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Installation and Operation Manual

1. CHAPTER 9 ORDER GUIDELINE 9 1 CAPACITY SELECTION To determination the capacity of servo drive it is necessary to make considerations of load inertia load torque required positioning accuracy and maximum speed The following procedure for above considerations is recommended 1 Calculate load inertia and torque For further calculations it is necessary to calculate load inertia load torque acceleration deceleration torque and effective torque according to relative data 2 Determine the mechanical gear ratio for the first time According to the required maximum speed and servo motor maximum speed the maximum mechanical gear ratio can be calculated Then check and ratify the required minimum moving unit by the gear ratio and the servo motor minimum moving unit If the required positioning accuracy is higher than the calculated value it is possible to increase the mechanical ratio it will reduce the maximum speed or to use a higher rated speed servomotor 3 Check load inertia and torque The load inertia and load torque is converted to their equivalent values related to servo motor shaft The equivalent inertia should be equal or less than five times rotor inertia The equivalent load torque and effective torque should be less than the rated torque of servomotor If any above requirement is not fulfill it is necessary to increase the gear ratio reduce the maximum speed or to select larger capacity of servo drive 9 2 ELET
2. 2 The output circuit is an open collector form Its maximum sink current is limited to 50 mA and the external maximum voltage is a 25 volts Therefore do not exceed the above limitations for all digital output terminals Otherwise overloaded or short circuited will damage the servo amplifier 3 If the output load is an inductance load such as relay it is necessary to connect a flying wheel diode to the relay coil in opposite direction against DC positive pole Be careful if such a diode is in wrong direction the output circuit will blow down 3 Pulse signal input interface Type3 1 To transmit the data pulse signal correctly it is recommended to use the differential line drive circuit as shown in Figure 3 6 2 When used the differential drive circuit the IC AM26LS31 MC3487 the same kind of RS422 line drive will be adopted 3 When used the single end drive circuit as shown in Figure 3 7 the transmission rate will slow down The driving current is 10 15 mA and the external maximum voltage is limited to 25 volts According to the above condition the series resistor can be determined The experience data are as the following VCC 24V R 1 3k 2k VCC 12V R 5102 8200 VCC 5 V R 802 1202 servo amplifier 220 SIGNH 1 SIGN ki Figure 3 6 Tvpe3 of the differential drive mode of pulse input interface servo amplifier 220 e Figure 3 7 Type3 of the single end drive mode of pulse input interface
3. 4 To drive the single end circuit the customer will provide an external power supply Please pay attention to the polarity of the power supply or the servo amplifier may cause failure 5 The command pulse mode is shown in table 3 4 in which the arrow stands for pulse counting edge The pulse timing and its parameter are shown in Table 3 5 Table 3 4 pulse input mode Command Pulse CCW cw Parameter Mode i Value Pulse Train PULS M j TLE ULT 0 Pulse Sign Sign SIGN i 2 cew Pulse purs 1 Train i 1 CCW Pulse CW CW Pulse i Pulse Train SIGN A Phase i Pulse PUS 1 i Ee B Phase ulse Pulse SIGN v ix 6 When two phase pulses is used the pulse rate should be less than 125kHz Table 3 5 Timing chart parameters of the input pulse Parameters Differential drive input Single end drive input m 521 8 5 8 ty s1uS 22 51 S ti 1 8 2 51 S ta 20 2 1 S 0 3 u S ta lt 0 2u S lt 0 3u S ts gt lu S gt 2 5u S tack 3811 S 10uS ton 341 S 25 1 tal 34 u S 25 1 ta lt 0 2u S lt 0 3u S ty lt 0 2u S lt 0 3u S t gt 1uS P2 5 U S qs Figure 3 9 Timing chart of CCW CW pulse input interface maximum pulse rate S 500kHz CCW CW Figure 3 10 Timing chart of two phase pulse input interface maximum pulse rate 125kHz 4 Inp
4. Table 4 2 function of parameters continue Speed loop proportional gain 1 Used for setting the speed loop proportional gain 2 The higher the gain setting the greater the stiffness will be The value is determined according to the type of servo amplifier and the load In general the larger load inertia the higher the setting value will be 3 Under no oscillation condition the higher gain the better 5 2000 Hz 6 Speed loop integration 1 Used for setting the speed loop l 1000 ms time constant integration time constant 2 The smaller the time constant the greater the stiffness and the faster the integration The value is determined according to the type of servo amplifier and the load In general the larger load inertia the higher the setting value will be 3 Under no oscillation condition the smaller the time constant the better 7 Acceleration deceleration 1 The value indicates the acceleration time 1 100000ms time constant from 0 to 1000 r min or the deceleration time from 1000 to 0 r min 2 The characteristics of acceleration and deceleration are linear 8 LPF of feedback speed 1 Set the characteristics of LPF for 20 500 90 feedback speed 2 The smaller the value the lower the cut off frequency and the motor noise If the load inertia is larger properly reduce the setting value If the setting value is too small the dynamic response will s
5. 4 amp 4 COIN 14 8 IV 13 Output Commol DG 13 19 W enr 11 DG 4 7 W i i4 DG 6 13 MHP DG 8 16 i 14 FG ii 18 Encoder Z Output 4 4CZ 2 Encoder Z Common 1CZCOl 5 PULS4 18 PULS 6 Positin Command PULS 5 4 19 SIGN 7 Position Command SIGN FG 24 FG 25 Figure 3 2 Standard wiring for speed control mode 3 3 2 TERMINAL FUNCTIONS 1 Arrangement of connection terminals Figure 3 3 is arrangement of connection terminal for the servo amplifier Where TB is the terminal block CNI is DB25 connector The socket is male and the plug is female CN2 is DB25 connector The socket is female and the plug is male c z c m 3 aj g 4 DB25 2 Power terminal block DB25 Table 3 1 Power terminal block Terminal symbol Name of signal function number TB 1 R Main power supply Main power input terminals 220V 50Hz TB 2 S One phase or three Note Never connect R S T to U V W TB 3 T phases terminals of the servomotor TB 4 PE System ground Grounding terminal Grounding resistance lt 100 Q Connect with input power ground to form a common point TB 5 U Servo amplifier Servo amplifier output terminals TB 6 V outputs Connections must match with U V W TB 7 W terminals of the servomotor TB 8
6. CN2 connector DB25 male l set Note 1 If ordering a position controller from our factory a 3 meters long signal cable for CN1 connector will be provided Note 2 If ordering a servomotor from our factory user may option a signal cable 3 meters for CNI connector pes 2 The standard accessories of servomotor are provided according to the user s manual of the servomotor 1 3 PRODUCT OUTLINE DRAWINGS 1 The outline drawing of the servo amplifier 2 The outline drawing of the servomotor CHAPTER 2 INSTALLATION N NOTICE Q Store and install of the product must meet requirements of environmental conditions Do not pile the products too much to prevent damage from pressing or falling Original product package must be used when transportation is again needed Do not install and use if the product has been damaged or has any missing parts Q Use fireproofing material for installation and keep away from flammable matter in case to prevent on fire The servo amplifier must be installed inside a cabinet to keep free from dust corrupt gas liquid conductance and easy burning matter The servo amplifier and serve motor must keep away from vibration source and isolate from all impact Do not carry the servo motor by dragging the motor shaft cables of motor or encoder 2 1 ENVIRONMENTAL CONDITIONS Item DA98 drive amplifier STZ series servomotor Ambient temperature 0 55 C
7. This value is a percentage of rated torque For example if the torque limit is double rated torque then the parameter is set bv 200 3 The torque limit is alwavs valid at anv time 4 If the value is higher than the allowed maximum torque the actual maximum torque limit is equal to the allowed maximum torque 0 300 35 CW internal torque limit Table 4 2 1 Used to set the CW internal torque limit 2 This value is a percentage of rated torque For example if the torque limit is double rated torque then the parameter is set by 200 3 The torque limit is always valid at any time 4 If the value is higher than the allowed maximum torque the actual maximum torque limit is equal to the allowed maximum torque Functions of parameters continue 300 0 36 CCW limit external torque 1 Used to set the CCW external torque limit 2 This value is a percentage of rated torque For example if the torque limit is equal to rated torque then 100 set the parameter 3 Only the CCW external torque limit is valid when the CCW torque limit input terminal FIL is on 4 When the CCW external torque limit is valid the actual torque limit is the minimum value among the allowed maximum torque the CCW internal torque limit and the CCW external torque limit 0 300 37 CW external torque limit 1 Used to set the CW external torque limit 2 This value is a percentage of rated torque F
8. off but a high voltage still exist in the servo amplifier for about five minutes of time Any person who involved in disassemble and inspection of the servo drive should have specialized knowledge and be fully competent to do the work CAUTION When any alarm occurred remove its cause ensure safety and then reset the alarm before restart operation After an instantaneous power failure keep away from the machine because the machine may be restarted suddenly when the power is restored Design the machine so that it 1s secured against danger if it is restarted SYSTEM CONFIGURATIONS N NOTICE The required rated torque of the servomotor must be greater than the effective continuous load torque Q The ratio of the load inertia to the servomotor inertia should be less than the recommend value The servo amplifier is matched to the servomotor CONTENTS CHAPTER INTRODUCTION 1 1 PRODUCTS BRIEF INTRODUCTION 1 2 INSPECTION AT DELIVERY 1 3PRODUCT OUTLINE DRAWINGS CHAPTER 2 INSTALLATION 2 1 ENVIRONMENTAL CONDITIONS 2 2 INSTALLATION OF SERVO AMPLIFIER 2 3 SERVOMOTOR INSTALLATION CHAPTER 3 WIRING 3 1 STANDARD WIRING 3 2 TERMINAL FUNCTIONS 3 3 INPUT OUTPUT INTERFACE CIRCUIT CHAPTER4 PARAMETERS 4 1 PARAMETER LIST 4 2 THE FUNCTION OF PARAMETERS CHAPTER 5 ALARMS AND HANDLE 5 1 ALARM LIST 5 2 ALARM AND TROUBLESHOOTING CHAPTER 6 DISPLAY AND OPERATION 6 1 KEYBOARD O
9. 1 5 9 300 14 110STZ5 1 HM HD5 1 C 10 4 5 2000 11 0 6 0 300 15 110STZ6 I HM HD6 1 C 12 4 5 6 2000 12 9 6 6 300 17 130STZ5 I HM HD5 1 C 10 4 5 2000 20 0 10 0 300 15 130STZ5 2 HM HD52 C 1 5 5 5 5 3000 20 0 10 0 300 15 1308TZ7 5 I H HD75 1 14 5 5 7 5 2000 28 0 6 0 300 18 M C 130STZ10 1 H HD10 1 1 4 5 5 10 0 1500 28 0 5 0 300 20 M C 3 Outline dimension drawings 1 The outline dimension drawings of 110 frame of servomotor Zero speed torque 2 4 5 6 N m D mm 19 19 22 22 L mm 194 232 251 270 2 The outline dimension drawings of 130 frame of servomotor Zero speed torque N m 5 7 5 10 L mm 200 225 250 8 3 ISOLATED TRANSFORMERS NOTICE To reduce electric shock and interference caused by power line electromagnet field etc it is recommended to use an isolated transformer for the servo amplifier power supply A three phase power supply must be used for output power above 0 8kw of the servomotor A single phase or three phase power supply can be used for output power equal 0 8kw or less of the servomotor Note There are four types of isolated transformers listed in the following table for ordering option The selection is made according to the servomotor output power and its application conditions Type Capacity KVA Phase number Input voltage V Output voltage V BS 120 1 2 3 380 220 BS 200 2 0 3 380 220 BD 80 0 8 1 380 220 BD 120 1 2 1 380 220
10. 13 Output Commol DG 13 19 W t XC ii DG 14 7 W i i4 DG 6 13 MHP DG 8 16 0V f 14 FG L 1 1 18 Encoder Z Output CZ 2 Encoder Z Common 4 1CZCOl 5 PULS4 18 PULS 6 Positin Command PULS 5 4 19 SIGN 7 Position Command SIGN FG 24 FG 25 Figure 3 1 Standard wiring for position control mode IIL 2 Servo Motor MC Motor 3 Phase or 1 6 gt e 4 R Servo U 2 Phase AC 220V ER B Amplifier W cm E DC TA 5 5V 12 24V 6 5V COMH 8 17 5V 3 Servo Enable 9 SON a 15 i 1 Encoder Alarm Reset 5 ARS S gt CCW Drive Inhibit gt FSTP 22 CN1 CN2 toV CW Drive Inhibit x 5 3 ymsrp 1g 4 4 7 Loo 2 24 TAF c 3 Zommand Pulse Inhibit b oH 2 2 i E CCW Torque Limit DERE GT CW Torque Limit 2 19 ILE 7 zie ey n 10 Z 8 a a Servo Ready 4 4SRDY 1 9 U i 12 Servo Alarm 4 1 ALM 15 20 V DENES G E 10 In position
11. 5A 2000r min 2 8 X 10 kgm 8 130STZ10 1 HM 10N m 130 300V 5 5A 1500r min 3 6 X 10 kgm 9 19 Reserved Reserved CHAPTER 5 ALARMS AND HANDLE NOTICE Any person who involved in inspection should be fully competent to do the work Before starting maintenance and or inspection make sure that it takes more than 5 minute after power off Otherwise you may get an electric shock When any alarm has occurred always remove its cause according to the alarm code and then can put it into operation again Before reset an alarm it is necessary to confirm that the SON is invalid to prevent accident from that the servomotor may suddenly start by any cause 5 1 ALARM LIST Table5 1 Alarm list Alarm Alarm name Content code Normal 1 Exceeded speed The speed of servomotor exceeds the setting value 2 Over voltage main power The main power supply voltage is too high 3 Under voltage main power The main power supply voltage is too low 4 Excessive maximum position The droop pulse in deviation counter exceeds the setting error value 5 Motor over heat The temperature of servomotor is too high 6 Speed amplifier saturated The speed amplifier has saturated for a long time failure 7 Drive inhibit abnormal The both CCW and CW drive inhibit signals are in OFF state 8 Overflow of position The absolute value of position deviat
12. P Reserved TB 9 D Reserved TB 10 r Control power supply Control circuit power supply terminals TB 11 t Single phase 220V 50 Hz 3 Control signal terminals CN1 Abbreviation of control mode P stands for position control mode S stands for speed control mode Table 3 2 Control signal input output terminals CN1 Terminal umber CN1 8 CN1 20 Name of ignal Positive pole pf input power symbol COM I O Typel Mode Function Positive pole of input power for driving pptical coupler of input signal DC 12 24V Current 100mA CN1 21 Servo enable SON Typel Servo enable input terminal SON ON servo drive is ready to operate SON OFF servo drive is shut off servomotor is in coast state Note 1 The servomotor must be kept still before SON from OFF turn to ON Note 2 After SON turning to ON wait for more than 50 ms then input command ulse CN1 9 Alarm reset ALRS Alarm reset input terminal ALRS ON reset alarm ALRS OFF hold the alarm status Note No effect on the alarm code higher than 8 It is necessary to switch off power and repair then switch on again CN1 22 CCW inhibit drive FSTP Typel CW drive inhibit input terminal STP ON CCW drive enable STP OFF CCW drive disable otel uses for over travel protection the putput torque is zero in CCW direction when the switch is off Note2 this function can be maske
13. entering the servomotor and encoder Do not give shock to the servomotor and motor shaft since it is provided with an encoder or they may break Do not subject the servomotor shaft to more than the permissible load WIRING WARNING Any person who is involved in wiring and inspection should be fully competent to do the work Before wiring or inspection switch the power off and wait for more than five minutes then can make it The servo amplifier and servomotor must be grounded securely Incorrect voltage and polarity may cause explosion or get out of order Before wiring install the servo amplifier and servomotor properly Ensure insulation of wires in good condition avoid pressing to wires to prevent electric shock CAUTION Wire the servo drive correctly and securely Otherwise the servomotor may run incorrectly and the equipment may cause trouble by contact failure Connect U V and W terminals of servomotor correctly Do not connect AC power directly to the servomotor Directly connect the servo amplifier with servomotor Do not insert any capacitors inductor or filter between the servo amplifier and the servomotor Prevent any kind of conductive matter such as metal piece wire bar etc entering the servo amplifier Do not put any wire and other material which is not ovenproof on the heat sink of the servo amplifier or servomotor The flying wheel diode connected to
14. following control signals servo enable SON OFF CCW drive inhibit FSTP ON CW drive inhibit RSTP ON 2 Turn on the control circuit power supply the main circuit power supply remains off the 6 LED is lighted If any alarm occurs please check all connections 3 Select the control mode by parameter NO 4 2 enter the speed test operation mode 4 Turn on the main circuit power supplies 5 Make sure there is no alarm or any abnormal situation turn on the servo enable signal the motor is excited and is in zero speed 6 To enter the speed test operation mode select Sr in the first layer of menu and then press the key The prompt shows the servo drive is in speed control mode and the displayed value indicates the speed in r min Use and key to change the speed command and the motor speed will follow the given speed B JOG OPERATION 1 Connect CNI provide the following control signals servo enable SON OFF CCW drive inhibits FSTP ON CW drive inhibit RSTP ON 2 Turn on the control circuit power supply the main circuit power supply remains off the 6 LED is lighted If any alarm occurs please check all connections 3 Select the control mode by parameter NO 4 3 enter the JOG operation mode 4 Turn on the main circuit power supplies 5 Make sure there is no alarm or any abnormal situation turn on the servo enable signal the motor is e
15. load inertia 5 Replace by higher power servo drive 1 The main power voltage is 1 Check main power too high supply 15 Encoder pulse 1 Encoder faulty 1 Replace counter servomotor failure 1 Wrong connection of 1 Check wiring encoder 1 Ground fault 1 Ground correctly 16 Motor heat It appears when 1 Internal print circuit board 1 Replace servo over load switch on the failure amplifier control power 1 parameter setting is not 1 Correct setting supply correct It appears during 1 Operation exceeds the rated 1 Check the load operation torque for long time 2 Reduce start stop pulse rate 3 Reduce torque limit 4 Replace by higher power servo drive 1 Bad mechanical 1 Check mechanical transmission parts 19 Heat reset 1 The voltage of control power 1 Check control supply is not stable power supply 1 Interfered by noise 3 Use line filter 4 Isolate from noise source Table 5 2 Troubleshooting continue Alarm Alarm name Operation state Cause Measure code 20 104 1 Chip or print circuit board 1 Replace servo EEPROM damaged amplifier chip fault 2 After repaired re set type of servo amplifier parameter NO 1 and then restore the default parameters 21 IC3 PWM 1 Chip or print circuit board 1 Replace servo chip fault damaged amplifier 22 IC2 CODER 1 Chip or print circuit board 1 Replace servo chip faul
16. the CCW inhibit switch FSTP is off The CW drive enable or disable are in the same way If the CCW and CW inhibit switch are off there isan alarm signal appears CCW and CW input inhibit is invalid The CCW and CW drive are enable in spite of the on off state of the inhibit switches and no alarm appears 21 JOG operation speed Used to set the JOG operation speed 3000 3000 r min 23 Maximum speed limit 1 Used to set the maximum speed limit 2 This value is independent of rotating direction 3 If the value is higher than rated speed the actual maximum speed limit is equal to the rated speed 0 3000 r min 24 Internal speed command 1 1 Used to set the internal speed command 1 2 In speed control mode the internal speed command 1 is selected if SCI and SC2 are off 3000 3000 r min 25 Internal speed command 2 1 Used to set the internal speed command 2 2 In speed control mode the internal speed command 2 is selected if SC1 is on and SC2 is off 3000 3000 r min Table 4 2 Function of parameters continue 26 Internal speed command 3 1 Used to set the internal speed command 3 2 In speed control mode the internal speed command 3 is selected if SC1 is off and SC2 is on 3000 3000 r min 27 Internal speed command 4 1 Used to set the internal speed command 4 2 In speed control mode the internal speed command 4 is select
17. transmission 3 Vibration and impact Installation must ensure no harm vibration otherwise reduce vibration means must be taken for reducing vibration under 0 5G 4 9 m s Do not put heavy objects on the servo amplifier and avoid impact 2 Installation method 1 Installation manner There are two manners of installation can be used the first one is the rear plate mounting and the second is the front panel plate mounting The installation direction is perpendicular to the mounted plate Figure 2 1 shows the rear plate mounting Figure 2 2 shows the front panel plate mounting Figure 2 1 Servo amplifier rear plate mounting Figure 2 2 Servo amplifier front panel plate mounting 2 Installation clearances Figure 2 3 shows the installation clearances for a single servo amplifier Figure 2 4 shows the installation clearances for multiple servo amplifiers In practice to ensure a good cooling condition provide installation clearances around the servo amplifiers as large as possible Figure 2 3 the installation clearances for a single servo amplifier 2 225mm 225mm gt 100mm ANMNNNNNNNNNNNNNNNNNNNNNNNNNN p p wo Servo Servo Servo amplifier amplifier amplifier TA A jA A A Ad IE onvecting direction ANNNNNNNNNNNNNNNNNNNNNNNNNNNC Figure 4 4 the installation clearances for multiple servo amplifie
18. 2 Reduce load 3 Replace by higher power servo drive 1 The command pulse rate is too high 1 Reduce command pulse rate Table 5 2 Troubleshooting Alarm Alarm name Operation state Cause Measure code 5 Motor It appears when 1 The circuit board failure 1 Replace the servo over heated switch on the amplifier control power 1 Cable is disconnected 1 Check the cables supply 2 The temperature sensor of the 2 Check the motor motor has damaged It appears during 1 The motor is over loaded 1 Reduce load operation 2 Reduce the start stop pulse rate 3 Reduce the torque limit 4 Decrease gain 5 Replace by higher power servo drive 1 Motor failure 1 Replace the servomotor 6 Speed It appears during 1 The motor shaft is blocked 1 Check the amplifier operation mechanical port saturated 1 The load is too large 1 Reduce load failure 2 Replace by higher power servo drive 7 Drive inhibit 1 The both CCW and CW drive 1 Check connections abnormal inhibit terminals are open and power supply 8 Overflow of 1 The motor shaft is blocked 1 Check the position 2 The command pulse is mechanical deviation abnormal port counter 2 Check the command pulse 3 Check motor running state which must match the command pulse 9 Encoder 1 Wrong connection of the I Check connections failure encoder 1 The encoder has d
19. DC relay must be wired in the specified direction TEST RUNNING CAUTION Before operation make sure that the servo amplifier and servomotor have been installed securely and the voltage of power supply the connection of wiring are correct Make sure that the parameter settings are correct In order to prevent any mistake operation causing some mechanical or equipment trouble the test running is firstly operated under no load condition and then under load condition USAGE N CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and the power switched off immediately when an accident occurs Before resetting an alarm make sure that the servo enable signal is off Otherwise a sudden restart is made if an alarm is reset while the servo enable signal is on Use the servo amplifier with the specified servomotor Use a noise filter an isolated transformer etc to minimize the influence of electromagnetic interference nearby Do not frequently switch on and off the power supply to prevent the servo amplifier to be damaged During operation or soon after power off do not touch the heat sink of the servo amplifier or servomotor for they may be at high temperature after long term running Do not reform the servomotor TROUBLE HANDLING WARNING Do not touch or unwire the terminals to prevent electric shock Even though the power is
20. High performance Super small Dimension DA98 Fully digitize AC servo amplifier Installation and Operation Manual Guangzhou Numerical Control Equipment Factory China 2000 6 1 PREFACE Thank you for choosing this DA98 AC servo system This user guide gives comprehensible information and precautions for using the servo drive Incorrect handling may cause an unexpected accident Before using the servo drive please read this manual carefully Due to improvement of the product the contents of this manual may be changed at any time without further notice Our factory does not assume any responsibility for any reform of the product by customer If so the product guarantee form is not valid any more When read this manual please pay more attention to the following warning symbols Indicates that incorrect handling may cause pan WARNING dangerous consequences resulting in death or severe injury Indicates that incorrect handling may cause injury JAN CAUTION to the operator and mav cause equipment damage Indicates that incorrect handling mav cause the Pus NOTICE servo amplifier and other equipment to be faulty or damage SAFETY INSTRUCTIONS N WARNING Q The design and manufacture of the servo amplifier are not applied to such a mechanical system in which there are some serious influences on human life To prevent accident due to abnormal operation safety and protection measures should b
21. Linea Speed m min gt Enter L 5 000 Linear Speed 5 000 m min A Y A DP Cnt Current Control Mode fi Cnt 0 Control Mode 0 ri Position Command Pulse Rate Position Command Pulse Rate DP Frq dr F 126 12 DP CS Speed Command r min 239 Speed Command 35 r min DP Ct Torque Command 96 t 20 Torque Command 20 96 Y 3X ii Rotor Absolute Position Rotor Absolute Position DA Pulse A 3265 3265 DP In Input Terminal Status Injili Input Terminal Y A pet Output Terminal Status oUt Output Terminal DP Cod Signals From Encoder Cod 1 Encoder Signals DP rn Operation Status rn on Operation Status running DP Err Alarm Code Err 9 Alarm NO 9 DP rES Reserved U 0 Figure 6 2 Block diagram of operation for monitor mode Note 1 The quantitv of input pulse is the product of the number of position controller output pulse times the electric gear ratio Note 2 The pulse unit is equivalent to an internal pulse unit In the servo drive 10000 pulses is corresponding to one revolution The quantitv of pulse is indicated bv 5 high digits plus 5 low digits The calculation will be quantity of pulse 5 high digit 100000 5 low digit Note 3 Control mode 0 Position Control 1 Speed Control 2 Speed Test Operation 3 JOG Operation 4 Encoder Zero Adjustment Note 4 If the displayed digit reached six digits for example 12345 the prompt letter will not be displayed Note 5 The position command pulse rate is equal to the puls
22. PERATION 6 2 MONITOR MODE 6 3 PARAMETERS SETTING 6 4 PARAMETER MANAGEMENT 6 5 SPEED TEST OPERATION 6 6 JOG OPERATION 6 7 OTHERS CHAPTER 7 OPERATION 7 1 POWER SUPPLY CONNECTION 7 2 TEST OPERATIONS 7 3 ADJUSTMENT CHAPTER 8 SPECIFICATIONS 8 1 SPECIFICATIONS OF SERVO AMPLIFIER 8 2 SPECIFICATIONS OF SERVO MOTOR 8 3 ISOLATED TRANSFORMERS CHAPTER 9 ORDER GUIDELINE 9 1 CAPACITY SELECTION 9 2 ELETRIC GEAR RATIO 9 3 STOPPING CHARACTERISTICS JN WARNING AN WARNING CAUTION CAUTION NOTICE NOTICE CHAPTER INTRODUCTION 1 1 PRODUCTS BRIEF INTRODUCTION AC servo technique has been developed since 1980 and has reached a high level of applications The features of the AC servo are continuously increasing Their products have been widely used in the area of automation such as numerical control machine tools printing machines packing machines textile machines auto production line etc DA98 series of AC servo amplifier is a fully digitized AC servo system and also is a first generation product of China made The features of the DA98 servo amplifier have reached the level of external products of the same class It has small volume fully protection good reliability and high integration by employing international newly digital signal processor DSP large scale programmable gate array and MITSUBISHI intelligent power module IPM and by using the optimal PID algorithm to achieve PWM control In compari
23. RIC GEAR RATIO Refer to chapter 4 table 4 2 parameter function chapter 6 6 3 parameter setting and chapter 7 7 3 adjustment for understanding of electric gear ratio and its adjustment Under position control mode the actual load speed will be Command pulse rate X G X gear ratio Under position control mode the actual minimum displacement will be Minimum command pulse moving unit X G X gear ratio Note If the electric gear ratio is not equal to one the division calculation of mechanical gear ratio may have a remainder resulting in position deviation The maximum position deviation equals to the minimum rotation unit e g minimum resolution 9 3 STOPPING CHARACTERISTICS Under position control mode the servo drive controlled by pulse train there is a difference between command pulse train and feedback pulse train It is called as delay pulse and will be accumulated in the position deviation counter The relationship of the command pulse rate electric gear ratio and the position loop gain is as the follows K Where e delay pulse pulse f command pulse rate Hz K position loop gain 1 S G electric gear ratio Note The above relation is obtained if the position feed forward gain is equal to zero Otherwise the delay pulse will be smaller than the calculation of the formulator VOU 4
24. VO AMPLIFIER Type DA98 04 DA98 06 DA98 08 DA98 10 DA98 12 DA98 14 DA98 15 Rated output 0 4 0 6 0 8 1 0 1 2 1 4 1 5 kW Applicable 110STZ2 110STZ2 110STZ4 110STZ5 110STZ4 130STZ7 130STZ5 servo motor 1 HM 2 HM 1 HM HM 2 HM 5 1 HM 2 HM 130STZ5 110STZ6 130STZ10 1 HM 1 HM 1 HM Power supply Singe phase or three phase AC Three phase AC220V 15 10 220V 15 10 50 60 Hz 50 60 Hz Environmental Refer to chapter 2 in Section 2 1 conditions Control mode 1 Position control 2 Speed control 3 Test speed run 4 JOG run Regenerative Built in brake Features Speed frequency response 200 Hz or higher Speed fluctuation ratio related to rated speed lt 0 03 load 0 100 lt 0 02 power supply 15 10 Speed control range 1 5000 Input pulse rate lt 500 Hz Control inputs 1 Servo enable 2 Alarm reset 3 CCW drive inhibit 4 CW drive inhibit 5 Deviation counter reset speed select 1 6 Command pulse inhibit speed select 2 7 CCW torque limit 8 CW torque limit Control outputs 1 Servo drive ready 2 Servo drive alarm 3 In position 4 reached speed Position control Input pulse mode 1 pulse sign 2 CCW pulse CW pulse 3 Two phase pulse trains with 90 degree phase shift each other Electric gear ratio 1 32767 1 32767 Feed back pulse 10000 pulse revolution Speed c
25. amaged 1 Replace the motor 1 Encoder cable fault 1 Replace cable 1 The encoder cable is too long 1 Shorten the cable causing encoder power supply 2 Used multi cord voltage too low cable in parallel 10 Under voltag 1 The voltage of control power 1 Check the power e of control power supply supply is too low supply 1 Internal connection faulty 2 The internal switch power supply abnormal 3 Any chips faulty 1 Replace servo amplifier 2 Check connectors 3 Check switch power supply Table 5 2 Troubleshooting continue Alarm Alarm name Operation state Cause Measure code 11 IPM module It appears when 1 Internal print circuit board 1 Replace the servo failure switch on the failure amplifier control power supply It appears 1 The voltage of main power 1 Check servo during supply is too low amplifier operation 2 Overheated 2 Switch off power supply and switch on 3 Replace the servo amplifier 1 Short circuit in between U V 1 Check and W terminals connection wires 1 Ground fault occurred 1 Connect the wiring 1 Motor insulation damaged 1 Replace servomotor 1 Interfered by noise 1 Use line filter 2 Isolate from noise source 12 Over current 1 Short circuit in between U V 1 Check and W terminals connection wires 1 Ground fault occurred 1 Connect the wiring 1 Motor insulat
26. ays FInISH if the writing is successful or ERROR if fail To return to the operation mode selection press lt key Q Parameter Write It means that the contents of EMS memory will be transferred to EEPROM parameter section The modified parameters are only stored in the EMS memory and will lose after power off To save the modified parameters permanently it is necessary to carry out parameter write operation to transfer the modified parameters in the EMS memory to EEPROM parameter section The new parameters will restore from EEPROM parameter section to EMS memory when power on again e EEF rd Parameter Read It means that the contents of EEPROM parameter section will be transferred to the EMS memory The same action can be done automatically when power on After power is on the contents of EMS memory has the same contents as the EEPROM parameter section does When parameter modification is carried out the contents of EMS memory will be changed To recover the parameters just power on read the EEPROM parameter section to EMS memory if the parameters are not satisfied or confused e EE bA Parameter Backup It means that the contents of EMS memory will be transferred to EEPROM backup section The whole EEPROM section is divided into two sections the one is the EEPROM parameter section and the other is the EEPROM backup section Use the EEPROM parameter section for power on parameter write and parameter rea
27. cording to parameter NO 14 1 reversal 0 1 16 In position range 1 Used to set the range of pulse for in position under position control mode 2 In position control mode this parameter gives a judgement on that whether the positioning of the servo amplifier is complete or not When the number of droop pulse counter is equal or less than this parameter value It is to confirm that the positioning of the servo amplifier is complete and the COIN is Otherwise COIN is In position control mode NO 16 appears as in position signal COIN In other control mode NO 16 appears as reached speed signal SCMP 3 wa 0 30000 pulse 17 The range of droop pulse of the deviation counter 1 Used to set the range of droop pulse of the deviation counter 2 In position control mode if the droop pulse value of the deviation counter exceeds the setting value an alarm signal will be given by the servo amplifier 0 30000 X 100 pulse 18 Fault of excessive position deviation counter Is invalid Used to set 0 Testing and alarming the droop pulse of the deviation counter is valid 1 Testing and alarming the droop pulse of the deviation counter is invalid 20 Input signal for servo drive lock is invalid Used to set 0 CCW and CW input inhibit is valid The CCW drive 1s enable if the CCW inhibit switch FSTP is on The CCW drive is disable with no torque if
28. d Use the EEPROM backup section for parameter backup and restore In order to get a better group of parameters modify parameters and try running then store the satisfied parameters to the EEPROM backup section and try again If fail to do so recover the former parameters from EEPROM backup section and try again or stop If got a better set of parameter you had better to save them to EEPROM parameter section and EEPROM backup section to deal with the case that parameters might be changed by accident If so you can transfer data from EEPROM backup section to the EMS memory and EEPROM parameter section e EE rS Restore Backup It means that the contents of EEPROM backup section will be transferred to EMS memory only but not to the EEPROM parameter section In order to use the backup parameters for many times perform the parameter write to change the contents of EEPROM parameter section For the next power on the contents of EEPROM parameter section will be used e EF dEF Restore default values It means that the default values will be transferred to EMS memory and EEPROM parameter section It is also used for the next power on If the servo drive can not run normally due to the confused parameters use EE dEF to restore the default values For doing so make sure that the parameter NO 1 must match with the servo amplifier type because the default values are different for the different servo amplifier type Then use EE dEF to restore correct d
29. d by the parameter NO 20 or make the FSTP switch on CNI 10 CW inhibit drive RSTP Typel CW drive inhibit input terminal RSTP ON CW drive enable RSTP OFF CW drive disable Notel uses for over travel protection the putput torque is zero in CW direction when the switch is off Note2 this function can be masked by the parameter NO 20 or make the RSTP switch on CN1 23 Position deviation counter reset CLE uon deviation counter reset input erminal CLE ON the position deviation counter reset in position control mode Speed selection 1 SCI Typel Speed selection 1 input terminal The internal speed reference can be selected by combining SC1 and SC2 under speed control mode SC1 OFF SC2 OFF internal speed 1 SCI ON SC2 OFF internal speed 2 SCI OFF SC2 ON internal speed 3 SCI ON SC2 ON internal speed 4 Table 3 2 Control signal input output terminals CN1 continue Terminal Name of symbol I O Mode Function umber ignal CNI 11 Command INH ITvpel P Position command pulse inhibit input pulse inhibit terminal INH ON lock command pulse input INH OFF command pulse input is active Speed SC2 Typel S Speed selection 2 input terminal The selection 2 internal speed reference can be selected by combining SC1 and SC2 under speed control mode SCI OFF 502 OFF internal sp
30. e during operation brake circuit is not enough stop pulse rate 2 Increase The time constant for acceleration and deceleration 3 Reduce the torque limit 4 Reduce load inertia 5 Replace by higher power servo drive 3 Under volta It appears when 1 The circuit board failure 1 Replace the servo ge of main switch main 2 The fuse has blown down amplifier power power supply 3 The soft tart circuit failure 4 The rectifier has damaged 1 The voltage of power supply is 1 Check the power low supply 2 The time of temporary power off exceeds 20 ms It appears 1 The capacity of power supply 1 Check the power during operation is not enough supply 2 The power supply is temporary off 1 The heat sink over heated 1 Check the load 4 Excessive It appears when 1 The circuit board failure Replace the servo maximum switch on the amplifier position control power error supply The servomotor does not run after turn on power and gives 1 Wrong connection of servomotor 2 Wrong connection of encoder cable 1 Connect correctly command pulse 1 Encoder failure 1 Replace servomotor It appears 1 The setting range of maximum 1 Increase the range during operation position error 1s too small of maximum position error 1 The gain of position loop is too small 1 Increase the gain 1 The torque is not enough for the load 1 Check torque limit
31. e considered for the mechanical equipment and systems in design and build stage CONFIRMATION OF PRODUCT RECEPTION N CAUTION Do not put into operation if there is any damage or failure of the product TRANSPORTATION CAUTION Store or transport the products correctly according to the required environmental conditions Do not pile the products to prevent them falling down Ensure the packing is in good condition during transportation During transportation do not catch cables motor shaft or encoder to pull the servomotor Do not shock the servo amplifier and servomotor or they may get out of order INSTALLATION CAUTION Servo amplifier and servomotor Do not install the servo amplifier and servomotor on or near combustibles Otherwise a fire may cause Avoid vibration Isolate the servo drive from all impact loads Do not install the servo amplifier and servomotor damaged or having any part missing Servo amplifier Install the servo amplifier into a control box with sufficient protection G Leave specified clearances between the servo amplifiers and other equipment Ensure a good cooling condition to be provided To prevent dust corrosive gas conductive matter liquid combustible and explosive matter etc entering the servo amplifier Servomotor Installation should be very firm to prevent loosing by vibration Q Prevent any kind of liquid
32. e and acceleration deceleration time parameter NO 7 are listed below according to the ratio m of load inertia to motor inertia Load inertia ratio Allowable maximum start Acceleration deceleration stop rate cycle min time ms m lt 3 9100 60 or less m lt 5 60 100 150 or less m gt 5 lt 60 150 or more 2 Factor of servo motor The maximum allowbale start stop rate and acceleration deceleration time also depend on the type of servo motor and on the load conditions running time envionmental temperature etc To avoid overheating alarm and influence on the servo motor life time please refer to the servo motor guide and adjust according to reality satuations 3 Method of adjustment In general the load inertia should be less than 5 times the inertia of the motor If the load inertia is larger than the above mentioned it may cause overvoltage or brake abnormal alarm during deceleration To deal with the above problem use the following treatments Increase acceleration deceleration time parameter NO 7 first make it large then reduce it gradually to a proper value Reduce the torque limit parameter NO34 NO 35 and current limit Reduce the maximum speed of the servo motor parameter NO 23 Install an external regeneration brake equipment Replace with lager rated power and inertia of servo motor CHAPTER SPECIFICATIONS NOTICE 8 1 SPECIFICATIONS OF SER
33. e output rate of position controller The positive value stands for CCW and negative for CW in 0 1 kHz scale Note 9 The operation status shows as m oFF DC link has no voltage and servo drive is not in operation m CH DC link has voltage and servo drive is not in operation servo enable is off or alarm is present m on DC link has voltage and servo drive is in operation Note 9 Alarm display Err indicates normal condition and no alarm 6 3 PARAMETERS SETTING NOTICE Q First set the NO 0 parameter as 315 then other parameters can be modified Soon after the parameter is set the parameter is active Any wrong with parameters may cause the servo drive running badly or accident To enter the parameter setting mode select PA in the first layer of menu and then press Enter key Use and m key to select the parameter number then press Enter key to display parameter value on the LED To modify the parameter setting use and key to increase or decrease the value Press or key once the parameter value increase or decrease by one If press and hold or m key the parameter value increase or decrease continuously The most right decimal point of LED is lighted during parameter modification To stop or confirm the modification press Enter key and cause the most right decimal point of LED to g
34. e servomotor shaft use the screw push pull tools to protect the shaft from impact The shaft end must not be hammered Otherwise the encoder may damage Q It is recommended that use a springing coupling to connect the load because the STZ series servomotor subject large axial or radial load to the shaft of the servomotor Q Use the lock washer to fix the servomotor to protect the servomotor from loosing II 4 CHAPTER 3 WIRING N WARNING Any person who is involved in wiring or checking should be fully competent to do the work Before wiring or checking make sure that the voltage is safe at lest 5 minutes after power off Otherwise you may get an electric shock J N CAUTION Connect cables to correct terminals according to voltage level and polarity to prevent equipment damage or person injury Q The protective earth terminals PE FG should be connected to ground 3 1 STANDARD WIRING Connections of the servo amplifier are related to the control mode as following 1 Position control mode The standard wiring for position control mode is shown in FIG3 1 2 Velocity control mode The standard wiring for velocity control mode is shown in FIG 3 2 3 wiring 1 Power terminals TB Wire size R S T PE U V W terminal wire size gt 1 5 mm 2 AGW 14 16 r t terminal wire size 1 0 mm 2 AGW 16 18 Grounding The wire size for grounding is as bigger as possible The PE terminals of the ser
35. ed if SC1 and SC2 are on 3000 3000 r min 28 Reached speed 1 Used to set the reached speed 2 In any control mode except the position control mode the SCMP is on if the servo motor speed exceeds the setting value Otherwise the SCMP is off 3 In position control mode this parameter is not used 4 The value is independent of rotating direction 5 The action has a hysteresis feature 0 3000 r min 30 Numerator for linear speed conversion 1 Used to set the numerator for linear speed conversion 2 Linear speed conversion numerator conversion denominator 3 The location of decimal point of the linear speed is determined by the NO 32 parameter 0 There is no decimal point 1 The decimal point is at behind the tens digit 2 The decimal point is at behind the hundred digit 3 5 The rest may be deduced by analogy 4 Example a servomotor directly drives a ball bearing screw with 10mm screw pitch If the conversion numerator set by 10 and the conversion denominator set by 1 and the decimal point set by 3 the linear speed is 5 000 m min when motor rotates in 500 r min It can be displayed on the LEDs in m min 1 32767 31 Denominator for linear speed conversion Refer to the parameter NO 30 1 32767 32 Location of decimal point for linear speed Refer to the parameter NO 30 0 5 34 CCW internal torque limit 1 Used to set the CCW internal torque limit 2
36. eed 1 SCI ON SC2 OFF internal speed 2 SCI OFF SC2 ON internal speed 3 SCI ON SC2 ON internal speed 4 The value of the internal speed l 4 can be changed by their parameters CNI 12 CCW torque FIL ITvpel CCW torque limit input terminal limit FIL ON CCW torque is limited in the range according to parameter NO 36 FIL OFF CCW torque is not limited bv the parameter NO 36 Note The CCW torque is also limited by parameter NO 34 no matter FIL is ON OFF Generally the parameter NO 34 gt NO 36 CNI 13 CW torque RIL ITvpel CW torque limit input terminal limit RIL ON CW torque is limited in the range according to parameter NO 37 RIL OFF CW torque is not limited bv the parameter NO 37 Note The CW torque 15 also limited by parameter NO 35 no matter FIL is ON or OFF Generally the parameter NO 35 gt NO 37 CNI 15 Servoready SRDY ype2 Servo ready output terminal SRDY ON If power supply is normal and there is no alarm then the servo ready output is ON SRDY OFF If power supply is not ready or any alarm exists then the servo ready output is OFF CNI 1 Alarm output ALM jIvpe Servo alarm output terminal ALM ON Alarm output is ON if there is no alarm ALM OFF Alarm output is OFF if any alarm exists CNI 14 In position COIN ype2 P n position output terminal butput COIN ON In position output is ON if the value of the position deviation counter is in the range required Reached SCMP ype2 IS Reached
37. efault values Paramter Write Press amp Hold at i Valid Paramter Read jact 3 Seconds FInISH Parameter Ented StArt Backup Error Invalid Restore Backup Restore Default Value Power on EEPROM Parameter Section TEMS Memorv EE SEt Parameter Write EMS Memorv EEPROM Section Parameter Read EEPROM Section EMS Memory EE bA Parameter Backup EMS Memory EEPROM Backup Restore Backup EEPROM Backup EMS Memory EE dEF Restore Default Default EMS Men ory EEPROM Figure 6 8 the meaning of parameter management NOTICE To prevent equipment damaging during test running or JOG operation it is recommended that the speed test and JOG operation are carried out in no load condition The servo enable SON should be active and the CCW CW drive inhibit should be invalid 6 5 SPEED TEST OPERATION To enter the speed test operation mode select Sr in the first layer of menu and then press the Enter key The prompt S shows the servo drive is in speed control mode and the displayed value indicates the speed in r min Use f and key to change the speed command and the motor speed will follow the given speed Press key to increase motor speed in CCW direction or decrease in CW direction
38. essary to use CN2 1 Power supply 0V multiple wires in parallel CN2 2 output CN2 3 CN2 4 CN2 16 CN2 24 Encoder A input A JIvped Connect to A of the encoder CN2 12 Encoder A input A Type4 Connect to A of the encoder CN2 23 Encoder B input B Type4 Connect to B of the encoder CN2 11 Encoder B input B l ype4 Connect to B of the encoder CN2 22 Encoder Z input Z Type4 Connect to Z of the encoder CN2 10 Encoder Z input Z ITvped Connect to Z of the encoder CN2 21 Encoder U input U Type4 Connect to U of the encoder CN2 9 Encoder U input U ITvped Connect to U of the encoder CN2 20 Encoder V input V Type4 Connect to V of the encoder CN2 8 Encoder V input V T ype4 Connect to V of the encoder 3 3 INPUT OUTPUT INTERFACE CIRCUIT 1 Switching signal input interface Typel servo amplifier 12 24V M edi Figure 3 4 Typel of L signal input interface 1 The customer should provide an external power supply DC 12 24 V Current 100mA 2 It should be noted that if the polarity of the external power supply is reversal the servo drive is not to work 2 Switching signal output interface Type2 servo amplifier max 50mA TOU 0 Figure 3 5 Type2 of switching signal output interface 1 The customer provides the external power supply Be careful the polarity of power supply must be correct Otherwise the output circuit of the servo amplifier may damage
39. he servo amplifier and or servomotor at lest 30 minutes Then the power supply can be switched on again 2 The power on and alarm timing chart are shown in Figure 7 2 and 7 3 Power Supply E Vv sss for Control NEC Alarm Output ALM Main Power MHEEMUP Supply DE Servo Ready o o e Output SRDY Response Servo Enable im NH Input SON lt 10mS i 10m Servo Motor EOS Active Figure 7 2 Power on timing chart Power Supply for Control Alarm Output ALM Main Power Supply Servo Ready i Output SRDY c c 10 5 Alarm Reset Response ALRS gt 50mS Servo Enable Input SON Servo Motor Active Na Switch Off Properly After Alarm Figure 7 3 Alarm timing chart 7 2 TEST OPERATIONS 1 Check before operation After installing and wiring the servo drive check the followings before power on Make sure connections of power supply with the power input terminals are correct reliable or not and the voltage of input power supply is correct or not Q Power and motor wiring are not shorted or grounded Q The encoder connections are correct or not The control cable connections and the value polarity of power supply are correct or not The servo amplifier and servomotor are firmly installed or not The motor shaft is not coupled with any load 2 Test operation with power on A Test operation mode 1 Connect CNI provide the
40. ion command 1 32767 1 pulse train 14 Input mode of the position command pulse P 0 2 0 train 15 Inverse the direction of position command P 0 1 0 pulse train 16 In position range P 0 30000 20 pulse 17 The range of droop pulse of the deviation P 0 30000 400 100 counter pulse 18 Fault of excessive position deviation counter P 0 1 0 is invalid 19 reserved 20 Input signal for servo drive lock is invalid PS 0 1 0 21 JOG operation speed S 3000 120 r min 3000 22 reserved No 23 Maximum speed limit 5 0 3000 2000 r min 24 Internal speed 1 S 3000 0 r min 3000 25 Internal speed 2 S 3000 100 r mi 3000 26 Internal speed 3 S 3000 300 r mi 3000 27 Internal speed 4 S 3000 100 r mi 3000 28 Reached speed S 0 3000 500 r mi 29 Reserved 30 Numerator for linear speed conversion P S 1 32767 10 31 Denominator for linear speed conversion P S 1 32767 1 32 Location of decimal point for linear speed PS 0 5 3 33 Reserved 34 CCW internal torque limit P S 0 300 300 35 CW internal torque limit 5 300 0 300 36 CCW external torque limit 5 0 300 100 37 CW external torque limit PS 300 0 100 38 Torque limit for test and JOG operation S 0 300 100 reserved 39 59 4 2 THE FUNCTION OF PARAMETERS Table 4 2 the function of parameters No Na
41. ion counter exceeds 2 deviation counter 9 Encoder failure Signals error of encoder 10 Under voltage control The 15V and or 15V are too low power 11 IPM module failure IPM module failure 12 Over current The servo motor current is too high 13 Over load Servo amplifier and servomotor are over loaded instantaneously over headed 14 Brake failure Brake circuit failure 15 Encoder pulse counter failure Encoder pulse counter is abnormal 16 Motor heat over load The motor thermal quantity exceeds the setting value by I t testing 19 Hot reset The servo drive is reset in hot state restart 20 IC4 EEPROM fault IC4 EEPROM fault 21 IC3 PWM chip fault IC3 PWM chip fault 22 IC2 CODER chip fault IC2 CODER chip fault 23 IC7 A D chip fault IC7 A D chip or current sensor fault 52 ALARM AND TROUBLESHOOTING Table 5 2 Troubleshooting Alarm Alarm Operation state Cause Measure code name 1 Exceeded It appears when 1 Control circuit board failure 1 Replace the driver speed switch on 2 Encoder failure 2 Replace the motor control power It appears 1 The input command pulse rate 1 Check and set the during operation is too high command pulse rate correctly 1 The acceleration deceleration 1 Increase the time time constant are too small and constant for causes the speed overshoot too acceleration and large deceleration 1 The e
42. ion damaged 1 Replace servomotor 1 Servo amplifier damaged 1 Replace servo amplifier 13 Over loaded It appears when 1 Internal print circuit board 1 Replace the servo switch on the failure amplifier control power supply It appears 1 Operation exceeds the rated 1 Check the load during torque 2 Reduce start stop operation pulse rate 3 Reduce torque limit 4 Replace by higher power servo drive 1 Electromagnetic brake fault 1 Check the electromagnetic brake 1 Servo drive unstable 1 Reduce gain 2 Increase acceleration and deceleration time 3 Reduce load inertia 1 One of U V W wire 1 Check the disconnected connections 2 Encoder connection fault Table 5 2 Troubleshooting continue Alarm Alarm name Operation state Cause Measure code 14 Regenerative It appears when 1 Internal print circuit board 1 Replace the servo brake fault switch on the failure amplifier control power supply It appears during 1 Regenerative brake resistor 1 Connect wiring operation disconnected 1 Power transistor for brake 1 Replace servo fault amplifier 2 Internal resistor for brake fault 1 The capacity of regenerative 1 Reduce the start brake circuit is not enough stop pulse rate 2 Increase acceleration and deceleration time constant 3 Reduce the torque limit 4 Reduce
43. lectric gear ratio is too 1 Set correctly high 1 Encoder failure 1 Replace the motor 1 Encoder cable failure 1 Replace the encoder cable 1 Servo drive is unstable causing 1 Re set servo gain to over shoot proper value 2 If servo gain cannot be set properly Reduce load inertia ratio It appears just 1 The load inertia is too large 1 Reduce the load the motor start inertia 2 Replace by higher power servo drive 1 The encoder zero point is not 1 Replace correct servomotor 2 Return to manufacturer for re set the zero point 1 Motor U VW terminal 1 Re connect connection 15 not correct correctly 2 Encoder cable connection is not correct 2 Main power It appears when 1 The circuit board failure 1 Replace the servo over voltag switch on the amplifier e control power supply It appears when 1 The voltage of main power 1 Check the power switch main supply is too high supply power supply 2 The waveform of the main power supply is abnormal It appears 1 The connection wire to the 1 Connect properly during operation regenerative brake resistor is disconnected 1 The transistor for brake is 1 Replace the servo damaged amplifier 2 The internal resistor for brake is damaged Table 5 2 Troubleshooting Alarm Alarm Operation state Cause Measure code name 2 Main power It appears 1 The power of the regenerative 1 Reduce the start over voltag
44. low down and may cause oscillation 3 The higher the value the greater the cut off frequency and the faster the response of speed feedback If high speed response is required properly increase the setting value 9 Position loop proportional 1 Set the position loop proportional gain gain 2 The higher the gain setting the greater the stiffness and the smaller droop pulse will be If the value is too large it may cause overshoot or oscillation 3 The value is determined according to the type of servo amplifier and the load Table 4 2 functions of parameters continue No Name Function Range 10 Position feed forward gain 1 Set the feed forward gain for position loop 0 100 96 2 100 setting value indicates that the droop pulse in position loop is always zero at any command pulse rate 3 The greater the feed forward gain the higher the speed response of the control system and the worse the stable of position loop resulting in an oscillation may occur 4 This parameter is usually set zero if very fast response is not required The cut off frequency of position feed forward LPF 1 Used to set the cut off frequency of LPF for position feed forward loop 2 This LPF will play the role of increasing stability for compound position control 1 1200 Hz The numerator of pre scale for position command pulse train 1 Used to set the multiplier for pre scale electric gear 2 Under the position c
45. me Functions Range 0 Safety code Used for preventing the parameters from modification by unexpected operation Setting parameters this parameter should be set to 315 first and then setting other parameters After that this parameter should be reset to 0 to prevent unexpected setting 0 9999 Type of servo amplifier 1 Corresponding to different power of servo amplifier and servomotor in the same series 2 When resuming the shipped default parameters the default parameters corresponding to this type are resumed 3 Consult the detail meaning of this parameter in the table 4 3 0 9 Software versions The software version can be seen but cannot be modified Initial display state Select LED display state when power supply is on 0 display motor speed 1 display current position for low 5 digit 2 display current position for high 5 digit 3 display position command accumulation of command pules for low 5 digit 4 display position command accumulation of command pules for high 5 digit 5 display position deviation for low 5 digit Table 4 2 function of parameters continue Name Function Range Initial display state 6 display position deviation for high 5 digit 0 19 7 display motor torque 8 display motor current 9 display linear speed 10 display control mode 11 display position command pulse rate 12 display speed comma
46. nd 13 display command torque 14 display absolute position in one revolution 15 display input terminal state 16 display output terminal state 17 display input signal from encoder 18 display operation state 19 display alarm code 20 reserved Control mode selection 1 servo amplifier control mode can be set by changing this parameters 0 position control mode 1 speed control mode 2 test operation control mode 3 JOG control mode 4 zero adjustment for encoder 2 In position control mode the position commend pulse train inputs by using TYPE 3 input interface 3 In speed control mode the speed command inputs by using TYPE 1 input interface according to the combination of SC And SC2 as the followings SCI OFF and SC2 OFF internal speed 1 SC1 ON and SC2 OFF internal speed 2 SCI OFF and SC2 ON internal speed 3 SC1 ON and SC2 ON internal speed 4 4 In test operation mode using the keys on the front panel for testing servo amplifier and servomotor enters the speed command 5 In the JOG control mode push the f key and hold so that the servo motor runs according to JOG speed given Release the key the motor stops and holds zero speed If push the key and hold the servo motor will rotate in reverse direction Release the key again the motor stops and holds zero speed 6 The zero adjustment mode is used for zero adjustment of encoder by manufacture 0 4
47. non freezing 0 40 C non freezing Ambient humidity 90 RH or less 90 RH or less non condensing non condensing Storage temperature 20 80 C 25 70 C Storage humidity 90 RH non condensing lt 80 RH non condensing Ambience Free from corrosive gas Free from corrosive gas flammable gas oil mist dust and flammable gas oil mist dust and dirt etc dirt etc Altitude 1000m or less above sea level 2500m or less above sea level Vibration lt 0 5G 4 9m s 10 60 Hz non continuous operation Protection class IPOO non protection IP40 2 2 INSTALLATION OF SERVO AMPLIFIER N NOTICE The servo amplifier must be installed in a control cabinet with good protection condition The servo amplifier must be installed in the specified direction and kept enough space between the drive unit and control box walls or other equipment to guarantee the condition of heat transmission Do not install the drive unit on or nearby flammable matters to prevent causing fire 1 Environmental conditions for installation 1 Protections The servo amplifier must be installed in a control cabinet with good protection condition due to the drive unit has non protection and kept free from corrosive gas flammable gas oil mist metal dust liquid and conductance matters etc II 2 Temperature Ambient temperature 0 50 C and under 45 C for continuous operation with guarantee the condition of heat
48. o dark Soon after the parameter confirmed the parameter is active to the servo drive Using t 1 and Enter keys the above operation can be repeated To return to parameter number select mode press key To cancel a parameter modification press key do not press the Enter key to restore the old parameter value and return to parameter number select mode PA 0 Parameter NO 0 PA 1 Parameter NO 1 i AAR Enter 1000 1 Ex A p lt _ lt l A PA 98 Parameter Z5 NO 98 v Parameter PA 2 NO 99 Figure 6 6 Block diagram for parameter setting 6 4 PARAMETER MANAGEMENT NOTICE The modified parameters will not be saved after power off To save modified arameters it is necessary to carry out parameter write operation The parameter management processes the data of EMS memory and EEPROM To enter the parameter management mode select EE in the first layer of menu and then press Enter key There are 5 operation mode and can be selected by or key For instant select the EE set and then press and hold the Enter key for more than 3 seconds to display StArt on the LED indicating that the parameters is writing to EEPROM Waiting for about 1 2 seconds the LED displ
49. omotor If there is any doubt after received the product please contact with dealer or manufacturer jed The meaning of servo amplifier type 1 Type of servo amplifier pass L Series code output power code applicable servomotor type Code 04 06 08 10 12 14 15 name kw 0 4 0 6 0 8 1 0 19 14 1 5 Note When the product leaves the factory the above blank block is filled according to the type of product please check with the name plate on the servomotor 2 Type of servomotor The DA98 AC servo amplifier can be matched with many type of servomotor made by domestic and external When ordering a servo drive user may provide a specific servomotor for an applicable servo amplifier In this manual the STZ series of servomotor is described which is made by The Electrical Machine Factory of Huazhong University Other type of servomotor manual will also provided if ordered Lone encoder fio n Love link voltage H 300 V L 200 V speed 1 low speed 1500 2000 rpm 2 high speed 2500 3000 rpm Zero speed torque 2 4 5 6 7 5 10 N m Sine wave current drive servomotor Outer diameter of servomotor 110 110X 110mm 130 130 X 130mm 2 Accessories 1 DA98 servo amplifier standard accessories D Installation and operation guide this book 1 book Q Installation supporter 2 pieces M4X8 flat head screw 4 pieces 4 connector DB25 female l set
50. ontrol 1 4 internal speeds Acceleration Parameter setting 1 10000ms 1000 rpm deceleration function Monitor Speed current position Command pulse accumulation Position deviation Motor function torque Motor current Linear speed Absolute rotor position Command pulse rate Operation state Input and output signals etc Protective Over speed Over voltage under voltage of main power supply Over current functions Over load Brake abnormal Encoder abnormal Control power supply abnormal Exceed position error etc Operator 6 LED 7 Segment digit and 4 keys Applicable 5 times servo motor inertia or less load inertia Weight 2 8 kg Dimensions 244X163X92 mm the outline is shown in fig 2 1 8 2 SPECIFICATIONS OF SERVO MOTOR 1 Product introduction The New Type Electric Machine Factory of Huazhong University of Science and Technology makes the STZ series AC permanent magnet synchronous servomotor The series of servomotor has many advantages as the followings The new type rare earth magnet material is used for the servomotor resulting in higher output rating for low weight The speed control range is about 1 10000 having excellent performance in low speed Q Safety for use with high dielectric strength and high insulation resistance High torque over load capability The servomotor can withstand an instantaneous torque at about eight times of the rated torque 2 Terminals descri
51. ontrol mode it is convenient to match every pulse source by setting NO 12 and NO 13 parameters to meet the required resolution angle pulse 3 PXG NXCX4 P The number of input command pulses G Electric gear ratio G numerator of pre scale denominator of pre scale N Revolution number of motor rotated C Number of pulse in one revolution of optical encoder 4 Example If the number of input command pulse equals to 6000 and the servomotor will rotate one revolution G N XC X4 X 1 P 1 X 2500 X 4 X 1 6000 5 3 Therefore the parameter NO 12 is 5 and NO 13 is 3 5 The following range of electric gear ratio is recommended 1 50 lt G lt 50 1 32767 The denominator of pre scale for position command pulse train Refer to the parameter NO 12 1 32767 The input mode of position command pulse 1 Used to set the input mode for position command pulse 2 One of the three input mode can be selected by setting this parameter 0 pulse plus sign 1 CCW pulse and CW pulse 2 Two pulses with 90 degree phase shift each other 3 CCW indicates that the motor shaft rotates in counterclockwise direction defined as positive when viewing from the shaft end 4 CW indicates the clockwise direction defined as negative 0 2 Table 4 2 functions of parameters continue 15 Reversal of position command pulse direction Used to set 0 normal the rotating direction is determined ac
52. or example if the torque limit is equal to rated torque then the parameter is set by 100 Only the CW external torque limit is valid when the CW torque limit input terminal RIL is on When the CW external torque limit is valid the actual torque limit is the minimum value among the allowed maximum torque the CW internal torque limit and the CW external torque limit 3 4 300 0 38 Torque limit for test and JOG operation 1 Used to set the torque limit for test and JOG operation 2 This parameter is valid for both CCW and CW directions 3 This value is a percentage of rated torque For example if the torque limit is equal to rated torque then 100 set the parameter 4 The internal and external torque limit is still valid 0 300 Table 4 3 the type of servo amplifier Type of servo Applicable serve motors amplifier Serve motor type Specifications of servo motor 0 110STZ2 1 HM 2N m 110 300V 2 5A 2000r min 5 4 X 10 kgm 1 110STZ2 2 HM 2N m 110 300V 4 0A 3000r min 5 4 X 10 kgm 2 110STZ4 1 HM 4N m 110 300V 3 0A 2000r min 9 1 X 107 kgm 3 110STZ4 2 HM 4N m 110 300V 5 0A 3000r min 9 1 X 10 kgm 4 110STZ5 1 HM 5N m 110 300V 4 0A 2000r min 1 1 X 10 kgm 5 130STZ5 2 HM 5N m 130 300V 5 5A 3000r min 2 0 X 10 kgm 6 110STZ6 1 HM 6N m 110 300V 4 5A 2000r min 1 29 X 10 kgm 7 130STZ7 5 1 HM_ 7 5N m 130 300V 5
53. or press key to decrease motor speed in CCW direction or increase in CW direction If the displayed value is positive the motor runs in CCW direction if negative in CW direction S 800 Figure 6 9 Block diagram for speed test operation 6 6 JOG OPERATION To enter the JOG operation mode select Jr in the first layer of menu and then press the Enter key The prompt J shows the servo drive is in speed control mode and the displayed value indicates the speed in r min Press and hold f key the motor is running in CCW direction with the speed given by parameter NO 21 Release the ff key the motor stops and keeps zero speed Press the key the motor is running in CW direction with the speed given by parameter NO 21 Release the key the motor stops and keeps zero speed J 120 Figure 6 10 block diagram for JOG operation 6 7 OTHERS The auto tuning function is in process of development and is not available at the moment Do not use the encoder adjust function because it is used only for manufacturer 1 If turn on and turn off the power supply more frequently the soft start circuit and the regenerative brake circuit may be caused failure Therefor the turn on turn off rate is limited to 5 times per hour or 30 times a day When thermal failure occurs it is necessary to remove the failure cause and to cool t
54. ption 1 Servomotor windings The windings of the servomotor is shown in the following A B C are the terminals of the servomotor windings T1 T2 are the terminals of the temperature sensor switch it is a normal closed contactor When overheating it will open The connector of the servomotor is a P type seven pin male socket as showing in table 8 2 Table 8 2 The terminals of servomotor Pin NO 1 2 3 4 5 6 7 Symbol PE B T2 C 2 Terminals of the encoder The connector of the encoder is a P type nineteen pin male socket as showing in table 8 3 Table 8 3 the connections of the encoder PinNO 1 1213 4 5 6 7 8 9 10 11 12112 14 19 Q _ S JAJBIZJAJBIZJU IV IWJUJV 99A zl Symbol PE 3 Specifications of servomotor The specifications of some servomotors are listed in table 8 4 Table 8 4 the specifications of servomotor Zero Rated Rotor Mech weight inertia Time Volt Type new Type Power Rated Speed speed kem Const V old kW current torque rpm xad 5 kg A N m 09 110STZ2 1 HM HD2 1 C 04 25 2 2000 54 12 6 300 11 110STZ2 2 HM HD2 2 C 0 6 4 2 3000 54 12 6 300 11 110STZ4 1 HM HD4 1 C 0 8 3 4 2000 9 1 5 9 300 14 110STZ4 2 HM HD4 2 C 12 5 4 3000 9
55. rameter Enter Management 1 1 Sr Speed Test run _ Y Jr JOG run AU A Automatic Gain Y Adjustment C0 Encoder Zero 1 Adjustmen poem First Layer Figure 6 1 62 MONITOR MODE Monitor Mode Parameter Setting Second Layer Block diagram for selecting operation mode Select dp in the first layer Press nter key to move to monitor mode There are T Twenty one State displayed Using Pp or press Enter key again to move to the specific Display State key to select the display mode Then DP SPd Motor Speed r min r 1000 Motor Speed 1000 r min DP PoS Current Position Low 5 Digit P4 Y c Pulse Position Hich 5 diait 3808 Current Position 1245806 urrerit Position Hig igi Pulse DP POS 100000 Pulse P 12 Command Position Low 5 Digit DP CP C4581 9 CS ds T 3810 Position Command 1245810 U ommand Position Hig igit C 12 Pulse PE x100000 Pulse Coala DP EPo Position Deviation Low 5 E 4 oud oa Digit Pulse Position Deviation 4 DP EPo Position Deviation High 5 Digit E 0 pulse x100000 Pulse E 0 DP trq Motor Torque 96 t 70 Motor Torque 70 96 DP I Motor Current A I 23 Motor Current 2 3 A Y Y A 1 DP LSP
56. rs 2 3 SERVOMOTOR INSTALLATION NOTICE Do not give shocks to the servomotor and encoder or they may break During transportation do not catch cables motor shaft or encoder to pull the servomotor Do not subject the servomotor shaft to more than the permissible load or servomotor may damage Installation should be very firm to prevent loosing by vibration 1 Environmental conditions for installation 1 Protection Because the STZ series of the servomotor is not waterproof type therefore measures must be made to prevent any kind of liquid splash down to the servomotor to prevent water oil etc entering the servomotor and encoder from cables Note When requiring the servomotor with waterproof please declare in the order form 2 Temperature and humidity Ambient temperature 0 40 ic non freezing When the clearance is small or other spread heat equipment nearby stall a fan to prevent the internal temperature of the control box from exceeding the environmental condition The humidity should be less than 90 RH condensing 3 Vibration The servomotor should be installed in non vibration source condition The vibration should be less than 0 5 G 4 9 m s 1 Installation method 1 Installation manner A flange mounting type is used for the STZ series servomotor and can be installed in any direction 2 Cautions of installation When mounting or removing a pulley to or from th
57. s P Where AM displacement for one position control pulse mm AS displacement for one revolution of servo motor mm P the feedback pulses for per revolution of encoder pulse revolution Due to the pulse counter has a four multiple circuit therefore the P 4X C C is the pulses of A or B of encoder In this servo drive the C 2500 pulse revolution so the P 10000 pulse rev The position control pulse is equal ti the product of command pulse and electric gear ratio therefore the displacement of eachcommand pulse will be AIC es t Where G Pre scale numerator command pulse Pre scale denominator of command pulse 4 Adjustment of start stop characteristics The start stop characteristics of the servo drive e g the acceleration deceleration time are depended on the load inertia start stop rate It is also limited by the specifications of the servo drive Start stop frequently acceleration deceleration time is short load inertia 15 large etc will cause the servo drive overheating alarm and or overvoltage alarm Therefore it is necessary to adjust the start stop characteristics according to the reality satuation 1 load inertia and start stop rate If the servo drive is used for a high start stop rate condition it is necessary to determind the maximum allowable start stop rate which depends on the motor type and rated power load inertia motor speed The recommended start stop rat
58. son with step motor drive the DA98 servo amplifier has advantages as the followings Q Avoid out of step phenomenon The servo drive is combined the servo amplifier servomotor with encoder and open loop position controller to form a semi closed loop control system The position feedback signal is fed to the servo amplifier to ensure no out of step phenomenon Q Constant torque in a wide range of speed The servo drive has a constant torque from low to high speed in which the speed range is about 1 5000 High speed high accuracy The maximum speed of servomotor reaches to 3000 rpm The in position error is within 1 10000r Note The maximum speed of servomotor may be different from different type of servomotor Simple control and flexibility To meet different requirement the servo drive can operate in a required operation mode and required characteristic by setting their parameters properly 1 2 INSPECTION AT DELIVERY 1 Check the following item after receiving the product 1 Check the package of the product to confirm the product is free from any damage or scratches by transportation 2 After unpacking check the nameplate to make sure that the servo amplifier and or servomotor are the same as the order one by the customer 3 Check the packing list to see accessories are correct N NOTICE Do not install the servo drive with any damaged or lacked parts For normal operation the servo amplifier must match with the serv
59. speed output terminal speed output SCMP ON Reached speed output is ON if the speed reaches or exceeds the required value Table 3 2 Control signal input output terminals CN1 continue Terminal Name of symbol 1I O Mode Function humber bignal CNI 3 Output DG These are the common ground for the CNI 4 common butput signals except the CZ signal CNI 16 terminals CNI 17 CNI 2 Encoder Z CZ Type2 Encoder Z phase output terminal phase output CZ ON The Z signal of the encoder appears CNI 5 Common end CZCOM Common end of encoder Z phase output bf encoder Z terminal hase output CNI 18 Command PULS ype3 P External command pulse input terminals CNI 6 pulse input PULS Note The input pulse mode is set by CN1 19 Command SIGN parameter NO 14 as the following CNI 7 pulse SIGN SIGN NO 14 0 command pulse sign NO 14 1 CCW CW pulses NO 14 2 Two command pulses with 90 phase shift CN1 24 Screen FG Screen ground terminals CN1 25 ground 4 Encoder signal terminals CN2 Table 3 3 Input output terminals of encoder signals Terminal Name of signal Terminal symbol Color Function number symbol I O CN2 5 Power supply 5V 5V is used for the optical CN2 6 output encoder of servomotor If the CN2 17 encoder cable is longer than two CN2 18 meters it is nec
60. t damaged amplifier 24 IC7 A D 1 Chip or print circuit board 1 Replace servo chip fault damaged amplifier 2 Current sensor fault CHAPTER 6 DISPLAY AND OPERATION 6 1 KEYBOARD OPERATION 1 There are 6 LED 7 Segment digit display and 4 keys panel of the servo amplifier They are used for displayin and setting parameters The key functions are as fP Sequence number value increasing or i1 Sequence number value increasing or qe Return to upper layer menu or cancel Enter Enter next layer menu NOTE If or ir that the longer the holding Enter on the front or input confirmed g status of servo drive follows the operate ove forward for select item ove backward for select item is pressed and held the operation will repeat as the faster the execution rate 2 The 6 LED 7 segment digit indicates the states and data of the servo drive All6digit or most right decimal point is glimmering it indicates that alarms occur 3 The operation executes according to multi layer menu The first layer is the main menu including seven operation modes The second layer is the function menu of specific operation The block diagram of the main menu shows as figure 6 1 dP Y PA Pa
61. ter NO 6 to set the speed loop integration time constant The value is determined according to the type of servo amplifier and the load Under no oscillation condition the smaller the time constant the better If the integration time constant is small the speed response is fast but oscillation may occur If the integration time constant is large the motor speed may change more when the load changed In general the larger load inertia the higher the integration time constant will be B Position control loop 1 First according to speed control loop adjustment set the speed loop proportional gain and the speed loop integration time constant properly Q G 4 Set position feed forward gain by parameter NO 10 equal to 0 Set the position loop proportional gain by parameter NO 9 properly The higher the gain setting the better if no oscillation occurs If the gain is large the position serve is better by a small droop pulse but may cause overshoot or oscillation during positioning If better position serve characteristics is required increase the position feed forward gain The large feed forward gain may cause overshoot or oscillation Note 1 If the position loop proportional gain is small the servo drive is in stable condition but the position serve characteristics becomes worse and the position droop pulses increase In order to use high gain of position loop increase the acceleration deceleration time constant by parame
62. ter NO 7 to avoid position overshoot Note 2 When increase the position feed forward gain can increase the acceleration deceleration time constant by parameter NO 7 to avoid position overshoot if the servo drive is in unstable Note 3 The position loop proportional gain setting may refer to the following table Stiffness The position loop proportional gain 1 S Low 10 to 20 Median 30 to 50 High 50 to 70 2 Block diagram for basic parameter adjustment No 10 No 11 Feed Feed Forward p Forward Low Gain Pass Filter No 60 No 14 ur No 9 No No 64 No 61 No 13 No 7 Position No 4 Input Position Speed Current E commend p Pulse p Electric gt O P Proporttional s Proportional aren Proportional Mode Gain Gain gt Lo Gain M Decele Pass A p Time Integrate Filter Integrated l Time Const Time Const Speed Command Speed Calculation A Multiplied PG by4 Figure 7 4 Block diagram for basic parameter adjustment 3 Position resolution and electric gear setting The Position resolution displacement A for one position control pulse is determined by displacement A S for one revolution of servo motor and the feedback pulses P for per revolution of encoder The Alis defined a
63. to the servo amplifier through connector CN1 6 18 7 19 pin the motor will run following the command pulse train D Speed operation mode 1 Connect CN1 provide the following control signals servo enable SON OFF CCW drive inhibit FSTP ON CW drive inhibit RSTP ON speed selection 1 SC1 speed selection 2 SC2 2 Turn on the control circuit power supply the main circuit power supply remains off the 6 LED is lighted If any alarm occurs please check all connection 3 Select the control mode by parameter NO 4 1 enter the speed operation mode Use parameter NO 24 27 to set the required speed command 4 Turn on the main circuit power supplies 5 Make sure there is no alarm or any abnormal situation turn on the servo enable signal the motor is excited and is in zero speed 6 By changing the input signals SC1 and or SC2 the motor will runs with a speed according to parameters of NO 24 27 73 ADJUSTMENT NOTICE Make sure the parameters are correct before start the servo drive Any wrong with Parameters may cause the servo drive running badly or accident e Itis recommended that the no load test is firstly carried and then the load test 1 Basic gain adjustment A Speed control loop 1 Use parameter NO 5 to set the speed loop proportional gain Under no oscillation condition the higher gain the better In general the larger load inertia the higher the setting value will be 2 Use parame
64. tor will not operate The cables and wires must be fixed securely and are not closed to the heat sink of the servo amplifier and servomotor to prevent their insulation feature getting worse from heat Do not touch the servo amplifier and servomotor during operation or even though the power is switched because in the servo amplifier there is an electrolytic capacitor in which a high voltage will be kept for about five minutes after power off Servo Motor MC Motor 3 Phase or 1 gt o R U 2 Phase AC 220V e N s T mplifier w 7 A E si DC t 5 5V 12 24V 6 5V COMH 8 7V 3 Servo Enable i SON 15 i Encoder Alarm Reset 5 _ AIRS 9 2 0V CCW Drive Inhibit 5 gt FSTP 22 CNi CN2 i CW Drive Inhibit x 5 yRsrp 1g 4 4 7 Ls CLE 123 24 At 3 Zommand Pulse Inhibit IA mH 2 2 i E CCW Torque Limit CW Torque Limit 2 19 IL B l Z Bi oe oo 10 Z 8 Servo Ready 4 4SRDY 1 9 U i 12 Servo Alarm 4 ALM 15 20 V EXCEL 10 In position lt _ COIN 14 8 IV i
65. ut interface of servo amplifier with optical encoder of servomotor Type4 The interface is shown in Figure 3 11 servo motor X 1 JI X ABZUV W servo amplifier AM26LS32 Figure 3 11 Type4 of the input interface for optical encoder CHAPTER4 PARAMETERS NOTICE Any person who involved in parameter adjustment should be fully familiar with the meaning of parameters Any error of the parameter setting may cause equipment damaged and or person injured It is recommended that the parameter adjustment be firstly made under no load operation condition 4 PARAMETER LIST The shipped setting value of servo amplifier in the following table is an example for 110STZ2 1 HM 2N m 2000rpm servomotor The parameter with mark may be different from other type of servomotors The parameter with mark in the following table is a read only parameter which can not be modified by user Table 4 1 parameter list o mEysd es 99 35 A R fo Sorwareverion A R __ Initial display state Bs Jowo 1 1 RS fa fo f 7 o Position loop proportional gain P 1 1000 40 TIS 10 Position feedforward gain P 0 100 0 11 Cut off frequency of position feed forward P 1 1200 300 Hz low pass filter 12 Pre scale numerator for position command 1 32767 1 pulse train 13 Pre scale denominator for posit
66. vo amplifier and servomotor are connected to the ground in one point The grounding resistant should be less than 100 OMS e JUT 1 5 4 pre insulated terminal is used for connecting wire terminals and make sure that the connections are fast A phase isolated transformer for power supply is recommended to reducing possibility of electric shock A noise filter in series with power supply is recommended to enhance the ability of anti interference Please install a non melt type breaker NFB to switch off power supply quickly in case of the servo amplifier failure 2 Control signals CN1 Encoder signals CN2 Wire size Use a screened cable screened twisted pair type is best wire size gt 0 12mm AWG24 26 The screening wire must be connected to PE FG terminal Cable length The length of cable is shorter as possible The length of control cable CNI is three meters or less The length of encoder cable is 20 meters or less 9 Wire distribution The cable wiring must be kept away from power wiring to prevent the influence of electromagnetic interference Q Please provide a surge voltage snubber component to each inductance coil in related circuit A direct current coil is connected with an anti parallel flywheel diode and an AC coil is connected with a RC snubber circuit TII 1 NOTICE Connect the wires to the correct phase terminals U V W of the servo amplifier and servomotor Otherwise the servomo
67. xcited and is in zero speed 6 To enter the JOG operation mode select Jr in the first layer of menu and then press the Enter key The prompt J shows the servo drive is in speed control mode and the displayed value indicates the speed in r min Press and hold 1 key the motor is running in CCW direction with the speed given by parameter NO 21 Release the t key the motor stops and keeps zero speed Press the key the motor is running in CW direction with the speed given by parameter NO 21 Release the key the motor stops and keeps zero speed C Position operation mode 1 Connect CNI provide the following control signals servo enable SON OFF CCW drive inhibit FSTP ON CW drive inhibit RSTP ON 2 Turn on the control circuit power supply the main circuit power supply remains off the 6 LED is lighted If any alarm occurs please check all connection Select the control mode by parameter NO 4 0 enter the position operation mode Use parameter NO 14 to set input pulse mode in order to match the position controller output signals Use the parameter NO 12 and NO 13 to set a proper 3 Electric gear ratio 4 Turn on the main circuit power supplies 5 Make sure there is no alarm or any abnormal situation turn on the servo enable signal the motor is excited and is in zero speed 6 The position controller provides the command pulse train

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