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AS100 AC Servo Drive User Manual

1. Ext Brake Resistor 3 220V EE ON I ud f 424 EMC Filter Soo Servo Motor iu Varistor A 4 P il i 4 I 5 z hs s N L2 412 8 im YN e 3 m o M RENE 2 w y L3 2 J al At Surge Arrester po i i lee PE L 2 xx _ tol enc Relay ___ Voltgae Gate Driver ECT Drive Detect Current Detect LC1 Varistor Li 15V Temperature I RD poy AD Detect e 7 SMPS ss PWM LC2 I 8V x4 AID c Hav CN2 AD Position Speed Current Position Command DSP Loop Loop Loop Speed Command AID Torque Command ala Bus Digital Input Digital Output CN1 Encoder Pulse Output CPLD Encoder CN3 Signal Processing RS485 hA BEBBH ETET CI RS485 Display amp Touch Panel CN4 Fig 2 6 Basic Block Diagram of Servo System 2 8 Standard Wiring Diagram of Servo Drive The standard wiring diagrams of the servo system under position mode speed mode and torque mode are as follows 27 Chapter II Installation and Wiring NFB S 0 o o S 0o O Z O O O Q I3 Ee Y CN2 PULS 7 D gt 3 Q Position E command pulse PULS SIGN 1 AV d lt alim SIGN External CN2 power supply pci224y
2. Rard Rated Rated Structure Power Supply Speed Motor Model Si ante Drive Model Model rpm 3 000 ASMS R20B30U2 200W 0 64Nm AS100A 1R6M2U 3 000 ASMS R40B30U2 400W 1 3Nm ASI00A 2R8M2U Single phase 3 000 ASMS R75B30U2 750W 2 4Nm ASTODASRSNDU Three phase 3 000 ASMG R75B30U2 750W 2 4Nm 220V 2 500 ASMS 1ROB25U2 1 000W 4Nm 2 500 ASMG 1ROB25U2 1 000W 4Nm 2 500 ASMH 1ROB25U2 1 000W 4Nm AS100A 5R5M2U 3 000 ASMS 1R2B30U2 1 200W 4Nm B 2 000 ASMG 1R2B20U2 1 200W 6Nm 2 500 ASMG 1R3B25U2 1 300W 5 Nm 2 500 ASMS 1R5B25U2 1 500W 5 Nm 2 500 ASMG 1R5B25U2 1 500W 6 Nm AS100A 7R6T2U Three phase 1 500 ASMH 1R5B15U2 1 500W 10 Nm 220V 2 500 ASMG 2ROB25U2 2 000W 7 7 Nm 2 500 ASMG 2R6B25U2 2 600W 10 Nm 1 500 ASMG 2R7B15U2 2 700W 17 2 Nm 1 500 ASMH 3ROB15U2 3 000W 19Nm AS100A 012T2U C 2 000 ASMH 3R0B20U2 3 000W 15 Nm 2 500 ASMG 3R8B25U2 3800W 15 Nm Notes Performance parameters installation size and other refer to relevant data of motor information of servo motor 2 Following the motor model indicates the model options please refer to the description of motor naming rules 3 Uinthe motor model indicates that the standard 2500 c r incremental encoder is adopted If wire saving 2500 c r incremental encoder is adopted U shall be replaced with V incremental encoder Servo software version over V109 s
3. Alarm Operatin P 8 Possible Cause Processing Methods Code state Er IbF switchedon Fault of current testing control channel power During the operation process of motor When Fault of control board Change drives switched on control Encoder fault Change motor power Pulse fi f input 3 ed DN impu Set input pulse correctively Constant of acceleration or deceleration time is so Add constant of acceleration low that the speed or deceleration time Er OSE overshoot is too high During the operation Hp pi splat gear Set correctly process of ratio is too hig motor Encoder fault Change motor Encoder cable defective Replace encoder cable Reset relevant gain Servo system is not If th tb stable and causing Uie xim kam m i overshoot proper value the load inertia ratio can be reduced When switched on A Circuit board fault Change servo drives control power Switehton U V zo e Er OPE feign wires of motor are connected in a wrong i power and Correct connection way line of control input pulse order motor isn t Encoder lead cable is connected in wrong way Encoder fault Change servo drives 128 Chapter VII Diagnosis of Malfunctions AER QT Possible Cause Processing Methods Code state operating Examination area of out Expand examination area of of tolerance of setting out of tolerance of setting position is too small position
4. 220V Series Sectional Sectional Sectional ectiona Area of ATCH UL Area of 7 Drive Model in Input mam Contre ive Mode ds mn Output Power es Cable Cable mm mm AS100A 1R6M2U 2 0 2 0 1 25 AS100A 2R8M2U 2 0 2 0 1 25 AS100A 3R8M2U 2 0 2 0 1 25 AS100A 5R5M2U 2 0 2 5 1 25 AS100A 7R6T2U 2 0 2 5 1 25 AS100A 012T2U 2 5 3 5 1 25 380V Series Sectional Sectional Sectional POPR Area of 4 Area of Control Drive Model Input Cable Output Pover 2 Cable mm 2 Cable mm 2 mm AS100A 3R5T3U 2 0 2 0 1 25 AS100A 5RAT3U 2 0 2 0 1 25 AS100A 8R4T3U 2 0 2 0 1 25 154 Annex 7 MODBUS Communication Protocol Annex7 MODBUS Communication Protocol The drive supports the MODBUS RTU protocol with the functions of reading monitoring parameters 0X03 and writing function code parameter 0x06 1 Reading Monitoring Parameters 0x03 Command frame format START Greater than or equal to 3 5 characters idle time indicating the start of a frame ADDR Drive address 1 32 1 32 here are decimal numbers and shall be converted into hexadecimal numbers when entering ADDR CMD Command 0x03 ADDO 8 MSBs of MODBUS address of monitoring parameters or function code ADDI 8 LSBs of MODBUS address of monitoring parameters or function code DATAO 8 MSBs of numbers of monitoring parameters 0x00 Currently only supporting a single parameter reading DATA1 8 LSBs of numbers of
5. Fig 3 4 Restore Defaults m co ca In order to raise the parameter value of P00 16 to 2 press Kal The system will begin the operation of saving all current RAM parameter values with the display of start and ends it with the display of done The system parameter values remain unchanged upon restarting 46 Chapter IV Operation Chapter IV Operation N Danger e The drive and motor must be reliably connected to ground PE terminal must be reliably connected to the equipment grounding end e t is recommended that the drive power supply is provided by the isolation transformer and power filter to ensure the safety and anti interference capability e Make sure the wires are connected correct after checking and then connect to power One emergency stop circuit must be installed to ensure the power can be immediately cut off when there is a failure see Fig 4 1 After the drive alarm sounded make sure the failure is eliminated and the SON signal is invalid before restarting e The drive and motor shall not be touched for at least 5 minutes after power cut off to prevent electric shock e The drive and motor may have a higher temperature after running for a period of time therefore shall prevent burns 4 1 Power Connection Refer to Fig 4 1 for power connection three phase 220V input and connect the power in the following order 1 The power is connected to the main circuit power inpu
6. Function Setting Factory Z pulse broadening Power up Function Description Setting the zero Z pulse output broadening width With the motor speed increasing Z pulse width becomes narrow This parameter can adjust Z pulse output width to match with the demand of host controller Z pulse broadening width setting value x1 6us Function Setting Factory Delay time for Immediatel servo on to holding ines 0 2000 ms effective brake released 93 Chapter VI Specified Function Introduction Function Description Setting the delay time from servo on to holding brake released Function Setting Factory P01 16 Brake resistor Power up 0 1 external selection effective Function Description The default value is 0 namely to choose internal braking resistor Choose external braking resistor for 1 Function Setting Factory Related Power of external Power up to the brake resistor effective TORSTEN w capacity of drive Function Description There is a standard built in braking resistor in the drive See its specification in the related contents of appendix in this manual It requires the external braking resistor when the specification of built in braking resistor can t meet the requirements of actual working condition The parameter should be set at P01 16 1 then the external braking would be chosen The power and resistance value of external resistor should be written in P01 17 and
7. 1 Values of position pulse and command pulse displayed on the monitor have been amplified through the input electronic gear The pulse is in 10 000 pulses revolution which is the system pulse unit Pulse value is expressed with 4 MSBs plus 4 LSBs Pulse value 4 MSBs 10000 4 LSBs The pulse value indication range is 99999999 in accordance with actual 9999 motor revolutions 2 Control mode O position control 1l analog speed control 2 torque control 44 Chapter III Display amp Operation 3 internal speed control 4 speed trial operation 5 JOG trial operation 6 factory mode 3 The pulse frequency of the position command is the actual one which has not yet been amplified through the electric gear The minimum unit of the pulse frequency is 0 1 kHz and it is positive in the forward direction and negative in the reverse direction 4 The absolute position of the rotor in one revolution refers to its relative position with that of the stator One revolution is regarded as a cycle which ranges from 0 to 9999 5 As for the alarm Er means everything is under control without any alarm Other figures or letter groups indicate a certain kind of fault Refer to Chapter 7 for fault information 6 Display of terminal on off input state The external control terminal involves 7 on off inputs which are displayed by inH 3 MSBs DI7 DI5 and by inL 4 LSBs DIA DI1 From the high order to the low order 4 LSBs LED indicates
8. 24VIN 47 33K DII S ON 40 3 3K DI2 V ALMRST Mi i D 3 3K 3 E i y 4 D 3 3K 3 DIA P OT 43 v q D 3 3K DI5 CLR m gt 3 s DI6 PINH 41 d 3 3K DI7 GR2 qe PE 1 Encoder CNI gt PAO lt Q OT lt gt PBO C Q C PZO lt Q C 49 zour C HS 0 29 s RDY 4 qN m ai V RDY gt ALM d HE q ALM 25 BRK q 23 ome d q ome Fig 2 7 Standard Wiring Diagram under Position Mode 28 Chapter II Installation and Wiring Encoder Speed reference GN External power supply DCI224V 24VIN Fig 2 8 Standard Wiring Diagram under Speed Mode 29 Chapter II Installation and Wiring NFB MC 0o o lvo mod CN2 AI 5 Torque reference GN External power supply N2 DC12 24V gt 47 DI3 N OT DI4 P OT p Low pass filter 6 gt 3 3K hee tf 3 3K Ld DI2 ee RST 44 e y 33K L D 33K L D 3 3K L Y 33K ys gt P 3 3K Mi PE CNI E eS p ILS EE r lt CL Gl Encoder PAO PAO PBO PBO PZO PZO Z OUT Z OUT RDY DOI RDY ALM DO2 BRK BRK DO4 Fig 2 9 Standard Wiring Diagram under Torque Mode 30 Chapter II Installation and Wiring 2 9 Interface Circuit Principle The I O signal of the servo drive and the interface circuit connection of the host device are as shown in Fig 2 10
9. 3 1 Table 3 1 Key Functions Key Name Function ESC Escape Return to the previous menu Increasing the set value constant pressing for rapid increase of the set value Speeding up during speed trial operation Forwarding in JOG mode Down Degreasing the set value constant pressing for rapid decrease of the set value Speeding down during speed trial operation Reversal in JOG mode 40 Chapter III Display amp Operation ey Name Function 4 Shift One left shift of the flicker bit for each pressing during parameter setting SET Set Proceeding to the next menu or saving the parameter value during setting Notice please find out the cause of the alarm prior to the alarm reset 3 1 2 LED Display There is a 5 bit 7 segment LED display on the operation panel of the servo drive which displays the state parameters function code parameters fault displays etc It flickers at the function digit and stops flickering upon saving of the change After the servo system is initialized the operation panel will display the initial state variables e g motor speed indicating r 0 0 showing it is in the mode of servo system operation state monitoring Press to escape the status monitoring mode and press Kill to proceed to the parameter mode to review or change parameters In the parameter mode the Nixie tube presents a three level menu function code groups function code
10. 4 Confirm if there is Reduce the mechanical effected by HET Pod mechanical vibration and vibration and improve the excessive i the installation status of installation status of servo shock and motor motor vibration Encoder Change servo motor fault 8 Temperature pu Measure the temperature Control the temperature of Overheated of operating of operating environment operating environment under servo motor environment o of servo motor 40 C is too high 135 Chapter VII Diagnosis of Malfunctions Possible E Fault Confirmation method Processing Methods Cause Dirt f Determine the dirt PEE i Ud Remove dirt dust oil fouling of servo surface of motor by and so on motor visual inspection Overheated servo motor Servo motor is under heavy lode Confirm the load condition by monitoring If its overload lightening the load or replacing it with bigger power drive or servo motor 136 Chapter VIII Maintenance Chapter VIII Maintenance Danger 10 11 12 13 14 Please don t touch the rotating parts when the servo motor is running Otherwise may cause hurts Please make sure that the servo motor can be stopped anytime in emergency when installed on the matched machine and began to run Otherwise may cause hurts Please don t touch the internal servo drive Otherwise may cause electric shock Pl
11. E zi 2 2 z z Z 3 Fig 2 2 Main Circuit Terminal Interface 15 Chapter II Installation and Wiring Table 2 1 Function and Description of Main Circuit Terminal Terminal Code Terminal Name and Function Description Main circuit power supply input terminal The drive shall be connected to three phase 220V or three phase 380V or single phase 220V power supply according to different models as for single phase input it can only be connected to L1 L1 L2 L3 and L2 terminals and L3 shall not be wired the drive of some model are applicable to three phase 220V and single phase 220V power supplies and the single phase power supply should be connected to L1 and L3 terminals Refer to the nameplate of the drive for detailed information about the power supply specification Control power supply input terminal LC1 LC2 220V series drive AC 220V 4 15 50 60HZ 380V series drive AC 380V 15 10 50 60HZ External braking resistor connecting terminal If a built in braking resistor is used B2 and are in short connection B1 B2 If an external braking resistor is used the external braking resistor is connected to B1 and end and the jumper between B2 and shall be removed UVW Three phase AC output terminal connected with U V and W of D the servo motor Q Grounding terminal connected with the power supply grounding PE terminal and the motor grounding terminal Notes the figure shows the terminal
12. Note In current version only division in integral multiples can be outputted which means the set value of P01 05 is invalid and the set value is fixed as 1 Function Setting Factory Control bit for holding Immediately brake and servo ready 0 1 effective signals Function Description This parameter set the logical relation between the holding brake output and servo ready S RDY signal 0 When servo ready signal S RDY is outputted the holding brake signal must not be outputted 1 When servo ready signal S RDY is outputted the holding brake signal must be outputted too Function Setting a Factory Detection speed for Immediately POSIN motor standstill effective cae rpm 7 Delay time for holding I diatel P01 11 brake released mmediatey 0 2000 ms 500 effective to servo off Detection speed for I diatel mmediate P01 12 Holding brake fective 073 000 rpm 100 released Delay time for poe P01 13 servo off to holding effectiv A 0 2 000 ms 0 brake released 91 Chapter VI Specified Function Introduction Function Description The above parameters set holding brake electromagnetic brake action sequence P01 10 This parameter sets the speed detection value for the purpose to judge if the motor is standstill The setting value is used only for holding brake control When actual speed of motor is below this setting the motor is judged to be standstill conversely the motor is judg
13. P10 84 Displacement 4 LSBs decimal of the fifteenth segment 9 999 9 999 5 000 P10 85 Speed of the fifteenth segment 0 3 000 500 rpm 76 Chapter V List of Functional Parameters P10 86 Acceleration and deceleration time of the fifteenth segment 0 1 000 100 P10 87 Waiting time of the fifteenth segment 0 10 000 ms s P10 88 Displacement 4 HSBs decimal of the sixteenth segment 9 999 9 999 P10 89 Displacement 4 LSBs decimal of the sixteenth segment 9 999 9 999 5 000 P10 90 speed of the sixteenth segment 0 3 000 500 rpm P10 91 Acceleration and deceleration time of the sixteenth segment 0 1 000 100 P10 92 Waiting time of the sixteenth segment 0 10 000 ms s Group P11 Parameters of Multistage Speed Function P11 00 Multi stage speed instruction operation mode 0 2 P11 01 End segment selection of the speed command 1 8 P11 02 P11 03 Runtime unit selection Acceleration time 1 0 2 0 10 000 50 P11 04 Deceleration time 1 0 10 000 50 TI Chapter V List of Functional Parameters P11 05 Acceleration time 2 0 10 000 100 P11 06 Deceleration time 2 0 10 000 100 ms P11 07 Acceleration time 3 0 10 000 1 000 P11 08 Deceleration t
14. Position speed 1 Above 100ms instruction Fig 4 4 The Sequence Diagram of Alarm Clearance 4 2 Trial Operation 4 1 1 The Checking Points Before Trial Operation After the installation and connection of wires the following shall be checked before connecting to power Whether the power terminal connections are correct and reliable and whether the input voltage is correct Whether the power line and motor wiring is short circuit whether the grounding is good Whether the encoder cable connection is correct Whether the control signal terminal is connected accurately Whether the power supply polarity and voltage size are correct If the motor is equipped with holding brake need to make sure the holding brake has been released Whether the drive and motor are firmly fixed Whether the motor shaft is disconnected from load 50 Chapter IV Operation 4 1 2 The Checking Points During Operation Whether the motor operation is stable Whether the motor operation direction is correct Whether the motor has abnormal vibration Whether the motor is stable when increasing or decreasing speed Whether the keyboard display is correct 4 1 3 Commissioning When Connecting to Power The servo drive has two kinds of special trial operation control mode which is used to determine whether the servo system is normal namely speed test run mode and JOG test run mode No
15. P10 36 Displacement 4 LSBs decimal of the fifth segment speed of the fifth segment Acceleration and deceleration time of the fifth segment 9 999 9 999 0 3 000 0 1 000 5 000 500 100 rpm ms 72 Chapter V List of Functional Parameters P10 37 Waiting time of the fifth segment 0 10 000 10 ms s P10 38 Displacement 4 HSBs decimal of the sixth segment 9 999 9 999 P10 39 Displacement 4 LSBs decimal of the sixth segment 9 999 9 999 5 000 P10 40 Speed of the sixth segment 0 3 000 500 rpm P10 41 Acceleration and deceleration time of the sixth segment 0 1 000 100 P10 42 Waiting time of the sixth segment 0 10 000 ms s P10 43 Displacement 4 HSBs decimal of the seventh segment 9 999 9 999 P10 44 Displacement 4 LSBs decimal of the seventh segment 9 999 9 999 5 000 P10 45 Speed of the seventh segment 0 3 000 500 rpm P10 46 P10 47 Acceleration and deceleration time of the seventh segment Waiting time of the seventh segment 0 1 000 0 10 000 100 ms s P10 48 Displacement 4 HSBs decimal of the eighth segment 9 999 9 999 P10 49 Displacement 4 LSBs decimal of the eighth segment 9 999 9 999 5 000 73 Chapter V List of Functional Parameters P10 50 speed of the eight
16. Three phase AC380V 15 10 50 60Hz Supply copo Power Single phase 380V 15 10 50 60Hz Supply Ri generati Brising Standard built in braking resistor Function 148 Annex 2 Technical Specification of Servo Drive General Technical Specifications of Servo Drive Temperature Working 0 45 C Storage 20 80 C E SS DE Humidity Less than 90 without condensation nvironment Vibration Less than 4 9m S 0 5G 10 60Hz Control Mode IGBT SVPWM current vector control Basie Condi Nai Position control speed control torque control internal position control internal speed control Control Characteristics Speed frequency response 400Hz load rotational inertia rotational inertia of motor Speed fluctuation rate lt 0 03 load 0 100906 lt 0 02 power supply 15 10 figures indicate the rated speed Speed ratio 1 5 000 Input pulse frequency lt 500 KHz S ON ALM RST P OT N OT CLR PINH GR2 ZCLAMP rotation change under internal speed mode Control Input rotation change under analog speed mode positive startup under analog speed mode negative startup under analog speed mode CMD1 4 SHOM OrgNear Coane Onan 1 Servo preparation output 2 servo alarm output 3 positioning completion output speed reaching output Position Control Input 1 Pulse symbol 2 CCW pulse CM mode pulse 3 A B luadrature pulse Elect a aa TEISS TT gear ra
17. off Load of Lighten load or replace it Try to empty running to with servo motor replace it servo motor Der confirm the load state with bigger power servo is too heavy motor or drive Confirm the function sets Enabling of S ON when it is signal S ON inputted into DI channel Set input signal correctly shows OFF and corresponding DI P03 04 03 10 Choose wrong mode Confirm the setting of Make the setting of of command parameter P00 05 and the Servo P00 05 and form of pulse form of command pulse keep motor Me command pulse position consistent doesn t mode start Incorrect pater Confirm whether the F speed 3 Set control modes and input control mode and input command methods correctly are consistent speed mode Incorrect n input of Conin eener mg Set control modes and input control mode and input torque P methods correctly are consistent command Clear signal of position deviation pulse CLR keeps showing ON Confirm the CLR input signal parameter Set CLR input signal to OFF 132 Chapter VII Diagnosis of Malfunctions Fault To big Confirmation method Processing Methods Cause Positive stroke limit POT and negative Confirm P OT and N OT E Servo stroke limit input signal A NO On motor N OT keep doesn t showing start OFF drive fault TC If the fault is confirmed to be Confirm if the fault can has display ineffaceable change the be cleare
18. the length indicates the length of motor without a brake and the length of motor with a brake will increase 54mm m Parameters of 90 Flange Series E 220V Motor Series 90 Motor Model ASMG ASMG R75B30U2 1ROB25U2 Rated Power KW 0 75 1 0 Rated Current 3 0 4 0 Rated Speed rpm 3 000 2 500 Rated Torque Nm 2 4 4 0 Peak Torque Nm 7 1 12 0 Rotor Inertia kgem 2 45x104 3 7x104 Encoder Resolution C R 2 500 Insulation Grade of Motor Class F Protection Level IP65 Environment temperature 20 50 C environment Service Environment humidity relative humidity lt 90 without condensation 165 Annex 8 Parameters and Size of Servo Motor Installation Size Motor Length Spec 2 4Nm 4 0Nm Length L mm 150 182 Note the length indicates the length of motor without a brake and the length of motor with a brake will increase 57mm m Parameters of 110 Flange Series E 220V Motor Series 110 Motor Model ASMS ASMG ASMS 1R2B30U2 1R2B20U2 1R5B30U2 Rated Power KW 1 2 1 2 1 5 Rated Current 5 0 4 5 4 0 Rated Speed rpm 3 000 2 000 2 500 Rated Torque Nm 4 0 6 0 4 0 Peak Torque Nm 12 0 12 12 0 Rotor Inertia kgem 5 4Ax10 7 6x10 6 3x10 Encoder Resolution C R 2 500 Insulation Grade of Class F Motor Protection Level IP65 166 Annex 8 Parameters and Size of Servo Motor Servi
19. Factory ACC DEC time I diatel selection of the Imeciate y 0 3 i effective first segment Function Description Set the selection of ACC DEC time for the first speed segment 0 ACC DEC time for the first segment is 0 1 ACC DEC time for the first segment is set by the parameters Acceleration Time 1 and Deceleration Time 1 2 ACC DEC time for the first segment is set by the parameters Acceleration Time 2 and Deceleration Time 2 3 ACC DEC time for the first segment is set by the parameters Acceleration Time 3 and Deceleration Time 3 Note The setting method for other speed segments is the same as that for the first speed segment described above See Chapter 6 for reference 124 Chapter VII Diagnosis of Malfunctions Chapter VII Diagnosis of Malfunctions 7 1 Alarm Display and Description Table 7 1 Fault Alarm Table Alarm Code Alarm Content ErIPF Short circuit and overcurrent on IPM module or the voltage of driving power is too low Er OCU Hardware overcurrent Er LU Undervoltage of busbar Er OU Overvoltage of busbar Er IAF Channel A failure for current sense Er IbF Channel B failure for current sense Er OSE Over Speed error Alarm Er OPE Over Position error Alarm Er OCS Software overcurrent Er PoF Failure to read or write in EEPROM Er rLS UVW combinational logic error rotor signal loss Er ELS Encoder
20. Factory Coefficient of speed Immediatel detection low pass TEI 1 100 effective Filter Function Description Set the characteristic of speed detection low pass filter A greater setting value determines lower cut off frequency and lower electric motor noise If the load inertia is large the setting value can be increased appropriately 85 Chapter VI Specified Function Introduction However the overlarge value would result in a slower response and may cause an oscillation A smaller setting value determines higher cut off frequency and faster speed response If a higher speed response is required the setting value can be reduced appropriately Function Setting Factory Speed command mw low pass filter ately 0 100 7 coefficient effective Function Description Set the characteristic of speed command low pass filter It is effective for speed control mode and position control mode A greater value determines slower speed response a smaller value determines faster speed response The setting value 0 means the low pass filter is invalid If the drive and external position loop are used in combination this parameter shall be set as 0 Function Setting Factory Torque command NR low pass filter ately o 190 coefficient effective Function Description Set the characteristic of torque command low pass filter The setting of this parameter can restrain the resonance the sharp vibratio
21. P01 18 respectively Function Setting Factory Related Resistance value of Power u to the P01 18 the external brake p 12 500 Q effective capacity resistor of drive Function Description Refer to P01 17 for description 94 Chapter VI Specified Function Introduction 6 3 Monitor and Display Group P02 Refer to Section 3 3 for function description about monitor and display 6 4 I O and Analog Control Group P03 Function Setting Factory P03 00 DOI function and Power up d enabled status setting effective Bd Function Description Setting the function and enabled status of open collector OC output DOI The setting value can be obtained by adding enabled status settings and output function settings together If the setting value is not in the setting range the system will retain the last one Enabled status setting value 0 Active High Factory Defaults 256 Active Low Output Function Setting 0 Servo Ready S RDY 1 Servo Alarm S Alarm 2 positioning completed speed arrived 3 Home P CMP V CMP Examples for setting The output function wants to be set to servo alarm and active low then the setting value is 124 256 2257 Function Setting Factory Defaults P03 01 D02 function and Power up enabled status setting effective am Function Description Refer to P03 00 for function description 95 Chapter VI Specified Function Introduction Function
22. Proportional gain of Add proportional gain of position is too low position Check the limit value of torque Torque is insufficient Reduce load capacity Replace it with larger drive and motor During the U V and W leading ErOCS operation wires of motor are Change wiring process of connected in a wrong Change servo drives motor way Set the parameters such as The control software drive capacity and motor During the failure to complete the type then restoring the Er PoF process of right initial settings default action usually electricity performed by manufacturers Damage 9T cmp ot Change servo drives circuit board Encoder cable defective l Inadequate shielding of Correct wiring During the encoder cable PANA Change power cable powerupof Unconnected shielding control ground of encoder power Er rLS Z pulse doesn t exist During the encoder is damaged diia 1 board faul Ch d process of Control board fault ange motor encoder motor Signals of encoders U V and W are damaged Control panel fault Change wiring 129 Chapter VII Diagnosis of Malfunctions uU opening Possible Cause Processing Methods Code state During the Control board fault Check connection powerupof Encoder cable defective c ntral Change power cable Overlong encoder cable power Shorten the cable and adopt Er ELS canser the lowersunply multi core parallel operation During the voltage of the en
23. Protection Level IP65 Service Environment temperature 20 50 C environment humidity Environment relative humidity lt 90 without condensation Installation Size sh6 QLEh7 25 A A Wh9 M6XL22 Motor Torque Nm 4 0 5 0 6 0 LA 189 204 219 LB 55 55 55 LC 5 5 5 LD 12 12 12 LE 95 95 95 LF 110 110 110 LG 130 130 130 LZ 9 9 9 S 19 19 19 H 21 5 21 5 21 5 WwW 6 6 6 172 Annex 8 Parameters and Size of Servo Motor Note the length indicates the length of motor without a brake and the length of motor with a brake will increase 74mm m Parameters of 130 Flange Series E 380V Motor Series 130 Motor Model ASMH ASMG ASMH 1ROC25U2 IR3C25U2 IROC10U2 Rated Power KW 1 0 1 3 1 5 Rated Current 2 6 3 0 2 5 Rated Speed rpm 2 500 2 500 1 000 Rated Torque Nm 4 0 5 0 10 0 Peak Torque Nm 12 0 15 0 20 0 Rotor Inertia kgem 8 5x10 10 6x10 19 4x10 Encoder Resolution C R 2 500 Insulation Grade of Motor Class F Protection Level IP65 Service Environment Environment temperature 20 50 C environment humidity relative humidity 9096 without condensation Series 130 Motor Model ASMG ASMG ASMG IR5C15U2 IR5C25U2 2R0C25U2 Rated Power KW 1 5 1 5 2 0 Rated Current 3 5 3 7 4 7 Rated Speed rpm 1 500
24. You can appoint the drive address through P07 01 function code When more than one servo drives participate in networking the addresses of themselves must be unique If not it can lead to communication error or abnormity 0 even parity Parity selection 1 odd parity 2 no parity Function Description 110 Chapter VI Specified Function Introduction When you choose even parity or odd parity the actual bits of every byte is 11 Among them the one is start bit 8 data bits 1 check bit and 1 stop bit When you choose no parity the actual bits of every byte are also 11 1 start bit 8 data bits and 2 stop bits mn Emmr se 1 1 Function Description Standby parameters EEPROM saving mode 0 no deposit in EEPROM 1 direct deposit in EEPROM for communication data Function Description The value of function codes may often be modified when communication is used Many save values of function codes in EEPROM will be updated while the function codes value has been changed Frequent erasing and writing on EEPROM will reduce its service life When there s no need to save function data via communication we can set P07 05 to 0 to prohibit saving data to EEPROM to prolong its service life Please refer to the relevant instructions in attachment to see the application methods of MODBUS Communication 6 9 Parameters of Origin Search and Multista
25. arrangement for 220V5 5A drive the terminal arrangement for drives of other specifications may be different from this the actually marked terminal code shall prevail Wiring Steps for Spring Type Main Circuit Terminal Take the spring type main circuit terminal from the servo drive Strip the insulating layer of the wire to be connected as shown in the figure 8 9mm 16 Chapter II Installation and Wiring Use proper wire noses and press it on the wire of which the insulating layer is stripped with a proper crimping tool A 8 D sg p pi m a lmm above 5 Insert the wire of the terminal connector into the opening on the hole with a tool Two methods may be applied Use a spring opener operate as shown in the illustrations Notes the actually used connector may be totally different from that of the connector as shown in the figures in appearance Please note that during the actual operation 17 Chapter II Installation and Wiring Typical Wiring Diagram of Main Circuit e Single phase three phase 220V Power Supply R y T 4 3 220V AS100 series Y k servo driver a 2KM d BN T OL A T L2 Ma OL3 1KM ay LC1 1 ENC a LC2 it YA VY 24 V IR OBI a 1Ry y B2 ALM A N L4 1PL 3 5 ALM 1D 0v OFF IKN ue X 4 AL 1 Li d 1 1SA 1Ry 2KM LH 2SA 1Ry Relay 1QF feeder c
26. disconnection encoder signal loss Er 0LS Z pulse loss of encoder zero signal loss Er OH1 Overheated heatsink Er SSr Saturation alarm of speed regulator Er brS Instantaneous braking power alarm Er brL Long time average braking power alarm Er oL Overload for motor Er ot Overtime home position return 125 Chapter VII Diagnosis of Malfunctions 7 2 Diagnosis of Malfunctions and Correction Table 7 2 Fault Treatment Approaches Alarm Operatin P 8 Possible Cause Processing Methods Code state When switched on n Circuit board fault Change servo drives control power Low service voltage Check drive and power up 7 again changing drive if the Overheated drive failure didn t disappear Er IPF Sh 1 1 i ort circuit between U na During the Check and correct wiring V and W output operation process of Motor insulation damage Change motor Motor Imperfect earth Perfect earth Add EMC line filter being Disturbed isolated or away from interference resource Short circuit between Modify wirin drives U V and W y 8 Wiring error or poor Modify wiring or replace contact to motor cable motor cable Dui h Internal short circuit or unng the earth short circuit to Replace motor cable operation motor cable process of Internal short circuit or s Er OCU OE e eet cian Maybe it s motor failure when starting replacing the motor the drive or motor when other Internal short circuit or Mavbe
27. external control signal is required under the test run mode The trial operation operating steps are briefly described below Note the trial operation shall be performed when the motor is fixed and disconnected from load to ensure no accident will occur m Speed Trial Operation P00 02 4 Reference Steps Operations P P Chapter Connect the control circuit power supply the main circuit 24 The main power is disconnected temporarily and the display of the 7 A i circuit 1 drive is on If there is an alarm please check the connection terminal The input and output interface cable shall not be connected wirin during test run S 2 4 The main m circuit 2 onnect the main circuit power supply e P PPY terminal wiring 51 Chapter IV Operation Reference Steps Operations Chapter Set the control mode P00 02 at speed test run the setting is 3 2 3 4 At this time the drive is at enabled state the motor is Keyboard initiated and at zero speed running state gentle vibration can operation be felt when touching the motor with hand method Entering the speed test run setting P01 00 through keypad operation the indication sign of speed test run is 5 9 the numerical unit is r min Use the 4 and wv key to change the speed and direction and the motor shall be operated in the given speed If the speed display is positive the first digital display is S means the m
28. in the position deviation counter less than or equal to the setting value of this parameter the drive identifies that the positioning has been completed and outputs the positioning complete signal P_CMP Function Setting Factory poses Deteenon range of Immediately a aj goy 100 palees over position error effective 103 Chapter VI Specified Function Introduction Function Description Set detection range of over position error Each unit corresponds to 100 encoder feedback pulses Under the position control mode when the value of position error counter exceeds this parameter the servo drive would output over position error alarm signal When set as 0 the position error detection is invalid Function a Setting Factory Power P04 04 Numerator of the first i 1 32 766 g 5 electronic gear ratio effective Denominator of the Power P04 05 first electronic gear up 1 32 766 3 ratio effective Numerator of the Power P04 06 second electronic up 1 32 766 10 gear ratio effective Denominator of the Power P04 07 second electronic up 1 32 766 3 gear ratio effective Function Description Set electronic gear ratio Under the position control mode conduct frequency doubling or frequency division on position command pulse to conveniently match with different position command pulse sources thus the pulse resolution needed by users can be realized i e angle pulse or pulse command equivalency Please r
29. it s drive failure conditions earth short circuit to tok i replacing the drive drive Take measures to prevent Malfunction caused by noise interference such as noise perfect earth and appropriate EMC measures 126 Chapter VII Diagnosis of Malfunctions plam opaan Possible Cause Processing Methods Code state Servo unit failure Repair or change drives Voltage of main power is peer pon contaci ot Check the power supply and power supply lines or ME correct failure Switch on power supply capacity is ELLU main power insufficient and start Interrupt power supply drive happened to supply Interrupt and power up again voltage drive fault Repair or change drives When SWR Eu DIE Circuit board fault Repair or change drives control power It appears bu me Tn op voer Check whether the power main power exceeds permitted input supply matches drive or not is switched voltage range on Wiring of braking a Er OU resistor disconnected NManngspam Reduce the start stop frequency Hume ine Mismatch of external Add acceleration or SP exe braking resistor led to deceleration time oe renewable energy can t lower limit value of torque motor KE be absorbed Reduce load inertia Replace it with bigger power drive and motor drive fault Repair or change drives Er IAF When 15V no voltage Repair or change drives 127 Chapter VII Diagnosis of Malfunctions
30. must be reliably grounded and the grounding wire should be thick wire above 2 0mm if possible Do not bend the cable or make it bear any tension The diameter of the core wire of cables for signal is extremely small i e 0 2mm or 0 3mm For signal cables and encoder feedback cables please use shielded twisted pair The length of cables for command input signal shall not exceed 3m while the length of encoder feedback cables shall not exceed 30m Only one wire can be inserted into one wire socket of the connector Please use a noise filter to avoid radio frequency interference Install the noise filter on the input side of the power cord when you are using it around residential houses or worrying about radio frequency interference Since the servo drive is a set of industrial equipment countermeasures are not taken to fight against radio frequency interference Install the host device and noise filter around the servo drive if possible Install a surge suppressor on the coils of the relay and the electromagnetic contactor Please separate the strong power lines with the weak power lines during wiring and keep a spacing of above 30cm Do not put them in the same pipeline or bind them together Do not share a power supply with the electric welding machine and electrical discharge machine etc Even if the power supply is not shared please install a noise filter on the input side of the power cord when there is a high frequency ge
31. of error code CRCH CRC high significant bytes CRCL CRC low significant bytes END Greater than or equal to 3 5 characters idle time indicating the end of a frame Error code list 0x0002 The command is not 0x03 0x06 0x0004 CRC code error 0x0006 Reserved 0x0008 The function code does not exist 0x0010 The value of the read in function code exceeds the upper and lower limits of the function code 0x0020 The function code read is a read only function code 157 Annex 7 MODBUS Communication Protocol Monitoring Contents MODBUS Name Value Description ADDR 0 Position mode 1 Analog speed mode 2 Torque mode 0003H Wor EE 0 6 3 Internal speed mode Mode 4 Test run mode 5 JOG mode 6 Factory mode BitO Overtemperature Bitl Current regulator saturation alarm Bit2 Speed regulator saturation alarm Bit3 Z pulse loss Bit4 Encoder disconnection Bit5 EEPROM fault Bit6 Software overcurrent Bit7 Position out of tolerance 0004H Faults Bit8 Speed out of tolerance Bit9 UVW combinational logical fault BitlO Excessive zero drift of IB current signal Bitll Excessive zero drift of IA current signal Bit12 Hardware overcurrent OCU Bit13 VCE module alarm Bitl4 Busbar overvoltage Bit15 Undervoltage Busbar voltage DCBUS V Busbar 0006H Voltage M 220V type M 3 3 198 1024 380V type M 3 3 270 1024 Bit9
32. position instruction pulse input mode P00 05 according to the controller output signal d Cond 3 and set the appropriate electronic gear ratio P04 04 P04 05 5 eim Confirm the relevant parameters setting of others and position thod control mode is correct After confirmation of all parameters disconnect the control power and re connect the motor 4 Connect the main circuit power supply Make sure there is no alarm and any abnormal situation then 5 use the servo enable S ON ON and the motor is initiated at the moment and at zero speed state Operate the host control signal set appropriate position pulse instruction to servo drive so the motor is operated according 6 to instruction Observe the motor rotation direction and speed and determine whether the motor operation is in line with the expectation m Trial Operation Under Analog Speed Control Mode P00 02 1 Reference Steps Operations Chapter 1 The drive is connected to host controller through CN2 and 2 5 2 Input make sure the relevant signal wiring is correctly connected and output Servo enable S ON OFF positive travel limit P OT ON signal wiring and reversed travel limit N OT ON is used CN2 2 4 2 4 The main Connect the control circuit power supply the main circuit chon power is disconnected temporarily and the display of drive terminal is on If there is an alarm please check the connection E wir
33. processing mode for residual position command when enable signal recovery after being interrupted 0 Continue to run the rest of the segments 1 Start running again from segment 1 Function Setting Factory Dinamem immediacy g CUP effective selection Function Description Set the type of internal displacement 0 Relative displacement instructions 1 Absolute displacement instructions Function Parameter Factory P10 12 Waiting time Immediately pu unit selection effective Function Description Set time unit for the waiting time value 0 The unit of the waiting time is ms 1 The unit of the waiting time is s 117 Chapter VI Specified Function Introduction Function Parameter f Factory Displacement 4 HSBs decimal of the first Immediately effective 9 999 9 999 H 0 segment Displacement 4 LSBs decimal of the first segment Immediately effective 9 999 9 999 5 000 Function Description Combine P10 13 with P10 14 to set stage 1 displacement number pulse number before electronic gear ratio The 4 HSBs decimal of displacement is set by P10 13 and the 4 LSBs is set by P10 14 The total displacement of current segment 4 HSBs set value x 10 000 4 LSBs set value For example set four figures high value 12 and four figures low value 5 000 the setting total displacement 12x10 000 5 000 115 000 Function Parameter Factory P10 15 P o
34. 0 19 4x10 19 4x10 27 7x10 Encoder Resolution 2 500 C R Insulation Grade of Class F Motor Protection Level IP65 168 Annex 8 Parameters and Size of Servo Motor Motor Model Series 130 ASMG ASMH ASMG ASMG 2R0B25U2 1R5B15U2 2R6B25U2 3R8B25U2 Service Environment Environment temperature 20 50 C environment humidity relative humidity lt 90 without condensation Installation Size LB LEh7 o i E l A M6XL22 Hos LA 166 171 179 192 213 209 231 LB 57 57 57 57 57 57 57 LC 5 5 5 5 5 5 5 LD 14 14 14 14 14 14 14 LE 110 110 110 110 110 110 110 LF 130 130 130 130 130 130 130 LG 145 145 145 145 145 145 145 LZ 9 9 9 9 9 9 9 S 22 22 22 22 22 22 22 H 24 5 24 5 24 5 24 5 24 5 24 5 24 5 W 6 6 6 6 6 6 6 Note the length indicates the length of motor without a brake and the length of motor with a brake will increase 57 or 81mm see below for details 169 Annex 8 Parameters and Size of Servo Motor Motor Spec With a brake Flange No torque Increased length 130 flange torque 4 7 7Nm 57mm 130 flange torque 10 15Nm 81mm m Parameters of 150 180 Flange Series E 220V Motor Series 150 Series 180 Motor Model ASMH ASMG ASMH 3R0B20U2 2R7B15U2 3ROB15U2 Rated Power KW 3 0 2 7 3 0 Rated Current 14 0 10 5
35. 000 ooo0000000000 oo0o0000000000 ooo o000000000 ooo0oo0o000000000 ocoooeoogoo0oee 147 Annex 2 Technical Specification of Servo Drive Annex2 Technical Specification of Servo Drive m Specifications of 220V Series Servo Drive Drive Model AS100A AS100A AS100A AS1000A AS100A AS100A 1R6M2U 2R8M2U 3R8M2U 5R5M2U 7R6T2U 012T2U Feedback Type Standard 2500 c r Incremental Encoder Drive Model AS100A AS100A AS100A AS1000A AS100A AS100A 1R6M2V 2R8M2V 3R8M2V 5R5M2V 7R6T2V 012T2V Feedback Type Wire saving 2500 c r Incremental Encoder Rated Current 1 6A 2 8A 3 8A 5 5A 7 6A 12A Max Current 5 8A 9 3A 11A 16 9A 17A 28A Structure Size A B C Three phase Main Circuit AC220V mower Suad Single three phase AC220V 15 50 60Hz 15 50 60Hz Control Loop Single phase AC220V 15 50 60Hz Power Supply Regenerative Braking External braking Standard built in braking resistor resistor is required Function m Specifications of 380V Series Servo Drive Drive Model AS100A 3R5T3U AS100A 5RAT3U AS100A SRAT3U Feedback Type Standard 2500 c r Incremental Encoder Drive Model AS100A 3R5T3V AS100A 5R4T3V AS100A 8R4T3V Feedback Type Wire saving 2500 c r Incremental Encoder Rated Current 3 5A 5 4A 8 4A Max Current 8 5A 14A 20A Structure Size C Main Circuit Power
36. 12 Rated Speed rpm 2 000 1 500 1 500 Rated Torque Nm 15 0 17 2 19 0 Peak Torque Nm 30 0 43 0 47 0 Rotor Inertia kgem 38 8x10 34 0x10 38 0x10 Encoder Resolution C R 2 500 Insulation Grade of Class F Motor Protection Level IP65 Environment temperature 20 50 C environment Service Environment humidity relative humidity 9096 without condensation Installation Size of 180 Flange 170 Annex 8 Parameters and Size of Servo Motor Spec 17 2Nm 19 0Nm Length LA mm 226 232 150 Installation Size of Flange 130h7 Spec 15 0Nm Length LA mm 230 AA M6XL22 4 314 Note the length indicates the length of motor without a brake and the length of motor with a brake will increase 73mm m Parameters of 110 Flange Series E 380V Motor Series 110 Motor Model ASMS ASMS ASMS ASMG R80C20U2 IR2C30U2 IR5C30U2 1R2C20U2 Rated Power KW 0 8 1 2 1 5 1 2 Rated Current 2 0 3 0 4 5 3 0 Rated Speed rpm 2 000 3 000 3 000 2 000 Rated Torque Nm 4 0 4 0 5 0 6 0 Peak Torque Nm 12 0 12 0 15 0 12 0 Rotor Inertia 5 4x10 5 4x10 6 3x10 7 6x10 kgem 171 Annex 8 Parameters and Size of Servo Motor Series 110 Motor Model ASMS ASMS ASMS ASMG R80C20U2 1R2C30U2 IR5C30U2 IR2C20U2 Encoder 2 500 Resolution C R Insulation Grade Class F of Motor
37. 2 500 2 500 Rated Torque Nm 10 0 6 0 7 7 Peak Torque Nm 25 0 18 0 22 0 Rotor Inertia kgem 19 4x10 10 6x10 15 3x10 Encoder Resolution C R 2 500 173 Annex 8 Parameters and Size of Servo Motor Series 130 Motor Model ASMG ASMG ASMG IR5C15U2 IR5C25U2 2R0C25U2 Insulation Grade of Motor Class F Protection Level IP65 Service Environment Environment temperature 20 50 C environment humidity relative humidity 9096 without condensation Series 130 Motor Model ASMG ASMG ASMG ASMG 2R0C20U2 2R3C15U2 2R6C25U2 3R8C25U2 Rated Power KW 2 0 2 3 2 6 3 8 Rated Current 5 1 5 0 5 9 7 4 Rated Speed rpm 2 000 1 500 2 500 2 500 Rated Torque Nn 10 0 15 0 10 0 15 0 Peak Torque Nm 25 0 30 0 25 0 30 0 Rotor Inertia 19 4x10 21 7x10 19 4x10 27 7x10 kgem Encoder 2 500 Resolution C R Insulation Grade Class F of Motor Protection Level IP65 Service Environment Environment temperature 20 50 C environment humidity relative humidity lt 90 without condensation 174 Annex 8 Parameters and Size of Servo Motor Installation Size LB LEh7 LA 166 171 179 192 209 231 213 241 213 209 LB 57 57 57 57 57 57 57 57 57 57 LC 5 5 5 5 5 5 5 5 5 5 LD 14 14 14 14 14 14 14 14 14 14 LE 110 110 110 110 110 110 110 110 110 110 LF 130 130 130 130 130 130 1
38. 30 130 130 130 LG 145 145 145 145 145 145 145 145 145 145 LZ 9 9 9 9 9 9 9 9 9 9 S 22 22 22 22 22 22 22 22 22 22 H 24 5 24 5 24 5 24 5 24 5 24 5 24 5 24 5 24 5 24 5 W 6 6 6 6 6 6 6 6 6 6 Note the length indicates the length of motor without a brake and the length of motor with a brake will increase 57 or 81mm see below for details Motor Spec With a brake Flange No torque Increased length 130 flange torque 4 7 7Nm 130 flange torque 10 15Nm m Parameters of 180 Flange Series E 380V Motor 175 Annex 8 Parameters and Size of Servo Motor Series 180 Motor Model ASMG ASMG ASMG 2R7C15U2 2R9C10U2 AR5C20U2 Rated Power KW 2 7 2 9 4 5 Rated Current 6 5 7 5 9 5 Rated Speed rpm 1 500 1 000 2 000 Rated Torque Nm 17 2 27 0 21 5 Peak Torque Nm 43 0 67 0 53 0 Rotor Inertia kgem 34 0x10 61 0x10 47 0x10 Encoder Resolution C R 2 500 Insulation Grade of Motor Class F Protection Level IP65 Service EnvitonmEnt Environment temperature 20 50 C environment humidity relative humidity 9096 without condensation Installation Size of Flange 91143 Spec 17 2Nm 21 5Nm 27 0Nm Length LA mm 226 243 262 Note the length indicates the length of motor without a brake and the length of motor with a brake will increase 72mm 176 Annex 9 Se
39. 4V Fig 2 14 Digital Output Circuit b Pulse Position Command Input Circuit The position command pulse of the host device has two types differential drive line drive and open collector drive single end drive 1 The differential drive is a signal transmission mode that is not easy to be interfered by noise and the highest input pulse frequency is 500 kHz 2 To accurately transmit the quantity of pulse differential drive is recommended 3 Under the differential drive mode AM26LS31 or line drive circuit with similar functions should be used 4 If single end drive mode is used the highest frequency of the transmitted signal pulse is 200 KHz 33 Chapter II Installation and Wiring Servo drive Fig 2 15 Pulse Differential Drive Input Circuit a Servo drive Fig 2 16 Pulse Single end Drive Input Circuit b 34 Chapter II Installation and Wiring Timing Requirements for Pulse Input Parameters Differential Drive Input Single end Input Drive tek gt 2us gt Sus th lus 22 5us ti lus 22 5us tin 0 2us 0 3us ty 0 2us 0 3us ts 2 us 22 5us tack 28us gt 10ps ton gt 4us gt Sus tal gt 4us gt Sus Lam gt 0 2us 0 3us fac 702ys 0 3us tgs lus 22 5us BGS 90 f 10 4 90 f 4a SIGN 1 i trh ty i Sequence Diagram of Pulse Direction Input Interface maximum freq
40. 7 and torque loop integral time constant P09 08 4 3 3 The Setting of Electronic Gear Ratio Electronic gear ratio G B A calculation formula Servo Motor _ Zr VVV Command Pulse gt B e Position Speed pem pee L Pith P mm Rev A mm P y RA m Pc P Rev 58 Chapter IV Operation Ag mP command pulse equivalency Pe P Rev encoder resolution encoder pulse number of one round of motor shaft rotation P nm Rev helical pitch of ball screw n m mechanical reduction ratio the motor rotates m rounds the load shaft rotates n rounds 1x P B X 9 PcXm Ag A Electronic gear ratio B j PGXmXAR _ PG x A nXP P n A4 P Al number of instruction pulses required for one round of load shaft rotation This system adopts for incremental encoder because there is four fold frequency circuit in the system so Pg 4 x C C is the pulse per rotation also lines of the encoder In this system C 2 500 so Pg 10 000 pulse rotation The setting example of electronic gear ratio Example 1 The mechanical composition is shown in the following figure Ball screw the lead is 6mm reduction ratio is 1 and the required command pulse equivalency is 0 001mm Pulse Command Unit 0 001mm Load shaft Servo Pitch of ball screw 6mm Motor Encoder resolution Po 10 000 pulse rotation The command pulse amount of load shaft
41. A ALPHA AS100 Series AC Servo Drive User Manual Preface Preface We appreciate your support for choosing the AS100 Series AC Servo System of ALPHA This Manual is formulated to help you apply this product in a correct manner It introduces the naming rules supporting recognition wiring utilization parameter setting precautions and fault diagnosis of the servo drive and the motor AS100 Series AC Servo System consists of the AC drive and the permanent magnet synchronous servo motor AS100 AC Servo Drive is equipped with Digital Signal Processor DSP Complex Programmable Logic Devices CPLD and latest IPM giving its advantages of high integration limited volume comprehensive protection great performance etc The optimum PID arithmetic is employed for regulation and control over the electric current loop the speed loop and the position loop with high speed and great precision AS100 is applicable to numerically controlled machine tool printing and packaging machinery textile machinery automatic production line etc For any problem encountered during the operation please contact us or our dealers For sake of safety of yours and the product please read this Manual before using our product and preserve the Manual properly for future use Special attention should be paid to safety specifications and warnings in the Manual as well as warning signs attached on the equipment while you read it for your safety and proper ope
42. Annex 5 Specification of Braking Resistor seseeseeeeeeeeenennen 153 Annex 6 Main Input Output Cable Selection eese 154 Annex 7 MODBUS Communication Protocol sse 155 Annex 8 Parameters and Size of Servo Motor sss 162 Annex9 Servo Drive Warranty seeeeseeeeseeeeet eene nennen nnne ennt enne 177 Chapter I Purchase Inspection ChapterI Purchase Inspection 1 1 Unpacking Inspection The servo drive system has been tested and checked strictly before delivery However please check the purchased product of the following items to avoid unnecessary mistakes during purchasing and transport Whether the purchased product is the expected one for this the product model on the nameplates of the motor and drive should be checked with reference to model description outlined in the next section Whether the motor shaft rotates in a smooth manner for this manually rotate the motor shaft to see whether it is able to run smoothly If yes it is deemed normal However the inspection manner of manual rotation is not applicable to the motor with an electromagnetic holding brake Damage inspection for this conduct visual inspection on the product for damage or scratching Unreliable screws check whether any screw is not fixed in a reliable manner or is loosening In any of above mentioned cases do not hesitate to contact the dealer for problem solving Operable comp
43. DI7 000CH DI Status BitlO DI6 158 Annex 7 MODBUS Communication Protocol MODBUS Name Value Description ADDR Bitl1 DI5 Bit12 DIA 000CH DI Status Bit13 DI3 Bitl4 DI2 Bit15 DII Bit12 DO4 Bit13 DO3 000DH DO Status Bitl4 DO2 Bit15 DOI Notes Bit 15 represents the least significant bit of the parameter and Bit 0 represents the most significant bit of the parameter For example if the drive send out an undervoltage alarm the fault value read is 0x0001 MODBUS Name Value Description ADDR Effective Effective value of phase current I 0 01A 2M 100 0012H value of M e g If the real time phase current is 4 2A the phase data read is 0x01A4 0x01A4 420 current Motor speed n rpm M P08 00 25 000 Note P08 00 is the rated speed of the motor M is 0033H Motor speed M s signed number e g if M OxFEOC and P08 00 2 000 the motor speed n 500 2 000 25 000 40 rpm Position The position feedback POS is indicated by a 0030H feedback M2 combination of two 16 digits 16 LSBs e g if M1 0x0000 and M2 0x0520 POS 0 159 Annex 7 MODBUS Communication Protocol MODBUS Name Value Description ADDR 65 536 0x520 1 312 e g if M1 0x0101 and M2 0x0520 POS POS 0x101 65 536 0x520 osition 0031H feedback MI 257 65 536 1312 16 844 064 16 MSBs If the motor is negative the pulse should be negative And i
44. Description Set CPLD parameter This parameter value depends on host numerical control system and decides the pulse counting method and the initial pulse level 87 Chapter VI Specified Function Introduction setting Up down i ds ee Side mode value Count Pulse Edge PU Type of CNC pulse level 0 0 positive edge 0 unchanged 0 General system 1 0 positive edge 0 unchanged Siemens system 2 0 positive edge negative 0 General system 3 0 positive edge 1 negative Siemens system 4 1 negative edge 0 unchanged 0 General system 5 1 negative edge 0 unchanged 1 Siemens system 6 1 negative edge 1 negative 0 General system 7 1 negative edge 1 negative 1 Siemens system Normally choosing the general system could be suitable for pulse form of most numerical control system while the Siemens system is only for some models of Siemens numerical control system Function Parameter Setting A Factory pooage ey ok 0 2 initialization effective Function Description 0 No operation 1 All parameters except parameters of servo motor are initialized to their default values Set the parameters to 1 and press confirm button Then the system will begin to restore its default value The LED is showing start at first when it s turning into done the operation has been successfully completed and all the default values of 88 Chapter VI Specified Function Intr
45. EEPROM Press M to return to the previous menu The value setting of P05 10 is shown in Fig 3 2 as an example of parameter setting sgl ate n arta hag v teg t ga 8n am 1 50 Pos ES ALIN fz Fig 3 2 Parameter Setting In the tertiary menu of parameters displayed on the monitor Exil AV M are annul 42 Chapter III Display amp Operation 3 3 Monitor Display The parameter of P02 04 Pos displayed on the monitor is shown in Fig 3 3 as an example of monitor display The servo motor is in 4 LSBs of a pulse of 2053 uc 5Pg Pod B 8853 4 Fig 3 3 Monitor Display The monitor display refers to the display of the set command value state of input output signals and internal state of the servo drive The function codes of monitor display are shown in Table 3 2 Table 3 2 Monitor State P02 05 PoS IB Current position 4 MSBs 10 000 pulses P02 07 CPo a ATE 10 000 pulses P02 08 EPo Position error 4 LSBs P02 09 EPo Position error 4 MSBs 10 000 pulses 43 Chapter III Display amp Operation P02 12 InH ps terminal high order P02 13 InL n terminal low order P02 15 Frq Puletiequeney or kHz position command P02 18 Cod Cod Coder UVW input signal P02 19 Err Error Fault Display motor rotor P02 21 rES lo Encoder zero pulse ike P02 24 bHL e Average braking power P02 25 n tP W Fj Motor model code Description of monitor display functions
46. M1 CDM3 and speed instruction segment number is as follows CMD3 CMD2 CMDI selected segment number of speed 0 0 0 1 0 0 1 2 0 1 0 3 0 1 1 4 1 0 0 5 1 0 1 6 1 1 0 7 1 1 1 8 0 inactive input 1 active input 121 Chapter VI Specified Function Introduction Note In single operation or cyclic operation mode under the condition that the power for driver is applied continuously the driver stops to run once the enable signal becomes invalid and the driver will starts to run from the first segment after the enable signal becomes valid again o Operation time for each segment can be set through parameters o In DI switching operation mode the actual running time for each segment is not subjected by preset operation time for each segment There are four ACC DCC time values between segments available and the default ACC DCC time is zero See description of related parameters for reference Parameter Function Description Function Parameter Factory End segment Immediatel selection of the vey 1 8 effective speed command Function Description Set the maximum effective segments for the single and cyclic operation mode This setting is invalid when the DI switching operation mode is chosen Function Parameter Factory P11 02 Runtime unit Immediately 0 2 selection effective 122 Chapter VI Specified Function Introduction Function Descr
47. Model ASMS ASMS R20B30U2 R40B30020 Rated Power KW 0 2 0 4 Rated Current 1 2 2 8 Rated Speed rpm 3 000 3 000 Rated Torque Nm 0 64 1 27 Peak Torque Nm 1 91 3 8 Rotor Inertia kgem 0 17x10 0 30x10 Encoder Resolution C R 2 500 Insulation Grade of Motor Class F Protection Level IP64 Service Environment Environment temperature 20 50 C environment humidity relative humidity lt 90 without condensation 163 Annex 8 Parameters and Size of Servo Motor Installation Size Motor Length Spec 0 64Nm 1 27Nm Length L 111 137 mm Note the length indicates the length of motor without brake and the length of motor with a brake will increase 48mm m Parameters of 80 Flange Series E 220V Motor Series 80 Motor Model ASMS ASMS R75B30U2 1ROB25U2 Rated Power KW 0 75 1 0 Rated Current 3 0 4 4 Rated Speed rpm 3 000 2 500 Rated Torque Nm 2 4 4 0 Peak Torque Nm 7 1 12 0 Rotor Inertia kgem 1 82x10 2 97x10 Encoder Resolution C R 2 500 Insulation Grade of Motor Class F Protection Level IP65 Service Environment condensation Environment temperature 20 50 C environment humidity relative humidity lt 90 without 164 Installation Size Annex 8 Parameters and Size of Servo Motor Motor Length Spec 2 4Nm 4 0Nm Length L 151 191 mm Note
48. Phase B Input Phase A into PULS port and Phase B into SIGN port Forward Run Reverse Run H 90 PhaseA mM PhasAA 3 rL PaseB LIT LJ PhaseB LJ LT L Note The actual rotate direction of motor is related to the setting of Parameter P00 06 rotate direction selection Function Factory Rotate direction Power up selection effective Function Description Set the relation between the command direction and motor rotate direction This parameter is effective to the position control speed control and torque control 1 When in positive direction command the motor rotate direction is CCW Seen from the axle of the motor it is counter clockwise direction 0 When in positive direction command the motor rotate direction is CW Seen from the axle of the motor it is clockwise direction M D Forward Rur Reverse Run CCW CW 83 Chapter VI Specified Function Introduction Function S Setting Factory Smoothing filter Immediate coefficient of otet 074 095 position command Function Description Set the smoothing filter coefficient of position command The filter would not lose the input pulse but there may be a command delay phenomenon This filter can give the servo motor a more stable running status and is more effective in the following situations 1 Host controller does not have the deceleration function 2 the electronic gear ratio is above 10 times 3 the command frequency is
49. Signal Name Function No Grade completion speed input functions include coincidence 0 Servo ready CN2 26 i P_CMP 1 Servo alarm P CME 2 Positioning CN2 23 completion speed coincidence Origin search 3 Origin search DO4 completion completion CN Home Home Output form OC output Maximum output Output CN2 16 BRK Used to control servo motor mechanical ae bake eldini brake CN2 17 BRK P Maximum rated value DC100V 0 4A Command pulse The external command oN PULST PULS pulse input terminal Command pule receives differential CN2 8 PULS P input signals The PULS EON following input methods CN2 11 SIGN Symbol pulse can be used for SIGN parameter settings 1 Command pulse symbol pulse mode Symbol pulse 2 CCW CW command Pulse Input GNIS PI SIGN pulse mode 3 Two phase A B command pulse mode If the pulse input is single end signal the External power rated input voltage of the CN2 13 VPP supply when positive electrode of the single end pulse input external power supply is DC24V and the maximum allowable value is DC35V 24 Chapter II Installation and Wiring Classification Le Seguin ae maina Signal Name Function No Grade CN2 49 Z OUT Encoder origin signal Z Z pulse output open collector signal CN2 50 Z OUT output CN2 19 PZO A PUSS output Encoder divider pulse CN2 20 PZO P Pulse Output output A B 90 phase CN2 33 PAO difference pu
50. aiting time of the first segment 0 10 000 ms s P10 18 Displacement 4 HSBs decimal of the second segment 9 999 9 999 P10 19 Displacement 4 LSBs decimal of the second segment 9 999 9 999 5 000 P10 20 speed of the second segment 0 3 000 500 rpm P10 21 Acceleration and deceleration time of the second segment 0 1 000 100 P10 22 P10 23 Waiting time of the second segment Displacement 4 HSBs decimal of the third segment 0 10 000 9 999 9 999 ms s 71 Chapter V List of Functional Parameters P10 24 Displacement 4 LSBs decimal of the third segment 9 999 9 999 5 000 P10 25 Running speed of the third segment 0 3 000 500 rpm P10 26 Acceleration and deceleration time of the third segment 0 1 000 100 P10 27 Waiting time of the third segment 0 10 000 ms s P10 28 Displacement 4 HSBs decimal of the fourth segment 9 999 9 999 P10 29 Displacement 4 LSBs decimal of the fourth segment 9 999 9 999 5 000 P10 30 Running speed of the fourth segment 0 3 000 500 rpm P10 31 Acceleration and deceleration time of the fourth segment 0 1 000 100 P10 32 Waiting time of the fourth segment 0 10 000 ms s P10 33 Displacement 4 HSBs decimal of the fifth segment 9 999 9 999 P10 34 P10 35
51. al device Nuclear installations electrical equipment Aviation and aerospace devices Various safety devices Other special purposes About the Hope for the Users Our Company will appreciate that if users could put forward valuable opinions and suggestions to product s design performance quality and service 144 Annex 1 Appearance Dimensions and Installation Dimensions of Drive Annex1 Appearance Dimensions and Installation Dimensions of Drive Unit mm Type A Structure applicable to Single phase 220V grade AS100A 1R6M2U and AS100A 2R8M2U HBB BRAABABRBBBE DOEDD c DODDI aaia aliaa S ana all p ol no n n ol ea Soo 0 665 feo OT EI 145 Annex 1 Appearance Dimensions and Installation Dimensions of Drive Type B Structure applicable to Three phase 220V grade AS100A 3R8MOU AS100A 5R5MOU and AS100A 7R6T2U coool pg pfoggog meso RS RECHKRE d ERES SE RAN Dep 146 Annex 1 Appearance Dimensions and Installation Dimensions of Drive Type C Structure applicable to Three phase 220V grade AS100A 012T2U Three phase 380V grade AS100A 3R5T3U AS100A SRAT3U and AS100A 8RAT3U ooooooooe 000000000 o00000000 Oooooooooooooo Oooooooooooooo Oooooooooooooo oooo0oo000000
52. all or suffer strong impact in the process of installation please Do not obstruct the air intake and air outlet otherwise it will cause failure Please install a fan for cooling in the upper part of the servo drive To ensure that the temperature around the drive will not rise continuously the temperature in the electric cabinet must be kept uniform 2 4 EMC Installation Conditions Before delivery the servo drive has been strictly tested in accordance with the requirements of IEC61000 4 IEC61000 3 2 2000 IEC61000 3 4 1998 and 14 Chapter II Installation and Wiring GB T17626 2 6 In order to avoid any possible influence of external strong electromagnetic interference source to ensure normal operation of the servo system and to prevent the adverse impacts of the actions of the high frequency electronic switch on the sensitive equipment nearby the following EMC measures should be taken during the installation of the servo system Install the servo drive in a shield box Ensure that the servo drive and the servo motor are reliably grounded The input and output signal cables shall be shielded twisted pair and ferrite beads winding two coils shall be used The encoder cables shall be shielded twisted pair and ferrite beads winding one coil shall be used The main circuit cables shall be shielded cables if possible and the shielding layer shall be reliably grounded 2 5 Main Circuit Terminal Wiring
53. ar shaft with A B C D screw holes Keyway E F G H Keyway with screw holes E Q R B 1 3 Servo Drive Nameplate LA Shenzhen ALPHA Inverter Co Ltd AC SERVO DRIVE AS100A 5R5M2U Model of Servo drive MODEL INPUT OUTPUT 10 30 3 0 220V Dic 1150 5 5A AC220V 4 9A 50 60Hz 0 400Hz Nos MEM RT ER EE VMI 0A16376038094 Specification of input power supply Specification of output power supply Serial No Date of Manufacture Fig 1 1 Servo Drive Nameplate 1 4 Servo Motor Nameplate 2A Shenzhen ALPHA Inverter Co Ltd AC SERVO MOTOR MODEL ASMG 1R0B20U1P INPUT OUTPUT ser No MIELE Lh 20120618007 3ph AC 220V 4 2A 50 60Hz 1 0KW 5 0Nm 2000rpm Ins F Model of Servo motor Specification of input power supplv Specification of output power supply Serial No Fig 1 2 Servo Motor Nameplate 10 Chapter I Purchase Inspection 1 5 Servo System Constitution 10 30 220V 380V Circuit Breaker Communication Cable f EMC filter PC AS100 series Servo Driver Magnetic Contactor T O Cable Motion controller Ext Brake Resistor Encoder Remove the jumper Feedback between B2 and Cable when this resistor is used ASM Servo Motor Fig 1 3 Servo System Constitution 11 Chapter II Installation and Wiring Chapter II Installation and Wiring 2 1 Outline Dimension and Installation Dimension of Servo Drive See Appendix 1 for de
54. ce Environment Environment temperature 20 50 C environment humidity relative humidity lt 90 without condensation Installation Size LEh7 LA 189 204 219 LB 55 55 55 LC 5 5 5 LD 12 12 12 LE 95 95 95 LF 110 110 110 LG 130 130 130 LZ 9 9 9 S 19 19 19 H 21 5 21 5 21 5 W 6 6 6 Note the length indicates the length of motor without a brake and the length of motor with a brake will increase 74mm 167 Annex 8 Parameters and Size of Servo Motor m Parameters of 130 Flange Series E 220V Motor Series 130 Motor Model ASMH ASMG ASMG 1ROB25U2 1R3B25U2 1R5B25U2 Rated Power KW 1 0 1 3 1 5 Rated Current 4 0 5 0 6 0 Rated Speed rpm 2 500 2 500 2 500 Rated Torque Nm 4 0 5 0 6 0 Peak Torque Nm 12 0 15 0 18 0 Rotor Inertia kgem 8 5x10 10 6x10 12 6x10 Encoder Resolution C R 2 500 Insulation Grade of Class F Motor Protection Level IP65 Service Environment Environment temperature 20 50 C environment humidity relative humidity lt 90 without condensation Series 130 Motor Model ASMG ASMH ASMG ASMG 2ROB25U2 IRSBISU2 2R6B25U2 3R8B25U2 Rated Power KW 2 0 1 5 2 6 3 8 Rated Current 7 5 6 0 10 0 13 5 Rated Speed rpm 2 500 1 500 2 500 2 500 Rated Torque Nm 7 7 10 0 10 0 15 0 Peak Torque Nm 22 0 25 0 25 0 30 0 Rotor Inertia kgem 15 3x1
55. cifications change drive high drive failure During the Use external high power Er beL operation Braking resistor is braking resistor l process of under powering Use bigger power servo drive motor and servo motor 7 3 Motor Failure and Corrective Action If any of the following failures or abnormities occurred in motor find out the problem and deal it with corresponding corrective action When checking or corrective action fails to solve the problem please seek the technical support Table 7 3 Motor Fault and Corrective Action Possible Fault Confirmation method Processing Methods Cause Access Measure the voltage ae failure of Correct wiring to make the control BUIWCEDLCODMOT DONE control power shows ON terminals LC1 and LC2 power Access Measure the voltage En OMEN Correct wiring to make the failure of between main circuit Vds sm Em main circuit power shows Servo main circuit power terminals L1 L2 ON motor power and L3 doesn t Wiring error start or omission of input Check the link status of Wiring the terminals of output all the CN2 signals input output signals correctly signals SAPE OE Confirm the connection iA encoder Correct wiring state drops off 131 Chapter VII Diagnosis of Malfunctions Fault d ud Confirmation method Processing Methods Cause Wiring of servo motor Confirm the connection m Correct wiring cable drops state
56. coder P P operation Biosdisd d h process of ncoder destroye Change motor encoder motor Control panel fault Change drives Control board fault l Check wining Encoder cable defective i d bi Change power cable Oyetione encoder cable Shorten the cable and adopt During the causes the lower supply multi core parallel operation Er 0LS operation voltage of the encoder PECES Encoder destroyed Change motor encoder motor Control panel fault Change drives Gain of speed loop Kpis Increase the setting value of too low Gain of speed loop Operating temperature higher than specified Lower operanng temperature i or improve cooling condition During the NAE Er OHI operation Replace it with bigger process of power drive and motor motor Overload Extent acceleration and deceleration time Lower load Motor stalling Find out the cause of stalling R and correct it During the ErSSr operation Heavy load Change it with bigger power process of servo motor and drive motor Loss of encoder feedback pulse Enhance anti interference measure for encoder signal 130 Chapter VII Diagnosis of Malfunctions Alarm Operatin P 8 Possible Cause Processing Methods Code state Servo system is in i During the o SY Use bigger power servo drive 7 continuous energy i operation ae and servo motor making Er brS feedback condition process of sure the voltage is up to network voltage is too AIL motor spe
57. d of fault drive Servo Wiring error motor of servo Confirm wiring Correct wiring stopped motor after instantane Control Confirm wiring Correct wiring OUS board fault operation zi Poor wiring Power line UVW and Fix the terminals of rotational of servo cable of encoder may be connector wiring in right instability motor cable unstable way Incorrect input of speed Set control modes and input command methods correctly speed Servo Node motor Incorrect operates input of Set control modes and input without torque methods correctly any order command There i P03 12 zero F n i compensation value d ect offset errors analog input is set just the set value o in speed incorrectly P03 12 appropriately command 133 Chapter VII Diagnosis of Malfunctions Possible Fault ET Confirmation method Processing Methods Input incorrect Set control modes and input command methods correctly pulse drive fault Change drives Confirm the installation Retighten the mounting status of servo motor screw Poor er 2 Keep the degree of Confirm if the coupling ay qi Dee mechanical MEET eccentricity within permitted installation range Confirm the balance i Keep balance of coupling status of coupling Confirm the sound and Bearing fault vibration near the Change servo motor bearing There is SW Servo n Confirm if the motor has ta een specification of input abnormal output signal cable is s
58. d on the preset processing mode for residual command P10 10 to choose from n 1 stage P10 10 0 and continue to perform unfinished internal position stage or from stage 1 P10 10 1 and start perform preset internal position instruction again There are four different internal positions operation modes A Single Sequence Operation Mode Under the situation that the enabling signal is effective only to run setting internal position stage number once If it needs running several times it can make enabling effectively again after running only once This mode can realize multi point trajectory planning Through the choice of P10 10 processing mode for residual command user can set the operation mode of servo enabled again after interruption of servo enable signal Mode Chan Single Sequence Operation Mode Vmax Max speed of motor T Waiting time of Stage 1 T2 Time of ACC DEC of Stage 2 S1 Displacement of Stage 1 S2 Displacement of Stage 2 A Cyclic Operation Mode This mode is similar to the single sequence operation mode however it will run in cycle from the beginning when running again until the enable signal turns into invalid The processing mode for residual command is as same as the single sequence operation mode A DI Switching Operation Mode 114 Chapter VI Specified Function Introduction Trigger and change the stage for running by external digital input One stage will be in run as enabling signal S ON var
59. d status setting 65 Chapter V List of Functional Parameters Function NM Code No DO4 function and P03 03 enabled status setting P03 04 P03 05 P03 06 P03 07 P03 08 P03 09 P03 10 DII function and enabled status setting DD function and enabled status setting DI3 function and enabled status setting DI4 function and enabled status setting DI5 function and enabled status setting DI6 function and enabled status setting DI7 function and enabled status setting Zero deviation calibration for analog input Zero compensation P03 11 Ede value for analog input P03 13 Analog input gain Threshold of P03 14 analog input hysteresis 66 Setting Delivery Unit Mode of Range Value Application 0 3 256 259 0 20 256 2776 5 000 5 000 0 001V ES ESE ESES 0 5 000 5 000 Chapter V List of Functional Parameters Group P04 Position Control Parameters Function Setting Delivery Mode of source Speed D color 1 4095 low pass filter coefficient Positioning P04 02 Seraglet d width 0 30 000 1 000 over position error Numerator of the P04 04 first electronic 1 32 766 gear ratio Denominator of P04 05 the first electronic 1 32 766 3 gear ratio Numerator of the P04 06 second electronic 1 32 766 10 gear ratio Denominator of DN we second 1 32 766 3 electronic gear ratio Coefficient of P04 08 s average 0 500 Filter for position command 67 Chapter V List of Functional Pa
60. ded Otherwise may cause electric shock Caution 1 Please make sure that the user parameter of the replaced servo drive is sent to the new one when altering the servo drive and then restart it Otherwise may cause machinery damage 2 Please do not alter the wiring and remove the terminal Otherwise may cause electric shock 3 Please do not check the signals when running Otherwise may cause machinery damage 138 8 1 Maintenance Chapter VIII Maintenance The servo drive is characterized by commercial unit and microelectronic devices due to its combination of power electronic technology and microelectronic technology The working environment changing such as temperature humidity smog and so on and the aging internal components may cause various faults of servo drive Thus daily inspection and regular maintenance every three months or six months will be needed in the process of storage and use for the long term normal operation of this product 8 1 1 Daily Maintenance Please confirm the following issues when the servo drive starts normally Check the motor for abnormal noise and vibration Check the servo drive and motor for abnormal heating Check the environment temperature for overtopping Check the load current ammeter for usual value Check the cooling fan of servo drive for normal running Check the brake resistor for good ground insulation Daily maintenance inspections are illustrat
61. e E is 41 3 2 Keyboard Operation c Se evene re ete ped 41 3 2 1 Shift between Function Code Groups eere 41 3 2 2 P ram ter Setting 5 accetto ete e Bec ipae 42 3 3 Monitor Displ y i hr ee P ar gu red 43 Contents 3 4 System Parameter Initialization eese ener 46 Chapter IV Operation aeencesteitettnticee Dio tti i eI pe lieto te teu etes 47 4 T Power Connection hene pd desee HET E REDIERE AREE 47 4 2 Trial Operation 2 anode eun one ARS 50 4 1 1 The Checking Points Before Trial Operation eee 50 4 1 2 The Checking Points During Operation eee 51 4 1 3 Commissioning When Connecting to Power eseeeen 51 4 3 Adjustment nomme oO et onte dee t tior nt 55 4 3 1 Basic Gain Adjustment eeceeecsseceeeseceeeecseeeecsaeeeesaecaeesecnesseenaeeees 56 4 3 2 Basic Parameter Adjustment esee eene 58 4 3 3 The Setting of Electronic Gear Ratio seeeeeee 58 Chapter V List of Functional Parameters eese eere 61 Chapter VI Specified Function Introduction eere 80 6 1 Basic Function Group P00 sse eene nns 80 6 2 Auxiliary Operation Group P01 seen 89 6 3 Monitor and Display Group P02 seen eene 95 6 4 I O and Analog Control Group P03 sese 95 6 5 Position Control Parameters Gro
62. e or she can set it according to the actual needs and use it together with parameter P01 03 allow time limit for overcurrent The set value of this parameter shall be less than or equal to 5 times of motor rated current to avoid the system error Function Setting Factory POLS se Humedately 25 000 cms 4 000 overcurrent time effective Function Description Set actuation time for software overcurrent protection The values of this parameter and parameter P01 02 will determine the characteristic of software overcurrent protection of servo drive system Function Setting Factory EE P P01 04 Limit value of times Power l 1 20 of alarm reset up effective Function Description Set the maximum permitted number for fault clearance The set value regulates the maximum permitted number for operating the fault clearance signal If the number of operation is over the set value and fault alarm occurs again then it just can be cleared via power off restart Function Setting Factory Range id Defaults Numerator of dividing Power up ratio for encoder pulse ffecti 1 7 1 output effective Denominator of dividing Paweru ratio for encoder pulse P 1 32 1 effective output 90 Chapter VI Specified Function Introduction Function Description Set the dividing ratio for encoder pulse output Frequency of encoder output pulse Incoming frequency of encoder pulsex P01 05 P01 06
63. ease don t touch the terminals within five minutes after power off Otherwise may cause electric shock by offset voltage Please carry out the trial operation according to the steps and instructions of this manual Operation mistake may cause mechanical defect and human injury when the servo motor is connected with the machine It is unnecessary to alter the maximum speed value except for special purpose It will turn out to be in danger if the data was altered Please don t remove the outer cover cable connector and optional accessories in power on situation Otherwise may cause electric shock Setup disassembly and maintenance should be not allowed by anyone except specific person Otherwise may cause electric shock or hurts Please do not damage pull or overburden the cable and do not put it under the weight or pick it up Otherwise may cause an electric shock burn the product or cause it to stop the movement Please make sure that the stop gear is installed at the side of the machine for safety The machine may restart suddenly when momentary outages and power restoration occurred subsequently thus keep away from the machine Please take measures to make sure the personal safety when the machine restarts Otherwise may cause hurts Please do not remold this product Otherwise may cause hurts or machinery damage 137 Chapter VIII Maintenance 15 The ground terminal of the servo drive must be groun
64. ectly connect the braking resistor between the and terminals of the DC bus otherwise it may cause fire and property loss The short circuit line must be connected between B2 and terminal when using an internal braking resistor otherwise it may cause fire 12 Chapter II Installation and Wiring 2 2 1 Installation Site The IP code of AS100 servo drive is IP20 and the installation site shall meet the following requirements Keep the indoor environment well ventilated Do not install the drive on a wood material or other combustibles Avoid direct sunlight Donot install the drive in a place with inflammable explosive and corrosive gases or liquids Keep it free of dust oily dust floating fiber and metal particles The installation base shall be firmly secured to prevent vibration Electromagnetic interference and other interference sources shall be avoided f the altitude is over 1 000m the thin air may result in poorer radiating effect please lower the rated output The altitude increases 1 000m 696 of the rated output shall be lowered 2 2 2 Ambient Conditions Temperature range 0 C 45 C Please lower the rated output if the temperature is above 45 C The highest temperature is 60 C idle running Humidity range 596 9596 RH no condensed water droplets or rainwater dripping Vibration below 4 9m s 2 2 3 Preventive Measures During installation please pu
65. ed and controlled by the manufacturer and users have no right to change This parameter group can only be accessed with the manufacturer code It is not specified in detail here Group P10 Parameters of Origin Search and Multistage Position Action selection P10 00 after the origin 0 1 0 P search EEUU ne control of 0 2 0 P the origin search Origin search P10 02 mode High speed set for P10 03 origin searching 0 3 000 100 rpm P operation Low speed set for P10 04 origin searching 0 1 000 10 rpm P operation Acceleration and deceleration time P10 05 for origin 0 1 000 1 000 ms P searching operation Limited time for P10 06 origin searching 0 32 767 10 000 S P operation P10 07 reserved 0 30 000 0 P Operation mode P10 08 for internal 0 3 0 P multistage position Effective segments P10 09 1 16 1 P selection Processing mode P10 10 for residual 0 1 0 P command 70 Chapter V List of Functional Parameters P10 11 Displacement command type selection P10 12 Waiting time unit selection P10 13 Displacement 4 HSBs decimal of the first segment 9 999 9 999 P10 14 Displacement 4 LSBs decimal of the first segment 9 999 9 999 5 000 P10 15 speed of the first segment 0 3 000 500 rpm P10 16 Acceleration and deceleration time of the first segment 0 1 000 100 P10 17 W
66. ed in table 8 1 Table 8 1 Contents of Daily Maintenance Inspection and Key Points of Precautions No eae Inspection Part Inspection Items Inspection Standard Confirm in Check whether working condition 1 Display LED Monitor display Check the brake normally or not resistor for good ground insulation Check the rotation for flexibility 2 Cooling Fan check the sound No exception System for abnormity check whether dust blocks or not 3 Body In the chassis temperature No exception rise abnormal 139 Chapter VIII Maintenance sound peculiar smell dirt retention Temperature Working humidity dust Refer toin P FUNK 4 surroundings 2 Technical Environment and harmful gas Regulation etc Refer to Appendix 5 Voltage Input and output Input and output 2 Technical terminals voltages Regulation temperature 6 Electrical Load Motor rise abnormal No exception sound vibration 8 1 2 Periodic Maintenance When carry out the periodic maintenance of servo drive check when the power is off the monitor does not display and after 5 10 minutes after the main circuit power light is off to avoid that the residual voltage of capacitor of servo drive hurts the maintenance staff Periodic maintenance inspections are illustrated in table 8 2 Table 8 2 Contents of Periodic Maintenance Inspection Inspection Items Contents Countermeasure Main circui
67. ed to be in operation P01 11 This parameter sets the delay time for holding brake released to servo off This parameter prevents tiny displacement or falling down of work piece due to motor shaft s movement during brake action Setting value should be slightly greater than the mechanical brake s delay time P01 12 This parameter sets the speed of running motor to activate holding brake this parameter setting value should be greater than P01 10 setting value This parameter is to make the motor speed down to a low speed and then make the brake action to avoid damaging the brake P01 13 This parameter sets the waiting time from motor disenabled to brake action This parameter is to make the motor speed down to a low speed and then make the brake action to avoid damaging the brake The actual action time of the brake is subject to the first meet the conditions of time in P01 12 and P01 13 The brake action sequence diagram m The motor is in the stopping state that the actual motor speed is lower than P01 10 setting value the brake action sequence is as follows Servo ON OFF ON OFF POL IS ON BRK Signal OFF released OFF Motor State Power off Power on Power off gt P01 11 92 Chapter VI Specified Function Introduction m The motor is in the running state that the actual motor speed is more than P01 10 setting value the brake action sequence is as follows SRV ON ON OFF BRK Signal ON OF
68. efer to Section 4 3 3 for the calculation method of electronic gear ratio The switch of electronic gear ratio is controlled by the second electronic gear ratio GR2 signal input from external digital input The recommended range of electronic gear ratio is 1 50 lt G lt 50 104 Chapter VI Specified Function Introduction Function 3 Setting Factory Coefficient of Moving Average Power up Filter for position effective command P04 08 0 500 0 Function Description Position command moving average filtering function refers to that conduct the moving filtering averagely MAF on position command input to make the servo motor run more smoothly This function is more effective in the following situations 1 Host controller does not have the deceleration function 2 The electronic gear ratio is above 10 times 3 The command pulse frequency is lower 4 There are phenomena like stepping jump and unbalance during the running of motor When set as 0 filter doesn t work Rectangle Position Command Trapezoid Position Command The filtering time T is determined by Prior to filtering P04 08 T P04 08 8 ms After filtering 105 Chapter VI Specified Function Introduction 6 6 Speed Control Parameters Group P05 Function Setting Factory Code Parameter Name Attribute eges DEAS P05 00 Speed command Power up 0 1 source effective Function Description Set the speed command source under
69. ent speed 0 30 000 100 P11 29 ACC DEC time selection of the seventh segment 0 3 P11 30 The eighth segment speed 3 000 3 000 100 rpm P11 31 Runtime of the eighth segment speed 0 30 000 100 P11 32 ACC DEC time selection of the eighth segment 0 3 79 Chapter VI Specified Function Introduction Chapter VI Specified Function Introduction 6 1 Basic Function Group P00 Function Setting Factory P00 00 Password Foyer up 0 9 999 370 effective Function Description The passwords are set to prevent unauthorized people to read the setting parameters and illegally modify them After the power up of control power the parameters can be read and modified only after inputting correct passwords under this function code User password is 365 Function Setting Factory P00 01 Selection of LED initial Power up 0 25 display status effective Function Description The LED initial display contents after the power up of setting drive The functions corresponding to setting values are as follows 0 Motor rotate speed 1 Current control mode 2 Drive model 3 Software version 4 Current position with 4 levels low 5 Current position with 4 levels high 6 Position command with 4 levels low 7 Position command with 4 levels high 8 Position deviation with 4 levels low 9 Position deviation with 4 levels high 10 Actual torque of motor 11 Actual cu
70. er the function of zero speed clamp can be achieved 101 Chapter VI Specified Function Introduction Speed Command 10V Input Voltage 100 2 In the torque control mode it has the similar function in speed mode Please be careful while using 6 5 Position Control Parameters Group P04 Function Setting Factory source effective Function Description Set position command source 0 Pulse setting The position command originates from the pulse signals of PULS and SIGN ports of I O There are three kinds of pulse input modes of position command pulse direction command CCW CW quadrature Encoder A B Pulse The pulse input modes are set by Parameter P00 05 1 Internal memory setting refer to the latter function parameter Group P10 of multi stage position 102 Chapter VI Specified Function Introduction Function Setting Factory Speed feed forward Immediate low pass filter aey 1 4095 Hz 1 ae effective coefficient Function Description Set the low pass filter coefficient of speed feed forward of position loop Appropriate use can increase the stability of the composite position control Composite position control refers to the position control adopting speed feed forward Function i Setting l Factory Positioning Immediately Function Description Set the pulse range of positioning complete under position control Under the position control mode when the remaining pulses
71. erating the Analog Auto Zero Calibration in P03 11 and also it can be acquired by manual settings The displaying of Zero Compensation value will be voltage style which displayed three decimal places 99 Chapter VI Specified Function Introduction Speed Command Torque Command After Compensation Curve Input Voltage Zero Compensation Value Function Setting Factory Immediately Function Description In the analog speed control mode it describes the proportional relationship between the set motor speed command value and rotation command input voltage In the torque control mode it describes the proportional relationship between the set motor torque command value and torque command input voltage When the set value is 100 the 10V voltage is corresponding to motor rated speed or motor rated torque 100 Chapter VI Specified Function Introduction Speed Torque Command Function Setting A Factory posia Iirestoldvo analog Immediately 5 0005 00 ggg input hysteresis effective Function Description Set the Analog input hysteresis threshold The parameter is effective in analog speed control mode and torque control mode 1 In the analog speed control mode only the given analog signal is above the 1 5x threshold that motor will rotate the motor is locked up before and when the analog input is below the 0 5x threshold the motor will be locked By proper setting this paramet
72. ervice life reduction and product components damage 500 v Megger can be used in the measurement test for insulation test The insulation resistance shall not be less than 4MQ Chapter IX Quality Guarantee Chapter IX Quality Guarantee The product s quality guarantee shall be in accordance with the following rules The warranty scope only refers to the noumenon of servo drives and the warranty period begins to count at company s shipping date The warranty period of the product is 12 months after purchase within 24 months after the manufacture date on the nameplate If the fault is caused by the following reasons it would be a paid service regardless of warranty The problems caused by incorrect operation or repair and renovation without permission The problems caused by using the servo drives beyond the standard specification requirements The damage caused by falling or barbarous transport after purchase The component aging or fault caused by the use under the condition which does not meet the requirement of the user manual The servo drives damage caused by incoming foreign matters e g insects The servo drives damage caused by incorrect connecting line The fault caused by earthquake fire wind and flood disaster lightning stroke abnormal voltage or other natural disasters and causes accompanied by disasters For fault products our Company has right to entrust others to responsible for warrant
73. f MI O0xFFFF and M2 0x0520 POS OxFFFF OxFFFF 65 536 0xFFFF 0x520 1 64 224 Position 0035H command M2 16 LSBs Similar to the position feedback Position 0036H command MI 16 MSBs Position 0038H error 16 M2 LSBs Similar to the position feedback Position 0037H error 16 MI MSBs For example if you want to obtain the motor speed by means of communication you should send the following frame data via the host computer ADDR CMD ADDO ADDI DATAO DATAI CRCH CRCL 01 03 00 33 00 01 74 05 List of MODBUS address of function codes Function code number DEC MODBUS address HEX Monitoring parameters 0003H 0038H P00 00 P00 16 0100H 0110H P01 00 P01 18 0200H 0212H P02 00 P02 25 0300H 0319H 160 Annex 7 MODBUS Communication Protocol P03 00 P03 14 0400H 040EH P04 00 P04 08 0500H 0508H P05 00 P05 13 0600H 060DH P06 00 P06 04 0700H 0704H P07 00 P07 05 0800H 0805H P08 00 P08 06 0900H 0906H P09 00 P09 35 0A00H 0A23H P10 00 P10 92 OBOOH OB5CH P11 00 P11 32 0C00H 0C20H 161 Annex 8 Parameters and Size of Servo Motor Annex 8 Parameters and Size of Servo Motor m Motor Wiring Connection 60 80 and 90 flange motor wiring connection No W
74. f the Immediately 0 3 000 irst segment effective Function Description Set the maximum speed for internal position segment 1 Note The setting method for other internal position segments is the same as that for segment 1 described above See chapter 5 for reference 3 Required external signal for DI switching operation mode 118 Chapter VI Specified Function Introduction Multi stage position triggering signal Shar iis ikenabbne signal CMDI Choose 1 for multistage position command See the table below nn CMD1 CMD64 signal command position instruction command 119 Chapter VI Specified Function Introduction Table of relationship between CMD1 4 and position instruction segment number segment number of CMDA CMD3 CMD2 CMDI selected position command 0 0 0 0 1 0 0 0 1 2 0 0 1 0 3 0 0 1 1 4 0 1 0 0 5 0 1 0 1 6 0 1 1 0 7 0 1 1 1 8 1 0 0 0 9 1 0 0 1 10 1 0 1 0 11 1 0 1 1 12 1 1 0 0 13 1 1 0 1 14 1 1 1 0 15 1 1 1 1 16 0 inactive input 1 active input 6 10 Parameters of Multistage Speed Function Group P11 1 Function Description The multi stage speed function under speed control mode refers to the speed operation function accomplished by the driver alone based on the internal stored 8 groups of parameters related to speed control User can setup maximum 8 speeds through this function and can easily carry out programmable
75. ge Position Group P10 Origin Search Function Setting 1 Function Description The origin search function in position mode P00 02 0 refers to the origin searching function accomplished by the servo driver The process of origin search as shown below is divided into two stages a When the origin search function of servo driver is enabled in servo on condition the motor can search the decelerating point in the direction of deceleration point target at specified high search speed P10 03 under the origin search mode P10 02 Then slow down at given deceleration time P10 05 to zero speed after meeting the rising edge of origin switch signal OrgNear 111 Chapter VI Specified Function Introduction b The motor searches the position of origin switch signal OrgNear at given low search speed P10 04 in negative direction of high search speed Search will be stopped suddenly when it meets the falling edge of origin switch It indicates that the origin search is done and the completion signal Home is outputted If it could not find the origin position in specified time P10 06 it will report the time out error of origin search V High speed P10 03 4 7A Triggered by rising edge of h Triggered by origin decelerating point Low Speed P10 04 signal Diagram of the Origin Search Process Function Factory Action selection ar Power up after origin 0 1 effective search Function Description Set the
76. h segment 0 3 000 500 rpm P10 51 Acceleration and deceleration time of the eighth segment 0 1 000 100 ms P10 52 Waiting time of the eighth segment 0 10 000 ms s P10 53 Displacement 4 HSBs decimal of the ninth segment 9 999 9 999 P10 54 Displacement 4 LSBs decimal of the ninth segment 9 999 9 999 5 000 P10 55 speed of the ninth segment 0 3 000 500 rpm P10 56 Acceleration and deceleration time of the ninth segment 0 1 000 100 P10 57 Waiting time of the ninth segment 0 10 000 ms s P10 58 Displacement 4 HSBs decimal of the tenth segment 9 999 9 999 P10 59 Displacement 4 LSBs decimal of the tenth segment 9 999 9 999 5 000 P10 60 speed of the tenth segment 0 3 000 500 rpm P10 61 P10 62 Acceleration and deceleration time of the tenth segment Waiting time of the tenth segment 0 1 000 0 10 000 100 ms s 74 Chapter V List of Functional Parameters P10 63 Displacement 4 HSBs decimal of the eleventh segment 9 999 9 999 P10 64 Displacement 4 LSBs decimal of the eleventh segment 9 999 9 999 5 000 P10 65 speed of the eleventh segment 0 3 000 500 rpm P10 66 Acceleration and deceleration time of the eleventh segment 0 1 000 100 P10 67 Waiting time of the twelft
77. h segment 0 10 000 ms s P10 68 Displacement 4 HSBs decimal of the twelfth segment 9 999 9 999 P10 69 Displacement 4 LSBs decimal of the twelfth segment 9 999 9 999 5 000 P10 70 speed of the twelfth segment 0 3 000 500 rpm P10 71 P10 72 Acceleration and deceleration time of the twelfth segment Waiting time of the twelfth segment 0 1 000 0 10 000 100 ms ms s P10 73 Displacement 4 HSBs decimal of the thirteenth segment 9 999 9 999 75 Chapter V List of Functional Parameters P10 74 Displacement 4 LSBs decimal of the thirteenth segment 9 999 9 999 5000 P10 75 Speed of the thirteenth segment 0 3 000 500 rpm P10 76 Acceleration and deceleration time of the thirteenth segment 0 1 000 100 P10 77 Waiting time of the thirteenth segment 0 10 000 ms s P10 78 Displacement 4 HSBs decimal of the fourteenth segment 9 999 9 999 P10 79 Displacement 4 LSBs decimal of the fourteenth segment 9 999 9 999 5 000 P10 80 Speed of the fourteenth segment 0 3 000 500 rpm P10 81 Acceleration and deceleration time of the fourteenth segment 0 1 000 100 P10 82 Waiting time of the fourteenth segment 0 10 000 ms s P10 83 Displacement 4 HSBs decimal of the fifteenth segment 9 999 9 999
78. ies from invalid to valid once Segment number of each running is confirmed by the signal combination of CMD1 CMD4 when enable signal changed from invalid to valid state DI Switching Operation Mode Vmax Max speed of motor S ON Terminal valid by triggering S1 S2 Displacement of selected stage T2 Tlime of ACC DEC of selected stage A Sequential Operation Mode The sequential operation mode is similar to the single sequence operation mode but there is not waiting time between the stages This mode will start running at maximum speed of previous stage The total displacement of overall sequential operation will be consistent with the setting Sequential Operation Mode Vmax Max speed of motor T2 Time of ACC DEC of Stage 2 S1 Displacement of Stage 1 S2 Displacement of Stage 2 S3 Displacement of Stage 3 Note there are 32 displacement instructions of multi stages position such as P10 13 and P10 14 Select the relative displacement or absolute displacement by P10 11 Both relative displacement and absolute displacement should consider the electronic gear ratio When P10 11 0 is chosen the displacement instruction means the increased 115 Chapter VI Specified Function Introduction displacement at current position When P10 11 1 is chosen the displacement instruction means the absolute position based on the original point 2 Explanation of Main Parameters Function Setting Factory P10 08 Internal po
79. iffer Speed ential feed forward Co Current feedback Position instruction Differential Servo Note Wrong parameter setting may result in equipment failure and accidents the correctness of parameter shall be confirmed before start up It is recommended to perform empty load testing and then perform load testing 55 Chapter IV Operation 4 3 1 Basic Gain Adjustment e Parameters For Speed Loop The speed loop parameters include speed loop gain P00 08 speed loop integral time constant P00 09 speed feedback low pass filter coefficient P00 10 and speed reference low pass filter coefficient P00 11 1 The set value adjustment of speed loop gain P00 08 Increase the speed loop gain can increase the bandwidth of speed loop response the higher the speed loop bandwidth the better the speed response Under the condition of no oscillation try to set a bigger value In general the larger the load inertia the greater the speed loop gain set value To increase the speed loop gain at the same time the motor noise will increase and too large set of speed loop gain may cause system oscillation 2 The set value adjustment of speed loop integral time constant P00 09 The smaller the speed loop integral time the faster the system response In general try to set a smaller value but the smaller the integral time may easily cause oscillation If the integral time constant setting is too large the large
80. ime 3 0 10 000 1000 ms P11 09 The first segment speed 3 000 3 000 rpm P11 10 Runtime of the first segment speed 0 30 000 100 P11 11 ACC DEC time selection of the first segment 0 3 P11 12 The second segment speed 3 000 3 000 100 rpm P11 13 Runtime of the second segment speed 0 30 000 100 P11 14 ACC DEC time selection of the second segment 0 3 P11 15 The third segment speed 3 000 3 000 500 rpm P11 16 Runtime of the third segment speed 0 30 000 100 P11 17 ACC DEC time selection of the third segment 0 3 P11 18 The fourth segment speed 3 000 3 000 1 000 rpm P11 19 Runtime of the fourth segment speed 0 30 000 100 78 Chapter V List of Functional Parameters P11 20 ACC DEC time selection of the fourth segment 0 3 P11 21 The fifth segment speed 3 000 3 000 2 000 rpm P11 22 Runtime of the fifth segment speed 0 30 000 100 P11 23 ACC DEC time selection of the fifth segment 0 3 P11 24 The sixth segment speed 3 000 3 000 1 000 rpm P11 25 Runtime of the sixth segment speed 0 30 000 100 P11 26 ACC DEC time selection of the sixth segment 0 3 P11 27 The seventh segment speed 3 000 3 000 500 rpm P11 28 Runtime of the seventh segm
81. inding lead U W V PE Socket No 1 2 3 4 110 130 150 and 180 flange motor winding connection No Winding lead U V W PE Socket No 2 3 4 1 m Encoder Connection Standard 2500 c r incremental encoder signal connection for 60 80 and 90 flange motor Signal SV OV B Z U Z U A V W V A B W PE Socket No 2 3 4 5 6 78 9 10 11 12 13 14 15 1 Wire saving 2500 c r encoder signal connection for 60 80 and 90 flange motor Signal 5V OV A A B B Z Z PE Socket No 1 2 3 4 5 6 7 8 9 Standard 2500 c r incremental encoder signal connection for 110 130 150 and 180 flange motor Signal 5V OV A B Z A B Z U V W U V W PE Socket 21314 5 6 7 8 9J 10 11 12 13 14 15 1 No Note wire saving 2500 c r encoder excludes Signal U V and W and other signal locations refer to the table above 162 Annex 8 Parameters and Size of Servo Motor m Servo Motor Torque Characteristic Curves Peak torque Tmax Rated torque Tr Torque T Acceleration and deceleration instantaneous work area Motor speed n Rated speed Nr m Parameters of 60 Flange Series E 220V Motor Series 60 Motor
82. ing 3 Set the control mode P00 02 as the analog speed control 32 mode the setting is 1 Confirm the relevant parameters Ke Usmd setting of others and analog speed control mode is correct MAS After confirmation disconnect the control power and wi thod re connect the motor 4 Connect the main circuit power supply 5 Make sure there is no alarm and any abnormal situation then use servo enable S ON ON and the motor is initiated at the moment Because of the influence of the analog channel zero 54 Chapter IV Operation Reference Steps Operations Chapter drift and the motor is operated at low speed If necessary adjust the analog zero compensation value P03 12 to make the motor stop running 6 Operate the host control signal set appropriate speed instruction to the servo drive so the motor is operated according to instruction Observe the motor rotation direction and speed and determine whether the motor operation is in line with the expectation 4 3 Adjustment The servo system has three closed loop controls they are position loop speed loop and current loop or torque loop from outside to inside The current loop is related to motor parameters the drive has allocated the best current loop parameters for the matching motor so the user do not need to adjust relevant parameters The speed loop and position loop parameters shall be adjusted according to the load condition D
83. ion Option 2 CMD2 17 Multi Stage Operation Option 3 CMD3 18 Multi Stage Operation Option 4 2 uU CMD4 19 Origin Search Enable SHOM 20 Origin Switch Signal OrgNear Examples for setting The input function should be set to negative over travel limit active low and the setting value is 2 256 258 Function Setting i Factory Parameter Name Attribute Unit Code Range Defaults DI2 function and Power up 0 20 P03 05 1 enabled status setting effective 256 276 Function Description Refer to P03 04 for function description Function j Setting Factory Parameter Name Attribute Unit Code Range Defaults DI3 function and Power up 0 20 P03 06 2 2 enabled status setting effective 256 276 97 Chapter VI Specified Function Introduction Function Description Refer to P03 04 for function description Function J Setting i Factory Parameter Name Attribute Unit Code Range Defaults DI4 function and Power up 0 20 enabled status setting effective 256 2716 Function Description Refer to P03 04 for function description Function Setting Factory P03 08 DI5 function and Power up 0 20 enabled status setting effective 256 276 Function Description Refer to P03 04 for function description Function Setting Factory P03 09 DI6 function and Power up 0 20 enabled status setting effective 256 276 Function Description Refer to P03 04 for functi
84. iption Set the unit of operation time for each speed segment 0 millisecond 1 second 2 minute Function Parameter i Factory P11 03 Acceleration Immediately 010 000 ius Time 1 effective Function Description Set acceleration time 1 Acceleration time is the ramp time that it takes for speed command to rise from zero to rated speed Function Parameter 2 Factory P11 04 Acceleration Immediately 0 10 000 sm Time 1 effective Function Description Set deceleration time 1 Deceleration time is the ramp time that it takes for speed command to descend from rated speed to zero speed Function Parameter Factory P11 05 Deceleration Immediately 010 000 m 100 Time 2 effective P11 06 Deceleration Immediately 0 10 000 am 100 Time 2 effective P11 07 Acceleration Immediately 0 10 000 P 500 Time 3 effective P11 08 Deceleration Immediately 0 10 000 ine 500 Time 3 effective Function Description See the description of P11 03 and P11 04 123 Chapter VI Specified Function Introduction Function Parameter Factory P11 09 Chetet immediate iss goga p60 lk rom 10 segment speed effective Function Description Set the speed of the first segment Function Parameter n Factory Runtime of the ncaa first segment y 0 30 000 ms s min 100 effective speed Function Description Set the run time of first segment speed The time unit is set in P11 02 Function Parameter 7 5
85. ircuit breaker 1PL Pilot 1FIL noise filter 1SA surge arrester 1KM magnetic contactor control 2SA surge arrester 2KM magnetic contactor main 3SA surge arrester 1D freewheel diode Notes ASIO0A 1R6M2U and AS100A 2R8M2U do not have a jumper between B2 and The above figure is applicable to the following drives AS100A 1R6M2U AS100A 2R8M2U AS100A 3R8M2U AS100A 5R5M2U AS100A 7R6T2U AS 100A 012T2U 18 Chapter II Installation and Wiring e Three phase 380V Power Supply 3 380V AS100 series t servo driver 2SA 1Ry Relay 1QF feeder circuit breaker 1PL Pilot 1FIL noise filter 1SA Surge arrester 1KM magnetic contactor control 25A Surge arrester 2KM magnetic contactor main 3SA Surge arrester 1D freewheel diode Notes the above figure is applicable to the following drives AS100A 3R5T3U AS100A SRAT3U ASI00A 8RAT3U 19 Chapter II Installation and Wiring 2 6 Control Circuit Terminal Wiring 2 6 1 Encoder Single Wiring CN1 Le CNI Plug Welding Terminal Arrangement Fig 2 3 Encoder Signal Interface CN1 Table 2 2 Function and Description of Encoder Signal Terminal q Terminal Terminal Classification No Grids Signal Name CNI 1 Wa Encoder W Motor encoder W phase input signal interface phase input interface phase input interface Pulse signal CNI 4 y Encoder V Motor encoder V signal input phase input interface
86. is considered that the origin search is not finished if DI is in invalid state And internal position command is invalid One requirement for running the internal position after the origin search is finished is triggering DI of origin search and keeps it in valid state If it is necessary to perform the origin search again after finished the valid state of DI should turn into invalid state and then turn into valid state Multi Stages Position Function Setting 1 Function Description The multistage position function under position control mode P00 02 0 refers to the position operation function accomplished by the driver based on internal stored 16 groups position related control parameters Through using internal multi stage position 113 Chapter VI Specified Function Introduction function user can easily realize automatic multi stage fixed length operation or through external inputting DI signal can realize the preset position control function Because it is controlled by internal parameters there is no need for external pulse command The proper usage of this function can realize multi point trajectory planning Using multi stage position function when enabling signal S ON effective the drive runs at setting program enabling signal invalid then stop running immediately If it is in the process of execution stage internal position instruction the enabling becomes invalid and the enabling signal becomes effective drive again then base
87. is parameter is generally set as 0 to reach the fastest speed responsiveness Function Parameter H i Factory Zero speed Immediatel P05 12 clamping aey 0 1 0 effective selection Allowed time of ee CesT zero speed y 1 2 000 ms 100 effective clamping Function Description Under the analog speed control mode input a zero clamping signal ZCLAMP while the analog value is set as 0 and after a delay period zero speed clamping allowed time P05 13 the servo system enters the state of zero speed locking P05 12 Zero speed clamping selection When set as 0 the zero speed clamping function is effective while set as 1 the zero speed clamping function is invalid 108 Chapter VI Specified Function Introduction 6 7 Torque Control Parameters Group P06 Function Parameter Factory Code Name Attribute Setting Range Unit Defaults Posgg s eS CEN emcee ea 150 torque limit effective P06 01 Internal Cw Immediately 300 0 150 torque limit effective Function Description Set the servo motor internal torque limit values in CCW positive and CW negative direction The setting value is the percentage of rated torque of the motor The set limit value is effective in internal speed control mode P00 02 3 If the set value is over the permitted maximum overload capacity of the system the limit to actual torque will be the permitted maximum overload capacity of this system Functi
88. l ozs Joo v PST display status 61 Chapter V List of Functional Parameters Function Nano Setting Delivery Unit Mode of Code No Range Value Application position loop command pulse directions Smoothing filter P00 07 coefficient of position commands Related P00 08 Speed loop gain tohe P00 09 Integral time constants of 1 1 000 the speed loop Lowpass filtering P00 10 coefficient of the speed feedback Lowpass filtering P00 11 coefficient of the speed reference Lowpass filtering P00 12 coefficient of the torque reference P00 13 Strike limit control Selection of ROO programmable I O P00 15 CPLD parameter P00 16 Parameter initialization 62 Chapter V List of Functional Parameters Group P01 Auxiliary Operation Function Setting Delivery Speed trial operation 0 1 function JOG trial operation 0 1 function 20 Related Limit value of software 0 to the Over current P01 00 P01 01 P01 02 P01 03 P01 04 P01 05 01 06 Permitted over current j ms time Limit value of times of 1 2 5 alarm reset Numerator of dividing ratio for encoder pulse output Denominator of dividing Pi ratio for encoder pulse output POI reeves 9 fo 3 rar Control bit for holding brake and servo ready 0 1 P S T signals Detection speed for ae ic Delay time for holding brake released to 0 2 000 500 ms P S T servo off Detection speed for POLIZ holding brake released 0 3 000 Delay time fo
89. lete servo components include Name Qty Unit Remarks Servo motor 1 Set Servo drive 1 Set Motor power line Standard configuration one 4P 1 Set aviation plug one 4P quick connector 3 connector Optional power cable Encoder signal line Standard configuration one 15P 1 Set aviation plug one DB15 RP SMA connector i Male Optional coder signal line Standard configuration for spring Spring opener 2 Pcs iu pring op connector wiring Instruction Manual 1 Copy Chapter I Purchase Inspection Name Qty Unit Remarks SCSI 50P connector 1 Pes Standard configuration for I O cable connection 5P quick connector 1 Pcs atandang configuration aM i input power supply wiring a p N BE Optional configuration for communication es T communication cable wiring connector Note aforesaid components may vary with different powers of the drives The specific configuration should be determined based on the packing list within the packing box 1 2 Naming Rules Naming rules of the servo drive are as follows ASI00A SRS M2 U Series Code Alpha Servo 100 Series Model Code A standard model analog and pulse command with RS485 B standard model with RS232 C standard model with CAN Rated Output Current 2R8 2 8A 3R8 3 8A SR5 5 5A 7R6 7 6A012 12A 3R5 3 5A 5R4 5 4A 8R4 8 4A Encoder Type U 2500CPR standard inc Enc V 2500CPR wire saving inc E
90. lower 4 There are phenomena like stepping jump and unbalance during the running of motor When set as 0 filter doesn t work Command pulse frequency prior to filtering Time Command pulse frequency after filtering Time Function Setting Factory Immediately ciii ai Pm ii pax m o 84 Chapter VI Specified Function Introduction Function Description Set the proportional gain of the speed loop The responsiveness of the speed loop would be determined by this parameter A larger gain setting value of the speed loop determines higher speed control responsiveness of the system In the general condition a larger loading inertia determines larger setting value Under a system without any shocks the gain value shall be set larger as much as possible The responsiveness and rigidity of the speed loop are also influenced by the Parameter P00 09 Function Setting Factory Integration time Immediate constant of speed y 1 1 000 ms 20 effective loop Function Description Set the integration time constant of speed loop The responsiveness of the speed loop would be determined by this parameter A smaller setting value determines faster integrating rate and greater rigidity of system Without the system vibration a smaller integration time constant shall be set as much as possible The responsiveness and rigidity of speed loop are also influenced by parameters P00 08 Function Setting
91. lse A pulse output ig CN2 34 PAO And Z origin pulse CN2 35 PBO gt Differential B pulse output signat output CN2 36 PBO CN2 6 GND Analog input Input 0O 10V as reference ground external analog reference of rotating speed or Analog Input Analog torque 10V rated CN2 5 AI command input rotating speed of associated motor or rated torque of motor 25 Chapter II Installation and Wiring 2 6 3 Communication Signal Wiring CN3 CN4 Communication Fig 2 5 Communication Signal Interface CN3 CN4 N4 N3 Table 2 4 Function and Description of Communication Signal Terminal CN3 Pin No 1 2 3 4 5 6 7 8 Shell Definition GND Retain Retain RS485 RS485 Retain Retain 5V PE CN4 Pin No 1 2 3 4 5 6 7 8 Shell Definition GND NC NC RS4854 RS485 NC NC 5V PE Notes 1 The RS485 interfaces of CN3 and CN4 are actually in parallel connection and have the same address and functions 2 The retained pin of CN3 is used by the manufacturer as the CLPD programming interface Please do not connect it with external circuits 3 NC means Not Connected 26 Chapter II Installation and Wiring 2 7 Basic Block Diagram of Servo System
92. monitoring parameters 0x01 Currently only supporting a single parameter reading CRCH CRC high significant bytes CRCL CRC low significant bytes END Greater than or equal to 3 5 characters idle time indicating the end of a frame Response frame format START Greater than or equal to 3 5 characters idle time indicating the start of a frame ADDR Drive address 1 32 1 32 here are decimal numbers and shall be converted into hexadecimal numbers when entering ADDR CMD Command 0x03 DATAO Numbers of monitoring parameters 0x02 Currently only supporting a single parameter reading DATAI 8 MSBs of monitoring parameters or function code 155 Annex 7 MODBUS Communication Protocol DATA2 8 LSBs of monitoring parameters or function code CRCH CRC high significant bytes CRCL CRC low significant bytes END Greater than or equal to 3 5 characters idle time indicating the end of a frame 2 Writing Function Code Parameters 0x06 Command frame format START Greater than or equal to 3 5 characters idle time indicating the start of a frame ADDR Drive address 1 32 1 32 here are decimal numbers and shall be converted into hexadecimal numbers when entering ADDR CMD Command 0x06 DATAO 8 MSBs of MODBUS address of function codes DATA 8 LSBs of MODBUS address of function codes DATA2 8 MSBs
93. motion pattern after origin search is completed in position mode 0 Perform the internal position instruction immediately after origin resets 1 Do not perform the internal position instruction after origin resets Function Parameter 1 Factory Enable control D Immediately of the origin 0 2 effective search 112 Chapter VI Specified Function Introduction Function Description Set the enabling conditions of origin search 0 Shut down the origin search function 1 Enable the origin search function by starting the origin search signal SHOM through digital input 2 Enable the origin search function immediately after powering up and enabling the drive in position mode Function Parameter Factory The origin Immediately Function Description Set the origin search action mode 0 Positive search Both deceleration point and original point are the origin switch signal OrgNear 1 Negative search Both deceleration point and original point are the origin switch signal OrgNear 2 Positive search Both deceleration point and original point are Z signal of motor 3 Negative search Both deceleration point and original point are Z signal of motor Caution the origin search enabling control of parameter P10 01 can only be set as 1 to perform the origin search for many times in the condition that the drive is not power down Enable the origin search through inputting the SHOM signal by DI It
94. n Control of Power OFF ON LC1 LC2 About 1 0 4 0s 1 1 Internal Control of Power Confi onfirm OEE t About 2s 4 EN The Microprocessor i 1 About 1 5s 1 i action 1 Reset 5 1 1 Above 0s i Main Power OFF i i ON L1 L2 L3 i i Above 10ms 4 1 1 Servo enable output Output Tr OFF Output Tr ON S RDY Above 10ms 1 1 Above Os ie Servo enable input Input coupler OFF f i Input coupler ON S ON lt About 60msi Motor is connected to Disconnected to power power Connected to power LU Position speed and torque Noanstruction Above 100ms instruction Instruction i Fig 4 2 The Sequence Diagram of Power on The Sequence Diagram of Alarm Normal 0 5 5ms Abnormal Abnormality or not gt i Motor is connected Connected Disconnected to power to power to power Servo enable output Output Tr ON Output Tr OFF S RDY Servo alarm output Output Tr OFF ALM Output Tr ON P Fig 4 3 The Sequence Diagram of Alarm 49 Chapter IV Operation The Sequence Diagram of Alarm Clearance Above 120ms Alarm Input coupler Input coupler clearance OFF Input coupler OFF ON About Motor connected Disconnected to power 6Qms to power EK Connected to power Servo enable output Output Tr OFF no ready Output Tr ON ready S RDY E Output Tr OFF alarm Output Tr ON no alarm output ALM
95. n noise generated by the motor generated by torque This parameter is effective for the position control mode speed control mode and torque control mode If the motor generates sharp vibration noise this parameter setting value shall be increased A greater setting value determines lower cut off frequency smaller motor noise lower system rigidity and slower system response A smaller setting value determines higher cut off frequency faster system response and higher system rigidity If higher machine rigidity is required the setting value shall be reduced appropriately If the setting value is 0 the torque command low pass filter is invalid 86 Chapter VI Specified Function Introduction Function Setting Factory Control bit of Power on Function Description Set the valid of external input over travel limit switch input 0 positive over travel limit P OT negative over travel limit N OT input is valid 1 positive over travel limit P OT negative over travel limit N OT input is invalid Function Setting Factory P00 14 Programmable T O Power on 0 1 selection effective Function Description The auxiliary setting of programmable I O function When the input signal of programmable I O needs to be set to the positive negative start function under the analog speed mode this parameter value shall be set as 1 Function Setting Factory P00 15 Parameter of CPLD Poweron 0 7 effective Function
96. nc W 20 bit inc Enc A 17 bit absolute Enc Input Voltage S2 Single phase 220V T2 Three phase 220V T3 Three phase 380V M2 Single three phase 220V Chapter I Purchase Inspection Naming rules of the servo drive are as follows ASMG R75 B 20 U 2 P D Series Code ASMG Medium Inertia AC Servo Motor of Alpha ASMH High Inertia AC Servo Motor of Alpha ASMS Low Inertia AC Servo Motor of Alpha Output Power Three figures or two figures plus R decimal point are employed to represent the rated output power of the motor which is in KW e g R75 refers to 0 75KW IRO to 1 0KW and 1R5 to 1 5KW 3 Voltage class One letter is used to represent the voltage class A 100V B 220V C 380V Rated Speed Two figures are used to express rated speed To be specific rated speed the double digit x 100 in rpm Encoder Type Encoder type is represented by one letter U 2500 CPR standard incremental encoder V 2500 CPR wire saving incremental encoder W 20 bit serial incremental encoder A 17 bit serial absolute encoder Design Sequence Design sequence is represented by a figure or a letter 1 standard S type design 2 standard E type design others non standard designs Chapter I Purchase Inspection Option Option is represented by a letter ee No oil seal Nooilseal With oil seal With oil seal p No brake Withbrake Nobrake With brake Circul
97. ncremental encoder is adopted U shall be replaced with V 4 Servo software version over V109 supports the motor drive of wire saving incremental encoder 152 Annex 5 Specifications of Braking Resistor Annex 5 Specification of Braking Resistor 220V series Standard built in Drive Model braking resistor Min abowae braking resistance power RE AS100A 1R6M2U No 40 AS100A 2R8M2U No 400 AS100A 3R8M2U 40Q 60W 400 AS100A 5R5M2U 400 60W 400 AS100A 7R6T2U 40Q 60W 40Q AS100A 012T2U 20Q 100W 20Q 380V series Standard built in Drive Model braking resistor ji Reis em resistance power AS100A 3R5T3U 100Q 100W 80Q AS100A 5R4T3U 100Q 100W 80Q AS100A 8R4T3U 1002 100W 400 Notes When average braking power is larger than the nominal power of built in braking resistor the drive will alarm When built in braking resistor fails to meet the requirements the external braking resistor may be selected The external braking resistor shall be provided by users themselves or purchased from our company The external braking resistor shall no less than the minimal resistance listed in the table above otherwise the drive will be damaged If the external braking resistor will be used the built in braking resistor must be disconnected 153 Annex 6 Main Input Output Cable Selection Options Annex 6 Main Input Output Cable Selection
98. nerator nearby Use a circuit breaker or fuse for wiring to protect the power cord The servo drive has no built in ground protection circuit To make the system safer please install a leakage circuit breaker for overload and short circuit protection or a special leakage circuit breaker for ground protection with a circuit breaker 39 Chapter III Display amp Operation Chapter III Display and Operation 1 Close the input power supply upon completion of the terminal cover installation please do not remove the terminal Jn 7 cover when the power is on to avoid electric shocks N Danger 2 Please keep off the mechanical equipment to avoid personal injury possibly caused by the sudden start up of the servo drive when electrified 1 Please do not touch the brake resistor if any to avoid any electric shock or burning for it may be of high temperature because of election j 2 Please check the application range of the motor and 4 Caution machinery before operation to avoid personal injury 3 Please check the signal during operation to avoid equipment damage and electric shock 3 1 Introduction to Operation and Display Interface The keyboard is constituted with a 5 bit 7 segment LED display and 5 operation keys It enables the user to perform function setting parameter setting state display etc 3 1 1 Key Functions There are 5 keys on the servo drive keyboard each with function indicated in Table
99. numbers and function parameter values The menu of function code groups displays function code groups from P00 to P07 the menu of function code numbers displays function code numbers under each function code group the menu of function code parameters displays parameter values 3 2 Keyboard Operation 3 2 1 Shift between Function Code Groups Press and to shift between function code groups from P00 to P07 as shown in Fig 3 1 NIZ NIZ nn Dn UH u PU v ZIN Fig 3 1 Shift between Function Code Groups 41 Chapter III Display amp Operation 3 2 2 Parameter Setting Notice Upon each power on adjust P00 00 to 356 and save it before changing other parameters Some parameters takes immediate effect upon setting wrong parameter settings may lead to mal operation and result in an accident Other parameter settings take effect after restarting Press E3l in the primary menu to proceed to the secondary menu of function code numbers press A and Y to select among different function code numbers under different function code groups to check or set parameters Press to proceed to the tertiary menu of corresponding parameters and it flickers at the LSB Press to move the flicker bit to change the parameter Press A and Y to change parameter values and to save the final value which then stops flicker Perform two actions along with the operation of saving saving the parameter value in RAM and writing in
100. oduction parameters have been written to EEPROM The system will use factory set values after being powered up again 2 Start the operation of save the overall parameters into EEPROM During this operation all the parameters currently kept in RAM will be written to EEPROM for saving 6 2 Auxiliary Operation Group P01 Function Setting Factory P01 00 Speed trial operation Immediately function effective Function Description Enter this parameter and press button then you can access into the speed commissioning interface The servo drive will settle into forced enabled state and the servo motor is powered Refer to Section 4 1 3 for detailed operation Function Setting Factory JOG trial operation Immediately Function Description Enter this parameter and press button then you can access into the JOG commissioning interface The servo drive will settle into forced enabled state and the servo motor is powered Refer to Section 4 1 3 for detailed operation The rotate speed command of JOG commissioning is set by parameter P05 01 Function Setting Factory Limit value of Immediatel software over y 0 900 0 1A effective current 89 Chapter VI Specified Function Introduction Function Description Set current value for software over current protection The default is in consistency with the over current value of drive s hardware If users want to use software over current protection function h
101. of read in data DATA3 8 LSBs of read in data CRCH CRC high significant bytes CRCL CRC low significant bytes END Greater than or equal to 3 5 characters idle time indicating the end of a frame Response frame format START Greater than or equal to 3 5 characters idle time indicating the start of a frame ADDR Drive address 1 32 1 32 here are decimal numbers and shall be converted into hexadecimal numbers when entering ADDR CMD Command 0x06 DATAO 8 MSBs of MODBUS address of function codes DATAI 8 LSBs of MODBUS address of function codes DATA2 8 MSBs of read in data DATA3 8 LSBs of read in data 156 Annex 7 MODBUS Communication Protocol CRCH CRC high significant bytes CRCL CRC low significant bytes END Greater than or equal to 3 5 characters idle time indicating the end of a frame For example if you want to modify the function code P10 13 to 1 000 by means of communication you should send the following frame data via the host computer ADDR CMD DATAO DATAI DATA2 DATA3 CRCH CRCL 01 06 OB OD 03 E8 1A 93 3 Error Response Frame Format START Greater than or equal to 3 5 characters idle time indicating the start of a frame ADDR Servo drive address 1 32 CMD Command 0x03 0x06 DATAO 0x80 DATAI 0x01 DATA2 8 MSBs of error code DATA3 8 LSBs
102. on Parameter Factory P06 02 External CCW Immedi ately 0 300 O 150 torque limit effective P06 03 External CW Immediately 300 0 A 150 torque limit effective Function Description Set the servo motor external torque limit values in CCW positive and CW negative direction The setting value is the percentage of rated torque of motor The set limit value is effective in modes of position control analog speed control and torque control The actual torque limit is the minimum value of maximum of overload capacity permitted by system internal and external torque limit Function Parameter Factory P06 04 Torque limit for Immediately 0 300 100 trial operation effective 109 Chapter VI Specified Function Introduction Function Description Torque limits set under speed trial operation and JOG trial operation modes This function is effective in both directions Set value is the percentage of rated torque of motor The internal external torque limits are still effective 6 8 MODBUS Communication Group P07 Function Parameter Aa Deia Setting Factory Code Name P Range Defaults 0 1 200 bps Baud rate 1 2 400 bps E 3 selection 2 4 800 bps 3 9 600 bps Communication rate of servo drive shall be the same as that of upper computer or the communication cannot be established Note The function code is used to Native address identify the address of this drive Function Description
103. on description Function Setting i Factory P03 10 DI7 function and Power up 0 20 i enabled status setting effective 256 276 98 Chapter VI Specified Function Introduction Function Description Refer to P03 04 for function description Function Setting Factory Zero deviation Immediate calibration for analog d 0 1 1 effective input Function Description Set the auto zero calibration for analog input This setting is valid when Analog Speed Control mode or Torque Control mode is set in P00 02 0 Start the Analog input Auto Zero Calibration Make sure the actual analog input is Zero prior to start auto zero calibration System will automatically check the analog input and save the measured value in P03 12 Entering function code P03 12 and pressing mal button to save the measured value into EEPROM is needed Only one auto zero calibration will be operated during each time when power up After auto zero calibration is done the set point must be 1 or otherwise exceptions will occur during power up next time 1 Analog Auto Zero Calibration Invalid Function Parameter Factory Analog input Zero Immediately compensation effective value P03 12 5 000 5 000 0 001V 0 01 Function Description Set the Analog Input Zero Compensation value The setting is applying to Analog Speed Control Mode and Analog Torque Control Mode The Zero Compensation value can be acquired by op
104. otor and load conditions Function Setting Factory Code Parameter Name Attribute es Unit eraut Speed feed forward Immediately gain of position loop effective P00 04 0 100 81 Chapter VI Specified Function Introduction Function Description Set the speed feed forward gain of position loop When the setting value is 10046 this indicates that under the command pulse of any frequency the position hysteresis is always 0 The feed forward gain of position loop is higher and the high speed responsiveness is developed but a shock may be caused When the setting value is 0 the position feed forward function does not work Except that the higher responsiveness is needed the feed forward gain of position loop is always set as 0 Function i Factory P N A Code arameter Name ttribute IDE Input mode of Power up command pulse effective P00 05 Function Description Set the input mode of command pulse Three kinds of command pulse modes can be set 0 pulse Direction signal Input pulse signal into PULS port and direction signal into SIGN port Forward Run Reverse Run Pus I Il N Puts JL JL JL SIGN T Hievel SIGN L level 1 CCW pulse CW pulse Input CCW pulse signal into PULS port and CW pulse signal into SIGN port Forward Run Reverse Run cw m ew L level mE L fl ccw nnam cow dl Llevel 82 Chapter VI Specified Function Introduction 2 Two phase pulse Phase A
105. otor is rotating in clockwise if the 3 2 4 display is negative means the motor is rotating in Keyboard anti clockwise operation method inn Ce Forward run 5 LUU J tanna c G 1 0 0 0 LGC Reverse run If need to stop the motor rotating the rotating speed can be set 32 at 0 or also exit the test run speed setting interface then Ke board 5 re entering P01 00 the original set speed will be cleared and S pac the motor will stop Change operation mode P00 02 can also Me thod stop the motor rotating m JOG Trial Operation P00 02 5 Reference Steps Operations Chernin ee 2 4 The main Connect the control circuit power supply the main circuit circuit 1 power is disconnected temporarily and the display of drive is i terminal on If there is an alarm please check the connection wiring 2 4 The main 2 Connect the main circuit power supply terminal wiring 52 ChapterIV Operation Reference Steps Operations e Set the control mode P00 02 as the speed test run the setting 3 2 3 is 5 At the this time the drive is at enabling state the motor Keyboard is initiated and at zero speed running state gentle vibration operation can be felt when touching the motor with hand method Entering the JOG point move test run operation state P01 01 through keypad operation the speed test run indication sign is u 9 the numerical unit is r min and the system is in JOG point move test run cont
106. ound Because tue standard Cable specification VEL ERE Use standard cables of input specification twisted output signal cable is not standard unshielded pair or shielded pair core wire above 0 12mm There is noise interference because the input output signal cable is too long Confirm the length of input output signal cable Keep the length of input output signal cable within 3 meters 134 Chapter VII Diagnosis of Malfunctions Possible 3 p Fault Confirmation method Processing Methods Cause There is noise Confirm if the encoder interference cable is standard Cable because the specification twisted f p Use standard cables specification unshielded pair or of encoder shielded pair core wire cable is not above 0 12mm standard There is noise interference Confirm the length of Limit the length of encoder because the oie encoder cable cable within 20 meters encoder cable is too long Servo There is motor has excessive Confirm if the encoder abnormal noise cable is tied together Change the environment of sound interference with or near the high encoder cable casting in encoder current cable cable The pulse of servo unit is TO Confirm if there is noise Take measures on encoder miscounted RES interference between wiring to prevent noise because of encoder and signal line interference noise interference Encoder is es
107. phase input interface phase input interface Encoder Z Motor encoder Z signal phase input interface Function CN1 7 Z 20 Chapter II Installation and Wiring Classification Pulse signal input 5V power supply ground 5V power supply Terminal No CNI 8 CNI 9 CN1 10 CNI 11 CN1 12 CN1 13 Terminal Grade Signal Name Encoder Z phase input Encoder B phase input Encoder B phase input Encoder A phase input Encoder A phase input Board 5V power supply ground The board supplies 5V power for the encoder Board 5 V power supply ground CNI 14 CN1 15 GND Function Motor encoder Z signal interface Motor encoder B signal interface Motor encoder B signal interface Motor encoder A signal interface Motor encoder A signal interface 5V 200mA 21 Chapter II Installation and Wiring 2 6 2 T O Signal Wiring CN2 CN2 SCSI 50P Plug Welding Terminal Arrangement Fig 2 4 I O Signal Interface CN2 Table 2 3 Function and Description of I O Signal Terminal Classification Eod Es Signal Name Function Input terminal Used to drive the input optocoupler fee once idc sen Je DC 12 24V the current P is larger than 100mA Digital Input Default unction DII DI7 are CN2 40 DII Servo enable programmable digital inputs the input SON functions and effective CN2 44 DI2 Default Function le
108. ponse 4 If the required position following characteristics is high the set value of speed feed forward gain P00 04 can be increased But too large speed feed forward gain will cause overshooting When the syste m is unstable the set value of speed reference low pass filter coefficient P00 11 can be increased to avoid overshooting Set the speed feed forward low pass filter coefficient P04 01 adequately can increase the stability of compound position control 57 Chapter IV Operation 4 3 2 Basic Parameter Adjustment d low pass filter P00 08 P09 07 P00 05 P00 09 P00 12 P09 08 Motor Position instruction Pulse ctroni Instruction siti 1 Speed loop Torque Torque input smooth a gain integral instruc loop gain mode filtering time tion integral filter time constant constant Internal 4 Moving multistage average PIOXX position filtering P04 00 osition instruction source Analolg instruction 5 5 Simulation Speed instruction instruction Velocity low pass calculation filter Zero compensation Internal P03 12 multistage Fourfold speed frequency PllLxx P01 05 P01 06 Encoder Encoder frequency pulse output Encode pulse frequency division ratio Fig 4 5 The Diagram of Basic Parameter Adjustment Note optimization adjustment of torque loop parameters have been done before ex factory so the users do not need to adjust torque loop gain P09 0
109. r servo off ees to holding brake released ME Ud o mw 63 Chapter V List of Functional Parameters Function Name Setting Delivery Unit Mode of Code No Range Value Application Broadened width of Z o o V pulse Delay time for servo on to holding brake released ee KAEI Selection of external 0 1 V brake resistors Power of external brake 100 10 000 resistor Resistance value of Q external brake resistor Group P02 Monitor and Display Function 3 C ty S EE SEED Actual motor speed mum o prvem Bc el d ng Ine iS e LA mJ jai m m oo ON CA A cesi es tS N N N ey er 1S N 2laiuv SIS S d N o o oa o i I eure pesos 10000 pure ee 3 Position instruction 4 LSBs 64 r nt P of C ns aen es es e es NIN rt e S e ON t alls 5log o Inaja S Chapter V List of Functional Parameters Function A T P02 14 P02 14 oUt o jOuputterminalstae terminal state eine a P02 P0216 CS P0216 CS r Spedcommand Speed command rea e pea 5 BM P02 21 rES Encoder zero calibration pulse P02 23 bHS Instantaneous ae power Group P03 IO and Analog Control Function Setting Delivery Mode of Application DO function and P03 00 enabled status setting DO2 function and A P03 01 enabled status setting 256 259 DO3 function and P03 02 enable
110. r the speed changes of load change The larger the load rotation inertia the greater the speed loop integral time constant set value 3 The set value adjustment of speed feedback low pass filter coefficient P00 10 If the motor noise is large the set value of speed feedback low pass filter coefficient P00 10 can be increased properly e Parameters For Position Loop The position loop parameters include position loop gain P00 03 feed forward gain P00 04 and speed feed forward low pass filter coefficient P04 01 1 According to the above method set the appropriate speed loop gain P00 08 and speed loop integral time constant P00 09 2 The speed feed forward gain P00 04 shall be set as 0 3 The set value of position loop gain P00 03 within the system stable scope try to set a larger value A larger set value of position loop gain P00 03 will produce a better position instruction tracking and a smaller position following error but too large gain will result in oscillation In order to use a higher position loop gain the set value of speed reference low pass filter coefficient P00 11 can be increased to avoid overshooting The set value of position loop gain P00 03 may refer to the following table 56 Chapter IV Operation System rigidity Position loop gain Low rigidity 10 20 Hz Medium rigidity 30 50 Hz High rigidity 50 70 Hz Note the greater the rigidity means the faster the system res
111. rameters Group P05 Speed Control Parameters Function NC Setting Delivery Unit Mode of Code No Range Value Application P05 00 Speed command S Source P05 01 Lao 3 000 3 000 oper ation 1 P05 06 Speed limit Edd ea al peut rn Related to the Threshold for over P05 08 speed error 0 100 P S T detection Permitted time for P05 09 over speed error 0 30 000 5000 ms P S T detection Deceleration ramp P05 10 time of speed 0 16 000 command Acceleration ramp P05 11 time of speed 0 16 000 command clamping selection Allowed time of P05 13 Zero speed 1 2 000 clamping 68 ms ms ms pete fs Chapter V List of Functional Parameters Group P06 Torque Control Parameters Function NC Setting Delivery Unit Mode of Code No Range Value Application torque limit torque limit i s es s om torque limit EUN cv 300 0 torque limit torque limit Group P07 MODBUS Communication Function Name Setting Delivery Unit Mode of Code No Range Value Application Selection of POTM odd even check 6 EEPROM saving E ode for communication data Group P08 Motor parameter The motor parameter is used and controlled by the manufacturer and users have no right to change This parameter group can only be accessed with the manufacturer code It is not specified in detail here 69 Chapter V List of Functional Parameters Group P09 Manufacturer Parameter The manufacturer parameter is us
112. ration of the equipment to prolong its servicing life In the course of operation please pay special attention to running state of the driving machinery and inform yourself of all safety precautions Preface Danger This equipment is with hazardous voltage Operations against warnings or this Manual may incur life risk and personal injury Therefore only professionals familiar with safety precautions are allowed to operate the equipment after completion of its installation Power off during wiring and inspection Do not touch the circuit board or any part before the indication light on the printed circuit board goes out or within 5 minutes since the keyboard display goes out Perform operations within the machine only when completion of discharging has been confirmed by the special instrument to exclude hazard of electric shock It is forbidden to connect the AC power supply to output terminal U V W of the servo drive Please perform earth connection of the grounding terminals of the servo drive in a correct and reliable manner in accordance with electric safety regulations of IEC or other similar standards It is forbidden to connect the AC power supply to servo motor U V W to avoid possible equipment damage or personal injury Warning Unauthorized change to wiring within the machine or utilization of auxiliaries purchased from illegal manufacturers may incur fire disaster electric shock or personal injur
113. rol mode The speed and direction is determined by P05 01 press 4 key the motor will rotate in 3 5 the speed and direction set by P05 01 and press v key the Keyboard 4 motor will rotate in reverse direction in the speed set by operation P05 01 method Also the trial operation can be performed in the normal control mode but need to connect to external control signal and the servo operation is controlled by superior instruction The trial operation steps of position mode and speed mode are described below Note test run shall be performed when the motor is fixed and disconnected from load to make sure no accident is occurred Torque mode is not suitable for test run operation m Trial Operation Under Position Control Mode P00 02 0 Reference Steps Operations Chapter The drive is connected to host controller through CN2 and 2 5 2 Input 1 make sure the relevant signal wiring is correctly connected and output Servo enable S ON OFF positive travel limit P OT ON signal wiring and reversed travel limit N OT ON is used CN2 Connect the control circuit power supply the main circuit zt Tub M de circuit 2 power is disconnected temporarily and the display of drive is 3 terminal on If there is an alarm please check the connection wing 53 Chapter IV Operation Set the control mode P00 02 as the position control mode the setting is 0 set the parameter
114. rotating one round 6 0 001 6 000 Electronic gear ratio B A 10 000 6 000 5 3 59 Chapter IV Operation The molecular set value of electronic gear ratio 5 the denominator set value of electronic gear ratio 3 Example 2 The mechanical composition is shown in the following figure Circular truncated cone reduction ratio n m 1 100 the required command pulse equivalency is 0 01 Pulse Command Unit 0 01 degree Reduction Ratio 1 100 Load Shaft Servo Motor Encoder resolution Pg 10 000 pulse rotation The command pulse amount of load shaft rotating one round 360 0 01 36 000 Electronic gear ratio B A 10 000 36 000 100 1 250 9 The molecular set value of electronic gear ratio 250 the denominator set value of electronic gear ratio 9 60 Chapter V List of Functional Parameters Chapter V List of Functional Parameters Parameter Schedule of Function Codes Group P10 Parameters of origin search and multistage position Group P11 Parameters of multistage speed function Notes The motor parameter and manufacturer parameter are not released to users Abbreviations of control modes P position control mode S speed control mode T torque control mode Group P00 Basic Control Parameters Function Nm Setting Delivery Unit Mode of Code No Range Value Application P00 02 Control mode selection o fo fa P S T P00 03 Position loop gain 1 2 000 10 Hz P P00 01 Selection of LED initia
115. rrent of motor 12 High order status of input terminal 13 Low order status of input terminal 14 Status of output terminal 15 Pulse frequency of position command 16 Speed command 17 Torque command 18 Input signal of encoder UVW 19 Code display of fault alarm 20 Absolute position of motor rotor 21 Encoder zero calibration pulse 80 Chapter VI Specified Function Introduction 22 Motor torque current 23 Instantaneous braking power 24 Long time average braking power 25 Motor model Function Setting Factory P00 02 Control mode selection ee tely effective Function Description Select servo system control mode The meanings of setting values are as follows 0 Position control mode 1 Analog speed control mode 2 Torque control mode 3 Internal speed control mode 4 Speed commissioning mode 5 JOG commissioning mode 6 Manufacturer mode Function Setting Factory P00 03 P s ondocpgam mediately 4 9000 Hz 100 effective Function Description Set the proportional gain of position loop PI regulator The responsiveness of the position control system is decided by setting value A larger setting value determines higher gain and greater rigidity Under the same frequency of command pulse a larger setting value determines smaller position hysteresis But an overlarge setting value may cause oscillation or overshooting Please determine the setting values based on specific models of servo drives and m
116. rvo Drive Warranty Annex9 Servo Drive Warranty Servo Drive Warranty User User Address Contact Tel Post Code Fax Drive Model Serial Number Date of purchase Date of fault Fault Motor KW pole Application Failure time input power no load load Other Symptom Indication none others Use control terminals Operation after reset yes no Output voltage yes no Total working hours Fault frequency Installation environment Power voltage U V V V W V W U V Transformer capacity KVA Grounding of servo drive yes no Distance to power m Distance to power m Vibration none general strong Dust none some much Other conditions 177 LANDE JZA Q ALPHA SHENZHEN ALPHA INVERTER CO LTD Office 5 F Floor Galaxywind Building No 5 Xinxi Road North Area High tech Industrial Park Nanshan District Shenzhen China 518057 Factory 5 6 F OSTAR Building OSTAR Road Shangmeilin Futian District Shenzhen China Tel 86 0755 2603 8973 Fax 86 0755 2603 8537 E mail overseas szalpha com Http www szalpha com V1 03
117. s Setting Factory Defaults P03 02 D03 function and Power up 0 3 i enabled status setting effective 256 259 Function Description Refer to P03 00 for function description Function Setting i Factory Defaults P03 03 DO4 function and Power up 0 3 enabled status setting effective 256 259 Function Description Refer to P03 00 for function description Function Setting 1 Factory Defaults P03 04 DI function and Power up 0 20 enabled status setting effective 256 276 Function Description Setting of function and enabled status of digital input DII The setting value can be obtained by adding enabled status settings and function setting together If the setting value is not in the setting range the system will retain the last one Enabled status setting value 0 Active High 256 Active Low Setting Value of Input Function 0 Servo Enabling S ON 1 Alarm Reset ALM RST 2 Negative Over travel Limit N OT 4 Deviation Counter Reset CLR 5 Pulse Inhibit PINH 3 Positive Over travel Limit P OT 6 the second electronic gear ratio GEAR2 7 Spare 96 Chapter VI Specified Function Introduction 9 Zero Speed Clamp in Analog speed Mode 8 Spare ZCLAMP 10 direction in Internal Speed Mode 12 Spare 13 Positive Start in Analog speed Mode 11 direction in Analog speed Mode 15 Negative Start gn Analog Speed soo do erige Operation Option T C MDI Mode 16 Multi Stage Operat
118. sition Immediately 0 3 operation mode selection effective Function Description Set internal position operation mode You can set four different operation modes 0 Single Sequence Operation Mode start running stages set by P10 09 from Stage 1 and the setting waiting time of each stage is used for the switch between two stages 1 Cyclic Operation Mode start running stages set by P10 09 from stage 1 repeatedly and the setting waiting time of each stage is used for the switch between two stages 2 DI Switching Operation Mode running stage is chosen by external digital input CMD CMD4 each stage s speed acceleration and deceleration time and displacements are determined by the selected stage parameters See the next section for signal distribution Required external terminal signal of DI mode 3 Sequential Operation Mode no waiting time between two stages and the starting speed for current stage is determined by the front stage s operation speed Function Parameter 2 d Factory Effective Immediately segments 1 16 effective selection Function Description Set the effective maximum segment number for internal position mode the segments after this number will not be executed The setting value is void when P10 08 2 116 Chapter VI Specified Function Introduction Function Setting Factory Processing mode Immediately for residual 0 1 effective command Function Description Set the
119. speed control mode including analog speed mode and internal speed mode 0 port setting Set by external analog value or switching value switch 1 Reserved Function Parameter Factory P05 01 Speed for JOG Ammediitely d a a000 aei 120 operation effective Function Description Set the motor speed under JOG commissioning mode Function Parameter 2 Factory ae Immediately dial iiis TA Mie md Function Description Set the maximum speed limit value of motor unrelated to direction If the setting maximum speed limit value is higher than the rated speed of motor the actual maximum speed limit value is the rated speed of motor The setting value of this parameter is also the maximum speed limit value under torque mode 106 Chapter VI Specified Function Introduction Function Parameter Factory P05 07 Reached spesa Mmetiately 5 5 055 rpm 50 effective Function Description Set the speed threshold of reaching speed detection Under the non position control mode if the difference value between setting speed and feedback speed of motor is smaller than this setting value the speed reaching signal S CMP will be outputted The speed reaching judgment has hysteresis function Function Parameter Factory Attribute Setting Range Unit Code Name 8 8 Defaults Threshold for Immediately over speed error 0 100 rpm effective detection Function Description Se
120. speed operation or speed operation controlled by external digital input This function is valid when the control mode of driver is set to internal speed control mode P00 02 3 2 Explanation of Main Parameters 120 Chapter VI Specified Function Introduction Function Parameter Factory Multi stage speed Immediately instruction effective operation mode P11 00 Function Description Set multi stage speed instruction operation mode You can set three kinds of operation mode 0 single operation mode After the enable signal is valid the driver starts to run one by one segment based on preset total segments and operation time for each segment in order of segment from small to large The driver will stop when the end segment set by P11 01 has been finished 1 Cyclic operation mode After the enable signal is effective the driver starts to run one by one segment based on preset total segments and operation time for each segment in order of segment from small to large The driver will continue to run again from the first segment when the end segment set by P11 01 has been finished until the enable signal becomes invalid 2 DI switching operation mode Under this mode after the enable signal is valid the driver will run according to the speed selected by external digital input signals CMD1 CMD3 and the running time is not subjected by the preset operation time for each segment The relationship between CD
121. t terminals control Check whether the circuit terminals screws are loose Screw up by screwdriver screws Cooling Fin Check whether there Blow off with dry compressed air 8 are dust pressure 4 6kg cm PCB Printed Check whether there Blow off with dry compressed air Circuit Board are dust pressure 4 6kg cm Check whether the Cooling Fan rotation is flexible check whether there are abnormal sound vibration dust and blocking Replace the cooling fan remove the dust and foreign body 140 Chapter VIII Maintenance Check whether there Blow off with dry compressed air Power Device 2 are dust pressure 4 6kg cm Check whether there Electrolytic are discoloration Replace the electrolytic capacitor Capacitor peculiar smell bubble leakage etc Check Whence Mer Keep the braking resistor in a dry and Braking Resistor is good ground i insulated place insulation During the inspection the device should not be dismantled or shook arbitrarily and the connector should not be pulled up arbitrarily as well Otherwise may cause abnormal operation of servo drive or display malfunction Moreover it may cause device failure damage of main switching devices IGBT module or other devices 8 1 3 Regular Replacement of Devices Periodic Maintenance based on the service life of internal electronic components of servo drive is necessary for the long term reliabili
122. t a dust shield on the servo drive cover Do not make any metal fragments produced during drilling and other operations fall into the servo drive Upon the completion of installation remove the dust shield 2 3 Installation Direction and Space The standard installation requirements are as follows the drive shall be installed in a well ventilated electric control cabinet As for the installation modes bottom plate installation or panel installation shall be selected The structure of the servo drive is not protected thus the drive must be installed in a well protected electric cabinet moreover measures shall be taken to avoid contacting with corrosive and inflammable gases and to prevent conductive objects metal dusts oil fog and liquid from entering the drive as shown in Fig 2 1 13 Chapter II Installation and Wiring Above Fan Fan 100mm Above 40mm Above 1 mm Above 1mm Fig 2 1 Installation Direction and Space To achieve good cooling and circulation effects adequate space must be reserved between the upper lower left and right parts and the adjacent objects or baffle plates wall fit is installed side by side it is recommended to reserve a spacing of above 10mm between adjacent articles A spacing of above 40mm should be reserved for two horizontal sides and a spacing of above 100mm should be reserved for two longitudinal sides The product is a precision device so do not make it f
123. t end L1 L2 and L3 through electromagnetic contactor 2 The power LC1 and LC2 for controlling the circuit shall be connected before or at the same time to the main circuit power If only connected the control circuit power the servo signal S RDY is OFF 3 After the main circuit power is connected delay about 1 5 seconds the servo signal S RDY is ON At this time the servo enable S ON signal can be accepted the detected servo enable is effective drive output is effective and motor is initiated and the motor is in operating state If the servo enable detected is invalid or alarmed the drive inverter circuit is closed and the motor is in free state 4 When the servo enable is connected to power at the same time the drive inverter circuit is opened after about 1 5 seconds 5 Frequent connecting and disconnecting the power may damage the soft charging circuit and braking circuit and the frequency of connecting and disconnecting of main 47 Chapter IV Operation circuit shall be limited to 5 times per hour and 30 times per day If the failure of servo system is due to overheating of drive or motor it shall be cooled for 30 minutes before re connecting to power AS100 series servo driver 4 5 1Ry 1 4 ON OFF te I i a 1KM 1KM 1Ry 2SA Fig 4 1 The Power Wiring Diagram 48 Chapter IV Operation The Sequence Diagram of Power o
124. t the speed error detection threshold Under the speed control mode when the value of speed deviation exceeds the setting value of this parameter and the duration exceeds the time set by Parameter P05 09 the servo drive will give over speed error alarm When the setting value is 0 the over speed error alarm function is closed Function Parameter Factory Permitted time Tasnedmiel for over speed y 0 30 000 ms 5 000 effective error detection Function Description Set the allowed time of over speed error When the value of speed deviation exceeds the setting value of P05 08 and the duration exceeds the time set by this parameter the servo drive would give over speed error alarm 107 Chapter VI Specified Function Introduction Function Parameter T Factory Deceleration Immediate P05 10 ramp time of aey 0 16 000 ms 10 effective speed command Acceleration Immediatel ramp time of y 0 16 000 ms 10 effective speed command Function Description Set the deceleration and acceleration time of speed command signal The setting values correspond to the decoration and acceleration time from zero speed to rated speed of the motor This is effective only in the speed control mode This parameter is used to convert speed command signal of larger changes such as step signal into smoother speed commands thus the jump or violent vibration of the motor is prevented from harming the mechanical parts Th
125. tails on outline dimension and installation dimension of servo drive 2 2 Installation Site Requirements and Management N Caution Do not exert any force on the operation panel and the cover plate in the course of handling otherwise the falling of the servo drive will result in personal injury or property loss The servo drive shall be installed in a position capable of bearing its weight otherwise the falling of the servo drive will result in personal injury or property loss Do not install the drive around a water pipe and other positions that may suffer water splashing otherwise it may entail the risk of property loss Do not make such foreign matters as screws gaskets and metal bars fall into the servo drive otherwise it may result in fire and property loss Do not install or use the servo drive if it is damaged or its components are incomplete otherwise it may result in fire and personal injury Do not install the drive in a place with direct sunlight otherwise it may entail the risk of property loss The main circuit terminal and the conductor terminal must be firmly connected otherwise it may entail the risk of property loss Do not connect the input power cord to the output ends U V and W otherwise it may entail the risk of property loss Please connect the output ends U V and W to the three phase input of the motor in proper phase sequence otherwise the motor will operate in an abnormal manner Do not dir
126. the input state 1 indicates no input and 0 indicates input Input means there is current input into optocoupler Display inH sET SH 101 indicates input in D16 and no input in D17 and D15 0 at the high order will not be displayed IG HB ser 6 D12 indicates input in D13 and D11 and no input in D14 and 7 Display of terminal on off output state The terminal involves 4 on off outputs the state of which are displayed by out from the high order and the low order 1 indicates output and O indicates no output Display out SET 0 11 iD indicates output in DO4 DO3 and DO4 and no output in DOI Output means OC is outputting breakover 8 The displayed speed is in rpm 9 The displayed current is in A 10 The displayed torque is in a percentage of the rated torque of the motor 46 11 The drive model is displayed as a digit 12 The software version is displayed as V plus three digits behind 13 The motor model is displayed as a letter S or E plus 1 or 2 digits behind 45 Chapter III Display amp Operation 3 4 System Parameter Initialization Restore the factory defaults according to the following steps In order to set the parameter of PP00 16 as 1 press al The system will begin the restoring of the defaults with the display of start and ends it with the display of done Restart the system to get the default state See Fig 3 4 veh 3 GM A BEBBE SR dont 8 0 0 0 0
127. tio ECC ODACK 10 000 pulse rotation pulse Speed Control Eight interior settings and outer analog speed are given Accelerating decelerating function Set accelerating decelerating time 1 16 000ms 149 Annex 2 Technical Specification of Servo Drive Monitoring and display function Motor speed current position position command position deviation motor torque motor current current control mode position command pulse frequency speed command torque command absolute position of rotor input terminal status output terminal status Encoder UVW input signal encoder zero pulse fault code display etc Protection Function Module fault over voltage under voltage hardware over current software over current no current of analog channel A no current of analog channel B speed tolerance position tolerance CPLD fault encoder fault speed regulator saturation fault brake overload current regulator saturation fault etc Display operation 5 LED digital tube 5 buttons Applicable load inertia Less than 5 times of motor inertia 150 Annex 3 Matching Selection of Servo Motor and Drive 220V series Annex3 Matching Selection of Servo Motor and Drive 220V series m Matching Selection of Series E 220V Servo Motor and Drive
128. to Fig 2 17 Analog Input Circuit The I O interface CN2 of the drive has one loop of analog input 0 10V as the speed command or torque command signals the signal specification is as follows The maximum allowable voltage is 15V and the input impedance is approximately 30kQ Servo drive Fig 2 10 Analog Input Circuit Digital Input Circuit If the host device is relay output Servo drive External power supply ESVIN Fig 2 11 Digital Input Circuit a 31 Chapter II Installation and Wiring 1 The user shall provide the power supply DC12 24V gt 50mA 2 If the polarity of the power supply is reversed the drive will not respond to the signal If the host device is open collector output Servo drive External power supply DC12 24V 2AN Fig 2 12 Digital Input Circuit b Digital Output Circuit IF the host device is relay input Servo drive External power supply DC12 24V Fig 2 13 Digital Output Circuit a 1 The user shall provide the power supply DC12 24V If the polarity of the power supply is reversed the drive will damaged 2 The maximum rated value of the open collector output of the drive is DC60V 40mA 3 DO1 DO4 are open collector outputs 32 Chapter II Installation and Wiring 4 A freewheeling diode must be installed and the polarity must be correct otherwise the drive will be damaged If the host device is OC input Servo drive DC5 2
129. ty service The service life of electronic components may change according to the different working environments and working conditions In general continuous using they could be replaced according to the following table and depended on the specific situations such as the working environments load conditions and current situation of servo drive The maintenance period of servo drive in table 8 4 is for reference only Table 8 4 Replacement Time of Wearing Parts in Servo drive Device Name Standard Replacement Time Cooling fan 2 3 years Electrolytic Capacitor 4 5 years Printed Circuit Board 5 8 years 8 2 Storage and Protection The servo drive shall not be used immediately after the purchase and the followings shall be noticed for the temporary or long term storage The servo drive belongs in the stated scope of temperature and humidity Ensure that there are no humidity dust metallic dust but with good ventilation 141 Chapter VIII Maintenance 142 Charging test should be carried out if the servo drive has not been used more than 1 year in order to recover the properties of electrolytic capacitor in the main circuit Use voltage regulator to increase the input voltage of servo drive up to nominal voltage when charging Conduction time should be more than 1 or 2 hours The above tests should be carried out at least once a year Do not carry out the pressure test arbitrarily otherwise may cause s
130. uency 500 KHz 35 Chapter II Installation and Wiring PULS SIGN t ta Sequence Diagram of CCW CW Pulse Input Interface maximum frequency 500 KHz Eo erue eL CW Sequence Diagram of Two phase Quadrature Pulse Input Interface maximum frequency 300 KHz 36 Chapter II Installation and Wiring Encoder Pulse Divider Output Circuit Servo drive Host device PAO PBO PZO PAO PBO PZO Fig 2 17 Encoder Pulse Divider Output Circuit 37 Chapter II Installation and Wiring 2 10 Holding Brake Wiring The power supply connection for the servo motor holding brake mechanical brake has no polarity requirements the DC power supply shall be provided by users The standard wiring for brake signal BRK outputted by the drive and the brake power supply are shown in Fig 2 17 Motor fe pro CD aa i Brake Brake power supply DCAC le KB BRK KB External BRK power supply S DC24V Fig 2 18 Wiring Diagram of Brake 2 11 Wiring Precautions Ensure the voltage rating of the power supply to be connected is proper Please do not connect the output ends U V and W of the servo drive with a power supply Check the junction box after powering off for 5min to avoid electric shock Perform wiring according to the terminal voltage and polarity to avoid equipment damage or personal injury 38 Chapter II Installation and Wiring The drive and the servo motor
131. up POS sssssseeee 102 6 6 Speed Control Parameters Group POS sse 106 6 7 Torque Control Parameters Group P06 sese 109 6 8 MODBUS Communication Group P07 sss 110 6 9 Parameters of Origin Search and Multistage Position Group P10 111 6 10 Parameters of Multistage Speed Function Group P11 120 Chapter VII Diagnosis of Malfunctions eeeeeeeeeeeeee rene 125 7 1 Alarm Display and Description seeeeeeeeeeeeen rennen 125 7 2 Diagnosis of Malfunctions and Correction ssseeeeeee 126 7 3 Motor Failure and Corrective Action esee 131 Chapter VIT Mairtenance eoo lel erm emite epe a eny 137 8 1 Maintenance i4 eit eti eR HH ein e t te ipee es 139 8 LI Daily Maintenance aiio apt UR PESE aaah 139 8 12 Periodic Maintenance deer e er E Tape 140 8 1 3 Regular Replacement of Devices esee 141 8 2 Storage and Protecti n aieo n need 141 Contents Chapter IX Quality Guarantee eese enne nenne nein 143 Annex 1 Appearance Dimensions and Installation Dimensions of Drive 145 Annex 2 Technical Specification of Servo Drive essen 148 Annex3 Matching Selection of Servo Motor and Drive 220V series 151 Annex 4 Matching Selection of Servo Motor and Drive 380V series 152
132. upports the motor drive of wire saving 151 Annex 4 Matching Selection of Servo Motor and Drive 380V series Annex4 Matching Selection of Servo Motor and Drive 380V series m Matching Selection of Series E 380V Servo Motor and Drive Rated Sou Sed MotorModst at e Mose Meier rpm 2 000 ASMS R80C20U2 0 8KW 4Nm 3 000 ASMS IR2C30U2 12KW 4Nm 3 000 ASMS 1R5C30U2 1 5KW 5Nm 2 000 ASMG IR2C20U2 12KW 6Nm ASI00A 2 500 ASMH IROC25U2 LOKW 4Nm 3R5T3U 2 500 ASMG IR3C25U2 13KW 5Nm 1 000 ASMH IROCIOU2 LOKW 10Nm Three phase 1 500 ASMG 1R5C15U2 1 5KW 10Nm Y 2 500 ASMG IR5C25U20 L5KW 6Nm C 2 500 ASMG 2R0C25U2 2 0KW 7 7Nm ASI00A 2 000 ASMG 2R0C20U2 2 0KW 10Nm 5R4T3U 1 500 ASMG2R3CISU2 2 3KW 15Nm 2 500 ASMG 2R6C25U2 2 6KW 10Nm 2 500 ASMG 3R8C25U2 3 8KW 15Nm NUT 1 500 ASMG 2R7C15U2 2 7KW 172 SRAT3U Nm 1 000 ASMG 2R9C10U2 2 9KW 27Nm Notes 1 Performance parameters installation size and other information of servo motor refer to relevant data of motor 2 Following the motor model indicates the model options please refer to the description of motor naming rules 3 U in the motor model indicates that the standard 2500 c r incremental encoder is adopted If wire saving 2500 c r i
133. vel can be adjusted 22 Chapter II Installation and Wiring Classification bos pa Signal Name Function Alarm through parameter clear ALM RST settings The possible input functions include Default Function 0 Servo enable S ON CN2 42 DI3 Reverse 1 Alarm clear travel limit N OT ALM RST Default Function 2 Reverse travel limit N OT CN2 43 DI4 Forward travel x travel limit limit P OT P OT Default Function 4 Clear position error CN2 15 DIS clear position CER NE error CLR 5 Position pulse inhibit PINH Default Function 6 Second electronic gear CN2 41 DI6 position pulse ratio GR2 inhibit PINH 9 Zero clamp under Digital Input analog speed mode ZCLAMP 10 Shift change under internal speed mode 11 Shift change under analog speed mode Peroni 5 13 Forward start under CN2 48 D Bn analog speed mode 14 Reverse start under electronic gear analog speed mode ratio GR2 15 18 Multi stage selection CMD1 CMD4 19 Origin search enable SHOM 20 Origin switch signal OrgNear CN2 29 Servo ready DO1 DO4 are CN2 30 DOI S RDY programmable digital Digital S RDY outputs the output Output CN2 31 Servo alarn functions and effective DO2 level can be adjusted CN2 32 ALM ALM through parameter CN2 25 DO3 Positioning settings The possible 23 Chapter II Installation and Wiring Classification Terminato eres
134. y As the static electricity from human body will cause serious damage to static electricity susceptible device please do not touch the printed circuit board and IGBT module with your hands when anti static precautions are not taken or there may be a fault Do not mount the servo drive and servo motor on incombustibles If mounted on or around combustibles the servo drive or servo motor may be exposed to fire disasters Caution The servo drive shall be used along with compatible servo motor with supporting performance Users who intend to employ their own servo motor should contact our technicians to make sure that such motor will run normally Preface Please make sure that all signs and tags are legible and fill in new tags for missing or worn ones Please place the Manual where it is easily accessible and disseminate it to all users for reading Our Company reserves the right to modify this Manual without notice for any doubt or problem please do not hesitate to contact us or our dealers feedbacks are appreciated by us Contents Contents Preface n rae a a Od m E Dh te en oett 1 Chapter Purchase Inspection sainia ise e epe edendo 7 1 t Unpacking Inspection ec eoi teet P bes nga A 7 t2 Nam Rules een ERE PH REOR Reds 8 I 3 Seryo Drive Nameplates 2 3 m aise eg atelier ppt 10 1 4 Servo Motor Nameplate eee tetti Reihen 10 1 5 Servo S
135. y issues The quality guarantee matter belongs to our Company s responsibility when used in the country Guarantee for replacement returns repair within 1 month of shipment Guarantee for replacement and repair within 3 months of shipment Guarantee for repair within 12 months of shipment If shipping to overseas guarantee for repair within 3 months after shipment The relevant service charge is according to actual costs But if there is any agreement it should be deal with the principal of treaty override Our Company provides after sales service at the sales organizations and agencies all over the country Additional Remarks About the exemption from liability 143 Chapter IX Quality Guarantee Our Company could not responsibility for the liability caused or induced by the violation of the user manual s rules Our Company shall not be held liable for your loss or diffusible secondary damage caused by tthe product s faulty About User Instructions The user manual is only for the product of this series Our Company is long life responsible for the product and provides all services related the using of the product The product is designed and manufactured under the strict quality control but if it is used for the following purpose which could endanger human or human life due to fault or operation mistake be sure to ask our Company in advance Use for transport and communication facilities Medic
136. ystem Constitution eese 11 Chapter II Installation and Wiring eese eene 12 2 1 Outline Dimension and Installation Dimension of Servo Drive 12 2 2 Installation Site Requirements and Management eee 12 2 2 1 Installation Sites it entr mee Ron 13 2 2 2 Ambient Conditions sss ussscistpabascssncactsstesteecaubssastseuesensbepsotbssteessnssonse 13 2 2 3 Preventive Measures atat basia teen ee 13 2 3 Installation Direction and Space sees 13 2 4 EMC Installation Conditions esee enne 14 2 5 Main Circuit Terminal Wiring essere reete 15 2 6 Control Circuit Terminal Wiring esee enne 20 2 6 1 Encoder Single Wiring CNI esee 20 2 6 2 VO Signal Wiring CN2 eese nee E et teens etaient 22 2 6 3 Communication Signal Wiring CN3 CNA4 eee 26 2 7 Basic Block Diagram of Servo System sese 27 2 8 Standard Wiring Diagram of Servo Drive 27 2 9 Interface Circuit Principle esee ener 31 2 10 Holding Brake Wiring eese enne 38 2 1 T Waring Prec utioDbs ER ete d Greer Fed oe edet 38 Chapter IN Display and Operation seen ener 40 3 1 Introduction to Operation and Display Interface eee 40 3 1 1 Key Functions iu aeterne edere ete tr need 40 3 1 2 EED Displ y s Se

AS100 AC Servo Drive User Manual

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