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1. 5 10 5 3 1 Selection for speed command ooccconooccccnnncccccncnonccnnnnnnnonononnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnns 5 11 5 3 2 Analog speed command Ratio ooooccccccccocccnnccononccnncnononccnnonononnnnnnnonanncnnononanons 5 12 5 3 3 Adjusting the analog reference Of Set oooooccccccoconnconccononcnononononcnnncnonannnnncnnnannnns 5 12 5 3 4 Analog reference for speed command limit occccoooccnnccnocnncononcnnnnnnnnncnnanonoss 5 13 5 3 5 Encoder Signal OuUtput cccccccccccconncccnncccconononccnnnnnnnonnnnnnnnnnnnnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnos 5 13 5 3 6 Smoothing the speed command ooconocooccnncccccocccncccnoncconcnononnnnnnnononnnnnnnnnnnnnnnnnonannnnncnnnnnnnns 5 15 5 3 7 Setting rotation directioN oooncccnccccccooccnnccnnnncononononncnnnnnonononnnnnnnnnnnnnonnnannnnnnnnnnnnans 5 18 5 3 8 Speed Loop Gain ooocccnnnnccccnnnccnnnccccccnonnccnnnnnononnnnnncnnnnnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnannnnnnninnnnnnnas 5 19 A lic cae ee Aa 55 00 05 00 80 e 5 20 5 3 10 Torque Limit of speed control mode oooccccccccocccnncccnonccnncccnonncnncnononnconononanncnnononanons 5 22 93 311 Gain SWICRCO eee ee ee ee ene ee ee eee oe 5 23 5 3 12 Other FUNCION isis 5 30 5 4 Position Mode oooooccccccccoccccncccnocccononononcnnncnnnnnrnnnonnnnnrnnnonnnnnrnnnonnnnnnnnnnnnnnrnnrnnnnnrrnnnrnnnarinncnnnns 5 32
2. ma S 30 Industrial Product amp TECO System Automation Division 9 13 JSMA SCO01 dimension COFFS 2 3 5 300430 100 2000 82 LCO O 106 8 System Automation Division Industrial Product amp TECO 9 14 JSMA M middle inertia motor dimension 214 8 184 8 264 8 p E AN A I X i m HI L ATs QU 130 4 0110 022 i 99 Un E 0110 Industrial Product amp 9 15 T E CO System Automation Division Appendix A Peripheral for Servo motors DNI 0 Mm JSSECNO9P 3D SUB 9pin JSSECN25P 3D SUB 25pin JSSCNMO4 JSMA S L Power Connector AMP 4pin JSSCNPO9 JSMA S L Encoder Connector AMP 9pin JSSCNMLO4 JSMA M L type Power Connector MS 4pin JSMA M L type Power Connector with brake NPL est ue Encoder Connector MS 9pin JSSCNMS04 JSMA M S type Power Connector MS 4pin TAI 5 JSMA M S type Power Connector with brake Encoder Connector MS 9 pin Industrial Product amp App 1 T E CO System Automation Division JSSCNPS09 Cm Tm mA JSSMLMOO05 JSMA M 5M L type Power Cable MSL JSSEMLP003 JSMA M 3M L type Encoder Cable MSL D SUB JSSEMLP005 JSMA M 5M L type Encoder Cable MSL D SUB JSSEMLP010 ae 10M L type Encoder Cable MSL JSSMSMOO1 JSMA M 1M S type Power Cable MSS JSSMSMO003 JSMA M 3M S type Power Cable MSS JSSMSMO005 JSMA M 5M S type Po
3. Analog torque command ratio Tn103 Pr ota of voltage command Torque command can 10V 0 300 be Pr ota Setting example refer to the following diagram 1 With Tn103 set to 300 a torque command input voltage of 10V corresponds to 300 of rated torque For input voltage of 5V actual torque command will be 150 of rated torque 2 With Tn03 set to 200 a torque command input voltage of 10V corresponds to 200 of rated torque For input voltage of 5V actual torque command will be 100 300 Torque 200 Command 96 100 10 5 5 10 100 Input Voltage V 200 300 Slope is set by Tn103 Industrial Product amp 5 3 T ECO System Automation Division 5 2 2 Adjusting the analog torque command offset For a torque command of OV motor could possibly be rotating slowly To rectify this effect by adjust offset value in parameter Tn104 or use auto offset adjust feature Please refer to section 3 2 2 Note To check and set the offset to zero insert a link between analog torque command contact SIN CN1 26 and analog ground contact AG CN1 29 mode torque command offset Tn104 The offset amount can be adjusted by this mV 10000 10000 T parameter Before Offset Adjusting After Offset Adjusting Input Voltage V Input Voltage V Bias Voltage Torque Command Torque Command 96 Industrial Product amp 5 4 T ECO System Automation Division 5 2 3 Torque command linear
4. E On power on Drive Status parameter is displayed S DEIN od dr Use INCREMENT Or DECREMENT key until 5 or mn the minus sign is displayed You can toggle between and TS T by this key BEN To save the altered preset value Press the ENTER Key for 2 ar a HD seconds until SET is displayed briefly and then Enea display is returned to parameter Sn201 Industrial Product amp 3 4 T ECO System Automation Division If the negative value has 5 digits follow the steps in the example below Ex Pn317 internal position preset command 1 set to a negative value 10000 revolutions Step Control Keys LED Display after Operation Ta On power on Drive Status parameter is displayed Pressing MODE Key 6 times position parameter Pn 301 will be displayed BKE E view the Pn317 preset press ENTER Key for 2 seconds Press DECREMENT Key once to set the most significant digit To 1 And press the DECREMENT Key once again All 5 decimal points will light up to indicate a negative number in To save the altered preset value Press the ENTER Key for 2 seconds until SET is displayed briefly and then Pal T display is returned to parameter Pn 317 Alarm Reset from the Keypad To move to the most significant digit press the ENTER Key 4 times All alarm displays can be cleared from the keypad without a need for an external Alarm clear Reset signal Ex Under voltage Alarm AL 01 Under voltage Al
5. Note Input contacts status of above time sequence diagram 1 ON and 0 OFF Please check 5 6 1 to set the required high Low signal levels PNP NPN selection Industrial Product amp 5 66 T ECO System Automation Division 5 6 6 CW CCW Drive Inhibit Function Stopping method of the servo motor as a result of CW CCW Inhibit function can be selected according to the list below Setting Control permet Name Dato unt os Mode CW CCW drive inhibit mode Setting Explanation When torque limit reached the setting value of Cn010 Cn011 servo motor deceleration to stop in the zero 0 X Cn009 clamp condition X ALL o Once max torque limit 300 is detected then deceleration to stop zero clamp is applied when stop New setting will become effective after re cycling the power CW CCW Drive inhibit i Deceleration Mode After Stopping Cn009 0 Torque Limit Cn010 Zero Clam Cn011 Decelerating i Cn009 2 T 300 of Torque Limit Zero Clamp Industrial Product amp 5 67 T ECO System Automation Division 5 6 7 Selecting for External Regeneration Resistor In applications where a high inertia load is stopped rapidly motor will generate an energy which is regenerate power back to the servo drive Regeneration energy 1 Short deceleration time with heavy loads 2 In vertical load applications 3 High inertia rotary load applied to the motor shaft Part of the regeneration power will be absorbed by the driv
6. om 9 ft 9 A E a did Rotation Number Pn338 o fo a EU Prisenaner E ddl 0 Rotation Number Pn341 Pn343 Pulse Number Pn342 Rotation Number Pn344 Rotation Number Pn347 Rotation Number Pn350 Rotation Number Number Pn353 Pn355 Em Number Pn354 P14 1 1 1 Rotation Number Pn356 Pn358 Pulse Number Pn357 Rotation Number Pn359 PS Rotation Number m Rotation Number Pn362 Industrial Product amp 5 35 T ECO System Automation Division For internal positioning mode there are two types of moves incremental move or absolute move selectable byparameter Pn316 as below Parameter Setting Control Signal Range Mode Internal position command mode selection mode selection Setting Absolute Position Incremental Position New setting will become effective after re cycling the power Example below shows the difference between absolute and incremental moves Pn316 0 For two pulse commands of 10 pulse position pulse command and followed with another 20 pulse the traveled positions will be different Absolute Move Incremental Move Position Position pulse PTRG Position Trigger Once any preset position is selected by input contacts POS1 POSA then require a trigger signal PTRG from the input contact enable PTRG to start operation Diagram below shows an example for 4 different absolute encoders Absolute moves Position P 10 pulses P8 10 pulses p
7. After setting the Z Phase to be the Home it stops in accordance with the setting of Pn365 3 sets the search method for the Home position Once the Home Reference switch or signal is detected motor reverses direction in 2 speed to find the nearest Z Phase pulse and sets this as the Home position then stops in accordance with Pn365 3 setting method Once the Home Reference switch or signal is 0 detected motor Continues in its direction in X ne speed to find the nearest Z Phase pulse 2 and sets this as the Home position then stops in accordance with Pn365 3 setting method When Pn365 0 2 or 3 it finds the rising edge of ORG to be the Home position then stops in accordance with Pn365 3 5 4 8 When Pn365 0z4 or 5 it finds Z Phase pulse to be the Home then stops in accordance with Pn365 3 Setting of Home Routine Start method Setting On power up and activation of Servo on the home routine is started automatically 0 This method is useful for applications that do X not require repeated home routines No gt o Pn365 2 external home reference switch is required Use SHOME input contact to start a home routine In position mode SHOME can be used to start a home routine at any moment Industrial Product 8 6 23 T cQ System Automation Division IS ien uw Se aus oi Range Mode Setting of stopping mode after finding Home signal Setting Explanation After detecting the Home s
8. F3 Internal Position Command select 1 4 EA Pn347 Pn348 Pn350 Pn351 Pn353 Pn354 Pn356 Pn357 Pn359 Pn360 0 0 NEN E 0 0 EE EN EE 1 o 0 E E L0 0 ET a Pn362 Pn363 Internal position command select explanation 1 close loop with IG24 0 open loop with IG24 Torque Command When TRQINV and IG24 close loop in torque mode torque TRQINV T bh Heverse command become a reverse direction Industrial Product amp 2 15 T E cQ System Automation Division Digital Output Function Explanation The terminal layout here from this explanation are all the low electric potential please refer to 5 6 1 to check parameter settings Function Signal Name Symbol Mode I O Function Main power and control power input are normal Under the Servo Ready RDY ALL situation of no alarm terminal layouts RDY and IG24 close loop If normally operates the terminal layouts ALM and IG24 open Alarm ALM ALL loop When alarm occurs protection function operates the terminal and IG24 close loop When the motor speed is less than the speed from Sn215 the Zero Speed zs 5 ens layout ZS and IG24 close loop idi When Cn008 is set 1 or 3 and the servo on the terminal layout Bl and IG24 close loop when servo off terminal layout BK Signal ALL and IG24 open loop When this terminal layout is generally applied it is the Brake relay which is connected to control moto
9. Setting Dee e Once the home routine is activated motor will search for Home Position switch in 1 preset speed in CCW direction Input contacts CCWL or CWL can be used as the Home Reference Switch Once Home reference switch is detected and complete input contacts CCWL and CWL will act as limits input contact again Note When using this function 1 or 2 setting of Pn365 1 is not allowable Cn002 1 CCWL amp CWL Input terminal function must to set as 0 Once the home routine is activated motor will search for Home Position switch in 1 preset speed in CW direction Input contacts CCWL or CWL can be used as the Home Reference Switch Once Home reference switch is detected and complete input contacts CCWL and CWL will act as limits input contact again Note When using this function 1 or 2 setting of Pn365 1 is not allowable Cn002 1 CCWL amp CWL Input terminal function must to set as O Once the home routine is activated motor will search for Home On activation of Position switch in 1 preset speed in CCW direction and sets the input Home input contact ORG external sensor input as a Home reference when ORG contact contact is activated Pn365 0 It sets the If Pn365 1z2 it will directly find the closest Rising Edge of ORG Nd search to be the Home position without a need for Home reference then it CERE diredi stops in accordance with Pn365 3 setting Pi Pe ection and Home Once the home routine IS activated motor w
10. 100 63 29 bee 50 gt Time ms Sn206 Industrial Product amp 5 15 T ECO System Automation Division Setting example 1 To achieve 95 of speed command output in 30msec Ber RE O mSEG n 1 9596 2 To achieve 75 of speed command output in 30msec Ed Gude os SEO n r vm m j In 1 7596 TE Inz Natural log 2 Speed command linear acceleration deceleration function n205 2 to enable the use of speed command linear acceleration deceleration function Setting Control Parmer command linear accel decel time constant Sn207 Set Sn205 2 to enable this function then set the 1 msec 1 50000 S time period for the speed to rise linearly to full speed Linear acceleration deceleration time corresponds to the time in which the speed increases linearly from zero to the rated speed As shown in the diagram below Speed Command 2 2 2 2 2 2 2 2 2 2 22434 2 Rated Speed Command Current Speed Command A Sn207 gt Time ms Setting examples 1 To achieve 50 of rated speed output in 10msec Set Sn207 10 msec x TUE 20 msec 50 2 To achieve 75 of rated speed output in 10msec A 13 msec 15 Set Sn207 10 msec x Industrial Product 4 5 16 T ECO System Automation Division S Curve Speed Command Acceleration Deceleration Set Sn205 3 to enable the use of S Curve speed command ac deceleration function range
11. Cn016 PI I Mode Switching Condition Torque Command Torque Command A MER i PI Control P Control PI Control P Control Pl Control 2 Pl to P mode switch over by comparing Speed command When the Speed command is less than Cn017 Pl control is selected When the Speed command is greater than Cn017 P control is selected As shown in diagram below Cn017 Speed PI P Mode Switching Condition Speed Command gt PI Control P Control PI Control P Control PI Control Industrial Product amp 5 24 TECO System Automation Division 3 Pl to P mode switch over by comparing Acceleration command When the Acceleration command is less than Cn018 Pl control is selected When the Acceleration command is greater than Cn018 P control is selected As shown in diagram below Cn018 PI P Mode Switching Condition Acceleration Command Acceleration gt lt PI Control P Control PI Control P Control Pl Control 4 Pl to P mode switch over by comparing Position Error value When the Position Error value is less than Cn019 PI control is selected When the Position Error value is greater than Cn019 P control is selected As shown in diagram below Cn019 PI P Mode Switching Condition Position Error Value Position Error PI Control P Control PI Control 5 Pl to P mode switch over by PCNT input c
12. Command Input Wire Less than 3m Encoder Input Wire Less than 20m The Wiring goes by the shortest length Please wire according to the standard wiring schema Don t connect if no using Motor output terminal U V W must be connected correctly Otherwise the servo motor will abnormally function Shielded cable must be connected to FG terminal Don t install the capacitor or Noise Filter at the output terminal of servo drive At the control output signal relay the direction of surge absorb diode must be correctly connected otherwise it can not output signal and cause the protect loop of emergency stop abnormal Please do these below to avoid the wrong operation from noise Please install devices such as the insulated transformer and noise filter at the input power Keep more than 30 cm between Power wire power cable or motor cable etc and signal cable do not install them in the same conduit Please set emergency stop switch to prevent abnormal operation After wiring check the connection situation of each joint ex loose soldering soldering point short terminal order incorrect etc Tighten the joints to confirm if surly connected to the servo drive if the screw is tight There can not be the situations such as cable break cable pulled and dragged or be heavily pressed Especially pay attention to the polarity between servo motor wiring and encoder There is no necessary to add extra regeneration resistance under general situ
13. In order to protect the products from the damage during transportation please check the items below before sealing off the pack Check if the models of servo driver and motor are the same with the models of ordering About the model explanation please check the chapters below Check if there are damage or scrape out side of the servo driver and motor If there is any damage during transportation do not power ON Check if there are any bad assembly or slipped component in the Servo Drive and Motor Check if the Motor s rotor and shaft can be rotated smoothly by hand The Servo Motor with Mechanical Brake can not be rotated directly There must be the QC seal in each servo drive if not please do not proceed Power ON If there is any bug or irregular under the situation above please contact TECO s Local sales representative or distributor instantly 1 1 1 Confirming with Servo Drives JSD E 15 A U TECO AC Servo Product No Input voltage phase O Single Three Drive Series 3 3 Phase input Series E Drive Model AC Input Voltage I0 15 20 30 A AC 220V P S Maximum output power 10 200W 20 750 KW 15 400 W 30 1 KW Industrial Product amp 1 1 T ECO System Automation Division 1 1 2 Confirming with Servo Motors JSM A S C 30 A H K B TECO AC Servo Product No Motor Series Series A Motor inertia S T Extra low L Low M Middle Motor Speed A 1000 rpm B 2000 rpm C 3000 r
14. refer to section 5 5 for Position Loop Gain Adjustment methods Position Controllor Position Pulse Command Kp Position Loop Gain 1 s Koff Position Loop Feed Forward Gain 96 Encoder Pulse Feed Back 5 4 7 Clear the Pulse Offset In position control mode parameter Pn315 Pulse Error clear mode has three modes can be select CLR input contact is used to clear the pulse error as required according to the list below Setting Control Parameter Name Dt unit os Modo EN dabis error value 0 Pn315 When Input CLR contact to cancels the X position command Stops the motor rotating 2 the pulse error value is cleared and mechanical Home signal is reset When Input CLR contact to cancels the 2 position command stops the motor rotating and the pulse error value is cleared Note Input contacts status 1 ON and 0 OFF Please check 5 6 1 to set the required high Low signal levels PNP NPN selection Industrial Product amp 5 44 TECO System Automation Division 5 4 8 Original Home Home routine is used to find and set a reference point for correct positioning To set a HOME reference position one of input contacts ORG external sensor input CCWL or CWL can be used An encoder Z phase marker pulse can also be used as home reference and can be search by CW or CCW direction Following Home routine selections are available for setting parameter Pn 365 0 me Control Parameter Name
15. 17 rotation pulse value absolute value pulse value is an absolute value Pulse command Less then 1 paso iie power on it displays pulse command input for less than a rotation V V o To o Torque command Ex Display 50 Means current motor torque command is 50 of rated torque When Cn002 2 0 Auto gain adjust disabled it displays the current preset load inertia ratio from parameter Cn025 mn It displays the torque command as a percentage of the rated torque Load inertia x0 1 When Cn002 2 1 Auto gain adjust enabled it displays the current estimated load inertia ratio Industrial Product amp 3 8 T ECO System Automation Division 3 2 2 Diagnostic function Following diagnostics parameters are available Parameter Name and Function dn 01 Control mode display dn 02 Output terminal status dn 03 Input terminal status dn 04 X Sofwareversion CPU version dm05 JOG mode operation 0 1 dm06 jResevefuncion 0 0 dn 09 ASIC software version display dn 01 Control Mode Display Access dn 01 to display the selected control mode Control mode display description is listed in the table below Control Mode dn 01 Control mode display Speed control S PF S Position control PE External pulse command Pe Position Speed control switch Pe S PE S Speed Torque control switch S T S Position Torque control swit
16. 2 Hn506 2 for setting contact the high amp Low logic levels Of When Torque or Soeed Command value is Positive the setting of Motor retation direction are S Setting Explanation 3 T Torque Control Speed Control NM Counter Counter ClockWise CCW ClockWise CCW Counter ClockWise CW GlockWise CCW Counter ClockWise cow lockWise cW ClockWise CW ClockWise CW Industrial Product amp 6 4 T ECO System Automation Division Setting Control For default set to the rated encoder number of pulses per revolution such as 2500ppr 1 Cn005 Encoder ppr can be scaled by setting a ppr in the range 1 X ALL 5 3 5 of 1 to the rated ppr of the encoder for scaling purpose 63 PPR z Pulse per revolution Ex encorder rated precision is 2000 ppr If you e Cn005 2 the output is 1000ppr Cn006 Cn006 Reserve Reserve parameter Cn007 Cn008 Cn009 Speed reached preset 0 Speed preset level for CW or CCW rotation Rated rom S 5 3 12 When the speed is greater then preset level in Cn007 rpm x 1 3 4500 T the Speed reached output signal INS will be activated Brake Mode COW CW drive inhibit ACI 35 a 33 CW CCW drive inhibit a NES torque limit reached the setting value of Cn010 Cn011 servo motor deceleration to B in the zero clamp condition X 1 Reserve Reserve parameter as EE max torque limit 30096 is detected then deceleration to stop zer
17. 5 5 2 5 5 3 Note After Auto tuning is complete Set 0 in Cn002 2 otherwise it will not record the present measured Load Inertia Ratio If the power is cut off during Auto tuning then when the power is established Servo controller will use the previously recorded setting of Load Inertia Ratio which is stored in parameter Cn025 Industrial Product amp 5 59 T ECO System Automation Division 5 5 2 Manual Adjusting Manual Gain adjustment is made available for applications when auto tune is not providing a good and stable system response Or a system where there is no significant load variations and the auto tune is not used Manual Gain Adjustment in Speed control Mode Step 1 Set Rigidity level in parameter Cn 26 See section 5 5 1 for the selection table and Cn25 Step 2 If the Servo system includes a host controller which is used for positioning control then it s position loop Gain should be set lower relative to the servo drive Gain Step 3 Adjusting Speed Loop Gain 1 Sn211 a Increase Sn212 Integral Time Constant 10f Speed Loop Set a higher value than default or the set value when auto tune was unsuccessful b Increase the Speed Loop Gain Sn211 until there is no vibration or noise C Then decrease the Speed Loop Gain Sn211 slowly and increase Position Loop Gain of Host Controller until there is no vibration or noise Step 4 Adjusting Speed Loop Integral Time Constant 1 Sn212 Set the Integral Time Constant
18. 5 Output 5V 5E 4 CN2 D P Grounding wire of power 0 2mm or 0 8mm 2 Twisted pair cable including Joint of encoder supply GND shield cable 1 3 Encoder Signal Input 7 9 A A B B Z Z CN3 aen al 5 7 RS 485 Communication Communication RS 232 Communication 0 2mm or 0 3mm Twisted pair cable including shield cable 1 4 CN4 Joint of Communication Communication grounding RS 485 Communication P S 1 Select a proper capacity for NFB and noise filter when several Servo drives is connected 2 CN1 is 25 Pins D SUB connector CN2 is 9 Pins D SUB connector 3 CN3 CN4 are 8 Pins MINI DIN JACK Industrial Product amp 2 3 T ECO System Automation Division 2 1 4 Motor Terminal Layout A Table of Motor Terminal Wiring 1 General Joint Fine red DC 24V Brake control wire 2 Military Specifications Joint No Brake P S The military joint with BK of servo motor has 9 Pins and the encoder joint has also 9 Pins Please confirm before wiring Industrial Product amp 2 4 T ECO System Automation Division Table of Motor Encoder Wiring 1 General Joint Terminal Symbol Cable Color Signal c A oos e n owe CI Le e e 2 Military Specifications Joint emm cae car S os om ow o om ow Oe IEC IEC Oo CHEN Industrial Product amp 025 T CO System Automation Division 2 1 5 Typical Wiring for Motor and Main Circuit The Wiring Example of Single Phase
19. Automatic gain 1 amp 2 switch condition by G SEL input contact When the G SEL input contact is open Gain 1 is selected When G SEL input contact is closed Gain 2 is selected When G SEL input contact opens again then Gain 1 is selected and switch delay time can be set by Cn20 As show in the diagram below Input Contact G SEL Statu Motion 1 Use Input Contact G SEL to Switch 2 Stages Gain Mode o mr Cn020 Delay Time _ GMM Gain 1 Gain 2 Gain 1 Note Input contacts status 1 ON and 0 OFF Please refer to 5 6 1 for setting required high Low signal levels PNP NPN selection Industrial Product amp 5 29 T ECO System Automation Division 5 3 12 Other Functions When the speed level in CW or CCW directions becomes greater than the value set in Cn007 Speed reached preset the output contact INS operates Speed reached preset CORSI ded Signal Range Mode Speed reached preset Speed preset level for CW or CCW rotation Cn007 When the speed is greater then preset level in Cn007 the Speed reached output signal INS will be activated Cn007 Speed reached preset Note Input contacts status 1 ON and 0 OFF Please check section 5 6 1 to set the required high Low signal levels PNP NPN selection Industrial Product amp 5 30 T ECO System Automation Division Zero Speed preset When the Pre is less than the speed set in Sn215 Value of ZS the output egies Z
20. Chapter 1 5 to check the installation guidelines for the servo motor 3 Gain adjustment for the servo control loop Refer to Chapter 5 5 for details 4 Trial run with a host controller Run command is to be signaled by the host controller Refer to Chapter 4 2 to choose the required trial run mode Speed control or position control modes according to the application and set and adjust the parameters if necessary for the application 5 Repeat adjusting and record the set parameter values Repeat steps 3 and 4 until the mechanical system is operating satisfactorily then record the Gain value and the parameters changes for the future use Indusirial Proa amp 4 8 TECO Bysen Automation Cresson Chapter 5 Control Functions 5 1 Control Mode Selection There are three control modes in the servo drive torque speed and position modes can be selected individually or as a combination according to the selection table below Setting Control eg id Torque control To use one analog voltage command signal to control torque Please refer to 5 2 Speed control steps of speed Please refer to section 5 3 1 Position control External pulse command Four separate selectable pulse command types are possible to control position Please refer to section 5 4 1 Position Speed control switch 0 position amp speed control Please refer to section 5 6 2 6 Speed Torque control switch amp torque control Please refer to section 5
21. Input Position Symbol Command Input inf Speed Torque Analog 12 Command Input Speed Torque Analog Limit Command Input 104 Digital input COM Dicom Analog Signal Ground Terminal NE Industrial Product amp 2 10 T E cQ System Automation Division Explanation of General I O Signal Function Signal Name ot Mode I O Operation and Function Position Pulse Pulse The Driver can receive 3 kinds of Command below Command Input Pulse Sign 5 4 1 Position Sign Sign CCW CW Pulse Command Input AB Phase pulse In Speed Mode when external speed command is operated at 2 opeed Analog i die EA ILI 9 SPD1 0 SPD2 0 input the voltage range 10V 10V Sn216 5 3 3 p SIN can be set input voltage 10V s Motor output speed 5 3 4 2 1 Command Input be set input voltage 10V s motor output torque 2 2 Torque Control In Torque Mode when external speed limit is operated at input opeed Limit T connect point SPD1 0 8 SDP2 0 P S input voltage range 5 2 6 0 10V 10V s speed limit stands for motor s ratio speed Pi In Speed Mode when external torque limit is be used at input connect point TLMT 1 P S input voltage range 0 10V to 5 3 10 Torque Analog In Torque Mode input the voltage range 10 10V Tn103 can 5 P input 10V will limit the motor CCW torque is 300 of rate torque S MCN Phase Encoder Output A Phase Outputting the Motor Encoder Signal through pulse per rotation han
22. Main Power Less than 1KW Power ON Power OFF O O 6 MC a MC NFB B MC R OO ower Pt Fer Mes Single Phase 220V External Regeneration BK Resistance The Wiring Example of 3 Phase Main Power More than 1KW External Power ON Power OFF O O e 9 MC a MC 9 O A MC R 1s NM SiO Power MC S O O i i Filter iene 3Phase220V Regeneration BK Resistance Industrial Product amp 2 6 T ECO System Automation Division 2 1 6 TB Terminal Terminal Name Sign Detail Main circuit power input terminal Connecting to external AC Power Single 3 Phase 200 230VAC 10 15 50 60Hz 5 resistance terminal Please refer to manual to see resistance value EN TOI NN Motor power output terminal External regeneration When using external regeneration set the resistance power in Cn012 2 1 7 Wiring for Mechanical Brake Uninstall BRAKE e 50 100 200 300 400 750W series Use Red wire and yellow wire connecting to DC 24V voltage No polarity e 550 1KW series BK outputs from A amp F of Motor Power Joint servo motor can operate normally after uninstalling 50 100200 l Yellow Wire 550W 1 KW 300400 750W Red Wire Industrial Product amp 2 7 T ECO System Automation Division 2 2 I O Terminal There are 4 groups of terminal which contain CN3 and CN4 communication terminal CN1 control I O signal terminal and CN2 encoder terminal The diagra
23. Note Both of these features must be used correctly to improve system response otherwise the response will become worse Refer to the description below Following Gain Switching features are provided a Speed Loop Gain PI P Switching b 2 stage Gain Switching Purposes list 1 To restrict overshoot during acceleration deceleration in speed control 2 Reducing the in position oscillations and providing shorter settling time in position control 3 Decrease the noise caused when using Servo Lock For further details refer to section 5 3 11 Position Loop Feed Forward Gain Position Loop Feed Forward Gain can be used to reduce the error result from position control and improve the response speed Position loop Feed forward gain and position loop gain should be matched with If adjusting to higher position loop gain the feed fordward gain can be ignored Oppositly if the loop gain value is setting for a relatively low level adjust position loop feed forward gain will improve system response time obviously The adjustment steps are as follows Step 1 Refer to the procedures in sections 5 5 1 5 5 2 to adjust Speed and Position Gain Step 2 Increase Pn312 Position Feed Forward Gain slowly and observe the INP Output Signal of In Position at the same time and INP output should be activated faster Note The Position Loop Feed Forward Gain can not be set too high otherwise it will cause speed overshooting and INP In Position o
24. OxC1 0x81 0x40 0x01 OxCO 0x80 0x41 0x00 OxC1 0x81 0x40 0x00 OxC1 0x81 0x40 0x01 OxCO 0x80 0x41 0x01 OxCO 0x80 0x41 0x00 OxC1 0x81 0x40 0x00 OxC1 0x81 0x40 0x01 OxCO 0x80 0x41 0x00 OxC1 0x81 0x40 0x01 OxCO 0x80 0x41 0x01 OxCO 0x80 0x41 0x00 OxC1 0x81 0x40 0x01 OxCO 0x80 0x41 0x00 OxC1 0x81 0x40 0x00 OxC1 0x81 0x40 0x01 OxCO 0x80 0x41 0x00 OxC1 0x81 0x40 0x01 OxCO 0x80 0x41 0x01 OxCO 0x80 0x41 0x00 OxC1 0x81 0x40 0x00 OxC1 0x81 0x40 0x01 OxCO 0x80 0x41 0x01 OxCO 0x80 0x41 0x00 OxC1 0x81 0x40 0x01 OxCO 0x80 0x41 0x00 OxC1 0x81 0x40 0x00 OxC1 0x81 0x40 0x01 OxCO 0x80 0x41 0x01 OxCO 0x80 0x41 0x00 OxC1 0x81 0x40 0x00 OxC1 0x81 0x40 0x01 OxCO 0x80 0x41 0x00 OxC1 0x81 0x40 0x01 OxCO 0x80 0x41 0x01 OxCO 0x80 0x41 0x00 OxC1 0x81 0x40 0x00 OxC1 0x81 0x40 0x01 OxCO 0x80 0x41 0x01 OxCO 0x80 0x41 0x00 OxC1 0x81 0x40 0x01 OxCO 0x80 0x41 0x00 OxC1 0x81 0x40 0x00 OxC1 0x81 0x40 0x01 OxCO 0x80 0x41 0x00 OxC1 0x81 0x40 0x01 OxCO 0x80 0x41 0x01 OxCO 0x80 0x41 0x00 OxC1 0x81 0x40 0x01 OxCO 0x80 0x41 0x00 OxC1 0x81 0x40 0x00 OxC1 0x81 0x40 0x01 OxCO 0x80 0x41 0x01 OxCO 0x80 0x41 0x00 OxC1 0x81 0x40 0x00 OxC1 0x81 0x40 0x01 OxCO 0x80 0x41 0x00 OxC1 0x81 0x40 0x01 OxCO 0x80 0x41 0x01 OxCO 0x80 0x41 0x00 OxC1 0x81 0x40 3 Industrial Produ
25. PI P control mode switch by Torque Command Set the Cn015 0 0 first If Torque Command is less than Cn016 Pl control is selected If Torque Command is greater than Cn016 P control is selected PI P control mode switch by Speed Command Set the Cn015 0 1 first If Speed Command is less than Cn017 Pl control is selected If Speed Command is greater than Cn017 P control is ing Set the Cn015 0 If Acceleration is less than Cn018 PI control is selected If Acceleration is greater than Cn018 P control is selected PI P control mode switch by position error number Set the Cn015 0 3 first If Position error value is less than Cn019 PI control is selected If Position error value is greater than Cn019 P control is selected 6 6 200 o n from PI to P if the torque command is greater than Cn016 ES from PI to P if the speed command is y greater than Cn017 EN from PI to P if the acceleration rate is 4 X greater than Cn018 E from PI to P if the position error is greater than Cn019 Switch from Pl to P be the input contact PCNT 4 Set one of the multi function terminals to active N gt D Ic KR lwlv 4 8 2 j Q ct D gt u Qo N o z r gt ot NEM TECO Eh O A O 4500 18750 90000 Industrial Product amp Pi Pe 5 3 11 S Pi Pe S Pi Pe S Pi Pe S Pi Pe S 5 3 11 5 3 11 5 3 11 5 3 11 System Automation Division
26. Product amp T ECO System Automation Division 2 3 5 Torque Control Mode T Mode C R232 RS485 yN kE 4 a resistor P24 Internal 24V DC 0 Co O ju Digital input common MOTOR e mE 4 Encoder s P E VH Servo ON SON 37 RI Livi E Speed 1 SPDI UNS PA V Encoder Output A Phase RI VEA 9 PH p E PA Encoder Output A Phase 7 O ro p Speed XSPD2 O O i k sf LADA Servo Ready RDY 9002 at Alam ALM HA mo 7 E LOAD In Torque INT dese BC se 1624 Shield e MEME Analog Eu 9 RI Ly DIS vil m I Torque Inverse TRQINV O O Bt Z E TEN Encoder Output B Phase aw L5 U m yt t 10 PB Torque CW Selecting RS1 Bo ue Te T Encoder Output B Phase pr EE Pett Encoder Output Z Ph Torque CCW Selecting R82 O OH iQ DM hj HE db cl 1 i tz Encoder Output Z Phase 24V ground 524 BH ANE y ee M PZ We External supply gt Bi 7 V S Ve 24V R4 4 7K O EE n 35 2K0 Me O 1G24 Ve 12V R4 2 4K 0 Torque Control Speed Limit R2 gt Ve 5V R4 1 0K0 1P24 Analog EE Cae B DC24V m E 4 18 O 4 Torque Input d SINN A m DEDA 1 f Max Voltage 24V Max Output Current 10mA Indust
27. Smooth Command mem Pen m AC Deceleration Motor Position Feed Back Position Rate Gain 2 GaireSwiich Method n015 Cn024 l l Feed for ward gain Speed EG Pn312 smooth filter Position error set to 0 Position Rate Gain 1 Internal position Command Cn317 Cn364 Input contacts POS1 POS4 PTRG HOLD Position Command Direction Input Contact Input Contact PCNT GSEL INH Pulse clear mode Pn315 Input contact CLR Industrial Product amp 5 32 T ECO System Automation Division 5 4 1 External Pulse Command Four types of external position pulse command signals can be interfaced These can be selected from the list below Position pulse signal logic can be selected Positive or negative as required e m o s Signal Range Mode Position pulse command selection CAS I CCW and CW pulse 2 ABPhese Pus 00 3 ABPhase Puses 000 Position pulse command logic selection aos BEET o fPostvetoge o New setting will become effective after re cycling the power Position pulse Positive Logic Negative Logic coman nies CCW Command CW Command CCW Command CW Command Pulse Uo L H Sign Pulse AAA Pulse CW Pulse Sign AAA Sign CCW Pulse Pulse Sign Sign se tlh ef ttit sy Li eft Let ct AB Phase Pulse Industrial Product amp 5 33 T ECO System Automation Division Two types of pulse command can be connecte
28. Ss is Check Sum Ss X x amp Y y FAF a Bb XxYy is the data store in register address Nn 1 AaBb is the data store in register address Nn Response message of example 2 0001 000AH is the data store in register 60H Check Sum 25H 30H 30H 30H 31H 30H 30H 30H 41H 1B7H 0 0 0 1 00 O0 A Drive response message 0001000AB7 When function code incorrect drive response ASCII code 21H Industrial Produc amp 7 6 TECO yin Aularraln Draen 3 Write a word to drive Function code format W5XxYyZzSs Xx Address for write data Unit Byte Hex representation YyZz Writes the data contents Unit word Hex representation Ss Check Sum Ss W amp 5 X ex Y ey Zz Unit Byte Hex representation Ex3 Write data 0008H to register 30H Convert W5300008 into ASCII codes Check Sum 57H 35H 33H 30H 30H 30H 30H 38H 1B7H W 5 3 0 0 0 0 8 Obtain Function code for write data 0008H to register 30H W5300008B7 Drive response message ASCII code 25H When function code incorrect drive response ASCII code 21H 4 Write consecutive 2 words to drive Function code format M5NnXxYyAaBbSs Nn Address for write data Unit Byte Hex representation XxYy Writes the data contents of address Nn 1 Unit Word Hex representation AaBb Writes the data contents of address Nn Unit Word Hex representation Ss Check Sum Ss M 5 N n X x Y vyv AavB b Unit Byte Hex repre
29. T ECO System Automation Division 2 3 Pn365 0 1or 3 After starting the HOME routine run CW in 1 preset high speed to search for HOME Reference CWL CCWL or ORG Pn365 1 0 After finding HOME Reference reverse direction in 2 preset low speed to search for the nearest Z Phase pulse to be set as the HOME position Pn365 2z2 Input Contact SHOME Starts the Home routine Pn365 3 0 Reverse search for HOME position Speed E 2nd Stage Pn367 low speed Pn365 1 0 NC AN Position Pn365 3 0 Pn366 1 Stage Z Phase Pulse of high Speed Motor Encoder Pn365 0 1 K Input Contacts CWL CCWL or ORG Pn365 0 3 4 Input Contact SHOME d Pn365 2 2 Pn365 0 2 After starting HOME routine run CCW in 1 preset high speed to search for HOME Reference ORG Pn365 1 1 After finding HOME Reference continues in the same direction in p preset low speed to find the nearest Z Phase to be set as the HOME position Pn365 2 2 Input Contact SHOME Starts the HOME routine Pn365 3 0 Reverse search for HOME position Speed Pn366 1 Stage high Speed i Pn365 1 1 Pn367 2 4 Stage low speed VAJ Position Pn365 3 0 Z Phase Pulse of Motor Encoder apo ees a A E To a 1 Input Contact ORG EE Pn365 0 2 7 1 Input Contact SHOME y Pn365 2 2 Industrial Product amp 5 49 T ECO System Automation Division 4 Pn365 0 3 A
30. acceleration and deceleration An smooth torque command can be achieved by enabling acceleration Deceleration parameter Tn101 Range mode Linear acceleration deceleration method acceleration deceleration method Tn101 m re age X T 0 Disabled 1 1 fEnabled Torque command acceleration deceleration time is the time taken for the torque to rise from zero to the required level by Tn102 As p diagram below Parameter Setting Range mode Linear acceleration deceleration time period acceleration deceleration time Linear acceleration deceleration time period Tn102 Time taken for the torque command to linearly msec 1 50000 accelerate to the rated torque level or Decelerate to zero torque New setting will become effective after re cycling the power Torque Command Rated Torque Command 4g Required Torque Command Tn102 Time ms Setting examples 1 To achieve 50 of rated pun output in 10msec Tn102 10 msec x P 20 msec O 2 To achieve 75 of rated torque output in 10msec Tn102 10 msec x o 3 msec 153 Industrial Product 4 5 5 T ECO System Automation Division 5 2 4 Definition of torque direction In torque mode torque direction can be defined by one of the following three methods 1 Input contacts RS1 RS2 torque command CW CCW selectable by programmable input 2 Parameter Cn004 motor
31. alarm will be displayed AL 07 Multi function contact setting error Industrial Product amp 5 63 T ECO System Automation Division 5 6 2 Switch for the Control Mode Set one of the programmable input terminals to MDC Control mode selection The input then will select the preset control mode which is set by Parameter Cn001 Selections are listed below MDC Input off MDC Input On mn Control Cn001 Control Mode External Pulse Command B Selection fee Speed Control Torque Control Torque Control Position Control onse ORTI External Pulse Command q New setting will become effective after re cycling the power Please check 5 6 1 to setting the input contact required high Low signal levels PNP NPN selection 5 6 3 Auxiliary Functions Function of Input Contacts SON CCWL and CWL can be set according to the list below XCn002 0 ESZ input contact SON to switch Servo On S SON ALL Ca Servo ON Servo on with Power on d SON input contact not required em and CWL external limits are effective CCWL and CWL CCW and CW rotation is inhibited by en Counter Clockwise EN ee IO amp CCWL and CWL external limits are greet ineffective Clockwise Limits CCW amp CW rotation is not limited by CCWL amp CWL New setting will become effective after re cycling the power Industrial Product amp 5 64 T ECO System Automation Division 5 6 4 Brake Mode Brake function for servo motor and the extern
32. all other available parameters 3 Press X Key to view the Alarm 1 message that previously m happened and the alarm code is 03 Overload o Industrial Product amp 8 2 T E cQ System Automation Division 8 2 Troubleshooting of Alarm and Warning Alarm Alarm Name Corrective Actions Reset Code and Description Method Under voltage Use multi meter to check whether the input 01 The main circuit voltage is below its Voltage is within the specified limit If it can not be Lu E minimum specified value 190Vac solved there may be failure inside the Drive Over voltage 1 Use multi meter to check whether the input Regeneration error voltage is within the specified limit 2 Check the Parameter Cn012 if it is setting correctly 3 If this alarm appears during operation Extend ac deceleration time or reduce load ratio in the permitted range Otherwise an external regeneration resistor is needed Please contact your supplier for assistance Check connection for Motor terminal s U V W and Encoder Adjust the Drive gain If gain is not correctly adjusted it would cause motor vibration and large current will lead to motor over load Extend acc deceleration time or reduce load ratio in the permitted range Drive Over current Check connection of the motor cable U V W Transistor error and encoder Check power cable connection Refer to the 04 diagram in Chapter 2 Reset Power Drive main circuit Over curren
33. and control signal connections are correct as shown below To be able to adjust the speed for test connect a potentiometer between terminals SIN analog input voltage and AG Analog Ground Set the analog input voltage to OV No speed reference Servo Drives Servo Motor Apply Servo on Apply power to the drive and activate SON signal by switching SON terminal to IG24 input digital Ground If the motor rotates slowly while the speed analog input voltage is O volts then use dn 07 function to auto offset adjustment for the analog input value refer to section 3 2 2 Check the relationship between motor speed and the analog input speed command Increase the analog speed input voltage gradually by potentiometer and monitor the actual motor speed by parameter UnO 01 Check if motor rotation direction is correct and if necessary set it by parameter Cn004 Check for correctness of analog speed command ratio in relation to the preset in parameter Sn216 and analog speed command limit as set in parameter Sn218 Finally switch off SON signal turn off the servo motor Connection with a host controller Check and ensure that the wiring for the servo drive and host controller speed analog signal input SIN and encoder output PA PA PB PB PZ PZ are all correct and according to the diagram below Servo Drives Servo Motor 43 0 QUO5S 150H Confirm the rotation number and encoder output of Servo M
34. be diminution by setting an appropriate value in Cn034 Torque command smoothing filter In the other hand this will cause a delay in the response time of the torque loop Parameter Setting range mode Torque command smoothing filter Cn034 Restrain sharp vibration noise by the setting and this filter 0 1000 ALL delay the time of servo response Industrial Product 4 5 9 T ECO System Automation Division 5 3 Speed Mode Speed Mode is necessary for applications that require precisely speed control such as weaving drilling and CNC type machines Diagrams below shows the speed control system in two parts First stage shows Speed processing and conditioning and the second stage shows the Speed controller With PI P control modes and controller1 82 selection and interface with torque control stage Speed Command Processor SPD1 SPD2 Once Smooth AC deceleration Speed Sn206 Rotating Direction Sn218 ener Cn004 Speed Controller Input Contact SPDINV Speed Feed Back Sn208 Sn210 Host Controllor Sn216 AC deceleration Bias Adjusting n201 Sn203 Encoder Signal Internal Speed Command S Curve Encode ratio Output AC deceleration Sn205 AC deceleration Method Analog Speed Command Ratio Analog Speed Command Limit lo d Linear l l l l Speed Controller Analog Torque Limit Speed Controller 1 Analog Torque Limit Sn211 Sn212 Speed Command Resonance
35. below shows the relationship between Integral time and Speed loop Gain SpeedLoopInte gration TimeCons tant 2 5x se 27 x SpeedLoopG ain S218 einer loop gain 2 Pi eem 00 loop integral time constant 2 x0 2 gt Diagram below shows the speed controller Setting a high speed loop gain or a lower speed loop integral time provides a faster speed control response time For more details refer to section 5 5 Speed Controller Speed Command Kv Speed Loop Gain Hz Ti Speed Loop Integral Time Constant sec Speed Feed Back Industrial Product amp 5 19 T ECO System Automation Division 5 3 9 Notch Filter The function of the Notch filter is to suppress mechanical system resonance Hesonance occurs due to low mechanical system rigidity high springiness of transmission systems used with servo motors such as couplings bearings lead screws etc Enter the mechanical system vibration resonance frequency in parameter Cn013 Notch Filter frequency and adjust Cn014 to set the filter bandwidth scaling factor Lower the setting of Cn014 value wider is the notch filter frequency bandwidth The adjustment required depends on the application Caution If Cn013 is set to 0 the Notch filter is disabled Setting Control Parameter range mode Frequency of resonance Filter Notch Filter Frequency of resonance Filter Notch Filter resonance Filter Notch Filter Cn013 Enter the vibration fr
36. filter From Speed Processor Torque Control Cn013 Cn014 Loop Internal Torque Limit Speed Sn213 Sn214 Feed Back Cn010 Cn011 Smooth Filter Cn032 Speed Controller 2 Gain switch method Input Contact Cn015 Cn024 TLMT Speed Feed Back Input Contact PCNT G SEL Industrial Product amp 5 10 T ECO System Automation Division 5 3 1 Selection for speed command In Speed control input contacts SPD1 and SPD2 can be used for selecting one of the two methods below for setting speed limits 1 External Analog command Default Analog signal is input from terminals SIN amp AG pins 12 amp 13 on CN1 2 Internal speed command Selection of Three presentable Limits according to the table below Input Contact SPD2 Input Contact SPD1 Speed Command poda External analog command SIN CN1 12 o 1 Internal speed command 1 Sn201 1 Internal speed command 2 Sn202 Internal speed command 3 Sn203 Note Input contacts status 1 and 0 OFF Please check 5 6 1 to set the bd high Low signal levels PNP NPN selection Diagram below shows the external analog speed command wiring Drive me Analog Torque Command Input 10V e ey Vt Internal presetable speed limit parameters for soeed command mode are listed below These preset limits apply to both CW amp CCW directions Parameler Setting Control range mode on201 Internal speed command 1 E a Sn202 nternal speed command
37. ienders W kow ear ser Tab ear 325 1018 D REEENN E ice Rotor Moment of 0 675 0 675 0 675 0 675 0 675 0 675 poem oet EE ANEER OE 0 0 0 Operating Ambient Temp T C o lid Ambient PAE II storage Temp T 4298 storage Humidity RH 9 O x LL co c ta O D Industrial Product amp 9 9 T E cQ System Automation Division z Standard Specifications for Middle Inertia motor Motor Mode Symbol JSMA OOOO MAIS MBi5 MC15 MB20 MC20 MB30 MC30_ DrveMode SOA SOAS SOAVSOAS 3OA SOAS SOA3 SOAS 75A3 75A3_ Rate Output P w 1500 1500 1500 2000 2000 3000 3000 Rated Line Voltage rms Vr v 13824 14156 14249 143 71 140 81 141 7 19958 RetdTorue Ta Nem 14327 7464 4782 9545 637 14327 9545 Rated Current m A 745 757 706 948 o5 M M RatedSpeed Nh rpm 1000 2000 3000 2000 3000 2000 3000 Max Torque Tmx N m 42963 21 492 14327 28 45 19 11 42963 28 645 Mex Armature Current hm A 2235 2271 212 275 285 42 a2 Torque Constant Kv N ma 2108 106 074 114 074 119 075 inducedVoltageConstam Ke Vik rpm 2208 10899 775 1194 774 1183 785 Rotor Moment of Inertia Ju Ko om 1792 8882 626 12 14 8882 1792 12 14 BackEMF G1800rpm Vew Volts 2295 1132 8054 124 8044 12204 8158 A
38. is the Speed Loop Gain Value is setting speed response is becoming faster If Cn025 Load Inertia Ratio is correctly set then Speed Loop Bandwidth Sn211 Speed Loop Gain1 or Sn213 Speed Loop Gain2 Load Inertia Ratio Formula is as below Load inertia transforming to motor axis J Load inertia rating x 10096 Inertia of servo motor rotor J Speed Loop Integration Time Constant Integral element in Speed Control Loop eliminates the steady state error Under the condition of no vibration or noise reducing the speed loop Integral Time Constant can enhance system rigidity If the Load Inertia Ratio is very high or the system has vibration factors ensure that the Speed Loop Integral Time Constant is also high enough otherwise the mechanical system would produce resonance easily Integral Time Constant for Speed Loop can be set using the formula below Sn212 Integral Time constant 1 of Speed Loop 2 5x A 27 x8n211 Speed Loop Gain 1 Setting Example Assume Cn025 Load Inertia Ratio is correctly set If target Speed Loop Bandwidth 100Hz set Sn211 Speed Loop Gain 1 100 Hz then Sn212 Integral Time Constant 1 of Speed Loop 2 5x 5 40 x0 2msec z x100 Industrial Product amp 5 55 T ECO System Automation Division Position Loop Gain Position Loop Gain has a direct effect on the response speed of Position Loop Under the condition that there is no vibration or noise from servo motor increasing the Position Lo
39. of Speed Loop for minimum time setting that without causing mechanical vibration Step 5 Finally Slowly adjust the Speed Loop Gain Position Loop Gain of Host Controller and Integral Time Constant of Speed Loop until the servo system provides the best response Manual Gain Adjustment in Position Control mode Step 1 Set Rigidity level in parameter Cn 26 See section 5 5 1 for the selection table for the correct Load Inertia Ratio Step 2 Decrease Position Loop Gain 1 Pn 310 Set a lower value than default or the set value when auto tune was unsuccessful Set a relatively higher value in Sn212 Integral Time Constant 1 of Speed Loop Step 3 Adjust Speed Loop Gain 1 Sn211 Increase the Speed Loop Gain until there is no vibration or noise Step 4 Adjusting Position Loop Gain 1 Pn310 Slowly decrease the Speed Loop Gain again then increase the Position Loop Gain until there is no vibration or noise Step 5 Adjusting Speed Loop Integral Time Constant 1 Sn212 Set the Integral Time Constant of Speed Loop for a minimum time without causing mechanical vibration Step 6 Finally slowly adjusting the Speed Loop Gain Position Loop Gain and the Integral Time Constant of Speed Loop until the servo system provides the best response Industrial Product amp 5 60 T ECO System Automation Division 5 5 3 Improving Resonance The Servo drive provides the function of Gain Switching and Position Loop Feed Forward Gain to improve system response
40. of the fraction to make the Numerator and Denominator less than 50000 Numerator of Electronic Gear Ratio 32768 Denominator of Electronic Gear Ratio 3925 Industrial Product amp System Automation Division TECO 5 4 4 Smooth Acceleration Using the One Time Smooth Acceleration Deceleration of Position Command It smoothes the position pulse command frequency ignal Position command Pn313 Accel Decel Time msec 0 710000 Pi Pe Constant New setting will become effective after re cycling the power Time Constant of One Time Smooth Acceleration Deceleration of Position Command The Time in which The Position Pulse Frequency increases one time from zero to 63 296 of Position Pulse Command Frequency Frequency of Position Pulse Command 96 Frequency of Position Pulse Command 100 63 2 F 4 50 Pn313 Time ms Setting Examples 1 To achieve 95 of Position Pulse Command Frequency Output in 30msec e TA In 1 9596 2 To achieve 7596 of Position Pulse Command Frequency Output in 30msec 30 msec Pn313 22 msec In 1 75906 Note Above curve is a logarithmic In Natural log Industrial Product amp 5 42 TECO System Automation Division 5 4 5 Definition of Direction In position mode user can use Pn314 Position Command Direction Definition to define motor rotation direction The setting is showed as follow PEE Lem t um T Signal Range Mode Defini
41. power Industrial Product amp 5 62 T ECO System Automation Division Digital Inputs 2 to 6 Hn 502 to Hn 506 Are programmable and the logic state NO NC can also be selected same as that shown for digital input 1 See Hn501 Setting Control Vane ruin ECCO Eg DI 2 Programmable Digital input Selection T Xp Please refer to Hn501 nA DI 3 Programmable Digital input Selection HS Please refer to Hn501 DI 4 Programmable Digital input Selection NDS Please refer to Hn501 DI 5 Programmable Digital input Selection Hn505 Please refer to Hn501 DI 6 Programmable Digital input Selection mene Please refer to Hn501 DO 1 Programmable Digital Output Selection Setting aida RN Signa Functions Io zs ZeoSped me omo 06 NP In Position _ HOME HOME L0 INT noge DO 1 Digital Output Logic State Explanation 0 Close when the output is activated 1 Open when the output is activated DO 2 Programmable Digital Output Selection XHn508 Please refer to Hn507 DO 3 Programmable Digital Output Selection ng Please refer to Hn507 Warning 1 If any of programmable Inputs of DI 1 DI 6 are set for the same type of function then the logic state selection NO or NC selection for these inputs must be the same type Otherwise an Alarm will be displayed AL 07 Multi function contact setting error 2 When programmable DO 1 DO 3 are set for the same type of function
42. response bandwidth of the Speed control loop 10 Pi 5 3 8 Without causing vibration or noise Speed loop gain 40 Hz Pe 5 5 can be increased to obtain a faster speed response 450 S If Cn025 load Inertia ratio is correctly set the speed loop bandwidth will equal to speed loop gain acti eu loop Integral time 1 Same function as acti eu opeed loop integral element can eliminate the steady speed error and react to even slight speed variations o 2 Pi 5 3 8 Decreasing Integral time can improve system rigidity Pe 5 5 The formula below shows the relationship between us S Integral time and Speed loop Gain SpeedLoopIntegrationTimeCons tant 2 5x e 27 x SpeedLoopGain Speed Loop Gain 2 Same function as Sn213 Refer to qn401 0000000 to Refer to qn401 0000000 450 E 5 Speed Loop Integration Time Constant 2 2 gt qn404 Same function as Sn214 Refer to qn402 Without causing vibration or noise on the mechanical system the position loop gain value can be increased to speed up response and shorten the positioning time 5 4 6 Generally the position loop bandwidth should not be 5 5 higher then speed loop bandwidth The relationship is according to the formula below SpeedLoopGain PositionLoopGain lt 27 x uum pod Loop Gain 2 Same function as Pn311 5 4 6 mos Please refer to qn405 000000 refer to Please refer to qn405 000000 abo 5 5 It can be used to reduce the follow up error of position control and speed up the resp
43. value factory reset Reset parameters Setting Description Cn029 1 Heset all Parameters to default Factory setting New setting will become effective after re cycling the power Industrial Product amp 5 71 T ECO System Automation Division Chapter 6 Parameter 6 1 Explanation of Parameter groups There are 9 groups of parameters as listed below Umsx Status Display Parameters dmxx Diagnostic Parameters Alarm Parameters opeed Control Parameters Pn3xx Postion Control Parameters ambx Quick Setup Parameters Hn5xx Multuncion VO parameters Control Mode Code Signal Control Mode ALL All Control Mode Pi Position Control Mode nteral Positonal Command Pe Postion Control ModelExtemalPuise Command S Speed Control Mode Definition of Symbols Symbol Explanation Parameter becomes effective after recycling the power Parameter is Effective without pressing the Enter key 6 2 Parameter Display Table Diagnosis Parameter dn 01 Control mode display SS 0 dn 02 Output terminal signal status OS dn 03 Jjnputterminasignalstatus S dn 04 Software version CPU version 0 JOG mode operation dn 05 JOG mode operation dn 06 X jHoldposiion dn 09 ASICsoftwareversiondisplay o Industrial Product amp 6 1 T ECO System Automation Division Display Parameter Display umi Explanation Uni Actual Motor Speed Mo
44. view the Sn203 preset press ENTER Key for 2 seconds 5 No change is made and LED display return to last select parameter Sn203 press MODE Key once skip Some of the data entry in this drive are in the format shown below for these data the Most significant digit will be shown by the Capital letter H as shown below Ex Home search function in position mode Pn365 0212 Each digit of this preset for Pn365 parameter defines a selection for a specific function BitO corresponds to a selection for parameter Pn 365 0 and bit1 setting for Pn 365 1 etc Parameter Pn 365 Format for the 5 digits data value is shown below ad o J gt Hexadecimal Industrial Product amp 3 3 T ECO System Automation Division Display of Positive and Negative values Description of Positive Negative Display BEE D of Positive CE of Negative For negative numbers with 4 digits or less the negative sign is 800 800 displayed In the most significant digit as shown Ex Sn201 Internal Speed Command 1 BEES SERS For negative numbers with 4 digits the negative sign Is indicated by displaying all the 5 decimal points on the display Ex Pn317 Internal Position Command 1 Rotation number Setting a negative value 1 If the negative value has 4 digits or less follow the steps in the example below Ex Sn201 Internal speed command 1 preset speed of 100 to 100 rpm Step Key LED BE after rm
45. 0 ALL Signal Note To use brake output signal set Cn008 Brake mode to selections 1 as required When the servo system has vertical loading please set Cn003 to a Positive Number For definition of a time value with a positive or a negative sign refer to the following notes and timing diagrams 1 Cn003 set to a time value with a Positive sign AS soon as the input contact SON is switched on Servo on is activated at the same time then after a time delay set by parameter Cn003 Output Contact Bl is switched on Signal to release the brake When SON input contact is switched off Bl output contact is also switched off Signal to operate the brake Then after a time delay set by parameter Cn003 Servo ON is de activated 2 Cn003 set to a time value with a Negative sign AS soon as the input contact SON is switched on Output Contact Bl is switched on at the same time Signal to release the brake then after a time delay set by parameter Cn003 Servo on is activated When SON input contact is switched off Servo ON is de activated at the same time then after a time delay set by parameter Cn003 Output Contact Bl is switched off Signal to operate the brake Cn003 Output Time for Mechanical BK is Cn003 Output Time for Mechanical BK is Positive Number Negative Number 1 1 1 1 1 1 o o lt gt Cn003 Output Time for Mechanical BK Output Contacior Bl Cn003 Output Time for Mechanical BK
46. 000 Calculations without Electronic Gear Ratio Calculations with Electronic Gear Ratio 1 One rotation of ball screw Table move distance of For Calculating the number of pulses command required 5mm Setting of Electronic gear ratio see next chapter 2 If the table is required to move 10mm then Ball Electronic gear ratio can be set according to the required screw needs to rotate by 10mm 5 mm rev 2 move distance per move command pulse Hevs For example 3 Command pulses required to cause one revolution 1 One Pulse command Move distance of 1m Encoder ppr x Internal multiplication factor 2 If the Motion Table needs to move 10mm 2000 ppr x 4 8000 pulses Then the required command pulses from a Host Controller 4 So the Command pulses required to move 10mm 2 is revs 10mm 1um Pulse 10000 Pulses TRONU PUSESE EN TENS li Se Once the move distance per pulse and the Electronic gear ratio is known then the required number of pulse Number of command pulses for an specific move command can be calculated distance can be calculated according to the formula below Number of Ball Screw Revs x Encoder ppr x 4 Industrial Product amp 5 38 T ECO System Automation Division Electronic Gear Ratio Calculation Follow the Steps below 1 Define the requirements of the positioning system Establish the following e Move distance per one revolution of load shaft e Servo motor Encoder ppr Pulse Per Revolu
47. 1 5 3 Notice for in stall motor oooooccccconncccococnnnocnncnnononcncnnoncnnnnnaroncnnnnnnnonancnnnnnarnncnnaneness 1 8 Chapter 2 Wiring 2 1 Basic Wiring for Servo SySteM cccooooonncccncccccocooonccnnnnnononnnonncnnnnnnnononnnnnnnnnnnnnonnnrrnnnnnnnnnnnannennns 2 1 2 1 1 Wiring for Main Circuit and Peripheral Devices cccccooooccccccccoconccnncoconccnnnconononons 2 1 2 1 2 Wiring for Servo DriVeS cccccccccoccccnnccconccccocononcccnnononononnnncnnnnnononnnnnnnnnnnnnnnnnannnnnnnnnnnnnnans 2 2 2 1 3 Specifications of WiriNG cooocoonncccnncccnoncconnccnnnccnonnnanncnnnnnnnnonnnnnnnnnnnnnnnnnnnennnnnnnnnnnnns 2 3 2 1 4 Motor Terminal E3VOUL ase ioneccn eine Fuse uvetma ru bim a eatukie eii 2 4 2 1 5 Typical Wiring for Motor and Main Circuit oooooocccccccccncccccccnnnnccccncnnnnncncnnnnnnnnncncnnnnnnns 2 6 2 1 6 TB Terminal ooocccconnnccnccncccccncccncncnonnnonononononnnonnnnnnnnnnnnnnnnnnnnrnnnnnnnnnnnnnnnnnnnnnrnrnnrnnnannnnnnnnns 2 7 2 1 7 Wiring for Mechanical Brake coccooocccccooccocococconccnocononnononnononcnnnonannnonancncnnoncnncnnos 2 7 2 2 VO TB MUN AN MTE 2 8 2 2 1 CN1 Input and Output terminals ooooccccnncccccnconnnccnnnncnnonononcnnnnnonnnnnnanenonnnonnnnnnnos 2 9 2 2 2 Encoder Connector CN2 Terminal Layout ooooooocccncccccncconcccnoncconono
48. 1 TE CO Eyvsem Alar ln Draen 06H Write Single Register Write a word into register Ex Write data 0064H into register address 0200H and slave ADR 01 ASCII Mode Query PC gt Servo Write data word RTU Mode Query PC gt Servo ADR 01H r Registe co 02H ADD Lo Write data Response Servo gt PC OK Write data word Response Servo gt PC OK E pow Hi 02H Lo Write data Servo gt PC ERROR STX ADR CMD Exception code LRC END1 CR 0DH ENDO LF 0AH Servo 2 PC ERROR aoe Industria Procuct E TECO Cyaan Aura lin E PA 08H Diagnostic function The sub function code 0000H is able to check communication signal between Master and Slaver Data content is random value Ex Use the diagnostic function for IDZ01H ASCII Mode Query PC gt Servo Response Servo PC OK Servo gt PC ERROR EN EN 0 Sub HI Sub HI Function Function Lo E Lo RTU Mode Query PC gt Servo Response Servo gt PC OK Servo gt PC ERROR code 06H CM Sub Function CRC H CRC Lo DAH CRC Hi 8DH Industria Procuct E 7 13 TE CO Eysham Sultan E PA 10H Write Multipile Registers Continuously write N words to register Largest number of N is 27 1BH Ex Write data 0064H and 012CH into register address 100H and 101H respectively ASCII Mode Query PC gt Servo paa Lo Data length word Byte
49. 2 Switching Condition of 2 Stage Gain Mode Speed Command NC A MM 1 Cn020 Cn020 I ple DelayedTime gt e DelayedTime gt gt O 12 _ Gain 1 Gain 2 Gain 1 Gain 2 Gain 1 Industrial Product 4 5 27 T ECO System Automation Division 3 Automatic gain 1 amp 2 switch condition by Acceleration command When acceleration command is less than Cn023 Gain 1 is selected When acceleration command is greater than Cn023 Gain 2 is selected When Gain 2 is active and acceleration command becomes less than Cn023 system will automatically switch back to Gain 1 the switch time delay can be set by Cn020 As show in the diagram below Cn023 Switching Condition of 2 Stage Gain Mode Acceleration Command Acceleration Gain 1 Gain2 Gain 1 Gain2 Gain 1 4 Automatic gain 1 amp 2 switch condition by Position error value When position error value is less than Cn024 Gain 1 is selected When position error value is greater than Cn024 Gain 2 is selected When Gain 2 is active and position error value becomes less than Cn024 system will automatically switch back to Gain 1 and the switch time delay can be set by Cn020 As show in the diagram below Cn024 Switching Condition of 2 Stages Gain Mode Position Error Si Position Error Value gt lt Cn020 Delay Time l l gt lt Gain 1 Gain 2 Gain 1 Industrial Product amp 5 28 T ECO System Automation Division 5b
50. 2 it aay Sn203 Internal speed command 3 Industrial Product amp 5 11 TECO System Automation Division 5 3 2 Analog speed command Ratio Analog speed command ratio can be used to adjust the relationship between pea voltage speed command and actual speed command Setting Control MN speed command ratio Sn216 Slope of voltage command Speed command 3000 rpm 10V 100 4500 S can be adjusted Setting Example 1 With Sn216 set to 3000 a speed command input voltage of 10V corresponds to 3000rpm for an input voltage of 5V speed command will be 1500rpm 2 With Sn216 set to 2000 a speed command input voltage of 10V corresponds to 2000rpm for an input voltage of 5 volts speed command will be 1000rpm 4500 Speed Command rpm 3000 5 10 Input Voltage V 1500 PU ge V 3000 Slope is set by Sn216 4500 5 3 3 Adjusting the analog reference offset For a speed command of OV motor could possibly be rotating slowly To rectify this effect by adjust offset value manually in parameter Sn217 or use auto offset adjust feature Please refer to section 3 2 2 Note To check and set the offset to zero insert a link between analog torque command contact SIN CN1 12 and analog ground contact AG CN1 13 range mode m speed command offset adjust 10000 Sn217 7 3 The offset amount can be adjusted by this 10000 parameter Industrial Product amp 5 12 TECO System Automation Division Refe
51. 23 first When position error value is less than Cn024 Gain 1 is selected When position error value is greater than Cn024 Gain 2 is Pi Pe S selected When Gain 2 is active and position error value becomes less than Cn024 system will automatically switch back to Gain 1 and the switch time delay can be set by Cn020 loop integral time 1 Gain 2 is consisted of Pn311 position loop gain 2 Sn213 speed loop gain 2 and Sn214 Speed loop integral time 2 Industrial Product amp 5 26 T ECO System Automation Division 1 Automatic gain 1 amp 2 switch condition by torque command When torque command is less than Cn021 Gain 1 is selected When torque command is greater than Cn021 Gain 2 is selected When Gain 2 is active and torque command becomes less than Cn021 system will automatically switch back to Gain 1 the switch time delay can be set by Cn020 As show in the diagram below Cn021 Switching Condition of NND Command 2 Stage gain Mode Torque Command Cn020 DelayedTime l pUe Gain 1 Gain 1 PEERS Gain 1 Gain 2 Gain 2 2 Automatic gain 1 amp 2 switch condition by Speed command When speed command is less than Cn022 Gain 1 is selected When speed command is greater than Cn022 Gain 2 is selected When Gain 2 is active and speed command becomes less than Cn022 system will automatically switch back to Gain 1 the switch time delay can be set by Cn020 As show in the diagram below Cn02
52. 232 orque control parameters arameter ame ot parameter RS485 RS232 0101 520H Tn101 Linear acceleration deceleration method selection 0102 523H Tn102 Linear acceleration deceleration time period 0103 521H Tn103 Analog Torque Command Ratio 0104 522H Tn104 Analog torque command offset 0105 526H Tn105 Internal Speed Limit 1 0106 527H Tn106 Internal Speed Limit 2 0107 528H Tn107 Internal Speed Limit 3 0108 5CDH Tn108 Torque output monitor value Speed control parameters arameter ame OT parameter RS485 RS232 Speed command Smooth acceleration deceleration time 0206 52BH Sn206 constant Speed command Linear acceleration deceleration time 0207 52CH Sn207 constant S curve speed command acceleration and deceleration time 0208 52DH Sn208 setting Industria Procuct E 7 20 TE CO Eystnm ubrmalen Drawn Address Parameter Name of parameter 0210 0210 533H Sn216 Analog Speed Command Ratio 0211 534H Sn217 Analog Speed Command offset adjust Analog Speed Command Limit osition control parameters Address RS485 0301H 0302H 0303H 0304H 0305H 0306H 0307H 0308H 0309H O30AH 030BH 030CH 030DH O30EH O30FH 0310H 0311H 0312H 0313H 0314H 0315H 0316H 0317H 0318H 0319H 031AH 031BH 031CH 031DH 031EH RS232 550H Parameter Pn301 Pn302 Pn303 Pn304 Pn305 Pn306 Pn307 Pn308 Pn309 Pn310 Pn311 Pn312 Pn313 Pn314 Pn315 Pn316 Pn317 Pn31
53. 5 4 1 External Pulse Command oooccccncccnccconnccnnncccccnnonnncnnnnnnnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnonnnnnos 5 33 5 4 2 Internal Position COMMANO oococcccnccconncccncccccccnonoccnnnnnononononncnnnnnonononnnnnnnnnnnnnnnnnnnnnnnnnnnnnnns 5 35 5 4 3 Electronic Gear AM PP AA 5 38 5 4 4 Smooth Acceleration cooooncccccccconcconccononncononononncnnnnonnnncnnnnononnrnnnnonnnnrnonnnancnnncnnnanenss 5 42 5 4 5 Definition OF DIrectliOn eo aiii pae mado nde dia Len xa ca ku pu Ee ni Rd dees ones 5 43 5 4 6 Gain AdjuStMent occcccnconcnnnncccnncccccononnncnnnnnononnnnnncnnnnnnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnrnnnnnnnnnnnnnns 5 43 5 4 7 Clear the Pulse Offset is sisecdecsaccacceaciendsasedentaancdsgdanenncaddnawacneseakiwadinaeduneanebadadtadecewedtanxdesdassicds 5 44 5 4 6 Origmal HoMe mE UE mmm 5 45 5 4 9 Other Position FUHGHUOLL niic tii tt a 5 53 5 5 Gain Adjustment ccs nce occ Se ac ntas 5 54 5 5 1 Automatic Adjusting oooccccccccocnconccononccononononncononononncnnnnonnnnnnnnnonnnnrnnnnnanrnnncnnnanenss 5 57 5 5 2 Manual AdjUSTING coccooooccocococconoconcnnconononnonononnononcnnconnnnnnnnnrnnonnnnnnrnanrnnnnnnrnnenanrnnnnnas 5 60 5 5 3 Improving HESOMANCE caci n iii radio ieea 5 61 5 5 OMET FUNCIONS easseensitetcont isum ante debeas ta aaa 5 62 5 6 1 Programmable I O FunctiONS oooocccncccccoccnncccnonccnncnonnnnconcnononncnnonnnnnnnnncnnnnncnnnnnnnane
54. 59 0x58 0x98 0x88 0x48 0x49 0x89 Ox4B 0x8B 0x8A Ox4A Ox4E Ox8E Ox8F Ox4F 0x8D 0x4D Ox4C Ox8C 0x44 0x84 0x85 0x45 0x87 0x47 0x46 0x86 0x82 0x42 0x43 0x83 0x41 0x81 0x80 0x40 j3 Exception Codes When communication error occur servo drive is returned with an error code and Function code 80H return to the ModBus host controller The function code received in the query is not an allowable action 01 ILLEGAL FUNCTION for the server or slave The data address received in the query is not an allowable 02 ILLEGAL DATA ADD address for the server or slave A value contained in the query data field is not an allowable value ILLEGAL DATA VALUE for server or slave jA SLAVE DEVICE An unrecoverable error occurred while the server or slave was FAILURE attempting to perform the requested action RTU CHECK FAILURE RTU mode CRC check error ASCII CHECK ASCII mode LRC check error or no end code CRLF FAILURE Industria Procuct E 7 18 TECO Cyaan Dilara Dras 7 2 Communication address table All parameters allow to write data by communication excluding display parameters System parameters Address Parameter Name of parameter DI Contacts function and Auto tunning Encoder pulse output scale Brake Modes Automatic Gain 1 amp 2 switch condition Tun 0017 53FH Cn023 Command Industria Pracuct E 7 19 TE CO Eysham Lula len Draen Address Parameter Name of parameter RS485 RS
55. 6 2 EI Position Torque control switch 5 Cn001 position amp torque control Please refer to section 5 6 2 Position control internal position command Input contacts POS 1 POS 4 can be used to select 16 programmable preset position commands to control position Please refer to 5 4 2 New setting will become effective after re cycling the power Industrial Product amp 5s T ECO System Automation Division 5 2 Torque mode Torque mode is used in applications such as printing machines coil wiring machines injection molding machines and specific application that requiring torque control Diagram below shows the torque control process diagram Analog Torque Command Cn034 Speed Control Loop SpeedLimit Tn105 Tn107 Input Contact RS1 RS2 Torque direction Cn004 Input Contac1 TRQINV Current Controller Internal Torque Limit Current Feed Back Analog voltage torque command is applied to the drive input terminals as shown below Drive Analog Torque Command Input 10V Caution Care should be taken in selection of required torque direction CW CCW Please refer to Chapter 5 2 4 Industrial Product amp 5 2 T ECO System Automation Division 5 2 1 Analog Torque command Ratio Analog torque command ratio can be used to adjust the relationship between Input voltage torque command and actual torque command Parameter Setting range Mode
56. 8 J J J J 00 00 mz Co 00 O Industrial Product amp 6 9 T ECO System Automation Division IDE ies us Se oso tos Range Mode Communication time out dection Setting non zero value to enable this function 0 Cn039 communication Time should be in the setting period sec ALL 7 otherwise alarm message of communication time out 20 will show Setting a zero value to disable this function Communication response delay time 0 5 0 Cn040 Delay Servo drive communication response time to l ALL 7 msec master control unit 255 orque Control Parameter Parameter Name amp Function Default Unit acting entro Range Mode Linear acceleration deceleration method X Tn101 Setting Explanation X T 5 0 3 MN Disabled 1 Enabled Linear accel decel time period Time taken for the torque command to linearly accelerate to the rated torque level or Decelerate to zero torque Torque Command Rate Torque 1 Tn1 02 Command ji 1 msec T 5 2 3 E 50000 Torque j Command setting n102 Time ms Analog Torque Command Ratio Slope of voltage command Torque command can be adjusted 300 Torque o Command 5 200 o6 0 Tn103 300 T 5 2 1 i 10V 300 Input Apo Voltage 200 Slope set by Tn103 300 Industrial Product amp 6 10 T ECQ System Automation Division Chapter Vane Frei enn un Seg ose op Range Mode Torque Command analog input voltage offset The offset amount can b
57. 8 Pn319 Pn320 Pn321 Pn322 Pn323 Pn324 Pn325 Pn326 Pn327 Pn328 Pn329 Pn330 Name of parameter Position command selection for pulse type logic and drive inhizibit Electronic Gear Ratio Numerator 1 Electronic Gear Ratio Numerator 2 Electronic Gear Ratio Numerator 3 Electronic Gear Ratio Numerator 4 Electronic Gear Ratio Denominator Position complete value Position error band upper limit Position error band lower limit Position Loop Gain 1 Position Loop Gain 2 Position Loop Feed Forward Gain Position command Smooth Accel Decel time constant Position Command Direction definition Position Pulse error clear mode Internal Position Command Mode Internal Position Command 1 Rotation Number Internal Position Command 1 Pulse Number Internal Position Command 1 Move Speed Internal Position Command 2 Rotation number Internal Position Command 2 Pulse Number Internal Position Command 2 Move Speed Internal Position Command 3 Rotation number Internal Position Command 3 Pulse Number Internal Position Command 3 Moving Speed Internal Position Command 4 Rotation number Internal Position Command 4 Pulse Number Internal Position Command 4 Move Speed Internal Position Command 5 Rotation Number Internal Position Command 5 Pulse Number Industria Procuct E 7 21 TE CO Eysham Sultan E PA arameter ame ot parameter RS485 RS232 1 st preset speed of HOME high speed 2 nd preset speed of HOME low speed HOME Position Offse
58. 9300 JSDE series AC Servo System Instruction Manual D VIBE ine on ii TET hi Connecting Globally Na AN EA t 411 14 A gt X a Warning and Alert Warning Do not proceed to the assembly of the line while electrifying Circuit amp change components between entering shutting down the power supply and stopping showing CHARGE LED light of the Servo driver The output of Servo drive U V W must NOT touch the AC power Install the fan if the temperature around is too high while the Servo driver is installed in the Control Board Do not proceed to the Anti Pressure Test to the Servo driver Confirm the quick stop function is available before operate servo drive Matching up machine to change the user parameter setting before machine performs If there is no according correct setting number it could lead to out of control or breakdown Before start operate this servo drive check the servo motor Cn030 setting it will lead to error when CN30 without setting correctly Safety proceeding Check the covering letter detail before installing running maintaining and examining Furthermore only the profession qualified people can proceed to the line assembly Safety proceeding in the covering letter discriminate between Warning amp Alert AN Alarm Indicating the possibility dangerous situation It could cause the death or serious damage if being ignored Indicating the possibility d
59. ALRS DI Motor s speed is 1 5 times more then check and set correctly ON motor s rated speed Adjust speed loop gains Sn211 amp Sn213 for a better motor response CPUEror Tm off the power Turn on again after 30 min If error alarm still exists this may be due to external interference Refer to the chapter 2 Motor power cable and control signals connections Drive disable 1 Remove input contact signal When input contacts CCWL or CWL CCWL amp CWL are operated at th Check all input wiring for correct connections same time this alarm occurs Over load for a long duration will cause driver Turn ALRS DI iin transistor temperature exceed overheat check and reset operation system 90 C Reset Power Control system Supply Mal function Turn ALRS DI ON Industrial Product amp 8 4 T E cQ System Automation Division Alarm Reset Methods 1 carry out the suggestions below to reset Alarm a Reset by input signal Once the cause of Alarm is rectified disable SON signal Switch off Servo ON then activate input signal ALRS Alarm condition should be cleared and the drive will be ready for operation Reference 5 6 1 for setting SON and Alarm signal b Reset from Keypad Once the cause of Alarm is rectified disable SON signal Switch off Servo ON then press the buttons 4 and at the same time to reset Alarm and the drive will be ready for operation Power reset Once the cause of Alarm is r
60. CW CW Pulse 5 4 1 QO 0 Pulse Sign X pup 2 AB Phase pulse x 2 S39 AB Phase pulse x 4 Position Pulse Command Logic X 0 PPostivelogc Cid Selection for command receive of drive inhibit mode XxPn301 2 Setting Explanation E 118 y E drive inhibit occurs record value of X position command input coherently 1 When drive inhibit occurs ignore the value of position command Electronic Gear Ratio Numerator 1 Use input contacts GN1 amp GN to select one of four electronic Gear Ratio Numerators To select Numerator 1 the statue of the input contacts 1 GN1 amp GN2 should be as follows 1 5 4 3 50000 0 0 OE Note Input contacts status 1 ON and 0 OFF Hefer to 5 6 1 to set high or low input logic levels Electronic Gear Ratio Numerator 2 Use input contacts GN1 amp GN to select one of four electronic Gear Ratio Numerators To select Numerator 2 the statue of the input contacts 1 GN1 amp GN2 should be as follows 1 X 5 4 3 50000 Luo s qd Note Input contacts status 1 ON and 0 OFF Refer to 5 6 1 to set high or low input logic levels Electronic Gear Ratio Numerator 3 Use input contacts GN1 amp GN to select one of four electronic Gear Ratio Numerators To select Numerator 3 the statue of the input contacts 1 GN1 amp GN2 should be as follows 1 X 9 4 3 aces o 0 0 O Note Input contacts status 1 ON and 0 OFF Hefer to 5 6 1
61. If any of programmable Inputs of DI 1 DI 6 are set for the same type of function then the logic state selection NO or NC selection for these inputs must be the same type Otherwise an Alarm will be displayed AL 07 Abnormal DI DO programming Industrial Product amp 6 26 T ECQ System Automation Division Fere eire CAE DI 2 Programmable Digital input Selection 001 DI 3 Programmable Digital input Selection 001 Ll c eee el DI 4 Programmable Digital input Selection 001 Lu cL MESE DI 5 Programmable Digital input Selection 001 DI 6 Programmable Digital input Selection DO 1 Programmable Digital Output Selection Setting la E a xHn507 0 Servo Ready XHn507 1 103 ZS Zero Speed BI INS In Speed HOME HOME INT In Position In Torque DO 1 Digital Output Logic State Explanation e lose when the output is activated Open when the output is activated 2 Programmable Digital Output Selection Hn508 Please refer to Hn507 refer Please refer to Hn507 Hn507 DO 3 Programmable Digital Output Selection XHn909 Please refer to Hn507 0 Please refer to Hn507 0 refer to Hn507 x New setting will become effective after re cycling the power Warning If any of programmable Inputs of DO 1 DO 3 are set for the same type of function then the logic state selection NO or NC selection for these inputs must be the same type Otherwise an Alarm will b
62. Pin NO of Control CN1 mode Encoder pulse output A Phase signal CN1 21 Encoder pulse output A Phase signal CN1 09 EN Encoder pulse output B Phase signal CN1 22 ALL Encoder pulse output B Phase signal CN1 10 Encoder pulse output Z Phase signal CN1 23 Encoder pulse output Z Phase signal CN1 11 TIME TIME Industrial Product amp 5 4 TECO System Automation Division 5 3 6 Smoothing the speed command Sn205 can be used to eliminate speed overshoot and motor vibration by selecting one of the acceleration deceleration methods which is suitable for the application from the table below II ten Range mode Speed command accel decel smooth method Setting Explanation 0 Disable this function this function 0 un BB to the curve defined by on206 3 EN Soda Sn207 ENT ee by Sn208 Above three methods of Acceleration deceleration are described below 1 Speed command smooth ac deceleration Set Sn205 1 to enable the use of speed command smooth acceleration deceleration function Setting Control pemmeer Name atau unit Sange mode Speed command smooth accel decel time Constant Sn206 Set Sn205 1 to enable this function then set the time 1 msec 1 10000 S period for the speed to rise to 63 2 of the full speed Smooth acceleration deceleration time corresponds to the time in which the speed command increases from O to 63 2 as shown in diagram below SpeedCommand Speed Command
63. Pn319 ula Internal Position Command 15 Rotation Number biu Please refer to Pn317 20000 Internal Position Command 15 Pulse Number id pulse 4 Please refer to Pn318 sot Internal Position Command 15 Move Speed Please refer to Pn319 Internal Position Command 16 Rotation Number Please refer to Pn317 das Industrial Product amp 6 21 T ECO System Automation Division one uncis ENDE ee Range Mode Internal Position Command 16 Pulse Number d pulse Please refer to Pn318 sot Internal Position Command 16 Move Speed rom 9 4 2 Please refer to Pn319 3000 Setting for HOME routine Setting Explanation Once the home routine is activated motor will search for Home Position switch in 1 speed in CCW direction Input contacts CCWL or CWL can be used as the Home Reference Switch Once Home reference switch is detected then input Contacts CCWL and CWL will act as normal Max limits again Note When using this function Pn365 1 can not be setto 1 or 2 Cn002 1 selection for CCWL and CWL must be set to 0 Once the home routine is activated motor will search for Home position switch in 1 speed in CW direction Input contacts CCWL or CWL can be used as the Home Reference Switch Once Home position is detected then input contacts CCWL and CWL will act as normal max limits again 0 Pi Note 0 X Pe 5 4 8 5 When using this function Pn365 1 can not be setto 1 or 2 Cn002 1 selection f
64. R and IG24 close loop delete the pulse amount in the amount delete Pi Pe Position Error Counter When LOK and IG24 close loop will transform speed control mode Servo lock LOK S into position control mode in order to lock the motor at the last 5 3 12 position When EMC and IG24 close loop Emergency stop gt Servo Off and Emergency stop EMC ALL exit the rotating statue and Cn008 will decide if the dynamic Brake 5 6 4 operates Speed Speed Limit SPD2 SPD1 Command Command Speed Mode Torque Mode Internal speed command limit sai Internal speed SPD2 command limit po f 1 sn201 Tn105 Internal speed setting and limit 1 Close loop with IG24 0 Open loop with IG24 Industrial Product amp 2 13 T E cQ System Automation Division Digital Input Function Explanation Except CCWL and CWL are the high electric potential other terminal layout are the low electric potential please refer to 5 6 1 to check related parameters setting Function Signal Name Symbol Mode I O Function Control Mode When MDC and IG24 close loop current control mode will 5 1 Switch MDC Pe S T transform into default control mode please refer to Cn001 5 6 2 Position Mt Fe bata INH and IG24 close loop position command input does e 5 4 1 Command Limit not operate do not accept external pulse command opeed Command When SPDINV and IG24 close loop in speed mode setting SPDINV Counter Wise rotating speed will become counter wise rotat
65. RS 485 to converter Pin Description Name Description Name 1 Receive Data RxD Transmit Data Data 2 Transmit Data Data 3 Ground GND Power input VS 4 Transmit Data TxD Power input GND 5 Transmit Data Data 6 7 Transmit Data Data Power supply 8 industrial Product A 7 2 TECO Byam Aulormalan brawo 7 1 2 RS 232 RS 485 communication parameter Setting Control Parameter Name amp Function Chapter Range Mode ServolDnumber ID number Cn036 When using Modbus for communication each servo X i ALL 7 units has to setting a ID number When two or more 054 drive ID overlap will lead to communication fail Modbus RS 485 braud rate setting Setting Explanation 0 1 ALL 7 bps al o 115200 Explanation 4800 9600 19200 unication Communication protocol 7 N ne T 3 Est Modos ase 2 f o t wous ason 07 A AS D G N lt A 319 ior D N y 0 N GO N oO pe c Q pe r D YN D 5 O i o O o 0 O gt F mM a b E UICE ASCII ER N 2 TA RTU 8 E 1 Modbus RTU NA O 1 Modbus RTU Communication time out dection time out Communication time out dection Setting non zero value to enable this function Cn039 communication Time should be in the setting period otherwise alarm message of communication time out show Setting a zero value to disable this function Communication response d
66. S operates CEA iw Range Mode Value of zero speed Set the zero speed range in Sn215 21 4 ents When the actual speed is lower than Sn215 value ptr jaune Output contact ZS is activated n215 Value of Zero Speed ZS output contact Note Input contacts status 1 ON and 0 OFF Please check section 5 6 1 to set the required high Low signal levels PNP NPN selection To Zero the speed command according to preset level in Sn215 set Sn204 to selection 1 A Signal Range Mode Zero CA selection Enable cmm Sn204 0 Noaction action 1 Set the preset value in Sn215 as zero speed Speed Command Previous Speed Command Zero speed preset level Sn204 1 Set the speed preset level as Zero speed Servo Lock In speed mode the Servo Lock is used to lock servo motor when input voltage command is not at 0V When input contact LOK operates The control mode changes to internal position control mode it temporarily stop motor rotation Please refer to section 5 6 1 for setting input contact LOK function Industrial Product 4 5 31 T ECO System Automation Division Speed Feed Back Smooth Filter When there is system abnormal vibration or noise Set Cn032 speed feed back smoothing filter to restrain vibration or noise Addition of this filter will delay the speed response of servo system li NR CC Signal Range Mode opeed feed back smoothing filter Cn032 Restrain sh
67. SPD1 and SPD2 can be used to select 3 sets of internal speed command select for speed command 1 contact status shows 3000 below 100 rom S 5 3 1 3000 OA es o Note Input contacts status 1 ON and 0 OFF Refer to 5 6 1 to set high or low input logic levels In Speed control input contacts SPD1 and SPD2 can be used to select 3 sets of internal speed command select for speed command 2 contact status shows 3000 below 200 rpm 3000 Note Input contacts status 1 ON and 0 OFF Hefer to 5 6 1 to set high or low input logic levels Internal Speed Command 3 In Speed control input contacts SPD1 and SPD2 can be used to select 3 sets of internal speed command select for speed command 3 contact status shows 3000 Sn203 below 300 rpm S 5 3 1 3000 o 0 IA 1 Note Input contacts status 1 ON and 0 OFF Refer to 5 6 1 to set high or low input logic levels speed preset parameter Sn215 Setting X No Action Sn215 zero preset is not effective 5 3 12 i 1 Set the preset value in Sn215 as zero speed Setting to the curve defined by Sn206 X 0 O 1 Sn207 by Sn208 Industrial Product amp 6 12 T ECO System Automation Division Setting Control enr Functor ea us SERIE RR crai Speed command smooth accel decel time Constant Set Sn205 1 to enable this function then set the time period for the speed to rise to 63 296 of the full speed Speed C
68. Setting Control IIS CNAE i Cn020 Speed loop 2 to speed loop 1 Change over delay m Pe 5 3 11 when two control speed loops P amp I gains 1 amp 2 are 10000 S used command Set Cn015 1 0 first When torque command is less than Cn021 Gain 1 is selected 0 Pi Cn021 When torque command is greater than Cn021 Gain 2 200 Yo Pe 5 3 11 is selected 399 S When Gain 2 is active and torque command becomes less than Cn021 setting value system will automatically switch back to Gain 1 switch time delay can be set by Cn020 Command Set the Cn015 1 1 first When speed command is less than Cn022 Gain 1 is selected 0 Pi Cn022 When speed command is greater than Cn022 Gain 2 rpm Pe 5 3 11 is selected 4500 S When Gain 2 is active and speed command becomes less than Cn022 setting value system will automatically switch back to Gain 1 the switch time delay can be set by Cn020 Acceleration Command Set Cn015 1 2 first When acceleration command is less than Cn023 Gain 1 is selected 0 Pi Cnoo3 When acceleration command is greater than Cn023 rps s Pe 5 3 11 Gain 2 is selected 18750 S When Gain 2 is active and acceleration command becomes less than Cn023 system will automatically switch back to Gain 1 the switch time delay can be set by Cn020 error value Set Cn015 1 3 first When position error value is less than Cn024 Gain 1 is selected 0 Pi Cn024 When position error value is greater than Cn024 Gain 2 pulse Pe 5 9 11 is selecte
69. V R4 1 0K Q IP24 T sv Vee R Pulse CW A Phase DC24V m iB 9 Servo Ready RDY ane B Alam ALM 53 mios E siis e LOAD Positioning completed INP ae G24 Controller Sign CCW B Phase Max Voltage 24V Max Output Current 10mA Shield ground Industrial Product amp 2 24 T ECO System Automation Division 2 3 3 Position Control Mode Pi Mode s C RS 232 RS 485 sgn Power Nr 4 Regeneration resistor SERVO JP V Internal 24V DC d MOTOR Digital input common ZTN i d p Servo ON SON O 0 Y Home SHOME 4 0O O 2 Position Trigger PTRG O O vi RI LA VI A PA I Encoder Output A Phase ae Ew 4L E PA Encoder Output A Phase E O 3 BEN PB Position Hold HOLD e O O O ne 6 Encoder Output B Phase RI mu p d RI a c Q az e Encoder Output B Phase Position Select 1 POS1 O X a 23 O PL Encoder Output Z Phase Position Select POS2 HO OI p ru P4 Encoder Output Z Phase 24V ground Ml PZ yc External supply iow O MI y b v Ve 24V R4 4 7K Q By 2t A 1604 Ve 12V R4 2 4K 0 Vc SV R441 0K 0 a J ta DC24V 3 i i a Servo Ready RDY da 19 x HOME HOME B amp m pos i Position
70. W and CW 1 X X 2 E CCWL amp CWL input contacts are not able to control CCW and CW drive inhibit CCW and CW drive inhibit is disable Auto Tuning Cn002 2 Explanation 0 Continuously Auto Tuning is Disable 1 Continuously Auto Tuning is Enabled EMC reset mode selection Reset EMC signal is only available in Servo Off condition SON contact is open and o e reset AL 09 by ALRS signal P S It is NOT allow to reset when SON is applied When EMC status is released AL 09 can be reset on both Servo ON and Servo OFF conditions Attention Ensure that the speed command are removed before the alarm is reset to avoid motor unexpected start X O 2 E E Industrial Product amp 6 3 T ECO System Automation Division Setting Control Name 4 Funcion peraan unn panne nane Output time setting for Mechanical Brake Signal Brake Signal Timing Sequence Cn003 machinery brake signal output time is positive Input Contacts a l1 1 f 1 Output Contacts BI Cn003 machinery brake signal output time Cn003 machinery brake signal output time is negative 2000 Cn003 Input Contacts SON dq le mede ALL 5 6 5 1 2000 1 1 H Cn003 machinery brake signal output time Implementation a pin for dynamic brake signal Bl as a output signal before to perform this function Refer to sequence diagram above Note Signal logic level status 1 ON 0 2 OFF Refer to Hn501
71. ace Input Terminal booo E External Er External Regenerative 7 7 7 o Regenerative Resistor Terminal 3 __ I O Interface Resistor I O Interface Terminal Motor Terminal i Motor Terminal or NM f Ground Terminal Ground Terminal Motor Encoder FG f menace Terminal P and PC can not be dosed Motor Encoder Interface FG Terminal P and PC can not be dosed Key Board MODE SET UP TECE POWER O Y ENTER SHIFT DOWN nun me Industrial Product amp 1 4 T E CO System Automation Division 1 3 A Brief Introduction of Operation for Drives There are many kinds of control mode The detail modes display as fellow Explanation Position Mode Position control for the servo motor is achieved via an external External Pulse pulse command Position command is input from CN1 Command Position Mode Position control for the servo motor is achieved via by 16 Internal Position commands stored within the servo controller Execution of the Command 16 positions is via Digital Input signals Single Torque control for the servo motor can be achieved via parameters set or from an external analog 10 10 Vdc Name Mode E control for the servo motor can be achieved via HUN parameters set within the controller or from an external analog opeed Mode 10 10 Vdc command Control of the internal speed parameters is via the Digital Inputs A maximum of three steps
72. al mechanical brake if it is used can be set according to the table below Set the brake mode as required for Servo off Emergency Stop and CCW CW rotation inhibit functions Parameter Control Range Mode Brake Mode Mode Broke Mode sin Seu c Ead Brake modes for Servo off EMC and CCW CW drive inhibit Cn008 Setting Explanation Explanation MA Dynamic brakes Mechanical brakes _ brakes 5 6 5 Timing Diagram of Mechanical Brake In applications with vertical loading if the power is turned off to prevent the load from falling due to gravity a servo motor with electro mechanical brake can be used This servo drive provides a brake output BI which can be used for controlling the external brake Timing of brake output signal can be set by parameter Cn003 Output Time for electro mechanical Brake Typical Circuit Diagram Drive Servo Motor a ey O Si 313 3 Phase ie EU Power MC S 220V B MC T Regenerate I 24V 9 ul A ps lt aie O m i ja A NE AC 2i pur UE BK RY AC DC BK Power Industrial Product amp 5 65 T ECO System Automation Division iming for Brake output signal Set the required time for the operation of brake output signal Bl according to the following Bl output can be used to control the function of an external electro mechanical brake Output time setting for Cn003 Mechanical Brake msec 2000 200
73. al protection is recommended The thermal switch contact can then be interlocked to disable drive or remove power if necessary Refer to connection diagram below Drive External Regeneration Resistor When installing Regeneration Resistors care must be taken as the resistor absorbs the regeneration power and it is possible to generate the high temperatures above 100 C Provide the necessary cooling and use appropriate high temperature wires and ensure there has enough space between regeneration resistor and other materials Industrial Product amp 5 69 T ECO System Automation Division Calculation of the external regeneration resistor power Watts Calculate the resistor watts according to the information and formulas below Energy consumed by the motor internally is ignored Running Regenerative Mode Step temo Formula 9 Descripion E y Working Energy of Servo system J J Inertia applied to the motor shaft Calculate the working Energy of Jo 182 T the servo system M zm kge mi 0 Motor running Speed rpm E The Energy during deceleration J Calculate the Energy consumption by the load during E 7 60 w T T Loading Torque Nm deceleration The Time from deceleration to stopping s Calculate the Energy absorbed by E Check the diagram above The iis absorbed by the main Calculate the Energy which E E E E The e which Regeneration R
74. alculated electronic gear ratio must be entered in the required parameters These two values have to be integer and with a value within the specified range in the table below Parameter Setting Signal Range Mode x Pn306 Denominator of Electronic Gear Ratio New setting will become effective after re cycling the power 1 X 1750000 Pi Pe This device provides 4 selections of Numerator for Electronic Gear Ratio Input contacts GN1 and GN2 can be used to select the required Numerator for the Electronic Gear Ratio According to the table below Input Input Contact Control Contact GN2 Numerator of Electronic Gear Ratio Numerator of Electronic Gear Ratio 1 Pn302 Pn303 Pi Pe RENE Pn304 L o ue ageret Pn305 Note Input contacts status 1 and 0 OFF Please check 5 6 1 to set the E high Low signal levels PNP NPN selection Industrial Product amp 5 40 T ECO System Automation Division Electronic Gear Ratio setting examples Transmission System Setting Process Ball Screw Servo Motor Load shaft Motion Table Distance of 1 Rotating for Ball Pulse Value of 1 Rotating for Screw 5mm Encoder 2000pulse rev Mechanical Disc Load Shaft Deceleration Ratio 1 5 Servo Motor Pulse Value of Rotating for Encoder 2500pulse rev Transmission Belt Diameter of Idler 100mm Pulse Value of 1 Rotating for Encoder 8192pulse rev 5 41 1 Main positioning specifications a Load S
75. angerous situation It could cause smaller or lighter human N injured and damage of equipment Read this covering letter detail before using Servo driver Industrial Product amp 1 T ECO System Automation Division First of all thank you for using TECO Servo Driver JSDE Series JSDE for short and Servo Motors JSDE can be controlled by digital board or PC and provide excellent performance for a wide range of applications and different requirement from customers Read this covering letter before using JSDE Contents of the letter comprises Servo System checking installing and procedure of assembly line Controller procedure for digital board status displaying unusual alarm and strategy explanation Servo System control function running testing and procedures adjusted Explanation for all parameter of Servo Driver Standard specification of JSDE Series In order to daily examine maintain and understand the reason of unusual situation and handle strategy please put this covering letter in safe place to read it anytime P S The end user should own this covering letter in order to make the Servo Driver bring the best performance Industrial Product amp 1 TECO System Automation Division Contents Chapter 1 Checking and Installing 1 1 Checking ProductS ooccccccccoccconccccocccononononcnonononancnnnonnnnncnnnnonnnnrnnnonnnnnnnrnrnnnnnnnrnnnnnrrnnnnnnnnrannoss 1 1 1 1 1 Confirming w
76. anononnnonononananenons 4 2 Industrial Product amp lil TECO System Automation Division 4 2 Trial Operation for Servomotor without Load from Host Reference 4 5 4 3 Trial Operation with the Servomotor Connected to the Machine 4 8 Chapter 5 Control Functions 5 1 Control Mode Selection cooooooccccnncccccocoonnccnnnnononononcconnnnnonnnnnnnnnnnnnnnnnnnncnnnnnnnnnnnnnnnnnnnnnnss 5 1 SE NI il mu 5 2 5 2 1 Analog Torque command Ratio occccoooccocococconcconcnncononcnnonononnnnnnnonconanoncnnanennnnanos 5 3 5 2 2 Adjusting the analog torque command OffSet cccoccccccocooncccnnnccnnnnnoncccnnnnnnnnnnnnos 5 4 5 2 3 Torque command linear acceleration and deceleration 5 5 5 2 4 Definition of torque direction ooooccccconncccccoccocononconononcnnconancnnonncnnonnnnnnoonanencnnancnonnnens 5 6 5 2 5 Internal Torque Limit ocooooccccccoccnncconcnncnnocconononcnnonnncnnonnnncnnononcnnonnnrnnonannncnnnncnnnnnnens 5 7 5 2 6 Limiting Servomotor Speed during Torque Control cooooooncccnncccccccconnccnnnncnnnnnnnos 5 7 5 2 7 Additional Torque Control FunNctiONS cccccccccccconnnccnnnccccnnoonncnnnnnnononnnnncnnnnnnnnnnnnnos 5 9 OG
77. arm AL 01 is displayed To clear Alarm Remove input contact SON Servo On Then press INCREMENT Key and DECREMENT Key at the same time The display will show RESET briefly and then returns back to parameter display Industrial Product amp 3 5 T ECO System Automation Division After Servo drive is power on user can monitor status bit and status code on the display LED display for speed torque control mode and position control mode has the different definition refer to following pages for detail 1 Speed and Torque Control Mode Status bit Status code Light up in torque mode Approach speed command Approach torque command Status code and status bit contents Status bit display and description Indicator On Indicator Off BASE BLOCK Servo Off status Servo On status When motor speed greater than When motor speed less than the In Speed INS the value of Cn007 Speed value of Cn007 Speed reached reached preset preset Approach Speed When speed command greater When speed command less than command than the value of Cn007 Speed the value of Cn007 Speed reached preset reached preset Status code Approach Torque command When torque command greater When torque command less than than 10 of the rate torque 10 of the rate torque BASE BLOCK Servo OFF status when motor excitation is invalid The servo is under operation status Servo ON status when motor excitation is valid CCWL lim
78. arp vibration noise by the setting and this filter 500 Hz 171000 Pe Pi S also delay the time of servo response 5 4 Position mode Position control mode is used for high precision applications on machinery such as machine tools The Position control mode offers two methods of control e External pulse input position command e Internal position command In external pulse command input mode the positioning command is signaled to the drive by a host Controller to achieve a fixed position In internal position command mode 16 preset position commands can be set by parameters Pn317 Pn364 and can be activated by use of input contacts POS1 POS4 Set parameter Cn001 control mode selection as required according to the table below ii m nemen om a Signal Range Mode Control mode selection Setting Description Position control External pulse command x Cn001 2 Using one pulse command signal to control 2 X ALL position Please refer to 5 4 3 Position control Internal pulse command Use input contacts to select 16 programmable preset position commands Please refer to 5 4 2 New setting will become effective after re cycling the power The diagram below shows the position loop control Detailed functions are described in the following chapters Control Mode Selection Internal Position Command Mode CnO01 l l Electric Gear Pn302 Pn306 T l GN1 CN2 External Pulse extemal a Input Contacts
79. ation If there is any need or problem please connect to distributor or manufacturer Industrial Product amp 09 T ECO System Automation Division 2 1 3 Specifications of Wiring Connection Terminal Servo Drives and Wire Specifications Connection Mark Name of Connect Terminal JSDE 10 JSDE 15 JSDE 20 JSDE 30 Terminal Sign 2 0mm 2 2 0mm 2 2 0mm 2 2 0mm 2 Main Power Terminal AW G14 AWG14 AWG14 AWG14 2 0mm 2 2 0mm 2 2 0mm 2 2 0mm 2 TB Motor Terminal A W G14 AW G14 AW G 14 AW G14 Terminal pp n eee mina 2 0mm 20mm 2 0mm 2 0mm 2 eee egenerati n mesistor terminal Aw G14 A W G14 AW G14 AW G14 G d 2 0mm 2 2 0mm 2 0mm 2 2 0mm 2 L Pana A W G14 AW G14 AW G14 AW G 14 Connect ME SES Connect Point Name JSDE 10 JSDE 15 JSDE 20 JSDE 30 Terminal Point No 12 25 Analog command input SIN PIC 0 2mm 2 or 0 3mm 2 Twisted pair cable connecting to the Analog Grounding wire including shield cable 1 Analog Ground Terminal AG 3 bis Digital input Terminal DI 14 16 re Mp 18 20 Digital output terminal DO IP24 Output 24V IP24 CN1 Joint Control Signal 0 2mm or 0 3mm Twisted pair cable connecting to the I O Grounding wire including shield cable Input 24V DICOM Digital Ground terminal IG24 Position Command Input Pulse Sign 0 2mm 2 or 0 3mm 2 Twisted pair cable including 9 11 Encoder Signal Output PA PA Shield cable 21 23 PB PB PZ PZ
80. ation Division Chapter 7 Communications function 7 1 Communications function RS 232 amp RS 485 The Servo drive provides RS232 communication The description below shows the communication wiring and communication protocol 7 1 1 Communication wiring RS 232 Servo PC or controller Communication JSSDTC001 002 E n i A ll Connect to CN4 e Driver terminal MD Type 8Pins PC terminal D Type 9Pins female Pin Description Name Pin Description Name Receive Data RxD Protective Ground PG Receive Data RxD Ground GND Transmit Data TxD Transmit Data TxD Data Terminal Ready DTR Transmit Data Data Ground GND Data Set Ready DSR Request to Send RTS Clear to Send CTS Ring indicator RI CON OO 0c BB cC n2 Transmit Data Data m O0 0 o0 0c c NJ Pin 4 and Pin 6 is a close loop Pin 7 and Pin 8 is a close loop Industrial Produc amp 7 1 TE CO Byam Aviation Draen RS 485 RS 232 RS 485 to transformer servo PC or controller Communication JSSDTD001 002 RS 232 RS 485 RS 485 to transformer Connect y to CN3 RS 485 Connect to CN3 zm i I e eee EE si Em Fl M J Connect Connect communication 3 to CN4 toCN4 JSSDTCOO1 002 RS 485 Servo Servo PC or controller Driver terminal MD Type 8Pins RS 232
81. c amp 7 17 TECO Eysham Sultan E AN an Low Order Byte Table Table of CRC values for low order byte static char auchCRCLo 0x00 0xCO OxC1 0x01 0xC3 0x03 0x02 0xC2 0xC6 0x06 0x07 OxC7 0x05 0xC5 0xC4 0x04 OxCC OxOC OxOD OxCD OxOF OxCF OxCE OxOE Ox0A OxCA OxCB OxOB 0xC9 0x09 0x08 0xC8 OxD8 0x18 0x19 OxD9 Ox1B OxDB OxDA Ox1A Ox1E OxDE OxDF Ox1F OxDD Ox1D 0x1C OxDC 0x14 0xD4 OxD5 0x15 OxD7 0x17 0x16 OxD6 OxD2 0x12 0x13 OxD3 0x11 OxD1 OxDO 0x10 OxFO 0x30 0x31 OxF1 0x33 OxF3 OxF2 0x32 0x36 OxF6 OxF7 0x37 OxF5 0x35 0x34 OxF4 0x3C OxFC OxFD 0x3D OxFF 0x3F Ox3E OxFE OxFA 0x3A Ox3B OxFB 0x39 OxF9 OxF8 0x38 0x28 OxE8 OxE9 0x29 OxEB 0x2B 0x2A OxEA OxEE 0x2E 0x2F OxEF Ox2D OxED OxEC 0x2C OxE4 0x24 0x25 OxE5 0x27 OxE7 OxE6 0x26 0x22 OxE2 OxE3 0x23 OxE1 0x21 0x20 OxEO OxAO 0x60 0x61 OxA1 0x63 OxA3 OxA2 0x62 0x66 OxA6 OxA7 0x67 OxA5 0x65 0x64 OxA4 Ox6C OxAC OxAD Ox6D OxAF Ox6F Ox6E OxAE OxAA Ox6A Ox6B OxAB 0x69 0xAS9 0xA8 0x68 0x78 0xB8 OxB9 0x79 OxBB Ox7B Ox7A OxBA OxBE Ox7E Ox7F OxBF Ox7D OxBD OxBC 0x7C 0xB4 Ox74 0x75 OxB5 0x77 OxB7 OxB6 0x76 0x72 OxB2 0xB3 0x73 OxB1 0x71 0x70 OxBO 0x50 0x90 0x91 0x51 0x93 0x53 0x52 0x92 0x96 0x56 0x57 0x97 0x55 0x95 0x94 0x54 Ox9C 0x5C 0x5D Ox9D Ox5F Ox9F Ox9E Ox5E 0x5A 0x9A Ox9B 0x5B 0x99 0x
82. ch Pe T PE T Position control IBI Internal position command Pi Industrial Product amp 3 0 T ECO System Automation Division dn 02 Output terminal status Use dn 02 to check the status of output terminals Output status display is described below 2 l When output terminal signal has a low logic level close loop with IG24 the corresponding LED will be on LED Number When output terminal signal has a high logic level open loop with IG24 the corresponding LED will be off Table below shows the functions of the digital outputs Default settings are shown below For programmable digital output list see section 5 6 1 LED No Output terminal number Default function Note To set the logic state High or Low of for programmable digital outputs refer to section 5 6 1 Industrial Product amp 3 10 T ECO System Automation Division dn 03 Input terminals status Use dn 03 to check the status of Input terminals Digital Input status display is described below 6 5 4 gt 2 1 When Input terminal signal has a low logic level close loop with IG24 the corresponding LED will be on When Input terminal signal has a high logic level open loop with IG24 the corresponding LED will be off Table below shows the functions of the digital input LED Number amp Default settings are shown below For programmable function list see section 5 6 1 LED Number Input te
83. counters byte 0100H 0101H END1 ENDO L OAH a EN EN TEN TEN X EN EN EN ip ES O SEN 7 l ow posu m Response Servo gt PC OK Servo PC ERROR SIX ADR CMD Exception code END1 CR 0DH Data length ENDO LF 0AH word Industria Procuct amp Gyn Aubin Drawn 7 14 TECO RTU Mode Query PC gt Servo Response Servo PC OK Servo gt PC ERROR E xception 02H code CRC Lo otn 01H Data E word di CRC Hi Data E word Loo oen LRC ASCII Mode and CRC RTU Mode Check methods LRC Checking ASCII Mode LRC Longitudinal Redundancy Check checking method The LRC is calculated by adding together successive 8 bit bytes of the message discarding any carries Ex add ADR Function code register address and data contents together if it get the sum 19DH then discard carrier 1 and find two s complement for 9DH to obtain LRC code Ex Execute diagnostic function for Servo drive ID 201H Data word Sub function 01H 08H 00H 00H A5H 37H E5H Two s complement for E5H is 1BH derive LRC code 1 B Industria Procuct E 7 15 TE CO Sam Aula len Gres CRC Checking CRC check code is from Slave Address to end of the data The calculation method is illustrated as follow 1 Load a 16 bit register with FFFF hex all1 s Call this the CRC register 2 Exclusive OR the first 8 bit byte of the message with th
84. ct all command cable then re cycle the Memory Error emory Erro l Reset Power power If alarm still occurs it means the Drive Supply arameter write in erro was failure Industrial Product amp 8 3 T E cQ System Automation Division Alarm Alarm Name Reset and Description OME ce ACUOnS Method Emergency Stop 1 Disable Emergency stop signal input 2 Internal mal function When the input contact point EMC is Ensure that all connection are Turn ALRS DI activated correct refer to Chapter 2 Power and motor ON Alarm 09 appears circuit diagrams connection Control wiring diagrams Motor over current 1 Checkifthe motor wiring U V W and encoder 10 wiring correct or not 2 Internal interference and mal function Ensure Turn ALRS DI that all connection are correct refer to Chapter 2 Power and motor circuit diagrams Motor current is 4 times greater than rated current Position error 1 Increase the position loop gain Pn310 and Pn311 setting value The deviation between Pulse 2 Increase in position tolerance value by Turn ALRS DI 11 Pn312 for a better mot ud DI command and encoder feed back Pn Seer A pola ON position error is greater than the 3 Extend the time of ac deceleration or reduce setting of Pn308 or Pn309 load inertia in the permitted range 4 Check if the motor wiring U V W is correct Motor over speed Reduce the speed command Electronic gear ratio is incorrect Tum
85. d Open collector and Line driver Please refer to section 2 2 1 for the pulse wiring method Pulse command timing should be in accordance with the time sequence standard below 1 T lt 50 t1 t2 lt 0 1ps t3 gt Sus T 1 0us CCW T T 50 CW Pulse OpenCollector t1 t2 lt 0 2us t3 gt Sus T 2 0yus T T 50 LineDrive AB Phase Pulse OpenCollector t1 t2 lt 0 2us T 2 0yus T T 50 Position command can be disabled Inhibited by extrernal input contact INH 0 Position Pulse command enabled Position Pulse command disabled Note Input contacts status 1 ON and 0 OFF Please check section 5 6 1 to set the required high Low signal levels PNP NPN selection Industrial Product amp 5 34 T ECO System Automation Division 5 4 2 Internal Position Command In internal position command mode 16 preset position commands can be set by parameters Pn317 Pn364 and can be activated by use of input contacts POS1 POSA Preset positions are programmable and can be selected according to the table below Position Speed Parameter Position Position Command Parameter Rotation Number Pn317 Pn319 Pulse Number Pn318 Rotation Number Pn320 Rotation Number Pn323 Rotation Number Pn326 pre o fo ao Ep E ca iin Rotation Number Pn329 or 9 1 o 9 ente a iid Rotation Number Pn332 rs fo a o remos x B Pies Rotation Number Pn335
86. d 50000 S When Gain 2 is active and position error value becomes less than Cn024 system will automatically switch back to Gain 1 and the switch time delay can be set by Cn020 Industrial Product amp 6 7 T cQ System Automation Division DID een mem Range Mode Load Inertia ratio Pi LoadInertiaToMotor J L 2 LoadInertiaRatio x 100 1 L MotorRotorInertia J M When Auto tuning is used set the Rigidity Level depending on the various Gain settings for applications such as those listed below Speed Loop Integral Time Constant Sn212 x0 2msec 1 Pi 4 X Pe 5 5 1 2 20 2 25 5 A 250 250 Cn027 Reserve parameter Taa EA E oe es enos Cn028 Reserve parameter Reserve parameter Reset Reset parameters Setting Explanation X Cn029 Ed a a ee all Parameters to default Factory a presets Servo motor model code Servo model code can be display and checked with parameter dn 08 refer 3 2 2 dn 08 table for more information refer to chapter 1 1 3 Default y T L Attention Before operate your servo motor check this ibas parameter setting is compatible for servo drive and motor If there has any incompatible problem contact supplier for more information Cooling fan running modes Setting available for the model which mcum with fan Setting Explanation Cn031 7 Run when S
87. d 4 Pulse Number 32767 pulse Please refer to Pn318 32767 Internal Position Command 4 Move Speed 0 Please refer to Pn319 Industrial Product amp 6 19 T ECQ System Automation Division us Parameter Name amp Function Control Chapter R Mode ande Internal Position Command 5 Rotation Number T Please refer to Pn317 20000 Internal Position Command 5 Pulse Number d pulse Please refer to Pn318 927 Internal Position Command 5 Move Speed Please refer to Pn319 ula Internal Position Command 6 Rotation Number T Please refer to Pn317 20000 Internal Position Command 6 Pulse Number 32767 pulse Please refer to Pn318 32767 Internal Position Command 6 Move Speed Please refer to Pn319 a Internal Position Command 7 Rotation Number T Please refer to Pn317 20000 Internal Position Command 7 Pulse Number uid pulse Please refer to Pn318 927 Internal Position Command 7 Move Speed Pn337 please refer to Pn319 ease refer to 3000 Internal Position Command 8 Rotation Number a rev 5 4 2 Please refer to Pn317 30000 Internal Position Command 8 Pulse Number 32767 pulse 5 4 2 Please refer to Pn318 32767 Internal Position Command 8 Move Speed rom 9 4 2 Please refer to Pn319 3000 Internal Position Command 9 Rotation Number a rev 5 4 2 Please refer to Pn317 30000 Internal Position Command 9 Pulse Number 32767 pulse 5 4 2 Please refer to Pn318 32767 Internal Position Command 9 Move Speed rom 9 4 2 Please refer to P
88. display servo motor code and check the servo drive and motor compatibility according to the table below If the dn08 preset is not according to the list below then contact your supplier The motor model code is stored in parameter Cn30 dn 08 Display Motor Standards Cn030 Setting Drive Model Motor Model Watt Speed uias CRT D W rpm Z X NS Y 7 JSMA SCP5AB JSMA SC01AB JSDE 10 JSMA SCO2AF JSMA TCO2AB EECCONNN NE CENE NN JSMASCOAAB SCOAAB em TCO4AB JSDE 20 JSMA TCOSAB TCO8AB uE MAO5AB JSMA MHO5AB 4SMA TCOBAB TCO8AB Bod OAB Industrial Product 3 14 TECO System Automation Division Chapter 4 Trial Operation Before proceeding with trial run please ensure that all the wiring is correct Trial run description below covers the operation from keypad and also from an external controller such as a PLC Trial run with external controller speed control loop analog voltage command and position control loop external pulse command 1 No load servo motor Trial run Reference 4 1 A Servo Drive wiring and motor installation B Purpose of trial run Confirm if the items below are correct Drives power cable wiring Servo Motor wiring Encoder wiring Setting servo motor rotation direction and speed he LZZZZZZZI 4 5 SV Motor Motion Table 2 No load servo motor with a host controller Trial run Reference 4 2 A Servo drive
89. dle The pulse quantity of every rotating can be set in Cn005 5 3 5 When 1 is set in Cn004 it is CCW rotation from the motor load terminal direction and A Phase gets 90 degree ahead B Phase Signal Output is Line Driver AG ALL Analog signal grounding CN1 Pin 12 25 DICOM Digital input power supplement common terminal IP24 ALL 24V power output terminal Max 0 24 MG ALL 24V power grounding terminal P S 1 stands for close loop with IG24 0 stands for open loop with IG24 PW is abbreviation of Power Industrial Product amp 2 11 T E cQ System Automation Division b Digital I O Signal For many kinds of application the digital input output terminal layout of all operation mode are accordingly different In order to provide more functions our drives can provide multi terminal layout settings Users can set these functions for application Digital input terminal layout provides 6 Pin1 13 14 16 programmable terminal digital output terminal provides 4 Pin18 20 programmable terminals The diagram below shows the default digital input output terminal placement and functions Please refer to 5 6 1 to check related parameters setting Default Digital Input Terminal placement Functions and Wired Mode Layout SN Servo ON DM 1 Alarm reset NEL 2 EE ELEM PI P Switch PCNT 2 External Torque Limit bte TLMT 101 Default Digital Input Terminal Layout Functio
90. duct amp 3 12 TECO System Automation Division dn 07 Auto offset adjustment of external analog command voltage If the external torque or speed analog command is set to OV and the motor is rotating slowly this is due to analog input zero offset use dn 07 to auto adjust this offset and stop the motor rotating Follow the steps below Insert a link between analog command terminal SIN CN1 26 and Analog Ground terminal AG CN1 29 before proceeding 1 bl On power on Drive Status is displayed dni ul Press MODE Key twice into diagnostics parameter dn 01 in Q1 Press INCREMENT Key 6 times to csplay an 7 X Press ENTER Key for 2 seconds to enter dn 07 Press INCREMENT Key once to setto 1 Enable auto offset adjustment To save the altered preset value and activate auto offset adjust Press the ENTER Key for 2 seconds until SET is displayed briefly and then display is returned to parameter dn 07 7 To save this offset value please select parameters Tn104 or Sn217 as required and press the ENTER Key Tn107 for analog torque command Sn217 for analog speed command Before bias adjusting After bias adjusting Input Voltage V Input Voltage V Bias Voltage Bias Voltage Adjusting Value Torque Command 96 or Speed Command rpm Torque Command 96 or Speed Command rpm Industrial Product amp 3 13 T ECO System Automation Division dn 08 Servo motor Model Code display Use dn 08 to
91. e adjusted by this parameter Before Offset Adjustment After Offset Adjustment Input Voltage V Input Voltage V Offset Offset Voltage Voltage Torque Command Torque Command 96 1n107 1n108 10000 T 5 2 2 10000 Preset Speed Limit 1 Torque control mode In Torque control input contacts SPD1 and SPD2 can be used to select Preset speed limit 1 As follows 0 T E ASOC 3000 Note Input contacts status 1 ON and 0 OFF Refer to 5 6 1 to set high or low input logic levels Preset Speed Limit 2 Torque control mode In Torque control input contacts SPD1 and SPD2 can be used to select Preset speed limit 2 As follows B i A a 7 3000 Note Input contacts status 1 ON and 0 OFF Refer to 5 6 1 to set high or low input logic levels Preset Speed Limit 3 Torque control mode In Torque control input contacts SPD1 and SPD2 can be used to select Preset speed limit 3 As follows 0 E uw L O oe DNE GNU SANIDAD MEN 1 Note Input contacts status 1 ON and 0 OFF Refer to 5 6 1 to set high or low input logic levels Torque output monitor value 0 When the torque level in CW or CCW direction Y ALL 5 2 7 300 become greater then this value setting the output contact INT is active Industrial Product amp 6 11 T E CO System Automation Division Speed Control Parameter Setting Control IT ieu us SERIE T nai In Speed control input contacts
92. e displayed AL 07 Abnormal DI DO programming Industrial Product amp 6 27 T ECO System Automation Division d Control A AAA Digital input control method selection Select digital input 6 pins control method by external terminal or communication Convert Binary code to Hex code for setting this parameter DI and binary bits table as below Binary code representation gt 0 Digital input control by external terminal gt 1 Digital input control by communication XHn510 Set H0000 for Hn510 represent DI 1 DI 3 DI 6 are H0000 controlled by external terminal and set HO003F represent all terminal is controlled by communication The corresponding binary code is 10 0101 convert to Hex code is H 0025 for entering parameter For the setting BitO DI 1 is control by communication and Bit1 DI 2 is control by external terminal etc Setting digital input status in communication mode Change Hn511 Hex code for setting digital input status of communication control mode Setting method refer Hn510 H0000 Binary code representation XHn511 0 digital input contact OFF Hoooo x HOOSF ALL 5 6 1 1 digital input contact ON 7 Set H0000 for Hn510 represent H0000 are HEX controlled by external terminal and set HOOO3F represent all terminal is controlled by communication P S This parameter should co operate with Hn510 Industrial Product amp 6 28 T CO System Autom
93. e low order byte of the 16 bit CRC register putting the result in the CRC register 3 Shift the CRC register one bit to the right toward the LSB Zero filling the MSB Extract and examines the LSB 4 If the LSB was 0 Repeat Steps 3 another shift If the LSB was 1 Exclusive OR the CRC register with the polynomial value A001 hex 1010 0000 0000 0001 5 Repeat Steps 3 and 4 until 8 shifts been performed When this is done a complete 8 bit byte will be processed 6 Repeat Steps 2 through 5 for next 8 bit byte of the message Continue doing this until all bytes have been processed The final content of the CRC register is the CRC value Placing the CRC into the message When the 16 bit CRC 2 8 bit bytes is transmitted in the message the low order byte will be transmitted first followed by the high order byte For example if the CRC value is 1241 hex the CRC 16 Low put the 41h the CRC 16 Hi put the 12h Example An example of a C language function performing CRC generation is shown on the following pages All of the possible CRC values are preloaded into two arrays which are simply indexed as the function increments through the message buffer One array contains all of the 256 possible CRC values for the high byte of the 16 bit CRC field and the other array contains all of the values for the low byte Indexing the CRC in this way provides faster execution than would be achieved by calculating a new CRC value with
94. e main smoothing capacitors If there is too much regeneration power which can not be totally absorbed by the capacitor then regeneration resistors can be used to absorb the excess power Install a regeneration resistor for the repid deceleration and vertical motion control when the main circuit DC link voltage is high Install a external regeneration resistor then make sure the resistance equip externally and built in regeneration resistor has the same resistance In order to prevent servo drive possible error external or built in regeneration resistance value should greater than following table Built in Regeneration Resistor specification is as below table Minimum allowed Drive Mode Resistance Value Q JSDE 10 JSDE 20 JSDE 30 Industrial Product amp 5 68 T ECO System Automation Division Setting for the Power of External Regeneration Resistor When using external regeneration resistor the power value Watts must be set in parameter Cn012 Parameter Setting Control Range Mode Power setting for External Regeneration Resistor Cn012 Refer to section 5 6 7 to choose external Regeneration W ALL resister and set its power specification in Watts of Cn012 10000 iring for External Regeneration Resistor When external Regeneration Resistor is used must remove the link between PC and P1 on TB1 Terminal Then the resistor should be installed between terminals P and PC For safety use of resistors with therm
95. e normally 1 The timing from stop to 2000rpm needs be less than 1 second 2 Motor speed is larger than 200rpm 2 3 Load Inertia needs be 100 times less than the inertia of the motor 4 External force or the variation of inertia ratio can not be excessive Rigidity Setting When Auto tuning is used set the Rigidity Level depending on the various Gain settings for applications Mechanical m Rigidity Application Low Machines driven by timing Belt Chain or Gear Large Moving Table Conveyor Belt such as those listed below Rigidity Position Loop Speed Loop Speed loop Integral Setting Gain Gain time constant 1 Cn026 Pn310 1 s Sn211 Hz Sn212 x0 2msec The machines driven by Middle Ballscrew through decelerator Ordinary machines Mechanics arms robot arms conveyor The machines driven by Ballscrew High precision Machines Metal engraving Machine Insertion Machine A 250 250 20 and IC inspection Machine Industrial Product amp 5 58 T ECO System Automation Division Process for Auto tuninc The Diagram below show the process for Auto tuning Operating in default Yes Normal Working No oet Cn002 2 1 Continue Auto tuning Normal Working No Set Cn026 Rigidity Level Adjusting Normal Working No 22 set Cn002 2 0 T se ne 0 Turn off Auto tuning Turn off Auto tuning Record the measured Inertia Ratio into Cn025 Gain Adjusting by Hand Refer to
96. e pulse counts set in Pn307 Position Complete value then INP output contact will be activated Setting Control Parameter Namo Dat unit os mode Position Complete value Set a value for In position output signal When the Position pulse error value is less then Pn307 pulse 0 50000 Pi Pe output contact INP In position output signal will be activated Speed Command Speed iV Motor Speed Pn307 Position Incorrect Value Position Complete Value pulse INP Statue NN Note Input contacts status 1 ON and 0 OFF Please check 5 6 1 to set the required high Low signal levels PNP NPN selection Position error alarm When the Position error value is greater than the preset pulse value of Pn308 Positive position error level or Pn309 Negative position error level this will generate AL 11 Position error signal Setting Control Parameter Name Data Unt range Mode Positive position error level Pn308 When the Position error value is higher then number of 50000 pulse 0 50000 Pi Pe pulses set in Pn308 an Alarm message AL 11 Position error value alarm will be displayed Negative position error level When the Position error value is lower then number of 50000 pulse 0 50000 Pi Pe pulses set in Pn309 an Alarm message AL 11 Position error value alarm will be displayed Industrial Product amp 5 53 T ECO System Automation Division 5 5 Gain Adjustment The Servo control
97. each new character from the message buffer Note This function performs the swapping of the high low CRC bytes internally The bytes are already swapped in the CRC value that is returned from the function Therefore the CRC value returned from the function can be directly placed into the message for transmission The function takes two arguments unsigned char puchMsg A pointer to the message buffer containing binary data to be used for generating the CRC unsigned short usDataLen The quantity of bytes in the message buffer The function returns the CRC as a type unsigned short Industrial Produc amp 7 16 TE CO Gyn ubrmalen Drawn CRC Generation Function unsigned short CRC16 puchMsg usDataLen unsigned char puchMsg message to calculate CRC upon unsigned short usDataLen quantity of bytes in message unsigned char uchCRCHi OxFF high byte of CRC initialized unsigned char uchCRCLo OxFF low byte of CRC initialized unsigned ulndex will index into CRC lookup table while usDataLen pass through message buffer ulndex uchCRCHi puchMsgg calculate the CRC uchCRCHi uchCRCLo auchCRCHi ulndex uchCRCLo auchCRCLo ulndex return uchCRCHI lt lt 8 uchCRCLo High Order Byte Table Table of CRC values for high order byte static unsigned char auchCRCHil 0x00 OxC1 0x81 0x40 0x01 OxCO 0x80 0x41 0x01 OxCO 0x80 0x41 0x00
98. ectified disable SON signal Switch off Servo ON and re cycling power Alarm condition can be reset and the drive will be ready for operation Waning 1 Before applying power rest ensure that SON is off SON signal is removed first to prevent danger 2 Ensure that the speed commands are removed before the alarm is reset otherwise the motor may run abruptly once the alarm signal is reset Industrial Product amp 8 5 T cQ System Automation Division Chapter 9 Specifications 9 1 Specifications and Dimension for Servo Drives ese Mo Mosa Lc y te Applicable Motor Models T SMA 0000 o o tos Continuous output 1 8 3 5 4 4 5 16 current A rms Input Power Main Circuit Single Three Phase 170 253Vac Supply R S T 50 60Hz 5 Cooling System Natural Air Cooling Fan Cooling Control of Main Circuit of Main Circuit Three phase full wave rectification IGBT SVPWM Control Leer of talt 2000ppr 2500 ncremental type r Encoder Feedback i i i Panel and operation key 5 digital seven segment display four function key Position Pulse input Position Internal control Speed Torque Control Mode e 7 Position Speed Speed Torque Position Torque Regeneration Brake Builted in brake Transistor and brake resistor Undervoltage Over Voltage Overload Overcurrent decoder l abnormal Multi function contact setting error Memory Protection Function o abnormal Emergency Stop Position error O
99. elay time Cn040 Delay Servo drive communication response time to ee Industria Product E 7 3 TECO yin Aulamalen Draen Setting Control Parameter Name amp Function Chapter Range Mode Digital input control method selection input control method selection 5 6 1 Industrial Product E 7 4 TECO Byam Aularraln Draen Select digital input 6 pins control method by external terminal or communication Convert Binary code to Hex code for setting this parameter Dl and binary bits table as below Binary code representation gt 0 Digital input control by external terminal gt 1 Digital input control by communication Set H0000 for Hn510 represent DI 1 DI 3 DI 6 are controlled by external terminal and set HO003F represent all terminal is controlled by communication The corresponding binary code is 10 0101 convert to Hex code is H 0025 for entering parameter For the setting BitO DI 1 is control by communication and Bit1 DI 2 is control by external terminal etc Setting digital input status in communication mode Change Hn511 Hex code for setting digital input status of communication control mode Setting method refer Hn510 Binary code representation 0 digital input contact OFF 1 digital input contact ON Set H0000 for Hn510 represent H0000 are controlled by external terminal and set HOOOSF represent all terminal is controlled by communication P S This paramet
100. ems nearby please using vibration absorber or installing anti vibration rubber if the vibration can not be avoided When there is any big size magnetic switch welding machines or other source of interference Please install the filter When the filter is installed we must install the insulation transformer 1 4 2 Direction and Distance Fan Fan V DVA Overl0mm 11 me A Over 30mm ver25mm Over25mm Over30mm Air flow Air flow Over10mm Industrial Product amp 1 6 T CO System Automation Division 1 5 Conditions for Installation of Servo Motors 1 5 1 Environmental Conditions Ambient Temperature 0 40 deg C Ambient humidity Under 90 RH No Frost Storage Temperature 20 60 deg C Storage temperature Under 90 RH No Frost Vibration Under 2 5 G In a well ventilated and low humidity and dust location Do not store in a place subjected to corrosive gases liquids or airborne dust or metallic particles Do not mount the servo motor in a location where temperatures and humidity will exceed specification Do not mount the motor in a location where it will be subjected to high levels of electromagnetic radiation 1 5 2 Method of Installation 1 Horizontal Install Please let the cable cavity downside to prevent the water or oil or other liquid flow into the servo motor 2 Vertical Install If the motor shaft is side up installed and mounted to a gear box please pay a
101. equency in Cn013 to eliminate Hz 0 1000 Pi Pe S system mechanical vibration Band Width of the Resonance Filter Adjusting the band width of the frequency lower the 7 X 1 100 Pi Pe S band width value in Cn014 restrain frequency Band width will be wider Industrial Product amp 5 20 T ECO System Automation Division Aouenbel4 194114 YOJON Duippe sayy ouanbaJ4 191114 YO1ON Aouenbel4 LOUD 103984 JIenO 19114 YDION LOUO O lt ZO lt TO 191114 Y9JON JO eur suods yY ouanbaly Aouenbes4 jJueuosay 9ULUOS Y JO SUIT esuodsey SY System Automation Division Industrial Product 4 TECO 5 21 5 3 10 Torque limit of speed control mode In speed mode the motor torque limit input contact TLMT could be used to select one of the two methods below 1 Internal toque limit Using default Cn010 CCW Torque command limit and Cn011 CW Torque command limit 2 External analog command Using two separate analog voltage command signals at input terminals PIC CN1 27 to limit CCW torque and NIC CN1 28 to limit CW torque As shown in the table below Input contact CCW torque command limit CW torque command limit Control TLMT source source mode External analog command External analog command Pi Pe S PIC CN1 25 PIC CN1 25 Note Input contacts status 1 ON and 0 OFF Please check 5 6 1 to set the required high Low signal levels PNP NPN selection Caution To use external ana
102. er should co operate with Hn510 7 1 3 RS 232 Communication protocol and format 9600bps Selection by Cn037 1 baat 8 Symbol H in folling sentence is for Hex representation 1 Read a word from servo drive Function code format R5XxSs Xx A request to read register Xx from slave device Unit Byte Hex representation Ss Check Sum Ss R 5 X x Unit Byte Hex representation Ex1 Read register address 30H and Convert R530 into ASCII codes Check Sum 52H 35H 33H 30H EA H gt R 5 3 0 Obtain Function code for read register address 30H R530EA Servo drive response XxYySs os is Check Sum Ss X x Y y Response message of example 1 0008H is the data store in register address 30H Check Sum 25H 30H 30H 30H 38H EDH 0 00 8 Drive response message 0008ED When function code incorrect drive response ASCII code 21H Industrial Produc amp 7 5 TE CO Byala Auiamalen E AE NEDWI 2 Read consecutive 2 words from drive Function code format L5NnSs Nn A request to read register Nn from slave device Unit Byte Hex representation Ss Check Sum Ss L 5 N n Unit Byte Hex representation Ex2 Read data from register address 60H and Convert L560 into ASCII codes Check Sum 4CH 35H 36H 30H E7 L 5 6 0 Obtain Function code for read register address 60H L560E7 Servo drive response XxYyAaBbSs
103. ernal power Adverse external power polarity will cause severe damage Maximum external power voltage Vc should be less than12V terminal input voltage should not more than10V Over voltage will cause damage When using internal power of server user need to choose the resistance suggestion more than 3KO which maximum current is less than 10mA SIN Input impedance 15KO PIC Input impedance 40KO NIC Input impedance 20KQ Analog Input Interface Circuit Servo Driver Industrial Product amp 2 19 T ECO System Automation Division 2 2 2 Encoder Connector CN2 Terminal Layout 1 Diagram of CN2 Terminal y 9 Encoder B Phase Input Ne Name A Encoder A Phase l _ Input a Encoder Z Phase Input E Encoder A Phase Input n Encoder Z Phase Input GND 5V PW Ground Terminal Encoder B Phase Input 5V PW Output Termina P S Do not wire to the terminal which is un operated Industrial Product amp 2 20 T ECO System Automation Division 2 Name and Explanation of l O Signal Encoder Output No and Color Pin General Plug in No Signal Name Code Joint Joint Terminal Layout Function 9 wires fewer wiring wl Power for encoder provided from driver Power output Terminal When the cable is more than 20m user should separately use 2 cables to avoid decreasing Power output 0V voltage of encoder When the cable is more Terminal than 30m please contact to the distributor
104. ervo ON x MM TEE Y Y Y N ALL 5 6 8 O 2 Always Running Disabled Industrial Product amp 6 8 T ECO System Automation Division Name amp Function Speed feed back smoothing filter Cn032 Restrain sharp vibration noise by the setting and this filter also delay the time of servo response Speed Feed forward smoothing filter 1 p a Smooth the speed feed forward command i FA Pi Torque command smoothing filter 0 5 AE filter delay the time of servo response 1000 status 0 X Display Un 01 Un 19 content Refer 3 2 1 for more information Cn035 Display data set and drive status parameter Refer 3 1 1 Ex Set Cn035 1 when power on it display the actual speed of motor content of Un 01 Servo ID number 0 Cn036 When using Modbus for communication each servo 1 X ALL 7 units has to setting a ID number When two or more l dap 254 drive ID overlap will lead to communication fail 19 Modbus RS 485 braud rate setting Setting Explanation mm 1 S ALL 7 HEI 219200 i 3 38400 4 57600 PC Software RS 232 braud rate setting silo AO o 80 5 0 0 0 00 0 LL 1 9600 n S3 38400 Communication protocol Setting Explanation Modbus ASCII Modbus ASCII Modbus ASCII Modbus ASCII Modbus ASCII Modbus ASCI Modbus RTU Modbus RTU Modbus RTU 00 Oo NIN IN Zomiz N a po 3 Inm DEI o E o om m I M m Cn03
105. esistor regeneration resistor consumes M consumes Calculate the Power for E T 0 4 L5 eae Resistor Power W regeneration resistor T Operating cycle for servo system s Note 1 0 4 in the formula for P corresponds to 40 regeneration duty cycle Note 2 If the E can not be calculated then let E 0 then calculate ER In applications with regenerative loads which cause reverse torque a large amount of energy will flow back to the driver In such applications calculate ER and hence regeneration resistor power according to the formula below ltem Formula Description for Symbols E Working Energy during the regenerative period J m g Motor running speed during the Calculate the working Energy during the continuous 2 00 Onn 1 regenerative period rpm regenerative period T Loading Torque during the regenerative period Nm to Regenerative Time s The formula for step 4 in the previous table will be E Ey E E E Industrial Product amp 5 70 T ECO System Automation Division 5 6 8 Fan Setting Availabel models that equipped with the fan Setting Control Parameter Name Det Rangs Mode Cooling fan running modes Only available for the model which equip with fan Setting Explanation cnosti E lumen ceng ON e 2 Always Running 3 Disabled 5 6 9 Factory setting parameter This parameter can reset all parameter settings to default
106. fter Starting HOME routine run CW in 1 preset high speed to search for HOME Reference ORG Pn365 1 1 After finding HOME Reference continues in the same direction in ane preset low speed to find the nearest Z Phase to be set as the HOME position Pn365 2 2 Inout Contact SHOME Starts the HOME routine Pn365 3 0 Reverse search for HOME position Speed Pn365 3 0 na Position Pn367 2 Stage low speed Pn365 1 1 Pn366 1 Stage High Speed 1 Z Phase Pulse of Motor Encoder B A d x r Input Contact ORG MO Pn365 0 3 d 4 Input Contact SHOME d Pn365 2 2 Industrial Product amp 5 50 T ECO System Automation Division 5 6 Pn365 0 2 After Starting HOME routine run CCW in 1 preset high speed to search for HOME Reference ORG Pn365 1 2 After Finding the HOME Reference the Rising Edge of ORG sets the HOME Position Pn365 2 2 Input Contact SHOME Starts the HOME routine Pn365 3 0 Reverse search for HOME position Speed Pn366 1 stage high speed Pn365 3 0 N Position Pn367 2 stage low speed A 1 EE Pn365 1 2 Input Contact ORG Pn365 0 2 Input Contact SHOME E y Pn365 2 2 Pn365 0 3 After Starting HOME routine run CW in 1 preset high speed to search for HOME Reference ORG Pn365 1 2 After Finding the HOME Reference the Rising Edge of ORG sets the HOME Position Pn365 2 2 Input Contact SHOME Starts the HOME routine Pn365 3 0 Reverse search for HOME
107. haft Ball Screw pitch move distance per revolution 5mm b Motor Encoder ppr Pulse per revolution 2000pulses 2 Move distance per one pulse of move Command Moving Distance of 1 Pulse Command 1um 3 Calculation of the Electronic Gear Ratio 2000pulse revx4 8000 5mm rev lum pulse 5000 4 Set the parameter of Electronic Gear Ratio Numerator of Electronic Gear Ratio 8000 Denominator of Electronic Gear Ratio 5000 ElectronicGear Ration 1 Main positioning specifications a Deceleration Ratio 1 5 b Load Shaft Mechanical Disc Move Value per one revolution 360 Motor Encoder ppr Pulse per revolution 2500 pulses 2 Move distance per one pulse of move Command Distance for 1Pulse Command 20 1 3 Calculation of the Electronic Gear Ratio 2500 pulse revx4 5 B 50000 Electronic Gear Ratio E 360 0 1 pulse 1 3600 4 Set the parameter of Electronic Gear Ratio Numerator of Electronic Gear Ratio 50000 Denominator of Electronic Gear Ratio 23600 1 Main positioning specifications a Deceleration Ratio 1 8 b Load Shaft Idler Move Value per revolution 3 14 x 100mm 314mm c Motor encoder ppr Pulse Per Revolution 8192pulse 2 Move distance per pulse of move Command Distance for 1Pulse Command 10um 3 Calculation the Electronic Gear Ratio 8192 pulse revx4 8 262144 Electronic Gear Ratio 31400 314mm 10um pulse 4 Set the parameter of Electronic Gear Ratio Reduction
108. hout causing vibration or noise on the mechanical system the position loop gain value can be increased to increase system response and shorten the 1 positioning time 40 i s 5 4 6 Generally the position loop bandwidth should not be 450 5 5 higher then speed loop bandwidth The relationship is according to the formula below SpeedLoopGain PositionLoopGain 2zt x 0 ZL 100 Position Loop Gain 2 ENSE HE 5 4 6 450 It can be used to reduce the track error of position control and speed up the response If the feed forward gain is too large it might cause speed overshoot and INP contact repeatedly switch ON OFF INP In Position output signal Industrial Product amp 6 17 T CO System Automation Division Setting Control 5 4 4 5 4 5 Position command smooth Acceleration Deceleration Time Constant Set the time period for the Position command pulse frequency to rise from O to 63 2 Position Pulse Command Frequency 96 Position Pulse Command Frequency Pn313 p Pn314 Pulse Error Clear Modes Explanation EN CU E the Pulse error amount Once CLR signal is activated following takes place e The position command is cancelled 0 e Motor rotation is interrupted X 5 4 7 e Pulse error amount is cleared 2 e Machine home reference is reset Once CLR signal is activated following takes place The position command is cancelled Motor rotatio
109. iations Decreasing Integral time can improve system rigidity 1 Pi The formula below shows the relationship between 100 02 Pe oe Integral time and Speed loop Gain mS 500 S 9 5 SpeedLooplIntegration TimeCons tant 2 5x SEM A 27 x SpeedLoopG ain Industrial Product amp 6 14 T E CO System Automation Division Setting Control Speed loop Gain 2 T Pi 40 Hz Pe Refer to Sn211 450 S 1 Pi 100 Pe Speed loop Integral time 2 Hefer to Sn212 Sn214 500 S Value of zero speed 0 Set the zero speed range in Sn215 P SIE When the actual speed is lower than Sn215 value Output ds duel aie Scene contact ZS is activated Analog Speed Command Ratio Slope of voltage command Speed command can be adjusted 4500 Speed Command rpm 3000 Input aoe Voltage V 3000 Slope set by 4500 sn216 Analog speed command upper limited Rate rpm 190 Setting Sn218 for limit the highest speed command of 492 PM S 0 3 4 analog input 4500 Rate rom The offset amount can be adjusted by this parameter Before Offset Adjustment After Offset Adjustment Input Voltage V Input Voltage V E 10000 se Off Sn217 Velas ee mV S 5 3 3 10000 Speed Speed Command rpm Command rpm Industrial Product amp 6 15 T CO System Automation Division Position Control Parameter tene rci ea us SERIE RI nani Range Mode Position pulse command selection Setting Explanation 0 C
110. ignal it sets this position to be the Home reference Un 14 encoder feed back rotating number and Un 15 encoder feed back pulse number are A all 0 motor decelerates and stops 0 X EE Then it reverses direction in 2 speed to detect the Home Position again then it decelerates and stops After detecting the Home signal it sets this position to be the Home reference Un 14 1 encoder feed back rotating number and Un 15 encoder feed back pulse number are all 0 motor decelerates and stops Machine Home reference search speed 1 speed 0 Fast 100 rpm 5 4 8 HOME Refeence search speed Speed 1 2000 Machine Home position search speed 2 Speed 0 Pn367 Slow 50 rpm 5 4 8 Home position search speed Speed 2 500 Home position offset Number of revolutions Once the searched home position is found in 30000 Pn368 accordance with Pn365 Home routine mode then it 5 4 8 will search by a number of revolutions and pulses set in 30000 parameters Pn368 and Pn 369 to find the new off set Home position Home position offset Number of Pulses 32767 Home Offset position Pn368 Rotate Number x 4 8 Number of Encoder Pulse per Rotation x 4 UEM p 32767 Pn369 Pulse Number Pn365 3 G O Industrial Product 8 6 24 T E CO System Automation Division Quick Set up Parameters Parameter Name amp Function IL Setting Chapter Range Mode m loop gain has a direct effect on the E
111. ill be turned off immediately Industrial Product amp 4 4 TECO Bysen Automation Cresson 4 2 Trial Operation for Servo motor without Load from Host Reference Check and ensure that all power connections to the drive and motor and control signal connection between the host controller and the drive are correct Motor must be mechanically disconnected from the load Following section describes the trial run when using a host controller such as a PLC Two trial runs have been discussed Speed control mode Section B and Position control mode Section C Section A shows the connections and SON signal servo on requirements for both trial runs A Launching Servo motor Example wiring diagram Speed Control Cn001 1 Position Control Cn001 2 Servo Drives Servo Drives Servo Motor Servo Motor a Disable Analog Input command terminals Speed control mode Link analog input terminal SIN to OV terminal AG Position control mode Link external pulse command terminals Pulse to Pulse and Sign to Sign b Enable Servo ON Signal Connect SON terminal to IG 24 0V terminal Digital Ground On drive power up servo will be turned on Now check for any Alarms If any alarms then refer to Chapter 8 2 for how to reset the Alarms Indusirial Prodi amp 4 5 TECO Bysen Automation Cresson B 2 Trial run in Speed control mode Cn001 1 Wiring check Check and ensure that all power cable
112. ill search for Home f Position switch in 1 preset speed in CW direction and sets the input pra contact ORG external sensor input as a Home reference when ORG Setting for contact is activated home routine If Pn365 1 2 it will directly find the closest Rising Edge of ORG to be the Home position without a need for Home reference then it stops in accordance with Pn365 3 setting Once the home routine is activated motor will search for Home position in 1st preset speed in CCW direction and sets the Home reference Servo drive start to find the Home position of the nearest Z phase No need for Home reference When using this function set Pn365 1 2 After finished setting of Z Phase to the Home position for the stop method refer to the setting of Pn365 3 Once the home routine is activated motor will search for Home position in 1st preset speed in CW direction and sets the Home reference Servo drive start to find the Home position of the nearest Z phase No need for Home reference When using this function set Pn365 1 2 After finished setting of Z Phase to the Home position for the stop method refer to the setting of Pn365 3 Industrial Product amp 5 45 T ECO System Automation Division un Control eame Mame o oe Se Once the Home Reference switch or signal is detected motor reverses direction in 2 speed to find the nearest Z Once Reference Phase pulse and sets this as the Home position then s
113. ime constant down 0 10sec Speed Reached Set by Parameters 0 3000rpm Torque Limit External Analog Command Set by Parameters Frequency Response m Max 300Hz when JL JM Characteristic Industrial Product amp 9 2 T E cQ System Automation Division Voltage Command 0 10Vdc 0 300 Input Impedance 10K ohm Torque Torque Time l Control Time Constant 0 50sec Constant Mode Speed limit External Analog Command Set by Parameters Torque Reached 0 300 Set by Parameters Command Output Position Type Output A B Z Line Drive Output Phase Z Open Collector Encoder 1 63 Encoder Ratio Set by Parameters Ratio Servo ON P PI switching inhibit forward reverse drive error pulse clear servo lock Emergency stop internal speed choice run mode switching inhibit position DI NPN Optional command gain switching electronic gear ratio setting internal position PNP Input command choice internal position command trigger internal position command Input To 6 ports pause original point positioning return to original point external torque limit control model switching forward reverse switching internal speedsetting inhibit pulse command DO Optional Input to 3 ports Servo Motor Warning Servo Ready Zero Speed Positioning Completed Speed Output Reach Brake interlock Home Completed Altitude Sea level 1000m below l Indoor avoiding direct sunshine no erosion air avoiding oil gases inflam
114. ing Completed INP ES ositioning Complete H MENS 1G24 B Max Voltage 24V Shield ground Max Output Current 10mA Industrial Product amp 2 25 T ECO System Automation Division 2 3 4 Speed Control Mode S Mode NFB R g O OR S Power f Filter T o d 0 IP24 8 Internal 24V DC o Digital input common a 0 u 1 l i DEIA Servo ON SON 2 E ot has Look LOK bg GO na Torque Limit TLMT O OF O m Reverse Control SPDINV Dus Ds Te m Speed 1 SPI Hg OI LO i Speed 2 SP2 O 0 0 2 24V ground 524 Vo Y Y Cop n 25 CCW Torque Limit PIC Analog Ground IB arabes t E Analog Speed Input SIN AD Analog Ground Cao e 2 Shield n RI RI RI RI RI S 20K Q 2 26 Moca 11 A IPZ ete ae C RS 232 RS 485 yN kE 4 resistor MOTOR e mE 4 Encoder s P E PA V Encoder Output A Phase 0 mah IPA LENS Encoder Output A Phase al y A PB Encoder Output B Phase n APB 1 Encoder Output B Phase ES O PZ Encoder Output Z Phase 5 Encoder Output Z Phase We Exteral supply Vc 24V R4 4 7K C Vc 12V R4 2 4K0 Ve 5V R4 1 0K 0 Y rem Servo Ready RDY Zero Speed ZS i In Speed INS f EP 024 Max Voltage 24V Max Output Current 10mA Industrial
115. ing positioning pulses will be cleared Parameter Pn315 must be set to 1or 2 as required refer to section 5 4 7 Once the PTRG input contact is activated again then a new position command will be started according to the selection of input contacts POS1 POS4 Absolute moves P1 30pulses P8 10pulses Pn315 Pulse Error Value ClearMode 2 Position pulse 1 Input Contact SON Input Contact POS1 0 1 Input Contact POS2 0 1 l 0 1 Input Contact POS3 Input Contact POS4 O 0 AC S NN P1 P8 Input Contact PTRG 1 Attention Motor Re accept Input Contact CLR Command P8 Note Input contacts status 1 ON and 0 OFF Please check section 5 6 1 to set the required high Low signal levels PNP NPN selection Industrial Product amp 5 37 T ECO System Automation Division 5 4 3 Electronic Gear Electronic gear ratio parameter can be used to scale the command output pulse This would be useful in transmission applications where move distance per move command pulse has to be scaled due to mechanical requirements Diagram and notes below describe the electronic gear ratio effect Example of a transmission device and calculations that show the required number of pulses from a host controller to move the table by 10mm Load shaft Motion Table Servo Motor a Screw Pitch 5mm Move distance for Encoder pulse per 1revolution of screw revolution PPR 2
116. ing speed When G SEL and IG24 close loop first stage control gain Gain Select Switch to the second control gain GN1 Electric Gear ratio Numerator Pn302 Electric Gear ratio Pn303 Numerator 1 2 Pn304 Pn305 1 Close loop with IG24 0 Open loop withIG24 Internal Position When PTRG and IG24 close loop positively triggered the Command motor will select related position command to operate in Trigger accordance with the terminal layout POS1 POS4 Internal Position ES Command Hold motor will stay holding When SHOME and IG24 close loop positively triggered HOME function operates When ORG and IG24 close loop positively triggered server External Origin will use this as external reference point for home position returning When PHOLD and IG24 close loop positively triggered the Industrial Product amp 2 14 T ECO System Automation Division Digital Input Function Explanation Except CCWL and CWL are the high electric potential other terminal layout are the low electric potential please refer to 5 6 1 to check related parameters setting Function h Signal Name Symbol Mode I O Function Internal position command select POS4 Poss POS2 POS Internal Position Command select Pn317 Pn318 Pn320 Pn321_ Pn323 Pn324 Pn326 Pn327 Pn329 Pn330 Pn332 Pn333 0 MEN A Sa Pn335 Pn336_ MEA Pn338 Pn339 O Pn341 Pn342 EENE Pn344 Pn345 0 A L 3 3 0 MS EA EA
117. it switch is active CWL limit switch is active Industrial Product amp 3 6 T ECO System Automation Division 2 Position Control Mode Status bit Status code In position Base Block In Speed External Pulse reference Pulse error clear Status code and status bit contents Status bit display and description RIAIS COGE Indicator On Indicator Off BASE BLOCK Servo Off status Servo On status When Position pulse error value When Position pulse error value In Position INP less than the value of Pn307 greater than the value of Pn307 Position complete value Position complete value a speed T greater Te speed less than In Speed INS than the value of Cn007 Speed the value of Cn007 Speed reached preset reached preset Reference Input clear pulse error value will be clear Status code Status code Description BASE BLOCK Servo OFF status when motor excitation is invalid The servo is under operation status Run Servo ON status when motor excitation is valid Bom e CCWL limit switch is active CWL limit switch is active Industrial Product amp 3 7 T ECO System Automation Division 3 2 Signal Display 3 2 1 Status Display Following parameters can be used to display drive and motor Status Parameter Un 01 Actual motor speed Actual Motor Speed is displayed in rom It displays the torque as a percentage of the rated torue Actual motor torque Ex 20 are dis
118. ith Servo DFrivVeS ooooonccccccccccccconnccnnnncononononocnnnnonononnnnncnnnnnnnnnnnncnnnnonoss 1 1 1 1 2 Confirming with ServoMmotorS cccccccooconnncconncococcnoonccnnnncnnonnnnnnnnnnnnnnononannnnnnncnnnnanennnnnnnnss 1 2 1 1 3 Servo Motor Model Code Display ooooooooccccocccocccooocccnnnncononononcconnnnonononcnnnnnonoss 1 2 1 2 Surface and Panel BOArd oooooccccccccccccooncccnnnncnonononnncnnnnonononnnnnnnnnnnnonnnnnnnnnnnnnnnnnnnnnnnnncnnnnnanos 1 4 1 3 A Brief Introduction of Operation for DrivVes oooccccccccccococnnccnnnncconononncnnnnnnnnnnnnanennnnnnnnnnnos 1 5 1 4 Conditions for Installation of Drives ooocccccccconncnnccccooncnnncoconncnnnnoononnnnnnononnnnnononnnnnnnos 1 6 1 4 1 Environmental CONdItiONS cccccoconccnncccconncnnncononncnnnononononnnnnnnnnonnnnnnancnnnnnnnnnnnnnnnnnos 1 6 1 4 2 Direction and DIStance ccccooccccccccncccccncccnnnonononononnnonnnnononnnonnnnonnnnnnnnnnnonannnnnnnncnoncncnnnos 1 6 1 5 Conditions for Installation of Servomotors ccooocccncccccocconccononccononononnnononononcnnnononancnnnnnnanennnnss 1 7 1 5 1 Environmental CONdItiONS cccccooonncnnccccooncnnccoconncnnnnonononnnononnncnnnnnnnnnnnnnnnnnnnnnncnnnnos 1 7 1 5 2 Method of Installation ccoccocooncnnccccccnconncononncnnnononncnnnnonnnnnnnnnnnnnncnnononannnnnnnnnnns 1 7
119. ler provides 3 control loops as diagram shown below Control methods are Current Control Speed Control and Position Control Position Control Loop Speed Control Loop Current Control Loop Host t Position t Speed Current Power SM Controllor Controllor Controllor Controllor Circuit PG Diagram above shows the three control loops Current Inner loop Speed middle loop and position outer loop Theoretically the bandwidth of inner control loop must be higher than the bandwidth of the outer control loop otherwise the whole control system will become unstable and cause vibration or abnormal response The relationship between the band width for these three control loops is as follows Current Loop Inner gt Speed Loop Middle gt Position Loop outer The default current control bandwidth has already been set for optimum response So Only speed an d position control loop gains may be adjusted Table below shows the Gain adjustment parameters for the three control loops A EE Sn211 Speed Loop Gain 1 Hz 10 450 Pe Pi S EIA IT E f ee eo T rems Pn311 Position Loop Gain 2 1 450 Pn312 Position Loop Feed Forward Gain oofa 0 100 Cn025 Load Inertia Ratio 0 1000 Pe Pi S Industrial Product amp 5 54 T ECO System Automation Division Speed Loop Gain Speed Loop Gain has a direct effect on the response Bandwidth of Speed Control Loop Under the condition of no vibration or noise when higher
120. lete revolution of the motor as an absolute value Pulse command rotation After power on it displays pulse command input rotation number in value absolute value absolute value Pulse command Less then 1 rotation pulse value absolute value Un 17 After power on it displays pulse command input for an incomplete rotation pulse value is an absolute value It displays the torque command as a percentage of the rated torque Torque command Ex Display 50 Means current motor torque command is 5096 of rated torque When Cn002 2 0 Auto gain adjust disabled it displays the current preset load inertia ratio from parameter Cn025 When Cn002 2 1 Auto gain adjust enabled it displays the current estimated load inertia ratio Load inertia Industrial Product amp 6 2 T cQ System Automation Division System Parameters Setting Control AAA Control Mode selection Setting Explanation Torque Control 5 1 1 Speed Control 2 Position Control external pulse Command THU og Position Speed Control Switching e A Speed Torque Control Switching Position Torque Control Switching 5 6 2 Position Control internal position Command SON Servo On Input contact function Setting Explanation 0 nput Contact Enables SON Servo On X EN c e SON is enabled when Power on COWL amp CWL Input contact function CCWL amp CWL Input contact function function remp control the drive inhibit of CC
121. log torque command limit If analog torque command limit is greater than internal torque command limit the internal torque command limit has the priority over external analog torque command limit Internal Torque command limit is set as below Setting Control Parameter am oni uni S ani CCW torque command limit Ex Fora torque limit in CCW direction which is twice 300 0 300 ALL the rated torque set Cn10 200 CW torque command limit Ex Fora torque limit in CW direction which is twice the rated torque set Cn11 200 The diagram below shows the external analog torque limit command wiring Drive Analog Speed Limit Input 0 10V Industrial Product 4 5 22 TECO System Automation Division 5 3 11 Gain Switched PI P control mode selection Section A Automatic gain 1 amp 2 switch Section B The selection of PI P control mode switch and Automatic gain 1 amp 2 switch by parameters or from input terminals can be used in following conditions 1 In speed control to restrain acceleration deceleration overshooting 2 In position control to restrain oscillations and decrease the adjusting time 3 To decrease the possible noise caused by using Servo Lock function A Switching between PI P Control modes Switch over from Pl to P mode is determined by setting of parameter Cn015 0 and according to the selection options below one oo ona et a Range mode Setting Description ER from PI to P if the torq
122. m ned INH 1 M A P L Encoder Output Z Phase m 24V ground E UT d pu EE Wl PZ yc External supply il a 9 MIC VeXV MAUKO 1 E pu 1G24 Ve 12V R4 2 4K C fo Pulse x 4 I4 Ve 5V R4 1 0 amp 0 Pulse CW A Phase vn DCMV 5 gt V 0 Pulse CW A Phase V Puse 53 0f i 4 lA Servo Ready RDY gh MN E 2 Sign CCW B Phase i R iX ms lam ALM Sign CCWIB Phase 0 DY ciem bh 4 a Positing Completed INP Lil B ae 1024 Shielded wire Grounding Max Voltage 24V Max output Current 10mA Industrial Product amp 2 23 T ECO System Automation Division 2 3 2 Position Control Mode Pe Mode Open Collector T C RS 232 RS 485 sgn jme d Nm 4 Regeneration resistor P24 Internal 24V DC 9 T I Digital input common E Servo ON SON CCW Limit CCWL A PA 1 Y Encoder Output A Phase B ES mit CWL CW Limit CWL Encoder Output A Phase i 5 OD a ve Emergency stop EMC i op E Encoder Output B Phase i0 PB I Pulse error clear CLR ry Encoder Output B Phase EN 7 Encoder Output Z Ph Pos n command inhibit INH hj ncoder Output Phase 1 E 0 RL 7 Encoder Output Z Phase 24V ground Digal Aal ee EM 1 1 2 m JPZ Ve External supply 11 O R4 B s UN VeV R4 4 7K Nj pe 1G24 Ve 12V R4 2 4K 0 Ve 5
123. m below displays all positions for the terminal CN3 CN4 8 pins female Communication Connector CN1 25 pins female Control I O Signal CN2 9 pins female Encoder connector 13 Industrial Product amp DES T CO System Automation Division 2 2 1 CN1 Input and Output terminals 1 CN1 Terminal Layout pr LLL Lr Digital Input Terminal 6 Pulse Command Input u DICOM Digital input common Pulse Command Input Digital output Terminal 1 d Si Position Symbol Comman ign Input 19 DO 2 Digital output Terminal 2 l Position Symbol Command Sign Input Digital output Terminal 3 IP24 24V Power Output 17 Encoder output A Phase Encoder output A Phase mim Encoder output B Phase Encoder output B Phase IPZ 5 1 NI 11 A Encoder output Z Phase Encoder output Z Phase IG24 24V PW ground terminal Speed or Torque analog command Input Torque command speed 2 PIC limited AG Analog Signal Ground P S 1 Digital input and Digital output is programmable setting method refer to parameter Hn501 Hn 509 12 SIN 2 Digital input and Digital output shield signal should connect to FG terminal Industrial Product amp 2 9 T ECO System Automation Division 2 CN1 Signal Name and Explanation a General I O Signal Explanation of General I O Signal Function Signal Name Function Symbol Pino Wired Mode Pulse a Position Pulse Command
124. mable Install Location Environ gas and dust ment Temperature Operating Temperature 0 55 C storage Temperature 20 85 C Humidity Operating storage below 9096 RH Vibration fo 57Hz 20m s2 57 150Hz 2G Momentary Max torque is 240 of rate torque for JSDE series Industrial Product amp 9 3 T E cQ System Automation Division X Dimension for JSDE 10 and JSDE 15 t amp T E co Industrial Produc System Automation Division Dimension for JSDE 20 and JSDE 30 T E C O Industrial Product amp System Automation Division 9 2 Specifications and Dimension for Servomotors Description for Servo Motor Type Number JSM A S C 30 A 9300 AC Servo Mechanical BK Product Name LI Without BK B With Brake Motor Series A series Motor inertia S T Super Low L Low M Middle Encoder Rated Speed F 2000 ppr A 1000 rpm B 2500 ppr B 2000 rpm H 8192 ppr C 3000 rpm Input Voltage H 1500 rpm Rated Output A AC 220V Power 01 100 W 02 200 W 03 300 W 04 400 W 05 550 W 08 750W 10 1 KW 15 1 5 KW 20 2 KW 30 3 KW Industrial Product amp 9 6 T E cQ System Automation Division X Standard Specifications for Low Inertia and Super Low Inertia Motor Mode Symbol JSMA 0000 ive mode at Output Pa v RaedCume hy rated Speed Ns Max armature Curent he A induced Voltage Constant Ke Vikpm Rotor Moment of ine
125. me 7 bits Data Start PFLEENMENEIE ME AMI Stop Stop WO bp POET ET EP EF EO 19 pi i pi 0 DO Data 7 bits LII gt 000000 Character Frame 10 bits 0000000 gt Start MES Even Stop 12 34 55 Ix PRESEA 00 Data7bis O00 3 lt 0 0000000 Character Frame 10 bis DOOG000 Start boob P i i 1 Odd Stop 1 2 1 4 m bit j parity bit D DI Data7 bits OOo Em 1000000 Character Frame 10 bits 0 00000 11 bits Frame 8 bits Data Sat iii iia io Stop Stop ee na aa a A A e oe e ome ome oe e Start od d m j NE OP gb mE Even Stop LT E 4 7 SEI bit E a MEM 2 parity bit Stat i t ist doiala Odd Stop 2 1 As i i 7 1 2 bit J AE NM i MEM i gt parity bit e momo mom EE A o m m m m m A AN Le ae ome e e n 00000000 Character Frame 11 bits 0000000 gt Industrial Produc amp 7 9 TE CO yin Aulamalen Draen ASCII Mode Framing Include 2 ASCII code within 1 byte Comm add 1 254 convert to Hex representation ADR Slave address l l Ex Servo drive ADR is No 20 convert to 14H ADRz2 1 4 gt 1 2 31H 4 34H Include 2 ASCII code within 1 byte Function codes 03H Read the register contents CMD Function code DM l O6H Write Single Register 08H Diagnostic function 10H Write Multipile Registers DATA n 1 Data DATA 0 Check code Include 2 ASCII code within 1 byte n word 2n byte ASCII number
126. mode S Curve speed command accel decel time setting Set Sn205 3 to enable this function In the period of Accel and Decel drastic speed changing might cause vibration of machine S curve speed command Accel and Decel time setting has the msec 171000 effect to smooth Accel and Decel curve Rule for the setting 5 gt is a gt t Sn209 S Curve speed command acceleration time setting 200 msec 0 5000 Refer Sn208 Sn210 S Curve speed command deceleration time setting 200 msec 0 5000 S Refer Sn208 In applications where normal acceleration deceleration on ramp up or ramp down bring in vibration of the mechanical system S curve acceleration deceleration parameters could help to reduce vibration as diagram below Speed Command rpm ts Sn208 ta Sn209 td Sn210 pits ly gt Bie gt e gt Time ms ta td t Caution Setting Rule gt gt t ot Industrial Product amp 5 17 T ECO System Automation Division 5 3 7 Setting rotation direction Motor rotation direction in speed mode can be set by parameter Cn004 Motor rotation direction and input contact SPDINV according to the tables below Caution Both methods can be operated at the same time Ensure that these parameters are set correctly for the required direction Setting Control Parameter Name Detour unit ange mode Motor rotation direction observation from load side ES Explana
127. ms Once there is no alarms then operate the drive again If any of the alarms can not be cleared please contact your local supplier for assistance 4 Mechanical Brake Release When a brake type servo motor is used then must release the brake before starting trial run by applying 24vdc voltage to brake terminals 5 Keypad Trial run JOG function Jog function can be used to check if motor speed and rotation direction is correct Parameters Sn 201 internal speed command 1 and Cn004 motor rotation direction selection Can be used to set the required speed and direction Warning Set the required JOG speed before the trial run otherwise the motor will run at the default speed set in parameter Sn201 internal speed command 1 Warning Regardless of external SON servo on is active of not Servo motor will get excitation as soon as JOG is activated Indusirial Prodi amp 4 3 TECO Bysen Automation Cresson Steps for setting JOG function T gus BL On power on Drive Status is displayed MOM PE Press MODE Key twice to view diagnostics parameter dn 01 gt ds Press INCREMENT Key 4 times to display dn 5 4 Press ENTER Key for 2 seconds to enter JOG MODE Motor will power on immediately 5 Press INCREMENT Key motor will run in the pre defined positive direction Press DECREMENT Key motor will run in the pre defined negative direction Press MODE Key once to return to dn 05 and parameter JED Emm aX Motor power w
128. n 15 encoder feed back pulse number are all 0 motor decelerates and stops Home Mode selection table Pn365 0 pn 365 1 selections can be made for each application as required according to the table HOME routine available X HOME routine not available Industrial Product amp 5 46 T ECO System Automation Division Additional Home routine parameters Home search speed parameters 1st Fast and 2 Slow speeds are set according to table below As Pn366 preset high speed of HOME 0 2000 Pn367 Om preset low speed of HOME 0 500 Parameters Pn368 and Pn 369 provide Home position offset feature for applications where the machine mechanical home position is a different position to the detected home position This offset can be achieved by setting the two parameters below Once the detected home position is found in accordance with Pn365 Home routine mode then it will search by number of revolutions and pulses set in Pn368 and Pn 369 to find the new off set Home position ignal Pnacs HOME Position Offset 0 rev 30000 30000 Pi Pe No of Revolutions HOME position Bias Pulse value i 7 Pnaco HOME positi 0 pulse 32767 32767 PilPe Home routine Timing Chart During the Home routine if the SON Servo On is not activated or any alarm happens Home routine is stopped and Home Complete output contact is reset Cleared Pn365 2 2 Pn365 2 1 SHOME triggers HOME After Power ON Home function will be automa
129. n is interrupted Pulse error amount is cleared Industrial Product amp 6 18 T CO System Automation Division Setting Control anri uncis pere on Sg T or Internal Position Command Mode X Pn316 0 Setting Explanation O0 Absolute Position 1 Incremental Position Internal Position Command Hold PHOLD program select When PHOLD is active then received PTRG signal servomotor will be proceed internal position command from PHOLD position 1 Gina PHOLD is active then received PTRG signal Servomotor will operate internal position command of current selection Internal Position Command 1 Rotation Number Set the Rotation number of the internal Position Pn317 Command 1 Use input contacts POS1 POS4 to select Refer to 5 4 2 Internal Position Command 1 Pulse Number Set the rotation pulse number of internal position Command 1 Internal Position Command 1 Pn317 Rotation Number X Pulse number of One Rotate x 4 Pn318 Pulse number Internal Position Command 1 Move Speed nee the Move Speed of internal Position Command T Position Command 2 Rotation Number 30000 Pn320 0 rev Pi 5 4 2 Please refer to Pn317 30000 Internal Position Command 3 Pulse Number T pulse Please refer to Pn318 32767 Internal Position Command 3 Move Speed 0 Please refer to Pn319 Internal Position Command 4 Rotation Number T rev 5 4 2 Please refer to Pn317 30000 Internal Position Comman
130. n319 3000 Internal Position Command 10 Rotation Number vl Please refer to Pn317 30000 Internal Position Command 10 Pulse Number d pulse 4 Please refer to Pn318 da al ri r I BA i dE I Industrial Product amp 6 20 T ECQ System Automation Division Parameter Name amp Function Default Unit Setting Chapter Range Mode 0 Internal Position Command 10 Move Speed Pn346 B pm ON Please refer to Pn319 3000 Internal Position Command 11 Rotation Number T Pn347 id Please refer to Pn317 sn Internal Position Command 11 Pulse Number u id Pn348 pulse Please refer to Pn318 sot Internal Position Command 11 Move Speed Pn349 gt Please refer to Pn319 aco Internal Position Command 12 Rotation Number T Pn350 d Please refer to Pn317 dan Internal Position Command 12 Pulse Number 9267 pulse Please refer to Pn318 sot Internal Position Command 12 Move Speed Please refer to Pn319 Internal Position Command 13 Rotation Number 000 Please refer to Pn317 ais Internal Position Command 13 Pulse Number 9267 pulse Please refer to Pn318 so Internal Position Command 13 Move Speed Please refer to Pn319 ula Internal Position Command 14 Rotation Number m Please refer to Pn317 im Internal Position Command 14 Pulse Number 9267 Pn357 pulse Please refer to Pn318 sot Internal Position Command 14 Move Speed Please refer to
131. nd Un 17 Input command ppr these should be the same e Compare the number of revolutions using parameters Un 14 motor feed back rotation number and Un 16 pulse command rotation number these should be the same If there are differences then adjust electronic gear ratio parameters Pn302 Pn306 as required and test again until the result is satisfactory If the direction of motor rotation is incorrect then check and if necessary set parameter Pn 301 0 position pulse command types Also check and if necessary set parameter Pn314 Position command direction selection Once the test result is correct then remove SON signal Power to the motor is switched off Indusirial Proc amp 4 7 TECO Syste Automation Crearon 4 3 Trial Operation with the Servo motor Connected to the Machine Servo drive parameters must be set correctly otherwise damage to machinery and potential injury may result Do not close to the machine after temporary power loss the machine may restart unexpected Please take the measures highlighted in the section below before trial run with load e Consider the Mechanical system requirements and set the parameters appropriate for control by the host controller e Ensure that the rotation direction and speed are suitable for the Mechanical system Load Shaft Motion Table Y Servo Motor Steps required for Trial run 1 Ensure that the ServoDrive Power is off 2 Connect the servo motor to the load shaft Refer to
132. nnnnnnnnnnnnnnnononos 7 1 7 1 1 Communication wiring ccccccccccconnnccnnnccncnnnnnncnnnnnnnnnnnnnnnnnnnnonononannnnnnnnonnnnnnnnnnnnnnnnnnannennns 7 1 7 1 2 RS232 RS 485 communication parameter essssssssseeeessss 7 3 7 1 3 Rs 232 communication protocol and format oooccncccoccnncccnccnnocnncnnonnncnnconanencnnnncnnnnnos 7 5 7 1 4 Modbus communication protocol for RS 485 oooooocococooooccccccccconcnnnoccconnncnnnnnanncnonnnnnnnnnnnos 7 8 7 2 Communication Address table ccoccccoonccnnccconococonononocononnnonononancnnnnnnonononannnnnononnnnannnnnns 7 19 Chapter 8 Troubleshooting 8 1 Alarm Functions T ec 8 1 8 2 Troubleshooting of Alarm and Warning occccccccocccnnccccnncconcnononcnonononancnnnononannnnnnnnonnnnononanenns 8 3 Chapter 9 Specifications 9 1 Specifications and Dimension for Servo Drives ooooonncccccccccccccoonccnnnncnnnnonanononnncnnnnnananennns 9 1 9 2 Specifications and Dimension for Servomotors ooooocccccccnncccccccccccccnnnnononcncnnnnnnnnnnnnnnnnnonnnnnannnnos 9 6 Appendix A Peripheral for Servo motors coooooccccccccnooccccccnnnnccccnnnnnnanccnncnnnnnnccncnnnnnns App 1 Industrial Product amp V T ECO System Automation Division Chapter 1 Checking and Installing 1 1 Checking Products Our Servo Pack have already completely been functionally examined before leaving the factory
133. nonononononanonns 2 20 2 2 3 Encoder Connector CN3 CN4 Terminal Layout ccccccoocccccccccocncncccccncncnncocononoss 2 22 2 3 Typical Circuit Wiring Examples ooooocccccccoocccncccccocconncnononccnncnonnncnnnnnnnnnrnnnnnnnannnnncnnnanenenss 2 23 2 3 1 Position Control Mode Pe Mode Line Driver esee 2 23 2 3 2 Position Control Mode Pe Mode Open Collector 2 24 2 3 3 Position Control Mode Pi Mode ccccooooccccccccoocconccocooccnnnoconononnnocoonnnnnconoannnos 2 25 2 3 4 Speed Control Mode S Mode ccccooooccccccccconcccccccooccnnncoconcconnnononnnnnnononnnnnnonononons 2 26 2 3 5 Torque Control Mode T Mode coccooooccccccccocccccccccoccconcccconcnnnnocononnnnnononnnnnnnononnnnns 2 27 Chapter 3 Panel Operator Digital Operator 3 1 Panel Operator on the DrivVes oooccccccccccccoonccconnccnonononnconnnnnnononannnnonnnnnonnnanncnnnnnonenanenennninnss 3 1 oe SUC RP jor RO 3 8 3 2 1 Status Display 3 8 3 2 2 Diagnostic function ooocccconncccccocconoconcnncnnnnnncnnnncnnonnncnnonnnnnnnnnnnrnrnnnnrnnnrnnrnnnonnnnronanrnnenanens 3 9 Chapter 4 Trial Operation 4 1 Trial Operation Servo motor without Load cooooonccccnncccncccconnccnnnccnnonon
134. nos 5 62 5 6 2 Switching for the Control Mode oooccccccccccocooonccononccononoonccnnnnnnnononanncnnnnnnnnnnnnos 5 64 5 6 3 Auxiliary Functions oooccccconccccccocccncconcnnconononcononcnnononcnncnnnnnnnnnnnrnnnnnnrnnrnnannnrrnnrnnrnnnnnnnnnas 5 64 Industrial Product amp 1V T ECO System Automation Division 5 6 4 Brake Mode cc cc ccccccceccccecececcccececucuccececscueauuecscueueuececseauaeuenseauaeceaenecseauauuenecscauaunensnanass 5 65 5 6 5 Timing Diagram of Mechanical Brake ooccccooooccocococconccnononoononononnnncnnconanenoss 5 65 5 6 6 CW CCW Drive Inhibit Function cooooccccccccccnncnnccccooncnnnonononcnnnnononnnnncnononnnnnnnnnnnoss 5 67 5 6 7 Selecting for External Regeneration Resistor oo ccccccccnnnoooncconnccnocononcccnnnncnnnnnnnos 5 68 5 6 8 Fan RONG emm 5 71 5 6 9 Factory setting parameter ccoooccccoccncccccncccccncconnnononnnnnncnononnnononnnonnnnnonnnnnnnnnononcncnanenes 5 71 Chapter 6 Parameter 6 1 Explanation of Parameter Groups cccccccoocccnccccoocconccononccnnnnnnnnnconnnonnnnnnnnnnnnnnnnnnnnnnnrnnnonnnnennnnnnnns 6 1 6 2 Parameter Display Table ooocccccccoccconccccooccnncocconncnnnonnonnnnnonononnnnnnnnnnrnnnnnnnnnrnnnnonanncnnnnnnnns 6 1 Chapter 7 Communications Function 7 1 Communications function RS232 amp RS485 ooonncccccoconcconccoconnconococonnconnconon
135. ns and Wired Mode Layout Function Servo ready DO 1 RDY mesmo 0s m 8 Industrial Product amp 2 12 T ECO System Automation Division Digital Input Function Except CCWL and CWL are high electric potential other terminal layout are low electric potential Please refer to 5 6 1 to see related parameters Signal Name EX I O Function SON and IG24 close loop Servo ON SON and IG24 open loop 5 6 3 Servo On Servo OFF Attention Before power on the input connect point 5 64 SON servo on can not be operated to avoid danger ALRS and IG24 close loop Relieving the stop situation from of AbrommaiResal ALRS abnormality But the abnormality of encoder or memory will 8 1 cause the same alarm again Please reset power after the abnormality is eliminated PCNT and IG24 close bec AME EE gl will cause the speed loop control PI P switch PCNT Pi Pe HS MEL LEVER NEN to ratio control from ratio integration control 9 3 11 CCW Connect to CCW over travel detector CCWL and IG24 close loop 5 4 8 CCWL open loop with IG24 gt CCW over travel operates 5 6 3 Operation limit 5 6 4 Connect to CW over travel detector CWL and IG24 close loop 5 4 8 ALL lopen loop with IG24 gt CW over travel operates 5 6 3 Wd limit 5 6 4 TLMT and IG24 close loop will cause the motor output torque limit dde torque TLMT pipes lto stay in the command voltage range of 5 3 10 nii torque limit terminal layout PIC NIC Pulse error When CL
136. nterface Circuit 103 Suggesting to use the input method of Line Driver to send the pulse command The maximum input command frequency is 500kpps Using the input method of Open Collector will cause the decrease of input command frequency the maximum input command frequency is 200kpps The servo provides only 24V power and other power should be prepared Adverse polarity of power will cause the servo damage The maximum of External power Vcc is 24V limited Input current is about 8 15mA Please refer to the examples below to select resistance Please refer to 5 4 1 to check pulse input command timing Line Driver pulse command input Open Collector pulse command input Servo Pack Servo Pack The max frequency of line driver type pulse command Maximum input command frequency of open collector is is 500kpps 200kpps Servo Pack DC24V External Power External Power External Power Vcc 24V Vcc 12V Vcc b5V R 2KO R 7500 R 1000 The maximum input command frequency of open collector is 200kpps Industrial Product amp 2 18 T E cQ System Automation Division d Encoder Output Interface Circuit IO4 Encoder output interface circuit is the output method of Line Driver please let end terminal resistance R2200 3300 connect to Line Receiver input terminal Encoder Output Interface Circuit Line Driver Servo Driver Controller e Analog Input Interface Circuit IO5 There is sometimes ripple inside the servo int
137. o clamp is EZ when stop O N CCW Torque command Limit CCW Torque command Limit command Limit 0 Cn010 Ex Fora torque limit in CCW direction which is twice 300 7o ALL the rated torque set Cn10 200 300 LE Cn012 Cn014 CW Torque command Limit E 5 95 Ex For a torque limit in CW direction which is twice E ES 5 3 10 oen Ert torque set Cn11 200 Power setting for External Regeneration Resistor Refer to section 5 6 7 to choose external Regeneration resister and set its power specification in Watts of nie Frequency of resonance Filter Notch Filter Pi Enter the vibration frequency in Cn013 to eliminate Hz Pe 5 3 9 system mechanical vibration 1000 S Band Width of the Resonance Filter 1 P Adjusting the band width of the frequency lower the 7 X Pe 5 3 9 band width value in Cn014 restrain frequency Band 100 S width will be wider Industrial Product amp 6 5 T ECO System Automation Division Parameter Name amp Function eng amie Chapter Range Mode PI P control switch mode Setting Explanation Explanation Switch from gain 1 to 2 if torque command is greater than Cn021 Switch from gain 1 to 2 if speed command is greater than Cn022 owitch from gain 1 to 2 if acceleration command is greater than Cn023 Switch from gain 1 to 2 if position error value is greater than Cn024 Switch from gain 1 to 2 by input contact G SEL
138. ommand 96 Speed Command 1 1 msec 10000 Time ms Speed command linear accel decel time constant Set Sn205 2 to enable this function then set the time period for the speed to rise linearly to full speed Speed Command 96 Rate Speed fy 1 Sn207 Po 1 msec 7 50000 Time ms Industrial Product amp 6 13 T CO System Automation Division Setting Control anri nci EXIT de orane S curve speed command acceleration and deceleration time setting Set Sn205 3 to enable this function In the period of Accel and Decel drastic speed changing might cause vibration of machine S curve speed command Accel and Decel time setting has the effect to smooth Accel and Decel curve Speed Command rpm g 3 ts Sn208 AE d ta Sn209 dH 1 E msec S 5 3 6 T 100 A gt e Time ms cts Rule for the setting gt na Y gt gt i S curve speed command acceleration time setting ENS E Sn208 T sue curve speed command deceleration time setting msec E Refer Sn208 0000000000 EN a loop gain has a direct effect on the frequency response bandwidth of the Speed control loop Without causing vibration or noise Speed loop gain can 40 5 3 8 be increased to obtain a faster speed response ide gi 9 5 If Cn025 load Inertia ratio is set correctly the specc euu bandwidth will equal to speed loop gain Speed loop integral element can eliminate the steady speed error and quick response for speed var
139. onse If the feed forward gain is too large it might cause 0 5 4 6 9 qn407 speed 7o 5 5 Overshoot and in position oscillations which result in 100 the repeated ON OFF operation of the output contact INP In Position output signal Industrial Product amp 6 25 T CO System Automation Division Multi Function Input Parameters Setting Control Nene orcos tea Unt Sng ose hene Seting SON SevoOn PI P Switching CCWL CCW Limit 08 LOK jSevolok 09 EMC EmergencyStop OA SPD1 Speedi gt O O OO o o OB 01 xHn501 0 0D INH_ Position Command Inhibit XHn501 1 o X c agp 7X to GN pum Gear Ratio Numerator HEX w ang phecronic Gear Ratio Numerator ALL 5 6 1 12 PTRG Position Trigger 13 PHOLD Position Hold 14 SHOME StatHome EXE NE Origin 16 POS1 Internal Position selecti 17 POS2 Internal Position select2 18 POS3 Internal Position select3 19 POS4 Internal Position select 4 1B RS1 _ Torque CW Selecting 1C RS2 Torque CCW Selecting DI 1 Logic State NO NC Selection Input contact state NO Normally Open 0 Connecting IG24 to inputs enables the X selected function 1 Input contact state NC Normally Closed Disconnecting IG24 from inputs enables the selected function x New setting will become effective after re cycling the power Warning
140. ontact When the PCNT input contact is open PI control is selected When the PCNT input contact s closed P control is selected Note Input contacts status 1 ON and 0 OFF Please check 5 6 1 to set the required high Low signal levels PNP NPN selection Status of contact PCNT Enable Switch PI P by PONT input contact 2 M lt __ PI control P control PI control Industrial Product amp 5 25 T ECO System Automation Division B Automatic gain 1 amp 2 switching Selection of Automatic gain 1 amp 2 switch with different P amp I Gains is possible by setting Parameter Cn 015 1 to one of the selections listed in the table below Parameter Cn 020 can be use for setting a switch delay time between different gains Gain 1 and 2 Setting Control Parameter Name etait unit go Mode Automatic gain 1 amp 2 switch Setting Explanation M from gain 1 to 2 if torque command is greater than Cn021 n 5 p ee from gain 1 to 2 if speed command is greater than 0 Sngze 4 x Pi Pe S sn from gain 1 to 2 if acceleration command is greater than Cn023 3 Switch from gain 1to2 if position error value is greater than Cn024 4 Switch from gain 1 to 2 by input contact G SEL Set one of the multi function terminals to option 15 of Hn501 Automatic gain 1 amp 2 switch delay time Cn020 Speed loop 2 to speed loop 1 Change over delay when two control speed loops P amp I gains 1 2 are u
141. op Gain Value can enhance the response speed and hence reduce the positioning time Position Loop Feed Forward Gain Using Position Loop Feed Forward Gain can enhance the response speed If the Feed Forward Gain value is setting too high overshooting could occur and cause the INP In Position output contact to switch ON and OFF repeatedly SO monitor Speed Curve and INP In Position Signal at the same time then increase Feed Forward Value slowly If Position Loop Gain is too high Feed Forward function will be insignificant Quick Parameters for Gain adjustment Quick Gain adjust parameters are available for setting manually The related Gain Adjust parameters are listed in the Quick Parameter leaflet for convenient reference Quick adjust parameters once altered are saved and become effective immediately without pressing the Enter Key The table below shows the Gain Adjust Quick Parameters Control ing Ran qn401 Speed Loop Gain 1 EN EET 450 MOS dan402 Integral Time Constant 1 of 1 500 Pe Pi S opeed Loop qn403 Speed Loop Gain 2 EN Integral Time Constant 2 of qn405 Position Loop Gain 1 ER qn406 Position Loop Gain 2 EM Position Loop Feed Forward e gan o Become effective immediately without pressing Enter Key Industrial Product amp 5 56 T ECO System Automation Division 5 5 1 Automatic Adjusting This device provides ON LINE Auto tuning which can quickly and precisely measure Load Inertia and adjus
142. or CCWL and CWL must be set to 0 Once the home routine is activated motor will search for Home position switch in 1 speed in CCW direction and sets the Home reference position as soon as the input contact ORG is activated If Pn365 1 2 it will directly find the closest Rising Edge of ORG to be the Home position without a need for Home Reference then it stops in accordance with Pn365 3 setting Once the home routine is activated motor will search for Home position switch in 1 speed in CW direction and sets the reference Home position as soon as the input contact ORG is activated If Pn365 1 2 it will directly find the closest rising Edge of ORG to be the Home position without a need for Home reference then it stops in accordance with Pn365 3 setting Industrial Product 8 6 22 T E CO System Automation Division Setting Control ane 8 Fan st un Se a oo Once the home routine is activated motor will search for Home position in 1 speed in CCW direction and sets the Home reference position as soon as the nearest Z marker pulse is detected When using this function set Pn365 1 2 After setting the Z Phase to be the Home it stops in accordance with the setting of Pn365 3 5 4 8 Once the home routine is activated motor will search for Home position in 1 speed in CW direction and sets the Home reference position as soon as the nearest Z marker pulse is detected When using this function set Pn365 1 2
143. otor Use parameter Un 14 to check if the Motor feed back number of revolutions per minute is correct and the same as number of revolutions sent by the host controller If there is any difference then check and make sure that parameter Cn005 Encoder ppr is set correctly Once this is complete remove SON signal to switch off power to the motor Indusinal Producer amp 4 6 TECO Bysen Automation Cresson C Position control mode trial run Cn001 2 1 Wiring Check and ensure that all power connections to the drive and motor and control signal connections are correct as diagram below Servo Driver Servo Motor am O uni O 2 z e S 8 2 Setting electronic gear ratio Set electronic gear ratio parameters Pn302 Pn306 as required for the positioning application refer to section 5 4 3 Note Electronic gear ratio parameter can be used to scale the command output pulse This would be useful in transmission applications where move distance per move command pulse has to be scaled due to mechanical requirements 3 Apply Servo on Apply power to the drive and activate SON signal by switching SON terminal to IG24 input digital Ground 4 Confirm motor speed direction and number of revolutions Apply a low speed pulse command from the host controller to the servo drive so that the servo motor operates at low speed e Compare the number of pulses per revolution from parameters Un 15 motor feed back pulse ppr a
144. played lt means that the motor torque output is 20 of rated torque ES Regenerative load ratio Value for the processable regenerative power as 100 UmQ4 Accumulated load ratio de Mae for the rated torque as 100 Max load rate 96 Max value appeared on accumulated load rate Speed command rpm Speed command is displayed in rpm T Error between position command value and the actual position Un 07 Position error counter value pulse feedback Position feedback pulse counter pulse The accumulated number of pulses from the motor encoder External voltage command EM External analog voltage command value in volts Main circuit Vdc Bus Voltage NA DC Bus voltage in Volts idis Spese gommang Display external speed limit command value in rpm Ex Display 100 Means current external CCW torque limit command is External CCW Torque limit A command value set to 100 External CW Torque limit command Ex Display 100 Means current external CW toque limit command is set value to 100 Motor feed back Rotation value rev After power on it displays motor rotation number as an absolute value absolute value Motor feed back Less then 1 n power on it displays the pulse number for less than a revolution of rotation pulse value absolute value the motor as an absolute value Pulse command rotation lov After power on it displays pulse command input rotation number in value absolute value absolute value Un
145. played use Increment or Decrement keys to Power on select the required parameter then use Enter key in order to view and alter the parameter setting once this is done then press Enter key again to save the change Notes On each parameter display the first digit will be flashing the enter key can be used to move between digits Example procedures are shown below Ex Setting Speed Parameter Sn203 to 100rpm Step Key LED Display after Operation ae La Display status of servo drive DES Press INCRMENT Key tice Sn208 is displayed 4 To view the Sn203 preset value by press ENTER Key for 2 seconds BIOL Shift to the second digit by press ENTER Key once Industrial Product amp 3 2 T ECO System Automation Division Step Key LED Display after Operation AS Shift to next Digit by press ENTER Key once again Change the digit preset value by press the DECREMET Key twice es To save the altered preset value Press the ENTER Key for 2 seconds until SET is displayed briefly and then display is ngu returned to parameter Sn203 Following example shows the sequence where a parameter preset value is displayed When no change is made and it is skip back to the original parameter by Pleo the Mode Key Step Key LED TE after jm DUNS power on drive status parameter will display SE D Preso MODE Key 6 times Sn 201 will be displayed DUM pressing INCRMENT Key twice Sn203 is displayed ETETE To
146. pm H 1500 rpm M Machinery BK Li No BK B BK LH NI AN cow Encolder F 2000 ppr B 2500 ppr H 8192 ppr Motor ratio power P5 01 02 03 04 05 06 10 I 20 30 1 1 3 Servo Motor Model Code Display 50W 100 W AC input voltage 200 W A AC 220V 300 W 400W 550W 750W I KW 1 5 KW 2 KW 3 KW Make sure parameter CNO030 is setting correctly before start operate this drive Setting method reference 1 1 3 Industrial Product amp 1 2 T ECO System Automation Division Use dn 08 to display servo motor code and check the servo drive and motor compatibility according to the table below If the dn08 preset is not according to the list below then contact your supplier The motor model code is stored in parameter Cn30 dn 08 Display Motor Standards Encoder Cn030 a Drive Model Motor Model Watt Speed HI W rpm Specification JSDE 10 JSMA TCOZAB TCO2AB JSMA TCO2AB TCO2AB JSDE 15 usar SCOAAF E JSMATCMAB TCO4AB a JSMA SCO4AF SCO4AF a SCOSAF 750 ED y lt lt lt 7 m MAO5AB JSDE 30 Industrial Product amp 1 3 T ECO System Automation Division 1 2 Surface and Panel Board JSDE 10 JSDE 15 JSDE 20 JSDE 30 Heat sink T Heat sink ses Serial 5 alae on Communication ida ain Power Interface ommunication Input Terminal 777 777 Main rower e Interf
147. position Speed Pn367 24 stage low speed N Position Pn365 3 0 Pn366 1 stage high speed Pn365 1 2 a Input Contact ORG EN Pn365 0 3 Input Contact SHOME y Pn365 2 2 Industrial Product 4 5 51 T ECO System Automation Division 7 8 Pn365 0 4 After Starting HOME routine run CCW in 1 preset high speed to search for the nearest Z phase pulse Pn365 1z2 After Finding the Z phase pulse set this position as the HOME position Pn365 2 2 Input Contact SHOME Starts the HOME routine Pn365 3 0 Reverse search for HOME position Speed Pn366 15t stage high speed Pn365 3 0 N Position Pn367 2 stage low speed l Pn365 1 2 Z Phase Pulse of a Motor Encoder a i al I Pn365 0 4 1 Input Contact SHOME y Pn365 2 2 Pn365 0 5 After Starting HOME routine run CW in 1 preset high speed to search for the nearest Z phase pulse Pn365 1 2 After Finding the Z phase pulse set this position as the HOME position Pn365 2 2 Input Contact SHOME Starts the HOME routine Pn365 3 0 Reverse search for HOME position Speed Pn367 2 stage low speed N Position Pn365 3 0 Pn366 1 stage high speed Z Phase Pulse of iR Motor Encoder I H NENNEN Pn365 0 5 1 Input Contact SHOME Pn365 2 2 Industrial Product amp 5 52 T ECO System Automation Division 5 4 9 Other Position Function As long as the position error value counts is less than th
148. r When the motor speed has achieved the setting speed from cis oms s Cn007 INS and IG24 close loop dn In Position pipe When the amount of position error counter is less than the amount range which is set in Pn307 INP and IG24 close loop FOE pr Pa When When HOME is accomplished HOME and IG24 close IS When HOME is accomplished HOME and IG24 close HOME and IG24 close 548 4 8 Trama When the output torque reach setting value of 1n108 q INT and IG24 became a close loop Industrial Product amp 2 16 T ECO System Automation Division 3 CN1 Interface Circuit and Wire Mode The diagram below introduces all interface circuit of CN1 and wire method of host controller a Digital input interface circuit IO1 Digital input interface circuit can be operated by relay or collector transistor circuit The relay should be the low electric current in order to avoid the faulty contacting External voltage 24V Internal 24V Power External 24V Power Servo Pack Servo Pack IP24 cn1 8 b Digital Output Interface Circuit IO2 When using external power please attention to the power polarity Adverse polarity will case circuit damage Digital output is Open Collector The maximum of external voltage is 24V and the maximum electric current is 10mA Internal 24V Power External 24V Power Servo Pack Servo Pack Industrial Product amp 2 17 T ECO System Automation Division C Pulse Command Input I
149. r to the following diagrams Before Adjustment After Adjustment Input Voltage V Input Voltage V Bias Voltage Bias Voltage i Adjusting Value Speed Command rpm Speed Command rpm 5 3 4 Analog reference for speed command limit A maximum limit for analog speed can be set by Sn218 Setting Control Analog speed command limit Rate rpm sn218 Setting Sn218 for limit the highest speed x 1 02 rpm 100 4500 S command of analog input 5 3 5 Encoder Signal Output Servo motor encoder pulse signal can be output to a host controller to establish an external control loop Host Controllor Servo Drive Position Control Speed Control Analog Speed Command Scaled Output Encoder Pulse Encoder Signal E pulse n Scalling Set the required encoder Pulse Per Revolution PPR in parameter Cn005 Default output value is the actual encoder PPR Industrial Product amp 5 13 T ECO System Automation Division ET e ICT range mode output scale For default set to the rated encoder number of pulses per revolution such as 2500ppr 1 xCn005 Encoder ppr can be scaled by setting a ppr in the range 1 X ALL of 1 to the rated ppr of the encoder for scaling purpose 63 PPH z Pulse per revolution Ex encorder rated precision is 2000 ppr If you setting Cn005 z2 the output is 1000ppr New setting will become effective after re cycling the power Encoder pulse output terminal description
150. rial Product amp 2 27 T ECO System Automation Division Chapter 3 Panel Operator Digital Operator 3 1 Panel Operator on the Drives The operator keypad amp display contains a 5 digit 7 segment display 4 control keys and one Power status LED Green is lit when the power is applied to the unit Power on to light up charge LED and gradually dark when internal main circuit discharge accomplished 5 digit 7 segment display 1 To select a basic mode such as the status display mode utility MODE SET l l function mode parameter setting mode or monitor mode 2 Returning back to parameter selection from data setting screen INCREMENT 1 Parameter Selection 2 To increase or decrease the set value 3 Press Dang Y at the same time to RESET ALARM DECREMENT DATA SETTING 1 To confirm data and parameter item amp 2 To shift to the next digit on the left DATA ENTER 3 To enter the data setting press 2 sec Industrial Product amp 3 1 T E CO System Automation Division After power on MODE button can be used to select 9 groups of parameter By pressing the Mode key repeatedly once at a time you can scroll trough the displays below Step Key LED Display after Operation Drive status parameters Diagnostic parameters An Alarm parameters Copa B cR 10 GREET meom 00 OLIE eet femme DIN function I O programmable Inputs Outputs Parameters Once the first parameter in a parameter group is dis
151. rmature Resistance Ra 119 079 0653 oss 04 0339 0247 Armature Inductance La mH 844 474 358 378 24 2124 162 Mechanical Time Constant Tm ms 114 112 08 on ost Electrical Time Constant Te ms 709 6 sas 659 6 708 657 Weight standard W kow 1387 808 647 1018 808 1347 1018 pm rade GmeB MU OO Smeren N m 39 3 ow s ee Rotor momentot mertia kg ema 0 725 0725 0725 0 725 0 725 0 725 0 725 Cumentbissipuon a 059 059 oso oso 059 oso oso wam W km i M f tr tr MO OpmaigAmbenTemp T C AO Spera Ambient may mo swager T wwo Storage Humidity RH 49 n x So co a c O D Industrial Product amp 9 10 T E CO System Automation Division JSMA L dimension diagram WR Coco 20 30 147 Brake inis 9112 9100 86 JE gt 35 OO Without Brake gem up Industrial Product amp 9 11 T E cQ System Automation Division JSMA S dimension LDmw ela erje e re e me xr EHE EE EK 300430 H ALP E wi zl lil aE TR p e gu Industrial Product amp 9 12 T ECO System Automation Division JSMA S dimension diagram 2 30030 THF 500mm for fl ALA E fe cial 22 XN ipi T Bett 7 im E i 117 6 Name Plate TE 300 30
152. rminal number Default function Industrial Product amp 3 11 TECO System Automation Division dn 04 Version of Software Use dn 04 to view the current software version of the Servo drive S Ree version can be checked as below T Tue EL On power on Drive Status is displayed KOR y Press MODE Key twice to view diagnostics parameter dn 01 ao Press INCREMENT Key 3 times to display dn 04 Press ENTER Key for 2 seconds to view the software version Software version 2 30 Press MODE Key once to return to dn 04 and parameter selection dn 05 JOG Operation Use dn 05 to JOG the motor Jog is activated by following the steps below Note JOG speed is in accordance with setting of Sn201 internal soeed command 1 Ensure that the required speed is set in Sn201 before executing this function Warning Motor will be agitated run as soon as JOG command is activated without the need for SON input Servo On signal Step Key F BEBE TUS GB Press MODE Key once to view diagnostics parameter dn 01 daa Press INCREMENT Key 4 times to display dn 5 i Press ENTER Key for 2 seconds to enter JOG MODE Motor will power on immediately 5 Press INCREMENT Key motor will run in the pre defined positive direction Press DECREMENT Key motor will run in the pre defined negative direction Press MODE Key once to return to dn 05 and parameter dO Emm a Motor stoped the excitation immediately Industrial Pro
153. rotation direction 3 Input contact TRQINV reverse torque command Caution All 3 methods can be active at the same time User must ensure that correct selections are made for these three selections Input Contact Description Control RS2 RS1 mode EMEN Rotation in the current torque command direction 1 O Reverse the current torque command direction 1 1 Zero torque Note RS2 and RS1 contact status 1 ON and 0 OFF Please check 5 6 1 to set the required high Low signal levels PNP NPN Setting Parameter Control Range mode Motor rotate direction Inspect from the load side v When Torque or Speed Command value is Positive the setting of Motor retation direction are Explanation Explanation Explanation Counter Counter X S ClockWise CCW ClockWise CCW 3 T ClockWise CW Counter ClockWise CCW Counter ClockWise CW ClockWise CCW ClockWise CW ClockWise CW mode A A Rotation in current torque command direction T 1 Reverse torque command direction Note Input contacts status 1 ON and 0 OFF Please refer to 5 6 1 to set the required high Low signal levels PNP NPN selection Industrial Product amp 5 6 T ECO System Automation Division 5 2 5 Internal Torque Limit In torque Control mode user can set internal torque limit values as required Set as below range mode CCW Torque command limit Ex Fora torque limit in CCW direction which i
154. rtia Ju Ka cm Armature Resistance Fa a Armature Inductance La mH Mechanical Time Constant Tm ms Insulation Grade Rotor Moment of Inertia EN NEN mE Current Dissipation MO MC RH RH r1 I H Es Class B 130 deg C Class F 155 deg C V VDC 24V 10 EEES es es ors c x a co G 2 c lt O D Operating Ambient Temp Operating Ambient Humidity Storage Temp Storage Humidity Zo C o O am Industrial Product amp 9 7 TEC z System Automation Division X Standard Specifications for Low Inertia and Super Low Inertia Motor Mode Symbol JSMA OOOO DriveMode i0AHSA 15A20A 30A 15A 20A RateOuput Pr w 200W 400W 750W 300 750 Rated Line Voltage rms Vr V 86 55 9831 9837 1092 15052 RatedTorque Ta Nm 064 127 2391 095 2395 RatedCurent R A 17 33 5 20 34 Fetes Speet_ Ne mm MM 30s EXC NMRCONNLM 0L1 2 2108 Dea M5 60 w2 EM Ke N s er Noma 039 04 os 0523 ora Vkmm 4i sos 522 S49 sra Rotor Moment of inertia Ju Ka em 018 oso 106 06773 2459 Back EMF 1800rpm Veur Volts 4261 4323 5025 57 sas Armature esse m a BEEN mom o a os Constant REN EE RE EE CHE E ECC OERENON 05 8 5 25 eo EI A ar na 239 varo 232 Rotor Momen
155. s 4n nz 30 The format of data is depend on Function code END 1 END 1 CR ODH Char r END 0 END 0 LF OAH Char n RTU Mode Excess comm loss time setting 10ms 1 byte Comm address 1 254 convert to Hex representation ADR Slave address Ex Comm address 20 convert representation to 14 Hex ADR 14H 1 byte l Function codes 03H Read the register contents CMD Function code NU O6H Write Single Register 08H Diagnostic function 10H Write Multipile Registers DATA n 1 Dat n word 2n byte nx 30 ata The format of data is depend on Function code DATA 0 CRC Low Checking code LO 1 byte CRC High Checking code HI 1 byte END 0 Excess comm loss time setting 10ms Industria Procuct E 7 10 TE CO Eysham Lula len Drawn Common function codes 03H Read the register contents Continuous read N words Largest number of N is 29 1DH Ex Read two words register 0200H and 0201H from Slave address 01H ASCII Mode Query PC Servo Response Servo PC OK Servo gt PC ERROR STX EHE ADR Exception code Hegister ADD Data length word LRC CR LF OAH o O RTU Mode Query PC gt Servo Response Servo gt PC OK Servo gt PC ERROR ADR oH AR ADR Function Code e OSH Function Code Function Code Data length 00H 0200H CRC Hi F1H word 02H 0201H once om o L emus ow nom Industria Produc amp 7 1
156. s 300 0 300 ALL twice the rated torque set Cn10 200 CW Torque command limit Ex Fora torque limit in CW direction which is 300 300 0 ALL twice the rated torque set Cn11 200 5 2 6 Limiting Servomotor Speed during Torque Control In torque control input contacts SPD1 and SPD2 can be used for selecting one of the two methods below for setting speed limits 1 External Analog command Default Signal is applied to terminals PIC amp AG pins 27 amp 29 on CN1 2 Selection of Three presentable Limits Tn105 Tn107 according to the table below Caution For achieving smooth speed response please refer to section 5 3 6 command PIC CN1 25 sO Tn105 O CI A Tn106 or O 1n107 Note Input contacts status 1 ON and 0 OFF Please check 5 6 1 to set the MS high Low signal levels PNP NPN selection Below is the external analog speed limit command wiring diagram Drive Analog Speed Limit Input 0 10V Industrial Product amp 5 7 T ECO System Automation Division Internal presentable speed limit parameters for torque control mode are listed below These preset limits apply to both CW amp CCW directions Parameter Setting Control range mode Preset Speed Limit 1 In Torque control input contacts SPD1 and SPD2 can be used to select Preset speed limit 1 As follows Tn105 100 rpm 0 3000 T E o x 1d Note Input contacts status 1 ON and 0 OFF Refer to 5 6 1
157. sed Automatic gain 1 amp 2 switch condition torque command Set Cn015 1 0 first When torque command is less than Cn021 Gain 1 is selected Cn021 When torque command is greater than Cn021 Gain 2 is selected When Gain 2 is active and torque command becomes K Pi Pe S 0710000 msec 1 0 399 0 4500 18750 90000 Note Gain 1 is consisted of Pn310 position loop gain 1 Sn211 speed loop gain 1 and Sn212 Speed Pi Pe S less than Cn021 setting value system will automatically switch back to Gain 1 switch time delay can be set by Cn020 Automatic gain 1 amp 2 switch condition speed command Set the Cn015 1 1 first When speed command is less than Cn022 Gain 1 is selected Cn022 When speed command is greater than Cn022 Gain 2 is selected When Gain 2 is active and speed command becomes Pi Pe S less than Cn022 setting value system will automatically switch back to Gain 1 the switch time delay can be set by Cn020 Automatic gain 1 amp 2 switch condition acceleration command Set Cn015 1 2 first Cn023 When acceleration command is less than Cn023 Gain 1 is selected When acceleration command is greater than Cn023 Gain 2 is selected When Gain 2 is active and acceleration command becomes less than Cn023 system will automatically switch back to Gain 1 the switch time delay can be set by Cn020 Automatic gain 1 amp 2 switch condition position error value Cn024 Pi Pe S Set Cn015 1
158. sentation Ex4 Write data 0002 000BH to register 60H Convert M5600002000B into ASCII codes Check Sum 4DH 35H 36H 30H 30H 30H 30H 32H 30H 30H 30H 42H 27CH M 5 6 0 0 0 0 2 0 0 0 B Obtain Function code for write data 0002000BH to register GOH T M5600002000B7C Drive response message ASCII code 25H When function code incorrect drive response ASCII code 21H Industrial Produc amp 7 1 TE CO Byam Aikman c AE NEDWI 7 1 4 Modbus communication protocol for RS 485 The MODBUS protocol allows an easy communication within types of network architectures before start to communication with slave device set the ID number Cn036 for Servo drive respectively server distinguish ID number for controlling specific client station Standard Modbus networks combine two transmission modes ASCII or RTU ASCII American Standard Code for information interchange Mode and RTU Remote Terminal Unit Mode Use Cn038 to select ASCII or RTU mode Coding method ASCII Mode 8 bits Data consist of two ASCII code Ex Data 26H 1 byte the 26 convert to ASCII code is include character 2 gt 32H and 6 2 36H ASCII Chart 0 9 and A F ASCII code Hex 30H Character 9 9 ASCII code Hex 38H 39H RTU Mode Each 8bits is consist of 2 Hex number 4 bits per Hex number Ex Data 26H the data length is 1 byte Industria Produc amp 7 8 TE CO yin Aularraln Draen ASCII Mode Framing 10 bits Fra
159. ship 3 A Phase encoder A A Encoder A Phase From motor terminal to the 2 i C driver B Phase encoder H Encoder B Phase From motor terminal to the input 8 Z Phase encoder Encoder Z Phase From motor terminal to the A AAA AA NO driver Industrial Product amp 2 21 T ECO System Automation Division 2 2 3 Encoder Connector CN3 CN4 Terminal Layout Diagram of CN3 CN4 Terminal CN3 for RS 485 CN4 for RS232 and RS 485 Pin i receive deb CN 4 T transmit RS 485 Serial data 5 Data a communication RS 485 Serial data 7 Data dip communication P S Do not wire to the terminal which is un operated Industrial Product amp 2 22 T ECO System Automation Division 2 3 Typical Circuit Wiring Examples 2 3 1 Position Control Mode Pe Mode Line Driver NFB Rm Ls C RS 232 RS 485 E S d Supply N Pc ra T Filter ENS 4 Regeneration resistor p SERVO S MOTOR od i z Encoder P24 Internal 24V DC U Digital input common O Servo ON SON RI E n SENT CCW Limit CCWL E ET l PA Va E RI S e j Encoder Output A Phase W oS Bl CW Limit CWL E E l A PA e Encoder Output A Phase Emergency stop EMC E M al ED a Encoder Output B Phase v g Q fohe Pulse error clear CLR ika l PI eo RI E d Pos ncommand inhibit 3 M 2 gue Encoder Output Z Phase Ni
160. speed can be stored internally Torque Mode 51 Sind Tees ss dre Industrial Product amp 1 5 T ECO System Automation Division 1 4 Conditions for Installation of Drives 1 4 1 Environmental Conditions The product should be kept in the shipping carton before installation In order to retain the warranty coverage the AC drive should be stored properly when it is not to be used for an extended period of time Some storage suggestions are Ambient Temperature 0 55 deg C Ambient Humidity Under 85 RH Under the condition of no frost Stored Temperature 20 85 deg C Stored Humidity Under 85 RH Under the condition of no frost Vibrating Under 0 5 G Do not mount the servo drive or motor in a location where temperatures and humidity will exceed specification To avoid the insolation To avoid the erosion of grease and salt To avoid the corrosive gases and liquids To avoid the invading of airborne dust or metallic particles When over 1 Drives are installed in control panel enough space have to be kept to get enough air to prevent the heat the fan also must be installed to keep the ambient temperature under 55 deg C Please Install the drive in a vertical position face to the front in order to prevent the heat To avoid the metal parts or other unnecessary things falling into the drive when installing The drive must be stable by M5 screws When there were the vibrating it
161. t No of Revolutions HOME Bias Pulse value No of pulses Industria Product amp 7222 TE CO Eysham Sultan E PA Quick Setup parameters Address Y arameter ame of parameter RS485 RS232 y 0401 530H qn401 opeed Loop Gain 1 Integral Time constant for Speed Loop 1 0405 55AH qn405 Position Loop Gain 1 Multi function programmable contact parameter Address Parameter Name of parameter RS485 RS232 0501 5COH Hn501 DI 1 Pragrammable digital inupt Selection 0502 5C1H Hn502 DI 2 Pragrammable digital inupt Selection 0503 5C2H Hn503 DI 3 Pragrammable digital inupt Selection 0504 5C3H Hn504 DI 4 Pragrammable digital inupt Selection 0505 5C4H Hn505 DI 5 Pragrammable digital inupt Selection 0506 5C5H Hn506 DI 6 Pragrammable digital inupt Selection 0507 5C6H Hn507 DO 1 Programmable Digital Output Selection 0508 5C7H Hn508 DO 2 Programmable Digital Output Selection 0509 5C8H Hn509 DO 3 Programmable Digital Output Selection 050A 5C9H Hn510 Digital input control method selection 050B 5CAH Hn511 Setting digital input status in communication mode Industria Procuct E 7 23 TE CO Eysham Sultan E PA Display parameters Address Parameter Name of parameter Actual Motor Torque Max load rate Position Feed back Value External Spped Limit Command Value Motor feed back Less then one rotation pulse 060F 8BAH Un 15 value absolute value 0610 8C5H Pulse command rotation value absolu
162. t of 0 098 ia Current Dissipation a oss oss oss 045 ama o r N 0 l Operating Ambient Temp T C OM Aparangi Ambient r storage Temp T y 4 8 Storage Humidity RH x Som co a c E O D industrial Product amp 9 8 T E cQ System Automation Division X Standard Specifications for Middle Inertia o Motor ode Symbol Un sigs s amy T Mc Dg maos Hos mato mero mc10 meto DiweMode a XA XA 3A XA 30a ate Output P w sso 550 1000 1000 1000 1000 Rated Line Voltage rms V v t161 16186 1348 1342 123323 19467 RatedTorue Ta Nim 5282 3802 9545 A782 32 6403 C RetdCurem M A 349 298 16 516 496 5 Rated Speed M rpm 1000 1500 1000 2000 3000 1500 Max Torque Te Nim 15758 10 507 28645 14 327 96 19209 Max Armature Current Inx A 103 894 155 155 1088 15 Torque Constant Kr N wA 1679 1294 2039 1019 O7IS 141 induce ota Conse x vae rem 0000000 Rotor tomentotinenia da Kaon 628 62s vasa ez as izi Back EMF 1800rpm Vew Volts 1828 14087 222 1m 8091 153 36 ameero a o 5 5 Armature Inductance Inductance om Bae ae e a oa ome 8 781 Mechanical Time AAA Electrical Time Constant Time Electrical Time Constant Te Te ms 512 512 655 5 52 496 9282 Weight
163. t or 2 Turn off the power and turn on again after 30 Supply 7 Turn ALRS DI ON 1 The main circuit voltage is exceeded maximum allowable value 410V 2 Regeneration voltage is too high The drive has exceeded its rated load during continuous operation When the loading is equal to 2 times of rated loading alarm occurs within 10sec Turn ALRS DI ON Transistor error min If the alarm still exists there may be power module malfunction or noise consider the drive for test and repair Check the motor s encoder connections Check the encoder if short circuit poor solder joints or break MOSEL TOWEN Supply Motor s encoder Sana iue sai Check the encoder signal terminals CN2 4 l and CN2 5 power cable 5V Check parameter setting of communication function Check wire connection between drive and controller Set a correct value for parameter Cn039 communication time out or set 0 to disable communication time out function Multi function contact setting Check parameters Hn501 Hn506 trigger error level selected by 2 digit of Hn 501 to 0 Heset Power Communication protocol setting error Supply Or Communication time out is detected 506should be the same for all inputs Reset P DI 1 DI 6 eset Power Input output contacts function setting 2 Check parameters setting of Hn507 Hn509 Supply iiis should NOT be the same for outputs contact DO 1 DO 3 Disconne
164. t the Gain automatically Setting is according to the table below Setting Control E eene IT Cn002 2 0 Auto tuning Disabled Auto tuning Disabled tuning Disabled EMEND Auto tuning Pe Pi S Fx mE Enable Auto tuning When Cn002 2 is set to 0 Auto tuning Disabled following Gain adjust parameters must be set Parameter Signal Cn025 Load Inertia ratio Speed Loop Gain 1 Sn212 Speed loop Integral time constant 1 Sn213 Speed loop Gain 2 When Cn002 2 is set to 1 auto tuning is enabled and the Servo controller will adjust the Servo Gain in accordance with Cn026 Rigidity Setting and the measured Load Inertia Ratio by monitor parameter Un 19 Load Inertia Ratio when the Load Inertia Ratio is becomes stable Then set 0 in Cn002 2 to cancel Auto tuning At this moment servo controller will record the measured Load Inertia Ratio into Cn025 Load Inertia Ratio If servo drive is used in a applications where there is no significant load variations then monitor Un 19 Load Inertia Ratio if this is stable then it is recommended that Auto tuning is not used Industrial Product amp 5 57 T ECO System Automation Division Apply conditions of Auto tuninc The Servo drive provides Auto tuning and uses an advanced control technique ON LINE to measure the Load Inertia Ratio to control the system to achieve default speed or Position Response Bandwidth System must comply with the conditions below so that the Auto tuning can operat
165. te value 0611 8C4H Un 17 Pulse Command Pulse value less than one rotation Absolute value 0612 67EH Torque command 0613 844H Load inertia ratio Industria Procuct E 7 24 TECO Eysham Lula len Drawn Chapter 8 Troubleshooting 8 1 Alarm functions The Alarm codes are displayed in a format such as that shown below For any Alarm messages refer to this section for identify the cause and dispel the error to reset the Alarm message by following pages description If this is not possible for any reason then contact your local supplier for assistance Alarm status Alarm code Alarm Status Display For Alarm List refer to the section 8 2 In the example above AL 01 indicate Under Voltage There is also an Alarm history which can record ten entry of alarm record History record is listed as alarm history record table shows Alarm History Record A4 xx Previous Fourth Alarm Note xx is denotation of the Alarm Codes Industrial Product amp 8 1 T E cQ System Automation Division Example Following table are procedures to access the alarm history record parameter Steps Key LED Display iid E On power on Drive Status parameter is displayed Press MODE key to enter the Alarm History record Press X Key again to view Alarm 2 message and repeat this to see entire alarm history list In this example Alarm code is 01 Under voltage Press MODE key once to view System Parameters Repeat this to select
166. tically Turn ON operated when first time Servo ON fo Turn ON id 1 Power Output Contact RDY 1 1 Output Contact RDY Input Contact SON 1 1 Input Contact SON Input Contact SHOME Into the P f Process of Home Process of Home Into the Process of ee E Home 1 1 Output Contact Home Output Contact Home Time n Note Input contacts status 1 ON and 0 OFF Please check 5 6 1 to set the required high Low signal levels PNP NPN selection Industrial Product amp 5 47 T ECO System Automation Division Home Routine Speed Position Timing Charts Following Sections Show the Speed Position Timing charts according to Pn 365 0 and Pn365 1 selections MA 1 OX X AX X Pn365 0 Pn365 1 X No Home routine 6 1 Pn365 0 0 or 2 After starting HOME routine run CCW in 1 preset high speed for HOME Reference CCWL CWL or ORG Pn365 1 0 After finding HOME Reference reverse direction in ane preset low speed to search for the nearest Z Phase pulse to be set as the HOME position Pn365 2 2 Input Contact SHOME to Start Home routine Pn365 3 0 Reverse search for HOME position Speed Pn366 1 stage high speed Pn365 3 0 Pn365 1 0 1 Position Pn367 27 stage low speed K Input Contacts CCWL CWL 1 or ORG LC Pn365 0 2 4 Input Contact SHOME A Pn365 2 2 Z Phase Pulse of Motor Encoder Pn365 0 0 Industrial Product amp 5 48
167. tion please refer to section 1 1 2 Servo Motor Standards e Motor load Shaft deceleration ratio 2 Move distance per one move command pulse Define the move distance caused by the transmission system as a result of one move command pulse from the host controller Ex When 1 Pulse Command move 1um If the Host Controller gives a move command of 2000 pulses the transmission device will move by 2000pulse x lum pulse 2mm The Electronic Gear Ratio must be set correctly 3 Calculate the Electronic Gear Ratio Calculate the Electronic Gear Ratio according to the formula below Encoder ppr Pulse Per Revolution x 4 Electronic Gear Ratio Move distance per load shaft revolution Move distance per command Pulse If the deceleration ratio between motor and load shaft is D m Motor Rotating number n Load Shaft Rotating Value Then the formula for Electronic Gear Ratio is Encoder ppr Pulse Per Revolution x 4 Electronic Gear Ratio Move distance per load shaft revolution Move distance per command Pulse Warning The calculated Electronic Gear Ratio must be according to the conditions below otherwise the servo drive and motor will not function correctly E lt ElectroniceGearRatio lt 200 200 Industrial Product 4 5 39 T ECO System Automation Division 4 Parameter Setting for Electronic Gear Ratio Setting gear ratio Numerator and denominator parameters Numerator and denominator values of the c
168. tion setting 0 Cn004 Torque control Speed control X S T EN Counter Colckwise CCW Counter Colckwise CCW Colckwise CW Counter Colckwise CCW Counter Colckwise CCW Colckwise CW Colckwise CW Colckwise CW Input contact ipti monte NS Rotation by speed command direction S Rotation by reverse speed command direction Note Input contacts status 1 ON and 0 OFF Please check 5 6 1 to set the required high Low signal levels PNP NPN selection Industrial Product amp 5 18 TE cQ System Automation Division 5 3 8 Speed Loop Gain In speed mode there are two speed controller loops with separate Gain P and Integral I functions Speed controllers 1 or 2 can be selected by setting one of the multi function input terminals to selection G SEL or by setting one of the parameters Cn20 Cn24 as required Please refer to section 5 3 11 section B for more details Setting Control Speed loop gain has a direct effect on the frequency response bandwidth of the Speed control loop Pi on211 Without causing vibration or noise Speed loop gain can 40 Hz 10 450 Pe be increased to obtain a faster speed response o If Cn025 load Inertia ratio is set correctly the pee loop bandwidth will equal to speed loop gain Seed loop integral element can eliminate the steady speed error and quick response for speed variations P 8n212 Decreasing Integral time can improve system rigidity j s 1 500 Pe The formula
169. tion of position command direction from motor xPn314 S a J i Clockwise CW 1 Counter Clockwise CCW New setting will become effective after re cycling the power 5 4 6 Gain Adjustment The table below shows the parameters for adjusting the position loop Two position loop gains can be selected from input contact terminals according to table below For selection methods refer to section 5 3 11 Parameter Setting Control Signal Range Mode RIEN causing vibration or noise on the mechanical system the position loop gain value can be increased to increase system response and shorten the positioning Pn310 time Generally the position loop bandwidth should notbe 40 1 s 1 450 Pe Pi higher then speed loop bandwidth The relationship is according to the formula below SpeedLoopGain PositionLoopGain 27 x B Pan Position Loop Gain 2 l can be used to reduce the track error of position control Pn312 and speed up the response If the feed forward gain is too Y 0 100 Pe Pi large it might cause speed overshoot and INP contact repeatedly switch ON OFF INP In Position output signal Speed Feed Forward Smooth Filter Ends omooth the speed feed forward command ete Industrial Product amp 5 43 T ECO System Automation Division Diagram below shows the position controller Adjust a higher gain value can reduse response time Position Feed Forward Gain can also be used to shorten the positioning time
170. to set high or low input logic levels Preset SpeedLimit2 In Torque control input contacts SPD1 and SPD2 can be used to select Preset speed limit 2 As follows 1n106 Input Contact SPD2 Input Contact SPD1 200 rpm 073000 T O 0 1 Note Input contacts status 1 ON and 0 OFF Refer to 5 6 1 to set high or low input logic levels Preset Speed Limit 3 In Torque control input contacts SPD1 and SPD2 can be used to select Preset speed limit 3 As follows Input Contact SPD2 Input Contact SPD1 Ooo T IA 1 1 rom 0 3000 Note Input contacts status 1 ON and 0 OFF Refer to 5 6 1 to set high or low input logic levels P S also refer to page 6 11 for detail Industrial Product amp 5 8 T ECO System Automation Division 5 2 7 Additional torque control functions orque Output Monitor When the torque level in CW or CCW directions becomes greater than the value set in Tn108 pe level monitor value the output contact INT is active Parameter Setting range mode Torque output monitor value Tniog When the torque level in CW or CCW direction become 0 300 greater then this value setting the output contact INT is active Torque 1n108 Torque output monitor level logic state 0 Note Input contacts status 1 ON and 0 OFF Please check 5 6 1 to set the required high Low signal levels PNP NPN selection orque Smoothing Filter Torque vibration can
171. to set high or low input logic levels Industrial Product amp 6 16 T ECQ System Automation Division k O d T A tane Fun etn uw Se nase cna Range Mode Use input contacts GN1 amp GN to select one of four electronic Gear Ratio Numerators To select Numerator 4 the statue of the input contacts 1 GN1 8 GN2 should be as follows 1 X 5 4 3 Note Input contacts status 1 ON and 0 OFF Refer to 5 6 1 to set high or low input logic levels Set the calculated Electronic Gear Ratio Denominator in Pn 306 Refer to section 5 4 3 1 XPn306 Electronic Gear Ratio should comply with the formula 1 X 5 4 3 below 50000 E lt ElectronicGearRatio lt 200 200 Position complete value Set a value for In position output signal 0 Pn307 When the Position pulse error value is less then Pn307 10 pulse 5 4 9 output contact INP In position output signal will be 50000 activated Incorrect position Error band Upper limit 0 Pn308 When the Position error value is higher then number of 50000 pulse 5 4 9 pulses set in Pn308 an Alarm message 50000 AL 11 Position error value alarm will be displayed Incorrect position Error band lower limit 0 When the Position error value is lower then number of 50000 pulse 5 4 9 pulses set in Pn309 an Alarm message 50000 AL 11 Position error value alarm will be displayed Position Position Loop Gain Position Loop Gain 1 Wit
172. tops in accordance with Pn365 3 setting method Home switch or Pn365 1 Signal is found Xy set search 1 Rana method ER for the Home position Once the Home Reference switch or signal is detected motor Continues in its direction in 2 speed to find the nearest Z Phase pulse and sets this as the Home position Pi Pe then stops in accordance with Pn365 3 setting method When Pn365 0z2 or 3 it finds the rising edge of ORG to be the Home position then stops in accordance with Pn365 3 When Pn365 0z4 or 5 it finds Z Phase pulse to be the Home then stops in accordance with Pn365 3 On power up and activation of Servo on the home routine is l started automatically Pn365 2 Setting of This method is useful for applications that do not require Helm Home Routine repeated home routines No external home reference switch is pal Start method required Use SHOME input contact to start a home routine In position mode SHOME can be used to start a home routine at any moment After detecting the Home signal it sets this position to be the Home reference Un 14 encoder feed back rotating number and Un 15 encoder feed back pulse number are all 0 motor decelerates and stops Ai Bo Stopping mode hen it reverses direction in 2 speed to detect the Home aaa al Position again then it decelerates and stops POS Mies After detecting the Home signal it sets this position to be the Home reference Un 14 encoder feed back rotating number and U
173. tor Speed is displayed in rpm It displays the torque as a percentage of the rated torue Actual Motor Torque 9o Ex 20 are displayed It means that the motor torque output is 20 of rated torque Value for the processable regenerative power as 100 ETE Regenerative load rate Displays regenerative power consumption in 10 s cycle Value for the rated torque as 100 Umo4 Accumulated load rate Displays effective torque in 10 s cyle Un05 Ma load rate Max value of accumulated load rate Un 06 Speed Command Speed command is displayed in rpm Un 07 Position Error Value pulse Error between position command value and the actual position feedback Position Feed back Value pulse The accumulated number of pulses from the encoder Un 09 ExternalVoltage Command V External analog voltage command value in volts de V DC Bus voltage in Volts Voltage External Spped Limit e aman de rom fester speed limit value in rpm External CCW Torque Limit Ex Display 100 Means current external CCW torque limit command is Command Value set to 100 96 External CW Torque Ex Display 100 Means current external CW toque limit command is set LimitCommand Value to 10096 Motor feed back Rotation After power on it displays motor rotation number as an absolute value value absolute value Motor feed back Less then 1 rotation pulse value absolute value After power on it displays the number of pulses for an incomp
174. ttention to and avoid the oil leakage from the gear box Industrial Product amp 1 7 T ECO System Automation Division 1 5 3 Notice for install motor 1 Please using oil seal motor to avoid the oil from reduction gear flowing into the motor through the motor shaft 2 The cable need to be kept dry 3 Please fixing the wiring cable certainly to avoid the cable ablating or breaking 4 The extending length of the shaft shall be enough otherwise there will be the vibration from motor operating Wrong Example Correct Example ANA ZN SR IN Y a 5 Please do not beat the motor when installing or taking it apart Otherwise the shaft and the encoder of backside will be damaged Industrial Product amp 1 8 T ECO System Automation Division Chapter 2 Wiring 2 1 Basic Wiring for Servo System 2 1 1 Wiring for Main Circuit and Peripheral Devices Power 50W 1KW Single Phase or AC 200 230V 3 Phase No Fuse Break NFB RS485 Noise Filter JSDE Magnetic Contactor MC TECO Servo PC software CN4 RS 232 RS 485 For Communication CN1 For I O Connection PLC PC or motion controller CN2 For Encoder Connection External braking resistor is connected to P and PC Circuit Servo motor JSMA Industrial Product amp 2 1 T CO System Automation Division 2 1 2 Wiring for Servo Drives The wire material must go by Wiring Specifications Wiring Length
175. ue command is greater than Cn016 Cn015 0 a from PI to P if the speed command is 0 Hp greater than Cn017 4 X Pi Pe S is greater than Cn018 EN from PI to P if the position error is greater than Cn019 Switch from Pl to P by the input contact PCNT EN one of the multi function terminals to option 03 Setting Control Poramoter mes Data Unit Sange mode PI P control mode switch by torque command Set the Cn015 0 0 first If Torque Command is less than Cn016 PI control is 0 399 Pi Pe S selected If Torque Command is greater than Cn016 P control is selected PI P control mode switch by speed command Set the Cn015 0 1 first If Speed Command is less than Cn017 PI control is rpm 04500 Pi Pe S selected If Speed Command is greater than Cn017 P control is selected PI P control mode switch by acceleration Set the Cn015 0 2 first If Acceleration is less than Cn018 PI control is selected Pee Otero kee If Acceleration is greater than Cn018 P control is selected Set the Cn015 0 3 first If Position error value is less than Cn019 PI control is pulse 0 50000 Pi Pe S selected If Position error value is greater than Cn019 P control is selected Industrial Product amp 5 23 T ECO System Automation Division 1 PI to P mode switch over by comparing Torque command When the Torque command is less than Cn016 PI control is selected When the Torque command is greater than Cn016 P control is selected As shown in diagram below
176. uired of this stage thus remove connector CN1 from the servo drive Servo drive power Apply power to servo drive If the display shows any Alarm message such as graph below then refer to Alarm contents of chapter 8 to identify the cause AL 14 is caused by Input terminals CCWL Counter clockwise Limit and CWL Clockwise Limit being activated at the same time See the default setting of high or low input logic state according to the description in section 5 6 1 Because of the alarm the servo can not operate normally Set the parameter Cn002 1z1 to disable the drive limit function temporarily during trial run period Industrial Product amp 4 2 TECO Bysen Automation Cresson Steps for setting parameter Cn002 1 CCWL amp CWL Rotation limit see Setp Keys LED Displa Power on Press ENTER Key for 2 secs to display the preset value of Cn002 Note Cn 002 includes 4 digits corresponding to Cn002 0 Cn002 1 Cn002 2 amp Cn002 3 Press ENTER Key once to move to the 2 digit for Cn 002 1 On power on Drive Status is displayed Press INCREMENT Key once to adjust the 2 digit to 1 Disable the function of external limits CCWL and CWL To save the setting value by Press the ENTER Key for 2 seconds until SET is displayed briefly and then display is returned to parameter Cn 002 After accomplish these steps reset the power If there are any other alarms then refer to section 8 2 Clearing Alar
177. use P16 20 pulses P4 30 pulses a 1 J P amp i 1 Input Contact SON l l sl Input Contact POS1 LO 1 1 11 pud Input Contact POS2 o E 1 11 Input Contact POS3 lo E 1 O Input Contact POS4 jo 0 1 0 4 81 P8 P16 P4 Input Contact Pre A 4 4 Note Input contacts status 1 ON and 0 OFF Please check section 5 6 1 to set the required high Low signal levels PNP NPN selection Industrial Product amp 5 36 T ECO System Automation Division PHOLD Position Hold The Position command can be inhibited Held at any time by input contact signal PHOLD Once PHOLD is initiated the motor will decelerate and stop As soon as the input contact PTRG is triggered again the original position command will be Completed Diagram below shows PHOLD function with incremental encoder Incremental moves P1 30pulses P8 10pulses Position pulse P1 Input Contact SON Tt vou E Input Contact POS1 cio i 0 d l Input Contact POS2 Q 1 1 Input Contact POS3 Q 1 1 Input Contact POS4 Q Q Q 4421 P pg Input Contact PTRG Attention Alought the command is P8 Input Contact PHOLD A the motor will continue last command P1 CLR Clear position command If the CLR input is activated when a position command is in process then the motor will stop immediately and the remain
178. utput signal will be switching On Off repeatedly Industrial Product amp 5 6 T ECO System Automation Division 5 6 Other Functions 5 6 1 Programmable I O Functions Digital Inputs There are 6 DI Digital Inputs contacts and 3 DO Digital Outputs contacts which are programmable as listed below Parameter Setting Range Mode DI 1 Digital Input 1 programmable Functions Setting Description ELIT Foon 01 SON SevoOn 06 TLMT External Torque Limit 08 LOK Servolock 09 EMC Emergency Stop 0A SPDi Speedi o L 08 SPD2 Speed2 DL XHn501 0 Aa op o0 INH Position Command init 01 X 1C CHI ee spov speea inverse B E ese e Rai REA Electronic Gear Ratio ENCI Euer 2 14 SHOME Start Home 15 ORG Home Position Reference Origin 16 POS1 nternal Position selecti 17 POS2 Internal Position select2 18 POS3 Internal Position select 3 19 POS4 Internal Position select 4 TRQINV T 1B RS1 Torque CW Selecting 1C RS2 IT Torque CCW Selecting DI 1 Logic State NO NC Selection Setting Description X Hn501 2 Input contact state NO Normally Open 0 lt 2 Connecting IG24 to inputs enables the X MEE selected function 1 dii Input contact state NC Normally Closed o lemas 1G24 from inputs enables the selected function New setting will become effective after re cycling the
179. verspeed CPU Error Drive disable Drive Overheat Communication interface RS 232 RS 485 Modbus protocol Industrial Product amp 9 1 T E cQ System Automation Division External Pulse Control 16 Stage internal register control Positive Negative Edge Trigger Type CW CCW CLK DIR A Phase B ype Phase Input n Waveform Line Driver 5V Open Collector Max n Po KHz Line Driver 200 KHz Open Collector Frequency Electronice Gear 1 200 lt A B x 200 A 1 50000 B 1 50000 Position Position Smoothing l l Control Ripple Time Constant 0 10sec Constant Mode MN Time Constant 0 10 sec Input Ripple Filtering Final Position Tolerance 0 50000 Pulse In Position Torque Limit Operation O 100 96 Feed Forward Set by Parameters Compensation Command Source Extema Analog Command 3 Stage internal Parameters Analog voltage input 10Vdc 0 Rated Speed range Input Impedance Approx 10k ohm Speed Control Range 1 5000 Internal speed control 1 2000 External analog voltage control 0 03 or less at Load fluctuation O to 100 at Rated Speed 0 2 or less at power fluctuation 10 at Rated Speed Speed Speed fluctuation Rate Control Mode 0 5 or less at ambient temperature fluctuation 0 deg C to 50 deg C at Rated Speed Zero Speed Command Set by Parameters 0 3000rpm Limit of Speed up or Line and speed up or down time constant 0 50sec smoothing t
180. wer Cable MSS JSSMSMO010 JSMA M 10M S type Power Cable MSS JSSEMSP001 JSMA M 1M S type Encoder Cable MSS D SUB JSSEMSP003 JSMA M 3M S type Encoder Cable MSS D SUB JSSEMSP005 JSMA M 5M S type Encoder Cable MSS D SUB JSSEMSP010 etin 10M S type Encoder Cable MSS Industrial Product amp App 2 T E CO System Automation Division TECQ TECO Electric amp Machinery Co Ltd Distributor TOF No 3 1 Yuancyu St Nangang District Taipei City 115 Taiwan Tel 886 2 6615 9111 Fax 886 2 6615 0933 http www teco com tw Ver 01 2009 01 This manual may be modified when necessary because of improvement of the product modification or changes in specifications This manual is subject to change without notice
181. wiring and motor installation B Purpose of trial run Confirm if the items below are correct Power Wining a Control signal wiring between host controller and servo Connect to L Host Controller drive Servo motor rotation direction speed and rotating number Brake function operation limit function and protection function SV Motor Motion Table 3 Servo motor connected to load and controlled by a host controller Trial run Reference 4 3 A Servo drive wiring and motor installation B Purpose of trial run Connect to Confirm if the items below are correct _ Host Controller Servo motor rotation direction speed and mechanical operation range Set related control parameters cem ca T O pzz n SV Motor Motion Table Indusiral Produc amp 4 1 TECO System Aulgmation rasm 4 1 Trial Operation Servo motor without Load To carry out a successful trial run follow the steps below and ensure that drive wiring is correct and as specified 1 Warning In order to prevent potential damage prior to trial run ensure that the driven mechanism couplings and belts etc are disconnected from the motor Installation of servo motor Ensure that the motor is installed securely so that there is no movement and vibration during trial run Wiring Check servo drive motor power connections and motor encoder connection No control signal wiring is req

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