This document describes the FALDIC-W Series servo systems, including servo amplifiers and servomotors, their operation, specifications, and system configuration.
Servo Amplifier
The FALDIC-W Series servo amplifier is a key component for precise motor control. It supports both single-phase and 3-phase power supplies, with voltages ranging from 200 to 230 V AC at 50/60 Hz. The control system utilizes IGBT PWM sinusoidal PWM drive for efficient and smooth operation.
Key Functions:
- Sequence Input/Output: Features assignable functions for servo ON, over-travel detection, emergency stop, P-action, free run command, anti-resonant frequency selection, control mode switching, external regenerative resistor overheat, and alarm reset. Sequence outputs provide signals for servo ready, positioning complete, servo alarm detection, dynamic braking control, deviation zero, speed zero, and current limit detection.
- Encoder Signal Output: Offers pulse output settings from 16 to 32768 pulses/rev, with line driver output for A, B, and Z phases, and open collector output for the Z-phase.
- Monitor Output: Provides analog voltage output for signal measurement (alternating/pulsating) of speed command, speed return, torque command, positional deviation, and pulse command frequency. Output voltage scale and offset are parameter-adjustable.
- Position Control: Supports a maximum command pulse frequency of 1 MHz (differential) or 200 kHz (open collector). Compatible with RS-422 line driver signals and open collector signals. Command pulse correction is available, allowing for precise adjustment of the position pulse. Functions like command pulse correction selection and deviation clear can be assigned to sequence inputs.
- Speed Control: Offers a wide speed control range of 1:5000. Acceleration and deceleration times are independently settable from 0 to 10 seconds per 2000 r/min, with S-curve acceleration/deceleration capability. Speed control can be achieved via analog voltage commands (±10 V input) or by setting internal parameters for three distinct speeds. Multi-speed selection and forward/reverse operation can be assigned to sequence inputs.
- Torque Control: Allows torque control via analog voltage commands (±10 V input), with adjustable voltage-torque scale and offset. Forward and reverse operation can be assigned to sequence inputs.
- Regenerative Braking: Supports regenerative braking to the DC intermediate circuit, with an option for external regenerative resistor installation.
- Additional Functions: Includes zero clamp function, vibration suppressing control, notch filter, easy tuning, and brake timing output.
- Protection: Comprehensive protection features against overcurrent (OC1, OC2), overspeed (OS), overvoltage (Hv), encoder error (Et), control power error (Ct), memory error (dE), regenerative transistor overheat (rH2), encoder communication error (EC), CONT duplication (Cnt), overload (OL), insufficient voltage (LV), regenerative resistor overheat (rH1), excessive deviation (OF), and amplifier overheat (AH).
- Working Conditions: Designed for indoor use at altitudes up to 1000 m, with an ambient temperature range of -10 to +55 °C and humidity of 10 to 90 %RH (without condensation). Vibration resistance is 49 m/s² (4.9 m/s² for working conditions). Conforms to UL/cUL (UL508c) and CE Mark (low voltage directive EN50178).
Interface Specifications:
- I/O Signal: Pulse train input (CA, *CA, CB, *CB, PPI) with selectable pulse train forms. Drive power supply input for open collector input (+24 V DC). Frequency dividing output (FFA, *FFA, FFB, *FFB, FFZ, *FFZ, FZ, M5) with differential and open collector outputs, settable from 16 to 32768 pulses/rev. Analog input (Vref) for speed and torque commands (±10 V, 20 kΩ input impedance). Power input for sequence signals (+24 V DC). Sequence input signals (CONT1 to CONT5) are ON when connected to M24 (+24 V DC/10 mA per point). Sequence output signals (OUT1 to OUT4) are ON when connected to M24 (30 V DC/50 mA max.). Monitor output (MON1, MON2) provides analog voltage output for signal measurement.
- Communication: Two RS-485 ports, start-stop synchronization, four-wire type duplex transmission, baud rates of 9600, 19200, 38400 bps, and supports up to 31 axes.
Physical Dimensions:
- Frame 1: Mass 1.0 kg.
- Frame 2: Mass 1.5 kg.
- Frame 3: Mass 2.5 kg.
Servomotor
The FALDIC-W Series servomotors are available in low inertia (GYS motor) and middle inertia (GYG motor) series, designed for various applications requiring precise motion control.
Low Inertia Series (GYS motor) 3000 r/min:
- Rated Output: From 0.05 kW to 0.75 kW.
- Rated Torque: From 0.159 N-m to 2.39 N-m.
- Max. Torque: From 0.478 N-m to 7.17 N-m.
- Rated Speed: 3000 r/min.
- Max. Speed: 5000 r/min.
- Moment of Inertia: From 0.0192×10⁻⁴ kg-m² to 0.853×10⁻⁴ kg-m².
- Rated Current: From 0.85 A to 4.8 A.
- Max. Current: From 2.55 A to 14.4 A.
- Winding Insulation Class: Class B.
- Operation Duty Type: Continuous.
- Degree of Enclosure Protection: Totally enclosed, self-cooled (IP67, excluding shaft sealing and connectors).
- Terminals: Motor and encoder terminals with 0.3 m flexible leads and connectors.
- Overheat Protection: Not provided (servo amplifier detects temperature).
- Mounting Method: By securing motor flange IMB5 (L51), IMV1 (L52), IMV3 (L53).
- Shaft Extension: Straight shaft with a key.
- Paint Color: N1.5.
- Encoder: 17-bit encoder.
- Vibration Level: V5 or below.
- Installation Place, Altitude: Indoor use, 1000 m or below.
- Ambient Temperature, Humidity: -10 to +40 °C, 90% RH or below (without condensation).
- Vibration Resistance: 49 m/s².
- Mass: From 0.45 kg to 3.4 kg.
- Motor with a Brake: Available with rated DC voltage 24 V DC. Attraction time 35-60 ms, release time 10-25 ms. Brake input 6.1-8.5 W. Mass from 0.6 kg to 4.2 kg.
Middle Inertia Series (GYG motor) 2000 r/min, 1500 r/min:
- Rated Output: From 0.5 kW to 2.0 kW.
- Rated Torque: From 2.39 N-m to 9.55 N-m.
- Max. Torque: From 7.2 N-m to 28.6 N-m.
- Rated Speed: 2000 r/min or 1500 r/min.
- Max. Speed: 3000 r/min.
- Moment of Inertia: From 7.96×10⁻⁴ kg-m² to 29.51×10⁻⁴ kg-m².
- Rated Current: From 3.5 A to 12.3 A.
- Max. Current: From 10.5 A to 36.9 A.
- Winding Insulation Class: Class F.
- Terminals: Cannon connectors for motor and encoder.
- Vibration Level: V10 or below.
- Mass: From 5.3 kg to 12.0 kg.
- Motor with a Brake: Available with rated DC voltage 24 V DC ± 10%. Attraction time 120 ms, release time 30 ms. Brake input 14 W (at 20 °C). Mass from 8.3 kg to 15.0 kg.
Usage Features
- Keypad Operation: The keypad allows access to functions similar to the personal computer loader, enabling mode changes, data setting digit shifts, and value adjustments.
- Personal Computer Loader: Software can be downloaded from the Fuji Electric website. It provides real-time and historical trace functions for speed and torque curves, monitoring of I/O and alarm history, parameter editing and transfer, communication settings, easy tuning for automatic servomotor reciprocation, and servo analysis for resonance/antiresonance points and Notch Filter effects.
- System Configuration: Detailed diagrams illustrate connections for circuit breakers, AC reactors, power filters, power cables, encoder cables, and external regenerative resistors.
- Cable and Connector Correspondence: Tables provide guidance on selecting appropriate cables and connectors for various motor series, rated speeds, and brake configurations.
- Peripheral Devices: Lists recommended peripheral devices such as circuit breakers, earth leakage circuit breakers, magnetic contactors, surge absorbers, AC reactors, power filters, and external regenerative resistors, along with their specifications and applicable motor outputs.
Maintenance Features
- Alarm History: The personal computer loader allows monitoring of alarm history, aiding in troubleshooting and maintenance.
- Parameter Initialization: Parameters can be initialized via the personal computer loader, facilitating system resets or configuration changes.
- Easy Tuning: The easy tuning function simplifies the adjustment of auto tuning gain, optimizing performance for specific machine systems.
- Servo Analysis: Provides tools to inspect resonance and antiresonance points and check the effect of the Notch Filter, which can help in diagnosing and resolving vibration issues.
- Protection Functions: Built-in protection against various errors (overcurrent, overspeed, encoder error, etc.) helps prevent damage to the device and provides diagnostic information.
Safety Precautions
- Users must read instruction manuals and understand correct usage before operating the servo systems.
- Products are not designed for systems affecting human lives; consultation with the sales office is required for special purposes.
- Appropriate safety measures must be taken when using the product with equipment that could cause serious injury or property damage in case of failure.
- The connection diagram is a reference; actual wiring should follow the user's manual.
The document also highlights Fuji Electric's commitment to quality and environmental management, with certifications for ISO14001 and ISO9001.
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