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Hirden AC Servo Drive for Industrial Control Application H3L10

1. 23 ACSD H3L10 N PE U ae ban s W k PE 6 Oe oO T NFB MC CNI 14 sy r Ot 15 5V CN2 16 5V j COME 18 17 sv pee 18 ov sont IY TE 1 ARS l yeh NI oo non Y ET LN RT OB Y FER COo s 14 Y T Lo 5C2 15 LAN si Loop FIL 16 YEK a Loco RE 17 Yn fen CN2 1 srov 4 8 ux Y 1 us 4 SRDY 25 f POET ALM 25 S r v 9 V 4 ALM 27 n 10 v 28 s COI N DN 11 W I E 4 COIN 29 s Y 4 He 3 L r v 22 0v 4 B 3M f 23 w 26 FG CN2 1 oat CN2 3 121 0k 458 21 3 ope pi AS me n5 B 10k EA 4 08 AGND 24 5 02 7 1 6 z FG 36 gt em 77 7 z Ground GND gt gt gt gt gt gt gt gt gt gt gt gt gt gt A gt TR 8 4 gt 1 TR 7 Power supply rs Motor Encoder
2. L U 2 QR W 4 AC 220V o OS TED 7 OT mM CN1 d WIN Power supply I t 5 N CN2 sv DC 12 24V COM 18 T 5V ha N 4 7k 8 NW otor Servo On op son 10 y w Encoder Op ARS 11 LEN SV en ON nm ju BU 21 oW la gt 3 Loo NP OD Yn vds si SC1 ZEROSPD Oo in n SE fa m 5C2 Lop sca us Laat 1 M gt 5 Loop FL lis hain rp pls Lio Yn 5 n le IDE CN2 6 1 4 p 9 5RDY 8 ME 7 U M gt 10 Fey 4 sov 25 Y 8 U M GE ALM 26 eee Du 9 V M 11 4 ALM 27 f 0 v o gt u COLN 28 3 Reached Sly LAE a 4 COIN 29 f no W 4 15 BRK 30 ENS 22 ov gt BE 4 BRK 31 24 al ov CN2 26 FG Analog command AS 19 el 10V 10V Pl As 20 rz r MP p 23 N 1 OAt A L d A gt A phase pulse z EEG c EL WAS ey 3 08 3 iB B 5 B phase pulse pf 4 0 op g E 1 aon es 2 phase pulse 646 me Mp rp FG 36 3 OMD oD Z phase Open PE collector Ground 1 22 Hirden AC Servo Drive 3 5 3 Torque control mode DC 12 24V Servo On Ready Al arm Reached Brake Torque command 10V 410V
3. 25 7mm YU 000000000000000000000 000000000000000000000 000000000000000000000 000000000000000000000 3 10000 A 3 OUO jc z 00000 Emm 3 3 ne dd c 00000000000 E 3 MM It ME 2 0000000000 nllc 0000C0000000000000000 Eh 000000000000000000000 sm t 158mm 167 9mm 4 27 8mm y Figure 2 1 The machine dimension of the H series servo drive 2 3 Installation Environment The operating temperature for the H series servo drive is from 0C 32 F to 55 C 131 F If the ambient temperature of servo drive is higher than 45 C please install the drive in a well ventilated location and do not obstruct the airflow for the cooling fan The ambient temperature of servo drive for long term reliability should be under 45 C 113 F If the servo drive and motor are installed in a control panel please ensure sufficient space around the units for heat dissipation Pay particular attention to vibration of the units and check if the vibration has impacted the electric devices in the control panel Please observe the following cautions when selecting a mounting location 1 The ambient humidity should be less than 8096 without condensing 2 Please keep the servo drive or motor away from the heat radiating elements or in direct sunlight 3 Please do not mount the drive or motor in a location subjected to c
4. B Z ase pulse gt ase pulse gt ase pulse gt ase Open ector gt o Hirden AC Servo Drive Chapter 4 Display and Operation This chapter describes the basic operation of the digital keypad and the features it offers 4 1 Description of the digital keypad The digital keypad includes 4 function keys and the display panel which is composed of 6 LED The Figure 4 1 shows all of the features of the digital keypad and an overview of their functions Hirden i f A f p 5 7 AN mrs NT b tm f f e J Q Co T J Q U uU db Ny Up key Down key Return key Set key Figure 4 1 Overview about the keypad 24 Hirden AC Servo Drive Table 4 1 Function instructions for the digital keypad Symbol Name Function Power Power supply The LED light to indicate the control power is applied Bun Running The LED lights to indicate the main power is applied to the status circuit and the drive is enabled A Up key Pressing the Up and Down key can scroll through and change monitor codes parameter groups and various v Down key parameter settings Pressing the Return key can exit the menu or cancel the lt q Return key operation or the settings Pressing the Set key can enter the menu or determine Enter Se
5. SON Signal ON CN2 24 input OFF OFF ON BRK Signal OFF OFF CN2 30 input Bia es 11 TA PA 49 Motor Speed ra S opua Figure 5 9 Timing chart for electromagnetic brake BRK output timing explanation 1 when servo off when DI SON is not activated the BRK output goes off electromagnetic brake is locked after the delay time set by PA48 is reached and the motor speed is still higher than the setting value of PA49 2 when servo off when DI SON is not activated the BRK output goes off electromagnetic brake is locked if the delay time set by PA48 is not reached but the motor speed is still lower than the setting value of PA49 42 Hirden AC Servo Drive 5 7 Timing 5 7 1 Timing for power on Step 1 Control power supply should be turned on earlier than the main power or turned on simultaneously Step 2 Delay 1 2s after the main power turn on the servo ready SRDY will be ON And then the servo drive could receive the enable signal SON from the host controller When the servo drive is enabled the main circuit will work and the motor will run If the drvie couldn t receive the SON siganl or detect some error the main circuit will be disabled and the motor will be at zero speed status Step 3 As the cautions please do not restart frequently AP E OFF POWER ON NS 0 5ms Control power ON 5V 9 Main Power Supply he a OFF lt 12m oe Servo Ready O
6. Encoder i Figure 5 6 Flowchart of the position control loop 38 Hirden AC Servo Drive Increasing the position proportional gain can improve the stiffness of the system expedite position loop response and reduce position error However if the setting value is over high it may generate vibration or noise When the value of proportional position loop gain is too great the position loop responsiveness will be increased and it will result in small phase margin If this happens the rotor of motor will oscillate At this time you have to decrease the value of the PA09 until the rotor stop oscillating When there is an external torque command interrupted over low PA09 value will let the motor cannot overcome the external strength and fail to meet the requirement of reasonable position track error demand Adjust feed forward gain PA10 to efficiently reduce the dynamic position track error 5 5 Gain Adjustment The position and speed frequency response selection is depending on and determined by the control stiffness of machinery and conditions of applications Generally high reponsiveness is essential for the high frequency positioning control of mechanical facilities and the applications of high precision process sysytem However the higher frequency response may easily result in the resonance of machinery system Therefore for the applications of high freqency response the machinery system with control
7. T Figure 5 4 Diagram for comparison between the filtering and non filtering waveform 5 2 3 Electronic gear ratio Mechanical transmission ratio and the pulses per circle of the servo motor encoder couldn t be identified by the host controller But the unit pulse generated by host controller could be corresponded to the actual moving distance by setting the electronic gear ratio Electronic gear ratio of the servo system could be calculated as the following N1 Numerator of the electronic gear ratio PA12 M1 Denominator of the electronic gear ratio PA13 P1 Number of pulses corresponding to 1mm in the host controller F2 Number of encoder pulses per circle S1 Screw pitch of the mechanical transmission mm F1 Number of pulses required by actual moving distance 1mm 36 Hirden AC Servo Drive F1 N1 P1 M1 pulses mm F1 F2 S1 pulses mm for actual moving distance without gearbox Therefore the electronic gear ratio N1 M1 is equal to F2 S1 P1 For example if P1 of the host is 1000 pulses mm F2 of the H series servo drive is 10000 S1 of the screw is 6mm the electronic gear ratio N1 M1 10000 1000 6 5 3 So you could set the parameter PA12 N1 5 and the PA13 M1 3 If there is a gearbox between screw and motor the ratio of the gearbox is N2 M2 N2 rotation number of the motor M2 rotation number of the screw F1 N1 P1 M1 pulses mm for host controller F1 F2 N2 S1 M2 pulses mm fo
8. 0 2mm shielded twisted pair cable 61 Hirden AC Servo Drive 3 Diagram for H series servo drive connecting with KND host controller such as K1 Host Controller Servo Drive DB15M X552 XS50 X 53 XS51 CN2 XI YI 2 4 SCSI 36 NAME PIN PIN NAME XCP 1 32 PULS XCP 9 33 PULS XDI R 2 34 SI GN XDI R 10 35 SI GN XPC 3 5 07 XPC 11 6 07 V 14 27 ALM ALM 5 26 ALM XMRDY1 7 10 SON XMRDY2 8 V 15 VP 24V 13 18 COM FG Shell 36 FC 0 2mm shielded twisted pair cable 4 Connecting diagram for encoder cable between Hirden drive and motor CN1 of Servo Drive Motor Terminal PIN Na me PIN Na me 1 At 4 At 2 A 7 A 3 Bt 5 B 4 B 8 B 5 Lt 6 Z 6 7 9 J 7 U 0 U 8 U 3 U 9 V 1 V 10 y 4 y 11 W 2 W 12 W 5 W 15 5V 2 15V 20 0V 3 0V 26 FG 1 FG 62 Hirden AC Servo Drive Version history Version Published time 1 0 2011 10 2 0 2012 11 Ningbo Hirden Industrial Control System Co Ltd Zhouhan village Jiangshan Town Yinzhou District Ningbo Zhejiang 315040 China Tel 0574 88073813 83013289 Fex 86 0574 88099288 3813 2012 11 6
9. Analog Speed Command gt canes 9 PA 46 Low pass Fliter for Speed S 0 1000 3 ms Command On Delay Time of PA 47 Electromagnetic Brake when ALL 0 200 0 x10mS motor is stopped Off Delay Time of PA 48 Electromagnetic Brake when ALL 0 200 50 x10mS motor is running Target Speed for Opening x PA 49 Electromagnetic Brake ALL 0 3000 100 r min PA 50 Sampling Gain for Bus Voltage ALL 0 1000 506 Dynamic Electrionic Gear PA 51 Function Selection d 0 i Electronic Gear Ratio PA 52 Numerator N2 P 1 32767 1 Digital Input Terminals Function 2 PA 53 Selection Enabled Word 1 ALE ODDE i Digital Input Terminals Function 7 PA 54 Selection Enabled Word 2 BE PAOSTA d PA 55 Curret Sampling Gain ALL 071000 312 PA 56 Reserved ALL 0 PA 57 Reserved ALL 0 255 0 PA 58 Input Terminal Delay Time ALL 171000 2 mS 3 Fault Messages Table Display Fault Name Fault Decription Err Normal Motor s control speed exceeds the limit of normal speed Max circuit voltage exceeds its maximum allowable value Err 1 Overspeed Err 2 Overvoltage Max circuit voltage is below its minimun specified value Position control deviation value exceeds the limit of its allowable setting value Err 3 Undervoltgae Err 4 Excessive position deviation VII Hirden AC Servo Drive Err 6 Speed loop amplifier The amplifier of the speed control loop is saturated for a long time whi
10. Drive The value is the maximum torque provided by the motor in et ov CW direction The function could be enabled by pin 17 37 Command RIL of terminal CN2 When FIL is on the function of 300 0 Limit PA36 is effective Otherwise the torque of the motor could not be limited in CCW direction by PA37 Torque The value is the maximum torque provided by the motor 38 Command when the operation mode is JOG 0 300 Limit for JOG The function of internal or external torque limit is effective and Trial Run at the same time Zero offset 39 Compensation The value is the bias compensation for the analog signal of 2000 for Torque torque command 2000 Command Acceleration The value is the acceleration time for motor from 0 to 1 10000 40 Time 1000r min and the process is linear mS The function is effective only in speed control mode D cel rati n The value is the deceleration time for motor from 0 to 1 lt 10000 41 Time 1000r min and the process is linear mS The function is effective only in speed control mode S curve filter is for the speed smoothing of motion _ 42 2 command The value is the acceleration or deceleration P time for the S curve Set the proportional relationship between analog input Analog Speed voltage and the speed command Only when PA4 1 and 43 Command PA22 1 the function is effective l l 10 3000 Gain The unit is r min V The default is 300 which means that r min V the val
11. JS3Jmotor f2100 min less than 70mS JS5Jmotor 60 lt fs100 min less than 130mS J gt 5J motor f lt 60 min greater than 150mS Note The above table only gives the on off frequency in the general case the specific circumstances will vary with the motor type and the load condition 5 8 2 Adjustment When the load inertia is at least five times greater than the motor inertia some error will occur such as position overshoot excessive position deviation and speed response fault etc 45 Hirden AC Servo Drive If the above situation occurs you could adjust the relative parameters as the following Step 1 Increase the value of PA05 and PA06 Step 2 Decrease the value of PA09 Stpe 3 Increase the value of the parameter PA40 PA41 and PA42 ACC DEC time contant Step 4 Increase the ACC DEC time contant of the host controller On the other hand you could select a motor which has larger inertia instead of the using motor 46 Hirden AC Servo Drive Chapter6 Parameters 6 1 Parameter summary The defaults of the following talbe is shown as an example of the H series drive the value of on the parameters marked may be different from other types In the table applicable mode means that the parameter can play a role in a certain control mode P refers to position control mode S refers to speed control mode T refers to torque control mode and ALL refers to all of the control mode Table 6 1 Parameter
12. Set the proportional relationship between analog input voltage and the value of torque command Only in the 29 EN torque control mode the function is effective he J Gain The unit is 0 1V 100 The default is 30 which means that the value of the torque command would be set to 100 rate torque when the value of the voltage is 3V 30 Reserved Pulse Logic When the value of the parameter is 167 the input circuit 31 Function logic is positive logic Otherwise if PA31 179 the logic Selection would be negative 32 Reserved er 0 The direction of the torque is CCW when analog voltage Direction of 33 Torque S bigger han d 0 1 Command 1 The direction of the torque is CW when analog voltage is bigger than 0 ndn GON The value of the parameter set in the drive is the maximum 34 Command torque provided by the motor in CCW direction l 0 300 Limit It s effective in all control mode and the defaults is 200 ol CW The value of the parameter set in the drive is the maximum 35 Command torque provided by the motor in CW direction l 300 0 Limit It s effective in all control mode and the defaults is 200 The value is the maximum torque provided by the motor in Fe DOM CCW direction The function could be enabled by pin 16 36 Command FIL of terminal CN2 When FIL is on the function of PA36 0 300 Limit is effective Otherwise the torque of the motor could not be limited in CCW direction by PA36 52 Hirden AC Servo
13. Voltage of DC Bus Drive status Error code Reserved Speed r min r 1500 PYSBDE P ie t ie E D E 3 L oB R 3265 y 8 Motor speed1000r min Position 1245806 Pulse Command 1245810 Pulse Position Error 4 Pulse 70 Rated Torque Motor current 2 3A Reserved Control mode 0 Pulse frequency 12 6kHz Speed command 35r min Torque Command 20 Present Position 3265 Reserved Reserved DC Bus Votage is 310V Status Servo On Error 9 occurs Figure 4 3 Diagram for the operational processes of the monitor display 4 4 Parameter setting PA You could find the PA on the main menu by using the Up and Down key and then enter the parameter selection interface by pressing the Set key By using the Up and Down key you could select the parameter which you want to change and then press the Set key to enter the parameter modification interface You could use the Up and Down key to change parameter to the value you required When the parameters is modified the point of the last LED digital tube will be light that means the parameter is changed but not ye be effective You could press the Set key to make it then the point will go out You could use the Return key to quit 26 Hirden AC Servo Drive PA Parameter 0 GE FA Parameter 1 t m A va A PARA Parame
14. alarm of the servo system 11 Alarm Clear ALRS 1 ALRS OFF no action Note 1 This function does not work on the UV and OC error which needed to restart the drive Hirden AC Servo Drive CCW counter clockwise direction software limit input interminal FSTP ON the motor can be drived in the Forward e 12 Bomae FSTP counter clockwise direction Limit FSTP OFF the motor can t be drive in CCW Note 1 To disable this function you could set the PA20 1 which enables CCW or CW drive allows without the DI CW the clockwise direction software limit input interminal Reverse PSTP ON the motor can be drived in the clockwise direction 13 Software RSTP PSTP OFF the motor can t be drive in CW Limit Note 1 To disable this function you could set the PA20 1 which enables CCW or CW drive allows without the DI The input interminal is defined as the speed conmand selection in the speed control model PA4 1 when the parameter PA22 0 which determinds the internal or external command as the speed command source Used to select the Speed different internal speed through the combination Command SC1 of SC1 and SC2 Selection 1 SC1 OFF SC2 OFF internal speed 1 election SC1 ON SC2 OFF internal speed 2 SC1 OFF SC2 ON internal speed 3 SC1 ON SC2 ON internal speed 4 14 Note the value of the internal speed command could be modified by corretation parameter Deviation When PA4 0 the terminal is defined as deviat
15. control system 34 Hirden AC Servo Drive 5 2 2 Parameters for the position control Table 5 3 Parameters about the position control mode P eer Name Value range default units NO PA04 Control mode 0 0 PA09 Proportional Position Loop Gain 0 1000 50 Hz PA10 Position Feed Forward Gain 0 100 0 PA11 Smooth Constant of PA10 1 1000 0 ms Electronic Gear Ratio PA12 Numerator Ni 1 32767 1 Electronic Gear Ratio jid Denominator M1 SPD 1 PA14 External Pulse Input Type 0 2 0 PA15 Direction of External Pulse 0 lt 1 0 PA16 Positioning Completed Width 0 lt 30000 20 100 PA17 Excessive Position Error Range 0 30000 400 piles Excessive Position Error dodi Function Selection odd 0 Smooth Constant of Position PA19 Command 0 30000 0 0 1mS PA20 Inhibit Drive Function Selection 0 4 0 PA51 Dynamic Electrionic Gear 0 1 0 Function Selection Electronic Gear Ratio PA52 Numerator N2 1 32767 1 Digital Input Terminals Function x PASS Selection Enabled Word 1 pe 0099 1 External pulse input type Table 5 4 Type and waveform of the external input pulse Pulse Type Forward Reverse PA14 Pulse pus LAL LELLA LE LE LS t 0 Direction SIGN CCW pus 41 414 A 1 CW sion FALL ab ms v fly if y Phase 2 Pulse SIGN v 4 y 35 Hirden AC Servo Drive Host controller could driv
16. needed to parallel at the both ends of the iinductive components Ensure the polarity of the diode otherwise damage maybe occur 3 4 3 Position pulse input interface The drive can accept two different types of pulse inputs Line drive input and Open collector input The max input frequency of line drive input with strong anti jamming capability is 500Kpps has and the one of the Open collector input is 200Kpps For reliable pulse signal the Line drive input circuit is recommended 1 Diagram for Line drive input circuit In the Line dirve mode AM26LS31 MC3487 or RS422 is used in the Line drive output circuit of the host controller 1 1 1 1 S 1 Sy A J gt yy ae IVAN 1219 PULS SIGN 1219 Ru VA 1 gt Y y A v Pad 3 FN V 1210 N SIGN 1 1 Figure 3 6 Pulse input interface circuit type 3 Line drive input circuit 2 Diagram for Open collector input circuit The source of pulse input is from the open collector NPN equipment and use the external power supply This input mode will reduce the operating frequency The driving current of the circuit is 10 15mA please determine the desired resistance of the resistor R by the DC power supply voltage Hirden AC Servo Drive DC 12 24V Servo Drive PULS 1212 k PULS da Tt Tie t d SIGN A219 R s
17. speed Servo Enable Signal SON Motor Current Si gnal BRK Si gnal Motor speed r min PA49 Figure 5 12 ON OFF 308 motor drived Power OFF ON motor free OFF Mn PA48 Or min Disable operation timing flowchart when motor is running 44 Hirden AC Servo Drive 5 7 3 Timing for alarm Alarm Signal DO ALM No Alarm Alarm Error occurs Ready Signal OFF Not Read DO SRDY ON i Motor Current ON Power OFF Signal Motor Dri ved Servo Enable ON OFF Signal SON BRK Signal ON motor free OFF Motor speed i r min PA49 Or min Figure 5 13 Alarm timing flowchart when motor is running or still 5 8 Start stop characteristics The start stop characteristics of the servo system is determined by many aspects such as the load inertia the characteristics of the drive and motor and the on off frequency 5 8 1 On off frequency and load inertia When the servo drive and motor is used in the applications which needs high on off frequency please confirm whether the frequency is in the permissible range of H series servo drive in advance The frequency range is determined by the motor the load inertia and the speed of the motor To determine the frequecy range you could refer to the following table Table 5 8 On off frequency VS Load inertia Inertia multiples On off frequency and ACC DEC time
18. stiffness is needed to void the resonance Especially when adjusting the frequency response of unfamiliar machinery system you could gradually increase the gain setting value to improve frequency response untill the resonance occurs and then decrease the gain setting value There are three control loop in the servo drive system including the outermost position control loop the intermediate speed control loop and the innermost current control loop The flowchart for the servo system is shown as below Position Control Loop Speed Control Loop Current Control Loop gt oe CONtrol mmm Control Fi l t er m Command Block Block Block Block Il Speed Detection a Position Detection T Position Speed Current Power 3 Position t Control me CODnVer Si 0T pamm Motor Figure 5 7 Diagram for the servo closed loop control sysytem The responsiveness of the inner control loop should be greater than the outer control loop otherwise the control system will be unstable generating vibration or noise 39 Hirden AC Servo Drive Therfoer the value of the gain for the three control loop should be set correctly Generally the value of the current control loop gain should be the maximun and the one of the position control loop is the minimum The responsiveness of the current control loop which couldn t be change by the customers is set auto
19. system A simple position control sysytem only needs two sets of position pulse command signals drive enable sigal prohibited drive signal servo ready and servo alarm output signals The wiring diagram of the simple system is shown as below 33 Hirden AC Servo Drive ACSD H3L10 N 1 OH i os R V 3 RJ AQUU LS Los WC lt 1 PE 1 O O e ON YT ze NFB MC CN1 Power supply Ay 14 5 I Ot 5 5 CN2 5 i DC COMM 18 Tr la 12 24V 4 Tk T EET Motor Servo ON op SoN 10 Y lt a Encoder 20 0 2 21 0V a gt 3 4 sm 8 l Ready PEST ae 4 Do A gt 4 4 snor 25 LU 2 A M gt 7 H Am 26 l Alarm j DUM 3 HB M gt 5 4 Tan 127 4 b 4 8 l PULS 32 Puls input ES 5 ot gt pl PULS 3 E a a shy TE plsicn 34 Sign input m Iv T ris Dy sic 3 T P v Ma gt B FG 136 4 9 Vt bg gt 1l alk 10 oV ow gt 14 Ground ll Ww 12 D W M gt 15 nw 1 23 0V 26 FG kg Figure 5 3 wiring diagram for the simple position control system Note Refer to the section 3 6 1 you could find the detailed wiring diagram for the position
20. without load first before performing the trial run with load 5 1 Inspection without load In order to prevent accidents and avoid damaging the servo drive and mechanical system the trial run should be performed without load Please disconnect all couplings and belts and do not run servo motor while it is connected to load or mechanical system for the unassembled parts on motor shaft may easily disassemble during running and it may damage mechanical sysytem or even result in personnel injury Please perform trial run without load first and then perform trial run with load connected Before the servo is powered please observe the following cautions 1 Ensure whether there is obvious damage on the appearance of the drive and motor 2 Check whether all of the wiring is correct or not especially for the R S T U V W and PE terminal The terminals should be connected to the specified calbe and terminal 3 Ensure that there is no foreign matter inside the drive such as conductive objects and flammable objects 4 Confirm that the electromagnetic brake could work normally if the brake is being used 5 Ensure that the specification for the power is applicalbe 6 Make sure that the cable and the mechanical parts are not intertwined to avoid wear or pulling phenomenon at the run time 7 Verify that the servo drive and motor are connected to the ground reliably 8 Make sure control switch is OFF After the control power is applied
21. 3 Hirden AC Servo Drive Pirated reserved This page intentionally left blank 64
22. A53 0001 And then the servo drive and motor is at zero speed running state Step 2 Set parameter PA04 3 choosing the speed trial running mode as the current mode Step 3 The speed command of the speed trial running is input by pressing Up and Down keys and the minimum given value is 0 1r min Use the Up or Down key to select the Sr mode on the main menu and the press the Set key to enter the operation interface for the speed trial running And the LED display should be shown as the following S 0 0 r min Positive instruction means that the servo motor runs in the CCW direction and the negative instruction means that the motor runs in the CW direction 32 Hirden AC Servo Drive Display 5 Increase t mals Decrease 6 155 5 Increase Operation Press Lossen Press Ww Lossen Press Figure 5 2 Diagram for speed trial run 5 2 Position control mode The position control mode is usually used for the applications requiring precision positioning such as industry positioning machine indexing talbe etc Before position trial run please observe the following cautions 1 Ensure that all wiring is correct and wiring terminals of the servo drive and motor are correctly insulated or damage and malfunction may result 2 Check whether the motor and the drive is fixed and secure or the motor or drive may be damaged by the reacting force when motor speed changes 5 2 1 Simple position control
23. Actions Improper input instrucion Check the pulse frequency and pulse the electronic gear ratio Decrease the load inertia The load inertia is too large Increase the Accel Decel time Err01 Overspeed Encoder fault Replace the motor Encoder cable fault Replace the cable The max speed setting error Modify or recover the parameter Servo drive default Replace the drive The power The power voltage is too high is too high The power waveform is Check the power supply eae Servo drive default drive default Replace the drive Err02 Overvoltage The power voltage is too low Check the power supply Err03 Undervoltage Transformer capacity is not Replace the transformer by a enough larger one The cable is loose Check and fix the cable Encoder fault Replace the motor Increase the PA5 and PA9 Check the funciton for torque limit Decrease the load Replace the motor and drive Excessive position The output torque of motor is Err04 A deviation not enough The pulse frequency is Decrease the frequency inapplicable 3 58 Hirden AC Servo Drive Err06 Err07 Err08 Err09 Err10 Err11 Err12 Err13 Err14 Err16 Decrease the load The load is too large Speed loop Replace the motor and servo Amplifier saturation The motor is stuck Check the mechanical structure Motor fault Replace the motor FSTP or RSTP is OFF Check the digital input signal Limit switch err
24. F 3000 Electromagneti r min Brake The actual delay time is chosed between PA48 and the operation time of PA49 50 Sampling Gain The value is the linear gain for DC Bus voltage sampling for Bus Voltage signal The value is prohibited to be modified EA relle 0 the function is disabled 51 Gear 1 the function is effective And the servo will chose 0 1 Fraction PA12 PA13 as the electronic gear ratio when INH is Off Selection but when INH is on PA52 PA13 would be chosed eee The value is the numerator of the 2nd electronic gear ratio 52 And the denominator of the both electronic gear ratios is 1 32767 Numerator the sania N2 Enable the function of the external signal The value 1 means the function is effective such as the function signal is ON And the value 0 means the function is noneffective such as the signal is off If the function is enbaled by bit of PA53 the status of the Digital Input signal would be noneffective Terminals The PA53 is represented by a 4 digit binary number as the 53 Function following Selection Bit 3 Bit 2 Bit 1 Bit 0 Enabled RSTP PSTP ALRS SON Word 1 Bit 0 SON Servo enable Pin 10 of CN2 Bit 1 ALRS Alarm clear Pin 11 of CN2 Bit 2 FSTP Forward software limit Pin 12 of CN2 Bit 3 RSTP reverse software limit Pin 13 of CN2 It s the same as the PA53 If the function is enbaled by bit of PA53 the status of the signal would be noneffective Digital Input The PA53 is represented by a 4
25. H non condensing Vibration 0 5G Hirden AC Servo Drive Chapter 2 Installation And Storage The contents of this chapter is about strorage and installation environment as well as the installation considerations for the H series AC Servo Drive Since the storage and installation environment have an important impact on the service life and the daily performance please refer to the following announcements about the storage and installation 2 1 Unpacking Check After receiving the AC servo drive please check for the following Ensure that the product is what you have ordered Verify the part number indicated on the nameplate corresponds with the part number of your order Please refer to Section 1 1 and 1 3 for details about the model explanation Check for damage Please inspect the unit to insure that it was not damaged duiring shipment Ensure that the servo motor shaft freely Rotate the motor shaft by hand a smooth rotation will indicate a good motor However a servo motor with an electromagnetic brake can not be rotated manually Check for loose screws Ensure that all necessary screws are tight and secure If any items are damaged or incorret please inform the distributor whom you purchased the product from or your local Hirden sales representative Hirden AC Servo Drive 2 2 Machine Dimension
26. Hirden AC Servo Drive N hirden Hirden AC Servo Drive for Industrial Control Application H3L10 N Series User Manual First Version Ningbo Hirden Industrial Contro System Co Ltd I Hirden AC Servo Drive Thank you very much for purchasing Hirden s AC servo products This manual will be helpful in the installation wiring inspection and operation of Hirden AC servo drive Before using the product please read this user manual to ensure correct use Contents of this manual This manual is a user guide that provides the information on how to operate and maintain H series AC servo drives The contents of this manual are including the following topics Installation of AC servo drives Configuration and wiring Parameter settings Control functions and adjusting methods of AC servo drives Trial run steps Troubleshooting Who should use this manual This user manual is intended for the following users Those who are responsible for installling or wiring Those who are responsible for operating or programming Those who are responsible for troubleshooting Important precautions Before using the porduct please read this user manual thoroughly to ensure correct use and store this manual in a safe and handy place for quick reference whenever to be necessary Besides please observe the following precautiongs Do not use the product in a potentially explosive environment Install the porduct in a clean and dry location free
27. List No Function Description oo Range Default Unit PA 0 Password ALL 0 1000 315 PA 1 Motor Code ALL 0 100 35 PA 2 Version ALL 0 999 i PA 3 Monitor Status ALL 0 19 0 PA 4 Control Mode ALL 0 5 0 PA 5 Proportional Speed Loop Gain P S 5 2000 165 Hz PA 6 Speed Integral Time P S 1 1000 30 ms PA 7 Low pass Filter for Torque ALL 1 1000 10 0 1ms PA 8 Speed Detection Filter ALL 171000 10 0 1ms PA 9 Proportional Position Loop Gain P 171000 50 Hz PA 10 Position Feed Forward Gain P 0 100 0 PA 11 Smooth Constant of PA10 P 1 1000 0 ms Electronic Gear Ratio PA 12 Numerator Ni P 1 32767 1 Electronic Gear Ratio LAST Denominator M1 P a dod 1 PA 14 External Pulse Input Type P 0 2 1 PA 15 Direction of External Pulse P 0 1 0 PA 16 Positioning Completed Width P 0 30000 20 pluse PA 17 Excessive Position Error Range P 0 30000 400 x100 pluse Excessive Position Error PA 18 Eunction Selection 2 d PA 19 Smooth Constant of Position P 0 30000 0 0 1mS Command PA 20 Inhibit Drive Function Selection ALL 0 1 1 PA 21 JOG Operation Speed S 3000 3000 120 r min PA 22 Speed Command selection S 071 1 PA 23 Alarm Enabled Statu Setting ALL 07 1000 200 PA 24 1st Speed Command S 3000 3000 0 r min PA 25 2nd Speed Command S 3000 3000 100 r min PA 26 3rd Speed Command S 3000 3000 300 r m
28. Q2U sv an Ag Y pace x p PE NFB MC CN1 yr 14 sv I t 15 sv CN2 16 sv ae CONE 1 18 17 5v o 2 20 EN Eee Servo ON 0 op sov 10 s 19 ov op ates 1 vin SET E v Wis Py FRT EM 21 ov l Loop NP 13 y Er Lop CE u Ya yet Eom Lio IN 15 Fyr lg oo FL 16 Y res lg E zh Loop ne Ti Fek ees CM2 Tr le SRDY 8 Ready sy 4 saov 25 VE e 4 ALM 26 Alarm y 9 9 e 4 am 127 f mlr la cord lt CON 28 iy un wm l 4 coin 29 f uw 4 BRK 30 Brake sy pr 4 B 31 Blo CN2 WOW la PULS Puls input RE wp pp PULS 33 H CN2 pisici 34 us 1 044 gt xd Sign input A sicn 35 H j 6 2 0 amp gt oe 3 og gt FG 36 i M LMI 5 07 gt 77 1 gt Ground 6 ZA gt 9 Guo a SES 21 wow vV YYYY YY YY Y yy _ A phase pulse A B B phase pulse B Z phase pulse Z GND Z phase Open collector Hirden AC Servo Drive 3 5 2 Speed control mode ACSD H3L10 N
29. SE TABLE eive Re en o md e EE 56 7 2 POTENTIAL CAUSE AND CORRECTIVE ACTIONS 58 CHAPTER 8 SYSTEM CONNECTION nennen 61 Hirden AC Servo Drive Chapter 1 Model Explanation 1 1 Nameplat Information Hirden AC SERVO DRIVER MODEL ACSD H3L10 N Mode Name INPUT AC 200V 230V 3PH 50 60Hz 6 44 AC 200V 220V 1PH 50 60Hz 8 2A Power Supply 7 gyrpur 110V 0 20082 13 2A Max Rated Current Output KN Barcode ACSD H3L10 N 11 10 A Read manual carefully and follow the 1 directions Use proper grouding techniques Attentions Disconnect all power and wait 10 min 2 before servicing May cause electric shock Ningbo Hirden Industrial Control System Co Ltd 1 2 Serial Number Explanation ACSD H3L10 N 11 10 A je Version Month of production Year of production 12 Year 2012 Encoder resolution 2500ppr Normal Mode Name Product Type AC Servo Drives Hirden AC Servo Drive 1 3 Model Name Explanation ACSD H3L10 Series AC Servo Drive ACSD H3L10 N TL Encoder resolution 2500ppr Normal Rated Output Power 01 100W 02 200W 04 400W 07 750W 10 1000W 15 1 5kW Input Voltage L 220V H 380V Input Phase 3 three phase AC power source 1 single phase AC power source H series production Product Name AC Servo Drives 1 4 Product Part Names ACSD H Series Front View Heatsink Used for installati
30. T M10025 2 6 10 2500 10 51 130ST M15015 2 3 15 1500 9 5 52 130ST M12020 2 4 12 2000 10 Others 110ST M04030 1 2 4 3000 5 NOTE 1 The parameter for moter code is PA1 The default motor code is set for 110ST M04030 by 35 If you need to change the motor code PA1 you should set PAO to 302 firstly Secondly set PA1 to the code for the motor which you use according to the list At last you need to save the parameters that you change You can read the chapter 4 to know how to save the parameters The parameter PA1 will take effect by restart 2 Code 22 23 and 24 are applied to Hirden 60ST series motor only If your motor is not produced by Hirden please refer to chapter 3 3 There are two types of the rotate direction for the encoder of the servo motor The default type of Hirden servo drive and motor is same as the Delta s Please makesure the type of the rotate direction for your motor or contact your local Hirden sales representative 55 Hirden AC Servo Drive Chapter 7 Troubleshooting If a fault is detected on the servo motor or drive a corresponding fault code will be shown on the drive s LED display 7 1 Fault messages table Table 7 1 Fault messages Display Fault Name Fault Decription Err Normal There is no error Motor s control speed exceeds the limit of Err 1 Overspeed E normal speed Max circuit voltage exceeds its maximu
31. T Y Figure 3 7 Pulse input interface circuit type 3 Open collector input circuit 3 4 4 Analog signal input interface There are two different input circuit types of analog signal differential input mode and single ended input mode The differential input circuit can inhibit the common mode interference so the differential input mode is recommended Either analog speed command or torque command is needed for H series servo drive The voltage range for the analog command is DC 10V 10V and the input impedance is 10kQ The zero drift of the analog signal could be compensated by adjusting the parameters Servo Drive OC i 10V 2 j NA Figure 3 8 Analog signal input interface circuit type 4 differential input mode Servo Drive 10V 2 i 10V Figure 3 9 Analog signal input interface circuit type 4 single ended input mode 1 Three connecting wires are needed in differential input mode but only two connecting wires in single ended input mode 2 The voltage of the signal should not be beyond the specified range 10V 10V or may damage the drive 3 This interface is a non isolated input interface so the shielded cable is recommended to reduce the noise Hirden AC Servo Drive 3 4 5 Encoder signal output interface The drive output the motor e
32. Up key and the servo motor will run in CCW direction After releasing Up key the motor will stop running Step 5 Pressing Down key and the servo motor will run in CCW direction After releasing Down key the motor will stop running Step 6 When preesing Return key the drive could exit JOG operation mode 31 Hirden AC Servo Drive CCW and CW definition CCW counterclockwis when facing the servo motor shaft CCW is running in the counterclockwise direction CW clockwis when facing the servo motor shaft CW is running in clockwise direction Sr 100 0 gt I anl ERR i n 1 nn 14 n 14 1 an Display 4 iaa J D O d Lu Operation Press Lossen Press W Lossen c3 Figure 5 1 Diagram for the JOG trial run without load 5 1 3 Speed trial run without load Before speed trial run fix and secure the motor as possible to avoid the danger from the reacting force when motor speed changes 1 Parameters Table 5 2 Parameters about the speed trial run Parameter NO Name Default Setting Description Select the operation mode as PA04 Control mode 0 3 P speed trial running control mode PA20 Inhibit Drive Function 1 1 Ignore the drive prohibition Enable the drive without the external signal PA53 Control word 1 0000 0001 2 Operation Step 1 Enable the drive and the running indicator will be lit by setting the parameter P
33. ala t eure peat equ reds Duae 16 3 4 1 Digital signal input interface 16 3 4 2 Digital signal output interface sse 16 3 4 3 Position pulse input interface sse 17 3 4 4 Analog signal input interface sse 18 3 4 5 Encoder signal output interface r ornnrnnrnrnnronrnvrrrnnrrenvennrsvnnnnrnennrrennrsenenne 19 3 4 6 Encoder Open collector Z pulse output interface sssss 19 3 4 7 Encoder feedback signal input interface sss 20 9 5 STANDARD CONNECTION EXAMPLE eodera oae dut Be e A SRL Ret aUe Eee iR 21 3 5 1 Position controlbmode eS EE EE EE 21 3 5 2 Speed control MOde erreonevnrnerrenerrenenenrnennerrenereenenesnenersenenenesnenessenensenenesnesee 22 3 5 3 Torque controlmode 4 d teet a ere the ee nette e 23 CHAPTER 4 DISPLAY AND OPERATION eene 24 4 1 DESCRIPTION OF THE DIGITAL KEYPAD rite dettot teat C re atu abide 24 2 MAREN 25 AS MONITOR DISPLAY DP AA 25 Hirden AC Servo Drive 4 4 PARAMETER SETTING 0 26 4 5 PARAMETER MANAGEMENT EE 27 4 6 SPEED TRIAL RUN WITHOUT LOAD CSR EE 28 4 7 JOG TRIAL RUN WITHOUT LOAD JR sem Eun e em bu eie 28 4 8 ZERO OFFSET ADJUSTMENT x dace sim ptos Mat eG ae 28 CHAPTER 5 TRIAL RUN AND TUNING PROCEDURE seen 30 521 INSPECTION WITHOUT EOD ON 30 5 1 1 Appling power to the drive 31 5 1 2 JOG trial run without load esses 31 5 1 3 Spee
34. alled SCSI 26 produced by 3M the view and the layout of the CN1 is shown as the following Layout of CN1 scsi 26 Figure 3 2 The view and layout of the CN1 encoder signal interface terminal 11 Hirden AC Servo Drive 3 2 2 Signal Identification for CN1 Table 3 3 Terminal signal identification for CN1 Motor connector Terminal PIN No NN Quick I O et Identification Description connector type 1 A 4 Connected to A signal Type7 2 A 7 Connected to A signal 3 B 5 Connected to B signal Type7 f 4 B 8 Connected to B signal 5 Z 6 Connected to Z signal Type7 6 Z 9 Connected to Z signal 7 U 10 Connected to U signal Type7 ol 8 U 13 Connected to U signal 9 V 11 Connected to V signal Type7 10 V 14 Connected to V signal 11 W 12 Connected to W signal Type7 12 W 15 Connected to W signal 14 15 5V power source is Power supply 5V 2 b P 16 17 supplied for the servo motor 18 19 encoder When the length of ias the cable is greater please 20 21 GND 3 js P take several core wires in 22 23 parallel to reduce line drop 26 27 28 Shielding 1 Shielding PE 3 3 MO Interface Connector CN2 The CN2 interface conncetor provides access to three signal groups 1 General interface for the analog speed and torque control pulse direction inputs and reference voltages 2 8 programmable Digital In
35. ault EEPROM error Current sensor adjustment fault Overload for motor torque Pulse Z error U V W signal error for encoder OT for IC UT for IC Instantaneous overload for motor Motor temperature error Output is short circuited Check the motor and wiring Parameter is set incorrectly Modify or recover the parameters Interval time between start Set the Accel and Decel time and stop is too short correctly Wiring fault for U V W Confirm the wiring The power supply is instability Check wiring or replace the drive Servo drive fault Replace the servo drive Servo drive fault Replace the servo drive Decrease the load or choose a The load is too heav 4 larger drive and motor Motor code is inapplicability choose a larger drive and motor Modify or recover the parameters Parameter is set incorrectly about motor code and torque Encoder fault Replace the servo motor Encoder cable fault Replace the encoder cable Shielding ground fault Confirm interface and I O circuit Encoder fault Replace the servo motor Cable or shielding fault Replace the cable Encoder signal circuit fault Replace the drive The ambient temperature is Decrease the ambient too high temperature The ambient temperature is Increase the ambient too low temperature Decrease the load or choose a larger servo drive and motor Decrease the load or choose a larger motor The torque of load is too high The load i
36. ccurs and then decrease the gain setting value Step 3 Gradually decrease the integral time of the speed control loop PAO6 untill the resonance occurs and then increase the setting value Step 4 If the resonance occurs as a result the ideal responsiveness of the system could not be achieved For this case you could adjust the value of the low pass filter for torque PA07 to suppression the resonance And then you could repeat the above steps in order to achieve a better responsiveness for the position and speed control loop 5 5 3 Adjustment for position control loop If the inertia of the machinery and conditions of applications is larger or the resonance occurs 40 Hirden AC Servo Drive you could adjust the relative parameters as the following step Step 1 Increase the integral time of the speed control loop PA06 Step 2 Gradually increase the value of the proportional speed control loop gain PA05 setting untill the resonance occurs and then decrease the gain setting value Step 3 Gradually decrease the integral time of the speed control loop PAO6 untill the resonance occurs and then increase the setting value Step 4 Gradually increase the value of the proportional position control loop gain PA09 setting untill the resonance occurs and then decrease the gain setting value Step 5 For achiving better track error of the position control loop users could adjust position feed forward gain PA10 and PA11 the smooth constant of
37. ch has saturation exceeded the specified value Err 7 Limit switch error Forward or Reverse limit switch is activated Err 8 Position counter overflow Position counter overflow occurs Err 9 Encoder error Pulse signal is in error Err 10 Power voltage is overhigh Excessive voltage is applied to the input Current error has exceeded the specified Err 11 Current response fault value for a long time Main circuit current is higher than 1 5 Err 12 Short circuit multiple of drive s instantaneous maximum current value Err 13 Drive temperature error The temperature of drive is over high Err 14 Regeneration error Regeneration control operation is in error The instantaneous current of the drive is Err 16 Instantaneous overload overhigh Speed error has exceeded the specified Err 17 Speed response fault P P value for a long time Err 19 Warm reset Software warm global reset An error accurs when writing the curret Err 20 EE PROM error settings into EE PROM l Adjusted value of the current sensor Current sensor adjustment on Err 23 MEA exceeds the limit of its allowable setting value when perform electrical adjustment Err 29 Overload for motor Servo motor is overload Err 30 Pulse Z error The pulse Z of the encoder is lost The wiring connections of U V W for Err 32 U V W error 9 encoder interface are in error Err 34 OT The ambient temperature is over high Err 35 UT The a
38. d trial run without load sse 32 5 2 POSITION CONTROL MODE sorte putet repete ote on Pasta tos f Rs 33 5 2 1 Simple position control system sse 33 5 2 2 Parameters for the position control eerie 35 5 2 3 Electronic gear ratio esses 36 5 2 4 Position proportional gain 38 SS GAN ADJUSTMENT 25558 asics aada eaaa AR ot mad ius 39 5 5 1 Steps for gain adjustment sss 40 5 5 2 Adjustment for speed control loop seen 40 5 5 3 Adjustment for position control loop eene 40 5 6 ELECTROMAGNETIC BRAKE scope core tap PR qud ERAN GA EN NAR 4l 5 6 1 Parameters about electromagnetic brake sss 41 5 6 2 Matters for electromagnetic brake seen 42 WAR Ics 43 5 7 1 Timing for power on ee eeeeseeceseeseseseeceseeeescesceeeseseecesceeeaceeceeeaceeeeeeceecaeeeeaeeaees 43 5 7 2 Timing for enable operation sese 43 57 9 Timing TOM ALAN a ostro tos e tee In oL tae EL 45 5 8 START STOP CHARACTERISTICS eo situent Pa etait eu onde Sosa eu fe mu aet 45 5 8 1 On off frequency and load inertia sse 45 5 8 2 Adjustment genit te ene Pepe tnb d EL eed poe ede 45 OHAPTER S PARAMETERS uegnet dr ds 47 6 1 PARAMETER SUMMARY LE 47 6 2 DETAILED PARAMETER SETTING as tei ue DIR So EUER HARE Ad Soie t 49 CHAPTER TROUBLESHOOTING uses ee uita 56 7 FA MES
39. digit binary number as the Terminals following 5A Function Bit3 Bit 2 Bit 1 Bit 0 0000 111 Selection or RIL FIL 1NH SC2 CLE SC1 ZEROSPD Enabled Bit 0 CLE SC1 ZEROSPD Pin 14 of CN2 meee Bit 1 INH SC2 Pin 15 of CN2 Bit 2 FIL Pin 16 of CN2 Bit 3 RIL Pin 17 of CN2 55 Curret The value is the linear gain for output current sampling 0 1000 Sampling Gain signal The value is prohibited to be modified 56 Reserved 57 Reserved Input Terminal The time contant for anti shaking function of the input 28 Delay Time terminal 17000006 54 Hirden AC Servo Drive 1 Code list of the AC Servo for adaptive motor Code Motor Model Power Torque Rated speed Rated current Kw N m rpm A 22 60ST M00630 0 2 0 64 3000 1 2 23 60ST M01330 0 4 1 27 3000 2 8 24 60ST M01930 0 6 1 91 3000 3 7 25 80ST M01330 0 4 1 3 3000 2 6 26 80ST M02430 0 75 2 4 3000 4 2 27 80ST M03330 1 3 3 3000 4 2 30 MG80ST M04025 1 4 2500 4 4 31 MG90ST M02430 0 75 2 4 3000 3 32 MG90ST M03520 0 75 3 5 2000 3 33 MG90ST M04025 1 4 2500 4 34 110ST M02030 0 6 2 3000 4 35 110ST M04030 1 2 4 3000 5 36 110ST M05030 1 5 5 3000 6 37 110ST M06020 1 2 6 2000 6 38 110ST M06030 1 8 6 3000 8 44 130ST M04025 1 0 4 2500 4 45 130ST M05025 1 3 5 2500 5 46 130ST M06025 1 5 6 2500 6 47 130ST M07720 1 6 7 7 2000 6 48 130ST M07730 2 4 7 7 3000 9 49 130ST M10015 1 5 10 1500 6 50 130S
40. dition 0 100 11 Smooth Constant for PA10 The value is the time contant of the low pass filter for position feed forward gain Be smoother to decrease the position overshoot Electronic gear ratio of the servo system could match the position command of the host controller and the actual distance motor running The electronic gear ratio can be calculated as the 1 1000ms aa following N1 M1 F2 S1 P1 12 Numerator P1 Number of pulses corresponding to 1mm in the host 1732767 N1 controller F2 Number of encoder pulses per circle Default is 10000 S1 Screw pitch of the mechanical transmission mm The ideal range of the gear ratio is from 1 50 to 50 13 Electronic Refer to parameter PA12 1 32767 50 Hirden AC Servo Drive Gear Ratio Denominator M1 External Pulse There are three inputting type kinds for external pulse 0 pulse direction 4 Input Type 1 CCW pulse CW pulse ds 2 AB phase pulse 15 External Pulse 0 Normal direction 0 1 Direction 1 Negative direction The value is the position error range to judge whether the positioning is completed or not Positioning In the position control mode the COIN signal will be on 0 30000 16 Completed when the value of the position error is less then the value pluse Width of the PA16 In other control mode the COIN signal will be ON when the speed reachs the target speed command The value is th
41. e detection range for error 4 17 Se N In the position control mode if the position error is larger g 0 Range than the value of PA17 the servo drive will be disabled pluse and the error code would be displayed Excessive 18 Position Error 0 Enable detection function for excesive position error 0 1 Function 1 Disable the function for detecting the position error Selection Smooth the position command by exponential deceleration the value of PA19 is the time contant for the exponential deceleration The pulse would not be lost but the position command may Smooth be delay Constant of You could use the function at the following conditon 0 30000 19 Position e The host controller does not have a deceleration x0 1mS acceleration function 5 Command e The electronic gear ratio is larger than 10 e The position frequency is low e Stepping jump and vibration occurs when the motor is running The function will be disabled when the value is O 0 Enable the inhibition function and the FSTP signal is effective If the CCW FSTP signal is ON the drive could be Inhibition drived in CCW direction If the signal is OFF the drive 20 Function could not be drive in the CCW direction It s the same to 0 1 Selection CW FSTP signal When both of the FSTP signals are OFF the drive will be disabled 1 Disable the inhibition function The motor could run free without FSTP signals i 3000 30 21 BD Set the operation speed command for JOG control m
42. e the servo drive and motor running and positioning by external pulse Referring to parameter PA14 you could see there are three types of the pulse In the table 5 5 the types of the pulse are diagramed and the pulse edge indicated by arrows could be counted by drive in each pulse type You could change the direction of the pulse count by setting parameter PA15 The pins 32 PULSE 33 PULSE 34 SIGN 35 SIGN of the terminal interface CN2 are set for external pulses input For the details of the interface CN2 please refer to the section 3 43 2 Filter for positon control The filter is for the position smoothing of motion command Using filter not only can improvethe performance when servo motor accelerate or decelerate but also can make motor to operate more smoothly When the load is change the motor usually run not smoothly when starts to run and stop due to the friction and inertia change At this moment users can increase the value of the PA19 to improve the performance But if the vaule is too large the command delay phenomenon would be more obvious When the parameter PA19 0 the filter is disable The value of the PA19 is the time that the frequency of the position command increasee from 0 to 63 of the external pulse frequency Diagram of the filter is shown as below The non filtering and the filtering waveform are contrasted Af uh Before Filter Input Pulse Frequency 0 af Filtered Pulse Frequency
43. e to restore the parameters e EE rs Restore the parameter read the data svaed in the backup area of the EEPROM into the parameter list of the software If you want the backup parameter be long term effective you need to perform a write operation 27 Hirden AC Servo Drive e EE def Restore the default parameters read all of the defaults into the parameter list and then write the parameters into the EEPROM Even if the drive is restart the defaults is still effective After this operation you should ensure that the motor code PA1 is adapted for the using motor 4 6 Speed trial run without load Sr You can enable the Sr operation mode by set parameter PA4 3 You could find the Sr on the main menu by using the Up and Down key and then enter the speed trial run operation interface by pressing the Set key When Sr 0 0 is displayed and the units is r min you could change the speed command by pressing Up or Down key CA emn P Press Figure 4 6 Diagram for the speed command entering of speed trial run 4 7 JOG trial run without load Jr You can enable the Sr operation mode by set parameter PA4 4 and change the JOG speed command by seting parameter PA 21 You could find the Jr on the main menu by using the Up and Down key and then enter the JOG trial run operation interface by pressing the Set key When J 0 0 is displayed and the units is r min you could press Up or Down key to jog the mot
44. eeds the limit of its allowable setting value when perform electrical adjustment Err 29 Overload for motor Servo motor is overload Err 30 Pulse Z error The pulse Z of the encoder is lost The wiring connections of U V W for encoder interface are in error Err 32 U V W error Err 34 OT The ambient temperature is over high Err 35 UT The ambient temperature is ultralow The main circuit current of the drive is higher than 2 multiple of the rated current The instantaneous load of the motor is Err 36 Over curret Instantaneous overload for Err 37 ve heavier than 1 5 multiple of motor s maximum load value Err 38 Motor temperature error The motor is overload for a long time Err 5 15 21 22 25 26 27 28 31 33 Reserved 57 Hirden AC Servo Drive 7 2 Potential Cause and Corrective Actions Err xx would be shown on the display when some error occurs xx is the alarm code Some errors are common such as Err 3 Err 6 Err 9 Err 11 Err 13 Err 17 and Err 38 which may be caused by wiring or opration error Gernerally you could restart the servo to clear the alarm and then the servo may work normally But if after re powering the error still exists or the alarm occurs frequently you could refer to the following actions and if necessary you could contact your local Hirden sales representativ Table 7 2 Corrective actions for trouble shooting Code Fault Name Cause Corrective
45. erminal TEN E Power Cable Wire gauge Indentification Description Main circuit RAS 1 5 2 5mm terminal Control circuit rot ere 0 75 1 mm terminal Servo motor U V W 1 5 2 5 mm output PE Ground terminal 1 5 2 5 mm NT Encoder 20 14 mm 7 pair shielded connector twisted pair cable 20 14 mm shielded twisted pair CN2 I O connector P cable Wiring Notes Please obseve the following wiring notes while performing wiring and touching any electrical connections on the servo drive or servo motor 1 Ensure to check if the power supply and wiring of the power terminals R S T r t is correct 2 Please use shielded twisted pair cables for wiring to pervent voltage coupling and eliminate electrical noise and interference 3 Ensure to check if the U V W terminal is correct or the motor maybe not turn or cause galloping 4 The ground terminal of the servo drive and motor should be connect to the terminal which is well grounded into a single point ground and the ground wire should be rough 5 As a residual hazardous voltage may remain inside the drive please do not immediately touch any of the power terminals R S T r t U V amp W or the cables connected to them after the power has been turned off and the charge LED is lit 6 Please usd a twisted shield signal wire with grounding conductor for the encoder calbe CN1 and the position feedback signal connector CN2 The wire length should be 20m or le
46. error occurs please check the main power supply and the parameter PA53 And at last you could refer to chapter 7 5 1 2 JOG trial run without load It is very convenient to use JOG trial run without load to test the servo drive and motor as it can save the wiring For safety it is recommended to set JOG speed at low speed such as 100r min The JOG speed could be set in the parameter PA21 1 Parameters Table 5 1 Parameters about the JOG trial run Parameter ar NO Name Default Setting Description Select the operation mode as PA04 Control Mode 0 4 i p JOG trial running mode PA20 Inhibit Drive Function 1 1 Ignore the drive prohibition PA21 JOG speed 120 100 Speed command for JOG Reduce the acceleration PA40 Acceleration Time 0 Opportune shocks Reduce the deceleration PA41 Deceleration Time 0 Opportune shocks Enable the drive without the PA53 Enabled Word 1 0000 0001 re or external signal 2 Operation Step 1 Enable the drive and the running indicator will be lit by setting the parameter PA53 0001 And then the servo drive and motor is at zero speed running state Step 2 Set parameter PA21 as JOG speed After the desired JOG speed is set and then press the Set key the speed will be write into the control software Step 3 Enter the JOG operation interface by using the digital keypad and the digital LED display should be displayed as the following J 0 0 Cr min Step 4 Pressing the
47. f Position P 0 30000 0 0 1mS Command PA 20 Inhibit Drive Function Selection ALL 0 1 1 PA 21 JOG Operation Speed S 3000 3000 120 r min PA 22 Speed Command selection S 0 1 1 PA 23 Alarm Enabled Statu Setting ALL 0 1000 200 PA 24 1st Speed Command S 3000 3000 0 r min PA 25 2nd Speed Command S 3000 3000 100 r min PA 26 3rd Speed Command S 3000 3000 300 r min PA 27 4th Speed Command S 3000 3000 100 r min PA 28 Target Motor Speed S 0 3000 500 r min PA 29 Analog Torque Command Gain T 10 100 50 0 1V 100 PA 30 Reserved 167 PA 31 Pulse Logic Function Selection P 1 5000 167 PA 32 Reserved 167 PA 33 Direction of Torque Command T 071 0 Internal CCW Torque a lo PA 34 Command Limit ALL 0 200 200 o Internal CW Torque lo PA 35 Command limit ALL 200 0 200 o External CCW Torque 2 5 PA 36 Command Limit ALL 0 200 100 o PA 37 External CW Torque S 200 0 100 Command Limit VI Hirden AC Servo Drive Torque Command Limit for JOG PA 38 and Trial Run JOG Sr 0 300 100 Zero offset Compensation for z PA 39 Torque Command S 2000 2000 0 PA 40 Acceleration Time S 1 10000 0 ms PA 41 Deceleration Time S 1710000 0 ms PA 42 Accel Decel S curve S 171000 0 mS PA 43 Analog Speed Command Gain S 10 3000 300 r min V PA 44 Direction of Speed Command S 0 1 0 Zero offset Compensation for Laud
48. feed forward gain appropriately Step 6 If the resonance occurs as a result the ideal responsiveness of the system could not be achieved For this case you could adjust the value of the low pass filter for torque PA07 to suppression the resonance And then you could repeat the above steps in order to achieve a better responsiveness for the position and speed control loop 5 6 Electromagnetic Brake When the servo drive is operating if the digital output BRK is set to off it indicates that the electromagnetic brake is disabled and motor is stop running and locked If the digital output BRK is set to ON it indicates electromagnetic brake is enabled and motor can run freely The electromagnetic brake is usually used in perpendicular axis Z axis direction to reduce the large energy generated from servo motor Using electromagnetic brake can avoid the load may slip since there is no motor holding torque when power is off Without using electromagnetic brake may reduce the life of servo motor To avoid malfunction the electromagnetic brake should be activated after servo system is off 5 6 1 Parameters about electromagnetic brake The on delay time of the electromagnetic brake is set within the servo drive except this there are three parameters about the off delay time speed of the electromagnetic brake The users can use these three parameters to set the off delay time of electromagnetic brake Table 5 7 Parameters about the electromagnet
49. from corrosive and inflammable gases or liquids Ensure that the drive is correctly connected to a ground The grounding metho must comply with the electrical standard of the country Do not connect a commercial power supply to the U V W terminals of drives otherwise the drive will be damaged Do not attach modify and remove wiring when power is applied to the AC servo drive Do not disconnect the drive and motor when the power is ON Do not touch the heat sink of the drive duiring operation If you do not understand please contact your local Hirden sales representative Please place this user manual in a safe location for future reference Hirden AC Servo Drive Safety Caution Installation The applications should be kept away from the water vapor corrosive gases flammable gases and so on Otherwise it may result in electric shock fire or personal injury The application environment should be without direct sunlight dust salt and metal powder and so on The applications should be kept away from the place which the oil and pharmaceutical will attach or be dipped Wiring Connect the ground terminals to a class 3 ground Ground resistance should not exceed 100 9 The H series AC servo drive is suitable for AC 220V single phase or three phase power Please do not connect to the power AC 380V Failure to observe this precaution may damage the drive Do not connect any power supplies to the U V W terminals Failure to ob
50. ge ALL 0 1000 506 Dynamic Electrionic Gear PA 51 Function Selection E ma Electronic Gear Ratio PA 52 Numerator N2 P 1 32767 1 Digital Input Terminals Function PA 53 Selection Enabled Word 1 in OPERUM 9 Digital Input Terminals Function x PA 54 Selection Enabled Word 2 aa MR i PA 55 Curret Sampling Gain ALL 071000 312 PA 56 Reserved ALL 0 PA 57 Reserved ALL 0 255 0 PA 58 Input Terminal Delay Time ALL 171000 2 mS 48 Hirden AC Servo Drive 6 2 Detailed parameter setting Table 6 2 Detailed settings for the parameter NO Name Function description Value range Password Generally prevent some parameters modified falsely If you need to modify the parameters you need to modify this parameter to the password first Password for general parameters is 315 Password for PA1 is 302 07 1000 Motor Code The value should be adapted for the motor you used Refer to section 6 3 for specific value and pasword is 302 07 1000 Vers ion View the software version which couldn t be modified 0 999 Initial Monitor Monitoring variables for the initial display when the drive powered on 0 Feedback speed Low data of the feedback positon High data of the feedback positon Low data of the position command High data of the position command Low data of the position error High data of the position error Feedback torque Feedback current 9 Reserved 10 P
51. he function of this parameter is to restrain resonance Increasing the value will decrease the cutoff frequency resulted in the smaller noise and vibration but lower response If the interia of the load is large you could increase the value to restrain the resonance 1 1000 x0 1mS Speed Detection Filter Time contant of the speed detection filter has an effect on the stiffness and responsiveness of the speed control loop Increasing the value will decrease the cutoff frequency resulted in the smaller noise If the value is too large the response will be slow and the vibration or resonance will occur Gernerally the value should be modified according to the load inertia 1 1000 x0 1mS Proportional Position Loop Gain Proportional gain of the position control loop has an effect on the stiffness and responsiveness of the control loop Increasing the value can improve the response frequency of the position Increasing the value will increase the stiffness and decrease the position offset when the position frequency is the same If the value is too large the vibration or resonance will occur 1 1000 S 10 Position Feed Forward Gain Increasing the value can reduce the position track error 100 means that the track error may be zero at any position frequency If the value is too large the vibration or resonance will occur Gernerally the value is 0 excepting high responsive required by the application con
52. ic brake Parameter Value Name Defaults Units NO range On delay time of electromagnetic brake PA47 dod HUS 0 200 0 10ms when motor is still Off delay time of electromagnetic brake PA48 e SUM 0 200 50 10ms when motor is running Off speed of the motor for electromagnetic PA49 brake when the motor is running 0 3000 100 r min 41 Hirden AC Servo Drive 5 6 2 Matters for electromagnetic brake Wiring of the electromagnetic brake is shown as below When emergency stop signal is activated this circuit breaker will be enabled Servo drive 4 0 not connect Motor VDD and COM f B anm i i BRKHL IN Brake I zd For brake N Relay VDD T pe24v BRK DC24V Ensure the polarity of Encoder Diode is correct or it may damage the drive Figure 5 8 Diagram for electromagnetic brake The BRK signal is used to control the brake operation The VDD DC24V power supply supplied externally should be used to power the relay coil When BRK is on the motor brake will be activated The coil of the brake has no polarity But the diode has polarit please ensure the polarity of the diode is corret or it may damage the drive At last the power supply for brake is DC24V Never use it for VDD the 24V source voltage Timing chart for using servo motor with electromagnetic brake
53. in PA 27 4th Speed Command S 3000 3000 100 r min PA 28 Target Motor Speed S 0 3000 500 r min PA 29 Analog Torque Command Gain T 10 100 50 0 1V 100 47 Hirden AC Servo Drive PA 30 Reserved ALL 167 PA 31 Pulse Logic Function Selection P 1 5000 167 PA 32 Reserved 167 PA 33 Direction of Torque Command T 0 1 0 Internal CCW Torque x 8 PA 34 Command Limit ALL 0 200 200 o Internal CW Torque x Bane 5 PA 35 Command Limit ALL 200 0 200 o External CCW Torque 5 PA 36 Command Limit ALL 0 200 100 o External CW Torque z 5 PA 37 Command Limit S 200 0 100 o Torque Command Limit for JOG Ls 3 PA 38 and Trial Run JOG Sr 0 300 100 o Zero offset Compensation for E PA 39 Torque Command S 2000 2000 0 PA 40 Acceleration Time S 1710000 0 ms PA 41 Deceleration Time S 1710000 0 ms PA 42 Accel Decel S curve S 1 1000 0 mS PA 43 Analog Speed Command Gain S 10 3000 300 r min V PA 44 Direction of Speed Command S 0 1 0 Zero offset Compensation for ae Analog Speed Command 3 000 PA 46 Low pass Fliter for Speed S 0 1000 3 mS Command On Delay Time of PA 47 Electromagnetic Brake when ALL 0 200 0 x10mS motor is stopped Off Delay Time of PA 48 Electromagnetic Brake when ALL 0 200 50 x10mS motor is running g Target Speed for Opening PA 49 Electromagnetic Brake ALL 0 3000 100 r min PA 50 Sampling Gain for Bus Volta
54. ing Strategy Low pass and S curve filter Torque Limit Operation Set by parameters Analog Input Votage Range Command Source 10V Internal parameters Smoothing Strategy Low pass Speed Limit Operation Set by parameters Servo on Pulse clear Zero speed CLAMP speed command selection 1 CCW ban CCWL CW ban Position command ban speed command selection 2 CCW torque limit CW torque limit Outputs Encoder signal output A B Z Line Driver and Z Open Collector Servo ready At speed reached At positioning completed Servo alarm Servo fault activated Electromagnetic brake control Motor rotation speed Motor feedback pulse number input pulse number of pluse command input frequecy of pulse command position error counts main circuit voltage average load absolute pulse number relative to encoder speed input command Hirden AC Servo Drive Overcurrent Overvoltage Undervoltage Moter overheated Regeneration error Overload Pretective Functions Overspeed Encoder error Position excessive deviation Installation Site Ndoor location free from direct sunlight no corrosive liquid and gas altitude Altitude 1000M or lower above sea level Im Pressure 86kPa 106kPa Environment Ime temperature 0 45 C Cif operation temperature is above 45 C forced cooling will be required LEE temperature 20 65 C Humidiy 0 8096R
55. ion Counist CLE counter reset function i CLE OFF remain deviation counter Reset CLE ON reset deviation counter In the speed control model when PA22 1 the Zero Speed input interminal is defined as the zero speed E ZERO clamping function Clamping ZERO OFF analog input intruction is selected ZERO ON speed command is set to O Hirden AC Servo Drive The input interminal is defined as the speed conmand selection in the speed control model when PA4 1 and PA22 0 Used to select the Speed different internal speed through the combination Command SC2 of SC1 and SC2 Selection 2 SC1 OFF SC2 OFF internal speed 1 15 SC1 ON SC2 OFF internal speed 2 SC1 OFF SC2 ON internal speed 3 SC1 ON SC2 ON internal speed 4 When PA4 0 the terminal is defined as input Input Pulse INH pulse prohibition Prohibition INH OFF disable the funcion INH ON enable the function CCW torque limit input interminal 16 Forward FIL FIL ON the torque is limited in the PA36 range Torque Limit FIL OFF the torque is not limited Note in any case the torque is limited in the PA34 range CW torque limit input interminal 17 Reverse RIL RIL ON the torque is limited in the PA37range Torque Limit RIL OFF the torque is not limited Note in any case the torque is limited in the PA35 range COMH is the common voltage rail of the DI and Power Supply 18 COM DO signal
56. m Err 2 Overvoltage allowable value Max circuit voltage is below its minimun Err 3 Undervoltage i 9 specified value ae Position control deviation value exceeds the Err 4 Excessive position deviation limit of its allowable setting value The amplifier of the speed control loop is Speed loop amplifier Err 6 P 3 PSP saturated for a long time which has saturation bi exceeded the specified value Err 7 Limit switch error Forward or Reverse limit switch is activated Err 8 Position counter overflow Position counter overflow occurs Err 9 Encoder error Pulse signal is in error Err 10 Power voltage is overhigh Excessive voltage is applied to the input Current error has exceeded the specified Err 11 Current response fault f value for a long time Main circuit current is higher than 1 5 Err 12 Short circuit multiple of drive s instantaneous maximum current value Err 13 Drive temperature error The temperature of drive is over high Err 14 Regeneration error Regeneration control operation is in error The instantaneous current of the drive is Err 16 Instantaneous overload overhigh Speed error has exceeded the specified Err 17 Speed response fault P value for a long time Err 19 Warm reset Software warm global reset An error accurs when writing the curret Err 20 EE PROM error settings into EE PROM Err 23 Current sensor adjustment Adjusted value of the current sensor 56 Hirden AC Servo Drive error exc
57. matically within the system And then the users should set the values of the speed and position control loop gain properly avoiding that the inside and outside responsiveness are not matched 5 5 1 Steps for gain adjustment In order to obtain a stable system please do not make major alteration at only one parameter related to the control loop when one parameter is modified some other relevant parameters should also be adjusted further to achieve the best results Therefore to modify the parameters related to the congtrol loop we follow the following steps Table 5 6 The basic rule for modifing the closed loop parameters Reduce vibration or overshoot Increase responsiveness Step 3 the speed control loop PAO6 Decrease the proportional speed control loop gain PA05 Decrease the proportional 6 Increase the proportional Step 1 position control loop gain speed control loop gain PA09 PA09 Increase the integral time of Decrease the integral time of Step 2 the speed control loop PA06 Increase the proportional position control loop gain PAO9 5 5 2 Adjustment for speed control loop If the inertia of the machinery and conditions of applications is larger you could adjust the relative parameters as the following step Step 1 Increase the integral time of the speed control loop PA06 Step 2 Gradually increase the value of the proportional speed control loop gain PAO5 setting untill the resonance o
58. mbient temperature is ultralow The main circuit current of the drive is higher Err 36 Over curret than 2 multiple of the rated current The instantaneous load of the motor is Instantaneous overload for i Err 37 pe heavier than 1 5 multiple of motor s maximum load value Err 38 Motor temperature error The motor is overload for a long time Err 5 15 21 22 25 26 27 28 31 33 Reserved Note When the fault accurs please refer to chapter 7 2 or contact your local Hirden sales representative VIII Hirden AC Servo Drive Contents CHAPTER 1 MODEL EXPLANATION Langsten 1 Tb NAMEPEATANPORMATIONL2 adit e er Ge ae 1 1 2 SERIAL NUMBER EXPLANATION i Renees 1 1 3 MODEL NAME EE PN OE 2 F PRODUCT PART NAMES jussen 2 1 5 SERVO DRIVE SPECIFICATION Sed 3 CHAPTER 2 INSTALLATION AND STORAGE sse 5 21 UNPACKING CHECK ries asiste SAA 5 2 2 MACHINE DIMENSION Re 6 2 3 INSTALLATION ENRON ENTEN 6 2 4 INSTALLATION PROCEDURE AND MINIMUM CLEARANCES eere 7 2 5 STORAGE CONDITIONS Lasse died 8 GHPATERS WIRING tee 9 3 1 CONNECTORS AND TERMINALS Aas o poco BER E BU Seb A 9 3 2 ENCODER CONNECTOR ONT cece 11 3 2 1 The Layout and View of CN 11 3 2 2 Signal Identification for CN1 oo eee eeeseseeceseeesseeeeeeseeeceeeaeeeseseeeeseeeeaeeaees 12 3 3 1 O INTERFACE CONNECTOR CN2 eksen 12 3 3 1 The Layout and View of CN 12 3 3 2 Signals Explanation of Connector CN 13 3 4 VO INTERFACE FYRE oe ette tum a e t
59. ncoder feedback position signals by Line drive transmitter chip AM26LS31 The user could receive the encoder A phase B phase and Z phases signals by two types Line drive receiver chip and the high speed optocoupler The host controller receive the encoder signals by Line drive receiver chip The circuit connected to the drive is shown as the following Servo Drive AM26LS31 AM26LS32 0A i PRU Toy A gt PE Figure 3 10 Encoder positon signals output interface circuit type 5 Line drive The value of the resistance is 2200 4700 and the commond ground GND of the encoder should connect with the signal ground of the host controller For the interface is a non isolated input interface when the host controller receives the position signals by high speed optocoupler the current limiting resistance whose value is 2200 should be in series to the receiving circuit And the interface circuit is shown as the following Servo Drive Host Controller AM26LS31 High speed Optocoupler OAt yn A Al VY OA vw 1 OB B A amp Al VY ah Pad 1 OZ Z N OZ ANT w ie z s Figure 3 11 Encoder positon signals output interface circuit type 5 optocoupler 3 4 6 Encoder Open collector Z pulse output interface The width of the zero position pulse is narrow therefore the high speed optocouple
60. nd Open collector input max input 34 Position Sign SIGN pps P P P Er frequency is 200Kpps Three different pulse 35 PS SIGN commands can be selected by PA 4 36 37 Shield PE Shielding 38 3 4 1 0 Interface Type 3 4 1 Digital signal input interface Digital signal input interface circuit is generally composed by optocouplers switches relays open collector transistors or other components as shown in the following figures DC Servo Drive 2 24N AT Q Figure 3 4 DC 12 24V Servo Drive 4J7kQ Digital signal input interface circuit type 1 1 The voltage of the external power is DC12 24V and available current should be 100mA at least 2 Ensure that the polarity of the power is correct otherwise it will damage the drive 3 4 2 Digital signal output interface The digital signal output interface circuit composed by optocouplers should be connected to the optocoupler or relay to achieve transferring the isolated digital signal 16 Hirden AC Servo Drive T DC 5 24V Servo Drive wie Yy Figure 3 5 Digital signal output interface circuit type 2 1 The voltage of the external power is DC5 24V 2 The output form of optocoupler is open collector the max current is 50ma and the external max DC voltage is 25V 3 When the load is relays or other inductive load freewheeling diode is
61. not produced by Hirden please refer to chapter 3 3 There are two types of the rotate direction for the encoder of the servo motor The default type of Hirden servo drive and motor is same as the Delta s Please makesure the type of the rotate direction for your motor or contact your local Hirden sales representative V Hirden AC Servo Drive 2 Parameters List Applicable No Function Description Mode Range Default Unit PA 0 Password ALL 0 1000 315 PA 1 Motor Code ALL 0 100 35 PA 2 Version ALL 0 999 d PA 3 Monitor Status ALL 0 19 0 PA 4 Control Mode ALL 0 5 0 PA 5 Proportional Speed Loop Gain P S 5 2000 165 Hz PA 6 Speed Integral Time P S 1 lt 1000 30 ms PA 7 Low pass Filter for Torque ALL 171000 10 0 1ms PA 8 Speed Detection Filter ALL 171000 10 0 1ms PA 9 Proportional Position Loop Gain P 171000 50 Hz PA 10 Position Feed Forward Gain P 0 100 0 PA 11 Smooth Constant of PA10 P 1 1000 0 ms Electronic Gear Ratio PA 12 Numerator Ni P 1 32767 1 Electronic Gear Ratio pem Denominator M1 P 1888707 1 PA 14 External Pulse Input Type P 0 2 1 PA 15 Direction of External Pulse P 071 0 PA 16 Positioning Completed Width P 0 30000 20 Pluse PA 17 Excessive Position Error Range P 0 30000 400 x100 Pluse Excessive Position Error PA 18 Function Selection 0 g PA 19 Smooth Constant o
62. ode Pod Speed 0 choose the internal value of the speed as the command 22 Command You could choose different inside value as the command 0 1 selecti by setting SC1 and SC2 SC1 OFF SC2 OFF Internal soeed command 1 51 Hirden AC Servo Drive SC1 ON SC2 OFF Internal speed command 2 SC1 OFF SC2 ON Internal speed command 3 SC1 ON SC2 ON Internal speed command 4 1 choose the analog signal as the source of the speed command 23 Alarm level selection If PA23 200 the Alarm signal will be ON when error occurs If PA237200 the signal will be OFF when error occurs When PA4 1 and PA22 0 the value of the parameter 0 3000 24 e Ded PA24 is the source of the speed command if SC1 and SC2 po ommand are OFF 00rmin When PA4 1 and PA22 0 the value of the parameter 25 SE PA24 is the source of the speed command if SC1 is ON a and SC2 is OFF When PA4 1 and PA22 0 the value of the parameter Y 26 a PA24 is the source of the speed command if SC1 is OFF TEE and SC2 is ON When PA4 1 and PA22 0 the value of the parameter 27 d speed PA24 is the source of the speed command if SC1 and SC2 0000 20 ommand are ON 00rmin Set the speed reached value In all control mode 28 Target Motor excepting position control mode if the motor feedback 0 3000 Speed speed is larger than the value of the parameter the SCMP r min signal would be ON otherwise SCMP would be OFF
63. on and thermal dissipation Button LED Display Digital Keypad Main Power Supply Three phase AC 220V Power Source Encoder Connector Connected with motor encoder Servo Motor Output Connected with motor terminal U V W and PE I O Signal Connector Connected with host controller or PLC 9Px lt c1o 7 Auxiliary Power Supply Terminal Signal phase AC220V Communication RS 232 Ground Terminal Figure 1 1 Components of H series AC servo drive 2 Hirden AC Servo Drive 1 5 Servo Drive Specification Table 1 1 Main specification of the H series AC servo drive Model Name ACSD H3L10 N Power Main Power Supply Single phase Three phase 220VAC 10 10 50Hz 60Hz Supply Control Power Supply Single phase 220VAC 15 10 50Hz 60Hz Control of Main Circuit SVPWM Dynamic Brake Built in Cooling System Natural Air Circulation Encoder Resolution Function Position Control Mode Speed Control Mode Torque Control Mode Digital Input Output Monitor Display Max Input Pluse Frequency 10000 p rev 500kpps Line driver 200kpps Open collector Pulse Type Pulse Direction CCW pulse CW pulse A phase B phase Electronic Gear Speed Control Range Electornic Gear N M multiple N 1 32767 M 1 32767 1 50 lt N M lt 50 1 5000 Analog Input Votage Range 10V Command Source External analog signal Internal parameters Smooth
64. or Inhibition function is enabled Disable the function Position counter The motor is stuck Check the mechanical structure overflow Pulse signal is abnormal Check the pulse signal Encoder fault Replace the motor Encoder error Encoder cable fault Replace the cable f Please shorten the cable or bold The encoder cable is too long the core Power voltage is The voltage of the power Check the power source and overhigh supply is too high ensure the voltage is normal Servo drive fault Replace the servo drive Short circuit between U V 3 Check the wiring Current response and W fault Poorly grounded Confirm to be grounded normally Winding insulation of the Replace the motor motor is damaged Short circuit between U V p Check the wirin g Short circuit The load is too heavy Replace the drive by a larger one Servo motor fault Replace the motor Servo drive fault Replace the drive Drive temperature Run for a long time with Decrease the load or choose a error overload larger drive Brake circuit fault Replace the drive The capacity of regeneration Increase the deceleration time Regeneration error system is not enough Decrease the system inertia Instantaneous Decrease the load or choose a The load is too heavy overload larger drive 59 Hirden AC Servo Drive Err17 Err19 Err20 Err23 Err29 Err30 Err32 Err34 Err35 Err36 Err37 Err38 Speed response f
65. or CCW or CW direction The motor will only rotate while the arrow key is activated A we B Figure 4 7 Diagram for the JOG trial run 4 8 Zero offset adjustment By the operation the drive could automatically detects the zero bias of the analog speed or torque command and write the value in the parameter PA45 or PA39 At last the drive will save the parameter in the EEPROM automatically You could find the AU on the main menu by using the Up and Down key and then enter the operation interface for Zero offset adjustment by pressing the Set key The AU SPD correspond to the speed zero offset adjustment and the AU trg correspond to torque zero offset adjustment You could select the process by Up or Down key and then you should press and hold the Set key for 3 seconds till 28 Hirden AC Servo Drive the LED displays FINISH Press for Success 3 seconds F ini5H EE v x oy Eca je R SP Analog speed command Henter stRrt Fail S Ne a A rm a crror Ad Fu Er Analog torque command lt q Figure 4 8 Diagram for the operational processes of analog zero offset adjustment 29 Hirden AC Servo Drive Chapter 5 Trial Run and Tuning Procedure This chapter describes trial run for servo drive and motor including the trial run without load and introductions about the operation mode of the drive Ensure to complete the trial run
66. orrosive gases liquids or airborne dust or metallic particles 4 Please do not mount the servo drive or motor in a location where it will be subjected to high levels of electromagnetic radiation 5 Please do not mount the servo drive or motor in a location where temperatures and humidity will exceed specification 6 Please do not mount the servo drive or motor in a location where vibration and shock will exceed specification Hirden AC Servo Drive 2 4 Installation Procedure and Minimum Clearances Incorret installation may result in a drive malfunction or premature failure of the drive Please follow the guidelines in this manual when installing the servo drive 1 The servo drive should not be tilted or upside down Please mount the drive perpendicular to the wall or malfunction and damage will occur 2 The servo drive should be mounted in the control panel with a cooling fan to enhance air circulation and cooling 3 In order to ensure the drive is well ventilated ensure that the all ventilation holes are not obstructed and sufficient free space is given to the servo drive To define the free space please refer to the section Minimum Clearances 4 Please mount the servo drive in a location where the foreign matter could be prevented to be inside the drive when the drive is operating 5 Make sure to tighten the screws for securing drive or motor Failure to observe this precaution may result in damage 6 As the drive cond
67. please observe the following cautions 1 Ensure that the power indicator and LED display is normal If there is any abnormal condition of the power indicator and LED display please contact your distributor for assistance or contact with Hirden 2 Check that all user defined parameters are set correctly For the characteristics of different machinery equipment are not the same in order to avoid accident or cause damage do not adjust the parameter abnormally and ensure the parameter setting is not an excessive value 3 Make sure that the servo drive is off when you reset some parameters 4 Check for abnormal vibrations and sounds during operation If the servo motor is vibrating or there are unusual nosies while the motor is running please contact the dealer or manufacturer for assistance 5 If there is no contact sound or there be any unusual noises when the relay inside the servo drive is operating please contact your distributor for assistance or contact with Hirden 30 Hirden AC Servo Drive 5 1 1 Appling power to the drive Please check the wiring first If there is no abnormal condition you could turn on the control power supply the main power should be OFF If any error except error 3 is displayed on the LED please check the wiring and the parameter or you could refer to the chapter 7 Secondly please turen on the main power supply and the running indicator will be lit If the indicator has not been lighted or any other
68. puts DI 3 4 programmable Digital Outputs DO A detailed explanation of each group is available in section 3 3 2 3 3 4 The Layout and View of CN2 The CN2 I O interface terminal is called SCSI 36 produced by 3M the view and the layout of the CN2 is shown as the following Hirden AC Servo Drive Figure 3 3 Led Lad E32 Eo Ced Ced Cad L2 Cir Gs Gas Gat J De JE Ls Ls J 1 36 a4 32 30 28 26 24 22 20 The view and layout of the CN2 I O interface terminal 3 3 2 Signals Explanation of Connector CN2 Table 3 4 CN2 Terminal Signal Identification Terminal a Signal name I O Description No g Identification type 1 Encoder OA 5 2 Signal A OA 5 8 Encoder signal output A B Z Line driver 3 Encoder OB 5 output The motor encoder signals are 4 Signal B OB 5 available through these terminals 5 Encoder OZ 5 6 Signal Z OZ 5 Encoder 7 Signal CZ OCZ 6 Encoder signal Z open collector output 8 Common GND 5 Reference ground for encoder signal 9 Ground Servo enable signal input terminal SON ON enable the drive SON OFF drive off and the motor is in a free 10 Servo Enable SON 1 state Note 1 The motor must be before enable the drive Note 2 Any other command should be inputted after the son on signal at least 50ms Clear alarm signal input termina ALRS ON reset the
69. r actual moving distance with gearbox Therefore the electronic gear ratio N1 M1 is equal to F2 N2 S1 P1 M2 For the above mentioned example if the ratio of the gearbox is N2 M2 5 3 According to the formula the electronic gear ratio N1 M1210000 5 1000 6 3 225 9 So you should set the parameter PA12 N1 5 and the PA13 M1 3 for the mechanical transmission system with a gearbox INH signal p bee 3 OFF ON OFF Pulse command input TU HL li Ist ratio nd ratio Ist ratio Electronic gear ratio PA12 PA52 PA12 PA13 PA13 PA13 t1 t2 t3 t4 gt 10ms Figure 5 5 Diagram for dynamic electronic gear ratio Note H series servo drive provides two sets of dynamic electronic gear ratio which could be swithced online The second numerator of the electronic gear ratio is set in the parameter PA 52 and denominator is the same as the one of the first one When the PA51 is equal to 1 the function of the dynamic electronic gear is enabled and signal connected to pin 15 of the I O interface CN2 could control the switching of the electronic gear When the level of the signal is low the servo drive would choose the second electronic gear ratio PA52 PA13 37 Hirden AC Servo Drive 5 2 4 Position proportional gain The positional control loop includes the speed control loop therefore you should complete the speed control setting first by using manual mode before performing posi
70. r is recommended as the receiver This interface is a non isolated input interface the max Hirden AC Servo Drive current is 50mA and the max voltage is 30V The specific interface circuit is shown as the following Servo Drive Figure 3 12 Encoder Open collector Z pulse output interface circuit type 6 3 4 7 Encoder feedback signal input interface The servo drive receive the encoder feedback signal by the Line drive receiver IC such as AM26LS32 and the circuit is shown as the following Servo Drive AM26LS32 Motor Encoder T X U V WA B Z Figure 3 13 Encoder feedback signal input interface circuit type 7 20 Hirden AC Servo Drive 3 5 Standard Connection Example 3 5 1 Position control mode ACSD H3L10 N 2 3 4 1 Power supply Mot or Encoder i gt JPE U V 6 O OO OR W A
71. re within a relative humidity range of 0 to 90 and non condensing 5 Do not store in a location subjected to corrosive gases and liquids Hirden AC Servo Drive Chpater3 Wiring This chapter provides information about wiring H series drives and motors the description of I O signals and gives typical examples of wiring diagrams 3 1 Connectors and Terminals Table 3 1 Appellation and intention for the connectors and terminals Terminal Terminal seine oe me Notes Indentification Description Pene Used to connect three phase AC main circui Main circuit 3 R S T power depending on connecting servo driv terminal model Used to connect single phase AC control circuit Control circuit i rt power depending on connecting servo drive terminal model Used to connect servo motor Terminal Wire color S i symbol ervo motor US V W PE Dur U Brown P V Black W Gray PE Yellow and green PE Ground Used to connect grounding wire of power supply terminal or servo motor CN1 Encoder Used to connect encoder of servo motor Please connector refer to section 3 2 for details Used to connect external controllers Please CN2 I O connector referto section 3 3 for details Communication CN3 connector Used for RS 232 communication connection Option Hirden AC Servo Drive Table 3 2 Cable specifications for servo drive Terminal T
72. resent control mode 11 Input frequency of pulse command 12 Speed command Integrated 13 Torque command Integrated 14 Motro feedback current position 15 Reserved 16 Reserved 17 Voltage of the DC bus 18 Drive status 19 Error code ONOoaRWND Control Mode Variables for the control mode 0 Position control mode 1 Speed control mode 2 Torque control mode 3 Speed trial run control mode 4 JOG control mode 5 Control mode for adjusting the zero of the encoder 0 5 Proportional Speed Loop Gain The stiffness and responsiveness of the speed control loop is determined by the proportional speed gain and integral time The default value is 170 Gernerally if the load inertia is greater the value should be modified larger You could increase the value untill the resonance or noise occurs and then decrease the value 5 2000 Hz 49 Hirden AC Servo Drive Integral Time of Speed Control Loop The value of the integral time has an effect on the stiffness and responsiveness of the speed control loop If the value is too samll overshoot would occur While the value is too large the response would be slow Gernerally the value should be modified according to the load inertia Larger inertia needs larger integral time 1 1000 mS Low pass Filter for Torque Time contant for torque low pass filter has an effect on the responsiveness of the torque control T
73. s The range is DC12 24V and the Input Terminal available current should be greater than 100mA 19 Analog AS Motor speed command 10V 10V Speed corresponds to 3000 3000 r min command 20 Command AS and the input impedance is 10kO 21 done AT Motor torque command 10V 10V q corresponds to 100 100 rated command 22 Command AT and the input impedance is 10kO Analog 23 AGND The reference ground for DI signals Ground Servo ready signal output terminal Servo Ready SHDN SRDY is activated when the servo drive is ready to run All fault and alarm conditions if present Output p 25 SRDY have been cleared 26 SEO nin ALM peo gady signal output eR OUR ALM is activated when the drive has detected a 27 p ALM fault condition Hirden AC Servo Drive In the position control mode PA4 0 COIN is activated when the position error is 28 Reachin COIN T i equel and below the setting value of PA16 Target Said or In the speed control mode PA 1 P COIN will be activated when the drive has Completing ALT detected the motor has reached the Targe 29 Positioning COIN 1 Rotation Speed setting as defined in parameter PA28 30 Brake BRK Release BRK is activated actuation of motor brake 32 Position PULS The drive can accept two different types of pulse 33 Pulse Input PULS inputs Line drive input max input frequency is 500Kpps a
74. s too high for motor The motor is short circuited Confirm the wiring and terminals The motor code is incorrectly Confirm the code parameter The load torque is too high Decrease the load or choose a for motor larger motor The motor code is set Confirm and modify the incorrectly parameter 60 Hirden AC Servo Drive Chapter 8 System connection 1 Diagram for H series servo drive connecting with KND host controller such as K100 DBI5M X852 X550 X853 X851 CN2 XI YI Z 4 SCSI 36 NAME PIN PIN NAME XCP 1 32 PULS XCP 9 33 PULS XDI R 2 34 SI6N XDI R 10 35 SI GN XPC 3 5 07 XPC 11 6 07 y 14 i 25 SRDY Y B La ALM XMRDY2 E i XMRDY1 7 10 SON ALM 5 16 ALM VP 424V 12 24 SRDY VP 24V 13 18 COM FG Shell 36 FG 0 2mm shielded twisted pair cable 2 Diagram for H series servo drive connecting with KND host controller such as K10M DB15M X552 X 50 X653 XS51 CN2 X Y Z 4 SCSI 36 NAME PIN PIN NAME XCP 1 32 PULS XCP 9 33 PULS XDIR 2 34 SIGN XDI R 10 35 SI GN XPC 3 5 024 Y 15 8 GND ALM 5 26 ALM XMRDY1 7 10 50 XMRDY2 8 Y 14 27 ALM VP 24V 13 18 COM FG Shell 36 FG
75. serve this caution may result in injury damage to the drive or fire Ensure that all screws wire terminations and connectors are secure on the power supply servo drive and motor Failure to observe this precaution may result in damage fire or personal injury In order to prevent fire hazard and accidents please form the wiring by the cable specifications outlined in this manual III Hirden AC Servo Drive Operation Before starting the operation with a mechanical system connected change the drive parameters to match the user defined parameters of the mechanical system Starting the operation without matching the correct parameters may result in servo drive or motor damage or damage to the mechanical system Do not touch or approach any rotating parts e g heatsink while the servo is running Failure to observe this caution may cause serious personal injury Do not remove the operation panel while the drive is connected to an electrical power source otherwise electrical shock may result Do not disassemble the servo drive as electrical shock may result Do not connect or disconnect wires or connectors while power is applied to the drive Wait at least 10 minutes after power has been removed before touching any drive or motor teminals or performing any wiring or inspection as an electrical charge may still remain in the servo drive Hirden AC Servo Drive 1 Code list of the H series AC Servo for adaptive mo
76. ss If the length is greater than 20m the wire gauge should be doubled in order to lessen any signal attenuation 7 The shield of shielded twisted pair cables should be connected to the SHIELD end ground terminal of the servo drive 8 The cable connected to R S T and U V W terminals should be placed in separate conduits from the encorder or other signal cables Separate them by at least 30cm 9 Ensure to check if the direction of the diode for the relay is correct or damage will occur as a result 10 Please install a NFB to prevent excessive current which may arise due to short circuit or flow when power on an power off so as to avoid the damage on the servo drive 10 Hirden AC Servo Drive 11 Please turn off the power supply if the drive will not be used for a long time 12 The direction definition of rotation facing the motor shaft the counter clockwise direction is defined as the CCW And the clockwise direction of rotation is defined as the CW The CCW is the positive direction and CW as negative direction Figure 3 1 The definition of the direction for the rotation 3 2 Encoder Connector CN1 H series servo drive is applicable for incremental encoder which contains A B Z U V W signals and the resolution is 2500ppr The 2500ppr encoder is automatically multipilied to 10000 pulses each circle for increasing control accuracy 3 2 1 The Layout and View of CN1 The CN1 encoder signal interface terminal is c
77. t and save the operation or the parameter settings Note If some fault occurs the 6 bit LED display will be blinking 4 2 Main menu As the first layer of the operational processes the main menu consists of six parts You can use the Up and Down key to change the content of the main menu display and press the Set key to enter the second layer as well you could press the Return key to quit the second layer to the main menu Monitor Parameter Management E 2nd rial Run Laver 4 y JOG Adjustment First Layer Figure 4 2 Flowchart for the main menu of the operational processes 4 3 Monitor Display DP Uers could press the Up and the down key to find the monitor display of the main menu When dp is displayed please press the Set key to enter the layer for monitor mode There 25 Hirden AC Servo Drive are 19 kinds status for the monitor display shown as the following You could select the display you need using the Up and Down key and then press the Set key to enter the specific monitor and display interface Feedback Feedback Feedback Position Low Position X100000 Command Low Command X100000 Position Position Position Error Low Error X100000 Torque Position Feedback Feedback Current A Reserved Present Control Mode Pulse frequency kHz Speed Command r min Torque Command Motor Current Position Reserved Reserved
78. ter 57 PA SB Parameter 58 LT I Figure 4 4 Diagram for the operational processes of parameter setting 4 5 Parameter Management EE You could find the EE on the main menu by using the Up and Down key and then enter the parameter management interface by pressing the Set key The representative meaning of each symbol is shown in the figure 4 5 By using the Up and Down key you could select the operation which you need And then press and hold the Set key for 3 seconds when FINISH is displayed on the LED means the operation is completed But if Error is displayed the operation fails and then please press the Return key to quit OYO l ee EE S5EE Parameter Write Press for Success EVE Parameter Read d dd F in ISH r oe JE nter SLA t E ER ae pol SERE em NS Err 5 4 Error _ Lal EE bA Parameter Backup E ISIN a EE 5 Restore Backups L M EE qe EE dEF Restore Defaults eee Figure 4 5 Diagram for the operational processes of parameter management esEE set Write operation the parameters will be writen in the parameters district of the EEPROM Even if the power is down the parameter will not be lost eEE rd Read operation read the data from the parameter district of the EEPROM to the parameter list of the software If the parameter are modified to result in an error by improper operation you could use this featur
79. tion control setting position control block diagram Then adjust the proportional position loop gain PA09 and position feed forward gain PA10 Table 5 5 The parameters about the position proportional gain Parameter Value Name Description Defaults NO range Increasing the value can PA 09 Position loop proportional gain improve the response 0 1000 50 frequency of the position Increasing the value can PA 10 Position feed forward gain reduce the position track 0 100 0 error B h PA 11 Smooth constant of PA10 EMO ETE 651000 0 the position overshoot For the positional control loop includes the speed control loop the position loop bandwidth would be restricted by the one of the speed loop It is reconmmended that the speed loop responsiveness should be at least four times faster than the position loop responsiveness This means that the setting value of the proportional speed loop gain PA05 should be at least four times faster than proportional position loop gain PAO9 The equation is shown as following fp lt fv 4 fv speed loop responsiveness Hz fp position loop responsiveness Hz PA09 2 1 fp For example the desired position loop responsiveness is equal to 40 Hz Then PA09 2 x 40 251 rad s Position feed Smooth Constant Forward gain PA 10 PA 11 t PA09 Position loop Speed proportional gai Command Position CLE
80. tor Power Torque Rated speed Rated current Code Motor Model Kw N m ror A 22 60ST M00630 0 2 0 64 3000 1 2 23 60ST M01330 0 4 1 27 3000 2 8 24 60ST M01930 0 6 1 91 3000 3 7 25 80ST M01330 0 4 1 3 3000 2 6 26 80ST M02430 0 75 2 4 3000 4 2 27 80ST M03330 1 3 3 3000 4 2 30 MG80ST M04025 1 4 2500 4 4 31 MG90ST M02430 0 75 2 4 3000 3 32 MG90ST M03520 0 75 35 2000 3 33 MG90ST M04025 1 4 2500 4 34 110ST M02030 0 6 2 3000 4 35 110ST M04030 1 2 4 3000 5 36 110ST M05030 1 5 5 3000 6 37 110ST M06020 1 2 6 2000 6 38 110ST M06030 1 8 6 3000 8 44 130ST M04025 1 0 4 2500 4 45 130ST M05025 1 3 5 2500 5 46 130ST M06025 1 5 6 2500 6 47 130ST M07720 1 6 7 7 2000 6 48 130ST M07730 2 4 7 7 3000 9 49 130ST M10015 1 5 10 1500 6 50 130ST M10025 2 6 10 2500 10 51 130ST M15015 2 3 15 1500 9 5 52 130ST M12020 2 4 12 2000 10 Others 110ST M04030 1 2 4 3000 5 NOTE 1 The parameter for moter code is PA1 The default motor code is set for 110ST M04030 by 35 If you need to change the motor code PA1 you should set PAO to 302 firstly Secondly set PA1 to the code for the motor which you use according to the list At last you need to save the parameters that you change You can read the chapter 4 to know how to save the parameters The parameter PA1 will take effect by restart 2 Code 22 23 and 24 are applied to Hirden 60ST series motor only If your motor is
81. ucts heat away via the mounting the mounting plane or surface should not conduct heat into the drive from external sources rsa REC CHM z Correct Incorrect Figure 2 2 The correct direction for installation Minimum Clearances To increase ventilation to avoid ambient temperatures that exceed the specification please install a fan A minimum spacing of two inches must be maintained above and below the drive for ventilation and heat dissipation Additional space may be necessary for wiring and cable connections When installing two or more drives adjacent to each other please follow the clearances as shown in the following diagram 2 3 Hirden AC Servo Drive 100mm 4 0In 40 40 1 5 in 1 8 in 100mm 4 0in n Figure 2 3 Clearances for one or two more drives 2 5 Storage Conditions The product should be kept in the shipping carton before installation When it is not to be used for an extended period of time the drive should be stored properly Some storage suggestions are mentioned in the following 1 Correctly packaged and placed on a solid suiface 2 Store in a clean and dry location free from direct sunlight 3 The ambient temperature of the storage should be from 20 C 4 F to 65 C 149 ED 4 Sto
82. ue of the speed command would be set to 3000r min when the value of the voltage is 10V Select the direction for the external speed command Direction of 0 When the voltage of the external speed command is 44 Speed positive the speed direction is CCW 0 1 Command 1 When the voltage of the external speed command is positive the speed direction is CW Zero offset 45 The value is the bias compensation for the analog signal of 2000 20 S speed command 00 peed Command The value is the time contant of the low pass filter for the analog speed command The value is larger the responsiveness is slower and Low pass Fliter thenosie is smaller And then if the value is smaller the 0 1000m 46 for Speed responsiveness would be faster and the nosie may be Command larger The function is effective only in the following conditions 1 PA4 4 and PA22 1 2 PA4 2 On Delay Time 47 of The value is the delay time for the electromagnetic brake 0 200 Electromagneti turning on x10mS c Brake 48 Off Delay Time The value is the delay time for the electromagnetic brake 0 200 of turning off x10mS 53 Hirden AC Servo Drive Electromagneti c Brake When the motor is running if the servo on signal turn off or ora speed error occurs the BRK siganl will turn off when the 49 ot Turingo feedback speed is slower than the value of the parameter O
83. utput T ON DO RDY gt Sms Servo Enable Signal TS ON DI SON aum Servo Output Power i U V W termi nal bad ON BRK signal OFF ON DO Figure 5 10 Timing flowchart about drive power on Note Even if the host controller output the SON signal before the SRDY signal of the drive the servo drive couldn t receive the SON untill the SRDY signal is ON for 5 msec 5 7 2 Timing for enable operation 1 Enable operation timing for still motor When the motor is still if the SON is OFF the mian circuit will work and the work will not be powered off for some time to hold the position until the electromagnetci brake is disabled for some time set by PA47 Hirden AC Servo Drive Servo Enable Signal SON Motor Current Signal BRK Signal Figure 5 11 Servo ON OFF ON motor dri ved lt 10ms OFF OFF OFF ON motor free OFF OFF pp Set By PA47 Enable operation timing flowchart when motor is still 2 Enable operation timing when the motor is running When the motor is running if the SON turn off the main circuit of the drive will be disabled and the motor will be powered off The electromagnetic brake will still be ON for some delay time set by PA48 or PA49 while the motor could be slow down avoiding to damage the brake at the high speed The delay time would be selected the one which is samer between the time set by PA48 and the time motor slow down to the target

Hirden AC Servo Drive for Industrial Control Application H3L10

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