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GS2000T Series AC Se..

1. Chapter Two Installation O 2 b6 ll rp es2000 MOT mA th GEEVOEO GE POWER p p ID ID re ID D ie oe D 2 D ID ID E D 2 R3 amp p E D 1 V a a TI TO i 6_ 108 0 2 218 a k 120 Fig 2 7 GS2075T installation dimension Cunit mm co 2 6 j r S sseoog SoG y CHARGE POWER p ID ID ID m S O i au o gt N ID a D p 2 R3 l iE S fe ji 6 L T 118 0 2 B 248 5 am p 130 Fig 2 8 GS2100T installation dimension Cunit mm 2 2 2 Installation interval GS series servo drive unit uses the foot installat
2. Control PE circuit r Refer to Section 3 2 1 S Brake resistance D Cinstallation F The bake resistance must be i connected with P B terminals Ti and B1 is empty O Do not touch the brake resistance to avoid burn because it discharges to create heat and UNNIN cause high temperature Ne sg Fig 3 1 Cc peripheral equipment connection diagram of GS D SUB servo drive unit 37 Or 13x I GS2000T Series AC Servo Drive Unit User Manual Peripheral equipment connection of MDR products Peripheral equipment connection of MDR products GS2025T CA1 GS2030T CA1 GS2045T CA1 are shown in the following diagram
3. LI L2 L3 9 a S s GSK988T 2 o o Lo rr a Q AN pam o O s 3 3 za lt gt ae i Ne ott T s Is fe Foo Pe S N S a Y y G ne all s sie ae EM N Es r a ee Js l a B a uv Eo 9 sR S e la l a 4 D 7 n TT 9 9 o 3 HA z CR a an es2000 pae H ESSERE AC Servo Motor Dri Ne P aaa A d NAN j G eee L x vy 2 lt Ai CHARGE Q POWERO or TT gt l x f A E J 3 F D o o _ s O 5 so GSK CAN I oO is z3 GSK CAN O Q T See Section 3 5 for GSK CAN Connection Control I circuit I S Refer to Section 3 2 1 C Brake resistance H gt Coptional installation For GS2075 GS2100 series ii the brake resistances must be connected to P B terminal Do not touch the brake resistance to avoid burn because UNN it discharges to create heat and cause high temperature O J Fig 3 2 a peripheral equipment connection diagram of GS MDR servo drive unit 38 Chapter three Connection Peripheral equipment connection of MDR products Peripheral equipment connection of MDR products GS2050T CA1 are shown in the following diagram L1 L2 L3 3N 50 60Hz 380V uolje e sul Jeyeag J I O ae go m p Fre ae
4. Fig 3 1 a peripheral equipment connection diagram of GS D SUB servo drive unit Gr 4413 I GS2000T Series AC Servo Drive Unit User Manual Peripheral connection of D SUB products Peripheral equipment connection of D SUB products GS2050T NP1 are shown in the following diagram L1 L2 L3 3N 50 60Hz 380V a s walskS OND s J JOWJOJSUBL 4 J N i S s2000 Series Motor Drive Unit GER AC Servo B SS aS lt an p l aeace CHARGEO POWERO J A ENO leuondo uonejjezsu Joyoe U09 OV zo Control circuit Refer to Section 3 2 1 Brake resistance Coptional installation Without the external brake resistance B1 and B terminals must be connected in short circuit with the external brake resistance B1 and B must not be connected Do not touch the b
5. 3 l 7 Servo motor Single or 3 phase KMI O AC 220V P Bl B O e i a R UO gt 2 s o r o_O vo 3 ee Popularized AC lt r p Servo Drive Unit E ower earth _ pp PEO gt i e wire or 4 Motor a 1 OH Hie 9 Mo sw Analog VCMD 24 f o E command input me XX VCMD 25 oi aov nov 7 or OV 10V OV E E External DC15V 24V 1 CN1 CN2 _ Ls n power supply 3 6k m 3 COM 39 FQ we o a Servo enabling input og SON 13 45 I i CCW drive prohibition input HK o gt FSTP 33 Jx E CW drive prohibition input gt RSTP 32 FO i i Alarm clear input of ALRS 12 i 1 a Zero speed clamp input oD ZSL 34 H yh Speed selection 1 input oO SEC g Y PE 9 Speed selection 2 input o gt SEC2 7 ian ys aa ee CCW rotation input T SFR 1 we CW rotation input Se SRV 10 yc CN4 CNC system oo CNI tt AMF 23 Servo alarm output i XX i F a og Ee ae GS Series Drive S R E X X po el PAY ervo ready outpu Lo Ioi i i SRDY 16 Zero speed output E PoR l5 my CNL B X L PSR 40 ae eae m ZSP 21 e gt a ee Y Zero speed output X e 90 PRES 2 3 mao O TER gt i a i oi oF lt oo 2 PBO TE gt Cc OCT See Pe OX a 1 HOLD 42 L 7 f gt o po i 1 bod Q bE ae ZOU A7 SR 27 PZO gt z o o a N I ie el rl Z pulse output XK ZOUT 46 pa 6 P70 pe x AE S E E A r a ee E laseia A
6. Table2 3 LB mm 130SJT M040D Ac 1100035 168 227 225 284 130SJT M050D Ac 110 6035 168 227 225 284 204 736 904 176 245 304 130SJT M100B Ac 208 267 265 324 26 Chapter Two Installation 130SJT M150B Ac 110 o035 238 297 295 354 130SJT M150D Ac 110 o035 248 307 305 364 Note LB L value in the brackets is the length value of motor with the corresponding specification and safe brake gt Outline installation dimension and connection of 175SJT series motor referred to Fig 2 4 Table 2 4 i Fig 2 4 Table 2 4 175SJT M150D Ac 114 3 0025 224 291 303 370 175SJT M180B Ac 0114 3 0025 244 311 323 390 175SJT M180D Ac 0114 3 0 025 244 311 323 390 175SJT M220B An 114 3 0 025 279 346 358 425 es Nr Nr Nr o 175SJT M3000 Ac Note LB L value in the brackets is the length value of motor with the corresponding specification and safe brake Z NN 27 Gr 13x I GS2000T Series AC Servo Drive Unit User Manual 2 1 2 Installation of the servo motor Installation and transportation environment of the servo motor a a es a 30 95 No
7. Motor model Rated torque Es SIR AC Servo Drive unit CE is TYPE 130SJT M1 00D A41 PA lt ON UN 220V In 10A Ts Tn 10 10 N m g A Nn 2500r min Nmax 3000r min DA INS CLASS B IP65 M 17 bit S N 081016100D0000107H J Dbl Bd Fa 1 4S FT BE ZS SiN GSK CNC EQUIPMENT CO LTD Serial number Protection class and encoder lines Insulation class Max speed Servo motor model 130 SJT M Z 150 D CALI YUI XU None Aviation socket X Cable linearity AC Synchronous ervo moro M Optical encoder None No safe brake 1 Z Safe brake Shaft extension or installation 3 None Standard shaft extension YL Ball shaft extension Z O Taper shaft extension SP Step motor installation structure Zero speed torque 2 Encoder model 150 means 15 Nm Aor none Incremental 2500 p r A2 incremental 5000 p r A3 incremental 2500 p r A4 absolute 17 bit 1000 r min 1500 r min A 4l Dana Hector multi circle 17 bit absolute A4SI Dana Hector single cricle 17 bit absolute Rated speed 2000 r min 2500 r min 3000 r min 1 Working power supply of safe brake is DC 0 9 1 1 x24V the interface is 3 core socket 1 2 pin are power supply terminals 3 pin is an earthing terminal When 1 2 pins are turned on the safe brake is not activated when they are turned off it is activated and the safe brake time is lt 0 1s 2 Using three di
8. 3 Servo motor Si KM1 ee ingle or 3 phase A AC 220V ee a B o o OR p U gt M 4 n ete a gt T Economical AC Servo 9 Pm nll Power earth pp PEO gt ia Drive Unit OF Motor Ot eee en 4 CN1 13 OH T Analog 4 VCMD 44 Pt 16 OV m command input ae VCMD 14 I E 10V 10V E 3 or OV 10V OV E CN1 E EE External DC15V 24V power supply 1 3 6k o ae m E COM 39 a CN2 e a S Servo enabling input o o SON 23 E m 9 CCW drive prohibition input oo Fstp 22 Ho yx EE I D CW drive prohibition input o gt rstp 7 HS E E Alarm clear input oi ALRS 36 as Zero speed clamp input oD ZSL 37 H y Dees ae Speed selection 1 input oO SECI 34 y Speed selection 2 input o BeZ J 3E 1 A PE CCW rotation input oO SFR 20 H yk 5 rai es CW rotation input oO SRV 5 Laas eee CN1 l poe CN1 Servo ready output lt SRDY 40 Ff yay TET a rs l _1__ Speed arrival outpute PSR T A gt i pod i g 1 1 EIRE 4 PAO H oo F tput lt i E E a ero speed outpu z A ZSP 42 LET pag 13 PBO aoe oF External DC15V 24V lt 1 COM 24 B rt XX 1 o gt power earthing I I Se a e I 31 PZO H i D e aw 9 I gt cs cra Servo alarm output XX t ey 32 P20 H T j ae lt __ oi ALM 25 a low Hold control signal l m ROLDE 11 SR output i it HOLD 27 lt i ZOUT Z pulse
9. azo B20 Fig 1 10 GS series MDR product Installation position for standby battery for absolute encoder See the drive unit model explanation eS Parameter serial No and value increasing Parameter serial No and value decreasing Modified data digit for cycle movement Return to the previous page or cancel operations Return to the next page or confirm operations D A Q Va J POWER is a indicator for the drive unit to control circuit or power supply ON control circuit or power supply is normal 7 10 291IpU OFF control circuit is broken down a O control signal interface SOPIN interface Connect the external speed command position command input output signal CN2 connect with the motor s encoder feedback input 26 interface Connected with incremental or absolute encoder feedback input signal CN4 CN5 GSK CAN communication interface CNC system realizes debugging and real time monitoring of the drive unit by GSK CAN bus lt a Pi Hrs series AC servo drive unit is divided
10. 4 A 24 At T PALE S Bt 23 B 8 B 11 B sy ee es 22 Z n a ea Z eean E AE 2 UEa a 13 U 9_ U amp S AV 20 V 5 14 V E 12 W 19 W B 5 w XX ERNS s 5yv CN2 E oy 2 1 5V a she 18 5V 3 GND t 0y 2 0V Fe eee age B OW 4 lov Plug bonding wire 3 CAR 13 oH 1 FG H Metal shel Fig 3 8 wiring scheme of D SUB servo drive unit matched with an incremental motor encoder The following figure is the standard connection of GS series MDR product connected with SJT series incremental encoder motor Please use pin 15 aviation socket to make the signal wire 58 Chapter three Connection 8 oe Se cee 9 Ma a g lt K 3 o lt O a O o nee 3 ee O lt o a 3 S CN2 Plug bonding side Metal shell Fig 3 9 wiring scheme of MDR servo drive unit matched with an incremental motor encoder The following figure is the standard connection of GS series MDR product connected with SJT series Danaher absolute encoder A41 motor Please use 15 pin aviation socket to make the signal wire DATA 13 Eee are LCLOCK 15 ZNO 1uN ataq Metal shell Socekt bonding side Fig 3
11. Uogejjejsul J WJOJSUEJ Bas X pi LY eM k e grim oo 5 v J A DD Zo sS O 3 aN ie A i Se Ee N JLRS n Q og o 5 S 92 ll S Control circuit Refer to Section 3 2 1 ET USS 1 S GSK988T gt Roser a P w ja x x w fou fos Bap CS GSeO0 oo Series GSR C Servo Motor Drive Unit Goggg kA CHARGEO POWERO J ENO leuondo 6 S GSK CAN GSK CAN y See Section 3 5 for GSK CAN Connection Brake resistance optional installation Without the external brake resistance B1 and B terminals must be connected in short circuit with the external brake resistance B1 and B must not be connected Do not touch the brake resistance to avoid
12. 1 level menu 2 level menu Can l gt dP a JP OOU State monitor refer to Section 4 3 O PH ay PA UU Parameter setting refer to 4 4 CES o Eee pi O H Gr T Gr rEd Manual run refer to Section 5 1 1 D M jr o je rtd Jog run refer to Section 5 1 2 O Te O mno Reserve A O e L o E Lo no Factory to debug O O n OLT _ OL7 nO Reserve A A V 3 Oa l RJS E AJ no Factory to debug a JO ags 0 Read write absolute encoder s register factory to debug Fig 4 1 operation of display menu 69 Or l CES E 4 3 State Monitoring 102 or GS2000T Series AC Servo Drive Unit User Manual is a State monitoring the user can select different monitoring states set the value of parameter PAQ3 and can set the monitoring state when the drive unit is turned on 70 Parameter value PA3 0 PA3 1 PA3 2 PA3 3 PA3 4 PA3 5 PA3 6 PA3 Initialization when power on 1000 Curent motor speed 100r min Current motor position is the lower order 5 bits pulse 2 0 co Current motor position is the high order 5 _________ Position command is the lower order 5 bits Position command is the high order
13. Example P id x 100000 P4YSHUb 1845806 pulses In a similar way the pulse value of position command is composed of CPO high order 5 bits CPO lower order 5 bits x 100000 C58 il 1845810 pulses co Example L 71 Cr Wise GS2000T Series AC Servo Drive Unit User Manual Relationship between CPO and POS is shown below n000 x100000 POOOH4 ak Eoo000 x 100000 CO0000 When the electronic gear ratio is 1 1 the calculation formula of position offset EPO is shown below ni m co 7 co WL N m Z 0 L N m Co om 3 Refer to Section 3 3 4 about the input terminal state Section 3 3 5 about the output terminal state 4 Run state display CA7 on Main circuit of the drive unit has charged and enabled coaco L m Main circuit of the drive unit has not charged a7 H Main circuit of the drive unit has charged but not enabled 5 When the drive unit uses 17 bit absolute encoder dP HbS dP AbS displays the position of the motor s rotor every rotation the displayed value s range is 0 131071 the circle counting is 12 bit 0 4095 so the absolute position is consisted JL ULC IO ULC of dr HbS ar 03 when the motor rotates and the displayed value s range is 0 536870911 Ej When
14. ix The point flashes Data is to be modified IX and the point flashes Press thress times mue duds IN cu State of data modification disappears Press twice Data is being modified and the point is ON 68 Chapter three Connection 1 In the above example using the shift key directly adds LED2 s bit 45 does not change to 1045 but 45 1000 955 which is the operation result of the servo drive unit 2 The decimal point s indicator at the lower right corner of 6 bit LED has been ON when a parameter is modified the indicator flashes after is pressed which means the value is valid is pressed to return when the indicator does not flash and the parameter setting is invalid 4 2 Menu Display GS drive unit monitor window is 6 bit LED digital tube and its display content is controlled in terms of the menu s form LEDS LED4 LED3 LED2 LEDI LEDO LED 5 LED4 flashing mean the drive unit is in the state of alarm The 1 menu is consisted of the state monitoring parameter set parameter administration manual and JOG operation Selection and operation of the 1 level is shown in Fig 4 1
15. ct L Aozz g Vv 4 Fig 1 9 GS series D SUB product appearance 10 Chapter One Product Presentation GS series AC servo drive unit appearance MDR MDR products of GS series AC servo drive unit GS2030T CA1 GS2050T CA1 GS2075T CA1 GS2100T CA1 which are adaptive to absolute encoder motor LED monitor window Can monitor run states modify and manage parameters CHARGE is high pressure indicator for main circuit DC bus of the drive unit ON DC bus high pressure exists OFF DC bus high pressure is discharged completely Joyeolpu Must not dismount and install the drive unit power lines motor lines and brake lines when CHARGE indicator is ON O Ne Wiring terminals of main circuit Carefully check the product brand R S T r tinput power supply voltage the motor s lines are connected U V W correctly acoording to the marked J It is a earthing terminal of input power earthing or the motor s protective earthing O O O O O anl E 00000 J ae AC Servo Motor Drive Unit doca vo lt CHARGEQ POWER O 320
16. 3 Single or 3 phase KM1 O Serva motor AC 220V P Bl B O oto O ee ee R UO gt 2 j Economical AC Servo V gt 3 e oo O T O y gt 4 Power earth pp Drive Unit ae gt wire L b Or an a 4 Ot 13 OH ot 1 OM 46 w w HH External DC15V 24V power supply 3 6 E z COM 39 Fo E Servo enabling input o SON 237 gt E CCW drive prohibition input oS FSTP 2214 a a CW drive prohibition input oo RSIP_7 oe cN2 m Alarm clear input o ALRS 36 l 3 2 Offset clear input oO CLE 34 y D ulse prohibition input oo INH 35 ya EE EE ti ae ee y PE Zz i Pulse command input j eo A E Nee aes as Q SIGN 16 CNI Servo ready output lt m SRDY 403 AY A gt ieee es XX z Position arrival output lt i PSR 41 Ff yaw 4 PAO gt 9 a fea le i E oF External DC15V 24V power earthing lt i COM 24 B gt nee OS ee 5 1 3 PBO H m 6 lt 4 ALM 9 T mos H B Servo alarm output 1 x i t Hy 7 I 7 lt H ALM 25 32 Pzo 14 o gt lt m P 4 or i 1 Hold control signal output be HOLD 11 E eo 2 alata a lt i 1 HOLD 27 m Z pulse output e a LS SE ee WARY lt i zout 29 PE Fig 3 16 Connection diagram in position mode The signals with in the above figure is necessary connection ones 1 Exterbak specified DC 15V 24V switch power should be not less than 35W 2 CLE INH are multi
17. Power supply OFF ON Alarm output ALM Not alarm Drive enable SON OFF ON Ams Ready SRDY OFF gt je ON gt ZSP is a signal of the zero speed output ZSP signal outputs the optical coupler conduction when the motor s speed is zero gt ZOUT ZOUT is a signal of encoder s zero point Corresponding to an incremental encoder the time sequence is the same with Z signal of motor feedback corresponding to a single coil absolute encoder it is set by the servo parameter and is a zero point signal sent by motor rotating per rotation in a fixed position which is convenient that the CNC system executes the machine zero point return and is the same with motor s Z pulse signal of an incremental encoder 53 Or 441 3x I GS2000T Series AC Servo Drive Unit User Manual pot ttt or rr pen ee LP jE ey E a ee int Sap ass age ae ea Rr a eg Ne en ees tae es epee el ee gt HOLD is a release signal of motor s safe brake and its output is referred to Section 6 2 1 The output is open collector the maximum load current is 100mA and the external DC is up to 25V The servo unit may damage if it exceeds the requirements or the output is connected with the power directly If the load is inductive the inverse parallel and fly wheel diode should be connected at the terminals of the load The servo unit may get damaged if the f
18. GS2000 S AC Servo Motor Drive Unit x VW o _ lt WE rE e saa GSK988T nz 2 x Mm A m ra T EJ a Ne lt i terminals Internally Must install CAN install 1202 resistan gt GSK CAN bus interfaces CN4 CN5 use IEEE1394 and its circuit diagram is shown below 12V CANL Data signal CANH 6 GND PE gt Communication connection between GSK988T CNC system and the servo drive unit is shown below Aon ancien ci DB9 male socket is socket is connecte j i connected with XS27 to drive unit CN4 or CN5 of 988T CNC system 62 Chapter three Connection gt Communication connection between two servo drive units is shown below A drive unit CN4 or ae 4 NG unit CN4 or CN5 gt GSK CAN terminals At the terminal of GSK CAN bus link a GSK CAN terminal must be installed and its internal must connect a 120Q resistance between CANL and CANH terminal Set the relevant parameters after correct conne
19. cn andthe SP on js displayed Relati Applicable parameter mode The motor enabling is forced by the drive unit inner without the external SON input signal PA118 0 the motor is enabled when the external input signal SON is ON PA118 1 the motor is enabled by the servo drive unit inner without the external input signal SON 50 Chapter three Connection SON ON 4ms The motor is OFF The motor is ON The drive unit is normal and the motor is ON the alarm code is displayed if the drive unit is out of order refer to Chapter Eight Abnormal and Troubleshooting gt The alarm numbers from 1 to 9 generated on the drive unit can be reset when ARLS CN1 8 is ON The alarm number more than 9 can be only reset after the malfunction is eliminated till the power is turned on again The reset function is disabled when SON is ON SON OFF ON Without alarm Without Alarm alarm ALM ARST gt FSTP RSTP the inhibit signal of drive is usually used with a travel switch to avoid the overtravel e Rn on o n o f o Prohibition Prohibition Note O means the drive unit is normal When the drive unit s inhibition function is not used PA138 is set to 0 and the drive unit s inhibition function is shielded 3 3 5 Switching value output 1 In the switching value output signal of GS series D SUB products ALM SRDY ZSP gt signal are single ended transistor output the ou
20. 2000 1500 1000 500 20 0 30 0 0 20 0 30 0 20 0 30 0 Torque N m Torque N m Torque N m 14 Chapter One Product Presentation Table 1 3 Main technical parameters of 175SJT series motor ag 175SJT M120E 175SJT M150B 175SJT M150D 175SJT M180B 175SJT M180D Rated power kW Pole pairs 3 Rated current Rated current A OO 145 5 o Speed torque CN m eee DE A E a E E E Rated speed min 3000 1500 2500 1500 2500 Max speed r min Motor weight with safe 28 4 brake kg Insulation grade F GB 755 2008 Vibration grade R GB 10068 2008 Guard grade IP65 GB T4942 1 2006 Installation type IMB5 flanged installation GB T 997 2008 IEC 60034 7 2001 Working hour S1 continuous working GB 755 2008 Adaptive encoder Incremental 2500 p r 5000 p r absolute encoder17bit single circle or multi circle The following is torque character diagram T M of one rotation of the servo motor A continuous working area B short time working area 175S JT M120E 175S JT M150B 175S JT M150D Speed r min Speed r min Speed r min 3600 3000 2700 2000 1800 1000 900 0 8 0 16 0 24 0 0 10 0 20 0 30 0 0 8 0 16 0 24 0 Torque N m Torque N m Torque N m 175SJT M180B 175SJT M180D Speed r min Speed r min 2000 3000 1500 2000 1000 1000 500 24 0 36 0 0 10 0 20 0 30 0 Torque N m Torque N m 15 Gr M13 F GS2000T Series AC Servo D
21. Motor earthing point Encoder feedback signal Without the external brake resistance B1 and B terminals must be connected in short circuit AY i Brake resistance lt o Fig 3 3 main circuit connection of GS series servo drive unit Without the external brake resistance B1 and B terminals must be connected in short circuit with the external brake resistance B1 and B must not be connected Our matched motor s power supply wire has been marked with U V W PE terminals and their must correspond separately to the drive unit U V W PE terminals otherwise the motor cannot normally run Correctly connect with the protective earth terminal and the earth resistance should not be more than 100 41 Gr 13x I GS2000T Series AC Servo Drive Unit User Manual 3 2 2 Wiring of main circuit Terminal label Explanation AC power suppl R S T l pore APP y 3 phase AC power supply input input terminal 3 ph AC output p puna oes It is connected with the motor s 3 phase winding U V W It is connected with the ground wires of the power supply and Protective PE D the motor and the protective grounding resistance should be grounding terminal less than 10 The brake resistance is used to the dynamic braking and the servo drive unit should be connected externally with the brake resistance to work normally Brake resistance terminal All cables and terminals for main circuit of the servo drive unit should
22. cccccccccceccsececeeeceeeceeeeeeeseeeeeeeeaeeeseeeseeeeaes 116 8 4 Inspection and Maintenance anennennanensnnnnsnrerorrnrsnrrrrrrnrnnrnrrrrnrsrrnrsrrrrnrrnrsrrnrnrrrrerrrrne 118 Appendix A Model Code Parameters and Motors Table cccccssceseeeeeeeeeeees 119 Appendix B Peripheral Equipment ccccccseeeeeeeeeeseeeeeeeesensensonsensenseneeeeeness 121 Bel External brake resistor 00n0nnann0nnnnnnnonunnnnnnnnrnnrnennrrrrnrrrrrnennrrrnrrnrrnennronrnnrnrrnernrrnennrnner 121 B 2 Circuit Breaker and Contactor NECESSATPY cccccecceecceeeceeeeeeeeeeeeceeeeeeesseeeseeeeaeeeaaeess 122 B 3 Three phase AC filter reCOMMENdE cccceccceeceeeecceceeeceeeeseeeceseeeeeeseeeseuesseeeseees 122 B 4 Isolation transformer necessary cccccceccceecec cece eeceeeeceeeseeceaeesaeeceeessueesaeeseueeegeeaaeess 123 VII Chapter One Product Presentation CHAPTER ONE PRODUCT INTRODUCTION 1 1 Basic Knowledge gt Fundamental of AC Servo Drive Unit The AC Servo Drive Unit is composed of the AC servo drive unit and the AC servo motor Three phase permanent magnet synchronous servo motor hereinafter referred to as Servo motor The drive unit is treated the three phase AC integrated current as AC current i e AC DC and ON or OFF of the power switch tube is controlled the approximate sine wave current that is DC AC of the phase potential difference 120 may occur in the thre
23. programming the formula is shown below PA29 2 2048 PA30 6 1875 G The parameter PA29 is set to 2048 and PA30 is set to 1875 6 4 2 Position Arrival Signal PSR is position arrival signal in the position mode The remain pulse in the position error counter is less than or equal to the setting value of PA31 the drive unit is consider that it has arrived the position in this case the output opticalcoupler of the 96 Chapter Six Function Debugging signal is conducted Relevant Parameter Pesel Description Unit koia Default Applicability parameter range Position arrival range Pulse 0 30000 When the remaining pulse amount a the position error ee ee EPO in the display menu is less than or equal to the PA31 set value the drive unit is regarded that the position has been arrived the position arrival signal PSR is ON otherwise it is OFF Command speed Motor speed Position error Relevant Parameter parameter range Position error check range error check Position error check range x100 pulse x100 x100 pulse 0 999 400 PO When the position mode is operated and the counter value of the position error counter exceeds PA32 parameter value the servo unit excess error alarm may occur Refer to Section 8 2 Err 4 Troubleshooting 6 4 3 Pulse offset clear CLE CLE is a pulse offset clearing signal When it is ON in Position mode the detained pulse in the
24. 1 The motor overload running for a Reduce the load temperature is higher long time than 75 C 2 The environmental temperature is ai Pe high Improve the ventilation condition 3 The servo drive unit is damaged Change the drive unit Err 35 Err 36 Err 37 Err 38 For the absolute aa Call the correct motors default 1 PA1 parameter setting is wrong encoder the read data value is wrong in sensor mode Err 39 2 The encoder feedback CN2 is disconnected or its connection is not Check CN2 wiring stable 3 The absolute encoder is damaged Change a new motor Reading EEPROM in cig Call the correct motors default 1 PA1 parameter setting is wrong the absolute encoder value is wrong 2 When power on the drive unit Check the encoder feedback CN2 reading the encoder EEPROM is wiring wrong 3 The motors encoder EEPROM is Change the motor damaged The check is wrong Call the correct motors default Err 43 1 PA1 parameter setting is wrong when EEPROM is read in the absolute 2 When power on the data check is encoder wrong after the drive unit reads EEPROM value Execute Ab Set encoder write operation Allocation between single circle and as Call the correct motors default nf PA1 parameter setting is wrong multi circle of the value encoder are wrong The encoder data s The data check is wrong in sensor check is wrong mode when the encoders cu
25. I ii i zj A n i ge VANSA NOWA IIO UNV e e O Cc th lt ius C yoron lawwua b nozz GSK CAN GSK CAN uonejjesui JOJOe UOD OY M See Section 3 5 for Control J GSK CAN Connection circuit Refer to Section 3 2 1 7 Brake resistance installation For GS2075 GS2100 series the brake resistances must be connected to P B terminal Do not touch the brake resistance to avoid burn because it discharges to create heat and cause high AN l temperature N X Fig 3 2 c peripheral equipment connection diagram of GS MDR servo drive unit 40 Chapter three Connection 3 2 Terminal connection of Main Circuit 3 2 1 Main circuit connection of the servo drive unit Main circuit connection of GS series servo drive unit KA ALM OFF ma m KM1 AC Permanent magnet motor
26. KM1 is turned off firstly at the time the normally open contactor is OFF the motor s brake holds after power off to eliminate the delay effect which can ensure the machine or worktable does not move 6 3 Switching the Motor Rotation Directions Mm Standard mode When all parameters of the drive unit are set to default values the correspond relationship between the speed or position command and the motor s rotation direction is standard mode m Reverse mode When the motor s wiring in Speed or Position command is not changed the drive unit makes Reverse mode of the motor reversely rotation 93 Gr 441 3x I GS2000T Series AC Servo Drive Unit User Manual 1 Position mode Relevant Parameter parameter range Position command direction O 1 reversely PA28 PA28 0 maintain the original command direction PA28 1 the input pulse command Is reverse Standard set PA28 0 CO QI CCW CCW command CW command 2 Speed mode Relevant Parameter Description Default Applicability parameter range Analog command reverse CCW CW rotation O 1 S start reversely 1 When the optional analog command is indicated as 10V 10V PA6 0 In the case of PA51 0 the motor rotates CCW or CW when the analog command is positive or negative PA51 In the case of PA51 1 the motor rotates CW or CCW when the analog command is positive or negative 2 When the optional analog command is indicated as O 10V P
27. SX AID Cis ctseseicteseeicauaiareledeestes dncatied a a a aaa aA 19 1 4 3 Standard configuration accessories cccccsccceeccceeeeeeeeseeeceeeceueeseeeseeeseeeseeseesaues 22 CHAPTER TWO INSTALLATION iisiieciceutineiienieeesanetiwuiceteceiavioueieuhiaaieaieniaineniienta 25 ZN OEV MOOT ait osc tte E a a danger ooag ee ouseans ae anianenteauaeencs 25 2 1 1 Installation Dimension of the Servo Motor ccccccecceseeeecteeeeeeceeeeeeeeeeeaeeeeeeteeeees 25 2 1 2 Installation Of the servo MOTOL cccccceccceeceeeee cece ees eeeseeeeeteeeeeeeeeeeeeseeeaeeeeeeseegaes 28 2 2 SENO Arive Ui oea EE a A a E E oak eae wen biodaaiatens AA 29 2 2 1 Installation dimension installation dimension cccccecceeeseeceeeeeeeeeceeceeeeeeseeseeeaes 30 2 2 2 Hst llaton mter aliessa a ADE 31 CHAPTER THREE CONNECTION sasssnannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn ennn 34 3 1 Connection of Peripheral Equipment cccccccecc cece eece eee eeeeeteeeeeeeeeeseeeeeeeseeeaseeaeetseeeaes 34 3 2 Terminal connection Of Main Circuit ccccccccceecceecseeeeeeceeeeeeeeeeeeeeseeesseceeeseeeaneeasenseenaes 41 3 2 1 Main circuit connection of the servo drive unit cece cece eeeeeeeteeeeeeeeeeeeeeeeeeseeeneees 41 322 WING OF MaN Cre eenn Sosa Batis terete atest eaueake eds Gaeta ae eee 42 3 2 3 Interfaces explanations Of servo MOTOS cccceccseceseeeseeeeeteeeeeeeeeeeeeeseeeaeeeenerseenes 42
28. position error counter is cleared i e the following error is cleared n PEST 1 Speed command 2 Motor speed Position deviation eP EP O Of CLE OFF ON OFF 97 Or M1 Bx I GS2000T Series AC Servo Drive Unit User Manual 6 4 4 Pulse command prohibition INH INH is a pulse command prohibition signal When it is ON in Position mode the drive unit prohibits receiving pulse command _ Pulse command set by PC 2 Motor speed INH ae ON OFF 6 5 Function Debugging in Speed Mode 6 5 1 Analog Command Adjustment The following parameters should be adjusted when the speed command is inconsistent with the actual motor speed drift compensation The motor still rotates at a low speed sometimes when the command voltage is OV because it is caused by the offset command offset from the y 5 PC or the small voltage mV of the external di P command voltage PAS6 can compensate y 7 Adjustment the offset amount and its method is P o a When the motor offsets CCW and reduces to di y PA56 value up to zero speed y 4 pasg When the motor offsets CW and increases to g d PA56 value up to zero speed Command Command voltage voltage The motor stops by oe adjusting PA56 It is recommended that the adjust sequence of the analog amount is shown below 1 It is necessary to confirm the value of PA52 i e PA52 sets the motor speed corresponded to 98 C
29. 13 70UT Analog grounding AGND O 29 Z pulse output O ZOUT AA O l4 VCMD Analog speed command input Analog speed command input VCMD G 30 ne O 15 NC Fig 3 4 CN1 pin diagram In the above figure pins with the same name in the internal circuit board have executed the short circuit 44 Chapter three Connection CN1 signal layout of GS series MDR products The control signal interface CN1 of GS series MDR products is 50 core socket type MDR10150 3000 PE provided by 3M Its pin definition is shown in the following table ierich briniaurenaes Fenikia inapina i 2 4 Le Le 29 22 L4 26 e 29 22 24 Position 26 P70 Position feedback PB Posit feedback PZ tput osition output 2 PBO Position feedback outpu 2T PZO feedback PZ p PB output Position Digital output igita PAO feedback PA P ee GND earthing 4 PAO Position feedback output NC 7 PA output 5 PULS R input of 30 SIGN Pulse command pune direction input 6 PULS Pulse input of command sIGN Pulse command Ise command irection i pu r J0 Spee F selection direction input 39 RSTP CW drive QF PUSE rohibition input 8 seor arrosor afer IMT prohtbiton input 33 stp CCw drive i i CLE clear input 7 prohibition input 34 a Zero speed clamp input 10 SRV CW rotation NC start input 11 CCW rotation 36 NC 12 ALRS Alarm clear start input NC np
30. 1500r min C motor s rated speed 2000r min D motor s rated speed 2500r min E motor s rated speed 3000r min 1 Select different installation Motor installation dimension of 80 110 130 175 mode 2 Select whether the motor is matched with keyseat 1 Be adaptive to 2500 lines incremental encoder position precision is 0 036 2 Be adaptive to 5000 lines incremental encoder position precision is 0 018 3 Be adaptive to 1 bit absolute encoder position precision is 0 005 Machining precisio decides the adaptive encoder of the moto Motor model Search models according to Section 1 4 2 Confirm the drive unit is the economical or popularized according to the adaptive CNC system The present popularized servo is matched with GSK988T CNC system Drive unit model After the motor s model is confirmed the servo drive unit s model is done according to the corresponding relationship described in Section 1 4 2 1 4 2 Order model example 1 GS series servo equipment including SJT series AC servo motor order model is shown below GS servo drive unit model SJT AC servo motor model Example GS2030T NP1 110SJT MO40D A2 Explanation Order GS2030T NP1 AC servo drive unit and its matched 110SJT M040D A2 AC servo motor and its accessories are standard configurations See Section 1 4 3 2 GS series servo drive unit without AC servo motor order model is shown
31. 3 30 Connection of COntrol SIGH Al ce sictisecreivecsdcxweess es e E E E E ER 44 O35 CNA COnMOMSIOMAl AY OUT e a a E ado utlnanaeatey 44 3 9 2 DSPSCCOCOMMANG INDUL oiiiisxsisieesides cevnteuvehdedienaausinwaenteboutanedaseeaadnad EATE 45 3 30 POSMON COMMANG IN DUE seirena a a aT AEN EEA 46 234 SWEN VAUC IN DUN snena E 49 299 SWITCHING VAUC OUIDUL esini a a a ee ee 51 3 0 0 POSITION feedDack OULDUL nain a a a T 54 3 4 Feedback Signal Connection cccccccecccesceseeeceeeceeeeceeeseeeeeaeeseceseeessueeseeeseeeesueesaeesaeeeegs 56 3 4 1 CN2 interface of GS series D SUB Servo drive UNIt cece eeeeeeeceeeeeeeeeeeeeteeeens 56 3 4 2 CN2 interface of GS series MDR Servo drive UNIt ccccccecee sees seco eeseeeeeeeeeteeeens 57 3 4 3 Connection of motor s encoder feedback INDUL cccceecceeceeeeeeeeeeeseeeeeeeesereeeens 58 3 4 4 Connection of the 2 position feedback input ccccecceccececeseereesecescereeseeseeereereess 60 3 5 GSK CAN Communication FUNCTION cccceccssceseeeeeteeeceecseeeeeeeeeauecseeeeeesseeaseesseneeeaaes 62 3 6 Connection Sample in Working Modes ccccceccceecceeeeee cece eeceeeeseeeeueesuesauseseeseeeeaneeaes 64 3 6 1 Connection in speed working MOE ccccceccceeeceeeeeeeeeeeeeeeeeseeeseeeeseeeeeeseueeaneeaes 64 3 6 2 Connection in POSITION working Mode ccceecce cece eeeceeeceeeeeeeeteeeeaueeseeeseeeteueeaneeaes 66 Gr 41 Bx
32. 5 bits Position offset is lower order 5 bits pulse EF els 2 Position offset is high order 5 bits x10000 pulse The motor s current is 2 3A Speed corresponded to analog command is 1000r min Position command pulse frequency is 283 8KHZ 3 a C3 TT Li mu CL a lL LI LI m on Chapter three Connection Lower order digit of encoder absolute position is 3256 a Reservation Parameter Initialization hoa Operation Example Description when power on High order digit of encoder absolute is 6 a Reservation aUh Output terminal state 3 Reservation utre tut Software version number aa Reservation a Reservation J Motor s single circle position of absolute Reservation D encoder is lower order digit 5 Current position of absolute encoder is lower order digit 5 high order digit 5 omnane 1 c ioun r is the motor s speed code 1000 means that the motor s ccw speed is UDUD when the motor rotates CW Its 1000r min the display is a negative speed unit is r min 2 The position measurement of the encoder feedback is composed of POS high order 5 bits POS lower order 5 bits
33. 5kW 19A 76Nm 2500r min a 175SJT M300B A41 GS2100T CA1 4 7kW 24A 30N m 1500r _esaro0r oat rresseuzsooniaa 7 24 30N 18007m 21 Or M1 3x I GS2000T Series AC Servo Drive Unit User Manual Servo motor parameters Drive unit model Rated Rated Rated Rated Motor model Encoder power current torque speed 175SJT M300D A41 Absolute 17bit GS2100T CA1 ekw 27 5A 24N m 2500r GS2100T CM1 IresatMzaoo0 aan O 27 54 24N m 2600rmin ee 175SJT M380B A4l Absolute 17bit GS2100T CA1 29 A 38N m 1500 r GS2100T cA1 ISAT ESE 29A 38 Nm 1500 viin le 1 4 3 Standard configuration accessories The standard configuration accessories described in the following list are provided without the special requirements from the user Please contact the sellers or allocate others after consulting our technical personnel when the user needs other accessories GS2000T series D SUB accessory list Encoder li f ae nia 00 761A 1 line Standard length 3m motor Power line of mat Of fonzes note 1 iine Siendi engh motor Servo drive GS2000T Series AC unit servo User Manual Servo Drive Unit User 1 piece Technical documents motor and Manual CNC whole l l Provided only when it is set Brake resistor With fox G800W15RJM 1 piece adaptive to GS2075T CA1 aluminium shell l l TE including 1m connection line Provided only when it is RXLG1200W10RJM 1 piece jadaptive to GS2100T NP1 including 1m connection li
34. GS2045T GS2050T G 2075T GS2100T a motor s Dsl Reel 5 75 lt lt 10 10 lt 1 lt 15 15 lt 1 lt 29 current I A Rated current of 3 phase AC filter 15 20 30 42 A Rated voltage of 3 phase AC filter AC220V V Leakage current of 3 phase AC filter lt 5mA mA Attentions for filter installation gt Make sure the metal shell of the filter and electric cabinet is well connected and grounded gt There should be a certain distance between filter input and output lines parallel connection is forbidden in case that the effectiveness of the filter is reduced gt The filter should be installed at the entrance of power line to the device and the filter input line in the cabinet should be as short as possible so as to lower down the radiation interference B 4 Isolation transformer necessary The isolation transformer providing the power supply for the servo drive unit can reduce the interference from the power supply and the electromagnetic field to the servo drive unit Its model selection should be according to rated capacity load rate and of the drive unit 1 Servo motor power 21kW must use 3 phase isolation transformer to provide power supply Single axis isolation transformer capacity 2 servo motor power x80 is suitable and the user can select the isolation capacity according to 70 100 of the servo motor power 2 Two or more axes isolation transformer capacity total motor power x70 is suitable and the user can
35. Kapt 5 x N BUA OO AARENSEN X HITT Fig B 6 BD 120 appearance and installation dimension 126
36. Lae The hatched area The hatched area is PSR signal is PSR signal output area output area Accelerate to 1000r min from the speed less than 1000r min Decelerate to 1000r min from the speed more than 1000r min 99 Or 41 Bx I GS2000T Series AC Servo Drive Unit User Manual 6 5 3 Zero speed Clamping It is valid in Speed mode When the instruction control unit is used an analog voltage command to control the drive unit and if the command voltage is not OV the motor should be stopped and the servo is locked indeed in this case the zero clamping function can be executed There is a method to achieve the zero speed clamping function ZSL zero speed clamping input point control In Speed mode ZSL is ON and the motor is locked when the speed command is not OV r min Speed I command 0 t ZSL OFF ON OFF r min 1 Brake stop Motor speed J t 0 100 Chapter Seven Parameter CHAPTER SEVEN PARAMETER 7 1 Parameter Table P Position control S Speed control P t aes a Meaning Setting range Default Unit Applicable mode Password 0 9999 315 P S PAO When PA0 315 parameters other than PA1 PA2 are modifiable To modify PA1 it is needed to set PAO to 385 Motor model code 0 185 P S PA1 Set the model code of the drive motor according to Motor Model Code List see APPENDIX A for details then the default values of the motor can be restored The exfactory parameter is correctly set alread
37. No a amp voltage Cunit W 2 After the wiring is correctly connected the power supply is connected the required parameters are set When the machine or the worktable moves slightly by gravity regulate the time by the following parameters related to the hold operations Relevant Parameter Max deceleration time of the PA147 motor before permitting safe O 30000 braker operation PA148 Servo locked Servo locked delay time 0 30000 10 PS i h e BAIAS otor speed when safe brake ni OEA operation Case 1 the power supply of the servo drive unit is suddenly turned off when the motor is in the state of the rest SON input alarms power ON OFF OFF HOLD output ON OFF Servo OFF PA148 motor power Servo Motor power down locked down Servo locking delay time Generally HOLD is OFF in the meanwhile the servo drive unit is turned off Adjust PA148 to delay the drive unit OFF to avoid the slight movement when the machine or the worktable slightly moves by gravity 91 Gr 1 Bx I GS2000T Series AC Servo Drive Unit User Manual CF When the drive unit is turned off the energy is released by dynamic braking circuit in a short time so when PA148 is set to a big value the actual servo locked delay time will not exceed that of energy release the energy release time is related to the load inertia or the motor s deceleration time Case 2 the servo drive unit is suddenly turned off when the motor
38. ON the motor is excited runs at the zero speed Observe the motor current amperage through monitoring df When dP I is normal the displayed current value is about 0 2 of the motor s rated current 3 Changing the combination state of SEC1 SEC2 can switch three kind of internal speed At the same time observe the motor run state whether there is vibration and noise whether the run speed is stable and the motor current exceeds the rated value The sequence of three kind of speed switching is shown below Motor speed 2000 r min 1000 r min 0 500 r min PA127 Internalspeed1 Internal speed 2 internal speed 3 SEC1 OFF ON OFF SEC2 OFF ON 4 User can debug other functions when the motors operations are normal at 3 stage internal speed Generally the abnormities and troubleshootings are shown below when the internal digital command speed is performed 84 Chapter Five Debugging No Abnormity during debugging Troubleshooting The motor rotation direction is not Refer to Section 6 3 Motor Rotation Direction consistent Switch 2 The motor occurs vibration noise and Refer to Section 6 1 Basic Performance other abnormal conditions Parameter Debugging Check dP inland ensure the input signal The state of speed selection input signal s not consistent with the motor speed is correct refer to Section 3 3 4 Switching Value Input Point 5 3 Run in Positi
39. OV Io Io External DC15V 24V power supply 1 2 6k 1 bo COM 39 Gop E E Servo enabling input o o SON 13 Io a CCW drive prohibition input o FSTP 33 gt ya CW drive prohibition input oO RSTP 32 1 CN2 5 Alarm clear input o ALRS 12 ya 2 2 Offset clear input oO CLE 8 y E ulse prohibition input A nm 7 Li o E i SEOS ae PE a Pulse command input CN4 C CNC system a CN1 lt lt TAL 23 GS Series Drive 1 ie 4 A CN5 Servo alarm E XX AM 99 PAY Unit o H SRDY Servo ready output bee 4 Hrg lt m SRDY 16 CN1 i PSR 15 we i a o o A 4 PAO gt Position arrival oupi PSR 40 a lt XxX P n a m HOLD 43 ay rt o Hold control signal output XOX a p Io O r Ig u on HOLD 42 yH y TS 2 PBO 4 P e AT output B i w ZOUT 47 paw L PBO ft o 38 PaE i ZOUT 46 27 PZ0 roy D i gt i i a 26 PO jer aS Fig 3 17 connection diagram in position working mode The signals with in the above figure is necessary connection ones 1 Exterbak specified DC 15V 24V switch power should be not less than 35W 2 CLE INH are multiplexed by SEC1 and SEC2 in position working mode PA6 2 SEC1 SEC2 are valid and are the internal speed selection signals PA6 1 SFR SRV are valid and are CCW CW start signals 3 B1 and B terminals must perform the short circuit when the drive unit is not matched with the resistance externally B1 and B must disconnec
40. according to the demand the input interface is connected with the 2nd position encoder to form the 2nd position closed loop with the servo drive unit CN3 interface of GS series MDR servo drive unit is 20 core female socket and its matched encoder s wiring is 20 core socket type MDR10120 3000 PE provided by 3M and its pin layout is shown below e e e e ra e Ee A HAE Oe a A A e Fig 3 13 pin layout of CN3 wiring socket bonding wire side BAT3V6 BAT3V6 Power supply of absolute 12 encoder s battery 1 ES The 2 incremental 13 NC fo E ee ee ce ae Encoder s power supply The 2 position encoder feedback signal interface of GS series servo drive unit can connect an incremental encoder or an absolute encoder N OO N N RR 61 Or 4413 I GS2000T Series AC Servo Drive Unit User Manual 3 5 GSK CAN Communication Function GS series MDR servo drive unit has GSK CAN communication function It is connected with GSK CAN interface of GSK988T by CN4 or CN5 to realized real time communication The CNC system realizes the servo drive unit parameter function saving modifying and backuping parameters real time monitor the position speed current temperature and I O state information gt Connection between the CNC system and the servo drive unit is shown below
41. adaptive to GS2075T CA1 including 1m connection line Brake resistor with aluminium shell whole Brake resistor with set without jaluminium shell servo motor ia Bare resistor Provided only when it is fae RXLG1200W10RJM 1 piece jadaptive to GS2100T NP1 aluminium shell l l bee cat including 1m connection line Remark Control signal line of drive unit are provided with CNC its standard length is 3m Note 1 is the undetermined suffix letter its corresponding cable specification is referred to Power Line Specification List of Motor Accessory list of GS2000T CA1 series MDR product Encoder line of HEE oe eee length 3m motor Power line of 00 765 lt note 1 1 line Standard length 3m motor Servo drive GS2000T Series Servo 1 line Technical documents User Manual unit servo Drive Unit User Manual motor and 1 piece Provided only when it is CNC set Brake resistor RXLG800W15RJM adaptive to GS2075T CA1 including 1m connection line Provided only when it is Brake resistor RXLG1200W10RJM 1 piece jadaptive to GS2100 CA including 1m connection line Control signal line of servo drive unit GSK CAN communication line and SCR6 note2 terminal socket are provided with CNC Note 1 is the undetermined suffix letter its corresponding cable specification is referred to Power Line Specification List of Motor Note 2 Presently only GSK988T supports GSK CAN serial bus and is adaptive to GS2000T CA1
42. between the moved worktable position command position required by the command signal and the actual moved worktable position that is the fellow error the command position value the value of actual position Servo rigid The servo drive unit is caused position error capability against the load interference 1 2 The Confirmation of the Products Arrival Check each item after receiving the products immediately if any problems please contact the supplier or our company freely Check the drive unit and servo motor It is confirmed by the drive unit and servo motor s which are the ordered products nameplate Confirm the content of packing list if this content is Check whether the fittings are assembled inconsistent with the accessories and refer to the section 1 4 for the order instruction Check whether the products are damaged The integrated appearance of the products should due to the transportation be complete and without damage Check whether the screws are loose with the Check whether the screws are loose l screwdriver 1 The damaged AC servo drive unit or the incomplete accessories can not be mounted 2 The AC drive unit should be matched with the servo motor 3 GS2000T series products is divided into the D SUB and MDR based on its interface types and they must meet the requirements Chapter One Product Presentation 1 2 1 Servo Motor Model Rate speed Rated voltage and current
43. burn because it discharges to create heat and cause high temperature N H Fig 3 2 b peripheral equipment connection diagram of GS MDR servo drive unit 39 Or 41 3x I GS2000T Series AC Servo Drive Unit User Manual Peripheral connection of MDR products Peripheral equipment connection of MDR products GS2075T CA1 GS2100T CA1 are shown in the following diagram L1 L2 L3 3N 50 60Hz 380V oJ ke Pees OLS DENI SESSE Ree ete ERE SASN se ED SeA p r P S v g O GSK988T o n D lt 5 8 a L Z D 3 es Gs es lt gt Rise z SA e e i eloa N He wee oti eae a N a a E sia a 2 iia g ye 0 aal w o cm A a A E A E uole ejsul J WJOJSUEJ N EN S G S 2 8 00 sre GER AC Servo Motor Unit a vy lt _ lt CHARGE POWERO O 2 5 Sa O Z o uone je Sul JO
44. condensation The control cabinet should be free of the corrosive gas flammable gas oil mist and dust Altitude Below altitude1000m Atmosphere condition Notice 1 Forbid beating the motor or the motor s shaft when installing the belt wheel to avoid damaging the internal encoder Must use the spiral instruments to dismount components 2 The servo motor cannot support the axial radial load It is suggested that the flexible shaft joint should be used to support the load 3 Fixing the motor must use the anti loose washer to avoid the motor loosing 4 The motor installation must prevent the water the oil because the cable in the water oil may carry them to the motor 28 Chapter Two Installation 2 2 Servo drive unit Installation environmental condition of the drive unit directly affects its function and service life Please correctly install it according to the following items Notice Prevent the rain from splashing and keep out of the sunshine directly m The drive unit should be installed into the electric cabinet for preventing the dust corrosive gas as well as the electric conductions and inflammable objects E Keep ventilated damp proof and guard against the dust in the installation place m Never attempt to install it near the flammable objects or on its surface prevent the fire m The installation place should be convenient for maintaining checking Use temperature 0 C 40 C Transportation A
45. connected in Analog command speed mode 5 The servo drive 4 Monitor la D llaen thecurrentis It is for short circuit of the motor s wiring or unit enable and the the motor is blocked for mechanical fault excessive big exceeds the rated current of l Refer to Section 8 2 motor the motor comes away the load the motor can exactly position I O signal wiring is wrong motor be activated but the motor does not run a A PA1 motor model code setting is 2 Monitor 0 When the current is wrong the motor default parameter should be called again B The motor s encoder is fault and the motor should be changed A The working mode selection is wrong Refer to Chapter Five B The input command has not received Refer to Chapter Five check the excessive big exceeds the rated current of motor the motor comes away the load the motor cannot run 3 Monitor D l When the current is not excessive does not exceed the rated current of the motor command signal wire 4 Monitor and there is no current The servo drive unit is fault 6 The servo motor 1 Check whether the command is correct PC command is fault runs only with low qe cp 7 Monitor LIO in Position mode judge speed and cannot the position command be up to high ie speed CheckidP ual in Speed mode judge the analog command 116 Ch
46. default parameter of the servo drive unit meets the driven motor according to PA1 value refer to Appendix A The motor cannot run normally when PA1 value does not correspond to the motor model code 4 5 Parameter Management Here is introduced the operations about the parameter write in read in backup backup recovery export default The data storage relationship of the parameter management is shown below System power on EEPROM parameter area gt Memory Parameter write in Memory gt EEPROM parameter area Parameter gt Memo readin EEPROM parameter area ry Parameter backup Memory EEPROM backup area Recover EEPROM backup area backup p Memory Memory Export default Parameter default EEPROM parameter area 74 Chapter three Connection EE SEt parameter write in It means the parameter in the memory is written into EEPROM area The user modifying the parameter only change the value in the memory and the value recovers the previous when power on again Executing the parameter write operation can change the parameter value forever the parameter value in the memory is written into EEPROM area and the modified value is valid after power on again EE rd parameter read in It means the data in the EEPROM area is read into the memory which course is executed automatically when power on At beginning the parameter value in the memory is the same that of EEPROM area Its value w
47. installed between the drive unit output side and servo motor The main circuit wiring and signal wiring should not be closed to the heat sink brake resistance and motor so that the insulativity is reduced due to the heat The terminal protection lid should be covered to avoid electric shock after the main circuit connection is performed 3 1 Connection of Peripheral Equipment Using the servo drive unit should be adapted with some peripheral equipments the correct peripheral equipment makes the steady operation of the servo drive unit and the servo motor and prolongs life of the servo drive unit The followings should be paid more attention in the connection diagram of the peripheral equipment The devices described in the broken line box should be allocated by the user and ones in the solid box should be bought from GSK Equipment Co Ltd The breaker AC filter isolation transformer AC reactor AC contactor should be referred to Appendix B The peripheral equipments with the mark Must be Installed in the figure ensures the user can safely use the servo equipment reliably and reduces the loss caused by the damaged equipment as possible The peripheral equipments with the mark Be Installed Optionally in the figure can ensure the servo drive unit normally runs stably 34 Chapter three Connection Peripheral equipment connection of D SUB products Peripheral equipment connection of D SUB products GS
48. meet the requirements described in the following table R S T r t P B1 B PE Rated current U V W Type of adaptive motor Bolt Cable s Bolt Cable s Bolt Cable s Bolt Cable s A size sectional size sectional size sectional size sectional p mm area mm o mm larea mm mm area mm mm area mm 4 5 lt I lt 6 or eae fe eps fel spe 3 2 3 Interfaces explanations of servo motor Safe brake socket Motor s power supply socket Encoder signal socket 42 Chapter three Connection gt Corresponding relationship between pins of socket of motor s power supply and output terminals of servo drive unit Socket pin number of motor s power supply Terminal label of servo drive unit Motor s power supply socket gt Pins connection of safe brake s socket Safe brake socket Safe brake a Pin 1 Pin 2 is connected with DC 24V without positive negative pole and Pin 3 is grounded The contactor KA control is referred to Section 6 2 Hold Releasing Signal Application The motor with different power is allocated with the safe brake with different power and the motors with different specifications corresponding to the technical parameters of the matched brakes described in the following table should be referred when the user selects the 24V switch Rated 20 C brake coil Release Motor s seat No Voltage Power torque power Cunit W time s A 130 8
49. previous page or cancel i N 1 operations ay ge Return to the next page or confirm CHARGEQ POWER r CHARGE is high pressure indicator for ed operations main circuit DC bus of the drive unit POWER is a indicator for the drive unit to aj ON DC bus high pressure exists 5 control circuit or power supply a OFF DC bus high pressure is discharged a ON control circuit or power supply is completely normal oO Must not dismount and install the drive N C D OFF control circuit is broken down J unit power lines motor lines and brake lines when CHARGE indicator is ON S a A CN1 control signal interface 44 hole DB interface c a Connect the external speed command T ETN lie position command input output signal is a earthing terminal of input power earthing or the motor s protective J CN2 connect with the motor s encoder feedback earthing input 25 holde DB interface Incremental encoder difference signal and motor s position feedback input S P e DR D s We Wiring terminals of main circuit T ve CD Carefully check the product brand P1 URAI w hs i Open cover plate T S R S T r t input power supply voltage the motor s lines are as i connected U V W correctly Zh y according to the marked lt L YOLOW T 14
50. produced the advancing check function and reduce the follow error as well improved the dynamic capability The vibration and steadiness may cause due to the excessive differential coefficient The proportion integral and differential are interacted The PID control parameters are adjusted to the balance for the system reaction rate control accuracy and steadiness Because the differential adjust is easily caused by the impact and vibration the servo drive in the manual adopts PI adjustment that is the proportion and integral are performed only gt The concepts related to serve control Three kinds of basis control modes of the servo drive equipment are available such as position speed and torque Its frame is shown in Fig 1 6 Position control The motor rotation direction and angle are given by using the numerical pulse or data communication mode the drive unit controls motor rotor that rotates a corresponding angle in terms of the given direction The rotation angle position and speed can be controlled Speed control The motor rotation direction and speed are given by using the analog voltage or data communication mode the drive unit controls the motor rotor that rotates based upon the given direction and speed Torque control The output torque size and direction are given by using the analog voltage or data communication mode the rotor rotation direction and torque output size of motor are controlled by the drive unit Current
51. select the isolation capacity according to 60 80 of the total servo motor power Table B 1 isolation transformer specifications Model Capacity KVA Capacity kVA KVA Phase Input voltage V Output voltage V BS 120 1 2 3 phase BS 300 3 0 380 220 Single phase 123 Or l CES E GS2000T Series AC Servo Drive Unit User Manual The following figure is isolation transformer dimension unit mm foro eo fh a A cy oO L Hah To y AN cO ae aa f Ey p7 q y a Fig B 1 BS 120 appearance and installation dimension a Ses A ze i an EN 1 1 124 eon i 15 pi 114 n 144 Fig B 2 ml l ml BS 200 appearance and installation dimension Appendix qa Fig B 3 BS 300 appearance and installation dimension w i LAKAI a
52. series MDR servo drive unit 23 Or 13x I GS2000T Series AC Servo Drive Unit User Manual The power line of the servo motor is selected based on its adaptive servo motor s rated current which is shown below Power line specification list of motor Cable serial number Cable parameter Adaptive motor s rated current 00 765F 15A lt I lt 24A 00 765G 4x6 0mm7 24A lt 1 lt 36A Must mark in detail the order products servo drive unit servo motor isolation transformer CNC model and quantity exclusive software hardware version or required optional function and accessories Must mark clearly variety specification and quantity of non standard configuration accessories Such as special cable or cable length cable technology and so on otherwise we supply products according to the standard accessories Must mark clearly the order servo motor s shaft extension structure and please remark in the order for the special When the user orders only the servo drive unit without servo motor the servo motor model following the servo drive unit is marked example GS2030T NP1 L110SJT M040D A2 which is convenient that we set the matched parameters corresponding to the motor model before delievery The servo drive unit and servo motor can get excellent control effect with adaptive parameters Please contact with GSK R amp D departements if the user allocates other manufactures products by itself 24 Cha
53. the drive unit uses the single coil absolute encoder dP AbS T dP hbS O_uLc value is consistent with that of dP non 4 4 Parameter Setting Set operation method of state monitor Example there is two kinds of method to call the lower order monitor state of the current position below Method 1 directly select the state monitor dP 9FPd dP PoS OOU Method 2 select the state monitor LO r C 12 Chapter three Connection ri Data is to be modified CC CCI LI O digit point is flashing COU IJCC Press it twice cI CI A 0 digit point is always o 0 ON when the data is c L m L being modified A Data returns to the state which is to be m m A modified 0 digit C la C LI point is flashing l lt nin The point is J n a flashing A Press it three times PA 3 pe oF d Fig 4 2 operations about state monitor by parameters After a parameter is modified it is valid by pressing at the moment and the modified parameter value immediately responses to the control The parameter value being modified is not the required Q instead of is pressed and the parameter value recovers to the previous before modification Execute the parameter writing opertion EE SEt when the modified parameter is needed to be valid after power off Operations about recove
54. the least value of PA55 can not be less than 50 6 2 HOLD Release Signal Application To lock the vertical or tilting table linked with the motor shaft and prevent it from falling after the motor alarms or the power supply is OFF the motor with safe brake i e hold motor is used To validly control the motor movement the drive unit is allocated with the hold release signal HOLD ez The safe brake is only used to keep worktable instead of reducing or forcing to stop the movement Correctly complete wiring according to Fig 6 3 and must connect input signals described in the following table COM It is a common terminal of input point and is an input terminal to control power supply HOLD Hold release signal HOLD Fig 6 3 is a actual application wring method for hold release signal controlling hold motor 24V power supply is provided by the user When the power is connected with the hold release signal HOLD the power polar should be paid See below 90 Chapter Six Function Debugging 24V power supply GS2000 series CN1 eS eee Safe brake Fig 6 3 hold release signal HOLD sample Motors with different power should be allocated with safe brake with different power Refer to the technical parameters of the brakes allocated with motors with different specifications described in the following table Motor Rated Power supply 20 C brake power ReleuesMeS a
55. the software recording or re power on after the parameters upgrading are saved Parameter error Conflict occurs when software Re write the parameter and turn on detected after upgrading the power again power on Excessive AC input The three phase AC power input Adjust the grid voltage or increase voltage alarm voltage exceeds 115 of the rated some power stabilizing devices such voltage as AC reactor AC filter Encoder UVW signals 1 The interface connection is not stable Check the encoder s interface and are illegal codes or the cable shield is bad shield wiring 2 Th d UVW eee Seger aes Change the encoder damaged 3 The encoder s interface circuit is l Change the drive unit fault The power suppl Err 33 P va APY The charge circuit is damaged Change the drive unit charge is fault 114 Excessive pulse The setting of gear ratio is electronic gear ratio inappropriate Re set parameter PA29 PA30 correctly Chapter Eight Abnormality and Troubleshooting ie external brake pipe 4 PA225 setting is wrong Set correctly PA225 is fault Change the drive unit Three phase main 1 3 phase main power supply is power Check the main power ensure the 2 Three phase main power detection Change the servo unit fone on a the Alarm occurs when the The environmental temperature is too Improve environmental temperature of radiator low temperature is below 20 C Alarm occurs when the
56. to motor CW rotation 2 When external analog voltage range is OV 10V PA6 1 PA51 0 SFR is ON motor performs CCW rotation SRV is ON motor performs CW rotation PA51 1 SFR is ON motor performs CW rotation SRV is ON motor performs CCW rotation PA52 Set the motor rotation speed corresponding to 10V analog voltage When the rated rotation speed corresponding to 10V is 2500r min this value is set to 250 Maxi limi f co Maximum speed limit of speed PETI m PA54 command The maximum speed of motor is limited by PA54 Filt fficient of d command PASS The smaller the analog command filter coefficient value is the stronger the anti disturbance capability greater the value is the weaker the anti disturbance capability is and the quicker the response is Anal d drift compensation the motor still rotates at slowest This is due to the slight drift of the PC or external command 7 d PA56 is However when the value is too small the response to the speed command will be slower the Sometimes when the command voltage is OV voltage If zero drift phenomenon occurs on a adjustment motor modify the drift value to OV in PAS6 Sa ares 105 Gr 13x I GS2000T Series AC Servo Drive Unit User Manual P Position Control Mode S Speed Control Mode Parameter er Default Applicable No g Value Mode PAG In speed mode when the actual soeed commanded speed x 100 PA61 commanded speed x 100 P
57. with the safety operation of Servo drive unit and familiar with the safety operation procedures Be responsible for the dangers caused by adding changing or altering to the original Servo drive units and the accessories Be responsible for the failure to observe the provisions for operation adjustment maintenance installation and storage in the manual All specifications and designs herein are subject to change without further notice This manual is reserved by end user We are full of heartfelt gratitude to you for supporting us in the use of GSK s products VI Contents Contents CHAPTER ONE PRODUCT INTRODUCTION ccccceecseeeeseeseeseesensenseneeneseseess 1 lel BASIC KMOWICOOS a2x sreiedailsc peace ash a a alee a E saad 1 1 2 The Confirmation of the Products Arrival cccccsccsecceecceeceeeeeeeteeeeeeeseeeeeeeeeteeeeeeeaeeeeeeees 6 V2 I SENO WOOF Mode eranan E danse aneniahe eee 7 k22 Semo drive nit Modelka iaadsanadadeskedandided AE 8 t239 SENo dive untapped ance crniips aa a adie anmeineniedaees 9 1 3 Tecnoical Sp pecNCaNO Nnnna aaa a ana 12 1 3 1 Servo Motor Technical Specification cccceccseeesseeeeeteeeceeeaeeeeeeeeeeseeaseeeeeeeenees 12 1 3 2 The Technical Specification of Servo Drive Unit sensnnsnnsnnenensnnsnrsrronrerrsrrerrnn 17 1 4 order Guilde eian a A eee eee a ee ee See eee ere ae 19 TAT MOGCUSEISECHON TOW cerisier aa a a i a a EE 19 AZ Okder MOG
58. 0 2 lt 0 2 gt 2 gt 1 gt 0 3 gt 0 3 lt 0 2 lt 0 2 gt 0 2 us Single ended drive input l gt 2 5 us 3 3 4 Switching value input The following shows the two kinds of general connection and INx means an input point SON ALRS FSTP RSTP SEC1 CLE SEC2 INH ZSL SFR SRV y lt y Oo c 23 a x Oo o Z 3 3 SS Oo 5 49 Gr 4413 I GS2000T Series AC Servo Drive Unit User Manual CNC system 24V O m x D O O O Q O Cc oS D s5 The servo unit is allocated with DC15V 24V externally up to 1A and it is suggested that it uses the same power supply with the output circuit When INX is connected with OV the input optical coupler is conducted and the signal is ON the input is then enabled Check the monitoring window gP in to judge if the input point is ON the corresponding nixie tube may light up if the input point is cut off and the signal is OFF the nixie tube is OFF This monitoring window can be debugged checked and repaired for the drive unit control signal ALR O SO Z RSTP FSTP SEC2 SEC1 SR Input signal explanation gt COM COM are input ports of DC 15V 24V externally lt SF FJ IE i I ZSL The power polar can not be connected reversely otherwise the drive unit can not work normally gt SON When SON is ON the servo enabling is started to check the monitor window dr
59. 045T CA1 irosstazosooiaan 1S0 7A Nm 2500rnin aerae 130SJT MO40D A4l Absolute 17bit GS2025T CA1 10kw 4A 4N m 25000r GS2025T CA1 iaosuTMzodopiaan TORN 4A Nm 2600rmin ne 130SJT MO50D A4l Absolute 17bit GS2030T CA1 1 3kW 5A 5Nm 2 GS2030T CA1 faosrt mzosopyaat TW SA Sm iki 130SJT MO60D A4 130SJT MZO60D A4I 130SJT M075D A4 130SJT MZ075D A4I 130SJT M100B A41 GS2045T CA GS2050T CA1 GS2045T CA 130SJT MZ100B A41 130SJT M100D A4I 130SJT MZ100D A4I GS2050T CA1 130SJT M150B A41 GS2050T CA1 130SJT MZ150B A4l 130SJT M150D A4I a 130SJT MZ150D A4I 175SJT M150D Ad4l 175SJT MZ150D A4I 175SJT M180B A4I 175SJT MZ180B A4 175SJT M180D A4l 175SJT MZ180D A4I 175SJT M220B A4I 175SJT MZ220B A4I 175SJT M220D A4l 175SJT MZ220D A4I GS2075T CA GS2075T CA GS2100T CA GS2100T CA GS2100T CA1 Absolute 17bit multi circle Absolute 17bit multi circle Absolute 17bit Absolute 17bit multi circle Absolute 17bit multi circle 1 5kW 6A 10N m 1500r min ae multi circle 25kW 10A 10N m 2500r min OPOE LCD multi circle 23kW 85A 15N m 1500r min ote tron multi circle 3 9kW 14 5A 15N m 2500r min one role multi circle 3 1kW 14A 12N m 2500r min Soong ee multi circle 28kW 15A 18N m 1500r min PO OAO multi circle 3 8kW 16 5A 14 5N m 2500r min RERS multi circle 3 5kW 17 5A 22N m 1500r min Sous 17bit multi circle 4
60. 0S JT M032C 80S JT MO032E Speed r min 4000 Speed r min 3000 3000 2000 2000 1000 1000 6 0 9 0 0 6 0 9 0 Torque N m Torque N m Chapter One Product Presentation Table 1 2 Main technical parameters of 110SJT series 130SJT series motor 110SJT M 110SJT M 110SJT M 110SJT M 130SJT M 130SJT M 040D 040E 060D 060E 040D 050D Rated Rated power kW Rated power kW Pole pairs SS a ee eee ec a A a eae te Rated speed min Max speed r min 3000 3300 3000 3300 3000 3000 Rotation inertia kg m7 ee 68x10 ae 68x10 aoe 95x10 aoe 95x10 wean Weight kg Seer eerie brake kg Insulation Insulation grade F GB 755 2008 IMB5 flanged installation GB T 997 2008 IEC 60034 7 2001 Working hour S1 Continuous working GB 755 2008 Adaptive encoder The following is torque character diagram T M of one rotation of the servo motor A continuous working area B short time working area Incremental 2500 p r 5000 p r absolute encoder 17bit single circle or multi circle 110SJT MO40D Speed r min 110S JT MO40E Speed r min 3600 110SJT M060D Speed r min 3000 2700 2000 1800 900 8 0 12 0 0 Torque N m 0 40 E0 120 0 Torque N m 8 0 12 0 Torque N m 110SJT MO60E Speed r min 3600 2700 1800 8 0 12 0 Torque N m 1380S JT MO040D Speed r min 3000 2000 8 0 12 0 Torque N m 130S
61. 10 absolute encoder wiring Note 1 Lengths of the motor s power supply wire and feedback signal wire must be within 20m and their interval must be more than 30cm The two wires cannot use the same pipe or cannot be tied up together 2 The signal wire must use twisted shield cable and its section is 0 45mm 0 20mm and the shield lay must be connected with PE terminal 59 Or 441 3x I GS2000T Series AC Servo Drive Unit User Manual 3 4 4 Connection of the 2 position feedback input Connection of GS series D SUB servo drive unit CN3 The user can match the input interface CN3 of the 2nd position feedback signal according to the demand the input interface is connected with the 2nd position encoder to form the 2nd position closed loop with the servo drive unit CN3 interface of GS series D SUB servo drive unit is 9 pin female socket and its matched encoder s wiring is 9 pin male socket type G3151 O9MBNS1X1 provided by WIESON Fig 3 11 interface pin definition of CN3 DB9 male socket yun SAUP Saas SH D 3 D Q o O 3 Q O Q D s o c F c r oa D a 3 m v Metal shell The 2nd position encoder side Fig 3 12 Connection between Tamagawa TS5308N512 encoder as the 2nd position encoder and CN3 60 Chapter three Connection Connection of GS series MDR servo drive unit CN3 The user can match the input interface CN3 of the 2nd position feedback signal
62. 2025T NP1 GS2030T NP1 GS2045T NP1 are shown in the following diagram g N L1 L2 L3 3N 50 60Hz 380V iat pS ce DE a eo EE N E O z O 7 Ww F D p D TE ay o 4 ia OD ina a Nec Se wie Peres inns De OOED e z E N j gt a N N S uole yje sul JOWJOJSUeL amp GS2000 GSR Servo Motor Drive Unit T ED 2 Aa 4 n N mA T Ne Cs mn nd 0 uo ejjesul 10 08 uo9 OV EEEO a EE A L EL NEILE INE ee es Control circuit Refer to Section 3 2 1 Brake resistance optional installation Without the external brake tu resistance B1 and B terminals must be connected in short circuit with the external brake resistance B1 and B must not be connected Do not touch the brake resistance to avoid burn because it discharges to create heat and cause high temperature J
63. A139 0 do not check the open phase alarm PA139 1 check the open phase alarm It is debugged by the factory and is not changed by the user PA145 It is debugged by the factory and is not changed by the user Alarm ume for Speen regulator being 0 30000 1000 PS PA146 saturation for long time It is debugged by the factory and is not changed by the user PA143 Permit max motor gece halon ime 0 30000 30 a PS before the safe brake being working PA147 When the safe brake locks the running motor the motor must decelerate firstly in the deceleration time set by PA148 when the motor speed is motor PA149 setting speed the safe brake is forced to lock the motor shaft Refer to Section 6 2 PA148 When the safe brake is needed to lock the motor it is necessary to cut off SON signal after the motor stops servo drive unit is locked and then the safe brake is locked In the course of the servo lock state to the safe brake lock state the servo lock state must delay to behind PA147 which ensure the motor shaft does not change when the safe brake works Refer to Section 6 2 working PA149 Permissive max motor speed when the safe brake being working Refer to Section 6 2 107 Gr 13x I GS2000T Series AC Servo Drive Unit User Manual P Position Control Mode S Speed Control Mode Parameter Rande Default Applicable No g Value Mode K CAN icati GS communication baudrate fea PS selection P
64. A155 PA155 1 baudrate is set to 500k PA155 2 baudrate is set to 600k PA155 3 baudrate is set to 800k PA155 4 baudrate is set to 1M There are more than one servo unit that has built up serial port communication with CNC therefore setting a servo axis number corresponding to CNC system makes it easy to control a servo unit Do not set a repeat servo axis number for the same CNC system PA156 The default setting of parameters marked with is related to the motor model therefore the default F value varies with motors 108 Chapter Eight Abnormality and Troubleshooting Chapter Eight ABNORMALITY and TROUBLESHOTTING A Caution When the servo drive unit or motor is needed to be dismantled for inspection or maintenance please contact our technical personnel or operate under guidance of professionals E Once an abnormality occurs in servo drive unit inspection or maintenance can only be done after cutting off the power for more than 5min till the CHARGE light is off to avoid residual voltage 8 1 Abnormality for Abnormal Operations 8 1 1 Speed mode Abnormality Possible Reason Check and Remedies 1 1 The servo unit is in alarm state servo unit is in alarm state Clear the alarm or turn ON the power the alarm or turn ON the Clear the alarm or turn ON the power aaa a Wrong working mode or wrong Check the setting of PA4 and PAG command mode is selected 3 No enab
65. A6 1 In the case of PA51 0 the motor rotates CCW or CW when the rotation start Signal is performed CCW or CW In the case of PA51 1 the motor rotates CW or CCW when the rotation start Signal is performed CW or CCW 94 Chapter Six Function Debugging a Standard setting PA51 0 Reverse mode PA51 1 S CCW command PA6 1 CW command PA6 1 Positive voltage PA6 0 Negative voltage PA6 0 6 4 Function Debugging of Position Mode 6 4 1 Electronic Gear Ratio of Position Commands Electronic Gear Function is defined to the relative mechanical change gear When the gear is controlled the motor movement which is equal to the input command can be set to arbitrary value by adjusting the servo parameter regardless of the deceleration ratio of the machine and the resolution of the encoder Relevant Parameter parameter range PA29 Pulse pequency multiplication 4 32767 of position command PA30 PUSS frequency division of 1 32767 p position command It is very convenient to match the pulse sources by setting the parameters PA29 and PA30 so that a good distinguishability can be gained for the users mm pulse Actual load speed command pulse speed x G x mechanical deceleration rate The least actual load shift the least command pulse stroke x G x mechanical deceleration rate 95 Or JIS GS2000T Series AC Servo Drive Unit User Manual CF When the electronic gear ratio G is not 1 the remainder may induc
66. A61 corresponding optical coupler conducts when signal PSR is output see section 6 5 2 for details Valid range of zero speed output When the actual rotation speed is less than or equal to the valid rang corresponding optical coupler conducts when signal ZSP is output PA62 PA118 In case there is no SON input signal the motor is enabled in servo unit compulsively PA118 0 The motor is enabled only when the external input signal SON is on PA118 1 The motor is enabled in the servo unit compulsively signal SON is not needed PA122 0 When a servo unit alarm is generated ALM signal is output and optical coupler conducts PA122 PA122 1 When a servo unit alarm is generated ALM signal is output and optical coupler does not conduct PA124 It sets the running speed in JOG mode The running mode is set by PA4 Torque limit in Manual or Jog mode 0 300 PA125 Its setting value is percentage of motor s rated torque The motor s output torque is limited by it PA126 PA128 Default value of Select the I O state of speed i Run speed digit command SEC1 SEC2 O r min OFF OFF PA126 500 Internal speed 1 OFF PA127 100 Internal speed 2 OFF PA133 Internal CCW torque limitation 0 300 Internal CW torque limitation 300 0 It set the internal torque limitation value of servo motor CCW CW rotation and its setting value is PA134 percentage of rated torque In any mode two torque limitations are valid When t
67. C including the CNC The frequency and magnitude of the servo motor winding current can be controlled so that the speed or corner of the servo motor rotor approximates the speed or position command value and the error between the actual value of the servo motor rotor speed corner and the command value which can be gained by examining the encoder of servo motor The frequency and magnitude of the current flowing through the servo motor winding is continuously adjusted by the servo motor so that the error between the actual value of servo motor rotor speed or corner and command value which should be controlled within the required range The basic structure of the servo system is shown in Fig 1 2 Gr 13x I GS2000T Series AC Servo Drive Unit User Manual CNC equipment Control unit machine Feedback check i Fig 1 2 The basic structure of AC servo device gt The general concept of control Control It is called control that the process making the characters for example speed of the object for example servo motor reach or approximate the anticipated value and the former object is called as the controlled the character of the controlled object is regarded as controlled amount and the unit to be achieved which is called controllable unit the expected value command value of the controlled amount received from the control unit is called the given the controlled amount is assumed to the input of co
68. I GS2000T Series AC Servo Drive Unit User Manual CHAPTER FOUR DISPLAY AND OPERATION ccccccceeeeeeeeeeeeseneeeeseneeneeeneoaes 68 Al Operaton Ranea cee eee ee ee ee re 68 42 Menu DIS DIAY seesecassecncanteatetares dri ye vi tewew a E a aaa a i 69 HO tA MONON O esi a E E dees an qoute E ea E E E 70 4 4 Parameter Setting osscncc siete Steeped ovo a a eeonbyla tend Ueda eda tb entcee 72 AS Parameter Wanage Ment oerien a a eh ent eee es 14 CHAPTER FIVE DEBUGGING AW eccccccccceeceeeeeeeeneeeeeeeeeneeeesenscneseasonseeesonsenesensones 77 Sil Mandal JOG Operati NM enie a A A 78 RE Mandal TON ree ee a ee A ee ore 19 S2 JOO MMII secrete Serco pede halons Seiten daiscx NE Salada aleisecinand E Ei 80 5 2 RUNM SPEC WOU G wei ac oitas cs N ees ena eee a eee 81 5 2 1 External analog voltage command cccccccececeeesseceeecuecceecceeceeesaeeceeeauesaeesaeenaes 81 5 2 2 Internal SOECSE COMMEANG sieisen e a daccuuiveaciededeiont uel a aer 83 59 RUNIN POSION MOGO asocia a E E T ie eine naaeedseide 85 CHAPTER SIX FUNCTION DEBUGGING ssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnne 88 6 1 Basic Performance Parameter Debugging c ccccceccceeceeeeae cece eeceeeeeeeeseeeeseeseeeeaeeeseees 88 6 2 HOLD Release Signal Application cccccceccseccseeeeeeeseeeeteeceeceeeeeeeseeesaeeegetseeteeeseeeaeeees 90 6 3 Switching the Motor Rotation Directions ccccccccccceccceecceeese
69. If the approved instruction is not observed it may cause the fire The servo drive unit protection terminal PE should be certainly grounded If the approved instruction is not observed it may cause electric shock If the remove wiring check or maintenance is required please carry them on after the power is turned off for 5min If this approved instruction is not observed it may cause electric shock It is necessary to fasten the power terminal and the motor output terminal If the approved instruction is not observed it may cause the fire Do not put the wet hand into inner of the servo drive unit If the approved instruction is not observed it may cause electric shock hazard Do not touch main circuit wiring terminal of the drive unit directly If the approved instruction is not observed it may cause electric shock hazard MI Or l CES E GS2000T Series AC Servo Drive Unit User Manual Danger It possibly starts up suddenly after the power recovering Do not operate the shaft connection equipment of the motor If the approved procedure is not observed it may cause the user injury Never attempt to put the cable on the sharp edge or make it heavy load or tension If the approved instruction is not observed it may cause electric shock malfunction and damage the machine itself Never attempt to prevent the thermodiffusion or put the foreign matter into the cooling fan an
70. JT M050D Speed r min 3000 2000 8 0 12 0 Torque N m 13 Gr 13x I GS2000T Series AC Servo Drive Unit User Manual Table 1 2 continuous Main technical parameters of 110SJT series 130SJT series motor 130SJT M 130SJT M 130SJT M 130SJT M 130SJT M 130SJT M 060D 075D 100B 100D 150B 150D ae pairs Rated current Rated current A speed torque oe m Max torque N eee Rated speed min 2500 2500 1500 2500 1500 2500 Max speed r min 3000 3000 2000 3000 2000 3000 Rotation inertia Kane 1 33x10 1 85x10 2 42x10 2 42x10 3 1x10 3 6x10 Weight kg Motor weight with safe Te T T brake kg Insulation grade F GB 755 2008 Vibration grade R GB 10068 2008 Guard grade IP65 GB T4942 1 2006 Installation type IMB5 flanged installation GB T 997 2008 IEC 60034 7 2001 Working hour S1 continuous working GB 755 2008 Adaptive encoder Incremental 2500 p r 5000 p r absolute encoder 17bit single circle or multi circle The following is torque character diagram T M of one rotation of the servo motor A continuous working area B short time working area 1308S JT MO60D 1308S JT MO75D 130SJT M100B Speed r min Speed r min Speed r min 3000 2000 1500 2000 1000 500 0 6 0 12 0 18 0 0 7 5 15 0 22 5 0 20 0 30 0 Torque N m Torque N m Torque N m 130SJT M100D 130SJT M150B 130SJT M150D Speed r min Speed r min Speed r min
71. MDR series products according to the signal interfaces uses the servo drive unit with D SUB interfaces provided by WIESON which is the D SUB product allocated with an incremental motor and without GSK CAN bus uses the drive unit with high density interface provided by 3M which is the MDR product be compatible with absolute encoder motor and with GSK CAN bus GS series AC servo drive unit appearance D SUB D SUB products of GS series AC servo drive unit GS2025T NP1 GS2030T NP 1 GS2045T NP1 GS2050T NP1 GS2075T NP1 GS2100T NP1 which are adaptive to incremental encoder motor Or 441 3x I GS2000T Series AC Servo Drive Unit User Manual oe T A Parameter serial No and value D increasing r AA Parameter serial No and value LED monitor window A decreasing 6 as2000 Modified data digit for cycle Can monitor run states modify and peed E See Bae A i WH Q movement manage parameters j Return to the
72. NC 70 C temperature Humidity 30 95 no condensation Transportation humidity Atmosphere The control cabinet should be free of the corrosive gas condition flammable gas oil mist and dust Altitude Below altitude1000m Vibration lt 0 p 0 6G 5 8m Qm s a 86kPa 106kPa pressure lt 95 40 C 29 Or M1 3x I GS2000T Series AC Servo Drive Unit User Manual 2 2 1 Installation dimension installation dimension 90 e A _ a tl a l SAET E GSe000 ay HA flf eL AC Servo Motor Drive Unit Jlo lo o I CHARGEO POWERO 178 0 25 190 ee rO ee te a H HEY oo 6 7T8 0 2 Fig 2 5 GS2025T GS2030T GS2045T installation dimension unit mm Aomin ANANN Ni vyv _ lt CHARGEO POWER 218 0 25 Fig 2 6 GS2050T installation dimension Cunit mm 30
73. ON The motor rotates CCW or SRV is ON the motor rotates CW PA51 1 SFR is ON The motor rotates CW or SRV is ON the motor rotates CCW Analog command gain ein Rated speed of the motor corresponding PA52 300 to 10V analog voltage is set by PA52 PA52 250 The different motor has different rated speed So PA52 value should be set based on the motor type Example Rated speed corresponding to GSK110SJT MO60D Ac is 2500r min so PAS2 250 10V command corresponds to motor run speed 2500r min 5V command corresponds to motor run speed 1250r min 1V command corresponds to motor run speed 250r min PA52 75 0 81 Or 41 Bx F GS2000T Series AC Servo Drive Unit User Manual 3 Basic debugging operation 1 The required parameter set is completed the parameter write in operation is performed Refer to the EE SEE operation in parameter administration in section 4 5 2 The least analog command is set and the SON is ON and then the motor runs with the command PA6 0 analog command 10V 10V is valid such as the input analog command n r min SON ON OFF controls the motor s start stop the command does not change the motor s direction reverses PAS1 value can be changed r min A n Analog n 0 gt Drive enable SON OFF Ready SRDY OFF n PA51 0 speed 0 PA51 1 speed O0 N Fig 5 1 Motor run time sequence when PA6 0 When PA46 1 analog command 0 10
74. PE oats Fig 3 15 Connection diagram of GS series MDR servo drive unit signal wire The signals with in the above figure is necessary connection ones 1 Exterbak specified DC 15V 24V switch power should be not less than 35W 2 PA6 2 SEC1 SEC2 are valid and are the internal speed selection signals PA6 1 SFR SRV are valid and are CCW CW start signals 3 B1 and B terminals must perform the short circuit when the drive unit is not matched with the resistance externally B1 and B must disconnect when the drive unit is matched with the resistance externally 4 OH is not connected when there is no temperature sensor in the servo drive unit 5 The metal shell of each interface must be connected with PE which is taken as the bonding point of the shielding wire 65 Or 441 3x I GS2000T Series AC Servo Drive Unit User Manual 3 6 2 Connection in position working mode Connection of D SUB servo drive unit in position working mode
75. V is valid SFR SRV is separate rotation CCW CW start signal The motor does not run when the analog voltage is negative which is shown below r min n Analog command n O0 t SFR OFF ON OFF ON OFF SRV PA51 0 r min PAS1 1 r min 0 Fig 5 2 motor run sequence when PA6 1 t1 t2 is motor s acceleration deceleration time The bigger the motor s load inertia is Ga he longer the acceleration deceleration time is 82 Chapter Five Debugging 3 Enlarge the analog command gradually and improve the operation speed of the motor step by step at this time monitor whether the vibration and noise are generated the speed is stable and whether the motor current exceeds the rated value when the motor runs Observe the current of the motor by monitoring dP The displayed current value may not exceed the rated one of the motor in the normal state 4 When the motor runs from zero speed to the positive top speed or from the zero speed to the negative maximum speed normally the user can debug other functions The abnormities and troubleshootings are shown below during in the mode of analog command speed No Abnormity during debugging during debugging L Troubleshooting ba an ass uote motor rotation direction is I anoa E to Section 6 3 Switching Motor Rotation not consistent Direction The motor occurs vibration Ensure the shield wire is connected correctly noise and other abnorm
76. ae This user manual describes all proceedings concerning the operations of GS series AC servo products in details as much as possible However it is impractical to give particular descriptions for all unnecessary or unallowable system operations due to the manual text limit product specific applications and other causes Therefore the proceedings not indicated herein should be considered impractical or unallowable AE this user manual is the property of GSK CNC Equipment Co Ltd All rights are reserved It is against the law for any organization or individual to publish or reprint this manual without the express written permission of GSK and the latter reserves the right to ascertain their legal liability Or 441 3x I GS2000T Series AC Servo Drive Unit User Manual Foreword Dear user Its our great pleasure for your patronage and selects our company products The capability installation connection debugging use as well as maintenance of GS2000T series AC servo drive unit are described in this manual In order to guarantee the product safety and the work can be effectively performed the user must read carefully the manual before installing and using the drive unit To avoid the injury of the operators and the others and the damage of the drive device please pay special attention to the following alarms before reading this manual A cancer Incorrect operation may result in death or severe injury A caution Operating the machin
77. al Refer to Section 6 1 Basic Performance conditions Parameter Debugging Check the command source mode and PAGO PA51 setting 2 Ensure the analog command input wire is connected correctly to avoid the reverse connection The motor can move little when 4 7 a Refer Section 6 5 1 Adjusting Offset OV is commanded 5 2 2 Internal speed command The motor only runs in one direction The required input signals described in the following table must be connected correctly Sequined signals COM It is a common terminal of input points and is an input terminal of the controllable power supply SON Servo Servo enabling signal can independently control the motor s enabling signal can independently control the motor s enabling ere selection 1 SEC2 Speed selection 2 2 Ensure the wiring is connected correctly all input signals are OFF and the power supply is ON then required parameters are set 83 Gr 13x I GS2000T Series AC Servo Drive Unit User Manual P A i e tee E Select internal soeed command seems be H Digital command I O state of selected speed Run speed o ea o ore Prr o ona opnd2 0N OFF 8 Basic debugging run 1 After the required parameters are set the parameter write in operation is executed refer to Section 4 5 Parameter Management EE SEt Operation Explanation 2 Ensure the input signals SEC1 and SEC2 are OFF When SON is
78. also be checked under menu remedies for troubleshooting pre e Motor speed exceeds the setting value of parameter PA54 Main Reason abnormal 1 The encoder feedback signal is dP Err This section also offers Remedy Check the motor and encoder and their signal connection state 2 Parameter PA54 peak speed limit is set too small or encoder lines setting is smaller than the encoder lines 3 Control panel fault Main circuit DC bus voltage is excessive resistance value is excessive Note Smaller greater current which will cause damage to the braking pipe of the braking circuit 1 Braking resistor is disconnected or damaged 2 Braking resistor is unmatched resistance means Change a servo drive unit actual Change a servo drive unit Check braking connection resistor and its A Change to a new braking resistor whose resistance is matched with the power B Reduce the ON OFF frequency according to actual usage C Increase acceleration deceleration time easily 111 Qr 8x4 GS 2000T Series AC Servo Drive Unit User Manual GS2000T Series AC Servo Drive Unit User Manual 3 Power supply voltage is instable Check the power supply 4 Internal braking circuit is damaged Change the drive unit Main circuit DC bus The input power capacity is voltage is too low aes which leads to low voltage Check the power capacity and electrical control ca
79. apter Eight Abnormality and Troubleshooting 2 Refer to Appendix II Motor Model Code Table The default parameter of the motor is check PA1 setting Please set again when the setting is wrong Execute EE dEF recover the default 3 The setting of analog command gain is too The analog command gain should be low PA52 modified 7 The motor cannot The motor can stably run in Manual mode 1 The mechanical is fault to check whether run stably and its the drive part is blocked speed wave is 2 The input command is interfered bigger strongly The motor should be far away from the interference source and the shield wire should be done well In Manual mode the motor still unstably runs 1 The setting of speed loop proportional and its speed wave is big gain is improper and PAS PA8 should be adjusted 2 The parameter setting is wrong Set the motor s default parameter again specially set the motor s poles and the encoder s lines 3 The motor s encoder is fault and the motor should be changed 8 The motor cannot 1 Check whether the acceleration deceleration The load inertia is more run stably and its time is too short when the motor start stop speed wave is 2 Check whether the parameter settings of bigger speed loop position loop proportional integral are big See Section 6 1 Parameter Setting 9 The motor is 1 Check the parameter of the motor model The default parameter of t
80. ase position relation of the position feedback output signals PA and PB is reverse which is shown below 90 PA34 0 PA34 1 po PL PBO l l 7 ah Output pulse quantity of 0 32767 position feedback When the motor s encoder signal is an absolute encoder one the output pulse quantity of position feedback corresponded to every rotation of the motor is set And the quantity is counted based on the command unit of the machine and the upper computer Example PA3 7 64 output pulse corresponding to one rotation of motor PAO _JIJ UU UL le ea Ie ial Te ect EE PBO l LI pig PARAST Las As the above figure PA37 value means the edge signal of the phase A B pulse is counted the drive unit counts one time when it receives one edge signal So PA34 64 means that PAO or PBO pulse quantity by the servo drive unit feedback outputting when the motor rotating one rotation is 16 Example PA37 10000 the actual position outputting the pulse quantity of phase PAO or PBO 10000 Pulse quantity of phase PAO or PBO 2500 pulse rev 55 Cr WB GS2000T Series AC Servo Drive Unit User Manual 3 4 Feedback Signal Connection 3 4 1 CN2 interface of GS series D SUB servo drive unit The motor s encoder feedback input interface CN2 of GS series D SUB servo drive unit is 25 pin socket and its connector is pin 25 male socket type G3151 25MBNS1X1 provided by WIESON Its pin definition is shown below Fig 3 6 pi
81. avy load improve the motor s radiating used condition 3 Check device of the motor s Change the motor temperature is damaged or the motor s internal is fault or radiating fan is damaged 4 Check signal of the motor s Change the drive unit temperature is normal and the control plate of the servo unit is fault Note Presently GSK s motor has no temperature sensor and default device of its drive unit has no alarm function for the motor s excessive temperature If necessary the user can contact with GSK s technical department Speed amplifier 1 U V W hase are connected r j i Connect correctly U V W saturation failure reversely Check the motor model code corresponding to PA1 and call correctly the motors default parameter 2 The motors default parameter is wrong or the motors characters are bad Increase the torque limitation value PA133 PA136 to increase its 3 The torque limitation is too small and the motor rigidity is not enough rigidity 4 The mechanical device connected Pecore tHe mece ule with the motor shaft is blocked which 112 Chapter causes the drive current is too big The drive prohibition is abnormal occurs when PA138 1 FSTP RSTP drive prohibition terminal is OFF input Position deviation 1 The electronic gear ratio of position counter overflow Cit command is set too large Eight Abnormality and Troubleshooting A Check the connection and 24V powe
82. ay unstable when the setting value is exceeded even the vibration may occur the smaller the value is the slower the response is The integral may reduce when the setting is small and the steady state error can not be decreased For example the orientation axis always swing the motor vibrates even the orientation comes to nothing when the motor is performed an orientation and the setting value of PA16 should be reduced When the user adjusts the value the value is increased or decreased 50 based on the default and then the user observes the result PA16 value range is 10 1000 88 Chapter Six Function Debugging The proportional gain of the speed loop and the integrate coefficient should be debugged proportionally based upon the detailed servo motor s type and loading Generally the bigger the load inertia is the smaller the setting value is In the case of the system vibration is not issued two parameter values should be set bigger as far as possible The response curve is generated by the step command with one inertia load for driving one motor Refer to the Fig 6 2 Curve 1 indicates that the speed step input curve is displayed when PA16 0 the motor characteristic is soft the dynamic response is slower and the bigger steady state error occurs Curve 2 indicates that the speed step input curve is displayed when the evaluation both PA15 and PA16 are suitable the motor s rigidity is moderate and the dynamic response is fast Cur
83. below GS servo drive unit model CAC servo motor model Example GS2030T NP1 110SJT M040D A2 Explanation for only ordering the servo drive unit the exfacotry parameters is based on the 19 Or 13x I GS2000T Series AC Servo Drive Unit User Manual servo motor allocation described in the brackets and the accessories are standard configurations see Section 1 4 3 GS2000T NP1 D SUB series products matched with SJT series servo motors Servo motor parameters _ OO Drive unit model Rated Rated Rated Rated 6 1 A A 5A IESENE IGOAZ aed Sooo mes 20 Chapter One Product Presentation GS2000T CA1 MDR series products matched with SJT series servo motors Drive unit model GS2030T CA1 Servo motor parameters O 75kW 4 8A 2 4N m 3000r min Absolute 17bit Rated Rated Rated Rated Motor model Encoder power current torque speed Absolute 17bit GS2025T CA1 80SJT mo24c A4l 0 5kw 3A 2 4N m 2000r min 050e tI multi circle 80SJT M024E A4I multi circle Absolute 17bit GS2030T CA1 80SJT M032C A4I o 66kw 5A 3 2N m 2000r minf oS multi circle Absolute 17bit GS2045T CA1 80SJT MO32E A41 1 0kW 6 2A 3 2N m 3000r min One 1 multi circle 110SJT MO40D A4l Absolute 17bit GS2030T CA1 1 0kW 4 5A 4N m_ 2500r GS2030T CA1 nosut mzosopiaan OW 45A Nm 2500rmin ne 110SJT MO6OD A4I Absolute 17bit GS2045T CA1 15kw 7A 6N m 2500r GS2
84. binet 2 When it occurs when the power is turned ON it means the servo unit Change a servo drive unit control panel is faulty The value in position 1 The pulse command frequency is Check the command frequency of deviation counter too high or the electronic gear ratio is principal PC check the electronic exceeds the setting too large gear ratio set by PA29 PA30 value refer to the 2 The load inertia is excessive or the 1 Motor parameter setting is wrong range set by drive unit torque is insufficient call motor s default parameter parameter PA32 2 Increase the drive unit and motor When PA137 0 power detects the position 3 Lighten the load deviation alarm when 3 Motor encoder fault or wrong Check the motor encoder and its PA13 1 does not encoder line number connection detects the position p 4 the motor U V W phase sequence deviation alarm Check motor wiring is wrong 5 The position loop or speed loop Adjust the speed loop or position loo gain setting is too small refer to J P ore p gain parameter PA15 PA16 PA19 6 The valid range of position deviation is set too small Set the PA32 correctly Alarm for the motor s 1 The motor loads for long time Reduce the load or increase the excessive temperature power of the motor and the drive unit Err 5 alarms when the motor s overheat 2 Start stop frequency is high with Reduce start stop frequency and protection function is he
85. cece eeceeeeseceeeeeseeeseeeeseeeseeees 93 6 4 Function Debugging of Position Mode ccccccccecccseecceeeeeeeeae cece eeceueeseeeseeeseeeseeeeseeeseees 95 6 4 1 Electronic Gear Ratio of Position COMMANGG ccccccceeecceeceeeeeaeeeceeeeaeeeseeesaues 95 64 2 Position Armival SION Al esin a a 96 64 PUISe Offset Clear CLE aineina testa sannpuneeacenaignans jucuanuuainanetrtaceniainene 97 6 4 4 Pulse command prohibition ONH oo cee ecceseccceeeeeceeeeeeeeeseeeeeeneeceeeeteneeseneeneneens 98 6 5 Function Debugging in Speed MOde cccccecccsecceeeeceeeceeeeeeeeseeeceueesaeeseeeseeeseueeseeeseeees 98 6 5 1 Analog Command AdjUStMent ccccccccecccaeeeceeeceeeeeeeeeeeeseeeeaeeeseeesseeeseeeseesaues 98 6 5 2 Speed Arrival SIQMAl 2 cccdsc5 sect dotzetendevncevedsnddcedectseesbebs suedboddndcs ddwetucbovandidtablacddaelleeeede 99 093 L00 specd Clam PING eaiseeti care accutane a a a ceuedesooeabaas 100 CHAPTER SEVEN PARAMETER srini EEE 101 Pal Farametor Tableu ia a a a a ova deeded 101 Chapter Eight ABNORMALITY and TROUBLESHOTTING asasassnnnnnnnnnnnnnnnnnnnnnn 109 8 1 Abnormality for Abnormal Operations ccccccccceccceeeceeeeeeeeeeeeeeeeeseeeseeeeseeeseeseeeeaneeaes 109 Orde Speed MOO eena T ive sanuevahaaivntesinaausenneaanaanaeains 109 O kA POSION MOJ Gunoi a N E R Ee 110 92 Alms and IRCMCCICS srsesrorsmindie Malesia a a A ET 111 8 3 Remedies for not Displaying Alarm Code
86. ction Rel t A li rs parameter GSK CAN commung baud 1 4 4 P S rate selection 1 baud rate is set to 500k 2 baud rate is set to 600k 3 baud rate is set to 800k 4 baud rate is set to 1M Servo drive unit slave number There are many servo drive units to perform the serial communication with the CNC system and a servo axis number corresponding to the CNC system is set to be convenient that the CNC controls some servo drive unit The servo drive units connected to the same CNC system must not set the repetitive servo axis number Note The servo drive unit connected to the GSK CAN communication bus must set slave numbers which must not be repetitive 63 Or 41 Bx I GS2000T Series AC Servo Drive Unit User Manual 3 6 Connection Sample in Working Modes 3 6 1 Connection in speed working mode Connection of D SUB servo drive unit in speed working mode
87. d the radiator If the approved instruction is not observed it may damage the machine itself or cause the fire Never attempt to operate the drive unit with power on when the cover board was removed from the terminal block If the approved instruction is not observed it may cause electric shock hazard The motor should be matched with suitable servo unit If the approved instruction is not observed it may damage the machine itself The load operation can be performed after the motor dry trial run is successful If the approved instruction is not observed it may damage the machine itself Never attempt to hold the cable or the motor shaft when the motor is being transported If the approved instruction is not observed it may damage the machine itself IV On load voltage class on each terminal must meet the one described in the user manual If the approved instruction is not observed it may damage the machine itself Please firstly eliminate the malfunction then run the machine after an alarm occurs If the approved instruction is not observed it may damage the machine itself Never attempt to operate the spindle drive unit if the components are lacked or damaged it is very necessary to touch the dealer immediately If the approved instruction is not observed it may damage the machine itself Safety Warnings A Caution Never attempt to connect the power i
88. e in the gear ratio division operation in this case the position error may occur the maximum error is the least rotation amount of the motor minimum resolution The operation of position electronic gear ratio is as follows S PA30 L ZD I CR Note Numerator should multiply 4 i e 4C when the count is executed for the incremental encoder lt G lt 50 G Electronic gear ratio the recommended range is 50 E C The resolution of the motor encoder L Screw lead mm ZM Gear quantity of the screw terminal in the case of the deceleration cabinet ZD Gear quantity of the motor terminal The system s least output command unit mm pulse I Command shift mm S Actual shift mm CR Frequency multiplication coefficient of PC command CD Frequency division coefficient of PC command Example The machine system is 988T its motor is directly connected with X axis screw 6mm lead the motor encoder is 17 bit absolute and the frequency multiplication and frequency division coefficient are not considered instead of calculating the electronic gear ratio of the drive unit the following description is the solution Answer the motor is connected directly to the X axis in this case the ZM ZD 1 usually S 1 the command shift is equal to the actual shift on the other hand when GSK988T uses 0 1u 0 0001 machining precision the least output command unit of X axis oe RE in diameter
89. e incorrectly may result in injured or flesh wounded as well as the loss in material Notice If the approved procedure is not observed it may result in the machine behaving unexpectedly The vital requests and important indications are indicated during operating lt means Forbiddance absolutely can not be done lt means Compulsion must be done II Safety Warnings A Danger To fasten each of the main circuit wiring terminal with appropriate strength If the approved instruction is not observed it may cause the wiring loose easily result in the fire Do confirm whether the input power is turned off before wiring If the approved instruction is not observed it may cause electric shock hazard Wiring or check should be performed by the professional electric engineer If the approved instruction is not observed it may cause electric shock or fire observed it may cause the equipment being damaged or electric shock Q If the approved instruction is not Do not operate the switch with wet hand If the approved instruction is not observed it may cause electric shock hazard Do not open the cover board of terminal block while the power is on or in moving If the approved instruction is not observed it may cause electric shock hazard Do not install the drive unit and brake resistance on the flammable objects and keep it away from the inflammable objects
90. e phase stator winding of the servo motor A rotation magnetic field is formed of this current in the servo motor and the servo motor rotor may be introduced a sensitive current based on the rotation magnetic filed the electromagnetic torque drive motor rotor rotation may create based on the interaction between the rotation magnetic field and the induction current The higher the current frequency of the servo motor winding is the faster the speed of the servo motor is the higher current magnitude of amplitude value of the servo motor winding is the bigger the torque torque force x arm length output by the servo motor is The main circuit frame is shown in Fig 1 1 and PG described in the figure is an encoder Position _ Speed comman comman Control sommes Se PWM wave celtics tesa ee drive sn tei UE te Rectifier Inversion modul P modul i PG 5 A A A nz aa i 7 ee ee ee a a E Ro e TE l o e po Z Pi i m E S TE A A A e En 4 ee 4A N See ie ei ee a le ee eS ee er ee E E Fig 1 1 Main circuit frame of servo drive unit gt The basic structure of the AC servo drive device The drive unit accepts the speed or position command of the control equipment It is also called P
91. e to absolute encoder without standby battery B adaptive to absolute encoder without standby battery used to circle count of memory absolute encoder when power off B adaptive to absolute encoder with standby battery Feedback encoder interface allocation code which is presented by one digit 1 means there is only the motor feedback 1 position feedback input interface CN2 2 means the motor feedback input CN2 and the 2nd position feedback input interface CN3 Chapter One Product Presentation Position feedback signal interface model and allocation table Feedback encoder interface model allocation explanation There is only the motor feedback input interface adaptive to incremental encoder and there is no the 2 position feedback input interface 2 There are two position feedback input interfaces adaptive to incremental encoder protocol which can be identified automatically and there is no the 2 position feedback input interface There are two position feedback input interface adaptive to incremental 2 encoder and absolute encoder be compatible with Biss and TAMAGAWA communication protocol which can be identified automatically There is only the motor feedback input interface adaptive to incremental and absolute encoder be compatible with Biss TAMAGAWA communication A B 1 2 3 Servo drive unit appearance GS series AC servo drive unit is divided into the D SUB and
92. e whether when a pulse the enable signal is connected or set PA118 command is 1 to enable the motor compulsively specified the motor 4 24V for the I O connection line Check whether the GND and COM ends are does not work 24V with a universal meter 5 When the command signal is connected Select correctly the serial resistance at single terminal the serial connection according to Section 3 3 3 Position current limiting resistance is wrong which Command Input for the single terminal maybe damage the servo drive unit and connection cannot receive the pulse Inappropriate setting of speed loop Restore the motor default parameter or proportional gain and integral coefficient manually modify the parameter according to PA15 PA16 Section 6 1 1 PA15 PA16 PA19 Inappropriate setting of position loop proportional gain PA119 Large motor 2 The command shield wire is not correctly Refer to Section 3 3 3 for the position running vibration connected which influences the speed command connection command 3 Mechanical dynamic balance connected The drive unit comes away the motor shaft to with the motor shaft is too bad or the linkage run the vibration disappears the linkage assembly at the motor shaft is improper assembly or the mechanical dynamic balance is adjusted again 110 Chapter Eight Abnormality and Troubleshooting 1 Electric gear ratio setting error Correct the electronic gear ratio accord
93. ed in normal condition When the drive unit has malfunction the Er alarm code may occur Refer to Chapter Eight Abnormity and Troubleshooting to settle the malfunction Necessar Meaning Parameter range Default Applicability e PA118 Internal enable The jog run is also operated by the operator panel which is same as the manual run The operation steps of JOG PA4 10 are shown below 1 The jr ODI is immediately displayed as long as the drive unit is ON which is a monitoring window of motor operation speed 2 Call out the corresponding default parameter of the servo motor in the drive unit the correct parameter PA1 should be set Refer to Section 4 4 3 Set PA4 10 to select the JOG operation Set PA124 500 the JOG speed is set to 500 r min 4 Set PA118 1 enforce the internal enabling Ensure that the motor axis rotates may not hazard before enabling Set PA118 0 the internal enabling is cancelled 5 Enter the JOG menu based on the left figure The previous parameter setting is omitted 6 Hold A the motor runs based upon the speed of 500 r min set by PA124 hold vv the motor runs oppositely set by PA124 release the button the motor stops at zero speed In jog run mode when the monitor window displays Jr rta no cno is displayed by pressing confirmation which means the dri
94. elerated speed is too large during starting or stopping 1 Motor runs for long time with the excessive rated torque Alarm for overcurrent 2 The grounding is bad 3 The motor s insulation is damaged Check the connector and signal wire welding condition Shorten the cable length within 30m Change a motor or encoder Change a servo unit Remedy for reason A is to change to a new drive unit Remedy for reason B is to check the correct the braking resistor connection It may be caused by external interference or poor grounding Check the grounding status and interference source The remedy for reason A is to change the motor line or the motor The remedy for reasons B C is to change the drive unit The remedy for reason A is to restore the motor default parameter The remedy for reason B is to increase the acceleration deceleration time lower down the accelerated speed or load inertia Reduce the load or change a motor Ensure the grounding resistor must Change a motor 113 Or l CES E GS2000T Series AC Servo Drive Unit User Manual Err 16 Motor s heat is Set correctly the drive _ unit s 1 The motor s rated current parameter overload nyt parameter according to the motor setting is wrong brand A Reduce the load B Change the drive unit and the motor with more power C Check if the mechanical part is abnormal Braking time is too 1 The input power voltage is exces
95. er the followed error is Add or reduce 5 once at the default value when the user adjusts then view the result Note that the solution range of PA19 is 25 60 89 Or 41 Bx I GS2000T Series AC Servo Drive Unit User Manual PA25 position loop feedforward gain PA26 position loop feedforward filtering coefficient PA25 adjusts the speed loop with the speed information of the position command the setting value is enlarged while the followed error is reduced the instantaneous overshoot and the vibration in the motor may easily occur Actually the PA26 is smoothly treated the position command forward control the bigger the setting value is the faster the step soeed command responds the position overrun and vibration can be controlled while the command speed changes suddenly When the speed is mutated the less the setting value is the less the result of feedforward control is the less the vibration caused by the feedforward control is Generally PA25 position feedforward gain and PA26 position feedforward low pass filter cut off frequency are not used possibly PA55 analog command filtering coefficient The less the analog command filtering cut off frequency is the stronger the interference signal Supression capability is the less the value is the slower the speed command responds and vice versa Increase or decrease 50 at every turn based upon the default value when the user adjusts and then observe the result Note that
96. erence drive connection and the single ended drive connection which is shown in the following figure Difference drive connection Pulse command input Drive unit PC Metal shell of interface 46 Chapter three Connection Single ended drive connection 4 7kQ in parallel with interference Drive unit PG V wa x PULST Cz Pulse command input mi i i les T a a _ PULST 4 7kQ in parallel with interference Sane PE ik Metal shell of i 2 2 222222 interface Ca NPN single ended drive connection y 4 7kQ in parallel with interference Drive unit 4 7kQ in parallel with interference b PNP single ended drive connection 1 It is recommended that the difference drive should be adopted or improve the F anti interference ability In the mode of the difference drive it is recommended that AM26LS31 MC3487 or similar to RS422 drive chip should be used 2 The operation frequency may decrease by using the single ended drive mode the circuit is input in terms of the pulse amount and the drive current is 10 mMA 15mA The maximum voltage 25V in external power is restricted and the resistance R is confirmed The empirical data are VCC 24V R 1 3 kO 2kQO VCC 12V R 5100 8200 VCC 5V R 00 The position co
97. g 2 10 Installation interval of GS2050T servo drive unit 32 Chapter Two Installation a ee F F F FFF F Wy Cabinet Wh A Cabinet 7 UMU nanii oo T Up gt 100 mm F pi D Wiring space D A Dl Gy D H 5 D D D D D Down il TOIL TOUT jf Fig 2 11 Installation interval of GS2075T servo drive unit Yy Cabinet ty LOT OCU DOM OO Ooo gt 100mm Up soeuns Bul 0 D D Wiring space CLES Down oOo G L WMMMM Mao Fig 2 12 Installation interval of GS2100T servo drive unit For installation interval of many servo drive units the more interval should be given as possible as during the course of actual installation to get the good heat dissipation condition I 1 1 1 1 4 Yv 33 Gr 13x I GS2000T Series AC Serv
98. gits 150 means its value is three digits 150x10 15 its unit is N m 3 oc means the digital code and some digit means the special shaft extension needs to consider the installation appearance figure of the motor Or 1B I GS2000T Series AC Servo Drive Unit User Manual 1 2 2 Servo drive unit model Name plate sample Motor model corresponded to factory parameter of servo drive unit Servo drive unit model Full Digital AC Servo Drive Unit Model GS2050T CA1 Software Version 1 05 lt Servo drive unit software version Adaptive motor 130SJT M150D A4I Input power supply 3 phase 220V 15 10 50 60Hz lt Factory date of servo drive unit Serial No EQ3DN00088 Date 2010 9 GSR Te l 020 83969288 Fax 81997083 O WA 2 US HT BE ZL Sy l actory serial No of servo drive unit Input power specification of servo drive unit Model explanation 6s 2 Loso Tt Lella oO w GS series servo drive unit G GSK S SERVO Voltage class code 2 220V 3 380V 4 440V Power component nominal current 3 digits means 025 030 045 050 075 100 Cunit A the leading zero cannot be omitted Adaptive motor model T adaptive to synchronous servo motor Y adaptive to asynchronous servo motor Communication bus code N no bus C GSK CAN bus L GSK Link bus Feedback encoder interface model code P only adaptive incremental encoder A adaptiv
99. gonality pulse max pulse frequency mode 1MHz Electronic gear of position Command pulse multiplier coefficient 1 32767 command pulse division coefficient command i Poe 0 005 adaptive 17bit absolute encoder 0 018 adaptive 5000 line incremental Orientation precision den encoder GS2o0500T NPo D SUB adaptive incremental encoder External speed mode Motor s feedback input GS2oooT CAo MDR adaptive absolute encoder compatible Biss two kinds of communication protocol of Tamagawa and incremental encoder GS2o00T NP2 D SUB adaptive incremental encoder GS2o000T CA2 MDR adaptive absolute encoder compatible Biss two kinds of communication protocol of Tamagawa and incremental encoder The 2 feedback input adaptive interface GS2o0500T NPo D SUB motor s feedback input signal 1 1 output i GS2oo00T CAo MDR division output of motor s feedback input signal Position feedback output motor rotating one rotation corresponding to feedback output pulse range 16 3276 7 GS2o000T NPo D SUB without communication bus Communication bus GS2o000T CAo MDR GSK CAN bus Servo enabling alarm clear CCW prohibited CW prohibited CCW started CW started zero speed clamped internal speed selection selection 2 17 Or W113 F GS2000T Series AC Servo Drive Unit User Manual O tb t sianal Servo ready servo alarm position arrival speed arrival HOLD release zero speed 7 outpu
100. hapter Six Function Debugging 1V 2 Then the motor stops after the offset amount is modified to OV by adjusting PA56 3 Lastly several soeed commands are specified separately such as 500r min 1500r min and 2500r min whether the motor s speed slope is consistent with the command based upon the motor speed displays by LED 6 5 2 Speed Arrival Signal PSR speed mode is a speed arrival signal The actual speed the command speed x 100 PA61 command speed x 100 PA61 the output optical coupler of the signal is conducted Relevant Parameter parameter range PA61 Speed arrival valid range O 100 10 Example Set PA61 to 10 which indicates 10 of a command speed When the actual speed is accelerated or decelerated to 900r min 1100r min and the specified speed has been set to 1000r min the speed arrival signal PSR is output which is shown below r min The hatched r min The hatched area is PSR area is PSR signal output signal output area area 1000x 14 10 a rmY s rans 1000x 1 10 1000 1000 1000x 1 10 m FOr OR Or OO 1000x 1 10 Accelerate to 1000r min from the speed less than 1000r min Decelerate to 1000r min from the speed more than 1000r min When the command speed is 1000r min r min r min 0 0 1000x 1 10 K 1000x 1 10 1000 1000 1000x 1 10 H gt x 1000x 1 10 gt SD
101. he 0 042 24V DC gt 40W Ce a O o j oe oae w gt The connection of socket s pin of encoder s signal is referred to Section 3 4 43 Gr 13x I GS2000T Series AC Servo Drive Unit User Manual 3 3 Connection of Control Signal 3 3 1 CN1 control signal layout CN1 signal layout of GS series D SUB products Control signal interface CN1 of GS series D SUB products is 44 pin female socket and the connector for the control line is 44 pin male socket type G3101 44MBNS1X1 provided by WIESON Its pin definition is referred to the following diagram O 16 SIGN O l SIGN PZO 31 O iy Pulse command input Position feedback PZ output Q 9 PULS 39 QO PULS PZO O 12 PBO te a O 3 PBO Position feedback PB pulse output Digital grounding DGND 2 19 e 4 PAO Position feedback PA pulse output 34 O PAO SEC1 CLE QO O 20 SFR CCW rotation start input veed T i 35 O 5 SRV CW rotation start input peed selection or pulse command prohibition input SEC2 INH Q A 2 Ne 7 O 6 NC Alarm clear input ALRS O O 22 FSTP CCW drive prohibition input 37 i RSTP CW drive prohibition input Zero speed clamp input ZSL O O 23 SON Servo enable input m O 8 NC NC O 9 reference grounding Buc 1 39 SLM xternal power supply input 15 24vpc COM D 25 a OLDE O 10 ALM 40 D ae Servo ready output SRDY O O 26 NC eo oe Pa O 11 HOLD Som a PSR O 97 ae Hold control signal output O 49 O 12 NC Zero speed signal output ZSP O O 28 NC js O
102. he motor is overheat code wrong 2 Check radiating passageway The motor is blocked by other abnormal things 3 Check the environment temperature The environment temperature is too high the radiation devices should be added or improved 4 Check the load state whether it exceeds the The load is too weight and it should be 10 The motor 1 Check whether the speed loop the position The default parameter of the motor is noise 2 Check whether the analog command or the The input command is interfered strongly position command is interfered The motor should be far way from the interference source and the shield wire should be done well 3 The motor comes away the load to check The load has other abnormal to block the 4 Stop the run at high speed to check whether A The bolt to fix the motor releases 11 Motor rotates Check the compensation parameter PA56 of Not execute proper zero drift compensation even if the speed analog command zero drift command is OV 117 Or WB F GS2000T Series AC Servo Drive Unit User Manual 8 4 Inspection and Maintenance Do NOT use resistance meter or the like to make insulation inspection to the servo unit otherwise the servo unit may be damaged Do NOT dismantle or repair the servo unit by yourself Change the encoder backup battery half yearly Make sure that the average load rate of drive device is below 80 p ltem Period Daily Maintenance Ma
103. he setting value exceeds the system s permissive max load the actual torque limitation is the multiple of the system s permissive max load PA135 External CCW torque limitation O 100 100 106 Chapter Seven Parameter P Position Control Mode S Speed Control Mode Parameter Ranae Default Applicable No g Value Mode External CW torque limitation 100 0 PA136 It sets the external torque limitation of servo motor CCW CW rotation When the input point CCW torque limitation FIL is ON PA135 is valid when the input point CW torque limitation RIL is ON PA136 is valid When the setting value exceeds the system s permissive max load the actual torque limitation is the max load of the system permissive max load ponevano a a O In Position mode the servo drive unit outputs Err 4 position deviation alarm when the following error PA137 exceeds PA32 setting range PA137 0 do not check position deviation alarm PA137 1 check the position deviation alarm Drive prohibition function selection O 1 1 PS PA138 0 drive prohibition function is invalid PA138 PA138 1 when FSTP is OFF the servo motor rotation CCW is prohibited when RSTP is OFF the servo motor rotation CW is prohibited When FSTP and RSTP are OFF simultaneously the Err 7 fault occurs Open phase alarm check sslecion or f o f f When the 3 phase input power supply lacks one phase the servo drive unit outputs Err 21 open phase PA139 alarm P
104. hen the position following error is less than or equal to the setting Position value of PA31 it means the position diference is reached and position reached signal COIN outputs ON otherwise COIN outputs OFF PA32 In position model when the position following error exceeds the value set by parameter PA32 an alarm is generated Refer to Section 8 2 Err 4 for remedy relationship of CN1 position feedback w p OR Position feedback output is reversed ot OT P S PA34 0 maintain the original PAO PBO phase output signal a PA34 PA34 1 reverse the relationship between phases PAO as 1h Lf ere PA PB of position feedback output signal Shown is the following figure Multiplication frequency coefficient of position output pulse reserved It is valid when the position feedback input signal is an incremental encoder signal PA35 Set the pulse quantity of output position feedback signal PA PA PB PB of the servo drive unit When it forms the position closed loop system with the PC the position feedback signal of CN interface outputting to PC executes the electronic gear ratio change which can meet devices with different gear drive ratio or screws with different pitch Division frequency coefficient of position output pulse PA36 It is valid when the position feedback input signal is an increment encoder one The parameter usage is referred to PA35 When the setting requirement of p
105. ill be changed after the user modifies the parameter When the modified parameter is not the required or arranged disorderly executing the parameter read in operation can read the data into EEPROM area to the memory and recover to the parameter which is the one when power on EE bA parameter backup The parameter in the memory is written into EEPROM backup area which function can avoid modifying the parameter by mistake not to return to the previous parameter Firstly backup the parameter after the user debugs the motor s performance EE rs recover backup Parameters in EEPROM backup area is read into the memory The parameter value is written in again otherwise it is the previous value after power on again EE dEF export default It means the defaults of revenant parameters of some motor is read into the memory and written into the parameter area of EEPROM and they are used when power on again refer to Section 4 4 Parameter management operation Parameter write in Parameter read in gt SEAr kt F In ISH ee Parameter backup Recover backup Recover default 75 Or l CES E GS2000T Series AC Servo Drive Unit User Manual Parameter write in operation example Power on Press it twice 76 A Press it five times Od _ Cc Hi l _ e uan ILI V Modification IICA The data is modified and 0 1U U digit p
106. in definition is shown below eh To Lf Rod OB Soest 4 b Od Ae FO Zee fT 1 kasono 2 2 Fig 3 7 pin layout of CN2 wiring socket bonding wire side Nn eae Meaning Pin No Name Meaning Input terminal of motor s BAT3V6 It is connected with the anode sensor an 3 6V E It is connected with the incremental encoder feedback signal Absolute encoder feedback 57 Gr 41 Bx I GS2000T Series AC Servo Drive Unit User Manual Pin 1 13 is compatible to the incremental encoder s interface the interface layout method is referred to Section 3 4 1 and OH CN2 1 is used to connect the overheat checker in the motor the interface layout method is referred to Section 3 4 1 Pin 23 26 are the absolute encoder feedback signals the input circuit of the absolute encoder feedback signals uses the 4 channel difference which meets the standard ANSI EIA TIA 422 B and RS 485 which wiring scheme is shown below 3 4 3 Connection of motor s encoder feedback input The following figure is the standard connection of GS series D SUB product connected with SJT series incremental encoder motor Please refer the following standard connection when the user uses other manufacturer s motor or the customized encoder wire SJT series servo motor s encoder socket is 15 pin aviation socket which is used to make the Signal wire eee
107. ing to Section 6 4 1 2 External interference causes the received pulses inaccurate Inaccurate control position 3 When the pulse command is input the drive unit is connected to single end the current limit resistance is not connected in series correctly 4 Machine connection failure The load inertia The acceleration deceleration time corresponding to PC commands are too small The motor hunts IS greatly during start or stop great 8 2 Alarms and Remedies When the command pulses are less than pulses displayed on dP tPo is external interference Use difference circuit as far as possible Connect the shielding line correctly Keep far away from the interference Source Add first order filtering Refer to the position command wiring diagram in Section 3 3 3 it means there RC circuit for wave When the command pulses equal to the pulses displayed on dF CPO the pulses after electronic gear ratio calculation it means the system controlled side is normal Check whether the machine connection is loose or faulty Increase the acceleration deceleration time for smooth start or stop or reduce the position loop proportion gain The servo drive unit is provided with multiple protection functions When a fault is detected after power on the servo will stop the motor and will be displayed on the operation panel The alarm code can
108. intenance Abnormal odor Every day PTOpOPY emnat the odor in time If it is caused by p Electric Dust vapor and oil Once every month Remove it with in clean cloth or filtered environment Power cable Once every half year When the external insulation layer and insulation connection joints are damaged or aging make a replacement soon tighten the loose connection terminals with screw driver Radiation fan Once every week Check whether the wind speed and ventilation Dem e amount is normal and whether the abnormal heating exists Change the fan if any Servo drive PARERE z cooling plate high pressure air gun Loose screw Once every half year Tighten the terminal strip connector and al ails installation screw with screw driver Noise vibration Every day When the noise or vibration is obviously greater than usual check the machine connection and repair it Radiation fan Once every week Check whether the wind speed and ventilation amount is normal and whether the abnormal heating exists Change the fan if any Servo motor Dust vapor and oil Once every month Remove it with dry clean cloth or filtered ee S ngureaue sgn Measure the Once every half year Measure it with a 500V resistance meter When the insulation resistance is below 10 MQ please contact our terminals resistance technical personnel Motor and load Once every half year Check the device wear status connection and connection sundries wi
109. into D SUB and MDR products according to different control signals the D SUB products are allocated with incremental encoder motors without GSK CAN bus the MDR products are allocated with the absolute encoder motor with high precision and GSK CAN bus The user selects the motor according to the motor s precision when it orders 11 Or 1 Bx I GS2000T Series AC Servo Drive Unit User Manual 1 3 Technical Specification 1 3 1 Servo Motor Technical Specification Table 1 1 Main technical parameter of 80SJT series motor aay 80SJT M024C 80SJT M024E 80SJT M032C 80SJT M032E 0 75 0 66 1 0 Rated power kW 0 5 Pole pairs 4 ero speed torque 7 2 4 8 N D IN Co S9 N w o o NINI N 5 3 2 NI N N gt Rated speed r min 2000 3000 2000 Max speed r min 2500 4000 2500 3000 4000 1 23x10 Rotation inertia kg m 1 23x107 Installation type IMB5 flanged installation GB T 997 2008 IEC 60034 7 2001 Working hour S1 continuous working GB 755 2008 Safe brake Adaptive encoder Incremental 2500 p r 5000 p r absolute encoder17bit single circle or multi circle The following is torque character diagram T M of one rotation of the servo motor A continuous OO Ol working area B short time working area 12 Da JT M024C 80S JT M024E Speed r min Speed r min 4000 3000 3000 2000 2000 1000 5 0 7 5 0 5 0 7 5 Torque N m Torque N m 8
110. ion type the installation direction should be perpendicular to its surface For heat dissipation the face of the drive unit is its front and the top 31 Gr 41 3x I GS2000T Series AC Servo Drive Unit User Manual is upward when installation To avoid the environment temperature continuously rising of the servo drive unit the convection wind in the electric cabinet blows to the radiator of the servo drive unit pa cabinet Z Goce 2 100mm YP S Mik N Wiring 7 space Vp tse P HHHHHHHHHHHEFRHH E Down VA Fig 2 9 Installation interval of GS2025T GS2030T GS2045T servo drive unit Canna G Uy a T LT 2 Up A gt 100 mm 3 ii Wiring space Down o Fi
111. ircuit in case of overload short circuit or undervoltage To fully exert the servo unit overload capability it is advised to choose the power distribution protection circuit breaker AC contactor is to control the ON OFF of the drive unit through electric protection circuit It can cut off the power once a system fault is detected to prevent the fault from expanding The following technical data table is for your consideration Servo drive unit drive unit GS2025T GS2030T GS2045T GS2050T GS2075T GS2100T eee ini a lt is6 6 lt Is7 5 7 5 lt Is10 10 lt I lt 15 15 lt I lt 29 current I A Rated current of breaker A AC380V Rated current of contactor A AC220V The breaker s rated current data described in the above table meets AC380V voltage class When the user has used 3 phase AC220V and do not need an AC isolation transformer the breaker should select AC220V voltage class and the rated current data should be consistent with the rated current class of the contactor NOTE B 3 Three phase AC filter recommended Three phase AC filter is a passive low pass filter The frequency range is 10KHz 30MHz It is used to suppress the high frequency noise from the power end of servo unit When other equipments are interfered by this noise the three phase AC filter is recommended 122 Appendix The following technical data table is for your consideration Servo drive unit drive unit 6820257 S2030
112. k unit see Fig 1 5 Therefore this is a semi closed loop control equipment of a machine position Driving machine Given t p n command osition Speed w comparison comparison gt feedback j feedback Fig 1 4 Full closed loop control equipment Driving machine command Speed comparison Fig 1 5 Semi closed loop control equipment PID control It is also called PID adjustment which is common calculation of control unit is treated the mathematical treatment for the input data given feedback P is proportional which is indicated that both input and output of control unit are composed of the linear proportional relation the bigger the proportional control coefficient is the more sensitive the system reacts the less steady state errors is it can not be eliminated The system vibration and unsteadiness may occur due to the excessive proportional control coefficient I means integral it is indicated that the input of the control unit is affected to the time integral output 3 Gr W113 F GS2000T Series AC Servo Drive Unit User Manual the input is gradually affected the output the bigger the integral time constant is the more steady the system is and the steady state error can be eliminated but the system may respond slowly D means differential it is indicated that the input differential input the changeable slope is affected to the output The differential control can be forecasted the error
113. le signal is input Check whether the SON connection is correct Check dr to see whether the enable signal is connected or set PA118 to 1 to enable the motor compulsively 4 FSTP or RSTP is OFF 1 Set PA138 0 when the drive prohibition function is not used 2 Check the correctness of SFR or SRV In analog command speed mode the motor does not work when a speed command is specified connection or check N to see whether the enable signal is connected reverse rotation In analog command 2 Command voltage is 0 10V PA6 Check the input state of SFR or SRV speed mode motor is set to 1 but the signal SFR or rotates A single SRV is invalid through and examine the signal direction connection to find out the reason 3 The command voltage is 0 10V When signal wires VCMD and VCMD are but the signal wires VCMD and connected inversely the motor rotates in single VCMD are connected inversely direction and the speed is uncontrollable Turn off the power immediately to check the signal wires 1 Improper speed loop gain setting Restore the motor default parameter or manually set the PA15 PA16 PA18 according to section 6 1 1 2 Incorrect shielding line Connect the line according to the connection connection diagram in speed mode described in section 3 3 2 3 Dynamic balance connected with Perform dry run without the motor shaft if the Large vibration occurs
114. lection Ensure that R S T PE P B1 B are If necessary use a multimeter to check the connected with U V W PE correctly circuit E that the wi f th tor d pana a E Refer to Section 3 4 in the user manual feedback signal are connected correctly Ensure that the screws of the main circuit terminal are fixed Use the screwdriver to check whether there is the loose position The power supply is turned on after the wires are connected correctly The power on sequence is shown below Power supply ALM 7s Not alarm Alarm SON OFF ON 4ms SRDY OF le ON OFF ON When the user uses firstly the drive unit the monitor window of motor s current is called After SON is ON the drive unit monitors real time the motor s current When the current exceeds the rated the enabling is OFF immediately wirings and parameter settings are checked otherwise the motor may be damaged 78 Chapter Five Debugging 5 1 1 Manual run A PE own After the drive unit is turned on r U U is displayed in a normal condition otherwise the alarm code Err is done Refer to Chapter 8 Abnormality and Troubleshooting Parameter Default Applicabilit Required parameter PA118 Internal enabling i 1 The U is immediately displayed as long as the drive unit is ON which is a monitoring window of motor operation speed 2 The servo motor correspo
115. ltage PA6 1 O 10V analog voltage PA6 2 Internal speed PA11 PA11 0 No communication PA11 1 Can bus communication Chapter Seven Parameter P Position Control Mode S Speed Control Mode Parameter Default Applicable M i R Unit No FARRS onge Value I Mode PA15 The bigger the speed loop proportional gain the greater the servo rigidity is However excessive value may easily lead to vibration abnormal sound in the motor during motor start or stop The smaller the value is the slower response is PA16 The greater the speed loop integral time constant value is the quicker the system responds However excessive value may lead to instability of the system or even cause vibration Smaller value results in slower response so set the value as great as possible on condition that no vibration is generated PA17 It is used to limit the current command belt and avoid current rush and vibration Set the value as great as possible on condition that on vibration is generated XK Speed feedback filter coefficient 10 4000 8 amp 0 Jo PA18 The greater the speed feedback filter coefficient is the quicker the speed feedback responds However excessive value may lead to electromagnetic noise Smaller value results in slower response larger speed fluctuation or even vibration PA19 The greater the position loop proportional gain is the quicker the response is and the greater the rigidity is However excessive
116. ly the servo drive device introduced in the manual does not accept the signal given from torque the torque control operation mode is not offered temporarily Position Speed Current controller controller controller adiustment a adjustment Las adjustment Position Speed feedback Current feedback feedback signal signal signal Power amplificatio position Fig 1 6 Tricyclic control system frame gt Servo drive unit performance index Servo drive unit dynamic response characteristic the reaction speed dynamic control error and stable control error of the servo drive equipment are performed when the specification or the load is changed Fig 1 7 is the response characteristic figure in which the servo drive device offers a step signal The actual line is given signal and the broken line is the output signal of the drive unit equipment same as below Chapter One Product Presentation C t Rmax t ece F 5 R t R E ee GRO E Fig 1 7 Servo dynamic response curve Rising time t It means that the time that the rotation output amount is risen from zero for the first time to 90 of steady state value R t and it also means the dynamic response rapidity Regulation time t The 5 of steady state value near to the step response curve steady state value R t is regarded as the allowance error area The required least time is the adjust time that the responding curve arrival does not
117. ly wheel diode is connected reversely 3 3 6 Position feedback output Position feedback signal processes the data from motor s encoder PG in the servo drive unit outputs the set pulse quantity to the upper computer by CN1 to meet the computer s position closed loop control functions GS series MDR servo drive unit is allocated with a motor with an absolute encoder can set PA3 7 and set the position feedback output corresponding to pulse quantity when the motor rotates one rotation and its setting range 0 32767 Output form Output signal name Function Difference PAO Encoder position feedback signal output PAO phase A Difference PBO Encoder position feedback signal output PBO phase B Difference PZO Encoder position feedback signal output PZO phase Z Connection layout is shown below X X 150Q J Q mMm h x T oO 5 J O O o X PAO PBO PZO High speed optical coupler x 100 2 K X PAO PBO PZO Drive unit AM26LS31 J jdno9je do peseds ubiu Lee The output wave is dived into two types 54 Chapter three Connection Standard mode PA34 0 Reverse mode PA34 1 t me i gt E E e Related parameter Default Applicable mode PA34 0 Maintain the original relation of CN1 position feedback output signal PA34 1 the ph
118. mmand input is divided into three modes set by PAS which is shown in the following table and the arrow described in the table means the counting edge 47 Or l CES E GS2000T Series AC Servo Drive Unit User Manual Standard mode PA28 0 Pulse command mode Pulse train direction CCW pulse train CW pulse train A phase pulse train B phase pulse train Pulse command mode Pulse train direction CCW pulse train CW pulse train A phase pulse trai B phase pulse trai tck PA5 setting value PA5 0 Command pulse direction PA5 1 CCW pulse CW pulse PA5 2 2 phase command pulse PAS setting value PA5 0 Command pulse directio PA5 1 CCW pulse CW pulse PA5 2 2 phase command pulse LETTI See ee ee eee Cee eee ELTETT eee Cee th 90 7 PULS 7 POTE ts trh tri SIGN cw trh tl b Time sequence diagram of CCW pulse CW pulse input interface max pulse frequency 1MHz 48 Chapter three Connection lt lt CCW trh tri CW c Time sequence diagram of 2 phase command pulse input interface max pulse frequency 1MHz lt ______ gt tgh tqck 90 N MA SA S PULS t ql 10 LL o ANIES SA a NA aaa Naaa aaa N tqs gt tas tarh tar 90 O OM S SIGN 10 Nf NN lt lt tar tqrh cew CW The following table shows the time sequence parameter of pulse input Difference drive input gt 1 gt 0 3 gt 0 3 lt
119. n layout of CN2 DB25 female socket bonding wire side 4 Fe Shielding grounding e me ov Encoders power supy Encoder s power supply oo HD Incremental encoder Ic fiw se Incremental encoder Incremental encoder as a ama Incremental encoder Incremental encoder Ve 21 U ae ee ce Incremental encoder Incremental encoder ae Mmo 2 Z eea Incremental encoder Incremental encoder Incremental encoder Incremental encoder ne men er Incremental encoder Pn ema B e Lon Raro terminal of motor The interface is only applied to the incremental encoder feedback signal and the signal wire uses the difference drive wiring scheme as follows Encoder Servo drive unit AM26LS32 X A B Z U V W 56 Chapter three Connection OH CN2 13 is used to connect the overheat checker in the servo motor to ensure the servo drive unit has the motor s overheat protection function and its connection layout is shown in the following figure OH must not be connected when the motor has no overheat checker po SSS SSS SS SS SS SS SS SS SS SS SS SS SS SSS SS SS SS eS a 5V Temperature OH 470 2 sensor of motor OV a I i yc te a 3 4 2 CN2 interface of GS series MDR servo drive unit The motor s encoder feedback input interface CN2 of GS series D SUB servo drive unit is 25 core socket and its matched encoder s wiring is 26 core socket type MDR10126 3000 PE provided by 3M Its p
120. n the high level The drive unit may not be performed stably due to the overadjustment PARLOR IZO O 1oy PAG PA55 X eomiman Q gt O Analog 10V 10V oii command filtering PA25 PA26 Forward orward gain filtering Current loop feedback eedbac filtering PAI8 coefficient DUBLULUOD asind ureB euoodod UOINSOd Quadruple frequency Fig 6 1 Basic performance parameter debugging User should call out the motor s default parameter in terms of the Appendix A corresponding to the type code of the motor when the motor is debugged If the abnormal case occurs such as the vibration noise stumble and not enough torque when the motor is operated and the basic performance parameter should be debugged Generally in the above figure the parameters of the speed loop should be adjusted firstly and the position loop is later PA15 speed loop proportional gain The bigger value the PA15 speed loop proportional gain is the bigger the servo rigid is vice versa However the vibration an abnormal voice in the motor may occur when the value exceeds too much at starting or stopping Add or reduce 20 at one time based on the default value when the user debugs the value and then observes the result Generally PA15 value range is 80 1000 PA16 speed loop integral coefficient The bigger the PA16 speed loop integral coefficient is the faster the response of the system is the system m
121. nding default parameter is called out from the drive unit and the correct parameter PA1 should be set Refer to Section 4 4 about the operation method A 3 Set PA4 9 and the manual mode is selected 4 Set PA118 1 enforce the internal enable Ensure that the motor axis rotation is not dangerous before enabling the internal enable is cancelled when PA118 0 5 Enter the manual menu in terms of left figure the previous parameter setting is ignored 6 Hold A the motor accelerates release the button the speed Acceleration Deceleration re m a j n S u n cha n g ed Hold the motor decelerates to zero and then it accelerates in opposite direction again In manual run mode when the monitor window displays Sr rd no Enb is displayed by pressing confirmation which means the drive unit has no enabling signal at the moment PA118 should be set to 1 when the monitor window displays is displayed by pressing confirmation which means the drive unit working mode setting is mistaken at the moment PA4 should be set to 9 In manual run mode when vibration noise occur the speed loop parameter such as PA15 PA16 PA18 should be debugged The concrete debugging method is referred to Section 6 1 79 Gr 13x I GS2000T Series AC Servo Drive Unit User Manual 5 1 2 Jog run After the drive unit is ON normally the ir U U is display
122. ne Remark pone signal line of servo drive unit are provided with CNC its standard length is 3m Connector plug DB44 pin socket 1set CN1 connector plug Encoder li f P li f e e na S dri GS2000T Series AC anes eas User Manual Servo Drive Unit User 1 piece Technical documents unit and Manual servo motor ms roe Provided only when it is rake resistor WI N oyi G800W15RJM 1 piece adaptive to GS2075T CA1 aluminium shell Se including 1m connection line Braranecictor wih Provided only when it is RXLG1200W10RJM 1 piece jadaptive to GS2100T NP1 aluminium shell or including 1m connection line Brake resistor with aluminium shell 22 Chapter One Product Presentation Order Name Model Quantity Explanation Connector plug DB44 pin socket set CN1 connector plug Connector plug DB25 pin socket set CN2 connector plug GS2000T Series AC User Manual Servo Drive Unit User 1 piece Technical documents Servo drive Manual unit without Brak ct th Provided only when it is servo motor i e B RXLG800W15RJM 1 piece adaptive to GS2075T CA1 aluminium shell ase including 1m connection line Provided only when it is RXLG1200W10RJM 1 piece adaptive to GS2100T NP1 including 1m connection line Connector plug DB25 pin socket 1 set CN2 connector plug GS2000T Series AC l User Manual Servo Drive Unit User 1 piece Technical documents Servo drive Manual unit and CNC Provided only when it is RXLG800W15RJM 1 piece
123. ng The chapter is mainly described the previous three steps so that the user can use the servo drive device easily Refer to Chapter 6 Function Debugging about function debugging depended on the different requirements of users T1 Gr 41 3x I GS2000T Series AC Servo Drive Unit User Manual 5 1 Manual JOG Operation Itis suggested that the user should perform the manual or jog operation wihtout the ies load when the user uses the drive unit firstly Ensure that the drive unit and the motor run normally after delivery vibration and installation Without load after the drive unit runs normally CN1 control signal is connected and the user debug and run the unit in the soeed mode or the position mode according to the requirements Perform the load run after the signal connection the parameter setting and the motor run are normal For manual jog run refer to Section 3 2 1 Main Circuit Connection Diagram of Servo Drive Unit to connect the drive unit and the motor and disconnect the motor and the load After the wires are connected correctly the items described in the following table are check before power on Check item Check method Ensure the specifications of the drive unit are Check the brands of the drive unit and the matched with that of the motor motor compared to the user manual Ensure the breaker contactor and isolation Refer to Appendix B Peripheral Equipment transformer are connected correctly Se
124. nput wires R S and T to the motor U V and W output terminals If the approved instruction is not observed it may damage the machine itself Never attempt to touch the motor and brake resistance as well the cooling equipments of the servo motor maybe the high temperature will be produced If the approved instruction is not observed the user may be injured Never attempt to modify disassemble or repair the drive unit privately If the approved instruction is not observed it may damage the machine itself Do not switch on off the input power frequently If the approved instruction is not observed it may damage the machine itself Do not adjust and modify the parameters extremely If the approved instruction is not observed it may damage the machine itself The internal parts of an abandoned drive unit was disposed as industrial waste and can not use repeatedly If the approved instruction is not observed it may cause accidents Gr 13x I GS2000T Series AC Servo Drive Unit User Manual Safety Responsibility Manufacturer s Responsibility Be responsible for the danger which should be eliminated and or controlled on design and configuration of the provided Servo drive unit and accessories Be responsible for the safety of the provided Servo drive unit and accessories Be responsible for the provided information and advice for the users User s Responsibility Be trained
125. ntrol unit which is affected the process of controlled amount is called the feedback check the unit of being controlled amount is called feedback unit The feedback can be divided into positive same direction and negative reverse direction based upon the controlled amount and the given direction output by the control unit The drive equipment is composed of the control unit controlled by the controllable amount the controlled object and the feedback unit Drive units can be divided into closed loop and open loop equipments in terms of whether there is feedback unit or not or the position of the feedback unit in the drive unit The closed loop control equipments introduced in this manual are all negative feedback In the AC servo drive equipment introduced in this manual the drive unit is control unit the servo motor is controlled object the motor speed the corner of rotor is controlled amount the servo motor encoder is feedback unit and the actual speed of the encoder motor detection is used for speed control to achieve the speed feedback Therefore the AC servo drive belongs to the close loop control equipment Open loop control equipment A feedback unit is not performed in control equipment and the actual value of controlled amount is not affected to the output of control unit For example the step motor drive equipment the rotor of stepper motor should be varied from the current phase sequence changes after the stepper motor drive uni
126. o Drive Unit User Manual CHAPTER THREE CONNECTION It is very necessary to check the following notices and the user should perform the connection in terms of the requirements for safety The wiring should be performed correctly by the professional and connected based on the relative specification The wiring and check should be performed after the drive unit is turned off for 5min by confirming the voltage of main circuit is safe with the multimeter otherwise it may be electric shock hazard Confirm the drive unit and servo motor grounding The cable can not be damaged by sharp object and strongly drew otherwise the electric shock or bad circuit connection may occur Do not put the main circuit wiring and the signal wiring through a same tube or mix them When the wiring is performed the main circuit wiring should be divided from the signal wiring more than 30cm or crossed for preventing the strong circuit caused an interruption to the signal wiring and then the drive unit can not be operated normally Do not turn ON OFF frequently because there is the high capacitance within the drive unit and the heavy charging current may occur after the power is turned on otherwise the internal main circuit parts capacity may reduce due to the power is turned on off frequently so the shifting between ON OFF should be performed up to 3 minutes The equipments such as the power capacitance surge absorber and wireless noise filter which can not be
127. oint is ON 1e digit point is OFF Press it twice F N n lhe data is modified and 0 a C CeO SEE z 3 seconds StArt Fi ni SH Fig 4 4 parameter write in operation step Chapter Five Debugging CHAPTER FIVE DEBUGGING Here is introduced the debugging method about the servo drive unit according to the working mode set by PA4 in the following table Relevant Parameter Applicable 1 Name Unit Default PP parameter range mode Sl O PA4 0 position mode The rotation direction and angle of the motor are assigned by the digital pulse or data communication the drive unit rotates the motor s rotor which is performed in terms of the specified direction and speed Its angle position and speed can be controlled PA4 1 speed mode The rotation direction and speed of the motor are assigned by the analog voltage or data communication the drive unit rotates the motor s rotor which is performed in terms of the specified direction and speed PA4 9 manual mode Inthe S menu the acceleration or deceleration can be performed by pressing A and W PA4 10 JOG mode In the menu the CCW or CW operation can be performed by pressing A and W at the set JOG speed by parameter Generally a new drive unit should be performed by 4 steps which are shown below Correct Parameter Basis debugging gt Function wiring setting debuggi
128. on Mode Firstly refer to Section 3 6 2 Connection Diagram and the required input signals described in the following table must be connected correction of the controllable power motor enable in position mode PULS Position command input DULS Input mode 1 pulse direction SIGN 2 CCW pulse CW pulse SIGN 3 Orthogonal pulse A B phase 2 Ensure the wiring is connected correctly all input signals are OFF and the power supply is ON then required parameters are set Required parameter Parameter explanations PA4 0 select position mode Electronic gear function of position command PA29 is multiplication coefficient of pulse command PA30 is division coefficient of pulse command Set the electronic ratio of position command to match with all kinds of pulse commands The computing formular of electronic gear ratio is shown below I CR PA29 L ZD S Refer to Section 6 4 1 about computing method Position command pulse mode selection PA5 0 pulse direction PA5 PA5 1 CCW pulse CW pulse PA5 2 two phase orthogonal pulse input Refer to Section 3 3 3 Position Command Input 85 Gr 13x I GS2000T Series AC Servo Drive Unit User Manual Position command direction being reverse PA28 0 keep previous command direction PA28 1 put pulse command direction being reverse Refer to Section 6 3 3 Basic debugging operation 1 The required parameter setting is finished and the pa
129. osition feedback outputting pulse gear ratio is PA362PA35 When PA36 lt PA35 PA PA35 output is executed 104 Chapter Seven Parameter P Position Control Mode S Speed Control Mode Parameter Default Applicable M i R Unit eaning ange aca ni Mode No Pul tity of ition feedback See a oe res Moree ten ETOT 10000 Pulse P S output When the motor encoder signal is an absolute encoder one the position feedback output pulse quantity corresponding to the motor per rotation is set It is calculated according to the machinery and the PC s command unit Example PA37 64 correspond to output pulse of the motor s one rotation PA37 e El a OT i Ba i Gl As the above figure PA37 value means to count according to the edge signal of A B phase pulse i e one time is counted when one edge signal is received So PA37 64 means the pulse quantity of servo drive unit outputting PAO or PBO is 16 when the motor rotates one circle Example PA37 10000 the actual position outputting PAO phase or PBO phase quantity is 10000 Pulse quantity of PAO phase or PBO phase 7 2500 pulse rev When the analog speed command is valid the motor rotation direction is reversed When external analog voltage range is 10V 10V PA6 0 PA51 0 Positive voltage corresponds to motor CCW rotation negative voltage corresponds to motor PA51 CW rotation PA51 1 Negative voltage corresponds to motor CCW rotation positive voltage corresponds
130. output XX e T t ay L Ka PE Fig 3 14 Connection diagram of GS series D SUB servo drive unit signal wire The signals with in the above figure is necessary connection ones 1 Exterbak specified DC 15V 24V switch power should be not less than 35W 2 PA6 2 SEC1 SEC2 are valid and are the internal speed selection signals PA6 1 SFR SRV are valid and are CCW CW start signals 3 B1 and B terminals must perform the short circuit when the drive unit is not matched with the resistance externally B1 and B must disconnect when the drive unit is matched with the resistance externally 4 OH is not connected when there is no temperature sensor in the servo drive unit 5 The metal shell of each interface must be connected with PE which is taken as the bonding point of the shielding wire Connection of the MDR servo drive unit in speed working mode 64 Chapter three Connection
131. overstep the error area It is measured the regulation processing speed of the equipment Overshoot o It indicates that the speed output amount exceeds the rate between maximum speed D value Rmax t R t and stationary state value R t it reflects relative stability of a servo device and it also can be expressed by the percentage that is R riar t T R t o x 100 Steady state error The D value of the equipment between the expected output steady state value and the actual output value are performed after the equipment response is entered to the rotational speed Servo drive equipment static capability In the drive control equipment it is very important to stability The steady state capability index of servo drive equipment is a positioning accuracy to be exact the different degree between the actual and expectative states are generated when the device transition is ended The reasons affecting the servo drive device steady state accuracy is both the errors of the position measure device and the system error which is regardless of the structure and parameter of the system The position servo static curve is shown in Fig 1 8 Or W113 F GS2000T Series AC Servo Drive Unit User Manual A Command j position Trace response O D 9 L gt Servo lag t gt lt Fig 1 8 Position servo static curve Follow error It is indicated that the position difference
132. plexed by SEC1 and SEC2 in position working mode PA6 2 SEC1 SEC2 are valid and are the internal speed selection signals PA6 1 SFR SRV are valid and are CCW CW start signals 3 B1 and B terminals must perform the short circuit when the drive unit is not matched with the resistance externally B1 and B must disconnect when the drive unit is matched with the resistance externally 4 OH is not connected when there is no temperature sensor in the servo drive unit 5 The metal shell of each interface must be connected with PE which is taken as the bonding point of the shielding wire 66 Chapter three Connection Connection of MDR servo drive unit in position working mode 3 lt l 7 Servo motor Single or 3 phase KMI O AC 220V P Bl B o J o OR U O B 2 o oo vO 2 P Popularized AC Servo 1O gt t 7 Drive Unit PE E ower earth O PE PEO gt 1 gee wire L Or seen ot 1 OH itt 4 i ito CNI 16
133. pter Two Installation CHAPTER TWO INSTALLATION 2 1 Servo Motor 2 1 1 Installation Dimension of the Servo Motor gt Outline installation dimension and connection of 80SJT series motor referred to Fig 2 1 Table 2 1 A _ AF 3 H i Ms pe AE pda VS eet E ro W Industrial aviation socket Z oO Cable linear gt Table 2 1 Type B0SIT_MO24C A 216 g0SJT M032C Ac B08 JT MO32E Ac 25 Or 13x I GS2000T Series AC Servo Drive Unit User Manual gt Outline installation dimension and connection of 110SJT series motor referred to Fig 2 2 Table 2 2 fi grr j Peine an y yu jo Lo p UL eae 38 m a O Tae ESG E e Eo l E 5 12 48 L LB m L _ Fig 2 2 Table2 2 HOS IT_MOa0DA0 1HOSJT MO40E A 267 8 Note LB L value in the brackets is the length value of motor with the corresponding specification and safe brake gt Outline installation dimension and connection of 130SJT series motor referred to Fig 2 3 Table2 3 I See
134. r cele 4 EPL Cobh red VOL PREM Panter ae RCLTGES ALNET H LLL LOL Tf Le A Fig B 4 BS 400 appearance and installation dimension 125 Gr 13x I GS2000T Series AC Servo Drive Unit User Manual OQ i P er or L al aa ar S J Ee E gt O H H i b 4 6 Q Fig B 5 BD 80 appearance and installation dimension Sal AA L e ELE a an pv ieee See es ae l T 4q f 0 LD il THETA Ys ee PELEILLE
135. r supply of 24V B When the drive prohibition function is not used PA138 0 the alarm is shielded Check the setting of PA29 PA30 cee Wie enen aa 2 The input command pulse is Ensure the PC command pulse is shielded abnormal frequency is not more than 1M The motor encoder signal feedback is abnormal 1 Motor encoder signal wire is poorly or wrong connected 2 The motor encoder signal feedback cable is too long causing lower signal voltage 3 The motor encoder is damaged 4 Servo unit control panel is faulty Servo unit internal IPM module failure 1 It occurs when the power is ON and the drive unit is not enabled It cannot be removed after power on A drive unit failure B Short circuit occurs when braking resistor terminal is grounding 2 It occurs when the power is ON and the drive unit is not enabled It is removed after power on again Internal IPM module failure of servo drive 3 It occurs when the power is turned ON and the drive unit is enabled It cannot be removed after power on A short circuit occurs among motor power line U V W or between U V W and PE B The drive unit damaged C The sample circuit of the drive unit s current is OFF IPM module is 4 It occurs when the motor is starting or stopping and it can be removed after re power on A The default parameter of the motor set by drive unit is wrong B Then load inertia is too large the commanded acc
136. rake resistance to avoid burn because it discharges to create heat and cause high temperature E SX Fig 3 1 b peripheral equipment connection diagram of GS D SUB servo drive unit 36 Chapter three Connection Peripheral equipment connection of D SUB products Peripheral equipment connection of D SUB products GS2075T NP1 GS2100T NP1 are shown in the following diagram L1 L2 L3 3N 50 60Hz 380V a gt O Z O Pp lt LA EOE I VELE BIESIES ee i EEEE CD 3 gt 4 a D a Se A 3 fo Le pom A v 4 62 ene J Dw IA MANAN WANIA INV INY END Ieuondo W G lt L yoron layvysa b Aozz ji O z A Lnozz ana z uole e Sul Jo 0e U09 OV ae L
137. rameter reading operation is performed Refer to Section 4 5 Parameter Management EE SEE operation explanation 2 Firstly the SON is set to ON ensure the motor is zero speed the motor specified by smaller frequency is excited with the position pulse command Observe the motor current amperage by monitoring dP When dP is normal the displayed current value does not exceed the motor s rated current Using PLUSE DIRECTOIN command drives the motor running which is shown below CCW CW SON OFF ON H Pulses ma L EE A EE e direction H column SIGN B 3 Enlarge the speed of position command gradually improve the operation speed of the motor step by step at the same time and check whether the motor has vibration or voice the speed is stable or the motor s current exceeds the rated value 4 When the motor can run by the command in the rated speed the displayed numbers dP Po5 PA29 position command pulse are equal to the displayed one of dP LPo x PA30 therefore USer can debug other functions Generally the abnormities and troubleshootings are shown below during the position mode is performed No Abnormity in debugging Troubleshooting The motor does not run after enabling 7 when there is noting data on the Check the command wiring and the dP Pal instruction control unit dP C Po dP C Po mean
138. ring motor s default F Default according to the motor type code setting PA1 the corresponding Parameter value is the default after EE dEF operation is executed 1 Input the exclusive password for modifying the motor parameters i e PAO 385 2 Search the motor type code corresponding to the current motor according to Appendix A Motor Type Code 3 Input PA1 to the motor type code press to enter the parameter management menu execute completed PAO operation and the operation to recover the motors default parameter is PAO 315 can modify the user parameter Taking example of recovering the motor s default parameter of 130SJT M100D Aq motor s 73 Gr M1 Bx I GS2000T Series AC Servo Drive Unit User Manual type code is 50 the concrete operation is shown below Power on Press it twice Data is being modified O digit point is flashin Data is to be modified and 0 digit point is flashing After 3 seconds GEHFE HF nt SH Data modification digit the point is flashing Fig 4 3 motor s default parameter export 1 385 is the exclusive password to set the motors default parameter PA1 can be gt modified when PAOQ 385 2 The parameter related to the motor is written into the default by setting the motor s default parameter and the user can judge whether the
139. rive Unit User Manual Table 1 3 continuous Main technical parameters of 175SJT series motor i n e 175SJT M220B 175SJT M220D 175SJT M300B 175SJT M300D 175SJT M380B Rated power kW Zero speed torque 22 22 30 30 38 CN m Rated speed min 1500 2500 1500 2500 1500 Max speed r min 2000 3000 2000 3000 1800 Rotation inertia i 3 3 2 11 2x10 11 210 kg m Motor weight with ae 42 42 1 safe brake kg Insulation grade B GB 755 2008 Vibration grade F GB 10068 2008 Guard grade IP65 GB T4942 1 2006 Installation type IMB5 flanged installation GB T 997 2008 IEC 60034 7 2001 Working hour S1 continuous working GB 755 2008 Adaptive encoder Incremental 2500 p r 5000 p r absolute encoder17bit single circle or multi circle The following is torque character diagram T M of one rotation of the servo motor A continuous working area B short time working area 1758S JT M220B 1758S JT M220D 1755S JT M300B Speed r min Speed r min Speed r min 2000 3000 2000 1500 1500 2000 1000 1000 1000 500 500 0 30 0 45 0 0 11 0 22 0 33 0 0 40 0 60 0 Torque N m Torque N m Torque N m 175SJT M300D 175SJT M380B Speed r min Speed r min 3000 2000 1500 2000 1000 1000 500 0 16 0 32 0 48 0 0 25 0 50 0 75 0 Torque N m Torque N m 16 Chapter One Product Presentation 1 3 2 Technical Specification of Servo Drive Unit Drive unit Drive unit t
140. rrent BOsit OAs rea Check the grounding 115 Or M13 F GS2000T Series AC Servo Drive Unit User Manual 8 3 Remedies for not Displaying Alarm Code 1 Not display when din exists when CN1 CN2 CN3 are pulled A The supply voltage is fault B The servo drive unit is fault inn exists when CN1 CN2 or CN3 is pulled The signal wiring is short circuit 2 POWER indicator iy exists when CN1 CN2 CN3 are pulled A The supply voltage is fault on panel is OFF B The servo drive unit is fault raul exists when CN1 CN2 or CN3 is pulled The signal wiring is short circuit The drive unit is normal after it is turned on More AC capacitance charging current in again the drive unit is caused The breaker is ON OFF once or twice and the drive unit is normal The breaker still trips after the drive unit is A The servo drive unit is fault and its power on 3 Power supply breaker trips after power on turned on two or three times please check the internal is short circuit main circuit wiring B The main circuit connection is wrong or lead wire of the brake resistance and the motor U V W are short circuit 4 The servo drive Check if its monitor window of the drive unit There is alarm message currently Refer to unit is ON and the appears an alarm message Section 8 2 motor Is free state check JP In judge whether SON but they are turned off signal is connected Judge whether SFR or SRV is
141. runs SON input power is OFF ON OFF when alarm occurs Motor s actual speed PA149 setting speed HOLD release OFF OFF PAIAT PA148 lt M _ gt Servo locked Motor power down When the drive unit moves at high speed it does not hold suddenly otherwise it damages the brake the HOLD signal should be OFF in a proper time Properly adjust PA147 PA149 to decelerate the motor and hold PA149 should be set to 30r min PA147 value should be set according to the actual mechanical operation When an unexpected interruption of power supply occurs and because the delay effects of the periphery switch power supply and relay coil cause the machine or the worktable to move the following solution should be used 92 Chapter Six Function Debugging Switch power gt 988T system supply OFF ON 5 L a p o3 l l Cc o O KM1 O KM1 is used to immediately turn off 24V power supply HOLD signal to avoid the worktable movement when the system turns Relay KM1 i Safe brake Drive unit sae a 380V 220V or ae Oe 380V 220 power supply oto transformer L 380V 220V KM1 AC contactor is a control switch of the drive unit to connect with the power supply A normally open contactor of KM1 is connected to the circuit of the hold release signal When the manual power off or sudden power off occurs
142. s of motor s absolute position P Position Control Mode S Speed Control Mode Pre Wema nae ae Um ione No Value Mode wonm OTS PA4 0 Position mode Digital pulses determine the rotation direction and angle The servo unit makes the rotor rotate in the determined direction and at specified angle In position mode the rotation angle position and speed are controllable PA4 1 Speed mode The rotation direction and speed are determined by the analog voltage or parameters The servo unit makes the rotor rotate in the determined direction and speed This mode not only improves the motor response capability but also enhances the capability of anti disturbance PA4 2 Reserved PA4 3 Reserved PA4 4 Reserved PAA PA4 5 Reserved PA4 6 Reserved PA4 7 Reserved PA4 8 Reserved PA4 9 Manual mode It is operated in Sr menu Acceleration deceleration can be performed through keys A or V PA4 10 JOG mode It is operated in Jrp menu The motor works at the JOG speed set by parameter CCW CW rotation can be selected through keys or W PA4 11 Encoder zeroing It is adjusted already before leaving factory and the user does not adjust it PA4 12 Analog zeroing It is adjusted already before leaving factory and the user does not adjust it PA5 PAS 0 Pulse Direction PAS 1 CCW CW PA5 2 two phase orthogonal input Refer to Section 3 3 3 Input Command Explanations PA6 0 10V 10V analog vo
143. s that the data exists but Check the enabling signal and the set of the motor does not run required parameters 3 Motor s rotation directions are not Refer to Section 6 3 Switching Motor consistent Rotation Directions 4 The abnormal such as vibration or noise Refer to Section 6 1 Basic Performance may occur Parameter Debugging Note that the command source mode The motor can not run should be checked and the correct set should be performed based upon PAS The displayed data by dP C Po LPo Check the shielding treatment of the control inconsistent with the pulse number of signal cable 86 Chapter Five Debugging i TTTTTTTVTYVTVN_____________________________O_O______________________ LS command source Be far from the strong interference source PA29 When there is a position command SON Pul f dP CPo x ulse value of ld enai becomes OFF at the moment the servo consistent with the displayed pulse unit does not execute dP LPo dP PoS command so ensure SON is ON when the quantity of PC sends the position command 87 Gr 13x I GS2000T Series AC Servo Drive Unit User Manual CHAPTER SIX FUNCTION DEBUGGING 6 1 Basic Performance Parameter Debugging The following figure is about the drive unit basic performance parameter adjustment User should adjust some parameters in terms of the following schematic diagram due to the different motor or load during using so that the spindle motor can be worked o
144. sistor dimension Brake resistor Size mm Wiring ee gt Lead wire Servo drive unit specifications z mm Terminal WQ aa RT oa a e o e a 20T GS2060 T Sovaatontna 235 25 eo 2s 1 we sar o azo ao er s 1 Ws C esor mono faas are se tor 2s 1 ws 8 Installation interval of the brake resistor Ge gt 100mm SODIAOP JOUJO pue yun N 121 Or 441 3x I GS2000T Series AC Servo Drive Unit User Manual Ad danger 1 When the servo drive unit is turned off or running the surface of the brake resisto appears high pressure high temperature Do not touch 2 Please install isolation shield 3 When the servo drive unit is being checked or maintained and after it has been OFF for 10 min the servo drive unit can be touched after the surface temperature of the brake resistor is reduced to the room temperature 4 Surface temperature of the aluminum shell brake resistor reduces after the servo drive unit is turned off B 2 Circuit Breaker and Contactor Necessary Circuit breaker and contactor should be installed between input power and AD servo unit They are not just the power switch of servo unit but also a protection method for the power Circuit breaker is a protection switch which can cut off the faulty circuit automatically It can protect the c
145. sive Apply a power which meets the long for a long time working needs of servo unit 2 The braking resistance is too large The energy cannot be released during braking causing the rise of internal DC voltage 2 The motor runs for long time with excessive rated current Change a correct brake resistor Change a servo drive unit Measure the braking resistance with a universal meter and change a correct braking resistor The DC bus voltage iS 4 Braking circuit fault Change the servo drive unit excessive but there is No braking feedback corresponds to braking enable signal 1 Braking circuit fault 2 Excessive braking resistance 2 Open circuit occurs on braking Check the connection of braking resistor or the braking resistor is not resistor connected no braking EEPROM alarm occurs in the servo unit after power on 1 Servo unit fails to read the data in Restore the motor default EEPROM when power on parameter 2 EERPOM chip or circuit panel fault Change the servo unit O h f 3 ph input power supply is open Hila cade seal ici oe at iene Check the input power supply supply alarms phase 1 The working voltage of current sensor is abnormal or the component is damaged Change the drive unit 2 The current sample circuit and the sample resistance are damaged Software upgrading Parameters are not modified and saved Restore the default parameters and parameter error after
146. t Z axis pulse encoder zero point and so on Protection functions for overvoltage undervoltage overcurrent overload drive unit Protective function overheating encoder overheating overspeed and position out of tolerance brake abnormality motor overheating 5 keys can execute the operation including the manual Jog modifying setting writing in and copying parameter Operation and display 6 bit LED displays the speed current position command pulse accumulation position offset motor s torque motor s current rotor s absolute position input output signal state and so on Note The motor which power is below 0 8KW can use single phase 220V power supply input and the drive unit s performance will reduce 1 It can use single phase 220V input with the servo motor below 0 8Kw but the performance of the drive unit will reduce 2 CCW means the motor is counter clockwise when it is watched from the shaft extension end of its installation surface CCW Counter Clockwise CW means the motor is counter clockwise when it is watched from the shaft extension end of its installation surface CW Clockwise 3 in the type of the servo drive unit means to the type code of the optional configuration function 18 Chapter One Product Presentation 1 4 Order Guide 1 4 1 Model selection flow Motor s toque Torque range 2 4 38 N m A motor s rated speed 1000r min B motor s rated speed
147. t outputs the current phase sequence and changes Generally the motor rotor may not follow the current phase sequence when the overload occurs or the high acceleration deceleration issues due to the step motor does not install speed or position feedback unit eventually the step out may cause Open loop control is shown in Fig 1 3 Chapter One Product Presentation Driving machine Given command Drive NEUS circuit Fig 1 3 Open loop control Closed loop control The controlled amount of the control equipment is detected by the feedback unit and sent to the control unit and the control equipment changes the controlled variable through controlling the output of the control unit The close loop control equipment is divided into the full closed loop control equipment and the semi closed loop control equipment based upon the check position of feedback unit The feedback unit directly detects the controlled amount for feedback which is called the complete closed loop control equipment see Fig 1 4 and the mechanical position is regarded as the controlled amount the grating rule installed on the machine is regarded as a position feedback unit and the encoder mounted on the servo motor is treated as a speed feedback unit and then the equipment achieves a full closed loop control in the mechanical position If the grating rule is not mounted the encoder of servo motor is simultaneously regarded as the position and speed feedbac
148. t when the drive unit is matched with the resistance externally 4 OH is not connected when there is no temperature sensor in the servo drive unit 5 The metal shell of each interface must be connected with PE which is taken as the bonding point of the shielding wire 67 Gr WS I GS2000T Series AC Servo Drive Unit User Manual CHAPTER FOUR DISPLAY AND OPERATION 4 1 Operation Panel gt Refer to Section 1 2 2 about the functions of each component described on the servo drive units panel gt The details of key press functions are shown below seve m ean OO 1 Add the parameter serial number parameter value The key of 2 Upturning the 2 level menu Adding 3 The molor operation is accelerated when the manual operation is performed 4 Motor rotates CCW when JOG is performed 1 Reduce the parameter serial number parameter value The key of 2 The 2 level menu downturn Reduction 3 Motor operation decelerated when the manual operation is performed 4 Motor rotates CW when JOG is performed 1 The Modified Bit of parameter serial number is The key of Shift selected 2 The Modified Bit of parameter value is selected The key of os l Return to the previous menu or cancel the operation Return ao The key of Enter Enter the next menu or confirm the data setting This introduces shift function in the parameter setting taking example of PA126 value to modify 2045 into 2045
149. th proper tools 118 Appendix Appendix A Model Code Parameters and Motors Table Model Code Model Code Servo motor model Servo motor model set by PA01 set by PAO1 N PA001 5 110SJT M040D A PA001 51 130ST M15015H PA001 11 110SJT M040D PA001 76 110SJT M040E A2 PA001 12 110SJT M060D PA001 77 110SJT MO60E A2 PAOOI 13 PA001 17 130SJT M100D PA001 83 130SJT MO60D A PA001 25 130SJT M150B A2 PA001 34 175SJT M220B A2 T75SJT MSOOD A2 PAoot as 13ost vosos es Nr Nr Nr Nr Nr No we N ff Oe Sa Oe Oe Oe CN 119 Gr 1 Bx I GS2000T Series AC Servo Drive Unit User Manual set by PA01 set by PA01 PA001 104 80SJT M024C A4I PA001 168 175SJT M150D A4I PA001 106 80SJT M024E A4l PA001 170 175SJT M180B A41 PA001 109 80SJT M032C A4SI PA001 173 175SJT M180D A4SI PA001 111 80SJT M032E A4Sl PA001 175 175SJT M220B A4SI ee Lorre mL E B a S Bs ek eee ee E Ml a a r eer ere ore es a ee Mi re ME a ee Bie i rr oO oo l a a Be Mill Be ore Leer creme E eee ee E ae PA001 152 130SJT M150B A4I Donen A e S ees E E e S 120 Appendix Appendix B Peripheral Equipment B 1 External brake resistor Brake resistor model RXLG 500W 22R J sd E Connection mode M terminal J lead wire Resistivity precision K 10 J 5 Brake resistance value 22R means to 22 2 Brake resistance power 100W 2000W Product code 2 Brake re
150. tput optical coupler emitting electrode has been connected with COM other output signals are double ended transistor output 2 Some switching output signals of GS series D SUB products and MDR products use double ended transistor output and the user must distinguish when connecting 51 Gr 441 3x I GS2000T Series AC Servo Drive Unit User Manual Single ended transistor output connection layout device 4 7k Drive unit 15V 24V indyjno Aejas jeu1 x3 19 01 U00 jeu19 x4 Double ended transistor output connection layout Drive unit J9 OJJUOD JeEULO XJ Drive unit 15V 24V indjno Aejes jeu1 x3 When OUTx is conducted with COM or OUTx with OUTx and the output point are ON The user can judge by the monitor window dP UUE the corresponding LED lights when the output point is ON the corresponding LED does not light when the output point is OFF 52 Chapter three Connection SRDY ALM signal outputs the optical coupler is conducted when the servo drive unit alarms Power OFF ON supply Not ALM PA122 1 OFF ae Alarm ae teas Not ALM PA122 0 OFF aterm Alarm gt SRDY is a ready signal of the servo drive unit SRDY signal outputs the optical coupler conduction when the motor power on is activated
151. u Servo enable 38 com 1 st input reference fa Coe eee com External earthing reference power input earthin Position arrival os _ Position arrival 2 PSR geam speed arrival 15 24VDC 40 PSR or speed arrival geam External output 16 SRDY4 Servo ready 41 CMF power input 13 output SRDY Servo ready 15 24VDC 42 HOLD Hold control tout signal output ig Nc uss HOLD Hold control signal output 44 NC 20 ZSP Zero speed NC signal output Zero speed Z signal 4 a Ta signal output P eae output ZOUT Z signal output Analog ALM Servo alarm of aoe earthing output NC ycyp Analog speed 90 NC command 22 ALM Servo alarm output 24 VCMD Analog speed command Fig 3 5 CN pin diagram 3 3 2 Speed command input VCMD VCMD is a speed command input terminal the maximum DC voltage signal is up to 10V and the terminal input resistance is 15KQ 45 Gr 13x I GS2000T Series AC Servo Drive Unit User Manual Not VCMD VCMD cannot be reversed otherwise _______L the motor cannot run normally v OV Soe SB The metal shell is connected to g metal shell of interface PE control plate by PE be Note It is recommended to use the twisted pair signal cable and the shielded wiring method 3 3 3 Position command input The position command PULS PULS SIGN SIGN use both the diff
152. value may lead to vibration during the motor start or stop Smaller value results in slower response and greater following error Position loop feedforward gain is to adjust the speed loop according to the speed information of PA25 position command The greater the value is the quicker the response is and the smaller the following error is However excessive setting value may lead to instantaneous overshoot and vibration When PA25 is set to 0 the position feedforward function is invalid Position loop feedforward filter coefficient 10 3000 Position loop feedforward filter coefficient is used in the smoothing process of position command feedforward control The greater the value is the quicker the step response is which will suppress the overshoot and vibration caused by sudden speed change It is valid when PA25 is not set to 0 Position command direction reversed PA28 0 remains the original commanded direction PA28 1 the input pulse direction is reversed Pulse multiplication frequency of i ppc 1 32767 1 position command Refer to section 6 4 1 Electronic Gear Ratio Pulse division frequency of position command Refer to section 6 4 1 Electronic Gear Ratio 103 Gr 13x I GS2000T Series AC Servo Drive Unit User Manual P Position Control Mode S Speed Control Mode Parameter Raade Default Applicable No 9 Value Mode PA31 A Commanded speed displayed as DP EPO in the menu _ Motor speed W
153. ve 3 indicates that speed step input curve is displayed when PA15 is less and PA16 is bigger the instantaneous overshoot is the maximum and the motor vibration is easily caused Instantaneous r min t overshoot 3 a A iN Steady speed 5 a 2 Seay error 0 igs MS Fig 6 2 Response curve input by the step command PA 18 speed feedback filtering coefficient The bigger the speed feedback filter coefficient value is the faster the speed feedback responds If the set value is excessive the electromagnetic noise may occur in the motor the less the set value is the slower the speed feedback responds if the set value is excessively small the speed wave is increased even the vibration may occur User can increase or decrease 50 at the default value and then observe the result when the parameters are being adjusted Note that the minimum value of PA18 should not be less than 50 PA19 position loop proportional gain The drive unit position loop adopts the simple P adjustment When the orientation function is performed in the position and speed modes the position closed loop function is enabled The bigger the value of the position loop proportional gain is the faster the position command responds the bigger the rigid is If the value is excessively big the vibration occurs in the motor caused by the position overrun when the motor starts or stops the less the setting value is the slower the response is the bigg
154. ve unit has no enabling signal at the moment PA118 should be set to 1 when the monitor window displays 20 90 UU tH I is displayed by pressing confirmation which means the drive unit working mode setting is mistaken at the moment PA4 should be set to 10 In manual run mode when vibration noise occur the speed loop parameter such as PA15 PA16 PA18 should be debugged The concrete debugging method is referred to Section 6 1 80 Chapter Five Debugging 5 2 Runin Speed Mode 5 2 1 External analog voltage command 1 Wiring should be connected correctly in terms of the section 3 6 1 note that the required input signals should be connected in the following table 2 After the correct connection is confirmed all input signals are OFF the required parameters are set after the power is turned on Required Parameter description A6 PAS PA52 PA4 1 select speed mode Select the voltage range of analog control signal PA6 0 10V 10V is valid When the voltage command is positive the motor rotates CCW when the voltage command is negative the motor rotates CW PA6 1 O0 10V is valid SFR SRV are separate rotation CCW CW state signal PA6 2 internal speed PA6 0 10V 10V is valid PA51 0 The motor rotates CCW when the voltage command is positive PA51 1 The motor rotates CW when the voltage command is positive PA6 1 O 10V is valid PA51 0 SFR is
155. when the motor is running 109 Or Izz GS2000T Series AC Servo Drive Unit User Manual motor shaft is poor vibration disappears then re adjust the dynamic balance Big vibration when The load inertia is large Reduce the speed loop integral time or lower motor is started and down the motor rotation speed stopped 1 Mechanical fault Disconnect the motor shaft and mechanical device for motor dry run Usually the no load current is 0 2 times of the rated current If the no load current is proved to be normal the problem may lie in large friction or running obstruction or may be the servo device model is The temperature of smaller than needed servo unit or motor is 2 The motor has a safe brake and Refer to Section 6 2 to check the hold control too high when the motor runs the safe circuit The safe brake is fully released when the brake is not fully released motor runs 3 The motor or servo unit is not Refer to Chapter 3 for details about grounding grounded which leads to interference to the servo unit instability and high temperature of the motor 8 1 2 Position mode Abnormality Possible Reason Check and Remedies 1 The servo unit is in alarm state Clear the alarm or power on again 2 Wrong working mode or command mode Check the setting of PA4 PAS is selected 3 No enable signal is input Check whether the SON connection is In position mode correct Check to se
156. y Do not modify this default value in general condition Monitoring Monitoring Parameter setting at Explanation Walia setting at Explanation initialization initialization con Current motor position Seinen PA3 1 low order 5 digits PA3 17 mode pulse Current motor position PA3 2 high order 5 digits x 100000 pulse Position command PA3 3 low order 5 digits pulse Position command PA3 4 high order 5 digits x RAS co 100000 pulse eo Position deviation PA3 5 JA lower order 5 digits pulse Position deviation PA3 6 high order 5 digits PA3 22 Hardware version No x 100000 pulse Parameter Value Encoder feedback signal PA3 18 PA3 19 Input terminal status PA3 20 Output terminal status PA3 21 Software version No Rotation speed PA3 8 corresponding to analog command PA3 9 PA3 10 Position command pulse frequency Low order digits of encoder s absolute position High order digits of encoder s absolute position PA3 26 Speed command PA3 27 Single circle position of motor PA3 32 101 Or M1 3x I GS2000T Series AC Servo Drive Unit User Manual PA3 11 d dP CE dP CE PA3 33 Reserved Low order digits of PA3 12 dP 4 Motor torque PA3 34 motor s absolute position z 35 dP HbS High order digit
157. ype 82026T S2030T GS2048T GS2050T GS2075T GS2100T Rated current BN sil 4 lt I lt 6 6 lt 1s7 5 7 5 lt 1S10 10 lt 1Is15 15 lt I lt 29 servo motor A Outline size mm 90x190x182 112x230x182 120x270x218 130x305x248 5 WxHxD Main power supply 3 phase AC 0 85 1 1 220V50 60Hz 1 l Built in brake resistance optionally external External brake resistance without Brake resistance hab brake resistance built in brake resistance Speed fluctuation rate lt rated speedx0 01 Speed frequency response 2300Hz Working mode Manual Jog Internal Speed External Speed Position The servo motor driven by the servo drive unit runs with the speed speed closed loop Internal speed mode j control set by the internal parameter 3 section speed is selected by the input signal The servo motor driven by the servo drive unit runs with the speed speed closed loop control set by the external analog voltage speed command Ext d d xterna a 10V 10V or OV 10V is selected by the parameter The servo motor driven by the servo drive unit runs based on the position command pulse position closed loop control the direction and the quantity of the position Position mode command pulse determine the rotary direction and the angle of the servo motor s rotor and the frequency of the position command pulse determines the speed of the motor s rotor Position command pulse Pulse direction CCW pulse CW pulse A B ortho

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