Juspoint D

VECTOR CONTROL INVERTER POSITIONING SYSTEM

SPECIFICATIONS/FUNCTIONS

a “;;
CertlflcateNo B 950322945001

YASUAWA
DTSE-S606-9,1
CONTENTS
1 INTRODUCTION.............................................................................................................
3
2 SPECIFICATIONS ...........................................................................................................
5
3 SYSTEM CONFIGURATION ...........................................................................................6
3.1 INTERCONNECTION DIAGRAM ....................................................................................
6
3.2 MAIN CIRCUIT TERMINALS TM1 ................................................................................ ..
8
3.3 CONTROL POWER INPUT TERMINALS TM1 .................................................................
8
3.4 ENCODER (PG) CONNECTOR (CON2) ........................................................................ .
8
3.5 l/O SIGNAL CONNECTOR CON1 ................................................................................ . .
9
3.6 WIRING PRECAUTIONS """""
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4 DESCRIPTION OF OPERATIONS """""
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4.1 FUNDAMENTAL OPERATIONS """""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""do
4,2 SETUP """""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""Al
4.3 ZERO-POINT RETURN OPERATION """""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""22
4.4 ZERO-POINT OFFSET AUTOMATIC SETUP OPERATION ““””.”””””””””””””””””””.”””””””23
4.5 AUTOMATIC OPERATION """"""""-"""""-""""".-".. as."".-"."""""""""."."". """."".."" """"""""."""."S."""."""""""""""24
4.6 MANUAL OPERATION '""""
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4.7 EMERGENCY STOP OPERATION """""".""""".""•."".."•""""" """"""."".."".."."""" """""."".""."".."".."".""."."26
4,8 JOG OPERATION """-"
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.-"."".""""""""""""""" ".""."""."".."""""""""" """.""."" .."".""""" """"""."""
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5 PARAMETER SETTING/MONITORING """""
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5.1 PARAMETER SETTING """""-".. ".-". s-.."-"""""""""""-"".""." ".."" """""-.""-"""""."""."""""""""""-"""-""""""""""""""27
5.2 OPERATION STATUS MONITOR """"""""""""""""""""""""" """"" """"""""""""""""""""""""""""""""""""""""""""""""""35
5.3 HOW TO USE PARAMETER SETTER (Model JVOP-1OO) ““-””
”””””
.”””.s”.””
”””””
”””””38
5.3.1 Fundamental operatio flow (mode selection, parameter ““”””
”.”””
”””””
number selection) ”””38
5.3.2 Parameter value setting flow (Co-nn, do-nn, Eo-nn) """""
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5.3.3 Monitor operation flow (Uo-nn) """""
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5.3.4 Parameter initial value setting flow (So-nn) """""
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5.3.5 Teaching method """""
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5.3.6 Supplementary description (for parameter setter) """"""""""""""""""""""""""""""""""""""""""""""""""""""Al
6 1/0 INTERFACE """""
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6.1 INPUT INTERFACE ""-""""""""".""".""-"."""""""""""."""""".""".""""""""""".""""""."."""."".. """""""""""""""""42
6.2 OUTPUT INTERFACE ............................................................................................. . . . 43
6.3 SUPPLEMENT OF SEQUENCE CONTROL OUTPUT SIGNAL ““””””””””””””””””””””””””””””””””””””44
6.4 TIMING OF SEQUENCE CONTROL SIGNAL """""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""44
6.5 ABS MODE 1 AND 2 """""
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7 STATUS/ALARM INDICATION """""
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7.1 STATUS INDICATION (On the point module) """"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""47
7.2 TROUBLESHOOTING ""."""""
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8 PRECAUTIONSON APPLICATION"""" ."""" """"""""""""""""""""""""..."..5O
9 OPTION .........................................................................................................................51
9.1 PARAMETER SETTER ................................................................................................
51
9.2 PARAMETER SETTER CABLE ....................................................................................
51
9.3 PG CABLE ..................................................................................................................
51
9.4 PARAMETER SETTING SOFTWARE (Personal computer software) ““””””””””””””””””52
9.5 PERSONAL COMPUTER COMMUNICATION CABLE ““””””””””””””.
””””””.
””””””””52
10 CHARACTERISTICS (Speed-Torque Curve)
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11 DIMENSIONS in mm (inches) """""""""""""""""""""""""""""""""""""""""""""'""""""""""""""""""""""""""""""""""""""53
11,1 CONTROLLER """""
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11,2 DIMENSIONS in mm (inches) .....................................................................................
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–2–
1. INTRODUCTION

Juspoint IIl is the newest member of our inverter drive family, developed exclusively for
station indexing and positioning control. It is an economical-cost, easy to set, reliable
positioning system designed to drive actuators for Numerical Control machine tools.

The system consists of a motor and a controller. The controller includes YASKAWAS vector-
control inverter “X3000 series” with “Point module” (Positioning control board). The “X3000
series” features high-torque and precise speed control over a full speed ranged from O to
1800r/min. “Point module” can configure up to 120 different parameters for application
flexibility.
The motor is a highly efficient, three-phase AC induction motor, exclusively designed for high
performance vector-control applications. Juspoint IIl positions accurately and rapidly in the
same way as a servo drive and it is ideal for servo driven tool changer applications for
machine tools.
In addition, compared with the cost of conventional AC servo drives, Juspoint Ill is an
economical alternative for tool resting, magazine attachments, Automatic Tool Changers
(ATC), and Automatic Pallet Changers (APC).

FEATURES
■ Juspoint IIl can position up to 511 station numbers.
■ Juspoint Ill can operate rotary and linear axes.
Rotary axes ● Juspoint D can position up to 511 stations equidistantly.
● Juspoint Ill can automatically compensate positioning when the number of
pulse between stations is a fraction.
Linear axes ● Juspoint III can position up to 511 station equidisttitly.
● Juspoint Ill can arbitrarily position up to 45 stations.
■ Juspoint IIl can perform Absolute (ABS) positioning.
Using the motor with a special brake, Juspoint III can perform ABS positioning and no zero-point
return operation is required even without a mechanical clamp when the power is ON.
■ Juspoint III can arrange parameters in up to 4 operation patterns.
■ Juspoint III has 6 operation modes:
Automatic. manual. set-up, zero-point return, automatic zero offset, tind JOG.
■ 120 parameters available for configuring Juspoint III to your specific requirements.

-3-
 Juspolnl ❑
Tr. CONROLLER
“v-–l MOTOR

—- ; FQIM WWK
.
X 3000

[d +~-~
Pc _l /0
IM —0
NC
‘‘ ~ ENCOl)ER ‘ F a
MACHINF

91GITAL
[lPERATOR
nL
i.1
‘ ‘
FOR POSITION COtJNTtR
-------- - ~

PLC
NC

--..-11
CPU
‘1

I
Three phases
I J
~ ‘4 !n
200VAC

II
POWER
SUPPLY ;-: I
1. _

‘-—u X 3000 series motor

(For vector control)

Fig. 1.1 Juspoint~ System Configuration

~ DANGER
● Do not touch circuit components until CHARGE lamp on X3000 series PC board extinguishes
after turning off AC main circuit power.
The capacitors are still charged and can be quite dangerous. Wait approximately five minutes
after AC main circuit power is OFF.

● Do not connect or disconnect wires and connectors while AC power is applied.

I
● Do not check signals during operation.

IMPORTANT
● Bc ~ure to ground Juspoint III using mounting bolts.
● Do not provide c:ip:ic itor or mtignctic contac(or between Juspoint Ill ~md motor.
● Do no~perform [he following tests in the field :
Withstand volt[~ge (cst on any p~irt of the Juspoint ~. II is 2u1electronic device using semiconductors
and vulnerable to higll-volt~~ge.
lnsui~ition resis[aocc test with :t megger. Thi\ test has been m~~de a( the tttctot-y tind need not be
conciuc[ed :lt test run. Excep[ion: If megger-testing is required l’or inspection and main[en:mce
purposes, it should bc :Lpplied only to m;iin circuit and the ground ~md never to the control circuit.
Conduction test 00 control circuits.

–4–
2. SPECIFICATIONS
Table 1.1 Specifications
Model CIMR- 02JP3 04JP3 08JP3 15JP3 1
22JP3 37JP3
Outout kW [HP] 02(1/4) 04 (3/4) 075(1) 15 (2) 2 ? (3) 37 (5)
Cur;ent(A)’ ‘
Power Supply
20
Three phases
.-L–- 30
180 tO 242V 56Hz
45
Three phases
75 110
180 to 253V, 60Hz
__ L-- _I 175

Input Current A 1 g___ _< o L-.-4 8 . ‘-85 .<. 1!?. , --g

~ ~Control Method PWM vector cotrol
s Power Element
2 ~~aklng Method
Speed Control Range &l_800r/m n

‘-’l
; Speed Resolution ~/~OoOIO 3r/mln) _
Ambient Temperature ~+55’C (+~+131”F)
Power Supply 24VDC (~4V) 250mA
Rotary axis Equldstant staton (Sngle station pulse IS an nteger)

~
Control AxIs

Basic Operation
Rotary
Linear
Lnear
axs
axis
axis
Equldlstant station (Sngle s[atlon pulse IS a fracton)
Equldlstant sta[lon
Arbltrarv station distance
Zero-point return (2-mode) Set-up
1
JOG Manual
>1 Au to_rna~c ~utomatlc zero offset _ _
~ Pos!t[omng Command 9 blt binary code (Max 511 slatlons)
o‘ CtiTrent Posltlon Output 9 b(f binary code
m-
Pos[tlor>ng command Drectlon command Start comrmand Operatng mode Zero point LS
: Input Signal
g Emergent stop Reset Numercal pattern Servo on ABS pos[tlon start
m’ Output signal Poslfon completion Poslttonlng near width Zero speed Alarm Curren[ station
? 4BS ~stlon completion
Backlash Corn]ensatlon ___ 0 to 720~@-rotatjon aj_~Qtor axm.
A~cel Time lo to 5000 rmsec_~Oto 1800r/Mln)
Soft Star[ ProvtdeQ~O to 100m2~&} ‘-:-1
Soft S~opplng Provided
,ABS_PosItIon~ Provld~slng motor wth bra~e~__
..pM[lonln*uracy __ ~below ~At motor axis)
Operation Constant Total 120 parameters (Dlgltal operator JVOP100 or settlnq by p ersonal computer IS also possible ~
Model UAJPEE- DK2K O 2kW 0.4kW O 75kW ~ 1 5kW 2.2kW 3.7kW
outp~ kW (HP) 0 ?4/4) . _ 04 (3/4 L_. 075Q) 3~
!3[2) ! 22 (3)---—.
Raced Curr~nr_ A l_08 29. A.. 74 IL 160
- .—— _
Rated To~que Nm 1 o~ 212 — -- 398_,. 79~ _ IIQ6 _L 1962
~ Maxjrn~rn Torque Nm
..1. _~:’o rated~~~ ~.. ---- _=~---
g M~nt lne~of J (GD2/4J kgcm 60 145_ 9675
~ jn:glatlon Class Class B
Time Rated _ 4070 ED (30mn ) __~070 (20mln )
Ra!g~>eed 1800r/mln (4 pole~.. __
Enclosure
———- ,,
IDAAY-
‘---1

, E~coder Optlgajc_j_OOO puls~~, Z, phasgs)

Ambient Temperature, Humldlty -10 to +40”C (+14 to+104F )907~RH or below I
9 Motor (exclusive motor for X3000 series) ■ Controller (X3000°series + point nlodule)
Instruct the motor by model numbers as shown Instruct Juspoint Ill by model numbers us
in the example below. Specify output and shown in the example below. The model
whether with / without brak~. - number differs according to control 1/0
(With ABS positioning, order the motor with interfaces. Specify output, cooling method. and
brake. ) interface specifications.
1
I UAJPEE–08DK2KU C I M R – ,...::...:
:--””’’”--””’
J P 3 –[:::;[::: O 0 M
T
T Brake Spec
tj N[>O,icklasll
Holdlnq brake
+>J
T (DC24) output Strwture Interface InW/Output
Shaft options
02: 0.2kW 1: Heat sink instal~ A : OV OVbmmon
s ,,’11!1 011Sec+l
K ‘tiltl] <Cy 04: 0.4kW in t~ pati B : 24V 24V Commn
(Slar[iard) 08: 0.75kW 3: tit sink imtal~
I W!I1 key .ild 15: 1.5kW out of tt!e WA
04 04 kW 011 seal 22: 2.2kW
Des[gn revision order
08 () 75kW X Others 37: 3.7kW
D X3000 Jus~O ,,1 III
15 15kW
Mounting opt[ons
?2 ? 7kW
1 Flange type .apcred
’37 3 7kW
Sbc+fl
2 Fl~)ge tyDe s[ral(jh[
shaft
— Detector
K f OOOP/H

—5
3. SYSTEM CONFIGURATION
3.1 INTERCONNECTION DIAGRAM
—

(1) Specifications of peripheral equipment and cables for main circuit terminals

Table 3.1 Peripheral equipment and cables specifications for main circuit terminals
15.IP3 ]__ ~~Jrj 37JP 3
\l[)del CIMR=__ _02 .1P 3 I- 04JP3 08 J}’ 3
Mclgllc[lc C[)llliicl(ll V<ldcl HI-7E _Hl-20E-
M;IIII circ{lht tvrrl;lr>itl 1 - --–-~-J=-
(’ilhlc SILC 2111111 SLrCu <11:1. M4 Cc!hlc SILC 35,,, !,,: Screw dIiI. M4
c:ihlc< \p~~l[ IC;+lIIIT>

Table 3.2 RecommendedMolded-caseclrcultbreakers (MCCB)that havebeencertifiedby EuropeansafetystandardEN

\lo(icl.(’IklR - 02 IIJ3 04.1P 3 ~~J,, ~ _ 37JP7
0XJP3 ——–— ]S]p? L
I/\ 33 ““EA 33 E,/\ 33 ‘EAl\
\fC(-13 [II:!<Ich) F~L]L SA ~3B SA 3313 SA 33B SA 3313
Electr, c (41i\’,\(’. 5A) ( 415 VA(’. 10A] —.( 415 \’A(., 204) ( 415 VA(’. 30A)
Nf 30-(’s NF 30-CS NF {()-(S- NF 7(1-CS
M(’CB [TI:]dv Ih> MLt\LLhL\h) \F ~,).s5 NF 30-SS hF 30-SS NI 70-SS
Elcc[t]c ( 415 VA{’. 5A) ( 415 \’,4C. 30A)
(415 \’AC. 10/4) ( 415 \’AC, 20/\)

(2) Specifications of cable and receptacle for encoder (PG) terminal and CON2 connection specifications
Table 3.3 Cable and receptacle specifications for encoder (PG) terminal
N;,,nc M,)dcl ~ Rcnli,]-k, I
Sl, <h,ghl ____ ifs 3[()(>ll?()-?~)s-zh
PI,,:
A,>g,)l.+r \lS 7 I [IX 1120 -2~)S-ZN
c’.,hlc (’1.,,,lp MS 31)57-12,\
-., , ,!, ,,. . . . . . . . ..
I (’,,
‘<!hlc,1<11],.rl~lh. 11P 1,1 ~olll.A~(;24 <?,].,,PL’,‘,,
‘1.1L’. ,,,,,1 1,>,Ic,,;lh. ,,,, ;(, l(lo”,.~.,,c c.,,], 1<) he l\L, \lcci [,>
AW(;22 <), I.irycr c<khlc.] I ()\J 11[1..

NtItc The MS3 102 A 20-29P recepl~cle r]lade by JAE 1$liied.

Table 3.4 CON2 connection example

N>IIIIe I Model Rc[llilrL\
Socket hc)tl~lng PS-D 4C 10 \l<iclc h> .1,4E
Ct)nl~;t I 03-5 I 307-()()1 M.LIIchy JAI:

(3) CONlzonnection specifications

Table 3.5 CON1 connection example (maker: JAE)
Name T) ])c Specll’lc:ltlc]n\
a Hou\~ PS-D4 C.50 ;(l~>ole, W,(I, h,>
lIIc(>r,ect-III\crt Lc>[I-~r[,(Il
~u
.C m Socket c[)nt:ict .o~~s I 11)4-1)()I ; #24 i{)#?x
bc M:IrIual crimpitlg tc)c)l CT 15(1-I:PS:~F
:= C’c)nnectc)r
. ____ PS-50SM-D4Pl-jCA I ~(1.p,llg,h lth 111’{lrl.,t.ill\.rl,,,ll-[,, (,,:!~c~_

: “ “oG Stfiiln rellcf PS-SR 50fi– ‘–— ‘-——- ...—.* ~– . . . .

&3Es -—
Pre.. \M.lr{I.<, .t~:!r,di.. rm:,;h,.. kfiT. PT<E (1.1 R

-6-
(4) Component Layout of Juspoint Ill

Table 3.6 Lead Specifications of Control Power Supply Input Terminals

Leiid si~e 2mmA

Specifications ~ Terminal screw d]~m]e[er M4

I
— Dn\AIKR

❑ Ic 1

POINT
MODULE
/

IN VERTER
Juspeed-F X ]()[)()

,,”,

)1 R s
INPuT
T u Vw
L) UTPUT
Jc

Fig. 3.2 Component Layout of Juspoint ~

–7-
Q o MAIN CIRCUIT TERMINALS
O.c TM1

Table 3.7 Names and outline of main circuit terminals

“*niL:,6”I+,
Main circuil pnwer Three-phase 200/220” VAC (f I()% )

I I Motor cnrlnccticm L; anti mn[nr’\ (; tcnnlrral. V atlci mnlur’s V tcnnimll,

u“v “w
{ermitla]s ~ W atlci mulc)r’s W tcrrnin:il

3.3 CONTROL POWER INPUT TERMINALS TM1

Table 3,8 Names and outline of control power input terminals

,
s ymbul Name I Outlitlc
1 Pnwer terminal ! 24VDC power
—–~-
‘1 Pt>wer lcrmlnal ! OVDower

3.4 ENCODER (PG) CONNECTOR (CON2)

Names and outline of encoder (PG) connectors

Table 3.9 Names and outline of encorder (PG) connectors (CON2)

Numhcr Name Outline

Al P(Jwet- terminal 5VDC
BI Pc>wcr lermir]al GN[) (OV) —
A2 Pha\c A ]I)put
B? Pha\e A OV
‘-A3 Pha\e B input
B3 Phase B OV
Signal lerminal —
A4 Phase Z input
B4 Phase Z OV
AS Thermis[cr Input —
B5 Thennister OV

Pin arrangement of CON2

B1 Al
B? A2
B3 A3
a4 A4
.. B [) A5
B

Pin header Housing

-8-
3.5 1/0 SIGNAL CONNECTOR CON1

(1) Terminal arrangement of 1/0 signal connector terminals

Table 3.10 Terminal arrangement of 1/0 signal connecter terminals

Iurnhcrl Synlhol I Descri~[icm I (umbe SymhrrI I De\criptiorr

,1 I +?4V +24V pclw,cr Sf)urcc BI +?4V +24V power i(lurce
,i 2 OV OV po\icl- \oulcc OV
-+- OVI,uwcl-,(,urce
A3 STA. NO () c’omm~lnd inpu~ nt s(:illun nunlber B3 STA.~L (m>m.u)cI ]npul (~t st:ltion nurnher
A4 S’I’A. N() 2 C[)llllll;l!l<i lllpLlt of sl:lllO1l lllllllb~l B4
,{5 STA.N() 4 [’[)mnliuld I]lpllt [)f \litl Ic)n nun]het B5
‘A(, ST. AN() (, C{)]l]llliuld inpu[ 01 \l:ill[>n number STA.~mImLUICl innut nl itiition numhcr
:{ 1 S’1A N() x (’(>n)m>in([ ]nput [)1’\[i~[ic)n number B7 START I Cmllm;u)cl innu[ nl orrcrzition”
/4x F’/l< D]rcct]c)n con>n>:in(i input
Al) M()[>r: I ~(1111111:111[[
lII[)LI1 [)1 (ll>C~L1t!O1l lllOC{C MC)D~~lnl:UICI input of npcrziric)n n]c)dc

A I () ZRET-1.S Zct-(l-pc)itlt 1.S si~nitl ;;pul Blo

AI I SVON ‘Scrvcj ON \lgn:tl lrjpu( Bll
,\12 YILI[.T. () Llltllll>lc-[;iillcr]l Sclcctlcjn inpul B12
‘M,j,T~-

1Multlplc-p,i[[ctr r sclcctlun inpu[

AI? (’OIN opcr:lllnn cotnple{ton” \Ign2tl [lulpu[ B13 COIN-A ~ iutcllmiitlcp[]\Il)[lmIIs c(lmplctlt)tl\]~n:il L)(IIPU[
:114 Nh/\u P[)slllt)nlng vIc Iml! \igni(l (Iulpu( B14 _ ZSF’D ~zer,,;,>ccds,S,,,;\ o;,tp,,; ‘-
:115 ,\[.,\l<h4 Al:irm \Isn:Il t)utput B15 l>OS ~~ () I Currcnl \l:l{iot) nUnlbCI- outptll
~ --–—
:1 I (1 I’OS. N() I Cur-rent \[:([L<)n [nunlhcr output B16 POS. N(> ~ 1Lurrcnt ,I:lt](m nLlnlhcr uulput
A17 t’OS. NO 3 CUIICI1l Stiltloll number OLIIPU1 B17 POS, NO 4 Curren[ s(~ttl(m number ou[pu[
—.
Alx 1’OS.N() 5 Currcnl st:it,c~nnun,hcr <)urpul BIX PC)S. N() 6 Current sl;l[ion nun]hcr uutpu[
,1]c) l> OS.N() 7 ~Lll~C(ll Stil( loll llU1llhC1 [) U[pU[ Bl~ POS, N() X (’urrcnt ilatt(m numhcr ;LIlpu[
/\20 ARS. RE.AI)Y cunlplc(eduulpul
Nlcn)(lr! s[or,i~c III lBS ITIt)clc B20 OPT. ()(IT () Spilre oulput
A’2 [ ““ +~~y +24V power SOLJt-cc B?l +?4V _l +24V power source
)122 oi” — OV power ic)urcc OV OV p(~wcr s(~urcc
A ?.4 f\Bs. S’r Llcnltlr!,Ior:igc(n IBS ITI(ICIC
con]pletcdIiIput O“PT IN () Sp:trc Inpil
Nc “–
A?4 N(
NC -
A25 NC

CON I Din

t’l N HFADFH HOUSING

–9-
(2) CONI 1/0 signals

Here are descriptions of 1/0 signals.

Table 3,11 1/0 signals

Symbol Pin No Descriptions

1/0 : Power source, or COM signal
Name : +24V (power source)
CON 1-A i
+24V Function : This signal shows that power is being supplied (+24V) (Power may
CON I -B 1
also be supplied from TM 1- 1.), or represents the COM signal in the
case of +24V common type.

1/0 : Power source, or COM signal

Name : OV power source
CON I -A2
OV Function : This signal shows that power is being supplied (OV) (Power may
CON1-B2
also be supplied from TM 1-2.), or represents the COM signal in th~
case of OV common type.

STA. NO() CON1-A3 1/0 : Input

Name : Command input of station number
STA. NO1 CON1-B3
Function : Command a station number.
STA. N02 CON I -A4 The command input is received at the moment the START signal
changes from OPEN [o CLOSED during either automatic
STA. NO?I CON 1-B4 operation or setup operation. Hold the signal for over 10nlsec
after the START signal has changed from OPEN to CLOSED in
STA. N04 CON I -AS
order for the signal to be read. Input a 9-bit binary (STA,NO():
STA. N05 CON I-B5 LSB STA. NOX: MSB) code signal.

STA. N06 CON 1-A6

➤tl-t2—,
— t I > omsec
STA. N07 CON I-B6

START OPEN –J
STA. NOX CON I -A7

1/0 : Input
Name : Operation command input
Function : Each operation begins with this signal CLOSED.
■ At Automatic Operation
Station number is received at the moment the START signal changes
from OPEN to CLOSED, and the positioning operation is started. Its
speed is V 1 (parameter). Hold CLOSED until [he operation completion
signal (COIN, COIN-A) is output. Changing to OPEN before the
START CON I-B7 completion of indexing causes the machine to stop at the nearest
available station in the running direction. And COIN signal is output,
.. but COIN-A is not output.

■ At Manual Operation
The operation is started in the direction commanded by the F/R signal
at the moment the START signal changes from OPEN to CLOSED. Its
speed is V2 (parameter). When the START signal is turned OPEN, the
machine stops at the nearest tivailable station in the running direction
and COIN signal is output. (COIN-A is not output. )

–lo-
 Table 3.11 1/0 signals (Cent’d)

Symbol Pin No. Descriptions

■ Setup Operation
The current station number is received when the START signal c1
from OPEN to CLOSED, and COIN signal, COIN-A signal, and (
current station number received (POS. NO) are output.
■ At Zero-point Return Operation
The zero-point return operation is started when the START signal
changes from OPEN to CLOSED. Hold the OFF signal until the
operation completion signal (COIN) is output. Its speed is V3, V,
(parameter).

9 Zero-point Offset Automatic Setup Operation

START CON 1-B7 The zero-point offset automatic setup operation is started in the
direction set by the parameter setting when START signal change
from OPEN to CLOSED. Hold the CLOSED signal until the ope
completion signal (COIN) is output. Its speed is V5 (parameter)

■ Jog Operation
The jog operation is started in the direction set by F/R signal whe]
START signal changes from OPEN to CLOSED. Its speed is V6
(parameter). When START signal is turned to OPEN, it stops
simultaneously. This stop position is not in the usual station posi{
and the COIN signal is not output, however, when the machine st
a station position, the COIN signal and station NO.(POS.NO.) ar~
output.

1/0 : Input
Name : Direction command input
Function : Carries out the direction command of an operation.
This is valid only in the following operations:
●Automatic operation (Only valid in the external direction
command mode).
●Manual operation
F/R CON 1-AX ●Jog operation
This input is received at the moment the START signal changt
from OPEN to CLOSED. In order for the signal to be read, in
F/R signal before or at the same time as the START signal, an
for over 10msecs. It becomes CCW or CW when the signal is
changed to OPEN, while CW or CCW when it is changed to
CLOSED. Either may be switched by the parameter setting.

1/0 : Input
Name : Operation mode command input

r
Funl ion : Carri s out the o eration m de that you command.

MODE 2 MODE I MODE () Ope.dtion mode

MODE6 CON I -B8
OPEN OPEN OPEN Jog operation
MODE I CON 1-A9 OPEN OPEN CLOSED Setup c)peration
MODE2 CON 1-B9 OPEN CLOSED OPEN Zero-point return operation
OPEN CLOSED CLOSED Zero-p[lint offset automatic setup o~ratinn
CLOSED OPEN OPEN Automat]c operati[>n
CLOSED OPEN CLOSED Manual operation
CLOSED CLOSED OPEN No mode
CLOSED CLOSED CLOSED No mode

–11–
 Table 3.11 1/0 signals (Cent’d)

Symbol Pin No. Descriptions

All modes are received at the moment the START signal changes from OPEN
to CLOSED. In order for the signal to be read, input mode signal before or at
the same time as the START signal, and hold for over 10msec.

MODEO CON 1-B8

Ft’+t’+
MODE1 CON 1-A9
MODE ~;; ; ,~j~
MODE’ CON1-B9
~
START OPEN

When the START signal changes to CLOSED, if the operation mode is set to
no mode, a “mode set error” is displayed.

1/0 : Input
Name : Zero-point LS signal
Function : Zero-point LS signal at zero-point return operation
■ At zero-opoint return operation (CO- 14=()).
Detecting this signal changing from OPEN to CLOSED decelerates to
V4 from V3. Then detecting the signal CLOSED to OPEN.
Move and position by the zero-point offset from the first Z-phase pulse.
This stopping position is zero-point. Fault occurs if point of the signal
ZRET-LS CON I-A 10 changing CLOSED to OPEN and Z-phase pulse is closer than f] 20
PULSE. In this case, move zero-point 1.S.

■ At zero-point return operation (CO- 14=1).

Detecting this signal changing from OPEN to CLOSED decelerates to
V4 from V3. Then detecting CLOSED to OPEN, move and position as
zero-point offset preset. This stopping position is zero-point
*: Enab]es zero-point return operation if the signal CLOSED time
is over 1Omsec.
But might go over zero-point (after go over return to zero-point).
Because CLOSED time is too short.

1/0 : Input
Name : Emergency stop signal
Function : Emergency stop is carried out when this signal is input in each
operation. The stop position is not the station position.
After stopping, the COIN signal and COIN-A signal are not
output. After an emergency stop, alarm status appears. To release
this alarm status, use the reset signal. After resetting, if the machine
EMG CON1-B10 stops at the station position, the COIN signal is output. If it does
.. not stop at the station position, the COIN signal is not output.
After resetting, the automatic/manual operation may be continued
without carrying out the zero-point return operation/setup operation,
Normally, input CLOSED signal for this signal. The system detects
OPEN, and carries out an emergency stop. With teaching operation
EMG signal is valid. Perform the teaching with CLOSED signal
input.

–12–
 Table 3.11 1/0 signals (Cent’d)

J .----- . ... ..- . —----- ~..-..v

1/0 : Input
Name : Servo ON signal
Function : Set this at CLOSED during operation. During CLOSED status,
the motor drive is valid. When the signal is changed to OPEN,
the inverter output is shut-off instantaneously and coasting status
SVON CON1-A1l
results.
After servo is turned ON, automatic/manual operation may be
continued without carrying out zero-point return operationlsetup
operation. With teaching operation, SVON signal is valid.
JOG operation is executed by only CLOSED signal input.

1/0 : Input
Name : Fault reset
Function : When the driver (X3000) or the positioning controlling portion
(point module) detects an error, alarm stop status is held.
<ESET CON1-B1l Signal to return to operation status after removing the cause.
Resets by changing the signal for OPEN to CLOSED to OPEN.
However, reset the SVON signal by OPEN signal input only whe
the alarm occurs in the driver X3000. Reset cannot be executed i
SVON signal is CLOSED.

1/0 : Input
Name : Multiple-pattern selection
Function : More than one operation can be selected by combining two bits.

MULT.O OPEN CLOSED OPEN CLOSEI

MULT. 1 OPEN OPEN CLOSED CLOSEI
Automatic operation speed Vlo Vll V12 V13
Manual operation speed V20 V2 I V22 V23
High speed zero-point return V30 V31 v3~ V33
IULT. O CON1-A12 Low speed zero-point return V40 V41 V42 V43
Zero-point offset automatic setup speed V50 V51 V52 V53
lULT. 1 CON I-B12
Jog speed V60 V61 V62 V63
Acceleration time ACCO ACC 1 ACC2 ACC3
Positioning control constant KpO Kp 1 Kp~ KP3
Software start time tso ts 1 ts2 ts3
Software start speed Vso Vs1 VS2 VS3
Torque limit TLO TL 1 TL2 TL3
Operation completion width COINO COIN1 COIN2 COIN3
Positioning vicinity width NEARO NEAR 1 NEAR2 NEAR3
Soft stop speed Vspo Vsp1 vsp2 vsp3
Soft stop Kp2 Kp20 Kp21 Kp22 Kp23

Parameter setting is EO-nn for all.

..

1/0 : output
Name : Operation completion signal
COIN CON1-A13 Function :The system outputs the completion of each operation mode.

-13-
 Table 3.11 1/0 signals (Cent’d)

Symbol Pin No. Descriptions

I
E Automatic Operation Mode
CLOSED is output at the completion of positioning to the
commanded station.
Action completion width is set by parameter.
When the same station as the current station is specified, the output
signal remains CLOSED, so confirm the action completions by
checking for the COIN signal 10msec after the input of the START
signal. Changing the START signal to OPEN during positioning
causes the controlled machine to position itself at the nearest
available station in the running direction.
■ Manual Operatoin Mode
The system finishes manual operation, and outputs CLOSED when
positioning and stopping the controlled machine at the nearest available
station in the running direction. Action completion width is set by
parameter.

I ■ Setup Operation Mode

I The system completes setup operation, and outputs CLOSED when

I receiving the current station No.

During that time, OPEN is output (for 20msec), and then CLOSED
is output, so determine completion by checking that the signal is
changed from OPEN to CLOSED.
COIN CON1-A13
In setup mode, COIN-A signal is output in the same manner as COIN
I signal.

I ■ Zero-point Return Mode

I The system outputs CLOSED at the completion of zero-point return.

After that, carry out setup operation. Be aware, however, that in the case
of (CO- 15#0), the setup operation will be automatically y performed for the
value of (CO-15).

■ Zero-point Offset Automatic Setup Operation Mode

The system outputs CLOSED at the completion of zero-point offset
automatic setup operation.

I ■ Jog Operation Mode

The system outputs OPEN at the start of JOG operation mode.
Outputs CLOSED when the controlled machine is stopped at the
station. Outputs OPEN when the machine is not stopped at any
station.
*: After changing the START signal from OPEN to CLOSED, outputs
OPEN COIN signal within 5msec, and starts positioning action.
*: Immediately after turning the system ON, the OPEN COIN signal
is output.

I 1/0 : output
Name : Automatic positioning completion signal
COIN-A CON1-B13 Function : The system outputs this signal at the completion of positioning in
automatic operation.

-14-

.
 Table 3.11 1/0 signals (Cent’d)

Symbol Pin No. Descriptions

■ Automatic Operation Mode

CLOSED is output at the completion of positioning at the
commanded station. Completion width is set by parameter.
When the same station as the current one is specified, the output
signal remains CLOSED (the same way as COIN signal).
Making START signal OPEN during positioning causes the
machine to position itself at the nearest available station in the
running direction, however, in this case, CLOSED is not output, and
OPEN is held.
COIN-A CON I-B13
■ Setup Operation Mode
The system carries out the same output sequence as the COIN
signal.
*: After changing START signal from OPEN to CLOSED, Outputs
OPEN COIN-A signal within 5msec, and starts positioning action.

*: Always outputs OPEN in operation modes other than the above.

*: immediately after turning the system ON, OPEN COIN-A signal is

output.

1/0 : output
Name : Positioning vicinity signal
Function : The system outputs CLOSED when the controlled machine
approaches the aimed station.
■ Automatic/Manual Operation Mode
The system outputs when the controlled machine comes close to the
station to be positioned. The range of vicinity is set by parameter.
Use this signal when mechanically clamping just before positioning.
After changing the START signal from OPEN to CLOSED, OPEN
NEAR signal is output within 5msec, and positioning action is
NEAR CON I-A14 started.

■ Setup Operation Mode

The system carries out the same output sequence as for the COIN
signal.

*: After changing START signal from OPEN to CLOSED, outputs

OPEN COIN-A signal within 5msec, and starts positioning action.
*: Always outputs OPEN in operation modes other than the above.

*: Immediately after turning the system ON, the OPEN NEAR signal
is output.

1/0 : output
Name : Zero speed signal
Function : The system outputs CLOSED when motor speed falls below zero
ZSPD CON I-B14 speed (approximately 10r/min).
This output signal is output independently regardless of operatior
status.

–15–
 Table 3.11 1/0 signals (Cent’d)

Symbol Pin No. Descriptions

1/0 : output
Name : Error signal
Function : The system outputs CLOSED when an alarm is detected at the
driver or the positioning controller. In this case, power is shut
down and the motor goes into zero-speed status. However, only
alarm signal in the driver X3000 is base-blocked. Alarm status is
held, and is released by reset signal.
Alarm indication

11
ndication Contents of alarm

() Alarm detected at the driver (Contents are indicated at driver side. )

1 PG failure (including wiring failure)
~ Emergency stop

3 No setup opemtion after turning ON (Except in the ABS mode)

4 Zero-point LS not detected during Zen-point offset automatic setup operation
5 Zerc~-point LS not detected during zero-pofnt return
ALARM CON I-A15 6 Undefined station number i~ specified.
7 Opemtion mode is not set properly.
8 Though zero-point offiet setup mode i$ in the parameter setup mode, ~ero-point
offset automatic setup opera(ion i~ specified.
9 Position error or zero-point LS (too close to Z-phfisc pulse pnsi(ion)
A Zero-point offset amount is out of the allowable range,
(Other than 120 to 12000)
b When the backlash cc~rrection is nut “f.)”.
o Zen-point of’fset automatic setup opemtiun is specltled,
o Setup operation is specified without ~ero-point return.
The backlash correction is larger ( han the unit station pulses.
c S[ation is not positioned in order of ~ta[ion No.
d Memory storage error in the ABS mode
Blank CPU error (including status OULt)l control )

*: Indication shows 7-segment numeric indicated on the point module

board.
*: Blinking indication is alarm status.
*: Steady lighting indication is status indication.
—
1/0 : output
Name : Current station number
Function : The system outputs the current station number.
The system outputs the 9-bit binary code signal (POS.NOO: LSB,
POS,NOO CON1-B15 POS.N08: MSB).
POS,NO1 CON1-A16 ■ At Automatic Operation
POS,N02 CON1-B16 The system outputs the station No. at which stopped when completing
POS,N03 CON1-A17 the positioning to the specified station. During operation, the station
POS,N04 CON1-B17 No. which can be stopped in operation direction is output. Also
POS,N05 CON1-A18 outputs the station number when the START signal is changed to
Pos,No6”’-- CON I-B18 OPEN during operation and the controlled machine is positioned and
POS,N07 CON1-A19 stopped at the nearest available station in the operation direction.
POS,N08 CON1-B19 ■ At Manual Operation
The system outputs the station No. at which stopped when completing
the positioning to the arbitrary station. During positioning, station
number at which can be stopped in operation direction is output.

–16-
 Table 3.11 1/0 signals (Cent’d)

Symbol I Pin No. ~e~rrinfions

—--- . .. ...

■ At Setup Operation
The system outputs the specified station number after completion of the
setup operation.
POS,NOO CON1-B15
POS,NO1 CON I-A16 *: After confirming COIN signal changing
POS,N02 CON1-B16 OPEN+ CLOSED, receives this signal.
POS,N03 CON1-A17 *: “()” is output after the system is turned ON, after zero-point return, and
POS,N04 CON I-B17 after the zero-point offset automatic setup operation. When automatic
POS,N05 CON1-A18 setup operation (CO- 15), the system outputs the value set to (CO- 15)
POS,N06 CON1-B18 after completing the zero-point return.
POS,N07 CON1-A19 *: “()” is output during JOG operation and after an emergency stop.
POS,N08 CON1-B19 When the controlled machine is stopped at a station after JOG operation
and after resetting following an emergency stop, the station number is
output.

1/0 : output
Name : Memory storage in ABS mode completed
Function : After turning ON the ABS.ST OPEN signal and stopping the motor
at the same time in the ABS mode, the system stores the current
A,BS.READY CON1-A20
position information into memory and outputs the completion
signal (CLOSED). Maintain the 24VDC power source until this
output turns to CLOSED. A special brake motor is required to use
the ABS mode.

1/0 : output
(
OPT. OUT() CON 1-B20 Name : Preliminary output
Function :
—
1/0 : Power source, or COM signal
Name : +24 V(power source)
CON 1-A21
24V Function : This signal shows that power (+24V) is being supplied (Power may
CON I-B21
also be supplied from TM 1- 1.), or represents the COM signal in the
case of +24V common.

1/0 : Power source, or COM signal

Name : OV(power source)
CON 1-A22
Ov Function : This signal shows that power (OV) is being supplied (Power may
CON 1-B22
also be supplied from TM 1-2.), or represents the COM signal in the
case of OV common.

1/0 : Input
Name : Memory storage command in ABS mode
Function : After detecting the change of this signal from CLOSED to OPEN
-. in the ABS mode, the system stops the motor and stores the position
information into memory when the motor is completely stopped.
ABS.ST CON1-A23 Then the system outputs the ABS. READY CLOSED signal.
When the CLOSED input is detected for 0.5sec. or more after the
power is supplied, the position information memory is read and the
state before the power shutoff will be regained. The system then
outputs the ABS. READY OPEN signal. This will function only
in the ABS mode.
d

-17-
 Table 3.11 1/0 signals (Cent’d)

Symbol Pin No. Descriptions

OPT.INO CON1-B23 1/0 : Input

Name : Preliminary input
Function :

NC CON 1-A24 1/0 : For future use

to Name :
CON1-A25 Function :

..

–18–
3.6 WIRING PRECAUTIONS
(1) Use twisted pair shielded cables for PG feedback circuit.
Cable length may be up to 10Om. For wiring, connect the cables in the shortest distance and cut
off the surplus. (Refer to Table 3.2.)
(2) For grounding cables, use as large size as possible.
Class 3 grounding ( 10OQ or less) is recommended.
Grounding must be provided at one point. If motor is insulated between machines, use another
grounding method to ground the motor.
(3) To prevent noise malfunction, take the following actions:
“ Locate Juspoint III or 1/0 reference setter precisely.
● Provide a surge absorbing circuit to relay coils, magnetic contractors, solenoids, etc.
● Separate main circuits (high-voltage circuits such as AC lines or motor power lines) and signal
circuits more than 30cm. Do not run them in the same duct or bundle them together.
● Provide a noise filter to the power supply or input circuits when the power supply is shared with
electrical welders or discharging machines, or when there is a high-frequency noise generating
source near the unit.
● Use shielded cable for 1/0 signal wiring and the shielding treatment should be preformed at
TM 1-2 (OV) terminal of the point module.
(4) Radio Frequency Interference Preventive Actions (R.F.1)
No preventive actions for radio frequency interference are provided to Juspoint ~ since it is an
industrial device. Therefore, if it is used in a residential area or radio frequency interference
causes any problems, provide a line filter at the main circuit power supply input side.
(5) Since cable cores used for PG feedback circuit or signal circuits are very thin, do not apply
bending force or tension force to the cables.

–19–
4. DESCRIPTION OF OPERATIONS

4.1 FUNDAMENTAL OPERATIONS

Fig. 4.1 shows the flowchart of fundamental operations.

After turning the system ON, select the desired operation mode.

r
1 I 1
Turning ON (Other than ABS mode)
I e“--

Zero-point return
YES II I

+
1 1 1
Setup Zero-point return Automatic operation Manual
-> operation
[ I
I
I
I
Setup*

I I t

When (CO- 15=0), the setup operation is necessary after zero-point return.
In the case of (CO- 15#0), no setup operation is requested since the system executes the setup
operation for (CO- 15) atuomatically~

Fig. 4.1 Flowchart of Fundamental Operations

Table 4.1 Setting of Operation Mode

MODE2 MODE I MODE() START Operation mode

OPEN OPEN OPEN OPEN + CLOSED JOG opemtion

OPEN OPEN CLOSED OPEN + CLOSED Setup operation

OPEN CLOSED OPEN OPEN + CLOSED Zero-point return

. .

OPEN CLOSED CLOSED OPEN + CLOSED Zero-point offset amount automatic setup operation

CLOSED OPEN OPEN OPEN + CLOSED Automa(ic operation

CLOSED OPEN CLOSED OPEN + CLOSED Manual operation

Other than the above No applicable modes

–20-
4.2 SETUP

■ Function The system sets the station number of the controlled machine currently stopped.
To carry out setup operation, it is necessary that the machine be stopped at any one of
the station positions and mechanically clamped. Otherwise, carry out setup operation
after zero-point return.
When (CO- 15=0), the setup operation is necessary after zero-point return. In case of
(CO- 15#0), no setup operation is requested.
Automatic/manual operation without setup operation after turning the system ON
results in an alarm (exept in the ABS mode).
If the backlash correction is not “O”, always carry out zero-point return before setup
operation (except in the ABS mode).

■ Sequence Fig. 4.2 shows the sequence of setup.

r 1
Input the current station number

L
STA.NOO to STA.N08
Select setup operation mode. MODEO to MODE2

I Input START signal after the above START OPEN + CLOSED I

+
OPEN COIN and OPEN NEAR signals are COIN CLOSED or OPEN+ OPEN
output within 5msec from START signal. NEAR CLOSED or OPEN + OPEN

+
I
I

E CLOSED NEAR, CLOSED COIN, CLOSED

COIN-A signals are output within 20msec.
-.
I
NEAR, COIN, COIN-A
OPEN + CLOSED

Station number (POS.NOO to POS.N08) is output at completion.

Collate it with the set station number.

Fig. 4.2 Sequence of Setup Operation

■ Time chart Fig. 4.3 shows the setup time chart.

SVON OPEN —

MODE
STA. NO
.. 1

START OpEN ~ I

POS. NO

Fig. 4.3 Time Chart of Setup Operation

-21-
4.3 ZERO-POINT RETURN OPERATION

■ Function The system carries out positioning of the machine and stops it at the zero-point.
Return to zero-point used zero-point LS signal.
Detecting start signal changing from OPEN to CLOSED.
Start zero-point return operation direction by CO-05 speed by V3.
Detecting zero-point LS signal changing from OPEN to CLOSED decelerate to V4.
Then detecting zero-point LS signal changes CLOSED to OPEN.
● At zero-point return operation O (CO-14=0)
Move and position by the zero-point offset preset from the first Z-phase pulse of PG.
● At zero-point return operation 1 (CO-14=1)
Move and position by the zero-point offset preset.
Running speed V3, V4 is set by parameter (EO-20 to -23, EO-30 to -33).

■ Sequence Fig. 4.4 shows the sequence of zero-point return operation.

Input of zero-point return mode MODEO to MODE2

J
Input of START signal after the above START OPEN + CLOSED

i
1 I

COIN signal is output within 5msec,

COIN OPEN or CLOSED + OPEN 1
and zero-point return starts.

Detection of zero-point LS signal,

COIN OPEN + CLOSED
deceleration, and stopping at zero-point.

Fig. 4.4 Sequence of Zero-point Return Operation

■ Time chart Fig. 4.5 shows the time chart of zero-point return operation.
SVON OPEN

MODE

START OPEN

ZRET - LS OPEN ~
CO-14=1
CO-14=0
PG A, B“pdse .r...r~~fs~’.~.. –
Z pulse n n n

COIN .“””””””~OpEN~cLOsED-

SPEED ~v’~vl—.
Fig. 4.5 Time Chart of Zero-point Return Operation

–22-
4.4 ZERO-POINT OFFSET AUTOMATIC SETUP OPERATION

■ Function The system automatically sets zero-point offset.

When it is possible to turn ON the system with the machine stopped at zero-point
(clamped status), this operation is possible. When it is not possible to carry out zero-
point offset setup operation, set zero offset by parameter.
Adjust the zero-point LS position so that the offset becomes within the allowable
range (range set by parameter CO-10).
Direction command is set by parameter. Set the parameter in the direction of zero-
point LS (normally the opposite direction of zero-point return.) When the backlash
correction is not “O”, it is not possible to carry out zero-point offset setup operation.
Running speed V5 is set by parameter (EO-40 to -43).

■ Sequence Fig. 4.6 shows the sequence of zero-point offset setup operation.

L--- Input of zerc)-point offset setup mode

““~. -__”
MODEO to MODE2
.~

1-..
Input of START signal :~fter the above START OPEN + CLOSED
J
~-– J
1

1
COIN signal is output within 5msec,
COIN OPEN or CLOSED - OPEN 1
and auto setup operation starts.

L-.
Detection of zero-point LS signal.
And zerc>-point offset is automz~tically set.
—A
I

r-
+- -.
Moving in reverse after detection on zero-point
COIN OPEN + CLOSED
LS signal, and stopping at the original position. 1

Fig. 4.6 Sequence of Zero-point Offset Automatic Setup Operation

■ Time Chart

SVON CLOSED ——

MODE

START OPEN —

n n n n
PG Z pulse
PG A, B pulse ~~ r f r
co 14=0 Offset +J
-. co 14=1 Offset
F
ZRET - LS OPEN —

COIN ~Op~N~cLOsEm

SPEED
~v5~

Fig. 4.7 Time Chart of Zero-point Offset Automatic Setup Operation

-23-
4.5 AUTOMATIC OPERATION

Function The system moves the controlled machine to the station of the commanded number,
positions it and stops it there.

In the case of a rotating axis, the shortest path control which determines the shorter
distance direction is used.
The direction can be fixed or commanded externally.
When START signal is changed from CLOSED to OPEN during automatic
operation, the machine is positioned and stopped temporarily y at the nearest station in
the running direction at that moment. Then COIN signal is output. (COIN-A signal
is not output.) From this status, any operation mode is possible to use.
Running speed V 1 is set by parameter (EO-00 to -03).

Sequence Fig. 4.8 shows the sequence of automatic operation.

Input automatic operation mode MODE() to MODE

Input station command value STA.NOO to STA.N08

I Input START signal after the above START OPEN + CLOSED I

+
I I
COIN and COIN-A signals are output within
COIN-N, COIN CLOSED + OPEN
5msec, and automatic operation starts.

Time Chart Fig. 4.9 shows the time chart of automatic operation.

SVON CLOSED

MODE —
STA. NO

START OPEN

COIN-A
COIN CLOSED
NEAR CLOSED ~–—–.–.

POS. NO

/ \
Fig. 4.9 Time Chart of Automatic Operation

-24-
4.6 MANUAL OPERATION

■ Function The system positions the machine and stops at each station by manual operation.
Select manual mode and direction and make START signal CLOSED, and operation
will start. When making START signal OPEN, the machine will be positioned and
stopped at the nearest available station in the operation direction.
Running speed V2 is set by parameter (EO- 10 to - 13).

■ Sequence Fig. 4.10 shows the sequence of manual operation.

I Input of manual operation mode and direction MODEO to MODE2 F/R I

+
I I
Input of START signal after the above START OPEN + CLOSED

I
+ )

COIN and NEAR signals are output within

COIN, NEAR CLOSED + OPEN
5msec, and manual operation starts.
I
1
START signal is stopped. START CLOSED + OPEN

I Manual operation completion POS. NO, NEAR, COIN OPEN+ CLOSED I

Note: After start of operation, COIN-A signal is output OPEN, and continues to be output even after completion of
opemt ion.

Fig. 4.10 Sequence of Manual Operation

■ Time Chart Fig. 4.11 shows the time chart of manual operation.

F/R
MODE

START OPEN

COIN CLOSEI)

NEAR CLOSED ~~
..

POS. NO

SPEED
_/-—v2~
Fig. 4.11 Time Chart of Manual Operation

-25-
4.7 EMERGENCY STOP OPERATION

■ Function When emergency stop signal (EMG) is OPENED during any operation, emergency
stop is carried out. Normally, the stop position is not a station. (deceleration stop)

After an emergency stop, output is stopped, and alarm status appears. To release this,
perform after reset.

After an emergency stop, COIN, COIN-A, and NEAR are output OPENED. When
the machine is stopped at any station after resetting, COIN, NEAR signals are output
CLOSE. COIN-A is output CLOSED.

After an emergency stop, the station position output indicates “O”.

When the machine is stopped at any station after resetting an emergency stop, that
station number is output.

When emergency stop operation is performed after a setup operation, there is no need
for zero-point return operation/setup operation after reset.
Manual/automatic operation is possible without any preparation.

4.8 JOG OPERATION

■ Function The system carries out a JOG operation.

After selecting JOG operation mode and F/R signal, changing the START signal from
OPEN to CLOSED causes operation to start in the commanded direction.
And the machine stops at the same time the START signal is changed to OPEN.
Normally the stop position is not a station.

During JOG operation, COIN, COIN-A, NEAR signals are output OPENED at the
same time as the start of operation, and OPEN signals are output even after
completion.
However, in the case of stopping at a station, COIN and NEAR signals are output
CLOSE. COIN-A is output OPEN.

During JOG operation, the station position output indicates “O” at the same time as
the start of operation and even after stopping, indicates “O.”.
When stopping at a station, the number of the station is output.

When carrying out a JOG operation after setup, there is no need for a zero-point
return operation or setup operation.
Manual/automatic operation is possible without any preparation.
Running speed V6 is set by parameter (EO-50 to -53).

..

-26-
5. PARAMETER SE~lNG / MONITORING

5.1 PARAMETER SETTING

Parameters to be used for station indexing control are shown in the table below.
Perform parameter setting while the motor is stopped.

Table 5.1 List of Parameters

Cn-NO Function Name Lower Limit Upper Limit Unit Initial Vatue

Co-oo Number of stations 2 511 8

Co-ol Rotational axis/linear axis o 4 0
CO-02 Unit station pulses 40 960000 PULS 4000
CO-03 Rotation direction switching o 1 0
CO-04 O-point offset automatic setup o 1 0
CO-OS O-point return direction o 1 0
C()-06 Direction for CO-04 o 1 1
CO-07 Gear ratio A 1 40000 I
CO-08 Gear ratio B 1 40000 1
CO-09 ABS mode o 2 0
co- Io ()-point offfet I20 40000 PULS 400
co- 11 Rotational axis direction o 3 0
co- 12 Parameter setting permission o 1 0
co- 13 Backlash correction o 80000 PULS o
co- 14 ()-point return mode o I o
co- I5 Number of automatic setup o 511 0
CO-16 Unit PG pulses o 1 0
co- I7 Kp gain during stop (Kp3) 10 1000 0,1/s 25
co- 1x Control width for C()-17 0 I00 PULS 20

d{)-02 Pulsesbetweenstatiorr~( I-2) 40 96000000 PULS 4000

cio-03° Pttlse\ be[ween stations (2-3) or ( 1-3) 40 96000000 PULS 4000
Pulse$ between stations (X-X) or ( l-X) 40 96000000 PULS 4000
do-45 Pulses between stations (44-45) or ( 1-45) 40 96000000 PULS 4000

EO-()()-03 Automatic operation speed (V 1O-V13) 10 1800 rfmin 500

E()-10-13 Marrttti o~ration s~ed (V20-V23) 10 1800 r/m in 500
EO-’2O-23 High speed O-point return (V30-V33) 10 1800 r/m in 500
EO-30-33 Low speed O-point return (V40-V43) 10 1800 r/min 50
EO-40-43 Offset setting speed (V50-V53) 10 1800 r/m in 50
EO-50-53 JOG speed (V60-V63) 10 i 800 r/m in 50
EO-60-63 Acceleration time (ACC()-ACC3) 10 5000 msec 100
EO-70-73 Position control gain (KpO-Kp3) 10 I000 0.1/s I00
EO-80-83 Sofi-starttime (tsO-Ls3) o 99 msec o
EO-90-93 Sofi-srarfs@ (vs@vs3) o 99 r/rein o
E()-AO-A3 Torque limit value (TLO-TL3) 30 300 % 200
EO-bO-b3 In-position width (COINO-C01N3) 8 80000 PULS 20
EO-CO-~ Near-position width (NEARO-NEAR3) 8 80000 PULS 400
EO-dO-d3 Speed range for soft-stop (VspO-Vsp3) o 1800 r/rein o
EO-EO-E3 Kp gain for soft-stop (Kp20-Kp23) 10 1000 0.1/s 100

N(]tes :1. Attach or detach the digital operator (JVOP- I~) whtle the power ii turned OFF.
2. Any pos!tloll]ng operation is possible with the digital o~rator (J VOP- t M)) connected, however, parameters cannot be set during o~ration.
(Parameters can be set only white Juspoint D is not operating.)
3. Parameters out of the upper or the lower limit cannot be set. In this case, tbe upper or the lower limit will be set.
4. When 0 -pint [>ff\et automatic setup is selected and the O-point offset is out of tbe upper timit or the tower tim]t, an error occurs.

–27-
 Table 5.2 Parameter Functions

Name : Number of stations

Range : 2to511 (unit: 1, initial value: 8)
Function : Set the number of svations to be indexed.
Co-oo Station position command (STA. NO O to 8) larger than the set number of
stations will result in an error.
Example 1 : In the case of 12-face indexing of rotational axis, set [ 12].
Example 2: In the case of 2-point indexing of linear axis, set [2].

Name : Rotational axisflinear axis

Range :0, 1,2,3 or 4 (unit: initial value: O)
Function : Set whether rotational axis or linear axis is to be indexed.
o :Rotational axis (Uniform unit station pulses)
co-o 1 1 : Linear axis (Uniform unit station pulses)
2 : Rotational axis (Uniform unit and fractional unit station pulses)
3 : Linear axis (Arbitrary unit station pulses : incremental setting)
4 : Linear axis (Arbitrary unit station pulses : absolute coordinate setting)
In case of [CO-01=4], pulse setting by teaching operation is possible.

Name : Unit station pulses

Range :40 to 960,000 (unit: 1, initial value:4000)
Function : Set the distance between respective stations in PC pulse units (multiples of 4).
Station distance set up to 240 rotations motor axis/station.
This parameter is valid only for [C()-O1=0, 1].
CO-02 Pulses between stations are as shown below.
~CO-02 is valid when CO-O1=0.
. CO-02 is valid when CO-01=1.
. CO-07 and CO-08 are valid when CO-01=2.
. dO-02 to dO-45 are valid when CO-O1=3.
dO-02 to dO-45 are valid when CO-O1=4.

Name : Motor rotational direction switching

Range :0 or I (unit: initial value: O)
Function : Set the rotational direction of the motor.
Set the rotational direction in relation to the directional command signal (F/R) of
the control sequence input. Also set the sequence of the station numbers.
CO-03 Example 1: In the case of [0]: Motor rotates CCW (viewed from the load side) when F/R
signal is OPEN. Or, the station number increases in the CCW
direction.
Example 2: In the case of i 1]:Motor rotates CW f.viewed from the load side) when F/R
signal is OPEN. Or, the station number increases in the CW
direction.

Name : Zero-point offset automatic setup mode

- Range :0 or 1 (unit: initial value: O)
Function : Set using the parameter (CO-10) or zero-point offset automatic setup operation tf
CO-04
set the zero-point offset.
Example I : In the case of [01: Setting by parameter is selected, Executing zero-Point offset
setup operation with this setting will result in an error.
Example 2: in the case of [ I ]: Setting by zero-point offset automatic setup operation is
selected.

–28-
 Table 5.2 Parameter Functions (Cent’d)

Name : Zero-point return direction

Range :0 or 1 (unit: initial value: O)
Function : Set the direction of the zero-point return.
CO-05 Example 1 : In the case of [0]: Zero-point return will be carried out in the same direction as
when the F/R signal is changed to OPEN.
Example 2: In the case of [ 1]: Zero-point return will be carried out in the same direction as
when the F/R signal is changed to CLOSED.

Name : Zero-point offset automatic setup operation direction

Range :0 or 1 (unit: initial value: O)
Function : Set the direction of the zero-point offset automatic setup.
Normally, set in the opposite direction of the zero-point return.
CO-06
Example 1: In the case of [0]: Zero-point offset automatic setup will be carried out in the
same direction as when the F/R signal is changed to OPEN.
Example 2: In the case of [ 1]: Zero-point offset automatic setup will be carried out in the
same direction as when the F/R signal is changed to CLOSED.

Name : Gear ratio B/A

Range :1 to 40000 (unit: 1, initial value: 1)
Function : To be used when the unit station pulse is fractional.
CO-07
Set “A” or “B” of the gear ratio (B/A)
CO-07: Gear ratio A
CO-08
CO-08: Gear ratio B
Example 1: When the gear ratiois“1/179” (decelerating), A=179 and B= 1
Example 2: When the gear ratio is “55/1 9“ (accelerating), A= 19 and B=55

Name : ABS mode

Range :0, 1,2 (unit: initial value: O)
Function : Set the ABS mode.
O : The ABS mode is not used.
1 : ABS mode [1]. All the position information before turning OFF the power is
stored in the nonvolatile memory. A specially designed brake motor is required.
CO-09 Control equivalent to an absolute value PG is possible.
2 : ABS mode [2]. Only the information of the stations stopped before turning OFF
the power is stored in the nonvolatile memory. Since the amount the motor
moves while the power is OFF will remain as an error, a mechanical clamp (e. g.
clamp pin insertion) must be provided. A specially designed brake motor is not
required.
Set “O” for the backlash correction (CO- 13).

Name : Zero-point offset

Range :120 to 40000
.. (unit: 1, initial value:400)
Function : This is used when setting the zero-point offset by parameter. Set in PG pulse
units (multiples of 4).
co-10
Additionally, in order to make the zero-point return operation stable, adjust the
motor axis so that setting can be made within the upper limit and the lower limit.
(In the case of zero-point offset automatic setup mode, exceeding the above
rang will also result in an error.)

-29-
 Table 5.2 Parameter Functions (Cent’d)

Name : Rotational axis direction command mode

Range :0,1, 2,3 (unit: initial value: O)
Function : Set the direction when executing automatic operation of rotational axis.
O : Positioning is perfomed in the shorter distance direction.
co-11 1 : Positioning is performed in the same direction as that when the F/R signal turns
OPEN.
2 : Positioning is performed in the same direction as that when the F/R signal turns
CLOSED.
3 : Positioning is performed according to the external command (F/R signal).

Name : Parameter setting permission

Range :0 or 1 (unit: initial value: O)
Function : This parameter allows or prohibits setting of parameters. JOG operation by
teaching can be performed, but the position setting [write to (dO- XX)] is not possible
co-12
o :All parameters can be set.
1 : Parameters cannot be set or initialized. To be used when prohibiting parameter
setting. When this parameter is set to CO-12=1, parameter initialization cannot
be performed.

Name : Backlash correction

Range :0 to 80000 PULSES
(unit: 1, initial value: O)
Function : Set the backlash correction in PG pulse units (multiples of 4). The direction of
correction is opposite to the zero-point return.
co-13
When the backlash correction is set to a value other than “O”, be sure to carry out
the zero-point return after turning the system ON. (except in the ABS mode 1)
Commanding the setup operation without the zero-point return will result in an error.
Also when the backlash correction is set to a value other than “O”, it is not
possible to carry out the zero-point automatic setup operation.

Name : Zero-point return operation select.

Range :0 or 1 (unit: initial value: O)
co-14 Select operation mode
O : Zero-point return (return mode O) used with Z phase pulse.
1: Zero-point return (return mode 1) without Z phase pulse.

Name : Automatic setup number

Range :0-511 (unit: 1, initial value:O)
Function : The setup operation will be automatically performed at the end of the zero-point
co-15 return operation for the number set in [CO-15].
In the case of [CO- 15=0], the setup operation will not be performed automatically
the setup operation is required after the zero-point return.
Also, the setup operation is required after the power supply (except in the ABS mode
..
Name : PG pulses
Range :0 or 1 (unit: 1, initial value: O)
Function : Set the PG pulses of the motor.
CO- 16 0:1000 pulses/rev.
1:1024 pulses/rev.
Two types of PG pulses can be selected. Normally set “O”. If this setting does
not agree with the motor pulses, an alarm (alarm 1) will be output.

-30-
 Table 5.2 Parameter Functions (Cent’d)

Name : Kp gain during stop (Kp3)

Range :10-1000 (unit: 1, initial value: 25)
co-17 Function : Set the value of position control proportional gain for the range set by [CO- 18].
Normally, set a value smaller than Kp [EO-7n]. If the setting of Kp3 is larger thar
Kp, the value of Kp is assumed.

Name : Control width for CO- 17

Range : ()- 100 (unit: 1, initial value: 20)
Function : Set the range of pulses controlled by Kp3.
In the set range of pulses, Kp [EO-7n] is switched to Kp3 for position control.
C()- 18 Once the control is switched to Kp3, it will be held until the operation is started
next (SATRT signal changing from OPEN to CLOSED).
In the state “O”, the position is controlled by the value of Kp3.
In the case of [CO- 18=0], the Kp3 control will not be executed. Position will
always be controlled by Kp [CO-7n].

Name : Section ( 1-2) Arbitrary station pulses

Range :40-96000000 (unit: 1, initial value: 4000)
Function : Set the station pulses for the section ( I -2) for the linear axis.
In the case of [CO-01 =3], set the pulses of section (1 -2) in units of PG pulses
dO-02 (multiples of 4).
In the case of [CO-01 =4], set the pulses of section (1 -2) in units of PG pulses
(multiples of 4).
In the case of [C()-OI=4], this parameter can be set automatically by teaching.
Furthermore, setting after teaching or teaching after setting are also possible.
.—
Name : Section (2-3) or ( I-3) Arbitrary station pulses
Range :40-96000000” (unit: 1, initial value: 4000)
Function : Set the station pulses for the section (2-3) or ( 1-3) for the linear axis.
In the case of [CO-01 =3], set the pulses of section (2-3) in units of PC pulses
dO-03 (multiples of 4).
In the case of [CO-O1=4], set the pulses of section ( 1-3) in units of PG pulses
(multiples of 4).
In the case of [CO-O1=4], this parameter can be set automatically by teaching.
Furthermore, setting after teaching or teaching after setting is also possible.

Name : Section (44-45) or ( 1-45) Arbitrary station pulses

Range :40-96000000 (unit: 1, initial value: 4000)
-.
Function : Set the station pulses for the section (44-45) or ( 1-45) for the linear axis.
In the case of [CO-O1=3], set the pulses of section (44-45) in units of PG pulses
dO-45 (multiples of 4).
In the case of [CO-O1=41, set the pulses of section (1-45) in units of PG pulses
(multiples of 4).
In the case of [CO-O1=4], this parameter can be set automatically by teaching.
Furthermore, setting after teaching or teaching after setting is also possible.

-31-
 Table 5.2 Parameter Functions (Cent’d)

Name : Automatic operation speed (V 1 n)

Range :10 to 1800 r/rein (unit: 1, initial value: 500)
EO-00
Function : Set the running speed (V 1 n) for automatic operation.
EO-O1
EO-00 : 1st automatic operation runnning speed (V 1 O)
EO-02
EO-O1: 2nd automatic operation runnning speed (V 1 1)
EO-03 EO-02 : 3rd automatic operation runnning speed (Vl 2)
EO-03 : 4th automatic operation runnning speed (V 1 3)

Name : Manual operation speed (V2 n)

EO- 10 Range :10 to 1800 r/rein (unit: 1, initial value: 500)
Function : Set the running speed (V2 n) for manual operation.
EO- 11
EO- 10: 1st manual operation running speed (V2 O)
EO- 12
EO- 11: 2nd manual operation running speed (V2 1)
EO- 13
EO- 12: 3rd manual operation running speed(V22)
EO- 13: 4th manual operation running speed (V2 3)

Name : Zero-point return high speed (V3 n)

Range : 10 to 1800 r/rein (unit: I, initial value: 500)
EO-20 Function : Set the high speed (V3 n) for zero-point return.
EO-2 I EO-20 : 1st high speed zero-point return (V3 O)
EO-22 EO-21 : 2nd high speed zero-point return (V3 1)
EO-23 EO-22 : 3rd high speed zero-point return (V3 2)
EO-23 : 4th high speed zero-point return (V3 3)

Name : Zero-point return low speed (V4 n)

Range :10 to 1800 r/rein (unit: 1, initial value: 50)
EO-30
Function : Set the low speed (V4 n) for zero-point return.
EO-31
EO-20 : 1st low speed zero-point return (V4 O)
EO-32 EO-21 : 2nd low speed zero-point return (V4 I )
EO-33 EO-22 : 3rd low speed zero-point return (V42)
EO-23 : 4th low speed zero-point return (V4 3)

Name : Zero-point offset automatic setup speed (V5 n)

Range :10 to 1800 r/rein (unit: 1, initial value: 50)
EO-40
Function : Set the running speed (V5 n) of zero-point offset automatic setup.
EO-41
EO-40 : 1st low speed zero-point return (V5 O)
EO-42
EO-41 : 2nd low speed zero-point return (V5 I )
EO-43 EO-42 : 3rd low speed zero-point return (V5 2)
EO-43 : 4th low speed zero-point return (V5 3)

Name : Jog speed (V6 n)

Range :10 to 1800 r/rein (unit: I, initial value: 50)
EO-50
Function : Set the running speed othe JOG operation (V6 n)
EO-51
EO-50 : 1st low speed zero-point return (V6 ())
EO-52 EO-51 : 2nd low speed zero-point return (V6 I)
EO-53 EO-52 : 3rd low speed zero-point return (V62)
EO-53 : 4th low speed zero-point return (V6 3)

‘“ Name : Acceleration time (ACC n)

Range :10 to 5000 msec (unit: 1, initial value: 100)
EO-60 Function : Set the time required to accelerate from zero speed to maximum speed
EO-61 ( 1800 r/rein)
EO-62 EO-60 : 1st acceleration time (ACC O)
EO-61 : 2nd acceleration time (ACC I )
EO-63
EO-62 : 3rd acceleration time (ACC 2)
EO-63 : 4th acceleration time (ACC 3)

-32-
 Table 5.2 Parameter Functions (Cent’d)

Name : Position control proportion gain (Kp n: unit O.l/see)

Range :1 to 1000 (unit: 1, initial value: 100)
EO-70 Function : Set the proportional gain of the position loop.
EO-71 EO-70: lstposition control proportional gain (KPO)
EO-72 EO-71 : 2nd position control proportional gain (KP 1)
EO-73 EO-72 : 3rd position control proportional gain (KP 2)
EO-73 : 4th position control proportional gain (KP 3)

Name : Soft-start time at starting (ts n)

Range :0 to 99 msec (unit: 1, initial value: O)
EO-80 Function : Set the time to soft-start at starting (ts n).
EO-81 EO-80 : 1st soft-start time upon starting (ts O)
EO-82 EO-81 : 2nd soft-start time upon starting (ts 1)
EO-83 EO-82 : 3rd soft-start time upon starting (ts 2)
EO-83 : 4th soft-start time upon starting (ts 3)

Name : Soft-start speed at starting (Vs n)

Range :0 to 99 r/rein (unit: 1, initial value: O)
Function : The speed will reach the speed at the soft-start time (EO-8n) at the above Sti
See the chart below
EO-90 : 1st soft-start speed upon starting (Vs O)
EO-91 : 2nd soft-start speed upon starting (Vs 1)
EO-90 EO-92 : 3rd soft-start speed upon starting (Vs 2)
EO-91 EO-93 : 4th soft-start speed upon starting (Vs 3)
EO-92
EO-93
Speed

:’lJ—\>

EO-8n Time (ins)

Name : Torque limit value (TL n)

Range :30 to 300% (unit: 1, initial value: 200)
Function : Set the torque limit value (TL n) of the driver (X3000).
EO-AO : 1st torque limit value (TL O)
EO-A I : 2nd torque limit value (TL 1)
EO-A2 : 3rd torque limit value (TL 2)
EO-AO EO-A3 : 4th torque limit value (TL 3)
EO-A I 100 (Y.) is the motor’s rated torque value. The deceleration time in JOG,
EO-A2. emergency stop, zero-point return, zero-point offset automatic setup is determined
EO-A3 by this torque value.
Overrun may occur in manual/automatic operation owing to the Kp value (EO-7n)
and torque limit value (EO-An). In that case, make the Kp a smaller value or
make the torque limit a larger value.

-33-
 Table 5.2 Parameter Functions (Cent’d)

Name : Operation completion width (COIN n, COIN-A n output width)

Range :8 to 80000 PULSES (unit: 1, initial value: 20)
Function : Set the allowable position error range (error between the aimed position and the
current position) for outputting COIN and COIN-A signals. Set in PG pulse unit
EO-bO (multiples of 4). When the machine reaches the allowable range, the COIN/
EO-b 1 COIN-A will be CLOSED and when the machine moves out of the allowable
EO-b2 range, the COIN/COIN-A will be OPEN again.
EO-bO : 1st operation completion width (COIN O, COIN-A O)
EO-b3
EO-bl : 2nd operation completion width (COIN 1, COIN-A 1)
EO-b2 : 3rd operation completion width (COIN 2, COIN-A 2)
EO-b3 : 4th operation completion width (COIN 3, COIN-A 3)

Name : Positioning vicinity width (NEAR n output width)

Range :8 to 80000 PULSES (unit: 1, initial value: 400)
Function : Set the allowable position error range (error between the aimed position and the
EO-CO current position) for outputting the NEAR signal. Set in PG pulses (multiples of 4
When the machine reaches the allowable range, the NEAR signal will be
EO-C 1
CLOSED and when the machine moves out of the allowable range, the NEAR
EO-C2
signal will be OPEN again.
EO-C3
EO-CO : 1st near positioning width (NEAR O)
EO-C 1: 2nd near positioning width (NEAR 1)
EO-C2 : 3rd near positioning width (NEAR 2)
EO-C3 : 4th near positioning width (NEAR 3)

Name : Soft stop speed (Vspn)

Range :0 to 1800 r/rein. (unit: 1, initial value: O)
EO-dO Function : Set the speed at which the soft stop is to be started at the time of deceleration.
When the speed is decelerated to the setting Vspn, the position control
EO-d 1
proportional gain Kpn [EO-7n] will be switched to Kp2n [EO-En].
EO-d2
EO-dO : 1st soft stop speed (Vsp O)
EO-d3 EO-dl : 2nd soft stop speed (Vsp 1)
EO-d2 : 3rd soft stop speed (Vsp 2)
EO-d3 : 4th soft stop speed (Vsp 3)

Name : Soft stop Kp2

Range :10 to 1000 r/rein. (unit: 1, initial value: 100)
Function : Set the position control proportional gain for the soft stop.
Be sure to set a value smaller than the position control proportional gain used
before the soft stop (i.e. Kpn [EO-7n]). If a larger value is set, the same value as
Kpn will be used.
EO-EO : 1st soft stop Kp2 (Kp2 O)
EO-E1 : 2nd soft stop Kp2 (Kp2 1)
EO-EO EO-E2 : 3rd soft stopKp2(Kp22)
EO-E1 EO-E3 : 4th soft stopKp2(Kp23)
EO-E2 Speed A
EO-E3 (r/rein)
..
Vsp n (EO-dn) ------------------
Kp2 n [EO-En]
>
Time (t)
Notes :1 The soft stop function will make the deceleration time longer, thus making the positioning time
(indexing time) longer.
The smaller the value of Kp2n or the larger the value of Vspn, the longer the positioning time
(indexing time) will be.
2 When a small value is set for Kp2n, the servo lock response for stopping will take a longer time. In
case an external force applies at the time of stopping, restoration to the zero position will take longer,

-34-
5.2 OPERATION STATUS MONITOR

Table 5.3 shows the list of operation statuses to be monitored. Monitor the operation status while the
system is at a standstill. Monitoring cannot be carried out during operation.

Table 5.3 List of Operation Statuses to be Monitored

Un-No Name Description

Uo-oo Input signal block A Sequence input signal status CON 1-A3 to B9
Uo-ol Input signal block B Sequence input signal status CON I -A1O to B 12
A 23 to B23
UO-02 Output signal block A Sequence output signal status CON 1-A 13 to B 19
UO-03 Output signal block B Sequence output signal status CON 1-A20 to B20
UO-04 Station number command value Station number command value STA.NO O to 8 in decimal
notation
UO-05 Current station number value Current station number value POS.NO O to 8 in decimal
notation.
UO-06 Zero-point offset Zero-point offset in decimal notation
UO-07 Zero-point LS position Zero-point LS position in decimal notation
UO-08 Current position (pulse) Current position pulse in decimal notation
UO-09 Deviatoric pulse Deviatoric pulse in decimal notation

Table 5.4 shows the operation status monitor functions.

Table 5.4 Monitor Function

Name : Input signal block A

STA. NO O STA. NO 1 STA. NO 2 STA. NO 3 STA. NO 4

STA. NO 5 STA. NO 6 STA. NO 7 STA. NO 8 START

F/R MODE O MODE 1 MODE 2

When a signal is CLOSED, the corresponding indicator ( —) is lit.

Cc~de Description CON I

STA. NO () Station command value : bit O A3

U()-oo STA. NO I Station cummand value : bit I B3

STA. NO 2 Station command value : bit 2 A4
STA. NO 3 Station command value : bit 3 B4
STA. NO 4 Station command value : bit 4 A5
STA. NO 5 Station command value : bit 5 B5
STA. NO 6 Station command value : bit 6 A6
STA. NO 7 Station command value : bit 7 B6
STA. NO 8 Station command value : bit 8 Al
START Opemtion command input B7
FR Direction command input A8
MODE 0 Operation mode command input : bit O B8
MODE I Operation mode command input : bit 1 A9
MODE 2 Operation mode command input : bit 2 B9

-35-
 Table 5.4 Monitor Function (Cent’d)

Name : Input signal block B

ZRET-LS EMG SVON RESET MULT. O

MULT. 1 ABS.ST OPT. INO

When a signal is CLOSED, the corresponding indicator ( — ) is lit.

Code Description CONl -

Uo-o 1

ZRET. IS Zero-point LS signal AIO

EMG Emergency stop signal BIO
SVON Servo ON signal All
RESET Fault reset Bll
MULT. O Multiple-pattern signal () A12
MULT, I Multiple-pattern signal 1 B12
ABS. ST Memory storage command signal A23
OPT, INO Preliminary input B23

Name : Output signal block A

COIN COIN-A NEAR ZSPD ALARM

POS. NO O POS. NO 1 POS. NO 2 POS. NO 3 POS. NO 4

POS. NO 5 POS. NO 6 POS. NO 7 POS. NO 8

When a signal is CLOSED, the corresponding indicator ( ~ ) is lit.

Code Description CON 1

COIN Operation completion signal A13

COIN-A Automatic operation positioning completion B13
UO-02
NEAR Positioning vicinity signal A14
ZSPD Zero speed signal B14
ALARM Error signal A15
POS. NO O Current station number value : bit O B15
POS, NO I Current station number value : bit 1 A16
POS. NO 2 Current station number value : bit 2 B16
POS. NO 3 Current station number value : bit 3 A17
POS. NO 4 Current station number value : bit 4 B17
POS. NO 5 Current station number value : bit 5 A18
POS. NO 6 Current station number value : bit 6 B18
POS. NO 7 Current station number value : bit 7 A19
POS. NO X Current station number value : bit 8 B19

-36-
 Table 5.4 Monitor Function (Cent’d)

Name : Output signal block B

ABS. READY OPT. OUTO

UO-03 ............
When a signal is CLOSED, the corresponding indicator ( —) is lit.

Code Description CON 1-

ABS. READY Memory storage completion A20

OPT. OUTO Preliminary output 1 B20

Name : Station number command value display in decimal notation

UO-04
Station number command value (STA. NO O to STA. NO 8) is displyaed in decimal
notation.

Name : Current station number value display in decimal notation

UO-05
Current station number value (POS. NO O to POS. N08) is displayed in decimal notation.

Name : Zero-point offset (by automatic operation) display in decimal notation

Offset obtained as a result of zero-point offset automatic setup is displayed.
Adjust zero-point offset to be within 120 to 40000.
UO-06 Otherwise, alarm A will be activated.
In the case of alarm A being activated, change either the zero-point LS position or
Z-phase (PG) position.

Name : Zero-point LS position in decimal notation

The distance (pulses) between the zero-point LS position and the Z-phase (PG)
position is displayed in decimal notation.
UO-07 A value out of the range off 120 will be occured alarm 9.
In the case of alarm 9 being activated change eigher the zero-point LS position or the
Z-phase (PC) position.

Name : Current position (pulses)in decimal notation

The current position pulses (internal setup down counter) in respect to the setup
position being ‘O’ are displayed in decimal notation. It is displayed in real time as
UO-08
signed 10-digit data. The data are to be monitored in two sections, upper and lower
five digits. It starts counting from ‘O’ in the case of overflowing.
-.

Name : Deviation pulses in decimal notation

The deviation pulses between the command position and current position are
displayed in decimal notation. It is displayed in real time as signed 10-digit data. The
UO-09 data are to be monitored in two sections, upper and lower five digits. It starts
counting form ‘O’ in the case of overflowing.

-37–
5.3 HOW TO USE PARAMETER SETTER (Model JVOP-1 00)

5.3.1 Fundamental operation flow

(mode selection, parameter number selection)

Turning system ON

DSPI, key PRGM/DRIVE key

1
*2 Setting/nlonitor rr]ode *1 Teaching operation mode

I I

I I
>

&
*2 I *2
Y
*2 +*2

v Co-oo dO-02

Y
Eo-00 Uo-oo
I So-oo

P Co-ol dO-03

&
Q
I
Eo-02 UO-02
L SO-02

dO-05 I UO-03 II SO-03

dO-06
m g
SO-04

CO-nn dO-nn EO-nn UO-nn ; SO-nn

.,. ! .,..

* I : Teaching mode is selected by depressing PRGM/DRIVE key. And depress the key again and the teaching mode is ended
*2 : Mode changes one after another when “DSPL’ key is depressed.

------- CO-00 Q dO-02 Q EO-00 Q UO-00 0 S0-00

-. Notes: l. Setrespective parameter numbers bydepre$sing the`'A' keymd''V' key.

2. The method to set parameter values of parameter number is shown on the next page
5.3.2 Parameter value setting flow (Co-nn, do-nn, Eo-nn)

Display the parameter number by depressing the

Parameternumbersetting
“DSPL”, “ ~” and” U “keys.

1
Press the “ENTER” key to display parameter value.
Parametervaluedisplay
*1

*
Set (display) a parameter value by depressing the
Parameter value setting ~ ~ ~, “~ ,, and “~,, keys
I
I
+
Press the “ENTER” key to input the parameter
Parameter value writing
value.

L
Displays “End” for 0.5 second and completes
“End”display
setting. No display will appear after that. *2

* 1 : Operation will not be possible unless “ENTER” is depressed to finish parameter setting.
No operation commands are accepted.
*2 : To set more than 6-digit parameter , set the lower 4 digits first and then the upper 4 digits.

5.3.3 Monitor operation flow (Uo-nn)

Displays the monitor number by depressing the

I Monitor number setting
I “DSPL”, “ ~” and “U” keys.

Depress the “ENTER” key to display monitor

I Monitor value display
I value. *1

Depress the “ENTER” key to finish the monitor

I Monitor display completion
I value display.

Displays “End” for 0.5second and completes

I “End’ display
I monitor operation.
that. *2
No display will appear after

* 1 : Monitoring data during operation shows the changes made every moment (real time).
*2 : Operation is possible even without depressing “ENTER” to finish monitor setting. However, you
must finish monitor setting before carrying out other settings or monitor operation using the
parameter setter.
*3 : 1()_digit data are to be monitored in two sections, upper and lower 5 digits.The lower 5 digits are
monitored first and the upper 5 digits.

-39–
5.3.4 Parameter initial value setting flow (So-nn)

Displays the parameter number by depressing the

Parameter number setting “DSPL”, “ ~“and’’~ ’’keys. (SO-OO) is the
I initial value number.
I
Depress the “ENTER” key twice to enter the
Parameterinitial value writing

~
J
‘arameterinitialvalue
Displays “End” for 0.5second and completes
“End” display
setting. No display will appear after that. *2

* 1 : This setting is to be made only upon delivery from the factory. If this setting procedure is carried
out, all parameters will be set back to the initial values used upon delivery.
*2 : Operation is not possible unless “ENTER” is depressed to finish the parameter setting operation.
*3. . when CO-12=1, pwameters cannot be initialized. First set CO-12 to “O” then initialize the parameters.
*4 : Parameters other than S0-00 are for factory inspection use: do not use them.

5.3.5 Teaching Method

Depress the “PRGM/DRIVE” key to set the

teaching mode. You can cancel the teaching mode
I Teaching mode I by depressing this key again. The “DRIVE” lamp
> is lit when in the teaching mode.

Set the direction with the “FOW/REW” key first

and then depress the “JOG” key to start the JOG
Jog operation operation. The “FOW” and “REV” lamps turn ON
alternately every time the “FOW/REW” key is
depressed. The dorection of the lit lamp is selected.

Advance to the station position using JOG

operation and display the station number (no-**) by
depressing the “~” or “V” key and then depress
the “ENTER” key. The pulse data of the station
position will be written in parameter (dO-**).
I I

* 1 : The “DSPL” key is invalid in the teaching mode. Cancel the teaching mode before using the
“DSPL” key.
*2 : The “FOW/REW” key is invalid during operation The JOG direction will not be changed even if
the k. y is depressed during operation.
*3 : The teaching operation is to be performed in the case of [CO-12=0]. Note that the teaching
operation can be performed in the case of [CO-12=1] as well, however, the position data of
teaching will not be written in parameter [dO-**].
*4 : Monitoring data after carrying out the teaching operation allows you to monitor the data that have
been set by the teaching operation. Setting parameters after that will allow you to correct or
change the values that have been set by the teaching operation.

–40–
*5 : Furthermore, it is possible to correct the position error by carrying out teaching after setting the
parameters
*6 : Executing the teaching operation before setup will result in teaching from station number 1.
Teaching for station number 1 ends in the same state as when setup was performed (state
indication 5). After that, teaching to the desired station number will be enabled.
*7 : After the setup operation, teaching to the desired station number is enabled.
*8 : Station numbers must be arranged in order. The direction of the order is set in parameter [CO-03:
Motor rotational direction switching]. When the station numbers are not arranged in order at the
start of setup, manual, or automatic operation, alarm “C” will be occured.
*9 : The distance between adjacent stations (pulses) can be “O”. However, if this value is smaller than
the setting for backlash, alarm “d” will be occured.
*10 : The JOG oPeration speed conforms to the settingof parameter [EO-.5Oto -53] and the input in
MULTO and 1. It also follows the input of the EMG/SVON signal.
*11 Teaching operation can be performed irrespective of the setting of parameter [CO-01: Rotational
axis/linear axis]. The teaching data will be written in parameter [dO-**]. These data will be
written as the absolute coordinate axis data. Therefore, to carry out positioning using the
teaching data, parameter [CO-O1=4: Absolute coordinate axis] must be set.

5.3 6 Supplementary description (for parameter setter)

Carry out the connection of the parameter setter with Juspoint ~ (point module) turned OFF. We do
not guarantee proper operation if the connection is made with Juspoint Ill turned ON.

The following indications are not displayed : [SEQ] [REF]

The following keys do not function (even when depressed) : [RUN] [STOP]

Depress the “ENTER” key to finish parameter setting/monitor operation, and then depress the
“DSPL” key to carry out parameter setting/monitor operation, and the next parameter
number/monitor number will be displayed. (Example : CO-12 s CO-13)

Depress the “ENTER” key to finish parameter setting/monitor operation, and carry out operation,
and then depress the “DSPL” key to carry out parameter setting/monitor operation, and the
following parameter number/monitor number will be displayed.

The parameter setting operator is a not Juspoint ~ accessory. It is identical to the parameter setter
used in the inverter (VS series) made by Yaskawa Electric. (Type : JVOP- 100: made by Yaskawa
Electric)

■ Holding down each key does not cause the key to repeatedly function. Release each key after
depressing it for the next key operation.

■ For parameter set by personal computer, contact your YASKAWA representative.

-41-
6 1/0 INTERFACE

6.1 INPUT INTERFACE

Input interface is shown in Fig. 6.1.

Two types of input interface : OV common and +24V common, are provided.
These two types require different hardware, so specify which type you prefer when ordering (Refer to
Table 6.1).
The input interface of the system does not use the photocoupler insulation method. (It is isolated from
the main circuit.)
In the case of contact input, use a micro current contact.

24V

10k Q
COMPARATOR
12v— +
2.4mA

(a) OV Common Input Interface

●24V

2.4mA
/’ \

+ COM COMPARATOR

12V. –

f )
11 10k Q +

10k Q
O.l UF

. .

Ov T Ov

(b) +24V Common Input Interface

Fig. 6.1 Input Interface Circuit

-42–
6.2 OUTPUT INTERFACE

The output interface is shown in fig. 6.2.

Two types of output interface, OV common and +24V common, are provided. These two types
require different hardware, so specify which type you prefer when ordering (Refer to Table 6.1).
The output interface of the system is not of photo coupler insulation method. (It is isolated from the
main circuit.)
For driving if a coil such as a relay, externally install a clamp diode.

Max. (service) voltage 35V

“’”” ~
Max. (service) current 50mA

L Ov Ov

(a) OV Common Output Interface

24V

COM
COM f \
Max. (service) voltage 35V
Max. (service) current 50mA

SIGNAL n

(b) +24V Common Output Interface

Fig. 6.2 Output Interface Circuit

Specify the input/output interface in accordance with Table 6.1

Table 6.1 1/0 Interface Model Designation

Capacity ~ Construction d ~ Interface(Input/Output)

02: 0.2kW 1: Heat radiating part A; OV/OV
04: 0.4kW (cooling fins) installed B: 24 V/24V
- 08: 0.75kW in the panel
3: Heat radiating part
15: 1.5kW
(cooling fins) separately
22: 2.2kW installed
37: 3.7kW

–43–
6.3 SUPPLEMENT OF SEQUENCE CONTROL OUTPUT SIGNAL

■ Output Specifications of COIN, COIN-A, NEAR Signals

Table 6.3 Specifications of COIN, COIN-A, NEAR SIGNALS (Output specifications at the completion of operation)

Operation mode COIN COIN-A NEAR

Automatic operation (Normal operation) o 0 0

Automatic operation (Temporary stop) o x o
Manual operation o 0
Setup operation o : 0
Zero-point return operation o x x
Zero-point offset automatic operation o x x
Jog operation A x A
Emergency stop operation A x A

0: OUtpUt\ OPEN at the start <>fthe operatio!l, and <)utput\ CLOSED at the complt’t,(ln [>fthe nperat]on.
x : Output> OPEN at the start of the <?peratlc]n,and outputh OPEN tit the complet]c]n [71[he c)ueratlon.
A : Outputs OPEN at the \t;trt of the (>pcration. and output\ CLOSED at [he c[,n]pletiorl of the opcrattc)tl (after reset in the case of an
e!llergency \tc)p) lf stoppl]>~ at 1 stalion. otherwi\e, outpllts OPEN.

6.4 TIMING OF SEQUENCE CONTROL SIGNAL

■ At Operation Start Establish the signals of operation mode (MODEO-2), station

command value (STA.NOO-8), and direction command (F/R) at the
same time with or before the change of the START signal output from
OPEN to CLOSED.
In order to secure signal, hold for over 10msec.
They may be held until completion of operation.

MODE 0-2
F/’R ~___
STA. NO 0-8 —

tl > Omsec t2
d--+ —+
t2 > 10msec
START OPEN

COIN CLOSEI) I~..

■ At Operation Completion The operation completion signal (COIN) is output at the completion
of operation, and simultaneously, current station number (PDS, NoO-
8) is displayed. Therefore, after detection of out (OPEN +
CLOSED) of operation completion signal (COIN), acquire the current
station number.

COIN . . OPEN
I—Station number can be acquired.—

POS. NO 0-8

–44-
6.5 ABS MODE 1 AND 2

(1) Sequence before turning power OFF

R Usually input CLOSED for the memory storage command signal(ABS.ST). Then just before
turning the power OFF input OPEN for ABS.ST.
■ When ABS.ST is input as OPEN during operation, the motor will be stopped. At the same time, the
motor brake will be turned ON. When the complete stop of the motor is detected, the current
position information will be stored in E’ROM.
■ After storing the required memory, output CLOSED for the memory storage completion signal
ABS.READY to indicate that the power supply (24 VDC) can be turned OFF.

(2) Sequence after turning power ON

■ After the power is turned ON, the ABS.READY signal is output as CLOSED. So input CLOSED
for the ABS.ST signal. Operation mode will not be accepted while the ABS.READY signal is in
the CLOSED STATE.
■ When the ABS.ST signal becomes CLOSED (0.5 see), all the contents of the position information
memory (E-ROM) will be read and the ABS.READY signal will be output as OPEN.
Then the condition before the power was turned OFF (condition “O” or “5”) will be completely
restored.
In the case of condition “O”, zero-point return or setup operation is required.
In the case of condition “5”, zero-point return or setup operation is not required.

* 1 The time required for storing the memory while the motor is stopped is about 200 msec.

*2 When the ABS mode 1 [CO-09=1] is to be used, use it with the specially designed brake motor. The ABS mode 2 [CO-
09= 1] does not require a special motor.
*3 In the case of ABS mode I [CO-09=1], all the position information is stored in EZROM, thus enabling the control almost
as precise as the absolute value PC, However, if the motor is rotated while the power is turned OFF positioning will have
an error egual to that amount.
In the case of the ABS mode 2 [CO-09=2], only the station number is stored in EROM : use this mode only when you
have the mechanical clamp mechanism (e.g. pin insertion). That way, even when the motor shaft rotates while the power
is turned OFF due to play in the transmission mechanism, the positioning error will not exceed a certain value.

*4 To use the ABS mode for momentary power loss during operation, make sure the following conditions are satisfied.
1. The brake turned ON simultaneously with momentary power loss to stop the motor in a very short period of time.
(Examine the brake operating life.)
2. The ABS.ST input becomes OPEN simultaneously (within about 100msec.) with the momentary power loss.
3. The power (24VDC) is retained until the ABS.READY output becomes CLOSED. (The ABS.READY output
becomes CLOSED in about 200msec. after the motor is stopped.)

*5 When memory storage was not complete before the power was turned OFF, alarm D will be output as soon as the
ABS.ST signal input becomes OPEN.
In this case, reset the fault and carry out the zero-point return and setup operation.

*6 In the case of the AB S mode 1 [CO-09=1], the above operations can be performed when the backlash compensation [CO-
13= 1], is set to other than “O” (zero-point return and setup operation after turning ON the power is not required).
In the case of the ABS mode 2 [CO-09=2], set “O” for the backlash compensation [CO-13].
-.

–45–
■ Sequence diagram 1 (For normal power turning OFF: while the machine is stopped)
200VAC

Brake (motor) Brake ON

ABS.ST
‘cLOsED~ OPEN~

Speed O r/rein
;
E2ROM

ABS. READY O~~N~cLOsED l ..........................rcLOsEDl______

■ Sequence diagram 2 (Momentary power loss)

200VAC

...............
—24VDC

Brake ON
Brake (motor) <---;

ABS.ST — CLOSED <---~

O~EN~

Speed ~0 r/rein ,

v
E2ROM

ABS. READY OpEN~ cLOsED~

..
7. STATUS/ALARM INDICATION

7.1 STATUS INDICATION (on the point module)

Status indication is also possible on the 7-segment indication on the point module board.
Table 7.1 shows the contents of the status indication.
This indication is continuously lit. (A flickering indication is an alarm indication.)

Table 7.1 Status Indication

Continuous Operation status
indication
() Just after turning ON (without setup operation) Non at ABS mode
II I During zero-ooint offset automatic setup oueration
I 2
I
During jog operation
3
I During zero-point re[um operation
4 During setup operation (confirmation seems impossible because of 15 msec)
I 5 I During stopped (setup operation completion)
16 I During automatic o~eration
7 During manual operation
I
8

IA!
lb!
c I
I d

I
Memory storage in ABS mode completed. (ABS. READY CLOSED being output)
F Just after turning ON in ABS mode (ABS. READY CLOSED being output)

[Status indication of inverter (Juspeed-F X3000)]

Whether or not the inverter is in the normal operating state can be monitored with the LED (7 segments)
on the printed circuit board in the inverter main body (the LED is continuously lit in the normal
operating state).
Table 7.2 shows the indication of the normal operating state.

Table 7.2 State indication of Juspeed-F X3000

State LED indication Description

Servo OFF condition, ready for operation. After the power is turned OFF, the inverter
Stopped
carries out self-diagnosis and displays “-” if no error is found.
Running o Servo ON condition and normal operation is continued.

–47-
7.2 TROUBLESHOOTING

● Cause and remedy of alarms for Juspoint Ill

Table 7.3 is a list of alarms. The indications refer to those made on the 7-segment LED on the point
module board.
These indications are blinking indications (continuously lit indication indicates normal operation).

Table 7.3 Cause and remedy of alarm

Blinking Alarm description Cause and remedy
Indication

() Driver alarm was detected (de\crlption is Check the alarm on the driver. The alarm description is displayed on
displayed on the driver). the amplifier board.

I PC fault (including poor wiring) PG Fdult, PC poor wiring. or motor locked may he the cause, Check them,

Emergency stop operation was c~ccurcd. Emergency st{>pc>peration wa> occured to stop the motc~r.
2 Inputting OPEN fen’the EMG signal executes the emergency s[c)p operation,
After re\etting the alaml, zero-point return or setup operation is not requ]red.

Operation was comm:mded without setup Automatic or manual operation was performed with state “()” (without
3 operation after turning ON tbc power setup),
(except t’or ABS rnocie I and 2) Perfc)ml the setup operotion and then the automatic or manual operation.

Zero-poln[ 1.S was not detected during The zero-point LS was not detected after turning the molc)r for 40000
zero-pc>ln: offset au[umatic setup nperahon. pulsci ( 10 mtations)during the zer(>-pc~intoffset autc>matic setup c>peratinn,
4 Check that the Tcr(~-pc>lntLS is currect]y wired and that the ilgnal ii inpat
[u Jusprrint U 0!-, moun[ [he zerc~-p{>intLS at a pusltion within 40000
pulses ( I() ro[ationi) frmn the zcrc~-point.
Zero-pnint LS was I1OLdetected during The zer(>-pnin[ 1.S was m~[detected after turning [he mc]tor for all se[
5 zer(>-puint return nperatiml. i{aticmi ciuring the zero-pu]nt retul-n opemti cm. Check that the zerc~-pc]inr
LS is correctly wired or that the signal i. input tc>Juspoint D
Undefined station number wiI\ cnnlmande(i. Cml]mand a it:{timl nulllber within the r:mge set by [C()-f)O: number of
6
Statimlil (for setup or autmnatlc operating),
Opemtion mnde was not set currectly. Undefined npetmhnn lmnde was lllpu~. Set the cnrrect opem~iml mc)cic input
7 (MODEO-MODE 2)
Zer(>-pc)int clft’set automatic setup operation was IC()-()4=()] I, .et (/erc)-pc)iIlt {)f’fsetsetup i. set to p,immeter ll]nde).
x cmnln anded whe[l tbc zerc)-pc>l[lt(~ffset setup Tc>perfcmn the zer(~.poin[ c)ll.et tiutmnatlc setup upet-ation. set [C()-()4= 1].
mnde i\ SC(to pammeter rnodc.
Zerc~-pc~intLS positicm el-rrrr (the ~ero-prrint The Zero-puint LS p{)sitiun arid the Z-phase pulse position of PC IS ton
9 LS position is too close to the Z-phase position. CIOSC(+120 pulses). Change the 1.S position or Z-phase position.
with)n +120 pulses)
Zero-point off’set is out of alluwable range The Zerc~-pc~intnt’fset detected durf[lg the lerc)-pc~]nl ofliet automa[ic setup
A (nut c~fthe range set by para,ljeter [C(). 1()].) {)pe]-ati[mis nut of the range of 120-40000. Change [he zert>-pc~intLS
positiun cc~rrectly.
The tc)llc)wing occurred when the backlash A value I:irger than the minimum value of sta~inn interval pulse\ is set fm’
cnmpeniation was nther than “0”. the backlash compensation nr ~ero-prrint re[um WIS tln~ caroled out belore
. Selup operation was commanded without the setup c~peratinn, Check the twn poiiibilitiei and cm-rect the setting ur
b zcrn-Wint return (except fc~rABS nlede 1 and 2), sequence.
. Zero-point offset automatic setup oprtation
was commanded. The backlash compensation
]i larger than the unit station pulses. (Set a
v~lue smaller than the unit station pulses. )
Station numbers are nc)t amanged in <>rderin the Stations are IIULarranged in Ihe order {>fstation numbers in the case of the
case of’the absc>lu~epoiition setting [C()-()1=4). :Ibso lute cc]c>rdinate axi~ [C()-()1=4). Set the pammetcrs nr carry m!t
c Arrange the station numbers in the order of teaching so that the statl[ms WIII be in the (>rder of stnticm numbcri,
station nurnbcrs,
In the ABS m[~de. the memury storage was nc)t In the case c)I the ABS m(>de [C()-()9= I or 2], the inf’otmati[>n required for
completed. Re\et and perform 7ero poirlt the ABS operation was not stored in the nonvc)latile memc>ry before the
return. power w~i, turned OFF. Tu excute ABS operation, first change the ABS. ST
d signal f’rom CLOSED to OPEN and make sure that the ABS. READY signal
. .
becomes CLOSED befure turning OFF the power, This alarm is also issuec
when the motor shaft is fnrced to rotate by exlernal force while the power i:
turned OFF. When the ABS mode I IS to be used, the motor must have a
brake.
MCU error Malfunc[l(>n of the microcomputer (out of control). It is possible that noise
has entered from the ccmtrol signal line or 24 VDC power line. Take
measures to prevent noise lmm entering these lines; shield the cables or
Blank separate the lines from the power lines carrying large cuments. It is also
possible that the control unit is faulty. [t’the error does not disappear by
eliminating the noise, replace the control unit and return it to the factory,
-...—- -
Keset the alarms u$lng the reset signal (RESET). The alarms can also be reset by the power suppty (24 VDC). Keset the power supply
in the case of the MCU error.
–48–
[Cause and remedy of alarms for the inverter (Juspeed-F X3000)]
Error indication (Errors are indicated by blinking indication.)
Errors of the inverter can be monitored on the LED (7 segments) on the printed circuit board in the
inverter main body.

Table 7.4 Cause and remedy of alarms for Juspeed-F X3000

State LED indication Contents Cause and remedy

Overcurrent or shofi-circuit It is possible that the torque limit is too high or the output has a shofl-
lvercurrent 1 cumnt wa~ detected and the circuit. If no change can be seen after changing the torque limit to
invertcr output was shut-off. 200% or smaller, check for a short-circuit of the output,

Regeneration overvoltage was The torque limit may be too high or the regeneration resistor may k burned
detected and the the inverter out. If no change can be seen after changing the torque limit to 200% or
overvoltage 2.
output was shut-off. smaller, return the regeneration resistor to the factory for investigation.
DC bus voltage: 450V

The motor speed exceed When the motor $peed gets up to 1980 r/rein, the motor is being forced to
1.1 times max. speed (10 rotate by an external force. Check for the cause and eliminate it.
Overspeed 3 Ycincrea$e) was detected and
, the inverter output was sbut-
I oft.

A voltage drop was detected The power supply voltage has dropped ( 180 VAC or lower) during
Under- and the inierter output was operation or instantaneous power failure was detected, If the cause cannot
v01tage 4 T
, ~hut-uff. DC voltage: be eliminated, add a sequence that will input the reset signal after tbe
\ 213V voltage drop or momentary power loss.
Encoder error was detected PG fault, PC wiring fault, or motor-lock can be considered. Check for the
and the inverter output was cause of these faults.
PG error 5
\hut-off Note that not all the
PG errors can be detected,

The tcmpcmture inside the The temperature inside the motor has become high or the temperature
Exceeding motor bas risen above the detection line (inside the PG cable) is faulty. Check the motor temperature.
6
empcrature regulated value and the inverter If the temperature is normal, check the temperature detection line
output was shut-off, (PG cable).

CPU error was detected during Since the error was detected during self-diagnosis earned out after power
the self-diagnusis carried out was supplied, it is a hardware error. Replace and return it to the factory.
CPUerror I 7 after power was supplied and
the inverter output wa~ shut-
off.

CPU error (WDT) was Malfunction of the microcomputer (out of control). It is possible that noise
detected during operation and has entered from the control signal line or 24 VDC power line. Take
tbe inverter output was shut- measures to prevent noise from entering these lines; shield the cables or
;PU error 11 8 off. This error is detected separate the lines from power lines carrying large currents. [t is also
for extcmal noise. possible that the control unit is faulty. If the error does not disappear after
eliminating the noise, replace the control unit and return it to the factory,
CT (current detector) error was Since the CT error for current detection was detected, it is a hardware error.
CT error 9 detected and tbc inverter Replace and return it to the factory.
output was shut-off.

Ground fault was detected in The ground fault was detected in output lines (U, V, W) upon servo ON.
Ground the output at the start of opera- Check whether tbe output side is being grounded, If this alarm is not reset
b
Fault tion and tbe inverter output after the grounding state was reset, replace and return it to the factory.
was shut-off.

An error (alarm) other than An error other than those listed above was detected. It is possible that it is
those listed above was detected alarm 8 above. Take tbe corrective action listed in the column for alarm 8,
Others 0 and the inverter output was and if no improvement is made, replace and return it to the factory.
shut-off.

Notes: I When more than one alarm is detected, they are indicated cyclically.
Example: When alarms 3,4 and 7 are detected, the LED will display 3 G 4 _ 7* 3~ 40 7 c 3 and so on
2 The alarm state is retained unless the power supply is reset or th reset signal is used.
3 The.indications blink.

–49–
8. PRECAUTIONS ON APPLICATION
(1) Minus Load
Continuous operation in which the motor is rotated by load and regenerative brake is applied
cannot be performed. Juspoint 111regenerative braking capability is short-term rated specification
about motor deceleration time.
(Example) ● Motor drives for delevery
● Motor drives for lifting object (without counter weight)

(2) Load Inertia (Load GD2)

Motor shaft conversion allowable load GD2 must be within two times as large as applicable
Juspoint III motor GD2. In applications in which this value is exceeded, overvoltage alarm may
occur at deceleration.
In this case, take the following preventive actions:
● Lower the current limit.
● Increase accel/decel time.
● lower the maximum speed to be used.

(3) High Voltage

When power supply voltage is 400V class (400V, 440V, etc.), a power supply transformer is
required to convert 3-phase 400/440V to 3-phase 200/220V.

(4) Machine or Control System Protection

When there is a limitation for machine traveling range, provide a limit switch to the machine
system and build sequence to stop Juspoint 111(emergent y stop, etc.) by the limit swith operation,
in order to protect the machine or control system.

..

–50–
9. OPTION

9.1 PARAMETER SETTER

For setting the parameters, use the parameter setter manufactured by YASKAWA ELECTRIC.
Specify the following type when ordering. It is common for all capacities.

JVOP–1OO

Precautions for using the parameter setter

, When connecting it to Juspoint ~, make sure that the 24VDC power supply is OFF.
■ When disconnecting it from Juspoint ~, the 24VDC power supply can be ON.
■ If you connect it while the 24VDC power supply is ON, the parameter setter will display the alarm
mode of CPFOO.
■ Do not operate keys other than those designated.

9.2 PARAMETER SETTER CABLE

72616 –W300:::::; –01

T
L Cable length
1: lm
3: 3m

This is a cable used to connect the parameter setter (JVOP- 100) and Juspoint III. You must specify the
length.

9.3 PG CABLE

This is a cable used to connect the motor PG (pulse encoder) and Juspoint Ill. You must specify the
cable length and the structure of the connector on the motor.
All cables are to be manufactured after receiving the order.

v 4 0 1 7 q – 1.:::;
i..”::“:2
Connector structure ~ L Cable length
7: Straight plug 005: 0.5m
8: Angular plug 010: l.Om
015: 1.5m
020: 2.Om
025: 2.5m
030: 3.Om
040: 4.Om
050: 5.Om
060: 6.Om
070: 7.Om
080: 8.Om
090: 9.Om
100:1 O.Om
abO: (axl O+b)m

-51-
9.4 PARAMETER SETTING SOFTWARE (personal computer software)

Parameters can be set, edited, written, stored onto memory storage media, or verified using your
personaI computer. With the NEC PC98 version, the screen display is in Japanese and with the IBM
version, the screen display is in English. The software will be delivered stored on a 3.5’’2HD floppy
disk. For details, refer to the appropriate document (PC98 version : YDVES-B2 126, IBM version :
YDVES-B2 127).

PC JVOP-JP 3-[:
L Personal computer
1: NEC PC98 computer (Japanese display)
2: IBM computer (English display)

9.5 PERSONAL COMPUTER COMMUNICATION CABLE

To use the software for parameter setting, you must connect Juspoint III to your personal computer
with a communication (RS232C) cable. The cable specifications are listed in the document sheet.
Specify the following type when ordering it from YASKAWA. This cable is manufactured after
receiving the order. The lead length is 2m.

V 4019::.”;
L Applicable model (personal computer)
4: NEC PC98 (for 25 Pins)
5: IBM (for 9 Pins)

V 40194 (Applicable to NEC PC98)

Juspoint Ill Personal computer

(CON 3)
r———
I
--
(Equivalent product) I
791O- B5OOFL Al
(SUM ITOMO 3M) T B1

Al:@
B1:Q B4
B4:@

V 40195 (Applicable to IBM)

JuspointIII Personalcomputer
(CON3)

(Equivalent product)
T910-B500FL
(SUMITOMO 3M)

Al:@
Bl:@
B4:@
 10. CHARACTERISTICS (Speed-Torque Curve)
TORQUE

‘:::R

TOROUE
o’

SPEEO (r/mIn)

1.5kW 4 poles
1800
‘n

TOROUE
01

SPEED (r/m!nl

2.2kW 4 poles
1800
398

TOROUE
0.406

01
H 40%ED
(CONTINUOUSI

SPEED (r/m[n]

3.7kW 4 poles
;
\

1800

(N.m) (kg.m (N. m)(kg. m) (N.m) (kg.m)

1590 162 INSIANTENIOUS
TORQUE INSTANTENIOUS
TOKOUE INSTANTENIOUS
TOROUE
2332 2380 39.24 4004

n r
h h h
40%E0 : 40%ED : 30%E0 :
795 081 1166 1190 19.62 2.002
(CONTINUOUS) : (CONTINUOUSI ~ (CONTINUOUSI ;

h
01 o’ 0’
1800 1800 1800
SPEED (r/rrlin) SPEED (r/inn) SPEED (r/rriin)

Note : (CONTINUOUS) is externally

fan-cooled type.
11. DIMENSIONS in mm (inches)

11.1 CONTROLLER
(Heat sink installed in the panel) (Heat sink installed out of the panel)

~–L- ~ 4-@M MOUNTING HOLE

L....:L_ 4-@M MOUNTING HOLE

-T Panel Workinq Layout

Notes :1. The drawing shows CIMR-08 JP3-I L3

k 4 AF‘PED
s
2. Inside of ~ ; shows a live part. The insulation distance to a
Notes :1. The drawing shows CIMR-08 JP3-3.
live part s~6uld be kept over 7mm,
2. Inside of [ ““””shows a live part. The insulation distance to a
live part should be kept over 7mm.

Note : Dimensions of the bottom parts in the columns are of

inches. –53-
11.2 DIMENSIONS in mm (inches)

Motor without brake (Model UAJPEE-EI[IDK2K)

0.2kW
(114HP)
❑ 130(512}
35) HOLE

RECEPTACLE
FORENCODER
0.4kW MS3102A2O-29P
(314HP)
~ 1;; 4411 [0431HOLE
\

0.75kW
(l HP) DI~S 4$11 (0431HOLE

Encoder Connection

Un ti Sgd
A A@
GND=
: B-
RECEPTACLE FOR ENCOOER D GND
1,5kW MS3102A2O-29P E

x
F z Pks
(2 HP)
‘055’
‘OLE G
H
J
GND

THERM+
K THERM-
e
L
8:
-.
e
,03!1 M
“o” - E N
o
~ 24:,,: P
d
,O?d ;m, R +5V
s GND
T

w
RECEPTACLE FOR ENCOOER R~
2.2kW MS3102A2O29P

(3 HP) 4-$14 (0 55) HOLE

Encoder specifications
5VDC. 1000P/R
A, B, Z-phases, O~en corrector tvoe
Connector
MS3 102 A20-29P (Receptacle)
3.7kW
(5 HP) Connection compnent
MS3 108 B20-29S (Angle plug)
MS3057-12A (Cable clamp)

Note : Connection component is not

.. provided.

Notes :1. D!mmensions ot’ tbe shaft extension key and key way are based on JISB 130 I-1976
2. Tbe insulation class is B.
3. The drawings show 4-poles motors,

-54–
Motor without brake (Model

0.2kW
(1/4 HP) 0130(512)
~~ 4+9 (O351HOLE

.---
.
:
<,

0.4kW
4411 (043} HOLE
(3/4 HP)
-

. Hold, ng mag.et Ic brake IS bu, d ,.

(24VDC b,ak<ng torque 5Nm1

0.75kW
(l HP) 4+1 1 (O 43) HOLE

&

. Hold,ng rnag.el, c brake IS b.,lt !.

(24vDC, brakl.g lorQ.e 5N.ml

RECEPTACLE FOR ENCOOER

1.5kW MS3102A2O 29P
4-+14 (0 551 HOLE
(2 HP)

. Hold!”g magnel,c brake IS b.,11 I.

124VDC, brak,?g Iorque 14 N.m)

2.2kW RECEPTACLE FOR ENCODER

MS3102A2O 29P
(3 HP) 422 [16 61)
4414 (O 55) HOLE
~- 372 ,,465, 50
196,772 ()971
422 [0871, e

. H.ld!ng magnel,c brake IS bu)li ,.

(24VDC, brak,ng Iorque 14 N.ml

3.7kW . RECEPTACLE FOR ENCOOER

MS3102A2O 29P
(5 HP) 4+14 (O 55) HOLE

. Hold,ng mag”et(c brake,Sbu,lt I.

124VOC, braking Torque 24 N.ml

-55-
APPENDIX

Al HEAT LOSS DATA (Juspeed-F X3 OOO/Juspoint~ ) . . . . . . . . . . . . . . . . . . . . . 57

A2 BUILT-IN DISCHARGING RESISTOR CAPACITY . . . . . . . . . . . . . . . . . . 58
(Juspeed-F X3000/Juspoint Ill )
A3 ACCELERATION AND DECELERATION TIME SETTING ““””””””””” 59
A4SPEED~0RQUE MONITOR . . . . . . . . .. OO... O.. 000 . . . . . . . .. 00 . . ..OOO 61
A5 RELATIONSHIP BETWEEN CURRENT AND TORQUE “ “ “ “ “ o“ o“ “ “ . “ . 62
A60PERATION UPON ALARM OCCURRENCE ““” ” ””””” . . . . . . . . . . . . . . 63
A7T0RQUE LIMIT SETTING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
A8 EVALUATION CONDITIONS FOR TEMPERATURE-RISE c c “ “ “ “ “ “ 00 “ 66
TEST FOR MOTORS
A9SELECT10N OFMOTOR CAPACITY..• OOOOO... OOOO... O... O. O.. .OO. 67
AIOGEAR RATIO SETTING ““”” .-”” ”””. .””” ” . . . . . . . . . . . . . . . .. s...... 68
All HOW TO USE EMG SIGNAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
A12How TousEsvoN slGNAL . . ..o. o. . . . . . ..o . . . . . . . . . . . . . . . . . . ..7o
A13 SETUP OPERATION””””””””””. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...71
A14TEACH1NG OPERATION ““”” OOO.O”... 000 . . . . .. OF. . . . . . . . . . . . . . . . 72
A15 INTERNAL MEMORY INFORMATION MONITOR . . . . . . . . . . . . . . . . . 73
A16PG PULSE SELECTION ““”” ”””” . .. OOo. . . . ..o. Q. . . . . . . . . . . . . . . . . . 74
A17 STATION NUMBER OUTPUT DURING OPERATION ““.””””””.”””” 75
A18 SPEED COMMAND OFFSET ADJUSTMENT ““”” . . . . . . . . . . . . . . . . . . 76
A19 SETTING OF OPERATION CONSTANTS OF AMPLIFIER ““””””””. 77
A20 OPERATION CONSTANTS (PARAMETERS) LIST o“ . “ “ . “ o“ “ “ ..0.00 78

–56-
A 1 HEAT LOSS DATA (Juspeed-F X3000/Juspoint III)

Total generated heat: Generated heat from power section+control section (Unit:W)

Capacity kW 0.2kW 0.4kW 0.75kW 1,5kW 2.2kW 3.7kw 5.5kW 7.5kW

50 6.0 7.0 9.0 9.0 10.0 12.0 14.0

A servo OFF
(0.0) (0.0) (0.0) (0,0) (0.0) (0.0) (0,0) (0.0)

8.0 10,5 13.5 26.0 33.0 35.0 42.0 47.0

B Servo ON
(1.5) (2.0) (4.0) (10,5) (15.0) (16.0) (19.0) (21.0)

10.0 13,5 22.5 41.5 60 106 142 215

c 1()()%
(3,0) (4.5) (9.5) (20,0) (32.5) (62,5) (83.5) (130.0)

14.0 24.5 35.0 75.0 116 234 327 495

D200Y0
(5.5) (11.5) (18.0) (42.5) (69.0) ( 146.0) (205.0) (320.0)

20 36.5 50.0 99 176 369 514 782

E300%
(9.5) (13.0) (27.5) (58.0) (108.0) (233.0) (325.0) (498.0)

1: Values In ( )indicate the heat dissipated to the outside (rear) from the heat sink
2: Data for servo ON is that under no load.
3: The speed is the base speed, 1800 rlmin.

SERVO OFF SERVO ON 100% 200% 300%

LOAD CONDITIONS

–57–
A 2 BUILT-IN DISCHARGING RESISTOR CAPACITY
(Juspeed-F X3000/Juspoint III)

The data listed here are for you to refer to and decide whether or not the built-in discharging resistor
can be used.

1 Loads MODEL

Td= Deceleration torque kgm

N = Speed rlmin
td = Deceleration time sec
t, = Operation cycle sec

2 Heat generated from the resistor

Calculate the heat generated (W) from the discharging resistor using the following equation,
W=Tdx N X 0.5X Td+ts (W)

3 Applicable range for built-in braking resistor

When the heat (W) generated from the discharging resistor calculated from the equation above
times 4 is smaller that the value in the following table, the built-in discharging resistor can be used.
4xW S W... : Usable
4xW > W... : Unusable

Model 0.2kW 0.4kW 0.75kW 1,5kW 2.2kW 3.7kW 5.5kW 7.5kW

W max 7.5W 7.5W I 5.OW 25.OW 80.OW 80,0W I20W 120W

4 In the case when the internal resistor cannot be used

If the result of the above calculation shows that the built-in resistor cannot be used, you must use
an external resistor. The following describes how to select the capacity of an external resistor
“WEXT”.

WEXT= Wx 4 (Select a resistor that has a capacity 4 times the generated heat.)
* To use an external resistor, a lead wire is required for connecting to X3000.
The lead wire will be manufactured in our factory after receiving the order. A FASTON(250)
receptacle is attached at the end of the 300 mm lead.
* Use a resistance designated for each capacity. An external resistor is available from YASKAWA
(60 to 1000 W, parallel connection for more).

Model 0.2kW 0.4kW 0.75kW 1.5kW 2.2kw 3.7kW 5.5kW 7.5kW

Wmax -. 2oi)Q 200Q 150Q 1OOQ 47Q 39Q 24Q 24Q

–58-
A 3 ACCELERATION AND DECELERATION TIME SETTING

The following describes how to set the acceleration and deceleration time.

1 ACCELERATION TIME

1.1 Not using soft start v,,,

The acceleration time set by the
parameter is the time required for
accelerating from O to 1800 r/rein.
Therefore, calculate the acceleration
time (tACC) to VREF (r/rein) using the
t ACC

following formula.
tACC = Acceleration time parameter setting x VREF = 1800 (msec)

1.2 Using soft start

When the soft start time (tso~)is set in v.,,

the parameter, the acceleration time is
the sum of the soft start time and the
acceleration time after that.
Therefore, calculate the acceleration vs.,
time (tACC) to VR~F(r/rein) using the
t s“, t ..~
following formula.
t~cc= tSOF + Acceleration time parameter setting x (VREF – VSOF) + 1800 (msec)

2 DECELERATION TIME

There is no parameter that sets the deceleration time. The deceleration time is determined by the
position control constant (KP).

2.1 Not using soft stop

The relationship between the deceleration time (tDEC) and position control constant (KP) can be
expressed by the following equation.
tDEC = 3XVREF + KP (See) KP: Parameter setting

The deceleration time is not in reverse proportion to KP but is in reverse proportion to KP2.

r~
‘R”
I

t......... t DEc ..1

-59-
2.2 Using soft stop
The deceleration time (tDEC) can be expressed by position control constant (KP)/soft stop speed
(VSP)/soft stop KP2.

KP: Parameter setting

tDEC=tl +tQ

=3x (VREF-VSp)+ KP2 + 3 x Vsp + KP2’ (see)

Vsp K P2

--tl [ t2]
t “Ec

Supplementary explanation
1. Note that the acceleration time/deceleration time is made longer by using the soft start/soft stop
function.
2. When the setting is KP<KP2, the control will assume KP=KP2.
3. When the setting is VREF<VSp,the control will use KP2 from the start of deceleration.
4. When the setting is Vsp=O, the soft stop will not be used regardless of the value in KP2.

..

-60-
A 4 SPEED/TORQUE MONITOR

This section describes how to monitor the speed and torque of Juspoint III.

The speed/torque monitor output of X3000 (amplifier) is output from the connector (CON 1) which is
connected to the point module connector (CON4) with a cable.
Therefore, to monitor the speed and torque, use the signal line from the point module board.

Point module X3000

nr

1 SPEED MONITOR

1 TORQUE MONITOR

COMMON
@ TERMINAL
(Ov)
1
I
t
1

Short terminals @ - Q and@ - @ and measure the voltage between the common terminal@ (OV).

Monitor output voltage

Speed monitor (Vs) O-10V (O-1800 r/rein)
Torque monitor (Vt) O-lov (0-300%)

-61-
A 5 RELATIONSHIP BETWEEN CURRENT AND TORQUE

OutputCurrent(A: rrns)
Capacity
A (O%torque) B (100% torque) C (2~% torque)

0.2kW 0.6 1.08 2,10

0.4kW 2.23 2.85 4,20

0.75kW
I 2.71
I 4.14 I 6.70

1.5kW 4.09 7.35 13.30

2.2kW 6.51 11.06 20.17

3.7kW 7.40 16.00 29.70

5.5kW

7.5kW

Notes: 1. The values in the table are the root-mean-square values (rms ) and will be 1,5 times that at the peak; 1.5 times was obtained
considering the current wave from distortion of the PWM control.
2. The current value at the time of O to 1fM3Y.and 100 to 2007. torque output can be obtained from linear approximation.

B
“7”
A
7
100 200
OUTPUT TORQUE (70)

-..
A 6. OPERATION UPON ALARM OCCURRENCE

This section describes what action is taken when an alarm is occured.

The system operates as shown below when an alarm is occured.

Alarm # Description SVON signal OPEN SVON signal CLOSED Reset conditions

(1 Error on amplifier Base block SVON: OPEN

I PC error
Base block
2 None
Servo Clamp
to Control error
F

Notes: 1 When the PG error (alarm #1) is detected, the servo clamp may not occur because the correct
feed back of the PG signal cannot be obtained.
2 When the alarm is detected during high-speed operation, deceleration will be started as soon
as the alarm is detected until the zero speed is obtained (zero speed or extreme] y low speed
in the case of the PG error). After the deceleration is completed, zero speed (ZSPD) will be
output closed.
3 When the zero speed output as detected after the alarm output, try to input OPEN for the
SVON signal as promptly as possible.
4 When the amplifier side error (alarm#O) was detected, the alarm cannot be reset unless the
SVON signal is input OPEN.
5 When the alarm was output (alarrn#2) as a result of the EMG (emergency stop) operation,
input CLOSED for the EMG signal before resetting the alarm. Alarm (#2) will be output
again if the alarm is reset while the EMG signal is input OPEN.
6 To reset the alarm, input OPEN, CLOSED, then OPEN again for the reset signal. When the
reset signal changes from CLOSED to OPEN, the alarm will be reset.

7 In the case of the amplifier side alarm (#O), the alarm is indicated on the amplifier (l-digit
display) as well. Refer to Table 9.4 for the correspondence of alarm contents and the
indication.

-63-
A 7. TORQUE LIMIT SETTING

This section describes torque limit value setting (command).

1 TORQUE LIMIT VALUE SETTING (command)

Set the torque limit value by setting (%)

the parameter of Juspoint ~ . The 300
value of the parameter will be the
torque limit value (%).
/
The analog signal that corresponds to T~~jl~E 200

the torque limit value set in the

parameter is output from the point
100
module to X3000.
The relationship between the
/
parameter setting and torque limit
value (%) is shown in the graph on o 100 200 300
the right. PARAMETER SETTING

2 SUPPLEMENTARY EXPLANATION CONCERNING THE TORQUE LIMIT VALUE

■ Torque larger than the torque limit value will not be output even during acceleration, deceleration,
constant speed, or servo lock.

9 The torque limit value is the same for forward and reverse directions.
■ Normally set the torque limit value to 200% or smaller. Setting the torque limit value higher may
cause overcurrent or overvoltage as well as rapidly increasing the motor loss.

■ Consider protection of the transmission mechanism such as the maximum allowable gear torque
when selecting the torque limit value.
■ On the other hand, setting a smaller value than the load torque will not allow the motor to rotate,
resulting in the PG (encoder) alarm.

-64-
■ By setting an acceleration time longer than that obtained from equation (1) below, the set accelera-
tion time will be used.
On the other hand, when a shorter time is set, the desired result will not be obtained. Acceleration
will be performed in the time (ta) obtained from equation (1).
(The parameter setting for the acceleration time sets the time required to accelerate from O to 1800
rlmin.)

■ By setting a deceleration time longer than that obtained from equation (2) below, the set time will
be used.
Conversely, when a shorter time is set, the desired result will not be obtained.
Deceleration will be performed in the time (td) obtained from equation (2).
(The deceleration time cannot be set directly. Set the position control constant [KP]. Refer to A3.
ACCELERATION AND DECELERATION TIME SETTING for the relationship between the
deceleration time and KP.

ta= (GD2M+GD2,.) X V + 375 (TI.IM – T,) (1)

b= (GD2M+GD’,.) X V + 375 (T I.IM+ T,) (2)

GD2M
: Motor inertia (kg.m’)
GD2, : Load inertia (kg-m’)
v : Speed (r/rein)
T,IM : Torque limit value (kgm)
T,. : Load torque (kgm)

-65-
A 8. EVALUATION CONDITIONS FOR TEMPERATURE-RISE TEST
FOR MOTORS

Thermal evaluation of the motor can be made by calculating from operating conditions (e.g. opera-
tion cycle). This section, however, describes how to perform evaluations through actually operating
the motor. When the motor is to be operated with a protective cover, this method is effective since
precise calculation will be difficult.

1 Measure the temperature of the motor at two locations to determine whether or not
the motor can be used from the thermal point of view.

■ Frame surface temperature (At center of frame and avoid the bolt sections.)
■ Internal air temperature inside the encoder enclosure.

2 Criteria

If the temperature-rise values at both points are equal to or smaller than the values listed in the table
below, the motor can be used.

Temperature-rise value (“C)

Capacity
Frame center Encoder enclosure

0.2kW 50 48

0.4kW 50 48

0.75kW 57 51

1.5kW 62 51

2.2kW 58 49

3.7kW 59 51

5.5kW

7.5kW

The maximum operating ambient temperature is 40°C.

Example : Motor capacity: 1.Skw

Ambient temperature: 28.5°C
Actually measured temperaturer: 75 °C/650C (Inside frame/encoder enclosure)
Temperature rise value: Frame : 75-28 .5=46.5 <62
Encoder enclosure : 65-28.5=36.5<51

The motor in this example can be used from the thermal point of view.
..

-66-
A9 SELECTION OF MOTOR CAPACITY

This section describes the basic on how to select your motor capacity.
Note that the control unit of the same capacity as the motor must be used. otherwise, the motor
cannot be controlled.

1 Model

The following models are used in descriptions.

GD2M:Motor inertia [kg.m’ ]
GD’L : Load inertia [kg.m’ ]

v : Speed [r/rein]
TIME ta~tc —+td+ t~~
TV : Motor rated torque [kgm] t
TL : Load torque [kgm] TORQUE T,+ TL+Td+Ts ~
T. : Acceleration torque [kgm]
T, : Deceleration torque [kgm] SPEED ~v+ I
I
T, : Locked rotor torque [kgm]

■ Acceleration torque (T,,) is obtained from the following equation.

T.,= (GDfi+ GD;.) x V + 375 + ta + TL

■ Deceleration torque (T,i) is obtained from the following equation.

T,= (GD;, + GD;, ) X V + 375 + td –TL

2 Select a motor capacity that satisfies the following conditions

■ 200% of the motor rated torque is larger than the acceleration torque (T,).
2X TV>T.

■ 200% of the motor rated torque is larger than the deceleration torque (T,).
2X TM>T,

■ 100% of the motor rated torque is larger than the load torque (TL).

TM> T.

*: Thermal evaluation is also required.

-67–
Al O GEAR RATlO SETTING

Depending on the gear ratio, the unit station interval pulses can be a fraction (not integer). A
rotational axis can have a further error accumulation.
In such cases, control with no error accumulation is enabled by setting the gear ratio in parameter. The
following describes how to set the gear ratio parameter.

1 Express the ratio of the number of motor shaft rotations to the machine output
shaft rotations in a fraction and set the numerator/denominator in the parameter.
B= Final machine output shaft speed
A Motor shaft speed

A: CO -07 @ Motor shaft speed

B: CO -08 @ Final machine output shaft speed

2 To control the unit station interval by the gear ratio, set the rotational axis/linear
axis parameter [CO-01 =2].

3 Example 1 Pulley ratio=Reducation ratio=B/A= 1/150

A: CO-07=150
B: CO-08=1

Example 2
NUMBER OF TEETH: 15 NUMBER OF TEETH: 100

MOTOR

Reduction ratio=B/A=15/100 .........Deceleration

A: CO-07= 100
B: CO-08=15

Example 3
SPROCKET
NUMBER OF
TEETH: 15 80-TOOL MAGAZINE

REDUCTION f ●
MOTOR GEAR

Reduction ratio= 1/100/15/80=1 5/8000

A: CO-07=8000
B: CO-08=15
..

–68–
All HOW TO USE EMG SIGNAL

This section describes how to use the EMG (emergency stop) signal.

1 As soon as the EMG signal detects the OPEN input, it starts the emergency stop
operation.
If the motor is running, it will be stopped at once; the deceleration torque for this is
the torque limit value.
After the motor is stopped, the machine will be in the alarm condition [alarm 2].

2 The EMG signal always performs the emergency stop operation as soon as it
detects the OPEN input except in state “F”.

3 Therefore, when turning ON the power or setting the parameters, make sure that
CLOSED is input for the EMG signal. If OPEN is input then, the emergency stop
operation will be performed and alarm 2 will be output, disabling all machine
operations and parameter settings.

4 Alarm 2 can be reset with the reset signal.

5 Position control is continued during the emergency stop operation. Thus, no zero
return nor setup operation is required after the emergency stop. All operations
are enabled.

6 Immediately after alarm 2 is reset, the position at the time of the emergency stop
will be retained. After the next operation command, the motor will start moving.

-69-
A12 HOW TO USE SVON SIGNAL
This section describes how to use the SVON signal.

1 The SVON signal is the servo command of the driver (X3000).

The CLOSED input is servo ON and OPEN input is servo OFF.
Except during the alarm state of the amplifier (X3000), the control follows the
SVON signal.

2 The CLOSED input immediately after the power supply functions as the servo
clamp at the current stopped position.

3 The OPEN input for the SVON signal during operation turns OFF servo and the
motor will stop after coasting. The motor usually does not stop at a station
position in this case. If, however, the motor stops at a station position and within
the COIN/NEAR range, the COIN/NEAR signal will be output.

4 The CLOSED input for the SVON signal after that functions as servo clamp at the
current stopped position. The motor will not rotate to a station position.

5 The motor will start moving according to the following operation command.
Positioning control is continued during the servo OFF state. Thus, no zero-point
return nor setup operation is required after servo ON.

6 If the motor shaft is to be mechanically clamped, positional error may occur

continuously. In such state, the overcurrent will flow or the motor will overheat in a
short period of time.
Thus, if your system makes such mechanical clamp, input OPEN (servo OFF) for
the SVON signal during the clamp.

7 Also, if you use a motor with a brake, input OPEN (servo OFF) for the SVON
signal while the brake is on.

8 When an alarm of the amplifier (X3000) is detected, it cannot be reset unless the
SVON signal is input OPEN.

..

-70-
A13 SETUP OPERATION

This section describes the setup operation.

1 The setup operation sets (commands) a station number to the currently stopped
position in case it is a station position.

2 Any desired station number can be set after zero-point return.

In the case of [CO-15#0], the station number will be automatically set to the setting
of [CO-15] after zero-point return; thus the setup operation is not required.
In the case of [CO-15=0], the setup operation is required after zero-point return.

3 When the ABS mode is not used

W With a mechanical clamp mechanism, the motor shaft will be mechanically clamped at a station
position. After the power supply, command (setup) the number of that station position. Refer to
the memory of the NC unit or the position information of the output shaft encoder.

■ When a mechanical clamp mechanism is not provided, performing the setup operation every time
the power is supplied means that positional errors will be accumulated every time the power is
supplied. Thus, if a mechanical clamp mechanism is not provided, be sure to perfom zero-point
return every time the power is supplied.

4 When the ABS mode is used

■ ABS mode 1
All positional information is stored in the nonvolatile memory before the power is turned OFF;
thus, no zero-point return nor setup operation is required after power is supplied.
■ ABS mode 2
Only the station number is stored in the nonvolatile memory before the power is turned OFF; thus,
no setup operation is required after power is supplied. However, errors will be accumulated every
time the power is supplied when no mechanical clamp mechanism is provided. Thus, when no
mechanical clamp mechanism is provided, perform the zero-point return every time the power is
supplied.

5 The following table shows when and when not the zero-point return and setup
operations are required.

(Zero return/setup operation)

NoABS mode ABS mode 1 ABS mode 2

With mechanical clamp Not required/Required Not required~ot required Not required/Not required

Without rn:chanical clamp Required/Required* Not required/Not required Required/Required*

* In the case of [CO-15 #0], automatic setup operation is executed, thus setup o~ration is not required.
* In the case of [CO-15=0], setup operation is required after zero-point return.

-71-
A14 TEACHING OPERATION
This section describes the teaching operations and precautions.

1 The teaching operation is performed using the parameter setter (JVOP-1 00). Note
that the following control input signals are valid during the teaching operation.

EMG : OPEN input will start emergency stop and occured alarm 2.
SVON : OPEN input will turn OFF servo and the motor will coast to stop.
MULT O, 1 : Selection of the JOG operation speed.

2 Teaching is enabled regardless of the value in parameter [CO-01].

After teaching, the pulse data of the station position will be written in parameter
[dO-**].

3 Parameter [dO-**] can be monitored or changed using the parameter setter .

Parameter [dO-**] can be changed and monitored freely by teaching and
parameter setting.

4 Parameter [dO-**] will be used as the data of the absolute coordinates axis.

. ..0.=4{Fdo-03~ ,
5 Station numbers must be in order from no. 1. Othrwise, alarm C will be output.
The interval between stations must be larger than the backlash compensation.

6 Teaching operation is allowed after setup, however, teaching before setup is

allowed only for station number 1. In that case, the machine will be in the state
after the setup when the teaching is finished.

Before setup After setup

for station no. 1 Allowed. State after setup

Teaching Allowed
when the teaching is finished.

Teaching for stations other Not Allowed, Only station no. !

Allowed
than no. 1 is displayed.

. .

-72-
Al 5 INTERNAL MEMORY INFORMATION MONITOR

The internal memory information of Juspoint Ill can be monitored.

This section describes the internal memory information monitor.

1 Two internal memories can be monitored.

■ Current position: Parameter [UO-08]

The PG pulses count (multiples of 4), in relation to the setup position as being ‘O’, can be
monitored.

■ Deviation pulses: Parameter [UO-09]

The PG pulses count (multiples of 4), in relation to the command position as being ‘O’, can be
monitored.

2 Monitored data indication

■ Indicated digits
The monitored data are indicated as signed 9-digit data. When the count overflows, ‘O’ is indicated
and count is restarted.

o, 1, 2, 3, 4, .. . .. 999,999,999, 0, 1, 2, 3, ......

0, -1, -2, -3, -4, . . ... -999,999,999, 0, -1, -2, -3, ......
7, 6, 5, 4, 3, 2, 1, 0, -1, -2, -3, -4, -5, -6, -7, ......
-7, -6, -5, -4, -3, -2, -1, 0, 1, 2, 3, 4, 5, 6, 7, ......

■ Data indication timing

The indicated value is the real-time value. When the position changes during monitoring, the
indicated data will change accordingly. Thus, normally monitor data while the motor is stopped.

3 Others

■ Monitored data before the setup operation is not correct.

■ 5 digits are displayed at a time, lower 5 digits and upper 5digits. Pay attention for carry over digits
when reading the monitor data.

-73-
A16 PG PULSE SELECTION

The PG pulses can be selected in parameter.

This selection describes how to select PG pulses.

1 There are two selections of PG pulses/rev.

■ CO-16: O, PG pulses= 1000 pulses/rev.

■ CO-16: 1, PG pulses=l 024 pulses/rev.

2 Differences in control

■ Since the internal control works in multiples of 4 of PG pulses, set the related parameters as 4000
or 4096/rev. according to the setting of CO-16.

, When the detected pulses differ from the PG pulses set in CO-16, it will be processed as the PG
error.
Therefore, when the motor PG pulses and the setting of CO- 16 are different, an alarm will be
output.

3 Others

■ The different motor PG pulses require different control units.

When the specifications of the amplifier do not match the motor PG pulses, the correct control
cannot be guaranteed.

■ The control unit is determined to be one type at the time of shipment and cannot be changed.
■ The choice of 1024 pulses is available for special overseas motors. Therefore, normally choose the
1000 pulses, the standard specification.

..

-74-
A17 STATION NUMBER OUTPUT DURING OPERATION

The numbers of the passing stations can be output during operation.

this section describes the station number output during operation.

1 The numbers of passing stations during operation are output.

2 “During operation” refers to:

■ JOG operation (after setup)

■ Manual operation
9 Automatic operation

3 The numbers of the currently stoppable stations if the stop command is to be input
are output. Note, however, during JOG operation, the machine driven by the motor
will stop before the output station number.

[Example]
SPEED $

Traveling speed A
Traveling speed B
z DISTANCE
Station position @ @ B @

Station output A —B @ @+@—

Station output B
—B @+@+@—

–75–
A18 SPEED COMMAND OFFSET ADJUSTMENT

Speed command (O-10V) is output from the point module (JBFPM 3) to the vector control unit (X3000).
Offset for this speed command has been adjusted before shipment and does not usually require any
further adjustment.
However, if you have changed the offset by mistake or have replaced either (JBFPM 3) or X3000, offset
must be adjusted.
This section describes how to adjust this offset.

1 Offset is adjusted using the VR1 on the control board of X3000.

2 Adjustment

■ Turn ON the power and set the machine ready for operation.
1 Input CLOSED for the SVON signal.

■ Input OPEN for the EMG signal and turn ON alarm 2. (JBFPM3 side)
I Set the DIP switch “DS 1-2” of X3000 to ON.

■ Adjust VR1 of X3000 to the position where the motor does not turn.
■ Set the DIP switch “DS1-2” of X3000 to OFF.
■ Change the input of the SVON signal from CLOSED to OPEN to CLOSED.
■ After the EMG signal is CLOSED, input OPEN, CLOSED and OPEN again for the RESET signal
to reset alarm 2.

3 Precautions upon adjustment

■ During adjustment, the motor will move though at a low speed. Before starting adjustment, make
sure that rotation of the motor will cause no problems.

■ After adjustment, be sure to set the DIP switch “DS 1-2” of X3000 to OFF. Juspoint Ill cannot
operate correctly with the DIP switch set to ON.

N To adjust VR1, use a small screwdriver.

■ If the offset is not adjusted correctly, the motor generates abnormal vibration or noise when stopped
(SVON: CLOSED). Also, the motor may rotate at an extremely slow speed when an alarm is
issued.

■ The DIP switch “DS 1-2” of X3000 is read by the microcomputer when the SVON signal changes
from OPEN to CLOSED.

..

-76–
A19 SETTING OF OPERATION CONSTANTS OF AMPLIFIER

The operation constants of X3000 used as the driver (speed control unit) of Juspoint Ill are set by
several switches.
When it has been incorporated as the amplifier for Juspoint Ill, the switches have been adjusted at the
factory before shipment and usually require no further adjustment. However, if a switch setting has
been changed by mistake, it must be adjusted or set again.

This section describes how to set the constants of the driver.

1. The switches used to set the constants are located on the board of the driver (X3000).

2. The following table shows the function and set values (A) for Juspoint U.

Switch symbol Name Function

k OFF 9 to 18~ r/rein

1 Speed range
ON 9 to 3600 r/rein

h OFF Speed command O to +1OV(Rotation command is the F/R signal.)

2 Speed command
ON -10 to + 10V (Rotation command is the polarity.)
DSI

3 3 OFF ON OFF ON OFF ON OFF ON

* 4 OFF OFF ON ON OFF OFF ON ON
4 Capacity 5 OFF OFF OFF OFF ON ON ON ON
selection
5 kW 0.2 0.4 0.75 I .5 2.2 3.7 5,5 7.5

RDS I o 1 * 2 D E F
RDS 1 P GAIN
P GAIN 1~ ..2000 .......... ...................... 9000

RDS 2 0 1 A B E F
RDS 2 I GAIN
1 GAIN 5W ...... ... .. .. .. .. ..... . 6~ ................................................... 8000

* Select the capacity to be the same as that of tbe controt unit

-77-
A20 OPERATION CONSTANTS (PARAMETERS) LIST
Cn-No Name ~ Lower j Upper Initial I Set j
Limit Limit Value ~ Value : Unit

Co-oo : Number of stations 2: 511 8“

Co-ol i Rotational axis/linear axis 0: 4 o~
CO-02 ~ Unit station pulses 40 ~ 960~ 4000 ~ pulse
CO-03 i Rotation direction switching o! 1 0:
CO-04 ‘ O-pointoffset automatic setup o : 1 o’
CO-05 , O-pointreturn direction o 1 0!
CO-06 ~ Direction for CO-04 o I 1;
CO-07 Gear ratio A 1: 40000 1!
CO-08 Gear ratio B 1 40000 1
CO-09 ABS mode o’ 1 0:
co-lo ~ O-point offset 120 40000 400 ~ pulse
CO-11 Rotational axis direction 0: 3 0:
co- I 2 Parameter setting permission 0: 1 0;
co- 13 , Backlash correction
pulse
0! 80000 0
CO-14 : O-pointreturn mode o I o
co- I 5 Number of automatic setup o 511 o!
CO- 16 Unit PG pulses o’ 1 0;
co- 17 Kp gain during stop (Kp3) 10 1Oi)o 25 ‘ , 0. l/See
co- 18 , Control width for Kp3 0: 100 20 pulse

dO-02 ~ Pulses between stations (1-2) 40 j 96~0000 ; 4000 pulse

dO-03 Pulses between stations (2-3) or ( I -3) 40 ~ 96000000 4000 ! pulse
dO-04 Pulses between stations (3-4 or ( 1-4) 40 96fX)OOO0 4000 : pulse
dO-05 Pulses between stations (4-5) or ( I -5) 40 96000000 ; 4000 pulse
dO-06 ~ Pulses between stations (5-6) or ( I -6) , 40 , 96000000 ; 4000 pulse
dO-07 : Pulses between stations (6-7) or ( I -7) : 40 : 96000000 4000 : pulse
dO-08 Pulses between stations (7-8) or ( 1-8) 40 9600~0 4000 : pulse
dO-09 Pulses between stations (8-9) or ( 1-9) 40 96000000 ~ 4000 pulse
dO-10 Pulses between stations (9- 10) or ( 1-10) ; 40 ~ 96000000 ~ 4W0 pulse
dO-11 ~ Pulses between stations ( 10-1 I ) or ( 1-11 ) : 40 ~ 96000000 ~ 4000 pulse
dO-12 ~ Pulses between stations (1 I-12) or (1-12) 40 : 96000000 ~ 4000 pulse
dO-13 ~ Pulses between stations ( 12- 13) or ( I 13) 40 96WOOO0 4000 pulse
dO-14 Pulses between stations ( 13- 14) or ( I 14) ~ 40 96WOO0 4000 i pulse
dO- 15 , Pulses between stations (14- 15) or ( 1- 15) ~ 40 ~ 96000000 ; 4(K)O pulse
dO- 16 ; Pulses between stations (15-16) or (1-16) 40 ~ 96000000 : 4W)0 pulse
dO-17 ~ Pulses between stations ( 16-17) or ( 1- 17) 40 96000000 4000 : pulse
dO-18 Pulses between stations ( 17-18) or ( I 18) ; 40 96000000 4000 ~ pulse
do- 19 , Pulses between stations ( 18- 19) or ( I 19) ~ 40 ~ 96000000 : 4000 pulse
dO-20 ~ Pulses between stations ( 19-20) or ( 1-20) : 40 ~ 96000000 : 4000 pulse
dO-21 ; Pulses between stations (20-2 I )or(1-21 ) 40 96000000 4000 ~ pulse
dO-22 ~ Pulses between stations (2 I -22) or ( I -22) ~ 40 96000000 , 4W() ; pulse
dO-23 Pulses between stations (22-23) or ( I -23) [ 40 , 96000000 : 4000 pulse
dO-24 ; Pulses between stations (23-24) or ( 1-24) ~ 40 ; 96000N0 : 4000 pulse
dO-25 : Pulses between stations (24-25) or ( 1-25) 40 96000000 4000 ~ pulse
dO-26 ‘ PN]ses between stations (25-26) or ( I-26) 40 , 96000000 4fK)o : pulse
dO-27 ; Pulses between stations (26-27) or ( 1-27) [ 40 ~ 96000000 ~ 40130 pulse
dO-28 ; Pulses between stations (27-28) or ( I -28) ~ 40 i 96~ : 4000 pulse
dO-29 ~ Pulses between stations (28-29) or ( I-29) 40 96~0000 4~ : pulse
dO-30 Pulses between stations (29-30) or ( 1-30) , 40 96000000 4000 i pulse
dO-3 I ; Pulses between stations (30-3 1) or ( 1-3 I ) ~ 40 ; 96000000 , 4000 i pulse

–18-
(Cent’d)

Cn-No Name Lower ~ Upper Initial ~ Set [

: Limit Limit Value ~ Value ~ Unit

dO-32 : Pulses between stations (3 I -32) or (l-32) 40 96000000 ~ 4000 ~ pulse

dO-33 ; Pulses between stations (32-33) or (l-33) 40 ~ 96~ \ 4000 ~ pulse
dO-34 ~ Pulses between stations (33-34) or (1 -34) ~ 40 ~ 96000000 ~ 4000 \ pulse
dO-35 ~ Pulses between stations (34-35) or ( I -35) ~ 40 ~ 96000000 : 4000 ~ pulse
dO-36 ~ Pulses between stations (35-36) or (1 -36) 40 : 96000000 ~ 4000 ~ pulse
dO-37 Pulses between stations (36-37) or ( 1-37) 40 ‘ 96000000 ~ 4000 ~ pulse
dO-38 ~ Pulses between statimrs (37-38) or (1-38) 40 96~ \ 4000 ; pulse
dO-39 ~ Pulses between stations (38-39) or (1-39) 40 ~ 96000000 ~ 4000 ~ pulse
dO-40 Pulses between stations (39-40) or ( I -40) ‘ 40 ~ 96~ ; 4000 \ pulse
dO-41 Pulses between stations (40-41 ) or (1-41 ) 40 j 96000~ ; 4000 ~ pulse
dO-42 Pulses between stations (4 I -42) or (l-42) 40 : 960m : 4000 i pulse
dO-43 Pulses between stations (42-43) or ( 1-43) 40 : 96~ : 4000 ~ pulse
dO-44 Pulses between stations (43-44) or (1 -44) 40 : 96~ ~ 4000 ~ pulse
dO-45 Pulses between stations (44-45) or ( 1-45) 40 960m \ 4000 : pulse

EO-00 1st Automatic operation speed 10 1800 ; 500 \ rlmin

EO-O1 2nd Automatic operation speed 10 1800 ~ 500 ~ rlmin
EO-02 3rd Automatic operation speed 10 1800 ~ 500 ~ r/rein
EO-03 4th Automatic operation speed 10 1800 ~ 500 ~ rlmin
EO-10 I st Manual operation speed 10 18W ~ 500 : r/rein
EO-11 2nd Manual operation speed 10 : 1800 ~ 500 ~ rlmin
EO- 12 3rd Manual operation speed 10 18~ i 500 ~ rlmin
EO-13 ‘ 4th Manual operation speed 10 1800 , 500 : rlmin
EO-20 1st High-speed O-point return 10 18~ i 500 \ r/rein
EO-21 2nd High-speed O-point return 10 1800 : 500 \ rlmin
E()-22 3rd High-speed O-point return 10 1800 ‘ 500 ! rlmin
EO-23 4th High-speed O-point return 10 ; 1800 ‘ 500 ~ rlmin
EO-30 I st Low-speed O-point return 10 : 1800 50 : rlmin
EO-3 I ‘2nd Low-speed O-point return 10 : 1800 ~ 50 ~ rlmin
EO-32 ~ 3rd Low-speed O-point return 10 j 1800 : 50 ~ r/rein
EO-33 ~ 4th Low-speed O-point return 10 18~ : 50 \ r/rein
EO-40 ~ 1st O-point offset setting speed 10 1800 : 50 ~ rlmin
EO-41 : 2nd O-point offset setting speed 10 18W ~ 50 : rlmin
EO-42 ~ 3rd O-point offset setting speed 10 1800 : 50 ; rlmin
EO-43 ~ 4th O-point offset setting speed 10 i 1800 1 50 \ r/rein
EO-50 ~ 1st JOG speed 10 : 1800 j 50 ~ r/rein
EO-51 ~ 2nd JOG speed 10 : 18~ ~ 50 rlmin
EO-52 ~ 3rd JOG speed 10 : 1800 50 ~ rlmin
EO-53 ~ 4th JOG speed 10 : 1800 , 50 ~ r/rein
EO-60 ~ 1st Accel time 10 : 5000 ; 100 : msec
EO-61 ; 2nd Accel time 10 ; 5000 : 100 : msec
EO-62 3rd Accel time 10 5000 : 100 : msec
EO-63 4th Accel time 10 j 5(M3t3 ~ 100 : msec
EO-70 1st positioning control gain 10 : 1004) : 100 : ~ O.1/Sec
EO-7 I ~, 2nd positioning control gain 10 : Im:fm: ~ O.l/See
EO-72 3rd positioning control gain 10 : lm:fof: ~ O.l/See
EO-73 4th positioning control gain 10 : 100C;1M; ~ O.l/See
EO-80 1st Soft-start time 0: 99 : 0; msec
EO-8I 2nd Soft-start time 0: 99 : 0 msec
EO-82 3rd Soft-start time 0: 99 : 0: msec
EO-83 ~ 4th Soft-start time 0: 99 ; 0; msec

-79-
(Cent’d)

Cn-No Name Lower Upper Initial Set

Limit Limit Value Value Unit

EO-90 1st Soft-start speed o 99 o rlmin

EO-91 2nd Soft-start speed 0 99 0 r/rein
EO-92 3rd Soft-start speed 0 99 0 r/rein
EO-93 4th Soft-start speed 0 99 0 r/rein
EO-AO 1st torque limit value 30 3W 200 %
EO-A 1 2nd torque limit value 30 300 200 Y.

EO-A2 3rd torque limit value 30 300 200 Yo

EO-A3 4th torque limit value 30 300 200 %

EO-bO 1st in-position width 8 80000 20 pulse

EO-b 1 2nd in-position width 8 80000 20 pulse
EO-b2 3rd in-position width 8 80CQ0 20 pulse
EO-b3 4th in-position width 8 80000 20 pulse
EO-CO 1st near position width 8 80000 400 pulse
EO-C1 2nd near position width 8 800Q0 400 pulse
EO-C2 3rd near position width 8 80000 4m pulse
EO-C3 4th near position width 8 80000 400 pulse
EO-dO 1st soft-stop speed 0 1800 0 rlmin
EO-d 1 2nd soft-stop speed 0 1800 0 r/rein
EO-d2 3rd soft-stop speed 0 1800 0 r/rein
EO-d3 4th soft-stop speed 0 1800 0 r/rein
EO-EO 1st soft-stop Kpz 10 1000 100 0. l/See
EO-E 1 2nd soft-stop Kpz 10 1000 100 O.l/See
EO-E2 3rd soft-stop Kp2 10 1000 loi) O.l/See
EO-E3 4th soft-stop Kpz 10 IOoo 100 O.1/Sec

-..

-80-
m

-81-
 Juspoint III
VECTOR CONTROL INVERTER POSITIONING SYSTEM

Distribute

YASKAWA ELECTRIC CORPORATION

Y
YASMWA

( HIP.,

Manufacturer& Distribute

Y-E DRIVE CORPORATION

Y
DRIVE
31 YOSHIKITA IIZUKA CITY
FUKUOKA PREF 820 JAPAN
PHONE (0948) 24-7601 FM (0948) 24-7942

TOKYO SALES DIVISION C/O YAS~WA ELECTRICCORPORATIONTo&o ~Ice

Ohlemachl Bldg 1.61 Ohlemachl Chlyoda KU Tokyo 100 Japan
Phone (03) 32849077 Fax (03) 32849383

OHSAKA SALES DIVISION C/O YASWWA ELECTRICCORPORATIONOhwka OifIc&

Osaka Dallchl %Imel Bldg 1817 Urneda Klta ku Osaka 530 Japan
Phone (06) 3464560 Fax (06) 3464565

NAGOYA SALES DIVISION C/O YASKAWAELECTRICCORPORATIONNagoya Ohice

Horluchl Bldg 3-259 Mele~, Nakamura ku Nagoya 450 Japan
Phone (052) 58 I 2346 Fax (052) 5812359

KYUSHU SALES DIVISION C/O YASKAWAELECTRICCORPORATIONKyushu Oifice

Ch!yoda %Imel Fukuoka Bldg 19.17 Ienlln Fukuoka 810 Japan
Phone (092) 7145075 Fax (092) 7145799

-.

DTSE-S606-9.1
Due t. mgo,ng Lvduct M,f,cat,m !mwoveme”t,
data s“b,ect to
change w,thout not,.. @ Printed m Japan November 199595-110