MS-L3 Servo-Stepper Drive User Manual

MS-L3 Servo-Stepper Drive User Manual
Content
MS-L3 Servo-Stepper Drive
User Manual V1.2
All rights reserved
【Before use, please read this manual carefully to avoid damaging the drive】
I Product Profile.................................................................................................... 2
1 Overview ........................................................................................................... 2
2 Technical features .............................................................................................. 2
3 Applications ....................................................................................................... 2
4 Naming rules...................................................................................................... 2
II Electrical, mechanical, and environmental spec ............................................... 3
1 Electric spec ....................................................................................................... 3
2 Using the environment and parameters ............................................................. 3
3 Mechanical installation dimensions ( unit : mm) ............................................... 3
4 Enhance heat dissipation.................................................................................... 3
III Drive terminal and wiring introduction ........................................................... 4
1 Interface schematic diagram .............................................................................. 4
2 Terminal definition ............................................................................................ 4
IV Menu operation ................................................................................................ 6
1 Operation interface ............................................................................................ 6
2 Menu introduction ............................................................................................. 6
V YAKO warranty .............................................................................................. 12
1 Warranty for 12 months: ............................................................................... 12
2 Not covered under warranty: ........................................................................ 12
VI Version and change description ..................................................................... 12
MS-L3 Servo-Stepper Drive User Manual Version1.2
I Product Profile
MS-L3 Servo-Stepper Drive User Manual Version1.2

Six-digit LED display, user friendly for setting and monitoring
3 Applications
1 Overview
Suitable for high torque large automation equipments such as robots, engraving
MS-L3 series servo-stepper drive is the latest technology of YAKO. It
combines 32-bit DSP motor control technology and power angle control technology,
machine, stripping machine, marking machine, cutting machine, plotter, CNC
machine, automatic assembly equipment.
thus completely solved the problem of losing step.
MS-L3 increases high and low speed performance and torque utilization
efficiency, effectively reduce motor heat, thus to enhance machine's processing
efficiency/accuracy and reduce energy consumption. It has obvious advantage on
4 Naming rules
cost compared with traditional AC servo system.
2 Technical features









2
32 bit DSP control technology
Advanced lead angle and vector control algorithm;
Current automatically change according to load
Microstep settings: continuously changeable from 400 to 60,000
pulse per round
Suitable for 86~110mm (NEMA 34~42) close-loop motor
Photoelectric isolated signal input/output, high anti-interference
ability
200Kpps pulse response frequency
Input voltage range: AC220V
Fault protection: over current, over voltage, low voltage protection,
position warning
MS - L 3 - xx
①
② ③
④
①
Series code
Hybrid servo series (Servo-stepper)
②
Power rate
L:High power(AC220) S:Low power(AC80V)
③
Motor flange
size
④
Customize
number
3:86mm
4:110mm
1—99
MS-L3 Servo-Stepper Drive User Manual Version1.2
MS-L3 Servo-Stepper Drive User Manual Version1.2
II Electrical, mechanical, and environmental spec
3 Mechanical installation dimensions ( unit : mm)
1 Electric spec
MS-L3
Spec
Minimum
value
Typical
value
Maximu
m value
Unit
Continuous output current
0
-
6.0
A
Input power voltage
150
220
240
Vac
Logic input current
7
10
20
mA
Pulse frequency
0
-
200
kHz
Insulation resistance
500
MΩ
2 Using the environment and parameters
Cooling way
Air cooled
Environment
Try to avoid dust, mist and corrosive
gases
Temperature
0℃-50℃
Use environment
4 Enhance heat dissipation
Humidity
40-90%RH
Vibration
5.9 m/s2 Max
(1)Drives reliable operating temperatures are usually under the 60 ℃, the motor
Storage temperature
-20℃-+65℃
operating temperatures up to 80 ℃ or less;
Weight
Around 1500g
(2)Please use upright side mount when installing the drive, to form strong
convection on the surface of the heatsink. If necessary install a fan near the drive, to
forced cooling, guarantee drives in safe operating temperature range.
3
MS-L3 Servo-Stepper Drive User Manual Version1.2
III Drive terminal and wiring introduction
1 Interface schematic diagram
MS-L3 Servo-Stepper Drive User Manual Version1.2
2 Terminal definition
1)Power input terminal and output terminal for motor
Terminal
Abbreviation
number
Name
Definition
Power input
110V~220V AC
Connect with external
brake resistor or none
1
AC
2
AC
3
BRK+
Brake output+
4
BRK-
Brake output-
5
U
6
V
7
W
U, V, W correspond to
black, blue, brown or
correspond to red, blue,
black
8
NC
Not connected
9
PE
Motor cable
Grounding Terminal
Yellow-green line
2)Encoder feedback terminal
Encoder connection is provided by YAKO, use the encoder extension cord to
directly connecting the motor encoder and drive.
3)Control signal terminal
Control signal correspond as follows:
Terminal
Terminal name
number
4
Terminal description
3
5PU+
Pulse 5V positive input
4
PU-
Pulse negative input
19
24PU+
Pulse 24V Positive input
Introductions
Pulse signal
(Input signal)
MS-L3 Servo-Stepper Drive User Manual Version1.2
5
5DR+
Direction 5V positive input
6
DR-
Direction negative input
21
24DR+
Direction 24V positive input
11
5MF+
Enable 5V positive input
12
MF-
Enable negative input
27
24MF+
Enable 24V positive input
13
5CLR_A+
Deviation alarm clear 5V
positive input
14
CLR_A-
Deviation alarm clear
negative input
29
24CLR_A+
Deviation alarm clear 24V
positive input
9
PEND+
Position reached signal
positive output
10
PEND-
Position reached signal
negative output
7
ALM+
Alarm signals positive
output
8
ALM-
Alarm signals negative
output
16
A+
Encoder A channel positive
output
31
A-
Encoder A channel negative
output
18
B+
Encoder B channel positive
output
B-
Encoder B channel negative
output
32
5
Direction signal
(Input signal)
Enable signal
(Input signal)
Deviation alarm
clear signals
(Input signal)
MS-L3 Servo-Stepper Drive User Manual Version1.2
34
Z+
Encoder Z channel positive
output
35
Z-
Encoder Z channel negative
output
41
BK+
42
BK-
39
Z_OUT
Encoder Z collector open
output
22 33
GND
Signal ground
Motor brake positive output Brake control signal
Motor brake negative output (Output signal)
Encoder Z signal
single output
In order to avoid malfunction and deviation, PU, DR, MF should meet certain
requirements as follows shown:
Position reached
signal
(Output signal)
Alarm signals
(Output signal)
Encoder pulse
differential output
signal
5)Communication terminal
Not open to the public.
6)Status indicator
MS-L3 has six-digit LED display. When a drive has a malfunction, the drive
MS-L3 Servo-Stepper Drive User Manual Version1.2
MS-L3 Servo-Stepper Drive User Manual Version1.2
will stop, and displayed the corresponding faulty codes. When multiple faulty occur
page ▼ . Press confirm button ← once, to go to the next menu. Long press
at the same time, the fault code will display one by one. Drive saving the latest
return to the previous menu.
◀, to
failure in the drive's EEPROM according to the faulty queue, the drive can up to
save 10 recent history of faulty.
▼
menu
IV Menu operation
▼
dE-History of
▲
failure
1 Operation interface
▼
There are four touch buttons in MS-L3 buttons display panel, to realize of up
page, down page, shifting, cancel and confirm function, as shown in the following
▼
Sr–Test
EE-Parameter
▲
▲
management
▼
PA–Parameter
figure:
▲
settings
Buttons
Name
Function
▲
up page
Switch up in the menus at the same level or increase
parameter value
▼
down page
Switch down in the menus at the same level or decrease
parameter value
◀
shifting
Short press this key to shift in parameter set
cancel
Long press this key to return to the previous menu or cancel
the operation
confirm
Enter the next menu or to confirm the operation
←
dP–Display
dP–Display
▲
menu
1)System monitor menu items dP–
dP–Under this menu, there’re total 14 second-level items, you can monitor 11
system State. Under the first-level menu, press ▲ and ▼ to select dP–menu item,
and then press the ← to enter dP– menu secondary menu. Secondary menu as
2 Menu introduction
There are three levels for system menu. Level 1 menu contains 5 item, the
menu items can be switched up and down by button up page ▲ and button down
6
shown in the following table:
MS-L3 Servo-Stepper Drive User Manual Version1.2
Level
1
menu
dP -
Level 2
menu
Meaning
MS-L3 Servo-Stepper Drive User Manual Version1.2
07——Position deviation
protection
Remark
dP – VEr
dP – SPd
Motor speed (r/min)
dP – SPr
The given speed (r/min)
dP – PoS.
Current position high
( Feedback pulse number)
4
dP – PoS
Current position low
( Feedback pulse number)
4
dP – CPo.
Position command high 4 bit
( Pulse command number)
Input pulse measurement
units
dP – CPo
Position command low 4 bit ( Pulse
command number)
Input pulse measurement
units
dP – EPo.
Position deviation high 4 bit
Encoder
units
measurement
dP – EPo
Position deviation low 4 bit
Encoder
units
measurement
dP – I
Motor current (mA)
dP –buS
Drive busbar voltage(V)
dP –MtP
Motor type
Software version
After entering the secondary menu, by press ▲ and ▼ to select the item that
bit
bit
encoder
unit
measurement
encoder
unit
measurement
you want to view the status, and then press the ← button, the display shows the
status value. If you want to exit, press ◀ key.
2)Setting menu item PAPA- Menu has 63 second-level menu item, each second-level menu item
corresponds to a system parameter. Adjustable parameters are listed in the table, the
rest parameters are reserves. By press ▲ and ▼ to select the parameter that you
want to set, then press the ← key to enter parameter setup interface.
In the process of setting parameters, short press ◀ key to shift, by press ▲
and ▼ button to modify the value. the values displayed will not be applied
immediately, only after the user press the ← button, the values displayed are
effective. When you need to exit the parameter setting, please press ◀.
86 Motor; 110 Motor
PA values specification:
00——No alarm
01——Memory
error
dP – Err
Alarm code
02——Overvoltage
protection
04——Encoder fault
05——Overcurrent
protection(IPM)
7
read
Parameter
sequence
Parameter
name
Parameter
description
The
default
value
Range
PA-02
Operation
mode
selection
1 Open-loop
mode
2 Servo mode 0
2
1-2
PA-03
Initial
display state
0
0-11
0
Motor speed
(r/min)
Remark
MS-L3 Servo-Stepper Drive User Manual Version1.2
MS-L3 Servo-Stepper Drive User Manual Version1.2
1
The given
speed (r/min)
2 Current
position high
4 bit
3 Current
position low
4 bit
4 Position
command
high 4 bit
5 Position
command
low 4 bit
6 Position
deviation
high 4 bit
7 Position
deviation low
4 bit
8 Motor
current (mA)
9 Drive busbar
voltage(V)
10 Motor type
11 Alarm code
PA-06
E-gear ratio
numerator
PA-07
E-gear ratio
denominator
1600
1-60000
PA-08
Encoder
resolution
4000
4000
PA-09
Track error
alarm
thresholds
4000
1-65535
PA-10
Current loop
Kp
1000
0-65535
PA-11
Current loop
Ki
200
0-65535
PA-12
Current loop
Kc
256
0-1024
Variances
alert cleared
Changing the
direction of
the motor
rotation
0
0-1
Pulse
blocking
function
Release the
1
0-1
0
PA-13
CLR_ALM
function
select
1
0
4000
1-60000
When the
E-gear ratio
PA-14
MF function
setting
1
8
numerator
equal to the
encoder
resolution,
E-gear ratio
denominator
equal to the
microsteps
MS-L3 Servo-Stepper Drive User Manual Version1.2
MS-L3 Servo-Stepper Drive User Manual Version1.2
motor axis
0
PA-15
MF input
polarity
1
0
PA-16
ALM output
polarity
1
0
PA-17
Single and
double pulse
options
1
2
0
PA-18
9
Pulse
effective
edge
Enabled
when input
optic-coupler
is on
Enabled
when input
optic -coupler
is off
When alarm,
output
optic-coupler
is off
When alarm,
output
optic-coupler
is on
0
0-1
PA-19
PA-20
Motor
rotation
direction
1
Effective
when pulse
optic-coupler
from on to off
(falling edge)
0
Counter
clockwise
Clockwise
1
Impulse
bandwidth
filter
0
1
0-1
Pulse +
direction
(PU+DR)
Double pulse
(CW/CCW)
Orthogonal
(A/B)
0
0-2
Effective
when pulse
optic-coupler
from off to on
(rising edge)
0
0-1
Re-power
needed
PA-21
Position
reached
signal
(PEND)
output mode
1
Output
when absolute
position
deviation is
less than
PA-23
Output
when absolute
position
deviation is
less than
PA-23,
position
command
before the
filter is 0, and
after the time
set in PA-24
1
0-1
10
1-128
0
0-1
MS-L3 Servo-Stepper Drive User Manual Version1.2
0
PA-22
Position
reached
signal
(PEND)
level select
PA-23
The end
range of
positioning
PA-24
Positioning
completion
time
1
The unit is one
interrupted cycle
(62.5us)
0
PA-25
PA-28
10
Pulse
command
microstep
enable
Pulse
instruction
filter
When
position
reached,
output
optic-coupler
is on
When
position
reached,
output
optic-coupler
is off
1
Pulse
command
microstep
disable
Pulse
command
microstep
enable
MS-L3 Servo-Stepper Drive User Manual Version1.2
coefficients
0
0-1
5
1-100
10
0-1000
1
PA-31
Power-on
ramp time
5000
1-65535
PA-45
Starting
speed
50
0-65535Hz
PA-46
Acceleration
time
50
0-65535ms
PA-47
Deceleration
time
50
0-65535ms
PA-48
Target speed
1600
0-65535Hz
PA-49
Running
pulse
number
(high 2
bytes)
0
0-20000
PA-50
Running
pulse
number
(low 2
bytes)
1600
0-65535
PA-51
Interval
time
100
0-65535
PA-52
Repeat
times
10
0-65535
0
0-1
0-1
0
PA-53
256
1-512
Cyclic
running
1
Running back
and forth
Running in
single
Pulse
number =
high 2 bytes
*65536+
low 2 bytes
Unit:ms
MS-L3 Servo-Stepper Drive User Manual Version1.2
3)Parameter management menu item EE-
direction
Maximum current
for open loop
operation
MS-L3 Servo-Stepper Drive User Manual Version1.2
PA-56
Open-loop
current
percentage
PA-57
Closed-loop
basic
current
percentage
40
PA-58
Closed-loop
maximum
current
percentage
100
PA-60
Position
deviation
ratio factor
2048
0-65535
PA-61
Speed
deviation
ratio factor
409
0-65535
PA-62
Speed
feedback
coefficient
20
PA-64
Integral
coefficient
0
100
0-100
EE- Menu has 6 second-level menu item, as shown in the following table:
Level 1 menu
Level 2
menu
Function
EE-SEt
Write parameters, it would write parameters from
drive memory to EEPROM parameter area. If you
do not do this, the drive will restore to previous
value after re-power.
EE-rd
Parameters read, read EEPROM parameter data into
memory.
EE-bA
Parameter backup, write parameters from drive
memory to EEPROM backup area.
EE-rS
Restore the backup to memory. This operation does
not write parameter to EEPROM parameter area. If
users want to permanently use EEPROM backup
zone data, you need to perform write operations
(EE-SEt).
0-100
EE-dEF
Restore the default value of the parameter, it resets
all parameters to the default values are read into
memory and write to EEPROM.
0-10000
EE-ACL
Clearing the history fault
0-100
0-100
EE(Parameters
Management)
To save parameters, you need to do the following:
Note: 1 ) PA-17 need to be re-powered to be effective, others effective immediately.
1)
Find level 1 menu of EE-
2)
Enter to the level 2 menu of EE-SET
3)
Long press the ← button, StArt will be displayed on the screen. About 2
2)After parameter was changed, it is needed to save parameter by EE-SEt
menu, otherwise, the drive will restore to previous value.
11
MS-L3 Servo-Stepper Drive User Manual Version1.2
seconds later, appears FInISH, which represent the parameters
MS-L3 Servo-Stepper Drive User Manual Version1.2
V YAKO warranty
successfully saved.
1 Warranty for 12 months:
4)The running test menu item SrYAKO provide 12 months warranty from date of delivery for the product of
Level 1 menu
Level 2
menu
Sr- (Running test Sr-On
mode)
Sr-Off
Function
Test running started, motor running in
begin with a fixed speed
End test run, the motor stops running.
To view the latest 10 history of faults saved in drive EEPROM:
Level 2
menu
dE-1
dE-2
dE-3
dE-4
dE-5
dE-(Historical
troubleshooting) dE-6
dE-7
dE-8
dE-9
dE-10
12
the warranty period for defective products.
2 Not covered under warranty:
●Inappropriate wiring, such as power and motor cables reversed.
5)History fault display dE-
Level 1 menu
raw material and processing defects. YAKO provide free maintenance service during
●Unauthorized changes to internal components
●Beyond the electrical and environmental requirements
Function
●Environmental heat dissipation environment is too bad
VI Version and change description
Displays the latest fault code in dE-01;
Displays the second latest fault code in
dE-02;
…
V1.0 The initial version
V1.1 Modified PA-02 , PA-16 , PA-19 default parameters, modified PA-05
default to 40, modified PA-29 default to 6000.
V1.2 Modify the parameters to the same with MS-S3.
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