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FDA7000 Series manual

1. 3 phase within AC200 230V permitted by the servos PRase 7 for use For the power voltage of AC400V level SA A y temperature Set the ambient always use the power transformer MEO 2m temperature to below 50 C and at d Hoe Y i an average of 40 C EE AE ER EE TE Te Duca pua CRM RR UR DN ENG f d NFB No Fuse Circuit Breaker It breaks the circuit when over current flows and is used for power line NFB EE EE EED maintenance 2 CN This is the connector to TE ne nn nnn nen n nee n nee e ee a i connect the servo drive to the higer p device You can connect to the s higher device including PLC NC Motion controller etc EE OR E G WI UNT ULL A Ra DER DAD LO ya Noise filter You must use this to blocks the external noise inflowing in the commercial power 7 9o ooo oo o9 o9 NOISE FILTER L GND i Magnetic contactor It turns on off the servo power Do not start or stop the servo with this magnetic contactor It can reduce the life of the servo Magnetic Contactor 0 Wiring Mis wiring can damage the servo driver 1 The control signal line must be sufficiently away N
2. FDA7001 FDA7002 connection terminal The usage and wiring method of FDA7001 FDA7002 are as follows 1 As the main power of the power circuit connect the R S and T terminal to 3 phase AC200 230 V It is possible to use 2 phase 220V then the output is lower than rated 2 Connect the regenerated resistance between the terminals P and B 3 At the U V and W terminal connect the U V and W phase of the servo motor 4 Ground the FG terminal Connect the grounding wire of the servo motor with this terminal 5 When main power is DC voltage supply DC280 325 V between P and N 6 Don t supply AC power between P and N AC SERVO FDA7001 FDA7002 Operating device Wire thickness AWG 16 1 25mm Open close device GMC 12 13A level product ABS33b 5A level product Noise filter NFZ 40305G 30A External regenerated SOW 500 resistance V Open close device and breaker LS Industrial Systems http www Isis biz V Noise filter Samil Components http www samilemc com 2 3 2 Wiring and connection HIDIEN 2 2 2 Medium type terminal connection O ala lol On O 00 00 0 O 00 O FDA7004 7004B FDA7010 connection terminal The usage and wiring method of FDA7004 7004B FDA70010 are as follows 1 As the main power of the power circuit connect the R S and T terminal to 3 phase AC200 230 V 2 As the auxilia
3. 430 3430 33O 0L SL 0d peeds AOL Y NO NO NO 20 p04 Zpaeds indui e11b1g o NO NO 4H4O 4 90 v0d 9peeds indu e11b1g NO 33O NO G Go po4 spaeds indu reubid NO 34O 34O0 CA FO rOd rpeeds indu jesa 440 NO NO Ce o po4 epaeds indui peysa 44O NO 4AO Q z0 p04 2paeds indu jeq 44O 44O NO CA L0 70d Lpeeds indu e11b1g edds zads rads uonoejes PUBLULUOD paads anjea jas indui juiod 19831002 L2 0d 6umes abeyoA duer oz o4 Bumes epouu due o SDOIN AN dwejo bar EE EE NIGdS 0001 Ey Z1 od uaujsn pe ome eDeyo J9SHO 8L 0d Bumes efe3o 19sHo 4 1 4 Servo using method and gain adjustment m HIGEN 4 1 1 CN1 wiring diagram for speed control servo NFB MC1 Servo Drive STO o PIO R y y P AC 200 230V ower AC 200 230 p NF H s FDA7000 Y gt o w Q T note 1 FGO Brake power input terminal Regenerated OP resistor note 3 OB CN1 input CN3 Digital Loader 24V_ EA E y 53k d 4 PC Loader RS232C Q D E Network communication S3ky 4 RS485 RS232C L Ew L E us e te output Sg orf te Boo T Sa sa STOP as ES MONIT2 Ew svonen Je H Else low ALMRST n es pe dak 3K y INSPD INP iii 16 ar Eu CW
4. torque 3 Rated torque is 5 V PO9 02 Monitor ABS 1 Unit Display range rdi Speed Torque ON OFF Position control OFF Manufactured E Unit Display range Speed Torque P09 06 Monitor ABS 2 ON OFF pin E onic OFF Output by distinguishing the sign ON Output in absolute value without distinguishing the sign Manufactured g Unit Display range Speed Torque P09 03 Monitor Scale 1 0 1 20000 iru SE Oe P09 07 Monitor Scale 2 EE DEP ange mum speed Torque 0 1 2000 0 Position control Basic ratio Actual speed command speed Maximum speed 5 V Actual torque command torque 3 Rated torque 5 V Feedback pulse command pulse 20000 pulse 5 V 3 35 3 Parameter setting Hil EN P09 04 Monitor oftset1 Unit Display range ota Speed Torque mV 1000 0 1000 0 Position control Display range rac Speed Torque 1000 0 1000 0 0 0 Position control Monitor Offset 2 3 11 Jog operation parameter setting Manufactured Unit Display range Speed Torque JOG 01 KEY SOJ Mode ON OFF en Position control This sets the key jog operation mode by left and right key If you set JOG 01 to ON it switches to the jog mode without external command to turn on the servo At this time press the left or right button to turn in the CCW direction or CW direction at the speed set in JOG 02 Manufactured Unit Display range Speed Torque JOG 02 Key Jog Speed 9999 9 9999 9 prion Position
5. Servo ready status output status output INSHD ROS P08 04 CN1 47 e INTRQ Set speed reach completion output SPDOUT P08 05 CN1 21 NES TRQOUT Torque limit status output Speed control P08 06 CN1 46 ALARM Alarm generation status output PCWOUT uM P08 07 CN1 20 PTQOUT CCW torque limit status output Speed control NCWOUT P08 08 CN1 45 a NTQOUT CW torque limit status output Speed control P08 09 CNi 19 4 ZRA ZIRQ o Zero torque reach output Zero torque reach output reach output P0810 CNi44 0 Domuetheopulunon GNDMV ONiz2425 2Vcommnipu EXTaav CNi49 2A extemalinput 0 o 3 34 3 Parameter setting Gun HIDIEN 3 10 Analog monitor function setting The internal speed command speed torque command torque feedback pulse and command pulse of the servo can be monitored externally through analog monitor 1 and monitor 2 The output voltage range is 5 5 V The following are the parameters related to the monitor use Manufactured g Unit Display range Speed Torque Manufactured 3 Unit Display range Speed Torque This sets the parameter to monitor the internal variable of the servo drive in analog output Actual Command Actual NC E NL NN E speed speed torque torque pulse pulse variable rpm rpm 96 pulse pulse When the monitoring scale value is 1 the maximum speed output is 5 V and maximum
6. GD A Allowable load inertia 10 times or less ratio Versus rotor Detector 17 33 bit 131072 p rev or 2000 6000 p rev type Absolute 17 33 bit 131072 p rev or 11 13 bit 2048 p rev wag kg Torque speed characteristics TNOS TNO9 TN13 TN17 Torque N m Torque N m N Nm N i y Torque N m Torque N m 10 15 LL 2000 3000 1000 2000 3000 1000 2000 3000 1000 2000 3000 1000 Revolution speed r min Revolution speed r min Revolution speed r min Revolution speed r min A Continuous duty zone amp B Intermittent duty zone TN20 TN30 TN44 TN75 Torque N m Torque N m Mm 0 XT cT EC Lr 40 RR EE PES 18 MEM 30 a Torque N m 15 1000 2000 3000 Revolution speed r min 1000 2000 3000 1000 2000 3000 1000 2000 3000 Revolution speed r min Revolution speed r min Revolution speed r min Appendix V Servo motor specification DERS Motor FMA LNO3 LNO6 LNO9 LN12 LN12A LN20 L N30 LN40 EC ESC E E E Flange Size pesos ow ao oo os no pus Dum e T a rms ii Lo heen wel ee er se ar ss ne we Max rpm i 2000 ET TE EE TE Er ar neta GD 4 UIS o 10 times or less ratio Versus rotor Detector 17 33 bit 131072 p rev or 2000 6000 p rev type Absolute 17 33 bit 131072 p rev or 11 13 bit 2048 p rev Wagn ET Torque speed characteristics LNO03 LNO6 LNO9 LN12 T N TEI n o
7. 35 KF TF LF 1 5 REFERENCE DIAGRAM Radial Load 1 Model check and handling Gen Hil3beN 4 Accuracy of attachments The accuracies of the shaft and attachments of the AC servo motor are shown on the following table Accuracy Reference Diagram T LR g Perpendicularity of flange attachment plane and output shaft A 0 04mm Eccentricity of flange fitting outer diameter B 0 04mm Vibration of shaft end C 0 02mm Note T I R Total Indicator Reading 5 Impact resistance The AC servo motor withstands two times of impacts with an acceleration of 10G when up and down impacts are applied after setting the motor shaft horizontally However a precision detector E ON E 1 is attached to the end of the shaft on the opposite side of the load take caution not to apply impact directly to this end LW Eb 4 6 Vibration resistance XN a EE EE The AC servo motor withstands a vibration x Lt acceleration of 2 0G when vibration is applied in ZU TN up and down left and right and front and back directions after setting the motor shaft horizontally Vibration grade The vibration grade of the AC servo motor is V15 at the rated rpm 8 Direction of installation Motor can be installed horizontally or at the top
8. Display range Display range 0 0 500 0 Display range 0 99999 Manufactured default 0 0 Manufactured default By capacity Manufactured default By capacity Manufactured default 0 Position control Position control Position control Position control In position control mode when the error between command pulse and actual movement pulse exceeds the set value of P05 07 it converts to P control mode to reduce the overshoot Display range 0 99999 A pulse m ELCTR Gear NUM 1 ELCTR Gear DEN 1 ELCTR Gear NUM 2 ELCTR Gear DEN 2 ELCTR Gear NUM 3 Display range 0 99999 Display range 0 0 2000 0 Display range 0 0 2000 0 Display range 1 99999 Display range 1 99999 Display range 1 99999 Display range 1 99999 Display range 1 99999 3 22 Manufactured default 100 Manufactured default 30000 Manufactured default 0 0 Manufactured default 0 0 Manufactured default 1 Manufactured default 1 Manufactured default 1 Manufactured default 2 Manufactured default 1 Position control Position control Position control Position control Position control Position control Position control Position control Position control 3 Parameter setting Hil EN Display range Manufactured P05 17 ELCTR Gear DEN 3 y default Position control 1 99999 4 l Display range Manufactured P05 18 ELCTR Gear NUM 4 ue DEOS default Pos
9. Display range 0 0 9000 0 Display range 0 0 9999 9 Display range 0 0 9999 9 3 16 Manufactured default By capacity Manufactured default By capacity Manufactured default By capacity Manufactured default By capacity Manufactured default 0 0 Manufactured default 0 0 Manufactured default 0 0 Manufactured default 0 0 Manufactured default 10 0 Manufactured default 10 0 Speed position control Speed position control Speed position control Speed position control 3 Parameter setting be Manufactured P03 15 10 V RPM Display range default Speed Torque 0 0 9999 9 Applied motor control rated speed This sets the command speed range of the 10 V analog voltage when the servo drive is in speed control or torque control mode Set speed PO3 15 Manufactured P03 16 10 V RPM Display range default opeed Torque 9999 9 0 0 Applied motor control rated speed This sets the command speed range of the 10 V analog voltage when the servo drive is in speed control or torque control mode Voltage oet speed PO3 16 3 Parameter setting Hil EN P03 17 Auto Offset Unit Display range iss Speed Torque ON OFF OFF control It automatically adjusts the offset voltage of the servo drive for the analog 0 V input of the host controller At first servo off and then supply the zero speed voltage to the speed input pin of CN1 connector And t
10. Error Pulse 1 pulse 99999 99999 Position StE 09 Command Torque 3000 3000 Speed Torque Position StE 10 lLoadRate 3000 3000 Speed Torque Position _ StE 11 Max Load Rate 300 0 300 0 Speed Torque Position StE 12 COWTROLMT 00 3000 J Speed Torque Position _ StE 13 CWTRQLMT 3000 00 Speed Torque Position StE 14 Inertia Ratio 00 500 20 Speed Torque Position StE 15 MULTITums rev 0 999999 Speed Torque Position StE 16 Single Turn 0 999999 Speed Torque Position StE 17 VOStatus 0 999999 Speed Torque Position StE 18 PROGVerssion 00 9999 Speed Torque Position _ PO1 01 Motor ID GEN 00 99 Bycapacity Speed Torque Position P01 02 Inertia gfcms 0 01 999 99 By motor type Speed Torque Position P01 03 P01 04 P01 05 P01 06 P01 07 P01 08 P01 09 PO1 10 Pole Number Pole 2 9 By motortype Speed Torque Position PO1 11 DrvelD 0 45 Bydrvetype Speed Torque Position PO1 12 EncoderID EncO R tncA Speed Torque Position P01 13 P01 14 PO1 15 COMBaud Rate 0 15 O Speed Torque Position Poi 16 SerialSelect 0 2 O Speed Torque Position PO1 17 J Seial O 0 2 0 Speed Torque Position Pot 18 SerialiD 1
11. Unit Display range Manufactured dis reponse 96 0 0 100 0 bid Position control Enter the feedforward ratio for the position command speed in unit When this value increases it can reduce the position decision time but if set to high it can cause an overshoot or vibration to the machine If this value is set 0 the position controller becomes simple position loop control mode Refer to the Max Value Feedforward according to the following R Speed loop gain Position loop gain i A RR FF TC e etung range ota Position control ms 0 0 2000 0 Enter the 1 filter TC in ms unit of the feedforward input of the position command speed The entered position command is divided and processed through the 1 filter before being used as the feedforward input the TC of this filter can be adjusted In the applied field where the position command changes abruptly set this value high and in applied field where the position command changes smoothly set this value low If you do not want to use this filter input O Recommended setting condition P05 11 Feedforward TC x 1000x Max ValuelFeedforward Feedforward 100 PC P Gain 7 Position command pulse TC setting POS CMD TC Unit Display range ota Posion contol s 0 0 2000 0 Set the filter TC on the position command pulse input for smoothing operation in the position 4 Servo using method and gain adjustment Hn BERN control mode If you would like to e
12. Ground the FG terminal Connect the grounding wire of the servo motor with this terminal 2 6 2 Wiring and connection HIGEN FDA7015 FDA7020 FDA7030 AC SERVO operating FDA7045 HE 77A FDA7015B FDA7020B FDA7030B a thickness AWQG 12 3 5mm AWG 10 5 5mm Open close device device GMC 40 35A ABS33b Breaker 10A Noise filter GMC 50 50A level product ABS33b ABS33b 30A 20A Level product NFZ 4030SG NFZ 4040SG 30A 40A 250W External regenerated 250 250W 250 parallel 2 units resistance External External diagram A diagram A V Open close device and Breaker LS Industrial Systems http www Isis biz V Noise filter Samil Components hitp www samilemc com External view A 2 7 2 Wiring and connection HIGEN 2 3 CN1 I O signal explanation 2 3 1 CN1 terminal arrangement CN1 is the connector located on the top right part of the front side of the servo device This connector is used for connecting the host controller that commands the operating device and the operation The pin arrangement and name of the CN1 connector are as shown in the following picture y SPDLIM TLIM GEN SVONEN El ALARM INSPD INP OS INTRQ B GND24 PPFIN STOP CCWLIM PTQLIM SPD2 GEAR2 OO A CODE ho ND de TROIN PZO PAO ALMRST CWLIM NIQLIM SPD3 A CODE2 SPDOUT TRQOUT BRAKE V The above table indicates the refere
13. N form the main circuit wiring and it is very important not to be affected by the noise 0 Internal regeneratec resistor 0 lt Digital Loader gt It sets various parameters anc displays the operating status DC power When main power is DC voltage supply DC 280 325 V between P anc N Grounding To prevent electric shock the terminal of motor and drive must be grounded in type 3 i or above grounding to the closest point PC Communications Motor power wiring The U V W and F G terminal of the drive and motor must be aligned i d Motor Do not apply impact to the shaft and detector of the motor with a hammer etc i LIAA EE EE NEE EEN Ar LITT TT AAT E AUT ART LILLY YY LELLI Encoder wiring Connect the connector of the encoder cable At the U V and W terminal connect the U V and W phase of the servo motor Ground the FG terminal Connect the grounding wire of the servo motor with this terminal When main supply is DC voltage supply DC280 325 V between P and N Don t supply AC power supply between P and N 2 2 2 Wiring and connection HIDIEN 2 2 Main circuit terminal 2 2 1 Small type terminal connection lt J U pad Y Pa oa P Sc N T 1 K TOR A x N A ai pS e i CONS A Ts 1 Pol II
14. NM Apply variable gain using gain 1 PO3 05 P03 06 and gain 2 P03 07 P03 08 according to set speed P02 20 P02 21 for the speed controller NM D variable gain using gain 1 PO3 05 P03 06 and gain 2 P03 07 PO3 08 according to set torque P02 22 P02 23 for the speed controller gain mar Select gain 1 P03 05 P03 06 or gain 2 P03 07 PO3 08 by the external contact point signal for the speed controller gain 2 Set the SC loop gain 1 and 2 applied by the set value of PO3 01 SC Loop Gain1 pu Display Tange dei Speed torque P Hz 0 0 1000 0 E control y capacity P03 07 SC Loop Gain2 Unit Display range cda Speed torque P Hz 0 0 1000 0 B control y capacity 3 Set SC TC1 and 2 applied by the set value of PO3 01 P03 06 SC TC1 Unit Displayrange Madea o Speedtorque ms 0 0 10000 0 B control y capacity 3 4 1 2 5 P03 08 SC TC2 Unit Displayrange Mademu Speeditorque ms 0 0 10000 0 B control y Capacity 4 3 4 Servo using method and gain adjustment HIGEN Command speed 1 K x l14 md f Th sc i s Feedback speed Kp sc SC Loop Gain T sc SC TC 4 This sets the inertia ratio Manufactured Unit dod range Speed Torque System inertia Motor inertia Load inertia Motor inertia Load inertia 5 When P03 01 3 the variable gain is applied based on the following gain adjustment speed 1 and 2 Display range SIMI ES Speed Torque
15. Temporary Stop menu value the stop operation is converted 3 13 3 Parameter setting HIDIEN Unit Display range Manufactured Emergency Stop i Mey el default Speed Torque Position control As the emergency stop it sets the operation of the set input contact point Depending on the menu value the emergency stop operation is converted Unit Display range Manufactured P02 27 Direction Select default ON OFF EE Speed Torque Position control As the direction function it sets the operation of the set input contact point Depending on the menu value the direction select is converted Unit Display range Manufactured P02 28 Ripple COMPEN dl ON OFF OFF Speed Torque Position control In case of speed ripple during operation this function can reduce the speed ripple You can select from the following set values Use speed ripple compensation function Do not use speed ripple compensation function Unit Display range Manufactured P02 29 Parameter INIT deai ON OFF OFF Unit Display range Manufactured Servo OFF Delay time default ms 0 0 1000 0 we Speed Torque Position control Speed Torque Position control When using the servo motor to control a vertical movement machine the structure movable part may be moved toward the downward depanding on brake timing due to the gravity or external force By using this parameter to delay turning the servo off that movement can be
16. rev JOG 14 Jog Speed 6 rpm 9999 9 9999 9 400 0 Speed Torque Position JOG 15 sec rev JOG 16 JOG 17 sec rev JOG 18 JOG 19 sec rev ALS 01 CurrentAlam o 4 no Speed Torque Position ALS 02 Alarm Reset ON OFF OFF Speed Torque Position ALS 03 AlarmHistory1 0 32 O Speed Torque Position ALS 04 Alarm History2 0 32 O Speed Torque Position ALS 05 AlamHistry3 0 32 O Speed Torque Position ALS 06 Alarm History4 0 32 O Speed Torque Position ALS 07 Alarm History5 0 32 O0 Speed Torque Position ALS 08 AlamHistory6 0 32 O Speed Torque Position ALS 09 Alarm History 7 0 32 O Speed Torque Position ALS 10 AlarmHistory8 0 32 O Speed Torque Position ALS 11 Alarm History9 0 32 O Speed Torque Position ALS 12 Alarm History 10 0 32 O Speed Torque Position ALS 13 History Reset ONOFF OFF 9 Speed Torque Position Y The parameter with the symbol cannot be changed when the SVONEN input contact point is ON Appendix IV IV 1 Revision record 2007 07 Issued initial version 2008 01 1 correction Function correction and contents modification Appendix V Servo motor specification Appendix V explains the servo motor specification
17. 0 1000 Characteristics of individual controller a Pl speed controller It has excellent acceleration deceleration and good responsiveness characteristics but can cause large overshoot b IP speed controller It has lower acceleration deceleration and responsiveness characteristics compared to the PI speed controller but it can suppress the overshoot to reduce the vibration You can adjust the controller set ratio with the desired performance by considering the responsiveness and overshoot Y P03 02 100 Applied to PI speed controller PO3 02 O Applied to IP speed controller 4 6 HIDIEN 4 Servo using method and gain adjustment 4 2 Gain adjustment method for position control mode This explains the position servo control mode and gain adjustment method The following diagram shows the generating seduence oi the speed command for position control dois Aouebiew PWI uonnjoAeJ MO 60 S0d esind 10106 mollod enpeA ies lt Jo eseo ul P dic jol Puimojoy 4 indu julod j2e1u09 Jo aseo ul we uM Jejunoo peiejduuoo uonisod uI N t uonisog uonisog Jopoou3 80 S0d uomsod ul NO Uaym 189 5 PUPLULUOD H10 g uonisod le ed 2 90 S0d S0 S0d y eusaju 19114 Jajuno9 NIHA NIHdd M ueb d Dd Joa 1S4 asind p a
18. ADJ Speed 2 10 0 500 0 Manufactured default 2 0 Manufactured default 800 0 Manufactured default 100 0 HIDIEN Speed Torque Position control Speed Torque Position control Speed Torque Position control When executing the control gain conversion by operation speed of the servo motor it decides the speed converted by the control gain Command speed Display range 50 0 300 0 Gain ADJ TRQ 1 Display range 0 0 300 0 Gain ADJ TRQ 2 Manufactured default 150 0 Manufactured default 50 0 Speed Torque Position control Speed Torque Position control When executing the control gain conversion by operating torque of the servo motor it decides the torque converted by the control gain 3 12 3 Parameter setting Gun HIQEN Speed Command speed Ya Actual speed Torque Internal command speed Gain Gain2 Display range ita i Speed Torque 0 0 10000 0 100 0 Position control Contact Gain TC When executing the control gain conversion by the external input contact point it decides the control gain conversion time Gain conversion contact point OFF ON OFF GAITRS Gain2 Applied gain P02 24 100 ms gt lt Manufactured default OFF As the stop function it sets the operation type of the set input contact point Depending on the Speed Torque Position control Display range ON OFF
19. Note The above connection is only shown in case of P07 01 27 Position control mode 7 5 7 Connection with host controller HIDGEN Connection with Mitsubishi Electric position decision unit AD 75 gt This is an example of position control mode servo system operation SERVO MOTOR FDA7000 AC 200 230V 50 60 Hz 24V MITSUBISHI AD75 l GND24 24VIN SVONEN CCWLIM PTQLIM CWLIM NTQLIM 5 ESTOP PPRIN PLSCLR EBENE CLEAR COM Note After connecting the power it takes about 1 2 seconds until the alarm signal leads to normal operation Consider this when designing the power connection sequence Also the alarm signal operates alarm detection relay 1Ry to turn on the main circuit power of servo drive It only has the signals related to Mitsubishi AD75 and FDA7000 Series Note The above connection is only shown in case of PO7 01 27 Position control mode 7 6 7 Connection with host controller HIDGEN Connection with Electric position decision unit AD72 2 This is an example of speed control mode servo system operation SERVO MOTOR FDA7000 MITSUBISHI AD72 A CCWLIM PTQLIM CWLIM NTQLIM ESTOP o o 9 EK rd a enl GND24 PULSE A PULSE B Note After connecting the power it takes about 1 2 seconds until the alarm signal leads to normal operation Consider this when designing the power connection sequence Also the alarm signal operates alarm detection r
20. OUTPUTA 4 i PO amp 05 Digital OUTPUTS Ud i PO amp 06 Digital OUTPUT E EE EE i PO amp 07 Digital OUTPUT i PO amp 08 Digtal outputs 0 18 15 Speed rTorque Position PO amp 09 Digtal OUTPUTS Po amp 0 Digital OUTPUT i0 0 18 17 Spe odrTorque Position 5 Speed Torque Position 7 Speed Torque Position Speed Torque Position Speed Torque Position Speed Torque Position PO9 01 Monitori 0 5 O Speed forgue Position P09 02 Monitor ABS 1 LE ON OFF Speed Torque Position P09 03 Monitor Scale 1 04 2000 0 Speed Torque Position Appendix Parameter table Hil EN Monitor Offset 1 1000 0 1000 0 00 Speed Torque Position Monitr2 S 0 5 1 Speed Torque Position P09 06 Monitor ABS 2 ON OFF OFF Speed Torque Position PO9 07 MonitorScale2___ 01 20000 10 Speed Torque Position PO9 08 MonitorOffset2 mv 10000 10000 00 Speed Torque Position JOG 01 Key Jog Mode ONOFF OFF 9 Speed Torque Position JOG 02 JOG 03 Auto Jog Mode 0 2 0 Speed Torque Position JOG 04 Jog Speed 1 rom 9999 9 9999 9 100 0 Speed Torque Position JOG 05 sec rev JOG 06 JOG 07 sec rev JOG 08 Jog Speed 3 9999 9 9999 9 opeed Torque Position JOG 09 sec rev JOG 10 JOG 11 sec rev JOG 12 JOG 13 sec
21. RS485 RS232C FDA7001 02 type does not have the supplementary power r t terminal Note 3 The recovery resistances of FDA7004 FDA7010 are installed inside the driver as an internal type The regenerated resistance of the FDA7001 7002 7004B FDA7015 type or above is the separately installed type check the capacity and apply accordingly Note 4 Connect the ground wire of CN1 cable to the F G Frame Ground terminal 2 9 2 Wiring and connection HIGEN 2 3 3 Variable input signal function table Based on manufactured default Signal content Function and usage explanation l It decides whether the servo motor can be operated or Servo drive Enable SYOREN not ON Enable OFF not Enable oo 1 SPD1 EM ae GEAR1 selection 1 Internal command speed selection by 3 signal SPD1 SPD2 SPD3 combination Speed control Speed selection 2 SPD2 a aea 17 a ual Electronic gear ratio selection by 2 signal GEAR1 GEAR 2 combination Position control Speed selection 3 SPD3 42 Selects the Speed Position Torque input direction Direction selection 16 OFF Positive direction selected ON Negative direction selected m Limit signal input on CCW Speed control ill ue limit pe 15 Positive torque generation prohibited Torque control q ON Cancel OFF Prohibited Limit signal input on CW Speed control id si N ue limit ICI 40 Negative torque generation prohibited Torque control 9 q ON Cancel OFF Pro
22. T 2 2 Incremental pulse PAO Negative T 2 22 2 4 1 A phase A phase T 2 2 2 8 Incremental Incremental pulse pulse PBO Negative pr B phase B phase i 90ms Type 60ms Min 50ms 260ms Max about 15ms i8 9msi 400ms Max 2 19 Chapter 3 Parameter setting Chapter 3 explains the individual servo parameter setting according to the usage The parameter setting can be executed with the internal mount loader and digital loader and refer to Chapter 5 for details on how to use the internal mount load and digital loader The parameter NO with the symbol marked indicates that the value can only be corrected when the SVONEN input contact point is OFF 3 1 Status display Parametros iia 3 1 3 2 Motor and operating device setting ee ee RR ee ee ee EE ee 3 5 3 3 General control parameter setting se ee RR ee ee ee EE ee 3 8 3 4 Speed control pararmeter settiNg iese ee ee ee EE ee ee ee ee 3 15 3 5 Input contact point digital speed and torque setting 3 20 3 6 Position control parameter setting oocccocncconncocncconiconoconcnnannnnnos 3 21 3 7 Torque control parameter setting iese ee EE Ee RE ee ee RE ee ee Ee ee 3 23 3 8 Input contact poi
23. TM E STOP du CN1 PIN No Output Initial SPDOUT allocated TRQOUT value 3 3 3 Parameter setting Gun HIDIEN lt For digital loader gt The following table shows the PIN allocation based on the manufactured default value CN1 PIN 43 17 42 16 41 40 39 13 No Svon SPD1 SPD2 SPD3 DIR PI P con CWLIM seer ESTOP STOP iia Input l Motor in Internal command speed 1 E i Operation l l l MEN operation selection l l l used used used content used 22 N1 PIN x No INSPD 20 45 19 44 Output INPOS SPDOUT ALARM A CODEO A CODE1 A CODE j INTRQ TRQOUT fe tele fa Speed torque Normal limit not in condition process osition to 0 speed Servo rque reached ready cancel reached condition condition condition Setting range Manufactured Speed Torque sem FEE aon 0 0 99 99 default Position control This menu displays encoder type program version and drive capacity Operation Not used content Normal condition First character Encoder type 1 incremental type S serial type Second character Drive capacity S small 8 middle L large Remainder character software version Ex SS 1 15 Serial encoder small capacity drive S W version 1 15 3 4 3 Parameter setting 3 2 Motor and operating device setting P01 01 Motor ID Setting range GEN 00 99 Manufactured default By capacity HIDIEN Speed Torque Position cont
24. V 1 Servo motor specification Appendix V Servo motor specification DERS V 1 Servo motor specification Fasech SYS edo W a Padome am om 95 e e Max instantaneous current A rms Nim Rated torque kgf cm Instantaneous torque kgf cm Rated rpm r min Max rpm r min Rotator gf cm s Inertia gt v GD 4 kg m x 1077 Allowable load inertia ratio versus rotor Rated power rate kW s Detector Incremental 17 33 bit 131072 p rev or 2000 6000 p rev type Absolute 17 33 bit 131072 p rev or 11 13 bit 2048 p rev Wen ET Torque speed characteristics CKZ5 CKO1 CK02 CK04 Torque N m Torque N m Torque N m Torque N m jy IE 1 0 IE EM 0 1 NE A o8 A 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 Revolution speed r min Revolution speed r min Revolution speed r min Revolution speed r min A Continuous duty zone amp B Intermittent duty zone V 1 ificati Appendix V Servo motor specification DERS Flange Size Ratedoupst Wy soo ze ooo w soo e coo ow sus BENE N Max instantaneous current 3 75 6 3 84 8 55 105 1254 174 A rms wim ose oes 096 127 150 127 191 250 018 Rated torque TIT Mak oust myl os 182 268 ar er as sa ees 05 Instantaneous Foo Sobra te mixto cos omo oss wies
25. changing menu and parameter ENTER Key Change parameter confirm parameter ENTER Motor ID Motor IO The changeable position is PO1 01 P01 01 11 indicated by the cursor UP Motor ID The value increase by 1 PO1 01 jo with the UP key Motor ID The cursor moves to the P01 01 12 right with the RIGHT key UP Motor ID P01 01 22 Motor ID The editing is completed PO1 01 29 with the ENTER key 5 10 Chapter 6 Troubleshooting and check Chapter 6 explains the method of action and check for the issues that can occur during servo operation 6 TroublesHooling ES di 6 1 A EN 6 4 6 Troubleshooting and check 6 1 Troubleshooting 6 1 1 Servo motor Symptom Cause Parameter mis setting Overload Motor does not start Motor defect Loose screw Encoder defect Wiring connection defectiveness Motor Lowe OR revolution ow Input voltage is unstable Overload High ambient temperature Contamination on Motor is motor surface over heated Overload of magnet Coupling defect Abnormal noise is generated Bearing problem Parameter mis TC External mis wiring Cable disconnection HIDIEN Corrective Actions Check the parameter of Reset parameter motor encoder encoder HOS ed type control mode etc Refer to Chapter 3 Check the revolution l ino Ee E Readjust the machine device Measure the motor lead For normal voltage replace the
26. control This sets the operation speed of the key jog mode Manufactured Unit Display range Speed Torque This sets auto jog mode operation Auto jog mode supports 8 step repeated pattern operation and the patterns support the No 1 Auto jog mode that sets the revolution speed rpm and revolution time sec and No 2 Auto jog mode that supports the revolution speed rpm and revolution rev Set value Operation explanation 0 Do not use auto jog mode L9 E speed Use revolution time auto jog mode Revolution speed Use revolution auto jog mode JOG 04 Jos er Unit Display range Me bs Speed Torque 9 gt P rpm 9999 9 9999 9 08 Position control Manufactured E Unit Display range Speed Torque JOG 05 Jog lime1 REV1 gecltrev 0 00 5000 00 a Position control Manufactured Unit Display range Speed Torque 2006 06 so Pere 9999 9 9999 9 pin Position control 3 36 3 Parameter setting Unit Display range e sec rev 0 00 5000 00 Sm SUD Pislay range Sm Jog Time2 REV2 Unit Display range dog TimeSIREVS miecWtrev 0 00 5000 00 Display range 9999 9 9999 9 Jog Time4 REV4 Unit Display range Jog TimeS HEVS seejirevl 0 00 5000 00 Display range 9999 9 9999 9 Unit Display range Jog TimeS REVS isecl rev 0 00 5000 00 Unit Display range Jog Time7IREV iseejrevl 0 00 5000 00 Display range Jog Speed 8 9999 9 9999 9 Unit Display range
27. gear ratio x Reduction ratio Command unit 5 The result of calculating the electronic gear ratio must be between 0 05 20 8 Set the applicable parameter Position completion range setting In position control mode the positioning completed signal in output when the difference between the number of command pulse output by the host controller and the movement distance of the servo motor in less than value set in user menu PO8 Command speed Fr z Actual speed Time sec In position completion range ON In position completion OFF Time sec Appendix Servo system application AS 2 Example of other application A Rotary table Rotary table ACO NW a ee PAD Speed pattern Worm gear Servo motor N NON PW Reduction gear Process Process Process Prepare the motion program in the host controller Enter the operating signal and operate the angle After angle operation position decision completion signal INPOS is sent out externally B Roll feeder Pressor Feed roll EX EN mi gt Conveyor u 7 E E i I A Servo motor Induction motor Deceleration pattern i Press Press Set the feed to the work Operate the position according to the feed start signal input from the press By using the position decision completion signal execute the press work The position decision completion signal and feed start sign
28. maximum command Can be adjusted with parameter control Torque linearity 4 96 or below specific TT imited speed maximum m ation Gc EM DC 0 10 V maximum speed Can be adjusted with parameter Over current recovery over voltage over load motor mis wiring Protection function Encoder problem insufficient voltage over speed over tolerance etc Regenerated 50 50 70 50 250 25 500 12 5 Internal resistance W Q function Monitor output Speed torque 5 5 V epe M E Test function Jog and no motor operation alarm record Additional function CW CCW revolution encoder signal division output Motor power cable Encoder cable CN1 connector CN2 connector ption Digital loader E Ambient humidity 90 or below There should be no steam pod Note 1 This indicates the input voltage and frequency range that assures the motor rated output and rated revolution speed This is not assured during voltage drops 1 2 1 Model check and handling HIDIEN 1 3 Combination table of servo drive and motor Drive FDA70 CN CK KN Series TN Series LN Series KF Series TF Series LF Series Series 3000 6000 2000 3000 1500 3000 1000 2000 2000 3000 1500 3000 1000 2000 rpm rpm rpm rpm rpm rpm rpm CKZ5 CNO CKO1 CNO CKO 04 04B KNO3 X O4E KNO5 LNO3 LF03 05 CNO6 KNO6 N TN LN TF LF xose CNOB Mes TN05 06 TFO5 06 CNO9 KFO8 KNO7 15 15B CN15 KN16 TN1
29. me me or emen ra nn Instantaneous torque kgrom 876 146 214 292 202 4869 438 657 727 08 Rated rpm r min 3000 2000 Max rpm r min 5000 4500 3000 Rotator 11 12 14 63 EOE AK AK ICICI inertia GD 4 PET 14 34 Allowable load Inertia 10 times or below 20 times or below ratio Versus rotor Detector 17 33 bit 131072 p rev or 2000 6000 p rev type Absolute 17 33 bit 131072 p rev or 11 13 bit 2048 p rev ss zo 86 100 Weight kg Torque speed characteristics CNO9 CN15 CN22 CN30 CN30A torques m ow eem Tue m Een 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 Revolution speed r min Revolution speed r min Revolution speed r min Revolution speed r min Revolution speed r min A Continuous duty zone amp B Intermittent duty zone CN50A KNO3 KNO5 KNOG KNO7 Torque N m Torque N m Torque N m Torque N m Torque N m TT TT unma 1000 2000 3000 4000 5000 1000 2000 3000 1000 2000 3000 1000 2000 3000 1000 2000 3000 Revolution speed r min Revolution speed r min Revolution speed r min Revolution speed r min Revolution speed r min V 3 Appendix V Servo motor specification Motor Drive FDA7O Flange Size L Rated output FMA Hated current A Max instantaneous current A Rated torque Rated rpm Max rpm Rotat
30. prevent chips produced by drilling from getting into the drive Take appropriate measures to prevent oils water and metal powder from getting into the drive from openings in the control panels and the fan installed on the ceiling lf the drive is used in a place with large amount of toxic gases and dust protect the drive with an air purge 1 3 2 Servo motor installation 1 Operating environment Ambient EE 0 40 C There should be no freezing Ambient Pere 8096 RH or lower There should be no vapor External vibration vibration X Y 2 19 6 ms 2G 2 Caution when assembling load system Prevent impact on shaft It is important to accurately match the motor shaft with the shaft center of the connecting 1 4 1 Model check and handling HIDDEN machine Mismatched shaft center causes vibration and may cause damage to the bearing Use a rubber hammer to install couplings to prevent excessive force from being applied to the shaft and bearing Check 4 places in turn The difference between maximum and minimum should be 0 03 or pP 3 Load tolerance on shaft Use flexible couplings and maintain the shaft center deviations within the specified tolerance Use pulleys and sprockets with the allowable load MOTOR MODEL RADIAL LOAD AXIAL LOAD Type CNO1 CNOS 196 20 68 7 CNO6 CNO8_ 245 25 98 10 C KNO3 KNO7 245 25 98 10 KN KF15 KN22 686 70 343
31. ready status output status output INSPD INPOS P08 04 CN1 47 e INTRQ Set torque reach completion output SPDOUT P08 05 CN1 21 et TRQOUT Speed limit status output Torque control Alarm generation status output f PCWOUT CCW revolution speed limit status output i Di ones PTQOUT Torque control NCWOUT CW revolution speed limit status output ia hes E NTQOUT e a control P08 09 CN1 19 4 ZTRQ ZTRQ Zero Zero torque reach output 2 reach output P08 10 CN1 44 00 Do not use output function GND24V CN12425 24Vcommon input EXT24V CN1 49 24V external input X Speed control mode internal setting function table Output function ee table when P8 01 26 P08 01 CN1 23 Come SVONOFF Servo on off operation output P08 02 CN1 48 ME BRAKE Brake operation signal output P08 03 CN1 22 7 RDY RDY Servoreadystatus output Servo ready status output status output INSHD ROS P08 04 CN1 47 NS INTRQ Set speed reach completion output SPDOUT P08 05 CN1 21 NES TRQOUT Torque limit status output Speed control P08 06 CN1 46 ALARM Alarm generation status output PCWOUT uM P08 07 CN1 20 PTQOUT CCW torque limit status output Speed control NCWOUT P08 08 CN1 45 om NTQOUT CW torque limit status output Speed control P08 09 CNi i9 5 ZSPD ZSPD Zero speed reach output Zero speed reach output reach output P080 CNi44 8 PPIOUT P PI control mode st
32. resonance of the machinery Operation explanation mad Do not use the notch filter 2 1 Operate the notch filter 2 in the set resonance frequency and resonance bandwidth Manufactured Unit Display range Speed Torque Pona EE id 50 0 2000 0 picar Position control This sets the notch filter frequency 2 to reduce the resonance of the machinery 3 10 3 Parameter setting HIDIEN Display range Mente culos Speed Torque NF Bandwidth 2 default avi 10 0 99 9 Position control 95 0 Manufactured Display range Speed Torque Fa Ee TE 0 0 1000 0 B gerau Position control y capac ty P02 17 Auto Tunin Display range iio Speed Torque 9 O 1 0 Position control Manufactured default By capacity Speed Torque Position control Display range P02 18 System Response 1 19 The system response setting is to set the response to the target of the machine system P02 18 PO3 05 P03 07 P02 16 System Ee eae Speed P03 06 Speed P03 08 Command response oop gain 1 loop gain 2 control loop SC TC1 control loop SCTC2 torque filter setting Pg Pg gain 1 gain 2 TC s wes wea sso 100 xo 80 oa ia wee 600 tao eo 100 eo oz 35 wee aeo 1600 eo amo sa oz gt ow sme sme sme f os m0 ae e NEIN 3 11 3 Parameter setting Display range Inertia Ratio 1 0 50 0 Display range Gain ADJ Speed 1 100 0 5000 0 Display range Gain
33. so that the menu of P07 01 P07 12 is automatically reset with the applicable mode pin setting For more details please refer to the CN function table in the next page After 25 30 input to P07 01 menu PO7 O1 menu changes as 1 after 1 2 second P07 02 CN1 43 Unit Setting range ota Speed Torque Digital INPUT 2 0 20 Position control P07 03 CN1 17 Unit Setting range a Speed Torque Digital INPUT 3 0 20 Position control P07 04 CN1 42 Unit Setting range Speed Torque Digital INPUT 4 0 20 Position control P07 05 CN1 16 Unit Setting range anlar Speed Torque Digital INPUT 5 0 20 3 Position control P07 06 CN1 41 Unit Setting range ota Speed Torque Digital INPUT 6 O 20 Position control P07 07 CN1 15 Unit Setting range a Speed Torque Digital INPUT 7 0 20 Position control P07 08 CN1 40 Unit Setting range a Speed Torque Digital INPUT 8 0 20 Position control P07 09 CN1 14 Unit Setting range mum Speed Torque Digital INPUT 9 0 20 Position control P07 10 CN1 39 Unit Setting range a Speed Torque Digital INPUT 10 0 20 Position control P07 11 CN1 13 Unit Setting range a Speed Torque Digital INPUT 11 0 20 Position control P07 12 CN1 38 Unit Setting range a Speed Torque Digital INPUT 12 0 20 Position control This sets the input contact point function to control the operation of the servo drive from the host controller When you set the function applicable for each input contact point the
34. the parameter display the status check the sequence and alarm record by the loader The key function of the loader is composed of X Y coordination system which have vertical axis Up and Down button and horizontal axis Right and Left button The following diagram shows an overview aspect for loader menu UP KEY RIGHT KEY LEFT KEY Status Display Motor and operating EA EE ELE EE ee device parameter General control EE EE parameter Speed control A A A ee es EE EE parameter Internal speed torgue EE EN ET EED EEU GEE ue setting Position control L LA Me a L parameter Torque control EE ELE ME parameter Input contact point EES Ed EE EE setting Output contact point EL EE EE EL EL EN EE ES setting odd m pBna nT P08 Da EE P 09 00 Y When the power is initially connected the displayed screen differs depending on the coordinate StE 01 parameter For example if StE 01 1203 12 refers to the SIE menu and 03 to the StE 03 5 Servo operating eE 1 and 2 digit value PO1 P02 PO3 POA P05 PO6 PO7 PO8 PO9 JOG ALS StE mode mode mode mode mode mode mode mode mode mode mode mode S na mue e e ejw epe e e w e w w digit value Refer to each parameter item for the menu number of 3 and 4 digit 5 2 2 Parameter change 1 Parameter change UP Positive direction mode change increase in blinking value DOWN Negative direction mode change decrease in blinki
35. the power connection sequence Also the alarm signal operates alarm detection relay 1Ry to turn on the main circuit power of servo drive It only has the signals related to LS Industrial Systems XGF PD1A and FDA7000 Series Note The above connection is only shown in case of PO7 01 27 Position control mode 7 2 7 Connection with host controller HIDIEN Connect with LS Industrial System MASTER K position decision unit K7F POPA gt This is an example of position control mode servo system operation AC 200 230V 50 60 Hz 24V MASTER K K7F POPA GND24 Ban MM pa F Manual PULSE C MPGA C E 7 MPGB C DC 5 12V SERVO MOTOR FDA7000 24VIN SVONEN CCWLIM PTQLIM CWLIM NTQLIM ESTOP PLSCLR Note After connecting the power it takes about 1 2 seconds until the alarm signal leads to normal operation Consider this when designing the power connection sequence Also the alarm signal operates alarm detection relay 1Ry to turn on the main circuit power of servo drive It only has the signals related to LS Industrial Systems K7F POPA and FDA7000 Series Note The above connection is only shown in case of PO7 01 27 Position control mode 7 3 7 Connection with host controller HIDGEN Connection with LS Industrial Systems GLOFA PLC position decision unit G4F PP1O gt This is an example of position control mode servo system operation SERVO MOTOR FDA7000 G
36. together Appendix Noise control x Example of wiring when using multiple units of servo drives HIDIEN Multiple servos can share a single circuit breaker or noise filter Always select a NFB or noise filter that has enough capacity for the total power capacity of that system AC 200 230 V Main power ON Main power F OFF O O Noise sip Filter AE MC 1RY 2RY 3RY ak O O O O O O O O Surge Killer Servo Drivel FDA7000 Servo Drive2 FDA7000 Servo Drive3 FDA7000 NFZ 4030SG NFZ 4040SG 30A Y Recommended manufacturer Samil Components www samilemc com Appendix Parameter table Appendix Ill shows the full table of parameters mentioned in the manual 111 1 Parameter table ee ee Ill 1 A i P ppendix lll Parameter table HILIEN 111 1 Parameter table now Menu explanation Unit Set ngrange ep Comroliype StE 01 Displayselect 100 1330 1203 Speed Torque Position StE 02 Command Speed rpm _ 9999 9 9999 9 Speed Position StE 03 Motor Speed rpm 9999 9 9999 9 Speed Torque Position StE 04__ CCW Speed Limit rpm 0 0 99999 Speed Torque Position _ StE 05 CW Speed Limit rpm 9999 9 0 0 Speed Torque Position _ StE 06 Command Pulse pulse 99999 99999 Position StE 07 Feedback Pulse pulse 99999 99999 Position StE 08
37. 0 0 P03 04 0 0 P03 05 By capacity P03 06 By capacity P03 07 By capacity P03 08 By capacity P03 09 0 0 P03 10 0 0 P03 11 0 0 P03 12 0 0 P03 13 In Speed Range 00 999 10 0 P03 14 10 0 P03 15 Max motor speed P03 16 Max motor speed PO3 17 AutoOffset ONOFF OFF P03 18 0 0 P03 19 OverideENB ONOFF OFF PO3 20 Clamp Mode 0 2 0 P03 21 0 0 P03 22 0 0 P03 23 0 1 PO3 24 FeedforwardTRQ Ora 0 P04 01 10 0 P04 02 100 0 P04 03 200 0 P04 04 500 0 P04 05 1000 0 P04 06 2000 0 P04 07 3000 0 P04 08 0 0 P04 09 2 0 P04 10 20 0 P04 11 50 0 P04 12 75 0 P04 13 100 0 P04 14 120 0 P05 01 POS Gain Mode 1 5 1 Position III 2 Appendix Parameter table HEN Po5 02 POS Pulse Type 0 5 1 Position P05 03 SpeedMode ONCFF OFF Positio Speed P05 04 Feedforward 200 1000 X 00 X Posion P05 05 P05 06 P05 07 PI P Pulse ERR pulse 0 99999 O Posiion P05 08 P05 09 PO5 10 POSCMDTC ms 00 2000 00 Posiio PO5 11 J FFTC ms 00 2000 00 X fPosiio PO5 12 ELCTR Gear NUM 1 999 1 Position P05 13 ELCTRGearDEN1 1 9999 amp 41 Postin P05 14 ELCTR Gear NUM2 1 9999 1 Position P05 15 ELCTR Gear DEN2 1799999 2 Position P05 16 ELCTR Gear NUM3 1 9999 amp 1 Position PO5 17 ELCT
38. 3 LNi2 KF15 TF13 LF12 LN12A KN22 TN17 20 20B CN22 On sd LN20 KF22 TF20 LF20 30 30B CN30 KN35 TN30 LN30 KF35 TF30 LF30 CN30A CN50 ESA KN55 TN44 LN40 KF50 TF44 X O4E and O5E drive models are for a more precise torque and speed position control and categorized as specially ordered product The motors that can be applied to O4E and OBE drive model are limited to the motors within the and for more details please contact your point of purchase 1 Model check and handling ses 1 4 Installation 1 4 1 Installation of servo drive 1 Operating environment Ambient temperature 0 50 C There should be no freezing Note Ambient humidity 9096 RH or lower There should be no vapor Note Inside control panel temperature specifications To ensure maximum operating life and reliability of the drive maintain the average control panel temperature at 40 C or lower 2 Installation direction and intervals Install FDA7000 can be seen from the front If the drives are installed in a closed control panel maintain an interval of more than 10 mm between drives and more than 40 mm between top and bottom If multiple number of control panels are installed in parallel about 100 mm space is required on the upper side In case of installing fans avoid heat Regenerative resistor heating source away from the drive 3 Prevention of ingress of dust Exercise caution when drilling control panels to
39. 31 41 Speed Torque Position PO1 19 ParameterLock 1 ONOFF OFF 9 Speed Torque Position PO1 20 Absolute Origin ON OFF OFF Speed Torque Position PO2 01 ConrolMoe 0 5 P02 02 P02 03 P02 04 P02 05 P02 06 P02 07 P02 08 P02 09 DBMoe 20 3 2 Speed Torque Position PO2 10 Notch Filter1_ Jo 0 2 o Speed Torque Position P02 11 P02 12 P02 13 NothFiler2 0 1 O Speed Torque Position P02 14 Appendix Parameter table Hil EN P02 17 Auto Tuning 0 1 0 Speed Torque Position P02 18 System Response 1 19 Bycapacity Speed Torque Position PO2 19 Inertia Ratio 10 500 20 Speed Torque Position P02 20 P02 21 P02 22 P02 23 Gain ADJ TRQ2 0 0 300 0 50 0 Speed Torque Position P02 24 P02 25 Temporary Stop ON OFF OFF Speed Torgue Position P02 26 Emergency Stop ON OFF OFF Speed lorgue Position P02 27 Direction Select ON OFF OFF Speed Torque Position P02 28 Ripple COMPEN ONOFF OFF 9 Speed Torque Position PO2 29 Parameter INIT ONOFF OFF Speed Torque Position P02 30 P0231 CW Limit ONOFF OFF J Speed Torque Position PO2 32 CCWLimit ONOFF OFF 4 Speed Torque Position P02 33 SevoONOFF ONOFF OFF 9 JSpeed Torque Position P03 01 Speed Gain mode 1 5 1 P03 02 100 0 P03 03
40. 4V CN12425 24V common input EXT2AV CN1 4ag 24V external input 3 28 3 Parameter setting be X Speed position multi control mode internal setting function table When P7 01 is set to 29 Speed position multi control mode Position command pulse clear input contact point f Digital speed input contact point1 electronic gear diis d mad SPD ratio conversion input contact point1 P07 07 CN1 15 10 SPD2 GEAR2 Digital speed input contact point2 electronic gear ratio conversion input contact point2 i multi m COC EE menm GNDMV fontas 2 commoninput O O O o o o EXTMV cNtag e4Vedemainpt ooo o x Position torque multi control mode internal setting function table When P7 01 is set to 30 Position torque multi control mode Pozos CNi 6 9 SPDWGEART electronic gear ratio conversion input contact point T Torque limit use input contact point Position control if S Sp opeed limit use input contact point Torque control P07 08 CN1 40 o TYPE When the control mode is set to multi mode control mode conversion input contact point P07 09 CN1 14 PLSCLR Position command pulse clear input contact point P07 10 CN1 39 6 TRQ1 Digital torque input contact point1 CCW revolution limit input contact point Position PO7 11 CN1 13 13 CCWLIM PTQLIM control CCW torque generation limit input contact point Torque control 1 CW revolution limit input contact poin
41. 9 9 Setting range 9999 9 9999 9 Setting range 300 0 300 0 Setting range 300 0 300 0 Setting range 300 0 300 0 Setting range 300 0 300 0 Setting range 300 0 300 0 Setting range 300 0 300 0 Setting range 300 0 300 0 3 20 Manufactured default 10 0 Manufactured default 100 0 Manufactured default 200 0 Manufactured default 500 0 Manufactured default 1000 0 Manufactured default 2000 0 Manufactured default 3000 0 Manufactured default 0 0 Manufactured default 2 0 Manufactured default 20 0 Manufactured default 50 0 Manufactured default 75 0 Manufactured default 100 0 Manufactured default 120 0 Speed Torque control Speed Torque control Speed Torque control Speed Torque control Speed Torque control Speed Torque control Speed Torque control Torque control Torque control Torque control Torque control Torque control Torque control Torque control 3 Parameter setting be 3 6 Position control parameter setting Unit Display range Manufactured idi ibi i 1 5 default Position control 1 When the servo drive is set to position control mode this parameter sets the position control gain type Set value Operation explanation 1 Use the position loop gain 1 P05 05 Use the position loop gain 2 P05 06 Apply variable gain using gain 1 P05 05 and gain 2 P05 06 according to set speed
42. Connecting the battery to the host controller Connecting the battery to the servo drive 1 Connector attached type Lithium battery Tekcell SB AAO type 3 GV 2400mAh 2 Main unit Lithium battery Tekcell SB AAO type 3 6V 2400mAh Connect to CNS of servo drive 2 Battery connection a BLOCK _ TE lt a gt Open the cover and insert the battery unit in the arrow direction b Connect the connector to CN5 4 20 4 Servo using method and gain adjustment HIGEN 3 Battery replacement The encoder battery alarm is generated when the battery voltage drops under 2 7 V The alarm is generated by receiving the data from the absolute encoder when the power is connected to the servo drive If the servo drive control power is ON and the battery voltage is dropped the alarm will not be generated V Battery replacement method Replace the battery when the control power of the servo drive is ON If you replace the battery when the servo drive control power is OFF the absolute encoder must be initialized After replacing the battery turn the control power of the servo drive OFF Check the condition after turning the control power of the servo drive ON e Wire the battery to the one of the servo drive side or the host controller side It is dangerous when you connect to both sides because it can create a short circuit 4 5 2 Absolute value encoder ini
43. Continuous duty zone amp B Intermittent duty zone KF22 KF35 KF50 T N T N T N asque zi 1 Ee 2 MEM Ja a 1000 2000 3000 1000 2000 3000 1000 2000 3000 Revolution speed r min Revolution speed r min Revolution speed r min x V ificati ppendix V Servo motor specification HilbiEN Motor FMA TFO5 TFO9 TF13 TF20 TF30 TF44 Dive FONT ow o omm mme wee as Rated output AE AE SE 1300 1800 2900 EN Rated current Arms 107 107 INS INS E 7 895 5 Max instantaneous current 95 83 A rms Rated 18 6 27 9 ome E UN MM MN NR NM ME Max Lec pos poe p ear Instantaneous Gu Qurem ws 150 x s s m Rated rpm r min 1500 Max rpm r min 3000 Inertia Allowable load E l 10 times or less ratio Versus rotor Detector 17 33 bit 131072 p rev or 2000 6000 p rev type Absolute 17 33 bit 131072 p rev or 11 13 bit 2048 p rev Torque speed characteristics TF05 TF09 TF13 Torque N Toppen m pel m SES n Continuous Continuous Continuous 1000 2000 3000 1000 2000 3000 1000 2000 3000 Revolution speed r min Revolution speed r min Revolution speed r min A Continuous duty zone amp B Intermittent duty zone TF20 TF30 TF44 Torque N m Torque N m Torque N m p 1000 2000 3000 1000 2000 3000 1000 2000 3000 Revolution speed r min Revolution speed r min Revolution speed r min V 8 Appendix V Servo motor specification pp ix
44. Gain ADJ Speed1 100 0 5000 0 pore Position control Display range Ma ie ee Speed Torque Gain ADJ Speed2 10 0 500 0 pon Position control SC loop gain 3 M PO3 08 6 When P03 01 4 the variable gain is applied based on the following gain adjustment torque 1 and 2 4 4 4 Servo using method and gain adjustment HIGEN Manufactured Gain ADJ TRQ1 Display range default Speed Torque 0 0 300 0 150 0 Position control Manufactured Speed Torque Display range Gain ADJ TRQ1 0 0 300 0 py Position control Command speed 4 Actual speed Torque lt Internal command speed o o gee rl TT TT TT DT TT TT TT OT ed SC loop gain 7 When PO3 01 5 the variable gain is applied based on the ON OFF status of external control gain conversion contact point At this time the conversion time of the control gain is decided Manufactured default Speed Torque Contact Gain TC Display range 0 0 10000 0 100 0 Position control Increasing the contact gain TC in P02 24 has an effect of smoothing conversion of control gain 4 5 4 Servo using method and gain adjustment HIDIEN Gain conversion contact point OFF ON OFF Gcslos P03 07 Applied gain SC loop gain pg P0224 100 ms 8 This sets the mixture rate of the PI IP controller Unit Display range Manufactured PI IP Control 96 default Speed control o 0 0 100
45. Jog Time8 REV8 isec rev 0 00 5000 00 JOG 08 Manufactured default 1 00 Manufactured default 200 0 Manufactured default 1 00 Manufactured default 200 0 Manufactured default 1 00 Manufactured default 400 0 Manufactured default 1 00 Manufactured default 400 0 Manufactured default 1 00 Manufactured default 800 0 Manufactured default 1 00 Manufactured default 800 0 Manufactured default 1 00 JOG 12 JOG 05 JOG 07 JOG 09 JOG 11 JoG 13 ON Servo ON OFF Time sec sec Auto jog mode 1 Speed time 3 37 Hil EN opeed Torque Position control opeed Torque Position control Speed Torque Position control Speed Torque Position control Speed Torque Position control Speed Torque Position control Speed Torque Position control Speed Torque Position control Speed Torque Position control opeed Torque Position control Speed Torque Position control Speed Torque Position control Speed Torque Position control 3 Parameter setting Gun HIDOEN Position JOG 05 JOG 07 JOG 09 Servo ON OFF Time sec Auto jog mode 2 Speed revolution 3 12 Alarm display setting Manufactured Unit Display range Speed Torque This parameter indicates the current alarm ALS 01 menu is not the user input parameter but the menu to notify the alarm conditio
46. LIM 3 3K Y 4 NTQLIM O CCWLIM Y 4 PTQLIM SPDOUT TRQOUT ALARM PCWOUT PTQOUT NCWOUT NTQOUT g PPIOUT le LE m LE CE 30 iPzo TROIN sels e 8 N 1 CR Tn rn 2 le q note 4 n i V The above input and output contact points are shown when setting the speed control mode contact point PO7 01 P08 01 26 Note 1 NF stands for Noise Filter and it must be used to prevent the noise from intruding from the outside Note 2 For the FDA7004 7004B 45 type connect the single phase AC220V V to the r t terminal auxiliary power FDA7001 02 type does not have the auxiliary power r t terminal Note 3 The recovery resistances of FDA7004 FDA7010 are installed inside the driver as an internal type The recovery resistance of the FDA7001 7002 7004B FDA7015 type or above is the separately installed type Check the capacity and apply accordingly Note 4 Connect the ground wire of CN1 cable to the FG Frame Ground terminal Note 5 Separate GND24 CN 24 25 and GND CN1 1 8 26 33 34 36 When connect commonness malfunction of servo drive and burnout can occur 4 2 4 Servo using method and gain adjustment HIGEN 4 1 2 Speed servo gain adjustment 1 This sets the speed control mode gain Unit Setting range Manufactured Speed Gain Mode j 125 default Speed control 1 When the servo drive set to speed control mode this sets the speed control gain La eum II WM eii RR
47. LOFA PLC G4F PP10 24V CCWLIM PTQLIM CWLIM NTQLIM GND24 5VO O MPG A Mas Es O MPG A 0v OO O MPG B Note After connecting the power it takes about 1 2 seconds until the alarm signal leads to normal operation Consider this when designing the power connection seduence Also the alarm signal operates alarm detection relay 1Ry to turn on the main circuit power of servo drive It only has the signals related to LS Industrial Systems G4F PP10 and FDA7000 Series Note The above connection is only shown in case of PO7 01 27 Position control mode 7 4 7 Connection with host controller HIDGEN Connection with LS Industrial Systems GLOFA PLC position decision unit G4F PP1D gt This is an example of position control mode servo system operation SERVO MOTOR FDA7000 AC 200 230V 50 60 Hz pe m GLOFA PLC n G4F PP1D mm O 33 GND24V O 24VIN Y 24V SVONEN O CCWLIM PTQLIM O CN1 CWLIM NTQLIM TERIS ESTOP EMG DOG 37 GND24 HOME 5V HOME COM D D D D D D O D D al Note After connecting the power it takes about 1 2 seconds until the alarm signal leads to normal operation Consider this when designing the power connection sequence Also the alarm signal operates alarm detection relay 1Ry to turn on the main circuit power of servo drive It only has the signals related to LS Industrial Systems G4F PP1D and FDA7000 Series
48. N Manufactured CCW TRQ LMT Unit Display range default Speed Torque 0 0 300 0 300 0 Position control Manufactured CW TRQ LMT Display range default Speed Torque 300 0 0 0 Position control 300 0 Manufactured Y Display range default Speed Torque EE cea Nal 0 0 6000 0 Maximum value of Position control applied motor Manufactured aa Unit Display range default Speed Torque P02 06 iii rem 6000 0 0 0 Maximum value of Position control applied motor Manufactured E Unit Display range Speed Torque P02 07 Brake Speed rem 0 0 9999 9 ru Position control P02 08 Brake Time on EE and ie AE tl ms 0 0 10000 0 50 0 Position control V Operating conditions brake P02 07 P02 08 1 In case of SERVO OFF by ALARM occurrence 2 In case that SERVO OFF that do not use STOP contact point of CN1 connector Which of the operating speed P02 07 and operating time PO2 08 of the user menu is satisfied the brake will operate NOTE Brake action that use STOP in SERVO ON state refers P02 30 of user menu Manufactured Unit Display range Speed Torque DB mode control is to stop the serve motor abruptly during an emergency stop The user menu P02 09 sets the stop operation of the servo motor when the servo is turned off or during an emergency stop Caution However this function is not available in Large type drive Operation explanation Maintain by decelerating the dynamic brake when the
49. OPERATION MANUAL AC Servo Drive FDA7000 Series Ver 1 4 Soft Ver 1 15 FDA7000 Series Servo Drive User Manual Hien Essential notes before use HIDDEN Essential notes before use A Checking Motor ID certainly Enter the motor ID indicated on the motor name plate to the parameter of P01 01 For details on the motor ID refer to Chapter 3 of this manual B Checking Drive AMP Type certainly AMP Type 04 15 20 30 FDA70 04B 15B 20B 30B ABS INC ABS 11 17 17 13bit 33bit 33bit Y When you set the encoder ID to Enc 0 you can change the value of PO1 13 Encoder pulse rate But if you set the encoder ID to Enc A Enc R you cannot change the value of PO1 13 D Operate servo system after autotuning is off PO2 17 Always cancel the autotuning during normal operation after gain setting using autotuning E Motor handling Avoid impacting to the encoder in connecting coupling to the Motor shaft or operating F Recommended specification of Encoder wiring Encoder type Page of wiring explanation Incremental encoder Absolute encoder 11bit Absolute Incremental encoder 17bit G Separate GND24 CN1 24 25 and GND CN1 1 8 26 33 34 36 When connect commonness malfunction of servo drive and burnout can occur H Treatment of the servo motor attached holding brake The brake built in the servo motor is a normal closed type brake Which is used only to ho
50. P03 07 P03 08 according to set speed P02 20 P02 21 for the speed controller gain Apply variable gain using gain 1 PO3 05 P03 06 and gain 2 P03 07 P03 08 according to set torque P02 22 P02 23 for the speed controller gain Select gain 1 PO3 05 P03 06 or gain 2 PO3 07 PO3 08 by the external contact point signal for the speed controller gain Manufactured default 100 0 Display range Me Ee Speed position 0 0 100 0 0 0 control When the servo motor is attached on the machinery with severe friction with ball screw etc opeed position control Display range 0 0 100 0 this sets the friction compensation coefficient to reduce the dead zone that occurs during conversion of turning direction 3 15 3 Parameter setting P03 04 Load COMPEN Display range 0 0 100 0 Manufactured default 0 0 Hil EN opeed position control This sets the external load compensation motor for the sudden load change posos SC Loop Gain 1 P03 06 SC TC 1 Unit Hz Unit ms PO3 07 SC Loop Gain 2 P03 08 SC TC 2 m ms Analog CMD TC ms mm ms DECEL Time ms PO3 09 Unit ms Unit In Speed Range Zero Speed Range Unit rpm coefficient to improve the response of the servo Display range 0 0 1000 0 Display range 0 0 10000 0 Display range 0 0 1000 0 Display range 0 0 10000 0 Display range 0 0 2000 0 Display range 0 0 90000 0 Display range 0 0 90000 0
51. PC Loader RS232C Network communication RS485 RS232C CN1 output E MONIT1 D A E i MONIT2 SVONOFF ya 4 INSPD INP OS INTRQ as BRAKE RDY PCWOUT PTQOUT SPDOUT TRQOUT ALARM NCWOUT NTQOUT Y The above input and output contact points are shown when setting the position control mode contact point PO7 01 P08 01 27 Note 1 NF stands for Noise Filter and it must be used to prevent the noise from intruding from the outside Note 2 For the FDA7004 7004B 45 type connect the single phase AC220V V to the r t terminal auxiliary power FDA7001 02 type does not have the auxiliary power r t terminal Note 3 The recovery resistances of FDA7004 FDA7010 are installed inside the driver as an internal type The recovery resistance of the FDA7001 7002 7004B FDA7015 type or above is the separately installed type Check the capacity and apply accordingly Note 4 Connect the ground wire of CN1 cable to the FG Frame Ground terminal Note 5 Separate GND24 CN 24 25 and GND CN1 1 8 26 33 34 36 When connect commonness malfunction of servo drive and burnout can occur 4 8 4 Servo using method and gain adjustment HIDGEN 4 2 2 Position servo gain adjustment Feed forward TC PO5 11 Differentiation st filter Feedforward P05 04 Position command pulse TC 100 PO5 10 I
52. PO02 20 PO2 21 for the position controller gain Apply variable gain using gain 1 P05 05 and gain 2 P05 06 according to set speed P02 22 P02 23 for the position controller gain Select gain 1 PO5 05 or gain 2 P05 06 according to external contact point signal of the position controller gain Set the position command pulse mode Pul Command RR TT row mode de Remark Logic In In CCW direction direction In nCWdirection direction N e A phase B phase t V CCW pulse e CW pulse L O g Direction Pulse C P O A phase B phase t V CCW pulse e CW pulse L O g Direction Pulse C 3 21 3 Parameter setting Position control Display range Speed Mode ON OFF Manufactured default Hil EN Position speed control OFF If the servo drive is set to position control mode set P05 03 on to apply the acceleration deceleration PO3 10 PO3 11 and S shape mode operation P03 12 setted in user menu POS Display range 0 0 100 0 E pulse
53. R Gear DEN3 1 9999 4 Position P05 18 ELGTR Gear NUM4 1799999 1 Postin PO5 19 ELCTR Gear DEN4 1 999 X 8 Position D ND Al P05 20 Bias SPD COMPEN rpm 1000 0 10000 00 Position P05 21 P05 22 Backlash Pulse pulse 0 999 O Position P06 01 Analog TRQTC ms 00 2000 00 Torque P06 02 TRQACCELTime ms 0 0 90000 00 J Torque P06 03 TRQ DECEL Time ms 00 90000 00 Torque P06 04 TRQ S Mode ms 00 2000 00 4 Torque P06 05 P06 06 P06 07 PO6 08 Auto Offset ONOFF OFF Speed Toqu P06 09 Manual Offset mv 1000 0 1000 0 00 Speed Torque P07 01 Digital INPUT 1 0 30 1 Speed TorguelPosition P07 02 P07 03 P07 04 P07 05 P07 06 P07 07 P07 08 ig oreo 9 Sbeed forque Position gi f 0 20 10 Speed Torque Position ig Ls ig ENE EE EE ig 0 20 4 SpeeaTorque Position ig a g f 0 20 14 Speed foraue Position po7 09 Digtal INPUTS P0710 Digtal INPUT 10 po71i Digter NEUTE 0 20 15 SeeedHeraue Position P0712 Digital INPUT12 PO amp 91 DigtalOUTPUTT 0 Sbeed forque Position Po amp 92 Digtal output 0 18 3 Seeedherque Position PO amp 03 DigtalOUTPUT3 SE i PO amp 4 Digtal
54. ROG Version StE 18 Command Speed StE 02 3000 Display Select StE 01 1208 1 00 Motor ID Inertia EN EE EE N EE ENE Absolute Origin P01 01 14 P01 02 P01 20 OFF Control Mode Mode Change Time A A Parameter INIT P02 01 1 P02 02 500 0 P02 29 OFF Speed Gain Mode PI IP Control 96 SLI Feedforward TRQ P03 01 1 P03 02 100 0 P03 24 0 Speed Speed2 EEN EEN EE EEN EEN N Torque7 P04 01 10 0 P04 02 100 0 P04 14 120 0 POS Gain Mode POS Pulse Type LS Backlash Pulse P05 01 1 P05 02 1 P05 22 0 Analog TRQ TC TRQ ACCEL Time 5 Manual Offset P06 01 0 0 P06 02 0 0 P06 09 0 0 CN1 18 CN1 43 MENU EE EE EE EG CN1 38 P07 01 1 P07 02 9 P07 12 19 CN1 23 CN1 48 CN1 44 P08 01 1 P08 02 Td P08 10 18 Monitor1 Monitor ABS1 NEE EE EE EE EEN N Monitor Offset2 P09 01 0 P09 02 OFF P09 08 0 0 Key Jog Mode Key Jog Speed T Jog Time8 REV8 JOG 01 OFF JOG 02 100 0 JOG 19 1 0 Current Alarm Alarm Reset History Reset ALS 01 0 ALS 02 OFF ALS 13 OFF 5 9 5 Servo operating eE 5 3 2 Parameter change Even though the changeable range differs by the menu the operating method is the same and the case of P01 01 Motor ID is used as a representative example JOG Key Key Jog ON RESET Key Alarm reset ESTOP Key Emergency stop UP Key Mode change increase increase parameter value DOWN Key Mode change decrease decrease parameter value RIGHT Key Move right when changing menu and parameter LEFT Key Move left when
55. S External view B A JUUUUUDUU ley Ia PEN GU Vs OON 000 IQ le iN IN m nl y ir NL J UU RA MU M M M v WSO HEN T m a f BE D 8 External view HIDIEN External view E TN l OE EE E E y H HE MEUSE UE OU UUUUDUUU ll HARA T i i 1 5 lt anRaaan N n JODIE 4 9 w AAARARARARARARARARAR eg IL DE Le zl p D Model Weight Cooling Remarks method Fomos 150 ao 160 vo s 0 7 19 Fomos 150 ao 160 vo o0 0 70 19 Cro 159 ao 160 vo s eo 70 19 di ms PAN aeee ee e afe e pe a e my 8 2 Appendix Servo system application Appendix explains the application cases that can be utilized when applying the servo system ls POSITION control application es coe naue dci 2 Examples of other applications esse se ee Ee ee EE ee RE Ee ee ee Appendix Servo system application DENE 1 Position control application The electronic gear enable
56. Speed control P08 06 CN1 46 ALARM Alarm generation status output PCWOUT s P08 07 CN1 20 PTQOUT CCW torque limit status output Speed control NCWOUT P08 08 CN1 45 NTQOUT CW torque limit status output Speed control 24V external input 3 33 3 Parameter setting be X Speed position multi control mode internal setting function table Output function Serting table when P8 01 29 P08 01 CN1 23 eec TYPEOUT Control mode conversion output P08 02 CN1 48 L3 BRAKE Brake ata signal output P08 03 CN1 22 7 RDY Servo Servo ready status output status output INSPDHNPOS P08 04 CN1 47 6 INTRQ Set speed reach completion output SPDOUT P08 05 CN1 21 JEN TROOUT Torque limit status output Speed control Alarm generation status output PCWOUT P08 07 CN1 20 PTQOUT CCW torque limit status output Speed control NCWOUT P08 08 CN1 45 oo NTQOUT CW torque limit status output Speed control P08 09 CN1 19 5 ZSPD ZSPD Zero Zero speed reach output reach output Pos 10 cnisa 0 Donotuse the output funcion GNDMV ONI2425 o BVcommmipu EXT2AV CN1 49 24Vextemalimput SSS x Position torque multi control mode internal setting function table Output function en table when P8 01 30 P08 01 CN1 23 ie TYPEOUT Control mode conversion output P08 02 CN1 48 ME BRAKE Brake operation signal output P08 03 CN1 22 7 RY RDY Servoreadystatusoutput
57. TPUT 8 18 Position control P08 09 CN1_19 Unit a range E Speed Torque Digital OUTPUT 9 18 Position control P08 10 CN1 44 Unit i range a Speed Torque Digital OUTPUT 10 18 Position control This sets the output contact point function to check the operation of the servo drive by the host controller When you set the function applicable for each output contact point the servo drive outputs the signal according to the set function Connect to the output contact point of the CN1 connector to use the desired function set from the menu If you duplicate the output contact point function setting you can have the same output signal from different pins 3 30 3 Parameter setting Gun HIDIEN Output contact point function table Function Function acronym Function explanation number y i oe o emma eam 4 ZTRQ Zero torque reach output ce p weromecommo EE EE Ee ee ge Servo ready status output oro RY 8 PPOU o P Pl control mode status output 9 SPDOUT TRQOUT Three imi status output Speed Postion contro SOW torque limi Situs output peed Prin commo MEME CCW revolution status output SETUPG EE E Ta internal setting function 3 31 3 Parameter setting bue Torque control mode internal setting function table Output function setting EE when P8 01 25 P08 01 CN1 23 s SVONOFF Servo on off operation output P08 02 CN1 48 8 BRAKE Brake M signal output P08 03 CN1 22 7 RDY Servo Servo
58. Use the loader to check that motor parameter is set to normal running condition This parameter show to you the basic information for the servo motor which is connected to the drive Then you must monitor the group indicating the motor status StE to check whether various commands and limits values are properly set And if this is your first time operating the unit you must verify the stability through autotuning or test operation of Jog and Auto Jog Autotuning operation can be done online and you do not need to execute this operation when the gain of stable control system is ensured offline D L CNS Battery connection ELA part UP Key LED1 Green Mode change parameter value increase Charging ENTER Key LED1 Red Parameter value change confirmation Alarm condition RIGHT Key Move to right for parameter change and menu DOWN Key Mode change parameter value decrease LEFT Key Move to left for parameter change and menu Overview diagram of internal mounter loader ALARM RESET FDA7000 EMERGENCY STOP KEY JOG ON Same as mounter loader function Overview diagram of digital loader 5 1 5 Servo operating Gun HIDIEN 5 2 Operation of internal mount loader 5 2 1 Display flow If the power is correctly supplied the mount loader display on the front panel of the servo drive a message The internal mount loader is composed of 7 segment LED and 6 digits You can set
59. V pecificati ME Motor FMA LFOS LFO6 LFO9 LF12 LF20 LF30 Drive FDATO ame o CI e E E Flange Size 180 Rated current A rms 360 0 m3 m3 ia Lx mn AN HE wa Vax wel e MEUS a E S instantaneous ome ren x ms s ws es Rated rpm r min 1000 Max rpm r min 2000 Inertia Allowable load mla ratio Versus rotor Detector 17 33 bit 131072 p rev or 2000 6000 p rev type Absolute 17 33 bit 131072 p rev or 11 13 bit 2048 p rev 10 times or less Torque speed characteristics LFO3 LFO6 LFO9 T N i Due dl ED m Iouem j 500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000 Revolution speed r min Revolution speed r min Revolution speed r min A Continuous duty zone amp B Intermittent duty zone LF12 LF20 LF30 Torque N m Torque N m Torque N m 40 60 80 500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000 Revolution speed r min Revolution speed r min Revolution speed r min V 9 Homepage http www higenmotor com Head office TEL b 82 2 369 8213 4 FAX b 82 2 369 8229 Branch office TEL b 82 51 710 5032 3 FAX b 82 551 710 5034 Factory TEL b 82 55 600 3333 FAX b 82 55 600 3317 Customer support TEL gt 82 2 369 8215 82 55 281 8407 Order NO 7200SV3015A IN EET ENS X This book is in copyright Subject to statutory exception and to the provisions of relevant collective licensi
60. XGT PLC Loa XGF PO1A n 33 DR INP O DR INP COM EMG coM Q Q al 7 HOME 5V O 3 HOME COM Li qai t iol 3 o 9 9 N N E 1 2W 1 5K mr e O O 1 2W 1 5K N 1 Note After connecting the power it takes about 1 2 seconds until the alarm signal leads to normal operation Consider this when designing the power connection sequence Also the alarm signal operates alarm detection relay 1Ry to turn on the main circuit power of servo drive It only has the signals related to LS Industrial Systems XGF PO14A and FDA7000 Series Note The above connection is only shown in case of PO7 01 27 Position control mode 7 1 7 Connection with host controller HIDGEN Connect with LS Industrial System XGT Series position decision unit XGF PD1A gt This is an example of position control mode servo system operation SERVO MOTOR FDA7000 AC O 200 230V JM 0O T 50 60 Hz lt 4 XGT PLC Loav XGF PD1A mm mm Go Lipi EN EE 3 DR INP DR INP COM EMG COM Q al dar ol ie HOME 5V HOME COM O O e DOG OV OV STOP VTP COM Manual PULSE E FP FP RP RP 24V O O N Note After connecting the power it takes about 1 2 seconds until the alarm signal leads to normal operation Consider this when designing
61. ai 9 SPDUGEARI Digtal speed input contact point 1 poros onia 3 DiR Speed direction conversion input contact point noz onraz MVcommnipt Lex ono O aVexemdipt 3 27 3 Parameter setting be x Position control mode internal setting function table When P7 01 is set to 27 Position control mode ug eal 1 1 MEM EE EE pozos CNi16 9 SPDUGEARI electronic gear ratio conversion input contact point T Pozos cntao 3 DR Comactpomt and Pulse Grection conversion Input Canoza leNtaaas fAVcommnipu OO OS X Speed torque multi control mode internal setting function table When P7 01 is set to 28 Speed torque multi control mode W mr lam S 5 00 O Pozos nite 6 TRO Digital torque input contact pointy Poros CNi4i 9 SPDUGEARI Digital speed input contact point 1 P07 08 CN1 40 2 TYPE When the control mode is set to multi mode control mode conversion input contact point mre loer s wm Rages m mein Hat oe CCW revolution limit input contact point Speed poro oues 9 compro control CCW torque generation limit input contact pon ie control revolution limit input contact point Speed rozar omo o cns id CW torque generation limit input contact point Torque control opeed limit use input contact point Torque control P07 12 cwm e sou Torque limit use input contact point Speed position control NEER GND2
62. ain is applied based on the following gain adjustment speed 1 and 2 Display range bela rakes Speed Torque 100 0 5000 0 800 0 Position control Gain ADJ Speed1 Manufactured Gain ADJ Speed2 Display range default Speed Torque 10 0 500 0 100 0 Position control Ja Actual speed a pg EE e eee PO2 21 Gain 4 When P05 01 2 4 the variable gain is applied based on the following gain adjustment torque1 and 2 4 10 4 Servo using method and gain adjustment HIGEN Manufactured Gain ADJ TRQ1 Display range default Speed Torque 0 0 300 0 150 0 Position control Manufactured Gain ADJ TRQ2 Display range default Speed Torque 0 0 300 0 50 0 Position control Command speed Speed a Actual speed Torque lt Internal command speed Gain P05 06 5 When P5 01 5 the variable gain is applied based on the ON OFF status of the external control gain conversion contact point At this time the conversion time of the control gain is decided Display range He a a Speed Torque 0 0 10000 0 100 0 Position control If you want to execute smooth gain conversion set the Contact Gain TC to long Enter the Contact Gain TC Contact Gain TC in ms unit Gain conversion contact point Gcslos OFF ON OFF P05 06 Applied gain i PO2 24 100 ms 4 11 4 Servo using method and gain adjustment HIGEN 6 Feed forward ratio setting
63. al can be interlocked on the sequence I 3 Appendix Noise control Appendix ll explains the noise control Werwing PIeeaillolSieisexde estie i etptvd ela up GE GE pfe UN EU NE 2 Wiring for noise control ee ee ee ee RR Ee ee ee ee ee ee ee ee Appendix Noise contro be I 1 Wiring Precautions The FDA7000 servo drive uses high speed switching in the main circuit lt may receive switching noise from these high speed switching elements if wiring or grounding around the servo drive is not correct To protect the servo drive system from the external noise install the noise filter in appropriate place as much as possible To ensure safe and suitable operation keep the following precautions D For wiring for reference inputs and encoders use the specified cables Use the cables as short as possible 2 For ground wire as thick a cable as possible Atleast class 3 ground 100 max is recommended Ground to one point common only 3 Do not bend or apply tension to cables 4 Use a noise filter to prevent noise interference FDA7000 is designed as an industrial device it provides no mechanism to prevent noise interference 5 To prevent malfunction due to the noise take the following actions Location the input reference device and noise filter as close to the servo drive as possible Install s surge protector in the relay solenoid and electromagnetic contactor coils The distance between a pow
64. ated after the encoder mis wiring 05 alarm is generated during servo operation Emergency stop alarm emc stop is not saved in the alarm record and each alarm record menu value is 00 for normal operation Alarm record 1 Over current alarm Alarm record 2 Encoder mis wiring Alarm record 1 It indicates normal condition 5 5 5 Servo operating SERE 5 2 4 Jog operation 1 Key jog mode setting JOG 01 UP Positive direction mode change increase blinking value DOWN Negative direction mode change decrease in blinking value LEFT Command reverse direction revolution move blink to left when entering key jog speed JOG 02 RIGHT Command positive direction revolution move blink to left when entering key jog speed JOG 02 ENTER Indicates parameter value start and end of parameter change Key JOG speed setting Key JOG operation IT F1 ID Kl LILILI LIT LILILI LI ENTER ENTER ENTER ENTER IEW I FIEL L LH I Lil LEFT LEFT UP M I rit t A LILI It UP ENTER un Key JOG operation ON ENTER LEFT Key JOG speed operation LEFT RIGHT Key JOG speed positive operation ENTER m _ Key JOG operation OFF 5 6 5 Servo operating SERE 2 Auto jog mode setting JOG speed 1 setting JOG time 1 setting LEFT LEFT UP JOG speed 2 setting RIGHT JOG time 2 setting JOG3 7 setting JOG speed 8 setting JOG time 8 setting Auto JOG mode setting Revolution spee
65. atus output enpav ontras o BV common input EXTaav CNi49 2A extemalinput 3 32 3 Parameter setting be x Position control mode internal setting function table Output function setting table when P8 01 27 Output contact Output pin Function explanation point P08 01 CN1 23 EN SVONOFF Servo on off operation output P08 02 CN1 48 BRAKE Brake operation signal output P08 03 CN1 22 Servo ready status output INSPD INPOS P08 04 CN1 47 e INTRQ Set position reach completion output SPDOUT e P08 05 CN1 21 NES TRQOUT Torque limit status output Position control 1 3 P08 06 CN1 46 4 ALARM Alarm generation status output 0 1 1 PCWOUT e P08 07 CN1 20 1 PTQOUT CCW torque limit status output Speed control NCWOUT P08 08 CN1 45 NTQOUT CW torque limit status output Speed control poes ona 0 Do notuse the output funcion Pow CNid4 o Do notuse the output funcion Canoza enra o BWcommnipu exea onto zWexemdmpu X Speed torque multi control mode internal setting function table Output function setting table when P8 01 28 P08 01 CN1 23 TYPEOUT Control mode conversion output P08 02 CN1 48 BRAKE Brake operation signal output P08 03 CN1 22 Servo ready status output INSPD INPOS E P08 04 CN1 47 INTRQ Set speed reach completion output SPDOUT I P08 05 CN1 21 TRQOUT Torque limit status output
66. cannot be changed Monitor output 1 MONIT 1 outputs in line drive method 2 12 2 Wiring and connection HIGEN 2 4 CN2 wiring and signal explanation CN2 is the connector located on the bottom right side of the front cover of the servo drive This connector is used for connecting the servo drive and the encoder of the servo motor The PIN arrangement shown from the connector in the user s point of view is as follows The encoder signals may differ depending on the type of encoder 2 4 1 Incremental encoder Based on soldering side of user connector Connector for CN2 is optional Manufacturer 3M CASE product name 10320 52F0 008 Connector For soldering 10120 3000VE The 15 line type incremental encoder arrangement of CN2 and FMA Series AC servo motor is shown as the following table CN2 ar Ed MOTOR L160 80series side MOTOR L1130 180series side PIN No Drive Connector pin No for Connector pin No for encoder Drive encoder 2 13 2 Wiring and connection V Connect the grounding wire of the encoder wiring cable for F G V Applied cable specification AWG24 x 9Pair TWIST SHIELD CABLE Maximum length 20m 2 4 2 11bit absolute encoder Based on soldering side of user connector Connector for CN2 is optional Manufacturer 3M CASE product name 10320 52F0 008 Connector for soldering 10120 3000VE The 11bit absolute encoder wiring detai
67. cremental encoder AC SERVO MOTOR AC SERVO DRIVER FDA7000A L160 80 CN2 CN1 HOST CONTROLLER Serial Data gt Pulse Conv Output LINE DRIVER i T I SN75174 2 Used LINE RECEIVER cA TP 222 sp i T I SN75175 TP eon IP x1 indicates the TWIST PAIR Line T 2 T I TEXAS INSTRUMENT Inc Applied cable specification AWG24 x 9Pair TWIST SHIELD CABLE Maximum length 20m You do not need to connect the incremental 17bit encoder no 7 BT and no 8 BT terminals 2 4 4 17bit absolute encoder data transmission The output signal of absolute encoder is the incremental division output PAO PAO PBO PBO PZO PZO SERVO DRIVE SD E N ibd c S MM N PAO SD PBO a EE SG Serial Data gt Pulse Conv PZO 2 Wiring and connection HIDDEN When turning on the power Serial data PAO and initializing Initial incremental pulse During normal operation after aestu M rA a Incremental pulse initialization is complete When turung on tne power Initial incremental pulse PBO and initializing During normal operation after Incremental pulse w N IS rm ES Aways Origin pulse D PAO serial data specification Data transmission method Baud Rate 9600 bps Start bit 1 bit Excellent Character Code ASCII Code 7 bit Data Format 8 Character V Outputted revolution in line 5 2 Absolute data content Serial data This indicates where the motor axis is posit
68. cuit power Permitted voltage 3 phase AC170 253V Input voltage range 10 15 3 phase AC170 253V variance rate 2 phase AC207 253V Input voltage range 10 10 Input voltage range 10 15 Control Put voltage Single phase AC200 230V 50 60Hz 5 l frequency No separate j input part power As E Single phase AC170 253V Input voltage range 10 15 Detector type 17 33 bit serial encoder 11 13 bit absolute encoder incremental 2000 6000 ppr 15 line type Detector Output signal type Differential Line Driver output Detector accuracy Maximum of 131072 pulse per 1 encoder revolution Detector power DC 5 V 0 3 A or below Sine wave PWM control IPM use Speed control range Internal speed command 1 5000 analog speed command 1 2000 Frequency response coo Hz characteristics Speed S Speed command input DC 0 10 V maximum speed Can be adjusted with parameter specific 0 01 96 or below Rated load 0 100 ation Speed fluctuation rate 0 01 or below Rated power voltage 10 96 0 1 96 or below Temperature variance 25 25 C Acceleration Jae COIT OTIO Straight S type acceleration deceleration possible 0 100 sec ED Position input K Foster frequency P EE Direction Pulse CW pulse CCW pulse specific Position input type 2 phase pulse A phase B phase ation Position input method Open Collector Line Driver method Torque Torque command input DC 0 10 V
69. d time Execute auto JOG mode Auto jog mode supports 8 steps repeated pattern operations and the 1 auto jog mode that sets the revolution speed rpm and revolution time sec and 2 auto jog mode that sets the revolution time rpm and revolutions rev are supported JOG 03 Operation explanation Set value i P ma Do not use auto jog mode Use auto jog mode for revolution speed revolution time Use auto jog mode for revolution speed revolutions 5 7 5 Servo operating 5 2 5 VO contact point function parameter setting 1 Input contact point function setting PO7 mode CN1_18 pin is set to 01 SVONEN input function ON1 18 pin is changed to O3 DIR input function 2 Output contact point function setting PO8 mode Set to SETUP 5 Speed torque multi control mode output fuction CN1_23 pin is changed to O2 TYPEOUT input function CN1_48 pin is changed to O3 BRAKE input function 5 8 HIDIEN 5 Servo operating SERE 5 3 Operation of digital loader 5 3 1 Display flow If the power is supplied and connected to digital loader correctly LCD window of the digital loader display a message The digital loader has LCD window and function key on front panel You can set the parameter display the status check the sequence and alarm record by the loader The following diagram shows an overview aspect for digital loader menu LEFT KEY RIGHT KEY P
70. e e o AAA o TTE 1 1 1 2 Servo drive speels ooo eria ieee Sine ME Medea 1 2 1 3 Combination table of servo drive and motor ssssuuusss 1 3 UP aO RAT E O O UU UE 1 4 A ioo et Wer ER 1 7 1 Model check and handling ses 1 1 Model check 1 1 1 Servo drive model classification FDA TO AC Servo Drive FDA7000 Series Encoder Ls e x emep x wwe e EEES ICI o e oo feos me Note Since the drive models for serial and general incremental encoder are separated as shown above please check the model name before using the product 1 1 2 Servo motor model classification FMA ODOOO OOOO Use High speed low torque type Medium speed standard type Medium speed high torque type Low speed large torque type Oil Seal Type s wwe Oil seal attached Brake es Brake attached Shaft Type WENE Rated Output W Rated Rated Encoder 130Frange DC 24V Brake 15 200 16 300 20 400 22 500 30 35 700 40 E EN EZN M EN Eq E Lora e m 2048 Absolute 11 13bit Absolute 131072 Incremental common 17 33bit 1 Model check and handling HEr 1 2 Servo drive specification Servo Drive FDA70 04 15 20 30 04B 15B 20B 30B Input voltage 3 phase AC200 230V 50 60Hz 5 3 phase AC200 230V 50 60Hz Main frequency Note 1 Single phase AC230V 50 60Hz 5 5 cir
71. e vibration is being caused by the servo system try to adjust the Analog TRQ TC It can reduce the vibration The lower the value the better control response will be but if set too high it may reduce the responsiveness Input terminal voltage Analog torque command P command with filter TC Time sec Torque command e y a 0 a 0 0 0 0 0 0 0 0 0 0 0 0 0 Speed Time sec Y For the speed limit of torque servo 4 speed limit values are applied according to the contact point of SPD1 and SPD2 when the SPDLIM contact point is ON and the speed limit of PO2 05 and P02 06 are applied when the SPDLIM contact point is OFF 4 Servo using method and gain adjustment HIGEN 4 4 Autotuning For the autotuning applied to FDA7000 series the servo drive estimates the inertia of the load attached to the servo motor during operation and has the function of adjusting the speed control gain and position control gain 4 4 1 System response setting The system response is set P02 18 manually before using autotuning The following PO5 05 P05 06 P03 05 P03 06 P03 07 P03 08 and P02 16 automatically changes and when the autotuning function is set to ON the tuning operation is executed with the target of manually set value P02 18 System response P03 05 P03 07 P02 16 Speed Speed Command control loop control loop torque filter gain 1 gain 2 P05 05 P05 06 Position Position loop gai
72. ee EE ee EE ee EE ee ee EE ee 3 15 3 5 Input contact point digital speed and torque setting 3 20 3 6 Position control parameter setting iis see Ee ER ee EE ee Ee ee ee ee Ee ee ee ee 3 21 3 7 Torque control parameter setting iese ee ER EE EE Re EE ee EE ee EE ee EE Ee ee ee ee 3 23 3 8 Input contact point function setting ee ER EE Ee ER EE ee ee Ee ee ee ee 3 25 3 9 Output contact point function setting ee AE EE RE ee ee ee 3 30 3 10 Analog monitor function settiINg se ee ee Ee RR ee ee ee RE ee ee AR ee 3 39 3 11 Jog operation parameter setting esse ee ee Ee ee ee GE ee GE ene 3 36 3 12 Alarm display setting esse ss eke ee ee de ek ee ee Ge nnns 3 38 Chapter 4 Servo using method and Gain adjustment 4 1 Gain adjustment for speed control mode ee ee ee Ee ee Ee ee ee RE ee 4 1 4 2 Gain adjustment for position control mode cccccoccncccccnnccncononnccnnnnannconanenos 4 7 4 3 Gain adjustment for torque control mode esssseeesseesss 4 14 e RO E E nee es 4 17 4 5 Precaution for absolute encode cococcccocccccccncconncconnnonocononcnnoncncnnnnnnoncnonons 4 20 Chapter 5 Servo operating SN A 5 1 5 2 Operation of internal mount loader occcccoccncccocnnocononoconcnononcnnonanenonnncnnos 5 2 5 3 Operation of digital loader ccocoooonnccnnccnnonncnnncnononnnnnnnnononcnnnnnonnananonnnos 5 9 Chapt
73. elay 1Ry to turn on the main circuit power of servo drive It only has the signals related to Mitsubishi AD72 and FDA7000 Series Note The above connection is only shown in case of PO7 01 26 Speed control mode T 7 Chapter 8 External View Chapter 8 displays the external view of the servo drive 8 1 External view of servo driVe SS mmm nnne 8 1 8 External view 8 1 External view of servo drive External view A N quc le 13 he la O 0 0O 0O00 olji i fa a 3 LO sl P2 OOO ET External view C External view D GF P PO im li i Ana AAA RARA Ra ALARA Ji ue HY Ht HY li ILI U U UU UM UuMuMMMt An UUUUUUUUnNPnnNnNNrNIr CN1 i r s JUUUUUUU Ez T i AANANANA N i IAL A In ms lO nm P L J E CHOUCXGQOYGCYVCOY CO CUCOCCM uM M a U M JU F AKAAARAWARAAAARAAK L I COM ENC L Iw H r UI UI M v UI UI JU UI y UUUUUUUUUUUL JO E Sh 4l E Ay d ad wp 1 5 1 t E N
74. er 6 Troubleshooting and check o T ROUNO NOON RNEER E RE E A N EE Gres 6 1 ee m Po ooo ee ee eee 6 4 Chapter 7 Connection with host controller 7 1 Example of connection with host controller iese ee ee ee Ee ee AR 7 1 Chapter 8 External View 8 1 External view of servo drIVe ee ee ee ee ee ee ee ee 8 1 Appendix Servo system application 1 Position control application es Ee ER EE AA Ee ee ee ee ee ee ee ee 1 2 Example oi other appIICallODLus suos cuu kei PORE Ek EE Ee Rad IKE aO EHE ke EVER 3 Appendix Noise control I 1 Wiring Precautions esse ee ee EE RR EE Re EE Re EE ee EE ER ee nnnm nnnm nnne 1 I 2 Wiring for noise control ee ee EE AR EE ee ee ee nemen 1 Appendix Parameter table scat AMO Table usta E UM UR A RE EE A Ill 1 Appendix VI Revision history V1 1 Revision histOFY ee see es ee EE ee Ee ee Ee EE ee RE nennen nnnm nnns VI 1 Appendix V Servo motor specification VaT Semo raroyto di i9 elei o ETT V 1 Chapter 1 Model check and handling Chapter 1 explains the details to check before using the servo drive and motor that you have purchased Before assembling the product check whether name plate is as ordered Mishandling can disable normal operation or can significantly reduce the operating life depending on the situation Because it can damage the servo in the worst case please read the details and precautions of each article for handling A 3 us
75. er line and s signal line must be at least 30 cm Do not put the power line and signal line in the same duct or bundle then together Do not share the power supply with an electric welding machine or electrical discharge machine When the servo drive in placed near a high frequency generator install a noise filter and isolation transformer on the input side of the power supply line I 2 Wiring for noise control Always connect servo motor FG terminal to the drive frame ground terminal If the servo motor is grounded via the machine a switching noise current from the drive power unit through servo motor stray capacitance The above grounding in required to prevent the adverse effects of the switching noise Appendix Noise control An E x Example of wiring connected with ground connection AC 200 230 V Noise Filter1 oervo Drive R FDA7000 y Filter2 EN processing circuit Ground Plate Earth GND Class 3 ground 10082 max Use the thick wire with a thickness at least 3 5 mm for ground to the casing A ix Il Noi ppendix oise contro HIGEN x Example of noise filter wiring ESA LT NOISE FILTER AA ZA 3 Ada BOX lt X gt lt O gt Do not put the input and output line in the same duct or bundle them together NOISE FILTER NOISE FILTER Do not accommodate the noise filter ground line output lines and other signal lines in the same duct or bundle them
76. error of position tracking Adjust position gain increase menu P05 09 set value adjust command pulse frequency check motor and encoder wiring Ano 07 FOLLOW ERR Ano 10 encoder data Absolute value encoder Re transmit the absolute value ABS DATA transmission data transmission error encoder data after resetting error Ano 11 Battery voltage is 2 8V or OTT Bator Alar Replace battery 4 ABS encoder Ano 12 multi turn data ABS encoder multi turn Re transmit the absolute value ABS MDER transmission data transmission error encoder data after resetting error 6 2 6 Troubleshooting and check m HIGEN Ano 13 Output U V W Output U V W mis wiring Check motor wiring replace servo Output EC Mis wiring Error Connection Trial of entry of parameter that cannot be changed Change the set value after servo is when servo is ON OFF cancel parameter lock setting change in parameter menu P01 19 locking condition Parameter setting error Input value within set range Set value input error O 10000 o E Rated Current O amp I 1000 D Q O 100 10 Servo drive overload characteristics curve 100 150 200 250 300 Motor rated current note If Ano 03 OVER LOAD happens often refer servo drive overload characteristic curve and re establish suitable load of servo motor 6 3 6 Troubleshooting and check HIGEN 6 2 Check e When checking the unit always turn off the po
77. hen set P03 17 on and agjust the offset voltage automatically so that it can detect the connected voltage to zero speed When the offset voltage adjustment is complete the PO3 17 is automatically turned off and the offset voltage is automatically updated to the parameter of P03 18 P03 18 Manual Offset pud Display range er speed Torque mV 1000 0 1000 0 0 0 control Unit Display range Manufactured P03 19 Override ENB default Speed control ON OFF OFF The override mode operation is set to ON when minute speed is adjusted when the user is combining the speed command with the speed by digital contact point or analog speed command Unit Display range Manufactured al da E 0 2 default Speed contro 0 Clamp mode is only applied in the speed control mode Clamp mode can be used when stopping the servo motor without dropping the analog command voltage to O V Once it is clamped it will return to its clamped location even when it turns by external force Clamp mode 0 Clamp mode 1 Clamp mode 2 Speed A Speed A Speed command command command Command Command Command voltage voltage voltage Clamp voltage Clamp voltage 3 18 3 Parameter setting Hil EN Unit Display range Manufactured AE mV 1000 0 1000 0 Fr opeed control Unit Display ranae Manufactured P03 22 F Back TC ie i Mas default E Zero SPD VIBREJ Unit Display range E Speed position rem 0 0 1000 0 cont
78. hibited Speed limit use input contact point Torque control Speed limit SPDLIM T Selects whether to use torque limit Analog torque input Torque limit LIM and digital torque input can be used according to the combination of TRQ1 TRQ2 and TRQ3 Speed control ALMRST E This cancels the alarm condition In case of external emergency it overrides all input condition of the servo drive and quickly decelerates the Emergency stop ESTOP 39 motor to free run the motor You can select the ON OFF contact point in parameter PO2 26 It selects the type of speed controller OFF PI control ON P control It starts or stops the motor operation You can select the ON OFF contact point in parameter Stop Start STOP 13 PO2 25 x When setting P02 25 to OFF Close Stop Open Start V For details on the input contact point function change refer to the PO7 mode of Chapter 3 2 10 2 Wiring and connection HIGEN 2 3 4 Variable output signal function table Based on manufactured default Pin E Signal content Function and usage explanation 23 You can directly set the input contact point function from P7 01 Manufactured default Not use This is the output signal to operate the external Brake brake operation EINE 1e When on the brake power is supplied to enable motor operation ie alarm power good condition when the power is o ipud INSPD INP 22 It goes on when it reaches the commanded ae OS INTRQ Speed Position To
79. ida UOINSOd 4 NIAd NI4dd ies 20 S0d edA asind OOL jail 2 1 esind puewwoo uonoejes ed es ng p0 SO0d Prem pee 1S 1 11 S0d uonenueJeyiq 91 premio poo NO NO 61 S0d Na a veeo 1480 13 8L S0d WAN 74885 4 1973 o NO 340 504 Naa 61885 18513 N 9 S0d WAN 1899 41973 JONO c4 EE PM G1 S04 NAG 24889 14973 NO NO Ne 1 F1 eod WAN zieeo 18013 pueuuoopeeds Mno 2 Es ELSOd NAG Heed 14973 EWE 4340 440 440 cuva39 Luva39 zi sod WAN 11889 810731 Te RS Jes6 91401199 dO1S3 INI 1MO INI1M29 sd yu uonnjo 8J MIO 4 7 4 Servo using method and gain adjustment 4 2 1 CN1 wiring diagram for position control servo NFB MC1 ETD o D O R Power AC 200 230V E B 50 60Hz i D 3 NF et QS O O O O C T note 1 Or note 2 Regenerated OP resistor note 3 OB CN1 input DAC LR alo ESTOP E SPD1 GEAR1 SPD2 GEAR2 PLSCLR 14 STOP SVONEN ALMRST n SPDLIM PLSINH CWLIM oz E a E o E PTOLIM MPG Manual Pulse gt Generator or PLC Position ocation Card TRQIN ze note 4 m i w w A 4 w J alll eL A A Co w A w w A E FP LE UR KP K oO Go e LI Ul ell a A A A w to A H KPH ug ug w E A w to A C 4 TT TT TT TT TT VI Servo Drive FDA 7000 Hil EN Brake power input terminal CN3 Digital Loader
80. ing mode PO02 1 7 4 18 4 Servo using method and gain adjustment m HIGEN 4 4 3 Precaution during autotuning 1 Operate at 500 rpm or higher speed 2 Manually set the acceleration deceleration time setting of speed shortly ms If the acceleration deceleration time is set too long the speed deviation during the algorithm processing time is too small to make estimation 3 Avoid using autotuning when operating weak belt with lower mechanical strength 4 Avoid using autotuning for system with load inertia abruptly changing 5 When the P02 18 System response setting is too low increase the value 6 It does not apply when using the torque control mode 4 19 4 Servo using method and gain adjustment HIGEN 4 5 Precaution for absolute encoder In the host controller when detecting the absolute position of the machine even when the power of the servo drive is turned off you must use an absolute type servo motor and drive If you connect the power to the absolute type servo system you can make a machine system that can directly enable auto operation with additional position detection operation without the difference between the absolute type drive and standard type drive is whether there is a back up battery 4 5 1 Battery handling The battery supplies the back up power to store the position information of the Absolute encoder even when the drive power is turned off 1 Recommended battery specification
81. ioned after several revolutions from the reference position Absolute encoder initialized value D Initial incremental indication It outputs the pulse in the same speed as the revolution as about 1250 rpm 17 bit serial encoder application and P01 14 16384 4096 pulse from the origin position to current motor position of the motor axis Reference position Absolute initialization Current position 1 0 1 2 3 Coordinate M value 2 Wiring and connection HIDIEN x Absolute data E is calculated as follows M E MxR E B B E Ec Current position read from encoder M Serial data multi turns data B Initial incremental pulse Generally showed in value E Initial incremental pulse read from absolute encoder initialization point Generally shown in value and this value is stored and used in the host controller E Current position necessary from customer system R Pulse for 1 encoder revolution Value with division ratio PO1 14 applied 8 Absolute data transmission sequence 8 Maintain the ABS REQ signal to H Level D After 50ms it switches to standby condition to receive the serial data The up down counter for incremental pulse count is cleared to O O It receives the serial data 8 byte d After receiving the initial serial data and about 400ms past it operates as general incremental encoder ABS REQ signal Revolution serial data Initial incremental pulse
82. ition control 1 l Doare Manufactured P05 19 ELCTR Gear DEN 4 pla land default Position control 1 99999 8 Manufactured i Display range se Bias SPD COMPEN 1000 0 1000 0 y Position control To reduce the position decision time in position control mode it adds the internal compensated speed of the servo drive Manufactured default Position control 10 The bias pulse band is the value of bias compensation speed P05 20 when the error pulse Display range Bias Pulse Band 0 500 exceeds the set value of PO5 21 It adds the internal compensated speed P05 20 Manufactured default Position control 0 Display range 0 99999 Backlash Pulse 3 7 Torque control parameter setting Display range Manufactured P06 01 Analog TRQ TC y default Torque control 0 0 2000 0 0 0 When the host controller commands the torque of the servo drive in analog voltage this sets the low band pass filter TC of the analog torque command P06 02 TRQ ACCEL Time Unit Display range piros Torque control ms 0 0 9000 0 ar q P06 03 TRQ DECEL Time Unit Display range SQUE Torque control ms 0 0 9000 0 6 q User sets the acceleration deceleration time of the torque command in the torque control mode of the servo drive 3 23 3 Parameter setting Gun HIQEN Display range Manufactured P06 04 TRQ S Mode default Torque control 0 0 2000 0 0 0 If you adjust the S mode operation time constant under the co
83. ive capacity Drive k FDA70 PO1 11 Drive ID P01 12 Encoder ID Manufactured default Enc A Encoder Manual INC INC INC INC INC INC Po a oss ID setting 2000 2500 3000 5000 6000 2048 ar es sat P01 12 EncA n Lr b eec eec EncE eet ter ter Manufactured default 2000 id Manual PO1 13 2000 2500 3000 6000 2048 2048 32 68 32768 Manufactured default By model Speed Torque Position control Display range Enc 0 R Speed Torque Position control Display range P01 13 Encoder Pulse 1 32768 Speed Torque Position control Unit Display range Pulse Out Rate pulse 1 131072 Divide the encoder pulse on A and B feed back from the motor and set the encoder pulse out rate in line driver method But for the 17 bit serial encoder applied to FDA7000S enter the 4 times multiplied value and the setting range is 16384 131072 Manufactured default FDA7000 2000 FDA7000S 32768 3 6 3 Parameter setting HIDIEN Manufactured P01 15 COM Baud Rate Unit iid range defaut Speed Torque 15 Position control Select the communication speed Set the communication speed of the transmitting side main unit 19200 57600 15 57600 Manufactured P01 16 Serial Select Hn Ad oe default E peed Torque 0 osition control You can use the analog speed torque and pulse input using the serial communication and communication card Ether Net Refer
84. l CN3 Digital Loader PC Loader RS232C Network communication RS485 RS232C CN1 output ES MONIT2 SVONOFF EJ MONIT1 D A E b 4 INSPD INP OS INTRQ as BRAKE ZTRQ vk SPDOUT Sw moo ALARM m o N vk Sou aga Kum re Ez free Is rao RTE reo rezo Y Y The above input and output contact points are shown when setting the torque control mode contact point P07 01 P08 01 25 Note 1 NF stands for Noise Filter and it must be used to prevent the noise from intruding from the outside Note 2 For the FDA7004 7004B 45 type connect the single phase AC220V V to the r t terminal auxiliary power FDA7001 02 type does not have the auxiliary power r t terminal Note 3 The recovery resistances of FDA7004 FDA7010 are installed inside the driver as an internal type The recovery resistance of the FDA7001 7002 7004B FDA7015 type or above is the separately installed type Check the capacity and apply accordingly Note 4 Connect the ground wire of CN1 cable to the FG Frame Ground terminal Note 5 Separate GND24 CN 24 25 and GND CN1 1 8 26 33 34 36 When connect commonness malfunction of servo drive and burnout can occur 4 15 HIDIEN 4 Servo using method and gain adjustment 4 3 2 Gain adjustment of torque servo P06 01 Analog TRQ TC ME EI play tange ota Torque control 9 ms 0 0 2000 0 d If you suspect that machin
85. l must be installed with a transformer Always connect the standard regenerated resistance to the P and B terminal of the drive Chapter 2 Wiring and connection Chapter 2 explains the main circuit wiring VO signal connection examples and connection to peripheral devices of the servo drive 2 1 Main circuit and peripheral device connection sss 2 1 2 2 Main Circuit terminale sis Susie EE Gp EER SR OE N EE GREG RR AS 2 3 2 6 CNT VO signal explanalOm EE Dos 2 8 2 4 CN2 wiring and signal explanation ee Ee EE RE EE Ee ee Ee ee EE ee 2 13 2 Wiring and connection HIDIEN 2 1 Main circuit and peripheral device connection This part explains the peripheral device and main circuit wiring Keep the following danger and caution details during wiring e Do not open the surface cover when connecting the power or during operation lt can cause electric shock e Do not operate the drive when the surface cover is removed It can cause electric shock because the high voltage terminal and charge part are exposed e Even when the power is turned off do not remove the surface cover unless it is for wiring or periodic check It can cause electric shock because the inside of the servo drive is charged e Execute the wiring work and check more than 10 minutes after the power has been disconnected and checked of the voltage with tester etc e Ground the grounding terminal of the drive and motor both to
86. ld and can not be used for braking Use the holding brake only to hold a stopped servo motor I Do not supply AC at N P connector when connect the power line to Small and Medium capacity servo drive If main power is DC power because N connector voltage and P connector 4 voltage burnout of servo drive when N P connector is supplied AC power Choose positively necessary AC and DC power and use Contents Essential notes before use Chapter 1 Model check and handling al MOGOBLCIOGONsos ceri nuki das SR EG ees Mns d 1 1 1 2 Servo drive SPECICATION siii 1 2 1 3 Combination table of servo drive and motor sseseseeeeessses 1 3 A E mM 1 4 TO Randin EE E UU UNE 1 7 Chapter 2 Wiring and connection 2 1 Main circuit and peripheral device connection seeseeeeeessssss 2 1 2 2 Main CIRCUIT Teratalzsivied ud oe Det DA Ge tua Ugo bna de Du qd Tree SG d VRUNE 2 9 2 9 ONT UO SighalexplarallOFis ss ES EE MEHR Ee SR EE eur aa ER Ne cus 2 8 2 4 CN2 wiring and signal explanation ee ee ee Ee EE ee RE EE ee EE ee RE Ee ee RE ee 2 13 Chapter 3 Parameter setting 3 1 Status display parameter esse ee ee Ee ee ee ee ee ee Ee ee ee nennen nnn 3 1 3 2 Motor and operating device setting RR Ee ee AR ee EE Ee ee ee RE ee ee ee 3 5 3 3 General control parameter setting es se ee ee EE ee ee EE Ee ee EE ee ee 3 8 3 4 Speed control parameter seftiNg sees ee EE
87. ls of CN2 and FMA series AC servo motor are shown as the following table CN2 Signal name MOTOR L1 60 80 series side MOTOR 130 180 series rs hey Drive Connector pin no for side e EE Connector pin no for encoder 2 Wiring and connection Vcc DC 5V EER ERST PM V Connect the grounding wire of the encoder wiring cable for F G V Applied cable specification AWG24 x 9Pair TWIST SHIELD CABLE Maximum length 20m 2 4 3 17bit absolute incremental encoder Based on soldering side of user connector The connector for CN2 is optional For incremental 17bit encoder you do not need to connect the No 7 BT and No 8 BT terminal Manufacturer 3M CASE product name 10320 52F0 008 Connector for soldering 10120 3000VE The 17bit absolute encoder wiring details of CN2 and FMA series AC servo motor are shown as the following table CN2 Si MOTOR L 160 80 series side MOTOR L1130 180 series ignal name l l PIN No Drive Connector pin no for side Drive encoder Connector pin no for encoder 2 15 2 Wiring and connection MEEN NEMMEEEkss Vee DG5V 05 na IT ooi V Connect the grounding wire of the encoder wiring cable for F G V Applied cable specification AWG24 x 5Pair TWIST SHIELD CABLE Maximum length 20m 2 16 2 Wiring and connection HIGEN A wiring example of CN2 of motor side L 160 80 and FDA7000 A when applying the 17bit absolute in
88. n 1 loop gain 2 setting 2 5 0 10 0 5 0 120 0 10 0 80 0 3 0 s wo so ww wo 150 oo 30 ie z 150 wo 20 50 25 s se wo so wo oo 30 15 e se so so so so veo 12 s so so so wo so wo 98 io so mo so wo mo We 98 m 7e so mo wo so no 95 38 wes 1900 so oo 960 so os ia wes see xo so 1600 so os 3s 1600 zoo 3e so 000 4 o2 io soas so 3mo 3s seo az oo If you set the system response to high it increases the servo system gain to increase the response But if the set value is too high it can cause noise and vibration in the motor In this case appropriately lower the set value 4 Servo using method and gain adjustment HIGEN 4 4 2 Autotuning setting sequence START Test operation with basic setting No Does load inertia change Yes Turn ON on line tuning mode PO2 17 Repeated acceleration deceleration operation x 500rmp or above Yes Operation No Manually adjust system response P02 18 Operation OK No Turn OFF autotuning mode Manually adjust load inertia PO2 19 Save tuning result P02 19 V Autotuning is set by system response setting P02 18 manual part by position loop gain speed control loop gain SC TC and torque command filter and the system inertia ratio P02 19 is set by the autotun
89. n of the servo drive El Alarm content A CODEO JA CODE1 A CODE A CODES OVER GURNT Seno oveccurentaam 9 1 9 9 02 OVERVOLT Servoovervoltage alarm 1 0 0 08 OVERLOAD Overioadalarm o 0 9 0 POWERFAL Servo insufficient voltage alarm 1 0 0 05 UNEFAL Encoder missed operation alarm o 1 1 9 06 OVERSPEED Ovespedalam 1 0 07 FOLOWERR Locationfolowingeroralarm o 0 0 08 OUTPUTNG Output NO alarm Ti 0 0 09 PPRERROR Encoder pulse rate setting alarm o 1 0 5 10 ABS DATA Absolute encoder data erroralarm 1 1 0 1 ABSBATT Absolute encoder battery low alarm o o 1 KA Mi NEE EE EE EE transmission error alarm 183 OUTPUT EC Output mis wiring alarm 3 38 3 Parameter setting be Manufactured default OFF It resets and initializes the occurred alarm Check and remove the cause of the alarm before Unit Display range Speed Torque Alarm Reset Position control ON OFF resetting the alarm and then reset This is the parameter that the occurrend alarm history resets and initializes Manufactured Indicated range default Speed Torque Alarm History 10 0 32 0 Position control Alarm History 1 Manufactured default OFF Speed Torque Position control Display range ALS 13 ON OFF It resets and initializes the occurred alarm histor
90. namic brake IE condition Check external DC 24V power Ano 00 Emergency Turn external ESTOP EMER STOP contact point input OFF Check p point ON Ano 01 Servo drive output terminal Check output terminal wiring re Over current U V W short circuit operate after resetting replace drive OVER CURNT output over current when O C continues Use input voltage of 230V or below Replace brake resistance increase Input over voltage Ano 02 AC link over 280V or above OVER VOLT voltage PN cid resistance acceleration deceleration time burnt Overload GD replace servo drive OVER LOAD Motor mis wiring and encoder wiring POWER FAIL issue SERVO is ON input condition Motor and encoder related set value error motor and encoder mis wiring encoder defect mechanical overload Ano 06 Over gain parameter set Adjust gain Over speed value error Check parameter P03 15 P03 16 OVER SPEED over gravity load Remove over gravity load Abrupt acceleration deceleration gain set value error command pulse over frequency 300kpps or above mis wring mechanical overload Ano 08 Output U V W Check motor wiring replace servo Output NC missing Output U V W missing drive Encoder pulse Ano 09 Accurately set the encoder ID PPR ERROR Ee Encoder ID setting error PO1 12 Absolute value Mis wiring of motor and encoder Ano 05 LINE FAIL Check motor encoder wiring and set value remove overload Over
91. nce signal of manufactured default For the function of partial pin among the signals the signal allocation can be changed in PO7 mode input function setting and P08 mode output function setting The connector for CN1 is optional Manufacturer 3M CASE product name 10350 52F0 008 Connector for soldering 10150 3000VE 2 8 2 Wiring and connection 2 3 2 CN1 VO wiring NFB Power AC 200 230V 50 60Hz i 24V_ MPG Manual Pulse Generator or PLC Position Location Card Note 1 NF stands for Noise Filter and it must be used to prevent the noise from vL note 1 Regenerated resistor note 3 note 4 SPD1 GEAR1 SPD2 GEAR2 SPDLIM TLIM lt Z lt OR OS OT Or t note 2 OP OB CN1 input 24V ESTOP _ 7 SPD3 STOP SVONE ALMRS Z e w w A A J lt lt 4 4 PIP NTQLIM WLIV PTQLIM HEEN E mw pe eme y m pu SPDIN o sd pg E p intruding from the outside Note 2 For the FDA7004 7004B 45 type connect the single phase AC220V V to the r t terminal auxilia ry power to A c to A L w to A a4 w A C C w to A Co A to A w to A w A J a4 Servo Drive FDA7000 BN AD TROIN 2e HIDIEN CN3 CN1 output poca 1 wow HE eo Digital Loader PC Loader RS232C Network communication
92. ndition of satisfying the operattion characteristics of the machine system you can reduce the vibration and impact of the machinery Display range Manufactured P06 05 In TRQ Range y default Torque control 10 0 0 0 100 0 Torque Set torque reach range m lt Actual torque lo A rl dal VETTE TES Time sec ON Set torque OFF reach completion Time sec Unit Display range Manufactured bid Md y default Torque control o 0 0 100 0 e P06 07 10 V TRQ Unit Display range ponia Speed Torque 0 0 300 0 100 0 control This sets the command torque range applicable to the 10 V analog voltage in speed or torque control mode of the servo drive Manufactured default OFF It automatically adjusts the offset voltage of the servo drive for analog O V input of the host Speed Torque Unit Display range control ON OFF Auto Offset controller Manufactured Setting range default Speed Torque 1000 0 1000 0 0 0 control Manual Offset 3 24 3 Parameter setting be 3 8 Input contact point function setting P07 01 CN1 18 Unit Setting range oia Speed Torque Digital INPUT 1 0 30 Position control In PO7 01 menu you can set the individual pin function 0 20 and set the pin 25 30 by control mode But in PO7 02 P07 12 menu you can only set the individual pin function setting 0 20 To set the pin by control mode enter the value of 25 30 in the P07 01 menu
93. ng agreements no reproduction of any part may take place without the written permission of HIGEN Motor company
94. ng value LEFT Move blinking value to left RIGHT Move blinking value to right ENTER Display parameter value start and end of parameter change x Enter motor ID 00 gt 11 x Enter digital input speed 1 200 gt 200 ENTER ENTER ENTER ENTER is blinking When changing the parameter sign indicates the blinking value but sign does not indicate anything 5 Servo operating SERE 5 2 3 Alarm related processing part 1 Currently generated alarm display menu ENTER Indicated generated alarm value In case of over current alarm In case of normal condition after removing alarm cause and resetting Currently generated alarm display menu shows the currently generated alarms Even though it is free to move to the next menu the alarm cannot be reset and the motor cannot be operated 2 Alarm reset menu UP ON OFF change DOWN ON OFF change LEFT Move menu RIGHT Move menu ENTER Start and end of parameter change Current alarm cancel function operation Return to OFF after resetting As the function to reset the alarm generated in the current system the alarm reset menu is the same function as external input reset 5 4 5 Servo operating eE 3 Alarm record display menu Alarm record display menu saves the latest 10 alarms in each menu in the sequence of ALS 03 ALS 12 The following diagram is the case assuming that the over current 01 alarm is gener
95. nt function setting ee ER ER ER EE ER EE ee Ee ee 3 25 3 9 Output contact point function setting ee ee ee RR ee 3 30 3 10 Analog monitor function settINg is ss AR ee AR Re ee EE 3 35 3 11 Jog operation parameter setting occcoocccconononiononononononinarononos 3 36 9 beu artidddisplay sollllIC cepe iaa 3 38 3 Parameter setting be The menu setting can be executed with the digital and internal mount loader Refer to Chapter 5 for details on how to use the internal mount load and digital loader The acronym and meaning used in this manual are as follows PC Position Controller Limit C PC C C Communication Error 3 1 Status display parameter When the power of the servo drive is turned on this sets the menu to display on the display window The first and second space indicates the upper menu number of each menu and third and fourth space indicates the lower menu number For example if it is set as StE 01 1203 the 12 means the StE menu and 03 refers to the StE 03 3 1 3 Parameter setting be First and second space value n na Por mee mo poe ras me por ae mo ion us se menu name st nd 1 and 2 01 02 04 value Refer to each parameter for the third and fourth menu number Manufactured E Unit Display range Speed position StE 02 Command Speed rom 9999 9 9999 9 oorau O Manufactured Unit Display range Speed Torque S608 e
96. nternal Position position Position 4 Speed command eter command error PC P Gain POS Gain mode command P P05 05 P05 06 PO5 01 Position Note In this control mode Error pulse should be cleared according to the servo condition Before the stop function release the error pulse is cleared by PLSCLR action 1 This sets the position control gain mode Unit Display range Mens EIE POS Gain Mode j 125 default Position control 1 When the servo drive set to position control mode this sets the position control gain mode Operation explanation Use PC P gain 1 PO5 05 Ets Use PC P gain 2 PO5 06 Apply variable gain using gain 1 P05 05 and gain 2 P05 06 according to set speed P02 20 P02 21 for h position vd iie gain 4 Apply variable gain using gain 1 P05 05 and gain 2 P05 06 according to set torque P02 22 P02 23 for the position controller gain 5 Select gain 1 P05 05 or gain 2 P05 06 by the external contact point signal for the position controller gain 2 This sets the PC P gain applied by the set value of PO5 01 4 Servo using method and gain adjustment HIGEN Manufactured default Position control By capacity Display range PC P Gain1 0 0 500 0 Bienlavrand e Manufactured P05 06 PC P Gain2 play rang default Position control 0 0 500 0 B y capacity Position command Position feedback Kp pc PC P Gam 3 When PO5 01 3 the variable g
97. ome vos ser vm 207 Allowable load inertia ratio Versus rotor Detector Incremental 17 33 bit 131072 p rev or 2000 6000 p rev type Absolute 17 33 bit 131072 p rev or 11 13 bit 2048 ET ET ws Torque speed characteristics 30 times or below 20 times or below CNO1 CN02 CN03 CN04 CNO5 Torque N m Torque N m Torque N m 1 0 2 0 3 0 02 A lod EP 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 Revolution speed r min Revolution speed r min Revolution speed r min Revolution speed r min Revolution speed r min A Continuous duty zone amp B Intermittent duty zone CN04A CNO6 CN10 Torque N m Torque N m Torque N m 40 eem a mE A o 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 Revolution speed r min Revolution speed r min Revolution speed r min Revolution speed r min A ix V ificati ppendix Servo motor specification ME Motor FMA CNO9 CN15 CN22 CN30 CN30A CN50A KNO3 KNOS KNO6 KNO7 Drive LFOATO p eme xm me ajo Flange Size Rated output W 900 1500 2200 3000 3000 5000 IIs Rated current Em ESE ES 1 Ta 2 192 192 233 9 Max instantaneous current A rms Rated Lm im m ET 954 954 159 143 215 257 04 lis 1623 eee bli epe ele
98. or inertia GD 4 Allowable load ratio Versus rotor r min W rms rms N m kgf cm N m kgf cm r min Hil EN KNOGA KN11 KN16 KN22 KN22A KN35 KN55 130 Ww me s no sex 2200 2200 a800 5500 d er wo 43 e es 78 zs s ra sos 1048 1067 2638 ma me mo vor w vo eer as wa zs ws sa so ese TT Re T 2000 3000 00S inertia 10 times or less Detector type Incremental Absolute 17 33 bit 131072 p rev or 2000 6000 p rev 17 33 bit 131072 p rev or 11 13 bit 2048 p rev Torque speed characteristics KNOGA te 1000 2000 3000 Revolution speed r min A Continuous duty zone amp KN22A ya A 1000 2000 3000 Revolution speed r min KN11 Torque N m 15 KN16 T N opel m KN22 T N eet m 1000 2000 3000 Revolution speed r min 1000 2000 3000 Revolution speed r min 1000 2000 3000 Revolution speed r min B Intermittent duty zone KN35 yee fa A 1000 2000 3000 Revolution speed r min 1000 2000 3000 Revolution speed r min V 4 A ix V ificati ppendix Servo motor specification DENS Moor FMA 05 4 0 450 3 7 Drive FDA70 Flange Size L 130 18 0 Oe ee se eel Rated output W 450 850 1300 1700 1800 2900 4400 7500 A rms l i E i i Max rom r min 3000 800 E
99. or bottom of the shaft Keep the motor cable downward Ifthe motor is installed vertically install a cable trap so that oils or water do not flow into the motor 1 6 1 Model check and handling m HIGEN 9 Cable disconnection Take caution not to stress or damage to the cables Ifthe motor is used as a mobile motor use flexible cables 1 5 Handling 1 5 1 Handling precaution Mishandling can lead to unexpected accidents or damage The key items are listed as follows Reference the related details and use the drive correctly 1 Handling Do not apply any pressure to the encoder which is the motor detector Hitting the shaft with a hammer or falling can cause damages Do not directly connect commercial power AC220V to the motor Over current can reduce the magnetic efficiency of the motor Always connect to the defined servo drive for operation 2 Wiring Connect the grounding terminal of the drive and motor to the drive side and ground all at once to the closest point Use the class 3 earth 1002 or below to prevent electric shock and mis operation The U V W and FG terminal of the drive and motor must be aligned Because the 2 lines are replaced with the commonly used motor the rotating direction cannot be changed If you connect the commercial power to the U V W and FG terminal of the drive it can be damaged Connect the 200V level power to the R S and T terminal and the power besides the 200V leve
100. outputted in 0 5 V range through the DA converter Monitor selection 0 Speed 1 Speed command 2 Torque 3 Torque command 4 Pulse 5 Command pulse Designated variable value is outputted in O 5 V range through the DA converter MONIKON GUDULA MORIA a Monitor selection 0 Speed 1 Speed command 2 Torque 3 Torque command 4 Pulse 5 Command pulse PAO PAO 7 32 After dividing the motor encoder signal from CN2 as much Encoder output PBO PBO 6 31 as the division rate set in the division setting menu it PZO PZO 5 30 As the external VO contact point power enter 24 VDC 10 1 0 A or above for the external power 24 V 124VIN 49 User preparation Power input When using the VO contact point power simultaneously recalculate the power capacity according to the output contact points 24 V GND GND24 24 Connect the ground of power 24 VDC 10 for external 20 VO contact point User preparation Common power ground terminal of speed command O V GND torque limit command speed torque monitor output 34 36 encoder output terminal When using the absolute encoder connect the battery from ee Pn B the host controller Do not connect the drive side and both y sides of the host controller 12 V output 12 35 When simply outputting speed command and torque limit 12 V output 12 3 use the 12 V power FRAME GROUND Ground the cable ground wire of CN1 V Function of fixed I O contact point
101. protect Unit Display range Manufactured CW Limit ul ON OFF OFF As the CW Limit function it sets the operation type of the set input contact point Depending on the menu value the CW Limit operation is converted Speed Torque Position control 3 Parameter setting Gun HIQEN Manufactured default OFF As the CCW Limit function it sets the operation type of the set input contact point Depending Speed Torque Unit Display range Position control ON OFF CCW Limit on the menu value the CCW Limit operation is converted Manufactured default OFF As the Servo ON OFF function it sets the operation type of the set input contact point Speed Torque Position control Servo ON OFF Unit Display range ON OFF Depending on the menu value the Servo ON OFF operation is converted note After this parameter alteration selects motor ID P01 01 drive ID P01 11 Encoder ID PO1 12 use If execute SERVO ON when parameter does not conform there is damage danger servo motor and drive 3 4 Speed control parameter setting Manufactured default Speed control 1 Display range 1 55 P03 01 Speed Gain Mode When the servo drive is set to speed control mode it sets the speed control gain mode Set value Operation explanation 1 Use speed controller gain 1 PO3 05 P03 06 o Use speed controller gain 2 PO3 07 PO3 08 Apply variable gain using gain 1 PO3 05 P03 06 and gain 2
102. r Ee 9999 9 9999 9 el Position control Manufactured _ Unit Display range Speed Torque Spesa 0 0 9999 9 Rete Position control Manufactured N Unit Display range Speed Torque sees MV perd 9999 9 0 0 oe Position control Command Pulse oul MS range eae Position control pulse 99999 99999 j StE 07 Feedback Pulse Unit Display range AE Position contro pulse 99999 99999 j Error Pulse wl MEUS AU E iue Position control pulse 99999 99999 j Manufactured Unit Display range Speed Torque iS UE 300 0 300 0 erat Position control Manufactured Unit Display range Speed Torque Foelie 300 0 300 0 eat Position control Manufactured Unit Display range Speed Torque May OAE 300 0 300 0 sela Position control Lo MR nd LU JE EE o Dep range out posed Tore MEE 3 2 i i Manufactured Unit Display range Speed Torque Fa 0 0 300 0 eel Position control 3 Parameter setting GODEN Hie Manufactured default Speed Torque 0 999999 Position control Display range VO Status lt For internal mount loader gt CN1 18 cN1 38 ONS cag CN174 coo ENS gor ONT co NT 4 43 Input contact PIN allocation part anc lt D EP Output contact PIN nd allocation part zn 23 SS JS The PIN allocation based on the manufactured default is as follows input No ARE SVON SPD1 CCWLIM CWLIM SPDLIM Borde GEAR SPD3 e PVP pTOLM NTQLIM
103. rol Set the motor ID to use P01 02 P01 10 Except PO1 07 and PO1 08 the motor parameter masked Model name 00 Individua 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 ID TRQ Constant Phase Resistance Q2 Unit P01 06 Rated Current Display range 0 01 999 99 Display range 0 1 999 99 Display range 0 001 99 999 Display range 0 01 99 999 Display range 0 01 999 99 3 5 Manufactured default By motor type Manufactured default By motor type Manufactured default By motor type Manufactured default By motor type Manufactured default By motor type Speed Torque Position control Speed Torque Position control Speed Torque Position control Speed Torque Position control Speed Torque Position control 3 Parameter setting Hil EN Manufactured E Unit Display range Speed Torque und EG 0 0 9999 0 SR ER Position control P01 08 MAX Speed Unit Display range ipeo Speed Torque P rom 0 0 9999 0 By motor type Position control Manufactured Unit Display range Speed Torque P01 09 isi kgfcm 0 0 9999 0 B Sou Position control y motor type Manufactured Unit Display range Speed Torque poro fo MUGEN Pole 2 98 B Bou Position control y motor type Manufactured x Display range Speed Torque P01 11 Drive ID i b default Position contiol By drive type Enter the setting value in the following table depending on the servo dr
104. rol Manufactured i P03 24 Feedforward TRA DIt PER ge default Speed position 0 2 0 control When torque command operation mode is set to 2 the feedforward TRQ can be used The feedforward TRQ input enables fast decision making during speed control But if the feed forward input is too high it can cause an overshoot or undershoot Apply appropriately Operation explanation The function by analog torque command is operated by input contact point SPDLIM TLIM The analog torque command continually operates in torque limit value irrelevant from the contact point input The analog torque command operates as feedforward torque item Precision control 3 19 3 Parameter setting Gun HIDIEN 3 5 Input contact point digital speed and torque setting Speed 1 Digital input speed 1 Speed 2 Digital input speed 2 Speed 3 Digital input speed 3 Speed 4 Digital input speed 4 Speed 5 Digital input speed 5 Speed 6 Digital input speed 6 Speed 7 Digital input speed 7 Torque 1 Digital input torque 1 Torque 2 Digital input torque 2 Torque 3 Digital input torque 3 Torque 4 Digital input torque 4 Torque 5 Digital input torque 5 Torque 6 Digital input torque 6 Torque 7 Digital input torque 7 Setting range 9999 9 9999 9 Setting range 9999 9 9999 9 Setting range 9999 9 9999 9 Setting range 9999 9 9999 9 Setting range 9999 9 9999 9 Setting range 9999 9 999
105. rque completion When used for speed control mode it indicates the opeed torque SPDOUT condition of the torque the servo motor is limiting limiting TRQOUT When used for torque control mode it indicates the condition of the speed the servo motor is limiting Zero speed ZSPD 47 This indicates the stopped condition of the servo condition motor Alarm ALARM 20 When the alarm is detected it foes off During condition normal operation it goes on Alarm 0 CODE A CODEO It outputs alarm CODEO Alarm 1 CODE A CODE It outputs alarm CODE1 Alarm 2 CODE A CODE2 It outputs alarm CODE2 V For details on the output contact point function change refer to the PO8 mode of Chapter 3 2 3 5 Fixed I O signal function table oignal content Name Function and usage explanation F input pulse Depending on the set value of pulse logic it receives and F input pulse operates according to the specific position command type of R input pulse negative or positive logic Refer to Chapter 3 for details of R input pulse the pulse type Analog speed When operating in speed mode enter the analog speed command command Analog speed When operating in torque mode enter the analog speed limit limit 2 11 2 Wiring and connection HIDIEN Analog torque When operating in torque mode enter the analog torque command command Analog torque limit When operating in speed mode enter the torque limit Designated variable value is
106. rque m Torque N n Torque N m 500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000 Revolution speed r min Revolution speed r min Revolution speed r min Revolution speed r min A Continuous duty zone amp B Intermittent duty zone LN12A LN20 LN30 LN40 Torque N m Torque N m Torque N m Torque N m 30 50 75 100 60 MT E sol s fh 40 x 40 20 10 500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000 Revolution speed r min Revolution speed r min Revolution speed r min Revolution speed r min V 6 x V ificati ppendix V Servo motor specification HIGEN Drive FDATO o owes sme wwe as z RT BT Flange Size WY a E NE NE NE OE AU N Rated current Arms Max instantaneous current mr Arms Rated EE OE ME 11313 di Kgrem 3653 487 za 17 m 24 Mac o Nm 1074 test 2156 314 soo 717 Instantaneous torque Kgom 1095 1460 2200 ser so 7382 Rated rpm r min 2000 Max rpm r min 3000 Inertia Allowable load x 10 times or less ratio Versus rotor Detector 17 33 bit 131072 p rev or 2000 6000 p rev type Absolute 17 33 bit 131072 p rev or 11 13 bit 2048 p rev Torque speed characteristics KFO8 KF10 KF15 TET ME TET 1000 2000 3000 1000 2000 3000 1000 2000 3000 Revolution speed r min Revolution speed r min Revolution speed r min A
107. ry power of the power circuit connect the r and t terminal to single phase AC200 230 V 3 Connect the recovery resistance of internal type during shipment between the terminals P and B 4 At the U V and W terminal connect the U V and W phase of the servo motor 5 Ground the FG terminal Connect the grounding wire of the servo motor with this terminal 6 When main power is DC voltage supply DC280 325 V between P and N 7 Don t supply AC power between P and N AC SERVO FDA7008 FDA7004B FDA7004 FDA7005 BE device FDA7010 Wire thickness thickness AWG 16 1 25mm2 AWG 14 2 0mm AWG 12 3 5mm2 GMC 12 13A level Open close device GMC 40 35A level product product ABS33b 10A Breaker ABS33b 5A level product d level product Noseffer filter NFZ 40305G 30A SOW 500 Regenerated resistance External 70W 500 Internal resister resister Y Open close device and Breaker LS Industrial Systems http www Isis biz V Noise filter Samil Components http www samilemc com 2 4 2 Wiring and connection HIDIEN x For the wiring of small medium capacity socket execute in the following order 8 After checking the wire thickness indicated in 2 2 1 remove the wire coating he coating of the wire to be used should be 8 9mm or less The thickness of the wire permitted by the socket is as follows Wire type Permitted wire thickness D Even tho
108. servo drive executes the set functions Connect to the pin allocated as the input contact point of the CN1 connector and you can set and use the desired function from the menu You can arrange the input contact point in multiple arrangements so that other pins can have the same function 3 25 3 Parameter setting Gun HIDIEN Input contact point function table Function Function acronym Function explanation number y j SVONEN Servo on off operation input contact point When the control mode is multiple mode control mode conversion 2 TYPE input contact point 3 OR Torque speed location direction conversion input contact point 4 PI P P PI control mode conversion input contact point GAITRS Control gain conversion input contact point ENIM TRQ1 Digital torque input contact point 1 TRQ2 Digital torque input contact point 2 o8 TRQ3 Digital torque input contact point 3 NS SPD1 GEAR1 Digital speed input contact point 1 electronic gear ratio conversion input contact point 1 SPD2 GEAR2 Digital speed input contact point 2 electronic gear ratio conversion input contact point 2 SPD3 Digital speed input contact point 3 sPDLIM TLIM SPeed limit use input contact point Torque control Torque limit use input contact point Speed Position control CCW revolution limit input contact point Speed Position control di inda diis CCW torque generation limit input contact point Torque control CW revolution limit input contact point Speed Posi
109. servo is off Free run operation at set zero speed PO3 14 decelerating the dynamic brake when the servo is off Maintain free run operation by decelerating in free run condition when the servo is off 3 Maintain dynamic brake at set zero speed P03 14 decelerating in free run condition when the servo is off 3 9 3 Parameter setting Hil EN l Manufactured Unit Display range Speed Torque The operation of the notch filter is set to operate the notch filter to reduce the resonance of the machinery Operation explanation 0 Do notuse the noteh filter 1 Do not use the noteh filter t use the notch filter 1 MICA ET the notch filter 1 in the set resonance frequency and resonance bandwidth This is the method of reducing the resonance after automatically detecting the resonance frequency it automatically detects the frequency of which the vibration is generated and reduces the resonance Automatically switches from mode 2 2 1 Manufactured Unit Display range Speed Torque men ME Erediens 50 0 2000 0 pn Position control This sets the notch filter frequency 1 to reduce the resonance of the machinery Manufactured Unit Display range Speed Torque Fa eran 10 0 99 9 on Position control It shows the certain gain bandwidth where the notch filter 1 operate to reduce the resonance of machinery Manufactured Unit Display range Speed Torque Set the notch filter 2 to reduce the
110. t Position 4 CWLIM NTQLIM control CW torque generation limit input contact PO7 12 CN1 38 GND24V CN1 224275 24V common input EXT24V CN1499 24V external input 3 29 3 Parameter setting be 3 9 Output contact point function setting P08 01 CN1_23 Unit Display range ota Speed Torque Digital OUTPUT 1 0 30 Position control In the P08 01 menu you can set the individual pin function 0 18 or set the pin 25 30 by control mode But in P08 02 P08 10 menu you can only set the individual pin function 0 18 Enter the 25 30 value in the P08 01 menu to use the pin setting by control mode and the menu of P08 01 P08 10 will automatically be reset with the pin setting of the applicable mode For more details please refer to the Output contact point function table in the next page P08 02 CN1 48 Unit Display range dia Speed Torque Digital OUTPUT 2 0 18 3 Position control P08 03 CN1_ 22 Unit Display range ME ie Speed Torque Digital OUTPUT 3 0 18 6 Position control P08 04 CN1_ 47 Unit Display range m Speed Torque Digital OUTPUT 4 0 18 5 Position control P08 05 CN1_ 21 Unit Display range Mee Speed Torque Digital OUTPUT 5 0 18 7 Position control P08 06 CN1 46 Unit Display range sade Speed Torque Digital OUTPUT 6 0 18 Position control P08 07 CN1 20 Unit ds range mum Speed Torque Digital OUTPUT 7 18 Position control P08 08 CN1 45 Unit T range a Speed Torque Digital OU
111. terminal with a tester motor Check the connection part with drive Check motor and encoder wiring Check the output wave shape Check the connection of the motor lead terminal Check the drive input voltage Tighten loose parts Rework on the wiring Replace the cable Replace the encoder Request for repair Correct the wiring Correct the power Remove any particle on the revolution part and supply lubricant or grease Check the machine condition Check the surrounding temperature of the motor installation part 40 C or below Check whether there are any alien particles on the motor surface Check the load rate of the Reduce ambient temperature to 40 C max Clean dust and oil dirt Low magnetic power setting Motor encoder ID inertia ratio gain drive Check the acceleration deceleration frequency Check the comparator voltage and voltage wave shape Check the screw condition of the coupling and copper core of the connection part etc Check the bearing vibration and abnormal noise Check the control parameter Heduce load Increase acceleration deceleration time Replace the motor Readjust the coupling Contact our company Refer to parameter setting method in chapter 3 6 Troubleshooting and check HIGEN 6 1 2 Servo drive When an alarm occurs in servo drive and error signal output contact point ALARM goes OFF and the motor is stopped by dy
112. the drive side and ground at once in the closest point To protect electric shock and mis operation use at least class 3 ground 100 Q max e The wiring work and checking work must be executed by specialized technician e The wiring must be done after the main unit is installed lt can cause electric shock or injury e Do not operate the key with wet hands lt can cause electric shock or injury e Make sure you do not damage the wire apply excessive stress on the wire put heavy object on top of the wire or have the wire pressed again an object lt can cause electric shock or injury e Use wiring that complies with the standard Otherwise the servo motor may not operate e Do not install power condenser surge absorber or radio noise filter on the output side of the servo drive e Correctly connect the output side Terminal U V W FG or the motor can operate abnormally e When attaching the DC relay for control output signal on the control output signal part be careful of the diode direction for surge absorption The signal may not be outputted due to problems and the protection circuit will not operate during emergency stop For diode direction refer to the user manual 2 Wiring and connection g HIGEN 2 1 1 Main circuit and peripheral device connection Servo drive The life of the servo is 0 0 Power specification Use the power specification 1 MeL c o E affected by the surrounding 0
113. the workpiece movement distance per input reference command pulse from the host controller to be set to any value One reference command pulse form the host controller that is the minimum position data unit is called a command unit Electronic gear ratio setting Input Servo Drive command pulse Servo Motor Electronic gear NUM Number of motor encoder pulse x 4 Electronic gear ratio x Reduction ratio DEN Command unit Y Reduction ratio is load shaft revolution over motor shaft revolution VS The command unit shows the minimum command unit of the position data to move the load V Encoder pulse rate Encoder type Number of motor encoder pulse ppr encoder Absolute 11bit 2048 Serial 17bit 32768 X Setting method of electronic gear D Check the mechanical specification including reduction ratio ball screw pitch etc Deceleration ratio Pitch P 2 Determine the minimum unit command unit of the position data while feeds load per pulse When moving the table by 0 001 mm for 1 Pulse the command unit is 0 001 mm Appendix Servo system application Hi 3 Obtain the load feed rate per load axis rotation in the unit of command Command unit 0 001 mm ball screw pitch 5 mm Load feed per load axis revolution Command unit 5 0 001 5000 Command unit b 4 Get electronic gear ration in case of reduction ratio a a NUM Number of motor encoder pulse x 4 Electronic
114. tialization 1 When the absolute value encoder requires initialization During first operation When the encoder cable is separate from the servo drive After replacing the battery When the absolute encoder related alarm is generated 2 Absolute value encoder initialization reset method 17bit serial absolute value encoder When it sets the origin by itself set the parameter P01 20 to ON and it will change to ON OFF to initialize the current position Multi Turn data reset When the absolute value related alarm is generated execute alarm reset by using alarm reset contact point ALMRST When it sets the origin by itself set the parameter PO1 20 to ON and it will change to ON gt OFF to initialize the current position Or connect the power to encoder terminal ERST CN2 20 and Vcc terminal CN2 19 for more than 4 seconds 4 21 Chapter 5 Servo operating Chapter 5 explains the operation of the loader for servo operation to set the servo parameter and display the status dl Basic of lOader cT 5 1 5 2 Operation of internal mount loader iese ee ee ee ee ee ee 5 2 5 9 Operation Of digital loader sterili iocos iE Ee ENS erre adv un love eme ovas HE red 5 9 5 Servo operating eE 5 1 Basics of loader You should install the servo motor and drive according to the installation condition After connect the power supply circuit and motor wiring You should check the motor parameter PO1
115. tion control EIN CW torque generation limit input contact point Torque control STOP Temporary stop input contact point ESTOP Emergency stop input contact point PLSINH Position command pulse input limit input contact point PLSCLR Position command pulse clear input contact point ALMRST Alarm reset input contact point ABSREQ Initial data request signal for absolute encoder Use torque control mode internal setting function SE Can only be entered in PO7 01 menu Use speed control mode internal setting function ETIES Can only be entered in PO7 01 menu Use position control mode internal setting function SEES Can only be entered in PO7 01 menu Use speed torque multi control mode internal setting function buds Can only be entered in PO7 01 menu 29 EN EK 30 EN or meno Can only be entered in PO7 01 menu Use position torque multi control mode internal setting function Can only be entered in PO7 01 menu 3 26 3 Parameter setting be x Torque control mode internal setting function table When P7 01 is set to 25 Torque control mode Foros entie 6 TRO Digital torque input contact point POro CNI15 9 SPDWGEART Digital speed input contact point Foros onia 3 DIR Torque direction conversion input contact point Penneav evraaas o 26Vcommoninput O OOO mvexemiipt Speed control mode internal setting function table When P7 01 is set to 26 Speed control mode Poros on
116. to the following command through CN1 opeed torque and position data command by serial communication opeed torque and position data command by communication card Set this when using the VO contact point by communication VO contact point use by communications card Ether Net communications RS232C RS485 3 7 3 Parameter setting be Manufactured i Display range Speed Torque P01 18 serial ID 1 31 rs Position control Manufactured Display range Speed Torque eise pi Dek ON OFF EE Position control Manufactured _on ics Unit Display range Speed Torque ved ARS ona ON OFF pico Position control When applying the 2048 or 17 bit absolute encoder you can execute the encoder origin point If you enter ON for the parameter it will change to OFF and reset the Multi turn data 3 3 General control parameter setting Manufactured Display range default Speed Torque 0 5 1 Position control P02 01 Control Mode The conversion of control mode cannot be changed when SERVO ON states Torque control mode A Mr EE nc a Display range sia e Speed Torque 100 0 10000 0 500 0 Position control When the servo drive is set to multiple control mode decelerate the servo motor during the set Mode Change Time control mode conversion time for the conversion contact point input of the control mode to convert to control mode when the speed is zero 3 8 3 Parameter setting Gun HIQE
117. ugh you can use the wire as is after removing the coating for safety purposes put a ferrule end to press with the crimping tool for ferrules insulated O Open the terminal plug wire inserting hole with the lever as shown in the following picture 3 Wire V Insulated Ferrule d Insert the core part of the wire to the opening part Release the lever after inserting the wire Lightly pull it out to see whether there is any problem in the connected condition of the socket and the wire D When the coating of the wire is not completely inserted it can cause electric shock Therefore check whether there are any exposed core wires 2 Wiring and connection HIDIEN 2 2 3 Large type terminal connection umo Ir E LU Sosa cele FDA7015B FDA7030B connection terminal The usage and wiring method of FDA7015 FDA7045 FDA7015B FDA7030B are as follows 1 As the main power of the power circuit connect the R S and T terminal to 3 phase AC200 230 V 2 As the auxiliary power of the power circuit connect the r and t terminal to single phase AC200 230 V 3 Connect the regenerated resistance between the terminals P and B 4 At the U V and W terminal connect the U V and W phase of the servo motor 5
118. ui eiii LAA NO E0 vOd peeds indu reypa ur peeds WI1dds T zo v0d zpeeds indui rera PEL ONO T ovog rpeeds indui enig 0001 ZadS lads i uornoejes yu paads y A p uonoejep 81 0d Buas abeyon 12840 wu peeds Jepoou3 2 L 0d 1ueunsn pe ojne aBeyon Joso OWI uon eJo jooo 0 904 eum uoneieje eq L0 90d 7 uoneJe 20 904 euin uoejejeooy 7 puewwod anbio Q jui poo EE Iu pasadas ssoooJd 1941 nb 10 000 at uoneJjgeoop E e 0 juoneJojoooV 1S peieH Z0 90d enbsol AOL m NIOYL ju peeds 0001 60 90d Bumes afeyoA asyo 80 90d Juewsnipe ojne aBeyoA Jasyo 4 14 4 Servo using method and gain adjustment 4 3 1 CN1 wiring diagram for torque control servo NFB MC1 ETD o HOR Power AC 200 230V E B 50 60Hz l SE NES O O C T note 1 Or Ot note 2 Regenerated OP resistor note 3 O B CN1 input ENE ESTOP TRO1 16 24V_ SPDLIM CWLIM CCWLIM PTQLIM z d d E o E a 2 z sels e 8 N q 2 le note 4 n i 49 ol A 4 CI XQ c w A w w A C q Servo Drive wo col A q E TT TT TT TT TT VI col AT A j wo wo LI mL A A C lt j CJ lt j lt j Go E OOI wo eL I el A A A 4 U ul r v mul FDA7000 Hil EN Brake power input termina
119. wer and wait for more than 10 minutes to pass before checking the unit because charged voltage can remain in DC Link capacitor to cause an accident Check any pieces of wire dust particles accumulated inside and clean appropriately Check whether the screw of the terminal is loose and check whether they are tightened Check if there are problems of parts discoloration damage disconnection For the connection test of the control circuit use the high resistance range on the tester and do not use a megger or buzzer Check whether the cooling fan is operating normally Check if there are any abnormal sounds motor bearing brake part Check whether there are any damages or cracks to the cables Especially detector cable Especially during operation execute periodical checks according to the using condition during operation Check and correct any misalignment of center of load connecting axis Chapter 7 Connection with host controller Chapter 7 shows the example of connection with representative host controller 7 1 Example of connection with host controller ssssssuse 7 1 7 Connection with host controller HEN 7 1 Example of connection with host controller Connect with LS Industrial System XGT Series position decision unit XGF PO1A gt This is an example of position control mode servo system operation SERVO MOTOR FDA7000 AC 200 230V J 0O T 50 60 Hz
120. xecute smoothing operation without setting the position command filter TC set the position decision mode setting of Position control speed mode P05 03 to ON It permits the acceleration deceleration PO3 10 PO3 11 and S mode operation P03 12 set in user menu P03 of speed command The smoothing operation is advantageous when reaching position decision in position control mode 8 This sets the PI P mode pulse error P05 07 PI P Pulse ERR Unit Display range UE Position doniral pulse O 99999 0 If the error between command pulse and actual movement pulse exceeds the set value of PO5 07 it switches to P control mode to suppress overshoot Command speed opeed go Actual speed Time sec Error pulse PI control P control Pl control a e HIDIEN 4 Servo using method and gain adjustment 4 3 Gain adjustment method for torgue control mode This explains the torgue servo using method and gain adjustment method The following diagram shows the generation sequence of the current command during torque control onjeAles me 90 Z0d Hul peeds M2 S0 20d Hul peeds MOOI lt puteululoo jueuno euJeju indui 1uiod 1981002 0L 91 E0d peeds AOL 430430 330 Pa ae G GL 0d peeds A01 Sl i eeds 1nd
121. y 3 39 Chapter 4 Servo using method and Gain adjustment Chapter 4 explains the servo using method and gain adjustment by each control mode 4 1 Gain adjustment for speed mode eie ee Ee ee ee ee ee EE nnns 4 1 4 2 Gain adjustment for position mode ees ee ee AE EE Ee ee ee ee RE EE 4 7 4 3 Gain adjustment for torque mode ee ee RE EE ee ee ee EE nen 4 14 EE N ie PR OE EE OO EE OR RE OT 4 17 4 5 Precaution for absolute encoder ies ee EE ee AR Ee ee ee ee ee EE ee 4 20 HIDIEN 4 Servo using method and gain adjustment 4 1 Gain adjustment method for speed control mode This explains the gain adjustment method when using speed servo The following diagram shows the generation sequence of the speed command in speed control 4303430 430 eadS ZAS Lads NO pueuiuioo paads jeuieiu Q OND O 440 440 40183 WMO dois Aouabiau3g jun uonnjoAaJ MO Z1 0d 1 L 0d aun uonejejeoeq uonelado apou S uoneJojoooy NO YI UOI OSJIP UOIIN OASY 550901 we i uogeleop 4 7 OL uogeiedo paou S 01 04 eun uogejejeoov 1 INI1M29 jui uonnjo eJ MOOD 430 Le 440 _ Od PRU N9 NO 4018 puewwo dojs HEOd uoneiado apou epuJeAQ usym dois uomnejedo apiuano 8910N OND 1 epoul epuJeAQ 0L 91 04 peeds AOI

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