SDD Series Driver User's Manual
Contents
1. 28 n 3 deceleration time is set in the parameter number 27 Acceleration time is set in the parameter number 28 12 2 Reserved oo L EJ 42 S R E See 24 3 33 Definition Range Unit Default effect PC r w addre SS Reserved I 44 D Hxxxn digital filter for position a 25 1 command n 0 do not apply filter and can accept 500kpps max n 7 apply 7 layer filters and could accept 200kpps max Hxxnx n 0 normal condition n 1 power 0 1 reset 25 2 on and servo on automatically Delay can be set in parameter number 32 Pn32 2000 it means that power on and then servo on after 2 seconds Hxnxx contact definition for command reset 125 3 pulse inhibit CN1 pin3 NO normally open NC normally close n INH 0 1 NO 2 3 NC Hnxxx CNI pin2 function selection 0 1 2 reset 25 4 0 clear error counter 1 emergency stop 2 position and velocity mode switch 4 Reserved be Reserved Reserved P Reserved po K 30 AA In position sets range of positioning m gt 32 completion signal output INP Numerator of electronic gear ratio 1 10000 reset 33 indicates the number of encoder pulses per reference unit The input pulses will multiply this number to form an actual calculation number 1 127 lt 21 22 lt 127 Denominator of electronic gear ratio 1 10000 1 reset 34 indicates the number of encoder pulses per reference unit The input pulses vvill2. 8 and 9 are locked normally to prevent unintentionally activation The following procedures can be used to unlock these functions 1 Press the A key orthe W key to select the function 10 L Fin Di ID 2 Press the DATA key for more than 1 second to request the unlock function UnLioc 3 Press the MODE key to confirm the request U A L CIC Flashes while unlocking gt d an E Flash for 1 second L ac Press the MODE key again will lock the function again 4 Press the DATA key for more than 1 second to return to the auxiliary function mode LI FAO I After unlocking the function 9 or the function 7 and 8 can only executed 1 once Function 7 8 and 9 will be locked after execution 31 3 3 5 User Parameters Press the MODE key repeatedly until PNOOO is displayed D Pin DUO Press the A key orthe W key to get the desired parameter number Press the DATA key for more than second to retrieve the content of the listed parameter number I HA If there is a leading H then it is a hexadecimal number To edit the number press the DATA key to shift the flashing digit left Press the A keyorthe W key to increase or decrease the flashing digit Press the DATA key for more than 1 second to store the new dat
3. Name Function connects to DG means servo on or servo system ready I PERO OS BON circuit Be ae off ie 2 a CLR Clear error counter Pn Name oyin Function no bol Command INH Ignore the input command pulses pulse inhibit 3 Emergency Emergency stop stop Change Toggle speed mode and position mode mode 4 Pulse PP 5V Input PN10 2 Pin 4 5 Pin 6 7 pulse value 5 Pulse PN 0 4 Positiv Negative The type is e 6 Direction DP set by 1 5 Pulse Direction 7 Direction DN PN10 2 2 6 Phase Phase B A 8 Pulse PPR 24V pulse input pin 9 Direction DPR 24V direction input pin Common point of Input ports OV for PNP type connection 10 Input power Pry 54V for NPN ua i Encoder 11 phaseZ ZO Open collector output of Encoder Z signal output 12 Reference SIN speed signal 10V to 10 V voltage 13 amalie AG Referenced ground for SIN ground ja Alam NAM ALM connects to DG normally it is open when any abnormal condition is detected When the pulses difference between the command pulses and 15 In position INP the feedback pulses is less than the value set in the PN20 The INP signal turns ON INP connects to DG 16 Encoder PA Encoder input pulses after frequency division PNO is output 17 phase A IPA by line driver output When PN10 3 is 1 the motor rotation direction is CCW phase 18 Enco
4. e g 120 means current motor 128 revolution is 120 rpm this value is the average rpm in 0 1 second Torque the value is the percentage of the rated torque 129 of the motor E g value 120 means that the current torque output is 120 of the rated torque of the motor Actual load the value is the average torque output 130 percentage in 26 seconds Maximum load the value is the maximum value 131 appeared in DN2 Error the difference between command pulses and 132 encoder feedback pulses The command pulses are input pulse number multiply electronic gear ratio The display value is clamped between 9999 9999 Reserved 133 6 Reserved 134 Reserved 135 Regeneration rate 100 represents 1 136 9 Maximum regeneration rate 100 represents 1 137 10 Maximum torque the maximum torque output since 138 EE power on 11 Driver capacity 150 means 15A 200 means 20A 300 139 EN means 30A HEN command 4 means 1 rpm 12000 means 3000 140 rpm Reserved 141 37 definition PC r w address 14 Reserved 142 15 Motor type please refer to table at the end of this 143 i section 16 Servo status 0 means servo on 1 means servo off 144 Reserved 145 Reserved 146 19 Overload counter the counter is incremented if a 147 transient overload is detected when this counter reaches 1250 Overload warning is issued 20 Lower word of accumulated p
5. f 5 070 xax iz DPR 9 p DP 6 F D 7 ya 5 a eeu P d 220 P P 15 Connection Diagram for connecting with 24V open collector devices Bk BaAw zu B EL P E Em Ed 2k Bay p p m EE TUS Connection Diagram for connecting with 12V open collector devices Lk 220 12 _ P mm NZ lk 220 12 7 Tu EA Replace the lk resistor with 100 Q resistor if 5V power is used 2 2 4 Encoder Signal Output Encoder signal outputs transfer encoder pulses from the encoder mounted with motor Connection diagram for connecting with upper controller 16 PA 6 de Z BA a 18 PB 6 ga 19 ZPB 20 pz 6 da 21 PZ Driver Controller 2 2 5 Velocity command CONTROLLER Y Command Feedback ZPB PZ 17 2 3 CN2 encoder connector Pin no Name Symbol Function 1 5V 5V Ifthe wire length for the encoder is longer than 20m please use double wire to minimize voltage drop 2 OV OV I
6. motor is 100 V the voltage level to alarm will be half of the value listed DC112V for low voltage DC250V for over voltage Note 3 There are 3 methods to reset the driver Power cycle Power off then on Fn004 and send an input signal from pin2 of CN1 However the cause of alarm must be resolved first 40
7. of the Address 11 Writing a 1 to this address 192 will enable the updating function The system default is enable 3 During the disable state writing any value to Address 11 will cause the Check Sum to be regenerated 4 If there is many User Parameters need to be changed disabling the Check Sum updating function is highly recommended to prevent excessive writing of EEPROM After changing all the User Parameters a write operation to Address 11 may then be executed Clear historical Alarm codes the contents in Address 0 10are cleared Writing a 1 to this address will initialize the driver with the setting stored in the address 12 63 the block where a user is not allow to change is excluded Firmware version the format is similar to that of Fn003 For the numbering of year 0 9 stands for Year2000 2009 A Z stands for Year 2010 2035 respectively RESET Input Status the description of each bit is shown in Section 3 2 6 Output Status the description of each bit is shown in Section 3 2 7 Current Alarm code 0 means no alarm 24 3 Panel operation Name Function MODE Mode selection press this key for more than 1 second to confirm the flashing function A Increase the flashing digit by 1 v Decease the flashing digit by 1 e press A and Wsimultaneously to clear the alarm DATA Shift the cursor the flashing digit left by 1 position Press this key for more than 1 second to
8. select or store the data into the EEPROM PN 3 1 Mode selection There are 3 modes to select from Auxiliary function Parameter setting and Monitoring Press the MODE key repeatedly to cause the displays to scroll in the following sequence Power on Display the RPM equivalent to dn000 l 00 L O Monitoring mode 000 sees 000 resim Doo ram 25 3 2 Auxiliary functions Press the MODE key repeatedly until the following pattern is displayed W Fin DUO 3 2 1 Historical alarm code The last 10 alarm codes are stored in the EEPROM Use the following procedures to retrieve the stored alarm codes 1 Select the auxiliary function mode Ll Fin JOO 2 Press the DATA key for more than 1 second M 0 H00 3 Press the A key or the W key to scroll up and down among the previous ae alarm codes The leftmost number is the alarm sequence where 9 means the oldest 4 Press the DATA key for more than second to return to the auxiliary function mode FinJOU d 26 3 2 2 Clear the historical alarm codes 1 Press the A keyor the W key to select function 1 LE Fin UO I 2 Press the DATA key for more than 1 second until the following message appears Er
9. 0EA R 52H 5 35H 3 33H 0 30H 21 E 45H A 41H Drive s response XxYySs Where This is a response Xx High word of data Yy Low word of data Ss Check Sum PK x X Y ey If the data stored in the address 30H is 0008H then Check Sum 25H 30H 30H 30H 38H EDH 0 0 0 8 Thus the receiver s response is 0008ED 25H 0 30H 0 30H 0 30H gt 8 38H E 45H D 44H If there is a Check Sum error in the read command then the driver returns 21H OTo read a DOUBLE WORD from driver Syntax L5NnSs The read command must be started with LS and the command string length must be 6 Where L5 This is a double word read command Nn the address of the data to be read Ss Check Sum 5 N n Driver s response XxYyAaBbSs Where 96 This is a response XxYy data stored in Nn 1 AaBb data stored in Nn SST FOR KKKP Y Hyr A a B b If there is a Check Sum error in the read command then the driver returns 21H 2 6 3 Write data to driver OTo write a SINGLE WORD to driver Syntax VVSXxYyZzSs The write command must be started with W5 and the command string length must be 8 Where W5 This is a single word write command Xx the address of the data to be written Yy the high word of the data Zz the low word of the data 22 Ss WISH X RR Y PV HL EZ Example Write 8 to address
10. 30H Check Sum 57H 35H 33H 30H 30H 30H 30H 38H 1B7H W Sv 3 0 0 0 0 8 Thus the write command is W5300008B7 W 57H 5 35H 3 33H gt 0 30H 0 30H 0 30H 0 30H 8 38H B 42H 7 37H Please note that only the last two digits of the Check Sum are used Driver s response 25H If there is a Check Sum error in the read command then the driver returns 21H For Monitor Mode Address 128 80H 157 9DH the data sent to the driver is the number of times which the driver will respond with the content stored in the specified address For example Sending a string of W5800008BC will cause the driver to respond with the content stored in address 80H for eight times The format of the response string is the same as R5 read command This function can be used to monitor a certain data such as speed or torque continuously Writing a zero to one of these addresses will clear the content store at that address OTo write a DOUBLE WORD to driver Syntax M5NnXxYyAaBbSs The write command must be started with M5 and the command string length must be 14 Where M5 This is a double word write command Nn the address of the data to be written Xx the high word of the data to stored in Nn 1 Yy the Low word of the data to stored in Nn 1 Aa the high word of the data to stored in Nn Bb The Low word of the data to stored in Nn Ss M 5S N n X x Y y A a B b Driver
11. DD20 SCHAFENER FN2090 10A SINGLE PHASE SDD30 SCHAFFNER FN3270 10A THREE PHASE SDD40 SCHAFFNER FN3258 16A THREE PHASE Regenerative Resister When the inertia presented on the motor is heavy a regenerative resister is required The value of the resister may be obtained by dividing the wattage of the Resistor from 2500 For example a 50Q 50W Resistor is recommended for a 20 or 30Amp driver If error02 Chapter4 persists then adjusting the regeneration duty cycle Pn040 Section 3 3 is also required Select suitable wattage for the resistor forced cooling by fan may be required for proper heat dissipation 20 2 6 RS232 DB 9 Driver PC DB 9 Com Port 1 1 o o6 9 2 o o oo o o o 6 6 MALE CC 7 7 FEMALE 8 8 9 9 Please use the cable described above to connect the servo driver to a PC for retrieving the system data and setting up the operation parameter 2 6 1 PC Communication port setting Baud rate 9600 bps Parity None Data bit 8 Stop bit 1 Flow Control None 2 6 2 Read data from driver To read a SINGLE WORD from driver Syntax R5XxSs The read command must be started with R5 and the command string length must be 6 Where R5 This is a single vvord read command Xx the address of the data to be read Ss Check Sum RFI X x Example Read the data stored in 30H Check Sum 52H 35H 33H 30H EAH R 5 3 0 Thus the reading command is R53
12. SDD Series Driver User s Manual A dual mode simplified servo driver Position and speed Contents Le ANU OAUCHON POPP P P 1 1 1 2 1 3 1 4 1 5 1 6 Unpacking UU KATRA ET PN TI AA A RO CATION I I don dan an nea b e k Safety PReCAUUONS u a DA AAA ASI LIA KA AA WAA AA ANA WI AAA WAUA KA WAA KAA WAA KAA SPCC LI VA AA mec 2 System Wirin JEEP 2 1 2 2 2 2 1 2 22 2 2 3 2 2 4 2 2 5 2 3 2 4 2 5 2 6 2 6 1 2 6 2 2 6 3 2 6 4 2 2 2 3 ST AA E 5 8 9 9 Unit OVERVIEW iii l k sessiota rets tera oeaio tsrs siei eesis roseto ie rao Tiss UNI Connector LO Input Ports Connection sia seien 12 Output Ports Connection side aia 14 Command Pulse Input Ports Connection esee 15 Encoder Siena lOUtput Ri eek 16 Velocity command nik t titt dl e de eta sasha 17 CN2 encoder Cconnector ssssssssesseeeeeeeesee LO Connection Diagram essen Power and motor connection diagram sssesseessccesocessocesocesocessocesooessosesoeesse 20 PC Communication port setting Lii esse sua ih eet eene red een teen sbon 21 Read data from driver areas 21 Write data to 0 ER 22 Memory Ma AHAAA T 24 NT ER LT 3 1 3 2 3 2 1 3 2 2 3 2 3 3 2 4 3 2 5 Mode selection ssssssssissessisvsrssssevssessssvsressssvess sisv rossse ssod
13. a into the EEPPROM The number entered will flash for 1 second while recording ll 146 we Z Press the DATA key for more than 1 second to return to the parameter setting mode UA PIRDD S 32 User Parameter Table Definition Range Unit Default effect PC r w a D Rund L 1 1 1 D 1 Speed loop gain 5 500 o fenter i3 14 3 Speed scale The motor speed at SIN pin 10 rpm 3000 reset 15 10V 30000 4 Speed reference offset eio00 0 01V O reset 16 17 6 Negativetorguelimt 0300 300 Preset I8 R 19 8 Reserved 0 Reserved Po Fue E integration gain in low speed Pes Mode selection 0 2 speed mode NN d 22 1 1 position mode reset 22 2 Negative logic n 0 sign pulse n 1 CW CCW n 2 3 AB phase pulse input Positive logic n 4 sign pulse n 5 CW CCW n 6 7 AB phase pulse input 10 3 Hxnxx n 0 CCW for positive 0 1 reset 22 3 command n 1 CW for positive command 10 4 Hnxxx n 0 set automatic current 0 1 reset 22 4 feedback offset n 1 set current feedback offset to 0 LII Reserved Cu Ba 2 IHxxnx P normal mode 23 2 n 1 eliminate low a alarm TR U 83 te Reseed B O 23 4 12 1 Hxxxn acceleration and deceleration 0 1 3 reset 24 1 time for jog mode FN2 n 0 time 0 n 1 linear acceleration Acceleration and deceleration time is set in the parameter number
14. bc The fourth and fifth digit represents the Date 4 Press the DATA key for more than 1 second to return to the auziliary function mode M FIND 3 2 5 Reset Warm start 1 Press the A keyor the W key to select the function 4 ld FinDoH 2 Press the DATA key for more than 1 second and the following pattern is lt displayed HESEL 3 Press the MODE key to confirm the reset Press the DATA key for more than 1 second to abort the reset 28 3 2 6 Input ports status PIN number Definition 1 Servo on 2 Clear error counter 3 Pulse command inhibit 1 Press the A keyorthe W key to select the function 5 M Fn00S 2 Press the DATA key for more than 1 second the displays will show the pin number in left 3 characters and show the status in rightmost digit If the status digit is 1 which means the pin is connected to DG or OV or close If the status digit is 0 which means the pin is connected to 24V or open L G 1 0 3 Pressthe A key orthe W key to scroll up and down to view all the input ports 4 Press the DATA key for more than 1 second to return to the auxiliary function mode 3 2 7 Output ports status PIN number Definition 14 Alarm 15 In Position 1 Press the A key orthe W key to select the functi
15. cLr 3 Press the MODE key to clear the memory d an E Flash for I second E ric L r 4 Press the DATA key more than 1 second to return to the auxiliary function mode LA FinD ae 3 2 3 Jog Jog uses the speed specified in the PN29 and the acceleration time specified in the PN28 1 Press the A keyor the W key to select the jog function Fn002 MA FinUOe 2 Press the DATA key for more than 1 second JoS 3 Press the A key or the W key to jog in positive or negative direction J o g T P Jog in positive direction J a 9 E Jog in negative direction J o g B Hold 27 4 Press the DATA key for more than second to return to the auxiliary function mode and close the jog function M FinUOe 3 2 4 Firmware version lt 1 Press the A keyor the W key to select the function 3 M Fn003 2 Press the DATA key for more than 1 second to display the firmware release date D b Cc 6 Represents the date 26 JAN 2006 Counting from left to right the first and second digit represents YEAR The third digit represents the month 1 2 3 4 5 6 7 8 9 A gt b C represent JAN to DEC respectively The figures are shown as following 123456 IBSR
16. der PB JA lead by 90 degree phase B PB 19 output 20 Encoder PZ Transfer the Z phase of the encoder input signal phase Z PZ 21 output 22 pra port N Ground for output ports ground 23 Reserved 24 Reserved 25 Shielding FG Connect to the shielding of the cable 11 2 2 1 Input Ports Connection Input port internal circuits E 10 5K N LE SUN 1 a L Ag 5K A V CLR 2 SK T IT INH 3 Connect with NPN type output D24 G 10 A i Sa Connect with PNP type output QA E 18 2 2 2 Output Ports Connection Output port internal circuits T 4 ALM 14 x Wa RN Zm cd id SH 1 4 LN S HA JR ERES Beg re LN ee The maximum current allowable for each port is 50mA Standard wiring for connect with photo coupler WCE Tekal FA NZ A kK zx KA Standard wire for connect with Relay coil 14 MCE aj P 2 2 3 Command Pulse Input Ports Connection Internal circuits for command pulse input ports p uo 3 3k 4
17. divide this number to form an actual calculation number If encoder pulse 2000ppr and 21 22 1 motor be 8000 pulses per revolution 34 2 Definition Range Unit Default effect PC r w addre 23 Positiongain 10 500 l sec 30 enter on 26 Feedforwardgain 7010 reset Doom time The time consumed from rated speed to stop Parameter number 12 1 is used to disable or enable this function Acceleration time and deceleration time The time consumed from still to rated speed or from rated speed to still Parameter number 12 1 is used to disable or enable this function Speed Reserved R Reserved B Da time or delay time before servo 12000 PO Reserved s N oo NO c Regeneration duty cycle default value is 10 It means that if the voltage exceed 360V there is 0 1second regeneration in every 10 second Recommended regeneration resistor 20A and 30A driver 500 50W 40A driver 40 2 70W If there is error 2 exists connect an lower resistance and higher power resistor and observe the DNS if the value of DN8 remains divergent then this value need to be increased The maximum value here is resistance of the resistor 2 times power dissipation W 134 Warning avoid to burnout the driver please watch out the temperature raise of the heat sink The minimum resistor is 35 No Definition Range Unit Default effect PC r w add
18. fthe wire is longer than 30m please consult with your supplier for recommended wire gage 3 A A Encoder phase A 4 JA JA jEncoder phase JA 5 B B Encoder phase B 6 B B Encoder phase B 7 Z Z Encoder phase Z 8 IZ IZ Encoder phase Z 9 U U Encoder phase U 10 IU IU Encoder phase IU 11 V V Encoder phase V 12 IN V Encoder phase IV 13 W W Encoder phase W 14 W W Encoder phase W 15 Shielding FG Connect to the shielding of cable 2 4 Connection Diagram Driver Regeneration Resistor 15 204 1 Phase 220 30 404 3 Phase 220V CN Power For Input Port tHe daj S RVOON TAL Clear Error Countor CLR Pulse Iubet XX I E Pulse Direction I LE Input LX en 1371 Velocity Command eh Analog ground jin men m A PA Ja Br Sp ENCODERS TEE hs Output D mm Ag bod a 14 ee EN Wi I 15 20 Amp model Leave terminal T unconnected 19 2 5 Power and motor connection diagram NEB R FILTER S ITB T CN2 REGENERATIVE 15A 20A SINGLE PHASE 220V 5 RESISTOR 304 404 THREE PHASE 220v PC U R ENCODER TB V WHITE BLA W GREE M T FG OTOR 15 and 20 Amp model leave terminal T unconnected Recommended line filter SDD15 S
19. h as Dimensions and Specifications are described in Chapter 1 Wiring information is shown in Chapter 2 Procedures for Panel Operation are described in Chapter 3 Finally the Alarm Codes are given in Chapter 4 1 1 Unpacking After receiving the shipment from your supplier please verify the following 1 The motor s and driver s are the same as ordered 2 The capacity of the driver matches with the motor to be driven Please see the Driver Specification for correct driver 3 No damage to the packaging material occurred during transportation 1 2 Relocation Please use the original packaging for driver relocation and handle with care 1 3 1 4 2 Safety Precautions Many high volume capacitors are used in the Driver circuit these capacitors remain charged even if the unit power is been shut off If it is necessary to touch the terminal or open the driver chassis please wait at least 10 minutes before continuing While power on the Driver and or motor stand clear from the unit to prevent personal injury caused from erroneous operation Disconnect the power if the Driver Motor unit is not used for a prolonged period To prevent electric leakage connect the motor ground to the FG terminal of the Driver and connect this FG to Class 3 grounding The machine which the Driver and motor are installed must be single point grounded Installation Location 1 If installed in a confined cha
20. on 6 X FnO0b 2 Press the DATA key for more than 1 second then the display will show the 29 pin number in the left 3 characters and show the status in rightmost digit If the status digit is 1 which means the pin is connected to DG or OV or close If the status digit is 0 which means the pin connect to 24V or open Li o IH 3 Press the A key orthe W key to scroll up and down to view all output ports 4 Press the DATA key for more than 1 second to return to the auxiliary function mode 3 2 8 Reload the default values Function reload the default values for PnO Pn32 Procedure of this function Fn010 gt Fn009 1 Press the A keyor the W key to select the function 9 VJ Fn009 2 Press the DATA key for more than 1 second to request for a parameter initialization function Pin iE 3 Press the MODE key to confirm the request P JR iE Flashes while reloading d ari E Flashes for 1 second P IM 1 E This function is locked to prevent unintentionally activation If this function was activated before unlocking a L DIE message is displayed 4 Press the DATA key for more than 1 second to return to the auxiliary function mode M Fn009 30 3 2 9 Lock amp Unlock Functions 7
21. r regeneration Please refer to PN40 The alarm also happens on high AC line voltage Over load a 200 rated load can last for about 10 seconds a 300 load can last for about 4 seconds IPM error due to high temperature short circuit over current or low control voltage in IPM the device which provides power to the motor Encoder error the signal from encoder is erroneous please check connection or encoder CPU error watch dog time out The CPU already lost control To prevent H W damage CPU reset is automatically issued Parameter error the electronic gear rate is not in the range 0 02 50 Parameter checksum error The data stored in EEPROM may be corrupted Emergency stop 1 Over current 300 rated current please check the motor connection Or 2 Specify a longer acceleration deceleration time Error counter overflow the difference of command pulses and feedback pulses is larger than the range of error counter which is defined in PN25 Over speed the speed exceeds the value defined in the PN46 Peak input pulse exceeds 600kpps An abnormal value was read from the current sensors during power on 39 Error To remove Definition code 18 reset Voltage be too high as power on 1 DC voltage over 360V or AC voltage over 255V 2 The voltage monitor device does not work Note 1 Due to the accuracy of the resistor the voltage detected has a maximum error of 2 02 Note 2 If the rated voltage of the
22. re SQ p 53 42 Torque command value for cancelling I 0 300 200 reset control in velocity loop The value 200 means I control will be cancelled if torque command exceed 200 43 Current loop Integral gin fest 44 Reserved TD u c EN I current in U phase Encoder power on delay 0 2000 js 159 Encoder brand type O SUMTAK 1 NEMICON 2 TAMAGAWA A B phase sequence on rotating CCW 0 A lead B 1 B lead A 0 Power 0 100 120V 100 200 220V Rated current Inertia 9 Voltage constant Torque constant Remarks E E I oo 1 Reset means the number is effective after reset from panel CN1 or power off on 2 Enter means effective after value set 3 PC means the value must be transfer in from the RS232 communication port 4 Default value of PnO Pn32 can be reload by function 9 Pn 33 Pn 43 can be 36 set from panel or from communication port Over Pn45 can only be set from the RS232 communication port 3 4 Monitor mode Press the MODE key repeatedly until the monitor mode is reached W din DUO Press the A key orthe W key to get the desired parameter number Press the DATA key for more than second to display the content of the DN P Press the DATA key again for more than 1 second to return to the monitor mode The monitor mode information list DN number definition PC r w address Revolutions rpm
23. rent A 2 8A 3 8A 5 7A 7 6A Povver Source AC180V 240V Single Phase 50 60 Hz AC180V 240V Three Phase 501 60 Hz Encoder Incremental type Temperature Operation 0 50 C Storage 20 80 C Humidity Operation Storage lt 85 RH Vibration lt 0 5G Manual Operation May be defined by User s Parameter Alarm history 10 Alarm numbers are stored Encoder Output A B Z Phase line driver output Z phase additional open collector output Display 5 digit LED display 4 button D I Servo ON Pulse Input Inhibit Clear error counter ES mode D O Alarm In Position Communication RS 232C for User s Parameter setting and status monitoring Ta position A B phase Up Down pulse or direction pulse P velocity 0 10V Looking at the motor shaft V CCW Max Input Freq 500kpps Electronic 1 127 A B 127 A amp B 1 10000 Gear Ratio Input Ripple Time Constant 0 10000ms Filtering In position range 0 32767 Pulses 2 System Wiring 2 1 Unit Overview Display Panel and Push buttons Chapter 3 RS 232 Connector Section 2 6 Power Terminal Section 2 5 Motor Terminal i i Encoder Input Section 2 5 Section 2 3 2 2 CN1 Connector kt SEN O 14 ALM A E CLR O i ee mM 5 3 INH pe es PA 4 PP 17 SPA 5 a TM C 18 PB gt 6 DE C I AFB C Z DN A eu PZ A S FER gt p A a DER m ec A LL sg A cis A ll Ll A c4 N 6 ie SEIN s E Pep A 13 Sb CN1 a
24. s response 25H If there is a Check Sum error in the read command then the driver returns 21H For Monitor Mode Address 128 80H 157 9DH the data sent to the driver is the number of times which the driver will respond with the content stored in the specified address For example Sending a string of M58000080008Ss will cause the driver to respond with the content stored in address 81H and 80H for eight times The format of the response string is the same as L5 read command This 23 function can be used to monitor a double word data such as accumulated pulses continuously Writing a zero to one of these addresses will clear the content store at that address 2 6 4 Memory map 192 COH 193 C1H 194 C2H 195 C3H 196 C4H 197 C5H 198 C6H 199 C7H Descriptions Historical Alarm Codes NO 0 NO 9 Address of the last Alarm 0 9 User Parameter Check Sum NO 0 NO 51 XOR User Parameter NO 0 NO 51 Read Write unsigned Reserved for USER as the motor model Motor Parameter Backup copy of Addrll Default values for User Parameters NO 32 NO 0 Monitor Mode NO 0 NO 19 Read only signed Monitor Mode Data Area See Section 2 8 3 for detailed information Reserved 1 Address 11 is the check sum of Address 12 63 Any value change in Address 12 63 will cause Address 11 to be changed accordingly 2 Writing a 0 to this address 192 will disable the updating function
25. ssis please provide necessary ventilation system to maintain the environmental temperature of the Driver below 45 2 Use rubber pad or shock absorber to insulate vibration if there is vibrating equipment nearby 3 The Driver shall not be installed in an environment where corrosive gases excess dust or metal power is present Insulation from water water mist or cutting fluid is required 4 If there is a big magnet switch or welding equipment which may generate electronic noise near the Driver installation then a line filter is required Recommend filter SDD15 SDD20 SCHAFFNER FN2090 IOA SINGLE PHASE SDD30 SCHAFFNER FN3270 10A THREE PHASE SDD40 SCHAFFNER FN3258 16A THREE PHASE 5 If a line filter is not allowed for the reason of excess leakage current then a insulating transformer is required at the input of the Driver Orientation The Driver must be installed vertically 3 Mounting Screw Use four 4 M5 screws to mount the Driver securely 4 Spacing Maintain at lease 2 cm spacing around the Driver unit 5 Foreign objects During and after installation any foreign object such as cutting chips small screw or washer which may fall into the opening of the Driver unit must be prevented 1 5 Dimensions 1 6 Specifications Driver Description Model No SDD15 SDD20 SDD30 SDD40 Maximum Peak Current A 8 4A 11 4A 17 0A 22 8A Maximum Rated Cur
26. sssvsiosose otedsisssressso s odsts 5 Auxiliary functions een Historical alarm Code iii anesini ananas ee ee seneneeeevese eee vezen eme meve se none nen 26 3 2 6 Input ports SEAT Seat nisi on nn koz eier 29 3 2 7 Output ports STATUS aueh d r 29 3 2 8 Reload the default VAlUeS au aaaaaaaaaaaa aaa ann nn ann ae eee eeeeebenneeenes eee eve ven nnne 30 3 2 9 Lock ge Unlock 4 rs rt hd cert 31 3 3 User Parameters sdi dd did 32 3 4 Monitor mode isisioisis sis s oda os aso do da nda se 37 4d Alarm cod uae O KPO P O P T 39 1 Introduction SDD series AC servo Drivers is a simplified servo driver which is designed for intrinsic application of position or velocity mode operation SDD series Drivers use the digital servo technology to provide high precision for driving servo motors Many safety related features have been built in the Driver design However erroneous operation may result in unpredictable accident and cause damage to the Driver or severe personal injury It is highly recommended that the user is familiar with this manual and performs all setup and operations with caution This manual provides the information you need to install and configure SDD series Driver This manual is intended for use by vendors who are responsible for installing and setting up SDD series Driver consequently it assumes a basic working knowledge of AC servo Motors In this manual the installation related information suc
27. ulses count 32 bits in total higher word is not displayed 1 Lower word of feedback pulses count 32 bits in total higher word is not displayed 0 Error the difference between command pulses and 148 encoder feedback pulses The command pulses are inputj149 pulse number multiply electronic gear ratio 1 Accumulated input pulses 150 151 2 Accumulated encoder feedback pulses 152 153 RPM 4 means IRPM E g 480 means current motor 154 speed is 120 rpm this is a sampled value in 1 of 50 samples taken in 10 milliseconds Torque output percentage of the rated torque 120 155 means the torque output now is 120 of the rated torque This is a sampled value in 1 of 50 samples taken in 10 milliseconds DN number X these values can only be read written via the RS232 communication port 38 4 Alarm code A message such as EF O indicating that an error has occurred The message will stay until any key is pressed To remove reset reset reset Power off reset reset reset reset reset reset reset reset reset Reserved Reserved reset Definition Low voltage DC voltage below 250V or AC voltage below 180V see note 1 2 Over voltage DC voltage over 390V note 1 2 most of the case is happened on a large inertia Please watch DN9 while running If this value becomes bigger and never return to 0 please add an external resistor fo
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