芝浦伺服驱动器说明书BS_Servo_Amplifiers_X

BS系列

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Distributor

SM16014-3000-CA

Printed in Japan

Standard servo amplifier VLASX-008P2-HXM ~ 400P4

Tiny positioner amplifier VLPSX-008P2-HBM ~ 400P4

VLBus-V servo amplifier VLASX-008P2-HVM ~ 400P4

Catalog BSX0021-CED-03

BS X

BS Servo X Series

BS Servo Amplifiers

Synchronous AC Servo

Exportoftheproductslistedonthiscatalog

Headquarters2068-3,Ooka,Numazu-shi,Shizuoka-ken,410-8510,JAPAN

TEL:81-(0)55-926-5141FAX:81-(0)55-925-6501

Cautionsonsafety

Contactoneofthefollowingoffices

HomepageAddress http://www.toshiba-machine.co.jp

Control Systems Division

131 Matsumoto, Mishima-shi, Shizuoka Pref. 411-8510

Phone: 81-(0)55-977-0129

Fax: 81-(0)55-977-3744

Service Division

● Beforeusing,readthroughandcompletelyunderstandtheappropriate

instructionmanualprovidedseparately.

● Thecontentscarriedinthiscatalogmay besubjecttochange

withoutpriornoticetoeffectimprovements.

1. Thefinaluserorfinalapplicationoftheseproductsmaybesubjecttoexport

restriction as defined by theForeign Exchangeand Foreign Trade Control Lawof

Japan. If theyare to beexported, they shallundergo full screening and passthe

requiredexportprocedures.

2. Whentheseproductsareincorporatedinanotherequipment,thecustomer

mayberequiredtoapplyforthe export permission, depending on the

applicationoftheanotherequipment.

●

TOKYO MAIN BRANCH 2-2, Uchisaiwaicho 2-chome, Chiyoda-ku, Tokyo 100-8503, Japan

Phone:81-(0)3-3509-0270 Fax:81-(0)3-3509-0335

●

NUMAZU HEADQUARTERS

2068-3, Ooka, Numazu-shi, Shizuoka-ken, 410-8510, Japan

Phone:81-(0)55-926-5032 Fax:81-(0)55-925-6527

●

KANSAI BRANCH

11F, Mainichi-Intecio Build., 3-4-5, Umeda, Kita-ku, Osaka-shi, Osaka 530-0001, Japan

Phone:81-(0)6-6341-6377 Fax:81-(0)6-6345-2738

●

CHUBU BRANCH 5-307, kamiyashiro, Meito-ku, Nagoya-shi, Aichi-ken 465-0025, Japan

Phone:81-(0)52-702-7660 Fax:81-(0)52-702-1141

BS Servo System BS Servo System

2 3

Consisting of the following three different amplifiers.

The standard amplifier has a pulse train input/analog input command system and allows

operations of the speed, current, position, speed/current/position, direct feed and draw

control modes.

The tiny positioner amplifier is specially designed for the PTP positioning purpose. It has

the point designation method and position data direct command system and supports the

DeviceNet, CCl-Link, RS485 and I/O.

The VLBus-V amplifier is a link amplifier which connects positioning unit NCBOY-200 or -

3200 on the master side via optical communication when high-grade positioning control,

synchronous operation, etc. are required.

High speed

High-speed control is realized by the use of speed/current control loop hardware and high-

speed sampling of motor sensor.

High performance

The amplifier incorporates the damping function. When it is used for a machine of low

rigidity construction, stable transfer operation is possible.

Easy adjustment

You can select either of the four auto tuning modes according the servo system condition.

You can perform setting of various parameters, frequency analysis, profile measurement,

input/output status display, alarm display, etc. on the personal computer, using VelWin, the

software designed for the Windows.

Protection function

The servo system is protected by strengthening the main circuit protection function and by

various servo alarms detecting function.

Strictly observing RoHs Directive

Lead, mercury, cadmium or any other hazardous substance, use of which is prohibited, is not contained.

Standards (CE and UL certification) (008P2 ~ 200P3)

High-speed calculation system: Dramatic improvement of servo performance

with Velconic V/C Engine

Features of BS servo X series

The resolver type which is overwhelmingly superior to the encoder

type in environment resistance has now the performance as good as

the encoder type. The BS servo assuring quick response and high

accuracy can not only withstand a hostile environment, but build up

an ideal servo system.

In the machine employing a quick response servo, vibration will be

caused easily. Generally, deterioration is facilitated by the vibration,

and a serious trouble will occur suddenly.

The resolver has a coil structure without an electronic circuit and

assures outstanding durability against vibration. Thanks to this

durability, the BS servo is popularized in a diversity of machines

including a loom, spring fabricating machine, transport and

loading/unloading equipment, and transfer system.

Durability, quick response and high accuracy are

improving continuously.

Evolving resolver feedback type servo system

Resolver

Speed control

Current control

Sampling time

X series

V series

X series

V series

Reduction to 1/2

Reduction to 1/6

With an eye to realizing 100 % customer satisfaction

BS Servo X Series

Development of new LSI (V-Engine, C-Engine)

A control loop is configured by hardware to realize high-speed calculation

Speed control sampling time: Reduction to 1/2, compared with our V series.

Current control sampling time: Reduction to 1/6, compared with our V series.

(Effects)

The settling time can be shortened sharply with improved takt time (or cycle time).

The control range extends with easy servo adjustment.

Strong servo rigidity can be assured against disturbance

The X series BS servo amplifier has further improved the quick response and high accuracy of

the predecessor amplifier by employing a new high-speed calculation system.

A variety of functions and extensive personal computer (PC) tools simplify the servo adjustment.

The X series whose servo performance is enhanced significantly contributes to remarkable

machine performance.

Lineup from 30W to 55 kW

X series Servo Amplifier X series Servo Amplifier

4 5

Control and Function

Simple servo adjustment

Option

Personal computer (PC) tool

Motor sensor

Damping function

VLBus amplifier

Auto tuning

TFC control

You can perform servo adjustment by only three steps,

using the inertia measurement function of the personal

computer (PC) tool (SHANX).

STEP1: Set the target loop gain to a value not causing

hunting. (20 rad/s or so)

(TP01 = 0, TP02 = 20)

STEP2: Execute the inertia measurement menu of SHANX.

(TP03 = Result of measurement is automatically set.)

STEP3: Set the target loop gain suited for machine

characteristics.

(TP02 = Target loop gain)

In the machine system with low rigidity, vibration caused at

stop can be controlled.

This function is very effective in the range of a few Hz to

several of tens Hz which is caused in the servo system,

excluding disturbance. Vibration at high frequency has been

controlled by using notch filters in the past. The X series is

equipped with an increased number of notch filters.

The high-speed pulse I/O option or high-resolution analog

I/O option can be selected for the option slot. (This function

cannot be used for the VLBus-V servo amplifier or tiny

positioner amplifier.) The standard specification does not

include the analog output. When you wish to use this

function, contact us.

When this amplifier is connected with NCBOY-200 or -3200

incorporating the synchronous operation command, multi-

task command, NC command and sequence command via

high-speed communication, up to 32 axes can be controlled.

VLBus-V is the communication system realized by

connecting an optical fiber cable.

PC tool SHANX allows you to select the servo motor, perform

simulation as per the predetermined operation pattern,

various monitor, parameter setting, profile and frequency

analysis, auto tuning, etc., through the personal computer. It

is very useful when you start up and adjust the servo system.

The auto turning mode comes in the four modes; standard

mode, semi-auto mode, realtime mode and manual mode,

and complex servo adjustment is possible all the way from

designing to real operation.

Either sensor with high accuracy, quick response and

environment resistance can be selected. Additionally,

ABZ/UVW encoder and interpolator are also available.

The new control system can improve the frequency

characteristic in a low-rigidity machine liable to cause

vibration. Vibration is controlled by estimating the machine

characteristics. Thus the gain of the control system can be

enhanced and the settling time can be reduced.

Option I/O Specification

2 ch

High-resolution

analog I/O

High-speed

pulse I/O

Pulse input

Analog input

Analog output

Pulse output

PULS/SIGN 4 Mpps

Phase AB 1 MHz, Phase Z

UP/DOWN 4 Mpps

Phase A/B 1 MHz

UP/DOWN 4 Mpps

±10 V, 16-bit A/D

±10 V, 16-bit D/A

Standard mode

Semi-auto mode

Load inertia is estimated in tuning operation.

Setting of permissible revolutions for tuning

Realtime mode

Load inertia is estimated consecutively during machine operation.

Manual mode

All gain is set manually.

Setting of load inertia

Setting of target loop gain

120m

-55

+155

10000

-55

+155

-10

+85

6000

min

-1

min

-1

10000

min

-1

Cable length

Ambient temperature

Permissible

speed of revolution

30m 120m

ResolverItem

17-bit serial

ABS encoder

Resolver

multi-turn ABS

100G 100G20G

Impact resistance

20G10G20G

Vibration resistance

4min

Angular error 1min. 4min.

24000

pulses/rev.

24000

pulses/rev

131072

pulses/rev

Resolution

Position

command

Position

Position/speed/torque control

Virtual area

Actual area

Damping control

not provided

Damping control

provided.

Features

1.Optical fiber cable connection.

2.High-speed communication as fast as 10 Mbps.

3.Transmission interval of highest speed is 0.8 ms,

which can be changed with the number of axes

controlled.

4.Connection of up to 32 axes.

5.Data transmission of 64/64 bytes per axis.

6.Cyclic communication function and message

communication function are available.

NCBOY-200 NCBOY-3200

X Series Standard Servo Amplifier X Series Standard Servo Amplifier

6 7

Set valueSet value

Set value Set valueSet value

Ampere command voltage

Speed command voltageSpeed command voltage

Machine speed lower digits

Motor speed

Pulse command upper digits

Pulse command lower digits

Machine speed upper digits

Fin temperature

PN voltage

Deviation lower digits

Check display

area

General input/output

Option input

Alarm

Alarm history

Software version

Option output

Option status

Set value

Motor code

Resolver cable length

Electronic gear (numerator)

Electronic gear (denominator)

Control mode

Set value

Tuning parameter

area (auto tuning)

Motor angle (mechanicalangle)

Axis number

Power unit status

Warning output

Servo lock shortage condition

Tuning mode Target loop gain Load inertia

Changeover speed

loop integral gain

Changeover

load inertia

Changeover speed

loop gain

MODE

Speed command zero adjustmentSpeed command zero adjustment

Speed command scale

Ampere command zero adjustment

Current command scale

Set value

Analog output 2 scale

Analog output 2 selection

Filter tuning

SEL

Double-click [MODE].

Command value lower digits

Deviation upper digits

Command value upper digits

Present value upper digits

Present value lower digits

No. of sensor pulses - lower digits

No. of sensor pulses - upper digits

Motor phase value (electrical angle)

Absorption ratio

Electronic thermal value

Effective load factor

Motor ampere

Status

display

area

User

parameter

area

Adjustment

area

5sec.

Set value

AMOUT output scale

Derated

Parameter Setting

Display and Operation

No. Parameter name No. Parameter name No. Parameter name

UP-01 Control mode (*1)

UP-22

Capacity of external

reverse-current absorption resistor

UP-43 UP-65

Decimal point position of display

DERATED

UP-02 Motor code

UP-23

UP-44 Sequence input reversal

UP-03 Resolver cable length

UP-24 Feedrate 1

UP-45 Sequence output reversal

UP-04

Numerator of electronic gear

UP-25 Feedrate 2

UP-46

Sequence input/output selection

UP-05

Denominator of electronic gear

UP-26 Feedrate 3

UP-47 In-position timer

UP-06 Home point shift value

UP-27 Feedrate 4

UP-48 Electronic gear factor

UP-07 In-position length

UP-28 Stop detection speed

UP-49 VMOUT output selection

UP-08 Ampere limit value

UP-29 Coincident speed

UP-50 VMOUT output scale

UP-09 Soft start acceleration time

UP-30

Width of coincident speed detection

UP-51 AMOUT output selection

UP-10 Soft start deceleration time

UP-31 Motor test speed

UP-52 AMOUT output scale

UP-11

S-type acceleration/deceleration time

UP-32 Analog I/O selection

UP-53

Split count of position feedback pulse

(upper-digit)

UP-12 ABS mode

UP-33 Load factor time constant

UP-54

Split count of position feedback pulse

(lower-digit)

UP-13 Holding brake operation

UP-34 Limit changeover type

UP-55

Setting of VLBus-V operation check (*5)

UP-14 Brake ON speed (*2)

UP-35 Speed limit value

UP-56

Setting of rotation coordinate system

(upper-digit) (*5)

UP-15 Analog command polarity

UP-36

Forward drive current limit value

UP-57

Setting of rotation coordinate system

(lower-digit) (*5)

UP-16 Pulse command type

UP-37

Forward rotation absorption

current limit value

UP-58 Selection of LS function (*5)

UP-17 Pulse output type

UP-38

Reverse drive current limit value

UP-59

Selection of LS function reversal (*5)

UP-18 Differential output type (*3)

UP-39

Reverse rotation absorption

current limit value

UP-60 Home point stop method (*5)

UP-19 Position control polarity

UP-40

Width of drive/absorption detection

UP-61

Monitor type of analog input (*5)

UP-20 Draw factor

UP-41

Numerator of display magnification

UP-62

Permission/prohibition of level 4 alarm

detection (*5)

UP-21

External reverse-current

absorption resistance

UP-42

Denominator of display magnification

UP-63 Overrun stop time (*5)

UP-64 Draw value

Common power supply mode (*4)

*1: Available only when the VLBus-V specification is selected.

*2: Available only when the tiny positioner specification is selected.

*3: Available only when the VLBus-V and tiny positioner specifications are selected.

No. Alarm message No. Alarm message No. Alarm message

AL01

Overcurrent (OC) Instant thermal (POL)

Overvoltage (OV)

PN voltage drop (PNLV) Overspeed (OSPD)

AL04

Main power input error (ACINF) Deviation counter over (FULL)

AL05

Charging resistor overheat (CROH)

AL06

Resolver cable breakage (RELV) Resolver ABS breakage (ACN)

AL07

AL08

Servo amplifier overheat (SOH) Option alarm (OPALM)

AL09

Reverse-current absorption resistor

overheat (RGOH)

Parameter setting error (CERR)

AL10

Reverse-current absorption error (RGST)

Resolver ABS error (AEERR)

AL11

Instant thermal 2 (BAOL) Link error (LINKERR)

AL12

Undefined

Command value over (CONDV)

AL13

ABS battery voltage drop (BLV)

ABS home point invalid (CLD)

AL14

Brake error (BERR)

Overcurrent detection (OCS)

Speed amplifier saturation (VAS)

Motor overload (MOL)

AL18

AL19

AL20

AL21

AL22

AL23

AL24

AL25

AL26

AL27

AL28 (*1)

AL32

AL33

Present value over (ACTOV)

Home point unsaved error (MZE)

AL29 (*1)

AL30 (*1)

AL34 (*3)

AL35 (*3)

AL36

AL37 (*2)

ABS battery alarm (BAL)

AL38 (*3)

AL39 (*2)

AL40

AL41

AL42

AL43

AL44

AL45

AL46

AL47

AL48

AL49

AL50 (*2)

AL51 (*2)

AL52 (*2)

AL02

AL03

AL15

AL16

AL17

Soft limit + over (SOTP)

Soft limit - over (SOTM)

Power status error (POWFAIL)

Resolver phase error (RESERR)

Resolver ABS phase error (ABSE)

Overrun (OVTR)

Limit error (LIMERR)

Encoder breakage (EREE)

Encoder communication error (ETER)

Encoder backup error (EBACK)

Encoder checksum error (ECKER)

Encoder battery alarm (EBAL)

Encoder ABS phase error (EABSE)

Encoder overspeed (EOSPD)

Encoder interrupt error (EWER)

Encoder initialize error (EINIT)

Data input error (DATAE)

Present value undecided error (ACTE)

Communication error (COM)

Coordinate counter over (COVER)

Encoder sensor phase error (PHSERR)

ABS battery cable breakage (ABT)

*1: Specify the speed control, current control, speed/current/position control, direct feed or draw control mode. For the VLBus-V specification, "31" is

predetermined.

*2: Specify the operation speed of the holding brake.

*3: Select the differential output function and content (i.e., pulse output, display output, ABS present value, command pulse, or draw pulse).

*4: Specify when you wish to use the main circuit DC power in common.

*5: Only in VLBus-V specifications.

User parameters

Alarm code table

MODE SEL SET

On the display & operation unit, you can perform display of servo motor operation status, check of sequence or alarm,

adjustment of each control command value, setting of user parameters including selection of control mode and resolution, and

setting of turning parameters for servo adjustment.

Specify the servo amplifier parameters according to the operation characteristic of the machine. For the electronic gear,

setting of a fraction is possible, and the acceleration/deceleration comes with two types; S-type acceleration/deceleration and

linear acceleration/deceleration. Also, joint use of holding and dynamic brakes is possible.

The self-diagnosis function is provided, and the content of a trouble is displayed by code. The alarm history function records

the order of alarm generation if two or more alarms have occurred at the same time, thus the maintenance can be facilitated.

Hierarchal operation

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