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Hardware Manual V1.1

1. 24v Nise 24V Di 2 220 pp gt AAA La z 220 gt YA LAS S PN X L A m P di 220 e O De 220 Di xz A pp li s NA J 1 A LS 2 DN SCH 5 DG N7 x JO JO JH Ao Di 3 Se 3 d E CM 30 31 el 15V A ES 2 51 gt NAO ey 3e Encoder JU gt Ly 26 27 28 JH 3 at k L 15V 34 o Do 54k Do 2 2 Se 2 ap o Pa O Sd LOAD JH gt e La Y e AM26L 931 AM26LS32 e SF x 6 or equivalence Pi JU 14 2 3 CN2 encoder connector Pin no Name Symbol I 0 Eu Function Wire color Terminal 1 2 SV 5V white B If the wire length for the encoder is longer than 20m please use double wire to minimize voltage drop 3 4 UN UN black I If the wire is longer than 30m please consult with your supplier for recommended wire gage 5 A A D 3 reen A Encoder phase A 6 JA JA blue C Encoder phase A 7 B B Di 3 red H Encoder phase B 8 B B peach D Encoder phase B 9 Z Z Di 3 yellow G Encoder phase Z 10 Z Z orange E Encoder phase Z 11 19 Reserved Not used 20 IShielding FG shielding F Connect to the shielding of cable Note Please see the chart shown on Page 12 for Di 3 characteristics 2 4 Position mode Single phase 220V 50 60Hz Oy Regenerative ___ Resistor
2. 4 Press the DATA key more than 1 second to return to the auxiliary function mode MY P d Fin UO 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 d F n U U E 2 Press the DATA key for more than 1 second J O n 3 Press the A key orthe W key to jog in positive or negative direction J O P J O n J O Jog in positive direction Jog in negative direction Hold 4 Press the DATA key for more than 1 second to return to the auxiliary function mode and close the jog function d F U U E 26 3 2 4 Firmware version Press the A key orthe W key to select the function 3 FnHH Press the DATA key for more than 1 second to display the firmware release date o b represents the date 26 JAN 2000 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 b Crepresent JAN to DEC respectively The figures are shown as following id 3H5b IBSHbc The fourth and fifth digit represents the Date
3. been written into the EEPROM 4 Press the DATA key for more than 1 second to return to the auxiliary function mode Wt Fh 1 message flashes for 1 second before the is displayed and indicating that the result has Unless a donE is displayed the result is stored in the memory temporary to wait for negative data 30 3 2 0 Scaling the negative speed input This is a special function for final calibration Please don t perform this action without a precision Voltage generator Procedure of this function Fn010 gt Fn008 gt Fn007 1 Press the A key orthe W key to select the function 8 FnODB 2 Press DATA for more than 1 second The driver will ask you to prepare a 2 Volt signal in the speed reference input pin in Je 3 Press MODE key to indicate that a 2 volt signal is connected While scaling E o E r1 d is flashing This function is locked to prevent unintentionally activation If this function was activated before unlocking a L OC message 1s displayed If this function 1s done successfully d an E message flashes for 1 second before the confirmation After confirmation n c is displayed and indicating that the result has been written into the EEPROM 4 Press the DATA key for m
4. Press the DATA key for more than 1 second to return to the auxiliary function mode V FnHH 3 2 5 Reset Warm start Press the A key orthe W key to select the function 4 Mor FnlIHH Press the DATA key for more than 1 second and the following pattern is displayed FE SIE 3 Press the MODE key to confirm the reset Press the DATA key for more than 1 second to abort the reset 27 3 2 6 Input ports status Esse 8 T 6 S External torque limit 3 Reserve 9 8 Emergence stop HO bh mtermalspeedl 12 p Control mode Press the A key or the W key to select the function 5 NE Fin US 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 0V or close If the status digit is 0 which means the pin is connected to 24V or open 0 Il L 3 Press the A key or the W key to scroll up and down to view all the input ports Press the DATA key for more than 1 second to return to the auxiliary function mode 28 3 2 7 Output ports status 19 p Aam 24 6 Alarmcodebit2 1 Press the A key or the W key to select the function 6 M FnHHE 2 Press the DAT
5. pe 46 Reserved LL JP 47 Reserved LL pe 48 Reserved PC 49 Reserved JC 50 Reserved Lo y PC o 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 Mode A effective for all control mode P effective in position mode only S effective in speed mode only T effective in torque mode only 5 Default value of Pn0 Pn32 can be reload by function 9 Pn 33 Pn 40 can be set from panel or from communication port Pn41 Pn50 can only be set from the RS232 communication port 39 3 4 Monitor mode 1 Press the MODE key repeatedly until the monitor mode is reached A dall 2 Pressthe A key orthe 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 PC r w address PST Revolutions rpm e g 120 means current motor revolution is 120 rpm this value is the average rpm in 0 1 second 1 PST Torque the value is the percentage of the rated torque 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 t
6. Power Sine Wave Control Single Phase Single Three Phase 50 60 Hz AC220V 10 15 p 50 60 Hz Single Phase 50 60 Hz Temperatur Operation 0 50 C e Storage 20 80 C Operation Storage 85 RH lt 0 56 May be defined by User s Parameter 10 error messages are stored Positive or Negative Over Travel inhibit If over travel is occurred the servo power may be disabled or put on hold Servo driver is OFF if Emergency Stop D D is ON Environ Speed and Torque 10V 10V Encoder Output ABC Phaselinedriverouput O Servo ON Reset Reverse Inhibit Control Mode External Torque Limit Emergency Stop Pulse Input Inhibit etc Communication Control Mode Control Mode Position Speed Torque A B phase Up Down pulse or direction pulse Max Input Freq 500kpps p 1 127 lt A B lt 127 A amp B 1 10000 Gear Ratio ED ut TD pl Time Constant 0 10000ms Filtering 0 32767 Pulses 0 10V Looking at the motor shaft V CCW Preset Three preset speeds available through defining User s Preset Parameter Speed Variation ILess than 0 03 when load changes from 0 to 100 Rate Less than 0 02 when power source voltage changes from 10 to 10 Less than 0 05 when operation temperature changes from 0 C to 50 C Linear Enable Disable may be defined by User s Parameter Acceleration When enabled the time constant may be defined by Deceleration User s Parameter between
7. 1 Speedloopgain Sam HO IA enter 13 2 Speedloopimeerationtime 1000 mec 100 A femter 4 SS Speed scale The motor speed at 200 rpm 3000 reset 15 Sy pin 10V 30000 Speed reference oler pe JK Rea Jk 5 posi toque foo fog a fest rr 6 Negative torque limit 0 30 po A eet MS SS Zero speed detection Under this 0 255 rpm enter 19 speed pin20 will be connected to DG Also refer to Parameter 11 4 12 2 Reach the specified speed If the 0 rated rpm Rated enter current speed is greater than the speed speed specified speed pin21 will be connected to DG 5 PWM sampling time 90 125 us 0 1 Hxxxn nl mode mode 0 5 open O speed speed za bei 10 2 Hxxnx n 0 sign pulse n 1 CW CCW n 2 AB phase pulse input 10 3 Hxnxx n 0 CCW for positive command n 1 CW for positive command 10 4 Hnxxx n 0 current input calibrate automatically n 1 set current input offset to 0 11 1 Hxxxn n 0 dynamic brake on while servo off n 1 dynamic brake off while servo off Dynamic brake always on while power off 11 2 Hxxnx n 0 high speed mode O increase the MAX speed by 10 2096 n 1 normal mode 0 0 0 0 2 I 1 1 1 35 fo ene Range Unit Default Mode feffect IPG miw address 11 3 Hxnxx External inhibit signal 0 3 A reset x 3 from input ports to enable or disable n 0 disables n 1 enables positive inhibit signal n 2
8. 3 H mmed Servo Motor Encoder Servo Act 9 CCW inhibit O CW Inhibit O H e 2 Encoder output A Emergency O Encoder output A P PI Switch O Encoder output B 24V External torque control enable O Encoder output B Encoder output Z Control mode switch O Encoder output Z Alarm clear O Vc Error counter clear Pulse command inhibit E e Encoder Phase Z output Vc Max 24V DN When Vc 24V R4 4 7K Ohm When Vc 12V R4 2 4K Ohm When Vc 5V R4 1 0K Ohm CN1 ES T Servo ready O E T Servo alarm IRE ST Brake control E Ea In Position 24V E E Alarm code 0 CCW torque limit Analog ground V Vra 29 CW torque limit Alarm code 1 Alarm code 2 Kam Pulses EA ES LAXE I Pulse PN 15 Ke code 3 DIR oi WC on 17 CHL r Voltage output Speed Analog ground Voltage output Torque CN1 Fe so 15V Output Between AG 15V Output Between AG 16 2 5 Speed mode Single phase 220V 50 60Hz E 5 Servo Act Encoder Servo Motor CCW inhibit o CW Inhibit O O H Encoder output A Emergency o O Encoder output A Encoder output B Encoder output B P PI Switch o 24V External torque control enable O o Encoder output Z 1 H Control mode switch o Encoder output Z Alarm clear o 0 Encoder Ph
9. cause the displays to scroll in the following sequence Power on Display the RPM equivalent to dn000 y Fn AUX Function mode D y O00 Parameter setting mode y D Monitoring mode 3 2 Auxiliary functions Press the MODE key repeatedly until the following pattern is displayed UJ Fin UO ge 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 o Fin DOO 2 Press the DATA key for more than 1 second ei BU R l 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 Fat T d 25 3 2 2 Clear the historical alarm codes 1 Press the A key or the W key to select function 1 a F m U U ae 2 Press the DATA key for more than second until the following message appears E e E L e 3 Press the MODE key to clear the memory d O n E r Flash for 1 second E ric L r
10. than the speed set in PN7 20 Do 1 This signal is used as a control signal for external brake if PN11 4 is 1 BI connects to Brake BI S DG to release the brake at servo on and open at servo off The timing can be adjusted by the value set in PN32 When the pulses difference between the T command pulses and the feedback pulses is less d B than the ain set in the PN20 The INP signal 21 Do 1 turns ON INP connects to DG When the motor speed exceed the RPM value Speed reached INS S setin PN8 the INS signal turns ON INS connects to DG 22 alarm bit 0 Binary representation of the alarm codes The 23 alarm bit 1 Do 1 PS alarm code output from these ports is the same 24 alarm bit 2 as the code shown on the 7 segment display 25 alarm bit 3 A 10V to 10V speed command input or torque command input PN3 is used to scale the STi input value If the rated speed is 3000RPM and 26 PP q SIN Ai ST PN3is 8 that means a 8 V speed command is command E interpreted as a 3000 rpm speed command PN10 3 is used to change the direction please refer to PN10 3for details Speed limit PIC Ai T External speed limit input 10V gives a speed limit the same as rated speed 27 CCW torque PS 0 10V External torque limit 10V voltage input limit gives a 3 times rated torque limit in positive direction CW torque NIC Ai PS 0 10V External torque limit 10V voltage 28 limit input gives a 3 time rated torque limit in negative direction 30 Spee
11. to DG will limit the torque limit TLMT Di 1 output in the range of NIC to PIC External speed T Connect this signal to DG will limit the motor limit speed below the speed read from PIC pin27 Clear error CLR P Clear error counter a un ne Lock the last position if speed di ock the last position if speed command is e TOR gt lower than 23 RPM 8 Reserved Do not use 9 Emergency stop EMC Di 1 A Servo off if EMC connect to DG SP SP Speed mode Torque mode D1 D2 10 Internal speed 1 SPD1 010 SIN pin26 PIC pin27 Di 1 ST 1 O Internal speed 1 Speed limit 1 O 1 Internal speed 2 Speed limit 2 11 Internal speed 2 SPD2 1 Internal speed 3 Speed limit 3 Effective only in PN 12 4 is 1 12 Control mode MDC Di 1 A Please refer to PN10 1 13 Command INH Di 1 P Ignore the input command pulses pulse inhibit 14 Pulse PP Input pulse PN10 2 Pin 14 15 Pin 16 17 Di 2 value 15 Pulse PN P The type 0 Pulse Direction 16 Direction DP Di is set by 1 CW CCW 17 Direction DN PN10 2 2 IPhaseA Phase B Power source is in normal condition and no E EEN E alarm REDY connects to DG 19 Mm ALM Doll A ALM connects to DG normally it is open when any abnormal condition is detected 11 Pin Symbo ad Name 1 I O Mode Function ZSP out ZSP connects to DG if PN11 4 is O Zero speed ZS S and the motor speed lower
12. 20ms 10000ms Zero Speed Specified speed Specified by User s Parameter 0 Rated Speed reache 1 Position Servo Lock Enable Disable may be defined by User s Parameter Internal Torque O 300 rated torque 0 10V Positive voltage for positive torque ch Input Ripple Time Constant O 10000ms Filtering Speed O 10V Rated Speed Limit 0 Rated Speed 2 System wirin 2 Unit overview Power Connector Section 2 7 Motor Connector Section 2 4 10 Display Panel and Push buttons Chapter 3 RS 232 Connector Section 2 8 Encoder Input Section 2 3 2 2 CNI connector m Name SN 1 O Mode Function 1 OR SON Dil A SON connects to DG means servo on or servo system ready open circuit means servo off If ALRS is short to DG then the alarm signal is 2 Alarm reset ALRS Di 1 A lcleared However the alarm persists if the reason which caused the alarm is not resolved Connect to DG will switch the control mode 3 P PI switch PCNT Di 1 PS from proportional integration mode to pure proportional mode Connect to a CW over travel 4 CCW inhibit FSTP Di 1 sensor switch detector A Normally closed contact Connect to a CW over travel 5 CW inhibit RSTP Di 1 sensor switch detector Normally closed contact 6 External torque PS Connect this signal
13. 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 Model TSDA1S f c LL T 4600 p 31 00 2 139 00 2 6 00 Wen su IT 40 00 W 5d 1 a6 TL a E 4 ALA Model TSDA20 Model TSDA30 oo AC Servo s MEDE Es co CO K 1 6 Specification General Specification Driver Description Motor Series B c B J cCc J Cc B 5CB12 8CB50 Rated Fhaso 2 2 2 8 2 18 3 34 3 5 44 5 6 5 16 5 16 Current A Maximum Peak 84 5 6 10 2 114 13 8 16 9 15 5 15 5 Current A Incremental type Main ACTION AC220V 10 15 10 15 AC220V 10 15 Single Three Phase 50 60 Hz Driver
14. 5 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 MAST ONT An PY y A a Bib 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 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 continuously Writing a zero to one of these addresses will clear the content store at that address 22 2 8 4 Memory map 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 th
15. A key for more than 1 second then the display will show the 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 0V or close If the status digit is 0 which means the pin connect to 24V or open IL ogi 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 29 3 2 8 Scaling the positive speed input This is a special function for final calibration Please don t perform this action without a precision Voltage generator Procedure of this function Fn010 gt Fn0075Fn008 1 Press the A key or the W key to select the function 7 Md F n U 1 2 Press DATA for more than 1 second The driver will ask you to present a 2 Volt signal in the speed reference input pin n E 3 Press MODE key to indicate that a 2 volt signal is connected While scaling E E r1 d is flashing This function is locked to prevent unintentionally activation If this function was activated before unlocking a If this function is done successfully a d confirmation After confirmation 1 L O E message is displayed an E
16. Moda TSDA Series Driver User s Manual V1 1 bE FAT TAD RA JS AUTOMATION CORP 6 36 29 abcr P HB 100 HE 6 HE 6F No 100 Chungshin Rd Shitsu Taipei Taiwan R O C TEL 886 2 2647 6936 FAX 886 2 2647 6940 http www automation com tw E mail control cards O automation com tw Correction record Version Record v1 1 Correct 4 Alarm code error code14 description Correct 2 2 CNI connector pin14 15 16 17 description 1 1 1 1 2 1 3 1 4 1 5 1 6 2 1 22 2 3 2 4 2 5 2 6 27 2 8 3 1 3 2 3 3 3 4 Contents Vve UU ir ME 4 A pa Se EI 4 ee er 4 Safety precautions a ico nre n aee ai EE Eed EE 5 EECH Ee EE 5 DIM NSIONS EE 6 ST e EE 8 System WIFING 3555 sn sisi 10 Unit GVeEVIe Wa te o sind cad Misa soar saida SS eese sese doa ise dali a DO en dede SE a 10 CNI COMME CON Sn DOTT P 11 END encoder Connector ss RTI 15 POSLIONMO RT eeh eeh Ar Ee re Dies Les 16 DEE 17 Torque mode unn 18 Power and motor diagram EE 19 Ebene Ee Bebe EUMD EE Eeer 20 Panel operati ue 24 Mod iselecUOn EEN 24 Auxiliary functions DENM PME PEE 25 User Parametros EG 34 MODO MOE EA TE A Ss d EEE ETE E SS TADO ES 40 Alarm rn TEE 43 1 Introduction Thank you for choosing Moda TSDA series AC servo Drivers Moda TSDA series Drivers use the latest servo technology to provide high precision and versatile functions for driving TED CB MB and CC series servo motors Many safety related features have b
17. ODE key to confirm the request U r1 L DIC flashes while unlocking p d on E Flash for 1 second L Oc 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 II FinL IL 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 33 3 3 User Parameters 1 Press the MODE key repeatedly until PNOOO is displayed n Pao UUD Press the A key orthe 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 DU H If there is a leading R 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 UBI Wie VE 5 Press the DATA key for more than 1 second to return to the parameter setting mode N e n Pao UUD 34 User Parameter Table O PG dividing ratio ip H a reset 2
18. Power and motor diagram TSDAIS TSDA20 Single phase 220V Brake power TSDA30 POWER OFF PONER e HC EN Em r E FAR Len FILTER iz S CN EGENE H Le IT RESISTOR SINGLE PHASE HE z 3 PHASES n TB2 U PE ENCODER v WHITE y Baci po SEEN MOTOR HER Recommended line filter Three phase DELTA 08TDS4W4 Single phase DELTA 06DPCW5 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 motor from 2500 For example a 50Q resister may be used for a 50W motor 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 2 8 RS232 DB 9 Driver PC DB 9 Com Port 1 1 o 06 2 2 o O Oo o o 3 3 O o o oO 6 6 MALE H H FEMALE 8 e Li 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 8 1 PC Communication port setting Baud rate 9600 bps Parity None Data bit 8 Stop b
19. and speed the pinll of the CNI open 30 Internal speed 2 activated while trated rpm S enter 42 the pin 10 of the CN1 open and speed the pin 11 of the CNI short 31 Internal speed 3 activated while rated pm S enter 43 both the pin10 and the pin 11 of speed the CNI are short 32 Brake timing Waiting time or 2000 msec A reset 44 delay time around servo on and servo off Brake will be released before servo on and hold after servo off if this constant is negative servo on command will be postponed Brake will be released after servo on and hold before servo off if this constant is positive servo off command is postponed 34 Speed monitoroffset 10 10 0 02V jo IA ene 46 55 Torque monitoroffset 10 10 0 02V 0 IA enter 37 EE EE 199 20000 84 8 Speed command offset 4 times 199 5mV S reset 50 gum NDS precision 20000 84 38 Hr E Unit Default Mode effect PC ww address Regeneration duty cycle default 0 250 0 1 reset value is 4 It means that if the voltage exceed 360V there is 0 04 second regeneration in every 10 second If there is error 2 exists connect an external 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 times power dissipation W 134 HI Cureniopgin kal fo A Fab a3 Feedbackgain 30 bau Ree H5 Bb Resava Pe 2 _l 45 Reserved
20. ase Z output Vc Max 24V DN When Vc 24V R4 4 7K Ohm When Vc 12V R4 2 4K Ohm When Vc 5V R4 1 0K Ohm Servo Lock Internal Speed1 CN1 18 nov D Servo ready Servo alarm BE bm d Zero speed detect Brake control Internal Speed2 Pulse command inhibit IE Tj Speed reach 24v E Alarm code O CCW torque limit Le Analog ground El Alarm code 1 CW torque limit 4 Alarm code 2 E 5 pa Alarm code 3 Speed command 10V Voltage output Speed Analog ground Voltage output Torque 15V Output Between AG 15V Output Between AG oe es 17 2 6 Torque mode Single phase 220V 50 60Hz Servo Act CCW inhibit CW Inhibit Encoder output A 24V Emergency Encoder output A Control mode switch Encoder output B Encoder output B H Alarm clear Encoder output Z H H Internal speed limit 1 7 Encoder output Z Internal speed limit 2 Vc Encoder Phase Z output Vc Max 24V OV When Vc 24V R4 4 7K Ohm When Vc 12V R4 2 4K Ohm When Vc 5V R4 1 0K Ohm CN1 foo Roy 4 Servo ready Servo alarm IDEE E ST Zero speed detect Brake control E Ea Torque reach 24V eh Alarm code O Speed command limit 0 10V Alarm code 1 Alarm code 2 Tr Alarm code 3 Torque command 10V Voltage output Speed Analog ground Voltage output Torque 15V Output Between AG 15V Output Between AG CN1 Lre so 18 2 7
21. d monitor TG Ao PS AME n Rs eM ER 10V represent 3 5 times of rated torque que mentos CU SA ae output The offset can be adjusted B PN35 Analog ground AG Ao PS Analog ground 33 Voltage cit 15 S 15V DC 10mA MAX power source for SIN 34 15 PIC NIC test 35 Encoder phase PA Encoder input pulses after frequency division 36 Aoutput PA D0 2 PS PNO is output by line driver 37 Encoder phase PB When PN10 3 is 1 the motor rotation direction 38 B output PB is CCW phase A lead by 90 degree ge Name Md 1 O Mode Function 39 Encoder phase PZ Transfer the Z phase of the encoder input 40 Z output PZ signal 4 Reserved Do not use 42 Reserved Do not use 43 Encoder phase Zo D0 1 PS Anopencollector output for encoder phase Z Z output 44 Encoder ground EG PS Encoder ground 45 24Vdc 24V External 24V power supply input External input 46 m Digital ground DG PS Ground for digital input and output ports 49 50 Shielding FG PS Connect to the shielding of the cable P means for position mode S means for speed mode T means for torque mode A means for all modes in mode column Di 1 3 are input pins Do 1 2 are output pins Ai and Ao are analog input and analog output respectively All the circuits are listed in the following charts Di 1
22. e 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 recommended to prevent excessive writing of EEPROM After changing all the User Parameters a write operation to Address 11 may then be executed ee 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 O 9 stands for Year2000 2009 A Z stands for Year 2010 2035 respectively 196 C4H RESET 1197 C5H Input Status the description of each bit is shown in Section 3 2 6 198 C6H Output Status the description of each bit is shown in Section 3 2 7 1199 C7H Current Alarm code 0 means no alarm 23 3 Paneloperation MODE Mode selection press this key for more than 1 second to confirm the flashing function Increase the flashing digit by 1 Decease the flashing digit by 1 e press 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
23. e 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 Over load a 200 rated load can last for about 10 seconds a 300 load can last for about 4 seconds 4 Power off IPM error due to high temperature short circuit over current or ae low control voltage in IPM the device which provides power to the motor check connection or encoder Ee An abnormal value was read from the current sensors during power on Parameter error the electronic gear rate is not in the range 0 0250 Be EE corrupted 9 jeset Emerenystop 0000000 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 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 2 pins must be connected to DG pin46 pin49 Due to the setting in PN 12 3 one of the 2 over travel switches pin3 and pin4 is activated and cause servo off indicating that an error has occurred The message will stay until any 43 Note 1 Due t
24. een 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 Moda TSDA series Driver This manual is intended for use by vendors who are responsible for installing and setting up Moda TSDA series Driver consequently it assumes a basic working knowledge of SINANO 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 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 Safety precautions 1 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
25. enable negative inhibit signal n 3 inhibits both signals Please refer to parameter 12 3 for more information Hnxxx n 0 output signal A reset zsp bi means zero speed n 1 output signal ZSP BI is used to control an external Hxxxn acceleration and deceleration time for speed 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 n 4 Smoothing acceleration Acceleration and deceleration time is set in the parameter number 28 Hxxnx n 0 speed command is not influenced by ZSP ouput n 1 speed command is clamped to O while ZSP signal is on Hxnxx n 0 servo keeps on while 0 1 external inhibit activated n 1 servo off while external inhibit is activated Please also refer to parameter number 11 3 Hnxxx n 0 internal speeds not O 1 1 effective n 1 internal speeds effective One of the 3 internal speeds is select from input port Speeds are defined in parameter 29 31 time 36 Torque command gain e g 300 30 3000 300 T reset 27 means 300 rated torque output when torque command is 10 Volts 100 means 100 rated torque output when torque command is 10V Torque command offset e g if 1000 0 01V T reset 28 offset is 100 1V a 2 5V 1000 command from input port only executed as a 1 5V command Speed limit 1 Activated while O rated rpm enter the pin 10 of the CN1 short and speed the pin 11
26. it 1 Flow Control None 2 8 2 Read data from driver To read a SINGLE WORD from driver Syntax RSXxSs The read command must be started with R5 and the command string length must be 6 Where RS This is a single word read command Xx the address of the data to be read Ss Check Sum RAN 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 gt 5 35H 3 33H 0 30H gt E 45H gt A 41H Drive s response 46 XxYySs Where 96 This is a response Xx High word of data Yy Low word of data Ss Check Sum DEET X x Y y 20 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 0 30H gt 0 30H 0 30H 8 38H gt E 45H gt D 44H If there is a Check Sum error in the read command then the driver returns 21H To 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 L 5 N n ODriver s response XxYyAaBbSs Where This is a response XxYy data stored in Nn 1 AaBb data stored in Nn K NNEN Bb If there is a Check Sum error in the read command then the driver returns 21H 2 8 3 W
27. milliseconds DN number X these values can only be read written via the RS232 communication xo Po Xx ups A xo Po x xp X CO port CB series motor s ID list If the ID less than 10 then the power sources is 110 VAC Motor type ID Motor type ID Motor type ID CBO12F 110 CB020F 120 CB030F 130 CB050F 140 CB075F 150 CB075H 151 MB40AF 161 MBSSAF 171 MB75AF 181 MB75BF 182 MBIOOAF 191 MBIOOBF 192 MB100BH 194 MB110CF 203 MBISOAF 211 MBI50BF 212 MB150CF 213 MB200BF 232 MB220CF 243 MB300BF 252 MB300CF 1 253 C series motor s ID list Motor type ID Motor type ID Motor type ID CC201G 300 CC401G 310 CCS501E 321 CC501D 322 MC50IC 323 CC751G 330 CC751E 331 MC751D 332 MC751C 333 CC102G 340 MC102E 341 MC102D 342 MC102C 343 41 Motor type naming convention M B 1 00 BH Encoder pulses per revolution CB MB series F 2000ppr H 2500ppr CC MC series null 2000ppr Motor rated speed CB series null 3000rpm MB series A 1000rpm B 2000rpm C 3000rpm CC MC series G 3000rpm E 2000rpm D 1500rpm C 1000rpm Motor rated power CM MB series 100 gt 1000W 0305 300W CC MC series 102 gt 1000W 2015 200W Series name 42 4 Alarm code A message such as E H S U key is pressed code Low voltage DC voltage below 224V or AC voltage below 160V see note 1 2 2 reset Over voltage DC voltag
28. o the accuracy of the resistor the voltage detected has a maximum of 2 02 difference 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 DC195V 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 44
29. of the CN1 open Speed limit 2 activated while O rated Rpm enter the pin 10 of the CNI open and speed the pin 11 of the CN1 short 9 Speed limit 3 activated whiles 0 rated pm enter the pin 10 and the pin 11 of the GE CNI are both short In position sets range of pulse reset positioning completion signal asa output INP Molecule of electronic gear reset 33 ratio indicates the number of SE encoder pulses per reference unit The input pulses will multiply this number to form an actual calculation number 0 02 21 22 50 Denominator of electronic gear reset 34 ratio indicates the number of aR encoder pulses per reference unit The input pulses will divide this number to form an actual calculation number 0 LOU E 23 Positiongain m 10 500 sec BO EF e 35 24 Position smoothing time 0 100 msec 10 JE jSevoon B6 500 kpulse 5O P kee 37 100 jP kee 38 Deceleration time The time 10 1000 msec 1100 S Servo on 39 consumed from rated speed to stop Parameter number 12 1 is used to disable or enable this function 37 0 N N NIN SSI 28 Acceleration time and 10 1000 Imsec 100 S Servo on 40 deceleration time The time 0 consumed from still to rated speed or from rated speed to still Parameter number 12 1 is used to disable or enable this function 29 Internal speed 1 Activated while trated pm S enter 41 the pin10 of the CNI short
30. ore than 1 second to return to the auxiliary function mode M FnODB Unless a donE is displayed the result is stored in the memory temporary to wait for positive data 31 3 2 10 Reload the default values Function reload the default values for PnO Pn32 Procedure of this function Fn010 gt Fn009 1 Press the key orthe W key to select the function 9 M Fn009 2 Press the DATA key for more than 1 second to request for a parameter initialization function P in iE 3 Press the MODE key to confirm the request P in iE d an E flashes for 1 second H ur 1 E This function is locked to prevent unintentionally activation If this function flashes while reloading 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 M Fn009 32 3 2 11 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 key orthe W key to select the function 10 FinL IL 2 Press the DATA key for more than 1 second to request the unlock function ol oe 3 Press the M
31. orque output percentage in 26 seconds Maximum load the value is the maximum value appeared in DN2 4 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 5 PIC torque limit for positive direction in percent NIC torque limit for negative direction in percent 7 PIC 6 ME rpm A value of 12000 indicates 3000 rpm s PS 9 23 power on E E Driver capacity 150 means 15A 200 means 20A 300 means 30A 3000 rpm m 1V 1 SV 4 ST i 1 1 1 1 0 1 2 3 4 14 Voltage detected in AD1 975 means 2 5V 15 P Motor type please refer to table at the end of this 143 section 40 16 PST Servo status O means servo on 1 means servo GE 8 17 PST Current control mode 0 means speed mode 1 145 Ec means position mode 2 means torque mode Sa sech range from 500000 to 500000 48 High word of error counter Low word of accumulated encoder feedback pulses High word of accumulated encoder feedback pulses RPM 4 means 1RPM E g 480 means current 154 motor 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 12046 of the rated torque This is a sampled value in 1 of 50 samples taken in 10
32. rite data to driver OTo write a SINGLE WORD to driver Syntax WSXxYyZZSs 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 W ES UVX XVYYUuyv ZzZevz Example Write 8 to address 30H Check Sum 57H 35H 33H 30H 30H 30H 30H 38H 1B7H W 5 3 0 0 0 0 8 Thus the write command is W5300008B7 W 57H gt 5 35H gt 3 33H 0 30H 0 30H gt 0 30H gt 0 30H gt 8 38H B 42H 7 37H Please note that only the last two digits of the Check Sum are used 21 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 M
33. touch the terminal or open the driver chassis please wait at least 10 minutes before continuing 2 While power on the Driver and or motor stand clear from the unit to prevent personal injury caused from erroneous operation 3 Disconnect the power if the Driver Motor unit is not used for a prolonged period 4 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 1 4 Installation 1 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 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 For single phase power source DELTA 06DPCWS For three phase power source DELTA 08TDS4W4 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 2 Orientation The Driver must be installed vertically

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