đây là tài liệu chính thức của toyota về động cơ của xe toyota, mình chia sẻ để các bạn có đam mê tim hiểu và hỗ trợ thực hành. Nếu có ảnh hưởng tới bản quyền và các vấn đề liên quan, xin các bên liên quan bỏ qua
Trang 21 For the prevention of electric shock
2 For the fire prevention
3 For the injury prevention
Please make a wire work and inspection more than 5 minute later after power is
☞
off, and do the next work after checking the voltage by a tester because it may
cause the electric shock
Please make sure to ground the servo driver and servo motor
you install it to the inflammble materials directly or near the inflammble materials,
it may cause the fire
In case the servo driver is broken, please turn off the power from the part of
☞
electric shock on the servo driver If the high electric current is flowed
continuously, it may cause the fire
Please permit the correct voltage in the maintenance manual to each terminal only to
☞
prevent the breakage, damage and rupture
Please do not make a mistake when terminal connection it may cause the breakage and
or a few moment after power is off because it is heated Do not touch the parts
(cable, etc), it may cause the damage and burn
Trang 3Caution for safety operation
power terminal of servo driver
Please wire the cable for power(U, V, W) and encoder cables of servo motor
Trang 4Caution when the first installation
before power is on
And then, set up the operation mode of servo driver by connecting with the upper
●
numerical controller like the menu
Please wire CN1 connector of servo driver according to each operation mode as
●
referring to the system structure
Caution when the maintenance and inspection
It may cause the electric shock
Please do not repair, inspect, replace the components except for authorized
●
expert and engineer
Please do not alter the products
●
Trang 5< CONTENTS >
IMPORTANT
1 Specifications of TURRET Servo Motor and Driver
1.1 Specifications of TURRET Servo Motor
1.2 Specifications of TURRET Servo Driver
1.3 Torque-Speed Characteristics of Servo Motor
2 Explanation of Driver Structure and connection diagram
2.1 Explanation of CN1 Connector
2.2 Flow chart of CN1 connector terminal
2.3 Flow chart of CN2 connector terminal
2.4 Structure of driver Input/Output circuit
2.5 Connection diagram
3 Operation
3.1 Automatic operation
3.2 Method of machine reset
4 Explanation of each mode display
5 Maintenance and inspection
5.1 Maintenance and inspection
5.2 Trouble diagnosis and countermeasure
Trang 61) Do not use in areas near corrosive, inflammable or explosive gas.
2) Take appropriate measures of protection while the servo motor is in operation
3) While installing and wiring, turn the power switch off, in order to prevent electric
shock
4) Ground the PE terminal block of the front panel terminal block L1(R), L2(S), L3(T) toone-point with the class 3 (below 100 ) ground circuit, in order to prevent electricΩshock or other malfunctions For PE terminal block, use wire 30mm2 thicker than the
electric wire of the terminal L1, L2, L3
5) Connect the PE terminal block of the servo motor to the PE terminal block U, V, W of
the servo driver in order to prevent electric shock To connect the wire, use wire
30mm2 thicker than the power line of U, V, W
6) Take precautions while mounting, dismantling, uninstalling and transferring the servomotor
7) Cover the terminal block while using the servo driver in order to prevent electric
shock
8) Use SELV for maintenance brake power switch, input and output power switch and input
and output signal in order to prevent electric shock
9) Do not dismantle the servo driver for another 5 minutes after the main power is turnedoff-charged voltage may still remain inside the driver
10) This product uses batteries Take the following precautions while using the battery
If used inappropriately, explosion or fire may occur The contents of the battery areharmful to the eye
Do not heat above 100 and do not open when there is fire
1) Warning : This symbol means of not handled properly, there is
possible danger such as electric shock
2) Caution : This symbol means if not handled properly, there is possible
danger of acquiring mild to severe injuries or machine damages
Trang 7Caution
Ⅲ
1) To avoid burns, do not touch the heat protecting board or the regenerative resistor
of the servo motor and driver while the servo motor is in operation or right afterthe power switch is turned off Take appropriate measures of protection
2) Avoid the following to prevent damages to the servo motor and servo driver
Do not connect the power directly to the U, V, W terminal block of the servo motor
①
The servo motor will be damaged
Avoid external impact such as hammering to the servo motor The encoder inside the
②
servo motor will be damaged
Do not connect the power to the U, V, W terminal block of the servo driver
Do not install the servo motor and the servo driver differently than it should
⑤
Prevent water or oil from directly touching the servo motor Use in areas free of
⑥
water or oil to prevent it from touching the main wire of the servo motor
Do not use the servo motor and driver differently other than stated in this manual
⑦
Trang 81 Specifications
1.1 Specifications of Turret Servo Motor
Rated output(KWatt) 1.0 2.0 3.5 Rated Torque
Detector Multi-turn Absolute Encoder
(17bits/1rotation) Protection, cooling method Totally closed, self cooled
Trang 91.2 Specifications of TURRET Servo Driver
1.3 Torque-Speed Characteristics of Servo Motor
Items Model DASD-RH10SPZA DASD-RH20SPZA DASD-RH35SPZB Rated current[Arms] 6.5 12.3 19.8 Main input voltage Triple phase AC 200 ~ 220V, +10/-15%, 50/60Hz
Control method IPM full wave rectified, sine wave PWM control
Control mode Position, Speed, Torque control
Control signal input Servo ON, Start, Stop, Jog, Sensor
Position input 7bit pulse reference input
Control signal output Alarm, Ready, Inposition, Unclamp
Position output 7bit present position output
Protection over voltage, under voltage, over current,
over speed, over load, encoder error Mounting Rack Mount Type
Dimension[mm] (W x H x D) 115 x 230 x 203 140 x 250 x 250
Trang 102 Explanation of Driver Structure and connection diagram
2.1 Explanation of CN1 Connector
2.1.1 CN1 Connector Explanation of DASD-RH10SPZA, DASD-RH20SPZA
Signal PIN No Description I/O /SENSOR 21 This signal judges an Unclamp or Clamp Input /SVON 22 This signal makes the motor ready to start operation When this
signal is off, the motor remains free Input
/JOG+(CCW)
/JOG-(CW)
20 23
According to the fixed value of parameter 3, there are 2 types
of modes.
- fixed direction signal (fix value of parameter 3 to "0") When the position is moving, the direction of the rotation can be fixed to one direction.
CCW signal is OFF : Direction of the rotation is automatically set by short distance.
CCW signal is ON : Direction of the rotation is fixed clock wise.
counter-CW signal is ON : Direction of the rotation is fixed clock wise.
CCW, CW is ON : Can not be defined.
- JOG Operation signal (fix value of parameter 3 to "1") Used for manual jog operation signal.
JOG+ signal is ON : When the signal is on, the motor rotates counter-clock wise and when it is off, the motor stops at the nearest POST.
JOG- signal is ON : When the signal is on, the motor rotates clock wise, and when it is off, the motor stops at the nearest POST.
Rotation speed and Accel/Decel time is the same as when it is operated automatically, but ignore it during running by automatic operation.
Input
/STOP 4 When the signal is ON, the motor stops When the motor starts
according to input, and runs the rest of the distance. Input/SPARE 3 This is spare signal Input COM1 5 COMMON terminal of sequence input signals (When DC 24V is input,
the signal turns ON) Input/START 8
When this signal is ON while SVON signal is ON, it moves toward the POST of position data input (POSI0~POSI6) of the motor.
Maintain the time it is ON at minimum 50msec.
Input /POSI0, /POSI1,
Input POST to 7bit binary code to set the position data input signal.
Input data more than 10msec before the START signal is ON.
(minimum input data is '1'.)
Input COM2 9 COMMON terminal(+24V) of START, POSI0~POSI6 signals Input
Trang 11Signal PIN No Description I/O ALM 30 Alarm signal is on, output is 'OFF' and when it is normal, the
SVRDY 10
The servo is ready When the SVON is ON, the driver turns on after the normal condition When the SVON is OFF, the driver turns off.
Output
UN-SOL 29 This signal is running the contact point of Unclamp solenoid.
(This signal is Unclamp after it is ON) OutputCOM3 11 COMMON terminal of sequence output signals(ALM, SVRDY, SPARE) Output
BRAKE+
BRAKE-12 13
In case there is an inner brake in the motor, this signal controls the power ON/OFF for the brake.
(The current flow capacity is within 30mA due to the output of photo coupler contact point, thus a different relay contact point must be used from the actual brake ON/OFF the circuit so that when output contact point is ON, the brake is free, when output contact point is OFF, design the circuit diagram to control the brake).
when SVON is ON and this turns on after fixed time of parameter
14 and then SVRDY is ON after fixed time of parameter 13.
When SVON is OFF and this turns off after fixed time of parameter 14.
Output
VPF 16
Position completion signal output.
After the motor moved, if the pulse error is within the fixed value of parameter 18, the signal turns ON.
As position data output signal, the POST number is sent out in 7bit binary code.
While the motor is rotating, the signal will not be on It will
be on before the VPF turns on.
When SVON is OFF, it will output data of the nearest POST number.
Output
Trang 122.1.2 CN1 Connector explanation of DASD-RH35SPZB
Signal PIN No Description I/O /SENSOR 6 This signal judges an Unclamp or Clamp Input
/SVON 7 This signal makes the motor ready to start operation When this
signal is off, the motor remains free. Input
/JOG+(CCW)
/JOG-(CW)
8 22
According to the fixed value of parameter 3, there are 2 types
of modes.
- fixed direction signal (fix value of parameter 3 to "0") When the position is moving, the direction of the rotation can be fixed to one direction.
CCW signal is OFF : Direction of the rotation is automatically set by short distance.
CCW signal is ON : Direction of the rotation is fixed clock wise.
counter-CW signal is ON : Direction of the rotation is fixed clock wise.
CCW, CW is ON : Can not be defined.
- JOG Operation signal (fix value of parameter 3 to "1") Used for manual jog operation signal.
JOG+ signal is ON : When the signal is on, the motor rotates counter-clock wise and when it is off, the motor stops at the nearest POST.
JOG- signal is ON : When the signal is on, the motor rotates clock wise, and when it is off, the motor stops at the nearest POST.
Rotation speed and Accel/Decel time is the same as when it is operated automatically, but ignore it during running by automatic operation.
Input
/STOP 23 When the signal is ON, the motor stops When the motor starts
according to input, and runs the rest of the distance. Input/SPARE 24 This is spare signal Input COM1 40 COMMON terminal of sequence input signals (When DC 24V is input,
the signal turns ON) Input/START 43
When this signal is ON while SVON signal is ON, it moves toward the POST of position data input (POSI0~POSI6) of the motor.
Maintain the time it is ON at minimum 50msec.
Input POST to 7bit binary code to set the position data input signal.
Input data 10msec before the START signal is ON.
(minimum input data is '1'.)
Input
COM2 44 COMMON terminal(+24V) of START, POSI0~POSI6 signals Input
Trang 13Signal PIN No Description I/O ALM 4 Alarm signal is on, output is 'OFF' and when it is normal, the
SVRDY 35
The servo is ready When the SVON is ON, the driver turns on after the normal condition When the SVON is OFF, the driver turns off.
Output
UN-SOL 3 This signal is running the contact point of Unclamp solenoid.
(This signal is Unclamp after it is ON) OutputCOM3 36 COMMON terminal of sequence output signals(ALM,SVRDY,SPARE) Output
BRAKE+
BRAKE-19 20
In case there is an inner brake in the motor, this signal controls the power ON/OFF for the brake.
(The current flow capacity is within 30mA due to the output of photo coupler contact point, thus a different relay contact point must be used from the actual brake ON/OFF the circuit so that when output contact point is ON, the brake is free, when output contact point is OFF, design the circuit diagram to control the brake).
when SVON is ON and this turns on after fixed time of parameter
14 and then SVRDY is ON after fixed time of parameter 13.
When SVON is OFF and this turns off after fixed time of parameter 14.
Output
VPF 47
Position completion signal output.
After the motor moved, if the pulse error is within the fixed value of parameter 18, the signal turns ON.
As position data output signal, the POST number is sent out in 7bit binary code.
While the motor is rotating, the signal will not be on It will
be on before the VPF turns on.
When SVON is OFF, it will output data of the nearest POST number.
Output
BAT+
BAT-49 50
Battery(3.6V) voltage power (+), Battery(3.6V) voltage power (-).
GND 1 GROUND
SHIELD 18 Frame ground (it is connected with Shield of cable.)
Trang 142.2 Flow chart of CN1 connector terminal
2.2.1 Flow chart of CN1 connector terminal of DASD-RH10SPZA, DASD-RH20SPZA
Spec : 10236-52A2JL (Housing), 10136-3000VE (Plug) , Manufacturer : 3M
2.2.2 Flow chart of CN1 connector terminal of DASD-RH35SPZB
Spec : MR-50RMA (Housing), MR-50LF (Plug) , Manufacturer : HONDA
18 SHIELD 17
16 POSO2
15 POSO1
14 POSO0 13
1 GND
32 POSO5
31 POSO4
30 POSO3 29
38 37
36 COM3
35 SVRDY 34
33
Trang 152.3 Flow chart of CN2 connector terminal
2.3.1 Flow chart of CN2 connector terminal of DASD-RH10SPZA, DASD-RH20SPZA
규격 : 10220-52A2JL (Housing), 10120-3000VE (Plug), Manufacturer : 3M
2.3.2 Flow chart of CN2 connector terminal of DASD-RH35SPZB
Spec : MR-20RMA (Housing), MR-20LF (Plug) , Manufacturer : HONDA
7 6 5 4
9 8
20 SHIELD
19
BAT-18 BAT+
17 16
15 PRX/
14 PRX
Trang 162.4 Structure of driver Input/Ouput circuit
5mA
AC SERVO DRIVE
+24V
COM1 COM2
L O D
+24V
50mA max
AC SERVO DRIVE
Trang 17STOP JOG - JOG + SVON
sensor
COM3 SVRDY ALM
BRAKE + BRAKE -
COM2 START POSI6 POSI5 POSI4 POSI3 POSI2 POSI1 POSI0
COM4 VPF
POSO5 POSO4 POSO3 POSO2 POSO1 POSO0
GND
FG
L1 (R) L2 (S) L3 (T)
U V W PE
A B C D E F K L M N P R H G
J
F I B D E G H DC24V RY2
SHIELD
3 4 23 20 22 21
11 10 30 29
5 13
9 8 7 6 28 27 26 25 24
15 16 14 36 35 34 33 32 31
17 1 2 19
6 7 8 9 10
16 15 14
17 18 19 1 11 2 12 3 13 20
RX RX
+5V GND VBAT- VBAT+
RY1
RY2
RY1 MC1 MC1
NOISE FILTER
AC SERVO MOTOR
TURRET SERVO DRIVE NC
12
POWER OFF POWER ON
3 Phase AC 220V
SEQUENCE INPUT DC24V
1. ; Twisted Pair Shielded Cable
2 Use for Built-In Brake Type Motor
Trang 182.5.2 Connection diagram of DASD-RH35SPZB
Trang 19(Maintain ON status of START signal to about 50msec~100msec)
When the operation is started and UNCLAMP SENSOR will turn on after UNCLAMP SOLENOID is ON.After UNCLAMP SENSOR is ON, this signal waits for the fixed time of parameter 31
When movement is started, VPF(inposition signal) will turn 'OFF'
From the upper controller, if VPF signal is 'ON', please turn 'OFF' the SVON signal
⑥
(Move to the next position after SVRDY signal is OFF)
Trang 203.2 Method of machine reset
When assembling the first motor, please set the zero-point of absolute encoder to thestatus of original machine
The Setting method is as follows
(The below steps should be done when the external servo signal is OFF.)
Turn 'ON' the power to the machine power supply
Trang 21Press SET key and the dot under first two segments will disappear.
⑤
The data will be stored and the dot will appear after a while
The display will turn back to the former status (After turn off the power and then turn on
it again, the stored data will be displayed)
Trang 22press for 5 secs.
Turn OFF the power and then ON again The zero-point setting is completed.ꊵ
Trang 234 Explanation of each mode display
Trang 24it will be displayed and divided into lower and upper word(16bit).
When SVON signal is off, it will resume to '0'
: Lower word display range of command pulse accumulation value[00000 ~ 65535]
: Upper word display range of command pulse accumulation value[00000 ~ 65535]
Current position
②
The absolute current position within one turret rotation will be displayed by pulse counts
It will be displayed and divided into lower and upper word(16bit)
Display range [00000 ~ pulse per turret rotation]
: Lower word of current position
: Upper word of current position
Remaining pulse
③
It will display the Error capacity between position command and position feedback as
accumulating the pulse unit If the pulse exceeds over the set value of the parameter 19,the overload alarm of position deviation will appear
If the value is minus pulse, the dot under the segment will light up and when SVON signalturns OFF, it will resume to '0'
: Display range of remaining pulse accumulation value[6.0.0.0.0.0 ~ 600000]
: minus display (-100)