SD series Digital ac servo system User Manual - Vs
Contents
1. No Name Function 3S Range o 1 There are passport for users parameter and system parameter FE oe y However the high limit value depends upon machine resonant SSRIBHAdi frequency If the value is too big to make the vibration there is a noise in the mechanical part and big overshoot Position Feed forward lowpass The barrier frequency is higer then it s easy to trace but easy to make Fliter barrior vibration 1 1200 frequency Position 0 Pulse symbol 0 1 Command Pulse Input Mode 1 CCW pulse CW pulse i Position Command Gear Electric Gear Ratio Molecular 1 32767 Ratio modecula Position Command Gear Ratio Electric Gear Ratio Denominator 0 32767 denominator Position Control 0 Normal Motor Direction 1 Reverse Direction Set the completing range in mode of position control Locate ll This parameter will shows it complete locating or not in the mode of 0 30000 Range position control Position Set the position out of tolerance range 13 Out of tolerance In the mode of position control when the current counter No is bigger 0 10000 Range than the parameter Driver will give position out of tolerance ERROR Position 0 Position out of tolerance inspect valid Out pie 1 Position out of tolerance invalid stop inspect the error Position Flitering for the position command pulse smoothing with acceleration command deceleration in exponential mode the value means the time constant Smoothing Fli2. A straight shaft H H model motor B single bond M M model motor C taper N N model motor Encoder Model Motor speed 15 1500RPM incremental 1024 20 2000RPM incremental 2048 25 2500RPM incremental 2500 30 3000RPM incremental 5000 absolute 17BIT Incremental2500 province line type 1 1 2 SD servo driver s standard accessories CN1 plug DB25 series 1 set Motor coding line 1 set Four AC220V green terminal Low power drive If meeting other motor providing DB25 pin plug gt Note In addition to mate ST SM series servo motor also could use with many onter model It depend on customer s choice 2 1 Driver Installation Size 1 Front Side mm CNI i 170 185 195 ae fe da SLI Gi 4 DI G LLI d iW uf lag CN2 Pa u ga PeT pa KO low power 0 2KW 0 8KW Servo Driver installation dimension Caution L and N is the 220VAC power supply input interface P and D is the external braking resistor interface Don t take mistakes ffs Li RL E E EEE a Madia 188 198 206 214 K1 Mid Power 1KW 2 5KW Servo Driver installation Size K2 high power 2 5KW 5KW Servo Driver Installation Size 1 3 1 Instalment Environment Conditions Operature 0 55 C non frezing 10 C 40 C non frezing Temperature Humidity 90 RH or less non condensing 90 RH or less non condensing Storage 20 C 80 C 40 C 55 C Temperature Humidity 90 RH or less no
3. 3 Select the control mode selection to speed control mode Pn4 1 Set Pn40 0 according to the request set the speed parameter Pn23 Pn26 4 Confirm no alarm or anyother abnormal status set SON to ON motor in motivation in the internal speed 1 running status change the status of SC1 and SC2 terminal status in CN2 motor runs at the setting speed 5 4 Speed Trial Operation Mode 1 Connect CN1 make the SON signal as OFF 2 Connect main control circuit and main power supply driver unit display lighting up If error occurs pls check connections 3 Select the control mode selection to speed trial mod Pn4 2 4 Confirm no alarm or anyother abnormal status set SON to ON motor in motivation at zero speed 5 Press some keys and enter into F1 speed trial mode the symbol is S the value unit is r min system in the status of speed trial mode speed commands operated by keys use keys to change the speed commands motor runs at the given speed 5 5 JOG Operation 1 Connect CN1 make the SON signal as OFF 2 Connect main control circuit and main power supply driver unit display lighting up If error occurs pls check connections 3 Select the control mode to JOG mode Pn4 3 4 Confirm no alarm or anyother abnormal status set SON to ON motor in motivation at zero speed 5 Press some keys and enter into F2 JOG operation status the symbol is I value unit is r min system in the status of speed control mode speed and direction are determ
4. or more Single 3 phase 220VAC i Single L1 L2 LEK 3 phase L1 L2 L3 EO A CN1 ajii BRS HRe OON BREBRS HEE NAE SAA ASS AHNE OOG E CN2 Connect Encoder Servo Motor SD K1 K2 Series Servo Driver Connection 2 2 Speed Position Controller Mode Connection SDXXXKO SERIES AC SERVO DRIVER Servo Motor AC220V DC 12 24V Servo On Input Alarm Reset Input O Position Clear Input O Pulse Inhibit Input O Brake Output Alarm Output Arrive Output Common Output AM26LS32 Receiver Z Phase Output Z Phase Output GND When pulse voltage is 12V or 24V connect seriesly 1K resistor Position Control Mode 10 SDXXXK1 2 SERIES AC SERVO DRIVER Servo Motor 3 phase or single D L AAA phase AC220V on ee Q i 5V 5V DC 12 24V gt COM 8 5V COM 5V Servo On Input a Jon OV Alarm Reset Input O OV Position Clear Input O OV Pulse Inhibit Input O OV A A 5 Za Brake Output HOLD 3 2 Alarm Output ALM 15 A Arrive oi Zia Common Output B ws pe g t V lt V W W FG FG OV Z Phase Output CZ Z Phase Output GND XS PAOUT DI PAOUT PBOUT PBOUT i PZOUT PZOUT E When pulse voltage is 12V or 24V connect seriesly 1K resistor Position Control Mode 11 SDXXXK1 2 SERIES AC SERVO DRIVER Servo Motor 3 phase or single b L phase AC220V b N Encoder DC 12 24
5. the Pn4 0 then it is position control mode according to controller output signal set parameter Pn8 and also set a suitable electric gear ratio Pn 9 Pn 10 4 Confirm no error output or other abnormal status servo on signal turn to ON motor in motivation status current speed zero 5 Adjust input signal pulse frequency motor run as the commands 5 3 Speed control mode operation In Speed control mode there are external analog voltage speed control and internal speed control two kinds A External analog voltage speed control mode 1 Connect CN1 connect analog signal into pins 17 and 4 of CN1 set SON OFF 2 Connect main control circuit and main power supply driver unit display lighting up If error occurs pls check connections 3 Select control mode as speed control mode Pn4 1 and also set Pn40 as 1 4 Confirm no error output or other abnormal status servo on signal turn to ON motor in motivation at external analog voltage control running status motor turns slightly set parameter Pn36 to make motor speed as zero 5 Change the analog voltage of controller output can change the motor speed and change the voltage polarity can change the direction of motor running B Internal Speed Control Mode 1 Connect CN1 input control signal Servo ON SON Speed Selection 1 SC1 Speed 28 Selection 2 SC2 OFF 2 Connect main control circuit and main power supply driver unit display lighting up If error occurs pls check connections
6. 1 High and Low speed all use high speed to do zero adjusting O Analog Speed Torque Motor Rotate Direction Reserved 39 Reseved oO 40 Speed Mode In the Speed control mode the speed is from internal speed or analog 0 1 Selection command 0 Internal Speed 1 Analog command 7 Speed output l 41 electric gear Eevery 1 turn feedback pulse from encoder which output from gear 0 255 ratio molecular Speed Output l 42 electric gear Eevery 1 turn feedback pulse from encoder which output from gear 0 255 ratio denominato 43 Current loop Bigger value bigger gain smaller current tracing error But too big gain 1 500HZ proportion gain will make vibration or noise lt related to motor don t relate to load 39 00 26 Current loop Smaller value faster integral soeed smaller current tracing error i i i r don t related with load As no vibration set value as 1 1000ms constant bigger as possible 45 Internal CCW Set the internal torque limited value when CCW the setting value is the 0 300 torque limit percent of rated torque Si 9 46 Internal CW Set the internal torque limited value when CW the setting value is the 0 300 torque limit percent of rated torque sla External CC Set the external torque limited value when CCW the setting value is 0 300 torque limit the percent of rated torque a 9 External CW Setthe external torque limited value when CW the setting value is the 0 300 torque limit percent of rated t
7. Back to upper menu or operation cancel Into the next branch menu or iinput confirm Note and keep pressing the operation will be done repeatly and the time pressing longer the repeated speed is faster 6 bit LED nixie tube display all the status and data of the system when the decimal points on all the nixie tube or the most of the right side mixie tube is flashing then it shows error Operate multilayer menu the first layer is main menu include 8 kinds operation mode the second layer is the branch menu under the main meu The drawing below shows Status Monitor Parameter Parameter Operation Second Intemal Speed Running v a Layer Menu Automatic Gain Encoder Adjustment Open loop Operation At the first layer and select Un and press then enter into monitor mode Totally there are 21 kinds display status user can use A and w to select Un 01 Motor Speed Un 02 Current Position low 5 bit Un 03 Current Position high 5 bit Un 04 Command Pulse low 5 bit Un 05 Command Pulse high 5 bit Un 06 Position Deviation high 5 bit Un 07 Position Deviation low 5 bit Un 08 Motor Torque Un 09 Motor Current Un 10 Current Speed C O ARE EERE EREREABEMAREE Un 11 Control Mode Un 12 Pulse Frequency Un 13 Speed Command Un 14 Torque Command Un 15 Rotor absolute position Un 16 Input Signal Status Un 17 Output Signal Status Un 18 Encoder Signal Status U
8. SD series Digital ac servo sy User Manual Third Page AC Servo Amplifer fue Rif AR 3E 3 BR ong Please read this manual before installing debugging using Thanks for choosing servo driver and servo motor of SD series Please read this technical manual before using Main content as following Servo driver s check install and Wiring steps Digital panel s operating steps status display unusual alarm and processing Servo system s control mode test run and adjustment procedures Instruction about all servo driver parameters Servo driver s model In order to facilitate the daily inspection maintenance and understanding the cause of abnormal also treatment measures please keep this manual for using anytime Note Please return this instruction to the final user to maximize the benefits of servo drive Cause the improvement of products no prior notice will be given for any changes of user manual The company does not undertake any responsibility for product changes by user product warranty obsolete Please pay more attention to the warning sign when you read Indicate the wrong operation may cause disastrous gt Warning consequences death or series injury AN Caretti Indicate the wrong operation may hurt the operation person also damage the device Indicate misuse may damage the device and product Notice Content Chapter 1 Product s checking and inst
9. V COM 8 Servo On Input O SON Alarm Reset Input O Speed 1 gt Speed 2 O 3 Brake Output HOLD 9 Alarm Output 15 hd Arrive Output D Common Output Bi 06 lt Z Phase Output CZ 2 i ALe 2 Z Phase Output GND Speed Command XX SSA Speed Control Mode 12 2 3 Connection 2 3 1 Power supply interface SD KO series Main Power Supply Main power supply input interface 220V 50Hz N Single Phase Note Don t connect with U V W of motor c t GND GND resistor lt 1000 Servo Moto ouput and power ee supply output common connect with ground Servo Motor output interface should connect with W V U according nta Power Supply Main power supply input interface 220V 50Hz 12 Single or 3 phase Note Don t connect with U V W of motor AC220V Servo Motor output interface should connect with W V U according 2 3 Power supply interface CABLES L1 L2 L3 PE U V W terminal diameter gt 1 5mm2 AWG14 16 L N terminal diameter 1 0 mm2 AWG 16 18 4 The GND cable should be thick enough Driver and Motor connect the ground at PE terminal the GND resistor lt 100 Q It s suggested to supply power through a three phase isolation transformer for personnel safety It s suggested to use a NFB in the power supply circuit for emergent turnoff 2 3 3 Signal Interface SD Servo Driver unit Terminal interface are as below CN1 signal control terminal interface is DB25 pins CN2 feedback interface i
10. alling 1 1 Product s checking OO AA WO OOO OR OOO OA ON 1 1 1 2 Servo driver and motor s standard Wi IIIA 2 2 1 3 Servo driver and motor s installing AA AAA WAA AA Taa etavaiatatelatalatalava arata a ate aialatelatetateiaiutatatata ata ian 3 7 Chapter 2 Servo driver and motor s wiring 2 1 Servo driver powerand peripheral device S wiring eee eceeeeeeeeeeeeeeeeeeees 8 9 2 2 Position speed control mode s Standard connection 10 12 2 3Terminal s electric connect Fave G awe weet atee wales OOO a wena OO 13 1 5 24 Signal interface s schematic drawing Cole iii i iena 16 18 Chapter3 Display and operation si Koden 19 19 32 Monitoring OdG lia cee cee eer eee liana 20 20 PEELS ECGS nenne n a 21 21 3 4 Parameter management e eeeeseeeeeeeeteeeeeeeeeeteeetaeeeaeteeeeensaeenesteeeeeeteeateeetaeeeaey 99 09 3 5 F1F2 running mode mii PPP EEEH KIHEHE EEEH EA 23 23 Chapter 4 Parameter Ad liste parameters functiona innii innn aa aa teense 24 97 Chapter 5 Operation and debugging Bi Operation and Salini 28 30 Chapter 6 Alarm and processing AA AA AA ooa O 31 31 6a Alain piocessingime odiana 39 33 Chapter 7 Servo electric connection 7 1 SD servo and servo motor s connection E E E RO ARE SEE uncut ates av ORE E wt ASSO ERO KAENDA AU NAA SE CERRI CE 34 35 7 2 SDB series driver and MiGE ST servo motor s parameter Setting list 36 37 Chapter 1 Product s checking and installing 1 1 Prod
11. ation damaged Change servo motor AL 12 Over Current 2 Wrong connection GND Connect GND correctly Servo driver protection action Change servo driver Mechanical part jammed or high AL 13 Over load Output torque exceed allowed value ni i binges power supply driver and motor 32 Possible Cause Troubleshooting Servo protection action Change servo driver Encrease acceleration deceleration time constant AL 14 Brake Fault Brake loop capacity not enough Change higher power servo motor and driver Main circuit power supply too high Check AC input power supply Encoder cable wrong connection Check connection AL 15 Encoder counter fault GND abnormal GND correctly Servo motor abnormal Chang servo motor AL 16 EEPROM abnormal Internal EEPROM read abnormal Z pulse not exist encoder damaged AL 17 a The cable Shield not good Check encoder cable or interface Encoder interface circuit fault Encoder UVW signal damaged Change the encoder AL 18 Encoder UVW signal Encoder Z signal damaged Check the encoder interface abnormal The cable Shield not good circuit illegal code The Gable Shisld ndi good Check encoder interface circuit AL AL 20 CPLD abnormal CPLD communication abnormal Change servo driver 33 SDB series driver and MiGE ST servo motor s parameter Setting list SDB series servo and ST motor s mating and PN1 parameter motor ID s Setting Motor flange Motor Model Servo driver mode
12. de of Speed Control When SC1 ON and Sc20N select internal L3000 3000 speed 4 as the commands r min Motor magnetic aa 7 pole position Motor magnetic pole position The value is the acceleration time from Or min to 1000r min The 29 Acceleration acceleration character is linear Only used in speed control mode Time Constant position control mode invalid lf driver operate with external postion loop this parameter should be 1 a 1 1000ms Deceleration The value shows the deceleration time from 1000r min 0r min The Time Constant character is liear Only used in Speed control mode position control 1 1000ms mode invalid if driver used with external position loop the value is 1 Analog Speed analo n Ri in hi g command shift to speed torque gain Bigger gain bigger speed 31 a gain Then bigger slope of curves 20 500HZ Reserved o O Analog Speed Fliter to analog command Bigger value the motor runs more steady 33 Torque Command but weaker tracing ability Smaller value make better speed and trace 1 1000ms Fliter ability but easy to vibrate Analog Speed 34 Torque Command Zero Clamp Mode Alanog zero In Speed control mode when no voltage input motor also rotates correction 0 lightly Adjust this parameter can keep speed at zero speed 0 Normal 1 Analog command reverse 2 Output pulse reverse 3 Analog command and output pulse all reverse N 0 high and low speed separate to do zero adjusting
13. er B B e a se Connect with encoder Z Phase of motor CN2 21 Enno ve Luni SP Connect with encoder U Phase of motor cadere ve L SP gente ELA gr Conc enter Pes mo si enza Pe stia 2 3 4 Signal Terminal Cables Cable selection It s better to use s twist shield cables dimension 0 12mm2 AWG24 26 the shield layer should connece with PE 4 Cable length Cable length is shorter is better Control CN1 cable no longer than 3M and feedback cable CN2 no longer than 20M 4 Wiring The wiring is better to be far away from power supply to avoide interference Also pls install some surge absorbing componnets DC coil inverse parallel fly wheel diode and AC coil parallel connect resistor to absorb loop 2 4 Signal Terminal Principle 2 4 1 data input terminal circiut Data input Terminal circuit can be controlled by relay or open collector transistor circuit The user supply the power supply DC12 24V current 100mA Note If the current pole connect reversely will make driver no work servo ae COMET e _ HW LL T sw 2 4 2 Servo Motor photoelectric encoder input termimal In the mode of differencial output use M26LS32 MC3487 some other similar as RS422 as the receiver Driverside AMNIZELS32 ws a 2 4 3 Pulse signal input terminal circuit In order to send the impulse data correctly it s advised to use differencial drive mode In Differencial driver mode use AM26LS31 MC3487
14. eriodic time of CW CCW is 2S Used for the age motor or driver F4 is for the encoder zero clamp function motor factory use it The end user don t use pls F5 function reversed 23 Chapter 4 Parameter SD series servo driver totally have 96pcs parameter for the users According to the usage there are 3 kinds parameter Pn1 Pn59 is the user parameter Pn60 Pn96 is for the motor complete set parameter Pn5 Pn16 is position control parameter Pn17 42 is speed control parameter Pn43 Pn50 is current control parameter Pn51 Pn59 is I O control parameter Pn60 Pn96 is for motor complete set parameter No 0 Password 34 Analog SpeedfTorque Zero Clamp Mode Motor ID Zero offset amount 1 System Software Version Zero offset amount 0 38 6 PositionFeed forward Gain 40 Speed Mode Selection _8 Position Command Pulse Input Mode 42 Speed Output electric gear ratio denominatgr 9 Position Command Gear Ratio molecular 43 Current loop proportional gin Driver forbit input invalid 50 Torque Command Fier Speed Proportional Gain ee Input terminal low 4 bit reverse Speed Integral Time Constant Input terminal high 4 bit reverse Speed Inspect Lowpass Fliter Output Terminal bit reverse x 4 5 intemal Speed 2 eo 50 53 57 58 59 61 62 64 65 87 92 5 57 58 59 61 intemal Speed 4 fe Motor magnetic pole position 64 MotorRated Current o Reversed d 68 86 EA 92 Motor rated
15. gnal servo on valid 1 SON forced to be ON 0 1 53 54 55 56 57 58 59 61 62 64 5 6 87 92 5 9 27 Chapter 5 Operation and Setting 5 1 Power Supply Connection 1 Connect 3 phases 220VAC voltage to power supply terminal of driver SD K1 K2 servo driver 3 phase connect L1 L2 L3 single phase connect L2 L1 SD KO servo driver connect L N 2 Connect the power supply after 2 seconds servo ready signal is ON then can accept SERVO ON signal After Check that the servo on signal is effective driver output valid motor in running status Check that servo on signal invalid or with error motor in free status 3 Connect cut off power supply frequently may damage soft start circuit and dynamic braking circuit the connect cut off frequency is best to limit to 10 times per hour 50 times every day lf Servo Driver or motor is over heat after debugging after 5 munites cooking then you can connect power supply again 5 1 1 Power Supply Connection Sequence 1 After power supply connection 1S later Servo Alarm signal output 1 5S later Ready signal output 10ms later response Servo On signal within 10ms motor motivation locked wait for running 5 2 Position Control Mode Operation 1 Connect CN1 send the pulse into pins of 18 6 19 7 of CN1 Servo On signal set to OFF 2 Connect main control circuit and main power supply driver unit display lighting up If error occurs pls check connections 3 In control mode selection set
16. ined by Pn 22 press motor run at the values of Pn22 given press and motor run at a revsersed direction 5 6 Debug During the debug and application if there is noise vibration or precision missing users can adjust the parameters as below When motor in inactive and locked status if appears vibration or sharp noise decrease the Pn43 value In the condition of no concussion we can set this parameter as bigger as possible Bigger parameter and better current tracing ability and quicker motor response But too big will make noise and vibration A Speed control mode parameter adjustment 1 Speed Proportion Gain Parameter Pn17 In the condition of no concussion set the value as bigger as possible Gernarally load inertia is bigger the set value also should be bigger 2 Speed Integral Time Constant Parameter Pn18 According to the given condition set the value as small as possible lf set value over smaller response speed will be improved but easy to make concussion So in the condition of no concussion set the value as smaller as possible When setting value too big when load changed speed change will be higher 29 2 Position control mode parameter adjustment 1 As the above methods set suitable Speed Proportion Gain and Speed Integral Time Constant 2 Position Feed forward Gain Parameter Pn6 set to 0 3 Position Proportional Gain Parameter Pn5 In the steady range set this value as bigger as possible When bigger value
17. l 60ST M00630 60ST M01330 60ST M01930 80ST M01330 SDBO8NKO 80ST M02430 80ST M03520 90ST M02430 90ST M03520 480 80ST M04025 090 90ST M04025 110ST M02030 1 SDB13NK1 110ST M04030 110ST M05030 130ST M04025 130ST M05025 16 i a SDB20NK1 18 do o 21 22 23 24 25 6 130ST M10025 130ST M15015 SDB25NK2 130ST M15025 SDBSONK2 0150 150ST M15025 150ST M15020 2 150ST M18020 Ca stam 150ST M27020 SS eee 0180 ESSE 180ST M27010 In order to achieve the best control effect driver and motor must pair use Make EI motor ID to the corresponding model Otherwise it may be appeared vibration scream inaccurate positioning etc Mating method 1 Change Pn0 to 0 2 Set Pn1 to the ID number which the motor needed 3 After entering the menu of SN DEF press the key of enter about 2 seconds till it shall will have appeared DONE 4 Outage and it will be work well power again In October 2011 third edition All rights reserved Press Ban
18. n 19 Running Status Un 20 Error Code Un 21 Control Mode 20 r 500 t 30 12 0 L 5 00 Cnt 1 F 100 r 600 3 A 5600 Sl la e P Q A 3 3 Parameter Setting In the first Relay and select PN Press e and enter into the parameter setting mode Select the Parameter code by pressing 2 and w Press key display the_value of this parameter use and keys can modify the value Press A or keys one time the parameter value will increase or reduce decrease by 1 Keep pressing 4 or v keys the Salani Ed can keep increasing or decreasing When the parameter is revised the most right decimal point on the LED nixie tube lights up press keys and confirm the revised parameter effectively Then the most right decimal points turns to be blanking And ied or w keys to revise the parameter again when modification finished and press keys and be back to selection status If user is not satifify with the data already revised don t press f keys to confirm to press the keys to cancel the parameter will keep on the original ones and back to parameter selecting status Pn 01 5 NOI e l_ za WIA sl a w ma Pa 506 no 50 4 Parameter administration Parameter administration mainly deal the operation between the memory and the EEPROM At the first layer select Sn and press key to enter into the parameter administration mode Firstly select the operation mode there are 5 kinds mode totally use 4 a
19. n AC170V low voltage Short of voltage Servo Driver protection action Change servo driver Check motor UVW phase connection is not right Send pulse but motor don t move Input frequency too high Reduce the voltage Capacity of brake loop is not enough and alarm Pulse electric ratio value too big Set correctly of Pn9 and Pn10 si Alarm when Running RSI input pulse abnormal Alarm when Running Range too small Set Pn13 value bigger Alarm when Running Position P Gain too small Encrease Pn5 setting value Alarm when Running Torque not enough Use a bigger power motor Motor mechanical jammed Check motor mechanical part Speed amplifier Reduce load SaAturalGo Overbig load Change a bigger power driver and motor Encoder wrong connection or Change the encoder cables cable cutoff A AL 1 AL 2 AL 3 AL 4 AL 6 L 9 Encoder is fault Local interference Set Pns8 to 1 Cable too long cable voltage too low Shorten cables 15V Control Power AL 10 Supply re Control supply over lower than 15V Change servo driver GND wrong connections Connect GND correctly Motor insulation damaged Change the motor Motor winding is short circuit Change the motor AL 11 GvecCurrent4 The motor parameter mismatch Set motor ID Pn1 correctly Reduce value of Pn43 and Pn5 Client surge Encrease value of Pn6 Input purlse non uniform Encrease smoothness value Pn15 Servo driver protection action Change the servo driver Motor insul
20. n condensing 85 RH or less non condensing Ambi Indoor no direct sunlight free from corrosive gas flammable gas dial oil mist dust and dirt 0 5G 4 9m s 10 Hz 60Hz or less Protection Class Me P54 When several Servo Drivers installed in the control cabinet pls note to keep enough space between the drivers to keep the elimination of heat And also add some radiator fun to make the driver running environment temperation is less than 55 degree When install pls invoid any foreign material inside the drivers Use M4 screw for driver mounting As around there is some source of shaking such as backing out punch pls use vibration absorbor or install antivibration rubber gasket If around there is big size magnetic swich heat sealing machine the driver is easy to be interfered and running wrong actions so pls install a noise flitter but noise flitter can increase missing current so in the input interface of the driver install a insulated transformer 1 3 2 Servo Installation Commands and Space CA gt 100mm Chapter 2 Servo Driver and Motor Connections 2 1 Servo Driver power supply and connections Power Supply a a i 1 0KW or less Single 220V ace io EA CNi a el E MILIZIA WO connect wi See Ss controller za mess sic ee SE ci kuzaana Ss oo ee i WA ee Hb TI Hi DEE BE Sa FO Se Aa CN2 Connect Encoder Servo Motor Power Supply i 1 0 1 5KW single 3 phase 20VAC ty e 2KW
21. nd w to select Lake the parameter write in for example select Sn Set then press key for 2 seconds or more if operate successfully it display DONE if failure then display ERR And press lt key to back to the operation mode selection status Sn SEt Parameter set Shows save the parameter in the memory into the parameter zone of EEPROM The user modifyied parameter only changed the parameter in memory when restart it will recovery to the original parameter If users want to modify the parameter permanently then they need to execute parameter set to save the parameter into parameter zone of EEPROM then if restart the driver will use the revised parameter Sn rd Parameter Read Means save the parameter which in EEPROM ZA into memory This process only excute one time when power on at beginning the parameters in memory are the same as in the EEPROM But the users modified parameter which will be changed in the memory When users are not satisified the revised parameters execute Sn rd then the parameters in the EEPROM can be saved to the memory recovery to the parameters when power on Sn SS Reserve Sn rS Reserve Sn dEF Recover to default factory value means that put all the default factory values into the memory also write into the parameter zone of EEPROM when restart next time the driver will use the default factory values When the users set parameter wrongly and driver cannot work normally ope
22. ommand pulse input Terminal Pulse Signal PULS Note PN8 set the pulse input mode 7 SIGN input Pp 1 Command Pulse sign mode 19 Signal SIGN nalog Voltage Signal VCMD a Input Analog Voltage 10V inpu 7 O S P S S 02 O D D Q Speed selection 1 input terminal in the speed control mode SC1 and SC2 for selecting different internal speed SC1 OFF SC2 OFF internal speed 1 SC1 ON SC2 OFF internal speed 2 SC1 OFF SC2 ON internal speed 3 H O 5 Z I DI OJOO ZZZ males 1 N1 C IK Analog Input resistor20K CN1 1 Voltage GND Brake output Drain open output when work normally CN1 14 iti HOLD optical coupling conduct Output ON PA PA PB positive oitu P CN1 Brake output HOLD p No servo on driver inhibit When error 3 negative yi optical coupling stop output OFF P Encoder feedback output signal Standard is 2500 line According adjust Pn41 and Pn42 to set electrical gear ratio example Encoder every turn is 2500 pulses set the Pn1 Pn2 4 5 so A B phase output signal is 2500 Pn41 Pn42 2000 pulses S al lt p arasz aes oup EDITA EJ S S S S S One tum the motor moving output one pulse 2 Feedback Signal Interface CN2 Signal Name ore Power Supply S P Servo Motor Photoelectric encoder use 5V CN2 1 power supply If the cables too long use core wire S P parallel connection eaaa Bi gp Komedi ender Be Phase cfm CN2 11Encod
23. or some similar as RS422 driver When use single end drive mode will make the movement frequency lower Accroding pulses input circuit driver current 10 25mA limit extermal power supply max voltage is 24V to get the resistor R s value As the experience VCC 24V R 1 3 2k VCC 12V R 510 820 Q When use single end driver mode external power supply the user supply But pls note if the power supply poles connect reversely will make the drive components burned 2 4 4 Analog quantity input Terminal Analog input voltage cannot be more than 10V over big voltage will make driver damaged and advised to use twisted pair cable to connect 2 4 5 Diver speed output terminal servo actor servo ier SIG ARNE ST EARLY 2 4 6 Data ouput Terminal circuit When use the external power supply pls note the pole ofit Wrong connection will make driver damaged Data output will use the open collector mode External Max voltage is 24V Max Current 10mA To say as the load when use relay or some inductive load need to add diode and inductive load parallel connection if the pole of diode is wrong the driver will be damaged servo zis AA Chapter 3 Operation and Display 3 1 Keys operation On the servo panel there are 6 LED nixie display and 4 keys to display all the status parameter setting and so on The keys functions as below a Series No and value increase or menu forward v Series No and value reduce or menu back step e
24. orque 9 Reserved Set fliter character of torgue command Can depress sympathetic Torque Command vibration Smaller value lower barrier frequency smaller motor noise Fliter If load inertia very big can set a smaller value But too small value will make slow response generate instable system Input terminal low diari Input signal XX XX ALRS SON reverse by bit 0000 Input terminal high ADTT Input signal XX XX INH CLE reverse by bit 0000 Output Terminal vas Output signal CZ COIN ALM XX reverse by bit 0000 47 48 49 I 1 500 IO Sa Fr I O port sample time 1 100ms Automatically Automatically servo on motor 0 1 servo on motor Encoder fault 0 check fault lines 1 don t check fault lines 0 1 Driver aaa Driver production date 0910 Motor Inertia ratio Set Motor Inertia ratio 1 32767 Motor Rated Torque Set Motor Rated Torque 1 1000 Motor rated 0 3000 speed Set motor rated speed Baa Motor Rated 1 1000 Current Set motor rated currents x0 1A Max overload SPO La Set over load multiple which system allowed 0 300 allowe ut Used to limit current commands frequency range avoid current shock 1 1500HZ lowpass fliter and vibration to make current response steady i 1 10000 Encoder Lines Set the encoder lines every Rotation lines R Encoder Zero bit Set the encoder Zero position nes Number of Set the Number of pole pairs of the motor 1 6 Automatically 0 SON determined by IO port input si
25. position command tracing character is very good lay error smaller but when stop location easy to make concussion When the value is smaller the system is steady but postion tracing character not good lay error is big 4 If request the positon tracing character is very high increase the Pn6 Value but too big will make overshoot 30 Chapter 6 ALARM TROUBLESHOOTING pao Nom Speed amplifier saturate Speed amplifier satuate for a long time Encoder is fault Encoder line cutoff or short circuit Control Power Supply AL 10 Under Voltage Control Supply alittle lower than 15V AL 11 IPM modular output current over IPM modular output current over big Encoder UVW signal AL 18 abnormal AL 19 Encoder UVW signal illegal Uvw signal in all high level or al low level CPLD communication Seige AL 20 CPLD communication abnormal Encoder UVW signal fault or encoder mismatch 31 Code Alarm Name Possible Cause Troubleshooting Input pulse frequency over high Input pulse correctly Input electronic gear Ratio too high Correctly set Pn9 and Pn10 Overspeed Encoder zero bit fault Ask factory adjust zero again Motor U V W cable connection wrong Connection correctly Input L1 L2 L3 power supply voltage higher than AC260V Main Circit Encrease acceleration Over Voltage deceleration time constant Ask factory for a bigger brake resistor aor Input L1 L2 L3 power voltage less Check the external cause of the Main circuit tha
26. rate it and all the parameter can recover to default values Because different model have different default values before recovery pls make sure motor ID parameter PN1 is right Parameter Setting Sn rd Parameter Read Sn dEF Recover to default factory value Keep pressing 2 seconds When display YES means operation success When display NO means operation failure lt l 22 3 5 F1 operateion mode Panel trial function In the first relay select F1 and press key into the speed test run mode Test Run mode s symbol is S the value unit is r min Speed Commad sent by keys use A Jand keys can change the speed commands motor will run at the given speed Control speed increasing and w control speed decreasing When display the speed value at positive motor run at clockwise rotation and when display the negative value motor run at counter clockwise rotation 3 6 F2 JOG run mode At the first layer select F2 and press key into the JOG run mode JOY Run mode s symbol is J value unit is r min speed command sent by keys After enter into F2 press 4 Jand keep on motor JOG mode running release key and motor stop running Press w key and keep on motor JOG running at a revserse direction release keys motor stop running JOG speed is set by parameter PN22 3 7 Others Aging function Set the Pn1 to 6 Pn57 to 1 The servo driver excute CW CCW program automatically The speed can be set by Pn23 The p
27. s DB25 1 Signals for CN1 P means in position control mode S means in Speed control mode In next Page you will see the all the CN1 pins functions 8 Power Supply Power Power Input Terminal Positive side drive 20 Input Positive Supply photocoupler DC12 24V Curent 100mA SON ON Servo driver operate 1 2 SON OFF Driver no working motor free ALRS ON Clear system error Deviation CLE ON When in position control Mode Counter Clear Position deviation couter clear O L L Speed Selection 1 IN Z O O IOO Z Z2 O N 00 SC1 ON SC2 ON internal speed 4 Note Internal speed 1 4 you can set from the parameter When the signal is available input pulse inhibited motor steop running SC1 OFF SC2 OFF Internal Speed 1 SC1 ON SC2 OFF Internal Speed 2 Pulse Inhibit SC1 OFF SC2 ON Internal Speed 3 SC2 input Selection 2 SC1 ON SC2 ON Internal Speed 4 Position When the servo setting position is near the E COIN SIP target postion Pn12 value Output ON SERVO Alarm output terminal 15 Alarm Output ALM output S P ALM ON Driver no alarm alarm output ON ALM OFFLDriver with alarm alrm ouput OFF N1 3 16 Output Common DG common S P Control Signal Output Common GND Encoder Encoder Z Phase Output Terminal CN1 2 Phase Outputi CZ output S P Motor photoelectric Z phase pulse output p CZ ON Z phase pulse output C Se eA CZCOM output S P Encoder Z phase output Common PUES input P External c
28. speed Max overload capacity system allowed Reversed Acceleration Time Constant Current Command lowpass fliter Deceleration Time Constant Analog Speed Torque Command Gain Encoder Zero bit Motor Number of pole pairs Analog Speed Torque Command Fliter Automatically servo on valid 24 Password 2 If want to modify motor ID Pn1 you should set it to 0 0 500 User passport is 100 System parameter pls ask the factory 1 Motor ID Used for the matched motor Model Every motor have only one ID No 4 100 DIOK When modify set the passport Pn1 to O then can modify the eS Software ID Reserved for factory 0 Display motor speed 1 Display current position last 4 bit 2 Display current position first 4 bit Initial Display 8 Display Motor Current Status 11 Display position command pulse frequency 12 Display Speed Command 13 Display Torque Command 14 Display the absolute positon of rotor in one turn 0 Position Control Mode 1 Speed Control Mode Control Mode 2 Inernal Test Run Control Mode 3 JOG Control Mode 6 Aging test mode Set Position loop proportional gain Position The value is bigger the gain is highe the rigidity harder in the same Proportion Gain frequency command puls the position hysteretic quality is smaller But if value too big may Cuase concussion or overshoot It determines the reponse of position control If the value is bigger the response is getting better and reduce the position determination time
29. ter never lose input pulse but delay it sometimes Fliter When set as 0 fliter invalid Driver inhibit 0 CCW CW input inhibit valid input invalid 1 Cancel CCW CW input forbit direct proportion to the load inertia Speed It determines the response of speed control If the value is bigger the leoni Gain response is getting faster to reduce the rising time The value is in 25 No Name Function Range The smaller value make integral time faster and inertia bigger Load inertia bigger the value will bigger In the status of high frequency of 1 500ms stop start the value is less to avoid overshoot The smaller value the lower barrier frequency and lower motor noise 18 Speed Integral 49 Speed Inspect If the load inertia is big can reduce the value according But value is 21 Time Constant Lowpass Fliter too small will make too long response time and concussion Bigger 1 500 value and bigger barrier frequency response time will be faster Rated Speed Motor s Rated Speed 3000 21 Reserved 0 JOG speed Set JOG speed poi i In mode of Speed Control when SC1 OFF and SC2 OFF select 3000 3000 23 Defined speed 1 internal speed 1 as the commands In mode of Speed Control when SC1 ON and SC2 OFF select internal 3000 3000 24 Defined speed 2 speed 2 as the commands In mode of Speed Control When SC1 OFF and SC2 3000 3000 25 Defines speed 3 ON select internal speed 3 as the commands 26 Defined speed 4 In mo
30. uct s checking Our products has been done the all test before selling in order to prevent abnormal situation in the course of transportation please check the following item after stripping 1 If the model same to the order Model refer to the following chapter 2 If the appearance has some damage or scratch When it damage in the course of transportation please don t wiring 3 If servo motor s rotor shaft could free rotate Note mechanical brake s servo motor couldn t rotate smoothly Please contact the local retailer immediately if there has happened or some other abnormal situation 1 1 1 Model confirm Servo driver s model Function type code SD series servo driver Shape code KO Low power son series Encoder Model K1 medium power 00 N incremental A series Output power K2 High power i A absolute B series 08 800W C series F Increment province l 13 1 3KW ies line type D si 20 2 0KW A series Basic contain pulse control mode only B series Contain pulse control Simulation speed control mode break unit is reinforced C series Veneer structural performance is equal to B D series High speed high precision 17BlTabsolute encoder RS485communication CAN communications capabilities Servo motor s model a 3 Flange size Servo motor 60 60mm ST series Torque 80 80mm SM series 04 4NM 130 130m 06 6NM 10 10NM Drive shape Manufacturer s code
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