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Servo Drive
Features Performance
High resolution up to 4,096,000 pulses/rev, four times the resolution of previous model Advanced control and filtering designed for direct drive Low pass, notch and velocity loop filters Small footprint
Operation
Operation display panel (optional) for diagnostic information and parameter changes Windows utility software
Easy to Use
Operates in position, velocity or torque modes Auto-tuning function Built-in index move capability User-configurable I/O RS232C/485 interface Screwless terminal strip connections Error/alarm history log Motorless operation for easy set-up and configuration of the drive
Automation
Dynaserv G3
Specifications
500W Class
Power
Power Supply Control Max. Consumption 100~115VAC / 200~230VAC +10%/-15% 100~115VAC / 200~230VAC +10%/-15% 1.3kVA
Servo Drive
2kW Class
50 / 60 Hz single phase 50 / 60 Hz single phase 3.4kVA
Environment
Temperature Humidity Atmosphere 0~ +50 (operation) / -20~ +85 (storage) 20~90%RH no condensing (operation and storage) No corrosive gases, dust-free atmosphere. Do not operate in locations exceeding 1000 m above sea level Panel mount NA External 60 W x 195 H x 150 D (mm) 1.2kg Low voltage (declaration) EN50178 (declaration) Built-in DC fan Built-in 100 W x 195 H x 200 D (mm) 2.5kg EN55011 class A group 1, EN61800-3
Construction
Installation Fan Regen. Resistor
Encoder Resolution
Dynaserv DMG31XXXA: 4,096,000 pulse/rev DMG31XXXB: 2,621,440 pulse/rev DMG31XXXC: 2,621,440 pulse/rev DRG31XXXA: 1,638,400 pulse/rev DRG31XXXB: 1,015,808 pulse/rev DRG31XXXE: 1,228,800 pulse/rev DRG35XXXB: 557,056 pulse/rev DRG35XXXC: 425,984 pulse/rev
(1,024,000 pulse/rev) (655,360 pulse/rev) (655,360 pulse/rev) (819,200 pulse/rev) (507,904 pulse/rev) (614,400 pulse/rev) (278,528 pulse/rev) (212,992 pulse/rev)
Serial Interface
Communication Communication speed Multi-channel (RS485) Pos. command pulse (input) 5V TTL Pos. monitor pulse (output) 5V TTL Contact I/O Analog input 10 or 6
Start-stop system, binary communication 38,400bps Maximum 10 channels [PLS-SIGN (STEP-DIR)], [UP-DOWN], [A-B encoder] [UP-DOWN], [A-B encoder] 5V TTL 12 for input, 6 for output (with user-configurable function) 5V (12V to 24V as custom) Velocity, Torque/thrust command Torque/thrust limit, torque/thrust feed forward
Controller Interface
Home sensor, end or travel (EOT) I-PD control, PID control Proportional control, PID control Position, velocity and acceleration Velocity command, velocity feedback, phase delay compensation and notch (2ch) filters Homing, test, auto-tuning, positioning and jog move functions Encoder error, over voltage, over current, low bus line power voltage, power failure, over load, Regen. error detection, over speed, excessive pos.deviation, hardware EOT and software EOT (for linear coordinate) Velocity, current instruction, analog (2ch) and digital (2ch) Operation display panel (optional) Operation display pedant (optional) Utility software Servo deceleration function at power failure (immediate stop) Dynamic brake (as custom)
Monitor Operation/Display
Miscellaneous
Automation
Dynaserv G3
DR Specifications
DR1XXXA
Repeatability arc-sec Accuracy arc-sec 3 30
Servo Drive
DR1XXXB
3 45
DR1XXXE
3 45
DR5XXXE
4 90
DR5XXXB
5 90
DR5XXXC
5 150
Rated torque
Rated speed, 115/230VAC Maximum power consumption Rotor inertia Max resolution Motor weight
Maximum static axial load* Compression Tension Maximum static overhung load*
lbs lbs
6,744 2,248
6,744 2,248
6,744 2,248
8,992 4,496
8,992 4,496
8,992 4,496
8,992 4,496
8,992 4,496
ft-lb
148
148
148
295
295
295
295
295
When designing a system, derate the maximum load to the values shown below:
De-rate Factor 1/3 1/5 1/10
Application Smooth, rotary motion Intermittent press loading Repetitive shock loading
Automation
DM Series
Catalog 8000-4/USA
DYNASERV
Model 1015B ft-lbs (Nm) 115VAC 230VAC oz-in2 x 102 (Kgm2) x 10-3 11 (15) 2.0 2.0 6.6 (12)
655,360
Peak torque
Rated speed rps Rotor inertia Maximum steps/rev Motor weight* Maximum static axial load** Compression Tension Max. static overhung load** Max. power consumption
* Drive weight is 13.2 lbs (6 kgs) ** When designing a system, de-rate the maximum load to the values shown at right:
Application
De-rate Factor
Smooth, rotary motion 1/3 Intermittent press loading 1/5 Repetitive shock loading 1/10
DM1004B
Peak torque ft-lbs (N-m) Rated speed rps Rotor inertia Maximum step Motor weight* Maximum static axial load** Compression Tension Maximum power consumption 115VAC 230VAC oz-in2 x 102 (Kgm2) x 10-3 s/rev lbs (kg) lbs (kg) lbs (kg) KVA 3 (4) 2.5 2.5 3.01 (5.5) 655,360 6.6 (3) 11.25 (5.1) 11.25 (5.1) 0.3
DM1004C
3 (4) 2.5 2.5 1.37 (2.5) 655,360 6.6 (3) 11.25 (5.1) 11.25 (5.1) 0.3
De-rate Factor
* Drive weight is 4 lbs (1.8 kgs) ** When designing a system, de-rate the maximum load to the values specied at right:
Application
Smooth, rotary motion 1/3 Intermittent press loading 1/5 Repetitive shock loading 1/10
Servo Drive
(60) 20 0.2 15
40 0.5 (80) 60 1
Operation Display Panel (Optional)
Mount
(60) 50 0.2
4-M4
195 1
39 0.2 30.5
2kW Class
(100)
185 0.5
(195)
Mount
(100) 90 0.2
4-M4
195 1
Automation
185 0.5
(195)
Dynaserv G3
Connectors & Terminals Number Power Section
TB1 TB2 TB3 GND
Power supply terminal Motor terminal Regen. resistance terminal GND terminal
Servo Drive
Item
Description
Remark
For main & control power supply For motor power cable For regeneration resistor Protection ground
Control Section
TB4 CN1 CN2 CN3 CN4
Sensor terminal Serial interface connector (RS232C/485) Encoder/resolver connector (RS232C/485) Analog monitor connector Controller interface connector Connector: 733-106 (WAGO) Connector: DA-15PF-N (Hirose) Cover: DA-C8-J10-F4-1 Connector: PCR-S20F (Honda) Cover: PCR-LS20LA1 Monitor card G3-R7041WC Connector: PCR-S36FS (Honda) Cover: PCR-LS36LA For home sensor EOT For operation display panel, operation display pendant & PC For encoder and resolver cable For encoder and resolver cable For monitors & oscilloscope For connection to PLC For connection to PLC Standard Optional Optional Optional Optional Optional Optional Optional
Pin No. 1 2 3
Signal
VA VB VC
Definition
Output of phase A of motor Output of phase B of motor Output of phase C of motor
Definition
Regeneration resistance + Regeneration resistance -
Definition
Sensor power Home input B-contact - EOT input B-contact + EOT input B-contact Regeneration error output + Regeneration error output TB1: Power Supply Terminal
TB3: Regen. Resistance Terminal
TB2: Motor Terminal
GND Terminal
Automation
Dynaserv G3
CN1: Serial Interface Connector
Pin
1 2 3 4 5 6 7 8 9 10 11 12 13 14
Servo Drive
CN2: Encoder/ Resovler Connector
Signal
Type DM1B004/006 Type DM (excl. left-hand side models) Type DR
Signal
FG RxD TxD A Y 485SW TRMP CN1SW +5V SG B Z SG TRMN
Definition
Frame GND signal (shield) RxD terminal RS232C single-channel comm. TxD terminal RS232C single-channel comm. Rx (+) side terminal RS485 multi-channel comm. Tx (+) side terminal RS485 multi-channel comm. Busy condition bit RS485 multi-channel comm. Terminator terminal RS485 multi-channel comm. (short circuit to #14 TRMN) Busy condition bit CN1 +5V power (operation display panel and pendant) Do not connect in RS232C/485 communication Signal GND terminal Rx (-) side terminal RS485 multi-channel comm. Tx (-) side terminal RS485 multi-channel comm. Signal GND terminal Terminator terminal RS485 multi-channel comm. (short circuit to #7 TRMP)
Pin
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Type CM1C-004
+10V SIG 0 SIG 1 ECLK+(3V) GND GND GND ECLK-(3V) Shielding wire
+10V SIG 0 ECLK+(10V) SIG 1 ZERO+ GND ECLK-(10V) GND GND ZEROShielding wire
+S0 -S0 -C0 +C0 +S180 -S180 -C180 +C180 FG/Shielding wire
15
SG
16 17 18
Signal
COMP1 COMPN1 DO_0 DO_1 DO_2 DO_3 DO_4 DO_5 UA_OUT+ UA_OUTDB_OUT+ DB_OUTZ_OUT+ Z_OUTPUA_IN+ PUA_INSDB_IN+ SDB_INDI_0 DI_1 DI_2 DI_3 DI_4 DI_5 DI_6 DI_7 DI_8 DI_9 DI_10 DI_11 (NC) (NC) ASUB_IN+ ASUB_INACMD_IN+ ACMD_IN-
Definition
Interface power supply Interface power supply I/O output I/O output I/O output I/O output I/O output I/O output Position present pulse 1+ Position present pulse 1Position present pulse 2+ Position present pulse 2Z-pulse Z-pulse Position command pulse 1+ Position command pulse 1Position command pulse 1+ Position command pulse 1I/O input I/O input I/O input I/O input I/O input I/O input I/O input I/O input I/O input I/O input I/O input I/O input
19 20 case
Signal
VEL AMON1 AMON2 DMON1 DMON2 TR TT T6 <prohibited> GND
Definition
Velocity monitor terminal Analog monitor terminal 1 (general purpose monitor) Analog monitor terminal 2 (general purpose monitor) Digital monitor terminal 1 (general purpose monitor) Digital monitor terminal 2 (general purpose monitor) Current command Reserved Reserved Reserved do not connect any line GND terminal for monitor
Analog sub (auxiliary input) Analog sub (auxiliary input) Analog command input Analog command input Shield treatment terminal
Automation
Dynaserv G3
Servo Drive
G3
Description
Display panel Comm cable ACR to G3 6K to G3 Analog monitor board0237 6K to G3 with leads for drive I/O
Automation