection(1) After turning power off, wait at least

Strany 123 - 6.2 Function lists

7-37Maintenance and Inspection7. Maintenance and Inspection7.2 Daily inspection and periodic inspectionCheck pointCheck item Check itemCheck interval

Strany 124

2-12Before using the unit2. Before using the unit2.1 Inspection after unpacking2.1.1 Checking the productAfter unpacking, take out the robot driver

Strany 125

Maintenance and Inspection77-47. Maintenance and Inspection7.3 Megger test and breakdown voltage testDo not perform a megger test or voltage breakdow

Strany 126 - 8000 to 7FFF 0 – No

7-57Maintenance and Inspection7. Maintenance and InspectionTester polarity *1Reading (red) (black)ConverterD1L1 (+)1 Non-conducting(+)1 L1 ConductingD

Strany 127

Maintenance and Inspection77-67. Maintenance and Inspection7.5 Capacitor life curve10 20 30 40 1 2 3 4 5 6 7 8 9 1050 0 -10 24-hour daily operationCa

Strany 128 - (Note 1)

Chapter 8 Specifi cations and DimensionsThis chapter explains the specifications and dimensions of this product.Contents8.1 Specification tables 8-18

Strany 130 - 6.3 Function description

8-18Specifi cations and Dimensions8. Specifications and Dimensions8.1 Specification tables8.1.1 RDP specification tableRobot driverItemRDP-05 RDP-10 R

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Specifi cations and Dimensions88-28. Specifications and Dimensions8.1.2 RDX specification tableRobot driverItemRDX-05 RDX-10 RDX-20Basic specification

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8-38Specifi cations and Dimensions8. Specifications and Dimensions8.2 Robot driver dimensions and mounting holesModel name Model No. DrawingRDP(For PH

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Specifi cations and Dimensions88-48. Specifications and DimensionsFig. 2Fig. 3 φ6170(75)150±0.5(*)1605670CHARGEPC(+)1I/OUV(+)L3RB(−)L2WL1ENC(*)MOUNTING

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8-58Specifi cations and Dimensions8. Specifications and DimensionsTerminal block and mounting hole drawingOutput W D1100W200W57 5400W 65 9750W 70 14

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Before using the unit22-22. Before using the unitX05 X05 0001 –X05X10X20P05P10P20P25RDX-05RDX-10RDX-20RDP-05RDP-10RDP-20RDP-251 to 9OXYJanuary to Sept

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8-6MEMO

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Chapter 9 TroubleshootingThis chapter explains the protective functions, alarm display, and troubleshooting of this product.Contents9.1 Alarm displa

Strany 139 - A-86 is relative to this

9-19Troubleshooting9. Troubleshooting9.1 Alarm display (alarm log)If an alarm has tripped, a display like that shown below appears.The trip log monit

Strany 140 - (H/L) at return-to

Troubleshooting99-29. Troubleshooting9.2 Protective function listThe table below shows alarms and errors that might occur to protect the robot driver

Strany 141

9-39Troubleshooting9. Troubleshooting9.3 TroubleshootingCorrective action for an alarm or error differs depending on whether the alarm or error has tr

Strany 142

Troubleshooting99-49. TroubleshootingSymptom Possible cause Checkpoint ActionRobot motion is unstable.Large load variation • Check the load variation.

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9-59Troubleshooting9. Troubleshooting9.3.2 When an alarm or error has trippedWhen an alarm or error has tripped, clear the alarm or error by inputtin

Strany 144 - (Note 2)

Troubleshooting99-69. TroubleshootingAlarm No.Alarm name Possible cause Checkpoint Action ResetE07Main power overvoltageRegenerative resistance is lar

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9-79Troubleshooting9. TroubleshootingAlarm No.Alarm name Possible cause Checkpoint Action ResetE09Main power undervoltageMain circuit power supply vol

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2-32Before using the unit2. Before using the unit2.2 Product inquiries and warranty2.2.1 Notes when making an inquiryIf you need to inquire about po

Strany 147

Troubleshooting99-89. TroubleshootingAlarm No.Alarm name Possible cause Checkpoint Action ResetE20Control power undervoltageControl circuit power supp

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9-99Troubleshooting9. TroubleshootingAlarm No.Alarm name Possible cause Checkpoint Action ResetE31PM (power module) errorOutput terminal is shorted.A

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Troubleshooting99-109. TroubleshootingAlarm No.Alarm name Possible cause Checkpoint Action ResetE83Position deviation errorPulse position command rate

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9-119Troubleshooting9. TroubleshootingAlarm No.Alarm name Possible cause Checkpoint Action ResetE85Overspeed errorSpeed command input setting is wrong

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Troubleshooting99-129. TroubleshootingAlarm No.Alarm name Possible cause Checkpoint Action ResetE89Position monitoring timeout errorControl gain, Posi

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Chapter 10 AppendixThis chapter explains the options for this product.Contents10.1 Timing chart 10-110.2 Options 10-210.3 Recommended peripheral de

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10-110Appendix10. Appendix10.1 Timing chartThe following shows the timing chart from the power-on to the position command input (when the return-to-o

Strany 155

Appendix1010-210. Appendix10.2 Options(1) Dedicated software for YAMAHA RD series (TOP for Windows)When the RD series robot driver is connected to a P

Strany 156

10-310Appendix10. Appendix(2) Cables PC cableLength L Description2m8-pin modular connector 9-pin D-Sub connectorRobot driver side PC sideWiring and p

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Before using the unit22-42. Before using the unit2.3 External view and part namesRDXBattery holderNot used.Battery housing cover Charge lampLights up

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Appendix1010-410. Appendix(3) Precautions for braking resistorcCAUTION• Install the braking resistor on a noncombustible object, such as metal.

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10-510Appendix10. Appendix(4) Braking resistor RBR1 (small type) Dimensions (mm) Circuit diagramRBP21 Connection diagram(+)RBP1 RB 2 Robot driverAl

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Appendix1010-610. Appendix(5) Braking resistor RBR2 (standard type) Dimensions (mm) Circuit diagramRBP21 Connection diagram(+)RBP1 RB 2 Robot drive

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10-710Appendix10. Appendix10.3 Recommended peripheral devicesThis section describes the recommended optional devices for the RD series robot drivers.

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Appendix1010-810. Appendix(2) DC reactor (for harmonic suppression, power coordination, power factor improvement) Model No.DCL-L-0.2Capacity (See the

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10-910Appendix10. Appendix(3) Input side noise filter Model No.NF-L 6Rated current of noise filterSeries name (NF series) Connection diagram (3-pha

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Appendix1010-1010. Appendix(4) Input side noise filter (EMC compliance) Model NoNF– CEH 7Rated current of noise filterSeries name (NF series)EMC comp

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10-1110Appendix10. Appendix(5) Radio noise filter (zero-phase reactor) Connection diagramR S TM L1 L2 L3 U V W Should be as close as possible to robo

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Appendix1010-1210. Appendix(6) Input-side radio noise filter (capacitor filter)Connect this filter directly to the power terminals on the robot driver

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10-1310Appendix10. Appendix10.4 Internal block diagram of robot driver B2 B1 84 PC PWM RS232C TM2 L1C L2C ENC A/D CHARGE U WM TM2 RB (+) (+)1 L1

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2-52Before using the unit2. Before using the unit2.4 Robot driver and robot combinationThe table below shows applicable combinations of robot drivers

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Revision recordManual versionIssue date DescriptionVer. 2.00 Dec. 2009 Addition of RDP-25 and applicable robot type. Addition and correction of refere

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2-6MEMO

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Chapter 3 Installation and wiringThis chapter explains how to install the robot driver, as well as how to connect wiring to the main circuit and inpu

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3-13Installation and wiring3. Installation and wiring3.1 InstallationcCAUTION1. Do not step or stand on the unit. Do not place heavy objects on the u

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Note to the userOur sincere thanks for purchasing this "YAMAHA single-axis robot driver RD series".This user's manual describes handlin

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Installation and wiring33-23. Installation and wiring3.1.1 Precautions during installation(1) Precautions when carrying the unitThe robot driver uses

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3-33Installation and wiring3. Installation and wiring(6) Installation method and direction precautionsInstall the robot driver on a vertical surface c

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Installation and wiring33-43. Installation and wiring3.2 WiringwDANGER1. WIRING WORK SHOULD BE CARRIED OUT BY QUALIFIED ELECTRICIANS. IMPROPER WIRIN

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3-53Installation and wiring3. Installation and wiring3.2.2 Main circuit wiring(1) Terminal connection diagram(+)1(+)RB(-)L2L1L3MGL1CL2CB1B2TM1TM2I/OU

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Installation and wiring33-63. Installation and wiring(2) Terminal assignmentTerminal block connectorTerminal assignmentTerminal screw sizeTerminal wid

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3-73Installation and wiring3. Installation and wiring(3) Wiring precautionsBefore starting wiring, make sure that the charge lamp is completely off. U

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Installation and wiring33-83. Installation and wiring4) External braking resistor connection terminals ( (+), RB) ) • A regenerative braking circuit

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3-93Installation and wiring3. Installation and wiring8) Ground terminals ( ) • To prevent electrical shock, be sure to ground the robot driver and

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Installation and wiring33-103. Installation and wiring(4) Peripheral cables and productsName Function Availability1TOP (software for YAMAHA RD series)

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3-113Installation and wiring3. Installation and wiring(5) Recommended wire size and wiring accessories • Select optimal breakers by taking their bre

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Installation and wiring33-123. Installation and wiring(6) Attaching the cover to the main circuit terminal block (TM1)1. Insert the bottom hook of the

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3-133Installation and wiring3. Installation and wiring3.2.3 Wiring to the control terminal block (TM2)cCAUTION1. Unplug the control power supply con

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Installation and wiring33-143. Installation and wiring3.2.4 Input/output signal wiring(1) Input/output signal connectorPin No.1 of the input/output s

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3-153Installation and wiring3. Installation and wiringOn the mating input/output signal connector (cable side), pin No.1 is located at the upper left

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Installation and wiring33-163. Installation and wiring(2) Input/output signal connection diagramStandard input/output signal connections are shown bel

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3-173Installation and wiring3. Installation and wiring(3) Input/output signal functionsInput/output signal functions are summarized in the following t

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Installation and wiring33-183. Installation and wiringTypeTerminal symbolTerminal name DescriptionElectrical specificationsOutput signalSRDSRDEServo r

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3-193Installation and wiring3. Installation and wiring(4) Brake and origin sensor connectorAmong the input/output signals, the brake and origin sensor

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Installation and wiring33-203. Installation and wiring(5) Details of input/output signal wiring1) Contact input signal • Contact signals should be in

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3-213Installation and wiring3. Installation and wiring • When using an external power supply, do not connect to the internal interface power of the

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General ContentsChapter 1 Safety precautions1.1 Precautions for use 1-11.2 Storage 1-21.3 Carrying 1-31.4 Installation 1-31.5 Wiring 1-41.6 Co

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Installation and wiring33-223. Installation and wiring2) Open collector output signal • Connect a relay coil or the input module of a programmable co

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3-233Installation and wiring3. Installation and wiring3) Monitor output signal • Connect a meter (voltmeter) or recorder for monitoring speed detecti

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Installation and wiring33-243. Installation and wiring4) Position command signal • Connect the pulse train signal for position command. As shown in t

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3-253Installation and wiring3. Installation and wiringPosition command pulse timing chartPulse train signal formPulse train input timing(1) Pulse trai

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Installation and wiring33-263. Installation and wiring5) Position sensor monitor signal • The position sensor signal is output as phase A, B, and Z s

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3-273Installation and wiring3. Installation and wiring3.2.5 Wiring for position sensor signals(1) Position sensor signal connectorConnector compatibl

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3-28MEMO

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Chapter 4 OperationThis chapter explains typical product operation and shows simple trial runs.Contents4.1 Control and operation 4-14.1.1 Position

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4-14Operation4. Operation4.1 Control and operationcCAUTION1. To prevent unstable or erratic operation never make drastic adjustments to the unit.

Strany 207 - Maintenance and Inspection

5.3 Output terminal functions 5-75.4 Return-to-origin function 5-105.5 Analog output function 5-215.6 Pulse train input function 5-225.7 Smooth

Strany 208 - 7.1.4 Periodic inspection

Operation44-24. Operation4.1.1 Position control by pulse train inputThis method controls the position with external pulse train signals.1) Make conn

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4-34Operation4. Operation4.2 Test RunThis section explains how to make a test run.4.2.1 Jog from the digital operatorJog can be performed from the di

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Operation44-44. Operation4.2.2 Making a test run using "TOP" software for RD seriesJog can be run from a PC. During this jog operation, wir

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4-54Operation4. Operation(2) Pulse feed jog operationIn this jog operation, the robot moves in position control mode up to the position specified by t

Strany 212 - 7.5 Capacitor life curve

Operation44-64. Operation4.3 Emergency stopTo safely stop the robot in case of an emergency, configure an emergency stop circuit while referring to th

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Chapter 5 FunctionsThis chapter explains the input/output signal functions of this product and its major control functions.Contents5.1 Terminal func

Strany 215 - 8.1 Specification tables

5-15Functions5. Functions5.1 Terminal function listTypeTerminal symbolTerminal name FunctionContact pointinput signalP24 Interface powerSupplies 24V

Strany 216 - Specifi cations and Dimensions

Functions55-25. FunctionsTypeTerminal symbolTerminal name FunctionRelay outputBK (B24)Brake release relay outputWhen the servo is ON, this terminal ou

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5-35Functions5. Functions5.2 Input terminal functionsFunctions of the robot driver input terminals are described below.For details on input/output te

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T4H-6 (C4H-6) ……………………………………………………………………… 6-34T4H-6-BK (C4H-6-BK) ……………………………………………………………… 6-34T4H-12 (C4H-12) …………………………………………………………………… 6-35T4H-12-B

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Functions55-45. FunctionsRS terminalWhen an alarm has tripped, setting the SON signal to OFF and this RS signal to ON clears the tripped alarm state,

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5-55Functions5. FunctionsFOT/ROT terminalsThese terminals connect to operating range limit switches in order to prevent overtravel.FC-01 : Input termi

Strany 221 - Chapter 9 Troubleshooting

Functions55-65. FunctionsORG terminalWhen servo is ON, tuning this signal ON performs return-to-origin. See 5.4, "Return-to-origin function"

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5-75Functions5. Functions5.3 Output terminal functionsRobot driver output terminal functions are described next.For details on input/output terminal

Strany 223 - Troubleshooting

Functions55-85. FunctionsBRK terminal (relay contact)This signal is for controlling an externally installed brake. Use this signal only when the conne

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5-95Functions5. Functions(2) Brake signal while robot is operatingThis function is used when applying the brake while the robot is operating so use in

Strany 225 - 9.3 Troubleshooting

Functions55-105. Functions5.4 Return-to-origin function(1) Return-to-origin using stroke end method (RDX)The following table shows the RDX return-to-o

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5-115Functions5. Functions(2) Return-to-origin using sensor method (RDX)The following table shows the RDX return-to-origin operation using the sensor

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Functions55-125. Functions(3) Return-to-origin using stroke end method (RDP)The following table shows the RDP return-to-origin operation using the str

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5-135Functions5. FunctionsFA-23Return-to-origin using stroke end methodt-rWhen phase ZM is between return-to-origin start position and stroke end45623

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F14-20 (C14-20) …………………………………………………………………… 6-62F14-20-BK (C14-20-BK) …………………………………………………………… 6-62F14-30 ……………………………………………………………………………… 6-63F14H-5 (C14

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Functions55-145. FunctionsFA-23Return-to-origin using stroke end methodWhen phase ZM is between return-to-origin start position and stroke endWhen ret

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5-155Functions5. Functions(4) Return-to-origin using sensor method (RDP)The following table shows the RDP return-to-origin operation using the sensor

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Functions55-165. FunctionsFA-23Return-to-origin using sensor methodS-FWhen origin sensor is ON when starting return-to-origin12139114096141581012345 6

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5-175Functions5. FunctionsFA-23Return-to-origin using sensor methodS-rWhen phase ZM is between return-to-origin start position and origin sensor452314

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Functions55-185. FunctionsFA-23Return-to-origin using sensor methodS-rWhen origin sensor is ON when starting return-to-origin1213409614 15106789111234

Strany 235 - Chapter 10 Appendix

5-195Functions5. FunctionsFA-23Return-to-origin using sensor methodOperation sequenceWhen phase ZM is between return-to-origin start position and orig

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Functions55-205. FunctionsFA-23Return-to-origin using sensor methodOperation sequenceWhen origin sensor is ON when starting return-to-origin1. Start

Strany 237 - 10.1 Timing chart

5-215Functions5. Functions5.5 Analog output functionThe robot driver has 2 channels provided with analog monitor output terminals. The output voltage

Strany 238 - 10.2 Options

Functions55-225. Functions5.6 Pulse train input function(1) Position pulse train input The pulse train signals (PLS, SIG) for the position command ar

Strany 239 - Appendix

5-235Functions5. FunctionsThe "Command pulse filter time constant" (FC-19) parameter for the pulse train input circuit hardware can be selec

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7.3 Megger test and breakdown voltage test 7-47.4 Checking the inverter and converter 7-47.5 Capacitor life curve 7-6Chapter 8 Specifi cations a

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Functions55-245. Functions[Calculation examples of electronic gear ratio]1. To move the MR16 (PHASER series) robot at a speed of 2000 millimeters per

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5-255Functions5. Functions5.7 Smoothing function(1) Position command filterThe command pulse rate may cause vibrations when used in combination with a

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Functions55-265. Functions5.8 Position sensor monitor functionThe position sensor monitor signals OA and OB, which are obtained by dividing the posit

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5-275Functions5. Functions5.9 Adjusting the control gainThis section describes the method for adjusting the control gain required when adjusting the

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Functions55-285. Functions5.9.2 Setting the mechanical rigidity and responseSet the response of the servo system according to the rigidity and streng

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5-295Functions5. Functions5.9.3 Adjusting the position control loop(1) Parameter constants used for position controlParameter constants used for posi

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Functions55-305. Functions5.10 Offline auto-tuning functionThe auto-tuning function is described here.Offline auto-tuning is a function for automatica

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5-315Functions5. Functions(2) Offline auto-tuning operation1. Turning on the FOT and ROT terminals, and then turning on the SON terminal starts the au

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Functions55-325. FunctionsCalculating the robot axis rotation during offline auto-tuningIf the tuning speed is Va [min-1] and the accel/decel time is

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5-335Functions5. Functions2. When tuning ends, turn the SON terminal off, and turn the RS terminal on and then off, to exit the auto-tuning mode.Note

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