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Notices on the User Manual

1. FN 18 mr Tun gg for Encoder A signal output OA a CN a 7 c L I 2 e Avan L S Pr T Encoder power 5V E y D 7 Encoder B signal output OB Encoder power 19 MS Encoder power 5V AGND ry CH Encoder B signal output OB ground 0V Wed vens 11 IR EX l6 nds suba J Encoder power 5V Analog speed 33 NA FA Hop a PUN SA command input T MM JT 19 Pp d ME T Encoder power 20 a L V Encoder power SV COMD vi signal open collector output CZ V 12 IN 34 jm 4 Encoder signal ground ground 0V y Sen NO 20 E 3 C 5 45 22 LN nl JH E PUBLIC TERMINAL OF DG OUTPUT COM Encoder power EA V P acs ground 0V ae 13 36 a p2 D rcx b Encoder W signal input W NA 35 37 pu C Encoder power 22 N Encoder W signal input W I A as Abe ground 0V Dd 14 pi 38 z we B deviation reset 0 speed clamp CLE ZPD C E Encoder V signal input V iO Nuts GN B m M N FO s 24 Encoder power 23 ES VU Encoder V signal input V 39 Vax Reds cS 9 ground 0V MM A 15 LL T NEC 95 mode switch Alarm clear CALRS 3 Encoder U signal input U 40 L L VE Servo on SON gt p BEP O a n 24V power COM gt Encoder power 24 L d pss Encoder U signal input U ji tW 24V power COM ground 0V v mr s f NA EN TI power Encoder Z signal input Z
2. Figure 4 4 F Series Outline Dimension Drawing 4 4 3 P Series OFS EN _ ELLE A l Figure 4 5 P Series Outline Dimension Drawing 24 Evta AC Servo Driver User Manual Wiring Chapter 5 Wiring 5 1 Control Wiring Diagram 5 1 1 W Series Control Wiring Diagram 1 Position Control Wiring Diagram Servo driver adopts 3 phase AC 220V power source generally obtained by 3 phase 380V voltage transformation through 3 phase isolation transformer Motor less than IKW can use single phase AC220V power supply single power supply connected to Rand T with S hung in the air Servo drive 4 core motor plug 3 phase AC220V DC 12V 24V cow e Servo on o SON Alarm clear o ALRS L CW drive limit RSTP CCW drive limit nio d FSTP 26832 driver Optical encoder 15 core plug optical encoder 15 core plug Deviation counter l CLE reset pulseinhibit Servo alarm ALM Motor brake ur mE output Op Common port COM of DG output wjn eieaa a a bak Ka lala nm Kel LS Rl ole le CN2 Terminal Metal case EH ajo ajale kl CN terminal Metal case
3. QLEh7 Table 3 5 110 Series Installing Dimension Diagram 3 2 5 130 Series Servo Motor 1 Specification e 0 so e rs TITUTENENNENFRNEN HTH ERR NET RN fomerenivinpommin m ss 8 T an 2500 Class B 130 C IP65 Ambient Environment 20 C 50 C relative humidity lt 90 no frost condition 15 Motor Specification and Dimension Evta AC Servo Driver User Manual sv ov B z us ze v Ae ve we v A B w RE L2 Les os eae Tog ose m oae Tos posae d n Rated Line Cimen Rated Line Current A 4 45 Ambient Environment 20 C 50 C relative humidity lt 90 no frost condition Signal Lead No of Encoder Socket kakal s eda ke deae a Table 3 9 130 Series Servo Motor Specification 16 Evta AC Servo Driver User Manual Motor Specification and Dimension 2 Installing Dimension 130 Series Rated Torque Table 3 10 130 Series Installing Dimension Unit mm OLEh7 A A M6XL22 Figure 3 6 130 Series Installing Dimension Diagram 3 2 6 180 Series Servo Motor 1 Specification Motor Model 180SD17215ES 180SD19015ES 180SD21520ES 180SD27010ES Rated power KW 2 7 ___4s__ _2p_ 10 5 E Rated linear voltage V ee eee ee ee Rated linear current A ice cee ee b o 1500 MN TUBES REN DNE RIS EN CNN SN u2 16 97 15 s 224 17 Motor Specification and Dimension Evta AC Servo
4. A ee I Bes T 2 aI N j a l Em s 32 f 65 LA A 10502 1 305 Table 3 7 180 Series Installing Dimension Diagram 19 Driver Specification and Dimension Evta AC Servo Driver User Manual Chapter 4 Driver Specification and Dimension 4 1 Driver Specification 4 1 1 W Series n Rotary speed current position command pulse Output power Monitoring accumulation position deviation motor torque motor kW function current operation status etc single phase single phase 3 phase Position Control Mode Internal Speed Control ineunt AC220V 15 AC220V 15 ME Mode a T S main circu commissioning Wa motor zer 10 50 60Hz 10 50 60Hz a RE motor load inertia measure mode Input f mpi Pow single phase AC220V 15 10 50 60Hz control circuit Servo on Alarm clear deviation counter overspeed main power voltage reset Speed selection command pulse Input source of Control input Protection underpressure overcurrent overload brake inhibit Speed selection 2 function abnormality encoder abnormality control CCW drive inhibit CW drive inhibit power abnormality position too poor braking Speed fluctuation ratio lt 0 03 load 0 Servo ready output Servo alarm 100 Control output joutput band type brake release pulse feedback lt 0 02 Power 15 10 Values Control features output corresponding to rated speed Speed ratio 1 5000 Applicable l UT Less than 5 times of motor in
5. m Ses Es t m otel Servo motor AC contactor 2427 1 m Compulsory MAH HT EL U Figure 1 6 Peripheral Connection Diagram of F Series Note 1 Wiring terminal PE or radiator can be selected to connect to ground reliably Evta AC Servo Driver User Manual General 1 4 3 P Series RS T AC 3 phase e gadi A Command Breaker T D control 3 phase isolation transformer input380V output220V Filter Servo motor AC contactor Figure 1 7 Peripheral Connection Diagram of P Series Note 1 Wiring terminal PE or radiator can be selected to connect to ground reliably Model Selection Evta AC Servo Driver User Manual Chapter 2 Model Selection 2 Model of Servo Driver W d H 044 B T3 100A V VSeries 150A
6. 3 Interface Definition of W Series CN2 Terminal Table 5 5 shows the pin definition of CN2 terminal encoder signal input Function Terminal No Signal name ae Sign T5V Optical encoder of servo motor uses 5V power supply and public ground if cable is long several core line 0V shall be connected in parallel to reduce line voltage drop A Connect to optical encoder A A Connect to optical encoder A B Connect to optical encoder B Type7 Encoder B input Connect to optical encoder B Encoder Z input Connect to optical encoder Z Encoder U input T Connect to optical encoder U Type7 l Connect to optical encoder U Encoder Z input Z Connect to optical encoder Z Type7 i Z U U V Connect to optical encoder V V Connect to optical encoder V W Connect to optical encoder W w Shielding ground wire FG Type7 Connect to optical encoder W Shielding ground wire terminal Table 5 5 Interface Definition of CN2 Terminal Encoder Signal Input 37 Wiring Evta AC Servo Driver User Manual 5 4 2 F Series 1 Pin Definition CNI control signal terminal connecting cable side of EVTA F Series Servo driver is the 25 pin male while CN2 terminal cable side is 15 pin male For pin definition see Figure 5 19 and 5 20 TN a 24V power COM ae x l N 14 2 R n Servo o
7. im NEUE gt Da x l SHE Br Encoder signal aranc I r e B output Ne SR AA ese n itte Z 26LS31 220R driver B I l CL open collector output GND enconder signal ground Note3 CNI terminal metal case Figure 5 1 W Series Position Control Wiring Diagram Notes 1 and 2 As for upper computer pulse if waveform amplitude of directional signal is 24V it shall be cascaded with 1 2KQ 2KQ resistance if the amplitude is 12V it shall be cascaded with 510Q 810Q resistance Note 3 shielding line between CN1 wiring terminal and upper computer shall be grounded reliably at both ends Note 4 CN2 shall be connected with WELLTEC wire saving motor with 18 pin of CN2 connected to signal A of encoder and 9 pin of CN2 to signal A of encoder Note 5 The wiring mode is suitable for SD series servo motors of no 110 and 130 engine frames Note 6 The wiring mode is suitable for SD series servo motors of no 60 80 and 90 engine frames 25 Wiring Evta AC Servo Driver User Manual 2 Speed Control Wiring Diagram Servo driver adopts 3 phase AC 220V power supply generally obtained by 3 phase 380V transformation through 3 phase isolation transformer Motor less than Ikw can adopt single phase AC 220V power supply single phase power connected to R and T with S hung in the air 3 phase AC220V 5 6 com a Alarm clear o ALRS CW drive limit RSTP i CCW drive limit Ex FSTP 26 8328
8. memory EEPROM backup zone Backup memory EEPROM backup zone Restore backup memory Memory Restore default Default EEPROM parameter zone Figure 7 5 Parameter Store and Pickup 1 EE Set parameter input to write parameters in the memory into the parameter zone of EEPROM When user changes the parameter only the parameter value in the memory changes and it will restore the original value after the next power on To change the parameter value permanently user shall carry out parameter input operation to write the parameter in the memory into the EEPROM parameter zone and then the new parameter will be used after the next power on 2 EE rd parameter read to read data of the EEPROM parameter zone in the memory The process will be carried out again when powered on At the beginning the parameter value in the memory is the same as that in the EEPROM parameter zone But when user changes the parameter it will display the parameter of the memory If user is not satisfied to the changed parameter or the parameter is disturbed user can carry out parameter read operation to transmit the data in the EEPROM parameter zone to the memory again and to restore the parameter when just powered on 3 EE bA parameter backup to write the parameter of the memory into the EEPROM backup zone The whole EEPROM is divided into parameter zone and backup zone to store 2 sets of parameters Parameter zone is used for t
9. 10 09 Ambient Environment 20 C 50 C Service Environment u n u Ambient Humidity relative humidity lt 90 no frost condition Winding Lead and Corresponding Number of Motor Winding Socket U red V yellow W blue PE yellow a Lead Number and Color of Encoder Socket grey blue green white black black black black di Sek b T a i re ac reen rown eHow re E iek d Blak did Table 3 3 80 Series Servo Motor Specification 2 Installing Dimension L 80SD01330ES 80SD03520ES 80SD04025ES Table 3 4 80 Series Installing Dimension Unit mm 808D02430ES 11 Motor Specification and Dimension Evta AC Servo Driver User Manual S VI 15 52 Figure 3 3 80 Series Installing Dimension Diagram 3 2 3 90 Series Servo Motor 1 Specification Motor Model 900SD02430ES 90SD03520ES 90SD04025ES Rated Power KW Rated Line Voltage V 220 220 220 Peak Curent Counter emf V 1000r min 51 67 60 Torque Coefficien NaA i Protection Grade IP65 Ambient Environment 20 C 50 C Service Environment M Ambient Humidity relative humidity lt 90 no frost condition U red PE yellow green black I 12 Evta AC Servo Driver User Manual Motor Specification and Dimension a ee ee ee Epp pio n qu gm fis fis P bl hit red black green brown yellow mae blue grey white grey ue green white ack black black black black Tabl
10. 100 lt 0 02 power 15 10 Values Control corresponding to rated speed Servo ready output Servo alarm Control output output band type brake release pulse feedback output PEU Speed ratio 1 5000 os Less than 5 times of motor inertia e lt 6 digit LED digital tube and 4 piseareducncys ONE Display bene Pulse direction CCW pulse CW pulse A B 2 phase qurdrature pulse Position numerator 1 32767 denominator 1 32767 control Output electronic According to No 50 parameter setting output pulse range of each rotation is gear 1 10000 7 Table 4 3 P Series Driver Specification 4 2 Installation Environment for Servo Driver 4 2 1 Protection Servo motor h protection capability itself Therefore it shall be installed in the electrical cabinet under good protection and be kept away from corrosive inflammable gas conductive objects metal dust oil mist and liquid 4 2 2 Temperature and Humidity Ambient environment for servo driver is 0 55 C and the temperature for long term working is under 45 C for which the driver shall be mounted according to the required direction and interval in addition to good radiation 4 2 3 Vibration and Shock Vibration shall be avoided for driver installation or kept under 0 5g 4 9m S2 by damping measure No heavy load or shock shall be applied to the driver during installation 4 2 4 Firefighting Servo motor shall not be installed on or near to inflammable object
11. Evta AC Servo Driver User Manual Maintenance and Inspection Alarm v Alarm name Running status Cause Treatment code wrong Occur when connecting Circuit board in fault Change servo driver control power Occur when l connecting main T source voltage too high Check power supply 2 Abnormal power voltage waveform power 5 Main circuit Brake resistance wiring disconnected Reconnect wire overvoltage Brake transistor damaged Change servo driver Internal brake resistance damaged Occur during Reduce start stop frequency motor running 2 Increase acceleration deceleration time Capacity of brake circuit not enough constant 8 reduce torque limit Decrease load inertia Change to driver and motor with bigger power DCircuit board in fault 2 Power fuse damaged Occur when VR Change servo driver GSoft start circuit in fault connecting main 1 Main circuit Rectifier damaged power 3 undervoltag D Low power voltage Change power source e 2 Temporary poweroff for over 20ms P it t h Occur during D Power capacity not enoug Change power source 2 Instant power off motor running Radiator overheated Check load Occur when connecting Circuit board in fault Change servo driver control power CDU V and W lead of motor connected Motor doesn t wrong Connect wire correctly run when 2 Encoder cable lead connected wrong Encoder fault Change servo
12. 2500 20 s zoso 46 130 Series06025 2500 wire encoder is 6 250 20 6 3a 4T 130 Series07720 2500 wire encoder 16 77 200 20 6 3a 130 Series10015 2500 wire encoder OOO l2 almi SI 130Seriesi5015 2500 wire encoder 23 is 150 20 os 3A Table 2 1 Comparision table of Driver Code and Motor Model Note Codes 110 111 112 119 and 151 are designed for special customer use If rated current above 104A it is suggested to mount fan for radiation additionally The remaining are standard codes Evta AC Servo Driver User Manual Motor Specification and Dimension Chapter 3 Motor Specification and Dimension 3 1 Safety Notices 1 Please wipe up anti rust additive on shaft end before installation 2 Prevent shaft seat as possible to avoid bearing damage 3 Be careful to prevent rain penetration and avoid direct sunlight 4 Motor shall be installed in electrical cabinet to prevent dust corrosive gas conductive object and inflammables 5 Motor shall be installed at place with good ventilation non humidity and non dust 6 Motor shall be installed at place convenient for maintenance inspection and clean 7 When installing dismounting band wheel it is not allowed to knock motor or motor shaft to avoid damage encoder Spiral drawing tool shall be used for dismounting 8 Servo motor cannot bear big axial or radial load It is suggested to select spring coupling to connect l
13. P PSeries 200A F EG arran rena ZEN R ER CR GO T m Figure 2 1 Driver Model Note W Series configuration is standard photoelectric incremental encoder P Series configuration is 17Bit incremental encoder 2 0 Model of Servo Motor 130 S W 060 25 E Z S ao EIE F None Straight shaft SE without key 90 90 frame 110 frame Power off brake 180 frame Servo Motor Code Encoder Type F Simple 2500 wire incremental encoder Sign Motor Series EET Standard 2500 wire incremental encoder A I7Bitabsolute encoder T 014 139 PS roof 6 Figure 2 2 Motor Model Note 1 mean zero speed torque Computing method rated torque codex0 1 Unit N m Note 2 mean the rated rotation speed Computing method rated rotation speed codex100 Unit rpm Evta AC Servo Driver User Manual Model Selection 2 3 Table of Driver Code and Motor Model Main power modules of EVTA servo driver have different rated currents 20A 30A and 50A of the same appearance but in completely different control modes Therefore if one model of motor matches with servo drivers of different main power modules the corresponding driver model codes are different Rated current of Driver 0 speed Rated Rated Rated power Rated rpm main power model Adaptive motor model torque voltage current module 3 nespexms os 2 f R s
14. T U V W and PE terminal diameters 21 5mm AWGI14 16 r and terminal diameter gt 1 0mm AWG16 18 Use JUT 1 5 4 pre insulated cold pressed terminal which shall be connected firmly Grounding wire shall be thick and strong and grounding terminal of servo motor shall be connected with grounding terminal of servo driver Groundingresistance lt 100Q It is suggested to adopt 3 phase isolation transformer to supply power so as to reduce the possibility of electric shock It is suggested to power motor with noise filter to reduce interruption Non fuse protect shall be installed to cut off external power supply in time when driver in fault Note A Note U V and W wiring shall be respectively corresponding to motor terminal U V and W Be cautious not exchanging 3 phase terminal to make motor to run reversely which is completely different from stepping motor For high frequency switch current flows through servo motor leakage current is relatively big Motor grounding terminal shall be servo driver s grounding terminal PE and well grounded For there are a large amount of electrolytic capacitance in servo driver there will be high voltage in internal circuit even if power is cut off Therefore don t touch driver and motor at least within 5 minutes after power cut off Operator shall keep certain distance from driver and motor when power connected Please cut power off if not used for a lone time Notes on wire diameter
15. incremental encoder I5bit incremental encoder driver Speed selection1 Zero CLE speed Speed selection2 o o INH Servo ready SRDY E Servo alarm ALM wt Brake output COIN poa e j s COM 29 COMMON E PORT OF DG COM OUTPUT terminalMetal case Analog speed L VCMDIN Nofel command AGND 10V 10V 26LS31 driver B GELIES B Encoder signal EEEE pele Te o mu iind Encoder signal ground CNI terminal Mental case Note 2 Figure 5 2 W Series Speed Control Wiring Diagram Note 1 please pay special attention that original software version such as 1 09 series products have position and internal speed control modes but without external analog input New software version begins with C such as C 1 09 and new products add external input mode at the original frame Please do select proper function as required Note 2 shielding line between CN1 wiring terminal and upper computer shall be grounded reliably at both ends Note 3 CN2 shall be connected with WELLTEC wire saving motor with 18 pin of CN2 connected to signal A of encoder and 9 pin of CN2 to signal A of encoder Note 4 The wiring mode is suitable for SD series servo motors of no 110 and 130 engine frames Note 5 The wiring mode is suitable for SD series servo motors of no 60 80 and 90 engine frames 26 Evta AC Servo Driver User Manual Wiring 5 1 2 F Series Control Wiring Dia
16. moor a l l 2 Non wire saving motor shall use its motor by wire saving encoder motor code corresponding model code D Poor internal connector of driver 2 DChange driver Abnormal switch power Chip 2 Check connector damaged 3 Check switch power Occur when connecting Circuit board in fault Change servo driver control power heck dri D Power voltage too low Ce caves oe aO Power on again verheatin 11 OY i S Change driver in fault WD Occur during Short circuit among driver U V and W Check wiring motorrunning Poor grounding Grounding correctly Motor insulation damaged Change motor A dd line filt Disturbed nad line nites 2 Away from the disturbance source Speed DOne of the U V AND W wiring Occur during 12 regulator disconnected motor running saturated Incorrect encoder wiring Check wiring Occur when connecting Circuit board in fault Change servo driver control power R the rated t heck load 13 awaku un by over the rated torque Check loa l Holding brake isn t ON Check holding brake Occur during inetgerdmis D High speed gain Unstable motor oscillation 2 Increase acceleration deceleration time S Decrease load inertia Occur when connecting Circuit board in fault Change servo driver control power Dbrake resistance wiring disconnected Re connect the wire brake transistor damaged Change servo driver Internal brake resistance damaged Regular DReduce start stop frequency 14 2 increase acceleration
17. or else it may cause fire 21 Driver Specification and Dimension Evta AC Servo Driver User Manual Item EVTA W Series Servo Motor Service temperature 0 C 55 C no frost Service humidity lt 90 RH no condensation Storage transport temperature 40 C 80 C Storage transport lt 90 RH no condensation humidity Atmospheric No corrosive inflammable gas oil mist or liquid in the control cabinet ENS Altitude e o we Om sss 1000m lt 0 5g 4 9m s2 10Hz 60Hz Atmospheric pressure 86kP a 106kPa IP43 Table 4 4 Service Environment of Servo Motor 4 3 Driver Installation 4 3 1 Installation Dimension of Driver User can adopt either floor installation mode or panel installation mode to install the driver vertical to the installation surface Natural convection wind or fan shall be used to cool down the servo driver Please be sure to observe the requirement s on installation direction Servo driver shall be fixed firmly on the installation surface through installing holes on chassis 4 3 2 Installation Interval of Driver To ensure to cool the servo driver by natural convection wind or by fan please reserve sufficient space around the servo driver as shown in Figure 4 1 If several drivers are mounted in parallel to ensure good radiation condition much big space shall be reserved between them as possible in practical installation It is suggested to reserve 100mm or more gap between both sides crosswise
18. osos ds s soo 220 6 sa par moso i2 6 f x0 f 20 6 w 3s meson is 6 f xo 20 f s a6 osooso is 6 so zo 6 xA a9 sss is w f iso zo 6 ps4 neswons os 2 xm zo 4 25 35 noswswswo is s f xo 2o 6 3r neswoemm 12 6 f xo mo 6 s neswoewm is 6 xo 2o s m ENTNNE SN 130SW07525E S 130SW10015E S Model Selection Evta AC Servo Driver User Manual Rated current of Driver 0 speed Rated Rated Rated power Rated rpm main power model Adaptive motor model torque voltage current module code Kw Lec OM HE ee ea 130SW10025E S 2 5 10 2500 220 130SW15015E S EE oe 2s o9 m a EOE sospisorsesy 23 is ro 20 95 sa The following motor model codes are applicable to match with most domestic servo motors of the same torque and rpm e g equivalent motors from Welltec GSK MIGE GETE and Yuhai 80 Series 01330 wiring saving encoder 3000 20A 30A 80 Series 02430 wiring saving encoder 3000 20A 30A 80 Series 03330 wiring saving encoder 3000 20A 30A 60 Series 01330 aoe encoder 20A 30A lb eese lxi fe x ween owes a ae EREE E 36 110 Series 05030 2500 wire encoder 15 s 300 20 6 3A ESL nose H e 200 me e NA 110 Series 06030 2500 wire encoder BE uecenonmem o 4 m IE asa 45 130 Series05025 2500 wire encoder 13 s
19. 99 4 5 3 6 Upper computer side Evta AC Servo Driver User Manual Analog Input Interface Type 4 Servo side Servo amplificati GND Figure 5 13 Type4 Interface Mode of Analog Input Encoder Signal Differential Output Interface Type 5 Upper Servo side computer Figure 5 14 Type5 Output Interface of Optical Encoder Encoder signal is output through differential driver AM26LS31 Control input terminal can adopt AM26LS32 receiver but must be connected with terminal resistance Grounding line of controller shall be reliably connected with grounding line of the driver Non isolated output Control input terminal Photocoupler can also adopted to receive signal but must be high speed photocoupler e g Type 6 Encoder Z Signal Open collector Output Interface 6N137 Upper computer Servo side Side GND GND Figure 5 15 Output Interface of Optical Encoder 34 Evta AC Servo Driver User Manual Wiring Z signal of the encoder is output by open collector When Z signal appears it outputs ON output on or else it outputs OFF output off lt Non isolated output non insulated Z phase signal pulse is much narrow on upper computer generally and so please use high speed photocoupler to receive it e g 6N137 5 3 7 Servo Motor s Photoelectric Encoder Interface Type 7 Motor side servo side Figure 5 16 Input Interface of Photoelectric Encoder of Servo Moto
20. CCW drive permits when CCW drive inhibit switch FSTP is OFF CCW torque keeps at 0 It is the same as CW direction If CCW and CW drive inhibits are OFF it may cause wrong alarm of drive inhibit input 1 Cancel CCW and CW input inhibit operation No matter what switch condition of CCW and CW drive inhibit is CCW and CW drives will permit Meanwhile if CCW and CW drives are OFF no wrong alarm of drive inhibit will occur JOG running speed To set the running speed for JOG operation 3000 3000 r min Internal external speed command selection D When set to be 0 speed command is from internal speed 3000 3000 2 When set to be 1 speed command is from external analog input r min The maximum speed limit D To set the maximum speed of servo motor 2 Non relevant to rotary direction 3000 3000 r min 8 If setting exceed the rated speed the practical max limit is the rated 53 Parameters and Setting Evta AC Servo Driver User Manual No Name Function Parameter range speed DTo set internal speed 1 24 Internal speed 1 2 In control mode when SC1 OFF and SC2 OFF internal speed 1 shall be 3000 3000 r min selected as speed command Do set internal speed 2 LS Internal speed 2 2 In control mode when SC1 ON and SC2 OFF internal speed 2 shall be 3000 300
21. Driver User Manual Motor Model 180SD17215ES 180SD19015ES 180SD21520ES 180SD27010ES Torque Coefficient N m A Rotor Inertia Kg m 47x10 7 6 1x10 72 Winding Line Resistance 0 24 0 71 Q Winding Inductance mH Encoder Line Numbers PP R Insulation Grade Class B 130 C IPS Service Environment Ambient Environment 20 C 50 C relative humidity lt 90 no frost condition U PE 2 U a Ve We v a B w PE Motor Model 180SD027015ES 43 PekToqu Nm a o 96 103 Rotor Inenia Kg 95x10 Winding linear current 1 74 4 83 3 28 9 1 1 57 4 0 77 2 14 mH 62 6 mss waha 40 2500 Class B 130 C Protection Grade IP65 Service Environment Ambient Environment 20 C 50 C relative humidity lt 90 no frost condition Winding Lead and Corresponding Number of Motor Winding Socket U red V yellow W blue PE yellow green black 4 Electric Time Constant ms 18 Evta AC Servo Driver User Manual Motor Specification and Dimension Motor Model 180SD027015ES 180SD35010ES 180SD35015ES 180SD48015ES Signal Lead No of Encoder Socket Signal Lead No of Encoder Socket O O OO OO OOO OOO RLE EEE LEKKER SE RE AERE XE NE Table 3 11 180 Series Servo Motor Specification 2 Installing Dimension Specification 72Nm f9Nm PlSNam 243 Table 3 12 180 Series Installing Dimension Unit mm 40135 rr Em po a T
22. Interface Type 5 3 1 Switch Input Interface Type 1 Upper computer Servo side side COM Servo 448 amplification 12 24V Dus Figure 5 8 Typel Schematic Diagram of Output Input Interface lt User provides power supply DC12 24V current2100mA Note If current polarity connected reversely it may cause servo driver fails to work 32 Evta AC Servo Driver User Manual Wiring 5 3 2 Switch Output Interface Type 2 Switch output interface includes two types 1 Type 1 relay connection and 2 Type 2 photocoupler connection For their schematic diagrams see Figure 5 9 and Figure 5 10 lt External power supply shall be provided by user but be careful that it may damage servo driver if power polarity connected reversely lt Output shall be open collector type with the maximum current 50mA and the maximum voltage of external power 25V Therefore the load of output signal shall meet the limitation requirement If exceeding limit or output directly connected to the power supply it may damage servo driver lt If it is inductive load such as relay free wheel diodes shall be reversely connected to the both ends of the load If FWD connected reversely it may damage servo driver Upper computer Servo side Upper computer Servo side side side 5V Servo amplification S amplification MAX 50mA MAX 25V GND Figure 5 9 Type2 Output Interface Type 1 Relay Figure 5 10 Type2 Output Interf
23. PA interface Table 8 13 Motor Zero test Steps 8 5 6 Load Inertia Test mode of Motor When the driver is powered on ii will display normally In case of fault it will display alarm code and now please refer to Abnormality and Troubleshooting Required parameter Applicable mode PA4 Work mode selection o 5 Ps Autostart Internalstartup o Table 8 14 Load Inertia Test mode of Motor Operations for motor inertia measuring mode PA4 5 are as shown below 1 Drive unit displays when just powered on as motor running speed monitoring window 2 Check PA1 is corresponding to the motor Chapter 2 5 If correct it will skip the step or else it will call ou the default parameter of drive unit corresponding to the servo motor 3 Enter PA4 to set PA4 5 note PAO shall be set to be 310 during changing select motor inertia measuring Press for 5 times mode Enter according to the steps as shown in the left figure and press OK to display J RDY 4 Force to trigger internal enabling automatically confirm motor shaft rotates free from any risk before enabling Press for 2 times 5 Press OK and hold for 1s and motor will rotate under the set mode When motor stops it displays J XXXX which is the measured inertia Press or for 1S and the nit will display J 8888 to indicate Holdfris measure mistake If displaying J DON it indicates the system has changed the system parame
24. PA5 and PA6 Note to save the parameter changed it shall carry out parameter saving operation or else the auto changed parameter is only valid before poweroff and will be restored to be the previous saved value after restart If the machine vibrate due to the parameter setting please refer to the Mechanical Rigidness Setting to reduce the setting class 8 9 3 Basic Parameter Block Diagram PA10 PAII Pos Pos feedfor feedfor ward gt ward gain filting PAS PA63 PA12 PAI9 PA6 PA7 PA64 position PAI3 PA9 o masa 28 2c E EG S 2 command Pos T8 yess 3 amp pulse LK pos gs S S a um ED E gear Comm gom Bes AS direction and filt gain Us Wei speed filterin PA4 analog PA44 3 g PA8 Ed d Evese 4 speed PA20 comm comma fie and nd gain gt T 7 S EUG 2 as 2 S X compensation aaa re A45 speed commands PA40 PA46 PA24 P27 Figure 8 10 Basic Parameter Block Diagram 8 9 4 Rigidness Setting of EVTA Servo Corresponding Machine Table 8 16 Mechanical Rigidness Setting 72 Evta AC Servo Driver User Manual Operation Note In some special conditions gain cannot be set accurately D Load inertia too big E g measured data more than 1200 2 Load inertia fluctuates quite 3 Load rigidness too low 4 Load parts are n
25. Type2 as 100 P48 delay time from servo ON to motor brake command with normal setting as 100 P47 time to output motor brake command when motor rotating with normal setting as 500 38 Evta AC Servo Driver User Manual Wiring Terminal Signal name Function EUEEUM Input inhibit signal of position command pulse INH ON Command pulse input inhibit INH OFF Command pulse input effective command pulse inhibit Parameter for speed control mode PA4 1 To select internal speed speed selection input terminall can select different internal speed under control mode SCI OFF internal speed 1 SCI ON internal speed 2 Speed selection Note internal speed 1 2 can be changed by parameter o ZEROSPD ON force speed command to be 0 without regarding to Zero speed analog input Speed control l l ZEROSPD OFF speed command is analog input value CW clockwise drive limit input signal RSTP ON CW drive permit RSTP OFF CW drive inhibit Note 1 used for mechanical overlimit When switch is off torque at CCW direction is 0 Note 2 set parameter PA30 1 to shield the function User can enable CCW drive permit without connecting the signal Servo alarm output signal ALM ON no servo driver alarm servo alarm output ON output ON ALM OFF servo driver alarm servo alarm output OFF output OFF Servo on input terminal SON ON allow driver to work SON OFF driver is off and stops working while motor is in free state No
26. and 130 engine frames Note 6 The wiring mode is suitable for SD series servo motors of no 60 80 and 90 engine frames 27 Wiring Evta AC Servo Driver User Manual 2 Speed Control Wiring Diagram 3 phase 0 0 S PE D AC220V 0 e Servo driver teore motor plug DC 12V 24V com 1 Servo on SON Alarm clear ALRS CW drive limit o RSTP optical encoder CCW drive limit s FSTP PER 15 core plug Command gt INH pulseinhibit ina Servo ready SRDY Servo alarm H Motor brake output EB Common port of COM DG output lt gt REE LA CN2 terminal metal case P lt CM2 terminal metal case e e hk m e m m m m m m m m m m m X L e e e ee m e m m ee Analog speed E CNI _ command T gq SED ri om 1 A usi Ln Q s 5 barp EE v x gr 9 prs B ES Bs Encoder signal 24 o B output 1 Note 1 CNI pones metal gt m Fasl or aa 6 5 Z 1 7 open collector 2 CZ m c S ici 10 GND enconder signal L ground Figure 5 4 F Series Speed Control Wiring Diagram Note 1 shielding line between CN1 wiring terminal and upper computer shall be grounded reliably at both ends Note 2 CN2 shall be connected with WELLTEC wire saving motor including compatible WELLTEC wiring saving motor with 10 pin of CN2 connected to signal A of encoder and 5 pin of CN2 to signal A of encoder Note 3 The wiring mode is suitable for SD series servo mo
27. deceleration time brake fault Occur during motor running capacity of brake circuit not enough constant reduce torque limit 4 Decrease load inertia Change to driver and motor with bigger power Too high power of main circuit Check main power source Wron arameter settin Set correct relevant parameters 76 Evta AC Servo Driver User Manual Alarm name Running status Maintenance and Inspection Treatment Running for a long time by over the rated torque Check load and reduce start stop frequency 2 reduce torque limit S Change to driver and motor with bigger power Non abnor mal brake fault Current sampling circuit in fault brake circuit is abnormal to give no brake signal and cause abnormal driver alarm Change driver Disturbed Chip or circuit board damaged Table 9 2 Alarm Treatment T D Add circuit filter 2 disturbance source away from Change servo driver Warranty Agreement The warranty period of the product is 12 months subject to the production date on the frame Within this period if any fault or damage occurs under normal operation condition according to the user manual our company will repair it for free During warranty period certain maintenance charge will be collected for damage caused by the following reasons A Machine damage caused by incorrect operation self repair with
28. deceleration time before brake action Figure 8 5 Sudden Turnoff of Servo Unit When Motor Moving 69 Operation Evta AC Servo Driver User Manual Case 2 Servounit turns off suddenly when motor is in idle state as shown in Figure 8 6 Generally when COIN outputs servo unit will delay its turnoff Because when drive unit is powered off energy will be released through energy consumption brake circuit in short time if PA48 is set too big the actual delay time of servo unit will not exceed the time of energy release However energy release time is related to load inertia or motor deceleration time Therefore when the machine or work platform moves a little for gravity user can adjust PA48 to make servo unit to delay excitation off time so as to hold work platform before brake action and to prevent deviation Case 3 Servounit starts suddenly when motor is in idle state as shown in Figure 8 7 Generally when motor is inhibited and servo unit starts suddenly band type brake release signal COIN will be delayed to output When the machine or work platform is suddenly powered on under the gravity effect band type brake signal cannot be released suddenly to prevent the machine or work platform from moving User can adjust PA49 to speed up motor first and then release band type brake so as to hold work platform and to prevent deviation SONi SONinput OFF E S OFF Alarm Power on Power off l l i 1 OFF COIN brake OFF 1 PA49 COIN
29. eT y shielding line protection Shielding line cs dus um Encoder A signal input A uw p uL ug Case pes Figure 5 19 CNI Terminal Wiring Figure 5 20 CN2 Terminal Wiring 2 Interface Definition of F Series CNI Terminal Table 5 6 shows the interface definition of CNI terminal input output signal Terminal T T sign T ignal name unction No Sig YO mode switch switch ALRS Typel When PA4 9 speed position mode switch function effective Alarm clear input signal Alarm clear ALRS Typel ALRS ON clear system alarm ALRS OFF keep system alarm CCW counterclockwise drive limit input signal FSTP ON CCW drive permit CCW FSTP OFF CCW drive inhibit PADRE FSTP Typel Drive limit Note 1 used for mechanical overlimit When switch is off torque at CCW direction is 0 Note 2 set parameter PA30 1 to shield the function User can enable CCW drive permit without connecting the signal Servo ready output signal SRDY ON Control power and main power are normal driver has no Servo ready to 4 s SRDY Type2 alarm and servo is ready to output ON output ON outpu F SRDY OFF Main power is not connected or driver has alarm Servo ready output is off output OFF Brake output signal COIN O L lower level to release motor brake Brake output signal COIN OFF H high level to release motor brake Relative parameter setting Unit 2ms P49 delay time from motor brake to serve OFF with normal setting Brake output COIN
30. it may cause imminent danger including damage or serious injury Safety Precautions The section explains some important items that user shall comply with including acceptance storage and transport installation wiring commissioning use and maintenance To avoid any accident please be sure to observe the following rules Q Notes on Acceptance Product damaged or in fault shall not be used or else it may cause fire or fault Servo driver shall be used with performance matched servo motor If any question after acceptance inspection please contact with your supplier or EVTA company Q Notes on Storage and Transport Do store and transport the product according to storage and transport environment conditions Don not pile the product too high to avoid falling off Product shall be packed properly in transport Please don not load too many products together When transporting servo motor please do not drag cable motor shaft and encoder Servo driver and servo motor shall be kept away from external force and impact amp Notes on Installation AN Caution Never install the product on the inflammables or nearby or else may cause fire Servo Driver and servo motor Keep product from shake Shock is strictly prohibited In case of parts damaged or incomplete please do not carry out installation Servo driver Product shall be installed in control cabinet with sufficient protection grade Please ensure t
31. motor Set inspection range of too poor position Add inspection range of too poor position Position ratio gain too small Increase gain D Check torque limit reduce load Occur during Torque not enough capacity 8 Change to driver and motor 5 Position too motor running with bigger power poor Command pulse frequency too high Reduce frequency Cable disconnected 2 Internal DCheck cable temperature relay of motor damaged 2 Check motor D Reduce load 2 Reduce start stop frequency 89 Reduce torque limit 4 Motor overload s Reduce relevant gain Change to driver i and motor with bigger power Occur during Internal fault of motor Change servo motor motor running l D Reduce load Change to driver and Overload Uu SR motor with bigger power DReduce load Change to driver and Overload MCI motor with bigger power 7 Abnormal Both CCW and CW drive inhibit input Check wiring and power for input terminal 75 Maintenance and Inspection Evta AC Servo Driver User Manual Alarm 2 Alarm name Running status Cause Treatment code drive inhibit terminals are disconnected Incorrect encoder wiring Check wiring Encoder damage Change motor Poor encoder cable Change cable Too long encoder cable causes too low D Shorten cable power voltage of encoder 2 Power by multi core parallel cables 5 Encoder l l l fault Wrong model code Use non wire saving Use POTERE
32. pulse input interface tch m rm C c m passu UTE EIE MICE ilizi2smasz222 secs2 2z RIIz l1 2212 222 22 2552922222222222 2 822 222 92 29 04 22 2222225 c 2 022 502 002 2 4 202022201005 0 00 2 009 408 00d 0 202252000550 02 0 2 2 2 22228 4 4 2 2 8 txl Figure 5 24 Pattern 2 Sequence Chart for CCW pulse CW pulse Input the max pulse frequency 500kHz 3 Pattern 3 Sequence Chart for 2 phase Command Pulse Input ka tah 90 n SON cames EEE os cons ONTO cence CE IO DE 2 EERE EA aa AEEA EEEE TE T EEES T EAE tas e Et tarh tarl g eect kN te an Ln ch PE EETA AAEE E A AE I SDN te Ns ne HIRED th TNR SIGN MYO MENO V ot ite abe 1 See Tete ANN el tls fg satel Sead entre sone nd IN Cl ets as ote lsh EE RTNT tarl tarh CCW CW Figure 5 25 Pattern 3 Sequence Chart for 2 phase Command pulse Input the max pulse frequency 500kHz 43 Wiring Evta AC Servo Driver User Manual 5 6 3 Motor Encoder Output Feedback When motor rotates CCW A and B phase inputs of motor encoder signal are as follows A PHASE Figure 5 26 Pulse Input in Standard Setting When motor rotates CW A and B phase inputs of motor encoder signal are as follows A PHASE B PHASE T Figure 5 27 Pulse Input in Reversing Mode 44 Evta AC Servo Driver User Manual Digital Operator W Series Chapter 6 Digital Operator W Series 6 1 Operation and Di
33. speed 2 PA26 200 0 Inner speed 3 PA27 300 0 Inner speed 4 Table 8 6 Required Parameter Setting 63 Operation Evta AC Servo Driver User Manual Finally carry out basic commissioning lt When the required parameter is set up carry out parameter input operation refer to the operation instruction for EE 5Et in the parameter management Keep input signals SC1 and SC2 off If SON is on motor will run at its internal speed namely 100 0 r min observe motor current by monitoring a Normally the current value displayed will not exceed its rated current Four different internal speeds can be switched by the combination of SC1 and SC2 Meanwhile monitor whether motor under running status is of vibration or noise whether speed is stable and whether motor current will exceed the rated current lt Ifthe motor runs normally at four internal speeds user can carry out other adjustments During the operation of position mode the following abnormality treatment will often be taken Abnormal conditions in adjustment Treatment 1 Rotary directions of motors are different See Rotating Direction Switch of Motor 2 Motor vibration and noise See basic performance parameter adjustment Status of speed selection input signal notlCheck gP to judge input signal is correct corresponding to motor rotation speed switch input point Table 8 7 Treatment of Abnormal Speed M
34. 0 Position percentage gain To set the percentage gain of position ring regulator 2 The bigger the set value the bigger the gain and the stronger the rigidness Under the same command pulse condition the position delay will be smaller However too large value may cause vibration or overshooting 3 Parameter value depends on the practical servo driver model and load 1 200 l s 10 Position feedforward gain 1 To set feedforward gain of position ring 2 If set to be 80 it means that position delay will always be 0 no matter what frequency of command pulse 8 It may increase the feedforward gain of position ring and improve the high speed response of the control system but it will also make the system unstable and be easily cause vibration Except much high response needed feedforward gain of position ring shall be 0 normally 0 80 11 Lowpass filter gain of position feedforward Division numerator of position command pulse To set lowpass filter s cutoff frequency of feedforward of position ring The filter is used to increase the stability of the combined position control 3 The smaller the value the lower the cutoff frequency and vise versa To set the division frequency of position command pulse electronic gear 2 In position control mode it is easy to match with various pulse sources by setting parameter PA12 and P A13 namely angle pulse to r
35. 0 r min selected as speed command DTo set internal speed 3 26 Internal speed 3 2 In control mode when SC1 OFF and SC2 ON internal speed 3 shall be 3000 3000 r min selected as speed command D To set internal speed 4 2 Internal speed 4 In control mode when SC1 ON and SC2 ON internal speed 4 shall be 3000 3000 r min selected as speed command D To set arriving speed 2 In non position control mode if motor speed exceeds the set value SCMP is ON or else SCMP is OFF 28 Arriving speed 3000 3000 r min 3 In position control mode the parameter isn t used 4 Non relevant to rotary direction 5 Comparison tools are of delay feature D To set lowpass filter of speed command 29 Lowpass filter of The smaller the value the lower the cutoff frequency is If value is too eA speed command small it may slow down response or cause vibration S If set to be 0 filtering function will be shielded 30 UL AE Internal system parameter reserved for use reserve parameter m j Parameter setting may properly increase rigid response If the value set to be 31 Rigid compensation a 0 100 time to reach the position can be shortened by 20 If set to be 1 it will be of speed estimation function under which speed P inspection response improves and speed ring control gain increases under the 32 Speed estimation l i l an MN 0 same speed inspection noise but the premise is that motor and load inertia are set correctly Method to set motor loa
36. 2 The same as Note 1 Note 3 shielding line between CN1 wiring terminal and upper computer shall be grounded reliably at both ends 29 Wiring Evta AC Servo Driver User Manual 2 Position Control Wiring Diagram Servo driver adopts 3 phase AC 220V power supply generally obtained by 3 phase 380V transformation through 3 phase isolation transformer Motor less than Ikw can adopt single phase AC 220V power supply single phase power connected to R and T with S hung in the air Servo driver 3 phase AC220V DC 12V 24V cow am Servo on o SON 5 TE Alarm clear o ALRS 9 ee CW drive limit RSTP 6 _ Speed selection1 driver Z CLE ero speed Speed selection2 o o INH CN3 F terminal Servo ready SRDY Mum COM Servo ALM alarm COM Brake output COIN COM COMMON PORT OF DG COM OUTPUT 10V 10V S 3p t Ame EXC VCMDIN biie 6 17 uc EE 1 comman AGND 32 a ag H E LITT CNI terminal metal P Note 1 case 19 GND Figure 5 6 P Series Speed Control Wiring Diagram Note 1 shielding line between CN1 wiring terminal and upper computer shall be grounded reliably at both ends 30 motor plug 17bit incremental At Bt B Z C N encoder Encoder signal output CZ open collector output Encoder signal ground Evta AC Servo Driver User Manual Wiring 5 2 5 2 1 1 2 3 Power Terminal Power Terminal Connection Standards Wire diameter R S
37. EN eT e 61 21 422 emperature and Iutmidiby oe ete tee tete eco pterend 21 ADD VIDGALONPANO SNo keie E D al ies dae 21 ADS uretibhitti os etus Ale et ee a ek cea ES Meere Daas 21 AS DAVEE ISLAM AO Massie recede ditus Sat ebd eiu ELLA orte teen 22 4 3 1 Installation Dimension of Driver ssessssessseesseesssssreessssereeesssssssrreesssssene 22 4 3 2 Installation Ioteryalor Dry Css detis Ue n ee t o testa ie RES 22 4 4 Dimension Drawing of Servo Driver e tereti ted terere Enel eoa eoe iode Resin 23 EAE WDO E o EE 23 A MER Si ann E E E 24 Sn ME rU ec 24 Chapter S WIL seri erie o eiue cen ele eus sun iesu exea a VS or S epu A erases ucdencsadceecenawess 25 Sul Control Wirino Dido ra mig conet ov eoe de eer ene tee edu eue en eur e tertie duin 25 Sl W Seics Control Wiring R TT 25 5 1 2 F Series Control Wiring Diagrams a ae A 27 5 1 3 P Senes Control Wiring Diagram oe e A digeeceseces 29 2 27 sPOwer L6pmifials suite tetes pt theod RO SMS HO Eta tut watts iata Ut Hoe ito tei BOUE eux 3l 25 2 1 Power Terminal Connection aiii iere ce t tes e bete ene aet nee eos aeta Uude 3l 5 2 2 Power Input Output Interface Definition of TB Power Terminal 32 5 2 3 Connection Standards of Braking Terminal 32 5 3 2 Switch Output Interface Type 2 ec ek iid du eek ae 33 5 3 3 Pulse Input Intertace Type 3 uei ioo iiia teste eie n 33 524 Analog Input Interface Typ
38. M o NL 27 position command direction SIGN MN Js 7 42 p L T position command direction SIGN shielding line 25 CU Encoder Z signal input Z ra a 4 Position command pulse PULS protection FG 7 x g 17 i M LS 43 m Position command pulse PULS A hanes Encoder B signal input B L oe Pan H he m a 29 PUBLIC TERMINAL OF DG OUTPUT COM shielding line 26 an a X Encoder B signal input B Shield 44 C T 14 PUBLIC TERMINAL OF DG OUTPUT COM protec tion F G LB E M 18 grounding FG web v e An Servo alarm ALM C Encoder A signal input A C Motor brake output COIN cd PES NC B servo ready CRDYO NE J Encoder A signal input A Figure 5 17 CNI Terminal Wiring Figure 5 18 CN2 Terminal Wiring 39 Wiring 2 Table 5 3 shows the interface definition of CNI terminal input output signal Interface Definition of W Series CN Terminal Evta AC Servo Driver User Manual Terminal sign Terminal No Signal name Function Sign UO CW clockwise drive inhibit input signal RSTP ON CW drive permit RSTP OFF CW drive inhibit 6 CW drive inhibit RSTP Typel Note 1 used for mechanical over limit When switch is off torque at CW direction is 0 Note 2 set parameter PA30 1 to shield the function User can enable CW drive permit without connecting the signal Inhibit input signal of position command pulse command pul
39. N 34 i L pm Z signal open collector output CZ y N C JH Encoder signal ground WY C 20 35 Bra PCR 5 me S gt 21 Common terminal of DG output COM 5 E 36 Z L l 6 Common terminal of DG output COM Z7 x 2 ir ge CW drive limit RSTP 37 E O ACW drive limit ESTP a tC CO Pulse inhibit INID 38 i ax 3 VCC 5V eS NA C w s 8 Deviation reset O speed clamp CLE ZPD sn i N 24 GND Ley ww 3 2 Mode switch Alarm clear CALRS Re A Jj ode switch Alarm clear 40 co A J EXC 10 Servo on SON ae k en 26 24V power COM rs 41 Lm a ners TT 24V power CCOM 7 RT Neh ee 7 Position command direction SIGN 42 EOE a n1 Position command direction SIGN L NA a P C JA Position commandpulse PULS 7 RT 43 pe o position commandpulse CPULS 7 m ES C E NS L oH Common terminal of DG output COM Z H pU Shield grounding 44 Ley NA TA Common terminal of DG output COM CFG d i I Servo alarm ALM an x 3 Brake output CCOIND Nucl as 15 r L ana Servo ready SRDY 7 Figure 5 21 CN2 Terminal Wiring Figure 5 22 CN3 Terminal Wiring 2 Interface Definition of P Series CN1 Terminal Interface definition of P series CN1 terminal is the same as that of W series CNI terminal as shown in Table 5 3and 5 4 3 Interface Definition of P Series CN3 Terminal Table 5 5 shows that interface definition of CN3 terminal encoder signal input Function SE eo oU E eave HE Optical encod
40. Notices on the User Manual amp Basic Definition Unless otherwise stated in advance term definitions of the manual are shown as follows e Servo motor or motor SD SW series motors and other derivative brand motors e Servo Driver W or V series servo Driver e Servo system matching servo motor and servo Driver amp Manual Structure Please read relevant chapters according to your needs No Chapter Model and Rating and System Installation Commissioni Inspection and Peripheral iri i iri Maintenance Equipment Adjustment Selection mp i a I aa Chapter2 Model Selection A 0 Chapter 3 and Dimension Chapter 4 and Dimension mor o s ilti til Chapter 7 Parameters and Wc Chapter 8 8 Operation Chapter 9 Maintenance and A Inspection G Writing of Negative Logic Signal In the manual negative logic signal effective for low level is expressed by adding after signal For example e A is written as A QG Logical Interpretation of Input Output Port s Low level switch on positive edge switch on to off e High level switch off negative edge switch off to on Safety Precautions Safety Signs As for safety the following signs are used in the manual Please follow what indicated by safety signs A Note The sign indicates to follow article use requirements or rules AN Caution The sign indicates it may cause injury or article damage A Warning The sign indicates
41. PULS CNI 12 CNI 7 SING CNI 27 N1 19 N position command direction input SING AGND CN1 32 Analog signal ground CNI33 Analog speed command input ast CNI2I Analog input command AS LT o a ee Analog input command ALRS CN1 2 Mode switch signal Table 8 16 Required Signal Connection N PULS4 CN1 28 CN 1 20 C Then confirm connection is correct keep all input signals OFF connect power and then set the required parameter Required PA4 Control mode selection To set speed control mode ERES D If set to be 0 speed command is from internal l speed If set to be 1 speed command is from the 0 1 external analog input The set val deceleration ti f motor fi PA40 Deceleration time constant 100 eds T S acne 1 2000 Unit 10ms 0 to 1000r min The set val leration ti f motor fi PA41 Acceleration time constant 100 pees J c CMT 1 2000 Unit 10ms 0 to 1000r min PA43 Input gain of analog speed aw fF set the percentage relationship between analog 10 3000 Unit command speed voltage and the practical motor rpm r min V 0 deviati ti ie apnea ame O deviation compensation to analog speed input 3000 3000 of analog speed command DO CCW and CW input inhibit is valid When CCW drive inhibit switch FSTP is ON CCW drive permits when CCW drive inhibit switch FSTP is OFF CCW torque keeps at 0 It is the same as CW Invalid drive inhibit input direction If CCW and CW drive in
42. SPd lex dP LPo 9 E LOI i L 58 IU Figure 6 3 Selecting Status Monitoring 2 Select status monitoring by parameters C I EE SEE Ome Om 9 dP d aK Hr L PA 4 ni SH power on again EG press for 2 times Lu Wo D e f ca F f L B L PR P D 1 LU press for l e 2 turns of rotation 3 times PA EE C Figure 6 4 Select Status Monitoring by Parameters 9 Alarm status display if displaying Err it indicates normal without alarm Ere 9 p alarm number C cor E 2 no alarm Figure 6 5 Alarm Status Display 48 Evta AC Servo Driver User Manual Parameters and Setting Chapter 7 Parameters and Setting The chapter mainly introduces application methods of various functions relevant to driver parameter adjustment and matters need attentions User can read them as you need 7 1 List of Parameter Code Factory defaults in the following table are those for drivers of applicable motor Applicable Factory l No Name Parameter range Unit Remark mode default Password o ds 09 35 J Parameter PAO shall l Model code PS 0 100 be changed to 310 upon change 2 Internal system parameter po Reserve 3 Initi
43. ace Type 2 photocoupler 5 3 3 Pulse Input Interface Type 3 Pulse input interface consists of two drive modes respectively differential drive mode and single ended drive mode Their schematic diagrams are as shown in Figure 5 11 and 5 12 Upper computer Upper side Servo side computer side BENE Servo ero amplificati amplificat 2200 f GND Figure 5 11 Differential Drive Mode Figure 5 12 Single ended Drive Mode Comparisons of these two drive modes are as shown below AM26LS31 MC3487 or similar RS422 linear driver shall be adopted for differential drive mode Single ended drive mode may decrease motion frequency Resistance value of R shall be determined according to the conditions including pulse input circuit drive current 10 15mA and the maxmum external power voltage limited to 25V Empirical data VCC 24V R 2 3kQ VCC 12V R 510 8200 VCC 5V R 82 120Q lt If single ended drive mode adopted user shall provide external power supply but be cautious that it may damage servo driver if power polarity connected reversely For pulse input form see the Chapter Operation Sequence Arrow means counting edge For more information see pulse input sequence and parameters of the Chapter Operation Sequence If 2 phase input form used frequency of its 4 time frequency pulse lt SOOKHZ To correctly transmit pulse data it is suggested to adopt differential drive mode 33 Wiring 5 3 4 5 3 5
44. al display status EECESEM sie Si eis es Se Parameter PAO shall Control mode selection be changed to 310 upon change 5 Speedpercentagegain rs sso a ERO SE E REN s 7 Lowpasfilerofcumencommad P s 20 500 256 J 8 Lanas filter of speed inspection P S jf 20 50 a J i eene RR E M EE EPOR EE Cutoff frequency of feed forward 3 lowpass filter Division numerator of position 1 32767 command pulse Division denominator of position 1 32767 command arrin 14 position command position command pulse Input mode Input mode Reverse direction of position command Pree ct 16 Positioning Positioning completion range range 0 30000 0000 pulse EUR C A EE RET S RR 18 invalid mistake of too poor position P 0 1 o J 19 positioncommand smoothing fiter P iso 00 20 Invalid drive inhibitimput_ rs om o J JOG running speed T Internal external speed command S E S max The max speed limit limit 0 4000 O se 150 r min 1 r 25 internal speed s 300 300 100 rmn 26 intemal speed3 R 3000 300 300 rmi 27 internal speeds s soo0 so00 300 rmm ERO NE E E EE E If set to be 0 the Lowpass filter of speed command poss 0 500 100 l i function will be 49 Parameters and Setting Evta AC Servo Driver User Manual Applicable Factory Name Parameter r
45. ange Unit Remark ES EN shielded system parameter Reserve Rigid compensation 0 100 32 Speed estimation Motor load inertia setting 0 1500 L p Internal CCW torque limit E Internal CW torque limit 300 0 a NN 38 Standby 5 300 m T 40 Deceleration time constant 1 2000 100 10ms Ls sese 8 rm oe tome Analog speed command gain 10 3000 r min V Reverse direction of analog speed command 0 deviation compensation of analog 3000 3000 speed command Lowpass filter of analog speed command Brake time constant 1 PS 0 1000 0 1000 as Brake time constant 3 0 1000 If 0 it outputs 10000 Electronic gear of encoder output 0 9999 pulses If it is 1 direction er signal is taken as Special application 0 1 pe enabling signal of driver If the first digit at right set Mandatory enabling setting 0000 0001 0000 to be 1 mandatory enabling function can be triggered 56_ Multipurpose pin selection EC 57 Reverse servo ready and alarm 00 11 a 54 55 Internal system parameter Reserve Internal system parameter Reserve eee 8 77 Table 7 1 List of Parameter Code 50 Evta AC Servo Driver User Manual 7 2 List of Parameter Function Parameters and Setting No Name Function Parameter range Password QUsed to prevent parameter from wrong change To set the parameter first set the parameter to the required one and then set
46. arameter value will increase or decrease continuously If parameter is changed LED decimal point light at far right will turn on Press G key to confirm the value change is valid and now LED light at far right will turn off The changed value will be reflected to the controller immediately Then press e3 or Q key to continue to change the parameters When change completed press G key to return to the parameter selection status If you are not satisfied to the value in changing do not press G but press to cancel and restore the parameter to the original one as well as go back to the parameter selection status 7 3 1 Position of Parameter Operation Interface on the Main Menu Primary menu Secondary menu l L d Me dP DUD Monitoring way ele on arameter alo PA DU setting a lt Parameter 4 e EE Ij Management elo O lt AU 7 Figure 7 1 Position of Parameter Interface Auto gain RU UD adjustment 7 3 2 Restore Default Setting of Driver EE dEF Default set PAI according to motor model code and carry out operation Corresponding parameter value is the default value Steps to restore the factory defaults of motor suitable for the driver 1 Enter special password of motor parameter namely PA0 310 2 Look for the motor model code corresponding to the current motor according to the Motor Model Code List in Section 2 3 Chapter 2 EE dEF 3 Ifcorrect carry out operation to finis
47. atio 1 5000 Control Control output output band type brake release pulse iHi 20 Evta AC Servo Driver User Manual Driver Specification and Dimension Applicable load Less than 5 times of motor inertia aa Pulse frequency x500kHz Display 6 digit LED digital tube and 4 keys CODPulse direction CCW pulse CW pulse A B 2 phase qurdrature pulse electronic gear Position control ratio Encoder feedback 2500p r resolution 10000 incremental encoder Table 4 2 F Series Driver Specification numerator 1 32767 denominator 1 32767 4 P Series 1 3 I Rotary speed current position command pulse E UE 0 4 1 0 1 0 1 5 E accumulation position deviation motor torque motor current operation status etc dau single Position Control Mode Internal Speed Input source o AC220V 15 phase 3 phase Control Control Mode S External speed control mode main circuit 10 50 60Hz AC220V 15 Mode commissioning way motor zero test mode 10 50 60Hz motor load inertia measure mode single phase AC220V 15 control circuit 10 50 60Hz Servo on Alarm clear deviation counter overspeed main power voltage underpressure overcurrent overloa Control input TESEV SD EE RE eC HORE eom iana pulse Protection Aaa ab e acoder inhibit Speed selection 2 function O S d ae CCW drive inhibit CW drive inhibit abnormality position too poor built in Speed frequency response 200Hz or more Speed fluctuation ratio lt 0 03 load 0
48. attention that the range of PA9 is 25 60 71 Operation Evta AC Servo Driver User Manual PA10 Feedforward gain of position ring PA11 Feedforward filter factor of position ring PA10 can use speed data of position command to adjust speed ring The bigger the set value the smaller the following error If it is set too big motor may be easily to generate instant overshooting and vibration Actually PA11 is used to smooth the feedforward control of position command The bigger the set value is the quicker the response to step speed command is It can better control position overshooting and vibration caused by sudden change of command speed The smaller the set value is the more unobvious the feedforward control and the smaller the vibration caused by feedforward control Generally speaking PA10 feedforward gain of position ring and PAI1 cutoff frequency of feedforward lowpass filter may not be used 8 9 Self testing Gain Parameter Adjustment 8 9 1 Motor Model Confirmation Change value code of PAI parameter according to motor model and then carry out default callout operation to finish matching of motor model In common situation PA1 parameter of servo driver delivered to support EVTA servo motor has been changed and so the step can be omitted 8 9 2 Measure of Load Inertia After automatically measuring load inertia PA33 parameter will change automatically correspondingly and meanwhile parameters to link auto setting includes
49. be always connected to the protective grounding of controller For servo driver uses PWM technology to supply power to servo motor through power tube driver and connecting line may be influenced by switch noise To meet EMC standards grounding line shall be strong and thick as possible and grounding resistance shall be small as possible 8 3 Operation Sequence 8 3 1 Power on Sequence Connect power to power input terminal of main circuit through electromagnetic contactor 3 phases connected to R S and T while single phase connected to R and T lt Control circuit power r and t are connected at the same time of or after main circuit power If only control circuit power connected servo ready signal SRDY is OFF lt When main circuit power is connected servo ready signal SRDY will be on about 0 8 second later and now it s Ok to receive servo on SON signal When serve on is detected to be effective frame circuit opens and motor stimulates under running status If servo on is detected to be invalid or with alarm frame circuit will be turned off and motor will be in free status When servo on is connected together with power frame circuit will be connected about 0 8sec later Frequency connection and disconnection of power may damage soft start circuit and dynamic brake circuit Therefore it s better to limit connection disconnection frequency to be 5 times hour and under 30 times per day If driver or motor is too heated po
50. brake ON release output l ON release output ON Time setting of startup delay I I 1 l PA48 motor not Motor powered on l connected to Servo start Motor powered off Servo off P 1 power Motor powered on P Motor powered on Motor off Time setting of turnoff delay Figure 8 6 Sudden Turnoff Sequence of Servo Unit in Figure 8 7 Sudden startup Sequence of Servo Unit in Idle Idle State State 8 7 Rotating Direction Switch of Motor Rotation direction of motor is set as below Required parameter Applicable mode Reverse direction of 0 1 position command PA15 PA15 0 keep original command direction PA15 1 reverse the pulse command direction Table 8 21 Direction Setting of Motor Rotation When all parameters of servo unit are set to be default A and B phase signal of motor encoder is as follows B PHASE T Figure 8 7 Pulse Input under Standard Setting Under the situation of servo motor wiring not changed servo unit can make servo motor to rotate in reverse direction in reversing mode and now A and B phase signal of motor encoder is as follows A PHASE i B PHASE 1 Figure 8 8 Pulse Input under Reversing Mode 70 Evta AC Servo Driver User Manual Operation 8 8 Basic Performance Parameter Adjustment PAS percentage gain of speed ring The bigger the PAS percentage gain of speed ring the stronger the servo rig
51. d inertia after selecting through mode 5 servo AO system will automatically test values and set test value The set value is only 33 i d UA valid before power off of the operation If power off the value will restore to 0 1500 Nur be the previous set value To save to set value parameter shall be saved again and it will be effective when restarted after power off Internal CCW To set internal torque limit value at CCW direction of servo motor Z If the setting exceeds the maximum overload capacity of the system the practical torque is the maximum allowable overload capacity of the system 34 N 0 300 Torque limit At any time the limit is effective If the setting exceeds the maximum overload capacity of the system the practical torque is the maximum allowable overload capacity of the system To set internal torque limit value at CW direction of servo motor 2 The set value is the percentage of the rated torque For example if set to Internal CW torque be 2 times of the rated torque the set value is 200 35 D 300 0 limit S At any time the limit is effective 4 If the setting exceeds the maximum overload capacity of the system the practical torque is the maximum allowable overload capacity of the system 38 Standby 5 300 54 Evta AC Servo Driver User Manual Parameters and Setting No Name Function Parameter range 39 Standby 0 300 Deceleration ti 40 ai M S T
52. e 3 5 90 Series Servo Motor Specification 2 Installing Dimension 90 Series Model 90SD02430ES 90SD03520ES 90SD04025ES Table 3 6 90 Series Installing Dimensionon Unit mm Figure 3 4 90 Series Installing Dimension Diagram 3 2 4 110 Series Servo Motor 1 Specification poston ow om sf fs arre ss om Dom Rated Speed rpm 3000 3000 3000 2000 3000 purses NENNEN ERE Ee Counter emf V 1000r min L 35 Jo l Torque Coefficient N m A EM ME MER ae ps 13 Motor Specification and Dimension Evta AC Servo Driver User Manual Motor Model 110SD02030ES 110SD04030ES 110SD04030ES 110SD06020ES 110SD06030ES m 0 31x10 0 54x10 0 63x10 0 76x10 0 76x10 ES o o E A CD E GO A go z wm Line Weight K g E ELTE 5 2 o amp e GIs amp Z 19 Q e 4 6 S 5 IS 5 o B oO Qu Z 5 E g S E oO Be z pAn n rd d Z Signal Lead Number and Color of Encoder Socket ov B z fur a v a v w v a s we m EXE EE XNCEEXEXENEE a is grey E pi fis oar yellow brownbla grey blue green white red black green brown yellow blue white black ck black black black black Table 3 7 110 Series Servo Motor Specification 2 Installing Dimension 110 Series Table 3 8 110 Series Installing Dimension Unit mm 14 Evta AC Servo Driver User Manual Motor Specification and Dimension LB
53. e 4 dei aee tee see ce ecce cu cose 34 5 3 5 Encoder Signal Differential Output Interface Type 5 sse 34 5 3 6 Type 6 Encoder Z Signal Open collector Output Interface 34 5 3 7 Servo Motor s Photoelectric Encoder Interface Type 7 35 5 4 CNI CN2 CN3 Signal Terminal Connection Standards and Interface Definition 35 MEE oa TT 35 DAZ VBS etl Csr Daun tM Cu NUM E eae ete none en mes 38 T P OSES a ie tees E RIS edite dete 4 5 55 Pulse Input EO Se hl Hr SE tiet b tl te be a eta aula eth 42 5 6 Pulse IMPULS EGUE NCE acu tate oe cca ocd cect ln uh tta be o uode edite ic nidi etn Ed 42 E MME Parameter occus stmt era o ER totdS cues in PI OEDNUS RU IS Eu Ent Toe FO SUtdE 42 5 6 2 Sequence Charts of Three Pulse Input Forms sse 43 5 6 3 Motor Encoder Output Feedback esse 44 Chapter 6 Digital Operator W Series eee ee ee ee ee ee eene nene nennen neenon ener es 45 6 1 Operation and Display il GEIAEE ospiti etai ge gelesene uec acest nel 45 0 2 Wey mame and rs Tale ceno ee ete eee ttd E eee ete aad 45 6 3 Operation Mode of Main Menu iiie ei eea 46 OF VT TAAL ENT OS T ase netto edet eiii aD ttu Le UN ede 46 6 4 1 Framework Corresponding to Monitoring Status Frame 46 4 2 Monies Status DeSCHDHOE 2 t REESE tu poer E CERE EEEE COR 47 Chapter 7 Parameters and Setting eee ee eee eee sese Fa oE ren e
54. each ideal control resolution as user required 1 500 1 32767 S PxG NxCx4 P pulse number of input command G electronic gear G division frequency division frequency N rotation turns of motor C photoelectric encoder line number rotation the system C 500 4 Example If command pulse is 6000 1 rotation of servo motor G NxCx4 P C1x2500x4 5 and PAT13 set as 3 2 6000 5 3 the parameter PA12 is set as position command See parameter PA12 52 1 32767 Evta AC Servo Driver User Manual Parameters and Setting No Name Function Parameter range pulse To set input form of position command pulse Set parameter to be one of the 4 input modes 0 pulse sign 1 CCW pulse CW pulse 2 2 phase quadrature pulse T position command input 3 2 phase quadrature pulse pulse sign 0 3 pulse input mode Note 1 CCW means to axial observation of servo motor that rotates counterclockwise but is defined CW Note 2 CCW means to axial observation of servo motor that rotates clockwise but is defined CCW Note 3 pulse sign at PA14 3 means repeated use of torque limit PSTP and RSTP 15 position command 0 normal 091 pulse direction l reverse direction of position command pulse D To set lower positioning completion pulse range of position control 2 The parameter provides the basis to judge driver is positioned in position contro
55. ectly and firmly or else it may cause motor running wrongly or damage equipments due to poor contact U V and W terminals of servo motor shall not be reversely connected or connected with AC power Servo motor shall be directed connected with servo drivers and no capacitor inductor or filter is allowed to connect between them Prevent conductive fastener or wire end entering servo driver Wire and non heatproofing object shall not be close to radiator of servo driver and servo motor Flywheel diode connected in parallel on output signal DC relay shall not be connected reversely GQ Notes on Commisioning and Operation Rated torque of servo motor shall be higher than effective continuous load torque Ratio of load inertia and servo motor inertia shall be less than recommended value Servo driver shall be equipped with matching servo motor Please use designated supply voltage Please confirm servo driver and servo motor have been mounted well and fastened firmly before power on and power voltage and wiring shall be correct During commissioning please idle servo motor not connected with drive shaft to avoid accident Commissioning To prevent mechanical and equipment damage caused by wrong operation please confirm parameters set correctly before load commissioning Please pre set user parameters corresponding to the machine before installing on it If no parameter set before operation it may cause machine out of control or faul
56. ed correctly Control signal terminal is connected correctly Power polarity and amount are correct 92992494925 Driver and motor are fixed firmly AY Motor shaft is not connected with load 8 5 Control Mode EVTA W series servo version includes the following control modes 61 Operation Evta AC Servo Driver User Manual Name Applicable mode Work mode selection L L e p 6 ms lt PA4 0 position mode Set motor rotation direction and angle by digital pulse In such work mode driver unit can control motor rotor to rotate for the set angle position Both rotation angle position and speed cn be controlled PA4 1 internal digital command speed mode User can set values of PA24 PA27 and select value from them as internal speed command according to the status combination of CNI input points SC1 and SC2 corresponding to motor speed PA4 3 manual test run mode of motor First set the starting speed of PA21 and then operate by and e keys to accelerate or decelerate PA4 4 zero test mode of motor it has been set up before leaving the factory and user needn t to adjust PA4 5 measuring mode of motor load inertia can assist automatically measuring load inertia and provide parameter setting reference PA4 9 position speed switch work mode PA4 6 8 is the reserved interval parameter of the system Table 8 1 Control Mode Selection Note PAO shall be changed to be 310 during parameter chan
57. er of servo motor uses 5V power Terminal No Signal name supply and public ground if cable is o long several core line shall be connected in parallel to reduce line voltage drop Signal interface of bus encoder a RT E Rsa O R Table 5 9 Interface Definition of CN 3 Terminal Encoder Signal Input 41 Wiring Evta AC Servo Driver User Manual 5 5 Pulse Input Form Pulse command input forms consists of 3 types including 1 pulse sign 2 double pulse 9CCW pulse CW pulse and 3 2 phase command pulse PULS 9 pulse train sign Command pulse SIGN sign CW 1 CCW pulse train CCW pulse CW CW pulse train pulse 2 A phase pulse train 2 phase Command B phase pulse train pulse Table5 6 Pulse Input Form 5 6 Pulse Input Sequence 5 6 1 Time Parameter Table 5 7 Time Parameter List 42 Evta AC Servo Driver User Manual Wiring 5 6 2 Sequence Charts of Three Pulse Input Forms 1 Pattern 1 pulse frequency chart for pulse sign input interface the max th 3 tek 9095 f M 7 eee eee uci Creme lee borne ee pound c ore ee PULS TU cete ies eer ns een T cup ae reset a Sa Let leee Une eee je trh trl ME t i 5 QOY M MM D M 4 meme emm SIGN i i M M J M gt 0 Figure 5 23 Sequence Chart for Pulse Sign Interface Input 2 Pattern 2 sequence chart fro CCW pulse CW
58. er per each rotation of motor If 0 10000 pulses are ED of encoder output m If the parameter is set to be 1 direction signal can be taken as enabling signal 52 Special application 0 1 of driver To enable servo system to make mandatory enabling without connecting to m Mandatory enabling external enabling and to make motor under excitation condition The first T setting digit is at far right set to be 1 namely 0001 and effective mandatory enabling When set to 0 PIN30 PINS of W P F series CN1 terminal outputs Multi purpose pin E band type brake signal when set to be 1 PIN30 PIN5 of W P F series 0 1 56 selection Servo ready and reverse alarm CNI terminal outputs positioning signal If the first is 1 servo alarm output is reverse if the second is 1 servo ready output is reverse 00 11 Internal system parameter Internal system parameter reserved for use reserve Internal system parameter Internal system parameter reserved for use Table 7 2 Parameter Code and Function 55 reserve Parameters and Setting Evta AC Servo Driver User Manual 7 3 Parameter Setting Adjustment Select PA at the first class menu and press amp key to enter parameter setting mode Select parameter number by A and Q Press key to display the parameter value Change the parameter value by A and Q keys Press A or Q once the parameter value increases or decreases by 1 Press and hold or Q the p
59. ertia load Pulse frequency x500kHz Display 6 digit LED digital tube and 4 keys CODPulse direction CCW pulse CW pulse A B 2 phase qurdrature pulse Position mp err only ia numerator 1 32767 denominator 1 32767 control ratio According to No 50 parameter setting output pulse range of each rotation is 1 10000 gear Table 4 1 W Series Driver Specification Ifactual working power of the driver is over 1 0KW recommend to use 3 phase AC220V input power source 4 1 2 F Series Rotary speed current position command pulse Output power Monitoring accumulation position deviation motor torque motor kW function current operation status etc Position Control Mode Internal Speed Control single phase AC220V 15 Mode External speed control mode commissioning 10 50 60Hz Control Mode way motor zero test mode 6 motor load inertia measure mode Dynamic built in Servo on Alarm clear deviation counter braking Control input Input power reset Speed selection command pulse inhibit Speed Servo ready output Servo alarm l selection 2 CCW drive inhibit CW drive inhibit Protecti oa M a output band type brake release pulse function feedback output Structure A Speed frequency response 200Hz or more Servo ready output Servo alarm Speed fluctuation ratio lt 0 03 load 096 10094 lt 0 02 power 15 10 Values corresponding to features feedback output rated speed 175x85x170 mm Speed r
60. g functions status monitoring parameter setting parameter management and auto running The main menu is selected and operated as shown below 1 class menu 2 class menu 3 class menu dP 7 _ _ dP i 5 Po L r D PH Pr Ole 5 ato S e ES ay EE SEE ol in IG H at o9 TE Figure6 2 Operation Mode of Main Menu 6 4 Monitoring Status 6 4 1 Framework Corresponding to Monitoring Status Frame dP Select at the main menu namely the 1 class menu and press G key to enter monitoring mode There are 22 display statuses and user can select different statuses by Q and A keys in the menu In addition user can also set the initial monitoring status when driver powered on by setting parameter PAO3 Initial ee monitoring PA3 0 a D D a motor speed1000 r min 1 rore 4 low digits of the current motor position pulse 2 2 L o aO Lf U PA3 1 g PA3 2 4 high digits of the current motor position 10000 4 low digits of position command pulse ra co 4 high digits of position command 10000 4 low digits of position deviation pulse rm ru v CL CL 7 7 I C rm ES iati 2 4 high digits of position deviation 10000 pulse motor torque 18 motor cur
61. ging Generally a new drive unit shall be operated through four steps as follows The section mainly describe the first three steps to help user operate the servo drive device quickly For function adjustment as required by the user refer to Function Adjustment Parameter Funtion Correct wiring gt gt Basic operation gt setting adjusting 8 5 1 Position Control Mode First connect the wire in correct way Note that the required input signals shall be connected as shown blow Function Common terminal of input point as input terminal of control power Servo enabling signal by which motor enabling can be controlled independentl Position command input with mode as follows 1 pulse direction 2 CCW pulse CW pulse 3 Quatrature pulse A B phase Table 8 2 Required Wiring Then confirm correct connection and keep all input signals OFF to connect power and then set the required parameter Required parameter Parameter description PA4 PA4 0 select position mode Note parameter shall be changed from PAO to 310 during change Electronic gear function of position command PA12 pulse command multiplier parameter PA13 is pulse command division factor Set electronic gear ratio of position command to match various pulse commands Formula to compute the gear ratio is as shown below amp CD PA13 4C ZM Select position command pulse mode IPA14 0 pulse d
62. gram 1 Position Control Wiring Diagram 3 phase Q 0 AC220V 0 e 4 core motor plug Servo driver 4 core motor plug DC12V24V cow 1 Alarm clear ALRS Ll S v LKS tt COW aretini a asa al EIE DES Command 0 INH 4 pulseinhibit ral jJ AML of x EEA EJES AUT HEX EI 5 EED aE HE elz 9 DEA EJ Servo ready Esc O i H ESES Servo alarm ALM si epe As MEN Motor brake CRM output uf w uaj w D iesu B E position Notel command PULS CN terminal metal case position Note2 command OL ZION SIGN SIGN EMEN oras EET yr wj 26LS31 driver B Note 3 CNI terminal metal case B Z cz pen collector output 10 GND enconder signal l ground Figure 5 3 F Series Position Control Wiring Diagram Notes 1 and 2 As for upper computer pulse if waveform amplitude of directional signal is 24V it shall be cascaded with 1 2KQ 2KO resistance if the amplitude is 12V it shall be cascaded with 510Q 810Q resistance Note 3 shielding line between CN1 wiring terminal and upper computer shall be grounded reliably at both ends Note 4 CN2 shall be connected with WELLTEC wire saving motor including compatible WELLTEC wiring saving motor with 10 pin of CN2 connected to signal A of encoder and 5 pin of CN2 to signal A of encoder Note 5 The wiring mode is suitable for SD series servo motors of no 110
63. h motor default restoring operation if not enter motor model code into PAI and press G to enter parameter management menu to carry out EE operation 56 Evta AC Servo Driver User Manual Parameters and Setting e Press for 2 times Figure 7 2 Procedures to Restore Default Value 57 Parameters and Setting Evta AC Servo Driver User Manual 7 3 3 Invoke Motor Code nem eus Unit R range Default mE mode Change parameter password 9999 If PA0 315 parameters can be changed except PAI and PA4 PA Meoermodicode bos pes O Table 7 3 Invoke Motor Code For example to restore the default parameters of motor 1308W06025E Motor model code 46 the following steps shall be carried out PAO Power on 6 Press for 2 times Position point off when data changed S d Ce eb Press for 2 times amp Press and hold to auto increase value Press and hold to auto increase value Position point alwavs on during 2 iQ data change Figure 7 3 Reset to Default Motor Parameters 1 310 is the special password to set default parameters of motor PA1 can only be changed when PA0 310 2 By setting default motor parameter parameters relevant to motor can be input as default value User can also judge whether default parameter of drive unit is applicable to the motor driver according to PA1 parameter value see Section 3 Chapter 2 If PA parameter isn t corresponding t
64. he operations including system power on parameter input and parameter read while the backup zone is used for parameter backup and backup restore In the process of parameter setting if user is satisfied with 1 set of parameter but still wants to change continuously user can carry out backup operation first to save memory parameter into the EEPROM backup zone and then continue to change the parameter If effect goes poor user can restore backup to read the parameter saved in the EEPROM backup zone previously out into the memory and then change again or finish the operation In addition when parameter set up user can carry out parameter input and backup operations to make the data in the EEPROM parameter zone to be the same as that in the backup zone to prevent parameter changed carelessly User can also start back restore operation to read the data in the EEPROM backup zone out into the memory and then write memory parameter into the EEPROM parameter zone by parameter input operation 4 EE rS restore backup to read the data of the EEPROM backup zone out into the memory Note that the operation is done without carrying out parameter input operation for which the data of the EEPROM parameter zone will be still read out to the memory after the next power on If user wants to use the parameter in the EEPROM backup zone permanently user shall carry out parameter input operation once again 5 EE dEF restore default to read factory defaults of all t
65. he parameters out into the memory and write into the EEPROM parameter zone and user can use default parameter after the next power on If user disturbs the parameters and the machine cannot work normally user can restore all parameter defaults by the operation Because different driver models correspond to different parameter defaults user shall ensure that the driver model parameter PA1 is correct before restoring the defaults 59 Operation Evta AC Servo Driver User Manual Chapter 8 Operation 8 1 Notes on Operation To ensure test run is carried out safely and correctly please check and confirm the following items before test run In case of any bad condition please contact with the service division of our company Status of servo motor lt Check servo motor to ensure no external damage lt Check fixing components of servo motor to ensure they are connected firmly lt Check servo motor shaft to ensure smooth rotation it is normal that servo motor shaft with oil seal is a little tighten lt Check encoder connector and power connector of servo motor to ensure correct and firm wiring Status of servo driver lt Check servo motor to ensure no external damage Check servo driver terminal to ensure correct and firm wiring lt Check external power of servo driver to ensure normal voltage 8 2 Grounding Ground servo motor and driver reliably To avoid electric shock protective grounding terminal of servo motor shall
66. hesameas 41 Thesameas 41 constant DSet value means acceleration time of motor among 0 1000r min Acceleration time EHET 1 2000 4l 8 Only for speed control mode and other control modes are invalid constant 10ms 4 If driver is combined with external position ring the parameter shall be set to be 0 Input gain of analog Set ratio relationship between analog speed input voltage and practical motor 10 3000 43 speed command rpm r min V R D Reverse the polarity of analog speed input l A4 US 2 When setting is 0 and analog speed command is positive speed direction 0 4 is CCW when setting is 1 and analog speed command is positive speed command direction is CW 0 deviation 45 compensation of 0 deviation compensation to analog speed input 3000 3000 analog speed Lowpass filter of DLowpass filter for analog speed input 46 analog speed 2 The bigger the setting analog the quicker response speed to speed input 5 300 command and the bigger the signal noise influence vise verse 47 Encoder status output Motor may be abnormal during rotation Time to output brake command is 0 1000 l normally set to be 500 unit 2ms 48 Encoder status output When powering on servo delay time from servo ON to brake release is 0 1000 2 normally set to be 100 unit 2ms 49 Encoder status output When servo stops delay time from servo OFF to brake start is normally set 0 1000 3 to be 100 unit ms 50 Output electronic gear To set pulse output numb
67. hibits are OFF it 0 1 may cause wrong alarm of drive inhibit input 21 Cancel CCW and CW input inhibit operation No matter what switch condition of CCW and CW drive inhibit is CCW and CW drives will permit 67 PAI Internal pere command selection PA45 Operation Evta AC Servo Driver User Manual Required Name Setting Function Parameter range parameter Meanwhile if CCW and CW drives are OFF no rong alarm of drive inhibit will occur UReverse the polarity of analog speed input When setting is 0 and analog speed command is Reverse direction of EAE ND positive speed direction is CCW when setting is 1 analog speed command and analog speed command is positive speed direction is CW DLowpass filter for analog speed input Lowpass filter of analog The bigger the setting analog the quicker response speed command speed to speed input and the bigger the signal noise influence vise verse PASO Electronic gear of encoder To set pulse output number per each rotation o 0 0999 output imotor If 0 10000 pulses are output Table 8 17 Position and Speed Switching Mode Parameters Note to set speed control acceleration deceleration parameters PA40 and PA41 can be set as 2000 at most Unit 10ms 8 6 Application of Brake Release Signal To lock vertical or inclined work platform connected to the motor and prevent work platform from falling when servo alarm or power off it is generally adopts servo motor
68. idness But if it is too big motor may easily vibrate when it starts or stops motor has noise sound while the smaller the value the slower the response User can increase or decrease by 20 under default each time of adjustment and then observe the effect But pay attention that the range of PA5 is 15 250 PA6 Integral factor of speed ring The bigger the PA6 integral factor of speed ring the quicker the response However if it is set too big the system will be unstable and even vibrate the smaller the value the slower the response If the set value is too small the integral effect will decrease but cannot reduce the deviation of stable state User can increase or decrease by 1 under default each time of adjustment and then observe the effect But pay attention that the range of PA6 is 4 500 Percentage gain and integral factor of speed ring shall be adjusted according to the detailed servo motor model and load Generally the bigger the load inertia the smaller the set value shall be in the condition of the system without any vibration two parameter values shall be set as big as possible The following figure displays the step input response curves when driving some motor with certain inertia load Wherein Curve 1 step input curve when PAS is set to be a small value and PA6 0 motor is soft and dynamic response is slow with much big state error Curve 2 Speed step input curve when PAS and PA6 is properly set motor rigidness is
69. if limited by installation space no space can be left while 100mm or more between both sides lengthways Interval between two drivers shall be 25mm or more as shown in Figure 4 2 Figure 4 1 Installing Interval of Single Driver 22 Evta AC Servo Driver User Manual Driver Specification and Dimension gt 100mm gt 100mm D D D 2 E z ka p e e O o o gt gt gt Ka L La O I un un un ttt Ventilation ttt gt 100mm Direction Figure 4 2 Installing Interval of Multiple Drivers Note to ensure that the ambient temperature of servo driver will not rise continuously radiator with convection air shall be equipped in the cabinet 4 4 Dimension Drawing of Servo Driver 4 4 1 W Series H j kern H 4 AU H l j ient ARI NR FLATS nnan ate 223 3 U t ceni L Figure 4 3 W Series Outline Dimension Drawing 23 Driver Specification and Dimension Evta AC Servo Driver User Manual 4 4 2 F Series Lat OE x m 173 g am 2 le mum
70. irection PA14 1 CCW pulse CW pulse PA14 2 2 phase quardrature pulse input PA14 3 2 phase quardrature pulse input pulse direction Position command direction is opposite PA15 0 keep original command direction PA15 1 pulse command direction input is opposite Table 8 3 Required Parameter Setting 62 Evta AC Servo Driver User Manual Operation Finally carry out basic commissioning lt When the required parameter is set up carry out parameter input operation refer to the operation instruction for EE 5EE in the parameter management lt First turn on the SON and keep it under 0 speed then give position pulse command with smaller frequency to start motor Observe motor current by monitoring dP i In normal condition displayed current value will not exceed the rated motor current Slowly increase the speed of position command to accelerate the motor following the commands Meanwhile monitor whether motor under running status is of vibration or noise whether speed is stable and whether motor current will exceed the rated current lt Motor can run following the command within the rated rpm and when it stops the position displayed onldP CPa is equal to the pulse number computed by dP Po5 Erw D User can directly carry out other adjustments During the operation of position mode the following Es TM REI treatment will often be taken Abnormal conditions in adjus
71. its machine and system user shall take safety protection measures into consideration in design and manufacture to avoid improper operation or accident caused by product abnormality Illustrations in the manual are representative examples and may be different from product you received For product improvement specification change or to improve the use convenience of the manual we may change the manual at proper time For any change the document number of the manual will be updated and it will be issued as revised version Please contact with our company if you need new manual for damaged or lost one As for product changed by customer the company will provide no guarantee against quality and will bear no responsibility for injury and loss caused by product change As for product waste please dispose as common industrial waste Chapter 1 General Chapter 2 Model Selection 0 Chapter 3 Motor Specification and Dimension OO Chapter 4 Driver Specification and Dimension eo EE Chapter5 Wiring Chapter 6 Digital Operator W Series Chapter 7 Parameters and Setting oo EES Chapter 8 Operation Chapter 9 Maintenance and Inspection eo _ VI Contents Chapter 1 General em 1 lel Product C PET uocis ato xd ie tu avs nec etic e MOMENTE l LLI Product Confirmation 1 1 emeret odo et rote deter tls ade tib dens l LA JProducbiNdie lale TTT l 1 3 c Rrodic t Appearing osaa a a a ee eden cinched 2 I Servo Driver A
72. ive signal is invalid to avoid motor starting up suddenly and causing accident 9 2 General List of Alarm Codes Norma 00 00 00 Eo 7 Abnormal drive inhibit P oth CCW and CW drive inhibit inputs are OFF 9 Encoder fault Wrongencoder signal S 14 JBmkingfak gt B raking circuit in fault Table 9 1 General List of Alarm Codes 9 3 Alarm Processing Methods Alarm l Alarm name Running status Cause Treatment code Occur when Dcontrol circuit board in fault D change servo driver connecting 2 encoder in fault 2 change servo motor control power Input command pulse too frequently Set input command pulse correctly Acceleration deceleration time constant l MER Increase acceleration deceleration time is too small and speed overshooting is constant too big Occur during Input electronic gear ratio too big Set correctly motor running Encoder in fault Change servo Motor 1 Overspeed Poor encoder cable Change encoder cable D Reset relevant gains Unstable servo system causes 2 If gain cannot be set properly decrease overshooting KM l load rotary inertia ratio n D Decrease load inertia 2 Change to Load inertia too big TEM driver and motor with bigger power Occur when D 5 change servo Motor zero set motor just starts Wrong encoder zero encoder up CDU V and W leads of motor connected Wiring correctly wrong 2 Encoder cable lead connected 74
73. l mode When the remaining pulses in position deviation counter are 16 Completion range of less than or equal to the set value of the parameter driver will consider 0 30000 positioning positioning is complete and positioning completion signal COIN is ON or pulse else COIN OFF 3 In position control mode output positioning completion signal COIN in other control modes output speed reaches signal SCMP IE To set inspection range of too poor position alarm 0 300 17 e 2 In position control mode when the counting value of too poor position too poor position 100 pulse counter exceeds the parameter servo driver will send too poor position alarm Invalid fault of too 0 Too poor position alarm is tested to be valid 18 poor position 1 Too poor position alarm is tested to be invalid and the test stops 0 1 1 To set lowpass filter of speed test The smaller the value the higher the cutoff frequency and the quicker the response vise versa Filter will not lose input pulse but command may delay 19 Smoothing filter of 8 The filter is used for 132767 position command Ineffective drive inhibit input a Upper controller free from acceleration deceleration function b Big electronic gear division frequency gt 10 c Much low command frequency d Step jumping and unstable phenomenon will occur when motor is running The settings are 0 CCW and CW input inhibit is valid When CCW drive inhibit switch FSTP is ON
74. mal setting as 100 P47 time to output motor brake command when motor rotating with normal setting as 500 28 Command pulse PULS Type3 Input signal of external command pulse 12 PULS input PULS Type3 Deviation counting T Era Position deviation counter reset input reset CLE Typel EN m CLE ON reset position deviation reset under position control 35 Position control ZEROSPD ON force speed command to be 0 without regarding to Zero speed ZPD Typel analog input speed control ZEROSPD OFF speed command is analog input value 36 Evta AC Servo Driver User Manual Wiring Terminal sign Signal name Function Sign UO Command pulse SIGN Type3 SIGN input SIGN Type3 input signal of external command direction Table 5 3 Interface Definition List of CN1 Terminal Input output Signal Table 5 4 shows the interface definition of CNT terminal feedback signal output of motor encoder Terminal No Signal name Function Sign UO OAt 18 Encoder A phase signal OA Types 1 ABZ signal differential drive output of encoder 26LS31 output corresponding to 17 Encoder B phase signal OB Type5 RS422 OZ 2 Non isolation output not insulated 16 Encoder Z phase signal OZ Types 19 Public ground line of encoder GND Public ground line of encoder Case Shielding grounding line L we l Terminal of shielding grounding line Table 5 4 Interface Definition of CN1 Terminal Feedback Signal Output of Motor Encoder
75. n SON mode switch Alarm clear N NA CALRS I PN 15 pos CJ CW drive limit CRSTP CCW drive limit FSTP a A 16 E UN s command pulse inhibit Speed selection FN Scy Zero speed CINH SCU ZFD Servo ready SRDY J l 17 5 L Servo alarm ALM Brake output COIN et 1 C N COMMON PORT OF DG position command direction zo T NS 1 OUTPUT COM SIGN i A C __ position command 6 j OSEE i Position command pulse go e 20 directiont SIGNO Encoder V signal input V S ut PULS 3 iti 1 F L Encoder W signal input W position command m a E p Analog command input ze EN Q m pulse PULS FORSE RED RG d e AS A yx 21 Encoder U signal input U C 12 9 oe y I Analog command input AS Be d eS Encoder W signal input W Analog signal aonta K J is 22 Encoder U signal input U ea 8 D AGND EN l E ss Encoder signal ground a Ou 23 Encoder Z signal open output CZ Encoder Z signal input Z D A GND V s a H Encoder power 5 11 Z T Encoder A signal output OA Encoder Z signal input 2 NS c v Encoder A signal output OA S 24 _ os Z PEN Encoder B signal input B b E 14 12 C FM Encoder B signal output OB AT cate 4 mm Encoder power ground 0V Encoder B signal output OB N 25 Encoder B signal input B LA I AS 13 a Encoder Z signal output OZ Encoder A signal input A oy tue 15 Encoder Z signal output OZ O TN V J 5 ue
76. ne xu E e e ERE Ne opa NAE Ee seed escsavsreees 49 RE EB EINEN ei mo aes Reames sec AE 49 72 Leto Parimet Func HOD se esset bateau ed tepida n TV dne et aur depono ebe ufo 5 7 3 Parameter Setting Adjustment ect toute tolus Re a ea dee 56 7 3 1 Position of Parameter Operation Interface on the Main Menu 56 7 3 2 Restore Default setting of DVER e t iet tates 56 p S Anok Moor Code oec ode tne medido the ebd iso dde RR 58 7 3 4 Change Parameter and Store Parameter Setting esse eee eee eee eee 58 TA Parameter Management ingen tete utes tup tes Rt etude bus b ete uod es tb atate duis 59 Chapter 8 Operation A deo cccavvecent yaks oe TE sees chica eiae Te NUR E EE CHA EVI NE pre um NERO aC TM PENE 60 Balt TNOTIOS OBLO DOLI OTI o etait cto mute tius estate mue Ree esce DUE LU SS LO LU 60 B2 G ahr pu c Ex M MD EIE M EU EU M 60 83 Operation SequellCeaueeiadtu dede i oa te prete edere tete etie tede ee eero 60 Sel POW Ol SSQUCHCS 1125 ft do oett ei i es e sei deli his ciet a pte 60 Boe Alami SEQU CMC Pr 61 e Drake SCQUCIC octets sate ceca ic cece docto ae E 61 Gd OO 6 018 TESCO 8 Tr 61 Be G TZ Be au asec REM D e tM rro Uta ue c PP tes e ansae 61 S25 SL Se Control Mode sebo te Seat wt net ott oa a tuviese 62 8 5 2 Internal Speed Control a eie i eset getestet etate ceo tue dee 63 8 5 3 Operating Speed Mode of External Analog Input 64 8 5 4 Manual Commissioning Con
77. not damaged in transport Check nameplates of servo driver and servo motor and confirm goods received is what you ordered lt Check packing list to confirm accessories are complete 1 2 Product Nameplate AC SERYO DRIVER MODEL V1 HO4AT2 3PH 200 230V 50 60HZ 3PH 0 230Y 6 5A ammo V1D2150003 NECEM A Trena mat 1 Never touch components intidde the terve amplifier as you may receive an electric shock 2 Make sure te ground the grounding terminals of the servo amplifier andthe servomotor or you may receive anelectric shock MADE BY EVTA Figure 1 1 Driver Nameplate GEUTA o oem Type 130 SD 06025 E S Figure 1 2 Motor Nameplate General Evta AC Servo Driver User Manual 1 3 Product Appearance 1 3 1 Servo Driver Appearance Radiator 2 Mounitng bracket E Power Signal terminal terminal zs NC CNI TB oe SS SS D Feedback terminal Figure 1 3 External View of Servo Driver 1 3 2 Servo Motor Appearance Encoder socket Motor socket Motor installation surface Motor output shaft Feedback encoder Motor body Figure 1 4 External View of Servo Motor Evta AC Servo Driver User Manual 1 4 Peripheral Connection of Driver General To use servo driver unit some peripheral equipments shall be equipped Proper peripheral equipment can ensure stable operation of driver unit while improper equipment may decrease its life time and even damage drive
78. o motor model code motor may work abnormally 3 It shall press amp key that parameter can be effective after change and now the changed parameter value will be reflected to the controller If you are not satisfied with the changed parameter value Don t press amp key but press D key to exit Parameter will be restored to the value before change 7 3 4 Change Parameter and Store Parameter Setting Press selection key A or A to increase or decrease parameters during setting For example to change PAY from 40 to 80 Adress and hold 9 Apress for 5 time z Figure 7 4 Change and Store Parameters Evta AC Servo Driver User Manual Parameters and Setting 7 4 Parameter Management Parameter management function mainly controls operation between memory and EEPROM Select EE at the first class menu and press key to enter parameter management mode First select operation mode from 5 modes by and A keys Taking parameter input as an example select EE Set and press down for over 3 seconds and then display will show StArt indicating the parameter is being written into EEPROM About 1 2seconds later if operation is done successfully display will show FInISH while if fails it shows Error Press key again to return to the operation mode or selection status EEPROM Power on memory parameter zone EEPROM parameter zone Input memory EEPROM parameter zone
79. o reserve specified gap distance between servo driver and internal wall of electrical cabinet as well as other equipments or else it may cause fault and even fire disaster Please do observe the requirements on installation direction Please do not block air inlet and outlet Also do not let foreign matters enter the product Good radiating conditions must be provided Be aware of dust corrosive gas conductive object liquid and inflammables explosives into servo driver Servo motor Product shall be mounted firmly to prevent going loose under shake Prevent liquid from penetrating to damage computer and encoder Do not knock at motor and motor shaft to avoid encoder damage Motor shaft cannot bear load exceeding threshold AN Caution Personnel for grounding and inspection shall be of full capability in relevant work Q Notes on Wiring Grounding and inspection shall be carried out 5 minutes after power cutoff to avoid electric shock Please implement wiring correctly and reliably or else it may cause motor out of control injury or fault Please firmly connect power terminal and motor connector or else it may cause fire Servo driver and servo motor shall be well grounded Incorrect voltage or polarity of power may cause explosion or operation accident Servo driver and servo motor shall be well mounted before grounding Be sure to insulate wires and keep wire from extruding to avoid electric shock Grounding shall be done corr
80. oad 9 Locking gasket shall be used to fasten motor to prevent motor from loosing 10 Motor shall be kept from water and oil because cable immersed in water or oil may take water or oil onto motor body Be cautious of such case Figure 3 1 Motor Installation Warning 3 2 Parameters of Servo Motor 3 2 1 60 Series Servo Motor 1 Specification 60SD01330ES 60SD01930ES 3000 Counter emf V 1000r min Torque Coefficient N A Rotor Inertia Kg m2 0 302x10 0 438x10 Motor Specification and Dimension Evta AC Servo Driver User Manual Winding Line Inductance mH aT S Service Environment Ambient Environment 20 C 50 C Ambient Humidity relative humidity lt 90 no frost condition PE yellow green black 4 Signal Lead Number and Color of Encoder Socket u z U ar ve we v a B w E ENENEWHESENEGEBESEZEXRE REGE XEONMW red black green yellow brown yellow brown blue grey white grey blue green white black black black black black black Table 3 1 oU Series Servo Motor Specification 2 Mounting dimension 60 Series Rated Torque Nm Table 3 2 60 Series Installing Dimension Unit mm Table 3 2 60 Series Installation Dimension Diagram 10 Evta AC Servo Driver User Manual Motor Specification and Dimension 3 2 2 80 Series Servo Motor 1 Specification tak Gnat A 6 o 9 a ToqueCoeficim NavA os 08
81. ode 8 5 3 Operating Speed Mode of External Analog Input Connect wire correctly first but be cautious that the required input signal in the following list shall be connected Required input j 7 S Function signal W P Series Common terminal of input point as input terminal of control COM CNI 26 CNI 1 power 12 24V COM CNI 21 5 13 29 CNI 18 terminal of output point as control power ground line S s ervo on signal M Servo alarm signal RSTP CNI 24 CNII5 CW drive inhibit FSTP CNI J NIA CCW drive inhibit AGND Analog grounding COMDIN GNIS T l Analog speed command input AS D Io ST CN1 21 Analog input command Analog input command CNI2 NI Encoder B output C C A L NI NI Encoder B output N1 17 CNI 24 Encoder B output CNI 13 Encoder Z output Z CNI 16 CN1 25 Encoder Z output Table 8 8 Required Signal Connection Note To improve anti interference performance it is better no to connect three grounds together Confirm connection is correct and then keep all input signals OFF Connect power and then set required parameter 64 Evta AC Servo Driver User Manual Operation Required E Name Setting Function Parameter range parameter Control mode selection 1 R Set speed control mode a D If set to be 0 speed command is from internal nternal speed command speed 2 If set to be 1 speed command is from selection external analog inpu
82. ot connected firmly such as much big backlash 8 10 Computed Value If mechanical system inertia cannot be measure by the methods mentioned above we provide the following equation for EVTA servo to get correct value of the parameter PA33 PA33 motor inertiat load inertia converted from motor shaft value x100xrated current torque When mechanical rigidness setting increased EVTA servo gain increases but positioning time shortens However if setting too high motor noise will be big and the machine may vibrate Now please adjust set value down Mechanical rigidness shall be set at grade 4 generally and only some cases require grade 5 When rigidness grade set down motor load inertia shall be set correctly in servo system with setting parameter as PA33 It can be said that the process of parameter adjustment of mechanical system is the process of adjusting inertia parameter PA33 which makes the adjustment process more easy and effective 73 Maintenance and Inspection Evta AC Servo Driver User Manual Chapter 9 Maintenance and Inspection 9 1 Maintenance Notice Maintenance personnel shall be with relevant professional knowledge and capability Do not touch servo driver and motor within 5 minutes after power off to avoid electric shock and burning O Any fault alarm sent by the driver shall be troubleshoot according to alarm code before putting the drive into use again 4 Before resetting alarm confirm that SON servo effect
83. ounding OV parallel to reduce line voltage drop Connect to optical encoder A Type7 Connect to optical encoder A Connect to optical encoder B BEEN uou s Type7 Connect to optical encoder B erm E er Connect to optical encoder Z Type7 BEEN uuo c Connect to optical encoder Z 7 emokrU inpu u Comeetto optical encoder Us aay i encoder V input encoder W input Connect to optical encoder V Type7 Connect to optical encoder V Connect to encoder W l Type7 encoder W input Connect to encoder W Shielding grounding line ius Shielding grounding line terminal protection Table 5 8 Interface Definition of CN2 Terminal Encoder Signal Input 40 Evta AC Servo Driver User Manual 5 4 3 1 Pin Definition P Series Wiring CNT control signal terminal connecting cable side of EVTA P series servo driver is the 44 pin male while CN3 terminal cable side is 6 pin male For pin definition see Figure 5 21 and 5 22 3 Encoder A signal output OA 31 L L T Encoder A signal output OA 32 C DD 7 Encoder B signal output OB ON S C 4 Encoder B signal output OB analog ground AGND _ OI Se i Ne Y i G Analog spee d 33 L Ende signal output OZ X Z UN i Encoder Z signal output OZ command input fais je UN 19 COMDI
84. out permission or transformation B Machines damage caused by fire flood abnormal voltage other natural disasters or secondary disasters C Hardware damage caused by artificial dropping and transport after purchase D Machine damage caused by operation not in accordance with the user manual our company provided E Fault and damage caused by obstacles beyond the machine e g external equipment factor Maintenance charge is collected according to the latest Maintenance Price List Before maintenance maintenance personnel of our company will contact with you on phone to provide quotation and only with consent on the quotation the maintenance will be carried out If any question in the service process please contact with our agent or our company in time Shenzhen Easydrive Electric Co Ltd reserves all the right for final explanation of the agreement EVTA Servo Business Division Shenzhen Easydrive Electric Co Ltd Address Building 11 Jingxuan Industrial Park Donghuan 2 Road Longhua Baoan District Shenzhen Post code 518109 Product technology service hotline 400 700 2586 http www szeasyDriver com
85. position deviation display motor torque display motor current YO J IN ID IM IH W IN TR c display linear speed displayControl Mode reserve N display speed command O display alarm code N display software version no 0 20 Control mode selection By the parameter the following diver control modes can be set Position control mode Speed control mode Control mode of test run Zero test mode of motor Measurement way of motor load inertia O I A W je l Position and speed switch mode When changing among 0 5 parameter PAO shall be changed to be 310 Note 1 position control mode position command is input from command pulse input interface Note 2 speed control mode speed command is input through input terminal or by analog input 10V 10V which depends on the parameter internal external speed command selection PA22 If internal speed SCI 5 Parameters and Setting Evta AC Servo Driver User Manual Name Function Parameter range and SC2 can be combined to select different internal speeds Speed percentage gain 1 To set percentage gain of speed ring regulator The bigger the set value the higher the gain and the stronger the rigidness Parameter value depends on the practical servo driver model and load In general the bigger
86. ppearance enasna E E 2 1 3 2 Servo Motor Appearance i aa etaed iore EEE EEE EE E PA Peripheral Connechomor E TTT 3 BEL a CCS NOR Emm 3 S N e Te c ou E ogra ie een cohen MED RC eI MU M MM M ID MEI 4 S MEN Serle e 5 Chapter 2 Model Selecion TT 6 ZN Modlof Seano Re TTT 6 2an Mod lOr SEty 0 NIQUON asn AEA 6 2 3 Table of Driver Code and Motor Mod ls iesiri ens enspe n Es 7 Chapter 3 Motor Specification and Dimension eee e Leere eene eee eee ee eee teet ettet eene ee 9 Beals Sae NODIS ecrit due cti aes Al beet eee A Ar LIS Eee 9 2 2 Parameters ob Seryo MOIOERS a e ert bu o Redi dtd e quii a tide dM d uleRd 9 2 300458t165 SSrvO VOLO mosse amende aasds cioe E 9 DDD SOO BELOSQ EVO MOO de de testis lanl eta eee n Eve tiie ali ar 11 2 2 95 9 eT vL a MODOE ostio ced E Ead thai Da Ute dU a Oui tuducteie 12 oH JXIOSSeriesServoMOLOEL euasit Orem Rae Ern iod eam EE ER o UN MEX ea EE ERE 13 32 9 130 Senes Servo Moto tsa sich iret ere bee eeene b hee ceo de audet diae e n UH Ete T 15 3220 ieu vai mure tem 17 Chapter 4 Driver Specification and DimensioOn eere eee eene eee ee eene eene enean s tt too 20 Bale DeCS pecca 2a ecsupoctosises eet toi desta ats ete uis aa NM LS LP EUN 20 AMVs Peu b A E 20 ED SCE E E ta T 20 ABS MM EUIS NU ES 21 4 2 Installation Environment for Servo Driver sss eee eee eee 21 c M
87. proper and dynamic response is quick Curve 3 Speed step input curve when PAS is small but PA6 is big instant overshooting is at its most and motor is easily to vibrate A Instant i r min overshooting Stable state rpm 5 n Figure 8 9 Response Curve of Step Command Input PA8 Filter factor of speed feedback The bigger the filter factor of speed feedback is the quicker the speed feedback response is If set too big motor may generate much electromagnetic noise The smaller the set value the slower the speed feedback response is If set too small the bigger the speed fluctuation And even vibration may occur User can increase or decrease by 50 of the original value under default each time of adjustment and then observe the effect But pay attention that the lower limit of PA8 shall not be less than 16 PA9 Percentage gain of position ring Position ring of the drive unit adopts simple P adjustment that closed position ring can work when carrying out position mode and directional function of speed mode The bigger the percentage gain of position ring is the quicker the response to position command and the stronger the rigidness is If set too bigger motor may generate overshooting and then cause vibration when it starts or stops The smaller the set value the slower the response and the bigger the following error is User can increase or decrease by 5 under default each time of adjustment and then observe the effect But pay
88. r 5 4 CNI CN2 CN3 Signal Terminal Connection Standards and Interface Definition Connection standards Input output signal control line and encoder signal line shall be shielded line shielded twisted pair cable is better with cable diameter gt 0 12mm7 lt Wire length the shorter the cable is the better Input output signal control line shall be les than 3m while encoder signal line shall be 20m or less When mounting cables signal line shall be away from power line and be at least 30cm away from wiring of main circuit It shall not use pipe the same as main circuit or be bundled together with main circuit to avoid interruption Cable between driver and motor shall be within 20m Feedback cable of encoder shall be 30cm away from wiring of main circuit and shall not be in the same pipe as wiring of main circuit or be bundled together Feedback signal line shall be multiple twisted line with insulation coating with sectional area 0 15mm 0 20mm Insulation coating shall be connected with FG terminal Cable and lead shall be fixed well and away from servo unit radiator and motor to avoid insulation performance reduced for heat 5 4 1 W Series 1 Pin Definition CNT control signal terminal connecting cable side of EVTA W series servo driver is 44 pin male while CN2 terminal cable side is 26 pin male For pin definition see Figure 5 17 and 5 18
89. r unit 1 4 1 W Series AC 3 phase 380V Breaker 3 phase isolation transformer rm input 380V output 220V Filter AC contactor Figure 1 5 Peripheral Connection Diagram of W Series ME Command M gt I control Servo motor General Evta AC Servo Driver User Manual 1 4 2 F Series R T Communication Breaker Compulsory T Command control Js Ex lt ZF Filter Optional Tm SX Bar eel k in
90. rent 2 3A 3 iti 4 o c D S I or q oll nr Du LU co CL OL T 70 1 I CWO 3 u nm a Pul Ca Ca J Ca Ou a l m 4 A ES L m T l maa a q i ru C o Q7 l mi O o 46 Evta AC Servo Driver User Manual Digital Operator W Series E PA3 17 dP Lod d p D E Software version no Table 6 2 Monitoring Status 4 2 Monitoring Status Description innn 1 UUU f motor sped code 1000 CCW 1000r min of motor If it rotates CW it displays a4nnn negative speed UUU Unit r min 2 The feedback position of motor encoder consists of POS 4 high digits 4 POS 4 low digits Ex P iB x 10000 185806 pulses Similarly position command pulse consists of CPO 4 high digits 3 CPO 4 low digits x C IB x10000 185810 pulses The relationship between CPO and POS is as shown below X12 f p Pda PJq C o0 In the same way position deviation consists of EPO 4 high digits EPO 4 high digits E g U tri n Ui x 10000 4 pulses Note if motor rotates for 1 turns POS display change encoder line numberx4 pulses 3 Formula for motor curren
91. requirements Servo driver has not big requirements on accuracy Any place with power less then 0 8kW can take single phase AC220V 41096 1526 power source For wiring refer to Table 5 1 Place with power more than 0 8kw shall use 3 phase AC220V 10 1526 power Input terminal of main power Protection Control power Type Power output terminal supply Grounding supply input 0 2 1 0 kW 22 0 1 5 1 5 1 5 1 5 1 5 1 5 1 0 1 0 1 0 2 5 kW 22 0 2 0 2 0 2 0 2 0 2 0 2 0 1 0 1 0 Table 5 1 Wiring section Selection of Main Circuit When connecting terminal strip off insulated coat as required by standards and tighten naked copper wire Groove wire by pre insulated cold pressed terminal and fix it firmly The standards are as shown below 2 Table 5 7 Grooving Standards a 2 31 Wiring Evta AC Servo Driver User Manual 3 2 2 Power Input Output Interface Definition of TB Power Terminal Interface definition of TB Mei terminal is as shown in Table 5 2 EMEN UC E Power input of main Power input terminal of main circuit 7 S circuit 220V 50Hz single phase or 3 phase Note Do not connect with motor output terminal U V or W 4 PE Grounding Grounding terminal to connect with case ground of motor 5 Output terminal of servo motor shall be connected respectively corresponding to motor terminal U V and W External brake resistance To absorb internal regenerated ene
92. rgy of driver when motor stops Power input terminal of control circuit Input of control power 220V 50Hz Table 5 2 TB Interface Definition of Power Terminal 3 2 3 Connection Standards of Braking Terminal lt Generally speaking terminal P and D shall be hung in the air without any external resistance In case of Err 14 alarm for regenerated energy is too much due to speed reduction and internal resistance cannot absorb all the energy deceleration time can be prolonged according to the circumstances If the alarm still exists external brake resistance shall be connected through terminal P and D to enhance brake effect As for brake resistance its value ranges from 40 to 200Q while power 50 100W The less the resistance value is the more the brake current the more brake resistance power needed and the bigger brake energy However resistance with too small value may damage the driver Therefore the resistance shall be tested from big value to small one until the driver doesn t send any alarm External brake resistance is parallel to internal brake resistance about 40Q and operation can only be carried out 5 minutes after driver powered off and internal high voltage released completely lt For terminal P and D are connected with internal high voltage circuit do not touch them within 5minutes of power on and power off to avoid electric shock Terminal P and D cannot get into touch with other terminals to avoid short circuit 5 3
93. rmality and Troubleshooting Required parameter Applicable mode Work mode selection 0 9 4 Ps Autostart Inemalsatup o o fo ol Table 8 12 Zero Test Mode of Motor Operations for zero test mode of motor PA4 4 are as shown below 1 Drive unit displays when just powered on as motor running speed monitoring window when just powered on as motor running speed monitoring window 2 Check PA1 is corresponding to the motor Chapter 2 5 If correct it will skip the step or else it will call out the default parameter of drive unit corresponding to the servo motor T 3 Enter PA4 to set PA4 3 note PAO shall be set to be 310 during changing select 0 test mode of motor Press for pole Enter according to the steps as shown in the left figure and press OK to display A RDY 4 times 4 Force to trigger internal enabling automatically confirm motor shaft rotates free from any risk before Press for enabling 2 times 5 Press OK and hold for 1s and motor will rotate under the set mode When it display A XXX test completes The measured data shall be close to 0 or 1024 The difference between the data and 0 or 1024 is the deviation of pole position If the deviation more than 20 user can manually set the deviation into No 70 parameter for correction 6 Now press Back key to display A RDY to test again Press Back key to return to the
94. se TUE 7 nhibit INH Typel INH ON Command pulse inhibit input inhibi INH OFF Command pulse input effective Mode switch ALRS Typel When PA4 9 speed position mode switch function effective 9 Alarm clear input signal Alarm clear ALRS Typel ALRS ON clear system alarm ALRS OFF keep system alarm Servo alarm output signal 14 Servo alarm output ALM Type2 ALM ON no servo driver alarm servo alarm output ON output ON ALM OFF servo driver alarm servo alarm output OFF output OFF Servo ready output signal SRDY ON Control power and main power are normal driver has no Servo ready to l 15 ES SRDY Type2 alarm and servo is ready to output ON output ON outpu p SRDY OFF Main power is not connected or driver has alarm Servo ready output is off output OFF CCW counterclockwise drive inhibit input signal FSTP ON CCW drive permit FSTP OFF CCW drive inhibit DR CCW drive inhibit FSTP Typel Note 1 used for mechanical overlimit When switch is off torque at CCW direction is 0 Note 2 set parameter PA30 1 to shield the function User can enable CCW drive permit without connecting the signal Brake output signal COIN O L lower level to release motor brake Brake output signal COIN OFF H high level to release motor brake Relative parameter setting Unit 2ms P49 delay time from motor brake to serve OFF with normal setting as Motor brake 30 COIN Type2 100 output i P48 delay time from servo ON to motor brake command with nor
95. selection f ow J 3 prs Autostart Internal startup Table 8 10 Manual Commissioning Control Mode Operations for manual test run of motor are as shown below 1 Drive unit displays when just powered on as motor running speed monitoring window Check PAL is corresponding to the motor Chapter 2 5 If correct it will skip the step or else it will call ou he default parameter of drive unit corresponding to the servo motor 3 Enter PA4 to set PA4 3 note PAO shall be set to be 310 during changing select manual test run mode Enter Press for P according to the steps as shown in the left figure and press OK to confirm the operation Then it will display S e e x p 5 EI og 4 Force to trigger internal enabling automatically confirm motor shaft rotates free from any risk before Tess ar hold for 1s enabling pH Alle 5 Press OK again to hold for 1s and then motor will rotate at the speed given by the PA21 parameter Decelerati Acceleration 6 Press and hold A key to speed up motor rotation release to key and the speed will not change press and hold Q key to slow down motor until 0 since when it will rotate reversely Table 8 11 Manual Test Run Steps 65 Operation Evta AC Servo Driver User Manual 8 5 5 Zero Test Mode of Motor When the driver is powered on ii will display 9 normally In case of fault it will display alarm code and now please refer to Abno
96. splay Interface Display interface is provided for user to adjust parameters and monitor driver status EVTA EHT AC SERVO DRIVER to EFI 3 Driver trademark W SERIES i Series 6 digit LED monitoring window 4 digit key Voltage class Figure6 1 Display Interface 6 2 Key name and Function Display panel consists of 6 LED displays and 4 keys Q e3 S G to display various statuses and set parameters of the display Key functions are as shown below No and numerical value decrease or the option returns to the previous one No and numerical value increase or the option returns to the next one Return to the previous level of operation menu or cancel operation Enter the next operation menu or confirm the input Table 6 1 Key Function Among it Q and A keys shall be kept pressed with operation repeated The longer the key pressed the quicker the repeation For various statuses and data of the 6 digit LED display system when changing parameters decimal point lights at lower right corner of the 6 digit display tube will turn on If the light turns off when pressing it indicates the value confirmation enters into effect If pressing 5 to exit when the light is on parameter setting is invalid When Err flashes it indicates driver sends alarm 45 Digital Operator W Series Evta AC Servo Driver User Manual 6 3 Operation Mode of Main Menu Main menu namely the first class menu consists of the followin
97. t Deceleration time The set value means acceleration deceleration time of 1 2000 Unit 10ms PA40 constant motor from 0 to 1000r min Acceleration time The set value means acceleration deceleration time of 1 2000 Unit 10ms constant motor from 0 to 1000r min BEEN nput gain of analog PE set the percentage relationship between analog 10 3000 Unit PA43 speed command speed voltage and the practical motor rpm r min V DTake reverse polarity of analog speed input If Reverse direction of setto be 0 and analog speed command is positive analog speed command the speed direction is CCW if set to be 1 analog speed command is positive the speed direction is CW 0 1 0 deviation compensation of analog speed 0 deviation compensation to analog speed input 3000 3000 command DLowpass filter for analog speed input The filter of anal B bigger the setting the quicker the response and the speed command S bigger the signal noise and vise versa PA50 Encoder output electronic The parameter can set the pulse output number of 0 9999 gear each rotation If set to be 0 it output 10000 pulses Table 8 9 Parameter Setting of the External Analog Input Mode 8 5 4 Manual Commissioning Control Mode ca When the driver is powered on ii will display normally In case of fault it will display alarm code and now please refer to Abnormality and Troubleshooting Required parameter Applicable mode Work mode
98. t us 1 d 4 Control Mode O position control mode 1 speed control mode 3 test run control mode 4 zero test mode 5 measuring mode of motor load inertia 9 position and speed switching mode 5 Position command pulse frequency is the actual pulse frequency before amplification by entering Electronic gear The unit in the last place 0 1kHz Positive display is shown as positive number while negative display is shown as negative number dP HFo 6 When encoder is fixed Z pulse is taken as zero pulse position Displays pulse value that position signal output by motor encoder deviates from the zero pulse JL _ Z dP HPo jis 0 9999 If encoder line number is 2500 1 turn is a cycle The display range of Position corresponding to the display value is the accurate position of rotor in 1 rotation namely the position of rotor relative to stator in 1 rotation 7 For input output terminal status see Chapter 4 5 8 Running status display Main circuit of servo unit is powered on and enabled Fn oF F Main circuit of servo unit is not powered on rnr L H Main circuit of servo unit is powered on but not enabled 47 Digital Operator W Series Evta AC Servo Driver User Manual Operation method to call out status monitoring mode To call out the dP HPo D Directly select status monitoring status monitoring display two methods can be followed NE le dP
99. t To operate servo motor on vertical shaft please set safety unit to prevent workpiece falling in the state of alarm and excess of stroke In addition please make stop setting to servo lock in case of excess of stroke Please do set correct torque ratio or else it may cause vibration When power on or power just cut off radiator of servo driver regeneration resistor and motor may be under high temperature Please don t touch To ensure the stability of servo system please do not set extreme user parameters In case of alarm please reset alarm after troubleshooting and ensure it is safe and then power on to operate GQ Notes on Use AN Caution When using servo system a emergency stop circuit shall be connected to ensure that equipment can stop running and power can be cut off immediately in case of accident Before resetting an alarm please do confirm operation signal is cut off or else it may start suddenly Servo driver shall be used with supporting servo motor When servo driver is running its grounding terminal shall be grounded reliably Please set stop device on the side of machine to ensure safety Don t connect or disconnect system power frequently to avoid system damage Servo driver and servo motor may heat after continuous running so please don t touch driver radiator and motor when they are running or within 5 minutes when power cut off When servo motor is connected with the machine if wrong operation it
100. te 1 before turning SON ON to SON OFF motor shall be inhibited Note 2 no command shall be entered within at least 50ms after turning to SON ON Input signal of analog command direction Input signal of external command direction Input signal of external command pulse Table 5 6 Interface Definition List of CN1 Terminal Input output Signal Table 5 7 shows that interface definition of CNI terminal feedback signal output of motor encoder ignal name Function i Type5 OA Type5 Types Encoder A phase signal ABZ signal differential drive output of encoder Encoder B phase signal 26LS31 output corresponding to RS422 ype 2 Non isolation output not insulated Type5 Encoder Z phase signal Type5 Z signal open collector CZ Type6 Z signal open collector output output 39 Wiring Evta AC Servo Driver User Manual ermina O 1gnal name Function Public ground line of 10 GND Public ground line of encoder encoder shielding line protection Case FG Shielding grounding line terminal ground Table 5 7 Interface Definition of CNI Terminal Feedback Signal Output of Motor Encoder 3 Interface Definition of F Series CN2 Terminal Table 5 8 shows the interface definition of CN2 terminal encoder signal input Function Terminal No Signal name 5V Optical encoder of servo motor uses 5V power supply and public pw ground if cable is o long several core line shall be connected in encoder power gr
101. ter and trigge J 43 it according to the measured data or the existing parameter of the system is the same as the measured data and eq Holdforis the measured result has been saved 6 Now press Back key to display A RDY to test again Press Back key repeatedly to return to the PA interface Table 8 15 Steps to Measure Motor Load Inertia 66 Evta AC Servo Driver User Manual Operation 8 5 7 Position and Speed Switching Mode 1 If PA4 9 the system works under position and speed switching mode mode switch signal is ALRS which is the external input signal at the 9 pin of CN1 socket 2 Ifexternal input disconnected high resistance or input is 24V it is position mode If external input is OV it is speed mode 3 Input signal status under the two work modes can be changes at any time but only when the speed is reduced to 0 the two modes start to switch To switch position and speed modes first connect wire correctly but be cautious that the required input signals in the following table shall be connected Required input S Function signal W P Series F Series COM CN1 26 10 CNLI up terminal of input point as input terminal of control power CN1 21 5 13 29 CNI 18 Common terminal of output point as control power ground line 0V CN1 25 CNI 14 Servo on signal to control motor enabling function separately CNI 14 CN1 17 Servo alarm signal n o Z L z position command pulse input
102. the load inertia is the bigger the set value is SlIn the condition of the system without any vibration it shall be as big as possible 5 300Hz Speed product constant To set integral gain of speed ring regulator 2 Parameter value depends on the practical servo driver model and load In general the bigger the load inertia is the bigger the set value is S In the condition of the system without any vibration it shall be as small as possible 1 300 Lowpass filter of current command D To set the filter feature of torque command to resonance generated by the torque sharp vibration noise from motor 2 If sharp vibration noise from motor please reduce the parameter 8 The smaller the value the lower the cutoff frequency and the smaller the motor noise If load inertia is big set value can be reduced properly But if the value is too small it may slow down response and cause unstableness 20 500 Lowpass filter of speed inspection To set lowpass filter fracture of speed inspection 2 The smaller the value the lower the cutoff frequency and the smaller the motor noise If load inertia is big set value can be reduced properly But if the value is too small it may slow down response and cause vibration 3 The bigger the value the higher the cutoff frequency and the quicker the speed response If higher speed response value needed set value can be increased properly 20 50
103. the parameter After commissioning set the parameter to be 0 to ensure it will not be wrong changed 2 Passwords are graded to corresponding to user parameters and all parameters 3 To change model code parameter PA 1 model code password shall be used for other passwords cannot change the parameter 4 User password 315 5 Password for model code 310 0 9999 Model I Corresponding to different drivers and motor under the same series 2 Different model codes have different default parameter values To use the function of resetting default parameter do ensure the parameter is correct 8 In case of EEP ROM alarm No 20 the parameter shall be reset after repair and then restore default parameter or else it may cause driver abnormal or damaged 4 To change the parameter first set password parameter PAO as 310 and then change the parameter 5 For detailed parameter meaning see the chapter 0 51 Reserve Internal system parameter reserved for use reserve Initial display status Select display status when driver powered on display motor speed display the 4 low positions at current display the 4 high positions at current display the 4 low position commands command pulse accumulation display the 4 low position commands command pulse accumulation display the 4 low digit s of position deviation display the 4 high digit s of
104. tment rere No dP CPo Displays no data and motor doesn t work 1 i Test command wiring and upper computer after enabling SEE Ol yi anise data but motorda t work Check enabling signal and the required parameter setting iion direction of motor is different Refer to Rotating Direction Switch of Motor o Motor is abnormal with vibration and noise Refer to the Basic Performance Parameter Adjustment Pay attention to the mode of inspection command source and set 5 Motor doesn t work l correctly according to PA14 dP LPo Displayed data is different from the pulse l Check the shielding treatment of control signal line number of command source Keep away from the disturbing source Table 8 4 Treatment of Abnormal Position Control 8 5 2 Internal Speed Control Mode First connect the required input signals as shown in the following list Required input Terminal No 3 7 Function signal W P Series F Series Common terminal of input point as input terminal of controli COM CNI 26 10 CNI 1 NO pow CNI 25 CN1 14 Servo on signal can control motor enabling indepently CN1 23 CN1 16 Speed selection cNi 7 fspeed selection2 Table 8 5 Signal Connection onin connection correct keep all signal input OFF connect power and set the required parameter R d parameter l I O state of the selected speed Command Default Running speed SCI CNI 23 SC2 CNI 7 PA4 1 O OF O PA24 100 0 Inner speed 1 OFF PA25 50 0 Inner
105. tor frame No Rated torque N m Power voltage V Brake coil power 20 C W Release time s 24VDC 0 037 130 24VDC 23 0 042 8 24V DC 0 135 Table 8 19 Technical Parameters of Brakes for Different Motors Confirm connection is correct keep all input signals OFF connect power and then set the required parameter In the consideration of the sequence relationship between COIN signals if the machine or work platform moves a little under gravity please make time adjustment by the following parameters relevant to band type brake action Applicable mode PA47 Brake time constant1 2ms 0 1000 2ms 39 PA48 o 1000 0 PA49 0 100 0 Table 8 20 Relevant Parameter Adjustment Three conditions to cause the sudden turnoff of servo unit and corresponding solutions are as shown below Case 1 Servo unit turns off suddenly when motor moving as shown in Figure 8 5 When drive unit is moving at high speed it cannot make band type brake suddenly or else it may damage brake It is necessary to start band type brake release signal COIN at proper time Rational adjustment of PA47 can enable motor to decelerate first and then make band type brake PA47 shall be set according to the practical mechanical action SON input OFF Alarm ON Power off Actual motor rpm Rpm set to be 100r min I l l T COIN brake OFF release output ON l l l PA47 Allowable motor
106. tors of no 110 and 130 engine frames Note 4 The wiring mode is suitable for SD series servo motors of no 60 80 and 90 engine frames 28 4 core motor plug optical encoder 15 core plug Evta AC Servo Driver User Manual Wiring 5 1 3 P Series Control Wiring Diagram 1 Position Control Wiring Diagram Servo driver adopts 3 phase AC 220V power supply generally obtained by 3 phase 380V transformation through 3 phase isolation transformer Motor less than Ikw can adopt single phase AC 220V power supply single phase power connected to R and T with S hung in the air Q QO 3 phase gt Servo driver AC220V 4 core motor plug NFB B MC DC 12V24V Servo on Alarm clear e CCW drive limit n dd 26LS32 CW drive limit p driver deviation counter FSK 17bit reset incremental command encoder pulse inhibit CN3 terminal Servo ready Metal case Servo alarm Brake output COMMON PORT OF DG OUTPUT position r3 command Ac B C PULS 6 A 26LS31 i driver B B Encoder signal ead B output Note2 comman Ja SIGN Z N S open collector cZ output CNI terminal P Note 3 Mental case Encoder signal ground Figure 5 5 P Series Position Control Wiring Diagram Notes 1 As for upper computer pulse if waveform amplitude of directional signal is 24V it shall be cascaded with 1 2KQ 2KO resistance if the amplitude is 12V it shall be cascaded with 510Q 810Q resistance Note
107. trol Mode ee 65 S525 ero Test Mode of MOTOFT oreet Doe tache dades otiit a iude ne Rae tnde eodaduit 66 8 5 6 Load Inertia Test mode of Noo lt a ss22at iernii 25T O 20T ENZ OTTS nnns 66 8 5 7 Position and Speed Switching Mode 67 8 6 Application of Brake Release Signal 68 8 Rotate Direction Switch Of Motor iiu aei ette rec ne oe ue eo tee lee el 70 8 8 Basic Performance Parameter AdIUSment sss 71 8 0 Self testing Gain Parameter Adjustment cc cc eee 12 amp 91 Motor O Tes TT R R ST ST Te v dlee tatu eia tee eese ines 72 892 Measure oi Load R T do estie ee fes ip P ab cu e rt eei Send I2 85 9 5 Basic Parameter Block Diagrt tn cei tede tdt pa ie de oiedes tede te 8 0 4 Rigidness Setting of EVTA Servo Corresponding Machine 72 VEDI OS UDINE 73 Chapter 9 Maintenance and Inspection ss ee ss sese sese ses sees 74 2 Niarntenganee Nolte sod ebditucet a tle eu ue n vt deas eu iul oR ga He quitus 74 92 General Listor Alarmi C OG CS ice sari e easque qu RR Emu e ive tem 74 9 3 Alarm Processing Methods iti no ied ite eiie reisen 74 KAL S CR AER e 1 soncsiicoeniierieso niad e aS aA NEE ET A T 78 Evta AC Servo Driver User Manual General Chapter 1 General 1 1 Product Confirmation 1 1 1 Product Confirmation Items On arrival of the product please confirm the following items lt Check packing case in good condition and goods is
108. wer can only be connected after 30 minute cooling since troubleshooting Control power circuit r t I Main power R S T Servo ready signal SRDY Servo on signal SON Note Brake release signal COIN Servo motor enabling 60 Evta AC Servo Driver User Manual Note 1 main power shall be connected at the same time of or after control power is connected Note 2 SON signal is input but driver doesn t receive it until 20ms later after driver sends SRDY signal 8 3 2 Alarm Sequence Control power circuit r t alarm Servo alarm output ALM Servo ready signal SRDY Not ready Servo motor enabling Free status 20ms enable release Brake release signal COIN Servo on signal SON Figure 8 2 Alarm Sequence Note 1 SON signal shall be off reliably in case of alarm 8 3 3 Brake Sequence Servo ready signal SRDY servo OFF Servo ON Servo on signal SON Servo ON Brake release signal COIN Servo Motor enabling Enabli Free status Figure 8 3 Brake Sequence Figure Note 1 Brake release signal will be off if servo signal SON signal disconnected for 20ms during normal running 8 4 Commissioning After installation and wiring check the following items before power on and operation TB wiring of power terminal TB is correct and reliable input voltage is correct Power line or motor line is shorted or grounded Encoder cable is connect
109. will not only cause machine damage but also may cause personal accident Except special application it is not necessary to change the maximum rpm PA23 or else it may be much dangerous To change servo driver please transmit original user parameters of servo driver to new servo driver and then re start it or else it may cause machine damage Please never try to remodel the product Do not refit servo system without permission amp Notes on Maintenance lt gt A Warning After servo motor is powered off high voltage will still be kept for a period of time Therefore please don t dismount cable within 5 minutes after power off and don t touch terminal block Dismounting and maintenance personnel shall be with necessary professional knowledge and work capabili To change servo driver please transmit original user parameters of servo driver to new servo driver and then re start it or else it may cause machine damage Please don t change wiring when power on or else it may cause shock or inju In case of alarm do trouble shoot and reset alarm signal before restarting When power on again after power interruption please keep away from the machine because the machine may start suddenly machine design shall ensure no danger will occur when restarting GQ Other Notes The product is not designed and manufactured to be used in machine and system with danger to person When user selects the product for
110. with band type brake To effectively control the motion of band type brake motor the servo unit provides band type brake signal COIN Note the band type brake can only be used to keep work platform bur absolutely shall not be sued to slow down or stop the machine from running First refer to Figure 8 4 to connect wire correctly but be cautious that the required input signals I the following table shall be connected Required input signal S Function WIP Series Common terminal of input point as input terminal o COM CNI 26 10 CNI 1 control power CNI 25 CNI 14 COIN CNI 30 CNI 5 Band type brake release signal oe r Table 8 18 Required Wiring of Band type Brake Release Signal Figure 8 4 is the schematic wiring diagram that the band type brake release signal uses to control band type motor in practice 24V power in the figure shall be provided by user When receiving the band type brake release signal COIN COM pay attention to the power polarity For detail see the figure below 68 Evta AC Servo Driver User Manual Operation 24V power Band type Servo unit brake motor Brake coil 24Vpower Figure 8 4 Wiring Diagram in the Application of Band type Release Signal Controlling Band type Motor Motors with different powers require different band type brakes When selecting 24V switch power user shall refer to the technical parameters of brakes for different motors as shown in the table below Mo

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