AC Servo Driver - tamagawa seiki co.,ltd.

発 想が技 術を楽しくします 。
CE,cUL/UL pending
Full closed loop response
New SV-NET Series
AC Servo Driver
!
TAD8811
SAFETY PRECAUTIONS
To ensure proper and safe use of our products, please read the“SAFETY PRECAUTIONS”carefully before using them.
WARRANTY
Tamagawa Seiki sets a warranty period of one (1) year from the date of factory shipment, during which period we warrant that our
products are free of defects, except quality degradation by design or by accident on the part of the user. Even after the warranty period,
We Propose 5 Values
however, we will be willing to offer repair services necessary for maintaining the product quality. Even though each of our products has a
very long MTBF (mean time between failures) that is based on meticulous prediction, the predictable failure rate is not zero. It is advised,
therefore, that you take into account possible aftereffects due to malfunctions of our products, and incorporate multiple safety measures
in your systems and/or products so as to prevent any consequential trouble.
A COMPANY OF TAMAGAWA SEIKI CO.,LTD.
■Overseas Sales Department
Headquarters:
1-3-1 Haba-cho, Iida, Nagano Pref. 395-0063 Japan
PHONE : +81-265-56-5423
FAX : +81-265-56-5427
URL : http://www.tamagawa-seiki.co.jp
'13.6
Information contained in this catalog is subject to change without notice.
T12-1690 May 20, 2013
All information contained in this catalog is as of May 2013.
TAMAGAWA SEIKI CO., LTD.
New AC Servo Driver TAD8811
New SV-NET Series
Our AC servo driver re-debuts with a diversity of innovative features!
Value.1
User-Friendliness
Tuning and all other settings can be done on a PC. Professional level setting is easily possible
while watching a graph on the screen ‒ without the need to prepare a dedicated measuring
device.
動作範囲設定は直感的なジョグ操作
Intuitive jog dial control for working range setting.
Vibration
FFT
Motion pattern setting is also easily possible.
・ By connecting the AC servo driver to SV-NET controller, it is possible to build a simple yet highly functional motion control system.
＊ SV-NET is a CAN-based network protocol ‒ a Tamagawa Seiki original.
FFT function enables vibration waveforms for the entire unit to be monitored on a PC.
スイッチ
TAD8811
T
A
driver
モータ
センサ
モータ
TA
TA
TAD8811
driver
SV-NET controller
タッチパネル
パソコン
System Configuration
モータ
TA
TAD8811
driver
Tuning completed.
1
2
New AC Servo Driver TAD8811
Value.2
Enhanced Convenience
Parameters are displayed by category;
Current values as well as modified values are also displayed in an
easy-to-see way.
A built-in counting function predicts the driver service life.
・During operation, the counter records electric conduction time and other states of operation. It
predicts the driver service life by counting them,thereby enabling management of system
malfunction and other risks.
・The setup software, with its versatile functions, can be downloaded free of charge. Simply
connect USB to PC ‒ setting-up is easy.
Incorporates an alarm recorder ‒ an industry first.
・The AC servo driver is capable of recording all alarms given while the system is in operation,
enabling any malfunction to be identified instantaneously.
1 Date and time when alarms were given
Value.3
Faster
Improvements to hardware and software have achieved high-speed responses in terms of both
current response and velocity response ‒ two times faster than those of conventional products.
Current response: 2.2kHz
2 Alarm number
3 Alarm data: positional error, velocity, electric current, load factor, drive voltage, substrate
velocity response: 1kHz
＊ The above values are based on comparison with our company’s conventional products.
temperature
・Our AC servo driver is equipped with an alarm recorder ‒ an industry first. The recorder
incorporates a calendar and clock function, enabling the date and time and operational data at
the time of alarm occurrence to be stored automatically. This function makes it easy to identify
the cause of malfunction in your attempt to recover the unit from the error. instantaneously.
Value.4
Smaller
The driver’s external dimensions have been made significantly smaller than those of our
company’
s conventional products. Its compactness is also superior to products of other makes.
TAD8811
400W ４３（Ｗ）mmｘ１４５
（Ｈ）
mmｘ１６０（Ｄ）
mm
750W ６３（Ｗ）mmｘ１４５
（Ｈ）
mmｘ１６０（Ｄ）
mm
Program screen
Value.5
Diversity Line-up
Network：Compatible with SV-NET,RS485,RS232
P2H：Correspondence from 17bit to 23bit of resolvers,incremental,abso,
Parameters are displayed by category; current values as well as modified values are also
displayed in an easy-to-see way.
Status/alarm display screen
3
4
AC Servo Driver TAD8811 Series
AC Servo Driver TAD8811 Series
Motor and driver applicability
AC Servo Driver
TAD8811 Series
Versions compatible with CE, UL and
CUL will be made available.
The table below shows applicability of standard type motors and drivers.When it comes to combinations
other than those provided in the table below, please specify it based on the way of looking at product
types.Current setting values according to applicable motor type are provided in the table below. Current
setting values are the same regardless of resolution and sensor type.
(Ir: Rated current setting / Is: Stall current setting / Ip: Instantaneous maximum current setting)
TBL-iⅡ Series (I/F voltage of 24V)
Table 3
Applicability
Motor
Applicable motors : TBL-iII Series motors
Applicable sensors : Incremental encoders, serial encoders and brushless resolvers
Voltage spec. Rated output
AC200V
Driver type description
TAD 8811 N 0□□□ E □△△
Motor type
Table 2: Standard motor types
ドライバシリーズ名
Driver series name
1 ... Incremental encoder (INC-SE)
3 ... Serial encoder (Smart-ABS/INC)
7 ... Brushless resolver (Smartsyn)
I/F voltage, drive voltage
1--2--3--4---
Sensor specifications
See Table 1 (Variable according to sensor type)
Rated driver output current (max. current)
1--2--3--4---
1
2
4
6
Arms
Arms
Arms
Arms
(3.4 Arms)
(5.7 Arms)
(11.3 Arms)
(17.0Arms)
5V(I/F) AC100V
5V(I/F) AC200V
24V(I/F) AC100V
24V(I/F) AC200V
Note: With respect to driver types, type E800 and onward are of special
specifications. Please see specifications peculiar to each such product.
W
W
W
W
W
W
W
W
W
W
W
W
W
W
W
W
W
W
W
TS4601
TS4602
TS4603
TS4604
TS4606
TS4607
TS4609
TS4611
TS4612
TS4613
TS4614
TS4601
TS4602
TS4603
TS4604
TS4606
TS4607
TS4609
TS4611
N＊＊＊＊E200
N＊＊＊＊E200
N＊＊＊＊E200
N＊＊＊＊E200
N＊＊＊＊E200
N＊＊＊＊E200
N＊＊＊＊E200
N＊＊＊＊E200
N＊＊＊＊E200
N＊＊＊＊E200
N＊＊＊＊E200
N＊＊＊＊E100
N＊＊＊＊E100
N＊＊＊＊E100
N＊＊＊＊E100
N＊＊＊＊E100
N＊＊＊＊E100
N＊＊＊＊E100
N＊＊＊＊E100
Applicable driver
Type
TAD
TAD
TAD
TAD
TAD
TAD
TAD
TAD
TAD
TAD
TAD
TAD
TAD
TAD
TAD
TAD
TAD
TAD
TAD
8811
8811
8811
8811
8811
8811
8811
8811
8811
8811
8811
8811
8811
8811
8811
8811
8811
8811
8811
Outline
drawing
N0＊41
N0＊41
N0＊41
N0＊42
N0＊41
N0＊42
N0＊43
N0＊42
N0＊43
N0＊44
N0＊44
N0＊31
N0＊31
N0＊32
N0＊33
N0＊32
N0＊33
N0＊34
N0＊33
E＊31
E＊32
E＊33
E＊34
E＊36
E＊37
E＊39
E＊41
E＊42
E＊43
E＊44
E＊51
E＊52
E＊53
E＊54
E＊56
E＊57
E＊59
E＊46
①
①
①
①
①
①
①
①
①
②
②
①
①
①
①
①
①
②
①
Note: ＊ marks vary according to motor specifications and sensor specifications.
Sensor specifications
Table 1
Sensor specifications
Ｅ０△△
Ｅ１△△
Ｅ２△△
Ｅ３△△
Ｅ４△△
Ｅ５△△
Ｅ６△△
Ｅ７△△
AC100V
30
50
100
150
100
200
400
200
400
600
750
30
50
100
150
100
200
400
200
Type
Current setting
Ir
Is
Ip
(Arms) (Arms) (Arms)
0.3
0.3
0.9
0.6
0.5
1.5
1.1
1.0
3.0
1.5
1.4
4.3
0.9
0.8
2.5
1.7
1.6
4.9
3.3
3.2
9.6
1.5
1.4
4.2
2.7
2.6
7.8
4.4
4.3
12.8
5.0
4.7
14.1
0.7
0.5
1.6
1.1
1.0
3.0
1.8
1.7
5.2
3.0
2.9
8.8
1.8
1.7
5.0
3.5
3.3
9.8
5.6
5.4
16.2
3.0
2.8
8.4
Outline drawing
Ｎ0１□□
−
2000 C/T line-driver output
2048 C/T line-driver output
2500 C/T line-driver output
−
2000 C/T 14 cores
2048 C/T 14 cores
2500 C/T 14 cores
Ｎ0３□□
−
17bit-ABS
17bit-INC
(20bit-ABS)
(20bit-INC)
(23bit-ABS) To be launched soon
(23bit-INC) To be launched soon
−
Ｎ0７□□
−
1X-BRX 7V-10kHz
(2X-BRX 7V-10kHz)
(4X-BRX 7V-10kHz)
−
−
−
−
Tapped hole
Outline ①
Outline
Note: Those in ( ) refer to products that we will develop and launch in the near future.
Mounting hole layout
Screw
Standard motor types (Note 2)
Table 2
TBL-iII Series (Note 2)
Motor type E
No. △△
TS4601 ( 30W - 200V)
31
TS4602 ( 50W - 200V)
32
TS4603 (100W - 200V)
33
TS4604 (150W - 200V)
34
TS4606 (100W - 200V)
36
TS4607 (200W - 200V)
37
TS4609 (400W - 200V)
39
TS4611 (200W - 200V)
41
TS4612 (400W - 200V)
42
TS4613 (600W - 200V)*
43
TS4614 (750W - 200V)*
44
5
TBL-iII Series (Note 2)
Motor type E
No. △△
TS4601 ( 30W - 100V)
51
TS4602 ( 50W - 100V)
52
TS4603 (100W - 100V)
53
TS4604 (150W - 100V)
54
TS4606 (100W - 100V)
56
TS4607 (200W - 100V)
57
TS4609 (400W - 100V)
59
TS4611 (200W - 100V)
46
Note 2: Some motors or unit combinations may not correspond to you
requirements, so please ask us before placing an order.
Note 3: Please note that there is a limitation to maximum output if your motor
is used in combination with one of the motors 400W or greater that are
marked with a ＊.
Tapped hole
Outline ②
Outline
Mounting hole layout
Screw
6
AC Servo Driver TAD8811 Series
AC Servo Driver TAD8811 Series
External connections
Specifications
1. General specifications
Power input
AC100V 系
AC200V 系
Basic specifications
Motor drive system
Structure
Sensor specifications
(Control/drive power) single-phase AC100∼115V±10% 50/60Hz
(Control/drive power) single-phase/three-phase AC200∼230V±10% 50/60Hz
Transistor PWM system (sine wave drive)
Base mounting type (back-to-back mounting only)
N01 ＊＊
N03 ＊＊
N07 ＊＊
Operating environment conditions
I/F voltage
External connection diagram
CE mark
RoHS Directive
Communication software specification
Control mode
Pulse command input
Pulse mode
Positioning accuracy
Analog command input (±10V)
Velocity command input:
Current command input:
Command resolution
Auto tuning
Electronic gear
Gain switching function
Incremental encoders (Saved lines/14 cores) (INC-SE)
Serial encoders (Smart-ABS/INC) 17bit ; 23bit encoders to be launched soon
Brushless resolver（Smartsyn）1X -BRX 7V-10kHz
Temperature: 0~50℃ / humidity: 90%RH or lower (no condensation)
DC 5V or DC 24V (command pulse 5V) (depends on type)
Regenerative resistor
CND000261W00
Design in conformity to CE ＊1
In conformity to RoHS Directive
Power input
＊1
・ＳＶ−ＮＥＴ
①Position control ②Velocity control ③Current control (Choose parameter)
①CCW/CW pulse ②Pulse/direction (Choose parameter)
Within ± 1pulse (Command standard)
Command scale and polarity depend on parameters.
Input circuit
5000rpm/10V or maximum motor current/10V (factory setting)
±11bit
Executed via conversion of associated mode.
Multiply the command pulse by (N/M) to perform position control; N,M =1~9999.
Switching of control gain is possible via positional error and velocity command value; switching via signal input also possible.
External encoder input
Full-closed position control is possible by feeding back the load axis encoder.
Recommended load inertia
Rotation direction
Parameters
Within 30 times the motor inertia.
TLP290 equivalent
(Note) R1: 5V interface is 330Ω
24V interface is 3.3KΩ
CCW rotation as viewed from the axial direction is considered normal direction.(Can be altered by changing parameters.)
Parameter setting is possible on the front setting board or by connecting (USB, SV-NET) to PC.
Functions
・Control mode
・Position loop gain
・Velocity loop gain
・Velocity loop integral time
・Feedforward quantity time
・Resonator filter
・Velocity limit
・Current limit
・In-position range
Regenerative functions
Dynamic brake
Protection
PC connection
Analog monitor
・Analog command scale
・Analog command offset
・Zero clamp voltage
・Acceleration limit
・Setting for encoder frequency-divided output
・Electronic gear ratio
・Overspeed alarm level
・Overload alarm level
RS-232C
TCPL-M600 equivalent
(Note) R2: 5V interface is 330Ω
SV-NET/RS. 485(1) switching
Output circuit
Among others
Built-in regenerative circuit, external resistor (optional)
Built-in dynamic brake; operating conditions subject to parameter setting
Hardware errors
Overspeed, power device abnormality (overcurrent), sensor abnormality, driving power abnormality, EEPROM abnormality, CPU abnormality, etc.
Software errors
Overload, excessive error, etc.
SV-NET/RS. 485(2) switching
TLP127 equivalent
Capable of memorizing up to 8 recent alarms.
Alarm history
Display, setting
Four 5-digit LED buttons for display and setting
Displays control mode, alarm and state of control signal input.
2. Input/output signals
I/O
Input signals
Name
Description
SV-ON
Servo is ON at“1”and OFF at“0”
.
F-LMT
CCW operation is disabled at“0”.
R-LMT
CW operation is disabled at“0”. Logic alteration is possible.
ALM-RST
Alarm is reset at“1”.
C-RST
Error counter is reset at“1”.
INH
Command pulse reception is disabled at“1”.
AUX1
Auxiliary input signal
AUX2
Auxiliary input signal
F-PLS
CCW pulse/pulse input
R-PLS
CW pulse/direction (via parameter)
ANALOG-IN Analog command input (±10V)
LEAD/LAG signal input for load axis encoder. Signal for advance when
EX-LEAD
motor is in CCW rotation is to be connected to LEAD while that for lag
EX-LAG
is to be connected to LAG.
ALM
“0”during alarm and“1”during normal operation.
INP
“1”when position error is below set value.
Output signals
AUX OUT1
AUX OUT2
AUX OUT3
LEAD
LAG
Z
Upper-end SIGNAL GND
AM26C31 equivalent
"1": Photo-coupler is energized.
"0": Photo-coupler is not energized.
f ≦ 500 kHz
Fig.1
＊1: Connectable to either single-phase or three-phase power source.
(In the case of single-phase power, use L1 or L3.)
＊2: Power supply voltage and I/F voltage vary according to N number type.
Combinations are as follows:
Fig. 1 Position command pulse input waveform
Count
f ≦ 125 kHz
“1”: Photo-coupler is ON.
“0”: Photo-coupler is OFF.
(50mA max)
Line-driver output
15 mA (5V)
0 mA
1μs min
1μs min
Auxiliary signal output1
Auxiliary signal output2
Auxiliary signal output3
Outputs frequency-divided sensor signals.(For details, refer to instruction manual.)
Linear encoder, etc. can be connected and external input is also possible.
Fully closed loop control is possible.
2μs min
Rated current designation; For details,
refer to respective specifications.
Power supply voltage, I/F voltage
1: I/F voltage 5V, power supply AC100V
2: I/F voltage 5V, power supply AC200V
3: I/F voltage 24V, power supply AC100V
4: I/F voltage 24V, power supply AC200V
＊3: We recommend sensor SHIELD be connected to DG. Note,
however, that there are 13 cases where noise tolerance may
increase by connecting to CN2-CASE (⊥).
＊4: Battery is for data backup of 17bit absolute encoder.
Outputs Z signals.(For details, refer to instruction manual.)
MONITOR-1 Monitors ① current command, ② velocity feedback, etc.
MONITOR-2 Parameter-based setting for matters to be monitored and scale of monitoring.
7
8
AC Servo Driver TAD8811 Series
AC Servo Driver TAD8811 Series
Connectors used
MEMO
(1) For input/output signals
CN1
: 10250-52A2PL (Sumitomo 3M) or equivalent
(2) For sensor connection
CN1
: 10220-52A2PL (Sumitomo 3M) or equivalent
(3) For RS232
CN4
: 1-1827864-4 (TE CONNECTIVITY) or equivalent
(4) For SV-NET/485
CN5/CN6 : 1-1827864-3 (TE CONNECTIVITY) or equivalent
(5) For analog monitor
CN8
: DF11-4DS-SC (Hirose) or equivalent
Accessories
(1) Connector for power supply connection For
TB1 :
0134-1103 (DINKLE) or equivalent
(2) Connector for motor connection For
TB2 :
0134-1105 (DINKLE) or equivalent
Options
The following options are available:
(1) Sensor cables
Sensor cable applicability
Applicable
sensor
Ｎ0１＊＊（INC-SE Saved lines）
By motor type
& connector
Ｎ0３＊＊（17B-INC）
Ｎ0７＊＊（Smartsyn）
TBL-ｉⅡ
EUA1281N30（3m）
EUA1281N 50（5m）
EUA1281N100（10m）
(2) Motor cable
Ｎ１＊＊（INC-SE14 cores）
Ｎ３＊＊（17B-ABS）
Battery case included
EUA1282N30（3m）
EUA1282N 50（5m）
EUA1282N100（10m）
EUA1283N30（3m）
EUA1283N 50（5m）
EUA1283N100（10m）
: EUA1280 N30 (3m)
(3) Backup battery (for 17B-ABS) : EUA1284
(4) I/O cable (CN1)
: EUA1285 N10 (1m)
(5) RS232C cable (CN4)
: EUA1286 N10 (1m)
(6) SV-NET cable (CN5, 6)
: EUA1287 N10 (1m)
(7) USB cable (CN7)
: EUA1288 N10 (1m)
(8) Analog monitor cable (CN8)
: EUA1289 N10 (1m)
(9) Regenerative resistor (TB1) 47Ω : EUA1290
(10) Connector set
9
: EUA1291
10