ALPHA AS100 AC Servo Drive User Manual
The AS100 Series AC Servo Drive is a high-performance servo system designed for use in a variety of applications, including numerically-controlled machine tools, printing and packaging machinery, textile machinery, and automatic production lines. The drive is equipped with a Digital Signal Processor (DSP), Complex Programmable Logic Devices (CPLD), and the latest IPM technology, giving it advantages of high integration, limited volume, comprehensive protection, and great performance. The optimum PID arithmetic is employed for regulation and control over the electric current loop, the speed loop, and the position loop with high speed and great precision. The AS100 is applicable to a wide range of applications.
Advertisement
Advertisement
Preface
Preface
We appreciate your support for choosing the AS100 Series AC Servo System of
ALPHA. This Manual is formulated to help you apply this product in a correct manner.
It introduces the naming rules, supporting recognition, wiring, utilization, parameter setting, precautions, and fault diagnosis of the servo drive and the motor.
AS100 Series AC Servo System consists of the AC drive and the permanent magnet synchronous servo motor. AS100 AC Servo Drive is equipped with Digital Signal
Processor (DSP), Complex Programmable Logic Devices (CPLD) and latest IPM, giving its advantages of high integration, limited volume, comprehensive protection, great performance, etc. The optimum PID arithmetic is employed for regulation and control over the electric current loop, the speed loop and the position loop with high speed and great precision. AS100 is applicable to numerically-controlled machine tool, printing and packaging machinery, textile machinery, automatic production line, etc.
For any problem encountered during the operation, please contact us or our dealers.
For sake of safety of yours and the product, please read this Manual before using our product and preserve the Manual properly for future use.
Special attention should be paid to safety specifications and warnings in the Manual as well as warning signs attached on the equipment while you read it for your safety and proper operation of the equipment to prolong its servicing life. In the course of operation, please pay special attention to running state of the driving machinery and inform yourself of all safety precautions.
1
Preface
Danger!
◆
This equipment is with hazardous voltage. Operations against warnings or this Manual may incur life risk and personal injury.
Therefore only professionals familiar with safety precautions are allowed to operate the equipment after completion of its installation.
◆
Power off during wiring and inspection. Do not touch the circuit board or any part before the indication light on the printed circuit board goes out or within 5 minutes since the keyboard display goes out. Perform operations within the machine only when completion of discharging has been confirmed by the special instrument to exclude hazard of electric shock.
◆
It is forbidden to connect the AC power supply to output terminal
U, V, W of the servo drive. Please perform earth connection of the grounding terminals of the servo drive in a correct and reliable manner in accordance with electric safety regulations of
IEC or other similar standards.
◆
It is forbidden to connect the AC power supply to servo motor U,
V, W, to avoid possible equipment damage or personal injury.
Warning!
◆
Unauthorized change to wiring within the machine or utilization of auxiliaries purchased from illegal manufacturers may incur fire disaster, electric shock or personal injury.
◆
As the static electricity from human body will cause serious damage to static electricity susceptible device, please do not touch the printed circuit board and IGBT module with your hands when anti-static precautions are not taken, or there may be a fault.
◆
Do not mount the servo drive and servo motor on incombustibles. If mounted on or around combustibles, the servo drive or servo motor may be exposed to fire disasters.
Caution!
◆
The servo drive shall be used along with compatible servo motor with supporting performance.
◆
Users who intend to employ their own servo motor should contact our technicians to make sure that such motor will run normally.
2
Preface
◆
Please make sure that all signs and tags are legible and fill in new tags for missing or worn ones.
◆
Please place the Manual where it is easily accessible and disseminate it to all users for reading.
Our Company reserves the right to modify this Manual without notice; for any doubt or problem, please do not hesitate to contact us or our dealers; feedbacks are appreciated by us.
3
Contents
Contents
2.1 Outline Dimension and Installation Dimension of Servo Drive ..................... 12
2.2 Installation Site Requirements and Management ........................................... 12
2.6.3 Communication Signal Wiring CN3/CN4 ............................................... 26
2.8 Standard Wiring Diagram of Servo Drive ...................................................... 27
3.1 Introduction to Operation and Display Interface ............................................ 40
3.2.1 Shift between Function Code Groups...................................................... 41
4
Contents
4.1.1 The Checking Points Before Trial Operation .......................................... 50
4.1.2 The Checking Points During Operation .................................................. 51
4.1.3 Commissioning When Connecting to Power .......................................... 51
4.3.3 The Setting of Electronic Gear Ratio ...................................................... 58
6.5 Position Control Parameters (Group P04) .................................................... 102
6.6 Speed Control Parameters (Group P05) ....................................................... 106
6.7 Torque Control Parameters (Group P06) ...................................................... 109
6.8 MODBUS Communication (Group P07) ..................................................... 110
6.9 Parameters of Origin Search and Multistage Position (Group P10) ............. 111
6.10 Parameters of Multistage Speed Function (Group P11) ............................. 120
7.2 Diagnosis of Malfunctions and Correction ................................................... 126
8.1.3 Regular Replacement of Devices .......................................................... 141
5
Contents
Annex 1 Appearance Dimensions and Installation Dimensions of Drive ................ 145
Annex 3 Matching Selection of Servo Motor and Drive (220V series) ................... 151
Annex 4 Matching Selection of Servo Motor and Drive (380V series) ................... 152
Annex 7 MODBUS Communication Protocol ........................................................ 155
6
Chapter I Purchase Inspection
Chapter I Purchase Inspection
1.1 Unpacking Inspection
The servo drive system has been tested and checked strictly before delivery. However, please check the purchased product of the following items to avoid unnecessary mistakes during purchasing and transport.
Whether the purchased product is the expected one: for this, the product model on the nameplates of the motor and drive should be checked with reference to model description outlined in the next section.
Whether the motor shaft rotates in a smooth manner: for this, manually rotate the motor shaft to see whether it is able to run smoothly. If yes, it is deemed normal.
However, the inspection manner of manual rotation is not applicable to the motor with an electromagnetic holding brake.
Damage inspection: for this, conduct visual inspection on the product for damage or scratching.
Unreliable screws: check whether any screw is not fixed in a reliable manner or is loosening.
In any of above mentioned cases, do not hesitate to contact the dealer for problem solving.
Operable complete servo components include:
Name
Servo motor
Servo drive
Motor power line connector
Encoder signal line connector
Spring opener
Instruction Manual
Qty.
1
1
1
1
2
1
Unit
Set
Set
Set
Set
Pcs.
Copy
Remarks
Standard configuration: one 4P aviation plug, one 4P quick connector. Optional power cable
Standard configuration: one 15P aviation plug, one DB15 RP-SMA
Male
Optional coder signal line
Standard configuration: for spring connector wiring
7
Chapter I Purchase Inspection
Name
SCSI 50P connector
5P quick connector
Qty.
1
1
Unit
Pcs.
Pcs.
Remarks
Standard configuration: for I/O cable connection
Standard configuration: for drive’s input power supply wiring
MINI DIN 8P communication connector
Optional configuration: for communication cable wiring
Note:
aforesaid components may vary with different powers of the drives. The specific configuration should be determined based on the packing list within the packing box.
1.2 Naming Rules
Naming rules of the servo drive are as follows:
AS100 A - 5R5 M2 U
Series Code
Alpha Servo 100
Series
Model Code
A: standard model (analog and pulse command with RS485)
B: standard model with RS232
C: standard model with CAN
Encoder Type
U: 2500CPR standard inc. Enc.
V: 2500CPR wire-saving inc. Enc.
W: 20-bit inc. Enc.
A: 17-bit absolute Enc.
Input Voltage
S2: Single-phase 220V
T2: Three-phase 220V
T3: Three-phase 380V
M2: Single/three-phase 220V
Rated Output Current
2R8: 2.8A 3R8: 3.8A 5R5: 5.5A
7R6: 7.6A012: 12A 3R5: 3.5A
5R4: 5.4A 8R4: 8.4A
8
Chapter I Purchase Inspection
Naming rules of the servo drive are as follows:
ASMG – R75 B 20 U 2 P
① ② ③
④ ⑤ ⑥ ⑦
①
Series Code
:
ASMG=Medium Inertia AC Servo Motor of Alpha
ASMH=High Inertia AC Servo Motor of Alpha
ASMS=Low Inertia AC Servo Motor of Alpha
②
Output Power
:
Three figures or two figures plus R (decimal point) are employed to represent the rated output power of the motor, which is in KW. e.g.: R75 refers to 0.75KW, 1R0 to 1.0KW, and 1R5 to 1.5KW.
③
Voltage class
:
One letter is used to represent the voltage class.
A=100V, B=220V, C=380V.
④
Rated Speed
:
Two figures are used to express rated speed. To be specific, rated speed= the double digit × 100, in rpm.
⑤
Encoder Type
:
Encoder type is represented by one letter.
U: 2500 CPR standard incremental encoder
V: 2500 CPR wire-saving incremental encoder
W: 20-bit serial incremental encoder
A: 17-bit serial absolute encoder
⑥
Design Sequence:
Design sequence is represented by a figure or a letter.
1=standard S-type design, 2=standard E-type design, others: non-standard designs
9
Chapter I Purchase Inspection
⑦
Option
Option is represented by a letter.
Option code
No oil seal
No brake
Circular shaft (with screw holes )
Keyway
Keyway (with screw holes )
A
E
P
1.3 Servo Drive Nameplate
No oil seal
With brake
With oil seal
No brake
With oil seal
With brake
B
F
Q
C
G
R
D
H
S
Model of Servo drive
Specification of input power supply
Specification of output power supply
Serial No.
Date of Manufacture
Fig. 1-1 Servo Drive Nameplate
1.4 Servo Motor Nameplate
Model of Servo motor
Specification of input power supply
Specification of output power supply
Serial No.
Fig. 1-2 Servo Motor Nameplate
10
Chapter I Purchase Inspection
1.5 Servo System Constitution
1
Ф/3Ф
220V/380V
Circuit Breaker
EMC filter
AS100 series
Servo Driver
Communication
Cable
PC
Magnetic
Contactor
Ext. Brake Resistor
(Remove the jumper between B2 and + when this resistor is used)
Motor
Drive
Cable
I/O Cable
Encoder
Feedback
Cable
Motion controller
ASM Servo Motor
Fig. 1-3 Servo System Constitution
11
Chapter II Installation and Wiring
Chapter II Installation and Wiring
2.1 Outline Dimension and Installation Dimension of Servo Drive
See Appendix 1 for details on outline dimension and installation dimension of servo drive.
2.2 Installation Site Requirements and Management
Caution
•
Do not exert any force on the operation panel and the cover plate in the course of handling; otherwise the falling of the servo drive will result in personal injury or property loss.
•
The servo drive shall be installed in a position capable of bearing its weight; otherwise the falling of the servo drive will result in personal injury or property loss.
•
Do not install the drive around a water pipe and other positions that may suffer water splashing; otherwise it may entail the risk of property loss.
•
Do not make such foreign matters as screws, gaskets and metal bars fall into the servo drive; otherwise it may result in fire and property loss.
•
Do not install or use the servo drive if it is damaged or its components are incomplete; otherwise it may result in fire and personal injury.
•
Do not install the drive in a place with direct sunlight; otherwise it may entail the risk of property loss.
•
The main circuit terminal and the conductor terminal must be firmly connected; otherwise it may entail the risk of property loss.
•
Do not connect the input power cord to the output ends U, V and W; otherwise it may entail the risk of property loss.
•
Please connect the output ends U, V and W to the three-phase input of the motor in proper phase sequence; otherwise the motor will operate in an abnormal manner.
•
Do not directly connect the braking resistor between the (+) and (-) terminals of the DC bus; otherwise it may cause fire and property loss.
•
The short circuit line must be connected between B2 and + terminal when using an internal braking resistor; otherwise it may cause fire.
12
Chapter II Installation and Wiring
2.2.1 Installation Site
The IP code of AS100 servo drive is IP20, and the installation site shall meet the following requirements:
Keep the indoor environment well ventilated;
Do not install the drive on a wood material or other combustibles;
Avoid direct sunlight;
Do not install the drive in a place with inflammable, explosive and corrosive gases or liquids;
Keep it free of dust, oily dust, floating fiber and metal particles;
The installation base shall be firmly secured to prevent vibration;
Electromagnetic interference and other interference sources shall be avoided.
If the altitude is over 1,000m, the thin air may result in poorer radiating effect, please lower the rated output. The altitude increases 1,000m, 6% of the rated output shall be lowered.
2.2.2 Ambient Conditions
Temperature range: 0
℃
~45
℃
. Please lower the rated output if the temperature is above 45
℃
. The highest temperature is 60
℃
(idle running);
Humidity range: 5%~95% RH; no condensed water droplets or rainwater dripping;
Vibration: below 4.9m/s
2
.
2.2.3 Preventive Measures
During installation, please put a dust shield on the servo drive cover. Do not make any metal fragments produced during drilling and other operations fall into the servo drive.
Upon the completion of installation, remove the dust shield.
2.3 Installation Direction and Space
The standard installation requirements are as follows: the drive shall be installed in a well-ventilated electric control cabinet. As for the installation modes, bottom plate installation or panel installation shall be selected. The structure of the servo drive is not protected, thus the drive must be installed in a well-protected electric cabinet; moreover, measures shall be taken to avoid contacting with corrosive and inflammable gases and to prevent conductive objects, metal dusts, oil fog, and liquid from entering the drive, as shown in Fig. 2-1:
13
Chapter II Installation and Wiring
Fan
Above
40mm
Fan
Above
100mm
Above
40mm
Above
100mm
Fig. 2-1 Installation Direction and Space
To achieve good cooling and circulation effects, adequate space must be reserved between the upper, lower, left and right parts and the adjacent objects or baffle plates (wall).
If it is installed side by side, it is recommended to reserve a spacing of above
10mm between adjacent articles. A spacing of above 40mm should be reserved for two horizontal sides, and a spacing of above 100mm should be reserved for two longitudinal sides.
The product is a precision device, so do not make it fall or suffer strong impact in the process of installation, please.
Do not obstruct the air intake and air outlet; otherwise it will cause failure.
Please install a fan for cooling in the upper part of the servo drive. To ensure that the temperature around the drive will not rise continuously, the temperature in the electric cabinet must be kept uniform.
2.4 EMC Installation Conditions
Before delivery, the servo drive has been strictly tested in accordance with the requirements of IEC61000-4, IEC61000-3-2-2000, IEC61000-3-4-1998 and
14
Chapter II Installation and Wiring
GB/T17626.2-6. In order to avoid any possible influence of external strong electromagnetic interference source, to ensure normal operation of the servo system, and to prevent the adverse impacts of the actions of the high -frequency electronic switch on the sensitive equipment nearby, the following EMC measures should be taken during the installation of the servo system:
Install the servo drive in a shield box;
Ensure that the servo drive and the servo motor are reliably grounded;
The input and output signal cables shall be shielded twisted pair, and ferrite beads
(winding two coils) shall be used;
The encoder cables shall be shielded twisted pair, and ferrite beads (winding one coil) shall be used;
The main circuit cables shall be shielded cables if possible, and the shielding layer shall be reliably grounded.
2.5 Main Circuit Terminal Wiring
Fig. 2-2 Main Circuit Terminal Interface
15
Chapter II Installation and Wiring
Table 2-1 Function and Description of Main Circuit Terminal
Terminal Code
L1, L2, L3
LC1, LC2
B1, B2, +
U, V, W
PE,
Terminal Name and Function Description
Main circuit power supply input terminal:
The drive shall be connected to three-phase 220V or three-phase
380V or single-phase 220V power supply according to different models; as for single-phase input, it can only be connected to L1 and L2 terminals, and L3 shall not be wired; the drive of some model are applicable to three-phase 220V and single-phase 220V power supplies, and the single-phase power supply should be connected to L1 and L3 terminals. Refer to the nameplate of the drive for detailed information about the power supply specification.
Control power supply input terminal:
220V series drive: AC 220V (+/-15%), 50/60HZ
380V series drive: AC 380V (-15%~+10%), 50/60HZ
External braking resistor connecting terminal:
If a built-in braking resistor is used, B2 and + are in short connection;
If an external braking resistor is used, the external braking resistor is connected to B1 and + end, and the jumper between B2 and + shall be removed.
Three-phase AC output terminal: connected with U, V and W of the servo motor
Grounding terminal: connected with the power supply grounding terminal and the motor grounding terminal
Notes:
the figure shows the terminal arrangement for 220V5.5A drive; the terminal arrangement for drives of other specifications may be different from this; the actually marked terminal code shall prevail.
Wiring Steps for Spring Type Main Circuit Terminal:
Take the spring type main circuit terminal from the servo drive.
Strip the insulating layer of the wire to be connected as shown in the figure.
16
Chapter II Installation and Wiring
Use proper wire noses, and press it on the wire of which the insulating layer is stripped with a proper crimping tool.
Insert the wire of the terminal connector into the opening on the hole with a tool.
Two methods may be applied:
■
Use a spring opener: operate as shown in the illustrations.
■
Use a slotted screwdriver: operate as shown in the illustrations.
Notes:
the actually used connector may be totally different from that of the connector as shown in the figures in appearance. Please note that during the actual operation.
17
Chapter II Installation and Wiring
Typical Wiring Diagram of Main Circuit
●
Single-phase/three-phase 220V Power Supply
:
Notes:
AS100A-1R6M2U and AS100A-2R8M2U do not have a jumper between B2 and +.
The above figure is applicable to the following drives:
AS100A-1R6M2U AS100A-2R8M2U
AS100A-5R5M2U AS100A-7R6T2U
AS100A-3R8M2U
AS100A-012T2U
18
●
Three-phase 380V Power Supply:
Chapter II Installation and Wiring
Notes:
the above figure is applicable to the following drives:
AS100A-3R5T3U AS100A-5R4T3U AS100A-8R4T3U
19
Chapter II Installation and Wiring
2.6 Control Circuit Terminal Wiring
2.6.1 Encoder Single Wiring CN1
Encoder terminal
W+
6
U-
1
A+
2
W-
V+
GND
V-
14
+5V
10
B-
5
U+
15
GND
PE
CN1 Plug Welding
Terminal Arrangement
Fig. 2-3 Encoder Signal Interface
(CN1)
Table 2-2 Function and Description of Encoder Signal Terminal
Classification
Terminal
No.
Terminal
Grade
Signal Name Function
Pulse signal input
CN1-1
CN1-2
CN1-3
CN1-4
CN1-5
CN1-6
CN1-7
W+
W-
V+
V-
U+
U-
Z+
Encoder W+ phase input
Encoder W- phase input
Encoder V+ phase input
Encoder V- phase input
Encoder U+ phase input
Encoder U- phase input
Encoder Z+ phase input
Motor encoder W+ signal interface
Motor encoder W- signal interface
Motor encoder V+ signal interface
Motor encoder V- signal interface
Motor encoder U+ signal interface
Motor encoder U- signal interface
Motor encoder Z+ signal interface
20
Chapter II Installation and Wiring
Classification
Terminal
No.
Terminal
Grade
Pulse signal input
5V power supply ground
5V power supply
CN1-8
CN1-9
CN1-10
CN1-11
CN1-12
CN1-13
CN1-14
CN1-15
Z-
B+
B-
A+
A-
GND
+5V
GND
Signal Name
Encoder Z- phase input
Encoder B+ phase input
Encoder B- phase input
Encoder A+ phase input
Encoder A- phase input
Board +5V power supply ground
The board supplies +5V power for the encoder
Board +5 V power supply ground
Function
Motor encoder Z- signal interface
Motor encoder B+ signal interface
Motor encoder B- signal interface
Motor encoder A+ signal interface
Motor encoder A- signal interface
+5V 200mA
21
Chapter II Installation and Wiring
2.6.2 I/O Signal Wiring CN2
I/O terminal
AI
5
7
PULS+
8
PULS-
11
DIR+
DIR-
13
VPP
BRK-
BRK+
15
16
17
19
PZO+
PZO-
20
DO4
23
24
25
2
1
27
26
D03-
29
30
DO1+
DO1 -
31
DO2+
32
DO2-
33
PAO+
34
PAO-
35
36
PBO+
PBO-
40
41
DI6
42
DI3
DI4
DI2
+24VIN
DI7
49
50
Z-OUT+
Z-OUT-
CN2 SCSI 50P Plug Welding
Terminal Arrangement
Fig. 2-4 I/O Signal Interface (CN2)
Table 2-3 Function and Description of I/O Signal Terminal
Classification
Terminal
No.
Terminal
Grade
Digital Input
CN2-47
CN2-40
CN2-44
+24VIN
DI1
DI2
Signal Name
Input terminal power supply positive lectrode
Default unction:
Servo enable
S-ON
Default Function:
Function
Used to drive the input optocoupler,
DC+12-24V, the current is larger than 100mA
DI1~DI7 are programmable digital inputs; the input functions and effective level can be adjusted
22
Chapter II Installation and Wiring
Classification
Digital Input
Digital
Output
Terminal
No.
Terminal
Grade
Signal Name Function
CN2-42
CN2-43
CN2-15
CN2-41
CN2-48
CN2-29
CN2-30
CN2-31
CN2-32
CN2-25
DI3
DI4
DI5
DI6
DI7
DO1
DO2
DO3
Alarm clear ALM-RST
Default Function:
Reverse travel limit N-OT
Default Function:
Forward travel limit P-OT
Default Function: clear position error CLR
Default Function:
position pulse inhibit PINH
Default
Function:
Second electronic gear ratio GR2 through parameter settings. The possible input functions include:
0: Servo enable (S-ON)
1: Alarm clear
(ALM-RST)
2:Reverse travel limit
(N-OT)
3: Forward travel limit
(P-OT)
4: Clear position error
(CLR)
5: Position pulse inhibit
(PINH)
6: Second electronic gear ratio (GR2)
9: Zero clamp under analog speed mode
(ZCLAMP)
10: Shift change under internal speed mode
11: Shift change under analog speed mode
13: Forward start under analog speed mode
14: Reverse start under analog speed mode
15-18: Multi-stage selection CMD1-CMD4
19: Origin search enable
SHOM
20: Origin switch signal
OrgNear
Servo ready
S-RDY+ /
S-RDY -
Servo alarm
ALM+ / ALM -
Positioning
DO1~DO4 are programmable digital outputs; the output functions and effective level can be adjusted through parameter settings. The possible
23
Chapter II Installation and Wiring
Classification
Terminal
No.
Terminal
Grade
Digital
Output
Pulse Input
CN2-26
CN2-23
CN2-24
CN2-16
CN2-17
CN2-7
CN2-8
CN2-11
CN2-12
CN2-13
DO4
BRK-
BRK+
PULS+
PULS-
SIGN+
SIGN-
VPP
Signal Name Function
completion/speed coincidence
P_CMP+ /
P_CMP-
Origin search completion
Home+/Home-
Holding brake output
Command pulse
PULS+
Command pulse
PULS-
Symbol pulse
SIGN+
Symbol pulse
SIGN-
External power supply when single-end pulse input input functions include:
0: Servo ready
1: Servo alarm
2: Positioning completion/speed coincidence
3: Origin search completion
Output form: OC output
Maximum output:
DC60V 40mA
Used to control servo motor mechanical holding brake.
Maximum rated value:
DC100V 0.4A
The external command pulse input terminal receives differential input signals. The following input methods can be used for parameter settings:
1) Command pulse + symbol pulse mode
2) CCW/CW command pulse mode
3) Two-phase (A,B) command pulse mode
If the pulse input is single-end signal, the rated input voltage of the positive electrode of the external power supply is
DC24V, and the maximum allowable value is DC35V
24
Chapter II Installation and Wiring
Classification
Terminal
No.
Terminal
Grade
CN2-49 Z-OUT+
Signal Name
Z pulse output
Pulse Output
CN2-50 Z-OUT-
CN2-19 PZO+
CN2-20 PZO-
CN2-33 PAO+
CN2-34 PAO-
CN2-35 PBO+
CN2-36 PBO-
Z pulse output
A pulse output
B pulse output
Analog Input
CN2-6
CN2-5
GND
AI
Function
Encoder origin signal Z open collector signal output
Encoder divider pulse output A,B (90°phase difference pulse)
And Z (origin pulse) signal. Differential signal output
Analog input reference ground
Analog command input
+
Input 0~±10V, as external analog reference of rotating speed or torque. ±10V rated rotating speed of associated motor or rated torque of motor.
25
Chapter II Installation and Wiring
2.6.3 Communication Signal Wiring CN3/CN4
3
6
7
4
1
2
8
5
CN4
Communication terminal
3
6
7
4
1
2
8
5
CN3
Fig. 2-5 Communication Signal Interface (CN3/CN4)
Table 2-4 Function and Description of Communication Signal Terminal
CN3 Pin No.
1 2 3 4 5 6 7 8 Shell
Definition
GND Retain Retain RS485+ RS485- Retain Retain +5V PE
CN4 Pin No.
1 2 3 4 5 6 7 8 Shell
Definition
GND NC NC RS485+ RS485- NC NC +5V PE
Notes:
1. The RS485 interfaces of CN3 and CN4 are actually in parallel connection, and have the same address and functions;
2. The retained pin of CN3 is used by the manufacturer as the CLPD programming interface. Please do not connect it with external circuits;
3. NC means “Not Connected”.
26
Chapter II Installation and Wiring
2.7 Basic Block Diagram of Servo System
+ B2 B1
Ext. Brake Resistor
3 ~ 220V
EMC Filter
+24V
Servo Motor
L1
L2
L3
Varistor
Surge Arrester
U
V
W
PE
M
PE
ENC
LC1
LC2
Varistor
SMPS
Relay
Drive
+/- 15V
+5V
+15V x 4
-8V x 4
+24V
Voltgae
Detect
A/D
Gate Driver
Temperature
Detect
A/D
PWM
Current Detect
CN2
Position Command
Speed Command
Torque Command
Digital Input
Digital Output
Encoder Pulse Output
CN3
RS485
A/D
DSP
Data Bus
CPLD
Position
Loop
Speed
Loop
Current
Loop
A/D
Encoder
Signal
Processing
CN1
RS485
CN4
ESC SET
Display & Touch Panel
Fig. 2-6 Basic Block Diagram of Servo System
2.8 Standard Wiring Diagram of Servo Drive
The standard wiring diagrams of the servo system under position mode, speed mode and torque mode are as follows:
27
Chapter II Installation and Wiring
NFB MC
L1
L2
L3
LC
1
CN2
Position command pulse
2
8
PULS-
SIGN+
11
12
External power supply
DC12-24V
SIGN-
CN2
3.3K
DI1 (S-ON)
40
3.3K
DI2
(ALM-RST)
44
3.3K
DI3 (N-OT)
42
3.3K
DI4 (P-OT) 43
3.3K
DI5 (CLR)
15
3.3K
DI6 (PINH)
41
3.3K
DI7 (GR2)
48
U
V
W
PE
Motor
Encoder
CN1
CN2
33
PAO+
34
PAO-
35
PBO+
36
PBO-
19
PZO+
20
PZO-
49
Z-OUT+
5
0
Z-OUT-
25
ALM
BRK+
2
16
K
BRK-
Home+
Home-
Fig. 2-7 Standard Wiring Diagram under Position Mode
28
Chapter II Installation and Wiring
NFB MC
L1
L2
L3
LC
1
LC
CN2
AI
2
5
Speed reference
Low-pass filter
GN
6
D
AD
External power supply
DC12-24V
CN2
DI1 (S-ON)
40
3.3K
DI2 (ALM-RST)
44
3.3K
DI3 (N-OT)
42
3.3K
DI4 (P-OT)
43
3.3K
DI5 (SC1)
15
3.3K
DI6 (SC2)
41
3.3K
U
V
W
PE
Motor
Encoder
CN1
CN2
33
PAO+
34
PAO-
35
PBO+
36
PBO-
19
PZO+
20
PZO-
49
Z-OUT+
50
Z-OUT-
ALM+
25
ALM-
V_CMP
2K
16
Fig. 2-8 Standard Wiring Diagram under Speed Mode
29
Chapter II Installation and Wiring
NFB MC
L1
L2
L3
LC
1
LC
CN2
AI
2
5
Torque reference
Low-pass filter
GN
D
6
External power supply
DC12-24V
CN2
AD
DI1 (S-ON)
40
3.3K
U
V
W
PE
Motor
Encoder
CN1
CN2
33
PAO+
34
PAO-
35
PBO+
36
PBO-
19
PZO+
20
PZO-
49
Z-OUT+
50
Z-OUT-
3.3K
DI3 (N-OT)
42
3.3K
DI4 (P-OT)
43
3.3K
15
3.3K
41
3.3K
48
ALM+
Fig. 2-9 Standard Wiring Diagram under Torque Mode
30
±15V
Chapter II Installation and Wiring
2.9 Interface Circuit Principle
The I/O signal of the servo drive and the interface circuit connection of the host device are as shown in Fig. 2-10 to Fig. 2-17:
Analog Input Circuit
The I/O interface CN2 of the drive has one loop of analog input (0~±10V), as the speed command or torque command signals; the signal specification is as follows:
The maximum allowable voltage is ±15V and the input impedance is approximately
30kΩ.
Servo drive
AI1 10k
+
20k
GND
Fig. 2-10 Analog Input Circuit
Digital Input Circuit
If the host device is relay output:
Servo drive
External power supply
+24VIN
DC12-24V
3.3k
DI1
3.3k
Fig. 2-11 Digital Input Circuit (a)
31
Chapter II Installation and Wiring
(1) The user shall provide the power supply DC12-24V >50mA
(2) If the polarity of the power supply is reversed, the drive will not respond to the signal.
If the host device is open collector output:
Servo drive
External power supply DC12-24V
+24V
IN
3.3k
DI
1
3.3k
Fig. 2-12 Digital Input Circuit (b)
Digital Output Circuit
IF the host device is relay input:
Servo drive
S-RDY+
External power supply
DC12-24V
DO1
S-RDY-
Fig. 2-13 Digital Output Circuit (a)
(1) The user shall provide the power supply DC12-24V. If the polarity of the power supply is reversed, the drive will damaged.
(2) The maximum rated value of the open collector output of the drive is DC60V
40mA.
(3) DO1~DO4 are open collector outputs.
32
Chapter II Installation and Wiring
(4) A freewheeling diode must be installed and the polarity must be correct; otherwise the drive will be damaged.
If the host device is OC input:
Servo drive
S-RDY+
DO1
S-RDY-
DC5-24V
Fig. 2-14 Digital Output Circuit (b)
Pulse (Position Command) Input Circuit
The position command pulse of the host device has two types: differential drive (line drive) and open collector drive (single-end drive).
(1) The differential drive is a signal transmission mode that is not easy to be interfered by noise and the highest input pulse frequency is 500 kHz;
(2) To accurately transmit the quantity of pulse, differential drive is recommended;
(3) Under the differential drive mode, AM26LS31 or line drive circuit with similar functions should be used;
(4) If single-end drive mode is used, the highest frequency of the transmitted signal pulse is 200 kHz.
33
Chapter II Installation and Wiring
Servo drive
PULS+
100
3.3k
PULS-
SIGN+
100
3.3k
SIGN-
Fig. 2-15 Pulse Differential Drive Input Circuit (a)
Servo drive
+24V
VPP
3.9k
PULS-
3.9k
SIGN-
Fig.
2-16 Pulse Single-end Drive Input Circuit (b)
34
Chapter II Installation and Wiring
Timing Requirements for Pulse Input:
Parameters
t t t ck t t h l t rh t rl t s qck qh t ql t qrh t qrl t qs
Differential Drive Input
>2μs
>1μs
>1μs
<0.2μs
<0.2μs
>1μs
>8μs
>4μs
>4μs
>0.2μs
>0.2μs
>1μs t s t ck
90%
PULS
10% t rh t rl
90%
SIGN
10%
CW t rh t s t l
CCW t rl t s
CW
Sequence Diagram of Pulse + Direction Input
Interface (maximum frequency 500 KHz)
Single-end Input Drive
>5μs
>2.5μs
>2.5μs
<0.3μs
<0.3μs
>2.5μs
>10μs
>5μs
>5μs
<0.3μs
<0.3μs
>2.5μs
35
Chapter II Installation and Wiring t h t ck
90%
PULS
10% t l t s
90%
SIGN
10%
CCW t r t rl
CW
Interface (maximum frequency 500 KHz)
t qc t qh k
90%
PULS
10% l t q t qr t q t l qr t h s
90%
SIGN
10% s q l t qr t qr
CW
Sequence Diagram of Two-phase Quadrature Pulse Input
Interface (maximum frequency 300 KHz)
36
Chapter II Installation and Wiring
Encoder Pulse Divider Output Circuit
Servo drive
PAO+ (PBO+, PZO+)
Host device
PAO- (PBO-, PZO-)
Fig. 2-17 Encoder Pulse Divider Output Circuit
37
Chapter II Installation and Wiring
2.10 Holding Brake Wiring
The power supply connection for the servo motor holding brake (mechanical brake) has no polarity requirements, the DC power supply shall be provided by users.
The standard wiring for brake signal (BRK) outputted by the drive and the brake power supply are shown in Fig. 2-17:
NFB Motor MC
L1
U
L2
V
L3
W
LC1
PE
LC2
CN1
Encoder
Brake
Brake power supply
KB
BRK+
2K BRK-
KB
External power supply
DC24V
Fig. 2-18 Wiring Diagram of Brake
2.11 Wiring Precautions
Ensure the voltage rating of the power supply to be connected is proper.
Please do not connect the output ends U, V, and W of the servo drive with a power supply.
Check the junction box after powering off for 5min to avoid electric shock.
Perform wiring according to the terminal voltage and polarity to avoid equipment damage or personal injury.
38
Chapter II Installation and Wiring
The drive and the servo motor must be reliably grounded, and the grounding wire should be thick wire (above 2.0mm
2
) if possible.
Do not bend the cable or make it bear any tension. The diameter of the core wire of cables for signal is extremely small, i.e. 0.2mm or 0.3mm.
For signal cables and encoder feedback cables, please use shielded twisted pair.
The length of cables for command input signal shall not exceed 3m, while the length of encoder feedback cables shall not exceed 30m.
Only one wire can be inserted into one wire socket of the connector.
Please use a noise filter to avoid radio frequency interference. Install the noise filter on the input side of the power cord when you are using it around residential houses or worrying about radio frequency interference. Since the servo drive is a set of industrial equipment, countermeasures are not taken to fight against radio frequency interference.
Install the host device and noise filter around the servo drive if possible.
Install a surge suppressor on the coils of the relay and the electromagnetic contactor.
Please separate the strong power lines with the weak power lines during wiring, and keep a spacing of above 30cm. Do not put them in the same pipeline or bind them together.
Do not share a power supply with the electric welding machine and electrical discharge machine, etc. Even if the power supply is not shared, please install a noise filter on the input side of the power cord when there is a high-frequency generator nearby.
Use a circuit breaker or fuse for wiring to protect the power cord.
The servo drive has no built-in ground protection circuit. To make the system safer, please install a leakage circuit breaker for overload and short circuit protection or a special leakage circuit breaker for ground protection with a circuit breaker.
39
Chapter III Display & Operation
Chapter III Display and Operation
Danger
Caution
1. Close the input power supply upon completion of the terminal cover installation; please do not remove the terminal cover when the power is on to avoid electric shocks.
2. Please keep off the mechanical equipment to avoid personal injury possibly caused by the sudden start-up of the servo drive when electrified.
1. Please do not touch the brake resistor, if any, to avoid any electric shock or burning for it may be of high temperature because of election.
2. Please check the application range of the motor and machinery before operation to avoid personal injury.
3. Please check the signal during operation to avoid equipment damage and electric shock.
3.1 Introduction to Operation and Display Interface
The keyboard is constituted with a 5-bit 7-segment LED display and 5 operation keys.
It enables the user to perform function setting, parameter setting, state display, etc.
3.1.1 Key Functions
There are 5 keys on the servo drive keyboard, each with function indicated in Table
3-1.
Table 3-1 Key Functions
Key Name
Escape
Up
Down
Function
Return to the previous menu
Increasing the set value; constant pressing for rapid increase of the set value
Speeding up during speed trial operation
Forwarding in JOG mode
Degreasing the set value; constant pressing for rapid decrease of the set value
Speeding down during speed trial operation
Reversal in JOG mode
40
Chapter III Display & Operation
Key Name
Shift
Set
Function
One left shift of the flicker bit for each pressing during parameter setting
Proceeding to the next menu or saving the parameter value during setting
Notice:
please find out the cause of the alarm prior to the alarm reset.
3.1.2 LED Display
There is a 5-bit 7-segment LED display on the operation panel of the servo drive which displays the state parameters, function code parameters, fault displays, etc.
It flickers at the function digit and stops flickering upon saving of the change. After the servo system is initialized, the operation panel will display the initial state variables
(e.g. motor speed indicating "r 0.0") showing it is in the mode of servo system operation state monitoring. Press press
to escape the status monitoring mode and
to proceed to the parameter mode to review or change parameters. In the parameter mode, the Nixie tube presents a three-level menu: function code groups, function code numbers and function parameter values. The menu of function code groups displays function code groups from “P00” to “P07”; the menu of function code numbers displays function code numbers under each function code group; the menu of function code parameters displays parameter values.
3.2 Keyboard Operation
3.2.1 Shift between Function Code Groups
Press and to shift between function code groups from P00 to P07, as shown in
Fig. 3-1.
Fig. 3-1 Shift between Function Code Groups
41
Chapter III Display & Operation
3.2.2 Parameter Setting
Notice:
Upon each power-on, adjust P00.00 to 356 and save it before changing other parameters.
Some parameters takes immediate effect upon setting; wrong parameter settings may lead to mal-operation and result in an accident.
Other parameter settings take effect after restarting.
Press in the primary menu to proceed to the secondary menu of “function code numbers”; press
and to select among different function code numbers under different function code groups to check or set parameters. Press to proceed to the tertiary menu of corresponding parameters and it flickers at the LSB. Press to move the flicker bit to change the parameter. Press and to change parameter values and to save the final value which then stops flicker. Perform two actions along with the operation of saving: saving the parameter value in RAM and writing in
EEPROM. Press to return to the previous menu. The value setting of P05.10 is shown in Fig. 3-2 as an example of parameter setting.
SET SET
ESC
SET
ESC
ES
C
Fig. 3-2 Parameter Setting
In the tertiary menu of parameters displayed on the monitor, annul.
, , , are
42
Chapter III Display & Operation
3.3 Monitor Display
The parameter of P02.04 “Pos” displayed on the monitor is shown in Fig. 3-3 as an example of monitor display. The servo motor is in 4 LSBs of a pulse of 2053.
SET
SET
ESC ESC
Fig. 3-3 Monitor Display
The monitor display refers to the display of the set command value, state of input/output signals, and internal state of the servo drive.
The function codes of monitor display are shown in Table 3-2.
Table 3-2 Monitor State
Function Code No. Function Code Name
P02.00 (SPd)
P02.01 (Cnt)
P02.02 (tyP) r
Cnt tyP
Actual motor speed
Current control mode
Drive model
P02.03 (Sof)
P02.04 (PoS)
P02.05 (PoS.)
P02.06 (CPo)
P02.07 (CPo.)
P02.08 (EPo)
P02.09 (EPo.)
Sof
P
P.
C
C.
E
E.
Software version
Current position 4 LSBs
Unit r/min
\
\
\
Pulse
Current position 4 MSBs 10,000 pulses
Position command 4
LSBs
Pulse
Position command 4
MSBs
Position error 4 LSBs
10,000 pulses
Pulse
Position error 4 MSBs 10,000 pulses
43
Chapter III Display & Operation
Function Code No. Function Code Name
P02.10 (trq)
P02.11 (I)
P02.12 (InH)
P02.13 (InL) t
I
H
L
Actual motor torque
Actual motor current
Input terminal high order state
Input terminal low order state
P02.14 (oUt) o
P02.15 (Frq)
P02.16 (CS)
P02.17 (Ct)
P02.18 (Cod)
P02.19 (Err)
P02.20(APo)
P02.21(rES)
P02.22(Iq)
F r. t.
Cod
Er.
A
O
I.
Unit
%
A
\
\
Output terminal state
Pulse frequency of position command
Speed command r/min
Torque command %
Coder UVW input signal \
\ Error Fault Display
Absolute position of motor rotor
Encoder zero pulse
\ kHz
Pulse
Pulse
P02.23(bHS)
P02.24(bHL )
P02.25(n.tP)
Motor torque current
Instantaneous braking power
A
W
Average braking power W
Motor model code \
Description of monitor display functions:
1. Values of position pulse and command pulse displayed on the monitor have been amplified through the input electronic gear. The pulse is in 10,000 pulses/revolution, which is the system pulse unit. Pulse value is expressed with 4 MSBs plus 4 LSBs:
Pulse value=4 MSBs*10000+ 4 LSBs
The pulse value indication range is ±99999999 (in accordance with actual 9999 motor revolutions).
2. Control mode: 0-position control; 1-analog speed control; 2-torque control;
44
Chapter III Display & Operation
3-internal speed control; 4-speed trial operation; 5-JOG trial operation; 6-factory mode.
3. The pulse frequency of the position command is the actual one which has not yet been amplified through the electric gear. The minimum unit of the pulse frequency is
0.1 kHz, and it is positive in the forward direction and negative in the reverse direction.
4. The absolute position of the rotor in one revolution refers to its relative position with that of the stator. One revolution is regarded as a cycle which ranges from 0 to 9999.
5. As for the alarm, “Er.” means everything is under control without any alarm. Other figures or letter groups indicate a certain kind of fault. Refer to Chapter 7 for fault information.
6. Display of terminal on-off input state:
The external control terminal involves 7 on-off inputs, which are displayed by inH (3
MSBs DI7~DI5) and by inL (4 LSBs DI4~DI1). From the high order to the low order,
4 LSBs LED indicates the input state, 1 indicates no input, and 0 indicates input. (Input means there is current input into optocoupler)
Display:
→ →
indicates input in D16, and no input in D17 and D15. (0 at the high order will not be displayed)
→ → indicates input in D13 and D11, and no input in D14 and
D12.
7. Display of terminal on-off output state:
The terminal involves 4 on-off outputs, the state of which are displayed by out from the high order and the low order, 1 indicates output, and 0 indicates no output.
Display:
→ → indicates output in DO4, DO3, and DO4, and no output in
DO1.
(Output means OC is outputting breakover)
8. The displayed speed is in (rpm).
9. The displayed current is in (A).
10. The displayed torque is in a percentage of the rated torque of the motor (%).
11. The drive model is displayed as a digit.
12. The software version is displayed as V plus three digits behind.
13. The motor model is displayed as a letter (S or E) plus 1 or 2 digits behind.
45
Chapter III Display & Operation
3.4 System Parameter Initialization
Restore the factory defaults according to the following steps:
In order to set the parameter of PP00.16 as 1, press . The system will begin the restoring of the defaults with the display of “start” and ends it with the display of
“done”. Restart the system to get the default state. See Fig. 3-4.
SET SET
ESC
ESC
Fig. 3-4 Restore Defaults
In order to raise the parameter value of P00.16 to 2, press . The system will begin the operation of saving all current RAM parameter values with the display of “start” and ends it with the display of “done”. The system parameter values remain unchanged upon restarting.
46
Chapter IV Operation
Chapter IV Operation
Danger
The drive and motor must be reliably connected to ground, PE terminal must be reliably connected to the equipment grounding end.
It is recommended that the drive power supply is provided by the isolation transformer and power filter, to ensure the safety and anti-interference capability.
Make sure the wires are connected correct after checking, and then connect to power.
One emergency stop circuit must be installed to ensure the power can be immediately cut off when there is a failure (see Fig. 4-1).
After the drive alarm sounded, make sure the failure is eliminated and the SON signal is invalid before restarting.
The drive and motor shall not be touched for at least 5 minutes after power cut off to prevent electric shock.
The drive and motor may have a higher temperature after running for a period of time, therefore, shall prevent burns.
4.1 Power Connection
Refer to Fig. 4-1 for power connection (three-phase 220V input), and connect the power in the following order:
1. The power is connected to the main circuit power input end (L1, L2, and L3) through electromagnetic contactor.
2. The power LC1 and LC2 for controlling the circuit shall be connected before or at the same time to the main circuit power. If only connected the control circuit power, the servo signal (S-RDY) is OFF.
3. After the main circuit power is connected, delay about 1.5 seconds, the servo signal
(S-RDY) is ON. At this time, the servo enable (S-ON) signal can be accepted, the detected servo enable is effective, drive output is effective and motor is initiated, and the motor is in operating state. If the servo enable detected is invalid or alarmed, the drive inverter circuit is closed, and the motor is in free state.
4. When the servo enable is connected to power at the same time, the drive inverter circuit is opened after about 1.5 seconds.
5. Frequent connecting and disconnecting the power may damage the soft charging circuit and braking circuit, and the frequency of connecting and disconnecting of main
47
Chapter IV Operation circuit shall be limited to 5 times per hour and 30 times per day. If the failure of servo system is due to overheating of drive or motor, it shall be cooled for 30 minutes before re-connecting to power.
Fig. 4-1 The Power Wiring Diagram
48
Chapter IV Operation
·The Sequence Diagram of Power on
Control of Power
(LC1, LC2)
OFF
About 1.0~4.0s
Internal Control of Power
OFF
About 2s
About 1.5s
The Microprocessor action
Reset
Initialization
Above 0s
Main Power
(L1, L2, L3)
OFF
ON
Confirm
Usual work
Servo enable output
(S-RDY)
Output Tr OFF
ON
Above 10ms
Above 10ms
Above 0s
Output Tr ON
Input coupler ON
Servo enable input
(S-ON)
Input coupler OFF
Motor is connected to power
Position, speed and torque instruction
Disconnected to power
No instruction
About 60ms
Connected to power
Above 100ms
Instruction
Fig. 4-2 The Sequence Diagram of Power on
Abnormality or not
Normal
Servo alarm output
(ALM)
0.5~5ms
Motor is connected to power
Servo enable output
(S-RDY)
Connected to power
Output Tr ON
Output Tr ON
Abnormal
Disconnected to power
Output Tr OFF
Output Tr OFF
Fig. 4-3 The Sequence Diagram of Alarm
49
Chapter IV Operation
·The Sequence Diagram of Alarm Clearance
Above 120ms
Alarm clearance
Motor connected to power
Input coupler
OFF
Input coupler
ON
Disconnected to power
About
60ms
Input coupler
OFF
Connected to power
Servo enable output
(S-RDY)
Servo alarm output
(ALM)
Position, speed and torque instruction
Output Tr OFF (no ready)
Output Tr OFF (alarm)
No instruction
Output Tr ON (ready)
Output Tr ON (no alarm)
Above 100ms
Instructio n
Fig. 4-4 The Sequence Diagram of Alarm Clearance
4.2 Trial Operation
4.1.1 The Checking Points Before Trial Operation
After the installation and connection of wires, the following shall be checked before connecting to power:
Whether the power terminal connections are correct and reliable, and whether the input voltage is correct.
Whether the power line and motor wiring is short circuit, whether the grounding is good.
Whether the encoder cable connection is correct.
Whether the control signal terminal is connected accurately.
Whether the power supply polarity and voltage size are correct.
If the motor is equipped with holding brake, need to make sure the holding brake has been released.
Whether the drive and motor are firmly fixed.
Whether the motor shaft is disconnected from load.
50
Chapter IV Operation
4.1.2 The Checking Points During Operation
Whether the motor operation is stable.
Whether the motor operation direction is correct.
Whether the motor has abnormal vibration.
Whether the motor is stable when increasing or decreasing speed.
Whether the keyboard display is correct.
4.1.3 Commissioning When Connecting to Power
The servo drive has two kinds of special trial operation control mode which is used to determine whether the servo system is normal, namely, speed test run mode and JOG test run mode. No external control signal is required under the test run mode. The trial operation operating steps are briefly described below.
Note:
the trial operation shall be performed when the motor is fixed and disconnected from load, to ensure no accident will occur.
■
Speed Trial Operation (P00.02=4)
Steps
1
2
Operations
Reference
Chapter
Connect the control circuit power supply (the main circuit power is disconnected temporarily), and the display of the drive is on. If there is an alarm, please check the connection.
The input and output interface cable shall not be connected during test run.
2.4 The main circuit terminal wiring
Connect the main circuit power supply.
2.4 The main circuit terminal wiring
51
Chapter IV Operation
Steps
3
4
Operations
Set the control mode (P00.02) at speed test run (the setting is
4). At this time, the drive is at enabled state, the motor is initiated and at zero speed running state, gentle vibration can be felt when touching the motor with hand.
Entering the speed test run setting (P01.00) through keypad operation, the indication sign of speed test run is , the numerical unit is r/min. Use the and key to change the speed and direction, and the motor shall be operated in the given speed. If the speed display is positive (the first digital display is S), means the motor is rotating in clockwise, if the display is negative, means the motor is rotating in anti-clockwise.
Reference
Chapter
3.2
Keyboard operation method
3.2
Keyboard operation method
Forward run
5
Reverse run
If need to stop the motor rotating, the rotating speed can be set at 0, or also exit the test run speed setting interface, then re-entering (P01.00), the original set speed will be cleared and the motor will stop. Change operation mode (P00.02) can also stop the motor rotating.
3.2
Keyboard operation method
■
JOG Trial Operation (P00.02=5)
Steps
1
2
Operations
Connect the control circuit power supply (the main circuit power is disconnected temporarily), and the display of drive is on. If there is an alarm, please check the connection.
Connect the main circuit power supply.
Reference
Chapter
2.4 The main circuit terminal wiring
2.4 The main terminal wiring
52
Chapter IV Operation
Steps
3
4
Operations
Set the control mode (P00.02) as the speed test run (the setting is 5). At the this time, the drive is at enabling state, the motor is initiated and at zero speed running state, gentle vibration can be felt when touching the motor with hand.
Entering the JOG point move test run operation state (P01.01) through keypad operation, the speed test run indication sign is
, the numerical unit is r/min, and the system is in JOG point move test run control mode. The speed and direction is determined by P05.01, press key, the motor will rotate in the speed and direction set by P05.01, and press key, the motor will rotate in reverse direction in the speed set by
P05.01.
Reference
Chapter
3.2
Keyboard operation method
3.2
Keyboard operation method
Forward run
Reverse run
Also, the trial operation can be performed in the normal control mode, but need to connect to external control signal, and the servo operation is controlled by superior instruction. The trial operation steps of position mode and speed mode are described below.
Note:
test run shall be performed when the motor is fixed and disconnected from load, to make sure no accident is occurred. Torque mode is not suitable for test run operation.
■
Trial Operation Under Position Control Mode (P00.02=0)
Steps
1
2
Operations
The drive is connected to host controller through CN2, and make sure the relevant signal wiring is correctly connected.
Servo enable (S-ON) OFF, positive travel limit (P-OT) ON, and reversed travel limit (N-OT) ON is used.
Connect the control circuit power supply (the main circuit power is disconnected temporarily), and the display of drive is on. If there is an alarm, please check the connection.
Reference
Chapter
2.5.2 Input and output signal wiring
CN2
2.4 The main circuit terminal wiring
53
Chapter IV Operation
3
Set the control mode (P00.02) as the position control mode
(the setting is 0), set the parameter position instruction pulse input mode (P00.05) according to the controller output signal, and set the appropriate electronic gear ratio (P04.04/P04.05).
Confirm the relevant parameters setting of others and position control mode is correct. After confirmation of all parameters, disconnect the control power and re-connect the motor.
4 Connect the main circuit power supply.
5
Make sure there is no alarm and any abnormal situation, then use the servo enable (S-ON) ON, and the motor is initiated at the moment and at zero speed state.
6
Operate the host control signal, set appropriate position pulse instruction to servo drive, so the motor is operated according to instruction. Observe the motor rotation direction and speed, and determine whether the motor operation is in line with the expectation.
3.2
Keyboard operation method
■
Trial Operation Under Analog Speed Control Mode (P00.02=1)
Steps Operations
1 The drive is connected to host controller through CN2, and make sure the relevant signal wiring is correctly connected.
Servo enable (S-ON) OFF, positive travel limit (P-OT) ON, and reversed travel limit (N-OT) ON is used.
2
Connect the control circuit power supply (the main circuit power is disconnected temporarily), and the display of drive is on. If there is an alarm, please check the connection.
Reference
Chapter
2.5.2 Input and output signal wiring
CN2
2.4 The main circuit terminal wiring
3 Set the control mode (P00.02) as the analog speed control mode (the setting is 1). Confirm the relevant parameters setting of others and analog speed control mode is correct.
After confirmation, disconnect the control power and re-connect the motor.
4
Connect the main circuit power supply.
3.2
Keyboard operation method
5 Make sure there is no alarm and any abnormal situation, then use servo enable (S-ON) ON, and the motor is initiated at the moment. Because of the influence of the analog channel zero
54
Chapter IV Operation
Steps Operations
drift, and the motor is operated at low speed. If necessary, adjust the analog zero compensation value (P03.12) to make the motor stop running.
6 Operate the host control signal, set appropriate speed instruction to the servo drive, so the motor is operated according to instruction. Observe the motor rotation direction and speed, and determine whether the motor operation is in line with the expectation.
Reference
Chapter
4.3 Adjustment
The servo system has three closed loop controls, they are position loop, speed loop and current loop (or torque loop) from outside to inside. The current loop is related to motor parameters, the drive has allocated the best current loop parameters for the matching motor, so the user do not need to adjust relevant parameters.. The speed loop and position loop parameters shall be adjusted according to the load condition.
Differ ential
Speed feed-forward
Current feedback
Position instruction
P
Position loop
PI
Speed loop
Differential
PI
Current loop
Power conversion
PMSM
Servo motor
Note:
Wrong parameter setting may result in equipment failure and accidents, the correctness of parameter shall be confirmed before start up. It is recommended to perform empty load testing, and then perform load testing.
55
Chapter IV Operation
4.3.1 Basic Gain Adjustment
●
Parameters For Speed Loop
The speed loop parameters include: speed loop gain (P00.08), speed loop integral time constant (P00.09), speed feedback low-pass filter coefficient (P00.10), and speed reference low-pass filter coefficient (P00.11).
1. The set value adjustment of speed loop gain P00.08:
Increase the speed loop gain can increase the bandwidth of speed loop response; the higher the speed loop bandwidth, the better the speed response. Under the condition of no oscillation, try to set a bigger value. In general, the larger the load inertia, the greater the speed loop gain set value. To increase the speed loop gain, at the same time, the motor noise will increase, and too large set of speed loop gain may cause system oscillation.
2. The set value adjustment of speed loop integral time constant P00.09:
The smaller the speed loop integral time, the faster the system response. In general, try to set a smaller value, but the smaller the integral time may easily cause oscillation. If the integral time constant setting is too large, the larger the speed changes of load change. The larger the load rotation inertia, the greater the speed loop integral time constant set value.
3. The set value adjustment of speed feedback low-pass filter coefficient P00.10:
If the motor noise is large, the set value of speed feedback low-pass filter coefficient
P00.10 can be increased properly.
●
Parameters For Position Loop
The position loop parameters include: position loop gain (P00.03), feed-forward gain
(P00.04), and speed feed-forward low-pass filter coefficient (P04.01).
1. According to the above method, set the appropriate speed loop gain P00.08 and speed loop integral time constant P00.09.
2. The speed feed-forward gain P00.04 shall be set as 0%.
3. The set value of position loop gain P00.03: within the system stable scope, try to set a larger value.
A larger set value of position loop gain P00.03 will produce a better position instruction tracking and a smaller position following error, but too large gain will result in oscillation. In order to use a higher position loop gain, the set value of speed reference low-pass filter coefficient P00.11 can be increased to avoid overshooting.
The set value of position loop gain P00.03 may refer to the following table:
56
Chapter IV Operation
System rigidity
Low rigidity
Medium rigidity
High rigidity
[Position loop gain]
10~20 Hz
30~50 Hz
50~70 Hz
Note:
the greater the rigidity means the faster the system response.
4. If the required position following characteristics is high, the set value of speed feed-forward gain P00.04 can be increased. But too large speed feed-forward gain will cause overshooting. When the syste m is unstable, the set value of speed reference low-pass filter coefficient P00.11 can be increased to avoid overshooting. Set the speed feed-forward low-pass filter coefficient P04.01 adequately can increase the stability of compound position control.
57
Chapter IV Operation
4.3.2 Basic Parameter Adjustment
P00.04
P04.01
Speed feed-forward gain
Position instruction
P00.05
Pulse input mode
P04.04
P04.05
Electroni c gear ratio
P00.07
Instruction smooth filtering
P10.xx
Internal multistage position
Analolg
instruction
P04.08
Moving average filtering
P04
。
00
Position instruction source
P03.13
Simulation instruction gain
P00.02
-
Zero compensation
P03.12
Internal multistage speed
P11.xx
Feed-forwar d low-pass filter
P00.03
Position loop gain
-
P00.11
Speed instruction low-pass filter
P01.05
P01.06
P00.08
P00.09
P00.02 Speed loop gain integral
- time constant
Velocity calculation
P00.02
P00.12
Torque instruc- tion filter
P00.10
Fourfold frequency
Encoder frequency pulse output
Encode pulse frequency division ratio
P09.07
P09.08
-
Torque loop gain integral time constant
Motor
PMSM
PG
Encoder
Fig. 4-5 The Diagram of Basic Parameter Adjustment
Note:
optimization adjustment of torque loop parameters have been done before ex-factory, so the users do not need to adjust torque loop gain P09.07 and torque loop integral time constant P09.08.
4.3.3 The Setting of Electronic Gear Ratio
Electronic gear ratio (G=B/A) calculation formula:
58
Chapter IV Operation
: command pulse equivalency rotation)
: encoder resolution (encoder pulse number of one round of motor shaft
: helical pitch of ball screw
: mechanical reduction ratio (the motor rotates m rounds, the load shaft rotates n rounds)
Electronic gear ratio
P/
△ l= number of instruction pulses required for one round of load shaft rotation
This system adopts for incremental encoder, because there is four-fold frequency circuit in the system, so P
G
=4 x C, C is the pulse per rotation (also lines) of the encoder. In this system, C=2,500, so P
G
=10,000 pulse/rotation.
The setting example of electronic gear ratio
:
Example 1:
The mechanical composition is shown in the following figure:
Ball screw, the lead is 6mm, reduction ratio is 1, and the required command pulse equivalency is 0.001mm.
Encoder resolution P
G
= 10,000 pulse/rotation
The command pulse amount of load shaft rotating one round = 6/0.001= 6,000
Electronic gear ratio B/A= 10,000/6,000= 5/3
59
Chapter IV Operation
The molecular set value of electronic gear ratio = 5, the denominator set value of electronic gear ratio = 3
Example 2:
The mechanical composition is shown in the following figure:
Circular truncated cone, reduction ratio n/m= 1/100, the required command pulse equivalency is 0.01
0
Encoder resolution P
G
= 10,000 pulse/rotation
The command pulse amount of load shaft rotating one round= 360/0.01 = 36,000
Electronic gear ratio B/A= 10,000/36,000*100/1 = 250/9
The molecular set value of electronic gear ratio = 250, the denominator set value of electronic gear ratio = 9
60
Chapter V List of Functional Parameters
Chapter V List of Functional Parameters
Parameter Schedule of Function Codes
Group P00
Group P01
Group P02
Group P03
Group P04
Group P05
Group P06
Group P07
Group P08
Group P09
Group P10
Group P11
Basic functions
Auxiliary Operation
Monitor and display
IO and analog control
Position control parameters
Speed control parameters
Torque control parameters
MODBUS communication
Motor parameter
Manufacturer parameter
Parameters of origin search and multistage position
Parameters of multistage speed function
Notes:
The motor parameter and manufacturer parameter are not released to users;
Abbreviations of control modes: P – position control mode
Group P00: Basic Control Parameters
S – speed control mode
T – torque control mode
Function
Code No.
P00.00
P00.01
Name
Password
Selection of LED initial display status
P00.02
P00.03
Control mode selection
Position loop gain
Setting
Range
0~9,999
0~25
0~6
1~2,000
Delivery
Value
370
0
0
100
Unit
\
\
\
Hz
Mode of
Application
P,S,T
P,S,T
P,S,T
P
61
Chapter V List of Functional Parameters
Function
Code No.
P00.04
P00.05
P00.06
P00.07
Name
Speed forward gain of the position loop
Input mode of the command pulse
Selection of rotation directions
Smoothing filter coefficient of position commands
Setting
Range
0~100
0~2
0~1
0~4,095
Delivery
Value
Unit
Mode of
Application
0 % P
0
1
0
\
\
\
P
P
P
P00.08
P00.09
Speed loop gain 5~1,000
1~1,000
Related to the motor model
20
Hz ms
S
S
P00.10
P00.11
P00.12
P00.13
P00.14
P00.15
P00.16
Integral time constants of the speed loop
Lowpass filtering coefficient of the speed feedback
Lowpass filtering coefficient of the speed reference
Lowpass filtering coefficient of the torque reference
Strike limit control
Selection of programmable I/O
CPLD parameter
Parameter initialization
1~100
0~100
0~100
0~1
0~1
0~7
0~2
80
100
65
1
0
0
0
%
%
%
\
\
\
\
P,S,T
S
P,S,T
P,S
-
P,S,T
P,S,T
62
Chapter V List of Functional Parameters
Group P01: Auxiliary Operation
Function
Code No.
P01.00
P01.01
P01.02
P01.03
P01.04
P01.05
P01.06
P01.07
P01.08
P01.09
P01.10
P01.11
P01.12
P01.13
Name
Speed trial operation function
JOG trial operation function
Limit value of software
Over current
Permitted over current time
Limit value of times of alarm reset
Numerator of dividing ratio for encoder pulse output
Denominator of dividing ratio for encoder pulse output
Reserved
Reserved
Control bit for holding brake and servo-ready signals
Detection speed for motor standstill
Delay time for holding brake released to servo-off
Detection speed for holding brake released
Delay time for servo-off to holding brake released
1~7
1~32
0~1
0~1
0~1
0~1,000
0~2,000
0~3,000
0~2,000
Setting
Range
0~1
0~1
0~900
1~5,000
1~20
Delivery
Value
0
Unit
Mode of
Application
\
S
0 \
S
Related to the motor model
4,000
0.1A ms
T
S
5 \
P
1
1
0
1
0
5
500
100
0
\
\
\
\
\ rpm ms rpm ms
P
P
P,S,T
P,S,T
P,S,T
P,S,T
P,S,T
P,S,T
P,S,T
63
Chapter V List of Functional Parameters
Function
Code No.
P01.14
P01.15
P01.16
P01.17
P01.18
Name
Resistance value of external brake resistor
Setting
Range
12~500
Delivery
Value
Broadened width of Z pulse
Delay time for servo-on to holding brake released
Selection of external brake resistors
Power of external brake resistor
0~31
0~2,000
0~1
0
0
0
100~10,000 100
Related to the drive model
Unit
Mode of
Application
\
\
\
W
Ω
P,S
-
P,S,T
P,S,T
P,S,T
Group P02: Monitor and Display
Function
Code No.
P02.00 (SPd)
P02.01 (Cnt)
P02.02 (tyP)
P02.03 (Sof)
P02.04 (PoS)
P02.05 (PoS.)
P02.06 (CPo)
P02.07 (CPo.)
P02.08 (EPo)
P02.09 (EPo.)
P02.10 (trq)
P02.11 (I)
P02.12 (InH)
Function Code
C.
E
E. t
I
H r
Cnt tyP
Sof
P
P.
C
Name
Actual motor speed
Current control mode
Drive model
Software version
Current position 4 LSBs
Current position 4 MSBs
Position instruction 4 LSBs
Position instruction 4 MSBs
Position error 4 LSBs
Position error 4 MSBs
Actual motor torque
Actual motor current
High order state of input terminal
Unit
rpm
\
\
\
Pulse
10,000 pulse
Pulse
10,000 pulse
Pulse
10,000 pulse
%
A
\
64
Chapter V List of Functional Parameters
Function
Code No.
Function Code Name
P02.13 (InL)
P02.14 (oUt)
P02.15 (Frq)
P02.16 (CS)
P02.17 (Ct)
P02.18 (Cod)
P02.19 (Err)
P02.20(APo)
P02.21(rES)
P02.22(Iq)
P02.23(bHS)
P02.24(bHL )
L o
F r. t.
Cod
Er.
A
O
I.
P02.25(n.tP )
Name
Group P03: IO and Analog Control
Function
Code No.
Low order state of input terminal
Output terminal state
Pulse frequency of position command
Speed command
Torque command
Encoder UVW input signal
Fault display
Absolute position of motor rotor
Encoder zero calibration pulse
Motor torque current
Instantaneous braking power
Long time average braking power
Motor model
Setting
Range
Delivery
Value
Unit
P03.00
P03.01
P03.02
DO1 function and enabled status setting
DO2 function and enabled status setting
DO3 function and enabled status setting
0~3
256~259
0
1
2
\
\
\
Unit
Mode of
Application
-
-
-
Pulse
Pulse
A
W
W
\
\
\ kHz rpm
%
\
\
65
Chapter V List of Functional Parameters
Function
Code No.
P03.03
P03.04
P03.05
P03.06
P03.07
P03.08
P03.09
P03.10
P03.11
P03.12
P03.13
P03.14
Name
DO4 function and enabled status setting
DI1 function and enabled status setting
DI2 function and enabled status setting
DI3 function and enabled status setting
DI4 function and enabled status setting
DI5 function and enabled status setting
DI6 function and enabled status setting
DI7 function and enabled status setting
Zero deviation calibration for analog input
Zero compensation value for analog input
Analog input gain
Threshold of analog input hysteresis
Setting
Range
0~3
256~259
0~20
256~276
0~1
-5.000~5.000
0~500
-5.000~5.000
Delivery
Value
3
0
1
2
3
4
5
6
1
1
100
10
Unit
\
\
\
\
\
\
\
\
\
0.001V
%
0.001V
Mode of
Application
-
-
-
-
-
-
-
-
S
S
S
S
66
Chapter V List of Functional Parameters
Group P04: Position Control Parameters
Function
Code No.
Name
Setting
Range
P04.00
P04.01
P04.02
P04.03
P04.04
P04.05
P04.06
P04.07
P04.08
Position command source
Speed feed-forward low-pass filter coefficient
Positioning completed width
Detection range of over position error
Numerator of the first electronic gear ratio
Denominator of the first electronic gear ratio
Numerator of the second electronic gear ratio
Denominator of the second electronic gear ratio
Coefficient of
Moving Average
Filter for position command
0~1
1~4095
0~30,000
0~30,000
1~32,766
1~32,766
1~32,766
1~32,766
0~500
Delivery
Value
0
Unit
\
Mode of
Application
P
1
1,000
400
5
3
10
3
0
\
Pulse
100 pulse
\
\
\
\
\
P
P
P
P
P
P
P
P
67
Chapter V List of Functional Parameters
Group P05: Speed Control Parameters
Function
Code No.
Name
Setting
Range
P05.00
P05.01
P05.02
P05.03
P05.04
P05.05
Speed command source
Speed for JOG operation
Reserved
Reserved
Reserved
Reserved
0~1
-3,000~3,000
-
-
-
-
Delivery
Value
0
120
P05.06
P05.07
Speed limit 0~6,000
5~3,000
-
-
-
-
Related to the motor model
50
P05.08
P05.09
P05.10
P05.11
P05.12
P05.13
Reached speed
Threshold for over speed error detection
Permitted time for over speed error detection
Deceleration ramp time of speed command
Acceleration ramp time of speed command
Zero-speed clamping selection
Allowed time of zero speed clamping
0~100
0~30,000
0~16,000
0~16,000
0~1
1~2,000
0
5000
10
10
0
100
Unit
\ r/min r/min
% ms ms ms
\ ms r/min
-
-
-
-
Mode of
Application
S
S
-
-
-
-
P,S
S
P,S,T
P,S,T
S
S
S
S
68
Chapter V List of Functional Parameters
Group P06: Torque Control Parameters
Function
Code No.
Name
Setting
Range
P06.00
P06.01
P06.02
P06.03
P06.04
Internal CCW torque limit
Internal CW torque limit
External CCW torque limit
External CW torque limit
Trial operation torque limit
0~300
-300~0
0~300
-300~0
0~300
Group P07: MODBUS Communication
Function
Code No.
P07.00
P07.01
P07.02
P07.03
P07.04
P07.05
Name
Baud rate selection
Native address
Selection of odd-even check
Reserved
Reserved
EEPROM saving mode for communication data
Setting
Range
0~3
0~31
0~2
0~1
Delivery
Value
150
-150
150
-150
100
Delivery
Value
3
1
0
1
Unit
%
%
%
%
%
Unit
\
\
\
\
Mode of
Application
P,S
P,S
P,S
P,S
S
Mode of
Application
P,S,T
P,S,T
P,S,T
P,S,T
Group P08: Motor parameter
The motor parameter is used and controlled by the manufacturer, and users have no right to change. This parameter group can only be accessed with the manufacturer code.
It is not specified in detail here.
69
Chapter V List of Functional Parameters
Group P09: Manufacturer Parameter
The manufacturer parameter is used and controlled by the manufacturer, and users have no right to change. This parameter group can only be accessed with the manufacturer code. It is not specified in detail here.
Group P10: Parameters of Origin Search and Multistage Position
P10.00
P10.01
P10.02
P10.03
P10.10
Action selection after the origin search
Enable control of the origin search
Origin search mode
High speed set for origin searching operation
P10.04
P10.05
Low speed set for origin searching operation
Acceleration and deceleration time for origin searching operation
P10.06
Limited time for origin searching operation
P10.07
reserved
P10.08
P10.09
Operation mode for internal multistage position
Effective segments selection
Processing mode for residual command
0~1
0~2
0~3
0~3,000
0~1,000
0~1,000
0~32,767
0~30,000
0~3
1~16
0~1
0
0
0
100
10
1,000
10,000
0
0
1
0
\
\
\ rpm rpm ms s
\
\
\
\
P
P
P
P
P
P
P
P
P
P
P
70
Chapter V List of Functional Parameters
P10.11
P10.12
P10.13
P10.14
P10.15
P10.16
P10.17
P10.18
P10.19
P10.20
P10.21
P10.22
P10.23
Displacement command type selection
Waiting time unit selection
Displacement 4
HSBs (decimal) of the first segment
Displacement 4
LSBs (decimal) of the first segment speed of the first segment
Acceleration and deceleration time of the first segment
Waiting time of the first segment
Displacement 4
HSBs (decimal) of the second segment
Displacement 4
LSBs (decimal) of the second segment speed of the second segment
Acceleration and deceleration time of the second segment
Waiting time of the second segment
Displacement 4
HSBs (decimal) of the third segment
0~1
0~1
-9,999~9,999
0
0
0
-9,999~9,999 5,000
0~3,000
0~1,000
0~10,000
-9,999~9,999
500
100
10
0
-9,999~9,999 5,000
0~3,000
0~1,000
0~10,000
-9,999~9,999
500
100
10
0
\
\
\
\ rpm ms ms/s
\
\ rpm ms ms/s
\
P
P
P
P
P
P
P
P
P
P
P
P
P
71
Chapter V List of Functional Parameters
P10.24
P10.25
P10.26
P10.27
P10.28
P10.29
P10.30
P10.31
P10.32
P10.33
P10.34
P10.35
P10.36
Displacement 4
LSBs (decimal) of the third segment
Running speed of the third segment
Acceleration and deceleration time of the third segment
Waiting time of the third segment
Displacement 4
HSBs (decimal) of the fourth segment
Displacement 4
LSBs (decimal) of the fourth segment
Running speed of the fourth segment
Acceleration and deceleration time of the fourth segment
Waiting time of the fourth segment
Displacement 4
HSBs (decimal) of the fifth segment
Displacement 4
LSBs (decimal) of the fifth segment speed of the fifth segment
Acceleration and deceleration time of the fifth segment
-9,999~9,999 5,000
0~3,000
0~1,000
0~10,000
-9,999~9,999
500
100
10
0
-9,999~9,999 5,000
0~3,000
0~1,000
0~10,000
-9,999~9,999
500
100
10
0
-9,999~9,999 5,000
0~3,000
0~1,000
500
100
\ rpm ms ms/s
\
\ rpm ms ms/s
\
\ rpm ms
72
P
P
P
P
P
P
P
P
P
P
P
P
P
Chapter V List of Functional Parameters
P10.37
P10.38
P10.39
P10.40
P10.41
P10.42
P10.43
P10.44
P10.45
P10.46
P10.47
P10.48
P10.49
Waiting time of the fifth segment
Displacement 4
HSBs (decimal) of the sixth segment
Displacement 4
LSBs (decimal) of the sixth segment
Speed of the sixth segment
Acceleration and deceleration time of the sixth segment
Waiting time of the sixth segment
Displacement 4
HSBs (decimal) of the seventh segment
Displacement 4
LSBs (decimal) of the seventh segment
Speed of the seventh segment
Acceleration and deceleration time of the seventh segment
Waiting time of the seventh segment
Displacement 4
HSBs (decimal) of the eighth segment
Displacement 4
LSBs (decimal) of the eighth segment
0~10,000
-9,999~9,999
10
0
-9,999~9,999 5,000
0~3,000
0~1,000
0~10,000
-9,999~9,999
500
100
10
0
-9,999~9,999 5,000
0~3,000
0~1,000
0~10,000
-9,999~9,999
500
100
10
0
-9,999~9,999 5,000 ms/s
\
\ rpm ms ms/s
\
\ rpm ms ms/s
\
\
P
P
P
P
P
P
P
P
P
P
P
P
P
73
Chapter V List of Functional Parameters
P10.50
P10.51
P10.52
P10.53
P10.54
P10.55
P10.56
P10.57
P10.58
P10.59
P10.60
P10.61
P10.62
speed of the eighth segment
Acceleration and deceleration time of the eighth segment
Waiting time of the eighth segment
Displacement 4
HSBs (decimal) of the ninth segment
Displacement 4
LSBs (decimal) of the ninth segment speed of the ninth segment
Acceleration and deceleration time of the ninth segment
Waiting time of the ninth segment
Displacement 4
HSBs (decimal) of the tenth segment
Displacement 4
LSBs (decimal) of the tenth segment speed of the tenth segment
Acceleration and deceleration time of the tenth segment
Waiting time of the tenth segment
0~3,000
0~1,000
0~10,000
-9,999~9,999
-9,999~9,999 5,000
0~3,000
0~1,000
0~10,000
-9,999~9,999
-9,999~9,999 5,000
0~3,000
0~1,000
0~10,000
500
100
10
0
500
100
10
0
500
100
10 rpm ms ms/s
\
\ rpm ms ms/s
\
\ rpm ms ms/s
P
P
P
P
P
P
P
P
P
P
P
P
P
74
Chapter V List of Functional Parameters
P10.63
P10.64
P10.65
P10.66
P10.67
P10.68
P10.69
P10.70
P10.71
P10.72
P10.73
Displacement 4
HSBs (decimal) of the eleventh segment
Displacement 4
LSBs (decimal) of the eleventh segment speed of the eleventh segment
Acceleration and deceleration time of the eleventh segment
Waiting time of the twelfth segment
Displacement 4
HSBs (decimal) of the twelfth segment
Displacement 4
LSBs (decimal) of the twelfth segment speed of the twelfth segment
Acceleration and deceleration time of the twelfth segment
Waiting time of the twelfth segment
Displacement 4
HSBs (decimal) of the thirteenth segment
-9,999~9,999 0
-9,999~9,999 5,000
0~3,000
0~1,000
0~10,000
-9,999~9,999
500
100
10
0
-9,999~9,999 5,000
0~3,000
0~1,000
0~10,000
-9,999~9,999
500
100
10
0
\
\ rpm ms ms/s
\
\ rpm ms ms/s
\
P
P
P
P
P
P
P
P
P
P
P
75
Chapter V List of Functional Parameters
P10.74
P10.75
P10.76
P10.77
P10.78
P10.79
P10.80
P10.81
P10.82
P10.83
P10.84
P10.85
Displacement 4
LSBs (decimal) of the thirteenth segment
Speed of the thirteenth segment
Acceleration and deceleration time of the thirteenth segment
Waiting time of the thirteenth segment
Displacement 4
HSBs (decimal) of the fourteenth segment
Displacement 4
LSBs (decimal) of the fourteenth segment
Speed of the fourteenth segment
Acceleration and deceleration time of the fourteenth segment
Waiting time of the fourteenth segment
Displacement 4
HSBs (decimal) of the fifteenth segment
Displacement 4
LSBs (decimal) of the fifteenth segment
Speed of the fifteenth segment
-9,999~9,999 5000
0~3,000
0~1,000
0~10,000
-9,999~9,999
-9,999~9,999 5,000
0~3,000
0~1,000
0~10,000
-9,999~9,999
-9,999~9,999 5,000
0~3,000
500
100
10
0
500
100
10
0
500
76
\ rpm ms ms/s
\
\ rpm ms ms/s
\
\ rpm
P
P
P
P
P
P
P
P
P
P
P
P
Chapter V List of Functional Parameters
P10.86
P10.87
P10.88
P10.89
P10.90
P10.91
P10.92
Acceleration and deceleration time of the fifteenth segment
Waiting time of the fifteenth segment
Displacement 4
HSBs (decimal) of the sixteenth segment
Displacement 4
LSBs (decimal) of the sixteenth segment speed of the sixteenth segment
Acceleration and deceleration time of the sixteenth segment
Waiting time of the sixteenth segment
0~1,000
0~10,000
-9,999~9,999
-9,999~9,999 5,000
0~3,000
0~1,000
0~10,000
100
10
0
500
100
10
Group P11: Parameters of Multistage Speed Function
P11.00
P11.01
P11.02
P11.03
P11.04
Multi-stage speed instruction operation mode
End segment selection of the speed command
Runtime unit selection
Acceleration time
1
Deceleration time
1
0~2
1~8
0~2
0~10,000
0~10,000
0
8
0
50
50 ms ms/s
\
\ rpm ms ms/s
\
\
\ ms ms
P
P
P
P
P
P
P
S
S
S
S
S
77
Chapter V List of Functional Parameters
P11.05
P11.06
P11.07
P11.08
P11.09
P11.10
P11.11
P11.12
P11.13
P11.14
P11.15
P11.16
P11.17
P11.18
P11.19
Acceleration time
2
Deceleration time
2
Acceleration time
3
Deceleration time
3
The first segment speed
Runtime of the first segment speed
ACC/DEC time selection of the first segment
The second segment speed
Runtime of the second segment speed
ACC/DEC time selection of the second segment
The third segment speed
Runtime of the third segment speed
ACC/DEC time selection of the third segment
The fourth segment speed
Runtime of the fourth segment speed
0~10,000
0~10,000
0~10,000
0~10,000
-3,000~3,000
0~30,000
0~3
-3,000~3,000
0~30,000
0~3
-3,000~3,000
0~30,000
0~3
-3,000~3,000 1,000
0~30,000
100
100
1,000
1000
10
100
0
100
100
1
500
100
2
100 ms rpm ms ms ms rpm rpm rpm
78
S
S
S
S
S
S
S
S
S
S
S
S
S
S
S
Chapter V List of Functional Parameters
P11.20
P11.21
P11.22
P11.23
P11.24
P11.25
P11.26
P11.27
P11.28
P11.29
P11.30
P11.31
P11.32
ACC/DEC time selection of the fourth segment
The fifth segment speed
Runtime of the fifth segment speed
ACC/DEC time selection of the fifth segment
The sixth segment speed
Runtime of the sixth segment speed
ACC/DEC time selection of the sixth segment
The seventh segment speed
Runtime of the seventh segment speed
ACC/DEC time selection of the seventh segment
The eighth segment speed
Runtime of the eighth segment speed
ACC/DEC time selection of the eighth segment
0~3 3
-3,000~3,000 2,000
0~30,000
0~3
100
0
-3,000~3,000 1,000
0~30,000
0~3
-3,000~3,000
0~30,000
0~3
-3,000~3,000
0~30,000
0~3
100
0
500
100
0
100
100
1 rpm rpm rpm rpm
S
S
S
S
S
S
S
S
S
S
S
S
S
79
Chapter VI Specified Function Introduction
Chapter VI Specified Function Introduction
6.1 Basic Function (Group P00)
Function
Code
P00.00
Function
Code
Password
Function Description:
The passwords are set to prevent unauthorized people to read the setting parameters and illegally modify them. After the power up of control power, the parameters can be read and modified only after inputting correct passwords under this function code. User password is 365.
Parameter Name
Power up effective
Attribute
0~9,999
Setting
Range
-
Unit
370
Factory
Defaults
P00.01
Parameter Name
Selection of LED initial display status
Attribute
Power up effective
Setting
Range
0~25
Unit
Factory
Defaults
- 0
Function Description:
The LED initial display contents after the power up of setting drive. The functions corresponding to setting values are as follows:
0: Motor rotate speed
2: Drive model
4: Current position with 4 levels low
6: Position command with 4 levels low
8: Position deviation with 4 levels low
10: Actual torque of motor
12: High-order status of input terminal
14: Status of output terminal
16: Speed command
18: Input signal of encoder UVW
20: Absolute position of motor rotor
1: Current control mode
3: Software version
5: Current position with 4 levels high
7: Position command with 4 levels high
9: Position deviation with 4 levels high
11: Actual current of motor
13: Low-order status of input terminal
15: Pulse frequency of position command
17: Torque command
19: Code display of fault alarm
21: Encoder zero calibration pulse
80
Chapter VI Specified Function Introduction
22: Motor torque current
24: Long-time average braking power
Function
Code
Parameter Name
P00.02 Control mode selection
23: Instantaneous braking power
25: Motor model
Attribute
Setting
Range
Unit
Factory
Defaults
Immediately effective
0~6 0
Function Description:
Select servo system control mode. The meanings of setting values are as follows:
0: Position control mode
2: Torque control mode
4: Speed commissioning mode
6: Manufacturer mode
Function
Code
P00.03
Parameter Name
Position loop gain
1: Analog speed control mode
3: Internal speed control mode
5: JOG commissioning mode
Attribute
Setting
Range
Unit
Immediately effective
1~2,000 Hz
Factory
Defaults
100
Function Description
:
Set the proportional gain of position loop PI regulator. The responsiveness of the position control system is decided by setting value. A larger setting value determines higher gain and greater rigidity. Under the same frequency of command pulse, a larger setting value determines smaller position hysteresis. But an overlarge setting value may cause oscillation or overshooting.
Please determine the setting values based on specific models of servo drives and motor and load conditions.
Function
Code
Parameter Name Attribute
Setting
Range
Unit
Factory
Defaults
P00.04
Speed feed-forward gain of position loop
Immediately effective
0~100 % 0
81
Chapter VI Specified Function Introduction
Function Description:
Set the speed feed-forward gain of position loop. When the setting value is 100%, this indicates that under the command pulse of any frequency, the position hysteresis is always 0. The feed-forward gain of position loop is higher and the high-speed responsiveness is developed, but a shock may be caused. When the setting value is 0, the position feed-forward function does not work.
Except that the higher responsiveness is needed, the feed-forward gain of position loop is always set as 0.
Function
Code
Parameter Name Attribute
Setting
Range
Unit
Factory
Defaults
P00.05
Input mode of command pulse
Power up effective
0~2 - 0
Function Description:
Set the input mode of command pulse. Three kinds of command pulse modes can be set:
0: pulse + Direction signal
Input pulse signal into PULS port and direction signal into SIGN port.
1: CCW pulse + CW pulse
Input CCW pulse signal into PULS port and CW pulse signal into SIGN port.
82
Chapter VI Specified Function Introduction
2: Two-phase pulse (Phase A + Phase B)
Input Phase A into PULS port and Phase B into SIGN port.
Note:
The actual rotate direction of motor is related to the setting of Parameter P00.06
(rotate direction selection).
Function
Code
Parameter Name Attribute
Setting
Range
Unit
Factory
Defaults
P00.06
Rotate direction selection
Power up effective
0~1 - 1
Function Description:
Set the relation between the command direction and motor rotate direction. This parameter is effective to the position control, speed control and torque control.
1: When in positive direction command, the motor rotate direction is CCW (Seen from the axle of the motor, it is counter-clockwise direction).
0: When in positive direction command, the motor rotate direction is CW (Seen from the axle of the motor, it is clockwise direction).
Forward Run
CCW
Reverse Run
CW
83
Chapter VI Specified Function Introduction
Function
Code
Parameter Name Attribute
Setting
Range
Unit
Factory
Defaults
P00.07
Smoothing filter coefficient of position command
Immediately effective
0~4,095 \ 0
Function Description:
Set the smoothing filter coefficient of position command. The filter would not lose the input pulse, but there may be a command delay phenomenon. This filter can give the servo motor a more stable running status and is more effective in the following situations:
(1) Host controller does not have the deceleration function;
(2) the electronic gear ratio is above 10 times;
(3) the command frequency is lower;
(4) There are phenomena like stepping jump and unbalance during the running of motor.
When set as 0, filter doesn't work.
Command pulse frequency prior to filtering
Time
Command pulse frequency after filtering
Time
Function
Code
P00.08
Parameter Name
Speed loop gain
Attribute
Setting
Range
Immediately effective
5~1,000
Unit
Hz
Factory
Defaults
--
84
Chapter VI Specified Function Introduction
Function Description
Set the proportional gain of the speed loop. The responsiveness of the speed loop would be determined by this parameter.
A larger gain setting value of the speed loop determines higher speed control responsiveness of the system. In the general condition, a larger loading inertia determines larger setting value. Under a system without any shocks, the gain value shall be set larger as much as possible.
The responsiveness and rigidity of the speed loop are also influenced by the Parameter
P00.09.
Function
Code
Parameter Name Attribute
Setting
Range
Unit
Factory
Defaults
P00.09
Integration time constant of speed loop
Immediately effective
1~1,000 ms 20
Function Description:
Set the integration time constant of speed loop. The responsiveness of the speed loop would be determined by this parameter.
A smaller setting value determines faster integrating rate and greater rigidity of system.
Without the system vibration, a smaller integration time constant shall be set as much as possible.
The responsiveness and rigidity of speed loop are also influenced by parameters
P00.08.
Function
Code
Parameter Name Attribute
Setting
Range
Unit
Factory
Defaults
P00.10
Coefficient of speed detection low-pass
Filter
Immediately effective
1~100 % 80
Function Description:
Set the characteristic of speed detection low-pass filter.
A greater setting value determines lower cut-off frequency and lower electric motor noise. If the load inertia is large, the setting value can be increased appropriately.
85
Chapter VI Specified Function Introduction
However, the overlarge value would result in a slower response, and may cause an oscillation.
A smaller setting value determines higher cut-off frequency and faster speed response.
If a higher speed response is required, the setting value can be reduced appropriately.
Function
Code
Parameter Name Attribute
Setting
Range
Unit
Factory
Defaults
P00.11
Speed command low-pass filter coefficient
Immediately effective
0~100 % 100
Function Description:
Set the characteristic of speed command low-pass filter. It is effective for speed control mode and position control mode.
A greater value determines slower speed response; a smaller value determines faster speed response. The setting value 0 means the low-pass filter is invalid.
If the drive and external position loop are used in combination, this parameter shall be set as 0.
Function
Code
Parameter Name Attribute
Setting
Range
Unit
Factory
Defaults
P00.12
Torque command low-pass filter coefficient
Immediately effective
0~100 % 65
Function Description:
Set the characteristic of torque command low-pass filter.
The setting of this parameter can restrain the resonance (the sharp vibration noise generated by the motor) generated by torque. This parameter is effective for the position control mode, speed control mode, and torque control mode.
If the motor generates sharp vibration noise, this parameter setting value shall be increased. A greater setting value determines lower cut-off frequency, smaller motor noise, lower system rigidity and slower system response.
A smaller setting value determines higher cut-off frequency, faster system response and higher system rigidity. If higher machine rigidity is required, the setting value shall be reduced appropriately. If the setting value is 0, the torque command low-pass filter is invalid.
86
Chapter VI Specified Function Introduction
Function
Code
Parameter Name Attribute
Setting
Range
Unit
Factory
Defaults
P00.13
Control bit of over-travel limit
Power on effective
0~1 - 1
Function Description:
Set the valid of external input over-travel limit switch input.
0: positive over-travel limit (P-OT), negative over-travel limit (N-OT) input is valid.
1: positive over-travel limit (P-OT), negative over-travel limit (N-OT) input is invalid.
Function
Code
P00.14
Programmable I/O selection
Parameter Name
Power on effective
Attribute
0~1 -
Unit
0
Function Description:
The auxiliary setting of programmable I/O function.
When the input signal of programmable I/O needs to be set to the positive/negative start function under the analog speed mode, this parameter value shall be set as 1.
Function
Code
Setting
Range
Factory
Defaults
P00.15
Parameter Name
Parameter of CPLD
Attribute
Power on effective
Setting
Range
0~7
Unit
-
Factory
Defaults
0
Function Description:
Set CPLD parameter. This parameter value depends on host numerical control system, and decides the pulse counting method and the initial pulse level.
87
Chapter VI Specified Function Introduction setting value
0
Up-down
Count Pulse Edge
Ops
Inverse of input pulse level
0 positive edge
0 unchanged
Side-mode
Type of CNC
1
2
3
4
5
6
7
0 positive edge
0 positive edge
0 positive edge
1 negative edge
1 negative edge
1 negative edge
1 negative edge
0 unchanged
1 negative
1 negative
0 unchanged
0 unchanged
1 negative
1 negative
0 General system
1 Siemens system
0 General system
1 Siemens system
0 General system
1 Siemens system
0 General system
1 Siemens system
Normally, choosing the general system could be suitable for pulse form of most numerical control system, while the Siemens system is only for some models of
Siemens numerical control system.
Function
Code
P00.16
Parameter
Name
Parameter initialization
Attribute
Power up effective
Setting
Range
0~2
Unit
-
Factory
Defaults
0
Function Description:
0: No operation
1: All parameters except parameters of servo motor are initialized to their default values. Set the parameters to 1 and press confirm button. Then the system will begin to restore its default value. The LED is showing ‘start’ at first, when it’s turning into ’done’, the operation has been successfully completed and all the default values of
88
Chapter VI Specified Function Introduction parameters have been written to EEPROM. The system will use factory set values after being powered up again.
2: Start the operation of save the overall parameters into EEPROM. During this operation, all the parameters currently kept in RAM will be written to EEPROM for saving.
6.2 Auxiliary Operation (Group P01)
Function
Code
P01.00
Speed trial operation function
Immediately effective
Parameter Name Attribute
- -
Unit
0
Function Description
Enter this parameter and press button, then you can access into the speed commissioning interface. The servo drive will settle into forced enabled state and the servo motor is powered. Refer to Section 4.1.3 for detailed operation.
Function
Code
Setting
Range
Factory
Defaults
P01.01
Parameter Name Attribute
JOG trial operation function
Immediately effective
Setting
Range
-
Unit
-
Factory
Defaults
0
Function Description:
Enter this parameter and press button, then you can access into the JOG commissioning interface. The servo drive will settle into forced enabled state and the servo motor is powered. Refer to Section 4.1.3 for detailed operation.
The rotate speed command of JOG commissioning is set by parameter P05.01.
Function
Code
Parameter Name Attribute
Setting
Range
Unit
Factory
Defaults
P01.02
Limit value of software over current
Immediately effective
0~900 0.1A --
89
Chapter VI Specified Function Introduction
Function Description:
Set current value for software over-current protection.
The default is in consistency with the over-current value of drive’s hardware. If users want to use software over current protection function, he or she can set it according to the actual needs and use it together with parameter P01.03 (allow time limit for overcurrent).
The set value of this parameter shall be less than or equal to 5 times of motor rated current, to avoid the system error.
Function
Code
Parameter Name Attribute
Setting
Range
Unit
Factory
Defaults
P01.03
Permitted overcurrent time
Immediately effective
1~5,000 ms 4,000
Function Description:
Set actuation time for software overcurrent protection. The values of this parameter and parameter P01.02 will determine the characteristic of software overcurrent protection of servo drive system.
Function
Code
Parameter Name Attribute
P01.04
Limit value of times of alarm reset
Power up effective
Function Description:
Setting
Range
1~20
Unit
-
Factory
Defaults
5
Set the maximum permitted number for fault clearance. The set value regulates the maximum permitted number for operating the fault clearance signal. If the number of operation is over the set value and fault alarm occurs again, then it just can be cleared via power-off restart.
Function
Code
Parameter Name Attribute
Setting
Range
Unit
Factory
Defaults
P01.05
P01.06
Numerator of dividing ratio for encoder pulse output
Denominator of dividing ratio for encoder pulse output
Power up effective
Power up effective
1~7
1~32
-
-
1
1
90
Chapter VI Specified Function Introduction
Function Description:
Set the dividing ratio for encoder pulse output.
Frequency of encoder output pulse= Incoming frequency of encoder pulse× (P01.05) ÷
(P01.06)
Note: In current version, only division in integral multiples can be outputted, which means the set value of P01.05 is invalid and the set value is fixed as 1.
Function
Code
Parameter Name Attribute
Setting
Range
Unit
Factory
Defaults
P01.09
Control bit for holding brake and servo-ready signals
Immediately effective
0~1 - 0
Function Description:
This parameter set the logical relation between the holding brake output and servo-ready (S-RDY) signal.
0: When servo-ready signal S-RDY is outputted, the holding brake signal must not be outputted.
1: When servo-ready signal S-RDY is outputted, the holding brake signal must be outputted too.
Function
Code
Parameter Name Attribute
Setting
Range
Unit
Factory
Defaults
P01.10
P01.11
P01.12
P01.13
Detection speed for motor standstill
Delay time for holding brake released to servo-off
Detection speed for
Holding brake released
Delay time for servo-off to holding brake released
Immediately effective
Immediately effective
Immediately effective
Power up effective
0~1,000
0~2,000
0~3,000
0~2,000 rpm ms rpm ms
5
500
100
0
91
Chapter VI Specified Function Introduction
Function Description:
The above parameters set holding brake (electromagnetic brake) action sequence.
P01.10:
This parameter sets the speed detection value for the purpose to judge if the motor is standstill. The setting value is used only for holding brake control. When actual speed of motor is below this setting, the motor is judged to be standstill, conversely the motor is judged to be in operation.
P01.11:
This parameter sets the delay time for holding brake released to servo off.
This parameter prevents tiny displacement or falling down of work piece due to motor shaft’s movement during brake action. Setting value should be slightly greater than the mechanical brake's delay time.
P01.12:
This parameter sets the speed of running motor to activate holding brake., this parameter setting value should be greater than P01.10 setting value.
This parameter is to make the motor speed down to a low speed and then make the brake action to avoid damaging the brake.
P01.13:
This parameter sets the waiting time from motor disenabled to brake action. This parameter is to make the motor speed down to a low speed and then make the brake action to avoid damaging the brake.
The actual action time of the brake is subject to the first meet the conditions of time in
P01.12 and P01.13.
The brake action sequence diagram:
■
The motor is in the stopping state (that the actual motor speed is lower than
P01.10 setting value), the brake action sequence is as follows:
Servo-ON
BRK Signal
Motor State
OFF
OFF
Power-off
ON
P01.15
ON
(released)
Power-on
OFF
OFF
Power-off
P01.11
92
Chapter VI Specified Function Introduction
■
The motor is in the running state (that the actual motor speed is more than P01.10 setting value), the brake action sequence is as follows:
SRV-ON
ON
OFF
BRK Signal
Motor State
ON
Power-on
P01.13
OF
F
Power-off
Motor Speed
P01.12
Function
Code
Parameter Name Attribute
Setting
Range
Unit
Factory
Defaults
P01.14
Z pulse broadening width
Power up effective
0~31
1.6μs
0
Function Description:
Setting the zero Z pulse output broadening width.
With the motor speed increasing, Z pulse width becomes narrow. This parameter can adjust Z pulse output width to match with the demand of host controller.
Z pulse broadening width = setting value ×1.6μs
Function
Code
Parameter Name Attribute
Setting
Range
Unit
Factory
Defaults
P01.15
Delay time for servo-on to holding brake released
Immediately effective
0~2000 ms 0
93
Chapter VI Specified Function Introduction
Function Description:
Setting the delay time from servo-on to holding brake released.
Function
Code
Parameter Name Attribute
Setting
Range
P01.16
Brake resistor external selection
Power up effective
0~1
Unit
-
Factory
Defaults
0
Function Description:
The default value is 0, namely to choose internal braking resistor. Choose external braking resistor for 1.
Function
Code
P01.17
Parameter Name
Power of external brake resistor
Attribute
Power up effective
Setting
Range
100~10,000
Unit
W
Factory
Defaults
Related to the capacity of drive.
Function Description:
There is a standard built-in braking resistor in the drive. See its specification in the related contents of appendix in this manual. It requires the external braking resistor when the specification of built-in braking resistor can't meet the requirements of actual working condition. The parameter should be set at P01.16 =1, then the external braking would be chosen. The power and resistance value of external resistor should be written in P01.17 and P01.18 respectively.
Function
Code
P01.18
Parameter Name
Resistance value of the external brake resistor
Attribute
Power up effective
Setting
Range
12~500
Unit
Ω
Factory
Defaults
Related to the capacity of drive.
Function Description:
Refer to P01.17 for description.
94
Chapter VI Specified Function Introduction
6.3 Monitor and Display (Group P02)
Refer to Section 3.3 for function description about monitor and display.
6.4 I/O and Analog Control (Group P03)
Function
Code
P03.00
Parameter Name
DO1 function and enabled status setting
Attribute
Power up effective
Setting
Range
0~3
256~259
Unit
-
Factory
Defaults
0
Function Description:
Setting the function and enabled status of open collector OC output DO1..
The setting value can be obtained by adding enabled status settings and output function settings together. If the setting value is not in the setting range, the system will retain the last one.
Enabled status setting value:
0: Active High (Factory Defaults)
Output Function Setting:
256: Active Low
0: Servo Ready (S_RDY)
2: positioning completed/speed arrived
(P_CMP/V_CMP
1: Servo Alarm (S_Alarm)
3: Home
Examples for setting:
The output function wants to be set to servo alarm and active low, then the setting value is 1+256=257.
Function
Code
P03.01
Parameter Name
D02 function and enabled status setting
Attribute
Power up effective
Setting
Range
0~3
256~259
Unit
-
Factory
Defaults
1
Function Description:
Refer to P03.00 for function description.
95
Chapter VI Specified Function Introduction
Function
Code
Parameter Name Attribute
P03.02
D03 function and enabled status setting
Function Description:
Refer to P03.00 for function description.
Power up effective
Setting
Range
0~3
256~259
Unit
-
Factory
Defaults
2
Function
Code
P03.03
Parameter Name
DO4 function and enabled status setting
Attribute
Power up effective
Setting
Range
0~3
256~259
Unit
-
Factory
Defaults
3
Function Description:
Refer to P03.00 for function description.
Function
Code
Parameter Name Attribute
P03.04
DI1 function and enabled status setting
Power up effective
Setting
Range
0~20
256~276
Unit
-
Factory
Defaults
0
Function Description:
Setting of function and enabled status of digital input DI1. The setting value can be obtained by adding enabled status settings and function setting together. If the setting value is not in the setting range, the system will retain the last one.
Enabled status setting value:
0: Active High
Setting Value of Input Function:
256: Active Low
0: Servo Enabling (S-ON)
2: Negative Over-travel Limit
(N-OT)
4: Deviation Counter Reset (CLR)
6: the second electronic gear ratio
(GEAR2)
1: Alarm Reset (ALM-RST)
3: Positive Over-travel Limit (P-OT)
5: Pulse Inhibit (PINH)
7: Spare
96
Chapter VI Specified Function Introduction
8: Spare
9: Zero Speed Clamp in Analog speed Mode
(ZCLAMP)
10: direction in Internal Speed
Mode
12: Spare
14: Negative Start in Analog speed
Mode
11: direction in Analog speed Mode
13: Positive Start in Analog speed Mode
15: Multi-Stage Operation Option 1 (CMD1)
16: Multi-Stage Operation Option 2
(CMD2)
18: Multi-Stage Operation Option 4
(CMD4)
20: Origin Switch Signal (
OrgNear
)
17: Multi-Stage Operation Option 3 (CMD3)
19: Origin Search Enable (
SHOM
)
Examples for setting:
The input function should be set to negative over-travel limit, active-low and the setting value is 2+256=258
Function
Code
P03.05
Parameter Name Attribute
DI2 function and enabled status setting
Power up effective
Setting
Range
0~20
256~276
Unit
-
Factory
Defaults
1
Function Description:
Refer to P03.04 for function description.
Function
Code
P03.06
Parameter Name Attribute
DI3 function and enabled status setting
Power up effective
Setting
Range
0~20
256~276
Unit
-
Factory
Defaults
2
97
Chapter VI Specified Function Introduction
Function Description:
Refer to P03.04 for function description.
Function
Code
P03.07
Parameter Name Attribute
DI4 function and enabled status setting
Power up effective
Setting
Range
0~20
256~276
Function Description:
Refer to P03.04 for function description.
Function
Code
Parameter Name Attribute
P03.08
DI5 function and enabled status setting
Power up effective
Function Description:
Refer to P03.04 for function description.
Function
Code
Parameter Name Attribute
P03.09
DI6 function and enabled status setting
Power up effective
Function Description:
Refer to P03.04 for function description.
Function
Code
Parameter Name Attribute
P03.10
DI7 function and enabled status setting
Power up effective
Setting
Range
0~20
256~276
Setting
Range
0~20
256~276
Setting
Range
0~20
256~276
Unit
Factory
Defaults
- 3
Unit
-
Factory
Defaults
4
Unit
-
Factory
Defaults
5
Unit
-
Factory
Defaults
6
98
Chapter VI Specified Function Introduction
Function Description:
Refer to P03.04 for function description.
Function
Code
Parameter Name Attribute
Setting
Range
Unit
Factory
Defaults
P03.11
Zero deviation calibration for analog input
Immediately effective
Function Description:
Set the auto zero calibration for analog input. This setting is valid when Analog Speed
Control mode or Torque Control mode is set in P00.02.
0: Start the Analog input Auto Zero Calibration (Make sure the actual analog input is zero prior to start auto zero calibration).
System will automatically check the analog input, and save the measured value in
P03.12. Entering function code P03.12 and pressing button to save the measured value into EEPROM is needed. Only one auto zero calibration will be operated during each time when power up.
(After auto zero calibration is done, the set point must be 1, or otherwise exceptions will occur during power up next time).
1: Analog Auto Zero Calibration Invalid
Function
Code
P03.12
Parameter
Name
Analog input zero compensation value
Attribute
Immediately effective
0~1
Setting Range
-5.000~+5.000
-
Unit
0.001V
1
Factory
Defaults
0.01
Function Description:
Set the Analog Input Zero Compensation value. The setting is applying to Analog
Speed Control Mode and Analog Torque Control Mode.
The Zero Compensation value can be acquired by operating the Analog Auto Zero
Calibration in P03.11, and also it can be acquired by manual settings. The displaying of
Zero Compensation value will be voltage style, which displayed three decimal places.
99
Chapter VI Specified Function Introduction
Speed Command/
Torque Command
After Compensation Curve
Before Compensation Curve
Input Voltage
Zero Compensation Value
Function
Code
Parameter Name Attribute
Setting
Range
Unit
Factory
Defaults
P03.13 Analog input gain
Immediately effective
0~500 % 100
Function Description:
In the analog speed control mode, it describes the proportional relationship between the set motor speed command value and rotation command input voltage.
In the torque control mode, it describes the proportional relationship between the set motor torque command value and torque command input voltage.
When the set value is 100%, the ±10V voltage is corresponding to motor rated speed, or motor rated torque.
100
-10V
Chapter VI Specified Function Introduction
Speed/Torque Command
100%
200
%
100%
50%
10V
Input Voltage
-100%
Function
Code
P03.14
Parameter Name Attribute
Setting
Range
Unit
Threshold of analog input hysteresis
Immediately effective
-5.000~5.000 0.001V
Factory
Defaults
10
Function Description:
Set the Analog input hysteresis threshold. The parameter is effective in analog speed control mode and torque control mode.
1. In the analog speed control mode, only the given analog signal is above the 1.5x threshold that motor will rotate (the motor is locked-up before), and when the analog input is below the 0.5x threshold, the motor will be locked.
By proper setting this parameter, the function of zero speed clamp can be achieved.
101
Chapter VI Specified Function Introduction
Speed Command
100%
-10V
10V Input Voltage
-100%
2. In the torque control mode, it has the similar function in speed mode. Please be careful while using!
6.5 Position Control Parameters (Group P04)
Function
Code
Parameter Name Attribute
Setting
Range
Unit
Factory
Defaults
P04.00
Position command source
Power up effective
0~1 - 0
Function Description:
Set position command source.
0: Pulse setting. The position command originates from the pulse signals of PULS and
SIGN ports of I/O. There are three kinds of pulse input modes of position command: pulse + direction command, CCW + CW, quadrature Encoder A/B Pulse . The pulse input modes are set by Parameter P00.05.
1: Internal memory setting: refer to the latter function parameter Group P10 of multi-stage position.
102
Chapter VI Specified Function Introduction
Function
Code
Parameter Name Attribute
Setting
Range
Unit
Factory
Defaults
P04.01
Speed feed-forward low-pass filter coefficient
Immediately effective
1~4,095 Hz 1
Function Description:
Set the low-pass filter coefficient of speed feed-forward of position loop.
Appropriate use can increase the stability of the composite position control.
(Composite position control refers to the position control adopting speed feed-forward)
Function
Code
P04.02
Function
Code
P04.03
Parameter Name
Positioning completed width
Attribute
Immediately effective
Setting
Range
0~30,000
Unit
Pulse
Factory
Defaults
Function Description:
Set the pulse range of positioning complete under position control.
Under the position control mode, when the remaining pulses in the position deviation counter less than or equal to the setting value of this parameter, the drive identifies that the positioning has been completed and outputs the positioning complete signal
(P_CMP).
Parameter Name Attribute
Setting
Range
Unit
Detection range of over position error
Immediately effective
0~30,000 100 pulses
100
Factory
Defaults
0
103
Chapter VI Specified Function Introduction
Function Description
:
Set detection range of over position error. Each unit corresponds to 100 encoder feedback pulses.
Under the position control mode, when the value of position error counter exceeds this parameter, the servo drive would output over position error alarm signal.
When set as 0, the position error detection is invalid.
Function
Code
Parameter Name Attribute
Setting
Range
Unit
Factory
Defaults
P04.04
P04.05
P04.06
P04.07
Numerator of the first electronic gear ratio
Denominator of the first electronic gear ratio
Numerator of the second electronic gear ratio
Denominator of the second electronic gear ratio
Power up effective
Power up effective
Power up effective
Power up effective
1~32,766
1~32,766
1~32,766
1~32,766
-
-
-
-
5
3
10
3
Function Description:
Set electronic gear ratio.
Under the position control mode, conduct frequency doubling or frequency division on position command pulse to conveniently match with different position command pulse sources, thus the pulse resolution needed by users can be realized (i.e. angle/pulse or pulse command equivalency).
Please refer to Section 4.3.3 for the calculation method of electronic gear ratio.
The switch of electronic gear ratio is controlled by the second electronic gear ratio
(GR2) signal input from external digital input.
The recommended range of electronic gear ratio is 1/50≤G≤50.
104
Chapter VI Specified Function Introduction
Function
Code
Parameter Name
P04.08
Coefficient of
Moving Average
Filter for position command
Function Description:
Attribute
Power up effective
Setting
Range
0~500
Unit
-
Factory
Defaults
0
Position command moving average filtering function refers to that conduct the moving filtering averagely (MAF) on position command input to make the servo motor run more smoothly. This function is more effective in the following situations:
(1) Host controller does not have the deceleration function;
(2) The electronic gear ratio is above 10 times;
(3) The command pulse frequency is lower;
(4) There are phenomena like stepping jump and unbalance during the running of motor.
When set as 0, filter doesn't work.
Rectangle Position Command
Trapezoid Position Command
T t
T
T
The filtering time T is determined by
P04.08, T= P04.08/8 (ms)
Prior to filtering
After filtering
T t
105
Chapter VI Specified Function Introduction
6.6 Speed Control Parameters (Group P05)
Function
Code
Parameter Name Attribute
Setting
Range
Unit
Factory
Defaults
P05.00
Speed command source
Power up effective
0~1 - 0
Function Description:
Set the speed command source under speed control mode (including analog speed mode and internal speed mode).
0: port setting. Set by external analog value or switching value switch.
1: (Reserved).
Function
Code
P05.01
Parameter
Name
Speed for JOG operation
Attribute
Immediately effective
Setting Range
-3,000~3,000
Function Description:
Set the motor speed under JOG commissioning mode.
Unit rpm
Factory
Defaults
120
Function
Code
Parameter
Name
Attribute Setting Range Unit
Factory
Defaults
P05.06 Speed limit
Immediately effective
0~6,000 rpm --
Function Description:
Set the maximum speed limit value of motor (unrelated to direction).
If the setting maximum speed limit value is higher than the rated speed of motor, the actual maximum speed limit value is the rated speed of motor.
The setting value of this parameter is also the maximum speed limit value under torque mode.
106
Chapter VI Specified Function Introduction
Function
Code
Parameter
Name
Attribute Setting Range Unit
Factory
Defaults
P05.07
Function Description:
Set the speed threshold of reaching speed detection.
Under the non-position control mode, if the difference value between setting speed and feedback speed of motor is smaller than this setting value, the speed reaching signal
(S_CMP) will be outputted. The speed reaching judgment has hysteresis function.
Function
Code
P05.08
Reached speed
Parameter
Name
Threshold for over speed error detection
Immediately effective
Attribute
Immediately effective
5~3,000
Setting Range
0~100 rpm
Unit rpm
50
Factory
Defaults
0
Function Description:
Set the speed error detection threshold.
Under the speed control mode, when the value of speed deviation exceeds the setting value of this parameter and the duration exceeds the time set by Parameter P05.09, the servo drive will give over speed error alarm.
When the setting value is 0, the over speed error alarm function is closed.
Function
Code
P05.09
Parameter
Name
Permitted time for over speed error detection
Attribute
Immediately effective
Setting Range
0~30,000
Unit ms
Factory
Defaults
5,000
Function Description:
Set the allowed time of over speed error.
When the value of speed deviation exceeds the setting value of P05.08 and the duration exceeds the time set by this parameter, the servo drive would give over speed error alarm.
107
Chapter VI Specified Function Introduction
Function
Code
P05.10
P05.11
Parameter
Name
Deceleration ramp time of speed command
Acceleration ramp time of speed command
Attribute
Immediately effective
Immediately effective
Setting Range
0~16,000
0~16,000
Unit ms ms
Factory
Defaults
10
10
Function Description:
Set the deceleration and acceleration time of speed command signal.
The setting values correspond to the decoration and acceleration time from zero speed to rated speed of the motor. This is effective only in the speed control mode.
This parameter is used to convert speed command signal of larger changes (such as step signal) into smoother speed commands, thus the jump or violent vibration of the motor is prevented from harming the mechanical parts.
This parameter is generally set as 0 to reach the fastest speed responsiveness.
Function
Code
P05.12
P05.13
Parameter
Name
Zero speed clamping selection
Allowed time of zero speed clamping
Attribute
Immediately effective
Immediately effective
Setting Range
0~1
1~2,000
Unit
- ms
Factory
Defaults
0
100
Function Description:
Under the analog speed control mode, input a zero clamping signal (ZCLAMP) while the analog value is set as 0 and after a delay period (zero speed clamping allowed time
P05.13), the servo system enters the state of zero-speed-locking.
P05.12: Zero speed clamping selection
When set as 0, the zero speed clamping function is effective; while set as 1, the zero speed clamping function is invalid.
108
Chapter VI Specified Function Introduction
6.7 Torque Control Parameters (Group P06)
Function
Code
P06.00
P06.01
Immediately effective
Immediately effective
Factory
Defaults
150
-150
Function Description:
Set the servo motor internal torque limit values in CCW (positive) and CW (negative) direction. The setting value is the percentage of rated torque of the motor.
The set limit value is effective in internal speed control mode (P00.02=3).
If the set value is over the permitted maximum overload capacity of the system, the limit to actual torque will be the permitted maximum overload capacity of this system.
Function
Code
P06.02
P06.03
Parameter
Name
Internal CCW torque limit
Internal CW torque limit
Parameter
Name
External CCW torque limit
External CW torque limit
Attribute
Immediately effective
Immediately effective
Attribute
Setting Range
0~300
-300~0
Setting Range
0~300
-300~0
Unit
%
%
Unit
%
%
Factory
Defaults
150
-150
Function Description:
Set the servo motor external torque limit values in CCW (positive) and CW (negative) direction. The setting value is the percentage of rated torque of motor.
The set limit value is effective in modes of position control, analog speed control and torque control.
The actual torque limit is the minimum value of maximum of overload capacity permitted by system, internal and external torque limit.
Function
Code
P06.04
Parameter
Name
Torque limit for trial operation
Attribute
Immediately effective
Setting Range
0~300
Unit
%
Factory
Defaults
100
109
Chapter VI Specified Function Introduction
Function Description:
Torque limits set under speed trial operation and JOG trial operation modes. This function is effective in both directions.
Set value is the percentage of rated torque of motor. The internal/ external torque limits are still effective.
6.8 MODBUS Communication (Group P07)
Function
Code
Parameter
Name
Function Description
Setting
Range
Factory
Defaults
P07.00
Baud rate selection
Note:
Communication rate of servo drive shall be the same as that of upper computer, or the communication cannot be established
P07.01 Native address
0: 1,200 bps
1: 2,400 bps
2: 4,800 bps
3: 9,600 bps
The function code is used to identify the address of this drive
0~3
0~31
3
1
Function Description:
You can appoint the drive address through P07.01 function code. When more than one servo drives participate in networking, the addresses of themselves must be unique. If not, it can lead to communication error or abnormity.
P07.02
Parity selection
0: even parity
1: odd parity
2: no parity
0~2 0
Function Description:
110
Chapter VI Specified Function Introduction
When you choose even parity or odd parity, the actual bits of every byte is 11. Among them, the one is start bit, 8 data bits, 1 check bit and 1 stop bit. When you choose no parity, the actual bits of every byte are also 11. 1 start bit, 8 data bits and 2 stop bits.
P07.03 Spare
P07.04 Spare
Function Description:
Standby parameters
P07.05
EEPROM saving mode for communication data
0: no deposit in EEPROM
1: direct deposit in EEPROM
0~1 0
Function Description:
The value of function codes may often be modified when communication is used.
Many save values of function codes in EEPROM will be updated while the function codes’ value has been changed. Frequent erasing and writing on EEPROM will reduce its service life. When there’s no need to save function data via communication, we can set P07.05 to 0 to prohibit saving data to EEPROM to prolong its service life. .
Please refer to the relevant instructions in attachment to see the application methods of
MODBUS Communication.
6.9 Parameters of Origin Search and Multistage Position (Group
P10)
Origin Search Function Setting
(1) Function Description
The origin search function in position mode (P00.02=0) refers to the origin searching function accomplished by the servo driver. . The process of origin search as shown below is divided into two stages:
(a) When the origin search function of servo driver is enabled in servo on condition, the motor can search the decelerating point in the direction of deceleration point target at specified high search speed (P10.03) under the origin search mode P10.02
. Then slow down at given deceleration time (P10.05) to zero speed after meeting the rising edge of origin switch signal (OrgNear).
111
Chapter VI Specified Function Introduction
(b) The motor searches the position of origin switch signal (OrgNear) at given low search speed (P10.04) in negative direction of high search speed. Search will be stopped suddenly when it meets the falling edge of origin switch. It indicates that the origin search is done and the completion signal (Home) is outputted. If it could not find the origin position in specified time (P10.06), it will report the time-out error of origin search.
V
High speed P10.03 t
Triggered by rising edge of decelerating point
Low Speed P10.04
Triggered by origin signal
Diagram of the Origin Search Process
Function
Code
Parameter Name Attribute Setting Range Unit
P10.00
Function
Code
P10.01
Action selection after origin search
Parameter
Name
Enable control of the origin search
Power up effective
Attribute
Immediately effective
0~1 -
Function Description:
Set the motion pattern after origin search is completed in position mode.
0: Perform the internal position instruction immediately after origin resets.
1: Do not perform the internal position instruction after origin resets.
Setting Range
0~2
Unit
-
Factory
Defaults
0
Factory
Defaults
0
112
Chapter VI Specified Function Introduction
Function Description:
Set the enabling conditions of origin search.
0: Shut down the origin search function.
1: Enable the origin search function by starting the origin search signal SHOM through digital input.
2: Enable the origin search function immediately after powering up and enabling the drive (in position mode).
Function
Code
P10.02
Parameter
Name
The origin search mode
Attribute
Immediately effective
Setting Range
0~3
Unit
-
Factory
Defaults
0
Function Description:
Set the origin search action mode.
0: Positive search. Both deceleration point and original point are the origin switch signal (
OrgNear)
.
1: Negative search. Both deceleration point and original point are the origin switch signal (
OrgNear
).
2: Positive search. Both deceleration point and original point are Z signal of motor.
3: Negative search. Both deceleration point and original point are Z signal of motor.
Caution: the ‘origin search enabling control’ of parameter P10.01 can only be set as 1 to perform the origin search for many times in the condition that the drive is not power down. Enable the origin search through inputting the SHOM signal by DI. It is considered that the origin search is not finished if DI is in invalid state. And internal position command is invalid. One requirement for running the internal position after the origin search is finished is triggering DI of origin search and keeps it in valid state.
If it is necessary to perform the origin search again after finished, the valid state of DI should turn into invalid state, and then turn into valid state.
Multi-Stages Position Function Setting
(1) Function Description
The multistage position function under position control mode (P00.02=0) refers to the position operation function accomplished by the driver based on internal stored 16 groups position related control parameters. Through using internal multi-stage position
113
Chapter VI Specified Function Introduction function, user can easily realize automatic multi-stage fixed-length operation, or through external inputting DI signal can realize the preset position control function.
Because it is controlled by internal parameters, there is no need for external pulse command. The proper usage of this function can realize multi-point trajectory planning.
Using multi-stage position function, when enabling signal S-ON effective the drive runs at setting program, enabling signal invalid then stop running immediately. If it is in the process of execution stage internal position instruction, the enabling becomes invalid, and the enabling signal becomes effective drive again then based on the preset processing mode for residual command (P10.10) to choose from n+1 stage (P10.10=0) and continue to perform unfinished internal position stage or from stage 1 (P10.10=1) and start perform preset internal position instruction again.
There are four different internal positions operation modes:
▲ Single Sequence Operation Mode:
Under the situation that the enabling signal is effective, only to run setting internal position stage number once. If it needs running several times, it can make enabling effectively again after running only once. This mode can realize multi-point trajectory planning. Through the choice of P10.10 processing mode for residual command, user can set the operation mode of servo enabled again after interruption of servo enable signal.
V
S1
Mode Chart
T
S2
Vma x t
Note
Single Sequence Operation
Mode:
Vmax - Max. speed of motor
T-Waiting time of Stage 1
T2-Time of ACC/DEC of
Stage 2
S1-Displacement of Stage 1
S2- Displacement of Stage 2
T2
▲ Cyclic Operation Mode:
This mode is similar to the single sequence operation mode; however, it will run in cycle from the beginning when running again until the enable signal turns into invalid.
The processing mode for residual command is as same as the single sequence operation mode.
▲ DI Switching Operation Mode:
114
Chapter VI Specified Function Introduction
Trigger and change the stage for running by external digital input. One stage will be in run as enabling signal S-ON varies from invalid to valid once. Segment number of each running is confirmed by the signal combination of CMD1~CMD4 when enable signal changed from invalid to valid state.
V
S1
Mode Chart
S-ON
T2
S2
Vma x t
Note
DI Switching Operation
Mode
Vmax - Max. speed of motor
S-ON-Terminal valid by triggering
S1, S2-Displacement of selected stage
T2-TIime of ACC/DEC of selected stage
▲ Sequential Operation Mode:
The sequential operation mode is similar to the single sequence operation mode but there is not waiting time between the stages. This mode will start running at maximum speed of previous stage. The total displacement of overall sequential operation will be consistent with the setting.
Mode Chart
Note
V
S1
S2
S3
Vma x t
Sequential Operation Mode
Vmax - Max. speed of motor
T2-Time of ACC/DEC of
Stage 2
S1-Displacement of Stage 1
S2- Displacement of Stage 2
S3- Displacement of Stage 3
T2
Note: there are 32 displacement instructions of multi-stages position, such as P10.13 and P10.14. Select the relative displacement or absolute displacement by P10.11. Both relative displacement and absolute displacement should consider the electronic gear ratio. When P10.11=0 is chosen, the displacement instruction means the increased
115
Chapter VI Specified Function Introduction displacement at current position. When P10.11=1 is chosen, the displacement instruction means the absolute position based on the original point.
(2) Explanation of Main Parameters
Function
Code
Parameter Name Attribute
Setting
Range
Unit
Factory
Defaults
P10.08
Internal position operation mode selection
Immediately effective
0~3 - 0
Function Description:
Set internal position operation mode. You can set four different operation modes.
0:
Single Sequence Operation Mode
: start running stages set by P10.09 from Stage 1 and the setting waiting time of each stage is used for the switch between two stages.
1:
Cyclic Operation Mode
: start running stages set by P10.09 from stage 1 repeatedly and the setting waiting time of each stage is used for the switch between two stages.
2:
DI Switching Operation Mode
: running stage is chosen by external digital input
(CMD - CMD4), each stage's speed, acceleration and deceleration time and displacements are determined by the selected stage parameters. See the next section for signal distribution. (Required external terminal signal of DI mode)
3:
Sequential Operation Mode
: no waiting time between two stages and the starting speed for current stage is determined by the front stage's operation speed.
Function
Code
P10.09
Parameter
Name
Effective segments selection
Function Description:
Attribute
Immediately effective
Setting Range
1~16
Unit
-
Factory
Defaults
0
Set the effective maximum segment number for internal position mode, the segments after this number will not be executed. The setting value is void when P10.08=2.
116
Chapter VI Specified Function Introduction
Function
Code
Parameter Name Attribute
Setting
Range
Unit
Factory
Defaults
P10.10
Processing mode for residual command
Immediately effective
0~1 - 0
Function Description:
Set the processing mode for residual position command when enable signal recovery after being interrupted.
0: Continue to run the rest of the segments 1: Start running again from segment 1
Function
Code
Parameter Name Attribute
Setting
Range
Unit
Factory
Defaults
P10.11
Displacement command type selection
Immediately effective
0~1 - 0
Function Description:
Set the type of internal displacement.
0: Relative displacement instructions 1: Absolute displacement instructions
Function
Code
P10.12
Parameter
Name
Waiting time unit selection
Attribute
Immediately effective
Setting Range
0~1
Unit
-
Function Description:
Set time unit for the waiting time value.
0: The unit of the waiting time is ms 1: The unit of the waiting time is s.
Factory
Defaults
0
117
Chapter VI Specified Function Introduction
Function
Code
P10.13
P10.14
Immediately effective
Immediately effective
Immediately effective
Factory
Defaults
Function Description:
Combine P10.13 with P10.14 to set stage 1 displacement number (pulse number before electronic gear ratio). The 4 HSBs (decimal) of displacement is set by P10.13 and the 4
LSBs is set by P10.14. The total displacement of current segment = (4 HSBs set value)
× 10,000+ (4 LSBs set value).
For example, set four figures high value -12 and four figures low value +5,000, the setting total displacement=-12×10,000 + (+5,000) =-115,000.
Function
Code
P10.15
Parameter
Name
Displacement
4 HSBs
(decimal) of the first segment
Displacement
4 LSBs
(decimal) of the first segment
Parameter
Name
Speed of the first segment
Attribute
Attribute
Setting Range
-9,999~9,999
-9,999~9,999
Setting Range
0~3,000
Unit
-
-
Unit rpm
0
5,000
Factory
Defaults
500
Function Description:
Set the maximum speed for internal position segment 1..
Note
:
The setting method for other internal position segments is the same as that for segment 1 described above. See chapter 5 for reference.
(3) Required external signal for DI switching operation mode
118
Signal name
S-ON
CMD1
CMD2
CMD3
CMD4
Chapter VI Specified Function Introduction
Function Description
Multi-stage position triggering signal
Choose 1 for multistage position command
Choose 2 for multistage position command
Choose 3 for multistage position command
Choose 4 for multistage position command
Note
Share with enabling signal
See the table below for the relationship between
CMD1~CMD4 signal combination and position instruction segment number.
119
Chapter VI Specified Function Introduction
Table of relationship between CMD1~4 and position instruction segment number:
CMD4
1
1
1
1
1
1
1
0
0
0
0
1
0
0
0
0
CMD3
0
0
0
0
1
1
1
1
0
0
0
0
1
1
1
1
CMD2
0
0
1
1
0
0
1
1
0
0
1
1
0
0
1
1
CMD1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
segment number of selected position command
1
2
3
4
10
11
12
13
14
7
8
5
6
9
15
16
(0 - inactive input; 1 - active input)
6.10 Parameters of Multistage Speed Function (Group P11)
(1) Function Description
The multi-stage speed function under speed control mode refers to the speed operation function accomplished by the driver alone based on the internal stored 8 groups of parameters related to speed control. User can setup maximum 8 speeds through this function and can easily carry out programmable speed operation or speed operation controlled by external digital input. This function is valid when the control mode of driver is set to internal speed control mode (P00.02=3).
(2) Explanation of Main Parameters
120
Chapter VI Specified Function Introduction
Function
Code
P11.00
Parameter
Name
Multi-stage speed instruction operation mode
CMD2
0
0
1
1
0
0
1
1
Attribute
Immediately effective
CMD1
0
1
0
1
0
1
0
1
Setting Range
0~2
selected segment number of speed
(0 - inactive input; 1 - active input)
1
2
3
4
5
6
7
8
Unit
-
Factory
Defaults
0
Function Description:
Set multi-stage speed instruction operation mode. You can set three kinds of operation mode:
0:
single operation mode
. After the enable signal is valid, the driver starts to run one by one segment based on preset total segments and operation time for each segment in order of segment from small to large. The driver will stop when the end segment (set by P11.01) has been finished.
1:
Cyclic operation mode
.. After the enable signal is effective, the driver starts to run one by one segment based on preset total segments and operation time for each segment in order of segment from small to large. The driver will continue to run again from the first segment when the end segment (set by P11.01) has been finished until the enable signal becomes invalid.
2:
DI switching operation mode
. Under this mode, after the enable signal is valid, the driver will run according to the speed selected by external digital input signals
CMD1~CMD3 and the running time is not subjected by the preset operation time for each segment.
The relationship between CDM1~CDM3 and speed instruction segment number is as follows:
CMD3
0
0
0
0
1
1
1
1
121
Chapter VI Specified Function Introduction
Note:
◇
In single operation or cyclic operation mode,, under the condition that the power for driver is applied continuously, the driver stops to run once the enable signal becomes invalid and the driver will starts to run from the first segment after the enable signal becomes valid again.
◇
Operation time for each segment can be set through parameters.
◇
In DI switching operation mode, the actual running time for each segment is not subjected by preset operation time for each segment.
◇
There are four ACC/DCC time values between segments available and the default
ACC/DCC time is zero. See description of related parameters for reference.
Parameter Function Description:
Function
Code
P11.01
Parameter
Name
End segment selection of the speed command
Attribute
Immediately effective
Setting Range
1~8
Unit
-
Factory
Defaults
0
Function Description:
Set the maximum effective segments for the single and cyclic operation mode. This setting is invalid when the DI switching operation mode is chosen.
Function
Code
P11.02
Parameter
Name
Runtime unit selection
Attribute
Immediately effective
Setting Range
0~2
Unit
-
Factory
Defaults
0
122
Chapter VI Specified Function Introduction
Function Description:
Set the unit of operation time for each speed segment.
0: millisecond 1: second 2: minute
Function
Code
P11.03
Parameter
Name
Acceleration
Time 1
Attribute
Immediately effective
Setting Range
0~10,000
Unit ms
Factory
Defaults
50
Function Description:
Set acceleration time 1. Acceleration time is the ramp time that it takes for speed command to rise from zero to rated speed.
Function
Code
P11.04
Parameter
Name
Acceleration
Time 1
Attribute
Immediately effective
Setting Range
0~10,000
Unit ms
Factory
Defaults
50
Function Description:
Set deceleration time 1. Deceleration time is the ramp time that it takes for speed command to descend from rated speed to zero speed.
Factory
Defaults
Function
Code
P11.05
P11.06
P11.07
P11.08
Parameter
Name
Deceleration
Time 2
Deceleration
Time 2
Acceleration
Time 3
Deceleration
Time 3
Attribute
Immediately effective
Immediately effective
Immediately effective
Immediately effective
Function Description:
See the description of P11.03 and P11.04.
Setting Range
0~10,000
0~10,000
0~10,000
0~10,000
Unit ms ms ms ms
100
100
500
500
123
Chapter VI Specified Function Introduction
Function
Code
P11.09
Parameter
Name
The first segment speed
Function Description:
Set the speed of the first segment.
Function
Code
P11.10
Parameter
Name
Runtime of the first segment speed
Attribute
Immediately effective
Attribute
Immediately effective
Setting Range
-3,000~3,000
Setting Range
0~30,000
Unit rpm
Unit ms/s/min
Factory
Defaults
10
Factory
Defaults
100
Function Description:
Set the run time of first segment speed. The time unit is set in P11.02.
Function
Code
P11.11
Parameter
Name
ACC/DEC time selection of the first segment
Attribute
Immediately effective
Setting Range
0~3
Unit
-
Factory
Defaults
0
Function Description:
Set the selection of ACC/DEC time for the first speed segment.
0: ACC/DEC time for the first segment is 0.
1: ACC/DEC time for the first segment is set by the parameters ‘Acceleration Time 1’ and ‘Deceleration Time 1’.
2: ACC/DEC time for the first segment is set by the parameters ‘Acceleration Time 2’ and ‘Deceleration Time 2’.
3: ACC/DEC time for the first segment is set by the parameters ‘Acceleration Time 3’ and ‘Deceleration Time 3’.
Note: The setting method for other speed segments is the same as that for the first speed segment described above. See Chapter 6 for reference. .
124
Chapter VII Diagnosis of Malfunctions
Er.ELS
Er.0LS
Er.OH1
Er.SSr
Er.brS
Er.brL
Er.oL
Er.ot
Er.OCU
Er.LU
Er.OU
Er.IAF
Er.IbF
Er.OSE
Er.OPE
Er.OCS
Er.PoF
Er.rLS
Chapter VII Diagnosis of Malfunctions
7.1 Alarm Display and Description
Table 7-1 Fault Alarm Table
Alarm Code
Er.IPF
Alarm Content
Short circuit and overcurrent on IPM module or the voltage of driving power is too low
Hardware overcurrent
Undervoltage of busbar
Overvoltage of busbar
Channel A failure for current sense
Channel B failure for current sense
Over Speed error Alarm
Over Position error Alarm
Software overcurrent
Failure to read or write in EEPROM
UVW combinational logic error (rotor signal loss)
Encoder disconnection (encoder signal loss)
Z-pulse loss of encoder (zero signal loss)
Overheated heatsink
Saturation alarm of speed regulator
Instantaneous braking power alarm
Long-time average braking power alarm
Overload for motor
Overtime home position return
125
Chapter VII Diagnosis of Malfunctions
7.2 Diagnosis of Malfunctions and Correction
Table 7-2 Fault Treatment Approaches
Alarm
Code
Er.IPF
Er.OCU
Operating state
When switched on control power
Possible Cause
Circuit board fault
Processing Methods
Change servo drives
During the operation process of motor
During the operation process of motor or when starting the drive or when other conditions
Low service voltage
Overheated drive
Short circuit between U,
V and W output
Check and correct wiring
Motor insulation damage Change motor
Imperfect earth
Check drive and power up again, changing drive if the failure didn’t disappear
Disturbed
Perfect earth
Add EMC line filter being isolated or away from interference resource
Short circuit between drives U, V, and W
Wiring error or poor contact to motor cable
Internal short circuit or earth short circuit to motor cable
Internal short circuit or earth short circuit to motor
Internal short circuit or earth short circuit to drive
Modify wiring
Modify wiring or replace motor cable
Replace motor cable
Maybe it’s motor failure, replacing the motor
Maybe it’s drive failure, replacing the drive
Malfunction caused by noise
Take measures to prevent noise interference, such as perfect earth and appropriate
EMC measures.
126
Chapter VII Diagnosis of Malfunctions
Alarm
Code
Er.LU
Er.OU
Er.IAF
Operating state
Switch on main power and start drive
Possible Cause Processing Methods
Servo unit failure
Voltage of main power is too low, poor contact of power supply lines or power supply capacity is insufficient
Interrupt power-supply happened to supply voltage drive fault
Repair or change drives
Check the power supply and correct failure
Interrupt and power up again
Repair or change drives
When switched on control power
It appears while the main power is switched on
Circuit board fault
The supply voltage exceeds permitted input voltage range
Wiring of braking resistor disconnected
Repair or change drives
Check whether the power supply matches drive or not
During the operation process of motor
When
Mismatch of external braking resistor led to renewable energy can’t be absorbed drive fault
±15V no voltage
Wiring again
Reduce the start-stop frequency;
Add acceleration or deceleration time; lower limit value of torque;
Reduce load inertia;
Replace it with bigger power drive and motor
Repair or change drives
Repair or change drives
127
Chapter VII Diagnosis of Malfunctions
Alarm
Code
Operating state
Er.IbF switched on control power
During the operation process of motor
When switched on control power
Er.OSE
Er.OPE
Possible Cause
Fault of current testing channel
Fault of control board
Encoder fault
Processing Methods
Change drives
Change motor
During the operation process of motor
Pulse frequency of input order is too high
Constant of acceleration or deceleration time is so low that the speed overshoot is too high
Input electronic gear ratio is too high
Set input pulse correctively
Add constant of acceleration or deceleration time
Set correctly
Encoder fault Change motor
Encoder cable defective Replace encoder cable
Servo system is not stable and causing overshoot
Reset relevant gain.
If the gain can’t be set to proper value, the load inertia ratio can be reduced
When switched on control power
Circuit board fault
Switch on the main power and line of control, input pulse order, motor isn’t
U, V and W leading wires of motor are connected in a wrong way
Encoder lead cable is connected in wrong way
Encoder fault
Change servo drives
Correct connection
Change servo drives
128
Chapter VII Diagnosis of Malfunctions
Alarm
Code
Er.OCS
Er.PoF
Er.rLS
Operating state operating
During the operation process of motor
During the process of electricity
During the power up of control power
During the operation process of motor
Possible Cause Processing Methods
Examination area of out of tolerance of setting position is too small
Proportional gain of position is too low
Torque is insufficient
Expand examination area of out of tolerance of setting position
Add proportional gain of position
Check the limit value of torque
Reduce load capacity
Replace it with larger drive and motor
U, V and W leading wires of motor are connected in a wrong way
Change wiring
Change servo drives
The control software failure to complete the right initial settings
Set the parameters such as drive capacity and motor type, then restoring the default action( usually performed by manufacturers)
Damage of chip or circuit board
Encoder cable defective
Inadequate shielding of encoder cable
Unconnected shielding ground of encoder
Z-pulse doesn’t exist, encoder is damaged
Control board fault
Signals of encoders U, V and W are damaged
Control panel fault
Change servo drives
Correct wiring
Change power cable
Change motor (encoder)
Change wiring
129
Chapter VII Diagnosis of Malfunctions
Alarm
Code
Er.ELS
Er.0LS
Er.OH1
Er.SSr
Operating state
During the power up of control power
During the operation process of motor
During the operation process of motor
During the operation process of motor
During the operation process of motor
Possible Cause Processing Methods
Control board fault
Encoder cable defective
Overlong encoder cable causes the lower supply voltage of the encoder.
Encoder destroyed
Control panel fault
Control board fault
Encoder cable defective
Overlong encoder cable causes the lower supply voltage of the encoder.
Encoder destroyed
Control panel fault
Gain of speed loop Kp is too low
Operating temperature higher than specified value
Check connection.
Change power cable
Shorten the cable and adopt multi-core parallel operation.
Change motor (encoder)
Change drives
Check wiring
Change power cable
Shorten the cable and adopt multi-core parallel operation.
Change motor (encoder)
Change drives
Increase the setting value of
Gain of speed loop
Lower operating temperature or improve cooling condition
Overload
Motor stalling
Heavy load
Loss of encoder feedback pulse
Replace it with bigger power drive and motor
Extent acceleration and deceleration time;
Lower load.
Find out the cause of stalling and correct it
Change it with bigger power servo motor and drive
Enhance anti-interference measure for encoder signal
130
Chapter VII Diagnosis of Malfunctions
Alarm
Code
Operating state
Possible Cause Processing Methods
Er.brS
During the operation process of motor
Servo system is in continuous energy feedback condition; network voltage is too high; drive failure
Use bigger power servo drive and servo motor; making sure the voltage is up to specifications; change drive
Er.brL
During the operation process of motor
Braking resistor is under-powering.
Use external high power braking resistor;
Use bigger power servo drive and servo motor
7.3 Motor Failure and Corrective Action
If any of the following failures or abnormities occurred in motor, find out the problem and deal it with corresponding corrective action. When checking or corrective action fails to solve the problem, please seek the technical support.
Table 7-3 Motor Fault and Corrective Action
Fault
Servo motor doesn’t start
Possible
Cause
Access failure of control power
Access failure of main circuit power
Wiring error or omission of input/ output signals
Wiring of encoder drops off
Confirmation method
Measure the voltage between control power terminals LC1 and LC2.
Measure the voltage between main circuit power terminals L1, L2 and L3
Check the link status of all the CN2 signals
Confirm the connection state
Processing Methods
Correct wiring to make the control power shows ON
Correct wiring to make the main circuit power shows
ON
Wiring the terminals of input/output signals correctly
Correct wiring
131
Chapter VII Diagnosis of Malfunctions
Fault
Servo motor doesn’t start
Possible
Cause
Wiring of servo motor cable drops off
Confirmation method
Confirm the connection state
Processing Methods
Correct wiring
Load of servo motor is too heavy
Enabling signal S-ON shows OFF
Try to empty running to confirm the load state
Lighten load or replace it with servo motor replace it with bigger power servo motor or drive
Confirm the function sets of S-ON when it is inputted into DI channel and corresponding DI
(P03.04~03.10)
Set input signal correctly
Choose wrong mode of command pulse
(position mode)
Incorrect input of speed command
(speed mode)
Incorrect input of torque command
Clear signal of position deviation pulse CLR keeps showing ON
Confirm the setting of
P00.05 and form of command pulse
Confirm whether the control mode and input are consistent
Confirm whether the control mode and input are consistent
Confirm the CLR input signal (parameter)
Make the setting of parameter P00.05 and the form of command pulse keep consistent
Set control modes and input methods correctly
Set control modes and input methods correctly
Set CLR input signal to OFF
132
Chapter VII Diagnosis of Malfunctions
Fault
Servo motor doesn’t start
Servo motor stopped after instantane ous operation
Servo motor rotational instability
Possible
Cause
Positive stroke limit
POT and negative stroke limit
N-OT keep showing
OFF drive fault
(has display of fault)
Wiring error of servo motor
Control board fault
Poor wiring of servo motor cable
Servo motor operates without any order
Incorrect input of speed command
(speed mode)
Incorrect input of torque command
Confirmation method
Confirm P-OT and N-OT input signal
Set P-OT and N-OT to ON
Confirm if the fault can be cleared
Confirm wiring
Confirm wiring
Power line UVW and cable of encoder may be unstable
Fix the terminals of connector, wiring in right way
Processing Methods
If the fault is confirmed to be ineffaceable, change the drive
Correct wiring
Correct wiring
Set control modes and input methods correctly
Set control modes and input methods correctly
There is offset errors in speed command
P03.12 zero compensation value analog input is set incorrectly
Adjust the set value of
P03.12 appropriately
133
Chapter VII Diagnosis of Malfunctions
Fault
Servo motor has abnormal sound
Possible
Cause
Input incorrect command pulse
Confirmation method drive fault -
Confirm the installation status of servo motor
Poor mechanical installation
Confirm if the coupling is eccentric
Bearing fault
Confirm the balance status of coupling
Confirm the sound and vibration near the bearing
There is noise interference because the specification of input/ output signal cable is not standard
There is noise interference because the input/ output signal cable is too long
Confirm if the specification of input/ output signal cable is standard. Cable specification: twisted unshielded pair or shielded pair (core wire above 0.12mm
2
)
Confirm the length of input/ output signal cable.
Processing Methods
Set control modes and input methods correctly
Change drives
Retighten the mounting screw
Keep the degree of eccentricity within permitted range
Keep balance of coupling
Change servo motor
Use standard cables
Keep the length of input/ output signal cable within 3 meters.
134
Chapter VII Diagnosis of Malfunctions
Fault
Servo motor has abnormal sound
Overheated servo motor
Possible
Cause
There is noise interference because the specification of encoder cable is not standard
There is noise interference because the encoder cable is too long
There is excessive noise interference in encoder cable
The pulse of servo unit is miscounted because of noise interference
Encoder is effected by excessive shock and vibration
Encoder fault
Temperature of operating environment is too high
Confirmation method
Confirm if the encoder cable is standard. Cable specification: twisted unshielded pair or shielded pair (core wire above 0.12mm
2
)
Confirm the length of encoder cable.
Confirm if the encoder cable is tied together with or near the high current cable.
Confirm if there is noise interference between encoder and signal line
Confirm if there is mechanical vibration and the installation status of motor
-
Measure the temperature of operating environment of servo motor
Processing Methods
Use standard cables
Limit the length of encoder cable within 20 meters
Change the environment of encoder cable casting
Take measures on encoder wiring to prevent noise interference
Reduce the mechanical vibration and improve the installation status of servo motor
Change servo motor
Control the temperature of operating environment under
40°C.
135
Chapter VII Diagnosis of Malfunctions
Fault
Possible
Cause
Dirty surface of servo motor
Confirmation method
Determine the dirty surface of motor by visual inspection
Overheated servo motor
Servo motor is under heavy lode
Confirm the load condition by monitoring
Processing Methods
Remove dirt, dust, oil fouling and so on
If it’s overload, lightening the load or replacing it with bigger power drive or servo motor
136
Chapter VIII Maintenance
Chapter VIII Maintenance
Danger
1. Please don't touch the rotating parts when the servo motor is running. Otherwise may cause hurts.
2. Please make sure that the servo motor can be stopped anytime in emergency when installed on the matched machine and began to run. Otherwise may cause hurts.
3. Please don't touch the internal servo drive. Otherwise may cause electric shock.
4.
Please don’t touch the terminals within five minutes after power-off. Otherwise may cause electric shock by offset voltage.
5. Please carry out the trial operation according to the steps and instructions of this manual.
6. Operation mistake may cause mechanical defect and human injury when the servo motor is connected with the machine.
7. It is unnecessary to alter the maximum speed value except for special purpose. It will turn out to be in danger if the data was altered.
8.
Please don’t remove the outer cover, cable, connector and optional accessories in power-on situation. Otherwise may cause electric shock.
9. Setup, disassembly and maintenance should be not allowed by anyone except specific person. Otherwise may cause electric shock or hurts.
10. Please do not damage, pull, or overburden the cable, and do not put it under the weight or pick it up. Otherwise may cause an electric shock, burn the product or cause it to stop the movement.
11. Please make sure that the stop-gear is installed at the side of the machine for safety.
12. The machine may restart suddenly when momentary outages and power restoration occurred subsequently, thus keep away from the machine.
13. Please take measures to make sure the personal safety when the machine restarts.
Otherwise may cause hurts.
14. Please do not remold this product. Otherwise may cause hurts or machinery damage.
137
Chapter VIII Maintenance
15. The ground terminal of the servo drive must be grounded. Otherwise may cause electric shock.
Caution
1. Please make sure that the user parameter of the replaced servo drive is sent to the new one when altering the servo drive, and then restart it. Otherwise may cause machinery damage.
2. Please do not alter the wiring and remove the terminal. Otherwise may cause electric shock.
3. Please do not check the signals when running. Otherwise may cause machinery damage.
138
Chapter VIII Maintenance
8.1 Maintenance
The servo drive is characterized by commercial unit and microelectronic devices due to its combination of power electronic technology and microelectronic technology. The working environment changing, such as temperature, humidity, smog and so on, and the aging internal components may cause various faults of servo drive. Thus, daily inspection and regular maintenance (every three months or six months) will be needed in the process of storage and use for the long-term normal operation of this product.
8.1.1 Daily Maintenance
Please confirm the following issues when the servo drive starts normally:
Check the motor for abnormal noise and vibration.
Check the servo drive and motor for abnormal heating.
Check the environment temperature for overtopping.
Check the load current ammeter for usual value.
Check the cooling fan of servo drive for normal running.
Check the brake resistor for good ground insulation.
Daily maintenance inspections are illustrated in table 8-1.
Table 8-1 Contents of Daily Maintenance Inspection and Key Points of
Precautions
No.
Inspection
Items
Inspection Part Inspection Items Inspection Standard
1 Display LED Monitor
Check whether display normally or not
Confirm in working condition
(Check the brake resistor for good ground insulation.)
2
3
Cooling
System
Body
Fan
In the chassis
Check the rotation for flexibility; check the sound for abnormity; check whether dust blocks or not. temperature rise, abnormal
No exception
No exception
139
Chapter VIII Maintenance
4
5
6
Working
Environment
Voltage
Electrical Load surroundings
Input and output terminals
Motor sound, peculiar smell, dirt retention
Temperature, humidity, dust and harmful gas, etc.
Refer to Appendix
2 Technical
Regulation
Input and output voltages
Refer to Appendix
2 Technical
Regulation temperature rise, abnormal sound, vibration
No exception
8.1.2 Periodic Maintenance
When carry out the periodic maintenance of servo drive, check when the power is off, the monitor does not display and after 5-10 minutes after the main circuit power light is off, to avoid that the residual voltage of capacitor of servo drive hurts the maintenance staff.
Periodic maintenance inspections are illustrated in table 8-2.
Table 8-2 Contents of Periodic Maintenance Inspection
Inspection Items
Main circuit terminals, control circuit terminals screws
Contents
Check whether the screws are loose
Countermeasure
Screw up by screwdriver
Cooling Fin
PCB Printed
Circuit Board
Cooling Fan
Check whether there are dust
Check whether there are dust
Check whether the rotation is flexible; check whether there are abnormal sound, vibration, dust and blocking.
Blow off with dry compressed air
(pressure 4~6kg/cm
2
)
Blow off with dry compressed air
(pressure 4~6kg/cm
2
)
Replace the cooling fan; remove the dust and foreign body.
140
Chapter VIII Maintenance
Power Device
Electrolytic
Capacitor
Braking Resistor
Check whether there are dust
Check whether there are discoloration, peculiar smell, bubble, leakage, etc.
Check whether there is good ground insulation.
Blow off with dry compressed air
(pressure 4~6kg/cm
Keep the braking resistor in a dry and insulated place
2
)
Replace the electrolytic capacitor
During the inspection, the device should not be dismantled or shook arbitrarily, and the connector should not be pulled up arbitrarily as well. Otherwise may cause abnormal operation of servo drive or display malfunction. Moreover, it may cause device failure, damage of main switching devices IGBT module or other devices.
8.1.3 Regular Replacement of Devices
Periodic Maintenance based on the service life of internal electronic components of servo drive is necessary for the long-term reliability service. The service life of electronic components may change according to the different working environments and working conditions. In general continuous using, they could be replaced according to the following table, and depended on the specific situations, such as the working environments, load conditions and current situation of servo drive.
The maintenance period of servo drive in table 8-4 is for reference only.
Table 8-4 Replacement Time of Wearing Parts in Servo drive
Device Name
Cooling fan
Electrolytic Capacitor
Printed Circuit Board
Standard Replacement Time
2-3 years
4-5 years
5-8 years
8.2 Storage and Protection
The servo drive shall not be used immediately after the purchase, and the followings shall be noticed for the temporary or long-term storage:
The servo drive belongs in the stated scope of temperature and humidity. Ensure that there are no humidity, dust, metallic dust but with good ventilation.
141
Chapter VIII Maintenance
Charging test should be carried out if the servo drive has not been used more than
1 year in order to recover the properties of electrolytic capacitor in the main circuit. Use voltage regulator to increase the input voltage of servo drive up to nominal voltage when charging. Conduction time should be more than 1 or 2 hours.
The above tests should be carried out at least once a year.
Do not carry out the pressure test arbitrarily, otherwise may cause service life reduction and product components damage. 500 v Megger can be used in the measurement test for insulation test. The insulation resistance shall not be less than 4MΩ.
142
Chapter IX Quality Guarantee
Chapter IX Quality Guarantee
The product’s quality guarantee shall be in accordance with the following rules:
The warranty scope only refers to the noumenon of servo drives, and the warranty period begins to count at company’s shipping date. The warranty period of the product is 12 months after purchase within 24 months after the manufacture date on the nameplate.
If the fault is caused by the following reasons, it would be a paid service regardless of warranty:
The problems caused by incorrect operation or repair and renovation without permission;
The problems caused by using the servo drives beyond the standard specification requirements;
The damage caused by falling or barbarous transport after purchase.
The component aging or fault caused by the use under the condition which does not meet the requirement of the user manual;
The servo drives’ damage caused by incoming foreign matters (e.g., insects);
The servo drives’ damage caused by incorrect connecting line;
The fault caused by earthquake, fire, wind and flood disaster, lightning stroke, abnormal voltage or other natural disasters and causes accompanied by disasters.
For fault products, our Company has right to entrust others to responsible for warranty issues.
The quality guarantee matter belongs to our Company’s responsibility, when used in the country:
Guarantee for replacement, returns, repair within 1 month of shipment;
Guarantee for replacement and repair within 3 months of shipment;
Guarantee for repair within 12 months of shipment;
If shipping to overseas, guarantee for repair within 3 months after shipment. The relevant service charge is according to actual costs. But if there is any agreement, it should be deal with the principal of treaty override.
Our Company provides after-sales service at the sales organizations and agencies all over the country.
Additional Remarks:
About the exemption from liability
143
Chapter IX Quality Guarantee
Our Company could not responsibility for the liability caused or induced by the violation of the user manual’s rules;
Our Company shall not be held liable for your loss or diffusible, secondary damage caused by t+he product’s faulty.
About User Instructions:
The user manual is only for the product of this series.
Our Company is long-life responsible for the product, and provides all services related the using of the product.
The product is designed and manufactured under the strict quality control, but if it is used for the following purpose which could endanger human or human life due to fault or operation mistake, be sure to ask our Company in advance.
Use for transport and communication facilities;
Medical device;
Nuclear installations, electrical equipment;
Aviation and aerospace devices;
Various safety devices;
Other special purposes.
About the Hope for the Users:
Our Company will appreciate that if users could put forward valuable opinions and suggestions to product’s design, performance, quality and service.
144
Annex 1 Appearance Dimensions and Installation Dimensions of Drive
Annex 1 Appearance Dimensions and Installation
Dimensions of Drive
(Unit: mm)
Type –A Structure: applicable to
Single-phase 220V grade: AS100A- 1R6M2U and AS100A-2R8M2U
145
Annex 1 Appearance Dimensions and Installation Dimensions of Drive
Type-B Structure: applicable to
Three-phase 220V grade: AS100A-3R8M2U, AS100A-5R5M2U and
AS100A-7R6T2U
146
Annex 1 Appearance Dimensions and Installation Dimensions of Drive
Type-C Structure: applicable to
Three-phase 220V grade: AS100A-012T2U
Three-phase 380V grade: AS100A-3R5T3U, AS100A-5R4T3U and AS100A-8R4T3U
147
Annex 2 Technical Specification of Servo Drive
Annex 2 Technical Specification of Servo Drive
■
Specifications of 220V Series Servo Drive
Drive Model
Feedback Type
Drive Model
Feedback Type
Rated Current
Max. Current
Structure Size
AS100A-
1R6M2U
AS100A-
2R8M2U
AS100A-
3R8M2U
AS1000A-
5R5M2U
AS100A-
7R6T2U
Standard 2500 c/r Incremental Encoder
AS100A-
1R6M2V
1.6A
5.8A
A
AS100A-
2R8M2V
AS100A-
3R8M2V
AS1000A-
5R5M2V
AS100A-
7R6T2V
Wire-saving 2500 c/r Incremental Encoder
2.8A
9.3A
3.8A
11A
5.5A
16.9A
7.6A
17A
B
Main Circuit
Power Supply
Single/three-phase AC220V ±15%, 50/60Hz
AS100A-
012T2U
AS100A-
012T2V
12A
28A
C
Three-phase
AC220V
±15%,
50/60Hz
Control Loop
Power Supply
Regenerative
Braking
Function
Single-phase AC220V ±15%,, 50/60Hz
External braking resistor is required.
Standard built-in braking resistor.
■
Specifications of 380V Series Servo Drive
Drive Model
Feedback Type
Drive Model
Feedback Type
Rated Current
Max. Current
Structure Size
Main Circuit Power
Supply
Control Loop Power
Supply
Regenerative Braking
Function
AS100A-3R5T3U AS100A-5R4T3U AS100A-8R4T3U
Standard 2500 c/r Incremental Encoder
AS100A-3R5T3V AS100A-5R4T3V AS100A-8R4T3V
Wire-saving 2500 c/r Incremental Encoder
3.5A
8.5A
5.4A
14A
C
8.4A
20A
Three-phase AC380V (-15~+10%), 50/60Hz
Single phase 380V (-15~+10%), 50/60Hz
Standard built-in braking resistor
148
Annex 2 Technical Specification of Servo Drive
General Technical Specifications of Servo Drive
Temperature Working: 0~45
℃
Storage: -20~80
℃
Service
Environment
Humidity Less than 90% (without condensation)
Vibration Less than 4.9m/S
2
(0.5G), 10~60Hz
Control Mode
Basic Control Mode
IGBT SVPWM current vector control
Position control, speed control, torque control, internal position control, internal speed control
Control Characteristics
Control Input
Speed frequency response: 400Hz (load rotational inertia= rotational inertia of motor)
Speed fluctuation rate:
<
±0.03 (load 0~100%);
<
±0.02 (power supply -15~+10%) (figures indicate the rated speed)
Speed ratio:
Input pulse frequency:
1:5,000
≤500 KHz
S-ON, ALM-RST, P-OT, N-OT, CLR, PINH, GR2,
ZCLAMP; rotation change under internal speed mode; rotation change under analog speed mode; positive startup under analog speed mode; negative startup under analog speed mode; CMD1~4; SHOM; OrgNear
Control Output
Position Control
1) Servo preparation output; 2) servo alarm output; 3) positioning completion output/speed reaching output
Input mode
1) Pulse + symbol 2) CCW pulse / CM pulse 3) A/B 1uadrature pulse
Electrical gear ratio
Feedback pulse
1~32,767/1~32,767
10,000 pulse / rotation
Eight interior settings and outer analog speed are given. Speed Control
Accelerating/decelerating function
Set accelerating/decelerating time: 1~16,000ms
149
Annex 2 Technical Specification of Servo Drive
Monitoring and display function
Motor speed, current position, position command, position deviation, motor torque, motor current, current control mode, position command pulse frequency, speed command, torque command, absolute position of rotor, input terminal status, output terminal status, Encoder
UVW input signal, encoder zero pulse, fault code display, etc.
Protection Function
Module fault, over-voltage, under-voltage, hardware over-current, software over-current, no current of analog channel A, no current of analog channel B, speed tolerance, position tolerance, CPLD fault, encoder fault, speed regulator saturation fault, brake overload, current regulator saturation fault, etc.
Display operation 5 LED digital tube, 5 buttons
Applicable load inertia Less than 5 times of motor inertia
150
Annex 3 Matching Selection of Servo Motor and Drive (220V series)
Annex 3 Matching Selection of Servo Motor and Drive
(220V series)
■
Matching Selection of Series E 220V Servo Motor and Drive
Rated
Power Supply
Speed
(rpm)
Motor Model
Rated
Output
Rated
Torque
Drive Model
3,000 ASMS-R20B30U2□ 200W 0.64Nm AS100A-1R6M2U
3,000 ASMS-R40B30U2□ 400W 1.3Nm AS100A-2R8M2U
Single-phase
Three-phase
220V
3,000 ASMS-R75B30U2□ 750W 2.4Nm
3,000 ASMG-R75B30U2□ 750W 2.4 Nm
AS100A-3R8M2U
2,500 ASMS-1R0B25U2□ 1,000W 4 Nm
2,500 ASMG-1R0B25U2□ 1,000W 4 Nm
Three-phase
220V
2,500 ASMH-1R0B25U2□ 1,000W 4 Nm
3,000 ASMS-1R2B30U2□ 1,200W 4 Nm
2,000 ASMG-1R2B20U2□ 1,200W 6 Nm
2,500 ASMG-1R3B25U2□ 1,300W 5 Nm
AS100A-5R5M2U
2,500 ASMS-1R5B25U2□ 1,500W 5 Nm
2,500 ASMG-1R5B25U2□ 1,500W 6 Nm
1,500 ASMH-1R5B15U2□ 1,500W 10 Nm
AS100A-7R6T2U
2,500 ASMG-2R0B25U2□ 2,000W 7.7 Nm
2,500 ASMG-2R6B25U2□ 2,600W 10 Nm
1,500 ASMG-2R7B15U2□ 2,700W 17.2 Nm
1,500 ASMH-3R0B15U2□ 3,000W 19Nm AS100A-012T2U
2,000 ASMH-3R0B20U2□ 3,000W 15 Nm
2,500 ASMG-3R8B25U2□ 3800W 15 Nm
Structure
Model
A
B
C
Notes:
1 Performance parameters, installation size and other information of servo motor refer to relevant data of motor.
2. Following the motor model indicates the model options, please refer to the description of motor naming rules.
3. U in the motor model indicates that the standard 2500 c/r incremental encoder is adopted. If wire-saving 2500 c/r incremental encoder is adopted, U shall be replaced with V.
4. Servo software version over V109 supports the motor drive of wire-saving incremental encoder.
151
Annex 4 Matching Selection of Servo Motor and Drive (380V series)
Annex 4 Matching Selection of Servo Motor and Drive
(380V series)
■
Matching Selection of Series E 380V Servo Motor and Drive
Power
Supply
Three-phase
380V
Rated
Speed
(rpm)
Motor Model
Rated
Output
Rated
Torque
2,000 ASMS-R80C20U2□ 0.8KW 4Nm
3,000 ASMS-1R2C30U2□ 1.2KW 4Nm
3,000 ASMS-1R5C30U2□ 1.5KW 5Nm
2,000 ASMG-1R2C20U2□ 1.2KW 6Nm
2,500 ASMH-1R0C25U2□ 1.0KW 4Nm
2,500 ASMG-1R3C25U2□ 1.3KW 5Nm
1,000 ASMH-1R0C10U2□ 1.0KW 10Nm
1,500 ASMG-1R5C15U2□ 1.5KW 10Nm
2,500 ASMG-1R5C25U2□ 1.5KW 6Nm
2,500 ASMG-2R0C25U2□ 2.0KW 7.7Nm
2,000 ASMG-2R0C20U2□ 2.0KW 10Nm
1,500 ASMG-2R3C15U2□ 2.3KW 15Nm
2,500 ASMG-2R6C25U2□ 2.6KW 10Nm
2,500 ASMG-3R8C25U2□ 3.8KW 15Nm
1,500 ASMG-2R7C15U2□ 2.7KW 17.2
Nm
1,000 ASMG-2R9C10U2□ 2.9KW 27 Nm
Drive
Model
AS100A-
3R5T3U
AS100A-
5R4T3U
AS100A-
8R4T3U
Structure
Model
C
Notes:
1. Performance parameters, installation size and other information of servo motor refer to relevant data of motor.
2. Following the motor model indicates the model options, please refer to the description of motor naming rules.
3. U in the motor model indicates that the standard 2500 c/r incremental encoder is adopted. If wire-saving 2500 c/r incremental encoder is adopted, U shall be replaced with V.
4. Servo software version over V109 supports the motor drive of wire-saving incremental encoder.
152
Annex 5 Specifications of Braking Resistor
Annex 5 Specification of Braking Resistor
220V series
Drive Model
AS100A-1R6M2U
AS100A-2R8M2U
AS100A-3R8M2U
AS100A-5R5M2U
AS100A-7R6T2U
AS100A-012T2U
380V series
Standard built-in braking resistor
(resistance/ power)
No
No
40Ω/60W
40Ω/60W
40Ω/60W
20Ω/100W
Min. allowable braking resistance
40Ω
40Ω
40Ω
40Ω
40Ω
20Ω
Drive Model
AS100A-3R5T3U
AS100A-5R4T3U
AS100A-8R4T3U
Standard built-in braking resistor
(resistance, power)
100Ω/100W
100Ω/100W
100Ω/100W
Min. Allowable
Braking Resistance
80Ω
80Ω
40Ω
Notes
When average braking power is larger than the nominal power of built-in braking resistor, the drive will alarm;
When built-in braking resistor fails to meet the requirements, the external braking resistor may be selected.
The external braking resistor shall be provided by users themselves, or purchased from our company.
The external braking resistor shall no less than the minimal resistance listed in the table above; otherwise, the drive will be damaged.
If the external braking resistor will be used, the built-in braking resistor must be disconnected.
153
Annex 6 Main Input/Output Cable Selection Options
Annex 6 Main Input/Output Cable Selection
220V Series
Drive Model
AS100A-1R6M2U
AS100A-2R8M2U
AS100A-3R8M2U
AS100A-5R5M2U
AS100A-7R6T2U
AS100A-012T2U
Sectional
Area of main Input
Cable
(mm
2
)
2.0
2.0
2.0
2.0
2.0
2.5
Sectional
Area of main
Output
Cable
(mm
2
)
2.0
2.0
2.0
2.5
2.5
3.5
Sectional
Area of
Control
Power
Cable
(mm
2
)
1.25
1.25
1.25
1.25
1.25
1.25
380V Series
Drive Model
AS100A-3R5T3U
AS100A-5R4T3U
AS100A-8R4T3U
Sectional
Area of
Input Cable
(mm
2
)
2.0
2.0
2.0
Sectional
Area of
Output
Cable
(mm
2
)
2.0
2.0
2.0
Sectional
Area of
Control
Power
Cable
(mm
2
)
1.25
1.25
1.25
154
Annex 7 MODBUS Communication Protocol
Annex 7 MODBUS Communication Protocol
The drive supports the MODBUS RTU protocol, with the functions of reading monitoring parameters (0X03) and writing function code parameter (0x06).
(1) Reading Monitoring Parameters (0x03)
Command frame format:
START Greater than or equal to 3.5 characters idle time, indicating the start of a frame
ADDR Drive address (1~32). 1~32 here are decimal numbers and shall be converted into hexadecimal numbers when entering ADDR.
CMD Command: 0x03
ADD0 8 MSBs of MODBUS address of monitoring parameters (or function code)
ADD1 8 LSBs of MODBUS address of monitoring parameters (or function code)
DATA0 8 MSBs of numbers of monitoring parameters; 0x00 (Currently only supporting a single parameter reading)
DATA1 8 LSBs of numbers of monitoring parameters; 0x01 (Currently only supporting a single parameter reading)
CRCH CRC high significant bytes
CRCL CRC low significant bytes
END Greater than or equal to 3.5 characters idle time, indicating the end of a frame
Response frame format:
START Greater than or equal to 3.5 characters idle time, indicating the start of a frame
ADDR Drive address (1~32). 1~32 here are decimal numbers and shall be converted into hexadecimal numbers when entering ADDR.
CMD Command: 0x03
DATA0 Numbers of monitoring parameters; 0x02 (Currently only supporting a single parameter reading)
DATA1 8 MSBs of monitoring parameters (or function code)
155
Annex 7 MODBUS Communication Protocol
DATA2 8 LSBs of monitoring parameters (or function code)
CRCH CRC high significant bytes
CRCL CRC low significant bytes
END Greater than or equal to 3.5 characters idle time, indicating the end of a frame
(2) Writing Function Code Parameters (0x06)
Command frame format:
START Greater than or equal to 3.5 characters idle time, indicating the start of a frame
ADDR Drive address (1~32). 1~32 here are decimal numbers and shall be converted into hexadecimal numbers when entering ADDR.
CMD Command: 0x06
DATA0 8 MSBs of MODBUS address of function codes
DATA1 8 LSBs of MODBUS address of function codes
DATA2 8 MSBs of read-in data
DATA3 8 LSBs of read-in data
CRCH CRC high significant bytes
CRCL CRC low significant bytes
END Greater than or equal to 3.5 characters idle time, indicating the end of a frame
Response frame format:
START Greater than or equal to 3.5 characters idle time, indicating the start of a frame
ADDR Drive address (1~32). 1~32 here are decimal numbers and shall be converted into hexadecimal numbers when entering ADDR.
CMD Command: 0x06
DATA0 8 MSBs of MODBUS address of function codes
DATA1 8 LSBs of MODBUS address of function codes
DATA2 8 MSBs of read-in data
DATA3 8 LSBs of read-in data
156
Annex 7 MODBUS Communication Protocol
CRCH CRC high significant bytes
CRCL CRC low significant bytes
END Greater than or equal to 3.5 characters idle time, indicating the end of a frame
For example, if you want to modify the function code P10.13 to 1,000 by means of communication, you should send the following frame data via the host computer:
ADDR CMD DATA0 DATA1 DATA2 DATA3 CRCH CRCL
01 06 0B 0D 03 E8 1A 93
(3) Error Response Frame Format
START Greater than or equal to 3.5 characters idle time, indicating the start of a frame
ADDR Servo drive address (1~32)
CMD Command: 0x03/0x06
DATA0 0x80
DATA1 0x01
DATA2 8 MSBs of error code
DATA3 8 LSBs of error code
CRCH CRC high significant bytes
CRCL CRC low significant bytes
END Greater than or equal to 3.5 characters idle time, indicating the end of a frame
Error code list:
0x0002 The command is not 0x03/0x06
0x0004 CRC code error
0x0006 Reserved
0x0008 The function code does not exist
0x0010 The value of the read-in function code exceeds the upper and lower limits of the function code
0x0020 The function code read is a read-only function code
157
Annex 7 MODBUS Communication Protocol
Monitoring Contents:
MODBUS
ADDR
Name
0003H
0004H
0006H
000CH
Working
Mode
Faults
Busbar
Voltage
DI Status
Value Description
0-6
Bit0
Bit1
Bit2
Bit3
Bit4
Bit5
Bit6
Bit7
Bit8
0: Position mode
1: Analog speed mode
2: Torque mode
3: Internal speed mode
4: Test run mode
5: JOG mode
6: Factory mode
Overtemperature
Current regulator saturation alarm
Speed regulator saturation alarm
Z pulse loss
Bit9 UVW combinational logical fault
Bit10 Excessive zero drift of IB current signal
Bit11 Excessive zero drift of IA current signal
Bit12 Hardware overcurrent OCU
Bit13 VCE module alarm
Bit14
Bit15
Encoder disconnection
EEPROM fault
Software overcurrent
Position out-of-tolerance
Speed out-of-tolerance
M
Bit9
Bit10
Busbar overvoltage
Undervoltage
Busbar voltage DCBUS (V)=
220V type: (M *3.3*198)/1024
380V type: (M *3.3*270)/1024
DI7
DI6
158
Annex 7 MODBUS Communication Protocol
MODBUS
ADDR
Name Value Description
000CH
000DH
DI Status
DO Status
Bit11
Bit12
Bit13
Bit14
Bit15
Bit12
Bit13
Bit14
Bit15
DI5
DI4
DI3
DI2
DI1
DO4
DO3
DO2
DO1
Notes:
Bit 15 represents the least significant bit of the parameter, and Bit 0 represents the most significant bit of the parameter. For example: if the drive send out an undervoltage alarm, the fault value read is 0x0001.
MODBUS
ADDR
Name Value Description
0012H
Effective value of phase current
M
Effective value of phase current I (0.01A)=M/100 e.g.: If the real-time phase current is 4.2A, the data read is 0x01A4 (0x01A4 = 420)
0033H
0030H
Motor speed M
Position feedback
16 LSBs
M2
Motor speed n (rpm)=M * P08.00/25,000
Note: P08.00 is the rated speed of the motor, M is s signed number e.g.: if M = 0xFEOC and P08.00 =2,000, the motor speed n = -500*2,000/25,000 = -40 rpm
The position feedback POS is indicated by a combination of two 16 digits. e.g.: if M1=0x0000 and M2=0x0520, POS = 0*
159
Annex 7 MODBUS Communication Protocol
MODBUS
ADDR
Name Value Description
0031H
Position feedback
16 MSBs
M1
65,536 + 0x520 = 1,312 e.g.: if M1=0x0101 and M2=0x0520, POS = POS
= 0x101* 65,536 + 0x520
= 257*65,536 +1312 = 16,844,064
If the motor is negative, the pulse should be negative. And, if M1=0xFFFF and M2=0x0520,
POS = - (0xFFFF- 0xFFFF)*65,536-(0xFFFF-
0x520+1) =
-
64,224
0035H
0036H
0038H
0037H
Position command
16 LSBs
Position command
16 MSBs
Position error 16
LSBs
M2
M1
M2
Position error: 16
MSBs
M1
Similar to the position feedback
Similar to the position feedback
For example, if you want to obtain the motor speed by means of communication, you should send the following frame data via the host computer:
ADDR CMD ADD0 ADD1 DATA0 DATA1 CRCH CRCL
01 03 00 33 00 01 74 05
List of MODBUS address of function codes:
Function code number (DEC)
(Monitoring parameters)
P00.00 ~ P00.16
P01.00 ~ P01.18
P02.00 ~ P02.25
MODBUS address (HEX)
( 0003H~0038H )
0100H~0110H
0200H~0212H
0300H~0319H
160
P03.00 ~ P03.14
P04.00 ~ P04.08
P05.00 ~ P05.13
P06.00 ~ P06.04
P07.00 ~ P07.05
P08.00 ~ P08.06
P09.00 ~ P09.35
P10.00 ~ P10.92
P11.00 ~ P11.32
Annex 7 MODBUS Communication Protocol
0400H~040EH
0500H~0508H
0600H~060DH
0700H~0704H
0800H~0805H
0900H~0906H
0A00H~0A23H
0B00H~0B5CH
0C00H~0C20H
161
Annex 8 Parameters and Size of Servo Motor
Annex 8 Parameters and Size of Servo Motor
■
Motor Wiring Connection
60, 80 and 90 flange motor wiring connection No.:
Winding lead
Socket No.
U
1
W
2
V
3
PE
4
110, 130, 150 and 180 flange motor winding connection No.:
Winding lead
Socket No.
U
2
V
3
W
4
PE
1
■
Encoder Connection
Standard 2500 c/r incremental encoder signal connection for 60, 80 and 90 flange motor:
Signal
5V 0V B+ Z- U+ Z+ U- A+ V+ W+ V- A- B- W- PE
Socket
No.
2 3 4 5 6 7 8 9 10 11 12 13 14 15 1
Wire-saving 2500 c/r encoder signal connection for 60, 80 and 90 flange motor:
Signal
5V 0V A+ A- B+ B- Z+ Z- PE
Socket
No.
1 2 3 4 5 6 7 8 9
Standard 2500 c/r incremental encoder signal connection for 110, 130, 150 and 180 flange motor:
Signal
5V 0V A- B+ Z+ A+ B- Z- U+ V+ W+ U- V- W- PE
Socket
No.
2 3 4 5 6 7 8 9 10 11 12 13 14 15 1
Note:
wire-saving 2500 c/r encoder excludes Signal U, V and W, and other signal locations refer to the table above.
162
Annex 8 Parameters and Size of Servo Motor
■
Servo Motor Torque Characteristic Curves
Torque T
Peak torque
Tmax
Acceleration and deceleration
(instantaneous) work area
Rated torque
Tr
Continuous work area
Motor speed n
Rated speed Nr
■
Parameters of 60 Flange Series E 220V Motor
Motor Model
Rated Power KW
Rated Current
Rated Speed rpm
Rated Torque Nm
Peak Torque Nm
Rotor Inertia kg•m 2
Encoder Resolution C/R
Insulation Grade of Motor
Protection Level
Service Environment
Series 60
ASMS
-R20B30U2□
0.2
1.2
3,000
0.64
1.91
0.17×10
-4
ASMS
-R40B30U2□
0.4
2.8
3,000
1.27
3.8
0.30×10
-4
2,500
Class F
IP64
Environment temperature: -20~+50
℃
, environment humidity: relative humidity
﹤
90% (without condensation)
163
Annex 8 Parameters and Size of Servo Motor
Installation Size:
Motor Length:
Spec.
Length L
(mm)
0.64Nm
111
1.27Nm
137
Note:
the length indicates the length of motor without brake, and the length of motor with a brake will increase 48mm.
■
Parameters of 80 Flange Series E 220V Motor
Motor Model
Rated Power KW
Rated Current
Rated Speed rpm
Rated Torque Nm
Peak Torque Nm
Rotor Inertia kg•m 2
Encoder Resolution C/R
Insulation Grade of Motor
Protection Level
Service Environment
Series 80
ASMS
-R75B30U2□
0.75
ASMS
-1R0B25U2□
1.0
3.0
3,000
2.4
7.1
1.82×10
-4
4.4
2,500
4.0
12.0
2.97×10
-4
2,500
Class F
IP65
Environment temperature: -20~+50
℃
, environment humidity: relative humidity
﹤
90% (without condensation)
164
Annex 8 Parameters and Size of Servo Motor
Installation Size:
Motor Length:
Spec.
Length L
(mm)
2.4Nm
151
4.0Nm
191
Note:
the length indicates the length of motor without a brake, and the length of motor with a brake will increase 54mm.
■
Parameters of 90 Flange Series E 220V Motor
Motor Model
Rated Power KW
Rated Current
Rated Speed rpm
Rated Torque Nm
Peak Torque Nm
Rotor Inertia kg•m
2
Encoder Resolution C/R
Insulation Grade of Motor
Protection Level
Service Environment
Series 90
ASMG
-R75B30U2□
0.75
3.0
ASMG
-1R0B25U2□
1.0
4.0
3,000
2.4
7.1
2.45×10
-4
2,500
4.0
12.0
3.7×10
-4
2,500
Class F
IP65
Environment temperature: -20~+50
℃
, environment humidity: relative humidity
﹤
90% (without condensation)
165
Annex 8 Parameters and Size of Servo Motor
Installation Size:
Motor Length:
Spec.
2.4Nm 4.0Nm
Length L (mm)
150 182
Note:
the length indicates the length of motor without a brake, and the length of motor with a brake will increase 57mm.
■
Parameters of 110 Flange Series E 220V Motor
Motor Model
Rated Power KW
Rated Current
Rated Speed rpm
Rated Torque Nm
Peak Torque Nm
Rotor Inertia kg•m 2
Insulation Grade of
Motor
Protection Level
Encoder Resolution C/R
ASMS
-1R2B30U2
1.2
5.0
3,000
4.0
12.0
5.4×10
-4
Series 110
ASMG
-1R2B20U2
1.2
4.5
2,000
6.0
12
7.6×10
-4
2,500
Class F
IP65
ASMS
-1R5B30U2
1.5
4.0
2,500
4.0
12.0
6.3×10
-4
166
Service Environment
Installation Size:
Annex 8 Parameters and Size of Servo Motor
Environment temperature: -20~+50
℃
, environment humidity: relative humidity
﹤
90% (without condensation)
Motor Torque Nm
LA
LB
LC
LD
LE
LF
LG
LZ
S
H
W
4.0
189
55
5
12
95
110
130
9
19
5.0
204
55
5
12
95
110
130
9
19
6.0
219
55
5
12
95
110
130
9
19
21.5 21.5 21.5
6 6 6
Note:
the length indicates the length of motor without a brake, and the length of motor with a brake will increase 74mm.
167
Annex 8 Parameters and Size of Servo Motor
■
Parameters of 130 Flange Series E 220V Motor
Motor Model
Rated Power KW
Rated Current
Rated Speed rpm
Rated Torque Nm
Peak Torque Nm
Rotor Inertia kg•m 2
Encoder Resolution C/R
Insulation Grade of
Motor
Protection Level
ASMH
-1R0B25U2
1.0
4.0
2,500
4.0
12.0
8.5×10
-4
Series 130
ASMG
-1R3B25U2
1.3
5.0
2,500
5.0
15.0
10.6×10
-4
2,500
Class F
Service Environment
ASMG
-1R5B25U2
1.5
6.0
2,500
6.0
18.0
12.6×10
-4
IP65
Environment temperature: -20~+50
℃
, environment humidity: relative humidity
﹤
90% (without condensation)
Motor Model
Rated Power KW
Rated Current
Rated Speed rpm
Rated Torque Nm
Peak Torque Nm
Rotor Inertia kg•m 2
Encoder Resolution
C/R
Insulation Grade of
Motor
Protection Level
ASMG-
2R0B25U2
2.0
7.5
2,500
7.7
22.0
15.3×10
-4
Series 130
ASMH-
1R5B15U2
1.5
ASMG-
2R6B25U2
2.6
6.0
1,500
10.0
2,500
10.0
25.0
19.4×10
-4
2,500
10.0
25.0
19.4×10
-4
Class F
IP65
ASMG-
3R8B25U2
3.8
13.5
2,500
15.0
30.0
27.7×10
-4
168
Annex 8 Parameters and Size of Servo Motor
Motor Model
Service Environment
Series 130
ASMG-
2R0B25U2
ASMH-
1R5B15U2
ASMG-
2R6B25U2
ASMG-
3R8B25U2
Environment temperature: -20~+50
℃
, environment humidity: relative humidity
﹤
90% (without condensation)
Installation Size:
Motor Speed rpm
Motor Torque Nm
LA
LB
LC
LD
LE
LF
LG
LZ
S
H
W
4.0
166
57
5
14
110
5.0
2,500
6.0
171 179
57
5
14
110
57
5
14
110
7.7
192
57
5
14
110
1,500
10
213
57
5
14
110
10
2,500
15
209 231
57
5
14
110
57
5
14
110
130
145
9
130
145
9
130
145
9
130
145
9
130
145
9
130
145
9
130
145
9
22 22 22 22 22 22 22
24.5 24.5 24.5 24.5 24.5 24.5 24.5
6 6 6 6 6 6 6
Note:
t he length indicates the length of motor without a brake, and the length of motor with a brake will increase 57 or 81mm, see below for details.
169
Annex 8 Parameters and Size of Servo Motor
Motor Spec.
(Flange No., torque)
130 flange, torque: 4~7.7Nm
130 flange, torque: 10~15Nm
With a brake
Increased length
57mm
81mm
■
Parameters of 150/180 Flange Series E 220V Motor
Motor Model
Rated Power KW
Rated Current
Rated Speed rpm
Rated Torque Nm
Peak Torque Nm
Rotor Inertia kg•m 2
Encoder Resolution C/R
Insulation Grade of
Motor
Protection Level
Service Environment
Series 150
ASMH
-3R0B20U2
3.0
14.0
2,000
15.0
30.0
38.8×10
-4
ASMG
-2R7B15U2
2.7
10.5
1,500
17.2
43.0
34.0×10
-4
2,500
Class F
Series 180
ASMH
-3R0B15U2
3.0
12.
1,500
19.0
47.0
38.0×10
-4
IP65
Environment temperature: -20~+50
℃
, environment humidity: relative humidity
﹤
90% (without condensation)
Installation Size of 180 Flange:
170
Annex 8 Parameters and Size of Servo Motor
Spec.
Length LA (mm)
17.2Nm 19.0Nm
226 232
150 Installation Size of Flange:
Spec.
Length LA (mm)
15.0Nm
230
Note:
the length indicates the length of motor without a brake, and the length of motor with a brake will increase 73mm.
■
Parameters of 110 Flange Series E 380V Motor
Motor Model
Rated Power KW
Rated Current
Rated Speed rpm
Rated Torque Nm
Peak Torque Nm
Rotor Inertia kg•m 2
ASMS
-R80C20U2
0.8
2.0
2,000
4.0
12.0
5.4×10
-4
Series 110
ASMS
-1R2C30U2
ASMS
-1R5C30U2
1.2
3.0
3,000
1.5
4.5
3,000
4.0
12.0
5.4×10
-4
5.0
15.0
6.3×10
-4
ASMG
-1R2C20U2
1.2
3.0
2,000
6.0
12.0
7.6×10
-4
171
Annex 8 Parameters and Size of Servo Motor
Motor Model
Encoder
Resolution C/R
Insulation Grade of Motor
Protection Level
Service
Environment
Installation Size:
ASMS
-R80C20U2
Series 110
ASMS
-1R2C30U2
2,500
ASMS
-1R5C30U2
ASMG
-1R2C20U2
Class F
IP65
Environment temperature: -20~+50
℃
, environment humidity: relative humidity
﹤
90% (without condensation)
Motor Torque Nm 4.0 5.0 6.0
LA 189 204 219
LB
LC
LD
LE
LF
55 55
5 5
12 12
95 95
55
5
12
95
110 110 110
LG
LZ
S
H
W
130 130 130
9 9 9
19 19 19
21.5 21.5 21.5
6 6 6
172
Annex 8 Parameters and Size of Servo Motor
Note:
the length indicates the length of motor without a brake, and the length of motor with a brake will increase 74mm.
■
Parameters of 130 Flange Series E 380V Motor
Motor Model
Rated Power KW
Rated Current
Rated Speed rpm
Rated Torque Nm
Peak Torque Nm
Rotor Inertia kg•m 2
Encoder Resolution C/R
Insulation Grade of Motor
Protection Level
Service Environment
ASMH
-1R0C25U2
1.0
2.6
2,500
4.0
12.0
8.5×10
-4
Series 130
ASMG
-1R3C25U2
1.3
3.0
2,500
5.0
15.0
10.6×10
-4
2,500
Class F
ASMH
-1R0C10U2
1.5
2.5
1,000
10.0
20.0
19.4×10
-4
IP65
Environment temperature: -20~+50
℃
, environment humidity: relative humidity
﹤
90% (without condensation)
Motor Model
Rated Power KW
Rated Current
Rated Speed rpm
Rated Torque Nm
Peak Torque Nm
Rotor Inertia kg•m 2
Encoder Resolution C/R
ASMG
-1R5C15U2
1.5
3.5
1,500
10.0
25.0
19.4×10
-4
Series 130
ASMG
-1R5C25U2
1.5
3.7
2,500
6.0
18.0
10.6×10
-4
2,500
ASMG
-2R0C25U2
2.0
4.7
2,500
7.7
22.0
15.3×10
-4
173
Annex 8 Parameters and Size of Servo Motor
Motor Model
ASMG
-1R5C15U2
Series 130
ASMG
-1R5C25U2
Class F
ASMG
-2R0C25U2
Insulation Grade of Motor
Protection Level
Service Environment
IP65
Environment temperature: -20~+50
℃
, environment humidity: relative humidity
﹤
90% (without condensation)
Motor Model
Rated Power KW
Rated Current
Rated Speed rpm
Rated Torque Nm
Peak Torque Nm
Rotor Inertia kg•m 2
Encoder
Resolution C/R
Insulation Grade of Motor
Protection Level
Service
Environment
ASMG
-2R0C20U2
2.0
5.1
2,000
10.0
25.0
19.4×10
-4
ASMG
-2R3C15U2
2.3
5.0
1,500
15.0
30.0
Series 130
27.7×10
-4
2,500
Class F
IP65
ASMG
-2R6C25U2
2.6
5.9
2,500
10.0
25.0
19.4×10
-4
ASMG
-3R8C25U2
3.8
7.4
2,500
15.0
30.0
27.7×10
-4
Environment temperature: -20~+50
℃
, environment humidity: relative humidity
﹤
90% (without condensation)
174
Annex 8 Parameters and Size of Servo Motor
Installation Size:
Speed rpm
Torque
Nm
LA
LB
LC
LD
LE
LF
LG
LZ
S
H
W
2,500 1,500 1,000 2,000
4.0 5.0 6.0 7.7 10 15 10 15 10 10
166 171 179 192 209 231 213 241 213 209
57 57 57 57 57 57 57 57 57 57
5 5 5 5 5 5 5 5
14 14 14 14 14 14 14 14
5
14
5
14
110 110 110 110 110 110 110 110 110 110
130 130 130 130 130 130 130 130 130 130
145 145 145 145 145 145 145 145 145 145
9 9 9 9 9 9 9 9 9 9
22 22 22 22 22 22 22 22 22 22
24.5 24.5 24.5 24.5 24.5 24.5 24.5 24.5 24.5 24.5
6 6 6 6 6 6 6 6 6 6
Note:
the length indicates the length of motor without a brake, and the length of motor with a brake will increase 57 or 81mm, see below for details.
Motor Spec.
(Flange No., torque)
130 flange, torque: 4~7.7Nm
With a brake
Increased length
57mm
130 flange, torque: 10~15Nm
■
Parameters of 180 Flange Series E 380V Motor
81mm
175
Annex 8 Parameters and Size of Servo Motor
Motor Model
Rated Power KW
Rated Current
Rated Speed rpm
Rated Torque Nm
Peak Torque Nm
Rotor Inertia kg•m 2
Encoder Resolution C/R
Insulation Grade of Motor
Protection Level
Service Environment
ASMG
-2R7C15U2
2.7
6.5
1,500
17.2
43.0
34.0×10
-4
Series 180
ASMG
-2R9C10U2
2.9
7.5
1,000
27.0
67.0
61.0×10
-4
2,500
Class F
ASMG
-4R5C20U2
4.5
9.5
2,000
21.5
53.0
47.0×10
-4
IP65
Environment temperature: -20~+50
℃
, environment humidity: relative humidity
﹤
90% (without condensation)
Installation Size of Flange:
Spec.
Length LA (mm)
17.2Nm 21.5Nm 27.0Nm
226 243 262
Note:
the length indicates the length of motor without a brake, and the length of motor with a brake will increase 72mm.
176
Annex 9 Servo Drive Warranty
Annex 9 Servo Drive Warranty
Servo Drive Warranty
User:
User Address:
Contact:
Post Code
Drive Model:
Date of purchase:
Fault:
Tel:
Fax:
Serial Number:
Date of fault:
Motor: KW pole
Failure time: input power
Symptom:
Indication:
Use control terminals:
Operation after reset:
Total working hours: no-load yes no
Application: none load others:
Output voltage:
Fault frequency:
% Other: yes no
Installation environment:
Power voltage: U-V:
Transformer capacity:
V, V-W: V, W-U:
KVA Grounding of servo drive:
V yes no m Distance to power: m Distance to power:
Vibration: none general strong Dust: none some much
Other conditions:
177

Public link updated
The public link to your chat has been updated.
Advertisement
Key features
- High integration
- Limited volume
- Comprehensive protection
- Great performance
- Optimum PID arithmetic for regulation and control
- High speed and great precision
- Applicable to a wide range of applications