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SPM-3500 Full Digital AC Servo System

1. Terminal Name of Symbol UO Type Function number signal driver servo ready output is OFF Position Position fixing finished output is ON fixing COIN Type2 P when deviation counter in the range of finished reset position fixing range CN2 14 i 5 en Speed SCMP ON Speed reached output is reached SCMP Type2 S ON when speed reach or over the output preset speed CN2 3 Common CN2 4 port of DG Earth common port Except CZ CN2 16 output CN2 17 terminals Encoder Z Servo motor photoelectric encoder Z CN2 2 Phase CZ Type2 phase pulse output CZ ON Z phase output signal appears Common port of CZCO Common port of Encoder Z Phase CN2 5 Encoder Z Z M output terminal Phase output CN2 18 Command PLUS ulse Type3 P Note 1 Set pulse input mode with CN2 6 S e PLUS De j p PLUS input parameter PA4 CN2 19 Command SIGN Command pulse direction mode pulse SIGN Type3 P CCW CW command pulse mode CN2 7 SIGN input CN2 24 Screen FG Screen ground terminal CN2 25 ground 5 2 4 Encoder signal terminal CN1 Table 5 3 Encoder signal terminal CN1 Terminal Name of signal Terminal symbol Function number Sign I O Mode CN1 5 Power supply 5V 5V is used for the photoelectric CN1 6 output encoder of servo motor If the encoder cable is too long it is nd necessary to use multiple wires in CN1 18 parall
2. The setting parameter is enable immediately any wrong setting with parameter may cause the servo driver running in error or accident During adjusting parameters advise users to do idle load test first Under the main menu operation mode select PA then press key to enter the parameter setting submenu as shown in fig 6 2 At this moment the nixietube is displaying PA 0 if users enter the parameter setting mode for the first time after driver power on should push key first open PAO parameter and input correct password Detailed information please consult parameter specification chapter finally push the key to confirm After entering the correct password press amp and Y key to select the parameter number then press key again to display parameter value Can use 4 and Y key to modify the parameter press 4 or Y key once the parameter value increases or decreases by one if press and hold amp or Y key the parameter increases and decreases continuously After revising parameter value user must press key to confirm the modified value will substitute initial value and be active in control immediately the system will return to the upper layer automatically to display the present parameter number At this moment users can go on choosing the parameter number with A and Y key to do revise operation etc If users are unsatisfied with the value of the parameter which is revising do not press key sh
3. TK WASHING SPM 3500 Full Digital AC Servo System Installation And Operation Manual NAN JING WASHING CNC TECHNOLOGY CO LTD CONTENTS Chapter 1 Security Warning nnannnnnnnnnnnenennnnnnnnnnnennenennennnnnnnnnnnnren 1 1 1 Explanation Of Symbols Related To Secure 1 1 2 Warning Identification Of The Producer 2 1 3 Content Of The Warning Identification eenn envenvenvennvenvenvenvernvenenvennvenvenvenn 2 1 4 Safety Notes sis var oenen aten etterende 2 Chapter 2 Summa rizallOM nsscaannone won evenavanausnese denn evandwanduandeanddendvandvadvensdend 5 2 1 Brief Introduction To Products nn venvenvenneenvenvenvenneenvenvenvenvenvenvennvenvenvenne 5 2 2 Brief Introduction To Operation Mode AAA 6 Chapter 3 Order Information nnnsnnannennnsnennennnnnnnnnnnnnnenenennnnnnnnnnnnnen 7 3 1 Specification OL DTV EL ee tege lede dekerk dere laeve Nue 7 3 2 Specification Of Isolation Transformator eneen venvenvenneenvenvenvenneenvenvenvennvenvenvenn 9 Chapter A Installation nnnaennenneneenseneeneeneene EER ARE MBE eebe BIR ARE NIR 4 2 Installation Environment eneen BER RENBS 4 3 Install Servo Driver BER KELE 4 4 Install Servo Motor BER RENBSE Chapter 5 Wl EER RENE S REI Ke 15 5 2 Signal And Bunction sers teevee teeven deerde ette toes dee ege BER KELE 5 3 Interface RE reenen en anoa ee A 29 Chapter 6 Operation And Display nnn annnnnnnenennneneeenennnnnenn
4. Servo driver should be installed properly in a good electrical cabinet Servo driver should be installed properly according to the direction and interval prescribed also keep a good heat dissipation condition To avoid fire do not mount the servo driver and motor close with flammable object 4 3 1 Installation Direction 1 Installation mode Users can adopt the motherboard installation mode the installation direction is perpendicular upward to fitting surface Fig 4 1 fig 4 2 are sketch maps Zo Fig 4 1 Side elevation of Fig 4 2 Elevation view of motherboard installation mode motherboard installation mode 2 Installation clearances Fig 4 3 shows the installation clearances for single driver fig 4 4 shows the installation clearances between several drivers with side by side installation Should reserve larger clearance for actual installation as much as possible guarantee the good heat dissipation condition Z Fig 4 3 Installation clearances for single driver caai Ste DOEMER St CHOI SHR A IK ABEND IK BEEN A Gs KIT DR is DARE NIN IR 2 AED mas can AD DAE EN AAD DD Ge Fig 4 4 Installation clearances between several drivers with side by side installation 3 Heat dissipation In order to guarantee the temperature around driver dose not rise continuously in the electrical cabinet there should be convection wind blowing to the radiator of driver 4 4
5. Grounding The wire size for grounding should be as big as possible the PE terminals of the driver and servo motor are connected to ground in one point the earth resistance lt 1000 JUT 1 5 4 pre insulation cold press terminal is used for connecting terminals make sure that the connections are fast Three phase isolation transformator with power supply is recommended to reducing possibility of electric shock A noise filter with power supply is recommended to enhance the ability of anti jamming Please install non melt type breaker NFB to switch off power supply quickly in case of the servo driver failure 2 Control signals CN2 feedback signals CN1 Wire size Use a screened cable screened twisted pair cable is best wire size gt 0 12mm the shielding layer should be connected to FG terminal Cable length The length of cable is as short as possible the length of control cable CN2 is no more than 10 meters the length of encoder cable CN1 is no more than 40 meters Wiring Wiring must be kept away from power wire to prevent the influence of interference Please provide a surge snubber component to each inductive component coil in related circuit DC coil inverse parallel connect with fly wheel diode AC coil parallel RC snubber loop NOTICE The wires connected to the U V W terminals of the servo driver should be one to one correspondence can t reverse connection The cables and wires
6. Less than 150ms for acceleration deceleration M gt 5 lt 60 times minutes More than 150ms for acceleration deceleration 2 Influence of the servo motor The start stop frequency and acceleration deceleration for type of servo motor depend on the load condition running time load occupancy ratio environmental temperature etc please refer to the servo motor s instruction and adjust according to reality situations to avoid overheating alarm and influence on the servo motor s life 3 Adjustment method Generally the load inertia should be less than 5 times the rotor inertia If the load inertia is too large it may cause main circuit overvoltage or braking abnormal during deceleration to deal with the above problem can use the following treatments Increase acceleration deceleration time Parameter PA26 can be set larger first then reduce it gradually to a proper value Reduce the output torque limit value Parameter PA32 PA33 PA34 PA35 reduce current limit value Reduce the maximum speed limit of the servo motor Parameter PA16 Install an external regeneration brake Replace with lager power and inertia of servo motor Pay attention to matching driver Chapter 9 Fault Diagnosis NOTICE Any person who participating in overhauling must have corresponding professional knowledge and ability Could touch the driver and motor after servo driver and motor power off at least for 5
7. P 0 32766 3 wheel ratio denominator 14 The second electronic P 0 32767 5 gear wheel ratio numerator 15 The second electronic P 0 32767 3 gear wheel ratio denominator Number Name Suitable Parameter Default Unit type range 16 Maximum speed limit P S 1 6000 2500 r min 17 Speed proportional gain PS 5 2000 1000 Hz 18 Speed integral time P S 1 1000 20 ms constant 19 Speed measure low pass P S 0 100 99 filter coefficient 20 JOG run speed P S 3000 3000 120 r min 21 Internal speed 1 S 3000 3000 100 r min 22 Internal speed 2 S 3000 3000 1000 r min 23 Internal speed 3 S 3000 3000 500 r min 24 Internal speed 4 S 3000 3000 0 r min 25 Reached speed S 0 1 3000 100 r min 26 Acceleration and S 0 1000 0 ms deceleration time constant 27 Reserved 28 Reserved 29 Overspeed checking S 0 100 0 range 30 Overspeed permitting time S 0 10000 5000 ms 31 Drive input forbid is invalid P S 0 1 1 32 Internal CCW torque limit P S 0 300 120 33 Internal CW torque limit P S 300 0 120 34 External CCW torque limit P S 0 300 200 35 External CW torque limit P S 300 0 200 36 Torque limit for speed trial S 0 300 100 run and JOG run 37 Torque command filter T 0 100 0 coefficient 38 Software overcurrent limit P S T 0 1 30 0 20 0 A 39 Permitted overcurrent time P S T 0 1 100 0 100 0 ms set
8. motor start Too big load inertia Reduce load inertia Change larger power servo motor and servo driver Encoder zero point error Change servo motor Let manufacturer remodulate encoder zero point Wrong connection among UMW Wrong connection of encoder cable Correct connection Alarm Alarm name Running state Cause Solving ways code Occurs when Circuit board fault Change servo driver putting through control power supply Ort Wrong connection Correct connection put through main among U V W power supply and Wrong connection of control line then encoder cable input command Encoder fault Change servo motor Tracking error is pulse the motor Position overshoot Expand position 3 too big EE range is too small overshoot range Position proportional Increase gain gain is too small Torque shortage Check torque limit value Occurs during Reduce load motor running capacity Change larger power servo motor and servo driver 10 Overload Power shortage Check torque limit value PA34 PA35 Look up table 7 3 modify PA38 Adjust time PA39 longer Servo driver fault Change servo driver Mechanical Check mechanism locked rotor 11 Control Input control power Check voltage of parameter read error supply is unstable control power supply Check control power supply power of Servo driver fault Change servo driver
9. 188 7 8A PA34 165 PA35 165 PA38 12 2 PA34 169 PA35 169 8A PA34 160 PA35 160 PA38 12 2 PA34 165 PA35 165 8 6A PA34 150 PA35 150 PA38 12 2 PA34 153 PA35 153 9A PA34 145 PA35 145 PA38 12 2 PA34 146 PA35 146 9 2A PA34 140 PA35 140 PA38 12 2 PA34 143 PA35 143 9 5A PA34 135 PA35 135 PA38 12 2 PA34 139 PA35 139 SPM3540 servo driver maximum current peak value is 33A Rated current SPM3540 factory overload Factory overcurrent SPM3540 adjustable greatest of accessory factor limit value A overload factor motor A 6A PA34 200 PA35 200 PA38 11 4 PA34 300 PA35 300 7 8A PA34 200 PA35 200 PA38 14 8 PA34 254 PA35 254 8A PA34 200 PA35 200 PA38 15 2 PA34 247 PA35 247 8 6A PA34 200 PA35 200 PA38 16 3 PA34 230 PA35 230 9A PA34 200 PA35 200 PA38 17 1 PA34 220 PA35 220 9 2A PA34 200 PA35 200 PA38 17 4 PA34 215 PA35 215 9 5A PA34 200 PA35 200 PA38 18 0 PA34 208 PA35 208 10A PA34 195 PA35 195 PA38 18 2 PA34 198 PA35 198 11A PA34 180 PA35 180 PA38 18 2 PA34 180 PA35 180 12A PA34 165 PA35 165 PA38 18 2 PA34 165 PA35 165 13A PA34 150 PA35 150 PA38 18 2 PA34 152 PA35 152 SPM3550 servo driver maximum current peak value is 44A Rated current SPM3550 factory overload Factory overcurrent SPM3550 adjustable greatest of accessory factor limit value A overload factor motor A 11 0A P
10. Alarm Alarm name Running state Cause Solving ways code Suffer disturbance Add filter on circuitry far away from external disturbance source 12 Braking fault Occurs when Circuit board fault Change servo driver putting through control power supply Occurs during External braking e Reconnect motor running resistor cut off Braking transistor is Change servo driver broken Inner braking resistor is broken Shortage of braking Reduce start stop loop capacity frequency Increase acceleration deceleration time constant Reduce torque limit Change larger power servo driver and servo motor Voltage of main Check main power power supply is too supply high 13 Control power Short among U V W Check connection supply Bad grounding Correct grounding undervoltage Motor isolation is Change motor broken Driver is broken Change driver 14 Motor Occurs when Circuit board fault Change servo driver Overheated putting through Cable is broken Check cable control power Temperature control Check motor Alarm code Alarm name Running state Cause Solving ways source relay in motor is broken Occurs during e Motor overload Reduce load motor running Reduce start stop frequency Reduce torque limit value Reduce concerned gain Change larger power servo driver and servo motor Over rated torque and run for
11. Install Servo Motor NOTICE Forbid beating motor shaft or encoder prevent the motor from vibration or shock Can t drag the motor shaft lead out wire or encoder while moving the motor Motor shaft can t bear overload otherwise may damage the motor e t must be firm to install motor should also have measure for loose 4 4 1 Installation Environment 1 Safeguard If the servo motor is not waterproof type must prevent liquid from spattering on motor while installing and using must prevent oil from entering within the motor through down lead and motor shaft Note If user needs waterproof type servo motor please declare while order 2 Temperature and humidity The ambient temperature should keep between 0 40 C not form dew The motor will become hot because of generating heat while running for a long time little space around or have generate heat equipment nearby should consider forcing and dispelling the heat The humidity should not be greater than 90 RH can t form dew 3 Vibration Servo motor should be installed in the environment without vibration the vibration should not be greater than 0 5G 4 9m s Chapter 5 Wiring WARNING Any person who participating in wiring or checking must have enough ability to do the work Before wiring or checking make sure that the voltage is safe at least 5 minutes after power off Otherwise may get an electric shock NOTI
12. KANGMING YUHAI DONGHAO Common port of SERVO MOTOR encoder Z phase output God 5 Command position i m PULSE e PULSE 6 Command position SIGN SIGN E rtl 5V power Hm d SIGN 19 Shielding layer connetor Fig 5 3 Standard wiring for position control mode between the driver and HUADA XINYUE KANGMING YUHAI DONGHAO servo motor SPM 3500 series Three phase AC220V R servo S driver y T or Single phase AC220V 4 BE DC 12 24V eat Servo enable O Alarm clear 0 Apel 9 mn CCW drive forbid 0 bal Arle 2 CW drive forbid oo DES Mi Deviation counter clear O 23 B Command pulse forbid O NH Ti jpk ts CCW torque restrict 0 FL 12 2 ze y egal CW torque restrict 0 RIL 1131 CN2 CNI 10 z au yT SES Q V Servo ready SRD di DES ges seh Servo alarm ALMI15S 2 Position fixing finish COIN 14 we A tir Common port of output goa LJ Ov d DG 4 2 ovF Shielding layer gan ato en connecter pe 17 4 ov Encoder Z phase output DENGQI Common port of SERVO MOTOR encoder Z phase output i Command position i PULSE Command position SIGN SIGN 7 PULSE 18 5V power B i SIGN 19 Shielding layer connetor Fig 5 4 Standard wiring for position control mode between the driver and DENGQI servo motor Three phase AC220V or Single phase AC220V DC 12 24V COMH 8 WEN DE Servo enable H Alarm clear 0 A
13. Notes vx Confirm the products Damaged driver please don t install Otherwise have danger of being injured NOTICE x Installation While carrying please hold the driver bottom If only catch the panel the driver may fall have danger of NOT CE being injured Please install the driver on apyrous metallic flat Otherwise have danger of fire If more than two servo drivers are installed in the same control cabinet please install cooling fan and make the temperature of the entering wind keep under 45 C Otherwise because overheated will cause fire and other accidents x E Before wiring please confirm the inputting power in OFF state Otherwise there are dangers of electric DANGER shock and fire Wiring operation should be done by electrical engineer Otherwise there are dangers of electric shock and fire Ground terminal D must be grounded correctly Otherwise there are dangers of electric shock and fire After finishing wiring scram circuit please check whether movements are effective Otherwise have danger of being injured Wiring responsibility belongs to the user Please don t touch the output terminal directly the output wire of the servo driver makes sure not to be connected with crust and not short the output wire Otherwise have danger of getting an electric shock and causing short circuit Please confirm whether the voltage of AC major loop power and the rated voltage of servo driver
14. Number Trouble phenomenon Possible reason Solution run normally at a low in driver speed but appear 2 Socket connector keeps in 2 Check whether the Err 9 alarm at a high speed touch badly socket is loose 3 Connection of encoder is wrong 3 Change or check the line of encoder 4 Driver or motor is damaged 4 Change driver or motor of workpiece processed by two axles linkage arc and bias etc is relatively bad 5 After driver power on 1 Output torque is too large 1 Decrease parameter the motor is locked PA6 PA17 or increase normally but motor parameter PA18 produces 2 Driver is damaged 2 Change servo motor high frequency vibration while stopping running 6 After driver power on 1 Parameters are disorderly 1 Resume to default value motor jumps suddenly in driver appear Err 1 or Err 9 2 Connection of 2 Check connection of alarm then not run motor encoder is wrong motor encoder 3 Driver or motor is damaged 3 Change driver or motor 7 After driver power on 1 Parameters are disorderly 1 Resume to default value the motor is locked in driver normally but the motor 2 Connection between 2 Check signal wire and does not run while system and drive signal is socket sending pulse from wrong system 3 Lathe machinery is seized 3 Pull screw mandrel whether be seized 8 The lathe operating 1 Driver parameter is 1 Please adjust the output normally b
15. PA59 Encoder resolution ratio so Pt 10000 pulse turn Command pulse is multiplied by the electronic gear wheel ratio G to get the position control pulse so one command pulse route is expressed as AS Al xG Pt Electronic gear numerator of command pulse In the equation G 8 P Electronic gear denominator of command pulse 8 3 3 Start Stop Characteristic Adjustment Start stop characteristic of servo system means the acceleration and deceleration time determined by load inertia and start stop frequency and also limited by the performance of servo driver and servo motor Frequent start stop too short time for acceleration deceleration and too big load inertia can cause driver and motor overheated and main circuit overvoltage alarm so user need modulate all the items according to the practical situation 1 Load Inertia and Start Stop Frequency Make sure the permitted frequency range in higher frequency start stop application fields The permitted frequency range varys with motor type capability load inertia and motor speed Under the condition of M times motor inertia the permitted start stop frequency and recommended acceleration and deceleration time showed as following Parameter PA26 Table 8 3 Multiple of load inertia and Permitted start stop frequency Multiple of loading inertia Permitted start stop time Ms3 gt 100 times minutes Less than 60ms for acceleration deceleration Ms5 60 100 times minutes
16. Present position command pulse frequency Unit kHz 12 DP CS Present speed command 13 DP CT Present torque command 14 DP APO Present rotor absolute position 15 DP IN Input control port state 16 DP OUT Output control port state 17 DP COD U V Wstate 18 DP RN Present motor state 19 DP ERR Alarm code 20 DP RES Reserved 6 4 Parameter Management EE NOTICE f users have not executed write operation for the present modified parameter the modified parameter will not be saved after power off The parameter management mainly processes the operation between EMS memory and EEPROM under the main menu operation mode select EE and press key to enter the parameter management mode as shown in fig 6 3 This submenu has 5 kinds of operation modes users can press A Y key to select Take Parameter Write as an example select EE SET then press and hold key the display START indicates that the parameter is now writing to EEPROM waiting for about 4 seconds it will display FINISH after the parameter write operation successful Now press 7 key to return to the parameter management mode Users can use 4 Y key to select other operation I EE SET Parameter Write It means that the parameter in EMS memory will be written into the parameter section of EEPROM Users revise a parameter only change the value of this parameter in EMS memory this modified parameter can be rec
17. a set of fully digital AC servo system invented independently by our company having mainly adopted Special motion control chip DSP extensive Field Programmable Gate Array FPGA and Intelligent Power Module IPM etc nowadays the latest technology SPM 3500 has a series of virtues such as high integration level small volume fast response speed complete protection high reliability simple installation etc It is very suitable for the field of industrial automatic control such as high accuracy numerical control lathe automatic product line machine building etc Comparing with past driver the SPM 3500 AC servo system has advantages as the followings 1 Simple and flexible control Through modifying the parameters of the servo driver can choose the work mode of the servo driver system in order to meet the requirements of different applied environment 2 Complete status display SPM 3500 has a series of information for status display helping users look over the relevant state parameters of the servo driver in the course of debugging and running meanwhile also offers a series of trouble diagnostic message 3 Wide range of speed relate to the motor and feedback components SPM 3500 servo system has the maximum speed with 3000rpm and the minimum speed with 0 5rpm the speed range is about 1 6000 4 Small volume easy to install SPM 3500 servo driver compact structure small volume very easy to install and dismantle 5 A
18. an open collector form its maximum sink current is 50mA the external power supply voltage is 25V Therefore the load of the switching output signal must meet these limitations If exceed these limitations or short between output and power supply directly the servo driver will be damaged C If the load is an inductive load such as relay it is necessary to inverse parallel connection a fly wheel diode to the load If the fly wheel diode is in a wrong direction the servo driver will be damaged 5 3 3 Pulse signal input interface 5V Ap 2 Fig 5 10 Difference drive mode for pulse signal input interface A To receive the pulse data correctly it is recommended to use the difference drive mode for the pulse signal input interface of SPM 3500 servo B During using it is recommended to adopt the difference drive mode Especially the signal cable is too long 5 3 4 Input interface of photoelectric encoder of servo motor 5V 10K 1 10K A B Z i A B Z Fig 5 11 Input interface of photoelectric encoder of servo motor A B Zj Chapter 6 Operation And Display 6 1 Keyboard Operation The driver panel is made up of 6 LED digit displays and 4 keys 4 Y they are used for displaying various states of servo system and setting parameters The key s functions are as follows A Sequence number value increasing or move forward for option Y Sequence number value decreasing or move backward for option
19. easily 7 5 Driver Debugging And Trouble Settlement Servo driver while running if alarm or unsatisfactory handling characteristic appears user can check whether all parameters in the present driver accords with default value by consulting table 7 2 according to the type of motor If the present parameter is disorderly please resume all parameters to default value then saving power on to measure again 1 Debug the parameter of driver After the parameter of servo resuming to the default value please check whether the wiring of driver correct by contrasting wiring diagram if there is not any question then can process workpiece The output torque of servo will influence lines and smooth finish quality of the processed workpiece directly Step of the parameters debug The first step After the lathe power on put dial indicator or micrometer gauge on X or Z axial of the workbench make the meter needle point to workbench The second step The system runs in the manual state at a low speed such as F8 the rotation of motor drives the movement of workbench table indicator follows the movement of the workbench in step The third step If meter needle has the phenomenon that the speed value is suddenly quick suddenly slow or creeps in the course of rotating indicates that the present mechanical load is relatively great the output torque of the driver is relatively small Can increase the parameter PA6 at this moment notice th
20. higher temperature after running for some time prevent burning 8 1 Power Supply Connection Power supply connection is according to fig 8 1 and put though power supply in following order 1 2 3 4 Urgent stop o o o o o O Three phase AC220V or Single phase AC220V_ Fig 8 1 Power Supply Connection Connect power supply to input power terminal of the main circuit by electromagnetic contactor Three phase connect to R S T and single phase connect to R S Don t connect power supply with control circuit r t after putting though the main circuit Servo ready SRDY is OFF if just putting through the control circuit After putting through the main circuit power servo ready SRDY will be ON after about 1 5 seconds and it can accept servo enable SON signal If it checks the servo enable effective driver output effective motor is prompting and in running state If it checks the servo enable ineffective or any alarm the basal pole circuit cuts off and motor is in free state When putting through servo enable and power supply together basal pole circuit will put through after about 1 5 seconds 5 Higher frequency on off power supply could break soft start circuit and dynamic braking circuit the on off frequency should in the limits of 5 times per hour and less than 30 times per day If the driver or motor is overheated need to get rid of trouble source make sure cooling
21. minutes prevent shocking by electricity and burning After the fault alarm has occurred must fix malfunctions according to the warning code and then can put it into operation again Before reset an alarm it is necessary to confirm that the SON Servo enable is invalid to prevent accident cause from which the servo motor suddenly start 9 1 Protection Diagnosis Function SPM 3500 servo driver has offered 14 kinds of different protection functions and fault Diagnosis When one kind of protection function is activated the number showing on the operation panel represents the alarm message respectively with alarm signal output Need connect alarm output and fault chain output with the braking circuit while using the driver when the protection function of servo driver is activated the servo driver loop can disconnect with the main power source in time Cut off the three phase main power source the control circuit continue power on After clear the malfunction source can shut off power then power on serve driver again to clear alarm Alarm code Alarm name Content Normal 1 IPM module fault IPM intelligent module fault 2 Main circuit undervoltage Main power voltage is too low 3 Main circuit overvoltage Main power voltage is too high 4 Overcurrent Motor current is too large 5 Encoder fault Encoder signal error 6 DSP fault DSP fault 7 Watchdog fault So
22. must be fixed securely and are not closed to the radiator of the servo driver and motor to prevent reducing insulating property because of heat Do not touch the servo driver and servo motor in 5 minutes after power off because in the servo driver there are electrolytic capacitors keeping a high voltage even though power off NANJING WASHING SPM 3500 series 31XT 99DT servo Three phase AC220V 0 320Ti 330Ti or driver CNC SYSTEM Single phase AC220V DB15 drive signal output terminals Euse SIGN SIGN Shielding layer connector Fig5 1 Standard wiring for position control mode between the driver and our company s 31XT 99DT 320Ti 330Ti CNC system NANJING WASHING 97 98 CNC SYSTEM Three RE AC220V Single phase AC220V 6 SV 4 OV DB15 drive signal output terminals COIN 14 11 B 10 z 9 u connector Fig 5 2 Standard wiring for position control mode between the driver and our company s 97 98 CNC system Three phase AC220V or Single phase AC220V DC 12 24V DELE Servo enable O SON 21 Alarm clear 0 Apel 9 CCW drive forbid 0 22 CW drive forbid 0 RSTP 10 Deviation counter clear 0 23 Command pulse forbid O D CCW torque restrict O FIL 12 CW torque restrict RIL 13 Servo ready SRDY 1 Servo alarm Position fixing finish COIN 14 rt C rt of t Er B i Ee BCE zio Siia layer DG 116 HD sem connecter Encoder Z phase output HUADA XINYUE
23. setting the greater the stiffness is and the smaller the position lag with the same frequency command pulse will be But if the value is too large may cause oscillation or overshoot PA7 Position feed forward gain This parameter is usually set as zero if very fast response characteristic is not required 100 setting value indicates that the position lag is always zero at any frequency of the command pulse The greater the feed forward gain of the position loop is the higher the speed response of the control system and the worse the stabilization of position loop are resulting in oscillation easily PA8 Position command smooth filter coefficient Filter is ineffective if setting parameter as 0 Filter only smooth command pulse will not lose input pulse but it may lead to command delay This filter is mainly used for the phenomenon that Jump or jitter when motor running system command frequency is too low accelerate or decelerate is too fast etc PAQ Position feed forward command smooth filter coefficient This parameter is used for increasing stability for compound position control This parameter is usually set as zero not use PA10 Range of position fixing This parameter is used for setting the range of position fixing pulse in position control mode This parameter gives a judgment on that whether the position fixing is finished or not When the number of deviation counter is less than this parameter servo driver can co
24. the equipment more than 30 minutes then put through power supply again power supply for control circuit Re servo B alarm outputting main circuit power supply lt servo E ready outputting respond in 10m servo enable lt 10m5 lt 10mS servo motor active Fig 8 2 Power on Sequence Chart power supply for control circuit servo alarm outputting main circuit power supply lt 1 5S servo ready outputting FE es ak 10m alarm clear servo enable servo motor active Must cut off reliably after alarm appearance Fig 8 3 Alarm Sequence Chart 8 2 Energize Test 1 Check before operation Installed and connected please check the following items before power on Is the wiring of the power source terminal TB correct reliable Is input voltage correct Are the power wire and motor wire shorted or grounded Whether the control signal terminals has already joined accurately Are the polarity and size of power supply correct Have the driver and motor already been fixed Has not the motor shaft connected with load 2 Trial run with power on A Trial run mode 1 Connecting to CN2 inputting control signals servo enable SON OFF CCW drive forbid FSTP ON and CW drive forbid RSTP ON 2 Putting through control circuit power Don t connect the main circuit power temporarily the displayer of servo driver is lighted please check the connection if alarm appears 3
25. the wire 2 Check wire of motor of motor or wrong connection 3 Driver or motor is damage 3 Change driver or motor 13 The motor is locked 1 Torque parameter of the 1 Check whether the after driver power on driver is improper motor shaft has little but the display of vibration speed R glimmers 2 Encoder of motor is running 2 Change servo motor back and forth abnormally 3 Connection of encoder is wrong 3 Change or check the wire of encoder 3 Example for solving the trouble of driver Trouble one System sends the command pulse after the lathe power on but the workbench does not move and the driver has not alarm Reason analysis Is the parameter in the driver disorderly Is the control mode changed Solution User can check whether all parameters in the present driver accords with default value by consulting table 7 2 if have difference modifying and saving then power on to check again Is the signal wire encoder wire motor wire kept in touch badly or connected by mistake Solution Check whether each socket is loose change or use multimeter to measure the signal wire encoder wire motor wire Does the system output command pulse Solution Look over whether the drive pulse counter DP CPO receives command or change the system to test directly Is the drive or the motor damaged Solution Unload the motor and put it in the space measuring whether it could run normally If can t run
26. to the default value of each motor shown in above table then can be dispatched from the factory 3 Users can refer to this specification adjust the first 44 parameters appropriately by customer s password but forbid modifying the reserved parameter by oneself If users need to revise some hidden parameters after PA44 consult technology department of our company 4 The default value listed in above table is the reference value of our company s 35 series servo driver matching different motor from different producers User or debug personnel can adjust them on the basis the default value according to the actual requirement on the spot Generally servo driver can meet requirements only by revising the following three loop control parameters appropriately 5 Current loop PA53 amp PA54 Current loop parameters do not allow customer revise by oneself in principle only permit company s attendants adjust at appearing following situation Notice Debug personnel must record the present current loop parameters before changing once the result is unsatisfactory after changing can resume them to the present parameter After the motor is energized or in the operation send out sharp noise The value of parameter PA53 can be decreased each time until the noise disappears The handling characteristic of servo driver is unsatisfactory and current loop parameters do not accord with its default value listed in the table After increa
27. 7 Return to upper layer menu or cancel operation Enter next layer menu or input confirmed Note During operation if keep 4 Y pressed the operation will execute repeatedly and the longer the pressing keeps the faster the repeat rate is The 6 LED digit displays are used for displaying various states and data of the servo system All 6 digit displays of driver panel have displayed when putting through the control power supply of the servo driver The servo system operation executes according to multilayer menu the first layer is main menu including 5 kinds of operation modes As shown in fig 6 1 the second layer is function menu of each operation mode After power on each time the system will check the present functional mode automatically it will display corresponding alarm message when detecting any abnormality If detection passes system displays default monitor value set by users automatically Please consult PA2 parameter Users press the z key each time can retreat to the parameter monitor state then press the z key again can enter the first layer of main menu operation mode Parameter monitor Parameter managenent Function menu for Speed test run operation mode Jog run 7 4 Alarm or display A Parameter 1 the default value monitor Parameter setting Fig 6 1 Block diagram for mode selection operation 6 2 Parameter Setting PA NOTICE
28. A34 200 PA35 200 PA38 20 9 PA34 240 PA35 240 13 0A PA34 200 PA35 200 PA38 23 5 PA34 203 PA35 203 14 3A PA34 180 PA35 180 PA38 23 5 PA34 184 PA35 184 15 0A PA34 175 PA35 175 PA38 23 5 PA34 176 PA35 176 16 0A PA34 165 PA35 165 PA38 23 5 PA34 165 PA35 165 16 5 A PA34 160 PA35 160 PA38 23 5 PA34 160 PA35 160 17 0A PA34 155 PA35 155 PA38 23 5 PA34 155 PA35 155 18 0 A PA34 145 PA35 145 PA38 23 5 PA34 146 PA35 146 19 7 A PA34 130 PA35 130 PA38 23 5 PA34 134 PA35 134 20 0 A PA34 130 PA35 130 PA38 23 5 PA34 132 PA35 132 20 5 A PA34 125 PA35 125 PA38 23 5 PA34 129 PA35 129 1 There is overload protection function in driver please The parameter PA43 is set as 1 the parameter PA39 is set as 100 The parameter PA38 is set as default value in the above table according to the type of the driver and rated current value of the accessory motor Forbid revising the value of PA38 arbitrarily otherwise the driver will run disorderlily 2 If in practical operation the type of user s motor has not been listed in this table please telegraph the drive development department of our company In operation if the torque of motor is not enough or driver easy to produce overcurrent alarm can increase acceleration amp deceleration time or the value range of parameter PA34 and PA35 but the regulated value must no bigger than the value of maximum overload factor listed in table otherwise will damage servo driver
29. CE Connect cable should according to level and polarity of voltage to prevent equipment damage or personnel injury The servo driver and servo motor should be grounded well While installing dismantling the mechanical interconnecting pieces which connect to the motor shaft do not beat motor shaft with hammer directly Otherwise the encoder of motor may be damaged Try to make the motor shaft reach peak Otherwise will produce vibration or damage the axletree 5 1 Standard Wiring 1 2 3 4 5 6 External connections of the servo driver are related to the control mode Fig 5 1 shows The standard wiring for position control mode between the driver and our company s 31XT 99DT 320Ti 330Ti CNC system Fig 5 2 shows The standard wiring for position control mode between the driver and our company s 97 98 CNC system Fig 5 3 shows The standard wiring for position control mode between the driver and HUADA XINYUE KANGMING YUHAI DONGHAO servo motor Fig 5 4 shows The standard wiring for position control mode between the driver and DENGQI servo motor Fig 5 5 shows The standard wiring for position control mode between the driver and SUQIANG servo motor Fig 5 6 shows The standard wiring for position control mode between the driver and SIEMENS 801 system 1 Power terminals TB1 Wiresize R S T PE U V W terminal wire size gt 1 5mm FT t terminal wire size gt 1 0mm
30. KANGMING YUHAI Servo motor default DENGQI Servo motor default SUQIANG Servo motor default Set according to the nominal value of Set according to the nominal value of RPM Set according to the nominal value Set according to the nominal value 56 of RPM Speed of RPM Speed RPM Speed on motor Speed on motor on motor on motor nameplate nameplate nameplate nameplate Set according to the Set according to the Set according to Set according to nominal value of nominal value of A Rated the nominal value the nominal value 57 A Rated current on current on motor of A Rated of A Rated motor nameplate nameplate current on motor current on motor nameplate nameplate Set according to the Set according to the Set according to Set according to nominal value of N M nominal value of N M the nominal value the nominal value 58 Rated torque on Rated torque on motor of N M Rated of N M Rated motor nameplate nameplate torque on motor torque on motor nameplate nameplate 59 2500 2500 2500 2500 60 2 2 0 0 61 Producer s parameter forbid users to change 62 65 65 65 65 Notice 1 Before the new servo driver working on machine tool or testboard for the first time must execute parameter write operation at once after driver power on 2 Before delivering each servo driver professional must adjust the parameter of the accessory motor which the customer required according
31. LRS 9 Bes CCW drive forbid 0 24 A ggn 3 CW drive forbid 0 RSTP 10 aa e CH Deviation counter clear 0 CLE 23 Command pulse forbid 0 INH 11 GER a mea ET CCW torque restrict 0 FIL 12 22 Z CW torque restrict o RL 13 CN2 CNI DES mise sant 21 W SR GR 20 V 12 ei EE Servo alarm W Position fixing finish COIN 14 7 we As Common port of output CET Bes i De 4 vj Shielding ee DG A en connecter a rs ov Encoder Z phase output SUQIANG Common port of SERVO MOTOR encoder Z phase output e Command position e PULSE E PULSE 6 Command position SIGN iria WW PULSE 18 Shielding layer connetor Fig 5 5 Standard wiring for position control mode between the driver and SUQIANG servo motor SIEMENS SPM 3500 series 801 SYSTEM Three phase AC220V servo or d d driver Single phase AC220V T Connect X axis as an example Fig 5 6 Standard wiring for position control mode between the driver and SIEMENS 801 system 5 2 Signal And Function 5 2 1 Fig 5 8 shows the terminal arrangement of servo driver TB is the terminal Terminal Arrangement block CN CN2 are pinouts CN2 1 SRDY CZ COM 8 COM SON ALRS ESTP RSTP CLE SC 1 LNIV SC2 PG FIL FG RIL pB25 PIN 14_ CO N SCMP Fig 5 7 Terminal arrangement of servo driver 5 2 2 Power Terminal TB Table 5 1 Power terminal TB Terminal Terminal i Name of signal Functi
32. M 800 11 12NM 800 13 15NM 650 13 15NM 650 13 15NM 700 13 15NM 700 SPM3540 5 6NM 1300 5 6NM 1300 5 6NM 1150 5 6NM 1150 7 8NM 1150 7 8NM 1150 7 8NM 1100 7 8NM 1100 9 10NM 1000 9 10NM 1000 9 10NM 950 9 10NM 950 11 12NM 900 11 12NM 900 11 12NM 850 11 12NM 850 13 15NM 650 13 15NM 650 13 15NM 700 13 15NM 700 16 20NM 650 16 20NM 650 16 20NM 700 16 20NM 700 21 28NM 650 21 28NM 650 21 28NM 700 21 28NM 700 SPM3550 5 6NM 1300 5 6NM 1300 5 6NM 1250 5 6NM 1250 7 8NM 1300 7 8NM 1300 7 8NM 1250 7 8NM 1250 9 10NM 1250 9 10NM 1250 9 10NM 1250 9 10NM 1250 11 12NM 1150 11 12NM 1150 11 12NM 1150 11 12NM 1150 13 15NM 1000 13 15NM 1000 13 15NM 1050 13 15NM 1050 16 20NM 1000 16 20NM 1000 16 20NM 1050 16 20NM 1050 21 28NM 1000 21 28NM 1000 21 28NM 1050 21 28NM 1050 SPM3520 SPM3530 1 2NM 15 1 2NM 15 1 2NM 22 1 2NM 22 3 4NM 20 3 4NM 20 3 4NM 28 3 4NM 28 5 6NM 30 5 6NM 30 5 6NM 36 5 6NM 36 7 8NM 40 7 8NM 40 7 8NM 40 7 8NM 40 9 10NM 60 9 10NM 60 9 10NM 60 9 10NM 60 11 12NM 100 11 12NM 80 11 12NM 80 11 12NM 80 13 15NM 160 13 15NM 150 13 15NM 120 13 15NM 120 SPM3540 5 6NM 25 5 6NM 25 5 6NM 30 5 6NM 30 7 8NM 35 7 8NM 50 7 8NM 35 7 8NM 35 9 10NM 55 9 10NM 70 9 10NM 55 9 10NM 55 11 12NM 90 11 12NM 85 11 12NM 75 11 12NM 75 13 15NM 160 13 15NM 140 13 15NM 120 13 15NM 120 PA HUADA XINYU Servo motor default KANGMING YUHAI Servo motor defaul
33. M 3530 7 5 20 7 5NMS3000RPM 1ONMS2200RPM 15NM lt 1500RPM 1 2KW 3KW 6NM lt 3000RPM SPM 3540 11 30 7 5NMS3000RPM 1ONMS3000RPM 15NMS2000RPM 3KW 5 5KW 15NM lt 3000RPM SPM 3550 15 40 18NM lt 3000RPM 23NM lt 2300RPM 27 NM lt 2000RPM Note Every type parameter of driver relates to applicable motor see the content of chapter 7 Table 3 2 Specification of driver Control power supply Single phase AC220V Input the strong Three phase AC220V 50 20 50 60Hz power 15 10 50 60Hz Running 0 C 55 C Storage 20 C 80 C Small than 90 no dew Using Temperat environm ure ent Humidity Vibration Small than 0 5G 4 9m s 10 60Hz not run continuously Control method Position control Internal speed control Trial run control JOG run control Regenerative braking Built in External connection Cha Speed 300Hz or higher ract frequency erist response ic Speed lt 0 1 load O 100 lt 0 02 power 15 10 fluctuation The value is correspondent to the rated speed ratio Regulation 1 6000 ratio Pulse lt 500kHz frequency Control input Servo enable Alarm clear Deviation counter clear Command pulse forbid CCW drive forbid CW drive forbid Control output Servo ready output Servo alarm output SPosition fixing finished output Speed reached output Position control Input mode Pulse Directi
34. Setting control mode Parameter PA3 as speed trial run mode Setting as 2 4 Putting through the main circuit power 5 Make sure none of alarm or other abnormal cases enable the servo SON ON motor is prompting in zero speed state 6 Getting speed trail run mode by key operation The DOS prompt of speed trial run is S unit is r min and system in speed control mode The speed command is changed by keys amp and Y Motor runs at the given speed B JOG run mode 1 Connecting to CN2 inputting control signals servo enable SON OFF CCW drive forbid FSTP ON and CW drive forbid RSTP ON 2 Putting through control circuit power Don t connect the main circuit power temporarily the displayer of servo driver is lighted please check the connection if alarm appears 3 Setting control mode Parameter PA3 as JOG run mode setting as 3 4 Putting through the main circuit power 5 Make sure none of alarm or other abnormal cases enable the servo SON ON motor is prompting in zero speed state 6 Getting JOG run mode by key operation The DOS prompt of JOG run is J unit is r min and system in speed control mode the size and direction of speed are all determined by parameter PA20 Pressing the key 4 to get the speed and running direction caused by parameter PA20 Pressing the key Y to get the inverse running at the given speed C Position operation mode 1 Connecting to CN2 inputting control sign
35. a long time Check load Decrease start stop frequency Reduce torque limit Change larger power servo driver and servo motor Bad mechanical Check mechanism drive part Fault within motor Change servo driver Chapter 10 Maintain And Safeguard The servo driver is according to the following regulation during maintenance period The maintenance period is Being dispatched from the factory in 18 months or give it to the end user in one year NOTICE The power on off should be operated by operation staff The circuit keeps the charging state under high voltage for some time after power off Should do check operation after powe off then in about 5 minutes after LED light on the panel goes out Don t measure insulation resistance will damage the driver 10 1 Daily Inspection Under the state of system runs normally please confirm the following items 1 Whether the ambient temperature humidity are normal Whether have dust mote eyewinker etc 2 Is the motor has unusual sound and vibration 3 Unusually heat or have peculiar smell 4 Is the environment temperature too high 5 Is the panel clean 6 Is there any loose connection or incorrect pin position 7 Is the monitor value of output current with usual value differ greatly 8 Is the cooling fan installed under servo driver running well 10 2 Periodic Inspection At the time of time periodic maintenance please confirm the fol
36. als servo enable SON OFF CCW drive forbid FSTP ON and CW drive forbid RSTP ON 2 Putting through control circuit power Don t connect the main circuit power temporarily the displayer of servo driver is lighted please check the connection if alarm appears 3 Setting control mode Parameter PA3 as position operation mode setting as 3 set the appropriate electronic gear wheel ratio PA12 PA13 PA14 PA15 and corresponding parameters according to the output signal mode of the controller 4 Putting through the main circuit power 5 Make sure none of alarm or other abnormal cases enable the servo SON ON motor is prompting in zero speed state 6 Sending the position controller output signals to CN2 6 18 7 19 pins of the driver it makes the motor run according to the command D Internal speed operation mode 1 Connecting to CN2 inputting control signals servo enable SON OFF speed select 1 SC1 speed select 2 SC2 CCW drive forbid FSTP ON and CW drive forbid RSTP ON 2 Putting through control circuit power Don t connect the main circuit power temporarily the displayer of servo driver is lighted please check the connection if alarm appears 3 Setting control mode Parameter PA3 as speed operation mode establish the corresponding speed parameter according to the need 4 Putting through the main circuit power 5 Make sure none of alarm or other abnormal cases enable the servo SON ON mo
37. ameter PA60 into 2 5 Change parameter PA56 into 3000 6 Change parameter PA57 into 5 0 When revising parameter PA57 must revise the corresponding parameter PA34 PA35 PA38 by referring to table 7 3 7 Change parameter PA58 into 4 0 8 Change parameter PA6 into 1300 9 Change parameter PA17 into 1100 10 Change parameter PA18 into 20 11 Change parameter PA53 into 700 12 Change parameter PAS4 into 20 13 Change parameter PA34 into 195 14 Change parameter PA35 into 195 15 Change parameter PA38 into 9 2 16 After finishing modification save parameters servo driver power off 17 Driver power on again can change or no change parameters appropriately according to operation result of motor in order to meet requirements for ideal processing characteristics 18 After debugging the parameters each time if operation result is perfect must save the parameters before power off if the operation result is very poor do not need to save the parameters power off then power on again directly 7 4 Parameters Debugging List Of Servo Driver Table 7 2 Parameters debugging list PA HUADA XINYU Servo KANGMING YUHAI DENGAQI Servo SUQIANG Servo motor default Servo motor default motor default motor default PA HUADA XINYU Servo motor default KANGMING YUHAI Servo motor default DENGQI Servo motor default SUQIANG Servo motor default Debug personnel
38. an be modified by parameter Terminal Name of Symbol UO Type Function number signal INH ON Command pulse input is Command forbidden pulse INH Type1 P l E INH OFF Command pulse input is forbid Ga efficient Under the speed control mode the CN2 11 associations of SC1 and SC2 are used Sec for choosing different internal speed ee 5 SC2 Type1 S SC1 OFF SC2 OFF Internal speed 1 selec SC1 ON SC2 OFF Internal speed 2 SC1 OFF SC2 ON Internal speed 3 SC1 ON SC2 ON Internal speed 4 FIL ON CCW torque is restricted within the range of parameter PA34 FIL OFF CCW torque is not restricted CCW by parameter PA34 CN2 12 torque FIL Type1 l f Note 1 CCW torque is restricted still restrict by parameter PA32 whether FIL is effective or not generally parameter PA32 gt parameter PA34 RIL ON CW torque is restricted within the range of parameter PA35 RIL OFF CW torque is not restricted CW torque by parameter PA35 CN2 13 RIL Type1 restrict Note 1 CCW torque is restricted still by parameter PA33 whether RIL is effective or not generally parameter PA33 gt parameter PA35 SRDY ON Control power supply and main power supply are all normal no Servo alarm from servo driver servo ready CN2 1 ready SRDY Type2 f output is ON output SRDY OFF Main power supply is detached or exist alarm from servo
39. are NOTICE equal or not Otherwise there are dangers of being injured and fire Please don t do high voltage test to the servo driver Otherwise will damage the semiconductor components Please don t connect power source to the U V W output terminals because the voltage is added at the output terminals will cause the inside of the servo driver to be damaged Please don t connect capacitor and LC LR nosie filter to the U V W output loop Otherwise will cause N 0 T C E the damage of the servo driver Please don t connect electromagnetic switch or electromagnetic contactor to the U V W output loop Otherwise while driver running with load the surge current can cause overcurrent protection for the servo driver zk Trial run Confirm the external wire of servo driver is installed correctly please don t dismantle the servo driver while power on Otherwise there is danger of getting an electric shock DANGER After resetting the servo driver please don t be close to the mechanical equipment while trial run Please consider personal security in the electrical and mechanical design NOTICE Please provide the scram switch separately The temperature of braking resistor is grown because of discharging please don t touch Otherwise have danger of burning Before running please confirm again some items for using motor and machinery such as permissible range etc Otherwise have danger of being injured f
40. ase consult table 7 2 PA55 The number of pole pairs of motor is determined by motor manufacturer its value corresponding to the motors from different producers is fixed PA56 Rated speed RPM is determined by performance index of motor please consult the nameplate label of the motor PA57 Rated current A is determined by performance index of motor please consult the nameplate label of the motor PA58 Rated torque N M is determined by performance index of motor please consult the nameplate label of the motor PA60 Checking wiring mode for encoder is determined by motor manufacturer its value corresponding to the motors from different producers is fixed 2 In order to match servo motors from different producers the parameter that must be changed is modified as follows Match HUADA YUHAI XINYUE KANGMING DONGHAO servo motor PA28 1 PA55 4 PA60 2 Match DENGQI servo motor PA28 0 PA55 3 PA60 0 Match SUQIANG servo motor PA28 0 PA55 2 PA60 0 3 Give an example for changing the accessory motor When leaving factory if the accessory motor of servo driver is DENGQI servo motor change it into YUHAI 110SY M04030 servo motor now Rated speed 3000RPM Rated current 5A Rated torque 4N M should operate according to the following steps 1 Driver power on open parameter PAO modify user s password 158 enter producer s password 2 Change parameter PA28 into 1 3 Change parameter PA55 into 4 4 Change par
41. at the adjustable range should not be too big each time generally increases by 5 of its present value If the value of PA6 approach the upper limit value listed in table 7 4 please resume it to its default value then increase parameter PA17 or decrease parameter PA18 can increase the output torque of driver The fourth step If meter needle has the phenomenon that high frequency vibration in the course of rotating indicates that the present mechanical load is relatively low the too big output torque of the driver causes overshoot of the motor Can decrease the parameter PA6 at this moment notice that the adjustable range should not be too big each time generally decreases by 5 of its present value If the value of PA6 approach the lower limit value listed in table 7 4 please resume it to its default value then decrease parameter PA17 or increase parameter PA18 can decrease the output torque of driver The fifth step After changing parameter must do saving operation then power off Demand While adjusting the torque parameter value can not exceed maximum and minimum range listed in the following table 2 Base on the premise that the motor does not produce vibration the output torque of servo should be set as big as possible G After the parameter DAG PA17 PA18 finish revising controlling will come into force immediately does not need that revising and saving then power on again each time Table 7 4 Parameters Adjusta
42. aved operation before driver power off Table 7 3 PA34 and PA35 overload factor SPM3520 servo driver maximum current peak value is 16 5A Rated current SPM3520 Default overcurrent SPM3520 adjustable maximum of accessory default overload factor limit value A overload factor motor A 0 85 A PA34 200 PA35 200 PA38 1 6 PA34 300 PA35 300 1 5A PA34 200 PA35 200 PA38 2 8 PA34 300 PA35 300 2 0A PA34 200 PA35 200 PA38 3 8 PA34 300 PA35 300 2 5A PA34 200 PA35 200 PA38 4 7 PA34 300 PA35 300 3 0A PA34 200 PA35 200 PA38 5 7 PA34 300 PA35 300 3 8A PA34 200 PA35 200 PA38 7 2 PA34 261 PA35 261 4 0A PA34 200 PA35 200 PA38 7 6 PA34 247 PA35 247 5 0A PA34 195 PA35 195 PA38 9 2 PA34 198 PA35 198 5 5A PA34 180 PA35 180 PA38 9 3 PA34 180 PA35 180 5 6A PA34 175 PA35 175 PA38 9 3 PA34 177 PA35 177 6 0A PA34 165 PA35 165 PA38 9 3 PA34 165 PA35 165 6 2A PA34 155 PA35 155 PA38 9 3 PA34 159 PA35 159 SPM3530 servo driver maximum current peak value is 22A Rated current SPM3530 default overload Default overcurrent SPM3530 adjustable maximum of accessory factor limit value A overload factor motor A 6A PA34 200 PA35 200 PA38 11 4 PA34 220 PA35 220 6 2 A PA34 200 PA35 200 PA38 11 7 PA34 213 PA35 213 6 8 A PA34 190 PA35 190 PA38 12 2 PA34 194 PA35 194 7A PA34 185 PA35 185 PA38 12 2 PA34 188 PA35
43. ble Range List le Parameter PA6 Parameter PA17 Parameter PA18 Mo Range Minimum Maximum Minimum Maximum Minimum Maximum Torque 1 2 NM 700 1600 900 1400 5 50 3 4 NM 700 1650 800 1400 5 50 5 6 NM 750 1650 700 1400 5 60 7 8 NM 750 1700 600 1300 10 80 9 10 NM 800 1700 500 1300 20 120 11 12 NM 800 1750 400 1200 30 180 13 15 NM 800 1750 300 1100 40 220 2 Common trouble of the driver and solution Table 7 5 Common Trouble List Number Trouble phenomenon Possible reason Solution 1 Err 5 alarm after servo 1 Connection of encoder is 1 Change or check the line driver power on wrong of encoder 2 Socket connector keeps in 2 Check whether the touch badly socket is loose 3 Water has entered the 3 Change servo motor socket of the motor 4 Encoder of motor is damaged 2 The motor does not run 1 Parameters are disorderly 1 Resume to default value after the driver in driver power on soon appear 2 Connection of motor is 2 Check connection of Err 1 alarm wrong motor 3 Driver or motor is damaged 3 Change driver or motor 3 Err 2 alarm after servo 1 Input voltage is too low 1 Assemble manostat on driver power on 2 Fluctuating range of electric the lathe network is relatively large 3 Driver is damaged 2 Change driver 4 After driver power on 1 Parameters are disorderly 1 Resume to default value
44. considered synthetically it is recommended considering according to the following steps 1 Adopt suitable motor according to the mechanical load inertia and torque of each shaft and the transmission way adopted 2 Confirm the type of the driver according to the motor selected for use 3 Calculate the capacity of servo isolation transformator according to the motor selected For example in the system which adopts three SPM 3500 servo drivers the power of the motor is P1 P2 P3 respectively the power of the servo isolation transformator selected for use must meet the following formulae PO gt P1 P2 P3 n n is reduction coefficient generally is 0 6 0 8 4 Select the corresponding specification of the servo isolation transformator according to its capacity calculated Chapter 4 Installation 4 1 Check Goods After receiving the product please check for the following Checking item Reference content Have any damage Inspect the unit to insure it was damaged during shipment Make sure that the product is what you have ordered Please verify the nameplate type of servo cell and motor Is the attachment complete Please check the packing list confirm attachment type and quantity Make sure that the easily servo motor shaft rotate The servo motor shaft rotate easily by hands however the servo motor with electromagnetic brake can not be rotated If any item is damaged or inco
45. el connection CN1 1 Power supply OV CN1 2 output CN1 3 CN1 4 CN1 16 CN1 24 Encoder A input A Type4 Connect to photoelectric encoder A CN1 12 Encoder A input A Connect to photoelectric encoder A CN1 23 Encoder B input B Type4 Connect to photoelectric encoder B CN1 11 Encoder B input B Connect to photoelectric encoder B CN1 22 Encoder Z input Z Type4 Connect to photoelectric encoder Z CN1 10 Encoder Z input Z Connect to photoelectric encoder Z CN1 21 Encoder U input U Type4 Connect to photoelectric encoder U CN1 9 Encoder U input U Connect to photoelectric encoder U CN1 20 Encoder V input V Type4 Connect to photoelectric encoder V CN1 8 Encoder V input V Connect to photoelectric encoder V CN1 19 Encoder W input W Type4 Connect to photoelectric encoder W CN1 7 Encoder W input W Connect to photoelectric encoder W 5 3 Interface Circuit 5 3 1 Switching signal input interface mit Fig 5 8 Switching signal input interface A The user should provide a power supply DC24V current gt 100mA B Notice if the polarity of the power supply is reverse the servo driver will be damaged 5 3 2 Switching signal output interface 24V Fig 5 9 Switching signal output interface A The user should provide an external power supply but be careful if the polarity of the power supply is reverse the servo driver will be damaged B The output circuit is
46. eter write operation automatically if users want to use the parameter resumed at present for ever still need to do the parameter write operation again V EE DEF Restore default value It means that all the default value factory default value will be read into EMS memory and written into the parameter section of EEPROM and used for the next power on If the servo drive can not run normally because of the confused parameters use this operation to restore all the default values Parameter write invalid Parameter read Waite about 4 seconds Parameter backup Parameter restore Restore default value Fig 6 3 Block diagram for parameter management 6 5 Speed Trial Run SR NOTICE Driver and motor must ground reliably PE terminal must connect with the earth terminal on equipment reliably Propose the driver power supply is provided through isolation transformator and power line filter so as to ensure security and anti jamming ability Should put through the power after checking and confirming wiring without fault Must insert one braking circuit guaranteeing that the power can cut off immediately while having any fault After driver alarm make sure the malfunction has been got rid off and SON signal is ineffective before restarting driver Don t touch driver and motor in five minutes after power off prevent shocking by electricity e Driver and motor will be at higher te
47. f any alarm situations appear the driver will display the alarm code directly but don t display the monitor content of this parameter PA3 Control mode selection Modify this parameter to select control mode for servo driver 0 Position control mode 1 Speed control mode 2 Trial run control mode 3 JOG control mode For position control mode position command inputting from pulse input interface for speed control mode speed command inputting from input ports SC1 and SC2 choose different speed according to the states of SC1 and SC2 SR status for speed trial run control mode JR status for JOG run control mode PA4 Input mode for the position command pulse This parameter is used for setting the input mode for position loop pulse command The modified parameter could become effective by way of saving first and then power on again 0 Pulse Direction 1 CCW pulse CW pulse CCW indicates that the motor shaft rotate in counterclockwise direction defined as positive when viewing from the shaft end CW indicates that the motor shaft rotate in clockwise direction defined as negative when viewing from the shaft end PAS Inverse the direction of position command pulse This parameter is used for inversing the direction of command pulse 0 Positive direction 1 Negative direction DAG Position proportional gain This parameter is determined according to the type of servo driver and the load The bigger the gain
48. fault Input control power supply is unstable Check control power supply Check control power supply voltage of power of Servo driver fault Change servo driver Suffer disturbance Add filter on circuitry Far away from external disturbance source Watchdog fault Input control power supply is unstable Check control power supply Check control power supply voltage of power of Servo driver fault Change servo driver Suffer disturbance Add filter on circuitry Far away from external disturbance source System overspeed Occurs when Control circuit board fault Encoder fault Change servo driver Change servo motor putting threugh control power Alarm Alarm name Running state Cause Solving ways code supply Input command Change servo driver pulse frequency is Change servo motor too high Acceleration Increase deceleration time acceleration constant is too small deceleration time causing too big constant speed overshoot Input electronic gear Set parameters wheel ratio is too big correctly Occurs during motor running Encoder fault Change servo motor Bad encoder cable Adopt polycore cable with parallel connection Servo system is Reset concerned unstable causing gain overshoot If it could not setting suitable value please reduce load moment of inertia rate Occurring at the moment of
49. fness it is suitable to increase this value Small parameter value can get lower cut off frequency and lower motor noise If load inertia is much bigger value could be reduced But if the value is too small response will be slower and may lead to instability PA38 Software overcurrent limit Maximum current of the driver is permitted by software PA39 Permitted overcurrent time setting The permitted time after overcurrent 7 3 Change Accessory Motor For The Driver Now this driver can be suitable for the major motor producer of our country rightly they are HUADA servo motor DENGQI servo motor CHANGHUA servo motor XINYUE servo motor and SUQIANG servo motor etc consulting chapter 5 of the operation manual for concrete wiring way If users need other servo motor please contact technology department of our company 1 Some brief introduction for hidden parameter The parameters from PA44 to PA62 in the driver are defined as the hidden parameter in the state that operation password is user s password forbid users to open or revise by oneself According to need of debugging debug personnel can edit or revise all hidden parameters by writing the producer s password into PAO operation password parameter Following main introduction debug personnel should understand the meaning of some parameters while changing the accessory motor of servo driver Setting all standard parameters of different producers and different size motor ple
50. ftware work is abnormal 8 System overspeed Encoder error 9 Tracking error is too big Position deviation over setting value 10 Overload Current over setting value 11 Control parameter read Read EEPROM parameter fault error 12 Braking fault Braking circuit fault 13 Control power supply Control power supply 15V is too low undervoltage 14 Motor overheated The temperature of motor is too high 9 2 Fault Analysis Table 9 2 Fault analysis and solving ways Alarm Alarm name Running state Cause Solving ways code Occurs when Circuit board fault Change driver putting through control power supply Lower voltage of Check driver power source Power on afresh 4 IPM module Overheated Change driver fault Short among U V W Check connection Occurs during Bad grounding Correct grounding motor running Motor isolation is Change motor broken Suffer disturbance Add filter on circuitry Far away from disturbance source Circuit board fault Change driver Power fuze is damaged Occurs when Soft start circuit fault putting through Rectifier is broken main power Power supply Check power supply supply undervoltage eee Lose power more 9 Main circuit EE E undervoltage temporarily Shortage of power Check power supply supply capacity Increase the Instantaneous acceleration a i power off deceleration time of numerical control
51. his servo driver is not suitable for the strong vibrant environment This servo driver is not suitable for the medical apparatus which influencing the life security The structure of the driver is not waterproof type unsuitable to be the environment which the drenching or sun shines directly Don t do any modification to the servo driver Our company keeps the right to improve this product because the products are improved the content of manual may be altered forgive us for not issuing a separate notice Before installing and wiring correctly please read this service manual carefully must understand security information security warning and knowledge of using of this apparatus before operating 1 1 Explanation Of Symbols Related To Security Incorrect handling may cause dangerous situation resulting in personal injury or death DANGER Incorrect handling may cause dangerous situation resulting in personal slight or moderate casualty and N 0 T C E damage of the apparatus 1 2 Warning Identification Of Products DANGER Be careful of getting an electric shock F N IE ek JSRen ewe aw Rabe ae 1 3 Content Of The Warning Identification Before installing and running be sure to read this service manual otherwise have danger of getting DAN G E R an electric shock While power on and in five minutes after power off please don t open the crust Please must be grounded correctly 1 4 Safety
52. it is necessary to use the outer detent please prepare separately and don t touch Otherwise have danger of being injured Please don t check the signal during running Otherwise will damage equipment yx Trouble Handling DANGER After driver power off a high voltage still exist in the servo driver for some time do not dismantle wire in five minutes after power off do not touch the terminals Otherwise have danger of getting an electric shock Besides designated professional personnel please don t join install operate dismantle or maintain etc NOTICE yx System Configuration NOTICE On the control circuit board adopt CMOSIC integrated circuit please don t touch directly with the finger while maintaining Otherwise it will damage the control circuit board by electrostatic induction The rated torque of the servo motor must be larger than the effective continuous load torque Otherwise it will damage the servo motor in long term overload The ratio of the load inertia to the servo motor inertia should be less than the recommend value Otherwise there is danger of equipment damage The servo driver and servo motor should match with each other Otherwise will damage equipment yx Others DANGER Please don t reform the driver by oneself Otherwise there are dangers of electric shock and injury Chapter 2 Summarization 2 1 Brief Introduction To Products SPM 3500 serials of AC servo driver are
53. ite of the state of forbid switches CCW and CW also no alarm appears PA32 CCW internal torque limit This parameter is used for restrianing the maximum torque while the motor rotating in anticlockwise direction under the position mode le overload coefficient PA33 CW internal torque limit This parameter is used for restricting the maximum torque while the motor rotating in clockwise direction under the position mode l e overload coefficient PA34 CCW external torque limit This parameter is used for restricting the maximum torque while the motor rotating in anticlockwise direction under the speed mode Le overload coefficient PA35 CW external torque limit This parameter is used for restricting the maximum torque while the motor rotating in clockwise direction under the speed mode Le overload coefficient PA36 Torque limit for speed trial run and JOG run This parameter has no relation with CCW and CW directions The internal and external torque limit is still valid The value of this parameter is a percentage of rated torque For example if the torque limit is equal to rated torque then set this parameter as 100 PA37 Torque command filter coefficient This parameter can restrain the resonance cause by torque such as sharp noise from motor Make this parameter smaller if there is sharp vibration noise from motor Big parameter value can get higher cut off frequency and faster response If need higher mechanical stif
54. lowing items 1 Whether the loose screw exists 2 Whether the overheated sign exists 3 Whether the burned terminal exists 10 3 Guide For Part Replace NOTICE In order to check or repair the dismantlement work for the spare part should be implemented by our company Or sale agent The replacement period depend on actual operation terms and operating situation of equipment The invalid part should be changed and repaired immediately Standard Equipment Hardware replacement Remarks period Filter capacitor About 5 years The replacement Cooling fan About 3 years period pointed out The aluminium here is only for Driver f electrolytic Abs t ayeas reference no capacitor on matter how long printed plate about the Axletree 3 5 years standard Oil seal 5000 hours replacement period any hardware finds Motor that losing Encoder 3 5 years efficiency should change or maintain immediately Nanjing Washing cnc technology co LTD Address Centralized Industrial Zone Dongshan Bridge JiangNing District NanJing City JiangSu Province Telephone 025 87170996 87190997 87170998 Fax 025 52627632 Post Code 211100
55. mistake or broken with multimeter if find any problems please revise Is the motor damaged Solution Look over whether there is water in rotor shaft and socket of the motor or noise in the encoder when rotor shaft rotating change the motor to test directly Is the driver damaged Solution After the driver power off look over whether there is unusual sound or fan works abnormally in the driver can change the driver to test directly Is the gear wheel ratio of system too big or the acceleration deceleration time of system too fast Solution Retest after decreasing the electronic gear ratio of system and increasing the acceleration deceleration time of system Chapter 8 Operation Adjustment NOTICE Driver and motor must ground reliably PE terminal must connect with the earth terminal of equipment reliably Suggest that the driver power is provided through isolation transformator and power line filter so as to ensure security and anti jamming ability Should put through the power after checking and confirming wiring without fault Must insert one emergency stop circuit guaranteeing that the power can cut off immediately while having any fault After driver alarm make sure the malfunction has been got rid off and SON signal is ineffective before restarting driver Don t touch driver and motor in five minutes at least after power off prevent shocking by electricity Driver and motor will be at
56. mperature after running for some time prevent burning Under the main menu operation mode select SR and then press key to enter the speed trial run operation mode initial display S 0 0 The prompt S shows the speed trial run unit is r min use the speed command A Increase and Y Decrease key to have the given speed If the displayed speed value is positive means that motor runs in positive direction if the displayed speed value is negative means that motor runs in reverse direction 6 6 JOG Run JR Under the main menu operation mode select JR and then press key to enter the JOG run operation mode initial display J 150 The prompt J shows the JOG run unit is r min speed command is setting by parameter PA20 Detailed information please consult parameter specification chapter Under the JOG run operation mode press and hold A key motor is running in positive direction with the JOG given value release the key the motor stops and keeps locked state press and hold key motor is running in reverse direction with the JOG given value release the key the motor stops and keeps locked state Chapter 7 Parameters NOTICE Any person who involved in parameters adjustment should be fully familiar with the meaning of parameters Any error of the parameters setting may cause equipment damaged or person injured Itis recommended that the parameters adjus
57. n shaft is too big in the course of rotating will influence the smooth degree and lines homogenization of the workpiece directly please contact machine tool plant directly 4 Is the machinery resistance greater or asymmetry Solution After the lathe power off rotate the screw mandrel with the spanner if resistance is abnormal please contact machine tool plant Is the machining method correct Solution Look over whether the hardness of the workpiece is too high whether the cutter is worn and torn the feed pace is too fast the rotational speed of the main shaft is too low etc Trouble three The motor is locked normally after the machine tool power on but appear Err 1 or Err 9 alarm after the system sending the command pulse Reason analysis Is the parameter in the driver disorderly Is the corresponding parameter of motor changed Solution Firstly user can check whether all parameters in the present driver accords with default value by consulting table 7 2 if have difference modifying and saving then power on to check again Is the wire of motor connected by mistake Solution Please check whether the U V W PE wire of the motor corresponds to motor terminal with multimeter if find any mistake please correct Is the wire of encoder kept in touch badly or connected by mistake Solution Look over whether the terminal of driver and the socket of motor are loose measure whether the wire of encoder is connected by
58. nfirm that position fixing has already been finished and provide position reached signal PA11 Range of position deviation This parameter is used for setting the range of position deviation alarm zero setting value indicates that not deviation measure PA12 The first electronic gear wheel ratio numerator This parameter is used for setting the fractional frequency frequency doubling proportion of the position command pulse with parameter PA13 Under the position control mode it is convenient to connect with every system by setting PA12 and PA13 parameters to meet the perfect resolution ratio Calculation method PxG NxCx4 P The number of input command pulse G Electronic gear ratio N Servo motor s circumrotation C Optical encoder s resolution factor Usually C 2500 For example when input command pulse is 6000 the servo motor rotates one circle G NxCx4 P 1 x2500 4 6000 5 3 So parameter PA12 is 5 and parameter PA13 is 3 Recommending electronic gear ratio range is 1 50 lt Gs50 PA13 The first electronic gear wheel ratio denominator Refer to the parameter PA12 PA14 The second electronic gear wheel ratio numerator Refer to the parameters PA12 and PA13 PA15 The second electronic gear wheel ratio denominator Refer to the parameters PA12 and PA13 PA16 Maximum speed limit Used for setting the maximum speed this speed value is independent of rotation direction PA17 Speed proportional gain Under no oscillati
59. nge If Position proportional gain is too big tracking characteristic of position command will be good and lag error will be small but it will vibrate easily during stop position fixing 4 Increasing Position proportional gain can cause higher position tracking characteristic but too big will have opsition overshoot Note 1 Setting Speed proportional gain according to the following table Table 8 2 Recommendation value of position proportional gain Stiffness Position proportional gain Low stiffness 100 500 0 01S Middle stiffness 500 1000 0 01S High stiffness 1000 2000 0 01S 8 3 2 Setting electronic gear wheel Under position control mode can match the controller pulse conveniently through the frequency demultiplication numerator Parameter PA12 and frequency demultiplication denominator Parameter PA13 of position command pulse in order to achieve user s ideal resolution ratio for position control Position resolution ratio One pulse route Al is according to per turn route of servo motor AS and per turn feedback pulse of encoder Pt can express with the following formula AS Al Pt In the equation Al Route of per pulse mm AS Per turn route of servo motor mm turn Pt Per turn feedback pulse of encoder pulse turn Because there is a quadruple frequency circuit in the system so Pt 4xC C is encoder resolution ratio In this system C 2500 can be set by parameter
60. nnnenen 33 6 1 Keyboard Operations sienio eegend eege deed de A 33 6 2 Parameter Setting CPA ie BER KELE 6 3 Parameter Monitor DP 2 dutt 35 6 4 Parameter Management CEB 295 sinen deden vedas es uiatounteneseanveateceate 36 6 5 Speed Trial Rm CSR dE 37 60 JOE R n CIR enee 38 Ghapter 7 Parameters eebe 39 LL Parameters SUMIMALY zoe geed Eed ere leeden E ion sterken 39 1 2 Parameters Eupmepog iisi eicere EENEG REESEN EE 41 7 3 Change Accessory Motor For The Driver 48 7 4 Parameters Debugging List Of Servo Driver 50 Chapter 8 Operation Adjustment nnn anenneeneeeeneeeennnnnnnnnnnneen 66 8 1 Power Supply Connection na onvenvenvernvenvenvenseenvenvenvenveenvenvenvenveenvenvenvenneenvenven 66 S 2 Enersizerlest TTT 68 Ee UE ET 70 Chapter 9 Fault Diagnosis soansrsssererendnenanennann sande nidendneraan tene ndte hin meanidan waa 74 9 1 Protection Diagnosis Function niii nenvenneenvenvenvennernvenvenvenseenvenvenvenneenvenvenvenneenvenen 74 G2 KE UE EE 75 Chapter 10 Maintain And Safeguard aanannannnnneneneenennnnnnnnnnenen 84 LOD Daily Inspect on cis sive E 84 102 Periodic Inspection onransa aaea nae aena a aaaea evenit 84 10 3 Guide Fof Part R pl cE siinne ANEN EEN 84 Chapter 1 Security Warning Thank you for choosing SPM 3500 AC servo system This servo driver is suitable for the ordinary industrial environment please pay attention to the following several points before using T
61. normally change the motor or driver to test Is the machinery too tight Can the motor not be driven Solution After the lathe power off rotate the screw mandrel with the spanner if resistance is too big please contact machine tool plant If use accessory motor with internal contracting brake Has internal contracting brake already been opened Solution Lift motor line of driver off after power on rotate the motor shaft with hands if can rotate easily proving that internal contracting brake is open otherwise please check 24V input signal of internal contracting brake Trouble two The lathe working normally but the lines of workpiece is worse or the size is inaccurate Reason analysis Is the parameter in the driver disorderly Is servo output torque big or small Solution Firstly user can check whether all parameters in the present driver accords with default value by consulting table 7 2 if have difference modifying and saving then power on to check again Secondly can adjust the drive output torque to a suitable value through some ways such as setting when at a low speed etc Have the screw mandrel gear wheel ratio and the reverse interval been set Solution Check whether the system has set the gear wheel ratio and the value of reverse interval correctly if the value is incorrect please change 8 Is the swing of the main shaft of the lathe too big in the course of rotating Solution If the swing of mai
62. on CCW pulse CW pulse Electronic gear wheel 1 32767 1 32767 Feedback pulse The pulse is 2000 pulse rotation at most Acceleration and deceleration function Parameter set 1 10000ms 0 2000r min or 2000 0r min Monitor function Rotate speed present position command pulse accumulation position deviation motor torque motor current rotor position command pulse frequency running state input and output terminals signal etc Protect function Overspeed major power supply overvoltage or undervoltage overcurrent overload braking abnormity encoder abnormity control power supply undervoltage overheated position deviation etc Operation 6 LED nixietubes 4 keystokes Applicable load inertia Smaller than 5 times of the rotor inertia of motor Installation size for the servo driver cell unit mm 4 ar BES IS gH IS CO Fig 3 1 SPM 3520 SPM 3530 SPM 3540 Installation size for servo driver iat EN 220 230 ce a x co w a um a Kc J G CN LBRT sO 196 5 113 Fig 3 2 SPM 3550 Installation size for servo driver 3 2 Specification Of Isolation Transformator SPM 3500 servo driver adopts the servo isolation transformator with 380 220V the capacity of the isolation transformator should be determined by the capacity of the servo system the capacity of driver that each actuating shaft select for use should be
63. on number symbol 1 R Major loop power Major loop power supply input terminals 2 S supply single phase AC220V 50Hz 3 T or three phase 4 PE System earth Earth terminal Earth resistance lt 1000 Servo motor output and power input are all grounded P External braking If need add external braking resistor D can insert through these two points Terminal Terminal Name of signal Function number symbol If use inner braking resistor cut off these two points Notice Can t make these two points short circuit Otherwise will cause the serious consequence and damage the driver 7 W Servo driver output Servo driver output terminals must be 8 Vv connected with U V W terminals of 9 U motor one to one correspondence 10 r Control power supply Control loop power supply input 11 t Single phase terminals AC220V 50Hz 5 2 3 Control signal input output terminal CN2 Abbreviation of control mode P stands for position control mode S stands for speed control mode Table 5 2 Control signal input output terminal CN2 Terminal Name of i Symbol UO Type Function number signal The power CN2 8 positive Used for driving the optical coupler of pole of COM Type input terminal CN2 20 input DC 12 24V current 2 100mA terminal SON ON Permit driver run SON OFF Driver off motor is in free state eds Note 1 Make sure servo motor is CN2 21 Ae aie SON Type1 quie
64. on condition the parameter should be set higher The higher the gain setting the greater the stiffness is The value is determined according to the type of servo driver and the load Generally the larger the load inertia is the higher the setting value is PA18 Speed integral time constant Under no oscillation condition the parameter should be set smaller The smaller the constant setting the faster the integral is The value is determined according to the type of servo driver and the load Generally the larger the load inertia is the higher the setting value is PA19 Speed measure low pass filter coefficient The bigger the value is the higher the cut off frequency is the fast the speed feedback response is If need higher speed respond can increase the setting value appropriately The smaller the value is the lower the cut off frequency is the less the motor noise is If the load inertia is very large can reduce value appropriately The smaller the value is the slower the response is may cause oscillation PA20 JOG run speed It is used for setting the JOG operation speed PA21 Internal speed 1 Setting internal speed 1 Choose speed 1 as the motor s speed when input terminal SC1 OFF SC2 OFF PA22 Internal speed 2 Setting internal speed 2 Choose speed 2 as the motor s speed when input terminal SC1 OFF SC2 OFF PA23 Internal speed 3 Setting internal speed 3 Choose speed 3 as the motor s speed when input te
65. ould press key to return to upper layer menu for parameter select mode the modified parameter value will not be saved O Parameter PAO Parameter PAI Parameter PA42 Parameter PA43 Fig 6 2 Block diagram for parameter setting operation 6 3 Parameter Monitor DP NOTICE Under the parameter monitor mode only permit user to look over every parameter of the system but can t modify any parameter Under the main menu mode please select DP and press key to enter parameter monitor function as shown in table 6 1 This submenu has 20 kinds of display status users can press 4 Y key to select display modes needed then press key again to enter the specific display status If users need to withdraw from the present monitor parameter please press key Table 6 1 Overview of parameter monitor Number Name Function 1 DP SPD Present motor speed Unit r min 2 DP POS Present position Low Bit 99999 99999 Unit pulse 3 DP POS Present position High Bit 4 DP CPO Present command position Low Bit 99999 99999 Unit pulse 5 DP CPO Present command position High Bit 6 DP EPO Present position tracking error Low Bit 99999 99999 Unit pulse 7 DP EPO Present position tracking error High Bit 8 DP TRQ Present actual torque current 9 DP Present motor current 10 DP CNT Present system control mode 11 DP FRQ
66. overed to its original value at next time power on To save the modified parameter permanently it is necessary to execute parameter write operation to write the modified parameter in EMS memory into the parameter section of EEPROM the new parameter will be used when power on again II EE RD Parameter Read It means that the parameter in the parameter section of EEPROM will be read into EMS memory This course can be done automatically when power on so at the beginning the value of parameter in EMS memory is the same as the value of parameter in the parameter section of EEPROM But if users modify the parameter the value of parameter in EMS memory will be changed If the modified parameter is not satisfied or confused to restore the parameter just power on read the parameter in the parameter section of EEPROM into EMS memory ID EE BA Parameter Backup It is used for user to save his own parameter For example after user adjust the motor parameter if user is satisfied with the group of data at this moment can save this group of data in EEPROM forever through this operation But this operation permits saving only one group of parameters after executing this operation it will cover the content automatically which saved in last time IV EE RS Parameter Restore Use together with the operation EE BA used for resuming the value of parameter which modified once by users But this operation can not do the param
67. rminal SC1 OFF SC2 OFF PA24 Internal speed 4 Setting internal speed 4 Choose speed 4 as the motor s speed when input terminal SC1 OFF SC2 OFF PA25 Reached speed This parameter will be ineffective in position control mode Under no position control mode if motor s speed is bigger than this setting value SCMP ON otherwise SCMP OFF PA26 Acceleration and deceleration time constant Acceleration and deceleration characteristics are linearity Setting value shows demanding time for motor from 0 2000 r min 2000 0 r min PA27 Reserved PA28 Reserved PA29 Overspeed checking range This parameter will be ineffective in position control mode Under the speed control mode if the value of speed deviation counter is bigger than this parameter servo driver will send off overspeed alarm PA30 Overspeed permitting time This parameter cooperates with PA29 i e the value of driver speed deviation counter exceeds the time that PA29 allows PA31 Drive input forbid is invalid This parameter relates to signals CCW and CW 0 CCW and CW input forbid is valid The CCW drive is enable if the CCW drive forbid switch FSTP is on the CCW drive is disable if the CCW forbid switch FSTP is off the CCW direction torque keeps as zero CW is the same If CCW and CW drive forbid switch are off there is an alarm signal appears for drive forbid input error 1 CCW and CW input forbid is invalid The CCW and CW drive are all enable in sp
68. rrect please contact the supplier or our company directly NOTICE not install If the servo system is damaged or the attachment is not complete can The servo driver and the servo motor which matches this driver on performance should be used together 4 2 Installation Environment Servo driver should be installed properly in a good electrical cabinet to prevent invasion from the dust N 0 T C E corrosive gas conductor liquid and flammables Servo driver should be installed properly according to the prescribed direction and interval also should keep a good heat dissipation condition Servo driver and motor should avoid vibration forbid impacting To avoid fire do not set up the servo driver and motor close with flammable object 4 2 1 Safeguard Requirement Servo driver should be installed properly in a good electrical cabinet to prevent invasion from the corrosive and flammable gas conductive object metal dust oil fog and liquid because of having no safeguard itself 4 2 2 Temperature Requirement The ambient temperature range from 0 C to 50 C for long term reliability should be under 45 C also should keep a good heat dissipation condition 4 2 3 Vibration and Impact Avoid vibration in course of installation control the vibration under 0 5G 4 9m s with shock absorber The servo driver should have no stress and impact 4 3 Install Servo Driver NOTICE
69. scent before turn SON OFF to SON ON Note 2 After turning to SON ONT wait to input the command 50ms later at least Terminal number Name of signal Symbol UO Type Function CN2 9 Alarm clear ALRS Type1 ALRS ON Clear drive alarm ALRS OFF Keep drive alarm Note 1 To solve the error code bigger than 8 need power off and check but not use this way CN2 22 CCW drive forbid FSTP Type1 FSTP ON CCW Drive permit FSTP OFF CCW Drive forbid Note 1 Used in mechanical overrun CCW direction torque keeps as zero when switch OFF Note 2 Can shield this function or make switch ON forever by setting PA31 parameter CN2 10 CW drive forbid RSTP Type1 RSTP ON CW drive permit RSTP OFF CW drive forbid Note 1 Used in mechanical overrun CW direction torque keeps as zero when switch OFF Note 2 Can shield this function or make switch ON forever by setting PA31 parameter CN2 23 Deviation counter clear CLE Type CLE ON If in position control mode deviation counter clear Speed select 1 SC1 Type Under the speed control mode the associations of SC1 and SC2 are used for choosing different internal speed SC1 OFF SC2 OFF Internal speed 1 SC1 ON SC2 OFF Internal speed 2 SC1 OFF SC2 ON Internal speed 3 SC1 ON SC2 ON Internal speed 4 Note The value of internal speed 1 4 c
70. should change it to producer s password then could open and revise 62 parameters After finishing debugging must change it back to customer s password 158 1 3 3 3 3 2 0 0 0 0 3 0 0 0 0 4 0 0 0 0 5 0 0 0 0 1 2NM 1300 1 2NM 1300 1 2NM 1200 1 2NM 1200 3 4NM 1300 3 4NM 1300 3 4NM 1250 3 4NM 1250 5 6NM 1300 5 6NM 1300 5 6NM 1300 5 6NM 1300 7 8NM 1300 7 8NM 1300 7 8NM 1350 7 8NM 1350 6 9 10NM 1300 9 10NM 1300 9 10NM 1350 9 10NM 1350 11 12NM 1350 11 12NM 1350 11 12NM 1400 11 12NM 1400 13 15NM 1400 13 15NM 1400 13 15NM 1400 13 15NM 1400 16 20NM 1400 16 20NM 1400 16 20NM 1400 16 20NM 1400 21 28NM 1400 21 28NM 1400 21 28NM 1400 21 28NM 1400 7 0 0 0 0 8 0 0 0 0 9 0 0 0 0 10 50 50 50 50 11 300 300 300 300 12 1 1 1 1 13 1 1 1 1 14 1 1 1 1 15 1 1 1 1 16 2500 2500 2500 2500 17 SPM3520 SPM3530 1 2NM 1200 1 2NM 1200 1 2NM 1100 1 2NM 1100 3 4NM 1100 3 4NM 1100 3 4NM 1000 3 4NM 1000 5 6NM 1050 5 6NM 1050 5 6NM 1000 5 6NM 1000 7 8NM 1000 7 8NM 1000 7 8NM 950 7 8NM 950 9 10NM 900 9 10NM 900 9 10NM 900 9 10NM 900 PA HUADA XINYU Servo motor default KANGMING YUHAI Servo motor default DENGQI Servo motor default SUQIANG Servo motor default 18 11 12NM 800 11 12NM 800 11 12N
71. sing the proportional gain of position loop and the proportional gain of speed loop still appear the phenomenon that torque is not enough such as the motor can still rotate easily after energizing and locking or the motor creeps obviously in running Regulating current loop should follow the following principles First of all check the current loop parameters in servo driver and the default value in accessory motor table are identical or not If is not identical please adjust the parameter to the standard parameter shown in this table If is identical can adjust among a small range on the basis of initial value It allows the range The current loop proportional gain PA53 20 the current loop integral time constant PA54 15 6 Speed loop PA17 amp PA18 and position loop PA6 Parameter PA17 Speed proportional gain and parameter PA6 Position proportional gain can regulate output torque effectively If bigger torque cause bigger vibration can decrease parameter if smaller torque cause creeping can increase parameter Parameter PA18 Speed integral time constant and Parameter PA54 Torque integral time constant under the condition that system without oscillation try hard to set value smaller The smaller the setting value is the faster the integral action is Generally the larger the load inertia is the bigger the setting value is 7 After the parameter is revised and debugged satisfiedly must execute parameter s
72. system Radiator overheated Check load state 3 Main circuit Circuit board fault Change driver overvoltage Occurs when putting through Alarm Alarm name Running state Cause Solving ways code control power supply Occurs when Power supply Check power supply putting through overvoltage main power Abnormal voltage source wave External braking Check external resistor cut off braking circuit reconnect Braking transistor is Change servo driver broken Inner braking resistor is broken Shortage of braking Reduce start stop Occurs during loop capacity frequency motor running Increase acceleration deceleration time constant Reduce torque limit Reduce load inertia Change larger power servo driver and servo motor Short among U V W Check connection Bad grounding Correct grounding 4 Overcurrent Motor isolation is Change motor broken Driver is broken Change driver Encoder fault Wrong encoder Check connection connection Encoder is broken Change motor External disturbance Add filter on circuitry Alarm code Alarm name Running state Cause Solving ways Far away from disturbance source Bad encoder cable Make encoder line shorter Adopt polycore cable with parallel connection Too long encoder cable causing lower voltage for encoder Make encoder line shorter Adopt polycore cable with parallel connection DSP
73. t DENGQI Servo motor default SUQIANG Servo motor default 16 20NM 160 16 20NM 140 16 20NM 120 16 20NM 120 21 28NM 160 21 28NM 140 21 28NM 120 21 28NM 120 SPM3550 5 6NM 25 5 6NM 25 5 6NM 30 5 6NM 30 7 8NM 30 7 8NM 45 7 8NM 34 7 8NM 34 9 10NM 45 9 10NM 60 9 10NM 45 9 10NM 45 11 12NM 70 11 12NM 70 11 12NM 55 11 12NM 55 13 15NM 105 13 15NM 100 13 15NM 80 13 15NM 80 16 20NM 105 16 20NM 100 16 20NM 80 16 20NM 80 21 28NM 105 21 28NM 100 21 28NM 80 21 28NM 80 19 0 0 0 0 20 120 120 120 120 21 100 100 100 100 22 1000 1000 1000 1000 23 500 500 500 500 24 0 0 0 0 25 100 100 100 100 26 0 0 0 0 27 Reserved 28 1 1 0 0 29 0 0 0 0 30 5000 5000 5000 5000 31 1 1 1 1 32 120 120 120 120 33 120 120 120 120 34 When users change the accessory motor and revise parameter PA57 must check table 7 3 and establish the value of parameter PA34 PA35 and PA38 again according to the driver s type and 35 the rated current of motor otherwise the driver will be damaged easily 36 100 100 100 100 37 0 0 0 0 38 20 0 20 0 20 0 20 0 39 100 0 100 0 100 0 100 0 PA HUADA XINYU Servo KANGMING YUHAI DENGQI Servo SUQIANG Servo motor default Servo motor default motor default motor default 40 3 3 3 3 41 0 0 0 0 42 Producer s parame
74. t SUQIANG Servo motor default 9 10NM 450 9 10NM 425 9 10NM 450 9 10NM 450 11 12NM 450 11 12NM 425 11 12NM 450 11 12NM 450 13 15NM 425 13 15NM 425 13 15NM 450 13 15NM 450 16 20NM 425 16 20NM 425 16 20NM 450 16 20NM 450 21 28NM 425 21 28NM 425 21 28NM 450 21 28NM 450 SPM3520 SPM3530 1 2NM 16 1 2NM 18 1 2NM 15 1 2NM 15 3 4NM 18 3 4NM 20 3 4NM 18 3 4NM 18 5 6NM 20 5 6NM 25 5 6NM 20 5 6NM 20 7 8NM 30 7 8NM 30 7 8NM 30 7 8NM 30 9 10NM 35 9 10NM 40 9 10NM 35 9 10NM 35 11 12NM 50 11 12NM 50 11 12NM 50 11 12NM 50 13 15NM 70 13 15NM 60 13 15NM 70 13 15NM 70 SPM3540 5 6NM 40 5 6NM 50 5 6NM 36 5 6NM 36 7 8NM 55 7 8NM 60 7 8NM 55 7 8NM 55 9 10NM 65 9 10NM 75 9 10NM 60 9 10NM 60 11 12NM 90 11 12NM 90 11 12NM 85 11 12NM 85 13 15NM 110 13 15NM 100 13 15NM 110 13 15NM 110 16 20NM 110 16 20NM 100 16 20NM 110 16 20NM 110 54 21 28NM 110 21 28NM 100 21 28NM 110 21 28NM 110 SPM3550 5 6NM 70 5 6NM 85 5 6NM 70 5 6NM 70 7 8NM 105 7 8NM 105 7 8NM 105 7 8NM 105 9 10NM 120 9 10NM 140 9 10NM 120 9 10NM 120 11 12NM 175 11 12NM 175 11 12NM 175 11 12NM 175 13 15NM 240 13 15NM 210 13 15NM 240 13 15NM 240 16 20NM 240 16 20NM 210 16 20NM 240 16 20NM 240 21 28NM 240 21 28NM 210 21 28NM 240 21 28NM 240 55 4 4 3 2 PA HUADA XINYU Servo motor default
75. ter forbid users to change 43 1 1 1 1 44 Parameter PA27 and PA44 PA50 are reserved no one can be allowed to revise debug 45 personnel must check whether these parameter value are the same as debugging value on 46 right 47 If is different should reflect to the technology department of our company at once 48 If customers need to assemble other company s servo motors please contact technology 49 department of our company directly 50 51 1 1 1 1 52 0 0 0 0 53 SPM3520 SPM3530 1 2NM 700 1 2NM 700 1 2NM 700 1 2NM 700 3 4NM 750 3 4NM 700 3 4NM 750 3 4NM 750 5 6NM 800 5 6NM 750 5 6NM 800 5 6NM 800 7 8NM 800 7 8NM 800 7 8NM 850 7 8NM 850 9 10NM 800 9 10NM 750 9 10NM 800 9 10NM 800 11 12NM 750 11 12NM 700 11 12NM 750 11 12NM 750 13 15NM 650 13 15NM 650 13 15NM 700 13 15NM 700 SPM3540 5 6NM 650 5 6NM 600 5 6NM 700 5 6NM 700 7 8NM 700 7 8NM 650 7 8NM 750 7 8NM 750 9 10NM 700 9 10NM 650 9 10NM 750 9 10NM 750 11 12NM 650 11 12NM 600 11 12NM 700 11 12NM 700 13 15NM 650 13 15NM 600 13 15NM 700 13 15NM 700 16 20NM 650 16 20NM 600 16 20NM 700 16 20NM 700 21 28NM 650 21 28NM 600 21 28NM 700 21 28NM 700 SPM3550 5 6NM 425 5 6NM 400 5 6NM 425 5 6NM 425 7 8NM 425 7 8NM 425 7 8NM 450 7 8NM 450 PA HUADA XINYU Servo motor default KANGMING YUHAI Servo motor default DENGQI Servo motor defaul
76. ting 40 41 42 43 Reserved 7 2 Parameters Function PAO Operation Password 1 To avoid parameters modified incorrectly each time after pow on require setting the parameters as correct password firstly then consulting and revising other parameters When debugging finished suggest setting the parameter as 0 to ensure the parameters can t be modify by mistakes 2 The driver s password is 158 support users to consult and revise 43 kinds of parameters PA1 PA43 PA1 Type of driver 1 This driver can be suitable for the five major motor producer of our country rightly they are HUADA servo motor DENGQI servo motor CHANGHUA servo motor XINYUE servo motor and SUQIANG servo motor According to market demand our company keep the right to add accessory motor if users need other servo motor please contact technology department of our company 2 The motors which come from different motor manufacturers and with a series of different power level correspond to the different type code in the driver separately Generally configure according to customer s request when dispatched from the factory strongly advise users make sure not to change the value among them in the normal operating course PA2 Power on display content 1 This parameter is used for establishing the acquiescent display content after the driver power on corresponding to the order of the DP parameter monitor 2 During power on i
77. tment be firstly made under idle load operation condition SPM 3500 has various parameters can adjust or establish performance and function of the driver through these parameters This chapter describes use and function for each parameter understand the best use and operation for driver of these parameters are essential User can see establish and change these parameters with the driver panel 7 1 Parameters Summary SPM 3500 has offered 43 kinds of adjustable parameters to user parameters definition consult table 7 1 In the applicable way P is position control mode S is speed control mode T is torque control mode Table 7 1 Parameters list Number Name Suitable Parameter Default Unit type range 0 Operation password 0 999 158 1 Type of driver 0 5 3 2 Power on display content 0 18 0 3 Control mode selection 0 7 0 4 Input mode for position P Dei 0 command pulse 5 Inverse the direction of P Qed 0 position command pulse Position proportional gain P 1 2000 600 1 S Position feed forward gain P 0 100 50 Position command smooth P 0 100 0 0 1ms filter coefficient 9 Position feed forward P 0 100 0 0 1ms command smooth filter coefficient 10 Range of position fixing P 0 30000 50 pulse 11 Range of position P 0 30000 0 x100 pulse deviation 0 not measure 12 The first electronic gear P 0 32766 5 wheel ratio numerator 13 The first electronic gear
78. tor is prompting in internal speed 1 state 6 Changing the value of signal SC1 SC2 to make motor run according to command 8 3 Adjustment NOTICE Make sure the parameters are correct before start the servo drive Any wrong with parameters may cause equipment fault and accidentt Itis recommend that the idle load test firstly and then load test 8 3 1 Basic gain Speed control 1 Speed proportional gain Parameter PA17 make it as big as possible if there is no vibration Usually load inertia is bigger then the Speed proportional gain is bigger 2 Speed integral time constant Parameter PA18 make it as small as possible according to designated condition If Speed integral time constant is too small response speed will be promoted but will vibrate easily So make it as small as possible if there is no vibration If Speed integral time constant is too big in the load change the speed will be changed greatly Generally load inertia is bigger then the Speed integral time constant is bigger Position Control 1 Setting suitable Speed proportional gain and Speed integral time constant according to the above method 2 Position feed forward gain Parameter PA7 this parameter is bigger response speed will be promoted but the system position is unstable will vibrate easily Usually set as 0 3 Position proportional gain Parameter PAG can be as big as possible in stable ra
79. ut the lines improper torque of the driver according to the load of lathe 2 Socket connector keeps in 2 Check whether the touch badly socket is loose 3 Mechanical resistance is 3 Pull screw mandrel too large whether the resistance is large Number Trouble phenomenon Possible reason Solution 9 Operate normally after 1 The voltage of electric 1 Assemble manostat on the driver power on network fluctuates too big the lathe but apt to alarm by 2 The way of wiring is 2 Require that every mistake easily or have incorrect electron device of the lathe noise in the motor concurrent connect to the earth the driver power is introduced from transformer separately 3 Strong disturbance source 3 Keep away from nearby disturbance source 10 Drive s output torque is 1 The load of lathe is large 1 Change the more relatively large but power of the servo and motor powerful servo and motor creep at a low speed is not enough pause at a high speed 2 Servo or motor is damaged 2 Change driver or motor 11 There is no alarm after 1 System parameter error 1 Revise the parameter of driver power on but system alarm electrical system produce No 41 level measure alarm 2 Suffer from strong 2 Keep away from interference disturbance source 12 The motor is not locked 1 No system enable signal 1 Check signal wire of after driver power on system 2 Hasn t connected
80. void losing step The photoelectric encoder of servo driver sends position feedback signal into the servo driver form the closed loop control system 6 Complete protection performance Driver has many kinds of trouble measure including overcurrent overvoltage overheated overspeed undervoltage position deviation encoder measure etc 2 2 Brief Introduction To Operation Mode SPM 3500 series has four kinds of control mode as follow yx Position control mode SPM 3500 series servo driver can receive two kinds of command pulse Pulse Direction CCW pulse CW pulse by setting internal parameters x Internal speed control mode SPM 3500 series servo driver can be in speed control mode by setting internal parameters the speed command comes from the input port SC1 and SC2 x Trial run mode SPM 3500 series servo driver can be in trial run mode by setting internal parameters it can be tested under SR state yx JOG run mode SPM 3500 series servo driver can be in JOG run mode by setting internal parameters it can be tested under JR state Chapter 3 Order Information 3 1 Specification Of Driver Model explanation SPM35 XX SPM 3500 type Specification full digital AC servo model Table 3 1 Specification of driver Specification Continuous Instantaneous Applicable motor model current A overload current A S1 2KW SPM 3520 5 5 15 4NMS3000RPM 6NM lt 2000RPM 1 2KW 2 3KW 6NM lt 3000RPM SP

SPM-3500 Full Digital AC Servo System

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