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1. Parameter Name and description Unit Default remarks range position Moving distance 5 Stop time after reaching desired Pn192 pa 50ms 0 300 10 position Moving distance 6 Stop time after reaching desired Pn193 50ms 0 300 10 position Moving distance 7 Stop time after reaching desired Pn194 50ms 0 300 10 position Moving distance 8 Stop time after reaching desired Pn195 50ms 0 300 10 position Moving distance9 Stop time after reaching desired Pn196 50ms 0 300 10 position Moving distance 10 Stop time after reaching desired Pn197 50ms 0 300 10 position Moving distance 11 Stop time after reaching desired Pn198 50ms 0 300 10 position Moving distance12 Stop time after reaching desired Pn199 A 50ms 0 300 10 position Moving distance 13 Stop time after reaching desired Pn200 m 50ms 0 300 10 position Moving distance 14 Stop time after reaching desired Pn201 50ms 0 300 10 position Moving distance 15 Stop time after reaching desired Pn202 50ms 0 300 10 position Motor reverse turnaround time electric knife frame Pn203 ms 0 15000 2000 function Pn204 Motor reverse angle degree 0 32767 1700 Pn205 Not used Pn206 Not used Pn207 Not used Pn208 Not used Pn209 Not used Pn210 Communication address setting 1 255 1 Communication speed options 0 4800bps Pn211 0 2 1 1 9600 bps 2 19200bps Pn212 Communication protocol form 0 8 5 133 Parameter Name
2. 61 4 2 11 Using the Reference Pulse Inhibit Function INHIBIT This function causes the Servo drive to stop counting input reference pulses in position control mode While this function is being used the motor remains in servo locked clamped status The P CON signal is used to enable or prohibit this function Pulse reference Disparity counter P CON P CON _ INHIBIT INHIBIT i Pulse feedback ll How to Use Reference Pulse Inhibit Function INHIBIT To use the INHIBIT function set parameters as follows Setting Para No Description Default Function range For speed torque and position control Pn041 Control Mode Selection 0 13 0 Pn041 Control mode 11 Servo drive Position control reference pulse lt gt pulse prohibited Position PULS E SR reference SIGN position control with pulse inhibit function Switching the IP CON 1CN 11 signal is used to PESOS OF PUR inhibit enable or prohibit the INHIBIT function P CON 1CN 11 ON pulse inhibit enabled OFF pulse inhibit prohibited i Relationship between INHIBIT Signal and Reference Pulse 62 INHIBIT signal ON ON P CON oe t1 t22 0 5ms Input reference pulses are not counted during this period How to use P CON signal Servo drive Switching between P control and PI control between P control and PI control Switchi
3. 25 1 Does not use the N OT input signal for prohibiting reverse rotation Reverse rotation is always allowed This has the same effect as shorting 1CN 13 to 0 V Note When the servomotor stops due to overtravel during position control the position error pulses are held A clear signal input is required to clear the error pulses When P OT and N OT are not used short wiring could be as easy as shown Servo drive Stop motor when overtravel occurs Please set user constant according to the method of stopping the motor when overtravel function is enabled Para Description Para range Default Pn004 Stop the mode when Servo OFF alarm or overtravel occurs 0 5 0 Para Descriptions 0 DB stops the motor and then brake released 1 Coast to a stop 2 Enable DB when Servo off apply plug braking when OT occurs Servo off after stop 3 Coast to stop when Servo off apply plug braking when OT occurs Servo off after stop CEA 4 Enable DB when Servo off apply plug braking when OT occurs and put at zero clamp after stop 5 Coast to stop when Servo off apply plug braking when OT occurs and put at zero clamp after stop Note Refer to 4 4 2 Dynamic brake about details of DB Para Description Unit Setting range Default plug braking stop torque 300 Pn030 196 0 300 lsetecting the Motor Stop Method when
4. When the motor is running its output speed is detected If the speed level is above the rotating speed of preset value TGON will be output 4 5 6 Using Servo Ready Output Signal Servo ready means servodrive is not in servo alarm state when the main circuit is turned ON and could receive servo ON signals The application and wirings are shown as follows 24V power supply Servo Dre n me m icH S RDY PT Photocougier Output Per oput IX amp t m Maximum operation volare 30 VDC N k I S amp DY Maximum output current S0 MADC J 1 LE H 5 ND Output S RDY Servo ready output Output S RDY Servo ready output grounding signals Signals Status Output voltage Description S RDY ON IS RDY4 L level Servo ready state 85 OFF IS RDY4 H level Not in servo ready state 86 This parameter is used to specify a function signal as the 1PN output signal Para No Name and description Setting range Default Pn053 Select output signals 1CN 7 8 function 0 4 0 Pn054 Select output signals 1CN 1 2 function 0 4 1 Pn055 Select output signals 1CN 5 6 function 0 4 2 Pn053 Pn054 and Pn055 meanings and functions are shown as follows 0 COIN V CMP output 1 TGON running position output 2 S RDY servo ready output 3 CLT torque limit output 4 BK brake interlock output
5. Servo drive VO power supply Servo output each output point Max operating voltage 30VDC Max output current 50mADC 41 Note Provide an external I O power supply separately There are no power terminals available from the servo drive outputs signals externally It is recommended that external power supply be the same type as for the output circuit 4 2 5 Position control parameter reference Position control under parameter reference parameter Pn041 12 In this mode servo drive could position with a single axes without host controller There are 16 position control points with each could set move distance running speed constants for acceleration and deceleration and the stop time when positioning completed Two speeds 1 speed moving towards distance switch speed of looking for reference point 2 Speed moving away from distance switch moving speed of reference points could be set as Two position modes 1 Absolute position mode 2 Relative position mode Two running modes 1 Circling mode 2 Non circling mode Two step switching method 1 Delay step switching 2 P CON signal switching Method of looking for reference points 1 Forward direction 2 Reverse direction Bf Adjusting offset Offset of each points has two correspondent parameters one unit of the parameter is x 10000 reference pulse and the other is x 1 reference pulse Setting range of both parameters is 9999
6. In the position control when servo is OFF pulse will still remains Therefore when power is on again S ON pulse signals have to be cleared or clear position move automatically when Servo is OFF by setting user constant Pn005 Parameter Name amp descriptions Setting range Default 37 Pn005 0 S OFF clear pulse 0 1 0 1 S OFF not clear pulse Position reference one rank filter wave Position reference one rank filter wave entitle the improvement of pulse reference form designated by the system thus enhance the stability of position control But if position reference position one rack filter time constant Pn024 set too high dynamic function of the system might be decreased Parameter Name Unit Setting range Default Pn024 Position reference 0 1mS 0 32767 0 one rank filter wave time constant 4 2 3 Encoder signal output Encoder output signals divided inside the Servo drive can be output externally These signals can be used to form a position control loop in the host controller Servo drive Host controller Servo motor encoder Phase A Frases E eese nesec v Pnasec The output circuit is for line driver output Connect each signal line according to the following circuit diagram Servo drive Host controller pos receiver Phase Am 1CN 34 PAO Phase A Choke coil Connect to frame
7. 4 5 7 Handling of Power Loss Use the following memory switch to specify whether to output a servo alarm when power loss occurs Para No Name and description Unit Setting range Default Pn003 Operation to Be Performed at Recovery from Power Loss 0 Does not output a servo alarm after recovery from power loss ALM 1 Outputs a servo alarm after recovery from power loss ALM 0 1 0 If the Servodrive detects instantaneous voltage drop in power supply more than 20mS it can shut the servo to prevent a hazardous situation This memory switch is used to specify whether to output this alarm Normally set this memory switch to 0 If the S RDY signal is not to be used set the memory switch to 1 The S RDY Power loss 200 V 4 supply voltage 7 Pn003 0 ALM 1CH 4 Pn003 1 signal remains OFF while the main power supply is OFF regardless of the memory switch setting 87 4 5 8 Using Regenerative Resistor Units When servo motor is driven by dynamotor the electric power goes back to servo amplifier this is called regenerative power Regenerative power is absorbed by smoothing capacitor If the power exceeds capacity of the capacitor then the regenerative resistor is applied to consume rest electric power Situations that will lead to dynamotor regenerative mode are shown as follows During deceleration time Load on the vertical axis Continuous
8. AM26LS31 SN75174 manufactured by Texas Instruments Inc or MC3487 or equivalent Servo drive Photo coupler 1CN 25 Reference pulse input ICN 27 N Reference sign input SIGN p Joc 3 6 t P Represents twisted pair cables Host controller Servo drive Photo coupler Line driver PULS R oO as 1500 CL Tess E SIGN 1CN 27 Riese Connection Example 2 Host controller is Open Collector Output with 24VDC power supply 34 Host controller Servo drive Photo coupler ICN 25 150 1CN24 MERE 24VDC 1CN 23 28 2K ICN 27 ICN 26 150 Grounding Connect to the shell for shielding Connection Example 3 Host controller is Open Collector Output with 12VDC or 5VDC power supply Servo drive Host controller Photo coupler PULS PULS ICN 25 ICN 24 150 Grounding 7 Connect to the shell for shielding Sets the value of limiting resistor R1 according to following requirement Input current 210 15mA When Vcc is 12 V R1 510 kO When Vcc is 5 V R1 180 0 Bj Selecting the Reference Pulse Form input PULS 1CN 25 Reference Pulse Input input PULS 1CN 24 Reference Pulse Input 35 input SIGN 1CN 27 Reference Sign Input input SIGN 1CN 26 Reference Sign Input The motor only rotates at an angle proportional to the i
9. Para No Name Unit Setting range default Pn019 Soft Start Time Acceleration ms 0 10000 0 Pn020 Soft Start Time Deceleration ms 0 10000 0 In the Servodrive a speed reference is multiplied by the preset acceleration or deceleration value to provide speed control When a progressive speed reference is input or contact input speed control is used smooth speed control can be performed For normal speed control set 0 in each parameter Set the following value in each parameter F Pn019 Time interval from the time the motor starts until it reaches 1000r min l Pn020 Time interval from the time the motor is running at 1000r min until it stops Operating by Contact Input Speed Control Function Speed reference 1000r min contact mu 7 1 speed Servopack reference Pn019 s MN Tn020 51 Start Stop Select the speed by using following input signals Speed Selection 1 For Speed Torque Control gt Input PCL 1CN 16 u y Forward External Torque Limit Input and Position Control Speed Selection 2 For Speed Torque Control Input NCL 1CN 17 Reverse External Torque Limit Input and Position Control When Contact Input Speed Control is used and Pn041 3 4 5 6 PLC NLC are specified as internal speed selection When Pn041 12 under parameter reference position control mode PCL and NCL are specified as switches to look for the reference point B
10. Speed that towards limit switch is called speed of looking for reference point and the speed moving away from limit switch is called moving speed These two speeds could be set by following parameters Para No Description Unit Setting range Default speed of looking for reference point Pn221 r min 0 2500 1500 bump the limit switch Moving speed move away from limit Pn222 r min 0 2000 30 switch Usually set speed of looking for reference point Pn221 high and Moving speed Pn222 low Note if moving speed is too high precision of finding a reference point would be affected Besides PCL and NCL is no longer functioned to limiting external current when looking for a reference point m Related user constants Para Description Observation No Choose between cycle run and single run Changing steps will be performed till 0 cycle run PCL as start signal NCL reverse to look the end point completed and the for reference point y next change will start from the start 1 single run PCL as start signal NCL reverse to el point during multi points cycle run Pn050 look for reference point 6 Point control program will not 2 cycle run NCL as start signal PCL reverse to look change steps after the end point for reference point Nw completed during multi points single 3 single run NCL as start signal PCL reverse to run
11. The soft start function adjusts progressive speed reference input inside the Servodrive so that acceleration and deceleration can be as constant as possible To use this function set the following parameters Para No Name Unit Setting range default Pn019 Soft Start Time Acceleration ms 0 10000 0 Pn020 Soft Start Time Deceleration ms 0 10000 0 i Pn019 Time interval from stop time and the motor speed reaches to 1000r min i Pn020 Time interval from the time the motor is running at the maximum speed until it stops Speed reference 1 1000r min reference Bag h internal speed jp n019 Ths Pn020 In the SERVODRIVE a speed reference is multiplied by the acceleration or deceleration value to provide speed control Smooth speed control can be achieved when progressive speed references are input or when contact input speed control is used Normally set these to 0 89 4 6 3 Setting the Torque Reference Filter Time Constant If the machine causes vibration possibly resulting from the servo drive adjust the following filter time constant Vibration may stop Para Name Unit Setting range Default Torque Reference Filter Pn018 0 1ms 0 250 4 Time Constant With the standard setting the machine may cause vibration resulting from the servodrive In this case increase the constant setting Vibration may stop Vibration can be caused by in
12. pm E CMD 04H data number count as word 3 4 data start adress ontent of 0201H CRCverifying For instance write 100 0064 h in address 0200 p of servo addressed 01 n 114 ASCII mode Order information ADR CMD datum start address 0 datum 0 1 content LRC verifying ODHXCR End 0 OAHXLF RTU mode Order information om CMD osi datum start O2H high bits address OOH low bits CRC verifying 89H low bits datum content 00H high bits 64ll low bits CRC verifying 99H high bits Response information STX ADR CMD datum address tg 9 0 datum address content of 6 tg 9 3 LRC verifying oe End 1 ODHNCR End 0 OAH LF 0200H 4a Response information DR CMD datum start address datum content CRC verifying CRC verifying 99H high bits gt 6 3 2 Communication fault disposal While communication faults may occur Normal faults as follows gt While read write parameter datum address is wrong While write in parameter the datum exceeds the maximum value of this parameter or is less than the minimum value of this parameter gt Communication is disturbed datum transmission fault or verifying code fault When above mentioned communication faults occur servo drive running won t be affected Meanwhile servo drive will feed back a faulty frame The faulty
13. 3 A phase B phase x2 multiplication 4 A B x4 multiplication Pn009 Reference pulse form 0 does not invert PULS reference pulse logic does not invert SIGN reference pulse logic 1 does not invert PULS reference pulse logic inverts SIGN reference pulse logic 2 inverts PULS reference pulse logic does not invert SIGN reference pulse logic 3 inverts PULS reference pulse logic inverts SIGN reference pulse logic 0 3 Pn010 uses analog current limit function or not 0 Does not use analog current limit function 125 Setting Parameter Name and description Unit Default remarks range 1 Uses analog current limit function use torque feed forward function or not Pn011 0 Does not use torque feed forward function 0 1 0 1 Uses torque feed forward function Pn012 Speed reference gain r min V 0 2000 150 Pn013 Speed loop gain Hz 1 2000 16 Pn014 Speed loop integration time constant ms 175120 20 Pn015 Position loop gain 1 s 17 1000 40 Pn016 Speed bias r min 0 300 0 Pn017 Position feed forward 96 0 100 80 Pn018 Torque reference filter time constant 0 1ms 0 250 4 Pn019 Soft start accelerating time ms 0 10000 0 Pn020 Soft start decelerating time ms 0 10000 0 Pn021 PG dividing ratio P R 17 2500 2500 Pn022 Electronic gear A 1765535 1 Pn023 Electronic gear B 1765535 1 Pn024 Smo
14. EDB series AC servo system User s Manual V 2 00 Anaheim Automation Limited Warranty This manual does not entitle you to any rights Anaheim Automation reserves the right to change this manual without prior notice All rights reserved No part of this publication may be copied or reproduced without written permission from Anaheim Automation General Precautions Voltage of power supply is 200V Please connect to 200V voltage electrical source Don t connect Servomotor directly to the residential electric network Do not connect Servomotor directly to the residential electric network otherwise it will be damaged Servomotor is not able to work without relevant Servo drive Don t plug or unplug the electric socket when power is ON Always turn the power OFF before plug or unplug to the electric socket Wait at least five minutes before inspection after turning OFF power Note that even when the power is turned off there will still be residual voltage remained in the capacitor In order to avoid electrical shock please make sure the Charge lamp is OFF before inspection The installation interval to other equipment is above 10mm The installation interval to other equipment should be at least 10mm breadthways and 50mm lengthways The Servo drive generates heat please layout the Installation the Servo drive which is good to radiate heat Please install the Servo drive in an environment free from condensation vibration and s
15. Maximum output current 50 mADC i ICN COIN Output COIN Positioning Complete Output Position control Output COIN Positioning Complete Output Grounding signal Position control This output signal indicates that motor operation is complete during position control The host controller uses this signal as an interlock to confirm that positioning is complete reference Motor Speed Xx Error 2 7 pulse Pn035 Un011 error pulse counter monitor 16 bits lower Un012 Un011 f LON COIN EE Un012 error pulse counter monitor 16 bits higher Positioning Completed ON status COIN L level x the position error range is below preset value Positioning does not complete OFF status COIN H level v the position error range is below preset value Define output signals and output pins by setting following parameters and according to actual needs in using COIN Para No Name and description Setting range Default Pn053 Select signal 1CN 7 8 functions 0 4 0 Pn054 Select signal 1CN 1 2 functions 0 4 1 Pn055 Select signal 1CN 5 6 functions 0 4 2 81 Pn053 Pn054 and Pn055 functions are as follows 0 COIN V CMP output 1 TGON running signal output 2 S RDY servo ready output 3 CLT torque limit output 4 BK brake interlock output 82 Set the number of error pulses in the following
16. Moving distance 8 time constant for acceleration and Pn163 0 1ms 0 32767 0 deceleration Moving distance 9 time constant for acceleration and Pn164 0 1ms 0 32767 0 deceleration Moving distance 10 time constant for acceleration Pn165 0 1ms 0 32767 0 and deceleration Moving distance 11 time constant for acceleration Pn166 0 1ms 0 32767 0 and deceleration Moving distance 12 time constant for acceleration Pn167 0 1ms 0 32767 0 and deceleration Moving distance 13 time constant for acceleration Pn168 0 1ms 0 32767 0 and deceleration Moving distance 14 time constant for acceleration Pn169 0 1ms 0 32767 0 and deceleration Moving distance 15 time constant for acceleration Pn170 0 1ms 0 32767 0 and deceleration Pn171 Not used Pn172 Not used Pn173 Not used Pn174 Not used Pn175 Not used Pn176 Not used Pn177 Not used Pn178 Not used Pn179 Not used Pn180 Not used Pn181 Not used Pn182 Not used Pn183 Not used Pn184 Not used Pn185 Not used Pn186 Not used Moving distance 0 Stop time after reaching desired Pn187 E 50ms 0 300 10 position Moving distance 1 Stop time after reaching desired Pn188 50ms 0 300 10 position Moving distance 2 Stop time after reaching desired Pn189 50ms 0 300 10 position Moving distance 3 Stop time after reaching desired Pn190 50ms 0 300 10 position Pn191 Moving distance 4 Stop time after reaching desired 50ms 0 300 10 132 Setting
17. SIGN PULS signal t3 t7 lt 0 1ps H Forward reference Max reference frequency 500 kpps t4 t5 t6 gt 3ps L Reverse reference when 200kpps collector open output t 1 04s t T x 100 50 Select if th Forward reference Reverse reference Sey IG CCW pulse CW pulse tl t2 lt O 1us input signal Maximum reference pE i frequency 500 kpps t3 gt 3us converted when 200kpps collector open output CCW fi n JN ale be i XA or not when NN 8 xa Cw B Number of setting Forward reference Reverse refe motor move 6 arameter 90 different two phase pulse train u 4h pulses 4 x2 p phase A phase B E Pn009 Maximum reference frequency Phase A Jt A jo x 1 multiplier 500 kpps 2 X1 according when 200kpps collector open output Pase BT x 2 multiplier 400 kpps to your srt nput reference pulse x 4 multiplier 200 kpps Forward reterence Reverst p P needs Phase B is 90 Phase B is 90 forward from phase A behind phase A F input When the reference form is two phase pulse train with 90 phase difference the input pulse multiply function can be used The electronic gear function can also be used to convert input pulses Allowable Voltage Level and Timing for Reference Pulse ll Cleaning the Error Counter Input 1CN 15 Input CLR Error Counter Clear Input Setting the CLR signal to L level does the following Sets the error counter inside the Servo drive to 0 Prohibits position loop control
18. 0 1 0 1 absolute Pn053 Select output signals 1CN 7 8 functions 0 4 0 Pn054 Select output signals 1CN 1 2 functions 0 4 1 Pn055 Select output signals 1CN 5 6 functions 0 4 2 Pn056 The second electronic gear numerator B2 1 65535 1 Pn057 Dynamic electronic gear on 0 1 Pn058 Dynamic electronic gear switching 0 1 10 referen Pn059 Moving distance 0 9999 9999 0 ce pulse 1reference Pn060 Moving distance 0 9999 9999 0 pulse 10 referen Pn061 Moving distance 1 9999 9999 0 ce pulse 1reference Pn062 Moving distance 1 9999 9999 0 pulse 10 referen Pn063 Moving distance 2 9999 9999 0 ce pulse 1reference Pn064 Moving distance 2 9999 9999 0 pulse TEN 10 referen Pn065 Moving distance 3 9999 9999 0 ce pulse 1reference Pn066 Moving distance 3 9999 9999 0 pulse 10 referen Pn067 Moving distance 4 9999 9999 0 ce pulse 1reference Pn068 Moving distance 4 9999 9999 0 pulse 10 referen Pn069 Moving distance 5 9999 9999 0 ce pulse 1reference Pn070 Moving distance 5 9999 9999 0 pulse 10 referen Pn071 Moving distance 6 9999 9999 0 ce pulse 1reference Pn072 Moving distance 6 9999 9999 0 pulse 10 referen Pn073 Moving distance 7 9999 9999 0 ce pulse 128 Setting Parameter Name and description Unit Default remarks range 1reference Pn074 Moving distance 7 9999 9999 0 pulse 10 referen Pn075 Movin
19. 4 4 4 Using Holding Brake nr e eerte cue uas ea 75 4 5 Forming a Protective Sequence ssssssssssssssesseeee eene enne enne nennen enne nnne nnn nenne enne 4 5 1 Using Servo Alarm Output and Alarm Code Output oooroWoWooWo 79 4 5 2 Using Servo ON Input Signal 4 5 3 Using Positioning Complete Signal 4 5 4 Using Speed Coincidence Output Signal oooooo Woooco W 83 4 5 5 Using Running Output Signal oooo rooooWo WWW mm enne enne 84 4 5 6 Using Servo Ready Output Signal enne enne 85 4 5 7 Handling of Power LoSS ooo rWoWoWooooWooW Wo enne nne nennen nnne enne 87 4 5 8 Using Regenerative Resistor Units ooooooWoW Woo Woo W Wo Wo 88 4 6 Running the Motor Smoothly ooooooW ooooWom W mann 4 6 1 Using Smoothing function tete cec e a coe n edd 88 4 6 2 Using the Soft Start Function oma 89 4 6 3 Setting the Torque Reference Filter Time Constant oooooWoooWoo 90 4 7 Minimizing Positioning Time sssssssssssssssssssseseenneeeee nennen nennen nenne nennen nnns nnne 90 4 7 1 Setting Servo Gain 4 7 2 Using Proportional Control esssssssssessseee eene nnne enne nnne nnns 91 4 7 3 Setting Speed Bias oooocooooWoWoWoo ooW enne enne nennen nnns 92 Chapter 5 Using the digital operator 5 1 Basic operator 5 1 1 Digital Operator FUNCTI
20. Hold ENTER key for a second to return the display of step 3 or step 4 8 Press ENTER again to go back to function number display I IniIUIb This ends the operation of the motor current detection offset manual adjustment Note motor current detection offset manual adjustment range 102 102 105 5 2 7 Checking Software Version Use the following procedure to check the software version 1 Press MODE key and select assistant function mode 2 Press INC key or DEC to select the function number for servo software version ALA Sara rt ri Zt LLLI 4 Press Mode key to display FPGA CPLD software version P is displayed at the highest position Fo LP t J KUA Repress Mode key and switch back to display the DSP software version Press ENTER key to return to display the function number 106 Chapter 6 Communication functions 6 1 RS 485 RS 232 RS 422 Communication hardware interface EDB A Servo drives have RS 485 RS 232 RS 422communication functions With the help of these functions it can achieve reference modification and monitor servo drive status etc However RS 485 RS 232and RS 422 can not be applied at the same time It s selective for RS 485 RS 232 RS 422 through the options of parameter Pn213 The instruction as follows RS 232 It s a must to use Anaheim Automation special RS232 cable of BST C
21. Is there any screw loose Check with the screwdriver 1 1 1 Servo drive E Appearance and nameplate Servo drive model SERVO DRIVE MODEL EDB 08AMA AC 200 230V 50 60Hz 3 PHASE 4 84 AC 0 230V O 8KW 4 0A i D1004650 BO6AO01 Serial number Applicable motor capacity Applicable power supply W Check the model EDB 08 A M A Servo drive EDB type 1 2 3 4 5 1 2 Rated power 3 Voltage 5 Design sequence 0g 750ow 30 row Las 1 5w oo 3 OkW 50 5 0kw Position speed and gt m tan LL 1 2 Product Parts names 1 2 1 Servo drive The part names of servo drive are shown as below Dra Panel display Display the status alarms and parameter entering Panel keys Use these buttons to set the parameters Power on LED Lights when the power is on Charging LED The indicator is highlighted when the power of main circuit is ON Don t touch servo since there will still be residual electric charge remains in the capacitor inside the Servo drive Computer communication interface COM Communicate with computer Input and output signal interface 1CN Tie ins for reference entering or sequence input and output signals Encoder interface 2CN To connect the terminals of encoder installed in servomotor Power supply terminals and servomotor terminals Terminals used for power supply and to connect the servomo
22. Sets the number of output pulses for PG output signals PAO PAO PBO and PBO Output terminals PAO 1CN 34 IPAO 1CN 35 Suni qoae PBO 1CN 32 encoder IPBO 1CN 33 Dividing Phase A satkat w l Phase B Pulses from motor encoder PG are divided by the preset number of pulses before being output The number of output pulses per revolution is set in this parameter Set this value according to the reference unit of the machine or controller to be used The setting range varies according to the encoder used 39 Note After changing the parameter setting always turn the power OFF then ON 4 2 4 Contact I O Signals Please wiring contact I O signals that controls servo drive properly i Contact Input Signal Terminal Connections Connect these signal terminals as necessary Y T24VIN 9 T24V Note Provide an external I O power supply separately There are no power terminals available from the servo drive outputs signals externally External power supply DC24V 1V 50mA or more It is recommended that this external power supply be the same type as for the output circuit And the sequence input circuit operation voltage of 24V ranges from 11V 25V 12V power supply could also be applied but bad contact will occur when the contacts are mechanical and in small current Contact Output Signal Terminal Connections Input 24VIN 1CN 9 External I O power supply input
23. When the speed exceeds the speed limit negative feedback of torque Speed limit range proportional to the difference between the current speed and the limit speed is V REF performed to return the speed to within the normal speed range Therefore the actual motor speed limit value has a certain range depending on the load conditions 4 2 9 Using Torque Feed forward Function For speed control analog reference only The torque feed forward function reduces positioning time It differentiates a speed reference at the host controller to generate a torque feed forward reference and then sends this torque feed forward reference and the speed reference to the SERVODRIVE Too high a torque feed forward value will result in overshoot or undershoot To prevent this set the optimum value while observing system response Connect a speed reference signal line and torque feed forward reference signal line from the host controller to V REF 1CN 19 20 and T REF 1CN 21 22 respectively 59 Host controller Servo drive Position reference differential coefficierr Integration Pn014 calculation Frequency dividing Encoder KP Position loop gain KFF Feed forward gain How to Use Torque Feed forward Function To use the torque feed forward function set the following memory switch to 1 Para No Description Setting range Default 0 Does not use Torque Feed forward Function 0
24. speed selection PCL NCL 69 Position control Pulse reference lt gt Speed control analog reference Inputs speed reference from V REF 1CN 19 Switching control modes by using P CON 1CN 11 1CN 11 OFF position control pulse reference ON speed control analog reference Note In this position control and speed control P CON 1CN 11 is no longer used to switch between P control and PI control Servo drive Analog voltage torque reference input REF Position IUS reference SIGN Switching control modes P CON Position control Pulse reference lt gt Torque control analog reference Switching Position control Pulse reference and Torque control analog reference by using P CON 1CN 11 1CN 11 OFF Position control ON torque control Servo drive Analog voltage torque input T REF PULS Position reference SIGN Switching Control modes P CON Torque control analog reference lt gt Speed control analog reference Switching between Torque control analog reference and Speed control analog reference nputs speed reference or limit V REF 1CN 19 speed nputs torque reference torque feed forward reference and torque limit from T REF 1CN 21 value Speed reference V REF Servo drive Torque reference from Speed reference torque switching P CON
25. 116 6 3 3 Servo state data communication address Please refer to the following list for all of communication parameter address of this servo Communication datum J meaning instruction operation address hex Parameter area Relevant to parameter in Read write 0 00DE n the parameter list 07F1h 0O7FA h Alarm information memory area 10 previous alarms Read only 07FB n Speed instruction zero offset Read write 07FC n Torque instruction zero offset Read write 07FDn lu zero offset Read only 07FE n lv zero offset Read only Read only Monitor data in accordance to 0806 n 0814 n displayed data Speed feedback Read only 0806 n unit r min Input speed instruction value Read only 0807 n unit r min Input torque instruction Relevant to rated torque Read only 0808 n percentage Inside torque instruction Relevant to rated torque Read only 0809 n percentage 080A n Encoder rotation pulse number Read only 080B n Input signal state Read only 080C n Encoder signal state Read only 080D n Output signal state Read only 080E n Pulse setting Read only 080F n Present position low bits Unit instruction pulse Read only present position high bits Unit 10000 instruction Read only 0810 n pulse Deviation pulse counter low 16 Read only 0811 h bits Deviation pulse counter high Read only 0812 h bits 0813 h Setting pulse counter low bits Unit 1 inst
26. 3 Yellow PB PG input phase B 13 Green PV PG input phase V 4 Purple PB PG input phase B 14 Light purple IPV PG input phase V 5 White PC PG input phase C 15 Grey PW PG input phase W 6 Light green IPC PG input phase C 16 Light blue IPW PG input phase W 7 17 black PG power supply 8 Red PG5V 18 SG PG power supply OV 5V orange 9 19 10 20 18 3 4 Wiring servo motor 3 4 1 Encoder Connector Terminal Layout Pin No Color Description 1 x 5V power supply 2 Black orange OV power supply 3 Blue A channel output 4 Pink A channel output 5 Yellow B channel output 6 Purple B channel output 7 White C channel output 8 Light blue C channel output 9 Grass blue U channel output 10 Brown U channel output 11 Green V channel output 12 Light purple IN channel output 13 Grey W channel output 14 Light blue AN channel output 3 4 2 Dynamic power Connector Terminal layout Pin No Color Description 1 ii FG Frame grounding 2 Pink Phase U 3 Yellow Phase V Green Phase W 19 3 5 Typical wiring example 48 41096 AC 200V 15 Q 90 60 Hz TT 1RY PL o D ON IMC lt A 9 OFF IMC iRY x Surge Suporesscr oo 5 i b IMC BT B2 Bae Motor T 4 1 L1 S IMC Io E IMC 13 w M 4 1G 1 isc SN y EDB ee EDB Servo Drives A Encoder 1 Da 2CN P
27. 9999 while offset value equals sum of those two values For example No 0 offset correspond to parameter Pn059 x 10000 reference pulse and Pn060 x 1 reference pulse Set Pn059 100 Pn060 100 No 0 offset value Pn059x10000 reference pulse Pn060x1 reference pulse 100x10000 reference pulse 100 x1 reference pulse 999900 reference pulse With the same principle we can conclude in order to get the same results we also can set Pn059 99 and Pn060 9900 Thus we can see when the two parameters are not zero we can get same result by two ways one is to set the two parameters both negative or both positive or one negative the other positive It is no doubt that setting the parameter could be realized by communication In computer corresponding offset value could be set according to above mentioned method and one also can set the value directly choose independent position running in the operation menu then set the value without considering sum of two parameter Refer to PC communication application software SP Windows help documents for detailed steps m Speed 42 Speed mention here refers to the steady speed during motor running which is similar to the pulse frequency given from external in ordinary position control However this speed has nothing to do with electronic gear it is just actual speed of the motor m One rank filter time constant Same as position reference one rank filter time const
28. Bleeder resistor is broken A 16 Regenerative error Regenerative circuit error 20 Power lines One phase is not connected in open phase the main power supply A power interruption exceeding one cycle iiu power loss error occurred in AC power supply A 41 x Encoder type error Encoder type error A 42 x Motor type error Motor type error A 70 x Electric knife error Electric knife error A 99 O Not an error Normal operation status O Output transistor is OFF Output transistor is ON alarm on 136
29. CLT when OFF H level No torque limit internal torque reference is lower than setting value Please use the following user constants to define output signals and pins when using CLT signal Para No Name and description Setting range Default Pn053 Select output signals 1CN 7 8 functions 0 4 0 Pn054 Select output signals 1CN 1 2 functions 0 4 1 Pn055 Select output signals 1CN 5 6 functions 0 4 2 Pn053 3 1CN T7 8 Pn 54 3 1CN 1 2 Pn 55 3 1CN 5 6 ICLT torque limit output Output terminal The pin definitions of Pn053 Pn054 and Pn055 parameter settings are as follows 0 COIN V CMP output TGON rotation detection output S RDY servo ready output CLT torque limit output AJOJN BK brake interlock output 4 2 Setting Parameters According to Host Controller 4 2 1 Speed Reference Analog reference Input a speed reference by using the following input signal speed reference input Servo drive Speed reference input Analog voltage input SG te indicate twisted pairs 29 Input V REF 1CN 19 Speed reference input Input SG 1CN 20 Signal ground Use when in speed control analog reference Pn041 0 4 7 9 10 For general speed control always wire the VREF and SG terminals Motor speed is controlled in proportion to the input voltage between V REF and SG Reference Speed 3000 200
30. Pn011 0 1 1 Use Torque Feed forward Function This function cannot be used with the function for torque restriction by analog voltage reference To use the torque feed forward function input a speed reference to the V REF terminal and a torque feed forward reference to the T REF terminal The host controller must generate a torque feed forward reference Setting The value of torque feed forward value is determined by Pn031 set according to Host controller The factory setting is Pn031 30 If for example the torque feed forward value is 3 V torque is restricted to 100 rated torque Para No Description Unit Setting range Default 0 1V 100 30 Pn031 Torque Reference gain 10 100 4 2 10 Using Torque Restriction by Analog Voltage Reference For speed control analog reference Pn041 9 only This function restricts torque by assigning the T REF terminal 1CN 21 1CN 22 a torque limit value in terms of analog voltage Since torque reference input terminal T REF is used as an input terminal this function cannot be used for torque control When PCL signal 1CN 16 is ON the forward torque is under restriction When NCL 1CN 17 is ON the reverse torque is restricted PCL INCL Torque limit Pn026 value Torque limit value Puig PCL ON Speed refernce Torque reference Torque limit Speed feedback value i How to Use Torque Restriction by Analog Voltage Refe
31. R 220 to 4702 P Represents twisted pair cables C 0 1uF decoupling capacitor Note dividing means converting an input pulse train from the encoder mounted on the motor according to the preset pulse density and outputting the converted pulse The unit is pulses per revolution output signal Output PAO 1CN 34 Encoder Output Phase A For Speed Torque Control and Position Control Output PAO 1CN 35 Encoder Output Phase A For Speed Torque Control and Position Control Output PBO 1CN 32 Encoder Output Phase B For Speed Torque Control and Position Control Output PBO 1CN 33 Encoder Output Phase B For Speed Torque Control and Position Control Output PCO 1CN 30 Encoder Output Phase C For Speed Torque Control and Position Control Output PCO 1CN 31 Encoder Output Phase C For Speed Torque Control and Position Control Output SG 1CN 18 Signal grounding Always connect these signal terminals when a position loop is formed in the host controller to perform position control Connect SG to host controller OV The output signals forms are shown in the following diagram Forward 2H ba aga Reverse H ogs Phase A Phase A abal LI Phase B e Tg KE TR 2 Phase B TTL t J Setting the Pulse Dividing Ratio Set the pulse dividing ratio in the following parameter Parameter Name Unit Range Default Pn021 PG Dividing Ratio Setting P R 1 2500 2500
32. Run output 21 T REF Torque reference input 5 TGON 2 S RDY 2 Servo ready output 22 SG OV S RDY u Open collector reference 3 CLT 3 Torque limit output 23 PL1 ICLT input power supply 4 BR 4 Holding brake interlock 24 PULS Reference pulse input BR output 3 ALM Alarm output 25 PULS Reference pulse input ALM Alarm output 26 SIGN Reference sign input 9 24VIN I O power supply input 27 SIGN Reference sign input Open collector reference 10 S ON Servo ON input 28 PL2 input power supply 11 P CON P control input 29 PG Frequency dividing 12 P OT Forward overtravel input 30 PCO output PG Frequency dividing 13 N OT Reverse overtravel input 31 PCO output PG Frequency dividing 14 ALM RST Alarm reset output 32 PBO output PG Frequency dividing 15 CLR Clear input 33 PBO output Forward external torque PG Frequency dividing 16 PCL 34 PAO limit output Reverse external torque PG Frequency dividing 17 INCL 35 PAO limit output 18 SG OV 36 SG OV Note 1 Do not use vacant pins for relay or other purposes 2 Connect the shielded twisted pairs of I O signals to connector frame 3 Allocate and define function for pin 1CN 1 2 1CN 5 6 1CN 7 8 according to parameter Pn053 Pn054 Pn055 14 3 2 3 I O signal names and functions B Input signal Signal Pin Function Reference name number 24VIN 9 Control power supply input for sequence signals Users 4 2 4 must provi
33. Time delay from the time a brake signal is Pn044 10ms 0 500 0 output until servo OFF status occurs This parameter is used to set output timing of brake control signal BK and servo OFF operation motor output stop when servomotor with brake is used S ON input 1C N 10 B K input Servo ON operation motor ON status Motor is ON h Release the brake Time delay from the time a brake signal is output until servo OFF status occurs For brake ON timing during motor operation use Pn045 and Pn046 Note When alarm triggers motor will instantly turn OFF Due to gravity and other reasons machine might move until brake stops F Setting Set the following parameters to adjust brake ON timing so that holding brake is applied when the motor stops Motor Operation Para No Name and description Unit Setting range Default Speed Level at which Brake Signal Is Output Pn045 R min 10 100 100 during Motor Operation Output Timing of Brake Signal during Pn046 10ms 10 100 50 Power OFF by S ON input Servo ON Serva OFF 1CN 10 or alarm occurrence Motor speed rimin Pn045 Stop by dynamic brake or coasting to a stop Release brake BK output Holding brake Pn046 Pn045 and Pn046 are used for servomotors with brake Use these parameters to set brake timing used when t
34. a limit switch to prevent damage to the machine Reverse rotation MH servo motor Limit switcht Forward rotation Servo drive Input signal ON OFF status are shown as follows Signals Status Input voltage Description ON 1CN 12 L level Forward rotation allowed Normal operation status P OT OFF 1CN 12 H level Forward rotation prohibited reverse rotation allowed ON 1CN 13 L level Reverse rotation allowed Normal operation status N OT OFF 1CN 13 H level Reverse rotation prohibited forward rotation allowed BSpecifying whether Input Signals for Overtravel are to be used Use the following parameters to specify whether input signals for overtravel is to be used Default value is using Unit Setting range Para No Name and description Default Pn001 Uses the P OT input signal for prohibiting forward rotation or not 0 1 0 Uses the P OT input signal for prohibiting forward rotation Forward rotation is allowed when 1CN 12 is at 0 V 1 Does not use the P OT input signal for prohibiting forward rotation Forward rotation is always allowed This has the same effect as shorting 1CN 12 to 0 V Pn002 Uses the N OT input signal for prohibiting reverse rotation or not 0 1 0 Uses the N OT input signal for prohibiting reverse rotation Reverse rotation is prohibited when 1CN 13 is open Reverse rotation is allowed when 1CN 13 is at 0 V
35. air 2 2 3 Installation orientation Install the SERVODRIVE perpendicular to the wall as shown in the figure The Servo drive must be oriented this rU Aan TIE IIb tf Ventilation way because it is designed to be cooled by natural convection or a cooling fan Wall 2 2 4 Installation method When installing multiple Servos drives side by side in a control panel observe the following installation method Fan Fan NC 78 MASS dii 301mm Eur more mu an or more Lern was M or more m or more l Servo drive orientation Install the Servo drive perpendicular to the wall so the front panel containing connectors faces outward ll Cooling As shown in the figure above allow sufficient space around each Servo drive for cooling by cooling fans or natural convection F Side by side Installation When installing Servo drives side by side as shown in the figure above allow at least 10 mm 0 39 in between and at least 50 mm 1 97 in above and below each Servo drive Install cooling fans above the Servo drives to avoid excessive temperature rise and to maintain even temperature inside the control panel l Environmental Conditions in the Control Panel 1 Ambient Temperature 0 to 55 C 32 to 131 F 2 Humidity 90 RH or less 3 Vibration 4 9 m s2 4 Condensation and Freezing None 5 Ambient Temperature for Long term Reliability 45 C 113 F or less 10 Chapter 3 Wirings and conne
36. and description Unit Setting range Default remarks 0 7 N 2 Modbus ASCII 1 7 E 1 Modbus ASCII 2 7 0 1 Modbus ASCII 3 8 N 2 Modbus ASCII 4 8 E 1 Modbus ASCII 5 8 0 1 Modbus ASCII 6 8 N 2 ModbusRTU 7 8 E 1 Modbus RTU 8 8 O 1 Modbus RTU Pn213 Communication protocol options O Self definition protocol RS 232 Communication 1 MODBUS Protocol RS 422 232 Communication 2 MODBUS Protocol RS 485 Communication Pn214 Not Used Pn215 Not Used Pn216 Communication bit control This parameter is designated through bit to decide input source of digital input port BitO bit7 represent input port 0 7 respectively Bit definition represents as follows 0 input bit is controlled by outside interface 1 input bit is controlled by communication 0 255 Pn217 Reverse the output port 0 15 Pn218 Suitable motor type parameter 0 3 Pn219 Start point for program 0 31 Pn220 End point for program 0 31 134 Setting Parameter Name and description Unit Default range remarks speed of looking for reference point bump the limit Pn221 r min 0 2000 1500 switch Pn222 Moving speed move away from limit switch r min 0 2000 30 Note After changing the setting always turn the power OFF then ON This makes the new setting valid Valid even in
37. connector 1CN oooooWoWooWoooW Wo WWW anakan 14 3 2 3 I O signal names and functions ooWooWooWoooWo WWW W maanananan 15 3 2 4 Interface Circuit Dengan daten ennt daan kanan 17 3 3 Wiring er COdGrs uc RAB eee hene RN bumn 18 3 3 1 Connecting an Encoder 2CN and Output Signals from the servodrive ooooooWoWoWooo 18 3 3 2 Encoder Connector CN2 Terminal Layout ooWooWoo oo 18 34 Wiring SerVo totor Hebat NBA ANN adage av Eevee 19 341 Encoder Connector Terminal Layout ooo WoWoWWo om 3 4 2 Dynamic power Connector Terminal layout 3 5 Typical wiring example 3 5 1 Position control mode 3 5 1 Position control mode 3 5 2 Speed control mode 3 5 9 TOrquecontrol mode cce rene tear e xo ea YEN ENTRE HER Chapter 4s benalu enims 24 Parameter Setting and function description oWooWoooooW WWW nennen inneren nnne nnne nnne 24 4 1 Setting Parameters according to mechanical features ooooooooooo momo 24 4 1 1 Changing the Direction of Motor Rotation oocoooWooooocoo Wo 24 Select the rotating direction by setting parameters below oooooWooWoWoWooWmo W Wo WWW Woo 24 4 1 2 Setting overtravel limit nnne 25 4 1 3 LIMITING TOUS iuret t t trm tee caved rx rete co vd e ee ue e Ya ex eee n eee tunes 26 4 2 Setting Parameters According to Host Controller 4 2 1 9pee
38. control analog reference Speed control analog reference 10 Speed control analog reference Zero clamp control 11 Position control pulse train reference Position control inhibit 12 position control parameter reference 13 speed control parameter reference 14 electric knife frame function Pn042 Speed limit in torque control mode r min 0 6000 1500 Pn043 Time delay from servo ON signal till Servo actually ON ms 0 20 200 Pn044 Pn045 Time delay from the time a brake signal is output until servo OFF status occurs Speed level for brake signal output during operation 10ms r min 0 500 0 2000 100 Pn046 Time delay from brake signal until servo OFF 10ms 10 100 50 Pn047 Position error pulse overflow alarm 0 no alarm output 1 alarm output Pn048 Speed when parameter speed reference functions r min 500 Pn049 Rotation direction when parameter speed reference function 0 Forward 1 Reverse Pn050 Select cycle run 0 multi points cycle run 1 multi points single run Pn051 Use P CON signal as step changing signal or not 0 delay step changing 127 Setting Parameter Name and description Unit Default remarks range 1 use P CON as step changing signal Program method Pn052 0 incremental
39. control position control IPCL NCL can t be allocated as torque limit input in internally set speed control mode Pn044 setting Description Possible input signal RR Does not use P CON CN1 11 PI control P control switch seen internal speed switch control mode selection Switch to zero clamp valid invalid 10 11 12 13 Switch INHIBIT valid invalid Step changing output PCL CN1 12 Forward external torque limit output looking for reference point NCL CN1 13 reverse external torque limit output looking for reference point Use internal speed P CON PCL NCL Speed setting urn selection Direction 0 0 Control mode switch selection 0 1 SPEED1 Pn038 ORE 1 1 SPEED2 Pn039 1 0 SPEED3 Pn040 1 reverse Note 0 OFF H level 1 ON L level Application of CLT signal The application of output signal CLT is as follows 24V power SUPPLY Servo Drive isd T 24V oe ee MC Photocoupter output i ALI nak L x ESE Max applicable Voltage 30vDc WE EL Max applicable Current S mADC 1 3 aLi Tx Torque limit detection output Speed torque control position control gt Output CLT Indicates the output torque current of motor is limited CLT when ON L level Motor output torque under limit internal torque reference is higher than setting value
40. frame form as follows Host controller datum frame start Servo drive address instruction Datum address data verifying 115 Servo drive feedback fault frame start Servo drive address Response Fault code verifying code Thereinto Fault frame response code order 80 h Fault code 00 n communication in gear 7 01 n servo drive cannot identify the required functions 7025 the required address do not exist in the servo drive 7 03 n the required datum in the servo is not workable beyond maximum or minimum value of the parameter 7 04 n servo drive starts to execute the requirement but cannot achieve it For instance servo drive addressed at03 n write in06 h into parameter Pn002 however because both the maximum and minimum value of parameter Pn002 are zero therefore the datum will not be adapted servo drive will return a fault frame The fault code is 03 Frame is as follows Host controller datum frame start Servo drive address instruction Datum address data verifying 03 h 06 n 00025 0006 Servo drive feedback fault frame start Servo drive address Response Fault code verifying code 03 h 86 h 03 h Besides if the datum from host controller indicated servo drives address as 00 p it represents this datum is broadcasting datum servo dries will not return any frames
41. look for reference point Change steps by external P CON 0 delay changing steps no need of start signal signals The signal will be valid when 1 change steps by P CON no need of start signal drive output reach to desired 2 delay changing steps need start signal PCL or position And when signals of cae NCL changing the signals valid then 3 change steps by P CON need start signal PCL or steps will be changed by INCL consequence from start point to end point 44 Pn052 0 incremental 1 absolute Incremental relative moving distance distance from current point to next point programming Absolute absolute moving distance distance between operating platform and the reference point programming 45 B Wirings and connections in points control mode Toraue reference 1 V Rated torque tP represents multi twisted pair Power supply for PL1 collector open PL2 reference 24YIN Servo ON When ON Servo S S ON function enabled Step changi P CON ep changing i When ON P control acts Forward rotation prohibited When OFF forward rotation prohibited Reverse rotation prohibited When OFF reverse rotation prohibited Alarm reset When ON alarms reset Clear signal input When ON displacement clears Looking for reference point in forward direction When ON looking for reference point starts Looking for reference point
42. lt gt Torque control analog reference Torque control and speed control can be Switched PCL 1CN 16 and NCL 1CN 17 are used to Switch between torque control and speed control Note In this status PCL 1CN 16 and NCL 1CN 17 could no longer be used as external torque limit output P CON PCL INCL 0 0 Analog reference control 0 forward 0 1 SPEED1 rotation 1 1 SPEED2 1 reverse 3 dra rotation Servopack Analog voltage speed limit reference input V REF Analog voltage torque reference input T REF Servopack Analog voltage speed limit reference input V REF P CON Internal speed selection PCL NCL Position control pulse reference lt gt Torque control Analog reference Use P CON 1CN 11 to switch between Position control pulse reference and Torque control Analog reference 1CN 11 OFF position control ON torque control Analog voltage Servodrive torque reference input T REF Position FUIS reference SIGN Switching Control mode P CON Torque control Analog reference lt gt Speed Reference analog reference 55 Servodrive Speed reference V REF Torque reference peed ret Torque ref P CON Switch between Torque control Analog reference and Speed Reference analog reference Inputs speed reference or speed limit from V REF 1CN 19 T REF 1CN 21 inputs a t
43. mode BETHA 4 Press MODE to enter Servo ON motor ON status Press MODE to switch between servo ON and Servo OFF If motor running is required servo must be ON 6 Press INC or DEC motor runs when press the keys NX N Qe ma Moter forward rotation a TSS e C le Motor reverse rotation 7 Press ENTER to return to function number display Servo is OFF Floida 5 2 4 Reference Offset Automatic Adjustment The motor may rotate slowly when the reference voltage is intended to be 0 V This occurs when the host controller or external circuit has a small offset measured in mV in the reference voltage The reference offset automatic adjustment mode automatically measures the offset and adjusts the reference voltage It adjusts both speed and torque references The following diagram illustrates automatic adjustment of an offset in the reference voltage from the host controller or external circuit Reference voltage Offset Reference Speed or Reference Torque Reference voltage Reference Speed or Reference Torque Offset Automatically ail Adjusted in Servopack d 101 After completion of offset automatic adjustment the amount of offset is stored in the Servodrive The amount of offset can be checked in the speed reference offset manual adjustment mode Refer to Reference Offset Manual Adjustment Mode for details The refere
44. of offset detected by motor current Fn007 Servo software version display 99 5 2 1 Alarm Trace back Data In alarm trace back data latest ten times alarms could be displayed The following shows the procedure to display the historical record 1 Press MODE to select assistant function mode 2 Press INC or DEC to select function number of alarm historical record Flo 3 Press ENTER to display the latest alarm code Alarm number alarm code AAL LI LI 4 Press INC or DEC to display other recent occurred alarm code ag GLA Y 5 Press ENTER to return to function number display Flaoo If the user wants to clear all the record just hold ENTER for one second then all the historical data will be deleted j LI Lo 5 2 2 Operation of recovering to default value The follows are procedures to recovery of default value 1 Press MODE to select assistant mode 2 Press INC or DEC to select function number of recovering to default value Flaoo 3 Press ENTER to enter parameter default recovery mode LA 4 Hold ENTER key for one second to recover the parameter to default setting Elid 5 Release ENTER key to return to function number display 100 Flaoo 5 2 3 Operation in JOG mode The following is steps in JOG mode 1 Press MODE to select assistant mode 2 Press INC or DEC to select Function number of JOG mode Flnlblole 3 Press ENTER to enter JOG
45. resistance 40KQ input Loop 47s Time constant Reverse rotation Use P CON signal Node speed direction selection reference Speed selection Use FWD REV current limit signal select speed 1 3 when both not OFF select Stop or other control mode Type SIGN PULSE train sin Pulse phase A and phase B CCW CW pulse train Position Reference Pulse Buffer control Pulse Line driving 5V level open collector mode Pulse Frequency Maxi 500Kpps difference 200 Kpps collector Control signal Offset setting CLEAR 0 300r min set resolution as 1r min Feed forward compensation 0 100 set resolution as 1 In position error setting 0 500 reference unit set resolution as 1 reference unit I O signals Position Output signal Phase A phase B and phase C line driving output output Dividing ratio 1 2500 2500 Sequence control input Servo On Proportional control or control mode switch forward run prohibited reverse run prohibited alarm reset FWD torque external limit REV torque external limit zero clamp signal Sequence control output Servo Alarm servo ready positioning complete speed coincidence brake release limiting torque motor run detection Built in function COM function With RS232 interface for communication with host controller s special software Parameter setting Run operation and Status display can be done in Windows m
46. so that the main circuit power to the servo drive is turned OFF by this alarm output signal Signal Status Output voltage Description ON 1CN 4 V level Normal state ALM OFF 1CN 4 H Level Alarm state When the servo alarm ALM is output eliminate the cause of the alarm and the turn ON the following ALM RST input signal to reset the alarm state input ALM RST 1CN 14 Alarm reset Signal Status Output voltage Description ON 1CN 14 L level Clears alarm state ALM RST OFF 1CN 14 H level Does not clear alarm state Form an external circuit so that the main circuit power supply is turned OFF when servo alarm is output Alarm state is automatically reset when control power supply is turned OFF Thus no alarm reset signal necessary Alarm state can be reset using the Digital Operator 79 When an alarm occurs always eliminate the cause before resetting the alarm state 4 5 2 Using Servo ON Input Signal This section describes how to wire and use contact input signal servo ON S ON Use this signal to forcibly turn the servomotor OFF from the host controller Servo drive output S ON 1CN 10 Servo ON This signal is used to turn the motor ON or OFF Signal State Input voltage Description ON 1CN 10 L level Servo ON Motor is ON Motor is operated according to input signals S ON OFF 1CN 10 H le
47. the following condition fulfilled 1 P CON is ON 2 motor speed is below Pn033 setting value Pn041 setting Meaning of P CON 0 1 Switch between P and PI 2 not used 3 4 5 6 change the rotation direction of internally setting speed chosen 7 8 9 Change control modes 10 Switch between zero clamp valid and invalid 11 Switch between INHIBIT valid and invalid 33 12 Step changing signal 13 Parameter speed reference not used Servo motor rotates constantly according to set speed and direction of Pn048 and Pn049 under parameter speed control mode parameter reference Pn041 13 Para No Name and description Unit Setting range Default Pn048 Speed level when parameter speed reference function R min TE 500 Pn049 Rotation direction when parameter speed reference function sd 0 O Forward 1 Reverse 4 2 2 Position reference Position reference includes reference pulse input reference sign input and error counter clear input There are various applications please set the best input reference in the system established i Move Reference by Pulse Input Inputs a move reference by pulse input Position reference can correspond to the following three types of output form e Line driver output e 24V Open collector output e 12V 5V Open collector output Connection Example 1 Line Driver Output Line Driver Used
48. torque control by P CON signal lt gt 9 torque control analog reference speed control analog reference Mode that could switch between torque control and speed control by P CON signal Please refer to 4 2 8 Torque control gt 10 speed control analog reference zero clamp control Speed control mode that allow zero clamp function setting when servo drive stops Zero clamp acts after P CON signal is ON L level Please refer to 4 4 3 zero clamp 11 position control pulse reference position control pulse prohibit Position control mode that use P CON signal to stop reference pulse stop prohibit Please refer to 4 2 11 reference pulse inhibits function 12 position control parameter reference Servodrive could perform position control without host controller Please refer to 4 2 5 contact control 13 speed control parameter reference Servodrive performs according to the speed and rotation direction set by Pn048 and Pn049 please refer to 4 2 1 Meanings of some parameters under various control modes are as follows Pn041 Control mode 66 Speed control mode analog reference common speed control V REF 1CN 19 inputs speed reference P CON CN1 11 signal is used to switch between P control and PI control 1CN 11 OFF PI control ON P control Position control mode pulse train reference Common position reference P CON 1CN 11 is used to switch b
49. when power off 2 alarm information storage area 07F14 07FAh Previous Communication instruction alarm number address O7F1 n 0 Previous alarm record 1 the last alarm 07F2n 07F3 h 07F4 h 07F5n 07F6 n 07F7 n oc A o NM 118 07F8h 07F9h O7FA h 9 Previous alarm record 10 the oldest in time 3 monitor data area 0806h 0814h These monitor data are relevant to servo drive display panel Un000 Un014 For instance read address 0807 p speed setting through communication as FB16 p therefore the speed setting is 1258RPM 4 ModBus communication IO signal Use communication to control input number IO signal This datum won t be reserved after power off 5 drive state 0901 p This 1 word represents the current state of the system Meaning of each bit as follows LEE BiT 4 BIT9 BITE BIT BIT BITS BIT4 BITS BIT BITI BITO xx T cus ee Teo Tes Te Tr Tos jala alarm signal 1 represents alam occur dosentuse Postion overshoot PHOT wallstie represents ha maior speed is higharthan saran ra ad signal 1 representa servo ia raady pasiton contro 1 represents alam thar signal ALN RST input spead contat 1 raprasarts matartorqua axcaeds 10 rated torque servo wating signa motoris not on 1 represents wating gasition control 1 represents postion sating complete Speed cordrod l represen
50. 0 r min 1000 Oy 5 1000 10 Standard Input voltage v setting 2000 Setslope rate on P 3000 ll Standard Example Changing Pn 012 may modify range of speed reference Pn 012 150 This setting means that 10 V is equal to rated speed 1500r min Specific example is as follows Speed reference input Rotation direction Rotation speed 10V Forward Rated speed 1500r min 1V Forward 1 10 Rated speed 150r min 3V Reverse 3 10 Rated speed 450r min ll Example of input circuit For noise control always use multi twisted cables 470Q 1 2W Or more Servo Drive 10V Connect V REF and SG to speed reference output terminal when host controller is used for position control 30 Host controller Servo dri Speed V REF reference ET ss Output terminals Feedback PAO pulse P IPAO Input terminal iP IPBO P indicates twisted pair Now please refer to the specification of output voltage to adjust Pn012 Adjust the input gain of speed reference by setting the following parameter Para No Name and description Unit Setting range Default Pn012 Speed reference gain r min V 0 2500 150 Speed reference is input from V REF 1CN 19 Set the parameters according to the output of host controller or external circuit The default setting is adjusted to be allowed by output voltage 10V rated speed Reference spe
51. 0bps Communication protocol form 0 7 N 2 Modbus ASCII 1 7 E 1 Modbus ASCII 2 7 0 1 Modbus ASCII 3 8 N 2 Modbus ASCII Pn212 0 8 4 8 E 1 Modbus ASCII 5 8 0 1 Modbus ASCII 6 8 N 2 Modbus RTU 7 8 E 1 Modbus RTU 8 8 O 1 Modbus RTU Communication protocol options 0 Self definition protocol RS 232 Communication Pn213 0 2 1 MODBUS Protocol RS 422 232 Communication 2 MODBUS Protocol RS 485 Communication Pn214 Not Used Pn215 Not Used Communication bit control This parameter is designated through bit to decide input source of digital input port BitO bit7 represent input port Pn216 0 7 respectively Bit definition represents as follows 0 255 0 input bit is controled by outside interface 1 input bit is controled by communication Note 1 After change the communication address through communication that is to say after change the 109 value of Parameter Pn210 the servo drive will still response data with previous communication address It takes 40ms for the servo drive to change into new communication adress 2 After change the communication speed through communication that is to say after change the value of Parameter Pn211 the servo drive will still response data with previous communication speed It takes 40ms for the servo drive to change into new communication adress 3 After change the communication protocol through communication t
52. 8 Reverse input port low bits 0 15 0 Pn099 Reverse input port high bits 0 15 0 Speed loop setting curve form 0 slope Pn100 1 S curve 0 3 0 2 primary filter 3 secondary filter Pn101 S curve raising time ms 0 10000 0 Pn102 Primary and secondary filter time ms 0 10000 Pn103 S form selection 1 3 0 BiU Position reference primary and secondary filter i Boi F selection Pn105 Not used Pn106 Not used Pn107 Not used Pn108 Not used Pn109 Not used Pn110 Not used Pn111 Not used Pn112 Speed forward feedback percentage 0 100 0 Pn113 Load inertia Kg cm2 0 10000 20 Pn114 Torque switching percentage 0 300 200 P PI switching condition Pn115 0 fixed PI 0 1 0 1 torque switch Pn116 Not used Pn117 Not used Pn118 Not used Pn119 Not used Pn120 Not used Pn121 Not used Pn122 Not used Pn123 Moving distance Ospeed r min 0 2000 500 Pn124 Moving distance 1speed r min 0 2000 500 Pn125 Moving distance 2speed r min 0 2000 500 Pn126 Moving distance 3speed r min 0 2000 500 Pn127 Moving distance 4speed r min 0 2000 500 Pn128 Moving distance 5speed r min 0 2000 500 Pn129 Moving distance 6speed r min 0 2000 500 130 Setting Parameter Name and description Unit Default remarks range Pn130 Moving distance 7speed r min 0 2000 500 Pn131 Moving distance 8speed r min 0 2000 500 Pn132 Moving dista
53. C24 Instructions The cable length is less than 15 meters when in a less disturbed environment However if transmission speed is above 38 4Kbps it s strongly recommended that the cable length is less than 3 meters to ensure the accuracy of transmission RS 485 RS422 Communication cable wring diagram 107 RS 485 RS 422 Servo drive 1 COM interface Servo drive 1 COM interface RS422 R X4 D ac e LL RS422 RX L ecl CE RS422 TX Lll 0 5 CC RS42 TX NIND J a RXD RXD TXD 4 Xx v 95 Co ho O C lt Ufo GND Servo drive 2 COM interface Servo drive 254 COM dien RXD R EL TXD 3 TXD 3 l d TXD 8 xe xlx ee ae 5V 4 Ta ha 9 wp ws lai Lari Lari Las ES E SISISIS GND 5 ford faved x o Instructions 1 The cable length is less than 100 meters when in a less disturbed environment However if transmission speed is above 38 4Kbps it s strongly recommended that the cable length is less than 15 meters to ensure the accuracy of transmission 2 It s available for up to 32 PCS servo drives to work togeter when RS422 or RS485 is applied In case more servo drives control needed relay stations are required 6 2 RS 485 RS 232 RS 422 communication parameter Para No Name and description Unit Range Default value Pn210 Communication address setting 1 255 1 108 Communication speed options 0 4800bps Pn211 0 2 1 9600 bps 2 1920
54. C24V 5 mA or more I S ON and so on B Line Driver Output Circuit Encoder serial data converted to two phase phases A and B pulse output signals PAO PAO PBO PBO zero point pulse signals PCO PCO are output via line driver output circuits Normally the Servo drive uses this output circuit in speed control to comprise the position control system at the host controller Connect the line driver output circuit through a line receiver circuit at the host controller ll Sequence output circuit Output signals of Servo alarm Servo ready and other sequences are consist of photocoupler output circuit please connect to relays D enia Relay Servo drive 17 Note MAX allowable voltage and current are shon as follows Voltage DC30V MAX Current DC50V MAX 3 3 wiring encoders 3 3 1 Connecting an Encoder 2CN and Output Signals from the servodrive Incremental encoder Servo drive Phase A manufactured by Texas 2 14 Instruments or the 2 9 PGoy OVE PGOV T38 Connector shell Shell rel aa Customer s side H IF represents multi twisted shielded wires 3 3 2 Encoder Connector CN2 Terminal Layout 2CN terminals layout is as follows Pin Color Pin Color Name Description Name Description No No 1 Blue PA PG inputs phase A 11 Grass green PU PG input phase U 2 Pink IPA PG input phase A 12 Brown PU PG input phase U
55. CON Inputs one of the following torque reference Torque feed forward reference or torque limit from T REF 1CN 21 Switching torque control and speed control By P CON 1CN 11 1CN 11 OFF torque control ON speed control Torque control when P CON is OFF Torque controls according to T REF V REF may provide speed control when Pn007 1 limit forward and reverse rotating speed according to V REF Limit Max speed from user constant Pn042 Speed control when P CON is ON user constant Pn010 Pn011is set as follows User constant Speed input reference Torque input reference Observation Pn010 Pn011 V REF 1CN 19 T REF 1CN 21 32 10 0 0 Simple speed control Speed reference Not used 1 speed control with torque feed forward Set Pn010 i Speed reference Torque feed forward refer to 4 2 9 1 0 Torque limit speed control offered by analog voltage reference Refer to Speed reference Torque limit 4 2 10 For details Speed control Analog reference zero clamp speed control with zero clamp function Inputs V REF 1CN 19 from speed control Select zero clamp by P CON 1CN 11 1CN 11 ON zero clamp valid OFF zero clamp invalid W P CON signal application o F o No Servo drive Step changing Signal Analog voltage speed Servo drive reference V REF Zero clamp P CON ON OFF Zero clamp acting when
56. ED3 P CON 3rd speed 2nd speed 1st speed Set acceleration and deceleration values in Pn019 and Pn 020 soft start time The Servodrive can provide the following torque control e Level 1 To restrict the maximum output torque to protect the machine or workpiece internal Torque restriction refer to 4 1 3 Level 2 To restrict torque after the motor moves the machine to a specified position external Torque restriction refer to 4 1 3 e Level 3 To always control output torque not speed Level 4 To switch between torque control and other control This section describes how to use levels 3 and 4 of the torque control function i Selecting Torque control Use the following parameter to select level 3 or level 4 torque control I 3rd speed Lu Para No Name Setting range Default Description Pn041 Control Mode Selection 0 13 0 For Speed Torque Control and position Control A motor torque reference value is externally input into the Servodrive to control torque Pn041 Control Mode 54 Torque Control analog reference This is a dedicated torque control mode A torque reference is input from T REF 1CN 21 P CON is not used Speed reference input V REF 1CN 19 can be used as speed limit when Pn007 is set to be 1 Parameter Pn042 can be used for maximum speed control Speed control Contact reference
57. G l j A x LV V REF 1CN Pioasa hande comactors of x 34 Shieided wires properly adam sow yy ALFI D s mo 1 A D 53 taer PAO Eos socie tdi LPF Re x ol PBO e Pus 25 0n T a3 pgo PG Pa Frequency Diving Op P Repeeserits 5 f Muti taisted Pak PULS JP 24 EA me PULS 30 1500 p PCO SIGN SENI 71 a Pco Position Reference 4 VP 26 SIGN 36 sa EXT Powar Supply for PL4 2 2K Collector Open Reference us 99 2K 4 edi 04V 4 DANIN 9 BE Cru Fee EAE ON FISON 10 IT I 4 IN4 When ON WmenONsewo functionisenabe F do PA acon tip P control role Postioring Complete ON P CON sandang COIN CON Whon postoring compie ON When ONLP control encabiod gt 3 wes TGON TGON VU E ean 4 P wo jae TON CON When vain anods sating ON OFFS P OT E d oo 4 Wren ON toward rotation prohloled E aot S RD Y Servo Ready Output Reverse rotation prohibited FS RDY CON When servo raadt ON OFF QNOD 13 FOLT Torque Lint Odot stoneware ce ACLT CON When vaus excesci sating ON m 5 BR Brak Intericek Output TON edb 2 14 Fa oo gl fBR CON When ON broek reses When ON aiam sesel Cinar sigra input ON CLR 24 When OM dapiacemeni cear mn E 5 Forward external torque limit ON jpa When ON imit enables gt L ov Rewerse extemal torque imit x A o ON When ON mit enabled NCL ss i INPS Photo Coupler Output Maxmum wo
58. LH i R Workpiece Number of encoder pulses 2500 Ball screw pitch 6 mm Machine conditions and reference unit must be defined for the electronic gear function Number of encoder Ball screw pitch 6 mm beforehand pulses 2500 To move a workpiece 10 mm To move a workpiece 10 mm One revolution is equivalent to 6 mm so Reference unit is 1 ym so 10 6 1 6666 revolutions 2500 x 4 pulses is equivalent to one revolution 10mm 10000 pulses so 1 6666 x 2500 x 4 16666 pulses Tu A total of 16666 pulses must be input as a reference the host controller needs to make this calculation l Setting the Electronic Gear Calculate the electronic gear ratio B A according to the procedure below and set the value in Pn022 and Pn023 1 Check the machine specifications Items related to electronic gear Gear ratio Ball screw pitch Pulley diameter 2 Check the number of encoder pulses for the Servomotor To move a table in 0 001 mm units Reference unit 0 001 mm 3 Determine the reference unit to be used Reference unit is the minimum unit of position data used Reference unit 0 001 mm gt for moving the load Minimum unit of reference from host controller Examples 0 01 mm 0 001 mm 0 1 0 01 inch Reference input of one pulse moves the load by one reference unit Example When reference unit is 1 um Determine the reference unit according to AE machine specifications and positionin If a reference of 50 000 puls
59. N1 11 ON L level P control OFF H level PI control ll How To Use Proportional Contro Proportional control can be used in the following two ways When operation is performed by sending speed references from the host controller to the Servodrive the host controller can selectively use P control mode for particular conditions only This method can prevent the occurrence of overshoot and also shorten settling time If PI control mode is used when the speed reference has a reference offset the motor may rotate at a very slow speed and fail to stop even if O is specified as a speed reference In this case use P control mode to stop the motor 4 7 3 Setting Speed Bias The settling time for positioning can be reduced by assigning bias to the speed reference output part in the Servodrive To assign bias use the following constant Para Name Unit Setting range Default Pn016 Speed bias R min 0 300 0 i Contact input This parameter is set to assign an offset to a reterence speed reference in the Servodrive In Pn016 d Error pulse position control mode P Use this constant to reduce the settling time Set this parameter according to machine conditions 92 Chapter 5 Using the digital operator 5 1 Basic operator 5 1 1 Digital Operator Functions The Digital Operator allows the user to set parameters send commands and display operating status This sectio
60. ONS cte erect ade nun tee et ete RA eds 93 5 1 2 Resetting Servo Alarms ooooWoWoWooWooWo Women 93 5 1 3 Basic Functions and Mode Selection ooooWo or oo WWW WWW Wo WWW Wo 94 5 1 4 Operation in Status Display Mode oooooooroWo Woo o WoW WWW W W 94 5 1 5 Operation in Parameter Setting Mode ooooooWoWooWoo Wo Woo Wo 97 5 1 6 Operation in Monitor Mode ccccccscccsssceceseeecsneeeceeeecceeecceeeceeecseeeesseeeseeeesseesesseeeesaees 97 Operation Using the Digital Operator euis b e p Reg ie ees 99 5 2 1 Alarm Trace back Data oooooo Wo Woo oo nana 100 5 2 2 Operation of recovering to default value oooWoo WooW oom 100 5 2 3 Operation in JOG mode oooooWooWoWoW oom eene nennen enne nnne enne nnns 101 5 2 4 Reference Offset Automatic Adjustment oooWooooWooWooWo Woo 101 5 2 5 Reference Offset Manual Adjustment Mode oooWooWooWooooooWoW 103 5 2 6 Motor Current Detection Offset Adjustment oooWooooWoomoom 103 5 2 T Checking SoftWare VErSiOM san rtt teet etg ee ee e iege eee ge ege 106 GChapten6 p DERE 107 Communication functions eseina RENA ei eer coe 107 6 1 RS 485 RS 232 RS 422 Communication hardware interface oooooWoWoWoWo oWo Wo Woo 107 6 2 RS 485 RS 232 RS 422 communication parameter oooo Woo Wo 108 6 3 MODBUS communication protoc
61. Servo is OFF The servo drive will disenable all the servo functions at following condition 1 S ON input signal 1CN 10 is OFF 2 Servo alarms triggered 3 Power OFF Setting Pn004 to select stop modes according to the demand 4 1 3 Limiting Torque The servo drive could use the following method to limit torque 26 Grade 1 Limit the Max output torque to protect press and parts Limit internal torque Grade 2 Limit torque to move to desired position limit external torque Para Name and description Unit Setting range Default Pn026 Forward torque internal limit 96 0 300 300 Pn027 Reverse torque internal limit 96 0 300 300 Pn028 Forward torque external limit Yo 0 300 100 Pn029 Reverse torgue external limit Yo 0 300 100 ll Grade 1 set the internal torque limit Adjust forward and reverse torgue limit by setting Torgue limit parameters Pn026 Pn027 for limiting torque After setting Motor the limit ICLT will output when reach the limit value If the torque Speed E limit is set higher than the maximum torque of the servomotor the maximum Torque torque of the servomotor is used ll Grade 2 set the external torque limit Example for mechanical protection First set the torque limit of user constant Pn028 Pn029 then enable the limit with contact input signal Both forward and reverse torque could be set separately Servo drive Forward Reverse FNCL WES Rotating spee
62. Switches torque control and speed control by P CON 1CN 11 1CN 11 OFF torque control ON speed control In torque control mode when P CON is OFF Perform torque control according to T REF reference Offer speed limit according to V REF when Pn007 1 determine rotation direction speed by referring voltage V REF absolute value Limit max speed by using Pn042 70 In speed control mode when P CON is ON Set Pn010 and Pn011 value as follows Parameter Speed input reference Torque input reference Remarks Pn010 Pn011 V REF 1CN 19 T REF 1CN 21 0 0 Simple speed control Speed reference Does not use 1 Speed control with torque feed forward function Set Pn010 to any value b refer to 4 2 9 Speed reference Torque feed forward 1 0 Give torque limit speed control by analog voltage Refere to 4 2 10 reference Speed reference Torque limit value 10 Speed control Analog reference zero clamp Analog voltage speed Servo drive reference input REF Speed control mode with zero clamp function Zero calmp X P CON inputs speed reference from V REF 1CN 19 switch Select zero clamp functions by using P CON 1CN 11 signal Zero clamp acts when meet following items 1CN 11 ON zero clamp enabled P bi TOREM 1 P CON is ON OFF zero clamp prohibited 3 2 Motor speed is under Pn033 preset value 11 Position control pulse referen
63. Switching 0 Forward 0 1 SPEED1 rotation 1 1 SPEED2 1 Reverse 1 0 SPEED3 rotation 68 Servo drive Rotation direction selection fP CON PCL Internally set speed selection ANCL Servo drive Speed reference V REF P CON Internally PCL set speed reference NCL selection Speed control contact reference lt gt Position control Pulse reference Switching position control between contact reference and pulse reference Servo drive PULS Position reference SIGN Select control mode or internal speed by P CON PCL 1CN 16 and NCL 1CN 17 P CON PCL INCL PCL P PI 0 0 Speed control Internal control pulse reference Is NCL switching 0 Forward 0 1 SPEED1 rotation 1 1 SPEED2 1 Reverse 1 0 SPEED3 rotation Servo drive Speed control contact reference lt gt Torque control analog reference Switching between Speed control contact reference and Torque control analog reference Select control mode or internal speed by using PCL 1CN 16 and NCL 1CN 17 signals Note PCL 1CN 16 and NCL 1CN 17 can not use as external torque output any more in torque control herein P CON PCL INCL 0 0 Analog reference g Torque control 0 Forward 0 1 SPEED1 rotation 1 1 SPEED2 1 Reverse 1 0 SPEED3 rotation Analog voltage torque reference input T REF P CON Internal
64. When servo rosd ON OFF NOT lai Tai FOLT Torque Limit Output When ON reverse rotation prohittied JCLT CON Whenvaue am ex f f ot 5 4 JBR Brokinterbck Output CON ust Ab 14 aj ioa amp b BR CON When ONbaakrisase When ON aim sesat r f cs ON ICLR 24V When OM depiacemani clear 3 MT X ON jm When ON imi enabiaci 4 PCL A aso 4 Alarm Output CON OFF When ON imi erabiec i INe PR de Kingun Maormum working current DCS0ma Shivid wires are commeciod to the connecter frame Notes EDB 08 10 15 there are no terminals B3 81 452 5 no need of any connection 21 Speciafic pin output cam be defined 3 5 2 Speed control mode L Three phase AC 200 230Y Han 4 hy 50 60Hz NS A P a B L c3d X9 y e a Photo encoder PR V REF Please handle connector of Speed reference 10V P shield wires properly Rated speed SG lt PAO T REF lt P O Toraue reference 10V j Rated torque P SG PBO PG frequency dividing output PBO P represents multitwisted pair lt PCO lt PCO lt SG 24VIN f Y CMP4 Speed coincidence Servo ON CHP output 24V S ON When Speed coin ON When ON Servo la te function enabled P control TGON output When ON P control JP CON j TGONt phen value enabled x TGON exceeds setting ON Forward rotation prohibited P OT When OFF forward rotat
65. acter form apply in 7 bit datum 00 71 NI 20 Modbusl ASCIII Pn062 7 data bits 10 bits character frame Pn062 10 71 El 10 Modbus ASCII 7 data bits 10 bits character frame 21 71 Ol 10 Modbus ASCIII Pn062 7 data bits 10 bits character frame 11bit character form apply in 8 bit datum 81 NI 21 Modbus ASCH RTUI 8 data bits 11 bits character frame 8l El 10 Modbus ASCII RTUI 8 data bits 11 bits character frame 111 8l Ol 1l Modbus ASCII RTUI i 5 8 data bits 1 I 11 bits character frame Communication protocol structure Communication protocol datum structure ASCII mode STX Start character gt 3A p ADR Communication address gt 1 byte contains 2 ASCII codes CMD Instruction code gt 1 byte contains 2 ASCII codes DATA n 1 m Datum content gt n word 2n byte contain n ASCII codes n lt 12 DATA 0 LRC Verifying code gt 1 byte contains 2 ASCII codes End 1 End code 1 gt 0Dh CR End 0 End code 07 gt OAn LF 112 RTU Mode STX Sleep interval no pulse of transmission time which equals to four bytes at present transmission speed ADR Communication address gt 1 byte CMD Instruction code gt 1 byte DATA n 1 m Datum content gt n word 2n byte n lt 12 DATA 0 CRC CRC V
66. amic brake is a performance that forces motor to stop Don t use Power ON OFF or Servo ON signal S ON to stop and restart servo motor frequently Otherwise service life of internal elements of servo drive will be shortened Dynamic brake DB Servopack Servomotor One of the general methods to cause a motor sudden stop Dynamic brake suddenly stops a servomotor by shorting its electrical circuit This dynamic brake circuit is incorporated in the servodrive 4 4 3 Using Zero Clamp The zero clamp function is used for a system in which the host controller does not form a position loop by speed reference input In other words this function is used to cause the motor to stop and enter a servo locked status when the input voltage of speed reference V REF is not 0 V When the zero clamp function is turned ON an internal position loop is temporarily formed causing the motor to be clamped within one pulse Even if the motor is forcibly rotated by external force it returns to the zero clamp position Speed reference less than PnO31 setting is ingored Servo drive Host controller Stops instantaneously F Setting Set the Pn041 to 10 and select speed control analog reference zero clamp control so that input signal P CON can be used to enable or disable the zero clamp function Pn041 Control mode selection 10 Servo drive Speed control Analog reference zero clamp Speed reference REF This speed cont
67. ant Pn024 during ordinary position control refer to 4 2 2 for details m Time for change steps after desired position reached Apply internally delay of changing steps to valid this parameter that is to set Pn051 0 Para No Name and description Setting range Default 0 delay changing steps no need of start signal 1 change steps by P CON no need of start signal Pn051 0 1 0 2 delay changing steps need start signal PCL or NCL 3 change steps by P CON need start signal PCL or NCL Time for change steps outputs from positioning completed signal CON from Servo ON or from the time when reference point is found till Servo perform the program to control position of the point Such period of time depends on step changing time required by a point number among start point in program For example the start point of the program Pn219 1 then the step changing time depends on the value of No 0 step changing time Pn187 It could be deduced by analogy when program start points are from 2 15 But when Pn219 0 then the delay time is No 15 point changing steps time Pn202 During this time and time before when Servo is OFF the step display in monitor is the program start point minus one If Pn219 0 then the current point displays in monitor is 1 If Servo OFF after point control program has been performed then actual step will be displayed in the monitor Looking for a new reference point then the cu
68. applicable to speed restriction Example of Input Circuit see the following figure For noise control always use twisted pair cables Servo drive 470Q 1 2W and more ett Speed limit function of torque control could be realized by set the following parameter with two modes available Para No Description Setting range Default Function 0 no analog speed limit 0 m Pn007 0 1 For speed torgue limit 1 with analog speed limit Internal speed limit Set Pn007 0 there s no external analog speed limit with only internal speed limit available Set Pn042 it sets internal 58 limit value of motor speed in torque control mode Setting Para No Description Unit Default Function range Speed limit in torque Pn042 r min 1 2500 2500 For speed torque control control mode External speed limit Set Pn007 1 to use external speed limit Use Speed reference V REF analog as external speed limit output Usually value of V REF should be smaller than Pn042 max speed limit to entitle the external speed limit meaningful Setting Para No Description Unit Default Function range Speed reference Pn012 d r min V 0 2500 150 For Speed torque control input gain According to status of host controller and external Motor speed circuit use Pn012 to set speed reference input gain and determine external limit value Principle of Speed Restriction
69. ay COIN Coincident ON When ON Servo V CMP Positioning complete function enabled COIN When positioning completes ON P control when ON P control TGON TGON output enabled Too JA AA a TGON When value i Forward rotation prohibited Cae ERTEAN When OFF forward rotation x S RDY 4 Servo Ready output prohibited O 4 35 S RDY When servo ready ON Reverse rotation prohibited Torque limit output WhenOFF oreverse TR T s e CLT anen value rotation prohibited CLT o reds setting ON Alarm reset BR Brake interlock output When ON alarms reset Le BR hen ON brake Clear signal input release When ON displacement clears am 1RY 24V Forward external torgue limit 1 Alarm output When ON limit enabled OV amen Alarm lt triggered OFF Reverse external torque limit rcd ALM When ON limit enabled Photocoupler output Max applicable Voltage 30VDC Connector Frame Max applicable Current SOMADC FG Sheild wires connect to the connetor frame X Specific pins output can be defined 13 3 2 2 Terminal layout of connector 1CN Pin Pin Name Description Name Description number number 0 COIN 0 Positioning completed 19 V REF Speed reference output 1 COIN ions voa i signal outpu spee 2 V CMP 4 3 p 20 SG ov coincidence output V CMP 1 TGON 1
70. brake OFF H level Set the following parameter to specify the 1CN pin to which the BK signal is output Para No Name and description Setting range Default Pn053 Select output signals 1CN 7 8 functions 0 4 0 Pn054 Select output signals 1CN 1 2 functions 0 4 1 Pn055 Select output signals 1CN 5 6 functions 0 4 2 JB brake Pn053 4 1CN 7 8 interlock Pn 54 4 1CN 1 2 output Pn 55 4 1CN 5 6 output signals Pn053 Pn054 and Pn055 signal functions are shown as follows 0 COIN V CMP output 1 TGON complete position detection output 2 S RDY servo ready output 76 3 CLT torque limit output 4 BR brake interlock output Related parameters Para Unit Setting Name and description Default No range Time delay from servo ON signal till Servo Pn043 ms 0 2000 0 actually ON Time delay from the time a brake signal is Pn044 10ms 0 500 0 output until servo OFF status occurs Speed level for brake signal output during Pn045 r min 10 100 100 operation Pn046 Time delay from brake signal until servo OFF 10ms 10 100 50 ll Brake ON and OFF Timing If the machine moves slightly due to gravity when the brake is applied set the following parameter to adjust brake ON timing Para No Name and description Unit Setting range Default Time delay from servo ON signal till Servo Pn043 ms 0 2000 0 actually ON
71. ce Control mode for internally set speed selection and zero reference Please refer to 4 2 7 Internally set speed selection lt gt 4 speed control I O contact reference speed control analog reference 65 Mode that could switch contact reference speed control and analog voltage reference speed control When signal PCL and NCL are OFF H level the analog reference speed control is enabled Please refer to 4 2 7 internally set speed selection 5 speed control I O contact reference position control pulse instruction Mode that could switch between contact reference speed control and pulse train reference position control When signal PCL and NCL are OFF H level pulse train reference position control is enabled Please refer to 4 2 7 Internally set speed selection lt gt 6 speed control I O contact reference torque control analog reference Mode that could switch between contact reference speed control and analog voltage input torque control When PCL and NCL signals are OFF H level Analog voltage reference torque control is enabled Please refer to 4 2 7 Internally set speed selection lt gt 7 position control pulse reference speed control analog reference Mode that could switch between position control and speed control by P CON signal gt 8 position control Pulse reference torque control analog reference Mode that could switch between position control and
72. ce pulse Servo drive prohibited i PULS Position control with pulse prohibit function Position reference SIGN Switching between pulse prohibit P CON 1CN 11 Pulse prohibit function switch enabled or not P CON 1CN 11 ON Pulse prohibit enabled OFF Pulse prohibit disenabled 12 Position control parameter reference Servo drive If Pn051 1 P CON 1CN 11 is used as step changing signal input Use PCL 1CN 16 and NCL 1CN 17 to look for reference point Step changing input fP CON look for PCL reference point NCL 71 13 Speed control parameter reference Motor rotates according to parameter preset speed and status P CON input invalid 4 4 Setting Stop Mode 4 4 1 Adjusting Offset i Why Does not the Motor Stop When 0 V is specified as reference voltage for speed torque control analog reference the motor may rotate at a very slow speed and fail to stop This happens when reference voltage from the host controller or external circuit has a slight offset equal to reference offset in mV units If this offset is adjusted to O V the motor will stop Offset Offset is corrected by the Servodrive Offset adjustment Reference Speed E Adjusting the Reference Offset The following two methods can be used to adjust the reference offset to 0 V Automatic adjustment of reference offset Reference offset is automatically adjusted to 0 V Manual a
73. ceeds setting ON Forward rotation prohibited P OT When OFF forward rotation x S RDY Servo Ready output prohibited v S RDY When servo ready ON Reverse rotation prohibited Torque limit output QMhenOFF reverse Cw LLL CLT tan value j rotation prohibited Kk i CLI exceeds setting ON Alarm reset ALN RST 14 E o boone BR Brake interlock output When ON alarms reset BR When ON brake release 4 ALMA 1Ry 24V Forward external torque limit V Alarm output When ON limit enabled E P 5h 4 When Alarm Reverse external torgue limit ALM triggered OFF When ON limit enabled Max applicable Voltage 30VDC Connector Frame Max applicable Current S0m amp DC FG Sheild wires connect to the connetor frame x Specific pins output can be defined 23 Chapter 4 Parameter Setting and function description 4 1 Setting Parameters according to mechanical features 4 1 1 Changing the Direction of Motor Rotation This Servo drive provides a reverse rotation mode in which the direction of rotation can be reversed without altering the servomotor wiring With the standard setting forward rotation is defined as counterclockwise ccw rotation viewed from the drive end If reverse rotation mode is selected the direction of motor rotation can be reversed without other conditions being changed The direction of axial motion is reversed and others remain u
74. correct gain adjustment machine problems and so on 4 7 Minimizing Positioning Time 4 7 1 Setting Servo Gain le Setting Speed Loop Para Name Unit Setting range Default Pn013 Speed Loop Gain Kv Hz 17 2500 180 Pn014 Speed Loop Integration Time Constant Ti ms 17 5120 100 Pn 013 and Pn 014 are a speed loop gain and an integration time constant for the Servodrive respectively The higher the speed loop gains value or the smaller the speed loop integration time constant value the higher the speed control response There is however a certain limit depending on machine characteristics Speed Speed loop gain reference r W ms Speed feedback le Setting Position Loop Set the following parameters related to position loop as necessary Para Name Unit Setting range Default Pn015 Position Loop Gain Kp 1 s 17 1000 40 Increasing the position loop gain value provides position control with higher response and less error However there is a certain limit depending on machine characteristics This gain is also valid for zero clamp operation Position Position loop gain reference Position feedback 90 The gain is also valid in zero clamp in EDB series servodrives Para Name Unit Setting range Default 256 Pn036 Overflow 1 32767 1024 References Set in this parameter the error pulse level at which a position error pu
75. ctions 3 1 Wirings and connections for main circuit Always observe the following notes when wire or connects the circuit CAUTION Do not wire power lines and signal lines in the same duct or bundle them together Wire such that signal lines are kept apart from power lines by at least 30 cm Twisted pair wire and multi core twisted pair shielding wires should be used for signal lines encoder PG feedback line The length for wiring is 3m maximum for the reference input line 20 m maximum for the PG feedback line Donottouch the power terminal even if power is turned off High voltage may still remain in Servo drive Perform inspection only after the CHARGE LED extinct Avoid frequently turning the power ON and OFF with the interval at least more than 1 min Since the Servo drive has a capacitor in the power supply a high charging current flows for 0 2 second when the power is turned ON Therefore frequently turning the power ON and OFF causes the main circuit devices such as capacitors and fuses to deteriorate resulting in unexpected problems 3 1 1 Names and Functions of Main Circuit Terminals Terminal symbol Name Description L1 L2 L3 Main circuit power supply input 10 terminal Three phase 200 230VAC gt 19 50 60HZ L1C L2C Control circuit power supply input 10 terminal Single phase 200 230VAC 15 50 60HZ U V W Servo Motor connection terminals Connects to s
76. d Rotating speed Rotating speed B Torque Rotating speed Torque limit Pn026 Torque limit Pn028 Torque limit Pn027 Torque limit Pn029 gt Input PCL 1CN 16 input external forward torque limit Speed torque control position control Input NCL 1CN 17 input external forward torque limit Speed torque control position control Signal Status Input voltage Description Setting ON 1CN 16 L level External torque limits valid when forward rotation Limit Pn028 is OFF 1CN 16 H level Internal torque limits valid when forward rotation Limit Pn026 NCL ON 1CN 17 L level External torque limits valid when reverse rotation Limit Pn029 27 OFF 1CN 17 H level Internal torque limits valid when forward rotation Limit Pn027 Set or use torque limit according to external contact input CLT signal will output if exceeding torque limit Please refer to 4 2 10 Torque Limiting Using an Analog Voltage Reference for limiting torque using analog voltage output Note Do not set the torque limit higher than Max torque of motor Too small a torque limit setting will result in insufficient torque during acceleration and deceleration Note Please select proper mode for allocating PCL NCL signals as torque limit input Parameter Name Range Default Application Pn041 control mode selection 0 13 0 Speed torque
77. d Reference ont ae dede ett te OE eee 29 4 2 2 Position refererice Lina aa as ema ma Pa aa 34 42 3 Encoder signal output ii o ooooooWoWWooWomW oo o WoW como mna 38 4 2 4 Contact I O Signals oooooooW om eene tenete ntn nennen netten ennt tester aea 41 4 2 5 Position control parameter reference nennen 42 4 2 7 Using Contact Input Speed Control ooooco rooWoooomoWo nana 50 4 2 8 Using Torque Control ssssssssssssesseee nennen nennen eene nnne rennen nnne nenne rennen enne 54 4 2 9 Using Torque Feed forward Function oooorWoWooooWo ka 59 4 2 10 Using Torque Restriction by Analog Voltage Reference ooooo oo 60 4 2 11 Using the Reference Pulse Inhibit Function INHIBIT ooooWooo 62 4 3 Setting up the parameter oten cet e eerte edere e tee e EN NANANG 4 3 1 Setting the Jog SPCe d cecscssssesssssessesecssesesssneeseesecsesecsesessensesesecsnseseasecssesesseneseases 64 4 3 2 Selecting the control MJE Srni nnan E A enne 64 4 4 Setting Stop Mode eee etie re ropr eser aie E crebra i ee Fin ena ena DR ERR Deere nre ra rete 4 4 1 Adjusting Offset ote Sota v te t dS eta o E e e LO Sun 72 4 4 2 Using Dynamic Brake oooooo Wo W oWoW oo oW co WoW mm een nnnnr steer nnnet ntn nna sn sene n nnns nne 72 4 4 3 Using Zero Clamp cccccessscssssecssesecssnsessesecsensecsensecsensessesecsesessenseseasecsenseeseesessneessaesenses 73
78. de the 24 V power supply Allowable Voltage range 11V 25V 4 5 2 S ON 10 Servo ON Servo power on P CON 11 Function differs with control modes P OT 12 Forward drive prohibited 4 1 2 N OT 13 Reverse drive prohibited ALM RST 14 Alarm reset Releases the servo alarm state 4 5 1 Clear signal input Clears the positional error pulse during 4 2 2 CLR 15 position control PCL 16 Forward external torque limit ON 4 1 3 NCL 17 Reverse external torque limit ON 4 1 3 V REF 19 Speed reference input 10V 4 2 1 20 21 4 2 8 T REF Torque reference input 10V 22 23 Open collector reference power supply Pull up power is 4 2 2 2 28 supplied when PULS and SIGN reference signals are Sia open collector outputs t5 24 VDC power supply is built into the Servo drive 24 Input mode is set from the 4 2 2 25 following pulses PULS 26 signals pulse string PULS Reference pulse input 27 CCW CW pulse SIGN line driver or open collector seri e Two phase pulse 90 phase differential Note 1 Pin numbers in parentheses indicate signal grounds 15 B Output signal Signal name Pin Function Reference number 4 5 3 0 COIN 0 Positioning completed signal output n 1 non COIN 2 Speed coincidence output 4 5 5 4 5 6 N CMP 1 Detection during servomotor rotation ria 4 4 4 N CMP 2 Servo ready 1 TGON 3 Torgue limit detection TGON 4 Brake inte
79. djustment of reference offset Reference offset can be intentionally set to a specified value Please refer to 5 2 4 automatic adjustment of speed reference offset and 5 2 5 manual adjustment of speed reference offset for detailed procedures Note If a position control loop is formed in the host controller do not use automatic adjustment and always use manual adjustment 4 4 2 Using Dynamic Brake To stop the servomotor by applying dynamic brake DB set desired values in the following memory switch If dynamic brake is not used the servomotor will stop naturally due to machine friction Para No Description Setting range Default Operation to Be Performed When Motor Stops After Pn004 0 5 0 Servo is Turned OFF Para No Meaning 0 Stops the motor by dynamic brake and release after motor stops 1 Coast to a stop 2 Performs DB when S off apply plug braking when overtravel S off after motor stops Pn004 3 Motor coasts to stop when S off apply plug braking when overtravel S off after motor stops 4 Performs DB when S off apply plug braking when overtravel zero clamp after motor stops 5 Motor coasts to stop when S off apply plug braking when overtravel zero clamp after motor stops The Servodrive enters servo OFF status when Servo ON input signal S ON 1CN 10 is turned OFF Servo alarm arises Power is turned OFF Note Dyn
80. dy Lit when main power supply circuit is normal Not lit when power is OFF or main power supply circuit is faulty Code displays Code Description Base block Servo OFF motor power OFF Run Servo ON motor power ON Forward Rotation Prohibited P OT 1CN 12 P OT OFF 3a d rej rr 3j Or Reverse Rotation Prohibited N OT 1CN 13 N OT OFF C9 OOC EE Alarm Status Displays the alarm number 95 For position control Positioning Complete Base bloc Control power ON Reference Pulse Input Bit data displays TGON Power Ready Error Counter Clear Input Bit data Description Control Power ON Lit when Servodrive control power ON Base Block Lit for base block Not lit at servo ON Positioning Complete Lit if error between position reference and actual motor position is below preset value Preset value Set in Pn035 10 pulse is standard setting TGON Lit if motor speed exceeds preset value Not lit if motor speed is below preset value Preset value Set in Pn032 20 min 1 is standard setting Reference Pulse Input Error Counter Clear Input Lit if reference pulse is input Not lit if no reference pulse is input Lit when error counter clear signal is input Not lit when error counter clear signal is not input Power Ready Lit w
81. e array reference 2 torque control analog reference 4 3 speed control I O contact reference speed control Zero reference lt gt 4 speed control I O contact reference speed control analog reference gt M 5 speed control I O contact reference Position control Pulse reference 4 6 speed control I O contact reference torque control analog reference Position control Pulse reference speed control analog reference 4 8 Position control Pulse reference torque control analog reference 4 9 torque control analog reference speed control analog reference 10 speed control analog reference Zero clamp control 11 Position control Pulse reference Position control pulse inhibited 12 Position control parameter reference 13 speed control parameter reference ll Contro mode introduction Control modes mentioned above are described as follows 0 speed control analog reference Speed control mode used for analog voltage reference input Please refer to 4 2 1 Speed reference 1 position control pulse array reference Position control mode for pulse array input reference Please refer to 4 2 2 Position reference 2 Torque control analog reference Torque control mode for analog voltage input reference Please refer to 4 4 8 Torque control 3 speed control I O contact reference speed control zero referen
82. ed Set slope rimin Reference voltage Note Max allowable voltage is 10VDC speed reference input end between 1CN 19 and 20 Select one of the following four control modes Para Name Range Default Application Pn041 Control mode selection 0 13 0 Speed torque control position control Pn041 Control mode Speed control analog reference Analog voltage Servo drive speed reference Normal speed control input V REF 0 V REF 1CN 19 input speed reference e Switching P PI control mode using signal Bs P CON P CON CN1 11 1CN 11 OFF Pl control ON Poontrol 31 Position control pulse reference Speed Malos onte Servo drive control analog reference torque reference Inputs speed reference from V REF 1CN 19 input V REF e Switching control mode by using signal Position PULS P CON 1CN 11 referenceSIGH 1CN 11 OFF Position control pulse reference Control mode switching ON Speed control analog reference Note P CON 1CN 11 is no longer used to switching modes of P PI in speed control and P CON position control mode Torque control Analog reference lt gt Speed control Analog reference Switch between Torque control analog reference and speed control analog reference Inputs speed reference or speed limit from V REF 1CN 19 Speed reference V REF Torque reference ontrol mode switching 1CN 11 P
83. ed reference speed ONstatus V CMP L level difference is below the preset value Actual motor speed does not match the speed reference OFF status V CMP H level speed difference is greater than the preset value Pn 34 Reference speed N CMP is output within this range This parameter is used to specify a function signal as the 1CN output signal 83 Para No Name and description Setting range Default Pn053 Output signals 1CN 7 8 functions 0 4 0 Pn054 Output signals 1CN 1 2 functions 0 4 1 Pn055 Output signals 1CN 5 6 functions 0 4 2 0 COIN V CMP output 1 TGON running signal output 2 S RDY servo ready output 3 CLT torque limit output 4 BK brake interlock output Set the following parameter to specify the output conditions for speed coincidence signal V CMP Para No Function Unit Setting range Default Application Pn034 Speed Coincidence Signal 10 For Speed R min 0 100 Output Width Control Only V CMP signal is output when the difference between the reference speed and actual motor speed is not greater than the preset value Note V CMP is a signal for speed control For position control COIN position complete output is used instead For torque control V CMP is always ON 4 5 5 Using Running Output Signal This section describes how to wire and use photocoupler output a runnin
84. erifying code gt 1 byte End 1 Sleep interval no pulse of transmission time which equals to four bytes at present transmission speed Communication protocol datum structure instruction as follows STX communication start ASCII mode character RTU mode Sleep interval no pulse of transmission time which equals to four bytes at present transmission speed ADR communication address Acceptable communication addresses range from 1 to 254 For instance to communicate with servo address as 32 hex as 20 ASCII mode ADRz 2 0 2 gt 2 32h 0 30h RTU mode ADR 20 n CMD order instruction and DATA datum Datum structure is formed by order code Regular order code as follows Order code 03h read N words N is not more than 20 For instance read 2 words from address 0200 h from servo addressed at 01 h 113 ASCII mode Order information x T7 3 3 ADR CMD data start adress data number count as Word LRC Verifying ODIIXCR 0 e4 ta 0 0 ea F RTU mode Order information onm CMD Data start 02H high bits adress 00H low bits Data number 00H Count as Word C5H low bits CRC verifying B3H high bits Order code 06 n write in one character word response information Data number count as byte Second data start adress Cotent of 0201H LRCVerifying IKI SAIL Response information DR
85. ervo motor Ground terminals Connects to the power supply ground terminals and servo motor ground terminal B1 B2 B3 EDB 08 Regenerative resistor connection Normally short B2 and B3 for an internal EDB 10 and terminal regenerative resistor Remove the wire 11 EDB 15 don t have between B2 and B3 and connect an B3 terminal external regenerative resistor between B1 and B2 if the capacity of the internal regenerative resistor is insufficient Q1 Bo DC reactor for harmonic Normally short 1 and 2 If a EDB 08 EDB 10 suppression terminal countermeasure against power supply And EDB 15 doesn t harmonic waves is needed connect a DC have those two reactor between P 1 and B2 terminals o EDB 08 Main circuit minus terminal Normally not connected EDB 10 And EDB 15 doesn t have this terminal 3 1 2 Typical main circuit wiring example 5h55 Three phase 50 60Hz 10 200 230 VAC _icy Surge suppressor 1 Servo motor p 4 B C 12 3 2 Input and output signal 3 2 1 Connection of input and output signals EDB Servo drive Speed reference 10V Rated speed Torque reference 10V Rated torque PG frequency dividing output P represents multi twisted pair id Position reference Power supply for collector open PLI reference PL2 Speed Coincidence A gt fe D o E s JENCMP4 outou When speed Servo ON
86. es is input the load moves 50 mm accuracy poo ji 50 000 x 1 um 4 Determine the load travel distance per revolution of load shaft in reference units Load travel distance per revolution of load shaft in reference units Load travel distance per revolution of load shaft in unit of distance Reference unit Example When ball screw pitch is 5 mm and reference unit is 0 001 mm 5 0 001 5 000 reference units 47 5 Determine Ball Screw Disc Table Belt amp Pulley Load shaft p the electronic Load shaft tA gear ratio Qele perzen AD B A P Pitch Load shaft D Pulley diameter 1 revolution TENE ear 1 revolution 360 If the load E r volution nD R R i 1 revolution 2 ererance unit Reference unit shaft makes n revolutions when the motor shaft makes m revolutions the gear ratio of motor shaft and load shaft is m n Electronic gear ratio 2 Number of encoder pulses x 4 m Travel distance per revolution of load shaft in reference units n Note Make sure that the electronic gear ratio meets the following condition 0 01 lt Electronic gear ratio A B lt 100 If the electronic gear ratio is outside this range the Servo drive does not work properly In this case modify the load configuration or reference unit 6 Set the electronic gear ratio in the parameters below Reduce the electronic gear ratio B A to t
87. esides mentioned above Input signals are used as external torque limit input Contact Signal Parameter Selected Speed P CON PCL NCL 3 Stopped by internal speed reference 0 0 0 4 Analog speed reference g input V REF 5 Pulse reference input position control 6 Analog torque reference input T REF Direction of rotation 0 1 Common to 3 4 5 SPEED1 Pn038 0 Forward rotation 1 1 and 6 SPEED2 Pn039 1 Reverse rotation 1 0 SPEED3 Pn040 Note 1 0 OFF High level 1 ON LOW level 2 means not used Rotation direction selection Input signal P CON is used to specify the direction of motor rotation Input P CON CN1 11 Proportional Control etc For Speed Torque Control and Position Control When Contact Input Speed Control is used Use input signal P CON to specify the direction of motor rotation P CON Meaning 0 OFF Forward rotation 1 ON Reverse rotation Modes Other Than Contact Input Speed Control P CON signal is used for proportional control zero clamp and torque speed control changeover i Example for contact input speed control operation The figure below illustrates an example of operation in contact input speed control mode Using the soft start function reduces physical shock at speed changeover Pn041 3 52 53 Motor 4 2 8 Using Torque Control speed e SPEED1 SPEED2 SPE
88. etween P control and PI control 1CN 11 ON L level P control OFF H level PI control Analog voltage speed reference input Servo drive V REF PLP control P CON Servo drive Position PULS reference SIGN Switching betweer P control and PI control P CON Torque control analog reference Exclusive for torque control Inputs torque reference from T REF 1CN 21 Does not use P CON When Pn007 is set to be 1 and speed reference inputs V REF 1CN 19 It could be used as maximum external speed limit Set user constant Pn042 value as internal maximum speed limit Analog voltage speed Sero drive limit reference input V REF Analog voltage torque reference input T REF 67 Speed control Contact reference zero reference Switching speed control between contact reference and zero reference Switching internally set speed by P CON 1CN 11 PCL 1CN 16 and NCL 1CN 17 P CON PCL NCL Speed 0 0 Zero g speed 0 Forward 0 1 SPEED rotation 1 1 Reverse 1 1 SPEED rotation 2 1 0 SPEED 3 Speed control mode contact reference lt gt analog reference Switching between contact control and analog reference control Inputs analog from V REF 1CN 19 Select control mold and internal speed by PCL 1CN 16 and NCL 1CN 17 P CON PCL NCL P PI 0 0 Analog spee control reference control
89. formed 1 Brake Holding brake is useful when a servo drive is used to control a vertical axis A servomotor with brake prevents the movable part from dropping due to gravitation when the system power is turned OFF Servodrive brake interlock outputs BK signals to control if the holding brake function is turned on or not in a servomotor with brake Vertical axis 9 Axis with external force applied Servomotor Holding brake External force Servomotor Ll Prevent movable pat P mel from shifting due to gravitation when power is turned OFF Before connection please make sure the servo motor is detached with the machine and confirm the performance of servomotor and holding brake action If both works normal then connect the servomotor and machine and test ll Connecting example Use Servodrive contact output signal BK and brake power supply to form a brake ON OFF circuit An example of standard wiring is shown below 75 Servo drive Servo motor with brake Power supply P BK ICN BK RY Brake control relay 1CN Number of terminals allocated by Pn053 Pn054 Pn055 Output BK Brake Interlock Output For Speed Torgue and Position Control This output signal controls the brake when a motor with brake is used This signal terminal need not be connected when a motor without brake is used Releases the brake ON L level Applies the
90. g distance 8 9999 9999 0 ce pulse 1reference Pn076 Moving distance 8 9999 9999 0 pulse 10 referen Pn077 Moving distance 9 9999 9999 0 ce pulse 1reference Pn078 Moving distance 9 9999 9999 0 pulse 10 referen Pn079 Moving distance 10 9999 9999 0 ce pulse 1reference Pn080 Moving distance 10 9999 9999 0 pulse 10 referen Pn081 Moving distance 11 9999 9999 0 ce pulse 1reference Pn082 Moving distance 11 9999 9999 0 pulse 10 referen Pn083 Moving distance 12 9999 9999 0 ce pulse 1reference Pn084 Moving distance 12 9999 9999 0 pulse 10 referen Pn085 Moving distance 13 9999 9999 0 ce pulse 1reference Pn086 Moving distance 13 9999 9999 0 pulse 10 referen Pn087 Moving distance 14 9999 9999 0 ce pulse 1reference Pn088 Moving distance 14 9999 9999 0 pulse 10 referen Pn089 Moving distance 15 9999 9999 0 ce pulse 1reference Pn090 Moving distance 15 9999 9999 0 pulse Pn091 Encoder wrong alarm on 0 1 0 Pn092 C pulse clear protection 0 1 0 Pn093 Dynamic brake time ms 50 2000 125 Pn094 Position low speed complement on 0 1 0 Pn095 Increase overload capacity 0 1 0 Pn096 Input smoothing time constant 0 2ms 0 1000 1 Pn097 Alarm inspection smoothing time constant 0 2ms 0 3 1 129 Setting Parameter Name and description Unit Default remarks range Pn09
91. g output signal TGON This signal indicates that a servomotor is currently running and could be used as interlock to external 24V power supply Servo Drive zem CR Z TGON Z TGON lt Photocoupler Output Per output TN Maximum operation voltage 30 YDC 1CN Maximum output current 50 mADC cell Output TGON Running Output Output TGON Running output grounding signal Output voltage Description Motor is running TGON L level Motor speed is greater than the preset value Signal Status ON TGON OFF Motor is stopped TGON H level Motor speed is below the preset value 84 Motor Speed Un000 TGON Para No Name and description Setting range Default Pn053 Select output signals 1CN 7 8 function 0 4 0 Pn054 Select output signals 1CN 1 2 function 0 4 1 Pn055 Select output signals 1CN 5 6 function 0 4 2 Pn053 Pn054 and Pn055 meanings and functions are shown as follows 0 COIN V CMP output TGON running position output S RDY servo ready output CLT torque limit output AJOJN BK brake interlock output Use the following parameter to specify the output conditions for TGON running output signal Para No Name and description Unit Setting range Default Pn032 Zero Speed Level r min 0 2500 20
92. hat is to say after change the value of Parameter Pn212 the servo drive will still response data with previous communication protocol It takes 40ms for the servo drive to change into new communication adress 4 If change the communication parameter Pn210 Pn212 through key boards of the panel turn off the power before turn on it again to enable the change effective 6 3 MODBUS communication protocol Only when Pn213 is set as 1 or 2 can communication be put into operation with MODBUS protocol There are two modes for MODBUS communication They are ASCII American Standard Code for information interchange mode or RTU Remote Terminal Unit mode The brief introduction as follows 6 3 1 Code meaning ASCII mode Every 8 bit datum is consisted by two ASCII characters For instance One 1 byte datum 64 p Hex expression is expressed as ASCII code 64 It contains 6 as ASCII code 365 and 4 as ASCII code 345 ASCII code for Number 0 to 9 character A to F are as follows Number Q dq P E 4 5 6 7 Relevant ASCII 30h 31h 32h 33h 34 h 35h 36h 37h code Character g 9 A B C D P P Relevant 38 39 41 42 43 44 45 46 ASCllcode n n n i 1 n n RTU mode Every 8 bit datum is consisted by two 4 bit hex datum That is to say a normal hex number For instance algorism 100 110 can be expressed into 1 byteRTU datum as 64 h Datum structure 10bit char
93. he servo is turned OFF by input signal S ON or alarm occurrence during motor rotation Brakes for servomotors are designed as holding brakes Therefore brake ON timing when the motor stops must be appropriate And after this period of time motor rotating speed will no longer affect the brake performance Adjust the parameter settings while observing machine operation Conditions for BK signal output during motor operation The circuit is opened in either of the following situations 1 Motor speed drops below the value set in Pn045 after servo OFF occurs 2 The time set in Pn046 has elapsed since servo OFF occurred If a value higher than the maximum speed is set the maximum speed value is used 78 4 5 Forming a Protective Sequence 4 5 1 Using Servo Alarm Output and Alarm Code Output iri Basic Wiring for Alarm Output Signals Servo drive VO Power suppl 24V T OV Photocoupler Photocoupler Output Per output Maximum operation voltage 30 VDC Maximum output current 50 mADC Provide an external 24V I O power supply separately There is no DC power available from servo drive for output signals Output ALMt 1CN 4 Servo alarm output Output ALM 1CN 3 Signal Ground for Servo Alarm Output Signal ALM is output when the Servo drive detects an alarm Servo drive Alarm detection ALM output Turns the main circuit power OFF Design the external circuit
94. heir lowest terms so that both A and B are an integer smaller than 65535 then set A and B in the following parameters Para No Name Unit Setting range Default Pn022 Electronic gear ratio B numerator 1 65535 1 Pn023 Electronic gear ratio A denominator 1 765535 1 Set the electronic gear ratio according to machine specifications Electronic gear ratio B A Pn022 Pn023 i Examples of Setting an Electronic Gear Ratio Examples for Different Load Mechanisms are as follows Bet 3 Pulley Reterence unt 0 0010 0 0254mm Travel distance per k 3 1416 x din 12566 Load shat aan 0 0010in Gear ratio Y Z5 Pullay diameter 44 901 6mm Becbonic gear ralin By 2500 x 4 x1 Ar Tonoz T NW 12566 Er023 Incremental encoder 24000 191 2500 pulses per revolution 2 12566 too Preset Pn022 191 sun 100 48 Bal Screw Travei distance per fan Reterence unk 0 00004in 0 000 1mm revolution of load shett 0 000 lem Loed shaft 60000 2590x 4x PnOgz Electronic gear ratio 5 a 5 Incremertel encoder Beli screwy pitch o 24n menrs 2300 xm ana Pn023 6 Disc Table Reference unt 0 1 Traveldistanceper 360 _ 3600 revok ion of load shaft 7015 EE Gear ralio 31 Load shatt 4 Incremental encoder Bectronic gear ratio 2 2500x4x3 PnOzz 2008 AJ A600 En0z3 values Pu023 9 ll Control Block Diagram for Position Control Servo drive in p
95. hen main power supply circuit is normal Not lit when power is OFF or main power supply circuit is faulty Code displays Code Description Base block b Servo OFF power OFF Run Servo ON power ON Forward Rotation Prohibited 1CN 12 P OT OFF Jj aa M7 FF id m Reverse Rotation Prohibited 1CN 13 N OT OFF C3 5ibi Hn Alarm Status Displays the alarm number 96 5 1 5 Operation in Parameter Setting Mode Select or adjust the functions by setting parameters The parameter list is in the appendix i Parameter changing procedures are described below The constant settings allow setting of a constant Check the permitted range of the constant in Appendix List of Parameters before changing the data The example below shows how to change user setting Pn012 100 to 85 1 Press MODE to select parameter setting mode PUDE 2 Press INC key or DEC key to select parameter number 4 Press INC or DEC to change the data to the desired number 00085 Hold the button to accelerate the change of value When the data reaches the max or Min the value will remain unchanged if press INC DEC 5 1 6 Operation in Monitor Mode The monitor mode allows the reference values input into the SERVODRIVE I O signal status and Servodrive internal status to be monitored The monitor mode can be set during motor operation ll Us
96. hock Please take treatment of anti disturbance and grounding properly If there are disturbance in the signal line vibration or malfunction will likely occur Please stick to the following rules strictly 1 Separate high voltage cable from low voltage cable 2 Make cables as short as possible 3 Apply one phase grounding ground resistance less than 1000 for the installation of Servomotor and Servo drive 4 NO power input noise filter between servo drive and servomotor Please conduct voltage endurance under following conditions 5 Voltage AC 1500Vrms 1 min 6 Cut the current 100mA 7 Frequency 50 60Hz 8 Voltage applied point L1 L2 L3 pins and FG tie in Please fast the connection among terminals Creepage prevention instrument please select quick response type For a ground fault interrupter always use a quick response type or one designed for PWM inverters Do not use a time delay type Don t perform continuous operation under overhanging load Continuous operation cannot be performed by rotating the motor from the load and applying regenerative braking Regenerative braking by the Servo drive can be applied only for a short period such as the motor deceleration time Turning the Power On and Power Off frequently will result in speeding up deterioration of internal elements Please control the servo motor with reference signals Content Ghapter 1 ue a eei e nidi dI DRE eee eee ee 6 Checking products and par
97. ically m motor current detection offset automatic adjustment Follow the procedure below to perform current detection offset automatic adjustment 1 Press MODE key to select assistant function mode 2 Press INC key or DEC key to select function number of motor current detection offset automatic adjustment fal is 3 Press ENTER to enter motor current detection offset automatic adjustment Cloi Lo Llulc 4 Press MODE key and the adjustment will be finished after it flashes for a second 4 i qp zy y LI uM 3 rm N A 5 Press ENTER to return function number display Flaoo This ends the operation of adjusting the motor current detection offset automatic adjustment m motor current detection offset manual adjustment Follow the procedure below to perform current detection offset manual adjustment 1 Press MODE key and select assistant function mode 2 Press INC key or DEC key to select function number of motor current detection offset manual adjustment ri Falola 3 Press ENTER key to enter into motor current detection offset manual adjustment Club LIL 4 Press MODE key to switch U phase Cu1 o and V phase Cu2 o current detection offset adjustment mode Clo ilo Elle LILI L JL 5 Hold ENTER key for a second current phase current detection data will be displayed ule lo ebi gt LI UR RA UR UN 6 Press INC key or DEC key to adjust the offset Lo CJ CJ CJ C5 EU 104 7
98. in reverse direction When ON looking for reference point starts L Three phase AC 200 230V 50 60Hz P OT CLR ALN RST A BR ALM 1 1 L SES 2 Connector Frame Sheild wires connect to the connetor frame FG X Specific pins 46 rr 1 Servo motor B i 4 HD Jr pim Photo encoder Please handle connector of shield wires properly PAO lt PAO lt PBO K PBO PG frequency dividing output lt PCO lt PCO x SG iss COIN4 Positioning complete When positioning COIN completed ON TGON TOON output TGON When value x exceeds setting ON x S RDY Servo Ready output sper S RDY When servo ready ON Torque limit output ud 5 CLT hen value 4 i 3 E CLT exceeds setting ON H E Linas BR Brake interlock output When ON brake release 24V oy Alarm output When Alarm triggered OFF Photocoupler output Max applicable Voltage 30YDC Max applicable Current SOMADC output can be defined 4 2 6 Electronic gear The electronic gear function enables the motor travel distance per input reference pulse to be set to any value It allows the host controller to perform control without having to consider the machine gear ratio and the number of encoder pulses When Electronic Gear Function When Electronic Gear Function is Not Used is Used Reference unit 1 pm
99. ing the Monitor Mode The example below shows how to display 1500 the contents of monitor number Un 001 1 Press MODE to select monitor mode TR PR el En rl O J 97 3 Press ENTER to display the data for the monitor number selected at step 2 ME 4 Press ENTER once more to display the monitor number Kan 5 Above is the procedure for display 1500 in monitor number Un001 ll Monitor Mode Displays Monitor Content number Un000 Actual motor speed Units r min Un001 Input speed reference Units r min Input torque reference Units with respect to Un002 rated torgue Internal torque reference Units with respect to Un003 rated torque Un004 Number of pulses of Encoder angles internal status bit display Un005 Input signal monitor 543210 Un006 Encoder signal monitor 7 H H H H Un007 input signal monitor Un008 Speed given by pulse when gear ratio is 1 1 Un009 Current position 1 reference pulse Un010 Current position 10000 reference pulse Un011 Error pulse counter lower 16 digit Un012 Error pulse counter higher 16 digit Un013 Received pulse counter lower digit Un014 Received pulse counter high digit x10 Note 1 the current setting is Un010 10000 Un009 reference pulse 2 When Un011 between 9999 and 9999 Un011 displays as algorism Otherwise it deplays as hex 3 Received pulse number displays as algorism Un014x10 Un013 When i
100. ion x S RDY Servo Ready output prohibited v S RDY When servo ready ON Reverse rotation prohibited Torque limit output QMhenOFF reverse Cw LLL CLT tan value j rotation prohibited Kk i CLI exceeds setting ON Alarm reset ALN RST 14 E o boone BR Brake interlock output When ON alarms reset BR When ON brake release 4 ALMA 1Ry 24V Forward external torque limit V Alarm output When ON limit enabled E P 5h 4 When Alarm Reverse external torgue limit ALM triggered OFF When ON limit enabled Max applicable Voltage 30VDC Connector Frame Max applicable Current S0m amp DC FG Sheild wires connect to the connetor frame x Specific pins output can be defined 22 3 5 3 Torque control mode L Three phase AC 200 230Y je 4 hy 50 60Hz NS A P a B L c3d X9 y e a Photo encoder PR V REF Please handle connector of Speed reference 10V P shield wires properly Rated speed SG lt PAO T REF lt P O Toraue reference 10V j Rated torque P SG PBO PG frequency dividing output PBO P represents multitwisted pair lt PCO lt PCO lt SG 24VIN f Y CMP4 Speed coincidence Servo ON CHP output 24V S ON When Speed coin ON When ON Servo la te function enabled P control TGON output When ON P control JP CON j TGONt phen value enabled x TGON ex
101. ion in Status Display Mode The status display mode displays the Servodrive status as bit data and codes l Selecting Status Display Mode The status display mode is displayed when the power is turned ON If the status display mode is not displayed select the mode by using Mode Key to switch i Keys to the status display are shown below The display varies in different modes 94 For Speed and torque Control Speed coincidence Base block Control Power ON Power ready Speed Reference Input Torque Reference Input Bit displays t is highlighted when in torque control mode Bit Data Descriptions Control Power ON Base Block Lit when SERVODRIVE control power ON Lit for base block Not lit at servo ON Speed Coincidence Lit if motor speed reaches speed reference Otherwise not lit Preset value Set in Pn034 10 min 1 is default setting TGON Speed Reference Input Lit if motor speed exceeds preset value Not lit if motor speed is below preset value Preset value Set in Pn032 20 min 1 is default setting Lit if input speed reference exceeds preset value Not lit if input speed reference is below preset value Specified value Set in Pn032 20 min 1 is default setting Torque Reference Input Lit if input torque reference exceeds preset value Not lit if input torque reference is below preset value Preset value 1096 rated torque is standard setting Power Rea
102. lse overflow alarm alarm A 06 is detected T Alarm 4 06 U Pn036 Error pulse Alarm 4 06 If the machine permits only a small position loop gain value to be set in Pn 036 an overflow alarm A 06 may arise during high speed operation lj Using Feed forward Contro Feed forward control shortens positioning time To use feed forward control set the following parameter Para Name Unit Setting range Default Pn036 Feed forward Gain 196 0 100 80 Use this parameter to shorten positioning time Too high a value may cause the machine to vibrate For ordinary machines set 8096 or less in this constant Differe ntiation t LY E Feedback pulse Reference pulse 4 7 2 Using Proportional Control If parameter Pn041 is set to 0 or 1 as shown below input signal P CON serves as a PI P control changeover Switch B PI Control Proportional Integral control l P Control Proportional control Pn041 Control mode 91 Speed control analog reference Servodrive V REF normal speed control V REF 1CN 19 input speed reference Can pover PCN Signal P CON CN1 11 is used to switch between P control and PI control 1CN 11 OFF PI control ON P control 1 Servodrive Position control pulse train reference Normal speed control x Position reference SIGN P CON CN1 11 is used to switch between PPI changeover P control and PI control C
103. n describes the key names and functions of the Digital Operator in the initial display status Hja e e e e MODE INC DEC ENTER Name Function INC key Press to display the parameter settings and set values Press INC key to increment the set value DEC key Press DEC key to decrement the set value Press to select the status display mode setting mode monitor mode or MODE key error traceback mode Press to cancel setting when set the parameters ENTER key Press to display the parameter settings and set values 5 1 2 Resetting Servo Alarms Press ENTER key to reset servo alarm in state monitor mode The alarm state could also be cleared by using 1CN 14 ALM RST input signal The alarm state can be cleared by turning the main power supply OFF then turning the control power supply OFF Note After an alarm occurs remove the cause of the alarm before resetting it 5 1 3 Basic Functions and Mode Selection Digital Operator operation allows status display parameter setting operating reference and auto tuning operations Basic Mode Selection The four basic modes are listed below Each time the mode key is pressed the next mode in the sequence is selected Power ON U Status display HI H H H mode Parameter setting uj r7 mode i Monitor mode i Alarm Trace back Mode r a CJ c3 C a2 LA C3 Assistant function mode 5 1 4 Operat
104. nce 9speed r min 0 2000 500 Pn133 Moving distance 10speed r min 0 2000 500 Pn134 Moving distance 11speed r min 0 2000 500 Pn135 Moving distance 12speed r min 0 2000 500 Pn136 Moving distance 13speed r min 0 2000 500 Pn137 Moving distance 14speed r min 0 2000 500 Pn138 Moving distance 15speed r min 0 2000 500 Pn139 Not used Pn140 Not used Pn141 Not used Pn142 Not used Pn143 Not used Pn144 Not used Pn145 Not used Pn146 Not used Pn147 Not used Pn148 Not used Pn149 Not used Pn150 Not used Pn151 Not used Pn152 Not used Pn153 Not used Pn154 Not used Moving distance 0 time constant for acceleration and Pn155 0 1ms 0 32767 0 deceleration Moving distance 1 time constant for acceleration and Pn156 0 1ms 0 32767 0 deceleration Moving distance 2 time constant for acceleration and Pn157 0 1ms 0 32767 0 deceleration Moving distance 3 time constant for acceleration and Pn158 0 1ms 0 32767 0 deceleration Moving distance 4 time constant for acceleration and Pn159 0 1ms 0 32767 0 deceleration Moving distance 5 time constant for acceleration and Pn160 0 1ms 0 32767 0 deceleration Moving distance 6 time constant for acceleration and Pn161 0 1ms 0 32767 0 deceleration Moving distance 7 time constant for acceleration and Pn162 0 1ms 0 32767 0 deceleration 131 Setting Parameter Name and description Unit Default remarks range
105. nce Input These signals are used when torque control is selected Motor torque is controlled so that it is proportional to the input voltage between T REF and SG Standard setting 300 Reference torque 96 200 100 Standard lo 4 8 12 setting 100 Input voltage V 200 Set the slope in Pn 031 300 Para No Name Unit Range Default Pn 031 Torque reference gain 0 1V 100 10 100 30 Set the voltage range of torque reference input signal T REF 1CN 21 Check and set the output status of host controller and external circuit For example Set Pn031 30 3 V input Rated torque in forward direction 9 V input 300 of rated torque in forward direction 0 3 V input 10 of rated torque in reverse direction Example of Input Circuit See the figure below Servodrive 470 2 1 2W DL E 12V Speed limit input 57 Input V REF 1CN 19 Speed Reference Input or Speed Limit Input Input SG 1CN 20 Signal Ground for Speed Reference Input Motor speed is controlled so that it is proportional to the input voltage between V REF and SG Standard setting Reference speed 10 Standard setting For example Set Pn012 250 then 6 V input 1500 r min in forward direction 1 V input 250 r min in forward direction 3 V input 750 r min in reverse direction Parameter Pn012 can be used to change the voltage input range This is also
106. nce offset automatic adjustment mode cannot be used where a position loop is formed with the host controller and the error pulses are zeroed when servo lock is stopped In this case use the speed reference offset manual adjustment mode Refer to Reference Offset Manual Adjustment Mode for details Zero clamp speed control is available to force the motor to stop during zero speed reference Refer to Using Zero Clamp for details Follow the procedure below to automatically adjust the reference offset 1 Input the intended 0 V reference voltage from the host controller or external circuit OV speed Servomotor reference Hg Slow rotation Servo ON Servo OFF Servodrive N Press Mode to select assistant function mode wo 4 Press ENTER to enter mode that automatically adjust the reference offset FICIFL Io 5 Press MODE When the flashing lasts for one minute the speed offset is adjusted automatically LAKI 7 JolalnlE FSI X EE EIFI 6 Press ENTER to return to function number display Flaoo 7 This is the end of reference offset automatic adjustment 102 5 2 5 Reference Offset Manual Adjustment Mode Speed reference offset manual adjustment is very convenient in the following situations Ifa loop is formed with the host controller and the error is zeroed when servo lock is stopped To deliberately set the offset to some value Offset Adjustment Range and Setting Units are a
107. nchanged Standard setting Reverse mode Encoder output from Encoder output from Servo drive Servo drive FW run Ref Encoder output from Encoder output from Servo drive Servo drive RV run PAO Phase amp PAO Phase A Ref TUUL FLEFETEFEL MAL d iii PBO Phase B H PBO Phase B F Setting Reverse Rotation Mode Select the rotating direction by setting parameters below Unit Setting Parameter No Name and description Default range Pn006 Rotation Direction Selection 0 1 0 0 Forward rotation is defined as counterclockwise rotation when viewed from the load side Standard setting 1 Forward rotation is defined as clockwise rotation when viewed from the load side Reverse rotation mode Note After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON 24 again to enable the new settings 4 1 2 Setting overtravel limit The overtravel limit function forces the moving part of the machine to stop when it exceeds the movable range lj Using the Overtravel Limit Function To use the overtravel limit function connect the following overtravel limit switch input signal terminals to pins of 1CN connector correctly Input P OT 1CN 12 Forward Rotation Prohibited Forward Overrun Input N OT 1CN 13 Reverse Rotation Prohibited Reverse Overrun For linear motion connect
108. ng between zero clamp enabled o ra mode and zero eee prohibited mode P CON Switching between INHIBIT enabled mode MP o and INHIBIT prohibited mode a Switching the control mode Nr Changing the direction of rotation Step changing signal Setting of Pn041 Meaning of P CON T Switching between P control and PI control 2 not used Switching the direction of rotation when contact input speed control mode is Sane ue selected 7 8 9 Switching the control mode 10 Switching between zero clamp enabled mode and zero clamp prohibited mode 11 Switching between INHIBIT enabled mode and INHIBIT prohibited mode 12 Step changing signal 13 Not used 63 4 3 Setting up the parameter 4 3 1 Setting the Jog Speed Use the following parameter to set or modify a motor speed Para No Name and description Unit Setting range Default Pn037 JOG speed r min 0 2500 500 If a value higher than the maximum speed is set the maximum speed value is used This parameter is used to set a motor speed when the motor is operated using a Digital Operator Refer to 5 2 3 for details 4 3 2 Selecting the control modes Select different control modes by setting following parameters Para No Name and description Setting range Default 64 Pn 0 T O speed control analog reference 0 13 1 Position control puls
109. nput pulse Select reference pulse status with the following parameters Pn008 and Pn009 Parameter Code Name Unit Range Default Pn008 Reference pulse form 0 Sign Pulse 1 CW CCW 2 A phase B phase x1 multiplication 3 A phase B phase x2 multiplication 4 A B x4 multiplication Pn009 Input signals 0 does not invert PULS reference pulse logic does not invert SIGN reference pulse logic 1 does not invert PULS reference pulse logic inverts SIGN reference pulse logic 2 inverts PULS reference pulse logic does not invert SIGN reference pulse logic 3 inverts PULS reference pulse logic inverts SIGN reference pulse logic Sets the pulse form according to the host controller specifications Pn008 Reference Input Motor Forward Run Motor reverse Run pulse form Pulse Reference Reference Multiplier BE qe 38 see pulse 1CN 25 IG IA La 1CN 25 train SIGN m SIGN SIT 1CN 2T H 1CN 27 1 CW CCW FILS pe PULS pulse 1CN 25 WE n 1CN 25 T LI SIGN SIGN SES dCcN 27 dCN 27 auc E ds qas UL das SILL Pulse trai 1CN 25 1CN 25 ulse train x2 gp m difference 1CN 27 1CN 27 36 Time for reference pulse input Pulse Multiply Function Reference Pulse signal Form Electrical Specifications Remarks Sign pulse train input t1 t2 lt 0 is Sign
110. ode Compatible with Modbus COM protocol and CANOpen protocol 121 Charge Power five 7 segment LEDs and 4 pushbuttons on LED display handheld operator Braking Dynamic brake overtravel protection Overcurrent overload overspeed under voltage overvoltage Protection encoder error parameter error Regenerative treatment function Built in regenerative resistance Other Zero clamp with 16 internal position nodes 122 7 2 Servo Drive Mounting dimension l EDB series servodrive mounting dimension L WwW H f d EDB 08 EDB 10 EDB 15 185 85 187 5 75 75 177 5 5 EDB 20 EDB 30 EDB 50 207 123 270 5 75 111 258 5 6 123 Appendix A Parameter list Setting Parameter Name and description Unit Default remarks range Uses servo ON input signal S ON or not Pn000 0 1 0 0 Uses servo ON input S ON 1 Does not use servo ON input SON Uses forward rotation prohibited input P OT or not Pn001 0 1 0 0 Uses forward rotation prohibited input P OT 1 Does not use forward rotation prohibited input P OT Uses reverse rotation prohibited input signal N OT or not Pn002 0 1 0 0 Uses reverse rotation input N OT 1 Does not use reverse rotation prohibited input N OT Operation performed at recovery from power loss 0 Resets servo alarm status at power recovery from Pn003 it
111. ol oocoWooWoW a WWW WWW menamakan 110 6 3 1 Gode mearing iit RN REO 110 6 3 2 Communication fault disposal 115 6 3 3 Servo state data communication address ssssssssseeeee 117 Chapter aa aa IM EHI EM 120 Technical Specifications and Features oooooWo Woo eene nnne W Wo nenne nnne reser rennen nnne 120 7 1 Servomotor Technical specifications and Types ooooooWooWo WoW oom WWW Wm enne 120 7 2 Servo Drive Mounting dimenSsion ooWoWooWomoWWco WWW WWW 123 AppEndi KA M EE 124 Parameter list 124 Appendix Biasana nning nama meat ena RN NE ANTO SEN NN NAN Sa 136 Chapter 1 Checking products and parts names 1 1 Check products Check the following items after receiving EDB Series AC servo drive products Check Items Reference Whether the models are the same as what were ordered Check the nameplates on the servo motor and Servo drive Refer to the model numbers marked on the descriptions of model numbers in the following section the shaft smoothly Does servomotor rotate The servomotor shaft is normal if it can be turned smoothly by hand Servomotors with brakes however cannot be turned manually Is there any damage Check the overall appearance and check for damage or scratches that may have occurred during transportation
112. orque reference torque feed forward reference or torque limit value depending on the control mode used P CON 1CN 11 is used to switch between torque control and speed control 1CN 11 OFF torque control ON speed control In the Torque Control mode P CON is OFF T REF reference controls torque V REF can be used to limit motor speed when Pn007 1 V REF voltage limits motor speed during forward or reverse rotation Parameter Pn042 can be used to limit the maximum motor speed In the Speed Control mode P CON is ON Values of parameter Pn010 and Pn011 are determined as following Parameter Speed input reference Torque input reference Remarks Pn010 Pn011 V REF 1CN 19 T REF 1CN 21 0 0 Simple speed control Speed reference Not use 1 Speed control with torque feed forward Any value can be set in E Pn010 refer to 4 2 9 for details Speed reference Torque feed forward 1 0 Speed control with torque limit by analog Refer to 4 2 10 for details voltage reference Speed reference Torque limit value B Input signal The following input signals perform torque control Servo drive Torque reference input Analog voltage input Speed limit input Analog voltage input SG tp Represents twisted pair cables Torgue reference input Input T REF 1CN 21 Torgue Reference Input 56 Input SG 1CN 22 Signal Ground for Torque Refere
113. osition control Pndi7 Pn023 Pn025 Differen Feed tiation forward Pn0 4 pgs Reference pulses Smoot hing PG signal output Frequency dividing Note In the reference pulse mode when set the number of actual position pulse consider if pulse input multiplication function is selected besides electronic gear ratio 49 4 2 7 Using Contact Input Speed Control The contact input speed control function provides easy to use speed control It allows the user to initially set three different motor speeds in user constants select one of the speeds externally by contact input and run the motor Servo drive P CON v Contact PCL input NCL No external speed setting device or pulse generator is required SEREDI The motor is operated at SPEED2 the speed set in the user SPEED3 constant i Use the contact input speed control function To use the contact input speed control function perform Steps 1 to 3 1 Set Pn41 parameter correctly to enable contact input control function Name and Application Para No Setting range Default description Speed Torque and Position Pn041 Control mode 0 13 0 Control If the contact input speed control function is used the contents of the input signals shown below will be changed Pn04 Setting Meaning Possible Input Signal meaning Does not use the P CON CN1 11 Switch between P control and PI cont
114. othing 0 1ms 0 32767 0 Pn025 Feed forward filter 0 1ms 0 640 0 Pn026 Forward rotation torque limit 96 0 300 300 Pn027 Reverse rotation torque limit 96 0 300 300 Pn028 Forward external current limit Yo 0 300 100 Pn029 Reverse external current limit Yo 0 300 100 Pn030 plug braking stop torgue Yo 0 300 300 Pn031 Torgue reference gain E 33 100 33 6 Pn032 Zero Speed Level r min 1 2000 20 Pn033 Zero clamp speed r min 0 2000 10 Pn034 Speed Coincidence Signal Output Width r min 0 100 10 Pn035 Positioning Complete Range eum 0 500 10 256 Pn036 error counter overflow reference 1 32767 1024 unit Pn037 JOG speed r min 0 2000 500 Pn038 SPEED1 r min 0 2000 100 Pn039 SPEED2 r min 0 2000 200 Pn040 SPEED3 r min 0 2000 300 Control mode selection Pn041 0 Speed control analog reference 0 13 0 1 Position control pulse train reference 126 Parameter Name and description Unit Setting range Default remarks 2 Torque control analog reference 3 Speed control contact reference Speed control 0 reference 4 Speed control contact reference Speed control analog reference 5 Speed control contact reference Position control pulse train reference 6 Speed control contact reference Torque control analog reference 7 Position control pulse train reference Speed control analog reference 8 Position control pulse train reference Torque control analog reference 9 Torque
115. parameter to adjust output timing of COIN positioning complete output Para Function Unit Setting range Default Application Pn035 Positioning Complete Reference sed 10 For Position Range Unit Control Only This parameter is used to set output timing of positioning complete signal to be output when motor operation is complete after a position reference pulse has been input Set the number of error pulses in terms of reference unit the number of input pulses that is defined using the electronic gear function Note COIN is a signal for position control For speed control V CMP speed coincidence output is used instead For torque control COIN is always ON 4 5 4 Using Speed Coincidence Output Signal This section describes how to wire and use contact output signal speed coincidence output V CMP This signal is output to indicate that actual motor speed matches a reference speed The host controller uses this signal as an interlock The connections and applications are shown as follows 24V power Supply a T 247 r Ia AV N hotocoupler Output Per output i t j Mani In voltage 30 VOC Lg yore Madiun output current SOmADC icH V CMP Ena Output V CMP Speed Coincidence Output For speed control Output V CMP Speed coincidence grounding signal output For speed control Actual motor speed matches the spe
116. rence To use this torque restriction function set the following memory switch to 1 to enable analog voltage reference as external torque limit 1 torque feed forward function enabled Para No Function Setting range Default 0 External torque limit restriction prohibited b 0 analog voltage reference Pn010 9 1 1 External torque limit restriction enabled analog voltage reference Besides set Pn011 0 torque feed forward function is disenabled Para No Description Setting range Default 0 torque feed forward function prohibited 0 Pn011 0 1 To use this function input a speed reference to the V REF terminal and a torque limit value to the T REF terminal According to PCL and NCL status set forward and reverse rotation torque limit respectively Refer to the following table for details Signal Status Input voltage Description Setting name ON 1CN 167 L level Set torque limit on forward rotation Limit value T REF value PCL OFF Doesn t set torque limit on forward rotation 1CN 16 H level Normal run ON io i AE 1CN 17 L level Set torque limit on reverse rotation Limit value T REF value NCL as OFF Doesn t set torque limit on reverse rotation 1CN 17 H level Normal run l Setting Set torque reference gain in parameter Pn031 Para No Description Unit Setting range Default 0 1V 100 30 Pn031 Torque reference gain 10 100
117. rking current OCSOma Shield wires arte corrected to the connector frame Notes EDB 08 10 15 there are no terminals B3 81 82 9 no need of any connection 20 Speciafic pin output care be defined 3 5 1 Position control mode 10 Pe AC 200V gap 9 50 60 Hz Ta IRY amp ON T IMC Ry OFF 33 iX Surge Suppressor 4 IMC Sr ss x t 1 Li U gt limo M s wei IMC 13 w 1 M X LIC va Y ac et QM EDB 1 eoe EDB Servo Drives Line Encoder eae 2CN Pa IR BENI 2 D x M x 1CN Please handie connectors of V REF io iF 34 PAD sreided wras properly Direceva P 8 T i Ped Greed ded ue TREF 20 AD 35 IPAO Torque Retererce B Rated Torque iss xat um 2 PBO jp PULS ga peo gt PG Frequency Diidng Opt stiwa Par PULS lt P inse PULS 30 PCO SIGN SIGN LB 5 a l iPco Position Relerancs KP SIGN 2 sa Pom Suppyfor PL 2 2K i Collector Open PL2 Relerence 28 2K d NN 424 24vIN 9 33K A Eaa I V CMP4 Speed Coincidence Output OM uaan AKAN to its B Sy 109 7 J COINS When speed cnet ON fry tra sd cheno ON P CON ERN x positioning compietin ON When ONLP contro encabied t 1 I tea 5 ITGON4 TGON Output Forward rotation protitsited ky 1 1 fTGON When valve anods rated P OT 12 i fs edi ow 700 4 doo CONX salting ON When ON ansari rotation probed T n VP S RDY 4 Servo Ready Output Reverse notation prohibited i FS RDY ON
118. rlock output 2 IS RDY Customer constant Pn053 sets output of CN1 7 8 S RDY Customer constant Pn054 sets output of CN1 1 2 Customer constant Pn055 sets output of CN1 5 6 3 CLT CLT 4 IBR BR ALM Servo alarm Turns OFF when an error is detected 4 5 1 ALM Phase A Converted two phase pulse phases A 4 2 3 signal and B encoder output signal and ORG 34 zero point pulse phase C signal 35 Phase B RS 422 or the equivalent PAO 32 signal PBO 33 PBO 30 PCO 31 Phase C PCO 18 36 signal ber Connected to frame ground if the shield wire of the e FG I O signal cable is connected to the connector shell Note 1 Pin numbers in parentheses indicate signal grounds 16 3 2 4 Interface Circuit This section shows examples of Servo drive connection to the host controller Interface for Analog reference Input Circuits Analog signals are either speed or torque reference signals The reference input resistor is about 40kQ and Max Allowable voltage of input signals is 10V Speed reference input circuit Torque reference input circuit Servo drive Servo drive OR Law or more HOR LA or more aat 40k v Ww 10v il VR AA 10v F Bj Sequence Input Circuit The sequence input circuit interface connects through a relay or open collector transistor circuit Select a low current relay otherwise a faulty contact will result Servo drive Servo dirve oc24V 5 mA or more D
119. rol pde contact input speed Switch between control modes control function switch zero clamp status between valid invalid a Switch INHIBIT between valid and invalid change step output 12 13 PCL CN1 16 forward external current limit input looking for reference point forwardly NCL CN1 17 reverse external current limit input looking for reference point reversely Uses the contact P CON PCL NCL Speed Setting eres ee input speed control Direction 0 0 Control modes switch function of rotation 0 1 SPEED1 Pn038 0 Forward 1 1 SPEED2 Pn039 1 Reverse 1 0 SPEED3 Pn040 50 2 Setthree motor speeds in the following user constants Pn038 SPEED1 Unit Setting Range Default Speed control 1st Speed Contact r min 100 0 2500 Input Speed Control Pn039 SPEED2 Unit Setting Default Speed control 2nd Speed Contact r min Range 200 Input Speed Control pis 0 2500 Pn040 SPEED3 Unit Setting Default Speed control 3rd Speed Contact r min Range 300 Input Speed Control EE 0 2500 Use these parameters to set motor speeds when the contact input speed control function is used If a value higher than the maximum speed is set the maximum speed value is used Speed selection input signals PCL 1CN 16 and NCL 1CN 17 and rotation direction selection signal P CON 1CN 11 enable the motor to run at the preset speeds 3 Set the soft start time
120. rol allows the zero clamp function to be set when the motor stops Zero P CON D A speed reference is input from V REF 1CN 19 iik 3 P CON 1CN 11 is used to turn the zero clamp Zero clamp is performed when the function ON or OFF following two conditions are met 1 P CON is ON 1CN 11 ON Turns zero clamp function ON 2 Motor speed is below the value set Pn033 OFF Turns zero clamp function OFF input P CON 1CN 11 Proportional Control etc The following table shows zero clamp status when P CON is turned ON and OFF Signal Status Input le Description ON 1CN 11 L level Zero clamp function is ON P CON OFF 1CN 11 H level Zero clamp function is OFF Para No Name and description Unit Setting range Default Pn033 Zero clamp speed r min 0 2500 10 74 If zero clamp speed control is selected set the motor speed level at which zero clamp is to be performed If a value higher than the maximum motor speed is set the maximum speed value is used Conditions for Zero clamp Zero clamp is performed when all the following conditions are met Zero clamp speed control is selected Parameter Pn041 10 P CON 1CN 11 is turned ON 0 V Motor speed drops below the preset value Speed V REF Speed reference Preset value for zero clamp P CON input OFF ON 1 l 1 a Zero clamp being NE ke 4 4 4 Using Holding per
121. rrent step will display the step before program start point When running point control program if error counter is set as not clear error counter when Servo OFF then the error counter might flood If it does not flood then the servo drive will probably run at the max running speed when Servo ON again PLEASE PAY ATTENTION TO THE SAFETY OF INSTRUMENT Para Setting range T Name and description Default o 0 clear the error counter when S OFF Pn005 0 1 0 1 not clear the error counter when S OFF m Looking for the reference point Looking for the reference point is for establishing a zero physical point of the operating platform which is used as zero point in the coordinates during point position control And users may choose to find a reference point either in forward side or reverse side How to find a reference point Mount a limit switch in the forward or reverse side find a reference point in the forward direction after connect to 43 PCL and in the reverse direction after connect to NCL When the operating platform bump into the limit switch motor will first stop according to the way set by Pn004 and then rotates again against limit switch When the operating platform completely departed from limit switch and put motor at the position of first photo encoder Phase C pulse Then position of operating platform is set to be zero point of coordinates How to find related parameters of reference point
122. ruction pulse Read only Setting pulse counter high bits Unit 10000 instruction Read only 0814 n pulse 0817 h current alarm Read only 0900 h ModBus communication lO No conservation when Read write 117 signal power off 0901 n Drive state Read only 0902 n Relevant phase value Read only 0903 h Inertia inspection value Read only 0904 h drive running time Unit as minute Read only 090E h DSP software edition represent by number Read only O90F h PLD software edition represent by number Read only Eliminate previous alarm record 1021 h 01 eliminate Read write Eliminate present alarm 1022n 01 eliminate Read write 01 servoon 1023 n JOG servo on Read write 00 doesn t use servo on 01 forward rotation 1024 h JOG forward rotation Read write 00 stop 01 reverse rotation 1025 n JOG reverse rotation Read write 00 stop Instruction 1 parameter area communication address 00005 00DE is relevant to parameters in the parameter list For instance parameter Pn000 is relevant to communication address 0000 n parameter Pn101 is relevant to communication address 0065 h read write operation to address 0000 h is the read write operation to Pn000 if the input datum is out of the parameter range the datum shall be abnegated and servo drive will return an operation unsuccessful signal If the parameter is modified successfully the parameter shall be memorized
123. running of servomotor caused by load minus load Note The capacity of regenerative resistor in Servodrive is the short time rated specification used in deceleration and can t be used to load running When the capacity of the built in regenerative resistor is too small external register could be applied The standard connection diagram for a regenerative resistor unit is shown below Servo drive Regenerative resistor unit B2 P Lr B3 B ll Regenerative circuit alarm A regenerative resistor unit becomes very hot under some regenerative operation conditions of the servo system Therefore please choose appropriate regenerative resistor otherwise the regenerative circuit might have problems and triggers A 16 alarm 4 6 Running the Motor Smoothly 4 6 1 Using Smoothing function In the Servodrive some reference pulse of certain frequency could be filtered Para No Name Unit Setting range Default Pn024 Position reference filter 0 1ms 0 32767 0 Pn025 Primary lag filter 0 1ms 0 640 0 Adjust these parameters to change the smoothing feature of position control 88 Servo drive in position control Reference pulses PG signal output 4 Pn023 Pn025 Pn01T Feed forward gaj n Differen tiation Pn024 png93 Smoot hing servomotor Frequency dividing Encoder 4 6 2 Using the Soft Start Function
124. s follows Reference Speed or Reference Torque Offset Adjustment Range A The following is procedures of adjusting reference offset manually z 1 Press MODE to select assistant function mode speed Referencs 2 Press INC or DEC to select reference offset manual Input Voltage adjustment function number UBP 3 Select ON signal S ON ON it displays as follows Offset Adjustment Range 51 51 4 Press ENTER key for a second to display speed reference offset mE LILI LILI Press INC or DEC to adjust the offset Press ENTER for a second to display the interface on step 4 Press ENTER again to go back to function display fale This ends the procedure 5 2 6 Motor Current Detection Offset Adjustment Current detection offset adjustment is performed at Anaheim Automation before shipping Basically the customer need not perform this adjustment Perform this adjustment only if highly accurate adjustment is required when the Digital Operator is combined with a specific motor This section will describe the operation of automatic offset and manual offset Note Current detection offset manual adjustment could only be performed when the Servo is OFF Any accidentally activation of this function especially the manual adjustment deteriorated situations might occur If the torque pulse is obviously too high compared with other Servodrives Please adjust the offset 103 automat
125. s momentary power loss ALM 0 1 0 11 Remains in servo alarm status at power recovery from momentary power loss ALM How to stop when Servo OFF or overtravel occurs 0 Stops the motor by applying dynamic brake DB and then release the brake Pn004 1 Coastto a stop 0 5 0 2 Performs DB when S off apply plug braking when overtravel S off after motor stops 3 Motor coasts to stop when S off apply plug braking when overtravel S off after motor stops 124 Parameter Name and description Unit Setting range Default remarks 4 Performs DB when S off apply plug braking when overtravel zero clamp after motor stops 5 Motor coasts to stop when S off apply plug braking when overtravel zero clamp after motor stops Pn005 if the error counter cleared when S OFF 0 clear the error counter when S OFF 1 does not clear the error counter when S OFF Pn006 Rotation Direction Selection 0 Forward rotation is defined as counterclockwise rotation when viewed from the drive end Standard setting 1 Forward rotation is defined as clockwise rotation when viewed from the drive end Reverse rotation mode Pn007 Doesn t or does use analog speed limit function 0 Does not use analog speed limit function 1 Uses analog speed limit function Pn008 Reference pulse form 0 Sign Pulse 1 CW CCW 2 A phase B phase x1 multiplication
126. t reaches 99999999 it shall not be able to increse anymore Bit data Monitor No Bit No Content Related I O Signal Parameter 0 S ON input 1CN 10 S ON 1 PCON input 1CN 11 PCON 2 P OT input 1CN 12 P OT Un005 3 N OT input 1CN 13 N OT 4 ALM RST input 1CN 14 ALMRST 5 CLR input 1CN 15 CLR 6 PCL input 1CN 16 PCL 98 7 NCL input 1CN 17 NCL Monitor No Bit No Content Related I O Signal Parameter 0 W phase 2CN 15 PW 2CN 16 PW 1 V phase 2CN 13 PV 2CN 14 PV 2 U phase 2CN 11 PU 2CN 12 PU 3 C phase 2CN 5 PC 2CN 6 PC Un006 4 B phase 2CN 3 PB 2CN 4 PB 5 A phase 2CN 1 PA 2CN 2 PA 6 not used 7 not used Monitor No Bit No Content Related I O Signal Parameter 0 ALM 1CN 3 ALM 1CN 4 ALM 1 Pn054 preset status 1CN 1 1CN 2 Un007 2 Pn055 preset status 1CN 5 1CN 6 3 Pn053 preset status 1CN 7 1CN 8 Operation Using the Digital Operator If it is in the assistant function mode some operations could be select in digital operator The detailed functions are shown as below Function No Content Fn000 Display historical alarm data Fn001 Turn to default value Fn002 JOG mode Fn003 Set speed reference offset automatically Fn004 Set speed reference manually Fn005 automatically adjustment of offset detected by motor current Fn006 Manually adjustment
127. the zero clamp mode To use soft start function always set both Pn 012 and Pn 013 this parameter s input source is decided by digital input port control through bit setting bitO bit7 are relevant to input port 0 7 bit setting as follows 0 input pins are controlled by outside terminal 1 input pins set as communication control 135 List of Alarm Displays Appendix B Alarm display ie Alarm Alarm Name Meaning on digital output operator 01 Parameter breakdown Checksum results of parameters are abnormal A 02 A D breakdown ADS8322 chip breakdown Rotation speed of the motor has naue verspeeg exceeded 2000r min The motor was running for several A 04 Overloaded seconds to several tens of seconds under a torque largely exceeding ratings A 05 Position error pulse overflow Position error pulse has exceeded the value 06 Position error pulse has Position error pulse has exceeded the value exceeded the value set in parameter Pn 036 overflow A 10 Encoder PA PB or PC At least one of PA PB or PC is disconnected disconnected A M Encoder PU PV or PW At least one of PU PV or PW is disconnected disconnected A 12 Overcurrent An overcurrent flowed through the IPM module A 13 Overvoltage Voltage supply for the main motor circuit exceeds rating A 14 Undervoltage Voltage supply for the main motor circuit is too low A 15 Bleeder resistor damaged
128. tor industrial wire Chapter 2 Installation 2 1 Servodrive EDB Series Servo drive is a base mounted type servo controller Incorrect installation will cause problems Always observe the installation instructions described below 2 2 1 Storage When the Servo drive is to be stored with the power cable disconnected store it in the following temperature range Between 20 C and 85 C 2 2 2 Installation sites Notes of operation installation are described as follows Condition Safety notes Installation in a Control Panel Design the control panel size unit layout and cooling method so the temperature around the servo drive does not exceed 55 C 131 F Installation Near a Heating Unit Minimize the heat radiating from the heating unit as well as any temperature rise caused by natural convection so the temperature around the servo drive does not exceed 55 C 131 F Installation Near a Source of Vibration Install a vibration isolator on the servo drive to avoid subjecting it to vibration Installation at a Site Exposed to Corrosive Gas Corrosive gas does not have an immediate effect on the servo drive but will eventually cause the electronic components and contactor related devices to malfunction Take appropriate action to avoid corrosive gas Other Situations Do not install the servo drive in hot humid locations or locations subject to excessive dust or iron powder in the
129. ts names ooooWoW WooWooWoo m om WWW enne nennen nennen inn enne rennen entes enne nennen 6 1 4 Check products s oem ete ete ee dte eden enu do atenta re nd 6 UM ET Natan abu RA Na EN ada human 7 1 2 Product Parts riames niei rara nne an RE an 8 1 2 4 SEO ANV AAEE EEE e E e E e eee tee Rte e NN A eerte 8 Chapter Zone men an e a E e e ia aE A EEEE A NEE A E 9 sje ES 9 2 1 ServodriVe x se tee OR i a ee a i a i En 9 2 2 1 Storage s cens ee tete ertet til cs erede atre bett tg eue et e d ot df 9 2 2 2 Installation sites ener et BENER NN ee ae 9 2 2 3 Installation orientations a a A nennen nennen AT 10 2 2 4 Installation Method iriserai deke ra pi E Aee aea sie ER ERE oaee 10 Chapters mrasa aa aaa aa r a a we Sh oe OE pu a Nec oe qi cus 11 WirinGs and connections aa ana aa a a aae aae aa aant 11 3 1 Wirings and connections for main circuit esesssssssssssssseeeeeeeeene nennen nnne EnEn nennen 11 3 1 1 Names and Functions of Main Circuit Terminals sene 11 3 1 2 Typical main circuit wiring example ssssssessssssseseeeeeeeeee nennen nnne nnn 12 3 2 Inp t and Output Signal Se eere tee oerte cae eene petere aea anang 12 3 2 Input and output Signal ooooWooooWoW oo WoW Woo nennen en nnnnnrs sth nh nnts sehn nnnns sss kanak 13 3 2 1 Connection of input and output Signal Ssss eene nennen nennen nennen nennen nnns 13 3 2 2 Terminal layout of
130. ts that mahar raaches tha seting spacd position control 1 represents that signal Is npudng power supply signal I raprasarts frat thare hava power supply at diva R amp T harmina spead contat 1 ropresarnis hat spacd Seting is bapand ratad value 6 software edition 090E p It represents drive s software edition by number E g if the number is 0D300 h it means the software edition is d 3 00 119 Chapter 7 Technical Specifications and Features 7 1 Servomotor Technical specifications and Types W Technical specification and model Servo drive model EDB 08A 10A 15A 20A 30A 50A Power supply Three phase AC 200V 19 50 60Hz Control mode SVPWM Feedback incremental type encoder 2500P R Operating storage 0 55 20 85 Basic data temperature Working Operating storage Conditio m Below 90 RH non condensing humidity n Shock vibration 4 9m s7 19 6 m s resistance Structure Base mounted Speed control range 1 5000 Speed 120 control Load Regulation 0 100 0 01 JA F at rated speed mode Speed Voltage regulation f Rated speed 10 0 at rated speed regulation Temperature regulation 25t25 below 0 1 at rated speed Frequency Characteristics 250Hz when Ji 2Jy Software startup time setting 0 10s set acceleration and deceleration individually Reference voltage 10VDC Speed ref Input
131. vel Servo OFF Motor is OFF Motor cannot run Use Pn043 to set servo ON timing that is time from relay acts till motor excited Para No Name and description Unit Setting range Default Pn043 Servo ON delay time Ms 0 2000 0 Note Do not use the S ON signal to start or stop the motor Always use an input reference to start and stop the motor Otherwise service life of the servo drive will be shortened This memory switch is used to enable or disable the servo ON input signal Unit Setting Para No Name and description Default range Pn000 0 1 0 Enable disenable servo ON input signal S ON 0 Uses servo ON signal S ON When 1CN 10 is open servo is OFF When 1CN 10 is at 0 V servo is ON 1 Does not use servo ON signal S ON Servo is always ON Equivalent to short circuiting 1CN 10 to 0 V Servo Drive 1CN 10 S ON When S ON is not used this short circuit wiring can be omitted 4 5 3 Using Positioning Complete Signal This section describes how to wire and use contact output signal positioning complete output COIN This signal is output to indicate that servomotor operation is complete The wiring and connections are shown as follows 24V Power supply Servo Drve T 424V Pe COIN Photocoupler output Per output x J T T aa Maximum operation voltage 30 VDC lt 4 V E i

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