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Sankyo 11AR manual

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Table of contents for the manual

  • Page 1

    SERVO DRIVE TYPE OPER A TION AND MAINTENANCE MANUAL 11AR ALPHA SERVO DRIVE INDEX Optimum Reliability in Motion Control[...]

  • Page 2

    1 1 Preface Thank you for purchasing a SANDEX product. These instructions cover installation procedures , linkage procedures , and maintenance precautions to be followed to ensure maximum performance from this product . Please read these i nstructions carefully before installing or trial operating of this product . After unpacking , make sure the p[...]

  • Page 3

    2 2 0=Single phase 200 to 230VAC for 7AR & 9AR 1=Three phase 200 to 230VAC for 11AR & 15AR 2=Three phase 380 to 480VAC for 11AR & 15AR f: Controller Type of controller Availability : 0=Standard x=Special requirements g: Cable Type of cables Availability : 0=3 meters length, w/o conduit 1=5 meters l ength, w/o conduit 2=10 meters length,[...]

  • Page 4

    3 3 Safety Precautions  S ymbols to ensure the safe and proper use of the Variax The following symbols are used this manual where safety precautions must be observed. Read and understand the meanings of these symbols to ensure the safe and proper use of Variax. Failure to obey t hese precautions can cause machine problems, accidents, or other un[...]

  • Page 5

    4 4 Contents PREFACE PREFACE SAFETY PRECAUTIONS SAFETY PRECAUTIONS SAFETY PRECAUTIONS SAFETY PRECAUTIONS 3 3   S S YMBOLS TO ENSURE THE YMBOLS TO ENSURE THE SAFE AND PROPER USE SAFE AND PROPER USE OF THE OF THE V V ARIAX ARIAX 3 3 1. OPERATING THEORY 1. OPERATING THEORY 6 6 2. HANDLING YOUR SA 2. HANDLING YOUR SA NDEX NDEX 7 7 2.1 2.1 I I DEN[...]

  • Page 6

    5 5 5. 6 5.6 D D ATA SWITCH SETTING S ATA SWITCH SETTINGS 2 2 22 6. HANDLING PROCED U 6. HANDLING PROCED U RES FOR TH E RES FOR TH E OUTPUT SHAF T OUTPUT SHAFT 2 3 23 6. 1 6.1 T T ABLE TYPE OUTPU T ABLE TYPE OUTPUT 2 3 23 7. LUBRICATIO N 7. LUBRICATION 2 4 24 4. 5 4.5 P P URPOSE OF LUBRICATI O URPOSE OF LUBRICATI O N N 2 4 24 7. 2 7.2 O O IL SELECT[...]

  • Page 7

    Unit 2 Handling your Sandex 6 6 1. Operating theory SANDEX units operate based on the following principal. A globoidal cam is mounted onto the input shaf t. This cam interlocks with the turret portion of the output shaft. The turret has cam followers along its perimeter, which are in contact with the tapered ribs on the cam. This contact or pressur[...]

  • Page 8

    Unit 2 Handling your Sandex 7 7 2. Ha ndling your SANDEX Over 90% of the mechanical failures reported with roller gear cam equipment comes from careless or improper handling. Improper hand ling not only reduces the life of your SANDEX unit, it can also a ffect the performance of both the SANDEX unit and your machine. 2.1 Identifying Alpha Servo lay[...]

  • Page 9

    Unit 3 Transportation and environment 8 8 3. Transportation and Environment 3.1 Shipping condition (1) All SANDEX products are thoroughly inspected after the final assembly. Only those products that pass this inspection are shipped. (2) Before shipped, each SA NDEX unit is filled with lubrication oil in accordance to the customer ’ s operating sp[...]

  • Page 10

    Unit 3 Transportation and environment 9 9 oil seal may wear and thereby cause oil leaks. This is particularly evident when chemicals are used. Chemicals can also cause and  or accelerate rust and corrosion. When using your SANDEX unit in dusty areas, you should consider using protective covers made from stainless steel or plastic. If the locatio[...]

  • Page 11

    Unit 4 Installation 10 10 4. I nstallation Another crucial factor to the performance of your SANDEX unit is the operating environment. Make an early review of the location for your SANDEX unit and take any correctiv e actions necessary. 4.1 Casing main body (1) Always use the lifting bolt holes provided on the housing of your SANDEX unit. Do not li[...]

  • Page 12

    Unit 4 Installation 11 11 4.2.2 Installation Site The following precautions apply to the installation site 4.2.3 Orientation Install the servo amplifier perpendicular to the wall as shown in the figure. The servo amplifier must be oriented this way because it is designed to be cooled by natural convection or by a cooling fan. Secure th e servo ampl[...]

  • Page 13

    Unit 4 Installation 12 12 4.2.4 Wiring Three Phase 200VAC[...]

  • Page 14

    Unit 4 Installation 13 13 4.2.5 Wiring Three Phase 400VAC[...]

  • Page 15

    Unit 4 Installation 14 14 4.3 Controller 4.3.1 Mounting the MP940 1. Insert the two mounting tabs on the bottom of the MP940 into the mounting holes on the lower right side of the SGDH. 2. Pressing in the direction of the arrows, insert the mounting tabs on the top of the MP940 into the mounting holes on the top right side of the SGDH. 3. Insert th[...]

  • Page 16

    Unit 4 Installation 15 15 4.3.2 Connection of Periphe ral Devices Motor power, and encoder are standard cables that are supplied by Sankyo America Inc. The I/O connections are made by one of two options (see 4.4.2). The source power cables will be supplied by the customer. Switch Box Or PLC[...]

  • Page 17

    Unit 4 Installation 16 16 4.4 Wiring 1.) Pow er Supply Connector Cable Supplies DC +24V 400mA power supply to the MP940 module. The connectors use a screw - mount terminal block BL3, 5/3F - AU (Weidmuller, Inc.). Pin# Signal Name Name 3 +24V +24VDC input 2 GND 0V 1 FG Frame ground 2.) Input Cable Prep aring Procedure Use a twisted pair with a wire [...]

  • Page 18

    Unit 4 Installation 17 17 4.4.1 I/O Circuits 24V 100mA output load signals 17.4 - 28.8VDC 5.3mA rated current[...]

  • Page 19

    Unit 4 Installation 18 18 4.4.2 Controller I/O connections The pigtail cable, and the cable with terminal block are available options for your connection Note: N/A connections are not needed for the Alpha Servo application.[...]

  • Page 20

    Unit 5 Operati on 19 19 5. Operation Generally, automated machinery using SANDEX units are complicated in design. This is based on the large number of linkage involved. Such machinery generally uses the cams and linkages for obtaining overlapped movements. However, one will almost always encounter interference problems if he operates the equipment [...]

  • Page 21

    Unit 5 Operati on 20 20 5.3 I/O timing chart while in jog mode A) Input Signals 1) Servo ON : This signal will activate the driver and await user commands. If there are no errors the ready output signa l will also be activated. 2) Auto/Jog : This signal will cause the controller to go into jog mode and await a start signal. 3) Start : While in jog [...]

  • Page 22

    Unit 5 Operati on 21 21 5.4 I/O timing chart while in automatic mode C) Input Signals 1) Servo ON : This signal will activate the driver and await user commands. If there are no errors the ready output signal will also be activated. 2) Auto/Jog: This signal is not activated causing the controller to begin auto mode and await a start signal. 3) Star[...]

  • Page 23

    Unit 5 Operati on 22 22 5.5 Indexing time vs. stops chart 5.6 Data switch settings Data Program# 3 bit 2 bit 1bit 0bit Stops Index Angle [degree] Index time [sec] 0 1 360 3.172 1 On 2 180 1.636 2 On 3 120 1.124 3 On On 4 90 0.868 4 On 5 72 0.714 5 On On 6 60 0.612 6 On On 7 51.42857 0.539 7 On On On 8 45 0.484 8 On 9 40 0.441 9 On On 10 36 0.407 10[...]

  • Page 24

    Unit 6 Handling Procedures 23 23 6. Handling procedu res for the output shaft The output shaft on an indexing drive is subject to momentous torque during starting and stopping. Therefore, the shaft must be torsionally rigid. To maintain positioning accuracy, the output shaft must have minimal run out. The run out on a standard SANDEX is within 0.02[...]

  • Page 25

    Unit 7 Lubrication 24 24 7. Lubrication Lubrication is an effective and vital means for maintaining the life of your SANDEX unit. Lubrication can minimize wear by reducing friction between rolling members, removing friction heat, and preventing rust on rolling surface. The statistical life of the SANDEX unit is based on rolling fatigue. However, th[...]

  • Page 26

    Unit 7 Lubrication 25 25 (4) Viscosit ies differ according to the operat ing speed and size of the indexing drive involved. Choose the proper viscosity from the following table. (5) The viscosity you choose should also meet the ambient temperature requirements of your SANDEX unit. The following table gives the viscosity for a stand ard temperature [...]

  • Page 27

    Unit 8 Filling and replacing lubricating oil 26 26 8. Filling and replacing lubricating oil Lubrication is a crucial factor for maintaining the operating life of your SANDEX unit. These units feature a high level of precision, and a resistance to friction. However, improper lubrication can reduce the life of the unit. When filling the unit with oil[...]

  • Page 28

    Unit 9 Lubricating greases 27 27 9. Lubrication greases SANDEX units use an oil bath lubricating system. In certain mounting positions, the bearings sit above the oil level. In this case, a sealed lubricating device is installed exc lusively for the bearings and grease nipples are attached wherever grease must be reapplied. Note, your SANDEX has al[...]

  • Page 29

    Unit 1 1 Repairs and maintenance 28 28 10. Repairs and maintenance One of the advantages of the SANDEX unit is that it is easy to handle. However, improper use c an a ffect the l ife and performance of your SANDEX unit. The following items explain basic repair and maintenance procedures. (1) Periodically, check for backlash in the input and / or ou[...]

  • Page 30

    Unit 1 1 Repairs and maintenance 29 29 10.1 Yaskawa Driver and Controllerdisplay codes Display Value Desc ription A. - Normal Operation A.02 Parameter Breakdown A.03 Main Circuit Encoder Error A.04 Parameter Setting Error A.05 Servomotor and Amplifier Combination Error A. 10 Overcurrent or Hat Sink Overheated A.30 Regeneration Error Detected A.32 R[...]

  • Page 31

    Unit 1 1 Repairs and maintenance 30 30 A.Cb Encoder Echoback Error A.CC Multiturn Limit Disagreement A.d0 Position Error Pulse Overflow A.F1 Power Line Open Phase CPF00 Digital Operator Tr ansmission Error CPF01 Digital Operator Transmission Error A.91 Overload Warning A.92 Regenerative Overload Warning A.E? Option Board Error If any of these error[...]

  • Page 32

    Unit 1 1 Repairs and maintenance 31 31 10.2 Troubleshooting procedures ( 1) NATURE OF PROBLEM ASSUMED CAUSE CORRECTION BACKLASH IN OUTPUT SHAFT Sm all amount along perimeter of cam Insufficient preload between cam and cam follower Adjust eccentric flange on input shaft Large amount on certain part(s) of cam Cam flaking Replace cams, reduce load on [...]

  • Page 33

    Unit 1 1 Repairs and maintenance 32 32 10.3 Troubleshooting procedures ( 2) NATURE OF PROBLEM ASSUMED CAUSE CORRECTION VIBRATION Output rotating section Backlash, torsion, deflection in input s ystem Check input drive system Output rotating section Loose linkage in input system Change linkage elements, tighten bolts Output rotating section Rotation[...]

  • Page 34

    10655 State Route 47, P.O. Box 4338 Sidney, Ohio 45365 - 4338 Telephone: (937) 498 - 4901 Fax: (937) 498 - 9403 E - mail: sales@sankyoamerica.com Web Site: http://www.sankyoamerica.com[...]