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All-digital Single-channel AC Servo Driver QS7 Series User Manual

1. 9 1 F P4 EA y 5 1 7 j 10 6 Power line terminal encoder Terminal 15 pin Note Welding ling from the side view Power lines terminal motor outlet side definition e em UP ema Remark l U Red Motor U Phase Encoder fast terminal motor outlet side definition Be Green Encoder BE Signa Ss zz Yelow amp Black Encoder Z Signal LU eom Fncoder UF Signal U ncoder V Signal ncoder A Signal ncoder B Signal ncoder W Signal 60 ID TE CH MPI 74 Single channel All digital AC servo drives QS7 Series 3 Economical encoder mode and motor lead wire definition CQS7AA010M 020M 030M Encoder 9 pin Power connector 4 pin Note Welding ling from the side view Pin No Name Color Remark pee T 1 uS Motor U Phase 3 y i NIU Motor V Phase a 1 Motor W Phase E E i ST Pee gott ERR Pin No Name Color Remark E BO 7777 Green er I ur 1 gt oo E a E I ana 1 o RRA Encoder Z Y Signal ET Vellow Black Encoder Z Signal y MN i AP T NNNM E
2. Enter function key for confirmation or data entry confirmation 29 IAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series 4 3 Parameter Settings eParameter P1 is input to display 0 at this situation Enter key can be pressed directly to indicate that system password has been input 4 3 1 Password input and changes 1 Password must be entered into the system for system parameter setting of each boot P1 parameter input is system password input When the input password 1s press mode to P 1 correct 1t can set other parameters otherwise other parameters cannot be set pressenter display pressenter s DEC INC B modify password startzontroller rl Input passwor press mode to P 1 2 Password changes must enter the old password firstly and then press enter j wi you can set the P1 parameters If system password cannot remember please use universal password 11111 universal password is 11111 input 9999 when re start controller it 3 When the password is set to does not need to input password after modifying password please preserve it on next start controller it show vou the modified password input passwor sucessful press enter password changed sucess 9999 you can modify parameters without password input for the next boot 4 3 2 Parameter settings Under normal circumstances press Mode to entry Parameters o press mode key to P 1 2 Press
3. 2 Terminal definition detail please refer Chapter 9 20 SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series 3 3 Servo driver Wiring Diagram hlack Ba alla aia aia aia aia aia aia aia aia Yellow zreen Since motor s outlet wire definition 1s difference ADTECH has arrange matching cable do not use other s unmatchable cable induce driver s damage 2 IAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series 3 3 1 QS7AA010M 020M 030M Fast terminal type Servo drive the wiring diagram B QSTAAO10M Q20M O30M La Fast terminal INCOM 9 type servo enable control mode MODE 15 u position prohibit ia ANTI 11 CNI rotation Limit cy 17 rotation linit loto CON 13 alarm clear O CLR E DU 12 24V tieni M positioning l finish pal servo alram SD UNZ suns a break A me y out put BRK 18 i ce x Servo ready zero point output 4x encoder Signal dX 07 NA PLC common port input position command inpulse E Mn ER E dir command signal speed or torque command 10 rate torque This chart only apply to fast terminal type FI2V encoder connector s TPIT FI J FIAV 17 motor 12v voltage output LOORA ND ND A 2l reserve reserve 1 22 reserve 22 SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series 3 3 2 QS7AA050M2 0
4. ieri 9 1 5 Technical specifications of servo driver i 11 CHAPTER Ji TINS TAI UME IM eri 12 2 1 SERVO DRIVER S INSTALLMENT MMM enm 12 2 1 1 Installing environmental conditions 12 2 1 2 Installation method eneen renee 12 2 1 3 Multi Servo drivers install einer ne icone ciericioneo 13 2 2 Servo motor s install me eene he enne hne nns 13 2 2 1 Installing environmental conditions eene 13 2 2 2 Motor rotation direction definition 14 CHAPTER NE 0 do 15 3 1 Whole Wiring CORROSION 15 3 1 1 QS7AA010M 020M 030M wiring diagram 15 3 1 2 QS7AA050M2 075M2 wiring example 16 3 1 3 Cable Specification Instruction iii 16 5 1 4 Wiring requirement eene n nnnm mnm 17 3 2 The Name and Function of Port esee eene enne 17 Dd Pori DEDPOdUC PRO srta oca 17 3 2 2 Detail Directions of Port irene 18 3 3 Servo driver Wiring Diagram sees 21 3 3 1 QS7AA010M 020M 030M Fast terminal type Servo drive the wiring A iaia 22 3 3 2 QS7AA050M2 075M2 Aviation plug type servo driver Wiring dlagramM vv criiricerie rie ece rie rie rece rie rice terea rie ricer spa stessa spat sara 23 3 4 Principles of input and output interfaces Ln 24 3 4 1 EN MODE INTH CW and CCW Switch Input Interface 24 3 4 2 SRDY ALM BRAKE COIN and OZ Switch Output Interface 3 4 3 Pulse Signal
5. Use hand to turn softly while the motor smoothly with Brake can not turn o Please refer the product s standard Does the appearance of the servo drive and configure servo motor damage spare parts Whether exist the damage through transport complete on appearance if have do not wire on power If any abnormal happen as describe above please contact us as soon as possible 1 2 Product s nameplate AIDTECH SERVO DRIVER MODEL blo AAU SOM Driver model PORER SOA Capacity INPUT 220 1Ph 50 60HZ Power input Format EF GE S N NO XXXXXXXXXXXXX Version V S009 AD TE CHi AA 73 74 Single channel All digital AC servo drives QS7 Series 1 3Naming rule of servo motor and driver 1 3 1 Servo driver s naming ST AA 050 M ik Capacit Usbseries Double power ALL series O10 104 O40 204 050 5014 050 504 T5 Tos M IFM type 1 3 2 Servo motor s naming rule ACH 08 075 D CT ai Ap AC servo motor ACH Hserie 1 4 Match chart of servo motor and driver 100W ACN la ACNO4010DC S 0 1Nm 1 38A ACH A ACH 06020DC ES o 0 64Nm 1 38A MRMS M MRMS06020D ij iS 0 0 64Nm 1 40A MRMS MRMS06040D S 127Nm2 80A Ld lt QS7AA010M LB AA020M
6. 47 SAAD I C H 477 ERO 02 ERO 03 ERO 04 ERO 05 ERO 06 ERO 07 ERO 08 ERO 09 amp ERO 19 The main circuit supply voltage is too high The main circuit power supply voltage is too low or drive temperature is too high Tolerance alarm Drive temperature is too high EEPROM writing memory error on drive CW Motor Forward limit CCW Motor Reverse limit Encoder fault Single channel All digital AC servo drives QS7 Series 1 The supply voltage is too high more than 20 2 Disconnect the brake resistor wiring 4 The internal regenerative braking transistor 1s broken 5 The internal regenerative braking circuit capacity 1s too small 6 The circuit board failure 1 The supply voltage is too low less than 20 2 Temporary power outages for more than 200mS 3 Power start circuit failure 4 The circuit board failure 5 The drive temperature is too high Mechanical choked to death Input pulse frequency is too high Encoder zero change in Encoder wiring error P16 position loop gain is too small Less torque P15 parameter setting is too small P15 0 shields this feature resulted in no alarm The ambient temperature is too high Bad cooling fan Broken temperature sensor Motor current 1s too big Internal regenerative braking circuit failure Broken internal regenerative braking transistor Circuit Board Failure Chip U19 failed and should be replaced Hit the forward limit switch you c
7. INC or DEC keys to select the parameters number which you want to modify and then press Enter press DEC THE t the parameter needed modified Press INC to auto add one value press DEC press enter key to auto reduce one value and press Mode key to shift current the current number decimal point position to the left and press Enter key for data confirmation after modified parameter lease press enter 30 ADTECH MATS 4 3 3 Parameter writing 1 In the display status press Mode and ri select to enter EP om ie writing parameter writable state When changed parameters by user need to save for long term parameter writing operation should be implemented 2 Press Enter key for three seconds and the parameters will be written in the internal EEPROM 3 then press Enter key to return after cm writing completion and showing 4 3 4 Parameter initialization 1 In the display status press Mode and select a Oe nd to entry 3 parameter initialization state 2 When the user needs to import the factory system parameter values press Enter key for three seconds and parameters except for password will be initialized to be the factory default values for the system however these values do not write into the internal EEPROM 3 After completi showing return 4 If writing 1s necessary please implement writing operation And press Mode key
8. Item No l l l Uploading No Page Engineer Engineer Proofreading Records IAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series Precautions and Explanations alransport and storage e Do not stack product package more than six layers e Do not climb stand on or place heavy stuff on the product package e Do not pull the cable still connecting with machine to move product e Forbid impact and scratch on the panel and display e Prevent the product package from humidity sun exposure and rain a Wiring e Ensure the persons involved into wiring and inspecting are specialized staff eGuarantee the product is grounded with less than 4Q grounding resistance Do not use neutral line N to substitute earth wire e Ensure grounding to be correct and solid in order to avoid product failures or unexpected consequences e Connect the surge absorption diodes to the product in the required direction otherwise the product will be damaged e Ensure the power switch is OFF before inserting or removing plug or disassembling chassis aOverhauling e Ensure the power is OFF before overhauling or components replacement e Make sure to check failures after short circuit or overloading and then restart the machine after troubleshooting e Do not allow to frequently connect and disconnect the power and at least one minute interval between power on and power off m Maintenance Please implement routine inspection and regula
9. Speed is determined by the input signals CW and CCW deson Please see the below table EE ox e da max rotational rate when z control when P35 0 46 SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series 6 6 Internal Four Section Position control servo system When the system parameter is set to be P4 8 servo system is in the internal speed control mode After the input signal MODE level signal is input and valid the motor starts after the input signal INTH NC signal is input and effective the motor stops Speed is determined by the input signals CW and CCW decision Please see the below table MODE CCW signal CW signal Fu Running length Chapter VII Error Alarm _ Attention Do not touch drive and motor within 5 minutes after driver and motor power off to prevent person from injury due to electric shock Allow to use drive after drive alarm code troubleshooting while drive failure alarms Show Er0 xx and blinking while error is found wherein xx refers to alarm code Operate drive to view and modify parameters after alarming Alarm List Alarm Code Cause of Malfunction ER0 00 Normal Encoder wiring error Encoder damage Encoder cable is too long resulting in the low encoder supply voltage Running too fast Input pulse frequency is too high Electronic gear ratio too big Servo system instability causes overshooting Circuit Board Fault Motor speed is too high
10. e Position Control Flow Diagram Position Made F 16 position sam 8 3 3 Basic Parameters Adjustment Diagrams Position resolution an impulse travel determines the stroke per turn on the servo motor and encoder feedback pulses per turn Pt which can be expressed with the below formulation AS Al P Equation Al A pulse travel mm AS Servo motor stroke per revolution mm r P Encoder feedback pulses per revolution pulse r The system has four multiplier circuit so P 4xC wherein C refers to the number of lines per revolution of encoder In this system C 2500 lines turn so Pt 10000 pulses turn A command pulse multiplies electronic gear ratio G and then it can be transferred into position control pulse so a command pulse stroke is expressed as follows ASxG AL Pt Command Pulse Divider numerator Equation G Command Pulse Davider denominator 53 SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series When the drive 1s used for numerical control system the parameters P12 and P13 are calculated as follows P12 Mechanical reduction ratio x system pulse equivalent x 10000 P13 Screw pitch mm General CNC pulse equivalent 0 001mm 8 3 4 Servo Start Stop Character Debugging Servo System start stop feature refers to the time of acceleration and deceleration which 1s determined by the load inertia start and stop frequency and also limited by the servo drive and servo motor p
11. 2 Sure the communication signal communication baud rate in driver can correspond to PC software 3 Sure the communication software 1s installed connection 1s good 9 3 Communication 1 Open SEVERSOFT EXE software choose language and the interface come out as below m HEH Language selection p HY Chinese 1 Y English Hy Ohter 56 ZD TE CH AA J 74 Single channel All digital AC servo drives QS7 Series E parameters of the servo drive management software Sele port selection station No selection Drive status Drive parameters baud rate selcetion Communications Management Verst n erston Ver 1 00 Baud Rate selection Port ao Modified Fia lt sail Driver Model QS6AA01 0M O20N 0S0N2 050N2 C 4800 bps 3600 bps C CON2 Station Noi iNote l Modify the parameters make sure the 19200 bps C 38400 CONS CONA motor is stopped ie CERERE 2 please match the baud rate of diver 57600 bps COMB CONG and station with the settings of the software nystem Status i r IU status Input Detection Motor speed r r TEE oo 0 OLA servn enable INTH Alarm Clear Node Latunstoad mate Unknown A Find origin Limit Limit Motor position Unknown Pulse Motor pulse Unknown Pulse Position deviation Unknown Pulse Pulse frequency Unknown O 1EHz
12. ACH ACH 06040pc VP AA 0 0 S 1 27Nm 2 89A 750W ideo 1000W 1200W ACH E 1500W MRMS M ACH ACH ACH rM ACH ACH ACH E ACH 09075DC ACH ACH 08075BC ACNO4005DC MRMS08075D E ACH 08075DC E ACH 09075DC T T MRMS08100D ACH 11120BC ACH III20DC QS7AA03OM ACH 11120BC T L ACH 13150CC LACH LIISODC ACH A ACH 13150AC QS7AA020M e RA ACH 13100CC T 3 A ee ee EEE seses eem EE TT 0 1Nm 1 20A 2 39Nm 5A 2 40Nm 4 AA 2 40Nm 3 3 50Nm 3 naaa 2 40Nm 4 78A 3 3Nm 5 5A 4 00Nm 4 00A 6 00Nm 4 5 ANE 6 00Nm 4 E a 10 0Nm 6 00A 1800W ACH ACH 13150AC T Po S 10 0Nm 6 00A BENE neq B QSTAA050M2 uunc e AA075M2 FM 1800w ACH ACH 111gopc 95744073 M 6 6 00Nm 6 00A 2000W ACH A ACH 13200CC T ni M E 7 70Nm 7 00A AC ACH 0 ACHS 13230AC UN B With brake S Small inertia M Mid inertia L Big inertia 15 0Nm 9 50A SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series 1 5 Technical specifications of servo driver incl techn Three phase full wave rectification Eu He dex SVPWM Space Vector control AC220V__ 15 10 2500 line incremental photoelectric encoder Base use Storage temperature 45 C 40 C 55 C specific use Storage humidity degrees 40 80 90 non condensing Workin g Protection level IP10 condition Vibration resistance impact 4 9m s2 19 6 m s resistance lt 1000m 1000m r
13. Input Interfacet ie 25 SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series CHAPTER IV DISPLAY AND PARAMETER SETTINGS een eee eee ee rene eren un onns 28 4 1 Servo System panel Composition And Each parts Function 28 4 2 Keyboard o 28 d Parameter Se EDS iii 30 4 3 1 Password input and changeS ieri 30 4 3 2 Parameter settings ieri rice sce rie rece rien ceceno rezcenie 30 4 3 3 Parameter writingi vc ccccecrerioreececie zio reece sie ize cio vee ee ie zionizziote 31 4 3 4 Parameter initializatlon nnen enrssenenensnerrssensnersense 31 CHAPTER V PARAMETER c MES 32 CHAPTER VI OPERA LEON 44 6 1 JOG Control of Servo System aannennn eene nneneeevevennn eere vensnnnnen 44 6 2 Position Control of Servo System nnns 45 6 3 Speed Control of Servo System aassann ee eeenneneeee eneen erreeevsnnnnen 45 6 4 Torque Control of Servo System ua ansennennnn er eneneennnnnnerse ree vennenn 46 6 5 Internal Speed Control Servo System eee neen erve eee nennen 46 6 6 Internal Four Section Position control servo systemM 47 CHAPTER END NA AAA ene E E EE E E EEE 47 CHAPTER VIII DEBUGGEN asada cias 49 8 1 Working sequence ii 49 8 1 2 Sequence of connected powWer eee 49 8 1 3 Se
14. P ST eis brake 5 ll __ Om Zeo speed p gu O 16 rpm pue wi aT I 10 4000 600 ZO On e e Encoder lines 1000 p53 Encodertype ps PP A li Pole pa p F rss LT a EI HGYMUH EQA ERR SHRTEMESEREREEHRERTHSSRSRHEARHEETEREFRRRERRHTHEREREAAERM AH AUCH ERA T4 1 999174 1 E 9 SSeS ni KF TESTS EEE CSRS EEE A AAA p56 Ratedcurrent p g ea Rated torque second P58 electronic gear P 0 32000 1 i D radio numerator i second electronic gears Y Un o o Ov Ene 6 5 34 ID TE CH MPI 74 Single channel All digital AC servo drives QS7 Series radio denominator filter P driver current H Pol P62 Zeropoint P S T 2008 2088 adjusted value A s W phase Current Zero fp s T 20082076 0 point adjusted i value P63 Remarks It is immediately valid after modification Fixed parameters cannot be modified I shall be valid when restarting it after modification 22 IAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series Parameters Detailed table Name Range version 30xx Parameter The correct password should be input and confirmed when parameter is 0 32000 password required to modify after power connection Set to be 0 when delivery from fac
15. P14 completion iP 032000 5 Pulse bwa TATTTTT EE nn P15 deviation alarm P 0 32000 0 Pulse 8 BN KZT iudi ma Reel Po E forward E Position Smoothing J e 22 SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series Parameter Parameter Parameter OTTONE Default Dum _ Range No Name E constant oi O bo ON EMEN P19 acceleration P 032000 0 D Position EEE P20 deceleration P 0 32000 0 2 Acceleration 0 T i me speed 2 32000 ms oo a ZING E Deceleration i 0 i 3 a Analog input method i 2 en EASES ESE EENEN DEI RM NM ES E ee aren RE ANS M RM RE RAN D A NEM REA NS M T LIIIII1lII 2 2 2 2 2 2 2 2 2 2 RR 2 7 l 2 22 2 22 222 2 2 2 24 m rernm Pinin Meee eee ce cece e cence eee ence eee iii Analog input PECTITITTITITTIT TI
16. SIGNAL iu lug Turcae pr ID TE CH MPI 74 Single channel All digital AC servo drives QS7 Series 12 CW Al ARE TURNING LIMIT u 30 OZ ENCODER Z E EU un 7 OB FNCODERBE 16 OV m Internal power for PLC 34 OA Encoder At 17 12V E 12V 100mA 35 OA Encoder A ST RESERVE NENNEN R s 2 CN2 encoder Terminal 1 Terminal arrangement 10 8 6 4 Z 20 18 16 14 12 19 17 lo 13 11 Note picture show welding wire connect side aspect 2 Terminal definition PG INPUT A ll U PG INPUT U H DI H m e s m s m r P 10 RESERVE 20 RESERVE 19 SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series CN3 amp CN4 Fin SignalName Pn Signal Name o o 7 1 CN3 amp CNA s 050M2 and 075M2 actually internal connect 2 For the convenience of no serial port computer these products are optional serial to USB adapter cable Details please refer to Chapter LX communication papers 3 CN3 CN4 Computer communication terminals QS7 series servo driver adopt two kinds of communication connect port QS7AA010M 020M 030M adopt RJ45 package series port for PC communication QS7AA050M2 075M2 have 2 RJ45 package series port to communicate with PC or for multi axis communication more detail please refer Chapter 9 1 Terminal arrangement
17. fault alarm confirm if fault are settled before re start Don t touch motor and driver within 5 minutes after power off for prevent shock It may high temperature after motor amp driver running a long time for prevent burns 8 1 Working sequence 8 1 2 Sequence of connected power e When connect control power servo driver alarms within 400ms when main power is on the alarm disappear servo motor prepare signal ON within 1 5s internal servo s enable become effective the motor excitation 1s on within 10ms 49 SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series Power off Power on Ime ON Servo alarm Main power Power off Ta Power on ON SEDY PEP 0 0ma servo EN OFF lt Tm On Motor electrici ate No electricit Power on 8 1 3 Sequence of servo off Alarm sequence during motor s running SRDY signal and servo enable signal are ineffective at the same time and the motor s electromagnetic brake signal 1s off 4ms later Input Power No Electricity Dower Or No Electricit Servo Alarm OFF JH 5 arvo OH OFF Motor In Power State avai No Elpctricati Power On j Electromagnetic Brake n OH dms OFF 8 2 Usage of Mechanical Brake BRAKE Mechanical brake is used to lock the vertical or tilt table connecting motor to prevent motor from falling down after power failure The motor with brake feature should be selected to achieve this function This brake can only be used for k
18. it 1s invalid under the mode of position control Decelerati Setup value refers to the motor deceleration time from 1000 to Or min 0 32000 on time Acceleration and deceleration are characterized with the linear ms It is valid under the modes of speed control and torque control and it 1s invalid under the mode of position control 0 AD input value 1 P35 value fixed to be used 0 1000 It refers to the corresponding speed when analog output reaches the 5000 maximum It refers to the limited max rotation speed under the torque mode 5000 0 Prohibition 0 1000 input filter coefficient Analog input voltage OV the relative point is at Zero m P31 0 500 percentage P32 Encoder Splitting frequency is not used setting value N mean encoder A and B 0 127 lines phase output frequency N frequency splitting P33 Encoder 0 Detect encoder 1 Not detect encoder alarm shield 19 alarm allowance P35 when running internal four section speed control mode the setting speed 1 speed 1 ADTECH MATS J P37 Internal speed 3 P38 Internal speed 4 P KS Y 41 Internal position 3 42 Internal position 4 Y Y aS Lo Communi cation address Communi cation baud rate Percentage of torque arrival P46 Percentage of motor 48 Electroma gnetic brake ON delay P Electroma gnetic brake OFF delay 39 Internal when running internal four section position
19. l nalog input value Unknown V Alarm code Unknown Output detection Coin signal Alarm output Brake output Servo ready Message Communication is not connected 2 According to drive s parameters to change the communication baud rate P44 parameters of driver The port selection right click My computer Device Manager COM and LPT select the serial port except COMI and communication signal P43 parameters of driver after set up completed click the link the bottom of left corner of the interface will show communication connection OK 3 Click on driver s parameters the parameters interface will come out as below B parameters of the servo drive management software Parameters input drive Factory Reset opm Drive status Drive parameters Read documents for parameters Drive Parameter Management 0 Data import file el Recovery factory numerical Parameters saved on drive on due qe E Curing e ii da Barco n ul parameters No Parameter name PO Software version Unknown Parameter Mo software version Fl Parameter password Unknowm Range of parameters 2015 2050 PZ Motor model Unknown lParameter Units PS Boot display Unknown i IDefault 2015 pal Candee mada Thales onn ri IE SEE AS nrar sh As eed maramatoaro rannat ha Parameter Description After thi
20. to return 3l ease press Enter key to Single channel All digital AC servo drives QS7 Series press mode toEP ll press enter key for three second i press mode key to return after showing END press mode tord CL press enter key for three second press mode key to return after showing END JAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series Chapter V Parameters Personnel involved into parameter adjustment must understand the meaning of parameters for the wrong settings may cause equipment damage and personnel injury It is suggested that all the parameters adjustment should be under the situation of the servo motor stationary Parameter List Parameter Parameter Application Parameter Default Unit 2 Remark No Name _ Range 2 E Software 3000 _ eee Bon dn PI Code 0 9999 0 Motor T T P2 Model No T Voltage T T T P P P P4 Contes Mode Servo Enable o Control A I I I Servo Input o INTH Function o 7 77 500 A Limit Input _ Control P P P9 Alarm stilt mA TTI TOTTI CC P10 Pulse Mode RERMERRRRRRRRRRRRERRERERREEREMEREERRSREEREREREEEREEERS TITTI Ana Hm mn sus nhu HH s hn H mH unus sh manine nima hu uu soma suus una a D mar ha n mm n eee iii Terr raanemerecreemercccceeaec A AAA preti M A AAA i a S O Electronic gear 1 32000 I 0 MENO A ttt Positioning
21. 1489 ni Direction command MM SIGN 2 LATI 3 a K 2 suoni dee og lap Speed or Torque E WX VI 1 1 GN GN 5 EE 10V Rated i m NM gt GN 2 CN3 amp CN4 e PLE This diagram only use for encoder EE terminal lt 412 1 99 12V Voltage 100m GN lt GN 1 i 2 Reserv O E Reserv 2 Reserv 23 SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series 3 4 Principles of input and output interfaces 3 4 1 EN MODE INTH CW and CCW Switch Input Interface EN MODE INTH CW and CCW Switch Input Interface 1 DC 12V 24V 2 current 20mA 3 Please note the reversed current polarity will cause servo drive to fail to work properly 4 Inductive must be connect with fly wheel diode in parallel connection at the two end of load 3 4 2 SRDY ALM BRAKE COIN and OZ Switch Output Interface SRDY ALM BRAKE COIN and OZ Switch Output Interface Side of drive 1 OZ SRDY COIN and ALM signal maximum current is 20mA BRAKE signal maximum current is 50mA 2 Output is open collector form 3 please note the reversed current polarity will lead servo drive to be damaged 24 IAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series 3 4 3 Pulse Signal Input Interface Pulse signal input interface of the differential drive mode side of drive SIGN IE l required pulse frequency 500 kHz Duty cycle is 1 1 and actual demand 1s to be required to p
22. 75M2 Aviation plug type servo driver wiring diagram A PA QSTAA050M2 075M2 ia i p B Pu dec incou 9 V Eau Servo o A E 1 Wo Eu ca l OE gt Control 0 o gt MOD 1 Am P Moto Position o o gt INT 1 CNI Za PA Forward o AC 1 8 5 E Reversion gt o cC 1 glo EE i Alarm o OB CL 1 la ME 10 NEN lt COIN 1 Nv 110 E Position JA 1 0 p 39 D COIN 2 7 1 ar a lt Ny I BENIGN Servo _ ALM 4 EXE o F one ri Renn CN2 3 B 5 B lt SRDY 5 F Paci servo be DNA jc 4 8 B lt aaa 5 7 lw 6 7 lt BRK 7 iN rato a M S Brake P 6 7 lt 9 Z BRR 8 E2 1 Uy 1 U lt A _ n Zero 4 o A y e i y Encode o Livy LV 1 ye 1 V 4 O _ Lot j v NB 1 wise 1 W 4 OA 3 ET AM Ww lt OB 3 m T 7 Encoder r bl oZ 3 zi a LIF lt OZ 3 F 1 PLC public prt BPLCCOM 2 1 g Reserv j 20 Ue 485 LL We 22 a 485 MM gt R5485 gt i 409 Position instruction PLUS 2 N 5485 gt aa MS O Lal si 1 RS485 gt 22 ei 4
23. All digital Single channel AC Servo Driver OS7 Series User Manual This instruction only use to the drivers having software version above 30XX Not for the drivers having 10XX or 20XX software version AIDTECHMATS ADTECH SHENZHEN TECHNOLOGY CO LTD Address 5 Floor Tianxia IC Industrial Park Majialong Yiyuan Road Nanshan District Shenzhen China Tel 86 755 26099116 FAX 86 755 26722718 ZIP 518052 E mail export machine controller com Website www machine controller com SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series Copyright Notice The property rights of all the parts of the manual belong to Adtech Shenzhen Technology Co Ltd Adtech for short and any form of imitation copying transcription or translation by any company or individual without the permission 1s prohibited This manual does not include any form of assurance standpoint expression or other intimations Adtech and the stuffs have no responsibility for any direct or indirect disclosure of the information benefit loss or business termination of this manual of the quoted product information In addition the product and the information mentioned in this manual are for reference only and the content 1s subject to change without notice ALL RIGHTS RESERVED Adtech Shenzhen Technology Co Ltd SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series Basic Information of Manual Initial Version Total Editing Layout
24. QS7 Series 3 1 4 Wiring requirement e Use correct wire material according to the wire use specification e Cable Length Instructions cable less than 3m encoder wire must less than 10m e Check R S T andr t power box wire connecting correct or not do not connect with 380V power source e Motor U V W connector much match motor s relevant connector wrong connect will induce motor stop or damage e Must be reliable grounding And the single point grounding e Avoid wrong motion by noise please add insulating transformer in the power source and noise prevent device eSignal wire keep distance more than 30cm to match power wire power line motor line do no put them in same wiring tube e Please install using type circuit breaker make sure driver can cutting down power in emergency situation e Please install Surge absorption components to match circuit s Perceptual component DC coil reverse in parallel fly wheel diode AC coil in parallel with Resistance and capacitance absorption loop 3 2 The Name and Function of Port 3 2 1 Port Introduction QS7 series have 2 type connector according the current capacity 1 QS7AA010M 020M 030M terminal terminal name specification marking i R T Main power input Driver s main power input PE ground connection Motor external hall ground connector eg ein P MN T aL oc TTT RR cn Encoderconnector Encoder refund signal ao Communication Use fo
25. TTI IT TI CITI III III TTI TITTI III TAA MEME mE a 7 A AAAnAnAn AAAA A III AAA eee ee eee eee ee ee eee eee eee eee AAA TITTI III III AAA ee 49498 4 A 4999 nnn nnn mn mis missus imus susussmamsssssmansaumususmuamseusmausussssumas cr errr mann mon nomma mamas ammesso eee ete eee eee eee eer eee eee eee eee te Tee eee eee ee eee eee eee eee eee ee AAA p j Analog input ig q 0 500 0 X can percentage O i ie agita pr NE P32 frequency PST 0 127 0 NS splitting Encoder alarm D p35 Internal speed 1 S DO p36 Internal speed 2 05000 200 rmi P37 Internal speed 3 S D S O E edant me P 0 32000 100 Pulse 6 33 SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series Parameter Parameter Application Parameter Default Unit Rook No Name E E i i Range puo Internal P 0 232000 200 Pulse P4 Interna P 0 32000 300 Pulse EN _position3 LL ze P 0 2000 400 Pulse P43 nd PST 0 255 0 D address MEN Communication 3 _ baud rate Torque 2 E 3 P45 2 mew PST 0 100 100 o 6 1 prom percentage of motor E i stationary i Start delay of z 2 P47 electromagnetic P S T indi bod brake AS poreon P48 putem
26. alid Disable position alarm detection is valid when it 1s not 0 and this parameter provides the basis whether deviation 1s too large determined by drive under the mode of position control When the remaining pulse in the deviation counter 1s less or same as its set value the drive will determine the position to not disable without alarm display otherwise alarm ERO 04 will occur Set the proportional gain for position loop regulator Bigger in set value higher in gain and rigidity Under the condition of identical frequency command pulse position lag will be smaller however too big value will lead vibration and over regulation of system The principle of debugging 1s to possibly adjust this parameter to be bigger under the situation of guaranteeing the system to operate without vibration and jitter Set position loop feed forward coefficient When it is set as 0 no feed forward coefficient is added Bigger in set value bigger in feed forward When position loop fee forward 1s bigger the high speed response property of control system 1s better Smoothing filter is conducted for command pulse acceleration and deceleration values with exponential form indicate the acceleration and deceleration Filter will not lose pulse command delay will exist yet Main applications Host computer controller has no acceleration and deceleration functions E gear sub octave 1s large larger than 8 When motor operational speed is slow p
27. alse operation Noise filter and other anti jamming measures can be used to guarantee drive to operate normally Please note that leakage current will increase after noise filter added To avoid the above situation isolation transformer can be adopted Please pay special attention that reasonable wring and shielding measures can prevent drive control signal from interference 2 1 2 Installation method e Installation direction the direction of the normal installation is vertical upright orientation e Fixing 4 pieces MS screw on servo drive should be fixed e Ventilation and cooling natural cooling mode 1s adopted Cooling fan should be installed in the electric control cabinet 12 SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series 2 1 3 Multi Servo drivers install Pal x rd y A il g S ae pu 38 77 A Airflow direction A Fd 7 Z EEEE ZA JP 2 2 Servo motor s install 2 2 1 Installing environmental conditions e Working environment temperature 0 45 C Work environment humidity lower than 40 80 non condensing e Storage environment temperature 40 55 C Storage environment humidity lower than 80 non condensing e vibrate lower than 0 5G e Avoid direct sunlight e Prevent oil mist erosion of salt e Prevent corrosive liquid gaso Notice of installment Do not hit motor or motor shaft while disassembling pulley in order to prevent encoder from damage u
28. an set the parameter P7 0 to shield this feature or reversely rotate motors Hit the reverse limit switch you can set the parameter P7 0 to shield this feature or reversely rotate motor Encoder damage Encoder wiring 1s damaged or broken P33 1 shields this feature resulted in no alarm Encoder cable is too long resulting in low encoder supply voltage The encoder received interference error accumulated over the alarm limit 48 SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series Overload excesses the parameters of motor rated torque More than 150 rated overload over 10000 ms Motor overload More than 300 rated overload over 1000ms alarm More than 500 rated overload over 10ms The machine is stuck for rigidity 1s adjusted too strong Speed increase and decrease are too fast Over current Voltage is too low Motor insulation is damaged Gain parameter is set incorrectly Overload Temperature is too high Module is damaged Interference Short circuits occurs among motor cables U V and W Power module fault Short circuits occurs among motor cables U V and W Over current Imperfect grounding Broken motor insulation Chapter VIII Debugging Motor and driver must connect to GND PE must connect GND with Motor Suggestions power drive provide by the isolated transformer for safely and anti interference Before power on check all of connected wire are correctly After driver
29. ass 0 4US 2 adopting differential drive mode 3 AM26LS31 MC3487 or similar RS422 line drivers should be used Pulse signal input interface of the differential drive mode Pulse signal single ended input Apply to PLC upper monitor and so on eusually used as PLC pulse control voltage Resistance value R reference driver current 10 15mA noted do not connect in reverse for polar of power pulse frequency lt 200KHz the connection is used as Mitsubishi PLC with ADTECH Pulse signal single ended input mode 25 SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series Pulse Input Modes PLUS mode P10 Settings ue Jf LT LT T amp T 4 0 SIGN amm Pulse sign Pulse sign CCW Pulse PULS dada l CW Pulse SIGN 1 CW CCW Pulse PULS HERO A B Pulse A B 90 SIGN 414 T LT 4 Orthogonal pulse Pulse Input Timing Parameters 20 n n 1 PLUS 10 oO SIGN 10 26 SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series Pulse Sign Input Interface Timing Diagram Pulse Frequency lt 500kHz S0vo PLUS 10 s trh tri UM I S B PB V I x A x X4 ad e 3 9 ox SIGN MO ssaa ai or on on CCW trh tri CW CW CCW Pulse Input Interface Timing Diagram Pulse Frequency lt 500kHz al SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series Chapter IV Display and Parameter Settings 4 Servo System panel C
30. control mode the setting position 1 position 1 40 Internal when running internal four section position control mode the setting position 2 position 2 when ruming internal four section position control mode the setting when running internal four section position control mode the setting position 4 0 4800 1 9600 2 14400 3 19200 4 5 38400 6 57600 7 115200 Set the proportional relation between analog torque input voltage and motor actual operation torque The unit of set value is 0 1V 100 Default value is 100 to correspond to 10V 100 i e 100 rated torque is produced after 10 V is input Set the torque size of lock shaft when motor stops The unit of its set value rated torque x100 Only position loop is valid with invalid speed loop and torque loop 0 prohibit this function prohibition Other values use this function It defines the motor enable lock shaft input terminal SON from OFF to ON Delay time to open brake output terminal BRK from OFF to ON This parameter is set to ensure the switch from brake lock shaft to motor enable lock shaft to be stable when the motor with brake 1s connected to the power It defines the motor enable removal input terminal SON from ON to OFF Delay time to close brake output terminal BRK from OFF to ON This parameter is set to ensure the switch from motor lock shaft to brake lock shaft be stable when the motor with brake 1s disconnected to the power This pa
31. educe rate voltage Atmosphere press 86 106kpa 1 impulse direction Impulse ous 2 impulse impulse Positi I M 3 A B 90 Orthogonal pulse osition nput Command Pulse 1 Differential drive mode signal impulse form 2 collector open circuit impulse 1 Differential drive 500K frequency 2 collector open circuit 200K Simulation command input 10V 10V input impedance 10kQ Speed mode Command speed Parameter setting Instructions percentage Parameter setting External analogue amp Internal speed instructions Simulation command input 10V 10V input impedance 10kQ Torque Command speed Parameter setting mode Instructions percentage Parameter setting External analogue amp Internal speed instructions Pulse output signal Encoder A B Z differ act output Z signal corrector output VO Servo EN ACLR Position banned Are turning the limit Input signal ci signal Reversal limit control mode Positioning complete Servo alarm servo ready break output Output signal zero point output Protection Overcurrent overvoltage low voltage overload over heat lack phase over function speed encoder abnormal out of tolerance mode abnormal alarm etc Built in Surveillance Rotate speed current location current pulse frequency positional deviation Motor Functions Function torque Motor current Analog input values etc Through RS232 reality communication with PC reali
32. eep the table not for motor s deceleration or machine s stop After connecting with the required voltage the internal brake will open and the motor bearings can rotate freely Using Driver BRAKE signal control intermediate relay which is start braking power by intermediate relay Braking power provide by user Brake signal are valid when delay time is P47 after drive motor power on power off or alarm when BRAKE signal auto shutdown delay time is P47 power off power again When install the signal brake power must have enough capacity then it must use free wheeling diode as surge absorber 50 SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series river 8 3 Debugging Before power on it must check the correctness of the parameters Incorrect parameter setting will may caused machine fault and accident Suggestion no load debugging firstly then load debugging 8 3 1 Adjustment of gain and rigidity The servo system applies feedback system of PID adjustment current loop speed loop and position loop The rule it obeys is the inside of the ring the need to improve its ability of response Or it will appear over adjust or vibration As the current loop is enough to ensure its ability of response usually it doesn t need to change What should be adjusted are position loop and speed loop The servo adjustment of position mode as below e Set a relative high value of speed loop integral e Set a relative
33. erformance Frequent start stop too short acceleration and deceleration time too big load inertia will result in overheating of the drive and motor over voltage alarm of main circuit Therefore it must be adjusted upon the actual conditions 1 Load inertia and start stop frequency When used under the situation of high start stop frequency it is necessary to confirm in advance whether the motor 1s in the allowed frequency range Allowed frequency range varies in terms of the different motor type capacity load inertia and motor speed Under the condition of load inertia of m times motor inertia start stop frequency and recommended acceleration and deceleration time of servo motor are as follows Multiples of the load inertia Allowed start stop frequency mea gt 100Times min Acceleration and deceleration time 7 constant is 500 or less 60 100Times min Acceleration and deceleration time 1s m lt 5 150 or less ms lt 60Times min Acceleration and deceleration time is 50 or less 2 Impact of servo motor Different types of servo motors permitted start stop frequency and acceleration and deceleration time vary according to different load conditions run time duty cycle and ambient temperature Please refer to electrical specifications and make the adjustment upon specific conditions to avoid overheating resulted in the alarm or affect the service life 3 Adjustment method General load inertia should be less than 5 times of rotat
34. ion and P11 running pulse mode is set by P10 Checkifthe cable connected wel When P6 1 2 and INTH signal is valid this function can be terminated Electronic gear is determined by P12 and P13 0 P3 1 PI pulse mode When P18 confirmed as 0 for position smoothing it cannot 12 P13 Electronic gear ratio be used as less use more effect Position control acceleration time is usually regulated i through parameter P19 Position control deceleration time is Pulse mode running usually regulated through parameter P20 6 3 Speed Control of Servo System When the system parameters are set to be P4 2 or P4 4 and MODE is valid servo system is in the speed control mode The maximum operating speed is determined by the parameters P26 and P3 1 The maximum cut speed refers to the operating speed when input voltage is 10V Operating speed is determined by Vinl voltage P4 7 P5 and direction is determined by the symbols of Vin l and P11 When P15 2 direction 1s determined by CW and CCW wherein CW and CCW respectively refer to motor rotation forward and Zero drift of speed control is adjusted through parameter P29 and adjusting this parameter to set motor speed to be 0 when input voltage 1s 0V Speed control acceleration time constant 1s adjusted through the parameter P23 speed control deceleration time constant 1s adjusted through the parameter P24 Speed controlled by outside switches mput powe
35. low value of position loop gain then begin to add the speed if there is no vibration or abnormal noise e Adjust the value of speed loop integral to smaller if there 1s no vibration e Add the position loop gain until there 1s no vibration e If the electronic gear ratio is bigger please adjust the value of P18 to make motors run at quiet Knowledge of mechanical system s rigidity e If the rigidity of the conveyors connected by belt is low please use low rigidity parameter e If the rigidity of the ball screw drove by gear box 1s medium please use medium rigidity parameter e If the rigidity of ball screw drove by servo motor is high please use high rigidity parameter The adjustment of servo depends on the system which needs your careful watching thinking then you can find suitable parameters SI JAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series 8 3 2 Basic Parameters Adjustment Diagrams e Torque Control Flow Diagram j P29 Analog input deviation P28 Analog input filter seien A PSU current loop zat P32 Analog input P51 current Loop mtegral percentage Current filter eSpeed Control Flow Diagram Speed mac la certi ie Pao mtemal peep F23 acceleration timp P24 deceleration ti Current loop control O PI a Analog mput Pel speed gam F22 speed mtegrs NU 52 SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series
36. ly if motor type is set to be P2 9999 this self defined type parameter will be valid Set value as 0 refers to general non cable saving encoder set value as 1 refers to cable saving encoder Please note that this parameter will be valid after it is modified and saved and then restart the machine Default value is 0 P54 Pole pairs Only if motor type is set to be P2 9999 this self defined parameter will be valid Set value refers to the number of pole pairs Please note that this parameter will be valid after it is modified and saved and then restart the machine Default value 1s 4 Default value 1s 2360 Rated Only if motor type is set to be P2 9999 this self defined current parameter will be valid set value refers to the motor rated current size to only impact on the protective function of motor current without impact on motor operational effect Setup unit 0 1A Communi Select RS 232 or RS 485 communication 232 485 cation mode 42 Drift angle Only if motor type is set to be P2 9999 this self defined parameter will be valid Set value refers to drift angle between motor angle and zero point Please note that this parameter will be valid after it is modified and saved and then restart the machine SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series P5 second use method is same as first electronic gear radio 0 500 electronic gear radio numerator P5 8 9 second u
37. omposition And Each parts Function Servo System panel comprises 6 LED digital tube displays and 4 keys Digital tube 1s used to show the various states and parameters of servo drive key 1s used to set and access system parameters o c3 EJ O O MODE ENTER Name Function LED digital tube show the various states and parameters MODE Feature selection or the current point move left DEC Parameter No numerical value reduce or JOG motors corotation Parameter No numerical value increase or JOG motors rollback INC ENTER Feature confirmation or data input confirmation 4 2 Keyboard Operation The servo system 1s normally displayed with the following 10 methods 1 display motor rotation speed parameter P3 0 unit r min 2 display motor current parameter P3 1 unit A 3 display motor torque percent parameter P3 2 unit 96 4 Indicating motor operation position 4 bit lower parameter P3 3 unit pulse 28 ADTECH MATS Single channel All digital AC servo drives QS7 Series 5 Indicating motor operation position 4 bit higher parameter P3 4 unit pulse 6 input pulse 4 bit lower parameter P3 5 unit pulse 7 input pulse 4 bit higher parameter P3 6 unit x1000pulse 8 display position deviate parameter P3 7 unit pulse 9 input interface diagnose Ta i display the hexadecimal number or data when D0 1 EN input is Valid display 1 when D1 1 INTH input is Valid display 2
38. or inertia If always used for large load inertia the motor may generate over voltage of main circuit or abnormal braking at the time of slowing down and then the following methods can be adopted Increase the acceleration and deceleration time You can set a little too big value firstly and then gradually reduce it to be an appropriate value Reduce the internal torque limit value and lower current limit Reduce the maximum motor speed Use motor with bigger power and inertia 54 ADTECH MATS Single channel All digital AC servo drives QS7 Series Chapter IX Communication between servo driver and PC 9 1 Connection of communication line The PC terminal uses standard DB9 as following diagram Look from the front Note The diagram show the welding connecting side As there is special definition of servo driver so it s better to use our special communication line USB TO COM If use RS 232 interface the driver s definition as below Note Different terminals of driver should use different wiring method RJ45 IK n 3 55 ID TE CH AA 73 74 Single channel All digital AC servo drives QS7 Series RJ45 ConnectUT884 non standard type Connect standard serial port Connector definition definition se ea 9 2 Preparation work before Communication 1 Check the driver version no operation mode Driver power on check PO Version no must 2024 or above
39. quence of servo o0ff i iririerieri cerca rie rie ceci rie nie ciscenie 50 8 2 Usage of Mechanical Brake BRAKE iii 50 Den rin SI 8 3 1 Adjustment of gain and rigidity eee SI 8 3 2 Basic Parameters Adjustment Diagrams e 52 8 3 3 Basic Parameters Adjustment Diagrams nene 53 8 3 4 Servo Start Stop Character Debugging eine 54 CHAPTER TX ZOMMUNLGAE DON 55 BETWEEN SERVO DRIVER AND lGsccprsconcscssssssrscoscessascenvuceatossseechnacansecussevexcostdcesssatecesess 55 9 1 Connection of communication line nennen 55 9 2 Preparation work before Communication eene nennen eres eenenenen 56 AA EEE S 56 9 4 Problem and solution during the communication processing 58 SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series SID TECH MPI 74 Single channel All digital AC servo drives QS7 Series CHAPTER PRODUCT INSPECTION AND INFORMATION 1 1 Product inspection The product s function and stability has been tested before shipment for avoid some abnormal oversight accident induce the problem happen in transportation please check the item as below Confirmation Item Reference Method Does the arrived product matches the Please check by the nameplate marking on A model that you order 1 ijtheServoMotorandDriver 1 Dose the rotation axis of servo motor work
40. r check upon the following items under the general usage conditions i e environmental condition daily average 30 C load rate 80 and operating rate 12 hours day Confirm environmental temperature humidity dust or foreign objects Routine Rout outine Confirm abnormal vibration and noise Inspection Check whether vents are blocked by yarn etc Check whether solid components are loose Regular Check One year Confirm whether terminal block is damaged m Guarantee period e the guarantee period is 12 months from the date of shipment if it is broken under correct operation in guarantee period we promise to repair for free for our customer e broken by the reason as below customer need to pay for the maintenance fee 1 wrong operation and repair by customer themselves retrofit induce driver broken 2 Machine damage for the fire water abnormal voltage other accident or second disaster 3 Artificially drop or damage 4 Do not operate base as our use manual book Any other reasons please contact uso SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series Contents CHAPTERI PRODUCT INSPECTION AND INFORMAT ION e eene eee e rene nn rennen nonne 8 Leck Product MSDE CHOON ic aecene coebo itinerario 8 L2 Product s AAMED AUG usados 8 1 3Naming rule of servo motor and driver i 9 1 3 1 Servo driver s naming ee 9 1 3 2 Servo motor s naming rule
41. r communication with PC RJ45 port i connector 2 QS7AA050M2 075M2 terminal terminal name Specification marking R S T Main power input Driver s main power input E B a Ta E 17 ADTECH MATS Single channel All digital AC servo drives QS7 Series terminal terminal name marking specification No Connect control _ Use for connect controller or PLC Encoder connector Encoder refund signal CN2 Use for communication with PC or multi axis i bus RJ45 port i Communication CN3 amp CN4 i connector 3 2 2 Detail Directions of Port 1 CN1 Signal controller terminals 1 Terminal arrangement 18 16 14 12 10 6 6 4 Z 17 15 l3 11 9 f O l 36 34 02 30 28 20 24 2 20 30 30 ol 29 Zi ZAS 4 21 19 Note Here for welding connection side aspect 2 Terminal name and function STATE NO l NAME COIN CON POSITIONING SERVOREADY 2 PULSE SIGNAL _ BRAKE SIGNAL DIRECTION SIGNAL POSITIONING SERVO ALARM NO 19 20 NAME VIN GND _ RESERVE a o INTEGRATION 2K _ RES CONNECT PLC _ RESERVE PULSE STATE ANALOG INPUT ANALOG GROUND _ _ PULSE SIGNAL VI DIRECTION
42. r supply Attention When P4 4 under the MODE switch feeding instruction can be transmitted after 10ms delay of MODE reaching 45 SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series 6 4 Torque Control of Servo System When P4 3 or P4 5 then Inner enable P5 1 and MODE 1s effective servo system 1s in torque control mode Torque is determined by the input voltage Vinl The direction is determined by the symbols of Vinland P11 Input voltage is maximum torque when the torque is 10V The maximum speed specified by the internal rate of P27 Zero drift of torque control is adjusted through the parameter P29 and adjusting this parameter to set motor speed to be 0 when input voltage is OV Torque can be adjusted through the parameter P45 to gain size compensation adjustment bigger value greater torque When the output torque reaches parameter rated current percentage P45 COIN signal is output COIN is the pulse signal with the width of 10ms orgue control Turing Checkifthe cable connected well P4 3 P5 1 Torque control led by outside switches Input power supply Torque running based onrequest 6 5 Internal Speed Control Servo System When the system parameter is set to be P4 7 servo system is in the internal speed control mode After the input signal MODE level signal is input and valid the motor starts after the input signal INTH NC signal is input and effective the motor stops
43. rameter can be prolonged when the motor 1s from high speed operation to stop to enhance the effect of rapid deceleration P49 The motor will stop when the value is less than this parameter speed 9 9 Single channel All digital AC servo drives QS7 Series li speed 2 speed 2 speed 3 speed 4 0 5000 0 5000 0 5000 0 132000 0 132000 0 132000 0 32000 0 255 O 0 100 O 100 0 32000 ms 0 32000 ms 0 2000 SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series eampon 0 O P50 Current Current loop proportional gain and when motor current 1s bigger its 10 4000 loop gain set value should be adjusted to be bigger appropriately and the operational sound of motor operation will be louder Generally it doesn t need to be adjusted Default value 1s 600 adjusted Default value 1s 150 Encoder Only if motor type is set to be P2 9999 this parameter will be lines valid Encoder lines of input motor 1s generally 1024 2048 2500 3000 5000 Please note that this parameter will be valid after it is modified and Current Current loop integral gain and when motor current is bigger its set 1 2000 loop value should be adjusted to be bigger appropriately and the operational integral sound of motor operation will be louder Generally it doesn t need to be saved and then restart the machine Default value is 2500 Encoder On
44. s interface come out you can set up parameters 57 SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series 9 4 Problem and solution during the communication processing 1 In case of servo drives alarm it may not communicate even the cable connect is correct Solution exclude the alarm of driver and restart the driver 2 The communication can not work when select the wrong communication baud rate Solution Pull out of USB disk and reconnection restart driver s communication software 3 The driver may not communicate when plug the USB and start driver in repeatedly and quickly Solution In this case the USB disk and driver communication need a certain reaction time and wait for a moment in intercellular communication 58 SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series supplemental pages QS7 series drive have three different types of terminals and different definitions of motor lead wire as follows 1 Aviation plug model electrical motor defined motor side Yellow Green Aviation plug the definition of Encoder line Ad FG Shielded cable gt B o U U V 8 Brown amp White Encoder B Signal Encoder Z Signal Encoder V Signal Encoder W Signal Orange amp White Encoder W Signal 59 SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series 2 Fast terminal model electrical motor definition
45. se method is same as first electronic gear radio 0 500 electronic gear radio denominat Or filter adopt to remove the motor voice lead by speed loop gain too big coefficient P61 Drive 10 refers to QS7AA010M 20 refers to QS7AA020M 10 20 30 current 30 refers to QS7AA030M 50 refers to QS7AA050M 50 type P62 It refers to drift value of V phase current zero 2008 current 2088 Zero correction P63 It refers to drift value of W phase current zero 2008 current 2076 Zero correction Note It is recommended that all parameter settings and modification should be implemented when the motor 1s prohibited All parameters only P2 parameter will be effective after re electrified when disconnecting power settings will be effective after just pressing Enter without re electrifying however parameter writing should be performed for long term preservation When the power of drive 1s OFF please wait for more than 30 seconds and then re electrify it When the drive is used fro numerical control system the parameters P12 and P13 are calculated as follows Pi Mechanical reduction ratio System pulse equivalent 10000 P13 Screw pitch mm General CNC pulse equivalent 0 001mm 43 SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series Chapter VI Operation After completion of the installation and connection please check the following items before power on Whether the power terminal wiring is correc
46. se spiral drawing tools for disassembly Prohibit large axial and radial load on motor suggest to select flexible coupling to connect the load Fix motor with washer fastening to prevent the motor from loosing 13 SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series 2 2 2 Motor rotation direction definition Face motor s shaft extension counterclockwise rotation direction 1s forward clockwise rotation direction 1s inversion The driver s num 11 parameter can change the motor s rotate direction According to the situation to change the direction forward inversion anticlockwise CCW clockwise CCW 14 Pala TE CH AA 73 74 Single channel All digital AC servo drives QS7 Series Chapter III Wiring 3 1 Whole Wiring Example The QS7 series have 2 type connector according the current capacity 3 1 1 QS7AA010M 020M 030M wiring diagram Protector Connector Communication cable E 1 _ Controller or PLC mom om mill ne 15 SID TE CH MPI 74 Single channel All digital AC servo drives QS7 Series 3 1 2 QS7AA050M2 075M2 wiring example Filter Controller or PLC lt Resistor 3 1 3 Cable Specification Instruction 100 750W 1 25 mm 1 25 mm 1 4 mm 0 14 mm IKW 1 5KW 2 0 mm 125 mm 2 0 mm 0 14 mm 2 IKW 2 6KW 3 5 mm 125 mm 3 5 mm 0 14 mm 16 IAD TECH MPI 74 Single channel All digital AC servo drives
47. t and reliable Whether the input voltage is correct Whether power lines and motor wires get short circuit or grounding Whether the control signal terminal 1s connected correctly Whether power supply polarity and size are correct Whether drive and the motor are fixed firmly Whether motor shaft is not connected to the load Whether specification of motor and driver are matching 6 1 JOG Control of Servo System When the system parameter is set to be P4 1 inner enable P5 1 the servo system 1s under the mode of JOG control Press INC servo motor rotates forward Key up the motor stops Running speed is determined by the setting values of parameters P34 Press DEC servo motor rotates reversely Key up the motor stops Running speed 1s determined by the setting values of parameters P34 Checkifthe cable connected well JOG control acceleration time constant 1s adjusted through parameters P23 JOG control deceleration Press MODE to displav status time constant is adjusted through the parameter P24 Press INC motor forward Press DEC motor reverses 44 SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series 6 2 Position Control of Servo System When the system parameters are set to be P4 0 P4 4 or P4 5 and signal is invalid servo system in under position control mode Running speed is determined by input pulse i frequency running direction is determined by the input direct
48. tor can be facilitated through P12 and P13 parameters setup this value should increase as far as possible under the consideration for drive to accept frequency range less than 500K PxG NxCx4 P Pulses entered into the command G E gear ration Numerator of splitting frequency Denominator of splitting frequency N Motor rotations C Optical encoder lines generally it 1s 2500 lines Example When command pulse is required to input 8000 servo motor shall rotate one loop G NxCx4 1x2500x4 5 P 8000 4 Then parameter P12 is setas 5 and P13 is set as 4 Recommended range of E gear ratio 1 lt G lt 50 50 P13 Electronic Same as the above parameter P12 1 32000 gear denominat or P14 Orientatio Set orientation completion pulse range under the mode of position 0 32000 n control completio This parameter provides the basis whether the orientation is completed 38 P15 P16 P17 P18 P19 P20 P21 ADTECH MATS n scope Position deviation alarm range Position gain Position feed forward Position smoothing constant Position acceleratio n time Position deceleratio n time determined by drive under the position control mode when the remaining pulse in the position deviation counter is less or same as its set value the drive will determine the orientation 1s completed with signal COIN ON otherwise will be COIN OFF When it 1s set as 0 disable position alarm detection is inv
49. tory 9999 can be input when the password 1s failure 1500W 1500 3000RPM 60 50 Normal 1500W 1501 2500RPM 60 6 0 Normal 11111 is the universal password 22222 can be input to correct the current zero P2 Motor model is entered to directly impact on the following protection features over current overload and over speed protections Specification for motor model power Parameter RPM A Nm type sow 600 3000RPM 33 19i Normal _ 3000RPM 1800W 1800 3000RPM 60 60 Normal 7 2000RPM 2000RPM 45 6 0__ Normal 1500W 1502 IS00RPM 60 10 Normal MRMS Series Motor CAN Series Motor ee AL du Normal MENKE EEEN 36 IAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series Boot display Control mode Servo enable control Servo input signal INTH function Limit input control 9999 1s self defined type and please enter it upon the motor specification P52 Encoder lines P53 Encoder type P54 Pole pairs PSS Drift angle P56 Rated current P57 Communication mode Selection 0 Rotational speed RPM 10 Motor current A 2 Motor loading rate 3 Motor positions 4 bit lower 4 Motor position 4 bit higher 5 Input pulse 4 bit lower 6 Input pulse 4 bit higher 7 Position deviation 8 Input status 9 Analog input 10 Pulse frequency 0 Position mode external pulse input 10 JOG mode key con
50. trol 2 Speed mode external analog voltage input 3 Torque mode external analog voltage input 4 Position and speed mode MODE control 5 Position and torque mode MODE control 6 CW CCW external signal JOG mode 7 4 sections speed control 8 4 sections position control 9 communication control 10 internal position CW CCW jog 2 power connection automatic return to zero 0 0 ES 0 Invalid 0 2 Input pulse prohibition and position deviation clear 0 4 1 Invalid forcibly lock shaft 2 Input pulse prohibition and position deviation not clear 0 Invalid Active LOW without alarm 2 Active HIGH without alarm 3 Active LOW with alarm 2d ri 2 uu MAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series WI 4 Active HIGH with alarm Coin 0 Orientation completion output Torque reaching mode 2 Output when speed is less than P49 speed When P49 10rpm it is handled upon 10rpm 0 Normal close type Normal open type 0 Pulse 4 direction normal direction 500K 1 Pulse pulse normal direction 2 Orthogonal pulse normal direction 3 Pulse 4 direction normal direction 100K P11 Motor 0 Normal 0 1 direction Reverse P12 Electronic Sub octave of position command pulse is set E gear 32000 gear Under the mode of position control a variety of pulse sources matching numera
51. ty parameter change monitor of n function servo system s working 6 bit LED display Other speed regulation ratio 1 5000 _ Speed fluctuation rate lt 0 03 Rated load in SID TECH MPI 74 Single channel All digital AC servo drives QS7 Series CHAPTER II INSTALLMENT 2 1 SERVO DRIVER S INSTALLMENT 2 1 1 Installing environmental conditions The install environment has directly effect of driver s function and service life so it must be installed under condition as below 1 Working temperature 0 45 C Work environment humidity lower than 40 80 non condensing 2 Storage environment temperature 40 55 C Storage environment humidity lower than 90 non condensing vibrate lower than 0 5G To prevent the rain drops or moist environmento Avoid direct sunlight Prevent oil mist erosion of salt Prevent corrosive liquid gas Prevent dust cotton fiber And metal scraps into thin Far from radioactive substances and flammable objects O 0 Al DA Nn d LU 10 Many driver install in one box please remain enough space between each driver itis better for flow of air to help heat dissipation Please plus the configuration of the fan make sure the temperature not too high The safe temperature is 45 C o 11 Near a vibration sources please add a vibration absorber or vibration rubber gaskets if can not avoid the vibration 12 Jamming equipment around the servo drive will produce interference resulted in f
52. ulse frequency is lower When step jump happens for motor operation unstable phenomenon exists When it is set as O filter cannot work Bigger in its value acceleration time is shorter and orientation 1s faster Bigger in its value acceleration time is shorter and orientation 1s faster Set proportional gain of speed loop regulator Bigger in its set value bigger in gain and rigidity the parameter value can be determined upon the specific servo drive model and loading situation Generally bigger in load inertia bigger in its set value It can be possibly set to be bigger under the situation of system without 39 Single channel All digital AC servo drives QS7 Series 0 32000 2000 0 32000 0 1000 0 32000 0 32000 1 1000 SAD TECH MPI 74 Single channel All digital AC servo drives QS7 Series A o P22 Speed Set integral time constant for speed loop regulator 1 32000 integral Bigger in its set value faster in integral speed and stronger in system deviation resistance i e bigger in rigidity However too big value will produce overshooting It can be possibly set to be smaller under the situation of system without vibration Accelerati Setup value refers to the motor acceleration time from 0 to 1000r min 0 32000 on time Acceleration and deceleration are characterized with the linear ms speed It is valid under the modes of speed control and torque control and
53. when D2 1 CLR input is Valid display 4 when D3 1 MODE input is Valid display 8 when D4 1 ZO input is Valid display 16 when D5 1 CW input is Valid display 32 when D6 1 CCW input is Valid display 64 when D7 1 RLM input is Valid display 128 10 Analog input indicating the size of inputted analog parameter e ET Lt n d sa 11 Input pulse frequency unit kHz 1x Operate Function Item Diagram Remark Dp i ramet LI Parameter Pl P63 E SCUUNG a ne Oe Parameter EP It is valid when entering Parameters 7 _ It is valid when entering Press the MODE initialization C97 right password button choose the No alarm as the picture five function items Eam shows change to alarm in cycle i iii picture when the alarm Display appears then press DEC MEME i me to clean alarm i Displa i Same as indicated content mre bou i State i of P3 parameter S Drive panel comprises 6 LED digital tube displays and four keys DEC INC Mode Enter to display various states of the system and set parameters Key features are as follows DEC parameter number value increase or motor running forward under the JOG mode INC parameter number value reduction or motor running reversely under the JOG mode clear alarm Mode function options or the current digital cursor moving left

All-digital Single-channel AC Servo Driver QS7 Series User Manual

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