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1. mm BD 120 contour and installation dimension GSK CNC EQUIPMENT CO LTD 55 DA98A User Manual Order 9 1 Capacity selections Servo capacity is relative to the load inertia the loading torque the required positioning precision and max speed as the following steps 1 Counting load inertia and torque To calculate load inertia loading torque dynamic and acceleration deceleration torque effective torque by the relevant data to make it the base for the next selection 2 Preliminary confirming mechanical gear ratio Calculate the max mechanical deceleration ratio by the required highest speed and highest speed of motor and collate it to the minimum position unit with the min revolution unit and the deceleration ratio If the requirement of the position precision is very high increase the mechanical deceleration ratio the actual highest speed is lowered or choose a faster revolution motor 3 Check inertia and torque Convert the load inertia and torque to the motor shaft by mechanical deceleration ratio which should be less than quintuple of the motor rotor inertia And the converted load torque and the effective torque should be less than the rated torque of motor If the requirement above can t be met increment of mechanical deceleration ratio the actual highest speed is lowered or a high capacity motor may be adopted 9 2 E
2. parameters modified are not proper press lt jto cancel it to make the parameters recover to their previous value and back to the parameter selection Parameter No 0 Parameter No 1 Parameter No 98 Parameter No 99 Fig 6 6 Operating frame of parameter setting GSK CNC EQUIPMENT CO LTD 33 DA9SA User Manual 6 4 Parameter management A Modified parameters which are not executed the read operation are not saved and valid after power off The parameters management mainly processes memory and EEPROM option Select EE in the first layer and press Enter to enter into parameter management mode Firstly select the selection lt _ mode that has 5 modes by For example for parameter access select EE Set then press Enter and hold it on for over 3 seconds the CRT displays StArt that means the parameters are being reading into EEPROM After 1 2 seconds the CRT displays FInISH if the reading is succeeded otherwise Error is displayed Press lt again to return to selection mode e EE Set parameter writing It means to write the parameters in the memory into EEPROM parameter zone The parameters modified by user only change the parameter values in the memory that they will recover to their previous values after power on again If the parameter values
3. DA98A User Manual 19 DA9SA User Manual 20 lowpass filter and the smaller the noise is Properly reduce setting value if the load inertia is large If the setting value is too small the response will be slow as to cause surging 3 The bigger the value is the higher the cutoff frequency is and the quicker the response is Increase properly setting value if quick response is needed D Set proportional gain of position loop regulator The bigger the setting value is the higher the gain is the bigger Position the rigidity is and the smaller the position lag is in the same 9 proportional frequency instruction pulse If the numerical value is too big the 1 1000 gain surging or overshoot may occur Parameter numerical value is set according to specific servo driver and load Magnetic 10 pole position 0 1024 Zero deviation Speed D Set the cutoff frequency of lowpass filter of position loop instruction feedforward value 12002 lowpass filter The filter is used for increasing the stability of complex position constant control D Set division frequency double frequency electronic gear of position instruction pulse In position control mode set parameter No 12 No 13 to conveniently match with pulse resource to get the control resolution i e angle pulse required by user PxG NxCx4 P pulse amount of input instruction Position G electronic gear ratio G division frequency n
4. P Co 220 EE Ce Fig 3 6 Type single terminal drive mode of pulse value input interface 1 It is better to adopt with differential drive mode to transmit correctly pulse value data 2 AM26LS31 MC3487 or RS422 driver are employed in the differential drive mode 3 Operating frequency will be reduced in single terminal drive mode Define the resistance R value according to pulse value input circuit the drive current 10 15mA and max voltage 25V of the limited external current Practical data VCC 24V R 1 3 2K VCC 12V R 510 8200 VCC 5V R 82 1200 4 ln single terminal drive mode the external power supply is provided by user and if its polarity is connected reversely the servo driver may be damaged 5 Refer to Table 3 4 about pulse input form arrowhead is represented to counting drift and Table 3 5 is represented to pulse input time sequence and parameter If 2 phase input form is employed 4 folds pulse frequency is less than 500kH Table 3 4 pulse input form Pulse instruction form COW CW Parameter setting value Pulse array symbol 0 PULS I M H Command pulse symbol SIGN Table 3 5 pulse input time sequence parameter Parameter Differential drive input Single terminal drive input tek gt 2uS gt 5uS th s1uS gt 2 5u S t s1uS gt 2 5u S lh 0 20 S 0 39 S ty lt 0 2u S lt 0 3u S L s1uS gt 2 5u S tack gt 8u S gt 10u S tan gt 4uS gt
5. Q The bigger the setting value is the higher the gain is and the 29 proportional f ei 09999 smaller the error of current track is If the gain is too high there is ain s noise or vibration GSK CNC EQUIPMENT CO LTD 21 DA98A User Manual It is related to the servo driver and motor and is not related to the load Set the bigger load inertia if there is no vibration for system D Settorque initial detecting point of motor heat overloading 2 Setting value is percent of rated torque When the motor torque is lower than the intial detecting point the electronic relay in the system cannot work namely it does not detect the motor heat overloading when the motor torque is higher than the intial detecting point the electronic relay starts to 33 Overload limit work and when it exceeds its threshold the motor heat 0 500 overloading alarming will occur The bigger the motor overloading multiple is the shorter the alarm occurring time is The threshold is defined by the motor electrothermal characteristics The motor heat overloading alarm indicates the motor is overheated It is set by the manufacturer and cannot be modified D Set limit value of max load of servomotor 34 Max load limit Setting value is the limit constant value of max load 0 300 The limit value is valid anytime QD Set limit value of servomotor internal torque Q Setting value is the rated torque con
6. de of encoder is Q Check the interface circuit Cable shield is inferior lost dne of encoder Shield ground wire is not connected well Encoder interface circuit is fault GSK CNC EQUIPMENT CO LTD 29 DA98A User Manual Display and operation 6 1 Keyboard operation e The driver panel consists of 6 LED digital display and 4 keys lt Enter used for displaying various system status and setting parameters etc And the functions for keys are as followings t sequence number numberical number increment or forwarding selection sequence number numberical number decreasement or backword selection lt back to upper operation menu or cancellation of operation Enter enter into next operation menu or confirmation of operation Note holding press t 4 at the same time the operation is executed repetitively the longer the holding time is and the faster the repetitive operation speed is The 6 bit digital LED can display various status and data of system flashing of all digital tubes or the decimal point of rightmost digital tube means alarm e Performance is executed by multilayer operating menus The first layer is main menu that includes 8 operating modes and the second is the functional menu of each operating mode Fig 6 1 is operating frame of main menu Monitoring mode Parameter setting Parameter ma
7. 3 Motor current 2 3A DP LSP Linear speed m min Enter 5 000 Linear speed 5 000m min DP Cnt Current control mode Cnt 0 Control mode 0 DP Frq Position instruction pulse frequencry KHz F 12 6 Position instruction pulse frequency 12 6KHz DP CS Speed instruction r min r 35 Speed instruction 35r min DP C orque instruction t 20 Torque instruction 20 DP APo Absolute position of rotor per rev pulse A 3265 Absolute position of rotor 3265 i nput terminal state n Input termina 1 DP oUt Output terminal state OUT Output terminal DP Cod Encoder input signal Cod Encoder signa i DP rn Run state rn on Run state running DP Err Alarm code Err 9 No 9 alarm EI DP rES Reserved U 0 i Fig 6 2 Operating frame of monitoring mode Note 1 Position pulse and instruction pulse value are the magnified ones after inputting the electronic gear Note 2 Pulse unit is the internal pulse one that is 10 000 pulse rev in this system The magnitude for pulse is described by high 4 bit plus low 4 bit and the caculation method is as follows Pulse high 4 bit numberical value X 10 000 low 4 bit numerical value Note 3 Control mode O position control 1 speed control 2 speed trial run 3 run in JOG mode 4 encoder zeroing 5 motor testing Note 4 Pulse frequency of position instruction is the actual one before inputting the electronic gear and its min unit is 0 1 KHz with positive number for positive d
8. 3000 14 9 5 2 8x10 ET 220 300 1500 9 5 5 5 3 6x10 220 300 2500 16 10 3 6x10 220 300 1500 13 5 8 5 5 2x10 220 300 Note 1 Value in the above mentioned bracket in rated current is a rated current when it is high voltage 46 GSK CNC EQUIPMENT CO LTD DA98A User Manual Note 2 Please remark in your order if you need a power down brake motor Type 110ST M02030H 110ST M04030H 110ST M05030H 110ST M06020H 110ST M06030H Table 8 10 Starseries motor specification Zero 1 Rated Rotor Mechanical Working speed Man Weight current inertia time constant voltage torque gt Kg A Kgm ms VDC 130ST M04025H Nm EE ET EE 130ST M05025H 130ST M06025H Lm seen no eso zoom ss Note 1 Value in the above mentioned bracket in rated current is a rated current when it is high voltage Note 2 Please remark in your order if you need a power down brake motor 5 Contour 1 SJT series 130 chassis AC servomotor contour 130ST M07720H 130ST M10015H 130ST M10025H 130ST M15015H D mm N mm LB mm L mm 130SJT MO40C 91107 o oss 130SJT MO50C 110 o css 236 GSK CNC EQUIPMENT CO LTD 47 DA9SA User Manual 130SJT MOG0C 6110 oos 130SJT M075C POO 0013 110 935 196 253 130SJT M100B BRO 0013 110 0 035 223 280 130SJT M150B 0110 o oss 2 SJT series 110 chassis AC servomotor contour Lim 3 STZ series 11
9. Parameter backup Recovering backup FInISH Operation success Error Operation failure Recovering default value Fig 6 7 Operating frame of parameter management Power on EEPROM parameter zone Parameter writing memory Parameter reading EEPROM parameter zone Parameter backup memory Recovering backup EEPROM backup zone Recovering default value memory memory EEPROM parameter zone emory EEPROM emory EEPROM parameter zone Fig 6 8 Operating meaning of parameter management A Note Execute the speed trial run or run in JOG mode when there is no load for motor to avoid the unexpected accident The driver SON servo enabling must be valid in trial run GSK CNC EQUIPMENT CO LTD 35 DA98A User Manual 6 5 Speed trial run Select Sr in the first layer and press Enter to enter into the trial run mode The prompt identifier J and the unit is r min The system is in speed control mode and speed instructions are changed by tl t and the motor runs as the specified speed Press to increase speed and press 1110 decrease speed The motor rotates clockwise when the display speed is positive and vice versa S 800 Fig 6 9 Operating frame of speed trial run 6 6 JOG run Select Jr in the first layer and pres
10. The servo driver must be protected from vibration which is below 0 5 4 9m S and driver cannot receive weight and impact 2 Installation method 1 Installation mode The driver is employed with bottom board or panel installation mode in the upright direction of installation side Fig 21 is sketch map for bottom board installation and Fig 2 2 is one for panel installation E N E Vr 1 Data in is applie Fig 2 1 bottom board installation mode to driver with medium power i n Y Fig 2 2 driver panel installation mode 2 Installation interval Fig 2 3 is installation interval for one driver and Fig 2 4 is for drivers The interval for actual installation should be more as possible to get good heat radiation Fig 2 3 Installation interval for one driver GSK CNC EQUIPMENT CO LTD DA9SA User Manual 2100mm gt 25mm 25mm gt 100mm A9ATIp 04488 TOATIP OAJ9S 484140 04488 N mx N IA sie UI n Ventilation direction Ventilation direction Fig 2 4 Installation interval for drivers 3 Heat radiation There should be convective wind blown to the radiator in electric cabinet to protect its environmental temperature from continuous rising 2 3 Installing servomotor AN Note e Protect motor shaft or encoder from pounding to avoid vibration or impact Do
11. numerical value corresponding to rated speed Timing ratio 1 5000 8011911012061642 Pulse frequency lt 500kHz Control input Servo enabling D Servo ready output 2 servo alarm output S positioning completing Control output n output speed in position output Acceleration function mE Parameter setting acceleration time 1 10000mS COr min 1000r min Speed current position instruction pulse accumulation position deviation motor Monitor function torque motor current linear speed rotor absolute position instruction pulse frequency running state input output terminal signal and so on Overspeed overvoltage undervoltage of main power supply overcurrent overload Protection function brake abnormity encoder abnormity control power supply abnormity position out of toleration Display operation 6 bit LED numerical indicator tube 4 keys GSK CNC EQUIPMENT CO LTD 43 DA9SA User Manual Load inertia Less than 5 times of motor inertia Weight 2 67Kg 3 48Kg 244 x 163 x 92mm Refer to outline 244x163x112mm 8 2 Servomotor specification 1 Introduction 2 Characteristics of GSK SJT three pahse AC permanent magnetism synchronous servomotor series are as follows Latest model rare eartj material big output power 1 Perfect low speed timing ratio 1 10000 4 High dielectric strength and insulation resistance to ensure safety 4 Strong overload ability instantaneous torque reaching 8 times of
12. 10 GSK CNC EQUIPMENT CO LTD DA9SA User Manual 3 2 Terminal function 1 Terminal configuration Fig 3 2 is for interface terminal configuration of servo driver TB is terminal block CN1 is DB25 connector assembly socket is male and plug is female CN2 is DB25 connector assembly socket is female and plug is male PE ovaal DB25 DB25 Fig 3 2 Interface terminal configuration of servo driver 2 Power supply terminal TB Table3 1 power supply terminal Terminal No Terminal sign Signal name Function TB 1 R Main loop power supply Power supply input terminal of main loop TB 2 S single phase or 220V 50Hz TB 3 T three pahse Note do not connect with motor output terminal U V W TB 4 PE System be grounded Ground terminal Ground resistance lt 100 2 Common terminal of servomotor input and power Supply input must be grounded TB 5 U Servomotor output Output terminal of servomotor must be TB 6 V connected correspondingly with U V W TB 7 W TB 8 P standby TB 9 D standby TB 10 r Control power supply Power supply input terminal of control loop GSK CNC EQUIPMENT CO LTD H DA9SA User Manual single phase 3 Control terminal CN1 220V 50Hz CN1 15 output Common of ALM Table 3 2 Input output terminal CN1 of control signal Terminal No Signal name Sign VO Mode Function Power supply positive of inp
13. 5uS tu gt 4uS gt 5uS GSK CNC EQUIPMENT CO LTD 15 DA9SA User Manual toch lt 0 2uS 0 30 S ix 0 2u S 0 30 S ix s1uS gt 2 51 8 Fig 3 7 Pulse symbol input interface time sequence max pulse frequency 500kHz 3 Servomotor photoelectric encoder input interface Driver side Motor side X xe AM D6LS32 X ABZU V W Fig 3 8 Servomotor photoelectric encoder input interface 16 GSK CNC EQUIPMENT CO LTD DA98A User Manual Parameter A Note e Operator to set parameters must understand parameter meanings and mistakenn setting may cause to damage the equipment and injure people e Adjust parameter when the servomotor runs in no load mode e Motor parameter defaults servomotors of GSK SJT series STZ Star series from Huazhong University of Science and Technology and the corresponding parameters must be adjusted if other servomotor is used otherwise the motor may run abnormally 4 1 Parameter list e User password 315 it can be modified except for the type of driver e Value set by factory in Table 4 1 is for driver of motor 130ST M04025H and it is different for other types with parameters Table 411 parameter list No Name Modifying Range Value set by Unit Oe eee NEN SOE v9 06 r Dwewe ele e ENE E o o o a maay i ws ow EWE HE a 000010090900000 fso fos o I e Speed iniegraton tme corsa Tsis 5 39 oo 0000 T
14. 6 PLUS input External instruction pulse input terminal CN1 19 Instruction pulse Type3 P CN1 7 SIGN input CN1 24 Shield ground Terminal of shield ground wire 12 GSK CNC EQUIPMENT CO LTD DA9SA User Manual wm qwe 1 TIT TO 4 Feedback signal terminal CN2 Table 3 3 Signal input output terminal CN2 of encoder Terminal Terminal sign Signal name Color Function No Sign VO Mode CN2 5 as ly out 5V ower su output CN2 17 pply output The servomotor photoelectric encoder CN2 18 connects with ower supply CN2 1 P Pe multi core wire in parallel are used CN2 2 when the length of cable is too long CN2 3 Power supply output OV CN2 4 CN2 16 Connect with servomotor photoelectric CN2 24 Encoder A input A encoder A Type4 Connect with servomotor photoelectric CN2 12 Encoder A input A encoder A Connect with servomotor photoelectric CN2 23 Encoder B input B encoder B Type4 Connect with servomotor photoelectric CN2 11 Encoder B input B encoder B Connect with servomotor photoelectric CN2 22 Encoder Z input Z encoder Z Type4 Connect with servomotor photoelectric CN2 10 Encoder Z input Z encoder Z Connect with servomotor photoelectric CN2 21 Encoder U input U encoder U Type4 Connect with servomotor photoelectric CN2 9 Encoder U input U encoder U Connect with servom
15. EG NG De De ei eg Ge eg 3 Installation eeseeettttteeteeennnntttttttttttnnn sott nene AAAAAAAi AO 5 2 1 Environmental condition sesse sesse ses seke sen sa tota colega enean pa sed seeks dee Rg een sk ee 5 2 2 Installation of servo dEIver iones sa ar Besk kes eke gekke ees eed ke dk eid 5 2 3 Installing servomotor uu NDA SOO 7 LLL le ERN eee GE REP PT 9 3 1 Standard wIFIBE su ENO MER M CR dor de RAUS NU Ge GE eo 9 3 2 Terminal UNCEOON ias RE N N A ANA 11 3 3 VO Interface method suan EGO OE ent Reed reta die en eene dr 14 Parameter sed dee Se desea Mete Eon ites 17 4 1 Parameter list ee E IN EN A 17 4 2 Parameter DUO eu GE NG ek ee oma ee A IS ME 18 4 3 Type code parameter and motor 0 000006 22 Alarm and troubleshooting eese 24 SL Alarm list EE TTT 24 5 2 Alarm troubleshootings ssessssessesessessesosneseenennononnesnenennonassennenennenassesnenennesnasesnenentos 25 Display and operatioOn sss cceeennnnnnnnnineennnnnnnnnnsnnnnnnnnnnaaasssioo 30 6 1 Keyboard Operation ss sss E kosa 30 6 2 Monitoring mode SG en eae aa ae aes 30 6 3 Parameter setting issie rrr Reds sesse ete putem en dee see oi eek ek pe ke ee rape Exe Res eg 33 6 4 Parameter MAnNagement ss ens sesde sk ese see sesde RR eke se
16. Spesa reguiator potim V feee Ie s Speed detecting lowpass titer consin ss areo fo o Postion proporioragan Tes iio fe e 170 magnetic poe postion zerodeviion 0704 f f 71 Specdinsiucon lowpass titer corsen ss os e MO Position instruction pulse division frequency 315 1 9999 EE iN Position instruction pulse division freguencyl 315 1 9999 NC sardoy NENNEN Position instruction pulse reverse direction Positioning completing range 0 9999 Position out of toleration detection range 0 9999 Invalid position out of toleration error NC standby NC standby 21 JOG running speed 3000 3000 20 315 0 GSK CNC EQUIPMENT CO LTD 17 NENNEN EN EE OE X 100 pulse DA98A User Manual slee Jj fas Noten LL far Noten N 28 NC standby ao curent proporcian e aw END S esan iI I mmm EN 36 Current instruction lowpass filter cutoff frequency Values set by factory of servo driver system with different power level are different 4 2 Parameter function Table 4 2 Parameter function Parameter NO Name Function range D It is used for avoiding parameter to be modified by mistaken Set it to the required password and then set it when a parameter is needed to set After adjusting set it to O to ensure it not to be modified by mistaken later The password is divided into many levels to correspond t
17. are changed permanently parameter writing operation is executed and the parameters in the memory are written into the EEPROM parameter zone so the modified parameter values are valid after power on again e EE rd parameter reading It means to read the data in EEPROM parameter zone into the memory The process will be executed automatically when power on At the beginning the parameters in the memory are the same as that of EEPROM parameter zone If the parameters are modified by user the parameter values in the memory will change If the user is not satisfied with the modified parameter values or the parameters are disordered the parameter reading operation is executed to read data in EEPROM parameter zone into the memory to recover the previous parameters which are in the state of power on e EE bA parameters backup It means to write the parameter in the memory into EEPROM backup zone The whole EEPROM zone consists of parameter zone and backup zone that can store two sets of parameter EEPROM parameter zone is used for power on parameter writing and reading and EEPROM backup zone for parameter backup and backup recovering If user is satisfied with one set of parameters with further modification he can save the memory parameters into the EEPROM backup zone by executing the parameter backup operation in advance then modify the parameters If the result is not satisfied recover the backup to read the parameters which are saved in EEPROM
18. backup zone last time into the memory for further modification or completion Besides after the user set parameters execute the reading and backup to ensure data in EEPROM parameter and backup zero are the same to avoid parameter to be modified by mistaken and also use the recovering backup operation to read the data in EEPROM backup zone into the memory and write operations by parameters and write parameter in the memory into EEPROM parameter zone e EE rS recovering copy It means to read the data in EEPROM backup zone into the memory 34 GSK CNC EQUIPMENT CO LTD DA9SA User Manual which does not execute the parameter writing and reading the data in EEPROM parameter zone into the memory when power on again If the user permanently uses parameter in EEPROM backup zone execute the parameter writing operation again EE dEF recovering default value It means to read all default values of parameters into memory and write them into EEPROM parameter zone that it will be used when power on again Execute the above operation to recover all parameter to their original before delivery if the user adjusts parameter by mistaken to cause the system cannot run normally Because the different driver type corresponds to different parameter default value ensure the driver type is right parameter No 1 when using the recovering default parameters Parameter writing Parameter reading Press and hold for 3s t EE bA __
19. mm AS travel of servomotor per rev mm rev P feedback pluses of encoder per rev pulse rev Because there is quadruple circuit in the system P 4X C and C is lines of encoder per rev In the system C 2500 lines rev and P 10000 pulse rev The instruction pulse multiplying the electronic gear ratio G equals the postion control pulse so one instruction pulse travel Al is represented as follows GSK CNC EQUIPMENT CO LTD 41 DA9SA User Manual A XG Pt G instruction pulse frequency division numerator instruction pulse frequency division dominator 42 GSK CNC EQUIPMENT CO LTD DA9SA User Manual Specification A The servo driver must be properly matched with servomotor The described Note servomotor in the manual is from GSK SJT series STAR series of Huazhong University of Science and Technology Please remark in your order if you choose others 8 1 Driver specification Table 8 1 Servo driver specification Singel phase or three pahse AC220V three pahse AC220V Input power supply 15 10 50 60Hz 15 10 50 60Hz Working 0 55 C Storage 20 C 80 C Environment Humidity Less than 90 no dewing Less than 0 5G 4 9m S2 10 60 Hz non continuous running Control method D Position control speed trial run run in JOG mode motor testing Regenerative brake Built in Speed frequency response 200Hz or more Speed fluctuation rate lt 0 03 load 0 100 lt 0 02 power supply 15 10
20. rated one 3 Terminal 1 SJT series motor wind Motor U V W and chassis earth are led out by 4 core connector assembly and their corresponding relation is as Table 1 U V W and chassis eartg respectively connects with U V W PE of driver main circuit U Table 8 2 motor connection Motor lead Chassis earth wire W V Socket serial 2134 Motor winding number Plug welding Sketch map photoelectric encoder lead wire is led out by one 15 core connector assembly shown in Table 2 The lead wire is connected to the plug of driver feedback signal CN2 as requirement of driver Table 8 3 Encoder connection Encoder lead Chassis A Ewe eam Wel ae a 7 e number wire number 2 STZ series motor wind Motor wind method is as follows A 6 C are lead terminals of wind 11 12 are ones normally closed contact of temperature protector Lead method P type 7 core socket Table 8 4 motor connection Encoder terminal 44 GSK CNC EQUIPMENT CO LTD DA98A User Manual Lead method of photoelectric encoder P type 19 core socket Table 8 5 Encoder connection E 3 Star series motor wind Motor wind method is as follows A B C are outlet terminal of wind Its method 4 core socket A 3 lo Table 8 6 Motor connection E ud Sock ial i number Morwid A 8 Remark 1 pin ground chassis Photoelectric encoder lead method 15 core socket Table 8 7 Encoder connection ECHESE
21. run the servo has no enabling and an alarm occurs cn on the main circuit has been charged and the servo system runs anormally Note 2 Err for alarm means the system is normal and no alarm occurs 6 3 Parameter setting N Note e Other parameters can be modified after parameter 0 is set to its corresponding numerical value Setting of parameters effects immediately and false setting may result in false run to occur accidents Select PA in the first layer and press Enter to enter into parameter setting mode Select parameter lt number by t then press Enter to display the value of that parameter modify the value by 1 Press pr 4 key for once to increase or decrease 1 for the parameter value press and hold on lt to continuously increase or decrease value for the parameter When the parameter value is modified the decimal point of rightmost LED digital tube is lighted press Enter to confirm the modification and then the decimal point of rightmost LED digital tube is put out And the modified value will immediately respond to the control process press to go on modify parameters till the completion of modification then press o back to parameter selection Do not press Enter to confirm if the
22. 0 12mm AWG24 26 and shield layer must be connected with FG terminal Length the cable length should be as possible as short one to control CN1 should be less than 3m and another to control feedback signal CN2 should be less than 20m e Wiring be far away from power circuit to wiring to antiinterference Inductive components coil should be installed with surge absorbing element DC coil parallels reversely with freewheeling diode and AC coil parallels with RC absorption circuit GSK CNC EQUIPMENT CO LTD 9 DA9SA User Manual A Note U V W should be connected with motor winding one by one Cable and lead wire must be fixed to avoid to approach radiator of driver and motor which will ensure the insulation e Do not touch driver and motor in 5 minutes after the power supply is switched off because there is large electrolytic capacitance to keep high pressure even if they are switched off Servomotor NFB MC OO Three phase AC 220V A AC 220V da or single phase Motor Servo driver MEE PE HAY DC 12 724 Ll Servo enabling Encoder CO CO O1 HA ds O LO DO Servo ready OK DI Servo alarm Output public terminal Aj w o Encoder in Z direction outputs Encoder in Z direction outputs public terminals Position instruction PULS Position instruction SIGN Fig 3 1 Standard wiring of position control mode
23. 0 chassis AC servomotor contour z i E a Kilio N XN Zero speed torque 2Nm 4Nm 5Nm 6Nm D mm 19 19 22 22 L mm no braker 196 234 253 272 L mm with braker 252 290 309 328 4 STZ series 130 chassis AC servomotor contour 48 GSK CNC EQUIPMENT CO LTD DA98A User Manual Zero speed torque 4Nm 5Nm 6Nm 7 5Nm 10Nm 15Nm L mm No braker 207 217 227 242 267 317 L mm with braker 263 273 283 298 323 373 b Star series 110 chassis AC servomotor contour EE e ZEE Note B value in the above mentioned bracket is a length with power down braker Zero speed torque Nm 6 Star series 130 chassis AC servomotor contour 162 209 171 218 180 227 194 241 218 265 266 313 C mm Zero speed torque 4 5 7 7 10 15 Nm Note B value in the above mentioned bracket is a length with power down braker GSK CNC EQUIPMENT CO LTD 49 DA98A User Manual 8 3 Isolation transformer A Note The isolation transformer should be employed to driver to reduce electric shock or interference from power supply and electromagnetism The driver with 0 8KW and less can be employed with single phase and ones with more must be employed with three phase The following isolation transformers are provided by us and user can choose according to servomotor power and actual load Table 8 11 Isolation
24. 0SNMA4 IT E DA98A 08 130SNMA4 II E 130SNMASIE DA98A 10 130SNMASIE 130SNMA6 II E DA98A 12 130SNMA6 II E 130SNMA7 5IE DA98A 15 130SNMA7 5IE 130SNMA10IE DA98A 15 130SNMA10IE 130SNMA15IE DA98A 23 130SNMA15IE 130SJT M075C DA98A 15 130SJT M075C N GSK CNC EQUIPMENT CO LTD 23 DA9SA User Manual Alarm and troubleshooting A Note e Only qualified persons can execute check and maintenance Do not touch the driver and motor in 5 minutes after they are switched off to avoid electric shock and burn e Firstly remove of malfunction according to alarm code after the driver alarms and then use it e Confirm SON the servo is valid signal is invalid to avoid the unexpected accident owing to start suddently the motor before resetting alarm 5 1 Alarm list Table 5 1 Alarm list Alarm code Alarm name Content ooo e o e Numerical value of position deviation counter exceeds 4 Position is out of toleration its setting value The motor is overheated Motor temperature is too high The position deviation counter Absolute value of position deviation counter exceeds overflows on ra Encoder fault Encoder signal error The control power supply is Control power supply 15V is too low undervoltage IPM module fault IPM intellegent module fault The servo driver and motor are overloaded 13 Overload f instantaneous overheating Brake fault Brake circuit fault IC2 EPLD core error IC2 EPLD core
25. GSK DA98A Full Digital AC Servo System User Manual GSR I WIS i212 ss BR 7 GSK CNC EQUIPMENT CO LTD DA98A User Manual Foreword Thank you for purchasing DA98A AC Servo System For optimum performance and safety instruction please read this manual carefully Caution Improper operation leads to accidents Before operating the system please read the manual completely All specification and designs are subject to change without notice We do not undertake any responsibility and product warranty sheet is cancelled if user changes our product Pay attention to the following signs when reading the user manual If operation is incorrect a dangerous situation may occur resulting Danger in death or serious injuries li If operation is incorrect a dangerous situation may occur resulting in minor to medium injuries or damage to equipment gt Caution If operation is incorrect damage to system or machine may Alarm occur l 72496 DA98A User Manual Safety regulation A Warning Design and manufacturing of the product are not used for the mechanism and system which can cause danger to people Precautions in design and making should be taken to avoid accidents resulted by malpractice or malfunction of the product when matching with this product Acceptance A Caution Products that were damaged or broken down cannot be put into use Delivery A Cauti
26. Q Reduce the load inertia One of U V W is switched off Check the connection The connection of encoder is mistaken Connect with Brake fault control power Circuit board is fault D Change the servo driver supply Motor is running Brake resistance connection is switched off Connect the wire again D Brake transistor is damaged 1 Change the driver 2 Internal brake resistance is damaged 28 GSK CNC EQUIPMENT CO LTD PABBA User Manual User Manual Reduce the on off frequency Increase the acceleration deceraltion time constant D Brake loop capacity is not enough 3 Reduce the torque limit value Reduce the load inertia Change with a driver and a motor with bigger power aa ot Check the main power D Main circuit power supply is too high e T D Set correctly the related D Parameter setting is wrong parameter QD Check the load Q Reduce the on off frequency D Long term rated torque runs 3 Reduce the torque limit Motor is running value Change with a driver and a motor with bigger power D Check the mechanical 1 Machine transmission is inferior device ES EPLD D Core or circuit board is damaged D Change the servo driver core error ENE collection D Core or circuit board is damaged D Change the servo driver Circuit is fault There is no pulse in Z direction and the f encoder is damaged Z axis pulse Change the encoder Cable is inferior
27. SERERERERERERETESE GND is the grounding of encoder power supply Vcc 1 pin grounding chassis 3 Specification Table 8 8 SJT series motor specification Specification 130SJT M050C 130SJT MO060C 130SJT M075C Driver input voltage Rated current 16 68A Red torque CIO 75N m Max torque Two Bald speed ny Max speed nuno Rotation inertia J Acceleration time constant Tm 60 ms 56 ms 53 ms rated torque 110SJT M020C 110SJT M040C 110SJT M060C 4 GSK CNC EQUIPMENT CO LTD 45 ae x See eee sdas ooj sil Acceleration time constant Tm rated torque Type Power Kw 110STZ2 1 HM 110STZ2 2 HM 110STZ4 1 HM 110STZ4 2 HM DA98A User Manual Max speed nmax 2500 rpm 2500 rpm 2500 rpm Rotation inertia J 0 34X10 kg m 0 68 X 10 kg m 0 95X10 kg m Table 8 9 STZ series motor specification Zero speed o N A A Rotor PEE Working 000 Mechanical time inertia voltage constant ms Kgm V DC mere erp Tm Weight Kg 110STZ5 1 HM IE EI OC 7 5 7 5 10 10 15 220 300 3000 220 300 2000 5 4 5 2000 7 5 4 5 1 29x10 E 220 300 3000 11 7 1 29X10 es 220 300 2000 6 5 4 1 6X10 220 300 3000 9 5 5 5 1 6x10 220 300 2000 6 5 4 5 2 0x10 220 300 3000 9 5 6 2 0x 10 220 300 2000 6 5 4 5 2 4x10 220 300 3000 9 5 6 5 2 4x10 220 300 2000 9 5 5 5 2 8x10 e 220 300
28. UBISHI intellegent power module and with PID operation to execute PWM control Its performance has reached the same overseas level DA98A AC servo system has advantages compared to stepper system as follows Open loop control Stepper motor e Avoiding out of step Servomotor is employed with encode its position signal feedbacks to servo driver with open loop position controller to compose a semi closed loop control system E Controller Speedratio constant torque The timing ratio is 1 5000 with stable torque from low speed to high speed Feedback control Positioning instruction Servomotor High speed high precision Max speed can be 3000rpm position precision of turning is 1 10000r Note There is different max speed for different types Positioning instruction e Simple and flexible control Parameters can be modified to set properly operating mode running performance of servo system to meet different requirements GSK CNC EQUIPMENT CO LTD 1 DA9SA User Manual Stepper motor Servomotor Speed curve in 10rpm Speed curve in 10rpm 1 2 Check after delivery 1 Check after delivery 1 Whether packing box is good and goods is damaged 2 Whether the servo driver servo driver nameplate is the ordered ones 3 Whether accessories are the requirements N Note Do not install servo system which is damaged or lacks of components Servo driver must be matched wit
29. al mode of controller set parameter No 14 and proper electronic gear ratio No 12 No 13 4 Connect the power supply of main circuit 5 When the alarm does not occur and there is no abnormality ensure the servo enabling SON is ON at the moment the motor is powered with the speed of 0 6 Output signal of the postion controller to CN1 6 18 7 19 of the driver to run the motor as requirements of instructions NM 7 3 Adjustment A Note e Ensure parameters are correct before starting to avoid equipment damaged and unexpected accident caused by mistaken parameter setting e Adjust the system in dry run mode before the loading adjustment 1 Basic gain adjustment 1 Speed proportional gain parameter No 5 setting value should be big as far as possible without vibration Generally the bigger the load inertia is the bigger the setting value speed proportional gain is 2 Speed integration time constant parameter No 6 setting value should be set big as far as possible If it is too big the responding speed will be quick but the vibration will occur The setting value should be set as far as possible without vibration If it is set too big the speed will be great changed when the load is changed Generally the bigger the load inertia is the smaller the setting value is 3 Position propotion gain parameter No 9 setting value should be big as far as possible in a stable range If it is too big
30. al of grounding device The power supply of driver is provided through isolation transformer and power supply filter to get better safety and anti interference ability The power supply is switched on after wiring is correctly completed Connect with an emergent stop circuit to make the power supply stop immediately when there is fault Refer to Fig 7 1 After the driver alarms it should be insured that the fault has been resolved and SON signal is invalid before startup again e Cannot touch them in at least 5 minutes to avoid electric shock after the driver and motor are cut off Prevent from being burned because the temperature will rise after the driver and motor run for a period of time 7 1 Power supply connection Refer to Fig 7 1 about power supply connection as follows 1 Connect the power supply with input terminal three phase power supply connects with R S T and single phase connects with R S of main circuit power supply by electromagnetism contactor 2 Power supply r t of control circuit and main circuit power supply are switched on simultaneously or the former is prior to the latter If only power supply of control circuit is switched on the servo ready signal SRDY is OFF 3 The main circuit power supply is switched on and delays 1 5s and the servo ready signal SRDY is ON the servo can receive the servo enabling signal SON and detect it to be valid the driver output is valid and the m
31. error Encoder pulse in Z direction is S 31 isei Encoder pulse in Z dirction is error ost 24 GSK CNC EQUIPMENT CO LTD DA98A User Manual 5 2 Alarm troubleshootings Table 5 2 Alarm troubleshootings Alarm code Connect with ww D Control circuit board fault D Change servo driver control power supply Encoder fault Change servomotor D The input instruction pulse frequency is D Set correctly the input overhigh instruction pulse 1 Acceleration deceleration time constant is Increase acceleration tool small to cause the overshoot is too big deceleration time constant D The input electronic gear ratio is too big D Set correctly Motor is running D Encoder fault Change the servo driver D Encoder cable is inferior D Change the encoder cable D Set the related gain again 1 Overspeed Q Servo system is not stable to cause the 2 If the gain can not be set to overshooting proper value reduce inertia ratio of load rotation 1 Reduce load inertia D The load inertia is too big Q Change driver and motor with big power D Change servomotor Motor is started Encode zero fault Adjust encoder zero by the manufacturer D Motor lead wire U V W is not connected LN Connect wire correctly Cable lead wire of encoder is not connected correctly Main circuit Connect with 2 is excess control power The circuit board fault D Change servo driver vol
32. h servomotor which performance matches the former Please contact with us or suppliers if there are any questions after receiving goods 2 Type signification 1 Type for servo driver DA98A MO60D Adaptive to servomotor type GSK SJT series motor X1 Output power 2 bit digit 04 06 23 corresponding to 0 4 2 3KW X2 Series code 1 It can be matched with other homemade or imported servomotor which is needed to order The driver which is short of parameters can be only adaptive to SJT STZ Star series servomotor 2 Small power less than 1 5KW is the standard configuration and middle power lt 1 5 lt 26KW is employed with thicker radiator Note Product type has been filled in before delivery and check the product with its nameplate 2 Servomotor type DA98A 2 0 Version AC servo driver can be matched with many domestic and abroad types of servomotor which can be selected by user Servomotor information of GSK SJT 2 GSK CNC EQUIPMENT CO LTD DA98A User Manual series and STZ Star series from Huazhong University of Science and Technology are provided in Chapter 8 and other servomotor information are provided with delivery 3 Accessories 1 DA98A servo driver standard accessories User Manual 1 2 Installation bracket 2 MAX8 contersink bolt 4 CN1 plug DB25 female 1 set note 1 CN2plug DB25 male 1 set note 2 Note 1 Signal cable standard 3m can be provided
33. incident occurs The running signal must be off before resetting an alarm or it will restart suddently The servo driver must be matched with the specified servomotor Do not frequently switch on off the power supply of servomotor to avoid damaging servomotor Do not touch the driver radiator and the servomotor in running and power off to avoid 11 72496 DA98A User Manual scalding Must not refit the servo system Troubleshooting IN Warning Do not touch the terminals in 5minutes after power is off because of the high voltage of servo driver Only qualified persons can dismount or maintain it A Caution Resolve malfunction after alarming and reset alarming signal before restarting Keep away from machine while power is on after instantaneous power off because machine might start suddently No danger occurrence in restarting should be assured in design Option A Note Rated torque of servomotor should be higher than that of effective continuous load Inertia ratio between the load and the servomotor should be less than that of recommendation The servo driver should be matched with the servomotor IV DA98A User Manual Contents OV qq 1 LIlIntroductioh niodo EA AR Re Va ee GR Ge AR GE ee Le ee Ee 1 1 2 Check after deliver Vs sss som NEK dee iese ke ro ek 2 LODI ee eg De ee op ao ei ek Re OG ek ie ie ee
34. ion and designs are subject to change without notice July 2006 Edition 1 July 2006 Printing 1
35. irection and negative number for negative direction Note 5 Caculation method of motor current is as follows GSK CNC EQUIPMENT CO LTD 31 DA98A User Manual I 50 PIS Io Note 6 The absolute position of rotor in a rev means the relative one opposite to stator one rev is one loop and its range is 0 9999 Note 7 Input terminals is as Fig 6 3 output terminals is as Fig 6 4 encoder signal displaying is as Fig 6 5 M INH instruction pulse prohibit SC2 speed selection 2 CLE offset counter zeroing L SCI speed selection 1 RSTP CW driver prohibit FSTP CCW driver prohibit FIL CCW torque limit RIL CW torque limit ALRS alarm zeroing SON servo J enabling GH O O Fig 6 3 Input terminal display light is ON and poor light is OFF COIN positioning completion L_ SCMP speed in position Reserved ALM servo alarm SRDY servo ready Ii Fig 6 4 Output terminal display light is ON and poor light is OFF Encoder V Encoder W Encoder U Encoder Z Encoder E a A ig 6 5 Encoder signal displaying light is ON and poor light is OFF 32 GSK CNC EQUIPMENT CO LTD DA9SA User Manual Note 1 Runnig state cn OFF the main circuit has not charged and the servo system does not run cn CH the main circuit has been charged and the servo system does not
36. it is r min When the system is in the speed control mode the speed instructions is changed by pressing ft keys and the motor runs as the specified speed B JOG run GSK CNC EQUIPMENT CO LTD 39 DA9SA User Manual 1 Connect with CN1 to input controlling signal the servo enabling SON is OFF 2 Connect with the power supply of control circuit no connection for master circuit the display of driver is ON and check the connection if the alarm occurs 3 Set the control mode selection parameter No 4 toJOG run set to 3 4 Connect with the power supply of main circuit 5 When the alarm does not occur and there is no abnormality ensure the servo enabling SON is ON at the moment the motor is powered with the speed of 0 6 Enter into JOG mode by pressing key The prompt identifier is S and the unit is r min When the system is in the speed control mode the speed and the direction are defined by No 21 The motor runs as the speed and the direction specified by No 21 by pressing and runs counterclockwise as the specified speed and direction by pressing C Position mode run 1 Connect with CN1 to input controlling signal the servo enabling SON is OFF 2 Connect with the power supply of control circuit no connection for master circuit the display of driver is ON and check the connection if the alarm occurs 3 Set the control mode parameter No 4 to the position run set to 0 According to output sign
37. lectronic gear ratio Refer to chapter 4 table 4 2 parameter function chapter 6 6 3 parameter setting chapter7 7 3 debugging In the location control mode the actual loading speed is Instruction pulse speed XG mechanical deceleration ratio In the location control mode the actual minimum displacement of loading is Minimum instruction pulse displacement G mechanical deceleration ratio Note If the electronic gear ratio G Ais not 1 there is a remainder when executing the division for gear ratio which may lead to position deviation and the max deviation is min revolution amount of the motor min resolution 9 3 Stop characteristics Lag pulse is defined to different value between the instruction pulse and feedback pulse when the servomotor is controlled by pulse serial in the position control mode The above different value is accumulated in the position deviation counter and it has relationship with the instruction pulse frequency the electronic gear ratio and position proportional gain as follows 56 GSK CNC EQUIPMENT CO LTD DA9SA User Manual f G K p Eu lagging pulse Puls Puls f instruction pulse frequency Hz Hz Kp position proportional gain 1 S G electronic gear ratio Note The relation is obtained when position feedback gain is 0 and the lag pulse will be less than the computation value counted by the above formula 9 4 Servo and position controller computation method 1 Ins
38. nagement Th d Speed test run e secon layer Run in JOG mode Automatic gain adjustment Encoder zeroing Motor testing The first layer Fig 6 1 Operating frame of mode selection 6 2 Monitoring mode Select dP in the first layer and press Enter to enter into monitoring mode which includes 21 display modes Select the desired display mode by t 11 then press Enter to enter into specific 30 GSK CNC EQUIPMENT CO LTD DA9SA User Manual display mode DP SPd Motor speed r min Ml r 1000 Motor speed 1000r min i DP PoS Current position low 4 bit pulse P4580 I Current position 124580 pulses DP PoS Current position high 4 bit X 10000 pulses P 2 DP CPo Position instruction low 4 bit pulse C4581 Position instruction 124581 pulses DP CPo Position instruction high 4 bit pulse X 10000 pulses C 2 DP EPo Position offset low 4 bit pulse E 4 Position offset 4 pulse DP EPo Position offset high 4 bit 0000 pulses E 0 DP trq Motor torque 9 70 Motr torque 70 DP I Motor current I 2
39. ng vibrated and shocked e Protect motor wire motor spindle and encoder from be dragged 2 1 Environmental condition DA98A servo driver GSK SJT series servomotor Operating 0 55 C no freezing 25 40 C Star no freezing below 90 RH no temperature below 90 RH no dewing dewing Storage delivery 20 80 C 25 70 C temperature humidity 90 RH no dewing below 80 RH no dewing Atmosphere No corrosive gas flammable gas No corrosive gas flammable gas oil fog or dust in environment oil fog or dust in control cabinet storehouse no insolation Altitude Altitude below 1000m Altitude below 2500m Less than 0 5G 4 9m s 10 60HZ non continuous run Guard level IPOO no guard IP65 2 2 Installation of servo driver AN Note e li must be installed in a protective electric cabinet e It must be installed in the specified direction and interval to get good heat sink t must not be installed on or near flammable objects to avoid fire 1 Installation environment 1 Guard The servo driver without guard must be installed in the protective electric cabinet to prevent dust corrosive gas liguid electricity conduct or inflammable substances from entering it GSK CNC EQUIPMENT CO LTD 3 DA9SA User Manual 2 Temperature and humidity Environmental temperature is 0 50 C and long term safe operating temperature is below 45 C to get good heat sinking 3 Vibration and impact
40. not drag the motor shaft outgoing line or encoder e Motor shaft cannot be over loaded otherwise which may damage motor e Motor must be installed firmly and there should be measures against loose 1 Installation environment 1 Guard GSK SJT series Star series servomotors from Huazhong University of Science and Technology are not employed with waterproof device So protect liquid from splashing on motor and grease from motor internal by its lead wire and shaft Note Please remark in order if you need servomotor with waterproof 2 Temperature and humidity Environmental temperature should be 25 40 C no freezing Measures of heat radiation must be done when the motor s temperature rises owing to long term run if there is small surrounding space or there is heating equipment nearby GSK CNC EQUIPMENT CO LTD 7 DA98A User Manual 3 Vibration Servomotor should not be installed in vibrational environment and its vibration should be 2 less than 0 5G 4 9m s 2 Installtion method 1 Installtion mode SJT Star series motors are employed with flange installation mode in every direction 2 Cautions Do not hammer motor or its shaft to protect it from damaging encoder when removing belt wheel Helical instruments are employed to removing it SJT Star series motor cannot be weighted with heavy axial radial load It should be employed with flexible shaft coupling to load Anti loose washer is em
41. o user 0 Ore parameter internal parameter 0 9999 3 Use the driver type password without other password to modify driver type parameter No 1 The user password is 315 5 The driver type password is 385 Operating mode selection password is 510 D It corresponds to the same series driver and motor with different power level Different driver types correspond to different parameter default 1 Driver type enis Ensure the parameter is right when recoving default parameter 0770 function 3 Referto Table 4 3 for parameters significance Software 2 Software version can be seen but cannot be modified i version 5 Initial display 2 Select display state after the driver is switched on 0 19 state 0 Display motor speed 18 GSK CNC EQUIPMENT CO LTD 1 Display current position low order 4 bit 2 Display current position high order 4 bit 3 Display position instruction instruction pulse accumulation low order 4 bit 4 Display position instruction high order 4 bit 5 Display position deviation low order 4 bit 6 Display position deviation high order 4 bit 7 Display motor torque 8 Display motor current 9 Display linear speed 10 Display control mode 11 Display position instruction pulse frequency 12 Display speed instruction 13 Display torque instruction 14 Display absolute position of rotor in one rev 15 Display input terminal state 16 Di
42. on Products should be stored and delivered by proper storage and delivery environment Do not put many packing boxes in piles to avoid falling down Appropriate package should be done for delivery Do not drage its wires spindle or encoder when moving the servomotor Protect the servo driver and the servomotor from external force and crash AN Caution Servo driver and servomotor Do not install it on or near flammable objects Avoid vibration and protect it from impact No assembly for product that was damaged or lack of components Servo driver li should be fixed in a control coffer with a high protection level Enough clearance should be set aside with other equipments A good heat radiation condition should be provided Protect dust corrosive gas conductive objects liquids and flammable or explosible material from entering it Servomotor Fastness must be assured to avoid looseness owing to shaking Protect liquids from entering motor and encoder Forbid hammeringking motor and its spindle to avoid damaging encoder Load cannot exceed the maximum of motor spindle Installation II DA9SA User Manual Connection AX Warning Only qualified persons can do or check the connection Connection and checking cannot be performed in 5 minutes after the power supply is switched off The servo driver and servomotor must be grounded Explosion or operation inciden
43. otor photoelectric CN2 20 Encoder V input V encoder V a C h h l onnect with servomotor photoelectric CN2 8 Encoder V input V i encoder V GSK CNC EQUIPMENT CO LTD 13 DA9SA User Manual 3 3 VO Interface method 1 Input interface of switching value ad Driver side servo amplifier 12 24V SW Fig 3 8 Typel B interface of switching value 1 Power suppy is provided by user DC12 24V current 100mA 2 Note if current polarity is connected wrongly the servo driver will not run 2 Output interface of switch value Driver side servo amplifier Fig 3 4 Type2 Output interface of switching value 1 External power supply is provided by user and if its polarity is connected reversely the driver will be damaged 2 Outputis electron collector open circuit max current is BOMA and external max voltage is 25V Load of switch value output signal must meet the limited value If the load exceeds them or output is connected directly with power supply the servo driver may be damaged 3 Ifthe load is inductive one as relay terminals of load must be connected with freewheeling diode in parallel If they are connected reversely the servo driver is damaged 3 Pulse value input interface Driver side du EE Fig 3 5 Type3 differential drive mode of pulse value input interface 14 GSK CNC EQUIPMENT CO LTD DA9SA User Manual Driver side plifier 220
44. otor runs When the servo enabling is invalid or alarms the base electrode circuit is switched off and the motor is in free state 4 The base electrode circuit is switched on after 1 5s when the servo enabling and the power supply are switched on together 5 If the power supply is switched off or on frequently the soft start circuit and the energy comsuption brake circuit is damaged Frequency of on off should be less than 5 times in one hour and 30 times less each day Owing to the overheating of the driver and the motor the power supply is switched on only after the fault is resolved and waiting for 30 minutes to cool it down GSK CNC EQUIPMENT CO LTD 37 DA9SA User Manual Emergent stop OFF RA ON a em oo o 6 ME VC ay MC x NFB S MC 3 phase or Oo Noise o ro R single phase 5 filte ae 5 S AC 220V en SM UN I X I M r C d 9 rz 24V Servo driver Fig 7 1 Power supply connection diagram Time sequence of power supply switching on and alarming Power supply of control circuit cds Servo alarm output n ALM Power supply of main circuit Servo enabling input SON Alarm elimination ALMS Servo ready output SRDY Servo motor power Fig 7 2 Time sequence of power supply connection 38 GSK CNC EQUIPMENT CO LTD DA9SA User Manual Power supply of control circuit Servo ala
45. ployed to fix motor to protect it from loose 8 GSK CNC EQUIPMENT CO LTD DA98A User Manual Wiring N Warning Only qualified persons can connect the system or check the connection Wiring and check cannot be done in 5 minutes after the power supply is switched off to avoid electric shock A Caution Connect with voltage and polarity of terminal to avoid damaging equipment and injuring pepole Driver and servomotor must be grounded 3 1 Standard wiring External connection of driver is relative to control mode 1 Position control mode Fig 3 1 is standard wiring of position control mode 2 Wiring 1 Power supply terminal TB Wire size wire size of R 5 1 PE U V W gt 1 5mm AWG14 16 wire size of r t 1 0 mm AWG16 18 e Grounding the grounding wire should be thick PE terminals of driver and servomotor should be eathed and their resistance is less than 1000 The terminal is employed wth SVM2 4 pre insulation coldpress to be connected firmly It should suggest that it is employed with three pahse isolation transformer to power on to avoid electric shock to person e t should be suggested that power supply is connected by noise filter to improve anti interference ability Install non fusing breaker to cut off external power supply timely when the driver is fault 2 Control signal CN1 feedback signal CN2 e Wire diameter it is employed with shield cable wire diameter 2
46. r is runnig setting range is too small range D The position proportional gain is too small QD Increase the gain Check the torque limit value D Torque is not enough Reduce the load capacity 3 Change it with driver and motor with big power D Instruction pulse frequency is too high D Reduce the frequency Connect with Circuit board fault D Change the servo driver 26 GSK CNC EQUIPMENT CO LTD DA98A User Manual overheated control power D Cable is broken Check the cable suppl Internal temperature relay of motor is PP T Check the motor damaged Reduce the load Q Reduce the on off frequency 3 Reduce the torque limit Motor is overloaded value Reduce the related gain Motor is running Change it with driver and motor with bigger power D Motor internal fault D Change the servo motor Reduce the load D Load is too big Change it with a driver and motor with bigger power D Check the load of machine Check the instruction Position Qut of D Motor is blocked to stop by machine pulse toleration f Input instruction pulse is abnormal Check whether the motor counter rotates according to overflow instruction pulse D Encoder connection is wrong D Check the connection D Encoder is damaged D Change the motor D Encoder cable is inferior erfect Change the cable QD Shorten the cable Encoder cable is too long
47. rm output CALM FX a 2 A N circuit 1 58 Servo ready output SRDY Response in Alarm clearing MM 10ms ALRS SON lt 10mS lt 10mS Servo motor power on Switch off after alarm Fig 7 3 Time sequence of alarm 7 2 Trial run 1 Check before running After instatllation and wiring check the following items before power on e Ensure the TB connection of power supply and the reliable input voltage is correct Whether the power line and the motor line are short circuit or grounded Ensure the connection of encoder cable is correct Ensure the connection of control signal terminal the power supply polarity and its voltage and current are correct e Ensure the driver and motor are fixed Whether the motor shaft is loaded 2 Trial run after power on A Trial run 1 Connect with CN1 to input controlling signals when the servo enabling SON is OFF connect with the power supply of control circuit no connection for master circuit the display of driver is ON and check the connection if the alarm occurs 2 Set the control mode selection parameter No 4 to the speed trial run set to 2 3 Connect with the power supply of main circuit 4 When the alarm does not occur and there is no abnormality ensure the servo enabling SON is ON at the moment the motor is powered with the speed of 0 5 Enter into the speed trial run by pressing key the prompt identifier is S and the un
48. s Enter key to enter into JOG run The prompt identifier J and the unit is r min The system is in speed control mode and its speed instructions are changed by keys After entering into JOG mode press and hold to make motor run in JOG mode release the key to make motor stop with 0 press and hold it to make motor run counterclockwise in JOG mode and release the key to make motor stop with the speed of 0 The speed in JOG mode is set by No 21 t J 120 Fig 6 10 Operating frame in JOG mode 6 7 Motor testing Select oL in the first layer and press Enter to enter into motor testing mode The prompt denfifier J and the unit is r min The system is in speed control mode with position limit value 268 435 456 pulses and its speed is set by No 24 After entering into motor testing mode press Enter and hold it for 2s to make motor run in testing mode Press land hold it for 26 to make motor stop with the speed of 0 Press lto switch off servo enabling to exit motor testing mode 6 8 Miscellaneous It is not available for the automatic gain adjustment which is being developed The encoder zeroing is executed when the motor runs without load otherwise it will affect the zero precision 36 GSK CNC EQUIPMENT CO LTD DA98A User Manual Run A Note The driver and the motor must be grounded and PE terminal of driver must be connected with the termin
49. s e sesse ee esse aea dine 34 0 5 Speed trial aile Ee AAA Rokon opreso Keko 36 72496 DA98A User Manual 60 JOG FI tcc 36 6 7 Motor testing a SAONO Ge Ee 36 6 8 WHS COM ku sI TR o 36 RUN 12 sd Lu 37 7 1 Power supply connection pm 37 12 Prial TEUR oe RE POA cb 39 LO duties EG PRECOR SENE 40 Specification AR RA EEN OE EE OO I RE 43 S I Driver specication irnos anase KE A AO Ee Op ONT Reg RE AG 43 8 2 Servomotor specification ssiri irar ok oe ske ds ode ke Gee dek de ke 44 8 2 Isolation transformeer ss esse sedes eed geseg redonda e oen nia iei ended 50 Order n ate RIO E A uA M C 56 9 1 Capacity Selection Ee Pvt rx RUHK eN ee Serena ERE CER ere e 56 9 2 Electronic gear PALM Os Eg 56 9 3 Stop characteristics uo ie Perla op iO pu Eae REL ANDOJ UOI RUDI EA Ge GO UR RUE 56 9 4 Servo and position controller computation method esses 57 VI DA98A User Manual Overview 1 1 Introduction AC servo technology has been advanced and improved since the early of 90 last century and applied to NC machine printing packing machinery textile machinery automatic production line and other automatic fields With high integration compact excellent reliability DA98A AC servo system is the first full digital one in China employed with the advanced digital signal processor DSP TMS320f2407A from America TI company large scale complex programmable logic device and MITS
50. servo driver alarms position 0 9999 x 17 toleration y 5 out of toleration when the counting value of position deviation 100 pulse detection counter exceeds the parameter value range Q Set Posi 0 The alarm of position out of toleration detection is valid osition 18 1 The alarm of position out of toleration detection is invalid and 0 2 error invalid stop the detection of position out of toleration error 2 Stop the detection of all alarm errors JOG running 3 3000 3000 21 Set the running speed in JOG mode speed r min D Set the integration time constant of current loop regulator The bigger the setting value is the faster the integration speed C i is and the smaller the error of current track is If the integration urren D time is too long noise or vibration may occure 22 integration time 0 9999 E It is related to the servo driver and motor and is not related to constan the load Generally the bigger the electromagnetism time constant is the samller the integration time constant Set the bigger load inertia if there is no vibration for system D Set max limit speed of servomotor 22 Max speed It is irrelevant to rotatory direction 0 4000 limit If the setting value exceeds the rated speed the actual max r min limit speed is the rated speed Motor testing A 24 D Set motor running speed in test mode 3000 3000 speed set C i QD Set proportional gain of current loop regulator urren
51. splay output terminal state 17 Display encoder input signal 18 Display running state 19 Display alarm code 20 Reservation Set control mode of driver by the parameter 0 Position control mode Control mode 2 Trial run control mode selection 0 5 3 JOG control mode 4 Motor zero adjusting mode 5 Motor testing mode D Set proportional gain of speed regulator Speed The bigger the setting value is the higher the gain is and the proportional bigger the rigidity is Parameter value is defined by specific servo 5 300HZ gain driver system type and load Generally the bigger the load inertia the bigger the setting value is Set the bigger value if there is no vibration for system D Set integraltion time constant of speed loop controller Speed The bigger the setting value is the faster the speed integration is ee d and the bigger the rigidity is Parameter value is defined by integration is 50 3000 specific servo driver system type and load Generally the bigger time constant the load inertia the smaller the setting value is Setthe bigger value if there is no vibration for system Speed regulator The smaller the setting value is the smoother the timing is 17300 input limiting Speed D Set speed detecting lowpass filter characteristics 20 2009 o detecting The smaller the setting value is the lower the cutoff frequency GSK CNC EQUIPMENT CO LTD
52. stant Actual load The limit value is valid anytime 35 i i 300 0 capacity If the setting value exceeds the permissive max load capacity of the system the actual torque limit is permissive max load capacity of the system Current l D Set cutoff frequency of current instruction lowpass filter instruction ent Itis used for limiting current instruction frequency band to avoid 36 lowpass filter k o 1 1500 toff current impact and vibration and to keep current response cuto smooth frequency 4 3 Type code parameter and motor No 1 parameter Servomotor type Driver type Remark 110STZ4 1 DA98A 08 110STZ4 1 Ui ENM 130STZ10 1 DA98A 14 130STZ5 1 130STZ6 1 DA98A 12 130STZ6 1 110ST MO2030H DA98A 06 110ST MO2030H 110ST M04030H DA98A 12 110ST M04030H 22 GSK CNC EQUIPMENT CO LTD DA9SA User Manual 1108 T M05030H DA98A 15 110ST M05030H 110ST M06020H DA98A 12 110ST M06020H 130ST M04025H DA98A 10 130ST M04025H 130ST M05025H DA98A 13 130ST M05025H 130ST M06025H DA98A 15 130ST M06025H 130ST M10015H DA98A 15 130ST M10015H 130ST M10025H DA98A 26 130ST M10025H 130ST M15015H DA98A 23 130ST M15015H 4 130SJT MO60C DA98A 12 130SJT MO60C 52 84 85 130ST M07720H DA98A 16 130ST M07720H 4127N1824E200 DA98A 4127N1824E200 130SJT MO50C DA98A 10 1380SJT M050C 130SJT MO40C DA98A 10 130SJT M040C 110SNMA2IE DA98A 04 110SNMA2IE 110SNMA4IE DA98A 08 110SNMA4IE 13
53. t caused by mistakenn voltage or polarity of power supply may occur Connection is permitted after stable installation of servo driver and servomotor Insulate and Protect from squeezing wires to avoid electric shock JN Caution Correctness and fastness of connection must be assured otherwise the motor will run in a mistakenn direction and the equipment may be damaged by loosen connection U V W terminals must not be connected reversely and connected with AC power supply Servomotor must be directly connected with servo driver without connecting of capacitance inductance or filter Protect conductive fastener and end of wire from entering servo driver Wires and non thermal protective objects are not permitted to approach to servo driver radiator and servomotor Freewheeling diode in parallel on output signal of DC relay must not be connected reversely Debugging Caution Stable assembly and fixation of servo driver and servomotor correctness of power voltage and cable connection must be assured before the power supply is switched on Servomotor should run in dry run mode while debugging Load debugging should be performed after the parameters are rightly set to avoid damage of machine and equipment caused by maloperation Usage AN Caution Emergency circuit should be connected to make the machine stop running immediately with power cut off when an
54. tage supply Connect with D Power voltage is too high main power D Check power supply 9 Waveform of power voltage is normal supply GSK CNC EQUIPMENT CO LTD DA98A User Manual Brake resistance connection is switched off Motor is running 5 Brake transistor is damaged f Change servo driver Internal brake resistance is damaged D Reduce on off frequency Increade acceleration deceleration time constant D Capacity of brake loop is not enough 9 Reduce torque limit value Reduce load inertia Change it with driver and motor with big power D Circuit board fault Connect with karo at power APE damang Change servo driver 3 Soft starting circuit fault main power Main circuit is supply Rectifier is damaged D Power voltage is low voltage Temporary power cut is more than 20mS D Power capacity is not enough Motor is runnin Instantaneous power down D Radiator is overheated D Check loading control power Circuit board fault DChange the servo driver supply Connecting with Motor lead wire U V W is not connected main power correctly Connect with D Connect the wire correctly supply and Cable lead wire of encoder is not connected control circuit correctly inputting instruction pulse D Encoder fault D Change the servo driver and the motor doesn t rotate toleration D The position out of toleration detecting Increase the detecting Moto
55. the track characteristic of position instruction is good and the lag error is small but there will be vibration when stopping positioning 40 GSK CNC EQUIPMENT CO LTD DA9SA User Manual 4 If the high characteristics of position track are required increase the setting value position feedforward gain But it is too big it causes the overshoot Note1 when postion propotion gain setting value is small the system is stable but characteristic of position track is bad and the lag error is big To use the high setting value postion propotion gain reduce the setting value speed instruction filter time constant parameter No 11 to avoid the overshoot Note 2 Refer to position proportional gain setting values as follows Rigidity postion propotion gain Low rigidity 58 118 Middle rigidity 118 138 High rigidity 138 198 2 Adjustment frame of basic parameters No 7 No 5 No 36 No 22 No 29 No 12 No 13 i Integration ins i Integration Position instruction n ase time Electronic Q constant constant gear S of proportion gain Speed testing filter Quadruple frequency No 8 Fig 7 4 Adjustment frame of basic parameters 2 Setting of position resolution and electronic gear The position resolution one pulse travel Al defines the travel AS of the servomotor per rev and feedback pulse P of encoder per rev and their relation is as follows Ape Pt Al travel per pulse
56. to cause the f Employ with multi core encoder voltage is too low parallel power up Check the control power supply Control power Change the driver D Internal connector assembly of driver is supply is ie 2 Check the connector inferior Input control power supply is low G Switch lv is ab assembly witch power supply is abnormal f i i 3 Check the switch power 8 Core is damaged supply Connect with IPM module is control power Circuit board is fault D Change the servo driver fault supply GSK CNC EQUIPMENT CO LTD 27 DA98A User Manual D Check the driver Power on again Change the driver D Driver U V W are short circuit D Check the connection Motor is running Ground is inferior Be grounded correctly D Motor insulation is damaged Change the motor Increase the circuit filter D Power up voltage is too low 2 Overheated D It is interfered x Be far away from the interference source Connect with control power Circuit board is fault DChange the servo driver supply D Check the load Reduce the on off frequency D Running exceeds rated torque to run 3 Reduce the torque limit value Overload Change with a driver and motor with bigger power Motor is running l Hold brake is not switched on D Check the hold brake Regulate the gain Increase the acceleration D Motor vibrates unstablely BM deceleration time
57. transformer specification Capacity KVA Input voltage V Output voltage V Three phase 1 2 ene Single 50 GSK CNC EQUIPMENT CO LTD DA98A User Manual i dd pa NEELS i sh 4 lx e d BS 120 contour and installation dimension GSK CNC EQUIPMENT CO LTD 51 DA9SA User Manual BS 200 contour and installation dimension 52 GSK CNC EQUIPMENT CO LTD DA98A User Manual Y d av 7 Ben pru ES BS 300 contour and installation dimension GSK CNC EQUIPMENT CO LTD 53 DA9SA User Manual BD 80 contour and installation dimension 54 GSK CNC EQUIPMENT CO LTD DA98A User Manual i
58. truction displacement and actual displacement I CR DR 1 ZD 6 CD DD ST ZM S actual displacement mm I instrution displacement mm 6 min unit of CNC mm CR instruction double frequency coefficient CD instrcution division frequency coefficient DR servo double frequency coefficient DD servo division frequency coefficient ST graduation per rev of servomotor ZD gear teeth of motor side ZM gear teeth of guide screw L guide screw pitch mm Generally S l the instruction value is equal to actual one 2 Max instruction speed of CNC d i max 60x CD F instruction speed mm min fmax Max output frequency of CNC Hz GSK980 is 128000 3 Max speed of servo DR V max Ninax x xL DD Vmax Max speed of worktable permitted by servo mm min Nmax Max speed permitted by servomotor r min Actual max speed of machine is limited by max speed of CNC and servo system 4 Min movement of machine tool a INT INT ck DR 1 ZD L CD DD m ST ZM a min movement of machine tool mm N natural number GSK CNC EQUIPMENT CO LTD 57 DA9SA User Manual INT X rounding INT min min integer 58 GSK CNC EQUIPMENT CO LTD MISTER SERBR IS al GSK CNC EQUIPMENT CO LTD Add No 52 1 Street Luochong North Road Luochongwei Guangzhou 510165 China Website http www gsk com cn E mail sale1 gsk com cn Tel 86 20 81 796410 81797922 Fax 86 20 81993683 All specificat
59. umerator instruction division frequency denominator 12 pulse division N motor rotating circles 1 9999 freguency C photoelectric encoder lines rev the system C 2500 numerator K Example J when input instruction pulse is 6000 when servomotor rotation is 1 G NxCx4 1x2500x4 5 P 6000 3 then parameter No 12 is set to 5 and No 13 is set to 3 amp Recommended range of electronic gear is 1 25 lt G lt 50 Position instruction 13 pulse division Refer to parameter No 12 1 9999 frequency denominator GSK CNC EQUIPMENT CO LTD DA9SA User Manual Position D Set instruction 15 0 normal 0 1 pulse reverse EM f UN 1 reverse direction of position instruction pulse direction D Set positioning complete pulse range in position control mode The parameter provides factors the driver judges whether the positioning is completed in position control When remainder a pulses in position deviation counter is less than or equal to Positioning setting value by the parameter the driver defaults that the 16 completed mM d 0 9999 pulse positioning is completed and the signal for it is COIN ON range otherwise it is COIN OFF Output positioning completing signal COIN in position control mode and output speed in position signal SCMP in other control mode Position tof Setthe alarm range of position out of toleration detection out of In position control mode
60. ut terminal Power supply t l CN1 8 Photoelectric coupling used for driving input positive of input COM Typel CN1 20 terminal terminal DC12 24V Current 100mA Input terminal of servo enabling SON ON enabling driver operating SON OFF close driver not to operate and motor is i in free state CN1 21 Servo enabling SON Typel t Note 1 The motor must be stationary before it is switched from SON OFF to SON ON Note 2 Waits for 50ms before inputting command after itis SON ON CN1 9 Alarm clearance ALRS Typel NC Servo ready output terminal SRDY ON the control power supply and the main power supply are normal the driver does not alarm Servo ready CN1 1 oa SRDY Type2 and the Servo Ready OK outputs ON outpu P SRDY OFF the main power supply is switched off or the driver alarms and the Servo Ready OK outputs OFF Servo alarm output terminal ALM ON the servo driver does not alarm and the Servo alarm servo alarm outputs ON ALM OFF the servo driver alarms and the servo alarm outputs OFF Control the public terminal of ground wire of signal CN1 16 output terminal output terminal except for CZ CN1 17 Output terminal of encoder Z Encoder Z Photoelectric encoder pulse Z of servomotor CN1 2 Type2 phase output output CZ ON signal Z appears Public terminal CN1 5 of encoder Z Public terminal of encoder Z output terminal phase CN1 18 Instruction pulse Type3 P CN1
61. when it is matched with our position controller Note 2 User can select feedback cable standard 3m when our servomotor is provided 2 Standard accessories of servomotor are provided according to servomotor user manual 1 3 Outline 1 Outline of servo driver Radiator 6 bit LED Pd oh N 9 bracket 3000 Panel DA98A series Cabinet GSR e e e 4 button Aw lt sd Power terminal TB Signal terminal CNI Feedback terminal Ay p uua m tne od jp Fig 1 1 Outline of driver GSK CNC EQUIPMENT CO LTD 3 DA98A User Manual 2 Outline of servomotor Fig 1 2 Outline of SJT series servomotor 4 GSK CNC EQUIPMENT CO LTD DA9SA User Manual Installation A Note Storage and installation must be a proper environmental condition Do not put many packing boxes in piles to protect from being damaged and fallen Products are employed with original packing boxes in delivery Products which are damaged or lacks some components must not be installed Products are installed with fireproofing and must not be installed on or near flammable to avoid fire accident Servo driver must be installed in electricity box to prevent dust corrosive air liquid conductors and inflammable substances from entering it e Protect the servo driver and servomotor from bei

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