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Maxsine EP1C AC servo driver User Manual

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1. 130MSL07720 7 7 2000 1 5 TLISF C305 b312 130MSL07725 hel 2500 2 0 TL25F C304 b304 130MSL07730 7 7 3000 2 3 TL25F C311 130MSL10010 10 1000 1 0 TLIOF TLISF C306 b305 130MSL10015 10 1500 1 5 TLISF TL25F C307 b306 130MSL10025 10 2500 2 5 TL25F C309 b307 130MSL15015 15 1500 2 3 TL25F C308 b308 130MSL15025 15 2500 3 8 TL35F TLS5F C310 b309 180MSL17215 17 2 1500 2 7 TL35F TLS5F b801 180MSL19015 19 1500 3 0 TL35F TLS5F b802 180MSL21520 21 5 2000 4 5 TLS5F b803 180MSL27015 27 1500 4 3 TLS5F b805 180MSL35015 35 1500 2 5 TLS5F b807 180MSL48015 48 1500 7 2 TLS5F b808 7 5 Types of servo motor BOMS LI E PUER m safe brake SeatNo me S 130 mm j Ss m PE c pa S F Composite incremental encoder 2500 C T Maxsine P F1 INcremental encoder With fewer line Eum cd gt 2500 C T A Pins MaR E Single ting 17 bits bus encoder Optional model 1 lt q Mt B Optional model 2 M Multi ring 17 3 bits bus encoder poss ee R A pair pole rotary transformer L Adapted AC 220V servo driver H Adapted AC 380V servo driver p Rated torque x0 1 Nm ja gt Rated speed x100 rpm 97 7 6 Servo motor wiring Please find the Wiring method of 40 60 80 and 90 series in related specification introduction The wiring method of 110 130 150 180 series is as follows 7 6 1 Winding wiring Terminal sy
2. Default Input filter mode of command Range 1 Unit Usage value pulse 0 1 0 P The meanings of this parameter are 0 Filter the input signal PULS and SIGN numerically 1 Filter the input signal PULS only and not filter the SIGN signal The parameters needs to preserve firstly and then turn off and on the power supply 5 Default R Time constant of exponential form Range l Unit Usage value filter for position command 0 1000 0 ms P Carries on the smooth filter to the command pulse and has the exponential form acceleration deceleration The filter cannot lose the input pulse but can delay the command pulse When the setting value is zero the filter does not have any effect This filter uses in some cases 67 1 The host controller has no acceleration deceleration function 2 The electronic gear ratio is quite big N M gt 10 3 The command frequency is lower 4 When the servomotor is in motion appears step by steps or unstable phenomenon A Command pulse frequency 0 gt Command A img frequency after l filtering l 0 gt time 2 Default Acceleration time of speed Range l Unit Usage value command 0 30000 0 ms S Set the acceleration time for the servomotor from the zero speed up to rated speed Ifthe command speed is lower than the rated speed the rise time also correspondingly reduces
3. DI function table Ordinal Symbol DI Function 0 NULL Not have function 1 SON Servo enable 2 ARST Clear alarm 3 CCWL CCW drive inhibition 4 CWL CW drive inhibition 5 6 TCCW CCW torque limitation TCW CW torque limitation 15 EMG Emergency stop 18 GEARI Electronic gear switching 1 19 GEAR2 Electronic gear switching 2 20 CLR Clear position deviation 21 INH Pulse input inhibition 2 2 5 Digital output definition Every digital output interface is programmable it can act different function by setting the corresponding parameter The manufacturer sets it as the default value users may need to modify Default Parameter Name Range Unit Usage value P130 Function of digital output DO1 11 11 2 ALL P131 Function of digital output DO2 11 11 3 ALL P132 Function of digital output DO3 11 11 8 ALL The absolute value of the parameter expresses functions the symbolic expresses the logic 0 is forcing OFF l is forcing ON The symbol indicates the output logic the positive number expresses the positive logic and the negative number expresses the negative logic Parameter value Function DO output signal m ON Turn on Positive number OFF Turn off ON Turn off Negative number OFF Turn on DO function table Ordinal Symbol DO Function 0 OFF Always invalid 1
4. Set the internal torque limitation value in CW direction of servomotor This limit is effective all the time If the value surpasses the biggest overload capacity of the servo driver then the actual limits will be equal to the biggest overload capacity Pete Default External torque limit in CCW Range I Unit Usage value direction 0 300 100 ALL Set the external torque limitation value in CCW direction of servomotor This limit is effective if the TCCW torque limit in CCW direction is on by DI input When limit is effective the actual torque limitation will take the minimum value from the biggest overload capacity of the servo driver the internal CCW torque limitation and the external CCW torque limitation tu Default External torque limit in CW Range Unit Usage P068 AN value direction 300 0 100 ALL Set the external torque limitation value in CW direction of servomotor This limit is effective if the TCW torque limit in CW direction is on by DI input When limit is effective the actual torque limitation will take the minimum value from the biggest overload capacity of the servo driver the internal CCW torque limitation and the external CCW torque limitation Default ES a Range Unit Usage aise Torque limit in trial running value 0 300 100 ALL Set the torque limitation value for trial running mod
5. 4 09 A A i j i 10 0N m 15 ON m Y oe EONA Rond csi adio 1000rpm 1500rpm 2500rpm 1500rpm 2500rpm s 69 9 03 L mm 166 171 179 192 213 213 209 241 231 18 5 4 105 7 7 7 Parameters of 150 series servo motor Motor Model 150MSL15025F 150MSL18020F 150MSL23020F 150MSL27020F Rated Power KW 3 8 3 6 4 T 5 5 Rated Line Voltage V 220 220 220 220 Rated Line Current A 16 5 16 5 20 5 20 5 Rated Speed rpm 2500 2000 2000 2000 Rated Torque Nm 15 0 18 0 23 0 21 0 Peak Torque N m 45 0 54 0 69 0 81 0 Rotor Inertia kg m 6 15X10 6 33X 10 8 94X 10 11 19X 10 2500 Lines of Encoder PPR Motor Iinsulation class ClassB 130 C Protection Level IP65 Operating Environment Temperature 20 C 50 C Humidity Relative Humidity lt 90 not including condensing condition 130h7 4 011 Size 15 0N m 18 0N m 23 0N m 27 0N m L m m 231 250 280 306 106 7 7 8 Parameters of 180 series servo motor 180MSL 180MSL 180MSL 180MSL 180MSL 180MSL 17215F 19015F 21520F 27015F 35015F 48015F Motor Model Rated Power KW 2 7 3 0 4 5 4 3 5 5 7 5 Rated Line Voltage V 220 380 220 380 220 380 220 380 220 380 220 380 Rated Line Current A Rated Speed rpm 1500 15
6. The torque limitation is not related to the rotation direction The limit is effective in both CCW and CW Set the permission highest speed of servomotor e direction e If the setting value surpasses the system permission the maximum speed the actual speed also can limit in the maximum speed P076 Default Range Unit Usage JOG running speed value 0 5000 100 r min S Set the running speed for JOG operation Default S REST Range Unit Usage Position deviation limit value 0 00 327 67 4 00 ring P Set the position deviation range for alarm when the deviation exceeds this parameter Under position control mode when the counting value of position deviation counter exceeds the pulses corresponding to this parameter value the servo driver gives the position deviation alarm Err 4 The unit is one circle Multiplying the resolution of encoder with the value of this parameter can obtain the total pulse number For example the encoder has 2500 lines and the resolution of encoder is 10000 If the parameter value is 4 00 then corresponds to 40000 pulses 70 Default e 0 P086 i Range Unit Usage IEEE The option switch of brake resistor value 0 1 s ALL Choose brake resistor adopting internal brake resistor 1 adopting external brake resistor Default A i Range Unit Usage IURE The value of e
7. The function plan of digital input DI3 Refer to the explanation of parameter P100 73 P103 P104 P110 Default TET Range Unit Usage Function of digital input DIA value 21 21 4 ALL The function plan of digital input DI4 Refer to the explanation of parameter P100 Default t Range Unit Usage Function of digital input DI5 value 7 20 ALL The function plan of digital input DIS Refer to the explanation of parameter P100 Default 16x Range Unit Usage Filter of digital input DII value 0 1 100 0 2 0 ms ALL This is the time constant of DII input digital filter The smaller the value the quicker signal responses the bigger the value the slower signal responses but filtering ability of noise is stronger P111 P112 P113 P114 Default A M Range Unit Usage Filter of digital input DI2 value 0 1 100 0 2 0 ms ALL This is the time constant of DD input digital filter Refer to the explanation of parameter P110 Default 3 LS Range Unit Usage Filter of digital input DI3 value 0 1 100 0 2 0 ms ALL This is the time constant of DI3 input digital filter Refer to the explanation of parameter P110 Default Pen e Range Unit Usage Filter of digital input DIA value 0 1 100 0 2 0 ms ALL This is the time constant
8. signal Encoder cable and or connector has Check cable and Replace the cable and connector problem connector The interface circuit of the servo Check the control Replace the servo driver driver is at fault circuit 90 Err31 UVW signals error of encoder Potential cause Check Handle Encoder has problem Check the line number and pole number Check the encoder UVW signals Encoder damaged Replace the encoder Encoder wiring error Check the encoder wiring Correct wiring included shield wire Err32 Illegal code of encoder UVW signals Potential cause Check Handle Encoder has problem Check the encoder UVW Replace the encoder signals Encoder wiring error Check the encoder wiring Correct wiring included shield wire Err33 Wire saving encoder error Potential cause Check Handle Encoder has problem Check the encoder signals Replace the encoder Servomotor type setting is not correct Check the servomotor type Confirm that the servomotor is adapted with the wire saving encoder Set the servomotor type again Err35 Connection error among panels Potential cause Check Handle Flat cable error of the panels Check the flat cable and If fault still exists please change a connection terminals new drive Connection route access error Check optocoupler If fault still exists
9. Do not touch any moving parts of the mechanical device while the servomotor is running otherwise can cause personnel casualty Do not touch servo driver and servomotor while the equipment is operating otherwise can result in an electric shock or in burn Do not move any connection cables while the equipment is operating otherwise can result in physical injure or equipment damage 5 Maintenance and inspection O stop Do not touch any portion inside of the servo driver and servomotor otherwise can cause an electric shock Do not remove the front cover of the servo driver while power is on otherwise can cause an electric shock Please wait at least 5 minutes after power has been removed before touching any terminal otherwise the remaining high voltage possibly can cause an electric shock Do not change the wiring while the power is on otherwise can cause an electric shock Do not disassemble the servomotor otherwise can cause an electric shock 6 Service ranges CAUTION This handbook involves the product for the general industry use please do not use in some equipment which may directly harm the personal safety such as nuclear energy spaceflight aeronautic equipment and life safeguard life support equipment and each kind of safety equipment Please make contact with the company if have the need of use mentioned above As CONTENTS Chapter 1 P
10. inhibition ON Position command pulse is inhibited 82 5 4 DO function description in detail Symb Ordinal 1 Function Function explanation o 0 OFF Always invalid Forced output OFF 1 ON Always valid Forced output ON OFF Servo main power supply is off Or alarm occurs 2 RDY Servo ready ON Servo main power supply is normal no alarm occurs OFF Alarm occurs 3 ALM Alarm ON No alarm occurs e In position control mode Positioning 5 COIN OFF Position deviation is bigger than parameter P150 complete ON Position deviation is smaller than parameter P150 OFF Servomotor speed is lower than parameter P154 6 ASP Arrival speed ON Servomotor speed is higher than parameter P154 Can set polarity function refers to the explanation of parameter P154 d BRK Electromagnetic OFF Electromagnetic brake applies the brake brake ON Electromagnetic brake releases the brake OFF Servomotor torque has not reached the limit value Torque under 11 TRQL ON Servomotor torque has reached the limit value limitation Torque limitation is set by parameter P064 83 Chapter 6 Alarm 6 1 Alarm table Alarm Alarm name Alarm Alarm code content clear Err No alarm occurs Normal operation Err 1 Over speed Servomotor speed exceeds the speed limit No Err2 Over voltage of the main The
11. Only uses in the speed control mode It is invalid in position control mode e If the servo driver constitutes the position control with host controller this parameter should be set zero otherwise affects the position control performance Rated speed MELDEN NEN Ts a Z S 4 I I N Speed command l l l l l l Actual 1 I Actual l eee j l 1 Eois l l I gt I l l l L P060 P061 Default Deceleration time of speed Range Unit Usage P061 value command 0 30000 0 ms S Set the deceleration time for the servomotor from the rated speed down to zero speed Ifthe command speed is lower than the rated speed the fall time also correspondingly reduces Only uses in the speed control mode It is invalid in position control mode If the servo driver constitutes the position control with host controller this parameter should be set zero otherwise affects the position control performance 68 PS S Default i Internal torque limit in CCW Range Unit Usage P065 P value direction 0 300 300 ALL Setthe internal torque limitation value in CCW direction of servomotor This limit is effective all the time Ifthe value surpasses the biggest overload capacity of the servo driver then the actual limits will be equal to the biggest overload capacity Tia Default Internal torque limit in CW Range Unit Usage P066 ROS value direction 300 0 300 ALL
12. 10 ate Speed Ratio 1 5000 95 7 4 Adaptive table for servo motor selections Maxsine AC servo motor has two series A and K The detailed distinguish method is the production serial number of A series motor begins from A to J such as B20494890202 the production serial number of K series motor begins from K to T such as L20494890203 It means no other driver can match this motor if it is blank 40MSL00230 0 16 3000 0 05 TLOSF C041 C041 40MSL00330 0 32 3000 0 1 TLOSF C042 C042 60MSL00630 0 6 3000 0 2 TLOSF C065 b061 60MSL01330 13 3000 0 4 TLOSF C066 b062 60MSL01930 1 9 3000 0 6 TLOSF TL10F b063 80MSL01330 13 3000 0 4 TLOSF b081 80MSL02430 2 4 3000 0 75 TLIOF C083 b082 80MSL03520 3 5 2000 0 73 TLIOF b083 80MSL04025 4 0 2500 1 0 TLIOF TLISF b084 90MSLO02430 24 3000 0 75 TLIOF b091 90MSLO03520 3 5 2000 0 7 TLIOF b092 90MSL04025 4 0 2500 1 0 TLIOF b093 110MSL02030 2 0 3000 0 6 TLOSF TLIOF C101 b101 110MSL04020 4 0 2000 0 8 TL1OF C102 b102 110MSL04030 4 0 3000 1 2 TLIOF TLISF C103 b103 110MSL05020 5 0 2000 1 0 TLIOF TLISF C104 110MSL05030 5 0 3000 1 5 TLISF C105 b104 110MSL06020 6 0 2000 1 2 TL1OF TLISF C106 b105 110MSL06030 6 0 3000 1 8 TLISF TL25F C107 b106 130MSL04025 4 0 2500 1 0 TL1OF TLISF C301 b301 130MSL05025 5 0 2500 1 3 TLIOF TLISF C302 b302 130MSL06025 6 0 2500 1 5 TLISF C303 b303 96
13. 32767 10 Pulse P Set the pulse range for positioning completion under the position control mode When the pulse number in the position deviation counter is smaller than or equal to this setting value the digital output DO COIN is ON positioning completion otherwise is OFF The comparator has hysteretic function set by parameter P151 P151 Hysteresis for positioning completion Default E Range Unit Usage value 0 32767 5 Pulse P Refer to the explanation of parameter P150 75 IRCE Arrival speed Range Default value Unit Usage 5000 5000 500 r min ALL When the servomotor speed surpasses this parameter the digital output DO ASP speed arrives is ON otherwise is OFF The comparator has hysteretic function set by parameter P155 Has the polarity setting function P163 P156 P154 Comparator 0 20 Detect CCW or CW speed 1 gt 0 Only detect CCW speed lt 0 Only detect CW speed Default Range Unit Usage IMRREEE Hysteresis of arrival speed value 0 5000 30 rmin ALL Refer to the explanation of parameter P154 Default Range Unit Usage iio Polarity of arrival speed value 0 1 0 ALL Refer to the explanation of parameter P154 be TN Default The way of position deviation Range l Unit Usage
14. Range Unit Usage IE Identity code of servomotor value wi i ALL This is the model of the servomotor in use now The manufacturer sets it The meaning of this parameter refers to the adaptive table of servomotor See 7 4 sections operation refers to the 3 7 sections When replaces by different model of servomotor it is necessary to modify this parameter The concrete Default Range Unit Usage P003 Software version value os Z ALL e This is the software version number and cannot be modified Default Range Unit Usage IUE Control mode value 0 1 0 ALL The meanings of this parameter are 0 Position control mode 1 Speed control mode 62 Default R Range Unit Usage IRE Gain of speed loop value 1 3000 40 Hz P S This is the proportion gain of the speed regulator Increases the parameter value can make the speed response to speed up It is easy to cause the vibration and the noise when the value is too large If the P017 load inertia ratio is a correct value then the parameter value is equal to the speed response bandwidth Default Range Unit Usage IINE Integral time constant of speed loop value 1 0 1000 0 20 0 ms PS This is the integral time constant of the speed regulator Reduces the parameter value can reduce the speed control error and increase rigidity It is easy to cause the vibrat
15. Tum on the again and check power If the error still exists then replace the servo driver 89 Err23 AD conversion error Potential cause Handle Current sensor and connector fault Replace the servo driver AD converter and analog amplifier fault Check Check the main circuit Check the control circuit Replace the servo driver Err24 Under voltage of control power supply Potential cause Check Handle Control circuit LDO fault Check the power of control board Replace the servo driver Err27 Default phase alarm Potential cause Check Handle Main power supply default phase Check connection wire L1 L2 L3 Connect wire correctly power on again Main power supply undervoltage Check supply power Ensure correct voltage input voltage Default phase check return circuit fault Check optocoupler If the fault still exists please change a new drive Err29 Over torque alarm Potential cause Check Handle Unexpected big load occurs Check load condition Correctly readjust the load Parameter P070 P071 P072 setting is not reasonable Check the parameters Correctly readjust parameters Err30 Lost Z signal of encoder Potential cause Check Handle Encoder has problem Check the encoder Z Replace the encoder
16. short servomotor is in running setting Encoder zero point changes Check the encoder zero point Install the encoder again and adjust the zero point Err14 Overload of brake peak power Potential cause Check Handle The voltage of input AC power supply is too high Check the voltage of power supply Use correct power supply according with the specifications Regeneration fault Regenerative resistor and or IGBT damaged Connection circuit is open Repair Regeneration energy too large Check the regeneration load factor Slow down the starting and stopping frequency Increasing acceleration deceleration time setting Replace the servo driver and servomotor with bigger ones Replace the resistor with bigger one Err15 Encoder counter error Potential cause Check Handle Encoder wiring error Check the encoder wiring Correct wiring included shield wire Ground is bad Check the ground wiring Ground correctly Suffer from interference Check interference source Keep away interference source Encoder has problem Check the line number and pole number Check the encoder Z signal Encoder damaged Replace the encoder 88 Err16 Motor over heat Potential cause Check Handle Excess the rated load for continuous duty opera
17. 15 Lead Definition PE 5V OV B Z U ZF U A V Wt V A B W 101 7 7 3 Parameters of 80 series servo motor Motor Model 80MSLO1330F 80MSLO2430F 80MSL03520F 80MSL04025F Rated Power KW 0 4 0 75 0 73 1 0 Rated Line Voltage V 220 220 220 220 Rated Line Current A 2 0 3 0 3 0 4 4 Rated Speed rpm 3000 3000 2000 3000 Rated Torque N m 1 27 2 39 3 50 4 0 Peak Torque N m 3 8 7 1 10 5 12 Rotor Inertia kg n 1 32X 10 2 410 2 63X10 3 5X10 Lines of Encoder PPR 2500 Motor Insulation Class ClassB 130 C Protection Level TP65 Temperature 20 C 50 C Humidity Relative Operating Environment fee an Humidity lt 90 not including condensing condition A A Yo Size 1 27N m 2 3 IN m 4400N m 00655 A L n m 123 150 190 15 5 Socket No 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 102 Operating Environment Lead Definition PE 5V OV Bt ZZ U Z U At V Wc V A B W 7 7 4 Parameters of 90 series servo motor Motor Model 90MSL02430F 90MSL03520F 90MSL04025F Rated Power KW 0 75 0 73 1 0 Rated Line Voltage V 220 220 220 Rated Line Current A 3 0 3 0 4 0 Rated
18. 1 Wiring and inspection Before turn on the power supply confirms the servomotor The servomotor has no loading on the shaft decoupling from the machinery if already coupled Because the servomotor has an impact during acceleration or deceleration therefore the servomotor must be fixed Follow the wiring chart inspects the following items before turning on the power supply The wirings are correct or not In particular L1 L2 L3 wirings and U V W wirings corresponding to the servomotor U V W are correct or not The input voltage is correct or not The encoder cable connection is correct or not 4 1 2 Trial running in JOG mode 1 Turn on power supply Turn on the control power supply while the main power supply temporarily turned off The front panel display is lit If any error appears please inspect the wirings Then turn on the main power supply the POWER indicating LED is lit 2 Parameter setting Set parameters according to the following table Param Setting Default 1 Name Parameter explanation eter value value P004 Control mode 1 0 Set speed control Source of speed P025 3 3 Set JOG source command Acceleration time of M P060 suitable 0 Decrease acceleration impact speed command Deceleration time of P061 suitable 0 Decrease deceleration impact speed command P076 JOG running speed 100 100 JOG speed Neglect CCW inhibiti Neglect inhibition of es s i i A T
19. 101 P e01 3 Y P 002 P 102 P 20 i j Parameter value Enter ic 3 5 Parameter management j Parameter value inc 4 Parameter value dec Modification confirmed Dae Choose the parameter management mode under the main menu E Pressing the 5 button enters the parameter management mode The operation is performed between parameter list and the EEPROM There are three operation modes Use 8 or 2 button to select an operation mode and then pressing down and hold the 5 button at least three seconds to active the operation mode After finished the operation and then pressing 4 button returns to the operation mode selection m L Un nma n la v ra c D Nu ra nma Parameter write lt 1 Parameter read out Resume default value Press and hold 3 second knol 5E Ar E Operation success Ta Under operation Operation fail 31 e Write and save parameters This operation indicates that the parameter in parameter list will write to the EEPROM When user has made change to a parameter it only change the parameter value in parameter list but for the next time when the power supply is on the parameter value will restore its original value Making permanent change to a parameter value it is the need to carry out the parameter write operation and write the parameter v
20. 2 the factory default is the interior regenerative resistors connection B1 and B2 are in the state of short circuited N11 and N2 are in the state of short circuited 2 2 X1 terminals for control signals The X1 connector DB25 plug provides the signals interfaced with the host controller The signal includes Five programmable inputs Three programmable outputs Analog command inputs Pulse command inputs Encoder signal outputs 2 2 1 X1 terminal connector The X1 connector plug uses DB25 male head the contour and pin disposition charts are as the followings DI Power Supply C OM i m Digital Input 1 D11 Digital Input 2 D12 paar ae 5 d P PA Digital Input 3 DI3 Digital Input 4 D14 3 n 9 Digital Input 5 D 15 Digital Output 1 0 0 1 4 1 MER Digital Output 3003 2 6 8 DO Common Termina DOCOM Position Command Direction SIGN 4 Position Command Direction SIGN Position Command Pulse PULS 8 Position Command Pulse PULS Not Used Do not connect 4 9 Not Used Do not connect Analog Command Input A 3 3 10 I Z Signal Open collector Output C Z Encoder Signal Ground GN D 3 4 t1 Encoder Signal A Output 0 A Encoder Signal A Output 0 A 4 12 Encoder Signal B Output 0 B Encoder Signal B Output 0 B reg T Encoder Signal Z Output 0 Z 656
21. F value default value Parameter table EEPROM 3 6 Auxiliary functions Choose the auxiliary function mode A under the main menu Pressing the 5 button enters the auxiliary function mode Use 8 or 2 button to select an operation mode Then pressing the 5 button again enters the corresponding function After finished this operation pressing the 4 button returns to the operation mode selection 32 A F n Special function A n i r Vv A A 4 Lu JOG operation Corresponding A function operation v H Buttom speed r adjustment A R Analog zeroing 3 7 Resume the parameter default values In case of the following situation please use the function of resuming the default parameter manufacture parameter The parameter is adjusted chaotically the system is unable the normal work The servomotor is replaced by a different newly model For any other reason the servo driver code parameter P001 does not match with the servomotor code parameter P002 The procedures for resuming the default parameter values are as the followings l Inspection servomotor code parameter P002 whether it is correct or not If it is not correct carries out following step or jumps to 4 step 2 Modify the password parameter P000 by 360 3 Modify the servomotor code parameter P002 with newly servomotor code referring to chapter 7 4 servomotor adap
22. ON Always valid 2 RDY Servo ready 3 ALM Alarm 5 COIN Positioning complete 6 ASP Arrival speed 8 BRK Electromagnetic brake 11 TRQL Torque under limitation 2 3 X2 encoder signal terminals 2 3 1 X2 terminal connector The encoder signal connector X2 connects with the servomotor encoder A three row of DB15 plugs the VGA plug is used The contour and pin disposition charts are V Signal Input V V Signal Input V W Signal Input W U Signal Input U U Signal Input U Va Input Z Signal Input Z Z Signal Input Z Encoder Power Supply 5V B Signal Input B B Signal Input B Encoder Power Ground OV A Signal Input A A Signal Input At Shield Protection Ground Servo Drive X2 Connector Standard Encoder 18 2 3 2 X2 terminal signal explanation Not Used Do not connect Not Used Do not connect Not Used Do not connect Not Used Do not connect Z Signal Input Z Z Signa Input Z B Signal Input B B Signa Input Bt A Signal Input A A Signa Input At 6 L o 1 O 2 O 8 O O 9 O t oO 10 O O 1 2 O O o 3 O O Not Used Do not connect Not Used Do not connect Encoder Power Supply 5V Encoder Power Ground OV Shield Protection Ground Connector X2 Soldering Lu
23. P097 3 3 CCWL and CW inhibition servo driver CWL Set 1 for forced enable P098 Forced enable 1 or 0 0 Set 0 for external enable Digital input DII P100 1 1 Set DII for servo enable SON function 3 Operation Confirming that there is no alarm and any unusual situation turn on the servo enable SON the RUN indicating LED lit and the servomotor is active at zero speed Choose the JOG running A JOG in the auxiliary function Pressing the 5 button enters the JOG running mode The numerical value is the speed command provided by P076 parameter and the unit is r min Pressing down and hold the 8 button the servomotor will rotate in counterclockwise direction with the JOG speed Loosen the pressed button the servomotor stops and keeps zero speed Alternatively pressing down and hold the 2 button the servomotor will rotate in clockwise direction with the JOG speed 00 5 36 4 1 3 Trial running in speed adjustment mode with keyboard 1 Turn on power supply Turn on the control power supply while the main power supply temporarily turned off The front panel display is lit If any error appears please inspect the wirings Then turn on the main power supply the POWER indicating LED is lit 2 Parameter setting Set parameters according to the following table Para Name Setting Default Parameter explanation meter value value P004 Co
24. Speed rpm 3000 2000 2500 Rated Torque N m 2 4 3 5 4 0 Peak Torque N m 7 1 10 5 12 0 Rotor Inertia kg m 2 45X10 3 4X 10 3 7X 10 Lines of Encoder PPR 2500 Motor Insulation Class ClassB 130 C Protection Level IP65 Temperature 20 C 50 C Humidity Relative Humidity lt 90 not including condensing condition 080h7 0113 4 06 5 A A Size 2 4N m 3 5N m 4 0N m 500 03 L m m 149 171 181 a 3951 Socket No 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Lead PE 5V OV B ZZ Ut Zt U At V We V A B W 103 Definition rs 110MSL 110MSL 110MSL 110MSL 110MSL 110MSL 110MSL 02030F 04020F 04030F 05020F 05030F 06020F 06030F Rated Power CKW 0 6 0 8 ibe 1 0 1 5 1 2 1 8 Rated Line Voltage V 220 220 220 220 220 220 220 Rated Line Current A 2 5 3 5 5 0 5 0 6 0 4 5 6 0 Rated Speed rpm 3000 2000 3000 2000 3000 2000 3000 Rated Torque Nm 2 0 4 0 4 0 5 0 5 0 6 0 6 0 Peak Torque N m 6 0 12 12 15 15 18 18 ke ee 0 31x 0 54X 0 54x 0 71x 0 63 x 0 76x 0 76x 10 10 10 10 10 10 10 Lines of Encoder PPR 2500 Motor Insulation Class ClassB 130 C Protection Level IP65 Operati
25. The differential connection is recommended and the twisted pair wire 1s used suitably The drive current is in the range of 8 to 15mA The operation mode is set by parameter P035 Pulse Direction CCW CW pulse A phase B phase orthogonal pulse C3 1 Differential drive C3 2 Single end drive Servo Driver Line Driver 2618 31 Equivalentchip Servo Driver Maximum pulse frequency is 500kHz kpps This connection is recommended in order to avoid interference Maximum pulse frequency is 200kHz kpps Resistance value of R is recommended VCC R 5V 820 120 Q 12V 510 0 820 Q 24V 1 5k Q 2k Q 4 Line driver outputs of the encoder signals C5 The signal divided from the encoder signal is transferred to the host controller through the line driver C5 1 Long line receiver C5 2 Photoelectric coupler receiver Servo Driver 261832 Equivalent chip 1 geecceccdeccceccececcccc9ececcecececcebe ecce eccccedecececcececeoqdececececccceedececcces Must connect both side grounds Servo Driver 26 LS 34 High Speed Photo coupler On the host controller uses AM26LS32 or equivalent to make the receiver must connect the terminal resistance the value is 220Q 470Q Encoder signal GND of servo driver must connect with the ground terminal on host controller On host controller use high speed
26. following conditions Ambient temperature 0 to 40 C Ambient humidity less than 80 no dew Storage temperature 40 to 50 C Storage humidity less than 93 no dew Vibration less than 0 5G Preventive measure shall be taken against raindrop or moist environment Avoid direct sunlight Preventive measure shall be taken against corrosion by oil mist and salinity Free from corrosive liquid and gas Preventive measure shall be taken against entering the servo driver by dust cotton fiber and metal tiny particle Keep away from radioactive and inflammable substances When several driver installments in a control cubicle for good ventilation please reserve enough space around each driver install fans to provide effective cooling keep less than 40 C for long term trouble free service If there are vibration sources nearby punch press for example and no way to avoid it please use absorber or antivibration rubber filling piece If there is disturbance from interferential equipment nearby along the wirings to the servo driver can make the servo driver misoperation Using noise filters as well as other antijamming measure guarantee normal work of the servo driver However the noise filter can increase current leakage therefore should install an insulating transformer in the input terminals of power supply 1 4 2 The method of installation In order to get good cooling the servo driver should normally mount in vertical directi
27. for prevented the product to be abnormal owing to shipping process please make detail inspection as the following items after breaking the seal Inspect the types of servo driver and servo motor and ensure that are the same types in the order form Inspect the outward appearance of servo driver and servo motor to see any abrasion or damage if so please do not wire to the power supply Inspect the parts of servo driver and servo motor to see any loosen parts such as loosened or fallen off screw Rotate the servo motor shaft by hand and should be smooth rotation However the servo motor with holding brake is unable to rotate directly If there is any break down item or abnormal phenomenon mentioned above please contact with the dealer immediately 1 2 Product nameplate Product Type N Brand Logo N N MN The Main Loop Power Supply Voltage Rated Output L 7 Current Power 4 VA y Serial Number Product Name C Z M ine 7 KN0131010 EP1C ARIK ZRS ROM eg s mo yg i TL10F 3 PASSED 2012 05 10FL00007 a ofefa TROU BARAK RAR UN AU NYO UV TL K1910FL00007 y 7 Product ID Inspections Logo and Date Before Delivery A 3 REMARKAS CAUTION Read manual before installing BAMA WANANE Ake MORTE LB WARNING Turn off power and wait 5 ae before servicing or cause electric shock Qi WRB M
28. in CCW direction z TCW CCW torque ON Torque is limited by parameter P067 in CCW direction limitation Attention whether the TCCW is effective or not the torque is also limited by the parameter P065 in CCW direction OFF Torque is not limited by parameter P068 in CW direction CW torque ON Torque is limited by parameter P068 in CW direction PM limitation Attention whether the TCW is effective or not the torque is also limited by the parameter P066 in CW direction 81 Ordinal Symbol Function Function explanation OFF Permits the servo driver to work Emergency l Fod 15 EMG ON Servo driver stops removes the main current and the excitation stop of servomotor Select electronic gear for command pulse by the combination of Electronic gear MET 18 GEARI T g GEARI and GEAR2 1 4 switching 1 GEAR2 GEARI Numerator of electronic gear N 0 0 1 numerator parameterP029 0 1 2 numerator parameterP03 1 Electroni 19 GEAR2 ecw 1 0 34 numerator parameterP032 switching 2 1 1 4 numerator parameterP 033 Note 0 indicates OFF 1 indicates ON Eliminates the position deviation counter The elimination mode is selected by the parameter P163 The elimination of position deviation Clear position 20 CLR occurs in the moment deviation P163 0 CLR ON Level P163 1 CLR Rising edge from OFF become ON 2 Ni Pulse input OFF Permits position command pulse to go through
29. ms P S The bigger value of parameter can get the smoother detected speed signal The smaller value of parameter can get the quicker responded signal but it will cause noise if the value is too small In addition it will cause oscillation if the value is too big Default Aa Range Unit Usage Feed forward gain of position loop value 0 100 0 P The feed forward can reduce position tracking error in the position control mode Under any frequency command pulse the position tracking error always becomes zero if the parameter setting value is 100 Increasing the parameter value enhance the response of position control It is easy to cause the system to be unstable oscillation if the parameter value is too large Default s Time constant of feed forward filter Range Unit Usage P022 Ke value for position loop 0 20 50 00 1 00 ms P For filtering the feed forward signal in position loop This function is to increase the stability of feed forward control Default Range Unit Usage Sources of speed command value DS 3 S Set the source of the speed command in speed control mode The meanings of this parameter are 3 This is the JOG speed command It needs to set this parameter when begins using the JOG operation 4 This is the button speed command It needs to set this parameter when begins using the Sr operati
30. off and on the power supply Input command pulse f 1 Default j ee Range Unit Usage Input direction of command pulse value 0 1 0 P The meanings of this parameter are 66 P037 Normal direction Direction reverse Input signal logic of command pulse Default Range Unit Usage value 0 3 0 P Set the phase of the input pulse signals PULS and SIGN for adjusting the counting edge as well as the counting direction P037 PULS signal phase SIGN signal phase 0 In phase In phase l Opposite phase In phase 2 In phase Opposite phase 3 Opposite phase Opposite phase The parameters needs to preserve firstly and then turn off and on the power supply Default Input signal filter of command Range 1 Unit Usage value pulse 921 7 P Filter the input signal PULS and SIGN numerically The value is bigger then the filter time constant is bigger The maximum input pulse frequency is 500 kHz kpps when the setting value is seven If the value is bigger the maximum input pulse frequency will reduce correspondingly Filter the noise from the input signal to avoid counting mistake Because if found the running not perfect caused by the counting pulse then can suitably increase the parameter value The parameters needs to preserve firstly and then turn off and on the power supply
31. please change a new drive Err36 Fan error Potential cause Check Handle Cooling fan error Check fan Replace fan Fan checking return circuit error Check wring Wring correctly Fan checking return circuit error Check opocoupler If fault still exists please replace a new drive 91 Chapter 7 Specifications 7 1 Types of servo driver T L 2 PA AA EP 16 Servo Driver Standard Size The Main Loop N Wark Power Supply gary o Output m Voltage Power Qi y EEEE Incremental Encoder mn Rotary Transformer 7 2 Dimensions of servo driver J i A PESE i n i NEATE die Ts Koc i ERE UE PEG C A 93 Model TLOSF TLIOF TLISF TL25F TL35F TLSSF Size mm A 150 180 180 180 180 210 B 65 75 85 95 105 115 C 168 168 168 200 220 250 D 158 158 158 189 209 239 E 55 65 65 84 94 104 94 7 3 Specifications of servo driver Model TLOSF TLIOF TLISF TL25F TL35F TLSSF Input Power 3 phase AC220V 15 10 50 60Hz Temperature Working 0C 40 C Storing 40 C 50 C Environ n Working 40 80 non condensing Humidity f ment Storing 93 L F Below non condensing Atmospheric Pressure 86kPa 106 kP
32. power supply Turn off urn on L1C L2C N s N Alarm DEF n 00 ALM Main power supply Turn off lt 1 5s Turn on L1 L2 L3 re Servoready OFF 2d 00 RDY a N D10ms Servo ON 01 S0N n 405 Unexcited n Servom otor status Excited 53 4 7 2 Alarm timing chart while servo ON is executed Alarm T 00 ALW normab OFF alarm Servo ready on OFF 0 RDY Servomotor status Excited Unexcited l Electromagnetic brake l mere 0 0 BRK ON release l NN Depend on the P167 B faster one lt __ comparing between P167 and arrival time of P168 Motor speed r m in P I cccecc Or nin 4 7 3 Action timing chart while servo ON OFF are executed during the servo motor is in standstill When the speed of the servomotor is lower than parameter P165 the action timing chart is 1025 D gt ie Servo ON 1 50N OFF OW OFF Servomotor status l Unexcited Excited l Unexcited 1 l I P166 l I L I Electromagnetic brake 00 BRK OFF brake ON release OFF brake 54 4 7 4 Action timing chart while servo ON OFF are executed during the servo motor is in motion When the speed of the servomotor is higher than parameter P165 the action timing chart is s ns gt ig l Servo ON OFF I on OFF 1 80N l Servomotor status Unexcited Excited Unexcited Electromagnetic brake 0 BRK OFF brake l OFF brake ON
33. release Wd NNI Depend on the faster one comparing between P167 and arrival time of P 168 See SS Or nin P167 Motor speed r m in 4 8 Electromagnetic holding brake The electromagnetic brake holding brake lost power brake is used in locking the vertical or the inclined worktable of machine tool which connected with the servomotor When the power supply lost or SON is OFF prevent the worktable from fall and break Realizes this function must select and purchase the servomotor with electromagnetic brake The brake only can use for holding the worktable and cannot use for decelerating and or stopping machine movement 4 8 1 Parameters of electromagnetic holding brake The parameters related to the electromagnetic brake Para Default A Name Range Unit Usage meter value Speed check point for servomotor is near P165 0 1000 2 r min ALL standstill Delay time for electromagnetic brake P166 0 2000 0 ms ALL when servomotor is in standstill P167 Waiting time for electromagnetic brake 0 2000 500 ms ALL 55 when servomotor is in motion Action speed for electromagnetic brake P168 0 3000 100 r min ALL when servomotor is in motion 4 8 2 Make use of electromagnetic holding brake The chart below is the brake wiring diagram the brake release signal BRK of the servo driver connect to the relay coil the contact of relay connect b
34. the earth terminal PE to earth reliably otherwise can cause an electric shock or fire Neverconnect the input power terminals L1 L2 L3 to 380V power supply otherwise can result in the equipment damage and an electric shock or fire Donotconnect the servo motor output terminals U V W to 3 phase AC power supply otherwise can cause personnel casualty or fire Theoutput terminals U V W must be connected with the servo motor connections U V W correspondently otherwise can result in the servomotor flying speed that may cause equipment damage and the personnel casualty Please fasten the input power terminals L1 L2 and L3 and the output terminals U V W Otherwise may cause fire Referring to wire selection guide please install all wires with an adequate cross section Otherwise may cause fire 3 Operations CAUTION Before operating the mechanical device it is necessary to set the parameters with appropriate values Otherwise can cause the mechanical device to out of control or break down Before running the mechanical device make sure the emergency stop switch can work at any time Performing trial run without load make sure that the servomotor is in normal operation Afterwards joins again the load Please do not turn on and off the main power supply more frequently otherwise can cause the servo driver overheat 4 Running O stop
35. value 0 1 0 ALL The meanings of this parameter are 0 The enable signal SON comes from inputs by DI 1 The enable signal comes from internal software 5 2 2 Parameters of section 1 Default ROME Range Unit Usage ANNEE Function of digital input DII value 21 21 1 ALL The function plan of digital input DI1 the absolute value of the parameter expresses functions the symbolic expresses the logic Refer to the 5 3 sections for the functions The symbolic expresses the input logic Positive number expresses positive logic and the negative number express the negative logic ON is effective OFF is invalid Parameter value DI input signal DI Result Positive number Turn off OFF Turn on ON Negative number Turn off ON Turn on OFF Ifsetthe same function for many input channel the function results in logical or relations For example P100 and P101 are set by 1 the SON function then DI1 and or DI2 is ON the SON is effective The input function which is not selected by parameter P100 P104 namely the undefined function results in OFF invalid Default LEAN Range Unit Usage IMIUME Function of digital input DI2 value 21 21 2 ALL The function plan of digital input DI2 Refer to the explanation of parameter P100 Default Heu Range Unit Usage alae Function of digital input DI3 value 221625221 3 ALL
36. voltage of the main power supply No power supply exceeds the specified value Err4 Position deviation exceeds The counter of position deviation exceeds Can the limit value the setting limit value Err 7 Drive inhibition abnormal CCWL CWL the inputs of drive inhibition Can are not effective Err8 Overflow of position The absolute value of position deviation Can deviation counter counter exceeds 2 Err9 Encoder signal fault Lack of the signals of encoder No Erll Power model fault Power model fault occurs No Err12 Over current Over current of servomotor No Er13 Overload Overload of servomotor No Errl4 Overload of brake peak Instantaneous load is too big in short brake No power time Er15 Encoder counter error Encoder counter is abnormal No Errl6 Over heat of servomotor The heat load of servomotor exceeds the No setting value t detection Err17 Overload of brake average Average load is too big in brake time No power Err18 Overload of power model Average output load of power model is too No big Er20 EEPROM error EEPROM error occurs when read or write No Err21 Logic circuit error Logic circuit fault outside DSP No Err23 AD conversion error Circuit or current sensor fault No Err24 Under voltage of control The LDO fault of control circuit No power supply Err27 Default phase alarm Three phase power supply is default phase or No undervoltage Err29 Over torque alarm The torqu
37. 00 2000 1500 1500 1500 Rated Torque N m 17 2 19 21 5 21 35 48 Peak Torque N m 43 47 53 67 70 96 Rotor Inertia kg m 3 4X10 3 8X10 4 7X10 6 1X10 8 6X10 9 5X10 Lines of Encoder PPR 2500 Motor Insulation ClassB 130 C Protection Level IP65 Operating Temperature 20 C 50 C Humidity Relative Humidity lt 90 not including condensing Environment condition 114 3h7 4 013 5 223 A A rotam Size 17 2 m 19 007 m 21 5N m 27 087m 35 087m 48 0N m L mm 226 232 243 262 292 346 309 5 107 Remarks 108 Appendix A Model for SIEMENS CNC system Because of the special interface of the SIEMENS 801 802S and 802C CNC system A special type is provided for SIEMENS CNC system and the Driver s suffix is S8 The hardware is different between the professional model and the standard model so it can not replace each other Attention should be paid when ordering Instead of standard DI interface the special type servo driver have SIEMENS CNC system adapter The DI function can not be used as usual but enable input and DI1 input are multiplexing the parameter P100 must be set to I SON Other interfaces including DO function analog input encoder signal output can be used regularly A 1 SIEMENS 801 802S CNC system A 1 1
38. 1 Metal Case DO1 Professional model Servo Driver for SIEMENS Star Series Servomotor HE Receiver Vv Signal Ground ores Power onnector Optical Encoder 15 Cores Connector Note The DI terminals can notuse as usual The DO terminals have Multi functions programmed by software the default settings shown in picture can use for common purposes User can modify it according to different needs P Edition antecedents Edition number Published time Modify content First edition Nov 2012 Wuhan Maxsine Electric Co Ltd Address Building No A6 Hangyu Building No 7 Wuhan University Science Park Road East Lake Development District Wuhan City Hubei Province China Zip 430223 Central office 027 87921282 027 87921283 Sales Tel 027 87920040 027 87923040 transfer 809 817 818 Sales Fax 86 27 87921290 After service Tel 027 87921284 027 87921 282 831 832 833 Company Website www maxsine com November 2012 Published Forbid strictly reprint and copy 111
39. And it must be set as P170 lt P171 T If it is set as P170 1 or P171 1 the fractional frequency function will be canceled and AB signal will connect directly The fractional frequency can change the output line number of encoder which can only be less than the line number of servo drive encoder which is convenient to connect with the upper computer Especially when it is limited for the upper device to receive pulses max frequency It can reduce the pulse frequency of encoder after fractional frequency setting If motor encoder adopts wire C encoder then the output encoder line number is P170 X A71 For example if 2500 line encoder is used the output encoder number is O 5 2500 A Output encoder line number can be fraction Servo Drive X2 Feedback A Host mr Q Device Servo Motor Encoder Default Encoder outputs pulse fractional Range Unit Usage P171 j value frequency denominator Il 1 ALL Refer to the explanation of parameter P170 value Default i IJVER encoder outputs B pulse phase Range Unit Usage Default f Range Unit Usage AVERE encoder outputs B pulse phase value 0 1 0 ALL The meanings of this parameter are 0 in phase 1 phase reversal This parameter can adjust the phase relation between B phase signal and A phase signal P173 CCW CW 0 A phase lags B
40. Attention only a part of alarm can have the permission to clear 80 Ordinal Symbol Function Function explanation OFF Inhibit CCW running ON Enable CCW running Uses this function for protection of the mechanical traveling limit the function is controlled by the parameter P097 Pays attention to that the P097 default value neglects this function therefore needs to modify P097 if needs to use this function P097 Explanation 3 CCWL dud 0 Use CCW prohibition function and must inhibition 2 connect the normally closed contact of the limit switch 1 Neglect CCW prohibition function this signal 3 Default does not have any influence to CCW movement of the servomotor and therefore does not need the CCWL wiring OFF Inhibit CW running ON Enable CW running Uses this function for protection of the mechanical traveling limit the function is controlled by the parameter P097 Pays attention to that the P097 default value neglects this function therefore needs to modify P097 if needs to use this function T P097 Explanation 4 CWL 0 Use CW prohibition function and must inhibition 1 connect the normally closed contact of the limit switch 2 Neglect CW prohibition function this signal 3 default does not have any influence to CW movement of the servomotor and therefore does not need the CWL wiring OFF Torque is not limited by parameter P067
41. Check the servomotor Replace the servomotor Servo driver is damaged Check the servo driver Known the servomotor to be no fault and then turn on the power supply again if the alarm still exists the servo driver may damage possibly Replace the servo driver Ground is bad Check the ground wiring Ground correctly Suffer from interference Check interference source Adds line filter Keep away interference Source Err12 Over current Potential cause Check Handle Short circuit at drive output U V W Check the wiring connections between servo driver and servomotor Repair or replace the short circuited wiring Motor winding insulation is damaged Check the servomotor Replace the servomotor Servo driver is damaged Check the servo driver Known the servomotor to be no fault and then turn on the power supply again if the alarm still exists the servo driver may damage possibly Replace the servo driver 87 Err13 Over load Potential cause Check Handle Excess the rated load for continuous duty operation Check the load factor Reduce load or replace the servo driver with bigger one System unstable Check the oscillation when Reduce the gains of the system servomotor is in running Acceleration deceleration is too Check the smoothness when Increasing acceleration deceleration time
42. J Sy If the setting inertia ratio of the load G is correct G JL JM then the bandwidth of the speed loop is equal to the speed loop gain Kv 2 The integral time constant of speed loop Ti The integral item of speed loop has an effect to eliminate static error of speed and has rapid reaction to a slight speed change Under the premise that there is no vibration in the mechanical system or noise reduces the integral time constant Ti of speed loop then the stiffness of the system increases and reduces the static error If load inertia ratio is very big or a resonating factor exists in the mechanical system and then must confirm that the integral time constant is big enough otherwise the mechanical system will be easy to cause resonating If the setting inertia ratio of the load G is correct G JL JM uses following formula to obtain the integral time constant Ti of the speed loop 4000 i 27 x K E 3 The gain of position loop Kp The gain of the position loop directly determines the reaction rate of the position loop Under the premise that there is no vibration in the mechanical system or noise increases the position loop gain then speeds up the reaction rate reduces the position tracking error and the positioning time is shorter However it is easy to cause a mechanical vibration or over travel if the Kp is too large The bandwidth of the position loop should be lower than the bandwidth of speed loop In general Speed loop b
43. L2 EPIC TLOSF 3 phase 220VAC 15 10 50 60Hz 1 EP1C TLIOF Main power I LI L2 d Connect to external AC l su 5 onnect to externa ower su I EP1C TL25F P PP L3 1 phase 220VAC 15 10 50 60Hz EP1C TL35F EPIC TLSSF Control power f Connect to external AC power supply LIC L2C EPIC Series supply 1 phase 220VAC 15 10 50 60Hz EPIC TLOSF when the external regenerative resistors is ions EPIC TLIOF needed please disconnect B1 and B2 note 2 l EPIC TLISF and crossover it to terminals P and Bl EP1C TL25F Leave B2 unconnected Regenerative when the external regenerative resistorsis Resistors EPIC TL35F needed please disconnect P and B and Terminal NC P B i EPIC TLSSF Note1 1 crossover it to terminals P and B Leave B2 unconnected Power supply higher harmonic m f When it is needed to restrain the power restrain please EP1C TL35F N1 N2 supply higher harmonic please connect the use DC reactor EP1C TLS5F DC reactor between N1 and N2 note 2 connection terminals U U phase output to servomotor Servo motor V EPIC Series V phase output to servomotor W W phase output to servomotor i Ground terminal of servomotor Ground EPIC Series Ground terminal of servo driver Notel there is no internal regenerative resistors in EP1C TLS5F When the external regenerative resistors is connected please crossover it to the terminal P and B of EPIC TLSSF and leave NC unconnected Note
44. Maxsine EP1C AC servo driv User Manual First edition Servo Driver TLO5F TL10F TL15F TL25F TL35 TL55F Wuhan Maxsine Electric Co Ltd DECLARATION Wuhan Maxsine electric technology limited company all rights reserved Without this company s written permission forbid strictly the reprint either the part or the complete content of this handbook Because improves and so on the reasons the product specification or dimension has the change not separate informs even slightly Safety Precautions In order to use this product safely the user should be familiar with and observes the following important items before proceeding with storage installation wiring operation inspection or maintenance for the product Indicates a disoperation possibly can cause danger and physical injure or Ap ANGER p p y g phy J death N CAUTION Indicates a disoperation possibly can cause danger and physical injure and may result in damage to the product 9 ioi Indicates a prohibited actions otherwise can cause damage malfunction to the product 1 Service conditions N DANGER Do not expose the product in moisture caustic gas and ignitable gas situation Otherwise can cause an electric shock or fire Do not use the product in direct sunlight dust salinity and metal powder places Do not use the product in the places that has water oil and drugs drops 2 Wiring N DANGER Connect
45. ON is executed sssssssssee 54 4 7 3 Action timing chart while servo ON OFF are executed during the servo motor ISIN standstill itd te er e Pe ge Ted ep pee etd 54 4 7 4 Action timing chart while servo ON OFF are executed during the servo motor 1S IDOL OTt eed daa d rd RR 55 4 8 Electromagnetic holding brake sssssssssseee eere 55 4 8 1 Parameters of electromagnetic holding brake sssessee 55 4 8 2 Make use of electromagnetic holding brake sse 56 Chapter 5 Paramelters seacula ttai 58 Ded Parameter TaD led EE 58 SLI Patameters of SectIOn 0 ios eme dere T e Re Ree dRET 58 5 12 Parameters of section 1 5 cou nu eren t rtr ERA Ee ER ERE Y E eR scenes 61 5 2 Parameter description in detail enne 62 5 2 1 Parameters of section 0 neret nnne 62 5 2 2 Parameters of Section l i iei asiste BC Cade itd ede is Coin 73 5 3 DI function description in detail enne 80 5 4 DO function description in detail sss eene 83 Chapter OAA ccrte nter tre onde av eio ae Eie a Uer res 84 G Alarmitable 4 seii ER HR RE eR eR RED ete PER ere ie ERE 84 6 2 The reason and handling of alarm sse eene 85 Chapter 7 Specifications UII eB BIB OBEN 92 PL RY PES OF Servo driver supuesto tao testi Po 92 7 2 Dimensitons of servo drivet its etae teet ita eta n eae bets 92 J 3 Specifications of seryo diverse vete ev ee
46. P035 Input mode of command pulse 0 2 0 P Parameter Name Range Default value Unit Usage P036 Input direction of command pulse 0 1 0 P P037 Input signal logic of command pulse 0 3 0 P P038 input signal filter of command pulse 0 21 7 P P039 Input filter mode of command pulse 0 1 0 P Time constant of exponential form P040 he 0 1000 0 ms P filter for position command P060 Acceleration time of speed command 0 30000 0 ms P061 Deceleration time of speed command 0 30000 0 ms S Internal torque limit in CCW P065 dis 0 300 300 ALL direction P066 Internal torque limit in CW direction 300 0 300 ALL External torque limit in CCW P067 VP 0 300 100 ALL direction P068 External torque limit in CW direction 300 0 100 ALL P069 Torque limit in trial running 0 300 100 ALL Alarm level of torque overload in P070 L fa 0 300 300 ALL CCW direction Alarm level of torque overload in P071 NX 300 0 300 ALL CW direction Detection time for torque overload P072 0 10000 0 10ms ALL alarm P075 Maximum speed limit 0 5000 3500 r min ALL P076 JOG running speed 0 5000 100 r min S 7 DIE 0 00 i P080 Position deviation limit 4 00 ring P 327 67 Regenerative resistors option P084 07 1 ALL switch The resistance value of external P085 i 10 750 50 Q ALL brake resistor The power of external brake P086
47. Parameters setting The parameter setting for the example Parame Name Setting Default Parameter explanation ter value value P004 Control mode 0 0 Set position control P097 Neglect inhibition of servo 3 3 Neglect CCW inhibition CCWL and CW driver inhibition CWL P039 Canceling command pulse 1 0 Close the numeral filters for the input signal input SIGN filter SIGN Request by the SIEMENS sequence P100 Digital input DI function 1 l Set DII as servo on SON because servo on input multiplexes DI input A 1 2 SIEMENS 801 802S wiring diagram Three phase AC 220V Extemal DC Power 24Vdc Power Connect to the numbes terminal on the X20 port of 8010r802S r 801 0r 802S signal cables J sp u jueJayip oj Bulpsoooe way 4 Servo Ready RD A prm 5 X2 Metal Case l Servo Alarm ALI eo D02 1 c Lb Electromagnetic break BRK e D03 5 Ba gl i I o gl 10 DO common terminal lt _ 18 2l COM SI X1 A cl x 04 23 l gl B OB 12 ci 2l Encoder signal B 0 5 outputs 5 08B Driver ol I Z 02 4 I z 01 V Z signal open collectoroutput 4 62 L N Encoder signal ground Gyp lt ______ _ GND BEROI my Enable E1 4 3 og Enable EIN 9 1 1 Pub p4 1 D Pus P4N Signal D1 H Signal D1N NP PE EE X
48. Regenerative resistor and or IGBT damaged Connection circuit is open Repair Regeneration energy too large Check the regeneration load factor Slow down the starting and stopping frequency Increasing acceleration deceleration time setting Reduce the torque limit Reduce the load inertia 85 Replace the servo driver and servomotor with bigger ones Change a bigger brake resistor Err 4 Excess position deviation Potential cause Check Handle Servomotor U V W connection is not correct Check U V W wiring Correct U V W wiring The U V W must connect with servo driver terminal U V W correspondently Encoder zero point changes Check the encoder zero point Install the encoder again and adjust the Zero point The encoder wiring error Check the encoder wiring Correct wiring The servomotor is blocked Check the servomotor shaft and its mechanical connection Repair The command pulse frequency is too high Check input frequency and the parameter of division multiplication Slow down the input frequency Adjust the parameter of division multiplication The gain of position loop is too small Check the parameters P009 Increasing the gain of position loop The excess position deviation range is too small Check the parameter P079 Increasing the value of paramete
49. Speed check point for servomotor is near P165 f 0 1000 5 r min ALL standstill Delay time for electromagnetic brake P166 0 2000 0 ms ALL when servomotor is in standstill Waiting time for electromagnetic brake P167 m 0 2000 500 ms ALL when servomotor is in motion Action speed for electromagnetic brake P168 M j 0 3000 100 r min ALL when servomotor is in motion Encoder output pulse fractional P170 1 31 ALL frequency numerator Encoder output pulse fractional P171 i 15531 ALL frequency denominator P173 Encoder output B pulse phase 0 1 ALL P174 Encoder output Z pulse phase 0 1 ALL Param Default Name Range Unit Usage eter value P175 Encoder output Z pulse width 0 15 0 ALL 5 2 Parameter description in detail 5 22 1 Parameters of section 0 Default R Range Unit Usage IUE Password value 0 9999 315 ALL e Classifying parameter management can guarantee the parameters cannot modify by mistake Setting this parameter as 315 can examine modify the parameters of the 0 1 and 2 sections For other setting only can examine but cannot modify parameters Some special operations need to set a suitable password Default Range Unit Usage IUE Identity code of servo driver value x wi ALL e This is the model of the servo driver in use now The manufacturer sets it and the user cannot modify it Default
50. T LY Pulse IR 0 SIGN cow puise PULS T LT LT L CW pulse 1 SIGN RAL ATA eus 5 v fF 1 v A phase B phase SIGN n n 2 Note The arrow indicates the counting edge with P306 0 and P307 0 4 Timing chart specifications of command pulse Pulse waveform of position command Parameter demand Differential Single end th tek ta gt 2 u s ta 5us 0 A 2 S Ne J A gt gt gt PULS EK tlus t gt gt 2 5u s t gt lus t gt gt 2 5u s I EEEE DEN CEED AA tm lt 0 2 u s tn lt 0 3 u s SIGN i Wh cee A So ee eae Sebi zai CY iuh ceW trli CY t gt lus t gt 2 5u s P Uls EDIR tus ta gt l0u s tan gt 4 H s tan gt S H s tq gt 4 u s tq gt 5 u s tan lt 0 2 S tqrh lt 0 3 u s tqn lt 0 2 u s ta lt 0 3 u s tg gt l u s tgs gt 2 5 H s cew i A phase B phase 40 5 Signal filter Numeral filters related to the parameter P038 will filter the input signal PULS and SIGN The bigger the P308 value the larger filter time constant and the lower maximum repeated frequency of input pulse If P038 1s seven the maximum repeated frequency of input pulse will reach 500 kHz kpps If the positioning is not accurate increase the parameter P038 in order to filter noise on the signal cable and to avoid counting error The SIGN filter can close by parameter P039 setting 6 Smooth filter The parameter P040 carries on the smooth f
51. XT ferminalconheeio e iate eie de eere ee E 11 2 2 2 X1 terminal signal explanation eene 12 2 2 2 X temnalanterface type e a E RA ERRORES E REESE DRE TY 13 2 2 4 DIDigital input definition essssssssssssssseseeeeee eere ener enn 16 2 2 5 DODigital output definition esses ener 17 2 3 X2 encoder signal terminals 2 ditto eas aesti dede 18 2 3 X2 terminal connectors ee nee pte tin pe rete nine ERR 18 2 3 2 X2 terminal signal explanation eene nennen 19 2 4 Standard wiring diagram sss eene nnne nnne nnns 21 2 4 1 Wiring diagram for position control 21 2 5 Connecting of brake resistor nenien e drip tto a ees 22 2 6 Connecting of External reactors atni eene eene enne nnne 22 Chapter 3 Front panel operation sese nne nnne nennen 24 3 1 Explanation of the front panel of servo driver 24 3 1 1 Front panel compositions essssssseeeseeen eere nnne enne enne nnne nnns 24 3 1 2 Front panel explanations essssssssseeeseeeee eene enne nne 24 3 Ta Datars play st eut eR RD UE NAT 25 3 2 EWBUCID 25 3 3 Status fOnItOE ies ete re eet EI Pai RE e pee ERA TE a Ye RATER LOU 25 3 4 Parameters setting usitate stie ite ast teat tad te 30 3 5 Parameter management onenei VE e EUIS eee ee es 31 3 6 Auxiliary functions eieueneedaeeneedeaee eei eU RR 32 3 7 Resume the parameter default values sss see
52. a Protection Level IP20 Control Mode vector control Regenerative Braking Built in Built out Feedback Mode 2500 line incremental encoder encoder with fewer lines Control Mode Position 5 Programmable input terminals Optical Isolation Function SRVON re ACLR CW Drive inhibition CCW Drive inhibition CW Torque inhibition Digital Input NE CCW Torque inhibition Emergency Stop Electronic gear selection 1 electronic gear selection2 Position deviation clear pulse input inhibition 3 Programmable input terminals Optical Isolation Function SRDY alarm Digital Output Finish Orientation Output Reach Speed electro magnetic brake Torque restrictions Signal Output of Encoder Signal Types A B Z Differential output Z signal open collector output Input Frequency differential input lt 500kHz kpps single ended input lt 200kHz kpps Position Instruction mode Pulse Signal CCW Pulse CW Pulse orthogonal Pulse Electronic Gear Ratio 1 32767 32767 Surveillance Function Revolving Speed Current Position Positional Deviation Motor Torque Motor Current Instructions Pulse Frequency etc Defensive function Overspeed Overvoltage Overcurrent Overload Abnormal of main Power Abnormal Encoder out of tolerance etc Speed Frequency Response 300Hz Feature Speed Fluctuation em lt 0 03 load 0 100 lt 0 02 power 15
53. ake proper ground connections Warning Logo 1 3 Product front panel Applicable types EP1C TLOSF EPIC TLIOF EPIC TLI5F Opened Cover _ 5 Digit Display LED 4 Operation Buttons Mounting Hole Main Power Input Terminals x L1 L2 L3 Control Power Input Terminals L1C L2C gt External brake resistor Terminals Choosing from P Bl or B2 Servo motor Connection terminals U V WD Ground Terminals Note 1 The front panel of EPIC TL25F drive is different from above picture Please refer to main circuit terminal instruction POW RUN X2 Mini USB interface c 2 LED Lamps POWER RUN Display And Operation Buttons Open the cover for operating Nameplate And Warning Logo Broadside Connector X1 For Input And Output Signals Connector X2 For Servo motor Encoder Applicable types EPIC TL35F and EP1C TL55F Opened Cover Mini USB interface 5 Digit Display LED 2 LED Lamps POWER RUN 4 Operation Buttons Mounting Hole Main Power Dis
54. alue to the EEPROM Hereafter when the power supply is on again will be able to use the new parameter value e Read and fetch parameters This operation indicates that all the parameters will be read from the EEPROM to the parameter list This process will carry out automatically one time when power supply is on At the beginning the value of each parameter in the parameter list is the same as the parameter in the EEPROM After making change to a parameter value the value in the parameter list will also change When the parameter value is not satisfied or comes to confusion carries out the parameter read operation to read back the original parameter value from the EEPROM to the parameter list e Resume default value This operation indicates that each default value of all the parameters will read from EEPROM and write to the parameter list and EEPROM For the next time when power supply is on the default parameters will be used by now When many parameters become confusion and cause abnormal operation it is necessary to carry out this operation for resuming the default parameters There are different default parameters for different servo driver model and the servomotor model Therefore before doing this operation the servo motor code Parameter P002 must be selected correctly Z N E 5 E t Parameter writes Parameter table EEPROM A E r d Parameter read out Parameter table EEPROM cS Resume default Ex factory N E d E
55. andwidth Hz 4 If the setting inertia ratio of the load G is correct G JL JM uses the following formula to obtain the gain Kp of Position loop bandwidth ZZ lt the position loop K 5 sag x P 49 4 3 2 Procedure for gain adjustment The bandwidth selections of the position and the speed loop depend on the machinery rigidity and the application situation A leather belt conveyer has low rigidity and may set low bandwidth Machinery with reducer and ball bearing screw has medium rigidity and may set medium bandwidth Machinery with ball bearing screw or linear motor has higher rigidity and may set high bandwidth If mechanical characteristics are unknown may gradually increase the bandwidth until resonating and then decreases the gain In the servo system if changes a parameter then other parameters also need to readjust Therefore do not change a parameter far from its original value About the steps for changing the servo parameter please observe the following principle generally Increase response Decrease response restrain vibration and overshoot 1 Increase gain of speed loop Ky 1 Decrease gain of position loop Kp 2 Decrease integral time constant of speed loop T 2 Increase integral time constant of speed loop T 3 Increase gain of position loop Kp 3 Decrease gain of speed loop Ky Gain adjustment procedure for speed control loop 1 Set the load inertia ratio 2 Set integral time constant
56. bsolute position in one turn 6 Peak torque 18 Accumulative load ratio 7 Current 19 Brake ratio 8 Peak current 20 Control mode 9 Frequency of input pulse 21 Number of alarm 10 Speed command 22 Reserved 11 Torque command Default d SAREA i Range Unit Usage Neglect inhibition of servo driver value 0 3 3 ALL The prohibited positive travel CCWL and the prohibited reverse travel CWL from DI inputs are used for the limit traveling protection Use normal closed switch as protecting switch If the input from DI is ON then the servomotor can move to this direction or is OFF cannot move to this direction If does not use the limit traveling protection can neglect it by modifying this parameter and does not need the CCWL and CWL wiring The default value neglects the prohibition if use this function please modify this value first The meanings of this parameter are P097 Motion inhibition in Motion inhibition in CW direction CWL CCW direction CCWL 0 Use Use Use Neglect 2 Neglect Use 3 Neglect Neglect Use When input signal is ON the servomotor can move to this direction When OFF the servomotor cannot move to this direction Neglect The servomotor can move to this direction and the prohibition signal does not have the function therefore can disconnect this signal 72 Default Range Unit Usage KIPRE Forced enable
57. ctronic gear numerator N are provided in the servo driver The group can be changed online by signal of GEAR1 and GEAR2 from DI inputs However the denominator M is all the same DI signal note Numerator of input electronic gear N Denominator of input GEAR2 GEARI electronic gear M 0 0 1 numerator parameterP029 Denominator 0 2 4 numerator parameterP03 1 parameterP030 l 0 3 numerator parameterP 032 1 1 4 numerator parameterP 033 Note 0 indicates OFF 1 indicates ON 46 4 2 4 Gains related to position control mode Default Parameter Name Range Unit Usage value P009 gain of position loop 1 1000 40 1 s P P021 Feed forward gain of position loop 0 100 0 P Time constant of feed forward filter for P022 0 20 50 00 1 00 ms P position loop According to the inner loop adjusts first and then the outer loop the speed loop is included in the position loop therefore the rotation inertia ratio of load will be set first with suitable value Then the gain and the integral time constant of the speed loop are adjusted At last the gain of the position loop is adjusted The following block diagram is the position regulator of the system Increasing the gain of position loop can get higher position loop bandwidth but it is limited by the speed loop bandwidth Therefore in order to increase the gain of the position loop must increase the bandwidth of
58. depreciation of the work piece The timing chart refers to 4 7 3 section Waiting time for electromagnetic Default E Range Unit Usage ISKY brake when servomotor is in value motion 0 2000 500 ms ALL Use the electromagnetic brake when the SON is from ON go to OFF or alarm occurs in the servo driver This parameter defines the delay time from excitation removal of the servomotor until the action the BRK is OFF from DO terminals of the electromagnetic brake during the servomotor to be in motion This parameter will make the servomotor deceleration from high speed down to low speed and then applies the brake to avoid damaging the brake The actual action time will take the minimum value in both the parameter P167 and the time in which the servomotor decelerates to the P168 value The timing chart refers to 4 7 4 section Action speed for electromagnetic Default I Ades Range Unit Usage IMEEM brake when servomotor is in value motion 0 3000 100 r min ALL Refertothe explanation of parameter P167 Default Encoder outputs pulse frequency Range Unit Usage P170 DR value division numerator ipe 3l 1 ALL Encoder outputs electronic gear which is used to do frequency division for encoder pulse and to change the pulse resolution sent to controller Can only do the fractional frequency but not frequency multiplication
59. e the speed JOG movement the button speed adjustment the demonstration mode The torque limitation is not related to the rotation direction It is valid in both directions The internal and the external torque limitation are still effective 69 Default Alarm level of torque overload in Range Unit Usage P070 d v value CCW direction 0 300 300 ALL Set the overload value of torque in CCW direction This value indicates the percentage of rated torque P071 When the torque of the servomotor surpasses P070 and the duration is bigger than P072 then the servo driver alarms and the servomotor stops The number of the alarm is Err29 Default Alarm level of torque overload in Range l Unit Usage value CW direction 300 0 300 ALL Set the overload value of torque in CW direction This value indicates the percentage of rated torque When the torque of the servomotor surpasses P071 and the duration is bigger than P072 then the servo driver alarms and the servomotor stops The number of the alarm is Err29 P072 P075 Default Detection time for torque overload Range j Unit Usage value alarm 0 10000 0 10ms ALL Refer to the explanation of parameter P070 and P071 The torque overload can be shielded if the setting value is zero Default ry Range Unit Usage Maximum speed limit value 0 5000 3500 r min ALL
60. e of servomotor exceeds the setting Can 84 value and lasting time Er30 Lost Z signal of encoder Z signal of encoder is loss No Err31 UVW signals error of The UVW Signals error or pole number does No encoder not match with the servomotor Err32 Illegal code of encoder UVW UVW signals are all high level or low level No signals Er33 Error signal of saving wire Has no high resistance in the timing chart No encoder when power supply turns on Err35 Connection error among Connection route error among boards No boards Er36 fan error Cooling fan error Can 6 2 The reason and handling of alarm Err 1 Over speed Potential cause Check Handle Servomotor U V W connection is not correct Check U V W wiring Correct U V W wiring The U V W must connect with servo driver terminal U V W correspondently Speed overshoot Check the operation status and the parameters Adjust servo gain to reduce the overshoot In speed control mode can increase acceleration deceleration time Encoder wiring error Check the encoder wiring Correct wiring Err 2 Main circuit over voltage Potential cause Check Handle The voltage of input AC power supply is too high Check the voltage of power supply Use correct power supply according with the specifications Regeneration fault
61. eactor between N1 and N2 when the power supply ultra harmonics needs to be restrained BES a bs ES cs e Siem Note 1 only the EPIC TL35F EPIC TLSSF servo drive have the function to connect external reactor e U 22 Remarks 23 Chapter 3 Front panel operation 3 1 Explanation of the front panel of servo driver 3 1 1 Front panel compositions The front panel consists of the display 5 digit 7 segment LED four switching buttons 8 2 4 and 5 and one Mini USB interface It displays monitor status parameters and changes the parameter setting value and so on The main menu is in cascade sequence mode and executes in layer 5 Digital LED sesse 4 Buttons je LLY 2 LED Lam ps eee B BB BB z Mini USB i interface or POO 3 1 2 Front panel explanations Symbol Name Functions POW Main power Lit Main power supply already turn on lamp Go out Main power supply did not turn on RUN Running lamp Lit Servomotor is active Go out Servomoto
62. error can adjust the feed forward of the position loop Please refer to 4 2 4 section 50 4 4 Resonance suppressions When the mechanical system has the resonance effect it is possibly created by higher rigidity of the servo system and quicker response It may improve if reduce the gain The servo driver provides the low pass filter Under unchanging the gain by using filters can achieve the effect of resonance suppression The parameters related to Resonating suppression as follows Para Default d Name Range Unit Usage meter value P007 Time constant of filter for torque 0 10 50 00 2 50 ms ALL The low pass filter is active by default The parameter P007 is used to setting the time constant of torque filter The low pass filter has the very good weaken effect on high frequency and can suppress high frequency resonance and noise For example the machinery with ball bearing screw sometimes can have high frequency resonance if increasing the gain Using low pass filter can get better effect but the system response bandwidth and the phase allowance also reduced the system may become unstable When the high frequency vibration caused by the servo driver adjust the filter time constant Tf of torque possibly can eliminate the vibration The smaller the value the better control response achieves but it is limited by mechanical condition The bigger the value the better suppressing effect achieves on high f
63. eter value Pressing 8 2 button once to increase decrease the parameter value by one Pressing down and hold the 8 2 button the parameter value can increase decrease continuously When the parameter value is modified the decimal point on the most right sides LED is lit Press 5 button to confirm the parameter value to be effective meanwhile the decimal point turns off The modified parameter value is immediately active to influence on the control action but some parameters needs to preserve firstly and then turn off and on the power supply Hereafter pressing 4 button returns to the parameter number selection and can continue to modify a parameter If the value is not satisfied do not press the 5 button and can press 4 button to cancel it for resuming the original parameter value The modified parameter did not preserve in EEPROM For permanent preservation please refer to the parameter writing operation in the parameter management 3 5 sections The parameter section name and the parameter name are not necessarily continual but the parameter section name and the parameter name that are not in use will be jumped over and cannot be chosen 30 v 4 Parameter section inc Idec v A Parameter number inc dec P D P L e P P l Enter Vv Y Vv P 000 P 100 P 280 i _4 i P 001 P
64. g Disposition Colour of wire Wire i Pin Standard j Signal name of encoder saving Functions number l6core 10core notel note2 a m Red Red Red Red Use 5VDC power supply White White provided by servo driver If E i the cable is longer than 20m ower su ES Black Bl Black Bl in order to prevent encoder ov 14 ack ack from voltage drop down it White White is better to use multi wire or 19 thick wire for power line and ground line At 5 Brown Brown Connect with A phase A phase input Brown W Brown W A 10 output of encoder hite hite Bt 4 Yellow Yellow Connect with B phase output B phase input Yellow Yellow B 9 of encoder White White Zt 3 Green Green Connect with Z phase output Z phase input Green W Green W La 8 of encoder hite hite U 2 Purple Connect with U phase U phase input js 7 Purple output of encoder White Not connect for wire saving V 1 Blue Connect with V phase V phase input 2 6 Blue Whi output of encoder te Not connect for wire saving W 12 Orange Connect with W phase W phase input a A Orange output of encoder White Not connect for wire saving Connect with cable shield Shield ground FG 15 Bare wire Bare wire wire Note The optional extras provided by Maxsine 1 16 core cable for the type of 16FMBI5 for using in the 110 and above frame of servom
65. i 10 10000 60 w ALL resistor P093 fan alarm on 0 1 ALL The temperature point of the P094 257 125 50 C ALL working fan P096 Items of initial display 0 22 0 ALL P097 Neglect inhibition of servo driver 0 3 3 ALL P098 Forced enable 0 1 0 ALL 60 5 1 2 Parameters of section 1 Param Default Name Range Unit Usage eter value P100 Function of digital input DI 21 21 1 ALL P101 Function of digital input DI2 21 21 2 ALL P102 Function of digital input DI3 21 21 3 ALL P103 Function of digital input DI4 21 21 4 ALL P104 Function of digital input DIS 21 21 20 ALL P110 Filter of digital input DI 0 1 100 0 2 0 ms ALL P111 Filter of digital input DI2 0 1 100 0 2 0 ms ALL P112 Filter of digital input DI3 0 1 100 0 2 0 ms ALL P113 Filter of digital input DIA 0 1 100 0 2 0 ms ALL P114 Filter of digital input DIS 0 1 100 0 2 0 ms ALL P130 Function of digital output DO1 11 11 2 ALL P131 Function of digital output DO2 ll 11 3 ALL P132 Function of digital output DO3 ll 11 8 ALL P150 Range for positioning completion 0 32767 10 pulse P P151 Hysteresis for positioning completion 0732767 5 pulse P P154 Arrival speed 5000 5000 500 r min ALL P155 Hysteresis of arrival speed 0 5000 30 r min ALL P156 Polarity of arrival speed 0 1 ALL P163 The way of position deviation clearing 0 1 P
66. ilter to the command frequency It has the exponential form for acceleration and deceleration as showing in the following chart The filter cannot lose any input pulse but can delay its action time When P040 is zero the filter does not have any effect The parameter value indicates the time in which the repeated frequency increases from 0 to 63 2 command frequency A Command pulse frequency 0 l time l Command frequency after l l filtering l l l 0 f gt time The filter makes the input repeated frequency smooth This filter is used in the following situations the host controller is without acceleration and deceleration function the electronic gear ratio is quite big the command frequency is lower 4 2 3 Electronic gear for input commands Through the electronic gear user can define that one input command pulse will cause an adjustable movement of mechanical device Therefore the host controller does not have to consider that the gear ratio in the mechanical system and the encoder line number of the servomotor The electronic gear variable is illustrated in the following table Variable Explanation Value of this driver C Lines of encoder 2500 P Resolution of encoder pulse rev 4xC 41 4x2500 10000 pulse rev R Ratio of reducer R B A here A turn number of servomotor B turn number of load shaft AP One command pulse travel equivalent Pe Command pul
67. interface circuit can be constructed by switch relay open collector triode and photo coupler and so on To avoid contacting problem the relay must be chosen with low current operation External voltage is in the range of DC12V 24V C1 1 Switch input C1 2 Open collector triode Servo Driver Servo Driver DC12V224 V DC12V 24V cou 4 4 4 7KQ DI1 DI2 DI3 DI4 DIS 2 Digital output interfaces C2 The digital outputs use Darlington photo coupler It can be connected with relay photo coupler Matters of note are Inverting the polarity of DC power source which is provided by the user can cause the servo driver damage The maximum voltage of external DC power supply is 25V the maximum output current is 50mA and the total current for three channels is not in excess of 100mA When using relay like inductive loads a free wheel diode must be connected with the inductive load in parallel If the diode connects in wrong direction can cause damage to the output circuit Owing to the low level of output is approximately 1V and cannot satisfy the TTL low level request therefore cannot directly connect with the TTL circuit C2 1 Relay C2 2 Photo coupler Relay Servo Driver DC 5V 24 ya DC5V 24 V Servo Driver Freewheel diode must be connected 3 Position command pulse interfaces C3 There are both differential and single end connections
68. ion and the noise when the value is too small If using the maximum value 1000 indicates the integral function to be canceled The speed regulator becomes the P controller Default i Range Unit Usage IMEEM Filter time constant of torque value 0 10 50 00 2 50 ms ALL This is the low pass filter of torque and can suppress the vibration of the machinery The bigger the value the better effect of suppression achieves The response will slow down It is easy to cause oscillation if the value is too large The smaller the value the quicker response achieves but can be limited by mechanical condition When the load inertia is small can set a small value the load inertia is big can set a big value Default gt be Range Unit Usage a0 Gain of position loop value 1 1000 40 1 s P This is the proportional gain of the position regulator Increases the parameter value can reduce the position tracking error and enhance the response It is easy to cause overshoot or oscillation when the value is too large Default i d Range Unit Usage Inertia ratio of load value 0 0 200 0 1 5 times P S The load inertia ratio is that the inertia of mechanical load refers to servomotor shaft divides by the rotor inertia of the servomotor 63 3 Default i Time constant of filter for speed Range Unit Usage P019 A value detection 0 50 50 00 2 50
69. l input 115 014 013 012 old status ON upper vertical segment is lit OFF bottom vertical segment is lit 7 Output terminals DO note7 A vertical segment of LED shows an output status The lit top vertical segment shows the DO output to be ON and the lit bottom vertical segment to be OFF Digital output 003 002 D01 Status OFF on OW ON upper vertical segment is lit OFF bottom vertical segmentis lit 8 Input signals from encoder note8 A vertical segment of LED shows an input status The lit top vertical segment shows a HIGH level signal and the lit bottom vertical segment a LOW level signal Encoder input U V W A B Z Status 0 1 0 P4 1 0 0 High level 1 upper vertical segmentis lit Low level 0 bottom vertical segment is lit 28 9 Absolute position of rotor note9 The rotor position is relative to the stator in one revolution per cycle Use the encoder pulse unit and take the encoder Z pulse as the zero point Take a 2500 lines encoder as the example The position of the rotor is in the range of 0 9999 and is zero when Z pulse appears 10 Control mode note10 The first three characters show the control mode the final character shows gain group First gain group Second gain group Po5 Position control mode 5Pd Speed control mode tr3 Torque control mode 11 Ala
70. lse The application method refers to parameter P029 P032 Default Second numerator of electronic Range l Unit Usage value gear for command pulse 1 32767 1 P Refer to the explanation of parameter P029 4 Default k Third numerator of electronic gear Range l Unit Usage value for command pulse 1732767 P Referto the explanation of parameter P029 65 Default Fourth numerator of electronic gear Range Unit Usage P033 value for command pulse Ie 32700 1 P Refertothe explanation of parameter P029 Default Range Unit Usage Input mode of command pulse value 0 2 0 P Set the input mode of command pulse The meanings of this parameter are 0 Pulse Direction l Positive Reverse pulse 2 Orthogonal pulse Command pulse type COW on Parameter P035 pus TLE LALA LL T0505 Pulse D IR 0 SIGN ecwg esh PULSE ET CW pulse 1 sich Ran pae pnus 7 v f 4 B phase SIGN 2 Note The arrow indicates the counting edge when P036 0 P037 0 The diagram of command pulse inputs 0 pulse Direction 1 CCW pulse CW pulse P038 2 A and B phases P037 P035 PULS Filter Counting Up Down mode counter SIGN Filter P039 P036 The parameters needs to preserve firstly and then turn
71. mbol Terminal number Terminal explanation U 2 U phase drive input V 3 V phase drive input W 4 W phase drive input 1 Ground terminal of motor case 7 6 2 Holding brakes Terminal Terminal Terminal explanation symbol number DC 1 The brake power supply is DC without polarity DC 2 insert requirement D 3 Ground terminal of motor case 7 6 3 Standard Incremental Encoder Terminal Terminal Terminal explanation symbol number 5V 2 5V input power oV 3 A 4 A phase output A 7 B 5 B phase output B 8 Z 6 Z phase output Z 9 U 10 U phase output U 13 98 V 11 V phase output V 14 W 12 W phase output W 15 PE 1 Metal case of encoder 7 6 4 Incremental saving wire encoder Terminal Terminal Terminal explanation symbol number 5V 2 5V input power OV 3 At 4 A phase output A 7 B 5 B phase output B 8 Z 6 Z phase output Z 9 PE 1 Metal case of encoder 99 7 7 Parameters of servo motor 7 7 1 Parameters of 40 series servo motor Motor Model 40MSL00230F 40MSL00330F Rated Power W 50 100 Rated Line Voltage V 220 220 Rated Line Current A 0 75 1 5 Rated Speed rpm 3000 3000 Rated Torque N m 0 159 0 318 Peak Torque N m 0 477 0 954 Rotor Inertia kg m 0 025X10 0 046X 10 Lines of Encoder PPR 2500 Motor Insulati
72. n 33 Chapter 4 R nnifig 3 teri PR RR RN aE Re d e rei RE dads 35 4 Jd Taabr nmmg with no load rem erben ins RERO ER 35 4 1 1 Wiring and inspection sssssssssessseeseeeenee eene enne nennen enne 35 4 1 2 Trial running in JOG mode sse eene nennen enne 35 4 1 3 Trial running in speed adjustment mode with keyboard 37 4 2 Posttion control mode uie tte ine pe e nib de ee rer ib pecie ANE 38 4 2 1 Simple example for position control mode ssssssssseee 38 42 2 Posttion Commands ceterae entre te ete ehe reed e En aee RAND e EN Ne EIE ERU 39 4 2 3 Electronic gear for input commandis ssssssssseeeeeeeeeeennen 41 4 2 4 Gains related to position control mode seen 47 4 3 Gam adjustment iue ERN ERI RE ENTRE ERATES ERE AES RE nieve 48 4 3 1 Gain parameters riina a a aaa ai aas a ai a aaiae 48 4 3 2 Procedure for gain adjustment eere 50 4 4 Resonance suppressions tente t ever get e utet Red eae eee eee eased 51 4 5 Over travel protections seesssssssssseesseees eene eene enne nnne A E rentrer E nnns 51 4 6 Torque limitation S sise anrea eene enne enne entren eerie innere nnns 52 4 6 1 Parameters for torque limitations enne enne 52 47 Timing chart OF operation oe E hr n D AERIS 53 4 7 1 Timing chart when power supply switch on sese 53 4 7 2 Alarm timing chart while servo
73. nected to U V W Terminals of servo driver DO NOT connect wrongly Normally a transformer is needed to switch to get 3 supply as the right picture Ground Terminals 380V 220 V 3 Phase AC Transformer m m EP 1C Servo Driver Controller Signal Cable d Servo motor Encoder Cable Servo motor Power Cable AC Servo Motor CNC System PLC or other Upper Controlle r 2 1 2 Wiring explanations Wiring Notes According to electric wire specification use the wiring materials The control cable length should be less than 3 meters and the encoder cable length 20 meters Check that the power supply and wiring of L1 L2 L3 and L1C L2C terminals are correct Please do not connect to 380V power supply The output terminals U V W must be connected with the servo motor connections U V W correspondently otherwise the servo motor will stop or over speed However by exchanging three phase terminal cannot cause the motor to reverse this point is different from asynchronous motor Farthed wiring must be reliable with a single point connection Pay attention to the correct direction of freewheel diode which is connected with the relay at the output terminal otherwise can cause the output circuit breakdown In o
74. ng Environment Temperature 20 C 50 C Humidity Relative Humidity lt 90 not including condensing condition 7 7 5 Parameters of 110 series servo motor i L Y 3 ccl 12 00 5 00 L pg 130 A A Td Size 2 00 m 4 0N m 5 0N m 6 00 m Lm m 159 189 204 219 15 59 54 104 7 7 6 Parameters of 130 series servo motor 130MSL 130MSL 130MSL 130MSL 130MSL 130MSL 130MSL 130MSL 130MSL 130MSL arde 04025F 05025F 06025F 07720F 07725F 10010F 10015F 10025F 15015F 15025F Rated Power CKW 1 L3 1 5 L amp 2 0 L0 1 5 2 6 2 3 3 8 Rated Line Voltage V 22 220 220 220 220 220 220 220 220 220 Rated Line Current A 4 5 0 6 0 6 0 7 5 4 5 6 0 10 9 5 13 5 Rated Speed rpm 2500 2500 2500 2000 2500 1000 1500 2500 1500 2500 Rated Torque N m 4 5 0 6 0 7 7 7 7 10 10 10 15 15 Peak Torque N m 12 15 18 22 22 20 25 25 30 30 A 0 85 X 1 06X 1 26 1 58X 1 53 X 1 94X 1 94X 1 94X 2 TTX Rotor Inertia kg m 10 10 10 10 10 10 10 10 10 oe Lines of Encoder PPR 2500 Motor Insulation Class ClassB 130 C Protection Level IP65 Temperature 20 C 50 C Humidity Relative Humidity lt 90 not including condensing Operating Environment condition 110h7
75. nnected Applicable types EP1C TLOSF EPIC TLIOF EPIC TLISF EPIC TL25F 3 Phase AC 220 V T SR X X X Y 10F Servo Driver Servo motor Q FIL Main Power Main Power OFF ON I T 4RY AK M 1K M D PRT Servo Ready RDY DO1 4 10F Circuit Breaker 7 FIL Noise Filter 4R Y COM 18 1k Electromagnetic Contactor DCHV DO Public Terminal 1RY Relay PRT Surge Absorber D DIODE Applicable types EPIC TL35F EPIC TLSSF note 3 Phase AC220V T SR dd 10F Servo Driver O FIL Servo motor Main Power Main Power OFF ON ARY 1KM S LI 1K M ay B 10F Circuit Breaker D s FIL Noise Filter Servo Ready RDY x1 1K Magnetic Contactor 4 1RY Relay Do m PRT Surge Absorber 1RY DC24V DO Public Terming D Free wheeling Diode Note there is no internal regenerative resistors in EPIC TLSSF When the external regenerative resistors is connected please crossover it to the terminal P and B of EPIC TLSSF and leave the NC unconnected 2 1 5 Main circuit terminal explanation Terminal name Symbol Model Detailed explanation Connect to external AC power supply L1
76. ntrol mode This is a simple example of positioning control The wiring diagram is as below Servo Motor Servo Driver lt yO gt 1 i Three phase AC 220 Veto i xo QF DC 12 24V Servo ON SON N CCW drive inhibition CCWL CW drive inhibition CWL A Servo ready RDY D01 DO DO common terminal COM PULS Position command PULS i PULS SIGN Position command SIGN Z signal open collector outp 02 GND GND Encoder signal ground GND The parameter setting for the example Para Name Setting Default Parameter explanation mete value value r P004 Control mode 0 0 Set position control P097 Neglect inhibition of 0 3 Use CCW inhibition CCWL and CW servo driver inhibition CWL If neglect did not connect CCWL CWL 38 P100 Digital input DII 1 1 Set DII for servo enable SON function P130 Digital output DOl 2 2 Set DO for servo is ready RDY function 4 2 2 Position commands 1 Parameters related to position command Param Default A Name Range Unit Usage eter value P029 1 numerator of electronic gear 1 32767 l P Denomina
77. ntrol mode 1 0 Set speed control P025 Source of speed 4 3 Set BUTTON source command P097 Neglect inhibition of 3 3 Neglect CCW inhibition CCWL and servo driver CW inhibition CWL P098 Forced enable lor 0 0 Set 1 for forced enable Set 0 for external enable P100 Digital input DII 1 1 Set DII for servo enable SON function 3 Operation Confirming that there is no alarm and unusual situation turn on the servo enable SON the RUN indicating LED lit and the servomotor is active at zero speed Choose the adjustable speed A Sr in the auxiliary function Pressing the te button enters the adjustable running mode Speed adjustable prompt of keyboard is r Number value unit is r min The numerical value is the speed command provided by pressing 4 button for increasing or Y button for decreasing and the unit is 0 1r min Following the speed command the servomotor is in rotation The rotation direction is dependent on the sign of digits The positive number indicates positive direction CCW and the negative number indicates reverse direction CW n A Speed cr i u command v inc ldec 37 4 2 Position control mode The position control applies in systems that need to locate precisely such as numerical control machine tool textile machinery and so on The position command is a pulse serial coming from the input terminals PULS PULS SIGN and SIGN 4 2 1 Simple example for position co
78. nward For vertical installation if the shaft of the servo motor is in upward direction with a speed reducer some prevention measure shall be taken against entering inside of the servo motor by oil come from the speed reducer Motor shaft extension should be long enough or may cause vibration while motor is in running Incaseof installation or removing the servomotor please do not hit the servo motor with a hammer otherwise the shaft and the encoder can be damaged 1 6 The definition of rotating direction for servo motor The motor rotating direction description in this handbook is defined as facing the shaft of the servo motor if the rotating shaft is in counterclockwise direction will be called as positive direction or in clockwise as reversal direction Positive Rotation Reversal Rotation CCW CW Chapter 2 Wiring 2 1 System construction and wiring 2 1 1 Servo driver wiring diagram Input Power Supply 3 Phase AC 220V RST phase 220VAC power Circuit Breaker Over current Protection Filter J Prevents the external noise from interfering servo drive Electromagnetic Contactor Need to install a surge absorber If the m ain Power Supply is 3 Phase AC 220 V please connect to terminals of L1 L2 L3 If the control Power Supply is Single Phase AC 220V please connect to terminals of L1C L2C 4 lines of Servomotor Power cable are con
79. o 8000 f 3 407 Z 10000 5 Electronic gear ratio M PxR 8000x 1 1 4 Set parameters By first numerator as an example Numerator N 5 denominator M 4 set P029 5 and P030 4 43 2 Electronic gear is used for graduator drive Graduator Reducer ratio R Servomotor Encoder resolution Pt pulse rev The graduator load has i Mv P Electronic gear ratio M PXR Here 360 P AP For example Known the encoder line number C 2500 line the reducer gear ratio 1 3 a pulse travel equivalent AP 0 1 Calculate the electronic gear ratio Calculation step Calculate the resolution of the encoder P P 24x C 4x 2500 10000 pulse rev Calculate the command pulse numbers for one turn of the load shaft P p 360 _ 360 AP CQ 3600 Calculate the electronic gear ratio P 10000 30000 25 Electronic gear ratio df _ M P xR 3600x 1 3 3600 3 Set parameters By first numerator as an example Numerator N 25 denominator M 3 set P029 25 and P030 3 44 3 Electronic gear is used for conveyor belt drive Conveyer belt Rolling cylinder D Reducer ratio R Servomotor Encoder resolution Pt pulse rev The conveyor belt load has Electronic gear Ho fs M PxkR Here p 72 AP For example Known the encoder line number C 2500 line the reducer gear ratio 1 10 the rolling cylinder diamete
80. o 4 b d i Encoder Signal Z Output 0 Z 13 Shield Protection Ground Connector case XI Connector of Servo Driver 11 Connector X1 Soldering Lug Disposition 2 2 2 X1 terminal signal explanation Name of signals Pin number Functions Connector DII 14 DI2 2 Optocoupler input Digital DI3 15 Function is programmable inputs DI4 3 Defines by parameter P100 to P104 Cl DI5 16 COM 1 DI power supply DC12V 24V DOI 4 Photo isolation output Digital DO2 17 Maximum output EE Function is programmable C2 outputs DO3 5 Defines by parameter P130 P132 DOCOM 18 DO common terminal High speed photo isolation input Positi PULS 20 Working mode set by parameter osition PULS 7 P035 command C3 pulse SIGN 19 Pulse SIGN SIGN 6 Positive Reverse pulse Orthogonal pulse OA 11 Oe p Outputs of differential driver Line OB 12 f Ea Output OB 24 Driver after the frequency division C5 signals of OZ 13 of encoder signal encoder OZ 25 CZ 22 Open collector output of Z signal T GND 10 Encoder signal ground Shielded Metal cable Shielded wire for connection with case of ground shielded cable connector protection 2 2 3 X1 terminal interface type The followings introduce the X1 various interface circuits and the wiring ways with the host controller 1 Digital input interfaces C1 For carrying on a control the digital input
81. of DIA input digital filter Refer to the explanation of parameter P110 Default 2 RUNS Range Unit Usage Filter of digital input DIS value 0 1 100 0 2 0 ms ALL This is the time constant of DI5 input digital filter Refer to the explanation of parameter P110 74 P130 Function of digital output DOI Range Default value Unit Usage d 11 2 ALL The function plan of digital output DO1 The absolute value of the parameter expresses functions the symbol expresses the logic Refer to the 5 4 sections for the functions 0 is forcing OFF l is forcing ON The symbol indicates the output logic the positive number expresses the positive logic and the negative number expresses the negative logic P131 P132 P150 Parameter value Function DO output signal DO output signal ON Turn on OFF Turn on Negative number ON Turn on OFF Turn on Default i f es Range Unit Usage Function of digital output DO2 value alll il 3 ALL This is the function plan of digital output DO2 Refer to the explanation of parameter P130 Default Nox Range Unit Usage Function of digital output DO3 value 11 11 8 ALL This is the function plan of digital output DO3 Refer to the explanation of parameter P130 Default A P Range Unit Usage Range for positioning completion value 0
82. of the speed loop with a relatively great value 3 Under no vibration and unusual sound increase the gain of the speed loop if vibration occurs then decrease the gain a bit 4 Under no vibration and unusual sound decrease the integral time constant of speed loop if vibration occurs then increase the time constant a bit 5 Because the mechanical system may have resonating factors and is unable to adjust for a bigger gain then the desired response cannot obtain Now adjust the filter time constant parameter P007 of torque and then carry on above steps again enhancing responsiveness Gain adjustment procedure for position control loop 1 Set the load inertia ratio 2 Set integral time constant of the speed loop with a relatively great value 3 Under no vibration and unusual sound increase the gain of the speed loop if vibration occurs then decrease the gain a bit 4 Under no vibration and unusual sound decrease the integral time constant of speed loop if vibration occurs then increase the time constant a bit 5 Increase the gain of position loop if vibration occurs then decreases the gain a bit 6 Because the mechanical system may have resonating factors and is unable to adjust for a bigger gain then the desired response cannot obtain Now adjust the filter time constant parameter P007 of torque and then carry on above steps again enhancing responsiveness 7 1f need shorter positioning time and smaller position tracking
83. on 5 This is the demonstration speed command It needs to set this parameter when begins using the demonstration operation The speed command can change automatically f Default First numerator of electronic gear Range 1 Unit Usage value for command pulse 1 32767 1 P Use the frequency division or multiplication for the input pulse and can conveniently match with each kind of pulse source also can achieve the pulse resolution for the user needs The electronic gear numerator N of command pulse is determined by GEARI and GEAR2 from DI inputs The denominator M is set by parameter P030 64 DI Signals note Numerator of electronic GEAR2 GEARI gear for command pulse N 0 0 First numerator parameter P029 0 1 Second numerator parameter P031 1 0 Third numerator parameter P032 l 1 Fourth numerator parameter P033 Note 0 indicates OFF 1 indicates ON The input pulse command becomes the position command by the N M factor The ratio range is 1 50 lt N M lt 200 Numerator N P029 Input command pulse f 1 Numerator N is determined by GEAR and GEAR 2 of DI inputs Position command f2 S N Jer Denominator M P03 Electronic gear Denominator of electronic gear for command pulse Default Range Unit Usage value 1 32767 1 P This is electronic gear denominator M of command pu
84. on with the topside upward For installing the servo driver fasten the backboard of the servo driver with M5 screw bolt Reserve enough space around the servo drivers as shown in the reference diagram In order to guarantee the performance of the servo driver and the lifetime please make the space as full as possible To provide vertical wind to the heat sink of the servo driver should install ventilating fans in the control cubicle Prevent the dust or the iron filings entering the servo driver when install the control cubicle aer p a WO 1 5 Servo motor installation 1 5 1 The environmental conditions for installation Ambient temperature 0 to 40 C Ambient humidity less than 80 no dew Storage temperature 40 to 50 C Storage humidity less than 93 no dew Vibration less than 0 5G Install the servo motor in well ventilated place with less moisture and a few dusts Install the servo motor in a place without corrosive liquid flammable gas oil vapor cutting cooling liquid cutting chips iron powder and so on Install the servomotor in a place without water vapor and direct sunlight 1 5 2 The method of installation For horizontal installation In order to prevent water oil etc from entering inside of the servomotor please put the cable connector dow
85. on Class ClassB 130 C Protection Level IP65 F Temperature 20 C 50 C Humidity Relative Humidity lt 90 Operating Environment 1 t not including condensing condition 40 00 30h7 2 50 5 00 L Size 0 159N m 0 318N m P 6 20 L m m 11 5 95 5 Line Order of Encoder Socket No 1 2 3 W W 5V OV Z Z Ut U V V A A B B Lead Definition PE 7 7 2 Parameters of 60 series servo motor Motor Model 60MSLO0630F 60MSL01330F 60MSLO01930F Rated Power KW 0 2 0 4 0 6 Rated Line Voltage V 220 220 220 Rated Line Current A 1 5 2 8 3 5 Rated Speed rpm 3000 3000 3000 Rated Torque N m 0 637 1 27 1 91 Peak Torque N m 1 911 3 8 5 73 Rotor Inertia kg m 0 17X10 0 302x10 0 438 X 10 Lines of Encoder PPR 2500 Motor Insulation Class ClassB 130 C Protection Level IP64 Relative Operating Environment Temperature 20 C 50 C Humidity Humidity lt 90 not including condensing condition 4 04 5 A vy A A y Size 0 637Nm 1 2708 m 1 910N m 9 ou L m m 102 122 146 11 0 1 Line Order of Encoder Socket No 1 2 3 4 5 6 7 8 9 10 11 12 13 14
86. otor 2 10 core cable for the type of IOFBMISX for using in the 80 frame of servomotor 2 4 Standard wiring diagram 2 4 1 Wiring diagram for position control Star Series Servo Motor EP1C Servo Driver L1 U 7 3 Phase AC 220 V_ L2 7 ye x L3 QF Ww w Lic L2c 4 Cores Power Connector DC E 12 24V 5V Servo On SON Noy DI1 Alarm Clear ARST Noy DI2 CCW Drive Inhibition CCWL oo DI3 B CW Drive Inhibition CWL t DI4 1 B Position Deviation Ch CLR N sition Deviation Clear 1 DI5 Z 261832 h Optical x1 Rester 8 Zi 1 Encoder 15 on 1 Cores Servo Ready RDY 4 D01 4 n 2 Us Connector EIE 1 7 U Hen Servo Alarm ALM lt 4 1 LI Do2 5 z FEET H 4 3 tt 1 C 1 i 6e v rH Electromagnetic Brake RK 441 D03 3 27 12 W 1 i poe ort uow T Y DO Common Terminal lt 1 an 18 3 A H X2 Metal Case i x1 1 15 15 Q H PULS 20 Position Command PULS o y 1 PULS 7 15 Q 1 SIGN 19 Position Command SIGN r 150 i PEE SIGN 6 oas tt OA HN x1 08 12 Note Encoder Signal Outputs i lt Beats The DI and DO terminals have v
87. phase 90 A phase advances B phase degree 90 degree 1 A phase advances B phase A phase lags B phase 90 90 degree degree lee lu APhase A Phase l I peroes FT bem LLL P173 0 NUN B Phase B Phase P173 71 P173 1 cw GN Default F Range Unit Usage ISULE Encoder outputs Z pulse phase value 0 1 0 ALL The meanings of this parameter are 0 in phase 1 phase reversal Default f Range Unit Usage iQue Encoder outputs Z pulse width value 0 15 0 ALL When the upper device can not catch narrower Z pulse it can be widened The meanings of this parameter are P175 Z pulse width 0 direct connection which is encoder Z signal original width 15 the width is the double width of parameter value multiplying output signal A or B 79 A phase B phase Z pulse P17471 P175 0 l Z pulse P174 0 P1 75 1 Z pulse P17421 P7571 5 3 DI function description in detail Ordinal Symbol Function Function explanation Not have 0 NULL The input condition does not have any influence to the system function OFF servo driver does not enable servomotor does not excite 1 SON Servo enable ON servo driver has enabled servomotor has excited When an alarm occurs and the alarm has permission to clear then the rising edge from OFF becomes ON of input signal ARST will clear 2 ARST Clear alarm the alarm
88. photo coupler e g 6N137 Current limiting resistor is about 2200 5 Open collector output of encoder Z signal C6 The Z signal of the encoder is transferred to the host controller through the open collector circuit Because the width of the Z pulse is narrow please use a high speed photo coupler to receive it C6 Open collector output of encoder Z signal High Speed Photo coupler vec Servo Driver 30V is the maximum voltage of external power supply 50mA is the maximum current output 15 2 2 4 Digital input definition Every digital input interface is programmable it can act different function by setting the corresponding parameter The manufacturer sets it as the default value users may need to modify Parameter Name Range Drew Unit Usage value P100 Function of digital input DII 21 21 1 ALL P101 Function of digital input DI2 21 21 2 ALL P102 Function of digital input DI3 21 21 3 ALL P103 Function of digital input DI4 21 21 4 ALL P104 Function of digital input DIS 21 21 20 ALL The absolute value of the parameter expresses functions the symbolic expresses the logic positive number expresses positive logic and the negative number express the negative logic ON is effective OFF is invalid Parameter DI input signal DI Result le Turn off OFF Positive number Turn on ON x Turn off ON Negative number Turn on OFF
89. play And Connecting 1 Operation Buttons Terminals A Z Marime 4 Open the cover for at L2 ESO NAI i operating NN A POW N EP GC servo ina NN O External brake resistor ete Terminals Choosing N BW Lin xs 7 i Nameplate And Warning from NC P or B 1 feo I N S A Logo I i Broadside A 3 IN A E i DC Reactor IN AN E Terminals Choosi NG TE erminals Choosing a a _ Connector X1 For Input from N1 or N2 n ap and Output Signals OE MERI TJN u E Servo motor Nal ali Connection terminals x Connector X2 For WU V W ME de U i Servo motor V en Encoder Control Power E a connecting Terminals LIST ES L1C L2C ee 2C e V y m II Ground Terminals 1 4 Servo driver installation 1 4 1 The environmental conditions for installation Since the environment conditions for servo driver installation have the direct influence to the normal function and service life of the servo driver therefore the environment conditions must be conformed to the
90. r Choose status monitor d under the main menu Pressing the 5 button enters the monitor mode There are many kinds of monitor s project Use 8 and 2 button to select the needing project Pressing the 5 button again enters the concrete status display 25 d 5Pd d VAS E r QUU 1000 r sin p 4 d LP Initial position command input pulse L Du note 1 note 2 y 1 d L a Position command pulse LO note 1 y d Pa5 Current position pulse Lo note 1 d EPa Position deviation pulse Lo note 1 d tr4 Servomotor torque t 9 50 Y 5 d Pt Peak torque 96 t B 80 96 note 4 d 4 Servomotor current A ei 2 3A note 3 d Pi Peak current A 5b 5 6A note 4 Y A A d F r Position command pulse frequency kHz FE l 5 12 5kHz note 5 d 5 Speed command r m in r 18 35 r min gt Enten v d Lt Torque command E ol 4095 d di DI input terminal status lt lt en note 6 p A d d 0 DO output terminal status p note 7 p A d Lad Encoder input signals laa note 8 p A d RPo Rotor absolute position pulse A3289 3289 pulse note 9 y 4 d d Accumulative load factor td 45 45 yA d r D Duty factor of regeneration braking d L 30 p A d Ent Control mode Pab d note 10 yA d Err Alarm code Err No alarm note 1 z d r E Reserved re O Reserved TENE fois Bus voltage t 350 300V y d tL Module internal temperature 50 C 1 32 binary bits value display note1 32 bina
91. r D 200mm a pulse travel equivalent AP 0 001mm Calculate the electronic gear ratio Calculation step Calculate the resolution of the encoder P P 4x C 4x 2500 10000 pulse rev Calculate the command pulse numbers for one turn of the load shaft Pc p 72 314x200 _ pogo AP 0 01 Calculate the electronic gear ratio Electronic gear ratio Kj 2 T9000 100000 209 M PxR 62800x 1 10 62800 157 Setparameters By first numerator as an example Numerator N 2500 denominator M 157 set P029 2500 and P030 157 45 4 The relation between the electronic gear ratio and the turn number of servomotor The relation between the electronic gear ratio and the turn number of servomotor is Servomotor turn number TUBES PxM Among them pulse is input pulse number For example the encoder line number C 2500 line N 20 M 3 pulse 1000 the calculation is 1000x20 2 Tum 10000x3 3 Servomotor turn number 5 The relation between the electronic gear ratio and the speed of servomotor The relation between the electronic gear and the speed of servomotor is J 4E x 60x V PxM Servomotor speed 7 min Among them f is the repeated frequency of the input pulse unit is Hz pps For example the encoder line number C 2500 line N23 M 1 f 100kHz kpps the calculation is 3 Servomotor speed 7 min Du T Xo 1800 7 min x 6 Electronic gear ratio switching Four groups of ele
92. r P079 Torque is not enough big Check torque Increase the torque limit Increase smooth filtering time for position command Reduce load driver and Replace the servo servomotor with bigger ones Err 7 Drive inhibition abnormal Potential cause Check Handle The CCWL and or CWL over travel inhibition is invalid when servo is on Check CCWL CWL wiring Correct input CCWL CWL signal If not use CCWL CWL signal can shield it by setting parameter P097 Err 8 Overflow of position deviation counter Potential cause Check Handle The servomotor is blocked Check the servomotor mechanical connection shaft and its Repair The command pulse is abnormal Check command pulse 86 Err 9 Encoder signal fault Potential cause Check Handle Encoder wiring error Check the encoder wiring Correct wiring Encoder cable and or connector is bad Check cable and connector Replace the cable and connector Servomotor type setting is not Check the servomotor type Set the servomotor type again correct Encoder is damaged Check the encoder Replace the encoder Err11 IGBT model fault Potential cause Check Handle Short circuit at drive output U V W Check U V W wiring Repair or replace the short circuited wiring Motor winding insulation is damaged
93. r is not active A Increasing Increase sequence number or value button Press down and hold to repeat increasing v Decreasing Decrease sequence number or value button Press down and hold to repeat decreasing 4 Exit button Menu exit cancel the operation Confirm button Menu entered the operation confirmed PTT USB interface Connect to computer 24 3 1 3 Data display A number is shown by five digital displays a minus symbol in front of the value represents a negative value the lit decimal points in all the digits indicate a negative 5 digit value Some displays have a prefix character If the value is full scale then the prefix character can be omitted 12345 Positivenumber 1234 4 digit or less negative number symbol expresses negative number ig34 12345 5 digit negative num ber expressed by lighting the decim al points in all digits Pu Mat x Lr 3 2 Main menu The first layer is the main menu and has four operating modes Pressing 8 or 2 button changes the operation mode Pressing the 5 button enters the second layer and then executes a concrete operation Pressing 4 button returns to the main menu from the second layer Status monitor prem Parameter setting Parameter management C a 1 Auxiliary function J Second layer First layer Main menu 3 3 Status monito
94. rake coil and DC supply The brake power supply has enough capacity provided by the user Suggested installs the surge absorber to suppress surge voltage caused by switching off the relay The diode also makes the surge absorber but must pay attention to that the action of the brake has a little lagging Under the speed of the servomotor is smaller than parameter P165 if the SON becomes OFF By now the servomotor will continue to excitation for holding the position after the period set by parameter P166 removes the excitation from the servomotor Under the servomotor is in motion The speed is bigger than P165 if the SON becomes OFF by now the excitation is removed from the servomotor after delay period of time the brake becomes active During the delay time the servomotor decelerates from the high speed down to the low speed and then the brake is active to avoid damaging the brake The delay time is set by the parameter P167 or is the time that the speed of the servomotor decelerates to the speed set by parameter P168 The delay time will take the minimum value q 7 1 Set DOx i I i with BRK Servo driver E x 1 2 3 Brake coil VDC Brake power supply 12 24V 56 Remarks 57 Chapter 5 Parameters 5 1 Parameter table The usage item in the table indicates the suitable con
95. rder to protect the servo driver from noise interference that can cause malfunction please use an insulation transformer and noise filter on the power lines Wiring the power lines power supply line main circuit lines etc at a distance above 30cm from the control signal wires do not lay them in one conduit Install a non fuse circuit breaker that can shut off the external power supply immediately for in case of the servo driver fault 2 1 3 Electric wire specifications Connect terminal Symbol Wire specification Main power supply Lis L9 ES 1 5 4mm Control power supply LEGS E26 0 75 1 Omm Servo motor U V W 1 5 4mm Ground 1 5 4mm Control signals X1 Z0 14mm AWG26 shielded Encoder signals X2 0 14mm AWG26 shielded A Resistors P BI P B 1 5 Am Terminal Must use a twisted pair wire cable for the encoder signal wiring If the encoder signal cable is too long 220m in which the encoder power supply can be insufficient may use multi wire or thick wire for the power supply wiring 2 1 4 Servo motor and AC power supply wiring diagrams The power supply for the servo driver is a three phase AC 220V which generally come from three phase AC380V power supply through a transformer In peculiar circumstance the small servomotor which is less than 750W can use single phase AC220V L1 and L2 terminals connect to single phase power supply Leave L3 terminal unco
96. requency vibration but the phase allowance reduces and can cause the oscillation if the value is too big If the load inertia ratio is set correctly G G JL JM must satisfy the following condition T ms lt 1000 2nx2x K Az 4 5 Over travel protections The security function of over travel protection is refers that when the movement part of the machinery just exceed the design safe range of motion the limit switch acts and forces the servomotor to stop A schematic diagram showing the over travel protection as follows Reverse Worktable Positive gt A Servom otor Limit switch Limit switch normal closed normal closed Servo driver CCWL x1 CHL 51 The limit switch suggested using normal closed type It is close in the safety range and it is open in over travel range The limit switch on the right connects to CCW forbid terminal CCWL and the limit switch on the left connects to CW forbid terminal CWL This security function of over travel protection can be set for use or neglect by setting the parameter P097 The limit signal must be connected for the use or do not need this signal in case of neglect The default value of P097 for CCWL and CWL is all neglects Must modify parameter P097 if needs to use Under the over travel condition use the reverse command to withdraw back from the over travel condition P097 Motion inhibition in CW Motion inhibi
97. rm code note11 The Err followed by two minus symbols indicates no alarm and by digital number indicates an error code number that is flickering When alarm appears the error code number displays automatically on the front panel LED During the error status the monitor mode can be changed to other mode by pressing buttons but the decimal point of the last LED is still flickering and shows existence of an alarm E rr a flickering 9 number alarm 12 Module internal temperature note 12 When the module temperature is more than the user setting value the fan begins to work when the module temperature is less than the setting value the fan will be turned off The temperature displayed range is 25 125 C 29 3 4 Parameters setting The parameter number expression uses a parameter section name combined with a parameter name The three figures are the section name and two figures and one figure are the parameter name Take P102 parameter as an example l is the section name and 02 the parameter name P 102 displays on the front panel LED Choose the parameter mode under the main menu P Pressing the 5 button enters the parameter setting mode First use 8 or 2 button to select the parameter section name and then pressing 5 button enters the parameter name selection Again use 8 or 2 button to select the parameter name and then pressing 5 button shows the parameter value Use 8 or 2 button to alter a param
98. roduct inspection and installment essere 1 Lele Product INSPECtlOM sie e ettet cete e ete eve ees eee et 1 1 2 Product nameplate ea dee tede e e e ec en e Ries 1 153 Product frout panel iine dee eR UR REGRESO 2 1 4 Servo driver installationer nennen AARNE nente A ESNEA 4 1 4 1 The environmental conditions for installation sessesseeeeeeenees 4 1 4 2 The method of installation eese ener 4 1 5 Servo motor installation esses nente neret nennen nnne neret enne 5 1 5 1 The environmental conditions for installation 5 1 5 2 The method of installation eese ennemis 6 1 6 The definition of rotating direction for servomotor eese 6 Gare TP O PERAE EAE AA A S EAA T 7 2 1 System construction and wiring sssssssssssseeseeeeeeen eene enne entren nnn enne nennen 7 2 J E Servo driver wirng diagram Sesaro teen IB mH 7 2 1 2 Wiring explanations ccccccccccessceessceessecessecesnecesseeeseecsseecssceeseseceeseeesseeesseeeseaeenenes 8 2 1 3 Electric wire Specifications cccccccssccsssecsececseneeeeeeeeseeeeseeesseeeseaeeseseeessesesseeeneaeenes 8 2 1 4 Servo motor and AC power supply wiring diagrams sseeee 9 2 1 5 Main circuit terminal explanation sssssssssseeseeeeeee eene 10 2 2 X1 terminals for control signal sssssssssssseeeeeene eene enne nennen enne 11 2 2 1
99. rol loops are as follows Bandwidth of the current loop gt Bandwidth of the speed loop gt Bandwidth of the of the position loop Because the current control loop of the servo driver is already adjusted in an optimum condition the only parameters of speed and position control loops have to be adjusted by the user 4 3 1 Gain parameters The parameters related to the gain are Parame Default Name Range Unit Usage ter value P005 Gain of speed loop 1 3000 40 Hz PS P006 Integral time constant of speed loop 1 0 1000 0 20 0 ms P S P009 Gain of position loop 1 1000 40 l s P P017 Ratio of load inertia 0 0 200 0 1 5 fold PS The definition of symbol as follows Ky T The integral time constant of speed loop Kp The gain of position loop G The inertia ratio of load P017 The gain of speed loop J The load inertia referred to the rotor shaft Ju The rotor inertia of the servomotor 48 1 The gain of speed loop Kv The speed loop gain Kv directly determines the response bandwidth of the speed loop Under the premise that there is no vibration in the mechanical system or noise increases the speed loop gain then the speed response can speed up and is better to follow the speed command However it is easy to cause a mechanical resonance if the Kv is too large The bandwidth of speed loop expresses as 1 G Speed loop bandwidth Zz x K Z7z 1
100. ry bits value translates into a decimal value that is in the range of 2147483648 147483647 It is divided into the low portion and the top portion Use 8 and 2 button to select the needing portion through the menu By the following formula the complete value can be obtained Lo Jepp or 12388 va D e SS 78 Result 2612345 32 bit number top digit numberx 100000 bottom digit number 2 Pulse unit note2 The original position command pulse is the input pulse count that has not transformed through the electronic gear The pulse count unit for other parts is the same with the encoder pulse unit Take a 2500 lines encoder as the example Encoder pulse unit encoder resolution 4x encoder line 4x 2500 pulse rev 10000 puse rev 3 Motor current note3 The servomotor current is Irms 4 The servomotor current is Irms note 4 The maximum torque and maximum Irms of the servomotor in previous 10 second duration is defined as the peak value 5 Position command pulse frequency note5 The frequency of position command pulse is the actual pulse frequency before the electronic gear The positive number is shown as positive direction and the negative number as reverse direction 6 Input terminals DI note6 A vertical segment of LED shows an input status The lit top vertical segment shows the DI input to be ON and the lit bottom vertical segment to be OFF 27 Digita
101. s 95 7 4 Adaptive table for servo motor selections essssssssssseeeeeneenre enne 96 7 5 Types of servo motor ener enne trennen trennen nnne nnne 97 1 6 Servo motot WINE ARR 98 TO Le W Mtr winno sasaaa E A D DINI m T 98 7 6 2 Holding brakes eee a e ERI ERU det 98 7 6 3 Standard Incremental Encoder eese 98 7 6 4 Incremental Encoder with Fewer Line 99 7 7 Parameters Of servo motor aeree ge eet pe niente pee neve dedita gei aS 100 7 7 1 Parameters of 40 series servo motor nennen 100 7 7 2 Parameters of 60 series servo motor nee rennen 101 7 7 3 Parameters of 80 series servo motor 102 7 7 4 Parameters of 90 series servo motor nee 103 7 7 5 Parameters of 110 series servo motor essesseseeeeeeeeneneenrennennenee 104 7 7 6 Parameters of 130 series servo motor 105 7 7 1 Parameters of 150 series servo motor essere 106 7 7 8 Parameters of 180 series servo motor 107 Appendix A Model for SIEMENS numerical control system sss 109 A 1 SIEMENS 801 and 802S numerical control system ssssssseeeeeee 109 A 1 1 Parameters Settings iiie vete penes 109 A 1 2 SIEMENS 801 and 802S wiring diagram sse 110 Remarks Chapter 1 Product inspection and installment 1 1 Product inspection This product has made the complete function test before delivery
102. se numbers for one turn of the load shaft Pitch Pitch of ball bearing screw mm D Diameter of rolling cylinder mm Calculating formula Resolution in one turn of encoder Pt Command pulse number in one turn of load shaft Pc x reducer ratio R _ N Electronic ear ratio g 37 Here Movement quantity in one turn of load shaft Command pulse number in one turn of load shaft Pc Movement quantity in one command pulse The calculated result will be abbreviated and make the numerator and the denominator smaller or equal to 32767 integer values At last the result must be in the range of 1 50 lt N M lt 200 and write to the parameter list 1 Electronic gear is used for ball screw drive lathe bench eee eee Ball screw Pitch nn Servom otor H Encoder resolution Pt pulse rev Reducer ratio R The ball bearing screw load has p P xkR Vv Electronic gear ratio 5 42 Here _ Pitch P AP For example Known the encoder line number C 2500 line the reducer gear ratio 1 1 pitches Pitch 8mm a pulse travel equivalent AP 0 00 1mm Calculate the electronic gear ratio Calculation step Calculate the resolution of the encoder P P 24x C 4x 2500 10000 pulse rev Calculate the command pulse numbers for one turn of the load shaft ball screw Pc Pitch 8mm AP 0 001 mm Calculate the electronic gear rati
103. speed loop first Diff gt Sas P021 gt P022 Position command Position ae Speed command loop gt gain Kp Position feedback The feed forward can reduce the lagging of phase in the position loop also reduce the position tracking error as well as shorter positioning time The feed forward quantity increases the position tracking error reduces but can cause the system unstable and overshoot if the feed forward quantity is too large If the electronic gear ratio is more than 10 it is also easy to make noise For normal application the parameter P021 is set as 0 If higher response and lower tracking error are required the P021 can be increased properly but not in excess of 80 Meanwhile it may need to adjust the filter time constant parameter P022 of the feed forward branch 47 4 3 Gain adjustment The servo driver includes the current control loop the speed control loop and the position control loop The control diagram is as follows Position control loop Position Position controller Speed controller Speed control loop Filter Current controller Power transform Servomotor Encoder Theoretically the inner control loop bandwidth must be higher than the outer loop otherwise the entire control system will be unstable and creates the vibration or worse response Therefore the relations of the bandwidth of the three cont
104. tion Check the load factor and the rise in temperature of motor Reduce load or replace the servo driver with bigger one Encoder zero point changes Check the encoder zero point Install the encoder again and adjust the zero point Err17 Overload of brake average power Potential cause Check Handle The voltage of input AC power supply is too high Check the voltage of power supply Use correct power supply according with the specifications Regeneration energy too large Check the regeneration load factor Slow down the starting and stopping frequency Increase acceleration deceleration time setting Reduce the torque limit Decreasing the load inertia Replace the servo driver and servomotor with bigger ones Replace the resistor with bigger one Err18 IGBT model over load Potential cause Check Handle Excess the rated load for continuous duty operation Check current Reduce load or replace the servo driver with bigger one Encoder zero point changes Check the encoder zero Install the encoder again and adjust the point zero point Err20 EEPROM Error Potential cause Check Handle EEPROM chip is damaged Tum on the power If the error still exists then replace the again and check servo driver Err21 Logic circuit error Potential cause Check Handle Control circuit fault
105. tion in CCW direction CWL direction CCWL 0 Use Use 1 Use Neglect 2 Neglect Use 3 Default Neglect Neglect 4 6 Torque limitations In order to protect the machinery from over load can carry on the limit to the output torque 4 6 1 Parameters for torque limitations The parameters related to torque limit Param Default Name Range Unit Usage eter value Internal torque limit in CCW P065 EN 0 300 300 ALL direction P066 Internal torque limit in CW direction 300 0 300 ALL External torque limit in CCW P067 MOM 0 300 100 ALL direction External torque limit in CW P068 wo 300 0 100 ALL direction P069 Torque limit in trial running 0 300 100 ALL 52 4 7 Timing chart of operation 4 7 1 Timing chart when power supply switch on The control power supply L1C L2C turns on before or at the same time when the main power supply L1 L2 and L3 turn on If only the control power supply turn on the servo ready signal RDY is OFF After the main power supply turn on at about 1 5 seconds later the servo ready signal is on RDY from now can accept the servo enable signal SON The servo driver examines that the SON is effective and then the power circuit and the servomotor are active The servomotor is in running status If the SON is invalid or an alarm occurs power circuit shut down and the servomotor is in free running state Lic L2C i Control
106. tive table 4 Enter the parameter management carries out one of following operations 1 Resume a part of the parameter default value For resuming default parameters related to the servo driver and the servomotor and maintaining the other user parameters carry out the parameter write operation in the parameter management This operation is active only in that the password was 360 and the servomotor code was modified In other situations it only has the parameter write function 33 Press and hold E Parameter write i for3 seconds d on E SEL Ente gt Eee Only resume all the default values with drive and motor Operation success Error Operation fail 2 Resume all of the parameter default value Carry out to resume the default value in the parameter management all the parameters including the parameter modified by the user become the default value Press and hold for Resume default value 3 seconds Ta ea Resume all of the parameter default value Operation success Under operation Operation fail 5 Turn off and on the power supply then an operation can be performed again 34 Chapter 4 Running 4 1 Trial running with no load The goal of trial running is confirming the following items that are correct or not The servo driver power supply wiring The servo motor wiring The encoder wiring The running direction and the servomotor speed 4 1
107. tor numerator of electronic P030 1 32767 l P gear P031 2 4 numerator of electronic gear 1732767 l P P032 3 numerator of electronic gear 1732767 l P P033 4 numerator of electronic gear 1 32767 1 P P035 Input mode of command pulse 0 2 0 P P036 Phase of input command pulse 071 0 P P037 Signal logic of input command pulse 0 3 0 P P038 Signal filter of input command pulse 0 21 7 P P039 Filter mode of input command pulse 0 1 0 P Time constant of exponential form P040 0 1000 0 ms P filter for position command 2 Transmission path of command pulse 0 Pulse Direction 1 CCW pulse CW pulse Numerator N Numerator N is determined by 2 A and B phases poz9 GEAR 1 and GEAR 2 of DI po33 m inputs 4 P037 P035 Piss P040 PULS P Filter 2 Y CLK Y pant Y 5o Oo gt gt Input command l l M Position J Counting b pulse f1 N Position command command f 3 mode puan __ s gt So Eee DIR P039 P037 counter fer P036 Denominator M P030 Electronic gear 39 3 Input mode of command pulse The command pulse input mode is dependent on the parameter P035 For adjusting the counting edge of a pulse the parameter P037 sets the phases of the PULS and the SIGN signals Parameter P036 uses in changing the counting direction Command pulse type CCW 6n Parameter P035 eus TLE LALA LEAFLE
108. trol mode P stands for the position control S stands for the speed control T stands for the torque control All stands for the position speed and torque control The indicates default value that may be different 5 1 1 Parameters of section 0 Parameter Name Range Default value Unit Usage P000 Password 0 9999 315 ALL P001 Identity code of servo driver y ALL P002 Identity code of servomotor ALL P003 Software edition 5 ALL P004 Control mode 0 1 0 ALL P005 Gain of speed loop 1 3000 40 Hz PS P006 Integral time constant of speed loop 1 0 1000 0 20 0 ms P S P007 Filter time constant of torque 0 10 50 00 2 50 ms ALL P009 Gain of position loop 17 1000 40 l s P P017 Inertia ratio of load 0 0 200 0 1 5 fi PS Time constant of filter for speed P019 0 50 50 00 2 50 ms P S detection P021 Feed forward gain of position loop 0 100 0 P Time constant of feed forward filter P022 We 0 20 50 00 1 00 ms P for position loop P025 Sources of speed command 3 5 3 S First numerator of electronic gear for P029 1 32767 l P command pulse Denominator of electronic gear for P030 1 32767 l P command pulse Second numerator of electronic gear P031 1 32767 1 P for command pulse Third numerator of electronic gear P032 1 32767 l P for command pulse Fourth numerator of electronic gear P033 1 32767 1 P for command pulse
109. un Hes Multi functions programmed by wD Z H oz 13 software Their default settings i K alt z shown in picture can use for Z H ESES common purposes User can ZSgnal Open colector Output e H cl m modify it according to different 1 needs 1 m P Encoder Signal Ground GN D a GND u L 34 s Signal Ground C J Vv 2 5 The connection of Regenerative Resistors When an external regenerative resistors is connected to the servo driver the short circuit wire between connector B1 and B2 must be disconnected Then the external regenerative resistors could be connected between P and B1 OT ites 220v L i E 3 f fe Hee cesse z fs Esse eps Es E ls Picture A Picture B Notel the connection way of external resistor as the picture A shows is suitable for EPIC TLOSF EPIC TLIOF EPIC TLISF EPIC TL2SF servo drive Note 2 the connection way of external resistor as the picture B shows is suitable for EPIC TL35F EPIC TLSSF servo drive When the external regenerative resistors is used please connect to the terminal P and B leave the NC unconnected 2 6The connection of reactor Please connect the DC r
110. value clearing oa 0 P In the position control mode use the CLR input signal clear position deviation from DI to clear the position deviation counter The meaning of this parameter are at the time when the position deviation elimination occurs 0 The high level of CLR ON 1 The rising edge of CLR ON the moment from OFF to ON 76 Default Range for static check of the Range Unit Usage P165 value servomotor 0 1000 S rmin ALL Use this parameter to check the servomotor to be static If the speed of the servomotor is lower than the parameter value and will consider the servomotor static Only uses in the timing chart judgment of the electromagnetic brake Delay time for electromagnetic Default A Range Unit Usage INTE brake when servomotor is in value standstill 0 2000 0 ms ALL Use the electromagnetic brake when the SON is from ON go to OFF or alarm occurs in the servo driver This parameter defines the delay time from the action the BRK is OFF from DO terminals of the electromagnetic brake until excitation removal of the servomotor during the servomotor to be in static The parameter should not be smaller than the delay time in which the machinery applies the brake This parameter will make the brake reliable and then turns off the servomotor excitation to guarantee against the small displacement of the servomotor or
111. xternal brake resistor value 10 750 50 Q ALL Setthe value of external brake resistor Theunitis set this parameter according to the value of real external resistor Default l The power of external brake Range Unit Usage value resistor 10 10000 60 W ALL Setthe power of external brake resistor Theunit is W set this parameter according to the rated power of real external resistor Fan alarm on P094 Default K Range Unit Usage Fan alarm on value 0 1 V ALL Set it as 0 neglecting fan alarm Set it as 1 fan alarm on Default f the temperature point of working Range 1 Unit Usage value fan E PSP 50 C ALL Setthe temperature point when the fan begins to work When the module temperature is higher than this value the fan begins to work When it is lower than this value the fan stops working IUE Items of initial display Default s Range Unit Usage value 02229 0 ALL Set the display status on the front panel after turn on the power supply The meanings of this parameter are 71 P096 Display item P096 Display item 0 Speed of servomotor 12 Reserved 1 Original Position command 13 Reserved 2 Position command 14 Digital input DI 3 Position of servomotor 15 Digital output DO 4 Position deviation 16 Signals of encoder 5 Torque 17 A

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