Home

EPS-B1 AC Servo System User Manual

1. y L l 1 cal J z z zl li i 2 4 fe A kia 4 Ej kg e UF oo i I Note 1 Size unit is mm and weight unit is Kg 2 Size and weight data are subject to change without notification due to product change 11 4 Dimensions of servo motor 11 4 1 Installation dimensions of 60 80 series motor Unit mm F 60 70 50 55 14 11 20 5 5 103 30 3 8 60 70 50 55 14 11 20 5 5 123 30 3 8 80 90 70 5 5 15 5 15 5 25 5 6 129 7 30 3 9 8 119 11 4 2 Installation dimensions of 130 series motor Unit mm 120 LL LR LE LG 163 57 5 13 172 57 5 B 181 57 5 13 197 57 3 13 Chapter XII Appendix 12 1 List of motoring modes eas Display contents Unit dP 00 Motor speed r min dP 01 Motor feedback pulse number encoder unit lower 4 digits 1 Enco
2. Paramet 5 5 Factor rec Referenc Name Setting scope Unit TY Effective time er No setting e Dgt3 Dgt2 DgtI Dgto Analog switch condition selection 0 With internal torque instruction as the condition value setting PA121 1 With speed instruction as the condition value setting PA122 2 With acceleration as the condition value setting PA123 3 With position deviation pulse as the condition value setting PA124 4 No mode switch function Mode switch torque i PA121 A k torq 0 300 1 200 Immediately instruction Mode switch speed x PA122 x sp 0 3000 Imin 1 0 Immediately instruction Mode switch 0 3 PA123 k 10rpm 0 Immediatel acceleration 65535 rp y Mode switch position 0 PA124 ma 0 Immediatel deviation 65535 y Switch 2 for gain d 0000 i PA125 EOE d 0000 Immediately application selction 0092 Dgt3 Dgt2 Det Dgt0 Gain switch over selection switch 0 Gain switch over is not used 1 Manual switch over gain function Automati ich over mode 2 If switch over condition A is established first gain is automatically switched over to second gain 0 Positioning completion signal ON 1 Positioning completion signal OFF 2 Near signal NEAR ON 3 Near signal NEAR OFF 4 Position instruction filter output 0 and instruction pulse input OFF 5 Positio
3. User parameter Meaning PA000 h 3 Control mode selection Internal set speed control junction instruction Internal set speed SPEEDO PA307 Setting range Setting unit Factory setting Effective time 5000 5000 rpm 100 Immediately Internal set speed SPEED1 PA308 Setting range Setting unit Factory setting Effective time 5000 5000 rpm 200 Immediately Internal set speed SPEED2 PA309 Setting range Setting unit Factory setting Effective time 5000 5000 rpm 300 Immediately Internal set speed SPEED3 PA310 Setting range Setting unit Factory setting Effective time 5000 5000 rpm 400 Immediately Internal set speed SPEED4 PA311 Setting range Setting unit Factory setting Effective time 5000 5000 rpm 500 Immediately Internal set speed SPEEDS PA312 Setting range Setting unit Factory setting Effective time 5000 5000 rpm 600 Immediately Internal set speed SPEED6 PA313 Setting range Setting unit Factory setting Effective time 5000 5000 rpm 700 Immediately Internal set speed SPEED7 PA314 Setting range Setting unit Factory setting Effective time 5000 5000 rpm 800 Immediately E Important Even a value exceeding the maximum rotating speed of servo motor is set in PA307 PA314 the actual value is still limited to the maximum rotating speed of servo motor 8 7 2 Input signal setting Operating speed is switch
4. Est Name Setting scope Unit ey Effective time Rofan er No setting e PA611 Reserved PA612 Reserved 0 9 0 PA613 Reserved 0 1000 0 1 ms 10 PA614 Reserved PA615 Reserved pA7oo Internal position 4 0000 7702 d 1002 Immediately mode switch 1 Dgt3 Dgt2 Dgt1Dgt0 d00 Position changeover mode 0 External IO signal POS selects position and external IO signal trigger triggers action 1 External IO signal trigger triggers action and position operates in a cycle 2 Timed internal operation in a circle o Gain position 1 Absolute position pa7o1 Internal position _go99 9999 turn J1 Immediately high order pa7o2 Internal position0 _ 9999 9999 pulse 0 Immediately low order pa7o3 Internal position _g999 9999 tum l2 Immediately high order pa7o4 Internal position _ 9999 9999 pulse 0 Immediately low order pazos Internal position _ 9999 9999 turn 1 Immediately high order PA706 Internal position2 99099999 pulse 0 Immediately low order pA707 Internal position _g999 9999 turn 2 Immediately igh order pa7og Internal position 3 _g999 9999 pulse 0 Immediately low order pa7o9 Internal position4 _ go99 9999 turn 1 Immediately high order pazio Internal positiont _ 9999 9999 pulse 0 Immediately low order pati internal positions 99099999 tum 2 Immediately high order pa7i2 Internal posi
5. Mot del 60DNMAI1 0D 60DNMAI 0D 80DNMA1 0D cise 20D 40D 75D Pedestal No 60 60 80 Rated output W 200 400 750 Rated torque N m 0 64 1 28 2 39 Instantaneous max torque N m 1 91 3 81 716 Rated current Arms Le 2 9 4 2 Instantaneous max current Arms 5 8 7 12 6 Rated rotating speed Min 3000 3000 3000 Max rotating speed Min 5000 5000 4500 Torque constant N m Arms 0 38 0 44 0 57 Rotation inertia Kg m x107 0 094 0 24 0 94 11 2 2 Parameter list of 130 series servo motor Voltage class 220V Mot del 130DNMA 130DNMA 130DNMA 130DNMA cares 1 0D85C 1 0001C 1 01D2c 1 01D5C Pedestal No 130 130 130 O 130 Rated output W 850 1000 1200 1500 Rated torque Nem 4 0 5 0 6 0 7 2 Instantaneous max torque Nem 12 0 15 0 18 0 21 6 Rated current Arms 4 1 5 1 6 3 7 5 Instantaneous max current Arms 12 7 15 8 19 5 22 8 Rated rotating speed Min 2000 2000 2000 2000 Max rotating speed Min 3000 3000 3000 3000 Torque constant N m Arms 0 98 0 98 0 95 0 96 Rotation inertia Kg m x107 7 7 9 5 11 4 14 3 11 3 Dimensions of servo driver 11 3 1 EPS 0D20A EPS 0D40A Type A case 154 j Yy Yj Y lt z Fa 7 1 8 I ALACO OTORDU MOLN 6 io QW CCK N a Hut XG lt A 11 3 2 EPS 0D75A EPS 0001A EPS 01D5A Type B case 118 1752
6. 135 eee Name Setting scope Unit ty Effective time Ratnan er No setting e time pasig Brake instruction 0 1000 1 min 1 100 Immediately action speed limit Servo OFF Brake PA520 instruction waiting 100 1000 1 ms 500 Immediately time Instantaneous PA521 power failure 40 800 1 ms 60 Immediately keeping time pas22 Servo OFF stop 9 1000 Ims 100 Immediately acceleration pas23 Servo QEF stop 20 2000 rpm 50 Immediately PA524 Reserved pas25 Positioning 0 65535 Pulse 10 Immediately completion width PA526 NEAR signal 0 65535 4pulse 100 Immediately oa 1 65535 0 01r 200 Immediately PAS27 Over deviation warning value WARN Unit is 0 01r It varies with different resolution ratios of coder For example if coder s resolution ratio is 5000ppr the unit is 5000 4 0 01 200pulse when warning value is set to 200 the over deviation warning value is 200 200 40000 pulses Too much position deviation alarm PAS28 value ERR when 1 65535 0 01r 500 Immediately servo is ON Same as above Speed deviation PAS29 alarm detection 20 2000 1 ms 300 Immediately time Speed deviation alarm threshold 0 10 5 Immediately PA530 class If speed deviation exceeds this threshold E 28 speed over deviation protection will appear When set value is 10 speed over deviation protection is not detected
7. 5 Connector pin Type Signal name earns PULS CN2 7 Instruction pulse input Low speed pulse PULS CN2 8 Instruction pulse input input channel SIGN CN2 11 Sign input Input SIGN CN2 12 Sign input HPULS CN2 16 Instruction pulse input High speed pulse HPULS CN2 17 Instruction pulse input input channel HSGN CN2 23 Sign input HSING CN2 24 Sign input For the input form at the servo driver side please set the user parameters PA200 0 and PA200 1 according to the specification of the instruction controller User parameter Instruction type Forward instruction Reverse instruction d Symbol Pulse PULS PULS PA200 0 train Positive pee Cane 3 a s L level logic cenr 11 Hevel CNI ID S Factory default d CW CCW PULS PULS as CNI 7 mye CNI 7 1 Positive logic SNG ne Llevel i 3 fa CNI 1D CN1 11 pret d 90 phase 90 0 2 difference PULS PULS Positive logic CONT gt N D SING SING SCNIEID CCNI 11 L d 0 Symbol Pulse PULS PULS CN1 7 L CCNI 7 train SING Negative logi SING L level EEA H level Negative logic cont
8. 3 4 3 I O signal distribution D Distribution of input signal Usually input signal can be used according to the default set or be distributed as required 1 When used according to the default set E The default input signal distribution state can be confirmed through PA500 PA507 Parameter Ne Setting Unit Factory Effective No range setting time Port DI input signal selection 0 Servo on S ON 1 Control mode switch C MODE 2 Forward driving prohibited POT 3 Reverse driving prohibited NOT 4 Deviation counter clearance CLR 5 Alarm reset A RST 6 Pulse input inhibition INHIBIT 7 Zero speed restoration ZEROSPD 8 Forward torque limitation PCL 9 Reverse torque limitation NCL 10 Gain switch GAIN 0 17 0 Immediately 11 Zero signal ZPS 12 Retention 13 Instruction frequency division multiplication switch 0 DIV0 14 Instruction frequency division multiplication switch 1 DIV1 15 Internal instruction speed selection 0 INSPD0 16 Internal instruction speed selection 1 INSPD1 17 Internal instruction speed selection 2 INSPD2 PA500 PA501 Port DI2 input signal selection Immediately PAS02 Port DI3 input signal selection Immediately PAS03 Port DI4 input signal selection Immediately PAS04 Port DIS input signal selection Immediately PA505 Port DI6 input signal selection Immediately PA506 Port DI7 input signal selection Immedi
9. assigned level motor s rotating speed In case of torque limit if motor s rotating speed reaches the set value of PA407 or the speed limit based on the analog voltage instruction the VLT signal is output In order to use VLT signal output Please refer to 3 4 3 Input output signal distribution terminal distribution must be done through user parameter PAS10 8 7 Speed control internal set speed selection operation Meaning of internal set speed selection Internal set speed selection means to set 8 rotating speeds of motor beforehand through user parameter inside servo driver and to select among them by using external input signal The speeds are for the function of operation control by speed and are effective for the speed control with up to 8 rotating speeds of motor It s unnecessary to configure speed generator or pulse generator outside Internal speed is selected in combination for INSPD2 INSPD1 and INSPDO INSPD2 is high position and INSPD0 is low position If INSPD2 is effective while INSPD1 and INSPD0 are not effective the internal speed SPEED4 is selected 103 INSPDO INSPDI1 Pa _ INSPD2 8 7 1 User parameter setting Servo driver Internal speed register SPEED PA307 SPEER PA309 SPEED PA308 SPEED PA311 SPEEDS PA310 SPEEDS PA312 SPEEDS PA313 SPEED PA314 Speed instruction
10. selection The same as DO2 selection The same as DO2 6 Motor rotation detection TGON 7 Torque limited signal TLC 8 Zero speed detection signal ZSP 9 Warning output WARN d 0100 DO3 Output signal d 1000 DO4 Output signal n 0000 9990 Immediat n 3210 ely Output signal negative 0 Signal H level active opticalcoupler not conduc 1 Signal L level active opticalcoupler not conduc 0 Signal H level active opticalcoupler not conduc 1 Signal L level active PA511 opticalcoupler not conduc 0 Signal H level active opticalcoupler not conduci 1 Signal L level active opticalcoupler not conduc 0 Signal H level active opticalcoupler not conduc 1 Signal L level active opticalcoupler not conduc b 0001 DO1 alarm signal ALM output signal aspect selection ive ive b 0010 DO2 alarm signal ALM output signal aspect selection ive ive b 0100 DO3 alarm signal ALM output signal aspect selection ive ive b 1000 DO4 alarm signal ALM output signal aspect selection ive ive n 0000 0011 Immediat n 0000 ely Pins to input ports DO1 DO4 are as follows Parameter No Name CN2 port pin Default signal DO1 31 32 ALM PA510 1 DO2 29 30 COIN 30 Parameter No Name CN2 port pin Default signal PAS10 2 DO3 27 28 CZ PAS10 3 DO4 25 26 BK 2 Used
11. 6 2 Display of alarm logging AF 00 6 3 Location assignment AF 01 ccceeesseeseeseeseeeceecseeseeseseeseeaeeeeaeeaeeseeeeneeaeeas 58 6 4 JOG operation AP 02 scciesesctraeas severe ist seeeecde een eee E ae 58 6 5 Front panel lock AF 03 3 4 8 cosa nee laren ees ate 59 6 6 Deletion of alarm logging AF 04 ooo eee eeteeecseseeeeseaeeseesseseeetaeseeees 60 6 7 Initialization of parameter setting value AF 05 ieee eeseeeeeeeeteeeeees 60 6 8 Automatic zero calibration of dummy instruction AF 06 ee 61 6 9 Manual regulation of speed instruction offset AF 07 cece tesco 62 6 10 Manual zero calibration of torque dummy instruction AF 08 62 6 11 Display of motor model AF 09 cece eeseseeseseeeeesesseseeeseeseecseeeseesenee 63 6 12 Display of software version of servo driver AF 10 cece eeeeeeeenees 63 6 13 Set absolute value encoder AF 11 wo eeeeseeeeseeeeeeeseeetseseeeteesesees 64 6 14 Manual detection of load inertia AF 15 oo eee eeseeeeeeseeeeseseeeeeeseeees 64 Chapter VIl Test RUN zaa n n eee 66 7 1 Inspection and matters needing attention before the test Tun 66 7 2 Conduct JOG operation through panel manipulator oo eee 66 7 3 Test run of separate servo motor according to the upper device instructions 67 7 3 1 Connection and status confirmation of input signal loop 0 c00 67 7 3 2 Test run under position control osser 68 7 3 3 Test run under speed control 68 7 4 Test run after the servo mot
12. test run under the control modes 7 3 2 Test run under position control The following part will introduce the methods for test run under position control It will mainly introduce the procedures of test run after the connection of input signal for position control i Referential Procedure Operation sections 1 Reconfirm the power supply and input signal loop and then switch on 31 the control power supply of servo driver 2 Use PA200 0 to set the instruction pulse aspect according to the pulse 8 4 1 output aspect of upper device pii Set the instruction unit and use PA205 and PA206 to set the electric 3 gear ratio and the number of frequency division PA210 according to 8 4 2 the upper device Power on again Bring the parameter alteration in procedure 3 into 4 effectiveness Switch on the major loop power supply of the servo 8 5 7 driver 5 Place servo ON S ON input signal on ON 6 Output low speed pulse instruction from the upper device with easily confirmed motor rotation such as 1 ring Monitor the variations of pulse before and after the instruction is given 7 out according to the input instruction pulse counter dP003 and dP004 based on this to confirm the number of instruction pulse inputted to the servo driver Monitor the variations of pulse before and after the instruction is given 8 out according to the feedback pulse counter dP001 and dP002 based 5 1 on this to confi
13. 1CN 11 150 1cni2 K measa 1 SIGN P Earthing of shielding layers on both ends o a ee a ao l l l SIGN i 1 Please select the value that limits resistor R1 to ensure that input current i is within the following scope Input current i 7 15mA H Important In case of open collector output instruction pulse the interference tolerance for output signal is lower so please increase the user parameter PA201 0 PA201 1 set value in case of deviation due to interference Position instruction acceleration deceleration time parameter 1 PA214 Setting range Setting unit Factory default Effective time 0 1000 0 1ms 0 Immediately PA215 Position instruction acceleration deceleration time parameter 2 Setting range Setting unit Factory default Effective time 88 0 1000 rpm 0 Immediately Position instruction movement mean time PA216 Setting range Setting unit Factory default Effective time 0 500 rpm 0 Immediately H Important If position instruction acceleration deceleration time parameter PA214 PA215 is changed the changed value takes effect only if there s no instruction input In order to truly reflect the set value please input clear signal CLR to prohibit instruction controller s instruction pulse or clear deviation pulse as servo ON Even in the following cases motor can operate smoothly and this settin
14. 5 4 1 Display procedures 53 Display procedures of output signal are as follows Panel display Procedures after operation Keys used Operation 1 dP gg w Press MOD key to choose the auxiliary woo function 1 i e If the parameter No is not DP12 press 1 2 d P J 3 T or to show DP12 3 ET dl iy Press SET to enter the monitoring a interface it will show the left figure GA in Press SET or MOD to return to the display ee in procedure 1 5 End of operation 5 4 2 Judgment method of display The distributed output signal is displayed through the section s LED illumination state of panel manipulator Corresponding relation between the input pin and LED No is shown in the table below Upper corresponding to input signal active Lower corresponding to input signal level No 876543 2 1 When the input signal is in active state the upper section LED is illuminated When the input signal is L level input opticalcoupler conductive the lower section LED is illuminated Display LED No Input pin Signal name default set 1 31 32 ALM 2 29 30 COIN 3 27 28 CZ 4 25 26 BK Note 1 Even when the output signal is in null state the polarity of corresponding IO level can also be changed by revising parameter PA 511 selection of output signal aspect dp 13 can not only display the state o
15. ssessssseeesesesesesesesesrsteserrsererreee 109 LOS TSE OF WANES onsena E A R A E EEE ET ata a ceed sles 113 10 4 Cause for warning and treatment Measures s ssesessesssrerseeetererrrererereees 113 Chapter XI Specifications 11 1 Specification of servo driver 11 1 1 Basic specifications 11 1 2 Speed position and torque control specification u 116 11 2 S rvo motorspecifi Cation irar en anes ai ose neues 117 11 2 1 Parameter list of 60 80 series servo Motor osoo 118 11 2 2 Parameter list of 130 series servo Motor osc 118 11 3 Dimensions Of Servo drivet aniser ee E R SERRE EI TE 118 11 3 1 EPS OD20A EPS OD40A Type A case oooscseeeeeeee 118 11 3 2 EPS OD75A EPS 00014 EPS 01D5A Type B case noose 118 11 4 Dimensions of Servo Mototsen ne e e EEE RR 119 11 4 1 Installation dimensions of 60 80 series motor Unit mm 119 11 4 2 Installation dimensions of 130 series motor Unit mm 0 0 120 Chapter XII APpendix cccccseccceeeseceeeesseeeeeeeeeeeeeseeeeeeeeeaeseaseeeeeeeeeeeeeeenseanes 121 12A List of MOGTING MOMES eroin eea eE AE EARN 121 12 2 List of auxiliary Unton S sessies sarsies sveis e Eur EEEn EESTE 121 12 3 Test of user parameters ooann aane EEEE 122 12 3 1 Display modes of user parameter S 122 12 3 2 Display modes of function selection parameters 122 Chapter I Product Introduction 1 1 Product inspection Please check the items listed in the table b
16. EN i 6 Time 4 Forward rotation cew 8 2 3 Overtravel setting Overtravel refers to the safety function which can make the limit switch function ON and force the servo motor to stop when the moving parts of a machine go beyond the movable area Notice Installation of limit switch During rectilinear motion the limit switch shall be installed in case of machine failure When the contact part of limit switch has poor contact or breakage please use the normally closed contact to make the motor move along the safe direction When the servo motor is used with vertical axis Under the overtravel state the workpiece may drop in order to prevent the workpiece from dropping the servo motor shall be set to be under the zero position fixation state during overtravel Please refer to for the setting method 1 Overtravel signal connection In order to activate the overtravel function please connect the input signal of the following overtravel limit switches to the corresponding pins of the connector CN2 of servo driver correctly Type Signal name Connector pin Setting Meaning ON L level Positive rotation driving allowed CN2 42 normal operation Input POT factory default Positive rotation driving OFF H level prohibited overtravel on positive rotation side Inverse rotation driving allowed ON L level 5 CN2 43 normal operation Input NOT factor
17. 25 ov BK 26 N 2CN X N Switching N l power supply XN lt BK RY 24V gt AC DC A oV Note 1 BK RY brake controls relay Servo driver Servo motor with a brake Motor O O Photoelectric encoder 2 The current provided by switching power supply shall be determined according to the brake different brakes have different working currents Normally the DC24V of switching power supply shall be capable of providing the current gt 1A 3 DC24V input of the brake is not restricted by direction The brake has delay action time please refer to the figure below for the order of ON and 76 OFF of the action OFF OFF Servo ready ON OFF OFF Servo on l ON OFF OFF Brake signal Actual state ON of the brake l Brake EE i Braking of brake Release of brake i l l l l gt 2 tq 1 The time from brake signal active to brake release is different for different types of brake 2 is PAS18 number 2 Brake interlocking output Type Signal name Connector pin Setting Meaning Needing ON L level Release brake Output BE distribution ON H level Use brake Use of the servo motor with a brake needs to control the output signal of brake In addition the output signal is not available in factory default setting Therefore it is n
18. Ouar oecus whe absolute alos o poson deviation Ts Tess Than pOsTonng Somplaion Tange PASTS an TURTON y upe aca when absolute aloe oF POSTO von Tes Ua POSTE ET ae PARTS and PSST 2 instructions 0 PA203 Reserved PA204 Reserved PA205 a electronic gear 1 65535 Immediately ratio numerator pa206 Electronic gearratio 1 65535 Immediately denominator pa2o7 Second alectronie 1 65535 Immediately gear ratio numerator pagog Third electronic gear 9 65535 Immediately ratio numerator pa209 Fourth electronic gear 1 _ 65535 Immediately ratio numerator Coder frequency 16 16384 1P Rev 16384 Power on divided pulse count again The resolution ratio of pulse output is set by using output pulse value where OA and PA210 OB rotate by 1 turn respectively When PA201 value is set to exceed the coder line count its fractional frequency value is the coder line count When 5000ppr gain coder is used PA210 is set to be greater than 5000 and its frequency division pulse count is coder line count 5000 PA211 Reserved PA212 Reserved PA213 Reserved Position pa214 0 1000 Olms 0 Immediately acceleration deceleration time 130 paroma Name Setting scope Unit Tanor Effective time Ratnan er No setting e parameter 1 Position instruction PA215 acceleration 0 1000 Ol
19. Support linear drive and open collector Long line receiver drive Symbol Pulse train CW pulse CCW pulse train 4Mpps 90 phase difference two phase pulse 1Mpps Linear drive Symbol Pulse train CW pulse CCW pulse train 500pps 90 phase difference two phase pulse 125Kpps Open collector Symbol Pulse train CW pulse CCW pulse train 200kpps 90 phase difference two phase pulse 200kpps Clear deviation pulse Support long line receiver drive linear drive and open collector Use external IO signal input selection 0 5S acceleration and deceleration settable respectively Max input voltage 10V motor rotates forwardly in case of positive voltage instruction About 9kQ Use external IO signal input selection Max input voltage 10V torque output at forward rotating side in case of positive voltage instruction About 9kQ 11 2 Servo motor specification Heat resistance class B Insulation withstand voltage AC1500V 1 minute Installation mode Flange Operating humidity 20 80 no dewing Protection mode Full enclosed and self cooled IP65 except the shaft through part 117 11 2 1 Parameter list of 60 80 series servo motor
20. or for regulation aA When pressing SET Save will flicker and 7 ka then the panel display will switch to SET procedure 2 m If users do not wanna store data just press 8 E MOD to exit and then the panel will display k procedure 2 9 End of operation 6 10 Manual zero calibration of torque dummy instruction AF 08 This auxiliary function is the method to input the torque instruction offset directly for regulation The procedures of using panel manipulator for the manual regulation of instruction offset are as follows Procedu Panel display after kapusi Gaseston res operation 1 rir io Press MOD key to choose the auxiliary woe function 2 A E HH A a a Press ft or to display AF008 ar Press SET and the panel will display the 3 Qr left figure 4 If the motor is on the left figure will be P oe or displayed 5 Press SET again to display the present offset of the speed instruction 62 Procedu Panel display after KE OA res operation 6 eS Press 1 or for regulation ea When pressing SET Save will flicker 7 5 A u E d ed and then the panel display will switch to procedure 2 aa If users do not wanna store data just press 8 A E g A EJ MOD to exit and then the panel will m display procedure 2 9 End of operation 6 11 Display of motor model AF 09 Display the
21. 108 Alain Alarm name Alarm content eos No not driver Electronic gear error in CAN Too high electronic gear ratio in E 70 Rie ees Yes communication CAN communication CAN communication line E 71 CAN connection failure disconnection or CAN Yes communication client side failure 10 2 Cause for alarm and treatment measures Alarm No Alarm name Cause for failure Treatment measures Abnormal parameter and Execute reset to factory default EO Parameter error verification AF005 Parameter format Abnorma dataformatat Execute reset to factory default E 04 internal parameter of abnormal AF005 servo driver E 05 Current test Abnormal tulemalereuit Power off and power on again 1 channel abnormal minute later E 06 Current test Abnormal iniemalcrauit Power off and power on again 1 channel 2 abnormal minute later Internal Wrong internal s rane ae Power off and power on again 1 E 08 communication communication of servo minute later error driver Coder line Line saving coder s signal Check coder s cables and wires E 10 E gna 2 Check whether PA002 3 matches disconnection line is disconnected f motor s coder Check coder s cables and wires 2 Check earth wire connection of Coder AB pulse Gain coder s AB pulse is driver and moor andicheok whether E 11 loss lost shielded wire is correctly connected g 3 Check whether coder wiring
22. 500 ms 0 Immediately deceleration time Internal position 5 PA730 acceleration 0 500 ms 0 Immediately deceleration time Internal position 6 PA731 acceleration 0 500 ms 0 Immediately deceleration time Internal position 7 PA732 acceleration 0 500 ms 0 Immediately deceleration time pag33 Internal position 0 9 _ 65535 ms 00 Immediately stop time PA734 Intemal position 1 9 _ 65535 ms 00 Immediately stop time PA735 Internal Position 2 0 65535 ms 00 Immediately stop time PA736 intemal position 9 _ 65535 ms 00 Immediately stop time pa737 mtemal position4 0 65535 ane 00 Immediately stop time pa738 intemal position 9 _ 65535 ms 00 Immediately stop time 139 pa739__ intemal position 6 65535 ms 100 Immediately stop time pa74o intemal position7 465535 ms 100 Immediately stop time Position PA741 demonstration 9999 9999 turn 0 Immediately high level Position PA742 demonstration 9999 9999 pulse 0 Immediately low level PA743 Reserved PA744 Reserved PA745 Reserved 140
23. input impedance is shown as follows Upper device Servo driver V REFor T REF 2CN 59 Above 10K T gt P J Above 1 8k 1 2W AGND 2CN 6 10 Earthing of shielding layers on both ends 4 Sequential control input loop It is connected through the transistor loop of relay or open collector If a relay is used for connection the relay for minor current shall be used If not poor contact will be caused Servo driver Servo driver DC24V DC24V Above 50mA 24V N_ 3 3K 0 Above 50mA 24VIN 3 3KQ Seay s1 l Pari SONand 3K 1S ON teL so on jigit Example of relay loop Example of open collector I Output circuit 1 Sequential control output loop Servo alarm servo ready and other sequential control output signals are composed of opticalcoupler output circuit and shall be connected through a relay 35 DOV 24V Servo driver r r i OV Note The maximum allowable voltage and maximum current of the output circuit of opticalcoupler are as follows Voltage DC30V maximum Current DC50mA maximum 2 Linear driver output loop The following part will describe 33 34 A phase signal 35 36 B phase signal and 19 20 Z phase signal terminals of CN2 port Change the serial data of encoder into the 2 phase A phase and B phase pulse output signals PAO PAO PBO PBO and origin pul
24. instruction h 8 Position control pulse instruction Torque control analog i instruction 9 Torque control analog instruction Speed control analog h A instruction E Important Switchover of control modes must be done by using external input signal Input signal distribution must be done through user parameter PA500 507 8 8 2 Instruction on control mode switchover When PA000 1 is set to combined control by 4 9 either 1 or 2 may be selected when selecting the input signal through control mode C MODE When C MODE signal is not effective control mode 1 is selected when C MODE signal is effective control mode 2 is selected Don t input instruction 10ms before and after selection The process of control mode switchover by C MODE signal is shown as the following chart 105 C MODE signal Ineffective Effective Ineffective Control mode 1 Control mode 2 Control mode 2 l l l Pit gt it l l l l l l Aoi Sat No instruction input above 10ms 106 Chapter X Fault Diagnosis 10 1 List of alarms Allain Alarm name Alarm content Clases No not E 03 Parameter error Abnormal parameter and No verification E 04 Parameter format abnormal Abnormal data format ofintemal No parameter of servo driver E 05__ Current test channel 1 abnormal Abnormal in
25. period Inspection items Daily inspection Daily Confirm t dirt and o Whe Whe Whe Whe Whe Whe Whe her t her t her t her t he service temperature humidity and whether there is ther matters ere is abnormal vibration and sound e input supply voltage is normal ere is abnormal smell ere are fiber stubs stuck to the ventilation opening her the front end of driver and the connector are clean her there the connection with control device and equipment motor is her t oose and whether the core feet deviates ere are foreign matters in the load part Periodic inspection l year Whe Whe Whe her t her i her t e fastening parts are loose is superheated e terminal is damaged or loose 13 Chapter II Installation 2 1 Installation direction and space The installation direction must be appropriate otherwise it may become the cause of troubles In order to ensure the fine cooling cycle effects when the AC servo driver is installed it must keep adequate distance from the articles and boards walls in its four directions and near it otherwise it may become the cause of troubles The air inlet and outlet shall not be blocked or placed inversely when the AC servo driver is installed otherwise it may cause fault Correct Wrong In order to lower the wind resistance to the radiator fan and let heat discharge effectively users shall follow the reco
26. 1 cW CCw 2 Phase A Phase B 4 times frequency Pulse signal negation operation 0 Neither PULS nor SIGN is negated 1 PULS is not negated but SIGN is negate 2 PULS is negated but SIGN is not 3 Both PULS and SIGN are negated 0 Clear position deviation pulse when servo is OFF and alarm 1 Do not clear position deviation pulse nce can only be achieved through CLR signal and lock state under OT status will also be cleared 2 BClear position deviation pulse only when alarm occurs 0 PULS and SIGN input low speed pulse channel 1 PULSH and SIGNH input high speed pulse channel Position control d 0000 3 Power on PA201 8 y d 0000 H function switch 2 177 again 129 Heremia Name Setting scope Unit ey Effective time Re cae er No setting e Dgt 3 Dgt 2 Dgt 1 Dgt0 d 00 Frequency division pulse input logic inversion 0 No negation 1 Negation Frequency division pulse extension Q 3 0 Frequency division Z pulse signal is not extended other numbers Frequency division Z pulse signal is extended Position control d 0000 00 z PA202 function switch 3 12 d 0000 Immediately Dgt3 Dgt2 Dgt1Dgt0 d O Positioning al COIN output condition O Output occurs when absolute value of position deviation is less than positioning completion range
27. 8 overload warning If it 2 Increase PA010 2 value overload z A i continues to run warning 3 Use external discharge resistor may be given greater power and less resistance This is the warning venoltte indication about to reach 1 Increase acceleration A95 h 8 overload warning If it deceleration time or start stop warning A PO continues to run warning times may be given This is the warning indication about to reach 3 Under voltage S s 1 Check whether input voltage A 96 A overload warning If it A warning meets the requirements continues to run warning may be given 5 Battery voltage is below A A97 17bit serial coder 3 1v too low battery 1 Check battery voltage battery warning voltage 2 Replace battery 114 Chapter XI Specifications 11 1 Specification of servo driver 11 1 1 Basic specifications Basic specifications of servo driver are as follows Basic specifications Input power 220V system Three phase AC220V 10 15 50 60Hz 380V system Three phase AC380V 15 15 50 60Hz Control mode Single phase or three phase full wave rectification IGBT PWM control sine wave current drive Line saving gain coder 5000ppr 1 20000 resolution ratio gain esalbess 17bit serial coder 17bit gain absolute Omari ominie oe environment humidity 0 55 temperature storage tempe
28. Alarm output when giving alarm ov f 29 COIN 4 30 COIN Seas tay vas fae ALM OFF y 32 ALM L__ Sean Note opticalcoupler output Shield wire connected to connector enclosure Maximum use voltage DC3 0V Maximum use current DC50MA 3 6 2 Example of speed control connection MCCB Ac20V 6 1 Se Three phase STO 410V gt 10V O S MC 50 60HZ 6 1 65 4 Servo driver RS485 CANH CANL GND LFC AD LFC 24VIN Servo function ON _ servo on when on Control mode switch control mode switch Positive limitation positive direction operation limited Negative limitation negative direction operation limited Alarm clearance alarm clearance when ON Zero speed restoration zero speed restoration when ON 1 DC24V shall be user DC24V power supply shall use double insulation COM son C MOD A POT E NOT j A RST ZEROSPD prepared by FG i 1 1 l Pa cy SSesarea s 1 D f C L 1 Sl 77 External brake On resistance 1 Power section Please handle shield wire PAT stubs properly ND gt S ao Apuse S348 opao differential 35 Encoder gt Z 4 BO Bpulse feedback 4 BO differential signal outpu
29. External brake null PA511 1 0 Signal active at L leve signal BK PA511 1 Signal active at H leve PA510 4 Servo ready output PA511 1 0 Signal active at L leve S RDY PA511 1 Signal active at H leve PA510 5 Speed compatibility PA511 1 0 Signal active at L leve output VCMP PA511 1 Signal active at H leve PA510 6 Motor rotation PA511 1 0 Signal active at L leve detection TGON PA511 1 Signal active at H leve 31 Signal F EN Name aay Signal name very ster Signal state pin parameter parameter PASIO 7 Torque limited signal PA511 1 0 Signal active at L level TLC PAS11 1 1 Signal active at H level PAS10 8 Zero speed detection PASI1 1 0 Signal active at L level signal ZSP PAS11 1 1 Signal active at H level PASI0 9 Warning output PAS11 1 0 Signal active at L level WARN PAS511 1 1 Signal active at H level Collector Z pulse PAS11 2 0 Signal active at L level 27 28 DO3_ Asabove a7 PASII2 1 Signal active at H level External brake null PAS11 3 0 Signal active at L level 25 26 DO Asabove signal BK PAS511 3 1 Signal active at H level 3 Relevant matters needing attention W Pins for alarm signal cannot be distributed freely only 31 ALM and 32 ALM pins can be used E When Z pulse collector output signal is used its output level state can not be changed corresponding PA 511 position is inactive H If two IO pins ar
30. PA000 2 Torque control analog instruction 3 Internal speed control junction instruction 4 Position control analog instruction 5 Speed control analog instruction 6 Torque control analog instruction 7 Position control pulse instruction Speed control analog instruction 8 Torque control analog instruction 9 Torque control analog instruction gt Speed control analog instruction A Internal position control junction instruction Basic switch 2 for Power on f s d 0000 0264 d 0000 i function selection again Dgt 3 Dgt 2 Dgt Dgt 0 Stoppage when servo is OFF and in case of warning 0 Motor is stopped by DB dynamic brake 1 Motor is stopped by DB and then DB is let go 2 No DB is used but motor is set to free state 3 Motor is stopped at PAS22 deceleration when servo is OFF motor is in DB state when speed is reduced to PAS23 __ Motor is stopped at PAS22 deceleration when servo is OFF motor is in free state when speed is reduced to PAS23 Stoppage in case of ove 1 OT PAOOL 0 DB stop or free operation stop stop method same as 0 2 setting of PA001 0 Motor is stopped by set torque of PA406 and then it enters into servo locking state 2 _ Motor is stopped by set torque of PA406 and then it enters into free operation state 3 _ Motor is stopped by set torque of PA406 and then it enters into DB state 4 Motor is stopped by set torque of PA406 and PAS22 deceleration and then it ente
31. Signal H active PA500 10 Gain switch GAIN eae a rative PA508 0 0 Signal L active PASOORIN Zero signal ZRS PA508 0 1 Signal H active PA500 12 Retention PA508 0 0 Signal L active PA508 0 1 Signal H active PA500 13 Instruction frequency division PA508 0 0 Signal L active multiplication switch 0 DIVO PA508 0 1 Signal H active PA500 14 Instruction frequency division PA508 0 0 Signal L active multiplication switch 1 DIV1 PA508 0 1 Signal H active PA500 15 Internal instruction speed PA508 0 0 Signal L active selection 0 INSPD0 PA508 0 1 Signal H active Internal instruction speed PAS00 16 selection 1 INSPD1 PA5S08 0 0 Signal L active PA5S08 0 1 Signal H active pasoo 17 Internal instruction speed PA508 0 0 Signal L active selection 2 INSPD2 PA508 0 1 Signal H active PA508 1 0 Signal L active 41 DI2 PA501 n Corresponding n signal PA508 1 1 Signal H active PA508 2 0 Signal L active 42 DB PA502 n Corresponding n signal PA508 2 1 Signal H active 43 DI4 PA503 n Corresponding n signal BAS08 370M Signal active PA508 3 1 Signal H active 44 DIS PA504 n Corresponding n signal PA508 470 Signal Lactiv PA508 4 1 Signal H active PA508 5 0 Signal L active 45 DI6 PA505 n Corresponding n signal PAS08 5 1 Signal H active PA508 6 0 Signal L active 46 DI
32. TLC 8 Zero speed detection signal ZSP 9 Warning output WARN 0 7 Same as DO2 signal distribution 0 7 Same as DO2 signal distribution r k b 0000 b 000 7 PA511 Output signal negation 1111 0 Immediately Dgt 3 Dgt2 D 0 Ww yhen ERR sig ef ve ie when alarm is given the corresponding output opto coupler is cut off when there s no p a se T i E TE STT output signal form selection Wier DO sna sees the corresponding ouput opuo coupler is pur ONE Wien DO2 signal is Hees Me opto coupler i put throug DO 3 output signal form selection When Dos the corresponding output opto coupler is put through when DOS signal is in ive the opto couph I Wie DO fal is effective the corresponding output opto coupler is cut off when DOS Signal is inclicctive the opto coupler is put through gnal form selection 0 4 sig the corresponding output opto coupler is put through when DO4 signal is ineffective the r Win DO Sina is elgeta Whe CORPO ouput opio coupler s cat oli when DOT spral TES e opto coupler is put through Input signal PAS12 Pee 1 1000 1 ms 10 Immediately filtering time Serial coder PAS13 communication 1 100 O lms 5 Immediately alarm time PAS14 Reserved 1 min s PA515 Zero fixed value 0 3000 1 10 Immediately Rotation detected 1 min PA516 valie 1 3000 1 20 Immediately PAS17 Same sped signal 1 100 1 min 1 10 Immediatel detected width y Brake instruction 2 PAS18 0 500 1 ms 100 Immediately Servo OFF delay
33. User parameter Control mode control pattern O Position control pulse train instruction The position of servo motor is controlled through the pulse train position instruction The position is controlled through the pulse number inputted and speed is controlled through the frequency of input pulse It is used when the action needs to be positioned h 0 Factory default 8 4 Speed control analog quantity voltage instruction Use the analog quantity voltage speed instruction to control the rotating speed of servo motor Please use it under the following occasions To control the rotating speed Use the encoder pulse output of servo driver and establish the position loop through the upper device for position control 8 5 PA000 Torque control analog quantity voltage instruction Use the analog quantity voltage torque instruction to control the output torque of servo motor Please use it when there is a need to output racking 8 6 Speed control internal setting speed selection Use 3 input signals INSPD0 INSPD1 and INSPD2 for 3 speed control through the operating speed P8 preset in the 8 7 servo driver When such control mode is used the analog quantity instruction is not needed 4 The switch model used together with the above said 4 control modes users can choose the switch model matchin
34. after changing the distribution of output signal e The signal which is not detected out is under inactive state For example during speed control positioning completed COIN signal is inactive Distribution of output signal is shown in the table below The typical circuit of output signal is as follows DC5V 24V Rel Servo driver Ea eee rN Optocoupler S RDY o SZ oV note The maximal allowable voltage and current capacity of the output circuit of opticalcoupler is as follows Voltage DC30V maximum Current DC50mA maximum Take the table above as an example Parameter PAS10 decides the level of COIN When COIN signal is active PAS10 0 and opticalcoupler PC is conductive L level is the active level of COIN signal When PAS10 1 and opticalcoupler PC is not conductive H level is the active level of COIN signal Signal Ce Name Saath Signal name Tnvenv tena Signal state pin parameter parameter PAS11 0 0 Signal active at H leve 31 32 DOL Sero alar ALM PA511 0 Signal active at L leve 29 30 DO2 PA510 0 Alarm signal output PA511 1 0 Signal active at L leve ALM PA511 1 Signal active at H leve PA510 1 Positioning PA511 1 0 Signal active at L leve completed COIN PA511 1 Signal active at H leve PA510 2 Z pulse collector PA511 1 0 Signal active at L leve signal CZ PA511 1 Signal active at H leve PA510 3
35. attention to this problem in modification First speed ring 1 3000 Hz 40 Immediately gain It decides the responsiveness characteristics of speed ring PA101 In order to increase position ring gain and improve servo system s total responsiveness the speed ring gain setting should be increased However vibration may be caused if the set value is too large so please pay attention to this problem in modification PA102 First speed ring 1 2000 0 1 ms 200 Immediately 126 integral time Paramet 7 7 Factory rae Referenc ENA Name Setting scope Unit setting Effective time constant Time constant is used to set speed ring integral time constant The smaller the set value the greater the integral s function and the stronger the anti disturbance capability but too large setting may cause vibration First speed i detection filter 0 1000 0 01 ms 10 Immediately PA103 After speed detection time constant of low pass filter can be set The greater the set value the larger the time constant but the responsiveness will decrease despite the reduced motor noise First torque filter 0 1000 0 01 ms 30 Immediately Set the first order lag filter time constant that is inserted into torque instruction part PA104 It can control vibration caused by distortion resonance The greater the set value the
36. for the self regulation of instruction offset are as follows Proced Panel display after Kapusi Operon ures operation nr e Press MOD key to choose the auxiliary 1 A F Le LI ree function 2 t a Press t or to display AF006 3 oe Press SET and the panel will display the left figure 4 ie Press 1 constantly to show the left figure 5 Press it continually till the left figure is shown which means operation is completed 61 Relieve the key and the panel displays the a ma z E ri e Press MOD or SET to exit from the auxiliary 4 A F L S woo ar function and return to procedure 2 8 End of operation 6 9 Manual regulation of speed instruction offset AF 07 This auxiliary function is the method to input the speed instruction offset directly for regulation The procedures of using panel manipulator for the manual regulation of instruction offset are as follows Procedu Panel display after Kapti Graio res operation 1 nr Press MOD key to choose the auxiliary A noo function AnA 2 a s Press 1 or to display AF007 3 f j Press SET and the panel will display the left ser figure If the motor is on the left figure will be 4 displayed 5 w Press SET again to display the present offset es of the speed instruction fet Fat m 6 5 ne Press f
37. is out of control the same to the usual power OFF operation during the period of interrupt power supply under tension warning A 96 during 79 Have interrupt power supply Power supply voltage Power off time t Servo ON go on operating Stop operating ii IK OFF Operating H Important The maximum holding time setting value is 800ms during interrupt power supply but the holding time of control power supply of the servo motor is about 200ms The holding time of major power supply varies along with the output of servo driver Please use a UPS in order to go on controlling the servo driver under the interrupt power supply state beyond the holding time When PAS21 gt t PAS21 lt t I 8 3 Use method of absolute value encoder If the servo motor with an absolute value encoder is used an absolute value detection system can be set in the instruction control unit Thus after power on again the motor can directly run without zero reset Output range of Resolution multiple Action going beyond the limitation rotation data Type of absolute value encoder When going beyond the upper value 32767 of positive rotation direction the 32768 multiple rotation data become 32768 32767 When going beyond the lower range value 32768 of reverse rotation direction the multiple rotation data become 32767 Multiple ring absolute value 17 bit encoder 8 3 1 S
38. is set PA400 1000 means motor s rated torque is used when 10V input is set PA400 200 means motor s rated torque is used when 2V input is set 8 6 2 Torque instruction input If torque instruction is sent to servo driver in form of analog voltage instruction torque control is implemented over servo motor at a torque proportional to voltage Type Signal name Connector pin number Name T REF CN2 9 Torque instruction Input iipit AGND CN2 10 It is used when torque control analog voltage instruction is used PA000 1 2 6 8 9 PA400 is used to set torque instruction input gain H Input specification Input scope DC 1V 10V rated torque Max allowable input voltage DC12V In case of factory default PA400 30 rated torque is under 3V It is rated torque when 3V input is forward It is 300 rated torque when 9V input is forward It is 10 rated torque when 0 3V input is reverse Voltage input scope can be changed through user parameter PA400 99 Torque instruction 1004 200 300 8 12 Input voltage V Gradient is set by PA400 E Example of input circuit In order to take effective anti interference measures please be sure that multi strand twisited wire is used in wiring Example of variable resistor P25HP 10B type product Servo driver Lenz T REF 9 10V 2KQ AGND 10 Torque of internal torque instruction 1 Confirming internal torque i
39. its maximum rotating speed E 28 Motor stalling Motor s speed does ae match Yes given speed for long time Motor operates abnormally E29 Motoroutor contrel possibly due to motor s power line Yes malfunction or coder line malfunction or mismatch between 107 Alarm Clearable or Alarm name Alarm content No not motor and driver E 30 Electronic gear protection Electronic gear ratio set too large Yes E31 Internal data calculation protection Internal value is large calculation Yes is over 32 bits E 35 Driver inhibits input protection Signal input with limited bits Yes B44 Daerteceb enor Driver reset is caused by too fast Yes power feed or abnormal driver E 45 Internal error Internal fault of driver 1 Yes E 46 Internal error 2 Internal fault of driver 2 Yes E47 Internal error 3 Internal fault of driver 3 Yes Abnormal communication of 17bit Servo driver can t communicate E 50 x Yes serial coder with coder Wrong odd even position or cutoff Verification error in 17bit serial position coder signal is interfered E 51 x i ati Yes coder control field or coder s decoding circuit is damaged Verification error in 17bit serial coe signal 5 iater ered Or E 52 ASEE coder s decoding circuit is Yes coder communication data damaged Cut off position error in 17bit serial Coder signal 1 eT ered or E 53 coder s decoding circuit is Yes c
40. of parameter setting PA OOO onasssssssssssssissssissssesiseeeseeees 46 4 6 Example of auxiliary function AF Jho a n a 47 4 6 1 Contents of auxiliary function 4 6 2 Example of auxiliary function AF OIDI 4 7 Parameter writing method in this manual ee eseseeeeeeteeeteeeeeeeees 48 4 7 1 Writing method of setting value parameter 48 4 7 2 Writing method of function selection parameter Chapter V Monitor Display ccsesseeeeesseeeeeeeseeeees 50 5 1 Overview of monitor display scssi saaie sis 50 5 2 Example of monitor display operation eee ee eeseeeeseeessseseeeeeeseeeees 51 5 3 Input signal MONIOTING o eee cece O R E R 52 9 31 Display ProCedur eS inn E cond ada acelsca iene ieee aaa 52 5 3 2 Judgment method of displaya c cccceccccccccccceeseseeeeseseesee senses senentesenees 52 5 3 3 Example of display ics ccicaisis se ceaestes E E A ean eons aaa NEAR 53 5 4 Output signal Monitoring oo eee eee eeeeetecseeeeeeseseeecacseetscsesesenseseeeeas 53 5 4 1 Display procedures c ccccceccescsseseeseseeseeseuseeesenscueeseeseesenseseeseeeteeeseeeeaeens 53 5 4 2 Judgment method of displaya c cccccccccccccccseseseseee eens eseeeeneesteneneesenees 54 5 4 3 Exampl of displayen an n E E R toute 54 5 5 Monitor display when power on s sesssssssssesreresssssrsresrerestsrsreresreresrnrerenreren 55 MOLE d COL A E E E A ET 55 Chapter VI Auxiliary Functions 6 1 Overview of auxiliary function
41. of user parameter PAQ00 Means the value expressed by the 0 digit number of the set PAO000 1 orn xx Ox Means the value expressed by the 1 digit number of the set value of user parameter PA000 PA000 2 or n x Ox x Means the value expressed by the 2 digit number of the set value of user parameter PA000 PA000 3 orn Ox xx Means the value expressed by the 3 digit number of the set value of user parameter PA000 n xxxxX Means b x xx x d xxxxorh xxxx EFF EHHA AHH Dgt 0 Dgt 0 Dgt 1 L pot 1 Det 2 L Dgt 2 Det 3 _______ net 3 Det 0 Det 1 Det 2 Det 3 b means binary system display setting digit value setting range 0 1 d means decimal system display setting digit value setting range 0 9 h means hexadecimal system display setting digit value setting range 0 F 122 Paramet 5 5 Facto ara Referenc Name Setting scope Unit tory Effective time er No setting e Basic switch 1 for Power on h 000 01A1 h 000 y function selection again Dgt 3 Dgt2 Dgt 1 Det 0 ion 0 _ Normal mode 1 Reverse mode 0 Position control pulse instruction 1 Speed control analog instruction
42. ol larm Alarm No displaying the time stamp Press tT once and it will display a new alarm Press SET to exit from the auxiliary function and return to procedure 2 8 End of operation lt Supplementary note gt When the same alarms are given continuously if the interval between errors is less than 1 hour they will not be saved if the interval exceeds 1 hour all of them will be saved e When there are no alarms the alarm No is 0 The alarm logging can be deleted through Deletion of Alarm Logging AF 04 Even though there is alarm reset or the major loop power supply of servo driver is cut off the alarm logging will not be deleted 6 3 Location assignment AF 01 After the location assignment function of servo driver is implemented the motor feedback location and set pulse position will be set to be PA741 and PA742 and the unit of PA741 is circle Procedures operation Panel display after Keys used Operation HAER Press MOD key to choose the auxiliary function Ti 6 ele Press f or lt to show a AF l AF001 Press SET and the left figure will 3 P 5 E ser be displayed 4 e Press 1 persistently to show the 1 left figure Press it continually till the left 5 a on E figure is shown which means operation is completed Relieve the key and the panel 6 P 5 E fa displays the left
43. on off the servo power supply jones Computer Used with a surge Computer connecting suppressor cable with a converter O ane b E m Ye col Upper controller kdl kd ok Input output signal cable Regeneration resistor KIE al 38 When the regenerated capacity is a insufficient PD remains open le Gj Fg OW circuit and a regeneration 4 S en resistor is connected externally to a the PC terminal j2 a lle ic Battery case used when an absolute value encoder is used 18 3 1 2 Connector and terminal of driver Terminal mark Name Description Major loop Connect with three phase alternating current supply please L1 L2 L3 power input choose the proper voltage specification according to the terminal product model Control loop Connect with single phase alternating current supply LIC L2C power input please choose the proper voltage specification according to terminal the product model External When a built in regeneration resistor is used please make P P and D short circuit When the built in regeneration resistor is regeneration oe A out of capacity make P and D open circuit remove the P D C resistor i shorting stub and connect the regeneration resistor between connecting ie A P and C Users can choose to buy the external regeneration erminal 3 resistor DC for i f ER PA S Usually 1 and 2 are short circuited When t
44. operating performance of motor or occurrence of E 29 alarm in operation 1 Modify the current motor model PAO12 to the motor model in use 2 Use the driver that matches this motor to replace the old one E 69 Servo driver model error Motor does not match this servo driver Although this alarm can be cleared and also be shielded with PA007 3 inappropriate match may cause poor operating performance of motor or occurrence of E 29 alarm in operation 1 Modify the current motor model PAO12 to the motor model in use 2 Use the driver that matches this motor to replace the old one E 70 Absolute coder count error detected Absolute coder count error detected It is effective only when coder test mode is effective PA949 3 1 E 71 CAN connection failure CAN communication line disconnection or CAN communication client side failure Check communication cable Check whether upper machine is operating normally 10 3 List of warnings The list of warnings is shown as follows Alarm No Alarm name Warning content A90 Too much position Accumulated position deviation pulses exceed the set deviation proportion A91 Overload This is the warning indicat ion about to reac overload warning If it continues to run warning may be given A92 Regeneration This is the warning indicat ion about to reac overload warning overload If it continues to ru
45. optional 20 PIN joint for CN3 3M simulation product optional eons head s Driver power input plug SPIN quick connection terminal L1 L2 L3 LIC L2C o0 External braking resistor and DC reactor plug SPIN quick connection terminal P D C 1 2 9 Two metal spiders 10 One installation manual 1 2 Product model 1 2 1 Description of nameplate E Description of the nameplate of EPS B1 servo driver 10 Applicable power Servo driver model AC SERVO DRIVER OUTPUT FREQ 0 250HZ AMPS 4 0A MANANI CE 22G0D750012A000004 Production No Applicable motor capacity 1 2 2 Model description E Description of the model of EPS B1 servo driver EPS B1 0D75 A A 1 PI BI 4 5 1 Servo driver series 2 Driver power 3 Rated input voltage Mark Specification Mark Specification Mark Specification B1 B1 series 0D40 400W A 220V 0D75 750W 0001 1 0KW 4 Hardware edition 01D5 1 5KW 5 Plant code Mark Specification Mark Specification A E Description of servo motor model 130 DN MA 1 0D75 D K A M ooo O RI B 4 5 6 7 8 9 10 1 Pedestal No 2 Product name 3 Voltage class Mark Specification Mark Specification Mark Specification Medium small 60 60 Flange DN MA inertia 220V 80 80 Flange HA High inertia 220V Me
46. output the torque that sends the instruction so motor s rotating speed is not managed If instruction torque is set to be to too large as relative to the load torque at mechanical side mechanical torque may be surpassed resulting in great increase of motor s rotating speed As regards the protection measure at mechanical side it has the function of limiting servo motor s rotating speed in case of torque control No speed limit With speed limit Damage may be caused if Motor Ley ae the speed limit of speed rpm te SP p mechanical movement is The speed limit of f Max speed mechanical movement will PE t bi ded Limit speed not be exceede gt t 1 Speed limit mode selection torque limit option User parameter Meaning Use the set value of PA407 serves as the speed limit internal d 0 en speed limit function PA002 Use V REF CN2 5 6 as external speed limit input to provide d 1 speed limit with V REF input voltage and set value of PA301 external speed limit function 2 Internal speed limit function Speed limit in case of torque control PA407 Setting range Setting unit Factory setting Effective time 0 5000 rpm 1500 Immediately Motor s rotating speed limit when torque limit is set When PA002 1 0 this user parameter setting takes effect Even a value that exceeds the maximum rotating speed of the servo moto
47. servo OFF The user parameter can change the timing of brake ON when the servo motor stops For the brake action during the rotation of servo motor please refer to 8 2 4 5 Setting of brake ON timing during the rotation of servo motor 77 Servo on input S ON ON OFF Brake released Braki f braki Brake output BK CON CORE oar Motor power off Motor power l Motor power on De l l 1 PA518 H Important When an alarm is given out the servo motor will be immediately powered off and this is not determined by the setting of the user parameter Owing to the deadweight of machine moving parts or the external force the machine sometimes may move before the brake functions 5 Setting of brake ON timing during the rotation of servo motor When a halt instruction is given to the rotating servo motor during servo OFF or an alarm the output conditions of BK signal can be changed according to the following user parameters Limitation of Brake Instruction Action Speed PA519 Setting range Setting unit Factory default Effective time 0 1000 rpm 100 Immediately Servo OFF Waiting Time of Brake Instruction PA520 Setting range Setting unit Factory default Effective time 100 1000 lms 500 Immediately When one of the following BK signal output conditions is effective during the rotation of servo motor BK signal will be set to H level brake start The motor speed is b
48. servo driver is OFF the servo motor with a brake can keep the moving parts from moving due to gravity please refer to 7 5 Test run of the servo motor with a brake H Vertical axis W Horizontal axis bearing external force Servo motor Machine moving parts ieee Holding brake Holding brake External Keep the workbench force from moving due to wl deadweight when the power is off Machine moving parts 4 Keep the workbench from moving due to external force when the power is off 1 The brake of the servo motor with a brake is special excitation free action type holding brake it can not be used for braking and can only be used to maintain the halt state of the servo motor The brake torque is about 80 of the rated torque of servo motor 2 If only the speed loop is used to activate the servo motor when the brake functions 75 set the servo OFF and input instruction to be OV 3 When setting the position loop because the servo motor is under servo locked state when it s stopped the mechanical brake shall not function 1 Example of connection The sequential output signal of servo driver BK and brake power supply forms the ON OFF of the brake Standard connection of a circuit is illustrated as follows AC220 Power U U LIC vd v w Ww L2C FG eo J 24V 24V BK RY _BK
49. ur displayed 4 baat Press SET to enter the lock password setting LAGA S 5 ie Hh Press 1 or to set the password i 6 w Press SET to lock the password and return to Sa procedure 2 7 End of operation 6 6 Deletion of alarm logging AF 04 Delete all the functions of alarm logging in servo driver logging Note The alarm logging can be deleted through this function Even though there is alarm reset or the major loop power supply of servo driver is cut off the alarm logging will not be deleted The operation procedures are shown as follows Procedu Panel display after suei Geni res operation 1 ii Press MOD key to choose the auxiliary woo function LAGA 2 G oe Press 1 or to display AF004 3 Press SET and the left figure will be SET displayed 4 ri Press 1 constantly to show the left a figure Press it continually till the left figure is 5 shown which means operation is completed 6 Relieve the key and the panel displays the left figure P Press MOD or SET to exit from the T ww auxiliary function and return to procedure A F LI MOD SET 2 y p 8 End of operation 6 7 Initialization of parameter setting value AF 05 It is the function which can reset the parameter to the factory defaults 60 e Initialization of parameter setting value shall be conducted when the servo is OFF It can not be
50. you need to rotate by 10 6 As rotating by 1 turn needs to use 5000 4 pulses so the instruction 5000 x 4 x10 6 33333 pulses This computation must be conducted on instruction controller 1 66667 turns needs to input E 10000um As 1 instruction unit is To move a work piece set to lum by 10mm As pulse is equivalent to lum The instruction inputs 10000 1 10000 pulses to move the work piece by 10mm Electronic gear is 1 1 Electronic gear is 20 6 3 Relevant user parameters First electronic gear numerator PA205 Setting range Setting unit Factory default Effective time 1 65535 1 Immediately First electronic gear denominator PA206 Setting range Setting unit Factory default Effective time 1 65535 1 Immediately If mechanical reduction ratio of motor shaft and load side is set to n m the set value of electronic gear ratio can be got by using the following formula Load shaft rotates by n turn when servo motor rotates by m turn 83 B PA205 _ Coder pulse count x 4 mm A PA206 Movement amount when load shaft rotates byl turn n Electronic gear When the set range is surpassed please reduce the numerator and denominator to an integer within a setting range Please note Don t change the electronic gear ratio H Important Recommended setting range of electronic gear count ratio 0 01 lt
51. 00 min 1 800 Immediately 131 Paramet Name Setting scope Unit Taro Effective time Rainen er No setting e Zero speed clamping function 0 2 0 Immediately selection 0 After the setting of zero speed clamping signal based on PA300 3 takes effect the speed instruction is forcibly put to 0 1 After the setting of zero speed clamping signal based on PA300 3 takes effect the speed instruction is forcibly put to 0 and when motor s actual speed is changed to below PA316 zero speed clamping class it is switched over to position control and PA315 ni PA aie F servo is locked at that position When zero speed clamping signal is ineffective or control mode is switched over it exits from this zero speed clamping state 2 After the setting of zero speed clamping signal based on PA300 3 takes effect stop is achieved by PA522 deceleration and when motor s actual speed is changed to below PA316 zero speed clamping class it s switched over to position control and servo is locked at this position When zero speed clamping signal is ineffective or control mode is switched over it exits from this zero speed clamping state This stop mode is only applicable to PA300 0 0 pasig Z0ro spoed 1 2000 rpm 30 Immediately clamping class PA317 Reserved PA318 Reserved Speed instruction DIN PA400 g 10 100 Rated 30 Immedi
52. 0V connecting to single phase brake When using the internal brake resistance P and D are short circuited and P and C are open circuited When using the external brake resistance P and D are open circuited and P and C are connected to extemal brake resistance DC reactor terminal DC reactor connected to the power higher harmonic suppression Power end of the servo motor Connected to the power connections U V and W of the motor 12 Display operating area Display area Five digit seven segment LED displays the servo state or gives alarm Operating area Four digit keystroke MOD mode switch key left shift key 1 content increase SET enter key Communication port convenient for use Support RS485 and communication CANopen 10 signal port onnected to the upper controller it is the struction input signal and sequential mntrol input output signal terminal Motor encoder feedback port Connected to the encoder signal at the servo motor side Ground protection terminal Connected to the input power ground lead and motor ground lead it is the terminal in prevention of electric shock and must be connected 1 4 Maintenance and inspection Please give constant maintenance and inspection to the driver and motor so as to use it safely and easily Daily inspection and periodic inspection shall meet the following requirements Type Inspection
53. 2 10 GND Sri CANH __ 7 15 CANL 8 14 GND 6 14 CN2 PL b 2K PULS y 150 PULS 50 p Low speed 4 A P 8 ETA position PULS 2K instruction SIGN 1 150 SIGN tS ee HPULS HPULS ni O High speed A P 17 position HPULS instruction HSIGN 93 HSIGN gt gt gt tr 24 p means strand wire MSIGN 24VIN cOM 47 Servo function ON _ _ servo on when on Control mode switch control mode switch Positive limitation positive direction operation limited Negative limitation negative direction operation limited Reset signal input clean position deviation when ON Alarm clearance alarm clearance when ON Pulse input inhibited no pulse input received when ON Zero speed restoration zero speed restoration when ON C MOD _ INHIBIT Ma gt gt 1 DC24V shall be prepared by user DC24V power supply shall ZEROSPD lt use double insulation 40 FG Pa i a 1 DIT l b r Sl H External brake oa resistance o u x 1 Power vro E E 4 section gt Brake E Encoder 8 me tt BAT 9 107 ale 18 1 hI a PD JH Please handle shield wire BAT stubs properly 2 _ a PAO A pulse I pag differential 35 S 33 pBo B pulse SPR a 36 4 ef feedback PBO differential signal output a PZO Zpulse 20 t pzo differential
54. 485 RS485 Signal line 2 10 RS485 RS485 Signal line 3 11 GND Reference ground 4 12 NC Unused 5 13 NC Unused 6 14 GND Reference ground 7 15 CANH CANH Signal line 8 16 CANL CANL Signal line Casing FG Shield wire 3 4 Wiring of connector CN2 3 4 1 Arrangement of connector CN2 50 26 GOOUGEUDGUOUCUCUUOUGU G UUO LOE E eS OO000000 000000000000 00000 CS 2 1 SG GND 2 DO Digital 2 DO4 Digital T 3 output3 6 output 4 4 3 PL Power input for 2 DO Digital 2 DO3 Digital open collector 9 2 output 2 8 output 3 instruction 6 AG Speed 5 V R Speed instruction 3 DO ALM 3 DO2 Digital ND instruction EF input 1 1 0 output 2 input 8 PU Instruction li PU Instruction pulse 3 PA Encoder 3 DO ALM LS pulse input LS input 3 0 divided pulse 2 output A Phase AG Torque 9 T R Torque instruction 3 PB Encoder 3 PA Encoder 0 ND instruction EF input 5 O divided pulse 4 O divided pulse input output B output A Phase Phase SI Instruction 1 SIG Instruction sign 2 3 PB Encoder 2 GN sign input N input 7 6 O divided pulse output B Phase 8 3 3 4 9 8 HP High speed 5 4 DI2 Digital input 4 DIL Digital input 6 UL instruction 1 2 0 1 S pulse input 7 HP High speed 4 DI4 Digit
55. 5 a Press SET to show the left figure d 3 ey 1 00 means the DSP software version SET is 1 00 4 iil Press 1 to show the left figure F eal 1 03 means FPGA software version is 63 Procedu Panel display after ESIA OEA res operation 1 03 a Press MOD or SET to exit from the 5 A E H HH a e auxiliary function and return to Laas s procedure 2 6 End of operation 6 13 Set absolute value encoder AF 11 This operation is only effective when the absolute value encoder is used generally it is used under the following conditions Absolute value motor is used for the first time There is relevant encoder alarm When the value of multiple rings of an absolute value encoder will be set 0 Note 1 Encoder setting can only be operated when the servo is OFF 2 When there are alarms relating to the absolute value encoder the alarms can only be cancelled through this operation and use of alarm reset signal A RST can not cancel these alarms 3 After this operation is ended please power on again before correct operations to check whether there are alarms 4 After the operation is ended the multiple ring value of the absolute value encoder is 0 and the relevant alarms relating to the absolute value encoder can be cleaned up Procedu Panel display after j Keys used Operation res operation 1 i Press MOD ke
56. 7 PA506 n Corresponding n signal PA508 6 1 Signal H active PA508 7 0 Signal L active 48 DI8 PA507 n Corresponding n signal PA508 7 1 Signal H active 3 Confirmation of input signal Input signal state can be confirmed through input signal monitoring dP012 Please refer to 8 4 Input signal monitoring for details of input signal monitoring dP012 4 Relevant matters needing attention E If two IO pins are distributed to the same signal the significant condition of the signal shall be subject to the ID signal with higher grade If both DIO and DI1 are set to be 0 S ON signal the S ON signal state of driver will be decided by DI CN2 41 pin ID Distribution of output signal The output signal is distributed to input output signal connector CN2 according to PA510 and PA511 setting 1 Confirm the factory setting distribution state 29 The factory setting output signal distribution state can be confirmed through the following parameters Parameter No Name Setting range Unit Factory Effective setting time Output signal selection selection selection 2 Z pulse collector signal d 0001 DO1 Output signal 0 Alarm signal output ALM d 0010 DO2 Output signal 0 Alarm signal output ALM 1 Positioning completed COIN CZ 3 External brake null signal BK 4 Servo ready output S RDY PAS10 5 Speed compatibility output VCMP
57. Do not make any changes to this product No persons except the designated ones can set dismantle or repair this product Otherwise there may be personnel injuries mechanical failure or fire E Please set a stop device on the machine side to ensure the safety The holding brake of the servo motor equipped with a brake is not a stop device used to ensure safety Otherwise there may be injuries E Please ensure to connect the earth terminal of servo driver with the earth electrode the earth resistance of servo driver for power input is below 100Q Otherwise there may be electric shocks or fire Notice to Storage and Handling E The product shall not be stored and set in the environment like the following Otherwise there may be fire electric shocks or machinery breakdown gt The place with direct sun light The place where the use environment temperature exceeds the temperature conditions for storage and setting The place where the relative humidity exceeds the humidity conditions for storage and setting The place with corrosive gases and flammable gases The place with too much dust dirt and too many saline matters and metal powders The place prone to water oil and chemicals The place whether vibration or shocks may affect the principal part E Please do not handle the product by grasping the cable motor shaft or detector Otherwise there may be personnel injuries or machine breakdown VV VV Y Notice to Ins
58. EPS B1 series Ab User manual Dorna Technology Co Ltd www cn dorna com DORNA Technology Co Ltd From top technology Serve the FA industry Address No 99 Zhuangchi Middle Rd Ganyao Industrial Park Jiashan Zhejiang China Tel 86 0573 89100588 Fax 86 0573 89100599 E mail oversea cn dorna com Web site www cn dorna com Safety Notice This section will introduce the main instructions that users shall follow during the confirmation storage handling installation wiring operation inspection and disposal after users receiving the products Dangers E Input power Input power of this driver is AC220V E When it is installed to a machine and begins running the motor shall be placed under the state for emergency stop at any moment Otherwise there may be personnel injuries and mechanical failure E When the power is on the housing of power supply s terminal block must be fixed Otherwise there may be electric shocks E After the power is turned off or after the voltage withstand test when the indication light of charge CHARGE is on do not touch the power supply terminal Otherwise there may be electric shocks caused by residual voltage E Please conduct trial run according to the procedures and instructions in the product user manual When the servo motor is installed to the machine operation mistakes may not only cause mechanical failures but also cause personal injuries E
59. Electronic gear ratio B A lt 100 4 Setting steps of electronic gear ratio Please set electronic gear ratio according to the following steps Procedure contents Remarks 1 Confirm machinery Confirm reduction ratio ball screw pitch pulley specification diameter etc 2 Confirm coder pulse count Confirm coder pulse count of the servo motor used Determine 1 instruction unit from instruction 3 Determine instruction unit controller Please determine instruction unit based on machinery specification and positioning precision Calculate movement amount Calculate the instruction unit amount after the load 4 after load shaft rotates by 1 shaft rotates by 1 turn based on the determined turn instruction unit z alculate electroni tio B A ding t 5 Calculate electronic gear ratio Calculate electronic gear ratio B A according to the electronic gear ratio calculation formula 6 Set user parameters Set the calculated value as the electronic gear ratio 5 Electronic gear ratio calculation method Under position control mode actual speed of load is Instruction pulse speed x B A x Machinery reduction ratio In case of driving by belt pulley the calculation method for electronic gear ratio B A is as follows B P pulse xMxi A L P pulse Motor coder s resolution ratio It means the pulse count fed back by motor feedback element after motor rotates by 1 turn For example as regards 5000 line gai
60. LN ies function ann oe Press ft or and it will show 2 PR iG LI i PA100 hai Press SET to enter the parameter editing 3 u rm oe interface it will show the left figure oe ser k which means the current number is 40 pan Press to move the digit flickering 4 u ri and make the digit 4 flicker Los the number flickering is the modifiable number 5 Di Press t for 6 times and the value showed a becomes 00 6 nonin e Press to move the digit flickering as oe Le Le shown in the left figure 7 mrn e Press t for 2 times and the value showed E LI LI i becomes 200 Press SET to revise the value of PA100 to a 200 If the set value is between the u maximum and minimum values of the 8 5 A a parameter and can become effective immediately the panel is shown as in the left figure If the set value is between the maximum and minimum values of the parameter and cr E 5 E can become effective only after it s powered on again the panel is shown as in the left figure If the set value is not between the maximum and minimum values of the parameter the panel is shown as in the bt Ly E r left figure The value set will be abandoned After about 1s the display will return to 9 Fi HA f the parameter editing interface as shown in procedure 2 Press MODE and the value of PA100 will 10 Tine ry not be revised the display will exit from boos J o the paramete
61. When it is set to be 50 the va 50 again panel will display the status code 5 6 Other notes The value display range of dP 01 dP 03 and dP 05 is 32767 32767 when it is 32767 the panel display is as follows Point of the most significant digit means the value is negative When the absolute value of motor feedback pulse number dP 02x10000 dP 01 55 pulse instruction input pulse number dP 04x10000 dP 03 and deviation pulse number dP 06x10000 dP 05 is greater than 327679999 and display data will not be updated 56 Chapter VI Auxiliary Functions 6 1 Overview of auxiliary function Auxiliary functions are represented by the No beginning with AF and they mainly realize the functions relating to the operation and adjustment of servo motor The table blow is an overview of the auxiliary functions and lists some referential sections AF No Functions Referential sections AF 00 Display of error logging 6 2 AF 01 Location assignment only active under location model 6 3 AF 02 Jog operation model 6 4 AF 03 Front panel lock operation 6 5 AF 04 Clearance of alarm logging 6 6 AF 05 Parameter initialization 6 7 AF 06 Self regulation of analog quantity speed and torque 68 instruction offset AF 07 Manual regulation of speed instruction offset 6 9 AF 08 Manual regulation of torque instruction offset 6 10 AF 09 Check the relevant parameters of motor 6 11 AF 10 Disp
62. _ Little change As regards Toad characteristic change minute instruction is used for response 2 Slow change As regards load characteristic change second instruction is used for response 3 Dramatic change As regards load characteristic change fastest presumption is implemented PA601 Reserved 0000 0512 0000 PA602 Reserved 0000 1111 0000 paoo3 Adjustment type b 0000 5 gg10 Immediately switch 4 1111 b Dgt 3 Dgt2 Dgt 1 Det 0 OOO Offline inertia detection update O Inertia ratio PA1 18 is updated automatically after completion of offline inertia detection 1 Inertia ratio is not updated and it s necessary to set PA118 by hand e of automatic adjustme 0 Presumed inertia value is used under automatic adjustment mode 1 Manually set inertia value PA118 is used under automatic adjustment mode ee E PA604 Reserved 0000 1111 0000 PA605 Reserved 0000 0003 0000 Inertia stability 0 100 2 Immediately PA606 criteria i i When the presumed inertia value is less than rated inertia of PA606 motor and it lasts within a certain period of time it is deemed as end of inertia presumption PA608 Reserved 0 100 1 0 PA609 Reserved 0 1000 0 01ms 100 Bandwidth setting 1 1000 Hz 40 Immediately PA610 Under the automatic mode the greater the value the faster the response and the greater the rigidity but the higher possibility of vibration 137
63. absolute 1 ring value encoder it displays the absolute position data of the encoder in one ring Cumulative load factor take the rated value of cumulative load as 100 0 ae 20 Display the corresponding rate of alarm grade during motor L overload protection Regeneration load factor take the rated value of dP 21 regeneration load as 100 Display the corresponding rate of alarm grade during regeneration overload protection DB load factor take the rated value of DB load as 100 dP 22 Display the corresponding rate of alarm grade during DB braking protection dP 23 Ratio of inertias of load o Display the ratio between load inertia and motor inertia Effective gain monitoring Display the gain data used in position and speed control 1 means the first group of gains 2 means the second group of gains dP 24 5 2 Example of monitor display operation Take dP 00 as an example Operation of monitor display is illustrated as follows The following part is an example of display when the rotating speed of servo motor is 1600 rpm 51 Panel display Procedures 3 Keys used Operation after operation 1 w Press MOD key to choose the auxiliary HLL function 2 dP ogl e fe If the parameter No is not DP0O press 1 i or to show DP00 Press SET to enter the monitoring fot 3 i i interface it will show the left figure and ee displa
64. al brake resistance 18 PD cr PD pa r BAT Please handle shield wire stubs properly e PAO Apulse tt i opao differential 35 Encoder gt _2 Bo Bpulse feedback 101 pgo differential f signal output 19 _ gt Pzo a A py ZUR cad PZO differential smu 25 BK 4 4 26 3K 27 CZ 28 CZ 29 COIN __ 30 com js Thom output 51 ALMt OFF when 32 ALM giving alarm Vv Connector Note opticalcoupler output enclosure a Maximum use voltage DC30V Maximum use current DC50MA Chapter IV Panel Operation 4 1 Panel manipulator The panel manipulator consists of its display part and keys The panel manipulator can display status implement auxiliary functions set up parameters and monitor the action of servo driver Name and functions of keys of the panel manipulator are shown as follows Key Function description MOD Switch between different models or exit gradually as cancel button praa Function digit rotate left t Number of function digit increases constantly without generating carry bit If the data are signed number the function digit switches between and SET Enter the parameters and display menu equivalent to ENTER How to reset servo alarm Press UP key and DOWN key at the same time to reset servo alarm Note Before reset servo alarm please find out the alarm causes 4 2 Function switch Press MODE SET the fu
65. al input 4 DI3 Digital input 8 UL instruction pulse 3 4 p 3 S input 2 PZ Encoder 9 PZ Encoder divided 4 DI6 Digital input 4 DIS Digital input 0 0O divided pulse o pulse output Z gt 6 4 5 output Z phase phase 2 21 4 CO External 24V 4 DI7 Digital input 24 2 7 M power input 6 7 2 HS High speed 23 HSI High speed 4 4 DI8 Digital input 4 IG instruction GN instruction sign 9 8 8 N sign input input 25 DO Digital output 4 at note 1 Please do not use unoccupied terminal 2 Please connect the shielding layer of input output signal cal grounding FG through the connector at servo driver side 3 Except alarm signal ALM all input output signals can alter d 3 4 2 Signal description of connector CN2 5 DIs Digital input 0 8 le to the enclosure of connector Conduct frame istribution through parameter setting E Name and function of input signal with default pin assignment rao Signal name an Function mode No S ON 40 Servo ON The motor is powered on C MOD 41 Control mode switch Switch of two control modes POT 42 Forward TRON Overtravel prohibited Stop driving prohibited operation of servo motor when NOT gas _ Boversc rotation iti
66. ameter writing method in this manual The following part will introduce the methods to write the parameters in this manual 4 7 1 Writing method of setting value parameter Perina Name Senie Unit Paea Effective Others number range setting Loop gain PA 100 at the Ist 1 100 1 5 40 Immediately position Paramet A er label Range of parameter available for setting The minimum setting unit scale of setting value in the parameter Factory setting Immediately means the parameter will be effective immediately after alteration Power on again 48 means the parameter will become effective only after power on again after alteration 4 7 2 Writing method of function selection parameter PA 200 Selector switch of position control 4 0009 d 1232 0000 A m Setting instruction aspect 1 gt dL Parameter Range of parameter Without Factory setting Immediately means the Other notes to the label available for setting unit value parameter will be parameter effective immediately after alteration Power on again means the parameter will become effective only after power on again after alteration gri aa 1 0 Position position position position gt d 01 000 ARSH PADO BONINI Value at 1 position of the parameter PA200 10r LOOX D PAOD F Valu
67. ate and has go ready press SET to enter JOG operation interface and the panel will display the left figure If the servo is in operation state or the front panel lock AF 03 is set the panel will display the left figure meaning operation of the auxiliary function is not available Press MODE to enter the state of servo ON motor power on Press to rotate positively or ft to rotate negatively While pressing the keys the servo motor will rotate at the speed set by PA306 Press MODE to enter the state of servo OFF motor power off lt supplement gt Users can also press SET to exit from JOG operation and the servo will also be OFF 8 Press SET to exit from the auxiliary function and return to procedure 2 9 End of operation 6 5 Front panel lock AF 03 Password setting 59 When it is set to be 58 it means no parameters and functions can be operated When it is set to be 315 it means all parameters and functions can be operated When it is set to be other value it means only the parameters and functions in the operating manual can be operated Procedu Panel display after Kaai Operation res operation 1 A E nr ri Press MOD key to choose the auxiliary or Lk woo function PAPA 2 H E g J p ty Press 1 or to display AF003 i f Press SET and the left figure will be 3 Gv
68. ately SYD APB WwW N PASO7 Port DI8 input signal selection Immediately 26 H Pins to input ports DI DI8 and default signal name are as follows Parameter No Port name CN2 port pin Default signal PA500 DII 40 S ON PA501 DI2 41 C MOD PA502 DI3 42 POT PA503 DI4 43 NOT PA504 DIS 44 CLR PA505 DI6 45 A RST PA506 DI7 46 INHIBIT PA507 DI8 48 ZEROSPD H Note to selection of input signal Parameter No Name Setting range Unit Effective time Factory default PA508 Selection of input signal 0 b 0001 DI1 input signal selection 0 Signal L level active opticalcoupler conductive 1 Signal H level active opticalcoupler not conductive b 0010 DI2 input signal aspect selection 0 Signal L level active opticalcoupler conductive 1 Signal H level active opticalcoupler not conductive b 0100 DI3 input signal selection 0 Signal L level active opticalcoupler conductive 1 Signal H level active opticalcoupler not conductive b 1000 DI4 input signal selection 0 Signal L level active opticalcoupler conductive 1 Signal H level active opticalcoupler not conductive n 0000 111 1 Immediatel y n 0000 PA509 Selection of input signal 1 b 0001 DI5 input signal selection 0 Signal L le
69. ately input gain orque Torque input PA401 filtering time 0 1000 0 1 ms 0 Immediately constant Forward side PA402 saa 0 300 300 Immediately torque limit pa4o3 Reverse side 0 300 300 Immediately torque limit Forward side PA404 external torque 0 100 100 Immediately limit Reverse side PA405 external torque 0 100 100 Immediately limit pa4o6 Emergency stop 9 _ 399 300 Immediately torque limit pago7 Speed limit at 0 5000 min 1 1500 Immediately torque control PA408 Reserved PA409 Reserved Immediately pagio Seement I notch 50 2000 Hz 2000 Immediately filter frequency Segment 1 notch PA411 filter frequency 0 32 db 0 Immediately attenuation rate Segment 2 notch s PA412 50 2000 1 Hz 2000 Immediately filter frequency pagg Segment 2 notet ge db 0 Immediately filter frequency PA414 Reserved PA415 Reserved PA416 Reserved 132 putas Name Setting scope Unit oon Effective time oe PA417 Reserved PA418 Reserved PA419 Reserved Port pu anput 0 25 0 Immediately signal selection 0 Servo on S ON 1 Control mode switch C MODE 2 Positive driving prohibited POT 3 Negative driving prohibited NOT 4 Deviation counter clearance CLR 5 Alarm reset A RST 6 Pulse input inhibition INHIBIT 7 Zero speed restoration ZEROSPD PA500 8 Positive torque limitation PCL 9 Negative torque limit
70. ation NCL 10 Gain switch GAIN 11 Zero signal ZPS 12 Retention 13 Instruction frequency division multiplication switch 0 DIV0 14 Instruction frequency division multiplication switch 1 DIV1 15 Internal instruction speed selection 0 INSPDO 16 Internal instruction speed selection 1 INSPD1 17 Internal instruction speed selection 2 INSPD2 Other Special function and usage paso Port DI2 input gas 1 Immediately signal selection pasoz Port DIB input 0 25 2 Immediately signal selection paso3 Port DI4 input 0 25 3 Immediately signal selection pasos PONDS mput loas 4 Immediately signal selection pasos Port DI6 input 0 25 5 Immediately signal selection pasos Port DIT input 0 25 6 Immediately signal selection PA507 Por DIR put 0 25 7 Immediately signal selection pasos nputsignal form ogg9 1111 b 0000 Immediately selection 1 133 Paramet 5 gt Facto TEETAR Referenc Name Setting scope Unit TY Effective time er No setting e Dgt3 Dgt2Dgt1 Dgt0 bOoodO DI 1 Selection of input signal aspect 0 Signal L level active opticalcoupler conductive 1 Signal H level active opticalcoupler not conductive 0 Signal L level active opticalcoupler conductive 1 Signal H level active opticalcoupler not conductive 0 Signal L level ac
71. brake force will be generated like in the initial running state H Vocabulary DB stop Brake and stop through the dynamic brake short circuit of the servo motor s interior circuit e Inertial running stop Stop naturally through the frictional resistance generated during motor rotation instead of applying brake Dynamic brake DB can be used for emergency stop When the servo motor is frequently started and stopped through the power ON OFF or servo ON signal S ON DB circuit will also repeat ON and OFF frequently which is the main reason causing the aging of the interior components of the servo driver Please start and stop the servo motor through the speed input instruction and position control instruction 8 2 6 Setting of interrupt power supply treatment When the voltage to the major power supply of the servo driver is OFF instantly whether the motor shall go on operating or set to be servo OFF Holding time of interrupt power supply PA521 Setting range Setting unit Factory setting Effective time 40 800 lms 60 Detection of interrupt power supply is to check the major power supply ON OFF If the OFF ON resetting time is below the setting value of user parameter keep operating But under the following circumstances the setting value of user parameter will not become effective e The load of servo motor is too big which causes interrupt power supply e When the control power supply
72. chine breakdown Notice to Maintenance Please do not change the wiring when the power is on Otherwise there may be electric shocks or personnel injuries When replacing the servo driver please copy parameters of the servo driver to be replaced to the new servo driver and then start operation again Otherwise there may be machinery breakdown Other Notices In order to give detailed explanations housing or safety protection devices are not included in some figures in this manual During operation please make sure to fix the housing or safety protection devices to the appropriate position and then start the machine according to the instructions of the user manual Illustrations in this manual are representative graphic symbols which may be different from the products that you receive Other Notices E During the commissioning and use of driver please set the relevant safety protection device Our company will not bear any liability for the special losses indirect losses and other relevant losses caused by our products E Information in this manual is general descriptions or characteristic introduction which may not always be the case in practical use or may not be completely applicable when the products are further improved Table of content Safety Notice E EE RE EE AT tise ete ees detec ele viene ded 1 Chapter Product Introduction ccccccccceesseeeeeeeeeeeeeseeeeeeeeeee
73. conducted when the servo is ON In order to make the setting active the servo driver shall be powered on again after the setting The operation procedures are shown as follows Procedures Panal iise ale Keys used Operation operation nr e Press MOD key to choose the 1 Al F ono pha auxiliary function 2 A E HH 5 haal kd Press 1 or to display AF005 i ra If the servo is under non operation 3 7 rm H E state press SET and the panel will set display the left figure If the servo is in operation state or the front panel lock AF 03 is set the 4 no a o panel will display the left figure meaning operation of the auxiliary function is not available 5 E Press 1 constantly to show the left E figure Press it continually till the left figure is 6 d ON E shown which means operation is completed Relieve the key and the panel displays 7 P N t the left figure ri ea Press MOD or SET to exit from the 8 A E LI bs ai ad auxiliary function and return to procedure 2 9 Power on again 10 End of operation 6 8 Automatic zero calibration of dummy instruction AF 06 Self regulation of the instruction offset is a method for self regulation of the instruction voltage speed instruction and torque instruction after measuring the offset The offset measured will be saved in the servo driver The procedures of using panel manipulator
74. der pulse dP 02 Motor feedback pulse number encoder unit higher 5 digits ie Encoder Motor instruction input pulse number before electronic gear 1 Instruction dP 03 a user unit lower 4 digits pulse dP 04 Motor instruction input pulse number before electronic gear 10000 Encoder user unit lower 5 digits pulse dP 05 Error pulse number encoder unit lower 4 digits 1 Encoder pulse dP 06 Error pulse number encoder unit lower 5 digits 10000 Encoder Under position control it shows the lower 5 digits pulse dP 07 Speed instruction analog voltage instruction v dP 08 Internal speed instruction r min dP 09 Torque instruction analog voltage instruction v dP 10 Internal torque instruction value in relation to the rated torque dP 11 Torque feedback value in relation to the rated torque dP 12 Input signal monitoring dP 13 Output signal monitoring dP 14 Instruction pulse frequency 0 1Khz dP 15 Major loop voltage V dP 16 Total operation time Hous dP 17 Rotation angle deg dP 18 Real position of encoder single ring absolute value or 2 Encoder pulse multiple ring absolute value encoder dP 19 Display of number of encoder rings only effective for 1 ring absolute value encoder Cumulative load factor take the rated value of cumulative dP20 oad as 100 Al dP 21 Regeneration load factor take the rated value of regeneration load as 100 dP 22 DB load factor take the rated va
75. dium small 130 130 Flange MB inertia 380V HB High inertia 380V 4 Design series 5 Rated power 6 Rated speed Mark Specification Mark Specification Mark Specification 1 0D40 400W A 1000rpm 0D75 750 W B 1500rpm 0001 1 0KW C 2000rpm 01D2 1 2KW D 3000rpm 01D5 1 5KW E 2500rpm 7 Encoder type 8 Brake selection 9 Shaft end specification Mark Specification Mark Specification Mark Specification Line saving i i K capacity increasing A Without K Have key Broove brake have no oil seal 5000ppr lt Have no key I 17 bit serial B With brake Y groove have oil increment type seal 17 bit serial Have k y rove J absolute value M y Bt 2 have oil seal type Have no key 10 Plant code N groove have no oil seal Mark Specification 1 3 Name of each part of the servo driver Power light The power light is on when the major loop power is ON When the power of major loop is OFF if there is residual voltage inside the driver the power indication light will also be on terminal otherwise you may get electric shock Power terminal of AC220V series connecting to three phase AC220V T OV series con power CPS terminal AC220V series AC220V powi AC380V ser AC380V power Internal external resistance terminal connecting to single phase when it is on do not touch the the major loop nnecting to three phase AC38
76. e and capacity of regenerated capacity correctly otherwise such function will be affected When users intend to connect external regeneration resistance its resistance value shall not be smaller than the minimum allowable resistance value If users intend to increase the power of regeneration resistor through parallel connection please confirm whether the resistance value satisfies the limiting conditions In natural environment when the disposable regenerated capacity mean value of regeneration resistor is used within the limit of nominal capacity the temperature of resistor will rise to be above 120 C under continual regeneration In order to ensure its safety it is suggested the regeneration resistor with a thermo switch be used When external regeneration resistance is used the resistance shall be connected to P C end and P D end shall be open External regeneration resistance shall use the resistance value suggested in the table above 17 Chapter III Wiring 3 1 System structure and wiring 3 1 1 Servo system structure Power AC220V series three phase AC220V AC380V series three phase AC380V Circuit breaker for wiring Used to protect the power line and cut off the power when the current is too big Noise filter Used to prevent the external noise from power line Electromagnetic contactor 5 EPS B1 servo driver Turn
77. e at 2 position of the parameter PA200 2 OX OO ipaoooy Value at 3 position of the parameter Lb PA200 2F d XOO0 ipaoooy ci a i 0 position position position position Range of setting of each digit of the b parameter is 0 1 E p r o position position position position Range of setting of each digit of the d parameter is 0 9 lt Fa it 0 position position position position Range of setting of cach digit of the parameter 49 Chapter V Monitor Display 5 1 Overview of monitor display Monitor display refers to the display of instruction value set in the servo driver state of input output signal and internal state of servo driver Monitor display is shown in the table below Monitoring No Display contents Unit dP 00 Motor speed Display the motor operating speed r min dP 01 Motor feedback pulse number encoder unit lower 4 digits Display the lower 4 digits of the sum of motor encoder feedback pulse 1 Encoder pulse dP 02 Motor feedback pulse number encoder unit lower 5 digits Display the lower 5 digits of the sum of motor encoder feedback pulse 10000 pulse Encoder dP 03 Motor instruction input pulse number before electronic gear user unit lower 4 digits Under position control it shows the lower 4 digits of of motor instruction input pulse number e sum 1 Instruction pulse dP 04 Motor instruction input pu
78. e distributed to Z pulse collector output signal the significant condition of the signal shall be subject to the DO signal with higher grade If DO2 and DO3 are set to be 2 Z pulse collector signal DO3 CN2 27 and 28 pins outputs Z pulse signal E Note that when the alarm signal ALM is active it means it gives an alarm when it is inactive it means it gives no alarm 3 4 4 Example of the connection with upper device Servo driver s input output signal and its connection with the upper device are shown as follows D Instruction input circuit 1 Instruction input circuit at low speed position The following is about the 7 8 instruction pulse input and 11 12 instruction sign input terminals of connector CN2 Output circuit of instruction pulse on the upper device side can choose any one from the linear driver output and open collector output 2 kinds The following part will enumerate them respectively E Linear driver output a Driver receives through low speed pulse channel 32 Upper device Servo driver Linear driver Opticalcoupler receiving PULS SIGN SIGN Earthing of shielding layers on both ends b Driver receives through high speed pulse channel E Open collector output Upper device Servo driver Linear driver Opticalcoupler receiving PULS 2CN 16 gt a PULS 2CN 17 3909 SIGN 2CN 23 SIGN 2CN 24 3902 FG Earthing of shielding layers on bot
79. easing encoder 38 Client side Servo driver Line saving and capacity increasing encoder Encoder A phase pulse Encoder B phase pulse Encoder C 19 lt pase pulse 20 P Line receiver Line driver SN75175 etc AM26LS31 etc i H 1 1 Posy lt roc PGOV SND t i ot Connector H i enclosure I Fo ws Sonnectar Shield wire enclosure ex means multistrand mt shield wire W Wiring of 17 bit serial encoder Client side Servo driver CN2 17 pao 33 Encoder A phase pulse ji T Ip 3 NH i rt PAO 134 P Encoder B 1 hase pulse 1 PBO 35 P p lt H 1e t p50 36 gt 17 bit serial T 4 T Encoder C encoder i 1 ZO 19 lt phase pulse as pany lt 4 et zo w gt EN ee i8 pps i l A 3 i z Ti Line receiver Line driver D P ETE I An me SN75175 etc AM26LS31 etc i i PG PGSV d PUY i jaar PGOV lt 4 9 GNP _ i i l Connector l i enclosure z I y E a 4 Era Shield wire if nie Note only absolute value 1 fpi Means multistrand type 17 bit serial encoder shield wire uses BAT and BAT signal 39 3 6 Standard wiring mode 3 6 1 Example of position control connection MCCB AC220V Sto Me o Three phase 6 T 6 __ _Mc S060KZ _S S MC Servo driver RS485 i 9 RS485
80. ecessary to distribute the output signal setting of PA510 Do not connect with it when the motor without a brake is used H Important Under the overtravel state even the servo motor is powered off no BK signal is outputted 3 Distribution of brake signal BK Brake signal BK is distributed to DO4 CN2 25 CN2 26 signal by default User parameter Connector pin Meaning Terminal _ Terminal PA510 n 3 CN2 29 CN2 30 Output terminals CN2 29 and CN2 30 output the BK signal n 3 CN2 27 CN2 28 Output terminals CN2 27 and CN2 28 output the BK signal n 3 CN2 25 CN2 26 Output terminals CN2 25 and CN2 26 output the BK signal H Important For other output signal distribution methods of the servo driver please refer to 3 4 3 IO signal distribution 4 Setting of brake ON timing after servo motor stop Normally BK signal is outputted when S ON signal is OFF servo OFF but users can change the timing of servo OFF through user parameters Brake instruction Servo OFF delay time PA518 Setting range Setting unit Factory default Effective time 0 500 ms 100 e When used on a vertical axis owing to the timing of brake ON moving parts of the machine sometimes may move slightly due to deadweight or external force The slight movement may be eliminated by using the user parameter to delay the
81. ed over by using the following input signals 104 Type Signal name Connector pin number Name INSPDO CN2 O O Distribution is needed oe speed selection signal Input INSPD1 CN2 Distribution is needed oe speed selection signal INSPD2 CN2 O O Distribution is needed iena speed selection signal As regards input signal selection The combination of the three signals INSPDO INSPD1 and INSPD2 correspond to 8 speeds When operation is achieved by using INSPDO INSPD1 and INSPD2 input signal must be distributed through user parameter PA500 PA507 Please refer to 3 4 3 Input output signal distribution 8 8 Control mode combination selection Servo units may select two of various control modes These two control modes can be combined with each other and switched over from each other The control mode is selected through Pn000 1 The following is a description of switchover method and condition 8 8 1 User parameter setting User parameter Control mode combination Internal speed control junction instruction Position control h 4 p signal instruction Internal speed control junction instruction Speed control analog instruction h 5 6 Internal speed control junction instruction Torque control analog instruction Position control pulse instruction Speed control analog PA000
82. eeeeeeeeeeeeseeees 10 LV AProduct MspectioM sarae e EE E E E 10 1D Prodiictmodell sise ra nerna nar a ER E AANS 10 12 1 Description of nameplate sercis n p 10 1 2 2 Model description ioc ccccsesesescocvazsertcacesvettegstacacea teesvencectenber sia cesvastntey ohedeete lI 1 3 Name of each part of the servo driver essessssieresseesesrseresrerersrssrererrersrsre 12 L A Maintenance and inspectio sisisi nean o ninii eo En eas 13 Chapter Il Installaatio M i aiaa aye teora ra ar raaa 14 2 1 Installation direction and sSpace s essssssesssesesesssrsrestetsssrtsrertsrersssnrererrererss 14 2 2 Recommended specification of circuit breaker and fuse eee 15 2 3 Countermeasures for noise disturbance and higher harmonic 0 0 ee 15 2 3 1 Installation of noise filter 2 3 2 Connection of AC DC reactor for suppression of higher harmonic 16 2 4 Selection of regeneration resistance eseeeeeeseseeceeenetseseeeees 16 Chapter II Wiring ceseeeeeeeeeeee 18 3 1 System structure and Wiring ee e EN a E E AEE S 18 3 1 1 Servo SYStOM StFUCIUTE ron A a RER RE EE E ER 18 3 1 2 Connector and terminal of driver oseese 19 3 1 3 Wiring Of major LOOP i irie renies erta anarei r e S iiS 19 3 2 Wiring at MOtOn S1de reine aar enO E E OE EEA e 22 3 2 1 Appearance and signal definition of connecting terminal of motor encoder ied a a a Ea e strech Re ANE coves Sp e S sees 22 3 2 2 Appearance and signal def
83. el PA316 Setting range Setting unit Factory setting Effective time 1 2000 Irpm 30 Immediately In case of speed control effective selection of ZERPSPD can make motor into zero clamping state Even a value that is over the maximum rotating speed of servo motor is set in PA316 the maximum rotating speed of servo motor still adopt the maximum rotating speed value 3 Input signal setting Type Signal name bale pm Setting Meaning Zero clamping ON L level function ON Input ZERPSPD Nesa to be effective assigned Zero clamping OFF H level function OFF not effective It is the input signal for switching over to zero clamping action When the ZERPSPD signal is used input signal needs to be assigned As regards the way of distribution please refer to 3 4 3 Input output signal distribution H Important When ZEROSPD signal has been assigned zero clamping action is effective even if PA000 h 1 O speed control 96 8 5 7 Coder signal output Feedback pulse of coder is output to outside after being processed inside servo driver Type Signal name Connector pin number Name Output PAO CN2 33 Coder output phase A PAO CN2 34 Coder output phase A Output PAO CN2 35 Coder output phase B PAO CN2 36 Coder output phase B Output PZO CN2 19 Coder output phase Z original point pulse CN2 20 Coder output phase Z original point pul
84. election of absolute value encoder User parameter Meaning daoo Use the absolute value encoder as the capacity increasing encoder PA002 4 factory default d O1 Use the absolute value encoder as the absolute value encoder e When it is used as a capacity increasing encoder it needs no emergency battery e After alter the user parameter the setting will become effective only after the motor is power on again 8 3 2 Battery use method Even the power is OFF a battery is needed to back up so that the absolute value encoder can save the position information 1 Battery selection Please make preparations according to the specification of instruction control unit the 80 battery shall be the product equivalent to ER3V 3 6V 1000mA TOSHIBA battery 2 Battery installation The battery shall be mounted inside the battery case of the encoder cable pay attention not to make the polarity reversed 8 3 3 Battery replacement When the battery voltage drops to be below 3 1V the servo driver will give out 17 bit serial encoder battery warning A 97 But this warning only gives out when the servo driver is power on Therefore if the battery voltage is too low when the servo driver is power on the servo driver will give no warning It can be set to battery voltage low warning by setting user parameters e Procedures to replace the battery 1 Please replace the battery when t
85. elow PAS19 when servo OFF The setting time of PAS20 is exceeded when servo OFF Servo on input ON OFF S ON l Motor speed Motor speed Actual stat f i ctual state o l Brake ON ON Braki p Acta r ol Brake OFF boo o PA520 H Important Even PA519 is set to be above the maximum number of revolutions of the servo motor used the servo motor will be restricted by its own maximum speed 78 8 2 5 Selection of the method for stop during servo OFF Choose the method to stop the servo driver during servo OFF Servo motor After servo T parameter User paramete stop method motor stops Meaning Stop through the dynamic brake d 0 DB stop DB holding DB the servo motor keeps in DB state after it stops factory default Stop through DB dynamic brake d 1 Inertial Inertial the servo motor will begin inertial PA001 F running stop running state power off running after it s stopped Stop through inertial running the d 2 Inertial servo motor will begin inertial running state power off running after it s stopped Under the following occasions setting of the user parameters is effective e S ON input signal OFF servo OFF e An alarm gives out e Major power supply off L1 L2 and L3 In the above setting DB state maintenance after DB stops of d n000 if the servo motor stops or rotates at a very low speed no
86. elow carefully in case there is negligence during the purchase and transport of the product Confirmation item Reference Whether the product received is the right one you intend to buy Check the product model on the motor and driver nameplate respectively Please refer to the note to model in the following sections Whether the motor shaft runs smoothly Rotate the rotor shaft of the motor If it can rotate smoothly it means the rotor shaft is normal Note that the motor with electro magnetic brake can not be rotated with hands Check whether there is superficial damage Check visually whether there are any superficial damages Whether there are loosened screws Check whether the mounting screws of servo driver are loosened with a screw driver In the event of any of the above said circumstances please contact the agent or manufacturer to get appropriate solutions A complete set of servo components shall include the following No Reference 1 Servo driver and its auxiliary servo motor 2 Motor power line Plug standard configuration at the power end of driver motor or a UVW motor power line optional Motor encoder line Plug at the encoder end of driver or plug at the encoder end of motor standard configuration or a encoder signal line optional RJ45 joint for CN1 RS485 and CANopen communication optional 50 PIN joint for CN2 3M simulation product
87. er supply 0V Tite eaving 4 PA PG input A phase coder 5 PB PG input B phase 6 PZ PG input Z phase i PA PG input A phase 8 PB PG input B phase 9 PZ PG input Z phase mee 1 FG Shieldin 17 bit serial 2 5V PG sine supply 5V encoder capacity increasing 3 oy PG power supply oy type 4 PD PG serial signal input 7 PD PG serial signal input 1 FG Shielding 2 5V PG power supply 5V 17 bit serial 3 OV PG power supply 0V encoder absolute 4 PD PG serial signal input value type 7 PD PG serial signal input S BAT Battery anode 8 BAT Battery cathode 22 3 2 2 Appearance and signal definition of motor power connecting terminal Terminal mark Name Function Appearance 1 U Motor U phase power 1 2 V Motor V phase power 3 W Motor W phase power 4 PE Casing 3 U Motor U phase power 2 V Motor V phase power 4 W Motor W phase power 1 PE Casing Note The above table is based on the terminal at motor side so please pay attention to it when connecting wire 3 3 Wiring of connector CN1 Connector CN1 is a communication plug Servo driver provides RS485 and CANopen communications 3 3 1 Terminal arrangement D Terminal appearance 8 7 6 5 4 3 2 23 II Terminal signal definition Terminal mark Name Function 1 9 RS
88. erference tolerance for input signal will decrease In case of deviation due to interference change should be made in the following user parameters 1 Examples for input and output signal timing 85 Servo ON H ON Excitation tl lt 30ms Motor not excited if u t2 gt t2 lt 6ms I H CN2 11 12 j 83 gt 40ms Symbol B Pulsetain ocr WT i I i H i L PAO H Coder pulse H T4 t5 t6 lt 2ms L i t7 gt 1ms PBO 1 I i OFF T 1 a ft i _ eee COIN _ t4 l t5 ON 1 t6 ON i i CLR h et Note 1 The duration from servo ON signal is set to ON to instruction pulse is input should be controlled to above 40ms If instruction pulse is input within 40ms since servo ON signal is set to ON servo driver sometimes can t receive the instruction pulse 2 Please set clear signal ON to above 20 ts Table 8 1 Instruction pulse input signal timing In ti 1 ae Tobe E Electrical specification Remarks Symbol Pulse train ao ai input SIGN PULS SIGN e Se 9 8 7 lt 0 lus Symbol SIGN Max Instruction er 14 t5 t6 gt 3us H Forward frequency 500kpps E Reverse F x instruction in case of corward instruction instruction t T 400 lt 50 L Reverse open collector input instruction 200kpps CW pulse CCW u r pulse tl t2
89. ervo driver has a capacitor when the power is on heavy charging current may flow through it Therefore if the power is frequently turned on off performance of the major loop components inside the servo driver may decline During JOG operation AF 02 and manual load inertia detection AF 15 please note that the emergency stop will become ineffective when there is over travel on the positive rotation side and over travel on the reverse rotation side Otherwise there may be machinery breakdown When the servo motor is used on the vertical axis please set a safety device in case workpiece drops when there is alarming and over travel Besides please set the machine to stop through zero position fixation when there is over travel Otherwise the workpiece may drop when there is over travel Extreme parameter adjustment esetting alteration may cause the action of the servo system to be instable so such operations are absolutely forbidden Otherwise there may be personnel injuries and machinery breakdown When there are alarms please reset the alarm after find out the reasons and ensure operation safety and then start operation again Otherwise there may be machinery breakdown fire or personnel injuries Please do not use the brake of the servo motor which has a holding brake for braking Otherwise there may be machine fault The servo motor and servo driver shall be used in combination as specified Otherwise there may be fire or ma
90. et 1 40 S ON 2 41 C MOD 52 Display LED No Input pin Signal name default set 3 42 POT 4 43 NOT 5 44 CLR 6 45 A RST 7 46 INHIBIT 8 48 ZEROSPD Note 1 When there is no external input the corresponding IO signal can also be active by revising parameters PA 508 and PA 509 selection of input signal aspect dp 12 can not only display the state of external input IO signal level but also display the active state of internal signal 2 When the input signal is not negative POT and NOT signals are inactive when the opticalcoupler is not conductive meaning driving inhibited overtravel 5 3 3 Example of display Display of input signal is illustrated as follows The input opticalcoupler is conductive PA508 0 0 and S ON signal is active servo ON at L level lt 4 LED on of the upper part of No 1 4 LED on of the lower part of No 1 87654321 The input opticalcoupler is conductive PA508 0 1 and S ON signal H is inactive servo ON at H level LED on of the lower part of No 1 87654321 No The input opticalcoupler is not conductive PASO8 0 1 and S ON signal is inactive servo ON at H level LED on of the upper part of No 1 87654321 No 5 4 Output signal monitoring Output signal state can be confirmed through output signal monitoring dP 13 The procedures judgment method and example of display are shown as follows
91. f output signal level but also display the active state of internal signal 2 Output pin 2CN 31 and 2CN 32 can only be used as ALM signal and its output polarity can be revised through parameter PA 511 selection of output signal aspect When the output pin is Z pulse collector output CZ the corresponding digit of dp 13 is not illuminated When more than 1 pin is selected for Z pulse output only one Z signal with priority of DO2 gt DO3 gt DO4 can be output 5 4 3 Example of display Display of input signal is illustrated as follows PAS11 0 0 ALM signal is inactive and the opticalcoupler is conductive ALM signal is L level 54 lt LED on of the lower part of No 1 87654321 No PAS11 0 0 ALM signal H is active and the opticalcoupler is not conductive ALM signal is H level LED on of the upper part of No 1 87654321 No PAS11 0 1 ALM signal L is active and the opticalcoupler is conductive ALM signal is L level 4 L ED on of the lower part of No 1 i 87654321 5 5 Monitor display when power on If dP No is set through PAO14 when the power is on the panel manipulator will display the dP No already set But if it has been set to be 50 factory default it will display the status when the power is on Parameter Name Setting Unit Factory Effective No range default time Initial display status Please check the monitoring Power on Paota contents
92. f speed instruction offset according to the following steps 8 5 4 Soft start Soft start means the function that phase step speed instruction input is transformed to instruction with certain acceleration and deceleration inside servo driver Soft start acceleration time PA303 Setting range Setting unit Factory setting Effective time 0 5000 lms 0 Immediately Soft start deceleration time PA304 Setting range Setting unit Factory setting Effective time 0 5000 lms 0 Immediately Smooth speed control can be done when phase step speed instruction is input or internal set speed is selected Please set general speed control to 0 The set values are as follows PA303 Time from stop state to 1000rpm i e acceleration time of interval 1000rpm e PA304 Time from stop state to 1000rpm i e deceleration time of interval 1000rpm Max rotating speed of motor deel thei After soft start A 8 5 5 Speed instruction filter Speed instruction filter time parameter PA302 Setting unit Factory setting Effective time Setting unit 0 1000 0 01ms 40 Immediately Analog speed instruction V REF is input through 1 time relay filter to smooth speed instruction The responsiveness will be reduced if the set value is too large 8 5 6 Use of zero clamping function 95 1 Meaning of zero clamping function It is a function used when instruction contr
93. figure ec Press MOD or SET to exit from 7 ri a amp the auxiliary function and return to procedure 2 8 End of operation 6 4 JOG operation AF 02 JOG operation means the function to confirm the servo motor action through speed control without connecting to the upper device During JOG operation the overtravel prevention function is inactive The range of 58 operation of the machinery used shall also be considered during operation 1 Setting before operation Before JOG operation the following settings are necessary e When S ON input signal is ON please switch it to OFF e Please set the JOG speed after considering the range of operation of the machine JOG operating speed can be set through PA306 e Please take necessary safety measures and enable it to stop under any emergent occasions In order to ensure safety a stop device shall be set on the machine side 2 Operation steps JOG operation steps are as follows The following part will introduce the operation steps when the rotation direction of servo motor is set to be PA000 0 0 rotating positively under instructions for positive rotation Procedu res Panel display after operation Keys used Operation 1 Press MOD key to choose the auxiliary function If the parameter No does not show AF 02 press 1 or to show AF 02 If the servo is not under operation st
94. g 8 8 9 the control mode Position contact control internal position instruction h A System position control will be conducted without the upper device 8 2 Setting of general basic functions 8 2 1 Servo ON setting Set the servo ON signal S ON which gives instructions for servo motor on off 1 Servo ON signal S ON Type Signal State Input level Remarks ON 2CN 40 L level The servo motor is on servo ON Input S ON and can be operated OFF 2CN 40 H level The servo motor is off servo OFF and can not be operated 2 Selection of the input level of servo ON signal The input level can be selected through the user parameter that s to say to set the 71 active level of servo ON signal 2CN40 User parameter Description The S ON signal inputted from input terminal 2CN 40 is active b 0 PA508 low factory default b 1 The S ON signal inputted from input terminal 2CN 10 is active high 8 2 2 Switch of motor rotation direction The servo driver can enable the servo motor to rotate inversely negative rotation mode without changing the wiring of servo motor The positive rotation direction set normally is counter clockwise rotation CCW when judged from the load side of the servo motor Negative rotation mode only changes the rotation direction of the motor under such circumstances the positive rota
95. g has no effect on movement amount instruction pulse count gt The instruction controller that sends the instruction can t accelerate or decelerate gt The frequency of instruction pulse is low gt The electronic gear ratio is relatively high more than 10 times E Supplement The difference between position instruction acceleration deceleration time constant PA214 PA215 and position instruction mean movement time PA216 is as follows Acceleration deceleration time parameter Mean movement filter PA214 PA215 PA216 Before filtering After filtering ARAN Before filtering PA216 OE After filtering 100 100 63 2 i gt gt gt Paztarpazis gt a PA216 Responsive wave form of phase step Responsive waye form of phase step insihiction inpit instruction input Suse Before filtering PA216 After filtering 100 iv PA216 Responsive wave form of trapezoidal instruction input 8 4 4 Positioning completion signal COIN This signal means that servo motor monitoring is completed in case of position control Please use it when the instruction controller s positioning is completed and confirmed for interlocking g Connector pin Type Signal name S Level Name a Positioning CN2 29 30 ON L level completed Output GON factory default Positioni t ry OFF H level ositioning no completed The positioning completion si
96. g setting value or input data out of range Out of Range 5 no aP Parameter protected by cryptograph not available for modification Can not operation H Value type The most significant digit of the parameter shows the value type Symbol displayed Description The most significant digit is not displayed which means the parameter setting is on decimal base When the data are unsigned number the most significant digit is set to be 0 6 and other digits may be 0 9 When the data are signed number the most significant digit is the sign digit SOG bias au The most significant digit is shown as b meaning that the parameter setting is on a binary base Scope for each digit is 0 1 Zaje C3 RIHI Le Le The most significant digit is shown as d meaning that the parameter setting is on a decimal base Scope for each digit is 0 9 mnnn LI LI LILI The most significant digit is shown as h meaning that the parameter setting is on a hexadecimal base Scope for each digit is 0 F 4 5 2 Example of parameter setting PAcoo The following part will introduce the method for revising parameters taking the loop A 6 gain PA100 of the first position as am example Revise the number of PA100 from 40 to 200 Procedures eee aier Keys used Operation 1 p A nonin Press MOD key to choose the auxiliary LA LA
97. gnal can be assigned to the output terminal through the user parameter PA510 Please refer to 3 4 3 input output signal distribution The factory setting is assigned to CN2 29 and 30 89 Positioning completion width PA525 Setting range Setting unit Factory default Effective time 0 65535 lpulse 10 Immediately If the difference between the instruction controller s instruction pulse input count and the servo motor s movement amount deviation pulse is lower than the set value of this use parameter then the set unit for positioning completion signal COIN output is instruction unit which depends on the instruction unit of electronic gear setting If the set value is too high deviation may be reduced in low speed operation but it s possible that COIN model is output at normal times so attention should be paid to this Setting of this user parameter does not affect the final positioning precision E Supplement COIN signal is the signal in case of position control 8 4 5 Positioning near signal NEAR The positioning near signal NEAR is a signal meaning that the servo motor is near to positioning completion It is usually used in pair with the positioning completion signal COIN It is used to receive positioning near signal before the instruction controller s confirmation of the positioning completion signal to make action sequence preparations after positioning is completed t
98. gnal setting 91 1 Speed instruction input If speed instruction in form of analog voltage instruction is sent to the servo driver speed control is implemented over the servo motor at a speed proportional to input voltage Type Signal name Connector pin number Name V REF CN2 5 Speed instruction input Input AGND CN2 6 a ground wire for speed instruction It is used in case of speed control analog voltage instruction PA000 1 1 5 7 9 PA301 is used to set speed instruction input gain As regards detailed description of setting please refer to 8 5 1 User Parameter Setting H Input specification e Input scope DC 2V 10V rated speed Max allowable input voltage DC 12V Rated rotating speed Factory setting Examples of setting PA301 Rated rotating speed under 600 6V Specific examples are as follows E Rated 12 8 F Speed i rotating a q 8 12 instruction Poratie Rosine ped 1 Rated voltage V fagui direction speed 3000rpm type F Rated rotating speed motor F i Rated Gradient set by PA300 6V Forward rotating 3000rpm speed 1 6 rated 1V Forward rotating 500rpm speed 1 2 rated 3V Reverse rotating 7 1500rpm speed Voltage input scope can be changed by user parameter PA301 E Examples of input circuits Programmable controller and so on are used for e In order to adopt measures that can effectively prevent
99. h ends Applicable linear drivers include similar products of AM26LS31 of T1 Company a When the upper device adopts open collector output and provides 24VDC signal power supply the connecting type is 1 33 Upper device Servo driver Vcc Optocoupler 2CN 3 2CN 8 e y ae Farthing of shielding layers on both ends 5 E n n 2 A Q Z 2CN 12 em me ee ee ae a ee M b When the upper device adopts open collector output and provides SVDC 12VDC and 24VDC signal power supply the connecting type is 2 Upper device Servo driver Optocoupler 2CN 7 150 cece 2CN 8 Farthing of shielding layers on both ends Please define resistance R1 according to the following input current value scope Input currenti 10 15mA When Vcc is 24V RI 2KQ When Vcc is 12V RI 510Q When Vec is 5V RI 180Q 2 Instruction input circuit at high speed position The following is about the 16 17 instruction pulse input and 23 24 instruction sign 34 input terminals of connector CN2 The output circuit of instruction pulse on the upper device side can only be output from the linear driver The following part will enumerate them respectively 3 Read analog input loop The following part is about 5 6 speed instruction input and 9 10 torque instruction input terminals of connector CN2 Analog quantity signal means the speed instruction or torque instruction signal The
100. he PE higher harmonic i k 1082 Reactor higher harmonic of power supply needs to be suppressed a connecting DC reactor can be connected between and 92 erminal Servo motor U V W connecting Connected with the servo motor erminal Farth terminal It is connected with power earth terminal and motor earth terminal for grounding C icati i CN1 ommmunication R45 joint connecting RS 485 or CANopen port connector CN2 T O connector Connected with upper controller CN3 ce Connected with the motor encoder connector 3 1 3 Wiring of main circuit 1 Dimension of major loop wire of servo driver Terminal Line diameter mm2 AWG External terminal name pata EPS B1 0D20A OD40A_ OD75A_ 0001A_ O1DSA Main circuit power line L1 L2 L3 1 25 AWG 16 2 0 AWG 14 Control power line LIC L2C 1 25 AWG 16 Motor power line U V W 1 25 AWG 16 2 0 AWG 14 External regeneration P D C 1 25 AWG 16 resistance wire Earth wire D Above 2 0 AWG 14 2 Example of typical main circuit wiring Note to main circuit wiring During the sequential control design of power on the following aspects shall be considered Please make the following design for power on sequential control After the signal of servo alarm is given out power supply of the main circuit shall be in OFF state When power on the control supply and main circuit supply the two shall be powered on at the same time
101. he control power of servo driver is ON 2 After replacing the battery please make the servo driver power supply OFF so as to relieve 17 bit serial encoder battery warning A 97 3 Restart the power of servo driver if there is no abnormal action the battery is successfully changed When the control power supply of servo driver is OFF and the battery connection has been moved so has the encoder cable data inside the absolute value encoder will be lost Therefore setting of absolute value encoder is very necessary Please refer to 8 4 5 Setting of absolute value encoder AF011 8 3 4 Setting of absolute value encoder AF011 Under such circumstances setting of absolute value encoder is very necessary e When the machine is started e When there is 17 bit serial encoder battery warning A 97 e When there is E55 E62 alarm e When the multiple rotation data of the absolute value encoder will be set 0 Please set through the driver panel manipulator please refer to 7 13 8 4 Position control operation 8 4 1 User parameter setting When pulse train is used for position control please set the following use parameters 1 Control mode selection User parameter Meaning PA000 h 0 Control mode selection Position control pulse train instruction 2 Pulse instruction form selection Connector pin Type Signal name Seas 81
102. he figure below Use AC reactor Use DC reactor Single phase input Single phase three phases s dri input Servo driver Power ie ata DC reactor es gt ENA pul p gt 20ers 01 gv j 2 N NA by O2 2 4 Selection of regeneration resistance When the pull out torque of motor is opposite to the rotation speed it means energy is sent from the load end to the driver The energy enriches the capacitance of DC Bus and makes its magnitude of voltage rise When it rises to a certain level the recharged energy can only be consumed by the regeneration resistance The driver contains a regeneration resistance inside and users can also connect a regeneration resistance externally The table below shows the specification of regeneration resistance contained in EPS B1 220V series 16 Specification of internal regeneration resistance Minimum allowable SNe oe SE Pe aes atone uence is fos es Type A housing 30 Type B housing 30 60 20 Type C housing 20 100 10 Type D housing 10 150 10 When the regenerated capacity exceeds the disposable capacity of the internal regeneration resistance a regeneration resistor shall be connected externally When using regeneration resistance attention shall be paid to the following Item No Contents 1 Use external regeneration resistance alternatively 2 Please set the resistance valu
103. her the brake has been released in advance When the brake is released certain voltage shall be imposed on the brake generally DC24V Whether the wiring and connection are right Servo driver Whether the supply voltage to the servo driver is normal 7 2 Conduct JOG operation through panel manipulator The following part will introduce the procedures to use panel manipulator for JOG operation e JOG operation means the function to confirm the servo motor action through speed control without connecting to the upper device During JOG operation the overtravel prevention function is inactive The range of operation of the machinery used shall also be considered during operation 1 Setting before operation Before JOG operation the following settings are a must e When S ON input signal is ON please switch it to OFF e Please set the JOG speed after considering the range of operation of the machine JOG operating speed can be set through PA306 2 Operation procedures JOG operation steps are as follows The following part will introduce the operation steps when the rotation direction of servo motor is set to be PA000 0 0 rotating positively under instructions for positive rotation Procedu Panel display after Tes operation Keys used Operation 1 A E mm w Press MOD key to choose the auxiliary LI L a function ri Te If the parameter No is not AF 02 press 2 A F ui g fais 1 or l
104. hether driver matches motor PA012 correctly E20 Power module Power module alim 2 Reduce driver s overload g alarm multiples PA402 PA403 3 Increase torque filtering time PA104 1 Increase overload curve PA010 3 provided motor temperature rise meets the requirements 2 Increase servo system s Motor operates acceleration deceleration time in E 21 Overload continuously at a torque case of position control reduce exceeding the rated value PA100 and increase PA214 and PA215 and so on 3 Reduce servo overload multiples PA402 PA403 4 Replace the servo system with one having greater power 1 Increase servo system s acceleration deceleration time in case of position control reduce Regeneration Overload protection of PA100 and increase PA214 and E 22 A overload regenerative resistor PA215 etc 2 Increase parameter PAO10 2 provided that the regenerative resistor can bear it Rotational energy exceeds DB resistor s capacity due E23 DB overload to action of DB dynamic brake 1 Check whether motor operates Internal position deviation cotrecily under JOG E 2 Check whether electronic gear E25 Deviation counter counter overflows and setting is correct overflow position deviation exceeds 3 Check whether servo s torque 25665536 Pie setting 1s correct 4 Check whether there is any limit 1 Check whether motor operates me ae correctly under JOG i Position deviation pulse F E26 Position out of sxededs the se
105. i CN1 11 d 1 CW CCW PULS PULS L level i CNI 7 L cNi Negative logic mA SING Llevel SING level gt CCN1 11 CN1 11 d 2 90 phase 90 J 90 difference PULS PULS 2 phase pulse CNI 7 CNL 7 Negative logic SING SING Neg gic CCNI ID C CN1 11 3 Clear action selection In cases other than clear signal CLR a timed clear deviation pulse can be selected for clear purpose according to the state of servo driver The action mode of deviation pulse may be the one of the following three types selected through use parameter PA200 2 User parameter Contents Deviation pulse is cleared in case of basic module and CLR signal input doo factory default Basic module means that S ON signal is set to OFF main power set to PA200 OFF and alarm is given d010 Deviation pulse is not cleared Only CLR signal is used for clear 42 Deviation pulse is cleared only alarm is given or clear signal CLR is i input 4 Selection of instruction pulse input channel Pulse input channel i s selected by setting parameter PA200 3 User parameter Contents PA200 49 82 PUES and SIGN input low speed pulse channel _ Pulse input in this channel is received by opto coupler It is suitable for upper computer of collector output and long line transmit
106. ide from servo driver Every 1 turn feedback pulse from coder is frequency division inside servo driver into PA210 se values which are output Please make settings according to system specification of machinery and instruction controller In addition the setting scope varies with coder pulse count of servo motor encoder specification encoder pulse count P R Resolution ratio Line saving gain coder 20000 pulses turn 5000P R Absolute value coder 17 digits 131072 pulses turn _ 32768P R H Important When PA210 value is set to be a value over coder line count its frequency division value is the coder line count For example if 5000ppr gain coder is used PA210 setting is 16384 its frequency division pulse count is the coder line count 5000 E Examples of output PA210 16 16 pulse output per turn Setting range 16 5000 16 16384 Set value 16 vo J UU UU UU UU UU UU UU eso J UU UU UU UU UU UU UU UU 1 turn 8 5 8 Same speed test and output When the rotating speed of servo motor is same that that of instruction same speed test and output VCMP signal is output please use it when it is interlocked with instruction controller Type Signal name Connector pin number _ Setting Meaning ON L level Same speed state Output NOME Reet OFF H level Different speed state This output signal needs to be assigned through parameter PAS10 As regards distribution of outp
107. inition of motor power connecting terminal e r r A E A A ok Cty OA roy tial 23 3 3 Wirifig of conector CN hs iiron taan nan AOA NRR ARRERA 23 3 3 1 Terminal arrangement rrisin aa i i 23 3 4 Wiring of connector CN2 0 eee n AE E A ENARA 24 3 4 1 Arrangement of connector CN2 assesseer 24 3 4 2 Signal description of connector CN2 cccecccccsesse ee tees ee eteneeeetenteeteees 25 34 3 VO Signal distrib tor A R EAAS A 26 3 4 4 Example of the connection with upper device 32 3 5 Wiring of connector CNI nen no E E A ERTEAN 36 3 5 1 Terminal arrangement of connector CN3 37 3 5 2 Example of connector CN3 connection 3 6 Standard wiring Mode uu eee 40 3 6 1 Example of position Control connection 40 3 6 2 Example of speed Control connection nsss 41 3 6 3 Example of torque Control connection s es 42 Chapter IV Panel Operation ccccccsceeeceeeeeeeeeeeeeeeeeeeseeeeeeseeeeeeeeeeeeeeeseeeee 43 4 T Panel mainpulatOr n a T a E S EEE ei 43 AD Function Switch 2622 ce e a a RE tulahereeleredes cen bineneteoues 43 4 3 Status MOnitoring esis ec el ee i oa ea hat celina a ts 44 4 4 Monitor display DP E E E shacuseantsbosesb aera idee eueteaeis asests 45 4A Display COnteint sarira EAN uence ee ae oS 45 4 4 2 Example of operation under monitoring model 46 4 5 Parameter Modeno aia aa E EAE E E AE AE susan ASE 46 4 5 1 Relevant instructhonSoccsscinesneionia a a a 46 4 5 2 Example
108. interference be sure to use multi strand twisted wire for wiring purpose Examples of variable resistor P25HP 10B type product Servo driver connection with the instruction controller s speed instruction output terminal in case of position control by instruction controller 92 Instruction Servo unit controller CN2 V REF lt Speed 5 instruction AGND Input 6 terminal EA i PAO Feedback 34 pulse PBO 35 Input terminal PBO 36 PZO 19 PLO 44 Means multi strand twisted wire 2 Proportional action instruction signal P CON Signal Connector pin 3 Type ane amber Setting Meaning Terminal ON L level Servo driver is operating in the mode of Input P CON distribution is P contol P Servo driver is operating in the mode of required OFF H level PI control P CON signal is a signal in respect of which speed control mode is selected from PI proportion integral or P proportion control If it s set to P then control can relieve motor rotation and slight vibration caused by speed instruction input drifting Input instruction It can progressively reduce servo motor rotation caused by drifting at OV but servo rigidity support strength decreases at stop P CON signal can assign the input connector pin number to other places through user parameter Please refer to 3 4 3 input output signal distributio
109. is separated from strong current wiring E12 Coder Z pulse loss Coder Z pulse loss Check coder s wiring Check whether the coder installed E 13 Coder UVW error Coder UVW error on the motor is line saving coder 2 Check coder s wiring Check whether the coder E14 Codex sats enor Wrong initial state of installed on the motor is line saving line saving style coder 2 Check coder s wiring Bo deh One of three phase inputs C eclc whether any phase 1s lost Main circuit power Hagin iret in input power E 15 W of main circuit power is 5 wiring error 2 Check whether input power not connected 2 voltage meets the requirements Regenerative processing loop is E16 Receneration error Abnormal regenerative abnormal 8 processing loop 2 Too low voltage of L1 L2 and L3 input power 1 Check whether driver s terminal P D C are reliably connected E17 Regenerative Regenerative resistor fault 2 Check whether regenerative resistor error resistor is damaged 3 Check whether voltage of L1 L2 and L3 input power is too low 109 Alarm No Alarm name Cause for failure Treatment measures 4 If brake resistor is not used you can set PA009 0 1 E 18 Under voltage piace main loop Check input power voltage 1 Check whether input power DC voltage of main loo voltage is correct E19 Overvoltage is sbnotmally high P 2 Check whether regenerative resistor is damaged 1 Check w
110. l speed control and position control dP 11 Torque feedback value in relation to the rated torque Display the torque feedback value under torque control 50 Monitoring No Display contents Unit speed control and position control Input signal monitoring dP 12 Display the control input signal state connected to CN2 connector Output signal monitoring dP 13 Display the driver output signal state connected to CN2 connector Instruction pulse frequency dP 14 Display the frequency of instruction pulse of the upper 0 1Khz device under position control dP 15 Major loop voltage v Display the DC voltage of input power after rectification Total operation time Display the total operation time of the driver The time is a dP 16 record of the time when the driver is powered on if AF005 Hous operation reset to factory default is implemented the value will be reset Rotation angle Display the electric rotation angle of the motor deg Real position of encoder single ring absolute value or multiple ring absolute value encoder dP 18 When absolute value encoder is used single ring absolute 2 Encoder pulse value or multiple ring absolute value encoder it displays the absolute position data of the encoder in one ring Display of number of encoder rings only effective for absolute value encoder dP 19 When absolute value encoder is used multiple ring
111. l display after Keys used Operation res operation Wisi o Press MOD key to choose the auxiliary 1 H F Le Li ie function alma 2 A E a zi Press 1 or to display AF0015 ri If the servo is under non operation state 3 rm fa o and has been ready press SET and the panel will display the left figure If the servo is in operation state or the front panel lock AF 03 is set the panel will display the left figure meaning operation of the auxiliary function is not available A no aP Press MOD key for manual detection of MOD load inertia During detection if the detection needs to 6 G J be stopped immediately users can press SET to exit directly After the detection the panel will display the load inertia value Its unit is Kg Cm2 a Ca a 4 ac _ fe ie Press MOD or SET to exit from the 8 A E f 5 eS auxiliary function and return to procedure MOD SET 2 9 End of operation 65 Chapter VII Test Run 7 1 Inspection and matters needing attention before the test run In order to ensure safety and conduct test run correctly please check and confirm the following items in advance Project Content Whether the motor has been released from load Whether the wiring and connection are right Whether the fastening parts are loose t Servo motor If the servo motor has a holding brake whet
112. larger the time constant but the responsiveness will decrease despite the reduced motor noise paros Second position 1 _ 1990 Us 40 Immediately ring gain PA106 ei speed ring 1 _ 3090 1Hz 80 Immediately Second speed ring PA107 integral time 1 2000 0 1 ms 10 Immediately constant palog Second speed 1 1000 0 01ms 5 Immediately detection filter i paiog Second torque 0 1000 0 01ms 20 Immediately filter Speed feed forward 0 100 0 Immediately PA110 In the speed control instruction calculated based on internal position instruction add the value got by multiplying this parameter ratio into the speed instruction from position control processing Speed feed forward PALI filter 0 1000 0 01ms 0 Immediately Set the time constant of first order lag filter required for speed feed forward input PA114 H neton compensation 1 1o00 01 o Immediately pajis mean compensation 0 1o00 o1 o Immediately smoothing constant Friction compensation x PA116 threshold speed 0 3000 0 lrpm 100 Immediately PA117 Reserved Inertia ratio 0 5000 1 200 Immediately PA118 Set the relevant motor rotor inertia and load inertia ratio PA118 Load inertia rotor inertia x 100 This parameter is ineffective in case of real time automatic gain adjustment 0 PA119 Reserved 32767 0 1ms 0 Gain application d 0000 PA120 selection switch 1 0034 d 0000 Immediately 127
113. lay of software version of servo driver 6 12 AF 12 Set absolute value encoder 6 13 AF 15 Manual detection of load inertia 6 14 6 2 Display of alarm logging AF 00 The servo diver can trace back to previous displays and can display at most 10 previous alarm loggings It can confirm the alarm No and time stamp Time stamp means the function to measure the time of duration after the control power supply and major loop power are charged on with 1 Hour as the unit and display the total operation time when the alarm is given out If operated in 24 hours a day 365 days a year it can continuously measure for about 7 5 years Display procedures of alarm logging are as follows pes Panel display after operation Keys used Operation 1 Ti Press MOD key to choose the auxiliary function If the parameter No is not DP0O0 press 1 or lt to show DPOO PA RI Press SET and the left figure will be displayed meaning the latest alarm code m Poy Co Alarm No Press lt once and it will display one previous alarm Press t once and it will display a new alarm The bigger the number on the left side the older the alarm displayed 57 Press MOD and it will display the 7 it hexadecimal time stamp Press MOD again the interface will 6 ra be switched back to the alarm No Please refer to the overview list of alarm
114. ler is conductive S ON signal is L level when the opticalcoupler is not conductive S ON signal is H level Parameter PAS08 decides the active level of S ON When PAS08 0 0 S ON signal is L level active when PA508 0 1 S ON signal is H level active Signal ey Name cron Signal name bere sienal Signal state pin ein parameter 40 Dil 5 PA508 0 0 Signal L active PASO O Sern SON PA508 0 1 Signal H active PA500 1 Control mode switch PA508 0 0 Signal L active C MODE PA508 0 1 Signal H active PA500 2 Positive driving prohibited PA508 0 0 Signal L active POT PA508 0 1 Signal H active PA500 3 Negative driving prohibited PA508 0 0 Signal L active NOT PA508 0 1 Signal H active S Deviation counter clearance PA508 0 0 Signal L active PA500 4 CLR PA508 0 1 Signal H active PA500 5 Alarm reset A RST PAS08 0 0 Signal active PA508 0 1 Signal H active PA500 6 Pulse input inhibition PA508 0 0 Signal L active INHIBIT PA508 0 1 _ Signal H active PAS00 7 Zero speed restoration PA508 0 0 Signal L active ZEROSPD PA508 0 1 Signal H active 28 Signal Name selection Signal name parameter CN2 pin Invert signal menee Signal state PA500 8 Positive torque limitation PCL PAS08 0 0 Signal L active PA5S08 0 1 Signal H active Negative torque limitation PA508 0 0 Signal L active PASOO 9 NCL PA508 0 1 _
115. lse number before electronic gear user unit lower 5 digits Under position control it shows the lower 5 digits of of motor instruction input pulse number e sum 10000 pulse Encoder dP 05 Error pulse number encoder unit lower 4 digits Under position control it shows the lower 4 digits of of error pulse number e sum 1 Encoder pulse dP 06 Error pulse number encoder unit lower 5 digits Under position control it shows the lower 5 digits of of error pulse number e sum 10000 pulse Encoder dP 07 Speed instruction analog voltage instruction Under speed control analog quantity instruction it displays the voltage value of analog input The value displayed is the value after correction of null shift When the voltage exceeds 10V it cannot be displayed correctly 0 1V dP 08 Internal speed instruction Display the internal speed instruction under speed control and position control r min dP 09 Torque instruction analog voltage instruction Under torque control analog quantity instruction it displays the voltage value of analog input The value displayed is the value after correction of null shift When the voltage exceeds 10V it cannot be displayed correctly 0 1V dP 10 Internal torque instruction value in relation to the rated torque Display the internal torque instruction under torque contro
116. lt 0 lus Max instruction CCW A Bo us frequency 500kpps cw Forward instruction AA t gt 1 0us In case of Ese bE eens tT 100 lt 50 open collector output 200kpps 86 Instruction pulse Electrical specification Remarks signal form Phase difference 2 tl t2 pulse REK tl t2 lt 0 lus Phase A Phase B hss ias Max instruction Bil frequency x 4 times t T 400 50 multiplication L 200kpps Forward instruction Reverse instruction In case of Phase B surpasses phase B by 90 B lags behind phase A by 90 open collector output ps 2 Connection examples a Connection examples for bus driver output Applicable linear driver e g similar AM26LS31 products of T1 Company Upper device Linear driver Servo driver Optocoupler PULS 2CN 7 150 PULS 2CN 8 Ed 2CN 11 150 _ Earthing of shielding layers on both ends 87 b Connection examples for open collector output When collector power is 24V connection may be done according to the following chart Upper device Servo driver Optocoupler ee i pL 2CN 3 2K o PULS 1 1 2cN8 EAN rt e tot od tod ot SIGN 2CN 12 UJ _ Earthing of shielding layers on both ends When collector power is 12V or 5V connection can be done according to the following chart Upper device Servo driver Optocoupler
117. lue of DB load as 100 dP 23 Ratio of inertias of load dP 24 Effective gain monitoring 1 Means a group gain dP 25 Reserved dP 26 Reserved dP 27 Reserved dP 28 Load inertia value automatic 0 1Kgem dP 29 Reserved 12 2 List of auxiliary functions AF No Functions Referential sections AF 00 Display of error logging 6 2 AF 01 Location assignment only active under location model 6 3 AF 02 Jog operation model 6 4 AF 03 Front panel lock operation 6 5 121 AF No Functions Referential sections AF 04 Clearance of alarm logging 6 6 AF 05 Parameter initialization 6 7 AF 06 Self regulation of analog quantity speed and torque 68 instruction offset i AF 07 Manual regulation of speed instruction offset 6 9 AF 08 Manual regulation of torque instruction offset 6 10 AF 09 Check the relevant parameters of motor 6 11 AF 10 Display of software version of servo driver 6 12 AF 11 Set absolute value encoder 6 13 AF 15 Manual detection of load inertia 6 14 12 3 List of user parameters 12 3 1 Display modes of user parameters User parameters are displayed in the following ways 12 3 2 Display modes of function selection parameters Every bit of function selection parameter has its own meaning This manual adopts the following method of representation for function selection parameters Parameter Meaning PAO000 0 orn x x x value
118. mmended installation spacing distance of one or several AC servo drivers see the figure below 2 2 Recommended specification of circuit breaker and fuse E 220V type Driver housing Circuit breaker Fuse Class T Type A housing 10A 20A Type B housing 20A 40A Type C housing 30A 80A Type D housing 40A 120A Note 1 It is strongly recommended the fuse and circuit breaker acceptable to UL CSA be used 2 When a ELB is added to the driver for leakage protection in order to prevent the false operation of ELB the one whose sensitivity current is over 200mA and action time is over 0 1 s shall be used 2 3 Countermeasures for noise disturbance and higher harmonic The main ciucuit of servo driver uses a high speed switching device so the peripheral wiring and earthing of servo driver may be affected by the noise of switching device In order to prevent noise the following measures can be taken to prevent the noise as required Mount a noise filter on the input side of the main circuit cable of driver Connection of AC DC reactor for suppression of higher harmonic Please set the command input equipment and noise filter near the servo driver as much as possible During wiring the main circuit cable cable for motor main circuit shall be over 30cm from the input output signal cable Do not house them in the same bushing or tie them together Do not use the same power supply with the
119. model encoder type and motor phase of the servo motor connected to the servo driver If the servo driver has special specifications its serial number will also be displayed The operation procedures are shown as follows Proced Panel display after Keys used Operation ures operation nr FI Press MOD key to choose the auxiliary A F LI L ay function ae 2 A E H q l Press 1 or to display AF009 a Press SET to show the left figure It means 3 EHHH 4 the driver model is 0 and the first letter is identified as d 4 F nnnm w Press 1 to show the motor model and the Le Le LILI wie first letter is identified as F Press 1 to show the model of encoder 0 means it is an absolute value encoder 1 5 E nnm g i means it is a single ring absolute value LS LI LI f encoder 2 means it is a line saving and capacity increasing encoder The first letter is identified as E A ri Press SET to lock the password and return to 6 Al F ug g Yi procedure 2 7 End of operation 6 12 Display of software version of servo driver AF 10 Display of software version of servo driver and encoder The operation procedures are shown as follows Procedu Panel display after KOPTA Gaian res operation nvr Ed Press MOD key to choose the l A F LI Li MoD auxiliary function alos 2 A E 7 rans ae Press 1 or to display AF00
120. motor f User parameter A p ita Meaning Stop fast through DB dynamic brake d 0 fi Wie rte d 0 the servo motor will begin inertial power off running after it s stopped DB stop Stop through inertial running stop d 0 aT naturally the servo motor will begin d 1 Inerna inertial power off running after it s running state stopped Stop with the same method during servo d 0 Inertial OFF inertial running stop the servo PAOO d 2 running stop motor will begin inertial power off running after it s stopped Stop by deceleration through the d 1 Zero speed emergency stop torque PA406 the i state servo motor will enter the zero speed Deceleration servo locked state after it s stopped stop Stop by deceleration through the d 2 Inertial emergency stop torque PA406 the g running state servo motor will enter the zero speed power off state after it s stopped e After alter the user parameter the setting will become effective only after the motor is power on again When setting the n o002 inertial running if there is servo ON signal received the servo motor can only be controlled when the speed of motor becomes 0 H Vocabulary DB Stop through the dynamic brake short circuit of the servo driver s interior circuit e Inertial running stop Stop naturally through the frictional resistance generated during motor rotation instead of using DB 74 Deceleration stop Stop through the use of decelerati
121. ms 0 Immediately deceleration time parameter 2 Position PA216 instruction mean 0 500 Olms 0 Immediately filter PA217 Reserved PA218 Reserved PA219 Reserved pa300 Speed control d 0000 1333 dean Power on function switch again Dgt3 Dgt2 Dgt1 Dgt0 dOO000 Speed instruction filtering form 0 Linear filtering 1 S curve 2 Primary filtering Reserved 0 i turn 1 2 turn 2 4 turn 3 8 turn 0 External IO ZEROSPD control is used 1 Automatic speed zone is determined according to PA316 scope and ZEROSPD signal is ignored Speed instruction 0 01 V A PA301 150 3000 rated 600 Immediately input gain speed Speed instruction PA302 filtering time 0 1000 Olms 0 Immediately constant pa3o3 en linear 0 S000 ms o Immediately acceleration time Baggs struction linear 0 5000 ms 0 Immediately deceleration time Instruction S style PA305 acceleration 0 5000 ms 0 Immediately deceleration time PA306 JOG speed 0 5000 1 min 1 500 Immediately PA307 Internal 0 speed 5000 5000 min 1 100 Immediately PA308 Internal st speed 5000 5000 1 min 1 200 Immediately PA309 Interna 2 speed 5000 5000 min 1 300 Immediately PA310 Internal 3 speed 5000 5000 min 1 400 Immediately PA311 Internal 4 speed 5000 5000 min 1 500 Immediately PA312 Internal 5 speed 5000 5000 min 1 600 Immediately PA3 13 Internal 6 speed 5000 5000 min 1 700 Immediately PA314 Internal 7 speed 5000 50
122. n 8 5 3 Instruction offset adjustment When speed system mode is used even analog instruction voltage sends 0V instruction the case that motor rotates at a slight speed still occurs This happens when instruction voltage of upper controller or external circuit has slight mV unit deviation offset In this case instruction offset can be adjusted automatically or manually by using the panel operator Please refer to 7 2 Operation under Auxiliary Function Execution Mode AF y Automatic adjustment of analog speed torque instruction offset is the function of offset measuring and automatic voltage adjustment When the voltage instruction of upper control device and external circuit is deviated the servo driver will adjust the offset automatically as follows 93 7 Instruction voltage Instruction voltage Offset adjustment scope 2047 Toia S Speed instruction Speed instruction Automatic offset adjustment inside servo unit Automatic offset correction 7 Once instruction offset is automatically adjusted the offset will be stored inside servo driver The offset can be confirmed through manual adjustment AF007 of speed instruction offset Please refer to 8 5 3 2 Manual adjustment of speed instruction offset 1 Automatic adjustment of speed instruction offset The deviation pulse when servo is locked and stopped is set t
123. n coder the pulse count fed back to driver is 5000x4 20000 M Pulse calculation equivalent mm It means upper controller s resolution ratio L Lead screw pitch mm i Mechanical gear ratio Gear count of belt pulley at driven side machine tool side i Gera count of belt pulley at driving side motor side For example Upper controller s pulse equivalent is 0 001mm lum mechanical reduction ratio is I driven wheel driving wheel 36 24 Lead screw pitch is 6mm motor coder is 5000P r and coder s feedback pulse count per turn is 5000x4 20000 Then by calculating with the formula as above you get 84 36 B 20000 x 0 001 x a 10 i A 6 2 8 4 3 Position instruction It s the instruction about the form of pulse train sent and it controls the position of servo motor Instruction controller s pulse train output forms include the following e Bus driver output e 24V open collector output 12V open collector output e 5V open collector output E Matters needing attention in case of open collector output Open collector output signal only can receive servo driver s CN2 7 8 11 and 12 and the parameter should be set to low speed pulse channel input i e PA200 3 0 factory default User parameter Meaning PA200 d 0 Low speed pulse input channel selection dl High speed pulse input channel selection In case of open collector pulse input the int
124. n warning may be given A93 DB overload This is the warning indicat ion about to reac overload warning If it continues to run warning may be given A 94 Vibration Abnormal vibration in rotating speed of motor is detected A95 Overvoltage This is the warning indicat ion about to Teac overload warning warning If it continues to run warning may be given A96 Under voltage This is the warning indicat ion about to reac overload warning warning If it continues to run warning may be given A 97 17bit serial coder Battery voltage is below 3 1v too low battery voltage battery warning 10 4 Cause for warning and treatment measures Alarm No Alarm name Cause for failure Treatment measures 1 Check whether electronic gear Too much position Accumulated position setting is correct A 90 deviation pulses exceed 2 Check whether there is any deviation the set proportion limit 3 Increase PA527 value 113 Alarm No Alarm name Cause for failure Treatment measures 1 Increase acceleration This is the warning deceleration time or start stop indication about to reach times A 91 Overload overload warning If it 2 Increase PA010 3 value continues to run warning 3 Reduce load may be given 4 Use a servo system with greater power to replace the old one 1 Increase acceleration This is the warning deceleration time or start stop Bes neration indication about to reach times A 92
125. n 5 seconds E 44 Driver reset error too fast power feed or 7 2 Check whether there is serious abnormal driver r interference source outside E 45 Internal error 1 Internal fault of driver 1 E 46 Internal error 2 Internal fault of driver 2 E 47 Internal error 3 Internal fault of driver 3 Abnormal P 1 Check whether coder wiring is ee Servo driver can t E 50 communication of cotamunicats with codey correct 17bit serial coder 2 Replace motor Wrong odd even position di Check whether coder wiring is Verification error or cutoff position coder cones y H 2 ie 4 2 Check whether coder s shield E 51 in 17bit serial coder signal is interfered or Sons g g wire is correctly connected to servo control field coder s decoding circuit is side damaged 3 Replace motor Verification error Coder s signal is in 17bit serial coder interfered or coder s E 52 caters gt Re Same as above communication decoding circuit is data damaged Ae Coder s signal is Cob of position interfered or coder s E 53 error in 17bit serial 2 AP Same as above decoding circuit is coder state field damaged SFOME cut off Coder esters i ae A interfered or coder s E 54 position error in Pena Same as above R decoding circuit is 17bit serial coder damaged Coder rotates at high 1 Check whether motor shaft E55 Over speed of 17bit speed when power is moves at high speed when servo is serial coder OFF Or absolute coder is not connected to batter
126. n instruction pulse input ON 6 Torque instruction greater than PA126 value 7 Speed instruction greater than PA127 value 8 Speed instruction variation greater than PA128 value 9 Position deviation greater than PA129 value Gain switch over PA126 class torque 0 300 1 200 Immediately instruction Gain switch over Imin PA127 class speed 0 3000 1 100 Immediately instruction Gain switch over 10rpm 7 PA128 0 65535 rp 10000 Immediately class speed s 128 Paramet 5 7 Facto e Referenc Name Setting scope Unit tory Effective time er No setting e instruction variation Gain switch over PA129 class position 0 65535 1 pulse 00 Immediately deviation PAI30 Gainswitch over O 10000 0 1 ms 10 Immediately time 1 Gai itch PAI31 Can Switeirover 0 10000 O 1ms 10 Immediately time 2 Gain switch over PA132 Pete 0 10000 0 1 ms 0 Immediately waiting time 1 Gai itch over 5 PAL33 eee 0 10000 O 1ms 10 Immediately waiting time 2 PA134 Reserved 0 10000 0 PA136 Reserved PA137 Reserved 0 500 50 PA138 Reserved 0 5000 0 PA139 Reserved 0 10 0 PA140 Reserved 0 5000 0 PAI41 Reserved 0 100 0 PA142 Reserved PA200 Pesitioncontrol 4 agg9 1232 a o000 Power on function switch 1 again Dgt3 Dgt2 Det Dgt0 a000 0 Symbol Pulse
127. nctions will be switched as follows For the operating methods of each function pelase read the relevant sections 43 Power ON HA Status display i MOD key MOD 4 3 Status monitoring z 6 model at Monitoring SET key model Ki a Parameter SET key setting Auxiliary H e amp function SET key mode In status display model state of servo driver is represented by number of bit Status display can be judged in the methods below Display content Abbreviation and sign Bit Data Monitor Description of position control Description of speed torque Name ing No model control model Display of Light on when the main circuit Light on when the main circuit power supply power is ON power is ON 44 mark Light off when there is no reset signal input ready Light off when the main circuit Light off when the main circuit power is OFF power is OFF Compatibility Positioning completed COIN Speed compatibility VCMP mark display Light on when there is reset Light on when there is reset Erase input signal CLR input signal CLR input Light off when there is no reset signal input Position control input mark input model mark Light on Light off Rotation When speed is higher than the When speed is higher than the detection set speed the light is on ect display TGON set speed the ligh
128. nstruction through panel operator Internal torque instruction can be confirmed in the monitoring mode dP010 Please refer to 4 4 2 Operation in monitoring mode 8 6 3 Offset adjustment 1 Automatic adjustment of torque instruction offset When the torque control mode is used as regards the analog instruction voltage even if it sends OV instruction the motor will still rotate at a slight speed This situation happens when the instruction voltage of upper control device or external circuit has slight mV unit deviation offset In this case the instruction offset may be adjusted automatically or manually by using the panel operator Automatic adjustment AF006 of analog speed torque instruction offset is a function that measures offset and automatically adjusts voltage When voltage instruction of upper control device and external circuit has any deviation the servo driver will adjust the offset automatically as follows 100 Instruction voltage Instruction voltage Offset adjustment scope 2047 foriser Torque Torque instruction instruction Automatically offset correction Automatic offset adjustment inside servo unit Once automatic adjustment of instruction offset is implemented that offset will be stored inside servo driver Offset can be confirmed through manual adjustment AF008 of torque instruction offset If the deviation pulse is set t
129. o shorten the time needed for the action when positioning is completed Type Signal name oe Level Name number ON L level Already arrived at near Need to be positioning completion Dia NEAR assigned Not arrived at 8 OFF H level AERA as positioning completion The positioning near signal can be assigned to the output terminal through the user parameter ian PA510 Please refer to 3 4 3 input output signal distribution NEAR signal width PA526 Setting range Setting unit Factory default Effective time 0 65535 4pulse 100 Immediately If the difference between the instruction controller s instruction pulse input count and the servo motor s movement amount deviation is lower than the set value of this use parameter PA526 then the positioning near signal NEAR is output The set unit is instruction unit which depends on the instruction unit of electronic gear setting Generally you should set a value that is greater than the positioning completion width PA525 Distribution of input signal is needed Please refer to 3 4 3 input output signal distribution 8 4 6 Instruction pulse inhibition function INHIBIT function 1 Instruction pulse inhibition function INHIBIT function It is a function that stops inhibits instruction pulse input counting in case of position control It is in servo locking clamping state when this function is used 90 Ins
130. o zero time under the condition of configuration position ring of instruction controller but don t use automatic adjustment AF006 of instruction deviation In this case please use manual adjustment of speed instruction deviation AF007 In case of zero speed instruction there is the zero clamping speed control function for forcibly executing servo locking Please refer to 8 5 6 Use of Zero Clamping Function Important Please execute automatic adjustment of analog zero offset when servo is OFF 2 Manual adjustment of speed instruction offset Please use manual adjustment of speed instruction offset AF007 under the following circumstances When instruction controller is configured with position ring to set deviation pulse to zero when servo is locked and stopped e When offset is intentionally set to a certain value e Incase of confirmation of offset data set by automatic adjustment The basic function is the same as automatic adjustment AF006 of analog speed torque instruction offset but in case of manual adjustment AF007 adjustment must be done when offset is input directly 94 The adjustment scope and set unit of offset are as follows Speed instruction Offset 4 adjustment Offset adjustment scope 2046 Speed instruction 750 mV Offset setting unit Speed instruction Offset setting 1 0 05 mV unit gt Analog input voltage Please implement automatic adjustment o
131. o zero when servo is locked and stopped in the state where instruction controller is configured with position ring automatic adjustment AF006 of instruction offset cannot be used in which case please use manual adjustment AF008 of torque instruction offset Please implement automatic adjustment of torque instruction offset according to the following steps 2 Manual adjustment of torque instruction offset Please use manual adjustment AF008 of torque instruction offset under the following circumstances gt When instruction controller is configured with position ring to set deviation pulse to zero when servo is locked and stopped gt When offset is intentionally set to a certain value gt When offset data set through automatic adjustment are confirmed The basic function is same as automatic adjustment AF006 of analog speed torque instruction offset but in case of manual adjustment AF008 adjustment must be done when offset is directly input The following chart indicates the offset adjustment scope and setting unit 101 Torque instruction Offset adjustment 4 scope Offset adjustment scope 2046 Torque instruction 750mV Offset setting unit Offset setting unit gt Analog input voltage Please adjust the torque instruction offset manually according to the following steps 8 6 4 Speed limit in case of torque control As servo motor needs to be controlled in case of torque control to
132. oder state field damaged SFOME cut off position error in oder signal 8 mee ered pr E 54 X coder s decoding circuit is Yes 17bit serial coder damaged Coder rotates at high speed when E 55 Over speed of 17bit serial coder power is ON Or absolute coder is Yes not connected to battery Wrong absolute state of 17bit serial Coden signal s inter ered is E 56 coder s decoding circuit is Yes coder damaged Coder s signal is interfered or E 57 Wrong count of 17bit serial coder coder s decoding circuit is Yes damaged E 58 Multiturn aniformatlon overo of Multi turn information overflow Yes 17bit serial coder E 59 Overheat of 17bit serial coder Absolute coder overheat Yes E 60 Muun information errora Multi turn information error Yes 17bit serial coder E 61 Battery alarm in 17bit serial coder Battery Voltage below 31y 100 Yes low battery voltage Battery voltage below 2 5v E 62 Battery alarm in 17bit serial coder multi turn position information Yes already lost 17bit serial coder data not Data error in storage area of 17bit E 63 Poin i Yes initialized serial coder 17bit serial coder data and digit Abnormal data and digit E 64 verification in storage area of Yes verification 17bit serial coder E67 Mismatch between driver and Driver does not match motor s Yes i motor model PA012 E 68 Motor model error Driver should not be equipped Yes with this type of motor E 69 Servo driver model error Motor does not match this servo Yes
133. oller is not configured with position ring in case of speed control If zero clamping position ZEROSPD PA300 3 0 signal is set to ON or input voltage of speed instruction V REF PA300 3 1 is up to below PA316 zero clamping grade rotating speed servo driver is configured with position ring inside and speed instruction is ignored and servo motor is stopped in emergency to be in the servo locking state The servo motor is clamped to within 1 pulse at the position where zero clamping is effective and it will return to the zero clamping position even if turned by external force 2 User parameter setting User parameter Meaning Speed control function switch 0 PA300 3 0 Control is achieved by external IO ZEROSPD signal PA300 PA300 3 1 Automatic Acting as speed dead zone based on the scope of PA316 Zero clamping action switch over conditions Set PA000 h 1 O PA300 3 0 ZEROSPD is ON L level and it will enter into zero clamping action Set PA000 h 1 O PA300 3 1 speed instruction V REF is lower than the set value of PA316 then it will enter into zero clamping action Servo driver V REF speed instruction Speed Zero clamping level set value PA316 V REF Speed instruction AGND Zero Time ZEROSPD Input clamping 2EROS D Zero clamping Sii i action ON za T ON an ae are Zero clamping lev
134. on brake torque Zero speed state The position instruction is zero Under the zero speed state the position deviation will be automatically cleared For the method for stop during servo OFF and alarm please refer to 8 2 5 Selection of the method for stop during servo OFF 3 Enable overtravel signal User parameter Description b 0 Positive rotation side drive prohibited POT signal active Positive rotation side drive prohibited POT signal inactive b 1 PA003 factory default b 0 Negative rotation side drive prohibited NOT signal active b Negative rotation side drive prohibited NOT signal inactive factory default 4 Stop torque setting during overtravel Emergency Stop Torque PA406 Setting range Setting unit Factory setting Effective time 0 300 1 300 Immediately Set the torque for motor stop when the overtravel signals POT NOT are inputted The setting unit is the of the rated torque the rated torque is 100 e When the emergency stop torque exceeds the maximum running torque of the motor the actually outputted emergency stop torque is the motor s maximum running torque When the emergency stop torque is too small there may be E 28 alarm during deceleration 8 2 4 Setting of holding brake The holding brake is used when the servo motor drives the vertical axis When the power of
135. on again Dgt 3 Dgt2 Dgt 1 Dgt0 bOoOod Forward side drive inhibition over travel 0 Forward side drive inhibition POT signal effective 1 Forward side drive inhibition POT signal ineffective PA003 Reverse side drive inhibition over travel 0 Reverse side drive inhibition NOT signal effective 1 Reverse side drive inhibition NOT signal ineffective inhibition over travel alarm selection 0 Drive gives no alarm in case of any single way input in POT NOT _ E135 drive inhibition input protection will occur in case of any single way input in POT NOT PA004 Reserved Basic switch 6 for PA005 d 0000 0044 d 0022 Immediately function selection Dgt 3 Dgt 2 Dgt 1 Dgt0 k LJ L Responsiveness to speed instruction 0 4 The larger the value the slower the responsiveness to instruction Responsiveness to speed feedback The larger the value the slower the responsiveness to speed feedback PA006 Reserved Basic switch 8 for Power on b 0000 1111 b 0000 i function selection again 124 Paramet 7 5 Facto er Referenc Name Setting scope Unit TY Effective time er No setting e Det 3 Det 2 Dgt 1 Det 0 bOOoOd Alarm warning selection in case of low battery voltage 0 Set low battery voltage below 3 1V as ala
136. or is connected with machine 69 7 5 Test run of the servo motor with a brake oo ese eeseeseeeseeeeseneeeeaeeeeees 69 Chapter VIII Operation ccccceeeeeeeeeeeeeeeeeeeaeeeeesaeeeeeseeeeeeeseeeeeseeeeeeesenees 71 8 1 Selection of control MOda nen eee eects eects EEN E N S 71 8 2 Setting of general basic functions ssssssssesssessesssstsrsrsrresesrrterersrrsrsreseseene 71 8 2 1 Servo ON setting c 20 0 Zl 8 2 2 Switch of motor rotation direction 8 2 3 Overtravel setting PE 8 2 4 Setting of holding brake ossesenseeeeesseieeeiesrssrererreresrsrsrersrerssnns 75 8 2 5 Selection of the method for stop during servo OFF sssseseeeeeee 79 8 2 6 Setting of interrupt power supply treatment sssesssseeseeeeeee 79 8 3 Use method of absolute value encoder oo cece eereeeeeeseeeeseseeteeseeeeens 80 8 3 1 Selection of absolute value encoder 80 8 3 2 Battery use method 80 8 3 3 Battery replacement 81 8 3 4 Setting of absolute value encoder AF011 8 4 Position control operation innne aR R 81 8 4 1 USer parameter Setting o swvecscccecssccecisscvsesicvesesusvseseeksieesdeseigetvesteugess 8l 8 4 2 Electronic gear setting eceeccccccccceeceeceseeseneeseesensenseseeseeseseeseeseeeeeeseeeeneens 83 8 4 3 P sition INSUFUCHIONS iror E sod RU E E E E TRN 85 8 4 4 Positioning completion signal COIN n se 89 8 4 5 Positioning near signal NEAR nocere 90 8 4 6 Instruction pulse inhibition f
137. or the main circuit supply shall be powered on after the control 19 supply is on When powering off the main circuit supply shall be powered off first followed by the control supply E Single phase AC220V power input 20 oO b 200 230V 0 50 60Hz 19 Single phase AC gle pl 10 Three phase AC 200 230V 50 60Hz 10 15 wc 1R8y Voltage peak suppresser 21 3 2 Wiring at motor side 3 2 1 Appearance and signal definition of connecting terminal of motor encoder Matching encoder Terminal NARE ARNA type mark 1 5V PG power supply 5V c M 2 OV PG power supply 0V 3 GY ae 3 PA PG input A phase a Stee 4 IPA PG input A phase QoQ ogre 5 PB PG input B phase Co 6 PB PG input B phase 7 PZ PG input Z phase 8 PZ PG input Z phase 9 FG Shielding 17 bit serial 1 5V PG power supply 5V neodar 2 OV PG power supply OV capacity increasing 7 Eve PG serial signal mpu type 4 PD PG serial signal input 9 FG Shielding 1 5V PG power supply 5V 2 OV PG power supply 0V 17 bit serial 3 PD PG serial signal input encoder absolute 4 PD PG serial signal input value type 5 BAT Battery anode 6 BAT Battery cathode 9 FG Shielding 1 FG Shielding 2 5V PG power supply 5V 3 OV PG pow
138. over input GAIN instruction pulse inhibition input INHIBIT etc Distribution of the signals mentioned above and change of positive negative logic can be achieved Point ee count 1 point Alarm signal Point P count 3 points Alarm signal ALM positioning completion signal COIN Z pulse collector signal CZ external brake lifting signal BK servo ready S RDY etc Distribution of signals mentioned above and change of positive negative logic can be achieved Function Up to N 31 in case of relay use Settable through parameter Computer and upper machine Up to N 127 in case of relay use Settable through parameter Upper machine 7 segment RED x 5 digits 4 keys Action in case of main loop power OFF servo alarm servo OFF and over travel OT Built in regenerative resistor or external regenerative resistor Dynamic brake DB stops deceleration stops or free operation stops in case of POT or NOT input action Over current over voltage under voltage overload regeneration failure etc 11 1 2 Speed position and torque control specification 116 Speed position and torque control specification of servo driver are as follows 0 100 setting unit 1 0 65535 coder units Select any of the following Symbol Pulse train CW CCW pulse train 90 phase difference two phase pulse Phase A Phase B
139. pas3 Overload waming 5 100 50 Immediately value PA532 Reserved pasa Alarmclearinput g3 0 Immediately setting Main power off 199 2000 fims 100 Immediately PAS34 detection time i l i i When main power s disconnection state continues the time for disconnection detection is set When it is 2000 the main power turns off detection as ineffective PA535 Reserved PA536 Reserved External pas37 Tegenerative 5 200 Ohm 30 Poweron resistor s value of again resistance pas3g Extomal 20 3000 Watt 60 iia regenerative again 136 En Name Setting scope Unit see Effective time aks resistor s capacity PAS39 Reserved PAS40 Reserved PAS41 Reserved PAS42 Reserved PAS43 Reserved PAS44 Reserved PA600 Adjustment type h 0000 0220 Power on switch 03F6 again Dgt3 Dgt2 Dgt I Dgt 0 dOO0 0 Real time automatic adjustment mode 0 Real time automatic adjustment function is ineffective 1 Real time automatic adjustment function is effective Inertia presumed speed in case of real time automatic adjustment 0 F The larger the value the faster the presumed speed but presumption accuracy will decrease Presumed speed in case of real time automatic adjustment 0 No change Load characteristic presumption is stopped _
140. peed 7 seh S l monitoring dP00 8 Confirm the values in procedures 6 and 7 dP07 and dP00 are 51 consistent according to the conversion relation g 9 Confirm whether the servo motor rotates in the direction given by the instruction 10 Return speed instruction input to OV and make the servo OFF Then the speed test run is finished 7 4 Test run after the servo motor is connected with machine After the servo motor has passed the test run separately connect the servo motor with the machine and conduct the test run again Referential Procedure Project Operation sections Switch on the control power supply and major loop 1 Parameter power supply and conduct the setting relating to the 3 1 setting 1 safety functions and overtravel and brake protection 8 2 functions 2 Parameter Set the necessary parameters according to the control setting 2 mode used y Put the power OFF and connect the servo motor with 3 Installation the machine using couplings Switch on the power of the upper device and set the servo of servo driver OFF and then confirm whether 4 Check f F the protection functions set in procedure 1 function normally Conduct test run according to 7 3 Test run of separate servo motor according to the upper device instructions Confirm the test run result is the same 5 Operation with the test run result of the servo motor separately And then confirm the se
141. played content is what corresponds to the 125 Tarama Name Setting scope Unit inay Effective time Rafes er No setting e monitor number RS485 PA015 communication 1 31 1 Immediately address RS485 PAOI6 Communication 4 0000 0095 d 0095 Immediately function selection switch Det 3 Dgt2 Dgt 1 Dgt0 d O0 RS485 communication rate 0 2400bps 1 4800bps 2 9600bps 3 19200bps 1 38400bps 5 57600bps 0 8 N 1 Modbus Protocol RTU mode 1 8 N 2 Modbus Protocol RTU mode 2 8 E 1 Modbus Protocol RTU mode 3 8 O 1 Modbus Protocol RTU mode 4 7 N 2 Modbus Protocol ASCII mode 5 7 E 1 Modbus Protocol ASCII mode 6 7 0 I Modbus Protocol ASCII mode T7 8 N 2 Modbus Protocol ASCII mode 8 8 E 1 Modbus Protocol ASCII mode 9 8 O 1 Modbus Protocol ASCII mode A PA017 Reserved 1 127 1 PA018 Reserved d 0000 0006 d 0003 PA019 Reserved PA020 Reserved PA021 Reserved PA022 Reserved PA023 Reserved PA024 Reserved First position ring 1 _ 1000 Us 40 Immediately gain PA100 It decides the responsiveness characteristics of position control system Positioning time can be shorted if larger position ring gain value is set However vibration may be caused if the set value is too large so please pay
142. r editing interface and return to procedure 2 11 End of operation 4 6 Example of auxiliary function AFoc Auxiliary functions include the functions relating to the setting and adjustment of servo driver On the panel manipulator it is displayed as the serial number beginning with AF 4 6 1 Contents of auxiliary function 47 Please refer to section 6 1 4 6 2 Example of auxiliary function AFon The following part will take resetting to factory default AF005 as an example to explain the operating methods of auxiliary function Procedures eae as Keys used Operation 1 A E mrm Ti Press MOD key to choose the Loo woo auxiliary function 5 LAGA A E HH s a Press 1 or lt to show AF005 3 tA If the servo is under non operation P me Baat state press SET and the panel will ser display the left figure If the servo is in operation state or the no 8 P front panel lock AF 03 is set the panel will display the left figure meaning operation of the auxiliary function is not available 4 e Press t persistently to show the left t figure 5 Continue pressing it and the left figure means operation is completed 6 Relieve the key and the panel displays the left figure 7 pene Press MOD or SET to exit from the y auxiliary function and return to the SET 4 display in procedure 2 8 End of operation 4 7 Par
143. r is set in PA407 the 102 actual value is still limited to the maximum rotating speed of the servo motor 3 External speed limit function Type Signal name Connector pin number Name Taput V REF CN2 5 External speed limit input p AGND CN2 6 External speed limit input Motor s rotating speed limit when torque limit is input by using When PA002 1 1 the speed limit input of V REF or the speed limit in case of PA407 torque control whichever the smaller is the effective value Determination of set value of PA301 for voltage level of limit input is irrelevant to polarity analog voltage instruction PA301 Speed limit in case of torque control Setting range Setting unit Factory setting Effective time 150 3000 0 01 V Rated speed 600 Immediately It is used to set the voltage level of rotating speed in respect of which external speed is limited in case of torque When PA301 control 600 factory default if input V REF CN2 5 6 is 6V voltage the actual rotating speed is limited to the rated rotating speed of the servo motor used 4 Output signal when motor s rotating speed is limited Type Signal name Connector pin number Name VLT CN2 Needs to be ON L level Motor s rotating speed is Tapat assigned being limited P CN2 Needs to be OFF H Not in the state of limitation of VLT
144. r is turned off there may still be residual high voltage inside the servo driver so when the charge indication light CHARGE is on do not touch the power terminal Please connect and check wires after confirming the charge indication light CHARGE is off Please set safety devices such as circuit breaker in case of short circuit of external wiring Otherwise there may be a fire When used in the following places please take appropriate measures for shielding gt When there may be interference of static electricity gt The place with strong electric field or high intensity field gt The place where there may be radioactive rays Otherwise there may be machinery breakdown When connecting to batteries pay attention to the polarity Otherwise it may lead to the damage and explosion of batteries servo driver and servo motor Operation Notice In order to prevent accidents please conduct trial run to the detached servo motor when the machine is not connected with the transmission shaft of servo motor Connect it to the machine when there are no problems in the trial run Otherwise there may be injuries When it is connected to the right machine and runs please set the parameters appropriate to this machine in advance When the machine is started without parameter setting the machine may be out of control or have failure Please do not turn on off the power supply frequently Because the power section of s
145. rature storage temperature 20 85 C Onari S a iiey Below 90 RH no freezing and dewing storage humidity Operating Vibration impact strength 4 9 m s2 19 6 m s2 Rena hen Protection class IP10 Cleanness 2 But should be e No corrosive or flammable gas Protection class cleanness eN rates o water oil or chemical splashing e With little dust ash salt or metallic powder Elevation Below 1000m Applicable standard CE Structure Pedestal installation type Speed control range 1 5000 Load 0 100 load Below 0 01 at rated fluctuation rotating speed oe Voltage Rated voltage 10 0 001 at rated uctuation Po fluctuation rotating speed Performance Temperature 25 25 C Below 0 1 at rated rotating fluctuation speed Torque control accuracy 3 reproducibility Staff aieetiime vets 0 10S acceleration and deceleration settable respectively Phase A phase B phase Z linear drive output Input output Encoder frequency division pulse Frequency division pulse count signal output Line saving gain coder is 16 coder line count 17bit serial coder is 16 16384 Sequence Distributable Point int int S peints 115 count Servo switch on input S ON control mode switch over input control mode switch over input forward drive inhibition input POT reverse drive inhibition input NOT deviation counter clear input Function CLR alarm clear A RST gain switch
146. rm E 61 l Set low battery voltage below 3 1V as warning A 97 Absolute coder multi turn data overflow alarm PA007 J 3 0 E 58 alarm is given in case of absolute coder multi turn data overflow No alarm is given in case of absolute coder multi turn data overflow Warning detection selection 0 Warning detected 1 Warning not detected Power on PA008 Reserved b 0000 1111 b 0000 i again Switch 10 for Power on PA009 s b 0000 0011 b 0000 3 function selection again Det 3 Dgt2 Dgtl Dgto bOOOO tor and loop selection 0 Detection E 17 will appear if fault is detected 1 No detection sistor and loop selection 0 Use driver s internal brake resistor 1 Use external brake resistor Please set correct brake resistor parameter PA537 PAS38 Switch 11 for PA010 i d 0000 5553 d 0021 Immediately function selection Dgt3 Dgt2 Dgt1 Dgt0 Analog instruction input delay 0 5 The larger the value the higher the sample delay for analog instruction but the higher the measurement precision 0 The larger the value the longer the overload time overload class setting O 5 The larger the value the longer the overload time Power on PAOI1 Reserved 0 5 2 K again Motor model Power on PA012 0 59 12 selection again PA013 Reserved Initially displayed Power on number ick 50 again PAOI4 g Please look up the content of monitoring When 50 is set state code is displayed when a number other than 50 is set the initially dis
147. rm the actual rotation amount of motor 9 Confirm whether the servo motor rotates in the direction given by the 51 instruction If the driver has feedback pulse check whether the number of feedback 10 pulse corresponds with the expected number Number of feedback pulse dP01 10000 dP02 PA210 4 Encoder resolution 11 Stop the pulse instruction and make the servo OFF 5 1 7 3 3 Test run under speed control The following part will introduce the methods for test run under speed control It will mainly introduce the procedures of test run after the connection of input signal for speed control please refer to 4 3 1Connection and status confirmation of input signal loop Procedure Operation Referenial sections 1 Reconfirm the power supply and input signal loop and then switch on 3 the control power supply of servo driver 2 Adjust the speed instruction input gain PA301 8 5 3 Switch on the major loop power supply of the servo driver 4 Confirm the speed instruction input voltage between V REF and AGND is 0 V and then switch on the servo ON S ON input signal 68 Referential Procedure Operation sections 5 The speed instruction input voltage voltage between V REF and AGND rises from 0V slowly Confirm the speed instruction value voltage through the speed 6 j ae 5 1 instruction monitoring dP07 Confirm the motor speed rotating speed through motor s
148. rs into servo locking state 5 Motor is stopped by set torque of PA406 and PAS22 deceleration and then it enters into free operation state 6 Motor is stopped by set torque of PA406 and PAS22 deceleration and then it enters into DB state AC power input Single phase AC220V power is input from L1 L2 and L3 terminals AC power input Three phase AC220V power is input from L1 L2 and L3 terminals 2 DC power input DC310V power is input between P Basic switch 3 for Power on PA002 5 d 0000 2112 d 0000 M function selection again 123 Paramet 5 gt Facto are Referenc Name Setting scope Unit TY Effective time er No setting e Dgt 3 Dgt 2 Dgt 1 Dgt 0 b 0 00 n control selection T REF distribution 0 _ No T RFF distribution 1 Use T REF as external analog torque limit input 2 Use PCL and NCL as external torque limit input ue control selection V REF distribution 0 No V REF distribution 1 Use V REF as external speed limit input 0 Use absolute coder as gain coder 1 _ Use absolute coder as absolute coder 0 Absolute coder 17bit for single turn 16bit for multiple turns 1 Single turn absolute coder 17bit for single turn 2 Line saving coder 5000ppr Basic switch 4 for Power on i b 0000 0111 d 0011 i function selecti
149. s instruction value input output signal state and internal state of servo driver On the panel manipulator it is displayed as the serial number 4 4 1 Display content beginning with DP Please refer to section 5 1 for the contents displayed under monitoring model 45 4 4 2 Example of operation under monitoring model The following part operating methods o will take motor speed dP 00 as an example to explain the f monitor display Procedures ee Keys used Operation 1 w Press MOD key to choose the auxiliary LL top function 2 FG ee If the parameter No is not DPO0 press 1 1 or to show DP100 aca Press SET to enter the monitoring 3 500 amp interface it will show the left figure and display the motor speed as 1500rpm ie ie Press SET or MOD to return to the displa d P D D Ps sa in procedure 1 Ja 5 End of operation 4 5 Parameter mode 4 5 1 Relevant instructions Set parameters of the servo driver On the panel manipulator it is displayed as the serial number beginning with PA H Storage setting state After parameter edi ting press SET to store the setting and the panel display will constantly display the set state symbol for one second according to the setting state Symbol displayed Description SAYMEd Correct setting value saved Saved rESEE Parameter active after restarted Reset OLUE Wron
150. s on driving prohibited Universal Position deviation pulse clearance Clear position CLR 44 RNE a deviation pulse during position control A RST 45 Alarm reset release servo alarm INHIBIT 46 Pulse inhibition input ZEROSPD 48 Zero speed signal input T O signal electric power supply need user to provide COME 1 24VDC power supply HPULS 16 High speed channel pulse input HPULS 17 Sign pulse train HSIGN 23 CCW CW Pulse train Position HSIGN 24 A B Pulse train i onil PULS 7 Low speed channel pulse input form PULS 8 Sign pulse train SIGN 11 CCW CW Pulse train SIGN 12 A B Pulse train PL 3 Collector pulse signal terminal Spet SRE Speed instruction voltage input ees TRE gt 0 Torque instruction voltage input HE Name and function of output signal Control Signal Pin Functi mode name No uncon Universal PAO 33 Aahe siena PAO 34 Paes Se Two phase pulse A phase and B phase roo 3 B phase signal encoder frequency dividing output signal ie A Z phase signal Origin pulse Z phase signal AIMI 4 Servo alarm OFF when abnormal state is detected COIN 29 Positioning completed Under position control mode when 25 Control Signal Pin Function mode name No deviation pulse is smaller than PA525 positioning completion COIN 30 f 7 width the signal is under active state CZ 27 CZ 78 Opticalcoupler output Z phase pulse BK 25 BK 26 External brake signal output
151. se Description of that output Servo unit Instruction controller Encoder Encoder data i Phase B PBO Phase Z PZO Note The width of original point pulse is fixed and irrelevant to frequency division ratio E Output phase form Forward Phase B ahead by 90 Reverse Phase A ahead by 90 90 90 Phase TAAR Phase ro en an ee a Phase ai all yi Phase B Aes i ii Phase a i Phase Z o i lt t ee rt gt Please make servo driver rotate by two turns before using servo driver s phase Z pulse output for mechanical original point reset action According to the structure of the mechanical system if the above mentioned action can t be done please implement original point reset action at speed below 600rpm calculated according to servo motor s rotating speed If rotating speed above 600rpm is adopted phase Z pulse can t be output correctly Frequency division It means that the value is transformed to the pulse density set by user parameter PA210 and output based on pulse data of the coder installed on the servo motor The unit is pulse count 1 turn e Coder pulse frequency dividing ratio setting 97 PA210 PG frequency dividing ratio Setting range Setting unit Factory setting Effective time 16 16384 1P rew 16384 Immediately Set the output pulse count of PG output signal PAO PAO PBO PBO sent outs
152. se signals PZO PZO and output through the linear driver output loop Usually during the speed control of servo driver it can be used when a position control system is set on the upper device side On the upper device side please receive through the line receiver loop Servo driver Client side y y Applicable to use products like line receiver SN75175 3 5 Wiring of connector CN3 36 The following part will illustrate the encoder servo driver and connection for output signal from the servo driver to the upper device as well as the terminal arrangement of the port CN3 for encoder connection 3 5 1 Terminal arrangement of connector CN3 I Appearance of encoder connector CN3 6 O II Connector CN3 to motor side Quick joint Aviation plug Note 20 ___ _ 11 moooodooon0 oooooo0o0000 10 _ _ _ _ 1 The above figure is based on the terminal on the wire side so please pay attention to it when connecting wire ILD Signal definition description Signal definition of connector CN3 Terminal Name Function Termal Name Function mark mark 1 PA PG input A phase 11 37 enina Name Function Tepe Name F
153. t to show AF 02 Press SET to enter the JOG operation interface and the panel will show the left 3 ta r fe figure LI Ou eer Note When it is set to be write inhibit the panel will display no_oP Please switch to the writeable state through AF03 before 66 Procedu res Panel display after operation Keys used Operation operation Ra uO Press MODE to enter the state of servo ON motor power on The rightmost point of nixie tube is illuminated which means the motor has been excited Press ft to rotate positively or lt to rotate negatively While pressing the keys the servo motor will rotate at the speed set by PA306 Press MODE to enter the state of servo OFF motor power off lt Supplement gt Users can also press SET to exit from JOG operation and the servo will also be OFF AF Press SET to exit from the auxiliary function and return to procedure 2 End of operation 7 3 Test run of separate servo motor according to the upper device instructions Before the test run of separate servo motor according to the upper device instructions please confirm the following items Project Content 1 Confirm whether the move instructions and input output signal of servo motor input from the upper device to the servo driver are correctly set 2 Confirm whether the connection bet
154. t 9 3 _ gt 4 Pzo a A Are PZO differential i 25 BK 26 BK 27 CZ 28 J CZ s 29 COIN tg 30 com riy Jaimm output am 51 ALM OFF when h 4 32 ALM giving alarm ov Connector F enclosure Note opticalcoupler output Shield wire connected to connector enclosure Maximum use voltage DC30V Maximum use current DC50mA 41 3 6 3 Example of torque control connection MCCB L AC20V 6 1 5e T Three phases 6 T S0 0HZ 6 4 S Servo driver MC otd 4 mero l d i c a B Lac ule 1 CNI i RS485 i 9 1 RS485 2 10 i GND M CANH 7 15 CANL 8 16 GND 6 14 0v siovt KA TREF fire a AGND 10 Vv 24VIN COM 47 Servo function ON g servo on when on son Control mode switch E control mode switch C MOD i swich MOP M iF Positive limitation positive direction operation limited Negative limitation negative direction operation limited Alarm clearance alarm clearance when ON Zero speed restoration zero speed restoration when ON 1 DC24V shall be pro use double insulation A RST ZEROSPD e 4 epared by user DC24V power supply shall vn FC Shield wire connected to connector enclosure 42 eT 1 1 L l 1 Extern
155. t is on TGON During speed control display of Instruction Display of instruction pulse speed instruction inputting During torque control display of torque instruction input The light is on when the torque instruction during input is The light is on when the torque Torque instruction during input is greater detection greater len eo value 20 than the set value 20 of 3 of nominal torque and is off g display hen itis emaller than the s t nominal torque and is off when value it is smaller than the set value Speed control y The light is on when the present model mark Light off model is under speed control Torque control The light is on when the present model mark Light off model is under speed control Abbreviation and Sign for Teke litik for left limit a E for right limit for right limit 0 Limit sign Alternative display of fa Alternative display of and excited A Operation mark When t excited state it displays of operation dynamically e motor is not under state it stops rotation and during simultaneous x bd ae during simultaneous limit limit When the motor is under When the motor is under excited A state it displays Saad of operation dynamically When the motor is not under excited state it stops rotation 4 4 Monitor display dP Under monitoring model it can monitor display the servo driver
156. t valie of 2 C eck whether electronic gear tolerance user parameter PA528 setting 1s correct a 3 Check whether there is any limit 4 Increase PA528 value Motor s speed exceeds 1 2 1 Check whether motor s U V and E 27 Over speed times of its maximum W wiring is correct rotating speed 2 Check whether servo parameter 110 Alarm No Alarm name Cause for failure Treatment measures is correct If load inertia is high and system gain parameter is low much overshooting will occur which may cause an alarm 1 Check whether motor s U V and Motor s speed does not W wiring is correct E 28 Motor stalling match given speed for 2 Check whether servo parameter long time is much changed 3 Increase PA530 set value 1 Check whether motor s U V and W wiring is correct 2 Check whether coder type is Motor operates correct PA002 3 abnormally possibly due 3 Check whether driver matches E29 Motor out of to motor s power line motor correctly X control malfunction or coder line 4 Reduce driver s relevant gains malfunction or mismatch e g PA100 PA101 increase between motor and driver PA102 etc 5 Increase parameter PA005 3 provided that operation safety can be ensured E35 Driver inhibits Signal input with limited 1 Check limit signal input protection bits Driver reset is caused by L Driver s power on time interval i is greater tha
157. tallation Please do not block the air inlet and outlet and do not make other matters enter the product Otherwise the inner components may be aged and cause failure or fire Please follow the order of installation Otherwise there may be failure During installation please ensure there is specified space between the servo driver and internal surface of control cabinet and other machineries Otherwise there may be fire or machine breakdown Please do not impose too big impacts on the machine Otherwise there may be machine breakdown Notice to Wiring Please connect wires correctly and reliably Otherwise there may be out of control of motor personnel injuries or machine fault Please do not connect commercial power supply to the connecting terminals U V and W of the servo motor of servo driver Otherwise there may be personnel injuries or fire Please connect the power terminal with the motor connecting terminal firmly Otherwise there may be a fire Please do not house the major loop cable input output signal cable encoder cable with the same bushing or tie them together During wiring the major loop cable shall be over 30cm from the input output signal cable Cables for input output signal and encoder shall be twin strands or multiple core twinning bulk shielding strands Wiring length of input output signal cable the maximum length is 3 m encoder cable the maximum length is 30 m Even when the powe
158. te battery j Tbit serial coder vol 4 ty 2 Execute absolute coder alarm g clear AF 12 Battery voltage below E 62 Battery alarm a 2 5v multi turn position Same as above Tbit serial coder 2 p information already lost 1 Please be sure that PA002 3 Tbit serial coder Data error in storage area correctly matches motor Coder E 63 Gata not initialized of 1 7bit serial cod model Seen MAAE S PARTO I 2 Please be sure that 17bit serial coder has executed initialization 1 Please be sure that PA002 3 17bit serial coder Abnormal data and digit correctly matches motor coder E 64 data and digit verification in storage model verification area of 17bit serial coder 2 Please be sure that 17bit serial coder has executed initialization Although this alarm can be cleared and also be shielded with PA007 3 inappropriate match may cause poor operating performance of motor or occurrence of E 29 alarm E67 Mismatch between Driver does not match in operation j driver and motor motor s model PA012 1 Check whether motor model set for PAO12 is correct 2 Use a driver that matches this motor to replace the old one 3 Reset PA012 value after replacing the motor or driver E 68 Motor model error Driver should not be Although this alarm can be cleared 112 Alarm No Alarm name Cause for failure Treatment measures equipped with this type of motor and also be shielded with PA007 3 inappropriate match may cause poor
159. ter output frequency lt 500K d 1 PULSE and SIGNH input high speed pulse channel Pulse input in this channel is received by long line receiver It is suitable for upper computer of long line transmitter output frequency lt 4000K 8 4 2 Electronic gear setting 1 Coder pulse count User parameter Encoder specification ie Pulse cout Resolution ratio d 0 Absolute value coder 32768 131072 17bit PA002 dl Gain coder 32768 131072 17bit d 2 Gain coder 5000 20000 Supplement Digit count representing coder s resolution ratio is not same as pulse count of coder signal output phase A or phase B Coder s pulse count is multiplied by 4 times to get the digit counts of resolution ratio 2 Electronic gear The function of electronic gear means the function that the work piece movement amount equivalent to instruction controller input instruction pulse can be set to any value Such instruction 1 pulse from instruction controller i e minimum unit is called 1 instruction unit Electronic gear not used Work piece parce eg Lae line count 5000 Ball screw pitch 6mm Move the work piece by 10mm Electronic gear used Work piece pnstruction unit lum A Coder line count 5000 screw pitch 6mm Move the work piece by 10mm by using the instruction unit As one turn is 6mm to move 10mm
160. ternal circuit No E 06 Current test channel 2 abnormal Abnormal internal circuit No E 08 Internal communication error Wrong internal cOmmunIcaonor No servo driver A X Gain coder s signal line is E 10 Coder line disconnection No disconnected E11 Coder AB pulse loss AB pulse count of gain coder is No abnormal E 12_ Coder Z pulse loss Coder Z pulse loss No E 13 Coder UVW error Coder UVW error No E14 Coder state error Wrong initial state of line saving No style eee ae One phase of main circuit power is E 15 Main circuit power wiring error No not connected 16 Regeneration error era regenerative processing No 17 Regenerative resistor error Regenerative resistor fault No 18 Under voltage PE voltage of main loop is No insufficient DC voltage of main loop is E 19 Overvoltage abnormally high No 20 Power module alarmi Power module abnormality caused No by too high current E21 Overload Continuous operation is done at a Yes torque over rated value E 22 Regeneration overload Overload protect On OE Yes regenerative resistor Rotational energy exceeds DB E 23 DB overload resistor s capacity due to action of Yes DB dynamic brake Internal position deviation counter E 25 Deviation counter overflow overflows and position deviation Yes exceeds 256x65536 Position deviation pulse exceeds E 26 Position out of tolerance the set value of user parameter Yes PA528 E27 Over speed Motor s speed exceeds 1 2 times of Yes
161. tion becomes clockwise rotation when judged from the load side of the servo motor Under such circumstances the travel direction of axis is inverse but the polarity of encoder pulse output signal analog quantity monitor signal and other output signals from the servo driver remains unchanged User parameter Instruction Overtravel OT mAction when there is positive rotation instruction Speed Coder divide pulse output lt SN h ooo 0 During positive Standard A rotation setting l rao Stop through Positive 6 Time POT rotation ae instruction Positive rotation CCW positive m Action when there is inverse rotation instruction rotation Speed Coder divided ulse output CCW p p During reverse se Z N L r factory A i Stop through default Time PA000 Fil S NOT Positive rotation rae CCW m Action when there is inverse rotation instruction h ooo 1 Speeds Coder divide Inverse pulse output r toton During reverse mode PAO ee thtousk Positive Z es NOT 8 rotation A instruction Inverse rotation ay for inverse CW rotation mAction when there is positive rotation instruction During reverse CW rotation direction Stop through NOT 72 Coder divided pulse output ti wo LIL PBO Speed
162. tions _ 99999999 pulse 0 Immediately low order pa713 Internal position _g999 9999 turn J1 Immediately igh order PA714 Internal position 6 _ 9999 9999 pulse 0 Immediately low order pa7is Internal position _g999 9999 tun l2 Immediately high order 138 maani Name Setting scope Unit oy Effective time Renae er No setting e pagio Ptemal position 7 _ 99999999 pulse 0 Immediately low order pa7 7 mtemal position 6 5000 00 Immediately speed 0 min paz g Mima position 9 25000 00 Immediately speed 1 min pari mtemal position 0 5000 00 Immediately speed 2 min pA729 temal position 9 _ 5000 00 Immediately speed 3 min papa mtemal position 0 5000 f 00 Immediately speed 4 min pa722 teed position 0 5000 00 Immediately speed 5 min pags temal position 0 5000 00 Immediately speed 6 min pa724 intemal position 0 5000 00 Immediately speed 7 min Internal position 0 PA725 acceleration 0 500 ms 0 Immediately deceleration time Internal position 1 PA726 acceleration 0 500 ms 0 Immediately deceleration time Internal position 2 PA727 acceleration 0 500 ms 0 Immediately deceleration time Internal position 3 PA728 acceleration 0 500 ms 0 Immediately deceleration time Internal position 4 PA729 acceleration 0
163. tive opticalcoupler conductive 1 Signal H level active opticalcoupler not conductive Q Signal L level active opticalcoupler conductive 1 Signal H level active opticalcoupler not conductive Input signal form Immedi PASOg 2P Ss b 0000 1111 b 0000 selection 2 ately Dgt3 Dgt2 Det I Det 0 bOoOoOoU I 0 Signal L level active opticalcoupler conductive 1 Signal H level active opticalcoupler not conductive O Signal L level active opticalcoupler conductive 1 Signal H level active opticalcoupler not conductive 0 Signal L level active opticalcoupler conductive 1 Signal H level active opticalcoupler not conductive 0 Signal L level active opticalcoupler conductive 1 Signal H level active opticalcoupler not conductive Input signal form PAS10 d 0000 9990 d 3210 Immediately selection 134 Paramet 5 7 Factor ear Referenc Name Setting scope Unit TY Effective time er No setting e Dgt 3 Dgt2 Dgt 1 Dgt 0 0 Alarm signal output ALM 0 Alarm signal output ALM Positioning completed COIN Z pulse collector signal CZ External brake null signal BK Servo ready output S RDY Speed compatibility output VCMP 6 Motor rotation detection TGON 7 Torque limited signal
164. truction pulse gt INHIBIT N 2 Input signal setting Bea Ata gt tove nna Deviation counter Feedback pulse Connector pin Type Signal name Ra Level Name INHIBIT function is ON ON L Brena f x stops inhibits instruction pulse CN2 46 level Input INHIBIT factory default counting ae OFF H INHIBIT function is OFF level Instruction pulse counting goes on INHIBIT signal function is effective only in case of position control 8 5 Speed control analog voltage instruction operation 8 5 1 User parameter setting User parameter Meaning PA000 h 1 Contro mode selection Speed control analog voltage instruction Speed instruction input gain PA301 Setting uni Factory setting Effective time Setting unit 150 3000 1 5 30 0V rated 0 1V rated speed 600 Not required speed Set the analog voltage level of speed instruction V REF needed for operating servo motor at rated rotating speed Instruction speed 4 rpm Set this gradient gt Instruction voltage V E Examples PA301 600 means that when 6V input is set the motor is operating at the rated speed factory default PA301 1000 means that when 10V input is set the motor is operating at the rated speed PA301 200 means that when 2V input is set the motor is operating at the rated speed 8 5 2 Input si
165. tting of instruction unit sorts with the machine Adjust the servo gains as required and improve the response characteristic of servo motor Sa Note 6 Adjustment During the test run the servo motor may not adapt to the machine well at the beginning Please operate times after times to make them adapt to each other SON Upper 7 Signal Then the test run is finished PP s instructions input 7 5 Test run of the servo motor with a brake Test run of the servo motor with a brake shall follow the following requirements Project Content 1 When conducting test run of the servo motor with a brake before confirming the action of brake measures to prevent the natural fall or vibration due to external force 69 Project Content of the machine shall be taken When conducting the test run of servo motor with a brake please first of all confirm the action of servo motor and holding brake before connecting the servo motor with the machine If there are no problems conduct the test run again by connecting the servo motor with the machine Please control the action of the holding brake of the servo motor with a brake using the brake interlocking output signal BK of the servo driver 70 Chapter VIII Operation 8 1 Selection of control mode The following part will introduce the available control modes control patterns of EPS B1 servo drivers Referential
166. unction INHIBIT function 0 0c0000 90 8 5 Speed control analog voltage instruction operation 0 eee eects 91 8 5 1 User parameter Setting oiia raioni ee i aE a i EE aea i 91 8 5 2 Input Signal setting ioiii eiiiai iii ina D E E E 91 8 5 3 Instruction offset adjustment 93 SIA SOP SIGE sorio aE EE NEEE EE E A 95 8 5 5 Speed instruction N k o sneupen eaa A Serie ADEE IETA 95 8 5 6 Use of zero clamping function sssesseseeseeeesesieierereseserereerererens 95 8 3 7 Coder Signal Outputs er nern n Ea E E E E EAN 97 8 5 8 Same speed test and output ssssseeseesseieeierersieiererererreereerern 98 8 6 Torqu control operatios onni Ra ARERR 99 8 6 1 User Parameter setin snuesiiroeiirei a ki ai a i 99 8 6 2 Torque instruction input cccccccccccececceseescreeseeseeecnseseeseeeeseeseeseneeseeseneeaeens 99 8 6 3 Offsetadjustmehtirsi sor a aa E E GE E TE 100 8 6 4 Speed limit in case of torque control 102 8 7 Speed control internal set speed selection operation eee 103 8 7 1 User parameter Setting i rnin aan AOE ETA 104 8 7 D2 Aniput Signal SCHING vss eceec isssiassasedsiatacsvnssdudisssrispdnedesises ERNE SN ssanie ESS 104 8 8 Control mode combination selection 8 8 1 User parameter Setting wc 105 8 8 2 Instruction on control mode switchover Chapter X Fault Diagnosis ccesseeeeeseeeee 107 TOT Listofalarms risona nl ese R E E AR 107 10 2 Cause for alarm and treatment measures
167. unction mark mark 2 PA PG input A phase 12 3 PB PG input B phase 13 4 PB PG input B phase 14 5 PZ PG input Z phase 15 6 PZ PG input Z phase 16 7 PG5V PG supply 5V 17 PD PG serial signal input 8 PG5V PG supply 5V 18 PD PG serial signal input 9 GND PG supply 0V 19 10 GND PG supply 0V 20 IV Encoder cable signal connection Capacity increasing encoder signal connection Connector CN3 side Motor side Termina Name Function Quick joint Military joint Color 2 PA PG inputA phase 3 4 Green 1 PA PG input A phase 4 7 Green black 4 PB PG inputB phase 5 5 Purple 3 PB PG input B phase 6 8 Purple black 6 PZ PG input Z phase 7 6 Yellow 5 PZ PG input Z phase 8 9 Yellow black 7 8 PG5V PG supply 5V 1 2 Red 9 10 GND PG supply 0V 2 3 Black Casing PE Shielding 9 1 17 bit serial encoder signal connection Connector CN3 side Motor side big Name Function Quick joint Military joint Color 18 PD PG serial signal input 3 4 Blue 17 PD PG serial signal input 4 7 Blue black BAT 5 5 Brown BAT 6 8 Brown black 7 8 PGSV PG supply 5V 1 2 Red 9 10 GND PG supply 0V 2 3 Black Casing PE Shielding 9 1 Note 1 If the 17 bit serial encoder is absolute value type it shall use BAT and BAT to connect the external battery If the 17 bit serial encoder is capacity increasing type it shall not use BAT and BAT signal 2 The above signal colors are only for your reference 3 5 2 Example of connector CN3 connection E Wiring of line saving and capacity incr
168. ut signal please refer to 3 4 3 Input output signal distribution Same speed test width PAS17 Setting range Setting unit Factory setting Effective time 0 100 rpm 10 Immediately If the difference between motor s rotating speed and instruction speed is lower than the set value of PAS17 the VCMP signal is output Motor speed PASI7 Speed instruction VCMP is output within this scope H Example 98 When PA517 100 and instruction speed is 2000rpm if rotating speed of motor is 1900 2100rpm VCMP is set to ON E Supplement VCMP is output signal in case of speed control 8 6 Torque control operation 8 6 1 User parameter setting When torque control operation is implemented by using analog voltage instruction the following user parameter needs to be set User parameter Meaning PA000 h 2 Control mode selection Torque control analog instruction Torque instruction input gain PA400 Setting range Setting unit Factory setting Effective time 10 100 0 1V rated torque 30 Immediately Set torque instruction needed for operating servo motor at rated torque Analog voltage level of T REF Torque 4 instruction la Set this gradient gt Instruction voltage V E Example PA400 30 means motor s rated torque factory default is used when 3V input
169. vel active opticalcoupler conductive 1 Signal H level active opticalcoupler not conductive b 0010 DI6 input signal selection 0 Signal L level active opticalcoupler conductive 1 Signal H level active opticalcoupler not conductive b 0100 DI7 input signal selection 0 Signal L level active opticalcoupler conductive n 0000 111 1 Immediatel y n 0000 27 Parameter ttin z Fact Effecti aramete Naina Setting Unit ctory ective No range default time 1 Signal H level active opticalcoupler not conductive b 1000 DI8 input signal selection 0 Signal L level active opticalcoupler conductive 1 Signal H level active opticalcoupler not conductive 2 Used after changing the distribution of input signal When signals like servo ON forward driving prohibited and reverse driving prohibited are used through polarity inversion if there are abnormal states like breakage of signal line it will cause movement deviating from the safety direction If such setting has to be adopted please confirm the action and ensure there are no safety problems The typical circuit of input signal is as follows Servo driver Servo driver DC24 V DC24 V Above 50mA 24VIN 3 3K o Above 50mA 24VIN__3 3K Q e O O s b S ON ete i h S ONete lt 4 Take the above figure as an example When the opticalcoup
170. ween upper device and servo driver is correct and whether the polarity is set correctly 3 Confirm whether the action of servo driver is correctly set 7 3 1 Connection and status confirmation of input signal loop Before the test run of speed control and position control according to the upper device instructions the connection confirmation shown in the following procedure 1 shall be conducted Please confirm the connection and state of input signal according to the following procedures Procedure Operation Referential sections Please connect the input signal loop required by the test run to the input output signal connector CN2 The following conditions shall be satisfied during connection Servo ON input signal S ON is in the state available for input Inhibit positive rotation driving POT negative rotation driving NOT and input signal ON L level available for positive rotation and inverse rotation driving Connect the connector of upper device to the port CN2 for input output signal Switch on the power of servo driver Confirm the Power ready on the panel manipulator is illuminated Confirm the state of input signal through input monitoring dP012 43 67 Input S ON signal and keep the servo ON 4 Confirm the operation sign on the panel manipulator is correctly 43 displayed 5 Then preparations for the test run are completed Please go on with the
171. welding machine and spark machine Even when different power supplies are used when there is a RF generator nearby a noise filter shall be connected to the input side of the main circuit cable Ensure the earthing is appropriate 2 3 1 Installation of noise filter In order to ensure the EMI filter can fully suppress the interference to servo driver to the greatest extent the servo driver shall be capable of being installed and wired according to the service manual and attention shall also be given to the following Item No Description 1 The servo driver and noise filter shall be mounted on the same metal plane 2 The wiring shall be shortened as much as possible 3 The metal plane shall be well grounded T he metal enclosure or earthing part of servo driver and noise filter shall be reliably 4 fixed to the metal plane and the contact area between them shall be enlarged as much as possible The motor power line shall be the cable with shielding copper screen the one with double shielding layer is preferred The shielding copper screen on both ends of the motor wiring shall be grounded with the shortest distance and maximum contact area 2 3 2 Connection of AC DC reactor for suppression of higher harmonic When measures are required to eliminate higher harmonic an AC DC reactor for suppression of higher harmonic can be connected to the servo driver Please connect the reactor according to t
172. y power off 2 Execute absolute coder alarm 111 Alarm No Alarm name Cause for failure Treatment measures clear operation AF 12 3 Check whether absolute coder is connected to battery 1 Coder is damaged or Wrong absolute coder s decoding circuit is Execute absolute coder alarm clear E 56 state of 17bit serial damaged and multi turn information clear coder 2 Serial communication operation AF 11 is interfered 1 Coder is damaged or coder s decoding circuit is Execute absolute coder alarm clear Wrong count of E 57 17bit serial coder damaged and multi turn information clear 2 Serial communication operation AF 11 is interfered Multi turn Motor operates toward Execute absolute coder alarm clear information one direction by over 5 E 58 x and multi turn information clear overflow of 17bit 65535 turns multi turn k n operation AF 11 serial coder information overflow 5 1 Check motor temperature E 59 epi oE rbit Absolute coder overheat 2 Execute absolute coder alarm serial coder clear AF 12 1 Check absolute coder s battery Multi turn i P 7 voltage E 60 information error in M lti tirh information 2 Execute absolute coder alarm 5 error K Toit serial coder clear and multi turn information clear operation AF 11 Battery voltage below 1 Replace absolute coder s power E 61 Battery alarm in 3 1v too low bat
173. y default Inverse rotation driving prohibited ry OFF H level overtravel on positive rotation side Under the state of linear driving in order to prevent mechanical failure please connect the limit switch according to the figure below Even under the overtravel state driving to opposite side is also allowed For example when there is overtravel on the positive rotation side driving to the inverse rotation side is allowed 73 Motor forward rotation direction ras LL LLLP Servo motor limt switch Limit switch E Servo driver H Important Under position control when the motor is forced to stop by overtravel there may be retention of position deviation pulse In order to clear the position deviation pulse it is a must to input the clear signal CLR POT and NOT signal can freely distribute the input connector pin through the user parameters For details please refer to 3 4 3 IO signal distribution Before using POT and NOT signal please set PA003 0 and PA003 1 to be 0 make POT and NOT signal active During deceleration 2 Selection of the method for motor stop when overtravel function is used Set the method for motor stop when the overtravel signals POT NOT are inputted during servo motor rotation Motor sto After
174. y the motor speed as 1600rpm 4 d p nin Ci fo Press SET or MOD to return to the display O L a in procedure 1 5 End of operation 5 3 Input signal monitoring Input signal state can be confirmed through input signal monitoring dP 12 The procedures judgment method and example of display are shown as follows 5 3 1 Display procedures Display procedures of input signal are as follows Procedures Havel displ y Keys used Operation after operation 1 i i Press MOD key to choose the auxiliary woo function 2 ee If the parameter No is not DP12 press ft suit or lt to show DP 12 3 Di Press SET to enter the monitoring SET interface it will show the left figure 4 w ie Press SET or MOD to return to the display pe see in procedure 1 5 End of operation 5 3 2 Judgment method of display The distributed input signal is displayed through the section s LED illumination state of panel manipulator Corresponding relation between the input pin and LED No is shown in the table below Upper corresponding to input signal active Lower corresponding to input signal level 807 65 43 2 7 When the input signal is in active state the upper section LED is illuminated When the input signal is L level input opticalcoupler conductive the lower section LED is illuminated Display LED No Input pin Signal name default s
175. y to choose the auxiliary ey function tele 2 ads aad Press 1 or to display AF0011 l ie 3 ais Press SET to show the left figure SET a 4 aw Press 1 continuously Press it continually till the left figure is 5 shown which means operation is completed m Press MOD or SET to exit from the 6 amp fw auxiliary function and return to procedure MoD SET 2 7 Power on again 8 End of operation 6 14 Manual detection of load inertia AF 15 Manual detection of load inertia means the servo system finishes detecting the load inertia value through manual operation Overtravel prevention is inactive during the process of manual detection of load 64 inertia The range of operation of the machinery used shall also be considered during operation The running distance during testing can be set through parameter PA300 2 1 Setting before operation Before manual detection of load inertia the following settings are a must e When S ON input signal is ON please switch it to OFF e Please set the running distance after considering the range of operation of the machine The running distance can be set through PA300 2 e Please take necessary safety measures and enable it to stop under any emergent occasions e In order to ensure safety a stop device shall be set on the machine side 2 Operation procedures Operation procedures of manual detection of load inertia are as follows Procedu Pane

EPS-B1 AC Servo System User Manual

Contents

Download Pdf Manuals

Related Search

Related Contents