XGT Servo XGT Servo

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Programmable Logic Controller

XGT Servo

XGT Series

User’s Manual

XDA-S

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※

LS Industrial Systems constantly endeavors to improve its product so that

Information in this manual is subject to change without notice. ⓒ LS Industrial systems Co., Ltd 2006 All Rights Reserved.

XGT Servo/2008. 08

z

Read this manual carefully before installing, wiring, operating, servicing or inspecting this equipment.

z

Keep this manual within easy reach for quick reference.

Essential notes before use

A. Checking Motor ID certainly.

: Enter the motor ID indicated on the motor name plate to the parameter of “P01-01”. And then for details on the motor ID, refer to

Chapter 3 of the user manual.

B. Checking Drive AMP-Type certainly.

AMP-Type

[XDA-S- ]

01 02 04 05 08 10 15 20 30 45

P01-11

[Drive ID]

C. Checking encoder ID certainly.

Encoder Type

Manual setting

INC

2000

INC

2500

INC

3000

INC

5000

INC

6000

INC

2048

ABS

11/

13bit

INC

17/

33bit

ABS

17/

33bit

P01-12

[Encoder ID]

Enc-0 Enc-A Enc-b Enc-C Enc-d Enc-E Enc-F Enc-G Enc-P Enc-R

♥ When you set the encoder ID to “Enc-0”, you can change the value of P01-13 (Encoder pulse rate). But if you set the encoder ID to “Enc-A ~ Enc-R”, you cannot change the value of P01-13.

D. Cancel auto tuning during normal operation.

: Always cancel the auto tuning during normal operation after gain setting using auto tuning.

E. Motor

: Avoid Impacting to the encoder in connecting coupling to the Motor shaft or operating.

F. Recommended specification of encoder wiring.

Encoder type Page of wiring explanation

Incremental encoder

Absolute encoder 11bit

Absolute/Incremental encoder 17bit

2-11

2-12

2-13

1

Contents

Chapter 1 Model Check and Handling

1.1 Model Check ....................................................................................................................1-1

1.2 Servo Drive Specification.................................................................................................1-2

1.3 Combination Table of Servo Drive and Motor ................................................................1-3

1.4 Installation Method...........................................................................................................1-4

1.5 Handling............................................................................................................................1-7

Chapter 2 Wiring and Connection

2.1 Main Circuit and Peripheral Device Wiring.....................................................................2-1

2.2 Main Circuit Terminal Wiring............................................................................................2-3

2.3 CN1 I/O Signal Explanation ............................................................................................2-6

2.4 CN2 Wiring and Signal Explanation ............................................................................. 2-11

2.5 CN3 Wiring and Signal Explanation .............................................................................2-17

Chapter 3 Parameter Setting

3.1 Status Display Parameter................................................................................................3-1

3.2 Motor and Operating Device Setting ..............................................................................3-5

3.3 General Control Parameter Setting ................................................................................3-8

3.4 Speed Control Parameter Setting.................................................................................3-14

3.5 Input Contact Point Digital Speed and Torque Setting.................................................3-18

3.6 Position Control Parameter Setting ..............................................................................3-19

3.7 Torque Control Parameter Setting ................................................................................3-21

3.8 Input Contact Point Function Setting ............................................................................3-23

3.9 Output Contact Point Function Setting .........................................................................3-28

3.10 Analog Monitor Function Setting.................................................................................3-33

3.11 Jog Operation Parameter Setting ...............................................................................3-34

3.12 Alarm Display Setting...................................................................................................3-36

Chapter 4 Servo Using Method and Gain Adjustment

4.1 Gain Adjustment Method when Using Speed Servo.....................................................4-1

4.2 Gain Adjustment Method when Using Position Servo ..................................................4-7

4.3 Torque Servo Use ..........................................................................................................4-14

4.4 Auto Tuning Using Method............................................................................................4-17

4.5 Key Points of Gain Adjustment .....................................................................................4-20

4.6 Precaution when Using Absolute Encoder...................................................................4-22

Chapter 5 Servo Operating Method

5.1 Basic Connection of Loader............................................................................................5-1

5.2 Using Method of Internal Mounter Loader......................................................................5-2

5.3 Using Method of Digital Loader.......................................................................................5-9

Chapter 6 Troubleshooting and check

6.1 Troubleshooting................................................................................................................6-1

6.2 Check................................................................................................................................6-4

Chapter 7 Connection with Upper Controller

7.1 Example of Connection with Upper Controller...............................................................7-1

1

Chapter 8 External View

8.1 External Dimension of Servo Drive.................................................................................8-1

Appendix 1 Servo System Application

Appendix 1.1 Position Control Application.................................................................... App 1-1

Appendix 1.2 Example of Other Application................................................................. App 1-3

Appendix 2 Noise Resolution

Appendix 2.1 Noise Type............................................................................................... App 2-1

Appendix 2.2 Noise Resolution..................................................................................... App 2-1

Appendix 3 Parameter Table

Appendix 3.1 Parameter Table...................................................................................... App 3-1

Appendix 4 Revision History

Appendix 4.1 Revision History ...................................................................................... App 4-1

Appendix 5 Servo Motor Specification

Appendix 5.1 Servo Motor Specification....................................................................... App 5-1

2


Chapter 1 explains the details to check before using the servo drive and motor that you have purchased. Before assembling the product, check whether rated plate is as ordered. Mishandling can disable normal operation or can significantly reduce the expected life span depending on the situation. Because it can damage the servo in the worst case, please read the details and precautions of each article for handling and use the product accordingly.

1.1 Model Check...........................................................................................................1-1

1.2 Servo Drive Specification .......................................................................................1-2

1.3 Combination Table of Servo Drive and Motor.......................................................1-3

1.4 Installation Method .................................................................................................1-4

1.5 Handling..................................................................................................................1-7

1-0


1.1 Model Check

1.1.1 Servo drive model classification

X D A - S

AC Servo Drive

XGT Servo Series

Encoder

Symbol

Power(W)

Symbol

Power(W)

Symbol

Power(W)

Symbol Type

01 100 08 800 30 3000

N.A

INC. common

02 200 10 1000 45 4500

A ABS. 2048

04 400 15 1500

S INC. 17bit

05 500 20 2000

SA ABS. 17bit

(Note) Since the drive models for serial 17 bit encoder and general incremental encoder are separated as shown above, please check the model name before using the product.

1.1.2 Servo motor model classification

X M R -

AC Servo Motor

Symbol

CN, CK

KF, KN

TF, TN

LF, LN

Series

Use

High-speed, low torque type

Medium-speed, standard type

Medium-speed, high torque type

Low-speed, large torque type

Rated Output (W)

Symbol

01

Rated output(W)

100

07

08

09

02

03

04

05

06

10

12

13

200

300

400

500

600

700

800

900

1000

1200

1300

Symbol

22

30

35

15

16

20

40

44

50

55

Rated output(W)

1500

1600

2000

2200

3000

3500

4000

4400

5000

5500

Encoder

Symbol

C

D

E

F

G

A

B pulse

2000

2500

3000

5000

6000

2048

2048

P 131072

Type

Incremental

Absolute 11/13bit

Absolute,

Incremental common 17/33bit

Oil Seal Type

Symbol Item

0

1

None

Oil seal attached

Brake

Symbol

0

1

2

Item

None

Brake attached

130Frange

DC 24V Brake

Shaft Type

Symbol

A

Item

Straight &No Key

B

C

Straight & Key

Taper & Key

1-1


1.2 Servo Drive Specification

Main circuit power

Servo Drive [ XDA-S- ]

Input voltage, frequency

(Note) 1

Permitted voltage variance rate

001 002 004 005 008

3 phase AC200~230V, 50/60Hz ± 5%

Single phase AC230V, 50/60Hz ± 5%

010

3 phase AC170 ~ 253V (Input voltage range +10/-15%)

2 phase AC207 ~ 253V (Input voltage range +10/-10%)

015 020 030

3 phase AC200~230V, 50/60Hz

± 5%

3 phase AC170 ~ 253V

(Input voltage range +10/-15%)

045

Control circuit power

Input voltage, frequency

Permitted voltage variance rate

No separate

Single phase AC200~230V, 50/60Hz ± 5% input part

Single phase AC170 ~ 253V (Input voltage range +10/-15%)

Detector type

17/33 bit serial encoder, 11/13 bit absolute encoder, incremental 2000 ~ 6000 [ppr]

15 line type

Differential Line Driver output Detector Output signal type

Detector accuracy

Detector power

Drive system

Speed control range

Freq. response characteristics

Speed command input

Speed control specification

Speed fluctuation rate

Position control specification

Torque control specification

Internal function

Maximum of 131072 [pulse] per 1 encoder revolution

DC 5[V], 0.3 [A] or below

Sine wave PWM control ( IPM use )

Internal speed command 1:5000, analog speed command 1:2000

600 Hz

DC 0 ~±10 [V], maximum speed (Can be adjusted with parameter)

± 0.01 % or below (Rated load: 0 ~ 100 % )

± 0.01 % or below (Rated power voltage: ± 10 %)

± 0.1 % or below (Temperature variance : 25 ± 25

°C )

Straight, S type acceleration/deceleration possible ( 0 ~ 100 [sec] )

Acc./Dec. time

Position input frequency

500 [Kpps]

Position input type

Additional function

Direction + Pulse, CW pulse + CCW pulse

2 phase pulse (A phase + B phase)

Position input method

Torque command input

Torque linearity

Limited speed command

DC 0~±10 [V], maximum command (Can be adjusted with parameter)

4 [%] or below

Protection function

Over-current, recovery over-voltage, over-load, motor mis-wiring,

Encoder problem, insufficient voltage, over-speed, over-tolerance etc.

Regenerated resistance (W/Ω) 50/50 70/50 250/25 500/12.5

Monitor output

Dynamic brake

Open Collector, Line Driver method

DC 0~±10[V] , maximum speed (Can be adjusted with parameter)

Speed, torque ( 0~±5 [V] )

Built-in function

Test function (Jog and no motor operation), alarm record,

CW/CCW revolution, encoder signal division output

Motor power cable, Encoder cable, CN1 connector, CN2 connector

Option

Digital loader

Environmental specification

Operating ambient temperature

Ambient humidity

Storage temperature

Insulating resistance

0 ~ 50 [ ] (There should be no freezing)

90[

%] or below (There should be no steam)

-20 ~ +80 [ ]

DC 500[V] 10 [M

Ω] or above

Weight 1.0

1.0 1.5 1.9 1.9 1.9 4.3 4.4 4.5 4.6

(Note) 1 This indicates the input voltage and frequency range that assures the motor rated output and rated revolution speed. This is not assured during voltage drop.

1-2


1.3 Combination Table of Servo Drive and Motor

Motor

Drive

[XDA-S ]

CN/CK

Series

3000/6000

[rpm]

KN Series

2000/3000

[rpm]

TN Series

1500/3000

[rpm]

LN Series

1000/2000

[rpm]

KF Series

2000/3000

[rpm]

TF Series

1500/3000

[rpm]

LF Series

1000/2000

[rpm]

01

02

04

( [04E])

05

( [05E])

CN02

CK02

[CN03]

[CN04]

[CK04]

[CN04A]

CN05

[CN06]

CN08

CN09

08

- - - - - -

[KN03]

KN05

[KN06]

[KN06A]

KN07

- [LN03] - - [LF03]

[TN05] LN06 - [TF05] LF06

KF08

KF10

- -

10

15

20

30

CN15 KN16 TN13

LN12

LN12A

CN22

KN22

KN22A

TN17

TN20

KF15 TF13 LF12

LN20 KF22 TF20 LF20

CN30

CN30A

KN35 TN30 LN30 KF35 TF30 LF30

45

CN50 KN55 TN44 LN40 KF50 TF44 -

※

“[04E]” and “[05E]” drive models are for a more precise torque and speed position control, and categorized as specially ordered product. The motors that can be applied to “[04E]” and “[05E]” drive model are limited to the motors within the [ ], and for more details, please contact your point of purchase.

1-3


1.4 Installation Method

1.4.1 Servo motor

1) Using environmental condition

Ambient temperature

Ambient humidity

External vibration

0 ~ 40

°C (No freezing)

80 % RH or below (No steam)

X, Y :19.6 m/s

2

(2G )

2) Precaution when assembling load system (Shaft impact prevention)

: It is important to align the centers of the motor axis and the axis of the relative machine. If the axis centers are not aligned, it will create vibration and can cause damage to the bearing. When installing the coupling, use a rubber hammer so that the impact to the axis and bearing can be reduced without any excessive force.

Check 4 places in turn, The difference between maximum and minimum should be 0.03 or lower.

Check 4 places in turn, The difference between maximum and minimum should be 0.03 or lower.

3) Accuracy of attachments

: The table shows the accuracy of the output axis and attached part of the AC servo motor.

Item

Accuracy

( T.I.R )

Reference Diagram

Accuracy of right angle between flange assembly side and output axis (A)

Eccentric force of flange fitting outer diameter (B)

0.04 mm

0.04 mm

0.02 mm Vibration of output axis end (C)

♥ T.I.R : Total Indicator Reading

1-4


4) Impact resistance

: Put the motor axis in the horizontal direction and when impact is applied in the top/down direction, it must stand impact acceleration of 10G for 2 times. But because there is a precise detector on the opposite axis end, be careful not to apply direct impact to the detector.

5) Vibration resistance

: Put the motor axis in the horizontal direction and apply the vibration in 3 directions of top/down, left/right and front/back, it must stand 2.0G of vibration acceleration.

6) Vibration grade

: The vibration grade of AC servo motor is V15 at the rated rpm.

7) Direction of installation

- It can be installed horizontally or top/bottom end of axis.

- Make sure the cable is facing down from the motor.

- When installing vertically, install the cable trap and make sure oil and water do not get into the motor.

8) Cable disconnection

- Do not apply stress or make dents to the cable.

- When the motor is used for movement, you must use the movement type cable.

1.4.2 Servo drive

1) Operating environment

Ambient temperature 0 ~ 50

°C (There should be no freezing)

Ambient humidity 90 % RH or below (There should be no steam) reliability.

2) Installation direction and clearance

- Install the product so that the XDA-S sign is shown on the front side.

- When installing the drive within a sealed compartment, maintain more than 10mm of clearance from the side and more than 40 mm in top and bottom direction. Especially, when you are installing a multiple number of units side by side, you require more than

100 mm of clearance to the top and make sure they do not get overheated by installing fans.

- Install heating devices such as the regenerated resistance far from the drive.

3) Prevention of ingress of foreign matter

- When assembling the control panel, make sure that small pieces or ground power does not get into the drive.

- Please take consideration not to make oil, water, metal pieces etc. get into the gaps of the control panel from the ceiling fan.

- When using the product at a location where hazardous gas and dust are common, protect the drive with air purge.

1-5


1.5 Handling

1.5.1 Handling precaution

: Mishandling can lead to unexpected accidents or damage. The key items are listed as follows. Reference the related details and use the drive correctly.

1) Handling

- Do not apply any pressure to the encoder which is the motor detector.

Hitting the shaft with a hammer or falling can cause damages.

- Do not directly connect commercial power (AC220V) to the motor. Over-current can reduce the magnetic efficiency of the motor.

Always connect to the defined servo drive for operation.

2) Wiring

- Connect the grounding terminal of the drive and motor to the drive side and ground all at once to the closest point. Use the class-3 earth (100Ω or below) to prevent electric shock and mis-operation.

- The U, V, W and FG terminal of the drive and motor must be aligned. Because the 2 lines are replaced with the commonly used motor, the rotating direction cannot be changed.

- If you connect the commercial power to the U, V, W and FG terminal of the drive, it can be damaged.

- Connect the 200V level power to the R, S and T terminal and the power besides the 200V level must be installed with a transformer.

- Always connect the standard regenerated resistance to the P and B terminal.

1-6


Chapter 2 explains the main circuit wiring, I/O signal connection examples and connection method to peripheral devices of the servo drive.

2.1 Main Circuit and Peripheral Device Wiring ...........................................................2-1

2.2 Main Circuit Terminal Wiring ..................................................................................2-3

2.3 CN1 I/O Signal Explanation ...................................................................................2-6

2.4 CN2 Wiring and Signal Explanation.................................................................... 2-11

2.5 CN3 Wiring and Signal Explanation....................................................................2-17

2-0


2.1 Main Circuit and Peripheral Device Wiring

This part explains the peripheral device and main circuit wiring. Abide the following danger and caution details during wiring.

• Do not open the surface cover when connecting the power or during operation. It can cause electric shock.

• Do not operate the drive when the surface cover is removed.

It can cause electric shock because the high voltage terminal and charge part are exposed.

• Even when the power is turned off, do not remove the surface cover unless it is for wiring or periodic check.

It can cause electric shock because the inside of the servo drive is charged.

• Execute the wiring work and check more than 10 minutes after the power has been disconnected and checked of the voltage with tester etc.

• Ground the grounding terminal of the drive and motor both to the drive side and ground at once in the closest point.

To protect electric shock and mis-operation, use the type 3 grounding (100

Ω or below).

• The wiring work and checking work must be executed by specialized technician.

• The wiring must be done after the main unit is installed. It can cause electric shock or injury.

• Do not operate the key with wet hands. It can cause electric shock or injury.

• Make sure you do not damage the wire, apply excessive stress on the wire, put heavy object on top of the wire or have the wire pressed again an object. It can cause electric shock or injury.

！

• Use wiring that complies with the standard. The servo motor may not operate.

• Do not install power condenser, surge absorber or radio noise filter on the output side of the servo drive.

• Correctly connect the output side (Terminal U, V, W, FG).

The motor can operate abnormally.

• When attaching the DC relay for control output signal on the control output signal part, be careful of the diode direction for surge absorption. The signal may not be outputted due to problems and the protection circuit will not operate during emergency stop. For diode direction, refer to the user manual.

2-1


2.1.1 Main circuit and peripheral device connection

Power specification : Use the power specification

3-phase within AC200~230V permitted by the servo for use. For the power voltage of AC400V level, always use the power transformer.

3-Phase

AC200 ~ 230V

50 ~ 60Hz

R S T

NFB (No Fuse Circuit Breaker) : It breaks the circuit when over-current flows and is used for power line maintenance.

N F B

Servo drive : The life of the servo is affected by the surrounding temperature. Set the ambient temperature to below 50° C and at an average of 40° C.

CN1 : This is the connector to connect the servo drive to the higer device. You can connect to the higher device including PLC, NC,

Motion controller etc.

Noise filter : You must use this to blocks the external noise inflowing in the commercial power.

NOISE FILTER

GND

Magnetic contactor : It turns on/off the servo power. Do not start or stop the servo with this magnetic contactor. It can reduce the life of the servo.

Magnetic

Contactor

Wiring : Mis-wiring can damage the servo driver.

The control signal line must be sufficiently away form the main circuit wiring and it is very important not to be affected by the noise.

R

S

T r t

Internal regenerated resistor

CN3

U V W FG

<Digital Loader>

It sets various parameters and displays the operating status.

PC Communications

CN2

CN1

Grounding : To prevent electric shock, the terminal of motor and drive must be grounded in type 3 or above grounding to the closest point.

Motor power wiring : The U, V, W and F.G. terminal of the drive and motor must be aligned.

Encoder wiring : Connect the connector of the encoder cable.

Motor : Do not apply impact to the shaft and detector of the motor with a hammer etc.

2-2


2.2 Main Circuit Terminal Board Wiring

2.2.1 Small capacity main circuit terminal wiring

[XDA-S001 ~ XDA-S002 main circuit terminal]

The usage and wiring method of each terminal of product XDA-S001~XDA-S002 are as follows.

1) As the main power of the power circuit, connect the R, S and T terminal to 3 phase AC200~230[V]. But, even though it is possible to use 220V, the output can be lower than rated.

2) Connect the regenerated resistance between the terminals labeled. P and B.

3) For the U, V and W terminal, connect the U, V and W phase of the servo motor.

4) Ground the FG terminal. Connect the grounding wire of the servo motor with this terminal.

AC SERVO

Operating device

XDA-S001 XDA-S002

Wire thickness AWG #16 (1.25mm2)

MC

Breaker

NOISE FILTER

GMC-12 (13A) level product

ABS33b (5A) level product

NFZ-4030SG (30A)

External regenerated resistance

50W 50

Ω

♥ Contactor and breaker : LS Industrial Systems, http://www.lsis.biz

♥ NOISE FILTER : Samil Components, http://www.samilemc.com

2.2.2 Medium capacity main circuit terminal wiring


The usage and wiring method of each terminal of product XDA-S004~XDA-S0010 are as follows.

1) As the main power of the power circuit, connect the R, S and T terminal to 3 phase AC200~230[V].

2) As the supplementary power of the power circuit, connect the r and t terminal to single phase AC200 ~ 230[V].

3) Connect the recovery resistance of internal type during shipment between the terminals labeled. P and B.



2-3


AC SERVO

Operating device

Wire thickness

XDA-S004 XDA-S005

XDA-S008/

XDA-S010

AWG #16 (1.25mm2) AWG #14 (2.0mm2) AWG #12 (3.5mm2)

MC

Breaker

NOISE FILTER


ABS33b (5A) level product


AB S33b (10A) level product

NFZ-4030SG (30A)

Internal regenerated resistance

70W 50

Ω

♥ MC and Breaker: LS INDUSTRIAL SYSTEMS, http://www.lsis.biz

♥ NOISE FILTER: Samil Components, http://www.samilemc.com

※ For the wiring of small/mid capacity socket, execute in the following order.

ⓐ After checking the wire thickness indicated in 2.2.1, remove the wire coating.

- The coating of the wire to be used should be 8 ~ 9mm or less.

- The thickness of the wire permitted by the socket is as follows.

Wire type Permitted wire thickness

Single wire

φ0.5 ~ φ0.8[mm]

Twisted wire AWG28 ~ AWG12

ⓑ Even though you can use the wire as is after removing the coating, for safety purposes put a phenol end to press with the phenol end presser.

ⓒ Open the terminal (plug) wire inserting hole with the lever as shown in the following picture. ⓓ Insert the core part of the wire to the opening part. Release the lever after inserting the wire.

ⓔ Lightly pull it out to see whether there is any problem in the connected condition of the socket and the wire.

ⓕ When the coating of the wire is not completely inserted, it can cause electric shock. Therefore check whether there are any exposed core wires.

Wire

Phenol

Sock

Lever

2-4

2.2.3 Large capacity main circuit terminal wiring method

r t

U V W


R S T

P B


The usage and wiring method of each terminal of product XDA-S015 ~ XDA-S045 are as follows.

1) As the main power of the power circuit, connect the R, S and T terminal to 3 phase AC200~230[V].

2) As the supplementary power of the power circuit, connect the r and t terminal to single phase AC200 ~ 230[V].

3) Connect the regenerated resistance between the terminals labeled. P and B.



AC SERVO operating device

XDA-S015 XDA-S020 XDA-S030 XDA-S045

Wire thickness AWG #12 (3.5mm2) AWG #10 (5.5mm2)

MC

Breaker

GMC-40 (35A)

ABS33b

(10A)

ABS33b

(20A)


ABS33b (30A)

Level product

NOISE FILTER

NFZ-4030SG

(30A)

NFZ-4040SG

(40A)

Internal regenerated resistance

250W

50

Ω

(External diagram A)

250W 50

Ω parallel 2 units

(External diagram A)

♥ MC and Breaker: LS INDUSTRIAL SYSTEMS, http://www.lsis.biz

♥ NOISE FILTER: Samil Components, http://www.samilemc.com

239

220

Length :300

60

M4

∮4.3

30

<External diagram A>

2-5


2.3 CN1 I/O Signal Explanation

2.3.1 CN1 terminal arrangement

CN1 is the connected located on the top right part of the front side of the operating device. This connector is used for connecting the upper control device that commands the operating device and the operation.

The pin arrangement and name of the CN1 connector are as shown in the following picture.

1 GND 26 GND

2 MONIT2 27 SPDIN

3 MONIT1 28 TRQIN

4 BAT29 BAT+

5 PZO 30 /PZO

6 PBO 31 /PBO

7 PAO 32 /PAO

8 GND 33 GND

9 PPRIN 34 GND

10 PFIN 35 +12V

11 PPFIN 36 GND

12 PRIN 37 -12V

13 STOP 38 ALMRST

14

SPDLIM/

TLIM

15

CCWLIM/

PTQLIM

39 ESTOP

40

CWLIM/

NTQLIM

16 DIR 41 PI/P

18 SVONEN

17

SPD2/

GEAR2

43

SPD1/

GEAR1

42 SPD3

19 A_CODE1 44 A_CODE2

20 ALARM 45 A_CODE0

22

INSPD/INP

OS/INTRQ

21 RDY

47 ZSPD

46

SPDOUT/

TRQOUT

23 48 BRAKE

24 GND24 49 +24VIN

25 GND24 50 FG

♥ The above table indicates the reference signal of manufactured default. For the function of partial pin among the signals, the signal allocation can be changed in P07 mode (input function setting) and P08 mode (output function setting).

◆ The connector for CN1 is optional.

- Manufacturer: 3M, CASE product name: 10350-52F0-008

- Connector (for soldering) : 10150-3000VE

2-6


2.3.2 CN1 I/O wiring

Power AC 200~230V

50/60Hz

+24V

+

-

NFB MC1

NF

(note) 1

(note) 2

Regenerative resistor

(note) 3

P

CN1

(input)

+24V

ESTOP

SPD1/

GEAR1

SPD2/

GEAR2

SPD3

DIR

STOP

SVONEN

ALMRST

SPDLIM/

TLIM

PI/P

CWLIM/

NTQLIM

CCWLIM/

PTQLIM

18

38

14

41

40

15

49

39

43

17

42

16

13

B r t

R

S

T

3.3K

3.3K

3.3K

3.3K

3.3K

3.3K

3.3K

3.3K

3.3K

3.3K

3.3K

3.3K

Servo Drive

XDA-S

D/A

U

V

W

FG

CN2

CN3

CN1

(Out)

MONIT1

3

2

8

26

MONIT2

GND

Brake Power input terminal

+

-

U

V

W

F

G

*Digital Loader

*PC Loader(RS232C)

*Network communication

(RS485, RS232C)

S

M

PG

23

22

48

Not used

INSPD/

INPOS/

INTRQ

BRAKE

21

RDY

47

46

20

ZSPD

SPDOUT/

TRQOUT

ALARM

45

A_CODE0

19

A_CODE1

44

24

25

A_CODE2

GND24

MPG(Manual Pulse Generator) or PLC(Position Location

Card)

PPFIN

PFIN

PPRIN

PRIN

11

10

9

12

(note) 4

SPDIN

GND

TRQIN

GND

28

34

36

27

1

33

LPF

LPF

A/D

7

6

PAO

32

/PAO

PBO

31

/PBO

5

PZO

30

8

26

/PZO

GND

FG

50

(Note) 1: NF standards for Noise Filter and it must be used to prevent the noise from intruding from the outside.

(Note) 2 : For the XDA-S004~45 type, connect the single phase AC220V[V] to the ‘r, t’ terminal, supplementary power.

XDA-S001~02 type does not have the supplementary power ‘r, t’ terminal.

(Note) 3: The recovery resistances of XDA-S004~XDA-S010 are installed inside the driver as an internal type.

The regenerated resistance of the XDA-S015 type or above is the separately installed type, Check the capacity and apply accordingly.

(Note) 4: Connect the ground wire of CN1 cable to the FG (Frame Ground) terminal.

2-7


2.3.3 Changeable input signal function table (Based on manufactured default)

Signal content Term Pin No.

Function and usage explanation

Servo drive Enable SVONEN 18

It decides whether the servo motor can be operated or not.

(ON: Enable OFF: not Enable)

Speed selection 1/

Electronic gear selection 1/

Speed selection 2/

Electronic gear selection 2/

SPD1/

GEAR1/

SPD2/

GEAR2/

43

17

- Internal command speed selection by 3 signal (SPD1, SPD2,

SPD3) combination Speed control

- Electronic gear ratio selection by 2 signal (GEAR1, GEAR2) combination Position control

Speed selection 3 SPD3 42

Direction selection

CCW limit /

Positive torque limit

CW limit /

Negative torque limit

Speed limit /

Torque limit

Alarm reset

Emergency stop

PI/P control

DIR

CCWLIM/

PTQLIM

CWLIM/

NTQLIM

SPDLIM/TL

IM

ALMRST

ESTOP

PI/P

16

15

40

14

38

39

41

Selects the Speed/Position/Torque input direction.

(OFF: Positive direction selected ON: Negative direction selected)

Extreme limit signal input on CCW axis (Speed control)/

Positive torque generation prohibited (Torque control)

(ON: Cancel OFF: Prohibited)

Extreme limit signal input on CW axis (Speed control)/

Negative torque generation prohibited (Torque control)

(ON: Cancel OFF: Prohibited)

Speed limit use input contact point (Torque control)/

Selects whether to use torque limit (Analog input and digital torque input can be used according to the combination of TRQ1,

TRQ2 and TRQ3 Speed control.)

This cancels the alarm condition.

In case of external emergency, it overrides all input condition of the servo drive and quickly decelerates the motor to free run the motor.

You can select the ON/OFF contact point in parameter P02-26.

It selects the type of speed controller.

(OFF:PI control ON:P control)

It starts or stops the motor operation.

You can select the ON/OFF contact point in parameter P02-25.

13

※ When setting P02-25 to “OFF”

(Close: Stop Open: Start)

♥ For details on the input contact point function change, refer to the P07 mode of Chapter 3.

2-8


2.3.4 Changeable output signal function table (Based on manufactured default)

Signal content Name

Pin num.


You can directly set the input contact point function from

23

P7-01. (Manufactured default : Not use)

Brake operation BRAKE 48

This is the output signal to operate the external brake.

When on, the brake power is supplied to enable motor operation.

21 No alarm, power good condition when the power is on. Servo ready RDY

Speed/Position

INSPD/INP

/Torque reach

OS/INTRQ completion

Speed/torque limiting

Zero speed condition

SPDOUT/T

RQOUT

ZSPD

22

46

It goes on when it reaches the commanded

Speed/Position/Torque.

When used for speed control mode, it indicates the condition of the torque the servo motor is limiting.

When used for torque control mode, it indicates the condition of the speed the servo motor is limiting.

47 This indicates the stopped condition of the servo motor.

Alarm condition ALARM

Alarm 0 CODE A_CODE0

20

When the alarm is detected, it foes off. During normal operation, it goes on.

45 It outputs alarm CODE0.

Alarm 1 CODE A_CODE1 19 It outputs alarm CODE1.

Alarm 2 CODE A_CODE2 44 It outputs alarm CODE2.

♥ For details on the output contact point function change, refer to the P08 mode of Chapter 3.

2.3.5 Fixed I/O signal function table

Signal content Name Pin num. Function and usage explanation

F+ input pulse

F- input pulse

R+ input pulse

R- input pulse

PPFIN

PFIN

PPRIN

PRIN

11

10

9

12

Depending on the set value of pulse logic, it receives and operates according to the specific position command type of negative or positive logic. Refer to Chapter 3 for details of the pulse type.

Analog speed

When operating in speed mode, enter the analog speed command. command

SPDIN 27

Analog speed

When operating in torque mode, enter the analog speed limit. limit

Analog torque command

Analog torque limit

When operating in torque mode, enter the analog torque command.

TRQIN 28

When operating in speed mode, enter the torque limit.

2-9


Signal content

Monitor output 1

Monitor output 2

Name

MONIT1

MONIT2

Encoder output

PAO,/PAO

PBO,/PBO

PZO,/PZO

Pin num.

3

2


Designated variable value is outputted in 0~

±5[V] range through the DA converter.

[Monitor selection] 0: Speed, 1: Speed command, 2: Torque, 3: Torque command, 4: Pulse, 5: Command pulse

Designated variable value is outputted in 0~

±5[V] range through the DA converter.

[Monitor selection] 0: Speed, 1: Speed command, 2: Torque, 3: Torque command, 4: Pulse, 5: Command pulse

7,32

6,31

5,30

After dividing the motor encoder signal from CN2 as much as the division rate set in the division setting menu, it outputs in line drive method.

As the external I/O contact point power, enter

+24[VDC]

±10% 1.0[A] or above for the external power.

+24[V]

Power input

+24[V] GND

0[V]

GND24

GND

24

25

1,8

26,33

34,36

◆ When using the I/O contact point power simultaneously, recalculate the power capacity according to the output contact points.

Connect the ground of power+24[VDC]

±10% for external I/O contact point.

(User preparation)

Common power ground terminal of speed, command, torque limit command, speed, torque monitor output, encoder output terminal.

Battery +

Battery -

BAT+

BAT-

29

4

When using the absolute encoder, connect the battery from the upper device. Do not connect the drive side and both sides of the upper device.

+12[V] output

-12[V] output

+12

-12

35

37

When simply outputting speed command and torque limit, use the

±12[V] power.

FRAME

GROUND

FG 50 Ground the cable ground wire of CN1.

♥ Function of fixed I/O contact point cannot be changed.

2-10


2.4 CN2 Wiring and Signal Explanation

2.4.1 When using incremental encoder

CN2 is the connector located on the bottom right side of the front side of the operating device. This connector is used for connecting the operating device and the encoder of the servo drive. The PIN arrangement shown from the connector in the user’s point of view is as follows. The encoder signals may differ depending on the type of encoder.

1 PW 11 /PZ

2 /PW 12 FG

3 PV 13 /PB

4 /PV 14 PZ

5 PU 15 /PA

6 /PU 16 PB

7 17

8 18 PA

9 GND 19 Vcc

10 20

[ Based on soldering side of user connector ]

◆ Connector for CN2 is optional.

- Manufacturer : 3M, CASE product name : 10320-52F0-008,

- Connector (For soldering) : 10120-3000VE

The 15 line type incremental encoder arrangement of CN2 and XMR-Series AC servo meter is shown as the following table.

CN2

PIN No.

Signal name

MOTOR(□60,80series) side

Connector pin No. for encoder.

MOTOR(□130,180series) side

Connector pin No. for encoder.

1 PW

2 /PW

3 PV

11

12

9

P

R

M

4 /PV

5 PU

6 /PU

10

7

8

N

K

L

7 -

8 -

9 GND

10 -

11 /PZ

12 F.G.

-

-

14

-

6

15

-

-

G

-

F

J

13 /PB

14 PZ

15 /PA

16 PB

17 -

18 PA

19 Vcc ( DC 5V )

20 -

4

5

2

3

-

1

13

-

D

E

B

C

-

A

H

-

♥ Connect the grounding wire of the encoder wiring cable for F.G.

♥ Applied cable specification: AWG24 x 9Pair TWIST, SHIELDED CABLE (Maximum length 20m)

2-11


2.4.2 When using 11bit absolute encoder

CN2 is the connector located on the bottom right side of the front side of the operating device. This connector is used for connecting the operating device and the encoder of the servo drive. The PIN arrangement shown from the connector in the user’s point of view is as follows. The encoder signals may differ depending on the type of encoder.

1 RX 11 /PZ

2 /RX 12 FG

3 13 /PB

4 14 PZ

5 15 /PA

6 16 PB

7 BT+ 17

8 BT18 PA

9 GND 19 Vcc

10 20 ERST





The 11bit absolute encoder wiring details of CN2 and XMR-series AC servo motor are shown as the following table.

CN2

PIN No.

Signal name

MOTOR(□60,80 series) side

Connector pin no. for encoder

1 RX

2 /RX

3 -

11

12

-

4 -

5 -

6 -

-

-

-

7 BAT+

8 BAT-

9 GND

10 -

11 /PZ

12 F.G./Shield

9

10

14

-

6

8

13 /PB

14 PZ

15 /PA

16 PB

17 -

18 PA

19 Vcc( DC 5V )

20 ERST

4

5

2

3

-

1

13

7

♥Connect the grounding wire of the encoder wiring cable for F.G.


Connector pin no. for encoder.

P

R

-

-

-

-

K

L

G

-

F

N

D

E

B

C

-

A

H

M

♥ Applied cable specification: AWG24 x 9Pair TWIST,SHIELDED CABLE (Maximum length 20m)

2-12


2.4.3 When using 17bit absolute/incremental encoder

CN2 is the connector located on the central right side of the front side of the operating device. This connector is used for connecting the operating device and the encoder of the servo drive. The PIN arrangement shown from the connector in the user’s point of view is as follows. The encoder signals may differ depending on the type of encoder.

1 SD 11

2 /SD 12 FG

3 13

4 14

5 15

6 16

7 BT+ 17

8 BT18

9 GND 19 Vcc

10 20


◆ The connector for CN2 is optional.

◆ For incremental 17bit encoder, you do not need to connect the No. 7 (BT+) and No. 8 (BT-) terminal.



The 17bit absolute encoder wiring details of CN2 and XMR-series AC servo motor are shown as the following table.

CN2

PIN No.

Signal name



1 SD

2 /SD

3 -

1

2

-

4 -

5 -

6 -

-

-

-

7 BAT+

8 BAT-

9 GND

10 -

11 -

12 F.G.

3

4

6

-

-

7

13 -

14 -

15 -

16 -

17 -

18 -

19 Vcc ( DC 5V )

20 -

-

-

-

-

-

-

5

-

♥Connect the grounding wire of the encoder wiring cable for F.G



P

R

-

-

-

-

K

L

G

-

-

-

-

-

-

-

-

H

-

♥ Applied cable specification: AWG24 x 5Pair TWIST, SHIELDED CABLE (Maximum length 20m)

2-13


※ A wiring example of CN2 of motor side (□60,80) and FDA7000(A) when applying the 17bit absolute/incremental encoder

AC SERVO MOTOR

(?60,80)

E

N

1

2

3

4

5

6

[*1]

2-1 SD

P

2-2

2-7

P

P

/SD

BAT+

2-8

2-19

BAT-

Vcc(5V)

2-9 GND(0V)

CN2

AC SERVO DRIVER

(XDA-S000S) CN1

Serial

Data

Division circuit

Pulse conv.

Output LINE

DRIVER

T.I SN75174

[*2]

1-7

1-32

1-6

1-31

1-5

1-30

1-29

1-4

PA0

/PA0

PB0

/PB0

PZ0

/PZ0

P

P

P

[*1]

HIGH CONTROL

DEVICE

Used LINE

RECEIVER

T.I. SN75175

+

-

1-1

1-8

1-33

1-34

7

2-12 FG

0V

1-50

P

[*1] indicates the

TWIST PAIRED CABLE.

[*2]T.I.:TEXAS INSTRUMENT

◆ Applied cable specification: AWG24 x 9Pair TWIST, SHIELD CABLE (Maximum length 20m)

◆ You do not need to connect the incremental 17bit encoder no. 7 (BT+) and no. 8 (BT-) terminals,

2.4.4 17bit absolute encoder data transmission

The output signal of absolute encoder is the incremental division output PAO, /PAO, PBO, PBO, PZO, /PZO

SERVO DRIVE

EN

SD

/SD

Serial Data

Pulse conv.

Division circuit

(P01-14)

PAO

PBO

PZO

Signal name

PAO

PBO

PZO

Condition

When turning on the power and initializing

During normal operation after initialization is complete

When turning on the power and initializing

During normal operation after initialization is complete

Always

Signal content

Serial data

Initial incremental pulse

Incremental pulse

Initial incremental pulse

Incremental pulse

Origin point pulse

2-14


① PAO serial data specification

Baud Rate

Data transmission method

Start bit

Supplementary asynchronous

9600[bps]

1 bit

Stop bit 1 bit

Parity Excellent

Character Code ASCII Code 7 bit

Data Format

♥ Revolution is outputted in line 5.

8 Character

② Absolute data content ⓐ Serial data: This indicates where the motor axis is positioned after several revolutions from the reference position (Absolute encoder initialized value). ⓑ Initial incremental indication: It outputs the pulse in the same speed as the revolution as about 1250 rpm (17 bit serial encoder application and P01-14=16384(4096[pulse]) from the origin position to current motor position of the motor axis.

-1

Reference position

(Absolute initialization)

0 +1

Current position

+2 +3

Coordinate

-1

0 +1

+2

M value

M

×

R

E

I

E

S

E

C

E

M

※ Absolute data

E

is calculated as follows.

M

E

C

=

M

×

R

+

E

I

E

M

=

E

C

−

E

S

E

C

: Current position read from encoder

M

: Serial data (multi revolution data)

E

I

: Initial incremental pulse rate (Generally showed in “-“ value)

E

S

: Initial incremental pulse rate read from absolute encoder initialization point

(Generally shown in “-“ value and this value is stored and used in the upper device.)

E

: Current position necessary from customer system

M

R : Pulse rate for 1 encoder revolution (Value with division ratio [P01-14] applied)

2-15


③ Absolute data transmission sequence ⓐ Maintain the ABS_REQ signal to “H” Level. ⓑ After 50ms, it switches to standby condition to receive the serial data. The up/down counter for incremental pulse count is cleared to “0”.

ⓒ It receives the serial data 8 byte.

ⓓ After receiving the initial serial data and about 400ms past, it operates as general incremental encoder.

ABS_REQ signal

PAO

Negative

Negative

PBO

Revolution serial data Initial incremental pulse

Incremental pulse

A Phase

A Phase

Incremental pulse

A Phase

Incremental pulse

A Phase

50ms

90ms Type

60ms Min.

260ms Max.

about 15ms 8~9ms

400ms Max.

2-16


2.5 CN3 Wiring and Signal Explanation

2.5.1 CN3 terminal arrangement

CN3 is the connector located on the bottom left side of the front side of the operating device. This connector is used for connecting the operating device and the upper level device or serial communication with peripheral device. The PIN arrangement shown from the connector in the user’s point of view is as follows.

2

사용금지

N/A

GND

Terminal

19

Rt: resistor

[

Based on soldering side of user connector

]


- Manufacturer: 3M, CASE product name: 10320-52F0-008

- Connector (For soldering): 10120-3000VE

2.5.2 Communication cable for RS-232C channel

Connector body (F, G)

Communication cable spec.: AWG24, UL2919-AMESB 3C (LS Cable)

[PC Serial Port] [Servo Drive CN3 Connector]

◆ Shielded cable only connects with 10120-3000VE connector body when RS232C communication cable is assembling. Do not connect with D-SUB 9Pin connector body. (If both connectors are connected with shielded cable, it may cause communication problem.)

2-17


2.5.3 Communication cable for RS485 channel

[Upper System] [Servo Drive CN3 connector]

◆ Please make a terminal resistor by short-circuit within Rt (no. 19) and N (no. 8).

◆ Terminal resistor (120

Ω

) is built-in in servo drive.

◆ Please do not connect with Rt terminal when drives are connected each other. It may cause reducing the value of terminal resistor value.

2-18


Chapter 3 explains the individual servo parameter setting method according to the usage. The parameter setting can be executed with the internal mount loader and digital loader, and refer to Chapter 5 for details on how to use the internal mount load and digital loader.

The parameter no. with the symbol (＊) marked indicates that the value can only be corrected when the SVONEN input contact point is

“OFF”.

3.1 Status Display Parameter ......................................................................................3-1

3.2 Motor and Operating Device Setting.....................................................................3-5

3.3 General Control Parameter Setting.......................................................................3-8

3.4 Speed Control Pararmeter Setting ......................................................................3-14

3.5 Input Contact Point Digital Speed and Torque Setting .......................................3-18

3.6 Position Control Parameter Setting.....................................................................3-19

3.7 Torque Control Parameter Setting.......................................................................3-21

3.8 Input Contact Point Function Setting...................................................................3-23

3.9 Output Contact Point Function Setting................................................................3-28

3.10 Analog Monitor Function Setting .......................................................................3-33

3.11 Job Operation Parameter Setting......................................................................3-34

3.12 Alarm Display Setting.........................................................................................3-36

3-0


The menu setting can be executed with the digital load and internal mount loader. Refer to Chapter 5 for details on how to use the internal mount load and digital loader.

The acronym and meaning used in this manual are as follows.

Acronym Meaning

PC

CC

SC

LMT

ENB

INIT

PROG

Position Controller

Current Controller

Speed Controller

Limit

Enable

Initialize

Program

Position Controller

Current Controller

Speed Controller

Limit

Enable

Initialize

Program

CMD

ACCEL

DECEL

SPD

POS

COMPEN

ABS

REV

ADJ

MAX

TRQ

MULTI

NF

COM

TC

FF

ERR

ELCTR

NUM

DEN

Command

Acceleration

Deceleration

Speed

Position

Compensation

Absolute

Adjustment

Maximum

Torque

Multiple

Notch Filter

Communication

Time Constant

Feedforward

Error

Electric

Numerator

Denominator

Command

Acceleration

Deceleration

Speed

Position

Compensation

Absolute

Adjustment

Maximum

Torque

Multiple

Notch Filter

Communication

Time Constant

Feedforward

Error

Electric

Numerator

Denominator

3.1 Status Display Parameter

StE-01

Display Select

Unit

-

Display range

100~ 1330

Manufactured default

1203

Speed/Torque/

Position control

When the power of the servo drive is turned on, this sets the menu to display on the display window. The first and second space indicates the upper menu number of each menu, and third and fourth space indicates the lower menu number. For example, if it is set as StE-01 = 1203, the “12” means the StE menu and “03 refers to the StE-03.

3-1


[First and second space value]

1 st

and 2 nd value 01 02 03 04 05 06 07 08 09 10 11 12

Refer to each parameter for the third and fourth menu number.

StE-13

StE-14

StE-15

StE-16

StE-09

StE-10

StE-11

StE-12

StE-02

StE-03

StE-04

StE-05

StE-06

StE-07

StE-08

StE-17

Command

Speed

Motor Speed

CCW Speed

Limit

CW Speed Limit

Command Pulse

Feedback Pulse

Error Pulse

Command

Torque

Load Rate

Max Load Rate

CCW TRQ LMT

CW TRQ LMT

Inertia Ratio

MULTI Turns

Single Turn

I/O Status

Unit rpm

Unit rpm

Unit rpm

Unit rpm

Unit pulse

Unit pulse

Unit pulse

Unit

%

Unit

%

Unit

%

Unit

%

Unit

%

Unit

-

Unit rev

Unit

-

Unit

-

Display range

-9999.9 ~ 9999.9

Display range

-9999.9 ~ 9999.9

Display range

0.0 ~ 9999.9

Display range

-9999.9 ~ 0.0

Display range

-99999 ~ 99999

Display range

-99999 ~ 99999

Display range

-99999 ~ 99999

Display range

-300.0 ~ 300.0

Display range

-300.0 ~ 300.0

Display range

-300.0 ~ 300.0

Display range

0.0 ~ 300.0

Display range

-300.0 ~ 0.0

Display range

0.0 ~ 50.0

Display range

0 ~ 99999

Display range

0 ~ 999999

Display range

0 ~ 999999


-


-


-


-


-


-


-


-


-


-


-


-


2.0


-


-


-

Speed/position control

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

Position control

Position control

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

3-2


<For internal mount loader >

CN1_38

CN1_13

CN1_39

CN1_14

CN1_40

CN1_15

CN1_41

CN1_16

CN1_42

CN1_17

CN1_43

CN1_18

Input contact PIN allocation part

CN1_19

CN1_44

CN1_20

CN1_45

CN1_21

CN1_46

CN1_22

CN1_47

CN1_23

CN1_48

The PIN allocation based on the manufactured default is as follows.

CN1 PIN

No. (input)

Initial allocated value

18

SVON

EN

43 17 42

SPD1/

GEAR

1

SPD2/

GEAR

2

SPD3

16 41 15

CCWLI

M/

40

CW

LIM/NT

QLIM

M

14

SPDLI

M/TLI

M

Output contact PIN allocation part

39 13

E

STOP

STOP

38

ALM

RST

CN1 PIN

No. (Input)

Initial allocated value

23 48 22

INSPD/

INTRQ

47 21 46

SPDOU

UT

20

ALARM

45

A_CO

DE0

19

A_CO

DE1

44

A_CO

DE2

3-3


<For digital loader >

The following table shows the PIN allocation based on the manufactured default value.

CN1 PIN

No. (Input)

18

(SVON

EN)

43

(SPD1)

17

(SPD2)

42

(SPD3)

16

(DIR)

41

(PI/P)

15

(CCWLIM)

40

(CW LIM)

14

(SPDLIM/

TLIM)

39

(E STOP)

13

(STOP)

38

(ALM

RST)

Example

1 1 0 0 0 0 0 1 0 1 0 0

Operation content

Motor in operation

Internal command speed 1 selection

Command direction revolution

PI control operation

CCW revolution possible

CW revolution impossible

Speed/tor que limit not used

Not used Not used

Not used

CN1 PIN

No. (Input)

Example

Operation content

23

(-)

48

(BRAK

E)

22

(INSPD/INPOS/

INTRQ)

47

(ZSPD)

21

(RDY)

46

(SPDOUT/TR

QOUT)

20

(ALARM)

45

(A_CO

DE0)

19

(A_CO

DE1)

44

(A_CO

DE2)

- 1 1 1 1 0 1 0 0 0

Not used

Motor brake cancel

Command speed/ position/torque reached condition

0 speed reached condition

Servo ready condition

Speed/torque limit not in process

Normal condition

Normal condition

StE-18

PROG Version

Unit

-

Setting range

0.0 ~ 99.99


Speed/Torque/

Position control

3-4


3.2 Motor and Operating Device Setting

P01-01*

Motor ID

Unit

-

Setting range

GEN - 00 ~ 99


( By capacity )

Speed/Torque/

Position control

Set the motor ID to use. In the display of P01-02 ~ P01-10 (Except P01-07 and P01-08), the motor parameter constant value is not indicated.

ID Model name ID Model name ID Model name ID Model name ID Model name

P01-02

P01-03

P01-04

P01-05

P01-06

P01-07

01 - 21 TF09 41 LF06 61 KN05 81 LN06

02 - 22 TF13 42 LF09 62 KN06 82 LN09

03 - 23 TF20 43 LF12 63 KN07 83 LN12

04 - 24 TF30 44 LF20 64 KN06A 84 LN12A

05 - 25 TF44 45 LF30 65 KN11 85 LN20

06 - 26 TF09-5 46 - 66 KN16 86 LN30

07 - 27 - 47 - 67 KN22 87 LN40

08 CK02 28 - 48 - 68 KN22A 88 -

09 - 69 KN35 89 -

10 - 30 KF08 50 CN04A 70 TN05 90 -

11 -

12 -

13 -

14 -

15 -

16 - 36 - 56 CN22 76 TN44 96 -

17 - 37 - 57 CN30 77 TN75 97 LN10J

18 - 38 - 58 CN30A 78 - 98 -

19 - 39 - 59 CN50A 79 KN55 99 -

Inertia

Unit gfcm^2

Display range

0.01 ~ 999.99


By motor type

Speed/Torque/

Position control

TRQ Constant

Phase Inductance

Unit kgfcm/A

Unit mH

Display range

0.1 ~ 999.99


By motor type

Speed/Torque/

Position control

Display range

0.001 ~ 99.999


By motor type

Speed/Torque/

Position control

Phase Resistance

Rated Current

Rated Speed

Unit

Ω

Unit

A(rms)

Unit rpm

Display range

0.01 ~ 99.999

Display range

0.01 ~ 999.99

Display range

0.0 ~ 9999.0


By motor type


By motor type


By motor type

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

3-5


P01-08

P01-09

MAX Speed

Rated TRQ

Unit rpm

Unit kgfcm

Display range

0.0 ~ 9999.0

Display range

0.0 ~ 9999.0


By motor type


By motor type

P01-10

Pole Number

Unit

Pole

Display range

2 ~ 98


By motor type

P01-11*

Drive ID

Unit

-

Display range

0 ~ 45


Enter the setting value in the following table depending on the servo drive capacity.

By drive type

Drive capacity

[XDA-S ]

P01-11

[Drive ID]

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

01 02 04 05 08 10 15 20 30 45

1 2 4 5 8 10 15 20 30 45

P01-12*

Encoder ID

Unit

-

Display range

Enc - 0 ~ R


Enc - A

Speed/Torque/

Position control

Encoder

ID

Manual setting

INC

2000

INC

2500

INC

3000

INC

5000

INC

6000

INC

2048

ABS

11/

13bit

INC

17/

33bit

ABS

17/

33bit

P01-12 Enc-0 Enc-A Enc-b Enc-C Enc-d Enc-E Enc-F Enc-G Enc-P Enc-R

P01-13*

Encoder Pulse

Unit ppr

Display range

1 ~ 32768


2000

Speed/Torque/

Position control

Encoder

ID

Enc-0 Enc-A Enc-b Enc-C Enc-d Enc-E Enc-F Enc-G Enc-P Enc-R

P01-13

Manual setting

P01-14

Pulse Out Rate

Unit pulse

Display range

1 ~ 131072


(By model)

Speed/Torque/

Position control

Set the pulse out rate of the encoder when outputting in line driver method by dividing the encoder pulse on A and B fed back from the motor. (But for the 17 bit serial encoder applied to XDA-S000S, enter the 4 multiple value and the setting range is “16384 ~ 131072”.)

* Manufactured default: XDA-S000: 2000, XDA-S000S: 32768

3-6


P01-15*

COM Baud Rate

Unit

-

Display range

0 ~ 3


0

Speed/Torque/

Position control

Select the communications speed. Set the communications speed of the transmitting side (main unit). But it is only applied to the

RS483 communications channel.

Set value Serial communication baud rate

0 9600[bps]

1 19200[bps]

2 38400[bps]

3 57600[bps]

P01-16*

Serial Select

Unit Display range Manufactured default Speed/Torque/

- 0 ~ 2 0 Position control

You can use the analog speed, analog torque input and pulse input using the serial communication and communication card. Refer to the following.

Set value Content

0

1

2

P01-17*

Serial I/O

Unit

-

Set this when using the I/O contact point by communications.

Analog speed, torque and pulse command through CN1

Speed, torque and position data command by serial communication.

Speed, torque and position data command by communication card.

Display range

0 ~ 2


0

Set value Content

Speed/Torque/

Position control

0

1

2

I/O contact point use through CN1

I/O contact point use by communications

(RS232C/RS485)

I/O contact point use by communications card (Device Net)

P01-18*

Serial ID

Unit

-

Display range

1 ~ 31


1

Speed/Torque/

Position control

P01-19

Parameter Lock

Unit

-

Display range

ON/OFF


OFF

Speed/Torque/

Position control

3-7


P01-20*

Absolute Origin

Unit

-

Display range

ON/OFF


OFF

Speed/Torque/

Position control

You can execute encoder origin when applying 17bit/2048 absolute encoder. When you enter ON for the parameter, it changes to OFF and resets the Multi-Turn data.

3.3 General Control Parameter Setting

P02-01*

Control Mode

Unit

-

Display range

0 ~ 5


The conversion of control mode cannot be changed when the servo is turned on.

1

Set value

Type contact point condition

Applied control mode

Speed/Torque/

Position control

ON

Speed control mode

3

OFF

ON

Torque control mode

Speed control mode

4

OFF

Position control mode

ON

Position control mode

5

OFF Torque control mode

P02-02

Mode Change Time

Unit ms

Display range

100.0 ~ 10000.0


500.0

Speed/Torque/

Position control

When the servo drive is set to multiple control mode, decelerate the servo motor during the set control mode conversion time for the conversion contact point input of the control mode to convert to control mode when the speed is zero.

P02-03

P02-04

P02-05

CCW TRQ LMT

CW TRQ LMT

CCW Speed Limit

Unit

%

Unit

%

Unit rpm

Display range

0.0 ~ 300.0

Display range

-300.0 ~ 0.0

Display range

0.0 ~ 6000.0


300.0


-300.0


(Maximum value of applied motor)

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

3-8


P02-06

P02-07

CW Speed Limit

Brake Speed

Unit rpm

Unit rpm

Display range

-6000.0 ~ 0.0

Display range

0.0 ~ 9999.9


-(Maximum value of applied motor)


50.0

Speed/Torque/

Position control

Speed/Torque/

Position control

P02-08

Brake Time

Unit ms

Display range

0.0 ~ 10000.0


50.0

Speed/Torque/

Position control

♥ Operating condition of brake

When any one of the operating speed of P02-07 and operating time of P02-08 of the user menu is satisfied, the brake will operate.

P02-09

DB Mode

Unit

-

Display range

0 ~ 3


2

Speed/Torque/

Position control

DB mode control is to stop the serve motor abruptly during an emergency stop. The user menu P02-09 sets the stop operation of the servo motor when the servo is turned off or during an emergency stop. (Caution !) However, this function is not available in Large capacity.

Set value

0

1

2

3

Operation explanation

Maintain by decelerating the dynamic brake when the servo is off.

Free-run operation at set zero speed or below by decelerating the dynamic brake when the servo is off.

Maintain free-run operation by decelerating in free-run condition when the servo is off

Maintain dynamic brake at set speed of zero or less by decelerating in free-run condition when the servo is off

P02-10

Notch Filter1

Unit

-

Display range

0 ~ 2


0

Speed/Torque/

Position control

The operation of the notch filter is set to operate the notch filter to reduce the resonance of the machinery.

Set value Operation explanation

0

1

2

Do not use the notch filter 1.

Operate the notch filter 1 in the set resonance frequency and resonance bandwidth.

This is the method of reducing the resonance after automatically detecting the resonance frequency, it automatically detects the frequency of which the vibration is generated and reduces the resonance (Automatically switches from mode 2

Î 1).

3-9


P02-11

NF Frequency1 Unit

Hz

Display range

50.0 ~ 2000.0


This sets the notch filter frequency 1 to reduce the resonance of the machinery.

300.0

Speed/Torque/

Position control

P02-12

NF Bandwidth1 Unit

%

Display range

10.0 ~ 99.9


95.0

Speed/Torque/

Position control

It shows the certain gain bandwidth where the notch filter 1 does not operate to reduce the resonance of machinery.

P02-13

Notch Filter2 Unit

-

Display range

0 ~ 1


0

Speed/Torque/

Position control

The operation of the notch filter is set to operate the notch filter to reduce the resonance of the machinery.


0

1

Do not use the notch filter 2.

Operate the notch filter 2 in the set resonance frequency and resonance bandwidth.

P02-14

NF Frequency2

Unit

Hz

Display range

50.0 ~ 2000.0

This sets the notch filter frequency 2 to reduce the resonance of the machinery.


500.0

Speed/Torque/

Position control

P02-15

P02-16

P02-17

P02-18

NF Bandwidth2

TRQ Filter TC

Auto Tuning

System Response

Unit

%

Unit ms

Unit

-

-

Unit

Display range

10.0 ~ 99.9

Display range

0.0 ~ 1000.0

Display range

0 ~ 1

Display range

1 ~ 19


95.0


( By capacity )


0


( By capacity )

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

3-10


The setting of system response is to set the response to the target of the machine system attached to the servo motor.

P02-18

(System response setting)

P05-05

(Position loop gain 1)

P05-06


P03-05

(Speed control loop gain 1)

P03-06

(SC TC1)

P03-07


P03-08

(SC TC2)

P02-16

(Command torque filter

TC)

1 2.0 5.0 2.0 200.0 5.0 120.0 4.5

3 10.0 15.0 10.0 80.0 15.0 60.0 3.0

4 15.0 20.0 15.0 60.0 20.0 45.0 2.5

5 20.0 25.0 20.0 45.0 25.0 40.0 2.0

6 25.0 30.0 25.0 40.0 30.0 30.0 1.5

7 30.0 35.0 30.0 30.0 35.0 25.0 1.3

8 35.0 45.0 35.0 25.0 45.0 18.0 1.2

9 45.0 55.0 45.0 18.0 55.0 17.0 0.9

10 55.0 70.0 55.0 17.0 70.0 13.0 0.8

11 70.0 85.0 70.0 13.0 85.0 11.0 0.6

P02-19

Inertia Ratio

Unit

-

Display range

1.0 ~ 50.0


2.0

Speed/Torque/

Position control

P02-20

Gain ADJ Speed1

Unit rpm

Display range

100.0 ~ 5000.0


800.0

Speed/Torque/

Position control

P02-21

Gain ADJ Speed2 Unit rpm

Display range

10.0 ~ 500.0


100.0

Speed/Torque/

Position control

When executing the control gain conversion by operation speed of the servo motor, it decides the speed converted by the control gain.

3-11


[Conversion operation]

Speed

Command speed

Gain

Actual speed

P02-20

P02-21

Gain2

Gain1

P02-22

Gain ADJ TRQ1

Unit

%

Display range

50.0 ~ 300.0


150.0

Speed/Torque/

Position control

P02-23

Gain ADJ TRQ2

Unit

%

Display range

0.0 ~ 300.0


50.0

Speed/Torque/

Position control

When executing the control gain conversion by operating torque of the servo motor, it decides the torque converted by the control gain.


Speed Command speed

Actual speed

Torque

Internal command speed

0

P02-22

P02-23

-P02-23

-P02-22

Gain

Gain2

Gain1

P02-24

Contact Gain TC

Unit ms

Display range

0.0 ~ 10000.0


100.0

Speed/Torque/

Position control

When executing the control gain conversion by the external input contact point, it decides the control gain conversion time.

3-12



Gain conversion contact point

(GAITRS)

OFF ON OFF

Gain2

Applied gain

Gain1 Gain1

P02-24 = 100 [ms]

P02-25

Temporary Stop

Unit

-

Display range

ON / OFF


OFF

Speed/Torque/

Position control

As the stop function, it sets the operation type of the set input contact point. Depending on the menu value, the stop operation is converted.

P02-26

Emergency Stop

Unit

-

Display range

ON / OFF


OFF

Speed/Torque/

Position control

As the emergency stop, it sets the operation of the set input contact point. Depending on the menu value, the emergency stop operation is converted.

P02-27

Direction Select

Unit

-

Display range

ON / OFF


OFF

Speed/Torque/

Position control

As the direction function, it sets the operation of the set input contact point. Depending on the menu value, the direction select is converted.

P02-28

Ripple COMPEN

Unit

-

Display range

ON / OFF


OFF

Speed/Torque/

Position control

In case of speed ripple during operation, this function can reduce the speed ripple. You can select from the following set values.

ON Use speed ripple compensation function

OFF Do not use speed ripple compensation function

P02-29*

Parameter INIT

Unit

-

Display range

ON / OFF


OFF

Speed/Torque/

Position control

3-13


3.4 Speed Control Parameter Setting

P03-01*

Speed Gain Mode

Unit

-

Display range

1 ~ 5


1

When the servo drive is set to speed control mode, it sets the speed control gain mode.

Speed control

Set value

1

2

3

4

5


Use speed controller gain 1 (P03-05, P03-06).


Apply variable gain using gain 1 (P03-05, P03-06) and gain 2 (P03-07, P03-08) according to set speed (P02-20, P02-21) for the speed controller gain.

Apply variable gain using gain 1 (P03-05, P03-06) and gain 2 (P03-07, P03-08) according to set torque (P02-22, P02-23) for the speed controller gain.

Select gain 1 (P03-05, P03-06) or gain 2 (P03-07, P03-08) by the external contact point signal for the speed controller gain.

P03-02

P03-03

PI-IP Control %

Friction COMPEN

Unit

%

Unit

%

Display range

0.0 ~ 100.0

Display range

0.0 ~ 100.0


100.0


0.0



When the servo motor is attached on the machinery with severe friction with ball screw etc., this sets the friction compensation coefficient to reduce the dead zone that occurs during conversion of revolution direction.

P03-04

Load COMPEN Unit

%

Display range

0.0 ~ 100.0


0.0


This sets the external load compensation coefficient to improve the response of the servo motor for the sudden load change.

P03-05

P03-06

P03-07

SC Loop Gain1

SC TC1

SC Loop Gain2

Unit

Hz

Unit ms

Unit

Hz

Display range

0.0 ~ 1000.0

Display range

0.0 ~ 10000.0

Display range

0.0 ~ 1000.0


(

By capacity )


(

By capacity )


( By capacity )




3-14


P03-08

P03-09

P03-10

P03-11

P03-12*

P03-13

P03-14

SC TC2

Analog CMD TC

ACCEL Time

DECEL Time

S-Mode TC

In Speed Range

Zero Speed Range

Unit ms

Unit ms

Unit ms

Unit ms

Unit ms

Unit rpm

Unit rpm

Display range

0.0 ~ 10000.0

Display range

0.0 ~ 2000.0

Display range

0.0 ~ 90000.0

Display range

0.0 ~ 90000.0

Display range

0.0 ~ 9000.0

Display range

0.0 ~ 9999.9

Display range

0.0 ~ 9999.9


(

By capacity )


0.0


0.0


0.0


0.0


10.0


10.0


Speed control

Speed control

Speed control

Speed control

Speed control

Speed control

P03-15*

+ 10[V] RPM

Unit rpm

Display range

0.0 ~ 9999.9


(Applied motor rated speed)

Speed/Torque control

This sets the command speed range of the +10[V] analog voltage when the servo drive is in speed control or torque control mode.

Set speed

(P03-15)

Voltage

P03-16*

-10[V] RPM

Unit rpm

Display range

-9999.9 ~ 0.0


-(Applied motor

Speed/Torque control rated speed)

This sets the command speed range of the -10[V] analog voltage when the servo drive is in speed control or torque control mode.

3-15


Voltage

Set speed

(P03-16)

P03-17

P03-18

Auto Offset

Manual Offset

Unit

-

It automatically adjusts the offset voltage of the servo drive for the analog 0 [V] input of the upper controller. First servo off and connect voltage to the zero speed input pin of CN1 connector. And then set P03-17 on and adjust the offset voltage automatically so that it can detect the connected voltage to zero speed. When the offset voltage adjustment is complete, the P03-17 is automatically turned off and the offset voltage is automatically updated to the parameter of P03-18.

Unit mV

Display range

ON / OFF

Display range

-1000.0 ~ 1000.0


OFF


0.0



P03-19*

Override ENB

Unit

-

Display range

ON / OFF


OFF

Speed control

The override mode operation is set to on when minute speed is adjusted when the user is combining the speed command with the speed by digital contact point and analog speed command.

P03-20

Clamp Mode

Unit

-

Display range

0 ~ 2


0

Speed control

Clamp mode is only applied in the speed control mode. Clamp mode can be used when stopping the servo motor without dropping the analog command voltage to 0[V]. Once it is clamped, it will return to its clamped location even when it turns by external force.

3-16


Clamp mode:0

Speed command

Clamp mode:1

Speed command

Clamp mode:2

Speed command

Command voltage

Command voltage

Clamp voltage

Command voltage

Clamp voltage

P03-21

P03-22*

Clamp Voltage

F/Back TC

Unit mV

Unit ms

Display range

-1000.0 ~ 1000.0

Display range

0.0 ~ 2000.0


0.0


0.0

Speed control

Speed control

P03-23

Zero SPD VIB REJ

Unit rpm

Display range

0.0 ~ 1000.0


0.1


Feedforward TRQ

Unit

-

Display range

0 ~ 2


0


When torque command operation mode is set to “2”, the feedforward TRQ can be used. The feedforward TRQ input enables fast decision making during speed control. But if the feed forward input is too high, it can cause an overshoot or undershoot. Apply appropriately.

P03-24*


0

1

2

The function by analog torque command is operated by input contact point

(SPDLIM/TLIM).

The analog torque command continually operates in torque limit value irrelevant from the contact point input.

The analog torque command operates as feedforward torque item. (Precision control)

3-17


3.5 Input Contact Point Digital Speed and Torque Setting

P04-05

P04-06

P04-07

P04-08

P04-01

P04-02

P04-03

P04-04

P04-09

P04-10

P04-11

P04-12

P04-13

P04-14

Speed1

Digital input speed 1

Speed2


Speed3


Speed4


Speed5


Speed6


Speed7


Torque1

Digital input torque 1

Torque2


Torque3


Torque4


Torque5


Torque6


Torque7


Unit rpm

Unit rpm

Unit rpm

Unit rpm

Unit rpm

Unit rpm

Unit rpm

Unit

%

Unit

%

Unit

%

Unit

%

Unit

%

Unit

%

Unit

%

Setting range

-9999.9 ~ 9999.9

Setting range

-9999.9 ~ 9999.9

Setting range

-9999.9 ~ 9999.9

Setting range

-9999.9 ~ 9999.9

Setting range

-9999.9 ~ 9999.9

Setting range

-9999.9 ~ 9999.9

Setting range

-9999.9 ~ 9999.9

Setting range

-300.0 ~ 300.0

Setting range

-300.0 ~ 300.0

Setting range

-300.0 ~ 300.0

Setting range

-300.0 ~ 300.0

Setting range

-300.0 ~ 300.0

Setting range

-300.0 ~ 300.0

Setting range

-300.0 ~ 300.0

3-18


2000.0


3000.0


0.0


2.0


20.0


50.0


75.0


100.0


120.0


10.0


100.0


200.0


500.0


1000.0

Torque control

Torque control

Torque control

Torque control

Torque control

Torque control








Torque control


3.6 Position Control Parameter Setting

P05-01*

POS Gain Mode

Unit

-

Display range

1 ~ 5

Manufactured

When the servo drive is set to position control mode, set the position control gain mode. default

1

Position control


1

2

3

4

5

Use the position loop gain 1. (P05-05).

Use the position loop gain 2. (P05-06).

Apply variable gain using gain 1 (P05-05) and gain 2 (P05-06) according to set speed (P02-20, P02-21) for the position controller gain.


Select gain 1 (P05-05) or gain 2 (P05-06) according to external contact point signal of the position controller gain.

P05-02*

POS Pulse Type

Set the position command pulse mode.

Unit

-

Display range

0 ~ 5


1

Position control

[Pulse

Logic]

Command pulse row mode

In CCW direction In CW direction

Remark

N t a e g

I v e

0

1

A phase

+ B phase

CCW pulse

CW pulse

I t s

I

P o v e

I g

L o c g

I c

L o

2

3

4

5

P

F

P

R

P

F

P

R

P

F

P

R

P

F

P

R

P

F

P

R

P

F

P

R

L

H

H

L

Direction

+ Pulse

A phase

+ B phase

CCW pulse

CW pulse

Direction

+ Pulse

3-19


P05-03

Position control

Speed Mode

Unit

-

Display range

ON / OFF


OFF

Position/speed control

When the servo drive is set to position control mode, set the speed mode of P05-03 on to apply the deceleration (P03-10, P03-11) and S shape mode operation (P03-12) set in user menu P03 by the speed command by the position command pulse.

P05-04

Feedforward

Unit

%

Display range

0.0 ~ 100.0


0.0

Position control

P05-05

P05-06

P05-07

PC P Gain1

PC P Gain2

PI-P Pulse ERR

Unit

Hz

Unit

Hz

Unit pulse

Display range

0.0 ~ 500.0

Display range

0.0 ~ 500.0

Display range

0 ~ 99999


( By capacity )


( By capacity )


0

Position control

Position control

Position control

In position control mode, when the error of command pulse and actual movement pulse exceeds the set value of P05-07, it converts to P control mode to reduce the overshoot.

P05-08

In Position

Unit pulse

Display range

0 ~ 99999


100

Position control

Manufactured

P05-09

P05-10

Follow ERR

POS CMD TC

Unit pulse

Unit ms

Display range

0 ~ 99999

Display range

0.0 ~ 2000.0 default

30000


0.0

Position control

Position control

Manufactured

P05-11

P05-12*

P05-13*

P05-14*

P05-15*

FF TC

ELCTR Gear NUM1

ELCTR Gear DEN1

ELCTR Gear NUM2

ELCTR Gear DEN2

Unit ms

Unit

-

Unit

-

Unit

-

Unit

-

Display range

0.0 ~ 2000.0

Display range

1 ~ 99999

Display range

1 ~ 99999

Display range

1 ~ 99999

Display range

1 ~ 99999 default

0.0


1


1


1


2

Position control

Position control

Position control

Position control

Position control

3-20


P05-16*

P05-17*

P05-18*

P05-19*

ELCTR Gear NUM3

ELCTR Gear DEN3

ELCTR Gear NUM4

ELCTR Gear DEN4

Unit

-

Unit

-

Unit

-

Unit

-

Display range

1 ~ 99999

Display range

1 ~ 99999

Display range

1 ~ 99999

Display range

1 ~ 99999

Manufactured default 1


4


1


8

Position control

Position control

Position control

Position control

P05-20

Bias SPD COMPEN

Unit rpm

Display range

-1000.0 ~ 1000.0


0.0

Position control

To reduce the position decision time in position control mode, it adds the internal compensated speed of the servo drive to reduce the position decision time.

P05-21

Bias Pulse Band

Unit pulse

Display range

0 ~ 500


10

Position control

The bias pulse band is the value showing the time P05-20 (Bias compensation speed) is added in error pulse. When the error pulse exceeds the bias pulse band, the bias compensation speed is added.

P05-22

Backlash Pulse

Unit pulse

Display range

0 ~ 99999


0

Position control

3.7 Torque Control Parameter Setting

P06-01* Analog TRQ TC

Unit ms

Display range

0.0 ~ 2000.0


0.0

Torque control

When the upper controller commands the torque of the servo drive in analog voltage, this sets the low band passing filter TC of the analog torque command.

P06-02

TRQ ACCEL Time Unit ms

Display range

0.0 ~ 9000.0


0.0

Torque control

P06-03

TRQ DECEL Time Unit ms

Display range

0.0 ~ 9000.0


0.0

Torque control

The upper controller sets the acceleration/deceleration time of the torque command in the torque control mode of the servo drive.

3-21


P06-04*

TRQ S-Mode Unit ms

Display range

0.0 ~ 2000.0


0.0

Torque control

If you adjust the S-mode operation TC in the condition satisfying the operating characteristics of the machine system, you can reduce the vibration and impact of the machinery.

P06-05

In TRQ Range

Unit

%

Display range

0.0 ~ 100.0


10.0

Torque control

Torque

Torque

Actual torque

Set torque reach range

Time [sec]

ON

Set torque reach completion

OFF

Time [sec]

P06-06

P06-07

Stop TRQ Range

10[V] TRQ

Unit

%

Unit

%

Display range

0.0 ~ 100.0

Display range

0 .0~ 300.0


10.0


100.0

Torque control


This sets the command torque range applicable to t he 10 [V] analog voltage in speed control or torque control mode of the servo drive.

P06-08

Auto Offset

Unit

-

Display range

ON / OFF


OFF


It automatically adjusts the offset voltage of the servo drive for analog 0[V] input of upper controller.

Manufactured

P06-09

Manual Offset

Unit mV

Setting range

-1000.0 ~ 1000.0 default

0.0


3-22


3.8 Input Contact Point Function Setting

P07-01*

CN1_18

Unit

-

Setting range

0 ~ 30


1

Speed/Torque/

Position control

In P07-01 menu, you can set the single pin (0~20) and set the pin (25~30) by control mode, but in P07-02~P07-12 menu, you can only set the single pin setting (0~20). To set the pin by control mode, enter the value of “25~30” in the P07-01 menu so that the menu of

P07-01 ~ P07-12 is automatically reset with the applicable mode pin setting. For more details, please refer to the “[CN function table]” in the next page.

Manufactured

P07-02*

P07-03*

CN1_43

CN1_17

Unit

-

Unit

-

Setting range

0 ~ 20

Setting range

0 ~ 20 default

9


10

Speed/Torque/

Position control

Speed/Torque/

Position control

Manufactured

P07-04*

P07-05*

P07-06*

P07-07*

P07-08*

CN1_42

CN1_16

CN1_41

CN1_15

CN1_40

Unit

-

Unit

-

Unit

-

Unit

-

Unit

-

Setting range

0 ~ 20

Setting range

0 ~ 20

Setting range

0 ~ 20

Setting range

0 ~ 20

Setting range

0 ~ 20 default

11


3


4


13


14

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

P07-09*

P07-10*

P07-11*

CN1_14

CN1_39

N1_13

Unit

-

Unit

-

Unit

-

Setting range

0 ~ 20

Setting range

0 ~ 20

Setting range

0 ~ 20


12


16


15

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

P07-12*

CN1_38

Unit

-

Setting range

0 ~ 20


19

Speed/Torque/

Position control

This sets the input contact point function to control the operation of the servo drive from the upper controller. When you set the function applicable for each input contact point, the servo drive executes the set functions. Connect to the pin allocated as the input contact point of the CN1 connector and you can set and use the desired function from the menu. You can arrange the input contact point in multiple arrangements so that other pins can have the same function.

3-23


[Input contact point function table]

Function number

Function acronym

0

1

3

4

5

6

7

8

11

Function explanation

-

SVONEN

DIR

PI/P

GAITRS

TRQ1

TRQ2

Do not use applicable input pin

Servo on/off operation input contact point

When the control mode is multiple mode, control mode conversion input contact point

Torque/speed/location direction conversion input contact point

P-PI control mode conversion input contact point

Control gain conversion input contact point

Digital torque input contact point 1


TRQ3 Digital torque input contact point 3

SPD1/GEAR1

Digital speed input contact point 1

/ electronic gear ratio conversion input contact point 1


/ electronic gear ratio conversion input contact point 2

SPD3 Digital speed input contact point 3


Torque limit use input contact point (Speed, Position control)

CCW revolution limit input contact point

(Speed, Position control)/

CCWLIM/PTQLIM

CCW torque generation limit input contact point

(Torque control)

CW revolution limit input contact point

15

16

17

18

19

20

STOP

ESTOP

PLSINH

PLSCLR

ALMRST

ABSREQ

CW torque generation limit input contact point (Torque control)

Temporary stop input contact point

Emergency stop input contact point

Position command pulse input limit input contact point

Position command pulse clear input contact point

Alarm reset input contact point

Initial data request signal for absolute encoder

Use torque control mode internal setting function

(Can only be entered in P07-01 menu)

Use speed control mode internal setting function


Use position control mode internal setting function


Use speed/torque multi control mode internal setting function


Use speed/position multi control mode internal setting function


Use position/torque multi control mode internal setting function


3-24


※ Torque control mode internal setting function table (When P7-01 is set to 25 (Torque control mode)

Parameter Input pin

Function number

Function acronym Function explanation

P07-01

P07-02

P07-03

P07-04

P07-05

P07-06

P07-07

CN1-18

CN1-43

CN1-17

CN1-42

CN1-16

CN1-41

CN1-15

P07-08

P07-09

P07-10

CN1-40

CN1-14

CN1-39

P07-11

P07-12

CN1-13

CN1-38

GND24V CN1-24,25

10

3

13

14

12

-

1

15

16

19

6

7

9

SVONEN

STOP

ESTOP




ALMRST

TRQ1



TRQ2 Digital torque input contact point 2

SPD1/GEAR1 Digital speed input contact point 1


DIR Torque direction conversion input contact point

CCWLIM/PTQLIM CCW torque generation limit input contact point

CWLIM/NTQLIM CW torque generation limit input contact point

SPDLIM/TLIM Speed limit use input contact point

- 24V common input

EXT24V CN1-49 - -

※ Speed control mode internal setting function table (When P7-01 is set to 26 (Speed control mode)

Function

Parameter Input pin Function acronym Function explanation number

P07-01

P07-02

CN1-18

CN1-43

1

15

SVONEN

STOP



P07-03

P07-04

P07-05

P07-06

P07-07

P07-08

P07-09

CN1-17

CN1-42

CN1-16

CN1-41

CN1-15

CN1-40

CN1-14

16

19

4

9

10

11

3

ESTOP

ALMRST

PI/P

SPD3

DIR



P-PI control mode conversion input contact point




Speed direction conversion input contact point

P07-10 CN1-39 13 CCWLIM/PTQLIM CCW revolution limit input contact point

P07-11 CN1-13 14 CWLIM/NTQLIM revolution limit input contact point

P07-12 CN1-38 12 SPDLIM/TLIM Torque limit use input contact point

GND24V CN1-24,25 -

EXT24V CN1-49 -

-

-

24V common input

3-25


※ Position control mode internal setting function table (When P7-01 is set to 27 (Position control mode))

Function


P07-01

P07-02

CN1-18

CN1-43

1

15

SVONEN

STOP



P07-03

P07-04

P07-05

CN1-17

CN1-42

CN1-16

16

19

9

ESTOP

ALMRST



SPD1/GEAR1 electronic gear ratio conversion input contact point 1

P07-06

P07-07

P07-09

P07-10

CN1-41

CN1-15

P07-08 CN1-40

CN1-14

CN1-39

10

12

3

18

17


SPDLIM/TLIM Torque limit use input contact point

DIR

Position command pulse direction conversion input contact point

PLSCLR

PLSINH


Position command pulse input limit input contact point

P07-11 CN1-13 13 CCWLIM/PTQLIM CCW revolution limit input contact point

P07-12 CN1-38 14 CWLIM/NTQLIM revolution limit input contact point

GND24V CN1-24,25 - - 24V common input

EXT24V CN1-49 - -

※ Speed/torque multi control mode internal setting function table (When P7-01 is set to 28 (Speed/torque multi control mode))

Function


P07-01

P07-02

CN1-18

CN1-43

1

15

SVONEN

STOP



P07-03

P07-04

P07-05

CN1-17

CN1-42

CN1-16

16

19

6

ESTOP

ALMRST

TRQ1



Digital torque input contact point1

P07-06

P07-07

CN1-41

CN1-15

9

10

P07-08 CN1-40 2

P07-09 CN1-14 3



TYPE

When the control mode is set to multi mode, control mode conversion input contact point

DIR Torque/speed direction conversion input contact point

CCW revolution limit input contact point

(Speed control)/

CCWLIM/PTQLIM

CCW torque generation limit input contact point

(Torque control)

CW revolution limit input contact point

(Speed control)/

CWLIM/NTQLIM

CW torque generation limit input contact point(Torque control)


P07-12 CN1-38 12 SPDLIM/TLIM

Torque limit use input contact point(Speed/position control)

GND24V CN1-24,25 -

EXT24V CN1-49 -

-

-

24V common input input

3-26


※ Speed/position multi control mode internal setting function table (When P7-01 is set to 29 (Speed/position multi control mode))

Parameter Input pin

P07-01

P07-02

P07-03

P07-04

CN1-18

CN1-43

CN1-17

CN1-42

Function number

1

15

16

19

Function acronym

SVONEN

STOP

ESTOP

ALMRST






P07-05 CN1-16 18 PLSCLR Position command pulse clear input contact point

Digital speed input contact point1/ electronic gear ratio

P07-06 CN1-41 9 SPD1/GEAR1 conversion input contact point1

Digital speed input contact point2/ electronic gear ratio

P07-07 CN1-15 10 SPD2/GEAR2 conversion input contact point2

P07-08 CN1-40 2 TYPE


P07-09 CN1-14 3

P07-10 CN1-39 13

DIR

Speed/position direction conversion input contact point

CCWLIM/PTQLIM CCW revolution limit input contact point

P07-11

P07-12

CN1-13

CN1-38

GND24V CN1-24,25

14 CWLIM/NTQLIM CW revolution limit input contact point

12 SPDLIM/TLIM Torque limit use input contact point

- - 24V common input

EXT24V CN1-49 - - input

※ Position/torque multi control mode internal setting function table (When P7-01 is set to 30 (Position/torque multi control mode))

Parameter

P07-01

P07-02

P07-03

Input pin

CN1-18

CN1-43

CN1-17

Function number

1

15

16

Function acronym

SVONEN

STOP

ESTOP





P07-04

P07-05

CN1-42

CN1-16

19

9

ALMRST Alarm reset input contact point


P07-06 CN1-41 10 SPD2/GEAR2 electronic gear ratio conversion input contact point 2

Torque limit use input contact point(Position control)/

P07-07 CN1-15 12 SPDLIM/TLIM

Speed limit use input contact point (Torque control)

P07-08 CN1-40 2

P07-09 CN1-14 18

TYPE

PLSCLR



P07-10 CN1-39 6 TRQ1 Digital torque input contact point1

CCW revolution limit input contact point (Position control)/

P07-11 CN1-13 13

P07-12 CN1-38 14

CW revolution limit input contact point(Position control)/ CW

CWLIM/NTQLIM torque generation limit input contact point(Torque control)

GND24V CN1-24,25 -

EXT24V CN1-49 -

-

- control)

24V common input input

3-27


3.9 Output Contact Point Function Setting

P08-01*

CN1_23

Unit

-

Display range

0 ~ 30


0

Speed/Torque/

Position control

In the P08-01 menu, you can set the single pin (0~18) or set the pin (25~30) by control mode, but in P08-02~P08-10 menu, you can only set the single pin (0~18). Enter the “25~30” value in the P08-01 menu to use the pin setting by control mode, and the menu of

P08-01 ~ P08-10 will automatically be reset with the pin setting of the applicable mode. For more details, please refer to the “[Output contact point function table]” in the next page.

Manufactured

P08-02*

P08-03*

CN1_48

CN1_22

Unit

-

Unit

-

Display range

0 ~ 18

Display range

0 ~ 18 default

3


6

Speed/Torque/

Position control

Speed/Torque/

Position control

P08-04*

CN1_47

Unit

-

Display range

0 ~ 18


5

Speed/Torque/

Position control

P08-05*

CN1_21

Unit

-

Display range

0 ~ 18

Manufactured default 7

Speed/Torque/

Position control

P08-06*

P08-07*

P08-08*

P08-09*

CN1_46

CN1_20

CN1_45

CN1_19

Unit

-

Unit

-

Unit

-

Unit

-

Display range

0 ~ 18

Display range

0 ~ 18

Display range

0 ~ 18

Display range

0 ~ 18


9


14


15


16

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

P08-10*

CN1_44

Unit

-

Display range

0 ~ 18


17

Speed/Torque/

Position control

This sets the function of the output contact point function to check the operation of the servo drive by the upper controller. When you set the function applicable for each output contact point, the servo drive outputs the signal according to the set function. Connect to the output contact point of the CN1 connector to use the desired function set from the menu. If you duplicate the output contact point function setting, you can have the same output signal from different pins.

3-28


[Output contact point function table]

Function

Function acronym number

0

1

-

SVONOFF

2

3

4

5

7

8

10

11


Do not use output function

Servo on/off operation output

TYPEOUT

BRAKE

ZTRQ

Control mode conversion output

Brake operation signal output

Zero torque reach output

ZSPD Zero speed reach output

Set speed reach completion output/ Set position reach completion output/

INSPD/INPOS/INTRQ

Set torque reach completion output

RDY

PPIOUT

Servo ready status output

P-PI control mode status output

Speed limit status output (Torque control)/

TRQOUT

Torque limit status output (Speed, Position control)

PCWOUT / PTQOUT

NCWOUT / NTQOUT

PCWRUN

NCWRUN

CCW revolution speed limit status output (Torque control)/

CCW torque limit status output (Speed, Position control)

CW revolution speed limit status output (Torque control)/

CW torque limit status output (Speed, Position control)

CCW revolution status output

CW revolution status output

12

13

14

15

16

17

18

ALARM

A_CODE0

A_CODE1

A_CODE2

A_CODE3

Alarm generation status output

Alarm code-0 output

Alarm code-1 output

Alarm code-2 output

Alarm code-3 output

Use torque control mode internal setting function


Use speed control mode internal setting function


Use position control mode internal setting function


Use speed/torque multi control mode internal setting function


Use speed/position multi control mode internal setting function


Use position/torque multi control mode internal setting function


3-29


※ Output function setting table when P8-01 = 25 (Torque control mode internal setting function)

Function

Parameter Output pin Function acronym Function explanation number

P08-01

P08-02

CN1-23

CN1-48

1

3

SVONOFF

BRAKE



Servo ready status output P08-03 CN1-22 7

P08-04 CN1-47 6

RDY

INSPD/INPOS

/INTRQ

P08-05 CN1-21 9

SPDOUT /

TRQOUT

P08-06 CN1-46 14 ALARM

PCWOUT/

P08-07 CN1-20 10

PTQOUT

P08-08 CN1-45 11

NCWOUT /

NTQOUT

ZTRQ P08-09

P08-10

CN1-19

CN1-44

GND24V CN1-24,25

4

0

-

-

-

Set torque reach completion output

Speed limit status output (Torque control)


CCW revolution speed limit status output

(Torque control)

CW revolution speed limit status output

(Torque control)


Do not use output function

24V common input

EXT24V CN1-49 - -

※ Output function setting table when P8-01 = 26 (Speed control mode internal setting function)

Function input


P08-01

P08-02

CN1-23

CN1-48

1

3

SVONOFF

BRAKE




P08-04 CN1-47 6

RDY

INSPD/INPOS

/INTRQ

P08-05 CN1-21 9

SPDOUT /

TRQOUT

P08-06 CN1-46 14 ALARM

PCWOUT /

P08-07 CN1-20 10

PTQOUT

P08-08 CN1-45 11

NCWOUT /

NTQOUT

P08-09

P08-10

CN1-19

CN1-44

GND24V CN1-24,25

5

8

-

ZSPD

PPIOUT

-

EXT24V CN1-49 - -

Set speed reach completion output

Torque limit status output (Speed control)


CCW torque limit status output (Speed control)

CW torque limit status output (Speed control)

Zero speed reach output

P-PI control mode status output

24V common input

3-30


※ Output function setting table when P8-01 = 27 (Position control mode internal setting function)

Output Function

Output pin Function acronym Function explanation contact point number

P08-01

P08-02

CN1-23

CN1-48

1

3

SVONOFF

BRAKE




P08-04 CN1-47 6

RDY

INSPD/INPOS

/INTRQ

P08-05 CN1-21 9

SPDOUT /

TRQOUT

P08-06 CN1-46 14 ALARM

PCWOUT /

P08-07 CN1-20 10

PTQOUT

P08-08 CN1-45 11

NCWOUT /

NTQOUT

P08-09

P08-10

CN1-19

CN1-44

GND24V CN1-24,25

0

0

-

-

-

-

Set position reach completion output

Torque limit status output (Position control)




Do not use the output function


24V common input

EXT24V CN1-49 - -

※ Output function setting table when P8-01 = 28 (Speed/torque multi control mode internal setting function)

Function


P08-01

P08-02

CN1-23

CN1-48

2

3

TYPEOUT

BRAKE




P08-04 CN1-47 6

RDY

INSPD/INPOS

/INTRQ

P08-05 CN1-21 9

SPDOUT /

TRQOUT

P08-06 CN1-46 14 ALARM

PCWOUT /

P08-07 CN1-20 10

PTQOUT

P08-08 CN1-45 11

NCWOUT /

NTQOUT

P08-09

P08-10

CN1-19

CN1-44

GND24V CN1-24,25

5

4

-

ZSPD

ZTRQ

-

EXT24V CN1-49 - -








24V common input

3-31


※ Output function setting table when P8-01 = 29 (Speed/position multi control mode internal setting function)

Function


P08-01

P08-02

CN1-23

CN1-48

2

3

TYPEOUT

BRAKE




P08-04 CN1-47 6

RDY

INSPD/INPOS

/INTRQ

P08-05 CN1-21 9

SPDOUT /

TRQOUT

P08-06 CN1-46 14 ALARM

PCWOUT /

P08-07 CN1-20 10

PTQOUT

P08-08 CN1-45 11

NCWOUT /

NTQOUT

ZSPD P08-09

P08-10

CN1-19

CN1-44

GND24V CN1-24,25

5

0

-

-

-








24V common input

EXT24V CN1-49 - -

※ Output function setting table when P8-01 = 30 (Position/torque multi control mode internal setting function)

Function


P08-01

P08-02

CN1-23

CN1-48

2

3

TYPEOUT

BRAKE




P08-04 CN1-47 6

RDY

INSPD/INPOS

/INTRQ

P08-05 CN1-21 9

SPDOUT /

TRQOUT

P08-06 CN1-46 14 ALARM

PCWOUT /

P08-07 CN1-20 10

PTQOUT

P08-08 CN1-45

P08-09

P08-10

GND24V

CN1-19

CN1-44

CN1-24,25

11

4

0

-

NCWOUT /

NTQOUT

ZTRQ

-

-

EXT24V CN1-49 - -








24V common input

3-32


3.10 Analog Monitor Function Setting

The internal speed, command speed, torque, command torque, feedback pulse and command pulse of the servo can be monitored externally through analog monitor 1 and monitor 2. The output voltage range is -5[V]~5[V]. The following are the parameters related to the monitor use.

Unit Display range

Manufactured

Speed/Torque/

P09-01

Monitor1

- 0 ~ 5 default

0

Position control

Unit Display range

Manufactured

Speed/Torque/

P09-05

Monitor2

- 0 ~ 5 default

1

Position control

This sets the parameter to monitor the internal variable of the servo drive in analog output.

Set value 0 1 2 3 4 5

Monitoring variable

Actual speed

[rpm]

Command speed

[rpm]

Actual torque

[%]

Command torque

[%]

Feedback pulse

[pulse]

Command pulse

[pulse]

When the monitoring scale value is 1, the maximum speed output is +5[V] and maximum torque (3*Rated torque) is +5[V].

P09-02

P09-06

Monitor ABS1

Monitor ABS2

Unit

-

Unit

-

Display range

ON / OFF

Display range

ON / OFF


OFF


OFF

Speed/Torque/

Position control

Speed/Torque/

Position control

OFF: Output by distinguishing the sign

ON:

Output

in absolute value without distinguishing the sign

P09-03

Monitor Scale1

Unit

-

Display range

0.1 ~ 2000.0


1.0

Speed/Torque/

Position control

P09-07

P09-04

P09-08

Monitor Scale2

Monitor Offset1

Monitor Offset2

Unit

-

Unit mV

Unit mV

Display range

0.1 ~ 2000.0

Display range

-1000.0 ~ 1000.0

Display range

-1000.0 ~ 1000.0


1.0 default

0.0


Speed/Torque/

Position control

[Basic ratio]

Speed, command speed: Maximum speed/5[V], Torque, command torque: 3*Rated torque/5[V], Feedback pulse, command pulse:

20000[pulse]/5[V].

Manufactured

0.0

Speed/Torque/

Position control

Speed/Torque/

Position control

3-33


3.11 Job Operation Parameter Setting

JOG-01

Key Jog Mode

Unit

-

Display range

ON / OFF


OFF

Speed/Torque/

Position control

This sets the key jog operation mode by left and right key. If you set JOG-01 to ON, it switches to the jog mode without external command to turn on the servo. At this time, press the left and right button to turn in the CCW direction or CW direction at the speed set in JOG-02.

Manufactured

JOG-02

Key Jog Speed

This sets the operation speed of the key jog mode.

Unit rpm

Display range

-9999.9 ~ 9999.9 default

100.0

Speed/Torque/

Position control

JOG-03

Auto Jog Mode

Unit

-

Display range

0 ~ 2


0

Speed/Torque/

Position control

This sets the operation of auto jog mode. Auto jog mode supports 8 repeated pattern operation and the patterns support the No. 1

Auto jog mode that sets the revolution speed [rpm] and revolution time [sec] and No. 2 Auto jog mode that supports the revolution speed [rpm] and revolution [rev].

Set value

0

1

2


Do not use auto jog mode

Revolution speed-Use revolution time auto jog mode

Revolution speed –Use revolution auto jog mode

JOG-04

JOG-05

JOG-06

JOG-07

JOG-08

Jog Speed1

Jog Time1/REV1

Jog Speed2

Jog Time2/REV2

Jog Speed3

Unit rpm

Unit

[sec]/[rev]

Unit rpm

Unit

[sec]/[rev]

Unit rpm

Display range

-9999.9 ~ 9999.9

Display range

0.00 ~ 5000.00

Display range

-9999.9 ~ 9999.9

Display range e

0.00 ~ 5000.00

Display range

-9999.9 ~ 9999.9


100.0


1.00


-100.0


1.00


200.0

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

3-34


JOG-09

JOG-10

JOG-11

JOG-12

JOG-13

JOG-14

JOG-15

Jog Time3/REV3

Jog Speed4

Jog Time4/REV4

Jog Speed5

Jog Time5/REV5

Jog Speed6

Jog Time6/REV6

JOG-16

JOG-17

JOG-18

Jog Speed7

Jog Time7/REV7

Jog Speed8

JOG-19

Jog Time8/REV8

[Auto jog mode 1(Speed - time)]

Unit

[sec]/[rev]

Display range

0.00 ~ 5000.00

Unit rpm

Unit

[sec]/[rev]

Display range

-9999.9 ~ 9999.9

Display range

0.00 ~ 5000.00

Unit rpm

Display range

-9999.9 ~ 9999.9

Unit

[sec]/[rev]

Display range

0.00 ~ 5000.00

Unit rpm

Unit

[sec]/[rev]

Display range

-9999.9 ~ 9999.9

Display range

0.00 ~ 5000.00

Unit rpm

Unit

[sec]/[rev]

Unit rpm

Display range

-9999.9 ~ 9999.9

Display range

0.00 ~ 5000.00

Display range

-9999.9 ~ 9999.9

Unit

[sec]/[rev]

Display range

0.00 ~ 5000.00


1.00


-200.0


1.00


400.0


1.00


-400.0


1.00


800.0


1.00


-800.0


1.00

(JOG-12)

(JOG-04)

Speed

0

(JOG-06)

(JOG-10)

(JOG-08)

(JOG-05) (JOG-07) (JOG-09) (JOG-11) (JOG-13)

[sec]

Servo

ON

ON

OFF

Time [sec]

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

Speed/Torque/

Position control

3-35


[Auto jog mode 2 (Speed-revolution)]

Speed

0

(JOG-04)

(JOG-06)

(JOG-08)

Position

0

[Rev.]

(JOG-05) (JOG-07) (JOG-09)

Servo

ON

ON

OFF

Time [sec]

3.12 Alarm Display Setting

ALS-01

Current Alarm

Unit

-

Display range

-

Manufactured default nor

Speed/Torque/

Position control

This indicates the current alarm. ALS-01 menu is the user input parameter and is the menu to notify the alarm condition of the servo drive.

Alarm number

Alarm acronym Alarm content A_CODE0 A_CODE1 A_CODE2 A_CODE3

- Normal Normal condition

00 EMER STOP Emergency stop alarm

01 OVER CURNT Servo over-current alarm

02 OVER VOLT Servo over-voltage alarm

03 OVER LOAD Overload alarm

04 POWER FAIL Servo insufficient voltage alarm

05 LINE FAIL Encoder missed operation alarm

06 OVER SPEED Over-speed alarm

07 FOLLOW ERR Location following error alarm

08 OUTPUT NC Output NC alarm

09 PPR ERROR Encoder pulse rate setting alarm

10 ABS DATA Absolute encoder data error alarm

11 ABS BATT Absolute encoder battery low alarm

Absolute encoder multi turns data transmission error alarm

13 OUTPUT EC Output mis-wiring alarm

1

1

1

0

1

1

0

0

0

0

0

0

0

0

0

1

1

0

0

1

1

1

0

0

0

0

1

1

0

1

0

0

0

0

1

0

0

1

1

0

1

0

1

0

1

0

1

0

0

1

0

1

1 0 1 1

0 1 1 1

3-36


ALS-02

Alarm Reset

Unit

-

Display range

ON/OFF


OFF

Speed/Torque/

Position control

This resets and initializes the occurred alarm. Check and remove the cause of the alarm before resetting the alarm and then reset the alarm.

Refer to the alarm cause and resolution details.

ALS-03

~

Alarm History1

~

Unit Indicated range


ALS-12

Alarm History10

- 0 ~ 32

0

This is the menu that stores and shows the alarm history. The user cannot set this arbitrarily.

Manufactured

ALS-13

History Reset

It resets and initializes the occurred alarm history.

Unit

-

Display range

ON/OFF default

OFF

Speed/Torque/

Position control

Speed/Torque/

Position control

3-37


Chapter 4 explains the servo using method and gain adjustment by each control mode.

4.1 Gain Adjustment Method when Using Speed Servo...............................................................4-1

4.2 Gain Adjustment Method when Using Position servo.............................................................4-7

4.3 Torque Servo Use.................................................................................................................... 4-14

4.4 Auto Tuning Using Method ..................................................................................................... 4-17

4.5 Key Points of Gain Adjustment............................................................................................... 4-20

4.6 Precaution when Using Absolute Value Encoder................................................................. 4-22

4-0


4.1 Gain Adjustment Method when Using Speed Servo

This explains the gain adjustment method when using speed servo. The following diagram shows the occurring sequence of the speed command during speed control.

4-1


4.1.1 CN1 wiring diagram when using speed servo

NFB MC1

Servo Drive

XDA-S

U

V

W

FG

U

Power AC 200~230V

50/60Hz

NF

(Note) 1

R

S

T

V

W

F

G

S

M r t

+24V

+

-

(Note) 2

Regenerative resistor

(Note) 3

CN1

(Input)

+24V

ESTOP

SPD1/

GEAR1

SPD2/

GEAR2

SPD3

DIR

STOP

SVONEN

49

17

41

15

40

14

43

18

P

B

3.3K

3.3K

3.3K

3.3K

3.3K

3.3K

3.3K

D/A

CN2

CN3

3

CN1

(Output)

MONIT1

2

8

26

MONIT2

GND

Brake power input terminal

*Digital Loader

+

-

*PC Loader(RS232C)


(RS485, RS232C)

PG

3.3K

ALMRST

SPDLIM/

TLIM

PI/P

CWLIM/

NTQLIM

CCWLIM/

PTQLIM

SPDIN

GND

42

38

16

13

39

27

1

33

LPF

3.3K

3.3K

3.3K

3.3K

A/D

23

47

48

SVONOFF

INSPD/INPOS/

INTRQ

BRAKE

22

RDY

44

24

25

19

21

46

20

45

ZSPD

SPDOUT/

TRQOUT

ALARM

PCWOUT/

PTQOUT

NCWOUT/

NTQOUT

PPIOUT

GND24

TRQIN

GND

LPF 28

34

36

(Note) 4

FG

50

7

32

PAO

/PAO

6

5

PBO

/PBO

5

PZO

/PZO

30

8

26

GND

♥

The above input and output contact points are shown when setting the speed control mode contact point. (P07-01,P08-01=26).


(Note) 2: For the XDA-S004~45 type, connect the single phase AC220V[V] to the r, t terminal, supplementary power. XDA-S001~02 type does not have the supplementary power r, t terminal.

(Note) 3: The recovery resistances of XDA-S004~XDA-S010 are installed inside the driver as an internal type. The recovery resistance of the XDA-

S015 type or above is the separately installed type. Check the capacity and apply accordingly.


4-2


4.1.2 Speed servo gain adjustment

1) This sets the speed control gain mode.

P03-01

Speed Gain Mode

Unit

-

Setting range

1 ~ 5

Manufactured

When the servo drive set to speed control mode, the speed control gain mode is set. default

1


Speed control

1

2

3

4



Apply variable gain using gain 1 (P03-05, P03-06) and gain 2 (P03-07, P03-08) according to set speed (P02-20, P02-21) for the speed controller gain.

Apply variable gain using gain 1 (P03-05, P03-06) and gain 2 (P03-07, P03-08) according to set torque (P02-22, P02-23) for the speed controller gain.

5

Select gain 1 (P03-05, P03-06) or gain 2 (P03-07, P03-08) by the external contact point signal for the speed controller gain.

2) Set the SC loop gain 1 and 2 applied by the set value of P3-01.

P03-05

P03-07

SC Loop Gain1

SC Loop Gain2

Unit

Hz

Unit

Hz

Display range

0.0 ~ 1000.0

Display range

0.0 ~ 1000.0


( (Note) by capacity )


( (Note) by capacity

)

Speed/torque control


3) Set SC TC1 and 2 applied by the set value of P3-01.

P03-06

SC TC1

Unit ms

Display range

0.0 ~ 10000.0



)


P03-08

SC TC2

Unit ms

Display range

0.0 ~ 10000.0



)


4-3


Command speed

+

-

K

P

_

SC

×

( 1

+

1

T

I

_

SC

∗

S

)

Feedback speed

K

P

_

SC

=

SC Loop Gain

,

T

I

_

SC

=

SC TC

4) This sets the inertia ratio.

P02-19

Inertia Ratio

Unit

-

Display range

1.0~ 50.0


2.0

Load inertia

=

System inertia (Motor inertia

+

Load inertia)

Motor inertia

Speed/Torque/

Position control

5) When P3-01=”3”, the variable gain is applied based on the following gain adjustment speed 1 and gain adjustment speed 2.

P02-20

P02-21

Gain ADJ Speed1

Gain ADJ Speed2

Unit rpm

Unit rpm

Display range

100.0 ~ 5000.0

Display range

10.0 ~ 500.0


800.0


100.0

Speed/Torque/

Position control

Speed/Torque/

Position control

Command speed

Speed

P02-20

Actual speed

P02-21

Gain

SC TC P03-07

P03-06

SC loop gain

P03-08

P03-05

6) When P3-01=”4”, the variable gain is applied based on the following gain adjustment torque 1 and gain adjustment torque 2.

P02-22

Gain ADJ TRQ1

Unit

%

Display range

0.0 ~ 300.0


150.0

Speed/Torque/

Position control

P02-23

Gain ADJ TRQ1

Unit

%

Display range

0.0 ~ 300.0


50.0

Speed/Torque/

Position control

4-4


[Operation during conversion]

Speed

Command speed

Actual speed

Torque


0

P02-22

P02-23

-P02-23

-P02-22

SC loop gain

Gain

P03-07

P03-06

SC TC

P03-08

P03-05

7) When P3-01=”5”, the variable gain is applied based on the ON/OFF status of external control gain conversion contact point. At this time, the conversion time of the control gain is decided.

P02-24

Contact Gain TC

Unit ms

Display range

0.0 ~ 10000.0


100.0

Speed/Torque/

Position control

The longer the conversion time of the control gain, the smoother the conversion of control gain. But the application of control gain can take a long time.

4-5




(GcsIos)

OFF ON OFF

P03-07

P03-06

SC TC

Applied gain

P03-05 P03-08

SC loop gain

P02-24 = 100 [ms]

8) This sets the mixture rate of the PI-IP controller.

P03-02

PI-IP Control %

[Characteristics of individual controller] a) PI speed controller

Unit

%

Display range

0.0 ~ 100.0


100.0

Speed control

: It has excellent acceleration/deceleration and good responsiveness characteristics but can cause large overshoot. b) IP speed controller

: It has lower acceleration/deceleration and responsiveness characteristics compared to the PI speed controller, but it can suppress the overshoot to reduce the vibration.

You can adjust the controller set ratio with the desired performance by considering the responsiveness and overshoot.

♥P03-02 = 100 : Applied to PI speed controller

P03-02 = 0 : Applied to IP speed controller

4-6


4.2 Gain Adjustment Method when Using Position Servo

This explains the position servo using method and gain adjustment method. The following diagram shows the occurring sequence of the speed command during position control.

4-7


4.2.1 CN1 wiring diagram when using position servo

Power AC 200~230V

50/60Hz

+24V

+

-

NFB MC1

NF

(Note) 1

(Note) 2


(Note) 3

P

39

38

13

18

42

15

14

40

16

41

43

49

17

CN1

(Input)

+24V

ESTOP

SPD1/

GEAR1

SPD2/

GEAR2

PLSCLR

DIR

STOP

SVONEN

ALMRST

SPDLIM/

TLIM

PLSINH

CWLIM/

NTQLIM

CCWLIM/

PTQLIM

B t r

R

S

T

3.3K

3.3K

3.3K

3.3K

3.3K

3.3K

3.3K

3.3K

3.3K

3.3K

3.3K

3.3K

Servo Drive

XDA-S000

D/A

U

V

W

FG

CN2

CN3

3

CN1

(Output)

MONIT1

2

8

26

MONIT2

GND


+

-

U

V

W

F

G

*Digital Loader

*PC Loader(RS232C)


(RS485, RS232C)

S

M

PG

9

12

11

10

23

47

48

SVONOFF

INSPD/INPOS/

INTRQ

BRAKE

22

20

21

46

45

19

RDY

PCWOUT/

PTQOUT

SPDOUT/

TRQOUT

ALARM

NCWOUT/

NTQOUT

Not used

44

24

25

Not used

GND24

MPG (Manual Pulse

Generator) or

PLC (Position

Locating Card)

PPFIN

PFIN

PPRIN

PRIN

TRQIN

GND

(Note) 4

FG

28

34

36

LPF

50

A/D

7

32

PAO

/PAO

6

PBO

31

5

/PBO

PZO

30

8

26

/PZO

GND

♥

The above input and output contact points are shown when setting the position control mode contact point. (P07-01, P08-01=27).


(Note) 2 : For the XDA-S004~45 type, connect the single phase AC220V[V] to the r, t terminal, supplementary power.

XDA-S001~02 type does not have the supplementary power r, t terminal.


The recovery resistance of the XDA-S015 type or above is the separately installed type. Check the capacity and apply accordingly.


4-8


4.2.2 Position servo gain adjustment

[Feed forward TC (P05-11)]

Differentiation

1st filter

[Position command pulse TC

(P05-10)]

Position command

1st filter

Internal position command

+

-

Position error

[PC P Gain

(P05-05, P05-06)]

Position

[Feedforward (P05-04)]

100

[POS Gain mode

(P05-01)]

1) This sets the position control gain mode.

Display range

1 ~ 5

Manufactured

P05-01

POS Gain Mode

Unit

-

When the servo drive set to position control mode, the position control gain mode is set. default

1


+

+

Speed command

Position control

1 Use PC P gain 1 (P05-05).

2 Use PC P gain 2 (P05-06).

3

4


Apply variable gain using gain 1 (P05-05) and gain 2 (P05-06) according to set torque (P02-22, P02-23) for the position controller gain.

5

Select gain 1 (P05-05) or gain 2 (P05-06) by the external contact point signal for the position controller gain.

2) This sets the PC P gain applied by the set value of P05-01

P05-05

P05-06

PC P Gain1

PC P Gain2

Unit

Hz

Unit

Hz

Display range

0.0 ~ 500.0

Display range

0.0 ~ 500.0


( (Note) by capacity )


( (Note) by capacity )

Position control

Position control

4-9


Position command

+

-

K

P

_

PC

Position feedback

K

P

_

PC

=

PC P Gain

3) When P5-01=”3”, the variable gain is applied based on the following gain adjustment speed 1 and gain adjustment speed 2.

P02-20

Gain ADJ Speed1

Unit rpm

Display range

100.0 ~ 5000.0


800.0

Speed/Torque/

Position control

P02-21

Gain ADJ Speed2


Unit rpm

Display range

10.0 ~ 500.0


100.0

Speed/Torque/

Position control

Command speed

Speed

P02-20

Actual speed

P02-21

Gain

P05-06

P05-05

4) When P5-01=”4”, the variable gain is applied based on the following gain adjustment torque 1 and gain adjustment torque 2.

P02-22

P02-23

Gain ADJ TRQ1

Gain ADJ TRQ2

Unit

%

Unit

%

Display range

0.0 ~ 300.0

Display range

0.0 ~ 300.0


150.0


50.0

Speed/Torque/

Position control

Speed/Torque/

Position control

4-10



Speed

Command speed

Actual speed


Torque

0

P02-22

P02-23

-P02-23

-P02-22

Gain

P05-06

P05-05

5) When P5-01=”5”, the variable gain is applied based on the ON/OFF status of the external control gain conversion contact point. At this time, the conversion time of the control gain is decided.

P02-24

Contact Gain TC

Unit ms

Display range

0.0 ~ 10000.0


100.0

Speed/Torque/

Position control

The longer the conversion time of the control gain, the smoother the conversion of control gain. But the application of control gain can take a long time.



(GcsIos)

OFF ON OFF

P05-06

Applied gain

P05-05 P05-05

P02-24 = 100 [ms]

6) Feedforward ratio setting

P05-04

Feedforward

Unit

%

Display range

0.0 ~ 100.0


0.0

Position control

Enter the feedforward ratio for the position command speed in [%] unit. When this item increases it can reduce the position decision time but if set to high, it can cause an overshoot or vibration to the machine. If this value is “0”, the position controller becomes simple position loop control mode.

4-11


Refer to the Max_Value [Feedforward] according to the following R=[Speed loop gain]/[Position loop gain].

R=[Speed loop gain]/[Position loop gain] Max_Value[Feedforward]

5

7

70 or below

80 or below

10 85 or below

20 90 or below

P05-11

FF TC

Unit ms

Setting range

0.0 ~ 2000.0

Manufactured default 0.0

Position control

Enter the 1 st

filter TC in [ms] unit of the feedforward input of the position command speed. The entered position command is divided and processed through the 1 st

filter before being used as the feedforward input, the TC of this filter can be adjusted. In the applied field where the position command changes abruptly, set this value high and in applied field where the position command changes smoothly, set this value low. If you do not want to use this filter, input “0”.

[Recommended setting condition]

P05

−

11(Feedfor ward TC)

≤

1000

×

(Max_Value [Feedforwa rd]

−

[Feedforwa rd]) / 100 / [PC P Gain]

4-12


7) Position command pulse TC setting

P05-10

POS CMD TC

Unit ms

Display range

0.0 ~ 2000.0


0.0

Position control

Set the filter TC on the position command pulse input for smoothing operation in the position control mode. If you would like to execute smoothing operation without setting the position command filter TC, set the position decision mode setting of P05-03 to ON and it permits the acceleration/deceleration (P03-10, P03-11) and S mode operation (P03-12) set in user menu P03 of speed command. The smoothing operation is advantageous when reaching position decision in position control mode.

8) This sets the PI-P mode pulse error.

P05-07

PI-P Pulse ERR

Unit pulse

Display range

0 ~ 99999


0

Position control

If the error between command pulse and actual movement pulse exceeds the set value of P05-07, it switches to P control mode to suppress overshoot.

Command speed

Speed

Actual speed

Time [sec]

Error pulse

PI control P control

(P5-07)

PI control

4-13


4.3 Torque Servo Use

This explains the torque servo using method and gain adjustment method. The following diagram shows the occurring sequence of the current command during torque control.

4-14

4.3.1 CN1 wiring diagram when using torque servo


Power AC 200~230V

50/60Hz

+24V

+

-

NFB MC1

NF

(Note) 1

(Note) 2


(Note) 3

P

14

13

39

42

38

43

18

16

41

49

17

15

40

CN1

(Input)

+24V

ESTOP

TRQ1

TRQ2

SPD1/

GEAR1

SPD2/

GEAR2

Not used

SVONEN

ALMRST

SPDLIM/

TLIM

DIR

CWLIM/

NTQLIM

CCWLIM/

PTQLIM

B t r

R

S

T

3.3K

3.3K

3.3K

3.3K

3.3K

3.3K

3.3K

3.3K

3.3K

3.3K

3.3K

3.3K

Servo Drive

XDA-S

SPDIN

GND

TRQIN

GND

27

1

33

LPF

28

34

36

LPF

A/D

(Note) 4

FG

50

U

V

W

FG

CN2

CN3

D/A

3

CN1

(Output)

MONIT1

2

8

26

MONIT2

GND

23

47

48

SVONOFF

INSPD/INPOS/

INTRQ

BRAKE

22

RDY

44

24

25

19

21

46

20

45

ZTRQ

SPDOUT/

TRQOUT

ALARM

PCWOUT/

PTQOUT

NCWOUT/

NTQOUT

Not used

GND24

7

6

PAO

32

/PAO

PBO

31

/PBO

5

PZO

30

8

26

/PZO

GND


+

-

U

V

W

F

G

*Digital Loader

*PC Loader(RS232C)


(RS485, RS232C)

♥The above input and output contact points are shown when setting the torque control mode contact point. (P07-01,P08-01=25).


(Note) 2 : For the XDA-S004~45 type, connect the single phase AC220V[V] to the r, t terminal, supplementary power.

XDA-S001~02 type does not have the supplementary power r, t terminal.


The recovery resistance of the XDA-S015 type or above is the separately installed type. Check the capacity and apply accordingly.


S

M

PG

4-15


4.3.2 Gain adjustment of torque servo

P06-01* Analog TRQ TC

Unit ms

Display range

0.0 ~ 2000.0


0.0

Torque control

When the higher controller gives the torque command to the servo drive in analog voltage, it sets the low bandwidth passing filter TC of the analog torque command. When the analog torque command filter TC is set, it can suppress the noise element of the set filter TC or higher. When the analog torque command filter is used through the analog voltage, it can reduce the effect of the noise. But if set too high, it smoothes the analog command to somewhat reduce the responsiveness.

Torque command

Input terminal voltage

(Analog torque command)

Torque command with filter TC

Time [sec]

Speed

Time [sec]

♥ For the speed limit of torque servo, 4 speed limit values are applied according to the contact point of SPD1 and SPD2 when the

SPDLIM contact point is ON and the speed limit of P02-05 and P02-06P are applied when the SPDLIM contact point is OFF.

4-16


4.4 Auto Tuning Using Method

For the auto tuning applied to XDA-S000 series, the servo drive estimates the inertia of the load attached to the servo motor during operation and has the function of adjusting the speed control gain and position control gain.

4.4.1 System response setting

The system response is set (P02-18) manually before using auto tuning. The following P05-05, P05-06, P03-05, P03-06, P03-07,

P03-08 and P02-16 automatically changes and when the auto tuning function is set to “ON”, the tuning operation is executed with the target of manually set value.

P02-18

(System response setting)

P05-05


P05-06


P03-05


P03-06

(SC TC 1)

P03-07


P03-08

(SC TC 2)

P02-16

(Command torque filter

TC)

1 2.0 5.0 2.0 200.0 5.0 120.0 4.5

3 10.0 15.0 10.0 80.0 15.0 60.0 3.0

4 15.0 20.0 15.0 60.0 20.0 45.0 2.5

5 20.0 25.0 20.0 45.0 25.0 40.0 2.0

6 25.0 30.0 25.0 40.0 30.0 30.0 1.5

7 30.0 35.0 30.0 30.0 35.0 25.0 1.3

8 35.0 45.0 35.0 25.0 45.0 18.0 1.2

9 45.0 55.0 45.0 18.0 55.0 17.0 0.9

10 55.0 70.0 55.0 17.0 70.0 13.0 0.8

11 70.0 85.0 70.0 13.0 85.0 11.0 0.6

◆ If you set the system response to high, it increases the servo system gain to increase the response. But if the set value is too high, it can cause noise and vibration in the motor. In this case, appropriately lower the set value.

4-17


4.4.2 Auto tuning setting sequence

START

Test operation with basic setting

No

Does load inertia change ?

Yes

Turn ON on-line tuning mode

(P02-17)

Repeated acceleration/deceleration operation (*) (500rmp or above)

Yes

Operation

OK ?

No

Manually adjust system response

(P02-18)

Yes

Operation

OK ?

No

Turn OFF auto tuning mode

Manually adjust load inertia (P02-19)

Save tuning result

(P02-19)

END

♥ Auto tuning is set by system response setting (P02-18), manual part, by position loop gain, speed control loop gain, SC TC and torque command filter and the system inertia ratio (P02-19) is set by the auto tuning mode (P02-17), auto part.

4-18


4.4.3 Precaution during auto tuning

1) Operate at 500[rpm] or higher speed.

2) Manually set the acceleration/deceleration time setting of speed shortly [ms]. If the acceleration/deceleration time is set too long, the speed deviation during the algorithm processing time is too small to make estimation.

3) Avoid using auto tuning when operating weak belt with lower mechanical strength.

4) Avoid using auto tuning for system with load inertia abruptly changing.

5) When the P02-18 (System response setting) is too low, increase the value.

6) It does not apply when using the torque control mode.

4-19


4.5 Key Points of Gain Adjustment

The motor needs to operate according to the command when the drive makes a command without any time delay. For this operation, please not the following key points.

1) Key points of speed control mode

- The speed control loop gain gradually increases the motor (machine) speed until it makes a weird noise or vibration. Also because the speed control loop gain and inertia ratio are proportional, when you reduce the inertia ratio or speed control loop gain in case of weird noise or vibration, the noise and vibration from the motor (machine) will decrease.

- Like the speed control loop gain, the inertia ratio gradually increases the motor (machine) speed until it makes a weird noise or vibration. Also because the speed control loop gain and inertia ratio are proportional, when you reduce the inertia ratio or speed control loop gain in case of weird noise or vibration, the noise and vibration from the motor (machine) will decrease.

- The SC TC gradually reduces the speed to reduce speed ripple and over/undershoot in most applied cases. But if the SC TC value is set too low, the motor (machine) can make a weird noise or vibration. Additionally for the load with high inertia ratio (8 times or more), set the SC TC high and reduce the speed control loop gain.

2) Key points when mixing gain 1 and gain 2 in speed control mode

- Gain switching method by contact point

: When the noise is generated when the motor stops, select the contact point so that high gain can be applied and after the motor stops, select the contact point so that low gain can be applied for use. In this case, when you use P03-22 (Stop speed vibration suppress), it shows similar effect.

- Gain switching method by speed

: The objective of the gain switching method by contact point is to set the low gain in the motor stopping range. But the gain switching method by speed is to request for high gain and is used for machine tool requiring high precision processing requiring low gain in high speed.

- Gain switching method by torque

: When the servo motor operates in high torque and the gain is set high, it can cause vibration. Also when the servo motor is operating in low torque, it can cause speed ripple and poor control performance due to low gain. In this case, by using the gain switching method of torque, you can realize stable operation in all ranges of operation and excellent control performance.

3) Key points of position control mode

- The position control loop gain gradually increases the speed when the motor (machine) reaches a point where it makes weird noise, vibration or target position to the value where undershoot does not occur. Also increase the speed control loop gain and inertia ratio to the value where the motor (machine) does not make weird noise.

- When you reduce the SC TC value, the response improves. But if set too low, the motor (machine) can generate vibration and if set to high, the pulse error may be regress and maintain as is.

4-20


4) Key points when mixing gain 1 and gain 2 in position control mode

- Gain switching method by contact point

: When the motor stopping noise is generated, select the contact point so that high gain can be applied for general operation and select the contact point so that low gain can be applied after the motor stops.

- Gain switching method by speed

: The objective of the gain switching method by contact point is to set the low gain in the motor stopping range. But the gain switching method by speed is to request for high gain and is used for machine tool requiring high precision processing requiring low gain in high speed.

- Gain switching method by torque

: When the servo motor operates in high torque and the gain is set high, it can cause vibration. Also when the servo motor is operating in low torque, it can cause speed ripple and poor control performance due to low gain. In this case, by using the gain switching method of torque, you can realize stable operation in all ranges of operation and excellent control performance.

4-21


4.6 Precaution when Using Absolute Encoder

In the higher device, when detecting the absolute position of the machine even when the power of the servo drive is turned off, you must use an absolute value type servo motor and drive. If you connect the power when using the absolute value type servo system, you can create a machine system that can directly enable auto operation with additional position detection operation. And the difference between the absolute value type drive and standard type drive is whether there is a back-up battery.

4.6.1 Battery handling

The battery supplies the back-up power so that the drive can store the position information of the “Absolute encoder” even when the power is turned off.

1) Recommended battery specification

When connecting the battery to the higher device When connecting the battery to the servo drive

Lithium battery Tekcell SB-AA0 type

3.6V 2400mAh

1. Connector attached type

2. Main unit: Lithium battery Tekcell SB-AA0t type 3.6V 2400mAh

(Connect to CN5 of servo drive)

2) Battery connection

<a>: Open the cover and insert the battery unit in the arrow direction.

<b>: Connect the connector to CN5.

4-22


3) Battery replacement

The absolute value encoder battery alarm is generated when the battery voltage is 2.7V or below, and the alarm is generated by receiving the data from the absolute value encoder when the power is connected to the servo drive. Therefore, when the servo drive control power is ON and the voltage is reduced, the alarm will not be generated.

♥ Battery replacement method

- Replace the battery when the control power of the servo drive is ON. If you replace the battery when the servo drive control power is OFF, the absolute value encoder must be initialized.

- Turn the control power of the servo drive OFF after replacing the battery.

- Check the condition after turning the control power of the servo drive ON.

！

• Wire the battery to the one of the servo drive side or higher device side. It is dangerous when you connect to both sides because it can create a short circuit.

4.6.2 Absolute value encoder initialization

1) When the absolute value encoder requires initialization

- During first operation

- When the encoder cable is separate from the servo drive

- After replacing the battery

- When the absolute encoder related alarm is generated

2) Absolute value encoder initialization (reset) method

- 17bit serial absolute value encoder: When it sets the origin by itself, set the parameter (P01-20) to “ON” and it will change to “ON

=>OFF” to initialize the current position. (Multi-Turn data reset). When the absolute value related alarm is generated, execute alarm reset by using alarm reset contact point (ALMRST).

- When it sets the origin by itself, set the parameter (P01-20) to “ON” and it will change to “ON =>OFF” to initialize the current position. Or connect the power to encoder terminal ERST (CN2-20) and Vcc terminal (CN2-19) for more than 4 seconds.

4-23


Chapter 5 explains the using method of the loader for servo operation to set the servo parameter and display the status.

5.1 Basic Connection of Loader............................................................................................5-1

5.2 Using Method of Internal Mounter Loader.....................................................................5-2

5.3 Using Method of Digital Loader ......................................................................................5-9

5-0


5.1 Basics of Loader

You must basically check the motor parameter (P01--) from the control plan before connecting the power and turning on the servo.

This is the information of the motor connected to the servo and always accurate values must be set to normally operate the servo system. Then you must monitor the group indicating the motor status (StE--) to check whether various commands and limits are properly set. And if this is your first time operating the unit, you must verify the stability through Auto Tuning or Test Operation of Jog and

Auto Jog. Auto tuning operation can be done online and you do not need to execute this when the gain of stable control system is ensured offline.

DISPLAY part

CN5 (Battery connection)

LED1_Green

(Charging)

LED1_Red

(Alarm condition)

UP Key

(Mode change, parameter value increase)

ENTER Key

(Parameter value change, confirmation)

RIGHT Key

(Move to right for parameter change and menu)

DOWN Key

(Mode change, parameter value decrease)

LEFT Key

(Move to left for parameter change and menu)

[Overview diagram of internal mounter loader]

KEY JOG ON

XDA-S

ALARM RESET

EMERGENCY

STOP

Same as mounter loader function

[Overview diagram of digital loader]

5-1


5.2 Using Method of Internal Mounter Loader

5.2.1 Flow of display

The internal mounter loader display part of the servo drive is composed of 7 segment LED and 6 digits, and you can set the parameter, display the status, check the sequence and check the alarm record. The basic movement is operates in X-Y surface coordinate method of vertical axis (UP and DOWN key) and horizontal axis (RIGHT and LEFT key).

LEFT KEY

UP KEY RIGHT KEY

Status Display

Motor and operating device parameter

General control parameter

Speed control parameter

Internal speed/torque setting

Position control parameter

Torque control parameter

Input contact point setting

Output contact point setting

Monitoring setting

JOG operation

Alarm

DOWN KEY

♥ When the power is initially connected, the displayed screen differs depending on the coordinate (StE-01) parameter. For example, if StE -01 = 1203, 12 refers to the StE menu and 03 to the StE -03.

5-2


[1 st

and 2 nd

digit value]

Name of higher menu

P01 mode

P02 mode

P03 mode

P04 mode

P05 mode

P06 mode

P07 mode

P08 mode

P09 mode

JOG mode

ALS mode

StE mode

1 st

and 2 nd

digit

01 02 03 04 05 06 07 08 09 10 11 12 value

Refer to each parameter item for the menu number of 3 rd

and 4 th

digit.

5.2.2 Parameter change

The difference in the editing process of the internal mounter load and digital loader is whether one more operation is needed for the

“ENTER” key to view the actual value of the menu item.

Internal mounter loader operates in the X-Y surface coordinate method with vertical (UP and DOWN key) and horizontal axis (RIGHT and LEFT key)

1) Parameter change

UP : Positive direction mode change, increase in blinking value

DOWN : Negative direction mode change, decrease in blinking value

LEFT : Move blinking value to left

RIGHT : Move blinking value to right

ENTER : Display parameter value, start and end of parameter change

※ Enter motor ID (00

Æ 11) ※ Enter digital input speed 1 (-200 Æ +200)

ENTER ENTER ENTER ENTER

UP

LEFT

UP

LEFT, LEFT, LEFT

UP

ENTER

"+" is blinking

ENTER

◆ When changing the parameter “-“ sign indicates the blinking value but “+” sign does not indicate anything.

5-3


5.2.3 Alarm related processing part

1) Currently generated alarm display menu

ENTER : Indicated generated alarm value

ENTER

In case of over-current alarm

In case of normal condition after removing alarm cause and resetting

Currently generated alarm display menu shows the currently generated alarms. Even though it is free to move to the next menu, the alarm cannot be reset and the motor cannot be operated.

2) Alarm reset menu

UP : ON/OFF change

DOWN : ON/OFF change

LEFT : Move menu

RIGHT : Move menu

ENTER : Start and end of parameter change (Current alarm cancel function operation)

ENTER

ENTER

UP

ENTER

Return to

“OFF” after resetting

As the function to reset the alarm generated in the current system, the alarm reset menu is the same function as external input reset.

5-4


3) Alarm record display menu

Alarm record display menu saves the latest 10 alarms in each menu in the sequence of ALS-03 ~ ALS-12. The following diagram is the case assuming that the over-current (01) alarm is generated after the encoder mis-wiring (05) alarm is generated during servo operation.

Emergency stop alarm (emc_stop) is not saved in the alarm record and each alarm record menu value is “00” for normal operation.

Alarm record 1

ENTER

Over-current alarm

RIGHT

Alarm record 2

ENTER

Encoder mis-wiring

RIGHT

Alarm record 1

ENTER

It indicates normal condition

5-5


5.2.4 Jog operation

1) Key jog mode setting (JOG-01)

UP : Positive direction mode change, increase blinking value

DOWN : Negative direction mode change, decrease in blinking value

LEFT : Command reverse direction revolution, move blink to left when entering key jog speed (JOG-02)

RIGHT : Command positive direction revolution, move blink to left when entering key jog speed (JOG-02)

ENTER : Indicates parameter value, start and end of parameter change

Key JOG speed setting Key JOG operation

ENTER, ENTER ENTER, ENTER

LEFT, LEFT

UP

UP

ENTER

LEFT

ENTER

Key JOG operation ON

LEFT

RIGHT

Key JOG speed reverse direction operation

Key JOG speed positive operation

ENTER

Key JOG operation OFF

5-6


2) Auto jog mode setting

JOG speed 1 setting

JOG time 1 setting

ENTER, ENTER

JOG speed 2 setting

RIGHT

JOG time 2 setting

JOG 3 ~ 7 setting

JOG speed 8 setting

JOG time 8 setting

Auto JOG mode setting

ENTER, ENTER

UP

LEFT, LEFT, UP

ENTER

Revolution speed-time

Execute auto JOG mode

Auto jog mode in XDA-S supports 8 repeated pattern operations, and the 1 st

auto jog mode that sets the revolution speed [rpm] and revolution time [sec] and 2 nd

auto jog mode that sets the revolution time [rpm] and revolutions [rev] are supported.

JOG-03

Set value


0 Do not use auto jog mode

1

2

Use auto jog mode for revolution speed – revolution time

Use auto jog mode for revolution speed – revolutions

5-7


5.2.5 I/O contact point function parameter setting

1) Input contact point function setting (P07 mode)

ENTER

ENTER

CN1_18 pin is set to

“01(SVONEN)” input function

UP, UP

2) Output contact point function setting (P08 mode)

ENTER

CN1_18 pin is changed to

“03(DIR)” input function

ENTER

ENTER

UP, LEFT, UP

Set to SETUP 5

(Speed/torque multi control mode output fuction)

ENTER


“02(TYPEOUT)” input function

RIGHT

ENTER


“03(BRAKE)” input function

5-8


5.3 Using Method of Digital Loader

5.3.1 Flow of display

The display part of the servo drive digital loader is composed of the LCD and can set the parameter, display status, check sequence and check alarm record. The basic movement is operates in X-Y surface coordinate method of vertical axis (UP and DOWN key) and horizontal axis (RIGHT and LEFT key).

UP KEY

RIGHT KEY

STATUS

WINDOW

MOTOR

PARAMETER

Display Select

StE-01 1203

Motor ID

P01-01 14

CONTROL MODE

Control Mode

P02-01 1

SPEED MODE

DIGITAL MODE

Speed Gain Mode

P03-01 1

Speed1

P04-01 10.0

POSITION MODE

POS Gain Mode

P05-01 1

TORQUE MODE

Analog TRQ TC

P06-01 0.0

INPUT MODE

OUTPUT MODE

CN1_18

P07-01 1

CN1_23

P08-01 1

MONITOR MODE

Monitor1

P09-01 0

JOG MODE

Key Jog Mode

JOG-01 OFF

ALARM WINDOW

Current Alarm

ALS-01 0

DOWN KEY

Command Speed

StE-02 3000

Inertia

P01-02

Mode Change Time

P02-02 500.0

PI-IP Control %

P03-02 100.0

Speed2

P04-02 100.0

POS Pulse Type

P05-02 1

TRQ ACCEL Time

P06-02 0.0

CN1_43

P07-02 9

CN1_48

P08-02 7

Monitor ABS1

P09-02 OFF

Key Jog Speed

JOG-02 100.0

Alarm Reset

ALS-02 OFF

LEFT KEY

PROG Version

StE-18 1.00

Absolute Origin

P01-20 OFF

Parameter INIT

P02-29 OFF

Feedforward TRQ

P03-24 0

Torque7

P04-14 120.0

Backlash Pulse

P05-22 0

Manual Offset

P06-09 0.0

CN1_38

P07-12 19

CN1_44

P08-10 18

Monitor Offset2

P09-08 0.0

Jog Time8/REV8

JOG-19 1.0

History Reset

ALS-13 OFF

5-9


5.3.2 Parameter change

Even though the changeable range differs by the menu, the operating method is the same, and the case of P01-01[Motor ID] is used as a representative example.

- JOG Key : Key Jog ON

- RESET Key : Alarm reset

- ESTOP Key : Emergency stop

- UP Key : Mode change (increase), increase parameter value

- DOWN Key : Mode change (decrease), decrease parameter value

- RIGHT Key : Move right when changing menu and parameter

- LEFT Key : Move left when changing menu and parameter

- ENTER Key : Change parameter, confirm parameter

5-10

Chapter 6 Troubleshooting and Check

Chapter 6 explains the method of action and check for the issues that can occur during servo operation.

6.1 Troubleshooting......................................................................................................6-1

6.2 Check ......................................................................................................................6-4

6-0


6.1 Troubleshooting

6.1.1 Servo motor

Symptom Cause Checking method Method of action

Parameter mis-setting

Overload

Check the parameter of motor, encoder, encoder type, control mode etc.

Check the revolution condition of the machine.

Reset parameter.

(Refer to Chapter 3)

Re-adjust the machine device.

The motor does not start.

Motor revolution is unstable

Motor is overheated.

Weird sound is generated.

Motor defect

Loose screw

Measure the motor lead terminal with a tester.

Check the connection part with drive.

For normal voltage, replace the motor.

Tighten loose parts.

External mis-wiring

Cable disconnection

Encoder defect

Poor connection

Check motor and encoder wiring.

Check the output wave shape.

Check the connection of the motor lead terminal.

Rework on the wiring.

Replace the cable.

Replace the encoder.

(Request for repair)

Repair the wrong parts.

Low input voltage Check the drive input voltage. Change the power.

Overload

Check the machine condition.

Remove any particle on the revolution part and supply lubricant

(or grease)

High ambient temperature

Contamination on motor surface

Overload

Check the surrounding temperature of the motor installation part.

(40℃ or below)

Check whether there are any alien particles on the motor surface.

Check the load rate of the drive. Check the acceleration/deceleration frequency.

Low magnetic power of magnet

Check the comparator voltage and voltage wave shape.

Coupling defect

Bearing problem

Check the screw condition of the coupling and copper core of the connection part etc.

Check the bearing vibration and abnormal noise.

Parameter missetting(Motor/encoder

ID, inertia ratio, gain,

TC)

Check the control parameter.

Change heating structure.

Clean motor surface.

Reduce load. Increase acceleration/deceleration time.

Replace the motor.

Readjust the coupling.

Contact our company.

Refer to parameter setting method in chapter 3.

6-1


6.1.2 Servo drive

When an alarm is generated the problem signal output contact point (ALARM) goes OFF and the motor is stopped by dynamic brake.

Display

nor

Ano-00

EMER STOP

Ano-01

OVER CURNT

Content

Normal condition

Emergency stop

Over-current

Cause Check and actions

- -

Turn external ESTOP

contact point input OFF.

Servo drive output terminal

(U,V,W) short circuit, output over-current

Check external DC 24V power.

Check ESTOP contact point ON status

Check output terminal wiring, reoperate after resetting, replace drive when O.C continues

Ano-02

OVER VOLT

Ano-03

OVER LOAD

Ano-04

POWER FAIL

Ano-05

LINE FAIL

AC link overvoltage

Overload above)

Regenerated resistance burnt, Overload GD

2

Mechanical overload

Motor mis-wiring

Replace brake resistance, increase acceleration/deceleration time, replace servo drive

Check load condition, check motor and encoder wiring

Main power issue

Mis-wiring of motor and encoder

SERVO is ON input condition

Motor and encoder related set value error, motor and

Check motor, encoder, wiring and set encoder mis-wiring, value, remove overload encoderdefect, mechanical overload

Ano-06

OVER SPEED

Ano-07

FOLLOW ERR

Ano-08

Output NC

Ano-09

PPR ERROR

Ano-10

ABS DATA

Ano-11

ABS BATT

Over-speed

Abrupt

Over-error of position tracking acceleration/deceleration, gain

Adjust position gain, increase menu set value error,

(P05-09) set value, adjust command command pulse over- pulse frequency, check motor and frequency encoder wiring.

(300kpps or above), miswring, mechanical overload

Output(U,V,W) missing value error, over gravity load

Output (U,V,W) missing

Encoder pulse rate setting

Encoder ID setting error error

Check parameter (P03-15,P03-16)

Remove over gravity load

Check motor wiring, replace servo drive

Accurately set the encoder ID (P01-

12)

Absolute value encoder data transmission error transmission error encoder data after resetting.

Battery Alarm

Battery voltage is 2.8V or

Replace battery(3.6V) below

6-2


Display

Ano-12

ABS MDER

Content Cause Check and actions

ABS encoder multi turn data ABS encoder multi turn data Re-transmit the absolute value transmission error transmission error encoder data after resetting.

Ano-13

Output EC

Output U,V,W Output U,V,W mis-wiring

Mis-wiring (Error Connection)

Check motor wiring, replace servo drive

10000

1000

100

10

Err - 01

Err - 02

Trial of entry of parameter that

Set value input servo is ON, error change in parameter locking condition

OFF, cancel parameter lock setting menu (P01-19) .

Set value error Parameter setting error Input value within set range.

[Servo drive overload characteristics curve]

Rated current

(%)

100

Overload operation time

Min. Max.

∞

Set value

120

∞

150 300 1500 760

200 60 150 107

250 20 40 30

300 6 15 7

100 150 200 250

Motor rated current (%)

300

6-3


6.2 Check

！

Caution

• When checking the unit, always turn off the power and wait for more than 10 minutes to pass before checking the unit because charged voltage can remain in the internal smoothing condenser to cause an accident.

- Check if there are any pieces of wire, dust, particles accumulated inside and clean appropriately.

- Check whether the screw of the terminal is loose and check whether they are tightened.

- Check if there are problems of parts (discoloration, damage, disconnection from heating)

For the connection test of the control circuit, use the high resistance range on the tester, and do not use a megger or buzzer.

- Check whether the cooling f an is operating normally.

- Check if there are any abnormal sounds (motor bearing, brake part).

- Check whether there are any damages or cracks to the cables (Especially detector cable). Especially during operation, execute periodical checks according to the using condition during operation.

- Check and correct any misalignment of center of load connecting axis.

6-4


Chapter 7 shows the example of connection with representative upper controller.

7.1 Example of connection with upper controller........................................................7-1

7- 0


7.1 Example of connection with upper controller

Connect with LS Industrial System GM1/2/3, K1000S position decision unit G3F-POPA

Î This is an example of position control mode servo system operation.

Servo motor

R

S

T

XGT SERVO

XDA-S

Power AC

200 ~ 230V

50/60 Hz

U

V

W

FG

M r t

PG

+

+24V

-

+24V

GND24

G3F-POPA

CN2

+24V

GND24V

1,4,5,21

10

19

E-STOP

22

DOG

ZL

ZCOM

25

15

CN1

5

30

SVONEN

CCWLIM/

PTQLIM

CWLIM/

NTQLIM

ESTOP

49

18

13

38

17

CN1

+24V

GND24

PZO

/PZO

ALARM

Manual

PULSE

DC 5~12V

9

8

16

7

MPGA

MPGA-C

MPGB

MPGB-C

1Ry

24 COM

FP

4, 5

2

24, 25

1/2W,1.5K

11

10

9

1/2W,1.5K

12

GND24

PPFIN

PFIN

RP

11

PPRIN

PRIN

CLEAR

5

23

14

PLSCLR

(Note) After connecting the power, it takes about 1-2 seconds until the alarm signal leads to normal operation. Consider this when designing the power connection sequence. Also the alarm signal operates alarm detection relay 1Ry to turn on the main circuit power of servo drive.

It only has the signals related to LS Industrial Systems G3F-POPA and XDA-S Series

(Note) The above connection is only shown in case of P07-01=27 (Position control mode)

5- 1


Connection with LS Industrial Systems GM4/6, K200S/300S position decision unit G4F-PP1O (Open Collector).


Servo motor

Power AC

200 ~ 230V

50/60 Hz

R

S

T

XGT SERVO

XDA-S

U

V

W

FG

M r t

PG

+

+24V

-

+24V

GND24

G4F-PP1O

CN2

33

DRVIN

GND24V

10,32,34

8

EMG

28

DOG

HOME +5V

HOME COM

37

38

OV+

OV-

STOP

VTP

25

26

27

29

1Ry

CN1

5

30

PZO

/PZO

ALARM

SVONEN

CCWLIM/

PTQLIM

CWLIM/

NTQLIM

ESTOP

49

18

13

38

17

CN1

+24V

GND24

Manual

PULSE

DC 5V

5V

A

B

0V

1

2

3

4

MPG A+

MPG A-

MPG B+

MPG B-

FP+

FP-

RP+

RP-

21

22

23

24

24, 25

1/2W,1.5K

11

10

9

1/2W,1.5K

12

GND24

PPFIN

PFIN

PPRIN

PRIN


It only has the signals related to LS Industrial Systems G4F-PP1O and XDA-S Series

(Note) The above connection is only shown in case of P07-01=27 (Position control mode).

7- 2


Connection with LS Industrial Systems GM4/6, K200S/300S position decision unit G4F-PP1D (Line Driver).


Servo motor

Power AC

200 ~ 230V

50/60 Hz r t

R

S

T

XGT SERVO

XDA-S

U

V

W

FG

M

+24V

GND24

PG

Manual

PULSE

DC 5V

A+

A-

B+

B-

1

2

3

4

MPG A+

MPG A-

MPG B+

MPG B-

+

+24V -

G4F-PP1D

33

DRVIN

GND24V

10,32,34

8

EMG

28

DOG

HOME +5V

HOME COM

37

38

OV+

OV-

STOP

VTP

25

26

27

29

FP+

FP-

RP+

RP-

21

22

23

24

1Ry

CN1

5

30

PZO

/PZO

ALARM

24, 25

11

10

9

12

GND24

PPFIN

PFIN

PPRIN

PRIN

CN2

SVONEN

CCWLIM/

PTQLIM

CWLIM/

NTQLIM

ESTOP

49

18

13

38

17

CN1

+24V

GND24


It only has the signals related to LS Industrial Systems G4F-PP1D and XDA-S Series


5- 3


Connection with LS Industrial Systems XGT series position decision unit XGF-PO1/2/3A (Open Collector).


AC

200 ~ 230V

U

W t t

서보 모터

XGF-PO1/2/3A

CN2

PTQLIM

CWLIM/

NTQLIM

ESTOP

Manual

DC 5V

DC 5V

5V

A

B

A

0V

B

1

2

3

4

MPG A+

MPG A -

MPG B+

MPG B -

1/2W,1.5K

24, 25

11

10

9

1/2W,1.5K

12

DC24V


It only has the signals related to XGF-PO1/2/3A and XDA-S Series


(Note) It can be changed according to APM settings.

7- 4


Connection with Electric position decision unit XGF-PD1/2/3A (Line Driver)

Î This is an example of speed control mode servo system operation.

SERVO Motor

Power AC

200 ~ 230V

50/60 Hz

R

R

S t t r

+24V

Manual

DC 5V

A -

B-

2 2

3 3

MPG A

XGF-PD1/2/3A

-

MPG B+

MPG B -

HOME +5V

HOME COM

OV+

OV-

STOP

VTP

DRVIN

EMG

DOG

33

10,32,34

8 8

28

37

38

25

26

27

29

FP+

22

23

RP-

1Ry

CN1

5

30

PRIN

PRIN

PTQLIM

CWLIM/

CN2

CN1

+24V

GND24


It only has the signals related to XGF-PD1/2/3A and XDA-S Series

(Note) The above connection is only shown in case of P07-01=26 (Speed control mode).

5- 5


Connection with K120S unit


SERVO MOTOR

Power AC

200~230V

MASTER-K120S

DC24V

+24V

GND24

(note2)

Common input

COM0

Lower limite

Upper limit

P0

P1

Input

E stop

HOME

P4

P5

DOG

P terminal

External Power

Input Terminal

(note1)

5

30

1/2W,1.5K

Pulse

P40

COM0

Common Output

P42

Direction

Common Output

COM2

1/2W,1.5K

(note 1) Rating voltage of HOME input is DC24V. In case of Line driver output, it can not connect with contact. Use the converting device for changing output method from Line driver to Open collector or Use HOME sensor (Homing or HOME by DOG signal).

(note 2) If signal (HOME, DOG, Upper/Lower limit) is not used, it can be used for normal input. E stop input can be used by command.

(note3) The above connection is only shown in case of P07-01=27 (Postion control mode).

(note4) Please change Motor driver’s input mode to 1 phase input mode because MASTER-K120S only outputs pulse + direction mode.

(note5) The above connection is only shown in case of using X-axis of built-in positioning.

7- 6


Connection with XGB standard unit


SERVO MOTOR

XBM-DN**S

DC24V

Power AC

200~230V

+24V

GND24

(note2)

Common input

COM

Lower Limit

Upper Limit

P0

P1 input

E stop

HOME

P5

P4

DOG

External Power

DC12/24V

(note1)

5

30

1/2W,1.5K

Pulse

P20

P22

Direction

Common output

COM

1/2W,1.5K




(note4) Please change Motor driver’s input mode to 1 phase input mode because XGB standard type only outputs pulse + direction mode.


5- 7


Connection with XGB standard unit


SERVO MOTOR

(note2)

XBC-DN**H

Common input

Lower linit

Upper limit

E Stop

COM0

P0008

P0009

Input

HOME

DOG

P000D

P000C

P terminal

External DC24V

DC24V

Power AC

200~230V

+24V

GND24

(note1)

5

30

1/2W,1.5K

PLS/CW

P0020

1/2W,1.5K

DIR/CCW

Common output

P0022

COM0




(note4) Please change Motor driver’s input mode to applicable mode as XGC hig… type can output pulse + direction mode and CW/CCW output mode.


7- 8

Chapter 8 External Dimension

Chapter 8 displays the external dimension of the servo drive.

8.1 External Dimensions of Servo Drive .....................................................................8-1

8-0

8.1 External Dimensions of Servo Drive

[External diagram A]


[External diagram B]

CN 1

CN3 CN2

[External diagram C ]

8-1


Model A B C D E F G

Weight

[kg]

Cooling method

XDA-S001 150 3.0 160 140 60 6.0 - 1.0

XDA-S002 150 3.0 160 140 60 6.0 - 1.0

Self

Remarks

Dimension A

Dimension B

XDA-S015 239 5.5 251 225 132 5.2 119 4.3

XDA-S020 239 5.5 251 225 132 5.2 119 4.4

Strong cooling

(FAN)

XDA-S030 239 5.5 251 225 132 5.2 119 4.5

XDA-S045 239 5.5 251 225 132 5.2 119 4.6

Dimension C

8-2


Appendix 1 explains the application cases that can be utilized when applying the servo system.

Appendix 1. 1 Position Control Application ........................................................ App 1.-1

Appendix 1. 2 Examples of Other Applications................................................... App 1-3

App 1-0


Appendix1. 1 Position Control Application

[Electronic gear ratio setting]

Input command pulse

Servo Drive

NUM

DEN

Electronic gear

Servo Motor

S M

Electronic gear ratio(

NUM

)

DEN

=

Encoder pulse rate

×

4

×

Decleracio n ratio(

Command unit b

) a

♥ This shows the case for every motor a revolution, the load axis revolves b times.

♥ The command unit shows the minimum command unit of the position data to move the load.

♥ Encoder pulse rate

Encoder type Encoder pulse rate (ppr)

Incremental encoder 2000 ~ 6000

Absolute 11bit 2048

Serial 17bit 32768

※ Setting method of electronic gear

① Check the mechanical specification including deceleration ratio, ball screw pitch etc.

Deceleration ratio

Pitch (P)

② It decides the minimum unit (command unit) of the position data moving the load by each pulse.

: When moving the table by 0.001[mm] for 1[Pulse], the command unit is 0.001[mm].

③ Calculate the load movement per 1 revolution of load axis in command unit.

: Command unit = 0.001[mm], ball screw pitch = 5[mm],

Load movement per 1 revolution of load axis [Command unit] = 5/0.001 = 5000[Command unit]

④ For the case of deceleration ratio (b/a), calculate the electronic gear ratio.

Electronic gear ratio(

NUM

)

DEN

=

Encoder pulse rate

×

4

×

Decleracio n ratio(

Command unit b

) a

⑤ The calculation result of “electronic gear ratio numerator/electronic gear ratio denominator” must be between 0.05 and 20.

⑥ Set the applicable parameter.

[ Position completion range setting]

App 1-1


In position control mode, set the position reach range to output position decision status in pulse rate. If the error pulse is within the set pulse range, the output pin set with the position reach output function in the user menu P08 outputs the position decision reach signal.

Command speed

Speed

Actual speed

Error pulse

Time [sec]

In position completion range

ON

OFF

In position completion

Time [sec]

App 1-2


Appendix 1. 2 Example of Other Application

A. Rotary table

Rotary table

Speed pattern

Worm gear

Servo motor

Decelerato

Process Process Process

- Prepare the motion program in the higher controller.

- Enter the operating signal and operate the angle.

- After angle operation, position decision completion signal is sent out externally.

B. Roll feeder

Pressor

Feed roll

Conveyor

Induction motor

Servo motor

t

Deceleration pattern

Press Press

- Set the feed to the work..

- Operate the position according to the feed start signal input from the press.

- By using the position decision completion signal, execute the press work.

( The position decision completion signal and feed start signal can be interlocked on the sequenc

App 1-3

Appendix 2 Noise Countermeasure

Appendix 2 explains the noise countermeasure.

Appendix 2. 1 Noise Type .......................................................................................................App2-1

Appendix2. 2 Noise Countermeasure ...................................................................................App2-1

App 2-0


Appendix 2.1 Noise Type

Noise can be classified into noise that can trigger mis-operation of peripheral devices by high switching element in the power part and other electronic parts of the servo drive, and the noise that comes from the external side and can cause mis-operation of the servo drive. Make sure the unit is not affected by the noise through proper grounding and wiring.

① Cause of noise copied from servo drive

- High carrier frequency chopping

- Use of electronic parts such as microprocessors

- Electronic inductance and static electricity noise generation by I/O line of servo drive

② Cause of noise coming from external side to cause mis-operation

- Copy noise by power line

- Electronic contactor, electronic brake and relay use

- Use of device that generates a lot of noise such as electric welding machine

Appendix 2.2 Noise Countermeasure

① Countermeasure of noise copied from servo drive

The noise generated from the servo drive can be classified into noise copied from wire connected to drive I/O and noise induced electronically or statically by peripheral device near the main circuit wire. The countermeasure of this noise is as follows.

- Install and wire the peripheral device that has a noise effect to the servo drive as far as possible.

- Do not install the signal wire of peripheral devices in parallel or groups with the I/O line of the servo drive.

- Use a shield wire or individual metal duct for the I/O wire of servo drive and signal wire of peripheral devices.

② Countermeasure of noise that came from externally to cause mis-operation of the servo drive.

- Always install a surge killer on the peripheral device that causes the noise.

- Ground the encoder wiring and I/O signal wire to the clamp metal decoration within the cable.

- Attach a line filter on the signal wire.

- When a closed loop has been formed by encoder wiring and signal wire ground wire, the electricity leakage can cause misoperation. At this time, separate the grounding wire to prevent mis-operation.

③ Example of noise countermeasure wiring

The noise countermeasure mentioned above has been displayed in a diagram considering the wiring methods.

App 2-1


※ Example of wiring connected with ground connection

AC 200~230[V]

Noise

Filter1

MC r t

S

T

R

Servo Drive

XDA-S

U

V

W

FG

C

N

2

CN1

M

FG

PG

Noise

Filter2

I/O signal processing circuit

(ex. PLC)

(Ext. GND)

(Ext. GND)

Ground Plate

(Earth GND) Ground to one point with type 3

or above.

- Use the thick wire of 3.5[㎟] or thicker for grounding wire.

App 2-2

※ Example of noise filter wiring


NOISE FILTER

NOISE FILTER

BOX

BOX

< X > < O >

NOISE FILTER NOISE FILTER

BOX BOX

< X > < O >

[Do not put the input wire and output wire in the same duct or tie them together.]

NOISE FILTER NOISE FILTER

BOX

BOX

< X > < O >

[Do not put or tie the grounding wire of noise filter in the same duct with the output wire.]

App 2-3


※ Example of wiring when using multiple units of servo drives.

AC 200~230[V]

Noise

Filter1

24V

1Ry

Diode

MC

Main power

OFF

Main power

ON

MC 1RY 2RY 3RY

MC

Surge Killer

46 t r

S

T

R

Servo Drive1

XDA-S

U

V

W

FG

C

N

1

C

N

2

24,25

M

FG

PG

24V

2Ry

Diode

46 t r

S

T

R

Servo Drive2

XDA-S

U

V

W

FG

C

N

2

C

N

1

24,25

24V

3Ry

Diode

※ Recommended noise filter

Servo drive

[XDA-S]

01 ~ 30

NOISE FILTER

NFZ-4030SG

(30A)

♥ Recommended manufacturer: Samil Components ( www.samilemc.com)

46 t r

S

T

R

Servo Drive3

XDA-S

U

V

W

FG

C

N

1

C

N

2

24,25

M

FG

PG

M

FG

PG

45

NFZ-4040SG

(40A)

App 2-4


Appendix 3 shows the full table of parameters mentioned in the manual.

Appendix 3

.1 Parameter Table ......................................................................App 3-1

App3-0

Appendix 3 Parameter table

Appendix 3.1 Parameter Table

Parameter

No.

Menu explanation Unit

StE-01

StE-02

StE-03

StE-04

StE-05

StE-06

StE-07

StE-08

StE-09

StE-10

StE-11

StE-12

StE-13

StE-14

StE-15

StE-16

StE-17

StE-18

Display select

Command Speed

Motor Speed

CCW Speed Limit

CW Speed Limit

Command Pulse

Feedback Pulse

Error Pulse

Command Torque

Load Rate

Max Load Rate

CCW TRQ LMT

CW TRQ LMT

Inertia Ratio

MULTI Turns

Single Turn

I/O Status

PROG Version

- rpm rpm rpm rpm pulse pulse pulse

%

%

%

%

%

- rev

-

-

-

P01-01

*

Motor ID

P01-02

-

Inertia gfcm

2

P01-03

P01-04

P01-05

TRQ Constant

Phase Inductance

Phase Resistance

Kgfcm/A mH

Ω

P01-06

P01-07

P01-08

P01-09

P01-10

Rated Current

Rated Speed

MAX Speed

Rated TRQ

Pole Number

P01-11

*

Drive ID

P01-12

*

Encoder ID

P01-13

*

Encoder Pulse

P01-14

Pulse Out Rate

P01-15

*

COM Baud Rate

P01-16

*

Serial Select

P01-17

*

Serial I/O

P01-18

*

Serial ID

P01-19

Parameter Lock

P01-20

*

Absolute Origin

P02-01

*

Control Mode

P02-02

P02-03

Mode Change Time

CCW TRQ LMT

P02-04

CW TRQ LMT

-

-

-

- ms

%

%

A(rms) rpm rpm kgfcm

Pole

-

- ppr ppr

-

-

-

P02-05

CCW Speed Limit rpm

Setting range

100 ~ 1330

-9999.9 ~ 9999.9

-9999.9 ~ 9999.9

0.0 ~ 9999.9

-9999.9 ~ 0.0

-99999 ~ 99999

-99999 ~ 99999

-99999 ~ 99999

-300.0 ~ 300.0

-300.0 ~ 300.0

0.0 ~ 300.0

0.0 ~ 50.0

0 ~ 999999

0 ~ 999999

0 ~ 999999

0.0 ~ 99.99

GEN - 00 ~ 99

0.01 ~ 999.99

0.1 ~ 999.99

0.001 ~ 99.999

0.01 ~ 99.999

0.01 ~ 999.99

0.0 ~ 9999.0

0.0 ~ 9999.0

0.0 ~ 9999.0

2 ~ 98

0 ~ 45

Enc-0 ~ R

1 ~ 32768

1 ~ 131072

0 ~ 3

0 ~ 2

0 ~ 2

1 ~ 31

ON/OFF

ON/OFF

0 ~ 5

100.0 ~ 10000.0

0.0 ~ 300.0

-300.0 ~ 0.0

0.0 ~ 6000

P02-06

P02-07

P02-08

P02-09

P02-10

P02-11

P02-12

CW Speed Limit

Brake Speed

Brake Time

DB Mode

Notch Filter 1

NF Frequency 1

NF Bandwidth 1 rpm rpm ms

-

-

Hz

%

-6000.0 ~ 0.0

0.0 ~ 9999.9

0.0 ~ 10000.0

0 ~ 3

0 ~ 2

50.0 ~ 2000.0

Default set

value

1203

-

-

-

-

-

-

-

-

-

-

Control type

Speed/Torque/Position

Speed/Position




Position

Position

Position




2.0 Speed/Torque/Position

- Speed/Torque/Position

-

-

-




(By capacity) Speed/Torque/Position

By motor type Speed/Torque/Position









By drive type Speed/Torque/Position

Enc-A Speed/Torque/Position

2000

2000

0

0

0






1

OFF

OFF

1







-300.0 Speed/Torque/Position

Maximum motor speed


Maximum motor speed




2 Speed/Torque/Position



App3-1


Parameter

No.

Menu explanation

P02-13

P02-14

P02-15

P02-16

P02-17

P02-18

P02-19

P02-20

P02-21

P02-22

P02-23

P02-24

P02-25

P02-26

P02-27

P02-28

Notch Filter 2

NF Frequency 2

NF Bandwidth 2

TRQ Filter TC

Auto Tuning

System Response

Inertia Ratio

Gain ADJ Speed 1

Gain ADJ Speed 2

Gain ADJ TRQ 1

Gain ADJ TRQ 2

Contact Gain TC

Temporary Stop

Emergency Stop

Direction Select

Ripple COMPEN

P02-29

*

Parameter INIT

P03-01

*

Speed Gain mode

P03-02

PI-IP control %

P03-03

P03-04

P03-05

P03-06

P03-07

P03-08

P03-09

P03-10

P03-11

Friction COMPEN

Load COMPEN

SC Loop Gain 1

SC TC 1

SC Loop Gain 2

SC TC 2

Analog CMD TC

ACCEL Time

DECEL Time

P03-12

*

S-Mode TC

P03-13

In Speed Range

P03-14

Zero Speed Range

P03-15

*

+ 10[V] RPM

P03-16

*

-10[V] RPM

P03-17

Auto Offset

P03-18

Manual Offset

P03-19

*

Override ENB

P03-20

P03-21

Clamp Mode

Clamp Voltage

P03-22

*

F/Back TC

P03-23

Zero SPD VIB REJ

P03-24

*

Feedforward TRQ

P04-01

Speed1


P04-02

P04-03

P04-04

P04-05

P04-06

P04-07

Speed2


Speed3


Speed4


Speed5


Speed6


Speed7

Digital input speed 7 rpm rpm rpm rpm rpm

Unit ms

Hz ms ms ms ms ms

-

%

%

%

Hz

-

Hz rpm rpm rpm

%

% ms

-

-

-

-

-

-

Hz

% ms

-

-

- rpm

- ms

-

- mV ms rpm

- rpm rpm

Setting range

0 ~ 1

50.0 ~ 2000.0

Default set

value

Control type



0.0 ~ 1000.0

0 ~ 1

1 ~ 19

(By capacity)

0



(By capacity) Speed/Torque/Position

1.0 ~ 50.0 2.0 Speed/Torque/Position


ON/OFF

ON/OFF

ON/OFF

ON/OFF

ON/OFF

OFF

OFF

OFF

OFF

OFF






1 ~ 5 1 Speed

0.0 ~ 100.0 100.0 Speed/Position



0.0 ~ 1000.0 (By capacity) Speed/Position

0.0 ~ 10000.0

0.0 ~ 1000.0

0.0 ~ 10000.0

0.0 ~ 2000.0

0.0 ~ 90000.0

0.0 ~ 90000.0

0.0 ~ 9000.0

(By capacity)

(By capacity)

(By capacity)

0.0

0.0

0.0

0.0

Speed/Position

Speed/Position

Speed/Position

Speed

Speed/Position

Speed/Position

Speed/Position

0.0 ~ 9999.9

0.0 ~ 9999.9

10.0

10.0

0.0 ~ 9999.9 Max. motor speed

Speed

Speed

Speed/Torque

-9999.9 ~ 0.0 Max. motor speed

ON/OFF OFF

-1000.0 ~ 1000.0

ON/OFF

0.0

OFF

0 ~ 2

-1000.0 ~ 1000.0

0.0 ~ 2000.0

0.0 ~ 1000.0

0 ~ 2

0

0.0

0.0

0.1

0

Speed/Torque

Speed/Torque

Speed/Torque

Speed

Speed

Speed

Speed

Speed/Position

Speed/Position

-9999.9 ~ 9999.9

10.0 Speed/Torque

-9999.9 ~ 9999.9

100.0 Speed/Torque

-9999.9 ~ 9999.9

-9999.9 ~ 9999.9

-9999.9 ~ 9999.9

-9999.9 ~ 9999.9

-9999.9 ~ 9999.9

200.0

500.0

1000.0

2000.0

3000.0

Speed/Torque

Speed/Torque

Speed/Torque

Speed/Torque

Speed/Torque

App3-2

Parameter

No.


P04-08

Torque1


P04-09

P04-10

P04-11

P04-12

P04-13

P04-14

Torque2


Torque3


Torque4


Torque5


Torque6


Torque7


P05-01

*

POS Gain Mode

P05-02

*

POS Pulse Type

P05-03

P05-04

Speed Mode

Feedforward

P05-05

P05-06

P05-07

P05-08

P05-09

P05-10

P05-11

PC P Gain1

PC P Gain2

PI-P Pulse ERR

In Position

Follow ERR

POS CMD TC

FF TC

P05-12

*

ELCTR Gear NUM1

P05-13

*

ELCTR Gear DEN1

P05-14

*

ELCTR Gear NUM2

P05-15

*

ELCTR Gear DEN2

P05-16

*

ELCTR Gear NUM3

P05-17

*

ELCTR Gear DEN3

P05-18

*

ELCTR Gear NUM4

P05-19

*

ELCTR Gear DEN4

P05-20

P05-21

Bias SPD COMPEN

Bias Pulse Band

P05-22

Backlash Pulse

P06-01

* Analog TRQ TC

P06-02

TRQ ACCEL Time

P06-03

TRQ DECEL Time

P06-04

*

TRQ S-Mode

P06-05

P06-06

In TRQ Range

Stop TRQ Range

P06-07

P06-08

P06-09

10[V] TRQ

Auto Offset

Manual Offset

P07-01

*

CN1_18

P07-02

*

CN1_43

P07-03

*

CN1_17

P07-04

*

CN1_42

P07-05

*

CN1_16

P07-06

*

CN1_41

P07-07

*

CN1_15

P07-08

*

CN1_40

P07-09

*

CN1_14

Appendix 3 Parameter table

Unit

%

Setting range

-300.0 ~ 300.0

Default set

value

0.0

Control type

Torque

-300.0 ~ 300.0

-300.0 ~ 300.0

-300.0 ~ 300.0

-300.0 ~ 300.0

-300.0 ~ 300.0

-300.0 ~ 300.0

1 ~ 5

0 ~ 5

ON/OFF

0.0 ~ 100.0

0.0 ~ 500.0

0.0 ~ 500.0

0 ~ 99999

0 ~ 99999

0 ~ 99999

0.0 ~ 2000.0

0.0 ~ 2000.0

1 ~ 99999

1 ~ 99999

1 ~ 99999

1 ~ 99999

1 ~ 99999

1 ~ 99999

1 ~ 99999

1 ~ 99999

-1000.0 ~ 1000.0

0 ~ 500

0 ~ 99999

0.0 ~ 2000.0

0.0 ~ 9000.0

0.0 ~ 9000.0

0.0 ~ 2000.0

0.0 ~ 100.0

0.0 ~ 100.0

0 .0~ 300.0

ON/OFF

-1000.0 ~ 1000.0

0 ~ 30

0 ~ 20

0 ~ 20

0 ~ 20

0 ~ 20

0 ~ 20

0 ~ 20

0 ~ 20

0 ~ 20

%

%

%

%

%

%

-

-

-

-

- rpm pulse pulse ms ms ms ms

%

%

%

- mV

-

-

-

-

-

-

%

Hz

Hz pulse pulse pulse ms ms

-

-

-

-

-

-

-

-

-

Torque

Torque

Torque

Torque

Torque

Torque

Position

Position

Position/Speed

Position

Position

Position

Position

Position

Position

Position

Position

Position

Position

Position

Position

Position

Position

Position

Position

Position

Position

Position

Torque

Torque

Torque

Torque

Torque

Torque

Speed/Torque

Speed/Torque

Speed/Torque










2.0

20.0

50.0

75.0

100.0

120.0

2

1

4

1

8

0.0

10

0

0.0

0.0

0.0

0.0

10.0

10.0

100.0

OFF

0.0

1

9

10

1

1

OFF

0.0

(By capacity)

(By capacity)

0

100

30000

0.0

0.0

1

1

1

11

3

4

13

14

12

App3-3


Parameter

No.


P07-10

*

CN1_39

P07-11

*

CN1_13

P07-12

*

CN1_38

P08-01

*

CN1_23

P08-02

*

CN1_48

P08-03

*

CN1_22

P08-04

*

CN1_47

P08-05

*

CN1_21

P08-06

*

CN1_46

P08-07

*

CN1_20

P08-08

*

CN1_45

P08-09

*

CN1_19

P08-10

*

CN1_44

P09-01

P09-02

Monitor1

Monitor ABS1

P09-03

Monitor Scale1

P09-04

P09-05

P09-06

Monitor Offset1

Monitor2

Monitor ABS2

P09-07

P09-08

Monitor Scale2

Monitor Offset2

JOG-01

Key Jog Mode

JOG-02

JOG-03

Key Jog Speed

Auto Jog Mode

ALS-03

ALS-04

ALS-05

ALS-06

ALS-07

ALS-08

ALS-09

ALS-10

ALS-11

ALS-12

ALS-13

JOG-04

JOG-05

JOG-06

JOG-07

JOG-08

JOG-09

JOG-10

JOG-11

JOG-12

JOG-13

JOG-14

JOG-15

JOG-16

JOG-17

JOG-18

Jog Speed1

Jog Time1/REV1

Jog Speed2

Jog Time2/REV2

Jog Speed3

Jog Time3/REV3

Jog Speed4

Jog Time4/REV4

Jog Speed5

Jog Time5/REV5

Jog Speed6

Jog Time6/REV6

Jog Speed7

Jog Time7/REV7

Jog Speed8

JOG-19

Jog Time8/REV8

ALS-01

Current Alarm

ALS-02

Alarm Reset

Alarm History1

Alarm History2

Alarm History3

Alarm History4

Alarm History5

Alarm History6

Alarm History7

Alarm History8

Alarm History9

Alarm History10

History Reset

Unit

-

-

- rpm

[s]/[rev] rpm

[s]/[rev] rpm

[s]/[rev] rpm

[s]/[rev] rpm

[s]/[rev] rpm

[s]/[rev]

-

-

-

-

- mV

-

-

- mV

- rpm

- rpm

[s]/[rev] rpm

[s]/[rev]

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

Setting range

0 ~ 20

0 ~ 20

0 ~ 20

0 ~ 30

0 ~ 18

0 ~ 18

0 ~ 18

0 ~ 18

0 ~ 18

0 ~ 18

0 ~ 18

0 ~ 18

0 ~ 18

0 ~ 5

ON/OFF

-1000.0 ~ 1000.0

0 ~ 5

ON/OFF

Default set

value

16

15

19

0

3

6

5

7

9

14

15

16

17

0

OFF

Control type

















1

OFF



-1000.0 ~ 1000.0

ON/OFF

-9999.9 ~ 9999.9

0 ~ 2

-9999.9 ~ 9999.9


OFF Speed/Torque/Position

100.0

0





-9999.9 ~ 9999.9



-9999.9 ~ 9999.9



-9999.9 ~ 9999.9



-9999.9 ~ 9999.9



-9999.9 ~ 9999.9



-9999.9 ~ 9999.9



-9999.9 ~ 9999.9



- nor Speed/Torque/Position

ON/OFF OFF Speed/Torque/Position

0 ~ 32

0 ~ 32

0 ~ 32

0

0

0




0 ~ 32

0 ~ 32

0 ~ 32

0 ~ 32

0 ~ 32

0 ~ 32

0 ~ 32

ON/OFF

0

0

0

0

0

0

0

OFF









♥ The parameter with the (＊) symbol cannot be changed when the SVONEN input contact point is “ON”.

App3-4

Appendix 4.1 Revision History

Issue date Revised content

2005.11 1 st

correction (Addition of function and supplement of content)

2006.2 2 nd

correction (FDA7000, FDA7000S model separation)

Appendix 4. Revision History

Version

1.0

1.1

1.2

App4-1


Appendix 5 explains the servo motor specification.

Appendix 5

.1 Servo motor specification ...............................................................................App 5-1

App 5-1


Appendix 5.1 Servo Motor Specification

Motor [XMR - ]

Drive [XDA-S ]

CN01

01

CN02

02

CN03 CN04

04

CN05 CN04A CN06

05

CN08 CN10

10

Flange Size ( □ )

Rated output ( W )

60 80

100 200 300 400 500 400 600 800 1000

Rated current A(rms)

1.25 2.1 2.8 2.85 3.2 2.8 3.5 4.65 5.8

Max. instantaneous current

A(rms)

( N·m ) 0.32 0.64 0.96 1.27 1.59 1.27 1.91 2.54 3.18

Rated torque

( kgf·cm ) 3.25 6.5 9.75 13.0 16.2 13.0 19.5 26.0 32.5

Max. instantaneous torque

( N·m )

( kgf·cm )

0.96 1.92 2.88 3.81 4.77 3.81 5.3 6.85 9.53

9.75 19.5 29.3 39.0 48.7 39.0 54.5 70.2 97.5

Rated rpm ( r/min )

3000

Max. rpm ( r/min )

Rotator inertia

( = GD

2

/4 )

( gf·cm·s

2

) 0.061 0.095 0.126 0.160 0.204 1.1 1.5 1.77 2.11

(kg·m

2 ⅹ10

-4

)

5000

0.06 0.093 0.129 0.163 0.208 1.08 1.47 1.74 2.07

Allowable load inertia ratio(Versus rotor)

Rated power rate ( kW/s )

30 times or below 20 times or below

Detector type

Incremental

Absolute

Weight ( kg )

17/33 bit 131072[p/rev.] or 2000 ~ 6000[p/rev.]

17/33 bit 131072[p/rev.] or 11/13 bit 2048[p/rev.]

0.85 1.14 1.43 1.73 2.03 2.1 2.55 3.1 3.7

Torque - speed characteristics

CN01

Torque(N·m )

1.0

0.8

0.6

0.4

0.2

B

A

CN02


2.0

1.6

B

1.2

0.8

0.4

A

CN03


3.0

2.4

1.8

B

1.2

0.6

A

CN04


4.0

3.2

2.4

1.6

0.8

A

B

CN05


5.0

4.0

3.0

2.0

1.0

A

B

1000 2000 3000 4000 5000

Revolution speed (r/min )

CN04A


4.0

1000 2000 3000 4000 5000


CN06


5.5

1000 2000 3000 4000 5000


CN08

1000 2000 3000 4000 5000


1000 2000 3000 4000 5000


CN10


10

3.2

2.4

1.6

B

4.4

3.3

B

5.6

4.2

B

8

6

B

2.2

2.8

4

0.8

A

1.1

A

1.4

A

1000 2000 3000 4000 5000


1000 2000 3000 4000 5000


1000 2000 3000 4000 5000


A : Continuous duty zone & B : Intermittent duty zone

2

A

1000 2000 3000 4000 5000


App 5-2


Motor [XMR - ]

Drive [XDA-S ]

Flange Size (□ )

CN09 CN15 CN22 CN30 CN30A CN50A KN03 KN05 KN06 KN07

10 15 20 30 30 45 04 04 05 10

130 180 80

Rated output (W ) 3000 3000 5000 300 450 550 650

Rated current A (rms)


A(rms)

13.8 26.4 36.3 51.6 57.6 69.9 7.5 9.3 10.7 13.8

( N·m ) 2.86 4.77 7.0 9.54 9.54 15.9 1.43 2.15 2.57 3.04

Rated torque

( kgf·cm ) 29.2 48.7 71.4 97.4 97.4 162.3 14.6 21.9 26.2 31


( N·m )

( kgf·cm )

8.6 14.3 21 28.6 28.6 47.7 4.29 6.45 7.42 9.12

87.6 146 214 292 292 486.9 43.8 65.7 72.7 93

Rated rpm ( r/min ) 3000 2000

5000 4500 3000 Max. rpm ( r/min )

Rotator

( gf·cm·s

2

) inertia

( = GD

2

/4 )

( kg·m

2 x10

-4

)

Allowable load inertia ratio(Versus rotor)

Rated power rate (kW/s )

Incremental

Detector type

Absolute

Weight ( kg )

4.12 7.63 11.12

14.63 26.1 43.8 1.1 1.5 1.77 2.11

10 times or below 20 times or below

20.4 30.6 45.1 63.9 35.7 58.9 18.9 31.3 38.0 44.6

17/33 bit 131072[p/rev.] or 2000 ~ 6000[p/rev.]


5.5 7.0 8.5 10.0 12.9 18.2 2.1 2.55 3.1 3.7


CN09


10

CN15


15

CN22


25

CN30


30

CN30A


30

8

6

4

B

12

9

B

20

15

B

24

18

B

24

18

B

6 10 12

12

2

A

3

A

5

A

6

1000 2000 3000 4000 5000


1000 2000 3000 4000 5000


1000 2000 3000 4000 5000


A

1000 2000 3000 4000 5000


6

A

1000 2000 3000 4000 5000


CN50A


10

KN03


5

KN05


6.5

KN06


7.5

KN07


10

8

4 5.2 6.0 8

6

B

3

B

3.9

B

4.5

B

6

4

2

2.6 3.0 4

2

A

1

A

1.3

A

1.5

1000 2000 3000 4000 5000

1000 2000 3000



1000 2000 3000



A

2

1000 2000 3000


B

A

1000 2000 3000


App 5-3


Motor [XMR - ]

Drive [XDA-S ]

Flange Size ( □ )

Rated output ( W )

KN06A

05

KN11

10

1100

30.6

130

KN16

15

1600

53.5

KN22

20

2200

76.7

KN22A

20

43.0

17/33 bit 131072[p/rev.] or 2000 ~ 6000[p/rev.]

KN35

30

180

KN55

45

5500



A (rms)

( N·m )

Rated torque

3.7

11.1 18.1 30.0 42.3 45.6 60.6 79

2.86

6.7

5.25

10.2

7.64

14.1

10.5

15.2

10.49

20.2

16.67

31.6

26.18

( kgf·cm 29.2 53.6 77.9 107 107 170 267


( kgf·cm

8.6 14.2 22.5 31.5 31.3 50.1 65.4

87.6 145 230 321 321 510 667.5

Rated rpm ( r/min ) 2000

Max. rpm ( r/min )

Rotator inertia

( = GD

2

/4 )

( gf·cm·s

2

)

(kg·m

2 ⅹ10

-4

)

Allowable load inertia ratio

(Versus rotor)


600

4.04 7.48 10.9 14.34 25.6 42.9 66.4

20.4

3000

10 times or less

2200 3500

64.7 103.0

Detector type

Incremental

Absolute

Weight (kg ) 5.5 7.0


8.5 10.0 12.9 18.2 26.8


KN06A


10

KN11


15

KN16


25

KN22


30

8 12

B

6 9

4 6

2

A

3

1000 2000 3000


CN50A


10

8

6

B

4

2

A


5

4

3

2

1

KN03

B

A

B

A

1000 2000 3000



6.5

5.2

3.9

2.6

1.3

KN05

B

A

20

15

10

5

B

A

1000 2000 3000


6.0

4.5

3.0

1.5

1000 2000 3000 4000 5000


1000 2000 3000


1000 2000 3000



KN06


7.5

B

A

24

18

12

6

1000 2000 3000


KN07


10

8

6

4

2

B

A

B

A

1000 2000 3000


1000 2000 3000


App 5-4


Motor [XMR - ]

Drive [XDA-S ]

TN05

05

TN09

10

TN13

15

TN17

20

TN20

20

TN30

30

TN44

45

TN75

75

Flange Size ( □ )

Rated output ( W )

Detector type

Incremental

Absolute

130

850 1300

62.8

1700

81.1

1800

51.5

2900

80.8

17/33 bit 131072[p/rev.] or 2000 ~ 6000[p/rev.]


180

4400 7500

3.7 6.9 10.9 14.4 16.4 22.6 33.1 49.6

Max.

instantaneous current

A (rms)

18.1 29.65 39.2 56.6 94.67 124.1

Rated torque

( kgf·cm )

2.87 5.41 8.27 10.8 11.5 18.6 27.9 47.7

29.3 55.2 84.4 110 117 190 285 486.9

Max.

8.61 14.2 22.5 29.4 34.5 46.6 79.8 119.3 instantaneous torque

( kgf·cm 1217

Rated rpm ( r/min ) 1500

Max. rpm ( r/min )

Rotator inertia

( = GD

2

/4 )

( gf·cm·s

2

)

(kg·m

2 ⅹ10

-4

)


(Versus rotor)


450

4.04 7.48 10.9 14.34 25.1 42.9 66.4 123.9

20.5 39.1

3000

10 times or less

117.4 183.8

Weight ( kg ) 5.5 7.0 8.5 10.0 12.9 18.2 26.8 45.7


8

6

4

2

TN05


10

B

A

1000 2000 3000


TN09


15

12

9

6

3

B

A

1000 2000 3000



30

24

18

B

12

6

TN20

A

50


40

30

B

20

10

TN30

A

1000 2000 3000


1000 2000 3000



TN13


25

20

15

10

5

B

A

1000 2000 3000


TN44


75

60

45

B

30

15

A

1000 2000 3000


TN17


30

24

18

12

6

B

A

1000 2000 3000


TN75

75

50

25


125

100

B

A

1000 2000 3000


App 5-5


Motor [XMR - ]

Drive [XDA-S ]

Flange Size ( □ )

Rated output ( W )


Max. instantaneous

A(rms)

(N·m )

Rated torque

(kgf·cm ) current


Rated rpm (r/min )

Max. rpm (r/min )

Rotator inertia

( = GD

2

/4 )

(gf·cm·s

2

)

(kg·m

2 ⅹ10

-4

)


(Versus rotor)

LN03

04

300

2.6

2.86

29.2

LN06

05

600

4.8

5.72

58.4

130

LN09

10

900

7.3

8.6

87.7

LN12

12

1200

9.7

11.5

117

LN12A

12

11.5

116.9

LN20 LN30

20 30

2000

180

3000

17.2 24.9

19.1

194.8

28.6

292.2

LN40

45

38.2

389.6

8.6 14.3 22.1 34.4 28.7 57.3 71.6 114.6

1000

2000

1200

8.9

4000

32.2

7.8 12.0 18.76 29.0 22.2 51.6 62.34 96.6

4.04 7.48 10.9 14.34 25.6 42.9 66.4 98.1

10 times or less

Detector type

Incremental

Absolute

17/33 bit 131072[p/rev.] or 2000 ~ 6000[p/rev.]


8.5 10.0 12.9 18.2 Weight (kg ) 5.5 7.0 26.8 36.1


8

6

LN03


10

B

LN06


16

12

B


25

20

15

LN09

B


40

32

24

LN12

B

4

8

10

16

2

A

500 1000 1500 2000


4

A

500 1000 1500 2000


LN12A


30

24

B


50

40

LN20

B

18

30

12

6

A

20

10

A

500 1000 1500 2000


500 1000 1500 2000



5

A

500 1000 1500 2000


LN30


75

60

45

30

15

B

A

8


100

80

60

40

20

500 1000 1500 2000


B

A

A

LN40

500 1000 1500 2000


500 1000 1500 2000


App 5-6


Motor [XMR - ]

Drive [XDA-S ]

Flange Size (□ )

Rated output ( W )



A(rms)

( N·m )

Rated torque

( kgf·cm )

Max. instantaneous

( N·m )

( kgf·cm ) torque

Rated rpm (r/min )

Max. rpm (r/min )

Rotator inertia

( = GD

2

/4 )

( gf·cm·s

2

)

(kg·m

2 ⅹ10

-4

)


(Versus rotor)

Rated power rate (kW/s)

Detector type

Incremental

Absolute

Weight ( kg )

KF08

10

KF10 KF15

15

KF22

20

KF35

30

KF50

45

130 180

750 1000 1500 2200 3500 5000

15.9 18.6 27.6 42.3 61.5 101.4

3.58 4.77 7.16 10.5 16.7 23.9

36.53 48.7 73.1 107 170 244

10.74 14.31 21.56 31.4 50.0 71.7

109.5 146.0 220.0 321 510 732

2000

3000

10.3 15.2 24.8 64.0 98.5 156

12.3 15.0 20.7 17.2 28.2 36.4

17/33 bit 131072[p/rev.] or 2000 ~ 6000[p/rev.]


8.2 11.6 15.8 17.2 27.4 38.3


KF08


15

12

9

B

6

3

A

12

9

6

3

KF10


15

B

A

1000 2000 3000


1000 2000 3000


KF22

KF35


35


50

28

21

40

30

B

B

14

20

7

10

A

A

1000 2000 3000


1000 2000 3000


A : Continuous duty zone B : Intermittent duty zone

10 times or less

KF15


25

20

15

B

10

5

A

1000 2000 3000


KF50


75

60

45

B

30

15

A

1000 2000 3000


App 5-7


Motor [XMR - ]

Drive [XDA-S ]

Flange Size (□ )

Rated output ( W )



A(rms)

( N·m )

Rated torque

( kgf·cm )

Max.

( N·m ) instantaneous torque

( kgf·cm )

Rated rpm (r/min )

Max. rpm (r/min )

( gf·cm·s

2

)

Rotator inertia

( = GD

2

/4 )

(kg·m

2 ⅹ10

-4

)


(Versus rotor)


Incremental

Detector type

Absolute

Weight ( kg )


TF05

05

TF09

10

TF13

15

TF20

20

TF30

30

TF44

45

130 180

450 850 1300 1800 2900 4400

4.0 7.0 10.7 14.8 21.7 34.5

12.0 19.0 31.7 44.4 65.1 95.83

2.87 5.41 8.27 11.5 18.6 27.9

8.61 14.7 24.5 34.4 55.9 77.5

89.5 150 250 351 570 790

1500

3000

10.3 15.2 24.8 64.0 98.5 156

7.85 19.1 28.0 20.5 35.2 50.0

17/33 bit 131072[p/rev.] or 2000 ~ 6000[p/rev.]


8.2 11.6 15.8 17.2 27.4 38.3

TF05


10

TF09


15

8

12

B

6

4

B

9

6

2

Continuous operation range

1000 2000 3000


TF20

3


1000 2000 3000


TF30


35

28

21

B


60

48

36

B

14

7

A

24

12

A

1000 2000 3000


1000 2000 3000



10 times or less

TF13


25

20

15

10

B

5


1000 2000 3000


TF44


80

64

48

32

16

B

A

1000 2000 3000


App 5-8


Motor [XMR - ]

Drive [ XDA-S]

Flange Size (□ )

Rated output ( W )



A(rms)

( N·m )

Rated torque

( kgf·cm )

Max. instantaneous

( N·m )

( kgf·cm ) torque

Rated rpm (r/min )

Max. rpm (r/min )

Rotator inertia

( = GD

2

/4 )

( gf·cm·s

2

)

(kg·m

2 ⅹ10

-4

)


(Versus rotor)


Detector type

Incremental

Absolute

Weight ( kg )

LF03

04

LF06

05

LF09

10

LF12

12

LF20

20

LF30

30

130 180

7.5 13.65 19.21 29.32 48.0 67.34

2.84 5.68 8.62 11.5 19.1 28.4

8.7 16.5 23.0 34.4 57.3 78.7

90 169 235 351 585 803


LF03


10

LF06


20

8 16

B

6 12

B

4 8

2 4

A A

500 1000 1500 2000


LF12

500 1000 1500 2000


LF20


40


60

32

24

16

B

48

36

24

B

8 12

A

500 1000 1500 2000


A

500 1000 1500 2000



1000

2000

10.3 15.2 24.8 64.0 98.5 156

10 times or less

7.85 21.3 30.0 20.5 37.0 51.8

17/33 bit 131072[p/rev.] or 2000 ~ 6000[p/rev.]


8.2 11.6 15.8 17.2 27.4 38.3

LF09


25

20

15

10

5

B

A

500 1000 1500 2000


LF30


80

64

48

32

16

B

A

500 1000 1500 2000


App 5-9

No results