SDP Series Driver User`s Manual
Contents
1. A 41H 21 Drive s response XxYySs Where This is a response Xx High word of data Yy Low word of data Ss Check Sum P X Px H Y Py 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 reiver s response is 0008ED 25H gt 0 30H 0 30H 0 30H 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 L5 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 L 5 N n Driver s response XxYyAaBbSs Where This is a response XxYy data stored in Nn 1 AaBb data stored in Nn Ss PR PPY PYP AP a HBb If there is a Check Sum error in the read command then the driver returns 21H 2 6 3 Write data to driver To write a SINGLE WORD to driver Syntax W5XxYyZzSs The write command must be started with W5 and the command string length must be 8 Where WS 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 Ss WS HR YE yr ZA 22 Example Write 8 to address 30H Check Sum 57H 35H 33H 30H 30H 30H 32. 06DPCW5 30A DELTA 08TDS4W4 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 500 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 og 2 2 29 oO o oO 90 So oO 6 6 MALE 7 7 FEMALE Os 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 word read command Xx the address of the data to be read Ss Check Sum R 5 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 R530EA R 52H 5 35H gt 3 33H 0 30H E 45H
3. O Maximum torque the maximum torque output since 13 power on 10 11 Driver capacity 150 means 15A 200 means 20A 300 139 means 30A 2 S command 4 means 1 rpm 12000 means 3000 140 rpm 38 DN number definition PC r w address 15 Motor type please refer to table at the end of this 143 section 16 Servo status 0 means servo on 1 means servo off 4 19 Overload counter the counter is incremented if a Po een overload is detected when this counter reaches 1250 Overload warning is issued o ge vor nor le total higher word is not displayed Rca SO higher word is not displayed Error the difference between command pulses and 148 encoder feedback pulses The command pulses are input 149 pulse number multiply electronic gear ratio 53 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 31 Accumulated input pulses 150 51 DN number X these values can only be read written via the RS232 communication port 39 4 Alarm code A message such as E F E U indicating that an error has occurred The message will stay until any key is pressed code Low voltage DC voltage below 250V or A
4. after 2 seconds Hxnxx contact definition for command pulse inhibit CN1 pin3 NO normally open NC normally close INH 0 1 INO 2 3 NC 4 Reserved Ot o reset 254 Reserved CT 16 Reserved CT EEE 27 Reserved HE EEE Ip ES E dal 95 Pol EEB E In position sets range of positioning 0 32767 pulse 4 reset 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 34 If encoder pulse 2000ppr and 21 22 1 motor be 8000 pulses per 5 6 1 1 N per reference unit The input pulses will divide this number to form an actual calculation number reset indicates the number of encoder pulses revolution 10 500 osition smoothing time 0 10000 msec 10 Servo 3 on 5 Error counter length 1 500 kpulse AJU 35 Definition Range Unit Default effect PC w addre ss 26 Feed forward gain 0100 _ p heset 58 Deceleration 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 functio
5. 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 PA by line driver output When PN10 3 is 1 the motor rotation direction is CCW phase 18 Encoder PB A 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 U DUSDEN N Ground for output ports ground 23 Reserved 24 Reserved 25 Shielding FG Connect to the shielding of the cable 2 2 1 Input Ports Connection Input port internal circuits 11 Connect with NPN type output AVG Connect with PNP type output 2 2 2 Output Ports Connection Output port internal circuits The maximum current allowable for each port is 50mA Standard wiring for connect with photo coupler Standard wire for connect with Relay coil 13 2 2 3 Command Pulse Input Ports Connection Internal circuits for command pulse input ports F F Ea T 220 p PN ir DPR E N DP E a 220 A DIN Ar Wiring Diagram for Connecting with Differential Devices e g AM26LS32 SN75174 Connection Diagram for connecting with 24V open collector devices p 3 Jhi re o gt ak Ed n m it SA o LS E pl 24 AG bo Connectio
6. 0H 38H 1B7H W 5 3 0 0 0 8 Thus the write command is W5300008B7 W 57H 5 35H 3 33H 0 30H 0 30H 0 30H gt 0 30H 8 38H B 42H gt 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 RS 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 To 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 MS 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 PEPN PPPK PPY PYPE B b Driver s response 25H If there is a Check S
7. 2 8 Reload the default values Function reload the default values for Pn0 Pn32 Procedure of this function Fn010 gt Fn009 1 Press the A key or the W key to select the function 9 l FnDUA 2 Press the DATA key for more than 1 second to request for a parameter initialization function Pin E 3 Press the MODE key to confirm the request P um E flashes while reloading d an E flashes for 1 second P Ww 1 E This function is locked to prevent unintentionally activation If this function was activated before unlocking a L Oc message is displayed 4 Press the DATA key for more than 1 second to return to the auxiliary function mode FnDUA 31 3 2 9 Lock amp Unlock Functions 7 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 II Ein 10 2 Press the DATA key for more than 1 second to request the unlock function Unloc 3 Press the MODE key to confirm the request U n L OC flashes while unlocking__ d on E Flash for 1 second L OC Press the MODE key again will loc
8. 3 2 7 Output ports Status nassen iin ae Boa 30 3 2 8 Reload th default values iia di 31 3 2 9 Locks EN A A ran ca q ben tau o Cerne dos 33 User Parameters sciciiiiec cececsscsccaseacescssdevedcacicscaccancvessassaccesscsusesdacdsesoesssvsoceaceodasces 3 4 Monit r m de esanssenskineiisiaiiennkehundeinich igenien 4 Alarm code 1 Introduction Thank you for choosing SDP series AC servo Drivers SDP series Drivers use the digital servo technology to provide high precision and versatile functions 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 SDP series Driver This manual is intended for use by vendors who are responsible for installing and setting up SDP series Driver consequently it assumes a basic working knowledge of AC servo Motors In this manual the installation related information such 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 s
9. 8 Reserved HE FO E IE CI 8 Reserved _ u Percentage of increased Speed Loop integration gain in low speed 10 1 Reserved 5 pal 10 2 Hxxnx 0 2 1 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 reset 22 4 feedback Sr n 1 set current eooo offset to 0 1 1 Reserved _ _ A 13 Hxxnx n 0 normal mode O a o n 1 eliminate low voltage alarm E 183 tet Rene ET 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 28 n 3 deceleration time is set in the parameter number 27 Acceleration time is set in the parameter number 28 12 2 Reserved 12 3 Reserved y 243 12 4 Reserved 3 1 Hxxxn digital filter for position 07 0 reset 25 1 34 No Definition Range Unit Default effect PC r w addre SS 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 on and servo on automatically Delay can be set in parameter number 32 Pn32 2000 it means that power on and then servo on
10. A key for more than 1 second Jo9 3 Press the A key orthe W key to jog in positive or negative direction J O g E P Jog in positive direction J O g A Jog in negative direction Jo E Hold 28 4 Press the DATA key for more than 1 second to return to the auxiliary function mode and close the jog function L Fae 3 2 4 Firmware version 1 Press the A key orthe W key to select the function 3 VI FnDUS 2 Press the DATA key for more than 1 second to display the firmware release date U b b 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 gt 8 9 gt A gt b gt C represent JAN to DEC respectively The figures are shown as following ICIJ4Sb 1B9HAbe The fourth and fifth digit represents the Date 4 Press the DATA key for more than 1 second to return to the auxiliary function mode Fn003 3 2 5 Reset Warm start 1 Press the A key or the W key to select the function 4 l Fin DOM 2 Press the DATA key for more than 1 second and the following pattern is displayed FIESIE 3 Press the MODE key to co
11. C voltage below 180V see note 1 2 2 reset 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 for regeneration Please refer to PN40 The alarm also happens on high AC line voltage aa load a 200 rated load can last for about 10 seconds a 300 load can last for about 4 seconds er IPM error due to high temperature short circuit over current or low control voltage in IPM the device which provides power to the motor 0 Encoder error the signal from encoder is erroneous please check connection or encoder Ml AR To prevent H W damage CPU reset is automatically issued Parameter error the electronic gear rate is not in the range 0 02 50 e e corrupted 9 reset Emergency stop 10 reset 1 Over current 300 rated current please check the motor connection Or 2 Specify a longer acceleration deceleration time 11 reset Error counter overflow the difference of command pulses and u feedback pulses is larger than the range of error counter which is defined in PN25 13 reset Peak input pulse exceeds 600kpps 14 Reserved A QQ reset An abnormal value was read from the current sensors during power on 40 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 vo
12. SDP Series Driver User s Manual 1 Contents A AAA A AAN 2 1 4 A odio anede Sene esse seede rese 2 1 2 RELOCANO ia 2 1 3 Safety Precautions sii 3 1 4 Tal ae 3 1 5 Dimensions se cassiesed ccesessed sspteddcdesucccaetcsauddesnescguvadecuddeseviedssiusdsctsonsss 5 System TAE PES EPE RR URAR NNE RAR DS RR O RR VR READ PARES RP PORRA ROO BE SDS E AR 9 Debs Unit Overview 9 2 2 SONY Conneci r ls 10 Zoo Input Ports Connection naar RNA ARE 11 2 2 2 Output Ports Connection a ra 13 2 23 Command Pulse Input Ports Connection cesensensennnesnennnneennenn 14 224 Encoder Signal Output 16 2 3 EN2 encoder connector sesssesoeseeseoesoeseeseoesosssessossoosseesoesoossessoseoossoesoseoossossosseoe 18 24 A AAA 19 2 5 Power and motor connection diagram ssesssesssesssocesoossoossosessssesssesssoeesossso 20 2 6 RS232 Nissernes ai a idade add 21 2 6 1 PC Communication port setting cc eee eeeeererereeaeeeneeaa 21 2 6 2 Read data from driver Seesen nee 21 2 6 3 Write data to driver ua aa HE nein 22 2 64 Memory Maps es i e ee o da 25 Panel OVEN ANON PAPER siessen PR RE RR PO RENO PORTA ANP ie ie 26 3 1 Mode selection Aa 26 3 2 DAA Ssss sss 27 3 2 1 Historicalalarmi code 2 2 N eier 27 3 2 2 Clear the historical alarm codes nun 28 3 2 3 JO rss E ed a a 28 3 2 4 Firmware version Wales 29 3 29 Reset Warm Start es SR 29 3 2 6 Input ports status nenne 30
13. er may be disabled or put on hold Input type A B phase Up Down pulse or direction pulse Freq Gear Ratio Filtering range 2 System Wiring 2 1 Unit Overview Display Panel and Push buttons Chapter 3 RS 232 Connector Section 2 8 Power Connector Section 2 7 CNI Section 2 2 Motor Connector Section 2 4 Encoder Input Section 2 3 2 2 CN1 Connector u Name Sy Function no bol 1 Servo on SON SON connects to DG means servo on or servo system ready open circuit means servo off Clear error 2 CLR Clear error counter counter Command INH Ignore the input command pulses pulse 3 inhibit Internal Set internal speed to be inversed speed inverse 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 0V for PNP type connection 10 Input power P 115 24V for NPN ee di 11 Reserved 12 Reserved 13 Reserved E Name Sn Function no bol ial Asa AEM ALM connects to DG normally it is open when any abnormal condition is detected When the pulses difference
14. k the function again 4 Press the DATA key for more than 1 second to return to the auxiliary function mode Ad En 10 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 32 3 3 User Parameters 1 Press the MODE key repeatedly until PN000 is displayed I x PnDOO Press the A keyorthe W key to get the desired parameter number Press the DATA key for more than 1 second to retrieve the content of the listed parameter number 0 I H3 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 key or the W key to increase or decrease the flashing digit Press the DATA key for more than 1 second to store the new data into the EEPPROM The number entered will flash for 1 second while recording D 1145 Press the DATA key for more than 1 second to return to the parameter setting 5 mode BG PADDO 33 User Parameter Table Definition Range Unit Default effect PC r w addre ss O Reserved CT Cd 1 Speed loop gain 5500 140 enter 13 2 Speed loop integration time _ 1 1000_ msee_100_Jenter_ 14_ ren I O 5 Positive torque limit 300 1300 reset 17 6 Negative torque limit foao ps 500 eset 1
15. ltage 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 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 pin of CN1 However the cause of alarm must be resolved first 41
16. n 10 msec 100 e 39 10000 10 msec Servo 40 10000 on Jog speed trated rpm 300 enter az 30 Reseved 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 400 70W If there is error 2 exists connect an lower resistance and higher power resistor and observe the DN8 if the value of DN8 remains divergent then this value need to be increased The maximum value here is resistance of the resistor 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 250 41 Current loop smoothing time Torque command value for cancelling I control in velocity loop The value 200 36 E ze Definition Range Unit Default effect PC r w addre ss a A WM command exceed 200 43 Current loop Integral gain Beaks 44 Reserved e Encoder pulse 6 Shift the angle of encoder index and current in U phase 47 Encoder power on delay 0 20000 jus 159 Eh Encoder brand type 0 SUMTAK 1 NEMICON 2 TAMAGAWA 9 A B phase sequence on rotating CCW 0 A lead B 1 Blead A 0 Power 7 100 120V 100 200 220V Maximum speed ES HE E BEER Rated current p BER 0 N oo AQ Ww Voltage constant Torque constan
17. n Diagram for connecting with 12V open collector devices Replace the 1k 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 Controller Driver 2 3 CN2 encoder connector Pin no Name Symbol Function 1 5V 5V If the wire length for the encoder is longer than 20m please use double wire to minimize voltage drop 2 OV 0V If the wire is longer than 30m please consult with your supplier for recommended wire gage 3 A A ___ Encoder phase A 4 JA A Encoder phase A 5 B B Encoder phase B 6 B B Encoder phase B 7 Z Z Encoder phase Z 8 IZ Z Encoder phase Z 9 Shielding FG Connect to the shielding of cable 2 4 Connection Diagram Driver Re generation Resistor RA 204 1 Phase 220W 304 2 Phase 20V Power For Input Port SERVO ON E Clear Error Countor CLR Pulse Inhibit es PP Pulse Direc tion Doa DN E ENCODER E In Position 0Y po e po Fani E 4 EEEF Fere 2 5 Power and motor connection diagram Io R ike FILTER S TB IN T CN2 REGENERATIVE SD15 20 SINGLE PHASE 220V E RESISTOR ABOVE SD30 THREE PHASE 220V PC R e ENCODER TR vy ea W FG FG w a Q wa E A MOTOR Recommended line filter 15A 20A DELTA
18. nfirm the reset Press the DATA key for more than 1 second to abort the reset 29 3 2 6 Input ports status 1 Servo on 3 Pulse command inhibit 1 Press the A key or the W key to select the function 5 VI FnDUS 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 1 1 iW 1 0 Press the A keyorthe W key to scroll up and down to view all the input uy ports 4 Press the DATA key for more than 1 second to return to the auxiliary function mode 3 2 7 Output ports status 1 Pressthe A key or the W key to select the function 6 E ENDOB 2 Press the DATA key for more than 1 second then the display will show the 30 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 lv o IH 3 Press the A key or the 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
19. recommended to prevent excessive writing of EEPROM After changing all the User Parameters a write operation to Address 11 may then be executed 93 C1H 194 C2H 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 195 C3H 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 96 C4H 97 C5H 98 C6H 99 C7H Current Alarm code 0 means no alarm 25 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 a the flashing digit by 1 e press A and Wsimultaneously to clear the alarm Shift the cursor the flashing digit left by 1 position Press this key for more than 1 second to 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 y za T Monitoring mode 000 ausm y 000 Pense mio y poo oomen 26 3 2 Auxiliary functions P
20. ress the MODE key repeatedly until the following pattern is displayed FnDU U Hi 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 Il ZE Fin U U 2 Press the DATA key for more than second 0 A 0 O 3 Press the A key orthe W key to scroll up and down among the previous alarm codes The leftmost number is the alarm sequence where 9 means the oldest 4 Press the DATA key for more than 1 second to return to the auxiliary function mode II Fin Ed 27 3 2 2 Clear the historical alarm codes 1 Press the A keyorthe W key to select function 1 o Fall I 2 Press the DATA key for more than 1 second until the following message appears Erclr 3 Press the MODE key to clear the memory d an E F Flash for 1 second E ric L E 4 Press the DATA key more than 1 second to return to the auxiliary function mode FOU I 3 2 3 Jog Jog uses the speed specified in the PN29 and the acceleration time specified in the PN28 1 Press the A key or the W key to select the jog function Fn002 l Fae 2 Press the DAT
21. t NO q Y A A oo N Dini ws Remarks 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 Pn0 Pn32 can be reload by function 9 Pn 33 Pn 43 can be set from panel or from communication port Over Pn45 can only be set from the RS232 communication port 37 3 4 Monitor mode 1 Press the MODE key repeatedly until the monitor mode is reached o dnJU0 2 Press the A keyorthe W key to get the desired parameter number Press the DATA key for more than 1 second to display the content of the DN Press the DATA key again for more than 1 second to return to the monitor mode The monitor mode information list Revolutions rpm e g 120 means current motor revolution is 120 rpm this value is the average rpm in 0 1 second 1 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 percentage in 26 seconds A load the value is the maximum value 31 appeared in DN2 4 Error the difference between command pulses and encoder feedback pulses The command pulses are input pulse number multiply electronic gear ratio The display value is clamped between 9999 9999 5 Reseved o O 6 Reserved o O 7 Reseved o
22. t 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 For single phase power source DELTA 06DPCW5 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 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 Specifications General Specifications Model No SDP15 SDP20 SDP30 SDP40 Maximum Peak one Maximum Rated 2 8A 3 8A 5 7A 6A pt Teo doses Model No AC180V 240V Single Phase 50 60 Hz AC180V 240V Three Phase 50 60 Hz Incremental type Temperatur Operation 0 50 C HED Storage 20 80 C Humidity Operation Storage lt 85 RH lt 0 5G Manual Operation May be defined by User s Parameter 10 error messages are stored Over Travel Positive or Negative Over Travel inhibit inhibit If over travel is occurred the servo pow
23. um 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 function can be used to monitor a double word data such as accumulated pulses 23 continuously Writing a zero to one of these addresses will clear the content store at that address 24 2 6 4 Memory map 0 9 Historical Alarm Codes NO 0 NO 9 0 Address of the last Alarm 0 9 1 User Parameter Check Sum NO 0 NO 51 XOR 2 63 64 79 Reserved for USER as the motor model 0 93 5 127 28 147 48 157 58 191 192 COH l 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 Writing a 0 to this address 192 will disable the updating function of the Address 11 Writing a 1 to this address 192 will enable the updating function The system default is enable During the disable state writing any value to Address 11 will cause the Check Sum to be regenerated If there are many User Parameters need to be changed disabling the Check Sum updating function is highly
24. upplier 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 3 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 chassis please provide necessary ventilation system to maintain the environmental temperature of the Driver below 55 C 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 environmen
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