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Dynaserv G3

Servo Drive

Digital Servo Drive for Direct-Drive Motors

The Dynaserv is a family of direct-drive servo systems for industrial and high-tech applications. Direct-drive systems are integrated positioning systems that allow the elimination of mechanical transmissions and allow the load to be mounted directly to the motor. This creates an extremely highperformance system that can simplify and increase the performance of many machine types. The Dynaserv G3 is the latest generation drive of the Dynaserv family and provides optimal control of a direct-drive system. The G3 is an all-new digital drive with implementation of the advanced control and filtering algorithms needed to control a direct-drive motor. The G3 can operate in torque, velocity, or position control modes. The G3 comes with a modern Windows-based software utility that makes the set-up of the Dynaserv system easy and fast via RS232 or RS485 communication. When operated in position mode, the Dynaserv has an auto-tune utility that allows quick and easy setting of the tuning parameters. Digital implementation of the low pass and notch filtering makes mechanical resonance abatement far easier than in earlier models. Simple motion control functions can be obtained without an external controller. The G3 contains a motion table that allows the storage of indexing moves that can be initiated through a serial command or commanded via discrete inputs. When used with a PLC using multiple inputs, the G3 can be used to achieve high-performance motion and handle complex tasks. The Dynaserv is UL recognized and meets the requirements for CE certification. The G3 has additional innovative safety features such as a controlled stop after power failure and a servo disable switch on the front panel of the drive. Since the Dynaserv motor is capable of handling very large loads, the G3 has special circuitry to monitor power regeneration to the drive. The G3 is a very flexible design allowing operation of the all the DM series motor models and the standard DR series motors. The G3 is also compatible with the Linearserv linear motor system.

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

Safety and Standard

· · · · Reduction of unexpected move at power failure Regeneration power monitoring UL, CE Servo disable switch on front panel

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

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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

Ext. Dimensions Weight Conformed Stand. Resistance & Pressure

Insulation resistance: 10 M or more (DC500V) Insulation pressure: 1500VAC 1 min

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

Mechnical Input Signal Control Section

Pos. Control Velocity Control Feed Forward Filter

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)

Operation Functions Protection Functions

Monitor Operation/Display

Miscellaneous

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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

DR Series Motor Data

Model 1008B Peak torque ft-lbs (Nm) ft-lbs (Nm) rps 6 (8) 2.2 (3) 2.0/2.0 Model 1015B 11 (15) 3.7 (5) 2.0/2.0 Model 1045B 33 (45) 11 (15) 1.0/2.0 Model 1070E 52 (70) 16.9 (23) 1.5/2.0 Model 1130E 96 (130) 31.7 (43) 0.5/1.0 Model 1100A 74 (100) 24.3 (33) 1.0/1.0 Model 1200A 148 (200) 49.4 (67) 0.5/1.0 Model 1400A 295 (400) 98 (133) 0.25/0.5

Rated torque

Rated speed, 115/230VAC Maximum power consumption Rotor inertia Max resolution Motor weight

KVA oz-in2 x 102 (Kgm2 x 10-3) lbs (kg)

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

DR5000 Series­Motor Data

Model 5005C Peak torque Rated speed Rotor inertia Resolution Motor weight Rated torque Maximum static axial load* · Compression · Tension Maximum static overhung load* Maximum power ft-lbs (Nm) rps oz-in2x102 (kgm2)x10-3 Steps/rev lbs (kg) ft-lbs (Nm) 2.8 (3.8) 6 3.28 (0.006) 212,992 11.0 (5.0) 1.4 (2) Model 5015C 10.3 (14) 6 4.37 (0.008) 212,992 15.4 (7.0) 3.7 (5) Model 5030B 22 (30) 4 4.4 (8) 278,528 15.4 (7.0) 7.3 (10) Model 5070B 52 (70) 4 19.7 (36) 278,528 38.5 (17.5) 16.9 (23)

*

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

For G3 speed-torque curves, log on to parkermotion.com

lbs lbs ft-lb KVA

1124 674 15 1.0

1124 674 15 1.0

6600 2200 148 3.6

6600 2200 148 3.6

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0.7 7.9 (15) 507,904 13 (6)

1.0 11 (21) 507,904 20 (9)

1.8 14 (26) 507,904 29 (13)

2.0 46 (85) 614,400 49 (22)

2.5 68 (125) 614,400 70 (32)

2.5 109 (200) 819,200 68 (31)

3.0 156 (285) 819,200 101 46)

3.2 219 (400) 819,200 150 (68)

DM Series

Catalog 8000-4/USA

DYNASERV

DM Series ­ Motor Data

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

Model 1030B 22 (30) 2.0 2.0 8.2 (15)

655,360

Model 1045B 33 (45) 1.0 2.0 10.4 (19)

655,360

Model 1050A 37 (50) 1.0 1.0 52.5 (96)

1,024,000

Model 1100A 74 (100) 1.0 1.0 65.1 (119)

1,024,000

Model 1150A 111 (150) 0.5 1.0 77.6 (142)

1,024,000

Model 1200A 148 (200) 0.5 1.0 91.3 (167)

1,024,000

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

lbs (kg) lbs lbs ft-lbs KVA

12 (5.5) 6,600 2,200 148 1.6

17 (7.5) 6,600 2,200 148 2.0

21 (9.5) 6,600 2,200 148 2.0

32 (14.5) 8,800 4,400 296 2.4

42 (19) 8,800 4,400 296 2.7

53 (24) 8,800 4,400 296 3.0

64 (29) 8,800 4,400 296 3.0

* 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

DM1004 Motor Data Specifications

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 specified at right:

Application

Smooth, rotary motion 1/3 Intermittent press loading 1/5 Repetitive shock loading 1/10

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Dynaserv G3 External Dimensions (mm) 500W Class

Servo Drive

(60) 20 ±0.2 15

40 ±0.5 (80) 60 ±1

Operation Display Panel (Optional)

4-M3 150 ±1 (160) 4

Mount

(60) 50 ±0.2

4-M4

195 ±1

39 ±0.2 30.5

2kW Class

(100)

185 ±0.5

(195)

40 ±0.5 (80) 100 ±1

Operation Display Panel (Optional)

4-M4 200 ±1 (210)

Mount

(100) 90 ±0.2

4-M4

195 ±1

Operation Display Panel (Optional )

G3-Panel This optional display panel offers the ability to display and set various parameters, and display alarms. Connect to CN1 on the drive

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185 ±0.5

(195)

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Dynaserv G3

Connectors & Terminals Number Power Section

TB1 TB2 TB3 GND

Power supply terminal Motor terminal Regen. resistance terminal GND terminal

Servo Drive

Item

Connector Part Number

Connector: 231-204/026-000 (WAGO) Connector: 231-203/026-000 (WAGO) Connector: 231-202/026-000 (WAGO) M4 solderless terminal

Description

Remark

For main & control power supply For motor power cable For regeneration resistor Protection ground

Standard Standard Standard

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

TB1: Power Supply Terminal Pin No. 1 2 3 4 Signal

LINE (CONT) L LINE (CONT) N LINE (MAIN) L LINE (MAIN) N

TB2: Motor Terminal Definition

AC input for control circuit AC input for control circuit AC input for main power AC input for main power

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

TB3: Regeneration Resistance Terminal Pin No. 1 2 Signal

RES + RES -

Sensor Input Specifications

Rated voltage 12 - 24VDC (± 10%) 4.1mA/point (at 12VDC) 8.5mA/point (at 24VDC) 3.0k Ohms 3.0VDC when power is OFF 9.0VDC when power is ON To be off at less than 1.0mA

CN1: Serial Interface Connector (RS232C/485)

Definition

Regeneration resistance + Regeneration resistance -

Rated input current Input impedance Operating voltage (for COMPO)

TB4: SensorTerminal Pin No. 1 2 3 4 5 6 Signal

COMPO XORG XOTD XOTU ERR + ERR -

Allowable leakage current

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

CN3: Analog Monitor Connector

TB4: Sensor Terminal

CN4: Controller Interface Connector

Regeneration Error Output

Max. working voltage Max. output current 30VDC 50mA

CN2: Encoder/ Resolver Connector

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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

Signal GND terminal

CN4: Controller Interface Connector

Pin

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 Shield

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

CN3: Analog Monitor Connector

Pin

1 2 3 4 5 6 7 8 9 10

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

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Dynaserv G3

Servo Drive

How to Order Dynaserv G3

D

Model Series Name M - Encoder R - Resolver Motor Speed 1 - Standard (up to 2.0 rps) 5 - High speed (up to 5.0 rps) Peak Torque (Nm) 004 - 400 Motor Diameter A - 10" B - 6" C - 4" E - 8" Input AC Voltage - 115 - 230 B - 5V I/O

G3 --

--

Accessories Part Number

G3-Panel 71-025183-06 71-023715-XX 71-023716-XX G3-R7041WC 71-025063-XX

Description

Display panel Comm cable ACR to G3 6K to G3 Analog monitor board0237 6K to G3 with leads for drive I/O

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Information

pgs153_186_dynaserv

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