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EMA&EMB Series servo drive - China EM Technology Limited

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1. Ty 70mm ee 170mm Dp ka 57 5mm roe EMHEATER 5 J EMHEATER UU A E HR PG g g in S g N N 1 pT og H olr I UUUUL U D U L Het Sill i Cc E ES i 5 m aU JU We a V 2 IW o E 8 aa a EMB servo drive I T 2 90mm ay 6 5mm i pis EMHEATER Gis EMHEATER T T o IN 4 ml lao p e 82 H e P Bel a o CN3 162mm 152mm CN2
2. oe CN1 Ventilation Diagram 2 2 Installation direction of the driver If necessary please install an air fan to apply forced cooling to the servo driver 2 4 Installation space The installation space for single driver is shown in diagram 2 3 and that for multi drivers is shown in diagram 2 4 Please leave enough space as far as possible in practical installation so as to guarantee good heat dissipation condition gt 100mm gt 100mm p 7 EMHEATER JUL JUL zie P 0000000 EMHEATER gt 100mm
3. 2 Q 2 3 a rit Diagram 2 1 Servo drive structure and installation dimension o lo CN1 Servo Drive A amp B User s Manual 2 Installation 2 3 Installation direction As diagram 2 2 shows the installation direction should be perpendicular to the wall s direction Adopt mounting holes in the four corners to fix the servo driver on the wall firmly ttt EMHEATER b KH WI wa Ly h A o A A e H Z EMHEATER Tas IN J CN3 T a TH 2 aj gt 4H i i Ih D A A A T 7 CN2 c wey Le
4. LJL gt 100mm Diagram 2 3 Installation interval for single driver 2 Installation Servo Drive A amp B User s Manual gt 25mm gt 25mm gt 100mm O EMHEATER f O EMHEATER O EMHEATER Pls Zl f fa ian ian iT i Er ef E ef E af La 6 La na O a m ne m T piz a 7 a T Hi 7 a D D i 7 a W new o FW Are zi E o Weir 3 c Hire
5. Kr Kr eK aa Upper computer controller Isolation transformer CN3 communication Adapter connector Magnetic contact MC When the abnormal alarm happens the servo drive outputs the alarm signal which controls MC to turn off the power of the driver CN2 1 0 Signal adapter connector CNI encoder Adapter connector 3 Wiring Servo Drive A amp B User s Manual EMB servo drive Power Three phase or single phase 220V No fuse wire breaker NFB It is set to avoid the case that when the power switch or short circuit result in instantaneous overcurrent which may damage the driver a aaa aan aaa ee a Upper computer controller Isolation transformer CN3 communication Adapter connector Magnetic contact MC When the abnormal alarm happens the servo drive outputs the alarm signal which controls MC to turn off the power of the driver CN2 1 0 Signal adapter connector CN1 encoder Adapter connector a Braking resistor Optional Avoid the recharge energy from The servo motor s brake which may cause abnormal conditions External braking resistor should be connected with Bl and P ports of the servo drive meanwhile the B2 and ports should be open circuit If internal braking resistor is used the B2 and P ports are close meanwhile B1 and P ports are open circuit Diagram 3 1 Connection of peripheral equi
6. CN2 17 CN2 23 EXTB Position feed pulse B phase differential output CN2 34 CN2 50 EXTZ a CN2 33 CN2 24 ENTIZ Position feed pulse Z phase differential output 4 4 Communication terminal CN3 EMA servo drive EMB servo drive Diagram 4 3 CN3 Plug of Driver Communication Terminal in the face of soldering lug of the plug EMA servo drive CN3 of the driver DB9 plug in PC EMB servo drive sle 4 4 JE CN3 ofthe driver DB9 plug in PC Diagram 4 4 Driver communication terminal CN3 plug RS232 and PC wiring diagram 17 4 Port Servo Drive A amp B User s Manual EMA servo drive eee ii i ei i i kama i kh CN3 of the driver EMB servo drive 485 s e 5 414 485 3 2 CN3 of the driver 5 6 z 414 485 3 2 Power supply CN3 of the driver Diagram 4 5 Driver communication terminal CN3 plug and RS485 converter wiring diagram Communication interface adopt standard RS485 connect at most 32pcs driver at the same time online cable length is relate to Baud rate and cable thickness Such as 9600bps Baud rate adopt AWG26 cable longest communication distance is IKm Table 4 3 Communication Terminal CN3 EMA servo drive Pin Signalname Sin Functions Data receiving terminal of driver RS232 RS 232 data receiving RXD232 interface connect to PC data transmitting terminal Data transmitting terminal of driver RS232 RS 232 data transmitting TXD232 interfa
7. Running mode after find the homing reference point P 334 These parameters are used to homing function The offset pulses is respect to the Z pulse If P n 248 0 or P n 248 1 Offset pulses Pn 335x10000 Pn 336 If P n 248 2 or P n 248 3 Offset pulses Pn 335x65536 Pn 336 Motor rotates in the direction of CW after find the Z pulse P n 335 Offset laps of homing 1 Set value is positive motor rotate in CCW 2 Set value is negative motor rotate in CW Motor rotates in the direction of CCW after find the Z pulse 1 Set value is positive motor rotate in CW 2 Set value is negative motor rotate in CCW P n 337 The 1st homing speed The motor speed of looking for the homing reference point P n 336 Offset pulses of homing The 2nd homing The parameter is used to set motor speed of finding Z pulse after P n 338 a l speed finding the homing reference point P n 339 NGELEG ANON mee Acceleration Deceleration time of homing homing 7 Parameters and Functions Servo Drive A amp B User s Manual P n 340 Peveleration time of cceteration Deceleration time of homing homing ee If within the time set by the parameter P n 341 homing operation is 2 H time limit PA Homing time limit i completed output alarm signal Err24 Functi anal P n 344 0 Motor speed 10 V Rated speed P n 344 ee P n 344 1 Motor torque 10 V Rated torque ee P n 344 2 Speed command 10 V
8. The number of writing data bytes lt 2xN 1 The number of writing data bytes 2 DATA3 char chars DATAn Parameter Values N lt 16 CRC LRC CRC16 low 8 bytes before high 8 bytes after LRC 2 bytes ASCH character gt 3 5 bytes free time Stop byte CR LF 0x0D 0x0A 4 Communication wrong dispose Communication wrong response frame format RTU format ASCII format START 23 5 bytes free time Start byte Ox3A ADDR Address parameter P 100 byte Address 2 byte ASCII characters Command code 0x83 or 0x86 oo code 0x38 0x33 or 0x38 ERROR CODE Error code byte Error code 2bytes ASCII characters CRC LRC CRC16 low 8bytes before high 8 bytes after LRC 2 bytes ASCII characters gt 3 5 bytes free time Stop byte CR LF 0x0D Ox0A Wrong code explanation Wrong code Explanation 0x01 CRC LRC verify incorrect 0x02 Communication data odd even verify incorrect 0x03 0x04 0x05 0x06 0x07 0x08 Parameters is protected by password can t revised or address is over range 0x09 5 Special communication address 1 Start 1 Operatiing Save parameter Note Write other values return an 2 Success error message 3 Failure 1 Start 1 Operatiing Ok 1001 Recover defaults Note Write other values return an 2 Success error message 3 Failure Write the address make servo drive 0x1002 Renee eae switch to Sr control mode And the Return the speed of Sr motor speed is t
9. 15 Internal speed selection 2 16 Internal speed selection 3 17 Internal torque selection 1 18 Internal torque selection 2 C orok pu 19 Electronic be ratio selection 1 20 Electronic gear ratio selection 2 21 Running direction selection 1 22 Running direction selection 2 23 Running direction reverse 24 Emergency stop 25 Launch the origin back 26 Origin back reference point 27 Internal position running startup signal 3 programmable IO output 4 programmable IO output 1 Servo ready 2 Servo alarm 3 Position fixing finished Control output 4 Electromagnetic brake 5 Speed reached signal 6 Torque reached signal 7 Homing completion 8 Zero speed signal pasem 1 Pulse Direction node 2 CCW pulse CW pulse Position control 3 Two phase A B quadrature pulse Setting range 1 65535 1 65535 Feedback pulse Adjustable according to encoder s resolution 1 Internal 8 segment speed setting SPEEA ona 2 External 10 10V analog signal input control 1 Internal 4 segment speed setting T trol 2 External 10 10V analog signal input control Accelerati d decelerati Parameter sets 1 10000ms 0 1000r min or 1000 Or min u Torque limitation function Torque limited range 300 300 Rotating speed present position command pulse accumulation e position deviation motor torque motor current rotor position Monitoring function command pulse frequency control m
10. AN Warning AC servo drive must match with proper servo motor Products being damaged or malfunctioned can t be used or it may cause fire or equipment damaged If customer want to use own motor please contact our company s technicians or normal operation of the driver can t be guaranteed 2 Product Installing Don t expose the product to steam corrosive and combustible gas otherwise it may cause electric shock or fire Don t use the product in the place with direct sunlight or lots of dust salinity and metal powder Don t use the product in the place with drippy water oil and chemicals 3 Wiring Brake resistor must be connected in the designed way otherwise it may damage to the driver Don t connect servo drive 220V with the 380V power or there are dangers of equipments damage electric shock or fire Confirm the one to one correspondence between the drive U V W output terminals and the motor binding post U V W otherwise the motor may over speed and cause equipment damage or personal injury The grounding terminal must be grounded correctly and fastened bad grounded may cause electric shock or fire Safety Notes Servo Drive A amp B User s Manual 4 Notes for Operation gs Notice Before power on please make sure the servo driver and servo motor have been installed and fixed correctly and the power voltage and wiring was right Before using the driver confirm the machine
11. _1 109_ _100_ _ms_ _ Reserved _ P n 031 0x001F Analog speed command filter 1 100 ter tel te coefficients 35 X Xe Xe X gt X X illa 7 Parameters and Functions Servo Drive A amp B User s Manual P n 032 0x0020 Analog torque command filter 1 100 coefficients P n 033 0x0021 Processing method of eee in torque mode Internal CCW torque limit eet anaa Pin 035 0x0023 Internal CW torque iit 300 0 30 oe Lee ee ae eee External CW torque limit 300 0 100 Torque limit for speed trial run P n 038 0x0026 and TOG taal can 0 300 ANEH P n 039 0x0027 Reserved m P n 040 0x0028 Reserved Ce te Tinh Dit 00028 Analog lenge command gun O L O y u selection Pin 043 oxoo2B A OE speed command zero gijas 000 0 000 V drift compensation Pinj 044 oxoo2c 2 og speed command zero igj 0 050 V hysteresis thresholds pinigas oxoo2p aoe torque command zero anis 000 0 000 V drift compensation P n 046 0x002H Analog torque command zero 5 000 5 000 0 050 V hysteresis thresholds control gi ag TT Reserved Pino 0 kawet S ES EREN P n 050 0x0032 Encoder type selection 0 4 109 P n 051 0x0033 Analog speed command gain 0 1000 100 CA E st P n 053 0K0035 Torque speed decelerate time 0 30000 10 100us x oo oe e fe NE FP nJ 055 0x0037 Factory parameters
12. Appendix modifies the parameter of P n 001 as the corresponding motor model code Enter into the menu group of E E and select E E dEF press SET key If donE FInISh is shown on nixie tube means the driver s parameters have been recovered to factory defaults Power off Wiring correct and no load test first 1 Internal torque control 1 Set parameters of P n O04 6 and P n 026 1 to select internal torque control mode 2 Operating instructions 1 The torque command is supplied by parameters P n 260 P n 263 2 Set parameters of P n 302 17 and P n 303 18 which define DI2 DI3 input functions for TRQ1 and TRQ2 Select respective internal torque command by signals TRQI and TRQ2 The corresponding relationship is as follows Refer to chapter 7 3 Note OFF The switch status is opened ON The switch status is turned TRQ2 TRQI Torque command Internal torque 1 P n 260 Internal torque 2 P n 261 Internal torque 3 P n 262 Internal torque 4 P n 263 8 Several key parameters associated with internal torque control mode P n 004 P n 026 P n 033 P n 260 P n 263 P n 268 P n 269 P n 271 P n 272 P n 301 P n 307 Refer to chapter 7 Set the parameter values correct after power on If there is no problem enable the drive and give torque command by changing the status of signals TRQI and TRQ2 Observe the dynamic effect of motor and adjust gain for reasonable value 2 Analog torque c
13. Diagram 4 13 Two phase orthogonal pulse input interface sequence diagram 22 Servo Drive A amp B User s Manual 4 Port 4 7 Analog command input port explanation rang 10K 4 O 4 10V External given Diagram 4 14 Analog Input Interface Analog input voltage range is 10V 10V and the driver may be damaged if the voltage is excess of this range The analog interface is not isolated The analog ground line and the negative terminal of the analog input are connected in the driver side Zero offset exists in the analog input In analog speed and analog torque modes when the given analog voltage is zero generally there exists common ground earth voltage difference use zero drift compensation can eliminate the voltage difference When zero fine tuning amounts are over analog quantity corresponding to the range may shorten Adjusting ways can be auto compensation as well as manual compensation 1 Auto compensation enter menu A UJ select A U SPd press SET wait to display donE FInISh servo driver will automatically write compensation value to P n 043 analog speed mode P n 045 analog torque mode then enter menu E E select E E SEt and save the parameter 2 Manual compensation The drivers enable makes the motor run in the analog speed mode Enter into d P menu select d P CS and note down the value of the offset under this speed com
14. FP nJ 056 0x0038 Factory parameters Pin 057 0x0039 Internalenable 13 3 Parameters of group P n 1_ _ Pin 100 0x0100 Slave drive number setting 0 32 1 Ae a e BASA KA KE P n 102 0x0102 MODBUS communication 0 8 data format P n 103 0x0103 o ao aaa a a NE eee TT e ee ee ae a NG Ka Reserved aan a m s control P n 110 0x010A P n 127 OxO11B Parameters of group P n 2_ _ be s e s fs 36 Servo Drive A amp B User s Manual 7 Parameters and Functions Pinj204 0x0204 Internat speed S 5000 500 0 mem Pin 205 0x0205 Internal speed 6 5000 500 0 rpm Pin 206 0x0206 Internal speed 7 5000 500 0 mem PPin 207 0x0207 Internal speed 8 5000 500 0 rom P n 208 0x0208 Laps of the 1st inner position 39768 32767 command P n 209 0x0209 Pulses of the Ist inner position 39768 32767 0 pute command P n 210 0x020A Speed of the Ist inner position se m command P n 213 oxo20p Laps of a PUSING 239768530767 P n 214 oro2og Pulsesot ee POSIMO 2397682327167 P n 215 0x020F Speed of the 2nd inner position 0 5000 command P n 216 0x0210 Acc Dec time of the 2nd inner 0 30000 position command P n 217 0x0211 Pause time of the 2nd inner 0 30000 position command P n 218 oxo212 L psot ga ad Don 2397682327167 P n 219 Pulses of the 3rd inner position 39768 32767 command P n 220 0x021
15. then the drive switch to position control mode if motor be rotated because of external force it will back to the fixed position 2 In this mode if zero speed clamp is valid the stop position of motor is respect to the Z pulse the position is controlled by parameters P n 276 and P n 277 Drive switch to position control mode if motor be rotated because of external force it will back to the fixed position Refer to parameters P n 276 and P n 277 Zero speed clamping These parameters are used to zero speed clamp function The offset Pinja iti Ises i t to the Z pul position offset laps PUtSes IS respect to the 4 pulse Offset pulses P n 276x10000 P n 277 P n 277 Ler o speed clamping Set value is positive motor rotate in CCW position offset pulses Set value is negative motor rotate in CW Parameter of group P n 3_ _ P n 300 Digital input DI filter When environmental noise is loud improve set value can increase time reliability If the value is too big it will affect responding time P n 301 P n 307 P n 309 P n 312 P n 274 Zero speed hysteresis Zero speed clamp P n 275 ode Digital input DIn Digital input IO function setting refer to chapter 7 3 set to 0 there is function no function Digital output DOn Digital output IO function setting refer to chapter 7 4 set to O there is function no function 51 7 Parameters and Functions Servo Drive A amp B User s Manual Binary syste
16. 0 Mmphase Mphase Encoder model selection as following 0 Incremental encoder 1 TAMAGAWA wire saving encoder 2 Reserved 3 Absolute encoder 4 Resolver 47 7 Parameters and Functions Servo Drive A amp B User s Manual Set the ratio between speed command voltage and motor actual revolving speed Analog input value 10V 10V Set 100 10V voltage input corresponding to rated speed Speed command r min Rated speed P n 051 Analog speed command gain 10 Input voltage V P n 052 Torque speed accelerate time i Accelerate Decelerate time of torque speed control mode Torque speed P n 053 decelerate time Parameter meanings P n 057 Internal enable P n 057 3 only if SV_EN is ON the motor can be compelled to enable P n 057 2 software compels to enable Parameter of group P n 1_ _ Slave drive number Set this drive address O is broadcast address drive received data but P n 100 setting no feedback Modbus communication baud ratio selection P n 101 NA baud rate 9 4800bps 1 9600bps 2 19200bps eee 3 38400bps 4 57600bps 5 115200bps Communication data format selection 7 N 2 ASCID 7 bits data no parity bit 2 bits stop bit 7 E 1 ASCID 7 bits data even parity bit 1 bit stop bit 7 O 1 ASCID 7 bits data odd parity bit 1 bit stop bit MODBUS 8 N 2 ASCID 8 bits data no parity bit 2 bits stop bit pene a wa dala 8 E 1 ASCID 8 bits data even parity bit 1 bit stop bit
17. 3 0 call Trl I fail i Servo drive Servo drive Servo drive 2 UNG NG gt 100mm lt Fan ban gt Diagram 2 4 Installation inverter for multi drivers AN For avoiding the environmental temperature of the driver rising too high there should be a convection air blowing to the radiator of the driver inside the electric closet Warning While installing multi drivers as shown in diagram 2 4 please leave room larger than 25mm in each of the two crosswise sides and more than 100mm in each of the two vertical sides Please keep the temperature inside the electric closet in balance for avoiding local temperature of the servo driver rising too high If necessary please install forced cooling convectional fan in the electric closet above the servo driver to exhaust air out Servo Drive A amp B User s Manual 3 Wiring 3 Wiring 3 1 Connection of peripheral equipments The application of servo driver should be provided with some peripheral equipment Using proper peripheral equipment can guarantee the driver s stable operation otherwise it might reduce the driver s service life even damage the servo motor EMA servo drive Power Three phase or single phase 220V 6 0 ajajaa el lm Tampan No fuse wire breaker NFB It is set to avoid the case that when the power switch or short circuit result in instantaneous overcurrent which may damage the driver
18. RS 232 CAN communication port Servo motor output Connect with the motor s power terminals U V and W Note Do not connect with power supply of main circuit otherwise it may destroy the driver Earth terminal Diagram 1 2 Names of the driver s parts Encoder connecting terminal 1 3 Specifications of servo driver EMA servo drive EMB servo drive Single phase AC 220V 15 10 50 60Hz Ronen O y Three phase AC 220V 15 10 50 60Hz Operating temperature 0 40 C storage temperature 40 50 C T Less than 90 no moisture condensation Vibration Less than 0 5G 4 9m s 10 60Hz operate discontinuously 1 Position control mode 2 Speed control mode 3 Torque control mode Control Mode 4 Position Speed control mode 5 Speed Torque control mode 6 Torque Position control mode 7 Open loop running Built in lt 0 03 load 0 100 Feature 1 5000 differential input lt 500Kpps open collector input lt 200Kpps 1 Servo enable 2 Alarm clearing 3 CCW drive forbidden 4 CW drive forbidden 5 Deviation counter clearing 6 Pulse command disable 7 Zero speed position clamping 8 CCW torque limit 9 CW torque limit Control input Servo Drive A amp B User s Manual 1 Products Introduction ie EMB servo drive 10 Torque mode switch 11 Internal position selection 1 12 Internal position selection 2 13 Internal position selection 3 14 Internal speed selection 1
19. circuit B1 P open circuit ALM q RA E DC 24V ALM Diagram 3 2 Single phase power wiring diagram Servo Drive A amp B User s Manual 3 Wiring EMA servo drive Emergency OFF ON MC stop RA tes S oal o oa o0o o O O i O MC O CT SK Me Servo Drive EMB servo drive Emergency OFF ON MC stop RA ene anla o jip O O O MC O L SK NFB MC 80V 20V 0 QO Q QO Q Three phase FI UN ih O woo A Ao o O O When choosing external braking resistor it should make B2 and P open circuit mean while B1 and P ports are connected with the braking resistor PG Sree O BI QO B2 OP DC 24V Diagram 3 3 Three phase power wiring diagram 10 Servo Drive A amp B User s Manual 3 Wiring 3 3 Standard wiring diagram 3 3 1 Standard wiring diagram of the servo drive EMA servo drive MFB MC e 9 e e e l U Three phase AC220V Ka e Servo drive Single phase AC220V V Open collector The functions of DI1 DI5 can be customized Incremental encoder The functions of DO1 D03 can be customized Z phase open collector output i p Wire saving encoder doesn t include U V W U V W Power input gt se EA Position command ag EN oe gt Position command ga EHE ja ir DiR ar Analog output 10V lt ImA J gt EE Analog input EXTAt PE N 7 A phase position feedback EXTA D differential output EXTB a N gt
20. command pulse N Motor rotation rpm P n 012 P n 013 C Optical electricity encoder line number per rotation this system C 2500 The recommended range is 1 50 lt G lt 50 G Electronic gear ratio G Set input way of position command pulse 0 Pulse code 1 CCW pulse CW pulse 2 Two phase orthogonal pulse input Set the direction of position command 0 Normal 1 Reverse the direction of position command pulse 43 7 Parameters and Functions Servo Drive A amp B User s Manual To do smooth filtering to command pulse with the exponential style of acceleration and deceleration The filter will not lose input pulse but the command may be lagged The filter is used 1 Upper controller doesn t have acceleration or deceleration features 2 Electronic gear radio is relatively large gt 10 3 Command frequency is relatively low 4 Jump of jitter when motor runs The filter is out of use when this parameter is set to be zero Command pulse Position command of frequency P n 019 smooth filter 0 Command frequency after filter It is set as follows Drive forbid input 0 CCW CW input forbid is valid invalid selection 1 CCW CW input forbid is invalid 2 Factory parameters Set the maximum speed limit of the servo motor P n 023 Maximum speed limit It has no relation with rotating direction If the value exceeds the rated speed then actual maximum speed limit is the rated speed 0 A
21. d a a aa Ta aaa a apaa 29 6 1 ModBus communication Overview sasana a aaa aaa 29 6 2 ModBus commiunic ation PEOLOCOL 55 raaa aaa Ka Sa A ih cai eal aka eek es aaa Sordi a a A one a A aaa gk 29 6 2 1 ONANG ALON 1 OCC aed cere a gasak NG aa pajang Kan Bag a gasangan dana dasanan suns basae dudes basa anana apah 29 O27 ANGGO de SODA a a aga a ai O 30 O2 BN CECA ON ote ecco e TA aaa ea ana EN Cees EN NA aa an a TE Av aaa a a Pott PA aaa a a a eu aaa Rate 33 PALANG TETES and CLI OMS kaanan aerators aa an a AG aa aha daa anga Ga ah Ba A nat a Eng raa a AAN A anan a ABEN A paia a A ad aia papak 34 Tal Parameters INSU ajaa aa Ta aja pg Ta ag E E aga TENG a a ante Ta D aaa aa A a aa D aa ag aaa aa aa aa anagih 34 1 2 Parameters funcion explanations sieca baa NA aa E EN ag LA cont A Ka LIA aa a AA A AK aana Laa aja aa ga ah Waa 40 7 3 Digital mput DI Tune toned ELINGO kaa ag aa a Aa SAE GEGE E aa DANG aa sie oki a a ag a a ewan ag aa 54 TA Disital 0ntput DO TncuOn GETIBIION sasae sa Desai aa a gana ka aa an aaa an a aaa aaa EE a Bg saga naak aa 56 ANTAK Dan POM NCS OOD aaa aaa aa a a a ral a atts a a aa ak ea aka a aba a aba a baa aaa a a abi Bd a Naga 56 Bie AJAL an SS DUSO D saa aa aa a a ag A KA a AB GE Ga a AK ANE BB a A Naane a Pa AR 56 ANDANG and Deb t renames aaa ka ag a Ba ena aja aa Ka aa ah a nahan a a ka aja a aba aa na kaa anga aba aa pa aaa ia ag a nga a aana 62 D ACSCLVO LIVER POW Cl OM vasa ajan ag A an ajaka AGA A aa slut ag eg aa Ka a
22. drive runs once with the number of the position segment set by P n 251 and finally stopped at the first location 1 In this mode if the signal CNTR is valid the drive will always loop runs with the number of the position segment set by P n 251 until CNTR becomes invalid 2 In this mode SP1 SP2 and SP3 are set to specify the running position the falling edge of signal CNTR start running This mode does not controlled by P n 251 3 If SP3 signal is detected a valid jump servo drive runs to the first location SP2 signal is detected a valid jump servo drive runs to the previous location if it is the first location stop here SP1 signal is detected a valid jump servo drive runs to the next location if it is the last location stop here 0 When inner position running is suspended and started again the servo drive will continue running remaining position pluses 1 When inner position running is suspended and started again the servo drive will back to the first position Note This parameter is used to P n 249 0 and P n 249 1 P n 251 Ba mg inner position control mode the parameter is use for setting the of inner position _ number of running position segments Refer to parameter P n 249 In torque control mode when the motor torque exceeds the value of P n 259 and maintains a certain time set by P n 252 the signal state of SV_S is ON else SV_T is OFF Undervoltage alarm When undervoltage signal is
23. dry The ambient temperature for operation is within the limits of 0 C 40 C Storage temperature 40 C 50 C The relative humidity keeps in the limits of 30 95 RH no dewing Be convenient for examining and clearing 10 3 2 Installation dimension 1 EMM 60 and 80 series Diagram 10 4 EMM 60 and 80 series servo motor installation dimension 68 Servo Drive A amp B User s Manual 10 Servo Motor Introduction iiD Max torque Nm 192 381 48 72 96 Max current A 45 75 90 120 156 4500 Encoder Incremental encoder 2500P R 35 Remark The size in bracket is for servo motor with braking 2 EMM 110 and 130 series L gt lt LE gt LL gt lt LR gt A LE OK QL C olf pl el Yt Nk Ole W A IA v_ C NT A T lt q Diagram 10 5 EMM 110and 130 series servo motor installation dimension Servo motor model EMM 110S EMM 1308S 050B 060B 060E 075B 075C 3 1 5 B 0 63 ST Ratedtorque Nm 40 60 40 5 0 60 60 75 75 Rated current A 40 60 42 69 10 Servo Motor Introduction Servo Drive A amp B User s Manual eee Pa a es oB 060s 0108 T oson R T ooon ook T OSB TOC 124 17 2 17 2 OKE 60 BD 55 a3 a7 a7 Encoder Incremental encoder 250 Insulation class F Ambient temperature 0 45 C No freezing Ambi
24. may start suddenly The machine s design should make sure it wouldn t be dangerous when restarts 9 Forbidden Don t touch the interior of the driver and motor for there is danger of electric shock Don t dismantle panels of the driver when it s power on otherwise it may cause electric shock Don t touch binding post in 5 minutes after power off otherwise the remaining high voltage may cause electric shock Change the wiring when power on is not allowed otherwise it may cause electric shock Don t dismantle the servo motor in running otherwise it may cause electric shock I Servo Drive A amp B User s Manual Table of contents Table of contents Products INtroducnOn neni Gah oes Gases ees 1 Ll Nameplate and model introduc OH aaa ak ag aaa Ag sah Ta AA BA ak AK Aa KN AKA naga a A aa a ga aan a aa eba a AG AAN ences 1 EN SO ANGING E 6 alls anakan Ka aga na Desa an aa aa Ban BE ee NE NA NK AN KG A anne 1 IS SPCCIMCAIO NSO SETWOEIN CP asia anapak E aan aaa pa adan aa a taa a a nan aaa alaa aa ea aaa aaa ak aan 2 sS O E NG E E E EE O E OC OEE 4 2 DInStah NON eee A T A O O 4 222 Mista Ta OT dimmen TOM anja aapa n agan pa a daa aa aana a kaba ab NE aa E T a a a En aa E T 4 2 AnStalla HOM d IT GEO aa aa aa aa a a a aa a aa a aa na a aa eee ee ee ee 5 DA TAA at OS paee a Aa a AN tua Ka A NAK a a Aa Na aaa aan aaa a aka 5 MA Ghat meen eee yer me oat ane een eT an Tar Meme er ern GE a TT aga a Dan cree aE tye eC er oer ba da
25. non volatile memory In the analog torque control mode even if the analog command voltage is OV sometimes motor still rotates at tiny speed because of common ground voltage difference It can be compensated Analog torque zero jautomatically drift compensation Operation Enter into menu of A U Choose the submenu of A U trq and press SET key until donE FInISh is displayed on nixie tube compensation value will be write to parameter P n 045 Then save parameter values to non volatile memory The parameter stores the last five alarms Enter into menu of F n F n Err Historical alarms choose the submenu of Fn Err press SET key the nixie tube will display alarm code Switching alarm code by A and Y A U trq Parameter of group P n 0_ _ P n 000 Password User password is 288 which can modify all parameters of group 0 The wrong password can not visit those parameters Set the corresponding motor model code according to the motor P n 001 Motor model adaptation table Appendix and it can be used to recover the default settings of the correlated parameters Pinj oo2 Software version T he version code for the driver software it is read only parameter read only which can t be modified 41 3 Position command low 5bit 16 Encoder position 21 Reserved 7 Parameters and Functions Servo Drive A amp B User s Manual 5 4 Position command high 5 bit 17 Encoder U V W signal 5 Position devia
26. or stopping X Changes the value of the parameter need to save to non volatile memory and re power Read only parameter cannot be changed x Factory parameter prohibit users to operate A Special function parameter Special Function Parameter Group EIEJ SEt 0x1000 Save parameters EIEJ dEF 0x1001 Recover defaults ee la a a Ne A Ee an ee compensation compensation Na parameter Finen 0007 Historcal lams TT Te diP SPd 02000 Motorspeed m dIP PoS 0x2001 Present position low Sbits puse dIPJ PoS 0x2002 Present position high 5 bits xiOpulse d P CPo 0x2003 Present command low 5 bits pule Cees I NG E a ai pulse aerma oa morae ae Digital input status of WAJA anda DI4 DI5 DI5 DI7 a Digital input status of ee ee Dib Disp Did Po Digital output status of d P oUt 0x200B _po1 DO3 DO1 D04 potcbosporpos d P Cnt Ox200C Control mode mode d P Frq 0x200D Position command pulse frequency diPi Ct 0x200F Torquecommand d P Apo 0x2010 Encoderposition d P Cod 0x2011 Encoder U V W signals _d P Id_ 0x2012 FPGA software version d P Err 0x2013 Alameode LS _ 34 Servo Drive A amp B User s Manual 7 Parameters and Functions a P CCr 0x2014 Reserved l d P Cr Ox2015 Reserved rates 0x06 gt ee d P ALE 0x2
27. s Manual Table 6 1 ASCII comparison table a a eee Corresponding ASCII code Characters f ron f ra pe rer f eo es fe Character CR EF ooo o oo o Corresponding ASCII code 0x3A_ OxOD OxOA T Transmitting decimals will convert to integral number then with 16 system format transmit for example the transmitting data 0 10 is OxOA 6 2 2 Protocol description Servo driver support ModBus communication protocol which can read and write in servo driver parameters Read code is 0x03 write in code is 0x06 1 Read code 0x03 Item RTU format ASCII format START 23 5 bytes free time Start byte Ox3A ADDR Address parameter P n 100 1 byte Address 2 bytes ASCII character Command code 0x03 Command code 0x30 0x33 8 bytes before low 8 bytes after character 4 bytes ASCII characters ae Read word number N lt 16 1 character bytes before low 8 bytes after 4 bytes ASCII character LRC 2 bytes ASCII characters Response frame format Communication process correct will feedback below format frame if communication is wrong then feedback wrong information refer below communication wrong dispose RTU format ASCII format START 23 5 bytes free time Start byte Ox3A ADDR Address parameter P n 100 1 byte Address 2 byte ASCII characters Command code 0x03 Command code 0x30 0x33 DATA Number of bytes is equal to Nx2 2 LENGTH Number of bytes byte is equal to Nx2 bytes ASC I chara
28. speed 3 pn internal speed mode SC1 SC2 SC3 to choose internal running speed it needs to define input IO port separately input SC1 SC2 SC3 signal refer to P n 301 P n 307 and Chapter7 3 Laps of the Ist inner In inner position control mode the parameters is used for setting the P n 208 Gi a i ae position command ___ 1st position command The calculation method of position pluses is set P n 209 Pulses of the Ist inner by parameter P n 248 In inner position control mode select respective j position command inner position by signals SP1 SP2 and SP3 P n 210 Pe pa KADA leian The motor speed when running the first position command position command Acc Dec time of the l l l l e a The acceleration deceleration time when running the first position P n 211 Ist inner position command command Pause time of the 1st P n 212 inner position The pause time when running the first position command command P n 213 Internal position 2 Refer to parameters P n 208 P n 212 P n 247 Internal position 8 0 Absolute position Lapsx10000 Pulses 1 Incremental position Lapsx10000 Pulses 2 32 bit absolute position Lapsx65536 Pulses 3 32 bit Incremental position Lapsx65536 Pulses The difference of absolute and incremental Internal position Absolute Incremental Pipi command mode 49 7 Parameters and Functions Servo Drive A amp B User s Manual 0 When CNTR signal is detected a valid jump servo
29. 017 Absolute encoder inner alarms information d P tn 0x2019 Reserved l d P UdC 0x201A Resewed o Parameters of group injo P n 000 0x0000 Password 079999 288 P n 001 0x0001 Motor model 07103 344 Pin 002 0x0002 Software version read ony P n 003 0x0003 Initial display content 0 26 0 P n 004 0x0004 Control mode selection 0 10 0 P n 005 0x0005 Speed proportional gain 5 1000 150 Hz P n 007 0x0007 Torque command filter 0 500 100 P n 008 0x0008 Speed feedback filter 1 500 100 Pra 009 010009 Position proportional gain 12000 40 is r P n 010 0Ox000A Position feed forward gain 0 100 0 so ooon Pea e ow e filter cut off frequency pao aowe aoe Gear Ratio 1 65535 palse NUSA OL _ denominator command position command Pln 016 0x0010 Reserved KENAN Ng ooo o o Reserwe d a ef Kai Pln 018 0x0012 Reserved Position command P n 020 0x0014 Drive forbid input invalid oo i selection m a e M _Pin 022 0x0016 JOGrunspeed 0 6000 100 se 3000 P n 023 Ox0017 Maximum speed limit 0 6000 25001 P n 024 Ox0018 Speed command setting Setting ee DES P n 027 Ox001B Torque limitmode 02 0 E ae ee ee ee AB Elin O29 001p Speed command fiter
30. 0x30 0x31 0x38 0x33 0x30 0x31 0x37 0x42 0x0D OxOA 0x30 0x31 gt 0x01 transmitting data odd even verify incorrect 2 Write in parameters For example Revise parameter P n 200 100 write in this parameter message format communication address refers to chapter7 1 RTU Sending message 0x01 0x06 0x02 0x00 0x00 0x64 0x89 0x99 Correct response 0x01 0x06 0x02 0x00 0x00 0x64 0x89 0x99 Incorrect response 0x01 0x86 0x02 0xC3 OxA1 0x02 CRC verify incorrect ASCII Start byte 0x3A End byte 0x0D Ox0A Sending message 0x3A 0x30 0x31 0x30 0x36 0x30 0x32 0x30 0x30 0x30 0x30 0x36 0x34 0x39 0x33 OxOD Ox0A Correct response 0x3A 0x30 0x31 0x30 0x36 0x30 0x32 0x30 0x30 0x30 0x30 0x36 0x34 0x39 0x33 OxOD Ox0A Incorrect response 0x3A 0x30 0x31 0x38 0x36 0x30 0x32 0x37 0x37 OxOD 0x0A 0x30 0x32 gt 0x02 LRC verify incorrect Notes 1 Above examples illustrated by P n 100 1 means station address is 0x01 2 Monitor parameters in d P menu are parameters for read only communication address 0x0400 0x0416 32 Servo Drive A amp B User s Manual 6 Communication Functions 6 2 3 Verification 1 CRC verification RTU mode adopts CRC Cyclical Redundancy Check verify method When servo driver receives a new message frame it will verify whether this address is in conformity with local address if not it will not accept After receiving a whole set of message frame then servo driver conducts CRC verify all binary bytes will conduct CRC ve
31. 4 Speed of the 3rd inner position 0 5000 500 pm ok command P n 221 0x0215 Acc Dec time of the 3rd inner 0 30000 10 om ok position command P n 222 0x0216 Pause time of the 3rd inner 0 30000 position command P n 223 0x0217 Laps of the 4th inner position 32768 32767 command P n 224 0x0218 Pulses of the 4th inner position 39768 32767 command P n 225 0x0219 Speed of the 4th inner position 5000 command P n 226 0x021A Acc Dec time of the 4th inner 0 30000 position command P n 227 0x021B Pause time of the 4th inner 0 30000 position command P n 228 0x021C Laps of the 5th inner position 39768 32767 command P n 229 0x021D Pulses of the 5th inner position 39768 32767 Eg command P n 230 0x021E Speed of the 5th inner position 0 5000 command 37 7 Parameters and Functions Servo Drive A amp B User s Manual P n 231 0x021F Acc Dec time of the 5th inner 0 30000 position command P n 232 0x0220 Pause time of the 5th inner 0 30000 100 oms oe position command P n 233 0x0221 Laps of the 6th inner position 39768 32767 command P n 234 0x0222 Pulses of the 6th inner position 39768 32767 oo pase ae command P n 235 0x0223 Speed of the 6th inner position 0 5000 0 command rpm P n 236 0x0224 Acc Dec time of the 6th inner 0 30000 p10 ms ok position command P n 237 0x0225 Pause time of the 6th inner 0 30000 100 ms ok position command P n 238 0x0226 Laps of the 7th inner po
32. A EXTB phase relation negation 90 gt q Reverse position res feedback pulse P n 326 The 2nd electronic gear ratio numerator me Sed clecanic Parameter description refer to P n 012 and P n 013 The selection of P n 327 the Sed electronic Jesectronc gear ratio by input IO signals GEAR1 and GEAR2 Refer gear ratio numerator The 4th electronic CAE ED P n 328 gear ratio numerator 0 Close homing function 1 Start homing when the servo drive is powered on and enabled for the first time 2 Start homing by IO signal SHOM 0 Motor rotates in the direction of CW and the signal CCWI as the homing reference point 1 Motor rotates in the direction of CCW and the signal CWI as the The homing reference homing reference point point 2 Motor rotates in the direction of CW and the signal ORGP as the homing reference point 3 Motor rotates in the direction of CCW and the signal ORGP as the homing reference point 0 After find the homing reference point reverse to find the Z pulse 1 After find the homing reference point in the same direction to find the Z pulse Note If CCWI and CWI signals as the homing reference point drive will reverse to find Z pulse regardless of the value of the parameter When reverse to find Z pulse if the homing reference point signal is still valid drive does not detect Z pulse until the signal is invalid P n 332 Homing startup mode P n 333
33. B phase position feedback EXTB 5 differential output EXTZH _ 7 7 phase position feedback EXTZ D differential output Lami ia exp ae 11 3 Wiring Servo Drive A amp B User s Manual EMB servo drive MFB MC EMB Three phase AC220V _ 6 SG Servo drive Single phase AC220V Use inner braking resistor B2 and P short circuit while B1 and P open circuit Relay circuit Open collector The functions of DI1 DI5 can be customized The functions of DOI DO3 can be customized Wire saving encoder doesn t include U V W U V W A lt Z phase open collector output lt Power mput gt EEEN Position command yee a en 4 ag oe ee ee 4 A phase position feedback m gt differential output pa ENT y P B phase position feedback 3 gt differential output B PULS Z 50 EMTZ gt oe anaman EE SEEE an eee ae _ j pasa nk layer Analog mput 2 pra pA i Eoo to a awe naielding hyer 2 Diagram 3 4 Standard wiring in position control mode 12 Servo Drive A amp B User s Manual 3 Wiring 3 3 4 Absolute encoder wiring diagram EMA servo drive EMA MES Servo Drive O 0 Three phase or single phase AC 220V ome gt a S On o O Og og O 0 o 5 26 If for 15 core cable signal definition please refer to section 10 4 EMB servo drive EMB ae Servo Drive ome Three phase or single phase AC 220V 00 Select use built in brake resistor B2
34. EMHEATER User s Manual EMA amp EMB Series Servo Drive Enue S198 IALIA OAIIS S9LIIS FIVAVYVING China EM Technology Limited Address No 80 Baomin 2 road Xixiang Bao an District Shenzhen China Phone 86 0755 29985851 Fax 86 0755 29970305 Zipcode 518101 Website Http www emheater com China EM Technology Limited Servo Drive A amp B User s Manual Safety Notes Safety Notes The EMA and EMB series general servo driver which adopts DSP FPGA system framework has a series of virtues it speeds up the process of data collection and processing with high integration level and reliability it has abundant interfaces for digital and analog input which can match diversified upper control devices its optimized control algorithm makes accurate full digital control of torque speed and position come true which can be used in various manufacturing fields Before storing installing wiring operating checking and repairing make sure to understand and obey the following important notes so as to operate the product safely Danger Incorrect handling may cause dangerous situation resulting in personal injury or death AN amine Incorrect handling may cause dangerous situation resulting in personal injury or equipment damaged Vl Notice Neglect of this notice may cause undesired results or situations Qora Strictly forbidden actions otherwise the device may be damaged or useless 1 Product Inspection
35. Lo Shaft end 1 Flat without keys 2 Flat with keys with screw thread Option parts 1 None 2 With oil seal 3 With brake 4 With oil seal with brake Encoder W Wire saving encoder 2500P R A Absolute encoder 131072P R I Incremental encoder 2500P R Rated speed A 3000rpm B 2500rpm C 2000rpm D 1500rpm E 1000rpm Rated torque 006 0 64N m 013 1 27N m 016 1 6N m 024 2 4N m 032 3 2N m Designing sequence S Standard E Enhanced Flange EMHEATER Motor Diagram 10 2 Servo motor model introduction 67 10 Servo Motor Introduction Servo Drive A amp B User s Manual 10 2 Names of motor s parts Plug of the Cable of motor s main circuit a Plug of the encoder a Cable of the encoder Nameplate Flange Output shaft Rotating shaft Encoder Detection parts Diagram 10 3 Names of motor s parts 10 3 Installation of the servo motor The installation of the servo motor should be in accordance with the manual If being installed improperly or in the Antirust additive wrong place the motor s service life would shorten even may cause unexpected accident The shaft end of the servo motor had been daubed with antirust additive so please clear the antirust additive before installation 10 3 1 Installation site The servo motor should be installed inside the room and the following ambient conditions be satisfied There is no corrosive inflammable and explosive gas Draughty no dust and
36. P short circuit B1 P open circuit 214899109 61 Japodua ajnjosgaw If for 9 core cable signal definition please refer to section 10 4 Diagram 3 5 Absolute encoder wiring diagram 13 3 Wiring Servo Drive A amp B User s Manual 3 3 4 Resolver wiring diagram EMA servo drive EMA MFB Servo Drive O O Three phase or E O single phase AC 220V O O x 3 lt EMB servo drive MFB MC Servo Drive O Q O OOR e gt Three phase or Sie O G OS Do single phase AC 220V Select use built in brake wi J N Z is o gt ae A Z Q O rE LJ N fi Q Nn rg BREE resistor B2 P short circuit O BI Bl P open circuit PA N pa N AJ MN lt N HA H Diagram 3 6 Resolver wiring diagram 14 Servo Drive A amp B User s Manual 4 Port 4 Port 4 1 Power supply terminal ae a EMB lt 2 0KW gt 2 0KW d Control power Control Circuit power input terminal 125mm supply terminal AC220V 50 60Hz Main circuit Main Circuit power input terminal 2 2 Servo motor output terminal must be Servo drive connected in accordance with U V and W output terminal terminal Connect PE with PE of servo motor Use built in brake resistor B2 P short ee circuit B1 P open circuit Use external brake resistor B2 P open 1 25 mm terminal circuit Bl P connect external brake resistor Earth terminal Be connected w
37. Rated speed P n 344 3 Torque command 10 V Rated torque P n 345 Proportional of analog e g P n 344 0 DACI output motor speed voltage of DAC is V1 output DACI Motor speed Rated speed x 5 x Punctionefanaioe P n 346 0 Motor speed 10 V Rated speed P n 346 output DAC2 P n 346 1 Motor torque 10 V Rated torque P n 346 2 Speed command 10 V Rated speed P n 346 3 Torque command 10 V Rated torque roan Pm of analog e g P n 346 0 DAC2 output motor speed voltage of DAC2 is V2 output DAC2 Motor speed Rated speed x 5 x aay 7 3 Digital input DI function definition Note Digital input DI state expressive methods OFF On off state is disconnect circuit ON On off state is connect circuit Symbol Function description 1 SV_ON Servo motor enable when this signal connected servo motor enabled Alarms clear Parts of alarms are cleared when RSTSV signal is ON The alarms can be cleared are Err7 Err8 Err9 Err14 Err15 Errl6 Errl8 and Err24 CCWL P n 020 0 drive limit is invalid servo motor reverse running Err15 alarm when it detected CCWI signal is ON P n 020 1 CCWL input is invalid CWL P n 020 0 CCWL is valid servo motor reverse running Err15 alarm when it detecting CWI signal is ON P n 020 1 CWL input is invalid Deviations counter clear use this function in position control zero clear driver position deviation counter Pulse command prohibit in posi
38. S DIL Na iang aaa a Aa Ian a an a LEA ENG DE A NGERENGIN EA E Ra DAN EKA a E acannon 68 LOA TS an Ol the Ser NOTO OT cia aka aa aka An a ag BAN aba aa a a a aaa a a a aa ba a aka aaa aka aan 68 TUO Mis CA AON S16 aas aaa ja E Ga a ED a A gues aa a KAN a a aaa a ag ada ada aana Ba aka aga aa kg aaa E adara 68 POS3 2S tall a ON diMEnsio aaa gah nana a Gan Ka a a an aaa Ka a aa E a Ba Saat a a aan aa aaa a aan gana 68 LO 3 Ssns tall a ION Cire CON aaa aaa aa a TAA Aa a AA AE a AD atalino a a AB a aaa ek 71 104 Damp PrOOl andeGuS nO Ol asasi a Bana fasten Radon a an aa PB Bana aan gka Dp aan Ba DB A 71 10 3 5 COOEdINATIO MW ILC IMACIING aa aaa a aa aa a Ba ee nue aaa A a aur ada ee ee ana A ae naa Baga 71 10 4 Servo motor terminal definition and WITING senesenca niana RA BNN GE Ba Ka a KARNA GE Kan aa ka ga aaa 42 JAN aj Oo 6 1D Cea AR Meee Sena eae en eats mcm et eee orn mt tne MeN aN Aen TOT IA AENG MONIT NGANG mn Re erty 73 1 Adaptation Motor abl 6 aaa aaa ana a an EE DEE Da aa Ig a Aa aa e Da aga a aan 73 2 Standard Motor Cale ModE cscs k asa aa Ak ga a aba aa na Aa a a Aan Ga BAN en Ba Ka a EA Aan Bag Ka ag Aa a a a Aa aa aa a aa aaa 74 IV Servo Drive A amp B User s Manual 1 Products Introduction 1 Products Introduction 1 1 Nameplate and model introduction 1 Nameplate introduction EMHEATER Fe CE AC Servo Drive Model EMB 15AI Input 1PH 200 230V 50 60Hz 7 5A 3PH 200 230V 50 60Hz 7 0A Output O 230V 0 200Hz 6 5A Match m
39. akik 8 O 1 ASCID 8 bits data odd parity bit 1 bit stop bit 8 N 2 RTU 8 bits data no parity bit 2 bits stop bit 8 E 1 RTU 8 bits data even parity bit 1 bit stop bit 8 O 1 RTU 8 bits data odd parity bit 1 bit stop bit CONN On FP WN CO P n 104 Communication Pin 10420 Standard MODBUS communication protocol Bit controlling P n 106 bit6x64 bit5x32 bit4x16 bit3x8 bit2x4 bitlx2 bitO bit0 bit6 separately corresponding to DI1 DI7 0 IO signal input from external terminal 1 IO signal input from software pinj 106 1O input selet L oio bis bia oig bi bit oio p T D6 DIS DI4 DB DR DN P n 106 DII state is controlled by 1 P n 109 P n 106 DI signal input from software 48 Servo Drive A amp B User s Manual 7 Parameters and Functions PERT Communication Driver receives upper computer data delay output responding data in response delay time Bit controlling P n 106 bit6x64 bit5x32 bit4x16 bit3x8 bit2x4 bitlx2 bit0O When IO input select software input the relative position of the parameter is digital input signal refer to P n 106 P bit bit5 bit4 bit3 bit2 bitl bito pI D6 DIS DI4 DB DR DN P n 109 Slave drive number P n 106 DI state eee is controlled by bitO of Pn 109 The status of DII is 0 x 0 or 1 Parameter of group P n 2_ _ P n 200 Internal speed 1 P n 201 Internal speed 2 P n 202 Internal
40. and down Buttons for operation A Serial number and value of parameters increase VW Serial number and value of parameters decrease 4 Getback to the upper menu or cancel the operation SET Go to the next options menu or confirm operation RS 485 RS 232 CAN communication port Control connector Connect with upper controller Encoder connecting terminal 1 Products Introduction Servo Drive A amp B User s Manual EMB servo drive Radiator base For fixing the driver and heat dissipation Panel cover can be moved up and down Buttons for operation A Serial number and value of parameters increase Y Serial number and value of parameters decrease Digital tube display Display servo state or alarm parameter s setting and modification Indicator light POWER The indicator light is on means the driver has high voltage 4 Getback to the upper menu or cancel the operation SET Go to the next options menu or confirm operation RUN The indicator light is on means the driver running status R S T Power supply of main circuit AC 220V 50 60Hz r t Power supply of control circuit AC 220V 50 60Hz Built in External braking resistor 1 When use external braking resistor B1 P connect braking resistor B2 P open circuit 2 When use built in braking resistor B1 P open circuit B2 P short circuit Control connector Connect with upper controller RS 485
41. arming define P n 320 delay time when the the delay time motor quiescent period motor speed gt P n 318 motor is running from electromagnetic brake DO output terminal BRK OFF to motor currency cut out i The parameter lets motor decelerate from high speed rotating to P n 321 operation speed when low speed then braking avoid damage brake the Actual move time is P n 320 or motor decelerate to P n 321 motor is running needed time take the lower one e Relevant sequence refer to chapter 7 3 BRK signal output Position feedback Take incremental photoelectricity encoder as an example P n 322 pulse division Position feedback pulse output frequency dividing ratio when numerator P n 322 gt P n 323 according to 1 1 frequency demultiplication output Position feedback _ M _ P n 322 P n 323 al Encoder feedback pulse electronic ae ratio Saas take denominator 2500 line code wheel as an example Z000 Means motor rotate one circle driver output 2000 pulse Set null pulse width null pulse width decrease when motor speed increase adjust null pulse width according to actual running state convenient to match various upper computers P n 324 The width of Z pulse Z W P n 324 x 50us 52 Servo Drive A amp B User s Manual 7 Parameters and Functions Position feedback pulse direction 0 CN1 position feedback output signal EXTA EXTB phase relation invariant 1 CNI position feedback output signal EXT
42. ce connect to PC data receiving terminal CN3 3 RS 232 signal ground Ground of RS 232 signal RS485 differential signal RS 485 CN3 4 CAN differential signal CANI RS 485 rama eet data bus or CAN oe communication data bus CN3 5 R5485 differential signal RS 485 Select communication data bus by jumper CAN differential signal CANH EMB servo drive Pin Signalname Sim Functions RS485 differential signal RS 485 ue CN3 1 CAN differential signal RS 485 communication data bus or CAN cna RS485 differential signal Sel NG CAN differential sional CANH Select communication data bus by jumper CN3 3 RS 232 data receiving RXD232 Data transmitting end of the driver to CN3 4 RS 232 data transmitting TXD232 connect with the receiving data end of PC CN3 5 RS 232 signal ground Ground of RS 232 signal CN3 6 Backup power 18 Servo Drive A amp B User s Manual 4 Port 4 5 Switch value input and output signal ports and explanations 4 5 1 Switch value input signal ports and explanations Input signals are divided into three types switching value input pulse command differential input and analog input Relay circuit example Open collector example Servo drive Diagram 4 6 Switch value input signal ports Users supply power for the input signal with DC12 24V and the current capacity excess 100mA If the current polarity is inversed the driver won t work and the input current fo
43. cters Feedback parameter data N bytes Nx4 DATA Feedback parameter data N bytes GCI Gihariciene CRC LRC CRC16 low 8 bytes before high 8 bytes after LRC 2 bytes ASCII characters gt 3 5 bytes free time Stop byte CR LF 0x0D 0x0A 2 Write in code 0x06 DATA Write in parameter start address 1 character Write in parameter start address 1 high 8 bytes before low 8 bytes after character 4 byte ASCII character DATA2 Write in data lt 16 bytes Write in data lt 16 bytes CRC LRC CRC16 low 8 bytes before high 8 bytes after LRC 2 bytes ASCII character END gt 3 5 bytes free time Stop byte CR LF 0x0D OxOA Response frame format Write in correct servo driver feedback and send the same data frame If communication is wrong then will feedback wrong information 30 Servo Drive A amp B User s Manual 6 Communication Functions 3 Write in code 0x10 RTU format ASCII format START 23 5 bytes free time Start byte Ox3A ADDR Address parameter P n 100 1 byte Address 2 bytes ASCII character CMD Command code 0x10 Command code 0x31 0x30 Write parameters start address l word The DATA I high order byte is appended first followed by Write parameters start address 4 chars the low order byte The number of writing data words NX 16 1 ik i T Pp DATA2 word The high order byte is appended e number of writing data words l chars first followed by the low order byte
44. d Reduce start stop frequency Reduce the torque limit value Change for high power motor and driver Adjust gain Motor shock Increase the acc dec time Reduce the load inertia U V gt W break or encoder wrong wiring Err il Overload Alarm Causes Alarm Solving Alarm during power on Circuit board fault Alarm during running Braking resistor wiring fault Brake resistor does not work Reduce start stop frequency Increase the acc dec time Brake resistor capacity is too small Reduce the load inertia Change for high power motor and driver The main circuit power supply is too high The main circuit power supply is too high Err cy Overload Alarm Causes Alarm Solving Alarm during running Motor exceed the rated torque running for a long time Cannot fine the homing reference point Check the signal of homing is normal or not Unreasonable parameter setting Adjust parameters Notice If there is different alarm code from the above table please contact the manufacturer 61 9 Running and Debug Servo Drive A amp B User s Manual 9 Running and Debug According to operation steps in EMHEATER servo driver operating manual users can only connect the servo motor s load when the motor would function well so as to avoid damage to the driver and system device while motor entering into service Generally a driver can be put into service after going through the following inspections 1 Wiring a
45. d gt P n 318 action sequence diagram 56 Servo Drive A amp B User s Manual 7 Parameters and Functions Symbol Function description SV_ON DI input N coe Motor power on status Power on Power off BRK DO output on Select the short time lt _ __ Nbetween time of reaching speed set by P n 321 and tim Motor speed r min P n 32 set by P n 320 Speed arrive signal in speed mode when motor actual rotating speed is over P n 256 sets value output signal ON Speed r min Speed gt P n 256 output SV_F signal 5 SV_S SV T Torque arrival signal In torque control mode when motor speed exceeds the 7 value of P n 259 the signal state of SV_T is ON HOME The homing completion signal ZPS Zero speed signal When motor running speed low than zero speed check point driver output ON signal otherwise output OFF signal 57 8 Alarm and Troubleshooting Servo Drive A amp B User s Manual 8 Alarm and Troubleshooting 8 1 Alarm causes and solving Err D Normal Err IPM protection Alarm Causes Alarm Solving Please contact manufacturer Alarm during running Parameter setting is abnormal Correctly reset parameter settings Driver temperature is too high Please replace the motor and driver for bulky ones Be disturbed Bad grounding Alarm during Starting to stop The load inertia is too large or the acceleration and Decrease load inertia Inc
46. d deceleration time constant is too Increase acceleration deceleration time constant small causing too large speed overshoot of upper controller Input electronic gear ratio is too large Set electronic gear ratio correctly Reset concerned gain Servo motor is unstable causing overshoot If gain could not be set to suitable value please reduce load moment of inertia rate Err gl Position excessive deviation Please contact manufacturer Please replace the motor After putting through main power supply and control line then inputting command pulse the motor does not rotate Correct wiring Change encoder cable Check mechanism Change for high capacity motor and driver Err g Torque command exceed limit Alarm Causes Alarm Solving Alarm during running Torque command exceed limit of time is greater than the allowed time Parameter setting is not reasonable Adjust parameters Adjust torque command 59 8 Alarm and Troubleshooting Servo Drive A amp B User s Manual Err tO FPGA chip taut Alarm Causes Alarm Solving Alarm during power on Chip data processing transmission fault Chip or circuit board fault Please contact manufacturer Err tf Encoder fault The encoder s plug gets loose because of a a Reconnect encoder line well mechanical vibration for it is not screwed well Encoder cable is too long making the power Shorten the cable Adopt poly core cable with supply voltage o
47. detected servo driver output alarm signal P n 253 eae filter time after specified time is delayed In the position control mode servo driver output positioning completion signal SV_F when the position deviation is equal to or less than the value of P n 254 In position control mode servo driver will output the alarm signal Err8 when the position deviation is equal to or greater than the value of P n 255 It will do not alarm when the parameter s value is 0 No relation with rotation direction Comparator has hysteresis Speed arrival signal effect threshold In speed control mode if motor speed exceeds this value the signal SV_S is ON otherwise OFF In speed control mode When the speed deviation surpasses this Detection range of parameter value the servo drive will release overspeed alarm overspeed signal Err7 e It will not alarm when the parameter s value is 0 P n 258 Servo on Servo on delay time time Delay time from receiving the enable signal to enable the drive threshold SV_T is ON otherwise OFF In internal torque control mode select respective internal torque command by signals TRQ1 and TRQ2 Refer to chapter 7 3 P n 263 Internal torque 4 Set the number of alarm clearance Signal RSTSV is used to clear Alarm clear alarms however if the number of operations exceed the value of Running mode of inner position control P n 249 Pause mode of inner pao position control Torque arri
48. drive 24 RA ol fis fof a m to s 6 4 2 es 23 ET fo NA PK NA KE NA KE NET Bt CI BI BI DEl Diagram 4 2 EMA and EMB driver CN2 Plug Control Terminal ig 4 2 KE connect terminal EMA EMB name way Photoelectric isolation programmable digital input P S T pins Functions of DIn can be customized by parameters P n 301 P n 307 CN28 D6 CN230 D7 External command pulse input terminal 1 Pulse symbol 2 CCW CW pulse 3 Two phase A B quadrature pulse CN2 14 CN2 17 PULL HI External DC24V power for pulse input using open collector connection CN2 20 CN2 19 sata MR faeces The 24V voltage is supplied by driver CN2 19 CN2 20 COM The ground of VPP s s SsCSY an onas f pac ST Amet aiid AA CND3 3 TEN 7 DOI CN2 21 CN2 6 Photoelectric isolation programmable digital output CN2 2 CN2 28 pins Functions of DOn can be customized by CN2 1 CN 2 27 parameters P n 309 P n 312 16 Servo Drive A amp B User s Manual 4 Port Signal Application mapan name way CN2 4 CN2 3 CN2 22 CN2 2 Photoelectric isolation programmable digital output pins Functions of DOn can be customized by CN2 1 CN2 26 DO4 parameters P n 309 P n 312 CN2 5 DO4 TCN2 6 DO P S T Z phase open collector output CN2 16 CN2 22 EXTA Position feed pulse A phase differential output CN2 18 CN2 25 EXTB _
49. eeeeeeaaas 20 ZG 1 POSIUOM PUISE put POLL ax canis d Gavi sa a Anaa a van baa aa acl naa kaa ad aaa kaa aaa 20 4 6 2 Position pulse Input COMMANG TOM 535 aia a aaa A GAGE NE EA Ag E AE SEGA b asi TAN an ahora 21 4 7 Analog command input port explanation ccccccccccccccccccceaeeeeeeseeeeeeeceeeeeeeeeeeeasaeseeeseeeeeeeeeeeeeeeeeeaaas 23 Ad 2 NMA SOU PUL WG ACS DING IDI aaa aga aa a agan aaa aa aa naa a a aaa a die aaa nag aik aaa agi aa 24 4 8 Encoder signal input and output ports and explanations ccccccessseeeceeceeeeeeeeeaaeeeeseseeseeeeeeeeeeeeees 24 4 8 1 Encoder signal output CN2 port and explanation cccccccccccecccceceeeaeeeeeseseeeeeeceeeeeseeeeeeeeaaaas 24 4 8 2 Encoder signal input CN1 port and explanation ccccccccccccecceeeceeeaseeeeesseeeseeeeeeeeeeeeeeeeeaaags 24 ANE SAVES VS TAMU pede carina cera Ka ana Da clit todd dba deat anaa Sets acted KE O ata 25 Del OV CIVIC WY aaa aa aa Ti a a aa E ai aa ba a a Nai a a a a Kai a a a a laa angela Sistah a a a ase E ai aan a ang 23 D2 Memi SA UCO a nana kak nga gak nan 25 ms poral IOs oye UO abi TINGI ID TG aas aaa aka aa ba aa a a aaa aaa Parent my Pores aana Ba ka ANE 26 3 2 Parametrs proctaii mide P staged tarsus nar Ea eed aaa a IA nan a aaa NA ga cate anal a a a gk aa 24 9 225 DDC Clal FUNC MOM MCU aaa saka a a Ga La E aa a a a a baa a ak 28 COMMUNIC ALON FUNCTIONS ia ga aka Ten a Gae aa ajala d I da a Ka A aa a na AI Ka aa Ta gana
50. ent B Ti 20 80 RH Non dewing Protection Protection IP65 xcept for shaft opening and connectors 293 333 267 273 283 283 303 303 D PEGA PA wits 217 Rice 227 247 247 NEME TEN 56 O a a EE a_i o Kas 145 95 110 110 110 110 110 110 eeo 9 22 o OK o o 75 75 35 T e s e 6 3 5 aia gee Rated output power W 079 26 21 157 10 31 235 Rated torque Nm T3 0 p 10i poio f o poas os Max torque Nm 225 20 20 20 20 30 30 C Radome f A fas Mios 90 6s fso fis oo Max curet A 135 20 18 13 10 2 18 17 8 22 5 22 5 22 5 22 5 29 5 29 5 Stand Protection sd teen for shaft opening and connectors fae e ae tae a LS 303 323 323 323 323 353 353 NANANG NE NENEM Bh 247 ice me ma aa Aa a MI EIEN Omo Omo EIEN Omo EIEN D a E S E E E ase E Ta pA SS s 45 s S O A ED NE o ea ao 70 Servo Drive A amp B User s Manual 10 Servo Motor Introduction EMM 130 S po EMM 130 S S O o o T es j 6 6 6 6 6 6 Remark The size in bracket is for servo motor with braking 10 3 3 Installation direction The servo motor can be installed horizontally vertically or in any direction 10 3 4 Damp proof and dustproof 1 When being used in the place with water drop dripping please employ it on the basis of confirming the servo motor s protection framework e
51. er 7 Set the parameter values correct after power on If there is no problem enable the drive and give speed command by changing the status of signals SC1 SC2 and SC3 Observe the dynamic effect of motor and adjust gain for reasonable value 2 Analog speed control mode 1 Set parameters of P n O04 1 and P n 024 0 to select analog speed control mode 2 Several key parameters associated with internal speed control mode P n 004 P n 005 P n 006 P n 024 P n 031 P n 042 P n 043 P n 051 P n 052 P n 053 Refer to chapter 7 Set the 65 9 Running and Debug Servo Drive A amp B User s Manual parameter values correct after power on If there is no problem enable the drive Wait for the RUN indicator light up perform automatic zero drift compensation operation Enter into menu of A U Choose the submenu of A U SPd and press SET key until donE FInISh is displayed on nixie tube compensation value will be write to parameter P n 043 Upper control output analog instruction to drive after the above steps are completed Observe the dynamic effect of motor and adjust gain for reasonable value 9 3 3 Torque control In the torque control mode the torque command can be gived by analog input or parameters Measuring the power supply of R S T 3 phase 220V or 1 phase 220V is normal or not before wiring Make sure there are no problems connect the power cord and power on Reference to the motor adapter table
52. f encoder too low parallel connection Encoder cable fault Change encoder cable Motor encoder fault Please replace the motor Circuit fault of driver encoder Please contact manufacturer Err tc Encoder signal transmission fault Alarm Solving Alarm during running Bad connection of encoder s wiring Reconnect encoder cable well Shorten encoder cable as far as possible and undertake shielding measures Encoder fault Please replace the motor Err iJ Z pulse lose Circuit board fault Err 4 Driver module overheat protection Please replace the driver Adjust parameters Correctly Encoder cable suffers from interference Motor exceed the rated torque running for a long Check load or replace high power driver and time motor Alarm during running The load is too big Please replace larger power driver and motor The fan is damaged change the driver 60 Servo Drive A amp B User s Manual 8 Alarm and Troubleshooting Err 15 Drive overload protection Alarm Solving Alarm during running Motor power line not connected Wiring as it is requested Major loop of driver is not power on Wiring as it is requested Motor locked rotor Check whether the motor is seized Output current of driver is too large Change driver Err 5l Software over current Alarm Causes Alarm Solving Alarm during running Drive instantaneous current is too big Please contact manufacturer Er 1 Overload Check loa
53. he contrary large value will make higher cut off frequency and faster response If you need relatively higher machinery stiffness increase the setting value properly The proportional gain of position loop adjuster The larger the value 15 Position proportional the higher the gain proportion is the larger the stiffness is and the smaller the position tracking error is But too large value may produce vibration and overstrike Feedback forward gain of position loop Larger parameter values will produce smaller system position tracking error and faster response When the value is set at 100 it means position hysteresis is always 0 at any command pulse frequency If the feedback forward gain of position loop is too large the system position loop will be unstable and easy to produce shakes Generally the position loop feed forward gain is 0 Position feed forward The cut off frequency of position loop feedback forward low pass low pass filter cut off filter It is used to increase the stability of compounding position frequency Electronic Gear Ratio numerator Electronic Gear Ratio denominator Pulse input mode of position command Reverse pulse direction of position command Take incremental encoder as example Under position control mode take fractional frequency or frequency doubling to match with various pulse sources conveniently and get the proper pulse resolution ratio which users demand PxG NxCx4 P Input
54. he value send by mode master 31 6 Communication Functions Servo Drive A amp B User s Manual Write the addressymake servo drive switch to JOG control mode O Stop 0x1003 JOG trial run 0 Stop servo drive 1 Run in CW 1 Make the servo drive run in CW 2 Run in CCW 2 Make the servo drive run in CCW 1 Start 1 Operatiing Note Write other values return an 2 Success error Message 3 Failure 1 Start 1 Operatiing Note Write other values return an 2 Success error Message 3 Failure lot R historical al 0x1007 Historical alarm Read only Returns historical alarm information information 6 ModBus communication parameters read and write in examples Analog speed zero ee drift compensation Analog torque zero drift compensation Ox1005 1 Read parameters For example Servo drive parameters P n O004 1 P n 005 150 communication address refer to chapter7 1 read these two parameters value message format RTU Sending message 0x01 0x03 0x00 0x04 0x00 0x02 0x85 OxCA Correct response 0x01 0x03 0x04 0x00 0x01 0x00 0x96 0x2B Ox9D Incorrect response 0x01 0x83 0x01 0x80 OxFO 0x01 transmitting data odd even verify incorrect ASCII Start byte 0x3A end byte 0x0D 0x0A Sending message 0x3A 0x30 0x31 0x30 0x33 0x30 0x30 0x30 0x34 0x30 0x30 0x30 0x32 0x46 0x36 OxOD Ox0A Correct response 0x3A 0x30 0x31 0x30 0x33 0x30 0x34 0x30 0x30 0x30 0x31 0x30 0x30 0x39 0x36 0x36 0x31 OxOD Ox0A Incorrect response 0x3A
55. hown on nixie tube means the driver s parameters have been recovered to factory defaults Power off Wiring correct and no load test first 1 Internal position control 1 Set parameters of P n 004 0 and P n 025 1 to select internal position control mode 2 Operating instructions 1 The position command is supplied by parameters P n 208 P n 209 P n 243 P n 244 Set the position command calculation according to parameter P n 248 difference is shown below e g P1 10000 P2 20000 Incremental Absolute 2 Select the running mode of internal position control by parameter P n 249 a P n 249 0 P n 251 5 When CNTR signal is detected a valid jump servo drive runs once with the number of the position segment set by P n 25l and finally stopped at the first location and output positioning completed signal It should be noted the CNTR trigger signal is valid only when the positioning is completed otherwise the signal CNTR will not be response b Pn 249 1 P n 251 6 In this mode the drive will always loop runs with the number of the position 63 9 Running and Debug Servo Drive A amp B User s Manual segment set by P n 251 until CNTR becomes invalid CNTR ON CNTR ON CNTR ON CNTR ON CNTR ON c P n 249 2 In this mode SP1 SP2 and SP3 are set to specify the running position the falling edge of signal CNTR start running e g SP3 SP2 SP1 OFROFF OFF CNTR signal input falling edge the
56. imum torque Set the speed limit mode in torque control mode 0 Basic limit Parameter Pn 023 as the limit 1 Basic limit Analog speed limit 2 Basic limit Internal speed limit Select internal speed through SC1 SC2 and SC3 Set the features of speed command filter If the motor generates vibration and noise please reduce the parameter value e The smaller the value is the lower the cut off frequency is the lower the noise is If the load inertia is too big reduce the parameter value properly If the value is too small the response will slow down and cause instability To the contrary the larger the value is the higher the cut off frequency is the faster the response is If you need relatively higher machinery stiffness increase the setting value properly To the analog speed command low pass filtering smooth command to avoid interference The larger the parameter value the stronger the filtering effect To the analog torque command low pass filtering smooth command to avoid interference The larger the parameter value the stronger the filtering effect It is used to set the processing method when exceeding the limiting speed in torque mode 0 Motor speed is controlled at speed limit value 1 Alarm Err7 if overspeed 45 7 Parameters and Functions Servo Drive A amp B User s Manual Internal CCW torque Set internal torque limit at the servo motors CCW CW direction P n 034 limit The value set
57. ires 09 9 core wires 04 4 core wires Product serial number JSDA Standard motor signal cable Motor signal Encoder cable model introduction JSMA 14A 030 Cable length For example 030 0 1m 3m Have driver side plug or not A have plug B No plug Guideline numbers 14 14 core wires 09 9 core wires 04 4 core wires Product serial number JSMA Standard motor power cable Motor power cable model introduction 74
58. isplay specific monitoring value The following diagram shows each monitoring item Power on display lt A SET fo tears eae ae or The Ist layer menu SET SET A A r 0 d P d P SPd gt dP 1 oo v lt v lt Diagram 5 3 Operation diagram of monitoring mode Instructions to some items in the d P menu group 1 Current position feedback by motor encoder is composed of d P PoS and d P PoS For example The value of d P PoS is and value of d P PoS is the current position pulse is calculated as following x 100000 HS Position command and position deviation similar 45788 10 1245806 pulse 2 Position command pulse d P Cpo is the value of input pulse magnified by electronic gear ratio 3 Current control mode d P Cnt displays Positional control mode Speed control mode Sr trial run mode JOG trial run mode Analog speed control mode Torque control mode 6 Open loop operation mode 4 If display numbers go up to 5 6 digits EMA for 5 digits EMB for 6 digits e g 12345 it will not display prompting character 5 Position command pulse frequency d P Frq is the actual pulse frequency before electronic gear magnifying The minimum value is 0 1 kHz Positive rotation displays positive number and reverse rotation displays negative number 6 Alarm code displays d P Err For the specific meaning of alarm codes please read chapter 8 7 Digi
59. ith earth ground gt 2 0mm 4 2 Encoder feedback terminal CN1 Diagram 4 1 shows junctor terminal of servo driver CN1 which uses SCSI 14P connector with the socket in needle type and the plug in cellular type e 4 Diagram 4 1 Driver CN1 Plug in the face of soldering lug of the plug Table 4 1 Encoder feedback terminal CN1 Terminal Signal name and Code Encoder NO CNI 1 Encoder W input W CNI 2 Encoder W input W f jan y O CNI 3 Encoder V input V ff CNI 4 Encoder V input V fe y O CNI 5 Encoder U input U oo Encoder U input U e o Analog Input SIN SIN Analog Input COS COS CN1 7 Encoder Z input Z CNI 8 Encoder Z input Z CN1 10 Encoder B input B SD Input 4 nalog Input COS COS CNI 11 Encoder A input A Rl CN1 12 Encoder A input A Analog input SIN SIN CN1 13 Encoder power output negative OV aa ee CN1 14 Encoder power output positive 5V 15 4 Port Servo Drive A amp B User s Manual 4 3 Control terminal CN2 Diagram 4 2 shows CN2 connector terminal pin soldering lug of the servo driver in the face of soldering lug of the pin It uses SCSI 36connector for EMA servo drive and SCSI 50P connector for EMB servo drive with the socket in needle type and the plug in cellular type EMA servo drive is Bed Ba ia fo s 6 4 h a7 fs as ua 9 7 5 BI L EMB servo
60. m display position corresponding relevant position is 1 Digital input take the contrary P n 313 lowtoreverse 3 bR biu DU DI4 __ DM WB R WM Di DI contrary 0 0 1 1 Binary system display position corresponding relevant position is 1 Digital input take the Taon Pin 314 high toreverse 83 bi bit f bito Reserved Reserved Oo oO 1 DiS negation 0 Binary system display position corresponding relevant position is 1 I negation PInJ 315 P stal ouput DO t0 TT bisi bia itt To bio AN Resewed DM DB D2 DN DP negation OF 0 1 0 Zero speed detection This parameter only use for electromagnetic brake sequence judge P n 318 point of when motor running speed irrelevant to direction lower than the set parameter motor speed is regard to zero motor stop running refer to chapter 7 3 BRK signal output When system from enable state to not enable or alarming define the delay time motor quiescent period motor speed lt P n 318 from electromagnetic brake DO output terminal BRK OFF to Electromagnetic brake P n 319 delay time when the pape ap NE ELAN electromagnetic brake KNA NG Cutting the currency after the brake reliable stop to avoid motor infinitesimal displacement or dropping Parameter should not smaller than mechanical brake delay time Relevant sequence refer to chapter 7 3 BRK signal output When system from enable state to not enable or al
61. mand Then change the value of parameter P n 043 Under torque command mode please check the value of d P Ct the torque command offset Revise the value of parameter P n 045 manually This operation is same with analog speed mode 3 To ensure the motor steady stop without rotation it can be realized by set analog speed reference zero hysteresis thresholds parameter P n 044 when the analog input is OV under analog speed mode When the analog speed input is less than the pre set value the speed command is O and the motor locks It needs to set analog torque reference zero hysteresis thresholds parameter P n 046 The operation is same with analog speed mode It shows as following figure Speed rpm Zero potential hysteresis threshold The command voltage V 23 4 Port Servo Drive A amp B User s Manual 4 7 2 Analog output interface principle er DACI 12 DAC2 13 EMA 35 36 EMB 18 44 GND Diagram 4 15 Analog input interface Related parameters setting refer to chapter 7 4 8 Encoder signal input and output ports and explanations 4 8 1 Encoder signal output CN2 port and explanation For incremental encoder position output signals EXTA EXTA EXTB EXTB EXTZ EXTZ use differential output way The wiring schematic diagram of position signal outputted from CN2 is as follows a mesi jai je iii SS eS SSS SS SS SS SS imani ja 1 Upper PC Connect AM26LS32 or IC with the same functio
62. ms Pln 258 0x023A Servo on delay time 0 32767 0O Ols P n 259 0x023B_ Torque arrival signal threshold 0 300 100 38 Servo Drive A amp B User s Manual 7 Parameters and Functions X P n 263 0x023F Internal torque 4 300 00 300 00 100 00 Pin 264 0x0240 Alarm clear restrictions 0 20 5 Xx Pln 265 0x0241 Reserved l Pl n 266 0x0242 Reserved P n 267 0x0243 Reserved a P n 268 Ox0244 Torque command direction O 1 0 a te P n 269 0x0245 pore ec eran 0 16000 10 0 1ms K deceleration time P n 270 0x0246 Reseryed l o o e l P n 271 0x0247 Speed limit of torque mode 0 3000 1000 orm xX o pasare ome Ag me a aana sa ama time for overspeed Pin 273 0x0249 Zerospeed 0 3000 10 mm Pin 274 0x024A Zero speed hysteresis 0 1000_ 10 mm Pln 275 0x024B Zero speed clamp mode 0 2 0 P n 276 Ox024C Coe ee 32768 32767 pulse offset laps P n 277 0x024D Zero speed clamping position 39768 32767 0 puse offset pulses Pin 300 0x0300 Digital input DI filter time 0 100 0 Pin 301 0x0301 Digital input DI function 0 27 1 Pin 302 0x0302 Digital input DI2 function 0 27 2 P n 303 0x0303 Digital input DI3 function 0 27 3 7 X X Xe XF X X X i ND X W P n 317 0x0311 Resewed Zer
63. n Diagram 4 17 Position Feedback Pulse Differential Connection 4 8 2 Encoder signal input CN1 port and explanation ee ee ie ee amaihi a eee ei i i ee kawadaka 4 Encoder Servo drive AM26L5S32 Diagram 4 18 Encoder signal connecting port 24 Servo Drive A amp B User s Manual 5 Panel and Operation 5 Panel and Operation 5 1 Overview The EMA servo driver panel is made up of 5 bits 8 segment LED digital tube and the EMB servo driver panel is made up of 6 bits 8 segment LED digital tube 4 keys and 2 indicator lamps They are used for displaying various states of the driver and setting parameters The following diagram 5 1 shows the driver s operation panel EMA GE a PEN OO TA Seer SET ey RUN indicator RUN Power Ss Backspace key DOWN key POWER indicato1 EMB S S J See See UP key r a 4 q SET key Power indicator 1 pawer C D RUN Run indicator DOWN key Backspace key Diagram 5 1 EMA and EMB operation panel The specific function of each part is illustrated as follows Display Digital panel is used for displaying monitoring value setting value parameter value and alarm information ka To show whether there is electricity in the main circui
64. n 333 0 3 homing reference point P n 335 P n 336 p P n 337 rpm _Pin 339 0x0327 Acceleration time of homing 0 10000 0 0 Ims P n 340 0K0328 Deceleration time of homing 0 10000 O O Ims s Pl n 342 0x032A Reserved Pl n 343 0x032B Reserved 2 Function of analog output ia AA arta DACI EA Proportional of analog output A Waa DACI BEA KAEH G bd N Function of analog output eee DAC Proportional of analog output pina rosan Ppa ofan 00 100 7 2 Parameters function explanations 0 section parameters P Name OOOO Design Save the current parameter values to non volatile memory for avoiding losing parameters because of power off Operation Instruction Enter into the menu group of E E and select E E SEt press SET key If donE FInISh is shown on nixie tube means the driver s parameters have been saved while if Error is shown means failure E E SEt Save parameters 40 Servo Drive A amp B User s Manual 7 Parameters and Functions Recover parameters of parameter table and non volatile memory to its defaults from factory Operation Instruction of recover defaults Set motor model parameter Recover defaults Pn 001 according to the motor adapter table Appendix Enter into the E E menu group and select EE dEF press SET key until E E dEF display StArt If operation succeeds donE FInISh will show in 1 3 seconds p
65. n a a nja ang A a aaa 62 OA INSMECE before POW CF ONG kaka Aa A ices a a Aa a aka A A aaa aa aana abaan ab saa an a ad naas aa aka da baia 62 Ose Conine OM SCOUCINCG nere aga aa aa a Na a a a Mea cnet adnate 62 9 2 R nno without load OPC rat OM rasana Aa aa naa a Aan aan an a aaa ga aa Dak na ad ang Da gina abi aaa aneng a baana 62 Il Table of contents Servo Drive A amp B User s Manual 9 2 1 Trial speed operation Panel operation refer to Chapter 5 cccccccsssssesessssseeeeeeeeeeeeeeeeeeaaas 62 9 2 2 JOG trial running Panel operation refer to Chapter 5 ccccccccccccccceeeeessesseseeeeeeceeeeeeeeeeeeeaeaas 62 YONO NANGIN SO Wy SAMO asa Ba ad Dan a aaa aaa NAN aa IN ale a Ba a Ba a eke denne 63 OF sl POSIMOM COMMON aaa a aa aaa aga a ad a ew aaa aka a ise dialect aab ga aga a ag aa a 63 ye eas DEGAN RG Meee ne eee teen aI ee SOR Tne Pn ER aR E ene et re te etre gak a a aba ee ee 65 93 BV OTGUCSC ONO Laa saa an ga aaa a Aan Na GN DK ER E GA KATE gg na AGA a A ad Ga ad a aa a an GA nda aa aa a E AE 66 10 Servo Motor Introduction secer keki aia a aka ag da kaang kaag aa da aa adana baa anang Kaba aka aa anang a aa a a ak a ng Mata a PA 67 10 1 Nameplate and model 1ntroducnon aaa Ega cancer Osa AE AG ba ered 67 TUL IN ARIE AUS TENE OC UC OL aa ak Bank gi aaa NG GA jak teatro Daas RA ga aia lak Tak aa Naah Tk aa aaa ga anaa 67 IOL Mode II OS als pmepeeen renderer eran E Pa Ba a Da a Tenth rent La near rere Tree Tener 67 WOZ Names Or MOr
66. n the drive runs with the position command set by parameters Pn 208 and P n 209 and positioning complete signal output when the position command is finished Position l an lt l Speed l l l l SV F d 5 Positioning 1s not completed does l SP3 SP2 SP1 OFFdEFOF ONGFFON IT gt 2 5ms 1 l l notrespond m i CNTR p d P n 249 3 P n 251 5 Current position is P3 SP3 signal is detected a valid jump servo drive runs to the first location SP2 signal is detected a valid jump servo drive runs to the previous location if it is the first location stop here SP1 signal is detected a valid jump servo drive runs to the next location if it is the last location stop here 64 Servo Drive A amp B User s Manual 9 Running and Debug 3 Several key parameters associated with internal position control mode P n 004 P n 005 P n 006 P n 009 P n 010 P n 025 P n 208 P n 251 P n 301 P n 307 Refer to chapter 7 Set the parameter values correct after power on If there is no problem enable the drive and give position command by changing the status of signals CNTR SP1 SP2 and SP3 Observe the dynamic effect
67. na Mae Tana ter T 5 1 COnneChOn OF peripheralegiipmeniS 555 akasa kagak NAGARANE AA E E NR 7 I2 Navere WitiNe EXPL Son E ga DA a a La a aa gand 9 5 9 Stannard winne dia DT aides cc aka aga ag aga eg ro a a GG e a a Aa pa a a e aa a a ad nn aa aba e ga 11 3 3 1 Standard wiring diagram of the servo drive eeeeeeenanananaa anana naen anane nana aana naen nenen anana en eee 11 3 3 4 Absolute encoder wirine diasta sasa pa naa aaa ie ee ea 13 IARE oker WITING CNA OT AN aas a paka aaa an an i aan a a Aan A SA a a at ED E aba ga a a Ba aa Nga aan 14 ajan Ag a ay meee RN ag Ng AA A A KN a A EN a SA en a 15 di Power Supply ET basa akh aa a kaa AE NGGER A Ka ANA DE SABA E ag EN ADA E Ana aa NA Ba aa GK ag a aa E eu Aa 15 2 Encoder Tecdback terminal CNA sanagara bantah a aaa ga aa aaa aana ag gan ana dahaga aana aga na ahaaa baa ged ka ganeka a aan 15 4 3 Control terminal CINA aaa aaa aa ajan a a L aT 16 44 Comm nication terminal CNF erretina aa a e aii 17 4 5 Switch value input and output signal ports and eKrplanations sseeeeeneeeeeeeeeeanananaan anana nean e naen 19 4 5 1 Switch value input signal ports and explanations sesssssssssssseeeeeereresssssssssssssseeterereesssssssssssses 19 4 5 2 Switch value output signal ports and explanations ssssssssssoseeeeeresssssssssssssseeeeeerrerersssssssssssss 19 4 6 Position pulse command input ports and explanations cccccccceccccececceeeeceeaeeeeeesseeeeeeeeeeee
68. nalog speed mode 1 Internal speed mode Select respective internal speed by signals SC1 SC2 and SC3 mona SPee4 command setting ON O LON Internal speed 8 Pin 207 2 Internal speed Analog speed mode ON Position command O Pulse input position control P n 025 l oe setting 1 Internal position control P n 020 Servo Drive A amp B User s Manual 7 Parameters and Functions Torque command setting Torque limit mode Speed limit mode Speed command filter Analog speed command filter coefficients Analog torque command Processing method of overspeed in torque mode 0 Analog torque mode 1 Internal torque mode Select internal torque command through TRQI and TRQ2 2 Internal torque analog torque mode ON Internal torque 4 P n 263 0 Basic limit Whether the external CCW CW torque limit is valid decided by signals TCCW and TCW In the Sr and JOG mode it also be limited by P n 038 TCCW ON Limited by TCW ON Limited by P n 034 and P n 036 P n 035 and P n 037 TCCW OFF Limited by TCW OF Limited by P n 034 P n 035 1 Basic limit Analog torque limit 2 Basic limit Internal torque limit Select internal torque through TRQI and TRQ 2 Note A plurality of limit occurs the final limit value is the minimum The limit of P n 034 and P n 035 are effective at any time If the limit value exceeds the maximum allowable torque the actual torque is limited to a max
69. nd inspection 2 Powering on the driver parameter tuning 3 Running without load operation 4 Control function tuning 9 1 Servo driver power on 9 1 1 Inspect before power on 6 Whether servo driver and servo motor matches with each other 6 R S T and U V W can t connect reverse can t lose connected 6 Whether input voltage is single phase 220V or three phase 220V Whether the encoder terminal is connect well Whether servo motor and servo driver are well grounded 9 1 2 Confirm power on sequence Power off Power on Power supply lt 500 Alarm output DOn No alarm output Servo is ready DOn E OFF ON l lt Is Electromagnetic brake DOn OFF ON lt Is Power off Power on Motor power on IO input user defined EMA by parameters P 301 P 305 EMB by parameter Pn 301 Pn 307 IO output user defined EMA by parameters P 309 P 311 EMB by parameter Pn 309 Pn 312 refer to chapter7 9 2 Running without load operation 9 2 1 Trial speed operation Panel operation refer to chapter 5 1 Set parameter of P n O004 2 to select speed trial run control mode Enter into menu of S r servo drive displays S 0 2 Press A key to increase speed command then enter into d P SPd submenu to observe whether the actual rotate speed of motor is the setting velocity 3 Press V key to decrease speed command to a negative then enter into d P SPd submenu to observe whether the actual rotate
70. nu and press SET key to enter parameter setting mode A key or VW are used to increase decrease the value of the parameter Press and hold the SET key for 3 seconds to confirm the change of parameter s value while the 4 key cancel the change e g Set the value of P n 005 to 180 as follows 27 5 Panel and Operation Servo Drive A amp B User s Manual Power on display lt 4 A SET SET r 0 ka d P SPd ka 0 di P a gt Pi n a P n 0__ e P n 000 SET SET v 4 4 Press and hold SET key for 3 seconds E A A SET SET SET P n 005 a Bia e 150 gt 150 a gt 150 g P n 005 4 M Shift AN Shift lt Conce benange Gray means LED is blinking Diagram 5 4 Diagram of parameter setting Note P n 0_ _ segment parameters are password protected User password is 288 Correct password can access the segment parameters 5 2 3 Special function menu This menu includes save parameters recover defaults Sr control JOG control analog zero drift compensation and historical alarm Refer to chapter 7 2 28 Servo Drive A amp B User s Manual 6 Communication Functions 6 Communication Functions 6 1 ModBus communication overview Servo driver provides RS485 RS232 and CAN three communication interfaces adopt international standard ModBus communication protocol User can realize asynchr
71. o speed detection point of 15 electromagnetic brake Electromagnetic brake delay P n 319 0x0313 time when the motor is 0 30000 stationary Electromagnetic brake delay P n 320 0x0314 time when the motor is 0 30000 running Electromagnetic brake P n 321 0x0315 operation speed when the 0 5000 rpm motor is running P n 309 0x0309 Digital output DO1 function P n 310 0x030A Digital output DO2 function P n 311 0x030B Digital output DO3 function Pn 312 0x030C Digital output DO4 function Digital input take the low to P n 313 0x030D reverse DI DIA 0 15 Digital mput take the high to ee reverse DI5 DI7 P n 315 OxO30F Digital output DO to reverse P n 316 0x0310 rp m 500 100 o gt O 7 Parameters and Functions Servo Drive A amp B User s Manual pinda anaa POMO teed back pulse 1 32767 division numerator prajas95 osodir Tosmon feedback pulse 1 32767 division denominator P n 324 0x0318 The width of Z pulse 0 127 P n 325 0x0319 0 pulse pulse 50us Reverse position feedback pulse The 2nd electronic gear ratio 1 32767 numerator l P n 327 0x031B The 3rd electronic gear ratio 132767 numerator P n 328 0x031C The 4th electronic gear ratio 1 32767 numerator P n 326 0x031A P n 330 0x031E P n 331 0x031F P n 329 0x031D Resewed 0 a l 0 a ae P n 332 x0320 Homing startup mode 02 O o 1 0 0 2 P
72. ode input and output terminals signal etc Overspeed main power overvoltage under voltage overcurrent overload braking abnormity encoder abnormity control power Protection function ee seid supply under voltage overheated position deviation abnormity etc 5 di digit LED display panel 4 6 digit LED display panel 4 O tion displ keys 2 LED lights keys 2 LED lights Suitable load inertia Less than 5 times of motor inertia RS4BS RS282ICAN 2 Installation Servo Drive A amp B User s Manual 2 Installation 2 1 Installation site Temperature humidity of operation 40 C no freeze 90 RH below no dewing Temperature humidity of storage amp P y amp 40 50 C 0 RH below no dewing transportation Confirm there is no corrosive gas inflammable gas oil mist dust Air environment i etc inside the cabinet Should be installed in the place where there is no high radiation Installation environment equipment vapor water drop floating metal particle electromagnetic interference or noise jamming 1000m below sea level 0 5G 4 9m s 10 60Hz operating discontinuously IP20 2 2 2 Installation dimension It can be installed in the way of base plate installation and the installation dimension is upwards perpendicular to fitting surface diagram 2 1 shows the base plate installation way EMA servo drive D
73. of motor and adjust gain for reasonable value 9 3 2 Speed control In the speed control mode the speed command can be gived by analog input or parameters Measuring the power supply of R S T 3 phase 220V or 1 phase 220V is normal or not before wiring Make sure there are no problems connect the power cord and power on Reference to the motor adapter table Appendix modifies the parameter of P n 001 as the corresponding motor model code Enter into the menu group of E E and select E E dEF press SET key If donE FInISh is shown on nixie tube means the driver s parameters have been recovered to factory defaults Power off Wiring correct and no load test first 1 Internal speed control 1 Set parameter of P n O04 1 and P n 024 1 to select internal speed control mode 2 Operating instructions 1 The speed command is supplied by parameters P n 200 P n 207 2 Set parameters of P n 302 14 P n 303 15 and P n 304 16 which define DI2 DI3 and DI4 input functions for SC1 SC2 and SC3 Select respective internal speed command by signals SC1 SC2 and SC3 The corresponding relationship is as follows Refer to chapter 7 3 Note OFF The switch status is opened ON The switch status is turned SC3 SC2 SC1 Position command 3 Several key parameters associated with internal speed control mode P n 004 P n 005 P n 006 P n 024 P n 042 P n 052 P n 053 P n 200 P n 207 P n 301 P n 307 Refer to chapt
74. onous serial half duplex communication with 32 sets servo drivers at the same time by RS485 It can realize below functions 6 Read write servo driver functional parameters e Monitoring servo driver working condition Control servo driver operation 6 2 ModBus communication protocol 6 2 1 Communication mode ModBus communication provides two kinds of mode ASCII American Standard Code for Information Interchange mode RTU Remote Terminal Uinit mode Selecting communication data format by parameter P n 102 1 RTU mode frame format In RTU mode data frame is divided by more than 3 5 characters each frame byte interval is no more than 1 5 byte field time as below structure shows Frame Frame 2 Frame 3 k OO l l l Tf gt 3 5 byte time Tf lt 1 5 byte time MODBUS message lt gt End Before frame completes if two character interval is between 1 5 byte and 3 5 byte transmitting time servo Diagram 6 1 RTU mode frame format driver will drop the imperfect message frame and there is no data feedback until next 3 5 byte interval begin anew and to start receive message frame 2 ASCIT mode frame format In ASCH mode data frame has fixed start bit and stop bit frame format is as below LRC End Every byte is formed by 2 characters for example 0x12 is presented with ASCII include 1 ASCII code 0x31 and 2 ASCII code 0x32 29 6 Communication Functions Servo Drive A amp B User
75. ontrol 1 Set parameters of P n O04 6 and P n 026 0 to select analog torque control mode 2 Several key parameters associated with analog torque control mode P n 004 P n 026 P n 033 P n 041 P n 045 P n 268 P n 269 P n 271 P n 272 Refer to chapter 7 Set the parameter values correct after power on If there is no problem enable the drive Wait for the RUN indicator light up perform automatic zero drift compensation operation Enter into menu of A U choose the submenu of A U trg and press SET key until donE FInISh is displayed on nixie tube compensation value will be write to parameter Pn 045 Upper control output analog instruction to drive after the above steps are completed Observe the dynamic effect of motor and adjust gain for reasonable value 66 Servo Drive A amp B User s Manual 10 Servo Motor Introduction 10 Servo Motor Introduction 10 1 Nameplate and model introduction 10 1 1 Nameplate introduction p EMHEATER F CE AC Servo Drive Servo motor model Model EMM 110S040B122 _ 220V 4 0A Rated Voltage Current and Power Rated Torque Speed and Insulation class 4 0N m 2500r min China EM Technology Limited Manufacturer ALAD UOTI Ka product code EMM110S040B122201407110020 Made In China www emheater com Diagram 10 1 Servo motor s nameplate introduction 10 1 2 Mode introduction EMM 110 8S 032 AW 2 2
76. orm There are three optional types of pulse command which can be set by P n 014 each type can be reversed and can be set by P n 015 Table 4 4 Input pulse command form ae P n 015 0 P n 015 1 EMA EMB Forward Reverse Forward Reverse LI P 014 2 Pn 014 2 ie paca x quadrature pulse Table 4 5 Pulse input sequence parameters Differential driving input Single terminal driving input A tg tqs t a E a E TANANAN T2 0315 50 248 20 348 a E 251 t t t 21 4 Port Servo Drive A amp B User s Manual 1 Pulse direction input interface sequence diagram Maximum frequency is 5010KHZ eS 90 PULS 10 lt gt ti ta TM t t lt gt 90 DIR 10 4 gt a CW t CCW CW rl Diagram 4 11 pulse direction input interface sequence diagram 2 CCW pulse CW pulse input interface sequence diagram Maximum frequency is 500KHZ 90 PULS 10 90 DIR 10 CCW r r CW Diagram 4 12 CCW pulse CW pulse input interface sequence diagram 3 Two phase orthogonal pulse input interface sequence diagram Maximum frequency is 300KHZ 4 fex gt Con CCW CW
77. otor EMM 110S040B 22 China EM Technology Limited EMB15A1201407110020 Made In China www emheater com EMA 10 A W E3 e WE V j me et ee 4 ea a am tf raw ited ee em ee aa naam em at Leas a V W PE a Servo drive model Input voltage frequency and current Output voltage frequency and current Match to servo motor Product code and Manufacturer Encoder type I Incremental encoder W Wire saving encoder A Absolute encoder R Resolver Rated voltage A Single Three phase 220V B Three phase 380V Rated output power 10x0 1 1K W Product serial number EMA series drive EMB series drive Diagram 1 1 Servo drive nameplate and model introduction 1 2 Names of the driver s parts EMA servo drive Radiator base For fixing the driver and heat dissipation Digital tube display Display servo state or alarm parameter s setting and modification Indicator light POWER The indicator light is on means the driver has high voltage RUN The indicator light is on means the driver running status POWER R S T Power supply of main circuit AC 220V 50 60Hz r t Power supply of control circuit AC 220V 50 60Hz Servo motor output Connect with the motor s power terminals U Vand W Note Do not connect with power supply of main circuit otherwise it may destroy the driver Earth terminal Panel cover can be moved up
78. ower on again Set parameter of P n 004 to 2 to select speed trial run mode Enter into menu of S r press SET key Set speed command by A and Y motor will rotate at the set speed Positive means motor rotates in the direction of CCW while negative means in the direction of CW S r Sr trail run gt Minimum given speed is Irpm Command add and subtract Set parameter of Pn 004 to 3 to select JOG trial run mode Modify parameter P n 022 and set suitable JOG speed Enter into menu of J r the nixie tube will display J r 120 the numerical part of which is speed value set by parameter P n 022 At the moment J r JOG trail run pressing A key and hold motor will rotate in the direction of CCW at constant setting speed Release the button motor will be in the state of zero speed locked While pressing V key and hold motor will rotate in the direction of CW at constant setting speed Release the button motor will be in the state of zero speed locked In the analog speed control mode even if the analog command voltage is OV sometimes motor still rotates at tiny speed because of common Anara vero ground voltage difference It can be compensated automatically A U SPd Operation Enter into menu of AU Choose the submenu of pu men an AU SPd and press SET key until donE FInISh is displayed on nixie tube compensation value will be write to parameter P n 043 Then save parameter values to
79. pment Braking resistor should be connected in strict accordance with the manual requests B1 and P can tbe short circuit otherwise the driver will be destroyed after power on Before power on check whether R S T and r t power lines are correct Warning Check whether U V W wiring is correct three phase terminal sequence can t be changed to reverse the motor Servo Drive A amp B User s Manual 3 Wiring Motor ground terminal must be connected with driver ground terminal PE There is large volume electrolytic capacitor in the servo driver so high voltage will exist even after power outage Please don t touch the driver or motor in five minutes after outage 3 2 Main circuit wiring examples Servo driver power can use one or three phase AC 220V Single phase 220V connection is same as diagram 3 2 The three phase connection is same as diagram 3 3 The control power r and t can be connected with any two phases of the three phases same as diagram EMA servo drive Emergency ON stop OFF RA j M oal o a lo o O O O Ny MC SK NFB MC _O O Q O OR Single phase 220V FI OS o GO O 0 0717 Z Or Ot ALM gy RA HO pus 4 DC 24V ALM EMB servo drive Emergency ON stop OFF RA ae oO lo 0a o o O O O i eae pe E MC SK NFB MC EMB R Servo Drive U O O O O O Single phase 220V FI 19 OS O O O O Q T 2 Select use built in brake resistor B2 P short
80. position pulse suggest user adopt differential drive mode l PULS 1 PULS PULSA EMA 29 EMB 43 i DIR EMA 27 EMB 37 gt W bei j thn DIR r csc a a a a a a a a a a a a a a a a a a a a ele aa VER DC 24V Maximum pulse Servo drive frequency is 200Kpps PULLHI Upper device PULS EMA 29 EMB 43 DIR EMA 26 EMB 36 l i COM EMA 19 EMB 20 Diagram 4 9 Pulse command input with internal power The maximum frequency is 200KHz The driving current range is 6 10mA and external connecting resistance R should be adjusted by VCC 20 Servo Drive A amp B User s Manual 4 Port The maximum frequency is 200KHz The driving Adjustment using internal resistance the current range is 6 10mA and external connecting internal resistance 1 5KQ The maximum input resistance R should be adjusted by VCC pulse frequency is 200Kpps 1K Ohm sna Servo drive 680 Ohm EMA 14 EMB 17 1 100 Ohm Servo drive EMA 30 EMB 41 EMA 27 EMB 37 PULS EMA 29 EMB 43 DIR EMA 26 EMB 36 PULS EMA 29 EMB 43 DIR EMA 26 EMB 36 Diagram 4 10 Pulse command input with external power There is internal power supply users do not need connect external power In order to improve the anti jamming capacity the differential input mode is suggested Single terminal mode will decrease the receiving range of pulse frequency command 4 6 2 Position pulse input command f
81. r any terminal can t excess SOMA 4 5 2 Switch value output signal ports and explanations The switching value output signals are all couple terminal open collector output In order to guarantee reliability of signal transmission all the output signals are valid only when the optical coupler is conducting The wiring is showed in the below figure The signal output is in Darlington driver structure EMA servo drive External optical coupler output example External relay output example SS Se SS 1 le ai aay l Electric relay Servo drive EMB servo drive External optical coupler ut example Ve A ee a ENG 1 Fe te ka anA a T Servo drive Servo drive Diagram 4 7 Switch value output signal ports The external power is supplied by users Notice that the servo driver will be damaged if the power polarity is reversed e The largest outer voltage is 24V 19 4 Port Servo Drive A amp B User s Manual The output is in open collector form The maximum current is 150 mA If the load is an inductive load such as electric relay it is necessary to wire a fly wheel diode reverse parallel with the load If the fly wheel diode is in a wrong direction the servo driver will be damaged 4 6 Position pulse command input ports and explanations 4 6 1 Position pulse input port We can use both differential input connection and open collector single input connection The maximum frequency is 500Khz in order to correctly transmit
82. r can eliminate speed command analog slip By A U SPd can realize auto compensation Manual compensation Enable servo motor motor operating in analog torque mode Check value d P CS according to d P CS value switch to voltage manual revise P n 043 parameter Analog speed ja pena curve P n 043 command zero drift compensation Servo Drive A amp B User s Manual 7 Parameters and Functions Analog speed P n 044 command zero hysteresis thresholds Analog torque P n 045 command zero drift compensation Analog torque P n 046 command zero hysteresis thresholds Location pulse P n 047 command control parameters P n 050 Encoder type selection Set the threshold of analog input If the analog input is smaller than the parameter value the motor will be locked Speed rpm Zero potential hysteresis threshold The command voltage V When input torque command is zero change this parameter can eliminate speed command analog slip By A U trg can realize auto compensation Manual compensation Enable servo motor motor operating in analog torque mode Check value d P Ct according to d P Ct value switch to voltage manual revise P n 045 parameter No compensation curve In analog torque mode set analog torque command input zero offset compensation value When analog torque input small than set value torque command value is zero refer to P 044 Set the phase of PULS and DIR signals P n 047 PULSE IR
83. rease acceleration and deceleration time is too short deceleration time of upper controller Bee 2 Over current Correctly reset parameter settings The load inertia is too large or the acceleration and Decrease load inertia Increase acceleration and deceleration time is too short deceleration time of upper controller Err Fi Under voltage Alarm Solving Alarm during power on Alarm during power on circuit board fault Please contact manufacturer Alarm during power on there is no input voltage 8 Power P 8 Reconfirm the power supply source for main circuit Alarm during running Alarm during running electric network voltage is low i i Measure the electric network voltage Err 4 Overvoltage Brake resistor wire break Brake resistor does not work Brake transistor is broken Brake resistor 1s broken Brake resistor capacity is too small Please change for high capacity brake resistor aan a AA Aa On POWs Please check power supply Change driver 58 Servo Drive A amp B User s Manual 8 Alarm and Troubleshooting Err Si No current in analog channel A Alarm Solving Alarm during power on Circuit board fault Please contact manufacturer Alarm during running Circuit board fault Please contact manufacturer Err 6 No current in analog channel B 12V power supply fault Err I Over speed Circuit board fault Setting input pulse correctly Please change encoder cable Acceleration an
84. rify except the start end and odd even of every byte G x x 4x 4x74 The C programming language to generate CRC value of computing method as following unsigned char ParaData unsigned char DataLen unsigned int CRCdat unsigned char ParaData unsigned char DataLen int 1 unsigned int CRC_reg Oxffff while DataLen CRC_reg ParaDate forG 0 1 lt 8 1 if CRC_reg amp 0x01 CRC_reg CRC_reg gt gt 1 0xa001 else CRC_reg CRC_reg gt gt 1 Return CRC_reg 2 LRC verify ASCII mode adopts LRC Longitudinal Redundancy Check verify method LRC verify is no carry plus from ADDR to the last data not include start and end bytes only reserve low 8 bytes of the final result exclude the excess for example 0x78 0xA2 0x1A then calculate the complement of two such as LRC code is OxE6 then gets LRC verify value 33 7 Parameters and Functions Servo Drive A amp B User s Manual 7 Parameters and Functions 7 1 Parameters list The defaults in the following table apply to EMM 130 motor P n 001 42 Different model of motors have different parameter values If there are any differences please take the display value of servo driver as the standard P n O_ _ segment parameters are password protected User password is P n 000 288 Correct password can access the segment parameters Symbols of parameters table are described below yx Indicates the parameter value can be changed while the servo drive is running
85. s coupling and belt are separated and set the driver s parameter to suitable value Test the servo motor to confirm it 1s operating correctly and then connect to the load otherwise it may cause machine damaged and breakdown Before operating please confirm the emergency switch can be turned on at any time to stop the machine 9 Forbidden Don t touch any rotating part of the motor otherwise it may cause personal injury When the equipment is running don t move the stub cable otherwise it may cause personal injury or machine damage When the equipment is running don t touch the driver and motor otherwise it may cause electric shock or injury Don t turn on and off the power frequently If necessary please limit the turn frequency is below one time every minute 5 Trouble Handling gs e Notice Except the specified professional staff please don t connect install operate dismantle and repair this product for there are risks of electric shock and causing damage to the equipment or personal injury Please don t reform this product by oneself because there is danger of electric shock and personal injury Don t touch the circuit board with hand directly or it may destroy the board because of electrostatic induction When the equipment gives an alarm signal check it and clear the trouble Reset the alerting signal before restarting Be far away from the machine when repower on after unexpected power off for it
86. s the percentage of rated torque which is effective at any time If the value exceeds the maximal overload capacity the system permits the actual torque limit will be the maximal overload capacity Set external torque limit at the servo motors CCW CW direction P n 036 pe The value sets the percentage of rated torque which is effective at Internal CW torque P n 035 limit limit any time External CW torque If the value exceeds the maximal overload capacity the system P n 037 limit permits the actual torque limit will be the maximal overload capacity Set the torque limit under the speed trial run and JOG run It is Torque limit for speed independent of rotating direction and effective in two directions P n 038 trial run and JOG trial The value is the percentage of rated torque For example the value run should be set at 100 if it is equal to rated torque Internal and external torque limit are still effective Set analog torque proportional relations between command voltage and actual torque command Analog input range 10V 10V setting 100 10V input voltage corresponding to rated torque Torque command Rated torque P n 041 Analog torque command gain 10 Input voltage V P n 042 Speed command 0 Speed direction is control by CINV direction selection 1 Speed direction is control by the combination of SDIR2 and SDIR1 When input speed command is zero change this paramete
87. sition 39768 32767 To pase ok command P n 239 0x0227 Pulses of the 7th inner position 32768 32767 oo pme f x command P n 240 0x0228 Speed of the 7th inner position 0 5000 command PADA aana e e000 100 position command P n 242 0x022A Pause time of the 7th inner 0 30000 100 position command 6ms P n 243 0x022B Laps of the 8th inner position 39768 32767 oo pase oe command P n 244 0x022C Pulses of the 8th inner position 39768 32767 oo puse oe command P n 245 0x022D Speed of the 8th inner position 0 5000 ES mi command P n 246 0x022E Acc Dec time of the 8th inner 0 30000 100 position command 100 om se de de Be Be he se rpm m je se he S P n 247 0x022F Pause time of the 8th inner 0 30000 position command Internal position command P n 249 0x0231 Running mode of inner position control P n 250 0x0232 Pause mode of inner position 0 1 control P n 251 0x0233 Number of segments of inner 1 position 100 100 1 P n 252 Ox0234 Torque arrival signal filter time 0 6000 100 P n 253 Ox0235 Undervoltage alarm filter time 0 32767 400 100 400 500 P n 254 0x0236 Range ot pontoning 0 32767 10 pulse completion Pass Dor oon anes OF postion 0 30000 pulse deviation alarm P n 256 Ox0238 Speed arrival signal threshold 5000 S5000 500 rpm P n 257 Ox0239 Detection range of overspeed 0 6000 0 m 10ms
88. speed of motor is the setting velocity 9 2 2 JOG trial running Panel operation refer to chapter 5 1 Modify parameter P n 022 to suitable JOG speed Set parameter of P n 004 3 to select JOG trial run control mode Enter into menu of Jr Servo drive displays J 0 62 Servo Drive A amp B User s Manual 9 Running and Debug 2 Press A key and hold motor will rotate in the direction of CCW at the speed of P n 022 Release the key motor will be in the state of zero speed locked 3 Press V key and hold motor will rotate in the direction of CW at the speed of P n 022 Release the key motor will be in the state of zero speed locked 9 3 Control function debugging There are two ways to enable the servo drive 1 The first it can be reached by external digital IO input terminal DIn For example set parameter P n 301 1 DII input the servo on signal 2 Second it can be inner compelled by setting P n 057 2 9 3 1 Position control In the position control mode the position command can be gived by external terminal or parameters Measuring the power supply of R S T 3 phase 220V or 1 phase 220V is normal or not before wiring Make sure there are no problems connect the power cord and power on Reference to the motor adapter table Appendix modifies the parameter of Pn 001 as the corresponding motor model code Enter into the menu group of E E and select E E dEF press SET key If done FInISh is s
89. t light s on means YES RUN indicator RUN indicator To show whether the driver enables light s on means YES 5 2 Menu structure The driver s operation adopts multilayer menu structure and the first layer is main menu including six submenus of fundamental function The projects and block diagram for operation are shown in diagram 5 2 Top menu The Ist layer menu The 2nd layer menu The 3rd layer menu Power on display A v A v A w A w 4 4 A SET SET SET r 0 p gt d P SPd P n qe P n 0xx je tana P n 000 g 288 lt 4 SET lt Diagram 5 2 Menu operation diagram Explanation In the third layer s menu users can return to the second layer s menu by pressing lt key or SET key The difference Press the SET key to confirm the change of parameter s value while the lt lt 25 5 Panel and Operation Servo Drive A amp B User s Manual key cancel the change 5 2 1 Monitoring menu mode After power on the driver enters into monitoring mode automatically and the display displays the monitoring items which were set in advance the power on monitoring items were set by Parameter P n 003 Users can also select d P in the first layer s menu and press SET key to enter monitoring mode Under this mode there are 26 monitoring items for users choosing by 4 key or V key and when press SET key once the driver will d
90. tal input port DIn high status d P InH and low status d P InL display as follows Input port DIn functions can be customized 1 Invalid O Valid 26 Servo Drive A amp B User s Manual 5 Panel and Operation Digital tube definition of d P InL DI2 Digital input DI3 Digital input DI2 Digital input DI3 Digital input DI1 Digital input DI4 Digital input DI1 Digital input fp to 4 oe f it tt UE EMA EMB Digital tube definition of d P InH D1I6 Digital input DI5 Digital input D14 Digital input DI7 Digital input DI5 Digital input it UE i i EMA EMB 8 Digital output port DOn status as shown below Output port DOn functions can be customized 1 Invalid 0 Valid Digital tube definition of d P oUt DO3 Digital output DO2 Digital output DO3 Digital output DO2 Digital output DO1 Digital output DO4 Digital output DO1 Digital output lt EMA EMB Display of the encoder UVW status d P Cod Each signal corresponding to a digital tube display the digital tube is 0 means the terminal is OFF digital signal 0 while the digital tube is 1 means the terminal is ON digital signal 1 The detailed correspondence is shown as following table a pa T a Meaning ited ted tag te Encoder U phase Encoder U V W input sional ESE Ed GJ Encoder V phase ncoder U V Input signa gh Encoder W phase 5 2 2 Parametrs program mode P Select P n in main me
91. ter the P n 006 Speed integral time stiffness is But if it s too large noise and vibration will easily constant generate Under the condition of not shocking the system reduce the value as possible Set the features of torque command filter which can restrain resonance produced by torque fluctuations motor generates shake and sharp noise If the motor generates shake and sharp noise reduce the parameter P n 007 Torgue command value filter The smaller the value is the lower the cut off frequency is and the lower the noise is If the load inertia is big reduce the parameter value properly If the value is too small the response will slow down and cause instability To the contrary large value will make higher cut off frequency and faster response If you need relatively higher machinery stiffness increase the setting value properly 42 P n 015 Speed feedback filter Position feed forward gain Servo Drive A amp B User s Manual 7 Parameters and Functions Set the features of torque command filter which can restrain resonance produced by torque fluctuations motor generates shake and sharp noise If the motor generates shake and sharp noise reduce the parameter value The smaller the value is the lower the cut off frequency is and the lower the noise is If the load inertia is big reduce the parameter value properly If the value is too small the response will slow down and cause instability To t
92. tion control prohibit command pulse input counter When using this function even there is command pulse input will not count and lock the servo driver meanwhile Zero speed clamp In speed control mode when the speed command is less than a certain speed the speed set by parameter P n 273 you can make the motor stop and servo lock through the function of zero speed clamp if the speed is clamped the drive will exit the clamp when motor speed greater than the value of P n 273 P n 274 Refer to parameters P n 273 P n 277 Speed command Zero speed hysteresis 7 N ero speed Motor speed 54 Servo Drive A amp B User s Manual 7 Parameters and Functions Set value Symbol Function description TCCW CCW torque limit forward running torque limit CW torque limit reverse running torque limit Control mode switch The state of CMODE nee 8 Speed control mode Position control mode _ 9 Torque control mode Speed control mode __ Internal position selection ji ji Position command P n 223 P n 224 P n 225 tion 1 8 2 Speed command Internal speed 1 P n 200 pd a8 FF FF ON ON IS AN aa z D 0 FF FF FF N N Internal speed 6 P n 205 Internal speed 7 P n 206 Internal speed 8 P n 207 O O 7 Electronic gear ratio select 1 4 Speed running direction select When P n 042 0 CINV controls speed direction When P n 042 1 SDIR2 and SDIR1 together con
93. tion low 5 bit 18 FPGA software version 9 Digital input status of 22 Encoder zero calibration DI4 DI5 DI5 DI7 EMA Reserved 10 Digital input status of 23 Absolute encoder internal Parameter function select the initial display contents when power on 0 Motor running speed 13 Position command pulse frequency 1 Present position low 5 bit 14 Speed command 6 Position deviation high 5 bit 19 Alarm code P n 003 DI1 DI3 DI1 DI4 alarm 2 Present position high 5 bit 15 Torque command Se A 20 Reserved 24 Many circle absolute value 11 Digital output status 8 utp encoder internal alarm 12 Control mode Used to set control mode If the setting value is 8 9 or 10 refer to the CMODE signal in chapter 7 3 0 Position control mode 6 Torque control mode GG anae 1 Speed control mode 7 Open loop control mode P n 004 selection 2 Sr trail run mode 8 Position speed mode 3 JOG trail run mode 9 Speed torque mode 4 Reserved 10 Torque position mode 5 Analog speed control mode pa i i The higher the speed proportional gain is the greater the stiffness T EEEE RE is and the faster the speed response is But if it s over high it may P n 005 j a lead to big noise and vibration Under the condition of not shocking the system set the value relatively large as possible It is the integral time constant for the speed regulator The lower the value sets the faster the integral speed is and the grea
94. trol speed direction O N pd N N NO lamun lamun lamun OO ON On UI N 55 7 Parameters and Functions Servo Drive A amp B User s Manual Symbol Function description Speed command reverse When P n 042 0 CINV controls speed direction speed running is according to set direction when OFF speed running is 23 CINV ae according to set reverse direction when ON When P n 042 1 SDIR2 and SDIR1 together control speed direction 7 4 Digital output DO function definition Symbol Function Bunetiondescription gt Servo ready signal when servo driver main power on no alarm output send SV_RY out the signal within 1 5s Alarm output signal when driver d P Err file display alarming output signal ON Positioning complete signal in position mode position deviation left pulse less or equal to P n 254 sets value output signal ON Note P n 254 parameter set doesn t affect servo motor final position precision When position deviation pulse more than P n 255 parameter servo driver output position overproof alarm Err8 Positional deviation P n 254 Electromagnetic brake mechanical band type brake When servo motor stops servo motor running speed lt P n 318 action sequence diagram ON OFF SV_ON DI input ON OFF BRK DO output Motor power on status Power on Power off P n 319 2 When servo motor running servo motor running spee
95. val signal Pn 252 filter time P n 254 Range of positioning completion Detection range of position deviation alarm P n 255 P n 256 P n 257 P n 264 restrictions P n 264 the alarm can not be cleared Notice Parts of the alarms can be cleared Torque command 0 Normal dika Servo Drive A amp B User s Manual 7 Parameters and Functions Code Name Description Torque acceleration Se P n 269 q Pa Torque acceleration deceleration time deceleration time P n 271 Speed limit of torque Set the speed limit of servo motor of torque control mode The actual mode value of the speed limit is the smaller of P n 271 and P n 023 In torque mode the permitted time for overspeed In torque mode the parameter is used to set the permitted time of P n 272 exceeding the speed limit Conditions of zero speed clamp 1 In the speed control mode 2 The signal ZCLMP 1s valid ON 3 The motor speed less than the zero speed value P n 273 Speed command Zero speed HYSterEs P n 273 Zero speed Zero speed Motor speed ZCLAMP Comparator has hysteresis characteristics if the speed is clamped the drive will exit the clamp when motor speed greater than the value of P n 273 P n 274 0 After zero speed clamp is valid the motor speed is forced to Q it still in speed control mode and the motor can be rotated by external force 1 Motor is fixed in the instant of zero speed clamp
96. with rubber hammer or plastic hammer as far as possible 3 For removing wheel and pulley please use an appropriative puller Appropriative puller 71 10 Servo Motor Introduction Servo Drive A amp B User s Manual 10 4 Servo motor terminal definition and wiring 1 Motor plug terminal 4 cores ae 2 Braker connector terminal 1 2 cores terminal signal definition Terminal pins 1 2 Signal definition 2 3 cores terminal signal definition a Signal definition A 3 Encoder feedback terminal 1 9 cores terminal signal definition Signal definition Absolute encoder G FG _ FG_ Terminal pins Signal definition i j Absolute encoder Oo 1 FG FG EGO 72 Servo Drive A amp B User s Manual Appendix Appendix 1 Adaptation motor table no torque N m rmp current A ae drive ir eMw r30sisop 1s iso oo 235 EMM 130S060E 22 1000 3 0 0 63 EMM 130E060E EMA 10 EMA 05 EMA O8 EMA 10 EMB 15 73 Appendik Servo Drive A amp B User s Manual 2 Standard motor cable model Specification Specification Power cable Signal cable ISDA 14A000 CE n JSDB 09B000 JSDA 14Bo000 JSDC 09A0O00H JSDB 09A000 JSDC 09BoOoOoO Encoder cable Resolver cable JSAB 09A000 JSRA 09A000 ge Oe JSAC 09A000 JSRA O9BOoOO JSDA 14A 030 Lo Cable length For example 030 0 1m 3m Have driver side plug or not A have plug B No plug Guideline numbers 14 14 core w
97. xpect the shaft opening part 2 When being used in the place where there is oil drop dripping to the shaft opening please appoint servo motor with oil seal Please make sure the oil level is lower than the oil seal s lip while using and the oil seal can keep the splashing oil foam in good condition When using servo motor above the shaft please confirm there is no oil logged of the oil seal s lip 3 When the aviation plug the lead outlet can only be installed upwards please keep the cable baggy to prevent oil and water as the following chart shows Meanwhile the cable mustn t be soaked in water or oil 10 3 5 Coordination with machine 1 When connecting with machine please use elastic couplings as far as possible and keep the axle centre of servo motor is in a line with that of mechanical load The installation of servo motor should meet the demands of concentricity tolerance as the following chart shows To measure in the quartering of a round the difference of the maximum and the minimum is less than 0 03mm rotating with coupling N If the concentricity were out of tolerance it would cause mechanical vibration which may damage the bearings and encoder Warning 2 The encoder is installed in the back end cap of the motor connecting directly with motor shaft Do not thump the motor If to knock the motor is inevitable because of positioning or any other reasons please knock the front end of flange plate

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